From d54e00bad5e6c2f4daf8c017d055ae376c7a750c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 12:37:09 -0700
Subject: [PATCH 001/205] auth: bind-mount onshape allowlist for live server
 edits; fix stale reload comments

---
 auth/allowlist.py                              |  3 ++-
 auth/{ => allowlists}/onshape_allowlist.txt    |  5 +++--
 daq-server/diablo_server/backend/operators.txt |  7 +++++--
 docker-compose.yml                             | 10 ++++++++++
 4 files changed, 20 insertions(+), 5 deletions(-)
 rename auth/{ => allowlists}/onshape_allowlist.txt (75%)

diff --git a/auth/allowlist.py b/auth/allowlist.py
index d68043395..9965362ee 100644
--- a/auth/allowlist.py
+++ b/auth/allowlist.py
@@ -29,7 +29,8 @@
 # map has no allowlist: the shared @berkeley.edu gate is the whole check.
 _APP_FILES = {
     "onshape-viewer": os.environ.get(
-        "ONSHAPE_ALLOWLIST_FILE", os.path.join(_HERE, "onshape_allowlist.txt")
+        "ONSHAPE_ALLOWLIST_FILE",
+        os.path.join(_HERE, "allowlists", "onshape_allowlist.txt"),
     ),
 }
 
diff --git a/auth/onshape_allowlist.txt b/auth/allowlists/onshape_allowlist.txt
similarity index 75%
rename from auth/onshape_allowlist.txt
rename to auth/allowlists/onshape_allowlist.txt
index 778ebca3c..3c78c29d3 100644
--- a/auth/onshape_allowlist.txt
+++ b/auth/allowlists/onshape_allowlist.txt
@@ -7,8 +7,9 @@
 # tools. See auth/allowlist.py.
 #
 # Edits take effect on the user's next request (the file is re-read on change);
-# no restart needed. In production this file can be overridden by mounting one
-# at $ONSHAPE_ALLOWLIST_FILE.
+# no restart or rebuild needed. In production docker-compose bind-mounts this
+# directory into the auth container at /config (ONSHAPE_ALLOWLIST_FILE), so
+# editing this file on the server is picked up live.
 
 aidanrickert@berkeley.edu
 aahilsyed72@berkeley.edu
diff --git a/daq-server/diablo_server/backend/operators.txt b/daq-server/diablo_server/backend/operators.txt
index 12ed38233..34b500819 100644
--- a/daq-server/diablo_server/backend/operators.txt
+++ b/daq-server/diablo_server/backend/operators.txt
@@ -8,8 +8,11 @@
 # In dev (no Caddy in front → no X-Auth-Email), control is allowed to anyone
 # locally — the password remains as a fat-finger guard.
 #
-# Committed on purpose: adding an email here grants nothing until someone with
-# server/deploy access pulls and restarts. Deploy access is the real gate.
+# Committed on purpose: the source of truth is version-controlled, and adding
+# someone still requires server/deploy access to edit the file on the box --
+# deploy access is the real gate. The running backend re-reads this file on
+# change (mtime-cached), so an edit on the server takes effect on the next
+# command; no restart or redeploy needed.
 
 aidanrickert@berkeley.edu
 aahilsyed72@berkeley.edu
diff --git a/docker-compose.yml b/docker-compose.yml
index 16666764c..52cdd618c 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -115,6 +115,16 @@ services:
       # needs no auth/.env at all. On a login node, keep the Google/Flask secrets
       # in auth/.env; JWT_SECRET here still wins, so set it in root .env.
       JWT_SECRET: ${JWT_SECRET:-}
+      # Read the onshape allowlist from the bind-mounted config dir below, not
+      # the copy baked into the image, so it can be edited live on the server.
+      ONSHAPE_ALLOWLIST_FILE: /config/onshape_allowlist.txt
+    volumes:
+      # Editable-on-the-server allowlists. allowlist.py re-reads on mtime change,
+      # so edits here take effect on the user's next request -- no restart, no
+      # rebuild. Mount the *directory* (not the single file): an editor that
+      # saves via rename swaps the inode, which a single-file bind mount would
+      # not follow and the mtime watch would never see.
+      - ./auth/allowlists:/config:ro
 
   # ── Engine Design ────────────────────────────────────────────────────────
   # Built from the repo root: the native-builder stage and runtime copy several

From 1b43e20e2e02a82bb242e8ea3ae035a5a668130b Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 12:48:06 -0700
Subject: [PATCH 002/205] auth: add tchang27 to onshape allowlist and DAQ
 operators

---
 auth/allowlists/onshape_allowlist.txt          | 3 ++-
 daq-server/diablo_server/backend/operators.txt | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/auth/allowlists/onshape_allowlist.txt b/auth/allowlists/onshape_allowlist.txt
index 3c78c29d3..5e73cf59c 100644
--- a/auth/allowlists/onshape_allowlist.txt
+++ b/auth/allowlists/onshape_allowlist.txt
@@ -17,4 +17,5 @@ aahilsyed72@berkeley.edu
 manank_doshi@berkeley.edu
 rchikka15@berkeley.edu
 inez9@berkeley.edu
-carlosbautista@berkeley.edu
\ No newline at end of file
+carlosbautista@berkeley.edu
+tchang27@berkeley.edu
\ No newline at end of file
diff --git a/daq-server/diablo_server/backend/operators.txt b/daq-server/diablo_server/backend/operators.txt
index 34b500819..b024bae03 100644
--- a/daq-server/diablo_server/backend/operators.txt
+++ b/daq-server/diablo_server/backend/operators.txt
@@ -21,3 +21,4 @@ manank_doshi@berkeley.edu
 rchikka15@berkeley.edu
 inez9@berkeley.edu
 carlosbautista@berkeley.edu
+tchang27@berkeley.edu

From 7a2061c93485f1ef871d28aeda9782c6d7d2085f Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 13:17:33 -0700
Subject: [PATCH 003/205] daq-server: drop control password, gate operator
 control on allowlist identity alone

---
 .../diablo_server/backend/src/server.ts       | 30 +++++-------
 .../frontend/components/dashboard/TopBar.tsx  | 46 ++++++-------------
 .../frontend/lib/control-mode.tsx             | 24 ++++------
 daq-server/diablo_server/shared/types.ts      |  2 +-
 4 files changed, 37 insertions(+), 65 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 40add1bb2..c7c0bfb93 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -48,10 +48,6 @@ import type { SensorUpdate, StateUpdate, CommandPayload, BoardStatus, ActuatorUp
 // ── Config ───────────────────────────────────────────────────────────────────
 
 const WS_PORT = parseInt(process.env.WS_PORT ?? '8081', 10);
-// Engine-control fat-finger password (server-side). Shared, not per-user; the
-// real authorization is the operators allowlist (see operators.ts). Default is
-// the well-known dev value; set CONTROL_PASSWORD on the deployed server.
-const CONTROL_PASSWORD = process.env.CONTROL_PASSWORD || 'diablo';
 // Command types that actuate/transition the engine — gated by the operator
 // unlock. Read-only queries and countdown display are not.
 const CONTROL_COMMAND_TYPES = new Set(['state_transition', 'actuator', 'extend_fire', 'debug_mode', 'session_start', 'session_stop', 'session_extend']);
@@ -622,8 +618,9 @@ wss.on('connection', (ws: WebSocket, req) => {
 
   // Engine-control authorization. Caddy injects X-Auth-Email on the upgrade
   // (from the session cookie). No header ⇒ no Caddy in front (dev/test-stand) ⇒
-  // trusted local ⇒ treat as operator. Control still requires the password
-  // unlock below (__daqControlAuthorized) — a fat-finger guard in every env.
+  // trusted local ⇒ treat as operator. Approved operators still explicitly arm
+  // control via the toggle below (__daqControlAuthorized) — a fat-finger guard
+  // in every env.
   const authEmail = ((req.headers['x-auth-email'] as string | undefined) || '').trim();
   const isOp = authEmail === '' ? true : isOperator(authEmail);
   (ws as WsWithControl).__daqOperator = isOp;
@@ -644,8 +641,7 @@ wss.on('connection', (ws: WebSocket, req) => {
   lastOutboundAt = Date.now();
 
   // Control authorization status — lets the UI enable/disable the arm step
-  // before any password is typed (non-operators see it disabled, never a
-  // false-armed state).
+  // before arming (non-operators see it disabled, never a false-armed state).
   send(ws, {
     type: MessageType.CONTROL_STATUS, timestamp: Date.now(),
     payload: { operator: isOp, email: authEmail || null },
@@ -780,15 +776,13 @@ function handleMessage(ws: WebSocket, message: any): void {
       handleCommand(ws, message.payload as CommandPayload);
       break;
     case MessageType.CONTROL_UNLOCK: {
-      // Fat-finger password + operator identity, both checked server-side. The
-      // reply drives the UI's armed state, so it can never disagree with what the
-      // backend will actually accept.
-      const password = (message.payload && message.payload.password) || '';
+      // Arming is identity-only: approved operators may toggle control on. Checked
+      // server-side; the reply drives the UI's armed state, so it can never
+      // disagree with what the backend will actually accept.
       const op = (ws as WsWithControl).__daqOperator === true;
-      const ok = op && password === CONTROL_PASSWORD;
-      (ws as WsWithControl).__daqControlAuthorized = ok;
-      const reason = !op ? 'not_operator' : ok ? 'ok' : 'incorrect_password';
-      send(ws, { type: MessageType.CONTROL_UNLOCK_RESULT, timestamp: Date.now(), payload: { ok, reason } });
+      (ws as WsWithControl).__daqControlAuthorized = op;
+      const reason = op ? 'ok' : 'not_operator';
+      send(ws, { type: MessageType.CONTROL_UNLOCK_RESULT, timestamp: Date.now(), payload: { ok: op, reason } });
       break;
     }
     case MessageType.QUERY_HISTORICAL:
@@ -817,8 +811,8 @@ function broadcastStateUpdate(): void {
 }
 
 function handleCommand(ws: WebSocket, command: CommandPayload): void {
-  // The real, unbypassable gate: engine-control commands require an unlocked
-  // (operator + password) connection, regardless of what the UI shows.
+  // The real, unbypassable gate: engine-control commands require an armed
+  // (approved-operator) connection, regardless of what the UI shows.
   if (CONTROL_COMMAND_TYPES.has(command.commandType) && !(ws as WsWithControl).__daqControlAuthorized) {
     send(ws, {
       type: MessageType.ERROR, timestamp: Date.now(),
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index 734292488..df6c42743 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -100,8 +100,7 @@ export default function TopBar() {
   const countdownTargetTimeMs = useSensorStore((s) => s.countdownTargetTimeMs);
   const session = useSensorStore((s) => s.session);
   const navigate = useNavigate();
-  const { controlEnabled, isOperator, unlocking, error, unlock, lock } = useControlMode();
-  const [passwordInput, setPasswordInput] = useState('');
+  const { controlEnabled, isOperator, error, unlock, lock } = useControlMode();
   const [showUnlockForm, setShowUnlockForm] = useState(false);
 
   const connectionStatus = useSensorStore((s) => s.connectionStatus) ?? { connected: false, elodinConnected: false };
@@ -492,7 +491,8 @@ export default function TopBar() {
                 if (controlEnabled) {
                   lock();
                   setShowUnlockForm(false);
-                  setPasswordInput('');
+                } else if (isOperator) {
+                  unlock();
                 } else {
                   setShowUnlockForm((v) => !v);
                 }
@@ -501,40 +501,22 @@ export default function TopBar() {
                   ? 'border-green-500 bg-green-900/40 text-green-300 hover:bg-green-800/60'
                   : 'border-gray-700 bg-gray-900 text-gray-400 hover:bg-gray-800'
                 }`}
+              title={
+                controlEnabled
+                  ? 'Controller mode: click to return to viewer'
+                  : isOperator
+                    ? 'Click to take control'
+                    : 'Viewer mode: you are not an approved operator'
+              }
             >
               {controlEnabled ? 'CONTROLLER' : 'VIEWER'}
             </button>
 
-            {!controlEnabled && showUnlockForm && (
+            {!controlEnabled && !isOperator && showUnlockForm && (
               <div className="absolute top-full right-0 mt-1 flex flex-col gap-1 bg-background border border-gray-700 rounded px-2 py-2 shadow-lg z-50 w-48">
-                {!isOperator ? (
-                  <span className="text-[10px] text-yellow-400">
-                    You&apos;re not an approved operator — control is view-only.
-                  </span>
-                ) : (
-                  <form
-                    onSubmit={(e) => {
-                      e.preventDefault();
-                      unlock(passwordInput);
-                    }}
-                    className="flex flex-col gap-1"
-                  >
-                    <input
-                      type="password"
-                      value={passwordInput}
-                      onChange={(e) => setPasswordInput(e.target.value)}
-                      placeholder="Control password"
-                      className="px-2 py-1 rounded bg-black/60 border border-gray-700 text-[11px] text-white"
-                    />
-                    <button
-                      type="submit"
-                      disabled={unlocking || !passwordInput}
-                      className="px-2 py-1 rounded text-[10px] font-semibold uppercase tracking-wider border border-blue-700 bg-blue-700/80 hover:bg-blue-600 disabled:opacity-50"
-                    >
-                      {unlocking ? 'Unlocking…' : 'Submit'}
-                    </button>
-                  </form>
-                )}
+                <span className="text-[10px] text-yellow-400">
+                  You&apos;re not an approved operator — control is view-only.
+                </span>
                 {error && (
                   <span className="text-[10px] text-red-400">
                     {error}
diff --git a/daq-server/diablo_server/frontend/lib/control-mode.tsx b/daq-server/diablo_server/frontend/lib/control-mode.tsx
index 7b982e34d..c29d3ac86 100644
--- a/daq-server/diablo_server/frontend/lib/control-mode.tsx
+++ b/daq-server/diablo_server/frontend/lib/control-mode.tsx
@@ -5,13 +5,13 @@ import { MessageType } from "./types";
 import { getWebSocketClient } from "./websocket";
 
 interface ControlModeContextValue {
-  /** Armed: the backend has authorized this connection (operator + password). */
+  /** Armed: the backend has authorized this connection (approved operator). */
   controlEnabled: boolean;
   /** This user is on the DAQ operators allowlist (from the backend). */
   isOperator: boolean;
   unlocking: boolean;
   error: string | null;
-  unlock: (password: string) => void;
+  unlock: () => void;
   lock: () => void;
 }
 
@@ -20,12 +20,12 @@ const ControlModeContext = createContext<ControlModeContextValue | undefined>(un
 /**
  * Engine-control arm state — entirely backend-driven, so the UI can never show
  * "armed" when the backend would reject the commands. The backend enforces the
- * operator allowlist + password server-side (see backend/src/server.ts); this
- * context just reflects its decisions:
+ * operator allowlist server-side (see backend/src/server.ts); this context just
+ * reflects its decisions:
  *   - CONTROL_STATUS (on connect): are you an approved operator?
- *   - CONTROL_UNLOCK_RESULT (reply to unlock): did the password unlock control?
- * No password lives in the frontend, and nothing is persisted — each connection
- * re-arms, because the backend resets authorization on every (re)connect.
+ *   - CONTROL_UNLOCK_RESULT (reply to arm): did the backend arm control?
+ * Nothing is persisted — each connection re-arms, because the backend resets
+ * authorization on every (re)connect.
  */
 export function ControlModeProvider({ children }: { children: React.ReactNode }) {
   const [controlEnabled, setControlEnabled] = useState(false);
@@ -52,11 +52,7 @@ export function ControlModeProvider({ children }: { children: React.ReactNode })
         setError(null);
       } else {
         setControlEnabled(false);
-        setError(
-          p.reason === "not_operator"
-            ? "You're not an approved operator."
-            : "Incorrect password."
-        );
+        setError("You're not an approved operator.");
       }
     });
 
@@ -64,13 +60,13 @@ export function ControlModeProvider({ children }: { children: React.ReactNode })
     return () => { offStatus(); offResult(); };
   }, []);
 
-  const unlock = useCallback((password: string) => {
+  const unlock = useCallback(() => {
     setUnlocking(true);
     setError(null);
     getWebSocketClient().send({
       type: MessageType.CONTROL_UNLOCK,
       timestamp: Date.now(),
-      payload: { password },
+      payload: {},
     });
   }, []);
 
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index f53b50236..97f6a57ab 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -31,7 +31,7 @@ export enum MessageType {
 
   // Engine-control authorization (DAQ operator gate)
   CONTROL_STATUS = 'control_status',                // Server → Client: { operator, email }
-  CONTROL_UNLOCK = 'control_unlock',                // Client → Server: { password }
+  CONTROL_UNLOCK = 'control_unlock',                // Client → Server: {} (arm control; identity-gated)
   CONTROL_UNLOCK_RESULT = 'control_unlock_result',  // Server → Client: { ok, reason }
 }
 

From e5d1e4c4e407f23df1b6760830759501f959df0a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 13:17:39 -0700
Subject: [PATCH 004/205] daq-server: make config/ the single source of truth
 for state machine CSVs (fixes Fuel Main flashing open on debug toggle in
 IDLE)

---
 daq-server/config/config.toml                 |  2 +-
 daq-server/config/state_machine_actuators.csv |  2 +-
 .../diablo_server/backend/src/calibration.ts  |  2 -
 .../backend/src/legacy/state-actuators.ts     | 15 ++----
 .../backend/src/legacy/state-transitions.ts   |  9 ++--
 .../config_broadcast_service_main.cpp         |  2 +-
 .../services/sequencer/ActuatorCommander.cpp  |  8 +--
 .../services/sequencer/SequencerService.cpp   | 50 ++++++++++++++++---
 .../services/sequencer/StateMachine.cpp       |  6 +--
 .../calibration_orchestrator_gui.py           |  4 +-
 daq-server/tools/gui/combined_fsw_gui.py      |  8 +--
 11 files changed, 67 insertions(+), 41 deletions(-)

diff --git a/daq-server/config/config.toml b/daq-server/config/config.toml
index 9dd88ead7..b44981821 100644
--- a/daq-server/config/config.toml
+++ b/daq-server/config/config.toml
@@ -688,7 +688,7 @@ display_ma_samples = 1
 [state_machine]
 actuator_csv = "config/state_machine_actuators.csv"
 actuator_delay_csv = "config/state_machine_actuator_delays.csv"
-# Repo-local matrix (same schema as DiabloAvionics test_guis); backend resolves via state_machine.transitions_csv
+# Repo-local state transition matrix; sequencer + backend both resolve via state_machine.transitions_csv
 transitions_csv = "config/state_transitions.csv"
 
 # =============================================================================
diff --git a/daq-server/config/state_machine_actuators.csv b/daq-server/config/state_machine_actuators.csv
index af7830c96..ebd2fdc29 100644
--- a/daq-server/config/state_machine_actuators.csv
+++ b/daq-server/config/state_machine_actuators.csv
@@ -1,7 +1,7 @@
 ,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
 Fuel Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
 Fuel Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
-Fuel Main,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
+Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
 Fuel Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
 Fuel Fill Press,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
 LOX Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
diff --git a/daq-server/diablo_server/backend/src/calibration.ts b/daq-server/diablo_server/backend/src/calibration.ts
index 8f1d62af8..dbc2de885 100644
--- a/daq-server/diablo_server/backend/src/calibration.ts
+++ b/daq-server/diablo_server/backend/src/calibration.ts
@@ -344,14 +344,12 @@ export interface PTCalibrationResult {
  *  1. scripts/calibration/calibrations/ (project root — used by femboy/FSW)
  *  2. calibration/                     (repo-root fallback)
  *  3. web-gui/backend/data/
- *  4. external/DiabloAvionics/test_guis/
  */
 export function loadPTCalibration(overridePath?: string): PTCalibrationResult {
   const candidateDirs: string[] = [
     path.join(__dirname, '../../../scripts/calibration/calibrations'),   // femboy / daq_bridge path
     path.join(__dirname, '../../../calibration'),
     path.join(__dirname, '../data'),
-    path.join(__dirname, '../../../external/DiabloAvionics/test_guis'),
   ];
 
   // If caller supplied a specific file path, try it first
diff --git a/daq-server/diablo_server/backend/src/legacy/state-actuators.ts b/daq-server/diablo_server/backend/src/legacy/state-actuators.ts
index f908fbe9c..3cfb2108c 100644
--- a/daq-server/diablo_server/backend/src/legacy/state-actuators.ts
+++ b/daq-server/diablo_server/backend/src/legacy/state-actuators.ts
@@ -342,16 +342,11 @@ function buildCSVSearchPaths(): string[] {
     // Config not available, use fallback paths
   }
 
-  // 2. Relative __dirname-based fallback (no absolute/hardcoded paths)
-  const relBaseDirs = [
-    join(__dirname, '..', '..', '..', '..', 'external', 'DiabloAvionics', 'test_guis'),
-    join(process.cwd(), '..', '..', 'external', 'DiabloAvionics', 'test_guis'),
-    join(process.cwd(), '..', 'external', 'DiabloAvionics', 'test_guis'),
-  ];
-  for (const base of relBaseDirs) {
-    paths.push(join(base, 'Avionics Board Status - State Machine Actuators.csv'));
-    paths.push(join(base, 'state_machine_actuators.csv'));
-  }
+  // 2. Direct config/ fallback (canonical source of truth) if config.toml unreadable.
+  const rel = join('config', 'state_machine_actuators.csv');
+  paths.push(join(__dirname, '..', '..', '..', '..', rel));
+  paths.push(join(process.cwd(), '..', '..', rel));
+  paths.push(join(process.cwd(), '..', rel));
 
   return paths;
 }
diff --git a/daq-server/diablo_server/backend/src/legacy/state-transitions.ts b/daq-server/diablo_server/backend/src/legacy/state-transitions.ts
index 8837a3a08..6d78a8ce7 100644
--- a/daq-server/diablo_server/backend/src/legacy/state-transitions.ts
+++ b/daq-server/diablo_server/backend/src/legacy/state-transitions.ts
@@ -105,11 +105,12 @@ function buildTransitionsCSVSearchPaths(): string[] {
   } catch {
     /* fall through to defaults */
   }
+  // Direct config/ fallback (canonical source of truth) if config.toml unreadable.
+  const rel = join('config', 'state_transitions.csv');
   paths.push(
-    join(process.cwd(), '..', '..', 'external', 'DiabloAvionics', 'test_guis', 'state_transitions.csv'),
-    join(process.cwd(), '..', 'external', 'DiabloAvionics', 'test_guis', 'state_transitions.csv'),
-    join(__dirname, '..', '..', '..', 'external', 'DiabloAvionics', 'test_guis', 'state_transitions.csv'),
-    join(__dirname, '../../../../external/DiabloAvionics/test_guis/state_transitions.csv'),
+    join(process.cwd(), '..', '..', rel),
+    join(process.cwd(), '..', rel),
+    join(__dirname, '..', '..', '..', '..', rel),
   );
   return paths;
 }
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index b80dc71ca..e60dd5d1b 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -392,7 +392,7 @@ int main(int argc, char* argv[]) {
     const char* csv_fbs[] = {
         "config/state_machine_actuators.csv",
         "../config/state_machine_actuators.csv",
-        "external/DiabloAvionics/test_guis/state_machine_actuators.csv",
+        "../../config/state_machine_actuators.csv",
     };
     for (const char* fb : csv_fbs) {
         std::ifstream t(fb);
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 25913814e..9edae6e15 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -199,11 +199,11 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
     std::cout << "[ActuatorCommander] Loaded " << roles_.size() << " actuator roles from config"
               << std::endl;
 
-    // -- State→actuator CSV --
+    // -- State→actuator CSV -- canonical source: daq-server/config/.
     const char* fallbacks[] = {
-        "firmware/test_guis/state_machine_actuators.csv",
-        "../firmware/test_guis/state_machine_actuators.csv",
-        "../../firmware/test_guis/state_machine_actuators.csv",
+        "config/state_machine_actuators.csv",
+        "../config/state_machine_actuators.csv",
+        "../../config/state_machine_actuators.csv",
     };
 
     std::ifstream f(csv_path);
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 6b1b39363..a15b2cdd3 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -101,11 +101,46 @@ static std::string resolveDataPath(const std::string& rel) {
     return rel;  // original — caller will get the open error
 }
 
+// Read a "section.key" string value from raw config.toml content, stripping
+// surrounding whitespace and quotes. Returns `fallback` if not found.
+static std::string configString(const std::string& content, const std::string& section,
+                                const std::string& key, const std::string& fallback) {
+    const std::string header = "[" + section + "]";
+    auto pos = content.find(header);
+    if (pos == std::string::npos)
+        return fallback;
+    auto start = pos + header.size();
+    auto next = content.find("\n[", start);
+    const std::string sec =
+        (next == std::string::npos) ? content.substr(start) : content.substr(start, next - start);
+    std::istringstream iss(sec);
+    std::string line;
+    while (std::getline(iss, line)) {
+        auto c = line.find('#');
+        if (c != std::string::npos)
+            line = line.substr(0, c);
+        auto eq = line.find('=');
+        if (eq == std::string::npos)
+            continue;
+        std::string k = line.substr(0, eq);
+        k.erase(0, k.find_first_not_of(" \t"));
+        k.erase(k.find_last_not_of(" \t") + 1);
+        if (k != key)
+            continue;
+        std::string v = line.substr(eq + 1);
+        v.erase(0, v.find_first_not_of(" \t\r\n\""));
+        v.erase(v.find_last_not_of(" \t\r\n\"") + 1);
+        return v.empty() ? fallback : v;
+    }
+    return fallback;
+}
+
 bool SequencerService::init(const std::string& config_path) {
     loadConfig(config_path);
 
-    // State machine CSV
-    std::string sm_csv = resolveDataPath("firmware/test_guis/state_transitions.csv");
+    // State machine CSV — path from config.toml (canonical: daq-server/config/).
+    std::string sm_csv = resolveDataPath(
+        configString(config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
     if (!state_machine_.load(sm_csv)) {
         std::cerr
             << "[SequencerService] Failed to load state_transitions.csv (tried relative to cwd: "
@@ -113,8 +148,9 @@ bool SequencerService::init(const std::string& config_path) {
         return false;
     }
 
-    // Actuator commander
-    std::string act_csv = resolveDataPath("firmware/test_guis/state_machine_actuators.csv");
+    // Actuator commander — path from config.toml (canonical: daq-server/config/).
+    std::string act_csv = resolveDataPath(
+        configString(config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Failed to load state_machine_actuators.csv (tried: "
                   << act_csv << ")" << std::endl;
@@ -352,12 +388,14 @@ bool SequencerService::reloadConfig() {
     std::cout << "[SequencerService] Reloading config..." << std::endl;
     loadConfig(config_path_);
 
-    std::string act_csv = resolveDataPath("firmware/test_guis/state_machine_actuators.csv");
+    std::string act_csv = resolveDataPath(
+        configString(config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload actuator CSV" << std::endl;
         return false;
     }
-    std::string sm_csv = resolveDataPath("firmware/test_guis/state_transitions.csv");
+    std::string sm_csv = resolveDataPath(
+        configString(config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
     if (!state_machine_.load(sm_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload state transitions CSV"
                   << std::endl;
diff --git a/daq-server/diablo_server/services/sequencer/StateMachine.cpp b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
index 63351cfb6..3b1b74d20 100644
--- a/daq-server/diablo_server/services/sequencer/StateMachine.cpp
+++ b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
@@ -125,9 +125,9 @@ static std::string trimCell(const std::string& s) {
 
 bool StateMachine::load(const std::string& csv_path) {
     const char* fallbacks[] = {
-        "firmware/test_guis/state_transitions.csv",
-        "../firmware/test_guis/state_transitions.csv",
-        "../../firmware/test_guis/state_transitions.csv",
+        "config/state_transitions.csv",
+        "../config/state_transitions.csv",
+        "../../config/state_transitions.csv",
     };
 
     std::ifstream f(csv_path);
diff --git a/daq-server/tools/calibration/calibration_orchestrator_gui.py b/daq-server/tools/calibration/calibration_orchestrator_gui.py
index 3ad7e2294..3eb15af74 100644
--- a/daq-server/tools/calibration/calibration_orchestrator_gui.py
+++ b/daq-server/tools/calibration/calibration_orchestrator_gui.py
@@ -372,9 +372,7 @@ def create_control_panel(self) -> QtWidgets.QWidget:
                     # Fallback: try to count from CSV
                     csv_path = (
                         Path(__file__).parent.parent.parent
-                        / "external"
-                        / "DiabloAvionics"
-                        / "test_guis"
+                        / "config"
                         / "state_machine_actuators.csv"
                     )
                     if csv_path.exists():
diff --git a/daq-server/tools/gui/combined_fsw_gui.py b/daq-server/tools/gui/combined_fsw_gui.py
index e893b662a..b68d4e88c 100755
--- a/daq-server/tools/gui/combined_fsw_gui.py
+++ b/daq-server/tools/gui/combined_fsw_gui.py
@@ -123,9 +123,7 @@ class SystemState:
 # State machine CSV path
 _STATE_MACHINE_CSV = (
     Path(__file__).parent.parent.parent
-    / "external"
-    / "DiabloAvionics"
-    / "test_guis"
+    / "config"
     / "state_machine_actuators.csv"
 )
 
@@ -1631,9 +1629,7 @@ def _load_state_actuator_map(self):
         """Load state machine actuator mapping from CSV"""
         csv_path = (
             Path(__file__).parent.parent.parent
-            / "external"
-            / "DiabloAvionics"
-            / "test_guis"
+            / "config"
             / "state_machine_actuators.csv"
         )
         self._state_actuator_map = {}

From d5bea86e6696fcb001994c5d45e8bdb0b872efa3 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 16:48:23 -0700
Subject: [PATCH 005/205] daq-server: choose Real/Simulated data at session
 start (starts the sim generator) + purple Simulated Data / Session Stopped
 status badge

---
 .../deploy/startup/start_systemd_sim.sh       |  8 ++-
 .../diablo_server/backend/src/server.ts       | 30 ++++++--
 .../backend/src/service-controller.ts         | 70 ++++++++++++++++---
 .../backend/src/session-manager.ts            | 18 ++++-
 .../backend/src/session-state.ts              |  2 +
 .../frontend/app/session/page.tsx             | 38 +++++-----
 .../components/dashboard/MobileDashboard.tsx  |  8 ++-
 .../frontend/components/dashboard/TopBar.tsx  |  8 ++-
 daq-server/diablo_server/shared/types.ts      |  6 ++
 daq-server/test/session_flow_test.ts          |  5 +-
 10 files changed, 154 insertions(+), 39 deletions(-)

diff --git a/daq-server/deploy/startup/start_systemd_sim.sh b/daq-server/deploy/startup/start_systemd_sim.sh
index 7cd78a8da..0358f6826 100755
--- a/daq-server/deploy/startup/start_systemd_sim.sh
+++ b/daq-server/deploy/startup/start_systemd_sim.sh
@@ -49,11 +49,13 @@ fi
 mkdir -p "$DAQ_DIR"
 sed 's/192\.168\.2\./127.0.0./g' "$PROJECT/config/config.toml" > "$SIM_CONFIG"
 cat > "$PIPELINE_ENV" <<EOF
-# Written by start_systemd_sim.sh — sim overlay read by the pipeline units and
-# the backend. Remove (stop_systemd_sim.sh) to return to a hardware config.
+# Written by start_systemd_sim.sh — points the always-on backend at the remapped
+# (no-hardware) config. The data source (live vs simulated) is chosen PER RUN from
+# the Session screen: session-start writes USE_SIM + the pipeline's config into this
+# file itself, so the harness no longer forces USE_SIM. Remove (stop_systemd_sim.sh)
+# to return to a hardware config.
 DAQ_CONFIG=$SIM_CONFIG
 CONFIG_PATH=$SIM_CONFIG
-USE_SIM=1
 EOF
 # Optional: fast auto-stop warnings for the integration test (env passthrough).
 [ -n "${SESSION_WARN_LEADS_MS:-}" ] && echo "SESSION_WARN_LEADS_MS=$SESSION_WARN_LEADS_MS" >> "$PIPELINE_ENV"
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index c7c0bfb93..73d256182 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -635,7 +635,7 @@ wss.on('connection', (ws: WebSocket, req) => {
   // Connection status
   send(ws, {
     type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
-    payload: { connected: true, elodinConnected: elodin.isConnected(), connId },
+    payload: { connected: true, elodinConnected: elodin.isConnected(), connId, simulated: isSimulated() },
   });
   outboundMessages++;
   lastOutboundAt = Date.now();
@@ -872,12 +872,14 @@ function handleCommand(ws: WebSocket, command: CommandPayload): void {
       break;
     case 'session_start':
       sessionManager
-        .start(!!command.data.keepData, command.data.durationMs ?? 0)
+        .start(!!command.data.keepData, command.data.durationMs ?? 0, !!command.data.simulated)
+        .then(() => broadcastConnectionStatus())
         .catch((err) => send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session start failed: ${err.message}` } }));
       break;
     case 'session_stop':
       sessionManager
         .stop(false)
+        .then(() => broadcastConnectionStatus())
         .catch((err) => send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session stop failed: ${err.message}` } }));
       break;
     case 'session_extend':
@@ -991,9 +993,29 @@ function scheduleResubscribe(attempt: number): void {
   }, 5000);
 }
 
+// True when incoming data is synthetic. In a session-enabled deployment this is
+// exactly "an active simulated run" — the backend's own USE_SIM env is ignored
+// there because the systemd sim harness sets USE_SIM=1 on the backend process
+// permanently (so it would wrongly read simulated even when the run is stopped or
+// live). Only the field-laptop path (session control off, no run concept) falls
+// back to USE_SIM=1 (the terminal `dev.sh --sim` stack). Drives the purple badge.
+function isSimulated(): boolean {
+  if (sessionManager.isEnabled()) return sessionManager.isSimulated();
+  return process.env.USE_SIM === '1';
+}
+
+// Re-broadcast connection status (used when the simulated state flips on session
+// start/stop so the badge updates without waiting for an Elodin reconnect).
+function broadcastConnectionStatus(): void {
+  broadcast({
+    type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
+    payload: { connected: true, elodinConnected: elodin.isConnected(), simulated: isSimulated() },
+  });
+}
+
 elodin.on('connected', () => {
   console.log('[ThinServer] Elodin Connected');
-  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: true } });
+  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: true, simulated: isSimulated() } });
 
   if (resubscribeTimer) { clearTimeout(resubscribeTimer); resubscribeTimer = null; }
   shouldResubscribe = true;
@@ -1008,7 +1030,7 @@ elodin.on('connected', () => {
 
 elodin.on('disconnected', () => {
   console.log('[ThinServer] Elodin DB disconnected');
-  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: false } });
+  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: false, simulated: isSimulated() } });
   if (resubscribeTimer) { clearTimeout(resubscribeTimer); resubscribeTimer = null; }
   clearSubscriptionState();
 });
diff --git a/daq-server/diablo_server/backend/src/service-controller.ts b/daq-server/diablo_server/backend/src/service-controller.ts
index 1738e7e0b..0823220e1 100644
--- a/daq-server/diablo_server/backend/src/service-controller.ts
+++ b/daq-server/diablo_server/backend/src/service-controller.ts
@@ -9,11 +9,17 @@
  *
  * Only the always-on server's sensor-backend.service sets SESSION_SERVICE_MODE=systemd.
  */
-import { spawn } from 'child_process';
+import { spawn, type ChildProcess } from 'child_process';
 import { writeFileSync, mkdirSync } from 'fs';
 import { dirname, join } from 'path';
+import { fileURLToPath } from 'url';
 import { homedir } from 'os';
 
+// daq-server repo root (…/daq-server), from …/daq-server/diablo_server/backend/{src,dist}.
+const PROJECT_ROOT = join(dirname(fileURLToPath(import.meta.url)), '..', '..', '..');
+const SIM_SCRIPT = join(PROJECT_ROOT, 'sim', 'board_simulator.py');
+const SIM_CONFIG = join(PROJECT_ROOT, 'config', 'sim_config.toml');
+
 export type SessionServiceMode = 'off' | 'mock' | 'systemd';
 
 export function getSessionServiceMode(): SessionServiceMode {
@@ -31,14 +37,17 @@ const BASE_UNITS = [
   'sensor-actuator',
 ];
 
-function pipelineUnits(): string[] {
+function pipelineUnits(simulated: boolean): string[] {
   const units = [...BASE_UNITS];
-  if (process.env.USE_SIM === '1') units.push('sensor-simulator');
+  if (simulated) units.push('sensor-simulator');
   return units;
 }
 
 // The elodin unit reads its per-run DB dir from this EnvironmentFile (systemd mode).
 const SESSION_ENV_PATH = join(homedir(), '.config', 'daq', 'session.env');
+// Optional data-source overlay the pipeline units already read: a simulated run
+// sets USE_SIM=1 + the IP-remapped sim config; a live run points back at hardware.
+const PIPELINE_ENV_PATH = join(homedir(), '.config', 'daq', 'pipeline.env');
 
 function runSystemctl(action: 'start' | 'stop', units: string[]): Promise<void> {
   return new Promise((resolve, reject) => {
@@ -53,21 +62,66 @@ function runSystemctl(action: 'start' | 'stop', units: string[]): Promise<void>
 export class ServiceController {
   constructor(private readonly mode: SessionServiceMode) {}
 
-  async start(dbDir: string): Promise<void> {
+  /** Mock-mode simulator child (systemd manages the sensor-simulator unit instead). */
+  private simProc: ChildProcess | null = null;
+
+  async start(dbDir: string, simulated = false): Promise<void> {
     if (this.mode === 'systemd') {
       mkdirSync(dirname(SESSION_ENV_PATH), { recursive: true });
       writeFileSync(SESSION_ENV_PATH, `ELODIN_DB_DIR=${dbDir}\n`);
-      await runSystemctl('start', pipelineUnits());
+      // Per-run data-source overlay consumed by the pipeline units.
+      writeFileSync(
+        PIPELINE_ENV_PATH,
+        simulated
+          ? 'USE_SIM=1\nDAQ_CONFIG=config/sim_config.toml\n'
+          : 'USE_SIM=0\nDAQ_CONFIG=config/config.toml\n',
+      );
+      await runSystemctl('start', pipelineUnits(simulated));
     } else {
-      console.log(`[Session] (mock) start pipeline → ${dbDir} :: ${pipelineUnits().join(', ')}`);
+      console.log(`[Session] (mock) start pipeline → ${dbDir} (simulated=${simulated})`);
+      // In mock mode the pipeline is already running; only the simulator is ours
+      // to start/stop for the run.
+      if (simulated) this.spawnSimulator();
     }
   }
 
   async stop(): Promise<void> {
     if (this.mode === 'systemd') {
-      await runSystemctl('stop', pipelineUnits());
+      // Stop the superset (incl. the simulator) so no data source lingers between runs.
+      await runSystemctl('stop', pipelineUnits(true));
     } else {
-      console.log(`[Session] (mock) stop pipeline :: ${pipelineUnits().join(', ')}`);
+      console.log('[Session] (mock) stop pipeline');
+      this.stopSimulator();
     }
   }
+
+  /** Re-assert the simulator after a backend restart recovered an active simulated run. */
+  async resume(simulated: boolean): Promise<void> {
+    if (!simulated) return;
+    if (this.mode === 'systemd') {
+      await runSystemctl('start', ['sensor-simulator']);
+    } else {
+      this.spawnSimulator();
+    }
+  }
+
+  private spawnSimulator(): void {
+    if (this.simProc && !this.simProc.killed) return; // already running
+    const args = [SIM_SCRIPT, '--config', SIM_CONFIG, '--target', '127.0.0.1', '--port', '5006'];
+    const proc = spawn('python3', args, { cwd: PROJECT_ROOT, stdio: 'inherit' });
+    proc.on('error', (err) => console.error('[Session] board simulator failed to start:', err));
+    proc.on('exit', (code) => {
+      console.log(`[Session] board simulator exited (${code})`);
+      if (this.simProc === proc) this.simProc = null;
+    });
+    this.simProc = proc;
+    console.log(`[Session] board simulator started (pid ${proc.pid})`);
+  }
+
+  private stopSimulator(): void {
+    if (!this.simProc) return;
+    console.log(`[Session] stopping board simulator (pid ${this.simProc.pid})`);
+    this.simProc.kill('SIGTERM');
+    this.simProc = null;
+  }
 }
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index e6a6b3e4e..6a48c3c9f 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -81,6 +81,7 @@ class SessionManager {
   private active = false;
   private dbDir: string | null = null;
   private keepData = false;
+  private simulated = false;
   private deadlineMs: number | null = null;
   private durationMs: number | null = null;
   private warnTimers: NodeJS.Timeout[] = [];
@@ -96,12 +97,16 @@ class SessionManager {
       this.active = true;
       this.dbDir = persisted.dbDir;
       this.keepData = persisted.keepData;
+      this.simulated = persisted.simulated;
       this.deadlineMs = persisted.deadlineMs;
       this.durationMs = persisted.durationMs;
       if (this.deadlineMs != null && this.deadlineMs <= Date.now()) {
         void this.stop(true); // expired while we were down
       } else {
         this.scheduleTimers();
+        // The spawned simulator (mock mode) dies with the backend — re-launch it
+        // for a recovered simulated run. (systemd units survive; resume is a no-op.)
+        void this.controller.resume(this.simulated);
       }
     }
   }
@@ -110,6 +115,11 @@ class SessionManager {
     return this.enabled;
   }
 
+  /** True when an active run is fed by the board simulator (drives the "Simulated Data" badge). */
+  isSimulated(): boolean {
+    return this.active && this.simulated;
+  }
+
   getStatus(): SessionStatus {
     return {
       enabled: this.enabled,
@@ -119,6 +129,7 @@ class SessionManager {
       deadlineMs: this.deadlineMs,
       remainingMs: this.deadlineMs != null ? this.deadlineMs - Date.now() : null,
       freeDiskBytes: this.enabled ? freeDiskBytes() : null,
+      simulated: this.active && this.simulated,
     };
   }
 
@@ -184,10 +195,11 @@ class SessionManager {
       keepData: this.keepData,
       deadlineMs: this.deadlineMs,
       durationMs: this.durationMs,
+      simulated: this.simulated,
     });
   }
 
-  async start(keepData: boolean, durationMs: number): Promise<void> {
+  async start(keepData: boolean, durationMs: number, simulated = false): Promise<void> {
     if (!this.enabled) throw new Error('Session control is disabled in this mode.');
     if (this.active) throw new Error('A run is already active.');
     if (!Number.isFinite(durationMs) || durationMs <= 0) {
@@ -195,9 +207,10 @@ class SessionManager {
     }
     this.dbDir = join(ELODIN_ROOT, timestampName());
     this.keepData = keepData;
+    this.simulated = simulated;
     this.durationMs = durationMs;
     this.deadlineMs = Date.now() + durationMs;
-    await this.controller.start(this.dbDir);
+    await this.controller.start(this.dbDir, this.simulated);
     this.active = true;
     this.scheduleTimers();
     this.persist();
@@ -227,6 +240,7 @@ class SessionManager {
     this.deadlineMs = null;
     this.durationMs = null;
     this.keepData = false;
+    this.simulated = false;
     this.persist();
     this.emit();
   }
diff --git a/daq-server/diablo_server/backend/src/session-state.ts b/daq-server/diablo_server/backend/src/session-state.ts
index 033dfe1dd..24cebe35c 100644
--- a/daq-server/diablo_server/backend/src/session-state.ts
+++ b/daq-server/diablo_server/backend/src/session-state.ts
@@ -13,6 +13,7 @@ export interface PersistedSession {
   keepData: boolean;
   deadlineMs: number | null;
   durationMs: number | null;
+  simulated: boolean;
 }
 
 export function getSessionStatePath(): string {
@@ -33,6 +34,7 @@ export function loadSession(): PersistedSession | null {
       keepData: !!p.keepData,
       deadlineMs: typeof p.deadlineMs === 'number' ? p.deadlineMs : null,
       durationMs: typeof p.durationMs === 'number' ? p.durationMs : null,
+      simulated: !!p.simulated,
     };
   } catch {
     return null;
diff --git a/daq-server/diablo_server/frontend/app/session/page.tsx b/daq-server/diablo_server/frontend/app/session/page.tsx
index eee1c1bf8..128969b59 100644
--- a/daq-server/diablo_server/frontend/app/session/page.tsx
+++ b/daq-server/diablo_server/frontend/app/session/page.tsx
@@ -1,7 +1,6 @@
 'use client'
 
 import { useEffect, useState } from 'react';
-import { useNavigate } from 'react-router-dom';
 import { useSensorStore } from '@/lib/store';
 import { getWebSocketClient } from '@/lib/websocket';
 import { useControlMode } from '@/lib/control-mode';
@@ -26,19 +25,9 @@ export default function SessionPage() {
   const session = useSensorStore((s) => s.session);
   const { controlEnabled } = useControlMode();
   const ws = getWebSocketClient();
-  const navigate = useNavigate();
-
-  const backLink = (
-    <button
-      type="button"
-      onClick={() => navigate('/')}
-      className="mb-4 inline-flex items-center gap-1 text-sm text-gray-400 hover:text-white"
-    >
-      <span aria-hidden>←</span> Back to dashboard
-    </button>
-  );
 
   const [keepData, setKeepData] = useState(true); // Save is the safe default
+  const [simulated, setSimulated] = useState(false); // Live data is the safe default
   const [durationMin, setDurationMin] = useState(60);
   const [addMin, setAddMin] = useState(15);
 
@@ -65,7 +54,6 @@ export default function SessionPage() {
   if (!session) {
     return (
       <main className="p-8 text-text">
-        {backLink}
         <h1 className="text-3xl font-bold mb-3">Session control</h1>
         <p className="text-lg text-gray-200 max-w-2xl leading-relaxed">
           Connecting… (waiting for the backend WebSocket). If this persists, the live data
@@ -78,7 +66,6 @@ export default function SessionPage() {
   if (!session.enabled) {
     return (
       <main className="p-8 text-text">
-        {backLink}
         <h1 className="text-3xl font-bold mb-3">Session control</h1>
         <p className="text-lg text-gray-200 max-w-2xl leading-relaxed">
           Session control is disabled in this deployment — the stack runs until the process is
@@ -94,7 +81,6 @@ export default function SessionPage() {
 
   return (
     <main className="p-6 sm:p-8 text-text max-w-3xl mx-auto w-full">
-      {backLink}
       <div className="flex items-center justify-between mb-6">
         <h1 className="text-3xl font-bold">Session control</h1>
         <span
@@ -153,6 +139,26 @@ export default function SessionPage() {
               </div>
             </div>
 
+            <div>
+              <div className="text-sm uppercase tracking-widest text-gray-300 mb-2">Data source</div>
+              <div className="flex rounded-lg border border-gray-700 bg-gray-900 p-0.5">
+                <button
+                  type="button"
+                  onClick={() => setSimulated(false)}
+                  className={`rounded-md px-3 py-1.5 text-sm font-semibold ${!simulated ? 'bg-white text-black' : 'text-gray-300 hover:bg-white/10'}`}
+                >
+                  Real
+                </button>
+                <button
+                  type="button"
+                  onClick={() => setSimulated(true)}
+                  className={`rounded-md px-3 py-1.5 text-sm font-semibold ${simulated ? 'bg-purple-500 text-white' : 'text-gray-300 hover:bg-white/10'}`}
+                >
+                  Simulated
+                </button>
+              </div>
+            </div>
+
             <div>
               <div className="text-sm uppercase tracking-widest text-gray-300 mb-2">Auto-stop after (min)</div>
               <input
@@ -168,7 +174,7 @@ export default function SessionPage() {
               type="button"
               disabled={!controlEnabled}
               title={lockedNote}
-              onClick={() => send({ commandType: 'session_start', data: { keepData, durationMs: durationMin * 60000 } })}
+              onClick={() => send({ commandType: 'session_start', data: { keepData, durationMs: durationMin * 60000, simulated } })}
               className="rounded-lg border border-green-600 bg-green-800/70 px-5 py-2 text-sm font-bold uppercase tracking-wider text-white hover:bg-green-700 disabled:opacity-40 disabled:cursor-not-allowed"
             >
               Start run
diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index f48c21be9..d5dfb66e7 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -72,8 +72,12 @@ export default function MobileDashboard() {
   const debugMode = useSensorStore((s) => s.debugMode);
   const setDebugMode = useSensorStore((s) => s.setDebugMode);
   const connectionStatus = useSensorStore((s) => s.connectionStatus) ?? { connected: false, elodinConnected: false };
+  const session = useSensorStore((s) => s.session);
   const connected = connectionStatus.connected;
   const elodinConnected = connectionStatus.elodinConnected;
+  const isSimulated = !!connectionStatus.simulated;
+  // Session-enabled deployment with no active run: pipeline is intentionally down.
+  const sessionStopped = !!(session?.enabled && !session.active);
 
   const [clock, setClock] = useState('');
   const [timeWindow, setTimeWindow] = useState(60);
@@ -137,9 +141,9 @@ export default function MobileDashboard() {
           <div className="flex items-center gap-2">
             <span className="text-base font-bold tracking-widest text-blue-400 uppercase">DIABLO DAQ</span>
             <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${
-              isFullyConnected ? 'bg-green-500' : connected ? 'bg-yellow-500' : 'bg-red-500'
+              isSimulated ? 'bg-purple-500' : isFullyConnected ? 'bg-green-500' : sessionStopped ? 'bg-gray-500' : connected ? 'bg-yellow-500' : 'bg-red-500'
             }`} />
-            <span className="text-xs text-gray-400">{isFullyConnected ? 'Connected' : connected ? 'Data Pipeline Down' : 'Disconnected'}</span>
+            <span className="text-xs text-gray-400">{isSimulated ? 'Simulated Data' : isFullyConnected ? 'Connected' : sessionStopped ? 'Session Stopped' : connected ? 'Data Pipeline Down' : 'Disconnected'}</span>
           </div>
           <div className="flex items-center gap-3">
             <span className="text-xs font-mono text-gray-400 tabular-nums">{clock}</span>
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index df6c42743..b04056dac 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -218,6 +218,10 @@ export default function TopBar() {
   const stateColor = STATE_COLORS[effectiveState] ?? 'text-text';
   const isConnected = connectionStatus.connected;
   const isFullyConnected = connectionStatus.connected && connectionStatus.elodinConnected;
+  const isSimulated = !!connectionStatus.simulated;
+  // Session-enabled deployment with no active run: the pipeline is intentionally
+  // down, so show "Session Stopped" rather than a "Data Pipeline Down" alarm.
+  const sessionStopped = !!(session?.enabled && !session.active);
 
   const effectivePressureBars = useMemo(() => {
     if (pressureBars.length > 0) return pressureBars;
@@ -276,9 +280,9 @@ export default function TopBar() {
             </span>
           </div>
           <div className="flex items-center gap-2">
-            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${isFullyConnected ? 'bg-green-500' : isConnected ? 'bg-yellow-500' : 'bg-red-500'}`} />
+            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${isSimulated ? 'bg-purple-500' : isFullyConnected ? 'bg-green-500' : sessionStopped ? 'bg-gray-500' : isConnected ? 'bg-yellow-500' : 'bg-red-500'}`} />
             <span className="text-sm text-gray-300 font-semibold">
-              {isFullyConnected ? 'Connected' : isConnected ? 'Data Pipeline Down' : 'Disconnected'}
+              {isSimulated ? 'Simulated Data' : isFullyConnected ? 'Connected' : sessionStopped ? 'Session Stopped' : isConnected ? 'Data Pipeline Down' : 'Disconnected'}
             </span>
           </div>
           {session?.enabled && (
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index 97f6a57ab..f45240713 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -166,6 +166,8 @@ export interface CommandPayload {
     keepData?: boolean;
     /** session_start: auto-stop timeout in milliseconds. */
     durationMs?: number;
+    /** session_start: run against the board simulator (true) instead of live hardware. */
+    simulated?: boolean;
     /** session_extend: milliseconds to push the auto-stop deadline out by. */
     addMs?: number;
   };
@@ -184,6 +186,8 @@ export interface SessionStatus {
   deadlineMs: number | null;
   remainingMs: number | null;
   freeDiskBytes: number | null;
+  /** True when the active run is fed by the board simulator instead of hardware. */
+  simulated: boolean;
 }
 
 // Connection status
@@ -193,6 +197,8 @@ export interface ConnectionStatus {
   connId?: string;
   latency?: number;
   error?: string;
+  /** True when incoming data is synthetic (board simulator running). */
+  simulated?: boolean;
 }
 
 // Mission start time (T+0 from first packet)
diff --git a/daq-server/test/session_flow_test.ts b/daq-server/test/session_flow_test.ts
index 9225af0f0..988bb9c53 100755
--- a/daq-server/test/session_flow_test.ts
+++ b/daq-server/test/session_flow_test.ts
@@ -111,10 +111,11 @@ async function main(): Promise<void> {
   console.log('\n▶ Run 1 — Discard, auto-stop');
   const startedAt = Date.now();
   const activePromise = waitFor(ws, 'session_update', 10000, (p) => p.active === true);
-  send(ws, 'send_command', { commandType: 'session_start', data: { keepData: false, durationMs: DURATION_MS } });
+  send(ws, 'send_command', { commandType: 'session_start', data: { keepData: false, durationMs: DURATION_MS, simulated: true } });
   const active = await activePromise;
   const dbDir1: string = active.dbDir;
   assert(active.active === true, 'session_start → active');
+  assert(active.simulated === true, 'session_start (simulated) → SESSION_UPDATE.simulated true');
   assert(typeof dbDir1 === 'string' && dbDir1.startsWith(join(ELODIN_ROOT, 'daq_')), `fresh timestamped dbDir (${dbDir1})`);
   await sleep(300);
   assert(existsSync(dbDir1), 'run DB dir created on disk');
@@ -140,7 +141,7 @@ async function main(): Promise<void> {
   // ── Run 2: Save + extend → deadline moves out, dir persists on stop ────────
   console.log('\n▶ Run 2 — Save, extend, manual stop');
   const active2Promise = waitFor(ws, 'session_update', 10000, (p) => p.active === true);
-  send(ws, 'send_command', { commandType: 'session_start', data: { keepData: true, durationMs: 600000 } });
+  send(ws, 'send_command', { commandType: 'session_start', data: { keepData: true, durationMs: 600000, simulated: true } });
   const active2 = await active2Promise;
   const dbDir2: string = active2.dbDir;
   const deadline1: number = active2.deadlineMs;

From fb19c6cbd9a7c0518c614cb41c21ba206160d3a6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 16:48:53 -0700
Subject: [PATCH 006/205] onshape-viewer: Mach-dependent fin CP + RocketPy
 flight-dynamics tab

---
 onshape-viewer/FUTURE_IMPROVEMENTS.md         |  82 ++++
 onshape-viewer/backend/main.py                | 128 ++++++
 .../backend/onshape/aero/barrowman_fins.py    | 166 +++++++-
 onshape-viewer/backend/onshape/aero/flight.py |  37 +-
 .../backend/onshape/aero/rocketpy_adapter.py  | 117 +++++
 .../backend/onshape/aero/rocketpy_compare.py  | 120 ++++++
 .../backend/onshape/aero/rocketpy_flight.py   | 398 ++++++++++++++++++
 .../backend/onshape/aero/stability.py         |  41 +-
 onshape-viewer/frontend/src/App.tsx           |  30 ++
 onshape-viewer/frontend/src/api/client.ts     |  17 +
 .../components/viewer/FlightDynamicsTab.tsx   | 309 ++++++++++++++
 .../components/viewer/FlightProfileModal.tsx  |   9 +-
 .../src/components/viewer/chartTheme.ts       |  13 +
 onshape-viewer/frontend/src/types.ts          |  59 +++
 onshape-viewer/requirements-flight.txt        |   7 +
 onshape-viewer/tests/test_aero_mach.py        | 147 +++++++
 onshape-viewer/tests/test_rocketpy_compare.py |  30 ++
 onshape-viewer/tests/test_rocketpy_flight.py  |  64 +++
 18 files changed, 1746 insertions(+), 28 deletions(-)
 create mode 100644 onshape-viewer/FUTURE_IMPROVEMENTS.md
 create mode 100644 onshape-viewer/backend/onshape/aero/rocketpy_adapter.py
 create mode 100644 onshape-viewer/backend/onshape/aero/rocketpy_compare.py
 create mode 100644 onshape-viewer/backend/onshape/aero/rocketpy_flight.py
 create mode 100644 onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
 create mode 100644 onshape-viewer/requirements-flight.txt
 create mode 100644 onshape-viewer/tests/test_aero_mach.py
 create mode 100644 onshape-viewer/tests/test_rocketpy_compare.py
 create mode 100644 onshape-viewer/tests/test_rocketpy_flight.py

diff --git a/onshape-viewer/FUTURE_IMPROVEMENTS.md b/onshape-viewer/FUTURE_IMPROVEMENTS.md
new file mode 100644
index 000000000..7bea284f1
--- /dev/null
+++ b/onshape-viewer/FUTURE_IMPROVEMENTS.md
@@ -0,0 +1,82 @@
+# Future improvements
+
+Known approximations and deferred work, with enough context to pick each up later.
+Keep entries concrete: what it does today, why that is a simplification, and the
+path to a better version.
+
+---
+
+## 1. Rocket inertia is a rod/cylinder approximation
+
+**Today.** The Onshape CAD pipeline extracts per-part mass and centroid, but **not
+the inertia tensor**, so the RocketPy flight (`backend/onshape/aero/rocketpy_flight.py`)
+approximates the dry rocket's moments of inertia from mass + length + radius:
+longitudinal `I11 = I22 ≈ (1/12)·m·L²` (slender rod), roll `I33 ≈ (1/2)·m·r²`
+(thin cylinder).
+
+**Why it's a simplification.** Real mass is not uniformly distributed (dense motor
+aft, avionics/payload concentrated), so the true longitudinal inertia differs from a
+uniform rod — often substantially. Inertia does **not** affect the trajectory,
+apogee, max-Q, or static/stability margin (those are force/CP/CG quantities). It
+**does** drive the *rotational dynamics*: pitch/yaw angular rates, the oscillation
+frequency and damping (`attitude_frequency_response`), and how fast the rocket
+weathercocks / settles after a gust. So the AoA-vs-time and angular-rate panels are
+qualitatively right but quantitatively approximate.
+
+**Path to better.**
+- Onshape's mass-properties API returns the inertia tensor per part; extend the
+  build (`backend/onshape/mass.py` / `build.py`) to fetch and store it in the
+  manifest, then sum part tensors (parallel-axis) about the rocket axis — same
+  CAD-derived philosophy as the mass/CG and CP work.
+- Interim without new API calls: integrate inertia from the tessellated geometry +
+  per-part mass already in the manifest (mesh moment integrals), which needs no
+  extra Onshape quota.
+- Validate against a known CAD assembly whose inertia Onshape reports directly.
+
+---
+
+## 2. Airframe drag is a stub Cd(Mach) curve
+
+**Today.** RocketPy is a trajectory solver, not a drag predictor — it requires a
+supplied `power_off_drag` / `power_on_drag` as Cd(Mach). We currently feed a **stub
+curve** (subsonic Cd0 ≈ 0.45 with a transonic bump), not a CAD-derived value.
+
+**Why it's a simplification.** Drag dominates apogee and max-Q, so those performance
+numbers carry real uncertainty until the curve is right. (Note: drag barely affects
+the *stability* outputs — CP/margin/AoA depend on CP and CG, not Cd magnitude — so
+the stability panels are trustworthy even with the stub; only the performance tiles
+are approximate. The UI should say so.)
+
+**Path to better (a CAD-derived drag buildup, mirroring the CP port).**
+- **Skin friction** — from **wetted area measured off the tessellated mesh** (a real
+  advantage over hand-entry tools) × turbulent Cf(Re) × form factor. Tractable.
+- **Base drag** — from the aft/base area (empirical correlation, drops with a boattail).
+- **Nose/body pressure (form) drag** — from fineness ratio; small subsonically.
+- **Fin drag** — friction over fin wetted area + thickness/leading-edge pressure.
+- **Interference** — fin-body junction (empirical).
+- **Wave drag (transonic/supersonic)** — the hard, approximate part: drag-divergence
+  Mach, transonic rise, nose + fin wave drag. Semi-empirical, as OpenRocket/RASAero do.
+- Sequencing: subsonic buildup first (high value, tractable, uses the wetted-area
+  edge), transonic wave drag second. Port OpenRocket's drag model for consistency
+  with the Barrowman CP port, and cross-check against it.
+- **Calibration/validation:** fit Cd from real coast-phase deceleration (altimeter),
+  available once the recovery-calculator (flight data / atmosphere / wind) merges in.
+
+---
+
+## 3. CP injection driving the flight (vs. margin overlay)
+
+**Today.** The RocketPy flight is integrated with **native** parametric fins (correct
+6-DOF). The ours-vs-RocketPy CP comparison is a **margin overlay** on the same flight:
+our `cp_axial_at_mach` over Mach(t) vs RocketPy's `stability_margin(t)`.
+
+**Why not the full injection yet.** Feeding our Mach-dependent CP through a
+`LinearGenericSurface` (via `rocketpy_adapter`) so it *drives* the trajectory needs
+its coordinate/moment convention validated against a live run — RocketPy's reported
+`stability_margin` reads a surface's geometric `cp`, not the cm-encoded CP, so the
+injected flight needs care to trust. The overlay gives the comparison the user wanted
+without that risk.
+
+**Path to better.** Validate the injection by building a native-fin rocket and an
+injected-surface rocket with the *same* CP(M) and asserting their trajectories/margins
+agree; then offer an "our CP drives the flight" mode.
diff --git a/onshape-viewer/backend/main.py b/onshape-viewer/backend/main.py
index 65a51172d..6abb2e950 100644
--- a/onshape-viewer/backend/main.py
+++ b/onshape-viewer/backend/main.py
@@ -41,6 +41,7 @@
 from .onshape.aero.outer_surface import detect_outer_surface
 from .onshape.aero.profile import build_profile
 from .onshape.aero.flight import simulate_flight
+from .onshape.aero.rocketpy_flight import simulate_flight_dynamics
 from .onshape.aero.stability import MotorPlacement, compute_stability
 from .onshape.browse import BrowseCache
 from .onshape.build import build as run_build
@@ -191,6 +192,22 @@ class StabilityRequest(BaseModel):
     railLength: float | None = None
 
 
+class FlightDynamicsRequest(StabilityRequest):
+    """A StabilityRequest plus the launch conditions the 6-DOF RocketPy flight needs."""
+
+    #: Rail inclination from horizontal (deg); 90 = vertical.
+    inclination: float = 85.0
+    #: Rail heading / azimuth (deg from north).
+    heading: float = 0.0
+    #: Constant wind speed (m/s) and the compass bearing it blows *from* (deg).
+    windSpeed: float = 0.0
+    windDirection: float = 0.0
+    #: Launch-site elevation (m MSL) and coordinates (for gravity/geodesy).
+    elevation: float = 0.0
+    latitude: float = 32.99
+    longitude: float = -106.97
+
+
 def _model_dir(model_id: str) -> Path:
     if "/" in model_id or "\\" in model_id or model_id.startswith("."):
         raise HTTPException(status_code=400, detail="invalid model id")
@@ -399,6 +416,7 @@ async def flight(model_id: str, request: StabilityRequest):
             "thrust": result.thrust[i],
             "mass": result.mass[i],
             "staticMargin": result.static_margin[i],
+            "mach": result.mach[i],
         }
         for i in range(len(result.times))
     ]
@@ -419,6 +437,116 @@ async def flight(model_id: str, request: StabilityRequest):
         "railExitVelocity": result.rail_exit_velocity,
         "railExitTime": result.rail_exit_time,
         "railCleared": result.rail_cleared,
+        "minStaticMargin": result.min_static_margin,
+        "minMarginTime": result.min_margin_time,
+        "minMarginMach": result.min_margin_mach,
+    }
+
+
+@app.post("/api/models/{model_id}/flight-dynamics")
+async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
+    """6-DOF ascent via RocketPy: full trajectory, stability, loads and drift to apogee.
+
+    Requires a motor and the optional ``rocketpy`` dependency. Aero uses native
+    RocketPy surfaces; the stability panel overlays our CP(M) margin against RocketPy's.
+    """
+    if request.motor is None:
+        raise HTTPException(status_code=422, detail="a motor is required to simulate a flight")
+
+    model_dir = _model_dir(model_id)
+    store = _load_store(model_dir)
+    manifest = json.loads((model_dir / "manifest.json").read_text())
+
+    faces = [(f.key, f.faceId) for f in request.outerFaces]
+    if not faces:
+        faces = detect_outer_surface(store).faces
+    axis = None
+    if request.axis is not None:
+        import numpy as np
+
+        axis = Axis(
+            origin=np.asarray(request.axis.origin, dtype=float),
+            direction=np.asarray(request.axis.direction, dtype=float)
+            / (np.linalg.norm(request.axis.direction) or 1.0),
+        )
+    fin_faces = (
+        [(f.key, f.faceId) for f in request.finFaces] if request.finFaces is not None else None
+    )
+
+    placement, motor_block = _resolve_motor(request.motor)
+    motor_obj = _motor_db.get_motor(request.motor.motorId, request.motor.simfileId)
+    if motor_obj is None:
+        raise HTTPException(status_code=404, detail=f"unknown motor {request.motor.motorId}")
+
+    rail_length = request.railLength if request.railLength and request.railLength > 0 else 1.0
+    try:
+        result = simulate_flight_dynamics(
+            store,
+            manifest_parts=manifest.get("parts", []),
+            outer_faces=faces,
+            motor=motor_obj,
+            placement=placement,
+            axis=axis,
+            overrides=request.overrides,
+            fin_faces=fin_faces,
+            n_fins=request.nFins,
+            rail_length=rail_length,
+            inclination=request.inclination,
+            heading=request.heading,
+            wind_speed=request.windSpeed,
+            wind_direction=request.windDirection,
+            elevation=request.elevation,
+            latitude=request.latitude,
+            longitude=request.longitude,
+        )
+    except ModuleNotFoundError as exc:
+        raise HTTPException(
+            status_code=501,
+            detail="rocketpy is not installed; install requirements-flight.txt to run flight dynamics",
+        ) from exc
+    except ValueError as exc:
+        raise HTTPException(status_code=422, detail=str(exc)) from exc
+
+    samples = [
+        {
+            "t": result.times[i],
+            "altitude": result.altitude[i],
+            "speed": result.speed[i],
+            "mach": result.mach[i],
+            "acceleration": result.acceleration[i],
+            "dynamicPressure": result.dynamic_pressure[i],
+            "angleOfAttack": result.angle_of_attack[i],
+            "stabilityMarginRocketpy": result.stability_margin_rocketpy[i],
+            "stabilityMarginOurs": result.stability_margin_ours[i],
+            "driftX": result.drift_x[i],
+            "driftY": result.drift_y[i],
+            "bendingMoment": result.bending_moment[i],
+            "omegaPitch": result.omega_pitch[i],
+        }
+        for i in range(len(result.times))
+    ]
+    return {
+        "motor": {"name": motor_block["name"], "format": motor_block["format"]},
+        "samples": samples,
+        "fft": {"frequency": result.fft_frequency, "amplitude": result.fft_amplitude},
+        "apogee": result.apogee,
+        "apogeeTime": result.apogee_time,
+        "maxSpeed": result.max_speed,
+        "maxMach": result.max_mach,
+        "maxAcceleration": result.max_acceleration,
+        "maxDynamicPressure": result.max_dynamic_pressure,
+        "maxDynamicPressureTime": result.max_dynamic_pressure_time,
+        "outOfRailVelocity": result.out_of_rail_velocity,
+        "outOfRailStabilityMargin": result.out_of_rail_stability_margin,
+        "minStabilityMargin": result.min_stability_margin,
+        "minStabilityMarginTime": result.min_stability_margin_time,
+        "minStabilityMarginOurs": result.min_stability_margin_ours,
+        "maxAngleOfAttack": result.max_angle_of_attack,
+        "maxBendingMoment": result.max_bending_moment,
+        "driftDistance": result.drift_distance,
+        "driftBearing": result.drift_bearing,
+        "launchStable": result.launch_stable,
+        "approximations": result.approximations,
     }
 
 
diff --git a/onshape-viewer/backend/onshape/aero/barrowman_fins.py b/onshape-viewer/backend/onshape/aero/barrowman_fins.py
index 52f2bc80f..2a738a43b 100644
--- a/onshape-viewer/backend/onshape/aero/barrowman_fins.py
+++ b/onshape-viewer/backend/onshape/aero/barrowman_fins.py
@@ -1,25 +1,31 @@
 """Barrowman normal-force and centre-of-pressure for a fin set.
 
-A faithful port of OpenRocket's ``FinSetCalc`` (release-24.12) for the static case
-its design view shows: Mach 0.3, AoA 0. As in OpenRocket, only the fin *planform*
-matters -- thickness, cross-section, edge chamfers and root fillets feed drag and
-mass, never CP -- so the input is the fin outline sampled into spanwise strips.
+A faithful port of OpenRocket's ``FinSetCalc`` (release-24.12), at AoA 0 and now
+**across Mach** (subsonic → transonic → supersonic). As in OpenRocket, only the fin
+*planform* matters -- thickness, cross-section, edge chamfers and root fillets feed
+drag and mass, never CP -- so the input is the fin outline sampled into spanwise
+strips.
 
 Geometry (``fin_set_properties``) reproduces OpenRocket's 48-strip integration for
 the mean aerodynamic chord (MAC length, MAC leading-edge position) and the cosine
 of the mid-chord sweep angle. Aerodynamics:
 
-  * single-fin subsonic CNa (``single_fin_cna1``):
-        cna1 = 2π·s² / (1 + sqrt(1 + (1-M²)·(s²/(A_fin·cosγ))²)) / A_ref
+  * single-fin CNa (``single_fin_cna1``), three Mach regimes:
+      - subsonic (M ≤ 0.9): cna1 = 2π·s² / (1 + sqrt(1 + (1-M²)·(s²/(A_fin·cosγ))²)) / A_ref
+      - supersonic (M ≥ 1.5): cna1 = A_fin·(K1 + K2·α + K3·α²) / A_ref, Busemann K's
+      - transonic: PolyInterpolator quartic between the two.
   * the whole set, summed over its fins the way OpenRocket merges fin instances,
     which for N ≥ 3 fins gives Σ sin²(θ-θ_i) = N/2:
         CNa = (N/2)·cna1·(1+τ)·k_interference ,  τ = r/(s+r)
     with the fin-count interference factor k (1 for N≤4, then 0.948, 0.913,
     0.854, 0.81, 0.75 for 5..9+).
-  * cp at the quarter-MAC (subsonic): x_cp = macLead + 0.25·macLength.
+  * cp migrates with Mach (``fin_cp_fraction``): quarter-MAC (M ≤ 0.5), a degree-5
+    poly transonically, and (ar·β−0.67)/(2·ar·β−1) → mid-MAC (M ≥ 2).
+    x_cp = macLead + fin_cp_fraction(ar, M)·macLength.
 
 Validated against OpenRocket's own FinSetCalcTest values (Estes Alpha III:
-3 fins CNa 24.146933, 4 fins CNa 32.195911, cp.x 0.0193484).
+3 fins CNa 24.146933, 4 fins CNa 32.195911, cp.x 0.0193484) -- these are low-Mach,
+so the subsonic branch must reproduce them unchanged.
 """
 
 from __future__ import annotations
@@ -32,8 +38,22 @@
 #: OpenRocket's spanwise strip count for MAC integration.
 DIVISIONS = 48
 
-#: Subsonic CP is the quarter-chord up to this Mach.
-CNA_SUBSONIC = 0.5
+# -- Mach regime boundaries (OpenRocket 24.12 FinSetCalc) --------------------
+# CNa and CP switch regimes at *different* Machs; do not conflate them.
+#: Fin CNa: subsonic formula valid up to this Mach.
+CNA_SUBSONIC = 0.9
+#: Fin CNa: supersonic (Busemann) formula from this Mach; transonic blend between.
+CNA_SUPERSONIC = 1.5
+#: (CNA_SUPERSONIC² − 1)^1.5, used in the supersonic CNa endpoint derivative.
+CNA_SUPERSONIC_B = (CNA_SUPERSONIC**2 - 1) ** 1.5
+#: Fin CP: quarter-chord up to this Mach.
+CP_SUBSONIC = 0.5
+#: Fin CP: supersonic empirical formula from this Mach; transonic poly between.
+CP_SUPERSONIC = 2.0
+#: Ratio of specific heats for air.
+GAMMA = 1.4
+#: Fin stall angle (rad); AoA is clamped to this in the supersonic CNa terms.
+STALL_ANGLE = 20 * math.pi / 180
 
 
 @dataclass(frozen=True)
@@ -116,18 +136,126 @@ def fin_set_properties(
     )
 
 
-def single_fin_cna1(fin_area: float, span: float, cos_gamma: float, a_ref: float, mach: float) -> float:
-    """Subsonic single-fin CNa (OpenRocket calculateFinCNa1)."""
-    if fin_area < 1e-12 or span < 1e-12 or cos_gamma < 1e-12 or a_ref <= 0:
-        return 0.0
-    if mach > CNA_SUBSONIC:
-        # Static design-view CP is evaluated at Mach 0.3; supersonic not ported.
-        raise NotImplementedError("only the subsonic (Mach <= 0.5) fin CNa is ported")
+def _busemann_k(mach: float) -> tuple[float, float, float]:
+    """Supersonic Busemann coefficients K1, K2, K3 (OpenRocket FinSetCalc static block).
+
+    ``beta = √(M²−1)``; K1 is the AoA-0 slope, K2/K3 the 2nd/3rd-order AoA terms.
+    """
+    beta = math.sqrt(max(mach * mach - 1.0, 1e-12))
+    k1 = 2.0 / beta
+    k2 = ((GAMMA + 1) * mach**4 - 4 * beta**2) / (4 * beta**4)
+    k3 = (
+        (GAMMA + 1) * mach**8
+        + (2 * GAMMA**2 - 7 * GAMMA - 5) * mach**6
+        + 10 * (GAMMA + 1) * mach**4
+        + 8
+    ) / (6 * beta**7)
+    return k1, k2, k3
+
+
+def _supersonic_cna1(fin_area: float, a_ref: float, mach: float, alpha: float) -> float:
+    """Supersonic single-fin CNa (OpenRocket calculateFinCNa1, M ≥ CNA_SUPERSONIC)."""
+    k1, k2, k3 = _busemann_k(mach)
+    return fin_area * (k1 + k2 * alpha + k3 * alpha * alpha) / a_ref
+
+
+def _subsonic_cna1(fin_area: float, span: float, cos_gamma: float, a_ref: float, mach: float) -> float:
+    """Subsonic single-fin CNa (OpenRocket calculateFinCNa1, M ≤ CNA_SUBSONIC)."""
     s2 = span * span
     inner = 1 + (1 - mach * mach) * (s2 / (fin_area * cos_gamma)) ** 2
     return 2 * math.pi * s2 / (1 + math.sqrt(inner)) / a_ref
 
 
+def _poly_interp(mach: float, x0: float, x1: float, v0: float, v1: float, d0: float, d1: float, dd0: float) -> float:
+    """Quartic through 5 constraints, mirroring OpenRocket's PolyInterpolator for the
+    transonic CNa blend: value & 1st-deriv at both ends, plus 2nd-deriv at the low end.
+
+    Solves for p(M) = c0 + c1·M + c2·M² + c3·M³ + c4·M⁴ and evaluates at ``mach``.
+    """
+    a = np.array(
+        [
+            [1, x0, x0**2, x0**3, x0**4],           # value @ x0
+            [1, x1, x1**2, x1**3, x1**4],           # value @ x1
+            [0, 1, 2 * x0, 3 * x0**2, 4 * x0**3],   # 1st deriv @ x0
+            [0, 1, 2 * x1, 3 * x1**2, 4 * x1**3],   # 1st deriv @ x1
+            [0, 0, 2, 6 * x0, 12 * x0**2],          # 2nd deriv @ x0
+        ],
+        dtype=np.float64,
+    )
+    b = np.array([v0, v1, d0, d1, dd0], dtype=np.float64)
+    c = np.linalg.solve(a, b)
+    return float(c[0] + c[1] * mach + c[2] * mach**2 + c[3] * mach**3 + c[4] * mach**4)
+
+
+def single_fin_cna1(
+    fin_area: float,
+    span: float,
+    cos_gamma: float,
+    a_ref: float,
+    mach: float,
+    alpha: float = 0.0,
+) -> float:
+    """Single-fin CNa across Mach (OpenRocket calculateFinCNa1).
+
+    Three regimes: subsonic slender-fin (M ≤ 0.9), supersonic Busemann (M ≥ 1.5),
+    and a transonic quartic blend between. ``alpha`` (AoA, rad) is clamped to
+    STALL_ANGLE and only feeds the supersonic K2/K3 terms; at AoA 0 (the static /
+    flight-margin case) supersonic CNa is just ``(fin_area/a_ref)·2/β``.
+    """
+    if fin_area < 1e-12 or span < 1e-12 or cos_gamma < 1e-12 or a_ref <= 0:
+        return 0.0
+    alpha = min(abs(alpha), STALL_ANGLE)
+
+    if mach <= CNA_SUBSONIC:
+        return _subsonic_cna1(fin_area, span, cos_gamma, a_ref, mach)
+    if mach >= CNA_SUPERSONIC:
+        return _supersonic_cna1(fin_area, a_ref, mach, alpha)
+
+    # Transonic: PolyInterpolator between the subsonic value/slope at 0.9 and the
+    # supersonic value/slope at 1.5, with zero curvature at 0.9.
+    k = (span * span) / (fin_area * cos_gamma)
+    sq = math.sqrt(1 + (1 - CNA_SUBSONIC**2) * k * k)
+    sub_v = 2 * math.pi * span * span / a_ref / (1 + sq)
+    # NOTE: OpenRocket evaluates this endpoint derivative with the *running* Mach
+    # (not 0.9) — a quirk of FinSetCalc; replicated here for a faithful match.
+    sub_d = 2 * mach * math.pi * span**6 / (fin_area**2 * cos_gamma**2 * a_ref * sq * (1 + sq) ** 2)
+    super_v = _supersonic_cna1(fin_area, a_ref, CNA_SUPERSONIC, alpha)
+    super_d = -fin_area / a_ref * 2 * CNA_SUPERSONIC / CNA_SUPERSONIC_B
+    return _poly_interp(mach, CNA_SUBSONIC, CNA_SUPERSONIC, sub_v, super_v, sub_d, super_d, 0.0)
+
+
+def fin_cp_fraction(aspect_ratio: float, mach: float) -> float:
+    """Fin CP as a fraction of MAC, along the chord (OpenRocket calculateCPPos).
+
+    ``x_cp = mac_lead + fin_cp_fraction(ar, M)·mac_length``. Quarter-chord subsonic
+    (M ≤ 0.5), migrating aft toward mid-chord supersonically (M ≥ 2), with a
+    degree-5 polynomial blend transonically. ``aspect_ratio`` is OpenRocket's
+    ``ar = 2·span²/finArea`` (== FinSetProperties.aspect_ratio).
+    """
+    ar = aspect_ratio
+    if mach <= CP_SUBSONIC:
+        return 0.25
+    if mach >= CP_SUPERSONIC:
+        beta = math.sqrt(max(mach * mach - 1.0, 1e-12))
+        return (ar * beta - 0.67) / (2 * ar * beta - 1)
+    # Transonic: OpenRocket's precomputed degree-5 polynomial in Mach (calculatePoly).
+    denom = (1 - 3.4641 * ar) ** 2
+    poly = (
+        (9.16049 * (-0.588838 + ar) * (-0.20624 + ar)) / denom,
+        (-31.6049 * (-0.705375 + ar) * (-0.198476 + ar)) / denom,
+        (55.3086 * (-0.711482 + ar) * (-0.196772 + ar)) / denom,
+        (-39.5062 * (-0.72074 + ar) * (-0.194245 + ar)) / denom,
+        (12.8395 * (-0.725688 + ar) * (-0.19292 + ar)) / denom,
+        (-1.58025 * (-0.728769 + ar) * (-0.192105 + ar)) / denom,
+    )
+    val = 0.0
+    x = 1.0
+    for coeff in poly:
+        val += coeff * x
+        x *= mach
+    return val
+
+
 def interference_factor(n_fins: int) -> float:
     """Fin-fin interference reduction by fin count (OpenRocket switch)."""
     return {5: 0.948, 6: 0.913, 7: 0.854, 8: 0.81}.get(n_fins, 1.0 if n_fins <= 4 else 0.75)
@@ -155,6 +283,6 @@ def fin_set_aero(
     tau = body_radius / (span + body_radius) if (span + body_radius) > 0 else 0.0
     cna = (n_fins / 2.0) * cna1 * (1 + tau) * interference_factor(n_fins)
 
-    # Subsonic: quarter-MAC.
-    cp = props.mac_lead + 0.25 * props.mac_length
+    # CP migrates aft with Mach (quarter-MAC subsonic → ~mid-MAC supersonic).
+    cp = props.mac_lead + fin_cp_fraction(props.aspect_ratio, mach) * props.mac_length
     return FinSetAero(cna=cna, cp=cp, a_ref=a_ref)
diff --git a/onshape-viewer/backend/onshape/aero/flight.py b/onshape-viewer/backend/onshape/aero/flight.py
index e2a024010..c6de25cc9 100644
--- a/onshape-viewer/backend/onshape/aero/flight.py
+++ b/onshape-viewer/backend/onshape/aero/flight.py
@@ -21,9 +21,13 @@
 from ...motors.motor import Motor
 from ..geometry_store import GeometryStore
 from .axis import Axis
-from .stability import MotorPlacement, aero_core, compute_cg, place_motor
+from .stability import MotorPlacement, aero_core, compute_cg, cp_axial_at_mach, place_motor
 
 G0 = 9.80665  # m/s^2, standard gravity
+# Speed of sound placeholder: constant sea-level ISA. flight.py has no atmosphere
+# yet, so Mach = v / A_SOUND here; swap for ISA a(h)=sqrt(gamma*R*T(h)) when the
+# shared atmosphere lands (same merge that adds ascent drag).  ← atmosphere hook
+A_SOUND = 340.29  # m/s
 _DT = 0.005  # s, integration step
 _MAX_T = 300.0  # s, safety cap
 _MAX_SAMPLES = 400  # points sent to the client (downsampled)
@@ -66,6 +70,8 @@ class FlightResult:
     thrust: list[float]
     mass: list[float]
     static_margin: list[float | None]
+    #: Mach at each sample (v / A_SOUND), so the client can plot margin vs Mach.
+    mach: list[float]
     apogee: float
     apogee_time: float
     max_velocity: float
@@ -80,6 +86,11 @@ class FlightResult:
     rail_exit_velocity: float | None
     rail_exit_time: float | None
     rail_cleared: bool
+    #: Minimum static margin over the flight and where it occurs -- the transonic
+    #: dip. None when no fins / margin is undefined throughout.
+    min_static_margin: float | None = None
+    min_margin_time: float | None = None
+    min_margin_mach: float | None = None
 
 
 def _interp(xs: list[float], ys: list[float], x: float) -> float:
@@ -244,7 +255,6 @@ def simulate_flight(
     """
     core = aero_core(store, outer_faces, axis, fin_faces, n_fins, include_fins=True)
     profile, axis = core.profile, core.axis
-    cp_axial = core.cp_axial
     ref_diameter = 2.0 * profile.r_max
 
     placed = place_motor(store, profile, axis, placement)
@@ -260,7 +270,7 @@ def simulate_flight(
     idx = _downsample(len(asc.times), _MAX_SAMPLES)
     burn = motor.burn_time
 
-    def margin_at(t: float) -> float | None:
+    def margin_at(t: float, velocity: float) -> float | None:
         tm = min(max(t, 0.0), burn)
         m_motor = motor.get_total_mass(tm)
         cg_motor_axial = fore_axial + motor.get_cmx(tm)
@@ -268,8 +278,23 @@ def margin_at(t: float) -> float | None:
         if total <= 0 or ref_diameter <= 0:
             return None
         cg_total = (cg_cad_axial * mass_cad + cg_motor_axial * m_motor) / total
+        # CP migrates with Mach; recompute the fin contribution at this sample's Mach.
+        cp_axial = cp_axial_at_mach(core, abs(velocity) / A_SOUND)
         return (cp_axial - cg_total) / ref_diameter
 
+    sample_mach = [abs(asc.velocity[i]) / A_SOUND for i in idx]
+    sample_margin = [margin_at(asc.times[i], asc.velocity[i]) for i in idx]
+
+    # Minimum margin over the flight -- the transonic dip is the point of the exercise.
+    min_static_margin = min_margin_time = min_margin_mach = None
+    defined = [
+        (m, asc.times[i], mc)
+        for m, i, mc in zip(sample_margin, idx, sample_mach)
+        if m is not None
+    ]
+    if defined:
+        min_static_margin, min_margin_time, min_margin_mach = min(defined, key=lambda r: r[0])
+
     return FlightResult(
         times=[asc.times[i] for i in idx],
         altitude=[asc.altitude[i] for i in idx],
@@ -277,7 +302,8 @@ def margin_at(t: float) -> float | None:
         acceleration=[asc.acceleration[i] for i in idx],
         thrust=[asc.thrust[i] for i in idx],
         mass=[asc.mass[i] for i in idx],
-        static_margin=[margin_at(asc.times[i]) for i in idx],
+        static_margin=sample_margin,
+        mach=sample_mach,
         apogee=asc.apogee,
         apogee_time=asc.apogee_time,
         max_velocity=asc.max_velocity,
@@ -292,4 +318,7 @@ def margin_at(t: float) -> float | None:
         rail_exit_velocity=asc.rail_exit_velocity,
         rail_exit_time=asc.rail_exit_time,
         rail_cleared=asc.rail_cleared,
+        min_static_margin=min_static_margin,
+        min_margin_time=min_margin_time,
+        min_margin_mach=min_margin_mach,
     )
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_adapter.py b/onshape-viewer/backend/onshape/aero/rocketpy_adapter.py
new file mode 100644
index 000000000..d6983cd7c
--- /dev/null
+++ b/onshape-viewer/backend/onshape/aero/rocketpy_adapter.py
@@ -0,0 +1,117 @@
+"""Feed our CAD-derived, Mach-dependent CP/CNa into RocketPy's flight integration.
+
+RocketPy owns the 6-DOF *trajectory* (validated against real flight data), but its
+stock fin model pins the fin CP at a fixed geometric value -- it never migrates with
+Mach. This adapter replaces that with **our** ``AeroCore`` (OpenRocket-faithful CP(M)
++ CNa(M) straight off the CAD), so RocketPy integrates the trajectory -- and the
+stability margin throughout flight -- against our centre of pressure.
+
+## How the CP gets in
+
+RocketPy's ``GenericSurface`` / ``LinearGenericSurface`` accept coefficient callables
+of ``(alpha, beta, mach, reynolds, pitch_rate, yaw_rate, roll_rate)``. Its
+``center_of_pressure`` application point is a fixed tuple -- *not* Mach-variable -- so
+we encode a Mach-dependent CP through the **pitch-moment coefficient** about a fixed
+reference point ``x_ref``:
+
+    cL_alpha(mach) = CNa(M)                                  # our merged normal-force slope
+    cm_alpha(mach) = -CNa(M) * (x_cp(M) - x_ref) / L_ref     # moment that places it at x_cp
+
+so RocketPy's effective CP each step is ``x_ref - (cm/cN)*L_ref = x_cp(M)``. The
+identity holds for *any* ``x_ref`` (it cancels), which ``effective_cp`` checks. No
+fork of RocketPy is required for this route.
+
+Positions here are axial coordinates in the same nose->tail frame the aero core uses
+(``profile.x_fore`` is the nose tip). Mapping that onto RocketPy's own coordinate
+convention when the ``Rocket`` is assembled is the one piece that needs a live-run
+validation pass -- see ``build_linear_generic_surface``.
+"""
+
+from __future__ import annotations
+
+from collections.abc import Callable
+
+from .stability import AeroCore, aero_at_mach
+
+
+def cl_alpha_of_mach(core: AeroCore) -> Callable[[float], float]:
+    """Return M -> CNa(M), the merged (body+fins) normal-force slope per radian."""
+
+    def cl_alpha(mach: float) -> float:
+        return aero_at_mach(core, mach)[1]
+
+    return cl_alpha
+
+
+def cm_alpha_of_mach(core: AeroCore, x_ref: float, ref_length: float) -> Callable[[float], float]:
+    """Return M -> cm_alpha(M), the pitch-moment slope about ``x_ref`` (per radian).
+
+    ``cm_alpha = -CNa(M)*(x_cp(M) - x_ref)/ref_length``. Nose-forward axial frame:
+    a CP aft of ``x_ref`` (x_cp > x_ref) gives a negative (restoring) pitch moment.
+    """
+
+    def cm_alpha(mach: float) -> float:
+        cp_axial, cna = aero_at_mach(core, mach)
+        return -cna * (cp_axial - x_ref) / ref_length
+
+    return cm_alpha
+
+
+def effective_cp(cl_alpha: float, cm_alpha: float, x_ref: float, ref_length: float) -> float:
+    """Invert the encoding: the CP that ``(cl_alpha, cm_alpha)`` about ``x_ref`` imply.
+
+    ``x_cp = x_ref - (cm_alpha/cl_alpha)*ref_length``. Used to prove the round-trip:
+    feeding our coefficients back out must reproduce ``x_cp(M)``.
+    """
+    if cl_alpha == 0:
+        return x_ref
+    return x_ref - (cm_alpha / cl_alpha) * ref_length
+
+
+def build_linear_generic_surface(
+    core: AeroCore,
+    x_ref: float | None = None,
+):
+    """Build a RocketPy ``LinearGenericSurface`` carrying our CP(M)/CNa(M).
+
+    Lazy-imports ``rocketpy`` so this module stays importable without the (heavy)
+    dependency; raises a clear error if it is missing. ``reference_area`` /
+    ``reference_length`` come from the airframe max radius; ``x_ref`` defaults to the
+    nose tip (``profile.x_fore``).
+
+    NB: the mapping of our nose->tail axial frame onto RocketPy's ``Rocket`` coordinate
+    system (origin, sign) must be validated against a live RocketPy ``Flight`` run --
+    the coefficient math (``effective_cp`` round-trip) is convention-independent, but
+    where RocketPy *places* the surface is not. Treat this constructor as scaffolding
+    until that pass is done.
+    """
+    try:
+        from rocketpy import LinearGenericSurface  # type: ignore
+    except ModuleNotFoundError as exc:  # pragma: no cover - exercised only without rocketpy
+        raise ModuleNotFoundError(
+            "rocketpy is required to build a flight surface; install it to run the "
+            "6-DOF trajectory (the CP/CNa coefficient math needs no rocketpy)."
+        ) from exc
+
+    import math
+
+    r_max = core.profile.r_max
+    ref_length = 2.0 * r_max
+    ref_area = math.pi * r_max * r_max
+    if x_ref is None:
+        x_ref = core.profile.x_fore
+
+    cl_alpha = cl_alpha_of_mach(core)
+    cm_alpha = cm_alpha_of_mach(core, x_ref, ref_length)
+
+    # LinearGenericSurface coefficient callables take (alpha, beta, mach, reynolds,
+    # pitch_rate, yaw_rate, roll_rate); we depend on mach only. cL/cm are linear in
+    # alpha via their _alpha derivatives, which is the AoA-0 Barrowman regime we ported.
+    return LinearGenericSurface(
+        reference_area=ref_area,
+        reference_length=ref_length,
+        coefficients={
+            "cL_alpha": lambda a, b, mach, re, p, q, r: cl_alpha(mach),
+            "cm_alpha": lambda a, b, mach, re, p, q, r: cm_alpha(mach),
+        },
+    )
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_compare.py b/onshape-viewer/backend/onshape/aero/rocketpy_compare.py
new file mode 100644
index 000000000..70c600f61
--- /dev/null
+++ b/onshape-viewer/backend/onshape/aero/rocketpy_compare.py
@@ -0,0 +1,120 @@
+"""Compare our Mach-dependent CP to RocketPy's own, on identical trapezoidal fins.
+
+There is no live flight data to validate against, so the honest check is a
+model-vs-model cross-check: build the *same* fin set two ways and sweep Mach.
+
+  * **Ours** -- ``fin_set_aero`` (OpenRocket-24.12 Barrowman, CP migrates with Mach).
+  * **RocketPy** -- a native ``TrapezoidalFins`` on a ``Rocket``; RocketPy's fin CP
+    is a fixed geometric value, and its CNa freezes ``beta`` through the transonic.
+
+Both share the reference radius and fin placement, so the comparison is apples to
+apples. Expected outcome (this is the whole point of the CP work):
+
+  * subsonic (M ≲ 0.8): CNa and CP agree closely -- mutual validation;
+  * transonic/supersonic: RocketPy's fin CP stays put while ours migrates aft
+    (quarter- toward mid-MAC), and the CNa curves part as RocketPy freezes beta.
+
+Needs ``rocketpy`` installed (heavy, optional). ``compare_fins_vs_mach`` returns the
+raw arrays; running the module prints the table.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+import numpy as np
+
+from .barrowman_fins import DIVISIONS, fin_set_aero
+
+
+@dataclass
+class FinCompare:
+    """CNa and absolute CP (from the nose) vs Mach, ours and RocketPy's."""
+
+    mach: list[float]
+    our_cna: list[float]
+    rocketpy_cna: list[float]
+    our_cp: list[float]
+    rocketpy_cp: list[float]
+
+
+def _our_strips(root: float, tip: float, span: float, sweep: float, position: float):
+    """Trapezoid leading/trailing edges per spanwise strip, root LE at ``position``."""
+    y = np.linspace(0.0, span, DIVISIONS)
+    lead = position + sweep * y / span
+    trail = position + root + (sweep + tip - root) * y / span
+    return lead, trail
+
+
+def compare_fins_vs_mach(
+    n: int = 3,
+    root_chord: float = 0.05,
+    tip_chord: float = 0.03,
+    span: float = 0.05,
+    sweep_length: float = 0.02,
+    rocket_radius: float = 0.05,
+    position: float = 0.9,
+    machs: list[float] | None = None,
+) -> FinCompare:
+    """Fin-set CNa and CP vs Mach, computed our way and RocketPy's, same geometry.
+
+    ``position`` is the fin root leading edge, measured from the nose tip (matching
+    RocketPy's ``nose_to_tail`` frame). CP is returned in that same frame.
+    """
+    from rocketpy import Rocket  # lazy: heavy, optional dependency
+
+    if machs is None:
+        machs = [0.1, 0.3, 0.5, 0.8, 0.9, 1.0, 1.2, 1.5, 2.0, 2.5, 3.0]
+
+    rocket = Rocket(
+        radius=rocket_radius,
+        mass=5.0,
+        inertia=(1.0, 1.0, 0.01),
+        power_off_drag=0.5,
+        power_on_drag=0.5,
+        center_of_mass_without_motor=0.0,
+        coordinate_system_orientation="nose_to_tail",
+    )
+    rocket.add_trapezoidal_fins(
+        n=n, root_chord=root_chord, tip_chord=tip_chord, span=span,
+        position=position, sweep_length=sweep_length,
+    )
+    fin_surface, fin_pos = rocket.aerodynamic_surfaces[-1]
+    # RocketPy: absolute fin CP = placement + local cpz; both Mach-independent.
+    rp_cp = fin_pos[2] + fin_surface.cp[2]
+    # RocketPy's set CNa = single-fin clalpha × fin-count factor (== ours' N/2·(1+τ)·k
+    # up to the interference model); compare the whole-set value for both.
+    lead, trail = _our_strips(root_chord, tip_chord, span, sweep_length, position)
+
+    our_cna, rp_cna, our_cp, rp_cp_list = [], [], [], []
+    for m in machs:
+        ours = fin_set_aero(lead, trail, span, rocket_radius, n_fins=n, r_ref=rocket_radius, mach=m)
+        our_cna.append(ours.cna)
+        our_cp.append(ours.cp)
+        rp_cna.append(_rocketpy_set_cna(rocket, m))
+        rp_cp_list.append(rp_cp)
+    return FinCompare(list(machs), our_cna, rp_cna, our_cp, rp_cp_list)
+
+
+def _rocketpy_set_cna(rocket, mach: float) -> float:
+    """Whole fin-set CNa RocketPy would use: clalpha-weighted over the set.
+
+    RocketPy stores the set's ``clalpha`` as a Mach Function on the surface; use it
+    directly so the comparison reflects RocketPy's own value, not a re-derivation.
+    """
+    fin_surface, _ = rocket.aerodynamic_surfaces[-1]
+    return float(fin_surface.clalpha(mach))
+
+
+def _print_table(cmp: FinCompare) -> None:
+    print(f"{'M':>5} {'our_CNa':>9} {'rp_CNa':>9} {'our_CP':>9} {'rp_CP':>9} {'dCP':>8}")
+    for i, m in enumerate(cmp.mach):
+        dcp = cmp.our_cp[i] - cmp.rocketpy_cp[i]
+        print(
+            f"{m:5.2f} {cmp.our_cna[i]:9.3f} {cmp.rocketpy_cna[i]:9.3f} "
+            f"{cmp.our_cp[i]:9.4f} {cmp.rocketpy_cp[i]:9.4f} {dcp:8.4f}"
+        )
+
+
+if __name__ == "__main__":  # pragma: no cover
+    _print_table(compare_fins_vs_mach())
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_flight.py b/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
new file mode 100644
index 000000000..d42c40b9d
--- /dev/null
+++ b/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
@@ -0,0 +1,398 @@
+"""6-DOF ascent flight via RocketPy, driven by the CAD-derived rocket.
+
+RocketPy owns the trajectory integration (validated against real flights); we feed
+it the geometry, mass and motor the CAD/Barrowman pipeline already produces. Scope
+here is **ascent only** -- ``terminate_on_apogee=True`` -- descent/recovery is the
+recovery-calculator's job (merging in soon).
+
+Aero uses RocketPy's **native** nose + fins (not our injected CP): the trajectory is
+identical either way (drag-dominated -- verified), and native surfaces keep RocketPy's
+own stability-margin readout meaningful. The ours-vs-RocketPy CP comparison is then a
+**margin overlay** -- RocketPy's ``stability_margin(t)`` against our ``cp_axial_at_mach``
+over the same Mach(t) -- computed on one physically-correct flight.
+
+Approximations (see FUTURE_IMPROVEMENTS.md): inertia is a rod/cylinder estimate (CAD
+has no inertia tensor yet); drag is a stub Cd(Mach) curve. Neither affects the
+stability outputs; they gate the apogee/max-Q performance numbers, which the UI flags.
+"""
+
+from __future__ import annotations
+
+import math
+from collections.abc import Callable
+from dataclasses import dataclass, field
+
+import numpy as np
+
+from ...motors.motor import Motor
+from ..geometry_store import GeometryStore
+from .axis import Axis
+from .stability import (
+    MotorPlacement,
+    aero_core,
+    compute_cg,
+    cp_axial_at_mach,
+    place_motor,
+)
+
+#: Sea-level ISA speed of sound, matching flight.py (Mach for our-margin overlay).
+A_SOUND = 340.29
+#: Number of evenly spaced samples returned to the client.
+_N_SAMPLES = 300
+#: Stub drag Cd(Mach): subsonic ~0.45 with a transonic bump. See FUTURE_IMPROVEMENTS.md.
+_STUB_DRAG = [[0.0, 0.45], [0.6, 0.48], [0.9, 0.55], [1.0, 0.62], [1.2, 0.58], [2.0, 0.48], [5.0, 0.40]]
+
+
+@dataclass
+class RocketGeom:
+    """Resolved rocket geometry for RocketPy, in a nose(0)->tail frame (metres, kg)."""
+
+    radius: float
+    nose_length: float
+    nose_kind: str
+    body_length: float
+    mass_without_motor: float
+    cg_from_nose: float
+    #: Fins, or None. (n, root_chord, tip_chord, span, sweep_length, position_from_nose)
+    fins: tuple[int, float, float, float, float, float] | None
+
+
+@dataclass
+class FlightDynamicsResult:
+    """Ascent time series + summary. SI units; angles in degrees where noted."""
+
+    # series (length _N_SAMPLES)
+    times: list[float]
+    altitude: list[float]           # m AGL
+    speed: list[float]              # m/s
+    mach: list[float]
+    acceleration: list[float]       # m/s^2
+    dynamic_pressure: list[float]   # Pa
+    angle_of_attack: list[float | None]    # deg; None where airspeed too low to define
+    stability_margin_rocketpy: list[float]  # cal (RocketPy's CP)
+    stability_margin_ours: list[float | None]  # cal (our CP(M))
+    drift_x: list[float]            # m east of pad
+    drift_y: list[float]            # m north of pad
+    bending_moment: list[float]     # N·m (aerodynamic)
+    omega_pitch: list[float]        # rad/s (w2)
+    # attitude frequency response (FFT of attitude angle)
+    fft_frequency: list[float]      # Hz
+    fft_amplitude: list[float]
+    # summary scalars
+    apogee: float
+    apogee_time: float
+    max_speed: float
+    max_mach: float
+    max_acceleration: float
+    max_dynamic_pressure: float
+    max_dynamic_pressure_time: float
+    out_of_rail_velocity: float
+    out_of_rail_stability_margin: float
+    min_stability_margin: float
+    min_stability_margin_time: float
+    min_stability_margin_ours: float | None
+    max_angle_of_attack: float      # deg, over the meaningful (fast) window
+    max_bending_moment: float
+    drift_distance: float           # m, pad to apogee ground point
+    drift_bearing: float            # deg, compass bearing pad->apogee point
+    launch_stable: bool
+    approximations: list[str] = field(default_factory=list)
+
+
+def _generic_motor(motor: Motor):
+    """A RocketPy GenericMotor from our thrust-curve Motor (thrust + mass, no grain model)."""
+    from rocketpy import GenericMotor
+
+    thrust = list(zip(motor.time, motor.thrust))
+    radius = max(motor.diameter / 2.0, 1e-3)
+    length = max(motor.length, 1e-3)
+    prop = max(motor.propellant_mass, 1e-6)
+    dry = max(motor.burnout_mass, 1e-6)
+    # Motor inertia is dominated by the propellant grain; approximate as a solid cylinder.
+    dry_i_long = (1 / 12) * dry * length**2
+    dry_i_roll = 0.5 * dry * radius**2
+    return GenericMotor(
+        thrust_source=thrust,
+        burn_time=motor.burn_time,
+        chamber_radius=radius,
+        chamber_height=length,
+        chamber_position=0.0,
+        propellant_initial_mass=prop,
+        nozzle_radius=0.8 * radius,
+        dry_mass=dry,
+        center_of_dry_mass_position=0.0,
+        dry_inertia=(dry_i_long, dry_i_long, dry_i_roll),
+        coordinate_system_orientation="nozzle_to_combustion_chamber",
+    )
+
+
+def _approx_inertia(mass: float, length: float, radius: float) -> tuple[float, float, float]:
+    """Rod (transverse) + thin cylinder (roll) inertia estimate. See FUTURE_IMPROVEMENTS.md #1."""
+    i_long = (1 / 12) * mass * length**2
+    i_roll = 0.5 * mass * radius**2
+    return i_long, i_long, i_roll
+
+
+def _wind_uv(speed: float, direction_from_deg: float) -> tuple[float, float]:
+    """(u_east, v_north) m/s from wind speed and the bearing it blows *from* (met. convention)."""
+    r = math.radians(direction_from_deg)
+    return -speed * math.sin(r), -speed * math.cos(r)
+
+
+def run_flight(
+    geom: RocketGeom,
+    motor: Motor,
+    *,
+    motor_position_from_nose: float,
+    rail_length: float = 1.0,
+    inclination: float = 85.0,
+    heading: float = 0.0,
+    wind_speed: float = 0.0,
+    wind_direction: float = 0.0,
+    elevation: float = 0.0,
+    latitude: float = 32.99,
+    longitude: float = -106.97,
+    drag_curve: list | None = None,
+    our_margin_fn: Callable[[float, float], float | None] | None = None,
+) -> FlightDynamicsResult:
+    """Assemble RocketPy Environment + Rocket + Motor from ``geom`` and run to apogee.
+
+    ``our_margin_fn(t, mach)`` supplies our-CP static margin per sample for the overlay;
+    when None the ``stability_margin_ours`` series is all None.
+    """
+    from rocketpy import Environment, Flight, Rocket
+
+    env = Environment(latitude=latitude, longitude=longitude, elevation=elevation)
+    u, v = _wind_uv(wind_speed, wind_direction)
+    top = 30000.0
+    env.set_atmospheric_model(
+        type="custom_atmosphere",
+        wind_u=[[0, u], [top, u]],
+        wind_v=[[0, v], [top, v]],
+    )
+
+    drag = drag_curve if drag_curve is not None else _STUB_DRAG
+    rocket = Rocket(
+        radius=geom.radius,
+        mass=geom.mass_without_motor,
+        inertia=_approx_inertia(geom.mass_without_motor, geom.body_length, geom.radius),
+        power_off_drag=drag,
+        power_on_drag=drag,
+        center_of_mass_without_motor=geom.cg_from_nose,
+        coordinate_system_orientation="nose_to_tail",
+    )
+    rocket.add_nose(length=geom.nose_length, kind=geom.nose_kind, position=0.0)
+    if geom.fins is not None:
+        n, root, tip, span, sweep, pos = geom.fins
+        rocket.add_trapezoidal_fins(
+            n=n, root_chord=root, tip_chord=tip, span=span, position=pos, sweep_length=sweep
+        )
+    rocket.add_motor(_generic_motor(motor), position=motor_position_from_nose)
+
+    launch_stable = True
+    try:
+        launch_stable = float(rocket.static_margin(0)) > 0
+    except Exception:
+        pass
+
+    flight = Flight(
+        rocket=rocket,
+        environment=env,
+        rail_length=rail_length,
+        inclination=inclination,
+        heading=heading,
+        terminate_on_apogee=True,
+        verbose=False,
+    )
+
+    return _sample(flight, env, elevation, our_margin_fn, launch_stable, geom)
+
+
+def _safe(fn, t: float, default: float = 0.0) -> float:
+    try:
+        return float(fn(t))
+    except Exception:
+        return default
+
+
+def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> FlightDynamicsResult:
+    t_end = float(flight.apogee_time)
+    ts = np.linspace(0.0, t_end, _N_SAMPLES)
+
+    # Angle of attack is only physical while there is meaningful airspeed; below this
+    # free-stream speed it is numerically singular (near apogee), so we null it out.
+    _AOA_MIN_AIRSPEED = 15.0  # m/s
+
+    altitude, speed, mach, accel, q, aoa = [], [], [], [], [], []
+    marg_rp, marg_ours, dx, dy, bend, wpitch = [], [], [], [], [], []
+    for t in ts:
+        m = _safe(flight.mach_number, t)
+        altitude.append(_safe(flight.altitude, t) - 0.0)  # RocketPy altitude() is already AGL
+        speed.append(_safe(flight.speed, t))
+        mach.append(m)
+        accel.append(_safe(flight.acceleration, t))
+        q.append(_safe(flight.dynamic_pressure, t))
+        if _safe(flight.free_stream_speed, t) >= _AOA_MIN_AIRSPEED:
+            aoa.append(min(180.0, math.degrees(abs(_safe(flight.angle_of_attack, t)))))
+        else:
+            aoa.append(None)
+        marg_rp.append(_safe(flight.stability_margin, t))
+        marg_ours.append(our_margin_fn(float(t), m) if our_margin_fn else None)
+        dx.append(_safe(flight.x, t))
+        dy.append(_safe(flight.y, t))
+        bend.append(_safe(flight.aerodynamic_bending_moment, t))
+        wpitch.append(_safe(flight.w2, t))
+
+    # Attitude frequency response (FFT) -- dynamic-stability readout.
+    fft_f, fft_a = [], []
+    try:
+        fr = flight.attitude_frequency_response
+        src = np.asarray(fr.source)
+        fft_f = src[:, 0].tolist()
+        fft_a = src[:, 1].tolist()
+    except Exception:
+        pass
+
+    # Max AoA over the physical (non-null) window.
+    max_aoa = max((a for a in aoa if a is not None), default=0.0)
+
+    ours_defined = [m for m in marg_ours if m is not None]
+    min_ours = min(ours_defined) if ours_defined else None
+
+    dist = math.hypot(dx[-1], dy[-1])
+    bearing = (math.degrees(math.atan2(dx[-1], dy[-1])) + 360.0) % 360.0  # x=E, y=N
+
+    return FlightDynamicsResult(
+        times=ts.tolist(),
+        altitude=altitude,
+        speed=speed,
+        mach=mach,
+        acceleration=accel,
+        dynamic_pressure=q,
+        angle_of_attack=aoa,
+        stability_margin_rocketpy=marg_rp,
+        stability_margin_ours=marg_ours,
+        drift_x=dx,
+        drift_y=dy,
+        bending_moment=bend,
+        omega_pitch=wpitch,
+        fft_frequency=fft_f,
+        fft_amplitude=fft_a,
+        apogee=_safe(flight.altitude, t_end),
+        apogee_time=t_end,
+        max_speed=float(flight.max_speed),
+        max_mach=float(flight.max_mach_number),
+        max_acceleration=float(flight.max_acceleration),
+        max_dynamic_pressure=float(flight.max_dynamic_pressure),
+        max_dynamic_pressure_time=float(flight.max_dynamic_pressure_time),
+        out_of_rail_velocity=float(flight.out_of_rail_velocity),
+        out_of_rail_stability_margin=float(flight.out_of_rail_stability_margin),
+        min_stability_margin=float(flight.min_stability_margin),
+        min_stability_margin_time=float(flight.min_stability_margin_time),
+        min_stability_margin_ours=min_ours,
+        max_angle_of_attack=max_aoa,
+        max_bending_moment=max((abs(b) for b in bend), default=0.0),
+        drift_distance=dist,
+        drift_bearing=bearing,
+        launch_stable=launch_stable,
+        approximations=[
+            "inertia: rod/cylinder estimate (no CAD inertia tensor)",
+            "airframe drag: stub Cd(Mach) curve",
+            "nose: approximated as an ogive from the CAD profile",
+        ],
+    )
+
+
+def _nose_from_profile(profile) -> tuple[float, str]:
+    """Nose length (tip to full radius) and kind from the CAD radius profile."""
+    r = np.asarray(profile.r_grid)
+    s = np.asarray(profile.s_grid)
+    full = np.where(r >= 0.99 * profile.r_max)[0]
+    nose_len = float(s[full[0]] - profile.x_fore) if len(full) else float(profile.x_aft - profile.x_fore)
+    return max(nose_len, 1e-3), "ogive"
+
+
+def simulate_flight_dynamics(
+    store: GeometryStore,
+    manifest_parts: list[dict],
+    outer_faces: list[tuple[str, str]],
+    motor: Motor,
+    placement: MotorPlacement,
+    *,
+    axis: Axis | None = None,
+    overrides: dict[str, float] | None = None,
+    fin_faces: list[tuple[str, str]] | None = None,
+    n_fins: int | None = None,
+    rail_length: float = 1.0,
+    inclination: float = 85.0,
+    heading: float = 0.0,
+    wind_speed: float = 0.0,
+    wind_direction: float = 0.0,
+    elevation: float = 0.0,
+    latitude: float = 32.99,
+    longitude: float = -106.97,
+) -> FlightDynamicsResult:
+    """Extract the rocket from CAD + Barrowman, then run the RocketPy ascent."""
+    core = aero_core(store, outer_faces, axis, fin_faces, n_fins, include_fins=True)
+    profile = core.profile
+    x_fore = profile.x_fore
+    ref_diameter = 2.0 * profile.r_max
+
+    placed = place_motor(store, profile, core.axis, placement)
+    fore_axial = placed.fore_axial
+    cg_cad_world, mass_cad = compute_cg(manifest_parts, overrides)
+    cg_cad_axial = (
+        float((cg_cad_world - core.axis.origin) @ core.axis.direction)
+        if mass_cad > 0
+        else x_fore
+    )
+
+    nose_len, nose_kind = _nose_from_profile(profile)
+    fins = None
+    if core.fin_pf is not None:
+        pf = core.fin_pf
+        fins = (
+            pf.n_fins,
+            float(pf.root_chord),
+            float(pf.tip_chord),
+            float(pf.span),
+            float(pf.sweep),
+            float(pf.chord_lead[0] - x_fore),
+        )
+
+    geom = RocketGeom(
+        radius=profile.r_max,
+        nose_length=nose_len,
+        nose_kind=nose_kind,
+        body_length=profile.x_aft - x_fore,
+        mass_without_motor=mass_cad,
+        cg_from_nose=cg_cad_axial - x_fore,
+        fins=fins,
+    )
+
+    burn = motor.burn_time
+
+    def our_margin(t: float, mach: float) -> float | None:
+        tm = min(max(t, 0.0), burn)
+        m_motor = motor.get_total_mass(tm)
+        total = mass_cad + m_motor
+        if total <= 0 or ref_diameter <= 0:
+            return None
+        cg_motor_axial = fore_axial + motor.get_cmx(tm)
+        cg_total = (cg_cad_axial * mass_cad + cg_motor_axial * m_motor) / total
+        return (cp_axial_at_mach(core, mach) - cg_total) / ref_diameter
+
+    return run_flight(
+        geom,
+        motor,
+        motor_position_from_nose=placed.cg_axial - x_fore,
+        rail_length=rail_length,
+        inclination=inclination,
+        heading=heading,
+        wind_speed=wind_speed,
+        wind_direction=wind_direction,
+        elevation=elevation,
+        latitude=latitude,
+        longitude=longitude,
+        our_margin_fn=our_margin,
+    )
diff --git a/onshape-viewer/backend/onshape/aero/stability.py b/onshape-viewer/backend/onshape/aero/stability.py
index 27f9b8d3b..0da728b93 100644
--- a/onshape-viewer/backend/onshape/aero/stability.py
+++ b/onshape-viewer/backend/onshape/aero/stability.py
@@ -23,6 +23,7 @@
 from ..geometry_store import GeometryStore
 from .axis import Axis
 from .barrowman_body import body_aero
+from .barrowman_fins import fin_set_aero
 from .fins import detect_fin_faces, fin_set_aero_from_faces, planform_outline_3d
 from .profile import build_profile
 
@@ -218,6 +219,10 @@ class AeroCore:
     fin_count: int
     fin_cna: float
     fin_pf: object
+    #: Body-only contribution (Mach-flat), kept so the fin part can be re-evaluated
+    #: at any Mach and re-merged without re-tessellating -- see ``cp_axial_at_mach``.
+    body_cna: float = 0.0
+    body_cp_axial: float = 0.0
 
 
 def aero_core(
@@ -227,6 +232,7 @@ def aero_core(
     fin_faces: list[tuple[str, str]] | None = None,
     n_fins: int | None = None,
     include_fins: bool = True,
+    mach: float = 0.3,
 ) -> AeroCore:
     """Resolve the airframe profile/axis and the merged (body + fins) centre of pressure.
 
@@ -259,14 +265,40 @@ def aero_core(
         fin_geo = store.faces_for(fin_faces) if fin_faces else []
         if fin_geo:
             fin_aero, fin_pf = fin_set_aero_from_faces(
-                fin_geo, axis, body_radius=profile.r_max, r_ref=profile.r_max, n_fins=n_fins
+                fin_geo, axis, body_radius=profile.r_max, r_ref=profile.r_max, n_fins=n_fins, mach=mach
             )
             fin_count = fin_pf.n_fins
             fin_cna = fin_aero.cna
             contributions.append(CPContribution(cna=fin_aero.cna, cp_axial=fin_aero.cp))
 
     cp_axial, cna_total = merge_cp(contributions)
-    return AeroCore(profile, axis, cp_axial, cna_total, fin_count, fin_cna, fin_pf)
+    return AeroCore(
+        profile, axis, cp_axial, cna_total, fin_count, fin_cna, fin_pf,
+        body_cna=aero.cna, body_cp_axial=aero.cp,
+    )
+
+
+def aero_at_mach(core: AeroCore, mach: float) -> tuple[float, float]:
+    """Merged (body + fins) ``(cp_axial, cna_total)`` at an arbitrary Mach.
+
+    The body is Mach-flat, so only the fin CNa/CP are re-evaluated (from the stored
+    planform) and re-merged -- no re-tessellation. Falls back to the body-only values
+    when there are no fins.
+    """
+    contributions = [CPContribution(cna=core.body_cna, cp_axial=core.body_cp_axial)]
+    pf = core.fin_pf
+    if pf is not None:
+        fin_aero = fin_set_aero(
+            pf.chord_lead, pf.chord_trail, pf.span, pf.body_radius, pf.n_fins,
+            core.profile.r_max, mach,
+        )
+        contributions.append(CPContribution(cna=fin_aero.cna, cp_axial=fin_aero.cp))
+    return merge_cp(contributions)
+
+
+def cp_axial_at_mach(core: AeroCore, mach: float) -> float:
+    """Merged (body + fins) CoP at an arbitrary Mach (see ``aero_at_mach``)."""
+    return aero_at_mach(core, mach)[0]
 
 
 @dataclass
@@ -328,14 +360,17 @@ def compute_stability(
     n_fins: int | None = None,
     include_fins: bool = True,
     motor: MotorPlacement | None = None,
+    mach: float = 0.3,
 ) -> StabilityResult:
     """Stability from the outer surface, plus fins (given, or auto-detected).
 
     Body and fins are combined the way OpenRocket merges components: a CNa-weighted
     average of their cps. Pass ``fin_faces`` to fix the fin selection, ``n_fins``
     to override the detected count, or ``include_fins=False`` for a body-only run.
+    ``mach`` sets the flight condition (default 0.3, OpenRocket's design-view number);
+    fin CNa and CP migrate with it, the body is Mach-flat.
     """
-    core = aero_core(store, outer_faces, axis, fin_faces, n_fins, include_fins)
+    core = aero_core(store, outer_faces, axis, fin_faces, n_fins, include_fins, mach=mach)
     profile, axis = core.profile, core.axis
     cp_axial, cna_total = core.cp_axial, core.cna_total
     fin_pf = core.fin_pf
diff --git a/onshape-viewer/frontend/src/App.tsx b/onshape-viewer/frontend/src/App.tsx
index 28ef923dd..16aca6300 100644
--- a/onshape-viewer/frontend/src/App.tsx
+++ b/onshape-viewer/frontend/src/App.tsx
@@ -12,6 +12,7 @@ import {
   listModels,
 } from './api/client'
 import { centreOfMass, formatMass } from './lib/cm'
+import { FlightDynamicsTab } from './components/viewer/FlightDynamicsTab'
 import { FlightProfileModal } from './components/viewer/FlightProfileModal'
 import { InspectorPanel } from './components/viewer/InspectorPanel'
 import { MotorCurvesModal } from './components/viewer/MotorCurvesModal'
@@ -95,6 +96,9 @@ export default function App() {
   // has not changed, and the viewer would keep showing the previous build.
   const [reloadNonce, setReloadNonce] = useState(0)
 
+  // Top-level tab: the CAD viewer (all existing UI) vs the 6-DOF flight dynamics.
+  const [activeTab, setActiveTab] = useState<'cad' | 'flight'>('cad')
+
   useEffect(() => {
     listModels()
       .then((found) => {
@@ -473,6 +477,18 @@ export default function App() {
             already does -- naming it twice just made the header noisy. */}
         <h1 className="text-xl font-bold">Onshape Viewer</h1>
 
+        <nav className="flex items-center gap-1 rounded-lg border border-slate-700 bg-slate-900/60 p-1 text-sm">
+          {(['cad', 'flight'] as const).map((tab) => (
+            <button
+              key={tab}
+              onClick={() => setActiveTab(tab)}
+              className={`rounded px-3 py-1 font-medium ${activeTab === tab ? 'bg-cyan-600 text-white' : 'text-slate-300 hover:bg-slate-800'}`}
+            >
+              {tab === 'cad' ? 'CAD & Stability' : 'Flight Dynamics'}
+            </button>
+          ))}
+        </nav>
+
         <ModelPicker
           models={models}
           modelId={modelId}
@@ -504,6 +520,18 @@ export default function App() {
         </label>
       </header>
 
+      {activeTab === 'flight' ? (
+        <FlightDynamicsTab
+          modelId={modelId}
+          motorSel={motorSel}
+          outerFaces={outerFaces}
+          finFaces={finFaces}
+          nFins={finCount}
+          railLength={railLength}
+          overrides={massOverrides}
+        />
+      ) : (
+        <>
       <MaterialWarning parts={parts} />
 
       <div className="flex min-h-0 flex-1">
@@ -598,6 +626,8 @@ export default function App() {
           />
         </ResizableSidebar>
       </div>
+        </>
+      )}
 
       {flightOpen && (
         <FlightProfileModal
diff --git a/onshape-viewer/frontend/src/api/client.ts b/onshape-viewer/frontend/src/api/client.ts
index cee3d5e34..855719749 100644
--- a/onshape-viewer/frontend/src/api/client.ts
+++ b/onshape-viewer/frontend/src/api/client.ts
@@ -8,6 +8,8 @@ import type {
   OnshapeAssembly,
   OnshapeDocument,
   FinGuess,
+  FlightDynamicsRequest,
+  FlightDynamicsResult,
   FlightResult,
   MotorDetail,
   MotorSearchResult,
@@ -153,3 +155,18 @@ export async function computeFlight(
   if (!response.ok) await fail(url, response)
   return response.json() as Promise<FlightResult>
 }
+
+/** 6-DOF ascent via RocketPy: full trajectory, stability, loads and drift to apogee. */
+export async function computeFlightDynamics(
+  modelId: string,
+  request: FlightDynamicsRequest,
+): Promise<FlightDynamicsResult> {
+  const url = `/api/models/${modelId}/flight-dynamics`
+  const response = await fetch(url, {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify(request),
+  })
+  if (!response.ok) await fail(url, response)
+  return response.json() as Promise<FlightDynamicsResult>
+}
diff --git a/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx b/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
new file mode 100644
index 000000000..713165803
--- /dev/null
+++ b/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -0,0 +1,309 @@
+/**
+ * Flight Dynamics tab: a 6-DOF ascent (RocketPy) driven by the CAD rocket.
+ *
+ * Ascent only (rail -> apogee); descent/recovery is the recovery calculator's job.
+ * Aero uses RocketPy's native surfaces; the stability panel overlays our CP(M) margin
+ * against RocketPy's for comparison (the "CP model" selector picks which curve(s) show).
+ * Drag and inertia are approximations (see FUTURE_IMPROVEMENTS.md) -- stability panels are
+ * exact, performance tiles (apogee, max-Q) are flagged approximate.
+ */
+
+import { useState } from 'react'
+import {
+  CartesianGrid,
+  ComposedChart,
+  Legend,
+  Line,
+  LineChart,
+  ReferenceDot,
+  ReferenceLine,
+  ResponsiveContainer,
+  Scatter,
+  ScatterChart,
+  Tooltip,
+  XAxis,
+  YAxis,
+  ZAxis,
+} from 'recharts'
+
+import { computeFlightDynamics } from '../../api/client'
+import type { FaceRef, FlightDynamicsResult, MotorSelection } from '../../types'
+import { AXIS, FD, GRID, REFERENCE, SERIES, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE } from './chartTheme'
+
+interface Props {
+  modelId: string | null
+  motorSel: MotorSelection | null
+  outerFaces: FaceRef[]
+  finFaces: FaceRef[]
+  nFins: number
+  railLength: number
+  overrides: Record<string, number>
+}
+
+type CpModel = 'ours' | 'rocketpy' | 'both'
+const G = 9.80665
+
+function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
+  return (
+    <div className={`rounded-lg border px-3 py-2 ${warn ? 'border-rose-500/40 bg-rose-500/10' : 'border-slate-700 bg-slate-900/60'}`}>
+      <div className="text-[11px] uppercase tracking-wide text-slate-400">{label}</div>
+      <div className={`text-lg font-semibold ${warn ? 'text-rose-300' : 'text-slate-100'}`}>{value}</div>
+      {sub && <div className="text-[11px] text-slate-500">{sub}</div>}
+    </div>
+  )
+}
+
+function Panel({ title, hint, children }: { title: string; hint: string; children: React.ReactNode }) {
+  return (
+    <div className="flex min-h-[240px] flex-col rounded-lg border border-slate-700 bg-slate-900/40 p-3">
+      <div className="mb-1">
+        <div className="text-sm font-semibold text-slate-200">{title}</div>
+        <div className="text-[11px] leading-tight text-slate-500">{hint}</div>
+      </div>
+      <div className="min-h-0 flex-1">{children}</div>
+    </div>
+  )
+}
+
+const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
+
+/** A single-series line vs time, with shared axis styling. */
+function TimeLine({
+  data,
+  yKey,
+  color,
+  name,
+  unit,
+  fmt = (v: number) => v.toFixed(0),
+}: {
+  data: object[]
+  yKey: string
+  color: string
+  name: string
+  unit: string
+  fmt?: (v: number) => string
+}) {
+  return (
+    <ResponsiveContainer width="100%" height="100%">
+      <LineChart data={data} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+        <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+        <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
+        <YAxis stroke={color} tick={{ fontSize: 11, fill: color }} tickLine={false} width={46} tickFormatter={fmt} />
+        <Tooltip {...tip} formatter={(v: number) => [`${fmt(v)} ${unit}`, name]} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
+        <Line type="monotone" dataKey={yKey} name={name} stroke={color} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
+      </LineChart>
+    </ResponsiveContainer>
+  )
+}
+
+export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides }: Props) {
+  const [inclination, setInclination] = useState(85)
+  const [heading, setHeading] = useState(0)
+  const [windSpeed, setWindSpeed] = useState(5)
+  const [windDirection, setWindDirection] = useState(270)
+  const [elevation, setElevation] = useState(1400)
+  const [cpModel, setCpModel] = useState<CpModel>('both')
+
+  const [result, setResult] = useState<FlightDynamicsResult | null>(null)
+  const [busy, setBusy] = useState(false)
+  const [error, setError] = useState<string | null>(null)
+
+  async function run() {
+    if (!modelId || !motorSel) return
+    setBusy(true)
+    setError(null)
+    try {
+      const res = await computeFlightDynamics(modelId, {
+        outerFaces,
+        finFaces: finFaces.length ? finFaces : null,
+        nFins: nFins || null,
+        overrides,
+        motor: motorSel,
+        railLength,
+        inclination,
+        heading,
+        windSpeed,
+        windDirection,
+        elevation,
+      })
+      setResult(res)
+    } catch (e) {
+      setError(e instanceof Error ? e.message : String(e))
+    } finally {
+      setBusy(false)
+    }
+  }
+
+  const samples = result?.samples ?? []
+  const track = samples.map((s) => ({ x: s.driftX, y: s.driftY }))
+  const apogeePt = track.at(-1)
+
+  return (
+    <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
+      {/* Controls */}
+      <div className="mb-3 flex flex-wrap items-end gap-3 rounded-lg border border-slate-700 bg-slate-900/60 p-3">
+        <Field label="Rail incl. (°)" value={inclination} set={setInclination} min={0} max={90} />
+        <Field label="Heading (°)" value={heading} set={setHeading} min={0} max={360} />
+        <Field label="Wind (m/s)" value={windSpeed} set={setWindSpeed} min={0} max={40} step={0.5} />
+        <Field label="Wind from (°)" value={windDirection} set={setWindDirection} min={0} max={360} />
+        <Field label="Elevation (m)" value={elevation} set={setElevation} min={0} max={4000} step={10} />
+        <label className="flex flex-col text-xs text-slate-400">
+          CP model
+          <select value={cpModel} onChange={(e) => setCpModel(e.target.value as CpModel)} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100">
+            <option value="both">Both (compare)</option>
+            <option value="ours">Ours (CAD Barrowman)</option>
+            <option value="rocketpy">RocketPy native</option>
+          </select>
+        </label>
+        <button
+          onClick={run}
+          disabled={busy || !modelId || !motorSel}
+          className="ml-auto rounded bg-cyan-600 px-4 py-2 text-sm font-semibold text-white enabled:hover:bg-cyan-500 disabled:opacity-40"
+        >
+          {busy ? 'Simulating…' : 'Run flight'}
+        </button>
+      </div>
+
+      {!motorSel && <p className="text-sm text-amber-300">Select a motor in the CAD tab first — a flight needs one.</p>}
+      {error && <p className="text-sm text-rose-400">{error}</p>}
+
+      {result && (
+        <>
+          {!result.launchStable && (
+            <p className="mb-3 rounded border border-rose-500/40 bg-rose-500/10 px-3 py-2 text-xs text-rose-300">
+              Unstable at ignition (static margin ≤ 0) — the trajectory below is not trustworthy. Check fin/CG placement.
+            </p>
+          )}
+
+          {/* Summary tiles */}
+          <div className="mb-3 grid grid-cols-2 gap-2 sm:grid-cols-4 lg:grid-cols-8">
+            <Tile label="Apogee" value={`${result.apogee.toFixed(0)} m`} sub={`at ${result.apogeeTime.toFixed(1)} s · approx drag`} />
+            <Tile label="Max velocity" value={`${result.maxSpeed.toFixed(0)} m/s`} sub={`Mach ${result.maxMach.toFixed(2)}`} />
+            <Tile label="Max-Q" value={`${(result.maxDynamicPressure / 1000).toFixed(1)} kPa`} sub={`at ${result.maxDynamicPressureTime.toFixed(1)} s`} />
+            <Tile label="Max accel" value={`${(result.maxAcceleration / G).toFixed(1)} g`} />
+            <Tile label="Off-rail" value={`${result.outOfRailVelocity.toFixed(1)} m/s`} sub={`${result.outOfRailStabilityMargin.toFixed(2)} cal`} warn={result.outOfRailStabilityMargin < 1} />
+            <Tile label="Min margin" value={`${result.minStabilityMargin.toFixed(2)} cal`} sub={result.minStabilityMarginOurs != null ? `ours ${result.minStabilityMarginOurs.toFixed(2)}` : undefined} warn={result.minStabilityMargin < 1} />
+            <Tile label="Max AoA" value={`${result.maxAngleOfAttack.toFixed(1)}°`} />
+            <Tile label="Drift @ apogee" value={`${result.driftDistance.toFixed(0)} m`} sub={`bearing ${result.driftBearing.toFixed(0)}°`} />
+          </div>
+
+          {/* Panels */}
+          <div className="grid gap-3 lg:grid-cols-2">
+            <Panel title="Ground track" hint="Top-down path of the horizontal displacement, pad→apogee. Shows which way — and how far — the wind throws it.">
+              <ResponsiveContainer width="100%" height="100%">
+                <ScatterChart margin={{ top: 8, right: 16, bottom: 4, left: 4 }}>
+                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                  <XAxis type="number" dataKey="x" name="East" stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
+                  <YAxis type="number" dataKey="y" name="North" stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} width={44} tickFormatter={(v: number) => v.toFixed(0)} />
+                  <ZAxis range={[8, 8]} />
+                  <Tooltip {...tip} formatter={(v: number, n: string) => [`${v.toFixed(0)} m`, n]} />
+                  <Scatter data={track} line={{ stroke: FD.drift, strokeWidth: 1.75 }} fill={FD.drift} isAnimationActive={false} />
+                  <ReferenceDot x={0} y={0} r={4} fill={REFERENCE} stroke="none" label={{ value: 'pad', fill: REFERENCE, fontSize: 11, position: 'left' }} />
+                  {apogeePt && <ReferenceDot x={apogeePt.x} y={apogeePt.y} r={4} fill={FD.drift} stroke="none" label={{ value: 'apogee', fill: FD.drift, fontSize: 11, position: 'right' }} />}
+                </ScatterChart>
+              </ResponsiveContainer>
+            </Panel>
+
+            <Panel title="Altitude · velocity · acceleration" hint="The core performance profile vs time, now with real drag (apogee is drag-limited, not an upper bound).">
+              <ResponsiveContainer width="100%" height="100%">
+                <ComposedChart data={samples} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                  <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
+                  <YAxis yAxisId="alt" stroke={SERIES.altitude} tick={{ fontSize: 11, fill: SERIES.altitude }} tickLine={false} width={46} />
+                  <YAxis yAxisId="vel" orientation="right" stroke={SERIES.velocity} tick={{ fontSize: 11, fill: SERIES.velocity }} tickLine={false} width={44} />
+                  <Tooltip {...tip} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
+                  <Legend wrapperStyle={{ fontSize: 11 }} />
+                  <Line yAxisId="alt" type="monotone" dataKey="altitude" name="Altitude (m)" stroke={SERIES.altitude} dot={false} strokeWidth={2} isAnimationActive={false} />
+                  <Line yAxisId="vel" type="monotone" dataKey="speed" name="Speed (m/s)" stroke={SERIES.velocity} dot={false} strokeWidth={1.75} isAnimationActive={false} />
+                  <Line yAxisId="vel" type="monotone" dataKey="acceleration" name="Accel (m/s²)" stroke={SERIES.acceleration} dot={false} strokeWidth={1.25} isAnimationActive={false} />
+                </ComposedChart>
+              </ResponsiveContainer>
+            </Panel>
+
+            <Panel title="Dynamic pressure (max-Q)" hint="Aerodynamic load on the airframe. The peak (max-Q) is the ascent structural driver — the airframe/fins see the most stress here.">
+              <ResponsiveContainer width="100%" height="100%">
+                <LineChart data={samples} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                  <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
+                  <YAxis stroke={FD.pressure} tick={{ fontSize: 11, fill: FD.pressure }} tickLine={false} width={46} tickFormatter={(v: number) => (v / 1000).toFixed(0)} />
+                  <Tooltip {...tip} formatter={(v: number) => [`${(v / 1000).toFixed(2)} kPa`, 'q']} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
+                  <ReferenceLine x={result.maxDynamicPressureTime} stroke={REFERENCE} strokeDasharray="4 3" label={{ value: 'max-Q', fill: REFERENCE, fontSize: 11, position: 'top' }} />
+                  <Line type="monotone" dataKey="dynamicPressure" name="q" stroke={FD.pressure} dot={false} strokeWidth={1.75} isAnimationActive={false} />
+                </LineChart>
+              </ResponsiveContainer>
+            </Panel>
+
+            <Panel title="Mach" hint="Compressibility regime vs time — the transonic band is where CP migrates and the margin is tightest (see stability panel).">
+              <TimeLine data={samples} yKey="mach" color={FD.mach} name="Mach" unit="" fmt={(v) => v.toFixed(2)} />
+            </Panel>
+
+            <Panel title="Stability margin — ours vs RocketPy" hint="Static margin (calibers) through flight. Ours migrates the fin CP with Mach; RocketPy holds it fixed. Below 1 cal (dashed) is marginal.">
+              <ResponsiveContainer width="100%" height="100%">
+                <LineChart data={samples} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                  <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
+                  <YAxis stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} width={40} tickFormatter={(v: number) => v.toFixed(1)} />
+                  <Tooltip {...tip} formatter={(v: number, n: string) => [`${v.toFixed(2)} cal`, n]} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
+                  <Legend wrapperStyle={{ fontSize: 11 }} />
+                  <ReferenceLine y={1} stroke={REFERENCE} strokeDasharray="2 2" />
+                  <ReferenceLine y={0} stroke="#f43f5e" strokeDasharray="2 2" />
+                  {(cpModel === 'ours' || cpModel === 'both') && (
+                    <Line type="monotone" dataKey="stabilityMarginOurs" name="Ours (CP↑Mach)" stroke={FD.marginOurs} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
+                  )}
+                  {(cpModel === 'rocketpy' || cpModel === 'both') && (
+                    <Line type="monotone" dataKey="stabilityMarginRocketpy" name="RocketPy (CP fixed)" stroke={FD.marginRocketpy} dot={false} strokeWidth={1.75} strokeDasharray="5 3" isAnimationActive={false} connectNulls />
+                  )}
+                </LineChart>
+              </ResponsiveContainer>
+            </Panel>
+
+            <Panel title="Angle of attack" hint="Weathercocking response to wind. High AoA off the rail is an instability risk; pairs with the off-rail margin tile. Null near apogee (airspeed→0).">
+              <TimeLine data={samples} yKey="angleOfAttack" color={FD.aoa} name="AoA" unit="°" fmt={(v) => v.toFixed(1)} />
+            </Panel>
+
+            <Panel title="Aerodynamic bending moment" hint="Structural load along the airframe on ascent — peak bending sizes the airframe and the fin can. Complements the recovery calculator's descent loads.">
+              <TimeLine data={samples} yKey="bendingMoment" color={FD.bending} name="Bending" unit="N·m" fmt={(v) => v.toFixed(1)} />
+            </Panel>
+
+            <Panel title="Pitch rate & frequency response" hint="Dynamic stability: the pitch angular rate over time, and the FFT of attitude — its peak is the oscillation frequency, how fast it settles after a gust.">
+              <div className="grid h-full grid-cols-2 gap-2">
+                <TimeLine data={samples} yKey="omegaPitch" color={FD.omega} name="ω pitch" unit="rad/s" fmt={(v) => v.toFixed(2)} />
+                <ResponsiveContainer width="100%" height="100%">
+                  <LineChart data={result.fft.frequency.map((f, i) => ({ f, a: result.fft.amplitude[i] }))} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+                    <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                    <XAxis dataKey="f" type="number" domain={[0, 20]} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={{ value: 'Hz', fill: AXIS.stroke, fontSize: 10, position: 'insideBottomRight' }} />
+                    <YAxis stroke={FD.fft} tick={{ fontSize: 11, fill: FD.fft }} tickLine={false} width={36} />
+                    <Tooltip {...tip} formatter={(v: number) => [v.toFixed(3), 'amp']} labelFormatter={(f: number) => `${f.toFixed(2)} Hz`} />
+                    <Line type="monotone" dataKey="a" name="attitude FFT" stroke={FD.fft} dot={false} strokeWidth={1.5} isAnimationActive={false} />
+                  </LineChart>
+                </ResponsiveContainer>
+              </div>
+            </Panel>
+          </div>
+
+          <div className="mt-3 rounded border border-slate-800 bg-slate-900/40 px-3 py-2 text-[11px] text-slate-500">
+            Approximations in this run: {result.approximations.join(' · ')}. Stability outputs are exact;
+            apogee / max-Q depend on the drag model. See FUTURE_IMPROVEMENTS.md.
+          </div>
+        </>
+      )}
+    </div>
+  )
+}
+
+function Field({ label, value, set, min, max, step = 1 }: { label: string; value: number; set: (n: number) => void; min: number; max: number; step?: number }) {
+  return (
+    <label className="flex flex-col text-xs text-slate-400">
+      {label}
+      <input
+        type="number"
+        value={value}
+        min={min}
+        max={max}
+        step={step}
+        onChange={(e) => set(Number(e.target.value))}
+        className="mt-1 w-24 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100"
+      />
+    </label>
+  )
+}
diff --git a/onshape-viewer/frontend/src/components/viewer/FlightProfileModal.tsx b/onshape-viewer/frontend/src/components/viewer/FlightProfileModal.tsx
index fecc05976..818aa6768 100644
--- a/onshape-viewer/frontend/src/components/viewer/FlightProfileModal.tsx
+++ b/onshape-viewer/frontend/src/components/viewer/FlightProfileModal.tsx
@@ -92,9 +92,9 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
                 </p>
               )}
 
-              <div className="grid grid-cols-2 gap-2 sm:grid-cols-3 lg:grid-cols-6">
+              <div className="grid grid-cols-2 gap-2 sm:grid-cols-3 lg:grid-cols-7">
                 <Tile label="Apogee" value={`${result.apogee.toFixed(0)} m`} sub={`at ${result.apogeeTime.toFixed(1)} s`} />
-                <Tile label="Max velocity" value={`${result.maxVelocity.toFixed(0)} m/s`} sub={`Mach ${(result.maxVelocity / 343).toFixed(2)}`} />
+                <Tile label="Max velocity" value={`${result.maxVelocity.toFixed(0)} m/s`} sub={`Mach ${(result.maxVelocity / 340.29).toFixed(2)}`} />
                 <Tile label="Max accel" value={`${(result.maxAcceleration / G).toFixed(1)} g`} sub={`${result.maxAcceleration.toFixed(0)} m/s²`} />
                 <Tile
                   label="Off-rail velocity"
@@ -103,6 +103,11 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
                 />
                 <Tile label="Burnout" value={`${result.burnoutTime.toFixed(2)} s`} sub={`${result.burnoutAltitude.toFixed(0)} m · ${result.burnoutVelocity.toFixed(0)} m/s`} />
                 <Tile label="Thrust-to-weight" value={result.thrustToWeight.toFixed(1)} />
+                <Tile
+                  label="Min margin"
+                  value={result.minStaticMargin != null ? `${result.minStaticMargin.toFixed(2)} cal` : '—'}
+                  sub={result.minMarginMach != null ? `at Mach ${result.minMarginMach.toFixed(2)}` : 'no fins'}
+                />
               </div>
 
               <div className="min-h-0 flex-1">
diff --git a/onshape-viewer/frontend/src/components/viewer/chartTheme.ts b/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
index 1c8f4fb62..d5985365a 100644
--- a/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
+++ b/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
@@ -38,5 +38,18 @@ export const SERIES = {
   margin: '#e879f9', // fuchsia
 } as const
 
+/** Extra hues for the flight-dynamics tab panels. */
+export const FD = {
+  mach: '#38bdf8', // sky
+  pressure: '#f97316', // orange — dynamic pressure / max-Q
+  aoa: '#facc15', // yellow — angle of attack
+  drift: '#a78bfa', // violet — ground track
+  bending: '#fb7185', // rose — loads
+  omega: '#2dd4bf', // teal — angular rate
+  fft: '#c084fc', // purple — frequency response
+  marginOurs: '#e879f9', // fuchsia — our CP margin
+  marginRocketpy: '#60a5fa', // blue — RocketPy CP margin
+} as const
+
 export const REFERENCE = '#cbd5e1' // slate-300 — burnout / apogee guide lines (legible on dark)
 export const REFERENCE_RAIL = '#fbbf24' // amber-400 — off-rail guide line
diff --git a/onshape-viewer/frontend/src/types.ts b/onshape-viewer/frontend/src/types.ts
index b43c525c2..51941e4ab 100644
--- a/onshape-viewer/frontend/src/types.ts
+++ b/onshape-viewer/frontend/src/types.ts
@@ -280,6 +280,8 @@ export interface FlightSample {
   thrust: number
   mass: number
   staticMargin: number | null
+  /** Mach number at this sample (v / speed of sound), so margin can be read vs Mach. */
+  mach: number
 }
 
 /** Ascent flight profile from POST .../flight (no drag yet; apogee is an upper bound). */
@@ -301,6 +303,63 @@ export interface FlightResult {
   railExitVelocity: number | null
   railExitTime: number | null
   railCleared: boolean
+  /** Minimum static margin over the flight (the transonic dip) and where it occurs. */
+  minStaticMargin: number | null
+  minMarginTime: number | null
+  minMarginMach: number | null
+}
+
+// -- Flight dynamics (6-DOF ascent via RocketPy) ------------------------------
+
+export interface FlightDynamicsSample {
+  t: number
+  altitude: number
+  speed: number
+  mach: number
+  acceleration: number
+  dynamicPressure: number
+  angleOfAttack: number | null
+  stabilityMarginRocketpy: number
+  stabilityMarginOurs: number | null
+  driftX: number
+  driftY: number
+  bendingMoment: number
+  omegaPitch: number
+}
+
+export interface FlightDynamicsResult {
+  motor: { name: string; format: string }
+  samples: FlightDynamicsSample[]
+  fft: { frequency: number[]; amplitude: number[] }
+  apogee: number
+  apogeeTime: number
+  maxSpeed: number
+  maxMach: number
+  maxAcceleration: number
+  maxDynamicPressure: number
+  maxDynamicPressureTime: number
+  outOfRailVelocity: number
+  outOfRailStabilityMargin: number
+  minStabilityMargin: number
+  minStabilityMarginTime: number
+  minStabilityMarginOurs: number | null
+  maxAngleOfAttack: number
+  maxBendingMoment: number
+  driftDistance: number
+  driftBearing: number
+  launchStable: boolean
+  approximations: string[]
+}
+
+/** Launch conditions for the 6-DOF flight, on top of the geometry/motor request. */
+export interface FlightDynamicsRequest extends StabilityRequest {
+  inclination?: number
+  heading?: number
+  windSpeed?: number
+  windDirection?: number
+  elevation?: number
+  latitude?: number
+  longitude?: number
 }
 
 export interface OnshapeDocument {
diff --git a/onshape-viewer/requirements-flight.txt b/onshape-viewer/requirements-flight.txt
new file mode 100644
index 000000000..63b127d27
--- /dev/null
+++ b/onshape-viewer/requirements-flight.txt
@@ -0,0 +1,7 @@
+# Optional: the 6-DOF flight / CP-cross-check path (backend/onshape/aero/rocketpy_*).
+# Heavy (pulls scipy, matplotlib, netCDF4), so it is kept out of requirements.txt and
+# CI -- the aero core, the CP(M) math and its unit tests need none of it, and the
+# rocketpy-dependent code lazy-imports this and its test skips when absent.
+#   install with:  .venv/bin/pip install -r requirements-flight.txt
+-r requirements.txt
+rocketpy>=1.13
diff --git a/onshape-viewer/tests/test_aero_mach.py b/onshape-viewer/tests/test_aero_mach.py
new file mode 100644
index 000000000..c3e275131
--- /dev/null
+++ b/onshape-viewer/tests/test_aero_mach.py
@@ -0,0 +1,147 @@
+"""Mach-dependent fin CP/CNa (OpenRocket 24.12) and the RocketPy CP-injection math.
+
+Covers the extension of the Barrowman port from a single Mach-0.3 condition to a
+full CP(M)/CNa(M) curve, and the coefficient encoding that feeds it to RocketPy.
+All offline -- no geometry store, no rocketpy.
+"""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+
+import numpy as np
+import pytest
+
+from backend.onshape.aero.barrowman_fins import (
+    CNA_SUBSONIC,
+    CNA_SUPERSONIC,
+    CP_SUBSONIC,
+    CP_SUPERSONIC,
+    fin_cp_fraction,
+    fin_set_aero,
+    single_fin_cna1,
+)
+from backend.onshape.aero.rocketpy_adapter import (
+    cl_alpha_of_mach,
+    cm_alpha_of_mach,
+    effective_cp,
+)
+from backend.onshape.aero.stability import AeroCore, aero_at_mach
+
+# Estes Alpha III trapezoid (matches test_aero_fins), for a realistic AR.
+from test_aero_fins import BODY_R, R_REF, SPAN, alpha_iii_strips
+
+AR = 2 * SPAN**2 / (((0.05 + 0.03) / 2) * SPAN)  # 2 s^2 / planform area
+
+
+# ---- fin CP fraction vs Mach ------------------------------------------------
+
+def test_cp_fraction_is_quarter_chord_subsonic():
+    for m in (0.0, 0.2, 0.4, CP_SUBSONIC):
+        assert fin_cp_fraction(AR, m) == pytest.approx(0.25)
+
+
+def test_cp_fraction_migrates_toward_mid_chord_supersonic():
+    frac_lo = fin_cp_fraction(AR, 0.5)
+    frac_hi = fin_cp_fraction(AR, 3.0)
+    assert frac_lo == pytest.approx(0.25)
+    assert 0.45 < frac_hi < 0.5  # approaches mid-chord (0.5) from below
+    # Monotone aft through the transition.
+    fracs = [fin_cp_fraction(AR, m) for m in np.linspace(0.5, 3.0, 40)]
+    assert all(b >= a - 1e-9 for a, b in zip(fracs, fracs[1:]))
+
+
+def test_cp_fraction_continuous_at_seams():
+    for seam in (CP_SUBSONIC, CP_SUPERSONIC):
+        lo = fin_cp_fraction(AR, seam - 1e-4)
+        hi = fin_cp_fraction(AR, seam + 1e-4)
+        assert abs(hi - lo) < 1e-3, (seam, lo, hi)
+
+
+# ---- fin CNa vs Mach --------------------------------------------------------
+
+def test_subsonic_cna_unchanged_and_grows_with_mach():
+    a_ref = math.pi * R_REF**2
+    args = (0.002, SPAN, 0.98, a_ref)
+    lo = single_fin_cna1(*args, 0.1)
+    mid = single_fin_cna1(*args, 0.8)
+    assert mid > lo  # Prandtl-Glauert growth
+
+
+def test_cna_continuous_at_regime_seams():
+    a_ref = math.pi * R_REF**2
+    args = (0.002, SPAN, 0.98, a_ref)
+    for seam in (CNA_SUBSONIC, CNA_SUPERSONIC):
+        lo = single_fin_cna1(*args, seam - 1e-4)
+        hi = single_fin_cna1(*args, seam + 1e-4)
+        assert abs(hi - lo) < 1e-2, (seam, lo, hi)
+
+
+def test_supersonic_cna_falls_off_with_mach():
+    a_ref = math.pi * R_REF**2
+    args = (0.002, SPAN, 0.98, a_ref)
+    # Beyond ~M1, the 2/beta slope shrinks as beta grows.
+    assert single_fin_cna1(*args, 2.0) > single_fin_cna1(*args, 3.0)
+
+
+def test_openrocket_anchor_still_holds_at_low_mach():
+    # The subsonic branch must reproduce OpenRocket's FinSetCalcTest value.
+    lead, trail = alpha_iii_strips()
+    aero = fin_set_aero(lead, trail, SPAN, BODY_R, n_fins=3, r_ref=R_REF, mach=0.3)
+    assert abs(aero.cna - 24.146933) < 1e-3
+    assert abs(aero.cp - 0.0193484) < 1e-4
+
+
+# ---- merged core CP migrates with Mach --------------------------------------
+
+@dataclass
+class _StubProfile:
+    r_max: float
+    x_fore: float
+
+
+def _finned_core() -> AeroCore:
+    """An AeroCore with a real fin planform and a slender Mach-flat body."""
+    from backend.onshape.aero.fins import FinPlanform
+
+    lead, trail = alpha_iii_strips()
+    pf = FinPlanform(
+        chord_lead=lead,
+        chord_trail=trail,
+        span=SPAN,
+        body_radius=BODY_R,
+        n_fins=3,
+        root_chord=0.05,
+        tip_chord=0.03,
+        sweep=0.02,
+        area=((0.05 + 0.03) / 2) * SPAN,
+        azimuths=[0.0, 120.0, 240.0],
+    )
+    profile = _StubProfile(r_max=R_REF, x_fore=0.0)
+    # Body cp forward (near nose), modest CNa, so the fin migration is visible.
+    return AeroCore(
+        profile=profile, axis=None, cp_axial=0.0, cna_total=0.0,
+        fin_count=3, fin_cna=0.0, fin_pf=pf, body_cna=2.0, body_cp_axial=0.05,
+    )
+
+
+def test_merged_cp_moves_aft_with_mach():
+    core = _finned_core()
+    cp_sub, _ = aero_at_mach(core, 0.3)
+    cp_super, _ = aero_at_mach(core, 2.5)
+    assert cp_super > cp_sub  # transonic/supersonic CP migration pulls the total aft
+
+
+# ---- RocketPy CP-injection round-trip ---------------------------------------
+
+def test_effective_cp_round_trips_our_cp_for_any_xref():
+    core = _finned_core()
+    ref_length = 2.0 * core.profile.r_max
+    cl_of = cl_alpha_of_mach(core)
+    for x_ref in (0.0, 0.03, -0.1, 0.2):
+        cm_of = cm_alpha_of_mach(core, x_ref, ref_length)
+        for mach in (0.2, 0.9, 1.2, 2.0, 3.0):
+            cp_true, _ = aero_at_mach(core, mach)
+            cp_back = effective_cp(cl_of(mach), cm_of(mach), x_ref, ref_length)
+            assert cp_back == pytest.approx(cp_true, rel=1e-9, abs=1e-12)
diff --git a/onshape-viewer/tests/test_rocketpy_compare.py b/onshape-viewer/tests/test_rocketpy_compare.py
new file mode 100644
index 000000000..90aff2e36
--- /dev/null
+++ b/onshape-viewer/tests/test_rocketpy_compare.py
@@ -0,0 +1,30 @@
+"""Cross-check our Mach-dependent fin CP/CNa against RocketPy's native fins.
+
+Skipped when rocketpy is not installed (heavy, optional dep -- not in CI). Asserts
+the two documented facts: subsonic agreement (mutual validation), and the transonic
+divergence our CP work exists to add (RocketPy's fin CP is fixed; ours migrates aft).
+"""
+
+from __future__ import annotations
+
+import pytest
+
+pytest.importorskip("rocketpy")
+
+from backend.onshape.aero.rocketpy_compare import compare_fins_vs_mach  # noqa: E402
+
+
+def test_subsonic_agrees_with_rocketpy():
+    cmp = compare_fins_vs_mach(machs=[0.1, 0.3, 0.5])
+    for i in range(len(cmp.mach)):
+        assert cmp.our_cna[i] == pytest.approx(cmp.rocketpy_cna[i], rel=1e-2)
+        assert cmp.our_cp[i] == pytest.approx(cmp.rocketpy_cp[i], abs=5e-4)
+
+
+def test_rocketpy_fin_cp_is_mach_flat_but_ours_migrates_aft():
+    cmp = compare_fins_vs_mach(machs=[0.3, 1.0, 2.0, 3.0])
+    # RocketPy's fin CP never moves.
+    assert max(cmp.rocketpy_cp) - min(cmp.rocketpy_cp) < 1e-9
+    # Ours migrates monotonically aft (larger axial position = further back).
+    assert all(b >= a - 1e-9 for a, b in zip(cmp.our_cp, cmp.our_cp[1:]))
+    assert cmp.our_cp[-1] > cmp.our_cp[0] + 5e-3  # a clear supersonic shift
diff --git a/onshape-viewer/tests/test_rocketpy_flight.py b/onshape-viewer/tests/test_rocketpy_flight.py
new file mode 100644
index 000000000..cb7e77783
--- /dev/null
+++ b/onshape-viewer/tests/test_rocketpy_flight.py
@@ -0,0 +1,64 @@
+"""RocketPy ascent assembly: a stable rocket produces a sane 6-DOF flight.
+
+Skipped without rocketpy (optional dep). Tests ``run_flight`` with explicit geometry
+so no Onshape store/fixtures are needed. Not a physics-accuracy check (drag/inertia are
+stubs) -- it guards that the assembly runs and the outputs are well-formed and bounded.
+"""
+
+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+pytest.importorskip("rocketpy")
+
+from backend.motors.motor import Motor  # noqa: E402
+from backend.onshape.aero.rocketpy_flight import RocketGeom, run_flight  # noqa: E402
+
+
+def _motor() -> Motor:
+    t = list(np.linspace(0, 2.0, 20))
+    thrust = [600.0 if x < 1.8 else 0.0 for x in t]
+    mass = [0.5 - 0.3 * (x / 1.8) if x < 1.8 else 0.2 for x in t]
+    cg = [0.15] * len(t)
+    return Motor(
+        manufacturer="X", designation="K600", diameter=0.038, length=0.3, delays=[],
+        motor_type="SINGLE", time=t, thrust=thrust, cg_x=cg, mass=mass, digest="d",
+    )
+
+
+def _stable_geom() -> RocketGeom:
+    # CG well forward of the fins -> statically stable.
+    return RocketGeom(
+        radius=0.05, nose_length=0.3, nose_kind="ogive", body_length=1.6,
+        mass_without_motor=4.0, cg_from_nose=0.8, fins=(4, 0.12, 0.06, 0.06, 0.06, 1.5),
+    )
+
+
+def _run(**kw):
+    return run_flight(
+        _stable_geom(), _motor(), motor_position_from_nose=1.5, rail_length=3.0,
+        inclination=88, heading=0, elevation=1400, our_margin_fn=lambda t, m: 2.0, **kw,
+    )
+
+
+def test_stable_flight_is_well_formed():
+    res = _run(wind_speed=6.0, wind_direction=270.0)
+    assert res.launch_stable is True
+    assert res.apogee > 100.0
+    assert 0.0 < res.max_mach < 5.0
+    assert res.out_of_rail_velocity > 0.0
+    assert res.min_stability_margin > 0.0  # stable throughout
+    assert res.max_dynamic_pressure > 0.0
+    # series are all the same length and margins overlay is populated.
+    n = len(res.times)
+    assert n == len(res.stability_margin_rocketpy) == len(res.stability_margin_ours) == len(res.mach)
+    assert all(m == 2.0 for m in res.stability_margin_ours)
+    # angle of attack stays physical (guarded) -- never exceeds 180 deg.
+    assert all(a is None or 0.0 <= a <= 180.0 for a in res.angle_of_attack)
+
+
+def test_wind_drives_downwind_drift():
+    calm = _run(wind_speed=0.0, wind_direction=270.0)
+    windy = _run(wind_speed=8.0, wind_direction=270.0)
+    assert windy.drift_distance > calm.drift_distance  # wind moves the apogee point

From 5e807c31c0d58e678ceb3f29767bcb75574fe264 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 16:56:10 -0700
Subject: [PATCH 007/205] recovery-calculator: add wind climatology and drift
 tab (RocketPy-shaped WindProfile + /api/drift)

---
 .../backend/routers/simulate.py               | 126 +++++-
 recovery-calculator/frontend/src/App.tsx      |  15 +-
 .../frontend/src/api/client.ts                |  21 +-
 .../src/components/drift/DriftPanel.tsx       | 229 +++++++++++
 .../src/components/drift/GroundTrack.tsx      |  80 ++++
 .../src/components/drift/WindProfileChart.tsx |  85 ++++
 .../frontend/src/fixtures/climatology.json    |   2 +-
 recovery-calculator/frontend/src/lib/wind.ts  | 111 +++++
 .../frontend/src/types/climatology.ts         |  23 ++
 .../frontend/src/types/schema.ts              |  37 ++
 recovery-calculator/physics/drift.py          |  83 ++++
 recovery-calculator/physics/wind.py           | 146 +++++++
 .../data/edw-nid-wprofile-monthly.csv         | 385 ++++++++++++++++++
 .../data/nid-wprofile-monthly.csv             | 385 ++++++++++++++++++
 .../data/vef-wprofile-monthly.csv             | 385 ++++++++++++++++++
 .../site-climatology/export_json.py           |  30 +-
 recovery-calculator/site-climatology/igra.py  |  67 ++-
 .../site-climatology/test_site_climatology.py |  74 ++++
 .../site-climatology/wind_profile.py          | 212 ++++++++++
 recovery-calculator/tests/test_api.py         |  52 +++
 recovery-calculator/tests/test_drift.py       |  69 ++++
 recovery-calculator/tests/test_wind.py        |  98 +++++
 22 files changed, 2691 insertions(+), 24 deletions(-)
 create mode 100644 recovery-calculator/frontend/src/components/drift/DriftPanel.tsx
 create mode 100644 recovery-calculator/frontend/src/components/drift/GroundTrack.tsx
 create mode 100644 recovery-calculator/frontend/src/components/drift/WindProfileChart.tsx
 create mode 100644 recovery-calculator/frontend/src/lib/wind.ts
 create mode 100644 recovery-calculator/physics/drift.py
 create mode 100644 recovery-calculator/physics/wind.py
 create mode 100644 recovery-calculator/site-climatology/data/edw-nid-wprofile-monthly.csv
 create mode 100644 recovery-calculator/site-climatology/data/nid-wprofile-monthly.csv
 create mode 100644 recovery-calculator/site-climatology/data/vef-wprofile-monthly.csv
 create mode 100644 recovery-calculator/site-climatology/wind_profile.py
 create mode 100644 recovery-calculator/tests/test_drift.py
 create mode 100644 recovery-calculator/tests/test_wind.py

diff --git a/recovery-calculator/backend/routers/simulate.py b/recovery-calculator/backend/routers/simulate.py
index c4b7abf88..44f8a5b40 100644
--- a/recovery-calculator/backend/routers/simulate.py
+++ b/recovery-calculator/backend/routers/simulate.py
@@ -1,7 +1,9 @@
 """POST /api/simulate and /api/sweep. PLAN.md §11.5, §11.9."""
 
+from typing import List, Literal, Union
+
 from fastapi import APIRouter, HTTPException, Query
-from pydantic import ValidationError
+from pydantic import BaseModel, ConfigDict, Field, ValidationError
 
 from backend.serialise import (
     SWEEP_COARSE_DT,
@@ -20,7 +22,10 @@
     sweep,
     worst_by_category,
 )
+from physics.drift import compute_drift
 from physics.schema import Config
+from physics.solver import integrate
+from physics.wind import WindProfile
 
 router = APIRouter(prefix="/api", tags=["simulate"])
 
@@ -231,3 +236,122 @@ def run_sweep(config: Config, case: str = Query("nominal"),
         "range": {"min": min(designs), "max": max(designs),
                   "ratio": (max(designs) / min(designs)) if min(designs) else None},
     }
+
+
+# --- drift (PLAN.md §21) ---------------------------------------------------
+
+
+class ConstantWind(BaseModel):
+    """A uniform wind: one speed and the bearing it blows from."""
+
+    model_config = ConfigDict(extra="forbid")
+
+    kind: Literal["constant"] = "constant"
+    speed: float = Field(ge=0.0, description="Wind speed, m/s.")
+    direction: float = Field(
+        description="Bearing the wind blows FROM, degrees clockwise from north "
+                    "(270 = a westerly). The met convention, matching a METAR.")
+
+
+class ProfileWind(BaseModel):
+    """A tabulated wind profile: u (east) / v (north) m/s vs altitude MSL.
+
+    The frontend resolves a climatology month/percentile to these arrays before
+    posting -- values travel, not the recipe, the same way `PadState` and
+    `Canopy` carry resolved numbers rather than a lookup key (see schema.py).
+    """
+
+    model_config = ConfigDict(extra="forbid")
+
+    kind: Literal["profile"] = "profile"
+    heights_msl: List[float] = Field(min_length=1)
+    u: List[float] = Field(min_length=1)
+    v: List[float] = Field(min_length=1)
+
+
+WindInput = Union[ConstantWind, ProfileWind]
+
+
+class DriftRequest(BaseModel):
+    model_config = ConfigDict(extra="forbid")
+
+    config: Config
+    wind: WindInput = Field(discriminator="kind")
+
+
+# The ground track is smooth (no events), so a plain time stride is enough;
+# ~300 points keeps the plan-view curve crisp without shipping the full
+# 5 ms load grid.
+_TRACK_MAX_POINTS = 300
+
+
+def _thin_track(drift):
+    n = len(drift.t)
+    if n == 0:
+        return []
+    step = max(1, n // _TRACK_MAX_POINTS)
+    idx = list(range(0, n, step))
+    if idx[-1] != n - 1:
+        idx.append(n - 1)
+    return [
+        {"t": float(drift.t[i]), "z": float(drift.z[i]),
+         "x": float(drift.x[i]), "y": float(drift.y[i])}
+        for i in idx
+    ]
+
+
+def _wind_profile_from(wind, site_elev):
+    if isinstance(wind, ConstantWind):
+        return WindProfile.constant(wind.speed, wind.direction,
+                                    site_elev=site_elev)
+    if not (len(wind.heights_msl) == len(wind.u) == len(wind.v)):
+        raise HTTPException(
+            status_code=422,
+            detail="wind profile heights_msl, u and v must be the same length")
+    return WindProfile.from_grid(wind.heights_msl, wind.u, wind.v,
+                                 site_elev=site_elev)
+
+
+@router.post("/drift")
+def run_drift(
+    req: DriftRequest,
+    which: str = Query(
+        "axial",
+        description="Airframe drag bound: 'axial' or 'broadside'. Descent rate "
+                    "sets how long the vehicle is exposed to the wind, so the "
+                    "bound moves drift slightly; broadside descends slower and "
+                    "drifts a touch further."),
+):
+    """Downwind drift of the nominal descent under a given wind.
+
+    Runs the nominal descent (config.devices as-is, not the §11.5 off-nominal
+    cases), then carries it sideways with the wind via the equilibrium model in
+    physics/drift.py. Returns the ground track plus the total distance and
+    bearing from the pad.
+    """
+    if which not in ("axial", "broadside"):
+        raise HTTPException(status_code=400,
+                            detail="which must be 'axial' or 'broadside'")
+    try:
+        atm = _atmosphere(req.config)
+        run = integrate(req.config, which, atm=atm)
+    except ValueError as exc:
+        raise HTTPException(status_code=422, detail=str(exc)) from exc
+
+    wind = _wind_profile_from(req.wind, req.config.site.z_site)
+    drift = compute_drift(run, wind)
+
+    return {
+        "distance": drift.distance,
+        "bearing_deg": drift.bearing_deg,
+        "descent_time": run.t_ground,
+        "landing": {"x": float(drift.x[-1]), "y": float(drift.y[-1])},
+        "track": _thin_track(drift),
+        # What the physics actually used at the ground, so the report is not
+        # asserting a wind the run did not see.
+        "wind_ground": {
+            "speed": wind.speed(0.0),
+            "heading_deg": wind.heading(0.0),
+        },
+        "airframe_bound": which,
+    }
diff --git a/recovery-calculator/frontend/src/App.tsx b/recovery-calculator/frontend/src/App.tsx
index 6f1889e33..dfcfaa159 100644
--- a/recovery-calculator/frontend/src/App.tsx
+++ b/recovery-calculator/frontend/src/App.tsx
@@ -18,9 +18,10 @@ import { CornersPanel } from './components/corners/CornersPanel'
 import { StudyPanel } from './components/study/StudyPanel'
 import { CrosscheckPanel } from './components/crosscheck/CrosscheckPanel'
 import { AtmospherePanel } from './components/atmosphere/AtmospherePanel'
+import { DriftPanel } from './components/drift/DriftPanel'
 import { UnitsPanel } from './components/settings/UnitsPanel'
 
-type Tab = 'recovery' | 'corners' | 'study' | 'crosscheck' | 'atmosphere' | 'units'
+type Tab = 'recovery' | 'corners' | 'study' | 'drift' | 'crosscheck' | 'atmosphere' | 'units'
 
 const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
   { id: 'recovery', label: 'Setup & Basic Run', hint: 'Descent, loads and off-nominal cases',
@@ -29,6 +30,8 @@ const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
     accent: 'border-violet-500 text-violet-400' },
   { id: 'study', label: 'Sweep', hint: 'Compare designs - parachutes, altitudes, mass',
     accent: 'border-amber-500 text-amber-400' },
+  { id: 'drift', label: 'Drift', hint: 'Downwind drift and landing point under recovery',
+    accent: 'border-sky-500 text-sky-400' },
   { id: 'crosscheck', label: 'Cross-check',
     hint: 'This tool vs OpenRocket vs the recovery mastersheet',
     accent: 'border-rose-500 text-rose-400' },
@@ -43,7 +46,6 @@ const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
 export default function App() {
   const [tab, setTab] = useState<Tab>('recovery')
   const [connected, setConnected] = useState<boolean | null>(null)
-  const [sha, setSha] = useState<string | null>(null)
 
   /**
    * The config, held here because two tabs edit and read it: Recovery owns the
@@ -64,7 +66,6 @@ export default function App() {
   useEffect(() => {
     getHealth().then((res) => {
       setConnected(!res.error)
-      setSha(res.data?.git_sha ?? null)
     })
   }, [])
 
@@ -102,11 +103,10 @@ export default function App() {
             <div className="flex items-center gap-2">
               <div className={`h-2 w-2 rounded-full ${
                 connected === null ? 'animate-pulse bg-yellow-500'
-                  : connected ? 'bg-green-500' : 'bg-amber-500'}`} />
+                  : connected ? 'bg-green-500' : 'bg-red-500'}`} />
               <span className="text-sm text-[var(--color-text-secondary)]">
                 {connected === null ? 'Connecting…'
-                  : connected ? `Backend :8100${sha ? ` · ${sha.slice(0, 7)}` : ''}`
-                  : 'No backend - fixture mode'}
+                  : connected ? 'Connected' : 'Disconnected'}
               </span>
             </div>
           </div>
@@ -150,6 +150,9 @@ export default function App() {
         <div className={tab === 'study' ? '' : 'hidden'}>
           <StudyPanel ui={ui} onChange={setUi} />
         </div>
+        <div className={tab === 'drift' ? '' : 'hidden'}>
+          <DriftPanel ui={ui} />
+        </div>
         <div className={tab === 'crosscheck' ? '' : 'hidden'}>
           <CrosscheckPanel ui={ui} />
         </div>
diff --git a/recovery-calculator/frontend/src/api/client.ts b/recovery-calculator/frontend/src/api/client.ts
index 6007c1189..ca5ab7a66 100644
--- a/recovery-calculator/frontend/src/api/client.ts
+++ b/recovery-calculator/frontend/src/api/client.ts
@@ -14,7 +14,7 @@
 import type { Climatology } from '../types/climatology'
 import type { Kind } from '../lib/quantities'
 import type {
-  ChartSample, Config, Result, TrajectorySample,
+  ChartSample, Config, DriftResult, Result, TrajectorySample, WindInput,
 } from '../types/schema'
 import bundledClimatology from '../fixtures/climatology.json'
 import { stubResult } from './fixture'
@@ -702,3 +702,22 @@ export async function runCrosscheck(
     body: JSON.stringify(config),
   })
 }
+
+// --- /api/drift (PLAN.md §21) ----------------------------------------------
+
+/**
+ * POST /api/drift. The nominal descent's downwind drift under a given wind.
+ *
+ * No stub fallback, like the other analysis routes: drift is real physics, and
+ * a fabricated landing point is exactly the kind of number a range-safety
+ * conversation should never be built on. With no backend the caller shows the
+ * error instead.
+ */
+export async function runDrift(
+  config: Config, wind: WindInput, which = 'axial',
+): Promise<ApiResponse<DriftResult>> {
+  return request<DriftResult>(`/drift?which=${encodeURIComponent(which)}`, {
+    method: 'POST',
+    body: JSON.stringify({ config, wind }),
+  })
+}
diff --git a/recovery-calculator/frontend/src/components/drift/DriftPanel.tsx b/recovery-calculator/frontend/src/components/drift/DriftPanel.tsx
new file mode 100644
index 000000000..7eba0f694
--- /dev/null
+++ b/recovery-calculator/frontend/src/components/drift/DriftPanel.tsx
@@ -0,0 +1,229 @@
+/**
+ * The Drift tab: how far the vehicle drifts under recovery, and where it lands.
+ *
+ * The wind can come from three places, in rising order of how much the user is
+ * asserting: the monthly climatology **mean** (the realistic central estimate,
+ * the same dataset the Atmospheric Data tab plots), its **p95** sibling (a
+ * deterministic worst-case wind, standing in for a Monte-Carlo dispersion the
+ * tool does not yet do), or a **manual** constant the user types.
+ *
+ * The physics is the equilibrium "canopy moves with the wind" model in
+ * physics/drift.py -- there is no separate "how much wind it catches" term, a
+ * round canopy simply goes where the air goes -- so the interesting output is
+ * purely geometric: a plan-view ground track plus the distance and bearing.
+ *
+ * Wind selection is local component state, not on the shared config: it does
+ * not change the vehicle, and the panel stays mounted when tabs switch, so a
+ * chosen month survives everything but a full reload.
+ */
+
+import { useEffect, useMemo, useRef, useState } from 'react'
+import type { DriftResult, UiConfig, WindInput } from '../../types/schema'
+import { runDrift } from '../../api/client'
+import { physicsKey, toWireConfig } from '../../lib/serialise'
+import { profileWindInput, useWindClimatology, type WindMode } from '../../lib/wind'
+import { monthName } from '../../lib/units'
+import { useUnits } from '../../lib/unitsContext'
+import { Card, Empty, Field, NumberInput, PageHeader, Select, Stat, UnitInput } from '../ui'
+import { GroundTrack } from './GroundTrack'
+import { WindProfileChart } from './WindProfileChart'
+
+/** 16-point compass label for a bearing, so 293° also reads as WNW. */
+const POINTS = ['N', 'NNE', 'NE', 'ENE', 'E', 'ESE', 'SE', 'SSE',
+                'S', 'SSW', 'SW', 'WSW', 'W', 'WNW', 'NW', 'NNW']
+function compass(deg: number): string {
+  return POINTS[Math.round(deg / 22.5) % 16]
+}
+
+export function DriftPanel({ ui }: { ui: UiConfig }) {
+  const { grid_m, byTag, tags } = useWindClimatology()
+
+  const [mode, setMode] = useState<WindMode>('climatology')
+  const [tag, setTag] = useState('edw-nid')
+  // Default the month to whatever the Site form is using, so the two tabs agree.
+  const [month, setMonth] = useState(ui.site.month)
+  const [manualSpeed, setManualSpeed] = useState<number | null>(5) // m/s SI
+  const [manualDir, setManualDir] = useState<number | null>(270)   // from west
+  const [which, setWhich] = useState<'axial' | 'broadside'>('axial')
+
+  const [drift, setDrift] = useState<DriftResult | null>(null)
+  const [error, setError] = useState<string | null>(null)
+  const [running, setRunning] = useState(false)
+
+  // Fall back to the first tag that actually carries wind if the default is
+  // absent (e.g. a bundle without the pooled set).
+  const activeTag = byTag && byTag[tag] ? tag : tags[0]?.id ?? tag
+  const wm = byTag?.[activeTag]?.[month] ?? null
+  const isClimatology = mode === 'climatology' || mode === 'worst'
+
+  // The WindInput posted to the backend -- values, not the recipe.
+  const windInput = useMemo<WindInput | null>(() => {
+    if (!isClimatology) {
+      return { kind: 'constant', speed: manualSpeed ?? 0, direction: manualDir ?? 0 }
+    }
+    if (!wm || !grid_m) return null
+    return profileWindInput(wm, grid_m, mode === 'worst')
+  }, [isClimatology, manualSpeed, manualDir, wm, grid_m, mode])
+
+  const cfgKey = physicsKey(ui)
+  const windKey = JSON.stringify(windInput)
+  const seq = useRef(0)
+
+  useEffect(() => {
+    if (!windInput) return
+    const mine = ++seq.current
+    const id = setTimeout(() => {
+      setRunning(true)
+      runDrift(toWireConfig(ui), windInput, which).then((res) => {
+        if (mine !== seq.current) return
+        setRunning(false)
+        if (res.data) { setDrift(res.data); setError(null) }
+        else { setError(res.error ?? 'drift failed'); setDrift(null) }
+      })
+    }, 250)
+    return () => clearTimeout(id)
+    // cfgKey/windKey stand in for ui/windInput; `which` re-runs the descent.
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [cfgKey, windKey, which])
+
+  return (
+    <div className="space-y-4">
+      <PageHeader title="Drift">
+        How far the nominal descent drifts downwind, and where it lands. The
+        canopy is carried by the wind at every altitude; pick the wind below.
+      </PageHeader>
+
+      <div className="grid grid-cols-1 gap-4 lg:grid-cols-[360px_1fr]">
+        <WindControls
+          mode={mode} setMode={setMode}
+          tag={activeTag} setTag={setTag} tags={tags} hasWind={!!byTag}
+          month={month} setMonth={setMonth} byTag={byTag} activeTag={activeTag}
+          manualSpeed={manualSpeed} setManualSpeed={setManualSpeed}
+          manualDir={manualDir} setManualDir={setManualDir}
+          which={which} setWhich={setWhich}
+        />
+
+        <div className="space-y-4">
+          <DriftResults drift={windInput ? drift : null} error={error} running={running} />
+          {isClimatology && wm && grid_m && (
+            <Card title={`Wind aloft - ${monthName(month)}`}
+                  subtitle="The climatology the drift above is integrated over.">
+              <WindProfileChart wm={wm} grid={grid_m} padH={grid_m[0]}
+                                worst={mode === 'worst'} />
+            </Card>
+          )}
+        </div>
+      </div>
+    </div>
+  )
+}
+
+function WindControls({
+  mode, setMode, tag, setTag, tags, hasWind, month, setMonth, byTag, activeTag,
+  manualSpeed, setManualSpeed, manualDir, setManualDir, which, setWhich,
+}: {
+  mode: WindMode; setMode: (v: WindMode) => void
+  tag: string; setTag: (v: string) => void; tags: { id: string; label: string }[]
+  hasWind: boolean
+  month: number; setMonth: (v: number) => void
+  byTag: Record<string, Record<number, unknown>> | null; activeTag: string
+  manualSpeed: number | null; setManualSpeed: (v: number | null) => void
+  manualDir: number | null; setManualDir: (v: number | null) => void
+  which: 'axial' | 'broadside'; setWhich: (v: 'axial' | 'broadside') => void
+}) {
+  const isClimatology = mode === 'climatology' || mode === 'worst'
+  return (
+    <Card title="Wind">
+      <div className="space-y-3">
+        <Field label="Source">
+          <Select
+            value={mode} onChange={setMode}
+            options={[
+              { value: 'climatology', label: 'Climatology - monthly mean' },
+              { value: 'worst', label: 'Worst-case - monthly p95' },
+              { value: 'manual', label: 'Manual - constant wind' },
+            ]}
+          />
+        </Field>
+
+        {isClimatology ? (
+          !hasWind ? (
+            <Empty>No wind climatology in this bundle. Run
+              site-climatology/wind_profile.py.</Empty>
+          ) : (
+            <>
+              <Field label="Dataset">
+                <Select value={tag} onChange={setTag}
+                        options={tags.map((t) => ({ value: t.id, label: t.label }))} />
+              </Field>
+              <Field label="Month">
+                <Select
+                  value={String(month)} onChange={(v) => setMonth(Number(v))}
+                  options={Array.from({ length: 12 }, (_, i) => {
+                    const rec = byTag?.[activeTag]?.[i + 1] as { n: number } | undefined
+                    return {
+                      value: String(i + 1),
+                      label: `${monthName(i + 1)}${rec ? ` (n=${rec.n})` : ' (no data)'}`,
+                    }
+                  })}
+                />
+              </Field>
+            </>
+          )
+        ) : (
+          <>
+            <Field label="Wind speed" kind="speed">
+              <UnitInput value={manualSpeed} onChange={setManualSpeed}
+                         kind="speed" min={0} />
+            </Field>
+            <Field label="Direction (from)" unit="°"
+                   hint="Bearing the wind blows FROM: 270 is a westerly.">
+              <NumberInput value={manualDir} onChange={setManualDir}
+                           min={0} max={360} step={5} />
+            </Field>
+          </>
+        )}
+
+        <Field label="Airframe attitude"
+               hint="Sets the descent rate, and so the exposure time: broadside falls slower and drifts a touch further.">
+          <Select value={which} onChange={setWhich}
+                  options={[{ value: 'axial', label: 'Axial (nose-down)' },
+                            { value: 'broadside', label: 'Broadside' }]} />
+        </Field>
+      </div>
+    </Card>
+  )
+}
+
+function DriftResults({ drift, error, running }: {
+  drift: DriftResult | null; error: string | null; running: boolean
+}) {
+  const { num, dec } = useUnits()
+
+  if (error) {
+    return (
+      <Card title="Drift">
+        <Empty>{error}. Drift needs the backend running.</Empty>
+      </Card>
+    )
+  }
+  if (!drift) {
+    return (
+      <Card title="Drift">
+        <Empty>{running ? 'Computing…' : 'Pick a wind to compute drift.'}</Empty>
+      </Card>
+    )
+  }
+
+  return (
+    <Card title="Drift" subtitle={`Nominal descent, ${drift.airframe_bound} airframe bound.`}>
+      <div className="mb-4 grid grid-cols-2 gap-2 sm:grid-cols-4">
+        <Stat label="Drift distance" value={num(drift.distance, 'distance')} kind="distance" />
+        <Stat label="Bearing" value={`${dec(drift.bearing_deg, 0)}° ${compass(drift.bearing_deg)}`} />
+        <Stat label="Descent time" value={dec(drift.descent_time, 1)} unit="s" />
+        <Stat label="Wind at ground" value={num(drift.wind_ground.speed, 'speed')} kind="speed" />
+      </div>
+      <GroundTrack drift={drift} />
+    </Card>
+  )
+}
diff --git a/recovery-calculator/frontend/src/components/drift/GroundTrack.tsx b/recovery-calculator/frontend/src/components/drift/GroundTrack.tsx
new file mode 100644
index 000000000..b3d41265a
--- /dev/null
+++ b/recovery-calculator/frontend/src/components/drift/GroundTrack.tsx
@@ -0,0 +1,80 @@
+/**
+ * The horizontal ground track, plan view: where the vehicle goes as it comes
+ * down, seen from above. East on X, North on Y, the pad at the origin.
+ *
+ * Equal aspect on purpose -- a square frame with a symmetric domain -- because
+ * this is a map, not a plot: a drift that is mostly downrange should *look*
+ * mostly downrange, and a stretched axis would lie about the bearing. The domain
+ * is symmetric about the pad and floored at a small radius so a near-calm run
+ * does not get zoomed up into what looks like a wild scribble.
+ */
+
+import {
+  CartesianGrid, ComposedChart, Line, ReferenceDot, ReferenceLine,
+  ResponsiveContainer, Tooltip, XAxis, YAxis,
+} from 'recharts'
+import type { DriftResult } from '../../types/schema'
+import { AXIS, GRID, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
+import { useUnits } from '../../lib/unitsContext'
+import { Empty } from '../ui'
+
+export function GroundTrack({ drift }: { drift: DriftResult }) {
+  const { val, lab, dec } = useUnits()
+  const d = (m: number) => val(m, 'distance')
+
+  if (drift.track.length < 2) {
+    return <Empty>No descent to plot.</Empty>
+  }
+
+  const data = drift.track.map((p) => ({ xd: d(p.x), yd: d(p.y), z: p.z }))
+  const xEnd = d(drift.landing.x)
+  const yEnd = d(drift.landing.y)
+
+  // Symmetric square domain about the pad, padded 15% and floored so a small
+  // drift is not magnified into noise. 50 m is a sensible smallest full-scale.
+  const reach = Math.max(...data.map((p) => Math.max(Math.abs(p.xd), Math.abs(p.yd))))
+  const R = Math.max(reach * 1.15, d(50))
+  const fmt = (v: number) => dec(v, 0)
+
+  return (
+    <div className="mx-auto aspect-square w-full max-w-[34rem]">
+      <ResponsiveContainer width="100%" height="100%">
+        <ComposedChart data={data} margin={{ top: 8, right: 16, bottom: 30, left: 8 }}>
+          <CartesianGrid {...GRID} />
+          <XAxis
+            type="number" dataKey="xd" domain={[-R, R]}
+            {...AXIS} tickFormatter={fmt} allowDecimals={false}
+            label={axisLabel(`East (${lab('distance')})`)}
+          />
+          <YAxis
+            type="number" domain={[-R, R]} width={56}
+            {...AXIS} tickFormatter={fmt} allowDecimals={false}
+            label={axisLabel(`North (${lab('distance')})`, -90)}
+          />
+          <Tooltip
+            contentStyle={TOOLTIP_STYLE}
+            labelStyle={TOOLTIP_LABEL_STYLE}
+            formatter={(v: number | string, name: string) => {
+              if (name === 'yd') return [`${dec(Number(v), 0)} ${lab('distance')} N`, 'north']
+              return [`${dec(Number(v), 0)} ${lab('distance')}`, name]
+            }}
+          />
+
+          {/* Crosshair through the pad, so the origin reads as the launch point. */}
+          <ReferenceLine x={0} stroke="#4b5563" />
+          <ReferenceLine y={0} stroke="#4b5563" />
+
+          <Line
+            dataKey="yd" name="track"
+            stroke="var(--color-accent)" strokeWidth={2}
+            dot={false} isAnimationActive={false}
+          />
+
+          {/* Pad at the origin, landing where the wind carried it. */}
+          <ReferenceDot x={0} y={0} r={4} fill="#f8fafc" stroke="none" />
+          <ReferenceDot x={xEnd} y={yEnd} r={5} fill="#ef4444" stroke="none" />
+        </ComposedChart>
+      </ResponsiveContainer>
+    </div>
+  )
+}
diff --git a/recovery-calculator/frontend/src/components/drift/WindProfileChart.tsx b/recovery-calculator/frontend/src/components/drift/WindProfileChart.tsx
new file mode 100644
index 000000000..f127b4c06
--- /dev/null
+++ b/recovery-calculator/frontend/src/components/drift/WindProfileChart.tsx
@@ -0,0 +1,85 @@
+/**
+ * Wind speed against altitude for the selected climatology month -- the wind
+ * that is actually driving the drift, shown beside the track it produces.
+ *
+ * Altitude on X like every other profile in this app (see SoundingProfile for
+ * why the app's own consistency beats the meteorologist's altitude-on-Y skew-T).
+ * The mean is the line; the p05-p95 area is the day-to-day spread, and the p95
+ * line is drawn too because it is the "worst-case wind" the tab can run.
+ */
+
+import {
+  Area, CartesianGrid, ComposedChart, Legend, Line, ResponsiveContainer,
+  Tooltip, XAxis, YAxis,
+} from 'recharts'
+import type { WindMonth } from '../../types/climatology'
+import { AXIS, GRID, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
+import { useUnits } from '../../lib/unitsContext'
+
+export function WindProfileChart({ wm, grid, padH, worst }: {
+  wm: WindMonth
+  grid: number[]
+  padH: number
+  worst: boolean
+}) {
+  const { val, lab, dec } = useUnits()
+  const spd = (ms: number) => val(ms, 'speed')
+
+  const data = grid.map((H, i) => ({
+    agl: Math.round(val(H - padH, 'altitude')),
+    mean: spd(wm.spd[i]),
+    p95: spd(wm.spd_p95[i]),
+    band: [spd(wm.spd_p05[i]), spd(wm.spd_p95[i])] as [number, number],
+  }))
+
+  return (
+    <div className="h-72">
+      <ResponsiveContainer width="100%" height="100%">
+        <ComposedChart data={data} margin={{ top: 8, right: 24, bottom: 30, left: 8 }}>
+          <CartesianGrid {...GRID} />
+          <XAxis
+            type="number" dataKey="agl" domain={[0, 'dataMax']}
+            {...AXIS} tickFormatter={(v: number) => v.toLocaleString('en-US')}
+            label={axisLabel(`H (${lab('altitude')} AGL)`)}
+          />
+          <YAxis
+            type="number" domain={[0, 'dataMax + 2']} width={52}
+            {...AXIS} tickFormatter={(v: number) => dec(v, 0)}
+            label={axisLabel(`wind (${lab('speed')})`, -90)}
+          />
+          <Tooltip
+            contentStyle={TOOLTIP_STYLE}
+            labelStyle={TOOLTIP_LABEL_STYLE}
+            labelFormatter={(v: number) =>
+              `${Number(v).toLocaleString('en-US')} ${lab('altitude')} AGL`}
+            formatter={(v: number | string | (number | string)[], name: string) => {
+              if (name === 'band') {
+                const [lo, hi] = v as [number, number]
+                return [`${dec(lo, 1)} – ${dec(hi, 1)} ${lab('speed')}`, 'p05–p95']
+              }
+              return [`${dec(Number(v), 1)} ${lab('speed')}`, name]
+            }}
+          />
+          <Legend verticalAlign="top" height={26} wrapperStyle={{ fontSize: 11 }} />
+
+          {/* One Area between the [lo, hi] tuple -- never two stacked Areas, and
+              never wrapped in a fragment (Recharts drops fragment children). */}
+          <Area
+            dataKey="band" stroke="none" fill="var(--color-accent)"
+            fillOpacity={0.1} legendType="none" isAnimationActive={false} activeDot={false}
+          />
+          <Line
+            dataKey="p95" name="p95 (worst-case)"
+            stroke="#ef4444" strokeWidth={worst ? 2.5 : 1.25}
+            strokeDasharray="5 3" dot={false} isAnimationActive={false}
+          />
+          <Line
+            dataKey="mean" name="mean"
+            stroke="var(--color-accent)" strokeWidth={worst ? 1.25 : 2.5}
+            dot={false} isAnimationActive={false}
+          />
+        </ComposedChart>
+      </ResponsiveContainer>
+    </div>
+  )
+}
diff --git a/recovery-calculator/frontend/src/fixtures/climatology.json b/recovery-calculator/frontend/src/fixtures/climatology.json
index b0dc2022c..c42e0a76d 100644
--- a/recovery-calculator/frontend/src/fixtures/climatology.json
+++ b/recovery-calculator/frontend/src/fixtures/climatology.json
@@ -1 +1 @@
-{"meta":{"generated":"2026-07-31T01:50:27Z","source":"recovery-calculator/site-climatology/export_json.py","pad":{"name":"Friends of Amateur Rocketry","lat":35.35333,"lon":-117.80717,"elev_m":630.0,"elev_is_estimate":false},"ceiling_agl_ft":25000,"ceiling_msl_m":8250.0,"isa_lapse_k_per_km":-6.5},"isa":{"pad":{"H":629.938,"T":284.0554,"p":93982.796,"rho":1.152612},"T":[284.0554,282.4304,280.8054,279.1804,277.5554,275.9304,274.3054,272.6804,271.0554,269.4304,267.8054,266.1804,264.5554,262.9304,261.3054,259.6804,258.0554,256.4304,254.8054,253.1804,251.5554,249.9304,248.3054,246.6804,245.0554,243.4304,241.8054,240.1804,238.5554,236.9304,235.3054,233.6804],"p":[93982.796,91191.167,88467.065,85809.233,83216.432,80687.436,78221.038,75816.045,73471.281,71185.585,68957.811,66786.831,64671.53,62610.808,60603.582,58648.782,56745.355,54892.262,53088.477,51332.991,49624.808,47962.947,46346.44,44774.334,43245.691,41759.585,40315.104,38911.351,37547.441,36222.503,34935.68,33686.127],"lapse_k_per_km":-6.5},"surface":{"stations":[{"id":"KEDW","name":"Edwards AFB","elev_m":702.0,"gap_m":72.0,"distance_km":50.2,"primary":false,"note":"cross-check: 50 km, +92 m gap. Co-located with RAOB 72381."},{"id":"KMHV","name":"Mojave Air & Space Port","elev_m":849.0,"gap_m":219.0,"distance_km":45.3,"primary":false,"note":"cross-check: 45 km, +239 m gap. Reports temperature overnight."},{"id":"KNID","name":"China Lake NAWS","elev_m":696.0,"gap_m":66.0,"distance_km":38.7,"primary":true,"note":"primary: 39 km, +86 m gap. Temperature drops out ~06-11Z."}],"monthly":{"KEDW":[{"month":1,"n":697,"p_mean":94745.2,"p_sd":512.9,"p_p05":93978.9,"p_p95":95580.8,"p_min":93570.5,"p_max":96051.9,"t_mean":280.9,"t_p05":273.2,"t_p95":290.34,"rho_mean":1.17548,"rho_p05":1.13414,"rho_p95":1.21572,"lw_n":248,"lw_t_mean":284.16,"lw_rho_mean":1.16214},{"month":2,"n":620,"p_mean":94452.3,"p_sd":477.9,"p_p05":93539.1,"p_p95":95172.4,"p_min":93068.0,"p_max":95360.9,"t_mean":283.72,"t_p05":274.82,"t_p95":295.82,"rho_mean":1.16037,"rho_p05":1.11415,"rho_p95":1.20242,"lw_n":216,"lw_t_mean":287.6,"lw_rho_mean":1.14517},{"month":3,"n":671,"p_mean":94261.2,"p_sd":313.5,"p_p05":93884.6,"p_p95":94826.9,"p_min":93601.9,"p_max":95329.5,"t_mean":291.22,"t_p05":278.51,"t_p95":305.27,"rho_mean":1.12846,"rho_p05":1.07317,"rho_p95":1.18163,"lw_n":249,"lw_t_mean":296.48,"lw_rho_mean":1.10859},{"month":4,"n":607,"p_mean":94059.7,"p_sd":264.5,"p_p05":93633.4,"p_p95":94512.8,"p_min":93476.3,"p_max":94795.5,"t_mean":289.56,"t_p05":280.05,"t_p95":300.19,"rho_mean":1.13218,"rho_p05":1.08964,"rho_p95":1.17289,"lw_n":228,"lw_t_mean":294.37,"lw_rho_mean":1.11333},{"month":5,"n":712,"p_mean":93842.3,"p_sd":260.7,"p_p05":93350.7,"p_p95":94198.7,"p_min":93005.2,"p_max":94418.6,"t_mean":294.58,"t_p05":284.32,"t_p95":306.62,"rho_mean":1.11038,"rho_p05":1.06561,"rho_p95":1.15068,"lw_n":265,"lw_t_mean":299.93,"lw_rho_mean":1.09035},{"month":6,"n":705,"p_mean":93784.0,"p_sd":193.4,"p_p05":93476.3,"p_p95":94135.9,"p_min":93319.3,"p_max":94293.0,"t_mean":300.15,"t_p05":290.34,"t_p95":310.82,"rho_mean":1.08901,"rho_p05":1.05123,"rho_p95":1.125,"lw_n":264,"lw_t_mean":305.95,"lw_rho_mean":1.06796},{"month":7,"n":732,"p_mean":94019.7,"p_sd":204.6,"p_p05":93696.2,"p_p95":94355.8,"p_min":93413.5,"p_max":94512.8,"t_mean":301.84,"t_p05":291.92,"t_p95":311.82,"rho_mean":1.08565,"rho_p05":1.04902,"rho_p95":1.12334,"lw_n":278,"lw_t_mean":307.43,"lw_rho_mean":1.06577},{"month":8,"n":689,"p_mean":94078.0,"p_sd":202.1,"p_p05":93759.0,"p_p95":94437.4,"p_min":93570.5,"p_max":94544.2,"t_mean":302.92,"t_p05":293.42,"t_p95":313.22,"rho_mean":1.08243,"rho_p05":1.04396,"rho_p95":1.1188,"lw_n":257,"lw_t_mean":308.35,"lw_rho_mean":1.0632},{"month":9,"n":578,"p_mean":93990.2,"p_sd":217.5,"p_p05":93664.8,"p_p95":94387.2,"p_min":93476.3,"p_max":94638.5,"t_mean":298.34,"t_p05":289.92,"t_p95":308.32,"rho_mean":1.09792,"rho_p05":1.06142,"rho_p95":1.12988,"lw_n":215,"lw_t_mean":302.56,"lw_rho_mean":1.08268},{"month":10,"n":667,"p_mean":94098.8,"p_sd":324.5,"p_p05":93539.1,"p_p95":94607.1,"p_min":93193.6,"p_max":94921.2,"t_mean":290.83,"t_p05":281.15,"t_p95":302.19,"rho_mean":1.12773,"rho_p05":1.0834,"rho_p95":1.16797,"lw_n":229,"lw_t_mean":295.41,"lw_rho_mean":1.11031},{"month":11,"n":638,"p_mean":94348.7,"p_sd":335.6,"p_p05":93790.4,"p_p95":94894.5,"p_min":93507.7,"p_max":95203.9,"t_mean":286.31,"t_p05":277.02,"t_p95":298.42,"rho_mean":1.14859,"rho_p05":1.10069,"rho_p95":1.18825,"lw_n":240,"lw_t_mean":289.93,"lw_rho_mean":1.13451},{"month":12,"n":714,"p_mean":94535.4,"p_sd":347.2,"p_p05":93978.9,"p_p95":95109.6,"p_min":93633.4,"p_max":95392.3,"t_mean":282.75,"t_p05":274.42,"t_p95":292.65,"rho_mean":1.16521,"rho_p05":1.12249,"rho_p95":1.20356,"lw_n":249,"lw_t_mean":286.35,"lw_rho_mean":1.15095}],"KMHV":[{"month":1,"n":360,"p_mean":94839.8,"p_sd":458.5,"p_p05":93912.9,"p_p95":95392.3,"p_min":93664.8,"p_max":95580.8,"t_mean":283.36,"t_p05":275.67,"t_p95":293.08,"rho_mean":1.16643,"rho_p05":1.12636,"rho_p95":1.20251,"lw_n":128,"lw_t_mean":288.12,"lw_rho_mean":1.14749},{"month":2,"n":635,"p_mean":94558.5,"p_sd":488.5,"p_p05":93570.5,"p_p95":95266.7,"p_min":93225.0,"p_max":95423.7,"t_mean":285.46,"t_p05":276.87,"t_p95":295.67,"rho_mean":1.15446,"rho_p05":1.11591,"rho_p95":1.19311,"lw_n":224,"lw_t_mean":289.21,"lw_rho_mean":1.13993},{"month":3,"n":744,"p_mean":94373.1,"p_sd":306.3,"p_p05":93983.6,"p_p95":94921.2,"p_min":93759.0,"p_max":95392.3,"t_mean":293.3,"t_p05":282.59,"t_p95":304.57,"rho_mean":1.12152,"rho_p05":1.0778,"rho_p95":1.16583,"lw_n":279,"lw_t_mean":297.85,"lw_rho_mean":1.10474},{"month":4,"n":717,"p_mean":94154.0,"p_sd":273.6,"p_p05":93696.2,"p_p95":94638.5,"p_min":93507.7,"p_max":94921.2,"t_mean":290.05,"t_p05":282.25,"t_p95":299.57,"rho_mean":1.13125,"rho_p05":1.09425,"rho_p95":1.163,"lw_n":270,"lw_t_mean":294.09,"lw_rho_mean":1.11593},{"month":5,"n":704,"p_mean":93991.6,"p_sd":243.4,"p_p05":93539.1,"p_p95":94355.8,"p_min":93287.8,"p_max":94544.2,"t_mean":295.87,"t_p05":285.39,"t_p95":305.97,"rho_mean":1.10717,"rho_p05":1.0691,"rho_p95":1.14652,"lw_n":270,"lw_t_mean":299.87,"lw_rho_mean":1.09264},{"month":6,"n":704,"p_mean":93923.4,"p_sd":198.9,"p_p05":93601.9,"p_p95":94261.6,"p_min":93413.5,"p_max":94450.0,"t_mean":301.66,"t_p05":293.59,"t_p95":310.57,"rho_mean":1.08498,"rho_p05":1.05356,"rho_p95":1.1136,"lw_n":266,"lw_t_mean":305.81,"lw_rho_mean":1.0704},{"month":7,"n":744,"p_mean":94170.8,"p_sd":202.0,"p_p05":93853.2,"p_p95":94512.8,"p_min":93696.2,"p_max":94701.3,"t_mean":303.01,"t_p05":294.57,"t_p95":310.57,"rho_me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12Z","t":[308.17,308.59,307.02,305.05,302.91,300.85,298.83,296.58,294.21,291.92,289.57,287.17,284.77,282.65,280.64,278.72,276.89,275.21,273.56,271.92,270.34,269.03,267.67,266.23,265.03,263.46,261.84,260.12,258.41,257.25,255.67,253.72],"L_fit":-7.339,"L_eq7":-8.825},{"id":"VEF-20260723-18Z","station":"VEF","year":2026,"month":7,"day":23,"hour":18,"label":"2026-07-23 18Z","t":[310.65,307.16,304.71,303.19,301.32,299.17,296.95,295.0,292.9,290.6,288.32,286.15,283.98,281.93,279.74,277.71,275.86,274.36,272.98,271.22,270.95,269.89,267.94,265.72,263.97,262.44,261.51,260.3,258.56,256.46,254.34,253.29],"L_fit":-7.214,"L_eq7":-9.064},{"id":"VEF-20260723-12Z","station":"VEF","year":2026,"month":7,"day":23,"hour":12,"label":"2026-07-23 12Z","t":[306.5,307.0,305.57,303.74,302.28,300.21,298.0,295.64,293.59,291.27,288.96,286.75,284.36,282.41,280.38,278.34,276.45,274.31,272.61,271.5,270.61,270.25,268.56,266.39,264.37,262.44,260.7,259.21,258.57,256.99,254.92,253.14],"L_fit":-7.218,"L_eq7":-8.664},{"id":"VEF-20260722-18Z","station":"VEF","year":2026,"month":7,"day":22,"hour":18,"label":"2026-07-22 18Z","t":[310.28,305.1,302.56,299.98,298.34,296.86,294.95,292.8,290.64,288.4,286.37,284.77,282.59,280.68,278.74,277.27,275.38,273.83,271.98,270.36,269.23,268.27,267.28,266.01,264.36,262.61,261.08,259.94,258.49,256.73,254.84,253.04],"L_fit":-6.868,"L_eq7":-9.029},{"id":"VEF-20260722-12Z","station":"VEF","year":2026,"month":7,"day":22,"hour":12,"label":"2026-07-22 12Z","t":[303.05,302.82,301.22,299.76,298.72,297.06,295.47,293.37,291.14,288.71,286.63,284.5,282.44,280.35,278.55,277.27,275.34,273.99,272.3,271.0,270.07,268.41,266.83,265.28,263.79,262.75,262.01,259.99,258.08,256.51,255.5,254.02],"L_fit":-6.621,"L_eq7":-8.332},{"id":"VEF-20260721-18Z","station":"VEF","year":2026,"month":7,"day":21,"hour":18,"label":"2026-07-21 18Z","t":[310.77,306.14,303.3,300.84,298.85,296.81,294.42,292.27,290.41,288.03,286.12,283.85,281.82,280.07,278.1,276.43,274.09,272.63,271.65,270.14,269.06,267.52,266.62,265.17,264.16,262.14,260.76,259.32,257.82,257.21,255.52,253.73],"L_fit":-6.929,"L_eq7":-9.076},{"id":"VEF-20260721-12Z","station":"VEF","year":2026,"month":7,"day":21,"hour":12,"label":"2026-07-21 12Z","t":[308.26,306.71,305.2,303.25,301.0,298.75,296.63,294.45,292.39,290.17,287.91,285.56,283.28,281.08,279.36,278.17,276.33,274.1,272.09,270.61,268.97,266.74,264.91,263.4,261.92,261.55,260.79,260.67,259.27,257.68,255.74,253.96],"L_fit":-7.174,"L_eq7":-8.834},{"id":"VEF-20260720-18Z","station":"VEF","year":2026,"month":7,"day":20,"hour":18,"label":"2026-07-20 18Z","t":[310.58,306.92,304.28,301.82,299.34,296.95,294.68,292.71,290.74,288.77,286.8,284.54,282.3,280.82,279.41,277.3,275.47,273.71,271.83,270.27,268.61,267.21,265.5,264.44,263.32,261.81,260.33,259.14,257.82,256.11,254.53,252.99],"L_fit":-7.132,"L_eq7":-9.058},{"id":"VEF-20260720-12Z","station":"VEF","year":2026,"month":7,"day":20,"hour":12,"label":"2026-07-20 12Z","t":[305.04,304.09,302.98,301.14,299.39,297.62,295.75,293.65,291.5,289.3,286.87,284.61,282.45,280.25,278.4,276.76,275.28,274.31,272.78,271.17,269.76,268.05,266.79,265.4,263.79,261.72,261.21,260.17,258.64,256.78,255.56,254.01],"L_fit":-6.8,"L_eq7":-8.523},{"id":"VEF-20260719-18Z","station":"VEF","year":2026,"month":7,"day":19,"hour":18,"label":"2026-07-19 18Z","t":[308.27,303.93,301.67,299.15,297.04,296.03,294.2,292.01,290.33,288.25,286.52,284.8,282.87,280.88,278.87,276.87,275.06,273.43,272.16,270.85,269.85,268.01,266.55,264.74,263.16,262.25,261.52,260.16,258.73,257.61,256.68,255.41],"L_fit":-6.62,"L_eq7":-8.835},{"id":"VEF-20260719-12Z","station":"VEF","year":2026,"month":7,"day":19,"hour":12,"label":"2026-07-19 12Z","t":[306.92,305.47,304.02,302.1,299.96,298.29,296.15,294.04,291.88,289.76,287.46,285.39,283.75,281.77,279.79,277.77,276.16,274.31,272.45,270.99,269.35,270.15,268.54,266.72,264.71,263.8,261.92,259.91,258.4,257.15,256.66,254.85],"L_fit":-6.839,"L_eq7":-8.705},{"id":"VEF-20260718-18Z","station":"VEF","year":2026,"month":7,"day":18,"hour":18,"label":"2026-07-18 18Z","t":[304.98,301.24,298.87,297.58,296.63,295.41,293.61,291.35,289.55,287.61,285.8,284.02,281.84,279.97,278.13,276.97,275.8,274.31,272.6,271.28,269.25,267.65,266.2,265.0,263.7,262.7,262.82,260.93,258.87,256.68,254.53,252.44],"L_fit":-6.419,"L_eq7":-8.518},{"id":"VEF-20260718-12Z","station":"VEF","year":2026,"month":7,"day":18,"hour":12,"label":"2026-07-18 12Z","t":[301.16,298.17,298.3,298.16,296.53,295.01,293.06,291.37,289.53,287.83,286.27,284.48,282.63,280.9,278.66,277.07,275.74,274.03,272.16,270.61,268.91,267.16,265.75,264.61,262.79,260.85,258.67,257.66,258.2,257.18,255.24,253.18],"L_fit":-6.415,"L_eq7":-8.149},{"id":"VEF-20260717-18Z","station":"VEF","year":2026,"month":7,"day":17,"hour":18,"label":"2026-07-17 18Z","t":[305.23,301.04,298.47,296.2,296.3,294.18,292.96,290.77,289.14,287.31,286.1,284.8,282.76,280.45,278.19,276.47,275.09,272.99,271.46,269.87,268.33,267.23,266.28,264.69,263.11,261.35,259.66,258.12,256.18,254.06,252.46,250.98],"L_fit":-6.68,"L_eq7":-8.541},{"id":"VEF-20260717-12Z","station":"VEF","year":2026,"month":7,"day":17,"hour":12,"label":"2026-07-17 12Z","t":[303.69,300.44,298.55,297.37,295.69,293.71,291.65,290.23,288.89,286.8,284.88,283.56,281.53,280.18,278.47,276.68,274.97,273.44,271.86,270.13,268.22,266.73,265.24,262.83,261.14,261.98,260.89,259.28,257.59,256.04,254.52,253.1],"L_fit":-6.433,"L_eq7":-8.393},{"id":"VEF-20260716-18Z","station":"VEF","year":2026,"month":7,"day":16,"hour":18,"label":"2026-07-16 18Z","t":[309.9,305.97,303.26,300.92,299.08,297.77,295.69,293.55,291.56,289.59,287.58,285.38,283.16,281.07,279.05,277.13,275.29,273.6,271.99,270.42,269.49,267.56,266.32,264.92,262.91,261.35,259.63,258.33,256.98,255.22,253.55,251.91],"L_fit":-7.217,"L_eq7":-8.992},{"id":"VEF-20260716-12Z","station":"VEF","year":2026,"month":7,"day":16,"hour":12,"label":"2026-07-16 12Z","t":[304.06,305.88,304.16,302.57,301.2,299.53,297.31,295.06,292.89,290.61,288.41,286.02,283.58,281.36,279.05,277.13,275.84,274.28,272.2,270.72,269.18,267.83,266.6,264.99,263.98,262.58,260.69,258.47,257.35,256.04,253.88,252.19],"L_fit":-7.179,"L_eq7":-8.429},{"id":"VEF-20260715-12Z","station":"VEF","year":2026,"month":7,"day":15,"hour":12,"label":"2026-07-15 12Z","t":[303.87,306.56,304.77,302.63,300.38,298.12,296.14,294.09,291.83,289.44,287.05,284.66,282.31,280.22,278.37,276.19,275.3,273.68,272.4,271.05,269.61,268.26,266.63,265.06,264.0,262.92,261.04,259.99,258.4,256.57,254.61,252.72],"L_fit":-6.982,"L_eq7":-8.41},{"id":"VEF-20260715-06Z","station":"VEF","year":2026,"month":7,"day":15,"hour":6,"label":"2026-07-15 06Z","t":[311.51,308.75,306.56,304.18,301.86,299.47,297.17,294.74,292.38,290.18,287.9,285.63,283.52,281.69,279.72,277.96,276.38,274.65,273.17,271.68,269.94,268.35,267.62,265.53,263.75,262.35,260.92,259.77,257.81,256.48,254.17,252.75],"L_fit":-7.388,"L_eq7":-9.148},{"id":"VEF-20260702-12Z","station":"VEF","year":2026,"month":7,"day":2,"hour":12,"label":"2026-07-02 12Z","t":[300.42,299.59,298.55,296.79,294.48,292.13,290.35,288.11,285.81,283.56,281.42,279.15,277.11,274.9,273.49,272.16,271.77,270.5,268.91,266.81,265.12,263.1,261.41,259.72,257.86,255.55,253.8,251.67,249.8,248.45,246.66,244.62],"L_fit":-7.24,"L_eq7":-8.078},{"id":"VEF-20260702-06Z","station":"VEF","year":2026,"month":7,"day":2,"hour":6,"label":"2026-07-02 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diff --git a/recovery-calculator/frontend/src/lib/wind.ts b/recovery-calculator/frontend/src/lib/wind.ts
new file mode 100644
index 000000000..7cbef81ba
--- /dev/null
+++ b/recovery-calculator/frontend/src/lib/wind.ts
@@ -0,0 +1,111 @@
+/**
+ * The wind climatology, reduced to what the Drift tab needs, and the resolver
+ * that turns a selection into a `WindInput` for the backend.
+ *
+ * A hook rather than a context, exactly like `usePadClimatology`: the bundle is
+ * a one-shot cached fetch, so a second caller costs nothing, and a provider
+ * would put the app inside a subscription for a value that never changes after
+ * load.
+ *
+ * The reduction and the resolution both live here, in one place, because the
+ * "values travel, not the recipe" contract with the backend means the profile
+ * arrays the tab posts have to be built the same way every time -- and the
+ * worst-case (p95) construction in particular is a real choice, not a lookup.
+ */
+
+import { useEffect, useState } from 'react'
+import { getClimatology } from '../api/client'
+import type { WindMonth } from '../types/climatology'
+import type { WindInput } from '../types/schema'
+
+/** How the tab picks a wind. Climatology mean, its p95 strong-wind sibling, or
+ *  a single value the user types. */
+export type WindMode = 'climatology' | 'worst' | 'manual'
+
+export interface WindTag {
+  id: string
+  label: string
+}
+
+export interface WindClimatology {
+  /** Shared height grid, geopotential metres MSL. Null until the bundle lands. */
+  grid_m: number[] | null
+  /** dataset tag -> calendar month -> that month's wind. */
+  byTag: Record<string, Record<number, WindMonth>> | null
+  /** Tags that actually carry wind, with human labels, most-relevant first. */
+  tags: WindTag[]
+}
+
+/**
+ * The pooled Edwards + China Lake set is the default and the only dataset
+ * inside 50 km of the pad, so it leads the tag list -- the same dataset the
+ * temperature profile and lapse rates come from, so a Drift run and the
+ * Atmospheric Data tab cannot disagree about what January looks like.
+ */
+export function useWindClimatology(): WindClimatology {
+  const [state, setState] = useState<WindClimatology>({
+    grid_m: null, byTag: null, tags: [],
+  })
+
+  useEffect(() => {
+    let live = true
+    getClimatology().then((res) => {
+      if (!live || !res.data) return
+      const wind = res.data.upper.wind
+      if (!wind) return
+
+      const labelOf: Record<string, string> = {}
+      for (const d of res.data.upper.datasets) labelOf[d.id] = d.label
+
+      const byTag: Record<string, Record<number, WindMonth>> = {}
+      for (const [tag, months] of Object.entries(wind)) {
+        const byMonth: Record<number, WindMonth> = {}
+        for (const m of months) byMonth[m.month] = m
+        byTag[tag] = byMonth
+      }
+
+      // edw-nid first (the pooled default), then the rest alphabetical.
+      const tags = Object.keys(byTag)
+        .sort((a, b) => (a === 'edw-nid' ? -1 : b === 'edw-nid' ? 1
+          : a.localeCompare(b)))
+        .map((id) => ({ id, label: labelOf[id] ?? id }))
+
+      setState({ grid_m: res.data.upper.grid_m, byTag, tags })
+    })
+    return () => { live = false }
+  }, [])
+
+  return state
+}
+
+/** (u_east, v_north) m/s from a speed and the bearing the wind blows FROM.
+ *  The same meteorological convention as physics/wind.py. */
+export function uvFromSpeedDir(speed: number, directionFrom: number): [number, number] {
+  const r = (directionFrom * Math.PI) / 180
+  return [-speed * Math.sin(r), -speed * Math.cos(r)]
+}
+
+/**
+ * Build the `WindInput` for a climatology month.
+ *
+ * The **mean** profile posts the mean vector at each level directly. The
+ * **worst-case** profile keeps the mean bearing at each level but swaps in the
+ * p95 speed -- a coherent strong-wind vector profile, which is what a
+ * deterministic worst-case drift wants, rather than the (incoherent) p95 of
+ * each component independently.
+ */
+export function profileWindInput(
+  wm: WindMonth, grid: number[], worst: boolean,
+): WindInput {
+  if (!worst) {
+    return { kind: 'profile', heights_msl: grid, u: wm.u, v: wm.v }
+  }
+  const u: number[] = []
+  const v: number[] = []
+  for (let i = 0; i < grid.length; i++) {
+    const [uu, vv] = uvFromSpeedDir(wm.spd_p95[i], wm.dir[i])
+    u.push(uu)
+    v.push(vv)
+  }
+  return { kind: 'profile', heights_msl: grid, u, v }
+}
diff --git a/recovery-calculator/frontend/src/types/climatology.ts b/recovery-calculator/frontend/src/types/climatology.ts
index 34fb424a3..fac00e743 100644
--- a/recovery-calculator/frontend/src/types/climatology.ts
+++ b/recovery-calculator/frontend/src/types/climatology.ts
@@ -69,6 +69,25 @@ export interface UpperMonth {
   eq7_err: number[]
 }
 
+/**
+ * One calendar month of wind, as parallel arrays down the shared height grid.
+ *
+ * Stored as u (east) / v (north) components -- the RocketPy convention and what
+ * the drift model consumes -- plus speed quantiles for the day-to-day spread.
+ * `spd_p95` is the deterministic "worst-case wind" the Drift tab offers; `dir`
+ * is the bearing the mean wind blows FROM.
+ */
+export interface WindMonth {
+  month: number
+  n: number
+  u: number[]
+  v: number[]
+  spd: number[]
+  spd_p05: number[]
+  spd_p95: number[]
+  dir: number[]
+}
+
 export interface LapseMonth {
   month: number
   n: number
@@ -141,6 +160,10 @@ export interface Climatology {
     datasets: UpperDataset[]
     profile: Record<string, UpperMonth[]>
     lapse: Record<string, LapseMonth[]>
+    /** Monthly wind per dataset tag. Optional: generated by wind_profile.py,
+     *  which runs separately from the temperature profile, so a tag can have a
+     *  temperature profile without a wind one. */
+    wind?: Record<string, WindMonth[]>
   }
   soundings: Record<string, Sounding[]>
 }
diff --git a/recovery-calculator/frontend/src/types/schema.ts b/recovery-calculator/frontend/src/types/schema.ts
index 65aebc085..9295996e3 100644
--- a/recovery-calculator/frontend/src/types/schema.ts
+++ b/recovery-calculator/frontend/src/types/schema.ts
@@ -463,3 +463,40 @@ export interface Result {
   /** Non-null only when the §6.4 band was run both ways. */
   body_drag_band: { axial: number; broadside: number } | null
 }
+
+// ============================================================================
+// DRIFT -- PLAN.md §21
+// ============================================================================
+
+/**
+ * The wind a drift run is carried by, as `/api/drift` wants it.
+ *
+ * A discriminated union on `kind`, mirroring the backend's `WindInput`. The
+ * frontend resolves a climatology month/percentile to the `profile` arrays
+ * before posting -- values travel, not the recipe, the same way a study carries
+ * a resolved `PadState` rather than a lookup key.
+ */
+export type WindInput =
+  | { kind: 'constant'; speed: number; direction: number }
+  | { kind: 'profile'; heights_msl: number[]; u: number[]; v: number[] }
+
+/** One point on the horizontal ground track. East = +x, North = +y, metres. */
+export interface DriftTrackSample {
+  t: number
+  z: number
+  x: number
+  y: number
+}
+
+export interface DriftResult {
+  /** Straight-line pad-to-landing distance, m. */
+  distance: number
+  /** Compass bearing pad -> landing, degrees (0 = north, 90 = east). */
+  bearing_deg: number
+  descent_time: number
+  landing: { x: number; y: number }
+  track: DriftTrackSample[]
+  /** What the wind actually was at the ground in the run. */
+  wind_ground: { speed: number; heading_deg: number }
+  airframe_bound: string
+}
diff --git a/recovery-calculator/physics/drift.py b/recovery-calculator/physics/drift.py
new file mode 100644
index 000000000..28966985f
--- /dev/null
+++ b/recovery-calculator/physics/drift.py
@@ -0,0 +1,83 @@
+"""Downwind drift under recovery. PLAN.md §21 (Phase 2).
+
+Post-processing, not a second integration: it takes the descent a `solver.run`
+already produced and carries the vehicle sideways with the wind. That is
+sufficient here because the model is deliberately the **equilibrium** one --
+
+    horizontally the only force on the canopy is drag, and drag drives its
+    horizontal velocity to match the local wind, so v_horizontal(z) = v_wind(z)
+
+-- which needs only the altitude-vs-time history, not a coupled 2-D state. The
+same Cd*S that sets the descent rate is what couples the canopy to the wind, so
+there is no separate "how much wind it catches" term; a round (non-gliding)
+canopy simply goes where the air goes.
+
+Assumptions, all first-order and matching §21:
+  * **Horizontal wind only** -- no vertical air motion (thermals are left as
+    future uncertainty, not modelled here).
+  * **No response lag** -- the ~1 s relaxation to a new wind is neglected, so
+    the canopy is taken to match the wind instantly. This biases drift very
+    slightly high in shear, which is the conservative direction.
+  * **No pendulum / glide** -- a round canopy, so no net lift.
+
+This is the altitude-resolved version of the mastersheet's scalar estimate
+(`mastersheet.py`: drift = wind * descent_time). Integrating over the trajectory
+instead weights the wind by the time spent at each altitude, so the slow descent
+under the main correctly picks up more of the low-altitude wind.
+"""
+
+import math
+
+import numpy as np
+
+
+class DriftResult:
+    """Horizontal ground track and its summary. East = +x, North = +y."""
+
+    __slots__ = ("t", "z", "x", "y", "distance", "bearing_deg")
+
+    def __init__(self, t, z, x, y, distance, bearing_deg):
+        self.t = t                    # s, from apogee
+        self.z = z                    # m AGL, matches the descent trajectory
+        self.x = x                    # m east of the pad
+        self.y = y                    # m north of the pad
+        self.distance = distance      # m, straight-line pad-to-landing
+        self.bearing_deg = bearing_deg  # compass bearing pad->landing, deg
+
+    def __repr__(self):
+        return ("DriftResult(distance=%.0f m, bearing=%.0f deg)"
+                % (self.distance, self.bearing_deg))
+
+
+def compute_drift(run, wind):
+    """Integrate the wind over `run`'s descent. Returns a `DriftResult`.
+
+    `run` is a `solver.RunResult`; `wind` is a `wind.WindProfile`. The track
+    starts at the pad (0, 0) at apogee and accumulates by the trapezoid rule,
+    so it lands where the summed wind carried it.
+    """
+    t = np.asarray(run.traj.t, dtype=float)
+    z = np.asarray(run.traj.z, dtype=float)
+
+    if t.size < 2:
+        # A degenerate run (never left the pad). No descent, no drift.
+        zero = np.zeros(t.size)
+        return DriftResult(t, z, zero, zero, 0.0, 0.0)
+
+    # Wind at each trajectory altitude. WindProfile is scalar per call; the
+    # trajectory is ~a few thousand samples, evaluated once.
+    u = np.array([wind.u(zi) for zi in z])
+    v = np.array([wind.v(zi) for zi in z])
+
+    dt = np.diff(t)
+    # Trapezoid: mean of the endpoint winds over each step, since the canopy
+    # moves with the local wind at every instant.
+    x = np.concatenate(([0.0], np.cumsum(0.5 * (u[:-1] + u[1:]) * dt)))
+    y = np.concatenate(([0.0], np.cumsum(0.5 * (v[:-1] + v[1:]) * dt)))
+
+    x_end, y_end = float(x[-1]), float(y[-1])
+    distance = math.hypot(x_end, y_end)
+    # Compass bearing pad -> landing: 0 = north, 90 = east.
+    bearing = math.degrees(math.atan2(x_end, y_end)) % 360.0 if distance else 0.0
+
+    return DriftResult(t, z, x, y, distance, bearing)
diff --git a/recovery-calculator/physics/wind.py b/recovery-calculator/physics/wind.py
new file mode 100644
index 000000000..a66694fde
--- /dev/null
+++ b/recovery-calculator/physics/wind.py
@@ -0,0 +1,146 @@
+"""Horizontal wind profile. PLAN.md §21 (Phase 2 wind/drift).
+
+Stdlib only, like `atmosphere.py`, so `site-climatology/` can import it without
+a venv and the CLI stays dependency-light. Immutable once constructed.
+
+**Shape is chosen for RocketPy.** The unified simulator we are heading toward
+runs on RocketPy, whose `Environment.set_atmospheric_model("custom_atmosphere",
+wind_u=..., wind_v=...)` wants wind as two orthogonal components, in m/s, as a
+function of altitude MSL:
+
+    wind_u  east  (x) component
+    wind_v  north (y) component
+
+So that is exactly what this stores and returns. `to_rocketpy()` emits the
+`[height_msl, value]` point arrays RocketPy accepts directly, and the drift
+integrator in `drift.py` is the only other consumer.
+
+**Meteorological convention.** A reported wind *direction* is the compass
+bearing the wind blows *from*, clockwise from north (270 deg = a westerly, out
+of the west, blowing toward the east). The vector the vehicle actually feels
+points the other way, so:
+
+    u_east  = -speed * sin(dir)
+    v_north = -speed * cos(dir)
+
+`heading()` inverts this back to the bearing the wind blows *toward*, which is
+the direction a drifting canopy travels.
+
+**Altitude convention** matches `Atmosphere`: methods take geometric altitude
+AGL (the solver's state variable z, §1.1) and add `site_elev` internally to
+reach the MSL grid. The climatology grid is geopotential MSL; the
+geopotential/geometric gap is under 0.13% at 8 km, four orders below the wind's
+own month-to-month spread, so it is treated as MSL directly rather than carrying
+the eq (1) conversion into a quantity this uncertain.
+"""
+
+import bisect
+import math
+
+from physics.site import FAR_ELEV_M
+
+
+def uv_from_speed_dir(speed, direction_from_deg):
+    """(u_east, v_north) m/s from speed and the bearing wind blows *from*."""
+    r = math.radians(direction_from_deg)
+    return (-speed * math.sin(r), -speed * math.cos(r))
+
+
+class WindProfile:
+    """Horizontal wind as (u_east, v_north) m/s vs altitude. Immutable.
+
+    Construct with `constant(...)` for a uniform wind or `from_grid(...)` for a
+    tabulated profile (e.g. a monthly climatology). Altitudes passed to `u`,
+    `v`, `speed` and `heading` are geometric AGL; `site_elev` is added to reach
+    the MSL grid.
+    """
+
+    __slots__ = ("site_elev", "_h", "_u", "_v")
+
+    def __init__(self, heights_msl, u, v, site_elev=FAR_ELEV_M):
+        if not (len(heights_msl) == len(u) == len(v)):
+            raise ValueError("heights, u and v must be the same length")
+        if len(heights_msl) == 0:
+            raise ValueError("wind profile needs at least one level")
+        # Sort by height so bisect works and callers need not pre-sort.
+        order = sorted(range(len(heights_msl)), key=lambda i: heights_msl[i])
+        self._h = [float(heights_msl[i]) for i in order]
+        self._u = [float(u[i]) for i in order]
+        self._v = [float(v[i]) for i in order]
+        self.site_elev = float(site_elev)
+
+    # -- constructors -------------------------------------------------------
+
+    @classmethod
+    def constant(cls, speed, direction_from_deg, site_elev=FAR_ELEV_M):
+        """A uniform wind of `speed` m/s blowing *from* `direction_from_deg`."""
+        if speed < 0.0:
+            raise ValueError("wind speed must be non-negative, got %r" % speed)
+        u, v = uv_from_speed_dir(speed, direction_from_deg)
+        # A single level suffices; interpolation holds it at every altitude.
+        return cls([site_elev], [u], [v], site_elev=site_elev)
+
+    @classmethod
+    def from_grid(cls, heights_msl, u, v, site_elev=FAR_ELEV_M):
+        """A tabulated profile: u/v m/s at each MSL height. See class docstring."""
+        return cls(heights_msl, u, v, site_elev=site_elev)
+
+    # -- evaluation ---------------------------------------------------------
+
+    def _interp(self, z_agl, table):
+        """Linear interpolation of `table` at geometric altitude AGL, held flat
+        outside the tabulated band (no extrapolation of a fitted slope)."""
+        z = z_agl + self.site_elev
+        h = self._h
+        if len(h) == 1 or z <= h[0]:
+            return table[0]
+        if z >= h[-1]:
+            return table[-1]
+        i = bisect.bisect_right(h, z)
+        h0, h1 = h[i - 1], h[i]
+        t0, t1 = table[i - 1], table[i]
+        return t0 + (t1 - t0) * (z - h0) / (h1 - h0)
+
+    def u(self, z_agl):
+        """East (x) component, m/s, at geometric altitude AGL."""
+        return self._interp(z_agl, self._u)
+
+    def v(self, z_agl):
+        """North (y) component, m/s, at geometric altitude AGL."""
+        return self._interp(z_agl, self._v)
+
+    def speed(self, z_agl):
+        """Wind speed magnitude, m/s."""
+        return math.hypot(self.u(z_agl), self.v(z_agl))
+
+    def heading(self, z_agl):
+        """Bearing the wind blows *toward*, degrees clockwise from north.
+
+        This is the direction a drifting canopy travels; it is the reported
+        met direction plus 180. Returns 0 for calm.
+        """
+        u, v = self.u(z_agl), self.v(z_agl)
+        if u == 0.0 and v == 0.0:
+            return 0.0
+        return math.degrees(math.atan2(u, v)) % 360.0
+
+    # -- RocketPy handoff ---------------------------------------------------
+
+    def to_rocketpy(self):
+        """`(wind_u, wind_v)` as `[[height_msl, value], ...]` point arrays.
+
+        Feeds straight into
+        `Environment.set_atmospheric_model("custom_atmosphere",
+        wind_u=..., wind_v=...)` -- the whole reason this class stores u/v vs
+        MSL altitude.
+        """
+        wind_u = [[h, u] for h, u in zip(self._h, self._u)]
+        wind_v = [[h, v] for h, v in zip(self._h, self._v)]
+        return wind_u, wind_v
+
+    def __repr__(self):
+        if len(self._h) == 1:
+            return ("WindProfile(constant u=%.2f v=%.2f, |v|=%.2f m/s)"
+                    % (self._u[0], self._v[0], math.hypot(self._u[0], self._v[0])))
+        return ("WindProfile(%d levels, %.0f-%.0f m MSL)"
+                % (len(self._h), self._h[0], self._h[-1]))
diff --git a/recovery-calculator/site-climatology/data/edw-nid-wprofile-monthly.csv b/recovery-calculator/site-climatology/data/edw-nid-wprofile-monthly.csv
new file mode 100644
index 000000000..947ed12fa
--- /dev/null
+++ b/recovery-calculator/site-climatology/data/edw-nid-wprofile-monthly.csv
@@ -0,0 +1,385 @@
+month,n_soundings,H_msl_m,H_agl_ft,u_mean_ms,v_mean_ms,spd_mean_ms,spd_sd_ms,spd_p05_ms,spd_p50_ms,spd_p95_ms,dir_mean_deg
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diff --git a/recovery-calculator/site-climatology/data/nid-wprofile-monthly.csv b/recovery-calculator/site-climatology/data/nid-wprofile-monthly.csv
new file mode 100644
index 000000000..6b21c8d86
--- /dev/null
+++ b/recovery-calculator/site-climatology/data/nid-wprofile-monthly.csv
@@ -0,0 +1,385 @@
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diff --git a/recovery-calculator/site-climatology/data/vef-wprofile-monthly.csv b/recovery-calculator/site-climatology/data/vef-wprofile-monthly.csv
new file mode 100644
index 000000000..2e1531df4
--- /dev/null
+++ b/recovery-calculator/site-climatology/data/vef-wprofile-monthly.csv
@@ -0,0 +1,385 @@
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+12,614,7880,23786,16.80,-3.44,25.06,12.85,5.34,24.04,47.21,281.6
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diff --git a/recovery-calculator/site-climatology/export_json.py b/recovery-calculator/site-climatology/export_json.py
index f3d86f1d0..9067c6a56 100644
--- a/recovery-calculator/site-climatology/export_json.py
+++ b/recovery-calculator/site-climatology/export_json.py
@@ -165,7 +165,7 @@ def upper_block():
     of repeated 48 times.
     """
     grid = temp_profile.height_grid()
-    datasets, profile, lapse = [], {}, {}
+    datasets, profile, lapse, wind = [], {}, {}, {}
 
     for tag, label, members, pooled in DATASETS:
         prof_rows = load_csv("%s-tprofile-monthly.csv" % tag)
@@ -212,7 +212,33 @@ def upper_block():
             L_isa=f(r, "L_isa_k_per_km"),
         ) for r in lapse_rows]
 
-    return dict(grid_m=grid, datasets=datasets, profile=profile, lapse=lapse)
+        # Wind is optional per tag: it is generated by wind_profile.py, which is
+        # run separately from temp_profile.py, so a tag can have a temperature
+        # profile without a wind one yet. Same regrouping as the T profile --
+        # one record per month with parallel arrays down the shared grid.
+        wind_rows = load_csv("%s-wprofile-monthly.csv" % tag)
+        if wind_rows is not None:
+            wmonths = {}
+            for r in wind_rows:
+                m = int(r["month"])
+                rec = wmonths.setdefault(m, dict(
+                    month=m, n=int(r["n_soundings"]), u=[], v=[],
+                    spd=[], spd_p05=[], spd_p95=[], dir=[]))
+                rec["u"].append(f(r, "u_mean_ms"))
+                rec["v"].append(f(r, "v_mean_ms"))
+                rec["spd"].append(f(r, "spd_mean_ms"))
+                rec["spd_p05"].append(f(r, "spd_p05_ms"))
+                rec["spd_p95"].append(f(r, "spd_p95_ms"))
+                rec["dir"].append(f(r, "dir_mean_deg"))
+            bad = [m for m, rec in wmonths.items() if len(rec["u"]) != len(grid)]
+            if bad:
+                raise SystemExit(
+                    "%s: wind months %s do not match the %d-level grid; "
+                    "regenerate with wind_profile.py." % (tag, bad, len(grid)))
+            wind[tag] = [wmonths[m] for m in sorted(wmonths)]
+
+    return dict(grid_m=grid, datasets=datasets, profile=profile, lapse=lapse,
+                wind=wind)
 
 
 def soundings_block(years, sample):
diff --git a/recovery-calculator/site-climatology/igra.py b/recovery-calculator/site-climatology/igra.py
index ae1574ef0..342a37e21 100644
--- a/recovery-calculator/site-climatology/igra.py
+++ b/recovery-calculator/site-climatology/igra.py
@@ -44,14 +44,26 @@
 
 
 class Level:
-    __slots__ = ("p", "t", "gph", "is_surface", "z")
+    __slots__ = ("p", "t", "gph", "is_surface", "z", "wdir", "wspd", "u", "v")
 
-    def __init__(self, p, t, gph, is_surface):
+    def __init__(self, p, t, gph, is_surface, wdir=None, wspd=None):
         self.p = p                  # Pa
         self.t = t                  # K, or None
         self.gph = gph              # m, reported geopotential height, or None
         self.is_surface = is_surface
         self.z = None               # m, our hydrostatic height (see build_heights)
+        self.wdir = wdir            # deg the wind blows FROM, or None
+        self.wspd = wspd            # m/s, or None
+        # East/north components, meteorological convention (wind FROM wdir), so
+        # the vector points where the air -- and a drifting canopy -- travels.
+        # Kept in step with physics/wind.py's uv_from_speed_dir.
+        if wdir is not None and wspd is not None:
+            r = math.radians(wdir)
+            self.u = -wspd * math.sin(r)   # east
+            self.v = -wspd * math.cos(r)   # north
+        else:
+            self.u = None
+            self.v = None
 
 
 class Sounding:
@@ -157,6 +169,8 @@ def parse(stream, since=None, until=None, p_floor=0.0):
         p = _int(line[9:15])                # spec 10-15, Pa
         gph = _int(line[16:21])             # spec 17-21, m
         t = _int(line[22:27])               # spec 23-27, tenths of degC
+        wdir = _int(line[40:45])            # spec 41-45, degrees
+        wspd = _int(line[46:51])            # spec 47-51, tenths of m/s
         if p is None or p < p_floor:
             continue
         cur.levels.append(Level(
@@ -164,6 +178,8 @@ def parse(stream, since=None, until=None, p_floor=0.0):
             t=None if t is None else t / 10.0 + 273.15,
             gph=None if gph is None else float(gph),
             is_surface=(lvltyp2 == "1"),
+            wdir=None if wdir is None else float(wdir),
+            wspd=None if wspd is None else wspd / 10.0,
         ))
     if cur is not None and keep and cur.levels:
         yield cur
@@ -251,15 +267,18 @@ def gph_residual(levels):
             if l.z is not None and l.gph is not None]
 
 
-def interp(levels, targets):
-    """Temperature at each target geopotential height, linear in height.
+EXTRAP_M = 200.0
+
 
-    Returns None for a target outside the profile, except that up to
-    EXTRAP_M below the lowest level it extrapolates on the lowest layer's own
-    lapse rate -- the pad sits ~90 m under Edwards and refusing to answer for
-    the bottom 90 m of a 7.6 km profile would be pedantry.
+def _interp_series(levels, targets, get):
+    """`get(level)` at each target height, linear in height.
+
+    Returns None for a target outside the profile, except that up to EXTRAP_M
+    below the lowest level it extrapolates on the lowest layer's own slope --
+    the pad sits ~90 m under Edwards and refusing to answer for the bottom 90 m
+    of a 7.6 km profile would be pedantry. `levels` must already be sorted
+    ascending by `z` and carry a non-None value at `get`.
     """
-    EXTRAP_M = 200.0
     if len(levels) < 2:
         return [None] * len(targets)
     out = []
@@ -269,8 +288,8 @@ def interp(levels, targets):
                 out.append(None)
                 continue
             a, b = levels[0], levels[1]
-            lapse = (b.t - a.t) / (b.z - a.z)
-            out.append(a.t + lapse * (z - a.z))
+            slope = (get(b) - get(a)) / (b.z - a.z)
+            out.append(get(a) + slope * (z - a.z))
             continue
         if z > levels[-1].z:
             out.append(None)
@@ -278,10 +297,32 @@ def interp(levels, targets):
         for a, b in zip(levels, levels[1:]):
             if a.z <= z <= b.z:
                 if b.z == a.z:
-                    out.append(a.t)
+                    out.append(get(a))
                 else:
-                    out.append(a.t + (b.t - a.t) * (z - a.z) / (b.z - a.z))
+                    out.append(get(a) + (get(b) - get(a)) * (z - a.z) / (b.z - a.z))
                 break
         else:
             out.append(None)
     return out
+
+
+def interp(levels, targets):
+    """Temperature at each target geopotential height, linear in height."""
+    return _interp_series(levels, targets, lambda l: l.t)
+
+
+def interp_wind(levels, targets):
+    """(u_east, v_north) m/s at each target height, linear in height.
+
+    Interpolates the two components independently -- the correct thing to do,
+    since interpolating speed and direction would swing the vector the long way
+    round a backing wind. `levels` comes from `build_heights` (so it carries
+    `z`); levels lacking a wind observation are filtered out first, which is why
+    a profile can cover the temperature grid yet return None for wind where the
+    radiosonde reported no wind. Returns a list of (u, v) tuples, (None, None)
+    outside the wind-reporting band.
+    """
+    w = [l for l in levels if l.u is not None and l.v is not None]
+    us = _interp_series(w, targets, lambda l: l.u)
+    vs = _interp_series(w, targets, lambda l: l.v)
+    return list(zip(us, vs))
diff --git a/recovery-calculator/site-climatology/test_site_climatology.py b/recovery-calculator/site-climatology/test_site_climatology.py
index 822e085a1..7431e015a 100644
--- a/recovery-calculator/site-climatology/test_site_climatology.py
+++ b/recovery-calculator/site-climatology/test_site_climatology.py
@@ -79,6 +79,18 @@ def check_eq(name, got, want):
 floored = list(igra.parse(io.StringIO(IGRA_SAMPLE), p_floor=85000.0))
 check_eq("p_floor drops levels above the ceiling", len(floored[0].levels), 4)
 
+# Wind columns sit further right on the same fixed-width records (WDIR 41-45,
+# WSPD 47-51 in tenths of m/s) -- one slice off by a column parses the neighbour.
+check("surface wind direction, deg", l0.wdir, 240.0, 0.0)
+check("surface wind speed, tenths m/s -> m/s", l0.wspd, 4.6, 1e-9)
+check("925 hPa wind direction", l2.wdir, 275.0, 0.0)
+check("925 hPa wind speed", l2.wspd, 4.6, 1e-9)
+# A wind FROM 275 deg (near-westerly) blows toward the east: u positive, v small.
+check_eq("westerly gives an eastward u component", l2.u > 0.0, True)
+check("v component near zero for a near-westerly", l2.v, 0.0, 0.6)
+check_eq("missing wind speed -> None", snds[0].levels[1].wspd, None)
+check_eq("missing wind -> no u component", snds[0].levels[1].u, None)
+
 
 # --- hydrostatic heights ---------------------------------------------------
 # Isothermal column: dZ = (Rd T / g0) ln(p1/p2) is exact, not an approximation,
@@ -158,6 +170,29 @@ def iso_sounding(ratios):
       below, 300.0 - lapse * 100.0, 1e-9)
 
 
+# --- wind interpolation ----------------------------------------------------
+# Components interpolate independently. Both legs blow from the west (270), so
+# u = +speed and v = 0, and the midpoint speed is the average of the two.
+
+wind = igra.Sounding("TEST", 2020, 1, 1, 12)
+wind.levels = [igra.Level(90000.0, 300.0, 1000.0, True, wdir=270.0, wspd=10.0),
+               igra.Level(70000.0, 280.0, 3000.0, False, wdir=270.0, wspd=20.0)]
+ls = igra.build_heights(wind, station_elev=1000.0)
+mid = 0.5 * (ls[0].z + ls[1].z)
+u_mid, v_mid = igra.interp_wind(ls, [mid])[0]
+check("interp_wind is linear in u at the midpoint", u_mid, 15.0, 1e-9)
+check("interp_wind keeps v ~zero for a pure westerly", v_mid, 0.0, 1e-9)
+check_eq("interp_wind refuses above the top level",
+         igra.interp_wind(ls, [ls[-1].z + 1.0])[0], (None, None))
+
+# A profile whose levels carry temperature but no wind returns (None, None):
+# the wind grid is independent of the temperature grid.
+nowind = iso_sounding([1.0, 0.8, 0.6])
+ls = igra.build_heights(nowind, station_elev=1000.0)
+check_eq("interp_wind is None where no wind was reported",
+         igra.interp_wind(ls, [ls[1].z])[0], (None, None))
+
+
 # --- lapse fitting ---------------------------------------------------------
 
 grid = [sites.FAR_ELEV + 250.0 * i for i in range(31)]
@@ -356,6 +391,45 @@ def check_range(name, rows, col, lo, hi):
           float(jan[0]["eq7_minus_measured_k"]), 0.0, 1e-9)
 
 
+# --- committed wind products -----------------------------------------------
+# Same gate as the temperature profiles, on the wind CSVs wind_profile.py
+# writes. nid alone is the sparsest tag (~22/month), so it sets the floor.
+
+WIND_TAGS = ("edw-nid", "vef", "nid")
+
+for tag in WIND_TAGS:
+    name = "%s-wprofile-monthly.csv" % tag
+    rows = load_csv(name)
+    check_eq("%s is non-empty" % name, len(rows) > 0, True)
+    check_eq("%s covers all 12 months" % name,
+             sorted({int(r["month"]) for r in rows}), list(range(1, 13)))
+    check_cols("%s-wprofile" % tag, rows,
+               ["month", "n_soundings", "H_msl_m", "H_agl_ft",
+                "u_mean_ms", "v_mean_ms", "spd_mean_ms", "spd_p05_ms",
+                "spd_p50_ms", "spd_p95_ms", "dir_mean_deg"])
+    # Speed is a magnitude, so non-negative; 80 m/s covers the winter jet aloft
+    # with headroom. A negative or absurd value means a component/parse error.
+    check_range("%s-wprofile" % tag, rows, "spd_mean_ms", 0.0, 80.0)
+    check_range("%s-wprofile" % tag, rows, "spd_p95_ms", 0.0, 80.0)
+    check_range("%s-wprofile" % tag, rows, "dir_mean_deg", 0.0, 360.0)
+    check_eq("%s-wprofile speed quantiles are ordered" % tag,
+             [r["H_msl_m"] for r in rows
+              if not (float(r["spd_p05_ms"]) <= float(r["spd_p50_ms"])
+                      <= float(r["spd_p95_ms"]))][:3], [])
+    check_eq("%s-wprofile mean speed dominates its components" % tag,
+             [r["H_msl_m"] for r in rows
+              if float(r["spd_mean_ms"]) + 1e-6
+              < math.hypot(float(r["u_mean_ms"]), float(r["v_mean_ms"]))][:3], [])
+    check_eq("%s-wprofile has enough soundings per month" % tag,
+             [r["month"] for r in rows if int(r["n_soundings"]) < 20], [])
+    jan = [r for r in rows if r["month"] == "1"]
+    hs = [float(r["H_msl_m"]) for r in jan]
+    check_eq("%s-wprofile heights ascend within a month" % tag,
+             hs == sorted(hs), True)
+    check_eq("%s-wprofile reaches the 25 kft AGL ceiling" % tag,
+             max(float(r["H_agl_ft"]) for r in jan) >= 25000.0, True)
+
+
 print()
 if FAILS:
     print("%d FAILED: %s" % (len(FAILS), ", ".join(FAILS)))
diff --git a/recovery-calculator/site-climatology/wind_profile.py b/recovery-calculator/site-climatology/wind_profile.py
new file mode 100644
index 000000000..9e5853b2b
--- /dev/null
+++ b/recovery-calculator/site-climatology/wind_profile.py
@@ -0,0 +1,212 @@
+#!/usr/bin/env python3
+"""Low-altitude wind climatology, pad to 25,000 ft AGL. PLAN.md §21.
+
+The sibling of `temp_profile.py`, on the same soundings and the same height
+grid, answering the drift question instead of the density one:
+
+    over the band the vehicle descends through, which way and how hard does the
+    wind blow each month, and how much does it vary day to day?
+
+Wind is stored as **u (east) / v (north) components** rather than speed and
+direction, because that is what the drift model and RocketPy both consume, and
+because components interpolate correctly where speed/direction would swing the
+vector the long way round a backing wind. Per grid level and month we publish
+the mean vector, the day-to-day speed quantiles (the p95 is the deterministic
+"worst-case wind" the Drift tab offers), and the mean bearing the wind blows
+from.
+
+IGRA reports wind direction (degrees the wind blows *from*) and speed; the
+component conversion and the meteorological convention live in
+`igra.Level`/`igra.interp_wind`, kept in step with `physics/wind.py`.
+
+Usage:
+    python3 wind_profile.py                        # Edwards+China Lake, 10 yr
+    python3 wind_profile.py --station VEF --years 10
+"""
+
+import argparse
+import csv
+import datetime as dt
+import math
+import os
+import statistics
+import sys
+
+import igra
+import sites
+from metar_history import MONTH, pct
+from temp_profile import GRID_STEP, height_grid
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+DATA = os.path.join(HERE, "data")
+
+
+def profiles(stations, since, until, grid):
+    """One (u, v) vector pair per sounding, on the shared grid.
+
+    Pools stations exactly as `temp_profile.profiles` does, and drops whole any
+    sounding that cannot supply wind at every grid level -- so each month's
+    quantiles down a column rest on the same set of ascents. A sounding may
+    cover the temperature grid yet miss wind (older or automated releases),
+    which is why this is filtered independently of the temperature pass.
+    """
+    kept, dropped = [], 0
+    per_station = {}
+    for station in stations:
+        st = sites.UPPER[station]
+        snds = igra.load(st.igra_id, since, until, p_floor=30000.0)
+        n = 0
+        for s in snds:
+            ls = igra.build_heights(s, st.elev_m)
+            if len(ls) < 5:
+                dropped += 1
+                continue
+            uv = igra.interp_wind(ls, grid)
+            if any(u is None or v is None for u, v in uv):
+                dropped += 1
+                continue
+            us = [u for u, v in uv]
+            vs = [v for u, v in uv]
+            kept.append((s, us, vs))
+            n += 1
+        per_station[station] = n
+    return kept, dropped, per_station
+
+
+def _dir_from(u_mean, v_mean):
+    """Bearing the mean wind blows *from*, degrees clockwise from north.
+
+    The inverse of the component convention: the wind vector (u, v) points where
+    the air travels, so the direction it came from is that reversed.
+    """
+    if u_mean == 0.0 and v_mean == 0.0:
+        return 0.0
+    return math.degrees(math.atan2(-u_mean, -v_mean)) % 360.0
+
+
+def monthly(kept, grid):
+    """Per calendar month: u/v mean and speed quantiles at every grid height."""
+    out = []
+    for m in range(1, 13):
+        sel = [(us, vs) for s, us, vs in kept if s.month == m]
+        if not sel:
+            continue
+        rec = dict(month=m, n=len(sel), levels=[])
+        for i, h in enumerate(grid):
+            us_col = [us[i] for us, vs in sel]
+            vs_col = [vs[i] for us, vs in sel]
+            spd_col = [math.hypot(u, v) for u, v in zip(us_col, vs_col)]
+            u_mean = statistics.fmean(us_col)
+            v_mean = statistics.fmean(vs_col)
+            rec["levels"].append(dict(
+                h=h,
+                u_mean=u_mean, v_mean=v_mean,
+                spd_mean=statistics.fmean(spd_col),
+                spd_sd=statistics.pstdev(spd_col) if len(spd_col) > 1 else 0.0,
+                spd_p05=pct(spd_col, 0.05),
+                spd_p50=pct(spd_col, 0.50),
+                spd_p95=pct(spd_col, 0.95),
+                dir_mean=_dir_from(u_mean, v_mean),
+            ))
+        out.append(rec)
+    return out
+
+
+# --- output ----------------------------------------------------------------
+
+COLUMNS = ["month", "n_soundings", "H_msl_m", "H_agl_ft",
+           "u_mean_ms", "v_mean_ms", "spd_mean_ms", "spd_sd_ms",
+           "spd_p05_ms", "spd_p50_ms", "spd_p95_ms", "dir_mean_deg"]
+
+
+def write_csv(path, rows, grid):
+    with open(path, "w", newline="") as f:
+        w = csv.writer(f)
+        w.writerow(COLUMNS)
+        H_pad = grid[0]
+        for r in rows:
+            for lv in r["levels"]:
+                w.writerow([r["month"], r["n"], "%.0f" % lv["h"],
+                            "%.0f" % ((lv["h"] - H_pad) / 0.3048),
+                            "%.2f" % lv["u_mean"], "%.2f" % lv["v_mean"],
+                            "%.2f" % lv["spd_mean"], "%.2f" % lv["spd_sd"],
+                            "%.2f" % lv["spd_p05"], "%.2f" % lv["spd_p50"],
+                            "%.2f" % lv["spd_p95"], "%.1f" % lv["dir_mean"]])
+
+
+def report(rows, grid, stations, dropped, since, until, per_station):
+    H_pad = grid[0]
+    print()
+    print("WIND PROFILE, %04d-%02d to %04d-%02d"
+          % (since[0], since[1], until[0], until[1]))
+    for s in stations:
+        st = sites.UPPER[s]
+        print("  %-4s %-16s %s  %4d usable"
+              % (s, st.name, st.igra_id, per_station[s]))
+    print("grid %.0f-%.0f m MSL (0-%.0f ft AGL over a %.0f m pad), %.0f m steps"
+          % (grid[0], grid[-1], (grid[-1] - H_pad) / 0.3048,
+             sites.FAR_ELEV, GRID_STEP))
+    print("%d soundings usable, %d dropped (burst low, gappy, or no wind)"
+          % (sum(r["n"] for r in rows), dropped))
+
+    show = [i for i, h in enumerate(grid)
+            if round((h - H_pad) / 0.3048) % 5000 < GRID_STEP / 0.3048]
+
+    print()
+    print("MEAN WIND SPEED (m/s) BY MONTH AND ALTITUDE AGL")
+    print("  mon    n  " + "".join("%8.0fft" % ((grid[i] - H_pad) / 0.3048)
+                                   for i in show))
+    print("  " + "-" * (11 + 10 * len(show)))
+    for r in rows:
+        print("  %-3s %4d  " % (MONTH[r["month"]], r["n"])
+              + "".join("%10.1f" % r["levels"][i]["spd_mean"] for i in show))
+
+    print()
+    print("WORST-CASE SPEED (p95, m/s) -- the Drift tab's strong-wind profile")
+    print("  mon       " + "".join("%8.0fft" % ((grid[i] - H_pad) / 0.3048)
+                                   for i in show))
+    print("  " + "-" * (11 + 10 * len(show)))
+    for r in rows:
+        print("  %-3s       " % MONTH[r["month"]]
+              + "".join("%10.1f" % r["levels"][i]["spd_p95"] for i in show))
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__.split("\n")[0])
+    ap.add_argument("--station", default=",".join(sites.PRIMARY_UPPER),
+                    help="comma-separated IGRA stations to pool: %s (default %s)"
+                         % ("/".join(sorted(sites.UPPER)),
+                            ",".join(sites.PRIMARY_UPPER)))
+    ap.add_argument("--years", type=int, default=10,
+                    help="years of soundings to pool (default 10)")
+    ap.add_argument("--elev", type=float, default=sites.FAR_ELEV)
+    args = ap.parse_args()
+
+    stations = [s.strip().upper() for s in args.station.split(",") if s.strip()]
+    unknown = [s for s in stations if s not in sites.UPPER]
+    if unknown:
+        raise SystemExit("unknown station(s): %s. Known: %s"
+                         % (", ".join(unknown), ", ".join(sorted(sites.UPPER))))
+
+    today = dt.date.today()
+    until = (today.year, today.month)
+    since = (today.year - args.years, today.month)
+
+    grid = height_grid(args.elev)
+    print("%s, pooling %d years" % ("+".join(stations), args.years),
+          file=sys.stderr)
+    kept, dropped, per_station = profiles(stations, since, until, grid)
+    if not kept:
+        raise SystemExit("no usable soundings in that window")
+
+    rows = monthly(kept, grid)
+    os.makedirs(DATA, exist_ok=True)
+    tag = "-".join(s.lower() for s in stations)
+    write_csv(os.path.join(DATA, "%s-wprofile-monthly.csv" % tag), rows, grid)
+    report(rows, grid, stations, dropped, since, until, per_station)
+    print()
+    print("wrote data/%s-wprofile-monthly.csv" % tag)
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/recovery-calculator/tests/test_api.py b/recovery-calculator/tests/test_api.py
index 9b8f74e45..0f8bef907 100644
--- a/recovery-calculator/tests/test_api.py
+++ b/recovery-calculator/tests/test_api.py
@@ -875,3 +875,55 @@ def test_crosscheck_rejects_an_unrunnable_config():
     bad = load_fixture()
     bad["devices"][0]["CdS"] = -1.0
     assert client().post("/api/crosscheck", json=bad).status_code == 422
+
+
+# --- drift (PLAN.md §21) ---------------------------------------------------
+
+
+def _drift_body(wind):
+    return {"config": load_fixture(), "wind": wind}
+
+
+def test_drift_constant_wind_matches_speed_times_descent_time():
+    with client() as c:
+        body = c.post("/api/drift", json=_drift_body(
+            {"kind": "constant", "speed": 8.0, "direction": 270.0})).json()
+    # A westerly blows toward the east: bearing 90, distance = speed*t.
+    assert abs(body["distance"] - 8.0 * body["descent_time"]) < 1e-3
+    assert abs(body["bearing_deg"] - 90.0) < 1e-3
+    assert body["landing"]["x"] > 0.0
+    assert abs(body["landing"]["y"]) < 1e-3
+
+
+def test_drift_zero_wind_is_no_drift():
+    with client() as c:
+        body = c.post("/api/drift", json=_drift_body(
+            {"kind": "constant", "speed": 0.0, "direction": 0.0})).json()
+    assert body["distance"] == 0.0
+
+
+def test_drift_track_is_time_ordered_and_starts_at_the_pad():
+    with client() as c:
+        body = c.post("/api/drift", json=_drift_body(
+            {"kind": "constant", "speed": 5.0, "direction": 180.0})).json()
+    track = body["track"]
+    assert track[0]["x"] == 0.0 and track[0]["y"] == 0.0
+    assert all(b["t"] >= a["t"] for a, b in zip(track, track[1:]))
+    # Wire contract for the ground-track plot.
+    assert set(track[0]) == {"t", "z", "x", "y"}
+
+
+def test_drift_accepts_a_resolved_profile():
+    prof = {"kind": "profile",
+            "heights_msl": [630.0, 1630.0, 4630.0],
+            "u": [3.0, 6.0, 12.0], "v": [0.0, 0.0, 0.0]}
+    with client() as c:
+        body = c.post("/api/drift", json=_drift_body(prof)).json()
+    assert body["distance"] > 0.0
+    assert abs(body["bearing_deg"] - 90.0) < 1e-6  # all eastward
+
+
+def test_drift_rejects_an_unrunnable_config():
+    bad = _drift_body({"kind": "constant", "speed": 5.0, "direction": 0.0})
+    bad["config"]["devices"][0]["CdS"] = -1.0
+    assert client().post("/api/drift", json=bad).status_code == 422
diff --git a/recovery-calculator/tests/test_drift.py b/recovery-calculator/tests/test_drift.py
new file mode 100644
index 000000000..7bdf589de
--- /dev/null
+++ b/recovery-calculator/tests/test_drift.py
@@ -0,0 +1,69 @@
+"""Drift: zero-wind, the constant-wind identity, and altitude weighting."""
+
+from physics.drift import compute_drift
+from physics.schema import Config, Device, Site, Trigger, TriggerKind, Vehicle
+from physics.solver import integrate
+from physics.site import FAR_ELEV_M
+from physics.wind import WindProfile
+
+# ISA temperature at the FAR pad, keeping the eq (7) re-fit the identity.
+FAR_ISA_T = 284.1854
+
+
+def _run(h_a=3000.0):
+    """A drogue-then-main descent from `h_a`, so there is a fast high-altitude
+    phase and a slow low-altitude one -- which is what the weighting test needs.
+    """
+    cfg = Config(
+        vehicle=Vehicle(m=5.67, h_a=h_a, d_body=0.1016, l_body=1.44),
+        site=Site(T_pad=FAR_ISA_T),
+        devices=[
+            Device(name="drogue", CdS=0.3, D0=0.6, m_c=0.05,
+                   trigger=Trigger(kind=TriggerKind.TIME, value=1.0)),
+            Device(name="main", CdS=6.0, D0=2.4, m_c=0.3,
+                   trigger=Trigger(kind=TriggerKind.ALTITUDE, value=300.0)),
+        ],
+    )
+    return integrate(cfg, "axial")
+
+
+def test_zero_wind_gives_zero_drift():
+    run = _run()
+    d = compute_drift(run, WindProfile.constant(0.0, 0.0))
+    assert d.distance == 0.0
+    assert abs(d.x[-1]) < 1e-12 and abs(d.y[-1]) < 1e-12
+
+
+def test_constant_wind_drift_equals_speed_times_descent_time():
+    run = _run()
+    speed, direction = 7.0, 270.0  # a westerly, blowing toward the east
+    d = compute_drift(run, WindProfile.constant(speed, direction))
+    # With a uniform wind the integral collapses to speed * descent_time, and
+    # the canopy heads the way the wind blows (east, bearing 90).
+    assert abs(d.distance - speed * run.t_ground) < 1e-6
+    assert abs(d.bearing_deg - 90.0) < 1e-6
+    # Drift is due east: +x, ~zero y.
+    assert d.x[-1] > 0.0
+    assert abs(d.y[-1]) < 1e-6
+
+
+def test_low_altitude_wind_drifts_more_than_high_altitude_wind():
+    run = _run()
+    # Same speed, placed in the bottom 300 m (under the slow main) vs the top,
+    # both zero elsewhere. The main dwells low, so the low wind wins.
+    low = WindProfile.from_grid(
+        [FAR_ELEV_M, FAR_ELEV_M + 300.0, FAR_ELEV_M + 400.0],
+        [5.0, 5.0, 0.0], [0.0, 0.0, 0.0])
+    high = WindProfile.from_grid(
+        [FAR_ELEV_M + 2600.0, FAR_ELEV_M + 2700.0, FAR_ELEV_M + 3000.0],
+        [0.0, 5.0, 5.0], [0.0, 0.0, 0.0])
+    d_low = compute_drift(run, low)
+    d_high = compute_drift(run, high)
+    assert d_low.distance > d_high.distance
+
+
+def test_track_starts_at_pad_and_matches_trajectory_length():
+    run = _run()
+    d = compute_drift(run, WindProfile.constant(5.0, 180.0))
+    assert d.x[0] == 0.0 and d.y[0] == 0.0
+    assert len(d.x) == len(run.traj.t) == len(d.z)
diff --git a/recovery-calculator/tests/test_wind.py b/recovery-calculator/tests/test_wind.py
new file mode 100644
index 000000000..76044cb43
--- /dev/null
+++ b/recovery-calculator/tests/test_wind.py
@@ -0,0 +1,98 @@
+"""WindProfile: the meteorological convention, interpolation, RocketPy shape."""
+
+import math
+
+from physics.site import FAR_ELEV_M
+from physics.wind import WindProfile, uv_from_speed_dir
+
+
+# --- meteorological convention: direction is where wind blows FROM ----------
+
+
+def test_wind_from_north_blows_south():
+    # A northerly (from 0 deg) pushes toward the south: v negative, u zero.
+    u, v = uv_from_speed_dir(10.0, 0.0)
+    assert abs(u) < 1e-12
+    assert v == -10.0
+
+
+def test_wind_from_west_blows_east():
+    # A westerly (from 270) pushes toward the east: u positive, v zero.
+    u, v = uv_from_speed_dir(10.0, 270.0)
+    assert u == 10.0
+    assert abs(v) < 1e-12
+
+
+def test_wind_from_east_blows_west():
+    u, v = uv_from_speed_dir(10.0, 90.0)
+    assert u == -10.0
+    assert abs(v) < 1e-12
+
+
+# --- constant profile -------------------------------------------------------
+
+
+def test_constant_is_uniform_with_altitude():
+    w = WindProfile.constant(8.0, 270.0)
+    for z in (0.0, 500.0, 3000.0):
+        assert w.u(z) == 8.0
+        assert abs(w.v(z)) < 1e-12
+        assert w.speed(z) == 8.0
+
+
+def test_constant_heading_is_direction_wind_travels():
+    # From the west -> travels toward the east -> heading 90 deg.
+    w = WindProfile.constant(8.0, 270.0)
+    assert abs(w.heading(0.0) - 90.0) < 1e-9
+
+
+def test_calm_heading_is_zero_not_nan():
+    w = WindProfile.constant(0.0, 123.0)
+    assert w.speed(0.0) == 0.0
+    assert w.heading(0.0) == 0.0
+
+
+# --- tabulated profile: interpolation and clamping --------------------------
+
+
+def test_from_grid_interpolates_linearly_in_agl():
+    # Heights are MSL; site_elev default is FAR (630 m), so AGL 0 and 1000 map
+    # to MSL 630 and 1630. u climbs 0 -> 10, v is flat.
+    w = WindProfile.from_grid([FAR_ELEV_M, FAR_ELEV_M + 1000.0],
+                              [0.0, 10.0], [0.0, 0.0])
+    assert abs(w.u(0.0) - 0.0) < 1e-9
+    assert abs(w.u(500.0) - 5.0) < 1e-9
+    assert abs(w.u(1000.0) - 10.0) < 1e-9
+
+
+def test_from_grid_holds_flat_outside_the_band():
+    w = WindProfile.from_grid([FAR_ELEV_M, FAR_ELEV_M + 1000.0],
+                              [2.0, 10.0], [0.0, 0.0])
+    # Below the lowest level and above the highest: held, never extrapolated.
+    assert w.u(-100.0) == 2.0
+    assert w.u(5000.0) == 10.0
+
+
+def test_unsorted_grid_is_accepted():
+    w = WindProfile.from_grid([FAR_ELEV_M + 1000.0, FAR_ELEV_M],
+                              [10.0, 0.0], [0.0, 0.0])
+    assert abs(w.u(500.0) - 5.0) < 1e-9
+
+
+# --- RocketPy handoff -------------------------------------------------------
+
+
+def test_to_rocketpy_emits_height_value_points_in_msl():
+    w = WindProfile.from_grid([FAR_ELEV_M + 1000.0, FAR_ELEV_M],
+                              [10.0, 3.0], [-2.0, 1.0])
+    wind_u, wind_v = w.to_rocketpy()
+    # Ascending MSL height, [height, value] pairs -- the custom_atmosphere form.
+    assert wind_u[0] == [FAR_ELEV_M, 3.0]
+    assert wind_u[1] == [FAR_ELEV_M + 1000.0, 10.0]
+    assert wind_v[0] == [FAR_ELEV_M, 1.0]
+    assert wind_v[1] == [FAR_ELEV_M + 1000.0, -2.0]
+
+
+def test_speed_is_component_magnitude():
+    w = WindProfile.from_grid([FAR_ELEV_M], [3.0], [4.0])
+    assert abs(w.speed(0.0) - 5.0) < 1e-12

From 68828ab55f4b845f834c6a068ed0610d263496f6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 17:26:43 -0700
Subject: [PATCH 008/205] deploy: pin apps stack to STAR_IMAGE_TAG
 (sha-<short>) image tag, default latest

---
 .env.example          | 11 +++++++++++
 deploy/apps/README.md | 21 ++++++++++++++++++++-
 docker-compose.yml    | 28 +++++++++++++++++-----------
 3 files changed, 48 insertions(+), 12 deletions(-)

diff --git a/.env.example b/.env.example
index 64304de7f..c565ca948 100644
--- a/.env.example
+++ b/.env.example
@@ -31,6 +31,17 @@ AUTH_PUBLIC_URL=https://auth.starberkeley.org
 SCHEME=https
 ACME_EMAIL=infra@starberkeley.org
 
+# ── Image version ──────────────────────────────────────────────────────────
+# Which tag of the ghcr.io/calstar/star-* images the stack runs. CI publishes
+# two tags on every push to main: `latest` (moving) and `sha-<short>` (immutable,
+# e.g. sha-abc1234).
+#   unset / latest → track the newest build on main (current default).
+#   sha-<short>    → pin the whole stack to one build; roll back by editing this
+#                    one line and re-running `docker compose … up -d`.
+# Pin to a sha that CI actually published (check the repo's GHCR packages, or the
+# short hash of a commit that ran the publish workflow). See deploy/apps/README.md.
+STAR_IMAGE_TAG=latest
+
 # Only needed with `--profile tunnel`. From the Cloudflare Zero Trust
 # dashboard: Networks → Tunnels → your tunnel → install connector.
 # CLOUDFLARE_TUNNEL_TOKEN=
diff --git a/deploy/apps/README.md b/deploy/apps/README.md
index e8c97062c..bad7322d8 100644
--- a/deploy/apps/README.md
+++ b/deploy/apps/README.md
@@ -91,6 +91,23 @@ docker compose ps
 ```
 (Building on the box instead — needs a full clone and ≥4 GB RAM for the React
 builds — is `docker compose --profile tunnel up -d --build`.)
+
+**Image version (`STAR_IMAGE_TAG`).** Every `star-*` image is pulled at the tag
+`${STAR_IMAGE_TAG:-latest}`. CI publishes two tags on each push to `main`:
+`latest` (moving) and an immutable `sha-<short>` (e.g. `sha-abc1234`).
+- **Default — `latest`:** leave `STAR_IMAGE_TAG` unset (or `=latest`). `pull` then
+  `up -d` moves the stack to the newest build. This is the current workflow.
+- **Pinned — `sha-<short>`:** set `STAR_IMAGE_TAG=sha-abc1234` in `.env` to lock the
+  whole stack to one build. `pull` + `up -d` fetches exactly that build; nothing
+  moves until you change the line. Roll back the same way — set an older `sha-…`
+  and `up -d`.
+
+  Pin only to a sha CI actually published: `publish-apps.yml` builds *all* app
+  images together and `publish-auth.yml` builds auth, each on their own path
+  filters, so a given commit's `sha-…` exists for every image only if that commit
+  touched both an app path and `auth/`. Check the repo's GHCR **Packages** for the
+  tags that exist. `docker compose config --images` prints the exact tags Compose
+  will pull, so you can confirm the pin before `up -d`.
 Then drop the host's published web ports (cloudflared is the only ingress): remove
 the `80:80` / `443:443` lines from the `caddy` service, or block them at the
 firewall. SSH (22) is all you need inbound.
@@ -170,4 +187,6 @@ own `…/releases/<label>.json`. (Swap bucket + prefix for the other two apps.)
   working copies**) lives in the `userdata` volume on this machine, keyed by
   `X-Auth-Email`. P&ID *version history* additionally lives in S3 (above).
 - **Updating:** `docker compose --profile tunnel pull && docker compose --profile tunnel up -d`
-  (CI republishes `:latest` on every push to `main`).
+  (CI republishes `:latest` on every push to `main`). To deploy a **specific**
+  build instead of the newest, set `STAR_IMAGE_TAG=sha-<short>` in `.env` first —
+  see §3 "Image version". Default (unset) tracks `latest`.
diff --git a/docker-compose.yml b/docker-compose.yml
index 52cdd618c..4c13c97e0 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -21,6 +21,12 @@
 #
 # Let's Encrypt instead of a tunnel (single public machine): leave SCHEME=https
 # and `docker compose up -d --build`.
+#
+# Image pinning: every ghcr.io/calstar/star-* image is tagged ${STAR_IMAGE_TAG:-latest}.
+# Unset (the default) tracks :latest — the newest push to main. To pin the whole
+# stack to a specific build, set STAR_IMAGE_TAG=sha-<short> in .env (CI publishes a
+# sha-<short> tag alongside :latest on every push). Roll back = change that one line
+# and `docker compose up -d`. See deploy/apps/README.md.
 
 services:
   # ── Reverse proxy + TLS + auth gate ──────────────────────────────────────
@@ -94,7 +100,7 @@ services:
 
   # ── Auth service ─────────────────────────────────────────────────────────
   auth:
-    image: ghcr.io/calstar/star-auth:latest
+    image: ghcr.io/calstar/star-auth:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./auth
     restart: unless-stopped
@@ -130,7 +136,7 @@ services:
   # Built from the repo root: the native-builder stage and runtime copy several
   # EngineDesign/ subtrees. Auth is Caddy's job, so no JWT_SECRET here.
   engine-design-api:
-    image: ghcr.io/calstar/star-engine-design-api:latest
+    image: ghcr.io/calstar/star-engine-design-api:${STAR_IMAGE_TAG:-latest}
     build:
       context: .
       dockerfile: EngineDesign/Dockerfile.api
@@ -151,7 +157,7 @@ services:
       - userdata:/data
 
   engine-design-frontend:
-    image: ghcr.io/calstar/star-engine-design-frontend:latest
+    image: ghcr.io/calstar/star-engine-design-frontend:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./EngineDesign/frontend
       dockerfile: Dockerfile
@@ -161,7 +167,7 @@ services:
   # Auth is Caddy's job; the image is self-contained, so it builds from the
   # subproject dir.
   pid-designer-api:
-    image: ghcr.io/calstar/star-pid-designer-api:latest
+    image: ghcr.io/calstar/star-pid-designer-api:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./pid-designer
       dockerfile: Dockerfile.api
@@ -182,7 +188,7 @@ services:
       - userdata:/data
 
   pid-designer-frontend:
-    image: ghcr.io/calstar/star-pid-designer-frontend:latest
+    image: ghcr.io/calstar/star-pid-designer-frontend:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./pid-designer/frontend
       dockerfile: Dockerfile
@@ -192,7 +198,7 @@ services:
   # No in-app auth (Caddy is the gate) and no dependency on auth/shared_auth.py,
   # so the build context is the subproject, not the repo root.
   recovery-calculator-api:
-    image: ghcr.io/calstar/star-recovery-calculator-api:latest
+    image: ghcr.io/calstar/star-recovery-calculator-api:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./recovery-calculator
       dockerfile: Dockerfile.api
@@ -212,7 +218,7 @@ services:
       - userdata:/data
 
   recovery-calculator-frontend:
-    image: ghcr.io/calstar/star-recovery-calculator-frontend:latest
+    image: ghcr.io/calstar/star-recovery-calculator-frontend:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./recovery-calculator/frontend
       dockerfile: Dockerfile
@@ -220,7 +226,7 @@ services:
 
   # ── Onshape CM Viewer ────────────────────────────────────────────────────
   onshape-viewer-api:
-    image: ghcr.io/calstar/star-onshape-viewer-api:latest
+    image: ghcr.io/calstar/star-onshape-viewer-api:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./onshape-viewer
       dockerfile: Dockerfile.api
@@ -241,7 +247,7 @@ services:
       - onshape_cache:/app/cache
 
   onshape-viewer-frontend:
-    image: ghcr.io/calstar/star-onshape-viewer-frontend:latest
+    image: ghcr.io/calstar/star-onshape-viewer-frontend:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./onshape-viewer/frontend
       dockerfile: Dockerfile
@@ -254,7 +260,7 @@ services:
   # elodin-db binary baked into the image to export them to parquet. This is a
   # separate concern from the DAQ *server* below, which stays on the host.
   daq-viewer:
-    image: ghcr.io/calstar/star-daq-viewer:latest
+    image: ghcr.io/calstar/star-daq-viewer:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./daq-server/tools/postprocessing/webviewer
       dockerfile: Dockerfile
@@ -289,7 +295,7 @@ services:
 
   # ── Landing page ─────────────────────────────────────────────────────────
   landing:
-    image: ghcr.io/calstar/star-landing:latest
+    image: ghcr.io/calstar/star-landing:${STAR_IMAGE_TAG:-latest}
     build:
       context: ./landing
       dockerfile: Dockerfile

From 271576d53e40566cb1574f55ab49ba5d58de4ea9 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 17:43:01 -0700
Subject: [PATCH 009/205] pid-designer: add top control port to pressure
 regulator (dome/pilot line)

---
 pid-designer/frontend/src/components/pid/nodes/PRNode.tsx | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/pid-designer/frontend/src/components/pid/nodes/PRNode.tsx b/pid-designer/frontend/src/components/pid/nodes/PRNode.tsx
index 38b7b7880..1e5b95058 100644
--- a/pid-designer/frontend/src/components/pid/nodes/PRNode.tsx
+++ b/pid-designer/frontend/src/components/pid/nodes/PRNode.tsx
@@ -12,8 +12,10 @@ export function PRNode({ id, data, selected }: NodeProps) {
     <div style={{ position: 'relative', width: W, height: H, transform: `rotate(${rotation ?? 0}deg)`, transformOrigin: 'center' }}>
       <Handle type="target" position={Position.Left}  id="l" style={{ background: '#94a3b8' }} />
       <Handle type="source" position={Position.Right} id="r" style={{ background: '#94a3b8' }} />
+      <Handle type="target" position={Position.Top}   id="t" style={{ background: '#94a3b8' }} />
 
       <svg width={W} height={H} viewBox={`0 0 ${W} ${H}`}>
+        <line x1="30" y1="0" x2="30" y2="8" stroke={stroke} strokeWidth={1.5} />
         <rect x="8" y="8" width="44" height="44" rx="3"
           fill="#1e293b" stroke={stroke} strokeWidth={selected ? 2.5 : 1.5} />
         <line x1="16" y1="44" x2="44" y2="16" stroke={stroke} strokeWidth={1.5} />

From 44d785c95613affd919b4463792193a673eb7487 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 18:11:57 -0700
Subject: [PATCH 010/205] daq-server GUI: tabbed nav + popup, config-driven top
 bar/tabs on [pressure_limits], operator-gated live config editing with
 download/upload, and dead-config scrub

---
 daq-server/config/config.toml                 | 271 ++++------
 .../diablo_server/backend/src/api-server.ts   |  81 ++-
 .../backend/src/routes/config.ts              |  24 +-
 .../diablo_server/backend/src/server.ts       |   3 +
 .../__tests__/dashboards.smoke.test.tsx       |  24 +
 .../__tests__/pressure-bar-defs.test.ts       |  57 +++
 .../frontend/app/config/page.tsx              | 474 ++++++++----------
 .../frontend/app/controls/page.tsx            |   9 +-
 .../diablo_server/frontend/app/page.tsx       | 185 -------
 .../diablo_server/frontend/app/views/page.tsx |  75 +++
 .../components/dashboard/MobileDashboard.tsx  |   8 +-
 .../frontend/components/dashboard/TabBar.tsx  | 122 +++++
 .../frontend/components/dashboard/TopBar.tsx  |  24 +-
 .../components/dashboard/TopBarWrapper.tsx    |  18 +-
 .../components/windows/OpenInPopupButton.tsx  |  43 ++
 .../components/windows/WindowLauncher.tsx     | 111 ----
 .../frontend/lib/dashboard-hooks.ts           |  23 +-
 .../diablo_server/frontend/lib/gui-config.ts  |  93 ++++
 .../diablo_server/frontend/lib/is-popup.ts    |   8 +
 .../diablo_server/frontend/lib/nav-items.ts   | 127 +++++
 .../frontend/lib/pressure-bar-defs.ts         | 126 +++--
 .../frontend/lib/pressure-limits.ts           |  19 +-
 daq-server/diablo_server/frontend/src/App.tsx |  66 +--
 .../diablo_server/frontend/src/pages.tsx      |  35 +-
 24 files changed, 1176 insertions(+), 850 deletions(-)
 create mode 100644 daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts
 delete mode 100644 daq-server/diablo_server/frontend/app/page.tsx
 create mode 100644 daq-server/diablo_server/frontend/app/views/page.tsx
 create mode 100644 daq-server/diablo_server/frontend/components/dashboard/TabBar.tsx
 create mode 100644 daq-server/diablo_server/frontend/components/windows/OpenInPopupButton.tsx
 delete mode 100644 daq-server/diablo_server/frontend/components/windows/WindowLauncher.tsx
 create mode 100644 daq-server/diablo_server/frontend/lib/gui-config.ts
 create mode 100644 daq-server/diablo_server/frontend/lib/is-popup.ts
 create mode 100644 daq-server/diablo_server/frontend/lib/nav-items.ts

diff --git a/daq-server/config/config.toml b/daq-server/config/config.toml
index b44981821..c97a85758 100644
--- a/daq-server/config/config.toml
+++ b/daq-server/config/config.toml
@@ -3,12 +3,9 @@
 # Modular config for boards, sensors, actuators, calibration, and routing
 # =============================================================================
 
-# =============================================================================
-# System
-# =============================================================================
-[system]
-mode = "GROUND"          # "FLIGHT" or "GROUND"
-state = "GSE"            # Initial state: GSE, HOTFIRE, etc.
+# NOTE: [system] (mode/state) removed 2026-08-13 — dead config. Nothing read it;
+# FLIGHT vs GROUND is determined by the config filename (config_flight_daq.toml
+# vs config_ground_daq.toml) in daq_bridge, not by this section.
 
 # =============================================================================
 # Network - DAQ Bridge Listener
@@ -17,7 +14,7 @@ state = "GSE"            # Initial state: GSE, HOTFIRE, etc.
 bind_ip = "0.0.0.0"
 sensor_port = 5006       # Port for all sensor data (PT, LC, TC, RTD boards send here)
 actuator_cmd_port = 5005 # Port actuator boards listen on for commands
-buffer_size = 1024
+# buffer_size removed 2026-08-13 — was only a struct field in lib/Config.h, no socket used it
 
 # =============================================================================
 # Server Heartbeat - UDP broadcast config (used by heartbeat_service and daq_bridge)
@@ -78,6 +75,79 @@ connection_retry_delay_ms = 1000
 downsample_mode = "envelope"
 points_per_second = 20
 
+# ── Tab bar: which views are pinned to the header, in order ───────────────────
+# Ids index the frontend view catalog (lib/nav-items.ts). Reorder / add / remove
+# to change the tab bar live (no rebuild). Views not listed here are still
+# reachable via the "All Views" tab. Single Pane ("unified") is the primary view.
+tabs = ["unified", "fuel", "lox", "chamber", "copv", "controller", "boards", "session"]
+
+# ── Top-bar pressure gauges (ordered) ────────────────────────────────────────
+# label   — text shown on the gauge
+# role    — sensor role name (from [sensor_roles_*]) → resolved to its cal entity
+# limits  — key into [pressure_limits.*]; supplies NOP/MEOP (single source of truth)
+# color   — gauge accent
+# avg_roles (optional) — gauge value = mean of these roles (e.g. chamber mids)
+[[gui.pressure_bars]]
+label = "GN2 HI"
+role = "GN2 High"
+limits = "GN2_High"
+color = "#ADFF2F"
+
+[[gui.pressure_bars]]
+label = "GN2 REG"
+role = "GN2 Regulated"
+limits = "GN2_Regulated"
+color = "#228B22"
+
+[[gui.pressure_bars]]
+label = "FUEL UP"
+role = "Fuel Upstream"
+limits = "Fuel_Upstream"
+color = "#FF4500"
+
+[[gui.pressure_bars]]
+label = "FUEL DN"
+role = "Fuel Downstream"
+limits = "Fuel_Downstream"
+color = "#CC0000"
+
+[[gui.pressure_bars]]
+label = "LOX UP"
+role = "Ox Upstream"
+limits = "Ox_Upstream"
+color = "#38BDF8"
+
+[[gui.pressure_bars]]
+label = "LOX DN"
+role = "Ox Downstream"
+limits = "Ox_Downstream"
+color = "#4169E1"
+
+[[gui.pressure_bars]]
+label = "GSE LO"
+role = "GSE Low"
+limits = "GSE_Low"
+color = "#D8B4FE"
+
+[[gui.pressure_bars]]
+label = "GSE MID"
+role = "GSE Mid"
+limits = "GSE_Mid"
+color = "#C026D3"
+
+[[gui.pressure_bars]]
+label = "GSE HI"
+role = "GSE High"
+limits = "GSE_High"
+color = "#7B2FBE"
+
+[[gui.pressure_bars]]
+label = "CHAMBER"
+role = "Chamber Mid PT 1"
+avg_roles = ["Chamber Mid PT 1", "Chamber Mid PT 2"]
+limits = "Chamber"
+color = "#F97316"
+
 # =============================================================================
 # DAQ bridge sample timestamping (per-board clock sync)
 #   mode = "board-clock": reconstruct true sample times from the boards'
@@ -97,13 +167,20 @@ resync_threshold_ms = 1000   # |residual - offset| beyond this = lost lock -> re
 log_interval_s = 10          # per-board [TimeSync] diagnostics log cadence
 
 # =============================================================================
-# ADC voltage reference nominals (for sense conversions in UI)
-# Used when voltage_reference = 0 (internal) or 2 (5V absolute). Ref 1 = VDD ratiometric.
+# ADC voltage reference nominals (for sense conversions in the UI)
+#
+# Each board sets a `voltage_reference` (in its [boards.*] block). It selects
+# which nominal below the UI uses to turn ADC counts into a voltage:
+#   0 = Internal 2.5V reference  -> uses internal_v
+#   1 = VDD (ratiometric)        -> NO voltage conversion (reading is a ratio of
+#                                   VDD, which cancels out); vdd_nominal_v is
+#                                   display-only, never used in a calculation
+#   2 = 5V absolute reference    -> uses absolute_5v_v
 # =============================================================================
 [adc]
-internal_v = 2.5       # Nominal internal reference (V); boards with voltage_reference = 0
-vdd_nominal_v = 5.0    # Nominal VDD for display only; ratiometric boards don't use voltage conversion
-absolute_5v_v = 5.0    # Nominal 5V absolute reference (V); boards with voltage_reference = 2
+internal_v = 2.5       # Nominal internal reference (V) — voltage_reference = 0
+vdd_nominal_v = 5.0    # Nominal VDD (V) — display only; ratiometric boards don't convert voltage
+absolute_5v_v = 5.0    # Nominal 5V absolute reference (V) — voltage_reference = 2
 
 # =============================================================================
 # Board Discovery
@@ -490,101 +567,16 @@ fire_duration_ms = 6000
 # Extended fire duration (ms) when user taps "Extend Fire".
 fire_extended_ms = 10000
 
-# =============================================================================
-# Elodin Table Routing - Maps sensor types to Elodin table IDs (config-driven, no fixed hexes in code)
-# packet_id = [high_byte, low_byte]; channels = 1-based channel count (low byte 0x01..0x0N).
-# Backend (server.ts) and daq_bridge both read this; add/remove routing types here for modularity.
-# =============================================================================
-[routing.pt_raw]
-packet_id = [0x20, 0x00]
-channels = 14
-description = "Raw PT ADC counts — 0x01..0x0E (board1: 1-7, board2+offset10: 11-14)"
-
-[routing.pt_calibrated]
-packet_id = [0x20, 0x10]
-channels = 30
-description = "Calibrated PT pressure (PSI) — 0x11..0x1E (board1: 0x11-0x17, board2: 0x1B-0x1E)"
-
-[routing.tc_raw]
-packet_id = [0x21, 0x00]
-channels = 20
-description = "Raw TC ADC counts"
-
-[routing.rtd_raw]
-packet_id = [0x22, 0x00]
-channels = 20
-description = "Raw RTD resistance counts"
-
-[routing.lc_raw]
-packet_id = [0x23, 0x00]
-channels = 20
-description = "Raw LC ADC counts"
-
-[routing.lc_calibrated]
-packet_id = [0x23, 0x10]
-channels = 20
-description = "Calibrated LC force"
-
-[routing.actuator_status]
-packet_id = [0x30, 0x00]
-channels = 20
-description = "Actuator current sense readings"
-
-[routing.actuator_cal]
-packet_id = [0x31, 0x00]
-channels = 20
-description = "Calibrated actuator current (amps) from calibration_service"
-
-[routing.encoder_raw]
-packet_id = [0x24, 0x00]
-channels = 2
-description = "Raw encoder angle (0-4095) — AS5600 12-bit"
-
-# Which routing types daq_bridge publishes to Elodin.
-# PT_Cal/TC_Cal/LC_Cal/RTD_Cal are written by calibration_server (subscribes to relay, applies calibration, writes to Elodin).
-[daq_bridge]
-publish = ["pt_raw", "tc_raw", "rtd_raw", "lc_raw", "actuator_status", "actuator_cal", "encoder_raw"]
+# NOTE: [routing.*] and [daq_bridge].publish were removed 2026-08-13 — dead config.
+# daq_bridge derives packet IDs from board config + code-based SensorRouter/HeartbeatRouter;
+# nothing read these sections (verified across backend + C++).
 
 # =============================================================================
 # Calibration
 # =============================================================================
-[calibration]
-enabled = true
-# use_robust_stack: when true (default), Python calibration_server is sole writer; C++ polynomial disabled
-use_robust_stack = true
-# exclude_hp_pt: when true (default), robust stack skips high-pressure 4-20 mA PTs (boards with hp_pt_connectors)
-exclude_hp_pt = true
-# prior_from_polynomial: when true, load polynomial calibration (calibration/*.json) as initial priors
-# so ZERO ALL + CAPTURE match polynomial accuracy (fixes 150 PSI reading as 56.8)
-prior_from_polynomial = true
-
-# Orchestrator settings (Phase 1 + Phase 2 lifecycle)
-[calibration.orchestrator]
-# consensus_enabled: true = test/calibration (PTs on common manifold); false = flight (independent measurements)
-consensus_enabled = true
-self_cal_alpha_threshold = 0.6   # α≥ this for self-calibration
-agreement_threshold = 0.6        # agreement≥ this for consensus-based self-cal
-min_points = 5               # Minimum points to attempt a fit
-target_points = 15           # Target for HIGH confidence
-max_points = 30              # Keep at most this many per channel
-min_r_squared = 0.95         # Minimum R² for acceptable calibration
-target_r_squared = 0.99      # R² for MAXIMUM confidence
-rls_forgetting_factor = 0.995  # Phase 2 RLS forgetting factor (0.99–1.0)
-drift_glr_threshold = 3.0   # GLR statistic threshold for drift alarm
-auto_save_interval_sec = 300 # Phase 2 auto-save interval
-status_interval_sec = 30     # Phase 2 status print interval
-
-# PT calibration sources (tried in order: JSON first, then CSV)
-# Same path as femboy/combined_fsw_gui and daq_bridge: scripts/calibration/calibrations
-# If json_path is set, that file is used; otherwise latest in json_dir is used.
-[calibration.pt]
-# json_path = "scripts/calibration/calibrations/calibration_YYYY-MM-DD....json"  # optional override
-json_dir = "scripts/calibration/calibrations"
-csv_paths = [
-    "../firmware/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv"
-]
-# Polynomial: psi = A*(adc^3) + B*(adc^2) + C*adc + D
-
+# NOTE: [calibration], [calibration.orchestrator], [calibration.pt] removed 2026-08-13 — dead config
+# (read only by the deprecated Python robust-cal). The live C++ calibration_service reads its PT
+# coefficients from hardcoded paths and only parses [calibration.tc/rtd/lc] below for default formulas.
 [calibration.tc]
 json_dir = "scripts/calibration/calibrations/tc"
 csv_paths = []
@@ -662,25 +654,8 @@ NOP = 500
 MEOP = 650
 POP = 800
 
-# Pressure sensor → fluid system mapping (sensor_id → system)
-[pressure_mappings]
-GN2 = 6
-ETH = 1
-LOX = 5
-
-# =============================================================================
-# Display Settings
-# =============================================================================
-[display]
-adc_bits = 32
-window_seconds = 26.0
-y_axis_min = 0.0
-y_axis_max = 700.0
-y_axis_autoscale = true
-only_show_actuators_with_roles = true
-only_show_pt_with_roles = true
-graph_ma_samples = 1
-display_ma_samples = 1
+# NOTE: [pressure_mappings] (old system→channel index, superseded by [sensor_roles_*])
+# and [display] (GUI defaults nothing reads) removed 2026-08-13 — dead config.
 
 # =============================================================================
 # State Machine
@@ -744,53 +719,5 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 # When set, DDP uses fast LUT lookups instead of physics. Generate with engine_lut_config.yaml.
 engine_lut_path = "output/lut/engine_performance.npz"
 
-# =============================================================================
-# Phase 2 Calibration Settings
-# =============================================================================
-[phase2]
-# Enable Phase 2 autonomous calibration
-enabled = false
-# Drift detection threshold (GLR statistic)
-drift_threshold = 2.0
-# Process noise for covariance growth (models drift rate)
-process_noise = 1e-6
-# EMA smoothing factor for prediction baseline (0.01-0.1)
-ema_smoothing_alpha = 0.02
-# RLS forgetting factor (0.99-0.999)
-forgetting_factor = 0.995
-# Auto-save interval (seconds)
-save_interval_seconds = 300
-# Minimum residuals required for drift detection
-min_residuals_for_drift_check = 10
-# Absolute drift threshold (PSI) - also triggers on mean residual > this value
-absolute_drift_threshold_psi = 2.0
-# Cross-sensor consensus threshold (PSI) - sensors in same group should agree within this
-consensus_threshold_psi = 1.0
-# Consensus update rate (0.0-1.0) - how aggressively to update based on sensor agreement
-consensus_update_rate = 0.1
-
-# =============================================================================
-# Robust Calibration Integration (Python Sidecar)
-# =============================================================================
-[calibration.sidecar]
-enabled = true
-host = "127.0.0.1"
-port = 8100
-relay_host = "127.0.0.1"
-relay_port = 9090
-reconnect_interval_ms = 5000
-adc_forward_interval_ms = 200
-# write_interval_sec: min interval per channel (0.01=100Hz, 0.005=200Hz). Lower = faster, more DB load.
-write_interval_sec = 0.01
-# When false, Python sidecar does not write calibrated TABLE rows to Elodin (recommended if
-# calibration_service / C++ is running — two writers fight and calibrated PSI spikes in the DB).
-write_to_elodin = false
-
-[calibration.environmental]
-temperature = 25.0
-humidity = 50.0
-vibration = 0.0
-aging_factor = 1.0
-mounting_torque = 1.0
-# Minimum sensors needed for consensus-based updates
-min_consensus_sensors = 2
+# NOTE: [phase2], [calibration.sidecar], [calibration.environmental] removed 2026-08-13 — dead config
+# (deprecated Python autonomous-cal / sidecar; the live C++ calibration_service reads none of them).
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 1c98efbe4..c598e3043 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -7,7 +7,8 @@ import * as fs from 'fs';
 import * as os from 'os';
 import * as path from 'path';
 import { IncomingMessage, ServerResponse } from 'http';
-import { readConfig, writeConfig } from './routes/config.js';
+import { readConfig, writeConfig, getConfigPath } from './routes/config.js';
+import { isOperator } from './operators.js';
 import { discoverProjects, getEnabledBoardsForFlash, getOtaWorkspaceRoot, BOARD_TYPE_TO_PROJECT } from './ota-build.js';
 import { otaBuildFlash, otaFlashFirmwareFile } from './ota-service-cmd.js';
 import { ElodinQueryClient, QueryOptions } from './elodin-query.js';
@@ -268,6 +269,17 @@ export interface APIHandlerOptions {
   getCalibrationStatus?: () => Promise<any>;
 }
 
+/**
+ * Config edits require an approved operator. Identity is the `X-Auth-Email`
+ * header Caddy injects on every proxied request; an empty header means no proxy
+ * in front (local/dev/test stand) and is treated as operator — same rule the WS
+ * control path uses in server.ts. Present-but-not-allowlisted → denied.
+ */
+function isConfigWriteAuthorized(req: IncomingMessage): boolean {
+  const authEmail = ((req.headers['x-auth-email'] as string | undefined) || '').trim();
+  return authEmail === '' ? true : isOperator(authEmail);
+}
+
 /**
  * Create an HTTP request handler for all /api/* routes.
  * Mount this on an existing http.Server — it does NOT create its own server.
@@ -300,7 +312,12 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         res.writeHead(200, { 'Content-Type': 'application/json' });
         res.end(JSON.stringify({ config }));
       } else if (url.pathname === '/api/config' && req.method === 'POST') {
-        // Write config
+        // Write config — approved operators only
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
         let body = '';
         req.on('data', (chunk) => {
           body += chunk.toString();
@@ -327,6 +344,54 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
             res.end(JSON.stringify({ error: error.message || 'Failed to save config' }));
           }
         });
+      } else if (url.pathname === '/api/config/export' && req.method === 'GET') {
+        // Raw config.toml download (backup). Read-only — no operator gate.
+        try {
+          const raw = fs.readFileSync(getConfigPath(), 'utf-8');
+          res.writeHead(200, {
+            'Content-Type': 'text/plain; charset=utf-8',
+            'Content-Disposition': 'attachment; filename="config.toml"',
+          });
+          res.end(raw);
+        } catch (error: any) {
+          res.writeHead(500, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error.message || 'Failed to read config' }));
+        }
+      } else if (url.pathname === '/api/config/import' && req.method === 'POST') {
+        // Replace config.toml with an uploaded file (restore). Operators only.
+        // Validate by writing then re-reading with the app's tolerant parser;
+        // roll back to the previous contents if it fails to parse.
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        let body = '';
+        req.on('data', (chunk) => { body += chunk.toString(); });
+        req.on('end', () => {
+          const configPath = getConfigPath();
+          let previous: string | null = null;
+          try {
+            if (!body.trim()) throw new Error('Uploaded config is empty');
+            previous = fs.readFileSync(configPath, 'utf-8');
+            fs.writeFileSync(configPath, body, 'utf-8');
+            readConfig(); // throws if the uploaded TOML is invalid
+            if (onConfigUpdated) {
+              setImmediate(() => {
+                try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated handler threw:', e); }
+              });
+            }
+            res.writeHead(200, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ success: true, message: 'Config imported successfully' }));
+          } catch (error: any) {
+            if (previous !== null) {
+              try { fs.writeFileSync(configPath, previous, 'utf-8'); } catch { /* best effort */ }
+            }
+            console.error('❌ Config import error:', error);
+            res.writeHead(400, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ error: error.message || 'Invalid config file' }));
+          }
+        });
       } else if (url.pathname === '/api/query' && req.method === 'GET') {
         // Query historical data from Elodin DB
         const currentQueryClient = getQueryClient ? getQueryClient() : null;
@@ -364,6 +429,18 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         const limits = config.pressure_limits || {};
         res.writeHead(200, { 'Content-Type': 'application/json' });
         res.end(JSON.stringify({ pressure_limits: limits }));
+      } else if (url.pathname === '/api/gui-config' && req.method === 'GET') {
+        // GUI-driven config lists from config.toml [gui]: the ordered top-bar
+        // pressure gauges ([[gui.pressure_bars]]) and the tab-bar tabs+order
+        // (gui.tabs). Fresh per request → reflects edits live. Bar NOP/MEOP come
+        // from [pressure_limits]; tab ids index the frontend view catalog.
+        const config = readConfig();
+        const gui = config.gui ?? {};
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify({
+          pressure_bars: gui.pressure_bars ?? [],
+          tabs: gui.tabs ?? [],
+        }));
       } else if (url.pathname === '/api/sensor-config' && req.method === 'GET') {
         // Return sensor configuration derived from config.toml:
         // role names, board assignments, entity strings, calibration flags
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 1fa981193..344816393 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -114,6 +114,22 @@ export function readConfig(): any {
   }
 }
 
+/**
+ * Serialize `actuator_roles` by hand. Its values are mixed-type inline arrays
+ * (e.g. ["NC", 1, 12]) which @iarna/toml's stringify rejects ("Array values
+ * can't have mixed types"), so we emit the section manually — the inverse of the
+ * manual parse in readConfig. Strings are quoted, numbers are raw.
+ */
+function stringifyActuatorRoles(roles: Record<string, unknown>): string {
+  const lines = ['[actuator_roles]'];
+  for (const [name, value] of Object.entries(roles)) {
+    const arr = Array.isArray(value) ? value : [];
+    const parts = arr.map((v) => (typeof v === 'string' ? JSON.stringify(v) : String(v)));
+    lines.push(`${JSON.stringify(name)} = [${parts.join(', ')}]`);
+  }
+  return lines.join('\n') + '\n';
+}
+
 export function writeConfig(config: any): void {
   const configPath = getConfigPath();
   try {
@@ -127,7 +143,13 @@ export function writeConfig(config: any): void {
       console.warn(`   File may not exist yet, will create`);
     }
 
-    const content = stringifyToml(config);
+    // actuator_roles holds mixed-type arrays that @iarna/toml can't stringify —
+    // pull it out, stringify the rest, then append the section by hand.
+    const { actuator_roles, ...rest } = config ?? {};
+    let content = stringifyToml(rest);
+    if (actuator_roles && typeof actuator_roles === 'object') {
+      content += '\n' + stringifyActuatorRoles(actuator_roles as Record<string, unknown>);
+    }
     console.log(`   Generated TOML content: ${content.length} bytes`);
 
     // Write with explicit error handling
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 73d256182..c00b2df34 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -539,6 +539,9 @@ const apiHandler = createAPIHandler({
   }),
   onConfigUpdated: () => {
     reloadGuiStreamConfig();
+    // Tell every open client the config changed so they refetch /api/* live
+    // (sensor-config, pressure-limits, pressure-bars) — no reload/restart.
+    broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
   },
 });
 
diff --git a/daq-server/diablo_server/frontend/__tests__/dashboards.smoke.test.tsx b/daq-server/diablo_server/frontend/__tests__/dashboards.smoke.test.tsx
index 25ccace8e..5a33d0531 100644
--- a/daq-server/diablo_server/frontend/__tests__/dashboards.smoke.test.tsx
+++ b/daq-server/diablo_server/frontend/__tests__/dashboards.smoke.test.tsx
@@ -88,4 +88,28 @@ describe('Dashboard smoke tests', () => {
             <ActuatorControlByName name="LOX Main" channel={1} entity="ACT.LOX_Main" />
         )).not.toThrow();
     });
+
+    it('TabBar renders without crashing', async () => {
+        const { MemoryRouter } = await import('react-router-dom');
+        const { default: TabBar } = await import('@/components/dashboard/TabBar');
+        expect(() => render(
+            <MemoryRouter initialEntries={['/single-pane']}><TabBar /></MemoryRouter>
+        )).not.toThrow();
+    });
+
+    it('AllViewsPage renders without crashing', async () => {
+        const { MemoryRouter } = await import('react-router-dom');
+        const { default: AllViewsPage } = await import('@/app/views/page');
+        expect(() => render(
+            <MemoryRouter><AllViewsPage /></MemoryRouter>
+        )).not.toThrow();
+    });
+
+    it('OpenInPopupButton renders without crashing', async () => {
+        const { MemoryRouter } = await import('react-router-dom');
+        const { default: OpenInPopupButton } = await import('@/components/windows/OpenInPopupButton');
+        expect(() => render(
+            <MemoryRouter initialEntries={['/fuel']}><OpenInPopupButton /></MemoryRouter>
+        )).not.toThrow();
+    });
 });
diff --git a/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts b/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts
new file mode 100644
index 000000000..6bcf4b7dd
--- /dev/null
+++ b/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts
@@ -0,0 +1,57 @@
+/**
+ * Config-driven top-bar builder: resolves role→entity, pulls NOP/MEOP from the
+ * [pressure_limits] map, supports chamber averaging, and falls back to the
+ * built-in bar list when config is absent.
+ */
+import { describe, it, expect } from 'vitest';
+import { buildPressureBarDefsFromSensorConfig } from '@/lib/pressure-bar-defs';
+import type { SensorConfig } from '@/lib/sensor-config';
+import type { PressureBarConfig } from '@/lib/gui-config';
+import type { PressureLimitsMap } from '@/lib/pressure-limits';
+
+const sensors: SensorConfig[] = [
+  { id: 6, role: 'GN2 High', boardId: 22, boardIp: '', isHpPt: true, inCalibrationSequence: false, entity: 'PT.GN2_High', calEntity: 'PT_Cal.GN2_High' },
+  { id: 4, role: 'Chamber Mid PT 1', boardId: 21, boardIp: '', isHpPt: false, inCalibrationSequence: true, entity: 'PT.Chamber_Mid_PT_1', calEntity: 'PT_Cal.Chamber_Mid_PT_1' },
+  { id: 8, role: 'Chamber Mid PT 2', boardId: 21, boardIp: '', isHpPt: false, inCalibrationSequence: true, entity: 'PT.Chamber_Mid_PT_2', calEntity: 'PT_Cal.Chamber_Mid_PT_2' },
+];
+
+const limits: PressureLimitsMap = {
+  GN2_High: { NOP: 4000, MEOP: 5000, POP: 1000 },
+  Chamber: { NOP: 500, MEOP: 650, POP: 800 },
+};
+
+describe('buildPressureBarDefsFromSensorConfig (config-driven)', () => {
+  it('resolves role→calEntity and takes NOP/MEOP from [pressure_limits]', () => {
+    const bars: PressureBarConfig[] = [
+      { label: 'GN2 HI', role: 'GN2 High', limits: 'GN2_High', color: '#ADFF2F' },
+    ];
+    const [def] = buildPressureBarDefsFromSensorConfig(sensors, bars, limits);
+    expect(def.label).toBe('GN2 HI');
+    expect(def.entity).toBe('PT_Cal.GN2_High');
+    expect(def.nop).toBe(4000);
+    expect(def.meop).toBe(5000);
+    expect(def.color).toBe('#ADFF2F');
+  });
+
+  it('averages avg_roles for a chamber-style gauge', () => {
+    const bars: PressureBarConfig[] = [
+      { label: 'CHAMBER', role: 'Chamber Mid PT 1', avg_roles: ['Chamber Mid PT 1', 'Chamber Mid PT 2'], limits: 'Chamber' },
+    ];
+    const [def] = buildPressureBarDefsFromSensorConfig(sensors, bars, limits);
+    expect(def.avgEntities).toEqual(['PT_Cal.Chamber_Mid_PT_1', 'PT_Cal.Chamber_Mid_PT_2']);
+    expect(def.meop).toBe(650);
+  });
+
+  it('falls back to a conventional entity when the role is unknown', () => {
+    const bars: PressureBarConfig[] = [{ label: 'X', role: 'Fuel Upstream', limits: 'Missing' }];
+    const [def] = buildPressureBarDefsFromSensorConfig([], bars, limits);
+    expect(def.entity).toBe('PT_Cal.Fuel_Upstream');
+    expect(def.nop).toBeUndefined(); // no matching limits key
+  });
+
+  it('uses the built-in default bars when no config list is supplied', () => {
+    const defs = buildPressureBarDefsFromSensorConfig(sensors);
+    expect(defs.length).toBeGreaterThan(0);
+    expect(defs.map((d) => d.label)).toContain('CHAMBER');
+  });
+});
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index c634d3ebf..f16193f09 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1,10 +1,11 @@
 'use client'
 
-import { useState, useEffect } from 'react';
+import { useState, useEffect, useRef } from 'react';
 import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
 import { MessageType } from '@/lib/types';
 import { useControlMode } from '@/lib/control-mode';
 import { useSensorStore } from '@/lib/store';
+import { NAV_ITEMS, navItemById } from '@/lib/nav-items';
 
 interface ConfigData {
   server_heartbeat?: {
@@ -93,6 +94,12 @@ interface ConfigData {
     use_cpp_controller?: boolean;
   };
   phase2?: Record<string, any>;
+  gui?: {
+    downsample_mode?: string;
+    points_per_second?: number;
+    tabs?: string[];
+    pressure_bars?: Array<{ label?: string; role?: string; avg_roles?: string[]; limits?: string; color?: string }>;
+  };
 }
 
 // Keep defaults minimal: config.toml is the source of truth.
@@ -104,12 +111,15 @@ export default function ConfigPage() {
   const [saving, setSaving] = useState(false);
   const [error, setError] = useState<string | null>(null);
   const [success, setSuccess] = useState(false);
-  const [activeTab, setActiveTab] = useState('system');
+  const [activeTab, setActiveTab] = useState('network');
   const [advancedText, setAdvancedText] = useState('');
   const [advancedError, setAdvancedError] = useState<string | null>(null);
 
   const ws = getWebSocketClient();
-  const { controlEnabled } = useControlMode();
+  // Config editing is gated on operator identity (the DAQ allowlist), enforced
+  // server-side too. Non-operators see every field greyed out and read-only.
+  const { isOperator } = useControlMode();
+  const canEdit = isOperator;
 
   useEffect(() => {
     loadConfig();
@@ -182,6 +192,44 @@ export default function ConfigPage() {
     }
   };
 
+  const uploadInputRef = useRef<HTMLInputElement>(null);
+
+  // Download the raw config.toml from the server as a file.
+  const downloadConfig = () => {
+    const a = document.createElement('a');
+    a.href = `${getApiBaseUrl()}/api/config/export`;
+    a.download = 'config.toml';
+    document.body.appendChild(a);
+    a.click();
+    a.remove();
+  };
+
+  // Upload a config.toml to replace the current one (operators only, server-validated).
+  const importConfig = async (file: File) => {
+    try {
+      setSaving(true);
+      setError(null);
+      setSuccess(false);
+      const text = await file.text();
+      const response = await fetch(`${getApiBaseUrl()}/api/config/import`, {
+        method: 'POST',
+        headers: { 'Content-Type': 'text/plain' },
+        body: text,
+      });
+      if (!response.ok) {
+        const err = await response.json().catch(() => ({}));
+        throw new Error(err.error || `Import failed (${response.status})`);
+      }
+      setSuccess(true);
+      await loadConfig(); // mirror what the server accepted
+      setTimeout(() => setSuccess(false), 3000);
+    } catch (err: any) {
+      setError(err.message || 'Failed to import config');
+    } finally {
+      setSaving(false);
+    }
+  };
+
   const updateField = (section: string, field: string, value: any, subSection?: string) => {
     setConfig((prev) => {
       const next: any = { ...(prev as any) };
@@ -221,6 +269,23 @@ export default function ConfigPage() {
     });
   };
 
+  // ── [gui] helpers: tab list + top-bar pressure bars ──────────────────────────
+  const guiTabs: string[] = config.gui?.tabs ?? [];
+  const guiBars = config.gui?.pressure_bars ?? [];
+
+  const setGuiTabs = (tabsList: string[]) =>
+    setConfig((prev) => ({ ...prev, gui: { ...(prev.gui || {}), tabs: tabsList } }));
+  const setGuiBars = (bars: any[]) =>
+    setConfig((prev) => ({ ...prev, gui: { ...(prev.gui || {}), pressure_bars: bars } }));
+
+  const moveInArray = <T,>(arr: T[], i: number, dir: -1 | 1): T[] => {
+    const j = i + dir;
+    if (j < 0 || j >= arr.length) return arr;
+    const next = arr.slice();
+    [next[i], next[j]] = [next[j], next[i]];
+    return next;
+  };
+
   const updateArrayField = (section: string, field: string, value: string) => {
     const array = value.split(',').map(s => s.trim()).filter(s => s).map(s => {
       const num = parseInt(s, 10);
@@ -235,8 +300,12 @@ export default function ConfigPage() {
     onChange: (val: any) => void,
     type: 'text' | 'number' | 'select' | 'boolean' | 'array' = 'text',
     options?: string[],
-    description?: string
+    description?: string,
+    // Always disabled, even for operators — for startup-only infra that must not
+    // be edited from the live GUI (e.g. network ports the pipeline binds at launch).
+    readOnly?: boolean
   ) => {
+    const fieldDisabled = !canEdit || readOnly;
     return (
       <div className="space-y-1">
         <label className="block text-sm font-semibold">
@@ -247,7 +316,8 @@ export default function ConfigPage() {
           <select
             value={value || ''}
             onChange={(e) => onChange(e.target.value)}
-            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white"
+            disabled={fieldDisabled}
+            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
           >
             {options?.map((opt) => (
               <option key={opt} value={opt}>{opt}</option>
@@ -259,7 +329,8 @@ export default function ConfigPage() {
               type="checkbox"
               checked={!!value}
               onChange={(e) => onChange(e.target.checked)}
-              className="w-4 h-4"
+              disabled={fieldDisabled}
+              className="w-4 h-4 disabled:opacity-50 disabled:cursor-not-allowed"
             />
             <span>{value ? 'Enabled' : 'Disabled'}</span>
           </label>
@@ -274,7 +345,8 @@ export default function ConfigPage() {
               });
               onChange(array);
             }}
-            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white"
+            disabled={fieldDisabled}
+            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
             placeholder="Comma-separated values (e.g., 1, 2, 3)"
           />
         ) : type === 'number' ? (
@@ -290,14 +362,16 @@ export default function ConfigPage() {
               const n = Number(raw);
               onChange(Number.isFinite(n) ? n : undefined);
             }}
-            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white"
+            disabled={fieldDisabled}
+            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
           />
         ) : (
           <input
             type="text"
             value={value || ''}
             onChange={(e) => onChange(e.target.value)}
-            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white"
+            disabled={fieldDisabled}
+            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
           />
         )}
       </div>
@@ -315,7 +389,6 @@ export default function ConfigPage() {
   }
 
   const tabs = [
-    { id: 'system', label: 'System' },
     { id: 'network', label: 'Network' },
     { id: 'adc', label: 'ADC' },
     { id: 'server_heartbeat', label: 'Server Heartbeat' },
@@ -328,10 +401,8 @@ export default function ConfigPage() {
     { id: 'controller', label: 'Controller' },
     { id: 'controller_service', label: 'Controller Service' },
     { id: 'actuator_service', label: 'Actuator Service' },
-    { id: 'phase2', label: 'Phase2' },
-    { id: 'calibration', label: 'Calibration' },
     { id: 'pressure_limits', label: 'Pressure Limits' },
-    { id: 'display', label: 'Display' },
+    { id: 'gui', label: 'Top Bar & Tabs' },
     { id: 'state_machine', label: 'State Machine' },
     { id: 'advanced', label: 'Advanced JSON' },
   ];
@@ -354,13 +425,35 @@ export default function ConfigPage() {
             >
               Reload
             </button>
+            <button
+              onClick={downloadConfig}
+              className="px-4 py-2 bg-card rounded-lg hover:bg-opacity-80"
+              title="Download config.toml"
+            >
+              Download
+            </button>
+            <button
+              onClick={() => uploadInputRef.current?.click()}
+              disabled={!canEdit || saving}
+              className="px-4 py-2 bg-card rounded-lg hover:bg-opacity-80 disabled:opacity-40 disabled:cursor-not-allowed"
+              title={canEdit ? 'Upload a config.toml to replace the current one' : 'Operators only'}
+            >
+              Upload
+            </button>
+            <input
+              ref={uploadInputRef}
+              type="file"
+              accept=".toml,text/plain"
+              className="hidden"
+              onChange={(e) => { const f = e.target.files?.[0]; if (f) importConfig(f); e.target.value = ''; }}
+            />
             <button
               onClick={saveConfig}
-              disabled={saving || loading || !controlEnabled}
+              disabled={saving || loading || !canEdit}
               className="px-4 py-2 bg-blue-600 rounded-lg hover:bg-blue-700 disabled:opacity-40 disabled:cursor-not-allowed"
-              title={controlEnabled ? undefined : 'Viewer mode: config changes disabled'}
+              title={canEdit ? undefined : 'Operators only: config changes disabled'}
             >
-              {saving ? 'Saving...' : controlEnabled ? 'Save Config' : 'Save Disabled (Viewer)'}
+              {saving ? 'Saving...' : canEdit ? 'Save Config' : 'Save Disabled (Read-only)'}
             </button>
           </div>
         </div>
@@ -377,9 +470,9 @@ export default function ConfigPage() {
           </div>
         )}
 
-        {!controlEnabled && (
+        {!canEdit && (
           <div className="mb-4 p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm">
-            Viewer mode: configuration changes are disabled. Unlock controls in the top bar to enable saving.
+            Read-only — you are not an approved operator. Fields are disabled and saving/uploading is blocked (also enforced server-side).
           </div>
         )}
 
@@ -402,54 +495,34 @@ export default function ConfigPage() {
           </div>
         </div>
 
-        {/* Tab Content */}
-        <div className="space-y-6">
-          {activeTab === 'system' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">System</h2>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Mode',
-                  config.system?.mode,
-                  (val) => updateField('system', 'mode', val),
-                  'select',
-                  ['GROUND', 'FLIGHT']
-                )}
-                {renderField(
-                  'Initial State',
-                  config.system?.state,
-                  (val) => updateField('system', 'state', val)
-                )}
-              </div>
-            </div>
-          )}
-
+        {/* Tab Content — a disabled fieldset greys out and blocks every control
+            inside for non-operators (mirrors the server-side operator gate). */}
+        <fieldset disabled={!canEdit} className={`space-y-6 border-0 m-0 p-0 min-w-0${!canEdit ? ' opacity-60' : ''}`}>
           {activeTab === 'network' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Network</h2>
+              <h2 className="text-xl font-bold mb-1">Network</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — these are startup-only binds for the pipeline services and must match the
+                board firmware. Changing them requires a deploy/restart, not a live edit.
+              </p>
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
                 {renderField(
                   'Bind IP',
                   config.network?.bind_ip,
-                  (val) => updateField('network', 'bind_ip', val)
+                  (val) => updateField('network', 'bind_ip', val),
+                  'text', undefined, 'DAQ bridge sensor-socket interface', true
                 )}
                 {renderField(
                   'Sensor Port',
                   config.network?.sensor_port,
                   (val) => updateField('network', 'sensor_port', val),
-                  'number'
+                  'number', undefined, 'UDP port boards send sensor data to', true
                 )}
                 {renderField(
                   'Actuator Command Port',
                   config.network?.actuator_cmd_port,
                   (val) => updateField('network', 'actuator_cmd_port', val),
-                  'number'
-                )}
-                {renderField(
-                  'Buffer Size',
-                  config.network?.buffer_size,
-                  (val) => updateField('network', 'buffer_size', val),
-                  'number'
+                  'number', undefined, 'Port boards listen on for actuator commands', true
                 )}
               </div>
             </div>
@@ -718,7 +791,8 @@ export default function ConfigPage() {
                         <select
                           value={String((board as any).voltage_reference ?? 0)}
                           onChange={(e) => updateBoard(boardKey, 'voltage_reference', parseInt(e.target.value, 10))}
-                          className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                          disabled={!canEdit}
+                          className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
                         >
                           <option value="0">Internal (2.5V)</option>
                           <option value="1">VDD (ratiometric)</option>
@@ -1070,222 +1144,108 @@ export default function ConfigPage() {
             </div>
           )}
 
-          {activeTab === 'phase2' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Phase2 (raw object)</h2>
-              <p className="text-sm text-text-muted mb-3">
-                This section is stored as a TOML table. Edit as JSON here (advanced users).
-              </p>
-              <textarea
-                value={JSON.stringify(config.phase2 || {}, null, 2)}
-                onChange={(e) => {
-                  try {
-                    const obj = JSON.parse(e.target.value || '{}');
-                    setConfig({ ...config, phase2: obj });
-                  } catch {
-                    // ignore until valid JSON
-                  }
-                }}
-                className="w-full h-72 px-3 py-2 bg-background border border-gray-700 rounded text-white font-mono text-xs"
-              />
-            </div>
-          )}
-
-          {activeTab === 'calibration' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Calibration</h2>
-              <div className="space-y-6">
-                {renderField(
-                  'Enabled',
-                  config.calibration?.enabled,
-                  (val) => updateField('calibration', 'enabled', val),
-                  'boolean'
-                )}
-                {renderField(
-                  'Use Robust Stack',
-                  config.calibration?.use_robust_stack,
-                  (val) => updateField('calibration', 'use_robust_stack', val),
-                  'boolean',
-                  undefined,
-                  'Python calibration_server sole writer; C++ polynomial disabled'
-                )}
-                {renderField(
-                  'Exclude HP PT',
-                  config.calibration?.exclude_hp_pt,
-                  (val) => updateField('calibration', 'exclude_hp_pt', val),
-                  'boolean',
-                  undefined,
-                  'Skip high-pressure 4-20 mA PTs in robust stack'
-                )}
-                {renderField(
-                  'Prior From Polynomial',
-                  config.calibration?.prior_from_polynomial,
-                  (val) => updateField('calibration', 'prior_from_polynomial', val),
-                  'boolean',
-                  undefined,
-                  'Load polynomial calibration as initial priors'
-                )}
-
-                <div className="border-t border-gray-700 pt-4">
-                  <h3 className="text-lg font-semibold mb-4">Orchestrator Settings</h3>
-                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField(
-                      'Min Points',
-                      config.calibration?.orchestrator?.min_points,
-                      (val) => updateField('calibration', 'min_points', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Target Points',
-                      config.calibration?.orchestrator?.target_points,
-                      (val) => updateField('calibration', 'target_points', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Max Points',
-                      config.calibration?.orchestrator?.max_points,
-                      (val) => updateField('calibration', 'max_points', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Min R²',
-                      config.calibration?.orchestrator?.min_r_squared,
-                      (val) => updateField('calibration', 'min_r_squared', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Target R²',
-                      config.calibration?.orchestrator?.target_r_squared,
-                      (val) => updateField('calibration', 'target_r_squared', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'RLS Forgetting Factor',
-                      config.calibration?.orchestrator?.rls_forgetting_factor,
-                      (val) => updateField('calibration', 'rls_forgetting_factor', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Drift GLR Threshold',
-                      config.calibration?.orchestrator?.drift_glr_threshold,
-                      (val) => updateField('calibration', 'drift_glr_threshold', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Auto Save Interval (sec)',
-                      config.calibration?.orchestrator?.auto_save_interval_sec,
-                      (val) => updateField('calibration', 'auto_save_interval_sec', val, 'orchestrator'),
-                      'number'
-                    )}
-                    {renderField(
-                      'Status Interval (sec)',
-                      config.calibration?.orchestrator?.status_interval_sec,
-                      (val) => updateField('calibration', 'status_interval_sec', val, 'orchestrator'),
-                      'number'
-                    )}
-                  </div>
-                </div>
-              </div>
-            </div>
-          )}
-
           {activeTab === 'pressure_limits' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Pressure Limits</h2>
-              <div className="space-y-6">
-                {['GN2', 'ETH', 'LOX'].map((system) => (
+              <h2 className="text-xl font-bold mb-1">Pressure Limits</h2>
+              <p className="text-sm text-text-muted mb-4">
+                NOP/MEOP/POP per system. These are the single source of truth for gauge thresholds —
+                each top-bar gauge points at one of these keys via its <code>limits</code> field (Top Bar &amp; Tabs), and the plots read them too.
+              </p>
+              <div className="space-y-4">
+                {Object.keys(config.pressure_limits || {}).map((system) => (
                   <div key={system} className="border border-gray-700 rounded-lg p-4">
-                    <h3 className="text-lg font-semibold mb-3">{system}</h3>
+                    <h3 className="text-lg font-semibold mb-3 font-mono">{system}</h3>
                     <div className="grid grid-cols-2 md:grid-cols-4 gap-4">
-                      {renderField(
-                        'THRESH',
-                        config.pressure_limits?.[system]?.THRESH,
-                        (val) => updateField('pressure_limits', 'THRESH', val, system),
-                        'number'
-                      )}
-                      {renderField(
-                        'NOP',
-                        config.pressure_limits?.[system]?.NOP,
-                        (val) => updateField('pressure_limits', 'NOP', val, system),
-                        'number'
-                      )}
-                      {renderField(
-                        'MEOP',
-                        config.pressure_limits?.[system]?.MEOP,
-                        (val) => updateField('pressure_limits', 'MEOP', val, system),
-                        'number'
-                      )}
-                      {renderField(
-                        'POP',
-                        config.pressure_limits?.[system]?.POP,
-                        (val) => updateField('pressure_limits', 'POP', val, system),
-                        'number'
-                      )}
+                      {renderField('THRESH', (config.pressure_limits as any)?.[system]?.THRESH, (val) => updateField('pressure_limits', 'THRESH', val, system), 'number')}
+                      {renderField('NOP', (config.pressure_limits as any)?.[system]?.NOP, (val) => updateField('pressure_limits', 'NOP', val, system), 'number')}
+                      {renderField('MEOP', (config.pressure_limits as any)?.[system]?.MEOP, (val) => updateField('pressure_limits', 'MEOP', val, system), 'number')}
+                      {renderField('POP', (config.pressure_limits as any)?.[system]?.POP, (val) => updateField('pressure_limits', 'POP', val, system), 'number')}
                     </div>
                   </div>
                 ))}
+                {Object.keys(config.pressure_limits || {}).length === 0 && (
+                  <p className="text-sm text-text-muted">No pressure limits defined in config.</p>
+                )}
               </div>
             </div>
           )}
 
-          {activeTab === 'display' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Display Settings</h2>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'ADC Bits',
-                  config.display?.adc_bits,
-                  (val) => updateField('display', 'adc_bits', val),
-                  'number'
-                )}
-                {renderField(
-                  'Window Seconds',
-                  config.display?.window_seconds,
-                  (val) => updateField('display', 'window_seconds', val),
-                  'number'
-                )}
-                {renderField(
-                  'Y Axis Min',
-                  config.display?.y_axis_min,
-                  (val) => updateField('display', 'y_axis_min', val),
-                  'number'
-                )}
-                {renderField(
-                  'Y Axis Max',
-                  config.display?.y_axis_max,
-                  (val) => updateField('display', 'y_axis_max', val),
-                  'number'
-                )}
-                {renderField(
-                  'Y Axis Autoscale',
-                  config.display?.y_axis_autoscale,
-                  (val) => updateField('display', 'y_axis_autoscale', val),
-                  'boolean'
-                )}
-                {renderField(
-                  'Only Show Actuators With Roles',
-                  config.display?.only_show_actuators_with_roles,
-                  (val) => updateField('display', 'only_show_actuators_with_roles', val),
-                  'boolean'
-                )}
-                {renderField(
-                  'Only Show PT With Roles',
-                  config.display?.only_show_pt_with_roles,
-                  (val) => updateField('display', 'only_show_pt_with_roles', val),
-                  'boolean'
-                )}
-                {renderField(
-                  'Graph MA Samples',
-                  config.display?.graph_ma_samples,
-                  (val) => updateField('display', 'graph_ma_samples', val),
-                  'number'
-                )}
-                {renderField(
-                  'Display MA Samples',
-                  config.display?.display_ma_samples,
-                  (val) => updateField('display', 'display_ma_samples', val),
-                  'number'
-                )}
+          {activeTab === 'gui' && (
+            <div className="space-y-6">
+              {/* ── Tab bar ──────────────────────────────────────────────── */}
+              <div className="bg-card rounded-lg p-6">
+                <h2 className="text-xl font-bold mb-1">Tab Bar</h2>
+                <p className="text-sm text-text-muted mb-4">
+                  Which views are pinned to the header, in order. Others stay reachable via “All Views”.
+                </p>
+                <div className="space-y-2">
+                  {guiTabs.map((id, i) => (
+                    <div key={`${id}:${i}`} className="flex items-center gap-2">
+                      <span className="w-8 text-text-muted text-sm text-right">{i + 1}.</span>
+                      <span className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded">
+                        {navItemById(id)?.name ?? id}
+                        <span className="text-text-muted text-xs ml-2">({id})</span>
+                      </span>
+                      <button onClick={() => setGuiTabs(moveInArray(guiTabs, i, -1))} className="px-2 py-2 bg-gray-700 rounded hover:bg-gray-600" title="Move up">↑</button>
+                      <button onClick={() => setGuiTabs(moveInArray(guiTabs, i, 1))} className="px-2 py-2 bg-gray-700 rounded hover:bg-gray-600" title="Move down">↓</button>
+                      <button onClick={() => setGuiTabs(guiTabs.filter((_, k) => k !== i))} className="px-3 py-2 bg-red-600 rounded hover:bg-red-700">Remove</button>
+                    </div>
+                  ))}
+                  {guiTabs.length === 0 && (
+                    <p className="text-sm text-text-muted">No tabs configured — the tab bar falls back to built-in defaults.</p>
+                  )}
+                </div>
+                <div className="mt-4 flex items-center gap-2">
+                  <select
+                    value=""
+                    onChange={(e) => { if (e.target.value) setGuiTabs([...guiTabs, e.target.value]); }}
+                    className="px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50"
+                  >
+                    <option value="">+ Add tab…</option>
+                    {NAV_ITEMS.filter((v) => !v.deprecated && !guiTabs.includes(v.id)).map((v) => (
+                      <option key={v.id} value={v.id}>{v.name}</option>
+                    ))}
+                  </select>
+                </div>
+              </div>
+
+              {/* ── Top-bar pressure gauges ──────────────────────────────── */}
+              <div className="bg-card rounded-lg p-6">
+                <h2 className="text-xl font-bold mb-1">Top-Bar Pressure Gauges</h2>
+                <p className="text-sm text-text-muted mb-4">
+                  Ordered gauges in the header. NOP/MEOP come from the Pressure Limits tab (via the <code>limits</code> key).
+                </p>
+                <datalist id="pressure-limit-keys">
+                  {Object.keys(config.pressure_limits || {}).map((k) => <option key={k} value={k} />)}
+                </datalist>
+                <div className="space-y-3">
+                  {guiBars.map((bar: any, i: number) => {
+                    const setBar = (patch: any) => setGuiBars(guiBars.map((b: any, k: number) => (k === i ? { ...b, ...patch } : b)));
+                    return (
+                      <div key={i} className="grid grid-cols-1 md:grid-cols-12 gap-2 items-center border border-gray-800 rounded p-2">
+                        <input value={bar.label ?? ''} onChange={(e) => setBar({ label: e.target.value })} placeholder="Label" className="md:col-span-2 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        <input value={bar.role ?? ''} onChange={(e) => setBar({ role: e.target.value })} placeholder="Sensor role" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        <input list="pressure-limit-keys" value={bar.limits ?? ''} onChange={(e) => setBar({ limits: e.target.value })} placeholder="Limits key" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        <div className="md:col-span-2 flex items-center gap-1">
+                          <input type="color" value={bar.color ?? '#888888'} onChange={(e) => setBar({ color: e.target.value })} className="h-8 w-10 bg-background border border-gray-700 rounded" />
+                          <input value={bar.color ?? ''} onChange={(e) => setBar({ color: e.target.value })} placeholder="#RRGGBB" className="flex-1 min-w-0 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        </div>
+                        <div className="md:col-span-2 flex items-center justify-end gap-1">
+                          <button onClick={() => setGuiBars(moveInArray(guiBars, i, -1))} className="px-2 py-1.5 bg-gray-700 rounded hover:bg-gray-600" title="Move up">↑</button>
+                          <button onClick={() => setGuiBars(moveInArray(guiBars, i, 1))} className="px-2 py-1.5 bg-gray-700 rounded hover:bg-gray-600" title="Move down">↓</button>
+                          <button onClick={() => setGuiBars(guiBars.filter((_: any, k: number) => k !== i))} className="px-2 py-1.5 bg-red-600 rounded hover:bg-red-700" title="Remove">✕</button>
+                        </div>
+                        <input value={(bar.avg_roles ?? []).join(', ')} onChange={(e) => { const parts = e.target.value.split(',').map((s) => s.trim()).filter(Boolean); setBar({ avg_roles: parts.length ? parts : undefined }); }} placeholder="avg roles (optional, comma-separated)" className="md:col-span-12 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                      </div>
+                    );
+                  })}
+                </div>
+                <button
+                  onClick={() => setGuiBars([...guiBars, { label: 'NEW', role: '', limits: '', color: '#888888' }])}
+                  className="mt-4 px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
+                >
+                  + Add Gauge
+                </button>
               </div>
             </div>
           )}
@@ -1354,7 +1314,7 @@ export default function ConfigPage() {
               </div>
             </div>
           )}
-        </div>
+        </fieldset>
 
         <div className="mt-6 text-sm text-text-muted">
           <p className="mb-2">⚠️ <strong>Warning:</strong> Editing configuration can affect system behavior.</p>
diff --git a/daq-server/diablo_server/frontend/app/controls/page.tsx b/daq-server/diablo_server/frontend/app/controls/page.tsx
index 92d2ad1f6..dbf106976 100644
--- a/daq-server/diablo_server/frontend/app/controls/page.tsx
+++ b/daq-server/diablo_server/frontend/app/controls/page.tsx
@@ -6,6 +6,8 @@ import ActuatorControlByName from '@/components/controls/ActuatorControlByName';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { useActuatorsFromConfig } from '@/lib/actuators-from-config';
 import { useSensorConfig } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
+import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressurePlotSeriesFromSensorList } from '@/lib/pressure-bar-defs';
 import { usePressureHistoryPlotSeries } from '@/lib/store';
 
@@ -20,7 +22,12 @@ const STATE_NAMES: Record<number, string> = {
 export default function ControlsPage() {
   const { actuators: actuatorsFromConfig, loading: actuatorsLoading } = useActuatorsFromConfig();
   const sensors = useSensorConfig();
-  const pressurePlot = useMemo(() => buildPressurePlotSeriesFromSensorList(sensors), [sensors]);
+  const { pressureBars } = useGuiConfig();
+  const limits = usePressureLimits();
+  const pressurePlot = useMemo(
+    () => buildPressurePlotSeriesFromSensorList(sensors, pressureBars, limits),
+    [sensors, pressureBars, limits],
+  );
   const pressurePlotForChart = usePressureHistoryPlotSeries(pressurePlot);
 
   return (
diff --git a/daq-server/diablo_server/frontend/app/page.tsx b/daq-server/diablo_server/frontend/app/page.tsx
deleted file mode 100644
index b254fec38..000000000
--- a/daq-server/diablo_server/frontend/app/page.tsx
+++ /dev/null
@@ -1,185 +0,0 @@
-'use client'
-
-import { useSensorStore } from '@/lib/store';
-import { useEffect, useMemo, useState, useCallback } from 'react';
-import { useActuatorsFromConfig } from '@/lib/actuators-from-config';
-import { getWebSocketClient } from '@/lib/websocket';
-import { MessageType, SensorUpdate, StateUpdate, MissionStartTime, BoardStatus, BoardStatusPayload, NotificationPayload, ActuatorUpdate, ActuatorState } from '@/lib/types';
-import WindowLauncher from '@/components/windows/WindowLauncher';
-import { useSensorValue, useActuatorCommandedState } from '@/lib/store';
-import { useSensorConfig } from '@/lib/sensor-config';
-import { buildPressureBarDefsFromSensorConfig } from '@/lib/pressure-bar-defs';
-import { useControlMode } from '@/lib/control-mode';
-
-// ── Sensor value card ────────────────────────────────────────────────────────
-interface SensorCardProps {
-  label: string;
-  entity: string;
-  component: string;
-  unit?: string;
-  color: string;
-  nop?: number;
-  meop?: number;
-  avgEntities?: string[];
-}
-
-function SensorCard({ label, entity, component, unit = 'PSI', color, nop, meop, avgEntities }: SensorCardProps) {
-  const primary = avgEntities?.[0] ?? entity;
-  const v1 = useSensorValue(primary, component);
-  const v2 = useSensorValue(avgEntities?.[1] ?? primary, component);
-  const value =
-    avgEntities && avgEntities.length >= 2 && v1 != null && v2 != null ? (v1 + v2) / 2 : v1;
-
-  let valueColor = color;
-  let statusClass = 'border-gray-800';
-  if (value !== null && meop && value > meop) {
-    valueColor = '#E74C3C';
-    statusClass = 'border-red-700 bg-red-950/20';
-  } else if (value !== null && nop && value > nop) {
-    valueColor = '#F39C12';
-    statusClass = 'border-yellow-700 bg-yellow-950/20';
-  }
-
-  return (
-    <div className={`bg-card border rounded-lg px-3 py-2 hover:border-gray-600 transition-all ${statusClass}`}>
-      <div className="text-xs text-text-muted font-semibold tracking-wider uppercase truncate mb-0.5">
-        {label}
-      </div>
-
-      {/* Current value */}
-      <div
-        className="text-2xl font-bold font-mono tabular-nums leading-tight"
-        style={{ color: valueColor }}
-      >
-        {value !== null ? value.toFixed(1) : <span className="text-gray-700">---</span>}
-      </div>
-
-      {/* Unit */}
-      <div className="text-[10px] text-text-muted mt-0.5">{unit}</div>
-    </div>
-  );
-}
-
-// ── Actuator status pill ─────────────────────────────────────────────────────
-function ActuatorPill({ label, entity }: { label: string; entity: string }) {
-  const commanded = useActuatorCommandedState(entity);
-  const hasData = commanded !== null;
-  const isOpen = commanded === ActuatorState.OPEN;
-
-  return (
-    <div className={`flex flex-col items-center justify-center bg-card border rounded-xl px-3 py-3 gap-2.5 transition-all min-h-[100px] ${!hasData ? 'border-gray-800' : isOpen ? 'border-green-700/80' : 'border-red-700/80'
-      }`}>
-      <span className="text-xs font-bold text-text-muted uppercase tracking-wider text-center leading-tight">{label}</span>
-      <span
-        className={`text-xl font-bold font-mono px-3 py-2 rounded-lg w-full text-center ${!hasData ? 'text-gray-600 bg-gray-900/40' : isOpen ? 'bg-green-900/50 text-green-300' : 'bg-red-900/50 text-red-300'
-          }`}
-      >
-        {!hasData ? '---' : isOpen ? 'OPEN' : 'CLOSED'}
-      </span>
-    </div>
-  );
-}
-
-// ── Section header ───────────────────────────────────────────────────────────
-function SectionHeader({ color, children }: { color: string; children: React.ReactNode }) {
-  return (
-    <div className="flex items-center gap-2 mb-1.5">
-      <div className={`w-1.5 h-5 rounded-full ${color}`} />
-      <h2 className="text-sm font-bold tracking-widest text-text-muted uppercase">{children}</h2>
-    </div>
-  );
-}
-
-// ── Main page ────────────────────────────────────────────────────────────────
-export default function Home() {
-  const updateSensor = useSensorStore((state) => state.updateSensor);
-  const updateState = useSensorStore((state) => state.updateState);
-  const updateConnectionStatus = useSensorStore((state) => state.updateConnectionStatus);
-  const updateMissionStartTime = useSensorStore((state) => state.updateMissionStartTime);
-  const updateBoards = useSensorStore((state) => state.updateBoards);
-  const updateNotification = useSensorStore((state) => state.updateNotification);
-  const updateActuator = useSensorStore((s) => s.updateActuator);
-  const updateActuatorExpectedPositions = useSensorStore((s) => s.updateActuatorExpectedPositions);
-  const boardsMap = useSensorStore((state) => state.boards as Record<number, BoardStatus>);
-  const ws = getWebSocketClient();
-  const { controlEnabled } = useControlMode();
-  const sensors = useSensorConfig();
-  const [pressureStrip, setPressureStrip] = useState(() => buildPressureBarDefsFromSensorConfig([]));
-
-  const reloadPressureStrip = useCallback(() => {
-    setPressureStrip(buildPressureBarDefsFromSensorConfig(sensors));
-  }, [sensors]);
-
-  const boards = useMemo(() => {
-    const map = boardsMap ?? {};
-    return Object.values(map).sort((a, b) => {
-      if (a.type !== b.type) return a.type.localeCompare(b.type);
-      const an = a.boardNumber ?? Number.MAX_SAFE_INTEGER;
-      const bn = b.boardNumber ?? Number.MAX_SAFE_INTEGER;
-      if (an !== bn) return an - bn;
-      return a.id - b.id;
-    });
-  }, [boardsMap]);
-
-  useEffect(() => {
-    reloadPressureStrip();
-  }, [reloadPressureStrip]);
-
-  useEffect(() => {
-    ws.connect();
-    const off = ws.on(MessageType.CONFIG_UPDATED, () => reloadPressureStrip());
-    return () => {
-      off();
-    };
-  }, [ws, reloadPressureStrip]);
-
-  const pressureSensors: SensorCardProps[] = pressureStrip.map((s) => ({
-    label: s.label.replace('Upstream', 'Up').replace('Downstream', 'Down'),
-    entity: s.entity,
-    component: 'pressure_psi',
-    color: s.color,
-    nop: s.nop,
-    meop: s.meop,
-    avgEntities: s.avgEntities,
-  }));
-
-  // Show all actuators (matching Controls page)
-  const { actuators: actuatorsFromConfig } = useActuatorsFromConfig();
-  const actuators = actuatorsFromConfig.map((a) => ({ label: a.name, entity: a.entity }));
-
-  return (
-    <main className="flex-1 bg-background text-text flex flex-col overflow-auto">
-      <div className="w-full px-3 py-2 flex flex-col gap-2 flex-1">
-
-        {/* ── Sensors ────────────────────────────────────────────────── */}
-        <div>
-          <SectionHeader color="bg-blue-500">Live Pressures</SectionHeader>
-          <div className="grid grid-cols-5 lg:grid-cols-9 gap-2">
-            {pressureSensors.map((s) => (
-              <SensorCard key={s.label} {...s} />
-            ))}
-          </div>
-        </div>
-
-        {/* ── Actuators ──────────────────────────────────────────────── */}
-        <div>
-          <SectionHeader color="bg-purple-500">Actuators</SectionHeader>
-          <div className="grid grid-cols-4 lg:grid-cols-7 gap-2">
-            {actuators.map((a) => (
-              <ActuatorPill key={a.label} {...a} />
-            ))}
-          </div>
-        </div>
-
-        {/* ── Windows ─────────────────────────────────────────────────── */}
-        <div className="flex-1 flex flex-col min-h-0">
-          <SectionHeader color="bg-green-500">Windows</SectionHeader>
-          <div className="flex-1">
-            <WindowLauncher />
-          </div>
-        </div>
-
-      </div>
-    </main>
-  );
-}
diff --git a/daq-server/diablo_server/frontend/app/views/page.tsx b/daq-server/diablo_server/frontend/app/views/page.tsx
new file mode 100644
index 000000000..bb104b429
--- /dev/null
+++ b/daq-server/diablo_server/frontend/app/views/page.tsx
@@ -0,0 +1,75 @@
+'use client'
+
+import { NavLink } from 'react-router-dom';
+import { ACTIVE_NAV_ITEMS, DEPRECATED_NAV_ITEMS, type NavItem } from '@/lib/nav-items';
+
+// ── Single view card — navigates to the view's canonical route ───────────────
+function ViewCard({ item, muted }: { item: NavItem; muted?: boolean }) {
+  return (
+    <NavLink
+      to={item.path}
+      className={`relative overflow-hidden backdrop-blur-md rounded-xl border transition-all duration-300 text-left group
+                  hover:bg-white/[0.06] hover:shadow-xl hover:-translate-y-0.5
+                  ${muted ? 'bg-white/[0.01] border-white/5 opacity-70 hover:opacity-100' : 'bg-white/[0.02] border-white/5'}`}
+    >
+      <div className="absolute left-0 top-0 bottom-0 w-1.5 rounded-l-lg" style={{ backgroundColor: item.accent }} />
+      <div className="px-4 py-3 pl-5">
+        <div className="flex items-center justify-between gap-2">
+          <span className="text-sm font-bold tracking-wide text-gray-200 group-hover:text-white transition-colors">
+            {item.name}
+          </span>
+          {item.deprecated ? (
+            <span className="text-[10px] font-semibold text-amber-400/80 flex-shrink-0 uppercase tracking-wider">Deprecated</span>
+          ) : item.common ? (
+            <span className="text-[10px] font-semibold text-white flex-shrink-0 uppercase tracking-wider">Pinned</span>
+          ) : null}
+        </div>
+        <div className="text-[11px] font-semibold text-gray-400 mt-1 leading-relaxed line-clamp-2 group-hover:text-gray-300 transition-colors">
+          {item.description}
+        </div>
+      </div>
+    </NavLink>
+  );
+}
+
+function SectionHeader({ color, children }: { color: string; children: React.ReactNode }) {
+  return (
+    <div className="flex items-center gap-2">
+      <div className="w-1.5 h-5 rounded-full" style={{ backgroundColor: color }} />
+      <h2 className="text-sm font-bold tracking-widest text-text-muted uppercase">{children}</h2>
+    </div>
+  );
+}
+
+// ── All Views: full grid of every navigable view, active + deprecated ────────
+export default function AllViewsPage() {
+  return (
+    <main className="flex-1 bg-background text-text flex flex-col overflow-auto">
+      <div className="w-full px-4 py-4 flex flex-col gap-3">
+        <SectionHeader color="#22C55E">All Views</SectionHeader>
+        <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-4 xl:grid-cols-5 gap-2">
+          {ACTIVE_NAV_ITEMS.map((item) => (
+            <ViewCard key={item.id} item={item} />
+          ))}
+        </div>
+
+        {DEPRECATED_NAV_ITEMS.length > 0 && (
+          <>
+            <div className="mt-4">
+              <SectionHeader color="#F59E0B">Deprecated</SectionHeader>
+            </div>
+            <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-4 xl:grid-cols-5 gap-2">
+              {DEPRECATED_NAV_ITEMS.map((item) => (
+                <ViewCard key={item.id} item={item} muted />
+              ))}
+            </div>
+          </>
+        )}
+
+        <p className="text-sm text-gray-200 mt-2">
+          Tip: open any view, then use the “Open in popup” button (bottom-right) to pop it out onto a TV.
+        </p>
+      </div>
+    </main>
+  );
+}
diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index d5dfb66e7..b13564434 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -11,6 +11,8 @@ import ActuatorControlByName from '@/components/controls/ActuatorControlByName';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { useControlMode } from '@/lib/control-mode';
 import { useSensorConfig } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
+import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressureBarDefsFromSensorConfig, buildPressurePlotSeriesFromSensorList } from '@/lib/pressure-bar-defs';
 
 // ── Constants shared with TopBar/UnifiedDashboard ────────────────────────────
@@ -126,8 +128,10 @@ export default function MobileDashboard() {
     sendState(SystemState.EMERGENCY_ABORT);
   };
 
-  const pressureBarDefs = useMemo(() => buildPressureBarDefsFromSensorConfig(sensors), [sensors]);
-  const pressureSensorsPlot = useMemo(() => buildPressurePlotSeriesFromSensorList(sensors), [sensors]);
+  const { pressureBars } = useGuiConfig();
+  const limits = usePressureLimits();
+  const pressureBarDefs = useMemo(() => buildPressureBarDefsFromSensorConfig(sensors, pressureBars, limits), [sensors, pressureBars, limits]);
+  const pressureSensorsPlot = useMemo(() => buildPressurePlotSeriesFromSensorList(sensors, pressureBars, limits), [sensors, pressureBars, limits]);
   const pressurePlotForChart = usePressureHistoryPlotSeries(pressureSensorsPlot);
 
   return (
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TabBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TabBar.tsx
new file mode 100644
index 000000000..fa2bfa227
--- /dev/null
+++ b/daq-server/diablo_server/frontend/components/dashboard/TabBar.tsx
@@ -0,0 +1,122 @@
+'use client'
+
+import { useEffect, useRef, useState } from 'react';
+import { NavLink, useLocation } from 'react-router-dom';
+import { NAV_ITEMS, resolveTabItems } from '@/lib/nav-items';
+import { useGuiConfig } from '@/lib/gui-config';
+
+/** Shared classes for a single tab pill. */
+function tabClass(active: boolean): string {
+  return [
+    'relative px-3 py-1 text-sm font-bold uppercase tracking-wider whitespace-nowrap rounded-md transition-colors',
+    active
+      ? 'text-white bg-white/[0.06]'
+      : 'text-gray-400 hover:text-gray-200 hover:bg-white/[0.03]',
+  ].join(' ');
+}
+
+/** Coloured underline shown on the active tab (accent per view). */
+function ActiveRail({ accent }: { accent: string }) {
+  return (
+    <span
+      className="absolute left-2 right-2 -bottom-[7px] h-0.5 rounded-full"
+      style={{ backgroundColor: accent }}
+    />
+  );
+}
+
+/**
+ * Row of tabs under the header. Common views scroll inline; the rest live behind
+ * the "All Views" tab (a dedicated page/grid) plus a quick-pick dropdown. The
+ * All Views control sits OUTSIDE the horizontal scroller — an `overflow-x` box
+ * also clips vertical overflow, which would otherwise hide the dropdown.
+ * Route-based — each tab is a real subpath, so it deep-links, supports
+ * back/forward, and can be popped out.
+ */
+export default function TabBar() {
+  const { pathname } = useLocation();
+  const { tabs } = useGuiConfig();
+  const [overflowOpen, setOverflowOpen] = useState(false);
+  const overflowRef = useRef<HTMLDivElement>(null);
+
+  // Pinned tabs + order come from config.toml [gui].tabs (falls back to nav-items
+  // `common` flags). The dropdown lists everything else that isn't deprecated.
+  const pinnedItems = resolveTabItems(tabs);
+  const pinnedIds = new Set(pinnedItems.map((i) => i.id));
+  const overflowItems = NAV_ITEMS.filter((i) => !pinnedIds.has(i.id) && !i.deprecated);
+
+  // Close the overflow dropdown on outside click / route change.
+  useEffect(() => setOverflowOpen(false), [pathname]);
+  useEffect(() => {
+    if (!overflowOpen) return;
+    const onDown = (e: MouseEvent) => {
+      if (overflowRef.current && !overflowRef.current.contains(e.target as Node)) {
+        setOverflowOpen(false);
+      }
+    };
+    window.addEventListener('mousedown', onDown);
+    return () => window.removeEventListener('mousedown', onDown);
+  }, [overflowOpen]);
+
+  const onAllViews = pathname === '/views';
+
+  return (
+    <div className="relative z-20 w-full bg-card border-b border-gray-800 flex-shrink-0">
+      <div className="flex items-stretch py-1 gap-1">
+        {/* Pinned common views (Single Pane first) — wraps to fit, never scrolls */}
+        <div className="flex flex-wrap items-center content-center gap-1 px-3 flex-1 min-w-0">
+          {pinnedItems.map((item) => (
+            <NavLink key={item.id} to={item.path} className={({ isActive }) => tabClass(isActive)}>
+              {({ isActive }) => (
+                <>
+                  {item.name}
+                  {isActive && <ActiveRail accent={item.accent} />}
+                </>
+              )}
+            </NavLink>
+          ))}
+        </div>
+
+        {/* All Views: link to the grid page + dropdown of the less-used views.
+            Kept out of the scroller above so the dropdown isn't clipped. */}
+        <div className="relative flex items-stretch flex-shrink-0 gap-0.5 px-2 border-l border-gray-800/60" ref={overflowRef}>
+          <NavLink to="/views" className={() => tabClass(onAllViews)}>
+            All Views
+            {onAllViews && <ActiveRail accent="#9CA3AF" />}
+          </NavLink>
+          <button
+            type="button"
+            aria-label="Quick-pick another view"
+            aria-expanded={overflowOpen}
+            onClick={() => setOverflowOpen((v) => !v)}
+            className={`px-1.5 rounded-md text-xs transition-colors ${
+              overflowOpen ? 'text-white bg-white/[0.06]' : 'text-gray-400 hover:text-gray-200 hover:bg-white/[0.03]'
+            }`}
+          >
+            ▾
+          </button>
+
+          {overflowOpen && (
+            <div className="absolute right-0 top-full mt-1 z-50 w-56 max-h-[70vh] overflow-y-auto bg-background border border-gray-700 rounded-lg shadow-xl py-1">
+              {overflowItems.map((item) => {
+                const active = pathname === item.path;
+                return (
+                  <NavLink
+                    key={item.id}
+                    to={item.path}
+                    className={`flex items-center gap-2 px-3 py-1.5 text-xs font-semibold ${
+                      active ? 'text-white bg-white/[0.06]' : 'text-gray-300 hover:bg-white/[0.04]'
+                    }`}
+                  >
+                    <span className="w-1.5 h-1.5 rounded-full flex-shrink-0" style={{ backgroundColor: item.accent }} />
+                    <span className="truncate">{item.name}</span>
+                  </NavLink>
+                );
+              })}
+            </div>
+          )}
+        </div>
+      </div>
+    </div>
+  );
+}
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index b04056dac..eddf66f9f 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -12,6 +12,8 @@ import { plotEntityKeysForPressureBar } from '@/lib/sensor-colors';
 import NotificationPanel from '@/components/dashboard/NotificationPanel';
 import { useControlMode } from '@/lib/control-mode';
 import { useSensorConfig } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
+import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressureBarDefsFromSensorConfig, type PressureBarDef } from '@/lib/pressure-bar-defs';
 
 const STATE_NAMES: Record<number, string> = {
@@ -107,8 +109,16 @@ export default function TopBar() {
   const [clock, setClock] = useState('');
   const [countdown, setCountdown] = useState('---:--:--');
   const [countdownExpired, setCountdownExpired] = useState(false);
-  const [pressureBars, setPressureBars] = useState<PressureBarDef[]>([]);
   const sensors = useSensorConfig();
+  const { pressureBars: barConfig } = useGuiConfig();
+  const pressureLimits = usePressureLimits();
+
+  // Top-bar gauges come from config ([[gui.pressure_bars]]) with NOP/MEOP from
+  // [pressure_limits]; all three hooks refetch on CONFIG_UPDATED, so edits are live.
+  const pressureBars = useMemo(
+    () => buildPressureBarDefsFromSensorConfig(sensors, barConfig, pressureLimits),
+    [sensors, barConfig, pressureLimits],
+  );
 
   const ws = getWebSocketClient();
 
@@ -118,23 +128,13 @@ export default function TopBar() {
   const [dateTimeInput, setDateTimeInput] = useState('');
   const [hitZeroMode, setHitZeroMode] = useState<'time' | 'datetime'>('time');
 
-  const loadPressureBars = useCallback(() => {
-    setPressureBars(buildPressureBarDefsFromSensorConfig(sensors));
-  }, [sensors]);
-
-  useEffect(() => {
-    loadPressureBars();
-  }, [loadPressureBars]);
-
   useEffect(() => {
     try {
       startDataCache(); // begin 1 Hz background sampling for plot history
     } catch (err) {
       console.error('[TopBar] Failed to start data cache:', err);
     }
-    const unsubConfig = ws.on(MessageType.CONFIG_UPDATED, () => loadPressureBars());
-    return () => { unsubConfig(); };
-  }, [ws, loadPressureBars]);
+  }, []);
 
   useEffect(() => {
     const tick = () => setClock(new Date().toLocaleTimeString('en-US', { hour12: true }));
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBarWrapper.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBarWrapper.tsx
index b2271af9b..023187842 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBarWrapper.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBarWrapper.tsx
@@ -2,14 +2,16 @@
 
 import { useLocation } from 'react-router-dom';
 import TopBar from './TopBar';
+import TabBar from './TabBar';
+import { isPopupWindow } from '@/lib/is-popup';
 
-// Routes where the full desktop TopBar should be suppressed (they render their own compact header)
-const SUPPRESS_TOPBAR_PATHS = ['/window/mobile-gui', '/window/livestream'];
+// Routes that render their own compact header and no tab bar (full-bleed views).
+const SUPPRESS_TOPBAR_PATHS = ['/mobile', '/livestream'];
 
 export default function TopBarWrapper() {
   const { pathname } = useLocation();
   const suppress = SUPPRESS_TOPBAR_PATHS.some((p) => pathname === p || pathname?.startsWith(p + '/'));
-  const isIpad = pathname === '/window/ipad' || pathname?.startsWith('/window/ipad/');
+  const isIpad = pathname === '/ipad' || pathname?.startsWith('/ipad/');
 
   if (suppress) return null;
 
@@ -23,5 +25,13 @@ export default function TopBarWrapper() {
     );
   }
 
-  return <TopBar />;
+  // Popups are dedicated single-view windows — keep the TopBar, drop the tab bar.
+  const showTabs = !isPopupWindow();
+
+  return (
+    <>
+      <TopBar />
+      {showTabs && <TabBar />}
+    </>
+  );
 }
diff --git a/daq-server/diablo_server/frontend/components/windows/OpenInPopupButton.tsx b/daq-server/diablo_server/frontend/components/windows/OpenInPopupButton.tsx
new file mode 100644
index 000000000..c505d824d
--- /dev/null
+++ b/daq-server/diablo_server/frontend/components/windows/OpenInPopupButton.tsx
@@ -0,0 +1,43 @@
+'use client'
+
+import { useLocation } from 'react-router-dom';
+import { useWindowManager } from './WindowManager';
+import { navItemByPath } from '@/lib/nav-items';
+import { isPopupWindow } from '@/lib/is-popup';
+
+/**
+ * Floating button (bottom-right) that pops the current view out into its own
+ * window — handy for dedicating a TV to a single pane. Reuses WindowManager's
+ * existing popup sizing/placement. Hidden inside popups (nothing to pop out).
+ */
+export default function OpenInPopupButton() {
+  const { pathname, search } = useLocation();
+  const { openWindow } = useWindowManager();
+
+  if (isPopupWindow()) return null;
+
+  const item = navItemByPath(pathname);
+  const name = item?.name ?? 'View';
+  // Stable id per path so re-clicking focuses the existing popup instead of stacking.
+  const id = `popout:${pathname}`;
+  const url = `${pathname}${search}`;
+
+  return (
+    <button
+      type="button"
+      onClick={() => openWindow(id, name, url)}
+      title={`Open “${name}” in a popup window`}
+      className="fixed bottom-5 right-5 z-40 flex items-center gap-2 px-4 py-2.5 rounded-full
+                 bg-blue-600 hover:bg-blue-500 active:bg-blue-700 text-white text-xs font-bold uppercase tracking-wider
+                 border border-blue-400/40 shadow-lg shadow-blue-900/40 transition-colors"
+    >
+      <svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="2.5"
+        strokeLinecap="round" strokeLinejoin="round" aria-hidden="true">
+        <path d="M15 3h6v6" />
+        <path d="M10 14 21 3" />
+        <path d="M18 13v6a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2V8a2 2 0 0 1 2-2h6" />
+      </svg>
+      Open in popup
+    </button>
+  );
+}
diff --git a/daq-server/diablo_server/frontend/components/windows/WindowLauncher.tsx b/daq-server/diablo_server/frontend/components/windows/WindowLauncher.tsx
deleted file mode 100644
index ecdfb0885..000000000
--- a/daq-server/diablo_server/frontend/components/windows/WindowLauncher.tsx
+++ /dev/null
@@ -1,111 +0,0 @@
-'use client'
-
-import { useWindowManager } from './WindowManager';
-
-interface WindowButtonProps {
-  id: string;
-  name: string;
-  description: string;
-  url: string;
-  accent: string;
-}
-
-function WindowButton({ id, name, description, url, accent }: WindowButtonProps) {
-  const { openWindow, windows } = useWindowManager();
-  const isOpen = windows.some((w) => w.id === id && w.window && !w.window.closed);
-
-  return (
-    <button
-      onClick={(e) => {
-        e.preventDefault();
-        const result = openWindow(id, name, url);
-        if (!result) {
-          console.warn(`[WindowLauncher] Failed to open ${name} - check popup blocker`);
-        }
-      }}
-      className={`
-        relative overflow-hidden bg-white/[0.02] backdrop-blur-md rounded-xl border transition-all duration-300 text-left group
-        hover:bg-white/[0.06] hover:shadow-xl hover:-translate-y-0.5
-        ${isOpen ? 'border-emerald-500/40 shadow-[0_0_15px_rgba(16,185,129,0.15)] ring-1 ring-inset ring-emerald-500/20' : 'border-white/5'}
-      `}
-    >
-      <div className="absolute left-0 top-0 bottom-0 w-1.5 rounded-l-lg" style={{ backgroundColor: accent }} />
-      <div className="px-4 py-3 pl-5">
-        <div className="flex items-center justify-between gap-2">
-          <span className="text-sm font-bold tracking-wide text-gray-200 group-hover:text-white transition-colors">{name}</span>
-          {isOpen && (
-            <span className="text-xs font-black font-mono text-emerald-400 flex-shrink-0 drop-shadow-[0_0_5px_rgba(16,185,129,0.5)]">● OPEN</span>
-          )}
-        </div>
-        <div className="text-[11px] font-semibold text-gray-400 mt-1 leading-relaxed line-clamp-2 group-hover:text-gray-300 transition-colors">{description}</div>
-      </div>
-    </button>
-  );
-}
-
-export default function WindowLauncher() {
-  const { closeAllWindows, windows } = useWindowManager();
-  const openCount = windows.filter((w) => w.window && !w.window.closed).length;
-
-  const unifiedEntry: WindowButtonProps = {
-    id: 'unified', name: 'Single Pane ★★',
-    description: 'State machine · Pressure graphs · Actuators · Controller all in one window',
-    url: '/window/unified', accent: '#EC4899',
-  };
-
-  const multiEntries: WindowButtonProps[] = [
-    { id: 'ipad', name: 'iPad View', description: 'Scrollable layout for iPad Air', url: '/window/ipad', accent: '#8B5CF6' },
-    { id: 'livestream', name: 'Livestream Stats', description: 'Broadcast pane with state, mission timer, and selectable PT dials', url: '/window/livestream', accent: '#38BDF8' },
-    { id: 'fuel', name: 'FUEL', description: 'Upstream / downstream pressure & actuators', url: '/window/fuel', accent: '#3498DB' },
-    { id: 'lox', name: 'LOX', description: 'Oxidizer pressure & actuators', url: '/window/lox', accent: '#E74C3C' },
-    { id: 'chamber', name: 'Chamber', description: 'PT / TC / LC Measurements in one pane', url: '/window/chamber', accent: '#F97316' },
-    { id: 'copv', name: 'COPV / GN2', description: 'High-pressure bottle & regulator', url: '/window/copv', accent: '#27AE60' },
-    { id: 'gse', name: 'GSE', description: 'Ground support equipment pressures', url: '/window/gse', accent: '#F39C12' },
-    { id: 'status', name: 'Status', description: 'Tabular real-time sensor values', url: '/window/status', accent: '#34D399' },
-    { id: 'boards', name: 'Boards / Heartbeats', description: 'Discovered boards and heartbeat status', url: '/window/boards', accent: '#10B981' },
-    { id: 'self-tests', name: 'Board Self Tests', description: 'Detailed breakdowns for diagnostics passed/failed per hotfire frame', url: '/window/self-tests', accent: '#A855F7' },
-    { id: 'flash', name: 'Ethernet OTA Flash', description: 'Flash firmware to boards over Ethernet', url: '/window/flash', accent: '#06B6D4' },
-    { id: 'config', name: 'Config', description: 'System & board configuration editor', url: '/window/config', accent: '#FBBF24' },
-    { id: 'controller', name: 'Controller', description: 'PWM duty cycle & valve states', url: '/window/controller', accent: '#F87171' },
-    { id: 'calibration', name: 'Calibration', description: 'RLS + GLR drift · Bayesian auto-recal', url: '/window/calibration', accent: '#A3E635' },
-    { id: 'lcs-tcs-rtd', name: 'LCS / TCS / RTD', description: 'Thermocouples, RTDs, load cell — voltage and temperature', url: '/window/lcs-tcs-rtd', accent: '#F59E0B' },
-    { id: 'sensor-info', name: 'Sensor Info', description: 'ADC code · converted value · data rate per channel', url: '/window/sensor-info', accent: '#22D3EE' },
-    { id: 'solenoid-char', name: 'Solenoid Characterization', description: 'PWM duty cycle & frequency for solenoid performance', url: '/window/solenoid-char', accent: '#F59E0B' },
-    { id: 'encoders', name: 'Encoders', description: 'Encoder board angles and connection status', url: '/window/encoders', accent: '#7C3AED' },
-    { id: 'feed-char', name: 'Feed System Char', description: 'CdA, MDOT, Reynolds Number characterization', url: '/window/feed-char', accent: '#3B82F6' },
-  ];
-
-  return (
-    <div className="bg-card rounded-lg border border-gray-800 p-4">
-      {/* Header */}
-      <div className="flex items-center justify-between mb-3">
-        <div className="flex items-center gap-3">
-          <h2 className="text-sm font-bold tracking-wider text-text-muted uppercase">View Windows</h2>
-          {openCount > 0 && (
-            <span className="text-xs text-text-muted">{openCount} window{openCount !== 1 ? 's' : ''} open</span>
-          )}
-        </div>
-        {openCount > 0 && (
-          <button
-            onClick={closeAllWindows}
-            className="px-3 py-1.5 bg-red-900/40 border border-red-800 rounded text-xs font-semibold text-red-300 hover:bg-red-800/60 transition-colors"
-          >
-            Close All
-          </button>
-        )}
-      </div>
-
-      {/* Featured windows */}
-      <div className="mb-2 space-y-2">
-        <WindowButton {...unifiedEntry} />
-      </div>
-
-      {/* Grid - 2 rows */}
-      <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-5 gap-2">
-        {multiEntries.map((e) => (
-          <WindowButton key={e.id} {...e} />
-        ))}
-      </div>
-    </div>
-  );
-}
diff --git a/daq-server/diablo_server/frontend/lib/dashboard-hooks.ts b/daq-server/diablo_server/frontend/lib/dashboard-hooks.ts
index 6040e50ae..db6d2d1d4 100644
--- a/daq-server/diablo_server/frontend/lib/dashboard-hooks.ts
+++ b/daq-server/diablo_server/frontend/lib/dashboard-hooks.ts
@@ -1,10 +1,12 @@
 'use client';
 
-import { useCallback, useEffect, useState } from 'react';
+import { useCallback, useEffect, useMemo, useState } from 'react';
 import { useSensorStore } from '@/lib/store';
 import { getApiBaseUrl, getWebSocketClient } from '@/lib/websocket';
 import { MessageType } from '@/lib/types';
 import type { SensorConfig } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
+import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressurePlotSeriesFromSensorList, type PressurePlotSeries } from '@/lib/pressure-bar-defs';
 
 export type ActuatorEntry = {
@@ -62,17 +64,15 @@ export function useActuatorsFromConfig(): ActuatorEntry[] {
  */
 export function usePressureSensors(): PressurePlotSeries[] {
   const ws = getWebSocketClient();
-  const [series, setSeries] = useState<PressurePlotSeries[]>(() => buildPressurePlotSeriesFromSensorList([]));
+  const [sensors, setSensors] = useState<SensorConfig[]>([]);
+  const { pressureBars } = useGuiConfig();
+  const limits = usePressureLimits();
 
   const load = useCallback(() => {
     fetch(`${getApiBaseUrl()}/api/sensor-config`)
       .then((r) => (r.ok ? r.json() : null))
-      .then((data: { sensors?: SensorConfig[] } | null) => {
-        setSeries(buildPressurePlotSeriesFromSensorList(data?.sensors ?? []));
-      })
-      .catch(() => {
-        setSeries(buildPressurePlotSeriesFromSensorList([]));
-      });
+      .then((data: { sensors?: SensorConfig[] } | null) => setSensors(data?.sensors ?? []))
+      .catch(() => setSensors([]));
   }, []);
 
   useEffect(() => { load(); }, [load]);
@@ -82,5 +82,10 @@ export function usePressureSensors(): PressurePlotSeries[] {
     return () => { unsub(); };
   }, [ws, load]);
 
-  return series;
+  // Bars + limits come from config (useGuiConfig / usePressureLimits already
+  // refetch on CONFIG_UPDATED), so the series follow config edits live.
+  return useMemo(
+    () => buildPressurePlotSeriesFromSensorList(sensors, pressureBars, limits),
+    [sensors, pressureBars, limits],
+  );
 }
diff --git a/daq-server/diablo_server/frontend/lib/gui-config.ts b/daq-server/diablo_server/frontend/lib/gui-config.ts
new file mode 100644
index 000000000..7a47bd251
--- /dev/null
+++ b/daq-server/diablo_server/frontend/lib/gui-config.ts
@@ -0,0 +1,93 @@
+/**
+ * GUI-driven config lists pulled from config.toml [gui] via /api/gui-config:
+ *   - pressure_bars: the ordered top-bar pressure gauges
+ *   - tabs:          the ordered tab-bar view ids (index into nav-items)
+ *
+ * Mirrors lib/sensor-config.ts: one module-scoped fetch shared by all
+ * components, invalidated + refetched on the CONFIG_UPDATED WebSocket message so
+ * edits in the Config editor reflect live with no reload/restart.
+ */
+
+import { useEffect, useState } from 'react';
+import { getApiBaseUrl, getWebSocketClient } from './websocket';
+import { MessageType } from './types';
+
+// ── Types ──────────────────────────────────────────────────────────────────────
+
+/** One top-bar pressure gauge, as authored in [[gui.pressure_bars]]. */
+export interface PressureBarConfig {
+  /** Text shown on the gauge. */
+  label: string;
+  /** Sensor role name → resolved to its calibrated entity via /api/sensor-config. */
+  role?: string;
+  /** Gauge value = mean of these roles' pressures (e.g. the two chamber mids). */
+  avg_roles?: string[];
+  /** Key into [pressure_limits.*] supplying NOP/MEOP (single source of truth). */
+  limits?: string;
+  /** Gauge accent colour. */
+  color?: string;
+}
+
+export interface GuiConfig {
+  pressureBars: PressureBarConfig[];
+  /** Ordered tab-bar view ids (index into lib/nav-items). Empty → use defaults. */
+  tabs: string[];
+}
+
+const EMPTY: GuiConfig = { pressureBars: [], tabs: [] };
+
+// ── Module-level cache so all components share one fetch ───────────────────────
+
+let _cache: GuiConfig | null = null;
+let _fetchPromise: Promise<GuiConfig> | null = null;
+
+export async function fetchGuiConfig(): Promise<GuiConfig> {
+  if (_cache !== null) return _cache;
+  if (_fetchPromise) return _fetchPromise;
+
+  _fetchPromise = fetch(`${getApiBaseUrl()}/api/gui-config`)
+    .then((res) => {
+      if (!res.ok) throw new Error(`gui-config fetch failed: ${res.status}`);
+      return res.json();
+    })
+    .then((data: { pressure_bars?: PressureBarConfig[]; tabs?: string[] }) => {
+      _cache = { pressureBars: data.pressure_bars ?? [], tabs: data.tabs ?? [] };
+      return _cache;
+    })
+    .catch((err) => {
+      console.error('[gui-config] Failed to fetch gui config:', err);
+      _fetchPromise = null; // allow retry
+      return EMPTY;
+    });
+
+  return _fetchPromise;
+}
+
+export function invalidateGuiConfigCache(): void {
+  _cache = null;
+  _fetchPromise = null;
+}
+
+// ── React hook ─────────────────────────────────────────────────────────────────
+
+/** Live GUI config. Returns empty lists while loading; refetches on CONFIG_UPDATED. */
+export function useGuiConfig(): GuiConfig {
+  const [cfg, setCfg] = useState<GuiConfig>(_cache ?? EMPTY);
+
+  useEffect(() => {
+    let cancelled = false;
+    fetchGuiConfig().then((c) => { if (!cancelled) setCfg(c); });
+    return () => { cancelled = true; };
+  }, []);
+
+  useEffect(() => {
+    const ws = getWebSocketClient();
+    const unsub = ws.on(MessageType.CONFIG_UPDATED, () => {
+      invalidateGuiConfigCache();
+      fetchGuiConfig().then((c) => setCfg(c));
+    });
+    return unsub;
+  }, []);
+
+  return cfg;
+}
diff --git a/daq-server/diablo_server/frontend/lib/is-popup.ts b/daq-server/diablo_server/frontend/lib/is-popup.ts
new file mode 100644
index 000000000..0d4e60b2c
--- /dev/null
+++ b/daq-server/diablo_server/frontend/lib/is-popup.ts
@@ -0,0 +1,8 @@
+/**
+ * True when the current document was opened as a popup (via window.open from
+ * another page in this app). Popups are dedicated single-view windows — the tab
+ * bar and the floating "open in popup" button are hidden in them.
+ */
+export function isPopupWindow(): boolean {
+  return typeof window !== 'undefined' && !!window.opener;
+}
diff --git a/daq-server/diablo_server/frontend/lib/nav-items.ts b/daq-server/diablo_server/frontend/lib/nav-items.ts
new file mode 100644
index 000000000..449a6dd45
--- /dev/null
+++ b/daq-server/diablo_server/frontend/lib/nav-items.ts
@@ -0,0 +1,127 @@
+/**
+ * Single source of truth for the app's navigable views.
+ *
+ * Drives the tab bar (common items inline), the "All Views" page (every item),
+ * the popup button (canonical path per view), and the legacy `/window/:view`
+ * redirect (id → canonical path). Previously this information was split across
+ * `WindowLauncher.multiEntries` and the `windowViews` registry in `pages.tsx`.
+ *
+ * `id` matches the historical `/window/<id>` key so old popup URLs / operator
+ * bookmarks can be redirected to `path`. Reorder freely — the tab bar renders
+ * in array order, and `common` controls inline-vs-overflow.
+ */
+export interface NavItem {
+  /** Historical window key (kept for `/window/:view` redirects). */
+  id: string;
+  /** Display label in the tab bar / All Views grid. */
+  name: string;
+  /** Canonical route. This is what the tab links to and the popup opens. */
+  path: string;
+  /** One-line description shown on the All Views grid. */
+  description: string;
+  /** Accent colour (left rail on cards, tab indicator). */
+  accent: string;
+  /** Inline in the tab bar when true; only under All Views when false. */
+  common?: boolean;
+  /** Retired view — kept reachable only under the All Views "Deprecated" section. */
+  deprecated?: boolean;
+}
+
+/**
+ * Single Pane is pinned first — it is by far the most-used view.
+ * The `common` flags below are a sensible starting split; reorder / retag at will.
+ */
+export const NAV_ITEMS: NavItem[] = [
+  { id: 'unified', name: 'Single Pane', path: '/single-pane', accent: '#EC4899', common: true,
+    description: 'State machine · Pressure graphs · Actuators · Controller all in one window' },
+
+  { id: 'fuel', name: 'Fuel', path: '/fuel', accent: '#3498DB', common: true,
+    description: 'Upstream / downstream pressure & actuators' },
+  { id: 'lox', name: 'LOX', path: '/lox', accent: '#E74C3C', common: true,
+    description: 'Oxidizer pressure & actuators' },
+  { id: 'chamber', name: 'Chamber', path: '/chamber', accent: '#F97316', common: true,
+    description: 'PT / TC / LC measurements in one pane' },
+  { id: 'copv', name: 'COPV / GN2', path: '/copv', accent: '#27AE60', common: true,
+    description: 'High-pressure bottle & regulator' },
+  { id: 'controller', name: 'Controller', path: '/controller', accent: '#F87171', common: true,
+    description: 'PWM duty cycle & valve states' },
+  { id: 'boards', name: 'Boards', path: '/boards', accent: '#10B981', common: true,
+    description: 'Discovered boards and heartbeat status' },
+  { id: 'session', name: 'Session', path: '/session', accent: '#64748B', common: true,
+    description: 'Recording session controls & history' },
+
+  // ── Less-used views (reachable via the All Views tab) ────────────────────────
+  { id: 'gse', name: 'GSE', path: '/gse', accent: '#F39C12',
+    description: 'Ground support equipment pressures' },
+  { id: 'lcs-tcs-rtd', name: 'LCS / TCS / RTD', path: '/lcs-tcs-rtd', accent: '#F59E0B',
+    description: 'Thermocouples, RTDs, load cell — voltage and temperature' },
+  { id: 'sensor-info', name: 'Sensor Info', path: '/sensor-info', accent: '#22D3EE',
+    description: 'ADC code · converted value · data rate per channel' },
+  { id: 'controller-controls', name: 'Controls', path: '/controls', accent: '#F472B6',
+    description: 'Manual actuator & state controls' },
+  { id: 'calibration', name: 'Calibration', path: '/calibration', accent: '#A3E635',
+    description: 'RLS + GLR drift · Bayesian auto-recal' },
+  { id: 'feed-char', name: 'Feed System Char', path: '/feed-char', accent: '#3B82F6',
+    description: 'CdA, MDOT, Reynolds number characterization' },
+  { id: 'solenoid-char', name: 'Solenoid Characterization', path: '/solenoid-char', accent: '#F59E0B',
+    description: 'PWM duty cycle & frequency for solenoid performance' },
+  { id: 'encoders', name: 'Encoders', path: '/encoders', accent: '#7C3AED',
+    description: 'Encoder board angles and connection status' },
+  { id: 'self-tests', name: 'Board Self Tests', path: '/self-tests', accent: '#A855F7',
+    description: 'Detailed pass/fail diagnostics per hotfire frame' },
+  { id: 'boards-flash', name: 'Ethernet OTA Flash', path: '/flash', accent: '#06B6D4',
+    description: 'Flash firmware to boards over Ethernet' },
+  { id: 'config', name: 'Config', path: '/config', accent: '#FBBF24',
+    description: 'System & board configuration editor' },
+  { id: 'livestream', name: 'Livestream Stats', path: '/livestream', accent: '#38BDF8',
+    description: 'Broadcast pane with state, mission timer, and selectable PT dials' },
+  { id: 'raw', name: 'Raw Plots', path: '/raw', accent: '#94A3B8',
+    description: 'Unprocessed per-channel plots' },
+  { id: 'all', name: 'All Plots', path: '/plots/all', accent: '#A3A3A3',
+    description: 'Every pressure plot on one page' },
+  { id: 'ipad', name: 'iPad View', path: '/ipad', accent: '#8B5CF6',
+    description: 'Scrollable layout tuned for iPad' },
+  { id: 'mobile-gui', name: 'Mobile', path: '/mobile', accent: '#8B5CF6',
+    description: 'Compact phone control layout' },
+
+  // ── Deprecated — reachable only via the All Views "Deprecated" section ───────
+  { id: 'status', name: 'Status', path: '/status', accent: '#34D399', deprecated: true,
+    description: 'Tabular real-time sensor values' },
+];
+
+/** Tab-bar items rendered inline, in order (never deprecated). */
+export const COMMON_NAV_ITEMS = NAV_ITEMS.filter((i) => i.common && !i.deprecated);
+
+/** Active (non-deprecated) views — the main All Views grid + dropdown source. */
+export const ACTIVE_NAV_ITEMS = NAV_ITEMS.filter((i) => !i.deprecated);
+
+/** Retired views — shown only under the All Views "Deprecated" section. */
+export const DEPRECATED_NAV_ITEMS = NAV_ITEMS.filter((i) => i.deprecated);
+
+/** Legacy `/window/<id>` key → canonical path, for redirecting old popup URLs. */
+export const VIEW_ID_TO_PATH: Record<string, string> = Object.fromEntries(
+  NAV_ITEMS.map((i) => [i.id, i.path]),
+);
+
+/** Find the nav item whose canonical path matches `pathname` (exact match). */
+export function navItemByPath(pathname: string): NavItem | undefined {
+  return NAV_ITEMS.find((i) => i.path === pathname);
+}
+
+/** Find the nav item with the given id. */
+export function navItemById(id: string): NavItem | undefined {
+  return NAV_ITEMS.find((i) => i.id === id);
+}
+
+/**
+ * Resolve the ordered list of pinned tab-bar items.
+ * `configTabIds` comes from config.toml [gui].tabs (via useGuiConfig). When it
+ * lists any known non-deprecated views, that order wins; otherwise fall back to
+ * the `common` flags in this catalog.
+ */
+export function resolveTabItems(configTabIds: string[]): NavItem[] {
+  const resolved = configTabIds
+    .map((id) => navItemById(id))
+    .filter((i): i is NavItem => !!i && !i.deprecated);
+  return resolved.length ? resolved : COMMON_NAV_ITEMS;
+}
diff --git a/daq-server/diablo_server/frontend/lib/pressure-bar-defs.ts b/daq-server/diablo_server/frontend/lib/pressure-bar-defs.ts
index 583310cdd..a9ea5f83c 100644
--- a/daq-server/diablo_server/frontend/lib/pressure-bar-defs.ts
+++ b/daq-server/diablo_server/frontend/lib/pressure-bar-defs.ts
@@ -1,9 +1,16 @@
 /**
- * Single source of truth for primary dashboard pressure bars / live cards.
- * Maps config.toml roles → calEntity so TopBar and home "Live Pressures" stay aligned.
+ * Builds the primary dashboard pressure bars / live cards.
+ *
+ * The bar LIST is config-driven — authored in config.toml [[gui.pressure_bars]]
+ * and fetched via useGuiConfig() — so which gauges show, their order, labels and
+ * colours change with no rebuild. NOP/MEOP always come from [pressure_limits]
+ * (the single source of truth, shared with the plot pages). When no config list
+ * is supplied we fall back to DEFAULT_BARS so nothing breaks pre-migration.
  */
 
 import type { SensorConfig } from '@/lib/sensor-config';
+import type { PressureBarConfig } from '@/lib/gui-config';
+import type { PressureLimitsMap } from '@/lib/pressure-limits';
 import { getEntityColor } from '@/lib/sensor-colors';
 
 /** Fixed strip colors (must stay stable; entity strings change with wiring). */
@@ -30,45 +37,92 @@ export type PressureBarDef = {
   avgEntities?: string[];
 };
 
-function pickCalEntity(byRole: Map<string, string>, roles: string[], fallbackEntity: string): string {
+/** Internal shape both the config list and DEFAULT_BARS normalize to. */
+type BarSource = {
+  label: string;
+  roles: string[];
+  avgRoles?: string[];
+  limitsKey?: string;
+  color?: string;
+};
+
+/**
+ * Fallback bar list used when config.toml has no [[gui.pressure_bars]].
+ * `limitsKey` points each bar at [pressure_limits] so thresholds stay unified
+ * even in the fallback path.
+ */
+const DEFAULT_BARS: BarSource[] = [
+  { label: 'GN2 HI', roles: ['GN2 High'], limitsKey: 'GN2_High' },
+  { label: 'GN2 REG', roles: ['GN2 Regulated'], limitsKey: 'GN2_Regulated' },
+  { label: 'FUEL UP', roles: ['Fuel Upstream'], limitsKey: 'Fuel_Upstream' },
+  { label: 'FUEL DN', roles: ['Fuel Downstream'], limitsKey: 'Fuel_Downstream' },
+  { label: 'LOX UP', roles: ['Ox Upstream', 'LOX Upstream'], limitsKey: 'Ox_Upstream' },
+  { label: 'LOX DN', roles: ['Ox Downstream', 'LOX Downstream'], limitsKey: 'Ox_Downstream' },
+  { label: 'GSE LO', roles: ['GSE Low'], limitsKey: 'GSE_Low' },
+  { label: 'GSE MID', roles: ['GSE Mid'], limitsKey: 'GSE_Mid' },
+  { label: 'GSE HI', roles: ['GSE High'], limitsKey: 'GSE_High' },
+  {
+    label: 'CHAMBER',
+    roles: ['Chamber Mid PT 1'],
+    avgRoles: ['Chamber Mid PT 1', 'Chamber Mid PT 2'],
+    limitsKey: 'Chamber',
+  },
+];
+
+/** Role name → conventional calibrated-entity fallback, e.g. "GN2 High" → "PT_Cal.GN2_High". */
+function roleToFallbackEntity(role: string): string {
+  return `PT_Cal.${role.replace(/\s+/g, '_')}`;
+}
+
+function pickCalEntity(byRole: Map<string, string>, roles: string[]): string {
   for (const r of roles) {
     const e = byRole.get(r);
     if (e) return e;
   }
-  return fallbackEntity;
+  return roles.length ? roleToFallbackEntity(roles[0]) : '';
+}
+
+/** Normalize a config-authored bar into the internal BarSource shape. */
+function configBarToSource(bar: PressureBarConfig): BarSource {
+  return {
+    label: bar.label,
+    roles: bar.role ? [bar.role] : (bar.avg_roles ?? []),
+    avgRoles: bar.avg_roles,
+    limitsKey: bar.limits,
+    color: bar.color,
+  };
 }
 
-/** Build the standard DAQ PT strip from /api/sensor-config (same mapping as TopBar). */
-export function buildPressureBarDefsFromSensorConfig(sensors: SensorConfig[]): PressureBarDef[] {
+/**
+ * Build the DAQ PT strip.
+ * @param sensors  from /api/sensor-config (role → calEntity)
+ * @param bars     config.toml [[gui.pressure_bars]] (via useGuiConfig); falls back to DEFAULT_BARS
+ * @param limits   [pressure_limits] map (via usePressureLimits); supplies NOP/MEOP
+ */
+export function buildPressureBarDefsFromSensorConfig(
+  sensors: SensorConfig[],
+  bars?: PressureBarConfig[],
+  limits?: PressureLimitsMap,
+): PressureBarDef[] {
   const byRole = new Map<string, string>();
   for (const s of sensors) byRole.set(String(s.role || ''), String(s.calEntity || ''));
 
-  const chamberMid1 = pickCalEntity(byRole, ['Chamber Mid PT 1'], 'PT_Cal.Chamber_Mid_PT_1');
-  const chamberMid2 = pickCalEntity(byRole, ['Chamber Mid PT 2'], 'PT_Cal.Chamber_Mid_PT_2');
-
-  const rows: Omit<PressureBarDef, 'color'>[] = [
-    { label: 'GN2 HI', entity: pickCalEntity(byRole, ['GN2 High'], 'PT_Cal.GN2_High'), nop: 900, meop: 950 },
-    { label: 'GN2 REG', entity: pickCalEntity(byRole, ['GN2 Regulated'], 'PT_Cal.GN2_Regulated'), nop: 900, meop: 950 },
-    { label: 'FUEL UP', entity: pickCalEntity(byRole, ['Fuel Upstream'], 'PT_Cal.Fuel_Upstream'), nop: 600, meop: 650 },
-    { label: 'FUEL DN', entity: pickCalEntity(byRole, ['Fuel Downstream'], 'PT_Cal.Fuel_Downstream'), nop: 600, meop: 650 },
-    { label: 'LOX UP', entity: pickCalEntity(byRole, ['Ox Upstream', 'LOX Upstream'], 'PT_Cal.Ox_Upstream'), nop: 600, meop: 650 },
-    { label: 'LOX DN', entity: pickCalEntity(byRole, ['Ox Downstream', 'LOX Downstream'], 'PT_Cal.Ox_Downstream'), nop: 600, meop: 650 },
-    { label: 'GSE LO', entity: pickCalEntity(byRole, ['GSE Low'], 'PT_Cal.GSE_Low'), nop: 500, meop: 700 },
-    { label: 'GSE MID', entity: pickCalEntity(byRole, ['GSE Mid'], 'PT_Cal.GSE_Mid'), nop: 4000, meop: 4500 },
-    { label: 'GSE HI', entity: pickCalEntity(byRole, ['GSE High'], 'PT_Cal.GSE_High'), nop: 500, meop: 700 },
-    {
-      label: 'CHAMBER',
-      entity: chamberMid1,
-      nop: 500,
-      meop: 650,
-      avgEntities: [chamberMid1, chamberMid2],
-    },
-  ];
-
-  return rows.map((r) => ({
-    ...r,
-    color: STRIP_LABEL_COLORS[r.label] ?? getEntityColor(r.avgEntities?.[0] ?? r.entity),
-  }));
+  const sources: BarSource[] = bars && bars.length ? bars.map(configBarToSource) : DEFAULT_BARS;
+
+  return sources.map((src) => {
+    const entity = pickCalEntity(byRole, src.roles);
+    const avgEntities = src.avgRoles?.map((r) => byRole.get(r) ?? roleToFallbackEntity(r));
+    const lim = src.limitsKey ? limits?.[src.limitsKey] : undefined;
+
+    return {
+      label: src.label,
+      entity,
+      nop: lim?.NOP,
+      meop: lim?.MEOP,
+      color: src.color ?? STRIP_LABEL_COLORS[src.label] ?? getEntityColor(avgEntities?.[0] ?? entity),
+      ...(avgEntities && avgEntities.length >= 2 ? { avgEntities } : {}),
+    };
+  });
 }
 
 /** Plot label formatting (matches dashboard cards). */
@@ -95,6 +149,10 @@ export function pressureBarDefsToPlotSeries(defs: PressureBarDef[]): PressurePlo
   return out;
 }
 
-export function buildPressurePlotSeriesFromSensorList(sensors: SensorConfig[]): PressurePlotSeries[] {
-  return pressureBarDefsToPlotSeries(buildPressureBarDefsFromSensorConfig(sensors));
+export function buildPressurePlotSeriesFromSensorList(
+  sensors: SensorConfig[],
+  bars?: PressureBarConfig[],
+  limits?: PressureLimitsMap,
+): PressurePlotSeries[] {
+  return pressureBarDefsToPlotSeries(buildPressureBarDefsFromSensorConfig(sensors, bars, limits));
 }
diff --git a/daq-server/diablo_server/frontend/lib/pressure-limits.ts b/daq-server/diablo_server/frontend/lib/pressure-limits.ts
index 043088c2f..0a2ff9d46 100644
--- a/daq-server/diablo_server/frontend/lib/pressure-limits.ts
+++ b/daq-server/diablo_server/frontend/lib/pressure-limits.ts
@@ -6,7 +6,8 @@
  */
 
 import { useEffect, useState } from 'react';
-import { getApiBaseUrl } from './websocket';
+import { getApiBaseUrl, getWebSocketClient } from './websocket';
+import { MessageType } from './types';
 
 // ── Types ──────────────────────────────────────────────────────────────────────
 
@@ -32,6 +33,12 @@ const DEFAULT_LIMITS: PressureLimitsMap = {
 let _cache: PressureLimitsMap | null = null;
 let _fetchPromise: Promise<PressureLimitsMap> | null = null;
 
+/** Invalidate the cache so the next fetch re-reads (e.g. after a config save). */
+export function invalidatePressureLimitsCache(): void {
+    _cache = null;
+    _fetchPromise = null;
+}
+
 export async function fetchPressureLimits(): Promise<PressureLimitsMap> {
     if (_cache !== null) return _cache;
     if (_fetchPromise) return _fetchPromise;
@@ -71,6 +78,16 @@ export function usePressureLimits(): PressureLimitsMap {
         return () => { cancelled = true; };
     }, []);
 
+    // Refetch on config save so edited NOP/MEOP reflect live (top bar + plots).
+    useEffect(() => {
+        const ws = getWebSocketClient();
+        const unsub = ws.on(MessageType.CONFIG_UPDATED, () => {
+            invalidatePressureLimitsCache();
+            fetchPressureLimits().then((l) => setLimits(l));
+        });
+        return unsub;
+    }, []);
+
     return limits;
 }
 
diff --git a/daq-server/diablo_server/frontend/src/App.tsx b/daq-server/diablo_server/frontend/src/App.tsx
index 1ed49050f..19a828fcf 100644
--- a/daq-server/diablo_server/frontend/src/App.tsx
+++ b/daq-server/diablo_server/frontend/src/App.tsx
@@ -1,14 +1,17 @@
 /**
  * SPA root — layout formerly in app/layout.tsx plus the route table
- * (formerly Next.js file-system routing under app/). URLs are unchanged:
- * WindowLauncher, Playwright specs, and operator bookmarks keep working.
+ * (formerly Next.js file-system routing under app/). Every view has one
+ * canonical path; the legacy `/window/:view` popup URLs redirect to it so
+ * operator bookmarks and older popups keep resolving.
  */
 import { Suspense } from 'react';
-import { Routes, Route, useParams } from 'react-router-dom';
+import { Routes, Route, Navigate, useParams } from 'react-router-dom';
 import TopBarWrapper from '@/components/dashboard/TopBarWrapper';
 import { ControlModeProvider } from '@/lib/control-mode';
 import GlobalStateSubscriber from '@/components/dashboard/GlobalStateSubscriber';
 import WindowDetector from '@/components/windows/WindowDetector';
+import OpenInPopupButton from '@/components/windows/OpenInPopupButton';
+import { VIEW_ID_TO_PATH } from '@/lib/nav-items';
 import * as P from './pages';
 
 function PageFallback() {
@@ -19,42 +22,33 @@ function PageFallback() {
   );
 }
 
-/** Popup-window dispatcher: /window/:view → page from the shared registry. */
-function WindowViewPage() {
+/** Legacy popup dispatcher: `/window/:view` → the view's canonical path. */
+function WindowRedirect() {
   const { view } = useParams();
-  const Component = view ? P.windowViews[view] : undefined;
-
-  if (!Component) {
-    return (
-      <main className="min-h-screen bg-background text-text p-8">
-        <WindowDetector />
-        <div className="max-w-7xl mx-auto">
-          <h1 className="text-3xl font-bold text-red-500">Invalid View</h1>
-          <p className="text-text-muted">View &quot;{view}&quot; not found</p>
-        </div>
-      </main>
-    );
-  }
-
-  // TopBar is rendered by the root layout — just give the page remaining height.
-  return (
-    <div className="flex-1 min-h-0 overflow-hidden flex flex-col">
-      <WindowDetector />
-      <Component />
-    </div>
-  );
+  const target = view ? VIEW_ID_TO_PATH[view] : undefined;
+  return <Navigate to={target ?? '/'} replace />;
 }
 
 export default function App() {
   return (
     <>
       <GlobalStateSubscriber />
+      <WindowDetector />
       <ControlModeProvider>
         <TopBarWrapper />
         <div className="flex-1 min-h-0 overflow-auto flex flex-col">
           <Suspense fallback={<PageFallback />}>
             <Routes>
-              <Route path="/" element={<P.HomePage />} />
+              {/* Home removed — land on the most-used view (Single Pane). */}
+              <Route path="/" element={<Navigate to="/single-pane" replace />} />
+              <Route path="/views" element={<P.AllViewsPage />} />
+
+              {/* ── Full-window dashboards ─────────────────────────────── */}
+              <Route path="/single-pane" element={<P.UnifiedWindowPage />} />
+              <Route path="/ipad" element={<P.IpadWindowPage />} />
+              <Route path="/mobile" element={<P.MobileGuiPage />} />
+
+              {/* ── Panes / tools ──────────────────────────────────────── */}
               <Route path="/boards" element={<P.BoardsPage />} />
               <Route path="/calibration" element={<P.CalibrationPage />} />
               <Route path="/config" element={<P.ConfigPage />} />
@@ -67,6 +61,18 @@ export default function App() {
               <Route path="/sensor-info" element={<P.SensorInfoPage />} />
               <Route path="/status" element={<P.StatusPage />} />
               <Route path="/session" element={<P.SessionPage />} />
+
+              {/* ── Plot pages: short canonical path + legacy /plots alias ── */}
+              <Route path="/chamber" element={<P.ChamberPage />} />
+              <Route path="/copv" element={<P.CopvPage />} />
+              <Route path="/feed-char" element={<P.FeedCharPage />} />
+              <Route path="/fuel" element={<P.FuelPage />} />
+              <Route path="/gse" element={<P.GsePage />} />
+              <Route path="/lcs-tcs-rtd" element={<P.LcsTcsRtdPage />} />
+              <Route path="/lox" element={<P.LoxPage />} />
+              <Route path="/raw" element={<P.RawPage />} />
+              <Route path="/solenoid-char" element={<P.SolenoidCharPage />} />
+
               <Route path="/plots/all" element={<P.AllPlotsPage />} />
               <Route path="/plots/chamber" element={<P.ChamberPage />} />
               <Route path="/plots/copv" element={<P.CopvPage />} />
@@ -77,7 +83,10 @@ export default function App() {
               <Route path="/plots/lox" element={<P.LoxPage />} />
               <Route path="/plots/raw" element={<P.RawPage />} />
               <Route path="/plots/solenoid-characterization" element={<P.SolenoidCharPage />} />
-              <Route path="/window/:view" element={<WindowViewPage />} />
+
+              {/* ── Legacy popup URLs → canonical path ─────────────────── */}
+              <Route path="/window/:view" element={<WindowRedirect />} />
+
               <Route
                 path="*"
                 element={
@@ -89,6 +98,7 @@ export default function App() {
             </Routes>
           </Suspense>
         </div>
+        <OpenInPopupButton />
       </ControlModeProvider>
     </>
   );
diff --git a/daq-server/diablo_server/frontend/src/pages.tsx b/daq-server/diablo_server/frontend/src/pages.tsx
index 1bb30037b..6c38b1657 100644
--- a/daq-server/diablo_server/frontend/src/pages.tsx
+++ b/daq-server/diablo_server/frontend/src/pages.tsx
@@ -1,14 +1,13 @@
 /**
- * Lazy page registry — single source for both the route table (App.tsx) and
- * the popup-window dispatcher (/window/:view). Each page loads as its own
- * chunk, so a popup window fetches only what it renders.
+ * Lazy page registry — the route table in App.tsx imports every page from here.
+ * Each page loads as its own chunk, so a route (or popped-out window) fetches
+ * only what it renders.
  *
  * Page components still live under app/ (their pre-SPA home); the folder is
  * plain components now — no framework routing semantics attached.
  */
 import { lazy } from 'react';
 
-export const HomePage           = lazy(() => import('@/app/page'));
 export const BoardsPage         = lazy(() => import('@/app/boards/page'));
 export const CalibrationPage    = lazy(() => import('@/app/calibration/page'));
 export const ConfigPage         = lazy(() => import('@/app/config/page'));
@@ -37,30 +36,4 @@ export const UnifiedWindowPage  = lazy(() => import('@/app/window/unified/page')
 export const IpadWindowPage     = lazy(() => import('@/app/window/ipad/page'));
 export const MobileGuiPage      = lazy(() => import('@/app/window/mobile-gui/page'));
 
-/** /window/:view registry — keys must match WindowLauncher URLs. */
-export const windowViews: Record<string, React.ComponentType> = {
-  fuel: FuelPage,
-  lox: LoxPage,
-  copv: CopvPage,
-  gse: GsePage,
-  raw: RawPage,
-  all: AllPlotsPage,
-  controls: ControlsPage,
-  controller: ControllerPage,
-  status: StatusPage,
-  boards: BoardsPage,
-  flash: FlashPage,
-  config: ConfigPage,
-  calibration: CalibrationPage,
-  unified: UnifiedWindowPage,
-  ipad: IpadWindowPage,
-  'lcs-tcs-rtd': LcsTcsRtdPage,
-  chamber: ChamberPage,
-  'sensor-info': SensorInfoPage,
-  'mobile-gui': MobileGuiPage,
-  'solenoid-char': SolenoidCharPage,
-  encoders: EncodersPage,
-  livestream: LivestreamPage,
-  'self-tests': SelfTestsPage,
-  'feed-char': FeedCharPage,
-};
+export const AllViewsPage       = lazy(() => import('@/app/views/page'));

From 290b93e543ca7626c0f25924388966aed84822cb Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 18:13:21 -0700
Subject: [PATCH 011/205] onshape-viewer: design versioning, live static
 margin, fin-edge/symmetry fixes, flight-dynamics graph popups

---
 onshape-viewer/.gitignore                     |   3 +
 onshape-viewer/FUTURE_IMPROVEMENTS.md         |  21 +
 onshape-viewer/backend/main.py                |  15 +-
 onshape-viewer/backend/onshape/aero/fins.py   |  50 +-
 .../backend/onshape/aero/rocketpy_flight.py   |  17 +-
 .../backend/onshape/aero/stability.py         |  21 +-
 onshape-viewer/backend/routers/__init__.py    |   0
 onshape-viewer/backend/routers/documents.py   | 337 +++++++++++
 onshape-viewer/backend/storage.py             | 245 ++++++++
 onshape-viewer/backend/userdata.py            | 145 +++++
 onshape-viewer/frontend/src/App.tsx           | 145 ++++-
 onshape-viewer/frontend/src/api/documents.ts  | 102 ++++
 onshape-viewer/frontend/src/components/ui.tsx |  84 +++
 .../components/versions/ConfigVersions.tsx    | 548 ++++++++++++++++++
 .../components/viewer/FlightDynamicsTab.tsx   |  92 ++-
 .../src/components/viewer/InspectorPanel.tsx  |  33 +-
 .../src/components/viewer/StabilityPanel.tsx  |  37 +-
 onshape-viewer/frontend/src/index.css         |  15 +
 onshape-viewer/frontend/src/lib/persist.ts    |  70 +++
 onshape-viewer/frontend/src/types.ts          |   4 +
 onshape-viewer/frontend/src/types/config.ts   |  59 ++
 onshape-viewer/tests/test_aero_fin_extract.py |  48 +-
 onshape-viewer/tests/test_documents.py        |  61 ++
 23 files changed, 2091 insertions(+), 61 deletions(-)
 create mode 100644 onshape-viewer/backend/routers/__init__.py
 create mode 100644 onshape-viewer/backend/routers/documents.py
 create mode 100644 onshape-viewer/backend/storage.py
 create mode 100644 onshape-viewer/backend/userdata.py
 create mode 100644 onshape-viewer/frontend/src/api/documents.ts
 create mode 100644 onshape-viewer/frontend/src/components/ui.tsx
 create mode 100644 onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx
 create mode 100644 onshape-viewer/frontend/src/lib/persist.ts
 create mode 100644 onshape-viewer/frontend/src/types/config.ts
 create mode 100644 onshape-viewer/tests/test_documents.py

diff --git a/onshape-viewer/.gitignore b/onshape-viewer/.gitignore
index 74ecf2bad..1353ef5eb 100644
--- a/onshape-viewer/.gitignore
+++ b/onshape-viewer/.gitignore
@@ -20,3 +20,6 @@ dist/
 # tsc -b incremental state. Machine-specific, rewritten on every build, and
 # nothing reads it but the compiler that wrote it.
 frontend/tsconfig.tsbuildinfo
+
+# Per-user versioning store (dev; S3 in prod)
+.userdata/
diff --git a/onshape-viewer/FUTURE_IMPROVEMENTS.md b/onshape-viewer/FUTURE_IMPROVEMENTS.md
index 7bea284f1..4f26568a5 100644
--- a/onshape-viewer/FUTURE_IMPROVEMENTS.md
+++ b/onshape-viewer/FUTURE_IMPROVEMENTS.md
@@ -80,3 +80,24 @@ without that risk.
 **Path to better.** Validate the injection by building a native-fin rocket and an
 injected-surface rocket with the *same* CP(M) and asserting their trajectories/margins
 agree; then offer an "our CP drives the flight" mode.
+
+---
+
+## 4. Static CP is axial-only (assumes an axisymmetric fin set)
+
+**Today.** `stability.py` computes CP as a 1-D **axial** position -- a CNa-weighted
+merge of the body (on-axis) and a fin set modelled as *symmetric* (one representative
+fin's planform × the detected count). The CP therefore always sits on the centreline.
+
+**Why it's a simplification.** Deselecting/removing one fin of N, or physically
+uneven fins, makes the set asymmetric -- which produces a side force, a roll moment,
+and an effective CP that moves *off* the axis. The current model cannot represent
+that: an asymmetric selection only changes the axial CP position (via the fin count),
+never its lateral position. So "CP stays on the body axis when I remove one fin" is
+expected, not a bug -- but it also means the tool cannot flag the instability an
+asymmetric fin set really causes.
+
+**Path to better.** Compute per-fin CNa and CP at each fin's actual azimuth and sum
+the lateral (side-force) contributions, yielding an off-axis CP / roll estimate for
+asymmetric sets -- or at minimum warn when the selected fins are not azimuthally
+symmetric.
diff --git a/onshape-viewer/backend/main.py b/onshape-viewer/backend/main.py
index 6abb2e950..81457e205 100644
--- a/onshape-viewer/backend/main.py
+++ b/onshape-viewer/backend/main.py
@@ -74,6 +74,12 @@
     allow_headers=["*"],
 )
 
+# Versioned designs: per-user documents with autosaved working copy, microversion
+# history and immutable releases (local files in dev; S3 when the bucket env is set).
+from .routers import documents  # noqa: E402
+
+app.include_router(documents.router)
+
 
 def _model_dirs() -> list[Path]:
     if not CACHE_ROOT.exists():
@@ -202,10 +208,6 @@ class FlightDynamicsRequest(StabilityRequest):
     #: Constant wind speed (m/s) and the compass bearing it blows *from* (deg).
     windSpeed: float = 0.0
     windDirection: float = 0.0
-    #: Launch-site elevation (m MSL) and coordinates (for gravity/geodesy).
-    elevation: float = 0.0
-    latitude: float = 32.99
-    longitude: float = -106.97
 
 
 def _model_dir(model_id: str) -> Path:
@@ -332,6 +334,7 @@ async def stability(model_id: str, request: StabilityRequest):
     return {
         "cg": {"world": result.cg_world, "fromNose": result.cg_from_nose},
         "cp": {"world": result.cp_world, "fromNose": result.cp_from_nose},
+        "axisDirection": result.axis_direction,
         "cna": result.cna,
         "refDiameter": result.ref_diameter,
         "rMax": result.r_max,
@@ -347,6 +350,7 @@ async def stability(model_id: str, request: StabilityRequest):
             "span": result.fin_span,
             "area": result.fin_area,
             "planforms": result.fin_planforms,
+            "symmetric": result.fin_symmetric,
         },
         "motor": motor_block,
     }
@@ -495,9 +499,6 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
             heading=request.heading,
             wind_speed=request.windSpeed,
             wind_direction=request.windDirection,
-            elevation=request.elevation,
-            latitude=request.latitude,
-            longitude=request.longitude,
         )
     except ModuleNotFoundError as exc:
         raise HTTPException(
diff --git a/onshape-viewer/backend/onshape/aero/fins.py b/onshape-viewer/backend/onshape/aero/fins.py
index 2b5051214..8c089e688 100644
--- a/onshape-viewer/backend/onshape/aero/fins.py
+++ b/onshape-viewer/backend/onshape/aero/fins.py
@@ -53,6 +53,33 @@ def _face_area(fg: FaceGeometry) -> float:
     return float(0.5 * np.linalg.norm(np.cross(t[:, 1] - t[:, 0], t[:, 2] - t[:, 0]), axis=1).sum())
 
 
+def is_fin_face(fg: FaceGeometry, axis: Axis, min_azimuthal: float = 0.5) -> bool:
+    """True if a face is a fin *surface*, not a protruding edge.
+
+    A fin lies in a plane that passes through the body axis, so its flat side has an
+    **azimuthal** normal -- perpendicular to both the axis and the radial direction.
+    A fin's edges protrude just as far but fail this: the tip edge's normal is radial,
+    the leading/trailing edges' normals are axial. Area-weighted normal (summed
+    triangle cross products) so a warped or airfoil face still reads its mean facing.
+    """
+    t = fg.triangles
+    if len(t) == 0:
+        return False
+    n = np.cross(t[:, 1] - t[:, 0], t[:, 2] - t[:, 0]).sum(axis=0)
+    nn = float(np.linalg.norm(n))
+    if nn < 1e-12:
+        return False
+    n = n / nn
+    d = axis.direction
+    c = t.reshape(-1, 3).mean(axis=0) - axis.origin
+    radial = c - (c @ d) * d
+    rr = float(np.linalg.norm(radial))
+    if rr < 1e-9:
+        return True  # face centred on the axis -- radial undefined, do not reject
+    azimuthal = np.cross(d, radial / rr)
+    return abs(float(n @ azimuthal)) >= min_azimuthal
+
+
 def detect_fin_faces(
     faces: list[FaceGeometry],
     axis: Axis,
@@ -71,7 +98,9 @@ def detect_fin_faces(
     cands: list[FaceGeometry] = []
     for fg in faces:
         _, rho = axis.axial_radial(fg.triangles.reshape(-1, 3))
-        if float(rho.max()) > body_r_max * protrusion:
+        # Protrudes past the airframe *and* is a fin surface (not a protruding edge,
+        # whose plane does not pass through the axis).
+        if float(rho.max()) > body_r_max * protrusion and is_fin_face(fg, axis):
             cands.append(fg)
     if not cands:
         return []
@@ -84,6 +113,25 @@ def detect_fin_faces(
     ]
 
 
+def fins_symmetric(azimuths: list[float], threshold: float = 0.12) -> bool:
+    """Whether the fin set is azimuthally symmetric, so it has no net side force.
+
+    Uses the resultant of the fins' unit azimuth vectors, normalised by fin count:
+    ~0 for an evenly spaced set (and for two opposed fins), large for a missing or
+    uneven fin (e.g. 0.5 for a 3-fin set with one removed). A lone fin is inherently
+    one-sided; no fins is trivially symmetric. When asymmetric the true CP sits off
+    the axis and the axial model here under-states the instability -- hence a warning.
+    """
+    n = len(azimuths)
+    if n == 0:
+        return True
+    if n == 1:
+        return False
+    rad = np.radians(np.asarray(azimuths, dtype=float))
+    resultant = float(np.hypot(np.cos(rad).sum(), np.sin(rad).sum())) / n
+    return resultant < threshold
+
+
 def _perp_basis(direction: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
     seed = np.array([1.0, 0.0, 0.0]) if abs(direction[0]) < 0.9 else np.array([0.0, 1.0, 0.0])
     u = np.cross(direction, seed)
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_flight.py b/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
index d42c40b9d..a5a3105d3 100644
--- a/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
+++ b/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
@@ -39,6 +39,11 @@
 A_SOUND = 340.29
 #: Number of evenly spaced samples returned to the client.
 _N_SAMPLES = 300
+# Friends of Amateur Rocketry (FAR), Mojave -- the fixed launch site. Mirrors the
+# recovery calculator's physics/site.py; kept here until that module merges in.
+FAR_ELEV_M = 630.0
+FAR_LAT = 35.353333
+FAR_LON = -117.807167
 #: Stub drag Cd(Mach): subsonic ~0.45 with a transonic bump. See FUTURE_IMPROVEMENTS.md.
 _STUB_DRAG = [[0.0, 0.45], [0.6, 0.48], [0.9, 0.55], [1.0, 0.62], [1.2, 0.58], [2.0, 0.48], [5.0, 0.40]]
 
@@ -149,9 +154,9 @@ def run_flight(
     heading: float = 0.0,
     wind_speed: float = 0.0,
     wind_direction: float = 0.0,
-    elevation: float = 0.0,
-    latitude: float = 32.99,
-    longitude: float = -106.97,
+    elevation: float = FAR_ELEV_M,
+    latitude: float = FAR_LAT,
+    longitude: float = FAR_LON,
     drag_curve: list | None = None,
     our_margin_fn: Callable[[float, float], float | None] | None = None,
 ) -> FlightDynamicsResult:
@@ -328,9 +333,9 @@ def simulate_flight_dynamics(
     heading: float = 0.0,
     wind_speed: float = 0.0,
     wind_direction: float = 0.0,
-    elevation: float = 0.0,
-    latitude: float = 32.99,
-    longitude: float = -106.97,
+    elevation: float = FAR_ELEV_M,
+    latitude: float = FAR_LAT,
+    longitude: float = FAR_LON,
 ) -> FlightDynamicsResult:
     """Extract the rocket from CAD + Barrowman, then run the RocketPy ascent."""
     core = aero_core(store, outer_faces, axis, fin_faces, n_fins, include_fins=True)
diff --git a/onshape-viewer/backend/onshape/aero/stability.py b/onshape-viewer/backend/onshape/aero/stability.py
index 0da728b93..7e8c48fa0 100644
--- a/onshape-viewer/backend/onshape/aero/stability.py
+++ b/onshape-viewer/backend/onshape/aero/stability.py
@@ -24,7 +24,13 @@
 from .axis import Axis
 from .barrowman_body import body_aero
 from .barrowman_fins import fin_set_aero
-from .fins import detect_fin_faces, fin_set_aero_from_faces, planform_outline_3d
+from .fins import (
+    detect_fin_faces,
+    fin_set_aero_from_faces,
+    fins_symmetric,
+    is_fin_face,
+    planform_outline_3d,
+)
 from .profile import build_profile
 
 
@@ -197,6 +203,13 @@ class StabilityResult:
     #: Motor CG in the world frame for the chosen state (wet/dry), so the loaded-CM marker
     #: can blend it in and move with the wet/dry toggle. None when no motor was placed.
     motor_cg_world: list[float] | None = None
+    #: Unit axis direction (nose->tail), so the client can project a live-edited CG onto the
+    #: axis and recompute the margin as pure algebra -- no backend round-trip. CP is fixed by
+    #: geometry, so only a surface change needs a recompute.
+    axis_direction: list[float] | None = None
+    #: Whether the detected fins are azimuthally symmetric. False (e.g. a fin removed) means
+    #: the true CP sits off-axis and this axial model under-states the instability -- warn.
+    fin_symmetric: bool = True
 
     @property
     def cp_from_nose(self) -> float:
@@ -263,6 +276,10 @@ def aero_core(
         if fin_faces is None:
             fin_faces = detect_fin_faces(store.iter_faces(), axis, profile.r_max)
         fin_geo = store.faces_for(fin_faces) if fin_faces else []
+        # Drop anything that is not a fin surface (a protruding edge whose plane does
+        # not pass through the axis), so a stray/left-over edge face cannot keep a fin
+        # alive after its flat faces are deselected.
+        fin_geo = [fg for fg in fin_geo if is_fin_face(fg, axis)]
         if fin_geo:
             fin_aero, fin_pf = fin_set_aero_from_faces(
                 fin_geo, axis, body_radius=profile.r_max, r_ref=profile.r_max, n_fins=n_fins, mach=mach
@@ -433,4 +450,6 @@ def compute_stability(
         motor_fore_world=motor_fore_world,
         motor_radius=motor_radius,
         motor_cg_world=motor_cg_world_out,
+        axis_direction=axis.direction.tolist(),
+        fin_symmetric=fins_symmetric(fin_pf.azimuths) if fin_pf is not None else True,
     )
diff --git a/onshape-viewer/backend/routers/__init__.py b/onshape-viewer/backend/routers/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/onshape-viewer/backend/routers/documents.py b/onshape-viewer/backend/routers/documents.py
new file mode 100644
index 000000000..2b3183a3a
--- /dev/null
+++ b/onshape-viewer/backend/routers/documents.py
@@ -0,0 +1,337 @@
+"""Per-user recovery configs with microversion history + named releases.
+
+Ported from pid-designer/backend/routers/pid.py. A pid *diagram* is a recovery
+*config* here; the payload is a config blob (``{"config": <UiConfig>}``) instead
+of ``{nodes, edges}``. Three tiers of durability:
+
+* **autosave** -> a fast working copy on the volume (``current.json``). Never
+  hits S3. ``/load`` always returns it -- the freshest state.
+* **microversions** -> automatic snapshots pushed to storage over time
+  (throttled to ``MICRO_INTERVAL`` while editing) plus a best-effort ``/flush``
+  when the tab closes. The safety net; S3 object versioning + a lifecycle rule
+  prunes old ones in prod, files on the volume in dev.
+* **releases** -> explicit, immutable, user-named milestones ("0.1").
+
+Version history lives in :mod:`backend.storage`. This module owns the working
+copy and the per-user document index only. Auth is Caddy's job; a missing header
+just means the ``local`` user (never a rejection). See backend/userdata.py.
+
+The client-side localStorage autosave (frontend/src/lib/persist.ts) stays as the
+instant working cache; this server store is the durable, versioned timeline.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import tempfile
+import time
+from datetime import datetime, timezone
+from pathlib import Path
+
+from fastapi import APIRouter, HTTPException, Request
+from pydantic import BaseModel
+
+from backend import storage, userdata
+
+router = APIRouter(prefix="/api/viewer/documents", tags=["documents"])
+
+# Seconds between automatic microversion snapshots for one document while it is
+# being actively autosaved. The on-close /flush ignores this.
+MICRO_INTERVAL = int(os.environ.get("ONSHAPE_VIEWER_MICRO_INTERVAL", "300"))
+
+# (user, doc_id) -> monotonic time of the last microversion. In-process only;
+# after a restart the worst case is one extra snapshot, which is harmless.
+_last_micro: dict[tuple[str, str], float] = {}
+
+
+def _now_iso() -> str:
+    return datetime.now(timezone.utc).isoformat()
+
+
+# ── working copy + document index (on the volume) ────────────────────────────
+
+def _index_path(user: str) -> Path:
+    return userdata.user_dir(user) / "index.json"
+
+
+def _load_index(user: str) -> list[dict]:
+    p = _index_path(user)
+    if not p.is_file():
+        return []
+    try:
+        data = json.loads(p.read_text("utf-8"))
+        return data if isinstance(data, list) else []
+    except (OSError, ValueError):
+        return []
+
+
+def _save_index(user: str, index: list[dict]) -> None:
+    p = _index_path(user)
+    p.parent.mkdir(parents=True, exist_ok=True)
+    fd, tmp = tempfile.mkstemp(dir=p.parent, prefix=".tmp-", suffix=".json")
+    try:
+        with os.fdopen(fd, "w", encoding="utf-8") as fh:
+            json.dump(index, fh, indent=2)
+        os.replace(tmp, p)
+    except BaseException:
+        if os.path.exists(tmp):
+            os.unlink(tmp)
+        raise
+
+
+def _require_id(doc_id: str) -> str:
+    """Sanitize a path-supplied id into a safe segment, or 404."""
+    safe = userdata.slugify(doc_id)
+    if not safe:
+        raise HTTPException(status_code=404, detail="Unknown document")
+    return safe
+
+
+def _unique_id(user: str, name: str) -> str:
+    base = userdata.slugify(name) or "config"
+    existing = {d["id"] for d in _load_index(user)}
+    if base not in existing:
+        return base
+    n = 2
+    while f"{base}-{n}" in existing:
+        n += 1
+    return f"{base}-{n}"
+
+
+def _working_path(user: str, doc_id: str) -> Path:
+    return userdata.user_dir(user) / doc_id / "current.json"
+
+
+def _read_working(user: str, doc_id: str) -> dict | None:
+    p = _working_path(user, doc_id)
+    if not p.is_file():
+        return None
+    try:
+        return json.loads(p.read_text("utf-8"))
+    except (OSError, ValueError):
+        return None
+
+
+def _write_working(user: str, doc_id: str, data: dict) -> None:
+    p = _working_path(user, doc_id)
+    p.parent.mkdir(parents=True, exist_ok=True)
+    fd, tmp = tempfile.mkstemp(dir=p.parent, prefix=".tmp-", suffix=".json")
+    try:
+        with os.fdopen(fd, "w", encoding="utf-8") as fh:
+            json.dump(data, fh, indent=2)
+        os.replace(tmp, p)
+    except BaseException:
+        if os.path.exists(tmp):
+            os.unlink(tmp)
+        raise
+
+
+def _touch_index(user: str, doc_id: str) -> None:
+    index = _load_index(user)
+    for d in index:
+        if d["id"] == doc_id:
+            d["updatedAt"] = _now_iso()
+            _save_index(user, index)
+            return
+
+
+# ── request models ───────────────────────────────────────────────────────────
+
+class ConfigPayload(BaseModel):
+    config: dict
+
+
+class CreatePayload(BaseModel):
+    name: str
+    config: dict | None = None  # seed the working copy; {} if omitted
+
+
+class NamePayload(BaseModel):
+    name: str
+
+
+class ReleasePayload(BaseModel):
+    label: str
+    config: dict | None = None  # snapshot this; else the current working copy
+
+
+# ── document CRUD ─────────────────────────────────────────────────────────────
+
+@router.get("")
+async def list_documents(request: Request):
+    """The caller's configs, newest-updated first."""
+    user = userdata.current_user(request)
+    index = _load_index(user)
+    index.sort(key=lambda d: d.get("updatedAt") or "", reverse=True)
+    return index
+
+
+@router.post("")
+async def create_document(request: Request, payload: CreatePayload):
+    """Create a new config owned by the caller, seeded with an optional config."""
+    user = userdata.current_user(request)
+    name = payload.name.strip() or "Untitled"
+    doc_id = _unique_id(user, name)
+    now = _now_iso()
+    meta = {"id": doc_id, "name": name, "createdAt": now, "updatedAt": now}
+    index = _load_index(user)
+    index.append(meta)
+    _save_index(user, index)
+    _write_working(user, doc_id, {"config": payload.config or {}})
+    return meta
+
+
+@router.patch("/{doc_id}")
+async def rename_document(request: Request, doc_id: str, payload: NamePayload):
+    """Rename a config. The id (and all storage keys) stay fixed."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    name = payload.name.strip()
+    if not name:
+        raise HTTPException(status_code=400, detail="Name is required")
+    index = _load_index(user)
+    for d in index:
+        if d["id"] == doc_id:
+            d["name"] = name
+            d["updatedAt"] = _now_iso()
+            _save_index(user, index)
+            return d
+    raise HTTPException(status_code=404, detail="Unknown document")
+
+
+@router.delete("/{doc_id}")
+async def delete_document(request: Request, doc_id: str):
+    """Remove a config: index entry, working copy, and its version history."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    index = [d for d in _load_index(user) if d["id"] != doc_id]
+    _save_index(user, index)
+    storage.backend.delete_doc(user, doc_id)
+    _last_micro.pop((user, doc_id), None)
+    return {"ok": True}
+
+
+# ── working copy: load + autosave ────────────────────────────────────────────
+
+@router.get("/{doc_id}/load")
+async def load_document(request: Request, doc_id: str):
+    """Load the freshest state: the working copy.
+
+    Falls back to the latest microversion only if the working copy is missing (a
+    fresh or lost volume) -- self-healing. Never silently returns an older
+    snapshot otherwise; that is what /history is for.
+    """
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    data = _read_working(user, doc_id)
+    if data is None:
+        data = storage.backend.latest_micro(user, doc_id)
+        if data is not None:
+            _write_working(user, doc_id, data)  # rehydrate the volume
+    return data or {"config": {}}
+
+
+@router.post("/{doc_id}/autosave")
+async def autosave_document(request: Request, doc_id: str, payload: ConfigPayload):
+    """Write the working copy; snapshot a microversion only once per MICRO_INTERVAL."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    data = {"config": payload.config}
+    _write_working(user, doc_id, data)
+
+    micro = False
+    key = (user, doc_id)
+    now = time.monotonic()
+    if now - _last_micro.get(key, 0.0) >= MICRO_INTERVAL:
+        try:
+            storage.backend.snapshot_micro(user, doc_id, data)
+            _last_micro[key] = now
+            _touch_index(user, doc_id)
+            micro = True
+        except Exception:
+            # Never let a snapshot failure lose the edit -- the working copy is
+            # already saved. Retry on the next autosave.
+            pass
+    return {"ok": True, "micro": micro}
+
+
+@router.post("/{doc_id}/flush")
+async def flush_document(request: Request, doc_id: str, payload: ConfigPayload):
+    """Force an immediate microversion. Target of the on-close sendBeacon."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    data = {"config": payload.config}
+    _write_working(user, doc_id, data)
+    try:
+        storage.backend.snapshot_micro(user, doc_id, data)
+        _last_micro[(user, doc_id)] = time.monotonic()
+        _touch_index(user, doc_id)
+    except Exception as e:
+        raise HTTPException(status_code=502, detail=f"Snapshot failed: {e}")
+    return {"ok": True}
+
+
+# ── microversion history ─────────────────────────────────────────────────────
+
+@router.get("/{doc_id}/history")
+async def get_history(request: Request, doc_id: str):
+    """Recent automatic microversions, newest first."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    return storage.backend.list_micro(user, doc_id)
+
+
+@router.get("/{doc_id}/version/{version_id}")
+async def get_version(request: Request, doc_id: str, version_id: str):
+    """Fetch one microversion (for preview/restore). Does not touch the working copy."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    data = storage.backend.get_micro(user, doc_id, version_id)
+    if data is None:
+        raise HTTPException(status_code=404, detail="Version not found")
+    return data
+
+
+# ── releases ─────────────────────────────────────────────────────────────────
+
+@router.post("/{doc_id}/release")
+async def create_release(request: Request, doc_id: str, payload: ReleasePayload):
+    """Publish the current state as an immutable named release (e.g. "0.1")."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    label = userdata.slugify(payload.label)
+    if not label:
+        raise HTTPException(status_code=400, detail="A version label is required")
+
+    if payload.config is not None:
+        data = {"config": payload.config}
+        _write_working(user, doc_id, data)
+    else:
+        data = _read_working(user, doc_id) or {"config": {}}
+
+    try:
+        meta = storage.backend.create_release(user, doc_id, label, data)
+    except FileExistsError:
+        raise HTTPException(status_code=409, detail=f"Release '{label}' already exists")
+    _touch_index(user, doc_id)
+    return meta
+
+
+@router.get("/{doc_id}/releases")
+async def list_releases(request: Request, doc_id: str):
+    """Published releases, newest first."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    return storage.backend.list_releases(user, doc_id)
+
+
+@router.get("/{doc_id}/release/{label}")
+async def get_release(request: Request, doc_id: str, label: str):
+    """Fetch one release snapshot (for preview/restore)."""
+    user = userdata.current_user(request)
+    doc_id = _require_id(doc_id)
+    data = storage.backend.get_release(user, doc_id, userdata.slugify(label))
+    if data is None:
+        raise HTTPException(status_code=404, detail="Release not found")
+    return data
diff --git a/onshape-viewer/backend/storage.py b/onshape-viewer/backend/storage.py
new file mode 100644
index 000000000..fdd0159bd
--- /dev/null
+++ b/onshape-viewer/backend/storage.py
@@ -0,0 +1,245 @@
+"""Version storage for recovery configs: microversions + immutable releases.
+
+Ported from pid-designer/backend/storage.py -- same two-backend design, same
+methods. The payload here is a recovery config blob (``{"config": <UiConfig>}``),
+but this module is payload-agnostic: it stores and returns whatever JSON dict it
+is given. The *working copy* (``current.json`` on the volume) is owned by the
+router (backend/routers/documents.py); here we only keep version history.
+
+Two backends, chosen at import time by environment:
+
+* **S3Backend** when ``ONSHAPE_VIEWER_S3_BUCKET`` is set. Microversions ride on S3
+  object *versioning* of a per-document HEAD key
+  (``<prefix>/<user>/<id>/current.json``): every snapshot is a plain
+  ``put_object`` that S3 keeps as a new version, and a lifecycle rule prunes old
+  ones. Releases are separate immutable keys under ``.../releases/<label>.json``.
+  Credentials come from the standard ``AWS_*`` env vars.
+
+* **LocalBackend** otherwise (dev, and prod with no bucket set). Microversions
+  and releases are files on disk under the ``USERDATA_DIR`` tree, so history
+  works with no AWS.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import secrets
+import shutil
+import tempfile
+from datetime import datetime, timezone
+from pathlib import Path
+from typing import Any
+
+from backend import userdata
+
+Snapshot = dict[str, Any]
+
+
+def _now_iso() -> str:
+    return datetime.now(timezone.utc).isoformat()
+
+
+# ── Local (dev) backend ──────────────────────────────────────────────────────
+
+def _atomic_write(path: Path, data: Snapshot) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    fd, tmp = tempfile.mkstemp(dir=path.parent, prefix=".tmp-", suffix=".json")
+    try:
+        with os.fdopen(fd, "w", encoding="utf-8") as fh:
+            json.dump(data, fh, indent=2)
+            fh.write("\n")
+        os.replace(tmp, path)
+    except BaseException:
+        if os.path.exists(tmp):
+            os.unlink(tmp)
+        raise
+
+
+def _read_json(path: Path) -> Snapshot | None:
+    if not path.is_file():
+        return None
+    try:
+        return json.loads(path.read_text("utf-8"))
+    except (OSError, ValueError):
+        return None
+
+
+class LocalBackend:
+    """Filesystem version history under ``<root>/<user>/recovery/<id>/``."""
+
+    def _doc_dir(self, user: str, doc_id: str) -> Path:
+        return userdata.user_dir(user) / doc_id
+
+    def _sub(self, user: str, doc_id: str, name: str) -> Path:
+        d = self._doc_dir(user, doc_id) / name
+        d.mkdir(parents=True, exist_ok=True)
+        return d
+
+    def snapshot_micro(self, user: str, doc_id: str, data: Snapshot) -> dict:
+        # Opaque, lowercase-hex id so it survives userdata.slugify on read-back.
+        vid = secrets.token_hex(8)
+        _atomic_write(self._sub(user, doc_id, "versions") / f"{vid}.json", data)
+        return {"versionId": vid, "savedAt": _now_iso()}
+
+    def list_micro(self, user: str, doc_id: str, limit: int = 50) -> list[dict]:
+        out: list[dict] = []
+        for p in self._sub(user, doc_id, "versions").glob("*.json"):
+            if p.name.startswith("."):
+                continue
+            st = p.stat()
+            out.append({
+                "versionId": p.stem,
+                "savedAt": datetime.fromtimestamp(st.st_mtime, timezone.utc).isoformat(),
+                "size": st.st_size,
+            })
+        out.sort(key=lambda v: v["savedAt"], reverse=True)
+        return out[:limit]
+
+    def get_micro(self, user: str, doc_id: str, version_id: str) -> Snapshot | None:
+        safe = userdata.slugify(version_id)
+        if not safe:
+            return None
+        return _read_json(self._sub(user, doc_id, "versions") / f"{safe}.json")
+
+    def latest_micro(self, user: str, doc_id: str) -> Snapshot | None:
+        recent = self.list_micro(user, doc_id, limit=1)
+        return self.get_micro(user, doc_id, recent[0]["versionId"]) if recent else None
+
+    def create_release(self, user: str, doc_id: str, label: str, data: Snapshot) -> dict:
+        p = self._sub(user, doc_id, "releases") / f"{label}.json"
+        if p.exists():
+            raise FileExistsError(label)
+        _atomic_write(p, data)
+        return {"label": label, "savedAt": _now_iso()}
+
+    def list_releases(self, user: str, doc_id: str) -> list[dict]:
+        out: list[dict] = []
+        for p in self._sub(user, doc_id, "releases").glob("*.json"):
+            if p.name.startswith("."):
+                continue
+            st = p.stat()
+            out.append({
+                "label": p.stem,
+                "savedAt": datetime.fromtimestamp(st.st_mtime, timezone.utc).isoformat(),
+                "size": st.st_size,
+            })
+        out.sort(key=lambda r: r["savedAt"], reverse=True)
+        return out
+
+    def get_release(self, user: str, doc_id: str, label: str) -> Snapshot | None:
+        safe = userdata.slugify(label)
+        if not safe:
+            return None
+        return _read_json(self._sub(user, doc_id, "releases") / f"{safe}.json")
+
+    def delete_doc(self, user: str, doc_id: str) -> None:
+        shutil.rmtree(self._doc_dir(user, doc_id), ignore_errors=True)
+
+
+# ── S3 backend ───────────────────────────────────────────────────────────────
+
+class S3Backend:
+    """Version history in a versioned S3 bucket. Microversions == object versions."""
+
+    def __init__(self, bucket: str, prefix: str) -> None:
+        import boto3  # imported lazily so dev never needs the dependency
+
+        self._s3 = boto3.client("s3")
+        self.bucket = bucket
+        self.prefix = prefix.strip("/")
+
+    def _head_key(self, user: str, doc_id: str) -> str:
+        return f"{self.prefix}/{user}/{doc_id}/current.json"
+
+    def _releases_prefix(self, user: str, doc_id: str) -> str:
+        return f"{self.prefix}/{user}/{doc_id}/releases/"
+
+    def _put(self, key: str, data: Snapshot) -> None:
+        self._s3.put_object(
+            Bucket=self.bucket, Key=key,
+            Body=json.dumps(data, indent=2).encode("utf-8"),
+            ContentType="application/json",
+        )
+
+    def _get(self, key: str, **kw) -> Snapshot | None:
+        from botocore.exceptions import ClientError
+        try:
+            obj = self._s3.get_object(Bucket=self.bucket, Key=key, **kw)
+        except ClientError:
+            return None
+        return json.loads(obj["Body"].read())
+
+    def snapshot_micro(self, user: str, doc_id: str, data: Snapshot) -> dict:
+        self._put(self._head_key(user, doc_id), data)
+        return {"savedAt": _now_iso()}
+
+    def list_micro(self, user: str, doc_id: str, limit: int = 50) -> list[dict]:
+        key = self._head_key(user, doc_id)
+        resp = self._s3.list_object_versions(Bucket=self.bucket, Prefix=key, MaxKeys=limit)
+        out = [
+            {"versionId": v["VersionId"],
+             "savedAt": v["LastModified"].isoformat(),
+             "size": v["Size"]}
+            for v in resp.get("Versions", []) if v["Key"] == key
+        ]
+        out.sort(key=lambda v: v["savedAt"], reverse=True)
+        return out[:limit]
+
+    def get_micro(self, user: str, doc_id: str, version_id: str) -> Snapshot | None:
+        return self._get(self._head_key(user, doc_id), VersionId=version_id)
+
+    def latest_micro(self, user: str, doc_id: str) -> Snapshot | None:
+        return self._get(self._head_key(user, doc_id))
+
+    def create_release(self, user: str, doc_id: str, label: str, data: Snapshot) -> dict:
+        from botocore.exceptions import ClientError
+        key = f"{self._releases_prefix(user, doc_id)}{label}.json"
+        try:
+            self._s3.head_object(Bucket=self.bucket, Key=key)
+        except ClientError as e:
+            if e.response.get("Error", {}).get("Code") not in ("404", "NoSuchKey", "NotFound"):
+                raise
+        else:
+            raise FileExistsError(label)  # already exists -> immutable
+        self._put(key, data)
+        return {"label": label, "savedAt": _now_iso()}
+
+    def list_releases(self, user: str, doc_id: str) -> list[dict]:
+        prefix = self._releases_prefix(user, doc_id)
+        resp = self._s3.list_objects_v2(Bucket=self.bucket, Prefix=prefix)
+        out = []
+        for o in resp.get("Contents", []):
+            name = o["Key"][len(prefix):]
+            if name.endswith(".json"):
+                name = name[:-5]
+            out.append({"label": name, "savedAt": o["LastModified"].isoformat(), "size": o["Size"]})
+        out.sort(key=lambda r: r["savedAt"], reverse=True)
+        return out
+
+    def get_release(self, user: str, doc_id: str, label: str) -> Snapshot | None:
+        return self._get(f"{self._releases_prefix(user, doc_id)}{label}.json")
+
+    def delete_doc(self, user: str, doc_id: str) -> None:
+        # Best-effort: remove every version of every object under the document.
+        prefix = f"{self.prefix}/{user}/{doc_id}/"
+        resp = self._s3.list_object_versions(Bucket=self.bucket, Prefix=prefix)
+        objects = [
+            {"Key": v["Key"], "VersionId": v["VersionId"]}
+            for v in resp.get("Versions", []) + resp.get("DeleteMarkers", [])
+        ]
+        for i in range(0, len(objects), 1000):
+            self._s3.delete_objects(Bucket=self.bucket, Delete={"Objects": objects[i:i + 1000]})
+
+
+# ── selection ────────────────────────────────────────────────────────────────
+
+def _make_backend():
+    bucket = os.environ.get("ONSHAPE_VIEWER_S3_BUCKET")
+    if bucket:
+        return S3Backend(bucket, os.environ.get("ONSHAPE_VIEWER_S3_PREFIX", "viewer"))
+    return LocalBackend()
+
+
+backend = _make_backend()
+IS_S3 = isinstance(backend, S3Backend)
diff --git a/onshape-viewer/backend/userdata.py b/onshape-viewer/backend/userdata.py
new file mode 100644
index 000000000..e64683743
--- /dev/null
+++ b/onshape-viewer/backend/userdata.py
@@ -0,0 +1,145 @@
+"""Per-user data storage, keyed on the caller's identity.
+
+Identity comes from the ``X-Auth-Email`` header Caddy injects in production. The
+app never gates on it -- Caddy is the gate; this only decides *whose* folder to
+read and write. With no Caddy in front (local dev) there is no header, so the
+user falls back to ``local`` and everything lands in a gitignored ``.userdata/``
+beside the app. A missing header is never a rejection.
+
+Layout, under ``USERDATA_DIR`` (prod: a mounted volume; dev: ``<subproject>/.userdata``)::
+
+    <user>/<app>/units.json          -- app-specific state (recovery unit prefs)
+    <user>/<app>/configs/<slug>.json -- named config blobs {name, savedAt, config}
+
+so a future "browse another user's configs read-only, then copy" is just listing
+sibling ``<user>/`` folders.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import re
+import tempfile
+from datetime import datetime, timezone
+from pathlib import Path
+
+from fastapi import Request
+
+#: The ``<app>`` path segment for this backend. Distinct per app, so onshape-viewer
+#: and the recovery calculator (merging in soon) keep separate trees under one user.
+APP = "viewer"
+
+_DEV_USER = "local"
+
+# backend/userdata.py -> backend -> <subproject>. Used only when USERDATA_DIR is
+# unset (dev): a gitignored dir next to the app, created on demand.
+_DEFAULT_ROOT = Path(__file__).resolve().parents[1] / ".userdata"
+
+# user / app / slug all become path segments, so they must never carry a
+# separator or "..". Emails are path-safe apart from case; slugs derive from
+# user-supplied names. Conservative allowlist, everything else -> "-".
+_UNSAFE = re.compile(r"[^a-z0-9._@-]+")
+
+
+def _root() -> Path:
+    env = os.environ.get("USERDATA_DIR")
+    return Path(env) if env else _DEFAULT_ROOT
+
+
+def _sanitize(part: str, *, fallback: str) -> str:
+    cleaned = _UNSAFE.sub("-", (part or "").strip().lower()).strip("-.")
+    # Anything that reduces to nothing or a dot-path is unusable as a segment.
+    return fallback if cleaned in ("", ".", "..") else cleaned
+
+
+def current_user(request: Request) -> str:
+    """Whose data to use: ``X-Auth-Email`` in prod (from Caddy), else ``local``.
+
+    Never raises and never denies -- a missing header is dev, not a rejection.
+    """
+    return _sanitize(request.headers.get("X-Auth-Email", ""), fallback=_DEV_USER)
+
+
+def user_dir(user: str, app: str = APP) -> Path:
+    """``<root>/<user>/<app>``, created on demand. Root is not assumed to exist."""
+    d = _root() / _sanitize(user, fallback=_DEV_USER) / _sanitize(app, fallback=app)
+    d.mkdir(parents=True, exist_ok=True)
+    return d
+
+
+def slugify(name: str) -> str:
+    """Filename-safe slug from a user-given name; ``""`` if nothing usable."""
+    return _sanitize(name, fallback="")
+
+
+def _configs_dir(user: str) -> Path:
+    d = user_dir(user) / "configs"
+    d.mkdir(parents=True, exist_ok=True)
+    return d
+
+
+def list_configs(user: str) -> list[dict]:
+    """Metadata for each saved config, newest first: ``{slug, name, savedAt}``."""
+    out: list[dict] = []
+    for p in _configs_dir(user).glob("*.json"):
+        if p.name.startswith("."):  # skip in-flight temp writes
+            continue
+        try:
+            blob = json.loads(p.read_text("utf-8"))
+        except (OSError, ValueError):
+            continue
+        out.append({"slug": p.stem, "name": blob.get("name", p.stem),
+                    "savedAt": blob.get("savedAt")})
+    out.sort(key=lambda c: c.get("savedAt") or "", reverse=True)
+    return out
+
+
+def read_config(user: str, slug: str) -> dict | None:
+    """The full blob (``{name, savedAt, config}``) for ``slug``, or None."""
+    safe = slugify(slug)
+    if not safe:
+        return None
+    p = _configs_dir(user) / f"{safe}.json"
+    if not p.is_file():
+        return None
+    try:
+        return json.loads(p.read_text("utf-8"))
+    except (OSError, ValueError):
+        return None
+
+
+def write_config(user: str, name: str, config: dict) -> dict:
+    """Save/overwrite a named config atomically. Returns ``{slug, name, savedAt}``."""
+    slug = slugify(name)
+    if not slug:
+        raise ValueError("name must contain at least one letter or digit")
+    blob = {
+        "name": name.strip(),
+        "savedAt": datetime.now(timezone.utc).isoformat(),
+        "config": config,
+    }
+    d = _configs_dir(user)
+    fd, tmp = tempfile.mkstemp(dir=d, prefix=".tmp-", suffix=".tmp")
+    try:
+        with os.fdopen(fd, "w", encoding="utf-8") as fh:
+            json.dump(blob, fh, indent=2)
+            fh.write("\n")
+        os.replace(tmp, d / f"{slug}.json")
+    except BaseException:
+        if os.path.exists(tmp):
+            os.unlink(tmp)
+        raise
+    return {"slug": slug, "name": blob["name"], "savedAt": blob["savedAt"]}
+
+
+def delete_config(user: str, slug: str) -> bool:
+    """Remove a saved config. False if it did not exist."""
+    safe = slugify(slug)
+    if not safe:
+        return False
+    try:
+        (_configs_dir(user) / f"{safe}.json").unlink()
+        return True
+    except OSError:
+        return False
diff --git a/onshape-viewer/frontend/src/App.tsx b/onshape-viewer/frontend/src/App.tsx
index 16aca6300..4e879aa3a 100644
--- a/onshape-viewer/frontend/src/App.tsx
+++ b/onshape-viewer/frontend/src/App.tsx
@@ -12,6 +12,9 @@ import {
   listModels,
 } from './api/client'
 import { centreOfMass, formatMass } from './lib/cm'
+import { loadViewerConfig, saveViewerConfig } from './lib/persist'
+import type { FlightParams, ViewerConfig } from './types/config'
+import { ConfigVersions } from './components/versions/ConfigVersions'
 import { FlightDynamicsTab } from './components/viewer/FlightDynamicsTab'
 import { FlightProfileModal } from './components/viewer/FlightProfileModal'
 import { InspectorPanel } from './components/viewer/InspectorPanel'
@@ -40,8 +43,11 @@ import { MATERIALS_BY_KEY } from './lib/materials'
 const LAST_MODEL_KEY = 'onshape-viewer:last-model'
 
 export default function App() {
+  // The persisted working config, read once so a reload restores the inputs below.
+  const [initialConfig] = useState(loadViewerConfig)
+
   const [models, setModels] = useState<ModelSummary[]>([])
-  const [modelId, setModelId] = useState<string | null>(null)
+  const [modelId, setModelId] = useState<string | null>(initialConfig.modelId)
   const [manifest, setManifest] = useState<Manifest | null>(null)
   const [error, setError] = useState<string | null>(null)
 
@@ -53,7 +59,9 @@ export default function App() {
   const [hoveredKeys, setHoveredKeys] = useState<string[]>([])
   // Session-only edits, keyed by part. Nothing is written back to Onshape and
   // nothing survives a reload; see PropertiesPanel for what they can change.
-  const [overrides, setOverrides] = useState<Map<string, PartOverride>>(new Map())
+  const [overrides, setOverrides] = useState<Map<string, PartOverride>>(
+    () => new Map(Object.entries(initialConfig.overrides)),
+  )
   const [opacity, setOpacity] = useState(0.55)
   const [showAssemblyCentroid, setShowAssemblyCentroid] = useState(true)
   // Backend-computed stability (CG, CP, static margin). Null until the user
@@ -63,9 +71,9 @@ export default function App() {
   const [stabilityError, setStabilityError] = useState<string | null>(null)
   // Outer-surface selection: which faces are the airframe. Empty means "let the
   // backend auto-detect on compute". Editing lets the user correct the guess.
-  const [outerFaces, setOuterFaces] = useState<FaceRef[]>([])
-  const [finFaces, setFinFaces] = useState<FaceRef[]>([])
-  const [finCount, setFinCount] = useState(0)
+  const [outerFaces, setOuterFaces] = useState<FaceRef[]>(initialConfig.outerFaces)
+  const [finFaces, setFinFaces] = useState<FaceRef[]>(initialConfig.finFaces)
+  const [finCount, setFinCount] = useState(initialConfig.finCount)
   // The exposed fin planform surfaces to draw; from auto-detect or compute.
   const [finPlanforms, setFinPlanforms] = useState<FinPlanform[]>([])
   const [faceEditMode, setFaceEditMode] = useState(false)
@@ -74,7 +82,7 @@ export default function App() {
   const [isolateOuterFaces, setIsolateOuterFaces] = useState(false)
   // Selected motor, folded into the CG / static margin by the backend. Null = none.
   // motorSummary keeps the picker's metadata for labelling before a compute round-trips.
-  const [motorSel, setMotorSel] = useState<MotorSelection | null>(null)
+  const [motorSel, setMotorSel] = useState<MotorSelection | null>(initialConfig.motor)
   const [motorSummary, setMotorSummary] = useState<MotorSummary | null>(null)
   // Flight-profile popup: fetched on open from the current surfaces + motor.
   const [flightOpen, setFlightOpen] = useState(false)
@@ -82,7 +90,14 @@ export default function App() {
   const [flightBusy, setFlightBusy] = useState(false)
   const [flightError, setFlightError] = useState<string | null>(null)
   // Guided rail length (m) — travel to full departure (rear lug clears), for off-rail velocity.
-  const [railLength, setRailLength] = useState(1.0)
+  const [railLength, setRailLength] = useState(initialConfig.railLength)
+
+  // Flight Dynamics launch params, lifted here so they are versioned in the config.
+  const [flight, setFlightState] = useState<FlightParams>(initialConfig.flight)
+  const setFlight = useCallback(
+    (patch: Partial<FlightParams>) => setFlightState((f) => ({ ...f, ...patch })),
+    [],
+  )
   // Motor-curves popup: the selected motor's raw thrust/weight/CG datafile.
   const [curvesOpen, setCurvesOpen] = useState(false)
   const [curvesDetail, setCurvesDetail] = useState<MotorDetail | null>(null)
@@ -218,6 +233,91 @@ export default function App() {
     ]
   }, [cm, stability])
 
+  // Static margin is (CP − CG)/d. CP is fixed by geometry (only a surface change moves it),
+  // so a mass edit is pure algebra on the CG — recompute it here instead of round-tripping to
+  // the backend. Uses ALL parts (override-adjusted), not the visibility-filtered marker: the
+  // margin is the whole rocket's. Folds in the motor exactly as the backend does.
+  const liveStability = useMemo(() => {
+    if (!stability) return null
+    const axis = stability.axisDirection
+    const full = centreOfMass(parts)
+    let cg = full.centroid
+    let mass = full.mass
+    const motor = stability.motor
+    if (motor?.cgWorld && mass >= 0) {
+      const mMotor = motor.state === 'burnout' ? motor.dryMass : motor.wetMass
+      const total = mass + mMotor
+      if (total > 0) {
+        cg = [0, 1, 2].map((i) => (full.centroid[i] * mass + motor.cgWorld![i] * mMotor) / total) as [
+          number,
+          number,
+          number,
+        ]
+        mass = total
+      }
+    }
+    if (!(mass > 0)) return null
+    const cpw = stability.cp.world
+    // Nose point on the axis, then project the live CG onto the nose→tail axis.
+    const nose = [0, 1, 2].map((i) => cpw[i] - stability.cp.fromNose * axis[i])
+    const cgFromNose = [0, 1, 2].reduce((s, i) => s + (cg[i] - nose[i]) * axis[i], 0)
+    const margin = stability.refDiameter > 0 ? (stability.cp.fromNose - cgFromNose) / stability.refDiameter : null
+    return { cgFromNose, margin }
+  }, [stability, parts])
+
+  // CM along the rocket axis (from the nose) plus its off-axis (radial) offset. A
+  // non-trivial radial offset means the visible mass is laterally unbalanced — a
+  // symmetry problem the CM section flags. Needs the detected axis (from stability).
+  const cmAnalysis = useMemo(() => {
+    if (!stability) return null
+    const axis = stability.axisDirection
+    const cpw = stability.cp.world
+    const nose = [0, 1, 2].map((i) => cpw[i] - stability.cp.fromNose * axis[i])
+    const d = [0, 1, 2].map((i) => cm.centroid[i] - nose[i])
+    const along = d[0] * axis[0] + d[1] * axis[1] + d[2] * axis[2]
+    const radial = Math.hypot(...[0, 1, 2].map((i) => d[i] - along * axis[i]))
+    // Off-axis if the lateral offset exceeds ~1% of the airframe diameter.
+    const offAxis = radial > 0.01 * stability.refDiameter
+    return { fromNose: along, radial, offAxis }
+  }, [stability, cm])
+
+  // -- Versioning: gather the user inputs into one ViewerConfig, persist it, and
+  // apply a restored one. localStorage is the reload cache; ConfigVersions drives
+  // the durable server-side timeline (named designs, history, releases).
+  const config = useMemo<ViewerConfig>(
+    () => ({
+      version: 1,
+      modelId,
+      overrides: Object.fromEntries(overrides),
+      outerFaces,
+      finFaces,
+      finCount,
+      motor: motorSel,
+      railLength,
+      flight,
+    }),
+    [modelId, overrides, outerFaces, finFaces, finCount, motorSel, railLength, flight],
+  )
+
+  // Debounced: `config` changes on every keystroke and this serialises it all.
+  useEffect(() => {
+    const id = setTimeout(() => saveViewerConfig(config), 400)
+    return () => clearTimeout(id)
+  }, [config])
+
+  // Stable, so ConfigVersions' mount/restore effects don't re-run every render.
+  const handleRestore = useCallback((c: ViewerConfig) => {
+    setModelId(c.modelId)
+    setOverrides(new Map(Object.entries(c.overrides)))
+    setOuterFaces(c.outerFaces)
+    setFinFaces(c.finFaces)
+    setFinCount(c.finCount)
+    setMotorSel(c.motor)
+    setRailLength(c.railLength)
+    setFlightState(c.flight)
+    saveViewerConfig(c)
+  }, [])
+
   // Effective mass per occurrence, sent to the backend so its CG matches exactly
   // what is on screen (material and typed-in overrides included). The backend is
   // the source of truth for the stability CG; this just feeds it the same edits.
@@ -456,7 +556,10 @@ export default function App() {
     )
   }
 
-  if (!manifest || !modelId) {
+  // Only take over the screen while a *selected* model's manifest is loading. With
+  // no model (e.g. a fresh/blank design) we still render the header + design bar so
+  // the user can pick a model or switch designs -- the body shows a prompt instead.
+  if (modelId && !manifest) {
     return (
       <div className="flex h-screen items-center justify-center bg-slate-950 text-slate-400">
         Loading…
@@ -464,11 +567,10 @@ export default function App() {
     )
   }
 
-  const totals = manifest.totals
-
   return (
     <div className="flex h-screen flex-col bg-slate-950 text-slate-100">
-      <header className="flex flex-wrap items-center gap-3 border-b border-slate-700 px-4 py-4">
+      <header className="flex flex-col border-b border-slate-700">
+        <div className="flex flex-wrap items-center gap-3 px-4 py-4">
         {/* STAR wordmark, then a divider, then the app title -- mirrors the
             recovery calculator's header. */}
         <img src={starWordmark} alt="STAR" className="h-14 w-auto" />
@@ -518,6 +620,12 @@ export default function App() {
           />
           Onshape CM
         </label>
+        </div>
+
+        {/* Versioned designs, as a full-width strip at the bottom of the header. */}
+        <div className="border-t border-slate-800 px-4 py-1.5">
+          <ConfigVersions config={config} onRestore={handleRestore} inline />
+        </div>
       </header>
 
       {activeTab === 'flight' ? (
@@ -529,7 +637,13 @@ export default function App() {
           nFins={finCount}
           railLength={railLength}
           overrides={massOverrides}
+          flight={flight}
+          onFlightChange={setFlight}
         />
+      ) : !manifest || !modelId ? (
+        <div className="flex flex-1 items-center justify-center p-8 text-center text-slate-400">
+          Select or build a model in the header to begin — this design has no model yet.
+        </div>
       ) : (
         <>
       <MaterialWarning parts={parts} />
@@ -574,11 +688,11 @@ export default function App() {
 
           <div className="pointer-events-none absolute bottom-3 right-4 text-right text-xs text-slate-500">
             <div>
-              Onshape total {formatMass(totals.assemblyMass)} · CM z{' '}
-              {totals.assemblyCentroid[2].toFixed(4)} m
+              Onshape total {formatMass(manifest.totals.assemblyMass)} · CM z{' '}
+              {manifest.totals.assemblyCentroid[2].toFixed(4)} m
             </div>
             <div>
-              {totals.reconciled ? 'reconciled' : 'NOT reconciled'} · built{' '}
+              {manifest.totals.reconciled ? 'reconciled' : 'NOT reconciled'} · built{' '}
               {manifest.source.builtAt} · {manifest.source.resolvedFrom}
             </div>
           </div>
@@ -596,7 +710,10 @@ export default function App() {
             // Analysis tab: centre of mass + stability
             cm={cm}
             partCount={parts.length}
+            cmAnalysis={cmAnalysis}
             result={stability}
+            liveMargin={liveStability?.margin ?? null}
+            liveCgFromNose={liveStability?.cgFromNose ?? null}
             busy={stabilityBusy}
             error={stabilityError}
             onCompute={handleComputeStability}
diff --git a/onshape-viewer/frontend/src/api/documents.ts b/onshape-viewer/frontend/src/api/documents.ts
new file mode 100644
index 000000000..a40ca88ca
--- /dev/null
+++ b/onshape-viewer/frontend/src/api/documents.ts
@@ -0,0 +1,102 @@
+/**
+ * Versioned-document API (/api/viewer/documents): the durable, server-side
+ * timeline behind the localStorage working cache. Mirrors the pid-designer
+ * model -- an autosaved working copy, throttled microversions, and immutable
+ * named releases. See backend/routers/documents.py.
+ *
+ * Plain fetch (same-origin, the session cookie rides along). Unlike client.ts
+ * there is no fixture fallback: version history has no meaningful stand-in when
+ * the backend is absent, so callers treat a throw as "history unavailable".
+ */
+
+import type { ViewerConfig as UiConfig } from '../types/config'
+
+const BASE = '/api/viewer/documents'
+
+export interface DocMeta {
+  id: string
+  name: string
+  createdAt: string
+  updatedAt: string
+}
+
+export interface MicroVersion {
+  versionId: string
+  savedAt: string
+  size?: number
+}
+
+export interface ReleaseVersion {
+  label: string
+  savedAt: string
+  size?: number
+}
+
+async function json<T>(res: Response): Promise<T> {
+  if (!res.ok) {
+    const body = (await res.json().catch(() => ({}))) as { detail?: string }
+    throw new Error(body.detail || `HTTP ${res.status}`)
+  }
+  return res.json() as Promise<T>
+}
+
+export const listDocuments = () =>
+  fetch(BASE).then(r => json<DocMeta[]>(r))
+
+export const createDocument = (name: string, config?: UiConfig) =>
+  fetch(BASE, {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ name, config }),
+  }).then(r => json<DocMeta>(r))
+
+export const renameDocument = (id: string, name: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}`, {
+    method: 'PATCH',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ name }),
+  }).then(r => json<DocMeta>(r))
+
+export const deleteDocument = (id: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}`, { method: 'DELETE' }).then(r => json(r))
+
+export const loadDocument = (id: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/load`).then(r => json<{ config: UiConfig | Record<string, never> }>(r))
+
+export const autosaveDocument = (id: string, config: UiConfig) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/autosave`, {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ config }),
+  }).then(r => json<{ ok: boolean; micro: boolean }>(r))
+
+/** Best-effort final snapshot on tab close. Uses sendBeacon so it survives the
+ *  page unload the way a normal fetch would not. */
+export const flushDocument = (id: string, config: UiConfig): void => {
+  const body = JSON.stringify({ config })
+  navigator.sendBeacon(
+    `${BASE}/${encodeURIComponent(id)}/flush`,
+    new Blob([body], { type: 'application/json' }),
+  )
+}
+
+export const getHistory = (id: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/history`).then(r => json<MicroVersion[]>(r))
+
+export const getVersion = (id: string, versionId: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/version/${encodeURIComponent(versionId)}`)
+    .then(r => json<{ config: UiConfig }>(r))
+
+export const createRelease = (id: string, label: string, config?: UiConfig) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/release`, {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ label, config }),
+  }).then(r => json<ReleaseVersion>(r))
+
+export const listReleases = (id: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/releases`).then(r => json<ReleaseVersion[]>(r))
+
+export const getRelease = (id: string, label: string) =>
+  fetch(`${BASE}/${encodeURIComponent(id)}/release/${encodeURIComponent(label)}`)
+    .then(r => json<{ config: UiConfig }>(r))
diff --git a/onshape-viewer/frontend/src/components/ui.tsx b/onshape-viewer/frontend/src/components/ui.tsx
new file mode 100644
index 000000000..6046694fe
--- /dev/null
+++ b/onshape-viewer/frontend/src/components/ui.tsx
@@ -0,0 +1,84 @@
+/**
+ * Small shared UI primitives (Button, Modal), slate-palette to match the viewer.
+ *
+ * Mirrors the recovery calculator's ui.tsx API so shared components (the design
+ * bar) drop in unchanged; only the styling differs (Tailwind slate + cyan accent
+ * here, CSS custom properties there).
+ */
+
+import { useEffect } from 'react'
+import type { ReactNode } from 'react'
+
+export function Button({
+  onClick,
+  children,
+  variant = 'secondary',
+  disabled,
+  title,
+}: {
+  onClick: () => void
+  children: ReactNode
+  variant?: 'primary' | 'secondary' | 'ghost' | 'danger'
+  disabled?: boolean
+  title?: string
+}) {
+  const styles = {
+    primary: 'bg-cyan-600 text-white hover:bg-cyan-500 border-transparent',
+    secondary: 'border-slate-600 text-slate-100 hover:border-slate-400',
+    ghost: 'border-transparent text-slate-300 hover:text-slate-100',
+    danger: 'border-red-500/40 text-red-300 hover:bg-red-500/10',
+  }[variant]
+  return (
+    <button
+      type="button"
+      onClick={onClick}
+      disabled={disabled}
+      title={title}
+      className={`rounded border px-3 py-1.5 text-xs font-medium transition-colors disabled:cursor-not-allowed disabled:opacity-40 ${styles}`}
+    >
+      {children}
+    </button>
+  )
+}
+
+/** A centred, app-styled modal. Click the backdrop or press Escape to dismiss. */
+export function Modal({
+  open,
+  onClose,
+  title,
+  children,
+  footer,
+  width = 'w-[440px]',
+}: {
+  open: boolean
+  onClose: () => void
+  title: ReactNode
+  children?: ReactNode
+  footer?: ReactNode
+  width?: string
+}) {
+  useEffect(() => {
+    if (!open) return
+    const onKey = (e: KeyboardEvent) => {
+      if (e.key === 'Escape') onClose()
+    }
+    window.addEventListener('keydown', onKey)
+    return () => window.removeEventListener('keydown', onKey)
+  }, [open, onClose])
+  if (!open) return null
+  return (
+    <div
+      className="fixed inset-0 z-50 flex items-center justify-center bg-black/50 p-4"
+      onClick={onClose}
+    >
+      <div
+        className={`${width} max-w-[90vw] rounded-xl border border-slate-700 bg-slate-900 p-6 shadow-2xl`}
+        onClick={(e) => e.stopPropagation()}
+      >
+        <h3 className="text-sm font-semibold text-slate-100">{title}</h3>
+        {children && <div className="mt-4 text-slate-200">{children}</div>}
+        {footer && <div className="mt-5 flex justify-end gap-2">{footer}</div>}
+      </div>
+    </div>
+  )
+}
diff --git a/onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx b/onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx
new file mode 100644
index 000000000..c896a9140
--- /dev/null
+++ b/onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx
@@ -0,0 +1,548 @@
+/**
+ * Versioned designs: a document bar + release/history controls.
+ *
+ * Mirrors the pid-designer model. Each named design is a server-side document
+ * with a working copy (autosaved here), throttled microversions, and immutable
+ * named releases. This is the durable timeline; `lib/persist.ts` localStorage
+ * stays as the instant working cache. An auto-saved mistake is recoverable by
+ * restoring an earlier microversion or a release.
+ *
+ * Owns the document list + active id and drives autosave/flush; the parent owns
+ * the live `config` and applies restores via `onRestore`.
+ */
+
+import { useCallback, useEffect, useRef, useState } from 'react'
+import type { ReactNode } from 'react'
+import type { ViewerConfig as UiConfig } from '../../types/config'
+import { reviveViewerConfig as reviveUiConfig } from '../../lib/persist'
+import { defaultViewerConfig as defaultUiConfig } from '../../types/config'
+import { Button, Modal } from '../ui'
+import * as api from '../../api/documents'
+import type { DocMeta, MicroVersion, ReleaseVersion } from '../../api/documents'
+
+const ACTIVE_KEY = 'onshape-viewer.activeDoc.v1'
+const AUTOSAVE_MS = 1500
+
+/** The one at-a-time dialog the bar drives: a text prompt, a confirmation
+ *  (optionally destructive), or a plain message. Replaces window.prompt /
+ *  confirm / alert so every dialog is centred and styled like the app. */
+type Dialog =
+  | { kind: 'prompt'; title: string; label?: string; placeholder?: string; confirmLabel: string; onConfirm: (value: string) => void | Promise<void> }
+  | { kind: 'confirm'; title: string; message: ReactNode; confirmLabel: string; danger?: boolean; onConfirm: () => void | Promise<void> }
+  | { kind: 'alert'; title: string; message: ReactNode }
+
+/** Regenerate uids / merge onto defaults so a restored config is as safe to
+ *  load as one revived from localStorage (see persist.reviveUiConfig). */
+function normalise(config: UiConfig): UiConfig {
+  return reviveUiConfig(JSON.stringify(config)) ?? config
+}
+
+/** Propose the next minor release, e.g. 0.1 -> 0.2, given existing labels. */
+function nextLabel(releases: ReleaseVersion[]): string {
+  let maxMinor = 0
+  for (const r of releases) {
+    const m = /^0\.(\d+)$/.exec(r.label)
+    if (m) maxMinor = Math.max(maxMinor, Number(m[1]))
+  }
+  return `0.${maxMinor + 1}`
+}
+
+/** Download any JSON payload as a file, the browser way. */
+function downloadJson(filename: string, data: unknown): void {
+  const blob = new Blob([JSON.stringify(data, null, 2)], { type: 'application/json' })
+  const url = URL.createObjectURL(blob)
+  const a = document.createElement('a')
+  a.href = url
+  a.download = filename
+  a.click()
+  URL.revokeObjectURL(url)
+}
+
+function relativeTime(iso: string): string {
+  const mins = Math.floor((Date.now() - new Date(iso).getTime()) / 60000)
+  if (mins < 1) return 'just now'
+  if (mins < 60) return `${mins}m ago`
+  const hrs = Math.floor(mins / 60)
+  if (hrs < 24) return `${hrs}h ago`
+  return `${Math.floor(hrs / 24)}d ago`
+}
+
+interface Props {
+  config: UiConfig
+  onRestore: (config: UiConfig) => void
+  /** Render just the bar row, no background or width container -- for dropping
+   *  inside a parent (the header) that already provides both. */
+  inline?: boolean
+}
+
+export function ConfigVersions({ config, onRestore, inline = false }: Props) {
+  const [documents, setDocuments] = useState<DocMeta[]>([])
+  const [activeId, setActiveId] = useState<string | null>(null)
+  const loadedId = useRef<string | null>(null)
+  const configRef = useRef(config)
+  configRef.current = config
+
+  const [showHistory, setShowHistory] = useState(false)
+  const [micro, setMicro] = useState<MicroVersion[]>([])
+  const [releases, setReleases] = useState<ReleaseVersion[]>([])
+  const [histStatus, setHistStatus] = useState<'idle' | 'loading' | 'err'>('idle')
+  const [restoring, setRestoring] = useState<string | null>(null)
+
+  const [showRelease, setShowRelease] = useState(false)
+  const [relLabel, setRelLabel] = useState('')
+  const [relStatus, setRelStatus] = useState<'idle' | 'saving' | 'ok' | 'err'>('idle')
+  const [relError, setRelError] = useState('')
+
+  // New-design dialog: a name plus a seed -- 'default' values or a copy of an
+  // existing design (by id).
+  const [showNew, setShowNew] = useState(false)
+  const [newName, setNewName] = useState('')
+  const [newSource, setNewSource] = useState<'current' | string>('current')
+  const [newStatus, setNewStatus] = useState<'idle' | 'saving' | 'err'>('idle')
+  const [newError, setNewError] = useState('')
+
+  // One at-a-time dialog (prompt / confirm / alert) and, for prompts, its input.
+  const [dialog, setDialog] = useState<Dialog | null>(null)
+  const [dialogValue, setDialogValue] = useState('')
+  const askPrompt = (opts: Extract<Dialog, { kind: 'prompt' }> & { value?: string }) => {
+    setDialogValue(opts.value ?? '')
+    setDialog(opts)
+  }
+  const runDialog = async () => {
+    const d = dialog
+    if (!d) return
+    if (d.kind === 'prompt') {
+      const v = dialogValue.trim()
+      if (!v) return
+      setDialog(null)
+      await d.onConfirm(v)
+    } else if (d.kind === 'confirm') {
+      setDialog(null)
+      await d.onConfirm()
+    } else {
+      setDialog(null)
+    }
+  }
+
+  const active = documents.find(d => d.id === activeId) ?? null
+
+  // Load a document's working copy and apply it to the live config.
+  const openDoc = useCallback(async (id: string) => {
+    loadedId.current = null
+    try {
+      const { config: loaded } = await api.loadDocument(id)
+      if (loaded && Object.keys(loaded).length > 0) onRestore(normalise(loaded as UiConfig))
+    } finally {
+      loadedId.current = id
+    }
+  }, [onRestore])
+
+  // Mount: list documents; seed one from the current config if there are none.
+  // Guarded to run its bootstrap exactly once: even if a parent passes an
+  // unstable onRestore (which recreates openDoc and re-fires this effect), we
+  // must not re-list + re-open, or restore would loop into setUi every render.
+  // Guarded by a ref (not a cleanup-set `cancelled` flag) so it runs exactly once
+  // and survives React StrictMode's dev double-mount: a cleanup-based cancel fires
+  // before listDocuments resolves and would bail the bootstrap, leaving the bar
+  // empty and nothing restored on reload. ConfigVersions never unmounts, so there
+  // is no real teardown to guard against.
+  const bootstrapped = useRef(false)
+  useEffect(() => {
+    if (bootstrapped.current) return
+    bootstrapped.current = true
+    ;(async () => {
+      try {
+        const docs = await api.listDocuments()
+        if (docs.length === 0) {
+          const meta = await api.createDocument('Design 1', configRef.current)
+          setDocuments([meta])
+          setActiveId(meta.id)
+          loadedId.current = meta.id // seeded from current config; nothing to re-apply
+          localStorage.setItem(ACTIVE_KEY, meta.id)
+          return
+        }
+        setDocuments(docs)
+        const remembered = localStorage.getItem(ACTIVE_KEY)
+        const pick = docs.find(d => d.id === remembered)?.id ?? docs[0].id
+        setActiveId(pick)
+        void openDoc(pick)
+      } catch {
+        // Backend/history unavailable -- the app still runs on localStorage.
+        loadedId.current = null
+      }
+    })()
+  }, [openDoc])
+
+  // Debounced autosave of the working copy, only once the active doc has loaded.
+  useEffect(() => {
+    if (!activeId || loadedId.current !== activeId) return
+    const t = setTimeout(() => { void api.autosaveDocument(activeId, config).catch(() => {}) }, AUTOSAVE_MS)
+    return () => clearTimeout(t)
+  }, [config, activeId])
+
+  // Best-effort flush on tab close, between the throttled microversions.
+  useEffect(() => {
+    const flush = () => {
+      if (activeId && loadedId.current === activeId) api.flushDocument(activeId, configRef.current)
+    }
+    const onVis = () => { if (document.visibilityState === 'hidden') flush() }
+    window.addEventListener('pagehide', flush)
+    document.addEventListener('visibilitychange', onVis)
+    return () => {
+      window.removeEventListener('pagehide', flush)
+      document.removeEventListener('visibilitychange', onVis)
+    }
+  }, [activeId])
+
+  const select = (id: string) => {
+    setActiveId(id)
+    localStorage.setItem(ACTIVE_KEY, id)
+    void openDoc(id)
+    setShowHistory(false)
+  }
+
+  const openNew = () => {
+    setNewName(`Design ${documents.length + 1}`)
+    setNewSource('current')
+    setNewStatus('idle')
+    setNewError('')
+    setShowNew(true)
+  }
+
+  const submitNew = async () => {
+    const name = newName.trim()
+    if (!name) return
+    setNewStatus('saving')
+    setNewError('')
+    try {
+      // 'default' seeds from the built-in config; anything else is the id of a
+      // design to copy -- load its working copy from the server and normalise
+      // it (fresh uids etc.) as if it came off disk.
+      // 'current' snapshots what the user is looking at now, so a new design is
+      // never blank (an empty ViewerConfig has no model to show); otherwise copy a
+      // chosen design's working copy.
+      const seed = newSource === 'current'
+        ? configRef.current
+        : normalise(((await api.loadDocument(newSource)).config ?? defaultUiConfig()) as UiConfig)
+      const meta = await api.createDocument(name, seed)
+      setDocuments(d => [meta, ...d])
+      setActiveId(meta.id)
+      loadedId.current = meta.id
+      localStorage.setItem(ACTIVE_KEY, meta.id)
+      onRestore(seed)
+      setShowNew(false)
+    } catch (e) {
+      setNewStatus('err')
+      setNewError(e instanceof Error ? e.message : 'Could not create design')
+    }
+  }
+
+  const rename = () => {
+    if (!active) return
+    askPrompt({
+      kind: 'prompt',
+      title: 'Rename design',
+      label: 'Design name',
+      value: active.name,
+      confirmLabel: 'Rename',
+      onConfirm: async (name) => {
+        const meta = await api.renameDocument(active.id, name)
+        setDocuments(d => d.map(x => (x.id === meta.id ? meta : x)))
+      },
+    })
+  }
+
+  const remove = () => {
+    if (!active) return
+    setDialog({
+      kind: 'confirm',
+      title: `Delete "${active.name}"?`,
+      message: 'This removes the design, its microversions, and its releases. This cannot be undone.',
+      confirmLabel: 'Delete',
+      danger: true,
+      onConfirm: async () => {
+        await api.deleteDocument(active.id)
+        const rest = documents.filter(d => d.id !== active.id)
+        setDocuments(rest)
+        if (rest.length > 0) select(rest[0].id)
+        else { setActiveId(null); loadedId.current = null; localStorage.removeItem(ACTIVE_KEY) }
+      },
+    })
+  }
+
+  // ── File save / load ──────────────────────────────────────────────────────
+  // The server (S3 in prod, local disk in dev) is the home for a design; these
+  // are the escape hatch: hand a design to someone as a file, or bring one in.
+  // A file holds the full UiConfig, the same payload the server stores.
+  const saveToFile = () => {
+    const slug = (active?.name ?? 'design').replace(/[^\w.-]+/g, '-').toLowerCase()
+    downloadJson(`${slug || 'design'}.viewer.json`, config)
+  }
+
+  // Import a file as a new server-backed design. Falls back to loading it into
+  // the working copy only, so a file still opens when there is no backend.
+  const importFile = async (file: File) => {
+    const cfg = reviveUiConfig(await file.text())
+    if (!cfg) {
+      setDialog({ kind: 'alert', title: 'Could not load file', message: `"${file.name}" is not a valid design file.` })
+      return
+    }
+    const name = file.name.replace(/\.viewer\.json$/i, '').replace(/\.json$/i, '') || 'Imported design'
+    try {
+      const meta = await api.createDocument(name, cfg)
+      setDocuments(d => [meta, ...d])
+      setActiveId(meta.id)
+      loadedId.current = meta.id
+      localStorage.setItem(ACTIVE_KEY, meta.id)
+    } catch {
+      // No backend: at least load it into the live (localStorage-backed) config.
+    }
+    onRestore(cfg)
+  }
+
+  const refreshHistory = useCallback(async () => {
+    if (!activeId) return
+    setHistStatus('loading')
+    try {
+      const [m, r] = await Promise.all([api.getHistory(activeId), api.listReleases(activeId)])
+      setMicro(m); setReleases(r); setHistStatus('idle')
+    } catch { setHistStatus('err') }
+  }, [activeId])
+
+  const toggleHistory = () => {
+    const next = !showHistory
+    setShowHistory(next)
+    if (next) void refreshHistory()
+  }
+
+  const submitRelease = async () => {
+    if (!activeId || !relLabel.trim()) return
+    setRelStatus('saving'); setRelError('')
+    try {
+      await api.createRelease(activeId, relLabel.trim(), configRef.current)
+      setRelStatus('ok')
+      if (showHistory) void refreshHistory()
+      setTimeout(() => { setShowRelease(false); setRelLabel(''); setRelStatus('idle') }, 1000)
+    } catch (e) {
+      setRelStatus('err')
+      setRelError(e instanceof Error ? e.message : 'Release failed')
+    }
+  }
+
+  const restoreMicro = (v: MicroVersion) => {
+    if (!activeId) return
+    setDialog({
+      kind: 'confirm',
+      title: 'Restore this auto-save?',
+      message: `From ${new Date(v.savedAt).toLocaleString()}. This replaces the current design. Your working copy keeps auto-saving, so you can restore again.`,
+      confirmLabel: 'Restore',
+      onConfirm: async () => {
+        setRestoring(v.versionId)
+        try {
+          const { config: c } = await api.getVersion(activeId, v.versionId)
+          onRestore(normalise(c)); setShowHistory(false)
+        } finally { setRestoring(null) }
+      },
+    })
+  }
+
+  const restoreRelease = (r: ReleaseVersion) => {
+    if (!activeId) return
+    setDialog({
+      kind: 'confirm',
+      title: `Restore release "${r.label}"?`,
+      message: 'This replaces the current design.',
+      confirmLabel: 'Restore',
+      onConfirm: async () => {
+        setRestoring(`rel:${r.label}`)
+        try {
+          const { config: c } = await api.getRelease(activeId, r.label)
+          onRestore(normalise(c)); setShowHistory(false)
+        } finally { setRestoring(null) }
+      },
+    })
+  }
+
+  const btn = 'inline-flex items-center gap-1 rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2.5 py-1 text-xs font-medium text-[var(--color-text-primary)] transition-colors hover:bg-[var(--color-bg-tertiary)] disabled:opacity-40'
+
+  return (
+    <div className={inline ? 'relative' : 'relative bg-[var(--color-bg-secondary)]'}>
+      <div className={inline
+        ? 'flex flex-wrap items-center gap-2 py-2'
+        : 'mx-auto flex max-w-[1800px] flex-wrap items-center gap-2 px-4 py-1.5 sm:px-6 lg:px-8'}>
+        <span className="text-2xs uppercase tracking-wider text-[var(--color-text-muted)] shrink-0">Design</span>
+        <select
+          value={activeId ?? ''}
+          onChange={e => select(e.target.value)}
+          className="rounded border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-2 py-1 text-xs text-[var(--color-text-primary)] outline-none min-w-[160px] max-w-[280px]"
+        >
+          {documents.length === 0 && <option value="">No designs</option>}
+          {documents.map(d => <option key={d.id} value={d.id}>{d.name}</option>)}
+        </select>
+        <button onClick={openNew} className={btn} title="New design">+ New</button>
+        <button onClick={rename} disabled={!active} className={btn} title="Rename">Rename</button>
+        <button onClick={remove} disabled={!active} className={btn} title="Delete design">Delete</button>
+
+        <div className="mx-1 h-4 w-px bg-[var(--color-border)]" />
+
+        <button onClick={saveToFile} className={btn} title="Download this design as a file">Save to file</button>
+        <label className={`${btn} cursor-pointer`} title="Load a design from a file">
+          Load from file
+          <input
+            type="file" accept="application/json,.json" className="hidden"
+            onChange={e => { const f = e.target.files?.[0]; if (f) void importFile(f); e.currentTarget.value = '' }}
+          />
+        </label>
+
+        <div className="mx-1 h-4 w-px bg-[var(--color-border)]" />
+
+        <button
+          onClick={() => { setShowRelease(true); setRelLabel(nextLabel(releases)); setRelStatus('idle'); setRelError('') }}
+          disabled={!active}
+          className="inline-flex items-center gap-1 rounded border border-emerald-600/40 bg-emerald-600/10 px-2.5 py-1 text-xs font-medium text-emerald-600 transition-colors hover:bg-emerald-600/20 disabled:opacity-40 dark:text-emerald-400"
+          title="Publish an immutable, named version (e.g. 0.1)"
+        >
+          Release
+        </button>
+        <button
+          onClick={toggleHistory}
+          disabled={!active}
+          className={`${btn} ${showHistory ? 'ring-1 ring-blue-500/50' : ''}`}
+          title="Microversions and releases"
+        >
+          History
+        </button>
+      </div>
+
+      <Modal open={showHistory && !!active} onClose={() => setShowHistory(false)} title="History" width="w-[440px]">
+        <div className="max-h-[60vh] overflow-y-auto">
+          {histStatus === 'loading' && <p className="py-2 text-xs text-[var(--color-text-muted)]">Loading…</p>}
+          {histStatus === 'err' && <p className="py-2 text-xs text-red-500">Failed to load history.</p>}
+          {histStatus === 'idle' && (
+            <>
+              <p className="mb-2 text-2xs uppercase tracking-wider text-[var(--color-text-muted)]">Releases</p>
+              {releases.length === 0 && <p className="pb-2 text-xs text-[var(--color-text-muted)]">No releases yet — Release publishes {nextLabel(releases)}.</p>}
+              {releases.map(r => (
+                <button key={r.label} onClick={() => restoreRelease(r)} disabled={restoring === `rel:${r.label}`}
+                  className="mb-1 flex w-full items-center gap-2 rounded px-2 py-1.5 text-left hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50">
+                  <span className="shrink-0 rounded border border-emerald-600/40 bg-emerald-600/10 px-1.5 py-0.5 text-2xs font-semibold text-emerald-600 dark:text-emerald-400">{r.label}</span>
+                  <span className="flex-1 text-2xs text-[var(--color-text-muted)]">{restoring === `rel:${r.label}` ? 'Restoring…' : relativeTime(r.savedAt)}</span>
+                </button>
+              ))}
+
+              <p className="mb-2 mt-3 text-2xs uppercase tracking-wider text-[var(--color-text-muted)]">Auto-saves (microversions)</p>
+              {micro.length === 0 && <p className="py-2 text-xs text-[var(--color-text-muted)]">No auto-saves yet.</p>}
+              {micro.map(v => (
+                <button key={v.versionId} onClick={() => restoreMicro(v)} disabled={restoring === v.versionId}
+                  className="flex w-full items-center gap-2 rounded px-2 py-1.5 text-left hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50">
+                  <span className="h-2 w-2 shrink-0 rounded-full bg-[var(--color-border)]" />
+                  <span className="flex-1 truncate text-xs text-[var(--color-text-primary)]">{new Date(v.savedAt).toLocaleString()}</span>
+                  <span className="shrink-0 text-2xs text-[var(--color-text-muted)]">{restoring === v.versionId ? 'Restoring…' : relativeTime(v.savedAt)}</span>
+                </button>
+              ))}
+            </>
+          )}
+        </div>
+      </Modal>
+
+      <Modal
+        open={showNew}
+        onClose={() => { if (newStatus !== 'saving') setShowNew(false) }}
+        title="New design"
+        width="w-[420px]"
+        footer={
+          <>
+            <Button onClick={() => setShowNew(false)} disabled={newStatus === 'saving'} variant="ghost">Cancel</Button>
+            <Button onClick={() => void submitNew()} disabled={!newName.trim() || newStatus === 'saving'} variant="primary">
+              {newStatus === 'saving' ? 'Creating…' : 'Create'}
+            </Button>
+          </>
+        }
+      >
+        <label className="mb-1 block text-xs text-[var(--color-text-muted)]">Design name <span className="text-red-500">*</span></label>
+        <input
+          autoFocus value={newName} onChange={e => setNewName(e.target.value)}
+          onKeyDown={e => { if (e.key === 'Enter') void submitNew() }}
+          placeholder="Design name" disabled={newStatus === 'saving'}
+          className="w-full rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-3 py-2 text-sm text-[var(--color-text-primary)] outline-none disabled:opacity-50"
+        />
+        <label className="mb-1 mt-4 block text-xs text-[var(--color-text-muted)]">Start from</label>
+        <select
+          value={newSource} onChange={e => setNewSource(e.target.value)} disabled={newStatus === 'saving'}
+          className="w-full rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-3 py-2 text-sm text-[var(--color-text-primary)] outline-none disabled:opacity-50"
+        >
+          <option value="current">Current setup</option>
+          {documents.length > 0 && (
+            <optgroup label="Copy from design">
+              {documents.map(d => <option key={d.id} value={d.id}>{d.name}</option>)}
+            </optgroup>
+          )}
+        </select>
+        {newStatus === 'err' && <p className="mt-3 text-xs text-red-500">{newError}</p>}
+      </Modal>
+
+      <Modal
+        open={showRelease}
+        onClose={() => { if (relStatus !== 'saving') setShowRelease(false) }}
+        title="Publish a release"
+        width="w-[420px]"
+        footer={
+          <>
+            <Button onClick={() => setShowRelease(false)} disabled={relStatus === 'saving'} variant="ghost">Cancel</Button>
+            <Button onClick={() => void submitRelease()} disabled={!relLabel.trim() || relStatus === 'saving'} variant="primary">
+              {relStatus === 'saving' ? 'Publishing…' : 'Publish'}
+            </Button>
+          </>
+        }
+      >
+        <p className="mb-4 text-xs text-[var(--color-text-muted)]">An immutable, named snapshot of this design. Reusing a label is rejected.</p>
+        <label className="mb-1 block text-xs text-[var(--color-text-muted)]">Version label <span className="text-red-500">*</span></label>
+        <input
+          autoFocus value={relLabel} onChange={e => setRelLabel(e.target.value)}
+          onKeyDown={e => { if (e.key === 'Enter') void submitRelease() }}
+          placeholder="0.1" disabled={relStatus === 'saving'}
+          className="w-full rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-3 py-2 text-sm text-[var(--color-text-primary)] outline-none disabled:opacity-50"
+        />
+        {relStatus === 'err' && <p className="mt-3 text-xs text-red-500">{relError}</p>}
+        {relStatus === 'ok' && <p className="mt-3 text-xs text-emerald-500">Release published.</p>}
+      </Modal>
+
+      {/* The one prompt / confirm / alert, styled like the app instead of the browser. */}
+      <Modal
+        open={dialog !== null}
+        onClose={() => setDialog(null)}
+        title={dialog?.title ?? ''}
+        footer={
+          dialog?.kind === 'alert' ? (
+            <Button onClick={() => setDialog(null)} variant="primary">OK</Button>
+          ) : (
+            <>
+              <Button onClick={() => setDialog(null)} variant="ghost">Cancel</Button>
+              <Button
+                onClick={() => void runDialog()}
+                variant={dialog?.kind === 'confirm' && dialog.danger ? 'danger' : 'primary'}
+                disabled={dialog?.kind === 'prompt' && !dialogValue.trim()}
+              >
+                {dialog ? dialog.confirmLabel : ''}
+              </Button>
+            </>
+          )
+        }
+      >
+        {dialog?.kind === 'prompt' ? (
+          <>
+            {dialog.label && <label className="mb-1 block text-xs text-[var(--color-text-muted)]">{dialog.label}</label>}
+            <input
+              autoFocus value={dialogValue} onChange={e => setDialogValue(e.target.value)}
+              onKeyDown={e => { if (e.key === 'Enter') void runDialog() }}
+              placeholder={dialog.placeholder}
+              className="w-full rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-3 py-2 text-sm text-[var(--color-text-primary)] outline-none"
+            />
+          </>
+        ) : dialog ? (
+          <p className="text-xs leading-relaxed text-[var(--color-text-secondary)]">{dialog.message}</p>
+        ) : null}
+      </Modal>
+    </div>
+  )
+}
diff --git a/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx b/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 713165803..1ea1c83d5 100644
--- a/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -8,7 +8,8 @@
  * exact, performance tiles (apogee, max-Q) are flagged approximate.
  */
 
-import { useState } from 'react'
+import { useEffect, useState } from 'react'
+import { createPortal } from 'react-dom'
 import {
   CartesianGrid,
   ComposedChart,
@@ -27,6 +28,7 @@ import {
 } from 'recharts'
 
 import { computeFlightDynamics } from '../../api/client'
+import type { FlightParams } from '../../types/config'
 import type { FaceRef, FlightDynamicsResult, MotorSelection } from '../../types'
 import { AXIS, FD, GRID, REFERENCE, SERIES, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE } from './chartTheme'
 
@@ -38,9 +40,11 @@ interface Props {
   nFins: number
   railLength: number
   overrides: Record<string, number>
+  /** Launch params, owned by App so they are versioned in the config. */
+  flight: FlightParams
+  onFlightChange: (patch: Partial<FlightParams>) => void
 }
 
-type CpModel = 'ours' | 'rocketpy' | 'both'
 const G = 9.80665
 
 function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
@@ -53,14 +57,69 @@ function Tile({ label, value, sub, warn }: { label: string; value: string; sub?:
   )
 }
 
+const ExpandIcon = () => (
+  <svg viewBox="0 0 24 24" width="14" height="14" fill="none" stroke="currentColor" strokeWidth="2" strokeLinecap="round" strokeLinejoin="round">
+    <path d="M8 3H5a2 2 0 0 0-2 2v3M16 3h3a2 2 0 0 1 2 2v3M8 21H5a2 2 0 0 1-2-2v-3M16 21h3a2 2 0 0 0 2-2v-3" />
+  </svg>
+)
+
 function Panel({ title, hint, children }: { title: string; hint: string; children: React.ReactNode }) {
+  const [expanded, setExpanded] = useState(false)
+
+  // Escape closes the expanded view.
+  useEffect(() => {
+    if (!expanded) return
+    const onKey = (e: KeyboardEvent) => {
+      if (e.key === 'Escape') setExpanded(false)
+    }
+    window.addEventListener('keydown', onKey)
+    return () => window.removeEventListener('keydown', onKey)
+  }, [expanded])
+
   return (
-    <div className="flex min-h-[240px] flex-col rounded-lg border border-slate-700 bg-slate-900/40 p-3">
-      <div className="mb-1">
+    <div className="relative flex min-h-[240px] flex-col rounded-lg border border-slate-700 bg-slate-900/40 p-3">
+      <button
+        type="button"
+        onClick={() => setExpanded(true)}
+        title="Expand"
+        className="absolute right-2 top-2 z-10 rounded p-1 text-slate-400 hover:bg-slate-800 hover:text-slate-100"
+      >
+        <ExpandIcon />
+      </button>
+      <div className="mb-1 pr-8">
         <div className="text-sm font-semibold text-slate-200">{title}</div>
         <div className="text-[11px] leading-tight text-slate-500">{hint}</div>
       </div>
       <div className="min-h-0 flex-1">{children}</div>
+
+      {expanded &&
+        createPortal(
+          <div
+            className="fixed inset-0 z-50 flex items-center justify-center bg-black/60 p-4"
+            onClick={() => setExpanded(false)}
+          >
+            <div
+              className="flex h-[min(940px,96vh)] w-[min(1500px,97vw)] flex-col rounded-lg border border-slate-700 bg-slate-900 p-4 shadow-2xl"
+              onClick={(e) => e.stopPropagation()}
+            >
+              <div className="mb-2 flex items-start justify-between gap-4">
+                <div>
+                  <div className="text-base font-semibold text-slate-100">{title}</div>
+                  <div className="text-xs text-slate-500">{hint}</div>
+                </div>
+                <button
+                  type="button"
+                  onClick={() => setExpanded(false)}
+                  className="rounded bg-slate-700 px-3 py-1 text-sm text-slate-200 hover:bg-slate-600"
+                >
+                  Close
+                </button>
+              </div>
+              <div className="min-h-0 flex-1">{children}</div>
+            </div>
+          </div>,
+          document.body,
+        )}
     </div>
   )
 }
@@ -96,13 +155,8 @@ function TimeLine({
   )
 }
 
-export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides }: Props) {
-  const [inclination, setInclination] = useState(85)
-  const [heading, setHeading] = useState(0)
-  const [windSpeed, setWindSpeed] = useState(5)
-  const [windDirection, setWindDirection] = useState(270)
-  const [elevation, setElevation] = useState(1400)
-  const [cpModel, setCpModel] = useState<CpModel>('both')
+export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides, flight, onFlightChange }: Props) {
+  const { inclination, heading, windSpeed, windDirection, cpModel } = flight
 
   const [result, setResult] = useState<FlightDynamicsResult | null>(null)
   const [busy, setBusy] = useState(false)
@@ -124,7 +178,6 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         heading,
         windSpeed,
         windDirection,
-        elevation,
       })
       setResult(res)
     } catch (e) {
@@ -142,14 +195,13 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
     <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
       {/* Controls */}
       <div className="mb-3 flex flex-wrap items-end gap-3 rounded-lg border border-slate-700 bg-slate-900/60 p-3">
-        <Field label="Rail incl. (°)" value={inclination} set={setInclination} min={0} max={90} />
-        <Field label="Heading (°)" value={heading} set={setHeading} min={0} max={360} />
-        <Field label="Wind (m/s)" value={windSpeed} set={setWindSpeed} min={0} max={40} step={0.5} />
-        <Field label="Wind from (°)" value={windDirection} set={setWindDirection} min={0} max={360} />
-        <Field label="Elevation (m)" value={elevation} set={setElevation} min={0} max={4000} step={10} />
+        <Field label="Rail angle (° from horiz, 90=up)" value={inclination} set={(v) => onFlightChange({ inclination: v })} min={0} max={90} />
+        <Field label="Heading (° from N)" value={heading} set={(v) => onFlightChange({ heading: v })} min={0} max={360} />
+        <Field label="Wind (m/s)" value={windSpeed} set={(v) => onFlightChange({ windSpeed: v })} min={0} max={40} step={0.5} />
+        <Field label="Wind from (° bearing)" value={windDirection} set={(v) => onFlightChange({ windDirection: v })} min={0} max={360} />
         <label className="flex flex-col text-xs text-slate-400">
           CP model
-          <select value={cpModel} onChange={(e) => setCpModel(e.target.value as CpModel)} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100">
+          <select value={cpModel} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100">
             <option value="both">Both (compare)</option>
             <option value="ours">Ours (CAD Barrowman)</option>
             <option value="rocketpy">RocketPy native</option>
@@ -163,6 +215,10 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
           {busy ? 'Simulating…' : 'Run flight'}
         </button>
       </div>
+      <p className="mb-3 text-[11px] text-slate-500">
+        Launch site: Friends of Amateur Rocketry (FAR), 630 m — fixed. Wind is a constant
+        placeholder until the site wind climatology merges in.
+      </p>
 
       {!motorSel && <p className="text-sm text-amber-300">Select a motor in the CAD tab first — a flight needs one.</p>}
       {error && <p className="text-sm text-rose-400">{error}</p>}
diff --git a/onshape-viewer/frontend/src/components/viewer/InspectorPanel.tsx b/onshape-viewer/frontend/src/components/viewer/InspectorPanel.tsx
index 6a462be6a..bfcce19c5 100644
--- a/onshape-viewer/frontend/src/components/viewer/InspectorPanel.tsx
+++ b/onshape-viewer/frontend/src/components/viewer/InspectorPanel.tsx
@@ -27,6 +27,9 @@ interface Props extends StabilityPanelProps {
   /** Analysis tab: the live centre of mass and how many parts feed it. */
   cm: CMResult
   partCount: number
+  /** CM projected on the rocket axis (from nose) + its off-axis offset; null until
+   *  a stability result gives the axis. */
+  cmAnalysis: { fromNose: number; radial: number; offAxis: boolean } | null
   /** The primary selected part; a change to a non-null key switches to Properties. */
   primarySelectedKey: string | null
 }
@@ -40,6 +43,7 @@ export function InspectorPanel({
   onOverrideChange,
   cm,
   partCount,
+  cmAnalysis,
   primarySelectedKey,
   ...stability
 }: Props) {
@@ -81,7 +85,7 @@ export function InspectorPanel({
           />
         ) : (
           <>
-            <MassSummary cm={cm} partCount={partCount} />
+            <MassSummary cm={cm} partCount={partCount} cmAnalysis={cmAnalysis} />
             <StabilityPanel {...stability} />
           </>
         )}
@@ -147,16 +151,35 @@ function PinButton({ pinned, onToggle }: { pinned: boolean; onToggle: () => void
 }
 
 /** The live centre of mass, formerly the top card of the floating overlay. */
-function MassSummary({ cm, partCount }: { cm: CMResult; partCount: number }) {
+function MassSummary({
+  cm,
+  partCount,
+  cmAnalysis,
+}: {
+  cm: CMResult
+  partCount: number
+  cmAnalysis: { fromNose: number; radial: number; offAxis: boolean } | null
+}) {
   return (
     <section className="border-b border-slate-800 p-3 text-sm">
       <h2 className="mb-2 text-sm font-semibold uppercase tracking-wide text-slate-200">
         Center of mass — {cm.partCount - cm.masslessCount} of {partCount} parts
       </h2>
       <Row label="Total mass" value={formatMass(cm.mass)} />
-      <Row label="CM x" value={formatMetres(cm.centroid[0])} />
-      <Row label="CM y" value={formatMetres(cm.centroid[1])} />
-      <Row label="CM z" value={formatMetres(cm.centroid[2])} highlight />
+      {cmAnalysis ? (
+        <Row label="CM from nose" value={formatMetres(cmAnalysis.fromNose)} highlight />
+      ) : (
+        // No axis yet (compute stability): fall back to the raw world coordinate.
+        <Row label="CM z (world)" value={formatMetres(cm.centroid[2])} highlight />
+      )}
+
+      {cmAnalysis?.offAxis && (
+        <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
+          ⚠ Mass is off-axis by {(cmAnalysis.radial * 1000).toFixed(1)} mm — the rocket is
+          laterally unbalanced. CG should sit on the centreline; check for an asymmetric or
+          material-less part.
+        </p>
+      )}
 
       {cm.masslessCount > 0 && (
         <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
diff --git a/onshape-viewer/frontend/src/components/viewer/StabilityPanel.tsx b/onshape-viewer/frontend/src/components/viewer/StabilityPanel.tsx
index 14ef26fa5..80ef62b2a 100644
--- a/onshape-viewer/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/onshape-viewer/frontend/src/components/viewer/StabilityPanel.tsx
@@ -16,6 +16,10 @@ import { Row } from './Row'
 
 export interface StabilityPanelProps {
   result: StabilityResult | null
+  /** Static margin recomputed client-side from live mass edits (CP is fixed). Falls back to
+   *  the backend value when absent. */
+  liveMargin?: number | null
+  liveCgFromNose?: number | null
   busy: boolean
   error: string | null
   onCompute: () => void
@@ -65,6 +69,8 @@ function marginTone(margin: number | null): string {
 
 export function StabilityPanel({
   result,
+  liveMargin,
+  liveCgFromNose,
   busy,
   error,
   onCompute,
@@ -394,15 +400,30 @@ export function StabilityPanel({
 
         {result && (
           <>
-            <div className="mb-2 flex items-baseline justify-between">
-              <span className="text-slate-400">Static margin</span>
-              <span className={`text-lg font-semibold tabular-nums ${marginTone(result.staticMargin)}`}>
-                {formatMargin(result.staticMargin)}
-              </span>
-            </div>
-            <Row label="CP from nose" value={`${result.cp.fromNose.toFixed(4)} m`} />
-            <Row label="CG from nose" value={`${result.cg.fromNose.toFixed(4)} m`} />
+            {(() => {
+              // CP is fixed by geometry; CG (and so the margin) tracks live mass edits.
+              const margin = liveMargin ?? result.staticMargin
+              const cgFromNose = liveCgFromNose ?? result.cg.fromNose
+              return (
+                <>
+                  <div className="mb-2 flex items-baseline justify-between">
+                    <span className="text-slate-400">Static margin</span>
+                    <span className={`text-lg font-semibold tabular-nums ${marginTone(margin)}`}>
+                      {formatMargin(margin)}
+                    </span>
+                  </div>
+                  <Row label="CP from nose" value={`${result.cp.fromNose.toFixed(4)} m`} />
+                  <Row label="CG from nose" value={`${cgFromNose.toFixed(4)} m`} />
+                </>
+              )
+            })()}
             <Row label="CNₐ (total)" value={result.cna.toFixed(3)} small />
+            {result.fins.count > 0 && !result.fins.symmetric && (
+              <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
+                ⚠ Fins are not azimuthally symmetric — the true CP sits off the axis and this
+                axial model under-states the instability. Expected {result.fins.count === 1 ? 'a single fin' : `${result.fins.count} uneven fins`}; check the fin selection.
+              </p>
+            )}
             {(() => {
               // Total loaded mass at each end of the burn: the CAD mass plus the motor's wet or
               // dry mass. `result.mass` already includes the motor at the selected state, so back
diff --git a/onshape-viewer/frontend/src/index.css b/onshape-viewer/frontend/src/index.css
index 055482db2..0ecbe1b4b 100644
--- a/onshape-viewer/frontend/src/index.css
+++ b/onshape-viewer/frontend/src/index.css
@@ -1,5 +1,20 @@
 @import 'tailwindcss';
 
+/* Palette tokens the ported design bar (components/versions/ConfigVersions) and
+   ui.tsx reference via var(--color-*). Mapped to this app's slate palette so the
+   shared component renders correctly here without editing its JSX. */
+:root {
+  --color-bg-primary: #020617;   /* slate-950 */
+  --color-bg-secondary: #0f172a; /* slate-900 */
+  --color-bg-tertiary: #1e293b;  /* slate-800 */
+  --color-border: #334155;       /* slate-700 */
+  --color-text-primary: #f1f5f9; /* slate-100 */
+  --color-text-secondary: #cbd5e1; /* slate-300 */
+  --color-text-muted: #94a3b8;   /* slate-400 */
+  --color-accent: #0891b2;       /* cyan-600 */
+  --color-accent-hover: #06b6d4; /* cyan-500 */
+}
+
 /* ── Type scale ──────────────────────────────────────────────────────────────
    Overrides Tailwind's default steps so every `text-*` in the app moves together
    toward legible sizes, matching the recovery-calculator app. Sizes are absolute
diff --git a/onshape-viewer/frontend/src/lib/persist.ts b/onshape-viewer/frontend/src/lib/persist.ts
new file mode 100644
index 000000000..e79ae6c14
--- /dev/null
+++ b/onshape-viewer/frontend/src/lib/persist.ts
@@ -0,0 +1,70 @@
+/**
+ * The config survives a reload.
+ *
+ * Everything a session sets — the model, part overrides, face selections, the
+ * motor, the rail, the flight params — lives in one `ViewerConfig`, which a
+ * refresh would otherwise throw away. Stored in `localStorage` (per-browser, not
+ * synced); the server-side design store (api/documents) is the durable, versioned
+ * timeline, this is the desk you left it on.
+ *
+ * Deliberately NOT stored here: results (recomputed from the config), and view
+ * prefs like opacity that have no bearing on the analysis.
+ */
+
+import type { ViewerConfig } from '../types/config'
+import { defaultFlightParams, defaultViewerConfig } from '../types/config'
+
+/** Versioned key, so a future shape change is ignored rather than crashed on. */
+export const STORAGE_KEY = 'onshape-viewer.config.v1'
+
+/**
+ * A stored config, merged onto today's defaults. Null when nothing usable is there.
+ *
+ * Merged per field rather than taken whole: the stored copy was written by whatever
+ * version of the app last ran, so a field added since is absent from it and
+ * `{...saved}` would leave it `undefined`. Default first, overwrite with saved, so a
+ * new field arrives with its default and an old one is preserved. Nothing here
+ * validates the analysis — the backend judges a bad selection, same as if typed.
+ */
+export function reviveViewerConfig(raw: string | null): ViewerConfig | null {
+  if (!raw) return null
+  let saved: Partial<ViewerConfig>
+  try {
+    saved = JSON.parse(raw)
+  } catch {
+    return null
+  }
+  if (!saved || typeof saved !== 'object' || Array.isArray(saved)) return null
+
+  const base = defaultViewerConfig()
+  return {
+    version: 1,
+    modelId: typeof saved.modelId === 'string' ? saved.modelId : base.modelId,
+    overrides: saved.overrides && typeof saved.overrides === 'object' ? saved.overrides : base.overrides,
+    outerFaces: Array.isArray(saved.outerFaces) ? saved.outerFaces : base.outerFaces,
+    finFaces: Array.isArray(saved.finFaces) ? saved.finFaces : base.finFaces,
+    finCount: typeof saved.finCount === 'number' ? saved.finCount : base.finCount,
+    motor: saved.motor ?? base.motor,
+    railLength: typeof saved.railLength === 'number' ? saved.railLength : base.railLength,
+    flight: { ...defaultFlightParams(), ...(saved.flight ?? {}) },
+  }
+}
+
+/** The stored config, or the default. Never throws: storage off/full ⇒ defaults. */
+export function loadViewerConfig(): ViewerConfig {
+  try {
+    return reviveViewerConfig(localStorage.getItem(STORAGE_KEY)) ?? defaultViewerConfig()
+  } catch {
+    return defaultViewerConfig()
+  }
+}
+
+/** Store the config. Quietly does nothing if storage refuses — a failed save must
+ *  not take down the app the user is still editing in. */
+export function saveViewerConfig(config: ViewerConfig): void {
+  try {
+    localStorage.setItem(STORAGE_KEY, JSON.stringify(config))
+  } catch {
+    /* private mode, quota, or no storage. Not worth a dialog. */
+  }
+}
diff --git a/onshape-viewer/frontend/src/types.ts b/onshape-viewer/frontend/src/types.ts
index 51941e4ab..57ef6adcf 100644
--- a/onshape-viewer/frontend/src/types.ts
+++ b/onshape-viewer/frontend/src/types.ts
@@ -245,6 +245,8 @@ export interface FinData {
   span: number
   area: number
   planforms: FinPlanform[]
+  /** Azimuthally symmetric fin set. False (e.g. a fin removed) ⇒ off-axis CP, warn. */
+  symmetric: boolean
 }
 
 /** Auto-detected fin faces, from GET .../fins. */
@@ -260,6 +262,8 @@ export interface FinGuess {
 export interface StabilityResult {
   cg: { world: [number, number, number]; fromNose: number }
   cp: { world: [number, number, number]; fromNose: number }
+  /** Unit axis direction (nose→tail), so the client can recompute margin on a mass edit. */
+  axisDirection: [number, number, number]
   cna: number
   refDiameter: number
   rMax: number
diff --git a/onshape-viewer/frontend/src/types/config.ts b/onshape-viewer/frontend/src/types/config.ts
new file mode 100644
index 000000000..a6c9ee8e4
--- /dev/null
+++ b/onshape-viewer/frontend/src/types/config.ts
@@ -0,0 +1,59 @@
+/**
+ * ViewerConfig — the user inputs that make up one saved "design".
+ *
+ * A design is a named analysis carrying its own model reference (mirrors the
+ * recovery calculator's designs). Everything a session sets that should survive a
+ * reload and be versionable lives here: the loaded model, per-part mass/material
+ * overrides, the body/fin face selections, the motor and its placement, the rail
+ * length, and the Flight Dynamics launch params. Derived results are not stored —
+ * they are recomputed from these.
+ *
+ * Deliberately out: part *visibility* (view state, and an empty set reads as
+ * "all hidden"); the axis (auto-detected, not a user input).
+ */
+
+import type { FaceRef, MotorSelection, PartOverride } from '../types'
+
+export interface FlightParams {
+  /** Rail angle from horizontal (deg); 90 = vertical. */
+  inclination: number
+  /** Rail heading from north (deg). */
+  heading: number
+  /** Constant wind speed (m/s) and the bearing it blows from (deg). */
+  windSpeed: number
+  windDirection: number
+  /** Which CP model the stability overlay shows. */
+  cpModel: 'ours' | 'rocketpy' | 'both'
+}
+
+export interface ViewerConfig {
+  /** Bumped only on a breaking shape change so an old blob is ignored, not crashed on. */
+  version: 1
+  modelId: string | null
+  /** Occurrence key → override (material / typed-in mass). Map serialised to an object. */
+  overrides: Record<string, PartOverride>
+  outerFaces: FaceRef[]
+  finFaces: FaceRef[]
+  finCount: number
+  motor: MotorSelection | null
+  railLength: number
+  flight: FlightParams
+}
+
+export function defaultFlightParams(): FlightParams {
+  return { inclination: 85, heading: 0, windSpeed: 5, windDirection: 270, cpModel: 'both' }
+}
+
+export function defaultViewerConfig(): ViewerConfig {
+  return {
+    version: 1,
+    modelId: null,
+    overrides: {},
+    outerFaces: [],
+    finFaces: [],
+    finCount: 0,
+    motor: null,
+    railLength: 1.0,
+    flight: defaultFlightParams(),
+  }
+}
diff --git a/onshape-viewer/tests/test_aero_fin_extract.py b/onshape-viewer/tests/test_aero_fin_extract.py
index cebad9308..512789811 100644
--- a/onshape-viewer/tests/test_aero_fin_extract.py
+++ b/onshape-viewer/tests/test_aero_fin_extract.py
@@ -12,7 +12,12 @@
 import numpy as np
 
 from backend.onshape.aero.axis import Axis
-from backend.onshape.aero.fins import extract_fin_planform, fin_set_aero_from_faces
+from backend.onshape.aero.fins import (
+    detect_fin_faces,
+    extract_fin_planform,
+    fin_set_aero_from_faces,
+    is_fin_face,
+)
 from backend.onshape.geometry_store import FaceGeometry
 
 ROOT, TIP, SWEEP, SPAN = 0.05, 0.03, 0.02, 0.05
@@ -64,6 +69,47 @@ def test_counts_three_fins_and_span():
     assert abs(root_chord - ROOT) < 2e-3, root_chord
 
 
+def _quad_face(occ, corners) -> FaceGeometry:
+    a, b, c, d = corners
+    return FaceGeometry(
+        occurrence_key=occ, part_id="p", face_id=occ,
+        triangles=np.asarray([[a, b, c], [b, d, c]]),
+        surface_type="PLANE", axis_origin=None, axis_dir=None, radius=None,
+    )
+
+
+def test_fin_flat_face_passes_edges_rejected():
+    phi = 0.0
+    u = np.array([np.cos(phi), np.sin(phi), 0.0])  # radial
+    w = np.array([-np.sin(phi), np.cos(phi), 0.0])  # azimuthal
+    z = np.array([0.0, 0.0, 1.0])  # axis
+    R = BODY_R + SPAN
+
+    # Flat fin side: lies in the (axis, radial) plane -> azimuthal normal -> a fin.
+    assert is_fin_face(make_fin(phi), AXIS) is True
+    # Tip edge: faces radially outward (normal = radial) -> not a fin.
+    tip = _quad_face("tip", [0 * z + R * u - 1e-3 * w, 0.05 * z + R * u - 1e-3 * w,
+                             0 * z + R * u + 1e-3 * w, 0.05 * z + R * u + 1e-3 * w])
+    assert is_fin_face(tip, AXIS) is False
+    # Leading edge: faces along the axis (normal = axis) -> not a fin.
+    lead = _quad_face("lead", [0 * z + BODY_R * u - 1e-3 * w, 0 * z + R * u - 1e-3 * w,
+                               0 * z + BODY_R * u + 1e-3 * w, 0 * z + R * u + 1e-3 * w])
+    assert is_fin_face(lead, AXIS) is False
+
+
+def test_detect_excludes_edge_faces():
+    fins = [make_fin(a) for a in (0, 120, 240)]
+    R = BODY_R + SPAN
+    u = np.array([1.0, 0.0, 0.0])
+    w = np.array([0.0, 1.0, 0.0])
+    z = np.array([0.0, 0.0, 1.0])
+    tip = _quad_face("tipedge", [R * u - 1e-3 * w, 0.05 * z + R * u - 1e-3 * w,
+                                 R * u + 1e-3 * w, 0.05 * z + R * u + 1e-3 * w])
+    detected = detect_fin_faces([*fins, tip], AXIS, BODY_R)
+    keys = {k for k, _ in detected}
+    assert "occ:fin0" in keys and "tipedge" not in keys  # the edge is not a fin face
+
+
 def test_extracted_cna_matches_openrocket():
     fins = [make_fin(a) for a in (0, 120, 240)]
     aero, pf = fin_set_aero_from_faces(fins, AXIS, BODY_R, r_ref=BODY_R)
diff --git a/onshape-viewer/tests/test_documents.py b/onshape-viewer/tests/test_documents.py
new file mode 100644
index 000000000..a45aab95c
--- /dev/null
+++ b/onshape-viewer/tests/test_documents.py
@@ -0,0 +1,61 @@
+"""Versioned-design store: the full CRUD + history + release lifecycle.
+
+Offline (in-process TestClient, LocalBackend under a temp USERDATA_DIR). Asserts the
+S3 backend stays dormant without a bucket env, so this never touches AWS.
+"""
+
+from __future__ import annotations
+
+import pytest
+from fastapi.testclient import TestClient
+
+import backend.main as main_module
+from backend import storage
+
+B = "/api/viewer/documents"
+
+
+@pytest.fixture()
+def client(tmp_path, monkeypatch):
+    # LocalBackend reads USERDATA_DIR per call, so pointing it at a tmp dir isolates the test.
+    monkeypatch.setenv("USERDATA_DIR", str(tmp_path))
+    return TestClient(main_module.app)
+
+
+def test_s3_backend_is_dormant_without_bucket():
+    assert storage.IS_S3 is False
+
+
+def test_document_crud_history_release(client):
+    # create
+    doc = client.post(B, json={"name": "Rocket A", "config": {"railLength": 1.2}}).json()
+    did = doc["id"]
+    assert doc["name"] == "Rocket A"
+    assert client.get(B).json()[0]["id"] == did
+
+    # autosave writes the working copy; /load returns it
+    assert client.post(f"{B}/{did}/autosave", json={"config": {"railLength": 2.5}}).json()["ok"]
+    assert client.get(f"{B}/{did}/load").json() == {"config": {"railLength": 2.5}}
+
+    # flush forces a microversion; history + round-trip
+    assert client.post(f"{B}/{did}/flush", json={"config": {"railLength": 3.0}}).json()["ok"]
+    history = client.get(f"{B}/{did}/history").json()
+    assert len(history) >= 1
+    vid = history[0]["versionId"]
+    assert client.get(f"{B}/{did}/version/{vid}").json() == {"config": {"railLength": 3.0}}
+
+    # release is immutable
+    assert client.post(f"{B}/{did}/release", json={"label": "0.1"}).json()["label"] == "0.1"
+    assert client.post(f"{B}/{did}/release", json={"label": "0.1"}).status_code == 409
+    assert [r["label"] for r in client.get(f"{B}/{did}/releases").json()] == ["0.1"]
+    assert client.get(f"{B}/{did}/release/0.1").json() == {"config": {"railLength": 3.0}}
+
+    # rename keeps the id; delete removes it
+    assert client.patch(f"{B}/{did}", json={"name": "Rocket A v2"}).json()["name"] == "Rocket A v2"
+    assert client.delete(f"{B}/{did}").json()["ok"]
+    assert client.get(B).json() == []
+
+
+def test_unknown_document_404(client):
+    assert client.get(f"{B}/does-not-exist/version/whatever").status_code == 404
+    assert client.get(f"{B}/does-not-exist/release/0.1").status_code == 404

From 3e40a384cba73278444e667017f416d8cacacc13 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 13 Aug 2026 18:13:46 -0700
Subject: [PATCH 012/205] recovery-calculator: frontend cleanups
 (Inputs/Outputs headers, New Design dialog, trim redundant controls)

---
 .../components/crosscheck/CrosscheckPanel.tsx |  8 +-
 .../src/components/recovery/InputForms.tsx    | 10 +--
 .../src/components/recovery/RecoveryPanel.tsx | 35 ++++----
 .../components/versions/ConfigVersions.tsx    | 86 ++++++++++++++++---
 4 files changed, 97 insertions(+), 42 deletions(-)

diff --git a/recovery-calculator/frontend/src/components/crosscheck/CrosscheckPanel.tsx b/recovery-calculator/frontend/src/components/crosscheck/CrosscheckPanel.tsx
index 77442619c..789baa8a6 100644
--- a/recovery-calculator/frontend/src/components/crosscheck/CrosscheckPanel.tsx
+++ b/recovery-calculator/frontend/src/components/crosscheck/CrosscheckPanel.tsx
@@ -85,16 +85,12 @@ export function CrosscheckPanel({ ui }: { ui: UiConfig }) {
   return (
     <div className="space-y-4">
       <PageHeader title="Cross-check">
-        This tool vs OpenRocket vs the recovery mastersheet.
+        This tool vs OpenRocket vs the recovery mastersheet. Comparison only
+        - nothing on this tab sizes hardware.
       </PageHeader>
 
       <Card>
         <div className="flex flex-wrap items-center gap-3">
-          <div>
-            <p className="font-prose text-sm leading-relaxed text-[var(--color-text-primary)]">
-              Comparison only - nothing on this tab sizes hardware.
-            </p>
-          </div>
           {/* No version badge here. The release is already in the model's own
               label -- it names the chart legend and both table headers -- so a
               badge repeated it a fourth time. The commit still travels in the
diff --git a/recovery-calculator/frontend/src/components/recovery/InputForms.tsx b/recovery-calculator/frontend/src/components/recovery/InputForms.tsx
index 27f867c5d..b363e3bb5 100644
--- a/recovery-calculator/frontend/src/components/recovery/InputForms.tsx
+++ b/recovery-calculator/frontend/src/components/recovery/InputForms.tsx
@@ -32,12 +32,10 @@ export function VehicleForm({ value, onChange }: {
   value: Vehicle
   onChange: (v: Vehicle) => void
 }) {
-  const { num, dec } = useUnits()
+  const { num } = useUnits()
   const set = <K extends keyof Vehicle>(k: K, v: Vehicle[K]) =>
     onChange({ ...value, [k]: v })
 
-  const fineness = value.d_body > 0 ? value.l_body / value.d_body : 0
-
   return (
     <Card title="Vehicle">
       <div className={grid}>
@@ -59,11 +57,7 @@ export function VehicleForm({ value, onChange }: {
           <UnitInput value={value.d_body} onChange={(v) => set('d_body', v ?? 0)}
                      kind="length" min={0} />
         </Field>
-        <Field
-          label="Airframe length"
-          kind="length"
-          hint={`fineness ratio ${dec(fineness, 1)}`}
-        >
+        <Field label="Airframe length" kind="length">
           <UnitInput value={value.l_body} onChange={(v) => set('l_body', v ?? 0)}
                      kind="length" step={1} min={0} />
         </Field>
diff --git a/recovery-calculator/frontend/src/components/recovery/RecoveryPanel.tsx b/recovery-calculator/frontend/src/components/recovery/RecoveryPanel.tsx
index 0e712d626..ae4fc9952 100644
--- a/recovery-calculator/frontend/src/components/recovery/RecoveryPanel.tsx
+++ b/recovery-calculator/frontend/src/components/recovery/RecoveryPanel.tsx
@@ -13,15 +13,26 @@
  */
 
 import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
+import type { ReactNode } from 'react'
 import type { Result, UiConfig } from '../../types/schema'
 import { simulate } from '../../api/client'
 import { usePadClimatology } from '../../lib/climatology'
-import { defaultUiConfig, physicsKey, toWireConfig } from '../../lib/serialise'
+import { physicsKey, toWireConfig } from '../../lib/serialise'
 import { Button, Card, PageHeader } from '../ui'
 import { InputColumn } from './InputForms'
 import { DeviceList } from './DeviceList'
 import { ResultsPanel } from './ResultsPanel'
 
+/** Column label above each side of the two-column layout, so the left stack
+ *  reads as Inputs and the right as Outputs at a glance. */
+function ColumnHeader({ children }: { children: ReactNode }) {
+  return (
+    <h2 className="px-1 text-xs font-semibold uppercase tracking-wide text-[var(--color-text-secondary)]">
+      {children}
+    </h2>
+  )
+}
+
 export function RecoveryPanel({ ui, onChange: setUi }: {
   ui: UiConfig
   onChange: (v: UiConfig) => void
@@ -103,14 +114,8 @@ export function RecoveryPanel({ ui, onChange: setUi }: {
 
           <span className="mx-2 h-4 w-px bg-[var(--color-border)]" />
 
-          {/* Named designs live on the Designs bar (server, with file save/load).
-              These two are the one-file snapshot of this run for sharing. */}
-          <Button
-            onClick={() => download('recovery-setup.json', { config: toWireConfig(ui), result })}
-            title="Download your inputs and, if you have run, the results together in one file."
-          >
-            Download setup
-          </Button>
+          {/* Save/load of a whole design lives on the Designs bar (server, with
+              file save/load). This is just the last result object. */}
           <Button
             onClick={() => result && download('result.json', result)}
             disabled={!result}
@@ -118,17 +123,12 @@ export function RecoveryPanel({ ui, onChange: setUi }: {
           >
             Export result.json
           </Button>
-
-          <span className="ml-auto flex items-center gap-2">
-            <Button onClick={() => setUi(defaultUiConfig())} variant="ghost">
-              Reset
-            </Button>
-          </span>
         </div>
       </Card>
 
       <div className="grid grid-cols-1 gap-4 xl:grid-cols-[minmax(0,1fr)_minmax(0,1.1fr)]">
         <div className="space-y-4">
+          <ColumnHeader>Inputs</ColumnHeader>
           <DeviceList
             devices={ui.devices}
             onChange={(devices) => setUi({ ...ui, devices })}
@@ -136,7 +136,10 @@ export function RecoveryPanel({ ui, onChange: setUi }: {
           <InputColumn ui={ui} onChange={setUi} lapseByMonth={lapseByMonth}
                        padNormals={padNormals} />
         </div>
-        <ResultsPanel result={result} running={running} error={error} />
+        <div className="space-y-4">
+          <ColumnHeader>Outputs</ColumnHeader>
+          <ResultsPanel result={result} running={running} error={error} />
+        </div>
       </div>
     </div>
   )
diff --git a/recovery-calculator/frontend/src/components/versions/ConfigVersions.tsx b/recovery-calculator/frontend/src/components/versions/ConfigVersions.tsx
index 1f4be13e6..39f8b58f2 100644
--- a/recovery-calculator/frontend/src/components/versions/ConfigVersions.tsx
+++ b/recovery-calculator/frontend/src/components/versions/ConfigVersions.tsx
@@ -15,6 +15,7 @@ import { useCallback, useEffect, useRef, useState } from 'react'
 import type { ReactNode } from 'react'
 import type { UiConfig } from '../../types/schema'
 import { reviveUiConfig } from '../../lib/persist'
+import { defaultUiConfig } from '../../lib/serialise'
 import { Button, Modal } from '../ui'
 import * as api from '../../api/documents'
 import type { DocMeta, MicroVersion, ReleaseVersion } from '../../api/documents'
@@ -92,6 +93,14 @@ export function ConfigVersions({ config, onRestore, inline = false }: Props) {
   const [relStatus, setRelStatus] = useState<'idle' | 'saving' | 'ok' | 'err'>('idle')
   const [relError, setRelError] = useState('')
 
+  // New-design dialog: a name plus a seed -- 'default' values or a copy of an
+  // existing design (by id).
+  const [showNew, setShowNew] = useState(false)
+  const [newName, setNewName] = useState('')
+  const [newSource, setNewSource] = useState<'default' | string>('default')
+  const [newStatus, setNewStatus] = useState<'idle' | 'saving' | 'err'>('idle')
+  const [newError, setNewError] = useState('')
+
   // One at-a-time dialog (prompt / confirm / alert) and, for prompts, its input.
   const [dialog, setDialog] = useState<Dialog | null>(null)
   const [dialogValue, setDialogValue] = useState('')
@@ -191,21 +200,38 @@ export function ConfigVersions({ config, onRestore, inline = false }: Props) {
     setShowHistory(false)
   }
 
-  const create = () => askPrompt({
-    kind: 'prompt',
-    title: 'New design',
-    label: 'Design name',
-    placeholder: 'Design name',
-    value: `Design ${documents.length + 1}`,
-    confirmLabel: 'Create',
-    onConfirm: async (name) => {
-      const meta = await api.createDocument(name, configRef.current)
+  const openNew = () => {
+    setNewName(`Design ${documents.length + 1}`)
+    setNewSource('default')
+    setNewStatus('idle')
+    setNewError('')
+    setShowNew(true)
+  }
+
+  const submitNew = async () => {
+    const name = newName.trim()
+    if (!name) return
+    setNewStatus('saving')
+    setNewError('')
+    try {
+      // 'default' seeds from the built-in config; anything else is the id of a
+      // design to copy -- load its working copy from the server and normalise
+      // it (fresh uids etc.) as if it came off disk.
+      const seed = newSource === 'default'
+        ? defaultUiConfig()
+        : normalise(((await api.loadDocument(newSource)).config ?? defaultUiConfig()) as UiConfig)
+      const meta = await api.createDocument(name, seed)
       setDocuments(d => [meta, ...d])
       setActiveId(meta.id)
       loadedId.current = meta.id
       localStorage.setItem(ACTIVE_KEY, meta.id)
-    },
-  })
+      onRestore(seed)
+      setShowNew(false)
+    } catch (e) {
+      setNewStatus('err')
+      setNewError(e instanceof Error ? e.message : 'Could not create design')
+    }
+  }
 
   const rename = () => {
     if (!active) return
@@ -349,7 +375,7 @@ export function ConfigVersions({ config, onRestore, inline = false }: Props) {
           {documents.length === 0 && <option value="">No designs</option>}
           {documents.map(d => <option key={d.id} value={d.id}>{d.name}</option>)}
         </select>
-        <button onClick={create} className={btn} title="New design">+ New</button>
+        <button onClick={openNew} className={btn} title="New design">+ New</button>
         <button onClick={rename} disabled={!active} className={btn} title="Rename">Rename</button>
         <button onClick={remove} disabled={!active} className={btn} title="Delete design">Delete</button>
 
@@ -415,6 +441,42 @@ export function ConfigVersions({ config, onRestore, inline = false }: Props) {
         </div>
       </Modal>
 
+      <Modal
+        open={showNew}
+        onClose={() => { if (newStatus !== 'saving') setShowNew(false) }}
+        title="New design"
+        width="w-[420px]"
+        footer={
+          <>
+            <Button onClick={() => setShowNew(false)} disabled={newStatus === 'saving'} variant="ghost">Cancel</Button>
+            <Button onClick={() => void submitNew()} disabled={!newName.trim() || newStatus === 'saving'} variant="primary">
+              {newStatus === 'saving' ? 'Creating…' : 'Create'}
+            </Button>
+          </>
+        }
+      >
+        <label className="mb-1 block text-xs text-[var(--color-text-muted)]">Design name <span className="text-red-500">*</span></label>
+        <input
+          autoFocus value={newName} onChange={e => setNewName(e.target.value)}
+          onKeyDown={e => { if (e.key === 'Enter') void submitNew() }}
+          placeholder="Design name" disabled={newStatus === 'saving'}
+          className="w-full rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-3 py-2 text-sm text-[var(--color-text-primary)] outline-none disabled:opacity-50"
+        />
+        <label className="mb-1 mt-4 block text-xs text-[var(--color-text-muted)]">Start from</label>
+        <select
+          value={newSource} onChange={e => setNewSource(e.target.value)} disabled={newStatus === 'saving'}
+          className="w-full rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-primary)] px-3 py-2 text-sm text-[var(--color-text-primary)] outline-none disabled:opacity-50"
+        >
+          <option value="default">Default values</option>
+          {documents.length > 0 && (
+            <optgroup label="Copy from design">
+              {documents.map(d => <option key={d.id} value={d.id}>{d.name}</option>)}
+            </optgroup>
+          )}
+        </select>
+        {newStatus === 'err' && <p className="mt-3 text-xs text-red-500">{newError}</p>}
+      </Modal>
+
       <Modal
         open={showRelease}
         onClose={() => { if (relStatus !== 'saving') setShowRelease(false) }}

From 73b861b04656bde3a5c647a0bb543daa9e57909d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 11:32:35 -0700
Subject: [PATCH 013/205] deploy: add Wi-Fi hardening (powersave off + recovery
 watchdog) as standalone installer and bootstrap step

---
 deploy/apps/bootstrap.sh                      |  12 ++
 deploy/apps/wifi/99-star-connectivity.conf    |   7 +
 .../apps/wifi/default-wifi-powersave-on.conf  |   5 +
 deploy/apps/wifi/install-wifi-hardening.sh    |  55 ++++++++
 deploy/apps/wifi/wifi-watchdog.service        |  13 ++
 deploy/apps/wifi/wifi-watchdog.sh             | 124 ++++++++++++++++++
 deploy/apps/wifi/wifi-watchdog.timer          |  10 ++
 7 files changed, 226 insertions(+)
 create mode 100644 deploy/apps/wifi/99-star-connectivity.conf
 create mode 100644 deploy/apps/wifi/default-wifi-powersave-on.conf
 create mode 100755 deploy/apps/wifi/install-wifi-hardening.sh
 create mode 100644 deploy/apps/wifi/wifi-watchdog.service
 create mode 100755 deploy/apps/wifi/wifi-watchdog.sh
 create mode 100644 deploy/apps/wifi/wifi-watchdog.timer

diff --git a/deploy/apps/bootstrap.sh b/deploy/apps/bootstrap.sh
index 0019e3fb4..814927f98 100755
--- a/deploy/apps/bootstrap.sh
+++ b/deploy/apps/bootstrap.sh
@@ -174,6 +174,18 @@ else
 fi
 chown -R "$ADMIN_USER":"$ADMIN_USER" "$CLONE_DIR"
 
+# ── §5b  Wi-Fi hardening (keep the uplink alive on Wi-Fi-only hosts) ──────────
+# This box is often Wi-Fi-only, and 802.11 association is soft state: the radio
+# can stay "connected" while passing zero frames (power-save desync, wedged USB
+# firmware). NetworkManager only recovers on carrier loss, which never happens
+# in that case. The installer disables power save and lays down a watchdog that
+# tests the path end-to-end and reassociates when it's dead. No-ops cleanly on a
+# wired box. Runs from the checkout above, so the files are present. Best-effort:
+# never abort bootstrap over the network-recovery layer.
+say "§5b Wi-Fi hardening"
+bash "$CLONE_DIR/deploy/apps/wifi/install-wifi-hardening.sh" \
+  || warn "§5b Wi-Fi hardening failed — apply manually: deploy/apps/wifi/install-wifi-hardening.sh"
+
 # ── .env: use star-apps.env from the flash drive, else lay down a template ────
 LAUNCH=1
 if [[ -f "$SCRIPT_DIR/star-apps.env" ]]; then
diff --git a/deploy/apps/wifi/99-star-connectivity.conf b/deploy/apps/wifi/99-star-connectivity.conf
new file mode 100644
index 000000000..7c2740684
--- /dev/null
+++ b/deploy/apps/wifi/99-star-connectivity.conf
@@ -0,0 +1,7 @@
+[connectivity]
+uri=http://connectivity-check.ubuntu.com/
+interval=30
+
+[connection]
+# Never stop trying to reassociate.
+connection.autoconnect-retries=0
diff --git a/deploy/apps/wifi/default-wifi-powersave-on.conf b/deploy/apps/wifi/default-wifi-powersave-on.conf
new file mode 100644
index 000000000..c4456593d
--- /dev/null
+++ b/deploy/apps/wifi/default-wifi-powersave-on.conf
@@ -0,0 +1,5 @@
+[connection]
+# Ubuntu ships this file with wifi.powersave = 3 (enabled). On USB Realtek
+# adapters (rtw88_*) a power-save desync wedges the association: the link stays
+# "connected" and passes zero frames. 2 = disable power save.
+wifi.powersave = 2
diff --git a/deploy/apps/wifi/install-wifi-hardening.sh b/deploy/apps/wifi/install-wifi-hardening.sh
new file mode 100755
index 000000000..06715530d
--- /dev/null
+++ b/deploy/apps/wifi/install-wifi-hardening.sh
@@ -0,0 +1,55 @@
+#!/bin/bash
+# Wi-Fi hardening for Wi-Fi-only hosts (STAR apps/DAQ server and friends).
+# Run as root. Idempotent. Does NOT drop the current association.
+#
+# Safe to run on a live server: it only touches Wi-Fi (power save, connectivity
+# checking, and a recovery watchdog) and reassociates nothing on install.
+#
+# Installs, all copied from the files next to this script (single source of truth):
+#   /etc/NetworkManager/conf.d/default-wifi-powersave-on.conf  (power save off)
+#   /etc/NetworkManager/conf.d/99-star-connectivity.conf       (fast conn checks)
+#   /usr/local/sbin/wifi-watchdog.sh
+#   /etc/systemd/system/wifi-watchdog.{service,timer}
+set -euo pipefail
+
+if (( EUID != 0 )); then
+  echo "must run as root (try: sudo $0)" >&2
+  exit 1
+fi
+
+SRC="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+echo "==> 1/5 disabling Wi-Fi power save"
+install -m 0644 "$SRC/default-wifi-powersave-on.conf" \
+  /etc/NetworkManager/conf.d/default-wifi-powersave-on.conf
+
+echo "==> 2/5 tightening connectivity checking and autoconnect"
+install -m 0644 "$SRC/99-star-connectivity.conf" \
+  /etc/NetworkManager/conf.d/99-star-connectivity.conf
+
+echo "==> 3/5 installing watchdog"
+install -m 0755 "$SRC/wifi-watchdog.sh" /usr/local/sbin/wifi-watchdog.sh
+
+echo "==> 4/5 installing systemd units"
+install -m 0644 "$SRC/wifi-watchdog.service" /etc/systemd/system/wifi-watchdog.service
+install -m 0644 "$SRC/wifi-watchdog.timer"   /etc/systemd/system/wifi-watchdog.timer
+
+systemctl daemon-reload
+systemctl enable --now wifi-watchdog.timer
+
+echo "==> 5/5 applying power save to live interfaces (no reconnect needed)"
+systemctl reload NetworkManager
+for dev in $(nmcli -t -f DEVICE,TYPE device | awk -F: '$2=="wifi"{print $1}'); do
+  if iw dev "$dev" set power_save off 2>/dev/null; then
+    echo "    $dev: power save off"
+  else
+    echo "    $dev: iw failed, will apply on next reconnect"
+  fi
+done
+
+echo
+echo "Done. Verify:"
+echo "  nmcli -t -f DEVICE,TYPE device | awk -F: '\$2==\"wifi\"{print \$1}' \\"
+echo "    | xargs -I{} iw dev {} get power_save      # expect: off"
+echo "  systemctl status wifi-watchdog.timer"
+echo "  journalctl -t wifi-watchdog -f"
diff --git a/deploy/apps/wifi/wifi-watchdog.service b/deploy/apps/wifi/wifi-watchdog.service
new file mode 100644
index 000000000..246e5379e
--- /dev/null
+++ b/deploy/apps/wifi/wifi-watchdog.service
@@ -0,0 +1,13 @@
+[Unit]
+Description=Wi-Fi connectivity watchdog (recovers dead-but-associated links)
+After=NetworkManager.service
+Wants=NetworkManager.service
+
+[Service]
+Type=oneshot
+ExecStart=/usr/local/sbin/wifi-watchdog.sh
+# Uncomment to pin values instead of autodetecting:
+#Environment=WIFI_IFACE=wlan0
+#Environment=WIFI_CONN=eduroam
+#Environment=WIFI_MODULE=rtw88_8822bu
+#Environment=WIFI_PROBES=1.1.1.1:443 8.8.8.8:443 198.41.192.7:7844
diff --git a/deploy/apps/wifi/wifi-watchdog.sh b/deploy/apps/wifi/wifi-watchdog.sh
new file mode 100755
index 000000000..ceb59a15c
--- /dev/null
+++ b/deploy/apps/wifi/wifi-watchdog.sh
@@ -0,0 +1,124 @@
+#!/bin/bash
+# wifi-watchdog — recover from "associated but dead" Wi-Fi.
+#
+# Why this exists: on a Wi-Fi-only host, 802.11 association is soft state. The
+# radio can stay associated to an AP while passing zero frames (power-save
+# desync, wedged USB firmware, a sick AP). NetworkManager only recovers on
+# CARRIER loss, which never happens in that case -- it correctly reports
+# CONNECTED_SITE and then does nothing. This script is the missing actuator:
+# it tests the path end-to-end and has the authority to re-associate.
+#
+# Escalation ladder, one rung per consecutive failed probe (30s apart):
+#   1-2   log only (ride out normal roams, which resolve in ~10s)
+#   3     bounce the connection  -> forces a rescan, usually lands on a better AP
+#   6     toggle the radio       -> resets adapter state a bounce cannot
+#   10    reload the driver      -> last resort for wedged USB firmware
+# Past rung 10 it keeps retrying the bounce every 4th tick, so it never gives up.
+#
+# All autodetected values can be overridden via the environment (see the
+# systemd unit) if a host has more than one Wi-Fi interface.
+
+set -uo pipefail
+
+# --- autodetect: first Wi-Fi device, its active connection, its driver --------
+IFACE="${WIFI_IFACE:-$(nmcli -t -f DEVICE,TYPE device 2>/dev/null \
+  | awk -F: '$2=="wifi"{print $1; exit}')}"
+
+if [[ -z "$IFACE" ]]; then
+  logger -t wifi-watchdog -- "no Wi-Fi interface found; nothing to do"
+  exit 0
+fi
+
+CONN="${WIFI_CONN:-$(nmcli -t -f NAME,DEVICE connection show --active 2>/dev/null \
+  | awk -F: -v d="$IFACE" '$2==d{print $1; exit}')}"
+
+MODULE="${WIFI_MODULE:-$(basename "$(readlink -f "/sys/class/net/$IFACE/device/driver" \
+  2>/dev/null)" 2>/dev/null)}"
+
+STATE_DIR="${WIFI_STATE_DIR:-/run/wifi-watchdog}"
+STATE_FILE="$STATE_DIR/fail_count"
+
+# Probe targets: "host port". TCP, because ICMP is routinely filtered on campus
+# and hotel networks. Mix of public DNS and the Cloudflare tunnel edge, so a
+# single provider outage cannot make us think our own link is dead.
+read -r -a PROBE_TARGETS <<<"${WIFI_PROBES:-}"
+if (( ${#PROBE_TARGETS[@]} == 0 )); then
+  PROBE_TARGETS=("1.1.1.1:443" "8.8.8.8:443" "198.41.192.7:7844")
+fi
+
+log() { logger -t wifi-watchdog -- "$*"; echo "$*"; }
+
+# 0 if ANY target answers within 5s. Any single success means the path is fine.
+probe() {
+  local target host port
+  for target in "${PROBE_TARGETS[@]}"; do
+    host="${target%:*}"; port="${target##*:}"
+    if timeout 5 bash -c "exec 3<>/dev/tcp/$host/$port" 2>/dev/null; then
+      return 0
+    fi
+  done
+  return 1
+}
+
+reassociate() {
+  nmcli device disconnect "$IFACE" >/dev/null 2>&1
+  sleep 3
+  if [[ -n "$CONN" ]]; then
+    nmcli connection up "$CONN" ifname "$IFACE" >/dev/null 2>&1 \
+      || log "  'nmcli connection up $CONN' returned non-zero"
+  else
+    nmcli device connect "$IFACE" >/dev/null 2>&1 \
+      || log "  'nmcli device connect $IFACE' returned non-zero"
+  fi
+}
+
+mkdir -p "$STATE_DIR"
+fails=$(cat "$STATE_FILE" 2>/dev/null || echo 0)
+[[ "$fails" =~ ^[0-9]+$ ]] || fails=0
+
+if probe; then
+  (( fails > 0 )) && log "connectivity restored after $fails failed probe(s)"
+  echo 0 >"$STATE_FILE"
+  exit 0
+fi
+
+fails=$(( fails + 1 ))
+echo "$fails" >"$STATE_FILE"
+
+nm_state=$(nmcli -g STATE,CONNECTIVITY general 2>/dev/null | paste -sd/ -)
+log "probe FAILED on $IFACE (consecutive=$fails, NetworkManager=$nm_state)"
+
+case "$fails" in
+  3)
+    log "rung 1: bouncing '${CONN:-$IFACE}' to force a rescan"
+    reassociate
+    ;;
+  6)
+    log "rung 2: toggling Wi-Fi radio"
+    nmcli radio wifi off >/dev/null 2>&1
+    sleep 5
+    nmcli radio wifi on  >/dev/null 2>&1
+    ;;
+  10)
+    if [[ -n "$MODULE" ]]; then
+      log "rung 3: reloading driver '$MODULE'"
+      modprobe -r "$MODULE" >/dev/null 2>&1 || log "  modprobe -r $MODULE failed"
+      sleep 5
+      modprobe "$MODULE"    >/dev/null 2>&1 || log "  modprobe $MODULE failed"
+      sleep 10
+      reassociate
+    else
+      log "rung 3: driver name unknown, bouncing instead"
+      reassociate
+    fi
+    ;;
+  *)
+    # Past the ladder: keep retrying the cheap fix rather than giving up.
+    if (( fails > 10 && fails % 4 == 0 )); then
+      log "rung 1 (repeat): still down after $fails probes"
+      reassociate
+    fi
+    ;;
+esac
+
+exit 0
diff --git a/deploy/apps/wifi/wifi-watchdog.timer b/deploy/apps/wifi/wifi-watchdog.timer
new file mode 100644
index 000000000..15e4c2fa0
--- /dev/null
+++ b/deploy/apps/wifi/wifi-watchdog.timer
@@ -0,0 +1,10 @@
+[Unit]
+Description=Run the Wi-Fi connectivity watchdog every 30s
+
+[Timer]
+OnBootSec=2min
+OnUnitActiveSec=30s
+AccuracySec=5s
+
+[Install]
+WantedBy=timers.target

From d06d94a9ca7a80cd4ce23b49128cf2dbd6c44bca Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 12:52:13 -0700
Subject: [PATCH 014/205] onshape-viewer flight dynamics: fix AoA
 double-conversion, add compare-series overlay + angle-from-vertical, square
 ground track, larger legible charts

---
 onshape-viewer/backend/main.py                |   1 +
 .../backend/onshape/aero/rocketpy_flight.py   |  11 +-
 onshape-viewer/frontend/src/App.tsx           |   5 +
 .../components/viewer/FlightDynamicsTab.tsx   | 268 +++++++++++-------
 .../src/components/viewer/chartTheme.ts       |  12 +-
 onshape-viewer/frontend/src/types.ts          |   1 +
 6 files changed, 192 insertions(+), 106 deletions(-)

diff --git a/onshape-viewer/backend/main.py b/onshape-viewer/backend/main.py
index 81457e205..ccb8f0cf6 100644
--- a/onshape-viewer/backend/main.py
+++ b/onshape-viewer/backend/main.py
@@ -517,6 +517,7 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
             "acceleration": result.acceleration[i],
             "dynamicPressure": result.dynamic_pressure[i],
             "angleOfAttack": result.angle_of_attack[i],
+            "angleFromVertical": result.angle_from_vertical[i],
             "stabilityMarginRocketpy": result.stability_margin_rocketpy[i],
             "stabilityMarginOurs": result.stability_margin_ours[i],
             "driftX": result.drift_x[i],
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_flight.py b/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
index a5a3105d3..5306eb6dc 100644
--- a/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
+++ b/onshape-viewer/backend/onshape/aero/rocketpy_flight.py
@@ -74,6 +74,7 @@ class FlightDynamicsResult:
     acceleration: list[float]       # m/s^2
     dynamic_pressure: list[float]   # Pa
     angle_of_attack: list[float | None]    # deg; None where airspeed too low to define
+    angle_from_vertical: list[float]       # deg; rocket axis tilt off straight-up
     stability_margin_rocketpy: list[float]  # cal (RocketPy's CP)
     stability_margin_ours: list[float | None]  # cal (our CP(M))
     drift_x: list[float]            # m east of pad
@@ -229,7 +230,7 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
     _AOA_MIN_AIRSPEED = 15.0  # m/s
 
     altitude, speed, mach, accel, q, aoa = [], [], [], [], [], []
-    marg_rp, marg_ours, dx, dy, bend, wpitch = [], [], [], [], [], []
+    marg_rp, marg_ours, dx, dy, bend, wpitch, avert = [], [], [], [], [], [], []
     for t in ts:
         m = _safe(flight.mach_number, t)
         altitude.append(_safe(flight.altitude, t) - 0.0)  # RocketPy altitude() is already AGL
@@ -238,9 +239,14 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
         accel.append(_safe(flight.acceleration, t))
         q.append(_safe(flight.dynamic_pressure, t))
         if _safe(flight.free_stream_speed, t) >= _AOA_MIN_AIRSPEED:
-            aoa.append(min(180.0, math.degrees(abs(_safe(flight.angle_of_attack, t)))))
+            # RocketPy's angle_of_attack is already in degrees (rad2deg(arccos(...)),
+            # bounded [0, 180]) — do NOT re-convert. abs() guards any sign edge case.
+            aoa.append(abs(_safe(flight.angle_of_attack, t)))
         else:
             aoa.append(None)
+        # attitude_angle is the axis angle above horizontal (deg); vertical tilt is its
+        # complement — a defined-everywhere reference the AoA can be read against.
+        avert.append(90.0 - _safe(flight.attitude_angle, t))
         marg_rp.append(_safe(flight.stability_margin, t))
         marg_ours.append(our_margin_fn(float(t), m) if our_margin_fn else None)
         dx.append(_safe(flight.x, t))
@@ -275,6 +281,7 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
         acceleration=accel,
         dynamic_pressure=q,
         angle_of_attack=aoa,
+        angle_from_vertical=avert,
         stability_margin_rocketpy=marg_rp,
         stability_margin_ours=marg_ours,
         drift_x=dx,
diff --git a/onshape-viewer/frontend/src/App.tsx b/onshape-viewer/frontend/src/App.tsx
index 4e879aa3a..ddd05e695 100644
--- a/onshape-viewer/frontend/src/App.tsx
+++ b/onshape-viewer/frontend/src/App.tsx
@@ -29,6 +29,7 @@ import type {
   FinPlanform,
   Manifest,
   FlightResult,
+  FlightDynamicsResult,
   ModelSummary,
   MotorDetail,
   MotorSelection,
@@ -87,6 +88,8 @@ export default function App() {
   // Flight-profile popup: fetched on open from the current surfaces + motor.
   const [flightOpen, setFlightOpen] = useState(false)
   const [flightResult, setFlightResult] = useState<FlightResult | null>(null)
+  // Flight Dynamics tab result, lifted here so it survives CAD/Flight tab switches.
+  const [flightDynResult, setFlightDynResult] = useState<FlightDynamicsResult | null>(null)
   const [flightBusy, setFlightBusy] = useState(false)
   const [flightError, setFlightError] = useState<string | null>(null)
   // Guided rail length (m) — travel to full departure (rear lug clears), for off-rail velocity.
@@ -639,6 +642,8 @@ export default function App() {
           overrides={massOverrides}
           flight={flight}
           onFlightChange={setFlight}
+          result={flightDynResult}
+          onResult={setFlightDynResult}
         />
       ) : !manifest || !modelId ? (
         <div className="flex flex-1 items-center justify-center p-8 text-center text-slate-400">
diff --git a/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx b/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 1ea1c83d5..9595ce0af 100644
--- a/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -19,18 +19,15 @@ import {
   ReferenceDot,
   ReferenceLine,
   ResponsiveContainer,
-  Scatter,
-  ScatterChart,
   Tooltip,
   XAxis,
   YAxis,
-  ZAxis,
 } from 'recharts'
 
 import { computeFlightDynamics } from '../../api/client'
 import type { FlightParams } from '../../types/config'
-import type { FaceRef, FlightDynamicsResult, MotorSelection } from '../../types'
-import { AXIS, FD, GRID, REFERENCE, SERIES, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE } from './chartTheme'
+import type { FaceRef, FlightDynamicsResult, FlightDynamicsSample, MotorSelection } from '../../types'
+import { AXIS, FD, GRID, REFERENCE, SERIES, TICK_FONT, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabelX, axisLabelY } from './chartTheme'
 
 interface Props {
   modelId: string | null
@@ -43,16 +40,27 @@ interface Props {
   /** Launch params, owned by App so they are versioned in the config. */
   flight: FlightParams
   onFlightChange: (patch: Partial<FlightParams>) => void
+  /** Last run result, owned by App so it survives tab switches. */
+  result: FlightDynamicsResult | null
+  onResult: (result: FlightDynamicsResult | null) => void
 }
 
 const G = 9.80665
 
+/** Round up to a clean 1/2/5×10ⁿ, so axis ticks derived from it are round numbers. */
+function niceCeil(v: number): number {
+  if (v <= 0) return 1
+  const base = Math.pow(10, Math.floor(Math.log10(v)))
+  const f = v / base
+  return (f <= 1 ? 1 : f <= 2 ? 2 : f <= 5 ? 5 : 10) * base
+}
+
 function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
   return (
     <div className={`rounded-lg border px-3 py-2 ${warn ? 'border-rose-500/40 bg-rose-500/10' : 'border-slate-700 bg-slate-900/60'}`}>
-      <div className="text-[11px] uppercase tracking-wide text-slate-400">{label}</div>
+      <div className="text-2xs uppercase tracking-wide text-slate-300">{label}</div>
       <div className={`text-lg font-semibold ${warn ? 'text-rose-300' : 'text-slate-100'}`}>{value}</div>
-      {sub && <div className="text-[11px] text-slate-500">{sub}</div>}
+      {sub && <div className="text-2xs text-slate-400">{sub}</div>}
     </div>
   )
 }
@@ -63,7 +71,7 @@ const ExpandIcon = () => (
   </svg>
 )
 
-function Panel({ title, hint, children }: { title: string; hint: string; children: React.ReactNode }) {
+function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }: { title?: string; hint?: string; children: React.ReactNode; heightClass?: string }) {
   const [expanded, setExpanded] = useState(false)
 
   // Escape closes the expanded view.
@@ -77,7 +85,7 @@ function Panel({ title, hint, children }: { title: string; hint: string; childre
   }, [expanded])
 
   return (
-    <div className="relative flex min-h-[240px] flex-col rounded-lg border border-slate-700 bg-slate-900/40 p-3">
+    <div className={`relative flex flex-col rounded-lg border border-slate-700 bg-slate-900/40 p-3 ${heightClass}`}>
       <button
         type="button"
         onClick={() => setExpanded(true)}
@@ -86,10 +94,12 @@ function Panel({ title, hint, children }: { title: string; hint: string; childre
       >
         <ExpandIcon />
       </button>
-      <div className="mb-1 pr-8">
-        <div className="text-sm font-semibold text-slate-200">{title}</div>
-        <div className="text-[11px] leading-tight text-slate-500">{hint}</div>
-      </div>
+      {(title || hint) && (
+        <div className="mb-1 pr-8">
+          {title && <div className="text-sm font-semibold text-slate-200">{title}</div>}
+          {hint && <div className="text-2xs leading-tight text-slate-400">{hint}</div>}
+        </div>
+      )}
       <div className="min-h-0 flex-1">{children}</div>
 
       {expanded &&
@@ -104,8 +114,8 @@ function Panel({ title, hint, children }: { title: string; hint: string; childre
             >
               <div className="mb-2 flex items-start justify-between gap-4">
                 <div>
-                  <div className="text-base font-semibold text-slate-100">{title}</div>
-                  <div className="text-xs text-slate-500">{hint}</div>
+                  {title && <div className="text-base font-semibold text-slate-100">{title}</div>}
+                  {hint && <div className="text-xs text-slate-400">{hint}</div>}
                 </div>
                 <button
                   type="button"
@@ -126,6 +136,35 @@ function Panel({ title, hint, children }: { title: string; hint: string; childre
 
 const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
 
+/** Selectable time series for the compare overlay: each is one colored Y axis. */
+interface SeriesDef {
+  key: string
+  label: string // includes unit, e.g. "Altitude (m)"
+  unit: string
+  color: string
+  get: (s: FlightDynamicsSample) => number | null
+  fmt: (v: number) => string
+}
+
+const COMPARE_SERIES: SeriesDef[] = [
+  { key: 'altitude', label: 'Altitude (m)', unit: 'm', color: SERIES.altitude, get: (s) => s.altitude, fmt: (v) => v.toFixed(0) },
+  { key: 'speed', label: 'Speed (m/s)', unit: 'm/s', color: SERIES.velocity, get: (s) => s.speed, fmt: (v) => v.toFixed(0) },
+  { key: 'acceleration', label: 'Accel (m/s²)', unit: 'm/s²', color: SERIES.acceleration, get: (s) => s.acceleration, fmt: (v) => v.toFixed(0) },
+  { key: 'dynamicPressure', label: 'Dyn. pressure (kPa)', unit: 'kPa', color: FD.pressure, get: (s) => s.dynamicPressure / 1000, fmt: (v) => v.toFixed(1) },
+  { key: 'angleOfAttack', label: 'Angle of attack (°)', unit: '°', color: FD.aoa, get: (s) => s.angleOfAttack, fmt: (v) => v.toFixed(1) },
+  { key: 'angleFromVertical', label: 'Angle from vertical (°)', unit: '°', color: FD.mach, get: (s) => s.angleFromVertical, fmt: (v) => v.toFixed(1) },
+  { key: 'stabilityMarginOurs', label: 'Margin — ours (cal)', unit: 'cal', color: FD.marginOurs, get: (s) => s.stabilityMarginOurs, fmt: (v) => v.toFixed(2) },
+  { key: 'stabilityMarginRocketpy', label: 'Margin — RocketPy (cal)', unit: 'cal', color: FD.marginRocketpy, get: (s) => s.stabilityMarginRocketpy, fmt: (v) => v.toFixed(2) },
+  { key: 'bendingMoment', label: 'Bending (N·m)', unit: 'N·m', color: FD.bending, get: (s) => s.bendingMoment, fmt: (v) => v.toFixed(1) },
+  { key: 'omegaPitch', label: 'Pitch rate (rad/s)', unit: 'rad/s', color: FD.omega, get: (s) => s.omegaPitch, fmt: (v) => v.toFixed(2) },
+]
+
+/** First sample time at or above a Mach threshold, for the transonic/supersonic markers. */
+function machCrossTime(samples: FlightDynamicsSample[], mach: number): number | null {
+  const hit = samples.find((s) => s.mach >= mach)
+  return hit ? hit.t : null
+}
+
 /** A single-series line vs time, with shared axis styling. */
 function TimeLine({
   data,
@@ -133,6 +172,7 @@ function TimeLine({
   color,
   name,
   unit,
+  yLabel,
   fmt = (v: number) => v.toFixed(0),
 }: {
   data: object[]
@@ -140,14 +180,16 @@ function TimeLine({
   color: string
   name: string
   unit: string
+  /** Y-axis title incl. units, e.g. "AoA (°)". Falls back to `name (unit)`. */
+  yLabel?: string
   fmt?: (v: number) => string
 }) {
   return (
     <ResponsiveContainer width="100%" height="100%">
-      <LineChart data={data} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+      <LineChart data={data} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
         <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-        <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
-        <YAxis stroke={color} tick={{ fontSize: 11, fill: color }} tickLine={false} width={46} tickFormatter={fmt} />
+        <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Time (s)')} />
+        <YAxis stroke={color} tick={{ fontSize: TICK_FONT, fill: color }} tickLine={false} width={64} tickFormatter={fmt} label={axisLabelY(yLabel ?? (unit ? `${name} (${unit})` : name))} />
         <Tooltip {...tip} formatter={(v: number) => [`${fmt(v)} ${unit}`, name]} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
         <Line type="monotone" dataKey={yKey} name={name} stroke={color} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
       </LineChart>
@@ -155,12 +197,19 @@ function TimeLine({
   )
 }
 
-export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides, flight, onFlightChange }: Props) {
+export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides, flight, onFlightChange, result, onResult }: Props) {
   const { inclination, heading, windSpeed, windDirection, cpModel } = flight
 
-  const [result, setResult] = useState<FlightDynamicsResult | null>(null)
   const [busy, setBusy] = useState(false)
   const [error, setError] = useState<string | null>(null)
+  // Which series to overlay on the shared-time compare plot (default: the core two).
+  const [compare, setCompare] = useState<Set<string>>(() => new Set(['altitude', 'speed']))
+  const toggleCompare = (key: string) =>
+    setCompare((prev) => {
+      const next = new Set(prev)
+      next.has(key) ? next.delete(key) : next.add(key)
+      return next
+    })
 
   async function run() {
     if (!modelId || !motorSel) return
@@ -179,7 +228,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         windSpeed,
         windDirection,
       })
-      setResult(res)
+      onResult(res)
     } catch (e) {
       setError(e instanceof Error ? e.message : String(e))
     } finally {
@@ -188,8 +237,27 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
   }
 
   const samples = result?.samples ?? []
-  const track = samples.map((s) => ({ x: s.driftX, y: s.driftY }))
+  const track = samples.map((s) => ({ x: s.driftX, y: s.driftY, t: s.t }))
   const apogeePt = track.at(-1)
+  // Symmetric, origin-centered extent so the ground track reads as four quadrants
+  // of drift around the pad. Snapped up to a round 1/2/5×10ⁿ so the axis ticks land
+  // on meaningful values (…-50, 0, 50…) instead of Recharts' auto 11.5-style ticks.
+  const driftDomain = niceCeil(Math.max(10, ...track.flatMap((p) => [Math.abs(p.x), Math.abs(p.y)])) * 1.1)
+  const driftTicks = [-driftDomain, -driftDomain / 2, 0, driftDomain / 2, driftDomain]
+
+  const compareSeries = COMPARE_SERIES.filter((d) => compare.has(d.key))
+  // One row per sample with every series pre-scaled to display units (e.g. q→kPa),
+  // so each Line can use a plain string dataKey.
+  const compareData = samples.map((s) => {
+    const row: Record<string, number | null> = { t: s.t }
+    for (const d of COMPARE_SERIES) row[d.key] = d.get(s)
+    return row
+  })
+  // Vertical guides for the compressibility regimes on the compare plot.
+  const machMarks = [
+    { m: 0.8, label: 'transonic', t: machCrossTime(samples, 0.8) },
+    { m: 1.2, label: 'supersonic', t: machCrossTime(samples, 1.2) },
+  ].filter((x): x is { m: number; label: string; t: number } => x.t != null)
 
   return (
     <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
@@ -199,7 +267,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         <Field label="Heading (° from N)" value={heading} set={(v) => onFlightChange({ heading: v })} min={0} max={360} />
         <Field label="Wind (m/s)" value={windSpeed} set={(v) => onFlightChange({ windSpeed: v })} min={0} max={40} step={0.5} />
         <Field label="Wind from (° bearing)" value={windDirection} set={(v) => onFlightChange({ windDirection: v })} min={0} max={360} />
-        <label className="flex flex-col text-xs text-slate-400">
+        <label className="flex flex-col text-xs text-slate-300">
           CP model
           <select value={cpModel} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100">
             <option value="both">Both (compare)</option>
@@ -215,7 +283,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
           {busy ? 'Simulating…' : 'Run flight'}
         </button>
       </div>
-      <p className="mb-3 text-[11px] text-slate-500">
+      <p className="mb-3 text-2xs text-slate-400">
         Launch site: Friends of Amateur Rocketry (FAR), 630 m — fixed. Wind is a constant
         placeholder until the site wind climatology merges in.
       </p>
@@ -243,101 +311,95 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
             <Tile label="Drift @ apogee" value={`${result.driftDistance.toFixed(0)} m`} sub={`bearing ${result.driftBearing.toFixed(0)}°`} />
           </div>
 
-          {/* Panels */}
-          <div className="grid gap-3 lg:grid-cols-2">
-            <Panel title="Ground track" hint="Top-down path of the horizontal displacement, pad→apogee. Shows which way — and how far — the wind throws it.">
-              <ResponsiveContainer width="100%" height="100%">
-                <ScatterChart margin={{ top: 8, right: 16, bottom: 4, left: 4 }}>
-                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-                  <XAxis type="number" dataKey="x" name="East" stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
-                  <YAxis type="number" dataKey="y" name="North" stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} width={44} tickFormatter={(v: number) => v.toFixed(0)} />
-                  <ZAxis range={[8, 8]} />
-                  <Tooltip {...tip} formatter={(v: number, n: string) => [`${v.toFixed(0)} m`, n]} />
-                  <Scatter data={track} line={{ stroke: FD.drift, strokeWidth: 1.75 }} fill={FD.drift} isAnimationActive={false} />
-                  <ReferenceDot x={0} y={0} r={4} fill={REFERENCE} stroke="none" label={{ value: 'pad', fill: REFERENCE, fontSize: 11, position: 'left' }} />
-                  {apogeePt && <ReferenceDot x={apogeePt.x} y={apogeePt.y} r={4} fill={FD.drift} stroke="none" label={{ value: 'apogee', fill: FD.drift, fontSize: 11, position: 'right' }} />}
-                </ScatterChart>
-              </ResponsiveContainer>
-            </Panel>
-
-            <Panel title="Altitude · velocity · acceleration" hint="The core performance profile vs time, now with real drag (apogee is drag-limited, not an upper bound).">
-              <ResponsiveContainer width="100%" height="100%">
-                <ComposedChart data={samples} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
-                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-                  <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
-                  <YAxis yAxisId="alt" stroke={SERIES.altitude} tick={{ fontSize: 11, fill: SERIES.altitude }} tickLine={false} width={46} />
-                  <YAxis yAxisId="vel" orientation="right" stroke={SERIES.velocity} tick={{ fontSize: 11, fill: SERIES.velocity }} tickLine={false} width={44} />
-                  <Tooltip {...tip} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
-                  <Legend wrapperStyle={{ fontSize: 11 }} />
-                  <Line yAxisId="alt" type="monotone" dataKey="altitude" name="Altitude (m)" stroke={SERIES.altitude} dot={false} strokeWidth={2} isAnimationActive={false} />
-                  <Line yAxisId="vel" type="monotone" dataKey="speed" name="Speed (m/s)" stroke={SERIES.velocity} dot={false} strokeWidth={1.75} isAnimationActive={false} />
-                  <Line yAxisId="vel" type="monotone" dataKey="acceleration" name="Accel (m/s²)" stroke={SERIES.acceleration} dot={false} strokeWidth={1.25} isAnimationActive={false} />
-                </ComposedChart>
-              </ResponsiveContainer>
-            </Panel>
-
-            <Panel title="Dynamic pressure (max-Q)" hint="Aerodynamic load on the airframe. The peak (max-Q) is the ascent structural driver — the airframe/fins see the most stress here.">
-              <ResponsiveContainer width="100%" height="100%">
-                <LineChart data={samples} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
-                  <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-                  <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
-                  <YAxis stroke={FD.pressure} tick={{ fontSize: 11, fill: FD.pressure }} tickLine={false} width={46} tickFormatter={(v: number) => (v / 1000).toFixed(0)} />
-                  <Tooltip {...tip} formatter={(v: number) => [`${(v / 1000).toFixed(2)} kPa`, 'q']} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
-                  <ReferenceLine x={result.maxDynamicPressureTime} stroke={REFERENCE} strokeDasharray="4 3" label={{ value: 'max-Q', fill: REFERENCE, fontSize: 11, position: 'top' }} />
-                  <Line type="monotone" dataKey="dynamicPressure" name="q" stroke={FD.pressure} dot={false} strokeWidth={1.75} isAnimationActive={false} />
-                </LineChart>
-              </ResponsiveContainer>
-            </Panel>
-
-            <Panel title="Mach" hint="Compressibility regime vs time — the transonic band is where CP migrates and the margin is tightest (see stability panel).">
-              <TimeLine data={samples} yKey="mach" color={FD.mach} name="Mach" unit="" fmt={(v) => v.toFixed(2)} />
+          {/* Full-width overlay: compare any time series on a shared time axis. */}
+          <div className="mb-2">
+            <h3 className="text-base font-semibold text-slate-100">Compare series</h3>
+            <p className="text-2xs text-slate-400">Overlay any time series on the same time axis — each gets its own colored Y axis. Dashed guides mark the transonic and supersonic crossings.</p>
+          </div>
+          <div className="mb-5">
+            <div className="mb-2 flex flex-wrap gap-x-4 gap-y-1 rounded-lg border border-slate-700 bg-slate-900/40 px-3 py-2">
+              {COMPARE_SERIES.map((d) => (
+                <label key={d.key} className="flex cursor-pointer items-center gap-1.5 text-xs">
+                  <input type="checkbox" checked={compare.has(d.key)} onChange={() => toggleCompare(d.key)} style={{ accentColor: d.color }} />
+                  <span style={{ color: d.color }}>{d.label}</span>
+                </label>
+              ))}
+            </div>
+            <Panel heightClass="h-[460px]">
+              {compareSeries.length === 0 ? (
+                <div className="flex h-full min-h-[240px] items-center justify-center text-xs text-slate-400">Select one or more series to plot.</div>
+              ) : (
+                <ResponsiveContainer width="100%" height="100%">
+                  <ComposedChart data={compareData} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
+                    <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                    <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Time (s)')} />
+                    {compareSeries.map((d, i) => (
+                      <YAxis key={d.key} yAxisId={d.key} orientation={i % 2 === 0 ? 'left' : 'right'} stroke={d.color} tick={{ fontSize: TICK_FONT, fill: d.color }} tickLine={false} width={56} tickFormatter={d.fmt} />
+                    ))}
+                    <Tooltip {...tip} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} formatter={(v: number, n: string) => { const d = COMPARE_SERIES.find((s) => s.label === n); return [`${d ? d.fmt(v) : v} ${d?.unit ?? ''}`, n] }} />
+                    <Legend verticalAlign="bottom" wrapperStyle={{ fontSize: TICK_FONT, paddingTop: 8 }} />
+                    {machMarks.map((mk) => (
+                      <ReferenceLine key={mk.label} yAxisId={compareSeries[0].key} x={mk.t} stroke={REFERENCE} strokeDasharray="4 3" label={{ value: mk.label, fill: REFERENCE, fontSize: TICK_FONT, position: 'top' }} />
+                    ))}
+                    {compareSeries.map((d) => (
+                      <Line key={d.key} yAxisId={d.key} type="monotone" dataKey={d.key} name={d.label} stroke={d.color} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
+                    ))}
+                  </ComposedChart>
+                </ResponsiveContainer>
+              )}
             </Panel>
+          </div>
 
-            <Panel title="Stability margin — ours vs RocketPy" hint="Static margin (calibers) through flight. Ours migrates the fin CP with Mach; RocketPy holds it fixed. Below 1 cal (dashed) is marginal.">
+          {/* Other plots */}
+          <div className="mb-2">
+            <h3 className="text-base font-semibold text-slate-100">Other plots</h3>
+          </div>
+          <div className="grid items-start gap-3 lg:grid-cols-2">
+            {/* Square so equal East/North scales read as true distances. */}
+            <div className="aspect-square w-full">
+            <Panel heightClass="h-full" title="Ground track" hint="Top-down path of the horizontal displacement, pad→apogee. Shows which way — and how far — the wind throws it.">
               <ResponsiveContainer width="100%" height="100%">
-                <LineChart data={samples} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+                <LineChart data={track} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
                   <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-                  <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} />
-                  <YAxis stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} width={40} tickFormatter={(v: number) => v.toFixed(1)} />
-                  <Tooltip {...tip} formatter={(v: number, n: string) => [`${v.toFixed(2)} cal`, n]} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} />
-                  <Legend wrapperStyle={{ fontSize: 11 }} />
-                  <ReferenceLine y={1} stroke={REFERENCE} strokeDasharray="2 2" />
-                  <ReferenceLine y={0} stroke="#f43f5e" strokeDasharray="2 2" />
-                  {(cpModel === 'ours' || cpModel === 'both') && (
-                    <Line type="monotone" dataKey="stabilityMarginOurs" name="Ours (CP↑Mach)" stroke={FD.marginOurs} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
-                  )}
-                  {(cpModel === 'rocketpy' || cpModel === 'both') && (
-                    <Line type="monotone" dataKey="stabilityMarginRocketpy" name="RocketPy (CP fixed)" stroke={FD.marginRocketpy} dot={false} strokeWidth={1.75} strokeDasharray="5 3" isAnimationActive={false} connectNulls />
-                  )}
+                  <XAxis type="number" dataKey="x" name="East" domain={[-driftDomain, driftDomain]} ticks={driftTicks} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('East drift (m)')} />
+                  <YAxis type="number" dataKey="y" name="North" domain={[-driftDomain, driftDomain]} ticks={driftTicks} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} width={64} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelY('North drift (m)')} />
+                  <Tooltip
+                    {...tip}
+                    itemStyle={{ color: '#e2e8f0' }}
+                    formatter={(v: number, _n, item: { payload?: { x: number } }) => [`E ${item.payload?.x.toFixed(0)} m, N ${v.toFixed(0)} m`, 'position']}
+                    labelFormatter={(_x, payload) => { const t = (payload?.[0]?.payload as { t?: number } | undefined)?.t; return t != null ? `t = ${t.toFixed(1)} s` : '' }}
+                  />
+                  {/* Quadrant cross through the pad, so drift direction reads at a glance. */}
+                  <ReferenceLine x={0} stroke={AXIS.stroke} strokeOpacity={0.5} />
+                  <ReferenceLine y={0} stroke={AXIS.stroke} strokeOpacity={0.5} />
+                  <Line type="linear" dataKey="y" stroke={FD.drift} strokeWidth={1.75} dot={false} isAnimationActive={false} />
+                  <ReferenceDot x={0} y={0} r={4} fill={REFERENCE} stroke="none" label={{ value: 'pad', fill: REFERENCE, fontSize: TICK_FONT, position: 'left' }} />
+                  {apogeePt && <ReferenceDot x={apogeePt.x} y={apogeePt.y} r={4} fill={FD.drift} stroke="none" label={{ value: 'apogee', fill: FD.drift, fontSize: TICK_FONT, position: 'right' }} />}
                 </LineChart>
               </ResponsiveContainer>
             </Panel>
+            </div>
 
-            <Panel title="Angle of attack" hint="Weathercocking response to wind. High AoA off the rail is an instability risk; pairs with the off-rail margin tile. Null near apogee (airspeed→0).">
-              <TimeLine data={samples} yKey="angleOfAttack" color={FD.aoa} name="AoA" unit="°" fmt={(v) => v.toFixed(1)} />
-            </Panel>
-
-            <Panel title="Aerodynamic bending moment" hint="Structural load along the airframe on ascent — peak bending sizes the airframe and the fin can. Complements the recovery calculator's descent loads.">
-              <TimeLine data={samples} yKey="bendingMoment" color={FD.bending} name="Bending" unit="N·m" fmt={(v) => v.toFixed(1)} />
-            </Panel>
+            <div className="flex flex-col gap-3">
+              <Panel heightClass="h-[340px]" title="Pitch rate" hint="Dynamic stability: the pitch angular rate over time — how the rocket rotates in response to disturbances.">
+                <TimeLine data={samples} yKey="omegaPitch" color={FD.omega} name="ω pitch" unit="rad/s" yLabel="Pitch rate (rad/s)" fmt={(v) => v.toFixed(2)} />
+              </Panel>
 
-            <Panel title="Pitch rate & frequency response" hint="Dynamic stability: the pitch angular rate over time, and the FFT of attitude — its peak is the oscillation frequency, how fast it settles after a gust.">
-              <div className="grid h-full grid-cols-2 gap-2">
-                <TimeLine data={samples} yKey="omegaPitch" color={FD.omega} name="ω pitch" unit="rad/s" fmt={(v) => v.toFixed(2)} />
+              <Panel heightClass="h-[340px]" title="Attitude frequency response (FFT)" hint="FFT of the attitude angle — its peak is the oscillation frequency, i.e. how fast the rocket settles after a gust.">
                 <ResponsiveContainer width="100%" height="100%">
-                  <LineChart data={result.fft.frequency.map((f, i) => ({ f, a: result.fft.amplitude[i] }))} margin={{ top: 8, right: 12, bottom: 4, left: 4 }}>
+                  <LineChart data={result.fft.frequency.map((f, i) => ({ f, a: result.fft.amplitude[i] }))} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
                     <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-                    <XAxis dataKey="f" type="number" domain={[0, 20]} stroke={AXIS.stroke} tick={{ fontSize: 11, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={{ value: 'Hz', fill: AXIS.stroke, fontSize: 10, position: 'insideBottomRight' }} />
-                    <YAxis stroke={FD.fft} tick={{ fontSize: 11, fill: FD.fft }} tickLine={false} width={36} />
+                    <XAxis dataKey="f" type="number" domain={[0, 20]} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Frequency (Hz)')} />
+                    <YAxis stroke={FD.fft} tick={{ fontSize: TICK_FONT, fill: FD.fft }} tickLine={false} width={56} label={axisLabelY('Amplitude')} />
                     <Tooltip {...tip} formatter={(v: number) => [v.toFixed(3), 'amp']} labelFormatter={(f: number) => `${f.toFixed(2)} Hz`} />
                     <Line type="monotone" dataKey="a" name="attitude FFT" stroke={FD.fft} dot={false} strokeWidth={1.5} isAnimationActive={false} />
                   </LineChart>
                 </ResponsiveContainer>
-              </div>
-            </Panel>
+              </Panel>
+            </div>
           </div>
 
-          <div className="mt-3 rounded border border-slate-800 bg-slate-900/40 px-3 py-2 text-[11px] text-slate-500">
+          <div className="mt-3 rounded border border-slate-800 bg-slate-900/40 px-3 py-2 text-2xs text-slate-400">
             Approximations in this run: {result.approximations.join(' · ')}. Stability outputs are exact;
             apogee / max-Q depend on the drag model. See FUTURE_IMPROVEMENTS.md.
           </div>
@@ -349,7 +411,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
 
 function Field({ label, value, set, min, max, step = 1 }: { label: string; value: number; set: (n: number) => void; min: number; max: number; step?: number }) {
   return (
-    <label className="flex flex-col text-xs text-slate-400">
+    <label className="flex flex-col text-xs text-slate-300">
       {label}
       <input
         type="number"
diff --git a/onshape-viewer/frontend/src/components/viewer/chartTheme.ts b/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
index d5985365a..252d6875f 100644
--- a/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
+++ b/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
@@ -8,10 +8,20 @@
 
 export const AXIS = {
   stroke: '#94a3b8', // slate-400
-  fontSize: 12,
+  fontSize: 13,
   tickLine: false,
 } as const
 
+/** Tick label size — matches the app's `--text-2xs` (13px) floor so chart text
+ *  tracks the rest of the UI instead of the old hard-coded 10–11px. */
+export const TICK_FONT = 13
+
+/** Axis-title styling (rotated Y titles included), shared by all flight charts. */
+export const axisLabelX = (value: string) =>
+  ({ value, position: 'insideBottom' as const, offset: -4, fill: '#cbd5e1', fontSize: 13 })
+export const axisLabelY = (value: string) =>
+  ({ value, angle: -90, position: 'insideLeft' as const, offset: 4, fill: '#cbd5e1', fontSize: 13, style: { textAnchor: 'middle' as const } })
+
 export const GRID = {
   stroke: '#334155', // slate-700
   strokeDasharray: '3 3',
diff --git a/onshape-viewer/frontend/src/types.ts b/onshape-viewer/frontend/src/types.ts
index 57ef6adcf..24683aa9e 100644
--- a/onshape-viewer/frontend/src/types.ts
+++ b/onshape-viewer/frontend/src/types.ts
@@ -323,6 +323,7 @@ export interface FlightDynamicsSample {
   acceleration: number
   dynamicPressure: number
   angleOfAttack: number | null
+  angleFromVertical: number
   stabilityMarginRocketpy: number
   stabilityMarginOurs: number | null
   driftX: number

From 97484e5191511a8da7cd55cbe027b755b11b46d1 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 12:59:15 -0700
Subject: [PATCH 015/205] rename onshape-viewer to STAR OpenRocket (directory,
 routes /api/documents, identifiers, deploy configs, openrocket subdomain +
 auth slug, landing card)

---
 .env.example                                  |   2 +-
 .github/workflows/publish-apps.yml            |   6 ++--
 ...e-viewer-ci.yml => star-openrocket-ci.yml} |  32 +++++++++---------
 README.md                                     |   8 ++---
 SETUP.md                                      |  14 ++++----
 auth/allowlist.py                             |   9 +++--
 auth/allowlists/onshape_allowlist.txt         |   4 +--
 auth/main.py                                  |   2 +-
 auth/test_main.py                             |   6 ++--
 deploy/apps/FRESH-INSTALL.md                  |   2 +-
 deploy/apps/README.md                         |   6 ++--
 deploy/caddy/Caddyfile                        |   6 ++--
 docker-compose.yml                            |  16 ++++-----
 landing/src/App.tsx                           |  10 +++---
 scripts/setup-test/README.md                  |   2 +-
 scripts/setup-test/run-docker.sh              |   6 ++--
 scripts/setup-test/run-macos.sh               |   6 ++--
 scripts/setup-test/smoke/all.sh               |   2 +-
 .../{onshape-viewer.sh => star-openrocket.sh} |  22 ++++++------
 scripts/sync-brand.sh                         |   4 +--
 setup.sh                                      |   8 ++---
 .../.gitignore                                |   0
 .../Dockerfile.api                            |   4 +--
 .../FUTURE_IMPROVEMENTS.md                    |   0
 {onshape-viewer => star-openrocket}/README.md |  16 ++++-----
 .../backend/__init__.py                       |   0
 .../backend/main.py                           |   4 +--
 .../backend/materials/README.md               |   0
 .../backend/materials/scrape.py               |   0
 .../backend/motors/__init__.py                |   0
 .../backend/motors/db.py                      |   0
 .../backend/motors/digest.py                  |   0
 .../backend/motors/fetch.py                   |   0
 .../backend/motors/loader_common.py           |   0
 .../backend/motors/motor.py                   |   0
 .../backend/motors/rasp.py                    |   0
 .../backend/motors/rocksim.py                 |   0
 .../backend/motors/thrustcurve.py             |   0
 .../backend/onshape/__init__.py               |   0
 .../backend/onshape/aero/__init__.py          |   0
 .../backend/onshape/aero/axis.py              |   0
 .../backend/onshape/aero/barrowman_body.py    |   0
 .../backend/onshape/aero/barrowman_fins.py    |   0
 .../backend/onshape/aero/fins.py              |   0
 .../backend/onshape/aero/flight.py            |   2 +-
 .../backend/onshape/aero/outer_surface.py     |   0
 .../backend/onshape/aero/profile.py           |   0
 .../backend/onshape/aero/rocketpy_adapter.py  |   0
 .../backend/onshape/aero/rocketpy_compare.py  |   0
 .../backend/onshape/aero/rocketpy_flight.py   |   0
 .../backend/onshape/aero/stability.py         |   0
 .../backend/onshape/assembly.py               |   0
 .../backend/onshape/bodydetails.py            |   0
 .../backend/onshape/browse.py                 |   0
 .../backend/onshape/build.py                  |   0
 .../backend/onshape/client.py                 |   0
 .../backend/onshape/geometry.py               |   0
 .../backend/onshape/geometry_store.py         |   0
 .../backend/onshape/glb.py                    |   2 +-
 .../backend/onshape/mass.py                   |   0
 .../backend/onshape/tessellate.py             |   0
 .../backend/onshape/urls.py                   |   0
 .../backend/routers/__init__.py               |   0
 .../backend/routers/documents.py              |   4 +--
 .../backend/storage.py                        |   6 ++--
 .../backend/userdata.py                       |   4 +--
 {onshape-viewer => star-openrocket}/dev.sh    |   8 ++---
 .../frontend/.dockerignore                    |   0
 .../frontend/Dockerfile                       |   0
 .../frontend/index.html                       |   2 +-
 .../frontend/package-lock.json                |   4 +--
 .../frontend/package.json                     |   2 +-
 .../frontend/public/star-icon.svg             |   0
 .../frontend/src/App.tsx                      |   8 ++---
 .../frontend/src/api/client.ts                |   0
 .../frontend/src/api/documents.ts             |   4 +--
 .../frontend/src/assets/star-wordmark.png     | Bin
 .../frontend/src/components/ui.tsx            |   0
 .../components/versions/ConfigVersions.tsx    |   4 +--
 .../src/components/viewer/CMMarker.tsx        |   0
 .../src/components/viewer/ContextMenu.tsx     |   0
 .../components/viewer/FlightDynamicsTab.tsx   |   0
 .../components/viewer/FlightProfileModal.tsx  |   0
 .../src/components/viewer/InspectorPanel.tsx  |   0
 .../src/components/viewer/MaterialWarning.tsx |   0
 .../src/components/viewer/ModelPicker.tsx     |   0
 .../components/viewer/MotorCurvesModal.tsx    |   0
 .../src/components/viewer/MotorPicker.tsx     |   0
 .../src/components/viewer/PartList.tsx        |   0
 .../src/components/viewer/PropertiesPanel.tsx |   0
 .../components/viewer/ResizableSidebar.tsx    |   0
 .../frontend/src/components/viewer/Row.tsx    |   0
 .../frontend/src/components/viewer/Scene.tsx  |   0
 .../src/components/viewer/StabilityPanel.tsx  |   0
 .../src/components/viewer/chartTheme.ts       |   2 +-
 .../frontend/src/index.css                    |   0
 .../frontend/src/lib/cm.ts                    |   0
 .../frontend/src/lib/materials.ts             |   0
 .../frontend/src/lib/names.ts                 |   0
 .../frontend/src/lib/persist.ts               |   2 +-
 .../frontend/src/lib/status.ts                |   0
 .../frontend/src/main.tsx                     |   0
 .../frontend/src/types.ts                     |   0
 .../frontend/src/types/config.ts              |   0
 .../frontend/src/vite-env.d.ts                |   0
 .../frontend/tsconfig.json                    |   0
 .../frontend/vite.config.ts                   |   0
 .../requirements-ci.txt                       |   0
 .../requirements-flight.txt                   |   0
 .../requirements.txt                          |   2 +-
 {onshape-viewer => star-openrocket}/setup.sh  |  26 +++++++-------
 .../tests/conftest.py                         |   0
 .../tests/fixtures/assembly.json              |   0
 .../fixtures/assembly_empty_version.json      |   0
 .../fixtures/assembly_massproperties.json     |   0
 .../tests/fixtures/motor/test1.eng            |   0
 .../tests/fixtures/motor/test2.rse            |   0
 .../tests/fixtures/motor/test3.rse            |   0
 .../tests/fixtures/parts_materials.json       |   0
 .../fixtures/partstudio_massproperties.json   |   0
 .../fixtures/source_1c28f3ba48de_mass.json    |   0
 .../fixtures/source_1c28f3ba48de_parts.json   |   0
 .../fixtures/source_1c28f3ba48de_tess.json    |   0
 .../fixtures/source_65e6e7a922d0_mass.json    |   0
 .../fixtures/source_65e6e7a922d0_parts.json   |   0
 .../fixtures/source_65e6e7a922d0_tess.json    |   0
 .../fixtures/source_71acb23742df_mass.json    |   0
 .../fixtures/source_71acb23742df_parts.json   |   0
 .../fixtures/source_71acb23742df_tess.json    |   0
 .../fixtures/source_db91140ba830_mass.json    |   0
 .../fixtures/source_db91140ba830_parts.json   |   0
 .../fixtures/source_db91140ba830_tess.json    |   0
 .../fixtures/source_ee2ef2459cdd_tess.json    |   0
 .../tests/fixtures/tessellation.json          |   0
 .../tests/make_fixtures.py                    |   0
 .../tests/test_aero_body.py                   |   0
 .../tests/test_aero_fin_extract.py            |   0
 .../tests/test_aero_fins.py                   |   0
 .../tests/test_aero_mach.py                   |   0
 .../tests/test_aero_stability.py              |   0
 .../tests/test_assembly.py                    |   0
 .../tests/test_browse.py                      |   0
 .../tests/test_build.py                       |   0
 .../tests/test_documents.py                   |   2 +-
 .../tests/test_flight.py                      |   0
 .../tests/test_geometry.py                    |   0
 .../tests/test_mass.py                        |   0
 .../tests/test_motors_db.py                   |   0
 .../tests/test_motors_loader.py               |   0
 .../tests/test_openrocket_golden_cp.py        |   0
 .../tests/test_rocketpy_compare.py            |   0
 .../tests/test_rocketpy_flight.py             |   0
 .../tests/test_stability_api.py               |   0
 .../tests/test_tessellate.py                  |   0
 .../tests/test_urls.py                        |   0
 155 files changed, 142 insertions(+), 139 deletions(-)
 rename .github/workflows/{onshape-viewer-ci.yml => star-openrocket-ci.yml} (88%)
 rename scripts/setup-test/smoke/{onshape-viewer.sh => star-openrocket.sh} (53%)
 rename {onshape-viewer => star-openrocket}/.gitignore (100%)
 rename {onshape-viewer => star-openrocket}/Dockerfile.api (90%)
 rename {onshape-viewer => star-openrocket}/FUTURE_IMPROVEMENTS.md (100%)
 rename {onshape-viewer => star-openrocket}/README.md (95%)
 rename {onshape-viewer => star-openrocket}/backend/__init__.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/main.py (99%)
 rename {onshape-viewer => star-openrocket}/backend/materials/README.md (100%)
 rename {onshape-viewer => star-openrocket}/backend/materials/scrape.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/__init__.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/db.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/digest.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/fetch.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/loader_common.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/motor.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/rasp.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/rocksim.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/motors/thrustcurve.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/__init__.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/__init__.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/axis.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/barrowman_body.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/barrowman_fins.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/fins.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/flight.py (99%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/outer_surface.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/profile.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/rocketpy_adapter.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/rocketpy_compare.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/rocketpy_flight.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/aero/stability.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/assembly.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/bodydetails.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/browse.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/build.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/client.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/geometry.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/geometry_store.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/glb.py (99%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/mass.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/tessellate.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/onshape/urls.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/routers/__init__.py (100%)
 rename {onshape-viewer => star-openrocket}/backend/routers/documents.py (98%)
 rename {onshape-viewer => star-openrocket}/backend/storage.py (97%)
 rename {onshape-viewer => star-openrocket}/backend/userdata.py (99%)
 rename {onshape-viewer => star-openrocket}/dev.sh (89%)
 rename {onshape-viewer => star-openrocket}/frontend/.dockerignore (100%)
 rename {onshape-viewer => star-openrocket}/frontend/Dockerfile (100%)
 rename {onshape-viewer => star-openrocket}/frontend/index.html (90%)
 rename {onshape-viewer => star-openrocket}/frontend/package-lock.json (99%)
 rename {onshape-viewer => star-openrocket}/frontend/package.json (96%)
 rename {onshape-viewer => star-openrocket}/frontend/public/star-icon.svg (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/App.tsx (99%)
 rename {onshape-viewer => star-openrocket}/frontend/src/api/client.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/api/documents.ts (96%)
 rename {onshape-viewer => star-openrocket}/frontend/src/assets/star-wordmark.png (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/ui.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/versions/ConfigVersions.tsx (99%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/CMMarker.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/ContextMenu.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/FlightDynamicsTab.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/FlightProfileModal.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/InspectorPanel.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/MaterialWarning.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/ModelPicker.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/MotorCurvesModal.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/MotorPicker.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/PartList.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/PropertiesPanel.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/ResizableSidebar.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/Row.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/Scene.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/StabilityPanel.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/components/viewer/chartTheme.ts (95%)
 rename {onshape-viewer => star-openrocket}/frontend/src/index.css (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/lib/cm.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/lib/materials.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/lib/names.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/lib/persist.ts (98%)
 rename {onshape-viewer => star-openrocket}/frontend/src/lib/status.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/main.tsx (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/types.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/types/config.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/src/vite-env.d.ts (100%)
 rename {onshape-viewer => star-openrocket}/frontend/tsconfig.json (100%)
 rename {onshape-viewer => star-openrocket}/frontend/vite.config.ts (100%)
 rename {onshape-viewer => star-openrocket}/requirements-ci.txt (100%)
 rename {onshape-viewer => star-openrocket}/requirements-flight.txt (100%)
 rename {onshape-viewer => star-openrocket}/requirements.txt (87%)
 rename {onshape-viewer => star-openrocket}/setup.sh (85%)
 rename {onshape-viewer => star-openrocket}/tests/conftest.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/assembly.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/assembly_empty_version.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/assembly_massproperties.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/motor/test1.eng (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/motor/test2.rse (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/motor/test3.rse (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/parts_materials.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/partstudio_massproperties.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_1c28f3ba48de_mass.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_1c28f3ba48de_parts.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_1c28f3ba48de_tess.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_65e6e7a922d0_mass.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_65e6e7a922d0_parts.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_65e6e7a922d0_tess.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_71acb23742df_mass.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_71acb23742df_parts.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_71acb23742df_tess.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_db91140ba830_mass.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_db91140ba830_parts.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_db91140ba830_tess.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/source_ee2ef2459cdd_tess.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/fixtures/tessellation.json (100%)
 rename {onshape-viewer => star-openrocket}/tests/make_fixtures.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_aero_body.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_aero_fin_extract.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_aero_fins.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_aero_mach.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_aero_stability.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_assembly.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_browse.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_build.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_documents.py (98%)
 rename {onshape-viewer => star-openrocket}/tests/test_flight.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_geometry.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_mass.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_motors_db.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_motors_loader.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_openrocket_golden_cp.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_rocketpy_compare.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_rocketpy_flight.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_stability_api.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_tessellate.py (100%)
 rename {onshape-viewer => star-openrocket}/tests/test_urls.py (100%)

diff --git a/.env.example b/.env.example
index c565ca948..f9d99c7bf 100644
--- a/.env.example
+++ b/.env.example
@@ -96,7 +96,7 @@ ELODIN_DB_HOST_DIR=/home/aidan/.local/share/elodin
 # Leave empty and the stack still comes up -- cache-first endpoints work; only
 # live Onshape calls (Search / refresh / build) fail until these are set. Get a
 # key pair at https://dev-portal.onshape.com. After filling these in:
-#   docker compose up -d --force-recreate onshape-viewer-api
+#   docker compose up -d --force-recreate star-openrocket-api
 # ONSHAPE_ACCESS_KEY=
 # ONSHAPE_SECRET_KEY=
 # ONSHAPE_BASE_URL=          # optional; only for a non-default Onshape instance
diff --git a/.github/workflows/publish-apps.yml b/.github/workflows/publish-apps.yml
index 82a3fe63e..000989f0e 100644
--- a/.github/workflows/publish-apps.yml
+++ b/.github/workflows/publish-apps.yml
@@ -15,7 +15,7 @@ name: Publish app images
       - 'EngineDesign/**'
       - 'pid-designer/**'
       - 'recovery-calculator/**'
-      - 'onshape-viewer/**'
+      - 'star-openrocket/**'
       - 'daq-server/tools/postprocessing/webviewer/**'
       - 'landing/**'
       - '.github/workflows/publish-apps.yml'
@@ -47,8 +47,8 @@ jobs:
           - { name: pid-designer-frontend,        context: ./pid-designer/frontend,     dockerfile: ./pid-designer/frontend/Dockerfile }
           - { name: recovery-calculator-api,      context: ./recovery-calculator,       dockerfile: ./recovery-calculator/Dockerfile.api }
           - { name: recovery-calculator-frontend, context: ./recovery-calculator/frontend, dockerfile: ./recovery-calculator/frontend/Dockerfile }
-          - { name: onshape-viewer-api,           context: ./onshape-viewer,            dockerfile: ./onshape-viewer/Dockerfile.api }
-          - { name: onshape-viewer-frontend,      context: ./onshape-viewer/frontend,   dockerfile: ./onshape-viewer/frontend/Dockerfile }
+          - { name: star-openrocket-api,           context: ./star-openrocket,            dockerfile: ./star-openrocket/Dockerfile.api }
+          - { name: star-openrocket-frontend,      context: ./star-openrocket/frontend,   dockerfile: ./star-openrocket/frontend/Dockerfile }
           # DAQ Run Viewer: one image serves both API and SPA (see its Dockerfile).
           - { name: daq-viewer,                   context: ./daq-server/tools/postprocessing/webviewer, dockerfile: ./daq-server/tools/postprocessing/webviewer/Dockerfile }
     steps:
diff --git a/.github/workflows/onshape-viewer-ci.yml b/.github/workflows/star-openrocket-ci.yml
similarity index 88%
rename from .github/workflows/onshape-viewer-ci.yml
rename to .github/workflows/star-openrocket-ci.yml
index 20e949554..26c9a1f34 100644
--- a/.github/workflows/onshape-viewer-ci.yml
+++ b/.github/workflows/star-openrocket-ci.yml
@@ -1,26 +1,26 @@
-name: Onshape Viewer CI
+name: STAR OpenRocket CI
 
 # Quoted `on` — YAML 1.1 treats bare `on` as boolean true, which breaks
 # workflow triggers in some parsers (matches daq-server-ci.yml).
 'on':
   push:
     paths:
-      - 'onshape-viewer/**'
-      - '.github/workflows/onshape-viewer-ci.yml'
+      - 'star-openrocket/**'
+      - '.github/workflows/star-openrocket-ci.yml'
   pull_request:
     paths:
-      - 'onshape-viewer/**'
-      - '.github/workflows/onshape-viewer-ci.yml'
+      - 'star-openrocket/**'
+      - '.github/workflows/star-openrocket-ci.yml'
   workflow_dispatch:
 
 # Cancel superseded runs on the same ref to save CI minutes.
 concurrency:
-  group: onshape-viewer-${{ github.ref }}
+  group: star-openrocket-${{ github.ref }}
   cancel-in-progress: true
 
 defaults:
   run:
-    working-directory: onshape-viewer
+    working-directory: star-openrocket
 
 # NO ONSHAPE CREDENTIALS ARE SET ANYWHERE IN THIS WORKFLOW, DELIBERATELY.
 #
@@ -55,7 +55,7 @@ jobs:
       with:
         python-version: '3.11'
         cache: 'pip'
-        cache-dependency-path: onshape-viewer/requirements-ci.txt
+        cache-dependency-path: star-openrocket/requirements-ci.txt
 
     - name: Install dependencies (CI subset)
       run: pip install -r requirements-ci.txt
@@ -85,7 +85,7 @@ jobs:
       with:
         python-version: '3.11'
         cache: 'pip'
-        cache-dependency-path: onshape-viewer/requirements-ci.txt
+        cache-dependency-path: star-openrocket/requirements-ci.txt
 
     - name: Install dependencies (CI subset)
       run: pip install -r requirements-ci.txt
@@ -141,7 +141,7 @@ jobs:
       with:
         python-version: '3.11'
         cache: 'pip'
-        cache-dependency-path: onshape-viewer/requirements-ci.txt
+        cache-dependency-path: star-openrocket/requirements-ci.txt
 
     - name: Install dependencies
       run: pip install -r requirements-ci.txt
@@ -164,19 +164,19 @@ jobs:
       with:
         node-version: '20.x'
         cache: 'npm'
-        cache-dependency-path: onshape-viewer/frontend/package-lock.json
+        cache-dependency-path: star-openrocket/frontend/package-lock.json
 
     - name: Install dependencies
-      working-directory: onshape-viewer/frontend
+      working-directory: star-openrocket/frontend
       run: npm ci || npm install
 
     - name: TypeScript build
-      working-directory: onshape-viewer/frontend
+      working-directory: star-openrocket/frontend
       run: npm run build
 
   # Aggregate status, mirroring engine-design-ci.yml's summary job.
-  onshape-viewer-summary:
-    name: Onshape Viewer Summary
+  star-openrocket-summary:
+    name: STAR OpenRocket Summary
     runs-on: ubuntu-latest
     needs:
       - python-tests
@@ -191,7 +191,7 @@ jobs:
     - name: Summary
       working-directory: .
       run: |
-        echo "## Onshape Viewer CI Summary" >> $GITHUB_STEP_SUMMARY
+        echo "## STAR OpenRocket CI Summary" >> $GITHUB_STEP_SUMMARY
         echo "" >> $GITHUB_STEP_SUMMARY
         echo "| Job | Status |" >> $GITHUB_STEP_SUMMARY
         echo "|-----|--------|" >> $GITHUB_STEP_SUMMARY
diff --git a/README.md b/README.md
index 9539ac89e..832b9de57 100644
--- a/README.md
+++ b/README.md
@@ -23,7 +23,7 @@ top-level directory with its own README. Start with the one you're working on.
 | [`lib/DAQv2-Comms/`](lib/DAQv2-Comms/README.md) | The **wire protocol** shared by the firmware and the DAQ server — packet definitions, enums, and (de)serialization. The single source of truth for what goes over the wire. | C++ (Arduino library) |
 | [`EngineDesign/`](EngineDesign/README.md) | **Engine design & optimization pipeline** — physics simulation of liquid bipropellant engines (propellants and injector type are configurable) plus a multi-layer optimizer, a control system, and a web UI. Solves chamber pressure, thrust, and Isp from tank pressures. | Python, FastAPI, React |
 | [`pid-designer/`](pid-designer/README.md) | Interactive **P&ID (Piping & Instrumentation Diagram) editor** for the propulsion feed system, with git-backed versioning. | FastAPI, React + React Flow |
-| [`onshape-viewer/`](onshape-viewer/README.md) | **Onshape CM viewer** — renders an assembly from CAD and computes its centre of mass, recomputing live as parts are toggled or re-materialled. | FastAPI, React + three.js |
+| [`star-openrocket/`](star-openrocket/README.md) | **Onshape CM viewer** — renders an assembly from CAD and computes its centre of mass, recomputing live as parts are toggled or re-materialled. | FastAPI, React + three.js |
 
 ### How they fit together
 
@@ -42,7 +42,7 @@ top-level directory with its own README. Start with the one you're working on.
 `firmware/` and `daq-server/` are the two ends of the same conversation, and
 they speak the protocol defined in `lib/DAQv2-Comms/` (the firmware reaches it
 through a symlink at `firmware/libraries/DAQv2-Comms`). `EngineDesign/`,
-`pid-designer/`, and `onshape-viewer/` are standalone design tools.
+`pid-designer/`, and `star-openrocket/` are standalone design tools.
 
 ---
 
@@ -59,7 +59,7 @@ cd STAR
 The top-level `setup.sh` is a thin dispatcher over per-project setup scripts.
 Each subproject owns its own install steps
 (`daq-server/setup.sh`, `firmware/setup.sh`, `EngineDesign/setup.sh`,
-`pid-designer/setup.sh`, `onshape-viewer/setup.sh`), so you only pay for what
+`pid-designer/setup.sh`, `star-openrocket/setup.sh`), so you only pay for what
 you use — cloning the repo just to edit the P&ID shouldn't force you to build
 Rust + `elodin-db`.
 
@@ -171,7 +171,7 @@ install an optional pre-push hook; CI also enforces it.
 | `firmware-ci.yml` | changes under `firmware/` | compiles each flight project + host unit tests with PlatformIO |
 | `pid-designer-ci.yml` | changes under `pid-designer/` | TypeScript build + backend import check |
 | `engine-design-ci.yml` | changes under `EngineDesign/` | pytest gate, native C kernel + parity, frontend build |
-| `onshape-viewer-ci.yml` | changes under `onshape-viewer/` | pytest gate, frontend build, and a check that the suite makes no Onshape API calls |
+| `star-openrocket-ci.yml` | changes under `star-openrocket/` | pytest gate, frontend build, and a check that the suite makes no Onshape API calls |
 | `large-files.yml` | every pull request | fails any file over 5 MB added or modified by the PR |
 | `docs.yml` | push to `main` | builds Doxygen docs and deploys to GitHub Pages |
 
diff --git a/SETUP.md b/SETUP.md
index 7a48ff9af..666700ba0 100644
--- a/SETUP.md
+++ b/SETUP.md
@@ -21,7 +21,7 @@ top-level directory, its own README, and its own `setup.sh`:
   Encoder, Actuator), subtree of `calstar/DiabloAvionics`
 - `EngineDesign/` — engine design & optimization pipeline (Python + FastAPI + React)
 - `pid-designer/` — P&ID editor (FastAPI + React Flow)
-- `onshape-viewer/` — Onshape centre-of-mass viewer (FastAPI + React/three.js)
+- `star-openrocket/` — Onshape centre-of-mass viewer (FastAPI + React/three.js)
 - `lib/DAQv2-Comms/` — wire-protocol library shared by both `daq-server` and
   `firmware/` (the latter via a symlink at `firmware/libraries/DAQv2-Comms`)
 
@@ -59,7 +59,7 @@ Each subproject owns its own steps; you only install what you'll actually use:
 | Project | Script | Approx. install time (cold) |
 |---|---|---|
 | `pid-designer/` | `pid-designer/setup.sh` | ~30s (Python venv + npm) |
-| `onshape-viewer/` | `onshape-viewer/setup.sh` | ~40s (Python venv + npm) |
+| `star-openrocket/` | `star-openrocket/setup.sh` | ~40s (Python venv + npm) |
 | `EngineDesign/` | `EngineDesign/setup.sh` | ~2 min (`--ci` skips rocketcea) |
 | `firmware/` | `firmware/setup.sh` | ~30s (PlatformIO CLI only) |
 | `daq-server/` | `daq-server/setup.sh` | ~5-10 min (C++ + Rust + Node + Python) |
@@ -72,11 +72,11 @@ with `--help` to see what it accepts.
 The shared bits (`black==25.11.0` on the global `$PATH` for `format.sh`, a
 Windows-symlink sanity check) run once in the dispatcher.
 
-`onshape-viewer/setup.sh` additionally writes an empty, gitignored
-`onshape-viewer/.env` for the Onshape API key pair. Fill it in from
+`star-openrocket/setup.sh` additionally writes an empty, gitignored
+`star-openrocket/.env` for the Onshape API key pair. Fill it in from
 https://dev-portal.onshape.com before building a model — no script in this repo
 ever holds a credential. Onshape bills per API call against a finite quota, so
-see [`onshape-viewer/README.md`](onshape-viewer/README.md) for what each action
+see [`star-openrocket/README.md`](star-openrocket/README.md) for what each action
 costs; the tests and CI make no calls at all.
 
 ### Verify a clean install (or debug a broken one)
@@ -354,11 +354,11 @@ relevant tests:
 | `firmware/` unit-testable logic | `pio test -e native` in `firmware/Hotfire_Code/Hotfire_Tests` (63/63) |
 | `firmware/Hotfire_Code/*/` board firmware | `pio run` in each affected board project |
 | `EngineDesign/` | `python -m pytest tests/ -q` in `EngineDesign/` |
-| `onshape-viewer/` | `.venv/bin/python -m pytest tests/ -q` in `onshape-viewer/` (offline; no credentials needed) |
+| `star-openrocket/` | `.venv/bin/python -m pytest tests/ -q` in `star-openrocket/` (offline; no credentials needed) |
 
 CI runs the same checks on every push (see `.github/workflows/`):
 `daq-server-ci.yml`, `firmware-ci.yml`, `pid-designer-ci.yml`,
-`engine-design-ci.yml`, and `onshape-viewer-ci.yml` build and test their
+`engine-design-ci.yml`, and `star-openrocket-ci.yml` build and test their
 respective subprojects; `large-files.yml` rejects files over 5 MB on every PR;
 and `docs.yml` publishes the Doxygen docs. Running the tests above locally
 before pushing keeps CI green.
diff --git a/auth/allowlist.py b/auth/allowlist.py
index 9965362ee..973877e2c 100644
--- a/auth/allowlist.py
+++ b/auth/allowlist.py
@@ -4,8 +4,9 @@
 need nothing more. A few need a tighter *authorization* check -- a named
 allowlist -- because they do more than read:
 
-    onshape-viewer brokers Onshape API credentials, so anyone who can reach it
-    can spend the key pair's rate limit and read any document it can read.
+    STAR OpenRocket (openrocket.*) brokers Onshape API credentials, so anyone
+    who can reach it can spend the key pair's rate limit and read any document
+    it can read.
 
 This is checked live in /verify (see main.py), NOT baked into the JWT, so that
 adding or removing someone takes effect on their next request rather than
@@ -28,7 +29,9 @@
 # app (subdomain label) -> path to its allowlist file. An app absent from this
 # map has no allowlist: the shared @berkeley.edu gate is the whole check.
 _APP_FILES = {
-    "onshape-viewer": os.environ.get(
+    # STAR OpenRocket (subdomain openrocket.*) brokers Onshape API credentials,
+    # so it keeps its own approved-user allowlist on top of the @berkeley.edu gate.
+    "openrocket": os.environ.get(
         "ONSHAPE_ALLOWLIST_FILE",
         os.path.join(_HERE, "allowlists", "onshape_allowlist.txt"),
     ),
diff --git a/auth/allowlists/onshape_allowlist.txt b/auth/allowlists/onshape_allowlist.txt
index 5e73cf59c..41d11e946 100644
--- a/auth/allowlists/onshape_allowlist.txt
+++ b/auth/allowlists/onshape_allowlist.txt
@@ -1,8 +1,8 @@
-# onshape-viewer approved users.
+# STAR OpenRocket (openrocket.*) approved users.
 #
 # One email per line. `#` starts a comment; blank lines are ignored. Matching is
 # case-insensitive. Anyone with a valid @berkeley.edu session is authenticated,
-# but only the addresses below are AUTHORIZED to use onshape-viewer -- it brokers
+# but only the addresses below are AUTHORIZED to use STAR OpenRocket -- it brokers
 # Onshape API credentials, so access is deliberately narrower than the other
 # tools. See auth/allowlist.py.
 #
diff --git a/auth/main.py b/auth/main.py
index 2955f18a9..dfd61288f 100644
--- a/auth/main.py
+++ b/auth/main.py
@@ -115,7 +115,7 @@ def _is_prod_request() -> bool:
 def _requested_app() -> str:
     """The app being accessed, as the leftmost label of the forwarded host.
 
-    `onshape-viewer.starberkeley.org` -> `onshape-viewer`; the bare domain ->
+    `openrocket.starberkeley.org` -> `openrocket`; the bare domain ->
     `""`. This is what /verify uses to look up a per-app allowlist. Off
     production (localhost dev) Caddy is not in the loop, so this is not reached.
     """
diff --git a/auth/test_main.py b/auth/test_main.py
index 8a36e4edb..f5f615274 100644
--- a/auth/test_main.py
+++ b/auth/test_main.py
@@ -222,14 +222,14 @@ def test_verify_401s_a_mutating_request_rather_than_redirecting(client):
     assert resp.status_code == 401
 
 
-# ── Per-app allowlist (onshape-viewer) ──────────────────────────────────────
+# ── Per-app allowlist (openrocket / STAR OpenRocket) ──────────────────────────────────────
 
 
 def _onshape_headers(accept="text/html", uri="/", method="GET"):
     return {
         "Accept": accept,
         "X-Forwarded-Method": method,
-        "X-Forwarded-Host": "onshape-viewer.starberkeley.org",
+        "X-Forwarded-Host": "openrocket.starberkeley.org",
         "X-Forwarded-Uri": uri,
     }
 
@@ -262,7 +262,7 @@ def test_verify_403s_an_unapproved_xhr_on_onshape(client, monkeypatch):
 
 def test_verify_unrestricted_apps_ignore_the_allowlist(client, monkeypatch):
     """A denying allowlist must not affect apps that don't use one."""
-    monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: app != "onshape-viewer")
+    monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: app != "openrocket")
     client.set_cookie("session", _token())
     resp = client.get(
         "/verify", headers={"X-Forwarded-Host": "engine-design.starberkeley.org"}
diff --git a/deploy/apps/FRESH-INSTALL.md b/deploy/apps/FRESH-INSTALL.md
index c290e89d7..feacf293c 100644
--- a/deploy/apps/FRESH-INSTALL.md
+++ b/deploy/apps/FRESH-INSTALL.md
@@ -193,7 +193,7 @@ Web routes — Service URL `http://caddy:80` for each:
 | `engine-design.starberkeley.org` | `http://caddy:80` |
 | `pid-designer.starberkeley.org` | `http://caddy:80` |
 | `recovery-calculator.starberkeley.org` | `http://caddy:80` |
-| `onshape-viewer.starberkeley.org` | `http://caddy:80` |
+| `openrocket.starberkeley.org` | `http://caddy:80` |
 
 Do **not** add `auth.` here — that stays on the EC2 tunnel. The SSH route is §5a.
 
diff --git a/deploy/apps/README.md b/deploy/apps/README.md
index bad7322d8..2752b1ca8 100644
--- a/deploy/apps/README.md
+++ b/deploy/apps/README.md
@@ -32,7 +32,7 @@ Service URL `http://caddy:80`:
 | `engine-design` | `starberkeley.org` | `http://caddy:80` |
 | `pid-designer` | `starberkeley.org` | `http://caddy:80` |
 | `recovery-calculator` | `starberkeley.org` | `http://caddy:80` |
-| `onshape-viewer` | `starberkeley.org` | `http://caddy:80` |
+| `star-openrocket` | `starberkeley.org` | `http://caddy:80` |
 | `daq-viewer` | `starberkeley.org` | `http://caddy:80` |
 
 Plus one **SSH** route on the same tunnel for remote admin — the `ssh://` scheme
@@ -81,7 +81,7 @@ Set in `.env`:
 | `CLOUDFLARE_TUNNEL_TOKEN` | this machine's tunnel token |
 
 No `auth/.env` is needed (verify-only). For live Onshape builds, put the key pair
-in `onshape-viewer/.env` (optional — cache-first endpoints work without it).
+in `star-openrocket/.env` (optional — cache-first endpoints work without it).
 
 ## 3. Launch
 ```bash
@@ -118,7 +118,7 @@ Open `https://engine-design.starberkeley.org` in a browser → it bounces to
 ```bash
 curl -sI https://engine-design.starberkeley.org/          # 302 → auth.../login
 ```
-Log in as an `@berkeley.edu` account; open onshape-viewer to confirm the allowlist
+Log in as an `@berkeley.edu` account; open star-openrocket to confirm the allowlist
 (non-approved users authenticate but get 403 there).
 
 ## Version history in S3 (P&ID + Engine + Recovery)
diff --git a/deploy/caddy/Caddyfile b/deploy/caddy/Caddyfile
index f050547fb..b7f167ba2 100644
--- a/deploy/caddy/Caddyfile
+++ b/deploy/caddy/Caddyfile
@@ -102,14 +102,14 @@
 # approved-users allowlist for this app is enforced inside auth's /verify (it
 # brokers Onshape credentials), so it needs nothing extra here -- /verify simply
 # answers 403 for a signed-in user who is not on the list. See auth/allowlist.py.
-{$SCHEME:https}://onshape-viewer.{$BASE_DOMAIN:starberkeley.org} {
+{$SCHEME:https}://openrocket.{$BASE_DOMAIN:starberkeley.org} {
 	import protected
 
 	handle /api/* {
-		reverse_proxy onshape-viewer-api:8002
+		reverse_proxy star-openrocket-api:8002
 	}
 	handle {
-		reverse_proxy onshape-viewer-frontend:4177
+		reverse_proxy star-openrocket-frontend:4177
 	}
 }
 
diff --git a/docker-compose.yml b/docker-compose.yml
index 4c13c97e0..d0be6c490 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -66,8 +66,8 @@ services:
       - pid-designer-frontend
       - recovery-calculator-api
       - recovery-calculator-frontend
-      - onshape-viewer-api
-      - onshape-viewer-frontend
+      - star-openrocket-api
+      - star-openrocket-frontend
       - daq-viewer
       - landing
 
@@ -225,10 +225,10 @@ services:
     restart: unless-stopped
 
   # ── Onshape CM Viewer ────────────────────────────────────────────────────
-  onshape-viewer-api:
-    image: ghcr.io/calstar/star-onshape-viewer-api:${STAR_IMAGE_TAG:-latest}
+  star-openrocket-api:
+    image: ghcr.io/calstar/star-openrocket-api:${STAR_IMAGE_TAG:-latest}
     build:
-      context: ./onshape-viewer
+      context: ./star-openrocket
       dockerfile: Dockerfile.api
     restart: unless-stopped
     environment:
@@ -246,10 +246,10 @@ services:
       # rebuild. CACHE_ROOT in backend/main.py is /app/cache.
       - onshape_cache:/app/cache
 
-  onshape-viewer-frontend:
-    image: ghcr.io/calstar/star-onshape-viewer-frontend:${STAR_IMAGE_TAG:-latest}
+  star-openrocket-frontend:
+    image: ghcr.io/calstar/star-openrocket-frontend:${STAR_IMAGE_TAG:-latest}
     build:
-      context: ./onshape-viewer/frontend
+      context: ./star-openrocket/frontend
       dockerfile: Dockerfile
     restart: unless-stopped
 
diff --git a/landing/src/App.tsx b/landing/src/App.tsx
index 6ccb903a0..b99423446 100644
--- a/landing/src/App.tsx
+++ b/landing/src/App.tsx
@@ -210,12 +210,12 @@ const APPS: AppCard[] = [
     iconColor: '#fdba74',
   },
   {
-    id: 'onshape-viewer',
-    href: 'https://onshape-viewer.starberkeley.org',
-    label: 'Onshape Viewer',
-    subdomain: 'onshape-viewer.starberkeley.org',
+    id: 'star-openrocket',
+    href: 'https://openrocket.starberkeley.org',
+    label: 'STAR OpenRocket',
+    subdomain: 'openrocket.starberkeley.org',
     description:
-      'Pulls assemblies from Onshape and renders. Soon to become an improved version of OpenRocket.',
+      'Pulls assemblies from Onshape and computes centre of mass, stability, ascent flight dynamics, and parachute recovery — a STAR take on OpenRocket.',
     icon: <IconCAD />,
     colorClass: 'card-cyan',
     iconBg: 'linear-gradient(135deg, #0e7490 0%, #06b6d4 100%)',
diff --git a/scripts/setup-test/README.md b/scripts/setup-test/README.md
index 2426a469a..ca0fb0ef5 100644
--- a/scripts/setup-test/README.md
+++ b/scripts/setup-test/README.md
@@ -53,7 +53,7 @@ bash scripts/setup-test/run-macos.sh pid-designer
 bash scripts/setup-test/run-macos.sh all
 ```
 
-Projects: `pid-designer` | `onshape-viewer` | `engine-design` | `firmware` | `daq-server` | `all`
+Projects: `pid-designer` | `star-openrocket` | `engine-design` | `firmware` | `daq-server` | `all`
 
 ### Useful flags
 
diff --git a/scripts/setup-test/run-docker.sh b/scripts/setup-test/run-docker.sh
index 1f8281dad..53eb5b46e 100755
--- a/scripts/setup-test/run-docker.sh
+++ b/scripts/setup-test/run-docker.sh
@@ -2,7 +2,7 @@
 # run-docker.sh — test setup.sh in a clean Ubuntu container.
 #
 # Usage: bash scripts/setup-test/run-docker.sh <project>
-#   project: pid-designer | onshape-viewer | engine-design | firmware | daq-server | all
+#   project: pid-designer | star-openrocket | engine-design | firmware | daq-server | all
 #
 # What it does:
 #   1. Builds the ubuntu:24.04 test image (cached).
@@ -46,12 +46,12 @@ while [ $# -gt 0 ]; do
 done
 
 if [ -z "$PROJECT" ]; then
-  echo "Usage: $0 <pid-designer|onshape-viewer|engine-design|firmware|daq-server|all>" >&2
+  echo "Usage: $0 <pid-designer|star-openrocket|engine-design|firmware|daq-server|all>" >&2
   exit 1
 fi
 
 case "$PROJECT" in
-  pid-designer|onshape-viewer|engine-design|firmware|daq-server|all) ;;
+  pid-designer|star-openrocket|engine-design|firmware|daq-server|all) ;;
   *) echo "Unknown project: $PROJECT" >&2; exit 1 ;;
 esac
 
diff --git a/scripts/setup-test/run-macos.sh b/scripts/setup-test/run-macos.sh
index 446f91efd..377a6705e 100755
--- a/scripts/setup-test/run-macos.sh
+++ b/scripts/setup-test/run-macos.sh
@@ -2,7 +2,7 @@
 # run-macos.sh — test setup.sh on native macOS in an isolated scratch dir.
 #
 # Usage: bash scripts/setup-test/run-macos.sh <project>
-#   project: pid-designer | onshape-viewer | engine-design | firmware | daq-server | all
+#   project: pid-designer | star-openrocket | engine-design | firmware | daq-server | all
 #
 # What it does:
 #   1. rsyncs the current working tree to $HOME/STAR-setup-test/ (scratch dir,
@@ -54,12 +54,12 @@ while [ $# -gt 0 ]; do
 done
 
 if [ -z "$PROJECT" ]; then
-  echo "Usage: $0 <pid-designer|onshape-viewer|engine-design|firmware|daq-server|all>" >&2
+  echo "Usage: $0 <pid-designer|star-openrocket|engine-design|firmware|daq-server|all>" >&2
   exit 1
 fi
 
 case "$PROJECT" in
-  pid-designer|onshape-viewer|engine-design|firmware|daq-server|all) ;;
+  pid-designer|star-openrocket|engine-design|firmware|daq-server|all) ;;
   *) echo "Unknown project: $PROJECT" >&2; exit 1 ;;
 esac
 
diff --git a/scripts/setup-test/smoke/all.sh b/scripts/setup-test/smoke/all.sh
index e1cc9c8d1..d037b60e7 100755
--- a/scripts/setup-test/smoke/all.sh
+++ b/scripts/setup-test/smoke/all.sh
@@ -6,7 +6,7 @@ set -euo pipefail
 
 SMOKE_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
-PROJECTS=(pid-designer onshape-viewer engine-design firmware daq-server)
+PROJECTS=(pid-designer star-openrocket engine-design firmware daq-server)
 
 FAILED=()
 for p in "${PROJECTS[@]}"; do
diff --git a/scripts/setup-test/smoke/onshape-viewer.sh b/scripts/setup-test/smoke/star-openrocket.sh
similarity index 53%
rename from scripts/setup-test/smoke/onshape-viewer.sh
rename to scripts/setup-test/smoke/star-openrocket.sh
index 406c2fb6b..164b4ed03 100755
--- a/scripts/setup-test/smoke/onshape-viewer.sh
+++ b/scripts/setup-test/smoke/star-openrocket.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-# Smoke check: onshape-viewer setup produced a working backend + frontend.
+# Smoke check: star-openrocket setup produced a working backend + frontend.
 # Runs from the repo root (harness cd's there before invoking).
 #
 # Deliberately does not touch the Onshape API. The viewer's whole test suite is
@@ -8,30 +8,30 @@
 set -euo pipefail
 
 echo "  → venv exists"
-test -d onshape-viewer/.venv || { echo "  ✗ onshape-viewer/.venv missing"; exit 1; }
+test -d star-openrocket/.venv || { echo "  ✗ star-openrocket/.venv missing"; exit 1; }
 
 echo "  → backend imports"
 # shellcheck disable=SC1091
-source onshape-viewer/.venv/bin/activate
-(cd onshape-viewer && python -c "from backend.main import app; print('  ✓ backend.main.app importable')")
+source star-openrocket/.venv/bin/activate
+(cd star-openrocket && python -c "from backend.main import app; print('  ✓ backend.main.app importable')")
 
 # The build pipeline's own dependencies, which the FastAPI app does not pull in
 # on its own — a venv that can serve cached artifacts but cannot write a GLB is
 # a half-finished install.
-(cd onshape-viewer && python -c "import httpx, numpy, pygltflib; print('  ✓ httpx/numpy/pygltflib import')")
+(cd star-openrocket && python -c "import httpx, numpy, pygltflib; print('  ✓ httpx/numpy/pygltflib import')")
 deactivate
 
 echo "  → frontend node_modules"
-test -d onshape-viewer/frontend/node_modules \
+test -d star-openrocket/frontend/node_modules \
   || { echo "  ✗ frontend/node_modules missing"; exit 1; }
-test -x onshape-viewer/frontend/node_modules/.bin/vite \
+test -x star-openrocket/frontend/node_modules/.bin/vite \
   || { echo "  ✗ vite not present in node_modules"; exit 1; }
 
 echo "  → credentials stub present (not filled in — that's the user's job)"
-if [ -f onshape-viewer/.env ]; then
-  echo "  ✓ onshape-viewer/.env exists"
+if [ -f star-openrocket/.env ]; then
+  echo "  ✓ star-openrocket/.env exists"
 else
-  echo "  ! onshape-viewer/.env missing — builds will fail until it is created"
+  echo "  ! star-openrocket/.env missing — builds will fail until it is created"
 fi
 
-echo "  ✓ onshape-viewer smoke passed"
+echo "  ✓ star-openrocket smoke passed"
diff --git a/scripts/sync-brand.sh b/scripts/sync-brand.sh
index 377fb6e4c..864f98b89 100755
--- a/scripts/sync-brand.sh
+++ b/scripts/sync-brand.sh
@@ -25,14 +25,14 @@ COPIES=(
   # Full STAR wordmark (imported in React)
   "star-wordmark.png:landing/src/assets"
   "star-wordmark.png:recovery-calculator/frontend/src/assets"
-  "star-wordmark.png:onshape-viewer/frontend/src/assets"
+  "star-wordmark.png:star-openrocket/frontend/src/assets"
 
   # Browser-tab favicon (served from each app's public/ at /star-icon.svg)
   "star-icon.svg:landing/public"
   "star-icon.svg:EngineDesign/frontend/public"
   "star-icon.svg:pid-designer/frontend/public"
   "star-icon.svg:recovery-calculator/frontend/public"
-  "star-icon.svg:onshape-viewer/frontend/public"
+  "star-icon.svg:star-openrocket/frontend/public"
   "star-icon.svg:daq-server/diablo_server/frontend/public"
   "star-icon.svg:daq-server/tools/postprocessing/webviewer/frontend/public"
 )
diff --git a/setup.sh b/setup.sh
index 0f3ea211e..0610a3966 100755
--- a/setup.sh
+++ b/setup.sh
@@ -5,7 +5,7 @@
 #
 # Dispatcher over the per-project setup scripts. Each subproject owns its own
 # install steps (daq-server/setup.sh, firmware/setup.sh, EngineDesign/setup.sh,
-# pid-designer/setup.sh, onshape-viewer/setup.sh) so you only pay for what you
+# pid-designer/setup.sh, star-openrocket/setup.sh) so you only pay for what you
 # use — cloning the repo for the P&ID editor shouldn't force you to build
 # Rust + elodin-db.
 #
@@ -50,7 +50,7 @@ source "$REPO_ROOT/scripts/setup_common.sh"
 PROJECTS=(
   "pid-designer|P&ID Designer|pid-designer/setup.sh|FastAPI + React P&ID editor (quick)"
   "recovery-calculator|Recovery Calculator|recovery-calculator/setup.sh|Parachute descent physics + FastAPI + React"
-  "onshape-viewer|Onshape CM Viewer|onshape-viewer/setup.sh|FastAPI + React/three.js CAD centre-of-mass viewer (quick)"
+  "star-openrocket|STAR OpenRocket|star-openrocket/setup.sh|FastAPI + React/three.js CAD centre-of-mass viewer (quick)"
   "engine-design|Engine Design|EngineDesign/setup.sh|Python physics pipeline + FastAPI + React"
   "firmware|Firmware|firmware/setup.sh|PlatformIO for ESP32 board firmware"
   "daq-server|DAQ Server|daq-server/setup.sh|C++ + Rust + Python + Node — the big one"
@@ -82,7 +82,7 @@ show_help() {
     --engine-design      Install EngineDesign
     --pid-designer       Install pid-designer
     --recovery-calculator Install recovery-calculator
-    --onshape-viewer     Install onshape-viewer
+    --star-openrocket     Install star-openrocket
     --list               List projects and exit
     --yes, -y            Accept all prompts (non-interactive)
     --no-hook            Don't offer daq-server pre-push format hook
@@ -112,7 +112,7 @@ while [ $# -gt 0 ]; do
     --engine-design)       SELECTED+=("engine-design") ;;
     --pid-designer)        SELECTED+=("pid-designer") ;;
     --recovery-calculator) SELECTED+=("recovery-calculator") ;;
-    --onshape-viewer)      SELECTED+=("onshape-viewer") ;;
+    --star-openrocket)      SELECTED+=("star-openrocket") ;;
     --list)          DID_LIST=1 ;;
     --yes|-y)        export SETUP_YES=1; PASSTHRU+=("--yes") ;;
     --no-hook)       PASSTHRU+=("--no-hook") ;;
diff --git a/onshape-viewer/.gitignore b/star-openrocket/.gitignore
similarity index 100%
rename from onshape-viewer/.gitignore
rename to star-openrocket/.gitignore
diff --git a/onshape-viewer/Dockerfile.api b/star-openrocket/Dockerfile.api
similarity index 90%
rename from onshape-viewer/Dockerfile.api
rename to star-openrocket/Dockerfile.api
index 92c018d0f..8376d1aa8 100644
--- a/onshape-viewer/Dockerfile.api
+++ b/star-openrocket/Dockerfile.api
@@ -1,4 +1,4 @@
-# Onshape CM Viewer — API image.
+# STAR OpenRocket — API image.
 #
 # Build context is the subproject dir: the backend implements no auth (Caddy is
 # the gate, see deploy/Caddyfile), so it needs nothing from the repo root.
@@ -6,7 +6,7 @@
 # Security posture (see backend/main.py): this process brokers Onshape API calls
 # with a key pair from the environment. Anyone who can reach it can spend that
 # key's rate limit and read any document it can read -- which is exactly why the
-# onshape-viewer site block sits behind `import protected`, and why an approved-
+# star-openrocket site block sits behind `import protected`, and why an approved-
 # users allowlist on top of the shared gate is planned.
 FROM python:3.12-slim
 WORKDIR /app
diff --git a/onshape-viewer/FUTURE_IMPROVEMENTS.md b/star-openrocket/FUTURE_IMPROVEMENTS.md
similarity index 100%
rename from onshape-viewer/FUTURE_IMPROVEMENTS.md
rename to star-openrocket/FUTURE_IMPROVEMENTS.md
diff --git a/onshape-viewer/README.md b/star-openrocket/README.md
similarity index 95%
rename from onshape-viewer/README.md
rename to star-openrocket/README.md
index 7a3bbedb5..3922a9e56 100644
--- a/onshape-viewer/README.md
+++ b/star-openrocket/README.md
@@ -1,4 +1,4 @@
-# Onshape CM Viewer
+# STAR OpenRocket
 
 Renders an Onshape assembly in the browser and computes its centre of mass,
 recomputing live as parts are toggled, re-materialled, or given a mass by hand.
@@ -84,7 +84,7 @@ exposed to a network without authentication in front of it**.
 ## Directory structure
 
 ```
-onshape-viewer/
+star-openrocket/
 ├── backend/
 │   ├── main.py                  # FastAPI: artifacts, picker, build jobs
 │   └── onshape/
@@ -113,11 +113,11 @@ onshape-viewer/
 
 ```bash
 # From the repo root
-./setup.sh --onshape-viewer      # or: bash onshape-viewer/setup.sh
+./setup.sh --star-openrocket      # or: bash star-openrocket/setup.sh
 ```
 
 Then put an Onshape key pair (https://dev-portal.onshape.com) into the
-gitignored `onshape-viewer/.env`:
+gitignored `star-openrocket/.env`:
 
 ```
 ONSHAPE_ACCESS_KEY=...
@@ -125,7 +125,7 @@ ONSHAPE_SECRET_KEY=...
 ```
 
 ```bash
-cd onshape-viewer
+cd star-openrocket
 ./dev.sh                         # backend :8002, frontend :5175
 ```
 
@@ -145,7 +145,7 @@ rather than silently producing nothing. They never reach the browser.
 ## Tests
 
 ```bash
-cd onshape-viewer
+cd star-openrocket
 .venv/bin/python -m pytest tests/ --timeout=120 --timeout-method=thread -q
 ```
 
@@ -156,8 +156,8 @@ reach the network fails at the call site instead of spending quota.
 
 ## CI
 
-[`.github/workflows/onshape-viewer-ci.yml`](../.github/workflows/onshape-viewer-ci.yml)
-runs on changes under `onshape-viewer/`:
+[`.github/workflows/star-openrocket-ci.yml`](../.github/workflows/star-openrocket-ci.yml)
+runs on changes under `star-openrocket/`:
 
 | Job | What it checks |
 |---|---|
diff --git a/onshape-viewer/backend/__init__.py b/star-openrocket/backend/__init__.py
similarity index 100%
rename from onshape-viewer/backend/__init__.py
rename to star-openrocket/backend/__init__.py
diff --git a/onshape-viewer/backend/main.py b/star-openrocket/backend/main.py
similarity index 99%
rename from onshape-viewer/backend/main.py
rename to star-openrocket/backend/main.py
index ccb8f0cf6..d1e9fd1f3 100644
--- a/onshape-viewer/backend/main.py
+++ b/star-openrocket/backend/main.py
@@ -1,7 +1,7 @@
 """Standalone FastAPI backend for the Onshape CM Viewer.
 
 Run with:
-    cd onshape-viewer
+    cd star-openrocket
     uvicorn backend.main:app --reload --port 8002
 
 Serves build artifacts, and -- since the model picker landed -- also brokers
@@ -59,7 +59,7 @@
 #: `python -m backend.motors.fetch`. Offline; empty until that runs.
 _motor_db = MotorDB(CACHE_ROOT / "motors")
 
-app = FastAPI(title="Onshape CM Viewer API", version="1.0.0")
+app = FastAPI(title="STAR OpenRocket API", version="1.0.0")
 
 app.add_middleware(
     CORSMiddleware,
diff --git a/onshape-viewer/backend/materials/README.md b/star-openrocket/backend/materials/README.md
similarity index 100%
rename from onshape-viewer/backend/materials/README.md
rename to star-openrocket/backend/materials/README.md
diff --git a/onshape-viewer/backend/materials/scrape.py b/star-openrocket/backend/materials/scrape.py
similarity index 100%
rename from onshape-viewer/backend/materials/scrape.py
rename to star-openrocket/backend/materials/scrape.py
diff --git a/onshape-viewer/backend/motors/__init__.py b/star-openrocket/backend/motors/__init__.py
similarity index 100%
rename from onshape-viewer/backend/motors/__init__.py
rename to star-openrocket/backend/motors/__init__.py
diff --git a/onshape-viewer/backend/motors/db.py b/star-openrocket/backend/motors/db.py
similarity index 100%
rename from onshape-viewer/backend/motors/db.py
rename to star-openrocket/backend/motors/db.py
diff --git a/onshape-viewer/backend/motors/digest.py b/star-openrocket/backend/motors/digest.py
similarity index 100%
rename from onshape-viewer/backend/motors/digest.py
rename to star-openrocket/backend/motors/digest.py
diff --git a/onshape-viewer/backend/motors/fetch.py b/star-openrocket/backend/motors/fetch.py
similarity index 100%
rename from onshape-viewer/backend/motors/fetch.py
rename to star-openrocket/backend/motors/fetch.py
diff --git a/onshape-viewer/backend/motors/loader_common.py b/star-openrocket/backend/motors/loader_common.py
similarity index 100%
rename from onshape-viewer/backend/motors/loader_common.py
rename to star-openrocket/backend/motors/loader_common.py
diff --git a/onshape-viewer/backend/motors/motor.py b/star-openrocket/backend/motors/motor.py
similarity index 100%
rename from onshape-viewer/backend/motors/motor.py
rename to star-openrocket/backend/motors/motor.py
diff --git a/onshape-viewer/backend/motors/rasp.py b/star-openrocket/backend/motors/rasp.py
similarity index 100%
rename from onshape-viewer/backend/motors/rasp.py
rename to star-openrocket/backend/motors/rasp.py
diff --git a/onshape-viewer/backend/motors/rocksim.py b/star-openrocket/backend/motors/rocksim.py
similarity index 100%
rename from onshape-viewer/backend/motors/rocksim.py
rename to star-openrocket/backend/motors/rocksim.py
diff --git a/onshape-viewer/backend/motors/thrustcurve.py b/star-openrocket/backend/motors/thrustcurve.py
similarity index 100%
rename from onshape-viewer/backend/motors/thrustcurve.py
rename to star-openrocket/backend/motors/thrustcurve.py
diff --git a/onshape-viewer/backend/onshape/__init__.py b/star-openrocket/backend/onshape/__init__.py
similarity index 100%
rename from onshape-viewer/backend/onshape/__init__.py
rename to star-openrocket/backend/onshape/__init__.py
diff --git a/onshape-viewer/backend/onshape/aero/__init__.py b/star-openrocket/backend/onshape/aero/__init__.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/__init__.py
rename to star-openrocket/backend/onshape/aero/__init__.py
diff --git a/onshape-viewer/backend/onshape/aero/axis.py b/star-openrocket/backend/onshape/aero/axis.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/axis.py
rename to star-openrocket/backend/onshape/aero/axis.py
diff --git a/onshape-viewer/backend/onshape/aero/barrowman_body.py b/star-openrocket/backend/onshape/aero/barrowman_body.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/barrowman_body.py
rename to star-openrocket/backend/onshape/aero/barrowman_body.py
diff --git a/onshape-viewer/backend/onshape/aero/barrowman_fins.py b/star-openrocket/backend/onshape/aero/barrowman_fins.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/barrowman_fins.py
rename to star-openrocket/backend/onshape/aero/barrowman_fins.py
diff --git a/onshape-viewer/backend/onshape/aero/fins.py b/star-openrocket/backend/onshape/aero/fins.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/fins.py
rename to star-openrocket/backend/onshape/aero/fins.py
diff --git a/onshape-viewer/backend/onshape/aero/flight.py b/star-openrocket/backend/onshape/aero/flight.py
similarity index 99%
rename from onshape-viewer/backend/onshape/aero/flight.py
rename to star-openrocket/backend/onshape/aero/flight.py
index c6de25cc9..1f316b815 100644
--- a/onshape-viewer/backend/onshape/aero/flight.py
+++ b/star-openrocket/backend/onshape/aero/flight.py
@@ -2,7 +2,7 @@
 
 A deliberately simple 1-DOF model for the flight-profile popup. Forces are **thrust minus
 weight only** -- drag is *not* modelled yet (see the marked hook in ``_integrate``), so the
-apogee this returns is an upper bound. Air density / drag arrive when onshape-viewer and the
+apogee this returns is an upper bound. Air density / drag arrive when star-openrocket and the
 recovery-calculator merge and share one atmosphere. The sim runs from ignition to apogee;
 recovery/descent is the recovery-calculator's job.
 
diff --git a/onshape-viewer/backend/onshape/aero/outer_surface.py b/star-openrocket/backend/onshape/aero/outer_surface.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/outer_surface.py
rename to star-openrocket/backend/onshape/aero/outer_surface.py
diff --git a/onshape-viewer/backend/onshape/aero/profile.py b/star-openrocket/backend/onshape/aero/profile.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/profile.py
rename to star-openrocket/backend/onshape/aero/profile.py
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_adapter.py b/star-openrocket/backend/onshape/aero/rocketpy_adapter.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/rocketpy_adapter.py
rename to star-openrocket/backend/onshape/aero/rocketpy_adapter.py
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_compare.py b/star-openrocket/backend/onshape/aero/rocketpy_compare.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/rocketpy_compare.py
rename to star-openrocket/backend/onshape/aero/rocketpy_compare.py
diff --git a/onshape-viewer/backend/onshape/aero/rocketpy_flight.py b/star-openrocket/backend/onshape/aero/rocketpy_flight.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/rocketpy_flight.py
rename to star-openrocket/backend/onshape/aero/rocketpy_flight.py
diff --git a/onshape-viewer/backend/onshape/aero/stability.py b/star-openrocket/backend/onshape/aero/stability.py
similarity index 100%
rename from onshape-viewer/backend/onshape/aero/stability.py
rename to star-openrocket/backend/onshape/aero/stability.py
diff --git a/onshape-viewer/backend/onshape/assembly.py b/star-openrocket/backend/onshape/assembly.py
similarity index 100%
rename from onshape-viewer/backend/onshape/assembly.py
rename to star-openrocket/backend/onshape/assembly.py
diff --git a/onshape-viewer/backend/onshape/bodydetails.py b/star-openrocket/backend/onshape/bodydetails.py
similarity index 100%
rename from onshape-viewer/backend/onshape/bodydetails.py
rename to star-openrocket/backend/onshape/bodydetails.py
diff --git a/onshape-viewer/backend/onshape/browse.py b/star-openrocket/backend/onshape/browse.py
similarity index 100%
rename from onshape-viewer/backend/onshape/browse.py
rename to star-openrocket/backend/onshape/browse.py
diff --git a/onshape-viewer/backend/onshape/build.py b/star-openrocket/backend/onshape/build.py
similarity index 100%
rename from onshape-viewer/backend/onshape/build.py
rename to star-openrocket/backend/onshape/build.py
diff --git a/onshape-viewer/backend/onshape/client.py b/star-openrocket/backend/onshape/client.py
similarity index 100%
rename from onshape-viewer/backend/onshape/client.py
rename to star-openrocket/backend/onshape/client.py
diff --git a/onshape-viewer/backend/onshape/geometry.py b/star-openrocket/backend/onshape/geometry.py
similarity index 100%
rename from onshape-viewer/backend/onshape/geometry.py
rename to star-openrocket/backend/onshape/geometry.py
diff --git a/onshape-viewer/backend/onshape/geometry_store.py b/star-openrocket/backend/onshape/geometry_store.py
similarity index 100%
rename from onshape-viewer/backend/onshape/geometry_store.py
rename to star-openrocket/backend/onshape/geometry_store.py
diff --git a/onshape-viewer/backend/onshape/glb.py b/star-openrocket/backend/onshape/glb.py
similarity index 99%
rename from onshape-viewer/backend/onshape/glb.py
rename to star-openrocket/backend/onshape/glb.py
index e5844325e..0e6766662 100644
--- a/onshape-viewer/backend/onshape/glb.py
+++ b/star-openrocket/backend/onshape/glb.py
@@ -187,7 +187,7 @@ def build(self) -> GLTF2:
             accessors=self._accessors,
             bufferViews=self._buffer_views,
             buffers=[pygltflib.Buffer(byteLength=len(self._blob))],
-            asset=pygltflib.Asset(generator="onshape-viewer", version="2.0"),
+            asset=pygltflib.Asset(generator="star-openrocket", version="2.0"),
         )
         gltf.set_binary_blob(bytes(self._blob))
         return gltf
diff --git a/onshape-viewer/backend/onshape/mass.py b/star-openrocket/backend/onshape/mass.py
similarity index 100%
rename from onshape-viewer/backend/onshape/mass.py
rename to star-openrocket/backend/onshape/mass.py
diff --git a/onshape-viewer/backend/onshape/tessellate.py b/star-openrocket/backend/onshape/tessellate.py
similarity index 100%
rename from onshape-viewer/backend/onshape/tessellate.py
rename to star-openrocket/backend/onshape/tessellate.py
diff --git a/onshape-viewer/backend/onshape/urls.py b/star-openrocket/backend/onshape/urls.py
similarity index 100%
rename from onshape-viewer/backend/onshape/urls.py
rename to star-openrocket/backend/onshape/urls.py
diff --git a/onshape-viewer/backend/routers/__init__.py b/star-openrocket/backend/routers/__init__.py
similarity index 100%
rename from onshape-viewer/backend/routers/__init__.py
rename to star-openrocket/backend/routers/__init__.py
diff --git a/onshape-viewer/backend/routers/documents.py b/star-openrocket/backend/routers/documents.py
similarity index 98%
rename from onshape-viewer/backend/routers/documents.py
rename to star-openrocket/backend/routers/documents.py
index 2b3183a3a..baf422b3f 100644
--- a/onshape-viewer/backend/routers/documents.py
+++ b/star-openrocket/backend/routers/documents.py
@@ -34,11 +34,11 @@
 
 from backend import storage, userdata
 
-router = APIRouter(prefix="/api/viewer/documents", tags=["documents"])
+router = APIRouter(prefix="/api/documents", tags=["documents"])
 
 # Seconds between automatic microversion snapshots for one document while it is
 # being actively autosaved. The on-close /flush ignores this.
-MICRO_INTERVAL = int(os.environ.get("ONSHAPE_VIEWER_MICRO_INTERVAL", "300"))
+MICRO_INTERVAL = int(os.environ.get("OPENROCKET_MICRO_INTERVAL", "300"))
 
 # (user, doc_id) -> monotonic time of the last microversion. In-process only;
 # after a restart the worst case is one extra snapshot, which is harmless.
diff --git a/onshape-viewer/backend/storage.py b/star-openrocket/backend/storage.py
similarity index 97%
rename from onshape-viewer/backend/storage.py
rename to star-openrocket/backend/storage.py
index fdd0159bd..79a93c009 100644
--- a/onshape-viewer/backend/storage.py
+++ b/star-openrocket/backend/storage.py
@@ -8,7 +8,7 @@
 
 Two backends, chosen at import time by environment:
 
-* **S3Backend** when ``ONSHAPE_VIEWER_S3_BUCKET`` is set. Microversions ride on S3
+* **S3Backend** when ``OPENROCKET_S3_BUCKET`` is set. Microversions ride on S3
   object *versioning* of a per-document HEAD key
   (``<prefix>/<user>/<id>/current.json``): every snapshot is a plain
   ``put_object`` that S3 keeps as a new version, and a lifecycle rule prunes old
@@ -235,9 +235,9 @@ def delete_doc(self, user: str, doc_id: str) -> None:
 # ── selection ────────────────────────────────────────────────────────────────
 
 def _make_backend():
-    bucket = os.environ.get("ONSHAPE_VIEWER_S3_BUCKET")
+    bucket = os.environ.get("OPENROCKET_S3_BUCKET")
     if bucket:
-        return S3Backend(bucket, os.environ.get("ONSHAPE_VIEWER_S3_PREFIX", "viewer"))
+        return S3Backend(bucket, os.environ.get("OPENROCKET_S3_PREFIX", "openrocket"))
     return LocalBackend()
 
 
diff --git a/onshape-viewer/backend/userdata.py b/star-openrocket/backend/userdata.py
similarity index 99%
rename from onshape-viewer/backend/userdata.py
rename to star-openrocket/backend/userdata.py
index e64683743..eb19db8e9 100644
--- a/onshape-viewer/backend/userdata.py
+++ b/star-openrocket/backend/userdata.py
@@ -26,9 +26,9 @@
 
 from fastapi import Request
 
-#: The ``<app>`` path segment for this backend. Distinct per app, so onshape-viewer
+#: The ``<app>`` path segment for this backend. Distinct per app, so star-openrocket
 #: and the recovery calculator (merging in soon) keep separate trees under one user.
-APP = "viewer"
+APP = "openrocket"
 
 _DEV_USER = "local"
 
diff --git a/onshape-viewer/dev.sh b/star-openrocket/dev.sh
similarity index 89%
rename from onshape-viewer/dev.sh
rename to star-openrocket/dev.sh
index 0fd794528..cbb33c470 100755
--- a/onshape-viewer/dev.sh
+++ b/star-openrocket/dev.sh
@@ -1,10 +1,10 @@
 #!/usr/bin/env bash
-# onshape-viewer/dev.sh — run the backend (:8002) and frontend (:5175) together.
+# star-openrocket/dev.sh — run the backend (:8002) and frontend (:5175) together.
 #
 # Usage: ./dev.sh    (Ctrl-C stops both)
 #
-# First-time install is `bash onshape-viewer/setup.sh` from the repo root, or
-# `./setup.sh --onshape-viewer`. This script installs missing dependencies as a
+# First-time install is `bash star-openrocket/setup.sh` from the repo root, or
+# `./setup.sh --star-openrocket`. This script installs missing dependencies as a
 # convenience but is not the setup path — it will not fetch system packages.
 set -e
 
@@ -39,7 +39,7 @@ fi
 if [ -z "${ONSHAPE_ACCESS_KEY:-}" ] || [ -z "${ONSHAPE_SECRET_KEY:-}" ]; then
   echo ""
   echo "warning: no Onshape credentials, so search and build will return 503."
-  echo "Put a key pair from https://dev-portal.onshape.com in onshape-viewer/.env:"
+  echo "Put a key pair from https://dev-portal.onshape.com in star-openrocket/.env:"
   echo "  ONSHAPE_ACCESS_KEY=..."
   echo "  ONSHAPE_SECRET_KEY=..."
   echo "Already-built models in cache/ still load fine without them."
diff --git a/onshape-viewer/frontend/.dockerignore b/star-openrocket/frontend/.dockerignore
similarity index 100%
rename from onshape-viewer/frontend/.dockerignore
rename to star-openrocket/frontend/.dockerignore
diff --git a/onshape-viewer/frontend/Dockerfile b/star-openrocket/frontend/Dockerfile
similarity index 100%
rename from onshape-viewer/frontend/Dockerfile
rename to star-openrocket/frontend/Dockerfile
diff --git a/onshape-viewer/frontend/index.html b/star-openrocket/frontend/index.html
similarity index 90%
rename from onshape-viewer/frontend/index.html
rename to star-openrocket/frontend/index.html
index 20c32c0be..faa33b49c 100644
--- a/onshape-viewer/frontend/index.html
+++ b/star-openrocket/frontend/index.html
@@ -4,7 +4,7 @@
     <meta charset="UTF-8" />
     <link rel="icon" type="image/svg+xml" href="/star-icon.svg" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Onshape Viewer</title>
+    <title>STAR OpenRocket</title>
   </head>
   <body>
     <div id="root"></div>
diff --git a/onshape-viewer/frontend/package-lock.json b/star-openrocket/frontend/package-lock.json
similarity index 99%
rename from onshape-viewer/frontend/package-lock.json
rename to star-openrocket/frontend/package-lock.json
index a42d2a101..830ca58bd 100644
--- a/onshape-viewer/frontend/package-lock.json
+++ b/star-openrocket/frontend/package-lock.json
@@ -1,11 +1,11 @@
 {
-  "name": "onshape-viewer",
+  "name": "star-openrocket",
   "version": "0.0.0",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
-      "name": "onshape-viewer",
+      "name": "star-openrocket",
       "version": "0.0.0",
       "dependencies": {
         "@react-three/drei": "^10.0.0",
diff --git a/onshape-viewer/frontend/package.json b/star-openrocket/frontend/package.json
similarity index 96%
rename from onshape-viewer/frontend/package.json
rename to star-openrocket/frontend/package.json
index 058705b6e..43d18ecb4 100644
--- a/onshape-viewer/frontend/package.json
+++ b/star-openrocket/frontend/package.json
@@ -1,5 +1,5 @@
 {
-  "name": "onshape-viewer",
+  "name": "star-openrocket",
   "private": true,
   "version": "0.0.0",
   "type": "module",
diff --git a/onshape-viewer/frontend/public/star-icon.svg b/star-openrocket/frontend/public/star-icon.svg
similarity index 100%
rename from onshape-viewer/frontend/public/star-icon.svg
rename to star-openrocket/frontend/public/star-icon.svg
diff --git a/onshape-viewer/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
similarity index 99%
rename from onshape-viewer/frontend/src/App.tsx
rename to star-openrocket/frontend/src/App.tsx
index ddd05e695..849994005 100644
--- a/onshape-viewer/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -41,7 +41,7 @@ import type {
 import { MATERIALS_BY_KEY } from './lib/materials'
 
 /** Survives reloads so a new build does not hijack which model is open. */
-const LAST_MODEL_KEY = 'onshape-viewer:last-model'
+const LAST_MODEL_KEY = 'star-openrocket:last-model'
 
 export default function App() {
   // The persisted working config, read once so a reload restores the inputs below.
@@ -580,7 +580,7 @@ export default function App() {
         <div className="h-9 w-px bg-slate-700" />
         {/* Fixed title. What is loaded is the picker's job to say, and it
             already does -- naming it twice just made the header noisy. */}
-        <h1 className="text-xl font-bold">Onshape Viewer</h1>
+        <h1 className="text-xl font-bold">STAR OpenRocket</h1>
 
         <nav className="flex items-center gap-1 rounded-lg border border-slate-700 bg-slate-900/60 p-1 text-sm">
           {(['cad', 'flight'] as const).map((tab) => (
@@ -654,7 +654,7 @@ export default function App() {
       <MaterialWarning parts={parts} />
 
       <div className="flex min-h-0 flex-1">
-        <ResizableSidebar side="left" defaultWidth={340} storageKey="onshape-viewer:left-width">
+        <ResizableSidebar side="left" defaultWidth={340} storageKey="star-openrocket:left-width">
           <PartList
             parts={parts}
             visibleKeys={visibleKeys}
@@ -703,7 +703,7 @@ export default function App() {
           </div>
         </main>
 
-        <ResizableSidebar side="right" defaultWidth={440} storageKey="onshape-viewer:right-width">
+        <ResizableSidebar side="right" defaultWidth={440} storageKey="star-openrocket:right-width">
           <InspectorPanel
             // Properties tab
             selected={selectedParts}
diff --git a/onshape-viewer/frontend/src/api/client.ts b/star-openrocket/frontend/src/api/client.ts
similarity index 100%
rename from onshape-viewer/frontend/src/api/client.ts
rename to star-openrocket/frontend/src/api/client.ts
diff --git a/onshape-viewer/frontend/src/api/documents.ts b/star-openrocket/frontend/src/api/documents.ts
similarity index 96%
rename from onshape-viewer/frontend/src/api/documents.ts
rename to star-openrocket/frontend/src/api/documents.ts
index a40ca88ca..9f711c752 100644
--- a/onshape-viewer/frontend/src/api/documents.ts
+++ b/star-openrocket/frontend/src/api/documents.ts
@@ -1,5 +1,5 @@
 /**
- * Versioned-document API (/api/viewer/documents): the durable, server-side
+ * Versioned-document API (/api/documents): the durable, server-side
  * timeline behind the localStorage working cache. Mirrors the pid-designer
  * model -- an autosaved working copy, throttled microversions, and immutable
  * named releases. See backend/routers/documents.py.
@@ -11,7 +11,7 @@
 
 import type { ViewerConfig as UiConfig } from '../types/config'
 
-const BASE = '/api/viewer/documents'
+const BASE = '/api/documents'
 
 export interface DocMeta {
   id: string
diff --git a/onshape-viewer/frontend/src/assets/star-wordmark.png b/star-openrocket/frontend/src/assets/star-wordmark.png
similarity index 100%
rename from onshape-viewer/frontend/src/assets/star-wordmark.png
rename to star-openrocket/frontend/src/assets/star-wordmark.png
diff --git a/onshape-viewer/frontend/src/components/ui.tsx b/star-openrocket/frontend/src/components/ui.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/ui.tsx
rename to star-openrocket/frontend/src/components/ui.tsx
diff --git a/onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
similarity index 99%
rename from onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx
rename to star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
index c896a9140..0258fdd8c 100644
--- a/onshape-viewer/frontend/src/components/versions/ConfigVersions.tsx
+++ b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
@@ -20,7 +20,7 @@ import { Button, Modal } from '../ui'
 import * as api from '../../api/documents'
 import type { DocMeta, MicroVersion, ReleaseVersion } from '../../api/documents'
 
-const ACTIVE_KEY = 'onshape-viewer.activeDoc.v1'
+const ACTIVE_KEY = 'star-openrocket.activeDoc.v1'
 const AUTOSAVE_MS = 1500
 
 /** The one at-a-time dialog the bar drives: a text prompt, a confirmation
@@ -276,7 +276,7 @@ export function ConfigVersions({ config, onRestore, inline = false }: Props) {
   // A file holds the full UiConfig, the same payload the server stores.
   const saveToFile = () => {
     const slug = (active?.name ?? 'design').replace(/[^\w.-]+/g, '-').toLowerCase()
-    downloadJson(`${slug || 'design'}.viewer.json`, config)
+    downloadJson(`${slug || 'design'}.ork.json`, config)
   }
 
   // Import a file as a new server-backed design. Falls back to loading it into
diff --git a/onshape-viewer/frontend/src/components/viewer/CMMarker.tsx b/star-openrocket/frontend/src/components/viewer/CMMarker.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/CMMarker.tsx
rename to star-openrocket/frontend/src/components/viewer/CMMarker.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/ContextMenu.tsx b/star-openrocket/frontend/src/components/viewer/ContextMenu.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/ContextMenu.tsx
rename to star-openrocket/frontend/src/components/viewer/ContextMenu.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/FlightDynamicsTab.tsx
rename to star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/FlightProfileModal.tsx b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/FlightProfileModal.tsx
rename to star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/InspectorPanel.tsx b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/InspectorPanel.tsx
rename to star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/MaterialWarning.tsx b/star-openrocket/frontend/src/components/viewer/MaterialWarning.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/MaterialWarning.tsx
rename to star-openrocket/frontend/src/components/viewer/MaterialWarning.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/ModelPicker.tsx b/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/ModelPicker.tsx
rename to star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/MotorCurvesModal.tsx b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/MotorCurvesModal.tsx
rename to star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/MotorPicker.tsx b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/MotorPicker.tsx
rename to star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/PartList.tsx b/star-openrocket/frontend/src/components/viewer/PartList.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/PartList.tsx
rename to star-openrocket/frontend/src/components/viewer/PartList.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/PropertiesPanel.tsx b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/PropertiesPanel.tsx
rename to star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/ResizableSidebar.tsx b/star-openrocket/frontend/src/components/viewer/ResizableSidebar.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/ResizableSidebar.tsx
rename to star-openrocket/frontend/src/components/viewer/ResizableSidebar.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/Row.tsx b/star-openrocket/frontend/src/components/viewer/Row.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/Row.tsx
rename to star-openrocket/frontend/src/components/viewer/Row.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/Scene.tsx b/star-openrocket/frontend/src/components/viewer/Scene.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/Scene.tsx
rename to star-openrocket/frontend/src/components/viewer/Scene.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/components/viewer/StabilityPanel.tsx
rename to star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
diff --git a/onshape-viewer/frontend/src/components/viewer/chartTheme.ts b/star-openrocket/frontend/src/components/viewer/chartTheme.ts
similarity index 95%
rename from onshape-viewer/frontend/src/components/viewer/chartTheme.ts
rename to star-openrocket/frontend/src/components/viewer/chartTheme.ts
index 252d6875f..725d01070 100644
--- a/onshape-viewer/frontend/src/components/viewer/chartTheme.ts
+++ b/star-openrocket/frontend/src/components/viewer/chartTheme.ts
@@ -3,7 +3,7 @@
  *
  * Literal colors rather than `var(--color-...)`: Recharts passes most of these through as SVG
  * presentation attributes, where `var()` is not resolved. Mirrors the slate palette used across
- * onshape-viewer (Tailwind slate). Font sizes are plain px and do not track the `--text-*` scale.
+ * star-openrocket (Tailwind slate). Font sizes are plain px and do not track the `--text-*` scale.
  */
 
 export const AXIS = {
diff --git a/onshape-viewer/frontend/src/index.css b/star-openrocket/frontend/src/index.css
similarity index 100%
rename from onshape-viewer/frontend/src/index.css
rename to star-openrocket/frontend/src/index.css
diff --git a/onshape-viewer/frontend/src/lib/cm.ts b/star-openrocket/frontend/src/lib/cm.ts
similarity index 100%
rename from onshape-viewer/frontend/src/lib/cm.ts
rename to star-openrocket/frontend/src/lib/cm.ts
diff --git a/onshape-viewer/frontend/src/lib/materials.ts b/star-openrocket/frontend/src/lib/materials.ts
similarity index 100%
rename from onshape-viewer/frontend/src/lib/materials.ts
rename to star-openrocket/frontend/src/lib/materials.ts
diff --git a/onshape-viewer/frontend/src/lib/names.ts b/star-openrocket/frontend/src/lib/names.ts
similarity index 100%
rename from onshape-viewer/frontend/src/lib/names.ts
rename to star-openrocket/frontend/src/lib/names.ts
diff --git a/onshape-viewer/frontend/src/lib/persist.ts b/star-openrocket/frontend/src/lib/persist.ts
similarity index 98%
rename from onshape-viewer/frontend/src/lib/persist.ts
rename to star-openrocket/frontend/src/lib/persist.ts
index e79ae6c14..819de834b 100644
--- a/onshape-viewer/frontend/src/lib/persist.ts
+++ b/star-openrocket/frontend/src/lib/persist.ts
@@ -15,7 +15,7 @@ import type { ViewerConfig } from '../types/config'
 import { defaultFlightParams, defaultViewerConfig } from '../types/config'
 
 /** Versioned key, so a future shape change is ignored rather than crashed on. */
-export const STORAGE_KEY = 'onshape-viewer.config.v1'
+export const STORAGE_KEY = 'star-openrocket.config.v1'
 
 /**
  * A stored config, merged onto today's defaults. Null when nothing usable is there.
diff --git a/onshape-viewer/frontend/src/lib/status.ts b/star-openrocket/frontend/src/lib/status.ts
similarity index 100%
rename from onshape-viewer/frontend/src/lib/status.ts
rename to star-openrocket/frontend/src/lib/status.ts
diff --git a/onshape-viewer/frontend/src/main.tsx b/star-openrocket/frontend/src/main.tsx
similarity index 100%
rename from onshape-viewer/frontend/src/main.tsx
rename to star-openrocket/frontend/src/main.tsx
diff --git a/onshape-viewer/frontend/src/types.ts b/star-openrocket/frontend/src/types.ts
similarity index 100%
rename from onshape-viewer/frontend/src/types.ts
rename to star-openrocket/frontend/src/types.ts
diff --git a/onshape-viewer/frontend/src/types/config.ts b/star-openrocket/frontend/src/types/config.ts
similarity index 100%
rename from onshape-viewer/frontend/src/types/config.ts
rename to star-openrocket/frontend/src/types/config.ts
diff --git a/onshape-viewer/frontend/src/vite-env.d.ts b/star-openrocket/frontend/src/vite-env.d.ts
similarity index 100%
rename from onshape-viewer/frontend/src/vite-env.d.ts
rename to star-openrocket/frontend/src/vite-env.d.ts
diff --git a/onshape-viewer/frontend/tsconfig.json b/star-openrocket/frontend/tsconfig.json
similarity index 100%
rename from onshape-viewer/frontend/tsconfig.json
rename to star-openrocket/frontend/tsconfig.json
diff --git a/onshape-viewer/frontend/vite.config.ts b/star-openrocket/frontend/vite.config.ts
similarity index 100%
rename from onshape-viewer/frontend/vite.config.ts
rename to star-openrocket/frontend/vite.config.ts
diff --git a/onshape-viewer/requirements-ci.txt b/star-openrocket/requirements-ci.txt
similarity index 100%
rename from onshape-viewer/requirements-ci.txt
rename to star-openrocket/requirements-ci.txt
diff --git a/onshape-viewer/requirements-flight.txt b/star-openrocket/requirements-flight.txt
similarity index 100%
rename from onshape-viewer/requirements-flight.txt
rename to star-openrocket/requirements-flight.txt
diff --git a/onshape-viewer/requirements.txt b/star-openrocket/requirements.txt
similarity index 87%
rename from onshape-viewer/requirements.txt
rename to star-openrocket/requirements.txt
index 66836385b..52fa28079 100644
--- a/onshape-viewer/requirements.txt
+++ b/star-openrocket/requirements.txt
@@ -1,6 +1,6 @@
 # Onshape CM Viewer backend dependencies.
 #
-# Pins match .github/workflows/onshape-viewer-ci.yml so laptops and CI resolve
+# Pins match .github/workflows/star-openrocket-ci.yml so laptops and CI resolve
 # the same versions.
 #
 # httpx is used rather than requests for its connection pooling and timeout
diff --git a/onshape-viewer/setup.sh b/star-openrocket/setup.sh
similarity index 85%
rename from onshape-viewer/setup.sh
rename to star-openrocket/setup.sh
index f2fd29e62..15e7d11aa 100755
--- a/onshape-viewer/setup.sh
+++ b/star-openrocket/setup.sh
@@ -1,11 +1,11 @@
 #!/usr/bin/env bash
-# onshape-viewer/setup.sh — per-project setup for the Onshape CM Viewer.
+# star-openrocket/setup.sh — per-project setup for the STAR OpenRocket.
 #
-# Standalone: `bash onshape-viewer/setup.sh` from the repo root prepares both
-# ends of the app. Also invoked by top-level `setup.sh --onshape-viewer`.
+# Standalone: `bash star-openrocket/setup.sh` from the repo root prepares both
+# ends of the app. Also invoked by top-level `setup.sh --star-openrocket`.
 #
 # What it installs:
-#   1. Python venv at onshape-viewer/.venv + pip install -r requirements.txt
+#   1. Python venv at star-openrocket/.venv + pip install -r requirements.txt
 #   2. npm install for frontend/
 #   3. A gitignored .env stub for the Onshape API credentials
 #
@@ -40,7 +40,7 @@ while [ $# -gt 0 ]; do
 done
 
 OS="$(detect_os)"
-step "onshape-viewer setup — OS: $OS"
+step "star-openrocket setup — OS: $OS"
 
 # ─── 1. System packages ──────────────────────────────────────────────────────
 step "System packages"
@@ -63,7 +63,7 @@ fi
 ok "System packages ready"
 
 # ─── 2. Python venv ──────────────────────────────────────────────────────────
-step "Python venv (onshape-viewer/.venv)"
+step "Python venv (star-openrocket/.venv)"
 
 cd "$VIEWER_DIR"
 if [ ! -d .venv ]; then
@@ -92,7 +92,7 @@ if [ "$DO_FRONTEND" = "1" ]; then
     (cd "$VIEWER_DIR/frontend" && (npm ci --silent 2>/dev/null || npm install --silent))
     ok "Frontend npm install done"
   else
-    warn "onshape-viewer/frontend not found — skipping"
+    warn "star-openrocket/frontend not found — skipping"
   fi
 fi
 
@@ -103,7 +103,7 @@ fi
 # out of the repo is for no script to ever hold one.
 #
 # Skipped under --ci on purpose. CI must not have credentials at all — see the
-# comment block at the top of .github/workflows/onshape-viewer-ci.yml.
+# comment block at the top of .github/workflows/star-openrocket-ci.yml.
 if [ "$CI_MODE" = "0" ]; then
   step "Onshape credentials (.env)"
   if [ -f "$VIEWER_DIR/.env" ]; then
@@ -116,25 +116,25 @@ ONSHAPE_ACCESS_KEY=
 ONSHAPE_SECRET_KEY=
 EOF
     ok "Wrote .env stub (gitignored)"
-    warn "Fill in onshape-viewer/.env before building a model."
+    warn "Fill in star-openrocket/.env before building a model."
   fi
 fi
 
-step "onshape-viewer setup complete"
+step "star-openrocket setup complete"
 
 cat <<EOF
 
 Next steps:
 
-  1. Put your Onshape key pair in onshape-viewer/.env
+  1. Put your Onshape key pair in star-openrocket/.env
      (https://dev-portal.onshape.com — the viewer will not build without it)
 
   2. Start the dev stack (backend :8002 + frontend :5175):
-       cd onshape-viewer
+       cd star-openrocket
        ./dev.sh
 
   3. Run the tests (fully offline — no credentials, no API calls):
-       cd onshape-viewer
+       cd star-openrocket
        .venv/bin/python -m pytest tests/ -q
 
 A note on API quota: Onshape bills per request. Building a model costs roughly
diff --git a/onshape-viewer/tests/conftest.py b/star-openrocket/tests/conftest.py
similarity index 100%
rename from onshape-viewer/tests/conftest.py
rename to star-openrocket/tests/conftest.py
diff --git a/onshape-viewer/tests/fixtures/assembly.json b/star-openrocket/tests/fixtures/assembly.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/assembly.json
rename to star-openrocket/tests/fixtures/assembly.json
diff --git a/onshape-viewer/tests/fixtures/assembly_empty_version.json b/star-openrocket/tests/fixtures/assembly_empty_version.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/assembly_empty_version.json
rename to star-openrocket/tests/fixtures/assembly_empty_version.json
diff --git a/onshape-viewer/tests/fixtures/assembly_massproperties.json b/star-openrocket/tests/fixtures/assembly_massproperties.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/assembly_massproperties.json
rename to star-openrocket/tests/fixtures/assembly_massproperties.json
diff --git a/onshape-viewer/tests/fixtures/motor/test1.eng b/star-openrocket/tests/fixtures/motor/test1.eng
similarity index 100%
rename from onshape-viewer/tests/fixtures/motor/test1.eng
rename to star-openrocket/tests/fixtures/motor/test1.eng
diff --git a/onshape-viewer/tests/fixtures/motor/test2.rse b/star-openrocket/tests/fixtures/motor/test2.rse
similarity index 100%
rename from onshape-viewer/tests/fixtures/motor/test2.rse
rename to star-openrocket/tests/fixtures/motor/test2.rse
diff --git a/onshape-viewer/tests/fixtures/motor/test3.rse b/star-openrocket/tests/fixtures/motor/test3.rse
similarity index 100%
rename from onshape-viewer/tests/fixtures/motor/test3.rse
rename to star-openrocket/tests/fixtures/motor/test3.rse
diff --git a/onshape-viewer/tests/fixtures/parts_materials.json b/star-openrocket/tests/fixtures/parts_materials.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/parts_materials.json
rename to star-openrocket/tests/fixtures/parts_materials.json
diff --git a/onshape-viewer/tests/fixtures/partstudio_massproperties.json b/star-openrocket/tests/fixtures/partstudio_massproperties.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/partstudio_massproperties.json
rename to star-openrocket/tests/fixtures/partstudio_massproperties.json
diff --git a/onshape-viewer/tests/fixtures/source_1c28f3ba48de_mass.json b/star-openrocket/tests/fixtures/source_1c28f3ba48de_mass.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_1c28f3ba48de_mass.json
rename to star-openrocket/tests/fixtures/source_1c28f3ba48de_mass.json
diff --git a/onshape-viewer/tests/fixtures/source_1c28f3ba48de_parts.json b/star-openrocket/tests/fixtures/source_1c28f3ba48de_parts.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_1c28f3ba48de_parts.json
rename to star-openrocket/tests/fixtures/source_1c28f3ba48de_parts.json
diff --git a/onshape-viewer/tests/fixtures/source_1c28f3ba48de_tess.json b/star-openrocket/tests/fixtures/source_1c28f3ba48de_tess.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_1c28f3ba48de_tess.json
rename to star-openrocket/tests/fixtures/source_1c28f3ba48de_tess.json
diff --git a/onshape-viewer/tests/fixtures/source_65e6e7a922d0_mass.json b/star-openrocket/tests/fixtures/source_65e6e7a922d0_mass.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_65e6e7a922d0_mass.json
rename to star-openrocket/tests/fixtures/source_65e6e7a922d0_mass.json
diff --git a/onshape-viewer/tests/fixtures/source_65e6e7a922d0_parts.json b/star-openrocket/tests/fixtures/source_65e6e7a922d0_parts.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_65e6e7a922d0_parts.json
rename to star-openrocket/tests/fixtures/source_65e6e7a922d0_parts.json
diff --git a/onshape-viewer/tests/fixtures/source_65e6e7a922d0_tess.json b/star-openrocket/tests/fixtures/source_65e6e7a922d0_tess.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_65e6e7a922d0_tess.json
rename to star-openrocket/tests/fixtures/source_65e6e7a922d0_tess.json
diff --git a/onshape-viewer/tests/fixtures/source_71acb23742df_mass.json b/star-openrocket/tests/fixtures/source_71acb23742df_mass.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_71acb23742df_mass.json
rename to star-openrocket/tests/fixtures/source_71acb23742df_mass.json
diff --git a/onshape-viewer/tests/fixtures/source_71acb23742df_parts.json b/star-openrocket/tests/fixtures/source_71acb23742df_parts.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_71acb23742df_parts.json
rename to star-openrocket/tests/fixtures/source_71acb23742df_parts.json
diff --git a/onshape-viewer/tests/fixtures/source_71acb23742df_tess.json b/star-openrocket/tests/fixtures/source_71acb23742df_tess.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_71acb23742df_tess.json
rename to star-openrocket/tests/fixtures/source_71acb23742df_tess.json
diff --git a/onshape-viewer/tests/fixtures/source_db91140ba830_mass.json b/star-openrocket/tests/fixtures/source_db91140ba830_mass.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_db91140ba830_mass.json
rename to star-openrocket/tests/fixtures/source_db91140ba830_mass.json
diff --git a/onshape-viewer/tests/fixtures/source_db91140ba830_parts.json b/star-openrocket/tests/fixtures/source_db91140ba830_parts.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_db91140ba830_parts.json
rename to star-openrocket/tests/fixtures/source_db91140ba830_parts.json
diff --git a/onshape-viewer/tests/fixtures/source_db91140ba830_tess.json b/star-openrocket/tests/fixtures/source_db91140ba830_tess.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_db91140ba830_tess.json
rename to star-openrocket/tests/fixtures/source_db91140ba830_tess.json
diff --git a/onshape-viewer/tests/fixtures/source_ee2ef2459cdd_tess.json b/star-openrocket/tests/fixtures/source_ee2ef2459cdd_tess.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/source_ee2ef2459cdd_tess.json
rename to star-openrocket/tests/fixtures/source_ee2ef2459cdd_tess.json
diff --git a/onshape-viewer/tests/fixtures/tessellation.json b/star-openrocket/tests/fixtures/tessellation.json
similarity index 100%
rename from onshape-viewer/tests/fixtures/tessellation.json
rename to star-openrocket/tests/fixtures/tessellation.json
diff --git a/onshape-viewer/tests/make_fixtures.py b/star-openrocket/tests/make_fixtures.py
similarity index 100%
rename from onshape-viewer/tests/make_fixtures.py
rename to star-openrocket/tests/make_fixtures.py
diff --git a/onshape-viewer/tests/test_aero_body.py b/star-openrocket/tests/test_aero_body.py
similarity index 100%
rename from onshape-viewer/tests/test_aero_body.py
rename to star-openrocket/tests/test_aero_body.py
diff --git a/onshape-viewer/tests/test_aero_fin_extract.py b/star-openrocket/tests/test_aero_fin_extract.py
similarity index 100%
rename from onshape-viewer/tests/test_aero_fin_extract.py
rename to star-openrocket/tests/test_aero_fin_extract.py
diff --git a/onshape-viewer/tests/test_aero_fins.py b/star-openrocket/tests/test_aero_fins.py
similarity index 100%
rename from onshape-viewer/tests/test_aero_fins.py
rename to star-openrocket/tests/test_aero_fins.py
diff --git a/onshape-viewer/tests/test_aero_mach.py b/star-openrocket/tests/test_aero_mach.py
similarity index 100%
rename from onshape-viewer/tests/test_aero_mach.py
rename to star-openrocket/tests/test_aero_mach.py
diff --git a/onshape-viewer/tests/test_aero_stability.py b/star-openrocket/tests/test_aero_stability.py
similarity index 100%
rename from onshape-viewer/tests/test_aero_stability.py
rename to star-openrocket/tests/test_aero_stability.py
diff --git a/onshape-viewer/tests/test_assembly.py b/star-openrocket/tests/test_assembly.py
similarity index 100%
rename from onshape-viewer/tests/test_assembly.py
rename to star-openrocket/tests/test_assembly.py
diff --git a/onshape-viewer/tests/test_browse.py b/star-openrocket/tests/test_browse.py
similarity index 100%
rename from onshape-viewer/tests/test_browse.py
rename to star-openrocket/tests/test_browse.py
diff --git a/onshape-viewer/tests/test_build.py b/star-openrocket/tests/test_build.py
similarity index 100%
rename from onshape-viewer/tests/test_build.py
rename to star-openrocket/tests/test_build.py
diff --git a/onshape-viewer/tests/test_documents.py b/star-openrocket/tests/test_documents.py
similarity index 98%
rename from onshape-viewer/tests/test_documents.py
rename to star-openrocket/tests/test_documents.py
index a45aab95c..fa92d2ad8 100644
--- a/onshape-viewer/tests/test_documents.py
+++ b/star-openrocket/tests/test_documents.py
@@ -12,7 +12,7 @@
 import backend.main as main_module
 from backend import storage
 
-B = "/api/viewer/documents"
+B = "/api/documents"
 
 
 @pytest.fixture()
diff --git a/onshape-viewer/tests/test_flight.py b/star-openrocket/tests/test_flight.py
similarity index 100%
rename from onshape-viewer/tests/test_flight.py
rename to star-openrocket/tests/test_flight.py
diff --git a/onshape-viewer/tests/test_geometry.py b/star-openrocket/tests/test_geometry.py
similarity index 100%
rename from onshape-viewer/tests/test_geometry.py
rename to star-openrocket/tests/test_geometry.py
diff --git a/onshape-viewer/tests/test_mass.py b/star-openrocket/tests/test_mass.py
similarity index 100%
rename from onshape-viewer/tests/test_mass.py
rename to star-openrocket/tests/test_mass.py
diff --git a/onshape-viewer/tests/test_motors_db.py b/star-openrocket/tests/test_motors_db.py
similarity index 100%
rename from onshape-viewer/tests/test_motors_db.py
rename to star-openrocket/tests/test_motors_db.py
diff --git a/onshape-viewer/tests/test_motors_loader.py b/star-openrocket/tests/test_motors_loader.py
similarity index 100%
rename from onshape-viewer/tests/test_motors_loader.py
rename to star-openrocket/tests/test_motors_loader.py
diff --git a/onshape-viewer/tests/test_openrocket_golden_cp.py b/star-openrocket/tests/test_openrocket_golden_cp.py
similarity index 100%
rename from onshape-viewer/tests/test_openrocket_golden_cp.py
rename to star-openrocket/tests/test_openrocket_golden_cp.py
diff --git a/onshape-viewer/tests/test_rocketpy_compare.py b/star-openrocket/tests/test_rocketpy_compare.py
similarity index 100%
rename from onshape-viewer/tests/test_rocketpy_compare.py
rename to star-openrocket/tests/test_rocketpy_compare.py
diff --git a/onshape-viewer/tests/test_rocketpy_flight.py b/star-openrocket/tests/test_rocketpy_flight.py
similarity index 100%
rename from onshape-viewer/tests/test_rocketpy_flight.py
rename to star-openrocket/tests/test_rocketpy_flight.py
diff --git a/onshape-viewer/tests/test_stability_api.py b/star-openrocket/tests/test_stability_api.py
similarity index 100%
rename from onshape-viewer/tests/test_stability_api.py
rename to star-openrocket/tests/test_stability_api.py
diff --git a/onshape-viewer/tests/test_tessellate.py b/star-openrocket/tests/test_tessellate.py
similarity index 100%
rename from onshape-viewer/tests/test_tessellate.py
rename to star-openrocket/tests/test_tessellate.py
diff --git a/onshape-viewer/tests/test_urls.py b/star-openrocket/tests/test_urls.py
similarity index 100%
rename from onshape-viewer/tests/test_urls.py
rename to star-openrocket/tests/test_urls.py

From cdd9a43aaf3211adb18a0060f07beb6c13289b0f Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 13:16:06 -0700
Subject: [PATCH 016/205] merge recovery backend into STAR OpenRocket: physics
 lib + routers under backend/recovery, tools/site-climatology/reference,
 unified health, tests (5 frontend-coupled quarantined for Phase 3)

---
 recovery-calculator/tests/test_documents.py   | 135 ------------------
 star-openrocket/Dockerfile.api                |   6 +
 star-openrocket/backend/main.py               |  62 +++++++-
 star-openrocket/backend/recovery/__init__.py  |   0
 .../backend/recovery/routers/__init__.py      |   0
 .../backend/recovery}/routers/atmosphere.py   |   0
 .../backend/recovery}/routers/climatology.py  |  17 +--
 .../recovery}/routers/configs_store.py        |   2 +-
 .../backend/recovery}/routers/crosscheck.py   |   4 +-
 .../backend/recovery}/routers/devices.py      |   0
 .../backend/recovery}/routers/settings.py     |   2 +-
 .../backend/recovery}/routers/simulate.py     |   2 +-
 .../backend/recovery}/routers/study.py        |   2 +-
 .../backend/recovery}/serialise.py            |   0
 .../backend/recovery}/storage.py              |   2 +-
 .../backend/recovery}/userdata.py             |   0
 .../physics/PAD_STATE.md                      |   0
 .../physics/__init__.py                       |   0
 .../physics/__main__.py                       |   0
 .../physics/atmosphere.py                     |   0
 .../physics/cases.py                          |   0
 .../physics/constants.py                      |   0
 .../physics/crosscheck.py                     |   0
 .../physics/data/parachutes.csv               |   0
 .../physics/data/raw/CFC-12-S.json            |   0
 .../physics/data/raw/CFC-12.json              |   0
 .../physics/data/raw/CFC-120.json             |   0
 .../physics/data/raw/CFC-15-S.json            |   0
 .../physics/data/raw/CFC-15.json              |   0
 .../physics/data/raw/CFC-18-S.json            |   0
 .../physics/data/raw/CFC-18.json              |   0
 .../physics/data/raw/CFC-24-S.json            |   0
 .../physics/data/raw/CFC-24.json              |   0
 .../physics/data/raw/CFC-30-S.json            |   0
 .../physics/data/raw/CFC-30.json              |   0
 .../physics/data/raw/CFC-36-S.json            |   0
 .../physics/data/raw/CFC-36.json              |   0
 .../physics/data/raw/CFC-42.json              |   0
 .../physics/data/raw/CFC-48.json              |   0
 .../physics/data/raw/CFC-60.json              |   0
 .../physics/data/raw/CFC-72.json              |   0
 .../physics/data/raw/CFC-84.json              |   0
 .../physics/data/raw/CFC-96.json              |   0
 .../physics/data/raw/IFC-120-S.json           |   0
 .../physics/data/raw/IFC-120-SUL.json         |   0
 .../physics/data/raw/IFC-120-SULR.json        |   0
 .../physics/data/raw/IFC-120.json             |   0
 .../physics/data/raw/IFC-144-S.json           |   0
 .../physics/data/raw/IFC-144-SULR.json        |   0
 .../physics/data/raw/IFC-144.json             |   0
 .../physics/data/raw/IFC-168-S.json           |   0
 .../physics/data/raw/IFC-168-SULR.json        |   0
 .../physics/data/raw/IFC-168.json             |   0
 .../physics/data/raw/IFC-192-S.json           |   0
 .../physics/data/raw/IFC-192.json             |   0
 .../physics/data/raw/IFC-240-S.json           |   0
 .../physics/data/raw/IFC-240-SP.json          |   0
 .../physics/data/raw/IFC-240-SPR.json         |   0
 .../physics/data/raw/IFC-30-S.json            |   0
 .../physics/data/raw/IFC-30-SL.json           |   0
 .../physics/data/raw/IFC-30-SUL.json          |   0
 .../physics/data/raw/IFC-30-SUZ.json          |   0
 .../physics/data/raw/IFC-36-S.json            |   0
 .../physics/data/raw/IFC-36-SL.json           |   0
 .../physics/data/raw/IFC-36-SR.json           |   0
 .../physics/data/raw/IFC-36-SUL.json          |   0
 .../physics/data/raw/IFC-36-SUZ.json          |   0
 .../physics/data/raw/IFC-36.json              |   0
 .../physics/data/raw/IFC-42-SL.json           |   0
 .../physics/data/raw/IFC-42-SUZ.json          |   0
 .../physics/data/raw/IFC-48-S.json            |   0
 .../physics/data/raw/IFC-48-SUL.json          |   0
 .../physics/data/raw/IFC-48.json              |   0
 .../physics/data/raw/IFC-60-S.json            |   0
 .../physics/data/raw/IFC-60-SUL.json          |   0
 .../physics/data/raw/IFC-60.json              |   0
 .../physics/data/raw/IFC-66-SUL.json          |   0
 .../physics/data/raw/IFC-72-S.json            |   0
 .../physics/data/raw/IFC-72-SUL.json          |   0
 .../physics/data/raw/IFC-72-ZP.json           |   0
 .../physics/data/raw/IFC-72.json              |   0
 .../physics/data/raw/IFC-84-S.json            |   0
 .../physics/data/raw/IFC-84-SUL.json          |   0
 .../physics/data/raw/IFC-84.json              |   0
 .../physics/data/raw/IFC-96-S.json            |   0
 .../physics/data/raw/IFC-96-SUL.json          |   0
 .../physics/data/raw/IFC-96-SULR.json         |   0
 .../physics/data/raw/IFC-96.json              |   0
 .../physics/data/raw/PAR-120-LW.json          |   0
 .../physics/data/raw/PAR-120.json             |   0
 .../physics/data/raw/PAR-45.json              |   0
 .../physics/data/raw/PAR-50.json              |   0
 .../physics/data/raw/PAR-58.json              |   0
 .../physics/data/raw/PAR-70.json              |   0
 .../physics/data/raw/PAR-84.json              |   0
 .../physics/data/raw/R12C.json                |   0
 .../physics/data/raw/R15C.json                |   0
 .../physics/data/raw/R18C-P.json              |   0
 .../physics/data/raw/R2C-B.json               |   0
 .../physics/data/raw/R3C-B.json               |   0
 .../physics/data/raw/R3C.json                 |   0
 .../physics/data/raw/R4C-B.json               |   0
 .../physics/data/raw/R5C-B.json               |   0
 .../physics/data/raw/R6C-B.json               |   0
 .../physics/data/raw/R7C-B.json               |   0
 .../physics/data/raw/R9C.json                 |   0
 .../physics/data/raw/SKY-20-C.json            |   0
 .../physics/data/raw/SKY-20-C2.json           |   0
 .../physics/data/raw/SKY-24-C.json            |   0
 .../physics/data/raw/SKY-24-C2.json           |   0
 .../physics/data/raw/SKY-28-C.json            |   0
 .../physics/data/raw/SKY-28-C2.json           |   0
 .../physics/data/raw/SKY-32-C.json            |   0
 .../physics/data/raw/SKY-32-C2.json           |   0
 .../physics/data/raw/SKY-36-C.json            |   0
 .../physics/data/raw/SKY-36-C2.json           |   0
 .../physics/data/raw/SKY-44-C.json            |   0
 .../physics/data/raw/SKY-44-C2.json           |   0
 .../physics/data/raw/SKY-52-C.json            |   0
 .../physics/data/raw/SKY-52-C2.json           |   0
 .../physics/data/raw/SKY-60-C.json            |   0
 .../physics/data/raw/SKY-60-C2.json           |   0
 .../physics/data/raw/SP-120.json              |   0
 .../physics/data/raw/SP-144.json              |   0
 .../physics/data/raw/SP-168.json              |   0
 .../physics/data/raw/SP-18.json               |   0
 .../physics/data/raw/SP-192.json              |   0
 .../physics/data/raw/SP-24.json               |   0
 .../physics/data/raw/SP-30.json               |   0
 .../physics/data/raw/SP-36.json               |   0
 .../physics/data/raw/SP-48.json               |   0
 .../physics/data/raw/SP-60.json               |   0
 .../physics/data/raw/SP-72.json               |   0
 .../physics/data/raw/SP-84.json               |   0
 .../physics/data/raw/SP-96.json               |   0
 .../physics/data/raw/TAC-1-24.json            |   0
 .../physics/data/raw/TAC-1-36.json            |   0
 .../physics/data/raw/TAC-1-48.json            |   0
 .../physics/data/raw/TAC-1-60.json            |   0
 .../physics/data/raw/TAC-1-72.json            |   0
 .../physics/data/raw/TAC-1-84.json            |   0
 .../physics/data/raw/TARC-16.json             |   0
 .../physics/data/raw/TARC-18.json             |   0
 .../physics/data/raw/TARC-20.json             |   0
 .../physics/data/raw/TARC-24.json             |   0
 .../physics/devices.py                        |   0
 .../physics/drift.py                          |   0
 .../physics/dynamics.py                       |   0
 .../physics/loads.py                          |   0
 .../physics/mastersheet.py                    |   0
 .../physics/openrocket.py                     |   0
 .../physics/pad_state.py                      |   0
 .../physics/report.py                         |   0
 .../physics/schema.py                         |   0
 .../physics/site.py                           |   0
 .../physics/solver.py                         |   0
 .../physics/study.py                          |   0
 .../physics/wind.py                           |   0
 .../Camelot_Recovery_Mastersheet.xlsx         | Bin
 .../LE3 Recovery Mastersheet 25-26.xlsx       | Bin
 .../reference/mastersheets/README.md          |   0
 star-openrocket/requirements.txt              |   4 +
 .../site-climatology/.gitignore               |   0
 .../site-climatology/README.md                |   0
 .../site-climatology/_padstate.py             |   0
 .../data/edw-lapse-monthly.csv                |   0
 .../data/edw-nid-lapse-monthly.csv            |   0
 .../data/edw-nid-tprofile-monthly.csv         |   0
 .../data/edw-nid-wprofile-monthly.csv         |   0
 .../data/edw-tprofile-monthly.csv             |   0
 .../site-climatology/data/kedw-monthly.csv    |   0
 .../site-climatology/data/kedw-obs.csv        |   0
 .../site-climatology/data/kmhv-monthly.csv    |   0
 .../site-climatology/data/kmhv-obs.csv        |   0
 .../site-climatology/data/knid-monthly.csv    |   0
 .../site-climatology/data/knid-obs.csv        |   0
 .../data/nid-lapse-monthly.csv                |   0
 .../data/nid-tprofile-monthly.csv             |   0
 .../data/nid-wprofile-monthly.csv             |   0
 .../data/vef-lapse-monthly.csv                |   0
 .../data/vef-tprofile-monthly.csv             |   0
 .../data/vef-wprofile-monthly.csv             |   0
 .../site-climatology/export_json.py           |   0
 .../site-climatology/igra.py                  |   0
 .../site-climatology/metar_history.py         |   0
 .../site-climatology/sites.py                 |   0
 .../site-climatology/temp_profile.py          |   0
 .../site-climatology/test_site_climatology.py |   0
 .../site-climatology/wind_profile.py          |   0
 star-openrocket/tests/recovery/__init__.py    |   0
 .../tests/recovery}/conftest.py               |  16 ++-
 .../recovery}/fixtures/worked_example.json    |   0
 .../tests/recovery}/test_api.py               |  10 +-
 .../tests/recovery}/test_atmosphere.py        |   0
 .../tests/recovery}/test_configs.py           |   2 +-
 .../tests/recovery}/test_crosscheck.py        |   4 +-
 .../tests/recovery}/test_devices.py           |   0
 .../tests/recovery}/test_drift.py             |   0
 .../tests/recovery}/test_imports.py           |   6 +-
 .../tests/recovery}/test_loads.py             |   0
 .../tests/recovery}/test_mastersheet.py       |   0
 .../recovery}/test_no_terminal_assumption.py  |   2 +-
 .../tests/recovery}/test_openrocket.py        |   0
 .../tests/recovery}/test_openrocket_golden.py |   4 +-
 .../tests/recovery}/test_pad_state.py         |   0
 .../tests/recovery}/test_solver.py            |   0
 .../tests/recovery}/test_study.py             |   0
 .../tests/recovery}/test_tools.py             |   2 +-
 .../tests/recovery}/test_validation.py        |   0
 .../tests/recovery}/test_wind.py              |   0
 .../tests/recovery}/test_worked_example.py    |   0
 .../tools/fruity-chute-scraper/.gitignore     |   0
 .../tools/fruity-chute-scraper/README.md      |   0
 .../tools/fruity-chute-scraper/capture.har    |   0
 .../scrape_fruitychutes.py                    |   0
 .../tools/fruity-chute-scraper/test_mock.py   |   0
 .../tools/openrocket-golden/README.md         |   0
 .../tools/openrocket-golden/compare_golden.py |   0
 218 files changed, 114 insertions(+), 170 deletions(-)
 delete mode 100644 recovery-calculator/tests/test_documents.py
 create mode 100644 star-openrocket/backend/recovery/__init__.py
 create mode 100644 star-openrocket/backend/recovery/routers/__init__.py
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/atmosphere.py (100%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/climatology.py (77%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/configs_store.py (97%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/crosscheck.py (98%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/devices.py (100%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/settings.py (99%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/simulate.py (99%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/routers/study.py (99%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/serialise.py (100%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/storage.py (99%)
 rename {recovery-calculator/backend => star-openrocket/backend/recovery}/userdata.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/PAD_STATE.md (100%)
 rename {recovery-calculator => star-openrocket}/physics/__init__.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/__main__.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/atmosphere.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/cases.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/constants.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/crosscheck.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/parachutes.csv (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-12-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-12.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-120.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-15-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-15.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-18-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-18.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-24-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-24.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-30-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-30.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-36-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-36.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-42.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-48.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-60.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-72.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-84.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/CFC-96.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-120-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-120-SUL.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-120-SULR.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-120.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-144-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-144-SULR.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-144.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-168-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-168-SULR.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-168.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-192-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-192.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-240-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-240-SP.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-240-SPR.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-30-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-30-SL.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-30-SUL.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-30-SUZ.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-36-S.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-36-SL.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-36-SR.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-36-SUL.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-36-SUZ.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-36.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-42-SL.json (100%)
 rename {recovery-calculator => star-openrocket}/physics/data/raw/IFC-42-SUZ.json (100%)
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 rename {recovery-calculator => star-openrocket}/physics/devices.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/drift.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/dynamics.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/loads.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/mastersheet.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/openrocket.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/pad_state.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/report.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/schema.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/site.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/solver.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/study.py (100%)
 rename {recovery-calculator => star-openrocket}/physics/wind.py (100%)
 rename {recovery-calculator => star-openrocket}/reference/mastersheets/Camelot_Recovery_Mastersheet.xlsx (100%)
 rename {recovery-calculator => star-openrocket}/reference/mastersheets/LE3 Recovery Mastersheet 25-26.xlsx (100%)
 rename {recovery-calculator => star-openrocket}/reference/mastersheets/README.md (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/.gitignore (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/README.md (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/_padstate.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/data/edw-lapse-monthly.csv (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/data/edw-nid-lapse-monthly.csv (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/data/edw-nid-tprofile-monthly.csv (100%)
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 rename {recovery-calculator => star-openrocket}/site-climatology/data/kedw-obs.csv (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/data/kmhv-monthly.csv (100%)
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 rename {recovery-calculator => star-openrocket}/site-climatology/data/nid-lapse-monthly.csv (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/data/nid-tprofile-monthly.csv (100%)
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 rename {recovery-calculator => star-openrocket}/site-climatology/data/vef-wprofile-monthly.csv (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/export_json.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/igra.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/metar_history.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/sites.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/temp_profile.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/test_site_climatology.py (100%)
 rename {recovery-calculator => star-openrocket}/site-climatology/wind_profile.py (100%)
 create mode 100644 star-openrocket/tests/recovery/__init__.py
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/conftest.py (51%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/fixtures/worked_example.json (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_api.py (98%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_atmosphere.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_configs.py (98%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_crosscheck.py (98%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_devices.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_drift.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_imports.py (95%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_loads.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_mastersheet.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_no_terminal_assumption.py (98%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_openrocket.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_openrocket_golden.py (96%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_pad_state.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_solver.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_study.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_tools.py (96%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_validation.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_wind.py (100%)
 rename {recovery-calculator/tests => star-openrocket/tests/recovery}/test_worked_example.py (100%)
 rename {recovery-calculator => star-openrocket}/tools/fruity-chute-scraper/.gitignore (100%)
 rename {recovery-calculator => star-openrocket}/tools/fruity-chute-scraper/README.md (100%)
 rename {recovery-calculator => star-openrocket}/tools/fruity-chute-scraper/capture.har (100%)
 rename {recovery-calculator => star-openrocket}/tools/fruity-chute-scraper/scrape_fruitychutes.py (100%)
 rename {recovery-calculator => star-openrocket}/tools/fruity-chute-scraper/test_mock.py (100%)
 rename {recovery-calculator => star-openrocket}/tools/openrocket-golden/README.md (100%)
 rename {recovery-calculator => star-openrocket}/tools/openrocket-golden/compare_golden.py (100%)

diff --git a/recovery-calculator/tests/test_documents.py b/recovery-calculator/tests/test_documents.py
deleted file mode 100644
index 4c8d52c2f..000000000
--- a/recovery-calculator/tests/test_documents.py
+++ /dev/null
@@ -1,135 +0,0 @@
-"""Per-user config documents: working copy + microversions + releases.
-
-The versioned-document API (/api/recovery/documents) mirrors the pid-designer
-model: an autosaved working copy, throttled microversions, and immutable named
-releases. Identity is X-Auth-Email with a `local` dev fallback; one user's
-documents and history must never be visible to another.
-"""
-
-import os
-import sys
-
-import pytest
-
-sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-
-pytest.importorskip("fastapi", reason="API tests need fastapi")
-pytest.importorskip("httpx", reason="fastapi TestClient needs httpx")
-
-from fastapi.testclient import TestClient  # noqa: E402
-
-from backend.main import app  # noqa: E402
-from backend.routers import documents  # noqa: E402
-
-A = {"X-Auth-Email": "alice@berkeley.edu"}
-B = {"X-Auth-Email": "bob@berkeley.edu"}
-
-
-@pytest.fixture(autouse=True)
-def _isolate(tmp_path, monkeypatch):
-    """Fresh data root per test; force a microversion on every autosave (no
-    throttle) and clear the in-process throttle clock so tests don't interfere."""
-    monkeypatch.setenv("USERDATA_DIR", str(tmp_path))
-    monkeypatch.setattr(documents, "MICRO_INTERVAL", 0)
-    documents._last_micro.clear()
-
-
-@pytest.fixture
-def client():
-    return TestClient(app)
-
-
-def _create(client, headers, name="Baseline", config=None):
-    r = client.post("/api/recovery/documents", headers=headers,
-                    json={"name": name, "config": config or {"devices": [{"uid": "d1"}]}})
-    assert r.status_code == 200, r.text
-    return r.json()["id"]
-
-
-# ── CRUD + isolation ─────────────────────────────────────────────────────────
-
-
-def test_create_lists_and_isolates_per_user(client):
-    a_id = _create(client, A, "Alice design")
-    _create(client, B, "Bob design")
-
-    a_list = client.get("/api/recovery/documents", headers=A).json()
-    b_list = client.get("/api/recovery/documents", headers=B).json()
-    assert [d["id"] for d in a_list] == [a_id]
-    assert a_id not in [d["id"] for d in b_list]  # B never sees A's doc
-
-
-def test_rename_and_delete(client):
-    doc_id = _create(client, A)
-    r = client.patch(f"/api/recovery/documents/{doc_id}", headers=A, json={"name": "Renamed"})
-    assert r.status_code == 200 and r.json()["name"] == "Renamed"
-
-    assert client.delete(f"/api/recovery/documents/{doc_id}", headers=A).status_code == 200
-    assert client.get("/api/recovery/documents", headers=A).json() == []
-
-
-# ── working copy + microversions ─────────────────────────────────────────────
-
-
-def test_autosave_load_and_history(client):
-    doc_id = _create(client, A)
-    cfg = {"devices": [{"uid": "d1", "cd": 1.4}], "site": {"lat": 37.0}}
-    assert client.post(f"/api/recovery/documents/{doc_id}/autosave",
-                       headers=A, json={"config": cfg}).json()["micro"] is True
-
-    # /load returns the freshest working copy.
-    assert client.get(f"/api/recovery/documents/{doc_id}/load", headers=A).json()["config"] == cfg
-
-    # The autosave recorded a microversion; fetch it back verbatim.
-    history = client.get(f"/api/recovery/documents/{doc_id}/history", headers=A).json()
-    assert len(history) >= 1
-    vid = history[0]["versionId"]
-    snap = client.get(f"/api/recovery/documents/{doc_id}/version/{vid}", headers=A).json()
-    assert snap["config"] == cfg
-
-
-def test_history_isolated_between_users(client):
-    a_id = _create(client, A)
-    client.post(f"/api/recovery/documents/{a_id}/autosave", headers=A,
-                json={"config": {"secret": 1}})
-    # Bob asking for Alice's doc id sees his own (empty) history, never her data.
-    assert client.get(f"/api/recovery/documents/{a_id}/history", headers=B).json() == []
-
-
-# ── releases ─────────────────────────────────────────────────────────────────
-
-
-def test_release_is_immutable_and_listed(client):
-    doc_id = _create(client, A)
-    cfg = {"devices": [{"uid": "d1"}], "v": 1}
-    r = client.post(f"/api/recovery/documents/{doc_id}/release",
-                    headers=A, json={"label": "0.1", "config": cfg})
-    assert r.status_code == 200 and r.json()["label"] == "0.1"
-
-    # Re-releasing the same label is a conflict -- releases are immutable.
-    dup = client.post(f"/api/recovery/documents/{doc_id}/release",
-                      headers=A, json={"label": "0.1", "config": {"v": 2}})
-    assert dup.status_code == 409
-
-    assert "0.1" in [r["label"] for r in
-                     client.get(f"/api/recovery/documents/{doc_id}/releases", headers=A).json()]
-    got = client.get(f"/api/recovery/documents/{doc_id}/release/0.1", headers=A).json()
-    assert got["config"] == cfg  # the original, not the rejected v:2
-
-
-def test_restore_returns_older_state(client):
-    """The safety net: an autosaved mistake is recoverable from an earlier
-    microversion."""
-    doc_id = _create(client, A)
-    good = {"devices": [{"uid": "d1"}], "thrust": 1000}
-    client.post(f"/api/recovery/documents/{doc_id}/autosave", headers=A, json={"config": good})
-    client.post(f"/api/recovery/documents/{doc_id}/autosave", headers=A,
-                json={"config": {"devices": [], "thrust": 0}})  # the "mistake"
-
-    history = client.get(f"/api/recovery/documents/{doc_id}/history", headers=A).json()
-    assert len(history) >= 2
-    # The oldest snapshot still holds the good state.
-    oldest = client.get(
-        f"/api/recovery/documents/{doc_id}/version/{history[-1]['versionId']}", headers=A
-    ).json()
-    assert oldest["config"] == good
diff --git a/star-openrocket/Dockerfile.api b/star-openrocket/Dockerfile.api
index 8376d1aa8..7cf18c69a 100644
--- a/star-openrocket/Dockerfile.api
+++ b/star-openrocket/Dockerfile.api
@@ -22,6 +22,12 @@ RUN --mount=type=cache,target=/root/.cache/pip pip install -r requirements.txt
 
 COPY backend/ ./backend/
 
+# physics/ is the recovery calculator's pure library (imported as a top-level
+# package by backend/recovery/*). site-climatology/ is an optional data source
+# for the /api/climatology route (it falls back to the bundled frontend copy).
+COPY physics/ ./physics/
+COPY site-climatology/ ./site-climatology/
+
 # Built-model cache (browse.json + per-model manifest/glb). Mounted as a named
 # volume in compose so expensive Onshape builds survive a rebuild. CACHE_ROOT in
 # backend/main.py resolves to /app/cache.
diff --git a/star-openrocket/backend/main.py b/star-openrocket/backend/main.py
index d1e9fd1f3..a2fc61176 100644
--- a/star-openrocket/backend/main.py
+++ b/star-openrocket/backend/main.py
@@ -1,4 +1,4 @@
-"""Standalone FastAPI backend for the Onshape CM Viewer.
+"""Standalone FastAPI backend for STAR OpenRocket (CAD stability + ascent flight + recovery).
 
 Run with:
     cd star-openrocket
@@ -22,10 +22,19 @@
 import json
 import threading
 import uuid
+import sys as _sys
+from contextlib import asynccontextmanager
 from datetime import datetime, timezone
 from pathlib import Path
 from typing import Any
 
+# physics/ (the recovery calculator's pure library) sits at the app root next to
+# backend/. Put the app root on sys.path so `import physics` resolves regardless
+# of the process CWD (dev shell, pytest, or the Docker WORKDIR).
+_APP_ROOT = str(Path(__file__).resolve().parent.parent)
+if _APP_ROOT not in _sys.path:
+    _sys.path.insert(0, _APP_ROOT)
+
 from fastapi import FastAPI, HTTPException, Query
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.responses import FileResponse
@@ -59,7 +68,22 @@
 #: `python -m backend.motors.fetch`. Offline; empty until that runs.
 _motor_db = MotorDB(CACHE_ROOT / "motors")
 
-app = FastAPI(title="STAR OpenRocket API", version="1.0.0")
+@asynccontextmanager
+async def lifespan(app: FastAPI):
+    # Recovery calculator: load the parachute catalogue once at startup (121 rows
+    # of committed CSV) so a malformed table fails loudly at boot, not per request.
+    try:
+        from physics.devices import load_catalogue
+
+        app.state.catalogue = load_catalogue()
+        print(f"Loaded {len(app.state.catalogue)} recovery devices")
+    except Exception as exc:  # noqa: BLE001 - startup diagnostics
+        app.state.catalogue = {}
+        print(f"WARNING: recovery device catalogue unavailable: {exc}")
+    yield
+
+
+app = FastAPI(title="STAR OpenRocket API", version="1.0.0", lifespan=lifespan)
 
 app.add_middleware(
     CORSMiddleware,
@@ -80,6 +104,34 @@
 
 app.include_router(documents.router)
 
+# Recovery calculator routers, merged in from the standalone recovery-calculator
+# app: descent/loads (simulate), design sweep (study), cross-check, device
+# catalogue, atmosphere, climatology, unit settings, and the named-config library.
+# Prefixes are generic (/api/simulate, /api/study, ...) and don't collide with the
+# viewer's /api/models|motors|onshape|build.
+from .recovery.routers import (  # noqa: E402
+    atmosphere,
+    climatology,
+    configs_store,
+    crosscheck,
+    devices,
+    settings,
+    simulate,
+    study,
+)
+
+for _recovery_router in (
+    simulate,
+    study,
+    crosscheck,
+    devices,
+    atmosphere,
+    climatology,
+    settings,
+    configs_store,
+):
+    app.include_router(_recovery_router.router)
+
 
 def _model_dirs() -> list[Path]:
     if not CACHE_ROOT.exists():
@@ -89,7 +141,11 @@ def _model_dirs() -> list[Path]:
 
 @app.get("/api/health")
 async def health():
-    return {"status": "healthy"}
+    # git_sha + schema_version come from the recovery serialiser so the recovery
+    # frontend's health poll (and its contract test) keep working post-merge.
+    from .recovery.serialise import SCHEMA_VERSION, git_sha
+
+    return {"status": "healthy", "git_sha": git_sha(), "schema_version": SCHEMA_VERSION}
 
 
 @app.get("/api/models")
diff --git a/star-openrocket/backend/recovery/__init__.py b/star-openrocket/backend/recovery/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/star-openrocket/backend/recovery/routers/__init__.py b/star-openrocket/backend/recovery/routers/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/recovery-calculator/backend/routers/atmosphere.py b/star-openrocket/backend/recovery/routers/atmosphere.py
similarity index 100%
rename from recovery-calculator/backend/routers/atmosphere.py
rename to star-openrocket/backend/recovery/routers/atmosphere.py
diff --git a/recovery-calculator/backend/routers/climatology.py b/star-openrocket/backend/recovery/routers/climatology.py
similarity index 77%
rename from recovery-calculator/backend/routers/climatology.py
rename to star-openrocket/backend/recovery/routers/climatology.py
index 9f19fd2e8..6b2a85075 100644
--- a/recovery-calculator/backend/routers/climatology.py
+++ b/star-openrocket/backend/recovery/routers/climatology.py
@@ -17,20 +17,21 @@
 
 router = APIRouter(prefix="/api", tags=["climatology"])
 
-# backend/routers/climatology.py -> backend/routers -> backend ->
-# recovery-calculator. Three dirnames land on the project root itself, so the
-# paths below must NOT repeat "recovery-calculator" -- doing so pointed every
-# candidate at recovery-calculator/recovery-calculator/... and made this route
-# a guaranteed 404.
-_ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+# backend/recovery/routers/climatology.py -> routers -> recovery -> backend ->
+# star-openrocket (the app root). Four dirnames land on the app root, next to
+# site-climatology/ and frontend/.
+_ROOT = os.path.dirname(
+    os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+)
 
 # Where export_json.py writes, then the frontend's committed copy as a
 # fallback. Preferring the generated file means a re-export is visible without
-# rebuilding the frontend; falling back means a fresh checkout still works.
+# rebuilding the frontend; falling back means a fresh checkout still works. The
+# recovery frontend lives under frontend/src/recovery/ in the merged app.
 _CANDIDATES = (
     os.path.join(_ROOT, "site-climatology", "data", "climatology.json"),
     os.path.join(_ROOT, "site-climatology", "climatology.json"),
-    os.path.join(_ROOT, "frontend", "src", "fixtures", "climatology.json"),
+    os.path.join(_ROOT, "frontend", "src", "recovery", "fixtures", "climatology.json"),
 )
 
 
diff --git a/recovery-calculator/backend/routers/configs_store.py b/star-openrocket/backend/recovery/routers/configs_store.py
similarity index 97%
rename from recovery-calculator/backend/routers/configs_store.py
rename to star-openrocket/backend/recovery/routers/configs_store.py
index 08dc491b6..53945de4b 100644
--- a/recovery-calculator/backend/routers/configs_store.py
+++ b/star-openrocket/backend/recovery/routers/configs_store.py
@@ -12,7 +12,7 @@
 from fastapi import APIRouter, HTTPException, Request
 from pydantic import BaseModel
 
-from backend import userdata
+from backend.recovery import userdata
 
 router = APIRouter(prefix="/api/configs", tags=["configs"])
 
diff --git a/recovery-calculator/backend/routers/crosscheck.py b/star-openrocket/backend/recovery/routers/crosscheck.py
similarity index 98%
rename from recovery-calculator/backend/routers/crosscheck.py
rename to star-openrocket/backend/recovery/routers/crosscheck.py
index 40deaa5b2..259955a7b 100644
--- a/recovery-calculator/backend/routers/crosscheck.py
+++ b/star-openrocket/backend/recovery/routers/crosscheck.py
@@ -12,7 +12,7 @@
 
 from fastapi import APIRouter, HTTPException, Query
 
-from backend.serialise import build_events, git_sha
+from backend.recovery.serialise import build_events, git_sha
 from physics.atmosphere import Atmosphere
 from physics.crosscheck import (
     MODEL_DIFFERENCES,
@@ -38,7 +38,7 @@ def _our_trajectory(run):
     chart is a comparison of three lines, not the load analysis, and §8.1's
     <=5 ms sampling still happens inside `_resample` regardless.
     """
-    from backend.serialise import (
+    from backend.recovery.serialise import (
         SWEEP_COARSE_DT,
         SWEEP_EVENT_WINDOW,
         SWEEP_FINE_DT,
diff --git a/recovery-calculator/backend/routers/devices.py b/star-openrocket/backend/recovery/routers/devices.py
similarity index 100%
rename from recovery-calculator/backend/routers/devices.py
rename to star-openrocket/backend/recovery/routers/devices.py
diff --git a/recovery-calculator/backend/routers/settings.py b/star-openrocket/backend/recovery/routers/settings.py
similarity index 99%
rename from recovery-calculator/backend/routers/settings.py
rename to star-openrocket/backend/recovery/routers/settings.py
index 9d6d67d2c..995e07f07 100644
--- a/recovery-calculator/backend/routers/settings.py
+++ b/star-openrocket/backend/recovery/routers/settings.py
@@ -19,7 +19,7 @@
 from fastapi import APIRouter, Request
 from pydantic import BaseModel, ConfigDict, Field
 
-from backend import userdata
+from backend.recovery import userdata
 
 router = APIRouter(prefix="/api", tags=["settings"])
 
diff --git a/recovery-calculator/backend/routers/simulate.py b/star-openrocket/backend/recovery/routers/simulate.py
similarity index 99%
rename from recovery-calculator/backend/routers/simulate.py
rename to star-openrocket/backend/recovery/routers/simulate.py
index 44f8a5b40..cec2c69c2 100644
--- a/recovery-calculator/backend/routers/simulate.py
+++ b/star-openrocket/backend/recovery/routers/simulate.py
@@ -5,7 +5,7 @@
 from fastapi import APIRouter, HTTPException, Query
 from pydantic import BaseModel, ConfigDict, Field, ValidationError
 
-from backend.serialise import (
+from backend.recovery.serialise import (
     SWEEP_COARSE_DT,
     SWEEP_EVENT_WINDOW,
     SWEEP_FINE_DT,
diff --git a/recovery-calculator/backend/routers/study.py b/star-openrocket/backend/recovery/routers/study.py
similarity index 99%
rename from recovery-calculator/backend/routers/study.py
rename to star-openrocket/backend/recovery/routers/study.py
index 79cdcc186..83bae0784 100644
--- a/recovery-calculator/backend/routers/study.py
+++ b/star-openrocket/backend/recovery/routers/study.py
@@ -8,7 +8,7 @@
 
 from fastapi import APIRouter, HTTPException, Query
 
-from backend.serialise import (
+from backend.recovery.serialise import (
     SWEEP_COARSE_DT,
     SWEEP_EVENT_WINDOW,
     SWEEP_FINE_DT,
diff --git a/recovery-calculator/backend/serialise.py b/star-openrocket/backend/recovery/serialise.py
similarity index 100%
rename from recovery-calculator/backend/serialise.py
rename to star-openrocket/backend/recovery/serialise.py
diff --git a/recovery-calculator/backend/storage.py b/star-openrocket/backend/recovery/storage.py
similarity index 99%
rename from recovery-calculator/backend/storage.py
rename to star-openrocket/backend/recovery/storage.py
index b9c76328c..2b374507b 100644
--- a/recovery-calculator/backend/storage.py
+++ b/star-openrocket/backend/recovery/storage.py
@@ -31,7 +31,7 @@
 from pathlib import Path
 from typing import Any
 
-from backend import userdata
+from backend.recovery import userdata
 
 Snapshot = dict[str, Any]
 
diff --git a/recovery-calculator/backend/userdata.py b/star-openrocket/backend/recovery/userdata.py
similarity index 100%
rename from recovery-calculator/backend/userdata.py
rename to star-openrocket/backend/recovery/userdata.py
diff --git a/recovery-calculator/physics/PAD_STATE.md b/star-openrocket/physics/PAD_STATE.md
similarity index 100%
rename from recovery-calculator/physics/PAD_STATE.md
rename to star-openrocket/physics/PAD_STATE.md
diff --git a/recovery-calculator/physics/__init__.py b/star-openrocket/physics/__init__.py
similarity index 100%
rename from recovery-calculator/physics/__init__.py
rename to star-openrocket/physics/__init__.py
diff --git a/recovery-calculator/physics/__main__.py b/star-openrocket/physics/__main__.py
similarity index 100%
rename from recovery-calculator/physics/__main__.py
rename to star-openrocket/physics/__main__.py
diff --git a/recovery-calculator/physics/atmosphere.py b/star-openrocket/physics/atmosphere.py
similarity index 100%
rename from recovery-calculator/physics/atmosphere.py
rename to star-openrocket/physics/atmosphere.py
diff --git a/recovery-calculator/physics/cases.py b/star-openrocket/physics/cases.py
similarity index 100%
rename from recovery-calculator/physics/cases.py
rename to star-openrocket/physics/cases.py
diff --git a/recovery-calculator/physics/constants.py b/star-openrocket/physics/constants.py
similarity index 100%
rename from recovery-calculator/physics/constants.py
rename to star-openrocket/physics/constants.py
diff --git a/recovery-calculator/physics/crosscheck.py b/star-openrocket/physics/crosscheck.py
similarity index 100%
rename from recovery-calculator/physics/crosscheck.py
rename to star-openrocket/physics/crosscheck.py
diff --git a/recovery-calculator/physics/data/parachutes.csv b/star-openrocket/physics/data/parachutes.csv
similarity index 100%
rename from recovery-calculator/physics/data/parachutes.csv
rename to star-openrocket/physics/data/parachutes.csv
diff --git a/recovery-calculator/physics/data/raw/CFC-12-S.json b/star-openrocket/physics/data/raw/CFC-12-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-12-S.json
rename to star-openrocket/physics/data/raw/CFC-12-S.json
diff --git a/recovery-calculator/physics/data/raw/CFC-12.json b/star-openrocket/physics/data/raw/CFC-12.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-12.json
rename to star-openrocket/physics/data/raw/CFC-12.json
diff --git a/recovery-calculator/physics/data/raw/CFC-120.json b/star-openrocket/physics/data/raw/CFC-120.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-120.json
rename to star-openrocket/physics/data/raw/CFC-120.json
diff --git a/recovery-calculator/physics/data/raw/CFC-15-S.json b/star-openrocket/physics/data/raw/CFC-15-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-15-S.json
rename to star-openrocket/physics/data/raw/CFC-15-S.json
diff --git a/recovery-calculator/physics/data/raw/CFC-15.json b/star-openrocket/physics/data/raw/CFC-15.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-15.json
rename to star-openrocket/physics/data/raw/CFC-15.json
diff --git a/recovery-calculator/physics/data/raw/CFC-18-S.json b/star-openrocket/physics/data/raw/CFC-18-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-18-S.json
rename to star-openrocket/physics/data/raw/CFC-18-S.json
diff --git a/recovery-calculator/physics/data/raw/CFC-18.json b/star-openrocket/physics/data/raw/CFC-18.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-18.json
rename to star-openrocket/physics/data/raw/CFC-18.json
diff --git a/recovery-calculator/physics/data/raw/CFC-24-S.json b/star-openrocket/physics/data/raw/CFC-24-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-24-S.json
rename to star-openrocket/physics/data/raw/CFC-24-S.json
diff --git a/recovery-calculator/physics/data/raw/CFC-24.json b/star-openrocket/physics/data/raw/CFC-24.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-24.json
rename to star-openrocket/physics/data/raw/CFC-24.json
diff --git a/recovery-calculator/physics/data/raw/CFC-30-S.json b/star-openrocket/physics/data/raw/CFC-30-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-30-S.json
rename to star-openrocket/physics/data/raw/CFC-30-S.json
diff --git a/recovery-calculator/physics/data/raw/CFC-30.json b/star-openrocket/physics/data/raw/CFC-30.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-30.json
rename to star-openrocket/physics/data/raw/CFC-30.json
diff --git a/recovery-calculator/physics/data/raw/CFC-36-S.json b/star-openrocket/physics/data/raw/CFC-36-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-36-S.json
rename to star-openrocket/physics/data/raw/CFC-36-S.json
diff --git a/recovery-calculator/physics/data/raw/CFC-36.json b/star-openrocket/physics/data/raw/CFC-36.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-36.json
rename to star-openrocket/physics/data/raw/CFC-36.json
diff --git a/recovery-calculator/physics/data/raw/CFC-42.json b/star-openrocket/physics/data/raw/CFC-42.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-42.json
rename to star-openrocket/physics/data/raw/CFC-42.json
diff --git a/recovery-calculator/physics/data/raw/CFC-48.json b/star-openrocket/physics/data/raw/CFC-48.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-48.json
rename to star-openrocket/physics/data/raw/CFC-48.json
diff --git a/recovery-calculator/physics/data/raw/CFC-60.json b/star-openrocket/physics/data/raw/CFC-60.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-60.json
rename to star-openrocket/physics/data/raw/CFC-60.json
diff --git a/recovery-calculator/physics/data/raw/CFC-72.json b/star-openrocket/physics/data/raw/CFC-72.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-72.json
rename to star-openrocket/physics/data/raw/CFC-72.json
diff --git a/recovery-calculator/physics/data/raw/CFC-84.json b/star-openrocket/physics/data/raw/CFC-84.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-84.json
rename to star-openrocket/physics/data/raw/CFC-84.json
diff --git a/recovery-calculator/physics/data/raw/CFC-96.json b/star-openrocket/physics/data/raw/CFC-96.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/CFC-96.json
rename to star-openrocket/physics/data/raw/CFC-96.json
diff --git a/recovery-calculator/physics/data/raw/IFC-120-S.json b/star-openrocket/physics/data/raw/IFC-120-S.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/IFC-120-S.json
rename to star-openrocket/physics/data/raw/IFC-120-S.json
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similarity index 100%
rename from recovery-calculator/physics/data/raw/IFC-120-SUL.json
rename to star-openrocket/physics/data/raw/IFC-120-SUL.json
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similarity index 100%
rename from recovery-calculator/physics/data/raw/IFC-120-SULR.json
rename to star-openrocket/physics/data/raw/IFC-120-SULR.json
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similarity index 100%
rename from recovery-calculator/physics/data/raw/IFC-120.json
rename to star-openrocket/physics/data/raw/IFC-120.json
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similarity index 100%
rename from recovery-calculator/physics/data/raw/IFC-144-S.json
rename to star-openrocket/physics/data/raw/IFC-144-S.json
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similarity index 100%
rename from recovery-calculator/physics/data/raw/IFC-144-SULR.json
rename to star-openrocket/physics/data/raw/IFC-144-SULR.json
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rename from recovery-calculator/physics/data/raw/IFC-144.json
rename to star-openrocket/physics/data/raw/IFC-144.json
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rename from recovery-calculator/physics/data/raw/IFC-168-S.json
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rename from recovery-calculator/physics/data/raw/IFC-168.json
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rename from recovery-calculator/physics/data/raw/TARC-20.json
rename to star-openrocket/physics/data/raw/TARC-20.json
diff --git a/recovery-calculator/physics/data/raw/TARC-24.json b/star-openrocket/physics/data/raw/TARC-24.json
similarity index 100%
rename from recovery-calculator/physics/data/raw/TARC-24.json
rename to star-openrocket/physics/data/raw/TARC-24.json
diff --git a/recovery-calculator/physics/devices.py b/star-openrocket/physics/devices.py
similarity index 100%
rename from recovery-calculator/physics/devices.py
rename to star-openrocket/physics/devices.py
diff --git a/recovery-calculator/physics/drift.py b/star-openrocket/physics/drift.py
similarity index 100%
rename from recovery-calculator/physics/drift.py
rename to star-openrocket/physics/drift.py
diff --git a/recovery-calculator/physics/dynamics.py b/star-openrocket/physics/dynamics.py
similarity index 100%
rename from recovery-calculator/physics/dynamics.py
rename to star-openrocket/physics/dynamics.py
diff --git a/recovery-calculator/physics/loads.py b/star-openrocket/physics/loads.py
similarity index 100%
rename from recovery-calculator/physics/loads.py
rename to star-openrocket/physics/loads.py
diff --git a/recovery-calculator/physics/mastersheet.py b/star-openrocket/physics/mastersheet.py
similarity index 100%
rename from recovery-calculator/physics/mastersheet.py
rename to star-openrocket/physics/mastersheet.py
diff --git a/recovery-calculator/physics/openrocket.py b/star-openrocket/physics/openrocket.py
similarity index 100%
rename from recovery-calculator/physics/openrocket.py
rename to star-openrocket/physics/openrocket.py
diff --git a/recovery-calculator/physics/pad_state.py b/star-openrocket/physics/pad_state.py
similarity index 100%
rename from recovery-calculator/physics/pad_state.py
rename to star-openrocket/physics/pad_state.py
diff --git a/recovery-calculator/physics/report.py b/star-openrocket/physics/report.py
similarity index 100%
rename from recovery-calculator/physics/report.py
rename to star-openrocket/physics/report.py
diff --git a/recovery-calculator/physics/schema.py b/star-openrocket/physics/schema.py
similarity index 100%
rename from recovery-calculator/physics/schema.py
rename to star-openrocket/physics/schema.py
diff --git a/recovery-calculator/physics/site.py b/star-openrocket/physics/site.py
similarity index 100%
rename from recovery-calculator/physics/site.py
rename to star-openrocket/physics/site.py
diff --git a/recovery-calculator/physics/solver.py b/star-openrocket/physics/solver.py
similarity index 100%
rename from recovery-calculator/physics/solver.py
rename to star-openrocket/physics/solver.py
diff --git a/recovery-calculator/physics/study.py b/star-openrocket/physics/study.py
similarity index 100%
rename from recovery-calculator/physics/study.py
rename to star-openrocket/physics/study.py
diff --git a/recovery-calculator/physics/wind.py b/star-openrocket/physics/wind.py
similarity index 100%
rename from recovery-calculator/physics/wind.py
rename to star-openrocket/physics/wind.py
diff --git a/recovery-calculator/reference/mastersheets/Camelot_Recovery_Mastersheet.xlsx b/star-openrocket/reference/mastersheets/Camelot_Recovery_Mastersheet.xlsx
similarity index 100%
rename from recovery-calculator/reference/mastersheets/Camelot_Recovery_Mastersheet.xlsx
rename to star-openrocket/reference/mastersheets/Camelot_Recovery_Mastersheet.xlsx
diff --git a/recovery-calculator/reference/mastersheets/LE3 Recovery Mastersheet 25-26.xlsx b/star-openrocket/reference/mastersheets/LE3 Recovery Mastersheet 25-26.xlsx
similarity index 100%
rename from recovery-calculator/reference/mastersheets/LE3 Recovery Mastersheet 25-26.xlsx
rename to star-openrocket/reference/mastersheets/LE3 Recovery Mastersheet 25-26.xlsx
diff --git a/recovery-calculator/reference/mastersheets/README.md b/star-openrocket/reference/mastersheets/README.md
similarity index 100%
rename from recovery-calculator/reference/mastersheets/README.md
rename to star-openrocket/reference/mastersheets/README.md
diff --git a/star-openrocket/requirements.txt b/star-openrocket/requirements.txt
index 52fa28079..5333e6046 100644
--- a/star-openrocket/requirements.txt
+++ b/star-openrocket/requirements.txt
@@ -16,3 +16,7 @@ pydantic>=2.12
 httpx>=0.28
 pygltflib>=1.16
 numpy>=1.26
+
+# Recovery calculator (merged in): descent solver uses scipy; boto3 is lazy (S3 only).
+scipy>=1.11
+boto3>=1.34
diff --git a/recovery-calculator/site-climatology/.gitignore b/star-openrocket/site-climatology/.gitignore
similarity index 100%
rename from recovery-calculator/site-climatology/.gitignore
rename to star-openrocket/site-climatology/.gitignore
diff --git a/recovery-calculator/site-climatology/README.md b/star-openrocket/site-climatology/README.md
similarity index 100%
rename from recovery-calculator/site-climatology/README.md
rename to star-openrocket/site-climatology/README.md
diff --git a/recovery-calculator/site-climatology/_padstate.py b/star-openrocket/site-climatology/_padstate.py
similarity index 100%
rename from recovery-calculator/site-climatology/_padstate.py
rename to star-openrocket/site-climatology/_padstate.py
diff --git a/recovery-calculator/site-climatology/data/edw-lapse-monthly.csv b/star-openrocket/site-climatology/data/edw-lapse-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/edw-lapse-monthly.csv
rename to star-openrocket/site-climatology/data/edw-lapse-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/edw-nid-lapse-monthly.csv b/star-openrocket/site-climatology/data/edw-nid-lapse-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/edw-nid-lapse-monthly.csv
rename to star-openrocket/site-climatology/data/edw-nid-lapse-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/edw-nid-tprofile-monthly.csv b/star-openrocket/site-climatology/data/edw-nid-tprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/edw-nid-tprofile-monthly.csv
rename to star-openrocket/site-climatology/data/edw-nid-tprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/edw-nid-wprofile-monthly.csv b/star-openrocket/site-climatology/data/edw-nid-wprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/edw-nid-wprofile-monthly.csv
rename to star-openrocket/site-climatology/data/edw-nid-wprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/edw-tprofile-monthly.csv b/star-openrocket/site-climatology/data/edw-tprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/edw-tprofile-monthly.csv
rename to star-openrocket/site-climatology/data/edw-tprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/kedw-monthly.csv b/star-openrocket/site-climatology/data/kedw-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/kedw-monthly.csv
rename to star-openrocket/site-climatology/data/kedw-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/kedw-obs.csv b/star-openrocket/site-climatology/data/kedw-obs.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/kedw-obs.csv
rename to star-openrocket/site-climatology/data/kedw-obs.csv
diff --git a/recovery-calculator/site-climatology/data/kmhv-monthly.csv b/star-openrocket/site-climatology/data/kmhv-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/kmhv-monthly.csv
rename to star-openrocket/site-climatology/data/kmhv-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/kmhv-obs.csv b/star-openrocket/site-climatology/data/kmhv-obs.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/kmhv-obs.csv
rename to star-openrocket/site-climatology/data/kmhv-obs.csv
diff --git a/recovery-calculator/site-climatology/data/knid-monthly.csv b/star-openrocket/site-climatology/data/knid-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/knid-monthly.csv
rename to star-openrocket/site-climatology/data/knid-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/knid-obs.csv b/star-openrocket/site-climatology/data/knid-obs.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/knid-obs.csv
rename to star-openrocket/site-climatology/data/knid-obs.csv
diff --git a/recovery-calculator/site-climatology/data/nid-lapse-monthly.csv b/star-openrocket/site-climatology/data/nid-lapse-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/nid-lapse-monthly.csv
rename to star-openrocket/site-climatology/data/nid-lapse-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/nid-tprofile-monthly.csv b/star-openrocket/site-climatology/data/nid-tprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/nid-tprofile-monthly.csv
rename to star-openrocket/site-climatology/data/nid-tprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/nid-wprofile-monthly.csv b/star-openrocket/site-climatology/data/nid-wprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/nid-wprofile-monthly.csv
rename to star-openrocket/site-climatology/data/nid-wprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/vef-lapse-monthly.csv b/star-openrocket/site-climatology/data/vef-lapse-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/vef-lapse-monthly.csv
rename to star-openrocket/site-climatology/data/vef-lapse-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/vef-tprofile-monthly.csv b/star-openrocket/site-climatology/data/vef-tprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/vef-tprofile-monthly.csv
rename to star-openrocket/site-climatology/data/vef-tprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/data/vef-wprofile-monthly.csv b/star-openrocket/site-climatology/data/vef-wprofile-monthly.csv
similarity index 100%
rename from recovery-calculator/site-climatology/data/vef-wprofile-monthly.csv
rename to star-openrocket/site-climatology/data/vef-wprofile-monthly.csv
diff --git a/recovery-calculator/site-climatology/export_json.py b/star-openrocket/site-climatology/export_json.py
similarity index 100%
rename from recovery-calculator/site-climatology/export_json.py
rename to star-openrocket/site-climatology/export_json.py
diff --git a/recovery-calculator/site-climatology/igra.py b/star-openrocket/site-climatology/igra.py
similarity index 100%
rename from recovery-calculator/site-climatology/igra.py
rename to star-openrocket/site-climatology/igra.py
diff --git a/recovery-calculator/site-climatology/metar_history.py b/star-openrocket/site-climatology/metar_history.py
similarity index 100%
rename from recovery-calculator/site-climatology/metar_history.py
rename to star-openrocket/site-climatology/metar_history.py
diff --git a/recovery-calculator/site-climatology/sites.py b/star-openrocket/site-climatology/sites.py
similarity index 100%
rename from recovery-calculator/site-climatology/sites.py
rename to star-openrocket/site-climatology/sites.py
diff --git a/recovery-calculator/site-climatology/temp_profile.py b/star-openrocket/site-climatology/temp_profile.py
similarity index 100%
rename from recovery-calculator/site-climatology/temp_profile.py
rename to star-openrocket/site-climatology/temp_profile.py
diff --git a/recovery-calculator/site-climatology/test_site_climatology.py b/star-openrocket/site-climatology/test_site_climatology.py
similarity index 100%
rename from recovery-calculator/site-climatology/test_site_climatology.py
rename to star-openrocket/site-climatology/test_site_climatology.py
diff --git a/recovery-calculator/site-climatology/wind_profile.py b/star-openrocket/site-climatology/wind_profile.py
similarity index 100%
rename from recovery-calculator/site-climatology/wind_profile.py
rename to star-openrocket/site-climatology/wind_profile.py
diff --git a/star-openrocket/tests/recovery/__init__.py b/star-openrocket/tests/recovery/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/recovery-calculator/tests/conftest.py b/star-openrocket/tests/recovery/conftest.py
similarity index 51%
rename from recovery-calculator/tests/conftest.py
rename to star-openrocket/tests/recovery/conftest.py
index f86c47917..a331d77b8 100644
--- a/recovery-calculator/tests/conftest.py
+++ b/star-openrocket/tests/recovery/conftest.py
@@ -14,13 +14,25 @@
 
 import pytest
 
-sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+# App root (star-openrocket/), so `physics` and `backend` import without an
+# editable install. tests/recovery/ is two levels below the root.
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
 
 # filename -> reason. Empty is the desired state.
 _QUARANTINE_FILES = {}
 
 # "<file>::<test>" -> reason. Empty is the desired state.
-_QUARANTINE_TESTS = {}
+# These read the recovery frontend source / climatology bundle, which land under
+# frontend/src/recovery/ in Phase 3 of the STAR OpenRocket merge. Un-quarantine
+# once the frontend is relocated (the paths above already point at the new home).
+_MERGE_PHASE3 = "pending Phase 3 frontend relocation (frontend/src/recovery/)"
+_QUARANTINE_TESTS = {
+    "test_api.py::test_climatology_route_resolves_to_a_real_file": _MERGE_PHASE3,
+    "test_api.py::test_climatology_serves_the_bundle_shape": _MERGE_PHASE3,
+    "test_api.py::test_the_gui_default_sweep_matches_the_backend_default_sweep": _MERGE_PHASE3,
+    "test_api.py::test_the_gui_and_backend_agree_on_the_airframe_band": _MERGE_PHASE3,
+    "test_api.py::test_crosscheck_metric_kinds_are_ones_the_frontend_knows": _MERGE_PHASE3,
+}
 
 
 def pytest_collection_modifyitems(config, items):
diff --git a/recovery-calculator/tests/fixtures/worked_example.json b/star-openrocket/tests/recovery/fixtures/worked_example.json
similarity index 100%
rename from recovery-calculator/tests/fixtures/worked_example.json
rename to star-openrocket/tests/recovery/fixtures/worked_example.json
diff --git a/recovery-calculator/tests/test_api.py b/star-openrocket/tests/recovery/test_api.py
similarity index 98%
rename from recovery-calculator/tests/test_api.py
rename to star-openrocket/tests/recovery/test_api.py
index 0f8bef907..097f3fe72 100644
--- a/recovery-calculator/tests/test_api.py
+++ b/star-openrocket/tests/recovery/test_api.py
@@ -22,7 +22,7 @@
 
 from backend.main import app  # noqa: E402
 
-ROOT = pathlib.Path(__file__).resolve().parent.parent
+ROOT = pathlib.Path(__file__).resolve().parent.parent.parent
 
 FIXTURE = os.path.join(os.path.dirname(os.path.abspath(__file__)),
                        "fixtures", "worked_example.json")
@@ -274,7 +274,7 @@ def test_climatology_route_resolves_to_a_real_file():
     made every candidate point at recovery-calculator/recovery-calculator/...
     and turned the route into a guaranteed 404 that no other test noticed.
     """
-    from backend.routers.climatology import _locate
+    from backend.recovery.routers.climatology import _locate
 
     path = _locate()
     assert path is not None, "no climatology bundle found on any candidate path"
@@ -517,7 +517,7 @@ def test_the_gui_default_sweep_matches_the_backend_default_sweep():
 
     from physics.cases import default_sweep
 
-    src = (ROOT / "frontend" / "src" / "lib" / "serialise.ts").read_text()
+    src = (ROOT / "frontend" / "src" / "recovery" / "lib" / "serialise.ts").read_text()
     block = src.split("sweep: [", 1)[1].split("\n    ],", 1)[0]
     gui = {
         m.group("key"): (float(m.group("lo")), float(m.group("hi")))
@@ -548,7 +548,7 @@ def test_the_gui_and_backend_agree_on_the_airframe_band():
 
     from physics.devices import airframe_band
 
-    src = (ROOT / "frontend" / "src" / "lib" / "units.ts").read_text()
+    src = (ROOT / "frontend" / "src" / "recovery" / "lib" / "units.ts").read_text()
     body = re.search(r"export function airframeBand[^{]*\{(.*?)\n\}", src, re.S)
     assert body, "airframeBand not found in units.ts"
 
@@ -838,7 +838,7 @@ def test_crosscheck_metric_kinds_are_ones_the_frontend_knows():
     """
     import re
 
-    source = (ROOT / "frontend" / "src" / "lib" / "quantities.ts").read_text(
+    source = (ROOT / "frontend" / "src" / "recovery" / "lib" / "quantities.ts").read_text(
         encoding="utf-8")
     match = re.search(r"export type Kind\s*=(.*?)\n\n", source, re.S)
     assert match, "could not find the Kind union in quantities.ts"
diff --git a/recovery-calculator/tests/test_atmosphere.py b/star-openrocket/tests/recovery/test_atmosphere.py
similarity index 100%
rename from recovery-calculator/tests/test_atmosphere.py
rename to star-openrocket/tests/recovery/test_atmosphere.py
diff --git a/recovery-calculator/tests/test_configs.py b/star-openrocket/tests/recovery/test_configs.py
similarity index 98%
rename from recovery-calculator/tests/test_configs.py
rename to star-openrocket/tests/recovery/test_configs.py
index e15430db3..03de383c7 100644
--- a/recovery-calculator/tests/test_configs.py
+++ b/star-openrocket/tests/recovery/test_configs.py
@@ -17,7 +17,7 @@
 
 from fastapi.testclient import TestClient  # noqa: E402
 
-from backend import userdata  # noqa: E402
+from backend.recovery import userdata  # noqa: E402
 from backend.main import app  # noqa: E402
 
 A = {"X-Auth-Email": "alice@berkeley.edu"}
diff --git a/recovery-calculator/tests/test_crosscheck.py b/star-openrocket/tests/recovery/test_crosscheck.py
similarity index 98%
rename from recovery-calculator/tests/test_crosscheck.py
rename to star-openrocket/tests/recovery/test_crosscheck.py
index 849105fad..2b805157e 100644
--- a/recovery-calculator/tests/test_crosscheck.py
+++ b/star-openrocket/tests/recovery/test_crosscheck.py
@@ -23,8 +23,8 @@
 from physics.report import render_crosscheck
 from physics.schema import Config
 
-ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-FIXTURES = os.path.join(ROOT, "tests", "fixtures")
+ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+FIXTURES = os.path.join(os.path.dirname(os.path.abspath(__file__)), "fixtures")
 
 
 @pytest.fixture
diff --git a/recovery-calculator/tests/test_devices.py b/star-openrocket/tests/recovery/test_devices.py
similarity index 100%
rename from recovery-calculator/tests/test_devices.py
rename to star-openrocket/tests/recovery/test_devices.py
diff --git a/recovery-calculator/tests/test_drift.py b/star-openrocket/tests/recovery/test_drift.py
similarity index 100%
rename from recovery-calculator/tests/test_drift.py
rename to star-openrocket/tests/recovery/test_drift.py
diff --git a/recovery-calculator/tests/test_imports.py b/star-openrocket/tests/recovery/test_imports.py
similarity index 95%
rename from recovery-calculator/tests/test_imports.py
rename to star-openrocket/tests/recovery/test_imports.py
index 82b72016d..e0e2c8676 100644
--- a/recovery-calculator/tests/test_imports.py
+++ b/star-openrocket/tests/recovery/test_imports.py
@@ -14,7 +14,7 @@
 import subprocess
 import sys
 
-ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
 
 def _run(code):
@@ -133,7 +133,7 @@ def test_cli_entry_point_works():
     """§11.2 makes `python -m physics config.json` an invariant, not a
     development phase -- it is the escape hatch for bisecting a bug without
     React in the stack."""
-    fixture = os.path.join(ROOT, "tests", "fixtures", "worked_example.json")
+    fixture = os.path.join(os.path.dirname(os.path.abspath(__file__)), "fixtures", "worked_example.json")
     proc = subprocess.run(
         [sys.executable, "-m", "physics", fixture, "--which", "axial"],
         cwd=ROOT, capture_output=True, text=True, timeout=300,
@@ -154,7 +154,7 @@ def test_cli_json_output_is_serialisable():
     """
     import json as _json
 
-    fixture = os.path.join(ROOT, "tests", "fixtures", "worked_example.json")
+    fixture = os.path.join(os.path.dirname(os.path.abspath(__file__)), "fixtures", "worked_example.json")
     proc = subprocess.run(
         [sys.executable, "-m", "physics", fixture, "--which", "axial", "--json"],
         cwd=ROOT, capture_output=True, text=True, timeout=300,
diff --git a/recovery-calculator/tests/test_loads.py b/star-openrocket/tests/recovery/test_loads.py
similarity index 100%
rename from recovery-calculator/tests/test_loads.py
rename to star-openrocket/tests/recovery/test_loads.py
diff --git a/recovery-calculator/tests/test_mastersheet.py b/star-openrocket/tests/recovery/test_mastersheet.py
similarity index 100%
rename from recovery-calculator/tests/test_mastersheet.py
rename to star-openrocket/tests/recovery/test_mastersheet.py
diff --git a/recovery-calculator/tests/test_no_terminal_assumption.py b/star-openrocket/tests/recovery/test_no_terminal_assumption.py
similarity index 98%
rename from recovery-calculator/tests/test_no_terminal_assumption.py
rename to star-openrocket/tests/recovery/test_no_terminal_assumption.py
index 563427ca5..e2b2c49f8 100644
--- a/recovery-calculator/tests/test_no_terminal_assumption.py
+++ b/star-openrocket/tests/recovery/test_no_terminal_assumption.py
@@ -125,7 +125,7 @@ def test_v_terminal_is_not_called_by_the_library():
     """
     import pathlib
 
-    root = pathlib.Path(__file__).resolve().parent.parent / "physics"
+    root = pathlib.Path(__file__).resolve().parent.parent.parent / "physics"
     for name in ("solver.py", "loads.py", "cases.py", "devices.py"):
         source = (root / name).read_text(encoding="utf-8")
         # The solver computes a settled rate inline for the §11.10 warning,
diff --git a/recovery-calculator/tests/test_openrocket.py b/star-openrocket/tests/recovery/test_openrocket.py
similarity index 100%
rename from recovery-calculator/tests/test_openrocket.py
rename to star-openrocket/tests/recovery/test_openrocket.py
diff --git a/recovery-calculator/tests/test_openrocket_golden.py b/star-openrocket/tests/recovery/test_openrocket_golden.py
similarity index 96%
rename from recovery-calculator/tests/test_openrocket_golden.py
rename to star-openrocket/tests/recovery/test_openrocket_golden.py
index b1279de2f..671a01913 100644
--- a/recovery-calculator/tests/test_openrocket_golden.py
+++ b/star-openrocket/tests/recovery/test_openrocket_golden.py
@@ -20,9 +20,9 @@
 
 import pytest
 
-ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 TOOL = os.path.join(ROOT, "tools", "openrocket-golden")
-GOLDEN_DIR = os.path.join(ROOT, "tests", "fixtures", "openrocket")
+GOLDEN_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)), "fixtures", "openrocket")
 
 sys.path.insert(0, TOOL)
 
diff --git a/recovery-calculator/tests/test_pad_state.py b/star-openrocket/tests/recovery/test_pad_state.py
similarity index 100%
rename from recovery-calculator/tests/test_pad_state.py
rename to star-openrocket/tests/recovery/test_pad_state.py
diff --git a/recovery-calculator/tests/test_solver.py b/star-openrocket/tests/recovery/test_solver.py
similarity index 100%
rename from recovery-calculator/tests/test_solver.py
rename to star-openrocket/tests/recovery/test_solver.py
diff --git a/recovery-calculator/tests/test_study.py b/star-openrocket/tests/recovery/test_study.py
similarity index 100%
rename from recovery-calculator/tests/test_study.py
rename to star-openrocket/tests/recovery/test_study.py
diff --git a/recovery-calculator/tests/test_tools.py b/star-openrocket/tests/recovery/test_tools.py
similarity index 96%
rename from recovery-calculator/tests/test_tools.py
rename to star-openrocket/tests/recovery/test_tools.py
index af89244f0..5f3557fe4 100644
--- a/recovery-calculator/tests/test_tools.py
+++ b/star-openrocket/tests/recovery/test_tools.py
@@ -16,7 +16,7 @@
 
 import pytest
 
-ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+ROOT = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
 # Blocking the network turns "someone added a live fetch to a test" into a hard
 # failure rather than an intermittent flake that only shows up when the vendor
diff --git a/recovery-calculator/tests/test_validation.py b/star-openrocket/tests/recovery/test_validation.py
similarity index 100%
rename from recovery-calculator/tests/test_validation.py
rename to star-openrocket/tests/recovery/test_validation.py
diff --git a/recovery-calculator/tests/test_wind.py b/star-openrocket/tests/recovery/test_wind.py
similarity index 100%
rename from recovery-calculator/tests/test_wind.py
rename to star-openrocket/tests/recovery/test_wind.py
diff --git a/recovery-calculator/tests/test_worked_example.py b/star-openrocket/tests/recovery/test_worked_example.py
similarity index 100%
rename from recovery-calculator/tests/test_worked_example.py
rename to star-openrocket/tests/recovery/test_worked_example.py
diff --git a/recovery-calculator/tools/fruity-chute-scraper/.gitignore b/star-openrocket/tools/fruity-chute-scraper/.gitignore
similarity index 100%
rename from recovery-calculator/tools/fruity-chute-scraper/.gitignore
rename to star-openrocket/tools/fruity-chute-scraper/.gitignore
diff --git a/recovery-calculator/tools/fruity-chute-scraper/README.md b/star-openrocket/tools/fruity-chute-scraper/README.md
similarity index 100%
rename from recovery-calculator/tools/fruity-chute-scraper/README.md
rename to star-openrocket/tools/fruity-chute-scraper/README.md
diff --git a/recovery-calculator/tools/fruity-chute-scraper/capture.har b/star-openrocket/tools/fruity-chute-scraper/capture.har
similarity index 100%
rename from recovery-calculator/tools/fruity-chute-scraper/capture.har
rename to star-openrocket/tools/fruity-chute-scraper/capture.har
diff --git a/recovery-calculator/tools/fruity-chute-scraper/scrape_fruitychutes.py b/star-openrocket/tools/fruity-chute-scraper/scrape_fruitychutes.py
similarity index 100%
rename from recovery-calculator/tools/fruity-chute-scraper/scrape_fruitychutes.py
rename to star-openrocket/tools/fruity-chute-scraper/scrape_fruitychutes.py
diff --git a/recovery-calculator/tools/fruity-chute-scraper/test_mock.py b/star-openrocket/tools/fruity-chute-scraper/test_mock.py
similarity index 100%
rename from recovery-calculator/tools/fruity-chute-scraper/test_mock.py
rename to star-openrocket/tools/fruity-chute-scraper/test_mock.py
diff --git a/recovery-calculator/tools/openrocket-golden/README.md b/star-openrocket/tools/openrocket-golden/README.md
similarity index 100%
rename from recovery-calculator/tools/openrocket-golden/README.md
rename to star-openrocket/tools/openrocket-golden/README.md
diff --git a/recovery-calculator/tools/openrocket-golden/compare_golden.py b/star-openrocket/tools/openrocket-golden/compare_golden.py
similarity index 100%
rename from recovery-calculator/tools/openrocket-golden/compare_golden.py
rename to star-openrocket/tools/openrocket-golden/compare_golden.py

From 61cc8af1340cac4fd074eaa416b61174e68f072b Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 13:24:45 -0700
Subject: [PATCH 017/205] merge recovery frontend into STAR OpenRocket:
 Recovery tab with 7 subtabs, unified OrkConfig design + single header design
 bar, recovery Inter/engineering-palette index.css, UnitsProvider, vitest

---
 star-openrocket/frontend/package-lock.json    | 396 +++++++++++++++++-
 star-openrocket/frontend/package.json         |   8 +-
 star-openrocket/frontend/src/App.tsx          |  74 ++--
 star-openrocket/frontend/src/api/documents.ts |   2 +-
 .../components/versions/ConfigVersions.tsx    |   6 +-
 star-openrocket/frontend/src/index.css        | 141 +++++--
 star-openrocket/frontend/src/lib/persist.ts   |  39 +-
 star-openrocket/frontend/src/main.tsx         |   5 +-
 .../frontend/src/recovery/RecoveryTab.tsx     |  93 ++++
 .../frontend/src/recovery}/api/client.ts      |   0
 .../frontend/src/recovery}/api/documents.ts   |   0
 .../frontend/src/recovery}/api/fixture.ts     |   0
 .../components/TrajectoryOverlay.tsx          |   0
 .../components/atmosphere/AtmospherePanel.tsx |   0
 .../components/atmosphere/PressureByMonth.tsx |   0
 .../components/atmosphere/SoundingProfile.tsx |   0
 .../atmosphere/TemperatureByMonth.tsx         |   0
 .../src/recovery}/components/chartTheme.ts    |   0
 .../components/corners/CornerChart.tsx        |   0
 .../components/corners/CornerTable.tsx        |   0
 .../components/corners/CornersPanel.tsx       |   0
 .../components/corners/WorstCards.tsx         |   0
 .../crosscheck/CrosscheckAssumptions.tsx      |   0
 .../components/crosscheck/CrosscheckChart.tsx |   0
 .../components/crosscheck/CrosscheckPanel.tsx |   0
 .../components/crosscheck/CrosscheckTable.tsx |   0
 .../recovery}/components/crosscheck/models.ts |   0
 .../recovery}/components/drift/DriftPanel.tsx |   0
 .../components/drift/GroundTrack.tsx          |   0
 .../components/drift/WindProfileChart.tsx     |   0
 .../components/recovery/DeviceList.tsx        |   0
 .../components/recovery/InputForms.tsx        |   0
 .../components/recovery/RecoveryPanel.tsx     |   0
 .../components/recovery/ResultsPanel.tsx      |   0
 .../components/settings/UnitsPanel.tsx        |   0
 .../recovery}/components/study/AxisEditor.tsx |   0
 .../recovery}/components/study/StudyChart.tsx |   0
 .../recovery}/components/study/StudyPanel.tsx |   0
 .../recovery}/components/study/StudyTable.tsx |   0
 .../frontend/src/recovery}/components/ui.tsx  |   0
 .../components/versions/ConfigVersions.tsx    |   0
 .../src/recovery}/fixtures/climatology.json   |   0
 .../frontend/src/recovery}/lib/climatology.ts |   0
 .../src/recovery}/lib/corners.test.ts         |   0
 .../frontend/src/recovery}/lib/corners.ts     |   0
 .../src/recovery}/lib/persist.test.ts         |   0
 .../frontend/src/recovery}/lib/persist.ts     |   0
 .../src/recovery}/lib/quantities.test.ts      |   0
 .../frontend/src/recovery}/lib/quantities.ts  |   0
 .../src/recovery}/lib/serialise.test.ts       |   0
 .../frontend/src/recovery}/lib/serialise.ts   |   0
 .../frontend/src/recovery}/lib/study.test.ts  |   0
 .../frontend/src/recovery}/lib/study.ts       |   0
 .../frontend/src/recovery}/lib/theme.test.ts  |   2 +-
 .../frontend/src/recovery}/lib/units.test.ts  |   0
 .../frontend/src/recovery}/lib/units.ts       |   0
 .../src/recovery}/lib/unitsContext.tsx        |   0
 .../frontend/src/recovery}/lib/wind.ts        |   0
 .../src/recovery}/types/climatology.ts        |   0
 .../frontend/src/recovery}/types/schema.ts    |   0
 star-openrocket/frontend/src/types/config.ts  |  19 +
 star-openrocket/tests/recovery/conftest.py    |  12 +-
 62 files changed, 708 insertions(+), 89 deletions(-)
 create mode 100644 star-openrocket/frontend/src/recovery/RecoveryTab.tsx
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/api/client.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/api/documents.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/api/fixture.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/TrajectoryOverlay.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/atmosphere/AtmospherePanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/atmosphere/PressureByMonth.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/atmosphere/SoundingProfile.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/atmosphere/TemperatureByMonth.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/chartTheme.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/corners/CornerChart.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/corners/CornerTable.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/corners/CornersPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/corners/WorstCards.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/crosscheck/CrosscheckAssumptions.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/crosscheck/CrosscheckChart.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/crosscheck/CrosscheckPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/crosscheck/CrosscheckTable.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/crosscheck/models.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/drift/DriftPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/drift/GroundTrack.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/drift/WindProfileChart.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/recovery/DeviceList.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/recovery/InputForms.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/recovery/RecoveryPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/recovery/ResultsPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/settings/UnitsPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/study/AxisEditor.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/study/StudyChart.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/study/StudyPanel.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/study/StudyTable.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/ui.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/components/versions/ConfigVersions.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/fixtures/climatology.json (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/climatology.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/corners.test.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/corners.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/persist.test.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/persist.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/quantities.test.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/quantities.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/serialise.test.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/serialise.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/study.test.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/study.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/theme.test.ts (99%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/units.test.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/units.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/unitsContext.tsx (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/lib/wind.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/types/climatology.ts (100%)
 rename {recovery-calculator/frontend/src => star-openrocket/frontend/src/recovery}/types/schema.ts (100%)

diff --git a/star-openrocket/frontend/package-lock.json b/star-openrocket/frontend/package-lock.json
index 830ca58bd..800225fc5 100644
--- a/star-openrocket/frontend/package-lock.json
+++ b/star-openrocket/frontend/package-lock.json
@@ -19,13 +19,15 @@
       },
       "devDependencies": {
         "@tailwindcss/vite": "^4.1.18",
+        "@types/node": "^24.10.1",
         "@types/react": "^19.1.0",
         "@types/react-dom": "^19.1.0",
         "@types/three": "^0.180.0",
         "@vitejs/plugin-react": "^6.0.1",
         "tailwindcss": "^4.1.18",
         "typescript": "^5.9.3",
-        "vite": "^8.0.8"
+        "vite": "^8.0.8",
+        "vitest": "^4.1.10"
       }
     },
     "node_modules/@babel/runtime": {
@@ -498,6 +500,13 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/@standard-schema/spec": {
+      "version": "1.1.0",
+      "resolved": "https://registry.npmjs.org/@standard-schema/spec/-/spec-1.1.0.tgz",
+      "integrity": "sha512-l2aFy5jALhniG5HgqrD6jXLi/rUWrKvqN/qJx6yoJsgKhblVd+iqqU4RCXavm/jPityDo5TCvKMnpjKnOriy0w==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/@tailwindcss/node": {
       "version": "4.3.3",
       "resolved": "https://registry.npmjs.org/@tailwindcss/node/-/node-4.3.3.tgz",
@@ -788,6 +797,17 @@
       "integrity": "sha512-vJmvvwFxYuGnF2axRtPYocag6Clbb5YS7kLL+SO/TeVFzHqDIWrNKYtcsPMibjDx9O+bu+psAy9NKfWklassUA==",
       "license": "MIT"
     },
+    "node_modules/@types/chai": {
+      "version": "5.2.3",
+      "resolved": "https://registry.npmjs.org/@types/chai/-/chai-5.2.3.tgz",
+      "integrity": "sha512-Mw558oeA9fFbv65/y4mHtXDs9bPnFMZAL/jxdPFUpOHHIXX91mcgEHbS5Lahr+pwZFR8A7GQleRWeI6cGFC2UA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@types/deep-eql": "*",
+        "assertion-error": "^2.0.1"
+      }
+    },
     "node_modules/@types/d3-array": {
       "version": "3.2.2",
       "resolved": "https://registry.npmjs.org/@types/d3-array/-/d3-array-3.2.2.tgz",
@@ -851,12 +871,36 @@
       "integrity": "sha512-Ps3T8E8dZDam6fUyNiMkekK3XUsaUEik+idO9/YjPtfj2qruF8tFBXS7XhtE4iIXBLxhmLjP3SXpLhVf21I9Lw==",
       "license": "MIT"
     },
+    "node_modules/@types/deep-eql": {
+      "version": "4.0.2",
+      "resolved": "https://registry.npmjs.org/@types/deep-eql/-/deep-eql-4.0.2.tgz",
+      "integrity": "sha512-c9h9dVVMigMPc4bwTvC5dxqtqJZwQPePsWjPlpSOnojbor6pGqdk541lfA7AqFQr5pB1BRdq0juY9db81BwyFw==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/@types/draco3d": {
       "version": "1.4.10",
       "resolved": "https://registry.npmjs.org/@types/draco3d/-/draco3d-1.4.10.tgz",
       "integrity": "sha512-AX22jp8Y7wwaBgAixaSvkoG4M/+PlAcm3Qs4OW8yT9DM4xUpWKeFhLueTAyZF39pviAdcDdeJoACapiAceqNcw==",
       "license": "MIT"
     },
+    "node_modules/@types/estree": {
+      "version": "1.0.9",
+      "resolved": "https://registry.npmjs.org/@types/estree/-/estree-1.0.9.tgz",
+      "integrity": "sha512-GhdPgy1el4/ImP05X05Uw4cw2/M93BCUmnEvWZNStlCzEKME4Fkk+YpoA5OiHNQmoS7Cafb8Xa3Pya8m1Qrzeg==",
+      "dev": true,
+      "license": "MIT"
+    },
+    "node_modules/@types/node": {
+      "version": "24.13.3",
+      "resolved": "https://registry.npmjs.org/@types/node/-/node-24.13.3.tgz",
+      "integrity": "sha512-Dh8vAsV36ig5wa9OX4pXvMc9D3Veibfw2wix0CUwYODLD8nkj9UsLjASr49nPg+2eKzxhBV+v7L8pXvT4e639Q==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "undici-types": "~7.18.0"
+      }
+    },
     "node_modules/@types/offscreencanvas": {
       "version": "2019.7.3",
       "resolved": "https://registry.npmjs.org/@types/offscreencanvas/-/offscreencanvas-2019.7.3.tgz",
@@ -962,12 +1006,135 @@
         }
       }
     },
+    "node_modules/@vitest/expect": {
+      "version": "4.1.10",
+      "resolved": "https://registry.npmjs.org/@vitest/expect/-/expect-4.1.10.tgz",
+      "integrity": "sha512-YsCn+qAk1GWjQOWFEsEcL2gNQ0zmVmQu3T03qP6UyjhtmdtwtbuI+DASn/7iQB3HGTXkdBwGddzxPlmiql5vlA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@standard-schema/spec": "^1.1.0",
+        "@types/chai": "^5.2.2",
+        "@vitest/spy": "4.1.10",
+        "@vitest/utils": "4.1.10",
+        "chai": "^6.2.2",
+        "tinyrainbow": "^3.1.0"
+      },
+      "funding": {
+        "url": "https://opencollective.com/vitest"
+      }
+    },
+    "node_modules/@vitest/mocker": {
+      "version": "4.1.10",
+      "resolved": "https://registry.npmjs.org/@vitest/mocker/-/mocker-4.1.10.tgz",
+      "integrity": "sha512-v0xaezt+DKEmKfaxg133ldzADrwLGd7Ze1MfQQTYfvs8OqZIwbxyxaYURivwV7sWy5fqn3rH5uOrSp07bp44Ow==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@vitest/spy": "4.1.10",
+        "estree-walker": "^3.0.3",
+        "magic-string": "^0.30.21"
+      },
+      "funding": {
+        "url": "https://opencollective.com/vitest"
+      },
+      "peerDependencies": {
+        "msw": "^2.4.9",
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+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@vitest/pretty-format": "4.1.10",
+        "@vitest/utils": "4.1.10",
+        "magic-string": "^0.30.21",
+        "pathe": "^2.0.3"
+      },
+      "funding": {
+        "url": "https://opencollective.com/vitest"
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+    "node_modules/@vitest/spy": {
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+      "resolved": "https://registry.npmjs.org/@vitest/spy/-/spy-4.1.10.tgz",
+      "integrity": "sha512-PLf/Ugvoq5wO/b4rwYCR1h2PSIdXz7wnkQFMiUpLdtM7l6pqVFcQIBEHyT1+l+cj7mNwAfZHzqXqDyjvOuwbDw==",
+      "dev": true,
+      "license": "MIT",
+      "funding": {
+        "url": "https://opencollective.com/vitest"
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+    "node_modules/@vitest/utils": {
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+      "resolved": "https://registry.npmjs.org/@vitest/utils/-/utils-4.1.10.tgz",
+      "integrity": "sha512-fy9am/HWxbaGt/Sawrp90vt6Y6jQwf1RX77cz3uwoJwJVMli/e1IEwRPnMNJ7vKfPTwo0diXifkpPvwH9v7nGA==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@vitest/pretty-format": "4.1.10",
+        "convert-source-map": "^2.0.0",
+        "tinyrainbow": "^3.1.0"
+      },
+      "funding": {
+        "url": "https://opencollective.com/vitest"
+      }
+    },
     "node_modules/@webgpu/types": {
       "version": "0.1.71",
       "resolved": "https://registry.npmjs.org/@webgpu/types/-/types-0.1.71.tgz",
       "integrity": "sha512-mMy8/ODcKhab808co15eW+yN+HgXoQxRQHTiBV9Mrvl1r0ufnid7YOcI+gi4eUWSWl9ezD6TW2KXccrL8HCh2A==",
       "license": "BSD-3-Clause"
     },
+    "node_modules/assertion-error": {
+      "version": "2.0.1",
+      "resolved": "https://registry.npmjs.org/assertion-error/-/assertion-error-2.0.1.tgz",
+      "integrity": "sha512-Izi8RQcffqCeNVgFigKli1ssklIbpHnCYc6AknXGYoB6grJqyeby7jv12JUQgmTAnIDnbck1uxksT4dzN3PWBA==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=12"
+      }
+    },
     "node_modules/base64-js": {
       "version": "1.5.1",
       "resolved": "https://registry.npmjs.org/base64-js/-/base64-js-1.5.1.tgz",
@@ -1034,6 +1201,16 @@
         "three": ">=0.126.1"
       }
     },
+    "node_modules/chai": {
+      "version": "6.2.2",
+      "resolved": "https://registry.npmjs.org/chai/-/chai-6.2.2.tgz",
+      "integrity": "sha512-NUPRluOfOiTKBKvWPtSD4PhFvWCqOi0BGStNWs57X9js7XGTprSmFoz5F0tWhR4WPjNeR9jXqdC7/UpSJTnlRg==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=18"
+      }
+    },
     "node_modules/clsx": {
       "version": "2.1.1",
       "resolved": "https://registry.npmjs.org/clsx/-/clsx-2.1.1.tgz",
@@ -1043,6 +1220,13 @@
         "node": ">=6"
       }
     },
+    "node_modules/convert-source-map": {
+      "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/convert-source-map/-/convert-source-map-2.0.0.tgz",
+      "integrity": "sha512-Kvp459HrV2FEJ1CAsi1Ku+MY3kasH19TFykTz2xWmMeq6bk2NU3XXvfJ+Q61m0xktWwt+1HSYf3JZsTms3aRJg==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/cross-env": {
       "version": "7.0.3",
       "resolved": "https://registry.npmjs.org/cross-env/-/cross-env-7.0.3.tgz",
@@ -1257,12 +1441,39 @@
         "node": ">=10.13.0"
       }
     },
+    "node_modules/es-module-lexer": {
+      "version": "2.3.1",
+      "resolved": "https://registry.npmjs.org/es-module-lexer/-/es-module-lexer-2.3.1.tgz",
+      "integrity": "sha512-shc1dbU90Yl/xq1QrC7QRtfcwURZuVRfPhZbDoldJ1cn1gzDvBaBWlv0eFolj5+0znnPJz5TXLxsN77X/12KTA==",
+      "dev": true,
+      "license": "MIT"
+    },
+    "node_modules/estree-walker": {
+      "version": "3.0.3",
+      "resolved": "https://registry.npmjs.org/estree-walker/-/estree-walker-3.0.3.tgz",
+      "integrity": "sha512-7RUKfXgSMMkzt6ZuXmqapOurLGPPfgj6l9uRZ7lRGolvk0y2yocc35LdcxKC5PQZdn2DMqioAQ2NoWcrTKmm6g==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@types/estree": "^1.0.0"
+      }
+    },
     "node_modules/eventemitter3": {
       "version": "4.0.7",
       "resolved": "https://registry.npmjs.org/eventemitter3/-/eventemitter3-4.0.7.tgz",
       "integrity": "sha512-8guHBZCwKnFhYdHr2ysuRWErTwhoN2X8XELRlrRwpmfeY2jjuUN4taQMsULKUVo1K4DvZl+0pgfyoysHxvmvEw==",
       "license": "MIT"
     },
+    "node_modules/expect-type": {
+      "version": "1.4.0",
+      "resolved": "https://registry.npmjs.org/expect-type/-/expect-type-1.4.0.tgz",
+      "integrity": "sha512-KfYbmpRm0VbLjEvVa9yGwCi9GI34xvi7A/HXYWQO65CSD2u3MczUJSuwXKFIxlGsgBQizV9q5J9NHj4VG0n+pA==",
+      "dev": true,
+      "license": "Apache-2.0",
+      "engines": {
+        "node": ">=12.0.0"
+      }
+    },
     "node_modules/fast-equals": {
       "version": "5.4.1",
       "resolved": "https://registry.npmjs.org/fast-equals/-/fast-equals-5.4.1.tgz",
@@ -1778,6 +1989,20 @@
         "node": ">=0.10.0"
       }
     },
+    "node_modules/obug": {
+      "version": "2.1.4",
+      "resolved": "https://registry.npmjs.org/obug/-/obug-2.1.4.tgz",
+      "integrity": "sha512-4a+OsYv9UktOJKE+l1A4OufDgdRF9PifWj+tJnHURo/P+WOxpG4GzUFL9qCalmWauao6ogiG+QvnCovwPoyAWA==",
+      "dev": true,
+      "funding": [
+        "https://github.com/sponsors/sxzz",
+        "https://opencollective.com/debug"
+      ],
+      "license": "MIT",
+      "engines": {
+        "node": ">=12.20.0"
+      }
+    },
     "node_modules/path-key": {
       "version": "3.1.1",
       "resolved": "https://registry.npmjs.org/path-key/-/path-key-3.1.1.tgz",
@@ -1787,6 +2012,13 @@
         "node": ">=8"
       }
     },
+    "node_modules/pathe": {
+      "version": "2.0.3",
+      "resolved": "https://registry.npmjs.org/pathe/-/pathe-2.0.3.tgz",
+      "integrity": "sha512-WUjGcAqP1gQacoQe+OBJsFA7Ld4DyXuUIjZ5cc75cLHvJ7dtNsTugphxIADwspS+AraAUePCKrSVtPLFj/F88w==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/picocolors": {
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/picocolors/-/picocolors-1.1.1.tgz",
@@ -2053,6 +2285,13 @@
         "node": ">=8"
       }
     },
+    "node_modules/siginfo": {
+      "version": "2.0.0",
+      "resolved": "https://registry.npmjs.org/siginfo/-/siginfo-2.0.0.tgz",
+      "integrity": "sha512-ybx0WO1/8bSBLEWXZvEd7gMW3Sn3JFlW3TvX1nREbDLRNQNaeNN8WK0meBwPdAaOI7TtRRRJn/Es1zhrrCHu7g==",
+      "dev": true,
+      "license": "ISC"
+    },
     "node_modules/source-map-js": {
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/source-map-js/-/source-map-js-1.2.1.tgz",
@@ -2063,6 +2302,13 @@
         "node": ">=0.10.0"
       }
     },
+    "node_modules/stackback": {
+      "version": "0.0.2",
+      "resolved": "https://registry.npmjs.org/stackback/-/stackback-0.0.2.tgz",
+      "integrity": "sha512-1XMJE5fQo1jGH6Y/7ebnwPOBEkIEnT4QF32d5R1+VXdXveM0IBMJt8zfaxX1P3QhVwrYe+576+jkANtSS2mBbw==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/stats-gl": {
       "version": "2.4.2",
       "resolved": "https://registry.npmjs.org/stats-gl/-/stats-gl-2.4.2.tgz",
@@ -2089,6 +2335,13 @@
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       "license": "MIT"
     },
+    "node_modules/std-env": {
+      "version": "4.2.0",
+      "resolved": "https://registry.npmjs.org/std-env/-/std-env-4.2.0.tgz",
+      "integrity": "sha512-oCUKSupKTHX53EyjDtuZQ64pjLJ6yYCtpmEw0goYxtjG9KpbRe8KAsl2tBUGU9DyMcJ0RwJ8GqJAFzMXcXW1Rw==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/suspend-react": {
       "version": "0.1.3",
       "resolved": "https://registry.npmjs.org/suspend-react/-/suspend-react-0.1.3.tgz",
@@ -2163,6 +2416,23 @@
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       "license": "MIT"
     },
+    "node_modules/tinybench": {
+      "version": "2.9.0",
+      "resolved": "https://registry.npmjs.org/tinybench/-/tinybench-2.9.0.tgz",
+      "integrity": "sha512-0+DUvqWMValLmha6lr4kD8iAMK1HzV0/aKnCtWb9v9641TnP/MFb7Pc2bxoxQjTXAErryXVgUOfv2YqNllqGeg==",
+      "dev": true,
+      "license": "MIT"
+    },
+    "node_modules/tinyexec": {
+      "version": "1.3.0",
+      "resolved": "https://registry.npmjs.org/tinyexec/-/tinyexec-1.3.0.tgz",
+      "integrity": "sha512-QKAl9m8gWWGHV8jZcPeym6j+XULi6tOf1mT83WYJ4Lk2ytW/uwAWkrP0uFsdoYMdueVJ0qs26wZ+23xeB4ibNQ==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=18"
+      }
+    },
     "node_modules/tinyglobby": {
       "version": "0.2.17",
       "resolved": "https://registry.npmjs.org/tinyglobby/-/tinyglobby-0.2.17.tgz",
@@ -2180,6 +2450,16 @@
         "url": "https://github.com/sponsors/SuperchupuDev"
       }
     },
+    "node_modules/tinyrainbow": {
+      "version": "3.1.1",
+      "resolved": "https://registry.npmjs.org/tinyrainbow/-/tinyrainbow-3.1.1.tgz",
+      "integrity": "sha512-yau8yJdTt989Mm0Bd/236QnzEiPf2xLLTqUZRUJOo/3CB078LSwzei343DgtJVmfJKJE3TMINY1u42SQsP6mXw==",
+      "dev": true,
+      "license": "MIT",
+      "engines": {
+        "node": ">=14.0.0"
+      }
+    },
     "node_modules/troika-three-text": {
       "version": "0.52.5",
       "resolved": "https://registry.npmjs.org/troika-three-text/-/troika-three-text-0.52.5.tgz",
@@ -2261,6 +2541,13 @@
         "node": ">=14.17"
       }
     },
+    "node_modules/undici-types": {
+      "version": "7.18.2",
+      "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-7.18.2.tgz",
+      "integrity": "sha512-AsuCzffGHJybSaRrmr5eHr81mwJU3kjw6M+uprWvCXiNeN9SOGwQ3Jn8jb8m3Z6izVgknn1R0FTCEAP2QrLY/w==",
+      "dev": true,
+      "license": "MIT"
+    },
     "node_modules/use-sync-external-store": {
       "version": "1.6.0",
       "resolved": "https://registry.npmjs.org/use-sync-external-store/-/use-sync-external-store-1.6.0.tgz",
@@ -2652,6 +2939,96 @@
         "url": "https://opencollective.com/parcel"
       }
     },
+    "node_modules/vitest": {
+      "version": "4.1.10",
+      "resolved": "https://registry.npmjs.org/vitest/-/vitest-4.1.10.tgz",
+      "integrity": "sha512-R9jUTe5S4Qb0HCd4TNqpC7oGcrMssMRGXLW80ubjWsW9VH5GF8y1Y0SFLY9AbqSk6nt0PnOx4H4WNJYZ13GUPw==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "@vitest/expect": "4.1.10",
+        "@vitest/mocker": "4.1.10",
+        "@vitest/pretty-format": "4.1.10",
+        "@vitest/runner": "4.1.10",
+        "@vitest/snapshot": "4.1.10",
+        "@vitest/spy": "4.1.10",
+        "@vitest/utils": "4.1.10",
+        "es-module-lexer": "^2.0.0",
+        "expect-type": "^1.3.0",
+        "magic-string": "^0.30.21",
+        "obug": "^2.1.1",
+        "pathe": "^2.0.3",
+        "picomatch": "^4.0.3",
+        "std-env": "^4.0.0-rc.1",
+        "tinybench": "^2.9.0",
+        "tinyexec": "^1.0.2",
+        "tinyglobby": "^0.2.15",
+        "tinyrainbow": "^3.1.0",
+        "vite": "^6.0.0 || ^7.0.0 || ^8.0.0",
+        "why-is-node-running": "^2.3.0"
+      },
+      "bin": {
+        "vitest": "vitest.mjs"
+      },
+      "engines": {
+        "node": "^20.0.0 || ^22.0.0 || >=24.0.0"
+      },
+      "funding": {
+        "url": "https://opencollective.com/vitest"
+      },
+      "peerDependencies": {
+        "@edge-runtime/vm": "*",
+        "@opentelemetry/api": "^1.9.0",
+        "@types/node": "^20.0.0 || ^22.0.0 || >=24.0.0",
+        "@vitest/browser-playwright": "4.1.10",
+        "@vitest/browser-preview": "4.1.10",
+        "@vitest/browser-webdriverio": "4.1.10",
+        "@vitest/coverage-istanbul": "4.1.10",
+        "@vitest/coverage-v8": "4.1.10",
+        "@vitest/ui": "4.1.10",
+        "happy-dom": "*",
+        "jsdom": "*",
+        "vite": "^6.0.0 || ^7.0.0 || ^8.0.0"
+      },
+      "peerDependenciesMeta": {
+        "@edge-runtime/vm": {
+          "optional": true
+        },
+        "@opentelemetry/api": {
+          "optional": true
+        },
+        "@types/node": {
+          "optional": true
+        },
+        "@vitest/browser-playwright": {
+          "optional": true
+        },
+        "@vitest/browser-preview": {
+          "optional": true
+        },
+        "@vitest/browser-webdriverio": {
+          "optional": true
+        },
+        "@vitest/coverage-istanbul": {
+          "optional": true
+        },
+        "@vitest/coverage-v8": {
+          "optional": true
+        },
+        "@vitest/ui": {
+          "optional": true
+        },
+        "happy-dom": {
+          "optional": true
+        },
+        "jsdom": {
+          "optional": true
+        },
+        "vite": {
+          "optional": false
+        }
+      }
+    },
     "node_modules/webgl-constants": {
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/webgl-constants/-/webgl-constants-1.1.1.tgz",
@@ -2678,6 +3055,23 @@
         "node": ">= 8"
       }
     },
+    "node_modules/why-is-node-running": {
+      "version": "2.3.0",
+      "resolved": "https://registry.npmjs.org/why-is-node-running/-/why-is-node-running-2.3.0.tgz",
+      "integrity": "sha512-hUrmaWBdVDcxvYqnyh09zunKzROWjbZTiNy8dBEjkS7ehEDQibXJ7XvlmtbwuTclUiIyN+CyXQD4Vmko8fNm8w==",
+      "dev": true,
+      "license": "MIT",
+      "dependencies": {
+        "siginfo": "^2.0.0",
+        "stackback": "0.0.2"
+      },
+      "bin": {
+        "why-is-node-running": "cli.js"
+      },
+      "engines": {
+        "node": ">=8"
+      }
+    },
     "node_modules/zustand": {
       "version": "5.0.14",
       "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.14.tgz",
diff --git a/star-openrocket/frontend/package.json b/star-openrocket/frontend/package.json
index 43d18ecb4..0b6f1d3bf 100644
--- a/star-openrocket/frontend/package.json
+++ b/star-openrocket/frontend/package.json
@@ -7,7 +7,9 @@
     "dev": "vite",
     "build": "tsc -b && vite build",
     "preview": "vite preview",
-    "lint": "tsc --noEmit"
+    "lint": "tsc --noEmit",
+    "test": "vitest run",
+    "test:watch": "vitest"
   },
   "dependencies": {
     "@react-three/drei": "^10.0.0",
@@ -21,12 +23,14 @@
   },
   "devDependencies": {
     "@tailwindcss/vite": "^4.1.18",
+    "@types/node": "^24.10.1",
     "@types/react": "^19.1.0",
     "@types/react-dom": "^19.1.0",
     "@types/three": "^0.180.0",
     "@vitejs/plugin-react": "^6.0.1",
     "tailwindcss": "^4.1.18",
     "typescript": "^5.9.3",
-    "vite": "^8.0.8"
+    "vite": "^8.0.8",
+    "vitest": "^4.1.10"
   }
 }
diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index 849994005..f28ff4705 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -12,8 +12,10 @@ import {
   listModels,
 } from './api/client'
 import { centreOfMass, formatMass } from './lib/cm'
-import { loadViewerConfig, saveViewerConfig } from './lib/persist'
-import type { FlightParams, ViewerConfig } from './types/config'
+import { loadOrkConfig, saveOrkConfig } from './lib/persist'
+import type { FlightParams, OrkConfig } from './types/config'
+import { RecoveryTab } from './recovery/RecoveryTab'
+import type { UiConfig } from './recovery/types/schema'
 import { ConfigVersions } from './components/versions/ConfigVersions'
 import { FlightDynamicsTab } from './components/viewer/FlightDynamicsTab'
 import { FlightProfileModal } from './components/viewer/FlightProfileModal'
@@ -44,8 +46,12 @@ import { MATERIALS_BY_KEY } from './lib/materials'
 const LAST_MODEL_KEY = 'star-openrocket:last-model'
 
 export default function App() {
-  // The persisted working config, read once so a reload restores the inputs below.
-  const [initialConfig] = useState(loadViewerConfig)
+  // The persisted working design, read once so a reload restores the inputs below.
+  // One OrkConfig spans CAD (`cad`) and recovery (`recovery`); the CAD seeding
+  // below reads the `cad` slice, and the recovery tab owns the `recovery` slice.
+  const [initialOrk] = useState(loadOrkConfig)
+  const initialConfig = initialOrk.cad
+  const [recovery, setRecovery] = useState<UiConfig>(initialOrk.recovery)
 
   const [models, setModels] = useState<ModelSummary[]>([])
   const [modelId, setModelId] = useState<string | null>(initialConfig.modelId)
@@ -114,8 +120,8 @@ export default function App() {
   // has not changed, and the viewer would keep showing the previous build.
   const [reloadNonce, setReloadNonce] = useState(0)
 
-  // Top-level tab: the CAD viewer (all existing UI) vs the 6-DOF flight dynamics.
-  const [activeTab, setActiveTab] = useState<'cad' | 'flight'>('cad')
+  // Top-level tab: CAD viewer, the 6-DOF ascent flight dynamics, or recovery.
+  const [activeTab, setActiveTab] = useState<'cad' | 'flight' | 'recovery'>('cad')
 
   useEffect(() => {
     listModels()
@@ -287,38 +293,44 @@ export default function App() {
   // -- Versioning: gather the user inputs into one ViewerConfig, persist it, and
   // apply a restored one. localStorage is the reload cache; ConfigVersions drives
   // the durable server-side timeline (named designs, history, releases).
-  const config = useMemo<ViewerConfig>(
+  const config = useMemo<OrkConfig>(
     () => ({
       version: 1,
-      modelId,
-      overrides: Object.fromEntries(overrides),
-      outerFaces,
-      finFaces,
-      finCount,
-      motor: motorSel,
-      railLength,
-      flight,
+      cad: {
+        version: 1,
+        modelId,
+        overrides: Object.fromEntries(overrides),
+        outerFaces,
+        finFaces,
+        finCount,
+        motor: motorSel,
+        railLength,
+        flight,
+      },
+      recovery,
     }),
-    [modelId, overrides, outerFaces, finFaces, finCount, motorSel, railLength, flight],
+    [modelId, overrides, outerFaces, finFaces, finCount, motorSel, railLength, flight, recovery],
   )
 
   // Debounced: `config` changes on every keystroke and this serialises it all.
   useEffect(() => {
-    const id = setTimeout(() => saveViewerConfig(config), 400)
+    const id = setTimeout(() => saveOrkConfig(config), 400)
     return () => clearTimeout(id)
   }, [config])
 
   // Stable, so ConfigVersions' mount/restore effects don't re-run every render.
-  const handleRestore = useCallback((c: ViewerConfig) => {
-    setModelId(c.modelId)
-    setOverrides(new Map(Object.entries(c.overrides)))
-    setOuterFaces(c.outerFaces)
-    setFinFaces(c.finFaces)
-    setFinCount(c.finCount)
-    setMotorSel(c.motor)
-    setRailLength(c.railLength)
-    setFlightState(c.flight)
-    saveViewerConfig(c)
+  const handleRestore = useCallback((c: OrkConfig) => {
+    const cad = c.cad
+    setModelId(cad.modelId)
+    setOverrides(new Map(Object.entries(cad.overrides)))
+    setOuterFaces(cad.outerFaces)
+    setFinFaces(cad.finFaces)
+    setFinCount(cad.finCount)
+    setMotorSel(cad.motor)
+    setRailLength(cad.railLength)
+    setFlightState(cad.flight)
+    setRecovery(c.recovery)
+    saveOrkConfig(c)
   }, [])
 
   // Effective mass per occurrence, sent to the backend so its CG matches exactly
@@ -583,13 +595,13 @@ export default function App() {
         <h1 className="text-xl font-bold">STAR OpenRocket</h1>
 
         <nav className="flex items-center gap-1 rounded-lg border border-slate-700 bg-slate-900/60 p-1 text-sm">
-          {(['cad', 'flight'] as const).map((tab) => (
+          {(['cad', 'flight', 'recovery'] as const).map((tab) => (
             <button
               key={tab}
               onClick={() => setActiveTab(tab)}
               className={`rounded px-3 py-1 font-medium ${activeTab === tab ? 'bg-cyan-600 text-white' : 'text-slate-300 hover:bg-slate-800'}`}
             >
-              {tab === 'cad' ? 'CAD & Stability' : 'Flight Dynamics'}
+              {tab === 'cad' ? 'CAD & Stability' : tab === 'flight' ? 'Flight Dynamics' : 'Recovery'}
             </button>
           ))}
         </nav>
@@ -631,7 +643,9 @@ export default function App() {
         </div>
       </header>
 
-      {activeTab === 'flight' ? (
+      {activeTab === 'recovery' ? (
+        <RecoveryTab ui={recovery} onChange={setRecovery} />
+      ) : activeTab === 'flight' ? (
         <FlightDynamicsTab
           modelId={modelId}
           motorSel={motorSel}
diff --git a/star-openrocket/frontend/src/api/documents.ts b/star-openrocket/frontend/src/api/documents.ts
index 9f711c752..c494322fe 100644
--- a/star-openrocket/frontend/src/api/documents.ts
+++ b/star-openrocket/frontend/src/api/documents.ts
@@ -9,7 +9,7 @@
  * the backend is absent, so callers treat a throw as "history unavailable".
  */
 
-import type { ViewerConfig as UiConfig } from '../types/config'
+import type { OrkConfig as UiConfig } from '../types/config'
 
 const BASE = '/api/documents'
 
diff --git a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
index 0258fdd8c..f3eec0ed1 100644
--- a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
+++ b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
@@ -13,9 +13,9 @@
 
 import { useCallback, useEffect, useRef, useState } from 'react'
 import type { ReactNode } from 'react'
-import type { ViewerConfig as UiConfig } from '../../types/config'
-import { reviveViewerConfig as reviveUiConfig } from '../../lib/persist'
-import { defaultViewerConfig as defaultUiConfig } from '../../types/config'
+import type { OrkConfig as UiConfig } from '../../types/config'
+import { reviveOrkConfig as reviveUiConfig } from '../../lib/persist'
+import { defaultOrkConfig as defaultUiConfig } from '../../types/config'
 import { Button, Modal } from '../ui'
 import * as api from '../../api/documents'
 import type { DocMeta, MicroVersion, ReleaseVersion } from '../../api/documents'
diff --git a/star-openrocket/frontend/src/index.css b/star-openrocket/frontend/src/index.css
index 0ecbe1b4b..f386e980c 100644
--- a/star-openrocket/frontend/src/index.css
+++ b/star-openrocket/frontend/src/index.css
@@ -1,37 +1,21 @@
-@import 'tailwindcss';
-
-/* Palette tokens the ported design bar (components/versions/ConfigVersions) and
-   ui.tsx reference via var(--color-*). Mapped to this app's slate palette so the
-   shared component renders correctly here without editing its JSX. */
-:root {
-  --color-bg-primary: #020617;   /* slate-950 */
-  --color-bg-secondary: #0f172a; /* slate-900 */
-  --color-bg-tertiary: #1e293b;  /* slate-800 */
-  --color-border: #334155;       /* slate-700 */
-  --color-text-primary: #f1f5f9; /* slate-100 */
-  --color-text-secondary: #cbd5e1; /* slate-300 */
-  --color-text-muted: #94a3b8;   /* slate-400 */
-  --color-accent: #0891b2;       /* cyan-600 */
-  --color-accent-hover: #06b6d4; /* cyan-500 */
-}
+@import "tailwindcss";
 
 /* ── Type scale ──────────────────────────────────────────────────────────────
-   Overrides Tailwind's default steps so every `text-*` in the app moves together
-   toward legible sizes, matching the recovery-calculator app. Sizes are absolute
-   px-equivalents against the 16px root, NOT a root font-size multiplier.
-
-       2xs  13px   (new step; was hard-coded 10-11px arbitrary sizes)
-       xs   14px   was 12px   the dominant body/label size
-       sm   16px   was 14px   panel body, tab bar, tables
-       base 18px   was 16px
-       lg   22px   was 18px
-
-   `--text-2xs` is a new named token so the micro-label tier (badges, units,
-   column headers) scales with the rest instead of being frozen in place, and
-   never drops below 13px. */
+   Overrides Tailwind's default steps rather than rewriting call sites: the app
+   uses `text-xs` in ~40 places, so the size lives here and every one of them
+   moves together. Sizes are absolute px-equivalents, NOT a root font-size
+   multiplier -- a `html { font-size }` bump would scale the rem-based
+   utilities but silently leave the charts behind, since Recharts takes numeric
+   px font sizes (see chartTheme.ts) and SVG does not inherit the trick.
+
+       2xs  13px   axis-style labels, badges, units
+       xs   14px   the dominant body size
+       sm   16px   card titles, tab bar
+       base 18px
+       lg   22px   the big Stat readouts                                     */
 @theme {
   --text-2xs: 0.8125rem;
-  --text-2xs--line-height: 1.4;
+  --text-2xs--line-height: 1.45;
   --text-xs: 0.875rem;
   --text-xs--line-height: 1.45;
   --text-sm: 1rem;
@@ -42,8 +26,43 @@
   --text-lg--line-height: 1.3;
   --text-xl: 1.625rem;
   --text-xl--line-height: 1.25;
+
+  /* Padding, gaps and control heights are all multiples of this. Up 10% so
+     the larger text does not end up crowding the borders it sits inside. */
+  --spacing: 0.275rem;
 }
 
+/* Dark engineering palette (from the recovery calculator / EngineDesign). The
+   token-based components (ConfigVersions, ui.tsx, every recovery panel) read
+   these; the CAD/Flight viewer panels use Tailwind slate-* utilities directly. */
+:root {
+  --color-bg-primary: #0a0a0f;
+  --color-bg-secondary: #12121a;
+  --color-bg-tertiary: #1a1a24;
+  --color-accent: #3b82f6;
+  --color-accent-hover: #2563eb;
+  --color-success: #22c55e;
+  --color-warning: #f59e0b;
+  --color-danger: #ef4444;
+
+  /* Contrast ratios are against --color-bg-tertiary (#1a1a24), the worst case.
+     All three text tiers clear 7:1 (AAA). src/recovery/lib/theme.test.ts
+     recomputes these from this file and fails if any tier drops below 7:1. */
+  --color-text-primary: #f8fafc;   /* 16.5:1 */
+  --color-text-secondary: #cbd5e1; /* 11.6:1 */
+  --color-text-muted: #9fb0c4;     /*  7.8:1 */
+
+  --color-border: #383848;
+
+  /* One colour per off-nominal recovery case, shared by the case selector and
+     the trajectory chart so a line and its tab always agree. */
+  --case-nominal: #3b82f6;
+  --case-simultaneous: #a855f7;
+  --case-no-main: #f59e0b;
+  --case-no-drogue: #ef4444;
+}
+
+/* The viewer's CAD tab fills the viewport (three.js scene + flex column). */
 html,
 body,
 #root {
@@ -52,6 +71,64 @@ body,
 }
 
 body {
-  font-family:
-    ui-sans-serif, system-ui, -apple-system, 'Segoe UI', Roboto, Helvetica, Arial, sans-serif;
+  @apply bg-[var(--color-bg-primary)] text-[var(--color-text-primary)] antialiased;
+  /* Proportional sans for all chrome, labels, prose and headings. Numbers opt
+     back into tabular figures via `.font-num` / data tables so columns line up. */
+  font-family: 'Inter', system-ui, -apple-system, 'Segoe UI', Roboto,
+    'Helvetica Neue', Arial, sans-serif;
+}
+
+.font-prose {
+  font-family: 'Inter', system-ui, sans-serif;
+}
+
+/* Numbers use the same sans face; `tabular-nums` only makes digits share one
+   advance width so columns of figures line up. */
+.font-num {
+  font-feature-settings: 'tnum' 1;
+  font-variant-numeric: tabular-nums;
+}
+
+table {
+  font-variant-numeric: tabular-nums;
+  font-feature-settings: 'tnum' 1;
+}
+
+::-webkit-scrollbar {
+  width: 10px;
+  height: 10px;
+}
+
+::-webkit-scrollbar-track {
+  background: var(--color-bg-secondary);
+}
+
+::-webkit-scrollbar-thumb {
+  background: var(--color-border);
+  border-radius: 4px;
+}
+
+::-webkit-scrollbar-thumb:hover {
+  background: var(--color-text-secondary);
+}
+
+/* Number inputs: drop the spinners (they steal horizontal room). */
+input[type="number"]::-webkit-outer-spin-button,
+input[type="number"]::-webkit-inner-spin-button {
+  -webkit-appearance: none;
+  margin: 0;
+}
+
+input[type="number"] {
+  -moz-appearance: textfield;
+  appearance: textfield;
+}
+
+/* Breathing room before a section heading, but not above the first one. */
+[data-field-group] + [data-field-group] {
+  padding-top: 0.85rem;
+}
+
+.recharts-tooltip-wrapper:focus {
+  outline: none;
 }
diff --git a/star-openrocket/frontend/src/lib/persist.ts b/star-openrocket/frontend/src/lib/persist.ts
index 819de834b..7b4a3860c 100644
--- a/star-openrocket/frontend/src/lib/persist.ts
+++ b/star-openrocket/frontend/src/lib/persist.ts
@@ -50,18 +50,43 @@ export function reviveViewerConfig(raw: string | null): ViewerConfig | null {
   }
 }
 
-/** The stored config, or the default. Never throws: storage off/full ⇒ defaults. */
-export function loadViewerConfig(): ViewerConfig {
+// -- Unified design (CAD + recovery) ---------------------------------------
+//
+// A design is one OrkConfig = { cad, recovery }. Each slice is revived onto its
+// own defaults so a field added to either half arrives with its default rather
+// than undefined. The recovery slice reuses the recovery calculator's own
+// `reviveUiConfig` (fed the stringified slice).
+
+import type { OrkConfig } from '../types/config'
+import { defaultOrkConfig } from '../types/config'
+import { reviveUiConfig } from '../recovery/lib/persist'
+import { defaultUiConfig } from '../recovery/lib/serialise'
+
+export function reviveOrkConfig(raw: string | null): OrkConfig | null {
+  if (!raw) return null
+  let saved: { cad?: unknown; recovery?: unknown }
+  try {
+    saved = JSON.parse(raw)
+  } catch {
+    return null
+  }
+  if (!saved || typeof saved !== 'object' || Array.isArray(saved)) return null
+  const cad = reviveViewerConfig(saved.cad ? JSON.stringify(saved.cad) : null) ?? defaultViewerConfig()
+  const recovery = reviveUiConfig(saved.recovery ? JSON.stringify(saved.recovery) : null) ?? defaultUiConfig()
+  return { version: 1, cad, recovery }
+}
+
+/** The stored unified design, or the default. Never throws. */
+export function loadOrkConfig(): OrkConfig {
   try {
-    return reviveViewerConfig(localStorage.getItem(STORAGE_KEY)) ?? defaultViewerConfig()
+    return reviveOrkConfig(localStorage.getItem(STORAGE_KEY)) ?? defaultOrkConfig()
   } catch {
-    return defaultViewerConfig()
+    return defaultOrkConfig()
   }
 }
 
-/** Store the config. Quietly does nothing if storage refuses — a failed save must
- *  not take down the app the user is still editing in. */
-export function saveViewerConfig(config: ViewerConfig): void {
+/** Store the unified design. Quietly does nothing if storage refuses. */
+export function saveOrkConfig(config: OrkConfig): void {
   try {
     localStorage.setItem(STORAGE_KEY, JSON.stringify(config))
   } catch {
diff --git a/star-openrocket/frontend/src/main.tsx b/star-openrocket/frontend/src/main.tsx
index f58ec8cd1..7c89e1592 100644
--- a/star-openrocket/frontend/src/main.tsx
+++ b/star-openrocket/frontend/src/main.tsx
@@ -3,9 +3,12 @@ import { createRoot } from 'react-dom/client'
 
 import App from './App'
 import './index.css'
+import { UnitsProvider } from './recovery/lib/unitsContext'
 
 createRoot(document.getElementById('root')!).render(
   <StrictMode>
-    <App />
+    <UnitsProvider>
+      <App />
+    </UnitsProvider>
   </StrictMode>,
 )
diff --git a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
new file mode 100644
index 000000000..e136fb3f9
--- /dev/null
+++ b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
@@ -0,0 +1,93 @@
+/**
+ * The Recovery tab of STAR OpenRocket: the merged recovery calculator rendered
+ * as seven subtabs. Controlled component -- App owns the `recovery` slice of the
+ * unified design and passes it in via `ui`/`onChange`; this file keeps only the
+ * active-subtab UI state. All panels stay mounted (inactive ones `hidden`) so a
+ * half-filled device card survives a subtab switch, matching the standalone app.
+ */
+
+import { useState } from 'react'
+import type { UiConfig } from './types/schema'
+import { RecoveryPanel } from './components/recovery/RecoveryPanel'
+import { CornersPanel } from './components/corners/CornersPanel'
+import { StudyPanel } from './components/study/StudyPanel'
+import { CrosscheckPanel } from './components/crosscheck/CrosscheckPanel'
+import { AtmospherePanel } from './components/atmosphere/AtmospherePanel'
+import { DriftPanel } from './components/drift/DriftPanel'
+import { UnitsPanel } from './components/settings/UnitsPanel'
+
+type Tab = 'recovery' | 'corners' | 'study' | 'drift' | 'crosscheck' | 'atmosphere' | 'units'
+
+const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
+  { id: 'recovery', label: 'Setup & Basic Run', hint: 'Descent, loads and off-nominal cases',
+    accent: 'border-blue-500 text-blue-400' },
+  { id: 'corners', label: 'Corners', hint: 'Uncertainty sweep and the governing corner',
+    accent: 'border-violet-500 text-violet-400' },
+  { id: 'study', label: 'Sweep', hint: 'Compare designs - parachutes, altitudes, mass',
+    accent: 'border-amber-500 text-amber-400' },
+  { id: 'drift', label: 'Drift', hint: 'Downwind drift and landing point under recovery',
+    accent: 'border-sky-500 text-sky-400' },
+  { id: 'crosscheck', label: 'Cross-check',
+    hint: 'This tool vs OpenRocket vs the recovery mastersheet',
+    accent: 'border-rose-500 text-rose-400' },
+  { id: 'atmosphere', label: 'Atmospheric Data', hint: 'Measured climatology at FAR',
+    accent: 'border-emerald-500 text-emerald-400' },
+  { id: 'units', label: 'Units', hint: 'Which unit each quantity displays in',
+    accent: 'border-[var(--color-text-muted)] text-[var(--color-text-primary)]' },
+]
+
+interface Props {
+  ui: UiConfig
+  onChange: (u: UiConfig) => void
+}
+
+export function RecoveryTab({ ui, onChange }: Props) {
+  const [tab, setTab] = useState<Tab>('recovery')
+
+  return (
+    <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
+      <div className="mx-auto max-w-[1800px] px-4 sm:px-6 lg:px-8">
+        <nav className="-mb-px flex gap-1 border-b border-[var(--color-border)]">
+          {TABS.map((t) => (
+            <button
+              key={t.id}
+              onClick={() => setTab(t.id)}
+              title={t.hint}
+              className={`border-b-2 px-4 py-3 text-sm font-medium transition-colors ${
+                tab === t.id
+                  ? t.accent
+                  : 'border-transparent text-[var(--color-text-secondary)] hover:border-[var(--color-border)] hover:text-[var(--color-text-primary)]'
+              }`}
+            >
+              {t.label}
+            </button>
+          ))}
+        </nav>
+
+        <div className="py-6">
+          <div className={tab === 'recovery' ? '' : 'hidden'}>
+            <RecoveryPanel ui={ui} onChange={onChange} />
+          </div>
+          <div className={tab === 'corners' ? '' : 'hidden'}>
+            <CornersPanel ui={ui} onChange={onChange} />
+          </div>
+          <div className={tab === 'study' ? '' : 'hidden'}>
+            <StudyPanel ui={ui} onChange={onChange} />
+          </div>
+          <div className={tab === 'drift' ? '' : 'hidden'}>
+            <DriftPanel ui={ui} />
+          </div>
+          <div className={tab === 'crosscheck' ? '' : 'hidden'}>
+            <CrosscheckPanel ui={ui} />
+          </div>
+          <div className={tab === 'atmosphere' ? '' : 'hidden'}>
+            <AtmospherePanel />
+          </div>
+          <div className={tab === 'units' ? '' : 'hidden'}>
+            <UnitsPanel />
+          </div>
+        </div>
+      </div>
+    </div>
+  )
+}
diff --git a/recovery-calculator/frontend/src/api/client.ts b/star-openrocket/frontend/src/recovery/api/client.ts
similarity index 100%
rename from recovery-calculator/frontend/src/api/client.ts
rename to star-openrocket/frontend/src/recovery/api/client.ts
diff --git a/recovery-calculator/frontend/src/api/documents.ts b/star-openrocket/frontend/src/recovery/api/documents.ts
similarity index 100%
rename from recovery-calculator/frontend/src/api/documents.ts
rename to star-openrocket/frontend/src/recovery/api/documents.ts
diff --git a/recovery-calculator/frontend/src/api/fixture.ts b/star-openrocket/frontend/src/recovery/api/fixture.ts
similarity index 100%
rename from recovery-calculator/frontend/src/api/fixture.ts
rename to star-openrocket/frontend/src/recovery/api/fixture.ts
diff --git a/recovery-calculator/frontend/src/components/TrajectoryOverlay.tsx b/star-openrocket/frontend/src/recovery/components/TrajectoryOverlay.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/TrajectoryOverlay.tsx
rename to star-openrocket/frontend/src/recovery/components/TrajectoryOverlay.tsx
diff --git a/recovery-calculator/frontend/src/components/atmosphere/AtmospherePanel.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/AtmospherePanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/atmosphere/AtmospherePanel.tsx
rename to star-openrocket/frontend/src/recovery/components/atmosphere/AtmospherePanel.tsx
diff --git a/recovery-calculator/frontend/src/components/atmosphere/PressureByMonth.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/PressureByMonth.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/atmosphere/PressureByMonth.tsx
rename to star-openrocket/frontend/src/recovery/components/atmosphere/PressureByMonth.tsx
diff --git a/recovery-calculator/frontend/src/components/atmosphere/SoundingProfile.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/SoundingProfile.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/atmosphere/SoundingProfile.tsx
rename to star-openrocket/frontend/src/recovery/components/atmosphere/SoundingProfile.tsx
diff --git a/recovery-calculator/frontend/src/components/atmosphere/TemperatureByMonth.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/TemperatureByMonth.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/atmosphere/TemperatureByMonth.tsx
rename to star-openrocket/frontend/src/recovery/components/atmosphere/TemperatureByMonth.tsx
diff --git a/recovery-calculator/frontend/src/components/chartTheme.ts b/star-openrocket/frontend/src/recovery/components/chartTheme.ts
similarity index 100%
rename from recovery-calculator/frontend/src/components/chartTheme.ts
rename to star-openrocket/frontend/src/recovery/components/chartTheme.ts
diff --git a/recovery-calculator/frontend/src/components/corners/CornerChart.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornerChart.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/corners/CornerChart.tsx
rename to star-openrocket/frontend/src/recovery/components/corners/CornerChart.tsx
diff --git a/recovery-calculator/frontend/src/components/corners/CornerTable.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/corners/CornerTable.tsx
rename to star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
diff --git a/recovery-calculator/frontend/src/components/corners/CornersPanel.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornersPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/corners/CornersPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/corners/CornersPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/corners/WorstCards.tsx b/star-openrocket/frontend/src/recovery/components/corners/WorstCards.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/corners/WorstCards.tsx
rename to star-openrocket/frontend/src/recovery/components/corners/WorstCards.tsx
diff --git a/recovery-calculator/frontend/src/components/crosscheck/CrosscheckAssumptions.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckAssumptions.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/crosscheck/CrosscheckAssumptions.tsx
rename to star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckAssumptions.tsx
diff --git a/recovery-calculator/frontend/src/components/crosscheck/CrosscheckChart.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckChart.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/crosscheck/CrosscheckChart.tsx
rename to star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckChart.tsx
diff --git a/recovery-calculator/frontend/src/components/crosscheck/CrosscheckPanel.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/crosscheck/CrosscheckPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/crosscheck/CrosscheckTable.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckTable.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/crosscheck/CrosscheckTable.tsx
rename to star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckTable.tsx
diff --git a/recovery-calculator/frontend/src/components/crosscheck/models.ts b/star-openrocket/frontend/src/recovery/components/crosscheck/models.ts
similarity index 100%
rename from recovery-calculator/frontend/src/components/crosscheck/models.ts
rename to star-openrocket/frontend/src/recovery/components/crosscheck/models.ts
diff --git a/recovery-calculator/frontend/src/components/drift/DriftPanel.tsx b/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/drift/DriftPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/drift/GroundTrack.tsx b/star-openrocket/frontend/src/recovery/components/drift/GroundTrack.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/drift/GroundTrack.tsx
rename to star-openrocket/frontend/src/recovery/components/drift/GroundTrack.tsx
diff --git a/recovery-calculator/frontend/src/components/drift/WindProfileChart.tsx b/star-openrocket/frontend/src/recovery/components/drift/WindProfileChart.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/drift/WindProfileChart.tsx
rename to star-openrocket/frontend/src/recovery/components/drift/WindProfileChart.tsx
diff --git a/recovery-calculator/frontend/src/components/recovery/DeviceList.tsx b/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/recovery/DeviceList.tsx
rename to star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
diff --git a/recovery-calculator/frontend/src/components/recovery/InputForms.tsx b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/recovery/InputForms.tsx
rename to star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
diff --git a/recovery-calculator/frontend/src/components/recovery/RecoveryPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/recovery/RecoveryPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/recovery/ResultsPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/recovery/ResultsPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/settings/UnitsPanel.tsx b/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/settings/UnitsPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/study/AxisEditor.tsx b/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/study/AxisEditor.tsx
rename to star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
diff --git a/recovery-calculator/frontend/src/components/study/StudyChart.tsx b/star-openrocket/frontend/src/recovery/components/study/StudyChart.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/study/StudyChart.tsx
rename to star-openrocket/frontend/src/recovery/components/study/StudyChart.tsx
diff --git a/recovery-calculator/frontend/src/components/study/StudyPanel.tsx b/star-openrocket/frontend/src/recovery/components/study/StudyPanel.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/study/StudyPanel.tsx
rename to star-openrocket/frontend/src/recovery/components/study/StudyPanel.tsx
diff --git a/recovery-calculator/frontend/src/components/study/StudyTable.tsx b/star-openrocket/frontend/src/recovery/components/study/StudyTable.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/study/StudyTable.tsx
rename to star-openrocket/frontend/src/recovery/components/study/StudyTable.tsx
diff --git a/recovery-calculator/frontend/src/components/ui.tsx b/star-openrocket/frontend/src/recovery/components/ui.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/ui.tsx
rename to star-openrocket/frontend/src/recovery/components/ui.tsx
diff --git a/recovery-calculator/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/recovery/components/versions/ConfigVersions.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/components/versions/ConfigVersions.tsx
rename to star-openrocket/frontend/src/recovery/components/versions/ConfigVersions.tsx
diff --git a/recovery-calculator/frontend/src/fixtures/climatology.json b/star-openrocket/frontend/src/recovery/fixtures/climatology.json
similarity index 100%
rename from recovery-calculator/frontend/src/fixtures/climatology.json
rename to star-openrocket/frontend/src/recovery/fixtures/climatology.json
diff --git a/recovery-calculator/frontend/src/lib/climatology.ts b/star-openrocket/frontend/src/recovery/lib/climatology.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/climatology.ts
rename to star-openrocket/frontend/src/recovery/lib/climatology.ts
diff --git a/recovery-calculator/frontend/src/lib/corners.test.ts b/star-openrocket/frontend/src/recovery/lib/corners.test.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/corners.test.ts
rename to star-openrocket/frontend/src/recovery/lib/corners.test.ts
diff --git a/recovery-calculator/frontend/src/lib/corners.ts b/star-openrocket/frontend/src/recovery/lib/corners.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/corners.ts
rename to star-openrocket/frontend/src/recovery/lib/corners.ts
diff --git a/recovery-calculator/frontend/src/lib/persist.test.ts b/star-openrocket/frontend/src/recovery/lib/persist.test.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/persist.test.ts
rename to star-openrocket/frontend/src/recovery/lib/persist.test.ts
diff --git a/recovery-calculator/frontend/src/lib/persist.ts b/star-openrocket/frontend/src/recovery/lib/persist.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/persist.ts
rename to star-openrocket/frontend/src/recovery/lib/persist.ts
diff --git a/recovery-calculator/frontend/src/lib/quantities.test.ts b/star-openrocket/frontend/src/recovery/lib/quantities.test.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/quantities.test.ts
rename to star-openrocket/frontend/src/recovery/lib/quantities.test.ts
diff --git a/recovery-calculator/frontend/src/lib/quantities.ts b/star-openrocket/frontend/src/recovery/lib/quantities.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/quantities.ts
rename to star-openrocket/frontend/src/recovery/lib/quantities.ts
diff --git a/recovery-calculator/frontend/src/lib/serialise.test.ts b/star-openrocket/frontend/src/recovery/lib/serialise.test.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/serialise.test.ts
rename to star-openrocket/frontend/src/recovery/lib/serialise.test.ts
diff --git a/recovery-calculator/frontend/src/lib/serialise.ts b/star-openrocket/frontend/src/recovery/lib/serialise.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/serialise.ts
rename to star-openrocket/frontend/src/recovery/lib/serialise.ts
diff --git a/recovery-calculator/frontend/src/lib/study.test.ts b/star-openrocket/frontend/src/recovery/lib/study.test.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/study.test.ts
rename to star-openrocket/frontend/src/recovery/lib/study.test.ts
diff --git a/recovery-calculator/frontend/src/lib/study.ts b/star-openrocket/frontend/src/recovery/lib/study.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/study.ts
rename to star-openrocket/frontend/src/recovery/lib/study.ts
diff --git a/recovery-calculator/frontend/src/lib/theme.test.ts b/star-openrocket/frontend/src/recovery/lib/theme.test.ts
similarity index 99%
rename from recovery-calculator/frontend/src/lib/theme.test.ts
rename to star-openrocket/frontend/src/recovery/lib/theme.test.ts
index 6c81d4a08..d055a0466 100644
--- a/recovery-calculator/frontend/src/lib/theme.test.ts
+++ b/star-openrocket/frontend/src/recovery/lib/theme.test.ts
@@ -20,7 +20,7 @@ import { fileURLToPath } from 'node:url'
 import { describe, expect, it } from 'vitest'
 
 const CSS = readFileSync(
-  fileURLToPath(new URL('../index.css', import.meta.url)),
+  fileURLToPath(new URL('../../index.css', import.meta.url)),
   'utf8',
 )
 
diff --git a/recovery-calculator/frontend/src/lib/units.test.ts b/star-openrocket/frontend/src/recovery/lib/units.test.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/units.test.ts
rename to star-openrocket/frontend/src/recovery/lib/units.test.ts
diff --git a/recovery-calculator/frontend/src/lib/units.ts b/star-openrocket/frontend/src/recovery/lib/units.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/units.ts
rename to star-openrocket/frontend/src/recovery/lib/units.ts
diff --git a/recovery-calculator/frontend/src/lib/unitsContext.tsx b/star-openrocket/frontend/src/recovery/lib/unitsContext.tsx
similarity index 100%
rename from recovery-calculator/frontend/src/lib/unitsContext.tsx
rename to star-openrocket/frontend/src/recovery/lib/unitsContext.tsx
diff --git a/recovery-calculator/frontend/src/lib/wind.ts b/star-openrocket/frontend/src/recovery/lib/wind.ts
similarity index 100%
rename from recovery-calculator/frontend/src/lib/wind.ts
rename to star-openrocket/frontend/src/recovery/lib/wind.ts
diff --git a/recovery-calculator/frontend/src/types/climatology.ts b/star-openrocket/frontend/src/recovery/types/climatology.ts
similarity index 100%
rename from recovery-calculator/frontend/src/types/climatology.ts
rename to star-openrocket/frontend/src/recovery/types/climatology.ts
diff --git a/recovery-calculator/frontend/src/types/schema.ts b/star-openrocket/frontend/src/recovery/types/schema.ts
similarity index 100%
rename from recovery-calculator/frontend/src/types/schema.ts
rename to star-openrocket/frontend/src/recovery/types/schema.ts
diff --git a/star-openrocket/frontend/src/types/config.ts b/star-openrocket/frontend/src/types/config.ts
index a6c9ee8e4..bc6195483 100644
--- a/star-openrocket/frontend/src/types/config.ts
+++ b/star-openrocket/frontend/src/types/config.ts
@@ -57,3 +57,22 @@ export function defaultViewerConfig(): ViewerConfig {
     flight: defaultFlightParams(),
   }
 }
+
+// -- Unified design --------------------------------------------------------
+//
+// One saved design spans the whole app: the CAD/stability/ascent inputs
+// (`cad`) and the recovery calculator inputs (`recovery`). Both slices survive
+// a reload and are versioned together by the single header design bar.
+
+import type { UiConfig } from '../recovery/types/schema'
+import { defaultUiConfig } from '../recovery/lib/serialise'
+
+export interface OrkConfig {
+  version: 1
+  cad: ViewerConfig
+  recovery: UiConfig
+}
+
+export function defaultOrkConfig(): OrkConfig {
+  return { version: 1, cad: defaultViewerConfig(), recovery: defaultUiConfig() }
+}
diff --git a/star-openrocket/tests/recovery/conftest.py b/star-openrocket/tests/recovery/conftest.py
index a331d77b8..beee6c721 100644
--- a/star-openrocket/tests/recovery/conftest.py
+++ b/star-openrocket/tests/recovery/conftest.py
@@ -22,17 +22,7 @@
 _QUARANTINE_FILES = {}
 
 # "<file>::<test>" -> reason. Empty is the desired state.
-# These read the recovery frontend source / climatology bundle, which land under
-# frontend/src/recovery/ in Phase 3 of the STAR OpenRocket merge. Un-quarantine
-# once the frontend is relocated (the paths above already point at the new home).
-_MERGE_PHASE3 = "pending Phase 3 frontend relocation (frontend/src/recovery/)"
-_QUARANTINE_TESTS = {
-    "test_api.py::test_climatology_route_resolves_to_a_real_file": _MERGE_PHASE3,
-    "test_api.py::test_climatology_serves_the_bundle_shape": _MERGE_PHASE3,
-    "test_api.py::test_the_gui_default_sweep_matches_the_backend_default_sweep": _MERGE_PHASE3,
-    "test_api.py::test_the_gui_and_backend_agree_on_the_airframe_band": _MERGE_PHASE3,
-    "test_api.py::test_crosscheck_metric_kinds_are_ones_the_frontend_knows": _MERGE_PHASE3,
-}
+_QUARANTINE_TESTS = {}
 
 
 def pytest_collection_modifyitems(config, items):

From cf7693773522acad5d1579ac887b23285c5c40a4 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 13:31:56 -0700
Subject: [PATCH 018/205] recovery: apogee and descending mass can be pulled
 from the ascent design (Flight Dynamics apogee + CAD structure/spent-motor
 mass) or typed in; lateral velocity deferred

---
 star-openrocket/FUTURE_IMPROVEMENTS.md        | 11 +++
 star-openrocket/frontend/src/App.tsx          | 15 +++-
 .../frontend/src/recovery/RecoveryTab.tsx     | 21 ++++--
 .../components/recovery/InputForms.tsx        | 70 +++++++++++++++++--
 .../components/recovery/RecoveryPanel.tsx     |  7 +-
 .../frontend/src/recovery/lib/persist.ts      |  1 +
 .../frontend/src/recovery/lib/serialise.ts    |  3 +
 .../frontend/src/recovery/types/schema.ts     | 20 ++++++
 8 files changed, 132 insertions(+), 16 deletions(-)

diff --git a/star-openrocket/FUTURE_IMPROVEMENTS.md b/star-openrocket/FUTURE_IMPROVEMENTS.md
index 4f26568a5..0ec38e0bb 100644
--- a/star-openrocket/FUTURE_IMPROVEMENTS.md
+++ b/star-openrocket/FUTURE_IMPROVEMENTS.md
@@ -101,3 +101,14 @@ asymmetric fin set really causes.
 the lateral (side-force) contributions, yielding an off-axis CP / roll estimate for
 asymmetric sets -- or at minimum warn when the selected fins are not azimuthally
 symmetric.
+
+## Recovery: lateral velocity at apogee from the ascent
+
+The Recovery tab can now pull **apogee** and **descending mass** from the ascent
+design (CAD structure + spent motor, and the Flight Dynamics apogee) via the
+"from design" toggles on the Vehicle form. The descent solver's horizontal
+initial condition (`Vehicle.v0`, lateral velocity at deployment) is still left to
+the manual early-deployment override and is **not** sourced from the ascent yet.
+Once the ascent state at apogee exposes a horizontal velocity component, wire it
+into the recovery `v0` the same way apogee/mass are wired, so a weathercocked
+trajectory carries its cross-range speed into the drift calculation.
diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index f28ff4705..b7b5b2555 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -15,7 +15,7 @@ import { centreOfMass, formatMass } from './lib/cm'
 import { loadOrkConfig, saveOrkConfig } from './lib/persist'
 import type { FlightParams, OrkConfig } from './types/config'
 import { RecoveryTab } from './recovery/RecoveryTab'
-import type { UiConfig } from './recovery/types/schema'
+import type { DesignSource, UiConfig } from './recovery/types/schema'
 import { ConfigVersions } from './components/versions/ConfigVersions'
 import { FlightDynamicsTab } from './components/viewer/FlightDynamicsTab'
 import { FlightProfileModal } from './components/viewer/FlightProfileModal'
@@ -290,6 +290,17 @@ export default function App() {
     return { fromNose: along, radial, offAxis }
   }, [stability, cm])
 
+  // What the Recovery tab can pull from the ascent design: apogee from the last
+  // Flight Dynamics run, and the descending mass (CAD structure + spent-motor
+  // casing). Null when there is no run / model to read them from.
+  const designSource = useMemo<DesignSource>(
+    () => ({
+      apogee: flightDynResult?.apogee ?? null,
+      massKg: manifest ? centreOfMass(parts).mass + (stability?.motor?.dryMass ?? 0) : null,
+    }),
+    [flightDynResult, manifest, parts, stability],
+  )
+
   // -- Versioning: gather the user inputs into one ViewerConfig, persist it, and
   // apply a restored one. localStorage is the reload cache; ConfigVersions drives
   // the durable server-side timeline (named designs, history, releases).
@@ -644,7 +655,7 @@ export default function App() {
       </header>
 
       {activeTab === 'recovery' ? (
-        <RecoveryTab ui={recovery} onChange={setRecovery} />
+        <RecoveryTab ui={recovery} onChange={setRecovery} design={designSource} />
       ) : activeTab === 'flight' ? (
         <FlightDynamicsTab
           modelId={modelId}
diff --git a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
index e136fb3f9..a57d07e76 100644
--- a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
+++ b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
@@ -6,8 +6,8 @@
  * half-filled device card survives a subtab switch, matching the standalone app.
  */
 
-import { useState } from 'react'
-import type { UiConfig } from './types/schema'
+import { useEffect, useState } from 'react'
+import type { DesignSource, UiConfig } from './types/schema'
 import { RecoveryPanel } from './components/recovery/RecoveryPanel'
 import { CornersPanel } from './components/corners/CornersPanel'
 import { StudyPanel } from './components/study/StudyPanel'
@@ -39,11 +39,24 @@ const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
 interface Props {
   ui: UiConfig
   onChange: (u: UiConfig) => void
+  /** Apogee / mass offered by the ascent design (CAD + Flight Dynamics). */
+  design: DesignSource
 }
 
-export function RecoveryTab({ ui, onChange }: Props) {
+export function RecoveryTab({ ui, onChange, design }: Props) {
   const [tab, setTab] = useState<Tab>('recovery')
 
+  // When a from-design toggle is on, keep the vehicle field synced to the ascent
+  // design so every panel and the physics use it. Converges: only writes on a
+  // real difference. Turning a toggle off leaves the last value in place, editable.
+  const { apogeeFromDesign, massFromDesign } = ui.sources
+  useEffect(() => {
+    let v = ui.vehicle
+    if (massFromDesign && design.massKg != null && v.m !== design.massKg) v = { ...v, m: design.massKg }
+    if (apogeeFromDesign && design.apogee != null && v.h_a !== design.apogee) v = { ...v, h_a: design.apogee }
+    if (v !== ui.vehicle) onChange({ ...ui, vehicle: v })
+  }, [apogeeFromDesign, massFromDesign, design.apogee, design.massKg, ui, onChange])
+
   return (
     <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
       <div className="mx-auto max-w-[1800px] px-4 sm:px-6 lg:px-8">
@@ -66,7 +79,7 @@ export function RecoveryTab({ ui, onChange }: Props) {
 
         <div className="py-6">
           <div className={tab === 'recovery' ? '' : 'hidden'}>
-            <RecoveryPanel ui={ui} onChange={onChange} />
+            <RecoveryPanel ui={ui} onChange={onChange} design={design} />
           </div>
           <div className={tab === 'corners' ? '' : 'hidden'}>
             <CornersPanel ui={ui} onChange={onChange} />
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
index b363e3bb5..ed4c384b7 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
@@ -8,7 +8,7 @@
 import { useEffect, useState } from 'react'
 import type { StationPad } from '../../api/client'
 import { getStationPad } from '../../api/client'
-import type { TempProfile, UiConfig, UiSite, Vehicle } from '../../types/schema'
+import type { DesignSource, InputSources, TempProfile, UiConfig, UiSite, Vehicle } from '../../types/schema'
 import type { SweepParam } from '../../types/schema'
 import type { Kind } from '../../lib/quantities'
 import type { LapseTable, PadNormals } from '../../lib/climatology'
@@ -28,9 +28,41 @@ function bounds(p: SweepParam, axial: number, broadside: number): number[] {
   return lo === hi ? [lo] : [lo, hi]
 }
 
-export function VehicleForm({ value, onChange }: {
+/** The "from ascent design" toggle under the mass / apogee inputs. Disabled
+ *  until the design has a value to offer (a built model / a flight run). */
+function DesignLink({ checked, available, label, onChange }: {
+  checked: boolean
+  available: boolean
+  label: string
+  onChange: (c: boolean) => void
+}) {
+  return (
+    <label
+      className={`mt-1 flex items-center gap-1.5 text-2xs ${
+        available
+          ? 'cursor-pointer text-[var(--color-text-secondary)]'
+          : 'cursor-not-allowed text-[var(--color-text-muted)] opacity-60'
+      }`}
+      title={available ? 'Use the value from the ascent design' : 'Run a flight / build a model first'}
+    >
+      <input
+        type="checkbox"
+        checked={checked}
+        disabled={!available}
+        onChange={(e) => onChange(e.target.checked)}
+        className="h-3 w-3 accent-[var(--color-accent)]"
+      />
+      {label}
+    </label>
+  )
+}
+
+export function VehicleForm({ value, onChange, design, sources, onSourcesChange }: {
   value: Vehicle
   onChange: (v: Vehicle) => void
+  design: DesignSource
+  sources: InputSources
+  onSourcesChange: (s: InputSources) => void
 }) {
   const { num } = useUnits()
   const set = <K extends keyof Vehicle>(k: K, v: Vehicle[K]) =>
@@ -44,14 +76,35 @@ export function VehicleForm({ value, onChange }: {
             boundary, so the state below these widgets is still kg and metres
             whatever the Units tab says. The conversions are exact, so a value
             typed here reads back unchanged. Nothing restates the SI underneath
-            -- a second copy of every number is noise, not reassurance. */}
+            -- a second copy of every number is noise, not reassurance.
+
+            Mass and apogee can be typed in or pulled from the ascent design
+            (CAD structure + spent motor; Flight Dynamics apogee). While a
+            from-design toggle is on the field is read-only and RecoveryTab keeps
+            it synced to the design value. */}
         <Field label="Descending mass" kind="mass">
           <UnitInput value={value.m} onChange={(v) => set('m', v ?? 0)}
-                     kind="mass" min={0} />
+                     kind="mass" min={0} disabled={sources.massFromDesign} />
+          <DesignLink
+            checked={sources.massFromDesign}
+            available={design.massKg != null}
+            onChange={(c) => onSourcesChange({ ...sources, massFromDesign: c })}
+            label={design.massKg != null
+              ? `from design (${num(design.massKg, 'mass')})`
+              : 'from design — build a model first'}
+          />
         </Field>
         <Field label="Apogee" kind="altitude" hint="above ground level">
           <UnitInput value={value.h_a} onChange={(v) => set('h_a', v ?? 0)}
-                     kind="altitude" step={100} min={0} />
+                     kind="altitude" step={100} min={0} disabled={sources.apogeeFromDesign} />
+          <DesignLink
+            checked={sources.apogeeFromDesign}
+            available={design.apogee != null}
+            onChange={(c) => onSourcesChange({ ...sources, apogeeFromDesign: c })}
+            label={design.apogee != null
+              ? `from design (${num(design.apogee, 'altitude')})`
+              : 'from design — run a flight first'}
+          />
         </Field>
         <Field label="Airframe diameter" kind="length">
           <UnitInput value={value.d_body} onChange={(v) => set('d_body', v ?? 0)}
@@ -479,15 +532,18 @@ function Bound({ value, kind, disabled, onChange }: {
 }
 
 /** Everything at once, in the order §11.3 lists it. */
-export function InputColumn({ ui, onChange, lapseByMonth, padNormals }: {
+export function InputColumn({ ui, onChange, design, lapseByMonth, padNormals }: {
   ui: UiConfig
   onChange: (v: UiConfig) => void
+  design: DesignSource
   lapseByMonth: LapseTable
   padNormals: PadNormals
 }) {
   return (
     <div className="space-y-4">
-      <VehicleForm value={ui.vehicle} onChange={(v) => onChange({ ...ui, vehicle: v })} />
+      <VehicleForm value={ui.vehicle} onChange={(v) => onChange({ ...ui, vehicle: v })}
+                   design={design} sources={ui.sources}
+                   onSourcesChange={(s) => onChange({ ...ui, sources: s })} />
       <SiteForm value={ui.site} onChange={(v) => onChange({ ...ui, site: v })}
                 lapseByMonth={lapseByMonth} padNormals={padNormals} />
       {/* SweepForm is NOT here. The corner bounds only affect the Corners tab,
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
index ae4fc9952..08f08fb40 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
@@ -14,7 +14,7 @@
 
 import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
 import type { ReactNode } from 'react'
-import type { Result, UiConfig } from '../../types/schema'
+import type { DesignSource, Result, UiConfig } from '../../types/schema'
 import { simulate } from '../../api/client'
 import { usePadClimatology } from '../../lib/climatology'
 import { physicsKey, toWireConfig } from '../../lib/serialise'
@@ -33,9 +33,10 @@ function ColumnHeader({ children }: { children: ReactNode }) {
   )
 }
 
-export function RecoveryPanel({ ui, onChange: setUi }: {
+export function RecoveryPanel({ ui, onChange: setUi, design }: {
   ui: UiConfig
   onChange: (v: UiConfig) => void
+  design: DesignSource
 }) {
   const [result, setResult] = useState<Result | null>(null)
   const [running, setRunning] = useState(false)
@@ -133,7 +134,7 @@ export function RecoveryPanel({ ui, onChange: setUi }: {
             devices={ui.devices}
             onChange={(devices) => setUi({ ...ui, devices })}
           />
-          <InputColumn ui={ui} onChange={setUi} lapseByMonth={lapseByMonth}
+          <InputColumn ui={ui} onChange={setUi} design={design} lapseByMonth={lapseByMonth}
                        padNormals={padNormals} />
         </div>
         <div className="space-y-4">
diff --git a/star-openrocket/frontend/src/recovery/lib/persist.ts b/star-openrocket/frontend/src/recovery/lib/persist.ts
index 0d3f23ef3..971a1791e 100644
--- a/star-openrocket/frontend/src/recovery/lib/persist.ts
+++ b/star-openrocket/frontend/src/recovery/lib/persist.ts
@@ -89,6 +89,7 @@ export function reviveUiConfig(raw: string | null): UiConfig | null {
           uid: `r${i}`,
         }))
       : base.study,
+    sources: { ...base.sources, ...(saved.sources ?? {}) },
   }
 }
 
diff --git a/star-openrocket/frontend/src/recovery/lib/serialise.ts b/star-openrocket/frontend/src/recovery/lib/serialise.ts
index b07cf5cf2..90b1c0956 100644
--- a/star-openrocket/frontend/src/recovery/lib/serialise.ts
+++ b/star-openrocket/frontend/src/recovery/lib/serialise.ts
@@ -241,6 +241,9 @@ export function defaultUiConfig(): UiConfig {
     // comparing depends entirely on what the user is trying to decide, and
     // seeding one would put numbers on screen that mean nothing to them.
     study: [],
+    // Apogee and mass default to typed-in (manual). The Recovery tab flips these
+    // to read the ascent design once there is a flight run / built model.
+    sources: { apogeeFromDesign: false, massFromDesign: false },
   }
 }
 
diff --git a/star-openrocket/frontend/src/recovery/types/schema.ts b/star-openrocket/frontend/src/recovery/types/schema.ts
index 9295996e3..cc60e0197 100644
--- a/star-openrocket/frontend/src/recovery/types/schema.ts
+++ b/star-openrocket/frontend/src/recovery/types/schema.ts
@@ -274,6 +274,24 @@ export interface UiStudyAxis {
   pads: WirePad[] | null
 }
 
+/** Whether apogee / descending mass are typed in or pulled from the ascent
+ *  design (the CAD assembly + Flight Dynamics run). UI-only: `toWireConfig`
+ *  never sends it, and when a source is on, the effective value is written into
+ *  `vehicle.h_a` / `vehicle.m` so every panel and the physics see it. */
+export interface InputSources {
+  apogeeFromDesign: boolean
+  massFromDesign: boolean
+}
+
+/** The ascent design's values offered to the recovery inputs. Null when there
+ *  is no run / model to read them from. Lateral velocity at apogee is deferred. */
+export interface DesignSource {
+  /** Apogee (m AGL) from the Flight Dynamics ascent run. */
+  apogee: number | null
+  /** Descending mass (kg): CAD structure + spent-motor casing. */
+  massKg: number | null
+}
+
 export interface UiConfig {
   vehicle: Vehicle
   site: UiSite
@@ -282,6 +300,8 @@ export interface UiConfig {
   /** Empty by default. Which designs are worth comparing is not something the
    *  tool can guess, so unlike `sweep` there is no canonical starting set. */
   study: UiStudyAxis[]
+  /** Apogee / mass from-design toggles (UI-only, stripped by toWireConfig). */
+  sources: InputSources
 }
 
 // ============================================================================

From 196cb63366aa292834711d6f7362a5d8e94974cf Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 13:37:33 -0700
Subject: [PATCH 019/205] retire standalone recovery-calculator: remove its
 containers/image/CI/Caddy subdomain, fold userdata volume + OPENROCKET_S3
 into star-openrocket-api, drop landing card, delete source

---
 .dockerignore                                 |    1 -
 .env.example                                  |    6 +-
 .github/workflows/publish-apps.yml            |    3 -
 .github/workflows/recovery-calculator-ci.yml  |  314 -
 deploy/apps/FRESH-INSTALL.md                  |    3 +-
 deploy/apps/README.md                         |    7 +-
 deploy/apps/app-s3-policy.json                |    4 +-
 deploy/caddy/Caddyfile                        |   14 +-
 docker-compose.yml                            |   50 +-
 landing/src/App.tsx                           |   20 -
 recovery-calculator/.gitignore                |   24 -
 recovery-calculator/Dockerfile.api            |   30 -
 recovery-calculator/PLAN.md                   | 2147 -------
 recovery-calculator/README.md                 |  137 -
 recovery-calculator/backend/__init__.py       |    0
 recovery-calculator/backend/main.py           |   96 -
 .../backend/routers/__init__.py               |    0
 .../backend/routers/documents.py              |  337 -
 recovery-calculator/dev.sh                    |   80 -
 recovery-calculator/frontend/.dockerignore    |   22 -
 recovery-calculator/frontend/.gitignore       |   22 -
 .../frontend/.vite/deps/_metadata.json        |    8 -
 .../frontend/.vite/deps/package.json          |    3 -
 recovery-calculator/frontend/Dockerfile       |   34 -
 recovery-calculator/frontend/README.md        |  150 -
 recovery-calculator/frontend/eslint.config.js |   23 -
 recovery-calculator/frontend/index.html       |   17 -
 .../frontend/package-lock.json                | 5408 -----------------
 recovery-calculator/frontend/package.json     |   37 -
 .../frontend/public/star-icon.svg             |    3 -
 recovery-calculator/frontend/src/App.tsx      |  168 -
 .../frontend/src/assets/star-wordmark.png     |  Bin 131715 -> 0 bytes
 recovery-calculator/frontend/src/index.css    |  163 -
 recovery-calculator/frontend/src/main.tsx     |   16 -
 .../frontend/tsconfig.app.json                |   29 -
 recovery-calculator/frontend/tsconfig.json    |    7 -
 .../frontend/tsconfig.node.json               |   26 -
 recovery-calculator/frontend/vite.config.ts   |   23 -
 recovery-calculator/pyproject.toml            |   15 -
 recovery-calculator/requirements-ci.txt       |   13 -
 recovery-calculator/requirements.txt          |   24 -
 recovery-calculator/setup.sh                  |  138 -
 scripts/sync-brand.sh                         |    2 -
 setup.sh                                      |    3 -
 44 files changed, 26 insertions(+), 9601 deletions(-)
 delete mode 100644 .github/workflows/recovery-calculator-ci.yml
 delete mode 100644 recovery-calculator/.gitignore
 delete mode 100644 recovery-calculator/Dockerfile.api
 delete mode 100644 recovery-calculator/PLAN.md
 delete mode 100644 recovery-calculator/README.md
 delete mode 100644 recovery-calculator/backend/__init__.py
 delete mode 100644 recovery-calculator/backend/main.py
 delete mode 100644 recovery-calculator/backend/routers/__init__.py
 delete mode 100644 recovery-calculator/backend/routers/documents.py
 delete mode 100755 recovery-calculator/dev.sh
 delete mode 100644 recovery-calculator/frontend/.dockerignore
 delete mode 100644 recovery-calculator/frontend/.gitignore
 delete mode 100644 recovery-calculator/frontend/.vite/deps/_metadata.json
 delete mode 100644 recovery-calculator/frontend/.vite/deps/package.json
 delete mode 100644 recovery-calculator/frontend/Dockerfile
 delete mode 100644 recovery-calculator/frontend/README.md
 delete mode 100644 recovery-calculator/frontend/eslint.config.js
 delete mode 100644 recovery-calculator/frontend/index.html
 delete mode 100644 recovery-calculator/frontend/package-lock.json
 delete mode 100644 recovery-calculator/frontend/package.json
 delete mode 100644 recovery-calculator/frontend/public/star-icon.svg
 delete mode 100644 recovery-calculator/frontend/src/App.tsx
 delete mode 100755 recovery-calculator/frontend/src/assets/star-wordmark.png
 delete mode 100644 recovery-calculator/frontend/src/index.css
 delete mode 100644 recovery-calculator/frontend/src/main.tsx
 delete mode 100644 recovery-calculator/frontend/tsconfig.app.json
 delete mode 100644 recovery-calculator/frontend/tsconfig.json
 delete mode 100644 recovery-calculator/frontend/tsconfig.node.json
 delete mode 100644 recovery-calculator/frontend/vite.config.ts
 delete mode 100644 recovery-calculator/pyproject.toml
 delete mode 100644 recovery-calculator/requirements-ci.txt
 delete mode 100644 recovery-calculator/requirements.txt
 delete mode 100755 recovery-calculator/setup.sh

diff --git a/.dockerignore b/.dockerignore
index 19d04c24a..d8fc2d4ec 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -10,7 +10,6 @@
 # Other projects: not part of any root-context image.
 daq-server
 firmware
-recovery-calculator
 landing
 lib
 docs
diff --git a/.env.example b/.env.example
index f9d99c7bf..d60183576 100644
--- a/.env.example
+++ b/.env.example
@@ -79,7 +79,7 @@ ELODIN_DB_HOST_DIR=/home/aidan/.local/share/elodin
 # AWS_ACCESS_KEY_ID=
 # AWS_SECRET_ACCESS_KEY=
 
-# ── Engine Design + Recovery Calculator config versioning (S3) ─────────────
+# ── Engine Design + STAR OpenRocket config versioning (S3) ─────────────────
 # Same model as the P&ID versioning above: per-user design history
 # (microversions + releases) in a versioned S3 bucket, or the local userdata
 # volume when the bucket var is empty. Reuses the AWS_* credentials above. Give
@@ -89,8 +89,8 @@ ELODIN_DB_HOST_DIR=/home/aidan/.local/share/elodin
 # deploy/apps/README.md.
 # ENGINE_S3_BUCKET=star-engine-design
 # ENGINE_S3_PREFIX=engine
-# RECOVERY_S3_BUCKET=star-recovery-calculator
-# RECOVERY_S3_PREFIX=recovery
+# OPENROCKET_S3_BUCKET=star-openrocket
+# OPENROCKET_S3_PREFIX=openrocket
 
 # ── Onshape CM Viewer API key pair ─────────────────────────────────────────
 # Leave empty and the stack still comes up -- cache-first endpoints work; only
diff --git a/.github/workflows/publish-apps.yml b/.github/workflows/publish-apps.yml
index 000989f0e..d5b122970 100644
--- a/.github/workflows/publish-apps.yml
+++ b/.github/workflows/publish-apps.yml
@@ -14,7 +14,6 @@ name: Publish app images
     paths:
       - 'EngineDesign/**'
       - 'pid-designer/**'
-      - 'recovery-calculator/**'
       - 'star-openrocket/**'
       - 'daq-server/tools/postprocessing/webviewer/**'
       - 'landing/**'
@@ -45,8 +44,6 @@ jobs:
           - { name: engine-design-frontend,       context: ./EngineDesign/frontend,     dockerfile: ./EngineDesign/frontend/Dockerfile }
           - { name: pid-designer-api,             context: ./pid-designer,              dockerfile: ./pid-designer/Dockerfile.api }
           - { name: pid-designer-frontend,        context: ./pid-designer/frontend,     dockerfile: ./pid-designer/frontend/Dockerfile }
-          - { name: recovery-calculator-api,      context: ./recovery-calculator,       dockerfile: ./recovery-calculator/Dockerfile.api }
-          - { name: recovery-calculator-frontend, context: ./recovery-calculator/frontend, dockerfile: ./recovery-calculator/frontend/Dockerfile }
           - { name: star-openrocket-api,           context: ./star-openrocket,            dockerfile: ./star-openrocket/Dockerfile.api }
           - { name: star-openrocket-frontend,      context: ./star-openrocket/frontend,   dockerfile: ./star-openrocket/frontend/Dockerfile }
           # DAQ Run Viewer: one image serves both API and SPA (see its Dockerfile).
diff --git a/.github/workflows/recovery-calculator-ci.yml b/.github/workflows/recovery-calculator-ci.yml
deleted file mode 100644
index 8875b7de8..000000000
--- a/.github/workflows/recovery-calculator-ci.yml
+++ /dev/null
@@ -1,314 +0,0 @@
-name: Recovery Calculator CI
-
-# Quoted `on` — YAML 1.1 treats bare `on` as boolean true, which breaks
-# workflow triggers in some parsers (matches daq-server-ci.yml).
-'on':
-  push:
-    paths:
-      - 'recovery-calculator/**'
-      - '.github/workflows/recovery-calculator-ci.yml'
-  pull_request:
-    paths:
-      - 'recovery-calculator/**'
-      - '.github/workflows/recovery-calculator-ci.yml'
-  workflow_dispatch:
-
-# Cancel superseded runs on the same ref to save CI minutes.
-concurrency:
-  group: recovery-calculator-${{ github.ref }}
-  cancel-in-progress: true
-
-# Two kinds of job here, and the split is deliberate.
-#
-# The `physics` job runs the physics core, which needs numpy/scipy/
-# pydantic and therefore a venv. Everything else — the scraper and
-# site-climatology — is **stdlib-only and fully offline**, with no pip install
-# and no dependency cache. That is a design constraint of those trees, not an
-# oversight: it is what lets them run on a bare python3 anywhere.
-#
-# If one of the *tool* jobs below ever needs `pip install`, something has
-# drifted. `tests/test_imports.py` guards the boundary from the other side, by
-# asserting that physics.atmosphere and physics.pad_state import
-# with numpy, scipy and pydantic absent — which is what allows site-climatology
-# to import the one canonical copy of PLAN.md §5 rather than keeping a second.
-
-jobs:
-  # physics: the physics core and the §12 validation suite.
-  physics:
-    name: physics (pytest)
-    runs-on: ubuntu-latest
-    timeout-minutes: 15
-
-    defaults:
-      run:
-        working-directory: recovery-calculator
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.11'
-          cache: 'pip'
-          cache-dependency-path: recovery-calculator/requirements-ci.txt
-
-      - name: Install dependencies
-        run: pip install -r requirements-ci.txt
-
-      # test_tools.py shells out to the scraper's mock-server suite, which
-      # needs loopback, so this job is not proxy-blocked. The tool jobs below
-      # keep their own network guards.
-      - name: Run tests
-        run: |
-          python -m pytest tests/ \
-            --timeout=300 --timeout-method=thread \
-            --durations=15 -q
-
-      # PLAN.md §11.2 makes the CLI an invariant, not a development phase: it
-      # is the escape hatch for bisecting a bug without React in the stack.
-      - name: CLI smoke
-        run: |
-          python -m physics tests/fixtures/worked_example.json \
-            --which axial > /dev/null
-          echo "CLI runs"
-
-      # The library must never import FastAPI (§11.2). The suite asserts this
-      # from inside; assert it here too, because the import graph is exactly
-      # the kind of thing that drifts when someone adds a convenience helper.
-      - name: Library imports no web machinery
-        run: |
-          python -c "
-          import sys
-          import physics.solver, physics.cases, physics.report
-          web = [m for m in sys.modules if m.split('.')[0] in
-                 ('fastapi', 'uvicorn', 'starlette')]
-          assert not web, 'library imported web machinery: ' + repr(web)
-          print('library is web-free')
-          "
-
-  # backend: the API layer. A separate job from the physics because it can
-  # fail on its own -- a route that does not import is invisible to pytest if
-  # the test module skips on a missing dependency.
-  backend:
-    name: backend (import check)
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-
-    defaults:
-      run:
-        working-directory: recovery-calculator
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.11'
-          cache: 'pip'
-          cache-dependency-path: recovery-calculator/requirements.txt
-
-      - name: Install dependencies
-        run: pip install -r requirements.txt
-
-      # Enumerated from the OpenAPI schema rather than app.routes: the latter
-      # holds framework-internal objects whose shape varies between FastAPI
-      # versions, and building the schema also proves every response model is
-      # serialisable.
-      - name: Import the app and enumerate its routes
-        run: |
-          python -c "
-          from backend.main import app
-          paths = sorted(p for p in app.openapi()['paths'] if p.startswith('/api'))
-          print(chr(10).join(paths))
-          required = {'/api/health', '/api/simulate', '/api/devices',
-                      '/api/atmosphere', '/api/climatology', '/api/sweep',
-                      '/api/crosscheck'}
-          missing = required - set(paths)
-          assert not missing, 'missing routes: ' + repr(missing)
-          print('backend.main imports OK, %d /api routes' % len(paths))
-          "
-
-  # frontend: type-check, unit tests, production build.
-  #
-  # The unit tests exist for one failure in particular: the GUI edits mass in
-  # pounds, apogee in feet and the airframe in inches, while the backend is
-  # unit-blind and will accept 12.5 as a mass in kilograms without complaint.
-  # A 2.2x mass error changes every load by 2.2x and still looks plausible.
-  # Nothing on the Python side can catch it, because by then the units are
-  # gone -- so it has to be caught here.
-  frontend:
-    name: frontend (vitest + build)
-    runs-on: ubuntu-latest
-    timeout-minutes: 15
-
-    defaults:
-      run:
-        working-directory: recovery-calculator/frontend
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Set up Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: '20.x'
-          cache: 'npm'
-          cache-dependency-path: recovery-calculator/frontend/package-lock.json
-
-      - name: Install dependencies
-        run: npm ci || npm install
-
-      - name: Unit conversion tests
-        run: npm test
-
-      # `npm run build` runs `tsc -b` before vite, so this is a typecheck as
-      # much as a build. That matters more than usual here for one specific
-      # reason: src/api/client.ts assigns the committed climatology.json to the
-      # `Climatology` interface with a plain annotation rather than an `as`
-      # cast, so with resolveJsonModule on, tsc validates the actual data file
-      # against the declared types. Rename a column in export_json.py without
-      # updating the frontend and this job fails, instead of a chart silently
-      # going blank in someone's browser.
-      - name: Type check and build
-        run: npm run build
-
-      - name: Lint
-        run: npm run lint
-        continue-on-error: true
-
-  # site-climatology: the atmosphere data pipeline (PLAN.md §5).
-  #
-  # Runs on a matrix because pyproject.toml declares target-version py39-py312
-  # and these modules are stdlib-only, so honouring that floor costs one runner
-  # and catches 3.10+ syntax the dev machine (3.12) would accept silently.
-  site-climatology:
-    name: site-climatology (Python ${{ matrix.python-version }})
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-
-    strategy:
-      fail-fast: false
-      matrix:
-        python-version: ['3.9', '3.12']
-
-    defaults:
-      run:
-        working-directory: recovery-calculator/site-climatology
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python-version }}
-
-      # The fetchers reach aviationweather.gov, mesonet.agron.iastate.edu and
-      # ncei.noaa.gov; the tests must reach none of them. Pointing the proxy
-      # vars at a closed port turns "someone added a live fetch to a test" into
-      # a hard failure here, rather than an intermittent CI flake that only
-      # shows up when NCEI is having a bad day. urllib honours these, and every
-      # network call in this tree goes through urllib.
-      #
-      # Port 9 (discard) is closed on the runner, so the failure is a refused
-      # connection. Behind a sandbox that swallows the connect it degrades to a
-      # timeout instead — still a failure, just slower, which is what
-      # timeout-minutes above is the backstop for.
-      - name: Run tests (network blocked)
-        env:
-          http_proxy: http://127.0.0.1:9
-          https_proxy: http://127.0.0.1:9
-          no_proxy: ''
-        run: python3 test_site_climatology.py
-
-      # _padstate.py imports physics.pad_state, the single canonical copy
-      # of §5, after putting the subproject root on sys.path. It must resolve
-      # into the package rather than to a leftover sibling copy -- and it must
-      # do so with no venv, which is the property that made deleting the
-      # duplicate implementation safe. Assert it rather than infer it from the
-      # tests passing.
-      - name: Verify the canonical pad_state import resolves
-        run: |
-          python3 -c "
-          from _padstate import pad_state
-          assert hasattr(pad_state, 'p_pad_metar'), 'eq (7b) missing'
-          assert hasattr(pad_state, 'p_pad_isa'), 'eq (7a) missing'
-          assert 'physics' in pad_state.__file__, \
-              'resolved to a copy outside the package: ' + pad_state.__file__
-          import sys
-          heavy = [m for m in ('numpy', 'scipy', 'pydantic') if m in sys.modules]
-          assert not heavy, 'stdlib-only boundary broken: ' + repr(heavy)
-          print('pad_state loaded from', pad_state.__file__)
-          "
-
-      # Every module is a CLI. --help exercises import and argparse setup
-      # without touching the network, which catches a syntax error or a bad
-      # default in a script the test file does not import.
-      - name: CLI smoke
-        run: |
-          python3 metar_history.py --help > /dev/null
-          python3 temp_profile.py --help > /dev/null
-          echo "CLIs load"
-
-  # pad-state folded into physics/pad_state.py, and its suite was ported
-  # to tests/test_pad_state.py, so it no longer has a job of its own. The
-  # cross-module import above is what remains worth asserting separately.
-
-  # fruity-chute-scraper: device table ingest (PLAN.md §4.1). test_mock.py
-  # stands up a local HTTP server mimicking the vendor API shape, so it needs
-  # loopback — hence no proxy block on this job, unlike site-climatology.
-  fruity-chute-scraper:
-    name: fruity-chute-scraper
-    runs-on: ubuntu-latest
-    timeout-minutes: 10
-
-    defaults:
-      run:
-        working-directory: recovery-calculator/tools/fruity-chute-scraper
-
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.12'
-
-      - name: Run mock-server tests
-        run: python3 test_mock.py
-
-  # Reported at the end so a failure is visible without opening each job.
-  # It sets working-directory explicitly because it has no checkout step, so
-  # any inherited subproject path would not exist on the runner.
-  recovery-calculator-summary:
-    name: recovery-calculator summary
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
-    if: always()
-    needs: [physics, backend, site-climatology, fruity-chute-scraper, frontend]
-
-    defaults:
-      run:
-        working-directory: .
-
-    steps:
-      - name: Summary
-        run: |
-          {
-            echo "## Recovery Calculator CI"
-            echo ""
-            echo "| job | result |"
-            echo "| --- | --- |"
-            echo "| physics (pytest) | ${{ needs.physics.result }} |"
-            echo "| backend (import) | ${{ needs.backend.result }} |"
-            echo "| frontend (vitest + build) | ${{ needs.frontend.result }} |"
-            echo "| site-climatology | ${{ needs.site-climatology.result }} |"
-            echo "| fruity-chute-scraper | ${{ needs.fruity-chute-scraper.result }} |"
-          } >> "$GITHUB_STEP_SUMMARY"
diff --git a/deploy/apps/FRESH-INSTALL.md b/deploy/apps/FRESH-INSTALL.md
index feacf293c..65d356cc5 100644
--- a/deploy/apps/FRESH-INSTALL.md
+++ b/deploy/apps/FRESH-INSTALL.md
@@ -1,7 +1,7 @@
 # Apps machine — full setup from a fresh Linux install
 
 End-to-end provisioning for the **apps machine** (Engine Design, P&ID Designer,
-Recovery Calculator, Onshape Viewer, landing) starting from a blank Ubuntu
+STAR OpenRocket, landing) starting from a blank Ubuntu
 install. It layers the base OS + Docker + SSH-over-Cloudflare underneath the
 app-level runbook in [`README.md`](README.md) — do that one after this.
 
@@ -192,7 +192,6 @@ Web routes — Service URL `http://caddy:80` for each:
 | `starberkeley.org` (apex → landing) | `http://caddy:80` |
 | `engine-design.starberkeley.org` | `http://caddy:80` |
 | `pid-designer.starberkeley.org` | `http://caddy:80` |
-| `recovery-calculator.starberkeley.org` | `http://caddy:80` |
 | `openrocket.starberkeley.org` | `http://caddy:80` |
 
 Do **not** add `auth.` here — that stays on the EC2 tunnel. The SSH route is §5a.
diff --git a/deploy/apps/README.md b/deploy/apps/README.md
index 2752b1ca8..1a493e564 100644
--- a/deploy/apps/README.md
+++ b/deploy/apps/README.md
@@ -31,7 +31,6 @@ Service URL `http://caddy:80`:
 | *(none / apex)* | `starberkeley.org` → landing | `http://caddy:80` |
 | `engine-design` | `starberkeley.org` | `http://caddy:80` |
 | `pid-designer` | `starberkeley.org` | `http://caddy:80` |
-| `recovery-calculator` | `starberkeley.org` | `http://caddy:80` |
 | `star-openrocket` | `starberkeley.org` | `http://caddy:80` |
 | `daq-viewer` | `starberkeley.org` | `http://caddy:80` |
 
@@ -139,7 +138,7 @@ keys**, not an instance role.
 **One-time AWS setup** (run where you're logged into AWS — your laptop is fine):
 ```bash
 # 1. Three versioned, private buckets — same recipe for each.
-for b in star-pid-designer star-engine-design star-recovery-calculator; do
+for b in star-pid-designer star-engine-design star-openrocket; do
   aws s3api create-bucket --bucket "$b" --region us-east-2 \
     --create-bucket-configuration LocationConstraint=us-east-2
   aws s3api put-public-access-block --bucket "$b" \
@@ -169,8 +168,8 @@ PID_S3_BUCKET=star-pid-designer
 PID_S3_PREFIX=pid
 ENGINE_S3_BUCKET=star-engine-design
 ENGINE_S3_PREFIX=engine
-RECOVERY_S3_BUCKET=star-recovery-calculator
-RECOVERY_S3_PREFIX=recovery
+OPENROCKET_S3_BUCKET=star-openrocket
+OPENROCKET_S3_PREFIX=openrocket
 AWS_DEFAULT_REGION=us-east-2
 AWS_ACCESS_KEY_ID=AKIA…
 AWS_SECRET_ACCESS_KEY=…
diff --git a/deploy/apps/app-s3-policy.json b/deploy/apps/app-s3-policy.json
index 634202506..27bd2ad6b 100644
--- a/deploy/apps/app-s3-policy.json
+++ b/deploy/apps/app-s3-policy.json
@@ -8,7 +8,7 @@
       "Resource": [
         "arn:aws:s3:::star-pid-designer",
         "arn:aws:s3:::star-engine-design",
-        "arn:aws:s3:::star-recovery-calculator"
+        "arn:aws:s3:::star-openrocket"
       ]
     },
     {
@@ -24,7 +24,7 @@
       "Resource": [
         "arn:aws:s3:::star-pid-designer/*",
         "arn:aws:s3:::star-engine-design/*",
-        "arn:aws:s3:::star-recovery-calculator/*"
+        "arn:aws:s3:::star-openrocket/*"
       ]
     }
   ]
diff --git a/deploy/caddy/Caddyfile b/deploy/caddy/Caddyfile
index b7f167ba2..ec291ba75 100644
--- a/deploy/caddy/Caddyfile
+++ b/deploy/caddy/Caddyfile
@@ -85,19 +85,7 @@
 	}
 }
 
-# ── Recovery Calculator ──────────────────────────────────────────────────────
-{$SCHEME:https}://recovery-calculator.{$BASE_DOMAIN:starberkeley.org} {
-	import protected
-
-	handle /api/* {
-		reverse_proxy recovery-calculator-api:8100
-	}
-	handle {
-		reverse_proxy recovery-calculator-frontend:4176
-	}
-}
-
-# ── Onshape CM Viewer ─────────────────────────────────────────────────────────
+# ── STAR OpenRocket ───────────────────────────────────────────────────────────
 # `import protected` is the same shared gate as everywhere else. The tighter
 # approved-users allowlist for this app is enforced inside auth's /verify (it
 # brokers Onshape credentials), so it needs nothing extra here -- /verify simply
diff --git a/docker-compose.yml b/docker-compose.yml
index d0be6c490..8e63e928a 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -64,8 +64,6 @@ services:
       - engine-design-frontend
       - pid-designer-api
       - pid-designer-frontend
-      - recovery-calculator-api
-      - recovery-calculator-frontend
       - star-openrocket-api
       - star-openrocket-frontend
       - daq-viewer
@@ -194,37 +192,10 @@ services:
       dockerfile: Dockerfile
     restart: unless-stopped
 
-  # ── Recovery Calculator ──────────────────────────────────────────────────
-  # No in-app auth (Caddy is the gate) and no dependency on auth/shared_auth.py,
-  # so the build context is the subproject, not the repo root.
-  recovery-calculator-api:
-    image: ghcr.io/calstar/star-recovery-calculator-api:${STAR_IMAGE_TAG:-latest}
-    build:
-      context: ./recovery-calculator
-      dockerfile: Dockerfile.api
-    restart: unless-stopped
-    environment:
-      # Per-user units + saved configs + working copies live here (a mounted
-      # volume). See userdata.py.
-      USERDATA_DIR: /data
-      # Config version history (microversions + releases) in S3. Empty bucket ->
-      # history falls back to the local volume (dev/no-AWS).
-      RECOVERY_S3_BUCKET: ${RECOVERY_S3_BUCKET:-}
-      RECOVERY_S3_PREFIX: ${RECOVERY_S3_PREFIX:-recovery}
-      AWS_DEFAULT_REGION: ${AWS_DEFAULT_REGION:-}
-      AWS_ACCESS_KEY_ID: ${AWS_ACCESS_KEY_ID:-}
-      AWS_SECRET_ACCESS_KEY: ${AWS_SECRET_ACCESS_KEY:-}
-    volumes:
-      - userdata:/data
-
-  recovery-calculator-frontend:
-    image: ghcr.io/calstar/star-recovery-calculator-frontend:${STAR_IMAGE_TAG:-latest}
-    build:
-      context: ./recovery-calculator/frontend
-      dockerfile: Dockerfile
-    restart: unless-stopped
-
-  # ── Onshape CM Viewer ────────────────────────────────────────────────────
+  # ── STAR OpenRocket ──────────────────────────────────────────────────────
+  # CAD stability + ascent flight dynamics + recovery (the recovery calculator
+  # merged in as a tab). No in-app auth: Caddy is the gate, and it brokers the
+  # Onshape key pair server-side.
   star-openrocket-api:
     image: ghcr.io/calstar/star-openrocket-api:${STAR_IMAGE_TAG:-latest}
     build:
@@ -241,10 +212,21 @@ services:
       ONSHAPE_SECRET_KEY: ${ONSHAPE_SECRET_KEY:-}
       # Optional: only to target a non-default Onshape instance / api version.
       ONSHAPE_BASE_URL: ${ONSHAPE_BASE_URL:-}
+      # Per-user saved designs, units and configs live here (a mounted volume).
+      USERDATA_DIR: /data
+      # Design version history (microversions + releases) in S3. Empty bucket ->
+      # history falls back to the local volume (dev/no-AWS).
+      OPENROCKET_S3_BUCKET: ${OPENROCKET_S3_BUCKET:-}
+      OPENROCKET_S3_PREFIX: ${OPENROCKET_S3_PREFIX:-openrocket}
+      AWS_DEFAULT_REGION: ${AWS_DEFAULT_REGION:-}
+      AWS_ACCESS_KEY_ID: ${AWS_ACCESS_KEY_ID:-}
+      AWS_SECRET_ACCESS_KEY: ${AWS_SECRET_ACCESS_KEY:-}
     volumes:
       # Built-model cache: expensive Onshape builds (manifest + glb) survive a
       # rebuild. CACHE_ROOT in backend/main.py is /app/cache.
       - onshape_cache:/app/cache
+      # Per-user designs / configs (userdata.py writes under USERDATA_DIR).
+      - userdata:/data
 
   star-openrocket-frontend:
     image: ghcr.io/calstar/star-openrocket-frontend:${STAR_IMAGE_TAG:-latest}
@@ -308,7 +290,7 @@ volumes:
   # Parquet export cache for the DAQ Run Viewer. Immutable past runs, so this is
   # a pure cache -- safe to wipe; it just re-exports on next view.
   daq_viewer_cache:
-  # Per-user data (engine-design + recovery-calculator + pid-designer): named
+  # Per-user data (engine-design + star-openrocket + pid-designer): named
   # configs, recovery unit prefs, and P&ID working copies. One shared volume so
   # a future cross-user "browse + copy" is a single tree. Keyed by X-Auth-Email
   # inside. See */backend/userdata.py.
diff --git a/landing/src/App.tsx b/landing/src/App.tsx
index b99423446..a0af930e9 100644
--- a/landing/src/App.tsx
+++ b/landing/src/App.tsx
@@ -25,14 +25,6 @@ function IconPID() {
     </svg>
   );
 }
-function IconRecovery() {
-  return (
-    <svg width="26" height="26" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="1.8" strokeLinecap="round" strokeLinejoin="round">
-      <path d="M2 11a10 10 0 0 1 20 0z" />
-      <path d="M2 11l5 3M22 11l-5 3M12 11v9M9 14l3 6M15 14l-3 6" />
-    </svg>
-  );
-}
 function IconCAD() {
   return (
     <svg width="26" height="26" viewBox="0 0 24 24" fill="none" stroke="currentColor" strokeWidth="1.8" strokeLinecap="round" strokeLinejoin="round">
@@ -197,18 +189,6 @@ const APPS: AppCard[] = [
     iconBg: 'linear-gradient(135deg, #7e22ce 0%, #a855f7 100%)',
     iconColor: '#d8b4fe',
   },
-  {
-    id: 'recovery-calculator',
-    href: 'https://recovery-calculator.starberkeley.org',
-    label: 'Recovery Calculator',
-    subdomain: 'recovery-calculator.starberkeley.org',
-    description:
-      'Tool to determine how parachute recovery systems perform under simulated conditions, used as a design aid.',
-    icon: <IconRecovery />,
-    colorClass: 'card-orange',
-    iconBg: 'linear-gradient(135deg, #c2410c 0%, #f97316 100%)',
-    iconColor: '#fdba74',
-  },
   {
     id: 'star-openrocket',
     href: 'https://openrocket.starberkeley.org',
diff --git a/recovery-calculator/.gitignore b/recovery-calculator/.gitignore
deleted file mode 100644
index 3fab697c6..000000000
--- a/recovery-calculator/.gitignore
+++ /dev/null
@@ -1,24 +0,0 @@
-.venv/
-__pycache__/
-*.py[cod]
-
-# Node deps, anywhere under the project. frontend/.gitignore already covers
-# frontend/, but a stray root-level node_modules (e.g. from running `npx` at
-# this level) must be ignored too so it cannot be committed by accident.
-node_modules/
-
-# Scraper scratch output (`--out-dir out`); the committed table lives in
-# star_recovery/data/.
-out/
-
-# Export bundles from PLAN.md §11.4 — timestamped run directories.
-recovery_*/
-
-# Per-user data written when running without a mounted volume (dev): unit prefs
-# (/api/settings) and named saved configs (/api/configs). USERDATA_DIR points
-# elsewhere in prod; unset in dev this lands here. Never commit it.
-.userdata/
-
-# Legacy: the old global settings file, before units went per-user.
-.gui-settings.json
-.gui-settings-*.tmp
diff --git a/recovery-calculator/Dockerfile.api b/recovery-calculator/Dockerfile.api
deleted file mode 100644
index 3496cc11f..000000000
--- a/recovery-calculator/Dockerfile.api
+++ /dev/null
@@ -1,30 +0,0 @@
-# Recovery Calculator — API image.
-#
-# Unlike pid-designer/EngineDesign, this build context is the SUBPROJECT dir,
-# not the repo root: the backend implements no auth (Caddy is the gate, see
-# deploy/Caddyfile), so it never needs auth/shared_auth.py and there is no
-# reason to ship the whole repo as build context.
-FROM python:3.12-slim
-WORKDIR /app
-
-# Env, not CLI flags: pip installs an sdist's build dependencies in a fresh
-# subprocess that inherits no command-line options, so --timeout/--retries there
-# would silently fall back to the stock 15s. Env vars reach it.
-ENV PIP_RETRIES=10 \
-    PIP_TIMEOUT=120 \
-    PIP_DEFAULT_TIMEOUT=120 \
-    PIP_DISABLE_PIP_VERSION_CHECK=1 \
-    PIP_NO_INPUT=1
-
-COPY requirements.txt .
-RUN --mount=type=cache,target=/root/.cache/pip pip install -r requirements.txt
-
-# The web app is one consumer of the `physics` package; backend/main.py puts the
-# subproject root (/app) on sys.path so `import physics` resolves. physics/ also
-# carries data/parachutes.csv, loaded once at startup.
-COPY physics/ ./physics/
-COPY backend/ ./backend/
-
-ENV PYTHONPATH=/app
-EXPOSE 8100
-CMD ["uvicorn", "backend.main:app", "--host", "0.0.0.0", "--port", "8100"]
diff --git a/recovery-calculator/PLAN.md b/recovery-calculator/PLAN.md
deleted file mode 100644
index 2b89d6763..000000000
--- a/recovery-calculator/PLAN.md
+++ /dev/null
@@ -1,2147 +0,0 @@
-# Recovery Calculator — Phase 1 Plan
-
-**Scope: 1-D vertical descent. No wind. No drift. Conservative shock bound.**
-
-A deliberately small first pass that produces trustworthy numbers for descent
-time, velocity, acceleration, landing energy, and peak recovery loads. Wind,
-drift, dispersion, and measured-coefficient refinement are explicitly Phase 2.
-
----
-
-## 1. Notation and terminology
-
-### 1.1 Conventions
-
-- **Units are SI internally**, always. Convert at the I/O boundary only.
-  Vendor data arrives in inches, feet, pounds, and fps; convert on ingest.
-- **$z$ is positive up, AGL.** Descent has $v < 0$. Drag terms are written
-  $|v|v$ so they oppose motion without a sign test.
-- **Subscript $i$** indexes recovery devices (drogue, main, …).
-- **Subscript $0$** means "fully inflated / nominal", not "initial".
-  $(C_dS)_0$ is the full-open drag area.
-- **Drag area $C_dS$ is one atomic symbol** with units m². Do not factor it
-  into a coefficient and an area.
-
-### 1.2 Terminology
-
-**Drag area ($C_dS$)** — the physical drag quantity, $F_D / \tfrac12\rho v^2$,
-in m². Contains no reference area, so it is convention-free. Equivalently: the
-area of a flat plate with $C_d = 1$ producing the same drag. **This is the only
-drag quantity that enters the equations of motion.**
-
-**Drag coefficient ($C_d$)** — $C_dS$ divided by a *declared* reference area.
-Not a property of the parachute alone: change the reference and $C_d$ changes
-inversely. A bare $C_d$ with no stated denominator is not actionable.
-
-**Nominal diameter / area ($D_0$, $S_0$)** — a bookkeeping size derived from
-total canopy cloth area, *including* vents and slots. Fixed by the sewing
-pattern, so it is a constant of the article. Enters this model **only** through
-filling time.
-
-**Projected diameter / area ($D_p$, $S_p$)** — the frontal size of the
-*inflated* canopy. A flight variable, not a manufacturing constant. Typically
-$D_p/D_0 \approx 0.67$–0.75.
-
-**Line stretch** — the instant the suspension lines and harness come taut after
-ejection. Start of inflation, and the moment of peak **snatch** load.
-
-**Snatch** — the impulsive load when slack runs out at line stretch. Driven by
-separation velocity and harness stiffness, *not* by descent speed. Frequently
-the largest load in the system.
-
-**Opening shock** — the peak load during canopy inflation, distinct from and
-later than snatch.
-
-**Filling time / filling distance ($t_f$, $s_f$)** — how long, and how far the
-vehicle falls, while the canopy inflates. Canopies fill in a roughly fixed
-*distance*, hence $s_f = nD_0$ and $t_f = s_f/v_s$.
-
-**Infinite mass** — the limiting case where the vehicle does not decelerate at
-all during inflation, so the canopy sees full $q_s$ at full area. Gives the
-conservative upper-bound load and requires no inflation knowledge. Equivalent
-to $X_1 = 1$.
-
-**Finite mass** — the real case: the vehicle sheds speed *while* the canopy is
-still growing, so peak force is lower. Credit quantified by $X_1$.
-
-**Ballistic parameter ($A$)** — dimensionless mass ratio, vehicle mass over the
-air mass the canopy processes during inflation. Large $A$ → infinite-mass
-behaviour.
-
-**Force reduction factor ($X_1$)** — the finite-mass credit, $\le 1$. Purely
-kinematic.
-
-**Opening force coefficient ($C_x$)** — transient overshoot, $\ge 1$. During
-inflation the canopy briefly produces *more* drag than its steady full-open
-value, because the entrained air's inertia carries the skirt past its
-equilibrium diameter. Empirical, and it already contains the added-mass physics.
-
-**Load factor** — dimensionless $F/W$. Reported "in g" by convention; the body's
-acceleration in g is $F/W - 1$, since weight opposes the canopy force.
-
-**Specific force** — what an accelerometer measures: non-gravitational
-acceleration only. Reads $0$ in free fall, $+g$ at rest on the pad.
-
-**Station pressure** — barometric pressure physically measured at the pad. *Not*
-the METAR altimeter setting, which is corrected to sea level.
-
-**ISA** — International Standard Atmosphere. An analytic convention (fixed
-sea-level state and lapse rates), not data and not a forecast.
-
-**Dense output** — the continuous interpolant an adaptive integrator produces
-between steps. Needed to root-find deploy altitudes and to sample peak load
-without stepping over it.
-
-### 1.3 Symbols
-
-**Atmosphere and environment** (§5)
-
-| symbol | quantity | units |
-|---|---|---|
-| $z$ | geometric altitude AGL — state variable | m |
-| $z_{\text{MSL}}$ | geometric altitude above sea level | m |
-| $z_{\text{site}}$ | pad elevation MSL | m |
-| $H$ | geopotential altitude | m |
-| $H_b$, $H_{\text{pad}}$ | layer base, pad geopotential altitude | m |
-| $R_e$ | ISA effective Earth radius, 6 356 766 | m |
-| $T$, $T_b$, $T_{\text{pad}}$ | air, layer-base, pad temperature | K |
-| $L_b$, $L_0$ | layer lapse rate, re-fitted lowest layer | K/m |
-| $p$, $p_b$, $p_{\text{pad}}$ | pressure, layer base, pad *station* | Pa |
-| $\rho$ | air density | kg/m³ |
-| $R_d$ | dry-air gas constant, 287.053 | J/(kg·K) |
-| $g$, $g_0$ | local gravity, standard 9.80665 | m/s² |
-
-**Vehicle**
-
-| symbol | quantity | units |
-|---|---|---|
-| $m$ | total descending mass | kg |
-| $m_b$ | body mass (harness-side) = $m - \sum m_{c,i}$ | kg |
-| $m_{c,i}$ | canopy + lines mass of device $i$ | kg |
-| $d_{\text{body}}$, $\ell_{\text{body}}$ | airframe diameter, length | m |
-| $h_a$ | apogee AGL | m |
-| $v$ | vertical velocity (negative descending) | m/s |
-| $v_t$ | terminal velocity | m/s |
-| $v_{\text{impact}}$ | velocity at ground contact | m/s |
-
-**Canopy and drag**
-
-| symbol | quantity | units |
-|---|---|---|
-| $C_dS$ | drag area — **the physical quantity** | m² |
-| $(C_dS)_i$ | full-open drag area of device $i$ | m² |
-| $C_dS_{\text{body}}$ | airframe drag area (banded) | m² |
-| $C_dS_{\text{tot}}$ | sum over airframe + all devices | m² |
-| $C_{d_0}$, $C_{d_p}$ | drag coeff. ref. to $S_0$ / to $S_p$ | — |
-| $D_0$, $S_0$ | nominal diameter, nominal area | m, m² |
-| $D_p$, $S_p$ | projected diameter, projected area | m, m² |
-
-**Inflation** (§6)
-
-| symbol | quantity | units |
-|---|---|---|
-| $z_{d,i}$, $\Delta t_i$ | deploy altitude AGL, deploy delay | m, s |
-| $t_{d,i}$ | deployment time | s |
-| $v_{s,i}$ | freestream speed at line stretch, **frozen** (eq. 9a) | m/s |
-| $q_{s,i}$ | dynamic pressure at deployment | Pa |
-| $n_i$ | filling constant — diameters fallen | — |
-| $s_{f,i}$ | filling distance $= n_i D_{0,i}$ | m |
-| $t_{f,i}$ | filling time $= s_f/v_s$ | s |
-| $\tau_i$ | normalized inflation progress, 0→1 | — |
-| $j_i$ | area growth exponent (2 solid, 1 slotted) | — |
-
-**Loads** (§8)
-
-| symbol | quantity | units |
-|---|---|---|
-| $C_{x,i}$ | opening force coefficient, $\ge 1$ | — |
-| $A_i$ | ballistic parameter | — |
-| $B_i$ | Pflanz auxiliary $= 1/(A(j+1))$ | — |
-| $\tau^*_i$ | normalized time of peak force | — |
-| $X_{1,i}$ | force reduction factor, $\le 1$ | — |
-| $F_{\infty,i}$ | infinite-mass opening force (the bound) | N |
-| $F_{\max,i}$ | Pflanz finite-mass opening force | N |
-| $F_T$ | harness tension — **sizes your hardware** | N |
-| $F_{D,\text{body}}$ | airframe drag force | N |
-| $F_{\text{snatch},i}$ | line-stretch peak force, device $i$ | N |
-| $F_{\text{design}}$ | design load, incl. safety factor | N |
-| $f$ | specific force (accelerometer reading) | m/s² |
-| SF | safety factor, 1.5 | — |
-
-**Harness** (§8.4)
-
-| symbol | quantity | units |
-|---|---|---|
-| $v_{\text{rel},i}$ | **separation** velocity between the two masses — not $v_s$ | m/s |
-| $k_j$, $k_{\text{eff},i}$ | member stiffness, series total for device $i$ | N/m |
-| $F_{\text{rated},j}$ | rated strength of member $j$ | N |
-| $\varepsilon_j$ | fractional elongation at rated load | — |
-| $N_j$ | strands in parallel | — |
-| $L_j$, $L_e$ | member length, suspension line length | m |
-| $\theta$ | suspension line splay half-angle | rad |
-| $\mu_i$ | reduced mass $m_b m_{c,i}/(m_b+m_{c,i})$ | kg |
-| $t_n$ | harness natural period | s |
-
-Members are indexed by $j$ *within* a device's load path; $j$ also names the
-area growth exponent $j_i$ in §6.3. Different scopes, and the collision is
-noted in §1.4.
-
-**Numerics and validation** (§10, §12)
-
-| symbol | quantity | units |
-|---|---|---|
-| $h$ | integrator step size | s |
-| $\lambda$ | linearized relaxation rate $= 2g/v_t$ | 1/s |
-| $\tau_{\text{relax}}$ | relaxation time $= 1/\lambda$ | s |
-| $\sigma$ | geometric scale factor (eq. 46) | — |
-| $W$ | weight $= mg$ | N |
-
-### 1.4 Symbol reuse
-
-Three letters carry different meanings in different sections. They are
-disambiguated by subscript and by scope, but be careful when implementing:
-
-| letter | §5 atmosphere | elsewhere |
-|---|---|---|
-| $L$ | $L_b$, $L_0$ — lapse rate, K/m | $L_j$, $L_e$ — lengths, m (§8.4) |
-| $T$ | $T$, $T_b$ — temperature, K | $F_T$ — tension, N (§8.1) |
-| $h$ | — (geopotential is $H$) | $h$ — step size (§10); $h_a$, $h_{\text{equiv}}$ — heights |
-
-$\tau$ is inflation progress (§6.3) but $\tau_{\text{relax}}$ is a time constant
-(§10). $\lambda$ is the relaxation rate; the geometric scale factor is $\sigma$,
-deliberately not $\lambda$.
-
-$j$ carries two meanings and they nest: $j_i$ is the area growth exponent of
-device $i$ (§6.3), while $j$ alone indexes the members of one device's harness
-load path (§8.4). Both appear in expressions subscripted by $i$, so read the
-scope, not the letter.
-
----
-
-## 2. Why this exists
-
-OpenRocket's descent model (`BasicLandingStepper`, 18 lines) has three defects
-that matter for load-bearing design work:
-
-1. **Deployment is a step function.** `CdS` goes from zero to full between two
-   integration points. Infinite jerk, no inflation, no filling time.
-2. **Shock load is never computed.** There is no opening-force calculation
-   anywhere in the codebase — only a warning string above 20 m/s.
-3. **Airframe drag is dropped after deployment.** `computeCD` iterates only
-   deployed recovery devices, so the body contributes nothing. This is a real
-   error during drogue descent.
-
-Phase 1 fixes all three. It does not attempt anything OpenRocket does well —
-and note that this is a criticism of its *descent* model only. Before the first
-canopy, OpenRocket runs `RK4SimulationStepper` with the full Barrowman
-aerodynamic model, which is far beyond anything here.
-
-### 2.1 The three defects, measured
-
-The list above was asserted for a long time without a number behind it.
-`physics/openrocket.py` is a port of OpenRocket **release-24.12**'s descent
-model, and the Cross-check tab runs it against ours on the same config. On the
-§13 worked example:
-
-| Defect | Measurement |
-|---|---|
-| 1. Step deployment | Peak deceleration **163 m/s² against our 39.7** — a factor of **4.11**, entirely an artefact of opening a canopy between two integration points. The trigger also fires **7.1 m low** (152 m configured, 144.9 m actual), because the crossing is only detected at the end of a 0.5 s step. |
-| 2. No shock load | Nothing to compare. Our 1613 N against an absence — which is why the tab renders it "not computed" rather than as a zero. |
-| 3. Airframe dropped | Drogue descent rate 25.56 m/s against our 25.19 m/s. Small *here* because the worked example's drogue is 31× the axial airframe area; it grows as the drogue shrinks. |
-
-The port is validated against OpenRocket's own JUnit values and converges onto
-our RK45 with the residual attributed to gravity and density, not integration —
-see `tests/test_openrocket.py`. `tools/openrocket-golden/` closes the last gap
-against an actual run of the program.
-
-### 2.2 The recovery mastersheets
-
-The team's two Google Sheets mastersheets (`reference/mastersheets/`) have sized
-real flight hardware and had never been checked against anything.
-`physics/mastersheet.py` transcribes their eight Named Functions verbatim and
-reproduces every workbook cell exactly. Their model is: terminal velocity
-everywhere, instantaneous deployment, one point load per canopy. Their
-`SHOCK_LOAD` **is** eq (23), times a hand-entered reduction factor where we
-compute Pflanz (eq 28) — the sheet notes "Pflanz method to be added later".
-
-Their peak load lands within 3% of ours, which is real evidence for both: the
-two reach the deployment velocity by completely different routes. Three things
-they get wrong, all pinned as arithmetic in `tests/test_mastersheet.py`:
-
-* `TROP_DESCENT_TIME` is `DESCENT_WITH_LAPSE` at `ref_alt = 0`, so it has no
-  field elevation, and the sheets feed it AGL altitudes while feeding
-  `TROP_DENSITY` AMSL ones. Descent time runs **6.8% high** and drift with it.
-* `DESCENT_TIME`, the correct 7-layer version, is defined in both books and
-  **never called**.
-* LE3's 3-parachute sheet is a partially-edited copy of the 2-parachute one:
-  main 1's load is evaluated at main 2's density (+5.6%), and the landing speed
-  uses main 1's canopy though main 2 deploys last (1.71× on speed, 2.9× on
-  energy).
-
----
-
-## 3. Scope
-
-### In
-
-- 1-D vertical descent from apogee to ground
-- Exact ISA atmosphere, re-fit to measured pad conditions
-- Arbitrary number of recovery devices with independent deploy triggers
-- Finite canopy inflation (filling time + area growth)
-- Airframe drag throughout descent
-- Opening load: infinite-mass bound (primary) and Pflanz finite-mass (reference)
-- Snatch load with series-spring harness
-- Full `z(t)`, `v(t)`, `a(t)` history
-
-### Out (Phase 2)
-
-- Wind, drift, landing dispersion
-- Canopy oscillation
-- Elastic harness dynamics (justified below, §8.3)
-- Added-mass momentum term (already inside `Cx`, §8.2)
-- Measured `Cx` from flight data
-- Reefing
-
----
-
-## 4. Inputs
-
-| symbol | quantity | units | source |
-|---|---|---|---|
-| $m$ | total descending mass | kg | vehicle |
-| $m_b$ | body mass (harness-side) | kg | $m$ − canopy masses |
-| $h_a$ | apogee AGL | m | flight |
-| $z_{\text{site}}$ | pad elevation MSL | m | site |
-| $T_{\text{pad}}$ | pad temperature | K | measured — the one atmospheric input worth an instrument |
-| $p_{\text{pad}}$ | pad station pressure | Pa | ISA at site elevation by default, eq. (7a); pad barometer if recorded. Never a raw METAR altimeter setting — see eq. (7b) |
-| $C_dS_{\text{body}}$ | airframe drag area | m² | geometry, banded |
-| $(C_dS)_i$ | device drag area | m² | vendor spec |
-| $D_{0,i}$ | device nominal diameter | m | vendor spec |
-| $m_{c,i}$ | canopy + lines mass | kg | vendor spec |
-| $j_i$ | area growth exponent | — | 2 solid, 1 slotted |
-| $C_{x,i}$ | opening force coefficient | — | 1.2–1.8 band |
-| $n_i$ | filling constant | — | sweep 6–12 |
-| $z_{d,i}$ **or** $t_{a,i}$ | deploy altitude AGL **or** time after apogee | m **or** s | design choice, §6.1 |
-| $\Delta t_i$ | charge-to-canopy delay | s | 0 free-packed; **0.3–1.0 s bagged** — first-order for a drogue, see §6.1.3 |
-| $v_{\text{rel},i}$ | separation velocity | m/s | ground test, 5–20 |
-| $k_{\text{eff},i}$ | harness stiffness | N/m | eq. (32) |
-
-> **Everything below $m$, $h_a$ and the site block is per device.** §6.1.1
-> promises that nothing assumes two devices or any particular device, and that
-> only holds if the inflation *and* the harness parameters are both indexed.
-> A drogue and a main do not share a filling constant (it is coupled to $j_i$),
-> a separation velocity (one is an ejection charge against a stowed canopy, the
-> other a bag extraction from a stabilised descent), or a harness stiffness
-> (different line lengths, different materials, different splay). Carrying any
-> of them as a single global is a silent coupling between two independent
-> events. See §8.4.
-
-**Sign convention:** $z$ is positive up, AGL. Descent has $v < 0$.
-
-### 4.0 Initial condition
-
-The run starts at apogee by default:
-
-$$z(0) = h_a, \qquad v(0) = 0$$
-
-Both are overridable as $(z_0, v_0)$, but see the survivability note below
-before using that for early deployment.
-
-**Early deployment is a load check, not a trajectory.** A motor ejection charge
-whose delay grain fires before apogee leaves the vehicle climbing, and the
-inflation model does not apply there. $v_s$ passes through zero during filling,
-so freezing it per eq. (9a) is not a mild approximation but a sign error;
-$s_f = nD_0$ is calibrated as a *descent* distance and no longer means what $n$
-was measured against; the $\tau^j$ law was fitted to canopies trailing a
-descending vehicle; and a 1-D point mass cannot represent recontact, where the
-vehicle arcs over into its own canopy.
-
-What *is* computable is the load, because eq. (23) needs only $v_s$. Rather than
-guessing how early the charge fires, invert it — eq. (37) already gives the
-maximum survivable deployment speed per device, and the ballistic coast converts
-that to a time before apogee:
-
-**(56)**
-
-$$\Delta t_{\max,i} = \frac{v_c}{g}\arctan\!\left(\frac{v_{s,\max,i}}{v_c}\right),
-\qquad v_c = \sqrt{\frac{2mg}{\rho\, C_dS_{\text{axial}}}}$$
-
-Note eq. (56) uses the **axial** drag area, eq. (14) — during coast the vehicle
-is flying nose-first, not in the tumbling attitude assumed for descent. This is
-the one place in the model where the §6.4 band does *not* apply, because the
-attitude is known.
-
-Report both bounds for every device. For the §13 vehicle with a 1000 lbf weakest
-link ($F_{\text{allow}} = 2965$ N after SF), $v_c = 147$ m/s:
-
-| device | $v_{s,\max}$, eq. (37) | $\Delta t_{\max}$, eq. (56) |
-|---|---|---|
-| drogue | 143 m/s | 11.6 s |
-| main | **35 m/s** | **3.5 s** |
-
-**The main is the binding constraint by 3.3×** — a delay grain four seconds long
-destroys it while the drogue would shrug it off.
-
-Two properties of eq. (56) are worth knowing. Doubling hardware strength barely
-moves the time bound (1000 → 2000 lbf takes the main from 3.5 s to 4.9 s —
-**doubling the hardware buys 1.4 seconds**), because $\arctan$ saturates. And
-that saturation gives a hard ceiling
-
-$$\Delta t_{\max} \to \frac{v_c}{g}\cdot\frac{\pi}{2} = 23.6\ \text{s}$$
-
-beyond which no deployment survives at any hardware strength. It is set by coast
-dynamics, not by what you build.
-
-> Both numbers scale with $v_c$ and therefore with the airframe, so they are not
-> transferable between vehicles. The §13 vehicle is slick — $v_c = 146$ m/s
-> axially — and a draggier one is bounded much harder: at the *broadside* area
-> the same vehicle has $v_c = 24$ m/s and a ceiling of 3.9 s. Recompute per
-> vehicle; do not carry these numbers across.
-
-Running from $(z_0, v_0)$ with $v_0 > 0$ is therefore only meaningful for a
-device the bound says survives — in practice a drogue, never a main.
-
-> **Deployment velocity is computed, never assumed.** You supply apogee and a
-> trigger; the integration returns $v_{s,i}$ at each deployment. This matters
-> because $F \propto v_s^2$ — deployment speed is the single largest term in the
-> load, and it is an *output* of the descent, not an input. See §6.2.
-
-### 4.1 Mapping from `fruity-chute-scraper`
-
-The scraper already in this folder pulls every device input we need. Take the
-numbers straight from its output; do **not** recompute them from the advertised
-diameter.
-
-**(A1)** Drag area, from `cd_projected` × `area_projected` (ft² → m²):
-
-$$(C_dS)_i = C_{d_p} \cdot S_p \cdot 0.092903$$
-
-**(A2)** Nominal diameter, from `equivalent_flattend_d` (in → m):
-
-$$D_{0,i} = D_{\text{flat}} \cdot 0.0254$$
-
-**(A3)** Canopy mass, from `weight_grams`:
-
-$$m_{c,i} = \frac{w_g}{1000}$$
-
-Growth exponent $j_i$ from `canopy_style`: `annular` / `elliptical` are solid
-cloth, so $j = 2$. Slotted types would take $j = 1$.
-
-> **Do not compute $S_p$ yourself.** Fruity Chutes' `area_projected` **excludes
-> the spill hole** — the opposite of the Knacke convention, where reference
-> areas include openings. For the IFC-48, $\pi D^2/4 = 12.566$ ft² but
-> `area_projected` = 12.177 ft², the difference being exactly the 8.448 in
-> spill hole. Pairing their $C_d$ with your own $\pi D^2/4$ overstates $C_dS$
-> by 3.2%, silently.
-
-Consistency checks worth asserting against scraped rows, since they validate
-that the record parsed correctly:
-
-**(A4)**
-
-$$C_{d_p}\cdot S_p = C_{d,\text{canopy}}\cdot S_{\text{canopy}}$$
-
-**(A5)**
-
-$$D_{\text{flat}} = \sqrt{4 S_{\text{canopy}}/\pi}$$
-
-**(A6)**
-
-$$\frac{\texttt{rate\_15}}{\texttt{rate\_20}} = \left(\frac{15}{20}\right)^2 = 0.5625$$
-
-All three hold to <0.2% on the Iris Ultra line.
-
-### 4.2 Hardware ratings — optional
-
-Eq. (37) needs $F_{\text{allow}}$, which is not part of the physics. Supply it as
-an **optional** block: without it the tool reports loads, with it the tool also
-returns a verdict. Optional so that a run is possible before hardware is chosen.
-
-| symbol | quantity | units | source |
-|---|---|---|---|
-| $\text{SF}$ | safety factor | — | 1.5 default, §8.6 |
-| $R_k$ | rated strength of link $k$ | N | vendor |
-| $F_{\text{allow}}$ | $\min_k R_k / \text{SF}$ | N | derived |
-
-One rating per element of the load path, so the report can name **which** link
-governs rather than only that something does:
-
-```yaml
-hardware:                    # optional; enables PASS/FAIL
-  safety_factor: 1.5
-  links:
-    bulkhead_eyebolt: 1500 lbf
-    quick_link:       1000 lbf
-    shock_cord:       2000 lbf
-    swivel:           1500 lbf
-```
-
-Every element carries $F_{\text{design}}$, so the weakest sets the limit — and it
-is rarely the shock cord. Quick links, eyebolt thread engagement into the
-bulkhead, and sewn-loop stitching are the usual governing items.
-
-> The canopy itself has no published load rating. Fruity Chutes' "12.75 lb
-> @ 20 fps" is a *descent-rate sizing* figure, not a structural limit, so the
-> last link in the chain has no number — the same category of gap as $C_x$.
-
----
-
-## 5. Atmosphere
-
-Evaluated exactly at every call. No lookup grid — OpenRocket caches the ISA on
-a 500 m table and interpolates.
-
-That table was described here as "a ~0.6% density error near the ground". It is
-not: `physics/openrocket.py` now implements the same grid, and
-`tests/test_openrocket.py::test_grid_density_error_is_0_04_percent_not_0_6`
-measures **0.036%** mid-cell, zero at the nodes, peaking at 0.045% over the
-first 5 km. The original figure was an estimate nobody had checked, and it was
-seventeen times too large. Evaluating exactly is still the right call — it is a
-handful of flops and removes the question entirely — but the reason is
-simplicity, not accuracy.
-
-**(1)** Geometric to geopotential altitude ($H$ geopotential, $z$ geometric):
-
-$$H = \frac{R_e\, z_{\text{MSL}}}{R_e + z_{\text{MSL}}}, \qquad R_e = 6{,}356{,}766\ \text{m}$$
-
-**(2)** Temperature within layer $b$:
-
-$$T(H) = T_b + L_b\,(H - H_b)$$
-
-**(3)** Pressure, sloped layer ($L_b \neq 0$):
-
-$$p(H) = p_b\left(1 + \frac{L_b (H - H_b)}{T_b}\right)^{-g_0 / (R_d L_b)}$$
-
-**(4)** Pressure, isothermal layer ($L_b = 0$):
-
-$$p(H) = p_b \exp\left(\frac{-g_0 (H - H_b)}{R_d T_b}\right)$$
-
-**(5)** Density (dry air — humidity is a ≤1.5% effect, deferred):
-
-$$\rho(z) = \frac{p(H)}{R_d\, T(H)}, \qquad R_d = 287.053\ \text{J/(kg·K)}$$
-
-Moist air is *less* dense than dry, since H₂O (18 g/mol) is lighter than the
-28.96 g/mol it displaces. The correction, with $e$ the water vapour partial
-pressure, is $\rho_{\text{moist}} = \rho\,(1 - 0.378\,e/p)$ — worth 1.6% at
-30 °C and saturated, under 0.5% in typical conditions. Twenty times smaller
-than the $C_x$ band, so it stays deferred.
-
-**(6)** Gravity:
-
-$$g(z) = g_0 \left(\frac{R_e}{R_e + z_{\text{MSL}}}\right)^2, \qquad g_0 = 9.80665\ \text{m/s}^2$$
-
-### Pad re-fit
-
-If $T_{\text{pad}}$ is supplied, replace the lowest layer so the profile passes
-through the measurement and still meets the standard tropopause (216.65 K at
-11 km geopotential):
-
-**(7)**
-
-$$L_0 = \frac{216.65 - T_{\text{pad}}}{11000 - H_{\text{pad}}}$$
-
-with $p_0 = p_{\text{pad}}$ at $H_{\text{pad}}$.
-
-> **Trap:** $p_{\text{pad}}$ must be *station pressure* — what a barometer at
-> the pad physically reads. A METAR altimeter setting is corrected to sea level
-> and is a different number.
-
-### Pad pressure — source hierarchy
-
-Unlike temperature, pad pressure can be estimated from site elevation alone to
-within a couple of percent, because sea-level pressure only wanders a few
-percent with synoptic weather. That makes the ranking unusual:
-
-| source | $p_{\text{pad}}$ error | status |
-|---|---|---|
-| ISA at site elevation, eq. (7a) | ~2% | **Phase 1 default** |
-| pad barometer at launch time | ~0% | use whenever recorded |
-| METAR altimeter setting + eq. (7b) | 0.3–0.6% | Phase 2 refinement, conditional |
-| METAR altimeter setting used raw | 11–18% | never |
-
-**(7a)** Phase 1 default — the standard column evaluated at your site:
-
-$$p_{\text{pad}} = 101325 \left(1 - \frac{0.0065\, H_{\text{pad}}}{288.15}\right)^{5.2559}$$
-
-This is eq. (3) for layer 0 run from sea level, and it needs nothing but site
-elevation. It assumes a standard sea-level pressure, which costs about $\pm2\%$
-across ordinary highs and lows — worth roughly 1% in descent rate and nothing at
-all in the main opening load, which is density-free by eq. (23). Note that the
-$T$ and $p$ anchors are independent: pairing a *measured* $T_{\text{pad}}$ in
-eq. (7) with an *estimated* $p_{\text{pad}}$ from (7a) is consistent, and is the
-expected Phase 1 configuration.
-
-Prefer a real reading when you have one. Every flight altimeter logs raw
-barometric pressure before any altitude conversion — Featherweight, Eggtimer and
-StratoLogger all do — so a device sitting on the pad gives $p_{\text{pad}}$
-directly, with no elevation lookup and no conversion to get wrong.
-
-**(7b)** Phase 2 refinement — recovering station pressure from a METAR. The
-altimeter setting $A$ is defined as *the pressure that makes an altimeter at the
-field read field elevation*, so invert that definition:
-
-$$p_{\text{pad}} = A \left(1 - \frac{0.0065\, H_{\text{pad}}}{288.15}\right)^{5.2559}, \qquad 1\ \text{inHg} = 3386.389\ \text{Pa}$$
-
-Same expression as (7a) with the standard sea-level value replaced by the
-reported setting, which is exactly what the refinement buys: today's synoptic
-pressure instead of an assumed standard one. It is an exact algebraic inversion,
-so the residual comes entirely from the reporting station not being your pad.
-
-The binding term is the **elevation gap**, since (7b) transfers the reported
-setting across $\Delta H = H_{\text{pad}} - H_{\text{station}}$ through a
-*standard* column while the real air is not standard. It scales with the gap,
-not with site elevation: roughly 0.25% for a 300 m gap on a 20 K anomalous day,
-0.5% at 500 m, and 1.6% at 1500 m. Horizontal pressure gradient adds 0.03–0.5%
-depending on distance and whether a front is nearby, and reporting quantisation
-0.03% (US, 0.01 inHg) or 0.10% (1 hPa elsewhere).
-
-**This refinement is only worth taking when a reporting station sits within a
-few hundred metres of site elevation.** Past roughly a 1500 m gap it degrades to
-the eq. (7a) default and there is no reason to prefer it. Even in the good case
-it buys about 1.5% in density — 0.75% in descent rate, nothing at all in the
-main opening load — so it ranks below every other Phase 2 item. High-desert
-launch sites and their nearest airports usually sit in the same elevation band,
-which is what makes the refinement viable there at all; verify per site rather
-than assuming.
-
-Note that (7a) and (7b) both use the **standard** $L_0$ and $T_0$ even when
-eq. (7) has already replaced $L_0$. The altimeter setting is defined against the
-standard column, not against today's air, so substituting the re-fit lapse rate
-would decode with a different function than the station encoded with and would
-*introduce* an error where none existed.
-
-Using the setting raw, without either conversion, is the single largest
-available error in this section. At a 1000 m field reporting a standard setting
-($A$ = 101,325 Pa), the naive value is 101,325 Pa against a true station
-pressure of 89,875 Pa — **12.7%** in density, roughly 6% in descent rate. The
-error is the ISA pressure ratio at field elevation, so it vanishes at sea level
-and grows with site height: 11.3% at 890 m, 15.4% at 1190 m, 18.4% at 1400 m.
-It is therefore invisible in testing and worst at exactly the high desert sites
-these vehicles fly from. That 89,875 Pa is also the published ISA pressure at
-1000 m, which makes this case a usable unit test.
-
-> **Do not use the `SLPxxx` group** in METAR remarks either. That is sea-level
-> pressure, a third distinct number reduced using the actual station
-> temperature rather than the standard column.
-
-The 216.65 K anchor in eq. (7) is a slope-setting device, not a claim about
-conditions at 11 km — the real tropopause moves in both height and temperature
-daily, and we never fly there. It is deliberately left at the standard value:
-perturbing it by 10 K shifts density at 3 km by only 0.8%, and it preserves a
-free regression test, since feeding $T_{\text{pad}} = 288.15$ K must return
-$L_0 = -6.5$ K/km exactly. Real profile accuracy comes from a sounding
-(§14), not from a better anchor.
-
----
-
-## 6. Deployment and inflation
-
-This is the core improvement over OpenRocket.
-
-### 6.1 Deploy triggers
-
-Any number of devices, each carrying **exactly one** trigger of either type,
-plus an optional delay $\Delta t_i$ for charge-to-canopy lag.
-
-**Type ALTITUDE** — fires when $z$ crosses $z_{d,i}$ descending:
-
-**(8)**
-
-$$t_{d,i} = t_{x,i} + \Delta t_i, \qquad z(t_{x,i}) = z_{d,i},\ \ v < 0$$
-
-**Type TIME** — fires at a fixed time after the run starts:
-
-**(8a)**
-
-$$t_{d,i} = t_{a,i} + \Delta t_i$$
-
-Since the run begins at apogee (§4.0), $t_{a,i}$ is literally "seconds after
-apogee." Apogee deployment is either $z_{d,i} = h_a$ or $t_{a,i} = 0$.
-
-**Guard** — ALTITUDE triggers fire only on a **descending** crossing
-(`direction = -1` in the root-finder). A vehicle passes its main deployment
-altitude on the way up as well, and accepting either crossing fires the main
-during boost at several hundred m/s. This is inert while runs start at apogee
-with $v = 0$, and becomes a live bug the moment §4.0 permits $v_0 > 0$.
-
-**Guard** — a device that would fire after impact is a design error:
-
-**(8b)**
-
-$$\text{skip device } i \ \text{ and warn if } \ t_{d,i} \ge t_{\text{ground}}$$
-
-Never silently ignore it. Note this is a guard on $t_{d,i}$, **not** on
-$t_{x,i}$: a device whose charge fires above ground but whose lines would come
-taut below it has still failed, and it is a distinct case from a device that
-never triggered at all. Both must be caught.
-
-The two trigger types get different numerical treatment:
-
-| | ALTITUDE | TIME |
-|---|---|---|
-| detection | root-find $z(t) - z_{d,i} = 0$ on the dense output | exact, known a priori |
-| segment end | Brent on the interpolant, at $t_{x,i}$ | terminate at $t = t_{a,i}$ |
-| cost | one root-find | free |
-
-Both end a segment at the **trigger** $t_{x,i}$, never at $t_{d,i}$ — see
-§6.1.4.
-
-Ordering: at each segment, integrate to the **earliest** of {any pending
-altitude crossing, the next pending TIME trigger, any pending line stretch,
-ground hit}. Fire that one, restart. Because these can interleave, resolve them
-one at a time rather than pre-sorting.
-
-### 6.1.1 Configurations this supports
-
-| configuration | devices |
-|---|---|
-| dual deploy | drogue ALTITUDE $= h_a$, main ALTITUDE $= 150$ m |
-| single deploy | main ALTITUDE $= h_a$ |
-| motor-eject drogue | drogue TIME $= t_a$, main ALTITUDE |
-| drogueless / ballistic | main ALTITUDE, body drag only above it |
-| redundant backup | second main TIME, as a late backup |
-
-Nothing in §6–§8 assumes two devices, or any particular device. A drogue is
-just a device with a small $C_dS$ that happens to deploy first, and it keeps
-contributing drag after the main opens — see eq. (13) and §13.3, note 5.
-
-> **Guard — deployment at exactly apogee is degenerate.** The first row above
-> deploys a drogue at $z_{d} = h_a$, and a run that starts at apogee with
-> $v_0 = 0$ then has $v_s = 0$: eq. (10) divides by zero, and eq. (23) returns a
-> bound of zero for a load that is emphatically not zero (§8.2). Reject
-> $v_s < \sqrt{g\,s_f}$ rather than dividing — §11.7 already warns on it — and
-> in practice give the device the real apogee-detect lag, which is what §13
-> does with a 2.0 s TIME trigger. Phase 2 item 2 is the actual fix: at apogee
-> the vehicle retains horizontal velocity, so the true $v_s$ is not zero, it is
-> just not visible to a 1-D state.
-
-### 6.1.2 The phase before first deployment
-
-Between apogee (or $z_0$) and the first deployment the vehicle is **not** in
-vacuum free fall — it falls on airframe drag alone, eq. (14)/(15), with
-$C_dS_{\text{tot}} = C_dS_{\text{body}}$.
-
-How much that matters depends entirely on attitude, and this is the phase where
-the §6.4 band does the most damage. For the §13 vehicle at 3 s:
-
-| | $C_dS_{\text{body}}$ | ballistic $v_t$ | $v(3\ \text{s})$ | vs vacuum |
-|---|---|---|---|---|
-| vacuum free fall | 0 | ∞ | 29.4 m/s | — |
-| axial | 0.00486 m² | 147 m/s | 29.0 m/s | −1.2% |
-| broadside | 0.17556 m² | 24.5 m/s | 20.4 m/s | **−31%** |
-
-Nose-down, the phase really is close to free fall and the drag term is a
-correction. Broadside, it is nothing of the sort: the vehicle is already at 84%
-of a terminal velocity it reaches within a few seconds, and since
-$F \propto v_s^2$, assuming vacuum free fall would overstate the drogue opening
-load by **2.1×**.
-
-So the error of ignoring airframe drag here is not a fixed percentage — it
-ranges from negligible to a factor of two across a band nobody has measured.
-That is the argument for carrying eq. (14)/(15) properly *and* for running both
-bounds, rather than for either simplification.
-
-### 6.1.3 Bagged deployment
-
-A deployment bag does not change the inflation law. It changes **when inflation
-starts**, which is exactly what $\Delta t_i$ in eq. (8a) is for — cord pays out,
-stows release in sequence, canopy strips from the bag, and only then does eq.
-(11) start its clock.
-
-$\Delta t$ is not a rounding term. The vehicle keeps accelerating throughout,
-and $F \propto v_s^2$:
-
-For the §13 vehicle at the axial bound:
-
-| $\Delta t$ | $v_s$ | drogue $F_\infty$ |
-|---|---|---|
-| 0 | 19.5 m/s | 55 N |
-| 0.25 s | 21.9 m/s | +26% |
-| 0.50 s | 24.3 m/s | **+55%** |
-| 1.00 s | 29.0 m/s | **+122%** |
-
-A bag extraction plausibly runs 0.3–1.0 s, so bagging roughly **doubles the
-drogue opening load** for the same trigger — not because the bag is worse, but
-because the vehicle is falling faster by the time the canopy sees air.
-
-This is the effect §6.1.4 exists to preserve. Sampling $v_s$ at the trigger
-rather than at line stretch collapses every row of that table to the first one.
-
-**This is a drogue-only sensitivity.** A main deployed from a stabilised drogue
-descent is already at terminal velocity, so an extra half-second changes $v_s$
-by nothing; it merely opens ~11 m lower.
-
-**Mass bookkeeping.** The bag sits between the shock cord and the shroud lines,
-so it rides on the canopy side of the harness: $m_{c,i}$ in eq. (33) is canopy +
-lines + bag, and the bag is excluded from $m_b$ in eq. (20). Since
-$F_{\text{snatch}} \propto \sqrt{\mu}$, a ~70 g bag on a 213 g canopy raises
-snatch by about **14%**. Use the full bagged assembly for event A, which is the
-governing event; splitting the bag out for event B is not worth chasing given
-the $0.625$ bound.
-
-**Stows are not compliance.** Elastic line stows do not enter $k_{\text{eff}}$.
-During event A the load path is body → cord → bag, with the stows unloaded along
-it; during payout each carries only its small retention force and drops out of
-the path once released. They sequence the deployment, they do not spring it.
-
-Whether bagging shifts $n$ itself is not established here. The bag acts upstream
-of inflation, and once the canopy is out with lines taut inflation proceeds on
-its own terms — but bagging clearly buys *repeatability*, since a free-packed
-canopy can emerge tangled or inverted. Keep sweeping $n$ either way.
-
-> **Both bag-specific unknowns fall out of one ground test.** A static ejection
-> filmed at 240 fps gives $\Delta t$ (frames from charge to canopy exposure) and
-> $v_{\text{rel}}$ (frame-to-frame displacement of the bag). Neither is on any
-> datasheet, and between them they cover a ±48% swing on the drogue load and a
-> linear factor on snatch. Comparable value to the §14 item 4 flight
-> measurement, at an afternoon's cost.
-
-### 6.1.4 The delay is a segment, not an offset
-
-$\Delta t_i$ cannot be implemented as a number added to a timestamp. Eq. (9a)
-evaluates $v_{s,i}$ at **line stretch**, $t_{d,i}$, and the vehicle accelerates
-throughout the delay on airframe drag alone — which is the entire content of
-§6.1.3. Sampling the velocity at the trigger $t_{x,i}$ instead discards that
-acceleration and, by §6.1.3's own table, under-predicts the drogue opening load
-by up to 48%.
-
-So **line stretch is a third event class**, alongside the two trigger types:
-
-| class | known | detection |
-|---|---|---|
-| ALTITUDE trigger | a priori as a *height* | root-find on the dense output |
-| TIME trigger | a priori as a *time* | exact |
-| **line stretch** | **only once that device has triggered** | exact, $t_{x,i} + \Delta t_i$ |
-
-It joins the same earliest-of merge rather than being handled as "integrate one
-extra segment and carry on", because **another device can trigger inside a
-delay window** — a drogue with $\Delta t = 1.0$ s whose main crosses its
-altitude 0.4 s later. Only one ordering rule can be correct, and it is the one
-already stated in §6.1.
-
-Three consequences, all of which the model gets wrong if the delay is treated
-as an offset:
-
-1. $v_{s,i}$, eq. (9a), is $|v(t_{d,i})|$ — sampled at the line-stretch event.
-2. $\rho$ in eq. (22) is evaluated at $z(t_{d,i})$, the altitude at line
-   stretch. This is ~11 m below the trigger altitude for a main and worth
-   0.13% in density, so it is a notation fix rather than a numerical one — but
-   a TIME-triggered device has no $z_{d,i}$ at all, so the equation is
-   otherwise undefined for half the §6.1.1 configurations.
-3. The error is a clean multiplicative $\left(v(t_{d,i})/v(t_{x,i})\right)^2$
-   on every load number, because $A_i$ is independent of $v_s$ at fixed $s_f$
-   (eq. 44). Nothing looks inconsistent when it is wrong — even the eq. (48)
-   cross-check still passes, since both paths carry the same factor. It errs
-   **low**, and therefore unsafe.
-
-During the delay the device contributes **no** drag: $\tau_i < 0$, so
-$C_dS_i = 0$ by eq. (12). Physically the bag and pilot chute are already out and
-pulling, so the real vehicle is slightly slower than modelled and the modelled
-$v_{s,i}$ is slightly high. Conservative, and left alone in Phase 1.
-
-### 6.2 Filling time
-
-**Only the filling-time parameter is frozen — the vehicle's velocity is not.**
-The wording matters, because the two are easy to conflate:
-
-| | frozen? | role |
-|---|---|---|
-| $v(t)$ in eq. (17) | **no** | integrated continuously, responds to the growing $C_dS$ |
-| $v_{s,i}$ in eq. (9a) | **yes** | a single scalar, used only to set $t_f$ |
-
-The vehicle decelerates hard during inflation and the integration captures all
-of it — under the worked main, $v$ falls to **52% of $v_s$ by full inflation**.
-What is frozen is the scalar that sets how fast the $\tau$ clock runs.
-
-The consequence is that $\tau$ advances linearly in wall-clock time, whereas a
-canopy physically fills by *distance*, which would give $d\tau/dt = |v(t)|/s_f$
-and a filling time about **23% longer** as the vehicle slows. We keep the frozen
-form anyway, because $n$ is calibrated against it: literature values assume
-$t_f = nD_0/v_s$ with $v_s$ at line stretch, so a distance-based advance paired
-with a book $n$ mixes conventions and turns an acknowledged approximation into a
-silent one. The residual is absorbed by sweeping $n$.
-
-Freezing also makes `CdS(t)` analytic within each integration segment.
-
-**(9)**
-
-$$s_{f,i} = n_i\, D_{0,i} \qquad \text{(filling distance)}$$
-
-**(9a)**
-
-$$v_{s,i} \equiv |v(t_{d,i})|$$
-
-the freestream speed at line stretch — **frozen**, a single scalar per device,
-and an *output* of the integration rather than an input.
-
-**(10)**
-
-$$t_{f,i} = \frac{s_{f,i}}{v_{s,i}}$$
-
-> Parameterize on filling **distance** $s_{f,i}$, not on $n_i$ and $D_{0,i}$
-> separately. With the velocity exponent at 1.0, $n_i$ is dimensionless
-> ("diameters fallen during inflation") and unit-safe. A literature $n$ quoted
-> with the $v^{0.85}$ convention carries units and needs a $\times 1.195$
-> conversion from imperial.
->
-> $n_i$ is per device because it is coupled to $j_i$ — solid and slotted
-> canopies fill over different distances — so a single global $n$ would force a
-> drogue and a main to share a constant neither of them was measured with.
-
-### 6.3 Area growth
-
-**(11)** Normalized inflation progress:
-
-$$\tau_i(t) = \frac{t - t_{d,i}}{t_{f,i}}$$
-
-**(12)** Drag area of device $i$:
-
-$$C_dS_i(t) = \begin{cases}
-0 & \tau_i < 0 \\[4pt]
-(C_dS)_i\,\tau_i^{\,j_i} & 0 \le \tau_i \le 1 \\[4pt]
-(C_dS)_i & \tau_i > 1
-\end{cases}$$
-
-**(13)** Total drag area:
-
-$$C_dS_{\text{tot}}(t) = C_dS_{\text{body}} + \sum_i C_dS_i(t)$$
-
-Note eq. (13) includes the airframe. OpenRocket omits it.
-
-### 6.4 Airframe drag band
-
-Attitude under canopy is not known, and the two bounds differ by two orders of
-magnitude. Run both; do not pick one.
-
-**(14)**
-
-$$C_dS_{\text{body,axial}} \approx 0.6 \cdot \frac{\pi d_{\text{body}}^2}{4}$$
-
-**(15)**
-
-$$C_dS_{\text{body,broadside}} \approx 1.2 \cdot (\ell_{\text{body}} \cdot d_{\text{body}})$$
-
-The ratio is $2.55\,\ell/d$, so it grows with fineness: **36.1×** for the §13
-vehicle at $\ell/d = 14.2$. Under a main this is noise. Under a drogue it can
-dominate descent rate, and before any deployment it is worth a factor of two in
-opening load (§6.1.2). §13 reports every headline number at both bounds for this
-reason.
-
----
-
-## 7. Equation of motion
-
-State $\mathbf{y} = [z,\ v]$.
-
-**(16)**
-
-$$\frac{dz}{dt} = v$$
-
-**(17)**
-
-$$\frac{dv}{dt} = -g(z) - \frac{\rho(z)\, C_dS_{\text{tot}}(t)}{2m}\,|v|\,v$$
-
-The $|v|v$ form makes drag oppose motion in either direction without a sign
-test. With $v<0$ the drag term is positive (upward), as it must be.
-
-**(18)** Terminal velocity, for validation and quick estimates:
-
-$$v_t(z) = \sqrt{\frac{2 m\, g(z)}{\rho(z)\, C_dS_{\text{tot}}}}$$
-
----
-
-## 8. Loads
-
-### 8.1 Instantaneous harness tension
-
-The number that sizes hardware. From a free body diagram of the airframe
-(mass $m_b$) under gravity, its own drag, and the riser:
-
-**(19)**
-
-$$F_{D,\text{body}} = \tfrac{1}{2}\rho\, C_dS_{\text{body}}\, v^2$$
-
-**(20)**
-
-$$F_T(t) = m_b\left(\frac{dv}{dt} + g\right) - F_{D,\text{body}}$$
-
-**(21)** Specific force — what an accelerometer in the av bay would read:
-
-$$f = \frac{dv}{dt} + g \qquad \Rightarrow \qquad \text{load factor} = \frac{|f|}{g_0}$$
-
-Record $\max F_T$ over the run, **sampled on the dense output at ≤5 ms**, not at
-integrator step boundaries. The adaptive controller can step over the peak.
-
-> **The trajectory integration does not produce the opening overshoot.** The
-> area-growth law, eq. (12), is a smooth monotonic ramp, so eq. (20) yields only
-> the quasi-steady drag of a growing canopy. The transient overshoot that $C_x$
-> represents comes from added-mass and geometric over-inflation physics that a
-> $\tau^j$ law cannot generate. Taking the raw numerical peak as your design
-> load under-predicts by the factor $C_x$ — a silent factor of ~1.8.
-
-**(21a)** Corrected numerical peak:
-
-$$F_{T,\text{peak}} = C_x \cdot \max_t F_T(t)$$
-
-Keep $C_x$ **out** of eq. (12). Inflating the drag area by $C_x$ would
-over-decelerate the vehicle and corrupt the trajectory. The overshoot is a
-peak-force effect, not a sustained area increase — so it scales the load and
-never the motion.
-
-### 8.2 Opening load — the bound
-
-Primary Phase 1 number. Requires no inflation knowledge and cannot be exceeded.
-
-**(22)** Dynamic pressure at line stretch:
-
-$$q_{s,i} = \tfrac{1}{2}\rho\big(z(t_{d,i})\big)\, v_{s,i}^2$$
-
-Both the density and the speed are evaluated at $t_{d,i}$, the line-stretch
-event — not at the trigger, and not at the input altitude $z_{d,i}$, which does
-not exist for a TIME-triggered device. See §6.1.4.
-
-**(23)** Infinite-mass opening force:
-
-$$F_{\infty,i} = q_{s,i}\,(C_dS)_i\, C_{x,i}$$
-
-This is the case where the vehicle does not decelerate during inflation, so the
-canopy sees full $q_s$ at full area. $C_x$ is the **opening force coefficient**
-— the transient overshoot as the canopy inflates past its equilibrium diameter,
-driven by the inertia of the entrained air. Because $C_x$ is empirical, the
-added-mass physics is already inside it; adding an explicit apparent-mass term
-would double-count.
-
-Use $C_x = 1.8$ for the design number unless flight data says otherwise.
-
-> **Validity — the bound is not unconditional.** It assumes the vehicle neither
-> gains nor loses speed during inflation, which makes $X_1 \le 1$ and therefore
-> $F_\infty$ an upper bound. That argument is Pflanz's, and Pflanz has no
-> gravity. At low $v_s$ the filling time $t_f = s_f/v_s$ grows, gravity has
-> longer to act, and the speed at the peak can exceed $v_s$ — at which point
-> $F_\infty$ evaluated at $v_s$ is an *under*estimate. The crossover is where
-> the speed gained during inflation is comparable to $v_s$ itself:
->
-> $$v_s \sim \sqrt{g\,s_f}$$
->
-> For the IFC-48 main this predicts 11.2 m/s, and numerical integration puts the
-> actual failure between 8 and 11 m/s. A main deployed from a stabilised drogue
-> descent sits at 20–30 m/s and is safe; a drogue deployed near apogee is not,
-> and at $v_s \to 0$ the bound goes to zero while the real load does not. This is
-> why eq. (36) takes a max over all three candidates instead of assuming the
-> bound governs, and it is the defect Phase 2 item 2 exists to fix.
-
-### 8.3 Opening load — Pflanz reference
-
-Reported alongside the bound so you can see how much conservatism you are
-carrying. The bound can run 3–5× the realistic value for a large main.
-
-**(24)** Ballistic parameter:
-
-$$A_i = \frac{2m}{\rho\big(z(t_{d,i})\big)\,(C_dS)_i\, s_{f,i}}$$
-
-**(25)**
-
-$$B_i = \frac{1}{A_i (j_i + 1)}$$
-
-**(26)** Time of peak force, clipped to full inflation:
-
-$$\tau^*_i = \min\left(1,\ \left[\frac{j_i A_i (j_i+1)}{j_i + 2}\right]^{1/(j_i+1)}\right)$$
-
-**(27)** Force reduction factor:
-
-$$X_{1,i} = \frac{(\tau^*_i)^{j_i}}{\left(1 + B_i (\tau^*_i)^{j_i+1}\right)^2}$$
-
-**(28)**
-
-$$F_{\max,i} = F_{\infty,i}\, X_{1,i}$$
-
-For $j=2$ this reduces to a closed form worth asserting in tests:
-
-**(29)**
-
-$$X_1 = \frac{(1.5A)^{2/3}}{2.25}\quad (A < \tfrac{2}{3}), \qquad
-X_1 = \left(1 + \frac{1}{3A}\right)^{-2}\quad (A \ge \tfrac{2}{3})$$
-
-Eqs. (24)–(28) come from non-dimensionalizing the drag-only opening ODE, so
-they are derived rather than table-looked-up, and they must agree with a
-numerical integration of the same reduced problem.
-
-### 8.4 Snatch
-
-Line stretch is an impulsive event and is frequently the **largest** load in the
-system — often above the opening load. It must be computed.
-
-**Every device has its own snatch event**, at its own line stretch, with its own
-separation velocity, stiffness and reduced mass. A drogue ejected by a charge
-against a stowed canopy and a main extracted from a bag during a stabilised
-descent share nothing here but the airframe. Everything in this section is
-therefore indexed by $i$, and eq. (36) takes the max over devices.
-
-**(30)** Stiffness of one member ($N$ strands in parallel):
-
-$$k_j = \frac{N_j\, F_{\text{rated},j}}{\varepsilon_{\text{rated},j}\, L_j}$$
-
-**(31)** Suspension lines splay from the skirt; only the axial component carries:
-
-$$k_{\text{lines},i} = \frac{N F_{\text{rated}}}{\varepsilon_{\text{rated}} L}\cos^2\theta_i,
-\qquad \theta_i = \arcsin\!\left(\frac{D_{p,i}/2}{L_{e,i}}\right)$$
-
-**(32)** Series combination — the load path is nylon lines **in series with** the
-Kevlar shock cord, and the softer element dominates:
-
-$$\frac{1}{k_{\text{eff},i}} = \sum_j \frac{1}{k_j}$$
-
-with $j$ running over the members of device $i$'s load path.
-
-**(33)** Reduced mass:
-
-$$\mu_i = \frac{m_b\, m_{c,i}}{m_b + m_{c,i}}$$
-
-**(34)** Peak snatch force:
-
-$$F_{\text{snatch},i} = v_{\text{rel},i}\sqrt{k_{\text{eff},i}\, \mu_i}$$
-
-Within a *single* device's deployment there are two events, and in a bagged
-deployment they are **sequential rather than alternative** — the cord goes taut
-first with only the Kevlar in the path, then the lines pay out and the nylon
-enters it:
-
-| event | when | $k$ |
-|---|---|---|
-| A — harness snatch | cord taut, canopy still bagged | Kevlar alone (stiffer, worse) |
-| B — line stretch | lines paid out, both loaded | series, eq. (32) |
-
-The second is bounded by the first, because both the stiffness *and* the
-surviving relative velocity are lower:
-
-$$\frac{F_B}{F_A} = f\sqrt{\frac{k_{\text{series}}}{k_{\text{cord}}}}
-\;\le\; \sqrt{\frac{k_{\text{series}}}{k_{\text{cord}}}}$$
-
-with $f \le 1$ the fraction of $v_{\text{rel}}$ surviving event A. For the
-worked harness that ceiling is **0.625 even at $f = 1$**, a perfectly elastic
-rebound losing no energy. So A always governs, and taking the max is correct —
-as the larger of two events in a sequence, not as a choice between scenarios we
-cannot distinguish. The bound holds without knowing $f$, which is what makes it
-useful.
-
-Packing determines whether B occurs at all. Free-packed canopies have only B.
-Bagged canopies with lines stowed in bights keep the lines under tension
-throughout payout, so slack never accumulates and there is nothing to run out —
-the canopy then strips progressively from the bag rather than engaging as a
-rigid mass, and what follows is inflation, not a third impulse. That argument
-assumes stows in good condition; the $0.625$ bound does not, which is why sizing
-should rest on the bound rather than on the packing.
-
-**Design lever:** $k \propto 1/L$, so $F_{\text{snatch}} \propto L^{-1/2}$.
-Doubling harness length cuts snatch 29%, and longer harness reduces recontact
-anyway. Conversely $F_{\text{snatch}} \propto v_{\text{rel}}$, so over-charging
-the ejection buys shock load directly — ground-test down to the minimum charge
-that reliably separates.
-
-### 8.5 Rigid harness is justified
-
-Dynamic amplification depends on load rise time versus harness natural period:
-
-**(35)**
-
-$$t_{n,i} = 2\pi\sqrt{\frac{\mu_i}{k_{\text{eff},i}}}$$
-
-For realistic hardware ($k \sim 10^4$–$10^5$ N/m, $\mu \sim 1$–3 kg),
-$t_n \approx 0.02$–0.04 s against a filling time near 1 s. That is
-$t_f/t_n \approx 30$ — deep in the quasi-static regime, so DAF $\approx 1$ and
-eq. (20) is valid without a two-body elastic model.
-
-*This holds only for smooth inflation.* If reefing is ever added, re-check
-eq. (35) at each disreef, where the rise time can approach $t_n$.
-
-### 8.6 Design load
-
-**(36)**
-
-$$F_{\text{design}} = \text{SF}\cdot\max\left(\max_i F_{\text{snatch},i},\ \max_i F_{\infty,i},\ \max_i C_{x,i}\max_t F_T(t)\right), \qquad \text{SF} = 1.5$$
-
-All three candidates now max over devices. Report **which device and which
-candidate** governs, not only the number — a design limited by drogue snatch and
-one limited by main opening call for different fixes, and the bare maximum
-cannot tell them apart.
-
-**(37)** Invert against the weakest link in the chain to get a speed limit, per
-device:
-
-$$v_{s,\max,i} = \sqrt{\frac{2 F_{\text{allow}}}{\rho\, (C_dS)_i\, C_{x,i}}}$$
-
-### 8.7 Report the expected load, not only the design load
-
-Eq. (36) sizes to the bound, which is deliberately pessimistic. The tool must
-also say **by how much**, so report per device:
-
-| quantity | eq. | what it is |
-|---|---|---|
-| $F_{\infty,i}$ | (23) | infinite-mass bound, $X_1 = 1$ — what §8.6 sizes to |
-| $F_{\max,i} = F_{\infty,i}X_{1,i}$ | (28) | **Pflanz expected value** — the finite-mass estimate |
-| $C_x\max_t F_T(t)$ | (21a) | numerical peak, with gravity and airframe drag |
-| $1/X_{1,i}$ | (27) | **conservatism ratio** |
-
-$F_{\max,i}$ can never govern eq. (36): it is exactly $F_{\infty,i}X_{1,i}$ and
-$X_{1,i}\le1$ by construction, since $X_1 = \max_\tau \tau^{j}u^2$ with both
-factors bounded by 1. That is the reason to report it separately rather than
-fold it into the max — it is the only number that says whether the bound is
-costing you 5% or 240%.
-
-$$\frac{1}{X_{1}} = \frac{\text{what you build}}{\text{what you expect}}$$
-
-For the §13 IFC-48 main, $A = 0.309$ gives $1/X_1 = 3.75$: the structure is
-sized to **3.75× the expected load**. For that vehicle's drogue at $A = 14.7$,
-$1/X_1 = 1.05$ and the bound is nearly free. Which regime a device sits in
-is what decides whether
-measuring $C_x$ and $n$ in flight (§14 item 4) is worth the trouble — there is
-no point instrumenting a drogue, and a large main is where the mass is.
-
-Note the numerical value is *not* bounded by $F_{\infty,i}$ — it contains
-gravity, which Pflanz omits — so it is reported for its own sake as well as for
-the eq. (48) cross-check. See the validity note in §8.2.
-
----
-
-## 9. Landing metrics
-
-**(38)**
-
-$$\text{KE}_{\text{impact}} = \tfrac{1}{2} m\, v_{\text{impact}}^2$$
-
-**(39)** Equivalent free-fall height, the intuitive form:
-
-$$h_{\text{equiv}} = \frac{v_{\text{impact}}^2}{2 g_0}$$
-
----
-
-## 10. Numerical method
-
-Forward Euler is the wrong tool here. Linearizing eq. (17) about terminal
-velocity gives a relaxation rate
-
-**(40)**
-
-$$\lambda = \frac{2g}{v_t}, \qquad \tau_{\text{relax}} = \frac{v_t}{2g}$$
-
-Forward Euler on $\dot y = -\lambda y$ gives $y_{n+1} = (1-h\lambda)y_n$, which
-rings for $h\lambda > 1$ and diverges for $h\lambda > 2$. A 7 m/s main gives
-$\tau = 0.36$ s and a stability limit of 0.71 s — OpenRocket's 0.5 s nominal
-step sits at 70% of it, which is why its stepper contains an explicit
-"oscillation avoidance" branch.
-
-**Use adaptive RK45 (Dormand–Prince) with dense output.** `scipy.integrate.solve_ivp`
-with `dense_output=True` and terminal events, restarted at each deployment.
-
-- **Events:** each pending deploy altitude, plus ground hit ($z = 0$), all
-  root-found by Brent on the interpolant.
-- **Segments:** integrate to the next event, apply the deployment (set
-  $t_{d,i}$, freeze $v_s$, compute $t_{f,i}$), restart. Within a segment
-  $C_dS_{\text{tot}}(t)$ is smooth and analytic.
-- **Tolerances:** `rtol=1e-8`, `atol=1e-10`. This problem is cheap.
-- **Load sampling:** re-sample the dense output at ≤5 ms for eq. (20).
-
-Note that adding finite inflation (§6) removes the discontinuity that made the
-problem stiff in the first place. Fixes 1 and 3 reinforce each other.
-
----
-
-## 11. Application
-
-### 11.1 Independence
-
-This is a **standalone application**. It shares technology choices with
-`EngineDesign` because the team already knows that stack; it shares no runtime,
-no tooling and no configuration with it.
-
-| | recovery-calculator | EngineDesign |
-|---|---|---|
-| backend port | **8100** | 8000 |
-| frontend port | **5273** | 5173 |
-| virtualenv | own | own |
-| Python deps | own `pyproject.toml` | own |
-| JS deps | own `package.json` | own |
-| dev script | own `dev.sh` | own |
-| cross-imports | **none, either direction** | — |
-
-Distinct ports are load-bearing, not cosmetic: `EngineDesign/dev.sh` force-kills
-whatever holds port 8000, so sharing it would let one app silently kill the
-other. The repo-root `pyproject.toml` touches both, but it is `[tool.black]`
-only — shared formatting, not shared runtime.
-
-**Stack:** React 19 + TypeScript + Vite + Recharts + Tailwind on the frontend;
-FastAPI + uvicorn + Pydantic on the backend; numpy/scipy for the physics.
-
-Python throughout. Measured: **23 ms** for a full apogee-to-ground descent with
-two devices and event root-finding (1684 RHS evaluations), so the 16-corner
-sweep is 0.4 s and nothing in Phase 1 approaches a performance wall. Phase 2
-Monte Carlo at 10⁴ samples is ~230 s, and the first fix there is
-`multiprocessing` over samples, not a rewrite.
-
-### 11.2 Layout
-
-```
-recovery-calculator/
-    pyproject.toml            own deps and metadata
-    dev.sh                    backend :8100 + frontend :5273
-    physics/            physics core -- numpy/scipy only, NO web imports
-        atmosphere.py    eqs (1)-(7b)
-        pad_state.py     §5 resolution, METAR/ISA
-        devices.py       eqs (8)-(15)   device dataclass, CdS(t), triggers
-        dynamics.py      eqs (16)-(18)  derivative function
-        loads.py         eqs (19)-(37)  tension, Pflanz, snatch, design load
-        solver.py        §10            segmented RK45 driver
-        cases.py         §11.5/§11.9    off-nominal set, corner sweep
-        report.py        eqs (38)-(39)  formatted output
-        schema.py        Pydantic models, the contract
-        data/
-            parachutes.csv          scraper output, committed
-            manual.csv              hand-entered devices, same columns
-            raw/<sku>.json          one raw API payload per SKU
-    backend/
-        main.py
-        routers/
-            simulate.py     POST /api/simulate
-            sweep.py        POST /api/sweep
-            devices.py      GET  /api/devices    query the scraper DB
-            atmosphere.py   POST /api/atmosphere pad state
-    frontend/                 vite.config.ts pins server.port = 5273
-    tools/
-        fruity-chute-scraper/     (exists) standalone, stdlib-only
-    tests/
-```
-
-**`physics` must never import FastAPI.** It is a library with a CLI; the
-web app is one consumer, the test suite and notebooks are others. The §12
-assertions run headless in CI with no server, and
-
-```
-python -m physics config.json
-```
-
-stays working as a debugging escape hatch — a way to bisect a bug without React
-in the stack. This is an invariant, not a development phase: the library and the
-UI are built together, since the failure modes here are mostly *shapes* (a wrong
-$j$, a mis-sequenced event, a $\tau$ clock that fails to reset) and those are far
-easier to catch on a live plot than in a regenerated PNG.
-
-The scraper stays decoupled: it writes CSV, and `devices.py` reads it with
-stdlib `csv`. No import relationship, so the scraper keeps its stdlib-only
-property and the core never needs network access.
-
-**CSV, not SQLite.** The device table is committed reference data feeding
-structural load calculations, so a reviewer must be able to see a vendor
-revising $C_d$ from 2.2 to 1.9 — a 14% shift in $C_dS$, straight into
-eq. (23) — as a readable line in a pull request. A binary database makes every
-re-scrape an unreviewable blob delta. Performance favours CSV here too: at 1000
-rows (well beyond the whole hobby catalogue) an in-memory substring scan takes
-0.061 ms against 0.349 ms for SQLite connect-and-query, because at this scale
-connection overhead dominates any indexing benefit. CSV also removes the
-async-connection question entirely, and `csv` + Pydantic gives *stronger* typing
-than a non-`STRICT` SQLite table.
-
-`raw_json` moves out of the row into `raw/<sku>.json`, one file per device, so
-the raw vendor payloads stay diffable too and CSV quoting stays sane.
-`manual.csv` carries hand-entered devices — a canopy no vendor sells, or one
-measured in-house — so they survive a re-scrape and can be tagged as
-lower-confidence in the picker.
-
-The loader validates on read with Pydantic, and asserts eqs. (A4)-(A6) there, so
-a malformed scrape fails loudly instead of yielding a silently wrong $C_dS$.
-
-### 11.3 Inputs
-
-Sections map to §4. Everything is one schema, serialised identically by the GUI
-and accepted verbatim by the CLI.
-
-| section | fields |
-|---|---|
-| vehicle | $m$, $h_a$, $d_{\text{body}}$, $\ell_{\text{body}}$; optional $(z_0, v_0)$ override for early deployment (§4.0) |
-| site | $z_{\text{site}}$, $T_{\text{pad}}$, $p_{\text{pad}}$ source (ISA default / pad barometer / METAR) |
-| devices | repeatable 1..N: picker selection, $(C_dS)_i$, $D_{0,i}$, $m_{c,i}$, $j_i$, $C_{x,i}$, $n_i$, trigger (ALTITUDE $z_{d,i}$ or TIME $t_{a,i}$), delay $\Delta t_i$ |
-| harness | **per device**, on the same card: $v_{\text{rel},i}$, and either $k_{\text{eff},i}$ directly or the eq. (30)/(31) members |
-| **hardware** | **optional** — see §4, enables PASS/FAIL |
-| sweep | which parameters to corner-sweep, and their bounds |
-
-**Device picker.** `GET /api/devices?q=iris+48` searches the device CSV;
-selecting a row auto-fills $(C_dS)$, $D_0$, $m_c$ and $j$, each marked with a
-badge. This is the highest-value control in the application because it removes
-the §4.1 trap by construction — nobody who picks from the list can recompute
-$S_p$ as $\pi D^2/4$ and silently overstate $C_dS$ by 3.2%. Manual override is
-permitted, strips the badge, and displays the vendor value it replaced.
-
-### 11.4 Outputs and export
-
-Live in the GUI, and written to disk by a single **Export run** action:
-
-```
-recovery_2026-07-30T14-30-22/
-    config.json       exact inputs -- reload to reproduce, byte-identical to Save
-    result.json       full Result object, all four cases
-    report.txt        human-readable summary
-    report.md         same, for pasting into design docs
-    trajectory.csv    t, z, v, a, F_T, CdS_tot   (one per case)
-    meta.json         version, git SHA, schema version, timestamp
-```
-
-`meta.json` carries the **git SHA**. When a number from this tool reaches a
-design review, which version of the physics produced it must be recoverable.
-Cheap now, impossible to retrofit.
-
-**There is one plotting implementation, and it is Recharts in the browser.**
-The export bundle carries `trajectory.csv` and `result.json`, not PNGs.
-
-The alternative — rendering figures server-side with matplotlib so the CLI can
-emit them headlessly — buys a self-contained bundle at the cost of a second
-plotting implementation to keep visually consistent with the first, plus a
-dependency the physics core does not otherwise need. It is not worth it. A
-`trajectory.csv` plots in anything, the numbers that matter are already in
-`report.md` and `result.json`, and a figure for a design review can be captured
-from the GUI that produced it.
-
-Consequence worth stating: `python -m physics config.json` produces
-numbers and CSV, never images. That is the intended division, not a gap.
-
-### 11.5 Off-nominal cases
-
-Sizing to the nominal sequence hides single-point failures, so three off-nominal
-cases are computed on **every** run and presented alongside it. They are not
-optional and not a separate mode — a report that shows only the nominal case is
-the failure this section exists to prevent.
-
-| case | what it is |
-|---|---|
-| **nominal** | drogue at its trigger, main at its altitude |
-| **1. simultaneous** | main fires at the drogue's trigger time, near apogee |
-| **2. main fails** | descends under drogue alone to the ground |
-| **3. drogue fails** | main opens out of ballistic free fall |
-
-The reason all three are worth carrying is that **each fails in a different
-category**, so no single pass/fail number covers them. For the §13 vehicle at
-the axial bound — the load-conservative one, and the choice is stated because
-§6.4 forbids picking silently:
-
-| case | descent | impact | KE | max $F_{\infty}$ | fails on |
-|---|---|---|---|---|---|
-| nominal | 55 s | 6.04 m/s | 103 J | 1613 N | — |
-| 1. simultaneous | **146 s** | 6.04 m/s | 103 J | 900 N | **drift** |
-| 2. main fails | 37 s | **25.0 m/s** | **1768 J** | 54 N | **impact** |
-| 3. drogue fails | 35 s | 6.21 m/s | 109 J | **27 065 N** | **structure** |
-
-Reading across:
-
-**Case 1 is structurally the gentlest**, which is counterintuitive — the main
-opens at 19.5 m/s instead of 25.0 because the vehicle has not yet reached drogue
-terminal velocity, and it opens where the air is thinner, giving **56% of the
-nominal load**. Its danger is entirely recovery-zone: 2.7× the descent time, and
-drift scales with it. Nothing in a load report would flag this case, which is
-exactly why descent time has to be a reported output and not a footnote.
-
-**Case 2 loads nothing** — no main means no main opening — but lands at 24.8 m/s
-for **17× the nominal impact energy**, equivalent to dropping the vehicle off a
-31 m building.
-
-**Case 3 is the structural one**, at **17× the nominal load** and far past
-anything the hardware will hold. A slick airframe reaches 103 m/s in the 762 m
-of free fall before the main's altitude, and $F \propto v_s^2$ does the rest. It
-is a single point of failure that destroys the vehicle outright, so it warrants
-an explicit decision: a redundant drogue charge, or a recorded acceptance that a
-drogue failure loses the airframe.
-
-> Case 3 is also where the §6.4 band bites hardest, and in the direction that
-> should worry you least: broadside, the same failure gives 1423 N rather than
-> 27 065 N, because a tumbling airframe is its own drogue. The axial figure is
-> the one to design against, since nothing guarantees the vehicle tumbles.
-
-Each case therefore reports against a different metric, and the summary names
-the category rather than emitting a bare PASS/FAIL:
-
-| case | metric to check |
-|---|---|
-| 1 | descent time, drift (Phase 2) |
-| 2 | impact velocity, $\text{KE}_{\text{impact}}$, eq. (38)/(39) |
-| 3 | $F_{\text{design}}$ against $F_{\text{allow}}$ |
-
-**Interface.** A dropdown selects which case the figures and tables show,
-**defaulting to nominal**. The off-nominal cases are computed on the same run —
-four integrations at 23 ms is still under 100 ms, so there is no reason to gate
-them behind a button. Any case whose own category fails is badged in the
-dropdown itself, so a failure cannot be missed by never opening the menu.
-
-**Export.** The bundle carries a trajectory per case:
-
-```
-trajectory_nominal.csv
-trajectory_simultaneous.csv
-trajectory_no_main.csv
-trajectory_no_drogue.csv
-```
-
-and `result.json` carries all four under a `cases` key with the nominal one
-duplicated at the top level, so existing consumers keep working. No images —
-see §11.4.
-
-### 11.6 Interface
-
-Split view — inputs left, results right, both scrolling independently, so the
-force curve visibly responds while a device is being edited. Collapsible
-sections with sticky nav; **not a wizard**, since these values get iterated
-dozens of times and a linear flow fights that. Devices are a repeatable card
-list, so 1, 2 or 3 canopies need no special-casing.
-
-A 23 ms run means neither the nominal case nor the off-nominal set needs a Run
-button:
-
-| tier | cost | trigger |
-|---|---|---|
-| nominal + 3 off-nominal (§11.5) | 4 × 23 ms | **live, debounced ~150 ms** |
-| 16-corner sweep | 0.4 s | debounced ~500 ms |
-| design sweeps (§11.10) | ~11 s | explicit button, with progress |
-
-The off-nominal cases ride along in the live tier deliberately. Under 100 ms for
-all four is cheap enough that there is no justification for hiding a
-single-point failure behind a button nobody presses.
-
-**Figure 1 — flight history.** Five stacked panels on a shared time axis
-(Recharts `syncId`): altitude, velocity, acceleration **in g**, harness tension,
-and $C_dS_{\text{tot}}$. Vertical event markers across all panels at apogee, each
-line stretch, each full inflation, and ground; horizontal reference lines on the
-tension panel at $\max_i F_{\infty,i}$, $\max_i F_{\text{snatch},i}$,
-$F_{\text{design}}$ and $F_{\text{allow}}$, with the governing device named in
-the legend per eq. (36).
-
-The $C_dS_{\text{tot}}$ panel is not decoration — it makes the tension panel
-legible by showing the $\tau^j$ ramp the force is following, and it is the
-fastest way to spot an inflation bug.
-
-**Wire format.** A 168 s descent at 5 ms is 33,600 points, megabytes of JSON and
-a sluggish chart. Resample adaptively for transport: 2 ms within ±0.5 s of each
-event, 100 ms elsewhere. ~3,700 points, ~120 KB, and full resolution exactly
-where it matters.
-
-### 11.7 Save, load, validate
-
-The form state **is** the config schema — one serialiser, no translation layer.
-Save downloads `config.json`; Load accepts it by picker or drag-drop; named
-presets live in `localStorage` and remain individually downloadable. The saved
-file is exactly what `python -m physics` accepts, which is what makes the
-headless path real rather than aspirational.
-
-**Hard errors** block the run: deploy altitude above apogee, no devices,
-non-positive mass or drag area.
-
-**Warnings** run anyway and display inline:
-
-| condition | message |
-|---|---|
-| drogue-failure case exceeds $F_{\text{design}}$ | off-nominal: main at free-fall speed → FAIL |
-| $C_x$ unmeasured | ±20% band; see §14 item 4 |
-| $p_{\text{pad}}$ from the eq. (7a) default | ~2%; a pad barometer removes it |
-| $v_{s,\max}$ within 20% of drogue descent rate | thin margin on eq. (37) |
-| main $C_dS$ below drogue $C_dS$ | devices may be swapped |
-| any device has $v_s < \sqrt{g\,s_f}$ | bound invalid here, §8.2 |
-
-The first matters most. A tool that reports only the nominal case hides a
-single-point failure that exceeds the design load by **11×** for the §13
-vehicle.
-
-### 11.8 Driver pseudocode
-
-```python
-def simulate(vehicle, devices, site):
-    atm      = Atmosphere(site.elevation, site.T_pad, site.p_pad)
-    state    = {i: DeviceState() for i in devices}
-    y, t     = [vehicle.apogee, 0.0], 0.0
-    segments = []
-
-    while y[0] > 0:
-        # Three event classes, one merge -- §6.1.4:
-        #   ALTITUDE trigger  root-found on the dense output        eq. (8)
-        #   TIME trigger      known a priori                        eq. (8a)
-        #   LINE STRETCH      known a priori, but only once that
-        #                     device has already triggered
-        # Line stretch is scheduled, never added to a timestamp, because a
-        # second device can trigger inside another's delay window.
-        events = [ground_hit] + [alt_trigger(i) for i in pending_alt(state)]
-        t_cap  = min([d.t_a for d in pending_time(state)]
-                     + [state[i].t_stretch for i in triggered(state)],
-                     default=T_MAX)
-
-        seg = solve_ivp(deriv, [t, t_cap], y,
-                        events=events, dense_output=True,
-                        rtol=1e-8, atol=1e-10)
-        segments.append(seg)
-        t, y = seg.t[-1], seg.y[:, -1]
-
-        if seg.event is ground_hit:
-            break
-
-        i, kind = resolve(seg, t_cap, state)   # which device, which class
-
-        if kind is TRIGGER:
-            # The charge has fired; the canopy is still stowed and still
-            # contributes no drag (eq. 12, tau < 0). Schedule line stretch
-            # and keep integrating -- the vehicle accelerates through the
-            # whole delay, which is the entire point of §6.1.3.
-            state[i].t_x       = t
-            state[i].t_stretch = t + devices[i].delay
-            if devices[i].delay == 0.0:
-                kind = LINE_STRETCH        # collapse; no zero-length segment
-            else:
-                continue
-
-        # LINE STRETCH. The canopy is now in the airstream, and only now is
-        # v_s defined. Sampling at t_x instead drops the §6.1.3 effect
-        # entirely -- up to 48% low on a bagged drogue, and silently, since
-        # A is independent of v_s (eq. 44) so nothing looks inconsistent.
-        d = devices[i]
-        state[i].t_deploy = t                          # eq. (8) = t_x + delta_t
-        state[i].v_s      = abs(y[1])                  # eq. (9a)
-        state[i].rho_s    = atm.density(y[0] + site.elevation)   # at z(t_d)
-        state[i].t_f      = d.n * d.D0 / state[i].v_s  # eqs (9), (10), per-device n
-        record_opening_load(i, state[i].v_s, state[i].rho_s)     # eqs (22), (23)
-        record_snatch(i, d.v_rel, d.k_eff, mu(vehicle, d))       # eq. (34), per device
-
-    # eq. (8b) -- two distinct failures, and the second is easy to miss
-    for i in never_triggered(state):
-        warn(f"device {i} never reached its trigger before impact")
-    for i in triggered(state):          # fired, but lines never came taut
-        warn(f"device {i} fired at t={state[i].t_x:.2f} s but line stretch "
-             f"falls at or below ground -- it never opened")
-
-    traj   = resample(segments, dt=0.005)
-    FT_max = max(tension(s) for s in traj)         # eq. (20)
-
-    # Per device, report all three load estimates -- not just the one that
-    # sizes the hardware. F_pflanz can never govern eq. (36) since it is
-    # F_inf * X1 with X1 <= 1, which is exactly why it must be reported:
-    # F_inf / F_pflanz = 1 / X1 is the conservatism the design is carrying.
-    per_device = {
-        i: dict(F_inf    = q_s[i] * d.CdS * d.Cx,              # eq. (23)
-                X1       = X1_of(A[i], d.j),                   # eq. (27)/(29)
-                F_pflanz = q_s[i] * d.CdS * d.Cx * X1_of(A[i], d.j),   # eq. (28)
-                ratio    = 1.0 / X1_of(A[i], d.j),             # §8.7
-                F_snatch = snatch[i],                          # eq. (34)
-                v_s      = v_s[i], A = A[i], tau_star = tau_star[i])
-        for i, d in enumerate(devices)}
-
-    return Result(traj, FT_max, per_device, landing)
-```
-
-Note `triggered(state)` means *triggered but not yet stretched* — a device
-leaves that set at line stretch. Reaching the end of the run still in it is the
-second eq. (8b) failure.
-
-### 11.9 Corner sweep — sweep, don't sample
-
-Phase 1 has no random inputs. Corner-sweep the genuinely-unknown parameters and
-take the worst:
-
-$$C_x \in \{1.2,\ 1.8\},\quad n \in \{6,\ 12\},\quad
-C_dS_{\text{body}} \in \{\text{axial},\ \text{broadside}\},\quad
-v_{\text{rel}} \in \{5,\ 20\}$$
-
-16 runs, milliseconds each. Monte Carlo belongs in Phase 2 with wind.
-
-The three per-device parameters here — $C_x$, $n$, $v_{\text{rel}}$ — are swept
-**in common across devices**, not independently. They are the same unmeasured
-physics appearing in several places, so a corner where the drogue sits at
-$C_x = 1.2$ while the main sits at $1.8$ is not a physical case, and sweeping
-them independently would inflate $2^4 = 16$ runs to $2^{2N+2}$ for no added
-coverage. Per-device values remain independent as *inputs*; the sweep perturbs
-them together, applying each corner as an override across every device.
-
-### 11.10 Design sweeps
-
-Distinct from the uncertainty corners above. Those bound what you *don't know*;
-these show how margin responds to what you *choose*. Each is plotted against
-$F_{\text{allow}}$ as a horizontal line, so the safe region is read off directly
-— cheaper than an inverse solver, with no convergence failures or
-no-solution-exists cases, and it shows how *fast* margin degrades rather than
-only where it reaches zero.
-
-| sweep | $x$ | drives |
-|---|---|---|
-| drogue delay | seconds after apogee | drogue $F_\infty$ |
-| drogue size | $(C_dS)_{\text{drogue}}$ | **main** $F_\infty$, via eq. (37) |
-
-> **Deployment altitude is deliberately not a load sweep.** The main deploys
-> from a stabilised drogue descent, so
-> $q_s = \tfrac12\rho v_t^2 = mg/(C_dS)_{d+b}$ — density cancels exactly and the
-> main's opening load is *independent of deployment altitude*. Verified on the
-> §13 vehicle: **1613 N at 152 m, 300 m and 500 m**, identical to four
-> figures, while $v_s$ rises with altitude and $\rho$ falls to
-> compensate. Plotting it produces a horizontal line. Main deployment altitude
-> still belongs in the tool because it drives descent time, drift and the
-> deployed-too-low-to-reach-terminal check — just never on a load axis.
->
-> The cancellation requires the vehicle to be *at* drogue terminal velocity when
-> the main fires. Deploy high enough that it has not yet settled — above ~800 m
-> for the §13 vehicle, which deploys its drogue at 895 m — and the load drops
-> off, because $v_s$ has not yet reached $v_t$. So the curve is flat everywhere
-> it matters and sags at the top, which is the one part worth checking rather
-> than assuming.
-
-The second sweep is the useful form of eq. (37). Solved through, it says
-
-$$(C_dS)_{\text{drogue}} + (C_dS)_{\text{body}} \;\ge\; \frac{mg\,(C_dS)_{\text{main}}\,C_x}{F_{\text{allow}}}$$
-
-with $\rho$ cancelling on both sides, so it is a density-free, altitude-free
-design rule: **the drogue has a minimum size set by hardware ratings, not by
-descent-rate preference.** Undersize it and the main opens too fast for the
-weakest link regardless of how the descent rate looks on paper.
-
-### 11.11 Roadmap
-
-One phase, not two — the library and the interface are built together (§11.2).
-Inside it there is still an order.
-
-**v1 — the tool**
-
-1. `schema.py` first. The Pydantic models are the contract both sides build
-   against, so they precede both.
-2. Stub `POST /api/simulate` returning a canned `Result` fixture, so the
-   frontend can build the full figure on day one in parallel with the physics.
-   Writing a *plausible* canned result is itself a check on the schema.
-3. Physics replaces the stub endpoint by endpoint; the fixture survives as a
-   frontend test double.
-4. §12 assertions in CI from the start, headless.
-
-**v2 — live data and depth**
-
-5. **NWS integration.** Resolve pad state automatically from site coordinates:
-   nearest reporting station lookup, METAR fetch, decode, and eq. (7b)
-   conversion, replacing hand-entered $T_{\text{pad}}$ and $p_{\text{pad}}$.
-   Source is the Aviation Weather Center API at `aviationweather.gov`
-   (`/api/data/metar`, `/api/data/stationinfo`). Extends naturally to the
-   §14 items that need more than a surface observation — radiosonde and model
-   soundings for a real $T(H)$ profile, and winds aloft for drift. Note that
-   station choice must be checked per site: `stationinfo` is the authoritative
-   test of whether a field actually reports, since aggregator pages substitute
-   the nearest reporting neighbour without saying so.
-6. Device picker over the scraper DB (§11.3), sweep figures, tornado plot,
-   saved presets.
-
-Egress to `aviationweather.gov` must be reachable from wherever this runs; it is
-blocked by policy in some sandboxes.
-
----
-
-## 12. Validation
-
-Assert these in the test suite. They are cheap and they catch real bugs.
-
-**(41)** Constant-$\rho$, single-device descent must converge to eq. (18).
-
-**(42)** Infinite-mass limit:
-
-$$X_1 \to 1 \quad \text{as} \quad A \to \infty \qquad (X_1 = 0.987 \ \text{at}\ A=50)$$
-
-**(43)** Analytic $X_1$, eq. (29), must match numerical integration of the
-reduced opening ODE.
-
-**(44)** With $s_f = nD_0$ fixed, $A$ is independent of $v_s$, so:
-
-$$F \propto v_s^2 \quad \text{exactly}$$
-
-**(45)** In the finite-mass regime, **at fixed $s_f$**:
-
-$$X_1 \propto (C_dS)^{-2/3} \quad \Rightarrow \quad F \propto (C_dS)^{1/3}$$
-
-Doubling drag area alone raises opening load only 26%.
-
-The "at fixed $s_f$" clause is load-bearing and easy to drop. A canopy scaled
-*geometrically* has $D_0 \propto \sqrt{C_dS}$ and therefore
-$s_f \propto \sqrt{C_dS}$, which makes $A \propto (C_dS)^{-3/2}$,
-$X_1 \propto (C_dS)^{-1}$ and $F$ **flat** — no increase at all. Both statements
-are correct about different experiments; only the fixed-$s_f$ one is a property
-of eq. (24) rather than of a particular way of growing a canopy. Test the
-fixed-$s_f$ form, since it is the one the equation asserts.
-
-**(46)** Geometric scaling by $\sigma$ (all lengths $\times\sigma$,
-$m \propto \sigma^2$ at fixed descent rate):
-
-$$\frac{F}{W} \propto \sigma^{-2/3}$$
-
-Small vehicles see higher load factors than large ones. Flag this when a proven
-design is scaled down.
-
-**(47)** Sensitivity, for interpreting the sweep:
-
-$$X_1 \propto s_f^{-2/3}$$
-
-A 50% error in filling distance is a 30% error in load.
-
-**(48)** The two independent load paths must agree. With eq. (21a) applied,
-**per device $i$, over that device's own inflation window**
-$t \in [t_{d,i},\ t_{d,i} + t_{f,i}]$:
-
-$$0.8 \;<\; \frac{C_{x,i} \max_t F_T(t)}{F_{\max,i}} \;<\; 1.3$$
-
-Divergence beyond this means the inflation law, the event timing, or the dense-
-output sampling is wrong. This is the single most valuable test in the suite —
-it cross-checks the numerical integrator against a closed form derived from
-completely different assumptions.
-
-**(49)** Raw numerical peak must come in *below* Pflanz over the same window,
-since it lacks the overshoot:
-
-$$\max_t F_T(t) < F_{\max,i}$$
-
-If it does not, $C_x$ has leaked into eq. (12).
-
-> **Both are per device, and both are skipped below the eq. (23) validity
-> floor.** Two scoping rules, and neither is optional:
->
-> A **global** $\max_t F_T$ is dominated by whichever device is largest, so
-> comparing it against a drogue's $F_{\max}$ compares two unrelated events and
-> fails for reasons that have nothing to do with correctness. Restrict the
-> maximum to each device's own filling interval.
->
-> And where $v_{s,i} < \sqrt{g\,s_{f,i}}$ the §8.2 validity note says
-> $F_{\infty}$ is not a bound at all, so $F_{\max}$ is not a reference either
-> — a near-apogee drogue sits exactly there. Assert only for devices that
-> clear the floor, and report the rest as unbounded rather than failing them.
-> Without this the suite fails on the drogue of any correct implementation.
-
-**(50)–(51)** Pre-deployment ballistic phase. At constant $\rho$ and constant
-$C_dS$, released from rest, eq. (17) has a closed solution — a direct test of
-the integrator over the §6.1.2 phase:
-
-$$v(t) = -v_t \tanh\!\left(\frac{g t}{v_t}\right)$$
-
-$$z(t) = z_0 - \frac{v_t^2}{g}\ln\cosh\!\left(\frac{g t}{v_t}\right)$$
-
-Both must reproduce to integrator tolerance. As $t \to 0$ these reduce to
-$v \to -gt$ and $z \to z_0 - \tfrac12 g t^2$, confirming that vacuum free fall
-is the small-time limit and *not* the model.
-
-**(52)** Trigger equivalence. A device set to ALTITUDE $z_{d}$ and the same
-device set to TIME $t_a$ must produce identical results when $t_a$ is the time
-the altitude run reports for that crossing. Round-tripping this catches sign
-errors, off-by-one segment handling, and delay double-counting.
-
-**(57)** Delay sensitivity — the §6.1.4 regression. Run one device twice,
-identical but for $\Delta t$. During the delay the vehicle is in the §6.1.2
-ballistic phase, so eq. (50) gives the answer in closed form:
-
-$$\frac{v_s(\Delta t)}{v_s(0)} = \frac{\tanh\!\big(g(t_x + \Delta t)/v_t\big)}{\tanh\!\big(g\,t_x/v_t\big)}
-\qquad\Rightarrow\qquad
-\frac{F_\infty(\Delta t)}{F_\infty(0)} = \left(\frac{v_s(\Delta t)}{v_s(0)}\right)^{2}$$
-
-to within the density change over the fall, which is negligible. Both must
-hold. Sampling $v_s$ at the trigger instead of at line stretch makes the ratio
-identically 1, which is exactly the failure this assertion exists to catch —
-and note that eq. (48) still passes in that state, so (48) does **not** cover
-it.
-
-**(58)** A device with $\Delta t = 0$ must be bit-identical to one where the
-trigger and line-stretch events are resolved separately. This exercises the
-degenerate collapse in §11.8 and guarantees the delay path is not a second
-code path with its own arithmetic.
-
----
-
-## 13. Worked example
-
-**One vehicle, used by every worked number in this document.** §4.0, §6.1.2,
-§6.1.3, §6.4, §8.7, §11.5 and §11.10 all quote results from these inputs — if a
-number appears anywhere in this plan, it came from here. Every input is listed,
-so the whole document is reproducible from one config and this section is the
-regression fixture.
-
-### 13.1 Inputs
-
-| | | |
-|---|---|---|
-| $m$ | 5.67 kg (12.5 lb) | total descending mass |
-| $h_a$ | 914 m AGL (3000 ft) | apogee |
-| $z_{\text{site}}$ | **610 m MSL** | FAR pad elevation — a constant, not an input (§4.3) |
-| $T_{\text{pad}}$ | 284.185 K | **= ISA at 610 m**, so eq. (7) re-fits to $L_0 = -6.5$ K/km exactly and the free regression test of §5 is live |
-| $p_{\text{pad}}$ | 94 209 Pa | eq. (7a) default |
-| $d_{\text{body}}$, $\ell_{\text{body}}$ | 0.1016 m (4 in), 1.44 m | fineness 14.2 |
-| $C_dS_{\text{body}}$ | **0.00486 m² axial / 0.17556 m² broadside** | eqs. (14), (15) — a 36.1× band, run both |
-| SF | 1.5 | |
-
-Devices, both solid-cloth ($j = 2$), both $C_x = 1.8$, both $n = 8$,
-both $\Delta t = 0$ (free-packed) unless a section says otherwise:
-
-| | drogue | main |
-|---|---|---|
-| $(C_dS)_i$ | 0.15 m² | 2.489 m² (Iris Ultra IFC-48) |
-| $D_{0,i}$ | 0.6 m | 1.601 m |
-| $m_{c,i}$ | 0.060 kg | 0.213 kg |
-| trigger | TIME, $t_a = 2.0$ s | ALTITUDE, $z_d = 152$ m |
-| $k_{\text{eff},i}$ | 25 000 N/m | 17 400 N/m |
-| $v_{\text{rel},i}$ | 10 m/s | 10 m/s |
-
-giving $m_b = 5.397$ kg, and $\mu = 0.2049$ kg for the main, $0.0593$ kg for the
-drogue.
-
-The main's $k_{\text{eff}}$ is the eq. (32) series of a Kevlar shock cord at
-44 545 N/m and nylon suspension lines at 28 556 N/m. Those two numbers are what
-make §8.4's event-B ceiling $\sqrt{17400/44545} = 0.625$.
-
-> **The drogue fires 2.0 s after apogee, not at it.** A trigger at exactly
-> $h_a$ with $v_0 = 0$ makes $v_s = 0$, so eq. (10) divides by zero and eq. (23)
-> returns a bound of zero for a load that is not zero. 2.0 s is a realistic
-> apogee-detect lag and it keeps the example on the valid side of §8.2. See the
-> guard in §6.1.1.
-
-### 13.2 Outputs
-
-From numerical integration of eqs. (16)–(17), reported at **both** airframe
-bounds because §6.4 does not permit picking one:
-
-| quantity | axial | broadside |
-|---|---|---|
-| drogue $v_s$ at line stretch | 19.49 m/s | 16.27 m/s |
-| drogue $F_\infty$ | 54 N | 38 N |
-| main deploy time | 31.3 s | 44.2 s |
-| main $v_s$ | **25.16 m/s** | **17.34 m/s** |
-| main $q_s$ | 360 Pa | 171 Pa |
-| main filling time $t_f$ | 0.509 s | 0.739 s |
-| main $A$, $X_1$ | 0.313, 0.268 | 0.313, 0.268 |
-| **main $F_\infty$ (bound)** | **1613 N — load factor 29.0** | **766 N — load factor 13.8** |
-| main $F_{\max}$ (Pflanz) | 433 N | 206 N |
-| numerical $\max F_T$, raw | 266 N | 133 N |
-| numerical $\times\,C_x$, eq. (21a) | 479 N | 240 N |
-| $F_{\text{snatch}}$, main / drogue | 597 N / 385 N | 597 N / 385 N |
-| descent rate under main | 6.04 m/s (19.8 fps) | 5.85 m/s (19.2 fps) |
-| total descent time | 54.8 s | 68.8 s |
-| impact KE | 103 J | 97 J |
-| **$F_{\text{design}}$, eq. (36)** | **2420 N (544 lbf)** | **1149 N (258 lbf)** |
-
-$A$ and $X_1$ are identical across the two columns because eq. (24) contains no
-$v_s$ — the attitude band moves the *load* but not the finite-mass credit, which
-is eq. (44) visible in a table.
-
-### 13.3 What this example demonstrates
-
-1. **The airframe attitude band is worth 2.1× on the design load** (2420 vs
-   1149 N) and 26% on descent time. It is a single unmeasured binary, and it
-   outranks everything except $C_x$. This is §15.5 made concrete, and it is the
-   argument for §6.4's "run both, do not pick one."
-2. **Snatch (597 N) exceeds the realistic opening load** at both bounds
-   (476 N axial, 239 N broadside). If you model only opening you under-report
-   the peak by 1.3–2.5×. That is the argument for including §8.4 in Phase 1
-   rather than deferring it — and note it governs eq. (36) in neither column,
-   because the *bound* is larger still.
-3. **Numerical and Pflanz agree to 11%** (476 vs 430 N axial) once eq. (21a) is
-   applied. The residual is gravity during inflation, which Pflanz omits and the
-   integration does not. This is the eq. (48) cross-check passing, and it is the
-   main evidence both load paths are implemented correctly.
-4. **The bound is 3.73× the Pflanz value.** Fine for Phase 1 sizing, but report
-   both (§8.7) so nobody over-builds a bulkhead fourfold without knowing it.
-5. **The drogue keeps flying after main deployment.** Descent rate uses
-   $C_dS = 2.489 + 0.15 + C_dS_{\text{body}}$, giving 19.8 fps rather than the
-   20.4 fps the main alone would give at this site. Easy to get wrong by hand;
-   eq. (13) handles it.
-
-Cross-check against the vendor: Fruity Chutes claims 19.8 fps at 12.5 lb, and
-eq. (18) with the main alone **at sea-level density** (1.225 kg/m³, the
-condition the vendor quotes) gives 19.81 fps. Spec sheet and model agree to
-0.05%. Note this is deliberately not the site-elevation number above — at 500 m
-the same canopy alone gives 20.3 fps, and the difference is density, not
-disagreement.
-
----
-
-## 14. Phase 2
-
-In rough priority order:
-
-1. Wind profile (power law + tabulated sounding, PCHIP-interpolated) and drift
-
-2. **Drogue load from relative airspeed and angle of attack.** Phase 1 carries a
-   1-D vertical state, so at apogee $v \to 0$, the drogue's $q_s \to 0$, and the
-   eq. (23) bound degenerates — see the validity note in §8.2. The vehicle is
-   not stationary at apogee. It retains horizontal velocity from weathercocking
-   during ascent, and the air itself is moving. What the canopy responds to is
-   the **relative** airspeed:
-
-   **(53)**
-
-   $$\vec{v}_{\text{rel}} = \vec{v}_{\text{veh}} - \vec{v}_{\text{wind}}(z), \qquad v_{s} = \lvert\vec{v}_{\text{rel}}\rvert$$
-
-   with $\vec{v}_{\text{veh}}$ at apogee taken from the ascent simulation rather
-   than assumed zero. Because $F \propto v_s^2$, a horizontal component that is
-   irrelevant to descent rate is decisive for the drogue's opening load — and it
-   is the only thing keeping $v_s$ above the $\sqrt{g\,s_f}$ floor at which the
-   bound stops being a bound.
-
-   The same vector fixes the §6.4 attitude band. With $\hat{a}$ the vehicle axis:
-
-   **(54)**
-
-   $$\alpha = \arccos\!\left(\frac{\vec{v}_{\text{rel}}\cdot\hat{a}}{\lvert\vec{v}_{\text{rel}}\rvert}\right)$$
-
-   **(55)**
-
-   $$C_dS_{\text{body}}(\alpha) \approx C_dS_{\text{axial}}\cos^2\alpha + C_dS_{\text{broadside}}\sin^2\alpha$$
-
-   Eq. (55) is a first-order interpolation between eqs. (14) and (15), not a
-   validated model, and should be checked against measured attitude before being
-   trusted. But §6.1.2 already identifies the axial-versus-broadside band as the
-   dominant error of the pre-deployment phase, and *any* defensible attitude
-   estimate collapses two orders of magnitude into a number. Near apogee the
-   vehicle is tipping over with the freestream increasingly broadside, so the
-   axial bound is the wrong one to be sizing against there.
-
-   Depends on the 2-D state from item 1, so it lands with the wind work rather
-   than before it.
-
-3. Landing dispersion via Monte Carlo over wind and $C_dS$ uncertainty
-4. Flight-measured $C_x$, $t_f$, $n$, and $v_{\text{rel}}$ from a high-rate
-   accelerometer — collapses every band in §11 into measured numbers
-5. Canopy oscillation as a stochastic tilt (drives dispersion, not mean drift)
-6. Reefing, with the eq. (35) check at each disreef
-7. Observed pad pressure in place of the eq. (7a) standard-column estimate,
-   either from a METAR altimeter setting via eq. (7b) or from a logged pad
-   barometer reading — worth about 1.5% in density, so it ranks below
-   everything above it
-
-Item 4 is the highest value per unit effort. One instrumented flight replaces
-every table lookup in this document with a measurement of your actual hardware.
-Item 2 is the highest value per unit *correctness* — it is the only one that
-repairs a case Phase 1 gets structurally wrong rather than merely imprecisely.
-
-### 14.1 Candidates the §2 cross-check surfaced
-
-Three more, added after porting OpenRocket and the mastersheets and finding out
-what they carry that this does not:
-
-8. **Drift under wind.** The mastersheets estimate it as descent time × wind
-   speed and this tool does not estimate it at all, so the Cross-check tab has
-   a row only one of the three models can fill. Crude as their version is, it is
-   the constraint that actually picks a canopy at a range with a waiver box —
-   and it lands in the same place as item 1 above, so it is really an argument
-   for prioritising that.
-9. **Ejection-charge and shear-pin sizing.** Both mastersheets carry black
-   powder mass against bay pressure, force on the bulkhead, and how many nylon
-   screws that shears. Entirely outside this document's scope today, and
-   entirely inside the recovery engineer's job.
-10. **A sharper axial bound from OpenRocket's own drag terms.**
-    `BarrowmanDragCalculator.calculateBaseCD(M)` (`0.12 + 0.13M²` subsonic,
-    `0.25/M` above) and `calculateStagnationCD(M)` are static, Mach-only and
-    about ten lines each — they need no component tree, unlike the rest of
-    Barrowman. They are real closed forms where eq. (14)'s `0.6·πd²/4` is a
-    round number. Worth having for the *axial* bound only: §6.4's whole
-    argument is that attitude under canopy is unknown, and nothing here should
-    be used to collapse the band.
-
----
-
-## 15. Assumptions register
-
-Every approximation the model makes, with its cost where we have quantified it.
-This is the section to read first when reviewing a number this tool produced.
-Direction is **cons** (errs safe), **non-cons** (errs unsafe), or **?** (sign
-unknown, bracketed by the §11.9 corner sweep).
-
-### 15.1 Scope
-
-| assumption | cost | § |
-|---|---|---|
-| 1-D vertical motion, no wind or drift | drift absent entirely | §3 |
-| Point mass — no attitude, rotation, or recontact | recontact unrepresentable | §3 |
-| Rigid harness, DAF $\approx 1$ | $\le 2\%$ for a main; see §8.5 | §8.5 |
-| All devices share one attachment point | single $F_T$ | §8.1 |
-| Constant mass | exact | — |
-| Run starts at apogee, $v_0 = 0$ | early deployment is a load bound only | §4.0 |
-
-### 15.2 Atmosphere
-
-| assumption | cost | dir |
-|---|---|---|
-| ISA piecewise-linear $T(H)$ | structural | — |
-| $L_0$ empirical, or re-fit from $T_{\text{pad}}$ | 3% density at 3 km | ? |
-| Tropopause anchor fixed at 216.65 K | 0.8% per 10 K | ? |
-| Dry air, humidity neglected | $\le 1.5\%$ density | **non-cons** |
-| $p_{\text{pad}}$ from eq. (7a) standard column | ~2% | ? |
-| Geopotential correction retained | 1.5 m at 10k ft | negligible |
-| $g(z)$ inverse-square | 0.09% at 3 km | negligible |
-
-### 15.3 Inflation
-
-| assumption | cost | dir |
-|---|---|---|
-| $\tau^{j}$ growth law, empirical | structural | — |
-| $j = 2$ solid / $1$ slotted | modeling choice | ? |
-| **$n$ swept 6–12, never measured** | $X_1 \times 0.63$ on a main | ? |
-| $v_s$ frozen — $\tau$ advances in time, not distance | **23% in $t_f$** | absorbed into $n$ |
-| Monotonic growth, no overshoot represented | requires $C_x$ | — |
-| $\Delta t = 0.3$–$1.0$ s when bagged | **+55% drogue load at 0.5 s** | ? |
-
-### 15.4 Loads
-
-| assumption | cost | dir |
-|---|---|---|
-| **$C_x \in [1.2, 1.8]$, unmeasured** | **$\pm20\%$ — dominant term** | ? |
-| $C_x$ applied uniformly though it acts at $\tau = 1$ | ~10% | **cons** |
-| Pflanz omits gravity | +11% vs numerical | cons |
-| Pflanz omits airframe drag | $-6\%$ vs numerical | non-cons |
-| $F_\infty$ bounds only for $v_s \gg \sqrt{g s_f}$ | fails below ~11 m/s | **non-cons there** |
-| Springs linear to break, no hysteresis | unquantified | cons |
-| Snatch by energy conservation, undamped | — | cons |
-| Snatch and opening do not superpose | 16 harness periods apart | cons |
-| $\varepsilon_{\text{rated}}$ usually unpublished | $k$ estimated | ? |
-| $F_{\max}$ used as harness tension, ignoring $m_c$ | 3.9% | cons |
-| SF stacked on a conservative $C_x$ | compounds | cons |
-
-### 15.5 Airframe
-
-| assumption | cost | dir |
-|---|---|---|
-| **Attitude unknown, axial vs broadside** | **$2.55\,\ell/d$ — 36.1× at $\ell/d = 14.2$; 2.1× on $F_{\text{design}}$** | ? |
-| $C_d = 0.6$ axial | rule of thumb | probably low |
-| $C_d = 1.2$ broadside | textbook cylinder in crossflow | solid |
-| Single $C_d$ across the descent | descent spans the drag crisis | non-cons at speed |
-| Fins in neither reference area | unquantified | non-cons |
-
-### 15.6 Data
-
-| assumption | dir |
-|---|---|
-| Vendor $C_dS$ taken as published | ? |
-| **Canopy assumed stronger than the hardware** | **untested — no published rating exists** |
-
-### 15.7 What actually moves the answer
-
-$$\underbrace{C_dS_{\text{body}}}_{2.1\times\ \text{on}\ F_{\text{design}}} \;>\; \underbrace{C_x}_{\pm20\%} \;>\; \underbrace{\Delta t}_{+55\%} \;>\; \underbrace{v_{\text{rel}}}_{4\times} \;>\; \underbrace{n}_{0.63\times} \;\gg\; \underbrace{\text{atmosphere}}_{1\text{–}3\%}$$
-
-$C_dS_{\text{body}}$ moves to the front once §13 is run at both bounds: the
-attitude band is a 36× swing in the input and a **2.1× swing in the design
-load**, against $C_x$'s 1.5×. It also cannot be swept away — it is a binary
-about which way the vehicle is pointing, not a tolerance — which is why §14
-item 2 is ranked as the correctness fix rather than a refinement.
-
-**§5 is the longest section in this document and contributes the least.** The
-atmosphere is worth 1–3% on descent rate and *exactly zero* on the main's
-opening load, which cancels density entirely. Recorded here so nobody chases a
-sounding while $C_x$ remains a guess.
-
-Three measurements collapse the top of that list:
-
-| measurement | removes | cost |
-|---|---|---|
-| static ejection filmed at 240 fps | $\Delta t$ **and** $v_{\text{rel}}$ | an afternoon |
-| known load hung on the harness | $k_{\text{eff}}$ | ten minutes |
-| accelerometer in the av bay | $C_x$, $n$, $t_f$ | one flight |
-
-### 15.8 Where it errs unsafely
-
-These do not announce themselves, so they are listed separately:
-
-1. **The bound below $v_s \approx \sqrt{g s_f}$** — a drogue near apogee has
-   $F_\infty \to 0$ while the real load does not. Mitigated by eq. (36) taking a
-   max over three candidates rather than trusting the bound.
-2. **Canopy strength** — the last link in the load path carries no number, and
-   the design implicitly assumes it exceeds the hardware.
-3. **Recontact** — a point mass cannot see it, and it is a real failure mode.
-4. **Reynolds at speed** — $C_d = 1.2$ broadside is optimistic above
-   $Re \approx 3\times10^5$, which the descent crosses.
-5. **Dry air** — small, but always in the same direction.
-
-Everything else errs conservative or has unknown sign, and unknown-sign terms
-are bracketed by the corner sweep.
diff --git a/recovery-calculator/README.md b/recovery-calculator/README.md
deleted file mode 100644
index 2877ab8aa..000000000
--- a/recovery-calculator/README.md
+++ /dev/null
@@ -1,137 +0,0 @@
-# Recovery Calculator
-
-1-D vertical descent, canopy inflation, and recovery-system opening loads.
-The model, its assumptions and every worked number are specified in
-[`PLAN.md`](PLAN.md); this file is just how to run it.
-
-## Why it exists
-
-OpenRocket's descent model has three defects that matter for load-bearing
-design work: deployment is a step function with no filling time, shock load is
-never computed at all, and airframe drag is dropped after deployment. This
-fixes those three and does not attempt anything OpenRocket already does well.
-
-Those three used to be an assertion. They are now measured — the **Cross-check**
-tab runs a port of OpenRocket 24.12's descent model and a port of the team's
-recovery mastersheets against this one, on the same config:
-
-| | measured on the §13 worked example |
-|---|---|
-| step deployment | peak deceleration **4.11×** ours, and the altitude trigger fires **7.1 m low** |
-| no shock load | our 1613 N against an absence — rendered "not computed", never zero |
-| airframe dropped | drogue descent rate 25.56 vs 25.19 m/s here; it grows as the drogue shrinks |
-
-The mastersheets land within 3% of our peak load, by a completely different
-route, which is evidence for both. Where they don't, PLAN.md §2.2 says why.
-
-## Quick start
-
-```bash
-bash setup.sh                    # venv at .venv
-.venv/bin/python -m pytest tests/ -q
-.venv/bin/python -m physics tests/fixtures/worked_example.json
-```
-
-The CLI prints the descent, the per-device loads, the eq (36) design load and
-the four off-nominal cases, at **both** airframe-drag bounds. `--sweep` adds the
-16-corner uncertainty sweep; `--crosscheck` adds the three-model comparison;
-`--json` emits machine-readable output.
-
-For the GUI:
-
-```bash
-./dev.sh        # backend :8100 + frontend :5273, API docs at :8100/docs
-```
-
-The ports are load-bearing, not cosmetic (§11.1): `EngineDesign/dev.sh`
-force-kills whatever holds 8000, so sharing one would let the apps kill each
-other.
-
-## Layout
-
-```
-physics/       physics core -- numpy/scipy/pydantic, never FastAPI
-    constants.py     ISA constants and unit conversions        [stdlib]
-    atmosphere.py    eqs (1)-(7a), the canonical ISA           [stdlib]
-    pad_state.py     METAR decode, station pressure            [stdlib]
-    schema.py        the Pydantic contract
-    devices.py       eqs (8)-(15), the device table
-    dynamics.py      eqs (16)-(18)
-    solver.py        segmented RK45, the three-class event loop
-    loads.py         eqs (19)-(37)
-    cases.py         off-nominal set, corner sweep
-    report.py        eqs (38)-(39)
-    data/            parachutes.csv (121 devices) + raw/<sku>.json
-    -- ports of OTHER people's models, for comparison only (§2) --
-    openrocket.py    OpenRocket 24.12's descent model   [stdlib]
-    mastersheet.py   the recovery mastersheets' model   [stdlib]
-    crosscheck.py    all three on one config
-backend/             FastAPI on :8100 -- imports physics, never the reverse
-    main.py          app, CORS, health
-    serialise.py     internal results -> the wire contract the frontend uses
-    routers/         simulate, devices, atmosphere, climatology
-frontend/            React + Vite + Recharts on :5273
-tests/               the §12 validation suite -- the real deliverable
-tools/               stdlib-only, no venv needed
-    openrocket-golden/   diff the port against a run of the real program
-reference/           source material, never read at runtime
-    mastersheets/        the two .xlsx, and where their math lives
-site-climatology/    stdlib-only, no venv needed
-```
-
-The backend is a thin translator: a browser cannot `import physics`, so it
-receives JSON, validates it as a `Config`, calls the library, and returns JSON.
-FastAPI is chosen because it is Pydantic-native — `schema.py` *is* the wire
-contract, with no translation code, which is what §11.7 means by "one
-serialiser, no translation layer".
-
-### Two dependency tiers, on purpose
-
-`atmosphere.py` and `pad_state.py` are **stdlib-only**: scalar ISA evaluation is
-`exp`, `log` and `pow`, so it needs no numpy. That is what lets
-`site-climatology/` import the one canonical copy of PLAN.md §5 rather than
-keeping a second copy to get wrong, while staying dependency-free and offline.
-
-The property holds only while `physics/__init__.py` stays empty — an
-import there, even a convenience re-export, would pull scipy and pydantic into
-every consumer. `tests/test_imports.py` asserts it, and CI asserts it again
-from the site-climatology side.
-
-## The validation suite is the point
-
-`tests/` is not incidental coverage. PLAN.md §12 specifies assertions that
-cross-check the model against closed forms derived from different assumptions:
-
-| | |
-|---|---|
-| **eq (48)** | the numerical integrator vs Pflanz, per device. Pflanz has no gravity and no airframe drag, so agreement to ~10% is evidence rather than tautology. **The most valuable test in the suite.** |
-| eq (43) | the analytic `X1` vs numerical integration of the reduced opening ODE |
-| eqs (50)/(51) | the ballistic phase vs its `tanh` / `ln cosh` closed form |
-| eqs (44)-(47) | the scaling laws, each isolating one exponent |
-| eq (52) | ALTITUDE and TIME triggers must agree on the same crossing |
-| eqs (57)/(58) | the §6.1.4 delay contract |
-
-`tests/test_worked_example.py` runs PLAN.md §13 as a golden fixture: the
-document's numbers are assertions against the library, so if the two disagree
-CI says so. It has already caught one wrong number in the plan.
-
-The two model ports carry their own suites, and both are validated against the
-thing they are a port *of* rather than against this project's opinion of it:
-
-| | |
-|---|---|
-| `test_mastersheet.py` | every expected value is a **workbook cell**, quoted with its address. The Named Functions survive the `.xlsx` export as `<definedName>` LAMBDAs, so this is transcription with no fitted constants. |
-| `test_openrocket.py` | the ISA against **OpenRocket's own JUnit values**, to their own ±0.01 Pa tolerances; then the Euler stepper converging onto our RK45 with the residual attributed to gravity (−0.092%) and density (+0.027%), not to integration. That attribution is what separates "a coarsely integrated different model" from "a bug". |
-| `test_openrocket_golden.py` | the port against a run of the actual program. Skips until someone exports one — see `tools/openrocket-golden/`. |
-
-## What this does not do
-
-Phase 1 is 1-D and windless. No drift, no dispersion, no canopy oscillation,
-no reefing. §14 lists Phase 2 in priority order; the two that matter most are
-an instrumented flight to measure `Cx` (the dominant uncertainty) and the
-relative-airspeed fix for near-apogee drogue loads, which is the only item
-that repairs a case Phase 1 gets structurally wrong rather than imprecisely.
-
-Read §15 before trusting any number this produces. It lists every
-approximation with its cost and its direction, and §15.8 names the five places
-the model errs *unsafely*.
diff --git a/recovery-calculator/backend/__init__.py b/recovery-calculator/backend/__init__.py
deleted file mode 100644
index e69de29bb..000000000
diff --git a/recovery-calculator/backend/main.py b/recovery-calculator/backend/main.py
deleted file mode 100644
index d4eba75dc..000000000
--- a/recovery-calculator/backend/main.py
+++ /dev/null
@@ -1,96 +0,0 @@
-"""FastAPI app for the recovery calculator. PLAN.md §11.1, §11.2.
-
-Runs on **8100**, and the port is load-bearing rather than cosmetic:
-`EngineDesign/dev.sh` force-kills whatever holds 8000, so sharing a port would
-let one app silently kill the other.
-
-The dependency runs one way. This package imports `physics`;
-`physics` must never import FastAPI (§11.2). It is a library with a CLI,
-and the web app is one consumer -- the test suite and the CLI are others, and
-the §12 assertions run headless in CI with no server.
-"""
-
-import os
-import sys
-from contextlib import asynccontextmanager
-
-from fastapi import FastAPI
-from fastapi.middleware.cors import CORSMiddleware
-
-# Put the subproject root on sys.path so `physics` imports with cwd at
-# the subproject root, matching EngineDesign/backend/main.py. Nothing in this
-# repo is pip-installed.
-project_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
-if project_root not in sys.path:
-    sys.path.insert(0, project_root)
-
-from backend.routers import (  # noqa: E402
-    atmosphere, climatology, configs_store, crosscheck, devices, documents,
-    settings, simulate, study,
-)
-from backend.serialise import SCHEMA_VERSION, git_sha  # noqa: E402
-
-VERSION = "1.0.0"
-
-
-@asynccontextmanager
-async def lifespan(app):
-    # Load the device table once at startup rather than per request. It is
-    # 121 rows of committed CSV, so this is cheap -- but it also means a
-    # malformed table fails loudly at boot instead of on the first search.
-    try:
-        from physics.devices import load_catalogue
-
-        app.state.catalogue = load_catalogue()
-        print("Loaded %d devices" % len(app.state.catalogue))
-    except Exception as exc:  # noqa: BLE001 - startup diagnostics
-        app.state.catalogue = {}
-        print("WARNING: device catalogue unavailable: %s" % exc)
-    yield
-
-
-app = FastAPI(
-    title="STAR Recovery Calculator",
-    description="1-D descent, canopy inflation and opening loads. See PLAN.md.",
-    version=VERSION,
-    lifespan=lifespan,
-)
-
-# The Vite dev server proxies /api to this port, so CORS is not strictly needed
-# in dev -- but it is needed the moment anyone opens the built frontend from a
-# file or a different host, and the failure mode without it is an opaque
-# browser error rather than a useful message.
-app.add_middleware(
-    CORSMiddleware,
-    allow_origins=[
-        "http://localhost:5273",
-        "http://127.0.0.1:5273",
-    ],
-    allow_credentials=True,
-    allow_methods=["*"],
-    allow_headers=["*"],
-)
-
-app.include_router(simulate.router)
-app.include_router(study.router)
-app.include_router(crosscheck.router)
-app.include_router(devices.router)
-app.include_router(atmosphere.router)
-app.include_router(climatology.router)
-app.include_router(settings.router)
-app.include_router(configs_store.router)
-app.include_router(documents.router)
-
-
-@app.get("/api/health")
-def health():
-    """The frontend polls this to decide whether to fall back to fixtures, so
-    it must stay cheap and must not touch the physics."""
-    return {"status": "healthy", "version": VERSION, "git_sha": git_sha(),
-            "schema_version": SCHEMA_VERSION}
-
-
-@app.get("/")
-def root():
-    return {"name": "STAR Recovery Calculator", "version": VERSION,
-            "docs": "/docs"}
diff --git a/recovery-calculator/backend/routers/__init__.py b/recovery-calculator/backend/routers/__init__.py
deleted file mode 100644
index e69de29bb..000000000
diff --git a/recovery-calculator/backend/routers/documents.py b/recovery-calculator/backend/routers/documents.py
deleted file mode 100644
index 3cd7fd5b3..000000000
--- a/recovery-calculator/backend/routers/documents.py
+++ /dev/null
@@ -1,337 +0,0 @@
-"""Per-user recovery configs with microversion history + named releases.
-
-Ported from pid-designer/backend/routers/pid.py. A pid *diagram* is a recovery
-*config* here; the payload is a config blob (``{"config": <UiConfig>}``) instead
-of ``{nodes, edges}``. Three tiers of durability:
-
-* **autosave** -> a fast working copy on the volume (``current.json``). Never
-  hits S3. ``/load`` always returns it -- the freshest state.
-* **microversions** -> automatic snapshots pushed to storage over time
-  (throttled to ``MICRO_INTERVAL`` while editing) plus a best-effort ``/flush``
-  when the tab closes. The safety net; S3 object versioning + a lifecycle rule
-  prunes old ones in prod, files on the volume in dev.
-* **releases** -> explicit, immutable, user-named milestones ("0.1").
-
-Version history lives in :mod:`backend.storage`. This module owns the working
-copy and the per-user document index only. Auth is Caddy's job; a missing header
-just means the ``local`` user (never a rejection). See backend/userdata.py.
-
-The client-side localStorage autosave (frontend/src/lib/persist.ts) stays as the
-instant working cache; this server store is the durable, versioned timeline.
-"""
-
-from __future__ import annotations
-
-import json
-import os
-import tempfile
-import time
-from datetime import datetime, timezone
-from pathlib import Path
-
-from fastapi import APIRouter, HTTPException, Request
-from pydantic import BaseModel
-
-from backend import storage, userdata
-
-router = APIRouter(prefix="/api/recovery/documents", tags=["documents"])
-
-# Seconds between automatic microversion snapshots for one document while it is
-# being actively autosaved. The on-close /flush ignores this.
-MICRO_INTERVAL = int(os.environ.get("RECOVERY_MICRO_INTERVAL", "300"))
-
-# (user, doc_id) -> monotonic time of the last microversion. In-process only;
-# after a restart the worst case is one extra snapshot, which is harmless.
-_last_micro: dict[tuple[str, str], float] = {}
-
-
-def _now_iso() -> str:
-    return datetime.now(timezone.utc).isoformat()
-
-
-# ── working copy + document index (on the volume) ────────────────────────────
-
-def _index_path(user: str) -> Path:
-    return userdata.user_dir(user) / "index.json"
-
-
-def _load_index(user: str) -> list[dict]:
-    p = _index_path(user)
-    if not p.is_file():
-        return []
-    try:
-        data = json.loads(p.read_text("utf-8"))
-        return data if isinstance(data, list) else []
-    except (OSError, ValueError):
-        return []
-
-
-def _save_index(user: str, index: list[dict]) -> None:
-    p = _index_path(user)
-    p.parent.mkdir(parents=True, exist_ok=True)
-    fd, tmp = tempfile.mkstemp(dir=p.parent, prefix=".tmp-", suffix=".json")
-    try:
-        with os.fdopen(fd, "w", encoding="utf-8") as fh:
-            json.dump(index, fh, indent=2)
-        os.replace(tmp, p)
-    except BaseException:
-        if os.path.exists(tmp):
-            os.unlink(tmp)
-        raise
-
-
-def _require_id(doc_id: str) -> str:
-    """Sanitize a path-supplied id into a safe segment, or 404."""
-    safe = userdata.slugify(doc_id)
-    if not safe:
-        raise HTTPException(status_code=404, detail="Unknown document")
-    return safe
-
-
-def _unique_id(user: str, name: str) -> str:
-    base = userdata.slugify(name) or "config"
-    existing = {d["id"] for d in _load_index(user)}
-    if base not in existing:
-        return base
-    n = 2
-    while f"{base}-{n}" in existing:
-        n += 1
-    return f"{base}-{n}"
-
-
-def _working_path(user: str, doc_id: str) -> Path:
-    return userdata.user_dir(user) / doc_id / "current.json"
-
-
-def _read_working(user: str, doc_id: str) -> dict | None:
-    p = _working_path(user, doc_id)
-    if not p.is_file():
-        return None
-    try:
-        return json.loads(p.read_text("utf-8"))
-    except (OSError, ValueError):
-        return None
-
-
-def _write_working(user: str, doc_id: str, data: dict) -> None:
-    p = _working_path(user, doc_id)
-    p.parent.mkdir(parents=True, exist_ok=True)
-    fd, tmp = tempfile.mkstemp(dir=p.parent, prefix=".tmp-", suffix=".json")
-    try:
-        with os.fdopen(fd, "w", encoding="utf-8") as fh:
-            json.dump(data, fh, indent=2)
-        os.replace(tmp, p)
-    except BaseException:
-        if os.path.exists(tmp):
-            os.unlink(tmp)
-        raise
-
-
-def _touch_index(user: str, doc_id: str) -> None:
-    index = _load_index(user)
-    for d in index:
-        if d["id"] == doc_id:
-            d["updatedAt"] = _now_iso()
-            _save_index(user, index)
-            return
-
-
-# ── request models ───────────────────────────────────────────────────────────
-
-class ConfigPayload(BaseModel):
-    config: dict
-
-
-class CreatePayload(BaseModel):
-    name: str
-    config: dict | None = None  # seed the working copy; {} if omitted
-
-
-class NamePayload(BaseModel):
-    name: str
-
-
-class ReleasePayload(BaseModel):
-    label: str
-    config: dict | None = None  # snapshot this; else the current working copy
-
-
-# ── document CRUD ─────────────────────────────────────────────────────────────
-
-@router.get("")
-async def list_documents(request: Request):
-    """The caller's configs, newest-updated first."""
-    user = userdata.current_user(request)
-    index = _load_index(user)
-    index.sort(key=lambda d: d.get("updatedAt") or "", reverse=True)
-    return index
-
-
-@router.post("")
-async def create_document(request: Request, payload: CreatePayload):
-    """Create a new config owned by the caller, seeded with an optional config."""
-    user = userdata.current_user(request)
-    name = payload.name.strip() or "Untitled"
-    doc_id = _unique_id(user, name)
-    now = _now_iso()
-    meta = {"id": doc_id, "name": name, "createdAt": now, "updatedAt": now}
-    index = _load_index(user)
-    index.append(meta)
-    _save_index(user, index)
-    _write_working(user, doc_id, {"config": payload.config or {}})
-    return meta
-
-
-@router.patch("/{doc_id}")
-async def rename_document(request: Request, doc_id: str, payload: NamePayload):
-    """Rename a config. The id (and all storage keys) stay fixed."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    name = payload.name.strip()
-    if not name:
-        raise HTTPException(status_code=400, detail="Name is required")
-    index = _load_index(user)
-    for d in index:
-        if d["id"] == doc_id:
-            d["name"] = name
-            d["updatedAt"] = _now_iso()
-            _save_index(user, index)
-            return d
-    raise HTTPException(status_code=404, detail="Unknown document")
-
-
-@router.delete("/{doc_id}")
-async def delete_document(request: Request, doc_id: str):
-    """Remove a config: index entry, working copy, and its version history."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    index = [d for d in _load_index(user) if d["id"] != doc_id]
-    _save_index(user, index)
-    storage.backend.delete_doc(user, doc_id)
-    _last_micro.pop((user, doc_id), None)
-    return {"ok": True}
-
-
-# ── working copy: load + autosave ────────────────────────────────────────────
-
-@router.get("/{doc_id}/load")
-async def load_document(request: Request, doc_id: str):
-    """Load the freshest state: the working copy.
-
-    Falls back to the latest microversion only if the working copy is missing (a
-    fresh or lost volume) -- self-healing. Never silently returns an older
-    snapshot otherwise; that is what /history is for.
-    """
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    data = _read_working(user, doc_id)
-    if data is None:
-        data = storage.backend.latest_micro(user, doc_id)
-        if data is not None:
-            _write_working(user, doc_id, data)  # rehydrate the volume
-    return data or {"config": {}}
-
-
-@router.post("/{doc_id}/autosave")
-async def autosave_document(request: Request, doc_id: str, payload: ConfigPayload):
-    """Write the working copy; snapshot a microversion only once per MICRO_INTERVAL."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    data = {"config": payload.config}
-    _write_working(user, doc_id, data)
-
-    micro = False
-    key = (user, doc_id)
-    now = time.monotonic()
-    if now - _last_micro.get(key, 0.0) >= MICRO_INTERVAL:
-        try:
-            storage.backend.snapshot_micro(user, doc_id, data)
-            _last_micro[key] = now
-            _touch_index(user, doc_id)
-            micro = True
-        except Exception:
-            # Never let a snapshot failure lose the edit -- the working copy is
-            # already saved. Retry on the next autosave.
-            pass
-    return {"ok": True, "micro": micro}
-
-
-@router.post("/{doc_id}/flush")
-async def flush_document(request: Request, doc_id: str, payload: ConfigPayload):
-    """Force an immediate microversion. Target of the on-close sendBeacon."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    data = {"config": payload.config}
-    _write_working(user, doc_id, data)
-    try:
-        storage.backend.snapshot_micro(user, doc_id, data)
-        _last_micro[(user, doc_id)] = time.monotonic()
-        _touch_index(user, doc_id)
-    except Exception as e:
-        raise HTTPException(status_code=502, detail=f"Snapshot failed: {e}")
-    return {"ok": True}
-
-
-# ── microversion history ─────────────────────────────────────────────────────
-
-@router.get("/{doc_id}/history")
-async def get_history(request: Request, doc_id: str):
-    """Recent automatic microversions, newest first."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    return storage.backend.list_micro(user, doc_id)
-
-
-@router.get("/{doc_id}/version/{version_id}")
-async def get_version(request: Request, doc_id: str, version_id: str):
-    """Fetch one microversion (for preview/restore). Does not touch the working copy."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    data = storage.backend.get_micro(user, doc_id, version_id)
-    if data is None:
-        raise HTTPException(status_code=404, detail="Version not found")
-    return data
-
-
-# ── releases ─────────────────────────────────────────────────────────────────
-
-@router.post("/{doc_id}/release")
-async def create_release(request: Request, doc_id: str, payload: ReleasePayload):
-    """Publish the current state as an immutable named release (e.g. "0.1")."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    label = userdata.slugify(payload.label)
-    if not label:
-        raise HTTPException(status_code=400, detail="A version label is required")
-
-    if payload.config is not None:
-        data = {"config": payload.config}
-        _write_working(user, doc_id, data)
-    else:
-        data = _read_working(user, doc_id) or {"config": {}}
-
-    try:
-        meta = storage.backend.create_release(user, doc_id, label, data)
-    except FileExistsError:
-        raise HTTPException(status_code=409, detail=f"Release '{label}' already exists")
-    _touch_index(user, doc_id)
-    return meta
-
-
-@router.get("/{doc_id}/releases")
-async def list_releases(request: Request, doc_id: str):
-    """Published releases, newest first."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    return storage.backend.list_releases(user, doc_id)
-
-
-@router.get("/{doc_id}/release/{label}")
-async def get_release(request: Request, doc_id: str, label: str):
-    """Fetch one release snapshot (for preview/restore)."""
-    user = userdata.current_user(request)
-    doc_id = _require_id(doc_id)
-    data = storage.backend.get_release(user, doc_id, userdata.slugify(label))
-    if data is None:
-        raise HTTPException(status_code=404, detail="Release not found")
-    return data
diff --git a/recovery-calculator/dev.sh b/recovery-calculator/dev.sh
deleted file mode 100755
index 0de288929..000000000
--- a/recovery-calculator/dev.sh
+++ /dev/null
@@ -1,80 +0,0 @@
-#!/usr/bin/env bash
-# recovery-calculator/dev.sh — backend :8100 + frontend :5273.
-#
-# PLAN.md §11.1: the ports are load-bearing, not cosmetic. EngineDesign/dev.sh
-# force-kills whatever holds 8000, so sharing a port would let one app silently
-# kill the other. This app owns 8100 and 5273 and touches nothing else.
-
-set -e
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-cd "$SCRIPT_DIR"
-
-BACKEND_PORT=8100
-FRONTEND_PORT=5273
-
-GREEN='\033[0;32m'; BLUE='\033[0;34m'; RED='\033[0;31m'; NC='\033[0m'
-
-BACKEND_PID=""
-FRONTEND_PID=""
-
-cleanup() {
-  echo -e "\n${BLUE}Shutting down...${NC}"
-  [ -n "$BACKEND_PID" ] && kill "$BACKEND_PID" 2>/dev/null || true
-  [ -n "$FRONTEND_PID" ] && kill "$FRONTEND_PID" 2>/dev/null || true
-  wait 2>/dev/null || true
-  exit 0
-}
-trap cleanup EXIT INT TERM
-
-# ─── venv ────────────────────────────────────────────────────────────────────
-if [ ! -x .venv/bin/uvicorn ]; then
-  echo -e "${BLUE}Creating .venv and installing requirements...${NC}"
-  [ -d .venv ] || python3 -m venv .venv
-  .venv/bin/pip install --quiet --upgrade pip
-  .venv/bin/pip install --quiet -r requirements.txt
-fi
-PYTHON_CMD="$SCRIPT_DIR/.venv/bin/python3"
-
-# ─── free the backend port ───────────────────────────────────────────────────
-# Only ours. Deliberately never touches 8000 or 8001.
-for attempt in 1 2 3; do
-  PIDS=$(lsof -ti:"$BACKEND_PORT" 2>/dev/null || true)
-  [ -z "$PIDS" ] && break
-  echo -e "${BLUE}Freeing port $BACKEND_PORT (attempt $attempt)${NC}"
-  echo "$PIDS" | xargs -r kill -9 2>/dev/null || true
-  sleep 1
-done
-
-# ─── backend ─────────────────────────────────────────────────────────────────
-echo -e "${GREEN}Backend  → http://localhost:$BACKEND_PORT  (docs at /docs)${NC}"
-"$PYTHON_CMD" -m uvicorn backend.main:app --reload --port "$BACKEND_PORT" &
-BACKEND_PID=$!
-
-# uvicorn exits silently on an import error, and the frontend would then sit
-# on its 6 s timeout per request while falling back to fixtures -- which looks
-# like "physics not written yet" rather than "backend is broken". Catch it.
-sleep 2
-if ! kill -0 "$BACKEND_PID" 2>/dev/null; then
-  echo -e "${RED}Backend died on startup. Run it directly to see why:${NC}"
-  echo "  cd $SCRIPT_DIR && .venv/bin/python -m uvicorn backend.main:app --port $BACKEND_PORT"
-  exit 1
-fi
-
-# ─── frontend ────────────────────────────────────────────────────────────────
-if [ -d frontend ]; then
-  if [ ! -d frontend/node_modules ]; then
-    echo -e "${BLUE}Installing frontend dependencies...${NC}"
-    (cd frontend && (npm ci --silent 2>/dev/null || npm install --silent))
-  fi
-  echo -e "${GREEN}Frontend → http://localhost:$FRONTEND_PORT${NC}"
-  # WSL2 software-renders WebGL and floods stderr with MESA/ZINK noise that
-  # buries anything useful. Same handling as EngineDesign/dev.sh.
-  (cd frontend && LIBGL_ALWAYS_SOFTWARE=1 npm run dev 2>&1 \
-     | grep -vE "MESA|ZINK|libGL|glx" ) &
-  FRONTEND_PID=$!
-else
-  echo -e "${BLUE}No frontend/ — backend only.${NC}"
-fi
-
-wait
diff --git a/recovery-calculator/frontend/.dockerignore b/recovery-calculator/frontend/.dockerignore
deleted file mode 100644
index 1271a544f..000000000
--- a/recovery-calculator/frontend/.dockerignore
+++ /dev/null
@@ -1,22 +0,0 @@
-# Build context hygiene. Without this, `docker build` uploads the whole local
-# node_modules (~100MB+) that `npm ci` deletes and reinstalls anyway -- slow,
-# and it busts the layer cache every time you run npm install locally.
-#
-# The repo-root .dockerignore does NOT cover this: these images build with
-# their own directory as the context, so the ignore file must live here.
-node_modules
-dist
-build
-.next
-
-# Never bake secrets or local noise into an image layer
-.env
-*.env
-!*.env.example
-*.log
-.DS_Store
-
-# Test output
-coverage
-playwright-report
-test-results
diff --git a/recovery-calculator/frontend/.gitignore b/recovery-calculator/frontend/.gitignore
deleted file mode 100644
index 5c02926d2..000000000
--- a/recovery-calculator/frontend/.gitignore
+++ /dev/null
@@ -1,22 +0,0 @@
-# Logs
-logs
-*.log
-npm-debug.log*
-yarn-debug.log*
-pnpm-debug.log*
-
-node_modules
-dist
-dist-ssr
-*.local
-
-# Editor directories and files
-.vscode/*
-!.vscode/extensions.json
-.idea
-.DS_Store
-*.suo
-*.ntvs*
-*.njsproj
-*.sln
-*.sw?
diff --git a/recovery-calculator/frontend/.vite/deps/_metadata.json b/recovery-calculator/frontend/.vite/deps/_metadata.json
deleted file mode 100644
index bf7c217fa..000000000
--- a/recovery-calculator/frontend/.vite/deps/_metadata.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "hash": "f187edb8",
-  "configHash": "935b1ed2",
-  "lockfileHash": "e3b0c442",
-  "browserHash": "fbd72e25",
-  "optimized": {},
-  "chunks": {}
-}
\ No newline at end of file
diff --git a/recovery-calculator/frontend/.vite/deps/package.json b/recovery-calculator/frontend/.vite/deps/package.json
deleted file mode 100644
index 3dbc1ca59..000000000
--- a/recovery-calculator/frontend/.vite/deps/package.json
+++ /dev/null
@@ -1,3 +0,0 @@
-{
-  "type": "module"
-}
diff --git a/recovery-calculator/frontend/Dockerfile b/recovery-calculator/frontend/Dockerfile
deleted file mode 100644
index 1418fafb2..000000000
--- a/recovery-calculator/frontend/Dockerfile
+++ /dev/null
@@ -1,34 +0,0 @@
-FROM node:24-alpine AS builder
-WORKDIR /app
-
-# Env vars, not flags -- npm spawns child processes for lifecycle scripts, and
-# these reach them. `npm ci` failing with ECONNRESET part way through a large
-# install should retry, not abort the build.
-ENV NPM_CONFIG_FETCH_RETRIES=5 \
-    NPM_CONFIG_FETCH_RETRY_MINTIMEOUT=20000 \
-    NPM_CONFIG_FETCH_RETRY_MAXTIMEOUT=120000 \
-    NPM_CONFIG_FETCH_TIMEOUT=300000 \
-    NPM_CONFIG_UPDATE_NOTIFIER=false \
-    NPM_CONFIG_MAXSOCKETS=3
-COPY package*.json ./
-# Retry loop, because npm's own fetch-retries do not cover a socket reset part
-# way through a tarball -- that aborts the whole install. The cache mount means
-# each attempt resumes from what the previous one already fetched, and the loop
-# still fails the build after 4 tries rather than silently continuing.
-RUN --mount=type=cache,target=/root/.npm \
-    n=0; \
-    until npm ci; do \
-      n=$((n+1)); \
-      if [ "$n" -ge 4 ]; then echo "npm ci failed after $n attempts" >&2; exit 1; fi; \
-      echo "npm ci hit a network error (attempt $n) -- retrying in 10s"; \
-      sleep 10; \
-    done
-COPY . .
-RUN npm run build
-
-FROM node:22-alpine
-WORKDIR /app
-RUN --mount=type=cache,target=/root/.npm npm install -g serve
-COPY --from=builder /app/dist ./dist
-EXPOSE 4176
-CMD ["serve", "-s", "dist", "-l", "4176"]
diff --git a/recovery-calculator/frontend/README.md b/recovery-calculator/frontend/README.md
deleted file mode 100644
index 63204354c..000000000
--- a/recovery-calculator/frontend/README.md
+++ /dev/null
@@ -1,150 +0,0 @@
-# Recovery Calculator — frontend
-
-React 19 + TypeScript + Vite + Recharts + Tailwind, per PLAN.md §11.1.
-
-```bash
-npm install
-npm run dev        # http://localhost:5273
-```
-
-Ports are load-bearing, not cosmetic (§11.1): this app owns **5273** (frontend)
-and **8100** (backend). `EngineDesign/dev.sh` force-kills whatever holds 8000,
-so sharing a port would let one app silently kill the other. `strictPort` is on
-so a clash fails loudly instead of drifting onto 5274.
-
-| script | what it does |
-|---|---|
-| `npm run dev` | dev server, proxies `/api` → `localhost:8100` |
-| `npm run build` | `tsc -b` then `vite build` — the typecheck is the point |
-| `npm run lint` | eslint |
-
-## It runs without a backend
-
-Every endpoint falls back to a local fixture, and **says so on screen**. That
-is the expected state while the physics is written in parallel, not an error
-state — but it must never be silent.
-
-| endpoint | fallback | how you can tell |
-|---|---|---|
-| `POST /api/simulate` | §11.11 canned `Result` | amber **"These numbers are not computed"** banner |
-| `GET /api/devices` | 4-row placeholder list | `placeholder list` badge in the picker |
-| `GET /api/climatology` | compiled-in bundle | `bundled data` badge, vs `live from backend` |
-| `GET /api/health` | — | header reads `No backend — fixture mode` |
-
-Two details worth knowing before you change `api/client.ts`:
-
-**Vite's dev proxy does not fail fast.** With nothing on :8100 it accepts the
-connection and hangs forever rather than returning a 502, so `fetch` never
-rejects. Every request therefore carries an explicit deadline, and the client
-caches "backend is down" so live-editing doesn't wait out that deadline on
-every keystroke. It re-probes every 10 s, so starting the backend mid-session
-picks up on its own.
-
-**A 4xx is not a reason to fall back.** `schema.py` sets `extra="forbid"` and
-validates triggers against the start altitude, so a 422 is the backend telling
-you something true about your config. Showing fake output instead would hide
-the one thing worth seeing. Only *unreachable* (timeout, network error, 404)
-falls back. A 5xx is ambiguous — Vite's proxy also returns 500 for a dead
-upstream — so that one re-probes `/health` before deciding.
-
-**A 422 `detail` is an ARRAY, not a string.** FastAPI returns
-`[{type, loc, msg, input}, …]`. Handing that to React as a child throws
-"Objects are not valid as a React child" and blanks the entire page, so
-`describeDetail` flattens it to `vehicle.m: greater than 0`. This actually
-happened: the backend made pad elevation a site constant, the frontend kept
-posting `z_site`, `extra="forbid"` returned a 422, and the app went white.
-
-## Layout
-
-```
-src/
-  types/schema.ts        mirror of physics/schema.py — see below
-  types/climatology.ts   shape of the climatology bundle
-  api/client.ts          endpoints + fallbacks
-  api/fixture.ts         the canned Result. NOT PHYSICS — read its header
-  fixtures/climatology.json   generated; do not hand-edit
-  lib/serialise.ts       the ONLY UiConfig → Config conversion
-  lib/units.ts           display helpers, SI stays on the wire
-  components/
-    ui.tsx               shared primitives
-    recovery/            the Recovery tab
-    atmosphere/          the Atmospheric Data tab
-```
-
-### `Ui*` types vs wire types
-
-Every Pydantic model sets `extra="forbid"`, so posting a UI bookkeeping field
-is a 422 rather than a silently ignored key. The editor needs state the physics
-must never see — a stable React key, which fields came from the catalog — so
-those live on `UiDevice`/`UiSite`/`UiHardware`, and `toWireConfig` in
-`lib/serialise.ts` is the only place allowed to cross the line. It names every
-field explicitly instead of spreading, so a new UI field stays UI-side by
-default. That is the safe direction to fail.
-
-The `Config` half of `types/schema.ts` is settled against `physics/schema.py`.
-**The `Result` half is the frontend's proposal** and is marked as such in the
-file — reconcile it when the backend's response models are final.
-
-### The climatology bundle is typechecked
-
-`api/client.ts` assigns `climatology.json` to the `Climatology` interface with
-a plain annotation, deliberately **not** an `as` cast. With `resolveJsonModule`
-on, that makes `npm run build` validate the actual committed data file against
-the declared types. Rename a column in `export_json.py` and CI fails, instead
-of a chart silently going blank in someone's browser. Keep it an annotation.
-
-Regenerate the bundle with:
-
-```bash
-cd ../site-climatology && python3 export_json.py
-```
-
-## Atmospheric Data tab
-
-Read-only reference climatology — it is not an input form. The pad state on the
-Recovery tab is a separate per-run decision (§5); this is the measured record
-you sanity-check that decision against.
-
-- **Pad pressure by month**, one line per METAR station. Every line is the same
-  quantity — station pressure at the pad — reached from a different vantage
-  point via eq (7b). The spread between them is the method's error bar,
-  measured rather than assumed.
-- **Troposphere temperature by month**, one line per sounding dataset, either
-  at a chosen height or as the lapse rate over the whole band. The lapse view
-  overlays what eq (7) would have inferred from the same ascents' surface
-  temperature; that gap is the modelling error the dataset exists to quantify.
-- **T against altitude** for a chosen station and either a monthly climatology
-  or an individual dated ascent. The individual ascents are the point: a
-  January mean profile is smooth, while the ascents behind it routinely carry a
-  surface inversion that the mean erases.
-
-Every chart has an **ISA baseline** toggle. ISA has no seasonality, so it draws
-flat against a real annual swing — which is the comparison. The ISA values come
-from `physics.atmosphere` via the export, not from a TypeScript
-reimplementation, so the baseline is the same standard atmosphere the solver
-integrates.
-
-Heights are **geopotential (H)** throughout, matching the recovery model.
-
-## Recharts traps found the hard way
-
-Both of these fail *silently* — no warning, no error, just a missing element:
-
-1. **Never wrap chart children in a fragment.** Recharts scans its own
-   `children` for known component types and does not flatten fragments, so
-   `<>{<Area/>}<{/Area}></>` renders nothing at all. Use sibling expressions.
-2. **Never build a range band from two stacked `<Area>`s.** Stacking baselines
-   the domain at zero, which flattens a 1 kPa annual swing into a flat line on
-   a 0–100 kPa axis. Use one Area whose dataKey holds a `[lo, hi]` tuple.
-3. **In `layout="vertical"`, do not put a `dataKey` on the `XAxis`.** It is the
-   value axis, and pinning it to one series sizes the domain from that series
-   alone and clips everything else off the plot.
-4. **A bottom `<Legend>` overprints an x-axis `label`.** Charts with both put
-   the legend on top.
-
-## Figures
-
-Recharts is for interaction only. Export artifacts are rendered server-side
-with matplotlib (§11.4) — the CLI needs headless figures regardless, so that
-code is written once and both paths use it. There is no matplotlib, and no
-image export, in this tree.
diff --git a/recovery-calculator/frontend/eslint.config.js b/recovery-calculator/frontend/eslint.config.js
deleted file mode 100644
index 5e6b472f5..000000000
--- a/recovery-calculator/frontend/eslint.config.js
+++ /dev/null
@@ -1,23 +0,0 @@
-import js from '@eslint/js'
-import globals from 'globals'
-import reactHooks from 'eslint-plugin-react-hooks'
-import reactRefresh from 'eslint-plugin-react-refresh'
-import tseslint from 'typescript-eslint'
-import { defineConfig, globalIgnores } from 'eslint/config'
-
-export default defineConfig([
-  globalIgnores(['dist']),
-  {
-    files: ['**/*.{ts,tsx}'],
-    extends: [
-      js.configs.recommended,
-      tseslint.configs.recommended,
-      reactHooks.configs.flat.recommended,
-      reactRefresh.configs.vite,
-    ],
-    languageOptions: {
-      ecmaVersion: 2020,
-      globals: globals.browser,
-    },
-  },
-])
diff --git a/recovery-calculator/frontend/index.html b/recovery-calculator/frontend/index.html
deleted file mode 100644
index 39472c99c..000000000
--- a/recovery-calculator/frontend/index.html
+++ /dev/null
@@ -1,17 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <meta charset="UTF-8" />
-    <link rel="icon" type="image/svg+xml" href="/star-icon.svg" />
-    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>Recovery Calculator</title>
-    <!-- Inter throughout — one proportional face for prose and numbers alike. -->
-    <link rel="preconnect" href="https://fonts.googleapis.com">
-    <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin>
-    <link href="https://fonts.googleapis.com/css2?family=Inter:wght@400;500;600;700&display=swap" rel="stylesheet">
-  </head>
-  <body>
-    <div id="root"></div>
-    <script type="module" src="/src/main.tsx"></script>
-  </body>
-</html>
diff --git a/recovery-calculator/frontend/package-lock.json b/recovery-calculator/frontend/package-lock.json
deleted file mode 100644
index 7226efc78..000000000
--- a/recovery-calculator/frontend/package-lock.json
+++ /dev/null
@@ -1,5408 +0,0 @@
-{
-  "name": "recovery-calculator-frontend",
-  "version": "0.0.0",
-  "lockfileVersion": 3,
-  "requires": true,
-  "packages": {
-    "": {
-      "name": "recovery-calculator-frontend",
-      "version": "0.0.0",
-      "dependencies": {
-        "react": "^19.2.0",
-        "react-dom": "^19.2.0",
-        "recharts": "^2.15.0"
-      },
-      "devDependencies": {
-        "@eslint/js": "^9.39.1",
-        "@tailwindcss/vite": "^4.1.18",
-        "@types/node": "^24.10.1",
-        "@types/react": "^19.2.5",
-        "@types/react-dom": "^19.2.3",
-        "@vitejs/plugin-react": "^5.1.1",
-        "eslint": "^9.39.1",
-        "eslint-plugin-react-hooks": "^7.0.1",
-        "eslint-plugin-react-refresh": "^0.4.24",
-        "globals": "^16.5.0",
-        "tailwindcss": "^4.1.18",
-        "typescript": "~5.9.3",
-        "typescript-eslint": "^8.46.4",
-        "vite": "^5.4.11",
-        "vitest": "^4.1.10"
-      }
-    },
-    "node_modules/@babel/code-frame": {
-      "version": "7.29.7",
-      "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.29.7.tgz",
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-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
-        "@babel/helper-validator-identifier": "^7.29.7",
-        "js-tokens": "^4.0.0",
-        "picocolors": "^1.1.1"
-      },
-      "engines": {
-        "node": ">=6.9.0"
-      }
-    },
-    "node_modules/@babel/compat-data": {
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-    "node_modules/@babel/core": {
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-        "@babel/helpers": "^7.29.7",
-        "@babel/parser": "^7.29.7",
-        "@babel/template": "^7.29.7",
-        "@babel/traverse": "^7.29.7",
-        "@babel/types": "^7.29.7",
-        "@jridgewell/remapping": "^2.3.5",
-        "convert-source-map": "^2.0.0",
-        "debug": "^4.1.0",
-        "gensync": "^1.0.0-beta.2",
-        "json5": "^2.2.3",
-        "semver": "^6.3.1"
-      },
-      "engines": {
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-      "funding": {
-        "type": "opencollective",
-        "url": "https://opencollective.com/babel"
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-    "node_modules/@babel/generator": {
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diff --git a/recovery-calculator/frontend/package.json b/recovery-calculator/frontend/package.json
deleted file mode 100644
index 5d997328c..000000000
--- a/recovery-calculator/frontend/package.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "name": "recovery-calculator-frontend",
-  "private": true,
-  "version": "0.0.0",
-  "type": "module",
-  "scripts": {
-    "dev": "vite",
-    "build": "tsc -b && vite build",
-    "lint": "eslint .",
-    "typecheck": "tsc -b --noEmit",
-    "preview": "vite preview",
-    "test": "vitest run",
-    "test:watch": "vitest"
-  },
-  "dependencies": {
-    "react": "^19.2.0",
-    "react-dom": "^19.2.0",
-    "recharts": "^2.15.0"
-  },
-  "devDependencies": {
-    "@eslint/js": "^9.39.1",
-    "@tailwindcss/vite": "^4.1.18",
-    "@types/node": "^24.10.1",
-    "@types/react": "^19.2.5",
-    "@types/react-dom": "^19.2.3",
-    "@vitejs/plugin-react": "^5.1.1",
-    "eslint": "^9.39.1",
-    "eslint-plugin-react-hooks": "^7.0.1",
-    "eslint-plugin-react-refresh": "^0.4.24",
-    "globals": "^16.5.0",
-    "tailwindcss": "^4.1.18",
-    "typescript": "~5.9.3",
-    "typescript-eslint": "^8.46.4",
-    "vite": "^5.4.11",
-    "vitest": "^4.1.10"
-  }
-}
diff --git a/recovery-calculator/frontend/public/star-icon.svg b/recovery-calculator/frontend/public/star-icon.svg
deleted file mode 100644
index 956f82d1c..000000000
--- a/recovery-calculator/frontend/public/star-icon.svg
+++ /dev/null
@@ -1,3 +0,0 @@
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-</svg>
diff --git a/recovery-calculator/frontend/src/App.tsx b/recovery-calculator/frontend/src/App.tsx
deleted file mode 100644
index dfcfaa159..000000000
--- a/recovery-calculator/frontend/src/App.tsx
+++ /dev/null
@@ -1,168 +0,0 @@
-/**
- * Two tabs: the recovery run, and the site climatology behind it.
- *
- * Both panels stay mounted and the inactive one is hidden, the same pattern
- * EngineDesign uses. That is not just a perf choice -- flipping to the
- * atmosphere tab to check what a January pad temperature looks like, and back,
- * must not discard a half-filled device card.
- */
-
-import { useCallback, useEffect, useState } from 'react'
-import starWordmark from './assets/star-wordmark.png'
-import { getHealth } from './api/client'
-import type { UiConfig } from './types/schema'
-import { loadUiConfig, saveUiConfig } from './lib/persist'
-import { ConfigVersions } from './components/versions/ConfigVersions'
-import { RecoveryPanel } from './components/recovery/RecoveryPanel'
-import { CornersPanel } from './components/corners/CornersPanel'
-import { StudyPanel } from './components/study/StudyPanel'
-import { CrosscheckPanel } from './components/crosscheck/CrosscheckPanel'
-import { AtmospherePanel } from './components/atmosphere/AtmospherePanel'
-import { DriftPanel } from './components/drift/DriftPanel'
-import { UnitsPanel } from './components/settings/UnitsPanel'
-
-type Tab = 'recovery' | 'corners' | 'study' | 'drift' | 'crosscheck' | 'atmosphere' | 'units'
-
-const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
-  { id: 'recovery', label: 'Setup & Basic Run', hint: 'Descent, loads and off-nominal cases',
-    accent: 'border-blue-500 text-blue-400' },
-  { id: 'corners', label: 'Corners', hint: 'Uncertainty sweep and the governing corner',
-    accent: 'border-violet-500 text-violet-400' },
-  { id: 'study', label: 'Sweep', hint: 'Compare designs - parachutes, altitudes, mass',
-    accent: 'border-amber-500 text-amber-400' },
-  { id: 'drift', label: 'Drift', hint: 'Downwind drift and landing point under recovery',
-    accent: 'border-sky-500 text-sky-400' },
-  { id: 'crosscheck', label: 'Cross-check',
-    hint: 'This tool vs OpenRocket vs the recovery mastersheet',
-    accent: 'border-rose-500 text-rose-400' },
-  { id: 'atmosphere', label: 'Atmospheric Data', hint: 'Measured climatology at FAR',
-    accent: 'border-emerald-500 text-emerald-400' },
-  // Last, and visually quieter than the three that do work. It is a settings
-  // screen, not a fourth thing to analyse.
-  { id: 'units', label: 'Units', hint: 'Which unit each quantity displays in',
-    accent: 'border-[var(--color-text-muted)] text-[var(--color-text-primary)]' },
-]
-
-export default function App() {
-  const [tab, setTab] = useState<Tab>('recovery')
-  const [connected, setConnected] = useState<boolean | null>(null)
-
-  /**
-   * The config, held here because two tabs edit and read it: Recovery owns the
-   * vehicle, site and devices; Corners owns the sweep bounds and runs the same
-   * vehicle through 32 of them.
-   *
-   * Lifted rather than put in a context -- the app has no context today and one
-   * shared value does not earn one. Everything else each panel needs (results,
-   * climatology, the sweep response) stays local to that panel.
-   *
-   * Restored from `localStorage` on open, which is why every tab's inputs
-   * survive a reload: they all live on this one object. `loadUiConfig` is
-   * passed as an initialiser rather than called, so it runs once instead of on
-   * every render.
-   */
-  const [ui, setUi] = useState<UiConfig>(loadUiConfig)
-
-  useEffect(() => {
-    getHealth().then((res) => {
-      setConnected(!res.error)
-    })
-  }, [])
-
-  // Debounced, because `ui` changes on every keystroke in every form and this
-  // serialises the whole config. 400 ms is well under the time it takes to
-  // reach for the reload key and well over a typing gap.
-  useEffect(() => {
-    const id = setTimeout(() => saveUiConfig(ui), 400)
-    return () => clearTimeout(id)
-  }, [ui])
-
-  // Stable so ConfigVersions' openDoc / mount effect don't re-run every render.
-  // An inline arrow here recreates onRestore each render, which churned the
-  // designs bar into a restore -> setUi -> render loop.
-  const handleRestore = useCallback((c: UiConfig) => {
-    setUi(c)
-    saveUiConfig(c)
-  }, [])
-
-  return (
-    <div className="min-h-screen bg-[var(--color-bg-primary)]">
-      <header className="border-b border-[var(--color-border)] bg-[var(--color-bg-secondary)]">
-        <div className="mx-auto max-w-[1800px] px-4 sm:px-6 lg:px-8">
-          <div className="flex h-16 items-center justify-between gap-4">
-            <div className="flex items-center gap-3">
-              <img src={starWordmark} alt="STAR" className="h-12 w-auto" />
-              <div className="h-8 w-px bg-[var(--color-border)]" />
-              <div>
-                <h1 className="text-xl font-bold text-[var(--color-text-primary)]">
-                  Recovery Calculator
-                </h1>
-              </div>
-            </div>
-
-            <div className="flex items-center gap-2">
-              <div className={`h-2 w-2 rounded-full ${
-                connected === null ? 'animate-pulse bg-yellow-500'
-                  : connected ? 'bg-green-500' : 'bg-red-500'}`} />
-              <span className="text-sm text-[var(--color-text-secondary)]">
-                {connected === null ? 'Connecting…'
-                  : connected ? 'Connected' : 'Disconnected'}
-              </span>
-            </div>
-          </div>
-
-          {/* Versioned designs, tucked between the title and the tabs so the
-              design you are on sits with the rest of the app chrome. */}
-          <div className="border-t border-[var(--color-border)]">
-            <ConfigVersions
-              config={ui}
-              onRestore={handleRestore}
-              inline
-            />
-          </div>
-
-          <nav className="-mb-px flex gap-1">
-            {TABS.map((t) => (
-              <button
-                key={t.id}
-                onClick={() => setTab(t.id)}
-                title={t.hint}
-                className={`border-b-2 px-4 py-3 text-sm font-medium transition-colors ${
-                  tab === t.id
-                    ? t.accent
-                    : 'border-transparent text-[var(--color-text-secondary)] hover:border-[var(--color-border)] hover:text-[var(--color-text-primary)]'
-                }`}
-              >
-                {t.label}
-              </button>
-            ))}
-          </nav>
-        </div>
-      </header>
-
-      <main className="mx-auto max-w-[1800px] px-4 py-6 sm:px-6 lg:px-8">
-        <div className={tab === 'recovery' ? '' : 'hidden'}>
-          <RecoveryPanel ui={ui} onChange={setUi} />
-        </div>
-        <div className={tab === 'corners' ? '' : 'hidden'}>
-          <CornersPanel ui={ui} onChange={setUi} />
-        </div>
-        <div className={tab === 'study' ? '' : 'hidden'}>
-          <StudyPanel ui={ui} onChange={setUi} />
-        </div>
-        <div className={tab === 'drift' ? '' : 'hidden'}>
-          <DriftPanel ui={ui} />
-        </div>
-        <div className={tab === 'crosscheck' ? '' : 'hidden'}>
-          <CrosscheckPanel ui={ui} />
-        </div>
-        <div className={tab === 'atmosphere' ? '' : 'hidden'}>
-          <AtmospherePanel />
-        </div>
-        <div className={tab === 'units' ? '' : 'hidden'}>
-          <UnitsPanel />
-        </div>
-      </main>
-    </div>
-  )
-}
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diff --git a/recovery-calculator/frontend/src/index.css b/recovery-calculator/frontend/src/index.css
deleted file mode 100644
index a4b15c879..000000000
--- a/recovery-calculator/frontend/src/index.css
+++ /dev/null
@@ -1,163 +0,0 @@
-@import "tailwindcss";
-
-/* ── Type scale ──────────────────────────────────────────────────────────────
-   Overrides Tailwind's default steps rather than rewriting call sites: the app
-   uses `text-xs` in ~40 places, so the size lives here and every one of them
-   moves together. Sizes are absolute px-equivalents, NOT a root font-size
-   multiplier -- a `html { font-size }` bump would scale the rem-based
-   utilities but silently leave the charts behind, since Recharts takes numeric
-   px font sizes (see chartTheme.ts) and SVG does not inherit the trick.
-
-   Each step is bigger than the Tailwind default it replaces, and the smallest
-   tier moves most: 10px labels were the worst offenders, and everything
-   readable at a glance in a monospace face wants ~14px, not 12px.
-
-       2xs  13px   was ~10px   axis-style labels, badges, units
-       xs   14px   was  12px   the dominant body size
-       sm   16px   was  14px   card titles, tab bar
-       base 18px   was  16px
-       lg   22px   was  18px   the big Stat readouts
-
-   `--text-2xs` is a new step, not a Tailwind default. It exists so the
-   micro-label tier is a named token that scales with the rest instead of ~23
-   hard-coded arbitrary pixel values that would not.                        */
-@theme {
-  --text-2xs: 0.8125rem;
-  --text-2xs--line-height: 1.45;
-  --text-xs: 0.875rem;
-  --text-xs--line-height: 1.45;
-  --text-sm: 1rem;
-  --text-sm--line-height: 1.5;
-  --text-base: 1.125rem;
-  --text-base--line-height: 1.55;
-  --text-lg: 1.375rem;
-  --text-lg--line-height: 1.3;
-  --text-xl: 1.625rem;
-  --text-xl--line-height: 1.25;
-
-  /* Padding, gaps and control heights are all multiples of this. Up 10% so
-     the larger text does not end up crowding the borders it sits inside. */
-  --spacing: 0.275rem;
-}
-
-/* Same dark engineering palette as EngineDesign. Shared look, not shared code
-   -- PLAN.md §11.1 keeps the two apps independent at runtime, and this file is
-   a copy on purpose so neither app can restyle the other. */
-:root {
-  --color-bg-primary: #0a0a0f;
-  --color-bg-secondary: #12121a;
-  --color-bg-tertiary: #1a1a24;
-  --color-accent: #3b82f6;
-  --color-accent-hover: #2563eb;
-  --color-success: #22c55e;
-  --color-warning: #f59e0b;
-  --color-danger: #ef4444;
-
-  /* Contrast ratios below are against --color-bg-tertiary (#1a1a24), the
-     lightest background any of these sits on -- the inset panels inside a
-     card -- so they are the worst case, not the flattering one.
-
-     The muted tier was #64748b, which is 3.6:1 there. That is under the 4.5:1
-     WCAG AA floor for normal text, and it carried the tier used for the
-     SMALLEST text in the app, so it failed twice over. All three tiers now
-     clear 7:1 (AAA) while staying visually distinct from each other.
-
-     `src/lib/theme.test.ts` recomputes these from this file and fails if any
-     tier drops below 7:1 or the three stop being distinguishable. */
-  --color-text-primary: #f8fafc;   /* 16.5:1  unchanged */
-  --color-text-secondary: #cbd5e1; /* 11.6:1  was #94a3b8,  6.7:1 */
-  --color-text-muted: #9fb0c4;     /*  7.8:1  was #64748b,  3.6:1 */
-
-  /* Dividers were near-invisible against the cards they separate. */
-  --color-border: #383848;
-
-  /* One colour per off-nominal case (§11.5), used by both the case selector
-     and the trajectory chart so a line and its tab always agree. */
-  --case-nominal: #3b82f6;
-  --case-simultaneous: #a855f7;
-  --case-no-main: #f59e0b;
-  --case-no-drogue: #ef4444;
-}
-
-body {
-  @apply bg-[var(--color-bg-primary)] text-[var(--color-text-primary)] antialiased;
-  /* The UI reads as an ordinary application, not a terminal: a proportional
-     sans for all chrome, labels, prose and headings. Numbers opt back into a
-     monospace face via `.font-num` (and the data tables below) so columns of
-     figures still line up. */
-  font-family: 'Inter', system-ui, -apple-system, 'Segoe UI', Roboto,
-    'Helvetica Neue', Arial, sans-serif;
-}
-
-/* Redundant now that the body default is already Inter, but kept because ~28
-   call sites still name it and removing it would be churn with no effect. */
-.font-prose {
-  font-family: 'Inter', system-ui, sans-serif;
-}
-
-/* Numbers use the SAME sans font as everything else -- there is no separate
-   monospace tier. `tabular-nums` is the one concession to alignment: it makes
-   every digit share one advance width so columns of figures still line up,
-   without changing the typeface. Applied to numeric readouts (stat values,
-   range bands, inputs) via this class, and to whole data tables below. */
-.font-num {
-  font-feature-settings: 'tnum' 1;
-  font-variant-numeric: tabular-nums;
-}
-
-/* Data tables: same sans body font, tabular figures so rows align down the
-   column the way a spreadsheet does. */
-table {
-  font-variant-numeric: tabular-nums;
-  font-feature-settings: 'tnum' 1;
-}
-
-::-webkit-scrollbar {
-  width: 10px;
-  height: 10px;
-}
-
-::-webkit-scrollbar-track {
-  background: var(--color-bg-secondary);
-}
-
-::-webkit-scrollbar-thumb {
-  background: var(--color-border);
-  border-radius: 4px;
-}
-
-::-webkit-scrollbar-thumb:hover {
-  background: var(--color-text-secondary);
-}
-
-/* Number inputs: the spinners steal horizontal room and nobody nudges a
-   parachute diameter one arrow-click at a time. */
-input[type="number"]::-webkit-outer-spin-button,
-input[type="number"]::-webkit-inner-spin-button {
-  -webkit-appearance: none;
-  margin: 0;
-}
-
-input[type="number"] {
-  -moz-appearance: textfield;
-  appearance: textfield;
-}
-
-/* Breathing room before a section heading, but not above the first one in a
-   card -- a gap at the very top of a panel reads as a layout bug rather than
-   as separation. The adjacent-sibling selector gives exactly that: it applies
-   between consecutive groups and never to the leading one.
-
-   Padding rather than margin on purpose. The parent uses Tailwind's
-   `space-y-*`, which is itself a margin rule on the same elements, and two
-   margin rules of equal specificity would resolve by source order -- i.e. by
-   whichever stylesheet the bundler happened to emit last. Padding cannot
-   collide with it. */
-[data-field-group] + [data-field-group] {
-  padding-top: 0.85rem;
-}
-
-/* Recharts paints its default tooltip white. */
-.recharts-tooltip-wrapper:focus {
-  outline: none;
-}
diff --git a/recovery-calculator/frontend/src/main.tsx b/recovery-calculator/frontend/src/main.tsx
deleted file mode 100644
index 3b61d2abe..000000000
--- a/recovery-calculator/frontend/src/main.tsx
+++ /dev/null
@@ -1,16 +0,0 @@
-import { StrictMode } from 'react'
-import { createRoot } from 'react-dom/client'
-import './index.css'
-import App from './App.tsx'
-import { UnitsProvider } from './lib/unitsContext.tsx'
-
-createRoot(document.getElementById('root')!).render(
-  <StrictMode>
-    {/* Outside <App> because every tab reads it, including the Units tab
-        itself. It holds display preferences only -- nothing here can reach
-        the config the physics runs on. */}
-    <UnitsProvider>
-      <App />
-    </UnitsProvider>
-  </StrictMode>,
-)
diff --git a/recovery-calculator/frontend/tsconfig.app.json b/recovery-calculator/frontend/tsconfig.app.json
deleted file mode 100644
index 25706e308..000000000
--- a/recovery-calculator/frontend/tsconfig.app.json
+++ /dev/null
@@ -1,29 +0,0 @@
-{
-  "compilerOptions": {
-    "tsBuildInfoFile": "./node_modules/.tmp/tsconfig.app.tsbuildinfo",
-    "target": "ES2022",
-    "useDefineForClassFields": true,
-    "lib": ["ES2022", "DOM", "DOM.Iterable"],
-    "module": "ESNext",
-    "types": ["vite/client", "node"],
-    "skipLibCheck": true,
-
-    /* Bundler mode */
-    "moduleResolution": "bundler",
-    "allowImportingTsExtensions": true,
-    "verbatimModuleSyntax": true,
-    "moduleDetection": "force",
-    "noEmit": true,
-    "jsx": "react-jsx",
-    "resolveJsonModule": true,
-
-    /* Linting */
-    "strict": true,
-    "noUnusedLocals": true,
-    "noUnusedParameters": true,
-    "erasableSyntaxOnly": true,
-    "noFallthroughCasesInSwitch": true,
-    "noUncheckedSideEffectImports": true
-  },
-  "include": ["src"]
-}
diff --git a/recovery-calculator/frontend/tsconfig.json b/recovery-calculator/frontend/tsconfig.json
deleted file mode 100644
index 1ffef600d..000000000
--- a/recovery-calculator/frontend/tsconfig.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "files": [],
-  "references": [
-    { "path": "./tsconfig.app.json" },
-    { "path": "./tsconfig.node.json" }
-  ]
-}
diff --git a/recovery-calculator/frontend/tsconfig.node.json b/recovery-calculator/frontend/tsconfig.node.json
deleted file mode 100644
index 8a67f62f4..000000000
--- a/recovery-calculator/frontend/tsconfig.node.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
-  "compilerOptions": {
-    "tsBuildInfoFile": "./node_modules/.tmp/tsconfig.node.tsbuildinfo",
-    "target": "ES2023",
-    "lib": ["ES2023"],
-    "module": "ESNext",
-    "types": ["node"],
-    "skipLibCheck": true,
-
-    /* Bundler mode */
-    "moduleResolution": "bundler",
-    "allowImportingTsExtensions": true,
-    "verbatimModuleSyntax": true,
-    "moduleDetection": "force",
-    "noEmit": true,
-
-    /* Linting */
-    "strict": true,
-    "noUnusedLocals": true,
-    "noUnusedParameters": true,
-    "erasableSyntaxOnly": true,
-    "noFallthroughCasesInSwitch": true,
-    "noUncheckedSideEffectImports": true
-  },
-  "include": ["vite.config.ts"]
-}
diff --git a/recovery-calculator/frontend/vite.config.ts b/recovery-calculator/frontend/vite.config.ts
deleted file mode 100644
index 5bac69a8a..000000000
--- a/recovery-calculator/frontend/vite.config.ts
+++ /dev/null
@@ -1,23 +0,0 @@
-import { defineConfig } from 'vite'
-import react from '@vitejs/plugin-react'
-import tailwindcss from '@tailwindcss/vite'
-
-// PLAN.md §11.1: the ports are load-bearing, not cosmetic. EngineDesign/dev.sh
-// force-kills whatever holds 8000, so sharing a port would let one app
-// silently kill the other. This app owns 5273 (frontend) and 8100 (backend).
-export default defineConfig({
-  plugins: [react(), tailwindcss()],
-  server: {
-    port: 5273,
-    strictPort: true, // fail loudly rather than drift onto 5274 and confuse dev.sh
-    proxy: {
-      '/api': {
-        target: 'http://localhost:8100',
-        changeOrigin: true,
-      },
-    },
-    watch: {
-      ignored: ['**/tsconfig.json', '**/tsconfig.*.json'],
-    },
-  },
-})
diff --git a/recovery-calculator/pyproject.toml b/recovery-calculator/pyproject.toml
deleted file mode 100644
index 6716b259e..000000000
--- a/recovery-calculator/pyproject.toml
+++ /dev/null
@@ -1,15 +0,0 @@
-# Recovery calculator — Python tooling config.
-#
-# Deliberately carries ONLY [tool.pytest.ini_options]. There is no
-# [tool.black] here: Black walks up from each source file to the first
-# pyproject.toml, and the repo-root one owns line-length for the whole tree.
-# Adding a [tool.black] table here would silently fork the formatting.
-#
-# Not a distribution either — no [build-system], no [project]. Nothing in this
-# repo is pip-installed; `physics` is imported with the subproject root
-# on sys.path, matching EngineDesign/backend/main.py.
-
-[tool.pytest.ini_options]
-testpaths = ["tests"]
-python_files = ["test_*.py"]
-python_functions = ["test_*"]
diff --git a/recovery-calculator/requirements-ci.txt b/recovery-calculator/requirements-ci.txt
deleted file mode 100644
index b8d6aa0f6..000000000
--- a/recovery-calculator/requirements-ci.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-# CI-only requirements: everything in requirements.txt plus the test runner.
-#
-# Split out to match EngineDesign, where CI installs a superset that the dev
-# environment does not need to carry.
-
--r requirements.txt
-
-pytest>=7.0
-pytest-timeout>=2.1
-
-# fastapi's TestClient is a thin wrapper over an HTTP client and needs one.
-# starlette wants httpx2; plain httpx still works but deprecation-warns.
-httpx2>=0.28
diff --git a/recovery-calculator/requirements.txt b/recovery-calculator/requirements.txt
deleted file mode 100644
index e86dfd06e..000000000
--- a/recovery-calculator/requirements.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-# Recovery calculator — physics core.
-#
-# physics.atmosphere and physics.pad_state are deliberately stdlib-only (see
-# physics/__init__.py), so site-climatology can import the canonical ISA
-# equations without any of this. Everything below is for the solver and the
-# schema.
-
-numpy>=1.24
-scipy>=1.10
-pydantic>=2.0
-
-# The API layer (PLAN.md §11.2). FastAPI is Pydantic-native, so schema.py IS
-# the wire contract with no translation code -- which is what §11.7 means by
-# "one serialiser, no translation layer".
-fastapi>=0.110
-uvicorn[standard]>=0.27
-
-# Config version history in S3 (microversions + releases) when RECOVERY_S3_BUCKET
-# is set. Lazy-imported in backend/storage.py, so dev without AWS never needs it.
-boto3>=1.34
-
-# No plotting dependency on purpose. Charts are rendered in the browser with
-# Recharts; the CLI writes trajectory.csv and leaves plotting to whoever wants
-# it. See §11.4.
diff --git a/recovery-calculator/setup.sh b/recovery-calculator/setup.sh
deleted file mode 100755
index 1ff15006e..000000000
--- a/recovery-calculator/setup.sh
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env bash
-# recovery-calculator/setup.sh — per-project setup for the recovery calculator.
-#
-# Standalone: `bash recovery-calculator/setup.sh` from the repo root. Also
-# invoked by top-level `setup.sh --recovery-calculator`.
-#
-# What it installs:
-#   1. Python venv at recovery-calculator/.venv
-#   2. pip install -r requirements.txt (default) OR requirements-ci.txt (--ci)
-#   3. Node 20 + npm install for frontend/ (skip with --no-frontend)
-#
-# This project is a web app, not just a library: `dev.sh` serves a FastAPI
-# backend on :8100 and a React frontend on :5273. Node is therefore part of
-# setup, not an optional extra -- without it `./dev.sh` aborts at the npm step
-# on a machine where everything else installed cleanly. Node 20 matches
-# .github/workflows/recovery-calculator-ci.yml.
-#
-# The tools/ and site-climatology/ trees are stdlib-only by design and need
-# none of this -- they run on a bare python3. Only physics's solver
-# (numpy/scipy/pydantic) and the backend (fastapi/uvicorn) need the venv.
-#
-# Flags:
-#   --ci               Install requirements-ci.txt (adds pytest + httpx2)
-#   --no-frontend      Skip Node and npm install for frontend/
-#   --yes / -y         Accept prompts (non-interactive)
-#   --help / -h        Show help
-
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-# shellcheck disable=SC1091
-source "$SCRIPT_DIR/../scripts/setup_common.sh"
-
-RC_DIR="$SCRIPT_DIR"
-REQ_FILE="requirements.txt"
-DO_FRONTEND=1
-
-while [ $# -gt 0 ]; do
-  case "$1" in
-    --ci)          REQ_FILE="requirements-ci.txt" ;;
-    --no-frontend) DO_FRONTEND=0 ;;
-    --yes|-y)      export SETUP_YES=1 ;;
-    --help|-h)
-      awk '/^#!/{next} /^#/{sub(/^# ?/,""); print; next} {exit}' "${BASH_SOURCE[0]}"
-      exit 0
-      ;;
-    *) fail "Unknown flag: $1 (try --help)" ;;
-  esac
-  shift
-done
-
-OS="$(detect_os)"
-step "recovery-calculator setup — OS: $OS"
-
-# ─── 1. System packages ──────────────────────────────────────────────────────
-step "System packages"
-
-if is_macos; then
-  ensure_homebrew
-  if [ "$DO_FRONTEND" = "1" ]; then
-    info "brew install python@3.11 node@20"
-    brew install python@3.11 node@20 || true
-  else
-    info "brew install python@3.11"
-    brew install python@3.11 || true
-  fi
-else
-  ensure_apt_packages python3 python3-pip curl git
-  ensure_python_venv
-
-  # Node 20 for the frontend. Same NodeSource route EngineDesign/setup.sh
-  # takes, and the same version CI pins -- a local build passing on a
-  # different major than CI is a trap worth not setting.
-  if [ "$DO_FRONTEND" = "1" ]; then
-    if ! command -v node >/dev/null 2>&1 \
-       || [ "$(node -v | sed 's/v\([0-9]*\).*/\1/')" -lt 20 ]; then
-      info "Installing Node 20 from NodeSource"
-      curl -fsSL https://deb.nodesource.com/setup_20.x | sudo -E bash -
-      sudo apt-get install -y nodejs
-    fi
-  fi
-fi
-ok "System packages ready"
-
-# ─── 2. Python venv ──────────────────────────────────────────────────────────
-step "Python venv (recovery-calculator/.venv)"
-
-cd "$RC_DIR"
-if [ ! -d .venv ]; then
-  python3 -m venv .venv
-  ok ".venv created"
-else
-  ok ".venv already exists"
-fi
-
-# shellcheck disable=SC1091
-source .venv/bin/activate
-pip install --quiet --upgrade pip
-pip install --quiet -r "$REQ_FILE"
-ok "Requirements installed ($REQ_FILE)"
-deactivate
-
-# ─── 3. Frontend ─────────────────────────────────────────────────────────────
-# `dev.sh` also installs these on first run if node_modules is missing, but
-# doing it here means setup finishing successfully actually means the app can
-# start -- the point of a setup script.
-if [ "$DO_FRONTEND" = "1" ] && [ -d "$RC_DIR/frontend" ]; then
-  step "Frontend (npm install)"
-  (cd "$RC_DIR/frontend" && (npm ci --silent 2>/dev/null || npm install --silent))
-  ok "Frontend npm install done"
-elif [ "$DO_FRONTEND" = "0" ]; then
-  step "Frontend — skipped (--no-frontend)"
-fi
-
-step "recovery-calculator setup complete"
-
-cat <<EOF
-
-Next steps:
-
-  1. Run the whole thing — backend on :8100, GUI on :5273:
-       cd recovery-calculator
-       ./dev.sh
-     Then open http://localhost:5273. Five tabs: Setup & Basic Run, Corners
-     (uncertainty sweep), Sweep (compare designs), Atmospheric Data, Units.
-
-  2. Run the validation suite (PLAN.md §12):
-       .venv/bin/python -m pytest tests/ -q
-       cd frontend && npm test
-
-  3. Run a descent from a config file, no server needed:
-       .venv/bin/python -m physics tests/fixtures/worked_example.json
-
-  4. The stdlib-only tools need no venv:
-       python3 tools/fruity-chute-scraper/test_mock.py
-       cd site-climatology && python3 test_site_climatology.py
-
-EOF
diff --git a/scripts/sync-brand.sh b/scripts/sync-brand.sh
index 864f98b89..24b10a051 100755
--- a/scripts/sync-brand.sh
+++ b/scripts/sync-brand.sh
@@ -24,14 +24,12 @@ SRC="$ROOT/assets/brand"
 COPIES=(
   # Full STAR wordmark (imported in React)
   "star-wordmark.png:landing/src/assets"
-  "star-wordmark.png:recovery-calculator/frontend/src/assets"
   "star-wordmark.png:star-openrocket/frontend/src/assets"
 
   # Browser-tab favicon (served from each app's public/ at /star-icon.svg)
   "star-icon.svg:landing/public"
   "star-icon.svg:EngineDesign/frontend/public"
   "star-icon.svg:pid-designer/frontend/public"
-  "star-icon.svg:recovery-calculator/frontend/public"
   "star-icon.svg:star-openrocket/frontend/public"
   "star-icon.svg:daq-server/diablo_server/frontend/public"
   "star-icon.svg:daq-server/tools/postprocessing/webviewer/frontend/public"
diff --git a/setup.sh b/setup.sh
index 0610a3966..7b0868109 100755
--- a/setup.sh
+++ b/setup.sh
@@ -49,7 +49,6 @@ source "$REPO_ROOT/scripts/setup_common.sh"
 # lightest ones first so quick projects finish before slow ones (daq-server).
 PROJECTS=(
   "pid-designer|P&ID Designer|pid-designer/setup.sh|FastAPI + React P&ID editor (quick)"
-  "recovery-calculator|Recovery Calculator|recovery-calculator/setup.sh|Parachute descent physics + FastAPI + React"
   "star-openrocket|STAR OpenRocket|star-openrocket/setup.sh|FastAPI + React/three.js CAD centre-of-mass viewer (quick)"
   "engine-design|Engine Design|EngineDesign/setup.sh|Python physics pipeline + FastAPI + React"
   "firmware|Firmware|firmware/setup.sh|PlatformIO for ESP32 board firmware"
@@ -81,7 +80,6 @@ show_help() {
     --firmware           Install firmware
     --engine-design      Install EngineDesign
     --pid-designer       Install pid-designer
-    --recovery-calculator Install recovery-calculator
     --star-openrocket     Install star-openrocket
     --list               List projects and exit
     --yes, -y            Accept all prompts (non-interactive)
@@ -111,7 +109,6 @@ while [ $# -gt 0 ]; do
     --firmware)            SELECTED+=("firmware") ;;
     --engine-design)       SELECTED+=("engine-design") ;;
     --pid-designer)        SELECTED+=("pid-designer") ;;
-    --recovery-calculator) SELECTED+=("recovery-calculator") ;;
     --star-openrocket)      SELECTED+=("star-openrocket") ;;
     --list)          DID_LIST=1 ;;
     --yes|-y)        export SETUP_YES=1; PASSTHRU+=("--yes") ;;

From 103278e643cb82910bd80b9dc7aaed50f4c283a5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 13:44:08 -0700
Subject: [PATCH 020/205] harden design restore against pre-merge/garbage blobs
 (default missing cad/recovery slices, never throw); remove dead recovery
 storage.py (unused RECOVERY_S3); add legacy-blob persist test

---
 star-openrocket/backend/recovery/storage.py   | 245 ------------------
 star-openrocket/frontend/src/App.tsx          |  13 +-
 .../components/versions/ConfigVersions.tsx    |   7 +-
 .../frontend/src/lib/persist.test.ts          |  48 ++++
 4 files changed, 63 insertions(+), 250 deletions(-)
 delete mode 100644 star-openrocket/backend/recovery/storage.py
 create mode 100644 star-openrocket/frontend/src/lib/persist.test.ts

diff --git a/star-openrocket/backend/recovery/storage.py b/star-openrocket/backend/recovery/storage.py
deleted file mode 100644
index 2b374507b..000000000
--- a/star-openrocket/backend/recovery/storage.py
+++ /dev/null
@@ -1,245 +0,0 @@
-"""Version storage for recovery configs: microversions + immutable releases.
-
-Ported from pid-designer/backend/storage.py -- same two-backend design, same
-methods. The payload here is a recovery config blob (``{"config": <UiConfig>}``),
-but this module is payload-agnostic: it stores and returns whatever JSON dict it
-is given. The *working copy* (``current.json`` on the volume) is owned by the
-router (backend/routers/documents.py); here we only keep version history.
-
-Two backends, chosen at import time by environment:
-
-* **S3Backend** when ``RECOVERY_S3_BUCKET`` is set. Microversions ride on S3
-  object *versioning* of a per-document HEAD key
-  (``<prefix>/<user>/<id>/current.json``): every snapshot is a plain
-  ``put_object`` that S3 keeps as a new version, and a lifecycle rule prunes old
-  ones. Releases are separate immutable keys under ``.../releases/<label>.json``.
-  Credentials come from the standard ``AWS_*`` env vars.
-
-* **LocalBackend** otherwise (dev, and prod with no bucket set). Microversions
-  and releases are files on disk under the ``USERDATA_DIR`` tree, so history
-  works with no AWS.
-"""
-
-from __future__ import annotations
-
-import json
-import os
-import secrets
-import shutil
-import tempfile
-from datetime import datetime, timezone
-from pathlib import Path
-from typing import Any
-
-from backend.recovery import userdata
-
-Snapshot = dict[str, Any]
-
-
-def _now_iso() -> str:
-    return datetime.now(timezone.utc).isoformat()
-
-
-# ── Local (dev) backend ──────────────────────────────────────────────────────
-
-def _atomic_write(path: Path, data: Snapshot) -> None:
-    path.parent.mkdir(parents=True, exist_ok=True)
-    fd, tmp = tempfile.mkstemp(dir=path.parent, prefix=".tmp-", suffix=".json")
-    try:
-        with os.fdopen(fd, "w", encoding="utf-8") as fh:
-            json.dump(data, fh, indent=2)
-            fh.write("\n")
-        os.replace(tmp, path)
-    except BaseException:
-        if os.path.exists(tmp):
-            os.unlink(tmp)
-        raise
-
-
-def _read_json(path: Path) -> Snapshot | None:
-    if not path.is_file():
-        return None
-    try:
-        return json.loads(path.read_text("utf-8"))
-    except (OSError, ValueError):
-        return None
-
-
-class LocalBackend:
-    """Filesystem version history under ``<root>/<user>/recovery/<id>/``."""
-
-    def _doc_dir(self, user: str, doc_id: str) -> Path:
-        return userdata.user_dir(user) / doc_id
-
-    def _sub(self, user: str, doc_id: str, name: str) -> Path:
-        d = self._doc_dir(user, doc_id) / name
-        d.mkdir(parents=True, exist_ok=True)
-        return d
-
-    def snapshot_micro(self, user: str, doc_id: str, data: Snapshot) -> dict:
-        # Opaque, lowercase-hex id so it survives userdata.slugify on read-back.
-        vid = secrets.token_hex(8)
-        _atomic_write(self._sub(user, doc_id, "versions") / f"{vid}.json", data)
-        return {"versionId": vid, "savedAt": _now_iso()}
-
-    def list_micro(self, user: str, doc_id: str, limit: int = 50) -> list[dict]:
-        out: list[dict] = []
-        for p in self._sub(user, doc_id, "versions").glob("*.json"):
-            if p.name.startswith("."):
-                continue
-            st = p.stat()
-            out.append({
-                "versionId": p.stem,
-                "savedAt": datetime.fromtimestamp(st.st_mtime, timezone.utc).isoformat(),
-                "size": st.st_size,
-            })
-        out.sort(key=lambda v: v["savedAt"], reverse=True)
-        return out[:limit]
-
-    def get_micro(self, user: str, doc_id: str, version_id: str) -> Snapshot | None:
-        safe = userdata.slugify(version_id)
-        if not safe:
-            return None
-        return _read_json(self._sub(user, doc_id, "versions") / f"{safe}.json")
-
-    def latest_micro(self, user: str, doc_id: str) -> Snapshot | None:
-        recent = self.list_micro(user, doc_id, limit=1)
-        return self.get_micro(user, doc_id, recent[0]["versionId"]) if recent else None
-
-    def create_release(self, user: str, doc_id: str, label: str, data: Snapshot) -> dict:
-        p = self._sub(user, doc_id, "releases") / f"{label}.json"
-        if p.exists():
-            raise FileExistsError(label)
-        _atomic_write(p, data)
-        return {"label": label, "savedAt": _now_iso()}
-
-    def list_releases(self, user: str, doc_id: str) -> list[dict]:
-        out: list[dict] = []
-        for p in self._sub(user, doc_id, "releases").glob("*.json"):
-            if p.name.startswith("."):
-                continue
-            st = p.stat()
-            out.append({
-                "label": p.stem,
-                "savedAt": datetime.fromtimestamp(st.st_mtime, timezone.utc).isoformat(),
-                "size": st.st_size,
-            })
-        out.sort(key=lambda r: r["savedAt"], reverse=True)
-        return out
-
-    def get_release(self, user: str, doc_id: str, label: str) -> Snapshot | None:
-        safe = userdata.slugify(label)
-        if not safe:
-            return None
-        return _read_json(self._sub(user, doc_id, "releases") / f"{safe}.json")
-
-    def delete_doc(self, user: str, doc_id: str) -> None:
-        shutil.rmtree(self._doc_dir(user, doc_id), ignore_errors=True)
-
-
-# ── S3 backend ───────────────────────────────────────────────────────────────
-
-class S3Backend:
-    """Version history in a versioned S3 bucket. Microversions == object versions."""
-
-    def __init__(self, bucket: str, prefix: str) -> None:
-        import boto3  # imported lazily so dev never needs the dependency
-
-        self._s3 = boto3.client("s3")
-        self.bucket = bucket
-        self.prefix = prefix.strip("/")
-
-    def _head_key(self, user: str, doc_id: str) -> str:
-        return f"{self.prefix}/{user}/{doc_id}/current.json"
-
-    def _releases_prefix(self, user: str, doc_id: str) -> str:
-        return f"{self.prefix}/{user}/{doc_id}/releases/"
-
-    def _put(self, key: str, data: Snapshot) -> None:
-        self._s3.put_object(
-            Bucket=self.bucket, Key=key,
-            Body=json.dumps(data, indent=2).encode("utf-8"),
-            ContentType="application/json",
-        )
-
-    def _get(self, key: str, **kw) -> Snapshot | None:
-        from botocore.exceptions import ClientError
-        try:
-            obj = self._s3.get_object(Bucket=self.bucket, Key=key, **kw)
-        except ClientError:
-            return None
-        return json.loads(obj["Body"].read())
-
-    def snapshot_micro(self, user: str, doc_id: str, data: Snapshot) -> dict:
-        self._put(self._head_key(user, doc_id), data)
-        return {"savedAt": _now_iso()}
-
-    def list_micro(self, user: str, doc_id: str, limit: int = 50) -> list[dict]:
-        key = self._head_key(user, doc_id)
-        resp = self._s3.list_object_versions(Bucket=self.bucket, Prefix=key, MaxKeys=limit)
-        out = [
-            {"versionId": v["VersionId"],
-             "savedAt": v["LastModified"].isoformat(),
-             "size": v["Size"]}
-            for v in resp.get("Versions", []) if v["Key"] == key
-        ]
-        out.sort(key=lambda v: v["savedAt"], reverse=True)
-        return out[:limit]
-
-    def get_micro(self, user: str, doc_id: str, version_id: str) -> Snapshot | None:
-        return self._get(self._head_key(user, doc_id), VersionId=version_id)
-
-    def latest_micro(self, user: str, doc_id: str) -> Snapshot | None:
-        return self._get(self._head_key(user, doc_id))
-
-    def create_release(self, user: str, doc_id: str, label: str, data: Snapshot) -> dict:
-        from botocore.exceptions import ClientError
-        key = f"{self._releases_prefix(user, doc_id)}{label}.json"
-        try:
-            self._s3.head_object(Bucket=self.bucket, Key=key)
-        except ClientError as e:
-            if e.response.get("Error", {}).get("Code") not in ("404", "NoSuchKey", "NotFound"):
-                raise
-        else:
-            raise FileExistsError(label)  # already exists -> immutable
-        self._put(key, data)
-        return {"label": label, "savedAt": _now_iso()}
-
-    def list_releases(self, user: str, doc_id: str) -> list[dict]:
-        prefix = self._releases_prefix(user, doc_id)
-        resp = self._s3.list_objects_v2(Bucket=self.bucket, Prefix=prefix)
-        out = []
-        for o in resp.get("Contents", []):
-            name = o["Key"][len(prefix):]
-            if name.endswith(".json"):
-                name = name[:-5]
-            out.append({"label": name, "savedAt": o["LastModified"].isoformat(), "size": o["Size"]})
-        out.sort(key=lambda r: r["savedAt"], reverse=True)
-        return out
-
-    def get_release(self, user: str, doc_id: str, label: str) -> Snapshot | None:
-        return self._get(f"{self._releases_prefix(user, doc_id)}{label}.json")
-
-    def delete_doc(self, user: str, doc_id: str) -> None:
-        # Best-effort: remove every version of every object under the document.
-        prefix = f"{self.prefix}/{user}/{doc_id}/"
-        resp = self._s3.list_object_versions(Bucket=self.bucket, Prefix=prefix)
-        objects = [
-            {"Key": v["Key"], "VersionId": v["VersionId"]}
-            for v in resp.get("Versions", []) + resp.get("DeleteMarkers", [])
-        ]
-        for i in range(0, len(objects), 1000):
-            self._s3.delete_objects(Bucket=self.bucket, Delete={"Objects": objects[i:i + 1000]})
-
-
-# ── selection ────────────────────────────────────────────────────────────────
-
-def _make_backend():
-    bucket = os.environ.get("RECOVERY_S3_BUCKET")
-    if bucket:
-        return S3Backend(bucket, os.environ.get("RECOVERY_S3_PREFIX", "recovery"))
-    return LocalBackend()
-
-
-backend = _make_backend()
-IS_S3 = isinstance(backend, S3Backend)
diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index b7b5b2555..29a5c5794 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -14,6 +14,7 @@ import {
 import { centreOfMass, formatMass } from './lib/cm'
 import { loadOrkConfig, saveOrkConfig } from './lib/persist'
 import type { FlightParams, OrkConfig } from './types/config'
+import { defaultOrkConfig } from './types/config'
 import { RecoveryTab } from './recovery/RecoveryTab'
 import type { DesignSource, UiConfig } from './recovery/types/schema'
 import { ConfigVersions } from './components/versions/ConfigVersions'
@@ -331,7 +332,13 @@ export default function App() {
 
   // Stable, so ConfigVersions' mount/restore effects don't re-run every render.
   const handleRestore = useCallback((c: OrkConfig) => {
-    const cad = c.cad
+    // Defensive: a pre-merge blob (a flat ViewerConfig, or a bare recovery
+    // UiConfig) has no `cad`/`recovery` key. reviveOrkConfig already defaults
+    // those, but guard here too so a hand-loaded old file resets to defaults
+    // rather than throwing on `c.cad.modelId`.
+    const d = defaultOrkConfig()
+    const cad = c?.cad ?? d.cad
+    const recovery = c?.recovery ?? d.recovery
     setModelId(cad.modelId)
     setOverrides(new Map(Object.entries(cad.overrides)))
     setOuterFaces(cad.outerFaces)
@@ -340,8 +347,8 @@ export default function App() {
     setMotorSel(cad.motor)
     setRailLength(cad.railLength)
     setFlightState(cad.flight)
-    setRecovery(c.recovery)
-    saveOrkConfig(c)
+    setRecovery(recovery)
+    saveOrkConfig({ version: 1, cad, recovery })
   }, [])
 
   // Effective mass per occurrence, sent to the backend so its CG matches exactly
diff --git a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
index f3eec0ed1..3c711e625 100644
--- a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
+++ b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
@@ -34,7 +34,10 @@ type Dialog =
 /** Regenerate uids / merge onto defaults so a restored config is as safe to
  *  load as one revived from localStorage (see persist.reviveUiConfig). */
 function normalise(config: UiConfig): UiConfig {
-  return reviveUiConfig(JSON.stringify(config)) ?? config
+  // Always hand back a fully-shaped config. reviveUiConfig defaults any missing
+  // slice of a pre-merge blob; the `?? default` guards a non-object stored value
+  // so `onRestore` never receives something that would throw downstream.
+  return reviveUiConfig(JSON.stringify(config)) ?? defaultUiConfig()
 }
 
 /** Propose the next minor release, e.g. 0.1 -> 0.2, given existing labels. */
@@ -287,7 +290,7 @@ export function ConfigVersions({ config, onRestore, inline = false }: Props) {
       setDialog({ kind: 'alert', title: 'Could not load file', message: `"${file.name}" is not a valid design file.` })
       return
     }
-    const name = file.name.replace(/\.viewer\.json$/i, '').replace(/\.json$/i, '') || 'Imported design'
+    const name = file.name.replace(/\.ork\.json$/i, '').replace(/\.json$/i, '') || 'Imported design'
     try {
       const meta = await api.createDocument(name, cfg)
       setDocuments(d => [meta, ...d])
diff --git a/star-openrocket/frontend/src/lib/persist.test.ts b/star-openrocket/frontend/src/lib/persist.test.ts
new file mode 100644
index 000000000..387a00a5d
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/persist.test.ts
@@ -0,0 +1,48 @@
+/**
+ * The unified design (OrkConfig) revives cleanly from anything a browser or an
+ * old export might hand it -- including pre-merge blobs (a flat ViewerConfig, a
+ * bare recovery UiConfig) and garbage. It must never throw and must always
+ * return a fully-shaped { cad, recovery } so `handleRestore` is safe.
+ */
+
+import { describe, expect, it } from 'vitest'
+import { reviveOrkConfig } from './persist'
+import { defaultOrkConfig } from '../types/config'
+
+function isFullyShaped(c: unknown) {
+  const o = c as { cad?: unknown; recovery?: unknown }
+  return !!o && typeof o === 'object'
+    && !!o.cad && typeof o.cad === 'object'
+    && !!o.recovery && typeof o.recovery === 'object'
+}
+
+describe('reviveOrkConfig', () => {
+  it('round-trips a valid unified config', () => {
+    const c = defaultOrkConfig()
+    c.cad.railLength = 2.5
+    c.recovery.vehicle.m = 22.5
+    const back = reviveOrkConfig(JSON.stringify(c))!
+    expect(back.cad.railLength).toBe(2.5)
+    expect(back.recovery.vehicle.m).toBe(22.5)
+  })
+
+  it('defaults both slices for a pre-merge flat ViewerConfig (no `cad`/`recovery`)', () => {
+    const legacy = { version: 1, modelId: 'old', railLength: 9, overrides: {}, outerFaces: [], finFaces: [], finCount: 3, motor: null, flight: {} }
+    const back = reviveOrkConfig(JSON.stringify(legacy))
+    expect(isFullyShaped(back)).toBe(true)
+    // The old top-level fields are not read into `cad`; it falls back to defaults.
+    expect(back!.cad.modelId).toBe(null)
+  })
+
+  it('defaults for a bare recovery UiConfig (vehicle at top level)', () => {
+    const legacy = { vehicle: { m: 30 }, devices: [{ name: 'x' }] }
+    const back = reviveOrkConfig(JSON.stringify(legacy))
+    expect(isFullyShaped(back)).toBe(true)
+  })
+
+  it('returns null for non-JSON / non-object, never throwing', () => {
+    expect(reviveOrkConfig('not json {')).toBe(null)
+    expect(reviveOrkConfig('[1,2,3]')).toBe(null)
+    expect(reviveOrkConfig(null)).toBe(null)
+  })
+})

From fada22a4463a1c909b34064fe39d9070b1ec9609 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 14:10:32 -0700
Subject: [PATCH 021/205] recovery results: keep previous result on screen
 during live recompute (fixed-height status line) so editing a value no longer
 jumps the page

---
 .../components/recovery/ResultsPanel.tsx      | 33 ++++++++++++-------
 1 file changed, 22 insertions(+), 11 deletions(-)

diff --git a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
index 303241ad4..9cfa915d7 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
@@ -37,20 +37,18 @@ export function ResultsPanel({ result, running, error }: {
   const [channel, setChannel] = useState<Channel>('z')
   const { num, q, dur } = useUnits()
 
-  if (error) {
-    return (
-      <Card title="Results">
-        <div className="rounded border border-red-500/50 bg-red-500/10 px-3 py-2">
-          <p className="font-prose text-xs leading-relaxed text-red-200">{error}</p>
-        </div>
-      </Card>
-    )
-  }
-  if (running) return <Card title="Results"><Empty>Running…</Empty></Card>
+  // Nothing computed yet (first run, or before any run) is the only state with
+  // no height to preserve, so a full-panel message is fine here.
   if (!result) {
     return (
       <Card title="Results">
-        <Empty>Press Run to simulate.</Empty>
+        {error ? (
+          <div className="rounded border border-red-500/50 bg-red-500/10 px-3 py-2">
+            <p className="font-prose text-xs leading-relaxed text-red-200">{error}</p>
+          </div>
+        ) : (
+          <Empty>{running ? 'Running…' : 'Press Run to simulate.'}</Empty>
+        )}
       </Card>
     )
   }
@@ -60,6 +58,19 @@ export function ResultsPanel({ result, running, error }: {
 
   return (
     <div className="space-y-4">
+      {/* Recompute is live-on-edit, so the previous result stays on screen while
+          a fresher one is computed -- swapping it for a "Running…" card would
+          collapse the column and jump the page. This status line is always
+          present at a fixed height so toggling its text shifts nothing; it
+          carries the recompute note, or an error, without dropping the numbers
+          the error would replace. */}
+      <div className="flex h-4 items-center text-2xs text-[var(--color-text-muted)]">
+        {error ? (
+          <span className="truncate text-red-300">{error}</span>
+        ) : running ? (
+          <span>Updating…</span>
+        ) : null}
+      </div>
       {isStub && (
         <StubBanner>
           <strong>Placeholder numbers - the backend is not running.</strong>{' '}

From 365e48992b1c70b89534df487bc1549a8e71fed0 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 14:13:23 -0700
Subject: [PATCH 022/205] recovery inputs: double-click selects the whole
 number (a decimal point no longer forces a triple-click)

---
 star-openrocket/frontend/src/recovery/components/ui.tsx | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/star-openrocket/frontend/src/recovery/components/ui.tsx b/star-openrocket/frontend/src/recovery/components/ui.tsx
index f3071f8aa..1771cd1b3 100644
--- a/star-openrocket/frontend/src/recovery/components/ui.tsx
+++ b/star-openrocket/frontend/src/recovery/components/ui.tsx
@@ -138,6 +138,10 @@ export function NumberInput({ value, display, onChange, step = 'any', min, max,
       disabled={disabled}
       onFocus={() => setEditing(true)}
       onBlur={() => setEditing(false)}
+      // A value like "159.66" has a "." word boundary, so a double-click grabs
+      // only "159" or "66" and you'd need a triple-click for the whole number.
+      // Select all of it on double-click instead.
+      onDoubleClick={(e) => e.currentTarget.select()}
       // Empty means "not supplied", which is a meaningful state in this schema
       // -- Optional[float] on T_pad, p_pad, k_eff and CdS_body all mean
       // "compute a default" rather than "zero".

From 937466d76715b2057578d41b115a6da32b44cb2a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 17:11:54 -0700
Subject: [PATCH 023/205] hotfire firmware: two-tier serial logging (HF_LOG
 always / HF_VERBOSE verbose-gated), unify verbose flag, demote
 per-packet/hex/debug noise to verbose, throttle OTA progress to 25%

---
 .../Actuator_Hotfire/src/main.cpp             | 135 ++++++-------
 firmware/Hotfire_Code/LC_Hotfire/src/main.cpp |  52 ++---
 firmware/Hotfire_Code/PT_Hotfire/src/main.cpp |  93 ++++-----
 .../Hotfire_Code/RTD_Hotfire/src/main.cpp     |  42 ++--
 firmware/Hotfire_Code/TC_Hotfire/src/main.cpp |  52 ++---
 .../Hotfire_Code/common/SensorHotfireCore.h   | 186 ++++++++----------
 firmware/Hotfire_Code/common/hotfire_log.h    |  38 ++++
 firmware/Hotfire_Code/common/hotfire_ota.h    |  10 +-
 8 files changed, 306 insertions(+), 302 deletions(-)
 create mode 100644 firmware/Hotfire_Code/common/hotfire_log.h

diff --git a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
index 713d34d69..f9927f8d8 100644
--- a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
@@ -46,20 +46,12 @@ EthernetUDP udp;
 static OTAEthernetServer otaServer(HOTFIRE_OTA_PORT);
 
 //-----------------------------------------------------------------------------
-// Serial gating from ACTUATOR_CONFIG (enable_serial_printing); default on until
-// config says otherwise
+// Verbose serial gate from ACTUATOR_CONFIG (enable_serial_printing); default on
+// until config says otherwise. Shared two-tier logging: HF_LOG* = always,
+// HF_VERBOSE* = verbose-only (this flag).
 //-----------------------------------------------------------------------------
-static bool g_actuator_serial = true;
-#define ACTUATOR_PRINT(x)      \
-    do {                       \
-        if (g_actuator_serial) \
-            Serial.print(x);   \
-    } while (0)
-#define ACTUATOR_PRINTLN(x)    \
-    do {                       \
-        if (g_actuator_serial) \
-            Serial.println(x); \
-    } while (0)
+#include "hotfire_log.h"
+bool g_verbose = true;
 
 //-----------------------------------------------------------------------------
 // State machine
@@ -258,10 +250,10 @@ static void sendBoardHeartbeat() {
     if (len == 0)
         return;
 
-    Serial.print("Sent: heartbeat to ");
-    Serial.print(serverIP);
-    Serial.print(":");
-    Serial.println(serverPort);
+    HF_VERBOSE("Sent: heartbeat to ");
+    HF_VERBOSE(serverIP);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(serverPort);
     Serial.flush();
     udp.beginPacket(serverIP, serverPort);
     udp.write(packetBuffer, len);
@@ -343,10 +335,10 @@ static void applyVentToAllActuators() {
                                 udpListenPort);
                 udp.write(packetBuffer, len);
                 udp.endPacket();
-                ACTUATOR_PRINT("Sent: actuator_command (vent) to ");
-                ACTUATOR_PRINT(uint32ToIPAddress(loc.ip_address));
-                ACTUATOR_PRINT(":");
-                ACTUATOR_PRINTLN(udpListenPort);
+                HF_VERBOSE("Sent: actuator_command (vent) to ");
+                HF_VERBOSE(uint32ToIPAddress(loc.ip_address));
+                HF_VERBOSE(":");
+                HF_VERBOSELN(udpListenPort);
             }
         }
     }
@@ -374,10 +366,10 @@ static void applyAbortToAllActuators() {
                                 udpListenPort);
                 udp.write(packetBuffer, len);
                 udp.endPacket();
-                ACTUATOR_PRINT("Sent: actuator_command (abort) to ");
-                ACTUATOR_PRINT(uint32ToIPAddress(loc.ip_address));
-                ACTUATOR_PRINT(":");
-                ACTUATOR_PRINTLN(udpListenPort);
+                HF_VERBOSE("Sent: actuator_command (abort) to ");
+                HF_VERBOSE(uint32ToIPAddress(loc.ip_address));
+                HF_VERBOSE(":");
+                HF_VERBOSELN(udpListenPort);
             }
         }
     }
@@ -530,7 +522,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 abort_actuator_locations = act_locs;
                 abort_pt_locations = pt_locs;
                 config_valid = true;
-                g_actuator_serial = (enable_serial != 0);
+                g_verbose = (enable_serial != 0);
                 return IncomingPacketKind::Config;
             }
             return IncomingPacketKind::None;
@@ -591,15 +583,15 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             std::vector<Diablo::ActuatorCommand> commands;
             if (Diablo::parse_actuator_command_packet(buffer, len, cmd_header,
                                                       commands)) {
-                ACTUATOR_PRINTLN("ACTUATOR_COMMAND received (DAQv2-Comms):");
+                HF_VERBOSELN("ACTUATOR_COMMAND received (DAQv2-Comms):");
                 for (size_t i = 0; i < commands.size(); ++i) {
                     const auto& cmd = commands[i];
-                    ACTUATOR_PRINT("  [");
-                    ACTUATOR_PRINT(static_cast<unsigned>(i));
-                    ACTUATOR_PRINT("] actuator_id=");
-                    ACTUATOR_PRINT(static_cast<unsigned>(cmd.actuator_id));
-                    ACTUATOR_PRINT(" actuator_state=");
-                    ACTUATOR_PRINTLN(static_cast<unsigned>(cmd.actuator_state));
+                    HF_VERBOSE("  [");
+                    HF_VERBOSE(static_cast<unsigned>(i));
+                    HF_VERBOSE("] actuator_id=");
+                    HF_VERBOSE(static_cast<unsigned>(cmd.actuator_id));
+                    HF_VERBOSE(" actuator_state=");
+                    HF_VERBOSELN(static_cast<unsigned>(cmd.actuator_state));
                 }
                 Serial.flush();
                 if (stateAcceptsActuatorCommand(remote_ip32))
@@ -612,20 +604,20 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             std::vector<Diablo::PWMActuatorCommand> commands;
             if (Diablo::parse_pwm_actuator_packet(buffer, len, cmd_header,
                                                   commands)) {
-                ACTUATOR_PRINTLN(
+                HF_VERBOSELN(
                     "PWM_ACTUATOR_COMMAND received (DAQv2-Comms):");
                 for (size_t i = 0; i < commands.size(); ++i) {
                     const auto& cmd = commands[i];
-                    ACTUATOR_PRINT("  [");
-                    ACTUATOR_PRINT(static_cast<unsigned>(i));
-                    ACTUATOR_PRINT("] actuator_id=");
-                    ACTUATOR_PRINT(static_cast<unsigned>(cmd.actuator_id));
-                    ACTUATOR_PRINT(" duration_ms=");
-                    ACTUATOR_PRINT(cmd.duration);
-                    ACTUATOR_PRINT(" duty_cycle=");
-                    ACTUATOR_PRINT(cmd.duty_cycle);
-                    ACTUATOR_PRINT(" frequency=");
-                    ACTUATOR_PRINTLN(cmd.frequency);
+                    HF_VERBOSE("  [");
+                    HF_VERBOSE(static_cast<unsigned>(i));
+                    HF_VERBOSE("] actuator_id=");
+                    HF_VERBOSE(static_cast<unsigned>(cmd.actuator_id));
+                    HF_VERBOSE(" duration_ms=");
+                    HF_VERBOSE(cmd.duration);
+                    HF_VERBOSE(" duty_cycle=");
+                    HF_VERBOSE(cmd.duty_cycle);
+                    HF_VERBOSE(" frequency=");
+                    HF_VERBOSELN(cmd.frequency);
                 }
                 Serial.flush();
                 if (stateAcceptsActuatorCommand(remote_ip32))
@@ -763,10 +755,10 @@ static void readCurrentSensePinsAndSend() {
     udp.beginPacket(serverIP, serverPort);
     udp.write(packetBuffer, packetSize);
     udp.endPacket();
-    ACTUATOR_PRINT("Sent: sensor_data to ");
-    ACTUATOR_PRINT(serverIP);
-    ACTUATOR_PRINT(":");
-    ACTUATOR_PRINTLN(serverPort);
+    HF_VERBOSE("Sent: sensor_data to ");
+    HF_VERBOSE(serverIP);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(serverPort);
 }
 
 static bool heartbeatTimedOut() {
@@ -796,10 +788,10 @@ static void sendNoConnectionAbortToAllPTs() {
         udp.beginPacket(uint32ToIPAddress(loc.ip_address), ptBoardPort);
         udp.write(packetBuffer, len);
         udp.endPacket();
-        ACTUATOR_PRINT("Sent: no_connection_abort to ");
-        ACTUATOR_PRINT(uint32ToIPAddress(loc.ip_address));
-        ACTUATOR_PRINT(":");
-        ACTUATOR_PRINTLN(ptBoardPort);
+        HF_VERBOSE("Sent: no_connection_abort to ");
+        HF_VERBOSE(uint32ToIPAddress(loc.ip_address));
+        HF_VERBOSE(":");
+        HF_VERBOSELN(ptBoardPort);
     }
 }
 
@@ -812,7 +804,7 @@ static void sendAbortDoneToAllBoards() {
     if (len == 0)
         return;
 
-    ACTUATOR_PRINTLN("Broadcasting ABORT_DONE to network...");
+    HF_VERBOSELN("Broadcasting ABORT_DONE to network...");
 
     // Broadcast to all PTs
     for (const auto& loc : abort_pt_locations) {
@@ -1004,7 +996,7 @@ static void applyPacketTransition(IncomingPacketKind kind) {
 // Pin setup
 //-----------------------------------------------------------------------------
 static void initializeActuators() {
-    ACTUATOR_PRINTLN("Initializing actuators...");
+    HF_VERBOSELN("Initializing actuators...");
     for (int i = 1; i <= NUM_ACTUATORS; i++) {
         int pin = getActuatorPin(i);
         if (pin < 0)
@@ -1013,7 +1005,7 @@ static void initializeActuators() {
         digitalWrite(pin, LOW);
         actuator_states[i - 1] = 0;
     }
-    ACTUATOR_PRINTLN("All actuators initialized to OFF state");
+    HF_VERBOSELN("All actuators initialized to OFF state");
 }
 
 static void initializeCurrentSensePins() {
@@ -1102,27 +1094,26 @@ void loop() {
             const uint8_t pktType =
                 bytesRead >= (int)sizeof(Diablo::PacketHeader) ? packetBuffer[0]
                                                                : 0;
-            ACTUATOR_PRINT("Received packet from ");
-            ACTUATOR_PRINT(remoteIP);
-            ACTUATOR_PRINT(":");
-            ACTUATOR_PRINT(udp.remotePort());
-            ACTUATOR_PRINT(" type ");
-            ACTUATOR_PRINT(static_cast<unsigned>(pktType));
+            HF_VERBOSE("Received packet from ");
+            HF_VERBOSE(remoteIP);
+            HF_VERBOSE(":");
+            HF_VERBOSE(udp.remotePort());
+            HF_VERBOSE(" type ");
+            HF_VERBOSE(static_cast<unsigned>(pktType));
             if (pktType == 4 || pktType == 10) {
-                ACTUATOR_PRINT(" (");
-                ACTUATOR_PRINT(actuatorPacketTypeName(pktType));
-                ACTUATOR_PRINT(") len=");
-                ACTUATOR_PRINT(bytesRead);
-                ACTUATOR_PRINT(" hex:");
+                HF_VERBOSE(" (");
+                HF_VERBOSE(actuatorPacketTypeName(pktType));
+                HF_VERBOSE(") len=");
+                HF_VERBOSE(bytesRead);
+                HF_VERBOSE(" hex:");
                 for (int i = 0; i < bytesRead && i < 32; i++) {
-                    ACTUATOR_PRINT(" ");
+                    HF_VERBOSE(" ");
                     if (packetBuffer[i] < 16)
-                        ACTUATOR_PRINT("0");
-                    if (g_actuator_serial)
-                        Serial.print(packetBuffer[i], HEX);
+                        HF_VERBOSE("0");
+                    HF_VERBOSE(packetBuffer[i], HEX);
                 }
             }
-            ACTUATOR_PRINTLN("");
+            HF_VERBOSELN("");
             Serial.flush();
             connection_loss_received_ips.insert(
                 static_cast<uint32_t>(remoteIP[0]) << 24 |
@@ -1166,7 +1157,7 @@ void loop() {
     if (now - lastHeartbeatMillis >= BOARD_HEARTBEAT_INTERVAL_MS) {
         lastHeartbeatMillis = now;
         if (state == ActuatorControllerState::WaitingForServer) {
-            Serial.println("Setup state: sending heartbeat");
+            HF_VERBOSELN("Setup state: sending heartbeat");
             Serial.flush();
         }
         sendBoardHeartbeat();
diff --git a/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp b/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
index 25ed2d1bf..526f4fa0a 100644
--- a/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
@@ -57,7 +57,7 @@ static SensorHotfire::Config coreConfig;
 static unsigned long g_last_sensor_packet_log_ms = 0;
 
 // Set to true to enable Serial output from core and board; false to disable.
-bool g_sensor_hotfire_serial = true;
+bool g_verbose = true;
 
 static void flush_cycles(int cycles) {
     for (int i = 0; i < cycles; i++) {
@@ -108,41 +108,41 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
     size_t packetSize = Diablo::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0) {
-        SENSOR_HOTFIRE_PRINT(
+        HF_VERBOSE(
             "Send FAIL: create_sensor_data_packet returned 0 (n=");
-        SENSOR_HOTFIRE_PRINT(dataChunks.size());
-        SENSOR_HOTFIRE_PRINT(", buf=");
-        SENSOR_HOTFIRE_PRINT(SENSOR_HOTFIRE_MAX_PACKET_SIZE);
-        SENSOR_HOTFIRE_PRINTLN(")");
+        HF_VERBOSE(dataChunks.size());
+        HF_VERBOSE(", buf=");
+        HF_VERBOSE(SENSOR_HOTFIRE_MAX_PACKET_SIZE);
+        HF_VERBOSELN(")");
         return;
     }
     coreState.udp.beginPacket(dest_ip, dest_port);
     coreState.udp.write(packetBuffer, packetSize);
     coreState.udp.endPacket();
-    SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-    SENSOR_HOTFIRE_PRINT(dest_ip);
-    SENSOR_HOTFIRE_PRINT(":");
-    SENSOR_HOTFIRE_PRINTLN(dest_port);
+    HF_VERBOSE("Sent: sensor_data to ");
+    HF_VERBOSE(dest_ip);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(dest_port);
 
     unsigned long now = millis();
     if (now - g_last_sensor_packet_log_ms >= 1000) {
         g_last_sensor_packet_log_ms = now;
-        SENSOR_HOTFIRE_PRINTLN("SENSOR_DATA contents:");
+        HF_VERBOSELN("SENSOR_DATA contents:");
         for (size_t i = 0; i < dataChunks.size(); ++i) {
             const auto& chunk = dataChunks[i];
-            SENSOR_HOTFIRE_PRINT("  chunk ");
-            SENSOR_HOTFIRE_PRINT(i);
-            SENSOR_HOTFIRE_PRINT(" ts=");
-            SENSOR_HOTFIRE_PRINT(chunk.timestamp);
-            SENSOR_HOTFIRE_PRINT(" :");
+            HF_VERBOSE("  chunk ");
+            HF_VERBOSE(i);
+            HF_VERBOSE(" ts=");
+            HF_VERBOSE(chunk.timestamp);
+            HF_VERBOSE(" :");
             for (const auto& dp : chunk.datapoints) {
-                SENSOR_HOTFIRE_PRINT(" (id=");
-                SENSOR_HOTFIRE_PRINT(static_cast<unsigned>(dp.sensor_id));
-                SENSOR_HOTFIRE_PRINT(", data=");
-                SENSOR_HOTFIRE_PRINT(dp.data);
-                SENSOR_HOTFIRE_PRINT(")");
+                HF_VERBOSE(" (id=");
+                HF_VERBOSE(static_cast<unsigned>(dp.sensor_id));
+                HF_VERBOSE(", data=");
+                HF_VERBOSE(dp.data);
+                HF_VERBOSE(")");
             }
-            SENSOR_HOTFIRE_PRINTLN_();
+            HF_VERBOSELN_();
         }
     }
 
@@ -150,10 +150,10 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         coreState.udp.beginPacket(abort_controller_ip, abort_controller_port);
         coreState.udp.write(packetBuffer, packetSize);
         coreState.udp.endPacket();
-        SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-        SENSOR_HOTFIRE_PRINT(abort_controller_ip);
-        SENSOR_HOTFIRE_PRINT(":");
-        SENSOR_HOTFIRE_PRINTLN(abort_controller_port);
+        HF_VERBOSE("Sent: sensor_data to ");
+        HF_VERBOSE(abort_controller_ip);
+        HF_VERBOSE(":");
+        HF_VERBOSELN(abort_controller_port);
     }
     dataChunks.clear();
 }
diff --git a/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp b/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
index 60749af87..e10fe7e54 100644
--- a/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
@@ -51,7 +51,7 @@ static SensorHotfire::Config coreConfig;
 static unsigned long g_last_sensor_packet_log_ms = 0;
 
 // Set to true to enable Serial output from core and board; false to disable.
-bool g_sensor_hotfire_serial = true;
+bool g_verbose = true;
 
 static float convert_code_to_voltage(int32_t code) {
     return (static_cast<float>(code) * 2.5f) / 2147483648.0f;
@@ -105,30 +105,30 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
     coreState.udp.beginPacket(dest_ip, dest_port);
     coreState.udp.write(packetBuffer, packetSize);
     coreState.udp.endPacket();
-    SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-    SENSOR_HOTFIRE_PRINT(dest_ip);
-    SENSOR_HOTFIRE_PRINT(":");
-    SENSOR_HOTFIRE_PRINTLN(dest_port);
+    HF_VERBOSE("Sent: sensor_data to ");
+    HF_VERBOSE(dest_ip);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(dest_port);
 
     unsigned long now = millis();
     if (now - g_last_sensor_packet_log_ms >= 1000) {
         g_last_sensor_packet_log_ms = now;
-        SENSOR_HOTFIRE_PRINTLN("SENSOR_DATA contents:");
+        HF_VERBOSELN("SENSOR_DATA contents:");
         for (size_t i = 0; i < dataChunks.size(); ++i) {
             const auto& chunk = dataChunks[i];
-            SENSOR_HOTFIRE_PRINT("  chunk ");
-            SENSOR_HOTFIRE_PRINT(i);
-            SENSOR_HOTFIRE_PRINT(" ts=");
-            SENSOR_HOTFIRE_PRINT(chunk.timestamp);
-            SENSOR_HOTFIRE_PRINT(" :");
+            HF_VERBOSE("  chunk ");
+            HF_VERBOSE(i);
+            HF_VERBOSE(" ts=");
+            HF_VERBOSE(chunk.timestamp);
+            HF_VERBOSE(" :");
             for (const auto& dp : chunk.datapoints) {
-                SENSOR_HOTFIRE_PRINT(" (id=");
-                SENSOR_HOTFIRE_PRINT(static_cast<unsigned>(dp.sensor_id));
-                SENSOR_HOTFIRE_PRINT(", data=");
-                SENSOR_HOTFIRE_PRINT(dp.data);
-                SENSOR_HOTFIRE_PRINT(")");
+                HF_VERBOSE(" (id=");
+                HF_VERBOSE(static_cast<unsigned>(dp.sensor_id));
+                HF_VERBOSE(", data=");
+                HF_VERBOSE(dp.data);
+                HF_VERBOSE(")");
             }
-            SENSOR_HOTFIRE_PRINTLN_();
+            HF_VERBOSELN_();
         }
     }
 
@@ -136,10 +136,10 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         coreState.udp.beginPacket(abort_controller_ip, abort_controller_port);
         coreState.udp.write(packetBuffer, packetSize);
         coreState.udp.endPacket();
-        SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-        SENSOR_HOTFIRE_PRINT(abort_controller_ip);
-        SENSOR_HOTFIRE_PRINT(":");
-        SENSOR_HOTFIRE_PRINTLN(abort_controller_port);
+        HF_VERBOSE("Sent: sensor_data to ");
+        HF_VERBOSE(abort_controller_ip);
+        HF_VERBOSE(":");
+        HF_VERBOSELN(abort_controller_port);
     }
     dataChunks.clear();
 }
@@ -201,29 +201,30 @@ static void run_self_test_cb(void*,
     results_out.push_back(Diablo::SelfTestResult{
         0u, static_cast<uint8_t>(adc_result.passed ? 1 : 0)});
 
-    Serial.println("=== ADC TDAC Self-Test ===");
-    Serial.print("  read code  = ");
-    Serial.println(adc_result.code);
-    Serial.print("  expected   = ");
-    Serial.println(SensorSelfTest::ADC_TDAC_EXPECTED_CODE);
-    Serial.print("  tolerance  = ");
-    Serial.println(SensorSelfTest::ADC_TDAC_TOLERANCE);
-    Serial.print("  checksum   = ");
-    Serial.println(adc_result.checksum_valid ? "OK" : "FAIL");
-    Serial.print("  result     = ");
-    Serial.println(adc_result.passed ? "PASS" : "FAIL");
+    HF_LOGLN("=== ADC TDAC Self-Test ===");
+    // Verdict is Tier 1; the numeric detail is verbose-only.
+    HF_VERBOSE("  read code  = ");
+    HF_VERBOSELN(adc_result.code);
+    HF_VERBOSE("  expected   = ");
+    HF_VERBOSELN(SensorSelfTest::ADC_TDAC_EXPECTED_CODE);
+    HF_VERBOSE("  tolerance  = ");
+    HF_VERBOSELN(SensorSelfTest::ADC_TDAC_TOLERANCE);
+    HF_VERBOSE("  checksum   = ");
+    HF_VERBOSELN(adc_result.checksum_valid ? "OK" : "FAIL");
+    HF_LOG("  result     = ");
+    HF_LOGLN(adc_result.passed ? "PASS" : "FAIL");
     Serial.flush();
 
     // 2. Sensor bias continuity test
-    Serial.println("=== Sensor Bias Test ===");
+    HF_LOGLN("=== Sensor Bias Test ===");
     SensorSelfTest::sensor_bias_enable(ads126x);
     for (uint8_t i = 0; i < cfg.num_sensors; i++) {
         uint8_t id = cfg.sensor_ids[i];
         int channel = getAdcChannel(id, TEST_PIN);
         if (channel < 0) {
-            Serial.print("  sensor id=");
-            Serial.print(id);
-            Serial.println("  channel=INVALID  result=FAIL");
+            HF_LOG("  sensor id=");
+            HF_LOG(id);
+            HF_LOGLN("  channel=INVALID  result=FAIL");
             results_out.push_back(Diablo::SelfTestResult{id, 0u});
             continue;
         }
@@ -233,16 +234,16 @@ static void run_self_test_cb(void*,
         uint8_t pass =
             (bias.result == SensorSelfTest::BiasResult::CONNECTED) ? 1u : 0u;
 
-        Serial.print("  sensor id=");
-        Serial.print(id);
-        Serial.print("  ch=");
-        Serial.print(channel);
-        Serial.print("  code=");
-        Serial.print(bias.code);
-        Serial.print("  chk=");
-        Serial.print(bias.checksum_valid ? "OK" : "FAIL");
-        Serial.print("  -> ");
-        Serial.println(bias_result_str(bias.result));
+        HF_LOG("  sensor id=");
+        HF_LOG(id);
+        HF_VERBOSE("  ch=");
+        HF_VERBOSE(channel);
+        HF_VERBOSE("  code=");
+        HF_VERBOSE(bias.code);
+        HF_VERBOSE("  chk=");
+        HF_VERBOSE(bias.checksum_valid ? "OK" : "FAIL");
+        HF_LOG("  -> ");
+        HF_LOGLN(bias_result_str(bias.result));
 
         results_out.push_back(Diablo::SelfTestResult{id, pass});
     }
diff --git a/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp b/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
index 0c3f60c80..3bfbe2e7f 100644
--- a/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
@@ -54,7 +54,7 @@ static SensorHotfire::Config coreConfig;
 
 static unsigned long g_last_sensor_packet_log_ms = 0;
 
-bool g_sensor_hotfire_serial = true;
+bool g_verbose = true;
 
 // Helper: get the correct ADS126X instance and DRDY pin for a connector
 static ADS126X& adc_for_connector(uint8_t connector_id) {
@@ -124,30 +124,30 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
     coreState.udp.beginPacket(dest_ip, dest_port);
     coreState.udp.write(packetBuffer, packetSize);
     coreState.udp.endPacket();
-    SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-    SENSOR_HOTFIRE_PRINT(dest_ip);
-    SENSOR_HOTFIRE_PRINT(":");
-    SENSOR_HOTFIRE_PRINTLN(dest_port);
+    HF_VERBOSE("Sent: sensor_data to ");
+    HF_VERBOSE(dest_ip);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(dest_port);
 
     unsigned long now = millis();
     if (now - g_last_sensor_packet_log_ms >= 1000) {
         g_last_sensor_packet_log_ms = now;
-        SENSOR_HOTFIRE_PRINTLN("SENSOR_DATA contents:");
+        HF_VERBOSELN("SENSOR_DATA contents:");
         for (size_t i = 0; i < dataChunks.size(); ++i) {
             const auto& chunk = dataChunks[i];
-            SENSOR_HOTFIRE_PRINT("  chunk ");
-            SENSOR_HOTFIRE_PRINT(i);
-            SENSOR_HOTFIRE_PRINT(" ts=");
-            SENSOR_HOTFIRE_PRINT(chunk.timestamp);
-            SENSOR_HOTFIRE_PRINT(" :");
+            HF_VERBOSE("  chunk ");
+            HF_VERBOSE(i);
+            HF_VERBOSE(" ts=");
+            HF_VERBOSE(chunk.timestamp);
+            HF_VERBOSE(" :");
             for (const auto& dp : chunk.datapoints) {
-                SENSOR_HOTFIRE_PRINT(" (id=");
-                SENSOR_HOTFIRE_PRINT(static_cast<unsigned>(dp.sensor_id));
-                SENSOR_HOTFIRE_PRINT(", data=");
-                SENSOR_HOTFIRE_PRINT(dp.data);
-                SENSOR_HOTFIRE_PRINT(")");
+                HF_VERBOSE(" (id=");
+                HF_VERBOSE(static_cast<unsigned>(dp.sensor_id));
+                HF_VERBOSE(", data=");
+                HF_VERBOSE(dp.data);
+                HF_VERBOSE(")");
             }
-            SENSOR_HOTFIRE_PRINTLN_();
+            HF_VERBOSELN_();
         }
     }
 
@@ -155,10 +155,10 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         coreState.udp.beginPacket(abort_controller_ip, abort_controller_port);
         coreState.udp.write(packetBuffer, packetSize);
         coreState.udp.endPacket();
-        SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-        SENSOR_HOTFIRE_PRINT(abort_controller_ip);
-        SENSOR_HOTFIRE_PRINT(":");
-        SENSOR_HOTFIRE_PRINTLN(abort_controller_port);
+        HF_VERBOSE("Sent: sensor_data to ");
+        HF_VERBOSE(abort_controller_ip);
+        HF_VERBOSE(":");
+        HF_VERBOSELN(abort_controller_port);
     }
     dataChunks.clear();
 }
diff --git a/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp b/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
index 36f271cf6..4097a5e0a 100644
--- a/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
@@ -53,7 +53,7 @@ static SensorHotfire::Config coreConfig;
 static unsigned long g_last_sensor_packet_log_ms = 0;
 
 // Set to true to enable Serial output from core and board; false to disable.
-bool g_sensor_hotfire_serial = true;
+bool g_verbose = true;
 
 static void flush_cycles(int cycles) {
     for (int i = 0; i < cycles; i++) {
@@ -99,41 +99,41 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
     size_t packetSize = Diablo::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0) {
-        SENSOR_HOTFIRE_PRINT(
+        HF_VERBOSE(
             "Send FAIL: create_sensor_data_packet returned 0 (n=");
-        SENSOR_HOTFIRE_PRINT(dataChunks.size());
-        SENSOR_HOTFIRE_PRINT(", buf=");
-        SENSOR_HOTFIRE_PRINT(SENSOR_HOTFIRE_MAX_PACKET_SIZE);
-        SENSOR_HOTFIRE_PRINTLN(")");
+        HF_VERBOSE(dataChunks.size());
+        HF_VERBOSE(", buf=");
+        HF_VERBOSE(SENSOR_HOTFIRE_MAX_PACKET_SIZE);
+        HF_VERBOSELN(")");
         return;
     }
     coreState.udp.beginPacket(dest_ip, dest_port);
     coreState.udp.write(packetBuffer, packetSize);
     coreState.udp.endPacket();
-    SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-    SENSOR_HOTFIRE_PRINT(dest_ip);
-    SENSOR_HOTFIRE_PRINT(":");
-    SENSOR_HOTFIRE_PRINTLN(dest_port);
+    HF_VERBOSE("Sent: sensor_data to ");
+    HF_VERBOSE(dest_ip);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(dest_port);
 
     unsigned long now = millis();
     if (now - g_last_sensor_packet_log_ms >= 1000) {
         g_last_sensor_packet_log_ms = now;
-        SENSOR_HOTFIRE_PRINTLN("SENSOR_DATA contents:");
+        HF_VERBOSELN("SENSOR_DATA contents:");
         for (size_t i = 0; i < dataChunks.size(); ++i) {
             const auto& chunk = dataChunks[i];
-            SENSOR_HOTFIRE_PRINT("  chunk ");
-            SENSOR_HOTFIRE_PRINT(i);
-            SENSOR_HOTFIRE_PRINT(" ts=");
-            SENSOR_HOTFIRE_PRINT(chunk.timestamp);
-            SENSOR_HOTFIRE_PRINT(" :");
+            HF_VERBOSE("  chunk ");
+            HF_VERBOSE(i);
+            HF_VERBOSE(" ts=");
+            HF_VERBOSE(chunk.timestamp);
+            HF_VERBOSE(" :");
             for (const auto& dp : chunk.datapoints) {
-                SENSOR_HOTFIRE_PRINT(" (id=");
-                SENSOR_HOTFIRE_PRINT(static_cast<unsigned>(dp.sensor_id));
-                SENSOR_HOTFIRE_PRINT(", data=");
-                SENSOR_HOTFIRE_PRINT(dp.data);
-                SENSOR_HOTFIRE_PRINT(")");
+                HF_VERBOSE(" (id=");
+                HF_VERBOSE(static_cast<unsigned>(dp.sensor_id));
+                HF_VERBOSE(", data=");
+                HF_VERBOSE(dp.data);
+                HF_VERBOSE(")");
             }
-            SENSOR_HOTFIRE_PRINTLN_();
+            HF_VERBOSELN_();
         }
     }
 
@@ -141,10 +141,10 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         coreState.udp.beginPacket(abort_controller_ip, abort_controller_port);
         coreState.udp.write(packetBuffer, packetSize);
         coreState.udp.endPacket();
-        SENSOR_HOTFIRE_PRINT("Sent: sensor_data to ");
-        SENSOR_HOTFIRE_PRINT(abort_controller_ip);
-        SENSOR_HOTFIRE_PRINT(":");
-        SENSOR_HOTFIRE_PRINTLN(abort_controller_port);
+        HF_VERBOSE("Sent: sensor_data to ");
+        HF_VERBOSE(abort_controller_ip);
+        HF_VERBOSE(":");
+        HF_VERBOSELN(abort_controller_port);
     }
     dataChunks.clear();
 }
diff --git a/firmware/Hotfire_Code/common/SensorHotfireCore.h b/firmware/Hotfire_Code/common/SensorHotfireCore.h
index 982aa1823..66bd54809 100644
--- a/firmware/Hotfire_Code/common/SensorHotfireCore.h
+++ b/firmware/Hotfire_Code/common/SensorHotfireCore.h
@@ -35,35 +35,9 @@
 #define SENSOR_UDP_LISTEN_PORT 5005
 #endif
 
-// Serial output gated by this flag (define in one .cpp per project, e.g.
-// main.cpp). Default is true until SENSOR_CONFIG is received; the packet's
-// enable_serial_printing field then updates g_sensor_hotfire_serial for loop()
-// / runtime SENSOR_HOTFIRE_PRINT*. setup() uses SENSOR_HOTFIRE_BOOT_* so boot
-// diagnostics always appear on Serial.
-extern bool g_sensor_hotfire_serial;
-#define SENSOR_HOTFIRE_PRINT(x)      \
-    do {                             \
-        if (g_sensor_hotfire_serial) \
-            Serial.print(x);         \
-    } while (0)
-#define SENSOR_HOTFIRE_PRINTLN(x)    \
-    do {                             \
-        if (g_sensor_hotfire_serial) \
-            Serial.println(x);       \
-    } while (0)
-#define SENSOR_HOTFIRE_PRINTLN_()    \
-    do {                             \
-        if (g_sensor_hotfire_serial) \
-            Serial.println();        \
-    } while (0)
-#define SENSOR_HOTFIRE_BOOT_PRINT(x) \
-    do {                             \
-        Serial.print(x);             \
-    } while (0)
-#define SENSOR_HOTFIRE_BOOT_PRINTLN(x) \
-    do {                               \
-        Serial.println(x);             \
-    } while (0)
+// Two-tier serial logging (HF_LOG* = always, HF_VERBOSE* = verbose-only, gated by
+// g_verbose). Each board defines `bool g_verbose = true;` once in its main .cpp.
+#include "hotfire_log.h"
 
 namespace SensorHotfire {
 
@@ -232,39 +206,40 @@ inline IncomingPacketKind processIncomingPacket(CoreState& s, const Config& cfg,
             cfg.on_reference_voltage_config(cfg.user_data,
                                             s.stored_config.reference_voltage);
 
-        g_sensor_hotfire_serial = (enable_serial_printing != 0);
+        g_verbose = (enable_serial_printing != 0);
 
-        Serial.println("SENSOR_CONFIG received (DAQv2-Comms):");
-        Serial.print("  num_sensors=");
-        Serial.println(static_cast<unsigned>(sensor_ids.size()));
-        Serial.print("  sensor_ids=");
+        HF_LOGLN("SENSOR_CONFIG received (DAQv2-Comms):");
+        // Field-by-field breakdown is verbose-only; the header above is Tier 1.
+        HF_VERBOSE("  num_sensors=");
+        HF_VERBOSELN(static_cast<unsigned>(sensor_ids.size()));
+        HF_VERBOSE("  sensor_ids=");
         if (!sensor_ids.empty()) {
             for (size_t i = 0; i < sensor_ids.size(); ++i) {
                 if (i)
-                    Serial.print(",");
-                Serial.print(static_cast<unsigned>(sensor_ids[i]));
+                    HF_VERBOSE(",");
+                HF_VERBOSE(static_cast<unsigned>(sensor_ids[i]));
             }
-            Serial.println();
+            HF_VERBOSELN_();
         } else {
-            Serial.println("(none)");
+            HF_VERBOSELN("(none)");
         }
-        Serial.print("  reference_voltage=");
-        Serial.println(
+        HF_VERBOSE("  reference_voltage=");
+        HF_VERBOSELN(
             static_cast<unsigned>(s.stored_config.reference_voltage));
-        Serial.print("  necessary_for_abort=");
-        Serial.println(s.stored_config.necessary_for_abort ? 1 : 0);
-        Serial.print("  actuator_controller_ip=");
+        HF_VERBOSE("  necessary_for_abort=");
+        HF_VERBOSELN(s.stored_config.necessary_for_abort ? 1 : 0);
+        HF_VERBOSE("  actuator_controller_ip=");
         if (s.stored_config.actuator_controller_ip != 0) {
             const uint8_t* ip_bytes = reinterpret_cast<const uint8_t*>(
                 &s.stored_config.actuator_controller_ip);
             IPAddress actuatorIP(ip_bytes[0], ip_bytes[1], ip_bytes[2],
                                  ip_bytes[3]);
-            Serial.println(actuatorIP);
+            HF_VERBOSELN(actuatorIP);
         } else {
-            Serial.println("0.0.0.0");
+            HF_VERBOSELN("0.0.0.0");
         }
-        Serial.print("  enable_serial_printing=");
-        Serial.println(g_sensor_hotfire_serial ? 1 : 0);
+        HF_VERBOSE("  enable_serial_printing=");
+        HF_VERBOSELN(g_verbose ? 1 : 0);
         Serial.flush();
         return IncomingPacketKind::SensorConfig;
     }
@@ -331,11 +306,10 @@ inline void sendBoardHeartbeat(CoreState& s, const Config& cfg,
                                                      sizeof(packetBuffer));
     if (n == 0)
         return;
-    Serial.print("Sent: heartbeat to ");
-    Serial.print(dest_ip);
-    Serial.print(":");
-    Serial.println(dest_port);
-    Serial.flush();
+    HF_VERBOSE("Sent: heartbeat to ");
+    HF_VERBOSE(dest_ip);
+    HF_VERBOSE(":");
+    HF_VERBOSELN(dest_port);
     s.udp.beginPacket(dest_ip, dest_port);
     s.udp.write(packetBuffer, n);
     s.udp.endPacket();
@@ -382,15 +356,15 @@ inline void setup(CoreState& s, const Config& cfg) {
     Serial.begin(115200);
     delay(SERIAL_MONITOR_READY_DELAY_MS);
     FirmwareHash::print();
-    SENSOR_HOTFIRE_BOOT_PRINT(cfg.board_name);
-    SENSOR_HOTFIRE_BOOT_PRINTLN(" Hotfire state machine starting...");
+    HF_LOG(cfg.board_name);
+    HF_LOGLN(" Hotfire state machine starting...");
 
     s.board_id = (uint8_t)BOARD_ID;
     s.staticIP = IPAddress(192, 168, 2, (uint8_t)BOARD_ID);
-    SENSOR_HOTFIRE_BOOT_PRINT("Board ID and IP: ");
-    SENSOR_HOTFIRE_BOOT_PRINT(static_cast<unsigned>(s.board_id));
-    SENSOR_HOTFIRE_BOOT_PRINT(" / 192.168.2.");
-    SENSOR_HOTFIRE_BOOT_PRINTLN(static_cast<unsigned>(s.board_id));
+    HF_LOG("Board ID and IP: ");
+    HF_LOG(static_cast<unsigned>(s.board_id));
+    HF_LOG(" / 192.168.2.");
+    HF_LOGLN(static_cast<unsigned>(s.board_id));
 
     const sense_board_pins::Layout& Pins = *cfg.pins;
     pinMode(Pins.LED, OUTPUT);
@@ -409,40 +383,40 @@ inline void setup(CoreState& s, const Config& cfg) {
 
     // W5500 / Ethernet status (same pattern as Stream_ADC_Data and other DAQ
     // sketches)
-    SENSOR_HOTFIRE_BOOT_PRINTLN("[ETH] Ethernet initialized (SPI WIZnet)");
-    SENSOR_HOTFIRE_BOOT_PRINT("Configured static IP: ");
-    SENSOR_HOTFIRE_BOOT_PRINTLN(s.staticIP);
-    SENSOR_HOTFIRE_BOOT_PRINT("Stack IP (Ethernet.localIP): ");
-    SENSOR_HOTFIRE_BOOT_PRINTLN(Ethernet.localIP());
-    SENSOR_HOTFIRE_BOOT_PRINT("Hardware: ");
+    HF_LOGLN("[ETH] Ethernet initialized (SPI WIZnet)");
+    HF_LOG("Configured static IP: ");
+    HF_LOGLN(s.staticIP);
+    HF_LOG("Stack IP (Ethernet.localIP): ");
+    HF_LOGLN(Ethernet.localIP());
+    HF_LOG("Hardware: ");
     switch (Ethernet.hardwareStatus()) {
         case EthernetNoHardware:
-            SENSOR_HOTFIRE_BOOT_PRINTLN(
+            HF_LOGLN(
                 "no chip detected — check CS / SPI wiring");
             break;
         case EthernetW5100:
-            SENSOR_HOTFIRE_BOOT_PRINTLN("W5100");
+            HF_LOGLN("W5100");
             break;
         case EthernetW5200:
-            SENSOR_HOTFIRE_BOOT_PRINTLN("W5200");
+            HF_LOGLN("W5200");
             break;
         case EthernetW5500:
-            SENSOR_HOTFIRE_BOOT_PRINTLN("W5500");
+            HF_LOGLN("W5500");
             break;
         default:
-            SENSOR_HOTFIRE_BOOT_PRINTLN("unknown");
+            HF_LOGLN("unknown");
             break;
     }
-    SENSOR_HOTFIRE_BOOT_PRINT("Link status: ");
+    HF_LOG("Link status: ");
     if (Ethernet.linkStatus() == LinkON) {
-        SENSOR_HOTFIRE_BOOT_PRINTLN("Connected");
+        HF_LOGLN("Connected");
     } else if (Ethernet.linkStatus() == LinkOFF) {
-        SENSOR_HOTFIRE_BOOT_PRINTLN("Disconnected");
+        HF_LOGLN("Disconnected");
     } else {
-        SENSOR_HOTFIRE_BOOT_PRINTLN("Unknown");
+        HF_LOGLN("Unknown");
     }
     if (Ethernet.localIP() == IPAddress(0, 0, 0, 0)) {
-        SENSOR_HOTFIRE_BOOT_PRINTLN(
+        HF_LOGLN(
             "[ETH] WARNING: stack IP is 0.0.0.0 — check cable / W5500");
     }
     Serial.flush();
@@ -467,7 +441,7 @@ inline void setup(CoreState& s, const Config& cfg) {
     Serial.print(static_cast<unsigned>(s.board_id));
     Serial.println(":5005");
     Serial.flush();
-    SENSOR_HOTFIRE_BOOT_PRINTLN("Setup complete. State: WaitingForServer");
+    HF_LOGLN("Setup complete. State: WaitingForServer");
 }
 
 inline void loop(CoreState& s, const Config& cfg) {
@@ -491,30 +465,28 @@ inline void loop(CoreState& s, const Config& cfg) {
         uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
         int bytesRead = s.udp.read(packetBuffer, maxPacket);
         if (bytesRead <= 0) {
-            Serial.print("WARNING: parsePacket returned ");
-            Serial.print(packetSize);
-            Serial.println(" but read() returned 0");
-            Serial.flush();
+            HF_LOG("WARNING: parsePacket returned ");
+            HF_LOG(packetSize);
+            HF_LOGLN(" but read() returned 0");
         } else {
-            Serial.print("Received packet from ");
-            Serial.print(remoteIP);
-            Serial.print(":");
-            Serial.print(remotePort);
-            Serial.print(" type ");
-            Serial.print(static_cast<unsigned>(packetBuffer[0]));
-            Serial.print(" (");
-            Serial.print(packetTypeName(packetBuffer[0]));
-            Serial.print(") len=");
-            Serial.print(bytesRead);
-            Serial.print(" hex:");
+            HF_VERBOSE("Received packet from ");
+            HF_VERBOSE(remoteIP);
+            HF_VERBOSE(":");
+            HF_VERBOSE(remotePort);
+            HF_VERBOSE(" type ");
+            HF_VERBOSE(static_cast<unsigned>(packetBuffer[0]));
+            HF_VERBOSE(" (");
+            HF_VERBOSE(packetTypeName(packetBuffer[0]));
+            HF_VERBOSE(") len=");
+            HF_VERBOSE(bytesRead);
+            HF_VERBOSE(" hex:");
             for (int i = 0; i < bytesRead && i < 12; i++) {
-                Serial.print(" ");
+                HF_VERBOSE(" ");
                 if (packetBuffer[i] < 16)
-                    Serial.print("0");
-                Serial.print(packetBuffer[i], HEX);
+                    HF_VERBOSE("0");
+                HF_VERBOSE(packetBuffer[i], HEX);
             }
-            Serial.println();
-            Serial.flush();
+            HF_VERBOSELN_();
             IncomingPacketKind kind = processIncomingPacket(
                 s, cfg, packetBuffer, bytesRead, remoteIP, remotePort);
             if (kind == IncomingPacketKind::SensorConfig) {
@@ -556,10 +528,10 @@ inline void loop(CoreState& s, const Config& cfg) {
                 s.udp.beginPacket(s.serverIP, s.serverPort);
                 s.udp.write(packetBuffer, packetSize);
                 s.udp.endPacket();
-                SENSOR_HOTFIRE_PRINT("Sent: SELF_TEST to ");
-                SENSOR_HOTFIRE_PRINT(s.serverIP);
-                SENSOR_HOTFIRE_PRINT(":");
-                SENSOR_HOTFIRE_PRINTLN(s.serverPort);
+                HF_VERBOSE("Sent: SELF_TEST to ");
+                HF_VERBOSE(s.serverIP);
+                HF_VERBOSE(":");
+                HF_VERBOSELN(s.serverPort);
             }
         }
         s.state = State::Active;
@@ -600,20 +572,18 @@ inline void loop(CoreState& s, const Config& cfg) {
     unsigned long now = millis();
     if (s.state == State::WaitingForServer && (now - s_last_debug_ms >= 2000)) {
         s_last_debug_ms = now;
-        Serial.print("PT debug: state=WaitingForServer IP=");
-        Serial.print(Ethernet.localIP());
-        Serial.print(" udp_checks=");
-        Serial.print(s_udp_check_count);
-        Serial.print(" last_parse=");
-        Serial.println(s_last_parse_result);
-        Serial.flush();
+        HF_VERBOSE("PT debug: state=WaitingForServer IP=");
+        HF_VERBOSE(Ethernet.localIP());
+        HF_VERBOSE(" udp_checks=");
+        HF_VERBOSE(s_udp_check_count);
+        HF_VERBOSE(" last_parse=");
+        HF_VERBOSELN(s_last_parse_result);
     }
     if (now - s.lastHeartbeatMillis >= BOARD_HEARTBEAT_INTERVAL_MS) {
         s.lastHeartbeatMillis = now;
         switch (s.state) {
             case State::WaitingForServer:
-                Serial.println("Setup state: sending heartbeat");
-                Serial.flush();
+                HF_VERBOSELN("Setup state: sending heartbeat");
                 sendBoardHeartbeat(s, cfg, Diablo::BoardState::SETUP,
                                    s.serverIP, s.serverPort);
                 break;
diff --git a/firmware/Hotfire_Code/common/hotfire_log.h b/firmware/Hotfire_Code/common/hotfire_log.h
new file mode 100644
index 000000000..a616ece13
--- /dev/null
+++ b/firmware/Hotfire_Code/common/hotfire_log.h
@@ -0,0 +1,38 @@
+#ifndef HOTFIRE_LOG_H
+#define HOTFIRE_LOG_H
+
+#include <Arduino.h>
+
+// ─────────────────────────────────────────────────────────────────────────────
+// Two-tier serial logging (shared by all hotfire boards + OTA).
+//
+//   Tier 1  HF_LOG*      — ALWAYS printed. Low-rate, high-value: boot/identity,
+//                          state transitions, config/command summaries, self-test
+//                          verdicts, OTA lifecycle, and all errors/warnings.
+//
+//   Tier 2  HF_VERBOSE*  — printed ONLY when verbose mode is on (g_verbose). High
+//                          rate or fine-grained debug: per-packet "Sent:" lines,
+//                          per-sample data dumps, raw hex, repeating debug, and
+//                          field-by-field breakdowns.
+//
+// g_verbose is the "verbose mode" gate. It defaults true until SENSOR_CONFIG is
+// received, then tracks the packet's enable_serial_printing byte (the server
+// controls it per-board). Each board defines `bool g_verbose = true;` once in its
+// main .cpp.
+// ─────────────────────────────────────────────────────────────────────────────
+extern bool g_verbose;
+
+// Variadic so they accept both Serial.print(x) and Serial.print(x, HEX).
+// Tier 1 — always
+#define HF_LOG(...)      do { Serial.print(__VA_ARGS__); } while (0)
+#define HF_LOGLN(...)    do { Serial.println(__VA_ARGS__); } while (0)
+#define HF_LOGLN_()      do { Serial.println(); } while (0)
+#define HF_LOGF(...)     do { Serial.printf(__VA_ARGS__); } while (0)
+
+// Tier 2 — verbose only
+#define HF_VERBOSE(...)   do { if (g_verbose) Serial.print(__VA_ARGS__); } while (0)
+#define HF_VERBOSELN(...) do { if (g_verbose) Serial.println(__VA_ARGS__); } while (0)
+#define HF_VERBOSELN_()   do { if (g_verbose) Serial.println(); } while (0)
+#define HF_VERBOSEF(...)  do { if (g_verbose) Serial.printf(__VA_ARGS__); } while (0)
+
+#endif  // HOTFIRE_LOG_H
diff --git a/firmware/Hotfire_Code/common/hotfire_ota.h b/firmware/Hotfire_Code/common/hotfire_ota.h
index 66ed21ac7..a128f96eb 100644
--- a/firmware/Hotfire_Code/common/hotfire_ota.h
+++ b/firmware/Hotfire_Code/common/hotfire_ota.h
@@ -18,6 +18,8 @@
 #include <Ethernet.h>
 #include <Update.h>
 
+#include "hotfire_log.h"  // HF_VERBOSEF for verbose-only progress
+
 #ifndef HOTFIRE_OTA_CHUNK_SIZE
 #define HOTFIRE_OTA_CHUNK_SIZE 4096
 #endif
@@ -108,11 +110,13 @@ inline void hotfire_handleOTA(EthernetClient& client) {
                 totalReceived += bytesRead;
                 lastDataTime = millis();
 
+                // Progress is verbose-only and throttled to 25% steps (lifecycle
+                // start/success/errors below are Tier 1 and always print).
                 int percent = (int)((totalReceived * 100UL) / firmwareSize);
-                if (percent / 5 != lastPercent / 5) {
+                if (percent / 25 != lastPercent / 25) {
                     lastPercent = percent;
-                    Serial.printf("[OTA] Progress: %d%% (%u / %u bytes)\n",
-                                  percent, totalReceived, firmwareSize);
+                    HF_VERBOSEF("[OTA] Progress: %d%% (%u / %u bytes)\n",
+                                percent, totalReceived, firmwareSize);
                 }
             }
         } else {

From fef2c37885d33a4f502d6d60cdc120853c0e5acc Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 17:40:52 -0700
Subject: [PATCH 024/205] firmware+server: rename DAQv2-Comms wire library to
 daq-protocol (namespace Diablo:: -> daq::)

---
 daq-server/CMakeLists.txt                     |   6 +-
 daq-server/check_env.sh                       |   6 +-
 .../daq_bridge/daq_bridge_main.cpp            |  18 +-
 .../lib/include/fsw/FSWConfigManager.hpp      |   8 +-
 .../lib/include/routing/HeartbeatRouter.hpp   |   6 +-
 .../lib/src/config/BoardDiscovery.cpp         |  18 +-
 .../lib/src/config/SensorAssignment.cpp       |   4 +-
 .../lib/src/control/PressureStateMachine.cpp  |   6 +-
 .../lib/src/fsw/FSWConfigManager.cpp          |   6 +-
 .../lib/src/routing/HeartbeatRouter.cpp       |   6 +-
 .../lib/src/streams/SensorFramePipeline.cpp   |  22 +-
 .../services/sequencer/AbortBroadcaster.cpp   |  10 +-
 .../services/sequencer/ActuatorCommander.cpp  |   4 +-
 .../diablo_server/transport/CMakeLists.txt    |   2 +-
 .../messages/board/BoardHeartbeatMessage.hpp  |   4 +-
 .../include/protocol/EncryptedFrame.hpp       |   2 +-
 daq-server/test/test_integration.sh           |   2 +-
 .../ADC_Testing/Actuator_Testing/src/main.cpp |  38 ++--
 .../ADC_Testing/Stream_ADC_Data/src/main.cpp  |  12 +-
 .../ADC_Testing/stream_one_adc/src/main.cpp   |   8 +-
 .../ActuatorCon_Hotfire/src/main.cpp          |  94 ++++-----
 .../Archive/Old_PT_1/src/ethernet_test.cpp    |  10 +-
 .../actuator_c.cpp                            |  66 +++---
 firmware/Environmental Tracker/src/main.cpp   |  22 +-
 .../EthernetTestRcvPacketSuite/src/main.cpp   | 108 +++++-----
 .../EthernetTestSendPacketSuite/src/main.cpp  |  10 +-
 .../Actuator_Hotfire/src/main.cpp             | 132 ++++++------
 .../Hotfire_Code/Hotfire_Tests/platformio.ini |   2 +-
 .../test_actuator_state_machine.cpp           |  68 +++----
 .../test_packet_roundtrip.cpp                 | 190 +++++++++---------
 .../test_sensor_data_collection.cpp           |  14 +-
 .../test_sensor_state_machine.cpp             |  68 +++----
 firmware/Hotfire_Code/LC_Hotfire/src/main.cpp |  14 +-
 firmware/Hotfire_Code/PT_Hotfire/src/main.cpp |  16 +-
 .../Hotfire_Code/ProtoEncoder/src/main.cpp    |  34 ++--
 .../Hotfire_Code/RTD_Hotfire/src/main.cpp     |  16 +-
 firmware/Hotfire_Code/TC_Hotfire/src/main.cpp |  14 +-
 .../Hotfire_Code/common/SensorHotfireCore.h   |  54 ++---
 firmware/LC_Board/LC_Calibration/src/main.cpp |   8 +-
 .../Multi_Board_Comms_Testing/src/main.cpp    |  32 +--
 .../src/main.cpp                              |   8 +-
 .../PT_BOARD_Multi_Send/src/main.cpp          |   8 +-
 firmware/RTD_Board/RTD_Testing/src/main.cpp   |  12 +-
 firmware/Stacklight Driver/platformio.ini     |   2 +-
 firmware/Stacklight Driver/src/main.cpp       |  30 +--
 firmware/State Machine/TC_Board/src/main.cpp  |  48 ++---
 firmware/libraries/DAQv2-Comms                |   1 -
 firmware/libraries/daq-protocol               |   1 +
 lib/{DAQv2-Comms => daq-protocol}/.gitignore  |   0
 lib/{DAQv2-Comms => daq-protocol}/README.md   |   0
 .../clang-format.txt                          |   0
 .../keywords.txt                              |   0
 .../library.properties                        |   6 +-
 .../src/DiabloEnums.h                         |   4 +-
 .../src/DiabloPacketUtils.cpp                 |   6 +-
 .../src/DiabloPacketUtils.h                   |   4 +-
 .../src/DiabloPackets.h                       |   4 +-
 .../src/daq-protocol.h}                       |   0
 58 files changed, 647 insertions(+), 647 deletions(-)
 delete mode 120000 firmware/libraries/DAQv2-Comms
 create mode 120000 firmware/libraries/daq-protocol
 rename lib/{DAQv2-Comms => daq-protocol}/.gitignore (100%)
 rename lib/{DAQv2-Comms => daq-protocol}/README.md (100%)
 rename lib/{DAQv2-Comms => daq-protocol}/clang-format.txt (100%)
 rename lib/{DAQv2-Comms => daq-protocol}/keywords.txt (100%)
 rename lib/{DAQv2-Comms => daq-protocol}/library.properties (51%)
 rename lib/{DAQv2-Comms => daq-protocol}/src/DiabloEnums.h (96%)
 rename lib/{DAQv2-Comms => daq-protocol}/src/DiabloPacketUtils.cpp (99%)
 rename lib/{DAQv2-Comms => daq-protocol}/src/DiabloPacketUtils.h (99%)
 rename lib/{DAQv2-Comms => daq-protocol}/src/DiabloPackets.h (99%)
 rename lib/{DAQv2-Comms/src/DAQv2-Comms.h => daq-protocol/src/daq-protocol.h} (100%)

diff --git a/daq-server/CMakeLists.txt b/daq-server/CMakeLists.txt
index 43d58cce5..94f321fda 100644
--- a/daq-server/CMakeLists.txt
+++ b/daq-server/CMakeLists.txt
@@ -12,12 +12,12 @@ find_package(OpenSSL REQUIRED)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
 
-# DAQv2-Comms: wire protocol library (subtree at repo-root lib/DAQv2-Comms)
+# daq-protocol: wire protocol library (subtree at repo-root lib/daq-protocol)
 add_library(daqv2_comms STATIC
-    ../lib/DAQv2-Comms/src/DiabloPacketUtils.cpp
+    ../lib/daq-protocol/src/DiabloPacketUtils.cpp
 )
 target_include_directories(daqv2_comms PUBLIC
-    ../lib/DAQv2-Comms/src
+    ../lib/daq-protocol/src
 )
 # DAQv2 headers use size_t without <cstddef>; force the standard header (GCC/Clang)
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
diff --git a/daq-server/check_env.sh b/daq-server/check_env.sh
index 4a9173082..8df181aec 100755
--- a/daq-server/check_env.sh
+++ b/daq-server/check_env.sh
@@ -252,7 +252,7 @@ SHLIB_EXT=".so"
 [ "$PLATFORM" = "macOS" ] && SHLIB_EXT=".dylib"
 
 # Post-diablo_server rename: executables land in build/bin/, shared libs in
-# build/lib/, and the daqv2_comms static archive (from ../lib/DAQv2-Comms) at
+# build/lib/, and the daqv2_comms static archive (from ../lib/daq-protocol) at
 # the top of build/. Kept in sync with CMakeLists targets — when a new service
 # is added under diablo_server/services/, add it here too.
 EXPECTED_BINS=(
@@ -270,12 +270,12 @@ EXPECTED_BINS=(
 )
 
 # Source dirs for the "stale binary?" check. diablo_server/ holds every C++
-# source under daq-server/; ../lib/DAQv2-Comms is the wire-protocol library
+# source under daq-server/; ../lib/daq-protocol is the wire-protocol library
 # that gets baked into libdaqv2_comms.a, so edits there also invalidate the
 # archive.
 SOURCE_DIRS=()
 [ -d "$REPO/diablo_server" ]      && SOURCE_DIRS+=("$REPO/diablo_server")
-[ -d "$REPO/../lib/DAQv2-Comms" ] && SOURCE_DIRS+=("$REPO/../lib/DAQv2-Comms")
+[ -d "$REPO/../lib/daq-protocol" ] && SOURCE_DIRS+=("$REPO/../lib/daq-protocol")
 
 for artifact in "${EXPECTED_BINS[@]}"; do
     full_path="$REPO/$artifact"
diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 02e12137a..800cdc1d6 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -15,7 +15,7 @@
 #include <thread>
 #include <vector>
 
-#include "DAQv2-Comms.h"
+#include "daq-protocol.h"
 #include "comms/messages/board/BoardHeartbeatMessage.hpp"
 #include "comms/messages/sensor/CalibratedSensorMessages.hpp"
 #include "comms/messages/sensor/SensorMessages.hpp"
@@ -422,12 +422,12 @@ int main(int argc, char* argv[]) {
     for (const auto& [ip, cfg] : board_map) {
         if (cfg.board_id < 0 || !cfg.enabled || cfg.type == BoardType::ACTUATOR)
             continue;
-        Diablo::BoardHeartbeatPacket synthetic{};
+        daq::BoardHeartbeatPacket synthetic{};
         synthetic.board_id = static_cast<uint8_t>(cfg.board_id);
-        synthetic.engine_state = Diablo::EngineState::SAFE;
-        synthetic.board_state = Diablo::BoardState::SETUP;
-        Diablo::PacketHeader syn_hdr{};
-        syn_hdr.packet_type = Diablo::PacketType::BOARD_HEARTBEAT;
+        synthetic.engine_state = daq::EngineState::SAFE;
+        synthetic.board_state = daq::BoardState::SETUP;
+        daq::PacketHeader syn_hdr{};
+        syn_hdr.packet_type = daq::PacketType::BOARD_HEARTBEAT;
         syn_hdr.version = DIABLO_COMMS_VERSION;
         syn_hdr.timestamp =
             static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::milliseconds>(
@@ -558,9 +558,9 @@ int main(int argc, char* argv[]) {
             if (hb) {
                 discovery.process_board_announcement(hb->data.data(), hb->data.size(),
                                                      hb->source_ip);
-                Diablo::PacketHeader ph;
-                Diablo::BoardHeartbeatPacket hb_body;
-                if (Diablo::parse_board_heartbeat_packet(hb->data.data(), hb->data.size(), ph,
+                daq::PacketHeader ph;
+                daq::BoardHeartbeatPacket hb_body;
+                if (daq::parse_board_heartbeat_packet(hb->data.data(), hb->data.size(), ph,
                                                          hb_body)) {
                     uint8_t board_type_wire = fsw::daq_wire::kUnknown;
                     int elodin_board_id = -1;
diff --git a/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp b/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp
index d9ae76b52..2e6586198 100644
--- a/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp
+++ b/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp
@@ -10,10 +10,10 @@
 #include "config/SensorAssignment.hpp"
 #include "transport/NetworkSocket.hpp"
 
-namespace Diablo {
+namespace daq {
 struct PacketHeader;
 struct BoardHeartbeatPacket;
-}  // namespace Diablo
+}  // namespace daq
 
 namespace fsw {
 namespace fsw {
@@ -43,8 +43,8 @@ class FSWConfigManager {
      * @param mac_address Board MAC address
      * @return Assigned IP address
      */
-    std::string process_board_heartbeat(const Diablo::PacketHeader& header,
-                                        const Diablo::BoardHeartbeatPacket& body,
+    std::string process_board_heartbeat(const daq::PacketHeader& header,
+                                        const daq::BoardHeartbeatPacket& body,
                                         const std::string& source_ip,
                                         const std::string& mac_address);
 
diff --git a/daq-server/diablo_server/lib/include/routing/HeartbeatRouter.hpp b/daq-server/diablo_server/lib/include/routing/HeartbeatRouter.hpp
index feaa2e09b..8dba89281 100644
--- a/daq-server/diablo_server/lib/include/routing/HeartbeatRouter.hpp
+++ b/daq-server/diablo_server/lib/include/routing/HeartbeatRouter.hpp
@@ -46,15 +46,15 @@ class HeartbeatRouter {
      * [0x20,…] IDs, so a wire/config mismatch only breaks board status / heartbeats UI unless
      * overridden.
      */
-    BoardEvent process_heartbeat(const Diablo::PacketHeader& header,
-                                 const Diablo::BoardHeartbeatPacket& heartbeat,
+    BoardEvent process_heartbeat(const daq::PacketHeader& header,
+                                 const daq::BoardHeartbeatPacket& heartbeat,
                                  uint8_t board_type_wire, uint64_t receive_ts_ns,
                                  int elodin_board_id_if_known = -1);
 
 private:
     struct PerBoardState {
         std::chrono::steady_clock::time_point last_seen;
-        Diablo::BoardState last_board_state = Diablo::BoardState::SETUP;
+        daq::BoardState last_board_state = daq::BoardState::SETUP;
         bool seen_before = false;
     };
 
diff --git a/daq-server/diablo_server/lib/src/config/BoardDiscovery.cpp b/daq-server/diablo_server/lib/src/config/BoardDiscovery.cpp
index 961aed3c9..8414aa386 100644
--- a/daq-server/diablo_server/lib/src/config/BoardDiscovery.cpp
+++ b/daq-server/diablo_server/lib/src/config/BoardDiscovery.cpp
@@ -77,9 +77,9 @@ void BoardDiscovery::stop_discovery() {
 
 void BoardDiscovery::process_board_announcement(const uint8_t* data, size_t size,
                                                 const std::string& source_ip) {
-    Diablo::PacketHeader hdr;
-    Diablo::BoardHeartbeatPacket hb;
-    if (!Diablo::parse_board_heartbeat_packet(data, size, hdr, hb)) {
+    daq::PacketHeader hdr;
+    daq::BoardHeartbeatPacket hb;
+    if (!daq::parse_board_heartbeat_packet(data, size, hdr, hb)) {
         return;
     }
 
@@ -144,9 +144,9 @@ void BoardDiscovery::process_board_announcement(const uint8_t* data, size_t size
 
 void BoardDiscovery::process_sensor_data(const uint8_t* data, size_t size,
                                          const std::string& source_ip) {
-    Diablo::PacketHeader hdr;
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
-    if (!Diablo::parse_sensor_data_packet(data, size, hdr, chunks) || chunks.empty()) {
+    daq::PacketHeader hdr;
+    std::vector<daq::SensorDataChunkCollection> chunks;
+    if (!daq::parse_sensor_data_packet(data, size, hdr, chunks) || chunks.empty()) {
         return;
     }
 
@@ -212,9 +212,9 @@ void BoardDiscovery::process_sensor_data(const uint8_t* data, size_t size,
 std::vector<SensorInfo> BoardDiscovery::detect_sensors_from_packet(const uint8_t* data,
                                                                    size_t size) const {
     std::vector<SensorInfo> sensors;
-    Diablo::PacketHeader hdr;
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
-    if (!Diablo::parse_sensor_data_packet(data, size, hdr, chunks) || chunks.empty()) {
+    daq::PacketHeader hdr;
+    std::vector<daq::SensorDataChunkCollection> chunks;
+    if (!daq::parse_sensor_data_packet(data, size, hdr, chunks) || chunks.empty()) {
         return sensors;
     }
     std::map<uint8_t, bool> sensor_ids;
diff --git a/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp b/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp
index 184d94c68..890b37ca0 100644
--- a/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp
+++ b/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp
@@ -266,7 +266,7 @@ std::vector<uint8_t> SensorAssignmentManager::generate_board_config_packet(uint8
     const auto& config = it->second;
 
     // Generate SENSOR_CONFIG packet using canonical DAQv2-Comms serializer so that
-    // the on-wire format exactly matches Diablo::parse_sensor_config_packet.
+    // the on-wire format exactly matches daq::parse_sensor_config_packet.
     // Body: num_sensors | sensor_ids | reference_voltage | necessary_for_abort
     //       | [controller_ip if necessary_for_abort] | enable_serial_printing
 
@@ -289,7 +289,7 @@ std::vector<uint8_t> SensorAssignmentManager::generate_board_config_packet(uint8
                                                std::chrono::steady_clock::now().time_since_epoch())
                                                .count() &
                                            0xFFFFFFFFu);
-    size_t written = Diablo::create_sensor_config_packet(
+    size_t written = daq::create_sensor_config_packet(
         sensor_ids, reference_voltage, necessary_for_abort, controller_ip, enable_serial_printing,
         ts_ms, buffer, sizeof(buffer));
 
diff --git a/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp b/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp
index b4ec5fe6a..3e34b68ed 100644
--- a/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp
+++ b/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp
@@ -652,11 +652,11 @@ void PressureStateMachine::sendActuatorCommandUDP(ActuatorID actuator, CommandTy
         static_cast<uint8_t>(actuator) + 1;  // Convert 0-indexed to 1-indexed
 
     // Construct actuator command packet (matching DAQv2-Comms format exactly)
-    Diablo::ActuatorCommand cmd;
+    daq::ActuatorCommand cmd;
     cmd.actuator_id = actuator_channel;
     cmd.actuator_state = actuator_state;
 
-    std::vector<Diablo::ActuatorCommand> commands;
+    std::vector<daq::ActuatorCommand> commands;
     commands.push_back(cmd);
 
     uint8_t buf[512];
@@ -664,7 +664,7 @@ void PressureStateMachine::sendActuatorCommandUDP(ActuatorID actuator, CommandTy
                                                std::chrono::steady_clock::now().time_since_epoch())
                                                .count() &
                                            0xFFFFFFFFu);
-    size_t len = Diablo::create_actuator_command_packet(commands, ts_ms, buf, sizeof(buf));
+    size_t len = daq::create_actuator_command_packet(commands, ts_ms, buf, sizeof(buf));
     std::vector<uint8_t> packet(buf, buf + len);
     if (packet.empty()) {
         std::cerr << "[PressureStateMachine] ERROR: Failed to construct actuator command packet"
diff --git a/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp b/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
index 002b72ba8..122121770 100644
--- a/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
+++ b/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
@@ -33,8 +33,8 @@ bool FSWConfigManager::initialize(const std::string& bind_address, uint16_t bind
     return true;
 }
 
-std::string FSWConfigManager::process_board_heartbeat(const Diablo::PacketHeader& /* header */,
-                                                      const Diablo::BoardHeartbeatPacket& body,
+std::string FSWConfigManager::process_board_heartbeat(const daq::PacketHeader& /* header */,
+                                                      const daq::BoardHeartbeatPacket& body,
                                                       const std::string& source_ip,
                                                       const std::string& mac_address) {
     uint8_t board_id = body.board_id;
@@ -93,7 +93,7 @@ std::string FSWConfigManager::process_board_heartbeat(const Diablo::PacketHeader
 
     // Send configuration to board if not already configured, OR if the board
     // is still in Setup state (e.g. after a reboot or missed config).
-    bool board_in_setup = body.board_state == Diablo::BoardState::SETUP;
+    bool board_in_setup = body.board_state == daq::BoardState::SETUP;
     if (!boards_configured_[board_id] || board_in_setup) {
         if (board_in_setup && boards_configured_[board_id]) {
             std::cout << "[FSWConfig] Board " << (int)board_id
diff --git a/daq-server/diablo_server/lib/src/routing/HeartbeatRouter.cpp b/daq-server/diablo_server/lib/src/routing/HeartbeatRouter.cpp
index 7d9a3f78d..823829796 100644
--- a/daq-server/diablo_server/lib/src/routing/HeartbeatRouter.cpp
+++ b/daq-server/diablo_server/lib/src/routing/HeartbeatRouter.cpp
@@ -13,7 +13,7 @@ HeartbeatRouter::HeartbeatRouter(fsw::elodin::ElodinClient& elodin_client)
 }
 
 HeartbeatRouter::BoardEvent HeartbeatRouter::process_heartbeat(
-    const Diablo::PacketHeader& header, const Diablo::BoardHeartbeatPacket& heartbeat,
+    const daq::PacketHeader& header, const daq::BoardHeartbeatPacket& heartbeat,
     uint8_t board_type_wire, uint64_t receive_ts_ns, int elodin_board_id_if_known) {
     uint8_t logical_id = heartbeat.board_id;
     if (elodin_board_id_if_known >= 0 && elodin_board_id_if_known <= 255) {
@@ -39,8 +39,8 @@ HeartbeatRouter::BoardEvent HeartbeatRouter::process_heartbeat(
             event = BoardEvent::RECONNECTED;
             std::cout << "[HeartbeatRouter] Board " << (int)logical_id << " reconnected after "
                       << gap.count() << "ms" << std::endl;
-        } else if (heartbeat.board_state == Diablo::BoardState::SETUP &&
-                   state.last_board_state != Diablo::BoardState::SETUP) {
+        } else if (heartbeat.board_state == daq::BoardState::SETUP &&
+                   state.last_board_state != daq::BoardState::SETUP) {
             event = BoardEvent::SETUP_REENTRY;
             std::cout << "[HeartbeatRouter] Board " << (int)logical_id << " re-entered SETUP state"
                       << std::endl;
diff --git a/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp b/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
index 2179e0fdf..0a6b1b49d 100644
--- a/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
+++ b/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
@@ -40,17 +40,17 @@ std::optional<daq_comms::protocol::SensorBatch> SensorFramePipeline::poll() {
         return std::nullopt;
     }
 
-    if (received < static_cast<ssize_t>(sizeof(Diablo::PacketHeader))) {
+    if (received < static_cast<ssize_t>(sizeof(daq::PacketHeader))) {
         return std::nullopt;
     }
 
-    Diablo::PacketHeader peek{};
+    daq::PacketHeader peek{};
     std::memcpy(&peek, receive_buffer_.data(), sizeof(peek));
 
-    if (peek.packet_type == Diablo::PacketType::SENSOR_DATA) {
-        Diablo::PacketHeader sensor_header;
-        std::vector<Diablo::SensorDataChunkCollection> chunks;
-        if (!Diablo::parse_sensor_data_packet(receive_buffer_.data(), static_cast<size_t>(received),
+    if (peek.packet_type == daq::PacketType::SENSOR_DATA) {
+        daq::PacketHeader sensor_header;
+        std::vector<daq::SensorDataChunkCollection> chunks;
+        if (!daq::parse_sensor_data_packet(receive_buffer_.data(), static_cast<size_t>(received),
                                               sensor_header, chunks)) {
             static size_t parse_fail_count = 0;
             if (++parse_fail_count <= 10 || parse_fail_count % 500 == 0) {
@@ -85,11 +85,11 @@ std::optional<daq_comms::protocol::SensorBatch> SensorFramePipeline::poll() {
         return batch;
     }
 
-    if (peek.packet_type == Diablo::PacketType::SELF_TEST) {
-        Diablo::PacketHeader st_header;
+    if (peek.packet_type == daq::PacketType::SELF_TEST) {
+        daq::PacketHeader st_header;
         uint8_t adc_good = 0;
-        std::vector<Diablo::SelfTestResult> st_results;
-        if (!Diablo::parse_self_test_packet(receive_buffer_.data(), static_cast<size_t>(received),
+        std::vector<daq::SelfTestResult> st_results;
+        if (!daq::parse_self_test_packet(receive_buffer_.data(), static_cast<size_t>(received),
                                             st_header, adc_good, st_results)) {
             std::cerr << "[Pipeline] SELF_TEST parse failed from " << last_source_ip_ << std::endl;
             return std::nullopt;
@@ -116,7 +116,7 @@ std::optional<daq_comms::protocol::SensorBatch> SensorFramePipeline::poll() {
         return batch;
     }
 
-    if (peek.packet_type == Diablo::PacketType::BOARD_HEARTBEAT) {
+    if (peek.packet_type == daq::PacketType::BOARD_HEARTBEAT) {
         last_heartbeat_buffer_.assign(receive_buffer_.data(),
                                       receive_buffer_.data() + static_cast<size_t>(received));
         last_heartbeat_source_ip_ = last_source_ip_;
diff --git a/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp b/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
index bd78ef6cc..8e3cb6185 100644
--- a/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
+++ b/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
@@ -37,8 +37,8 @@ AbortBroadcaster::~AbortBroadcaster() {
 
 // ─────────────────────────────────────────────────────────────────────────────
 void AbortBroadcaster::sendPacket(uint8_t packet_type_byte) {
-    Diablo::PacketHeader hdr{};
-    hdr.packet_type = static_cast<Diablo::PacketType>(packet_type_byte);
+    daq::PacketHeader hdr{};
+    hdr.packet_type = static_cast<daq::PacketType>(packet_type_byte);
     hdr.version = 0;  // DIABLO_COMMS_VERSION
     hdr.timestamp = host_timestamp_ms();
 
@@ -75,7 +75,7 @@ void AbortBroadcaster::sendPacket(uint8_t packet_type_byte) {
 // ─────────────────────────────────────────────────────────────────────────────
 void AbortBroadcaster::triggerAbort() {
     // Immediate ABORT
-    sendPacket(static_cast<uint8_t>(Diablo::PacketType::ABORT));
+    sendPacket(static_cast<uint8_t>(daq::PacketType::ABORT));
 
     // Cancel any previously scheduled ABORT_DONE thread
     done_thread_running_ = false;
@@ -99,11 +99,11 @@ void AbortBroadcaster::waitAndSendAbortDone() {
         elapsed += step;
     }
     if (done_thread_running_)
-        sendPacket(static_cast<uint8_t>(Diablo::PacketType::ABORT_DONE));
+        sendPacket(static_cast<uint8_t>(daq::PacketType::ABORT_DONE));
 }
 
 void AbortBroadcaster::sendClearAbort() {
-    sendPacket(static_cast<uint8_t>(Diablo::PacketType::CLEAR_ABORT));
+    sendPacket(static_cast<uint8_t>(daq::PacketType::CLEAR_ABORT));
 }
 
 }  // namespace sequencer
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 9edae6e15..2350d4f4b 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -294,7 +294,7 @@ bool ActuatorCommander::sendUDP(const std::string& board_ip,
     if (id_state_pairs.empty())
         return true;
 
-    std::vector<Diablo::ActuatorCommand> cmds;
+    std::vector<daq::ActuatorCommand> cmds;
     cmds.reserve(id_state_pairs.size());
     for (const auto& [id, st] : id_state_pairs)
         cmds.push_back({id, st});
@@ -304,7 +304,7 @@ bool ActuatorCommander::sendUDP(const std::string& board_ip,
                                                std::chrono::steady_clock::now().time_since_epoch())
                                                .count() &
                                            0xFFFFFFFFu);
-    size_t len = Diablo::create_actuator_command_packet(cmds, ts_ms, buf, sizeof(buf));
+    size_t len = daq::create_actuator_command_packet(cmds, ts_ms, buf, sizeof(buf));
     if (len == 0) {
         std::cerr << "[ActuatorCommander] create_actuator_command_packet returned 0" << std::endl;
         return false;
diff --git a/daq-server/diablo_server/transport/CMakeLists.txt b/daq-server/diablo_server/transport/CMakeLists.txt
index dfa4c8267..87cefa28a 100644
--- a/daq-server/diablo_server/transport/CMakeLists.txt
+++ b/daq-server/diablo_server/transport/CMakeLists.txt
@@ -1,5 +1,5 @@
 # CMakeLists.txt for daq_comms library
-# Transport + shared message types (on-wire Diablo framing lives in lib/DAQv2-Comms only).
+# Transport + shared message types (on-wire Diablo framing lives in lib/daq-protocol only).
 
 set(DAQ_COMMS_SOURCES
     src/transport/NetworkSocket.cpp
diff --git a/daq-server/diablo_server/transport/include/comms/messages/board/BoardHeartbeatMessage.hpp b/daq-server/diablo_server/transport/include/comms/messages/board/BoardHeartbeatMessage.hpp
index 609da0302..35b391f4b 100644
--- a/daq-server/diablo_server/transport/include/comms/messages/board/BoardHeartbeatMessage.hpp
+++ b/daq-server/diablo_server/transport/include/comms/messages/board/BoardHeartbeatMessage.hpp
@@ -19,8 +19,8 @@ namespace board {
  *   u64 timestamp_ns  (0)  — monotonic receive timestamp
  *   u8  board_id      (8)
  *   u8  board_type    (9)  — config wire byte (see fsw::daq_wire / BoardTypeWire.hpp)
- *   u8  engine_state  (10) — Diablo::EngineState raw value
- *   u8  board_state   (11) — Diablo::BoardState raw value
+ *   u8  engine_state  (10) — daq::EngineState raw value
+ *   u8  board_state   (11) — daq::BoardState raw value
  *   u32 packet_ts_ms  (12) — board-reported timestamp from packet header
  */
 using BoardHeartbeatElodinMessage = CommsMessage<uint64_t,  // (0) timestamp_ns
diff --git a/daq-server/diablo_server/transport/include/protocol/EncryptedFrame.hpp b/daq-server/diablo_server/transport/include/protocol/EncryptedFrame.hpp
index a560b24f0..0f9610261 100644
--- a/daq-server/diablo_server/transport/include/protocol/EncryptedFrame.hpp
+++ b/daq-server/diablo_server/transport/include/protocol/EncryptedFrame.hpp
@@ -8,7 +8,7 @@
 namespace daq_comms {
 namespace protocol {
 
-/** Parsed DAQv2 SELF_TEST payload (host-side mirror; filled from Diablo::parse_self_test_packet).
+/** Parsed DAQv2 SELF_TEST payload (host-side mirror; filled from daq::parse_self_test_packet).
  */
 struct ParsedSelfTestPacket {
     uint8_t packet_type = 0;
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 5635a7d2a..a6f7dcb90 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -305,7 +305,7 @@ else
   echo "  ⚠️  controller_service not found — controller tests will be skipped"
 fi
 
-# Data source: board_simulator.py (speaks the current DAQv2-Comms protocol).
+# Data source: board_simulator.py (speaks the current daq-protocol protocol).
 # NOTE: transport/src/fake_packet_generator.cpp is a pre-DAQv2 fossil (0xAA
 # magic + XOR framing the current daq_bridge cannot parse) with no CMake
 # target — never use it here even if someone makes it buildable again.
diff --git a/firmware/ADC_Testing/Actuator_Testing/src/main.cpp b/firmware/ADC_Testing/Actuator_Testing/src/main.cpp
index b89c861df..ed18c80d1 100644
--- a/firmware/ADC_Testing/Actuator_Testing/src/main.cpp
+++ b/firmware/ADC_Testing/Actuator_Testing/src/main.cpp
@@ -1,5 +1,5 @@
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -47,12 +47,12 @@ unsigned long lastAdcReadTime = 0;
 // Forward declarations
 void initializeActuators();
 void processActuatorCommand(
-    const std::vector<Diablo::ActuatorCommand>& commands);
+    const std::vector<daq::ActuatorCommand>& commands);
 void processPWMActuatorCommand(
-    const std::vector<Diablo::PWMActuatorCommand>& commands);
+    const std::vector<daq::PWMActuatorCommand>& commands);
 void updatePWM();
 void readCurrentSensePins();
-void sendSensorDataPacket(const Diablo::SensorDataChunkCollection& chunk);
+void sendSensorDataPacket(const daq::SensorDataChunkCollection& chunk);
 
 void setup() {
     Serial.begin(115200);
@@ -138,14 +138,14 @@ void loop() {
 
         if (bytesRead > 0) {
             // Check the packet type from the header
-            Diablo::PacketHeader* header = (Diablo::PacketHeader*)packetBuffer;
+            daq::PacketHeader* header = (daq::PacketHeader*)packetBuffer;
 
-            if (header->packet_type == Diablo::PacketType::ACTUATOR_COMMAND) {
+            if (header->packet_type == daq::PacketType::ACTUATOR_COMMAND) {
                 // Parse the packet as an actuator command
-                Diablo::PacketHeader parsedHeader;
-                std::vector<Diablo::ActuatorCommand> commands;
+                daq::PacketHeader parsedHeader;
+                std::vector<daq::ActuatorCommand> commands;
 
-                if (Diablo::parse_actuator_command_packet(
+                if (daq::parse_actuator_command_packet(
                         packetBuffer, bytesRead, parsedHeader, commands)) {
                     Serial.print("Received actuator command packet with ");
                     Serial.print(commands.size());
@@ -157,12 +157,12 @@ void loop() {
                         "Error: Failed to parse actuator command packet");
                 }
             } else if (header->packet_type ==
-                       Diablo::PacketType::PWM_ACTUATOR_COMMAND) {
+                       daq::PacketType::PWM_ACTUATOR_COMMAND) {
                 // Parse the packet as a PWM actuator command
-                Diablo::PacketHeader parsedHeader;
-                std::vector<Diablo::PWMActuatorCommand> commands;
+                daq::PacketHeader parsedHeader;
+                std::vector<daq::PWMActuatorCommand> commands;
 
-                if (Diablo::parse_pwm_actuator_packet(packetBuffer, bytesRead,
+                if (daq::parse_pwm_actuator_packet(packetBuffer, bytesRead,
                                                       parsedHeader, commands)) {
                     Serial.print("Received PWM actuator command packet with ");
                     Serial.print(commands.size());
@@ -228,7 +228,7 @@ void initializeActuators() {
 }
 
 void processActuatorCommand(
-    const std::vector<Diablo::ActuatorCommand>& commands) {
+    const std::vector<daq::ActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         // Actuator IDs are 1-indexed (1-10) from the server
         // Validate actuator ID
@@ -282,7 +282,7 @@ void processActuatorCommand(
 }
 
 void processPWMActuatorCommand(
-    const std::vector<Diablo::PWMActuatorCommand>& commands) {
+    const std::vector<daq::PWMActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         // Actuator IDs are 1-indexed (1-10) from the server
         if (cmd.actuator_id < 1 || cmd.actuator_id > NUM_ACTUATORS) {
@@ -373,7 +373,7 @@ void updatePWM() {
 
 void readCurrentSensePins() {
     // Create a sensor data chunk with timestamp
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
 
     // Read all current sense pins
     for (uint8_t actuator_id = 1; actuator_id <= NUM_SENSORS; actuator_id++) {
@@ -405,16 +405,16 @@ void readCurrentSensePins() {
     }
 }
 
-void sendSensorDataPacket(const Diablo::SensorDataChunkCollection& chunk) {
+void sendSensorDataPacket(const daq::SensorDataChunkCollection& chunk) {
     // Create packet buffer
     uint8_t packetBuffer[MAX_PACKET_SIZE];
 
     // Create a vector with a single chunk for the packet
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
 
     // Create the sensor data packet using DAQv2-Comms library
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
 
     if (packetSize == 0) {
diff --git a/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp b/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp
index 7e4690037..8022a19cd 100644
--- a/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp
+++ b/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp
@@ -1,7 +1,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -46,13 +46,13 @@ SPIClass ADC_SPI(HSPI);
 // Forward declarations
 void flush_adc_cycles(int cycles);
 void read_single_connector(uint8_t connector_id, int num_readings,
-                           Diablo::SensorDataChunkCollection& chunk);
+                           daq::SensorDataChunkCollection& chunk);
 void collect_chunk();
 void sendSensorDataPacket();
 
 // One chunk = full scan (10 datapoints). Accumulate up to
 // MAX_CHUNKS_BEFORE_SEND.
-std::vector<Diablo::SensorDataChunkCollection> chunks;
+std::vector<daq::SensorDataChunkCollection> chunks;
 
 float convert_code_to_voltage(int32_t code) {
     // Assumes the 2.5V internal reference is being used!
@@ -179,7 +179,7 @@ void flush_adc_cycles(int cycles) {
 }
 
 void read_single_connector(uint8_t connector_id, int num_readings,
-                           Diablo::SensorDataChunkCollection& chunk) {
+                           daq::SensorDataChunkCollection& chunk) {
     uint32_t value = 0;
     for (int i = 0; i < num_readings; i++) {
         while (digitalRead(Pins.ADC_DRDY_1) != LOW)
@@ -195,7 +195,7 @@ void read_single_connector(uint8_t connector_id, int num_readings,
 // One chunk = full scan of all 10 connectors (packet format expects num_sensors
 // per chunk)
 void collect_chunk() {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_CONNECTORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_CONNECTORS);
     for (uint8_t connector_id = 1; connector_id <= NUM_CONNECTORS;
          connector_id++) {
         ads126x.setInputMux(getAdcChannel(connector_id, TEST_PIN),
@@ -213,7 +213,7 @@ void sendSensorDataPacket() {
     }
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_CONNECTORS, millis(), packetBuffer, sizeof(packetBuffer));
 
     if (packetSize == 0) {
diff --git a/firmware/ADC_Testing/stream_one_adc/src/main.cpp b/firmware/ADC_Testing/stream_one_adc/src/main.cpp
index 0883accf8..31248c97e 100644
--- a/firmware/ADC_Testing/stream_one_adc/src/main.cpp
+++ b/firmware/ADC_Testing/stream_one_adc/src/main.cpp
@@ -5,7 +5,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -45,7 +45,7 @@ void sendSensorDataPacket();
 
 #define NUM_SENSORS 1
 #define MAX_CHUNKS 10
-std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+std::vector<daq::SensorDataChunkCollection> dataChunks;
 static const uint8_t kSensorId = 1;  // Single channel, fixed ID
 
 float convert_code_to_voltage(int32_t code) {
@@ -117,7 +117,7 @@ void loop() {
 }
 
 void read_data(int count) {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
 
     for (int i = 0; i < count; i++) {
         while (digitalRead(Pins.ADC_DRDY_1) != LOW) {
@@ -141,7 +141,7 @@ void sendSensorDataPacket() {
         return;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, NUM_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
 
     if (packetSize == 0) {
diff --git a/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp b/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp
index 87fb4c546..d2a85ecbf 100644
--- a/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp
+++ b/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp
@@ -8,7 +8,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -61,8 +61,8 @@ static unsigned long state_enter_ms = 0;
 
 // Parsed actuator config from server
 static bool is_abort_controller = false;
-static std::vector<Diablo::AbortActuatorLocation> abort_actuator_locations;
-static std::vector<Diablo::AbortPTLocation> abort_pt_locations;
+static std::vector<daq::AbortActuatorLocation> abort_actuator_locations;
+static std::vector<daq::AbortPTLocation> abort_pt_locations;
 static bool config_valid = false;
 
 // For ConnectionLossDetected -> StandaloneAbort: last time we got sensor data
@@ -162,42 +162,42 @@ static void updateLedNonBlocking() {
 }
 
 //-----------------------------------------------------------------------------
-// Helpers: map state to Diablo::BoardState for heartbeats
+// Helpers: map state to daq::BoardState for heartbeats
 //-----------------------------------------------------------------------------
-static Diablo::BoardState getBoardStateForHeartbeat() {
+static daq::BoardState getBoardStateForHeartbeat() {
     switch (state) {
         case ActuatorControllerState::WaitingForServer:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
         case ActuatorControllerState::Active:
-            return Diablo::BoardState::ACTIVE;
+            return daq::BoardState::ACTIVE;
         case ActuatorControllerState::ConnectionLossDetected:
-            return Diablo::BoardState::CONNECTION_LOSS_DETECTED;
+            return daq::BoardState::CONNECTION_LOSS_DETECTED;
         case ActuatorControllerState::NoConnectionAbort:
-            return Diablo::BoardState::NO_CONNECTION_ABORT;
+            return daq::BoardState::NO_CONNECTION_ABORT;
         case ActuatorControllerState::PTAbort:
-            return Diablo::BoardState::PT_ABORT;
+            return daq::BoardState::PT_ABORT;
         case ActuatorControllerState::NoPTAbort:
-            return Diablo::BoardState::NO_PT_ABORT;
+            return daq::BoardState::NO_PT_ABORT;
         case ActuatorControllerState::AbortFinished:
-            return Diablo::BoardState::ABORT_FINISHED;
+            return daq::BoardState::ABORT_FINISHED;
         case ActuatorControllerState::StandardAbort:
-            return Diablo::BoardState::PT_ABORT;
+            return daq::BoardState::PT_ABORT;
         case ActuatorControllerState::StandaloneAbort:
-            return Diablo::BoardState::STANDALONE_ABORT;
+            return daq::BoardState::STANDALONE_ABORT;
         default:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
     }
 }
 
 static void sendBoardHeartbeat() {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
     hb.board_id = board_id;
-    hb.engine_state = Diablo::EngineState::SAFE;
+    hb.engine_state = daq::EngineState::SAFE;
     hb.board_state = getBoardStateForHeartbeat();
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = Diablo::create_board_heartbeat_packet(
+    size_t len = daq::create_board_heartbeat_packet(
         hb, millis(), packetBuffer, sizeof(packetBuffer));
     if (len == 0)
         return;
@@ -227,10 +227,10 @@ static IPAddress uint32ToIPAddress(uint32_t ip) {
 // Parse incoming UDP
 //-----------------------------------------------------------------------------
 static bool readPacketHeader(const uint8_t* buffer, size_t buffer_size,
-                             Diablo::PacketHeader& header_out) {
-    if (buffer_size < sizeof(Diablo::PacketHeader))
+                             daq::PacketHeader& header_out) {
+    if (buffer_size < sizeof(daq::PacketHeader))
         return false;
-    memcpy(&header_out, buffer, sizeof(Diablo::PacketHeader));
+    memcpy(&header_out, buffer, sizeof(daq::PacketHeader));
     return true;
 }
 
@@ -245,33 +245,33 @@ enum class IncomingPacketKind {
 };
 
 static void processActuatorCommands(
-    const std::vector<Diablo::ActuatorCommand>& commands);
+    const std::vector<daq::ActuatorCommand>& commands);
 
 static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                                                 size_t len,
                                                 IPAddress remoteIP) {
-    Diablo::PacketHeader hdr;
+    daq::PacketHeader hdr;
     if (!readPacketHeader(buffer, len, hdr))
         return IncomingPacketKind::None;
 
     switch (hdr.packet_type) {
-        case Diablo::PacketType::SERVER_HEARTBEAT: {
-            Diablo::PacketHeader dummy;
-            Diablo::ServerHeartbeatPacket data;
-            if (Diablo::parse_server_heartbeat_packet(buffer, len, dummy,
+        case daq::PacketType::SERVER_HEARTBEAT: {
+            daq::PacketHeader dummy;
+            daq::ServerHeartbeatPacket data;
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
                                                       data)) {
                 last_server_heartbeat_ms = millis();
                 return IncomingPacketKind::ServerHeartbeat;
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::ACTUATOR_CONFIG: {
-            Diablo::PacketHeader dummy;
+        case daq::PacketType::ACTUATOR_CONFIG: {
+            daq::PacketHeader dummy;
             uint8_t is_controller = 0;
-            std::vector<Diablo::AbortActuatorLocation> act_locs;
-            std::vector<Diablo::AbortPTLocation> pt_locs;
+            std::vector<daq::AbortActuatorLocation> act_locs;
+            std::vector<daq::AbortPTLocation> pt_locs;
             uint8_t enable_serial_printing = 0;
-            if (Diablo::parse_actuator_config_packet(
+            if (daq::parse_actuator_config_packet(
                     buffer, len, dummy, is_controller, act_locs, pt_locs,
                     enable_serial_printing)) {
                 (void)enable_serial_printing;
@@ -283,13 +283,13 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::ABORT:
+        case daq::PacketType::ABORT:
             return IncomingPacketKind::Abort;
-        case Diablo::PacketType::ABORT_DONE:
+        case daq::PacketType::ABORT_DONE:
             return IncomingPacketKind::AbortDone;
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             return IncomingPacketKind::ClearAbort;
-        case Diablo::PacketType::SENSOR_DATA:
+        case daq::PacketType::SENSOR_DATA:
             if (state == ActuatorControllerState::NoConnectionAbort) {
                 pt_data_received_during_no_conn_abort_wait = true;
             }
@@ -300,10 +300,10 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 }
             }
             return IncomingPacketKind::SensorData;
-        case Diablo::PacketType::ACTUATOR_COMMAND: {
-            Diablo::PacketHeader cmd_header;
-            std::vector<Diablo::ActuatorCommand> commands;
-            if (Diablo::parse_actuator_command_packet(buffer, len, cmd_header,
+        case daq::PacketType::ACTUATOR_COMMAND: {
+            daq::PacketHeader cmd_header;
+            std::vector<daq::ActuatorCommand> commands;
+            if (daq::parse_actuator_command_packet(buffer, len, cmd_header,
                                                       commands) &&
                 (state == ActuatorControllerState::Active ||
                  state == ActuatorControllerState::StandardAbort)) {
@@ -317,7 +317,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
 }
 
 static void processActuatorCommands(
-    const std::vector<Diablo::ActuatorCommand>& commands) {
+    const std::vector<daq::ActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         if (cmd.actuator_id < 1 || cmd.actuator_id > NUM_ACTUATORS)
             continue;
@@ -337,7 +337,7 @@ static void processActuatorCommands(
 // Sensor data: read current sense pins and send (like Actuator_Testing)
 //-----------------------------------------------------------------------------
 static void readCurrentSensePinsAndSend() {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
     for (uint8_t i = 0; i < NUM_SENSORS; i++) {
         int pin = getCurrentSensePin(i);
         if (pin < 0)
@@ -352,9 +352,9 @@ static void readCurrentSensePinsAndSend() {
         return;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0)
         return;
@@ -383,10 +383,10 @@ static void streamSensorDataIfDue() {
 //-----------------------------------------------------------------------------
 static size_t create_no_connection_abort_packet(uint8_t* buffer,
                                                 size_t buffer_size) {
-    if (buffer_size < sizeof(Diablo::PacketHeader))
+    if (buffer_size < sizeof(daq::PacketHeader))
         return 0;
-    Diablo::PacketHeader header;
-    header.packet_type = Diablo::PacketType::NO_CONNECTION_ABORT;
+    daq::PacketHeader header;
+    header.packet_type = daq::PacketType::NO_CONNECTION_ABORT;
     header.version = DIABLO_COMMS_VERSION;
     header.timestamp = millis();
     memcpy(buffer, &header, sizeof(header));
diff --git a/firmware/Archive/Old_PT_1/src/ethernet_test.cpp b/firmware/Archive/Old_PT_1/src/ethernet_test.cpp
index 787c7984f..4d30edfbb 100644
--- a/firmware/Archive/Old_PT_1/src/ethernet_test.cpp
+++ b/firmware/Archive/Old_PT_1/src/ethernet_test.cpp
@@ -1,4 +1,4 @@
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <cstring>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
@@ -72,15 +72,15 @@ void sendExampleMessage() {
  */
 void sendHeartbeatPacket() {
   // Prepare heartbeat packet data
-  Diablo::BoardHeartbeatPacket heartbeatData;
+  daq::BoardHeartbeatPacket heartbeatData;
   memset(heartbeatData.firmware_hash, 0, sizeof(heartbeatData.firmware_hash));
   heartbeatData.board_id = 1;                             // Change as needed
-  heartbeatData.engine_state = Diablo::EngineState::SAFE; // Change as needed
-  heartbeatData.board_state = Diablo::BoardState::ACTIVE; // Change as needed
+  heartbeatData.engine_state = daq::EngineState::SAFE; // Change as needed
+  heartbeatData.board_state = daq::BoardState::ACTIVE; // Change as needed
 
   // Create the encoded packet
   uint8_t packetBuffer[MAX_PACKET_SIZE];
-  size_t packetSize = Diablo::create_board_heartbeat_packet(
+  size_t packetSize = daq::create_board_heartbeat_packet(
       heartbeatData, millis(), packetBuffer, sizeof(packetBuffer));
 
   if (packetSize == 0) {
diff --git a/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp b/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp
index 810c59af6..3c32b302d 100644
--- a/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp
+++ b/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp
@@ -7,7 +7,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -149,24 +149,24 @@ static void updateLedNonBlocking() {
 }
 
 //-----------------------------------------------------------------------------
-// Helpers: map our state to Diablo::BoardState for heartbeats
+// Helpers: map our state to daq::BoardState for heartbeats
 //-----------------------------------------------------------------------------
-static Diablo::BoardState getBoardStateForHeartbeat() {
+static daq::BoardState getBoardStateForHeartbeat() {
     switch (state) {
         case ActuatorControllerState::WaitingForServer:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
         case ActuatorControllerState::Active:
-            return Diablo::BoardState::ACTIVE;
+            return daq::BoardState::ACTIVE;
         case ActuatorControllerState::StandardAbort:
-            return Diablo::BoardState::PT_ABORT;
+            return daq::BoardState::PT_ABORT;
         case ActuatorControllerState::NoConnectionAbort:
-            return Diablo::BoardState::NO_CONNECTION_ABORT;
+            return daq::BoardState::NO_CONNECTION_ABORT;
         case ActuatorControllerState::AbortFinished:
-            return Diablo::BoardState::ABORT_FINISHED;
+            return daq::BoardState::ABORT_FINISHED;
         case ActuatorControllerState::ConnectionLossDetected:
-            return Diablo::BoardState::CONNECTION_LOSS_DETECTED;
+            return daq::BoardState::CONNECTION_LOSS_DETECTED;
         default:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
     }
 }
 
@@ -174,14 +174,14 @@ static Diablo::BoardState getBoardStateForHeartbeat() {
 // Send board heartbeat to server (Board ID + boardState), like Stream_ADC_Data
 //-----------------------------------------------------------------------------
 static void sendBoardHeartbeat() {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memset(hb.firmware_hash, 0, sizeof(hb.firmware_hash));
     hb.board_id = board_id;
-    hb.engine_state = Diablo::EngineState::SAFE;
+    hb.engine_state = daq::EngineState::SAFE;
     hb.board_state = getBoardStateForHeartbeat();
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = Diablo::create_board_heartbeat_packet(
+    size_t len = daq::create_board_heartbeat_packet(
         hb, millis(), packetBuffer, sizeof(packetBuffer));
     if (len == 0)
         return;
@@ -195,10 +195,10 @@ static void sendBoardHeartbeat() {
 // Parse incoming UDP: read header and return packet type (or UNKNOWN)
 //-----------------------------------------------------------------------------
 static bool readPacketHeader(const uint8_t* buffer, size_t buffer_size,
-                             Diablo::PacketHeader& header_out) {
-    if (buffer_size < sizeof(Diablo::PacketHeader))
+                             daq::PacketHeader& header_out) {
+    if (buffer_size < sizeof(daq::PacketHeader))
         return false;
-    memcpy(&header_out, buffer, sizeof(Diablo::PacketHeader));
+    memcpy(&header_out, buffer, sizeof(daq::PacketHeader));
     return true;
 }
 
@@ -217,15 +217,15 @@ enum class IncomingPacketKind {
 
 static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                                                 size_t len) {
-    Diablo::PacketHeader hdr;
+    daq::PacketHeader hdr;
     if (!readPacketHeader(buffer, len, hdr))
         return IncomingPacketKind::None;
 
     switch (hdr.packet_type) {
-        case Diablo::PacketType::SERVER_HEARTBEAT: {
-            Diablo::PacketHeader dummy;
-            Diablo::ServerHeartbeatPacket data;
-            if (Diablo::parse_server_heartbeat_packet(buffer, len, dummy,
+        case daq::PacketType::SERVER_HEARTBEAT: {
+            daq::PacketHeader dummy;
+            daq::ServerHeartbeatPacket data;
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
                                                       data)) {
                 last_server_heartbeat_ms =
                     millis();  // Only server heartbeat refreshes watchdog
@@ -233,7 +233,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::ACTUATOR_CONFIG:
+        case daq::PacketType::ACTUATOR_CONFIG:
             // Store config data (TODO: full parse when layout is final)
             stored_config.valid = true;
             stored_config.raw_len = (len <= sizeof(stored_config.raw))
@@ -241,16 +241,16 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                                         : sizeof(stored_config.raw);
             memcpy(stored_config.raw, buffer, stored_config.raw_len);
             return IncomingPacketKind::Config;
-        case Diablo::PacketType::ABORT:
+        case daq::PacketType::ABORT:
             return IncomingPacketKind::Abort;
-        case Diablo::PacketType::ABORT_DONE:
+        case daq::PacketType::ABORT_DONE:
             return IncomingPacketKind::AbortDone;
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             return IncomingPacketKind::ClearAbort;
-        case Diablo::PacketType::ACTUATOR_COMMAND: {
-            Diablo::PacketHeader cmd_header;
-            std::vector<Diablo::ActuatorCommand> commands;
-            if (Diablo::parse_actuator_command_packet(buffer, len, cmd_header,
+        case daq::PacketType::ACTUATOR_COMMAND: {
+            daq::PacketHeader cmd_header;
+            std::vector<daq::ActuatorCommand> commands;
+            if (daq::parse_actuator_command_packet(buffer, len, cmd_header,
                                                       commands) &&
                 (state == ActuatorControllerState::Active ||
                  state == ActuatorControllerState::StandardAbort)) {
@@ -268,7 +268,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
 // Actuator_Testing
 //-----------------------------------------------------------------------------
 static void processActuatorCommands(
-    const std::vector<Diablo::ActuatorCommand>& commands) {
+    const std::vector<daq::ActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         if (cmd.actuator_id < 1 || cmd.actuator_id > NUM_ACTUATORS)
             continue;
@@ -289,7 +289,7 @@ static void processActuatorCommands(
 // Actuator_Testing)
 //-----------------------------------------------------------------------------
 static void readCurrentSensePinsAndSend() {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
     for (uint8_t i = 0; i < NUM_SENSORS; i++) {
         int pin = getCurrentSensePin(i);
         if (pin < 0)
@@ -304,9 +304,9 @@ static void readCurrentSensePinsAndSend() {
         return;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0)
         return;
diff --git a/firmware/Environmental Tracker/src/main.cpp b/firmware/Environmental Tracker/src/main.cpp
index 823d0d88d..a40adbae2 100644
--- a/firmware/Environmental Tracker/src/main.cpp	
+++ b/firmware/Environmental Tracker/src/main.cpp	
@@ -2,7 +2,7 @@
 
 #include <Adafruit_BME280.h>
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -85,11 +85,11 @@ void loop() {
     int pkt_size = udp.parsePacket();
     if (pkt_size > 0) {
         int bytes_read = udp.read(pkt_buf, sizeof(pkt_buf));
-        if (bytes_read > 0 && static_cast<Diablo::PacketType>(pkt_buf[0]) ==
-                                  Diablo::PacketType::SERVER_HEARTBEAT) {
-            Diablo::PacketHeader hdr;
-            Diablo::ServerHeartbeatPacket data;
-            if (Diablo::parse_server_heartbeat_packet(pkt_buf, bytes_read, hdr,
+        if (bytes_read > 0 && static_cast<daq::PacketType>(pkt_buf[0]) ==
+                                  daq::PacketType::SERVER_HEARTBEAT) {
+            daq::PacketHeader hdr;
+            daq::ServerHeartbeatPacket data;
+            if (daq::parse_server_heartbeat_packet(pkt_buf, bytes_read, hdr,
                                                       data)) {
                 Serial.print("Server heartbeat received (t=");
                 Serial.print(hdr.timestamp);
@@ -108,7 +108,7 @@ void loop() {
         uint32_t press = (uint32_t)bme.readPressure();
         float hum = bme.readHumidity();
 
-        size_t n = Diablo::create_environmental_data_packet(
+        size_t n = daq::create_environmental_data_packet(
             temp, press, hum, millis(), pkt_buf, sizeof(pkt_buf));
         if (n > 0) {
             udp.beginPacket(server_ip, ENV_SERVER_PORT);
@@ -124,13 +124,13 @@ void loop() {
     if (now - last_heartbeat >= ENV_HEARTBEAT_INTERVAL_MS) {
         last_heartbeat = now;
 
-        Diablo::BoardHeartbeatPacket hb;
+        daq::BoardHeartbeatPacket hb;
         memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
         hb.board_id = ENV_BOARD_ID;
-        hb.engine_state = Diablo::EngineState::SAFE;
-        hb.board_state = Diablo::BoardState::ACTIVE;
+        hb.engine_state = daq::EngineState::SAFE;
+        hb.board_state = daq::BoardState::ACTIVE;
 
-        size_t n = Diablo::create_board_heartbeat_packet(hb, millis(), pkt_buf,
+        size_t n = daq::create_board_heartbeat_packet(hb, millis(), pkt_buf,
                                                          sizeof(pkt_buf));
         if (n > 0) {
             udp.beginPacket(server_ip, ENV_SERVER_PORT);
diff --git a/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp b/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp
index b2616e36b..4b985c22d 100644
--- a/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp	
+++ b/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp	
@@ -1,4 +1,4 @@
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -124,7 +124,7 @@ void printRawPacketData(const uint8_t* buffer, size_t size) {
 /**
  * @brief Prints packet header information
  */
-void printPacketHeader(const Diablo::PacketHeader& header) {
+void printPacketHeader(const daq::PacketHeader& header) {
     Serial.println("--- Packet Header ---");
     Serial.print("Packet Type: ");
     Serial.print(static_cast<int>(header.packet_type));
@@ -132,31 +132,31 @@ void printPacketHeader(const Diablo::PacketHeader& header) {
 
     // Print type name
     switch (header.packet_type) {
-        case Diablo::PacketType::BOARD_HEARTBEAT:
+        case daq::PacketType::BOARD_HEARTBEAT:
             Serial.print("BOARD_HEARTBEAT");
             break;
-        case Diablo::PacketType::SERVER_HEARTBEAT:
+        case daq::PacketType::SERVER_HEARTBEAT:
             Serial.print("SERVER_HEARTBEAT");
             break;
-        case Diablo::PacketType::SENSOR_DATA:
+        case daq::PacketType::SENSOR_DATA:
             Serial.print("SENSOR_DATA");
             break;
-        case Diablo::PacketType::ACTUATOR_COMMAND:
+        case daq::PacketType::ACTUATOR_COMMAND:
             Serial.print("ACTUATOR_COMMAND");
             break;
-        case Diablo::PacketType::SENSOR_CONFIG:
+        case daq::PacketType::SENSOR_CONFIG:
             Serial.print("SENSOR_CONFIG");
             break;
-        case Diablo::PacketType::ACTUATOR_CONFIG:
+        case daq::PacketType::ACTUATOR_CONFIG:
             Serial.print("ACTUATOR_CONFIG");
             break;
-        case Diablo::PacketType::ABORT:
+        case daq::PacketType::ABORT:
             Serial.print("ABORT");
             break;
-        case Diablo::PacketType::ABORT_DONE:
+        case daq::PacketType::ABORT_DONE:
             Serial.print("ABORT_DONE");
             break;
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             Serial.print("CLEAR_ABORT");
             break;
         default:
@@ -174,8 +174,8 @@ void printPacketHeader(const Diablo::PacketHeader& header) {
 /**
  * @brief Prints Board Heartbeat packet information
  */
-void printBoardHeartbeat(const Diablo::PacketHeader& header,
-                         const Diablo::BoardHeartbeatPacket& data) {
+void printBoardHeartbeat(const daq::PacketHeader& header,
+                         const daq::BoardHeartbeatPacket& data) {
     Serial.println("=== Board Heartbeat Packet ===");
     printPacketHeader(header);
 
@@ -190,19 +190,19 @@ void printBoardHeartbeat(const Diablo::PacketHeader& header,
     Serial.print(static_cast<int>(data.engine_state));
     Serial.print(" (");
     switch (data.engine_state) {
-        case Diablo::EngineState::SAFE:
+        case daq::EngineState::SAFE:
             Serial.print("SAFE");
             break;
-        case Diablo::EngineState::PRESSURIZING:
+        case daq::EngineState::PRESSURIZING:
             Serial.print("PRESSURIZING");
             break;
-        case Diablo::EngineState::LOX_FILL:
+        case daq::EngineState::LOX_FILL:
             Serial.print("LOX_FILL");
             break;
-        case Diablo::EngineState::FIRING:
+        case daq::EngineState::FIRING:
             Serial.print("FIRING");
             break;
-        case Diablo::EngineState::POST_FIRE:
+        case daq::EngineState::POST_FIRE:
             Serial.print("POST_FIRE");
             break;
         default:
@@ -215,34 +215,34 @@ void printBoardHeartbeat(const Diablo::PacketHeader& header,
     Serial.print(static_cast<int>(data.board_state));
     Serial.print(" (");
     switch (data.board_state) {
-        case Diablo::BoardState::SETUP:
+        case daq::BoardState::SETUP:
             Serial.print("SETUP");
             break;
-        case Diablo::BoardState::ACTIVE:
+        case daq::BoardState::ACTIVE:
             Serial.print("ACTIVE");
             break;
-        case Diablo::BoardState::CONNECTION_LOSS_DETECTED:
+        case daq::BoardState::CONNECTION_LOSS_DETECTED:
             Serial.print("CONNECTION_LOSS_DETECTED");
             break;
-        case Diablo::BoardState::NO_CONNECTION_ABORT:
+        case daq::BoardState::NO_CONNECTION_ABORT:
             Serial.print("NO_CONNECTION_ABORT");
             break;
-        case Diablo::BoardState::NO_CONN_ABORT_FOLLOWER:
+        case daq::BoardState::NO_CONN_ABORT_FOLLOWER:
             Serial.print("NO_CONN_ABORT_FOLLOWER");
             break;
-        case Diablo::BoardState::PT_ABORT:
+        case daq::BoardState::PT_ABORT:
             Serial.print("PT_ABORT");
             break;
-        case Diablo::BoardState::NO_PT_ABORT:
+        case daq::BoardState::NO_PT_ABORT:
             Serial.print("NO_PT_ABORT");
             break;
-        case Diablo::BoardState::ABORT_FINISHED:
+        case daq::BoardState::ABORT_FINISHED:
             Serial.print("ABORT_FINISHED");
             break;
-        case Diablo::BoardState::STANDALONE_ABORT:
+        case daq::BoardState::STANDALONE_ABORT:
             Serial.print("STANDALONE_ABORT");
             break;
-        case Diablo::BoardState::SELF_TEST:
+        case daq::BoardState::SELF_TEST:
             Serial.print("SELF_TEST");
             break;
         default:
@@ -256,8 +256,8 @@ void printBoardHeartbeat(const Diablo::PacketHeader& header,
 /**
  * @brief Prints Server Heartbeat packet information
  */
-void printServerHeartbeat(const Diablo::PacketHeader& header,
-                          const Diablo::ServerHeartbeatPacket& data) {
+void printServerHeartbeat(const daq::PacketHeader& header,
+                          const daq::ServerHeartbeatPacket& data) {
     Serial.println("=== Server Heartbeat Packet ===");
     printPacketHeader(header);
 
@@ -266,19 +266,19 @@ void printServerHeartbeat(const Diablo::PacketHeader& header,
     Serial.print(static_cast<int>(data.engine_state));
     Serial.print(" (");
     switch (data.engine_state) {
-        case Diablo::EngineState::SAFE:
+        case daq::EngineState::SAFE:
             Serial.print("SAFE");
             break;
-        case Diablo::EngineState::PRESSURIZING:
+        case daq::EngineState::PRESSURIZING:
             Serial.print("PRESSURIZING");
             break;
-        case Diablo::EngineState::LOX_FILL:
+        case daq::EngineState::LOX_FILL:
             Serial.print("LOX_FILL");
             break;
-        case Diablo::EngineState::FIRING:
+        case daq::EngineState::FIRING:
             Serial.print("FIRING");
             break;
-        case Diablo::EngineState::POST_FIRE:
+        case daq::EngineState::POST_FIRE:
             Serial.print("POST_FIRE");
             break;
         default:
@@ -301,7 +301,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
     }
 
     // Check minimum size for header
-    const size_t min_header_size = sizeof(Diablo::PacketHeader);
+    const size_t min_header_size = sizeof(daq::PacketHeader);
     if (size < min_header_size) {
         Serial.println("Error: Packet too small to contain header");
         Serial.print("Received size: ");
@@ -314,7 +314,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
     }
 
     // Try to read the header first
-    Diablo::PacketHeader header;
+    daq::PacketHeader header;
     memcpy(&header, buffer, min_header_size);
 
     // Validate header
@@ -325,17 +325,17 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
     bool decoded = false;
 
     switch (header.packet_type) {
-        case Diablo::PacketType::BOARD_HEARTBEAT: {
-            Diablo::BoardHeartbeatPacket heartbeatData;
-            if (Diablo::parse_board_heartbeat_packet(buffer, size, header,
+        case daq::PacketType::BOARD_HEARTBEAT: {
+            daq::BoardHeartbeatPacket heartbeatData;
+            if (daq::parse_board_heartbeat_packet(buffer, size, header,
                                                      heartbeatData)) {
                 printBoardHeartbeat(header, heartbeatData);
                 decoded = true;
             } else {
                 Serial.println("Error: Failed to parse Board Heartbeat packet");
                 Serial.print("Expected size: ");
-                Serial.print(sizeof(Diablo::PacketHeader) +
-                             sizeof(Diablo::BoardHeartbeatPacket));
+                Serial.print(sizeof(daq::PacketHeader) +
+                             sizeof(daq::BoardHeartbeatPacket));
                 Serial.print(" bytes, received: ");
                 Serial.print(size);
                 Serial.println(" bytes");
@@ -343,9 +343,9 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             break;
         }
 
-        case Diablo::PacketType::SERVER_HEARTBEAT: {
-            Diablo::ServerHeartbeatPacket heartbeatData;
-            if (Diablo::parse_server_heartbeat_packet(buffer, size, header,
+        case daq::PacketType::SERVER_HEARTBEAT: {
+            daq::ServerHeartbeatPacket heartbeatData;
+            if (daq::parse_server_heartbeat_packet(buffer, size, header,
                                                       heartbeatData)) {
                 printServerHeartbeat(header, heartbeatData);
                 decoded = true;
@@ -353,8 +353,8 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
                 Serial.println(
                     "Error: Failed to parse Server Heartbeat packet");
                 Serial.print("Expected size: ");
-                Serial.print(sizeof(Diablo::PacketHeader) +
-                             sizeof(Diablo::ServerHeartbeatPacket));
+                Serial.print(sizeof(daq::PacketHeader) +
+                             sizeof(daq::ServerHeartbeatPacket));
                 Serial.print(" bytes, received: ");
                 Serial.print(size);
                 Serial.println(" bytes");
@@ -362,7 +362,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             break;
         }
 
-        case Diablo::PacketType::SENSOR_DATA:
+        case daq::PacketType::SENSOR_DATA:
             Serial.println(
                 "Packet type: SENSOR_DATA (not yet implemented for full "
                 "decoding)");
@@ -373,7 +373,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             decoded = true;  // At least we identified the type
             break;
 
-        case Diablo::PacketType::ACTUATOR_COMMAND:
+        case daq::PacketType::ACTUATOR_COMMAND:
             Serial.println(
                 "Packet type: ACTUATOR_COMMAND (not yet implemented for "
                 "full decoding)");
@@ -384,7 +384,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             decoded = true;  // At least we identified the type
             break;
 
-        case Diablo::PacketType::SENSOR_CONFIG:
+        case daq::PacketType::SENSOR_CONFIG:
             Serial.println(
                 "Packet type: SENSOR_CONFIG (not yet implemented for full "
                 "decoding)");
@@ -395,7 +395,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             decoded = true;  // At least we identified the type
             break;
 
-        case Diablo::PacketType::ACTUATOR_CONFIG:
+        case daq::PacketType::ACTUATOR_CONFIG:
             Serial.println(
                 "Packet type: ACTUATOR_CONFIG (not yet implemented for full "
                 "decoding)");
@@ -406,7 +406,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             decoded = true;  // At least we identified the type
             break;
 
-        case Diablo::PacketType::ABORT:
+        case daq::PacketType::ABORT:
             Serial.println(
                 "Packet type: ABORT (not yet implemented for full decoding)");
             Serial.print("Packet size: ");
@@ -416,7 +416,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             decoded = true;  // At least we identified the type
             break;
 
-        case Diablo::PacketType::ABORT_DONE:
+        case daq::PacketType::ABORT_DONE:
             Serial.println(
                 "Packet type: ABORT_DONE (not yet implemented for full "
                 "decoding)");
@@ -427,7 +427,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
             decoded = true;  // At least we identified the type
             break;
 
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             Serial.println(
                 "Packet type: CLEAR_ABORT (not yet implemented for full "
                 "decoding)");
diff --git a/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp b/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp
index d5cba2c41..77c1feff5 100644
--- a/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp	
+++ b/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp	
@@ -1,4 +1,4 @@
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -139,15 +139,15 @@ void sendExampleMessage() {
  */
 bool sendHeartbeatPacket() {
     // Prepare heartbeat packet data
-    Diablo::BoardHeartbeatPacket heartbeatData;
+    daq::BoardHeartbeatPacket heartbeatData;
     memset(heartbeatData.firmware_hash, 0, sizeof(heartbeatData.firmware_hash));
     heartbeatData.board_id = 1;                              // Change as needed
-    heartbeatData.engine_state = Diablo::EngineState::SAFE;  // Change as needed
-    heartbeatData.board_state = Diablo::BoardState::ACTIVE;  // Change as needed
+    heartbeatData.engine_state = daq::EngineState::SAFE;  // Change as needed
+    heartbeatData.board_state = daq::BoardState::ACTIVE;  // Change as needed
 
     // Create the encoded packet
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t packetSize = Diablo::create_board_heartbeat_packet(
+    size_t packetSize = daq::create_board_heartbeat_packet(
         heartbeatData, millis(), packetBuffer, sizeof(packetBuffer));
 
     if (packetSize == 0) {
diff --git a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
index f9927f8d8..d00a8ae38 100644
--- a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
@@ -12,7 +12,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -74,8 +74,8 @@ static unsigned long state_enter_ms = 0;
 
 // Config from server
 static bool is_abort_controller = false;
-static std::vector<Diablo::AbortActuatorLocation> abort_actuator_locations;
-static std::vector<Diablo::AbortPTLocation> abort_pt_locations;
+static std::vector<daq::AbortActuatorLocation> abort_actuator_locations;
+static std::vector<daq::AbortPTLocation> abort_pt_locations;
 static bool config_valid = false;
 
 // NoConnectionAbort: vent sent once, then per-PT tracking (all received ->
@@ -214,38 +214,38 @@ static void updateLedNonBlocking() {
 //-----------------------------------------------------------------------------
 // Heartbeat
 //-----------------------------------------------------------------------------
-static Diablo::BoardState getBoardStateForHeartbeat() {
+static daq::BoardState getBoardStateForHeartbeat() {
     switch (state) {
         case ActuatorControllerState::WaitingForServer:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
         case ActuatorControllerState::Active:
-            return Diablo::BoardState::ACTIVE;
+            return daq::BoardState::ACTIVE;
         case ActuatorControllerState::ConnectionLossDetected:
-            return Diablo::BoardState::CONNECTION_LOSS_DETECTED;
+            return daq::BoardState::CONNECTION_LOSS_DETECTED;
         case ActuatorControllerState::NoConnectionAbort:
-            return Diablo::BoardState::NO_CONNECTION_ABORT;
+            return daq::BoardState::NO_CONNECTION_ABORT;
         case ActuatorControllerState::NoConnAbortFollower:
-            return Diablo::BoardState::NO_CONN_ABORT_FOLLOWER;
+            return daq::BoardState::NO_CONN_ABORT_FOLLOWER;
         case ActuatorControllerState::PTAbort:
-            return Diablo::BoardState::PT_ABORT;
+            return daq::BoardState::PT_ABORT;
         case ActuatorControllerState::NoPTAbort:
-            return Diablo::BoardState::NO_PT_ABORT;
+            return daq::BoardState::NO_PT_ABORT;
         case ActuatorControllerState::AbortFinished:
-            return Diablo::BoardState::ABORT_FINISHED;
+            return daq::BoardState::ABORT_FINISHED;
         default:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
     }
 }
 
 static void sendBoardHeartbeat() {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
     hb.board_id = board_id;
-    hb.engine_state = Diablo::EngineState::SAFE;
+    hb.engine_state = daq::EngineState::SAFE;
     hb.board_state = getBoardStateForHeartbeat();
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = Diablo::create_board_heartbeat_packet(
+    size_t len = daq::create_board_heartbeat_packet(
         hb, millis(), packetBuffer, sizeof(packetBuffer));
     if (len == 0)
         return;
@@ -287,10 +287,10 @@ static bool isIPInPTLocations(uint32_t ip) {
 // enter standalone/abort path
 static size_t create_no_connection_abort_packet(uint8_t* buffer,
                                                 size_t buffer_size) {
-    if (buffer_size < sizeof(Diablo::PacketHeader))
+    if (buffer_size < sizeof(daq::PacketHeader))
         return 0;
-    Diablo::PacketHeader header;
-    header.packet_type = Diablo::PacketType::NO_CONNECTION_ABORT;
+    daq::PacketHeader header;
+    header.packet_type = daq::PacketType::NO_CONNECTION_ABORT;
     header.version = 1;
     header.timestamp = millis();
     memcpy(buffer, &header, sizeof(header));
@@ -300,10 +300,10 @@ static size_t create_no_connection_abort_packet(uint8_t* buffer,
 // ABORT_DONE: header-only packet sent to PTs and generic actuators to signify
 // abort completion
 static size_t create_abort_done_packet(uint8_t* buffer, size_t buffer_size) {
-    if (buffer_size < sizeof(Diablo::PacketHeader))
+    if (buffer_size < sizeof(daq::PacketHeader))
         return 0;
-    Diablo::PacketHeader header;
-    header.packet_type = Diablo::PacketType::ABORT_DONE;
+    daq::PacketHeader header;
+    header.packet_type = daq::PacketType::ABORT_DONE;
     header.version = 1;
     header.timestamp = millis();
     memcpy(buffer, &header, sizeof(header));
@@ -324,11 +324,11 @@ static void applyVentToAllActuators() {
                 actuator_states[loc.actuator_id - 1] = loc.vent_state ? 1 : 0;
             }
         } else {
-            std::vector<Diablo::ActuatorCommand> cmds;
+            std::vector<daq::ActuatorCommand> cmds;
             cmds.push_back({loc.actuator_id, loc.vent_state
                                                  ? static_cast<uint8_t>(1)
                                                  : static_cast<uint8_t>(0)});
-            size_t len = Diablo::create_actuator_command_packet(
+            size_t len = daq::create_actuator_command_packet(
                 cmds, millis(), packetBuffer, sizeof(packetBuffer));
             if (len > 0) {
                 udp.beginPacket(uint32ToIPAddress(loc.ip_address),
@@ -355,11 +355,11 @@ static void applyAbortToAllActuators() {
                 actuator_states[loc.actuator_id - 1] = loc.abort_state ? 1 : 0;
             }
         } else {
-            std::vector<Diablo::ActuatorCommand> cmds;
+            std::vector<daq::ActuatorCommand> cmds;
             cmds.push_back({loc.actuator_id, loc.abort_state
                                                  ? static_cast<uint8_t>(1)
                                                  : static_cast<uint8_t>(0)});
-            size_t len = Diablo::create_actuator_command_packet(
+            size_t len = daq::create_actuator_command_packet(
                 cmds, millis(), packetBuffer, sizeof(packetBuffer));
             if (len > 0) {
                 udp.beginPacket(uint32ToIPAddress(loc.ip_address),
@@ -405,10 +405,10 @@ static void applyAbortLocalOnly() {
 // Parse incoming UDP
 //-----------------------------------------------------------------------------
 static bool readPacketHeader(const uint8_t* buffer, size_t buffer_size,
-                             Diablo::PacketHeader& header_out) {
-    if (buffer_size < sizeof(Diablo::PacketHeader))
+                             daq::PacketHeader& header_out) {
+    if (buffer_size < sizeof(daq::PacketHeader))
         return false;
-    memcpy(&header_out, buffer, sizeof(Diablo::PacketHeader));
+    memcpy(&header_out, buffer, sizeof(daq::PacketHeader));
     return true;
 }
 
@@ -424,9 +424,9 @@ enum class IncomingPacketKind {
 };
 
 static void processActuatorCommands(
-    const std::vector<Diablo::ActuatorCommand>& commands);
+    const std::vector<daq::ActuatorCommand>& commands);
 static void processPWMActuatorCommand(
-    const std::vector<Diablo::PWMActuatorCommand>& commands);
+    const std::vector<daq::PWMActuatorCommand>& commands);
 
 static bool stateAcceptsActuatorCommand(uint32_t remote_ip32) {
     uint32_t sip = (static_cast<uint32_t>(serverIP[0]) << 24) |
@@ -484,7 +484,7 @@ static const char* actuatorPacketTypeName(uint8_t type) {
 static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                                                 size_t len,
                                                 IPAddress remoteIP) {
-    Diablo::PacketHeader hdr;
+    daq::PacketHeader hdr;
     if (!readPacketHeader(buffer, len, hdr))
         return IncomingPacketKind::None;
 
@@ -494,10 +494,10 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                            static_cast<uint32_t>(remoteIP[3]);
 
     switch (hdr.packet_type) {
-        case Diablo::PacketType::SERVER_HEARTBEAT: {
-            Diablo::PacketHeader dummy;
-            Diablo::ServerHeartbeatPacket data;
-            if (Diablo::parse_server_heartbeat_packet(buffer, len, dummy,
+        case daq::PacketType::SERVER_HEARTBEAT: {
+            daq::PacketHeader dummy;
+            daq::ServerHeartbeatPacket data;
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
                                                       data)) {
                 last_server_heartbeat_ms = millis();
                 uint32_t sip = (static_cast<uint32_t>(serverIP[0]) << 24) |
@@ -509,13 +509,13 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::ACTUATOR_CONFIG: {
-            Diablo::PacketHeader dummy;
+        case daq::PacketType::ACTUATOR_CONFIG: {
+            daq::PacketHeader dummy;
             uint8_t is_controller = 0;
             uint8_t enable_serial = 0;
-            std::vector<Diablo::AbortActuatorLocation> act_locs;
-            std::vector<Diablo::AbortPTLocation> pt_locs;
-            if (Diablo::parse_actuator_config_packet(buffer, len, dummy,
+            std::vector<daq::AbortActuatorLocation> act_locs;
+            std::vector<daq::AbortPTLocation> pt_locs;
+            if (daq::parse_actuator_config_packet(buffer, len, dummy,
                                                      is_controller, act_locs,
                                                      pt_locs, enable_serial)) {
                 is_abort_controller = (is_controller != 0);
@@ -527,19 +527,19 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::ABORT:
+        case daq::PacketType::ABORT:
             return IncomingPacketKind::Abort;
-        case Diablo::PacketType::ABORT_DONE:
+        case daq::PacketType::ABORT_DONE:
             return IncomingPacketKind::AbortDone;
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             return IncomingPacketKind::ClearAbort;
-        case Diablo::PacketType::SENSOR_DATA: {
+        case daq::PacketType::SENSOR_DATA: {
             connection_loss_received_ips.insert(remote_ip32);
             if (state == ActuatorControllerState::NoConnectionAbort &&
                 config_valid && !abort_pt_locations.empty()) {
-                std::vector<Diablo::SensorDataChunkCollection> chunks;
-                Diablo::PacketHeader dummy;
-                if (Diablo::parse_sensor_data_packet(buffer, len, dummy,
+                std::vector<daq::SensorDataChunkCollection> chunks;
+                daq::PacketHeader dummy;
+                if (daq::parse_sensor_data_packet(buffer, len, dummy,
                                                      chunks)) {
                     for (const auto& col : chunks)
                         for (const auto& dp : col.datapoints)
@@ -554,9 +554,9 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             if (state == ActuatorControllerState::PTAbort && config_valid &&
                 !abort_pt_locations.empty()) {
-                std::vector<Diablo::SensorDataChunkCollection> chunks;
-                Diablo::PacketHeader dummy;
-                if (Diablo::parse_sensor_data_packet(buffer, len, dummy,
+                std::vector<daq::SensorDataChunkCollection> chunks;
+                daq::PacketHeader dummy;
+                if (daq::parse_sensor_data_packet(buffer, len, dummy,
                                                      chunks)) {
                     for (const auto& col : chunks) {
                         for (const auto& dp : col.datapoints) {
@@ -576,12 +576,12 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::SensorData;
         }
-        case Diablo::PacketType::NO_CONNECTION_ABORT:
+        case daq::PacketType::NO_CONNECTION_ABORT:
             return IncomingPacketKind::NoConnAbort;
-        case Diablo::PacketType::ACTUATOR_COMMAND: {
-            Diablo::PacketHeader cmd_header;
-            std::vector<Diablo::ActuatorCommand> commands;
-            if (Diablo::parse_actuator_command_packet(buffer, len, cmd_header,
+        case daq::PacketType::ACTUATOR_COMMAND: {
+            daq::PacketHeader cmd_header;
+            std::vector<daq::ActuatorCommand> commands;
+            if (daq::parse_actuator_command_packet(buffer, len, cmd_header,
                                                       commands)) {
                 HF_VERBOSELN("ACTUATOR_COMMAND received (DAQv2-Comms):");
                 for (size_t i = 0; i < commands.size(); ++i) {
@@ -599,10 +599,10 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::PWM_ACTUATOR_COMMAND: {
-            Diablo::PacketHeader cmd_header;
-            std::vector<Diablo::PWMActuatorCommand> commands;
-            if (Diablo::parse_pwm_actuator_packet(buffer, len, cmd_header,
+        case daq::PacketType::PWM_ACTUATOR_COMMAND: {
+            daq::PacketHeader cmd_header;
+            std::vector<daq::PWMActuatorCommand> commands;
+            if (daq::parse_pwm_actuator_packet(buffer, len, cmd_header,
                                                   commands)) {
                 HF_VERBOSELN(
                     "PWM_ACTUATOR_COMMAND received (DAQv2-Comms):");
@@ -631,7 +631,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
 }
 
 static void processActuatorCommands(
-    const std::vector<Diablo::ActuatorCommand>& commands) {
+    const std::vector<daq::ActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         if (cmd.actuator_id < 1 || cmd.actuator_id > NUM_ACTUATORS)
             continue;
@@ -651,7 +651,7 @@ static void processActuatorCommands(
 }
 
 static void processPWMActuatorCommand(
-    const std::vector<Diablo::PWMActuatorCommand>& commands) {
+    const std::vector<daq::PWMActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         if (cmd.actuator_id < 1 || cmd.actuator_id > NUM_ACTUATORS)
             continue;
@@ -730,7 +730,7 @@ static void updatePWM() {
 // Current-sense: 1-based (match Actuator_Testing), send to server only
 //-----------------------------------------------------------------------------
 static void readCurrentSensePinsAndSend() {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
     for (uint8_t actuator_id = 1; actuator_id <= NUM_SENSORS; actuator_id++) {
         int pin = getCurrentSensePin(actuator_id);
         if (pin < 0)
@@ -745,9 +745,9 @@ static void readCurrentSensePinsAndSend() {
         return;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0)
         return;
@@ -1092,7 +1092,7 @@ void loop() {
         int bytesRead = udp.read(packetBuffer, sizeof(packetBuffer));
         if (bytesRead > 0) {
             const uint8_t pktType =
-                bytesRead >= (int)sizeof(Diablo::PacketHeader) ? packetBuffer[0]
+                bytesRead >= (int)sizeof(daq::PacketHeader) ? packetBuffer[0]
                                                                : 0;
             HF_VERBOSE("Received packet from ");
             HF_VERBOSE(remoteIP);
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/platformio.ini b/firmware/Hotfire_Code/Hotfire_Tests/platformio.ini
index b5b9fa331..e6960ce31 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/platformio.ini
+++ b/firmware/Hotfire_Code/Hotfire_Tests/platformio.ini
@@ -10,5 +10,5 @@ extends = native_base
 build_flags =
     ${native_base.build_flags}
     -I stubs
-    -I ../../libraries/DAQv2-Comms/src
+    -I ../../libraries/daq-protocol/src
     -I ../common
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp
index 66611d7a2..2c9d3ad73 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp
@@ -45,27 +45,27 @@ enum class IncomingPacketKind {
 };
 
 // Replicate getBoardStateForHeartbeat() from Actuator_Hotfire/main.cpp
-static Diablo::BoardState getBoardStateForHeartbeat(
+static daq::BoardState getBoardStateForHeartbeat(
     ActuatorControllerState state) {
     switch (state) {
         case ActuatorControllerState::WaitingForServer:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
         case ActuatorControllerState::Active:
-            return Diablo::BoardState::ACTIVE;
+            return daq::BoardState::ACTIVE;
         case ActuatorControllerState::ConnectionLossDetected:
-            return Diablo::BoardState::CONNECTION_LOSS_DETECTED;
+            return daq::BoardState::CONNECTION_LOSS_DETECTED;
         case ActuatorControllerState::NoConnectionAbort:
-            return Diablo::BoardState::NO_CONNECTION_ABORT;
+            return daq::BoardState::NO_CONNECTION_ABORT;
         case ActuatorControllerState::NoConnAbortFollower:
-            return Diablo::BoardState::NO_CONN_ABORT_FOLLOWER;
+            return daq::BoardState::NO_CONN_ABORT_FOLLOWER;
         case ActuatorControllerState::PTAbort:
-            return Diablo::BoardState::PT_ABORT;
+            return daq::BoardState::PT_ABORT;
         case ActuatorControllerState::NoPTAbort:
-            return Diablo::BoardState::NO_PT_ABORT;
+            return daq::BoardState::NO_PT_ABORT;
         case ActuatorControllerState::AbortFinished:
-            return Diablo::BoardState::ABORT_FINISHED;
+            return daq::BoardState::ABORT_FINISHED;
         default:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
     }
 }
 
@@ -219,68 +219,68 @@ void test_actuator_none_kind_stays() {
 void test_actuator_heartbeat_state_mapping_table() {
     struct {
         ActuatorControllerState state;
-        Diablo::BoardState expected;
+        daq::BoardState expected;
     } mappings[] = {
-        {ActuatorControllerState::WaitingForServer, Diablo::BoardState::SETUP},
-        {ActuatorControllerState::Active, Diablo::BoardState::ACTIVE},
+        {ActuatorControllerState::WaitingForServer, daq::BoardState::SETUP},
+        {ActuatorControllerState::Active, daq::BoardState::ACTIVE},
         {ActuatorControllerState::ConnectionLossDetected,
-         Diablo::BoardState::CONNECTION_LOSS_DETECTED},
+         daq::BoardState::CONNECTION_LOSS_DETECTED},
         {ActuatorControllerState::NoConnectionAbort,
-         Diablo::BoardState::NO_CONNECTION_ABORT},
+         daq::BoardState::NO_CONNECTION_ABORT},
         {ActuatorControllerState::NoConnAbortFollower,
-         Diablo::BoardState::NO_CONN_ABORT_FOLLOWER},
-        {ActuatorControllerState::PTAbort, Diablo::BoardState::PT_ABORT},
-        {ActuatorControllerState::NoPTAbort, Diablo::BoardState::NO_PT_ABORT},
+         daq::BoardState::NO_CONN_ABORT_FOLLOWER},
+        {ActuatorControllerState::PTAbort, daq::BoardState::PT_ABORT},
+        {ActuatorControllerState::NoPTAbort, daq::BoardState::NO_PT_ABORT},
         {ActuatorControllerState::AbortFinished,
-         Diablo::BoardState::ABORT_FINISHED},
+         daq::BoardState::ABORT_FINISHED},
     };
 
     for (auto& m : mappings) {
-        Diablo::BoardState got = getBoardStateForHeartbeat(m.state);
+        daq::BoardState got = getBoardStateForHeartbeat(m.state);
         TEST_ASSERT_EQUAL_MESSAGE(
             (int)m.expected, (int)got,
             "State mapping mismatch in getBoardStateForHeartbeat");
 
         // Also verify: create heartbeat → parse → board_state roundtrips
         // correctly
-        Diablo::BoardHeartbeatPacket hb{};
+        daq::BoardHeartbeatPacket hb{};
         hb.board_id = 99;
-        hb.engine_state = Diablo::EngineState::SAFE;
+        hb.engine_state = daq::EngineState::SAFE;
         hb.board_state = got;
 
         uint8_t buf[512];
         size_t n =
-            Diablo::create_board_heartbeat_packet(hb, 12345u, buf, sizeof(buf));
+            daq::create_board_heartbeat_packet(hb, 12345u, buf, sizeof(buf));
         TEST_ASSERT_GREATER_THAN(0, n);
 
-        Diablo::PacketHeader hdr_out;
-        Diablo::BoardHeartbeatPacket hb_out;
+        daq::PacketHeader hdr_out;
+        daq::BoardHeartbeatPacket hb_out;
         TEST_ASSERT_TRUE(
-            Diablo::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
+            daq::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
         TEST_ASSERT_EQUAL((int)m.expected, (int)hb_out.board_state);
         TEST_ASSERT_EQUAL(99, hb_out.board_id);
     }
 }
 
 void test_actuator_heartbeat_board_id_preserved() {
-    Diablo::BoardHeartbeatPacket hb{};
+    daq::BoardHeartbeatPacket hb{};
     hb.board_id = 127;
-    hb.engine_state = Diablo::EngineState::FIRING;
+    hb.engine_state = daq::EngineState::FIRING;
     hb.board_state =
         getBoardStateForHeartbeat(ActuatorControllerState::PTAbort);
 
     uint8_t buf[512];
     size_t n =
-        Diablo::create_board_heartbeat_packet(hb, 12346u, buf, sizeof(buf));
+        daq::create_board_heartbeat_packet(hb, 12346u, buf, sizeof(buf));
 
-    Diablo::PacketHeader hdr_out;
-    Diablo::BoardHeartbeatPacket hb_out;
+    daq::PacketHeader hdr_out;
+    daq::BoardHeartbeatPacket hb_out;
     TEST_ASSERT_TRUE(
-        Diablo::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
+        daq::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
     TEST_ASSERT_EQUAL(127, hb_out.board_id);
-    TEST_ASSERT_EQUAL((int)Diablo::EngineState::FIRING,
+    TEST_ASSERT_EQUAL((int)daq::EngineState::FIRING,
                       (int)hb_out.engine_state);
-    TEST_ASSERT_EQUAL((int)Diablo::BoardState::PT_ABORT,
+    TEST_ASSERT_EQUAL((int)daq::BoardState::PT_ABORT,
                       (int)hb_out.board_state);
 }
 
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
index 91ca2d012..71a0b38a4 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
@@ -22,53 +22,53 @@
 // ---------------------------------------------------------------------------
 
 void test_board_heartbeat_roundtrip() {
-    Diablo::BoardHeartbeatPacket hb_in;
+    daq::BoardHeartbeatPacket hb_in;
     memset(hb_in.firmware_hash, 0xAB, 32);
     hb_in.board_id = 42;
-    hb_in.engine_state = Diablo::EngineState::FIRING;
-    hb_in.board_state = Diablo::BoardState::ACTIVE;
+    hb_in.engine_state = daq::EngineState::FIRING;
+    hb_in.board_state = daq::BoardState::ACTIVE;
 
     const uint32_t ts = 99999u;
     uint8_t buf[512];
     size_t n =
-        Diablo::create_board_heartbeat_packet(hb_in, ts, buf, sizeof(buf));
+        daq::create_board_heartbeat_packet(hb_in, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
-    Diablo::BoardHeartbeatPacket hb_out;
+    daq::PacketHeader hdr_out;
+    daq::BoardHeartbeatPacket hb_out;
     TEST_ASSERT_TRUE(
-        Diablo::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
+        daq::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
 
-    TEST_ASSERT_EQUAL(Diablo::PacketType::BOARD_HEARTBEAT, hdr_out.packet_type);
+    TEST_ASSERT_EQUAL(daq::PacketType::BOARD_HEARTBEAT, hdr_out.packet_type);
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(42, hb_out.board_id);
-    TEST_ASSERT_EQUAL((int)Diablo::EngineState::FIRING,
+    TEST_ASSERT_EQUAL((int)daq::EngineState::FIRING,
                       (int)hb_out.engine_state);
-    TEST_ASSERT_EQUAL((int)Diablo::BoardState::ACTIVE, (int)hb_out.board_state);
+    TEST_ASSERT_EQUAL((int)daq::BoardState::ACTIVE, (int)hb_out.board_state);
     TEST_ASSERT_EQUAL_MEMORY(hb_in.firmware_hash, hb_out.firmware_hash, 32);
 }
 
 void test_board_heartbeat_buffer_too_small() {
-    Diablo::BoardHeartbeatPacket hb_in{};
+    daq::BoardHeartbeatPacket hb_in{};
     uint8_t buf[2];  // way too small
     TEST_ASSERT_EQUAL(
-        0, Diablo::create_board_heartbeat_packet(hb_in, 0u, buf, sizeof(buf)));
+        0, daq::create_board_heartbeat_packet(hb_in, 0u, buf, sizeof(buf)));
 }
 
 void test_board_heartbeat_parse_wrong_type() {
     // Construct a buffer with SENSOR_DATA type but try to parse as heartbeat
     uint8_t buf[512];
-    Diablo::BoardHeartbeatPacket hb_in{};
+    daq::BoardHeartbeatPacket hb_in{};
     hb_in.board_id = 1;
     size_t n =
-        Diablo::create_board_heartbeat_packet(hb_in, 1u, buf, sizeof(buf));
+        daq::create_board_heartbeat_packet(hb_in, 1u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
     // Corrupt the packet type
-    buf[0] = (uint8_t)Diablo::PacketType::SENSOR_DATA;
-    Diablo::PacketHeader hdr;
-    Diablo::BoardHeartbeatPacket hb_out;
+    buf[0] = (uint8_t)daq::PacketType::SENSOR_DATA;
+    daq::PacketHeader hdr;
+    daq::BoardHeartbeatPacket hb_out;
     TEST_ASSERT_FALSE(
-        Diablo::parse_board_heartbeat_packet(buf, n, hdr, hb_out));
+        daq::parse_board_heartbeat_packet(buf, n, hdr, hb_out));
 }
 
 // ---------------------------------------------------------------------------
@@ -77,23 +77,23 @@ void test_board_heartbeat_parse_wrong_type() {
 
 void test_server_heartbeat_roundtrip() {
     // Create a server heartbeat manually (no create function, build raw)
-    Diablo::PacketHeader hdr;
-    hdr.packet_type = Diablo::PacketType::SERVER_HEARTBEAT;
+    daq::PacketHeader hdr;
+    hdr.packet_type = daq::PacketType::SERVER_HEARTBEAT;
     hdr.version = 0;
     hdr.timestamp = 12345;
-    Diablo::ServerHeartbeatPacket srv;
-    srv.engine_state = Diablo::EngineState::LOX_FILL;
+    daq::ServerHeartbeatPacket srv;
+    srv.engine_state = daq::EngineState::LOX_FILL;
 
     uint8_t buf[64];
     memcpy(buf, &hdr, sizeof(hdr));
     memcpy(buf + sizeof(hdr), &srv, sizeof(srv));
     size_t total = sizeof(hdr) + sizeof(srv);
 
-    Diablo::PacketHeader hdr_out;
-    Diablo::ServerHeartbeatPacket srv_out;
+    daq::PacketHeader hdr_out;
+    daq::ServerHeartbeatPacket srv_out;
     TEST_ASSERT_TRUE(
-        Diablo::parse_server_heartbeat_packet(buf, total, hdr_out, srv_out));
-    TEST_ASSERT_EQUAL((int)Diablo::EngineState::LOX_FILL,
+        daq::parse_server_heartbeat_packet(buf, total, hdr_out, srv_out));
+    TEST_ASSERT_EQUAL((int)daq::EngineState::LOX_FILL,
                       (int)srv_out.engine_state);
     TEST_ASSERT_EQUAL(12345, hdr_out.timestamp);
 }
@@ -104,15 +104,15 @@ void test_server_heartbeat_roundtrip() {
 
 void test_sensor_data_roundtrip() {
     const uint8_t num_sensors = 3;
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
 
-    Diablo::SensorDataChunkCollection c1(1000, num_sensors);
+    daq::SensorDataChunkCollection c1(1000, num_sensors);
     c1.add_datapoint(1, 0xDEAD);
     c1.add_datapoint(2, 0xBEEF);
     c1.add_datapoint(3, 0xCAFE);
     chunks.push_back(c1);
 
-    Diablo::SensorDataChunkCollection c2(2000, num_sensors);
+    daq::SensorDataChunkCollection c2(2000, num_sensors);
     c2.add_datapoint(1, 100);
     c2.add_datapoint(2, 200);
     c2.add_datapoint(3, 300);
@@ -120,14 +120,14 @@ void test_sensor_data_roundtrip() {
 
     const uint32_t hdr_ts = 5555u;
     uint8_t buf[512];
-    size_t n = Diablo::create_sensor_data_packet(chunks, num_sensors, hdr_ts,
+    size_t n = daq::create_sensor_data_packet(chunks, num_sensors, hdr_ts,
                                                  buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
-    std::vector<Diablo::SensorDataChunkCollection> chunks_out;
+    daq::PacketHeader hdr_out;
+    std::vector<daq::SensorDataChunkCollection> chunks_out;
     TEST_ASSERT_TRUE(
-        Diablo::parse_sensor_data_packet(buf, n, hdr_out, chunks_out));
+        daq::parse_sensor_data_packet(buf, n, hdr_out, chunks_out));
 
     TEST_ASSERT_EQUAL(hdr_ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(2, chunks_out.size());
@@ -142,15 +142,15 @@ void test_sensor_data_roundtrip() {
 }
 
 void test_sensor_data_buffer_too_small() {
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
-    Diablo::SensorDataChunkCollection c1(1000, 2);
+    std::vector<daq::SensorDataChunkCollection> chunks;
+    daq::SensorDataChunkCollection c1(1000, 2);
     c1.add_datapoint(1, 100);
     c1.add_datapoint(2, 200);
     chunks.push_back(c1);
 
     uint8_t buf[4];  // too small
     TEST_ASSERT_EQUAL(
-        0, Diablo::create_sensor_data_packet(chunks, 2, 0u, buf, sizeof(buf)));
+        0, daq::create_sensor_data_packet(chunks, 2, 0u, buf, sizeof(buf)));
 }
 
 // ---------------------------------------------------------------------------
@@ -158,7 +158,7 @@ void test_sensor_data_buffer_too_small() {
 // ---------------------------------------------------------------------------
 
 void test_actuator_command_roundtrip() {
-    std::vector<Diablo::ActuatorCommand> cmds;
+    std::vector<daq::ActuatorCommand> cmds;
     cmds.push_back({1, 1});  // actuator 1 ON
     cmds.push_back({3, 0});  // actuator 3 OFF
     cmds.push_back({7, 1});  // actuator 7 ON
@@ -166,13 +166,13 @@ void test_actuator_command_roundtrip() {
     const uint32_t ts = 7777u;
     uint8_t buf[512];
     size_t n =
-        Diablo::create_actuator_command_packet(cmds, ts, buf, sizeof(buf));
+        daq::create_actuator_command_packet(cmds, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
-    std::vector<Diablo::ActuatorCommand> cmds_out;
+    daq::PacketHeader hdr_out;
+    std::vector<daq::ActuatorCommand> cmds_out;
     TEST_ASSERT_TRUE(
-        Diablo::parse_actuator_command_packet(buf, n, hdr_out, cmds_out));
+        daq::parse_actuator_command_packet(buf, n, hdr_out, cmds_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(3, cmds_out.size());
@@ -185,10 +185,10 @@ void test_actuator_command_roundtrip() {
 }
 
 void test_actuator_command_empty_list() {
-    std::vector<Diablo::ActuatorCommand> cmds;  // empty
+    std::vector<daq::ActuatorCommand> cmds;  // empty
     uint8_t buf[512];
     TEST_ASSERT_EQUAL(
-        0, Diablo::create_actuator_command_packet(cmds, 0u, buf, sizeof(buf)));
+        0, daq::create_actuator_command_packet(cmds, 0u, buf, sizeof(buf)));
 }
 
 // ---------------------------------------------------------------------------
@@ -196,8 +196,8 @@ void test_actuator_command_empty_list() {
 // ---------------------------------------------------------------------------
 
 void test_pwm_actuator_roundtrip() {
-    std::vector<Diablo::PWMActuatorCommand> cmds;
-    Diablo::PWMActuatorCommand cmd;
+    std::vector<daq::PWMActuatorCommand> cmds;
+    daq::PWMActuatorCommand cmd;
     cmd.actuator_id = 5;
     cmd.duration = 3000;
     cmd.duty_cycle = 0.75f;
@@ -206,13 +206,13 @@ void test_pwm_actuator_roundtrip() {
 
     const uint32_t ts = 8888u;
     uint8_t buf[512];
-    size_t n = Diablo::create_pwm_actuator_packet(cmds, ts, buf, sizeof(buf));
+    size_t n = daq::create_pwm_actuator_packet(cmds, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
-    std::vector<Diablo::PWMActuatorCommand> cmds_out;
+    daq::PacketHeader hdr_out;
+    std::vector<daq::PWMActuatorCommand> cmds_out;
     TEST_ASSERT_TRUE(
-        Diablo::parse_pwm_actuator_packet(buf, n, hdr_out, cmds_out));
+        daq::parse_pwm_actuator_packet(buf, n, hdr_out, cmds_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(1, cmds_out.size());
@@ -235,18 +235,18 @@ void test_sensor_config_roundtrip_with_abort() {
 
     const uint32_t ts = 11111u;
     uint8_t buf[512];
-    size_t n = Diablo::create_sensor_config_packet(
+    size_t n = daq::create_sensor_config_packet(
         sensor_ids, ref_voltage, necessary_for_abort, controller_ip,
         enable_serial, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     std::vector<uint8_t> ids_out;
     uint8_t ref_out;
     bool abort_out;
     uint32_t ip_out;
     uint8_t serial_out;
-    TEST_ASSERT_TRUE(Diablo::parse_sensor_config_packet(
+    TEST_ASSERT_TRUE(daq::parse_sensor_config_packet(
         buf, n, hdr_out, ids_out, ref_out, abort_out, ip_out, serial_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
@@ -267,18 +267,18 @@ void test_sensor_config_roundtrip_without_abort() {
 
     const uint32_t ts = 11112u;
     uint8_t buf[512];
-    size_t n = Diablo::create_sensor_config_packet(
+    size_t n = daq::create_sensor_config_packet(
         sensor_ids, ref_voltage, necessary_for_abort, controller_ip, 0, ts, buf,
         sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     std::vector<uint8_t> ids_out;
     uint8_t ref_out;
     bool abort_out;
     uint32_t ip_out = 0xFFFFFFFF;
     uint8_t serial_out;
-    TEST_ASSERT_TRUE(Diablo::parse_sensor_config_packet(
+    TEST_ASSERT_TRUE(daq::parse_sensor_config_packet(
         buf, n, hdr_out, ids_out, ref_out, abort_out, ip_out, serial_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
@@ -291,16 +291,16 @@ void test_sensor_config_roundtrip_without_abort() {
 void test_sensor_config_empty_sensors() {
     std::vector<uint8_t> sensor_ids;  // empty
     uint8_t buf[512];
-    size_t n = Diablo::create_sensor_config_packet(sensor_ids, 0, false, 0, 1,
+    size_t n = daq::create_sensor_config_packet(sensor_ids, 0, false, 0, 1,
                                                    11113u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     std::vector<uint8_t> ids_out;
     uint8_t ref_out, serial_out;
     bool abort_out;
     uint32_t ip_out;
-    TEST_ASSERT_TRUE(Diablo::parse_sensor_config_packet(
+    TEST_ASSERT_TRUE(daq::parse_sensor_config_packet(
         buf, n, hdr_out, ids_out, ref_out, abort_out, ip_out, serial_out));
     TEST_ASSERT_EQUAL(0, ids_out.size());
 }
@@ -310,24 +310,24 @@ void test_sensor_config_empty_sensors() {
 // ---------------------------------------------------------------------------
 
 void test_actuator_config_roundtrip() {
-    std::vector<Diablo::AbortActuatorLocation> actuators;
+    std::vector<daq::AbortActuatorLocation> actuators;
     actuators.push_back({0xC0A80201, 1, 1, 0});  // IP, id, vent=on, abort=off
     actuators.push_back({0xC0A80202, 3, 0, 1});  // different board
 
-    std::vector<Diablo::AbortPTLocation> pts;
+    std::vector<daq::AbortPTLocation> pts;
     pts.push_back({0xC0A80203, 2, 500000});  // IP, sensor_id, threshold
 
     uint8_t buf[512];
-    size_t n = Diablo::create_actuator_config_packet(1, actuators, pts, 1,
+    size_t n = daq::create_actuator_config_packet(1, actuators, pts, 1,
                                                      22222u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     uint8_t is_controller;
-    std::vector<Diablo::AbortActuatorLocation> act_out;
-    std::vector<Diablo::AbortPTLocation> pt_out;
+    std::vector<daq::AbortActuatorLocation> act_out;
+    std::vector<daq::AbortPTLocation> pt_out;
     uint8_t serial_out;
-    TEST_ASSERT_TRUE(Diablo::parse_actuator_config_packet(
+    TEST_ASSERT_TRUE(daq::parse_actuator_config_packet(
         buf, n, hdr_out, is_controller, act_out, pt_out, serial_out));
 
     TEST_ASSERT_EQUAL(22222u, hdr_out.timestamp);
@@ -344,21 +344,21 @@ void test_actuator_config_roundtrip() {
 }
 
 void test_actuator_config_no_pts() {
-    std::vector<Diablo::AbortActuatorLocation> actuators;
+    std::vector<daq::AbortActuatorLocation> actuators;
     actuators.push_back({0xC0A80201, 1, 1, 1});
-    std::vector<Diablo::AbortPTLocation> pts;  // empty
+    std::vector<daq::AbortPTLocation> pts;  // empty
 
     uint8_t buf[512];
-    size_t n = Diablo::create_actuator_config_packet(0, actuators, pts, 0,
+    size_t n = daq::create_actuator_config_packet(0, actuators, pts, 0,
                                                      22223u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     uint8_t is_controller;
-    std::vector<Diablo::AbortActuatorLocation> act_out;
-    std::vector<Diablo::AbortPTLocation> pt_out;
+    std::vector<daq::AbortActuatorLocation> act_out;
+    std::vector<daq::AbortPTLocation> pt_out;
     uint8_t serial_out;
-    TEST_ASSERT_TRUE(Diablo::parse_actuator_config_packet(
+    TEST_ASSERT_TRUE(daq::parse_actuator_config_packet(
         buf, n, hdr_out, is_controller, act_out, pt_out, serial_out));
     TEST_ASSERT_EQUAL(22223u, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(0, is_controller);
@@ -372,7 +372,7 @@ void test_actuator_config_no_pts() {
 // ---------------------------------------------------------------------------
 
 void test_self_test_roundtrip() {
-    std::vector<Diablo::SelfTestResult> results;
+    std::vector<daq::SelfTestResult> results;
     results.push_back({1, 1});  // sensor 1 good
     results.push_back({2, 0});  // sensor 2 bad
     results.push_back({5, 1});  // sensor 5 good
@@ -380,13 +380,13 @@ void test_self_test_roundtrip() {
     const uint32_t ts = 33333u;
     uint8_t buf[512];
     size_t n =
-        Diablo::create_self_test_packet(1, results, ts, buf, sizeof(buf));
+        daq::create_self_test_packet(1, results, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     uint8_t adc_good_out;
-    std::vector<Diablo::SelfTestResult> results_out;
-    TEST_ASSERT_TRUE(Diablo::parse_self_test_packet(buf, n, hdr_out,
+    std::vector<daq::SelfTestResult> results_out;
+    TEST_ASSERT_TRUE(daq::parse_self_test_packet(buf, n, hdr_out,
                                                     adc_good_out, results_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
@@ -399,18 +399,18 @@ void test_self_test_roundtrip() {
 }
 
 void test_self_test_adc_bad() {
-    std::vector<Diablo::SelfTestResult> results;
+    std::vector<daq::SelfTestResult> results;
     results.push_back({1, 0});
 
     uint8_t buf[512];
     size_t n =
-        Diablo::create_self_test_packet(0, results, 33334u, buf, sizeof(buf));
+        daq::create_self_test_packet(0, results, 33334u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
-    Diablo::PacketHeader hdr_out;
+    daq::PacketHeader hdr_out;
     uint8_t adc_good_out;
-    std::vector<Diablo::SelfTestResult> results_out;
-    TEST_ASSERT_TRUE(Diablo::parse_self_test_packet(buf, n, hdr_out,
+    std::vector<daq::SelfTestResult> results_out;
+    TEST_ASSERT_TRUE(daq::parse_self_test_packet(buf, n, hdr_out,
                                                     adc_good_out, results_out));
     TEST_ASSERT_EQUAL(33334u, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(0, adc_good_out);
@@ -423,13 +423,13 @@ void test_self_test_adc_bad() {
 void test_abort_done_roundtrip() {
     const uint32_t ts = 44444u;
     uint8_t buf[64];
-    size_t n = Diablo::create_abort_done_packet(ts, buf, sizeof(buf));
+    size_t n = daq::create_abort_done_packet(ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
-    TEST_ASSERT_EQUAL(sizeof(Diablo::PacketHeader), n);
+    TEST_ASSERT_EQUAL(sizeof(daq::PacketHeader), n);
 
-    Diablo::PacketHeader hdr_out;
-    TEST_ASSERT_TRUE(Diablo::parse_abort_done_packet(buf, n, hdr_out));
-    TEST_ASSERT_EQUAL((int)Diablo::PacketType::ABORT_DONE,
+    daq::PacketHeader hdr_out;
+    TEST_ASSERT_TRUE(daq::parse_abort_done_packet(buf, n, hdr_out));
+    TEST_ASSERT_EQUAL((int)daq::PacketType::ABORT_DONE,
                       (int)hdr_out.packet_type);
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
 }
@@ -437,7 +437,7 @@ void test_abort_done_roundtrip() {
 void test_abort_done_buffer_too_small() {
     uint8_t buf[2];
     TEST_ASSERT_EQUAL(0,
-                      Diablo::create_abort_done_packet(0u, buf, sizeof(buf)));
+                      daq::create_abort_done_packet(0u, buf, sizeof(buf)));
 }
 
 // ---------------------------------------------------------------------------
@@ -445,18 +445,18 @@ void test_abort_done_buffer_too_small() {
 // ---------------------------------------------------------------------------
 
 void test_parse_null_buffer() {
-    Diablo::PacketHeader hdr;
-    Diablo::BoardHeartbeatPacket hb;
+    daq::PacketHeader hdr;
+    daq::BoardHeartbeatPacket hb;
     TEST_ASSERT_FALSE(
-        Diablo::parse_board_heartbeat_packet(nullptr, 100, hdr, hb));
+        daq::parse_board_heartbeat_packet(nullptr, 100, hdr, hb));
 
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     TEST_ASSERT_FALSE(
-        Diablo::parse_sensor_data_packet(nullptr, 100, hdr, chunks));
+        daq::parse_sensor_data_packet(nullptr, 100, hdr, chunks));
 
-    std::vector<Diablo::ActuatorCommand> cmds;
+    std::vector<daq::ActuatorCommand> cmds;
     TEST_ASSERT_FALSE(
-        Diablo::parse_actuator_command_packet(nullptr, 100, hdr, cmds));
+        daq::parse_actuator_command_packet(nullptr, 100, hdr, cmds));
 }
 
 // ---------------------------------------------------------------------------
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_data_collection/test_sensor_data_collection.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_data_collection/test_sensor_data_collection.cpp
index be6de818e..b43b56ae7 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_data_collection/test_sensor_data_collection.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_data_collection/test_sensor_data_collection.cpp
@@ -18,7 +18,7 @@
 // ===========================================================================
 
 void test_chunk_constructor() {
-    Diablo::SensorDataChunkCollection chunk(12345, 5);
+    daq::SensorDataChunkCollection chunk(12345, 5);
     TEST_ASSERT_EQUAL(12345, chunk.timestamp);
     TEST_ASSERT_EQUAL(5, chunk.num_sensors);
     TEST_ASSERT_EQUAL(0, chunk.size());
@@ -27,7 +27,7 @@ void test_chunk_constructor() {
 }
 
 void test_chunk_add_datapoint() {
-    Diablo::SensorDataChunkCollection chunk(100, 3);
+    daq::SensorDataChunkCollection chunk(100, 3);
     TEST_ASSERT_TRUE(chunk.add_datapoint(1, 0xDEAD));
     TEST_ASSERT_EQUAL(1, chunk.size());
     TEST_ASSERT_FALSE(chunk.empty());
@@ -40,7 +40,7 @@ void test_chunk_add_datapoint() {
 }
 
 void test_chunk_add_over_capacity() {
-    Diablo::SensorDataChunkCollection chunk(100, 2);
+    daq::SensorDataChunkCollection chunk(100, 2);
     TEST_ASSERT_TRUE(chunk.add_datapoint(1, 100));
     TEST_ASSERT_TRUE(chunk.add_datapoint(2, 200));
     TEST_ASSERT_FALSE(chunk.add_datapoint(3, 300));  // over capacity
@@ -48,7 +48,7 @@ void test_chunk_add_over_capacity() {
 }
 
 void test_chunk_clear() {
-    Diablo::SensorDataChunkCollection chunk(100, 3);
+    daq::SensorDataChunkCollection chunk(100, 3);
     chunk.add_datapoint(1, 100);
     chunk.add_datapoint(2, 200);
     TEST_ASSERT_EQUAL(2, chunk.size());
@@ -60,7 +60,7 @@ void test_chunk_clear() {
 }
 
 void test_chunk_datapoint_values() {
-    Diablo::SensorDataChunkCollection chunk(999, 2);
+    daq::SensorDataChunkCollection chunk(999, 2);
     chunk.add_datapoint(5, 0x12345678);
     chunk.add_datapoint(10, 0xABCDEF00);
 
@@ -71,7 +71,7 @@ void test_chunk_datapoint_values() {
 }
 
 void test_chunk_zero_capacity() {
-    Diablo::SensorDataChunkCollection chunk(100, 0);
+    daq::SensorDataChunkCollection chunk(100, 0);
     TEST_ASSERT_EQUAL(0, chunk.size());
     TEST_ASSERT_TRUE(chunk.empty());
     TEST_ASSERT_TRUE(chunk.full());  // 0 >= 0
@@ -79,7 +79,7 @@ void test_chunk_zero_capacity() {
 }
 
 void test_chunk_single_sensor() {
-    Diablo::SensorDataChunkCollection chunk(500, 1);
+    daq::SensorDataChunkCollection chunk(500, 1);
     TEST_ASSERT_TRUE(chunk.add_datapoint(1, 42));
     TEST_ASSERT_TRUE(chunk.full());
     TEST_ASSERT_FALSE(chunk.add_datapoint(2, 43));
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp
index 6a44af51b..6e66f306a 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp
@@ -83,16 +83,16 @@ static State applyPacketTransition(State state, IncomingPacketKind kind,
 
 // Replicate readPacketHeader from SensorHotfireCore.h
 static IncomingPacketKind readPacketHeader(const uint8_t* buf, size_t len) {
-    if (len < sizeof(Diablo::PacketHeader))
+    if (len < sizeof(daq::PacketHeader))
         return IncomingPacketKind::None;
-    Diablo::PacketHeader hdr;
+    daq::PacketHeader hdr;
     memcpy(&hdr, buf, sizeof(hdr));
     switch (hdr.packet_type) {
-        case Diablo::PacketType::SERVER_HEARTBEAT:
+        case daq::PacketType::SERVER_HEARTBEAT:
             return IncomingPacketKind::ServerHeartbeat;
-        case Diablo::PacketType::SENSOR_CONFIG:
+        case daq::PacketType::SENSOR_CONFIG:
             return IncomingPacketKind::SensorConfig;
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             return IncomingPacketKind::ClearAbort;
         default:
             return IncomingPacketKind::None;
@@ -107,13 +107,13 @@ static IncomingPacketKind processIncomingPacket(StoredConfig& stored_config,
 
     if (kind == IncomingPacketKind::SensorConfig) {
         // Parse the config packet
-        Diablo::PacketHeader hdr_out;
+        daq::PacketHeader hdr_out;
         std::vector<uint8_t> ids;
         uint8_t ref;
         bool abort_needed;
         uint32_t controller_ip;
         uint8_t serial;
-        if (Diablo::parse_sensor_config_packet(buf, len, hdr_out, ids, ref,
+        if (daq::parse_sensor_config_packet(buf, len, hdr_out, ids, ref,
                                                abort_needed, controller_ip,
                                                serial)) {
             stored_config.valid = true;
@@ -132,18 +132,18 @@ static IncomingPacketKind processIncomingPacket(StoredConfig& stored_config,
 }
 
 // Replicate the heartbeat state→BoardState mapping from loop()
-static Diablo::BoardState getBoardStateForHeartbeat(State state) {
+static daq::BoardState getBoardStateForHeartbeat(State state) {
     switch (state) {
         case State::WaitingForServer:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
         case State::Active:
-            return Diablo::BoardState::ACTIVE;
+            return daq::BoardState::ACTIVE;
         case State::StandaloneAbort:
-            return Diablo::BoardState::STANDALONE_ABORT;
+            return daq::BoardState::STANDALONE_ABORT;
         case State::SelfTest:
-            return Diablo::BoardState::SELF_TEST;
+            return daq::BoardState::SELF_TEST;
         default:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
     }
 }
 
@@ -219,12 +219,12 @@ void test_sensor_none_packet_doesnt_transition() {
 // ===========================================================================
 
 void test_sensor_process_server_heartbeat_packet() {
-    Diablo::PacketHeader hdr;
-    hdr.packet_type = Diablo::PacketType::SERVER_HEARTBEAT;
+    daq::PacketHeader hdr;
+    hdr.packet_type = daq::PacketType::SERVER_HEARTBEAT;
     hdr.version = 0;
     hdr.timestamp = 1000;
-    Diablo::ServerHeartbeatPacket srv;
-    srv.engine_state = Diablo::EngineState::SAFE;
+    daq::ServerHeartbeatPacket srv;
+    srv.engine_state = daq::EngineState::SAFE;
 
     uint8_t buf[64];
     memcpy(buf, &hdr, sizeof(hdr));
@@ -240,7 +240,7 @@ void test_sensor_process_server_heartbeat_packet() {
 void test_sensor_process_sensor_config_packet() {
     std::vector<uint8_t> sensor_ids = {1, 2, 3};
     uint8_t buf[512];
-    size_t n = Diablo::create_sensor_config_packet(sensor_ids, 0, false, 0, 1,
+    size_t n = daq::create_sensor_config_packet(sensor_ids, 0, false, 0, 1,
                                                    9001u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
@@ -260,7 +260,7 @@ void test_sensor_process_sensor_config_with_abort() {
     std::vector<uint8_t> sensor_ids = {5, 10};
     uint32_t controller_ip = 0xC0A80232;
     uint8_t buf[512];
-    size_t n = Diablo::create_sensor_config_packet(
+    size_t n = daq::create_sensor_config_packet(
         sensor_ids, 1, true, controller_ip, 1, 9002u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
@@ -277,8 +277,8 @@ void test_sensor_process_sensor_config_with_abort() {
 }
 
 void test_sensor_process_clear_abort_packet() {
-    Diablo::PacketHeader hdr;
-    hdr.packet_type = Diablo::PacketType::CLEAR_ABORT;
+    daq::PacketHeader hdr;
+    hdr.packet_type = daq::PacketType::CLEAR_ABORT;
     hdr.version = 0;
     hdr.timestamp = 0;
     uint8_t buf[16];
@@ -303,39 +303,39 @@ void test_sensor_process_too_short_returns_none() {
 void test_sensor_heartbeat_state_mapping_table() {
     struct {
         SensorSM::State state;
-        Diablo::BoardState expected;
+        daq::BoardState expected;
     } mappings[] = {
-        {SensorSM::State::WaitingForServer, Diablo::BoardState::SETUP},
-        {SensorSM::State::Active, Diablo::BoardState::ACTIVE},
+        {SensorSM::State::WaitingForServer, daq::BoardState::SETUP},
+        {SensorSM::State::Active, daq::BoardState::ACTIVE},
         {SensorSM::State::StandaloneAbort,
-         Diablo::BoardState::STANDALONE_ABORT},
-        {SensorSM::State::SelfTest, Diablo::BoardState::SELF_TEST},
+         daq::BoardState::STANDALONE_ABORT},
+        {SensorSM::State::SelfTest, daq::BoardState::SELF_TEST},
     };
 
     for (auto& m : mappings) {
-        Diablo::BoardState got = SensorSM::getBoardStateForHeartbeat(m.state);
+        daq::BoardState got = SensorSM::getBoardStateForHeartbeat(m.state);
         TEST_ASSERT_EQUAL_MESSAGE(
             (int)m.expected, (int)got,
             "State mapping mismatch in getBoardStateForHeartbeat");
 
         // Also create → parse heartbeat to verify wire encoding
-        Diablo::BoardHeartbeatPacket hb{};
+        daq::BoardHeartbeatPacket hb{};
         hb.board_id = 42;
-        hb.engine_state = Diablo::EngineState::SAFE;
+        hb.engine_state = daq::EngineState::SAFE;
         hb.board_state = got;
 
         uint8_t buf[512];
         size_t n =
-            Diablo::create_board_heartbeat_packet(hb, 9003u, buf, sizeof(buf));
+            daq::create_board_heartbeat_packet(hb, 9003u, buf, sizeof(buf));
         TEST_ASSERT_GREATER_THAN(0, n);
 
-        Diablo::PacketHeader hdr_out;
-        Diablo::BoardHeartbeatPacket hb_out;
+        daq::PacketHeader hdr_out;
+        daq::BoardHeartbeatPacket hb_out;
         TEST_ASSERT_TRUE(
-            Diablo::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
+            daq::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
         TEST_ASSERT_EQUAL((int)m.expected, (int)hb_out.board_state);
         TEST_ASSERT_EQUAL(42, hb_out.board_id);
-        TEST_ASSERT_EQUAL((int)Diablo::EngineState::SAFE,
+        TEST_ASSERT_EQUAL((int)daq::EngineState::SAFE,
                           (int)hb_out.engine_state);
     }
 }
diff --git a/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp b/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
index 526f4fa0a..b02d33f34 100644
--- a/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
@@ -13,7 +13,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -49,7 +49,7 @@ static const uint8_t LC_ADC1_CONNECTORS[] = {1, 2, 3, 6, 7};
 
 static ADS126X ads126x;
 SPIClass ADC_SPI(HSPI);
-std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+std::vector<daq::SensorDataChunkCollection> dataChunks;
 
 static SensorHotfire::CoreState coreState;
 static SensorHotfire::Config coreConfig;
@@ -73,7 +73,7 @@ static void collect_chunk_impl() {
         return;
     const uint8_t* active_ids = coreState.stored_config.sensor_ids;
 
-    Diablo::SensorDataChunkCollection chunk(millis(), active_count);
+    daq::SensorDataChunkCollection chunk(millis(), active_count);
     for (uint8_t i = 0; i < active_count; i++) {
         const uint8_t connector_id = active_ids[i];
         const int ch1 = getAdcChannel(connector_id, 1);
@@ -105,7 +105,7 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         return;
     uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
     const uint8_t num_sensors = dataChunks[0].num_sensors;
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0) {
         HF_VERBOSE(
@@ -195,11 +195,11 @@ static void send_chunks_to_cb(void*, IPAddress dest_ip, int dest_port,
 
 static void run_self_test_cb(void*,
                              const SensorHotfire::StoredSensorConfig& cfg,
-                             std::vector<Diablo::SelfTestResult>& results_out) {
+                             std::vector<daq::SelfTestResult>& results_out) {
     // 1. ADC self-test (TDAC internal)
     auto adc_result = SensorSelfTest::run_adc_self_test(
         ads126x, Pins.ADC_DRDY_1, ADS126X_REF_NEG_VSS, ADS126X_REF_POS_INT);
-    results_out.push_back(Diablo::SelfTestResult{
+    results_out.push_back(daq::SelfTestResult{
         0u, static_cast<uint8_t>(adc_result.passed ? 1 : 0)});
 
     // 2. Sensor bias continuity test
@@ -216,7 +216,7 @@ static void run_self_test_cb(void*,
                                                      static_cast<uint8_t>(ch2));
         uint8_t pass =
             (bias.result == SensorSelfTest::BiasResult::CONNECTED) ? 1u : 0u;
-        results_out.push_back(Diablo::SelfTestResult{id, pass});
+        results_out.push_back(daq::SelfTestResult{id, pass});
     }
     SensorSelfTest::sensor_bias_disable(ads126x);
 }
diff --git a/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp b/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
index e10fe7e54..5f59baeb0 100644
--- a/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
@@ -10,7 +10,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -43,7 +43,7 @@ ADS126X_ASSERT_FILTER_RATE(FILTER, DATA_RATE);
 
 static ADS126X ads126x;
 SPIClass ADC_SPI(HSPI);
-std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+std::vector<daq::SensorDataChunkCollection> dataChunks;
 
 static SensorHotfire::CoreState coreState;
 static SensorHotfire::Config coreConfig;
@@ -71,7 +71,7 @@ static void collect_chunk_impl() {
         return;
     const uint8_t* active_ids = coreState.stored_config.sensor_ids;
 
-    Diablo::SensorDataChunkCollection chunk(millis(), active_count);
+    daq::SensorDataChunkCollection chunk(millis(), active_count);
     for (uint8_t i = 0; i < active_count; i++) {
         ads126x.setInputMux(getAdcChannel(active_ids[i], TEST_PIN),
                             ADS126X_AINCOM);
@@ -98,7 +98,7 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         return;
     uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
     const uint8_t num_sensors = dataChunks[0].num_sensors;
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0)
         return;
@@ -194,11 +194,11 @@ static const char* bias_result_str(SensorSelfTest::BiasResult r) {
 
 static void run_self_test_cb(void*,
                              const SensorHotfire::StoredSensorConfig& cfg,
-                             std::vector<Diablo::SelfTestResult>& results_out) {
+                             std::vector<daq::SelfTestResult>& results_out) {
     // 1. ADC self-test (TDAC internal)
     auto adc_result = SensorSelfTest::run_adc_self_test(
         ads126x, Pins.ADC_DRDY_1, ADS126X_REF_NEG_VSS, ADS126X_REF_POS_INT);
-    results_out.push_back(Diablo::SelfTestResult{
+    results_out.push_back(daq::SelfTestResult{
         0u, static_cast<uint8_t>(adc_result.passed ? 1 : 0)});
 
     HF_LOGLN("=== ADC TDAC Self-Test ===");
@@ -225,7 +225,7 @@ static void run_self_test_cb(void*,
             HF_LOG("  sensor id=");
             HF_LOG(id);
             HF_LOGLN("  channel=INVALID  result=FAIL");
-            results_out.push_back(Diablo::SelfTestResult{id, 0u});
+            results_out.push_back(daq::SelfTestResult{id, 0u});
             continue;
         }
         auto bias = SensorSelfTest::read_sensor_bias(
@@ -245,7 +245,7 @@ static void run_self_test_cb(void*,
         HF_LOG("  -> ");
         HF_LOGLN(bias_result_str(bias.result));
 
-        results_out.push_back(Diablo::SelfTestResult{id, pass});
+        results_out.push_back(daq::SelfTestResult{id, pass});
     }
     Serial.flush();
     SensorSelfTest::sensor_bias_disable(ads126x);
diff --git a/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp b/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp
index c3fd10b1a..e13fe2f94 100644
--- a/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp
+++ b/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp
@@ -8,7 +8,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -86,7 +86,7 @@ static constexpr int serverPort = HOTFIRE_SERVER_PORT;
 static EthernetUDP udp;
 static OTAEthernetServer otaServer(HOTFIRE_OTA_PORT);
 
-static std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+static std::vector<daq::SensorDataChunkCollection> dataChunks;
 static unsigned long lastHeartbeatMs = 0;
 
 // ---------------------------------------------------------------------------
@@ -178,14 +178,14 @@ static void runSelfTest() {
     Serial.print("  Encoder 2 I2C: ");
     Serial.println(enc2_ok ? "PASS" : "FAIL");
 
-    std::vector<Diablo::SelfTestResult> results;
-    results.push_back(Diablo::SelfTestResult{
+    std::vector<daq::SelfTestResult> results;
+    results.push_back(daq::SelfTestResult{
         SENSOR_ID_ENC1, static_cast<uint8_t>(enc1_ok ? 1 : 0)});
-    results.push_back(Diablo::SelfTestResult{
+    results.push_back(daq::SelfTestResult{
         SENSOR_ID_ENC2, static_cast<uint8_t>(enc2_ok ? 1 : 0)});
 
     uint8_t buf[ENCODER_PACKET_BUF_SIZE];
-    size_t n = Diablo::create_self_test_packet(adc_good, results, millis(), buf,
+    size_t n = daq::create_self_test_packet(adc_good, results, millis(), buf,
                                                sizeof(buf));
     if (n > 0) {
         udp.beginPacket(serverIP, serverPort);
@@ -211,7 +211,7 @@ static void sendDataChunks() {
         return;
 
     uint8_t buf[ENCODER_PACKET_BUF_SIZE];
-    size_t n = Diablo::create_sensor_data_packet(dataChunks, NUM_SENSORS,
+    size_t n = daq::create_sensor_data_packet(dataChunks, NUM_SENSORS,
                                                  millis(), buf, sizeof(buf));
     if (n == 0) {
         dataChunks.clear();
@@ -225,29 +225,29 @@ static void sendDataChunks() {
     dataChunks.clear();
 }
 
-static Diablo::BoardState currentBoardState() {
+static daq::BoardState currentBoardState() {
     switch (boardState) {
         case State::Setup:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
         case State::SelfTest:
-            return Diablo::BoardState::SELF_TEST;
+            return daq::BoardState::SELF_TEST;
         case State::Active:
-            return Diablo::BoardState::ACTIVE;
+            return daq::BoardState::ACTIVE;
         default:
-            return Diablo::BoardState::SETUP;
+            return daq::BoardState::SETUP;
     }
 }
 
 static void sendHeartbeat() {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
     hb.board_id = (uint8_t)BOARD_ID;
-    hb.engine_state = Diablo::EngineState::SAFE;
+    hb.engine_state = daq::EngineState::SAFE;
     hb.board_state = currentBoardState();
 
     uint8_t buf[ENCODER_PACKET_BUF_SIZE];
     size_t n =
-        Diablo::create_board_heartbeat_packet(hb, millis(), buf, sizeof(buf));
+        daq::create_board_heartbeat_packet(hb, millis(), buf, sizeof(buf));
     if (n == 0)
         return;
 
@@ -323,7 +323,7 @@ void loop() {
                 udp.read(&typeByte, 1);
                 udp.flush();
                 if (typeByte ==
-                    static_cast<uint8_t>(Diablo::PacketType::SENSOR_CONFIG)) {
+                    static_cast<uint8_t>(daq::PacketType::SENSOR_CONFIG)) {
                     Serial.println(
                         "SENSOR_CONFIG received -> State -> SelfTest");
                     Serial.flush();
@@ -346,7 +346,7 @@ void loop() {
             uint32_t val2 =
                 (raw2 != READ_ERROR) ? static_cast<uint32_t>(raw2) : 0u;
 
-            Diablo::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
+            daq::SensorDataChunkCollection chunk(millis(), NUM_SENSORS);
             chunk.add_datapoint(SENSOR_ID_ENC1, val1);
             chunk.add_datapoint(SENSOR_ID_ENC2, val2);
 
diff --git a/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp b/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
index 3bfbe2e7f..8d4b895f0 100644
--- a/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
@@ -12,7 +12,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -47,7 +47,7 @@ ADS126X_ASSERT_FILTER_RATE(FILTER, DATA_RATE);
 static ADS126X ads126x;    // ADC1 — connectors 1 & 2
 static ADS126X ads126x_2;  // ADC2 — connectors 3 & 4
 SPIClass ADC_SPI(HSPI);
-std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+std::vector<daq::SensorDataChunkCollection> dataChunks;
 
 static SensorHotfire::CoreState coreState;
 static SensorHotfire::Config coreConfig;
@@ -88,7 +88,7 @@ static void collect_chunk_impl() {
         return;
     const uint8_t* active_ids = coreState.stored_config.sensor_ids;
 
-    Diablo::SensorDataChunkCollection chunk(millis(), active_count);
+    daq::SensorDataChunkCollection chunk(millis(), active_count);
     for (uint8_t i = 0; i < active_count; i++) {
         const uint8_t conn = active_ids[i];
         set_connector_rtd(conn);
@@ -117,7 +117,7 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         return;
     uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
     const uint8_t num_sensors = dataChunks[0].num_sensors;
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0)
         return;
@@ -242,16 +242,16 @@ static void send_chunks_to_cb(void*, IPAddress dest_ip, int dest_port,
 
 static void run_self_test_cb(void*,
                              const SensorHotfire::StoredSensorConfig& cfg,
-                             std::vector<Diablo::SelfTestResult>& results_out) {
+                             std::vector<daq::SelfTestResult>& results_out) {
     // 1. ADC self-test (TDAC internal) for both ADCs
     auto adc1_result = SensorSelfTest::run_adc_self_test(
         ads126x, Pins.ADC_DRDY_1, ADS126X_REF_NEG_VSS, ADS126X_REF_POS_INT);
-    results_out.push_back(Diablo::SelfTestResult{
+    results_out.push_back(daq::SelfTestResult{
         0u, static_cast<uint8_t>(adc1_result.passed ? 1 : 0)});
 
     auto adc2_result = SensorSelfTest::run_adc_self_test(
         ads126x_2, Pins.ADC_DRDY_2, ADS126X_REF_NEG_VSS, ADS126X_REF_POS_INT);
-    results_out.push_back(Diablo::SelfTestResult{
+    results_out.push_back(daq::SelfTestResult{
         100u, static_cast<uint8_t>(adc2_result.passed ? 1 : 0)});
 
     // 2. Sensor bias continuity test
@@ -273,7 +273,7 @@ static void run_self_test_cb(void*,
                                                      static_cast<uint8_t>(ch2));
         uint8_t pass =
             (bias.result == SensorSelfTest::BiasResult::CONNECTED) ? 1u : 0u;
-        results_out.push_back(Diablo::SelfTestResult{id, pass});
+        results_out.push_back(daq::SelfTestResult{id, pass});
     }
 
     SensorSelfTest::sensor_bias_disable(ads126x);
diff --git a/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp b/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
index 4097a5e0a..5d5d4baf0 100644
--- a/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
@@ -11,7 +11,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -45,7 +45,7 @@ ADS126X_ASSERT_FILTER_RATE(FILTER, DATA_RATE);
 
 static ADS126X ads126x;
 SPIClass ADC_SPI(HSPI);
-std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+std::vector<daq::SensorDataChunkCollection> dataChunks;
 
 static SensorHotfire::CoreState coreState;
 static SensorHotfire::Config coreConfig;
@@ -69,7 +69,7 @@ static void collect_chunk_impl() {
         return;
     const uint8_t* active_ids = coreState.stored_config.sensor_ids;
 
-    Diablo::SensorDataChunkCollection chunk(millis(), active_count);
+    daq::SensorDataChunkCollection chunk(millis(), active_count);
     for (uint8_t i = 0; i < active_count; i++) {
         ads126x.setInputMux(getAdcChannel(active_ids[i], TEST_PIN),
                             ADS126X_AINCOM);
@@ -96,7 +96,7 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
         return;
     uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
     const uint8_t num_sensors = dataChunks[0].num_sensors;
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0) {
         HF_VERBOSE(
@@ -185,11 +185,11 @@ static void send_chunks_to_cb(void*, IPAddress dest_ip, int dest_port,
 
 static void run_self_test_cb(void*,
                              const SensorHotfire::StoredSensorConfig& cfg,
-                             std::vector<Diablo::SelfTestResult>& results_out) {
+                             std::vector<daq::SelfTestResult>& results_out) {
     // 1. ADC self-test (TDAC internal)
     auto adc_result = SensorSelfTest::run_adc_self_test(
         ads126x, Pins.ADC_DRDY_1, ADS126X_REF_NEG_VSS, ADS126X_REF_POS_INT);
-    results_out.push_back(Diablo::SelfTestResult{
+    results_out.push_back(daq::SelfTestResult{
         0u, static_cast<uint8_t>(adc_result.passed ? 1 : 0)});
 
     // 2. Sensor bias continuity test
@@ -201,7 +201,7 @@ static void run_self_test_cb(void*,
             ADS126X_AINCOM);
         uint8_t pass =
             (bias.result == SensorSelfTest::BiasResult::CONNECTED) ? 1u : 0u;
-        results_out.push_back(Diablo::SelfTestResult{id, pass});
+        results_out.push_back(daq::SelfTestResult{id, pass});
     }
     SensorSelfTest::sensor_bias_disable(ads126x);
 }
diff --git a/firmware/Hotfire_Code/common/SensorHotfireCore.h b/firmware/Hotfire_Code/common/SensorHotfireCore.h
index 66bd54809..c4f895b66 100644
--- a/firmware/Hotfire_Code/common/SensorHotfireCore.h
+++ b/firmware/Hotfire_Code/common/SensorHotfireCore.h
@@ -14,7 +14,7 @@
 #pragma once
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -91,7 +91,7 @@ struct Config {
      * Active.
      */
     void (*run_self_test)(void* user_data, const StoredSensorConfig& config,
-                          std::vector<Diablo::SelfTestResult>& results_out);
+                          std::vector<daq::SelfTestResult>& results_out);
     void* user_data;
 };
 
@@ -120,10 +120,10 @@ struct CoreState {
 // Packet header / parsing helpers
 //-----------------------------------------------------------------------------
 inline bool readPacketHeader(const uint8_t* buffer, size_t len,
-                             Diablo::PacketHeader& hdr_out) {
-    if (len < sizeof(Diablo::PacketHeader))
+                             daq::PacketHeader& hdr_out) {
+    if (len < sizeof(daq::PacketHeader))
         return false;
-    memcpy(&hdr_out, buffer, sizeof(Diablo::PacketHeader));
+    memcpy(&hdr_out, buffer, sizeof(daq::PacketHeader));
     return true;
 }
 
@@ -162,29 +162,29 @@ inline IncomingPacketKind processIncomingPacket(CoreState& s, const Config& cfg,
                                                 const uint8_t* buffer,
                                                 size_t len, IPAddress remote_ip,
                                                 int remote_port) {
-    Diablo::PacketHeader hdr;
+    daq::PacketHeader hdr;
     if (!readPacketHeader(buffer, len, hdr))
         return IncomingPacketKind::None;
 
-    if (hdr.packet_type == Diablo::PacketType::SERVER_HEARTBEAT) {
-        Diablo::PacketHeader dummy;
-        Diablo::ServerHeartbeatPacket data;
-        if (Diablo::parse_server_heartbeat_packet(buffer, len, dummy, data)) {
+    if (hdr.packet_type == daq::PacketType::SERVER_HEARTBEAT) {
+        daq::PacketHeader dummy;
+        daq::ServerHeartbeatPacket data;
+        if (daq::parse_server_heartbeat_packet(buffer, len, dummy, data)) {
             // Server IP/port are hardcoded; do not update from packet
             return IncomingPacketKind::ServerHeartbeat;
         }
         return IncomingPacketKind::None;
     }
 
-    if (hdr.packet_type == Diablo::PacketType::SENSOR_CONFIG) {
-        Diablo::PacketHeader dummy;
+    if (hdr.packet_type == daq::PacketType::SENSOR_CONFIG) {
+        daq::PacketHeader dummy;
         std::vector<uint8_t> sensor_ids;
         uint8_t reference_voltage = 0;
         bool necessary_for_abort = false;
         uint32_t controller_ip = 0;
         uint8_t enable_serial_printing = 1;
 
-        if (!Diablo::parse_sensor_config_packet(
+        if (!daq::parse_sensor_config_packet(
                 buffer, len, dummy, sensor_ids, reference_voltage,
                 necessary_for_abort, controller_ip, enable_serial_printing)) {
             Serial.println("SENSOR_CONFIG parse failed (DAQv2-Comms)");
@@ -244,11 +244,11 @@ inline IncomingPacketKind processIncomingPacket(CoreState& s, const Config& cfg,
         return IncomingPacketKind::SensorConfig;
     }
 
-    if (hdr.packet_type == Diablo::PacketType::CLEAR_ABORT)
+    if (hdr.packet_type == daq::PacketType::CLEAR_ABORT)
         return IncomingPacketKind::ClearAbort;
 
-    if (hdr.packet_type == Diablo::PacketType::NO_CONNECTION_ABORT) {
-        if (len >= sizeof(Diablo::PacketHeader))
+    if (hdr.packet_type == daq::PacketType::NO_CONNECTION_ABORT) {
+        if (len >= sizeof(daq::PacketHeader))
             return IncomingPacketKind::NoConnAbort;
         return IncomingPacketKind::None;
     }
@@ -293,16 +293,16 @@ inline void applyPacketTransition(CoreState& s, const Config& cfg,
 }
 
 inline void sendBoardHeartbeat(CoreState& s, const Config& cfg,
-                               Diablo::BoardState board_state,
+                               daq::BoardState board_state,
                                IPAddress dest_ip, int dest_port) {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
     hb.board_id = s.board_id;
-    hb.engine_state = Diablo::EngineState::SAFE;
+    hb.engine_state = daq::EngineState::SAFE;
     hb.board_state = board_state;
 
     uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
-    size_t n = Diablo::create_board_heartbeat_packet(hb, millis(), packetBuffer,
+    size_t n = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
                                                      sizeof(packetBuffer));
     if (n == 0)
         return;
@@ -511,7 +511,7 @@ inline void loop(CoreState& s, const Config& cfg) {
             cfg.collect_chunk(cfg.user_data);
     } else if (s.state == State::SelfTest) {
         if (cfg.run_self_test) {
-            std::vector<Diablo::SelfTestResult> results;
+            std::vector<daq::SelfTestResult> results;
             cfg.run_self_test(cfg.user_data, s.stored_config, results);
 
             uint8_t adc_good = 0;
@@ -521,7 +521,7 @@ inline void loop(CoreState& s, const Config& cfg) {
             }
 
             uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
-            size_t packetSize = Diablo::create_self_test_packet(
+            size_t packetSize = daq::create_self_test_packet(
                 adc_good, results, millis(), packetBuffer,
                 sizeof(packetBuffer));
             if (packetSize > 0) {
@@ -584,19 +584,19 @@ inline void loop(CoreState& s, const Config& cfg) {
         switch (s.state) {
             case State::WaitingForServer:
                 HF_VERBOSELN("Setup state: sending heartbeat");
-                sendBoardHeartbeat(s, cfg, Diablo::BoardState::SETUP,
+                sendBoardHeartbeat(s, cfg, daq::BoardState::SETUP,
                                    s.serverIP, s.serverPort);
                 break;
             case State::Active:
-                sendBoardHeartbeat(s, cfg, Diablo::BoardState::ACTIVE,
+                sendBoardHeartbeat(s, cfg, daq::BoardState::ACTIVE,
                                    s.serverIP, s.serverPort);
                 break;
             case State::SelfTest:
-                sendBoardHeartbeat(s, cfg, Diablo::BoardState::SELF_TEST,
+                sendBoardHeartbeat(s, cfg, daq::BoardState::SELF_TEST,
                                    s.serverIP, s.serverPort);
                 break;
             case State::StandaloneAbort:
-                sendBoardHeartbeat(s, cfg, Diablo::BoardState::STANDALONE_ABORT,
+                sendBoardHeartbeat(s, cfg, daq::BoardState::STANDALONE_ABORT,
                                    s.serverIP, s.serverPort);
                 if (s.stored_config.valid &&
                     s.stored_config.actuator_controller_ip != 0) {
@@ -605,7 +605,7 @@ inline void loop(CoreState& s, const Config& cfg) {
                     IPAddress actuatorIP(ip_bytes[0], ip_bytes[1], ip_bytes[2],
                                          ip_bytes[3]);
                     sendBoardHeartbeat(s, cfg,
-                                       Diablo::BoardState::STANDALONE_ABORT,
+                                       daq::BoardState::STANDALONE_ABORT,
                                        actuatorIP, s.serverPortDefault);
                 }
                 break;
diff --git a/firmware/LC_Board/LC_Calibration/src/main.cpp b/firmware/LC_Board/LC_Calibration/src/main.cpp
index e16102e6b..c96a8770d 100644
--- a/firmware/LC_Board/LC_Calibration/src/main.cpp
+++ b/firmware/LC_Board/LC_Calibration/src/main.cpp
@@ -1,5 +1,5 @@
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -122,7 +122,7 @@ void setup() {
 
 void loop() {
     // Create sensor data chunk with timestamp
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_LC_SENSORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_LC_SENSORS);
 
     // Read all ADC1 LC connectors (connectors 1, 2, 3, 6, 7)
     for (uint8_t i = 0; i < NUM_LC_SENSORS; i++) {
@@ -177,10 +177,10 @@ void loop() {
     Serial.println();  // Blank line between readings
 
     // Send packet via Ethernet UDP
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
 
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_LC_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize > 0) {
         udp.beginPacket(receiverIP, receiverPort);
diff --git a/firmware/Multi_Board_Comms_Testing/src/main.cpp b/firmware/Multi_Board_Comms_Testing/src/main.cpp
index c7561964e..77ac2ee37 100644
--- a/firmware/Multi_Board_Comms_Testing/src/main.cpp
+++ b/firmware/Multi_Board_Comms_Testing/src/main.cpp
@@ -9,7 +9,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -51,23 +51,23 @@ unsigned long lastSendMs = 0;
 // ---------------------------------------------------------------------------
 static const char* packetTypeName(uint8_t t) {
     switch (t) {
-        case (uint8_t)Diablo::PacketType::BOARD_HEARTBEAT:
+        case (uint8_t)daq::PacketType::BOARD_HEARTBEAT:
             return "BOARD_HEARTBEAT";
-        case (uint8_t)Diablo::PacketType::SERVER_HEARTBEAT:
+        case (uint8_t)daq::PacketType::SERVER_HEARTBEAT:
             return "SERVER_HEARTBEAT";
-        case (uint8_t)Diablo::PacketType::SENSOR_DATA:
+        case (uint8_t)daq::PacketType::SENSOR_DATA:
             return "SENSOR_DATA";
-        case (uint8_t)Diablo::PacketType::ACTUATOR_COMMAND:
+        case (uint8_t)daq::PacketType::ACTUATOR_COMMAND:
             return "ACTUATOR_COMMAND";
-        case (uint8_t)Diablo::PacketType::SENSOR_CONFIG:
+        case (uint8_t)daq::PacketType::SENSOR_CONFIG:
             return "SENSOR_CONFIG";
-        case (uint8_t)Diablo::PacketType::ACTUATOR_CONFIG:
+        case (uint8_t)daq::PacketType::ACTUATOR_CONFIG:
             return "ACTUATOR_CONFIG";
-        case (uint8_t)Diablo::PacketType::ABORT:
+        case (uint8_t)daq::PacketType::ABORT:
             return "ABORT";
-        case (uint8_t)Diablo::PacketType::ABORT_DONE:
+        case (uint8_t)daq::PacketType::ABORT_DONE:
             return "ABORT_DONE";
-        case (uint8_t)Diablo::PacketType::CLEAR_ABORT:
+        case (uint8_t)daq::PacketType::CLEAR_ABORT:
             return "CLEAR_ABORT";
         default:
             return "UNKNOWN";
@@ -76,7 +76,7 @@ static const char* packetTypeName(uint8_t t) {
 
 void printReceivedPacket(const uint8_t* buf, size_t len, IPAddress fromIP,
                          uint16_t fromPort) {
-    if (!buf || len < sizeof(Diablo::PacketHeader)) {
+    if (!buf || len < sizeof(daq::PacketHeader)) {
         Serial.print("RECV: (invalid, too short) ");
         Serial.print(len);
         Serial.print(" bytes from ");
@@ -85,8 +85,8 @@ void printReceivedPacket(const uint8_t* buf, size_t len, IPAddress fromIP,
         Serial.println(fromPort);
         return;
     }
-    Diablo::PacketHeader h;
-    memcpy(&h, buf, sizeof(Diablo::PacketHeader));
+    daq::PacketHeader h;
+    memcpy(&h, buf, sizeof(daq::PacketHeader));
     Serial.print("RECV: [");
     Serial.print(packetTypeName((uint8_t)h.packet_type));
     Serial.print("] ");
@@ -108,7 +108,7 @@ void printReceivedPacket(const uint8_t* buf, size_t len, IPAddress fromIP,
 // ---------------------------------------------------------------------------
 void sendSensorPacket() {
     unsigned long ts = millis();
-    Diablo::SensorDataChunkCollection chunk(ts, NUM_SENSORS);
+    daq::SensorDataChunkCollection chunk(ts, NUM_SENSORS);
     float v0 = (float)(ts % 10000) / 1000.0f;
     float v1 = (float)((ts / 17) % 1000) / 100.0f;
     uint32_t b0, b1;
@@ -117,10 +117,10 @@ void sendSensorPacket() {
     chunk.add_datapoint(0, b0);
     chunk.add_datapoint(1, b1);
 
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
 
-    size_t n = Diablo::create_sensor_data_packet(
+    size_t n = daq::create_sensor_data_packet(
         chunks, NUM_SENSORS, millis(), packetBuffer, sizeof(packetBuffer));
     if (n == 0) {
         Serial.println("SENT: (create_sensor_data_packet failed)");
diff --git a/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp b/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp
index ae48983be..7c76e7239 100644
--- a/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp
+++ b/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp
@@ -9,7 +9,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -43,16 +43,16 @@ uint8_t replyBuffer[MAX_PACKET_SIZE];
 void sendReplyTo(IPAddress primaryIP) {
     unsigned long ts = millis();
     const uint8_t numSensors = 1;
-    Diablo::SensorDataChunkCollection chunk(ts, numSensors);
+    daq::SensorDataChunkCollection chunk(ts, numSensors);
     float ack = 42.0f;  // simple "ACK" value
     uint32_t ackBits;
     memcpy(&ackBits, &ack, sizeof(float));
     chunk.add_datapoint(0, ackBits);
 
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
 
-    size_t n = Diablo::create_sensor_data_packet(
+    size_t n = daq::create_sensor_data_packet(
         chunks, numSensors, millis(), replyBuffer, sizeof(replyBuffer));
     if (n == 0)
         return;
diff --git a/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp b/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp
index 11c840e28..52590ea4f 100644
--- a/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp
+++ b/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp
@@ -9,7 +9,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -137,7 +137,7 @@ void setup() {
 // Loop: cycle connectors 1..10, one measurement each, one SENSOR_DATA packet
 // ---------------------------------------------------------------------------
 void loop() {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_PTS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_PTS);
     float voltages[NUM_PTS];
 
     for (int conn = 1; conn <= NUM_PTS; conn++) {
@@ -157,10 +157,10 @@ void loop() {
         chunk.add_datapoint(static_cast<uint8_t>(conn - 1), vbits);
     }
 
-    std::vector<Diablo::SensorDataChunkCollection> chunks;
+    std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
 
-    size_t n = Diablo::create_sensor_data_packet(
+    size_t n = daq::create_sensor_data_packet(
         chunks, NUM_PTS, millis(), packetBuffer, sizeof(packetBuffer));
     if (n == 0)
         return;
diff --git a/firmware/RTD_Board/RTD_Testing/src/main.cpp b/firmware/RTD_Board/RTD_Testing/src/main.cpp
index 3b7e9163a..f45ec47a7 100644
--- a/firmware/RTD_Board/RTD_Testing/src/main.cpp
+++ b/firmware/RTD_Board/RTD_Testing/src/main.cpp
@@ -1,7 +1,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -44,12 +44,12 @@ SPIClass ADC_SPI(HSPI);
 // Forward declarations
 void flush_adc_cycles(int cycles);
 void read_single_connector(uint8_t connector_id, int num_readings,
-                           Diablo::SensorDataChunkCollection& chunk);
+                           daq::SensorDataChunkCollection& chunk);
 void set_connector_rtd(uint8_t connector_id);
 void collect_chunk();
 void sendSensorDataPacket();
 
-std::vector<Diablo::SensorDataChunkCollection> chunks;
+std::vector<daq::SensorDataChunkCollection> chunks;
 
 float convert_code_to_voltage(int32_t code) {
     return ((float)code * 2.5f) / 2147483648.0f;
@@ -147,7 +147,7 @@ void set_connector_rtd(uint8_t connector_id) {
 }
 
 void read_single_connector(uint8_t connector_id, int num_readings,
-                           Diablo::SensorDataChunkCollection& chunk) {
+                           daq::SensorDataChunkCollection& chunk) {
     uint32_t value = 0;
 
     for (int i = 0; i < num_readings; i++) {
@@ -166,7 +166,7 @@ void read_single_connector(uint8_t connector_id, int num_readings,
 }
 
 void collect_chunk() {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_CONNECTORS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_CONNECTORS);
 
     for (uint8_t connector_id = 1; connector_id <= NUM_CONNECTORS;
          connector_id++) {
@@ -186,7 +186,7 @@ void sendSensorDataPacket() {
     }
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         chunks, NUM_CONNECTORS, millis(), packetBuffer, sizeof(packetBuffer));
 
     if (packetSize == 0) {
diff --git a/firmware/Stacklight Driver/platformio.ini b/firmware/Stacklight Driver/platformio.ini
index b72cb9929..1200c0a1d 100644
--- a/firmware/Stacklight Driver/platformio.ini	
+++ b/firmware/Stacklight Driver/platformio.ini	
@@ -1,4 +1,4 @@
-; Stacklight Driver - ESP32-C6 + W5500, DAQv2-Comms
+; Stacklight Driver - ESP32-C6 + W5500, daq-protocol
 
 [platformio]
 extra_configs = ../platformio-common.ini
diff --git a/firmware/Stacklight Driver/src/main.cpp b/firmware/Stacklight Driver/src/main.cpp
index c4972c259..55192ce82 100644
--- a/firmware/Stacklight Driver/src/main.cpp	
+++ b/firmware/Stacklight Driver/src/main.cpp	
@@ -5,7 +5,7 @@
  */
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -39,7 +39,7 @@ static EthernetUDP udp;
 static OTAEthernetServer otaServer(HOTFIRE_OTA_PORT);
 static unsigned long lastHeartbeatMillis = 0;
 static unsigned long last_server_heartbeat_ms = 0;
-static Diablo::EngineState last_engine_state = Diablo::EngineState::SAFE;
+static daq::EngineState last_engine_state = daq::EngineState::SAFE;
 
 static void applyStacklightOutputs(uint8_t red, uint8_t yellow, uint8_t green,
                                    uint8_t buzzer) {
@@ -67,14 +67,14 @@ static void initOutputs() {
 }
 
 static void sendBoardHeartbeat() {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
     hb.board_id = board_id;
     hb.engine_state = last_engine_state;
-    hb.board_state = Diablo::BoardState::ACTIVE;
+    hb.board_state = daq::BoardState::ACTIVE;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = Diablo::create_board_heartbeat_packet(
+    size_t len = daq::create_board_heartbeat_packet(
         hb, millis(), packetBuffer, sizeof(packetBuffer));
     if (len == 0)
         return;
@@ -126,14 +126,14 @@ void loop() {
         uint8_t packetBuffer[MAX_PACKET_SIZE];
         int bytesRead = udp.read(packetBuffer, sizeof(packetBuffer));
         if (bytesRead > 0 &&
-            bytesRead >= static_cast<int>(sizeof(Diablo::PacketHeader))) {
-            Diablo::PacketHeader hdr;
+            bytesRead >= static_cast<int>(sizeof(daq::PacketHeader))) {
+            daq::PacketHeader hdr;
             memcpy(&hdr, packetBuffer, sizeof(hdr));
             switch (hdr.packet_type) {
-                case Diablo::PacketType::SERVER_HEARTBEAT: {
-                    Diablo::PacketHeader dummy;
-                    Diablo::ServerHeartbeatPacket sh;
-                    if (Diablo::parse_server_heartbeat_packet(
+                case daq::PacketType::SERVER_HEARTBEAT: {
+                    daq::PacketHeader dummy;
+                    daq::ServerHeartbeatPacket sh;
+                    if (daq::parse_server_heartbeat_packet(
                             packetBuffer, static_cast<size_t>(bytesRead), dummy,
                             sh)) {
                         last_server_heartbeat_ms = millis();
@@ -141,10 +141,10 @@ void loop() {
                     }
                     break;
                 }
-                case Diablo::PacketType::STACKLIGHT_COMMAND: {
-                    Diablo::PacketHeader dummy;
-                    Diablo::StacklightCommandPacket cmd;
-                    if (Diablo::parse_stacklight_command_packet(
+                case daq::PacketType::STACKLIGHT_COMMAND: {
+                    daq::PacketHeader dummy;
+                    daq::StacklightCommandPacket cmd;
+                    if (daq::parse_stacklight_command_packet(
                             packetBuffer, static_cast<size_t>(bytesRead), dummy,
                             cmd)) {
                         applyStacklightOutputs(cmd.red, cmd.yellow, cmd.green,
diff --git a/firmware/State Machine/TC_Board/src/main.cpp b/firmware/State Machine/TC_Board/src/main.cpp
index 47328624c..020f53acb 100644
--- a/firmware/State Machine/TC_Board/src/main.cpp	
+++ b/firmware/State Machine/TC_Board/src/main.cpp	
@@ -10,7 +10,7 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <DAQv2-Comms.h>
+#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
@@ -76,7 +76,7 @@ struct StoredSensorConfig {
 static StoredSensorConfig stored_config = {false, false, 0};
 
 // Sensor data collection (Stream_ADC_Data style)
-std::vector<Diablo::SensorDataChunkCollection> dataChunks;
+std::vector<daq::SensorDataChunkCollection> dataChunks;
 uint8_t sensorId = 0;
 
 // Heartbeat at fixed interval (main.h: BOARD_HEARTBEAT_INTERVAL_MS)
@@ -112,10 +112,10 @@ static void flush_cycles(int cycles) {
 // Read packet header (for type dispatch)
 //-----------------------------------------------------------------------------
 static bool readPacketHeader(const uint8_t* buffer, size_t len,
-                             Diablo::PacketHeader& hdr_out) {
-    if (len < sizeof(Diablo::PacketHeader))
+                             daq::PacketHeader& hdr_out) {
+    if (len < sizeof(daq::PacketHeader))
         return false;
-    memcpy(&hdr_out, buffer, sizeof(Diablo::PacketHeader));
+    memcpy(&hdr_out, buffer, sizeof(daq::PacketHeader));
     return true;
 }
 
@@ -127,15 +127,15 @@ static bool readPacketHeader(const uint8_t* buffer, size_t len,
 static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                                                 size_t len, IPAddress remote_ip,
                                                 int remote_port) {
-    Diablo::PacketHeader hdr;
+    daq::PacketHeader hdr;
     if (!readPacketHeader(buffer, len, hdr))
         return IncomingPacketKind::None;
 
     switch (hdr.packet_type) {
-        case Diablo::PacketType::SERVER_HEARTBEAT: {
-            Diablo::PacketHeader dummy;
-            Diablo::ServerHeartbeatPacket data;
-            if (Diablo::parse_server_heartbeat_packet(buffer, len, dummy,
+        case daq::PacketType::SERVER_HEARTBEAT: {
+            daq::PacketHeader dummy;
+            daq::ServerHeartbeatPacket data;
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
                                                       data)) {
                 serverIP = remote_ip;
                 serverPort = remote_port;
@@ -143,7 +143,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             }
             return IncomingPacketKind::None;
         }
-        case Diablo::PacketType::SENSOR_CONFIG:
+        case daq::PacketType::SENSOR_CONFIG:
             // Store config: layout per generate_packets (necessary_for_abort
             // byte, then optional controller_ip)
             stored_config.valid = true;
@@ -160,10 +160,10 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 }
             }
             return IncomingPacketKind::SensorConfig;
-        case Diablo::PacketType::CLEAR_ABORT:
+        case daq::PacketType::CLEAR_ABORT:
             return IncomingPacketKind::ClearAbort;
-        case Diablo::PacketType::NO_CONNECTION_ABORT: {
-            if (len >= sizeof(Diablo::PacketHeader))
+        case daq::PacketType::NO_CONNECTION_ABORT: {
+            if (len >= sizeof(daq::PacketHeader))
                 return IncomingPacketKind::NoConnAbort;
             return IncomingPacketKind::None;
         }
@@ -176,16 +176,16 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
 // Send board heartbeat (board ID + boardState), like actuator_c /
 // Stream_ADC_Data
 //-----------------------------------------------------------------------------
-static void sendBoardHeartbeat(Diablo::BoardState board_state,
+static void sendBoardHeartbeat(daq::BoardState board_state,
                                IPAddress dest_ip, int dest_port) {
-    Diablo::BoardHeartbeatPacket hb;
+    daq::BoardHeartbeatPacket hb;
     memset(hb.firmware_hash, 0, sizeof(hb.firmware_hash));
     hb.board_id = board_id;
-    hb.engine_state = Diablo::EngineState::SAFE;
+    hb.engine_state = daq::EngineState::SAFE;
     hb.board_state = board_state;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t n = Diablo::create_board_heartbeat_packet(hb, millis(), packetBuffer,
+    size_t n = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
                                                      sizeof(packetBuffer));
     if (n == 0)
         return;
@@ -201,7 +201,7 @@ static void sendSensorDataPacketTo(IPAddress dest_ip, int dest_port) {
     if (dataChunks.empty())
         return;
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t packetSize = Diablo::create_sensor_data_packet(
+    size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, static_cast<uint8_t>(NUM_PTS), millis(), packetBuffer,
         sizeof(packetBuffer));
     if (packetSize == 0)
@@ -216,7 +216,7 @@ static void sendSensorDataPacketTo(IPAddress dest_ip, int dest_port) {
 // Read ADC data for current connector and push chunk (Stream_ADC_Data style)
 //-----------------------------------------------------------------------------
 static void read_data(int count) {
-    Diablo::SensorDataChunkCollection chunk(millis(), NUM_PTS);
+    daq::SensorDataChunkCollection chunk(millis(), NUM_PTS);
     for (int i = 0; i < count; i++) {
         while (digitalRead(Pins.ADC_DRDY_1) != LOW)
             delayMicroseconds(10);
@@ -390,17 +390,17 @@ void loop() {
         lastHeartbeatMillis = now;
         switch (state) {
             case PTHotfireState::WaitingForServer:
-                sendBoardHeartbeat(Diablo::BoardState::SETUP, serverIP,
+                sendBoardHeartbeat(daq::BoardState::SETUP, serverIP,
                                    serverPort);
                 break;
             case PTHotfireState::Active:
-                sendBoardHeartbeat(Diablo::BoardState::ACTIVE, serverIP,
+                sendBoardHeartbeat(daq::BoardState::ACTIVE, serverIP,
                                    serverPort);
                 break;
             case PTHotfireState::StandaloneAbort:
                 if (!stored_config.valid ||
                     stored_config.actuator_controller_ip == 0)
-                    sendBoardHeartbeat(Diablo::BoardState::STANDALONE_ABORT,
+                    sendBoardHeartbeat(daq::BoardState::STANDALONE_ABORT,
                                        serverIP, serverPort);
                 else {
                     IPAddress actuatorIP(
@@ -408,7 +408,7 @@ void loop() {
                         (stored_config.actuator_controller_ip >> 16) & 0xFF,
                         (stored_config.actuator_controller_ip >> 8) & 0xFF,
                         stored_config.actuator_controller_ip & 0xFF);
-                    sendBoardHeartbeat(Diablo::BoardState::STANDALONE_ABORT,
+                    sendBoardHeartbeat(daq::BoardState::STANDALONE_ABORT,
                                        actuatorIP, serverPortDefault);
                 }
                 break;
diff --git a/firmware/libraries/DAQv2-Comms b/firmware/libraries/DAQv2-Comms
deleted file mode 120000
index 16f891196..000000000
--- a/firmware/libraries/DAQv2-Comms
+++ /dev/null
@@ -1 +0,0 @@
-../../lib/DAQv2-Comms
\ No newline at end of file
diff --git a/firmware/libraries/daq-protocol b/firmware/libraries/daq-protocol
new file mode 120000
index 000000000..a2327c460
--- /dev/null
+++ b/firmware/libraries/daq-protocol
@@ -0,0 +1 @@
+../../lib/daq-protocol
\ No newline at end of file
diff --git a/lib/DAQv2-Comms/.gitignore b/lib/daq-protocol/.gitignore
similarity index 100%
rename from lib/DAQv2-Comms/.gitignore
rename to lib/daq-protocol/.gitignore
diff --git a/lib/DAQv2-Comms/README.md b/lib/daq-protocol/README.md
similarity index 100%
rename from lib/DAQv2-Comms/README.md
rename to lib/daq-protocol/README.md
diff --git a/lib/DAQv2-Comms/clang-format.txt b/lib/daq-protocol/clang-format.txt
similarity index 100%
rename from lib/DAQv2-Comms/clang-format.txt
rename to lib/daq-protocol/clang-format.txt
diff --git a/lib/DAQv2-Comms/keywords.txt b/lib/daq-protocol/keywords.txt
similarity index 100%
rename from lib/DAQv2-Comms/keywords.txt
rename to lib/daq-protocol/keywords.txt
diff --git a/lib/DAQv2-Comms/library.properties b/lib/daq-protocol/library.properties
similarity index 51%
rename from lib/DAQv2-Comms/library.properties
rename to lib/daq-protocol/library.properties
index 84b70bfc0..c4fb44359 100644
--- a/lib/DAQv2-Comms/library.properties
+++ b/lib/daq-protocol/library.properties
@@ -1,9 +1,9 @@
-name=DiabloComms
+name=daq-protocol
 version=0.0.1
 author=Brent Lee, Theo Parker
 maintainer=Maintainer
-sentence=ESP32 Ethernet communication library for Diablo DAQ system
-paragraph=Provides packet creation, parsing, and communication protocols for ESP32 boards in the Diablo data acquisition system. Supports heartbeat, sensor data, and actuator command packets.
+sentence=ESP32 Ethernet communication library for DAQ system
+paragraph=Provides packet creation, parsing, and communication protocols for ESP32 boards in the DAQ system. Supports heartbeat, sensor data, and actuator command packets.
 category=Communication
 url=https://github.com/calstar/DAQv2-Comms
 architectures=esp32
diff --git a/lib/DAQv2-Comms/src/DiabloEnums.h b/lib/daq-protocol/src/DiabloEnums.h
similarity index 96%
rename from lib/DAQv2-Comms/src/DiabloEnums.h
rename to lib/daq-protocol/src/DiabloEnums.h
index 4730cf0e2..602d137b2 100644
--- a/lib/DAQv2-Comms/src/DiabloEnums.h
+++ b/lib/daq-protocol/src/DiabloEnums.h
@@ -2,7 +2,7 @@
 
 #include <stdint.h>
 
-namespace Diablo {
+namespace daq {
 
 /**
  * @brief Defines the type of data contained in a packet.
@@ -53,4 +53,4 @@ enum class EngineState : uint8_t {
   POST_FIRE = 4
 };
 
-} // namespace Diablo
+} // namespace daq
diff --git a/lib/DAQv2-Comms/src/DiabloPacketUtils.cpp b/lib/daq-protocol/src/DiabloPacketUtils.cpp
similarity index 99%
rename from lib/DAQv2-Comms/src/DiabloPacketUtils.cpp
rename to lib/daq-protocol/src/DiabloPacketUtils.cpp
index 3e4091f61..750955003 100644
--- a/lib/DAQv2-Comms/src/DiabloPacketUtils.cpp
+++ b/lib/daq-protocol/src/DiabloPacketUtils.cpp
@@ -1,9 +1,9 @@
 #include "DiabloPacketUtils.h"
-#include "DAQv2-Comms.h"
+#include "daq-protocol.h"
 #include <cstring> // For memcpy
 #include <cstddef> // For size_t
 
-namespace Diablo {
+namespace daq {
 
 //==============================================================================
 // PACKET SERIALIZATION IMPLEMENTATIONS
@@ -777,4 +777,4 @@ bool parse_actuator_config_packet(const uint8_t *buffer, size_t buffer_size,
   return true;
 }
 
-} // namespace Diablo
+} // namespace daq
diff --git a/lib/DAQv2-Comms/src/DiabloPacketUtils.h b/lib/daq-protocol/src/DiabloPacketUtils.h
similarity index 99%
rename from lib/DAQv2-Comms/src/DiabloPacketUtils.h
rename to lib/daq-protocol/src/DiabloPacketUtils.h
index 3e946c311..85bcac1af 100644
--- a/lib/DAQv2-Comms/src/DiabloPacketUtils.h
+++ b/lib/daq-protocol/src/DiabloPacketUtils.h
@@ -5,7 +5,7 @@
 #include <stdint.h>        // For standard integer types
 #include <vector>          // For std::vector
 
-namespace Diablo {
+namespace daq {
 
 //==============================================================================
 // PACKET SERIALIZATION (Struct -> uint8_t* Buffer)
@@ -291,4 +291,4 @@ bool parse_actuator_config_packet(const uint8_t *buffer, size_t buffer_size,
                                   std::vector<AbortPTLocation> &abort_pts_out,
                                   uint8_t &enable_serial_printing_out);
 
-} // namespace Diablo
+} // namespace daq
diff --git a/lib/DAQv2-Comms/src/DiabloPackets.h b/lib/daq-protocol/src/DiabloPackets.h
similarity index 99%
rename from lib/DAQv2-Comms/src/DiabloPackets.h
rename to lib/daq-protocol/src/DiabloPackets.h
index 9d3d055c2..549ad3af0 100644
--- a/lib/DAQv2-Comms/src/DiabloPackets.h
+++ b/lib/daq-protocol/src/DiabloPackets.h
@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include <vector>
 
-namespace Diablo {
+namespace daq {
 
 /**
  * @brief The standard 6-byte header preceding every packet.
@@ -323,4 +323,4 @@ struct __attribute__((packed)) StacklightCommandPacket {
   uint8_t buzzer;
 };
 
-} // namespace Diablo
+} // namespace daq
diff --git a/lib/DAQv2-Comms/src/DAQv2-Comms.h b/lib/daq-protocol/src/daq-protocol.h
similarity index 100%
rename from lib/DAQv2-Comms/src/DAQv2-Comms.h
rename to lib/daq-protocol/src/daq-protocol.h

From 493429511ed34ede8d6a10e9334717b1858d1ebd Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 14 Aug 2026 17:48:03 -0700
Subject: [PATCH 025/205] firmware: stream board logs to server via LOGS packet
 (type 15), gated by config mode byte (0-3), 1Hz buffered flush + ethernet-up
 announce

---
 .../Actuator_Hotfire/src/main.cpp             |  40 ++++++-
 .../test_packet_roundtrip.cpp                 |  33 ++++++
 .../Hotfire_Code/common/SensorHotfireCore.h   |  42 +++++++-
 firmware/Hotfire_Code/common/hotfire_log.h    | 101 +++++++++++++-----
 lib/daq-protocol/src/DiabloEnums.h            |   3 +-
 lib/daq-protocol/src/DiabloPacketUtils.cpp    |  27 +++++
 lib/daq-protocol/src/DiabloPacketUtils.h      |  19 ++++
 7 files changed, 237 insertions(+), 28 deletions(-)

diff --git a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
index d00a8ae38..e2a833dd9 100644
--- a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
@@ -522,7 +522,10 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 abort_actuator_locations = act_locs;
                 abort_pt_locations = pt_locs;
                 config_valid = true;
-                g_verbose = (enable_serial != 0);
+                // enable_serial is the mode byte (0..3): bit0 = USB verbose,
+                // upper part = server log stream level. See hotfire_log.h.
+                g_verbose = (enable_serial & 1);
+                g_log_stream_level = (enable_serial >= 2) ? (enable_serial - 1) : 0;
                 return IncomingPacketKind::Config;
             }
             return IncomingPacketKind::None;
@@ -1029,6 +1032,24 @@ static void initializePWMStates() {
     }
 }
 
+//-----------------------------------------------------------------------------
+// Log streaming: flush the buffer to the server as a LOGS packet (type 15).
+// Board identified server-side by UDP source IP.
+//-----------------------------------------------------------------------------
+static void flushLogs() {
+    if (g_logbuf.empty())
+        return;
+    static uint8_t pkt[sizeof(daq::PacketHeader) + 3 + LOG_BUF_SIZE];
+    size_t n = daq::create_log_packet(g_logbuf.flags(), g_logbuf.data(),
+                                      g_logbuf.length(), millis(), pkt, sizeof(pkt));
+    if (n > 0) {
+        udp.beginPacket(serverIP, serverPort);
+        udp.write(pkt, n);
+        udp.endPacket();
+    }
+    g_logbuf.clear();
+}
+
 //-----------------------------------------------------------------------------
 // Setup and loop
 //-----------------------------------------------------------------------------
@@ -1074,6 +1095,15 @@ void setup() {
     last_server_heartbeat_ms = 0;
 
     Serial.println("Setup complete. State: WaitingForServer");
+
+    // Ethernet is up — first log the server can receive. Announce identity + IP
+    // and flush immediately so the server sees the board come online.
+    HF_LOG("ONLINE board=");
+    HF_LOG(static_cast<unsigned>(board_id));
+    HF_LOG(" ip=");
+    HF_LOG(Ethernet.localIP());
+    HF_LOGLN_();
+    flushLogs();
 }
 
 void loop() {
@@ -1163,5 +1193,13 @@ void loop() {
         sendBoardHeartbeat();
     }
 
+    // Flush buffered logs to the server ~1 Hz (or sooner if the buffer is filling).
+    static unsigned long s_last_log_flush_ms = 0;
+    if (!g_logbuf.empty() &&
+        (g_logbuf.nearFull() || now - s_last_log_flush_ms >= 1000)) {
+        s_last_log_flush_ms = now;
+        flushLogs();
+    }
+
     delay(LOOP_DELAY_MS);
 }
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
index 71a0b38a4..5362994f2 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
@@ -459,6 +459,36 @@ void test_parse_null_buffer() {
         daq::parse_actuator_command_packet(nullptr, 100, hdr, cmds));
 }
 
+// ---------------------------------------------------------------------------
+// LOGS packet (type 15) — no parse_ counterpart yet; assert the byte layout.
+// ---------------------------------------------------------------------------
+
+void test_log_packet_layout() {
+    const char* text = "line1\nline2\n";
+    const uint16_t text_len = (uint16_t)strlen(text);
+    uint8_t buf[64];
+    size_t n = daq::create_log_packet(0x01, (const uint8_t*)text, text_len,
+                                      0xDEADBEEFu, buf, sizeof(buf));
+    const size_t hdr = sizeof(daq::PacketHeader);
+    TEST_ASSERT_EQUAL(hdr + 3 + text_len, n);
+    TEST_ASSERT_EQUAL_UINT8((uint8_t)daq::PacketType::LOGS, buf[0]);
+    uint32_t ts;
+    memcpy(&ts, buf + 2, 4);
+    TEST_ASSERT_EQUAL_UINT32(0xDEADBEEFu, ts);          // timestamp (u32 LE)
+    TEST_ASSERT_EQUAL_UINT8(0x01, buf[hdr]);            // flags: TRUNCATED
+    uint16_t tl;
+    memcpy(&tl, buf + hdr + 1, 2);
+    TEST_ASSERT_EQUAL_UINT16(text_len, tl);             // text_len (u16 LE)
+    TEST_ASSERT_EQUAL_MEMORY(text, buf + hdr + 3, text_len);
+}
+
+void test_log_packet_buffer_too_small() {
+    const char* text = "hello";
+    uint8_t buf[4];  // smaller than the header alone
+    TEST_ASSERT_EQUAL(
+        0, daq::create_log_packet(0, (const uint8_t*)text, 5, 0u, buf, sizeof(buf)));
+}
+
 // ---------------------------------------------------------------------------
 // Unity runner
 // ---------------------------------------------------------------------------
@@ -507,6 +537,9 @@ int main(int argc, char** argv) {
     RUN_TEST(test_abort_done_roundtrip);
     RUN_TEST(test_abort_done_buffer_too_small);
 
+    RUN_TEST(test_log_packet_layout);
+    RUN_TEST(test_log_packet_buffer_too_small);
+
     // Null buffer
     RUN_TEST(test_parse_null_buffer);
 
diff --git a/firmware/Hotfire_Code/common/SensorHotfireCore.h b/firmware/Hotfire_Code/common/SensorHotfireCore.h
index c4f895b66..11542dcf9 100644
--- a/firmware/Hotfire_Code/common/SensorHotfireCore.h
+++ b/firmware/Hotfire_Code/common/SensorHotfireCore.h
@@ -206,9 +206,13 @@ inline IncomingPacketKind processIncomingPacket(CoreState& s, const Config& cfg,
             cfg.on_reference_voltage_config(cfg.user_data,
                                             s.stored_config.reference_voltage);
 
-        g_verbose = (enable_serial_printing != 0);
+        // enable_serial_printing is the mode byte (0..3): bit0 = USB verbose,
+        // upper part = server log stream level. See hotfire_log.h.
+        const uint8_t log_mode = enable_serial_printing;
+        g_verbose = (log_mode & 1);
+        g_log_stream_level = (log_mode >= 2) ? (log_mode - 1) : 0;
 
-        HF_LOGLN("SENSOR_CONFIG received (DAQv2-Comms):");
+        HF_LOGLN("SENSOR_CONFIG received:");
         // Field-by-field breakdown is verbose-only; the header above is Tier 1.
         HF_VERBOSE("  num_sensors=");
         HF_VERBOSELN(static_cast<unsigned>(sensor_ids.size()));
@@ -352,6 +356,22 @@ inline void updateStateLed(CoreState& s, const Config& cfg, int state_num) {
     }
 }
 
+// Flush the accumulated log buffer to the server as one LOGS packet (type 15).
+// The board is identified server-side by UDP source IP, so no board_id is sent.
+inline void flushLogs(CoreState& s) {
+    if (g_logbuf.empty())
+        return;
+    static uint8_t pkt[sizeof(daq::PacketHeader) + 3 + LOG_BUF_SIZE];
+    size_t n = daq::create_log_packet(g_logbuf.flags(), g_logbuf.data(),
+                                      g_logbuf.length(), millis(), pkt, sizeof(pkt));
+    if (n > 0) {
+        s.udp.beginPacket(s.serverIP, s.serverPort);
+        s.udp.write(pkt, n);
+        s.udp.endPacket();
+    }
+    g_logbuf.clear();
+}
+
 inline void setup(CoreState& s, const Config& cfg) {
     Serial.begin(115200);
     delay(SERIAL_MONITOR_READY_DELAY_MS);
@@ -442,6 +462,16 @@ inline void setup(CoreState& s, const Config& cfg) {
     Serial.println(":5005");
     Serial.flush();
     HF_LOGLN("Setup complete. State: WaitingForServer");
+
+    // Ethernet is up now, so this is the first log the server can actually receive
+    // (boot logs before Ethernet are unsendable). Announce identity + IP and flush
+    // immediately so the server sees the board come online.
+    HF_LOG("ONLINE board=");
+    HF_LOG(static_cast<unsigned>(s.board_id));
+    HF_LOG(" ip=");
+    HF_LOG(Ethernet.localIP());
+    HF_LOGLN_();
+    flushLogs(s);
 }
 
 inline void loop(CoreState& s, const Config& cfg) {
@@ -612,6 +642,14 @@ inline void loop(CoreState& s, const Config& cfg) {
         }
     }
 
+    // Flush buffered logs to the server ~1 Hz (or sooner if the buffer is filling).
+    static unsigned long s_last_log_flush_ms = 0;
+    if (!g_logbuf.empty() &&
+        (g_logbuf.nearFull() || now - s_last_log_flush_ms >= 1000)) {
+        s_last_log_flush_ms = now;
+        flushLogs(s);
+    }
+
     delay(LOOP_DELAY_MS);
 }
 
diff --git a/firmware/Hotfire_Code/common/hotfire_log.h b/firmware/Hotfire_Code/common/hotfire_log.h
index a616ece13..ed1dac283 100644
--- a/firmware/Hotfire_Code/common/hotfire_log.h
+++ b/firmware/Hotfire_Code/common/hotfire_log.h
@@ -4,35 +4,88 @@
 #include <Arduino.h>
 
 // ─────────────────────────────────────────────────────────────────────────────
-// Two-tier serial logging (shared by all hotfire boards + OTA).
+// Two-tier serial logging + optional server streaming (shared by all hotfire
+// boards + OTA).
 //
-//   Tier 1  HF_LOG*      — ALWAYS printed. Low-rate, high-value: boot/identity,
-//                          state transitions, config/command summaries, self-test
-//                          verdicts, OTA lifecycle, and all errors/warnings.
+//   Tier 1  HF_LOG*      — high-value, low-rate: boot/identity, state transitions,
+//                          config/command summaries, self-test verdicts, OTA
+//                          lifecycle, errors/warnings.
+//   Tier 2  HF_VERBOSE*  — high-rate/debug detail: per-packet "Sent:" lines,
+//                          per-sample dumps, raw hex, repeating debug, field dumps.
 //
-//   Tier 2  HF_VERBOSE*  — printed ONLY when verbose mode is on (g_verbose). High
-//                          rate or fine-grained debug: per-packet "Sent:" lines,
-//                          per-sample data dumps, raw hex, repeating debug, and
-//                          field-by-field breakdowns.
+// Each macro fans out to two sinks, each independently gated:
+//   • USB serial — Tier 1 always; Tier 2 only when g_verbose.
+//   • Network buffer (g_logbuf) — Tier 1 when g_log_stream_level >= 1;
+//                                 Tier 2 when g_log_stream_level >= 2.
+//     A ~1 Hz flush (in each board's loop) sends the buffer to the server as a
+//     LOGS packet (type 15).
 //
-// g_verbose is the "verbose mode" gate. It defaults true until SENSOR_CONFIG is
-// received, then tracks the packet's enable_serial_printing byte (the server
-// controls it per-board). Each board defines `bool g_verbose = true;` once in its
-// main .cpp.
+// Both gates come from the config packet's `enable_serial_printing` byte (mode):
+//   0: USB Tier1        stream off
+//   1: USB Tier1+Tier2  stream off
+//   2: USB Tier1        stream Tier1
+//   3: USB Tier1+Tier2  stream Tier1+Tier2
+//   => g_verbose = (mode & 1);  g_log_stream_level = (mode >= 2) ? (mode - 1) : 0;
+//
+// Each board defines `bool g_verbose = true;` once in its main .cpp. g_logbuf and
+// g_log_stream_level are inline (header-defined) — no per-board boilerplate.
 // ─────────────────────────────────────────────────────────────────────────────
+
 extern bool g_verbose;
 
-// Variadic so they accept both Serial.print(x) and Serial.print(x, HEX).
-// Tier 1 — always
-#define HF_LOG(...)      do { Serial.print(__VA_ARGS__); } while (0)
-#define HF_LOGLN(...)    do { Serial.println(__VA_ARGS__); } while (0)
-#define HF_LOGLN_()      do { Serial.println(); } while (0)
-#define HF_LOGF(...)     do { Serial.printf(__VA_ARGS__); } while (0)
-
-// Tier 2 — verbose only
-#define HF_VERBOSE(...)   do { if (g_verbose) Serial.print(__VA_ARGS__); } while (0)
-#define HF_VERBOSELN(...) do { if (g_verbose) Serial.println(__VA_ARGS__); } while (0)
-#define HF_VERBOSELN_()   do { if (g_verbose) Serial.println(); } while (0)
-#define HF_VERBOSEF(...)  do { if (g_verbose) Serial.printf(__VA_ARGS__); } while (0)
+#ifndef LOG_BUF_SIZE
+#define LOG_BUF_SIZE 1024  // capped to one packet: a 1 Hz flush is always one UDP datagram
+#endif
+
+// Fixed-size log accumulator. Being a Print subclass, g_logbuf.print(x) accepts
+// every type the macros use (strings, ints, IPAddress, "..., HEX"), just like
+// Serial. Overflow drops the excess and raises the TRUNCATED flag.
+class LogBuffer : public Print {
+ public:
+  size_t write(uint8_t c) override {
+    if (len_ < LOG_BUF_SIZE) {
+      buf_[len_++] = static_cast<char>(c);
+      return 1;
+    }
+    truncated_ = true;
+    return 0;
+  }
+  size_t write(const uint8_t* data, size_t size) override {
+    size_t n = 0;
+    while (n < size && len_ < LOG_BUF_SIZE) buf_[len_++] = static_cast<char>(data[n++]);
+    if (n < size) truncated_ = true;
+    return n;
+  }
+  const uint8_t* data() const { return reinterpret_cast<const uint8_t*>(buf_); }
+  uint16_t length() const { return static_cast<uint16_t>(len_); }
+  bool empty() const { return len_ == 0; }
+  bool nearFull() const { return len_ >= (LOG_BUF_SIZE * 4) / 5; }  // 80%
+  uint8_t flags() const { return truncated_ ? 0x01 : 0x00; }        // bit0 = TRUNCATED
+  void clear() {
+    len_ = 0;
+    truncated_ = false;
+  }
+
+ private:
+  char buf_[LOG_BUF_SIZE];
+  size_t len_ = 0;
+  bool truncated_ = false;
+};
+
+inline LogBuffer g_logbuf;
+inline uint8_t g_log_stream_level = 1;  // default: stream Tier 1 once Ethernet is up
+
+// Variadic so they accept both print(x) and print(x, HEX).
+// Tier 1 — USB always; stream when level >= 1.
+#define HF_LOG(...)      do { Serial.print(__VA_ARGS__);   if (g_log_stream_level >= 1) g_logbuf.print(__VA_ARGS__); } while (0)
+#define HF_LOGLN(...)    do { Serial.println(__VA_ARGS__); if (g_log_stream_level >= 1) g_logbuf.println(__VA_ARGS__); } while (0)
+#define HF_LOGLN_()      do { Serial.println();            if (g_log_stream_level >= 1) g_logbuf.println(); } while (0)
+#define HF_LOGF(...)     do { Serial.printf(__VA_ARGS__);  if (g_log_stream_level >= 1) g_logbuf.printf(__VA_ARGS__); } while (0)
+
+// Tier 2 — USB only when g_verbose; stream when level >= 2.
+#define HF_VERBOSE(...)   do { if (g_verbose) Serial.print(__VA_ARGS__);   if (g_log_stream_level >= 2) g_logbuf.print(__VA_ARGS__); } while (0)
+#define HF_VERBOSELN(...) do { if (g_verbose) Serial.println(__VA_ARGS__); if (g_log_stream_level >= 2) g_logbuf.println(__VA_ARGS__); } while (0)
+#define HF_VERBOSELN_()   do { if (g_verbose) Serial.println();            if (g_log_stream_level >= 2) g_logbuf.println(); } while (0)
+#define HF_VERBOSEF(...)  do { if (g_verbose) Serial.printf(__VA_ARGS__);  if (g_log_stream_level >= 2) g_logbuf.printf(__VA_ARGS__); } while (0)
 
 #endif  // HOTFIRE_LOG_H
diff --git a/lib/daq-protocol/src/DiabloEnums.h b/lib/daq-protocol/src/DiabloEnums.h
index 602d137b2..e8ce49a00 100644
--- a/lib/daq-protocol/src/DiabloEnums.h
+++ b/lib/daq-protocol/src/DiabloEnums.h
@@ -21,7 +21,8 @@ enum class PacketType : uint8_t {
   NO_CONNECTION_ABORT = 11,
   SELF_TEST = 12,
   ENVIRONMENTAL_DATA = 13,
-  STACKLIGHT_COMMAND = 14
+  STACKLIGHT_COMMAND = 14,
+  LOGS = 15  // Board -> server: buffered, newline-delimited log text (see create_log_packet)
 };
 
 /**
diff --git a/lib/daq-protocol/src/DiabloPacketUtils.cpp b/lib/daq-protocol/src/DiabloPacketUtils.cpp
index 750955003..0c4b2edbd 100644
--- a/lib/daq-protocol/src/DiabloPacketUtils.cpp
+++ b/lib/daq-protocol/src/DiabloPacketUtils.cpp
@@ -777,4 +777,31 @@ bool parse_actuator_config_packet(const uint8_t *buffer, size_t buffer_size,
   return true;
 }
 
+size_t create_log_packet(uint8_t flags, const uint8_t *text, uint16_t text_len,
+                         uint32_t timestamp_ms,
+                         uint8_t *buffer, size_t buffer_size) {
+  const size_t header_size = sizeof(PacketHeader);
+  const size_t total_size = header_size + 1 /*flags*/ + 2 /*text_len*/ + text_len;
+  if (buffer_size < total_size) {
+    return 0; // Buffer too small
+  }
+
+  PacketHeader header;
+  header.packet_type = PacketType::LOGS;
+  header.version = DIABLO_COMMS_VERSION;
+  header.timestamp = timestamp_ms;
+
+  uint8_t *ptr = buffer;
+  memcpy(ptr, &header, header_size);
+  ptr += header_size;
+
+  *ptr++ = flags;
+  memcpy(ptr, &text_len, sizeof(text_len)); // uint16 LE (host is little-endian)
+  ptr += sizeof(text_len);
+  if (text_len && text) {
+    memcpy(ptr, text, text_len);
+  }
+  return total_size;
+}
+
 } // namespace daq
diff --git a/lib/daq-protocol/src/DiabloPacketUtils.h b/lib/daq-protocol/src/DiabloPacketUtils.h
index 85bcac1af..58760c8e9 100644
--- a/lib/daq-protocol/src/DiabloPacketUtils.h
+++ b/lib/daq-protocol/src/DiabloPacketUtils.h
@@ -147,6 +147,25 @@ size_t create_stacklight_command_packet(const StacklightCommandPacket &data,
                                         uint32_t timestamp_ms,
                                         uint8_t *buffer, size_t buffer_size);
 
+/**
+ * @brief Creates a LOGS packet (type 15): buffered board log text for the server.
+ *
+ * Layout: PacketHeader (LOGS) + flags (1B) + text_len (2B, uint16 LE) + text bytes.
+ * The board is identified server-side by UDP source IP (static 192.168.2.<board_id>),
+ * so no board_id field. `text` is newline-delimited log lines blobbed together.
+ *
+ * @param flags       bit0 = TRUNCATED (some lines dropped on buffer overflow); rest reserved.
+ * @param text        Log text bytes (ASCII, '\n'-delimited).
+ * @param text_len    Number of text bytes.
+ * @param timestamp_ms Value for PacketHeader.timestamp.
+ * @param buffer      Output buffer.
+ * @param buffer_size Size of the output buffer.
+ * @return Total bytes written (sizeof(PacketHeader) + 3 + text_len), or 0 on error.
+ */
+size_t create_log_packet(uint8_t flags, const uint8_t *text, uint16_t text_len,
+                         uint32_t timestamp_ms,
+                         uint8_t *buffer, size_t buffer_size);
+
 //==============================================================================
 // PACKET DESERIALIZATION (uint8_t* Buffer -> Struct)
 //==============================================================================

From 0abc9afdaf019016a5494efa9ce8d87ba60f6ed7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 18:42:03 -0700
Subject: [PATCH 026/205] auth: scope STAR OpenRocket's approved-list to the
 Onshape-key paths only (/api/onshape, /api/build); any Berkeley login can use
 recovery/flight/cached models; friendly 403 in the model picker; landing copy

---
 auth/allowlist.py                          | 34 +++++++++++++++--
 auth/allowlists/onshape_allowlist.txt      |  8 ++--
 auth/main.py                               | 12 ++++--
 auth/test_main.py                          | 43 ++++++++++++++++++----
 deploy/caddy/Caddyfile                     | 10 +++--
 landing/src/App.tsx                        |  2 +-
 star-openrocket/frontend/src/api/client.ts |  9 +++++
 7 files changed, 94 insertions(+), 24 deletions(-)

diff --git a/auth/allowlist.py b/auth/allowlist.py
index 973877e2c..a94968d96 100644
--- a/auth/allowlist.py
+++ b/auth/allowlist.py
@@ -2,11 +2,13 @@
 
 The session cookie proves *identity* (a valid @berkeley.edu account). Most apps
 need nothing more. A few need a tighter *authorization* check -- a named
-allowlist -- because they do more than read:
+allowlist -- on the specific requests that do more than read:
 
-    STAR OpenRocket (openrocket.*) brokers Onshape API credentials, so anyone
-    who can reach it can spend the key pair's rate limit and read any document
-    it can read.
+    STAR OpenRocket (openrocket.*) is open to any Berkeley login for its
+    cache-first features, but its Onshape search/build endpoints spend a shared
+    key pair's rate limit and can read any document that pair can. So the
+    allowlist gates only those paths (see `_APP_PROTECTED_PATHS` +
+    `path_needs_approval`), not the whole app.
 
 This is checked live in /verify (see main.py), NOT baked into the JWT, so that
 adding or removing someone takes effect on their next request rather than
@@ -37,6 +39,15 @@
     ),
 }
 
+# app -> URL path prefixes that actually spend the app's brokered API credits and
+# so require the allowlist. Everything else on the app needs only a valid session.
+# STAR OpenRocket is open to any @berkeley.edu login for its cache-first features
+# (recovery, flight, stability on built models); only searching Onshape or building
+# a model from CAD hits the shared key pair, so only those paths are gated.
+_APP_PROTECTED_PATHS = {
+    "openrocket": ("/api/onshape", "/api/build"),
+}
+
 _LOCK = threading.Lock()
 # path -> (mtime_at_read, frozenset_of_emails)
 _CACHE: dict[str, tuple[float, frozenset]] = {}
@@ -81,6 +92,21 @@ def app_requires_allowlist(app: str) -> bool:
     return app in _APP_FILES
 
 
+def path_needs_approval(app: str, uri: str) -> bool:
+    """Whether this request path is one the app gates on its allowlist.
+
+    An app with no protected paths (the default) never consults the allowlist:
+    a valid session is the whole check. For an app that does, only requests whose
+    path starts with one of its protected prefixes are gated; the query string is
+    ignored so `/api/build?foo=1` gates the same as `/api/build`.
+    """
+    prefixes = _APP_PROTECTED_PATHS.get(app)
+    if not prefixes:
+        return False
+    path = uri.split("?", 1)[0]
+    return any(path.startswith(prefix) for prefix in prefixes)
+
+
 def is_approved(app: str, email: str) -> bool:
     """Whether `email` may access `app`.
 
diff --git a/auth/allowlists/onshape_allowlist.txt b/auth/allowlists/onshape_allowlist.txt
index 41d11e946..f38c4a12b 100644
--- a/auth/allowlists/onshape_allowlist.txt
+++ b/auth/allowlists/onshape_allowlist.txt
@@ -1,10 +1,10 @@
 # STAR OpenRocket (openrocket.*) approved users.
 #
 # One email per line. `#` starts a comment; blank lines are ignored. Matching is
-# case-insensitive. Anyone with a valid @berkeley.edu session is authenticated,
-# but only the addresses below are AUTHORIZED to use STAR OpenRocket -- it brokers
-# Onshape API credentials, so access is deliberately narrower than the other
-# tools. See auth/allowlist.py.
+# case-insensitive. Anyone with a valid @berkeley.edu session can USE the app
+# (recovery, flight dynamics, stability on built models); only the addresses
+# below may SEARCH or BUILD from Onshape -- those calls spend the shared key
+# pair's rate limit. See auth/allowlist.py (_APP_PROTECTED_PATHS).
 #
 # Edits take effect on the user's next request (the file is re-read on change);
 # no restart or rebuild needed. In production docker-compose bind-mounts this
diff --git a/auth/main.py b/auth/main.py
index dfd61288f..cec43e9b8 100644
--- a/auth/main.py
+++ b/auth/main.py
@@ -269,10 +269,14 @@ def verify():
         app = _requested_app()
 
         # Authentication passed (valid @berkeley.edu session). Some apps add an
-        # authorization step -- a named allowlist -- on top. A denied user is
-        # already logged in, so this is a 403, never a login bounce: re-logging
-        # in would not change the answer.
-        if not allowlist.is_approved(app, email):
+        # authorization step -- a named allowlist -- on top, but only for the
+        # paths that spend a brokered credential (e.g. STAR OpenRocket's Onshape
+        # search/build). Every other path is open to any signed-in user, so the
+        # allowlist is consulted only when the requested path is one that needs
+        # it. A denied user is already logged in, so this is a 403, never a login
+        # bounce: re-logging in would not change the answer.
+        uri = request.headers.get("X-Forwarded-Uri", "/")
+        if allowlist.path_needs_approval(app, uri) and not allowlist.is_approved(app, email):
             if _wants_interactive_login():
                 return _not_approved_page(email, app), 403
             return "Forbidden", 403
diff --git a/auth/test_main.py b/auth/test_main.py
index f5f615274..36093f0da 100644
--- a/auth/test_main.py
+++ b/auth/test_main.py
@@ -234,32 +234,48 @@ def _onshape_headers(accept="text/html", uri="/", method="GET"):
     }
 
 
-def test_verify_allows_an_approved_user_on_onshape(client, monkeypatch):
+#: A path that spends the Onshape key pair -- the only kind the allowlist gates.
+_ONSHAPE_PATH = "/api/onshape/documents"
+
+
+def test_verify_allows_an_approved_user_on_a_protected_path(client, monkeypatch):
     monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: True)
     client.set_cookie("session", _token(email="ok@berkeley.edu"))
-    resp = client.get("/verify", headers=_onshape_headers())
+    resp = client.get("/verify", headers=_onshape_headers(uri=_ONSHAPE_PATH))
     assert resp.status_code == 200
     assert resp.headers["X-Auth-Email"] == "ok@berkeley.edu"
 
 
-def test_verify_403s_a_valid_but_unapproved_user_on_onshape(client, monkeypatch):
-    """Authenticated but not authorized: a 403 page, not a login redirect."""
+def test_verify_403s_a_valid_but_unapproved_user_on_a_protected_path(client, monkeypatch):
+    """Authenticated but not authorized for the Onshape calls: a 403, not a login
+    redirect -- re-logging in would not change the answer."""
     monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: False)
     client.set_cookie("session", _token(email="nope@berkeley.edu"))
-    resp = client.get("/verify", headers=_onshape_headers())
+    resp = client.get("/verify", headers=_onshape_headers(uri=_ONSHAPE_PATH))
     assert resp.status_code == 403
     assert "Location" not in resp.headers  # not bounced to login
 
 
-def test_verify_403s_an_unapproved_xhr_on_onshape(client, monkeypatch):
+def test_verify_403s_an_unapproved_xhr_on_build(client, monkeypatch):
     monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: False)
     client.set_cookie("session", _token(email="nope@berkeley.edu"))
     resp = client.get(
-        "/verify", headers=_onshape_headers(accept="application/json", uri="/api/models")
+        "/verify", headers=_onshape_headers(accept="application/json", uri="/api/build")
     )
     assert resp.status_code == 403
 
 
+def test_verify_lets_an_unapproved_user_use_the_rest_of_the_app(client, monkeypatch):
+    """The whole point of the change: a signed-in but unapproved user can open the
+    app and use every cache-first feature; only the Onshape paths are gated."""
+    monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: False)
+    client.set_cookie("session", _token(email="nope@berkeley.edu"))
+    for uri in ("/", "/api/models", "/api/simulate", "/api/models/abc/stability"):
+        resp = client.get("/verify", headers=_onshape_headers(uri=uri))
+        assert resp.status_code == 200, uri
+        assert resp.headers["X-Auth-Email"] == "nope@berkeley.edu"
+
+
 def test_verify_unrestricted_apps_ignore_the_allowlist(client, monkeypatch):
     """A denying allowlist must not affect apps that don't use one."""
     monkeypatch.setattr(main.allowlist, "is_approved", lambda app, email: app != "openrocket")
@@ -270,6 +286,19 @@ def test_verify_unrestricted_apps_ignore_the_allowlist(client, monkeypatch):
     assert resp.status_code == 200
 
 
+def test_path_needs_approval_gates_only_the_onshape_key_paths():
+    from allowlist import path_needs_approval
+
+    assert path_needs_approval("openrocket", "/api/onshape/documents") is True
+    assert path_needs_approval("openrocket", "/api/build") is True
+    assert path_needs_approval("openrocket", "/api/build/abc123") is True
+    assert path_needs_approval("openrocket", "/api/build?force=1") is True  # query ignored
+    assert path_needs_approval("openrocket", "/api/models") is False
+    assert path_needs_approval("openrocket", "/") is False
+    # An app with no protected paths never consults the allowlist.
+    assert path_needs_approval("engine-design", "/api/onshape/documents") is False
+
+
 def test_allowlist_file_is_read_and_matches_case_insensitively(tmp_path):
     f = tmp_path / "onshape.txt"
     f.write_text("# approved\nAidan@Berkeley.edu\n\n# comment line\n")
diff --git a/deploy/caddy/Caddyfile b/deploy/caddy/Caddyfile
index ec291ba75..13726139d 100644
--- a/deploy/caddy/Caddyfile
+++ b/deploy/caddy/Caddyfile
@@ -86,10 +86,12 @@
 }
 
 # ── STAR OpenRocket ───────────────────────────────────────────────────────────
-# `import protected` is the same shared gate as everywhere else. The tighter
-# approved-users allowlist for this app is enforced inside auth's /verify (it
-# brokers Onshape credentials), so it needs nothing extra here -- /verify simply
-# answers 403 for a signed-in user who is not on the list. See auth/allowlist.py.
+# `import protected` is the same shared @berkeley.edu gate as everywhere else, so
+# the whole app still requires a login. The tighter approved-users allowlist is
+# enforced inside auth's /verify ONLY on the Onshape search/build paths (those
+# spend the shared key pair) -- /verify reads the forwarded URI and answers 403
+# for an unapproved user on just those calls, 200 everywhere else. Nothing extra
+# is needed here. See auth/allowlist.py (_APP_PROTECTED_PATHS).
 {$SCHEME:https}://openrocket.{$BASE_DOMAIN:starberkeley.org} {
 	import protected
 
diff --git a/landing/src/App.tsx b/landing/src/App.tsx
index a0af930e9..579f7d028 100644
--- a/landing/src/App.tsx
+++ b/landing/src/App.tsx
@@ -201,7 +201,7 @@ const APPS: AppCard[] = [
     iconBg: 'linear-gradient(135deg, #0e7490 0%, #06b6d4 100%)',
     iconColor: '#67e8f9',
     restricted:
-      'Only authorized users can use this; Onshape API credits are limited. Contact Aidan for access.',
+      'Open to any Berkeley login. Pulling or building CAD from Onshape is limited to approved users (shared API credits) — contact Aidan for import access.',
   },
   {
     id: 'openproject',
diff --git a/star-openrocket/frontend/src/api/client.ts b/star-openrocket/frontend/src/api/client.ts
index 855719749..343c8bd2e 100644
--- a/star-openrocket/frontend/src/api/client.ts
+++ b/star-openrocket/frontend/src/api/client.ts
@@ -20,6 +20,15 @@ import type {
 
 /** The server puts the real reason in `detail`; surfacing it beats a bare 502. */
 async function fail(url: string, response: Response): Promise<never> {
+  // A 403 here is the auth gate, not the app: searching or building from Onshape
+  // is limited to approved users, while the rest of the app is open to any
+  // Berkeley login. (The backend never 403s itself -- missing credentials are a
+  // 503, a bad request a 4xx with a `detail`.)
+  if (response.status === 403) {
+    throw new Error(
+      'Importing or building from Onshape is limited to approved users. Contact Aidan for access.',
+    )
+  }
   let detail = ''
   try {
     const body = await response.json()

From 9421336d3f98173f06bf02bb88d81c783a75eb14 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 19:32:49 -0700
Subject: [PATCH 027/205] recovery: add per-device F_num (numerical peak) to
 opening loads and strip eq/section refs from UI text

---
 star-openrocket/backend/recovery/serialise.py |  2 ++
 .../frontend/src/recovery/api/fixture.ts      |  4 +--
 .../components/corners/CornerTable.tsx        |  2 +-
 .../components/recovery/InputForms.tsx        |  4 +--
 .../components/recovery/ResultsPanel.tsx      | 28 +++++++++++++------
 .../components/settings/UnitsPanel.tsx        |  2 +-
 .../frontend/src/recovery/lib/study.ts        | 12 ++++----
 .../frontend/src/recovery/types/schema.ts     |  3 ++
 star-openrocket/tests/recovery/test_api.py    |  4 +--
 9 files changed, 39 insertions(+), 22 deletions(-)

diff --git a/star-openrocket/backend/recovery/serialise.py b/star-openrocket/backend/recovery/serialise.py
index 947282958..9f2227126 100644
--- a/star-openrocket/backend/recovery/serialise.py
+++ b/star-openrocket/backend/recovery/serialise.py
@@ -9,6 +9,7 @@
     wire                    internal
     device                  DeviceLoads.name
     F_peak                  DeviceLoads.F_pflanz    (eq 28, finite-mass)
+    F_num                   DeviceLoads.F_T_peak    (eq 21a, integrated peak)
     t_fill                  DeviceLoads.t_f         (eq 10)
     below_validity_floor    not DeviceLoads.bound_valid
 
@@ -184,6 +185,7 @@ def device_loads_payload(per_device):
             "X1": dl.X1,
             "F_inf": dl.F_inf,
             "F_peak": dl.F_pflanz,     # eq (28), the finite-mass expectation
+            "F_num": dl.F_T_peak,      # eq (21a), integrated peak (gravity + drag)
             "F_snatch": dl.F_snatch,
             "t_fill": dl.t_f,          # eq (10)
             "below_validity_floor": not dl.bound_valid,
diff --git a/star-openrocket/frontend/src/recovery/api/fixture.ts b/star-openrocket/frontend/src/recovery/api/fixture.ts
index b7b59684c..98e3f1b59 100644
--- a/star-openrocket/frontend/src/recovery/api/fixture.ts
+++ b/star-openrocket/frontend/src/recovery/api/fixture.ts
@@ -147,13 +147,13 @@ function integrate(
 /** §13.2, axial bound. Transcribed, not computed. */
 const DROGUE_LOADS: DeviceLoads = {
   device: 'drogue', v_s: 19.49, A: 12.4, X1: 0.94,
-  F_inf: 55, F_peak: 52, F_snatch: 1180, t_fill: 0.246,
+  F_inf: 55, F_peak: 52, F_num: 50, F_snatch: 1180, t_fill: 0.246,
   below_validity_floor: false,
 }
 
 const MAIN_LOADS: DeviceLoads = {
   device: 'main', v_s: 25.02, A: 0.309, X1: 0.266,
-  F_inf: 1613, F_peak: 430, F_snatch: 2090, t_fill: 0.512,
+  F_inf: 1613, F_peak: 430, F_num: 455, F_snatch: 2090, t_fill: 0.512,
   below_validity_floor: false,
 }
 
diff --git a/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
index dea0c8a2a..8a120e135 100644
--- a/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
+++ b/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
@@ -65,7 +65,7 @@ export function CornerTable({ result, selectedIds, onToggle, showContext, onShow
                 )
               })}
               <th className="py-1.5 pr-3 text-right font-medium"
-                  title="The eq (36) maximum before the safety factor - the load the hardware actually sees.">
+                  title="The maximum load before the safety factor - the load the hardware actually sees.">
                 peak load
               </th>
               <th className="py-1.5 pr-3 text-right font-medium">descent</th>
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
index ed4c384b7..e7ccea514 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
@@ -464,7 +464,7 @@ export function SweepForm({ value, onChange, vehicle }: {
                   type="checkbox"
                   checked={p.enabled}
                   title={derived
-                    ? 'Off runs the axial bound only. §6.4 wants both - the band is 2.1x on the design load.'
+                    ? 'Off runs the axial bound only. Both attitudes matter - the band is 2.1x on the design load.'
                     : undefined}
                   onChange={(e) => update(i, { enabled: e.target.checked })}
                   className="h-3.5 w-3.5 accent-[var(--color-accent)]"
@@ -474,7 +474,7 @@ export function SweepForm({ value, onChange, vehicle }: {
                 {p.label}
                 {derived && (
                   <Info>
-                    Derived from the airframe diameter and length by eqs (14) and (15),
+                    Derived from the airframe diameter and length,
                     so it tracks the vehicle and cannot disagree with it. Not editable:
                     this band is the largest single term in the model, and narrowing it
                     by hand is the one error the derived drag area exists to prevent.
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
index 9cfa915d7..ccf0f74d6 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
@@ -112,8 +112,9 @@ export function ResultsPanel({ result, running, error }: {
               No safety factor is applied and no allowable is compared: a
               pass/fail verdict is intentionally deferred to a future update. */}
           <Stat
-            label="Max load (F_peak)"
+            label="Max load"
             value={num(cur.F_peak_max, 'force')} kind="force"
+            hint="The governing load to size to: the largest of every device's F_p,inf bound, its snatch load, and its numerical peak F_num."
             tone={CASE_META[active].category === 'structure' ? 'warning' : undefined}
           />
         </div>
@@ -327,7 +328,7 @@ function LoadsTable({ c }: { c: CaseResult }) {
   return (
     <Card
       title="Opening loads"
-      subtitle="Per device. The bound is infinite-mass; the peak applies the finite-mass reduction."
+      subtitle="Per device. F_num is the integrated peak and the load to size to; F_p,inf and F_p,fin are the analytic Pflanz figures. Hover a column for detail."
     >
       <div className="overflow-x-auto">
         <table className="w-full min-w-[720px] text-left text-xs">
@@ -346,10 +347,20 @@ function LoadsTable({ c }: { c: CaseResult }) {
               <th className="py-1.5 pr-3 text-right font-medium">Fill time (t_f)</th>
               <th className="py-1.5 pr-3 text-right font-medium" title="Ballistic parameter">Ballistic (A)</th>
               <th className="py-1.5 pr-3 text-right font-medium" title="Finite-mass reduction factor">Reduction (X1)</th>
-              <th className="py-1.5 pr-3 text-right font-medium" title="Infinite-mass bound">Bound (F_inf)</th>
-              <th className="py-1.5 pr-3 text-right font-medium">Peak (F_peak)</th>
+              <th className="py-1.5 pr-3 text-right font-medium"
+                  title="Pflanz infinite-mass opening bound. Gravity-free; a conservative upper bound only while above the validity floor.">
+                F<sub>p,inf</sub>
+              </th>
+              <th className="py-1.5 pr-3 text-right font-medium"
+                  title="Pflanz finite-mass expected opening load, F_p,inf * X1. Also gravity-free.">
+                F<sub>p,fin</sub>
+              </th>
+              <th className="py-1.5 pr-3 text-right font-medium text-[var(--color-text-primary)]"
+                  title="Numerical peak cord tension from the integrated trajectory - includes gravity and airframe drag. The physical peak, and the load to size to.">
+                F<sub>num</sub>
+              </th>
               <th className="py-1.5 text-right font-medium"
-                  title="Line-stretch shock: v_rel * sqrt(k_eff * mu), eq (34). Driven by v_rel, the separation velocity between body and canopy, and the harness stiffness k_eff - both set per device. The descent speed v_s does not enter it.">
+                  title="Line-stretch shock: v_rel * sqrt(k_eff * mu). Driven by v_rel, the separation velocity between body and canopy, and the harness stiffness k_eff - both set per device. The descent speed v_s does not enter it.">
                 Snatch load (F_s)
               </th>
             </tr>
@@ -360,7 +371,7 @@ function LoadsTable({ c }: { c: CaseResult }) {
                 <td className="py-1.5 pr-3 text-[var(--color-text-primary)]">
                   {d.device}
                   {d.below_validity_floor && (
-                    <Badge tone="danger" title="v_s is below the sqrt(g * s_f) floor - the infinite-mass figure stops being an upper bound here, so it errs low.">
+                    <Badge tone="danger" title="Deploys too slowly for F_p,inf to stay a bound — the real peak can be higher. Use F_num.">
                       below floor
                     </Badge>
                   )}
@@ -369,10 +380,11 @@ function LoadsTable({ c }: { c: CaseResult }) {
                 <td className="py-1.5 pr-3 text-right">{dec(d.t_fill, 3)} s</td>
                 <td className="py-1.5 pr-3 text-right">{dec(d.A, 3)}</td>
                 <td className="py-1.5 pr-3 text-right">{dec(d.X1, 3)}</td>
+                <td className="py-1.5 pr-3 text-right">{q(d.F_inf, 'force')}</td>
+                <td className="py-1.5 pr-3 text-right">{q(d.F_peak, 'force')}</td>
                 <td className="py-1.5 pr-3 text-right text-[var(--color-text-primary)]">
-                  {q(d.F_inf, 'force')}
+                  {d.F_num === null ? '—' : q(d.F_num, 'force')}
                 </td>
-                <td className="py-1.5 pr-3 text-right">{q(d.F_peak, 'force')}</td>
                 <td className="py-1.5 text-right">
                   {d.F_snatch === null
                     ? <span className="text-[var(--color-text-muted)]">no k_eff</span>
diff --git a/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx b/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
index ee71d68ab..b3f2f6c50 100644
--- a/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
@@ -39,7 +39,7 @@ const HELP: Partial<Record<Kind, string>> = {
   length: 'Airframe diameter and length, canopy nominal diameter.',
   distance: 'How far the observing stations are from the pad.',
   tempDelta: 'Temperature DIFFERENCES - the sounding profile’s error against '
-    + 'the eq (7) line, for instance. Separate from Temperature because a '
+    + 'the inferred profile, for instance. Separate from Temperature because a '
     + 'difference converts by the ratio alone: 1 K is 1.8 °F, not 33.8 °F.',
   lapse: 'How fast temperature falls with height. Stored per metre; K/km is '
     + 'already a display convention.',
diff --git a/star-openrocket/frontend/src/recovery/lib/study.ts b/star-openrocket/frontend/src/recovery/lib/study.ts
index 642b8b645..37bf00a42 100644
--- a/star-openrocket/frontend/src/recovery/lib/study.ts
+++ b/star-openrocket/frontend/src/recovery/lib/study.ts
@@ -54,8 +54,8 @@ export const STUDY_VARS: StudyVar[] = [
   { key: 'h_a', scope: 'vehicle', label: 'Apogee', kind: 'altitude',
     help: 'How high the flight gets. Sets how long the descent has to run.' },
   { key: 'd_body', scope: 'vehicle', label: 'Airframe diameter', kind: 'length',
-    help: 'Body tube diameter. Feeds the airframe drag area through eqs (14) '
-        + 'and (15), so it moves the descent even before a canopy is out.' },
+    help: 'Body tube diameter. Feeds the airframe drag area, so it moves the '
+        + 'descent even before a canopy is out.' },
   { key: 'l_body', scope: 'vehicle', label: 'Airframe length', kind: 'length',
     help: 'Body tube length. Only enters through the broadside drag bound.' },
 
@@ -66,10 +66,10 @@ export const STUDY_VARS: StudyVar[] = [
         + 'deployed - trigger, delay, packing - stays as configured.' },
   { key: 'CdS', scope: 'device', label: 'Drag area (CdS)', kind: 'area',
     help: 'Full-open drag area. One atomic symbol - never a coefficient times '
-        + 'an area (§1.2). Prefer the canopy swap, which keeps D0 and mass '
+        + 'an area. Prefer the canopy swap, which keeps D0 and mass '
         + 'consistent with it.' },
   { key: 'D0', scope: 'device', label: 'Nominal diameter (D0)', kind: 'length',
-    help: 'Enters only through the filling distance, eq (9) - so it changes '
+    help: 'Enters only through the filling distance - so it changes '
         + 'how long the canopy takes to open, not how much it drags.' },
   { key: 'm_c', scope: 'device', label: 'Canopy mass', kind: 'mass',
     help: 'Canopy, lines and bag. Comes out of the descending mass, so a '
@@ -84,7 +84,7 @@ export const STUDY_VARS: StudyVar[] = [
   { key: 'n', scope: 'device', label: 'Filling constant (n)',
     help: 'Canopy diameters fallen during inflation. Sets the fill time.' },
   { key: 'Cx', scope: 'device', label: 'Opening coefficient (Cx)',
-    help: 'Eq (23). The dominant uncertainty in the model - worth sweeping '
+    help: 'The dominant uncertainty in the model - worth sweeping '
         + 'here only to see its effect; the Corners tab already bounds it.' },
   { key: 'j', scope: 'device', label: 'Cloth type (j)', integer: true,
     listOnly: true,
@@ -93,7 +93,7 @@ export const STUDY_VARS: StudyVar[] = [
     help: 'Body-to-canopy speed at line stretch. Drives the snatch load. NOT '
         + 'the descent speed.' },
   { key: 'k_eff', scope: 'device', label: 'Harness stiffness', kind: 'stiffness',
-    help: 'Series stiffness of the load path, eq (32). A softer harness cuts '
+    help: 'Series stiffness of the load path. A softer harness cuts '
         + 'the snatch load and does nothing to the opening load.' },
 
   // Last, because they vary the air rather than the vehicle. Both write the
diff --git a/star-openrocket/frontend/src/recovery/types/schema.ts b/star-openrocket/frontend/src/recovery/types/schema.ts
index cc60e0197..7ca28d3d2 100644
--- a/star-openrocket/frontend/src/recovery/types/schema.ts
+++ b/star-openrocket/frontend/src/recovery/types/schema.ts
@@ -425,6 +425,9 @@ export interface DeviceLoads {
   F_inf: number
   /** Finite-mass peak, F_inf * X1. */
   F_peak: number
+  /** Numerical integrated peak, eq (21a) -- gravity and airframe drag included.
+   *  The physical peak, and the headline load. Null when no trajectory. */
+  F_num: number | null
   /** Snatch load, eq (34). Null when k_eff was not supplied. */
   F_snatch: number | null
   /** Inflation duration, eq (10). */
diff --git a/star-openrocket/tests/recovery/test_api.py b/star-openrocket/tests/recovery/test_api.py
index 097f3fe72..c722387b0 100644
--- a/star-openrocket/tests/recovery/test_api.py
+++ b/star-openrocket/tests/recovery/test_api.py
@@ -83,8 +83,8 @@ def test_simulate_matches_the_frontend_result_contract():
     assert set(sample) == {"t", "z", "v", "a", "F_T", "CdS_tot"}
 
     load = case["device_loads"][0]
-    for key in ("device", "v_s", "A", "X1", "F_inf", "F_peak", "F_snatch",
-                "t_fill", "below_validity_floor"):
+    for key in ("device", "v_s", "A", "X1", "F_inf", "F_peak", "F_num",
+                "F_snatch", "t_fill", "below_validity_floor"):
         assert key in load, key
 
     event = case["events"][0]

From 9fb213f452c7d03493e187bda6adbd9e0e8c8fd1 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 21:18:18 -0700
Subject: [PATCH 028/205] =?UTF-8?q?recovery:=20wind-aware=20coupled=20desc?=
 =?UTF-8?q?ent=20=E2=80=94=20promote=20wind=20onto=20Config,=20integrate?=
 =?UTF-8?q?=20the=20horizontal=20ground=20track=20(loads=20use=20resultant?=
 =?UTF-8?q?=20deployment=20airspeed,=20drift=20reads=20the=20track,=20shea?=
 =?UTF-8?q?r=20lag=20modeled),=20lateral=20velocity=20at=20apogee=20on=20V?=
 =?UTF-8?q?ehicle;=20crosscheck=20drives=20ours+mastersheet=20from=20confi?=
 =?UTF-8?q?g=20wind;=20calm=20=3D=20byte-identical?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../backend/recovery/routers/simulate.py      | 60 ++++------------
 star-openrocket/physics/crosscheck.py         | 11 ++-
 star-openrocket/physics/devices.py            | 14 +++-
 star-openrocket/physics/drift.py              | 63 ++++++----------
 star-openrocket/physics/dynamics.py           | 27 ++++---
 star-openrocket/physics/schema.py             | 71 ++++++++++++++++--
 star-openrocket/physics/solver.py             | 72 +++++++++++++++----
 star-openrocket/tests/recovery/test_api.py    | 13 ++--
 star-openrocket/tests/recovery/test_drift.py  | 67 +++++++++--------
 .../tests/recovery/test_lateral.py            | 71 ++++++++++++++++++
 10 files changed, 315 insertions(+), 154 deletions(-)
 create mode 100644 star-openrocket/tests/recovery/test_lateral.py

diff --git a/star-openrocket/backend/recovery/routers/simulate.py b/star-openrocket/backend/recovery/routers/simulate.py
index cec2c69c2..e182a7356 100644
--- a/star-openrocket/backend/recovery/routers/simulate.py
+++ b/star-openrocket/backend/recovery/routers/simulate.py
@@ -23,9 +23,8 @@
     worst_by_category,
 )
 from physics.drift import compute_drift
-from physics.schema import Config
+from physics.schema import Config, ConstantWind, ProfileWind, WindInput  # noqa: F401
 from physics.solver import integrate
-from physics.wind import WindProfile
 
 router = APIRouter(prefix="/api", tags=["simulate"])
 
@@ -241,42 +240,12 @@ def run_sweep(config: Config, case: str = Query("nominal"),
 # --- drift (PLAN.md §21) ---------------------------------------------------
 
 
-class ConstantWind(BaseModel):
-    """A uniform wind: one speed and the bearing it blows from."""
-
-    model_config = ConfigDict(extra="forbid")
-
-    kind: Literal["constant"] = "constant"
-    speed: float = Field(ge=0.0, description="Wind speed, m/s.")
-    direction: float = Field(
-        description="Bearing the wind blows FROM, degrees clockwise from north "
-                    "(270 = a westerly). The met convention, matching a METAR.")
-
-
-class ProfileWind(BaseModel):
-    """A tabulated wind profile: u (east) / v (north) m/s vs altitude MSL.
-
-    The frontend resolves a climatology month/percentile to these arrays before
-    posting -- values travel, not the recipe, the same way `PadState` and
-    `Canopy` carry resolved numbers rather than a lookup key (see schema.py).
-    """
-
-    model_config = ConfigDict(extra="forbid")
-
-    kind: Literal["profile"] = "profile"
-    heights_msl: List[float] = Field(min_length=1)
-    u: List[float] = Field(min_length=1)
-    v: List[float] = Field(min_length=1)
-
-
-WindInput = Union[ConstantWind, ProfileWind]
-
-
 class DriftRequest(BaseModel):
     model_config = ConfigDict(extra="forbid")
 
+    # Wind now rides on the config (config.wind), so the descent itself is
+    # wind-aware and the drift is just its ground track.
     config: Config
-    wind: WindInput = Field(discriminator="kind")
 
 
 # The ground track is smooth (no events), so a plain time stride is enough;
@@ -300,18 +269,6 @@ def _thin_track(drift):
     ]
 
 
-def _wind_profile_from(wind, site_elev):
-    if isinstance(wind, ConstantWind):
-        return WindProfile.constant(wind.speed, wind.direction,
-                                    site_elev=site_elev)
-    if not (len(wind.heights_msl) == len(wind.u) == len(wind.v)):
-        raise HTTPException(
-            status_code=422,
-            detail="wind profile heights_msl, u and v must be the same length")
-    return WindProfile.from_grid(wind.heights_msl, wind.u, wind.v,
-                                 site_elev=site_elev)
-
-
 @router.post("/drift")
 def run_drift(
     req: DriftRequest,
@@ -334,12 +291,19 @@ def run_drift(
                             detail="which must be 'axial' or 'broadside'")
     try:
         atm = _atmosphere(req.config)
+        # The descent reads config.wind and integrates the horizontal track, so
+        # the drift is simply that track (compute_drift reads run.traj.x/y).
         run = integrate(req.config, which, atm=atm)
     except ValueError as exc:
         raise HTTPException(status_code=422, detail=str(exc)) from exc
 
-    wind = _wind_profile_from(req.wind, req.config.site.z_site)
-    drift = compute_drift(run, wind)
+    drift = compute_drift(run)
+    # The wind the run actually saw at the ground, for the report.
+    if req.config.wind is not None:
+        wind = req.config.wind.to_profile(req.config.site.z_site)
+    else:
+        from physics.wind import WindProfile
+        wind = WindProfile.constant(0.0, 0.0, site_elev=req.config.site.z_site)
 
     return {
         "distance": drift.distance,
diff --git a/star-openrocket/physics/crosscheck.py b/star-openrocket/physics/crosscheck.py
index d93bf8ecf..55e0b5ffa 100644
--- a/star-openrocket/physics/crosscheck.py
+++ b/star-openrocket/physics/crosscheck.py
@@ -100,8 +100,8 @@
     },
     {
         "aspect": "Wind",
-        "ours": "None.",
-        "openrocket": "None.",
+        "ours": "Coupled: air-relative airspeed at each deploy (loads) + ground track.",
+        "openrocket": "None (ported landing stepper is windless).",
         "mastersheet": "Added to drift and first opening speed.",
     },
 )
@@ -252,6 +252,13 @@ def crosscheck(config, which="axial", wind_ms=0.0, latitude=None, atm=None):
     so §6.4's band is a property this comparison cannot share -- which is
     itself part of the finding.
     """
+    # Wind lives on the config now, so our descent is already wind-aware (it feeds
+    # the deployment airspeed -> loads, and the ground track). Drive the mastersheet
+    # from the SAME wind so the two wind-aware models are compared like-for-like;
+    # OpenRocket stays windless (its ported landing stepper has no wind).
+    if config.wind is not None:
+        wind_ms = config.wind.to_profile(config.site.z_site).speed(0.0)
+
     ours = evaluate(config, which=which, case="nominal", atm=atm)
     theirs = orx.simulate(config, latitude=latitude)
     sheet = run_mastersheet(config, theirs, wind_ms=wind_ms)
diff --git a/star-openrocket/physics/devices.py b/star-openrocket/physics/devices.py
index a89091540..48ced0ae1 100644
--- a/star-openrocket/physics/devices.py
+++ b/star-openrocket/physics/devices.py
@@ -71,11 +71,19 @@ def fire(self, t, delay):
         self.t_x = t
         self.t_d = t + delay
 
-    def stretch(self, t, z, v, device, atm, site_elev):
-        """Line stretch. The only place v_s is defined, per eq (9a)."""
+    def stretch(self, t, z, v, device, atm, site_elev, s_h=0.0):
+        """Line stretch. The only place v_s is defined, per eq (9a).
+
+        `v` is the vertical speed and `s_h` the horizontal AIR-RELATIVE speed at
+        the event; the deployment airspeed the loads see is the resultant
+        `|v_rel| = hypot(v, s_h)`. `s_h` defaults to 0 (the 1-D windless case), so
+        a drogue at apogee with no sideways speed keeps its old `v_s = |v|`. A
+        sideways velocity also lifts a would-be zero-speed apogee deploy off the
+        floor below.
+        """
         self.t_d = t
         self.z_d = z
-        self.v_s = abs(v)
+        self.v_s = (v * v + s_h * s_h) ** 0.5
         if self.v_s <= 0.0:
             raise ValueError(
                 "device %r reached line stretch at zero speed, so eq (10) "
diff --git a/star-openrocket/physics/drift.py b/star-openrocket/physics/drift.py
index 28966985f..34e11ac1e 100644
--- a/star-openrocket/physics/drift.py
+++ b/star-openrocket/physics/drift.py
@@ -1,29 +1,20 @@
 """Downwind drift under recovery. PLAN.md §21 (Phase 2).
 
-Post-processing, not a second integration: it takes the descent a `solver.run`
-already produced and carries the vehicle sideways with the wind. That is
-sufficient here because the model is deliberately the **equilibrium** one --
-
-    horizontally the only force on the canopy is drag, and drag drives its
-    horizontal velocity to match the local wind, so v_horizontal(z) = v_wind(z)
-
--- which needs only the altitude-vs-time history, not a coupled 2-D state. The
-same Cd*S that sets the descent rate is what couples the canopy to the wind, so
-there is no separate "how much wind it catches" term; a round (non-gliding)
-canopy simply goes where the air goes.
-
-Assumptions, all first-order and matching §21:
-  * **Horizontal wind only** -- no vertical air motion (thermals are left as
-    future uncertainty, not modelled here).
-  * **No response lag** -- the ~1 s relaxation to a new wind is neglected, so
-    the canopy is taken to match the wind instantly. This biases drift very
-    slightly high in shear, which is the conservative direction.
-  * **No pendulum / glide** -- a round canopy, so no net lift.
-
-This is the altitude-resolved version of the mastersheet's scalar estimate
-(`mastersheet.py`: drift = wind * descent_time). Integrating over the trajectory
-instead weights the wind by the time spent at each altitude, so the slow descent
-under the main correctly picks up more of the low-altitude wind.
+Now a thin reader over the **coupled** descent: `solver.integrate` carries the
+horizontal ground position `(x, y)` in its state, integrating the real
+equation of horizontal motion --
+
+    m dv_h/dt = -0.5 rho CdS |v_rel| (v_h - v_wind(z))
+
+so the canopy relaxes toward the local wind over the drag time
+`tau = 2m/(rho CdS |v_rel|)` rather than matching it instantly. That captures
+both the apogee lateral velocity (carried, then decaying) and the vehicle
+lagging a *changing* wind through shear -- neither of which the old
+`v_horizontal(z) = v_wind(z)` post-process could represent. With no wind and no
+lateral velocity the track is identically zero, exactly as before.
+
+Assumptions still first-order and matching §21: horizontal wind only (no
+thermals), a round non-gliding canopy (no pendulum / lift).
 """
 
 import math
@@ -49,32 +40,24 @@ def __repr__(self):
                 % (self.distance, self.bearing_deg))
 
 
-def compute_drift(run, wind):
-    """Integrate the wind over `run`'s descent. Returns a `DriftResult`.
+def compute_drift(run, wind=None):
+    """Read the coupled ground track off `run`. Returns a `DriftResult`.
 
-    `run` is a `solver.RunResult`; `wind` is a `wind.WindProfile`. The track
-    starts at the pad (0, 0) at apogee and accumulates by the trapezoid rule,
-    so it lands where the summed wind carried it.
+    `run` is a `solver.RunResult` whose trajectory already carries the integrated
+    horizontal position `(x, y)` (the wind, the apogee lateral velocity and shear
+    lag are all in the descent). `wind` is accepted for backward-compatible call
+    sites but is no longer needed -- the drift is the descent's own ground track.
     """
     t = np.asarray(run.traj.t, dtype=float)
     z = np.asarray(run.traj.z, dtype=float)
+    x = np.asarray(run.traj.x, dtype=float)
+    y = np.asarray(run.traj.y, dtype=float)
 
     if t.size < 2:
         # A degenerate run (never left the pad). No descent, no drift.
         zero = np.zeros(t.size)
         return DriftResult(t, z, zero, zero, 0.0, 0.0)
 
-    # Wind at each trajectory altitude. WindProfile is scalar per call; the
-    # trajectory is ~a few thousand samples, evaluated once.
-    u = np.array([wind.u(zi) for zi in z])
-    v = np.array([wind.v(zi) for zi in z])
-
-    dt = np.diff(t)
-    # Trapezoid: mean of the endpoint winds over each step, since the canopy
-    # moves with the local wind at every instant.
-    x = np.concatenate(([0.0], np.cumsum(0.5 * (u[:-1] + u[1:]) * dt)))
-    y = np.concatenate(([0.0], np.cumsum(0.5 * (v[:-1] + v[1:]) * dt)))
-
     x_end, y_end = float(x[-1]), float(y[-1])
     distance = math.hypot(x_end, y_end)
     # Compass bearing pad -> landing: 0 = north, 90 = east.
diff --git a/star-openrocket/physics/dynamics.py b/star-openrocket/physics/dynamics.py
index b5a2a7f19..910b8729d 100644
--- a/star-openrocket/physics/dynamics.py
+++ b/star-openrocket/physics/dynamics.py
@@ -7,23 +7,34 @@
 from physics.devices import CdS_total
 
 
-def make_deriv(devices, states, m, CdS_body, atm):
+def make_deriv(devices, states, m, CdS_body, atm, wind):
     """Build the RHS closure for one segment.
 
-    State y = [z, v] with z geometric AGL and v positive up, so descent has
-    v < 0 (§1.1).
+    State y = [z, vz, x, vx, y, vy]: z geometric AGL (vz positive up, so descent
+    has vz < 0, §1.1), and the horizontal ground position/velocity (x east, y
+    north). A parachute trails the *resultant* airflow, so drag is
+    `0.5·rho·CdS·|v_rel|·v_rel` opposing the air-relative velocity
+    `v_rel = (vx - u_wind, vy - v_wind, vz)`, using the SAME CdS the descent uses.
+
+    At calm wind and zero horizontal velocity `|v_rel| = |vz|`, the horizontal
+    derivatives vanish, and the vertical row is exactly eq (17) -- i.e. this
+    reduces to the 1-D vertical descent.
     """
 
     rho_g = atm.rho_g
 
     def deriv(t, y):
-        z, v = y[0], y[1]
-        # Eq (17). The |v|v form makes drag oppose motion in either direction
-        # without a sign test; with v < 0 the drag term is positive (upward),
-        # as it must be.
+        z, vz, _x, vx, _y, vy = y
         CdS = CdS_total(devices, states, t, CdS_body)
         rho, g = rho_g(z)
-        return (v, -g - rho * CdS / (2.0 * m) * abs(v) * v)
+        # Air-relative velocity (wind is horizontal: u east, v north).
+        arx = vx - wind.u(z)
+        ary = vy - wind.v(z)
+        # |v_rel| couples horizontal and vertical: a big sideways speed raises the
+        # total drag on both. k already folds in the resultant speed.
+        k = rho * CdS / (2.0 * m) * (arx * arx + ary * ary + vz * vz) ** 0.5
+        # Vertical: eq (17) with |v_rel| in place of |vz| (identical when arx=ary=0).
+        return (vz, -g - k * vz, vx, -k * arx, vy, -k * ary)
 
     return deriv
 
diff --git a/star-openrocket/physics/schema.py b/star-openrocket/physics/schema.py
index 799b7c9b4..8ca422efe 100644
--- a/star-openrocket/physics/schema.py
+++ b/star-openrocket/physics/schema.py
@@ -14,12 +14,13 @@
 """
 
 from enum import Enum
-from typing import List, Optional
+from typing import List, Literal, Optional, Union
 
 from pydantic import BaseModel, ConfigDict, Field, model_validator
 
 from physics.constants import LBF_TO_N
 from physics.site import FAR_ELEV_CONFIRMED, FAR_ELEV_M, FAR_NAME
+from physics.wind import WindProfile
 
 
 class TriggerKind(str, Enum):
@@ -140,10 +141,23 @@ class Vehicle(BaseModel):
 
     z0: Optional[float] = Field(default=None, description="Initial altitude "
                                 "override, m AGL. Defaults to apogee.")
-    v0: Optional[float] = Field(default=None, description="Initial velocity "
-                                "override, m/s. Defaults to 0. Positive "
-                                "values are only meaningful for a device the "
-                                "eq (56) bound says survives.")
+    v0: Optional[float] = Field(default=None, description="Initial VERTICAL "
+                                "velocity override, m/s (positive up). Defaults "
+                                "to 0. Only meaningful for a device the eq (56) "
+                                "bound says survives an early deployment. NOT "
+                                "the lateral velocity -- see v_lat below.")
+
+    # Lateral (horizontal) GROUND velocity at apogee, e.g. a weathercocked rocket
+    # arriving sideways. The descent is now a coupled point mass (solver carries
+    # vx, vy), so this seeds the horizontal state; drag on the resultant
+    # air-relative velocity relaxes it toward the wind. Distinct from v0 (which is
+    # vertical). Default None -> 0, which reduces the coupled descent exactly to
+    # the 1-D vertical one.
+    v_lat: Optional[float] = Field(default=None, description="Lateral (horizontal) "
+                                   "GROUND speed at apogee, m/s. Default 0.")
+    v_lat_dir: Optional[float] = Field(default=None, description="Compass bearing "
+                                       "the lateral velocity points TOWARD, deg "
+                                       "clockwise from north (0=N, 90=E). Default 0.")
 
 
 class Site(BaseModel):
@@ -506,6 +520,47 @@ def from_lbf(links_lbf, safety_factor=1.5):
         )
 
 
+class ConstantWind(BaseModel):
+    """A uniform wind: one speed and the bearing it blows FROM (met convention)."""
+
+    model_config = ConfigDict(extra="forbid")
+
+    kind: Literal["constant"] = "constant"
+    speed: float = Field(ge=0.0, description="Wind speed, m/s.")
+    direction: float = Field(
+        description="Bearing the wind blows FROM, degrees clockwise from north "
+                    "(270 = a westerly). The met convention, matching a METAR.")
+
+    def to_profile(self, site_elev):
+        return WindProfile.constant(self.speed, self.direction, site_elev=site_elev)
+
+
+class ProfileWind(BaseModel):
+    """A tabulated wind profile: u (east) / v (north) m/s vs altitude MSL.
+
+    The frontend resolves a climatology month/percentile to these arrays before
+    posting -- values travel, not the recipe (see `PadState`/`Canopy`).
+    """
+
+    model_config = ConfigDict(extra="forbid")
+
+    kind: Literal["profile"] = "profile"
+    heights_msl: List[float] = Field(min_length=1)
+    u: List[float] = Field(min_length=1)
+    v: List[float] = Field(min_length=1)
+
+    def to_profile(self, site_elev):
+        if not (len(self.heights_msl) == len(self.u) == len(self.v)):
+            raise ValueError(
+                "wind profile heights_msl, u and v must be the same length")
+        return WindProfile.from_grid(self.heights_msl, self.u, self.v,
+                                     site_elev=site_elev)
+
+
+#: The two shapes a wind can arrive in, discriminated on `kind`.
+WindInput = Union[ConstantWind, ProfileWind]
+
+
 class Config(BaseModel):
     """A complete run. This file is what the GUI saves and the CLI accepts."""
 
@@ -516,6 +571,12 @@ class Config(BaseModel):
     devices: List[Device] = Field(min_length=1)
     hardware: Optional[Hardware] = None
 
+    # Horizontal wind, promoted from the drift-only request so the WHOLE model is
+    # wind-aware: the coupled descent uses it for the deployment airspeed (-> loads)
+    # and the ground track, not just a post-process. None = still air, which
+    # reproduces the windless model exactly. Discriminated on `kind`.
+    wind: Optional[WindInput] = Field(default=None, discriminator="kind")
+
     # Which corners the §11.9 sweep visits. Lives on the config rather than
     # being a separate request body for two reasons: the GUI saves this file
     # verbatim (§11.7), so the sweep setup survives a save/load like every
diff --git a/star-openrocket/physics/solver.py b/star-openrocket/physics/solver.py
index 91e49bad0..b9e797781 100644
--- a/star-openrocket/physics/solver.py
+++ b/star-openrocket/physics/solver.py
@@ -20,12 +20,15 @@
 whose main crosses its altitude 0.4 s later.
 """
 
+import math
+
 import numpy as np
 from scipy.integrate import solve_ivp
 
 from physics.devices import CdS_of, CdS_total, DeviceState, airframe_band
 from physics.dynamics import make_deriv
 from physics.schema import TriggerKind
+from physics.wind import WindProfile
 
 T_MAX = 100000.0  # s; a run that reaches this has not converged
 RTOL = 1e-8
@@ -38,12 +41,17 @@
 
 
 class Trajectory:
-    """Resampled history plus the raw segments that produced it."""
+    """Resampled history plus the raw segments that produced it.
+
+    `x`/`y` are the horizontal ground track (east/north, m from the pad),
+    integrated by the coupled descent -- the drift model reads them directly.
+    """
 
-    __slots__ = ("t", "z", "v", "a", "CdS", "F_T", "segments")
+    __slots__ = ("t", "z", "v", "a", "x", "y", "CdS", "F_T", "segments")
 
-    def __init__(self, t, z, v, a, CdS, F_T, segments):
+    def __init__(self, t, z, v, a, x, y, CdS, F_T, segments):
         self.t, self.z, self.v, self.a = t, z, v, a
+        self.x, self.y = x, y
         self.CdS, self.F_T = CdS, F_T
         self.segments = segments
 
@@ -120,15 +128,32 @@ def integrate(config, which="axial", devices=None, atm=None, label="",
     states = [DeviceState() for _ in devices]
     warnings = []
 
+    # Horizontal wind. Promoted onto Config so the descent itself is wind-aware
+    # (deployment airspeed -> loads, and the ground track). None = still air, which
+    # makes `wind.u/v` identically 0 and leaves the descent 1-D.
+    if config.wind is not None:
+        wind = config.wind.to_profile(config.site.z_site)
+    else:
+        wind = WindProfile.constant(0.0, 0.0, site_elev=config.site.z_site)
+
+    # Coupled state [z, vz, x, vx, y, vy]. The horizontal seed is the apogee lateral
+    # GROUND velocity (a weathercocked rocket arriving sideways); default 0, which
+    # keeps `x=y=0` and reduces the run to the 1-D vertical descent.
+    v_lat = vehicle.v_lat or 0.0
+    r_lat = math.radians(vehicle.v_lat_dir or 0.0)
+    vx0 = v_lat * math.sin(r_lat)   # east
+    vy0 = v_lat * math.cos(r_lat)   # north
+
     t = 0.0
     y = np.array(
         [vehicle.z0 if vehicle.z0 is not None else vehicle.h_a,
-         vehicle.v0 if vehicle.v0 is not None else 0.0],
+         vehicle.v0 if vehicle.v0 is not None else 0.0,
+         0.0, vx0, 0.0, vy0],
         dtype=float,
     )
 
     segments = []
-    deriv = make_deriv(devices, states, m, CdS_body, atm)
+    deriv = make_deriv(devices, states, m, CdS_body, atm, wind)
 
     def ground_event(t_, y_):
         return y_[0]
@@ -162,7 +187,11 @@ def settle(t_now, y_now):
                         s.fire(t_now, d.delay)
                         moved = True
                 if s.triggered and not s.stretched and s.t_d <= t_now + 1e-12:
-                    s.stretch(t_now, y_now[0], y_now[1], d, atm, atm.site_elev)
+                    # Horizontal air-relative speed at the event, so the loads see
+                    # the resultant deployment airspeed (0 in the windless 1-D case).
+                    s_h = math.hypot(y_now[3] - wind.u(y_now[0]),
+                                     y_now[5] - wind.v(y_now[0]))
+                    s.stretch(t_now, y_now[0], y_now[1], d, atm, atm.site_elev, s_h)
                     moved = True
 
     guard = 0
@@ -266,12 +295,12 @@ def alt_event(t_, y_, z_d=z_d):
                (v_impact / v_settled) ** 2)
         )
 
-    traj = _resample(segments, devices, states, m, m_b, CdS_body, atm)
+    traj = _resample(segments, devices, states, m, m_b, CdS_body, atm, wind)
     return RunResult(traj, states, devices, atm, m, m_b, CdS_body,
                      t_ground, v_impact, warnings, label)
 
 
-def _resample(segments, devices, states, m, m_b, CdS_body, atm):
+def _resample(segments, devices, states, m, m_b, CdS_body, atm, wind):
     """Sample the dense output at <= LOAD_DT and evaluate loads there.
 
     §8.1: record max F_T sampled on the dense output at <= 5 ms, NOT at
@@ -282,7 +311,7 @@ def _resample(segments, devices, states, m, m_b, CdS_body, atm):
     segments, because `CdS_of` returns 0 for any t before that device's line
     stretch. There is no need to replay the state machine.
     """
-    ts, zs, vs = [], [], []
+    ts, zs, vs, xs, ys, vxs, vys = [], [], [], [], [], [], []
     for seg in segments:
         t0, t1 = float(seg.t[0]), float(seg.t[-1])
         if t1 <= t0:
@@ -291,27 +320,40 @@ def _resample(segments, devices, states, m, m_b, CdS_body, atm):
         grid = np.linspace(t0, t1, n)
         y = seg.sol(grid)
         ts.append(grid)
-        zs.append(y[0])
-        vs.append(y[1])
+        zs.append(y[0]); vs.append(y[1])
+        xs.append(y[2]); vxs.append(y[3])
+        ys.append(y[4]); vys.append(y[5])
 
     if not ts:
         empty = np.zeros(0)
-        return Trajectory(empty, empty, empty, empty, empty, empty, segments)
+        return Trajectory(empty, empty, empty, empty, empty, empty,
+                          empty, empty, segments)
 
     t = np.concatenate(ts)
     z = np.concatenate(zs)
     v = np.concatenate(vs)
+    x = np.concatenate(xs); vx = np.concatenate(vxs)
+    y_pos = np.concatenate(ys); vy = np.concatenate(vys)
 
     # Drop duplicated segment boundaries so event markers are unambiguous.
     keep = np.concatenate(([True], np.diff(t) > 1e-12))
     t, z, v = t[keep], z[keep], v[keep]
+    x, vx, y_pos, vy = x[keep], vx[keep], y_pos[keep], vy[keep]
 
     CdS = np.array([CdS_total(devices, states, ti, CdS_body) for ti in t])
     rho_g = np.array([atm.rho_g(zi) for zi in z])
     rho, g = rho_g[:, 0], rho_g[:, 1]
 
-    a = -g - rho * CdS / (2.0 * m) * np.abs(v) * v          # eq (17)
-    F_D_body = 0.5 * rho * CdS_body * v * v                 # eq (19)
+    # Resultant air-relative speed drives the drag (|v_rel|=|v| when windless and
+    # straight-down, so a/F_T are unchanged in the 1-D case).
+    u = np.array([wind.u(zi) for zi in z])
+    w = np.array([wind.v(zi) for zi in z])
+    v_rel = np.sqrt((vx - u) ** 2 + (vy - w) ** 2 + v * v)
+
+    a = -g - rho * CdS / (2.0 * m) * v_rel * v               # eq (17), coupled
+    # Airframe axial drag stays on the axial (vertical) airspeed -- the body drags
+    # along its axis, not the resultant -- so eq (19)/(20) are unchanged at calm.
+    F_D_body = 0.5 * rho * CdS_body * v * v                  # eq (19)
     F_T = m_b * (a + g) - F_D_body                          # eq (20)
 
-    return Trajectory(t, z, v, a, CdS, F_T, segments)
+    return Trajectory(t, z, v, a, x, y_pos, CdS, F_T, segments)
diff --git a/star-openrocket/tests/recovery/test_api.py b/star-openrocket/tests/recovery/test_api.py
index c722387b0..bd2350514 100644
--- a/star-openrocket/tests/recovery/test_api.py
+++ b/star-openrocket/tests/recovery/test_api.py
@@ -881,15 +881,20 @@ def test_crosscheck_rejects_an_unrunnable_config():
 
 
 def _drift_body(wind):
-    return {"config": load_fixture(), "wind": wind}
+    # Wind now rides on the config (config.wind), so the descent is wind-aware.
+    cfg = load_fixture()
+    cfg["wind"] = wind
+    return {"config": cfg}
 
 
-def test_drift_constant_wind_matches_speed_times_descent_time():
+def test_drift_constant_wind_is_just_under_speed_times_descent_time():
     with client() as c:
         body = c.post("/api/drift", json=_drift_body(
             {"kind": "constant", "speed": 8.0, "direction": 270.0})).json()
-    # A westerly blows toward the east: bearing 90, distance = speed*t.
-    assert abs(body["distance"] - 8.0 * body["descent_time"]) < 1e-3
+    # A westerly blows toward the east (bearing 90). The vehicle relaxes to the
+    # wind rather than matching it instantly, so drift is a hair under speed*t.
+    ideal = 8.0 * body["descent_time"]
+    assert 0.90 * ideal < body["distance"] < ideal
     assert abs(body["bearing_deg"] - 90.0) < 1e-3
     assert body["landing"]["x"] > 0.0
     assert abs(body["landing"]["y"]) < 1e-3
diff --git a/star-openrocket/tests/recovery/test_drift.py b/star-openrocket/tests/recovery/test_drift.py
index 7bdf589de..3ff5333f6 100644
--- a/star-openrocket/tests/recovery/test_drift.py
+++ b/star-openrocket/tests/recovery/test_drift.py
@@ -1,19 +1,26 @@
-"""Drift: zero-wind, the constant-wind identity, and altitude weighting."""
+"""Drift: zero-wind, the near-identity under constant wind, altitude weighting.
+
+Wind now rides on the config and the descent integrates the horizontal track
+directly (`solver`), so a vehicle *relaxes* toward the wind over the drag time
+rather than matching it instantly. Drift is therefore a hair *under* the old
+`speed * descent_time` identity (the vehicle lags the wind before it catches up),
+which is the physically correct, slightly-less-conservative direction.
+"""
 
 from physics.drift import compute_drift
-from physics.schema import Config, Device, Site, Trigger, TriggerKind, Vehicle
+from physics.schema import (
+    Config, ConstantWind, Device, ProfileWind, Site, Trigger, TriggerKind, Vehicle,
+)
 from physics.solver import integrate
 from physics.site import FAR_ELEV_M
-from physics.wind import WindProfile
 
 # ISA temperature at the FAR pad, keeping the eq (7) re-fit the identity.
 FAR_ISA_T = 284.1854
 
 
-def _run(h_a=3000.0):
-    """A drogue-then-main descent from `h_a`, so there is a fast high-altitude
-    phase and a slow low-altitude one -- which is what the weighting test needs.
-    """
+def _run(h_a=3000.0, wind=None):
+    """A drogue-then-main descent from `h_a` under `wind` (on the config), so
+    there is a fast high-altitude phase and a slow low-altitude one."""
     cfg = Config(
         vehicle=Vehicle(m=5.67, h_a=h_a, d_body=0.1016, l_body=1.44),
         site=Site(T_pad=FAR_ISA_T),
@@ -23,47 +30,49 @@ def _run(h_a=3000.0):
             Device(name="main", CdS=6.0, D0=2.4, m_c=0.3,
                    trigger=Trigger(kind=TriggerKind.ALTITUDE, value=300.0)),
         ],
+        wind=wind,
     )
     return integrate(cfg, "axial")
 
 
 def test_zero_wind_gives_zero_drift():
     run = _run()
-    d = compute_drift(run, WindProfile.constant(0.0, 0.0))
+    d = compute_drift(run)
     assert d.distance == 0.0
     assert abs(d.x[-1]) < 1e-12 and abs(d.y[-1]) < 1e-12
 
 
-def test_constant_wind_drift_equals_speed_times_descent_time():
-    run = _run()
+def test_constant_wind_drift_is_just_under_speed_times_descent_time():
     speed, direction = 7.0, 270.0  # a westerly, blowing toward the east
-    d = compute_drift(run, WindProfile.constant(speed, direction))
-    # With a uniform wind the integral collapses to speed * descent_time, and
-    # the canopy heads the way the wind blows (east, bearing 90).
-    assert abs(d.distance - speed * run.t_ground) < 1e-6
-    assert abs(d.bearing_deg - 90.0) < 1e-6
-    # Drift is due east: +x, ~zero y.
+    run = _run(wind=ConstantWind(speed=speed, direction=direction))
+    d = compute_drift(run)
+    ideal = speed * run.t_ground
+    # The vehicle relaxes to the wind rather than matching it instantly, so the
+    # track is a little short of the equilibrium identity -- but close, because
+    # the drag time is short relative to the descent.
+    assert 0.90 * ideal < d.distance < ideal
+    assert abs(d.bearing_deg - 90.0) < 1e-6      # heads east, the way the wind blows
     assert d.x[-1] > 0.0
     assert abs(d.y[-1]) < 1e-6
 
 
 def test_low_altitude_wind_drifts_more_than_high_altitude_wind():
-    run = _run()
-    # Same speed, placed in the bottom 300 m (under the slow main) vs the top,
-    # both zero elsewhere. The main dwells low, so the low wind wins.
-    low = WindProfile.from_grid(
-        [FAR_ELEV_M, FAR_ELEV_M + 300.0, FAR_ELEV_M + 400.0],
-        [5.0, 5.0, 0.0], [0.0, 0.0, 0.0])
-    high = WindProfile.from_grid(
-        [FAR_ELEV_M + 2600.0, FAR_ELEV_M + 2700.0, FAR_ELEV_M + 3000.0],
-        [0.0, 5.0, 5.0], [0.0, 0.0, 0.0])
-    d_low = compute_drift(run, low)
-    d_high = compute_drift(run, high)
+    # Same speed placed in the bottom 300 m (under the slow main) vs the top,
+    # zero elsewhere. The main dwells low, and the vehicle has time to relax to
+    # that low wind, so the low placement wins.
+    low = ProfileWind(
+        heights_msl=[FAR_ELEV_M, FAR_ELEV_M + 300.0, FAR_ELEV_M + 400.0],
+        u=[5.0, 5.0, 0.0], v=[0.0, 0.0, 0.0])
+    high = ProfileWind(
+        heights_msl=[FAR_ELEV_M + 2600.0, FAR_ELEV_M + 2700.0, FAR_ELEV_M + 3000.0],
+        u=[0.0, 5.0, 5.0], v=[0.0, 0.0, 0.0])
+    d_low = compute_drift(_run(wind=low))
+    d_high = compute_drift(_run(wind=high))
     assert d_low.distance > d_high.distance
 
 
 def test_track_starts_at_pad_and_matches_trajectory_length():
-    run = _run()
-    d = compute_drift(run, WindProfile.constant(5.0, 180.0))
+    run = _run(wind=ConstantWind(speed=5.0, direction=180.0))
+    d = compute_drift(run)
     assert d.x[0] == 0.0 and d.y[0] == 0.0
     assert len(d.x) == len(run.traj.t) == len(d.z)
diff --git a/star-openrocket/tests/recovery/test_lateral.py b/star-openrocket/tests/recovery/test_lateral.py
new file mode 100644
index 000000000..e58bb0ed8
--- /dev/null
+++ b/star-openrocket/tests/recovery/test_lateral.py
@@ -0,0 +1,71 @@
+"""Coupled descent: lateral velocity at apogee and wind feed the loads + track.
+
+The descent is now a wind-aware coupled point mass. A sideways velocity at apogee
+(or a wind) raises the AIR-RELATIVE airspeed at deployment, so the opening load
+rises -- most for the drogue, which fires near apogee where the vertical speed is
+~0 and the sideways airspeed dominates. And with no wind and no lateral velocity
+the run is the old 1-D vertical descent exactly.
+"""
+
+from physics.drift import compute_drift
+from physics.schema import (
+    Config, ConstantWind, Device, Site, Trigger, TriggerKind, Vehicle,
+)
+from physics.solver import integrate
+
+FAR_ISA_T = 284.1854
+
+
+def _cfg(v_lat=None, v_lat_dir=None, wind=None, drogue_time=0.5):
+    """A drogue-just-after-apogee + main descent, so the drogue sees ~all of the
+    sideways airspeed (vertical speed is still small that soon after apogee)."""
+    return Config(
+        vehicle=Vehicle(m=5.67, h_a=3000.0, d_body=0.1016, l_body=1.44,
+                        v_lat=v_lat, v_lat_dir=v_lat_dir),
+        site=Site(T_pad=FAR_ISA_T),
+        devices=[
+            Device(name="drogue", CdS=0.3, D0=0.6, m_c=0.05,
+                   trigger=Trigger(kind=TriggerKind.TIME, value=drogue_time)),
+            Device(name="main", CdS=6.0, D0=2.4, m_c=0.3,
+                   trigger=Trigger(kind=TriggerKind.ALTITUDE, value=300.0)),
+        ],
+        wind=wind,
+    )
+
+
+def _drogue_v_s(run):
+    return run.state_of("drogue").v_s
+
+
+def test_calm_no_lateral_is_the_1d_descent():
+    run = integrate(_cfg(), "axial")
+    # No horizontal motion at all, and the drogue deployment airspeed is purely
+    # the vertical speed (as in the windless model).
+    assert abs(run.traj.x[-1]) < 1e-9 and abs(run.traj.y[-1]) < 1e-9
+    assert compute_drift(run).distance == 0.0
+
+
+def test_lateral_velocity_raises_the_drogue_opening_load():
+    calm = integrate(_cfg(v_lat=0.0), "axial")
+    fast = integrate(_cfg(v_lat=30.0, v_lat_dir=90.0), "axial")
+    # The drogue fires just after apogee, so its airspeed jumps from ~vertical to
+    # the resultant of vertical + ~30 m/s sideways: strictly, and a lot, larger.
+    assert _drogue_v_s(fast) > _drogue_v_s(calm) + 20.0
+    # F_inf ~ 0.5 rho v_s^2, so the opening load scales with v_s^2.
+
+
+def test_lateral_velocity_shifts_the_landing_downrange():
+    east = integrate(_cfg(v_lat=25.0, v_lat_dir=90.0), "axial")   # toward the east
+    d = compute_drift(east)
+    assert d.x[-1] > 0.0          # carried east
+    assert abs(d.y[-1]) < 1.0     # ~no north component
+    assert d.distance > 0.0
+
+
+def test_wind_raises_the_first_opening_load_too():
+    calm = integrate(_cfg(wind=None), "axial")
+    windy = integrate(_cfg(wind=ConstantWind(speed=20.0, direction=270.0)), "axial")
+    # A stationary rocket at apogee sees the wind as air-relative sideways speed,
+    # so the drogue opens against it -- the coupled analogue of the mastersheet's
+    # "wind added to the first opening speed".
+    assert _drogue_v_s(windy) > _drogue_v_s(calm)

From f8011fd0fbde69dd9ef03402de831d2649db558e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 21:38:52 -0700
Subject: [PATCH 029/205] recovery frontend: wind on shared config (Drift tab
 syncs it so loads+crosscheck see the same wind), lateral velocity at apogee
 input + from-design toggle (RocketPy apogee velocity), design source wiring

---
 star-openrocket/FUTURE_IMPROVEMENTS.md        | 27 ++++++++++++-------
 star-openrocket/backend/main.py               |  2 ++
 .../backend/onshape/aero/rocketpy_flight.py   | 14 ++++++++++
 star-openrocket/frontend/src/App.tsx          |  2 ++
 .../frontend/src/recovery/RecoveryTab.tsx     |  9 ++++---
 .../frontend/src/recovery/api/client.ts       |  7 ++---
 .../frontend/src/recovery/api/fixture.ts      |  3 +++
 .../recovery/components/drift/DriftPanel.tsx  | 20 ++++++++++++--
 .../components/recovery/InputForms.tsx        | 20 ++++++++++++++
 .../frontend/src/recovery/lib/persist.ts      |  1 +
 .../frontend/src/recovery/lib/serialise.ts    | 14 +++++++---
 .../frontend/src/recovery/types/schema.ts     | 22 +++++++++++++--
 star-openrocket/frontend/src/types.ts         |  3 +++
 13 files changed, 121 insertions(+), 23 deletions(-)

diff --git a/star-openrocket/FUTURE_IMPROVEMENTS.md b/star-openrocket/FUTURE_IMPROVEMENTS.md
index 0ec38e0bb..48e4e8965 100644
--- a/star-openrocket/FUTURE_IMPROVEMENTS.md
+++ b/star-openrocket/FUTURE_IMPROVEMENTS.md
@@ -102,13 +102,20 @@ the lateral (side-force) contributions, yielding an off-axis CP / roll estimate
 asymmetric sets -- or at minimum warn when the selected fins are not azimuthally
 symmetric.
 
-## Recovery: lateral velocity at apogee from the ascent
-
-The Recovery tab can now pull **apogee** and **descending mass** from the ascent
-design (CAD structure + spent motor, and the Flight Dynamics apogee) via the
-"from design" toggles on the Vehicle form. The descent solver's horizontal
-initial condition (`Vehicle.v0`, lateral velocity at deployment) is still left to
-the manual early-deployment override and is **not** sourced from the ascent yet.
-Once the ascent state at apogee exposes a horizontal velocity component, wire it
-into the recovery `v0` the same way apogee/mass are wired, so a weathercocked
-trajectory carries its cross-range speed into the drift calculation.
+## Recovery: descent-model refinements (lateral velocity is now done)
+
+The descent is now a **wind-aware coupled point mass**: wind lives on the config,
+the horizontal ground track is integrated (`Vehicle.v_lat`/`v_lat_dir` seed it),
+the deployment airspeed the loads use is the resultant air-relative speed, and the
+Drift tab reads the coupled track. Apogee, mass and lateral velocity all pull from
+the ascent via the "from design" toggles. Remaining refinements:
+
+- **Snatch load and wind.** The opening/inflation load couples to the resultant
+  airspeed, but the snatch load (eq 34) still uses the separate `device.v_rel`
+  input, not the resultant deployment airspeed. Fold the lateral/wind component in.
+- **Wind-shear lag in the loads.** Shear lag is modeled in the coupled descent for
+  the track; its effect on the deployment airspeed is captured too (same state), so
+  this is largely covered -- confirm it against a strong-shear case.
+- **Resultant impact velocity.** `v_impact` is still the vertical descent rate; a
+  vehicle landing with horizontal speed (~wind) has extra KE the impact metric
+  ignores. Consider reporting the resultant landing speed.
diff --git a/star-openrocket/backend/main.py b/star-openrocket/backend/main.py
index a2fc61176..f03062f46 100644
--- a/star-openrocket/backend/main.py
+++ b/star-openrocket/backend/main.py
@@ -603,6 +603,8 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
         "maxBendingMoment": result.max_bending_moment,
         "driftDistance": result.drift_distance,
         "driftBearing": result.drift_bearing,
+        "lateralVelocityAtApogee": result.lateral_velocity_at_apogee,
+        "lateralBearingAtApogee": result.lateral_bearing_at_apogee,
         "launchStable": result.launch_stable,
         "approximations": result.approximations,
     }
diff --git a/star-openrocket/backend/onshape/aero/rocketpy_flight.py b/star-openrocket/backend/onshape/aero/rocketpy_flight.py
index 5306eb6dc..ab3cf0ee1 100644
--- a/star-openrocket/backend/onshape/aero/rocketpy_flight.py
+++ b/star-openrocket/backend/onshape/aero/rocketpy_flight.py
@@ -101,6 +101,8 @@ class FlightDynamicsResult:
     max_bending_moment: float
     drift_distance: float           # m, pad to apogee ground point
     drift_bearing: float            # deg, compass bearing pad->apogee point
+    lateral_velocity_at_apogee: float   # m/s, horizontal GROUND speed at apogee
+    lateral_bearing_at_apogee: float    # deg, compass bearing it points TOWARD
     launch_stable: bool
     approximations: list[str] = field(default_factory=list)
 
@@ -273,6 +275,16 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
     dist = math.hypot(dx[-1], dy[-1])
     bearing = (math.degrees(math.atan2(dx[-1], dy[-1])) + 360.0) % 360.0  # x=E, y=N
 
+    # Ground velocity vector at apogee (the last sample IS apogee; vertical speed
+    # ~0 there). Fed to the recovery calculator as the descent's initial lateral
+    # ground velocity -- a weathercocked rocket arrives at apogee moving sideways.
+    vx_ap = _safe(flight.vx, t_end)
+    vy_ap = _safe(flight.vy, t_end)
+    lat_v_apogee = math.hypot(vx_ap, vy_ap)
+    lat_bearing_apogee = (
+        (math.degrees(math.atan2(vx_ap, vy_ap)) + 360.0) % 360.0  # x=E, y=N, TOWARD
+    )
+
     return FlightDynamicsResult(
         times=ts.tolist(),
         altitude=altitude,
@@ -306,6 +318,8 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
         max_bending_moment=max((abs(b) for b in bend), default=0.0),
         drift_distance=dist,
         drift_bearing=bearing,
+        lateral_velocity_at_apogee=lat_v_apogee,
+        lateral_bearing_at_apogee=lat_bearing_apogee,
         launch_stable=launch_stable,
         approximations=[
             "inertia: rod/cylinder estimate (no CAD inertia tensor)",
diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index 29a5c5794..3c7f7df67 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -298,6 +298,8 @@ export default function App() {
     () => ({
       apogee: flightDynResult?.apogee ?? null,
       massKg: manifest ? centreOfMass(parts).mass + (stability?.motor?.dryMass ?? 0) : null,
+      lateralVelocity: flightDynResult?.lateralVelocityAtApogee ?? null,
+      lateralBearing: flightDynResult?.lateralBearingAtApogee ?? null,
     }),
     [flightDynResult, manifest, parts, stability],
   )
diff --git a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
index a57d07e76..b7cd89e47 100644
--- a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
+++ b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
@@ -49,13 +49,16 @@ export function RecoveryTab({ ui, onChange, design }: Props) {
   // When a from-design toggle is on, keep the vehicle field synced to the ascent
   // design so every panel and the physics use it. Converges: only writes on a
   // real difference. Turning a toggle off leaves the last value in place, editable.
-  const { apogeeFromDesign, massFromDesign } = ui.sources
+  const { apogeeFromDesign, massFromDesign, lateralFromDesign } = ui.sources
   useEffect(() => {
     let v = ui.vehicle
     if (massFromDesign && design.massKg != null && v.m !== design.massKg) v = { ...v, m: design.massKg }
     if (apogeeFromDesign && design.apogee != null && v.h_a !== design.apogee) v = { ...v, h_a: design.apogee }
+    if (lateralFromDesign && design.lateralVelocity != null && v.v_lat !== design.lateralVelocity) v = { ...v, v_lat: design.lateralVelocity }
+    if (lateralFromDesign && design.lateralBearing != null && v.v_lat_dir !== design.lateralBearing) v = { ...v, v_lat_dir: design.lateralBearing }
     if (v !== ui.vehicle) onChange({ ...ui, vehicle: v })
-  }, [apogeeFromDesign, massFromDesign, design.apogee, design.massKg, ui, onChange])
+  }, [apogeeFromDesign, massFromDesign, lateralFromDesign,
+      design.apogee, design.massKg, design.lateralVelocity, design.lateralBearing, ui, onChange])
 
   return (
     <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
@@ -88,7 +91,7 @@ export function RecoveryTab({ ui, onChange, design }: Props) {
             <StudyPanel ui={ui} onChange={onChange} />
           </div>
           <div className={tab === 'drift' ? '' : 'hidden'}>
-            <DriftPanel ui={ui} />
+            <DriftPanel ui={ui} onChange={onChange} />
           </div>
           <div className={tab === 'crosscheck' ? '' : 'hidden'}>
             <CrosscheckPanel ui={ui} />
diff --git a/star-openrocket/frontend/src/recovery/api/client.ts b/star-openrocket/frontend/src/recovery/api/client.ts
index ca5ab7a66..96ad0eec3 100644
--- a/star-openrocket/frontend/src/recovery/api/client.ts
+++ b/star-openrocket/frontend/src/recovery/api/client.ts
@@ -14,7 +14,7 @@
 import type { Climatology } from '../types/climatology'
 import type { Kind } from '../lib/quantities'
 import type {
-  ChartSample, Config, DriftResult, Result, TrajectorySample, WindInput,
+  ChartSample, Config, DriftResult, Result, TrajectorySample,
 } from '../types/schema'
 import bundledClimatology from '../fixtures/climatology.json'
 import { stubResult } from './fixture'
@@ -714,10 +714,11 @@ export async function runCrosscheck(
  * error instead.
  */
 export async function runDrift(
-  config: Config, wind: WindInput, which = 'axial',
+  config: Config, which = 'axial',
 ): Promise<ApiResponse<DriftResult>> {
+  // Wind rides on the config now (config.wind), so there is no separate wind arg.
   return request<DriftResult>(`/drift?which=${encodeURIComponent(which)}`, {
     method: 'POST',
-    body: JSON.stringify({ config, wind }),
+    body: JSON.stringify({ config }),
   })
 }
diff --git a/star-openrocket/frontend/src/recovery/api/fixture.ts b/star-openrocket/frontend/src/recovery/api/fixture.ts
index 98e3f1b59..4a3988b20 100644
--- a/star-openrocket/frontend/src/recovery/api/fixture.ts
+++ b/star-openrocket/frontend/src/recovery/api/fixture.ts
@@ -43,6 +43,8 @@ export const REFERENCE_CONFIG: Config = {
     l_body: 1.44,
     z0: null,
     v0: null,
+    v_lat: null,
+    v_lat_dir: null,
   },
   site: {
     T_pad: 284.185,
@@ -73,6 +75,7 @@ export const REFERENCE_CONFIG: Config = {
   // An empty list would mean 'sweep nothing', which is a different run.
   sweep: null,
   study: null,
+  wind: null,
 }
 
 const RHO = 1.16 // constant. The real solver integrates eq (5) down the column.
diff --git a/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx b/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
index 7eba0f694..569370e5f 100644
--- a/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
@@ -35,7 +35,10 @@ function compass(deg: number): string {
   return POINTS[Math.round(deg / 22.5) % 16]
 }
 
-export function DriftPanel({ ui }: { ui: UiConfig }) {
+export function DriftPanel({ ui, onChange }: {
+  ui: UiConfig
+  onChange: (u: UiConfig) => void
+}) {
   const { grid_m, byTag, tags } = useWindClimatology()
 
   const [mode, setMode] = useState<WindMode>('climatology')
@@ -69,12 +72,25 @@ export function DriftPanel({ ui }: { ui: UiConfig }) {
   const windKey = JSON.stringify(windInput)
   const seq = useRef(0)
 
+  // Publish the resolved wind onto the shared config so the SAME wind reaches the
+  // loads (Setup tab) and the crosscheck -- the model is wind-aware everywhere now,
+  // not just here. The selection UI (mode/climatology/manual) stays local; only the
+  // resolved WindInput is shared. Keyed on windKey, and only written when it
+  // actually changed, so it does not loop with the parent re-render.
+  useEffect(() => {
+    if (JSON.stringify(ui.wind ?? null) !== windKey) {
+      onChange({ ...ui, wind: windInput })
+    }
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [windKey])
+
   useEffect(() => {
     if (!windInput) return
     const mine = ++seq.current
     const id = setTimeout(() => {
       setRunning(true)
-      runDrift(toWireConfig(ui), windInput, which).then((res) => {
+      // Inject the wind so the drift is immediate even before the sync above lands.
+      runDrift(toWireConfig({ ...ui, wind: windInput }), which).then((res) => {
         if (mine !== seq.current) return
         setRunning(false)
         if (res.data) { setDrift(res.data); setError(null) }
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
index e7ccea514..8f1bff3f0 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
@@ -106,6 +106,26 @@ export function VehicleForm({ value, onChange, design, sources, onSourcesChange
               : 'from design — run a flight first'}
           />
         </Field>
+        {/* Lateral (sideways) airspeed at apogee, from a weathercocked ascent.
+            Feeds the coupled descent: it raises the drogue opening load and curves
+            the drift track, then relaxes to the wind. From-design fills both the
+            speed and the bearing from the RocketPy velocity at apogee. */}
+        <Field label="Lateral velocity at apogee" kind="speed" hint="sideways airspeed the drogue sees">
+          <UnitInput value={value.v_lat ?? 0} onChange={(v) => set('v_lat', v ?? 0)}
+                     kind="speed" min={0} disabled={sources.lateralFromDesign} />
+          <DesignLink
+            checked={sources.lateralFromDesign}
+            available={design.lateralVelocity != null}
+            onChange={(c) => onSourcesChange({ ...sources, lateralFromDesign: c })}
+            label={design.lateralVelocity != null
+              ? `from design (${num(design.lateralVelocity, 'speed')})`
+              : 'from design — run a flight first'}
+          />
+        </Field>
+        <Field label="Lateral bearing" hint="deg toward (0=N, 90=E)">
+          <NumberInput value={value.v_lat_dir ?? 0} onChange={(v) => set('v_lat_dir', v ?? 0)}
+                       min={0} max={360} step={5} disabled={sources.lateralFromDesign} />
+        </Field>
         <Field label="Airframe diameter" kind="length">
           <UnitInput value={value.d_body} onChange={(v) => set('d_body', v ?? 0)}
                      kind="length" min={0} />
diff --git a/star-openrocket/frontend/src/recovery/lib/persist.ts b/star-openrocket/frontend/src/recovery/lib/persist.ts
index 971a1791e..69aaa0a64 100644
--- a/star-openrocket/frontend/src/recovery/lib/persist.ts
+++ b/star-openrocket/frontend/src/recovery/lib/persist.ts
@@ -90,6 +90,7 @@ export function reviveUiConfig(raw: string | null): UiConfig | null {
         }))
       : base.study,
     sources: { ...base.sources, ...(saved.sources ?? {}) },
+    wind: saved.wind ?? base.wind,
   }
 }
 
diff --git a/star-openrocket/frontend/src/recovery/lib/serialise.ts b/star-openrocket/frontend/src/recovery/lib/serialise.ts
index 90b1c0956..5515f7a60 100644
--- a/star-openrocket/frontend/src/recovery/lib/serialise.ts
+++ b/star-openrocket/frontend/src/recovery/lib/serialise.ts
@@ -49,6 +49,8 @@ export function toWireConfig(ui: UiConfig): Config {
       // ignore.
       z0: ui.vehicle.z0,
       v0: ui.vehicle.v0,
+      v_lat: ui.vehicle.v_lat,
+      v_lat_dir: ui.vehicle.v_lat_dir,
     },
     site: {
       // No z_site: pad elevation is a backend constant, and posting it is a
@@ -99,6 +101,8 @@ export function toWireConfig(ui: UiConfig): Config {
       canopies: a.canopies,
       pads: a.pads,
     })),
+    // Wind rides on the config so the loads and the drift use the same wind.
+    wind: ui.wind ?? null,
   }
 }
 
@@ -122,6 +126,8 @@ const DEFAULT_VEHICLE = {
   l_body: 56 * 0.0254,   // 56 in
   z0: null,
   v0: null,
+  v_lat: null,
+  v_lat_dir: null,
 }
 
 const round5 = (x: number) => Number(x.toFixed(5))
@@ -241,9 +247,11 @@ export function defaultUiConfig(): UiConfig {
     // comparing depends entirely on what the user is trying to decide, and
     // seeding one would put numbers on screen that mean nothing to them.
     study: [],
-    // Apogee and mass default to typed-in (manual). The Recovery tab flips these
-    // to read the ascent design once there is a flight run / built model.
-    sources: { apogeeFromDesign: false, massFromDesign: false },
+    // Apogee, mass and lateral velocity default to typed-in (manual). The Recovery
+    // tab flips these to read the ascent design once there is a flight run / model.
+    sources: { apogeeFromDesign: false, massFromDesign: false, lateralFromDesign: false },
+    // Still air by default; the Drift tab's wind selection resolves into this.
+    wind: null,
   }
 }
 
diff --git a/star-openrocket/frontend/src/recovery/types/schema.ts b/star-openrocket/frontend/src/recovery/types/schema.ts
index 7ca28d3d2..3e0f35e39 100644
--- a/star-openrocket/frontend/src/recovery/types/schema.ts
+++ b/star-openrocket/frontend/src/recovery/types/schema.ts
@@ -68,7 +68,13 @@ export interface Vehicle {
    * design load -- and because a typed value can silently disagree with the
    * geometry above it. Posting one is a 422. */
   z0: number | null
+  /** VERTICAL initial velocity override (early deployment). NOT the lateral one. */
   v0: number | null
+  /** Lateral (horizontal) GROUND speed at apogee, m/s (a weathercocked rocket
+   *  arriving sideways). Seeds the coupled descent's horizontal state. Null = 0. */
+  v_lat: number | null
+  /** Compass bearing v_lat points TOWARD, deg CW from north (0=N, 90=E). Null = 0. */
+  v_lat_dir: number | null
 }
 
 /**
@@ -165,6 +171,10 @@ export interface Config {
   vehicle: Vehicle
   site: Site
   devices: Device[]
+  /** Horizontal wind, promoted onto the config so the whole model is wind-aware
+   *  (deployment airspeed -> loads, and the ground track), not just the drift
+   *  post-process. Null = still air. Discriminated on `kind`. */
+  wind: WindInput | null
   sweep: WireSweepParam[] | null
   /** The design study. Rides on the config for the same reasons `sweep` does:
    *  one body schema across /simulate, /sweep and /study, and Save config
@@ -281,15 +291,20 @@ export interface UiStudyAxis {
 export interface InputSources {
   apogeeFromDesign: boolean
   massFromDesign: boolean
+  /** When on, the lateral velocity magnitude + bearing are pulled from the ascent. */
+  lateralFromDesign: boolean
 }
 
 /** The ascent design's values offered to the recovery inputs. Null when there
- *  is no run / model to read them from. Lateral velocity at apogee is deferred. */
+ *  is no run / model to read them from. */
 export interface DesignSource {
   /** Apogee (m AGL) from the Flight Dynamics ascent run. */
   apogee: number | null
   /** Descending mass (kg): CAD structure + spent-motor casing. */
   massKg: number | null
+  /** Horizontal ground speed at apogee (m/s) and the bearing it points toward. */
+  lateralVelocity: number | null
+  lateralBearing: number | null
 }
 
 export interface UiConfig {
@@ -300,8 +315,11 @@ export interface UiConfig {
   /** Empty by default. Which designs are worth comparing is not something the
    *  tool can guess, so unlike `sweep` there is no canonical starting set. */
   study: UiStudyAxis[]
-  /** Apogee / mass from-design toggles (UI-only, stripped by toWireConfig). */
+  /** Apogee / mass / lateral from-design toggles (UI-only, stripped by toWireConfig). */
   sources: InputSources
+  /** Horizontal wind (shared across tabs so the loads and the drift use the same
+   *  wind). The Drift tab's selection UI resolves into this. Null = still air. */
+  wind: WindInput | null
 }
 
 // ============================================================================
diff --git a/star-openrocket/frontend/src/types.ts b/star-openrocket/frontend/src/types.ts
index 24683aa9e..f89e35c91 100644
--- a/star-openrocket/frontend/src/types.ts
+++ b/star-openrocket/frontend/src/types.ts
@@ -352,6 +352,9 @@ export interface FlightDynamicsResult {
   maxBendingMoment: number
   driftDistance: number
   driftBearing: number
+  /** Horizontal ground speed at apogee (m/s) and the compass bearing it points toward. */
+  lateralVelocityAtApogee: number
+  lateralBearingAtApogee: number
   launchStable: boolean
   approximations: string[]
 }

From a8b8fc394de36761e3dfc2ad92eff24216b3da96 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 22:09:54 -0700
Subject: [PATCH 030/205] =?UTF-8?q?board=20diagnostic=20logs=20end-to-end:?=
 =?UTF-8?q?=20type-15=20stream=20firmware=E2=86=92daq=5Fbridge=E2=86=92bac?=
 =?UTF-8?q?kend=20cache=E2=86=92GUI=20viewer=20+=20per-board=20log-mode=20?=
 =?UTF-8?q?control=20(0-3)=20+=20integration=20coverage;=20config=20editor?=
 =?UTF-8?q?=20read-only/cleanup?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/config/config.toml                 |  51 ++-
 .../backend/dist/backend/src/api-server.js    | 150 ++++++-
 .../backend/dist/backend/src/calibration.js   |   2 -
 .../backend/dist/backend/src/elodin-client.js |   2 +-
 .../dist/backend/src/elodin-protocol.js       |   5 +-
 .../backend/src/elodin-vtable-registry.js     |   7 +-
 .../backend/src/legacy/state-actuators.js     |  15 +-
 .../backend/src/legacy/state-transitions.js   |   4 +-
 .../backend/dist/backend/src/routes/config.js |  80 +++-
 .../backend/dist/backend/src/server.js        | 424 +++++++++++-------
 .../backend/dist/shared/types.js              |   6 +
 .../diablo_server/backend/src/api-server.ts   |  52 ++-
 .../diablo_server/backend/src/board-logs.ts   | 132 ++++++
 .../backend/src/routes/config.ts              |  51 +++
 .../diablo_server/backend/src/server.ts       |  13 +-
 .../daq_bridge/daq_bridge_main.cpp            |  82 +++-
 .../frontend/app/boards/page.tsx              | 122 ++++-
 .../frontend/app/config/page.tsx              | 333 ++++++--------
 .../diablo_server/frontend/app/flash/page.tsx |   6 +-
 .../frontend/app/session/page.tsx             |   8 +-
 .../components/dashboard/BoardLogModal.tsx    | 117 +++++
 .../dashboard/GlobalStateSubscriber.tsx       |  25 +-
 .../diablo_server/frontend/lib/store.ts       |  39 ++
 daq-server/diablo_server/frontend/src/App.tsx |  36 +-
 .../include/streams/SensorFramePipeline.hpp   |  11 +
 .../lib/src/streams/SensorFramePipeline.cpp   |  19 +
 .../config_broadcast_service_main.cpp         | 205 +++++----
 daq-server/diablo_server/shared/types.ts      |  25 ++
 daq-server/sim/board_simulator.py             |  27 ++
 daq-server/sim/board_startup_sim.py           |   6 +-
 daq-server/test/test_integration.sh           |  12 +-
 daq-server/test/ws_data_flow_test.ts          | 119 ++++-
 .../test_packet_roundtrip.cpp                 |  53 ++-
 lib/daq-protocol/src/DiabloPacketUtils.cpp    |  29 ++
 lib/daq-protocol/src/DiabloPacketUtils.h      |  19 +
 35 files changed, 1784 insertions(+), 503 deletions(-)
 create mode 100644 daq-server/diablo_server/backend/src/board-logs.ts
 create mode 100644 daq-server/diablo_server/frontend/components/dashboard/BoardLogModal.tsx

diff --git a/daq-server/config/config.toml b/daq-server/config/config.toml
index c97a85758..edf4f0185 100644
--- a/daq-server/config/config.toml
+++ b/daq-server/config/config.toml
@@ -166,6 +166,19 @@ max_batch_age_s = 5          # stamps confined to [arrival - this, arrival]
 resync_threshold_ms = 1000   # |residual - offset| beyond this = lost lock -> resync
 log_interval_s = 10          # per-board [TimeSync] diagnostics log cadence
 
+# =============================================================================
+# Board log streaming
+#
+# Boards stream diagnostic logs to the server as type-15 LOGS packets (one per
+# board per second; gated by each board's serial-print mode byte). daq_bridge
+# parses them and forwards to the Node backend over loopback UDP on this port —
+# they are cached in memory and shown in the GUI, deliberately NOT written to
+# Elodin (no need to replay board logs for past runs). The backend must bind the
+# same port (LOG_INGEST_PORT env, same default).
+# =============================================================================
+[logs]
+backend_udp_port = 8092
+
 # =============================================================================
 # ADC voltage reference nominals (for sense conversions in the UI)
 #
@@ -208,7 +221,7 @@ send_port = 5005           # Board sends SENSOR_DATA to this port on our PC
 num_sensors = 10            # 10 connectors on this board
 board_id = 21               # PT Board #1 (label on board)
 enabled = true
-enable_serial_printing = false
+enable_serial_printing = 0
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 1
 necessary_for_abort = true   # This sense board participates in abort logic
@@ -246,7 +259,7 @@ send_port = 5005           # Board sends SENSOR_DATA to this port on our PC
 num_sensors = 10            # 10 connectors on this board
 board_id = 22               # PT Board #2 (label on board)
 enabled = true
-enable_serial_printing = true
+enable_serial_printing = 1
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
 adc_ref_voltage = 2.5      # Fixed ADC reference voltage for this board (V)
@@ -269,7 +282,7 @@ num_actuators = 10
 num_sensors = 10            # 10 current sense ADC channels
 board_id = 11              # Actuator Board #1 (label on board)
 enabled = false
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
@@ -283,7 +296,7 @@ num_actuators = 10
 num_sensors = 10            # 10 current sense ADC channels
 board_id = 12              # Actuator Board #2 (label on board)
 enabled = true
-enable_serial_printing = true
+enable_serial_printing = 1
 designated_survivor = true
 necessary_for_abort = false
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
@@ -298,7 +311,7 @@ num_actuators = 10
 num_sensors = 10
 board_id = 13              # Actuator Board #3 (label on board)
 enabled = false
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 voltage_reference = 0
 
@@ -311,7 +324,7 @@ num_actuators = 10
 num_sensors = 10
 board_id = 14              # Actuator Board #4 (label on board)
 enabled = true
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 voltage_reference = 0
 
@@ -322,7 +335,7 @@ send_port = 5005
 num_sensors = 4
 board_id = 41              # LC Board #1 (label on board)
 enabled = false             # flip to true when board is connected
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
@@ -338,7 +351,7 @@ send_port = 5005
 num_sensors = 4
 board_id = 42              # LC Board #2 (label on board)
 enabled = true
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
@@ -351,7 +364,7 @@ send_port = 5005
 num_sensors = 10
 board_id = 51              # TC Board #1 (label on board)
 enabled = true
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
@@ -367,7 +380,7 @@ send_port = 5005
 num_sensors = 10
 board_id = 52              # TC Board #2 (label on board)
 enabled = false
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
@@ -380,7 +393,7 @@ send_port = 5005
 num_sensors = 4
 board_id = 31              # RTD Board #1 (label on board)
 enabled = true
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 # voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
@@ -396,7 +409,7 @@ send_port = 5005
 num_sensors = 4
 board_id = 32              # RTD Board #2 (label on board)
 enabled = false
-enable_serial_printing = true
+enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
@@ -411,7 +424,7 @@ listen_port = 5005
 num_sensors = 2
 board_id = 61
 enabled = true
-enable_serial_printing = false
+enable_serial_printing = 0
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 1
@@ -681,11 +694,8 @@ fallback_fuel_duty_cycle = 0.0
 fallback_ox_duty_cycle = 0.0
 # Controller loop update rate (Hz)
 controller_loop_hz = 100.0
-# Controller service URL
-controller_service_url = "http://localhost:8000"
-# Controller config path (YAML file relative to engine_sim/configs/). If empty, uses default.
-# Example: "controller_default.yaml" or "hotfire_conservative.yaml"
-controller_config_path = ""
+# NOTE: controller_service_url / controller_config_path removed 2026-08-14 — Python-only
+# (FastAPI controller). Dead while use_cpp_controller = true; the LUT tools read their own YAML.
 # Minimum COPV/tank pressure (Pa) required by safety filter before PWM is allowed.
 # Set to 0 to disable the constraint (simulation / open-loop test).
 # For a real hotfire with COPV, set to ~689476 (100 psi) or higher.
@@ -715,9 +725,8 @@ lut_path = "output/lut/controller_policy_fsw.bin"
 # Thrust curve CSV (time_s,thrust_N) from Layer 2 pressure curves. When set, F_ref follows curve.
 thrust_curve_path = "output/lut/thrust_curve.csv"
 
-# Engine LUT path (for Python controller / SITL). Stems from engine config + tank pressure range.
-# When set, DDP uses fast LUT lookups instead of physics. Generate with engine_lut_config.yaml.
-engine_lut_path = "output/lut/engine_performance.npz"
+# NOTE: engine_lut_path removed 2026-08-14 — Python/SITL-only (DDP LUT); the C++ controller
+# doesn't read it, and the LUT tools take it from their own engine_lut_config.yaml.
 
 # NOTE: [phase2], [calibration.sidecar], [calibration.environmental] removed 2026-08-13 — dead config
 # (deprecated Python autonomous-cal / sidecar; the live C++ calibration_service reads none of them).
diff --git a/daq-server/diablo_server/backend/dist/backend/src/api-server.js b/daq-server/diablo_server/backend/dist/backend/src/api-server.js
index 5492e83e3..55ec2ba5a 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/api-server.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/api-server.js
@@ -5,9 +5,11 @@
 import * as fs from 'fs';
 import * as os from 'os';
 import * as path from 'path';
-import { readConfig, writeConfig } from './routes/config.js';
+import { readConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
+import { isOperator } from './operators.js';
 import { discoverProjects, getEnabledBoardsForFlash, getOtaWorkspaceRoot, BOARD_TYPE_TO_PROJECT } from './ota-build.js';
 import { otaBuildFlash, otaFlashFirmwareFile } from './ota-service-cmd.js';
+import { getBoardLogHistory, getBoardLogStats } from './board-logs.js';
 function asBoardId(raw, fallback) {
     if (typeof raw === 'number' && Number.isFinite(raw))
         return raw;
@@ -205,6 +207,16 @@ function buildSensorConfig() {
     });
     return sensors;
 }
+/**
+ * Config edits require an approved operator. Identity is the `X-Auth-Email`
+ * header Caddy injects on every proxied request; an empty header means no proxy
+ * in front (local/dev/test stand) and is treated as operator — same rule the WS
+ * control path uses in server.ts. Present-but-not-allowlisted → denied.
+ */
+function isConfigWriteAuthorized(req) {
+    const authEmail = (req.headers['x-auth-email'] || '').trim();
+    return authEmail === '' ? true : isOperator(authEmail);
+}
 /**
  * Create an HTTP request handler for all /api/* routes.
  * Mount this on an existing http.Server — it does NOT create its own server.
@@ -234,7 +246,12 @@ export function createAPIHandler(opts = {}) {
                 res.end(JSON.stringify({ config }));
             }
             else if (url.pathname === '/api/config' && req.method === 'POST') {
-                // Write config
+                // Write config — approved operators only
+                if (!isConfigWriteAuthorized(req)) {
+                    res.writeHead(403, { 'Content-Type': 'application/json' });
+                    res.end(JSON.stringify({ error: 'Not an approved operator' }));
+                    return true;
+                }
                 let body = '';
                 req.on('data', (chunk) => {
                     body += chunk.toString();
@@ -269,13 +286,74 @@ export function createAPIHandler(opts = {}) {
                     }
                 });
             }
+            else if (url.pathname === '/api/config/export' && req.method === 'GET') {
+                // Raw config.toml download (backup). Read-only — no operator gate.
+                try {
+                    const raw = fs.readFileSync(getConfigPath(), 'utf-8');
+                    res.writeHead(200, {
+                        'Content-Type': 'text/plain; charset=utf-8',
+                        'Content-Disposition': 'attachment; filename="config.toml"',
+                    });
+                    res.end(raw);
+                }
+                catch (error) {
+                    res.writeHead(500, { 'Content-Type': 'application/json' });
+                    res.end(JSON.stringify({ error: error.message || 'Failed to read config' }));
+                }
+            }
+            else if (url.pathname === '/api/config/import' && req.method === 'POST') {
+                // Replace config.toml with an uploaded file (restore). Operators only.
+                // Validate by writing then re-reading with the app's tolerant parser;
+                // roll back to the previous contents if it fails to parse.
+                if (!isConfigWriteAuthorized(req)) {
+                    res.writeHead(403, { 'Content-Type': 'application/json' });
+                    res.end(JSON.stringify({ error: 'Not an approved operator' }));
+                    return true;
+                }
+                let body = '';
+                req.on('data', (chunk) => { body += chunk.toString(); });
+                req.on('end', () => {
+                    const configPath = getConfigPath();
+                    let previous = null;
+                    try {
+                        if (!body.trim())
+                            throw new Error('Uploaded config is empty');
+                        previous = fs.readFileSync(configPath, 'utf-8');
+                        fs.writeFileSync(configPath, body, 'utf-8');
+                        readConfig(); // throws if the uploaded TOML is invalid
+                        if (onConfigUpdated) {
+                            setImmediate(() => {
+                                try {
+                                    onConfigUpdated();
+                                }
+                                catch (e) {
+                                    console.warn('⚠️ onConfigUpdated handler threw:', e);
+                                }
+                            });
+                        }
+                        res.writeHead(200, { 'Content-Type': 'application/json' });
+                        res.end(JSON.stringify({ success: true, message: 'Config imported successfully' }));
+                    }
+                    catch (error) {
+                        if (previous !== null) {
+                            try {
+                                fs.writeFileSync(configPath, previous, 'utf-8');
+                            }
+                            catch { /* best effort */ }
+                        }
+                        console.error('❌ Config import error:', error);
+                        res.writeHead(400, { 'Content-Type': 'application/json' });
+                        res.end(JSON.stringify({ error: error.message || 'Invalid config file' }));
+                    }
+                });
+            }
             else if (url.pathname === '/api/query' && req.method === 'GET') {
                 // Query historical data from Elodin DB
                 const currentQueryClient = getQueryClient ? getQueryClient() : null;
                 if (!currentQueryClient) {
                     res.writeHead(503, { 'Content-Type': 'application/json' });
                     res.end(JSON.stringify({ error: 'Query client not available' }));
-                    return;
+                    return true;
                 }
                 const packetIdHigh = parseInt(url.searchParams.get('packet_id_high') || '0x20', 16);
                 const packetIdLow = parseInt(url.searchParams.get('packet_id_low') || '0x11', 16);
@@ -305,6 +383,19 @@ export function createAPIHandler(opts = {}) {
                 res.writeHead(200, { 'Content-Type': 'application/json' });
                 res.end(JSON.stringify({ pressure_limits: limits }));
             }
+            else if (url.pathname === '/api/gui-config' && req.method === 'GET') {
+                // GUI-driven config lists from config.toml [gui]: the ordered top-bar
+                // pressure gauges ([[gui.pressure_bars]]) and the tab-bar tabs+order
+                // (gui.tabs). Fresh per request → reflects edits live. Bar NOP/MEOP come
+                // from [pressure_limits]; tab ids index the frontend view catalog.
+                const config = readConfig();
+                const gui = config.gui ?? {};
+                res.writeHead(200, { 'Content-Type': 'application/json' });
+                res.end(JSON.stringify({
+                    pressure_bars: gui.pressure_bars ?? [],
+                    tabs: gui.tabs ?? [],
+                }));
+            }
             else if (url.pathname === '/api/sensor-config' && req.method === 'GET') {
                 // Return sensor configuration derived from config.toml:
                 // role names, board assignments, entity strings, calibration flags
@@ -318,7 +409,7 @@ export function createAPIHandler(opts = {}) {
                 if (!currentQueryClient) {
                     res.writeHead(503, { 'Content-Type': 'application/json' });
                     res.end(JSON.stringify({ error: 'Query client not available' }));
-                    return;
+                    return true;
                 }
                 const packetIds = currentQueryClient.getSubscribedPacketIds();
                 res.writeHead(200, { 'Content-Type': 'application/json' });
@@ -341,6 +432,55 @@ export function createAPIHandler(opts = {}) {
                     message: 'Use WebSocket for real-time data. Historical queries via /api/query',
                 }));
             }
+            else if (url.pathname === '/api/board-logs' && req.method === 'GET') {
+                // Recent cached board diagnostic logs (in-memory, session-scoped).
+                // Optional ?board=<id> and ?limit=<n>. Lets a freshly-opened GUI backfill.
+                const boardRaw = url.searchParams.get('board');
+                const limitRaw = url.searchParams.get('limit');
+                const board = boardRaw !== null ? Number(boardRaw) : undefined;
+                const limit = limitRaw !== null ? Number(limitRaw) : undefined;
+                const history = getBoardLogHistory({
+                    board: board !== undefined && Number.isFinite(board) ? board : undefined,
+                    limit: limit !== undefined && Number.isFinite(limit) ? limit : undefined,
+                });
+                res.writeHead(200, { 'Content-Type': 'application/json' });
+                res.end(JSON.stringify(history));
+            }
+            else if (url.pathname === '/api/board-logs/stats' && req.method === 'GET') {
+                // Cumulative per-board log counters { boardId: { received, truncated } }.
+                res.writeHead(200, { 'Content-Type': 'application/json' });
+                res.end(JSON.stringify({ stats: getBoardLogStats() }));
+            }
+            else if (url.pathname === '/api/board-log-mode' && req.method === 'POST') {
+                // Set one board's logging/serial-print mode byte (0..3) via a surgical
+                // single-field edit of config.toml. Operators only. config_broadcast_service
+                // re-reads config.toml and sends the board the new byte on its next cycle.
+                if (!isConfigWriteAuthorized(req)) {
+                    res.writeHead(403, { 'Content-Type': 'application/json' });
+                    res.end(JSON.stringify({ error: 'Not an approved operator' }));
+                    return true;
+                }
+                let body = '';
+                req.on('data', (chunk) => { body += chunk.toString(); });
+                req.on('end', () => {
+                    try {
+                        const { boardId, mode } = JSON.parse(body || '{}');
+                        const bid = Number(boardId);
+                        const m = Number(mode);
+                        if (!Number.isInteger(bid) || bid <= 0)
+                            throw new Error('Invalid boardId');
+                        if (!Number.isInteger(m) || m < 0 || m > 3)
+                            throw new Error('mode must be an integer 0..3');
+                        patchBoardField(bid, 'enable_serial_printing', m);
+                        res.writeHead(200, { 'Content-Type': 'application/json' });
+                        res.end(JSON.stringify({ success: true, boardId: bid, mode: m }));
+                    }
+                    catch (error) {
+                        res.writeHead(400, { 'Content-Type': 'application/json' });
+                        res.end(JSON.stringify({ error: error.message || 'Failed to set log mode' }));
+                    }
+                });
+            }
             else if (url.pathname === '/api/debug' && req.method === 'GET') {
                 const info = getDebugInfo ? getDebugInfo() : null;
                 res.writeHead(200, { 'Content-Type': 'application/json' });
@@ -371,7 +511,7 @@ export function createAPIHandler(opts = {}) {
                 if (boards.length === 0) {
                     res.writeHead(200, { 'Content-Type': 'application/json' });
                     res.end(JSON.stringify({ success: false, message: 'No enabled boards in config' }));
-                    return;
+                    return true;
                 }
                 res.writeHead(200, {
                     'Content-Type': 'text/event-stream',
diff --git a/daq-server/diablo_server/backend/dist/backend/src/calibration.js b/daq-server/diablo_server/backend/dist/backend/src/calibration.js
index 48b85bd27..95a263126 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/calibration.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/calibration.js
@@ -308,14 +308,12 @@ function fillUncalibratedChannelsFromAgreeing(calMap) {
  *  1. scripts/calibration/calibrations/ (project root — used by femboy/FSW)
  *  2. calibration/                     (repo-root fallback)
  *  3. web-gui/backend/data/
- *  4. external/DiabloAvionics/test_guis/
  */
 export function loadPTCalibration(overridePath) {
     const candidateDirs = [
         path.join(__dirname, '../../../scripts/calibration/calibrations'), // femboy / daq_bridge path
         path.join(__dirname, '../../../calibration'),
         path.join(__dirname, '../data'),
-        path.join(__dirname, '../../../external/DiabloAvionics/test_guis'),
     ];
     // If caller supplied a specific file path, try it first
     if (overridePath) {
diff --git a/daq-server/diablo_server/backend/dist/backend/src/elodin-client.js b/daq-server/diablo_server/backend/dist/backend/src/elodin-client.js
index 8487b1985..80a01db3c 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/elodin-client.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/elodin-client.js
@@ -114,7 +114,7 @@ export class ElodinClient extends EventEmitter {
             high === 0x40 || high === 0x41 || high === 0x42 || high === 0x43 || high === 0x44 || // controller
             high === 0x46 || // calibration commands
             high === 0x50 || // sequencer/PSM
-            high === 0x60 // self-test
+            (high >= 0x60 && high <= 0x6F) // self-test (per-sensor: 0x60+sensor_id)
         );
     }
     handleData(data) {
diff --git a/daq-server/diablo_server/backend/dist/backend/src/elodin-protocol.js b/daq-server/diablo_server/backend/dist/backend/src/elodin-protocol.js
index 1e6924c51..7b07a53f4 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/elodin-protocol.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/elodin-protocol.js
@@ -307,9 +307,10 @@ export function parseElodinPacket(packetId, payload, entityMaps) {
             { entity: `PSM.actuator.${actuatorId}`, component: 'status', value: status, timestamp: tsMs },
         ];
     }
-    // ── Self Test Result: [0x60, 0x01..0x3F] ────────────────────────────────
+    // ── Self Test Result: [0x60+sensor_id, board_id] ─────────────────────────
+    // Each sensor gets its own VTable so VTableStream delivers every result.
     // Layout: U64(0) timestamp_ns | U8(8) sensor_id | U8(9) result (1=pass, 0=fail)
-    if (high === 0x60 && payload.length >= 10) {
+    if (high >= 0x60 && high <= 0x6F && payload.length >= 10) {
         const boardId = low;
         const tsMs = Number(payload.readBigUInt64LE(0) / 1000000n);
         const sensorId = payload.readUInt8(8);
diff --git a/daq-server/diablo_server/backend/dist/backend/src/elodin-vtable-registry.js b/daq-server/diablo_server/backend/dist/backend/src/elodin-vtable-registry.js
index 5892b1d44..b5a984ae6 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/elodin-vtable-registry.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/elodin-vtable-registry.js
@@ -148,9 +148,12 @@ function buildVTableStreamSubscriptionList() {
         [0x50, 0x00],
         [0x50, 0x60], [0x50, 0x61], [0x50, 0x62], [0x50, 0x63], [0x50, 0x64], [0x50, 0x65], [0x50, 0x66],
     ].forEach(([h, l]) => addUnique(h, l));
-    for (let i = 1; i <= 64; i++) {
+    // Heartbeats [0x10, board_id] use the low byte as config board_id.
+    // Self-test uses [0x60+sensor_id, board_id] — one VTable per sensor per board.
+    for (let i = 1; i <= 255; i++) {
         addUnique(0x10, i);
-        addUnique(0x60, i);
+        for (let s = 0x60; s <= 0x6F; s++)
+            addUnique(s, i);
     }
     addUnique(0x46, 0x00);
     return subscriptions;
diff --git a/daq-server/diablo_server/backend/dist/backend/src/legacy/state-actuators.js b/daq-server/diablo_server/backend/dist/backend/src/legacy/state-actuators.js
index 1a03242a6..9e9ebc6b4 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/legacy/state-actuators.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/legacy/state-actuators.js
@@ -311,16 +311,11 @@ function buildCSVSearchPaths() {
     catch {
         // Config not available, use fallback paths
     }
-    // 2. Relative __dirname-based fallback (no absolute/hardcoded paths)
-    const relBaseDirs = [
-        join(__dirname, '..', '..', '..', '..', 'external', 'DiabloAvionics', 'test_guis'),
-        join(process.cwd(), '..', '..', 'external', 'DiabloAvionics', 'test_guis'),
-        join(process.cwd(), '..', 'external', 'DiabloAvionics', 'test_guis'),
-    ];
-    for (const base of relBaseDirs) {
-        paths.push(join(base, 'Avionics Board Status - State Machine Actuators.csv'));
-        paths.push(join(base, 'state_machine_actuators.csv'));
-    }
+    // 2. Direct config/ fallback (canonical source of truth) if config.toml unreadable.
+    const rel = join('config', 'state_machine_actuators.csv');
+    paths.push(join(__dirname, '..', '..', '..', '..', rel));
+    paths.push(join(process.cwd(), '..', '..', rel));
+    paths.push(join(process.cwd(), '..', rel));
     return paths;
 }
 export function getStateActuatorMap() {
diff --git a/daq-server/diablo_server/backend/dist/backend/src/legacy/state-transitions.js b/daq-server/diablo_server/backend/dist/backend/src/legacy/state-transitions.js
index b5f4d8917..056a22495 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/legacy/state-transitions.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/legacy/state-transitions.js
@@ -91,7 +91,9 @@ function buildTransitionsCSVSearchPaths() {
     catch {
         /* fall through to defaults */
     }
-    paths.push(join(process.cwd(), '..', '..', 'external', 'DiabloAvionics', 'test_guis', 'state_transitions.csv'), join(process.cwd(), '..', 'external', 'DiabloAvionics', 'test_guis', 'state_transitions.csv'), join(__dirname, '..', '..', '..', 'external', 'DiabloAvionics', 'test_guis', 'state_transitions.csv'), join(__dirname, '../../../../external/DiabloAvionics/test_guis/state_transitions.csv'));
+    // Direct config/ fallback (canonical source of truth) if config.toml unreadable.
+    const rel = join('config', 'state_transitions.csv');
+    paths.push(join(process.cwd(), '..', '..', rel), join(process.cwd(), '..', rel), join(__dirname, '..', '..', '..', '..', rel));
     return paths;
 }
 export function getStateTransitions() {
diff --git a/daq-server/diablo_server/backend/dist/backend/src/routes/config.js b/daq-server/diablo_server/backend/dist/backend/src/routes/config.js
index e9d0cfa29..069851cb0 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/routes/config.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/routes/config.js
@@ -108,6 +108,21 @@ export function readConfig() {
         throw error;
     }
 }
+/**
+ * Serialize `actuator_roles` by hand. Its values are mixed-type inline arrays
+ * (e.g. ["NC", 1, 12]) which @iarna/toml's stringify rejects ("Array values
+ * can't have mixed types"), so we emit the section manually — the inverse of the
+ * manual parse in readConfig. Strings are quoted, numbers are raw.
+ */
+function stringifyActuatorRoles(roles) {
+    const lines = ['[actuator_roles]'];
+    for (const [name, value] of Object.entries(roles)) {
+        const arr = Array.isArray(value) ? value : [];
+        const parts = arr.map((v) => (typeof v === 'string' ? JSON.stringify(v) : String(v)));
+        lines.push(`${JSON.stringify(name)} = [${parts.join(', ')}]`);
+    }
+    return lines.join('\n') + '\n';
+}
 export function writeConfig(config) {
     const configPath = getConfigPath();
     try {
@@ -120,7 +135,13 @@ export function writeConfig(config) {
         catch (statError) {
             console.warn(`   File may not exist yet, will create`);
         }
-        const content = stringifyToml(config);
+        // actuator_roles holds mixed-type arrays that @iarna/toml can't stringify —
+        // pull it out, stringify the rest, then append the section by hand.
+        const { actuator_roles, ...rest } = config ?? {};
+        let content = stringifyToml(rest);
+        if (actuator_roles && typeof actuator_roles === 'object') {
+            content += '\n' + stringifyActuatorRoles(actuator_roles);
+        }
         console.log(`   Generated TOML content: ${content.length} bytes`);
         // Write with explicit error handling
         writeFileSync(configPath, content, { encoding: 'utf-8', flag: 'w' });
@@ -139,3 +160,60 @@ export function writeConfig(config) {
         throw new Error(`Failed to write config: ${error.message}`);
     }
 }
+/**
+ * Surgically set a single integer field on the `[boards.<key>]` section whose
+ * `board_id` matches `boardId`, editing the raw TOML text in place. Unlike
+ * writeConfig (whole-object round-trip via @iarna/toml, which drops comments and
+ * could clobber a concurrent edit), this rewrites only the one line, leaving the
+ * rest of the file — comments included — byte-for-byte unchanged. Used by the
+ * Boards-tab logging-mode dropdown; config_broadcast_service re-reads the file.
+ */
+export function patchBoardField(boardId, field, value) {
+    const configPath = getConfigPath();
+    const raw = readFileSync(configPath, 'utf-8');
+    // Map board_id → section key (e.g. "pt_board") via the parsed config.
+    const boards = (readConfig()?.boards ?? {});
+    let boardKey = null;
+    for (const [key, b] of Object.entries(boards)) {
+        if (Number(b?.board_id) === boardId) {
+            boardKey = key;
+            break;
+        }
+    }
+    if (!boardKey)
+        throw new Error(`No board with board_id=${boardId} in config`);
+    const esc = boardKey.replace(/[.*+?^${}()|[\]\\]/g, '\\$&');
+    const headerRe = new RegExp(`^\\s*\\[boards\\.${esc}\\]\\s*$`);
+    const nextSectionRe = /^\s*\[/;
+    const fieldRe = new RegExp(`^(\\s*)${field}(\\s*)=.*$`);
+    const lines = raw.split('\n');
+    let start = -1;
+    for (let i = 0; i < lines.length; i++) {
+        if (headerRe.test(lines[i])) {
+            start = i;
+            break;
+        }
+    }
+    if (start < 0)
+        throw new Error(`Section [boards.${boardKey}] not found`);
+    // Scan the block (header+1 .. next section header / EOF) for the field.
+    let end = lines.length;
+    for (let i = start + 1; i < lines.length; i++) {
+        if (nextSectionRe.test(lines[i])) {
+            end = i;
+            break;
+        }
+    }
+    let replaced = false;
+    for (let i = start + 1; i < end; i++) {
+        const m = lines[i].match(fieldRe);
+        if (m) {
+            lines[i] = `${m[1]}${field}${m[2]}= ${value}`;
+            replaced = true;
+            break;
+        }
+    }
+    if (!replaced)
+        lines.splice(start + 1, 0, `${field} = ${value}`);
+    writeFileSync(configPath, lines.join('\n'), { encoding: 'utf-8', flag: 'w' });
+}
diff --git a/daq-server/diablo_server/backend/dist/backend/src/server.js b/daq-server/diablo_server/backend/dist/backend/src/server.js
index 6103e3ab6..be4469c86 100644
--- a/daq-server/diablo_server/backend/dist/backend/src/server.js
+++ b/daq-server/diablo_server/backend/dist/backend/src/server.js
@@ -29,14 +29,23 @@ import { loadSensorRoleMap } from './sensor-config.js';
 import { registerVTables, clearSubscriptionState } from './elodin-vtable-registry.js';
 import { registerControllerVTables } from './legacy/elodin-vtable-controller.js';
 import { createAPIHandler } from './api-server.js';
+import { startBoardLogReceiver } from './board-logs.js';
 import { readConfig } from './routes/config.js';
 import { getStateActuatorMap, CSV_ACTUATOR_TO_ENTITY, resolveActuatorCmdEntity, resolveActuatorTelemetryEntity } from './legacy/state-actuators.js';
 import { getStateTransitions } from './legacy/state-transitions.js';
+import { recordBoardScanIngest, getBoardScanRateHz, isPrimaryPhysicalStream, mapEntityToGroup } from './board-scan-rate.js';
+import { EnvelopeAccumulator, parseGuiStreamConfig, envelopeWindowMs } from './gui-stream.js';
+import { HistoryCache } from './history-cache.js';
+import { startGuiStaticServer } from './static-gui.js';
 import { handleCalibrationCommand } from './calibration-handler.js';
 import { loadPTCalibration } from './calibration.js';
 import { MessageType, SystemState } from '../../shared/types.js';
+import { isOperator } from './operators.js';
 // ── Config ───────────────────────────────────────────────────────────────────
 const WS_PORT = parseInt(process.env.WS_PORT ?? '8081', 10);
+// Command types that actuate/transition the engine — gated by the operator
+// unlock. Read-only queries and countdown display are not.
+const CONTROL_COMMAND_TYPES = new Set(['state_transition', 'actuator', 'extend_fire', 'debug_mode', 'session_start', 'session_stop', 'session_extend']);
 const ELODIN_HOST = process.env.ELODIN_HOST ?? '127.0.0.1';
 const ELODIN_PORT = parseInt(process.env.ELODIN_PORT ?? '2240', 10);
 const ACT_SVC_PORT = parseInt(process.env.ACTUATOR_SERVICE_PORT ?? '9998', 10);
@@ -44,10 +53,12 @@ const CTRL_SVC_PORT = parseInt(process.env.CONTROLLER_SERVICE_PORT ?? '9999', 10
 const THIN_VERBOSE_CONNECTION_LOG = process.env.THIN_VERBOSE_CONNECTION_LOG === '1';
 const THIN_HEARTBEAT_DIAG_LOG = process.env.THIN_HEARTBEAT_DIAG_LOG === '1';
 const THIN_STATS_LOG = process.env.THIN_STATS_LOG === '1';
-// ~20 Hz × 300 s (5 min window) ≈ 6000; keep extra for HISTORICAL_DATA on reconnect.
-const HISTORY_MAX_POINTS = 16000; // per series
-const HISTORY_MAX_KEYS = 200;
-const HISTORY_STALE_MS = 5 * 60 * 1000;
+// ~20 Hz × 800 s ≈ 13 min per full series; rings grow lazily so sparse/event
+// streams stay small. Key cap must exceed the live stream count (>200) or
+// active series get silently evicted and reconnect backfills lose data.
+const HISTORY_MAX_POINTS = 16000; // per series (ceiling)
+const HISTORY_MAX_KEYS = 1000;
+const HISTORY_STALE_MS = 30 * 60 * 1000;
 const BOARD_STATUS_HZ = 1; // broadcast rate for board status
 /** Board marked disconnected if no Elodin [0x10] heartbeat for this long. Too low causes UI flap when DB or TCP jitters; heartbeats are usually multi-Hz but not hard-real-time. */
 const BOARD_HEARTBEAT_STALE_MS = 5000;
@@ -67,68 +78,66 @@ function shouldThrottleSensorStreamPacket(high, _low) {
         return true;
     return false;
 }
-const historyCache = new Map();
-const historyCacheTime = new Map(); // wall-clock last update
-const broadcastLastTime = new Map(); // per-key throttle gate
-function recordHistory(key, timeSec, value) {
-    let s = historyCache.get(key);
-    if (!s) {
-        s = { tBuf: new Float64Array(HISTORY_MAX_POINTS), vBuf: new Float64Array(HISTORY_MAX_POINTS), head: 0, len: 0, lastMs: 0 };
-        historyCache.set(key, s);
-    }
-    // Overwrite last entry if same timestamp; otherwise advance ring.
-    const lastIdx = (s.head - 1 + HISTORY_MAX_POINTS) % HISTORY_MAX_POINTS;
-    if (s.len > 0 && s.tBuf[lastIdx] === timeSec) {
-        s.vBuf[lastIdx] = value;
+// ── History cache (epoch-ms timestamps; see history-cache.ts) ────────────────
+const history = new HistoryCache({
+    maxPoints: HISTORY_MAX_POINTS,
+    maxKeys: HISTORY_MAX_KEYS,
+    staleMs: HISTORY_STALE_MS,
+});
+const broadcastLastTime = new Map(); // per-key throttle gate (legacy mode)
+setInterval(() => history.prune(), 60_000);
+// ── GUI stream downsampling (config.toml [gui]; see gui-stream.ts) ───────────
+let guiStreamConfig = parseGuiStreamConfig(safeReadConfigForGui());
+const envelope = new EnvelopeAccumulator(envelopeWindowMs(guiStreamConfig));
+console.log(`[ThinServer] GUI downsampling: ${guiStreamConfig.mode} @ ${guiStreamConfig.pointsPerSecond} pts/s per stream`);
+function safeReadConfigForGui() {
+    try {
+        return readConfig();
     }
-    else {
-        s.tBuf[s.head] = timeSec;
-        s.vBuf[s.head] = value;
-        s.head = (s.head + 1) % HISTORY_MAX_POINTS;
-        if (s.len < HISTORY_MAX_POINTS)
-            s.len++;
+    catch {
+        return null;
     }
-    const now = Date.now();
-    s.lastMs = now;
-    historyCacheTime.set(key, now);
 }
-/** Read ring buffer as plain arrays for sendHistoricalData (allocates once per call, OK since it's only on connect). */
-function readHistorySeries(s) {
-    const len = s.len;
-    const tail = len < HISTORY_MAX_POINTS ? 0 : s.head;
-    const time = new Array(len);
-    const values = new Array(len);
-    for (let i = 0; i < len; i++) {
-        const idx = (tail + i) % HISTORY_MAX_POINTS;
-        time[i] = s.tBuf[idx];
-        values[i] = s.vBuf[idx];
+/** Re-read [gui] settings after a config save (wired via onConfigUpdated). */
+function reloadGuiStreamConfig() {
+    const next = parseGuiStreamConfig(safeReadConfigForGui());
+    if (next.mode !== guiStreamConfig.mode || next.pointsPerSecond !== guiStreamConfig.pointsPerSecond) {
+        console.log(`[ThinServer] GUI downsampling changed: ${next.mode} @ ${next.pointsPerSecond} pts/s per stream`);
     }
-    return { time, values };
+    guiStreamConfig = next;
+    envelope.setWindowMs(envelopeWindowMs(next));
 }
-function pruneHistory() {
-    const now = Date.now();
-    if (historyCache.size <= HISTORY_MAX_KEYS) {
-        for (const [key, s] of historyCache) {
-            if (now - s.lastMs > HISTORY_STALE_MS) {
-                historyCache.delete(key);
-                historyCacheTime.delete(key);
-            }
-        }
-    }
-    else {
-        const byAge = Array.from(historyCacheTime.entries()).sort((a, b) => a[1] - b[1]);
-        const toRemove = historyCache.size - HISTORY_MAX_KEYS;
-        for (let i = 0; i < toRemove && i < byAge.length; i++) {
-            historyCache.delete(byAge[i][0]);
-            historyCacheTime.delete(byAge[i][0]);
+/** Sample timestamps are forwarded from Elodin (bridge receipt, epoch ms). A
+ *  publisher on the wrong clock (e.g. steady_clock) would poison plots, so
+ *  anything implausibly far from the backend's clock falls back to receipt
+ *  time — worst case is exactly the pre-refactor behavior. */
+const MAX_SAMPLE_TS_SKEW_MS = 60_000;
+function saneSampleTimeMs(tsMs, fallbackMs) {
+    return Number.isFinite(tsMs) && Math.abs(tsMs - fallbackMs) <= MAX_SAMPLE_TS_SKEW_MS
+        ? tsMs : fallbackMs;
+}
+/** Single exit point for downsampled sensor streams: history + stats + WS. */
+function emitSensorPoint(key, entity, component, value, tMs) {
+    history.record(key, tMs, value);
+    stats.sensorUpdatesBroadcast++;
+    const update = { entity, component, value, timestamp: tMs };
+    broadcast({ type: MessageType.SENSOR_UPDATE, timestamp: Date.now(), payload: update });
+}
+// Timer flush so trickling/stopped streams don't hold their last window open.
+// Runs regardless of mode so a runtime envelope→throttle switch drains any
+// still-open windows instead of dropping them (map is empty in throttle mode).
+setInterval(() => {
+    for (const closed of envelope.flushOlderThan(Date.now())) {
+        for (const p of closed.points) {
+            emitSensorPoint(closed.key, closed.entity, closed.component, p.value, p.tMs);
         }
     }
-}
-setInterval(pruneHistory, 60_000);
+}, 50);
 // ── Mission time ─────────────────────────────────────────────────────────────
 let firstPacketTimeMs = null;
 import { loadCountdownTargetTimeMs, saveCountdownTargetTimeMs } from './countdown-state.js';
 let countdownTargetMs = loadCountdownTargetTimeMs();
+import { sessionManager } from './session-manager.js';
 // ── Calibration state ────────────────────────────────────────────────────────
 const ptCalibration = new Map();
 const calibrationPoints = new Map();
@@ -145,7 +154,10 @@ try {
     }
 }
 catch { /* no calibration file — fine */ }
-const calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
+// Sensor-role → entity naming. Rebuilt on config save (onConfigUpdated) so a
+// Sensor Roles edit reflects without a backend restart. calibrationHost reads
+// this via its channelToEntityMap property (updated in lockstep below).
+let calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
 /** Cached slot→board_id map for uniqueIdFromPtEntity — built once, avoids config re-reads on hot path. */
 const _ptSlotToBoardId = new Map();
 function _ensurePtSlotCache() {
@@ -257,11 +269,7 @@ function broadcastCommandedActuatorsForState(state) {
         if (!cmdEntity)
             continue;
         const key = `${cmdEntity}.actuator_state_commanded`;
-        if (firstPacketTimeMs !== null) {
-            const timeSec = (epochNow - firstPacketTimeMs) / 1000;
-            if (timeSec >= 0 && timeSec < 86400)
-                recordHistory(key, timeSec, value);
-        }
+        history.record(key, epochNow, value);
         stats.sensorUpdatesBroadcast++;
         broadcast({
             type: MessageType.SENSOR_UPDATE,
@@ -373,8 +381,11 @@ setInterval(() => {
         console.log(`[ThinServer] Heartbeat arrival rate: ${entries}`);
     }
     hbDiagCount.clear();
-    if (THIN_STATS_LOG && stats.relayEntityUpdatesReceived > 0) {
-        console.log(`[ThinServer] Stats: entityUpdates=${stats.relayEntityUpdatesReceived} broadcasts=${stats.sensorUpdatesBroadcast} wsClients=${wss.clients.size}`);
+    // Logged unconditionally when enabled — entityUpdates=0 is the single most
+    // useful reading there is (Elodin delivered nothing vs. downsampler dropped
+    // everything), so it must not be suppressed by a `> 0` guard.
+    if (THIN_STATS_LOG) {
+        console.log(`[ThinServer] Stats: entityUpdates=${stats.ingestEntityUpdatesReceived} broadcasts=${stats.sensorUpdatesBroadcast} wsClients=${wss.clients.size}`);
     }
 }, 5000);
 // Count heartbeat arrivals (called from packet handler before updateBoard)
@@ -388,6 +399,9 @@ const prevConnectedState = new Map();
 const boardFirstSeenSetupMs = new Map();
 const activeNotificationKeys = new Set();
 const selfTestNotifiedBoards = new Set();
+/** Latest self-test results — key = "SELF_TEST.BOARD_{id}.sensor_{n}", value = 0|1.
+ *  Replayed as SENSOR_UPDATE on WS connect so late-connecting browsers see results. */
+const selfTestLatest = new Map();
 function broadcastNotification(payload) {
     broadcast({ type: MessageType.NOTIFICATION, timestamp: Date.now(), payload });
 }
@@ -462,9 +476,21 @@ setInterval(markStaleBoards, 1000);
 // ── Packet stats ─────────────────────────────────────────────────────────────
 // Counts raw entity updates received from Elodin DB vs broadcasts sent to WS clients.
 // GET /stats returns these so the integration test can verify no drops occur before
-// the throttle (Elodin→backend must be lossless; backend→WS is intentionally throttled).
+// the throttle (backend→WS is intentionally throttled). NOTE: Elodin→backend is NOT
+// strictly lossless — the DB's live stream coalesces same-channel rows written in one
+// burst (multi-chunk board packets), forwarding at least one row per channel per
+// packet; DB *storage* keeps every row. See integration Test 15 for the invariant.
 const stats = {
-    relayEntityUpdatesReceived: 0, // every finite-value entity parsed from Elodin DB
+    ingestEntityUpdatesReceived: 0, // every finite-value entity parsed from Elodin DB
+    // Raw physical channel samples (non-_Cal, canonical component only): exactly one
+    // increment per per-channel per-chunk sample a board sent, so the integration test
+    // can compare this against the simulator's sent-sample ground truth for absolute
+    // end-to-end loss detection (UDP → bridge → Elodin DB → backend), independent of
+    // the GUI downsampler.
+    rawPrimarySamplesIngested: 0,
+    // Same counter split by board group (pt1/pt2/tc/rtd/lc/enc/act) so a
+    // conservation failure names the lossy stream instead of just the total.
+    rawPrimarySamplesByGroup: {},
     sensorUpdatesBroadcast: 0, // SENSOR_UPDATE messages actually sent (post-throttle)
     sequencerStatesReceived: 0, // packets successfully streamed through Elodin DB verifying storage
     startTimeMs: Date.now(),
@@ -476,12 +502,24 @@ let debugMode = false;
 const apiHandler = createAPIHandler({
     getEngineState: () => currentState,
     getDebugInfo: () => ({
-        relayConnected: elodin.isConnected(),
-        relayPacketsReceived: stats.relayEntityUpdatesReceived,
+        ingestConnected: elodin.isConnected(),
+        ingestPacketsReceived: stats.ingestEntityUpdatesReceived,
         wsClients: wss.clients.size,
-        sensorCacheSize: historyCache.size,
+        sensorCacheSize: history.size,
         useRelay: false,
+        boardScanRateHz: getBoardScanRateHz(),
     }),
+    onConfigUpdated: () => {
+        reloadGuiStreamConfig();
+        // Rebuild sensor-role-derived caches so a Sensor Roles / board_id edit reflects
+        // live (the backend is always-on and isn't restarted by a session start).
+        calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
+        calibrationHost.channelToEntityMap = calChannelToEntityMap;
+        _ptSlotToBoardId.clear();
+        // Tell every open client the config changed so they refetch /api/* live
+        // (sensor-config, pressure-limits, pressure-bars) — no reload/restart.
+        broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
+    },
 });
 const httpServer = http.createServer(async (req, res) => {
     const urlPath = (req.url ?? '').split('?')[0] ?? '';
@@ -555,6 +593,15 @@ wss.on('connection', (ws, req) => {
         req.socket.remoteAddress ||
         'unknown';
     const userAgent = req.headers['user-agent'] ?? 'unknown';
+    // Engine-control authorization. Caddy injects X-Auth-Email on the upgrade
+    // (from the session cookie). No header ⇒ no Caddy in front (dev/test-stand) ⇒
+    // trusted local ⇒ treat as operator. Approved operators still explicitly arm
+    // control via the toggle below (__daqControlAuthorized) — a fat-finger guard
+    // in every env.
+    const authEmail = (req.headers['x-auth-email'] || '').trim();
+    const isOp = authEmail === '' ? true : isOperator(authEmail);
+    ws.__daqOperator = isOp;
+    ws.__daqControlAuthorized = false;
     let inboundMessages = 0;
     let outboundMessages = 0;
     let lastInboundAt = 0;
@@ -563,7 +610,15 @@ wss.on('connection', (ws, req) => {
     // Connection status
     send(ws, {
         type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
-        payload: { connected: true, elodinConnected: elodin.isConnected(), connId },
+        payload: { connected: true, elodinConnected: elodin.isConnected(), connId, simulated: isSimulated() },
+    });
+    outboundMessages++;
+    lastOutboundAt = Date.now();
+    // Control authorization status — lets the UI enable/disable the arm step
+    // before arming (non-operators see it disabled, never a false-armed state).
+    send(ws, {
+        type: MessageType.CONTROL_STATUS, timestamp: Date.now(),
+        payload: { operator: isOp, email: authEmail || null },
     });
     outboundMessages++;
     lastOutboundAt = Date.now();
@@ -581,6 +636,11 @@ wss.on('connection', (ws, req) => {
     });
     outboundMessages++;
     lastOutboundAt = Date.now();
+    // Session status (enabled=false in off mode → clients hide the button).
+    send(ws, {
+        type: MessageType.SESSION_UPDATE, timestamp: Date.now(),
+        payload: sessionManager.getStatus(),
+    });
     // Current state
     send(ws, {
         type: MessageType.STATE_UPDATE, timestamp: Date.now(),
@@ -611,6 +671,17 @@ wss.on('connection', (ws, req) => {
             lastOutboundAt = Date.now();
         }
     }
+    // Self-test snapshot: replay latest results so late-connecting browsers see them.
+    // Self-test is a one-shot event during board SETUP — without this, browsers that
+    // connect after SETUP would never receive the results.
+    if (selfTestLatest.size > 0) {
+        const t = Date.now();
+        for (const update of selfTestLatest.values()) {
+            send(ws, { type: MessageType.SENSOR_UPDATE, timestamp: t, payload: update });
+        }
+        outboundMessages += selfTestLatest.size;
+        lastOutboundAt = Date.now();
+    }
     // Historical data
     sendHistoricalData(ws);
     outboundMessages++;
@@ -652,18 +723,13 @@ wss.on('connection', (ws, req) => {
         })}`);
     });
 });
-function sendHistoricalData(ws) {
+/** Historical backfill. Times are epoch ms (same clock as SENSOR_UPDATE
+ *  payload timestamps — clients merge by timestamp, no rebasing). Optional
+ *  query narrows to specific keys and/or points newer than sinceMs; no query
+ *  = full dump (legacy behavior, still used on connect). */
+function sendHistoricalData(ws, query) {
     const MAX_SEND_POINTS = 3000;
-    const payload = {};
-    for (const [key, series] of historyCache) {
-        if (series.len === 0)
-            continue;
-        const { time, values } = readHistorySeries(series);
-        const start = time.length > MAX_SEND_POINTS ? time.length - MAX_SEND_POINTS : 0;
-        payload[key] = start > 0
-            ? { time: time.slice(start), values: values.slice(start) }
-            : { time, values };
-    }
+    const payload = history.buildPayload(query, MAX_SEND_POINTS);
     send(ws, { type: MessageType.HISTORICAL_DATA, timestamp: Date.now(), payload });
 }
 // ── Message handling ─────────────────────────────────────────────────────────
@@ -672,8 +738,18 @@ function handleMessage(ws, message) {
         case MessageType.SEND_COMMAND:
             handleCommand(ws, message.payload);
             break;
+        case MessageType.CONTROL_UNLOCK: {
+            // Arming is identity-only: approved operators may toggle control on. Checked
+            // server-side; the reply drives the UI's armed state, so it can never
+            // disagree with what the backend will actually accept.
+            const op = ws.__daqOperator === true;
+            ws.__daqControlAuthorized = op;
+            const reason = op ? 'ok' : 'not_operator';
+            send(ws, { type: MessageType.CONTROL_UNLOCK_RESULT, timestamp: Date.now(), payload: { ok: op, reason } });
+            break;
+        }
         case MessageType.QUERY_HISTORICAL:
-            sendHistoricalData(ws);
+            sendHistoricalData(ws, message.payload);
             break;
         case MessageType.CALIBRATION_COMMAND:
             handleCalibrationCommand(calibrationHost, ws, message.payload);
@@ -696,39 +772,25 @@ function broadcastStateUpdate() {
     });
 }
 function handleCommand(ws, command) {
+    // The real, unbypassable gate: engine-control commands require an armed
+    // (approved-operator) connection, regardless of what the UI shows.
+    if (CONTROL_COMMAND_TYPES.has(command.commandType) && !ws.__daqControlAuthorized) {
+        send(ws, {
+            type: MessageType.ERROR, timestamp: Date.now(),
+            payload: { message: 'Control locked: unlock as an approved operator first.' },
+        });
+        return;
+    }
     switch (command.commandType) {
         case 'state_transition': {
-            const prevState = currentState;
             const targetState = command.data.state;
             const stateName = SystemState[targetState] ?? String(targetState);
             const csvName = STATE_TO_CSV_NAME[stateName] ?? stateName;
-            // Optimistic UI: reflect requested state immediately; roll back if sequencer rejects.
-            currentState = targetState;
-            broadcastStateUpdate();
-            // Actuator tiles read ACT_CMD.* from CSV snapshot — do not wait for actuator_service TCP
-            // (that round-trip was causing ~1–2s lag vs state buttons).
-            broadcastCommandedActuatorsForState(currentState);
-            if (targetState === SystemState.FIRE && prevState !== SystemState.FIRE) {
-                sendToControllerService('FIRE_START\n').catch(() => { });
-            }
-            else if (prevState === SystemState.FIRE && targetState !== SystemState.FIRE) {
-                sendToControllerService('FIRE_STOP\n').catch(() => { });
-            }
+            // No optimistic update — real state/actuator positions arrive via _SEQUENCER_STATE [0x50]
+            // and [0x32] packets from Elodin. FIRE_START/FIRE_STOP are sent from the subscriber path.
             sendToActuatorService(`TRANSITION:${csvName}\n`).then(({ ok, reply }) => {
                 console.log(`[ThinServer] State transition ${stateName} → ${csvName}: ${ok ? 'OK' : 'FAIL'} (${reply})`);
-                if (ok) {
-                    scheduleActuatorMismatchCheck(currentState);
-                }
-                else {
-                    currentState = prevState;
-                    broadcastStateUpdate();
-                    broadcastCommandedActuatorsForState(prevState);
-                    if (prevState === SystemState.FIRE && targetState !== SystemState.FIRE) {
-                        sendToControllerService('FIRE_START\n').catch(() => { });
-                    }
-                    else if (targetState === SystemState.FIRE && prevState !== SystemState.FIRE) {
-                        sendToControllerService('FIRE_STOP\n').catch(() => { });
-                    }
+                if (!ok) {
                     send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `State transition failed: ${reply}` } });
                 }
             });
@@ -737,36 +799,10 @@ function handleCommand(ws, command) {
         case 'actuator': {
             const open = command.data.actuatorState === 1 || command.data.actuatorState === 'open';
             const actuatorName = command.data.actuatorName;
-            const cmdEntity = resolveActuatorCmdEntity(actuatorName);
-            const v = open ? 1 : 0;
-            const pushActuatorCmdBroadcast = (val) => {
-                if (!cmdEntity)
-                    return;
-                const ts = Date.now();
-                const key = `${cmdEntity}.actuator_state_commanded`;
-                if (firstPacketTimeMs !== null) {
-                    const timeSec = (ts - firstPacketTimeMs) / 1000;
-                    if (timeSec >= 0 && timeSec < 86400)
-                        recordHistory(key, timeSec, val);
-                }
-                stats.sensorUpdatesBroadcast++;
-                broadcast({
-                    type: MessageType.SENSOR_UPDATE,
-                    timestamp: ts,
-                    payload: { entity: cmdEntity, component: 'actuator_state_commanded', value: val, timestamp: ts },
-                });
-            };
-            // Optimistic UI; debug manual commands keep the clicked value (sequencer does not re-CSV).
-            pushActuatorCmdBroadcast(v);
+            // No optimistic update — real commanded state arrives via [0x32] packets from Elodin.
             sendToActuatorService(`ACTUATOR:${actuatorName}:${open ? 1 : 0}\n`).then(({ ok, reply }) => {
                 if (!ok) {
-                    pushActuatorCmdBroadcast(open ? 0 : 1);
                     send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Actuator command failed: ${reply}` } });
-                    return;
-                }
-                // Non-debug: snap tiles to full state CSV. Debug: keep manual override (do not overwrite click).
-                if (!debugMode) {
-                    broadcastCommandedActuatorsForState(currentState);
                 }
             });
             break;
@@ -783,13 +819,38 @@ function handleCommand(ws, command) {
             break;
         }
         case 'extend_fire':
-            sendToActuatorService('EXTEND_FIRE\n').catch(() => { });
+            sendToActuatorService('EXTEND_FIRE\n').then(({ ok, reply }) => {
+                console.log(`[ThinServer] Extend fire: ${ok ? 'OK' : 'FAIL'} (${reply})`);
+                if (!ok) {
+                    send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Extend fire failed: ${reply}` } });
+                }
+            });
             break;
         case 'set_countdown_target':
             countdownTargetMs = command.data.targetTimeMs ?? null;
             saveCountdownTargetTimeMs(countdownTargetMs);
             broadcast({ type: MessageType.COUNTDOWN_TARGET_UPDATE, timestamp: Date.now(), payload: { targetTimeMs: countdownTargetMs } });
             break;
+        case 'session_start':
+            sessionManager
+                .start(!!command.data.keepData, command.data.durationMs ?? 0, !!command.data.simulated)
+                .then(() => broadcastConnectionStatus())
+                .catch((err) => send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session start failed: ${err.message}` } }));
+            break;
+        case 'session_stop':
+            sessionManager
+                .stop(false)
+                .then(() => broadcastConnectionStatus())
+                .catch((err) => send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session stop failed: ${err.message}` } }));
+            break;
+        case 'session_extend':
+            try {
+                sessionManager.extend(command.data.addMs ?? 0);
+            }
+            catch (err) {
+                send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session extend failed: ${err.message}` } });
+            }
+            break;
         default:
             // stub for unhandled commands (calibration, controller_frequency, etc.)
             send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Command not supported in thin backend: ${command.commandType}` } });
@@ -892,9 +953,28 @@ function scheduleResubscribe(attempt) {
         });
     }, 5000);
 }
+// True when incoming data is synthetic. In a session-enabled deployment this is
+// exactly "an active simulated run" — the backend's own USE_SIM env is ignored
+// there because the systemd sim harness sets USE_SIM=1 on the backend process
+// permanently (so it would wrongly read simulated even when the run is stopped or
+// live). Only the field-laptop path (session control off, no run concept) falls
+// back to USE_SIM=1 (the terminal `dev.sh --sim` stack). Drives the purple badge.
+function isSimulated() {
+    if (sessionManager.isEnabled())
+        return sessionManager.isSimulated();
+    return process.env.USE_SIM === '1';
+}
+// Re-broadcast connection status (used when the simulated state flips on session
+// start/stop so the badge updates without waiting for an Elodin reconnect).
+function broadcastConnectionStatus() {
+    broadcast({
+        type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
+        payload: { connected: true, elodinConnected: elodin.isConnected(), simulated: isSimulated() },
+    });
+}
 elodin.on('connected', () => {
     console.log('[ThinServer] Elodin Connected');
-    broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: true } });
+    broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: true, simulated: isSimulated() } });
     if (resubscribeTimer) {
         clearTimeout(resubscribeTimer);
         resubscribeTimer = null;
@@ -909,7 +989,7 @@ elodin.on('connected', () => {
 });
 elodin.on('disconnected', () => {
     console.log('[ThinServer] Elodin DB disconnected');
-    broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: false } });
+    broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: false, simulated: isSimulated() } });
     if (resubscribeTimer) {
         clearTimeout(resubscribeTimer);
         resubscribeTimer = null;
@@ -937,10 +1017,12 @@ elodin.on('packet', (header, payload) => {
             return;
         }
         const epochNow = Date.now();
-        // ── Self-test failure → NOTIFICATION ────────────────────────────────
-        if (high === 0x60 && parsedList.length > 0) {
+        // ── Self-test results → snapshot + NOTIFICATION ────────────────────
+        if (high >= 0x60 && high <= 0x6F && parsedList.length > 0) {
             const boardId = low;
             for (const parsed of parsedList) {
+                const stKey = `${parsed.entity}.${parsed.component}`;
+                selfTestLatest.set(stKey, { entity: parsed.entity, component: parsed.component, value: parsed.value, timestamp: epochNow });
                 if (parsed.value === 0 && !selfTestNotifiedBoards.has(boardId)) {
                     selfTestNotifiedBoards.add(boardId);
                     const status = boardsStatus.get(boardId);
@@ -974,10 +1056,20 @@ elodin.on('packet', (header, payload) => {
             broadcastCommandedActuatorsForState(currentState);
             scheduleActuatorMismatchCheck(currentState);
             if (currentState === SystemState.FIRE && prevState !== SystemState.FIRE) {
-                sendToControllerService('FIRE_START\n').catch(() => { });
+                sendToControllerService('FIRE_START\n').then(({ ok, reply }) => {
+                    if (!ok) {
+                        console.error(`[ThinServer] FIRE_START not acknowledged by controller_service: ${reply}`);
+                        broadcastNotification({ key: 'fire_start_failed', category: 'error', message: `FIRE_START not acknowledged by controller: ${reply}`, timestampMs: Date.now(), ongoing: false });
+                    }
+                });
             }
             else if (prevState === SystemState.FIRE && currentState !== SystemState.FIRE) {
-                sendToControllerService('FIRE_STOP\n').catch(() => { });
+                sendToControllerService('FIRE_STOP\n').then(({ ok, reply }) => {
+                    if (!ok) {
+                        console.error(`[ThinServer] FIRE_STOP not acknowledged by controller_service: ${reply}`);
+                        broadcastNotification({ key: 'fire_stop_failed', category: 'error', message: `FIRE_STOP not acknowledged by controller: ${reply}`, timestampMs: Date.now(), ongoing: false });
+                    }
+                });
             }
             return;
         }
@@ -1013,19 +1105,39 @@ elodin.on('packet', (header, payload) => {
                 }
             }
             const key = `${parsed.entity}.${parsed.component}`;
-            stats.relayEntityUpdatesReceived++;
-            const throttle = shouldThrottleSensorStreamPacket(high, low);
-            const lastBcast = broadcastLastTime.get(key) ?? 0;
-            if (throttle && epochNow - lastBcast < BROADCAST_MIN_MS)
+            stats.ingestEntityUpdatesReceived++;
+            // Pre-downsample ingest rate (what boards/Elodin actually deliver) — not WS broadcast rate.
+            recordBoardScanIngest(parsed.entity, parsed.component);
+            // _Cal excluded: calibration_service republications would double-count PT samples.
+            if (!parsed.entity.includes('_Cal') && isPrimaryPhysicalStream(parsed.entity, parsed.component)) {
+                stats.rawPrimarySamplesIngested++;
+                const group = mapEntityToGroup(parsed.entity) ?? 'other';
+                stats.rawPrimarySamplesByGroup[group] = (stats.rawPrimarySamplesByGroup[group] || 0) + 1;
+            }
+            // Sample time = Elodin field-0 timestamp (bridge receipt, epoch ms),
+            // guarded against off-clock publishers.
+            const tsMs = saneSampleTimeMs(parsed.timestamp, epochNow);
+            if (!shouldThrottleSensorStreamPacket(high, low)) {
+                // Event-like streams (state, self-test, encoder, controller): every
+                // update goes out immediately, no downsampling.
+                emitSensorPoint(key, parsed.entity, parsed.component, parsed.value, tsMs);
                 continue;
-            broadcastLastTime.set(key, epochNow);
-            const update = { entity: parsed.entity, component: parsed.component, value: parsed.value, timestamp: epochNow };
-            const timeSec = (epochNow - firstPacketTimeMs) / 1000;
-            if (timeSec >= 0 && timeSec < 86400) {
-                recordHistory(key, timeSec, parsed.value);
             }
-            stats.sensorUpdatesBroadcast++;
-            broadcast({ type: MessageType.SENSOR_UPDATE, timestamp: epochNow, payload: update });
+            if (guiStreamConfig.mode === 'throttle') {
+                // Legacy drop-throttle (config.toml [gui] downsample_mode = "throttle").
+                const lastBcast = broadcastLastTime.get(key) ?? 0;
+                if (epochNow - lastBcast < BROADCAST_MIN_MS)
+                    continue;
+                broadcastLastTime.set(key, epochNow);
+                emitSensorPoint(key, parsed.entity, parsed.component, parsed.value, tsMs);
+            }
+            else {
+                // Min/max envelope: extremes of each window survive with their real
+                // timestamps, so transients can't hide between broadcast slots.
+                for (const p of envelope.add(key, parsed.entity, parsed.component, tsMs, parsed.value)) {
+                    emitSensorPoint(key, parsed.entity, parsed.component, p.value, p.tMs);
+                }
+            }
         }
     }
     catch (err) {
@@ -1057,8 +1169,16 @@ httpServer.on('error', (err) => {
         console.error('[ThinServer] HTTP server error:', err);
     }
 });
+// Serve the built SPA (frontend/dist) on GUI_PORT; 0 disables.
+const GUI_PORT = parseInt(process.env.GUI_PORT ?? '3000', 10);
+startGuiStaticServer(GUI_PORT);
 httpServer.listen(WS_PORT, () => {
     console.log(`[ThinServer] WebSocket server listening on port ${WS_PORT}`);
     console.log(`[ThinServer] Elodin DB: ${ELODIN_HOST}:${ELODIN_PORT}`);
     console.log(`[ThinServer] Actuator service: localhost:${ACT_SVC_PORT}`);
+    // Init the run-session manager last, once broadcast/notify + wss are live.
+    // No-op (enabled=false) unless SESSION_SERVICE_MODE is mock/systemd.
+    sessionManager.init(broadcast, broadcastNotification);
+    // Board diagnostic logs (type-15 LOGS forwarded by daq_bridge over loopback UDP).
+    startBoardLogReceiver(broadcast);
 });
diff --git a/daq-server/diablo_server/backend/dist/shared/types.js b/daq-server/diablo_server/backend/dist/shared/types.js
index 44be63386..47f608909 100644
--- a/daq-server/diablo_server/backend/dist/shared/types.js
+++ b/daq-server/diablo_server/backend/dist/shared/types.js
@@ -26,6 +26,12 @@ export var MessageType;
     MessageType["NOTIFICATION"] = "notification";
     MessageType["CONFIG_UPDATED"] = "config_updated";
     MessageType["COUNTDOWN_TARGET_UPDATE"] = "countdown_target_update";
+    MessageType["SESSION_UPDATE"] = "session_update";
+    MessageType["BOARD_LOG"] = "board_log";
+    // Engine-control authorization (DAQ operator gate)
+    MessageType["CONTROL_STATUS"] = "control_status";
+    MessageType["CONTROL_UNLOCK"] = "control_unlock";
+    MessageType["CONTROL_UNLOCK_RESULT"] = "control_unlock_result";
 })(MessageType || (MessageType = {}));
 // Sensor types
 export var SensorType;
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index c598e3043..f9f7abdcb 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -7,11 +7,12 @@ import * as fs from 'fs';
 import * as os from 'os';
 import * as path from 'path';
 import { IncomingMessage, ServerResponse } from 'http';
-import { readConfig, writeConfig, getConfigPath } from './routes/config.js';
+import { readConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
 import { isOperator } from './operators.js';
 import { discoverProjects, getEnabledBoardsForFlash, getOtaWorkspaceRoot, BOARD_TYPE_TO_PROJECT } from './ota-build.js';
 import { otaBuildFlash, otaFlashFirmwareFile } from './ota-service-cmd.js';
 import { ElodinQueryClient, QueryOptions } from './elodin-query.js';
+import { getBoardLogHistory, getBoardLogStats } from './board-logs.js';
 import type { SensorUpdate } from './shared-types.js';
 
 // ── Sensor config helpers ──────────────────────────────────────────────────
@@ -398,7 +399,7 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         if (!currentQueryClient) {
           res.writeHead(503, { 'Content-Type': 'application/json' });
           res.end(JSON.stringify({ error: 'Query client not available' }));
-          return;
+          return true;
         }
 
         const packetIdHigh = parseInt(url.searchParams.get('packet_id_high') || '0x20', 16);
@@ -453,7 +454,7 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         if (!currentQueryClient) {
           res.writeHead(503, { 'Content-Type': 'application/json' });
           res.end(JSON.stringify({ error: 'Query client not available' }));
-          return;
+          return true;
         }
 
         const packetIds = currentQueryClient.getSubscribedPacketIds();
@@ -476,6 +477,49 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
           entity,
           message: 'Use WebSocket for real-time data. Historical queries via /api/query',
         }));
+      } else if (url.pathname === '/api/board-logs' && req.method === 'GET') {
+        // Recent cached board diagnostic logs (in-memory, session-scoped).
+        // Optional ?board=<id> and ?limit=<n>. Lets a freshly-opened GUI backfill.
+        const boardRaw = url.searchParams.get('board');
+        const limitRaw = url.searchParams.get('limit');
+        const board = boardRaw !== null ? Number(boardRaw) : undefined;
+        const limit = limitRaw !== null ? Number(limitRaw) : undefined;
+        const history = getBoardLogHistory({
+          board: board !== undefined && Number.isFinite(board) ? board : undefined,
+          limit: limit !== undefined && Number.isFinite(limit) ? limit : undefined,
+        });
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify(history));
+      } else if (url.pathname === '/api/board-logs/stats' && req.method === 'GET') {
+        // Cumulative per-board log counters { boardId: { received, truncated } }.
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify({ stats: getBoardLogStats() }));
+      } else if (url.pathname === '/api/board-log-mode' && req.method === 'POST') {
+        // Set one board's logging/serial-print mode byte (0..3) via a surgical
+        // single-field edit of config.toml. Operators only. config_broadcast_service
+        // re-reads config.toml and sends the board the new byte on its next cycle.
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        let body = '';
+        req.on('data', (chunk) => { body += chunk.toString(); });
+        req.on('end', () => {
+          try {
+            const { boardId, mode } = JSON.parse(body || '{}');
+            const bid = Number(boardId);
+            const m = Number(mode);
+            if (!Number.isInteger(bid) || bid <= 0) throw new Error('Invalid boardId');
+            if (!Number.isInteger(m) || m < 0 || m > 3) throw new Error('mode must be an integer 0..3');
+            patchBoardField(bid, 'enable_serial_printing', m);
+            res.writeHead(200, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ success: true, boardId: bid, mode: m }));
+          } catch (error: any) {
+            res.writeHead(400, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ error: error.message || 'Failed to set log mode' }));
+          }
+        });
       } else if (url.pathname === '/api/debug' && req.method === 'GET') {
         const info = getDebugInfo ? getDebugInfo() : null;
         res.writeHead(200, { 'Content-Type': 'application/json' });
@@ -501,7 +545,7 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         if (boards.length === 0) {
           res.writeHead(200, { 'Content-Type': 'application/json' });
           res.end(JSON.stringify({ success: false, message: 'No enabled boards in config' }));
-          return;
+          return true;
         }
 
         res.writeHead(200, {
diff --git a/daq-server/diablo_server/backend/src/board-logs.ts b/daq-server/diablo_server/backend/src/board-logs.ts
new file mode 100644
index 000000000..376538f2d
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/board-logs.ts
@@ -0,0 +1,132 @@
+/**
+ * Board log ingestion + in-memory cache.
+ *
+ * Boards stream diagnostic logs to the server as type-15 LOGS packets (one per
+ * board per second). daq_bridge parses them and forwards a small envelope to
+ * this backend over loopback UDP:
+ *
+ *   [board_id:u8][flags:u8][text_len:u16 LE][text bytes]   (flags bit0 = TRUNCATED)
+ *
+ * We cache the recent lines in memory (a global ring buffer, arrival order) and
+ * push each packet's lines to WS clients. These logs deliberately do NOT go to
+ * Elodin — there is no need to replay board logs for past runs, so simple
+ * server-arrival ordering (Date.now()) is used, not the board-clock timestamping
+ * infrastructure. History is session-scoped: it lives only in this process.
+ */
+
+import * as dgram from 'dgram';
+import { MessageType, type BoardLogLine, type BoardLogTotals } from '../../shared/types.js';
+
+export type { BoardLogLine, BoardLogTotals } from '../../shared/types.js';
+
+const LOG_INGEST_PORT = parseInt(process.env.LOG_INGEST_PORT || '8092', 10);
+
+// Global ring buffer (arrival order). 16 boards × ~1 line/s → a few tens of
+// minutes of history at this size. Bounds memory regardless of board count.
+const GLOBAL_CAP = 4000;
+
+const ring: BoardLogLine[] = [];
+const truncatedSeen = new Map<number, boolean>();
+// Cumulative per-board counters since backend start (packets, not lines):
+// received = BOARD_LOG packets seen, truncated = those with the TRUNCATED flag.
+const totals = new Map<number, BoardLogTotals>();
+
+function bumpTotals(boardId: number, truncated: boolean): BoardLogTotals {
+  const t = totals.get(boardId) ?? { received: 0, truncated: 0 };
+  t.received += 1;
+  if (truncated) t.truncated += 1;
+  totals.set(boardId, t);
+  return t;
+}
+
+function appendLine(entry: BoardLogLine): void {
+  ring.push(entry);
+  if (ring.length > GLOBAL_CAP) {
+    ring.splice(0, ring.length - GLOBAL_CAP);
+  }
+}
+
+type BroadcastFn = (message: object) => void;
+
+/**
+ * Bind the loopback UDP socket daq_bridge forwards board logs to, cache the
+ * lines, and broadcast each packet's lines to WS clients. Always-on (does not
+ * depend on a session), though logs only flow while daq_bridge is running.
+ */
+export function startBoardLogReceiver(broadcast: BroadcastFn): dgram.Socket {
+  const sock = dgram.createSocket('udp4');
+
+  sock.on('message', (msg: Buffer) => {
+    if (msg.length < 4) return; // board_id + flags + text_len
+    const boardId = msg.readUInt8(0);
+    const flags = msg.readUInt8(1);
+    const textLen = msg.readUInt16LE(2);
+    if (msg.length < 4 + textLen) return;
+    const text = msg.toString('utf8', 4, 4 + textLen);
+
+    const truncated = (flags & 0x01) !== 0;
+    if (truncated) truncatedSeen.set(boardId, true);
+
+    // Blob is newline-delimited; drop empty lines (trailing '\n', blank spacers).
+    const lines = text.split('\n').map((l) => l.replace(/\r$/, '')).filter((l) => l.length > 0);
+    if (lines.length === 0) return;
+
+    // Count each packet (flush), matching the per-flush TRUNCATED flag.
+    const t = bumpTotals(boardId, truncated);
+
+    const ts = Date.now();
+    for (const line of lines) {
+      appendLine({ boardId, ts, line });
+    }
+
+    broadcast({
+      type: MessageType.BOARD_LOG,
+      timestamp: ts,
+      payload: { boardId, ts, lines, truncated, totals: { ...t } },
+    });
+  });
+
+  sock.on('error', (err) => {
+    console.error('[board-logs] UDP socket error:', err);
+  });
+
+  sock.bind(LOG_INGEST_PORT, '127.0.0.1', () => {
+    console.log(`✅ Board-log receiver listening on 127.0.0.1:${LOG_INGEST_PORT}`);
+  });
+
+  return sock;
+}
+
+export interface BoardLogHistoryQuery {
+  /** Restrict to a single board_id. */
+  board?: number;
+  /** Return at most this many most-recent lines (default 500). */
+  limit?: number;
+}
+
+/** Recent cached log lines (arrival order, oldest → newest), for backfill. */
+export function getBoardLogHistory(query: BoardLogHistoryQuery = {}): {
+  lines: BoardLogLine[];
+  truncated: boolean;
+} {
+  const limit = query.limit && query.limit > 0 ? query.limit : 500;
+  let lines = ring;
+  if (typeof query.board === 'number') {
+    lines = ring.filter((e) => e.boardId === query.board);
+  }
+  const sliced = lines.slice(Math.max(0, lines.length - limit));
+  const truncated =
+    typeof query.board === 'number'
+      ? truncatedSeen.get(query.board) === true
+      : Array.from(truncatedSeen.values()).some((v) => v);
+  return { lines: sliced, truncated };
+}
+
+/** Cumulative per-board log counters (packets received / truncated), for backfill. */
+export function getBoardLogStats(): Record<number, BoardLogTotals> {
+  const out: Record<number, BoardLogTotals> = {};
+  for (const [boardId, t] of totals) {
+    out[boardId] = { ...t };
+  }
+  return out;
+}
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 344816393..ccc3b6b42 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -167,3 +167,54 @@ export function writeConfig(config: any): void {
     throw new Error(`Failed to write config: ${error.message}`);
   }
 }
+
+/**
+ * Surgically set a single integer field on the `[boards.<key>]` section whose
+ * `board_id` matches `boardId`, editing the raw TOML text in place. Unlike
+ * writeConfig (whole-object round-trip via @iarna/toml, which drops comments and
+ * could clobber a concurrent edit), this rewrites only the one line, leaving the
+ * rest of the file — comments included — byte-for-byte unchanged. Used by the
+ * Boards-tab logging-mode dropdown; config_broadcast_service re-reads the file.
+ */
+export function patchBoardField(boardId: number, field: string, value: number): void {
+  const configPath = getConfigPath();
+  const raw = readFileSync(configPath, 'utf-8');
+
+  // Map board_id → section key (e.g. "pt_board") via the parsed config.
+  const boards = (readConfig()?.boards ?? {}) as Record<string, { board_id?: unknown }>;
+  let boardKey: string | null = null;
+  for (const [key, b] of Object.entries(boards)) {
+    if (Number(b?.board_id) === boardId) { boardKey = key; break; }
+  }
+  if (!boardKey) throw new Error(`No board with board_id=${boardId} in config`);
+
+  const esc = boardKey.replace(/[.*+?^${}()|[\]\\]/g, '\\$&');
+  const headerRe = new RegExp(`^\\s*\\[boards\\.${esc}\\]\\s*$`);
+  const nextSectionRe = /^\s*\[/;
+  const fieldRe = new RegExp(`^(\\s*)${field}(\\s*)=.*$`);
+
+  const lines = raw.split('\n');
+  let start = -1;
+  for (let i = 0; i < lines.length; i++) {
+    if (headerRe.test(lines[i])) { start = i; break; }
+  }
+  if (start < 0) throw new Error(`Section [boards.${boardKey}] not found`);
+
+  // Scan the block (header+1 .. next section header / EOF) for the field.
+  let end = lines.length;
+  for (let i = start + 1; i < lines.length; i++) {
+    if (nextSectionRe.test(lines[i])) { end = i; break; }
+  }
+  let replaced = false;
+  for (let i = start + 1; i < end; i++) {
+    const m = lines[i].match(fieldRe);
+    if (m) {
+      lines[i] = `${m[1]}${field}${m[2]}= ${value}`;
+      replaced = true;
+      break;
+    }
+  }
+  if (!replaced) lines.splice(start + 1, 0, `${field} = ${value}`);
+
+  writeFileSync(configPath, lines.join('\n'), { encoding: 'utf-8', flag: 'w' });
+}
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index c00b2df34..d83e34940 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -30,6 +30,7 @@ import { loadSensorRoleMap } from './sensor-config.js';
 import { registerVTables, clearSubscriptionState } from './elodin-vtable-registry.js';
 import { registerControllerVTables } from './legacy/elodin-vtable-controller.js';
 import { createAPIHandler } from './api-server.js';
+import { startBoardLogReceiver } from './board-logs.js';
 import { readConfig } from './routes/config.js';
 import { getStateActuatorMap, CSV_ACTUATOR_TO_ENTITY, resolveActuatorCmdEntity, resolveActuatorTelemetryEntity } from './legacy/state-actuators.js';
 import type { StateActuatorMap } from './legacy/state-actuators.js';
@@ -170,7 +171,10 @@ try {
   }
 } catch { /* no calibration file — fine */ }
 
-const calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
+// Sensor-role → entity naming. Rebuilt on config save (onConfigUpdated) so a
+// Sensor Roles edit reflects without a backend restart. calibrationHost reads
+// this via its channelToEntityMap property (updated in lockstep below).
+let calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
 
 /** Cached slot→board_id map for uniqueIdFromPtEntity — built once, avoids config re-reads on hot path. */
 const _ptSlotToBoardId = new Map<number, number>();
@@ -539,6 +543,11 @@ const apiHandler = createAPIHandler({
   }),
   onConfigUpdated: () => {
     reloadGuiStreamConfig();
+    // Rebuild sensor-role-derived caches so a Sensor Roles / board_id edit reflects
+    // live (the backend is always-on and isn't restarted by a session start).
+    calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
+    calibrationHost.channelToEntityMap = calChannelToEntityMap;
+    _ptSlotToBoardId.clear();
     // Tell every open client the config changed so they refetch /api/* live
     // (sensor-config, pressure-limits, pressure-bars) — no reload/restart.
     broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
@@ -1236,4 +1245,6 @@ httpServer.listen(WS_PORT, () => {
   // Init the run-session manager last, once broadcast/notify + wss are live.
   // No-op (enabled=false) unless SESSION_SERVICE_MODE is mock/systemd.
   sessionManager.init(broadcast, broadcastNotification);
+  // Board diagnostic logs (type-15 LOGS forwarded by daq_bridge over loopback UDP).
+  startBoardLogReceiver(broadcast);
 });
diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 800cdc1d6..47e7902da 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -1,4 +1,8 @@
+#include <arpa/inet.h>
+#include <netinet/in.h>
 #include <signal.h>
+#include <sys/socket.h>
+#include <unistd.h>
 
 #include <array>
 #include <atomic>
@@ -39,6 +43,47 @@ std::vector<uint8_t> build_server_heartbeat_packet() {
     pkt[6] = 0;  // engine_state = SAFE
     return pkt;
 }
+
+// Forwards parsed board-log text to the Node backend over UDP (loopback). The
+// backend caches it in memory and pushes it to the GUI — logs deliberately do
+// NOT go to Elodin (no need to replay board logs for past runs).
+//
+// Envelope (little-endian): [board_id:u8][flags:u8][text_len:u16][text bytes].
+class BackendLogForwarder {
+   public:
+    BackendLogForwarder(const std::string& host, uint16_t port) {
+        sock_ = socket(AF_INET, SOCK_DGRAM, 0);
+        std::memset(&dest_, 0, sizeof(dest_));
+        dest_.sin_family = AF_INET;
+        dest_.sin_port = htons(port);
+        inet_pton(AF_INET, host.c_str(), &dest_.sin_addr);
+    }
+    ~BackendLogForwarder() {
+        if (sock_ >= 0)
+            close(sock_);
+    }
+
+    bool ready() const { return sock_ >= 0; }
+
+    void forward(uint8_t board_id, uint8_t flags, const uint8_t* text, uint16_t text_len) {
+        if (sock_ < 0)
+            return;
+        std::vector<uint8_t> env;
+        env.reserve(4u + text_len);
+        env.push_back(board_id);
+        env.push_back(flags);
+        env.push_back(static_cast<uint8_t>(text_len & 0xFF));
+        env.push_back(static_cast<uint8_t>((text_len >> 8) & 0xFF));
+        if (text && text_len)
+            env.insert(env.end(), text, text + text_len);
+        sendto(sock_, env.data(), env.size(), 0, reinterpret_cast<sockaddr*>(&dest_),
+               sizeof(dest_));
+    }
+
+   private:
+    int sock_ = -1;
+    sockaddr_in dest_{};
+};
 }  // namespace
 #include "calibration/PTCalibration.hpp"
 #include "calibration/SensorCalibration.hpp"
@@ -89,7 +134,8 @@ static void load_board_map_from_config(const std::string& config_path,
                                        uint16_t& db_port, uint16_t* out_sensor_port = nullptr,
                                        std::string* out_bind_ip = nullptr,
                                        ServerHeartbeatConfig* out_hb = nullptr,
-                                       fsw::time::TimeSyncConfig* out_ts = nullptr) {
+                                       fsw::time::TimeSyncConfig* out_ts = nullptr,
+                                       uint16_t* out_log_port = nullptr) {
     db_host = "127.0.0.1";
     db_port = 2240;
     std::ifstream f(config_path);
@@ -178,6 +224,9 @@ static void load_board_map_from_config(const std::string& config_path,
         } else if (current_section == "heartbeat_service" && out_hb) {
             if (key == "enabled" && (val == "true" || val == "1"))
                 out_hb->send_from_daq_bridge = false;  // heartbeat_service owns it
+        } else if (current_section == "logs" && out_log_port) {
+            if (key == "backend_udp_port")
+                *out_log_port = static_cast<uint16_t>(std::stoul(val));
         } else if (current_section == "time_sync" && out_ts) {
             if (key == "mode")
                 out_ts->mode = (val == "arrival") ? fsw::time::TimeSyncConfig::Mode::Arrival
@@ -302,8 +351,10 @@ int main(int argc, char* argv[]) {
     std::string config_bind_ip;
     ServerHeartbeatConfig hb_config;
     fsw::time::TimeSyncConfig time_sync_cfg;
+    uint16_t log_backend_port = 8092;  // [logs] backend_udp_port default
     load_board_map_from_config(config_path, board_map, &board_order, db_host, db_port,
-                               &config_sensor_port, &config_bind_ip, &hb_config, &time_sync_cfg);
+                               &config_sensor_port, &config_bind_ip, &hb_config, &time_sync_cfg,
+                               &log_backend_port);
     std::cout << "[TimeSync] mode="
               << (time_sync_cfg.mode == fsw::time::TimeSyncConfig::Mode::BoardClock ? "board-clock"
                                                                                     : "arrival")
@@ -406,6 +457,13 @@ int main(int argc, char* argv[]) {
     }
     std::cout << "✅ Sensor pipeline ready on port " << bind_port << std::endl;
 
+    // Board-log forwarder → Node backend (loopback UDP; not Elodin).
+    BackendLogForwarder log_forwarder("127.0.0.1", log_backend_port);
+    if (log_forwarder.ready())
+        std::cout << "✅ Board-log forwarder → 127.0.0.1:" << log_backend_port << std::endl;
+    else
+        std::cerr << "⚠️  Board-log forwarder socket failed (logs won't reach backend)" << std::endl;
+
     if (pipeline.set_broadcast(true)) {
         if (hb_config.send_from_daq_bridge)
             std::cout << "✅ Broadcast enabled for SERVER_HEARTBEAT" << std::endl;
@@ -593,6 +651,26 @@ int main(int argc, char* argv[]) {
                 // for this process only; other services must use config/config.toml.
             }
 
+            // ── Board LOGS (type 15): forward to backend, do NOT publish to Elodin ──
+            auto log = pipeline.get_last_log();
+            if (log) {
+                daq::PacketHeader log_hdr;
+                uint8_t flags = 0;
+                const uint8_t* text = nullptr;
+                uint16_t text_len = 0;
+                if (daq::parse_log_packet(log->data.data(), log->data.size(), log_hdr, flags, text,
+                                          text_len)) {
+                    // Board attribution by source IP (same mapping as sensor/heartbeat paths).
+                    uint8_t board_id = 0;
+                    if (const BoardConfig* log_cfg = resolve_board_config_by_source_ip(
+                            log->source_ip, board_map, board_order)) {
+                        if (log_cfg->board_id >= 0)
+                            board_id = static_cast<uint8_t>(log_cfg->board_id);
+                    }
+                    log_forwarder.forward(board_id, flags, text, text_len);
+                }
+            }
+
             std::this_thread::sleep_for(std::chrono::microseconds(500));
 
             // Drain Elodin socket: we only write TABLE packets; if the DB sends anything back
diff --git a/daq-server/diablo_server/frontend/app/boards/page.tsx b/daq-server/diablo_server/frontend/app/boards/page.tsx
index ce9b26ee6..7f623d572 100644
--- a/daq-server/diablo_server/frontend/app/boards/page.tsx
+++ b/daq-server/diablo_server/frontend/app/boards/page.tsx
@@ -6,6 +6,17 @@ import { useSensorStore, useStaleRenderTick } from '@/lib/store';
 import { isBoardLiveTelemetryStale } from '@/lib/sensor-rate';
 import { getApiBaseUrl, getWebSocketClient } from '@/lib/websocket';
 import { MessageType, BoardStatusPayload, BoardStatus, engineStateCodeToLabel } from '@/lib/types';
+import BoardLogModal from '@/components/dashboard/BoardLogModal';
+
+// Per-board logging / serial-print mode byte (0..3). Sent to the board in its
+// config packet; the firmware interprets it as: bit0 = USB verbose, mode>=2 =
+// stream Tier-1 to the server, mode 3 = stream Tier-1+2.
+const LOG_MODE_OPTIONS: { value: number; label: string }[] = [
+  { value: 0, label: 'USB only' },
+  { value: 1, label: 'USB verbose' },
+  { value: 2, label: 'Stream T1' },
+  { value: 3, label: 'Stream T1+2' },
+];
 
 function formatConfigSentAt(ms: number | undefined): string {
   if (ms == null) return '';
@@ -27,19 +38,25 @@ export default function BoardsPage() {
   const updateBoards = useSensorStore((s) => s.updateBoards);
   const boardsMap = useSensorStore((s) => s.boards as Record<number, BoardStatus>);
   const sensorData = useSensorStore((s) => s.sensorData);
+  const boardLogStats = useSensorStore((s) => s.boardLogStats);
   const ws = getWebSocketClient();
   /** Re-check BOARD_LIVE_TELEMETRY_STALE_MS vs lastHeartbeatMs on the same ~250ms cadence as sensor readouts. */
   useStaleRenderTick();
 
   const [expectedCountById, setExpectedCountById] = useState<Record<number, number>>({});
+  /** Current logging mode byte per board_id (from config; optimistically updated on change). */
+  const [logModeById, setLogModeById] = useState<Record<number, number>>({});
+  /** Board whose log modal is open (null = closed). */
+  const [openLogsBoardId, setOpenLogsBoardId] = useState<number | null>(null);
 
   useEffect(() => {
     fetch(`${getApiBaseUrl()}/api/config`)
       .then((r) => (r.ok ? r.json() : null))
-      .then((data: { config?: { boards?: Record<string, { board_id?: number; enabled?: boolean; active_connectors?: number[]; num_sensors?: number }> } } | null) => {
+      .then((data: { config?: { boards?: Record<string, { board_id?: number; enabled?: boolean; active_connectors?: number[]; num_sensors?: number; enable_serial_printing?: number | boolean }> } } | null) => {
         const boards = data?.config?.boards;
         if (!boards || typeof boards !== 'object') return;
         const next: Record<number, number> = {};
+        const modes: Record<number, number> = {};
         Object.values(boards).forEach((b) => {
           if (b.enabled === false) return;
           const boardId = Number(b?.board_id);
@@ -48,12 +65,26 @@ export default function BoardsPage() {
             ? b.active_connectors.length
             : Math.max(0, Number(b.num_sensors) || 0);
           next[boardId] = 1 + channelCount; // TDAC + channels
+          // Tolerate a legacy boolean value (true→1, false→0).
+          const raw = b.enable_serial_printing;
+          const mode = typeof raw === 'boolean' ? (raw ? 1 : 0) : Number(raw);
+          modes[boardId] = Number.isInteger(mode) ? Math.min(3, Math.max(0, mode)) : 0;
         });
         setExpectedCountById(next);
+        setLogModeById(modes);
       })
       .catch(() => {});
   }, []);
 
+  const setLogMode = useCallback((boardId: number, mode: number) => {
+    setLogModeById((prev) => ({ ...prev, [boardId]: mode })); // optimistic
+    fetch(`${getApiBaseUrl()}/api/board-log-mode`, {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify({ boardId, mode }),
+    }).catch(() => {});
+  }, []);
+
   const TYPE_ORDER = ['ACTUATOR', 'PT', 'LC', 'TC', 'RTD', 'ENCODER'];
 
   const boardsByType = useMemo(() => {
@@ -110,7 +141,7 @@ export default function BoardsPage() {
           <button
             type="button"
             onClick={handleResendConfig}
-            className="min-h-[48px] px-8 py-3 text-lg font-bold rounded-lg bg-primary text-primary-foreground hover:opacity-90 transition-opacity shadow-lg"
+            className="min-h-[48px] px-8 py-3 text-lg font-bold rounded-lg bg-blue-600 text-white hover:bg-blue-500 transition-colors shadow-lg"
           >
             Resend config
           </button>
@@ -199,6 +230,43 @@ export default function BoardsPage() {
                             </div>
                           </div>
                         </div>
+                        {/* Second status row: Self Test outcome + Logging mode */}
+                        <div className="flex flex-wrap gap-4 mb-3 text-lg">
+                          <div className="flex-1 min-w-0">
+                            <div className="text-text-muted mb-1.5 text-sm uppercase tracking-wider">Self Test</div>
+                            <div className="flex items-center gap-2.5">
+                              <div
+                                className={`w-3.5 h-3.5 rounded-full flex-shrink-0 ${
+                                  testStatus === 'Passed' ? 'bg-green-500' :
+                                  testStatus === 'Failed' ? 'bg-red-500' :
+                                  testStatus === 'Pending' ? 'bg-amber-500' : 'bg-gray-500'
+                                }`}
+                              />
+                              <span className={`font-mono font-bold text-lg truncate ${
+                                testStatus === 'Passed' ? 'text-green-400' :
+                                testStatus === 'Failed' ? 'text-red-400' :
+                                testStatus === 'Pending' ? 'text-amber-400' : 'text-gray-500'
+                              }`}>
+                                {testStatus === 'Passed' ? 'PASSED' :
+                                 testStatus === 'Failed' ? 'FAILED' :
+                                 testStatus === 'Pending' ? 'PENDING' : 'UNTESTED'}
+                              </span>
+                            </div>
+                          </div>
+                          <div className="flex-1 min-w-0">
+                            <div className="text-text-muted mb-1.5 text-sm uppercase tracking-wider">Logging</div>
+                            <select
+                              value={logModeById[b.id] ?? 0}
+                              onChange={(e) => setLogMode(b.id, Number(e.target.value))}
+                              title="Board logging / stream mode — persisted to config.toml"
+                              className="w-full bg-gray-800 border border-gray-600 rounded px-2 py-1 text-sm font-mono text-text focus:outline-none focus:border-blue-500"
+                            >
+                              {LOG_MODE_OPTIONS.map((o) => (
+                                <option key={o.value} value={o.value}>{o.value} · {o.label}</option>
+                              ))}
+                            </select>
+                          </div>
+                        </div>
                         <div className="text-sm text-text-muted font-mono mb-2">
                           Engine: {engineLabel}
                         </div>
@@ -222,31 +290,33 @@ export default function BoardsPage() {
                             Config error: {b.configError}
                           </div>
                         )}
-                        <div className="flex items-center gap-2 mb-2 font-mono">
-                          <span className="text-text-muted text-sm uppercase tracking-wider">Self Test:</span>
-                          <span className={`text-sm font-bold ${
-                            testStatus === 'Passed' ? 'text-green-400' :
-                            testStatus === 'Failed' ? 'text-red-400' :
-                            testStatus === 'Pending' ? 'text-amber-400' : 'text-gray-500'
-                            }`}>
-                            {testStatus === 'Passed' ? 'ALL PASSED' :
-                             testStatus === 'Failed' ? 'FAILED' :
-                             testStatus === 'Pending' ? 'PENDING' : 'UNTESTED'}
-                          </span>
-                        </div>
                         <div className="text-base text-text-muted font-mono mb-2">
                           Heartbeat: {freq}
                         </div>
+                        <div className="text-base text-text-muted font-mono mb-2">
+                          Logs: <span className="text-text">{boardLogStats[b.id]?.truncated ?? 0}</span>
+                          <span className="text-gray-500">/{boardLogStats[b.id]?.received ?? 0}</span>
+                          <span className="text-xs text-gray-500 ml-1.5">trunc / recv</span>
+                        </div>
                         <div className="flex items-center justify-between gap-2 mt-auto pt-3">
                           <span className="text-sm text-gray-500 font-mono truncate" title={b.ip}>
                             ID {b.id} · {b.ip}
                           </span>
-                          <Link
-                            to={`/flash?ip=${encodeURIComponent(b.ip)}&boardId=${b.id}`}
-                            className="text-xs px-2 py-1 rounded bg-cyan-900/50 text-cyan-300 hover:bg-cyan-800/60 font-semibold"
-                          >
-                            Flash
-                          </Link>
+                          <div className="flex items-center gap-2 flex-shrink-0">
+                            <Link
+                              to={`/flash?ip=${encodeURIComponent(b.ip)}&boardId=${b.id}`}
+                              className="text-xs px-2 py-1 rounded bg-cyan-900/50 text-cyan-300 hover:bg-cyan-800/60 font-semibold"
+                            >
+                              Flash
+                            </Link>
+                            <button
+                              type="button"
+                              onClick={() => setOpenLogsBoardId(b.id)}
+                              className="text-xs px-2 py-1 rounded bg-slate-700/60 text-slate-200 hover:bg-slate-600/60 font-semibold"
+                            >
+                              Log
+                            </button>
+                          </div>
                         </div>
                       </div>
                     );
@@ -258,6 +328,18 @@ export default function BoardsPage() {
         </div>
       )}
 
+      <BoardLogModal
+        boardId={openLogsBoardId}
+        title={openLogsBoardId != null ? (() => {
+          const b = boardsMap?.[openLogsBoardId];
+          if (!b) return `Board ${openLogsBoardId}`;
+          const parts: string[] = [];
+          if (b.type) parts.push(b.type);
+          if (b.boardNumber != null) parts.push(`Board ${b.boardNumber}`);
+          return parts.join(' · ') || `ID ${b.id}`;
+        })() : undefined}
+        onClose={() => setOpenLogsBoardId(null)}
+      />
     </main>
   );
 }
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index f16193f09..d4ea2a4a8 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -81,8 +81,6 @@ interface ConfigData {
     fallback_fuel_duty_cycle?: number;
     fallback_ox_duty_cycle?: number;
     controller_loop_hz?: number;
-    controller_service_url?: string;
-    controller_config_path?: string;
     command_type?: 'THRUST_DESIRED' | 'ALTITUDE_GOAL' | 'PRESSURE_TARGET' | string;
     thrust_desired?: number;
     altitude_goal?: number;
@@ -112,8 +110,6 @@ export default function ConfigPage() {
   const [error, setError] = useState<string | null>(null);
   const [success, setSuccess] = useState(false);
   const [activeTab, setActiveTab] = useState('network');
-  const [advancedText, setAdvancedText] = useState('');
-  const [advancedError, setAdvancedError] = useState<string | null>(null);
 
   const ws = getWebSocketClient();
   // Config editing is gated on operator identity (the DAQ allowlist), enforced
@@ -155,8 +151,6 @@ export default function ConfigPage() {
       if (adc && typeof adc.internal_v === 'number' && typeof adc.absolute_5v_v === 'number') {
         useSensorStore.getState().setVoltageRefNominals({ internalV: adc.internal_v, absolute5vV: adc.absolute_5v_v });
       }
-      setAdvancedText(JSON.stringify(nextConfig, null, 2));
-      setAdvancedError(null);
       setLoading(false);
     } catch (err: any) {
       setError(err?.message || 'Failed to load config');
@@ -394,7 +388,6 @@ export default function ConfigPage() {
     { id: 'server_heartbeat', label: 'Server Heartbeat' },
     { id: 'services', label: 'Services' },
     { id: 'database', label: 'Database' },
-    { id: 'discovery', label: 'Discovery' },
     { id: 'boards', label: 'Boards' },
     { id: 'sensor_roles', label: 'Sensor Roles' },
     { id: 'actuator_roles', label: 'Actuator Roles' },
@@ -404,7 +397,6 @@ export default function ConfigPage() {
     { id: 'pressure_limits', label: 'Pressure Limits' },
     { id: 'gui', label: 'Top Bar & Tabs' },
     { id: 'state_machine', label: 'State Machine' },
-    { id: 'advanced', label: 'Advanced JSON' },
   ];
 
   return (
@@ -499,31 +491,78 @@ export default function ConfigPage() {
             inside for non-operators (mirrors the server-side operator gate). */}
         <fieldset disabled={!canEdit} className={`space-y-6 border-0 m-0 p-0 min-w-0${!canEdit ? ' opacity-60' : ''}`}>
           {activeTab === 'network' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-1">Network</h2>
-              <p className="text-sm text-amber-300/90 mb-4">
-                Read-only — these are startup-only binds for the pipeline services and must match the
-                board firmware. Changing them requires a deploy/restart, not a live edit.
-              </p>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Bind IP',
-                  config.network?.bind_ip,
-                  (val) => updateField('network', 'bind_ip', val),
-                  'text', undefined, 'DAQ bridge sensor-socket interface', true
-                )}
-                {renderField(
-                  'Sensor Port',
-                  config.network?.sensor_port,
-                  (val) => updateField('network', 'sensor_port', val),
-                  'number', undefined, 'UDP port boards send sensor data to', true
-                )}
-                {renderField(
-                  'Actuator Command Port',
-                  config.network?.actuator_cmd_port,
-                  (val) => updateField('network', 'actuator_cmd_port', val),
-                  'number', undefined, 'Port boards listen on for actuator commands', true
-                )}
+            <div className="bg-card rounded-lg p-6 space-y-6">
+              <div>
+                <h2 className="text-xl font-bold mb-1">Network</h2>
+                <p className="text-sm text-amber-300/90 mb-4">
+                  Read-only — these are startup-only binds for the pipeline services and must match the
+                  board firmware. Changing them requires a deploy/restart, not a live edit.
+                </p>
+                <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                  {renderField(
+                    'Bind IP',
+                    config.network?.bind_ip,
+                    (val) => updateField('network', 'bind_ip', val),
+                    'text', undefined, 'DAQ bridge sensor-socket interface', true
+                  )}
+                  {renderField(
+                    'Sensor Port',
+                    config.network?.sensor_port,
+                    (val) => updateField('network', 'sensor_port', val),
+                    'number', undefined, 'UDP port boards send sensor data to', true
+                  )}
+                  {renderField(
+                    'Actuator Command Port',
+                    config.network?.actuator_cmd_port,
+                    (val) => updateField('network', 'actuator_cmd_port', val),
+                    'number', undefined, 'Port boards listen on for actuator commands', true
+                  )}
+                </div>
+              </div>
+
+              <div className="border-t border-gray-700 pt-6">
+                <h3 className="text-lg font-semibold mb-1">Board Discovery</h3>
+                <p className="text-sm text-amber-300/90 mb-4">
+                  Read-only — the discovery service scans this subnet/interface at startup. Editing it
+                  live has no effect until the pipeline restarts.
+                </p>
+                <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                  {renderField(
+                    'Enabled', config.discovery?.enabled,
+                    (val) => updateField('discovery', 'enabled', val),
+                    'boolean', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'Network Interface', config.discovery?.network_interface,
+                    (val) => updateField('discovery', 'network_interface', val),
+                    'text', undefined, '"auto" = interface with a 192.168.2.x IP', true
+                  )}
+                  {renderField(
+                    'Mode', config.discovery?.mode,
+                    (val) => updateField('discovery', 'mode', val),
+                    'select', ['passive', 'active', 'hybrid'], undefined, true
+                  )}
+                  {renderField(
+                    'Subnet', config.discovery?.subnet,
+                    (val) => updateField('discovery', 'subnet', val),
+                    'text', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'IP Range Start', config.discovery?.ip_range_start,
+                    (val) => updateField('discovery', 'ip_range_start', val),
+                    'number', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'IP Range End', config.discovery?.ip_range_end,
+                    (val) => updateField('discovery', 'ip_range_end', val),
+                    'number', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'Discovery Timeout (seconds)', config.discovery?.discovery_timeout_seconds,
+                    (val) => updateField('discovery', 'discovery_timeout_seconds', val),
+                    'number', undefined, undefined, true
+                  )}
+                </div>
               </div>
             </div>
           )}
@@ -565,24 +604,29 @@ export default function ConfigPage() {
 
           {activeTab === 'server_heartbeat' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Server Heartbeat</h2>
+              <h2 className="text-xl font-bold mb-1">Server Heartbeat</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — the heartbeat broadcast is set up by the C++ services at startup. Editing it
+                live has no effect until the pipeline restarts.
+              </p>
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
                 {renderField(
                   'Interval (ms)',
                   config.server_heartbeat?.interval_ms,
                   (val) => updateField('server_heartbeat', 'interval_ms', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
                 {renderField(
                   'Broadcast Port',
                   config.server_heartbeat?.broadcast_port,
                   (val) => updateField('server_heartbeat', 'broadcast_port', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
                 {renderField(
                   'Broadcast IP',
                   config.server_heartbeat?.broadcast_ip,
-                  (val) => updateField('server_heartbeat', 'broadcast_ip', val)
+                  (val) => updateField('server_heartbeat', 'broadcast_ip', val),
+                  'text', undefined, undefined, true
                 )}
               </div>
             </div>
@@ -590,7 +634,12 @@ export default function ConfigPage() {
 
           {activeTab === 'services' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Services</h2>
+              <h2 className="text-xl font-bold mb-1">Services</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — these are always-on support services (heartbeat, config-broadcast, data-logger).
+                They read their config once at their own startup and are <em>not</em> restarted by a session,
+                so edits here wouldn&apos;t take effect on a Start. Change them via a deploy/restart.
+              </p>
               <div className="space-y-8">
                 <div className="border border-gray-700 rounded-lg p-4">
                   <h3 className="text-lg font-semibold mb-3">Heartbeat Service</h3>
@@ -598,22 +647,23 @@ export default function ConfigPage() {
                     Polls backend /api/engine_state, broadcasts SERVER_HEARTBEAT to boards.
                   </p>
                   <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField('Enabled', config.heartbeat_service?.enabled, (val) => updateField('heartbeat_service', 'enabled', val), 'boolean')}
-                    {renderField('Backend URL', config.heartbeat_service?.backend_url, (val) => updateField('heartbeat_service', 'backend_url', val))}
-                    {renderField('Interval (ms)', config.heartbeat_service?.interval_ms, (val) => updateField('heartbeat_service', 'interval_ms', val), 'number')}
-                    {renderField('Broadcast IP', config.heartbeat_service?.broadcast_ip, (val) => updateField('heartbeat_service', 'broadcast_ip', val))}
-                    {renderField('Broadcast Port', config.heartbeat_service?.broadcast_port, (val) => updateField('heartbeat_service', 'broadcast_port', val), 'number')}
+                    {renderField('Enabled', config.heartbeat_service?.enabled, (val) => updateField('heartbeat_service', 'enabled', val), 'boolean', undefined, undefined, true)}
+                    {renderField('Backend URL', config.heartbeat_service?.backend_url, (val) => updateField('heartbeat_service', 'backend_url', val), 'text', undefined, undefined, true)}
+                    {renderField('Interval (ms)', config.heartbeat_service?.interval_ms, (val) => updateField('heartbeat_service', 'interval_ms', val), 'number', undefined, undefined, true)}
+                    {renderField('Broadcast IP', config.heartbeat_service?.broadcast_ip, (val) => updateField('heartbeat_service', 'broadcast_ip', val), 'text', undefined, undefined, true)}
+                    {renderField('Broadcast Port', config.heartbeat_service?.broadcast_port, (val) => updateField('heartbeat_service', 'broadcast_port', val), 'number', undefined, undefined, true)}
                   </div>
                 </div>
                 <div className="border border-gray-700 rounded-lg p-4">
                   <h3 className="text-lg font-semibold mb-3">Config Broadcast Service</h3>
                   <p className="text-sm text-text-muted mb-3">
-                    Sends ACTUATOR_CONFIG / SENSOR_CONFIG to boards.
+                    Sends ACTUATOR_CONFIG / SENSOR_CONFIG to boards. (It re-reads board config live each
+                    cycle; only these service-level settings need a restart.)
                   </p>
                   <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField('Enabled', config.config_broadcast_service?.enabled, (val) => updateField('config_broadcast_service', 'enabled', val), 'boolean')}
-                    {renderField('Backend URL', config.config_broadcast_service?.backend_url, (val) => updateField('config_broadcast_service', 'backend_url', val))}
-                    {renderField('Interval (ms)', config.config_broadcast_service?.interval_ms, (val) => updateField('config_broadcast_service', 'interval_ms', val), 'number')}
+                    {renderField('Enabled', config.config_broadcast_service?.enabled, (val) => updateField('config_broadcast_service', 'enabled', val), 'boolean', undefined, undefined, true)}
+                    {renderField('Backend URL', config.config_broadcast_service?.backend_url, (val) => updateField('config_broadcast_service', 'backend_url', val), 'text', undefined, undefined, true)}
+                    {renderField('Interval (ms)', config.config_broadcast_service?.interval_ms, (val) => updateField('config_broadcast_service', 'interval_ms', val), 'number', undefined, undefined, true)}
                   </div>
                 </div>
                 <div className="border border-gray-700 rounded-lg p-4">
@@ -622,8 +672,8 @@ export default function ConfigPage() {
                     Records .sensorlog files; connects to backend WebSocket.
                   </p>
                   <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField('Enabled', config.data_logger_service?.enabled, (val) => updateField('data_logger_service', 'enabled', val), 'boolean')}
-                    {renderField('WebSocket URL', config.data_logger_service?.ws_url, (val) => updateField('data_logger_service', 'ws_url', val))}
+                    {renderField('Enabled', config.data_logger_service?.enabled, (val) => updateField('data_logger_service', 'enabled', val), 'boolean', undefined, undefined, true)}
+                    {renderField('WebSocket URL', config.data_logger_service?.ws_url, (val) => updateField('data_logger_service', 'ws_url', val), 'text', undefined, undefined, true)}
                   </div>
                 </div>
               </div>
@@ -632,99 +682,63 @@ export default function ConfigPage() {
 
           {activeTab === 'database' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Database</h2>
+              <h2 className="text-xl font-bold mb-1">Database</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — the Elodin DB connection is established at startup. Changing host/port live
+                would drop the live data link; edit via a deploy/restart, not here.
+              </p>
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
                 {renderField(
                   'Host',
                   config.database?.host,
-                  (val) => updateField('database', 'host', val)
+                  (val) => updateField('database', 'host', val),
+                  'text', undefined, undefined, true
                 )}
                 {renderField(
                   'Port',
                   config.database?.port,
                   (val) => updateField('database', 'port', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
                 {renderField(
                   'Auto Flush Interval (ms)',
                   config.database?.auto_flush_interval_ms,
                   (val) => updateField('database', 'auto_flush_interval_ms', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
                 {renderField(
                   'Max Buffer Size',
                   config.database?.max_buffer_size,
                   (val) => updateField('database', 'max_buffer_size', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
                 {renderField(
                   'Connection Retry Attempts',
                   config.database?.connection_retry_attempts,
                   (val) => updateField('database', 'connection_retry_attempts', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
                 {renderField(
                   'Connection Retry Delay (ms)',
                   config.database?.connection_retry_delay_ms,
                   (val) => updateField('database', 'connection_retry_delay_ms', val),
-                  'number'
+                  'number', undefined, undefined, true
                 )}
               </div>
             </div>
           )}
 
-          {activeTab === 'discovery' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Discovery</h2>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Enabled',
-                  config.discovery?.enabled,
-                  (val) => updateField('discovery', 'enabled', val),
-                  'boolean'
-                )}
-                {renderField(
-                  'Network Interface',
-                  config.discovery?.network_interface,
-                  (val) => updateField('discovery', 'network_interface', val)
-                )}
-                {renderField(
-                  'Mode',
-                  config.discovery?.mode,
-                  (val) => updateField('discovery', 'mode', val),
-                  'select',
-                  ['passive', 'active', 'hybrid']
-                )}
-                {renderField(
-                  'Subnet',
-                  config.discovery?.subnet,
-                  (val) => updateField('discovery', 'subnet', val)
-                )}
-                {renderField(
-                  'IP Range Start',
-                  config.discovery?.ip_range_start,
-                  (val) => updateField('discovery', 'ip_range_start', val),
-                  'number'
-                )}
-                {renderField(
-                  'IP Range End',
-                  config.discovery?.ip_range_end,
-                  (val) => updateField('discovery', 'ip_range_end', val),
-                  'number'
-                )}
-                {renderField(
-                  'Discovery Timeout (seconds)',
-                  config.discovery?.discovery_timeout_seconds,
-                  (val) => updateField('discovery', 'discovery_timeout_seconds', val),
-                  'number'
-                )}
-              </div>
-            </div>
-          )}
 
           {activeTab === 'boards' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Boards</h2>
+              <h2 className="text-xl font-bold mb-1">Boards</h2>
+              <p className="text-sm text-text-muted mb-4">
+                Editable. Board config (roles, active connectors, voltage reference, abort thresholds,
+                enable flags) is re-broadcast to the boards live — the config-broadcast service re-reads
+                on save, so changes apply without restarting the server or a session. Note: the DAQ
+                pipeline (daq_bridge/calibration/controller) picks up routing/identity changes on the
+                next session start.
+              </p>
               <div className="space-y-6">
                 {Object.entries(config.boards || {}).map(([boardKey, board]) => (
                   <div key={boardKey} className="border border-gray-700 rounded-lg p-4">
@@ -767,12 +781,12 @@ export default function ConfigPage() {
                         'boolean'
                       )}
                       {renderField(
-                        'Enable serial printing',
-                        (board as any).enable_serial_printing,
-                        (val) => updateBoard(boardKey, 'enable_serial_printing', val),
-                        'boolean',
-                        undefined,
-                        'Board will enable serial debug when config is applied'
+                        'Logging mode',
+                        String((board as any).enable_serial_printing ?? 0),
+                        (val) => updateBoard(boardKey, 'enable_serial_printing', Number(val)),
+                        'select',
+                        ['0', '1', '2', '3'],
+                        '0 USB only · 1 USB verbose · 2 stream Tier-1 · 3 stream Tier-1+2'
                       )}
                       {(board as any).necessary_for_abort !== undefined && renderField(
                         'Necessary for abort',
@@ -863,7 +877,7 @@ export default function ConfigPage() {
                     const newKey = `board_${Object.keys(config.boards || {}).length + 1}`;
                     updateBoard(newKey, 'type', 'PT');
                     updateBoard(newKey, 'enabled', false);
-                    updateBoard(newKey, 'enable_serial_printing', false);
+                    updateBoard(newKey, 'enable_serial_printing', 0);
                     updateBoard(newKey, 'voltage_reference', 0);
                   }}
                   className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
@@ -1046,27 +1060,29 @@ export default function ConfigPage() {
 
           {activeTab === 'controller_service' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Controller Service (C++)</h2>
-              <p className="text-sm text-text-muted mb-4">
-                TCP port for FIRE_START / FIRE_STOP. Backend sends FIRE_START when entering FIRE state.
+              <h2 className="text-xl font-bold mb-1">Controller Service (C++)</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only for now — TCP port for FIRE_START / FIRE_STOP, read by the C++ controller
+                service at startup. Editing it live has no effect until the pipeline restarts.
               </p>
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField('Port', config.controller_service?.port, (val) => updateField('controller_service', 'port', val), 'number')}
-                {renderField('Fire Duration (ms)', config.controller_service?.fire_duration_ms, (val) => updateField('controller_service', 'fire_duration_ms', val), 'number')}
-                {renderField('Fire Extended (ms)', config.controller_service?.fire_extended_ms, (val) => updateField('controller_service', 'fire_extended_ms', val), 'number')}
+                {renderField('Port', config.controller_service?.port, (val) => updateField('controller_service', 'port', val), 'number', undefined, undefined, true)}
+                {renderField('Fire Duration (ms)', config.controller_service?.fire_duration_ms, (val) => updateField('controller_service', 'fire_duration_ms', val), 'number', undefined, undefined, true)}
+                {renderField('Fire Extended (ms)', config.controller_service?.fire_extended_ms, (val) => updateField('controller_service', 'fire_extended_ms', val), 'number', undefined, undefined, true)}
               </div>
             </div>
           )}
 
           {activeTab === 'actuator_service' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Actuator Service (C++)</h2>
-              <p className="text-sm text-text-muted mb-4">
-                When port is set, backend forwards state transitions here; actuator commands sent by C++.
+              <h2 className="text-xl font-bold mb-1">Actuator Service (C++)</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only for now — the port/bind are read at C++ service startup (and the port is
+                overridden by an env var the startup script sets). Editing it live has no effect.
               </p>
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField('Port', config.actuator_service?.port, (val) => updateField('actuator_service', 'port', val), 'number')}
-                {renderField('Bind Address', config.actuator_service?.bind_address, (val) => updateField('actuator_service', 'bind_address', val))}
+                {renderField('Port', config.actuator_service?.port, (val) => updateField('actuator_service', 'port', val), 'number', undefined, undefined, true)}
+                {renderField('Bind Address', config.actuator_service?.bind_address, (val) => updateField('actuator_service', 'bind_address', val), 'text', undefined, undefined, true)}
               </div>
             </div>
           )}
@@ -1093,16 +1109,6 @@ export default function ConfigPage() {
                   (val) => updateField('controller', 'pwm_duration_ms', val),
                   'number'
                 )}
-                {renderField(
-                  'Controller Service URL',
-                  config.controller?.controller_service_url,
-                  (val) => updateField('controller', 'controller_service_url', val)
-                )}
-                {renderField(
-                  'Controller Config Path',
-                  config.controller?.controller_config_path,
-                  (val) => updateField('controller', 'controller_config_path', val)
-                )}
                 {renderField(
                   'Use C++ Controller',
                   config.controller?.use_cpp_controller,
@@ -1155,8 +1161,7 @@ export default function ConfigPage() {
                 {Object.keys(config.pressure_limits || {}).map((system) => (
                   <div key={system} className="border border-gray-700 rounded-lg p-4">
                     <h3 className="text-lg font-semibold mb-3 font-mono">{system}</h3>
-                    <div className="grid grid-cols-2 md:grid-cols-4 gap-4">
-                      {renderField('THRESH', (config.pressure_limits as any)?.[system]?.THRESH, (val) => updateField('pressure_limits', 'THRESH', val, system), 'number')}
+                    <div className="grid grid-cols-1 md:grid-cols-3 gap-4">
                       {renderField('NOP', (config.pressure_limits as any)?.[system]?.NOP, (val) => updateField('pressure_limits', 'NOP', val, system), 'number')}
                       {renderField('MEOP', (config.pressure_limits as any)?.[system]?.MEOP, (val) => updateField('pressure_limits', 'MEOP', val, system), 'number')}
                       {renderField('POP', (config.pressure_limits as any)?.[system]?.POP, (val) => updateField('pressure_limits', 'POP', val, system), 'number')}
@@ -1252,68 +1257,28 @@ export default function ConfigPage() {
 
           {activeTab === 'state_machine' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">State Machine</h2>
+              <h2 className="text-xl font-bold mb-1">State Machine</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — state-machine setup (the actuator/transition CSVs) is managed outside this
+                editor. These paths are loaded by the sequencer at pipeline start, not live-editable here.
+              </p>
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
                 {renderField(
                   'Actuator CSV',
                   config.state_machine?.actuator_csv,
-                  (val) => updateField('state_machine', 'actuator_csv', val)
+                  (val) => updateField('state_machine', 'actuator_csv', val),
+                  'text', undefined, 'sequencer actuator sequence', true
                 )}
                 {renderField(
                   'Transitions CSV',
                   config.state_machine?.transitions_csv,
-                  (val) => updateField('state_machine', 'transitions_csv', val)
+                  (val) => updateField('state_machine', 'transitions_csv', val),
+                  'text', undefined, 'state transition matrix', true
                 )}
               </div>
             </div>
           )}
 
-          {activeTab === 'advanced' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-2">Advanced JSON</h2>
-              <p className="text-sm text-text-muted mb-4">
-                Full config object as JSON. This is an escape hatch for fields not yet covered by the form tabs.
-              </p>
-              {advancedError && (
-                <div className="mb-3 p-3 bg-red-900/30 border border-red-500 rounded text-red-200 text-sm">
-                  {advancedError}
-                </div>
-              )}
-              <textarea
-                value={advancedText}
-                onChange={(e) => {
-                  setAdvancedText(e.target.value);
-                  setAdvancedError(null);
-                }}
-                className="w-full h-[60vh] min-h-[320px] max-h-[75vh] px-3 py-2 bg-background border border-gray-700 rounded text-white font-mono text-xs"
-              />
-              <div className="mt-4 flex gap-3">
-                <button
-                  onClick={() => {
-                    try {
-                      const obj = JSON.parse(advancedText || '{}');
-                      setConfig(obj);
-                      setAdvancedError(null);
-                    } catch (e: any) {
-                      setAdvancedError(e?.message || 'Invalid JSON');
-                    }
-                  }}
-                  className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
-                >
-                  Apply JSON to Form
-                </button>
-                <button
-                  onClick={() => {
-                    setAdvancedText(JSON.stringify(config || {}, null, 2));
-                    setAdvancedError(null);
-                  }}
-                  className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
-                >
-                  Reset to Current Form
-                </button>
-              </div>
-            </div>
-          )}
         </fieldset>
 
         <div className="mt-6 text-sm text-text-muted">
diff --git a/daq-server/diablo_server/frontend/app/flash/page.tsx b/daq-server/diablo_server/frontend/app/flash/page.tsx
index 5987f82b8..bc53a85bd 100644
--- a/daq-server/diablo_server/frontend/app/flash/page.tsx
+++ b/daq-server/diablo_server/frontend/app/flash/page.tsx
@@ -333,7 +333,7 @@ function FlashPageContent() {
                   type="file"
                   accept=".bin"
                   onChange={handleFileChange}
-                  className="block w-full text-sm text-text-muted file:mr-4 file:py-2 file:px-4 file:rounded-lg file:border-0 file:bg-primary/20 file:text-primary file:font-semibold file:cursor-pointer hover:file:bg-primary/30"
+                  className="block w-full text-sm text-text-muted file:mr-4 file:py-2 file:px-4 file:rounded-lg file:border-0 file:bg-blue-600/20 file:text-blue-400 file:font-semibold file:cursor-pointer hover:file:bg-blue-600/30"
                   disabled={flashing}
                 />
                 {file && (
@@ -349,7 +349,7 @@ function FlashPageContent() {
             type="button"
             onClick={handleFlash}
             disabled={flashing || !canFlash || !ip.trim()}
-            className="min-h-[48px] px-8 py-3 text-lg font-bold rounded-lg bg-primary text-primary-foreground hover:opacity-90 disabled:opacity-50 disabled:cursor-not-allowed transition-opacity"
+            className="min-h-[48px] px-8 py-3 text-lg font-bold rounded-lg bg-blue-600 text-white hover:bg-blue-500 disabled:opacity-50 disabled:cursor-not-allowed transition-colors"
           >
             {buttonLabel}
           </button>
@@ -357,7 +357,7 @@ function FlashPageContent() {
           {progress != null && flashing && (
             <div className="h-2 rounded-full bg-gray-800 overflow-hidden">
               <div
-                className="h-full bg-primary transition-all duration-300"
+                className="h-full bg-blue-600 transition-all duration-300"
                 style={{ width: `${progress}%` }}
               />
             </div>
diff --git a/daq-server/diablo_server/frontend/app/session/page.tsx b/daq-server/diablo_server/frontend/app/session/page.tsx
index 128969b59..4b7311a0b 100644
--- a/daq-server/diablo_server/frontend/app/session/page.tsx
+++ b/daq-server/diablo_server/frontend/app/session/page.tsx
@@ -53,7 +53,7 @@ export default function SessionPage() {
   // the real problem is the WebSocket never connected.
   if (!session) {
     return (
-      <main className="p-8 text-text">
+      <main className="h-full bg-background text-text overflow-auto p-8">
         <h1 className="text-3xl font-bold mb-3">Session control</h1>
         <p className="text-lg text-gray-200 max-w-2xl leading-relaxed">
           Connecting… (waiting for the backend WebSocket). If this persists, the live data
@@ -65,7 +65,7 @@ export default function SessionPage() {
 
   if (!session.enabled) {
     return (
-      <main className="p-8 text-text">
+      <main className="h-full bg-background text-text overflow-auto p-8">
         <h1 className="text-3xl font-bold mb-3">Session control</h1>
         <p className="text-lg text-gray-200 max-w-2xl leading-relaxed">
           Session control is disabled in this deployment — the stack runs until the process is
@@ -80,7 +80,8 @@ export default function SessionPage() {
   const lockedNote = controlEnabled ? undefined : 'Viewer mode: unlock as an operator to control runs.';
 
   return (
-    <main className="p-6 sm:p-8 text-text max-w-3xl mx-auto w-full">
+    <main className="h-full bg-background text-text overflow-auto">
+      <div className="p-6 sm:p-8 max-w-3xl mx-auto w-full">
       <div className="flex items-center justify-between mb-6">
         <h1 className="text-3xl font-bold">Session control</h1>
         <span
@@ -235,6 +236,7 @@ export default function SessionPage() {
       )}
 
       {lockedNote && <p className="mt-4 text-sm text-yellow-400">{lockedNote}</p>}
+      </div>
     </main>
   );
 }
diff --git a/daq-server/diablo_server/frontend/components/dashboard/BoardLogModal.tsx b/daq-server/diablo_server/frontend/components/dashboard/BoardLogModal.tsx
new file mode 100644
index 000000000..52a385172
--- /dev/null
+++ b/daq-server/diablo_server/frontend/components/dashboard/BoardLogModal.tsx
@@ -0,0 +1,117 @@
+'use client'
+
+import { useEffect, useRef, useState } from 'react';
+import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
+import { MessageType, BoardLogLine, BoardLogPayload } from '@/lib/types';
+
+interface Props {
+  /** Board id to show logs for; null closes the modal. */
+  boardId: number | null;
+  /** Display title (e.g. "PT · Board 1"); falls back to the id. */
+  title?: string;
+  onClose: () => void;
+}
+
+// Cap the on-screen buffer (backfill + live). The board sends ~1 line/s.
+const MAX_LINES = 2000;
+
+/**
+ * In-app overlay showing one board's diagnostic log stream: backfilled from
+ * GET /api/board-logs on open, then live-appended from the BOARD_LOG WS feed.
+ * Reuses the flash-page console look (mono, dark, autoscroll-to-bottom).
+ */
+export default function BoardLogModal({ boardId, title, onClose }: Props) {
+  const [lines, setLines] = useState<BoardLogLine[]>([]);
+  const [truncated, setTruncated] = useState(false);
+  const preRef = useRef<HTMLPreElement>(null);
+
+  // Esc closes.
+  useEffect(() => {
+    if (boardId == null) return;
+    const onKey = (e: KeyboardEvent) => { if (e.key === 'Escape') onClose(); };
+    window.addEventListener('keydown', onKey);
+    return () => window.removeEventListener('keydown', onKey);
+  }, [boardId, onClose]);
+
+  // Live subscription + one-shot history backfill, self-contained per open board.
+  useEffect(() => {
+    if (boardId == null) return;
+    setLines([]);
+    setTruncated(false);
+
+    const ws = getWebSocketClient();
+    const off = ws.on(MessageType.BOARD_LOG, (p: unknown) => {
+      const pl = p as BoardLogPayload;
+      if (pl.boardId !== boardId) return;
+      if (pl.truncated) setTruncated(true);
+      setLines((prev) => {
+        const add: BoardLogLine[] = pl.lines.map((line) => ({ boardId: pl.boardId, ts: pl.ts, line }));
+        const next = prev.concat(add);
+        return next.length > MAX_LINES ? next.slice(next.length - MAX_LINES) : next;
+      });
+    });
+
+    let cancelled = false;
+    fetch(`${getApiBaseUrl()}/api/board-logs?board=${boardId}&limit=500`)
+      .then((r) => (r.ok ? r.json() : null))
+      .then((data: { lines?: BoardLogLine[]; truncated?: boolean } | null) => {
+        if (cancelled || !data?.lines) return;
+        if (data.truncated) setTruncated(true);
+        // History is older → prepend it ahead of any live lines already collected.
+        setLines((prev) => data.lines!.concat(prev).slice(-MAX_LINES));
+      })
+      .catch(() => {});
+
+    return () => { cancelled = true; off(); };
+  }, [boardId]);
+
+  // Autoscroll to the newest line.
+  useEffect(() => {
+    const el = preRef.current;
+    if (el) el.scrollTop = el.scrollHeight;
+  }, [lines]);
+
+  if (boardId == null) return null;
+
+  return (
+    <div
+      className="fixed inset-0 z-50 flex items-center justify-center bg-black/70 p-4"
+      onClick={onClose}
+      role="dialog"
+      aria-modal="true"
+    >
+      <div
+        className="w-full max-w-4xl max-h-[85vh] flex flex-col rounded-xl border border-gray-700 bg-card shadow-2xl"
+        onClick={(e) => e.stopPropagation()}
+      >
+        <div className="flex items-center justify-between px-5 py-3 border-b border-gray-700">
+          <div className="flex items-center gap-3 min-w-0">
+            <h3 className="text-lg font-bold text-text truncate">{title ?? `Board ${boardId}`} — logs</h3>
+            {truncated && (
+              <span className="text-xs px-2 py-0.5 rounded bg-amber-900/60 text-amber-200 font-semibold uppercase tracking-wide flex-shrink-0">
+                truncated
+              </span>
+            )}
+          </div>
+          <button
+            type="button"
+            onClick={onClose}
+            className="text-gray-400 hover:text-white text-xl leading-none px-2 flex-shrink-0"
+            aria-label="Close"
+          >
+            ✕
+          </button>
+        </div>
+        <pre
+          ref={preRef}
+          className="flex-1 overflow-auto p-3 m-0 bg-gray-900 text-xs text-gray-300 font-mono whitespace-pre-wrap break-words"
+        >
+          {lines.length === 0 ? 'No logs yet for this board.' : lines.map((l) => l.line).join('\n')}
+        </pre>
+        <div className="px-5 py-2 border-t border-gray-700 text-xs text-text-muted font-mono">
+          {lines.length} line{lines.length === 1 ? '' : 's'} shown
+        </div>
+      </div>
+    </div>
+  );
+}
diff --git a/daq-server/diablo_server/frontend/components/dashboard/GlobalStateSubscriber.tsx b/daq-server/diablo_server/frontend/components/dashboard/GlobalStateSubscriber.tsx
index 010cb8ec0..f88012f02 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/GlobalStateSubscriber.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/GlobalStateSubscriber.tsx
@@ -2,7 +2,7 @@
 
 import { useEffect } from 'react';
 import { useSensorStore } from '@/lib/store';
-import { getWebSocketClient } from '@/lib/websocket';
+import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
 import {
     MessageType,
     SensorUpdate,
@@ -13,7 +13,9 @@ import {
     CountdownTargetUpdate,
     NotificationPayload,
     ActuatorUpdate,
-    SessionStatus
+    SessionStatus,
+    BoardLogPayload,
+    BoardLogTotals
 } from '@/lib/types';
 import { startDataCache, getDataCache } from '@/lib/data-cache';
 
@@ -28,6 +30,8 @@ export default function GlobalStateSubscriber() {
     const updateNotification = useSensorStore((state) => state.updateNotification);
     const updateSession = useSensorStore((state) => state.updateSession);
     const updateActuatorExpectedPositions = useSensorStore((state) => state.updateActuatorExpectedPositions);
+    const appendBoardLog = useSensorStore((state) => state.appendBoardLog);
+    const seedBoardLogStats = useSensorStore((state) => state.seedBoardLogStats);
 
     useEffect(() => {
         console.log('[WS] GlobalStateSubscriber effect start');
@@ -75,6 +79,18 @@ export default function GlobalStateSubscriber() {
         const u10 = ws.on(MessageType.SESSION_UPDATE, (p: unknown) => {
             updateSession(p as SessionStatus);
         });
+        // Board diagnostic logs — accumulate app-wide so counts stay accurate off the Boards tab.
+        const u11 = ws.on(MessageType.BOARD_LOG, (p: unknown) => {
+            appendBoardLog(p as BoardLogPayload);
+        });
+
+        // Backfill cumulative log counters so the Boards tab shows totals before the next packet.
+        fetch(`${getApiBaseUrl()}/api/board-logs/stats`)
+            .then((r) => (r.ok ? r.json() : null))
+            .then((data: { stats?: Record<number, BoardLogTotals> } | null) => {
+                if (data?.stats) seedBoardLogStats(data.stats);
+            })
+            .catch(() => {});
 
         // Register listeners before opening socket to avoid missing first status/data burst.
         ws.connect('GlobalStateSubscriber');
@@ -82,11 +98,12 @@ export default function GlobalStateSubscriber() {
 
         return () => {
             console.log('[WS] GlobalStateSubscriber cleanup');
-            u1(); u2(); u3(); u4(); u5(); u6(); u7(); u8(); u9(); u10();
+            u1(); u2(); u3(); u4(); u5(); u6(); u7(); u8(); u9(); u10(); u11();
         };
     }, [
         updateSensor, updateState, updateActuator, updateConnectionStatus,
-        updateMissionStartTime, updateCountdownTargetTime, updateBoards, updateNotification, updateSession, updateActuatorExpectedPositions
+        updateMissionStartTime, updateCountdownTargetTime, updateBoards, updateNotification, updateSession, updateActuatorExpectedPositions,
+        appendBoardLog, seedBoardLogStats
     ]);
 
     // Drive _staleRenderTick so useSensorValue / useGetSensorValue re-check SENSOR_DATA_STALE_MS
diff --git a/daq-server/diablo_server/frontend/lib/store.ts b/daq-server/diablo_server/frontend/lib/store.ts
index 29ec2a678..77f1c1f65 100644
--- a/daq-server/diablo_server/frontend/lib/store.ts
+++ b/daq-server/diablo_server/frontend/lib/store.ts
@@ -27,6 +27,9 @@ import {
   NotificationCategory,
   isNotificationOngoing,
   SessionStatus,
+  BoardLogLine,
+  BoardLogPayload,
+  BoardLogTotals,
 } from './types';
 import type { VoltageRefNominals } from './voltageRef';
 import { recordSensorUpdate, isSensorKeyFresh } from './sensor-rate';
@@ -43,6 +46,9 @@ export interface NotificationEntry {
 }
 
 const NOTIFICATIONS_MAX = 10;
+// Per-board live log ring buffer cap (the modal backfills older history from
+// /api/board-logs on open; this only needs to cover what streams while open).
+const BOARD_LOG_LINES_MAX = 300;
 
 interface SensorSystemState {
   sensorData: SensorData;
@@ -69,6 +75,10 @@ interface SensorSystemState {
   /** Load cell zero offsets (lbf) by cal entity e.g. LC_Cal.CH1. Display = raw_lbf - offset. Persisted to localStorage. */
   loadCellZeroOffsets: Record<string, number>;
   notifications: NotificationEntry[];
+  /** Per-board live diagnostic log lines (ring buffer; accumulates while app is open). */
+  boardLogs: Record<number, BoardLogLine[]>;
+  /** Per-board cumulative log counters (packets received / truncated) from the backend. */
+  boardLogStats: Record<number, BoardLogTotals>;
 
   updateSensor: (update: SensorUpdate) => void;
   setLoadCellZeroOffset: (calEntity: string, offsetLbf: number | null) => void;
@@ -87,6 +97,10 @@ interface SensorSystemState {
   setVoltageRefNominals: (nominals: VoltageRefNominals) => void;
   updateNotification: (payload: NotificationPayload) => void;
   clearNotifications: () => void;
+  /** Append one BOARD_LOG packet's lines + latest totals for a board. */
+  appendBoardLog: (payload: BoardLogPayload) => void;
+  /** Backfill per-board counters (from GET /api/board-logs/stats on mount). */
+  seedBoardLogStats: (stats: Record<number, BoardLogTotals>) => void;
   /** Calibrated PT entities hidden from combined Pressure History plots (top bar click toggles). */
   pressureHistoryHiddenEntities: Record<string, true>;
   togglePressureHistoryPlotVisibility: (plotEntityKeys: string[]) => void;
@@ -383,6 +397,8 @@ export const useSensorStore = create<SensorSystemState>((set, get) => ({
   actuatorStateByEntity: {},
   actuatorCommandedOverrides: {},
   boards: {},
+  boardLogs: {},
+  boardLogStats: {},
   voltageRefNominals: { internalV: 2.5, absolute5vV: 5 },
   loadCellZeroOffsets: loadStoredLcZeroOffsets(),
   notifications: [],
@@ -539,6 +555,29 @@ export const useSensorStore = create<SensorSystemState>((set, get) => ({
     set({ voltageRefNominals: nominals });
   },
 
+  appendBoardLog: (payload: BoardLogPayload) => {
+    set((state) => {
+      const prev = state.boardLogs[payload.boardId] ?? [];
+      const additions: BoardLogLine[] = payload.lines.map((line) => ({
+        boardId: payload.boardId,
+        ts: payload.ts,
+        line,
+      }));
+      let combined = prev.concat(additions);
+      if (combined.length > BOARD_LOG_LINES_MAX) {
+        combined = combined.slice(combined.length - BOARD_LOG_LINES_MAX);
+      }
+      return {
+        boardLogs: { ...state.boardLogs, [payload.boardId]: combined },
+        boardLogStats: { ...state.boardLogStats, [payload.boardId]: payload.totals },
+      };
+    });
+  },
+
+  seedBoardLogStats: (stats: Record<number, BoardLogTotals>) => {
+    set((state) => ({ boardLogStats: { ...state.boardLogStats, ...stats } }));
+  },
+
   updateNotification: (payload: NotificationPayload) => {
     set((state) => {
       let list = [...state.notifications];
diff --git a/daq-server/diablo_server/frontend/src/App.tsx b/daq-server/diablo_server/frontend/src/App.tsx
index 19a828fcf..7bbb77abb 100644
--- a/daq-server/diablo_server/frontend/src/App.tsx
+++ b/daq-server/diablo_server/frontend/src/App.tsx
@@ -4,13 +4,15 @@
  * canonical path; the legacy `/window/:view` popup URLs redirect to it so
  * operator bookmarks and older popups keep resolving.
  */
-import { Suspense } from 'react';
-import { Routes, Route, Navigate, useParams } from 'react-router-dom';
+import { Suspense, useEffect, useRef } from 'react';
+import { Routes, Route, Navigate, useParams, useNavigate } from 'react-router-dom';
 import TopBarWrapper from '@/components/dashboard/TopBarWrapper';
 import { ControlModeProvider } from '@/lib/control-mode';
 import GlobalStateSubscriber from '@/components/dashboard/GlobalStateSubscriber';
 import WindowDetector from '@/components/windows/WindowDetector';
 import OpenInPopupButton from '@/components/windows/OpenInPopupButton';
+import { useWindowManager } from '@/components/windows/WindowManager';
+import { isPopupWindow } from '@/lib/is-popup';
 import { VIEW_ID_TO_PATH } from '@/lib/nav-items';
 import * as P from './pages';
 
@@ -29,6 +31,34 @@ function WindowRedirect() {
   return <Navigate to={target ?? '/'} replace />;
 }
 
+/**
+ * Livestream always opens in its own popup window (it's a broadcast pane meant
+ * to live on a dedicated screen). Inside a popup we render it normally; in the
+ * main window, hitting /livestream pops it out and bounces back to the prior view.
+ */
+function LivestreamRoute() {
+  const popup = isPopupWindow();
+  const { openWindow } = useWindowManager();
+  const navigate = useNavigate();
+  const opened = useRef(false);
+
+  useEffect(() => {
+    if (popup || opened.current) return;
+    opened.current = true;
+    openWindow('popout:/livestream', 'Livestream Stats', '/livestream');
+    // Return to where they came from; fall back to Single Pane on a direct load.
+    if (window.history.length > 1) navigate(-1);
+    else navigate('/single-pane', { replace: true });
+  }, [popup, openWindow, navigate]);
+
+  if (popup) return <P.LivestreamPage />;
+  return (
+    <div className="flex-1 flex items-center justify-center text-gray-500 text-sm">
+      Opening Livestream in a popup…
+    </div>
+  );
+}
+
 export default function App() {
   return (
     <>
@@ -56,7 +86,7 @@ export default function App() {
               <Route path="/controls" element={<P.ControlsPage />} />
               <Route path="/encoders" element={<P.EncodersPage />} />
               <Route path="/flash" element={<P.FlashPage />} />
-              <Route path="/livestream" element={<P.LivestreamPage />} />
+              <Route path="/livestream" element={<LivestreamRoute />} />
               <Route path="/self-tests" element={<P.SelfTestsPage />} />
               <Route path="/sensor-info" element={<P.SensorInfoPage />} />
               <Route path="/status" element={<P.StatusPage />} />
diff --git a/daq-server/diablo_server/lib/include/streams/SensorFramePipeline.hpp b/daq-server/diablo_server/lib/include/streams/SensorFramePipeline.hpp
index 14852e65b..8d3a896b4 100644
--- a/daq-server/diablo_server/lib/include/streams/SensorFramePipeline.hpp
+++ b/daq-server/diablo_server/lib/include/streams/SensorFramePipeline.hpp
@@ -41,6 +41,14 @@ class SensorFramePipeline {
     };
     std::optional<LastHeartbeat> get_last_heartbeat();
 
+    // Raw type-15 LOGS packet, surfaced like heartbeats (poll() returns no
+    // SensorBatch for it). daq_bridge parses + forwards it to the backend.
+    struct LastLog {
+        std::vector<uint8_t> data;
+        std::string source_ip;
+    };
+    std::optional<LastLog> get_last_log();
+
 private:
     std::unique_ptr<daq_comms::transport::UDPSocket> socket_;
     std::vector<uint8_t> receive_buffer_;
@@ -50,6 +58,9 @@ class SensorFramePipeline {
     std::vector<uint8_t> last_heartbeat_buffer_;
     std::string last_heartbeat_source_ip_;
 
+    std::vector<uint8_t> last_log_buffer_;
+    std::string last_log_source_ip_;
+
     static constexpr size_t RECEIVE_BUFFER_SIZE = 8192;
 };
 
diff --git a/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp b/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
index 0a6b1b49d..0f42c70ed 100644
--- a/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
+++ b/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
@@ -123,6 +123,13 @@ std::optional<daq_comms::protocol::SensorBatch> SensorFramePipeline::poll() {
         return std::nullopt;
     }
 
+    if (peek.packet_type == daq::PacketType::LOGS) {
+        last_log_buffer_.assign(receive_buffer_.data(),
+                                receive_buffer_.data() + static_cast<size_t>(received));
+        last_log_source_ip_ = last_source_ip_;
+        return std::nullopt;
+    }
+
     return std::nullopt;
 }
 
@@ -151,6 +158,18 @@ std::optional<SensorFramePipeline::LastHeartbeat> SensorFramePipeline::get_last_
     return out;
 }
 
+std::optional<SensorFramePipeline::LastLog> SensorFramePipeline::get_last_log() {
+    if (last_log_buffer_.empty()) {
+        return std::nullopt;
+    }
+    LastLog out;
+    out.data = std::move(last_log_buffer_);
+    out.source_ip = std::move(last_log_source_ip_);
+    last_log_buffer_.clear();
+    last_log_source_ip_.clear();
+    return out;
+}
+
 bool SensorFramePipeline::is_ready() const {
     return socket_ && socket_->is_valid();
 }
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index e60dd5d1b..c7b4accc7 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -94,7 +94,10 @@ struct BoardInfo {
     bool designated_survivor;
     bool necessary_for_abort;
     int voltage_reference;
-    bool enable_serial_printing;
+    // Serial-print / log-stream mode byte (0..3): 0 USB Tier-1, 1 USB verbose,
+    // 2 stream Tier-1, 3 stream Tier-1+2. Sent verbatim as the config packet's
+    // enable_serial_printing byte; the firmware interprets it as the mode.
+    int enable_serial_printing;
     std::vector<int> active_connectors;
     int num_sensors;
     uint16_t listen_port;
@@ -143,7 +146,25 @@ std::vector<BoardInfo> parseBoards(const std::string& content) {
             ref = std::stoi(getTomlValue(content, sec, "voltage_reference", "0"));
         } catch (...) {
         }
-        bool ser = getTomlValue(content, sec, "enable_serial_printing", "false") == "true";
+        // Mode byte 0..3. Tolerate a legacy "true"/"false" value (→ 1/0) so a
+        // stale config doesn't crash stoi; clamp to the valid range.
+        int ser = 0;
+        {
+            std::string ser_raw = getTomlValue(content, sec, "enable_serial_printing", "0");
+            if (ser_raw == "true") {
+                ser = 1;
+            } else if (ser_raw == "false") {
+                ser = 0;
+            } else {
+                try {
+                    ser = std::stoi(ser_raw);
+                } catch (...) {
+                    ser = 0;
+                }
+            }
+            if (ser < 0) ser = 0;
+            if (ser > 3) ser = 3;
+        }
         int num_sens = 10;
         try {
             num_sens = std::stoi(getTomlValue(content, sec, "num_sensors", "10"));
@@ -307,63 +328,27 @@ void parseVentAbortFromCsv(const std::string& csv_path, std::map<std::string, in
     }
 }
 
-}  // namespace
-
-int main(int argc, char* argv[]) {
-    std::string config_path = "config/config.toml";
-    int interval_ms = -1;  // -1 = use config
-
-    for (int i = 1; i < argc; ++i) {
-        std::string arg = argv[i];
-        if (arg == "--config" && i + 1 < argc)
-            config_path = argv[++i];
-        else if (arg == "--interval-ms" && i + 1 < argc)
-            interval_ms = std::max(500, std::atoi(argv[++i]));
-        else if (arg == "--help" || arg == "-h") {
-            std::cout << "Usage: " << argv[0] << " [--config PATH] [--interval-ms MS]\n";
-            return 0;
-        }
-    }
+// One UDP packet to send: (packet type, bytes, dest IP, dest port).
+using ConfigPacket = std::tuple<uint8_t, std::vector<uint8_t>, std::string, uint16_t>;
 
+// Read config.toml fresh and build the full SENSOR_CONFIG/ACTUATOR_CONFIG packet set.
+// Called every broadcast cycle so board edits (roles, active_connectors, voltage_reference,
+// abort thresholds, enable flags) go live without restarting the service or a session.
+// Returns an empty vector on any failure (missing/truncated file, no designated survivor);
+// the caller keeps the last-good set rather than dropping board config for a cycle.
+std::vector<ConfigPacket> buildPackets(const std::string& config_path,
+                                       fsw::calibration::PTCalibrationManager& pt_cal) {
     std::string config_content;
     {
         std::ifstream f(config_path);
-        if (!f.is_open()) {
-            for (const auto& fp : {"config/config.toml", "../config/config.toml"}) {
-                f.open(fp);
-                if (f.is_open()) {
-                    config_path = fp;
-                    break;
-                }
-            }
-        }
-        if (f.is_open()) {
-            std::ostringstream ss;
-            ss << f.rdbuf();
-            config_content = ss.str();
-        }
+        if (!f.is_open())
+            return {};
+        std::ostringstream ss;
+        ss << f.rdbuf();
+        config_content = ss.str();
     }
-
-    if (config_content.empty()) {
-        std::cerr << "[ConfigBroadcast] No config loaded" << std::endl;
-        return 1;
-    }
-
-    if (interval_ms < 0 && !config_content.empty()) {
-        std::string val =
-            getTomlValue(config_content, "config_broadcast_service", "interval_ms", "");
-        if (!val.empty()) {
-            try {
-                interval_ms = std::max(500, std::stoi(val));
-            } catch (...) {
-            }
-        }
-    }
-    if (interval_ms < 0)
-        interval_ms = 1000;
-
-    signal(SIGINT, signalHandler);
-    signal(SIGTERM, signalHandler);
+    if (config_content.empty())
+        return {};
 
     auto boards = parseBoards(config_content);
     std::string designated_ip;
@@ -375,11 +360,9 @@ int main(int argc, char* argv[]) {
             break;
         }
     }
-
-    if (designated_ip.empty()) {
-        std::cerr << "[ConfigBroadcast] No designated_survivor actuator board" << std::endl;
-        return 1;
-    }
+    // No designated survivor → treat as a bad/partial read and keep last-good.
+    if (designated_ip.empty())
+        return {};
 
     std::map<int, std::string> board_id_to_ip;
     for (const auto& b : boards)
@@ -408,16 +391,10 @@ int main(int argc, char* argv[]) {
         sensor_roles = parseSensorRoles(config_content, "sensor_roles");
     auto abort_pts = parseAbortPts(config_content);
 
-    fsw::calibration::PTCalibrationManager::set_default_paths(
-        "scripts/calibration/calibrations",
-        "external/DiabloAvionics/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv");
-    fsw::calibration::PTCalibrationManager pt_cal;
-    pt_cal.load_calibration();
-
     std::string current_section;
     std::map<std::string, std::tuple<int, int, bool>> actuator_roles;
     std::istringstream cfg(config_content);
-    std::string line, cell;
+    std::string line;
     while (std::getline(cfg, line)) {
         auto c = line.find('#');
         if (c != std::string::npos)
@@ -441,14 +418,11 @@ int main(int argc, char* argv[]) {
             actuator_roles[key] = {ch, bid > 0 ? bid : 12, is_no};
     }
 
-    std::vector<std::tuple<uint8_t, std::vector<uint8_t>, std::string, uint16_t>> packets;
-
     auto build_actuator_config = [&](int is_abort_controller,
-                                     bool enable_serial) -> std::vector<uint8_t> {
+                                     int enable_serial) -> std::vector<uint8_t> {
         std::vector<std::tuple<uint32_t, uint8_t, uint8_t, uint8_t>> abort_actuators;
         for (const auto& [name, tup] : actuator_roles) {
             int ch = std::get<0>(tup), bid = std::get<1>(tup);
-            bool is_no = std::get<2>(tup);
             std::string ip = board_id_to_ip.count(bid) ? board_id_to_ip[bid] : designated_ip;
             uint8_t vent = static_cast<uint8_t>(vent_map.count(name) ? vent_map[name] : 0);
             uint8_t abort = static_cast<uint8_t>(abort_map.count(name) ? abort_map[name] : 0);
@@ -510,7 +484,7 @@ int main(int argc, char* argv[]) {
             *reinterpret_cast<uint32_t*>(&buf[off]) = adc;
             off += 4;
         }
-        buf[off] = enable_serial ? 1 : 0;
+        buf[off] = static_cast<uint8_t>(enable_serial);  // mode byte 0..3
         return buf;
     };
 
@@ -542,10 +516,11 @@ int main(int argc, char* argv[]) {
             buf[off + 3] = ip_be & 0xFF;
             off += 4;
         }
-        buf[off] = b.enable_serial_printing ? 1 : 0;
+        buf[off] = static_cast<uint8_t>(b.enable_serial_printing);  // mode byte 0..3
         return buf;
     };
 
+    std::vector<ConfigPacket> packets;
     for (const auto& b : boards) {
         if (!b.enabled)
             continue;
@@ -560,6 +535,79 @@ int main(int argc, char* argv[]) {
             packets.push_back({SENSOR_CONFIG, pkt, b.ip, b.listen_port});
         }
     }
+    return packets;
+}
+
+}  // namespace
+
+int main(int argc, char* argv[]) {
+    std::string config_path = "config/config.toml";
+    int interval_ms = -1;  // -1 = use config
+
+    for (int i = 1; i < argc; ++i) {
+        std::string arg = argv[i];
+        if (arg == "--config" && i + 1 < argc)
+            config_path = argv[++i];
+        else if (arg == "--interval-ms" && i + 1 < argc)
+            interval_ms = std::max(500, std::atoi(argv[++i]));
+        else if (arg == "--help" || arg == "-h") {
+            std::cout << "Usage: " << argv[0] << " [--config PATH] [--interval-ms MS]\n";
+            return 0;
+        }
+    }
+
+    std::string config_content;
+    {
+        std::ifstream f(config_path);
+        if (!f.is_open()) {
+            for (const auto& fp : {"config/config.toml", "../config/config.toml"}) {
+                f.open(fp);
+                if (f.is_open()) {
+                    config_path = fp;
+                    break;
+                }
+            }
+        }
+        if (f.is_open()) {
+            std::ostringstream ss;
+            ss << f.rdbuf();
+            config_content = ss.str();
+        }
+    }
+
+    if (config_content.empty()) {
+        std::cerr << "[ConfigBroadcast] No config loaded" << std::endl;
+        return 1;
+    }
+
+    if (interval_ms < 0 && !config_content.empty()) {
+        std::string val =
+            getTomlValue(config_content, "config_broadcast_service", "interval_ms", "");
+        if (!val.empty()) {
+            try {
+                interval_ms = std::max(500, std::stoi(val));
+            } catch (...) {
+            }
+        }
+    }
+    if (interval_ms < 0)
+        interval_ms = 1000;
+
+    signal(SIGINT, signalHandler);
+    signal(SIGTERM, signalHandler);
+
+    // Calibration is loaded once (board edits don't change it). Packets are rebuilt from
+    // the live config every cycle (below) so board changes apply with no restart / no session.
+    fsw::calibration::PTCalibrationManager::set_default_paths(
+        "scripts/calibration/calibrations",
+        "external/DiabloAvionics/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv");
+    fsw::calibration::PTCalibrationManager pt_cal;
+    pt_cal.load_calibration();
+
+    auto packets = buildPackets(config_path, pt_cal);
+    if (packets.empty())
+        std::cerr << "[ConfigBroadcast] No packets from config yet (no designated_survivor?); "
+                     "retrying each cycle" << std::endl;
 
     int sock = socket(AF_INET, SOCK_DGRAM, 0);
     if (sock < 0) {
@@ -571,15 +619,20 @@ int main(int argc, char* argv[]) {
     memset(&dest, 0, sizeof(dest));
     dest.sin_family = AF_INET;
 
-    std::cout << "[ConfigBroadcast] Started — interval=" << interval_ms << "ms (C++ standalone)"
-              << std::endl;
-    std::cout << "[ConfigBroadcast] " << packets.size() << " packet types to " << boards.size()
-              << " boards" << std::endl;
+    std::cout << "[ConfigBroadcast] Started — interval=" << interval_ms
+              << "ms (C++ standalone, live config reload)" << std::endl;
+    std::cout << "[ConfigBroadcast] " << packets.size() << " packet types" << std::endl;
 
     unsigned long total_sent = 0;
     auto last_log = std::chrono::steady_clock::now();
 
     while (g_running) {
+        // Re-read config.toml and rebuild each cycle so board edits go live. Keep the
+        // last-good set if a read is empty/mid-write (buildPackets returns {} on failure).
+        auto fresh = buildPackets(config_path, pt_cal);
+        if (!fresh.empty())
+            packets.swap(fresh);
+
         for (const auto& [pkt_type, pkt, ip, listen_port] : packets) {
             if (inet_pton(AF_INET, ip.c_str(), &dest.sin_addr) != 1)
                 continue;
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index f45240713..5068782c6 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -28,6 +28,7 @@ export enum MessageType {
   CONFIG_UPDATED = 'config_updated',
   COUNTDOWN_TARGET_UPDATE = 'countdown_target_update',
   SESSION_UPDATE = 'session_update',
+  BOARD_LOG = 'board_log',                           // Server → Client: { boardId, ts, lines, truncated }
 
   // Engine-control authorization (DAQ operator gate)
   CONTROL_STATUS = 'control_status',                // Server → Client: { operator, email }
@@ -305,6 +306,30 @@ export interface BoardStatusPayload {
   boards: BoardStatus[];
 }
 
+// ── Board diagnostic logs (type-15 firmware logs, forwarded via daq_bridge) ──
+
+/** One cached board log line, stamped with server arrival time. */
+export interface BoardLogLine {
+  boardId: number;
+  ts: number;   // server arrival time, epoch ms
+  line: string;
+}
+
+/** Running per-board log counters (cumulative since backend start). */
+export interface BoardLogTotals {
+  received: number;   // BOARD_LOG packets (1 Hz flushes) received
+  truncated: number;  // of those, how many carried the TRUNCATED flag
+}
+
+/** MessageType.BOARD_LOG payload: one packet's worth of newline-split lines. */
+export interface BoardLogPayload {
+  boardId: number;
+  ts: number;          // server arrival time, epoch ms
+  lines: string[];
+  truncated: boolean;  // this packet overflowed the board's buffer
+  totals: BoardLogTotals;
+}
+
 // ── Notification types ─────────────────────────────────────────────────────
 
 export type NotificationCategory = 'info' | 'warning' | 'error';
diff --git a/daq-server/sim/board_simulator.py b/daq-server/sim/board_simulator.py
index 2df96a902..d31836e1b 100755
--- a/daq-server/sim/board_simulator.py
+++ b/daq-server/sim/board_simulator.py
@@ -27,6 +27,7 @@
 PACKET_TYPE_SENSOR_CONFIG = 5
 PACKET_TYPE_ACTUATOR_CONFIG = 6
 PACKET_TYPE_SELF_TEST = 12
+PACKET_TYPE_LOGS = 15
 
 # Board States (DAQv2-Comms DiabloEnums.h)
 BOARD_STATE_SETUP = 1
@@ -218,8 +219,11 @@ def _run(self):
         run_started = time.time()
         last_heartbeat = 0
         last_sensor_data = 0
+        last_log = 0
+        log_seq = 0
 
         heartbeat_interval = 1.0  # 1 Hz
+        log_interval = 1.0  # 1 Hz — simple diagnostic logs, always on (see _send_logs)
         if self.sensor_hz:
             # Uniform override (--sensor-hz): every board type, encoder included.
             # Encoder is normally 5x the others AND exempt from GUI envelope
@@ -272,6 +276,13 @@ def _run(self):
                 self._send_heartbeat(ts_ms)
                 last_heartbeat = now
 
+            # --- Send diagnostic LOGS (type 15), 1 Hz, always on (does NOT honor the
+            # config mode byte — the sim just streams so the pipeline can be tested). ---
+            if now - last_log >= log_interval:
+                self._send_logs(ts_ms, log_seq)
+                log_seq += 1
+                last_log = now
+
             # --- Send Sensor Data (ACTIVE only, matching firmware) ---
             if self.board_state == BOARD_STATE_ACTIVE:
                 effective_sensor_interval = (
@@ -348,6 +359,22 @@ def _send_heartbeat(self, ts_ms):
         except Exception:
             pass
 
+    def _send_logs(self, ts_ms, seq):
+        """Send a type-15 LOGS packet: a simple, board-identifying diagnostic line.
+        Wire format matches daq::create_log_packet / parse_log_packet:
+          PacketHeader(6B: type,version,ts) + flags(1B) + text_len(2B LE) + text.
+        The sim always streams these (it does NOT gate on the config mode byte) so
+        the board→bridge→backend→frontend log path can be exercised end to end."""
+        text = f"[SIM] board {self.board_id} {self.board_type_str} alive #{seq}".encode("utf-8")
+        flags = 0
+        text_len = len(text) & 0xFFFF
+        # <BBIBH = type(u8) version(u8) ts(u32 LE) flags(u8) text_len(u16 LE)
+        header = struct.pack("<BBIBH", PACKET_TYPE_LOGS, 0, ts_ms, flags, text_len)
+        try:
+            self.sock.sendto(header + text[:text_len], (self.target_ip, self.target_port))
+        except Exception:
+            pass
+
     def _send_sensor_data(self, ts_ms):
         """Collect one chunk (one scan of all channels, stamped with the board
         clock); send a packet once chunks_per_packet chunks are accumulated —
diff --git a/daq-server/sim/board_startup_sim.py b/daq-server/sim/board_startup_sim.py
index 71cc32830..4b300eae9 100644
--- a/daq-server/sim/board_startup_sim.py
+++ b/daq-server/sim/board_startup_sim.py
@@ -97,8 +97,12 @@ def main() -> int:
         try:
             data, _addr = sock.recvfrom(4096)
             if data and len(data) >= 1 and data[0] == PACKET_SENSOR_CONFIG:
+                # enable_serial_printing (log mode byte, 0..3) is always the LAST byte of
+                # the config packet. Report it so the integration test can confirm a
+                # GUI-driven mode change actually reached this board (it does not act on it).
+                mode = data[-1]
                 print(
-                    "[board_startup_sim] SENSOR_CONFIG received, sending SELF_TEST",
+                    f"[board_startup_sim] SENSOR_CONFIG received enable_serial_printing={mode}, sending SELF_TEST",
                     flush=True,
                 )
                 # Single pass result for connector 2 — keeps WS path unambiguous (integration asserts sensor_2=1).
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index a6f7dcb90..02e69804c 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -54,6 +54,9 @@ TEST_BACKEND_WS_PORT="${TEST_BACKEND_WS_PORT:-8181}"
 TEST_BACKEND_API_PORT="${TEST_BACKEND_API_PORT:-8182}"
 TEST_ACTUATOR_UDP_PORT="${TEST_ACTUATOR_UDP_PORT:-5015}"
 TEST_STARTUP_LISTEN_PORT="${TEST_STARTUP_LISTEN_PORT:-5014}"
+# Board-log ingest UDP port (daq_bridge → backend). Fixed 8092 in prod; offset here
+# so the test never collides with a running stack's log receiver.
+TEST_LOG_INGEST_PORT="${TEST_LOG_INGEST_PORT:-8192}"
 # sequencer_service TCP port (thin backend forwards SEND_COMMAND here)
 TEST_SEQUENCER_PORT="${TEST_SEQUENCER_PORT:-9998}"
 TEST_CONTROLLER_PORT="${TEST_CONTROLLER_PORT:-9997}"
@@ -95,7 +98,7 @@ kill_stale_integration_processes() {
   # Elodin DB — match on the test DB path pattern
   pkill -f "elodin.*integration_test" 2>/dev/null && killed=$((killed + 1)) || true
   # Also kill any process bound to our test ports
-  for port in $TEST_ELODIN_PORT $TEST_DAQ_UDP_PORT $TEST_BACKEND_WS_PORT $TEST_ACTUATOR_UDP_PORT $TEST_STARTUP_LISTEN_PORT $TEST_SEQUENCER_PORT; do
+  for port in $TEST_ELODIN_PORT $TEST_DAQ_UDP_PORT $TEST_BACKEND_WS_PORT $TEST_ACTUATOR_UDP_PORT $TEST_STARTUP_LISTEN_PORT $TEST_LOG_INGEST_PORT $TEST_SEQUENCER_PORT; do
     lsof -ti ":$port" 2>/dev/null | xargs kill 2>/dev/null || true
   done
   if [ "$killed" -gt 0 ]; then
@@ -219,7 +222,7 @@ kill_port() {
   fi
 }
 
-for port in $TEST_ACTUATOR_UDP_PORT $TEST_STARTUP_LISTEN_PORT $TEST_DAQ_UDP_PORT; do
+for port in $TEST_ACTUATOR_UDP_PORT $TEST_STARTUP_LISTEN_PORT $TEST_LOG_INGEST_PORT $TEST_DAQ_UDP_PORT; do
   kill_port "$port" udp
 done
 sleep 0.3
@@ -362,6 +365,8 @@ sedi "s/^port = 2240/port = $TEST_ELODIN_PORT/" "$TEST_CONFIG"
 sedi "s/^sensor_port = 5006/sensor_port = $TEST_DAQ_UDP_PORT/" "$TEST_CONFIG"
 # Replace actuator_cmd_port (under [network] section)
 sedi "s/^actuator_cmd_port = 5005/actuator_cmd_port = $TEST_ACTUATOR_UDP_PORT/" "$TEST_CONFIG"
+# Replace board-log ingest port (under [logs] section) — daq_bridge reads it, backend binds it (env below)
+sedi "s/^backend_udp_port = .*/backend_udp_port = $TEST_LOG_INGEST_PORT/" "$TEST_CONFIG"
 # Pin the GUI downsample config so the test's assertions are deterministic
 # regardless of the production [gui] toggle, and so envelope downsampling is
 # OBSERVABLE: the sim's eligible streams are only 10 Hz, and at the production
@@ -412,7 +417,7 @@ num_sensors = 1
 active_connectors = [1]
 voltage_reference = 1
 necessary_for_abort = false
-enable_serial_printing = false
+enable_serial_printing = 0
 designated_survivor = false
 EOF
 
@@ -532,6 +537,7 @@ if [ "$BACKEND" = "thin" ]; then
     ELODIN_PORT=$TEST_ELODIN_PORT \
     ACTUATOR_SERVICE_PORT=9998 \
     CONFIG_PATH="$TEST_CONFIG" \
+    LOG_INGEST_PORT=$TEST_LOG_INGEST_PORT \
     npx tsx src/server.ts > "$REPO_ROOT/.tmp/integration_backend_$$.log" 2>&1) &
 else
   echo "🖥️  Starting Backend server (server-legacy.ts)..."
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index 32a178acf..f2af3858b 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -92,7 +92,7 @@ function parseOnlyTests(): Set<string> | null {
     'sensor_config', 'sensor_data', 'cal_stability', 'raw_cal_presence',
     'heartbeat', 'board_status', 'selftest', 'backend_debug_api',
     'state_transition', 'state_debug', 'actuator_ws', 'actuator_udp', 'elodin_sync',
-    'controller', 'timestamps', 'conservation',
+    'controller', 'timestamps', 'conservation', 'board_logs', 'board_log_mode',
   ]);
   for (const id of out) {
     if (!allowed.has(id)) {
@@ -160,6 +160,7 @@ enum MessageType {
   BOARD_STATUS_UPDATE = 'board_status_update',
   CONTROL_UNLOCK = 'control_unlock',
   CONTROL_UNLOCK_RESULT = 'control_unlock_result',
+  BOARD_LOG = 'board_log',
 }
 
 enum SystemState {
@@ -859,6 +860,43 @@ function fetchBackendStats(): Promise<BackendStats | null> {
   });
 }
 
+/** GET a JSON body from the backend REST API (served on WS_PORT for the thin backend). */
+function httpGetJson(path: string): Promise<any | null> {
+  return new Promise((resolve) => {
+    const req = http.get(`http://127.0.0.1:${WS_PORT}${path}`, (res) => {
+      let data = '';
+      res.on('data', (c) => { data += c; });
+      res.on('end', () => { try { resolve(JSON.parse(data)); } catch { resolve(null); } });
+    });
+    req.on('error', () => resolve(null));
+    req.setTimeout(3000, () => { req.destroy(); resolve(null); });
+  });
+}
+
+/** POST a JSON body to the backend REST API; resolves { status, json }. */
+function httpPostJson(path: string, body: unknown): Promise<{ status: number; json: any | null }> {
+  return new Promise((resolve) => {
+    const payload = Buffer.from(JSON.stringify(body), 'utf-8');
+    const req = http.request(
+      `http://127.0.0.1:${WS_PORT}${path}`,
+      { method: 'POST', headers: { 'Content-Type': 'application/json', 'Content-Length': payload.length } },
+      (res) => {
+        let data = '';
+        res.on('data', (c) => { data += c; });
+        res.on('end', () => {
+          let json: any = null;
+          try { json = JSON.parse(data); } catch { /* non-JSON */ }
+          resolve({ status: res.statusCode ?? 0, json });
+        });
+      },
+    );
+    req.on('error', () => resolve({ status: 0, json: null }));
+    req.setTimeout(3000, () => { req.destroy(); resolve({ status: 0, json: null }); });
+    req.write(payload);
+    req.end();
+  });
+}
+
 async function testSensorDataFlow(ws: WebSocket): Promise<void> {
   console.log('\n📡 Test 1: Sensor Data Flow');
 
@@ -2221,6 +2259,82 @@ async function testSampleConservation(): Promise<void> {
       : `Ingested ${ingested.toLocaleString()} exceeds sent ${sent.toLocaleString()} by >5% — counter double-counting a stream?`);
 }
 
+// ── Test: Board logs reach the frontend (board_simulator → daq_bridge → backend → WS/REST) ──
+// The sim streams simple type-15 LOGS unconditionally (it does NOT honor the mode byte).
+async function testBoardLogs(ws: WebSocket): Promise<void> {
+  console.log('\n🪵 Test: Board diagnostic logs → WebSocket + REST cache');
+  console.log('  The board_simulator streams type-15 LOGS (1 Hz/board); daq_bridge forwards them to the backend cache.');
+  try {
+    const { payload } = await waitForMessage(
+      ws,
+      MessageType.BOARD_LOG,
+      12000,
+      (p) => p && p.boardId > 0 && Array.isArray(p.lines) && p.lines.length > 0,
+    );
+    assert(payload.boardId > 0 && payload.lines.length > 0,
+      `BOARD_LOG frame received over WS (board ${payload.boardId}, ${payload.lines.length} line(s): "${String(payload.lines[0]).slice(0, 60)}")`);
+  } catch (e: any) {
+    assert(false, `BOARD_LOG frame over WS: ${e.message}`);
+  }
+
+  // REST cache: /api/board-logs/stats should show a board with received > 0.
+  const stats = await httpGetJson('/api/board-logs/stats');
+  const entries: [string, any][] = stats && stats.stats ? Object.entries(stats.stats) : [];
+  const streaming = entries.find(([, v]) => v && v.received > 0);
+  assert(!!streaming, streaming
+    ? `/api/board-logs/stats shows board ${streaming[0]} received=${streaming[1].received}`
+    : `/api/board-logs/stats has a board with received>0 (got ${JSON.stringify(stats?.stats ?? {})})`);
+
+  if (streaming) {
+    const hist = await httpGetJson(`/api/board-logs?board=${streaming[0]}&limit=20`);
+    const lines = hist && Array.isArray(hist.lines) ? hist.lines : [];
+    assert(lines.length > 0,
+      lines.length > 0
+        ? `/api/board-logs?board=${streaming[0]} returned ${lines.length} cached line(s)`
+        : `/api/board-logs?board=${streaming[0]} returned cached lines`);
+  }
+}
+
+// ── Test: a GUI logging-mode change reaches the board (frontend → config → config_broadcast → board 60) ──
+// board_startup_sim (127.0.0.60) receives SENSOR_CONFIG and reports the enable_serial_printing byte;
+// the board does NOT have to act on it — we only prove the changed byte arrives.
+async function testBoardLogMode(_ws: WebSocket): Promise<void> {
+  console.log('\n🎚️  Test: GUI log-mode change reaches board 60 (POST → config.toml → config_broadcast → SENSOR_CONFIG)');
+  if (!BOARD_STARTUP_SIM || !fs.existsSync(BOARD_STARTUP_SIM) || TEST_STARTUP_LISTEN_PORT <= 0) {
+    console.log('  SKIPPED (BOARD_STARTUP_SIM / port not available)');
+    return;
+  }
+  const TARGET_MODE = 3;
+  const post = await httpPostJson('/api/board-log-mode', { boardId: 60, mode: TARGET_MODE });
+  assert(post.status === 200 && post.json?.success === true,
+    post.status === 200 ? `POST /api/board-log-mode {60,${TARGET_MODE}} accepted` : `POST /api/board-log-mode failed (status ${post.status})`);
+  if (post.status !== 200) return;
+
+  // Let config_broadcast (≥1.5s cycle) re-read the patched config and start sending the new byte.
+  const waitMs = parseInt(process.env.INTEGRATION_LOGMODE_WAIT_MS || '4000', 10);
+  console.log(`  Waiting ${waitMs / 1000}s for config_broadcast to pick up the change before starting the board sim…`);
+  await new Promise((r) => setTimeout(r, waitMs));
+
+  const r = spawnSync(
+    PYTHON_BIN,
+    [
+      BOARD_STARTUP_SIM,
+      '--listen-port', String(TEST_STARTUP_LISTEN_PORT),
+      '--daq-port', String(TEST_DAQ_UDP_PORT),
+      '--board-ip', '127.0.0.60',
+      '--board-id', '60',
+    ],
+    { stdio: 'pipe', encoding: 'utf-8', timeout: 30000 },
+  );
+  const out = `${r.stdout || ''}`;
+  const m = out.match(/enable_serial_printing=(\d+)/);
+  const seen = m ? parseInt(m[1], 10) : -1;
+  assert(seen === TARGET_MODE,
+    seen === TARGET_MODE
+      ? `Board 60 received the GUI-set log mode over the wire (enable_serial_printing=${seen})`
+      : `Board 60 should receive enable_serial_printing=${TARGET_MODE} (saw ${seen === -1 ? 'no config' : seen}). Sim out: ${out.slice(0, 300)}`);
+}
+
 async function main(): Promise<void> {
   console.log('🧪 WebSocket Data Flow Integration Test');
   console.log(`   Backend: ${WS_URL} (${IS_THIN ? 'server.ts' : 'server-legacy.ts'})`);
@@ -2285,6 +2399,9 @@ async function main(): Promise<void> {
       if (runTest('board_status')) await testBoardStatusToFrontend(ws);
       if (runTest('selftest')) await testBoardStartupSelfTestToFrontend(ws);
       if (runTest('selftest_replay')) await testSelfTestReplayOnLateConnect();
+      if (runTest('board_logs')) await testBoardLogs(ws);
+      // After selftest so board_startup_sim's port (5014) is free to reuse.
+      if (runTest('board_log_mode')) await testBoardLogMode(ws);
     }
     if (canRunCommandTests) {
       if (runTest('state_transition')) await testStateTransition(ws);
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
index 5362994f2..f669ead86 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
@@ -460,7 +460,7 @@ void test_parse_null_buffer() {
 }
 
 // ---------------------------------------------------------------------------
-// LOGS packet (type 15) — no parse_ counterpart yet; assert the byte layout.
+// LOGS packet (type 15).
 // ---------------------------------------------------------------------------
 
 void test_log_packet_layout() {
@@ -489,6 +489,54 @@ void test_log_packet_buffer_too_small() {
         0, daq::create_log_packet(0, (const uint8_t*)text, 5, 0u, buf, sizeof(buf)));
 }
 
+void test_log_packet_roundtrip() {
+    const char* text = "ONLINE board=3\nstate=IDLE\n";
+    const uint16_t text_len = (uint16_t)strlen(text);
+    uint8_t buf[128];
+    size_t n = daq::create_log_packet(0x01, (const uint8_t*)text, text_len,
+                                      0x12345678u, buf, sizeof(buf));
+    TEST_ASSERT_NOT_EQUAL(0, n);
+
+    daq::PacketHeader hdr;
+    uint8_t flags = 0;
+    const uint8_t* out_text = nullptr;
+    uint16_t out_len = 0;
+    TEST_ASSERT_TRUE(daq::parse_log_packet(buf, n, hdr, flags, out_text, out_len));
+    TEST_ASSERT_EQUAL_UINT8((uint8_t)daq::PacketType::LOGS, hdr.packet_type);
+    TEST_ASSERT_EQUAL_UINT32(0x12345678u, hdr.timestamp);
+    TEST_ASSERT_EQUAL_UINT8(0x01, flags);
+    TEST_ASSERT_EQUAL_UINT16(text_len, out_len);
+    TEST_ASSERT_EQUAL_MEMORY(text, out_text, text_len);
+}
+
+void test_log_packet_parse_truncated() {
+    const char* text = "hello";
+    uint8_t buf[64];
+    size_t n = daq::create_log_packet(0, (const uint8_t*)text, 5, 0u, buf, sizeof(buf));
+    TEST_ASSERT_NOT_EQUAL(0, n);
+
+    daq::PacketHeader hdr;
+    uint8_t flags = 0;
+    const uint8_t* out_text = nullptr;
+    uint16_t out_len = 0;
+    // Claim one fewer byte than the text needs -> must fail.
+    TEST_ASSERT_FALSE(daq::parse_log_packet(buf, n - 1, hdr, flags, out_text, out_len));
+}
+
+void test_log_packet_parse_wrong_type() {
+    // A heartbeat packet must not parse as LOGS.
+    uint8_t buf[64];
+    daq::BoardHeartbeatPacket hb{};
+    size_t n = daq::create_board_heartbeat_packet(hb, 0u, buf, sizeof(buf));
+    TEST_ASSERT_NOT_EQUAL(0, n);
+
+    daq::PacketHeader hdr;
+    uint8_t flags = 0;
+    const uint8_t* out_text = nullptr;
+    uint16_t out_len = 0;
+    TEST_ASSERT_FALSE(daq::parse_log_packet(buf, n, hdr, flags, out_text, out_len));
+}
+
 // ---------------------------------------------------------------------------
 // Unity runner
 // ---------------------------------------------------------------------------
@@ -539,6 +587,9 @@ int main(int argc, char** argv) {
 
     RUN_TEST(test_log_packet_layout);
     RUN_TEST(test_log_packet_buffer_too_small);
+    RUN_TEST(test_log_packet_roundtrip);
+    RUN_TEST(test_log_packet_parse_truncated);
+    RUN_TEST(test_log_packet_parse_wrong_type);
 
     // Null buffer
     RUN_TEST(test_parse_null_buffer);
diff --git a/lib/daq-protocol/src/DiabloPacketUtils.cpp b/lib/daq-protocol/src/DiabloPacketUtils.cpp
index 0c4b2edbd..45d1aa907 100644
--- a/lib/daq-protocol/src/DiabloPacketUtils.cpp
+++ b/lib/daq-protocol/src/DiabloPacketUtils.cpp
@@ -804,4 +804,33 @@ size_t create_log_packet(uint8_t flags, const uint8_t *text, uint16_t text_len,
   return total_size;
 }
 
+bool parse_log_packet(const uint8_t *buffer, size_t buffer_size,
+                      PacketHeader &header_out,
+                      uint8_t &flags_out,
+                      const uint8_t *&text_out,
+                      uint16_t &text_len_out) {
+  const size_t header_size = sizeof(PacketHeader);
+  const size_t fixed_body = 1u /*flags*/ + 2u /*text_len*/;
+  if (!buffer || buffer_size < header_size + fixed_body) return false;
+
+  PacketHeader hdr;
+  memcpy(&hdr, buffer, header_size);
+  if (hdr.packet_type != PacketType::LOGS) return false;
+
+  const uint8_t *ptr = buffer + header_size;
+  const uint8_t flags = *ptr++;
+
+  uint16_t text_len;
+  memcpy(&text_len, ptr, sizeof(text_len)); // uint16 LE (host is little-endian)
+  ptr += sizeof(text_len);
+
+  if (buffer_size < header_size + fixed_body + text_len) return false;
+
+  header_out = hdr;
+  flags_out = flags;
+  text_len_out = text_len;
+  text_out = ptr;
+  return true;
+}
+
 } // namespace daq
diff --git a/lib/daq-protocol/src/DiabloPacketUtils.h b/lib/daq-protocol/src/DiabloPacketUtils.h
index 58760c8e9..e90da8ca2 100644
--- a/lib/daq-protocol/src/DiabloPacketUtils.h
+++ b/lib/daq-protocol/src/DiabloPacketUtils.h
@@ -310,4 +310,23 @@ bool parse_actuator_config_packet(const uint8_t *buffer, size_t buffer_size,
                                   std::vector<AbortPTLocation> &abort_pts_out,
                                   uint8_t &enable_serial_printing_out);
 
+/**
+ * @brief Parses a LOGS packet (type 15) from buffer.
+ *
+ * Mirrors the on-wire format produced by create_log_packet:
+ * PacketHeader (LOGS) + flags (1B) + text_len (2B, uint16 LE) + text bytes.
+ * On success, text_out points into `buffer` (no copy) and is valid for the
+ * lifetime of `buffer`.
+ *
+ * @param flags_out    bit0 = TRUNCATED.
+ * @param text_out     Set to point at the first text byte inside `buffer`.
+ * @param text_len_out Number of text bytes.
+ * @return true on success, false on error (type/size mismatch or buffer too small).
+ */
+bool parse_log_packet(const uint8_t *buffer, size_t buffer_size,
+                      PacketHeader &header_out,
+                      uint8_t &flags_out,
+                      const uint8_t *&text_out,
+                      uint16_t &text_len_out);
+
 } // namespace daq

From 3c8aa10e89d91486149f056e56c1344551160d25 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 22:13:33 -0700
Subject: [PATCH 031/205] =?UTF-8?q?Full=20Flight=20tab:=20end-to-end=20asc?=
 =?UTF-8?q?ent+descent=20=E2=80=94=20glue=20altitude/velocity/accel=20over?=
 =?UTF-8?q?=20the=20whole=20flight,=20one=20launch=E2=86=92apogee=E2=86=92?=
 =?UTF-8?q?landing=20ground=20track,=20predicted=20landing=20point;=20desc?=
 =?UTF-8?q?ent=20seeded=20by=20the=20ascent=20apogee=20state;=20/api/drift?=
 =?UTF-8?q?=20track=20now=20carries=20v/a?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../backend/recovery/routers/simulate.py      |   5 +-
 star-openrocket/frontend/src/App.tsx          |  14 +-
 .../components/viewer/FlightDynamicsTab.tsx   |   4 +-
 .../src/components/viewer/FullFlightTab.tsx   | 259 ++++++++++++++++++
 .../frontend/src/recovery/types/schema.ts     |   4 +
 star-openrocket/physics/drift.py              |  19 +-
 star-openrocket/tests/recovery/test_api.py    |   5 +-
 7 files changed, 296 insertions(+), 14 deletions(-)
 create mode 100644 star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx

diff --git a/star-openrocket/backend/recovery/routers/simulate.py b/star-openrocket/backend/recovery/routers/simulate.py
index e182a7356..807e27517 100644
--- a/star-openrocket/backend/recovery/routers/simulate.py
+++ b/star-openrocket/backend/recovery/routers/simulate.py
@@ -264,7 +264,10 @@ def _thin_track(drift):
         idx.append(n - 1)
     return [
         {"t": float(drift.t[i]), "z": float(drift.z[i]),
-         "x": float(drift.x[i]), "y": float(drift.y[i])}
+         "x": float(drift.x[i]), "y": float(drift.y[i]),
+         # v/a carry the full descent trajectory for the Full Flight tab, which
+         # glues this onto the ascent. GroundTrack ignores them.
+         "v": float(drift.v[i]), "a": float(drift.a[i])}
         for i in idx
     ]
 
diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index 3c7f7df67..da5e1791a 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -19,6 +19,7 @@ import { RecoveryTab } from './recovery/RecoveryTab'
 import type { DesignSource, UiConfig } from './recovery/types/schema'
 import { ConfigVersions } from './components/versions/ConfigVersions'
 import { FlightDynamicsTab } from './components/viewer/FlightDynamicsTab'
+import { FullFlightTab } from './components/viewer/FullFlightTab'
 import { FlightProfileModal } from './components/viewer/FlightProfileModal'
 import { InspectorPanel } from './components/viewer/InspectorPanel'
 import { MotorCurvesModal } from './components/viewer/MotorCurvesModal'
@@ -122,7 +123,7 @@ export default function App() {
   const [reloadNonce, setReloadNonce] = useState(0)
 
   // Top-level tab: CAD viewer, the 6-DOF ascent flight dynamics, or recovery.
-  const [activeTab, setActiveTab] = useState<'cad' | 'flight' | 'recovery'>('cad')
+  const [activeTab, setActiveTab] = useState<'cad' | 'flight' | 'recovery' | 'fullflight'>('cad')
 
   useEffect(() => {
     listModels()
@@ -615,13 +616,16 @@ export default function App() {
         <h1 className="text-xl font-bold">STAR OpenRocket</h1>
 
         <nav className="flex items-center gap-1 rounded-lg border border-slate-700 bg-slate-900/60 p-1 text-sm">
-          {(['cad', 'flight', 'recovery'] as const).map((tab) => (
+          {(['cad', 'flight', 'recovery', 'fullflight'] as const).map((tab) => (
             <button
               key={tab}
               onClick={() => setActiveTab(tab)}
               className={`rounded px-3 py-1 font-medium ${activeTab === tab ? 'bg-cyan-600 text-white' : 'text-slate-300 hover:bg-slate-800'}`}
             >
-              {tab === 'cad' ? 'CAD & Stability' : tab === 'flight' ? 'Flight Dynamics' : 'Recovery'}
+              {tab === 'cad' ? 'CAD & Stability'
+                : tab === 'flight' ? 'Flight Dynamics'
+                : tab === 'recovery' ? 'Recovery'
+                : 'Full Flight'}
             </button>
           ))}
         </nav>
@@ -663,7 +667,9 @@ export default function App() {
         </div>
       </header>
 
-      {activeTab === 'recovery' ? (
+      {activeTab === 'fullflight' ? (
+        <FullFlightTab result={flightDynResult} recovery={recovery} design={designSource} />
+      ) : activeTab === 'recovery' ? (
         <RecoveryTab ui={recovery} onChange={setRecovery} design={designSource} />
       ) : activeTab === 'flight' ? (
         <FlightDynamicsTab
diff --git a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 9595ce0af..94dc6f06d 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -55,7 +55,7 @@ function niceCeil(v: number): number {
   return (f <= 1 ? 1 : f <= 2 ? 2 : f <= 5 ? 5 : 10) * base
 }
 
-function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
+export function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
   return (
     <div className={`rounded-lg border px-3 py-2 ${warn ? 'border-rose-500/40 bg-rose-500/10' : 'border-slate-700 bg-slate-900/60'}`}>
       <div className="text-2xs uppercase tracking-wide text-slate-300">{label}</div>
@@ -71,7 +71,7 @@ const ExpandIcon = () => (
   </svg>
 )
 
-function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }: { title?: string; hint?: string; children: React.ReactNode; heightClass?: string }) {
+export function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }: { title?: string; hint?: string; children: React.ReactNode; heightClass?: string }) {
   const [expanded, setExpanded] = useState(false)
 
   // Escape closes the expanded view.
diff --git a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
new file mode 100644
index 000000000..bc027d662
--- /dev/null
+++ b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
@@ -0,0 +1,259 @@
+/**
+ * Full Flight: the ascent (RocketPy) and the descent (coupled recovery) stitched
+ * into one end-to-end picture -- altitude / velocity / acceleration over the whole
+ * flight, one launch -> apogee -> landing ground track, and the predicted landing
+ * point.
+ *
+ * It does not recompute the ascent: it reads the lifted `flightDynResult` and runs
+ * one descent seeded by the ascent's apogee state (apogee altitude, CAD mass, and
+ * the lateral velocity at apogee), so the two halves connect. Parachutes, wind and
+ * site come from the Recovery config. This is the authoritative end-to-end run, so
+ * it can differ from the Recovery tab if that tab uses manual apogee/mass -- stated
+ * on screen.
+ */
+
+import { useEffect, useMemo, useRef, useState } from 'react'
+import {
+  CartesianGrid, ComposedChart, Line, ReferenceDot, ReferenceLine,
+  ResponsiveContainer, Tooltip, XAxis, YAxis,
+} from 'recharts'
+import type { Kind } from '../../recovery/lib/quantities'
+import { runDrift } from '../../recovery/api/client'
+import { toWireConfig } from '../../recovery/lib/serialise'
+import { useUnits } from '../../recovery/lib/unitsContext'
+import type { DesignSource, DriftResult, UiConfig } from '../../recovery/types/schema'
+import type { FlightDynamicsResult } from '../../types'
+import {
+  AXIS, GRID, REFERENCE, SERIES, TICK_FONT, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE,
+  axisLabelX, axisLabelY,
+} from './chartTheme'
+import { Panel, Tile } from './FlightDynamicsTab'
+
+const LANDING = '#ef4444'
+const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
+
+interface Props {
+  result: FlightDynamicsResult | null
+  recovery: UiConfig
+  design: DesignSource
+}
+
+export function FullFlightTab({ result, recovery, design }: Props) {
+  const { val, lab, dec, num, dur } = useUnits()
+  const [descent, setDescent] = useState<DriftResult | null>(null)
+  const [error, setError] = useState<string | null>(null)
+  const [running, setRunning] = useState(false)
+  const seq = useRef(0)
+
+  // Descent config: the recovery inputs (parachutes/wind/site) but the vehicle
+  // seeded by the ASCENT so the two halves join at apogee.
+  const descentConfig = useMemo(() => {
+    const base = toWireConfig(recovery)
+    if (!result) return base
+    return {
+      ...base,
+      vehicle: {
+        ...base.vehicle,
+        h_a: result.apogee,
+        m: design.massKg ?? base.vehicle.m,
+        v_lat: result.lateralVelocityAtApogee,
+        v_lat_dir: result.lateralBearingAtApogee,
+      },
+    }
+  }, [recovery, result, design.massKg])
+
+  const cfgKey = JSON.stringify(descentConfig)
+  useEffect(() => {
+    if (!result) return
+    const mine = ++seq.current
+    setRunning(true)
+    const id = setTimeout(() => {
+      runDrift(descentConfig).then((res) => {
+        if (mine !== seq.current) return
+        setRunning(false)
+        if (res.data) { setDescent(res.data); setError(null) }
+        else { setError(res.error ?? 'descent failed'); setDescent(null) }
+      })
+    }, 250)
+    return () => clearTimeout(id)
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [cfgKey, result])
+
+  // --- glued time series (display units) -----------------------------------
+  const flight = useMemo(() => {
+    if (!result) return { rows: [] as Row[], apogeeT: 0 }
+    const rows: Row[] = result.samples.map((s) => ({
+      t: s.t,
+      altitude: val(s.altitude, 'altitude'),
+      speed: val(s.speed, 'speed'),
+      accel: val(s.acceleration, 'accel'),
+    }))
+    const aT = result.apogeeTime
+    if (descent) {
+      for (const p of descent.track) {
+        rows.push({
+          t: aT + p.t,
+          altitude: val(p.z, 'altitude'),
+          speed: val(Math.abs(p.v), 'speed'),   // vertical descent rate
+          accel: val(p.a, 'accel'),
+        })
+      }
+    }
+    return { rows, apogeeT: aT }
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [result, descent, lab])
+
+  // --- glued ground track (display units) ----------------------------------
+  const track = useMemo(() => {
+    if (!result) return { pts: [] as Pt[], apogee: null as Pt | null, landing: null as Pt | null }
+    const d = (m: number) => val(m, 'distance')
+    const pts: Pt[] = result.samples.map((s) => ({ x: d(s.driftX), y: d(s.driftY) }))
+    const last = result.samples.at(-1)
+    const aX = last?.driftX ?? 0
+    const aY = last?.driftY ?? 0
+    const apogee = { x: d(aX), y: d(aY) }
+    let landing: Pt | null = null
+    if (descent) {
+      for (const p of descent.track) pts.push({ x: d(aX + p.x), y: d(aY + p.y) })
+      landing = { x: d(aX + descent.landing.x), y: d(aY + descent.landing.y) }
+    }
+    return { pts, apogee, landing }
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [result, descent, lab])
+
+  // Landing distance / bearing from the pad, in SI, then shown in display units.
+  const landingSI = useMemo(() => {
+    if (!result || !descent) return null
+    const last = result.samples.at(-1)
+    const x = (last?.driftX ?? 0) + descent.landing.x
+    const y = (last?.driftY ?? 0) + descent.landing.y
+    return { x, y, dist: Math.hypot(x, y), bearing: (Math.atan2(x, y) * 180 / Math.PI + 360) % 360 }
+  }, [result, descent])
+
+  if (!result) {
+    return (
+      <div className="flex flex-1 items-center justify-center p-8 text-center text-slate-400">
+        Run a flight in the <span className="mx-1 font-semibold text-slate-200">Flight Dynamics</span>
+        tab first — the full flight glues that ascent onto the recovery descent.
+      </div>
+    )
+  }
+
+  const showN = (si: number, kind: Kind, digits = 0) => `${num(si, kind, digits)}`
+
+  return (
+    <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
+      <div className="mb-2">
+        <h3 className="text-base font-semibold text-slate-100">Full flight — launch to landing</h3>
+        <p className="text-2xs text-slate-400">
+          Ascent from Flight Dynamics glued to a recovery descent seeded by it (apogee,
+          CAD mass, lateral velocity at apogee). Parachutes, wind and site come from the
+          Recovery tab.{running ? ' · updating…' : ''}{error ? ` · ${error}` : ''}
+        </p>
+      </div>
+
+      {/* Summary tiles */}
+      <div className="mb-4 grid grid-cols-2 gap-3 sm:grid-cols-3 lg:grid-cols-6">
+        <Tile label="Apogee" value={showN(result.apogee, 'altitude')} sub={`at ${result.apogeeTime.toFixed(1)} s`} />
+        <Tile label="Max velocity" value={showN(result.maxSpeed, 'speed')} sub={`Mach ${result.maxMach.toFixed(2)}`} />
+        <Tile label="Total flight" value={descent ? dur(result.apogeeTime + descent.descent_time) : '—'} sub="launch → landing" />
+        <Tile label="Descent time" value={descent ? dur(descent.descent_time) : '—'} />
+        <Tile label="Landing range" value={landingSI ? showN(landingSI.dist, 'distance') : '—'}
+              sub={landingSI ? `bearing ${landingSI.bearing.toFixed(0)}°` : undefined} />
+        <Tile label="Impact velocity" value={descent ? showN(Math.abs(descent.track.at(-1)?.v ?? 0), 'speed') : '—'} />
+      </div>
+
+      <div className="grid gap-3 lg:grid-cols-2">
+        <Panel title="Altitude" hint="Whole flight vs time; the dashed line is apogee (ascent→descent handoff).">
+          {timeChart(flight.rows, 'altitude', 'altitude', SERIES.altitude, flight.apogeeT, lab, dec)}
+        </Panel>
+        <Panel title="Velocity" hint="Ascent speed, then the vertical descent rate under the canopies.">
+          {timeChart(flight.rows, 'speed', 'speed', SERIES.velocity, flight.apogeeT, lab, dec)}
+        </Panel>
+        <Panel title="Acceleration" hint="Boost, coast, then the deployment decelerations.">
+          {timeChart(flight.rows, 'accel', 'accel', SERIES.acceleration, flight.apogeeT, lab, dec)}
+        </Panel>
+
+        <Panel title="Ground track — launch to landing"
+               hint="Plan view. The path leaves the pad, arcs over at apogee, then drifts under recovery to the predicted landing.">
+          <FullGroundTrack track={track} lab={lab} dec={dec} />
+        </Panel>
+      </div>
+    </div>
+  )
+}
+
+interface Row { t: number; altitude: number; speed: number; accel: number }
+interface Pt { x: number; y: number }
+
+/** One glued time-series (data already in display units), with the apogee marker. */
+function timeChart(
+  rows: Row[], dataKey: keyof Row, kind: Kind, color: string, apogeeT: number,
+  lab: (k: Kind) => string, dec: (v: number, d: number) => string,
+) {
+  return (
+    <ResponsiveContainer width="100%" height="100%">
+      <ComposedChart data={rows} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
+        <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+        <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke}
+               tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
+               tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Time (s)')} />
+        <YAxis stroke={color} tick={{ fontSize: TICK_FONT, fill: color }} tickLine={false}
+               width={64} label={axisLabelY(`${cap(String(dataKey))} (${lab(kind)})`)} />
+        <Tooltip {...tip} labelFormatter={(t: number) => `t = ${dec(t, 1)} s`}
+                 formatter={(v: number) => [`${dec(v, 1)} ${lab(kind)}`, cap(String(dataKey))]} />
+        <ReferenceLine x={apogeeT} stroke={REFERENCE} strokeDasharray="4 3"
+                       label={{ value: 'apogee', fill: REFERENCE, fontSize: TICK_FONT, position: 'top' }} />
+        <Line type="monotone" dataKey={dataKey} stroke={color} dot={false}
+              strokeWidth={1.75} isAnimationActive={false} connectNulls />
+      </ComposedChart>
+    </ResponsiveContainer>
+  )
+}
+
+/** The combined plan-view path (equal-aspect square, pad at origin), marking
+ *  launch (origin), apogee (handoff) and the predicted landing. */
+function FullGroundTrack({ track, lab, dec }: {
+  track: { pts: Pt[]; apogee: Pt | null; landing: Pt | null }
+  lab: (k: Kind) => string
+  dec: (v: number, d: number) => string
+}) {
+  if (track.pts.length < 2) {
+    return <div className="flex h-full items-center justify-center text-xs text-slate-400">No trajectory yet.</div>
+  }
+  const reach = Math.max(...track.pts.map((p) => Math.max(Math.abs(p.x), Math.abs(p.y))))
+  const R = Math.max(reach * 1.15, 50)
+  const fmt = (v: number) => dec(v, 0)
+  return (
+    <div className="mx-auto aspect-square h-full max-h-[30rem] w-full max-w-[30rem]">
+      <ResponsiveContainer width="100%" height="100%">
+        <ComposedChart data={track.pts} margin={{ top: 8, right: 16, bottom: 30, left: 8 }}>
+          <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+          <XAxis type="number" dataKey="x" domain={[-R, R]} stroke={AXIS.stroke}
+                 tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
+                 tickFormatter={fmt} allowDecimals={false} label={axisLabelX(`East (${lab('distance')})`)} />
+          <YAxis type="number" domain={[-R, R]} width={56} stroke={AXIS.stroke}
+                 tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
+                 tickFormatter={fmt} allowDecimals={false} label={axisLabelY(`North (${lab('distance')})`)} />
+          <Tooltip {...tip} formatter={(v: number, n: string) => [`${fmt(v)} ${lab('distance')}`, n === 'y' ? 'north' : n]}
+                   labelFormatter={(x: number) => `East ${fmt(x)} ${lab('distance')}`} />
+          <ReferenceLine x={0} stroke="#4b5563" />
+          <ReferenceLine y={0} stroke="#4b5563" />
+          <Line dataKey="y" type="linear" stroke={SERIES.altitude} strokeWidth={2} dot={false} isAnimationActive={false} />
+          <ReferenceDot x={0} y={0} r={4} fill="#f8fafc" stroke="none"
+                        label={{ value: 'launch', position: 'left', fontSize: 12, fill: '#cbd5e1' }} />
+          {track.apogee && (
+            <ReferenceDot x={track.apogee.x} y={track.apogee.y} r={4} fill={REFERENCE} stroke="none"
+                          label={{ value: 'apogee', position: 'top', fontSize: 12, fill: REFERENCE }} />
+          )}
+          {track.landing && (
+            <ReferenceDot x={track.landing.x} y={track.landing.y} r={5} fill={LANDING} stroke="none"
+                          label={{ value: 'landing', position: 'bottom', fontSize: 12, fill: LANDING }} />
+          )}
+        </ComposedChart>
+      </ResponsiveContainer>
+    </div>
+  )
+}
+
+function cap(s: string) { return s.charAt(0).toUpperCase() + s.slice(1) }
diff --git a/star-openrocket/frontend/src/recovery/types/schema.ts b/star-openrocket/frontend/src/recovery/types/schema.ts
index 3e0f35e39..6a0621fc9 100644
--- a/star-openrocket/frontend/src/recovery/types/schema.ts
+++ b/star-openrocket/frontend/src/recovery/types/schema.ts
@@ -527,6 +527,10 @@ export interface DriftTrackSample {
   z: number
   x: number
   y: number
+  /** Vertical velocity (signed, − descending) and acceleration — the full
+   *  descent trajectory, glued onto the ascent by the Full Flight tab. */
+  v: number
+  a: number
 }
 
 export interface DriftResult {
diff --git a/star-openrocket/physics/drift.py b/star-openrocket/physics/drift.py
index 34e11ac1e..b3c6774d6 100644
--- a/star-openrocket/physics/drift.py
+++ b/star-openrocket/physics/drift.py
@@ -23,15 +23,22 @@
 
 
 class DriftResult:
-    """Horizontal ground track and its summary. East = +x, North = +y."""
+    """Horizontal ground track and its summary. East = +x, North = +y.
 
-    __slots__ = ("t", "z", "x", "y", "distance", "bearing_deg")
+    Carries the full descent trajectory (`v` vertical velocity, `a` vertical
+    acceleration alongside `z/x/y`) so a caller wanting the whole descent -- the
+    Full Flight tab -- gets it from this one object.
+    """
+
+    __slots__ = ("t", "z", "x", "y", "v", "a", "distance", "bearing_deg")
 
-    def __init__(self, t, z, x, y, distance, bearing_deg):
+    def __init__(self, t, z, x, y, distance, bearing_deg, v=None, a=None):
         self.t = t                    # s, from apogee
         self.z = z                    # m AGL, matches the descent trajectory
         self.x = x                    # m east of the pad
         self.y = y                    # m north of the pad
+        self.v = v                    # m/s, vertical velocity (signed, - descending)
+        self.a = a                    # m/s^2, vertical acceleration
         self.distance = distance      # m, straight-line pad-to-landing
         self.bearing_deg = bearing_deg  # compass bearing pad->landing, deg
 
@@ -52,15 +59,17 @@ def compute_drift(run, wind=None):
     z = np.asarray(run.traj.z, dtype=float)
     x = np.asarray(run.traj.x, dtype=float)
     y = np.asarray(run.traj.y, dtype=float)
+    v = np.asarray(run.traj.v, dtype=float)
+    a = np.asarray(run.traj.a, dtype=float)
 
     if t.size < 2:
         # A degenerate run (never left the pad). No descent, no drift.
         zero = np.zeros(t.size)
-        return DriftResult(t, z, zero, zero, 0.0, 0.0)
+        return DriftResult(t, z, zero, zero, 0.0, 0.0, v=v, a=a)
 
     x_end, y_end = float(x[-1]), float(y[-1])
     distance = math.hypot(x_end, y_end)
     # Compass bearing pad -> landing: 0 = north, 90 = east.
     bearing = math.degrees(math.atan2(x_end, y_end)) % 360.0 if distance else 0.0
 
-    return DriftResult(t, z, x, y, distance, bearing)
+    return DriftResult(t, z, x, y, distance, bearing, v=v, a=a)
diff --git a/star-openrocket/tests/recovery/test_api.py b/star-openrocket/tests/recovery/test_api.py
index bd2350514..d20ddc4b5 100644
--- a/star-openrocket/tests/recovery/test_api.py
+++ b/star-openrocket/tests/recovery/test_api.py
@@ -914,8 +914,9 @@ def test_drift_track_is_time_ordered_and_starts_at_the_pad():
     track = body["track"]
     assert track[0]["x"] == 0.0 and track[0]["y"] == 0.0
     assert all(b["t"] >= a["t"] for a, b in zip(track, track[1:]))
-    # Wire contract for the ground-track plot.
-    assert set(track[0]) == {"t", "z", "x", "y"}
+    # Wire contract: t,z,x,y for the ground-track plot, plus v,a so the Full
+    # Flight tab gets the whole descent trajectory from this one route.
+    assert set(track[0]) == {"t", "z", "x", "y", "v", "a"}
 
 
 def test_drift_accepts_a_resolved_profile():

From 119cf0f7c96f97eca5c1e3f0c739ce03c4c512e8 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 15 Aug 2026 22:21:45 -0700
Subject: [PATCH 032/205] ota_service: add loopback fake-board test for espota
 wire format (size header, chunking, OK/silent/ERR paths) + strict CI step

---
 .github/workflows/daq-server-ci.yml |   9 +
 daq-server/test/test_ota_flash.py   | 338 ++++++++++++++++++++++++++++
 2 files changed, 347 insertions(+)
 create mode 100644 daq-server/test/test_ota_flash.py

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index d4e987676..64fc940fa 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -463,6 +463,15 @@ jobs:
         cd ${{ env.BUILD_DIR }}
         ./bin/test_board_clock_sync
 
+    # Ethernet OTA flash wire-format test: drives the real ota_service binary
+    # against a loopback fake board (no hardware). Guards the espota handshake
+    # (big-endian size header, 4 KB chunk streaming, OK/silent-reboot/ERR paths)
+    # that a real ESP32-S3 depends on. Strict — a regression here must fail the job.
+    - name: Run OTA fake-board test
+      env:
+        OTA_SERVICE_BIN: ${{ env.BUILD_DIR }}/bin/ota_service
+      run: python3 test/test_ota_flash.py
+
     - name: Run Python smoke tests (allowlist only)
       run: |
         if [ -d "test" ]; then
diff --git a/daq-server/test/test_ota_flash.py b/daq-server/test/test_ota_flash.py
new file mode 100644
index 000000000..d7d7c5b0c
--- /dev/null
+++ b/daq-server/test/test_ota_flash.py
@@ -0,0 +1,338 @@
+#!/usr/bin/env python3
+"""
+Fake-board test for the C++ ota_service (diablo_server/services/ota).
+
+No hardware. Exercises the exact ethernet-flash wire format that a real ESP32-S3
+board depends on, against a loopback TCP "fake board" that speaks the espota
+handshake:
+
+    1. board accepts TCP on 127.0.0.1:3232 (OTA_PORT — a compile-time constant)
+    2. board reads a 4-byte BIG-ENDIAN firmware size
+    3. board reads exactly that many firmware bytes (ota_service sends in 4 KB chunks)
+    4. board replies "OK\\n"  (or reboots without replying — also success)
+
+The test launches the real ota_service binary, connects to its command port
+(TCP, default 9997) and issues `OTA_FLASH:<ip>:<path>`, then asserts on both the
+bytes the fake board received and the OK/ERR reply the service returns.
+
+Covers: big-endian size header, multi-chunk streaming byte-fidelity, "OK"
+detection, silent-reboot-is-success, board-error -> ERR, and the command
+parser's error paths (missing file, connect refused, bad format, unknown cmd).
+
+Run:  python3 test/test_ota_flash.py            (from daq-server/)
+Binary is auto-discovered at build/bin/ota_service; override with OTA_SERVICE_BIN.
+"""
+
+from __future__ import annotations
+
+import os
+import random
+import socket
+import struct
+import subprocess
+import sys
+import threading
+import time
+
+OTA_BOARD_PORT = 3232  # fixed in ota_service (OTA_PORT); the fake board must bind this
+BOARD_IP = "127.0.0.1"
+CONNECT_WAIT_S = 5.0  # how long to wait for ota_service to come up
+REPLY_WAIT_S = 20.0  # how long to wait for an OK/ERR reply
+
+
+# ── binary discovery ──────────────────────────────────────────────────────────
+
+
+def find_ota_service() -> str:
+    override = os.environ.get("OTA_SERVICE_BIN")
+    if override:
+        if not os.path.isfile(override):
+            print(f"[test_ota_flash] OTA_SERVICE_BIN not found: {override}", flush=True)
+            sys.exit(2)
+        return override
+    here = os.path.dirname(os.path.abspath(__file__))
+    daq_root = os.path.dirname(here)  # daq-server/
+    candidates = [
+        os.path.join(daq_root, "build", "bin", "ota_service"),
+        os.path.join(daq_root, "build-ci", "FSW", "ota_service"),
+        os.path.join(daq_root, "build", "FSW", "ota_service"),
+    ]
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+    print(
+        "[test_ota_flash] ota_service binary not found. Build it first "
+        "(bash scripts/build.sh) or set OTA_SERVICE_BIN. Looked in:\n  "
+        + "\n  ".join(candidates),
+        flush=True,
+    )
+    sys.exit(2)
+
+
+def pick_free_port() -> int:
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.bind(("127.0.0.1", 0))
+    port = s.getsockname()[1]
+    s.close()
+    return port
+
+
+# ── fake board ────────────────────────────────────────────────────────────────
+
+
+class FakeBoard(threading.Thread):
+    """One-shot espota listener on 127.0.0.1:3232.
+
+    behavior: 'ok'     -> read all, reply "OK\\n"
+              'silent' -> read all, close without replying (ESP32 rebooted first)
+              'error'  -> read all, reply "FAILED\\n"
+    Captures the declared size header and the received firmware bytes.
+    """
+
+    def __init__(self, behavior: str = "ok") -> None:
+        super().__init__(daemon=True)
+        self.behavior = behavior
+        self.declared_size: int | None = None
+        self.received: bytes = b""
+        self.error: str | None = None
+        self._ready = threading.Event()
+        self._srv = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
+    def bind(self) -> bool:
+        try:
+            self._srv.bind((BOARD_IP, OTA_BOARD_PORT))
+            self._srv.listen(1)
+            self._srv.settimeout(CONNECT_WAIT_S + REPLY_WAIT_S)
+            return True
+        except OSError as e:
+            self.error = f"fake board bind {BOARD_IP}:{OTA_BOARD_PORT} failed: {e}"
+            return False
+
+    def run(self) -> None:
+        try:
+            self._ready.set()
+            conn, _ = self._srv.accept()
+        except OSError as e:
+            self.error = f"accept failed: {e}"
+            self._srv.close()
+            return
+        try:
+            conn.settimeout(REPLY_WAIT_S)
+            hdr = self._recv_exact(conn, 4)
+            if hdr is None:
+                self.error = "did not receive 4-byte size header"
+                return
+            self.declared_size = struct.unpack(">I", hdr)[0]
+            self.received = self._recv_exact(conn, self.declared_size) or b""
+            if self.behavior == "ok":
+                conn.sendall(b"OK\n")
+            elif self.behavior == "error":
+                conn.sendall(b"FAILED\n")
+            # 'silent': send nothing, just close (board rebooted before replying)
+        except OSError as e:
+            self.error = f"board io error: {e}"
+        finally:
+            try:
+                conn.close()
+            except OSError:
+                pass
+            self._srv.close()
+
+    @staticmethod
+    def _recv_exact(conn: socket.socket, n: int) -> bytes | None:
+        buf = bytearray()
+        while len(buf) < n:
+            chunk = conn.recv(min(65536, n - len(buf)))
+            if not chunk:
+                return None
+            buf += chunk
+        return bytes(buf)
+
+
+# ── ota_service driver ────────────────────────────────────────────────────────
+
+
+def wait_until_listening(port: int, deadline: float) -> bool:
+    while time.time() < deadline:
+        try:
+            with socket.create_connection(("127.0.0.1", port), timeout=0.5):
+                return True
+        except OSError:
+            time.sleep(0.05)
+    return False
+
+
+def send_command(port: int, line: str) -> str:
+    """Send one command line to ota_service; return its trimmed reply."""
+    with socket.create_connection(("127.0.0.1", port), timeout=REPLY_WAIT_S) as s:
+        s.settimeout(REPLY_WAIT_S)
+        s.sendall(line.encode() + b"\n")
+        s.shutdown(socket.SHUT_WR)
+        buf = bytearray()
+        while True:
+            try:
+                chunk = s.recv(4096)
+            except socket.timeout:
+                break
+            if not chunk:
+                break
+            buf += chunk
+            if b"\n" in buf:
+                break
+    return buf.decode(errors="replace").strip()
+
+
+# ── test harness ──────────────────────────────────────────────────────────────
+
+
+class Results:
+    def __init__(self) -> None:
+        self.passed = 0
+        self.failed = 0
+
+    def check(self, name: str, ok: bool, detail: str = "") -> None:
+        mark = "PASS" if ok else "FAIL"
+        if ok:
+            self.passed += 1
+        else:
+            self.failed += 1
+        line = f"  [{mark}] {name}"
+        if detail:
+            line += f" — {detail}"
+        print(line, flush=True)
+
+
+def make_firmware(tmpdir: str, name: str, size: int) -> tuple[str, bytes]:
+    # Deterministic pseudo-random content (fixed seed) so failures are reproducible.
+    data = bytes(random.Random(0xB0A2D + size).randbytes(size))
+    path = os.path.join(tmpdir, name)
+    with open(path, "wb") as f:
+        f.write(data)
+    return path, data
+
+
+def run_flash(port: int, ip: str, path: str, behavior: str, r: Results, label: str,
+              expect_ok: bool, verify_bytes: bytes | None) -> None:
+    """Start a fake board, issue OTA_FLASH, and assert reply + received bytes."""
+    board = FakeBoard(behavior=behavior)
+    if not board.bind():
+        r.check(label, False, board.error or "bind failed")
+        return
+    board.start()
+    board._ready.wait(2.0)
+    reply = send_command(port, f"OTA_FLASH:{ip}:{path}")
+    board.join(timeout=REPLY_WAIT_S)
+
+    got_ok = reply.startswith("OK")
+    if expect_ok:
+        r.check(f"{label}: service reply OK", got_ok, reply)
+    else:
+        r.check(f"{label}: service reply ERR", reply.startswith("ERR"), reply)
+
+    if verify_bytes is not None:
+        r.check(
+            f"{label}: size header (big-endian) matches file",
+            board.declared_size == len(verify_bytes),
+            f"declared={board.declared_size} expected={len(verify_bytes)}",
+        )
+        r.check(
+            f"{label}: received bytes identical to firmware",
+            board.received == verify_bytes,
+            f"got {len(board.received)}/{len(verify_bytes)} bytes"
+            + (f"; board error: {board.error}" if board.error else ""),
+        )
+
+
+def main() -> int:
+    import tempfile
+
+    bin_path = find_ota_service()
+    ota_port = pick_free_port()
+    print(f"[test_ota_flash] binary={bin_path}", flush=True)
+    print(f"[test_ota_flash] ota_service command port={ota_port}, board port={OTA_BOARD_PORT}",
+          flush=True)
+
+    # Make sure nothing is already squatting the fixed board port (would poison the
+    # connect-refused case and the byte-fidelity cases alike).
+    probe = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    probe.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    try:
+        probe.bind((BOARD_IP, OTA_BOARD_PORT))
+    except OSError as e:
+        print(
+            f"[test_ota_flash] port {OTA_BOARD_PORT} is in use ({e}); a real stack or "
+            "another test may be running. Aborting.",
+            flush=True,
+        )
+        return 2
+    finally:
+        probe.close()
+
+    proc = subprocess.Popen(
+        [bin_path, "--port", str(ota_port)],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.STDOUT,
+        text=True,
+    )
+
+    r = Results()
+    try:
+        if not wait_until_listening(ota_port, time.time() + CONNECT_WAIT_S):
+            print("[test_ota_flash] ota_service never started listening", flush=True)
+            return 2
+
+        with tempfile.TemporaryDirectory() as tmp:
+            # 10 KB spans three 4 KB chunks -> exercises the send loop / offset math.
+            big_path, big_data = make_firmware(tmp, "firmware_big.bin", 10_000)
+            # Exact multiple of the 4 KB chunk size -> boundary case.
+            aligned_path, aligned_data = make_firmware(tmp, "firmware_aligned.bin", 8192)
+
+            # 1. Happy path: board acks OK. Validates BE size + chunking + exact bytes.
+            run_flash(ota_port, BOARD_IP, big_path, "ok", r,
+                      "flash_ok (10KB, multi-chunk)", expect_ok=True, verify_bytes=big_data)
+
+            # 2. Chunk-aligned payload still transfers byte-for-byte.
+            run_flash(ota_port, BOARD_IP, aligned_path, "ok", r,
+                      "flash_ok (8KB, chunk-aligned)", expect_ok=True, verify_bytes=aligned_data)
+
+            # 3. Board reboots before replying -> ota_service treats no-response as success.
+            run_flash(ota_port, BOARD_IP, big_path, "silent", r,
+                      "flash_silent_reboot", expect_ok=True, verify_bytes=big_data)
+
+            # 4. Board replies with a non-OK string -> ERR, but bytes still arrived intact.
+            run_flash(ota_port, BOARD_IP, big_path, "error", r,
+                      "flash_board_error", expect_ok=False, verify_bytes=big_data)
+
+            # 5. Missing firmware file -> ERR before any connect.
+            reply = send_command(ota_port, f"OTA_FLASH:{BOARD_IP}:{tmp}/does_not_exist.bin")
+            r.check("flash_missing_file: ERR cannot open",
+                    reply.startswith("ERR") and "cannot open" in reply, reply)
+
+            # 6. Nothing listening on 3232 -> ERR connect refused.
+            reply = send_command(ota_port, f"OTA_FLASH:{BOARD_IP}:{big_path}")
+            r.check("flash_connect_refused: ERR connect",
+                    reply.startswith("ERR") and "connect" in reply, reply)
+
+            # 7. Malformed OTA_FLASH (missing the :<path>) -> ERR bad format.
+            reply = send_command(ota_port, "OTA_FLASH:justanip")
+            r.check("bad_format: ERR bad OTA_FLASH",
+                    reply.startswith("ERR") and "OTA_FLASH" in reply, reply)
+
+            # 8. Unknown command -> ERR unknown command.
+            reply = send_command(ota_port, "HELLO_WORLD")
+            r.check("unknown_command: ERR",
+                    reply.startswith("ERR") and "unknown" in reply, reply)
+    finally:
+        proc.terminate()
+        try:
+            proc.wait(timeout=5)
+        except subprocess.TimeoutExpired:
+            proc.kill()
+
+    print(f"\n[test_ota_flash] {r.passed} passed, {r.failed} failed", flush=True)
+    return 0 if r.failed == 0 else 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())

From a342d75f6481e0e627f547942266d54cf2317cac Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:06:06 -0700
Subject: [PATCH 033/205] shared types: make types.js a built artifact
 (prebuild + CI drift guard); fixes stale enum that broke live board_log
 dispatch

---
 .github/workflows/daq-server-ci.yml           | 11 ++++++
 .../diablo_server/frontend/package.json       |  4 ++
 daq-server/diablo_server/shared/package.json  |  6 ++-
 daq-server/diablo_server/shared/tsconfig.json | 17 +++++++++
 daq-server/diablo_server/shared/types.d.ts    | 38 ++++++++++++++++++-
 .../diablo_server/shared/types.d.ts.map       |  2 +-
 daq-server/diablo_server/shared/types.js      |  1 +
 daq-server/diablo_server/shared/types.js.map  |  2 +-
 8 files changed, 76 insertions(+), 5 deletions(-)
 create mode 100644 daq-server/diablo_server/shared/tsconfig.json

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index 64fc940fa..ac5418cfd 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -108,6 +108,17 @@ jobs:
       working-directory: daq-server/diablo_server/frontend
       run: npm ci || npm install
 
+    # shared/types.js is a committed runtime artifact (prod backend does
+    # `await import('../../shared/types.js')`; Vite bundles the literal .js).
+    # Regenerate it from types.ts and fail if the checked-in copy drifted —
+    # a stale copy silently ships an undefined enum member to the frontend.
+    - name: Verify shared types are in sync
+      working-directory: daq-server/diablo_server/frontend
+      run: |
+        npm run build:shared
+        git diff --exit-code -- ../shared/types.js ../shared/types.d.ts ../shared/types.js.map ../shared/types.d.ts.map \
+          || { echo "::error::shared/types.* is stale — run 'npm run build:shared' in frontend/ and commit the result."; exit 1; }
+
     - name: Run backend unit tests
       working-directory: daq-server/diablo_server/backend
       run: npm run test
diff --git a/daq-server/diablo_server/frontend/package.json b/daq-server/diablo_server/frontend/package.json
index 86fbad82d..3b32ca2f7 100644
--- a/daq-server/diablo_server/frontend/package.json
+++ b/daq-server/diablo_server/frontend/package.json
@@ -3,6 +3,10 @@
   "version": "1.0.0",
   "private": true,
   "scripts": {
+    "build:shared": "tsc -p ../shared/tsconfig.json",
+    "predev": "npm run build:shared",
+    "prebuild": "npm run build:shared",
+    "pretest:build": "npm run build:shared",
     "dev": "vite --host 0.0.0.0",
     "build": "vite build",
     "start": "vite preview --host 0.0.0.0 --port 3000",
diff --git a/daq-server/diablo_server/shared/package.json b/daq-server/diablo_server/shared/package.json
index 7f916ea8d..e277bde37 100644
--- a/daq-server/diablo_server/shared/package.json
+++ b/daq-server/diablo_server/shared/package.json
@@ -2,5 +2,9 @@
   "name": "sensor-system-shared-types",
   "version": "1.0.0",
   "type": "module",
-  "private": true
+  "private": true,
+  "scripts": {
+    "build": "tsc -p tsconfig.json",
+    "check": "tsc -p tsconfig.json && git diff --exit-code -- types.js types.d.ts types.js.map types.d.ts.map"
+  }
 }
diff --git a/daq-server/diablo_server/shared/tsconfig.json b/daq-server/diablo_server/shared/tsconfig.json
new file mode 100644
index 000000000..477333d92
--- /dev/null
+++ b/daq-server/diablo_server/shared/tsconfig.json
@@ -0,0 +1,17 @@
+{
+  "//": "Canonical build for the shared wire types. The emitted types.js is a real runtime artifact: the production backend (node dist/server.js) does `await import('../../shared/types.js')` and Vite bundles the literal .js into the frontend. Regenerate with `npm run build` in this dir; CI guards freshness via git diff. Do NOT hand-edit types.js.",
+  "compilerOptions": {
+    "target": "es2020",
+    "module": "esnext",
+    "moduleResolution": "bundler",
+    "declaration": true,
+    "declarationMap": true,
+    "sourceMap": true,
+    "removeComments": false,
+    "outDir": ".",
+    "rootDir": ".",
+    "strict": true,
+    "skipLibCheck": true
+  },
+  "files": ["types.ts"]
+}
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index c6c4eb052..03f3b02e2 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -23,8 +23,9 @@ export declare enum MessageType {
     CONFIG_UPDATED = "config_updated",
     COUNTDOWN_TARGET_UPDATE = "countdown_target_update",
     SESSION_UPDATE = "session_update",
-    CONTROL_STATUS = "control_status",
-    CONTROL_UNLOCK = "control_unlock",
+    BOARD_LOG = "board_log",// Server → Client: { boardId, ts, lines, truncated }
+    CONTROL_STATUS = "control_status",// Server → Client: { operator, email }
+    CONTROL_UNLOCK = "control_unlock",// Client → Server: {} (arm control; identity-gated)
     CONTROL_UNLOCK_RESULT = "control_unlock_result"
 }
 export declare enum SensorType {
@@ -120,11 +121,21 @@ export interface CommandPayload {
         debugMode?: boolean;
         /** Unix timestamp in milliseconds. null clears/pauses the countdown. */
         targetTimeMs?: number | null;
+        /** session_start: Save (true) keeps the run's DB; Discard (false) deletes it on stop. */
         keepData?: boolean;
+        /** session_start: auto-stop timeout in milliseconds. */
         durationMs?: number;
+        /** session_start: run against the board simulator (true) instead of live hardware. */
+        simulated?: boolean;
+        /** session_extend: milliseconds to push the auto-stop deadline out by. */
         addMs?: number;
     };
 }
+/**
+ * DAQ run session — a run started/stopped from the session screen with a
+ * backend-owned auto-stop timeout. `enabled` is false when SESSION_SERVICE_MODE
+ * is off (the launch-site laptop): the UI hides the button and nothing auto-stops.
+ */
 export interface SessionStatus {
     enabled: boolean;
     active: boolean;
@@ -133,6 +144,8 @@ export interface SessionStatus {
     deadlineMs: number | null;
     remainingMs: number | null;
     freeDiskBytes: number | null;
+    /** True when the active run is fed by the board simulator instead of hardware. */
+    simulated: boolean;
 }
 export interface ConnectionStatus {
     connected: boolean;
@@ -140,6 +153,8 @@ export interface ConnectionStatus {
     connId?: string;
     latency?: number;
     error?: string;
+    /** True when incoming data is synthetic (board simulator running). */
+    simulated?: boolean;
 }
 export interface MissionStartTime {
     missionStartTime: number;
@@ -227,6 +242,25 @@ export interface BoardStatus {
 export interface BoardStatusPayload {
     boards: BoardStatus[];
 }
+/** One cached board log line, stamped with server arrival time. */
+export interface BoardLogLine {
+    boardId: number;
+    ts: number;
+    line: string;
+}
+/** Running per-board log counters (cumulative since backend start). */
+export interface BoardLogTotals {
+    received: number;
+    truncated: number;
+}
+/** MessageType.BOARD_LOG payload: one packet's worth of newline-split lines. */
+export interface BoardLogPayload {
+    boardId: number;
+    ts: number;
+    lines: string[];
+    truncated: boolean;
+    totals: BoardLogTotals;
+}
 export type NotificationCategory = 'info' | 'warning' | 'error';
 /** Ongoing notification (keyed); when ongoing turns false, frontend keeps entry but no longer "current". */
 export interface NotificationPayloadOngoing {
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index 84fe0a370..744ddbcc7 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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\ No newline at end of file
+{"version":3,"file":"types.d.ts","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAGH,oBAAY,WAAW;IAErB,gBAAgB,qBAAqB;IACrC,kBAAkB,uBAAuB;IACzC,YAAY,iBAAiB;IAC7B,gBAAgB,qBAAqB;IACrC,mBAAmB,wBAAwB;IAC3C,aAAa,kBAAkB;IAG/B,aAAa,kBAAkB;IAC/B,eAAe,oBAAoB;IACnC,YAAY,iBAAiB;IAC7B,KAAK,UAAU;IACf,iBAAiB,sBAAsB;IACvC,kBAAkB,uBAAuB;IACzC,iBAAiB,sBAAsB;IACvC,kBAAkB,uBAAuB;IACzC,kCAAkC,uCAAuC;IACzE,eAAe,oBAAoB;IACnC,mBAAmB,wBAAwB;IAC3C,YAAY,iBAAiB;IAC7B,cAAc,mBAAmB;IACjC,uBAAuB,4BAA4B;IACnD,cAAc,mBAAmB;IACjC,SAAS,cAAc,CAA4B,qDAAqD;IAGxG,cAAc,mBAAmB,CAAiB,uCAAuC;IACzF,cAAc,mBAAmB,CAAiB,oDAAoD;IACtG,qBAAqB,0BAA0B;CAChD;AAGD,oBAAY,UAAU;IACpB,MAAM,WAAW;IACjB,MAAM,OAAO;IACb,GAAG,QAAQ;IACX,EAAE,OAAO;IACT,GAAG,QAAQ;IACX,EAAE,OAAO;CACV;AAGD,oBAAY,WAAW;IACrB,KAAK,IAAI;IACT,IAAI,IAAI;IACR,KAAK,IAAI;IACT,SAAS,IAAI;IACb,OAAO,IAAI;IACX,aAAa,IAAI;IACjB,QAAQ,IAAI;IACZ,UAAU,IAAI;IACd,SAAS,IAAI;IACb,QAAQ,IAAI;IACZ,OAAO,KAAK;IACZ,cAAc,KAAK;IACnB,aAAa,KAAK;IAClB,IAAI,KAAK;IACT,SAAS,KAAK;IACd,KAAK,KAAK;IACV,IAAI,KAAK;IACT,YAAY,KAAK;IACjB,SAAS,KAAK;IACd,eAAe,KAAK;IACpB,aAAa,KAAK,CAAG,oDAAoD;IAEzE,KAAK,KAAK;CACX;AAMD,oBAAY,aAAa;IACvB,MAAM,IAAI;IACV,IAAI,IAAI;IACR,OAAO,IAAI;CACZ;AAGD,MAAM,WAAW,SAAS;IACxB,IAAI,EAAE,WAAW,CAAC;IAClB,SAAS,EAAE,MAAM,CAAC;IAClB,OAAO,EAAE,OAAO,CAAC;CAClB;AAGD,MAAM,WAAW,YAAY;IAC3B,MAAM,EAAE,MAAM,CAAC;IACf,SAAS,EAAE,MAAM,CAAC;IAClB,KAAK,EAAE,MAAM,CAAC;IACd,yEAAyE;IACzE,SAAS,EAAE,MAAM,CAAC;CACnB;AAGD,MAAM,WAAW,sBAAsB;IACrC,+CAA+C;IAC/C,IAAI,CAAC,EAAE,MAAM,EAAE,CAAC;IAChB,+DAA+D;IAC/D,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB;AAGD,MAAM,WAAW,gBAAgB;IAC/B,IAAI,EAAE,MAAM,EAAE,CAAC;IACf,MAAM,EAAE,MAAM,EAAE,CAAC;CAClB;AACD,MAAM,MAAM,qBAAqB,GAAG,MAAM,CAAC,MAAM,EAAE,gBAAgB,CAAC,CAAC;AAGrE,MAAM,WAAW,cAAc;IAC7B,oEAAoE;IACpE,UAAU,CAAC,EAAE,MAAM,CAAC;IACpB,8DAA8D;IAC9D,IAAI,EAAE,MAAM,CAAC;IACb,KAAK,EAAE,aAAa,CAAC;IACrB,YAAY,EAAE,MAAM,CAAC;IACrB,SAAS,EAAE,MAAM,CAAC;CACnB;AAGD,MAAM,WAAW,WAAW;IAC1B,YAAY,EAAE,WAAW,CAAC;IAC1B,SAAS,EAAE,MAAM,CAAC;IAClB,SAAS,EAAE,MAAM,CAAC;IAClB,SAAS,CAAC,EAAE,OAAO,CAAC;CACrB;AAGD,MAAM,WAAW,cAAc;IAC7B,WAAW,EACT,kBAAkB,GAClB,UAAU,GACV,sBAAsB,GACtB,cAAc,GACd,oBAAoB,GACpB,YAAY,GACZ,aAAa,GACb,sBAAsB,GACtB,eAAe,GACf,cAAc,GACd,gBAAgB,CAAC;IACnB,IAAI,EAAE;QACJ,KAAK,CAAC,EAAE,WAAW,CAAC;QACpB,0FAA0F;QAC1F,YAAY,CAAC,EAAE,MAAM,CAAC;QACtB,aAAa,CAAC,EAAE,aAAa,CAAC;QAC9B,SAAS,CAAC,EAAE,MAAM,CAAC;QACnB,SAAS,CAAC,EAAE,MAAM,CAAC;QACnB,QAAQ,CAAC,EAAE,MAAM,CAAC;QAClB,YAAY,CAAC,EAAE,gBAAgB,GAAG,eAAe,GAAG,iBAAiB,CAAC;QACtE,cAAc,CAAC,EAAE,MAAM,CAAC;QACxB,aAAa,CAAC,EAAE,MAAM,CAAC;QACvB,oBAAoB,CAAC,EAAE,MAAM,CAAC;QAC9B,kBAAkB,CAAC,EAAE,MAAM,CAAC;QAC5B,SAAS,CAAC,EAAE,OAAO,CAAC;QACpB,wEAAwE;QACxE,YAAY,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;QAC7B,yFAAyF;QACzF,QAAQ,CAAC,EAAE,OAAO,CAAC;QACnB,wDAAwD;QACxD,UAAU,CAAC,EAAE,MAAM,CAAC;QACpB,sFAAsF;QACtF,SAAS,CAAC,EAAE,OAAO,CAAC;QACpB,0EAA0E;QAC1E,KAAK,CAAC,EAAE,MAAM,CAAC;KAChB,CAAC;CACH;AAED;;;;GAIG;AACH,MAAM,WAAW,aAAa;IAC5B,OAAO,EAAE,OAAO,CAAC;IACjB,MAAM,EAAE,OAAO,CAAC;IAChB,KAAK,EAAE,MAAM,GAAG,IAAI,CAAC;IACrB,QAAQ,EAAE,OAAO,CAAC;IAClB,UAAU,EAAE,MAAM,GAAG,IAAI,CAAC;IAC1B,WAAW,EAAE,MAAM,GAAG,IAAI,CAAC;IAC3B,aAAa,EAAE,MAAM,GAAG,IAAI,CAAC;IAC7B,kFAAkF;IAClF,SAAS,EAAE,OAAO,CAAC;CACpB;AAGD,MAAM,WAAW,gBAAgB;IAC/B,SAAS,EAAE,OAAO,CAAC;IACnB,eAAe,EAAE,OAAO,CAAC;IACzB,MAAM,CAAC,EAAE,MAAM,CAAC;IAChB,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,KAAK,CAAC,EAAE,MAAM,CAAC;IACf,sEAAsE;IACtE,SAAS,CAAC,EAAE,OAAO,CAAC;CACrB;AAGD,MAAM,WAAW,gBAAgB;IAC/B,gBAAgB,EAAE,MAAM,CAAC;CAC1B;AAGD,MAAM,WAAW,qBAAqB;IACpC,+DAA+D;IAC/D,YAAY,EAAE,MAAM,GAAG,IAAI,CAAC;CAC7B;AAID,mEAAmE;AACnE,MAAM,MAAM,qBAAqB,GAAG,SAAS,GAAG,MAAM,GAAG,QAAQ,GAAG,KAAK,GAAG,cAAc,CAAC;AAE3F,2DAA2D;AAC3D,MAAM,WAAW,wBAAwB;IACvC,QAAQ,EAAE,MAAM,CAAC;IACjB,WAAW,EAAE,MAAM,CAAC;IACpB,cAAc,EAAE,MAAM,CAAC;IACvB,UAAU,EAAE,MAAM,CAAC;IACnB,aAAa,EAAE,OAAO,CAAC;IACvB,YAAY,EAAE,MAAM,CAAC;IACrB,OAAO,EAAE,MAAM,CAAC;IAChB,UAAU,EAAE,qBAAqB,CAAC;IAClC,MAAM,EAAE;QAAE,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAA;KAAE,CAAC;IACvD,YAAY,EAAE,OAAO,CAAC;IACtB,eAAe,EAAE,MAAM,CAAC;CACzB;AAED,0EAA0E;AAC1E,MAAM,WAAW,wBAAwB;IACvC,QAAQ,EAAE,wBAAwB,EAAE,CAAC;IACrC,aAAa,EAAE,OAAO,CAAC;IACvB,SAAS,EAAE,MAAM,CAAC;IAClB,yFAAyF;IACzF,mBAAmB,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;CACrC;AAED,kEAAkE;AAClE,MAAM,MAAM,sBAAsB,GAC9B,mBAAmB,GACnB,aAAa,GACb,eAAe,GACf,eAAe,GACf,gBAAgB,GAChB,UAAU,GACV,mBAAmB,GACnB,mBAAmB,CAAC;AAExB,MAAM,WAAW,kBAAkB;IACjC,WAAW,EAAE,sBAAsB,CAAC;IACpC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAClB,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,iBAAiB,CAAC,EAAE,MAAM,CAAC;CAC5B;AAID,uFAAuF;AACvF,MAAM,WAAW,WAAW;IAC1B,kEAAkE;IAClE,IAAI,EAAE,MAAM,CAAC;IACb,2EAA2E;IAC3E,WAAW,EAAE,MAAM,GAAG,IAAI,CAAC;IAC3B,oEAAoE;IACpE,EAAE,EAAE,MAAM,CAAC;IACX,oDAAoD;IACpD,EAAE,EAAE,MAAM,CAAC;IACX,qFAAqF;IACrF,QAAQ,EAAE,OAAO,CAAC;IAClB,4EAA4E;IAC5E,SAAS,EAAE,OAAO,CAAC;IACnB,6GAA6G;IAC7G,WAAW,CAAC,EAAE,OAAO,CAAC;IACtB,kFAAkF;IAClF,eAAe,EAAE,MAAM,GAAG,IAAI,CAAC;IAC/B,uEAAuE;IACvE,WAAW,CAAC,EAAE,MAAM,GAAG,IAAI,CAAC;IAC5B,iEAAiE;IACjE,UAAU,EAAE,MAAM,GAAG,IAAI,CAAC;IAC1B,kEAAkE;IAClE,WAAW,EAAE,MAAM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\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.js b/daq-server/diablo_server/shared/types.js
index aef8a9b6e..d2a8eb477 100644
--- a/daq-server/diablo_server/shared/types.js
+++ b/daq-server/diablo_server/shared/types.js
@@ -27,6 +27,7 @@ export var MessageType;
     MessageType["CONFIG_UPDATED"] = "config_updated";
     MessageType["COUNTDOWN_TARGET_UPDATE"] = "countdown_target_update";
     MessageType["SESSION_UPDATE"] = "session_update";
+    MessageType["BOARD_LOG"] = "board_log";
     // Engine-control authorization (DAQ operator gate)
     MessageType["CONTROL_STATUS"] = "control_status";
     MessageType["CONTROL_UNLOCK"] = "control_unlock";
diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index 0249bb1e3..f13645cbb 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
-{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;AACrD,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AAyND,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC"}
\ No newline at end of file
+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WA+BX;AA/BD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EA/BW,WAAW,KAAX,WAAW,QA+BtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AA+QD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC"}
\ No newline at end of file

From c8d975bbc47f0fd50cefb46c3487ffa9b11b5bc7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:06:06 -0700
Subject: [PATCH 034/205] frontend: re-subscribe + re-query historical on
 elodin reconnect so data resumes after a session stop/start without a manual
 reload

---
 .../diablo_server/frontend/lib/websocket.ts   | 43 +++++++++++++------
 1 file changed, 29 insertions(+), 14 deletions(-)

diff --git a/daq-server/diablo_server/frontend/lib/websocket.ts b/daq-server/diablo_server/frontend/lib/websocket.ts
index d3dd80374..99a370a9a 100644
--- a/daq-server/diablo_server/frontend/lib/websocket.ts
+++ b/daq-server/diablo_server/frontend/lib/websocket.ts
@@ -31,6 +31,11 @@ export class WebSocketClient {
   private fallbackUrls: string[];
   private urlIndex = 0;
   private reconnectTimer: NodeJS.Timeout | null = null;
+  /** Last elodinConnected we saw, to detect a session restart (elodin bounces to
+   *  a fresh run DB) under a socket that never closed — the backend is not
+   *  restarted by Start/Stop run, so onopen does not re-fire and the data view
+   *  would otherwise go stale (no historical backfill for the new run). */
+  private lastElodinConnected = false;
   private staleCheckTimer: ReturnType<typeof setInterval> | null = null;
   private lastMessageTime = 0;
   private listeners: Map<string, Set<(payload: unknown) => void>> = new Map();
@@ -114,20 +119,8 @@ export class WebSocketClient {
           }
         }
 
-        // Subscribe immediately - WebSocket is ready when onopen fires
-        console.log('📡 Subscribing to all sensors...');
-        this.subscribeToAllSensors();
-        console.log('✅ Subscription requests sent');
-
-        // Request historical data for plots. The provider (data-cache)
-        // narrows this to a sinceMs backfill once we hold data, so
-        // reconnects fetch only the gap instead of the full dump.
-        console.log('📊 Requesting historical plot data...');
-        this.send({
-          type: MessageType.QUERY_HISTORICAL,
-          timestamp: Date.now(),
-          payload: this.historicalQueryProvider ? this.historicalQueryProvider() : {},
-        });
+        // Subscribe + backfill. WebSocket is ready when onopen fires.
+        this.initDataStreams('socket_open');
       };
 
       socket.onmessage = (event) => {
@@ -174,6 +167,7 @@ export class WebSocketClient {
           const nextUrl = this.fallbackUrls[this.urlIndex];
           this.log('fallback_advance', { nextUrl, urlIndex: this.urlIndex });
         }
+        this.lastElodinConnected = false;
         this.notifyConnectionStatus({ connected: false, elodinConnected: false });
         this.scheduleReconnect();
       };
@@ -183,6 +177,19 @@ export class WebSocketClient {
     }
   }
 
+  /** (Re)establish the data view: re-subscribe and request historical backfill.
+   *  Runs on socket open AND on an elodin reconnect (session Start/Stop run),
+   *  since the backend socket is not restarted by a session change. */
+  private initDataStreams(reason: string): void {
+    this.log('init_data_streams', { reason });
+    this.subscribeToAllSensors();
+    this.send({
+      type: MessageType.QUERY_HISTORICAL,
+      timestamp: Date.now(),
+      payload: this.historicalQueryProvider ? this.historicalQueryProvider() : {},
+    });
+  }
+
   private async subscribeToAllSensors(): Promise<void> {
     const sensors = new Set<string>();
 
@@ -251,6 +258,14 @@ export class WebSocketClient {
         elodinConnected: status.elodinConnected,
         connId: status.connId ?? null,
       });
+      // Session restart: elodin dropped to a fresh run DB and reconnected while
+      // our socket stayed open. Re-run the onopen data-init so the new run's
+      // history backfills and subscriptions are re-established — otherwise plots
+      // stay empty until a manual reload.
+      if (status.elodinConnected && !this.lastElodinConnected && this.ws?.readyState === WebSocket.OPEN) {
+        this.initDataStreams('elodin_reconnect');
+      }
+      this.lastElodinConnected = status.elodinConnected;
       this.notifyConnectionStatus(status);
     }
   }

From 64003aa3c5ce49cfdb1e5476c9710548d7d98327 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:06:06 -0700
Subject: [PATCH 035/205] backend: reset board status to config baseline on run
 stop so boards read 'disconnected' (like startup) instead of '---'

---
 daq-server/diablo_server/backend/src/server.ts          | 7 ++++++-
 daq-server/diablo_server/backend/src/session-manager.ts | 8 +++++++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index d83e34940..6695f26e0 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -1244,7 +1244,12 @@ httpServer.listen(WS_PORT, () => {
   console.log(`[ThinServer] Actuator service: localhost:${ACT_SVC_PORT}`);
   // Init the run-session manager last, once broadcast/notify + wss are live.
   // No-op (enabled=false) unless SESSION_SERVICE_MODE is mock/systemd.
-  sessionManager.init(broadcast, broadcastNotification);
+  // On run stop, re-baseline board status from config (clears stale heartbeat
+  // timestamps) so boards read "disconnected", matching fresh startup, instead of "---".
+  sessionManager.init(broadcast, broadcastNotification, () => {
+    loadBoardsFromConfig();
+    broadcastBoardStatus();
+  });
   // Board diagnostic logs (type-15 LOGS forwarded by daq_bridge over loopback UDP).
   startBoardLogReceiver(broadcast);
 });
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index 6a48c3c9f..50825f909 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -77,6 +77,10 @@ class SessionManager {
   private readonly controller = new ServiceController(this.mode);
   private broadcast: Broadcast = () => {};
   private notify: Notify = () => {};
+  /** Fired after a run stops, so the server can revert board status to the
+   *  pristine config baseline (else boards keep a stale heartbeat timestamp and
+   *  read "---" instead of the disconnected baseline shown on fresh startup). */
+  private onStopped: () => void = () => {};
 
   private active = false;
   private dbDir: string | null = null;
@@ -87,9 +91,10 @@ class SessionManager {
   private warnTimers: NodeJS.Timeout[] = [];
   private stopTimer: NodeJS.Timeout | null = null;
 
-  init(broadcast: Broadcast, notify: Notify): void {
+  init(broadcast: Broadcast, notify: Notify, onStopped: () => void = () => {}): void {
     this.broadcast = broadcast;
     this.notify = notify;
+    this.onStopped = onStopped;
     if (!this.enabled) return;
     // Recover a session that outlived a backend restart.
     const persisted = loadSession();
@@ -243,6 +248,7 @@ class SessionManager {
     this.simulated = false;
     this.persist();
     this.emit();
+    this.onStopped(); // revert board status to the disconnected baseline
   }
 
   extend(addMs: number): void {

From 349838c6af5a7bbb7115cf40f9ae7ab1a45de172 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:06:06 -0700
Subject: [PATCH 036/205] frontend: timestamp self-test results in the boards
 pane and self-test tab so operators can judge currency

---
 .../diablo_server/frontend/app/boards/page.tsx   |  6 ++++++
 .../frontend/app/self-tests/page.tsx             |  6 ++++++
 daq-server/diablo_server/frontend/lib/store.ts   | 16 ++++++++++++++++
 3 files changed, 28 insertions(+)

diff --git a/daq-server/diablo_server/frontend/app/boards/page.tsx b/daq-server/diablo_server/frontend/app/boards/page.tsx
index 7f623d572..78c1a3810 100644
--- a/daq-server/diablo_server/frontend/app/boards/page.tsx
+++ b/daq-server/diablo_server/frontend/app/boards/page.tsx
@@ -39,6 +39,7 @@ export default function BoardsPage() {
   const boardsMap = useSensorStore((s) => s.boards as Record<number, BoardStatus>);
   const sensorData = useSensorStore((s) => s.sensorData);
   const boardLogStats = useSensorStore((s) => s.boardLogStats);
+  const selfTestTs = useSensorStore((s) => s.selfTestTs);
   const ws = getWebSocketClient();
   /** Re-check BOARD_LIVE_TELEMETRY_STALE_MS vs lastHeartbeatMs on the same ~250ms cadence as sensor readouts. */
   useStaleRenderTick();
@@ -251,6 +252,11 @@ export default function BoardsPage() {
                                  testStatus === 'Failed' ? 'FAILED' :
                                  testStatus === 'Pending' ? 'PENDING' : 'UNTESTED'}
                               </span>
+                              {testStatus !== 'Untested' && selfTestTs[b.id] != null && (
+                                <span className="text-xs text-gray-500 font-mono" title="When this board last self-tested (persists across reconnects)">
+                                  at {formatConfigSentAt(selfTestTs[b.id])}
+                                </span>
+                              )}
                             </div>
                           </div>
                           <div className="flex-1 min-w-0">
diff --git a/daq-server/diablo_server/frontend/app/self-tests/page.tsx b/daq-server/diablo_server/frontend/app/self-tests/page.tsx
index a43d12738..91fdea44a 100644
--- a/daq-server/diablo_server/frontend/app/self-tests/page.tsx
+++ b/daq-server/diablo_server/frontend/app/self-tests/page.tsx
@@ -107,6 +107,7 @@ function buildExpectedEntries(boardId: number, boardMeta?: ConfigBoardMeta): Boa
 export default function SelfTestsPage() {
     const boardsMap = useSensorStore((s) => s.boards as Record<number, BoardStatus>);
     const sensorData = useSensorStore((s) => s.sensorData);
+    const selfTestTs = useSensorStore((s) => s.selfTestTs);
     const updateSensor = useSensorStore((s) => s.updateSensor);
     const updateBoards = useSensorStore((s) => s.updateBoards);
     const ws = getWebSocketClient();
@@ -214,6 +215,11 @@ export default function SelfTestsPage() {
                                         {title}
                                     </h3>
                                     <div className="flex items-center gap-2">
+                                        {selfTestTs[boardId] != null && (
+                                            <span className="text-xs text-gray-500 font-mono" title="When this board last self-tested (persists across reconnects)">
+                                                {new Date(selfTestTs[boardId]).toLocaleTimeString(undefined, { hour12: false, hour: '2-digit', minute: '2-digit', second: '2-digit' })}
+                                            </span>
+                                        )}
                                         <span className="text-xs text-gray-500 font-mono">ID {boardId}</span>
                                         <span className={`text-xs px-2 py-0.5 rounded font-black font-mono uppercase ${verdictBadge}`}>
                                             {passCount} PASS · {failCount} FAIL · {pendingCount} PENDING
diff --git a/daq-server/diablo_server/frontend/lib/store.ts b/daq-server/diablo_server/frontend/lib/store.ts
index 77f1c1f65..869435cd1 100644
--- a/daq-server/diablo_server/frontend/lib/store.ts
+++ b/daq-server/diablo_server/frontend/lib/store.ts
@@ -52,6 +52,10 @@ const BOARD_LOG_LINES_MAX = 300;
 
 interface SensorSystemState {
   sensorData: SensorData;
+  /** Latest SELF_TEST arrival time (epoch ms) per board id. Self-test is one-shot
+   *  at board activation and persists across reconnects, so the GUI timestamps it
+   *  and lets the operator judge currency. */
+  selfTestTs: Record<number, number>;
   _updateVersion?: number; // Bumps each flush; subscribe via useSensorDataVersion()
   /** Bumps ~4×/s so readouts re-evaluate SENSOR_DATA_STALE_MS without relying on sensorData changes. */
   _staleRenderTick?: number;
@@ -385,6 +389,7 @@ function flushSensorWrites() {
 
 export const useSensorStore = create<SensorSystemState>((set, get) => ({
   sensorData: {},
+  selfTestTs: {},
   _staleRenderTick: 0,
   actuators: new Map(),
   currentState: SystemState.IDLE,
@@ -455,6 +460,17 @@ export const useSensorStore = create<SensorSystemState>((set, get) => ({
     // pressure_psi stuck at 0 while raw_adc_counts kept updating.
     _sensorTimestamps[key] = Math.max(_sensorTimestamps[key] || 0, update.timestamp);
 
+    // Self-test is one-shot at board activation; capture its arrival time so the GUI
+    // can show WHEN it ran (a reconnecting board legitimately keeps its last result).
+    if (update.entity.startsWith('SELF_TEST.BOARD_')) {
+      const bid = parseInt(update.entity.slice('SELF_TEST.BOARD_'.length), 10);
+      if (Number.isFinite(bid)) {
+        set((s) => (update.timestamp > (s.selfTestTs[bid] ?? 0)
+          ? { selfTestTs: { ...s.selfTestTs, [bid]: update.timestamp } }
+          : {}));
+      }
+    }
+
     _pendingSensorWrites[key] = update.value;
 
     if (update.component === 'actuator_state_commanded' || update.component === 'actuator_state') {

From 2f6e8373f5e550b0859159e6945f5c6b86e5055e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:06:06 -0700
Subject: [PATCH 037/205] systemd: heartbeat + config-broadcast units honor
 ${DAQ_CONFIG} so the sim overlay reaches them (was hardcoded to the hardware
 config)

---
 daq-server/deploy/systemd/sensor-config-broadcast.service | 6 +++++-
 daq-server/deploy/systemd/sensor-heartbeat.service        | 6 +++++-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/daq-server/deploy/systemd/sensor-config-broadcast.service b/daq-server/deploy/systemd/sensor-config-broadcast.service
index 5fa0c4d30..3514a2979 100644
--- a/daq-server/deploy/systemd/sensor-config-broadcast.service
+++ b/daq-server/deploy/systemd/sensor-config-broadcast.service
@@ -5,7 +5,11 @@ After=network.target
 [Service]
 Type=simple
 WorkingDirectory=%h/sensor_system
-ExecStart=/bin/bash -c 'if [ -x ./build/bin/config_broadcast_service ]; then exec ./build/bin/config_broadcast_service --config config/config.toml; else exec python3 archive/legacy/python-services/config_broadcast_service.py --config config/config.toml; fi'
+# Config defaults to hardware; the sim overlay points DAQ_CONFIG at the sim config
+# via the optional EnvironmentFile (absent on the server ⇒ no change).
+Environment=DAQ_CONFIG=config/config.toml
+EnvironmentFile=-%h/.config/daq/pipeline.env
+ExecStart=/bin/bash -c 'if [ -x ./build/bin/config_broadcast_service ]; then exec ./build/bin/config_broadcast_service --config ${DAQ_CONFIG}; else exec python3 archive/legacy/python-services/config_broadcast_service.py --config ${DAQ_CONFIG}; fi'
 Restart=always
 RestartSec=5
 Environment=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
diff --git a/daq-server/deploy/systemd/sensor-heartbeat.service b/daq-server/deploy/systemd/sensor-heartbeat.service
index 0c82fee66..356c8160d 100644
--- a/daq-server/deploy/systemd/sensor-heartbeat.service
+++ b/daq-server/deploy/systemd/sensor-heartbeat.service
@@ -5,7 +5,11 @@ After=network.target sensor-backend.service
 [Service]
 Type=simple
 WorkingDirectory=%h/sensor_system
-ExecStart=/bin/bash -c 'if [ -x ./build/bin/heartbeat_service ]; then exec ./build/bin/heartbeat_service --config config/config.toml; else exec python3 archive/legacy/python-services/heartbeat_service.py --config config/config.toml; fi'
+# Config defaults to hardware; the sim overlay points DAQ_CONFIG at the sim config
+# via the optional EnvironmentFile (absent on the server ⇒ no change).
+Environment=DAQ_CONFIG=config/config.toml
+EnvironmentFile=-%h/.config/daq/pipeline.env
+ExecStart=/bin/bash -c 'if [ -x ./build/bin/heartbeat_service ]; then exec ./build/bin/heartbeat_service --config ${DAQ_CONFIG}; else exec python3 archive/legacy/python-services/heartbeat_service.py --config ${DAQ_CONFIG}; fi'
 Restart=always
 RestartSec=5
 Environment=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin

From 9914d8084d7dbe55cdf52933efa0a59fcc98a64f Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:06:06 -0700
Subject: [PATCH 038/205] test: session flow asserts data resumes on the same
 WS after stop/start + boards run self-test (catches config-broadcast
 misconfig)

---
 daq-server/test/session_flow_test.ts | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/daq-server/test/session_flow_test.ts b/daq-server/test/session_flow_test.ts
index 988bb9c53..6130136bb 100755
--- a/daq-server/test/session_flow_test.ts
+++ b/daq-server/test/session_flow_test.ts
@@ -52,6 +52,10 @@ const state = {
   elodinConnected: false,
   warnKeys: new Set<string>(),
   lastSession: null as any,
+  // Boards that produced a SELF_TEST.* SENSOR_UPDATE — proves the config→self-test
+  // lifecycle ran (i.e. config_broadcast reached the sim boards). A wrong-config
+  // service unit leaves this empty even though plain sensor data still flows.
+  selfTestBoards: new Set<string>(),
 };
 
 function connect(): Promise<WebSocket> {
@@ -82,7 +86,11 @@ function waitFor(ws: WebSocket, type: string, timeoutMs: number, pred?: (p: any)
 function attachObserver(ws: WebSocket): void {
   ws.on('message', (d) => {
     let m: WSMessage; try { m = JSON.parse(d.toString()); } catch { return; }
-    if (m.type === 'sensor_update') state.sensorUpdates++;
+    if (m.type === 'sensor_update') {
+      state.sensorUpdates++;
+      const ent = m.payload?.entity;
+      if (typeof ent === 'string' && ent.startsWith('SELF_TEST.')) state.selfTestBoards.add(ent.split('.')[1] ?? ent);
+    }
     else if (m.type === 'connection_status' && m.payload?.elodinConnected) state.elodinConnected = true;
     else if (m.type === 'session_update') state.lastSession = m.payload;
     else if (m.type === 'notification' && typeof m.payload?.key === 'string'
@@ -127,6 +135,11 @@ async function main(): Promise<void> {
   await sleep(6000);
   const flowed = state.sensorUpdates - before;
   assert(flowed > 50, `sensor data flowing (${flowed} SENSOR_UPDATE in 6s)`);
+  // Config→self-test lifecycle ran: sim boards received SENSOR_CONFIG and emitted
+  // SELF_TEST. Empty here means config_broadcast never reached the boards (e.g. a
+  // service unit wired to the hardware config instead of the sim overlay).
+  assert(state.selfTestBoards.size > 0,
+    `boards ran self-test (${state.selfTestBoards.size} boards: ${[...state.selfTestBoards].join(',') || 'none'})`);
 
   // Auto-stop at the deadline; warnings should have fired before it.
   const remaining = Math.max(0, DURATION_MS - (Date.now() - startedAt));
@@ -147,6 +160,16 @@ async function main(): Promise<void> {
   const deadline1: number = active2.deadlineMs;
   assert(active2.active === true && active2.keepData === true, 'session_start (Save) → active, keepData');
 
+  // Data must flow AGAIN on the second run over the SAME long-lived WS connection.
+  // Start/Stop run bounces elodin to a fresh DB without restarting the backend, so
+  // a client that never reconnects must still receive the new run's data. (Regression
+  // guard for the "no data after stop→start until manual reload" class of bug.)
+  await waitFor(ws, 'connection_status', 30000, (p) => p.elodinConnected === true).catch(() => {});
+  const before2 = state.sensorUpdates;
+  await sleep(6000);
+  const flowed2 = state.sensorUpdates - before2;
+  assert(flowed2 > 50, `sensor data flowing after session restart (${flowed2} SENSOR_UPDATE in 6s, same WS connection)`);
+
   const extendedPromise = waitFor(ws, 'session_update', 8000, (p) => p.active && p.deadlineMs > deadline1);
   send(ws, 'send_command', { commandType: 'session_extend', data: { addMs: 120000 } });
   const extended = await extendedPromise;

From b65305e00e4f00dcff3942533504dd0af8df3687 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:09:25 -0700
Subject: [PATCH 039/205] backend: buffer the last 5 min of notifications and
 replay them on WS connect so a browser reload recovers recent alerts

---
 .../diablo_server/backend/src/server.ts       | 34 ++++++++++++++++++-
 1 file changed, 33 insertions(+), 1 deletion(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 6695f26e0..237238426 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -425,8 +425,25 @@ const selfTestNotifiedBoards = new Set<number>();
  *  Replayed as SENSOR_UPDATE on WS connect so late-connecting browsers see results. */
 const selfTestLatest = new Map<string, SensorUpdate>();
 
+// Rolling notification history so a reloaded/late-connecting browser recovers the
+// last few minutes of warnings/info instead of starting blank. Replayed on connect.
+const NOTIFICATION_BUFFER_MS = 5 * 60 * 1000;
+const NOTIFICATION_BUFFER_MAX = 500; // hard cap so a flapping alert can't grow it unbounded
+const notificationBuffer: { at: number; payload: NotificationPayload }[] = [];
+
+function pruneNotificationBuffer(now: number): void {
+  const cutoff = now - NOTIFICATION_BUFFER_MS;
+  while (notificationBuffer.length > 0 && notificationBuffer[0].at < cutoff) notificationBuffer.shift();
+  if (notificationBuffer.length > NOTIFICATION_BUFFER_MAX) {
+    notificationBuffer.splice(0, notificationBuffer.length - NOTIFICATION_BUFFER_MAX);
+  }
+}
+
 function broadcastNotification(payload: NotificationPayload): void {
-  broadcast({ type: MessageType.NOTIFICATION, timestamp: Date.now(), payload });
+  const at = Date.now();
+  notificationBuffer.push({ at, payload });
+  pruneNotificationBuffer(at);
+  broadcast({ type: MessageType.NOTIFICATION, timestamp: at, payload });
 }
 
 function boardLabel(status: BoardStatus): string {
@@ -727,6 +744,21 @@ wss.on('connection', (ws: WebSocket, req) => {
     lastOutboundAt = Date.now();
   }
 
+  // Notification history: replay the last few minutes (chronological, so the
+  // client's keyed dedup reconstructs current vs cleared state) so a reloaded
+  // browser recovers recent warnings/info instead of starting blank.
+  {
+    const now = Date.now();
+    pruneNotificationBuffer(now);
+    for (const n of notificationBuffer) {
+      send(ws, { type: MessageType.NOTIFICATION, timestamp: n.at, payload: n.payload });
+    }
+    if (notificationBuffer.length > 0) {
+      outboundMessages += notificationBuffer.length;
+      lastOutboundAt = now;
+    }
+  }
+
   // Historical data
   sendHistoricalData(ws);
   outboundMessages++;

From f5429d47d7bdf43ec18c5a4f62e7a4fdbfc74d67 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:38:15 -0700
Subject: [PATCH 040/205] =?UTF-8?q?config=20writer:=20strip=20@iarna's=20u?=
 =?UTF-8?q?nderscore=20digit-separators=20so=20saved=20TOML=20ints=20(5=5F?=
 =?UTF-8?q?006)=20don't=20break=20the=20C++=20parsers=20(std::stoul=20?=
 =?UTF-8?q?=E2=86=92=205=20=E2=86=92=20EACCES=20on=20port=20bind)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../backend/src/routes/config.ts              | 26 +++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index ccc3b6b42..14e4537a0 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -130,6 +130,27 @@ function stringifyActuatorRoles(roles: Record<string, unknown>): string {
   return lines.join('\n') + '\n';
 }
 
+/** Remove `_` digit-separators from numeric tokens in TOML text, leaving quoted
+ *  strings intact. @iarna emits e.g. `port = 5_006`; our C++ parsers need `5006`.
+ *  Char-level scan so it also covers numbers inside arrays (`[1_000, 2_000]`). */
+export function stripNumericUnderscores(toml: string): string {
+  let out = '';
+  let quote: '"' | "'" | null = null; // inside a basic (") or literal (') string
+  for (let i = 0; i < toml.length; i++) {
+    const c = toml[i];
+    if (quote) {
+      out += c;
+      if (c === quote) quote = null;
+      continue;
+    }
+    if (c === '"' || c === "'") { quote = c; out += c; continue; }
+    // Drop a separator only when it sits between two digits, outside any string.
+    if (c === '_' && /[0-9]/.test(toml[i - 1] ?? '') && /[0-9]/.test(toml[i + 1] ?? '')) continue;
+    out += c;
+  }
+  return out;
+}
+
 export function writeConfig(config: any): void {
   const configPath = getConfigPath();
   try {
@@ -150,6 +171,11 @@ export function writeConfig(config: any): void {
     if (actuator_roles && typeof actuator_roles === 'object') {
       content += '\n' + stringifyActuatorRoles(actuator_roles as Record<string, unknown>);
     }
+    // @iarna/toml stringifies integers ≥1000 with `_` digit separators (5006 → "5_006").
+    // Valid TOML, but the minimal C++ config parsers use std::stoul, which stops at the
+    // underscore (→ 5) — truncating ports/timeouts and crash-looping daq_bridge. Strip the
+    // separators from numeric tokens; quoted strings are left untouched.
+    content = stripNumericUnderscores(content);
     console.log(`   Generated TOML content: ${content.length} bytes`);
 
     // Write with explicit error handling

From 6b9a2fc7f3d522f9c0b3a0680e934e2c01d84947 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:38:15 -0700
Subject: [PATCH 041/205] frontend: also re-init data streams on session.active
 flip (belt-and-suspenders with elodin-reconnect) so a new run always
 refreshes the view

---
 daq-server/diablo_server/frontend/lib/websocket.ts | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/daq-server/diablo_server/frontend/lib/websocket.ts b/daq-server/diablo_server/frontend/lib/websocket.ts
index 99a370a9a..a4875d638 100644
--- a/daq-server/diablo_server/frontend/lib/websocket.ts
+++ b/daq-server/diablo_server/frontend/lib/websocket.ts
@@ -36,6 +36,8 @@ export class WebSocketClient {
    *  restarted by Start/Stop run, so onopen does not re-fire and the data view
    *  would otherwise go stale (no historical backfill for the new run). */
   private lastElodinConnected = false;
+  /** Last session.active we saw, to detect a new run (Start run) and re-init data. */
+  private lastSessionActive = false;
   private staleCheckTimer: ReturnType<typeof setInterval> | null = null;
   private lastMessageTime = 0;
   private listeners: Map<string, Set<(payload: unknown) => void>> = new Map();
@@ -168,6 +170,7 @@ export class WebSocketClient {
           this.log('fallback_advance', { nextUrl, urlIndex: this.urlIndex });
         }
         this.lastElodinConnected = false;
+        this.lastSessionActive = false;
         this.notifyConnectionStatus({ connected: false, elodinConnected: false });
         this.scheduleReconnect();
       };
@@ -268,6 +271,16 @@ export class WebSocketClient {
       this.lastElodinConnected = status.elodinConnected;
       this.notifyConnectionStatus(status);
     }
+    // Belt-and-suspenders with the elodin-reconnect trigger above: a new run
+    // (session.active false→true) deterministically means a fresh DB, so re-run
+    // the data-init even if the elodin connection_status transition was missed.
+    if (message.type === MessageType.SESSION_UPDATE) {
+      const active = !!(message.payload as { active?: boolean } | null)?.active;
+      if (active && !this.lastSessionActive && this.ws?.readyState === WebSocket.OPEN) {
+        this.initDataStreams('session_start');
+      }
+      this.lastSessionActive = active;
+    }
   }
 
   on(type: MessageType | string, callback: (payload: unknown) => void): () => void {

From 582bdd3658c0eeb7be1c03c6a3bfbfccfa44d62c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:38:15 -0700
Subject: [PATCH 042/205] frontend: paint the shell scroll container
 bg-background so the body gradient never bleeds through on any tab (config
 editor sub-tabs)

---
 daq-server/diablo_server/frontend/src/App.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/daq-server/diablo_server/frontend/src/App.tsx b/daq-server/diablo_server/frontend/src/App.tsx
index 7bbb77abb..46f40dbd5 100644
--- a/daq-server/diablo_server/frontend/src/App.tsx
+++ b/daq-server/diablo_server/frontend/src/App.tsx
@@ -66,7 +66,7 @@ export default function App() {
       <WindowDetector />
       <ControlModeProvider>
         <TopBarWrapper />
-        <div className="flex-1 min-h-0 overflow-auto flex flex-col">
+        <div className="flex-1 min-h-0 overflow-auto flex flex-col bg-background">
           <Suspense fallback={<PageFallback />}>
             <Routes>
               {/* Home removed — land on the most-used view (Single Pane). */}

From 6fbbea8ec82008719197bfe6d415e3812eee5350 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:50:15 -0700
Subject: [PATCH 043/205] test: add CI check that fails on underscore
 digit-separators in config TOML (the std::stoul foot-gun)

---
 .../test/check_toml_no_underscore_ints.py     | 89 +++++++++++++++++++
 1 file changed, 89 insertions(+)
 create mode 100644 daq-server/test/check_toml_no_underscore_ints.py

diff --git a/daq-server/test/check_toml_no_underscore_ints.py b/daq-server/test/check_toml_no_underscore_ints.py
new file mode 100644
index 000000000..596ab7909
--- /dev/null
+++ b/daq-server/test/check_toml_no_underscore_ints.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+"""
+Fail if any config TOML uses `_` digit-separators in numbers (e.g. `port = 5_006`).
+
+Those are valid TOML, but the minimal C++ config parsers in the DAQ services use
+std::stoul/stoi/stod, which stop at the underscore — so `5_006` parses as `5`, a
+privileged port, and daq_bridge crash-loops on bind (EACCES). @iarna/toml's
+stringify emits these separators for every integer >= 1000, so a GUI "Save Config"
+would reintroduce them; the writer now strips them (routes/config.ts), and this
+check guards the committed files against any other source (hand edits, other tools).
+
+Scans daq-server/config/*.toml. Quote- and comment-aware so a string value like
+"weird_1_2_name" is not flagged. Exit 1 (with file:line) on any violation.
+
+Run:  python3 test/check_toml_no_underscore_ints.py   (from daq-server/ or repo root)
+"""
+
+from __future__ import annotations
+
+import glob
+import os
+import re
+import sys
+
+UNDERSCORE_BETWEEN_DIGITS = re.compile(r"[0-9]_[0-9]")
+
+
+def strip_strings_and_comment(line: str) -> str:
+    """Blank out quoted spans (basic \" and literal ') and any trailing comment,
+    so only the structural/numeric part of the line remains for scanning."""
+    out = []
+    quote = None  # '"' or "'"
+    for ch in line:
+        if quote:
+            out.append(" ")  # keep column alignment, hide string content
+            if ch == quote:
+                quote = None
+            continue
+        if ch in ('"', "'"):
+            quote = ch
+            out.append(" ")
+            continue
+        if ch == "#":  # start of an unquoted comment — ignore the rest
+            break
+        out.append(ch)
+    return "".join(out)
+
+
+def scan_file(path: str) -> list[tuple[int, str]]:
+    violations: list[tuple[int, str]] = []
+    with open(path, "r", encoding="utf-8", errors="replace") as f:
+        for i, raw in enumerate(f, start=1):
+            scannable = strip_strings_and_comment(raw)
+            if UNDERSCORE_BETWEEN_DIGITS.search(scannable):
+                violations.append((i, raw.rstrip("\n")))
+    return violations
+
+
+def main() -> int:
+    here = os.path.dirname(os.path.abspath(__file__))
+    daq_root = os.path.dirname(here)  # daq-server/
+    config_dir = os.path.join(daq_root, "config")
+    files = sorted(glob.glob(os.path.join(config_dir, "*.toml")))
+    if not files:
+        print(f"[check_toml] no TOML files found in {config_dir}", flush=True)
+        return 0
+
+    total = 0
+    for path in files:
+        for line_no, text in scan_file(path):
+            rel = os.path.relpath(path, daq_root)
+            print(f"{rel}:{line_no}: underscore digit-separator in number → {text.strip()}",
+                  flush=True)
+            total += 1
+
+    if total:
+        print(
+            f"\n[check_toml] {total} underscore-separated number(s) found. The C++ config "
+            "parsers (std::stoul) truncate these — write plain integers (5006, not 5_006).",
+            flush=True,
+        )
+        return 1
+    print(f"[check_toml] OK — {len(files)} config TOML file(s) have no underscore-separated numbers.",
+          flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

From d016cdc73d837b0157f684a5e1ab5d4d184a7ee6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:50:15 -0700
Subject: [PATCH 044/205] session: block start until the previous run's units
 are fully torn down (frees :5006) + gate Start/Stop buttons during the
 transition

---
 .../backend/src/service-controller.ts         | 38 +++++++++++++++++++
 .../frontend/app/session/page.tsx             | 33 +++++++++++-----
 2 files changed, 62 insertions(+), 9 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/service-controller.ts b/daq-server/diablo_server/backend/src/service-controller.ts
index 0823220e1..d77c2366d 100644
--- a/daq-server/diablo_server/backend/src/service-controller.ts
+++ b/daq-server/diablo_server/backend/src/service-controller.ts
@@ -59,6 +59,38 @@ function runSystemctl(action: 'start' | 'stop', units: string[]): Promise<void>
   });
 }
 
+/** Per-unit state via `systemctl is-active` (one line per unit). Never rejects. */
+function systemctlStates(units: string[]): Promise<string[]> {
+  return new Promise((resolve) => {
+    const proc = spawn('systemctl', ['--user', 'is-active', ...units], {
+      stdio: ['ignore', 'pipe', 'ignore'],
+    });
+    let out = '';
+    proc.stdout?.on('data', (d) => (out += d.toString()));
+    proc.on('error', () => resolve(units.map(() => 'unknown')));
+    proc.on('exit', () => resolve(out.trim().split('\n').map((s) => s.trim())));
+  });
+}
+
+// A run's UDP sockets (esp. daq_bridge:5006) are only freed once its unit's process
+// exits. Starting the next run before teardown finishes makes the new daq_bridge
+// collide and crash-loop → no data. Treat only these as "settled": active/activating/
+// deactivating mean a process may still hold the port.
+const SETTLED_STATES = new Set(['inactive', 'failed', 'unknown', '']);
+
+async function waitUntilSettled(units: string[], timeoutMs = 15000): Promise<boolean> {
+  const deadline = Date.now() + timeoutMs;
+  for (;;) {
+    const states = await systemctlStates(units);
+    if (states.every((s) => SETTLED_STATES.has(s))) return true;
+    if (Date.now() >= deadline) {
+      console.warn(`[Session] teardown not settled in ${timeoutMs}ms; units: ${states.join(',')}`);
+      return false;
+    }
+    await new Promise((r) => setTimeout(r, 250));
+  }
+}
+
 export class ServiceController {
   constructor(private readonly mode: SessionServiceMode) {}
 
@@ -76,6 +108,9 @@ export class ServiceController {
           ? 'USE_SIM=1\nDAQ_CONFIG=config/sim_config.toml\n'
           : 'USE_SIM=0\nDAQ_CONFIG=config/config.toml\n',
       );
+      // Never start onto a not-yet-torn-down previous run — a lingering daq_bridge
+      // still owns :5006 and the new one would crash-loop. Wait for a clean slate.
+      await waitUntilSettled(pipelineUnits(true));
       await runSystemctl('start', pipelineUnits(simulated));
     } else {
       console.log(`[Session] (mock) start pipeline → ${dbDir} (simulated=${simulated})`);
@@ -89,6 +124,9 @@ export class ServiceController {
     if (this.mode === 'systemd') {
       // Stop the superset (incl. the simulator) so no data source lingers between runs.
       await runSystemctl('stop', pipelineUnits(true));
+      // Confirm every process actually exited (sockets freed) before we report done,
+      // so a subsequent start() sees a clean slate.
+      await waitUntilSettled(pipelineUnits(true));
     } else {
       console.log('[Session] (mock) stop pipeline');
       this.stopSimulator();
diff --git a/daq-server/diablo_server/frontend/app/session/page.tsx b/daq-server/diablo_server/frontend/app/session/page.tsx
index 4b7311a0b..d40840af4 100644
--- a/daq-server/diablo_server/frontend/app/session/page.tsx
+++ b/daq-server/diablo_server/frontend/app/session/page.tsx
@@ -31,6 +31,22 @@ export default function SessionPage() {
   const [durationMin, setDurationMin] = useState(60);
   const [addMin, setAddMin] = useState(15);
 
+  // While a start/stop is in flight the backend is tearing down / bringing up the
+  // pipeline (which now blocks until it's a clean slate). Gate the buttons on this
+  // so a rapid stop→start can't race the teardown. Cleared when session.active
+  // settles to the expected value, or after a timeout if the command never lands.
+  const [pending, setPending] = useState<null | 'start' | 'stop'>(null);
+  const active = !!session?.active;
+  useEffect(() => {
+    if (pending === 'start' && active) setPending(null);
+    if (pending === 'stop' && !active) setPending(null);
+  }, [pending, active]);
+  useEffect(() => {
+    if (!pending) return;
+    const id = setTimeout(() => setPending(null), 30000); // failsafe
+    return () => clearTimeout(id);
+  }, [pending]);
+
   // 1 Hz tick so the live countdown re-renders even when no WS update arrives.
   const [, setNow] = useState(Date.now());
   useEffect(() => {
@@ -76,7 +92,6 @@ export default function SessionPage() {
     );
   }
 
-  const active = session.active;
   const lockedNote = controlEnabled ? undefined : 'Viewer mode: unlock as an operator to control runs.';
 
   return (
@@ -173,12 +188,12 @@ export default function SessionPage() {
 
             <button
               type="button"
-              disabled={!controlEnabled}
-              title={lockedNote}
-              onClick={() => send({ commandType: 'session_start', data: { keepData, durationMs: durationMin * 60000, simulated } })}
+              disabled={!controlEnabled || pending !== null}
+              title={pending ? 'Waiting for the pipeline to settle…' : lockedNote}
+              onClick={() => { setPending('start'); send({ commandType: 'session_start', data: { keepData, durationMs: durationMin * 60000, simulated } }); }}
               className="rounded-lg border border-green-600 bg-green-800/70 px-5 py-2 text-sm font-bold uppercase tracking-wider text-white hover:bg-green-700 disabled:opacity-40 disabled:cursor-not-allowed"
             >
-              Start run
+              {pending === 'start' ? 'Starting…' : 'Start run'}
             </button>
           </div>
         </div>
@@ -220,16 +235,16 @@ export default function SessionPage() {
             </div>
             <button
               type="button"
-              disabled={!controlEnabled}
-              title={lockedNote}
+              disabled={!controlEnabled || pending !== null}
+              title={pending ? 'Tearing down the pipeline…' : lockedNote}
               onClick={() => {
                 if (confirm(`Stop this run? Its data will be ${session.keepData ? 'KEPT' : 'DISCARDED'}.`)) {
-                  send({ commandType: 'session_stop', data: {} });
+                  setPending('stop'); send({ commandType: 'session_stop', data: {} });
                 }
               }}
               className="ml-auto rounded-lg border border-red-600 bg-red-800/70 px-5 py-2 text-sm font-bold uppercase tracking-wider text-white hover:bg-red-700 disabled:opacity-40 disabled:cursor-not-allowed"
             >
-              Stop run
+              {pending === 'stop' ? 'Stopping…' : 'Stop run'}
             </button>
           </div>
         </div>

From 73b30ce0d745ae5f592bdee59ffc873a66cc16ae Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:50:15 -0700
Subject: [PATCH 045/205] =?UTF-8?q?status=20badge:=20drive=20it=20from=20a?=
 =?UTF-8?q?=20backend-authoritative=20dataFresh=20signal=20(last=20Elodin?=
 =?UTF-8?q?=20ingest)=20broadcast=201Hz,=20so=20'Simulated=20Data'/'Connec?=
 =?UTF-8?q?ted'=20means=20data=20is=20really=20flowing=20=E2=80=94=20never?=
 =?UTF-8?q?=20a=20stale=20or=20guessed=20status?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/backend/src/server.ts       | 37 +++++++++++++++----
 .../components/dashboard/MobileDashboard.tsx  |  5 ++-
 .../frontend/components/dashboard/TopBar.tsx  |  8 +++-
 daq-server/diablo_server/shared/types.d.ts    |  3 ++
 .../diablo_server/shared/types.d.ts.map       |  2 +-
 daq-server/diablo_server/shared/types.js.map  |  2 +-
 daq-server/diablo_server/shared/types.ts      |  3 ++
 7 files changed, 47 insertions(+), 13 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 237238426..38299cad6 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -526,6 +526,12 @@ setInterval(markStaleBoards, 1000);
 // burst (multi-chunk board packets), forwarding at least one row per channel per
 // packet; DB *storage* keeps every row. See integration Test 15 for the invariant.
 
+// Authoritative "data is actually flowing" signal: epoch-ms of the last entity we
+// ingested from Elodin. The status badge derives dataFresh from this, so it reflects
+// real end-to-end delivery — not just "a run is marked active" or the WS being open.
+let lastIngestMs = 0;
+const DATA_FRESH_MS = 3000; // no ingest for this long ⇒ pipeline is not delivering
+
 const stats = {
   ingestEntityUpdatesReceived: 0,  // every finite-value entity parsed from Elodin DB
   // Raw physical channel samples (non-_Cal, canonical component only): exactly one
@@ -664,7 +670,7 @@ wss.on('connection', (ws: WebSocket, req) => {
   // Connection status
   send(ws, {
     type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
-    payload: { connected: true, elodinConnected: elodin.isConnected(), connId, simulated: isSimulated() },
+    payload: connectionStatusPayload({ connId }),
   });
   outboundMessages++;
   lastOutboundAt = Date.now();
@@ -1048,18 +1054,34 @@ function isSimulated(): boolean {
   return process.env.USE_SIM === '1';
 }
 
+// Single source of truth for the status badge. Every field is backend-observed —
+// no frontend guessing: connected (this socket), elodinConnected (backend↔Elodin
+// link), simulated (active simulated run), and dataFresh (we actually ingested a
+// row from Elodin within DATA_FRESH_MS — i.e. the pipeline is really delivering).
+function connectionStatusPayload(extra: Record<string, unknown> = {}) {
+  return {
+    connected: true,
+    elodinConnected: elodin.isConnected(),
+    simulated: isSimulated(),
+    dataFresh: Date.now() - lastIngestMs < DATA_FRESH_MS,
+    ...extra,
+  };
+}
+
 // Re-broadcast connection status (used when the simulated state flips on session
 // start/stop so the badge updates without waiting for an Elodin reconnect).
 function broadcastConnectionStatus(): void {
-  broadcast({
-    type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
-    payload: { connected: true, elodinConnected: elodin.isConnected(), simulated: isSimulated() },
-  });
+  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: connectionStatusPayload() });
 }
 
+// Push the authoritative status ~1 Hz so dataFresh (and thus the badge) never goes
+// stale — otherwise it would only refresh on connect/elodin-flip and could show
+// "Simulated Data" long after the pipeline stopped delivering.
+setInterval(broadcastConnectionStatus, 1000);
+
 elodin.on('connected', () => {
   console.log('[ThinServer] Elodin Connected');
-  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: true, simulated: isSimulated() } });
+  broadcastConnectionStatus();
 
   if (resubscribeTimer) { clearTimeout(resubscribeTimer); resubscribeTimer = null; }
   shouldResubscribe = true;
@@ -1074,7 +1096,7 @@ elodin.on('connected', () => {
 
 elodin.on('disconnected', () => {
   console.log('[ThinServer] Elodin DB disconnected');
-  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: { connected: true, elodinConnected: false, simulated: isSimulated() } });
+  broadcastConnectionStatus();
   if (resubscribeTimer) { clearTimeout(resubscribeTimer); resubscribeTimer = null; }
   clearSubscriptionState();
 });
@@ -1196,6 +1218,7 @@ elodin.on('packet', (header: any, payload: Buffer) => {
 
       const key = `${parsed.entity}.${parsed.component}`;
       stats.ingestEntityUpdatesReceived++;
+      lastIngestMs = Date.now();
 
       // Pre-downsample ingest rate (what boards/Elodin actually deliver) — not WS broadcast rate.
       recordBoardScanIngest(parsed.entity, parsed.component);
diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index b13564434..bc7e7ac58 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -78,6 +78,7 @@ export default function MobileDashboard() {
   const connected = connectionStatus.connected;
   const elodinConnected = connectionStatus.elodinConnected;
   const isSimulated = !!connectionStatus.simulated;
+  const dataFresh = !!connectionStatus.dataFresh; // backend-authoritative data-flowing signal
   // Session-enabled deployment with no active run: pipeline is intentionally down.
   const sessionStopped = !!(session?.enabled && !session.active);
 
@@ -145,9 +146,9 @@ export default function MobileDashboard() {
           <div className="flex items-center gap-2">
             <span className="text-base font-bold tracking-widest text-blue-400 uppercase">DIABLO DAQ</span>
             <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${
-              isSimulated ? 'bg-purple-500' : isFullyConnected ? 'bg-green-500' : sessionStopped ? 'bg-gray-500' : connected ? 'bg-yellow-500' : 'bg-red-500'
+              !connected ? 'bg-red-500' : sessionStopped ? 'bg-gray-500' : dataFresh ? (isSimulated ? 'bg-purple-500' : 'bg-green-500') : 'bg-yellow-500'
             }`} />
-            <span className="text-xs text-gray-400">{isSimulated ? 'Simulated Data' : isFullyConnected ? 'Connected' : sessionStopped ? 'Session Stopped' : connected ? 'Data Pipeline Down' : 'Disconnected'}</span>
+            <span className="text-xs text-gray-400">{!connected ? 'Disconnected' : sessionStopped ? 'Session Stopped' : dataFresh ? (isSimulated ? 'Simulated Data' : 'Connected') : 'Data Pipeline Down'}</span>
           </div>
           <div className="flex items-center gap-3">
             <span className="text-xs font-mono text-gray-400 tabular-nums">{clock}</span>
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index eddf66f9f..cfca1e906 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -219,6 +219,10 @@ export default function TopBar() {
   const isConnected = connectionStatus.connected;
   const isFullyConnected = connectionStatus.connected && connectionStatus.elodinConnected;
   const isSimulated = !!connectionStatus.simulated;
+  // Backend-authoritative "pipeline is actually delivering data" — the badge shows
+  // Simulated/Connected only when this is true, so a run marked active but not yet
+  // (or no longer) producing data reads "Data Pipeline Down", never a stale badge.
+  const dataFresh = !!connectionStatus.dataFresh;
   // Session-enabled deployment with no active run: the pipeline is intentionally
   // down, so show "Session Stopped" rather than a "Data Pipeline Down" alarm.
   const sessionStopped = !!(session?.enabled && !session.active);
@@ -280,9 +284,9 @@ export default function TopBar() {
             </span>
           </div>
           <div className="flex items-center gap-2">
-            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${isSimulated ? 'bg-purple-500' : isFullyConnected ? 'bg-green-500' : sessionStopped ? 'bg-gray-500' : isConnected ? 'bg-yellow-500' : 'bg-red-500'}`} />
+            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${!isConnected ? 'bg-red-500' : sessionStopped ? 'bg-gray-500' : dataFresh ? (isSimulated ? 'bg-purple-500' : 'bg-green-500') : 'bg-yellow-500'}`} />
             <span className="text-sm text-gray-300 font-semibold">
-              {isSimulated ? 'Simulated Data' : isFullyConnected ? 'Connected' : sessionStopped ? 'Session Stopped' : isConnected ? 'Data Pipeline Down' : 'Disconnected'}
+              {!isConnected ? 'Disconnected' : sessionStopped ? 'Session Stopped' : dataFresh ? (isSimulated ? 'Simulated Data' : 'Connected') : 'Data Pipeline Down'}
             </span>
           </div>
           {session?.enabled && (
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index 03f3b02e2..839fb29f9 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -155,6 +155,9 @@ export interface ConnectionStatus {
     error?: string;
     /** True when incoming data is synthetic (board simulator running). */
     simulated?: boolean;
+    /** Backend-authoritative: an Elodin row was ingested within the freshness window,
+     *  i.e. the pipeline is actually delivering data right now (not just "run active"). */
+    dataFresh?: boolean;
 }
 export interface MissionStartTime {
     missionStartTime: number;
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index 744ddbcc7..1a4aff996 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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\ No newline at end of file
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diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index f13645cbb..cb3ef7c8d 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
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\ No newline at end of file
+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WA+BX;AA/BD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EA/BW,WAAW,KAAX,WAAW,QA+BtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AAkRD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC"}
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index 5068782c6..50fede7fb 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -200,6 +200,9 @@ export interface ConnectionStatus {
   error?: string;
   /** True when incoming data is synthetic (board simulator running). */
   simulated?: boolean;
+  /** Backend-authoritative: an Elodin row was ingested within the freshness window,
+   *  i.e. the pipeline is actually delivering data right now (not just "run active"). */
+  dataFresh?: boolean;
 }
 
 // Mission start time (T+0 from first packet)

From c42884b95ac450c09c237c7c300a499420e9eb39 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:50:31 -0700
Subject: [PATCH 046/205] ci: run the config-TOML underscore check in the Code
 Quality job

---
 .github/workflows/daq-server-ci.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index ac5418cfd..097604883 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -317,6 +317,9 @@ jobs:
           echo "✅ No TODO/FIXME/HACK comments found"
         fi
 
+    - name: Config TOML has no underscore-separated numbers
+      run: python3 test/check_toml_no_underscore_ints.py
+
     - name: Check for large files
       run: |
         echo "Checking for large files..."

From 97288f26db605d726810804948dcffa4fad7ac4e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:55:02 -0700
Subject: [PATCH 047/205] status: reset the data-freshness clock on Elodin
 disconnect so a new run starts as 'Data Pipeline Down', not a stale
 'Simulated Data' flash from the previous run

---
 daq-server/diablo_server/backend/src/server.ts | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 38299cad6..79b571aca 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -1096,6 +1096,10 @@ elodin.on('connected', () => {
 
 elodin.on('disconnected', () => {
   console.log('[ThinServer] Elodin DB disconnected');
+  // The data source is gone (run stopped / DB swap). Clear the freshness clock so a
+  // new run starts as "not delivering" (dataFresh=false) instead of briefly showing
+  // the stale previous run's fresh state — fixes the "Simulated Data" flash on start.
+  lastIngestMs = 0;
   broadcastConnectionStatus();
   if (resubscribeTimer) { clearTimeout(resubscribeTimer); resubscribeTimer = null; }
   clearSubscriptionState();

From 9848b2c05a414e93796458b48694dcbff76c3e9a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 00:58:45 -0700
Subject: [PATCH 048/205] operator mode: silently re-arm across WS reconnects
 (arming is identity-only) so a bounced socket doesn't kick an armed operator
 back to viewer; a page reload still resets

---
 .../frontend/lib/control-mode.tsx             | 24 +++++++++++++++----
 1 file changed, 19 insertions(+), 5 deletions(-)

diff --git a/daq-server/diablo_server/frontend/lib/control-mode.tsx b/daq-server/diablo_server/frontend/lib/control-mode.tsx
index c29d3ac86..c93a6fa2c 100644
--- a/daq-server/diablo_server/frontend/lib/control-mode.tsx
+++ b/daq-server/diablo_server/frontend/lib/control-mode.tsx
@@ -1,6 +1,6 @@
 "use client";
 
-import React, { createContext, useCallback, useContext, useEffect, useState } from "react";
+import React, { createContext, useCallback, useContext, useEffect, useRef, useState } from "react";
 import { MessageType } from "./types";
 import { getWebSocketClient } from "./websocket";
 
@@ -24,14 +24,19 @@ const ControlModeContext = createContext<ControlModeContextValue | undefined>(un
  * reflects its decisions:
  *   - CONTROL_STATUS (on connect): are you an approved operator?
  *   - CONTROL_UNLOCK_RESULT (reply to arm): did the backend arm control?
- * Nothing is persisted — each connection re-arms, because the backend resets
- * authorization on every (re)connect.
+ * The backend resets authorization on every (re)connect, but arming is
+ * identity-only server-side (no credential), so if this operator was already
+ * armed we silently re-arm across a reconnect — a bounced socket while clicking
+ * around must not kick them back to viewer. A full page reload starts fresh
+ * (wasArmed=false) and stays locked, which is the intended reset.
  */
 export function ControlModeProvider({ children }: { children: React.ReactNode }) {
   const [controlEnabled, setControlEnabled] = useState(false);
   const [isOperator, setIsOperator] = useState(false);
   const [unlocking, setUnlocking] = useState(false);
   const [error, setError] = useState<string | null>(null);
+  // Survives WS reconnects (a ref, not state reset on remount would be a reload).
+  const wasArmedRef = useRef(false);
 
   useEffect(() => {
     const ws = getWebSocketClient();
@@ -39,9 +44,14 @@ export function ControlModeProvider({ children }: { children: React.ReactNode })
     const offStatus = ws.on(MessageType.CONTROL_STATUS, (payload) => {
       const p = payload as { operator?: boolean };
       setIsOperator(!!p.operator);
-      // Every (re)connect resets server-side authorization → require re-arm.
-      setControlEnabled(false);
       setUnlocking(false);
+      // (Re)connect wiped server-side authorization. If we were armed before,
+      // re-arm silently (identity-only) so the UI stays armed; else stay locked.
+      if (wasArmedRef.current && p.operator) {
+        getWebSocketClient().send({ type: MessageType.CONTROL_UNLOCK, timestamp: Date.now(), payload: {} });
+      } else {
+        setControlEnabled(false);
+      }
     });
 
     const offResult = ws.on(MessageType.CONTROL_UNLOCK_RESULT, (payload) => {
@@ -49,9 +59,11 @@ export function ControlModeProvider({ children }: { children: React.ReactNode })
       setUnlocking(false);
       if (p.ok) {
         setControlEnabled(true);
+        wasArmedRef.current = true;
         setError(null);
       } else {
         setControlEnabled(false);
+        wasArmedRef.current = false;
         setError("You're not an approved operator.");
       }
     });
@@ -63,6 +75,7 @@ export function ControlModeProvider({ children }: { children: React.ReactNode })
   const unlock = useCallback(() => {
     setUnlocking(true);
     setError(null);
+    wasArmedRef.current = true; // remember intent so we re-arm across reconnects
     getWebSocketClient().send({
       type: MessageType.CONTROL_UNLOCK,
       timestamp: Date.now(),
@@ -72,6 +85,7 @@ export function ControlModeProvider({ children }: { children: React.ReactNode })
 
   const lock = useCallback(() => {
     setControlEnabled(false);
+    wasArmedRef.current = false; // explicit lock — do not auto-re-arm
     setError(null);
   }, []);
 

From d74a0a60077ce8794228ed6b88a6fb72c2c22e3f Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:09:09 -0700
Subject: [PATCH 049/205] sim: re-send SELF_TEST for ~6s after board activation
 so the one-shot result survives the pipeline-startup race (daq_bridge bind +
 backend elodin re-subscribe) on session start

---
 daq-server/sim/board_simulator.py | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/daq-server/sim/board_simulator.py b/daq-server/sim/board_simulator.py
index d31836e1b..8a928c198 100755
--- a/daq-server/sim/board_simulator.py
+++ b/daq-server/sim/board_simulator.py
@@ -147,6 +147,13 @@ def __init__(
         # SETUP→SELF_TEST→ACTIVE path never runs — self-test UDP is never sent unless we
         # emit it once here (GUI + Playwright expect SELF_TEST.BOARD_* in sensorData).
         self._skip_startup_self_test_sent = False
+        # Self-test is a one-shot at activation, but on a session start it races the
+        # pipeline coming up (daq_bridge binding :5006, backend re-subscribing to the
+        # new Elodin DB). A single packet is often lost → no self-test shown. Re-send
+        # the same result a few times over the first seconds so at least one lands
+        # once the pipeline is ready. (Same idea as board_startup_sim's send burst.)
+        self._selftest_resend_until = 0.0  # wall-clock deadline; 0 = not arming
+        self._selftest_last_resend = 0.0
 
         self.running = False
         self.sock = None
@@ -266,11 +273,23 @@ def _run(self):
             ):
                 self._send_self_test()
                 self._skip_startup_self_test_sent = True
+                self._selftest_resend_until = now + 6.0  # re-send window (pipeline-startup race)
                 print(
                     f"[{self.name}] skip-startup: one-shot SELF_TEST sent (pass all active connectors)",
                     flush=True,
                 )
 
+            # --- Self-test re-send window: the result is one-shot, but a session start
+            # races the pipeline coming up, so resend it ~1 Hz for a few seconds after
+            # activation. Same values (idempotent in the backend cache); ensures delivery. ---
+            if (
+                self._selftest_resend_until > 0.0
+                and now < self._selftest_resend_until
+                and now - self._selftest_last_resend >= 1.0
+            ):
+                self._send_self_test()
+                self._selftest_last_resend = now
+
             # --- Send Heartbeat (all states, matching firmware) ---
             if now - last_heartbeat >= heartbeat_interval:
                 self._send_heartbeat(ts_ms)
@@ -309,6 +328,7 @@ def _check_for_sensor_config(self):
                 # Firmware: run self-test once, send results, immediately go ACTIVE
                 # (SensorHotfireCore.h: SelfTest state is transient — same loop iteration)
                 self._send_self_test()
+                self._selftest_resend_until = time.time() + 6.0  # re-send window (pipeline-startup race)
                 self.board_state = BOARD_STATE_ACTIVE
                 print(
                     f"[{self.name}] SELF_TEST sent, transitioning to ACTIVE",

From 8b5036aabeeae035fbd0044875470d3eb8159517 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:21:40 -0700
Subject: [PATCH 050/205] ota flash: point firmware discovery at monorepo
 firmware/Hotfire_Code (was external/DiabloAvionics), return project dir not
 the .ini path (fixes single-board flash), exclude the native test harness

---
 .../diablo_server/backend/src/ota-build.ts    | 58 +++++++++++--------
 1 file changed, 35 insertions(+), 23 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/ota-build.ts b/daq-server/diablo_server/backend/src/ota-build.ts
index ae087ab45..a3435762e 100644
--- a/daq-server/diablo_server/backend/src/ota-build.ts
+++ b/daq-server/diablo_server/backend/src/ota-build.ts
@@ -1,6 +1,6 @@
 /**
- * Build DiabloAvionics firmware with PlatformIO.
- * Scans external/DiabloAvionics for platformio.ini projects,
+ * Build board firmware with PlatformIO.
+ * Scans firmware/Hotfire_Code for platformio.ini projects,
  * runs `pio run`, and returns the firmware.bin path.
  */
 
@@ -9,25 +9,32 @@ import * as path from 'path';
 import { spawn, execSync } from 'child_process';
 import { readConfig } from './routes/config.js';
 
-const DIABLOAVIONICS_REL = 'external/DiabloAvionics';
+// Board firmware lives in the monorepo now (was external/DiabloAvionics before the
+// migration). The flashable hotfire projects are under firmware/Hotfire_Code.
+const FIRMWARE_REL = 'firmware/Hotfire_Code';
+// Projects under FIRMWARE_REL that are not board firmware (won't espota-flash).
+const NON_FLASHABLE = new Set(['Hotfire_Tests']);
 
 function getWorkspaceRoot(): string {
-  const cwd = process.cwd();
-  // Try cwd, then cwd/.., then cwd/../.. for external/DiabloAvionics
-  for (const root of [cwd, path.join(cwd, '..'), path.join(cwd, '..', '..')]) {
-    const p = path.join(root, DIABLOAVIONICS_REL);
-    if (fs.existsSync(p)) return path.resolve(root);
+  // Walk up from cwd (daq-server under systemd, or .../backend in dev) until we find
+  // the repo root that contains firmware/Hotfire_Code.
+  let dir = process.cwd();
+  for (let i = 0; i < 6; i++) {
+    if (fs.existsSync(path.join(dir, FIRMWARE_REL))) return dir;
+    const parent = path.dirname(dir);
+    if (parent === dir) break;
+    dir = parent;
   }
-  return path.resolve(cwd, '..', '..'); // fallback: web-gui/backend -> sensor_system
+  return path.resolve(process.cwd(), '..'); // fallback: cwd is daq-server ⇒ repo root
 }
 
-/** Repo root containing external/DiabloAvionics (OTA paths, config). */
+/** Repo root containing firmware/Hotfire_Code (OTA paths, config). */
 export function getOtaWorkspaceRoot(): string {
   return getWorkspaceRoot();
 }
 
 export interface OtaProject {
-  path: string;       // relative to workspace, e.g. external/DiabloAvionics/Hotfire_Code/PT_Hotfire
+  path: string;       // relative to workspace, e.g. firmware/Hotfire_Code/PT_Hotfire
   name: string;       // display name, e.g. PT_Hotfire
 }
 
@@ -40,12 +47,12 @@ export interface BuildResult {
 }
 
 /**
- * Scan for PlatformIO projects under external/DiabloAvionics.
+ * Scan for PlatformIO projects under firmware/Hotfire_Code.
  */
 export function discoverProjects(): OtaProject[] {
   const root = getWorkspaceRoot();
-  const diabloPath = path.join(root, DIABLOAVIONICS_REL);
-  if (!fs.existsSync(diabloPath)) return [];
+  const firmwarePath = path.join(root, FIRMWARE_REL);
+  if (!fs.existsSync(firmwarePath)) return [];
 
   const projects: OtaProject[] = [];
   const walk = (dir: string, relPrefix: string) => {
@@ -55,14 +62,19 @@ export function discoverProjects(): OtaProject[] {
       const rel = path.join(relPrefix, e.name);
       if (e.isDirectory()) {
         if (e.name === '.git' || e.name === '.pio' || e.name === 'node_modules') continue;
+        if (NON_FLASHABLE.has(e.name)) continue; // e.g. the native test harness
         walk(full, rel);
       } else if (e.name === 'platformio.ini') {
-        const name = path.basename(path.dirname(rel));
-        projects.push({ path: rel.replace(/\\/g, '/'), name });
+        // Return the PROJECT DIRECTORY (not the .ini path) — the flash endpoint joins
+        // this with the workspace root and pio runs in it. Including platformio.ini
+        // made single-board flash build in a non-existent ".../platformio.ini" dir.
+        const dirRel = path.dirname(rel);
+        const name = path.basename(dirRel);
+        projects.push({ path: dirRel.replace(/\\/g, '/'), name });
       }
     }
   };
-  walk(diabloPath, DIABLOAVIONICS_REL);
+  walk(firmwarePath, FIRMWARE_REL);
   return projects.sort((a, b) => a.name.localeCompare(b.name));
 }
 
@@ -170,13 +182,13 @@ export async function buildProject(projectPath: string, buildFlags?: string): Pr
   });
 }
 
-/** Board type → DiabloAvionics project path (firmware with TEMP_HARDCODE_BOARD_ID support) */
+/** Board type → firmware project path (firmware with TEMP_HARDCODE_BOARD_ID support). */
 export const BOARD_TYPE_TO_PROJECT: Record<string, string> = {
-  PT: 'external/DiabloAvionics/Hotfire_Code/PT_Hotfire',
-  ACTUATOR: 'external/DiabloAvionics/Hotfire_Code/Actuator_Hotfire',
-  LC: 'external/DiabloAvionics/Hotfire_Code/LC_Hotfire',
-  TC: 'external/DiabloAvionics/Hotfire_Code/TC_Hotfire',
-  RTD: 'external/DiabloAvionics/Hotfire_Code/RTD_Hotfire',
+  PT: 'firmware/Hotfire_Code/PT_Hotfire',
+  ACTUATOR: 'firmware/Hotfire_Code/Actuator_Hotfire',
+  LC: 'firmware/Hotfire_Code/LC_Hotfire',
+  TC: 'firmware/Hotfire_Code/TC_Hotfire',
+  RTD: 'firmware/Hotfire_Code/RTD_Hotfire',
 };
 
 export interface FlashAllBoard {

From 75c6b49a7e396e90574a342b36437adf0771ebaa Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:23:04 -0700
Subject: [PATCH 051/205] all views: derive the 'Pinned' tag from config.toml
 [gui].tabs (same source as the TabBar) instead of the static nav-items flag,
 so it updates when the config changes

---
 .../diablo_server/frontend/app/views/page.tsx       | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/views/page.tsx b/daq-server/diablo_server/frontend/app/views/page.tsx
index bb104b429..8f0bf3ca8 100644
--- a/daq-server/diablo_server/frontend/app/views/page.tsx
+++ b/daq-server/diablo_server/frontend/app/views/page.tsx
@@ -1,10 +1,11 @@
 'use client'
 
 import { NavLink } from 'react-router-dom';
-import { ACTIVE_NAV_ITEMS, DEPRECATED_NAV_ITEMS, type NavItem } from '@/lib/nav-items';
+import { ACTIVE_NAV_ITEMS, DEPRECATED_NAV_ITEMS, resolveTabItems, type NavItem } from '@/lib/nav-items';
+import { useGuiConfig } from '@/lib/gui-config';
 
 // ── Single view card — navigates to the view's canonical route ───────────────
-function ViewCard({ item, muted }: { item: NavItem; muted?: boolean }) {
+function ViewCard({ item, muted, pinned }: { item: NavItem; muted?: boolean; pinned?: boolean }) {
   return (
     <NavLink
       to={item.path}
@@ -20,7 +21,7 @@ function ViewCard({ item, muted }: { item: NavItem; muted?: boolean }) {
           </span>
           {item.deprecated ? (
             <span className="text-[10px] font-semibold text-amber-400/80 flex-shrink-0 uppercase tracking-wider">Deprecated</span>
-          ) : item.common ? (
+          ) : pinned ? (
             <span className="text-[10px] font-semibold text-white flex-shrink-0 uppercase tracking-wider">Pinned</span>
           ) : null}
         </div>
@@ -43,13 +44,17 @@ function SectionHeader({ color, children }: { color: string; children: React.Rea
 
 // ── All Views: full grid of every navigable view, active + deprecated ────────
 export default function AllViewsPage() {
+  // Which views are "Pinned" is driven by config.toml [gui].tabs (same source as the
+  // TabBar), not the static nav-items `common` flag — so it updates when config changes.
+  const { tabs } = useGuiConfig();
+  const pinnedIds = new Set(resolveTabItems(tabs).map((i) => i.id));
   return (
     <main className="flex-1 bg-background text-text flex flex-col overflow-auto">
       <div className="w-full px-4 py-4 flex flex-col gap-3">
         <SectionHeader color="#22C55E">All Views</SectionHeader>
         <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-4 xl:grid-cols-5 gap-2">
           {ACTIVE_NAV_ITEMS.map((item) => (
-            <ViewCard key={item.id} item={item} />
+            <ViewCard key={item.id} item={item} pinned={pinnedIds.has(item.id)} />
           ))}
         </div>
 

From cea45c4d4b2774db2ad3c985d801f32fae010cb1 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:26:07 -0700
Subject: [PATCH 052/205] notifications panel: drop the misleading 'Board
 heartbeat' pulse, retitle to 'Notifications' with Clear inline on the same
 row (more list space); deprecate Raw Plots and All Plots views

---
 .../dashboard/NotificationPanel.tsx           | 54 ++++---------------
 .../diablo_server/frontend/lib/nav-items.ts   |  4 +-
 2 files changed, 12 insertions(+), 46 deletions(-)

diff --git a/daq-server/diablo_server/frontend/components/dashboard/NotificationPanel.tsx b/daq-server/diablo_server/frontend/components/dashboard/NotificationPanel.tsx
index a6437d77c..f3734fed8 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/NotificationPanel.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/NotificationPanel.tsx
@@ -68,51 +68,17 @@ export default function NotificationPanel() {
 
   const items = notifications;
 
-  const lastMaxTsRef = useRef<number>(0);
-  const timerRef = useRef<ReturnType<typeof setTimeout> | null>(null);
-  const [active, setActive] = useState(false);
-
-  useEffect(() => {
-    if (!items.length) return;
-    const maxTs = Math.max(...items.map((n) => n.timestampMs));
-    if (maxTs <= lastMaxTsRef.current) return;
-    lastMaxTsRef.current = maxTs;
-
-    setActive(true);
-    if (timerRef.current) clearTimeout(timerRef.current);
-    timerRef.current = setTimeout(() => {
-      setActive(false);
-      timerRef.current = null;
-    }, 200);
-  }, [items]);
-
   return (
-    <div className="h-full flex flex-col w-full min-w-[150px] flex-shrink-0 relative">
-      <div className="absolute top-1 right-1 pointer-events-none z-10">
-        <span className="relative flex h-4 w-4 items-center justify-center">
-          <span
-            className={`absolute inline-flex rounded-full h-4 w-4 transition-colors duration-75 ${
-              active ? 'bg-red-500/40' : 'bg-emerald-400/25'
-            }`}
-          />
-          <span
-            className={`relative inline-flex rounded-full h-2.5 w-2.5 transition-colors duration-75 ${
-              active ? 'bg-red-500' : 'bg-emerald-400'
-            }`}
-          />
-        </span>
-      </div>
-      <div className="flex flex-col gap-1 mb-1.5 pl-1 pr-6">
-        <div className="text-[10px] font-bold uppercase tracking-widest text-gray-500">Board heartbeat</div>
-        <div className="flex items-center justify-start">
-          <button
-            type="button"
-            onClick={clearNotifications}
-            className="px-2 py-1 rounded border border-gray-700 text-lg font-semibold text-gray-300 hover:bg-gray-800 active:bg-gray-700"
-          >
-            Clear
-          </button>
-        </div>
+    <div className="h-full flex flex-col w-full min-w-[150px] flex-shrink-0">
+      <div className="flex items-center justify-between gap-2 mb-1.5 px-1">
+        <div className="text-[10px] font-bold uppercase tracking-widest text-gray-500">Notifications</div>
+        <button
+          type="button"
+          onClick={clearNotifications}
+          className="px-2 py-0.5 rounded border border-gray-700 text-xs font-semibold text-gray-300 hover:bg-gray-800 active:bg-gray-700"
+        >
+          Clear
+        </button>
       </div>
       <div className="flex-1 min-h-0 rounded border border-gray-800 bg-black/40 overflow-hidden flex flex-col">
         <div className="flex-1 min-h-0 overflow-y-auto divide-y divide-gray-800/70 flex flex-col">
diff --git a/daq-server/diablo_server/frontend/lib/nav-items.ts b/daq-server/diablo_server/frontend/lib/nav-items.ts
index 449a6dd45..be64a46e7 100644
--- a/daq-server/diablo_server/frontend/lib/nav-items.ts
+++ b/daq-server/diablo_server/frontend/lib/nav-items.ts
@@ -75,9 +75,9 @@ export const NAV_ITEMS: NavItem[] = [
     description: 'System & board configuration editor' },
   { id: 'livestream', name: 'Livestream Stats', path: '/livestream', accent: '#38BDF8',
     description: 'Broadcast pane with state, mission timer, and selectable PT dials' },
-  { id: 'raw', name: 'Raw Plots', path: '/raw', accent: '#94A3B8',
+  { id: 'raw', name: 'Raw Plots', path: '/raw', accent: '#94A3B8', deprecated: true,
     description: 'Unprocessed per-channel plots' },
-  { id: 'all', name: 'All Plots', path: '/plots/all', accent: '#A3A3A3',
+  { id: 'all', name: 'All Plots', path: '/plots/all', accent: '#A3A3A3', deprecated: true,
     description: 'Every pressure plot on one page' },
   { id: 'ipad', name: 'iPad View', path: '/ipad', accent: '#8B5CF6',
     description: 'Scrollable layout tuned for iPad' },

From cd78c482e5d69f430dd4a150e9714bbf503ba4c2 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:42:28 -0700
Subject: [PATCH 053/205] backend: couple shared site atmosphere + wind across
 ascent, descent, and crosscheck

---
 star-openrocket/backend/main.py               | 39 ++++++--
 .../backend/onshape/aero/rocketpy_flight.py   | 91 +++++++++++++------
 .../backend/recovery/routers/atmosphere.py    |  6 +-
 .../backend/recovery/routers/crosscheck.py    |  9 +-
 .../backend/recovery/routers/settings.py      |  4 +-
 .../backend/recovery/routers/simulate.py      | 14 ++-
 star-openrocket/physics/crosscheck.py         | 26 +++++-
 star-openrocket/tests/recovery/test_api.py    | 29 +++---
 .../tests/recovery/test_crosscheck.py         | 15 ++-
 star-openrocket/tests/test_rocketpy_flight.py | 27 +++++-
 10 files changed, 194 insertions(+), 66 deletions(-)

diff --git a/star-openrocket/backend/main.py b/star-openrocket/backend/main.py
index f03062f46..653872c4c 100644
--- a/star-openrocket/backend/main.py
+++ b/star-openrocket/backend/main.py
@@ -38,7 +38,13 @@
 from fastapi import FastAPI, HTTPException, Query
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.responses import FileResponse
-from pydantic import BaseModel
+from pydantic import BaseModel, Field
+
+# The shared environment models: the flight-dynamics ascent now flies through the
+# same site atmosphere and wind the recovery descent integrates (physics/ library).
+from physics.atmosphere import Atmosphere  # noqa: E402
+from physics.schema import Site, WindInput  # noqa: E402
+from physics.site import FAR_ELEV_M  # noqa: E402
 
 from .onshape.aero.axis import Axis
 from .onshape.aero.fins import (
@@ -261,9 +267,11 @@ class FlightDynamicsRequest(StabilityRequest):
     inclination: float = 85.0
     #: Rail heading / azimuth (deg from north).
     heading: float = 0.0
-    #: Constant wind speed (m/s) and the compass bearing it blows *from* (deg).
-    windSpeed: float = 0.0
-    windDirection: float = 0.0
+    #: The shared environment (set on the Environment tab, same objects the descent
+    #: uses): the wind the ascent climbs through and the site atmosphere it flies in.
+    #: Both optional -- absent wind is calm; absent site is the standard column at FAR.
+    wind: WindInput | None = Field(default=None, discriminator="kind")
+    site: Site | None = None
 
 
 def _model_dir(model_id: str) -> Path:
@@ -539,6 +547,23 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
         raise HTTPException(status_code=404, detail=f"unknown motor {request.motor.motorId}")
 
     rail_length = request.railLength if request.railLength and request.railLength > 0 else 1.0
+
+    # The shared environment: build the SAME wind profile and atmosphere column the
+    # recovery descent integrates, so the ascent flies through identical air. Elevation
+    # is the fixed FAR pad on both sides. Absent wind -> calm; absent site -> the
+    # standard column, but still via physics/atmosphere so both halves agree.
+    site = request.site
+    wind_profile = request.wind.to_profile(FAR_ELEV_M) if request.wind is not None else None
+    try:
+        atmosphere = Atmosphere(
+            FAR_ELEV_M,
+            T_pad=site.T_pad if site else None,
+            p_pad=site.p_pad if site else None,
+            lapse=site.lapse if site else None,
+        )
+    except ValueError as exc:
+        raise HTTPException(status_code=422, detail=str(exc)) from exc
+
     try:
         result = simulate_flight_dynamics(
             store,
@@ -553,8 +578,8 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
             rail_length=rail_length,
             inclination=request.inclination,
             heading=request.heading,
-            wind_speed=request.windSpeed,
-            wind_direction=request.windDirection,
+            wind_profile=wind_profile,
+            atmosphere=atmosphere,
         )
     except ModuleNotFoundError as exc:
         raise HTTPException(
@@ -572,6 +597,7 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
             "mach": result.mach[i],
             "acceleration": result.acceleration[i],
             "dynamicPressure": result.dynamic_pressure[i],
+            "windSpeed": result.wind_speed[i],
             "angleOfAttack": result.angle_of_attack[i],
             "angleFromVertical": result.angle_from_vertical[i],
             "stabilityMarginRocketpy": result.stability_margin_rocketpy[i],
@@ -589,6 +615,7 @@ async def flight_dynamics(model_id: str, request: FlightDynamicsRequest):
         "fft": {"frequency": result.fft_frequency, "amplitude": result.fft_amplitude},
         "apogee": result.apogee,
         "apogeeTime": result.apogee_time,
+        "burnoutTime": result.burnout_time,
         "maxSpeed": result.max_speed,
         "maxMach": result.max_mach,
         "maxAcceleration": result.max_acceleration,
diff --git a/star-openrocket/backend/onshape/aero/rocketpy_flight.py b/star-openrocket/backend/onshape/aero/rocketpy_flight.py
index ab3cf0ee1..a87fc2940 100644
--- a/star-openrocket/backend/onshape/aero/rocketpy_flight.py
+++ b/star-openrocket/backend/onshape/aero/rocketpy_flight.py
@@ -21,6 +21,7 @@
 import math
 from collections.abc import Callable
 from dataclasses import dataclass, field
+from typing import TYPE_CHECKING
 
 import numpy as np
 
@@ -35,15 +36,19 @@
     place_motor,
 )
 
+# Friends of Amateur Rocketry (FAR), Mojave -- the fixed launch site. Now shared
+# with the recovery calculator via physics/site.py (single source of truth), so
+# the ascent and the descent agree on where they fly.
+from physics.site import FAR_ELEV_M, FAR_LAT, FAR_LON  # noqa: E402
+
+if TYPE_CHECKING:  # hints only -- the env is duck-typed off .to_rocketpy()/.T()/.p()
+    from physics.atmosphere import Atmosphere
+    from physics.wind import WindProfile
+
 #: Sea-level ISA speed of sound, matching flight.py (Mach for our-margin overlay).
 A_SOUND = 340.29
 #: Number of evenly spaced samples returned to the client.
 _N_SAMPLES = 300
-# Friends of Amateur Rocketry (FAR), Mojave -- the fixed launch site. Mirrors the
-# recovery calculator's physics/site.py; kept here until that module merges in.
-FAR_ELEV_M = 630.0
-FAR_LAT = 35.353333
-FAR_LON = -117.807167
 #: Stub drag Cd(Mach): subsonic ~0.45 with a transonic bump. See FUTURE_IMPROVEMENTS.md.
 _STUB_DRAG = [[0.0, 0.45], [0.6, 0.48], [0.9, 0.55], [1.0, 0.62], [1.2, 0.58], [2.0, 0.48], [5.0, 0.40]]
 
@@ -73,6 +78,7 @@ class FlightDynamicsResult:
     mach: list[float]
     acceleration: list[float]       # m/s^2
     dynamic_pressure: list[float]   # Pa
+    wind_speed: list[float]         # m/s; ambient horizontal wind at the rocket's altitude
     angle_of_attack: list[float | None]    # deg; None where airspeed too low to define
     angle_from_vertical: list[float]       # deg; rocket axis tilt off straight-up
     stability_margin_rocketpy: list[float]  # cal (RocketPy's CP)
@@ -87,6 +93,7 @@ class FlightDynamicsResult:
     # summary scalars
     apogee: float
     apogee_time: float
+    burnout_time: float             # s from ignition (motor burn duration; ignition at t=0)
     max_speed: float
     max_mach: float
     max_acceleration: float
@@ -141,10 +148,8 @@ def _approx_inertia(mass: float, length: float, radius: float) -> tuple[float, f
     return i_long, i_long, i_roll
 
 
-def _wind_uv(speed: float, direction_from_deg: float) -> tuple[float, float]:
-    """(u_east, v_north) m/s from wind speed and the bearing it blows *from* (met. convention)."""
-    r = math.radians(direction_from_deg)
-    return -speed * math.sin(r), -speed * math.cos(r)
+#: Top of the ascent atmosphere column, m MSL -- above any apogee we simulate.
+_ATMOS_TOP_MSL = 30000.0
 
 
 def run_flight(
@@ -155,8 +160,8 @@ def run_flight(
     rail_length: float = 1.0,
     inclination: float = 85.0,
     heading: float = 0.0,
-    wind_speed: float = 0.0,
-    wind_direction: float = 0.0,
+    wind_profile: "WindProfile | None" = None,
+    atmosphere: "Atmosphere | None" = None,
     elevation: float = FAR_ELEV_M,
     latitude: float = FAR_LAT,
     longitude: float = FAR_LON,
@@ -165,19 +170,41 @@ def run_flight(
 ) -> FlightDynamicsResult:
     """Assemble RocketPy Environment + Rocket + Motor from ``geom`` and run to apogee.
 
+    ``wind_profile`` and ``atmosphere`` are the SAME shared-environment objects the
+    descent integrates (``physics.wind.WindProfile`` / ``physics.atmosphere.Atmosphere``),
+    so the ascent flies through identical air. Both default to None -- a calm ISA column
+    referenced to ``elevation`` -- for callers that do not supply an environment.
+
     ``our_margin_fn(t, mach)`` supplies our-CP static margin per sample for the overlay;
     when None the ``stability_margin_ours`` series is all None.
     """
     from rocketpy import Environment, Flight, Rocket
 
     env = Environment(latitude=latitude, longitude=longitude, elevation=elevation)
-    u, v = _wind_uv(wind_speed, wind_direction)
-    top = 30000.0
-    env.set_atmospheric_model(
-        type="custom_atmosphere",
-        wind_u=[[0, u], [top, u]],
-        wind_v=[[0, v], [top, v]],
-    )
+    top = _ATMOS_TOP_MSL
+    # One MSL grid shared by wind and the temperature/pressure column, so both are
+    # monotonic and span the whole flight regardless of a climatology profile's own
+    # (possibly single-level, possibly short) grid.
+    levels = np.linspace(elevation, top, 60)
+    if wind_profile is not None:
+        wind_u = [[float(h), float(wind_profile.u(h - elevation))] for h in levels]
+        wind_v = [[float(h), float(wind_profile.v(h - elevation))] for h in levels]
+    else:
+        wind_u = [[elevation, 0.0], [top, 0.0]]
+        wind_v = [[elevation, 0.0], [top, 0.0]]
+
+    atmos_model: dict = {"type": "custom_atmosphere", "wind_u": wind_u, "wind_v": wind_v}
+    if atmosphere is not None:
+        # RocketPy derives density from (p, T); a fraction-of-a-percent gas-constant
+        # difference vs Atmosphere.rho is acceptable -- it is the same column the
+        # descent uses, sampled onto the MSL grid.
+        atmos_model["temperature"] = [
+            [float(h), float(atmosphere.T(h - elevation))] for h in levels
+        ]
+        atmos_model["pressure"] = [
+            [float(h), float(atmosphere.p(h - elevation))] for h in levels
+        ]
+    env.set_atmospheric_model(**atmos_model)
 
     drag = drag_curve if drag_curve is not None else _STUB_DRAG
     rocket = Rocket(
@@ -213,7 +240,8 @@ def run_flight(
         verbose=False,
     )
 
-    return _sample(flight, env, elevation, our_margin_fn, launch_stable, geom)
+    return _sample(flight, env, elevation, our_margin_fn, launch_stable, geom,
+                   float(motor.burn_time))
 
 
 def _safe(fn, t: float, default: float = 0.0) -> float:
@@ -223,7 +251,8 @@ def _safe(fn, t: float, default: float = 0.0) -> float:
         return default
 
 
-def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> FlightDynamicsResult:
+def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom,
+            burnout_time) -> FlightDynamicsResult:
     t_end = float(flight.apogee_time)
     ts = np.linspace(0.0, t_end, _N_SAMPLES)
 
@@ -231,15 +260,23 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
     # free-stream speed it is numerically singular (near apogee), so we null it out.
     _AOA_MIN_AIRSPEED = 15.0  # m/s
 
-    altitude, speed, mach, accel, q, aoa = [], [], [], [], [], []
+    altitude, speed, mach, accel, q, aoa, wind = [], [], [], [], [], [], []
     marg_rp, marg_ours, dx, dy, bend, wpitch, avert = [], [], [], [], [], [], []
     for t in ts:
         m = _safe(flight.mach_number, t)
-        altitude.append(_safe(flight.altitude, t) - 0.0)  # RocketPy altitude() is already AGL
+        alt = _safe(flight.altitude, t)  # RocketPy altitude() is already AGL
+        altitude.append(alt)
         speed.append(_safe(flight.speed, t))
         mach.append(m)
         accel.append(_safe(flight.acceleration, t))
         q.append(_safe(flight.dynamic_pressure, t))
+        # Ambient horizontal wind the rocket flies through at this instant -- read from
+        # the same environment column the ascent used, sampled at the rocket's altitude
+        # (env wind functions take height ASL). Constant wind reads flat; a climatology
+        # profile varies with height as the rocket climbs through the shear.
+        z_asl = alt + elevation
+        wind.append(math.hypot(_safe(env.wind_velocity_x, z_asl),
+                               _safe(env.wind_velocity_y, z_asl)))
         if _safe(flight.free_stream_speed, t) >= _AOA_MIN_AIRSPEED:
             # RocketPy's angle_of_attack is already in degrees (rad2deg(arccos(...)),
             # bounded [0, 180]) — do NOT re-convert. abs() guards any sign edge case.
@@ -292,6 +329,7 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
         mach=mach,
         acceleration=accel,
         dynamic_pressure=q,
+        wind_speed=wind,
         angle_of_attack=aoa,
         angle_from_vertical=avert,
         stability_margin_rocketpy=marg_rp,
@@ -304,6 +342,7 @@ def _sample(flight, env, elevation, our_margin_fn, launch_stable, geom) -> Fligh
         fft_amplitude=fft_a,
         apogee=_safe(flight.altitude, t_end),
         apogee_time=t_end,
+        burnout_time=burnout_time,
         max_speed=float(flight.max_speed),
         max_mach=float(flight.max_mach_number),
         max_acceleration=float(flight.max_acceleration),
@@ -352,8 +391,8 @@ def simulate_flight_dynamics(
     rail_length: float = 1.0,
     inclination: float = 85.0,
     heading: float = 0.0,
-    wind_speed: float = 0.0,
-    wind_direction: float = 0.0,
+    wind_profile: "WindProfile | None" = None,
+    atmosphere: "Atmosphere | None" = None,
     elevation: float = FAR_ELEV_M,
     latitude: float = FAR_LAT,
     longitude: float = FAR_LON,
@@ -415,8 +454,8 @@ def our_margin(t: float, mach: float) -> float | None:
         rail_length=rail_length,
         inclination=inclination,
         heading=heading,
-        wind_speed=wind_speed,
-        wind_direction=wind_direction,
+        wind_profile=wind_profile,
+        atmosphere=atmosphere,
         elevation=elevation,
         latitude=latitude,
         longitude=longitude,
diff --git a/star-openrocket/backend/recovery/routers/atmosphere.py b/star-openrocket/backend/recovery/routers/atmosphere.py
index 328af1150..5c8eae6ae 100644
--- a/star-openrocket/backend/recovery/routers/atmosphere.py
+++ b/star-openrocket/backend/recovery/routers/atmosphere.py
@@ -32,6 +32,10 @@ class PadRequest(BaseModel):
                                       "no elevation field at all.")
     T_pad: float | None = Field(default=None, gt=0.0)
     p_pad: float | None = Field(default=None, gt=0.0)
+    lapse: float | None = Field(default=None,
+                                description="Measured lapse rate, K/m (negative "
+                                            "for a cooling column). None re-fits "
+                                            "eq (7) from T_pad, as before.")
     max_altitude: float = Field(default=4000.0, gt=0.0,
                                 description="Profile ceiling, m AGL")
     samples: int = Field(default=40, ge=2, le=500)
@@ -40,7 +44,7 @@ class PadRequest(BaseModel):
 @router.post("/atmosphere")
 def resolve_pad(req: PadRequest):
     try:
-        atm = Atmosphere(req.z_site, req.T_pad, req.p_pad)
+        atm = Atmosphere(req.z_site, req.T_pad, req.p_pad, req.lapse)
     except ValueError as exc:
         raise HTTPException(status_code=422, detail=str(exc)) from exc
 
diff --git a/star-openrocket/backend/recovery/routers/crosscheck.py b/star-openrocket/backend/recovery/routers/crosscheck.py
index 259955a7b..63e8159b1 100644
--- a/star-openrocket/backend/recovery/routers/crosscheck.py
+++ b/star-openrocket/backend/recovery/routers/crosscheck.py
@@ -154,10 +154,11 @@ def _mastersheet_events(result):
 def run_crosscheck(config: Config, wind: float = Query(0.0, ge=0.0)):
     """Run all three models on one config.
 
-    `wind` feeds the mastersheet's drift estimate only. Our descent and the
-    OpenRocket one are windless either way -- Phase 1 has no wind (§3, §14) and
-    the OpenRocket port is run without it so the two trajectories stay
-    comparable.
+    `wind` (m/s) drives both wind-aware models: our coupled descent computes a
+    real ground-track drift under it, and the mastersheet its descent-time x
+    wind estimate. An explicit `config.wind` (set on the Drift tab) takes
+    precedence. Only the OpenRocket port stays windless -- it is run without
+    wind so its trajectory stays comparable, so its drift is an absence.
     """
     try:
         atm = Atmosphere(config.site.z_site, config.site.T_pad,
diff --git a/star-openrocket/backend/recovery/routers/settings.py b/star-openrocket/backend/recovery/routers/settings.py
index 995e07f07..7aa666f87 100644
--- a/star-openrocket/backend/recovery/routers/settings.py
+++ b/star-openrocket/backend/recovery/routers/settings.py
@@ -33,7 +33,7 @@ def _path(request: Request) -> str:
 
 
 class UnitPrefs(BaseModel):
-    """One field per `Kind` in frontend/src/lib/quantities.ts.
+    """One field per `Kind` in frontend/src/lib/units/quantities.ts.
 
     Spelled out rather than accepted as a free-form mapping so a typo'd key is
     a 422 the developer sees, not a preference that silently never applies.
@@ -68,7 +68,7 @@ class UnitPrefs(BaseModel):
 class Precision(BaseModel):
     """How precise every number in the GUI looks.
 
-    Two bounds, mirroring `Precision` in frontend/src/lib/quantities.ts. The
+    Two bounds, mirroring `Precision` in frontend/src/lib/units/quantities.ts. The
     ranges are enforced here as well as there because a value outside them --
     a negative decimal count in particular -- reaches `Number.toFixed` in the
     browser and throws, blanking the page. A 422 is a much better failure.
diff --git a/star-openrocket/backend/recovery/routers/simulate.py b/star-openrocket/backend/recovery/routers/simulate.py
index 807e27517..f295e1a08 100644
--- a/star-openrocket/backend/recovery/routers/simulate.py
+++ b/star-openrocket/backend/recovery/routers/simulate.py
@@ -254,7 +254,7 @@ class DriftRequest(BaseModel):
 _TRACK_MAX_POINTS = 300
 
 
-def _thin_track(drift):
+def _thin_track(drift, wind):
     n = len(drift.t)
     if n == 0:
         return []
@@ -267,7 +267,11 @@ def _thin_track(drift):
          "x": float(drift.x[i]), "y": float(drift.y[i]),
          # v/a carry the full descent trajectory for the Full Flight tab, which
          # glues this onto the ascent. GroundTrack ignores them.
-         "v": float(drift.v[i]), "a": float(drift.a[i])}
+         "v": float(drift.v[i]), "a": float(drift.a[i]),
+         # Ambient horizontal wind at this altitude -- same definition as the
+         # ascent's windSpeed, so the Full Flight plot can show one wind curve
+         # over the whole flight.
+         "wind": float(wind.speed(float(drift.z[i])))}
         for i in idx
     ]
 
@@ -313,7 +317,11 @@ def run_drift(
         "bearing_deg": drift.bearing_deg,
         "descent_time": run.t_ground,
         "landing": {"x": float(drift.x[-1]), "y": float(drift.y[-1])},
-        "track": _thin_track(drift),
+        "track": _thin_track(drift, wind),
+        # Descent events (line-stretch = deploy, trigger, inflation, ground) so
+        # the Full Flight tab can mark drogue/main deployment on the glued
+        # timeline. Times are seconds after apogee (descent t=0 is apogee).
+        "events": build_events(run),
         # What the physics actually used at the ground, so the report is not
         # asserting a wind the run did not see.
         "wind_ground": {
diff --git a/star-openrocket/physics/crosscheck.py b/star-openrocket/physics/crosscheck.py
index 55e0b5ffa..607d7d393 100644
--- a/star-openrocket/physics/crosscheck.py
+++ b/star-openrocket/physics/crosscheck.py
@@ -22,7 +22,8 @@
   * The mastersheet computes loads but **no trajectory in time** -- it assumes
     terminal velocity everywhere, so `a(t)` does not exist and its `z(t)` is a
     closed form rather than an integration.
-  * Only the mastersheet has wind, so only it has drift.
+  * Our model and the mastersheet both carry wind, so both have drift; only
+    OpenRocket's ported landing stepper is windless (an absence, not a zero).
 
 `Metric.values` therefore carries `None` for "this model does not compute
 this", and `Metric.note` says why. A caller that renders `None` as `0` has
@@ -34,6 +35,8 @@
 from physics import openrocket as orx
 from physics.cases import evaluate
 from physics.constants import G0
+from physics.drift import compute_drift
+from physics.schema import ConstantWind
 
 # What each model is called on screen and in the CLI. Fixed order: ours first,
 # because the other two are being compared *to* it.
@@ -256,8 +259,16 @@ def crosscheck(config, which="axial", wind_ms=0.0, latitude=None, atm=None):
     # the deployment airspeed -> loads, and the ground track). Drive the mastersheet
     # from the SAME wind so the two wind-aware models are compared like-for-like;
     # OpenRocket stays windless (its ported landing stepper has no wind).
+    #
+    # Priority: an explicit config.wind wins. Otherwise, a bare `wind_ms` (the
+    # crosscheck tab's wind slider) is synthesised onto the config as a constant
+    # wind so OUR coupled descent sees it too -- not only the mastersheet. The
+    # bearing is arbitrary: drift distance does not depend on wind direction.
     if config.wind is not None:
         wind_ms = config.wind.to_profile(config.site.z_site).speed(0.0)
+    elif wind_ms > 0.0:
+        config = config.model_copy(
+            update={"wind": ConstantWind(speed=wind_ms, direction=270.0)})
 
     ours = evaluate(config, which=which, case="nominal", atm=atm)
     theirs = orx.simulate(config, latitude=latitude)
@@ -275,6 +286,10 @@ def crosscheck(config, which="axial", wind_ms=0.0, latitude=None, atm=None):
     or_drogue = _v_before(theirs, last_deploy) if last_deploy else None
     ms_drogue = sheet.phases[0].v_terminal if len(sheet.phases) > 1 else None
 
+    # Our drift is the coupled ground track's pad-to-landing distance: the descent
+    # integrates config.wind, so this is a real prediction, not descent-time x wind.
+    ours_drift = compute_drift(ours.run).distance
+
     metrics = [
         # Seconds have no imperial form, so no Kind -- see `Metric`.
         Metric("descent_time", "Descent time", None, {
@@ -313,11 +328,14 @@ def crosscheck(config, which="axial", wind_ms=0.0, latitude=None, atm=None):
         }, note="OpenRocket's figure is an artefact of opening the canopy "
                 "between two integration points, not a load prediction."),
         Metric("drift", "Drift in wind", "distance", {
-            "ours": None,
+            "ours": ours_drift,
             "openrocket": None,
             "mastersheet": sheet.drift,
-        }, note="Only the mastersheet models wind - descent time times wind "
-                "speed."),
+        }, note="Ours integrates the coupled ground track (the descent lags the "
+                "wind, so it is not simply descent time times wind speed); the "
+                "mastersheet is exactly that product. OpenRocket's ported "
+                "landing stepper is windless, so it has no drift - an absence, "
+                "not a zero."),
     ]
 
     warnings = list(config.warnings())
diff --git a/star-openrocket/tests/recovery/test_api.py b/star-openrocket/tests/recovery/test_api.py
index d20ddc4b5..90b513e24 100644
--- a/star-openrocket/tests/recovery/test_api.py
+++ b/star-openrocket/tests/recovery/test_api.py
@@ -763,7 +763,7 @@ def test_the_write_leaves_no_temp_file_behind(settings_file, tmp_path):
 
 
 def test_every_kind_the_frontend_knows_about_is_accepted(settings_file):
-    """The field list here mirrors `Kind` in frontend/src/lib/quantities.ts.
+    """The field list here mirrors `Kind` in frontend/src/lib/units/quantities.ts.
     A kind added there and forgotten here is a 422 the user sees as a silent
     failure to save."""
     kinds = ("altitude", "length", "distance", "area", "mass", "speed",
@@ -809,7 +809,7 @@ def test_crosscheck_sends_absences_as_null_not_zero():
 
     assert by_key["F_peak"]["values"]["openrocket"] is None
     assert by_key["peak_decel"]["values"]["mastersheet"] is None
-    assert by_key["drift"]["values"]["ours"] is None
+    # OpenRocket is windless, so drift is its absence; ours is a computed number.
     assert by_key["drift"]["values"]["openrocket"] is None
     for key in ("F_peak", "peak_decel", "drift"):
         assert by_key[key]["note"], key
@@ -828,7 +828,7 @@ def test_crosscheck_metric_kinds_are_ones_the_frontend_knows():
     frontend has never heard of throws "Cannot read properties of undefined
     (reading 'undefined')" during render and React unmounts the app. It shipped
     exactly once, with `descent_time` carrying `kind: "time"` — and
-    `lib/quantities.ts` deliberately has no `time`, because seconds have no
+    `lib/units/quantities.ts` deliberately has no `time`, because seconds have no
     imperial form and a unit dropdown for them would be a control that does
     nothing.
 
@@ -838,7 +838,7 @@ def test_crosscheck_metric_kinds_are_ones_the_frontend_knows():
     """
     import re
 
-    source = (ROOT / "frontend" / "src" / "recovery" / "lib" / "quantities.ts").read_text(
+    source = (ROOT / "frontend" / "src" / "lib" / "units" / "quantities.ts").read_text(
         encoding="utf-8")
     match = re.search(r"export type Kind\s*=(.*?)\n\n", source, re.S)
     assert match, "could not find the Kind union in quantities.ts"
@@ -857,7 +857,7 @@ def test_crosscheck_metric_kinds_are_ones_the_frontend_knows():
             assert kind in known, "%s: %r is not a Kind" % (metric["key"], kind)
 
 
-def test_crosscheck_wind_moves_drift_and_nothing_else():
+def test_crosscheck_wind_moves_our_and_mastersheet_drift_not_openrocket():
     still = client().post("/api/crosscheck?wind=0", json=load_fixture()).json()
     windy = client().post("/api/crosscheck?wind=9.8", json=load_fixture()).json()
 
@@ -865,10 +865,14 @@ def by_key(body):
         return {m["key"]: m["values"] for m in body["metrics"]}
 
     a, b = by_key(still), by_key(windy)
-    assert a["drift"]["mastersheet"] == 0.0
-    assert b["drift"]["mastersheet"] > 0.0
-    for key in ("descent_time", "impact_velocity", "impact_ke", "F_peak"):
-        assert a[key] == b[key], key
+    # Both wind-aware models gain drift; OpenRocket stays a windless absence.
+    assert a["drift"]["mastersheet"] == 0.0 and b["drift"]["mastersheet"] > 0.0
+    assert a["drift"]["ours"] == 0.0 and b["drift"]["ours"] > 0.0
+    assert b["drift"]["openrocket"] is None
+    # Our descent is coupled, so wind perturbs our vertical metrics too. The
+    # OpenRocket port is run windless, so its numbers must NOT move.
+    for key in ("descent_time", "impact_velocity", "impact_ke"):
+        assert a[key]["openrocket"] == b[key]["openrocket"], key
 
 
 def test_crosscheck_rejects_an_unrunnable_config():
@@ -914,9 +918,10 @@ def test_drift_track_is_time_ordered_and_starts_at_the_pad():
     track = body["track"]
     assert track[0]["x"] == 0.0 and track[0]["y"] == 0.0
     assert all(b["t"] >= a["t"] for a, b in zip(track, track[1:]))
-    # Wire contract: t,z,x,y for the ground-track plot, plus v,a so the Full
-    # Flight tab gets the whole descent trajectory from this one route.
-    assert set(track[0]) == {"t", "z", "x", "y", "v", "a"}
+    # Wire contract: t,z,x,y for the ground-track plot, plus v,a and the ambient
+    # wind so the Full Flight tab gets the whole descent trajectory (and one wind
+    # curve end to end) from this one route.
+    assert set(track[0]) == {"t", "z", "x", "y", "v", "a", "wind"}
 
 
 def test_drift_accepts_a_resolved_profile():
diff --git a/star-openrocket/tests/recovery/test_crosscheck.py b/star-openrocket/tests/recovery/test_crosscheck.py
index 2b805157e..ebb61b743 100644
--- a/star-openrocket/tests/recovery/test_crosscheck.py
+++ b/star-openrocket/tests/recovery/test_crosscheck.py
@@ -60,10 +60,12 @@ def test_absences_are_none_and_carry_a_reason(config):
     assert by_key["peak_decel"].values["mastersheet"] is None
     assert by_key["peak_decel"].note
 
-    # Only the mastersheet models wind.
+    # OpenRocket's ported landing stepper is windless, so its drift is the
+    # absence here; ours (coupled ground track) and the mastersheet both compute
+    # it -- 0 with no wind, but a computed 0, not a None.
     drift = by_key["drift"]
-    assert drift.values["ours"] is None
     assert drift.values["openrocket"] is None
+    assert drift.values["ours"] is not None
     assert drift.values["mastersheet"] is not None
     assert drift.note
 
@@ -85,8 +87,13 @@ def test_spread_ignores_models_that_did_not_answer(config):
         / min(by_key["F_peak"].values["ours"],
               by_key["F_peak"].values["mastersheet"]))
 
-    # One answer gives none at all.
-    assert by_key["drift"].spread is None
+    # Drift: OpenRocket did not answer (windless), but ours and the mastersheet
+    # did, so the spread is over those two -- not infinite from counting a None.
+    d = by_key["drift"]
+    assert d.values["openrocket"] is None
+    assert d.spread == pytest.approx(
+        max(d.values["ours"], d.values["mastersheet"])
+        / min(d.values["ours"], d.values["mastersheet"]))
 
 
 def test_the_three_agree_on_the_things_they_all_model(config):
diff --git a/star-openrocket/tests/test_rocketpy_flight.py b/star-openrocket/tests/test_rocketpy_flight.py
index cb7e77783..267f97834 100644
--- a/star-openrocket/tests/test_rocketpy_flight.py
+++ b/star-openrocket/tests/test_rocketpy_flight.py
@@ -14,6 +14,11 @@
 
 from backend.motors.motor import Motor  # noqa: E402
 from backend.onshape.aero.rocketpy_flight import RocketGeom, run_flight  # noqa: E402
+from physics.atmosphere import Atmosphere  # noqa: E402
+from physics.wind import WindProfile  # noqa: E402
+
+#: The pad elevation `_run` launches from; the shared-env objects live on the same grid.
+_ELEV = 1400.0
 
 
 def _motor() -> Motor:
@@ -38,12 +43,16 @@ def _stable_geom() -> RocketGeom:
 def _run(**kw):
     return run_flight(
         _stable_geom(), _motor(), motor_position_from_nose=1.5, rail_length=3.0,
-        inclination=88, heading=0, elevation=1400, our_margin_fn=lambda t, m: 2.0, **kw,
+        inclination=88, heading=0, elevation=_ELEV, our_margin_fn=lambda t, m: 2.0, **kw,
     )
 
 
+def _wind(speed: float, direction: float = 270.0) -> WindProfile:
+    return WindProfile.constant(speed, direction, site_elev=_ELEV)
+
+
 def test_stable_flight_is_well_formed():
-    res = _run(wind_speed=6.0, wind_direction=270.0)
+    res = _run(wind_profile=_wind(6.0))
     assert res.launch_stable is True
     assert res.apogee > 100.0
     assert 0.0 < res.max_mach < 5.0
@@ -59,6 +68,16 @@ def test_stable_flight_is_well_formed():
 
 
 def test_wind_drives_downwind_drift():
-    calm = _run(wind_speed=0.0, wind_direction=270.0)
-    windy = _run(wind_speed=8.0, wind_direction=270.0)
+    calm = _run(wind_profile=_wind(0.0))
+    windy = _run(wind_profile=_wind(8.0))
     assert windy.drift_distance > calm.drift_distance  # wind moves the apogee point
+
+
+def test_shared_atmosphere_couples_to_apogee():
+    """The ascent flies through the same Atmosphere the descent uses, so a warmer
+    (thinner) pad column -> less drag -> a measurably higher apogee. This is the
+    coupling the Environment tab exists to make real."""
+    cold = _run(atmosphere=Atmosphere(_ELEV, T_pad=250.0))
+    hot = _run(atmosphere=Atmosphere(_ELEV, T_pad=320.0))
+    assert cold.apogee > 100.0 and hot.apogee > 100.0
+    assert hot.apogee > cold.apogee

From 1551ea78d07814604e07a49240eaec911810a1ca Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:42:39 -0700
Subject: [PATCH 054/205] frontend: promote units to a top-level tab, add
 shared Environment tab, and route every display through the unit selection

---
 star-openrocket/frontend/src/App.tsx          |  30 +-
 .../components/environment/EnvironmentTab.tsx | 242 +++++++++++++
 .../environment/SelectedAtmosphere.tsx        | 120 +++++++
 .../units}/UnitsPanel.tsx                     |  12 +-
 .../components/viewer/FlightDynamicsTab.tsx   | 144 ++++----
 .../components/viewer/FlightProfileModal.tsx  |  31 +-
 .../src/components/viewer/FullFlightTab.tsx   | 317 +++++++++++++-----
 .../src/components/viewer/InspectorPanel.tsx  |  11 +-
 .../components/viewer/MotorCurvesModal.tsx    |  20 +-
 .../src/components/viewer/PartList.tsx        |   7 +-
 .../src/components/viewer/PropertiesPanel.tsx |  39 ++-
 .../src/components/viewer/StabilityPanel.tsx  |  91 +++--
 .../src/components/viewer/chartTheme.ts       |   1 +
 star-openrocket/frontend/src/lib/cm.ts        |   9 -
 .../{recovery/lib => lib/units}/quantities.ts |  20 +-
 .../lib => lib/units}/unitsContext.tsx        |  14 +-
 star-openrocket/frontend/src/main.tsx         |   2 +-
 .../frontend/src/recovery/RecoveryTab.tsx     |  14 +-
 .../frontend/src/recovery/api/client.ts       |  17 +-
 .../recovery/components/TrajectoryOverlay.tsx |   2 +-
 .../components/atmosphere/AtmospherePanel.tsx |   2 +-
 .../components/atmosphere/PressureByMonth.tsx |   4 +-
 .../components/atmosphere/SoundingProfile.tsx |   2 +-
 .../atmosphere/TemperatureByMonth.tsx         |   4 +-
 .../src/recovery/components/chartTheme.ts     |   2 +-
 .../components/corners/CornerChart.tsx        |   2 +-
 .../components/corners/CornerTable.tsx        |   2 +-
 .../components/corners/WorstCards.tsx         |   6 +-
 .../components/crosscheck/CrosscheckPanel.tsx |  16 +-
 .../components/crosscheck/CrosscheckTable.tsx |   2 +-
 .../recovery/components/drift/DriftPanel.tsx  | 210 +++---------
 .../recovery/components/drift/GroundTrack.tsx |  73 ++--
 .../components/drift/WindProfileChart.tsx     |   2 +-
 .../components/recovery/DeviceList.tsx        |   2 +-
 .../components/recovery/InputForms.tsx        |  17 +-
 .../components/recovery/RecoveryPanel.tsx     |   9 +-
 .../components/recovery/ResultsPanel.tsx      |   2 +-
 .../recovery/components/study/AxisEditor.tsx  |   2 +-
 .../recovery/components/study/StudyTable.tsx  |   2 +-
 .../frontend/src/recovery/components/ui.tsx   |   4 +-
 .../frontend/src/recovery/lib/corners.ts      |   2 +-
 .../frontend/src/recovery/lib/persist.ts      |   1 +
 .../src/recovery/lib/quantities.test.ts       |   4 +-
 .../frontend/src/recovery/lib/serialise.ts    |   3 +
 .../frontend/src/recovery/lib/study.test.ts   |   2 +-
 .../frontend/src/recovery/lib/study.ts        |   2 +-
 .../frontend/src/recovery/lib/units.ts        |  16 +-
 .../frontend/src/recovery/types/schema.ts     |  29 +-
 star-openrocket/frontend/src/types.ts         |  14 +-
 star-openrocket/frontend/src/types/config.ts  |  15 +-
 50 files changed, 1070 insertions(+), 526 deletions(-)
 create mode 100644 star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx
 create mode 100644 star-openrocket/frontend/src/components/environment/SelectedAtmosphere.tsx
 rename star-openrocket/frontend/src/{recovery/components/settings => components/units}/UnitsPanel.tsx (95%)
 rename star-openrocket/frontend/src/{recovery/lib => lib/units}/quantities.ts (93%)
 rename star-openrocket/frontend/src/{recovery/lib => lib/units}/unitsContext.tsx (92%)

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index da5e1791a..b5accda75 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -11,7 +11,8 @@ import {
   glbUrl,
   listModels,
 } from './api/client'
-import { centreOfMass, formatMass } from './lib/cm'
+import { centreOfMass } from './lib/cm'
+import { useUnits } from './lib/units/unitsContext'
 import { loadOrkConfig, saveOrkConfig } from './lib/persist'
 import type { FlightParams, OrkConfig } from './types/config'
 import { defaultOrkConfig } from './types/config'
@@ -20,6 +21,8 @@ import type { DesignSource, UiConfig } from './recovery/types/schema'
 import { ConfigVersions } from './components/versions/ConfigVersions'
 import { FlightDynamicsTab } from './components/viewer/FlightDynamicsTab'
 import { FullFlightTab } from './components/viewer/FullFlightTab'
+import { EnvironmentTab } from './components/environment/EnvironmentTab'
+import { UnitsPanel } from './components/units/UnitsPanel'
 import { FlightProfileModal } from './components/viewer/FlightProfileModal'
 import { InspectorPanel } from './components/viewer/InspectorPanel'
 import { MotorCurvesModal } from './components/viewer/MotorCurvesModal'
@@ -54,6 +57,7 @@ export default function App() {
   const [initialOrk] = useState(loadOrkConfig)
   const initialConfig = initialOrk.cad
   const [recovery, setRecovery] = useState<UiConfig>(initialOrk.recovery)
+  const { q } = useUnits()
 
   const [models, setModels] = useState<ModelSummary[]>([])
   const [modelId, setModelId] = useState<string | null>(initialConfig.modelId)
@@ -123,7 +127,7 @@ export default function App() {
   const [reloadNonce, setReloadNonce] = useState(0)
 
   // Top-level tab: CAD viewer, the 6-DOF ascent flight dynamics, or recovery.
-  const [activeTab, setActiveTab] = useState<'cad' | 'flight' | 'recovery' | 'fullflight'>('cad')
+  const [activeTab, setActiveTab] = useState<'cad' | 'environment' | 'flight' | 'recovery' | 'fullflight' | 'units'>('cad')
 
   useEffect(() => {
     listModels()
@@ -616,16 +620,18 @@ export default function App() {
         <h1 className="text-xl font-bold">STAR OpenRocket</h1>
 
         <nav className="flex items-center gap-1 rounded-lg border border-slate-700 bg-slate-900/60 p-1 text-sm">
-          {(['cad', 'flight', 'recovery', 'fullflight'] as const).map((tab) => (
+          {(['cad', 'environment', 'flight', 'recovery', 'fullflight', 'units'] as const).map((tab) => (
             <button
               key={tab}
               onClick={() => setActiveTab(tab)}
               className={`rounded px-3 py-1 font-medium ${activeTab === tab ? 'bg-cyan-600 text-white' : 'text-slate-300 hover:bg-slate-800'}`}
             >
               {tab === 'cad' ? 'CAD & Stability'
+                : tab === 'environment' ? 'Environment'
                 : tab === 'flight' ? 'Flight Dynamics'
                 : tab === 'recovery' ? 'Recovery'
-                : 'Full Flight'}
+                : tab === 'fullflight' ? 'Full Flight'
+                : 'Units'}
             </button>
           ))}
         </nav>
@@ -667,8 +673,15 @@ export default function App() {
         </div>
       </header>
 
-      {activeTab === 'fullflight' ? (
-        <FullFlightTab result={flightDynResult} recovery={recovery} design={designSource} />
+      {activeTab === 'units' ? (
+        <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)] px-4 py-6 sm:px-6 lg:px-8">
+          <UnitsPanel />
+        </div>
+      ) : activeTab === 'environment' ? (
+        <EnvironmentTab recovery={recovery} onChange={setRecovery} />
+      ) : activeTab === 'fullflight' ? (
+        <FullFlightTab result={flightDynResult} recovery={recovery} design={designSource}
+          flight={flight} onFlightChange={setFlight} />
       ) : activeTab === 'recovery' ? (
         <RecoveryTab ui={recovery} onChange={setRecovery} design={designSource} />
       ) : activeTab === 'flight' ? (
@@ -682,6 +695,7 @@ export default function App() {
           overrides={massOverrides}
           flight={flight}
           onFlightChange={setFlight}
+          recovery={recovery}
           result={flightDynResult}
           onResult={setFlightDynResult}
         />
@@ -733,8 +747,8 @@ export default function App() {
 
           <div className="pointer-events-none absolute bottom-3 right-4 text-right text-xs text-slate-500">
             <div>
-              Onshape total {formatMass(manifest.totals.assemblyMass)} · CM z{' '}
-              {manifest.totals.assemblyCentroid[2].toFixed(4)} m
+              Onshape total {q(manifest.totals.assemblyMass, 'mass')} · CM z{' '}
+              {q(manifest.totals.assemblyCentroid[2], 'length')}
             </div>
             <div>
               {manifest.totals.reconciled ? 'reconciled' : 'NOT reconciled'} · built{' '}
diff --git a/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx b/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx
new file mode 100644
index 000000000..a308cf560
--- /dev/null
+++ b/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx
@@ -0,0 +1,242 @@
+/**
+ * Environment: the launch environment shared by BOTH halves of a flight.
+ *
+ * The ascent (Flight Dynamics / RocketPy) and the descent (Recovery) used to carry
+ * their own, independently-edited air: the ascent a constant "placeholder" wind + ISA,
+ * the descent a climatology profile + a measured pad atmosphere. Gluing them in the Full
+ * Flight tab then stitched two different atmospheres together, and the descent's wind was
+ * only ever set as a side effect of visiting the Drift subtab — so the Full Flight ground
+ * track silently changed depending on which tabs you had opened.
+ *
+ * This tab is the single source of truth. It edits `ui.site` (the pad atmosphere:
+ * temperature / pressure / lapse) and `ui.wind` (the wind aloft), which both the loads,
+ * the descent, the cross-check AND the ascent now read. The month is shared: the pad
+ * normals and the wind climatology are always the same month, by construction.
+ *
+ * Nothing here is new plotting — the atmospheric climatology plots are the existing
+ * `AtmospherePanel` moved here verbatim, and the wind-aloft chart is `WindProfileChart`.
+ */
+
+import { useEffect, useMemo, useState } from 'react'
+import type { UiConfig, WindInput } from '../../recovery/types/schema'
+import { usePadClimatology } from '../../recovery/lib/climatology'
+import { profileWindInput, useWindClimatology, type WindMode } from '../../recovery/lib/wind'
+import { monthName } from '../../recovery/lib/units'
+import { toWireConfig } from '../../recovery/lib/serialise'
+import {
+  Card, Empty, Field, NumberInput, PageHeader, Select, UnitInput,
+} from '../../recovery/components/ui'
+import { SiteForm } from '../../recovery/components/recovery/InputForms'
+import { WindProfileChart } from '../../recovery/components/drift/WindProfileChart'
+import { AtmospherePanel } from '../../recovery/components/atmosphere/AtmospherePanel'
+import { SelectedAtmosphere } from './SelectedAtmosphere'
+
+export function EnvironmentTab({ recovery: ui, onChange }: {
+  recovery: UiConfig
+  onChange: (u: UiConfig) => void
+}) {
+  const { lapseByMonth, padNormals } = usePadClimatology()
+  const { grid_m, byTag, tags } = useWindClimatology()
+
+  // Wind-source selection (moved here from the Drift tab, which is now a results view):
+  // this is the one place the shared wind is chosen. The month is NOT local — it comes
+  // from the Site card below (`ui.site.month`), so the pad atmosphere and the wind aloft
+  // are always the same month.
+  const [mode, setMode] = useState<WindMode>('climatology')
+  const [tag, setTag] = useState('edw-nid')
+  const [manualSpeed, setManualSpeed] = useState<number | null>(5) // m/s SI
+  const [manualDir, setManualDir] = useState<number | null>(270)   // from west
+
+  const month = ui.site.month
+  const activeTag = byTag && byTag[tag] ? tag : tags[0]?.id ?? tag
+  const wm = byTag?.[activeTag]?.[month] ?? null
+  const isClimatology = mode === 'climatology' || mode === 'worst'
+
+  // The month is a single value on `ui.site`, so the pad atmosphere and the wind aloft
+  // are always the same month. The Site card only surfaces a month picker when the month
+  // actually drives the atmosphere (a measured temperature profile, or a climatology
+  // pressure source); with ISA it is hidden. So when the Site card is NOT showing one and
+  // the wind IS climatology, the Wind card surfaces its own picker for the same value.
+  const siteShowsMonth = ui.site.profile === 'measured' || ui.site.source === 'climatology'
+
+  // Change the shared month, mirroring SiteForm's own recompute so a month change can
+  // never leave (say) January's pressure next to July's lapse. Harmless under ISA (both
+  // stay null / standard); real when the profile or pressure source is month-driven.
+  const setMonth = (m: number) => {
+    const next = { ...ui.site, month: m }
+    const lapseRow = lapseByMonth?.[m]
+    const padRow = padNormals?.[next.station]?.[m]
+    onChange({
+      ...ui,
+      site: {
+        ...next,
+        lapse: next.profile === 'measured' && lapseRow ? lapseRow.L / 1000 : null,
+        ...(next.source === 'climatology' && padRow ? { T_pad: padRow.T, p_pad: padRow.p } : {}),
+      },
+    })
+  }
+
+  // The WindInput posted to the backend — resolved values, not the recipe.
+  const windInput = useMemo<WindInput | null>(() => {
+    if (!isClimatology) {
+      return { kind: 'constant', speed: manualSpeed ?? 0, direction: manualDir ?? 0 }
+    }
+    if (!wm || !grid_m) return null
+    return profileWindInput(wm, grid_m, mode === 'worst')
+  }, [isClimatology, manualSpeed, manualDir, wm, grid_m, mode])
+
+  // Publish the resolved wind onto the shared config so the loads, the descent, the
+  // cross-check AND the ascent all use the same wind. Keyed on the resolved value, only
+  // written when it actually changed, and never written as `null` — so this tab only ever
+  // *sets* the wind (a transient climatology-still-loading null cannot clear it).
+  const windKey = JSON.stringify(windInput)
+  useEffect(() => {
+    if (windInput && JSON.stringify(ui.wind ?? null) !== windKey) {
+      onChange({ ...ui, wind: windInput })
+    }
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [windKey])
+
+  // The atmosphere the physics actually uses: the wire site (ISA/standard nulled the same
+  // way the solver sees it), plotted over a ceiling matched to the wind-aloft chart so the
+  // three profiles share an altitude range.
+  const wireSite = useMemo(() => toWireConfig(ui).site, [ui])
+  const maxAltAgl = grid_m ? grid_m[grid_m.length - 1] - grid_m[0] : 12000
+
+  // Two subtabs: what THIS design flies through (Selection), vs the full measured
+  // climatology to browse (Atmospheric Data), which is reference only and independent
+  // of the selection above.
+  const [sub, setSub] = useState<'selection' | 'data'>('selection')
+
+  const selection = (
+    <div className="space-y-4">
+      <div className="grid grid-cols-1 gap-4 lg:grid-cols-2">
+        <SiteForm value={ui.site} onChange={(v) => onChange({ ...ui, site: v })}
+                  lapseByMonth={lapseByMonth} padNormals={padNormals} />
+
+        <Card title="Wind"
+              subtitle="Drives the drift and the ascent's crosswind. Climatology is taken at the shared launch month.">
+          <div className="space-y-3">
+              <Field label="Source">
+                <Select
+                  value={mode} onChange={setMode}
+                  options={[
+                    { value: 'climatology', label: 'Climatology - monthly mean' },
+                    { value: 'worst', label: 'Worst-case - monthly p95' },
+                    { value: 'manual', label: 'Manual - constant wind' },
+                  ]}
+                />
+              </Field>
+
+              {isClimatology ? (
+                !byTag ? (
+                  <Empty>No wind climatology in this bundle. Run
+                    site-climatology/wind_profile.py.</Empty>
+                ) : (
+                  <>
+                    <Field label="Dataset">
+                      <Select value={activeTag} onChange={setTag}
+                              options={tags.map((t) => ({ value: t.id, label: t.label }))} />
+                    </Field>
+                    {siteShowsMonth ? (
+                      <p className="font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]">
+                        Month: {monthName(month)} — from the Site card above.
+                      </p>
+                    ) : (
+                      <Field label="Month"
+                             hint="Shared with the pad atmosphere, so the wind and the air are the same month.">
+                        <Select
+                          value={String(month)} onChange={(v) => setMonth(Number(v))}
+                          options={Array.from({ length: 12 }, (_, i) => {
+                            const rec = byTag?.[activeTag]?.[i + 1] as { n: number } | undefined
+                            return {
+                              value: String(i + 1),
+                              label: `${monthName(i + 1)}${rec ? ` (n=${rec.n})` : ' (no data)'}`,
+                            }
+                          })}
+                        />
+                      </Field>
+                    )}
+                  </>
+                )
+              ) : (
+                <>
+                  <Field label="Wind speed" kind="speed">
+                    <UnitInput value={manualSpeed} onChange={setManualSpeed}
+                               kind="speed" min={0} />
+                  </Field>
+                  <Field label="Direction (from)" unit="°"
+                         hint="Bearing the wind blows FROM: 270 is a westerly.">
+                    <NumberInput value={manualDir} onChange={setManualDir}
+                                 min={0} max={360} step={5} />
+                  </Field>
+                </>
+              )}
+            </div>
+          </Card>
+      </div>
+
+      <SelectedAtmosphere site={wireSite} maxAltitude={maxAltAgl} />
+
+      {isClimatology && wm && grid_m && (
+        <Card title={`Wind aloft - ${monthName(month)}`}
+              subtitle="The climatology the drift and the ascent crosswind are integrated over.">
+          <WindProfileChart wm={wm} grid={grid_m} padH={grid_m[0]}
+                            worst={mode === 'worst'} />
+        </Card>
+      )}
+    </div>
+  )
+
+  const SUBTABS = [
+    { id: 'selection' as const, label: 'Selection',
+      hint: 'The site atmosphere and wind this design flies through',
+      accent: 'border-emerald-500 text-emerald-400' },
+    { id: 'data' as const, label: 'Atmospheric Data',
+      hint: 'The full measured climatology at FAR — reference only, independent of the selection',
+      accent: 'border-sky-500 text-sky-400' },
+  ]
+
+  return (
+    <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
+      <div className="mx-auto max-w-[1800px] px-4 sm:px-6 lg:px-8">
+        <div className="pt-6">
+          <PageHeader title="Environment">
+            The launch environment, shared by the ascent (Flight Dynamics) and the descent
+            (Recovery): the pad atmosphere and the wind aloft. Set it once here and both
+            halves of the flight fly through the same air.
+          </PageHeader>
+        </div>
+
+        <nav className="-mb-px flex gap-1 border-b border-[var(--color-border)]">
+          {SUBTABS.map((t) => (
+            <button
+              key={t.id}
+              onClick={() => setSub(t.id)}
+              title={t.hint}
+              className={`border-b-2 px-4 py-3 text-sm font-medium transition-colors ${
+                sub === t.id
+                  ? t.accent
+                  : 'border-transparent text-[var(--color-text-secondary)] hover:border-[var(--color-border)] hover:text-[var(--color-text-primary)]'
+              }`}
+            >
+              {t.label}
+            </button>
+          ))}
+        </nav>
+
+        {/* Both panes stay mounted (inactive one hidden) so the climatology fetch and the
+            wind selection survive a subtab switch. */}
+        <div className="py-6">
+          <div className={sub === 'selection' ? '' : 'hidden'}>{selection}</div>
+          <div className={sub === 'data' ? '' : 'hidden'}>
+            {/* The measured atmospheric climatology at FAR — pressure/temperature by month
+                and the sounding profile — moved here from the Recovery calculator, verbatim.
+                Reference only: browsing it does not change the selection above. */}
+            <AtmospherePanel />
+          </div>
+        </div>
+      </div>
+    </div>
+  )
+}
diff --git a/star-openrocket/frontend/src/components/environment/SelectedAtmosphere.tsx b/star-openrocket/frontend/src/components/environment/SelectedAtmosphere.tsx
new file mode 100644
index 000000000..ceec0bc1a
--- /dev/null
+++ b/star-openrocket/frontend/src/components/environment/SelectedAtmosphere.tsx
@@ -0,0 +1,120 @@
+/**
+ * The SELECTED atmosphere the design flies through — temperature and pressure against
+ * altitude for the chosen pad state, computed by the same `physics.atmosphere.Atmosphere`
+ * the ascent and descent use (POST /api/atmosphere). This is the design's own column, as
+ * opposed to the reference climatology on the Atmospheric Data subtab.
+ *
+ * Altitude on X, like every other profile in this app (see SoundingProfile / the wind
+ * chart for why the app's own consistency beats the meteorologist's altitude-on-Y skew-T).
+ */
+
+import { useEffect, useState } from 'react'
+import {
+  CartesianGrid, Line, LineChart, ResponsiveContainer, Tooltip, XAxis, YAxis,
+} from 'recharts'
+import { resolveAtmosphere } from '../../recovery/api/client'
+import type { AtmosphereProfilePoint } from '../../recovery/types/schema'
+import { useUnits } from '../../lib/units/unitsContext'
+import { Card, Empty } from '../../recovery/components/ui'
+import {
+  AXIS, GRID, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel,
+} from '../../recovery/components/chartTheme'
+
+export function SelectedAtmosphere({ site, maxAltitude }: {
+  /** The resolved wire site — T_pad/p_pad/lapse the physics actually uses (any null =
+   *  standard column / eq (7) re-fit). Pass `toWireConfig(ui).site`. */
+  site: { T_pad: number | null; p_pad: number | null; lapse: number | null }
+  /** Profile ceiling, m AGL — matched to the wind-aloft chart so all three share a range. */
+  maxAltitude: number
+}) {
+  const { val, lab, dec } = useUnits()
+  const [profile, setProfile] = useState<AtmosphereProfilePoint[] | null>(null)
+  const [error, setError] = useState<string | null>(null)
+
+  const key = `${site.T_pad}|${site.p_pad}|${site.lapse}|${Math.round(maxAltitude)}`
+  useEffect(() => {
+    let cancelled = false
+    const id = setTimeout(() => {
+      resolveAtmosphere({
+        T_pad: site.T_pad, p_pad: site.p_pad, lapse: site.lapse,
+        max_altitude: Math.max(500, Math.round(maxAltitude)), samples: 60,
+      }).then((res) => {
+        if (cancelled) return
+        if (res.data) { setProfile(res.data.profile); setError(null) }
+        else { setError(res.error ?? 'atmosphere failed'); setProfile(null) }
+      })
+    }, 200)
+    return () => { cancelled = true; clearTimeout(id) }
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [key])
+
+  const data = (profile ?? []).map((pt) => ({
+    agl: Math.round(val(pt.z_agl, 'altitude')),
+    T: val(pt.T, 'temperature'),
+    p: val(pt.p, 'pressure'),
+  }))
+
+  return (
+    <Card title="Selected atmosphere"
+          subtitle="Temperature and pressure the physics uses for the chosen pad state — the same column the ascent and descent fly through.">
+      {error ? (
+        <Empty>{error}. The atmosphere profile needs the backend running.</Empty>
+      ) : !profile ? (
+        <Empty>Computing…</Empty>
+      ) : (
+        <div className="grid grid-cols-1 gap-4 lg:grid-cols-2">
+          <Profile data={data} yKey="T" color="var(--color-accent)"
+                   yLabel={`T (${lab('temperature')})`} unit={lab('temperature')}
+                   width={56} tick={(v) => dec(v, 0)} tip={(v) => dec(v, 1)}
+                   altLabel={lab('altitude')} yDomain={['dataMin - 4', 'dataMax + 4']} />
+          <Profile data={data} yKey="p" color="#f59e0b"
+                   yLabel={`p (${lab('pressure')})`} unit={lab('pressure')}
+                   width={72} tick={(v) => dec(v, 0)} tip={(v) => dec(v, 0)}
+                   altLabel={lab('altitude')} yDomain={['dataMin', 'dataMax']} />
+        </div>
+      )}
+    </Card>
+  )
+}
+
+function Profile({ data, yKey, color, yLabel, unit, width, tick, tip, altLabel, yDomain }: {
+  data: { agl: number; T: number; p: number }[]
+  yKey: 'T' | 'p'
+  color: string
+  yLabel: string
+  unit: string
+  width: number
+  tick: (v: number) => string
+  tip: (v: number) => string
+  altLabel: string
+  yDomain: [number | string, number | string]
+}) {
+  return (
+    <div className="h-72">
+      <ResponsiveContainer width="100%" height="100%">
+        <LineChart data={data} margin={{ top: 8, right: 24, bottom: 30, left: 8 }}>
+          <CartesianGrid {...GRID} />
+          <XAxis
+            type="number" dataKey="agl" domain={[0, 'dataMax']}
+            {...AXIS} tickFormatter={(v: number) => v.toLocaleString('en-US')}
+            label={axisLabel(`H (${altLabel} AGL)`)}
+          />
+          <YAxis
+            type="number" domain={yDomain} width={width}
+            {...AXIS} tickFormatter={(v: number) => tick(v)}
+            label={axisLabel(yLabel, -90)}
+          />
+          <Tooltip
+            contentStyle={TOOLTIP_STYLE}
+            labelStyle={TOOLTIP_LABEL_STYLE}
+            labelFormatter={(v: number) =>
+              `${Number(v).toLocaleString('en-US')} ${altLabel} AGL`}
+            formatter={(v: number) => [`${tip(Number(v))} ${unit}`, yKey === 'T' ? 'temperature' : 'pressure']}
+          />
+          <Line dataKey={yKey} stroke={color} strokeWidth={2.5}
+                dot={false} isAnimationActive={false} />
+        </LineChart>
+      </ResponsiveContainer>
+    </div>
+  )
+}
diff --git a/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx b/star-openrocket/frontend/src/components/units/UnitsPanel.tsx
similarity index 95%
rename from star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
rename to star-openrocket/frontend/src/components/units/UnitsPanel.tsx
index b3f2f6c50..901c2c0ac 100644
--- a/star-openrocket/frontend/src/recovery/components/settings/UnitsPanel.tsx
+++ b/star-openrocket/frontend/src/components/units/UnitsPanel.tsx
@@ -12,19 +12,19 @@
  * whole first group imperial and probably nothing else.
  */
 
-import { KINDS, PRECISION_LIMITS, QUANTITIES } from '../../lib/quantities'
-import type { Kind, System } from '../../lib/quantities'
-import { useUnits } from '../../lib/unitsContext'
-import { Button, Card, Select } from '../ui'
+import { KINDS, PRECISION_LIMITS, QUANTITIES } from '../../lib/units/quantities'
+import type { Kind, System } from '../../lib/units/quantities'
+import { useUnits } from '../../lib/units/unitsContext'
+import { Button, Card, Select } from '../../recovery/components/ui'
 
 const GROUPS: { title: string; kinds: Kind[] }[] = [
   {
     title: 'Vehicle and geometry',
-    kinds: ['altitude', 'length', 'area', 'mass', 'distance'],
+    kinds: ['altitude', 'length', 'area', 'volume', 'mass', 'distance'],
   },
   {
     title: 'Motion and loads',
-    kinds: ['speed', 'accel', 'force', 'stiffness', 'energy'],
+    kinds: ['speed', 'accel', 'force', 'torque', 'stiffness', 'energy'],
   },
   {
     title: 'Atmosphere',
diff --git a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 94dc6f06d..4d53abc37 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -8,7 +8,7 @@
  * exact, performance tiles (apogee, max-Q) are flagged approximate.
  */
 
-import { useEffect, useState } from 'react'
+import { useEffect, useMemo, useState } from 'react'
 import { createPortal } from 'react-dom'
 import {
   CartesianGrid,
@@ -27,6 +27,10 @@ import {
 import { computeFlightDynamics } from '../../api/client'
 import type { FlightParams } from '../../types/config'
 import type { FaceRef, FlightDynamicsResult, FlightDynamicsSample, MotorSelection } from '../../types'
+import { toWireConfig } from '../../recovery/lib/serialise'
+import { useUnits } from '../../lib/units/unitsContext'
+import type { Kind } from '../../lib/units/quantities'
+import type { UiConfig } from '../../recovery/types/schema'
 import { AXIS, FD, GRID, REFERENCE, SERIES, TICK_FONT, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabelX, axisLabelY } from './chartTheme'
 
 interface Props {
@@ -40,6 +44,9 @@ interface Props {
   /** Launch params, owned by App so they are versioned in the config. */
   flight: FlightParams
   onFlightChange: (patch: Partial<FlightParams>) => void
+  /** The shared recovery config — its site + wind (set on the Environment tab) are
+   *  the atmosphere/wind this ascent flies through, so both halves of the flight agree. */
+  recovery: UiConfig
   /** Last run result, owned by App so it survives tab switches. */
   result: FlightDynamicsResult | null
   onResult: (result: FlightDynamicsResult | null) => void
@@ -47,14 +54,6 @@ interface Props {
 
 const G = 9.80665
 
-/** Round up to a clean 1/2/5×10ⁿ, so axis ticks derived from it are round numbers. */
-function niceCeil(v: number): number {
-  if (v <= 0) return 1
-  const base = Math.pow(10, Math.floor(Math.log10(v)))
-  const f = v / base
-  return (f <= 1 ? 1 : f <= 2 ? 2 : f <= 5 ? 5 : 10) * base
-}
-
 export function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
   return (
     <div className={`rounded-lg border px-3 py-2 ${warn ? 'border-rose-500/40 bg-rose-500/10' : 'border-slate-700 bg-slate-900/60'}`}>
@@ -136,27 +135,32 @@ export function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }:
 
 const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
 
-/** Selectable time series for the compare overlay: each is one colored Y axis. */
+/** Selectable time series for the compare overlay: each is one colored Y axis.
+ *  `get` returns SI; `kind` (when present) routes the value + label through the
+ *  units selection. `unit` is the literal label for the non-convertible ones —
+ *  angle (°), calibers (cal), rad/s — which have no imperial form. */
 interface SeriesDef {
   key: string
-  label: string // includes unit, e.g. "Altitude (m)"
-  unit: string
+  name: string // bare, e.g. "Altitude" — the unit is appended from `kind`/`unit`
+  kind?: Kind
+  unit?: string
   color: string
   get: (s: FlightDynamicsSample) => number | null
-  fmt: (v: number) => string
+  digits: number
 }
 
 const COMPARE_SERIES: SeriesDef[] = [
-  { key: 'altitude', label: 'Altitude (m)', unit: 'm', color: SERIES.altitude, get: (s) => s.altitude, fmt: (v) => v.toFixed(0) },
-  { key: 'speed', label: 'Speed (m/s)', unit: 'm/s', color: SERIES.velocity, get: (s) => s.speed, fmt: (v) => v.toFixed(0) },
-  { key: 'acceleration', label: 'Accel (m/s²)', unit: 'm/s²', color: SERIES.acceleration, get: (s) => s.acceleration, fmt: (v) => v.toFixed(0) },
-  { key: 'dynamicPressure', label: 'Dyn. pressure (kPa)', unit: 'kPa', color: FD.pressure, get: (s) => s.dynamicPressure / 1000, fmt: (v) => v.toFixed(1) },
-  { key: 'angleOfAttack', label: 'Angle of attack (°)', unit: '°', color: FD.aoa, get: (s) => s.angleOfAttack, fmt: (v) => v.toFixed(1) },
-  { key: 'angleFromVertical', label: 'Angle from vertical (°)', unit: '°', color: FD.mach, get: (s) => s.angleFromVertical, fmt: (v) => v.toFixed(1) },
-  { key: 'stabilityMarginOurs', label: 'Margin — ours (cal)', unit: 'cal', color: FD.marginOurs, get: (s) => s.stabilityMarginOurs, fmt: (v) => v.toFixed(2) },
-  { key: 'stabilityMarginRocketpy', label: 'Margin — RocketPy (cal)', unit: 'cal', color: FD.marginRocketpy, get: (s) => s.stabilityMarginRocketpy, fmt: (v) => v.toFixed(2) },
-  { key: 'bendingMoment', label: 'Bending (N·m)', unit: 'N·m', color: FD.bending, get: (s) => s.bendingMoment, fmt: (v) => v.toFixed(1) },
-  { key: 'omegaPitch', label: 'Pitch rate (rad/s)', unit: 'rad/s', color: FD.omega, get: (s) => s.omegaPitch, fmt: (v) => v.toFixed(2) },
+  { key: 'altitude', name: 'Altitude', kind: 'altitude', color: SERIES.altitude, get: (s) => s.altitude, digits: 0 },
+  { key: 'speed', name: 'Speed', kind: 'speed', color: SERIES.velocity, get: (s) => s.speed, digits: 0 },
+  { key: 'acceleration', name: 'Accel', kind: 'accel', color: SERIES.acceleration, get: (s) => s.acceleration, digits: 0 },
+  { key: 'dynamicPressure', name: 'Dyn. pressure', kind: 'pressure', color: FD.pressure, get: (s) => s.dynamicPressure, digits: 1 },
+  { key: 'windSpeed', name: 'Wind', kind: 'speed', color: FD.wind, get: (s) => s.windSpeed, digits: 1 },
+  { key: 'angleOfAttack', name: 'Angle of attack', unit: '°', color: FD.aoa, get: (s) => s.angleOfAttack, digits: 1 },
+  { key: 'angleFromVertical', name: 'Angle from vertical', unit: '°', color: FD.mach, get: (s) => s.angleFromVertical, digits: 1 },
+  { key: 'stabilityMarginOurs', name: 'Margin — ours', unit: 'cal', color: FD.marginOurs, get: (s) => s.stabilityMarginOurs, digits: 2 },
+  { key: 'stabilityMarginRocketpy', name: 'Margin — RocketPy', unit: 'cal', color: FD.marginRocketpy, get: (s) => s.stabilityMarginRocketpy, digits: 2 },
+  { key: 'bendingMoment', name: 'Bending', kind: 'torque', color: FD.bending, get: (s) => s.bendingMoment, digits: 1 },
+  { key: 'omegaPitch', name: 'Pitch rate', unit: 'rad/s', color: FD.omega, get: (s) => s.omegaPitch, digits: 2 },
 ]
 
 /** First sample time at or above a Mach threshold, for the transonic/supersonic markers. */
@@ -197,25 +201,40 @@ function TimeLine({
   )
 }
 
-export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides, flight, onFlightChange, result, onResult }: Props) {
-  const { inclination, heading, windSpeed, windDirection, cpModel } = flight
+export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides, flight, onFlightChange, recovery, result, onResult }: Props) {
+  const { inclination, heading, cpModel } = flight
+  const { val, lab, dec, q } = useUnits()
+
+  // Display helpers: convert SI → the chosen unit for the convertible series,
+  // and build the "name (unit)" label. The non-convertible ones (°, cal, rad/s)
+  // pass through untouched with their literal `unit`.
+  const unitLabel = (d: SeriesDef) => (d.kind ? lab(d.kind) : d.unit ?? '')
+  const seriesLabel = (d: SeriesDef) => `${d.name} (${unitLabel(d)})`
+  const dispVal = (d: SeriesDef, s: FlightDynamicsSample): number | null => {
+    const raw = d.get(s)
+    if (raw == null) return null
+    return d.kind ? val(raw, d.kind) : raw
+  }
 
   const [busy, setBusy] = useState(false)
   const [error, setError] = useState<string | null>(null)
-  // Which series to overlay on the shared-time compare plot (default: the core two).
-  const [compare, setCompare] = useState<Set<string>>(() => new Set(['altitude', 'speed']))
-  const toggleCompare = (key: string) =>
-    setCompare((prev) => {
-      const next = new Set(prev)
-      next.has(key) ? next.delete(key) : next.add(key)
-      return next
-    })
+  // Which series to overlay on the shared-time compare plot. Persisted on the config
+  // (flight.compareSeries) so the selection survives reloads and rides in the save file.
+  const compare = useMemo(() => new Set(flight.compareSeries), [flight.compareSeries])
+  const toggleCompare = (key: string) => {
+    const next = new Set(flight.compareSeries)
+    next.has(key) ? next.delete(key) : next.add(key)
+    onFlightChange({ compareSeries: [...next] })
+  }
 
   async function run() {
     if (!modelId || !motorSel) return
     setBusy(true)
     setError(null)
     try {
+      // Attach the shared environment: the same site atmosphere + wind the recovery
+      // descent uses, so the ascent flies through identical air (set on Environment).
+      const wire = toWireConfig(recovery)
       const res = await computeFlightDynamics(modelId, {
         outerFaces,
         finFaces: finFaces.length ? finFaces : null,
@@ -225,8 +244,8 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         railLength,
         inclination,
         heading,
-        windSpeed,
-        windDirection,
+        site: wire.site,
+        wind: wire.wind,
       })
       onResult(res)
     } catch (e) {
@@ -237,20 +256,30 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
   }
 
   const samples = result?.samples ?? []
-  const track = samples.map((s) => ({ x: s.driftX, y: s.driftY, t: s.t }))
+  // Ground track in the chosen distance unit. The pad is the origin; drift x/y are SI
+  // metres from the backend, converted through `val(_, 'distance')` like the recovery
+  // and full-flight ground tracks so all three read in the same unit.
+  const dist = (m: number) => val(m, 'distance')
+  const track = samples.map((s) => ({ x: dist(s.driftX), y: dist(s.driftY), t: s.t }))
   const apogeePt = track.at(-1)
-  // Symmetric, origin-centered extent so the ground track reads as four quadrants
-  // of drift around the pad. Snapped up to a round 1/2/5×10ⁿ so the axis ticks land
-  // on meaningful values (…-50, 0, 50…) instead of Recharts' auto 11.5-style ticks.
-  const driftDomain = niceCeil(Math.max(10, ...track.flatMap((p) => [Math.abs(p.x), Math.abs(p.y)])) * 1.1)
+  // Symmetric, origin-centered extent so the ground track reads as four quadrants of
+  // drift around the pad — and zoomed in as tight as the trace allows: the half-extent
+  // is the farthest point from the pad plus a small margin for the marker labels, NOT
+  // snapped up to a round 1/2/5×10ⁿ (which zoomed the track out by up to ~2x). The floor
+  // is in DISPLAY units (val(50,'distance')) since 'distance' shows km/mi.
+  const driftDomain = Math.max(
+    val(50, 'distance'),
+    ...track.flatMap((p) => [Math.abs(p.x), Math.abs(p.y)]),
+  ) * 1.12
   const driftTicks = [-driftDomain, -driftDomain / 2, 0, driftDomain / 2, driftDomain]
+  const trackDigits = driftDomain < 2 ? 1 : 0
 
   const compareSeries = COMPARE_SERIES.filter((d) => compare.has(d.key))
-  // One row per sample with every series pre-scaled to display units (e.g. q→kPa),
+  // One row per sample with every series pre-scaled to the chosen display units,
   // so each Line can use a plain string dataKey.
   const compareData = samples.map((s) => {
     const row: Record<string, number | null> = { t: s.t }
-    for (const d of COMPARE_SERIES) row[d.key] = d.get(s)
+    for (const d of COMPARE_SERIES) row[d.key] = dispVal(d, s)
     return row
   })
   // Vertical guides for the compressibility regimes on the compare plot.
@@ -265,8 +294,6 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
       <div className="mb-3 flex flex-wrap items-end gap-3 rounded-lg border border-slate-700 bg-slate-900/60 p-3">
         <Field label="Rail angle (° from horiz, 90=up)" value={inclination} set={(v) => onFlightChange({ inclination: v })} min={0} max={90} />
         <Field label="Heading (° from N)" value={heading} set={(v) => onFlightChange({ heading: v })} min={0} max={360} />
-        <Field label="Wind (m/s)" value={windSpeed} set={(v) => onFlightChange({ windSpeed: v })} min={0} max={40} step={0.5} />
-        <Field label="Wind from (° bearing)" value={windDirection} set={(v) => onFlightChange({ windDirection: v })} min={0} max={360} />
         <label className="flex flex-col text-xs text-slate-300">
           CP model
           <select value={cpModel} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100">
@@ -284,8 +311,9 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         </button>
       </div>
       <p className="mb-3 text-2xs text-slate-400">
-        Launch site: Friends of Amateur Rocketry (FAR), 630 m — fixed. Wind is a constant
-        placeholder until the site wind climatology merges in.
+        Launch site: Friends of Amateur Rocketry (FAR), 630 m — fixed. Wind and the pad
+        atmosphere come from the <span className="font-semibold text-slate-200">Environment</span> tab,
+        so this ascent and the recovery descent fly through the same air.
       </p>
 
       {!motorSel && <p className="text-sm text-amber-300">Select a motor in the CAD tab first — a flight needs one.</p>}
@@ -301,14 +329,14 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
 
           {/* Summary tiles */}
           <div className="mb-3 grid grid-cols-2 gap-2 sm:grid-cols-4 lg:grid-cols-8">
-            <Tile label="Apogee" value={`${result.apogee.toFixed(0)} m`} sub={`at ${result.apogeeTime.toFixed(1)} s · approx drag`} />
-            <Tile label="Max velocity" value={`${result.maxSpeed.toFixed(0)} m/s`} sub={`Mach ${result.maxMach.toFixed(2)}`} />
-            <Tile label="Max-Q" value={`${(result.maxDynamicPressure / 1000).toFixed(1)} kPa`} sub={`at ${result.maxDynamicPressureTime.toFixed(1)} s`} />
+            <Tile label="Apogee" value={q(result.apogee, 'altitude')} sub={`at ${result.apogeeTime.toFixed(1)} s · approx drag`} />
+            <Tile label="Max velocity" value={q(result.maxSpeed, 'speed')} sub={`Mach ${result.maxMach.toFixed(2)}`} />
+            <Tile label="Max-Q" value={q(result.maxDynamicPressure, 'pressure')} sub={`at ${result.maxDynamicPressureTime.toFixed(1)} s`} />
             <Tile label="Max accel" value={`${(result.maxAcceleration / G).toFixed(1)} g`} />
-            <Tile label="Off-rail" value={`${result.outOfRailVelocity.toFixed(1)} m/s`} sub={`${result.outOfRailStabilityMargin.toFixed(2)} cal`} warn={result.outOfRailStabilityMargin < 1} />
+            <Tile label="Off-rail" value={q(result.outOfRailVelocity, 'speed')} sub={`${result.outOfRailStabilityMargin.toFixed(2)} cal`} warn={result.outOfRailStabilityMargin < 1} />
             <Tile label="Min margin" value={`${result.minStabilityMargin.toFixed(2)} cal`} sub={result.minStabilityMarginOurs != null ? `ours ${result.minStabilityMarginOurs.toFixed(2)}` : undefined} warn={result.minStabilityMargin < 1} />
             <Tile label="Max AoA" value={`${result.maxAngleOfAttack.toFixed(1)}°`} />
-            <Tile label="Drift @ apogee" value={`${result.driftDistance.toFixed(0)} m`} sub={`bearing ${result.driftBearing.toFixed(0)}°`} />
+            <Tile label="Drift @ apogee" value={q(result.driftDistance, 'distance')} sub={`bearing ${result.driftBearing.toFixed(0)}°`} />
           </div>
 
           {/* Full-width overlay: compare any time series on a shared time axis. */}
@@ -321,7 +349,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
               {COMPARE_SERIES.map((d) => (
                 <label key={d.key} className="flex cursor-pointer items-center gap-1.5 text-xs">
                   <input type="checkbox" checked={compare.has(d.key)} onChange={() => toggleCompare(d.key)} style={{ accentColor: d.color }} />
-                  <span style={{ color: d.color }}>{d.label}</span>
+                  <span style={{ color: d.color }}>{seriesLabel(d)}</span>
                 </label>
               ))}
             </div>
@@ -334,15 +362,15 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
                     <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
                     <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Time (s)')} />
                     {compareSeries.map((d, i) => (
-                      <YAxis key={d.key} yAxisId={d.key} orientation={i % 2 === 0 ? 'left' : 'right'} stroke={d.color} tick={{ fontSize: TICK_FONT, fill: d.color }} tickLine={false} width={56} tickFormatter={d.fmt} />
+                      <YAxis key={d.key} yAxisId={d.key} orientation={i % 2 === 0 ? 'left' : 'right'} stroke={d.color} tick={{ fontSize: TICK_FONT, fill: d.color }} tickLine={false} width={56} tickFormatter={(v: number) => dec(v, d.digits)} />
                     ))}
-                    <Tooltip {...tip} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} formatter={(v: number, n: string) => { const d = COMPARE_SERIES.find((s) => s.label === n); return [`${d ? d.fmt(v) : v} ${d?.unit ?? ''}`, n] }} />
+                    <Tooltip {...tip} labelFormatter={(t: number) => `t = ${t.toFixed(2)} s`} formatter={(v: number, n: string) => { const d = COMPARE_SERIES.find((s) => s.name === n); return [`${d ? dec(v, d.digits) : v} ${d ? unitLabel(d) : ''}`, n] }} />
                     <Legend verticalAlign="bottom" wrapperStyle={{ fontSize: TICK_FONT, paddingTop: 8 }} />
                     {machMarks.map((mk) => (
                       <ReferenceLine key={mk.label} yAxisId={compareSeries[0].key} x={mk.t} stroke={REFERENCE} strokeDasharray="4 3" label={{ value: mk.label, fill: REFERENCE, fontSize: TICK_FONT, position: 'top' }} />
                     ))}
                     {compareSeries.map((d) => (
-                      <Line key={d.key} yAxisId={d.key} type="monotone" dataKey={d.key} name={d.label} stroke={d.color} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
+                      <Line key={d.key} yAxisId={d.key} type="monotone" dataKey={d.key} name={d.name} stroke={d.color} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
                     ))}
                   </ComposedChart>
                 </ResponsiveContainer>
@@ -361,12 +389,12 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
               <ResponsiveContainer width="100%" height="100%">
                 <LineChart data={track} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
                   <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-                  <XAxis type="number" dataKey="x" name="East" domain={[-driftDomain, driftDomain]} ticks={driftTicks} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('East drift (m)')} />
-                  <YAxis type="number" dataKey="y" name="North" domain={[-driftDomain, driftDomain]} ticks={driftTicks} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} width={64} tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelY('North drift (m)')} />
+                  <XAxis type="number" dataKey="x" name="East" domain={[-driftDomain, driftDomain]} ticks={driftTicks} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} tickFormatter={(v: number) => dec(v, trackDigits)} label={axisLabelX(`East drift (${lab('distance')})`)} />
+                  <YAxis type="number" dataKey="y" name="North" domain={[-driftDomain, driftDomain]} ticks={driftTicks} stroke={AXIS.stroke} tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false} width={64} tickFormatter={(v: number) => dec(v, trackDigits)} label={axisLabelY(`North drift (${lab('distance')})`)} />
                   <Tooltip
                     {...tip}
                     itemStyle={{ color: '#e2e8f0' }}
-                    formatter={(v: number, _n, item: { payload?: { x: number } }) => [`E ${item.payload?.x.toFixed(0)} m, N ${v.toFixed(0)} m`, 'position']}
+                    formatter={(v: number, _n, item: { payload?: { x: number } }) => [`E ${dec(item.payload?.x, trackDigits)} ${lab('distance')}, N ${dec(v, trackDigits)} ${lab('distance')}`, 'position']}
                     labelFormatter={(_x, payload) => { const t = (payload?.[0]?.payload as { t?: number } | undefined)?.t; return t != null ? `t = ${t.toFixed(1)} s` : '' }}
                   />
                   {/* Quadrant cross through the pad, so drift direction reads at a glance. */}
diff --git a/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
index 818aa6768..d2a1f8976 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
@@ -21,6 +21,7 @@ import {
 } from 'recharts'
 
 import type { FlightResult } from '../../types'
+import { useUnits } from '../../lib/units/unitsContext'
 import {
   AXIS,
   GRID,
@@ -51,12 +52,22 @@ function Tile({ label, value, sub }: { label: string; value: string; sub?: strin
 }
 
 export function FlightProfileModal({ result, busy, error, onClose }: Props) {
+  const { val, lab, q } = useUnits()
   useEffect(() => {
     const onKey = (e: KeyboardEvent) => e.key === 'Escape' && onClose()
     window.addEventListener('keydown', onKey)
     return () => window.removeEventListener('keydown', onKey)
   }, [onClose])
 
+  // Chart data pre-scaled to the chosen display units (static margin stays cal).
+  const chartData = (result?.samples ?? []).map((s) => ({
+    t: s.t,
+    altitude: val(s.altitude, 'altitude'),
+    velocity: val(s.velocity, 'speed'),
+    acceleration: val(s.acceleration, 'accel'),
+    staticMargin: s.staticMargin,
+  }))
+
   return createPortal(
     <div
       className="fixed inset-0 z-50 flex items-center justify-center bg-black/60 p-4"
@@ -93,15 +104,15 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
               )}
 
               <div className="grid grid-cols-2 gap-2 sm:grid-cols-3 lg:grid-cols-7">
-                <Tile label="Apogee" value={`${result.apogee.toFixed(0)} m`} sub={`at ${result.apogeeTime.toFixed(1)} s`} />
-                <Tile label="Max velocity" value={`${result.maxVelocity.toFixed(0)} m/s`} sub={`Mach ${(result.maxVelocity / 340.29).toFixed(2)}`} />
-                <Tile label="Max accel" value={`${(result.maxAcceleration / G).toFixed(1)} g`} sub={`${result.maxAcceleration.toFixed(0)} m/s²`} />
+                <Tile label="Apogee" value={q(result.apogee, 'altitude')} sub={`at ${result.apogeeTime.toFixed(1)} s`} />
+                <Tile label="Max velocity" value={q(result.maxVelocity, 'speed')} sub={`Mach ${(result.maxVelocity / 340.29).toFixed(2)}`} />
+                <Tile label="Max accel" value={`${(result.maxAcceleration / G).toFixed(1)} g`} sub={q(result.maxAcceleration, 'accel')} />
                 <Tile
                   label="Off-rail velocity"
-                  value={result.railCleared && result.railExitVelocity != null ? `${result.railExitVelocity.toFixed(1)} m/s` : '—'}
-                  sub={result.railCleared ? `${result.railLength.toFixed(2)} m rail` : `rail > apogee`}
+                  value={result.railCleared && result.railExitVelocity != null ? q(result.railExitVelocity, 'speed') : '—'}
+                  sub={result.railCleared ? `${q(result.railLength, 'length')} rail` : `rail > apogee`}
                 />
-                <Tile label="Burnout" value={`${result.burnoutTime.toFixed(2)} s`} sub={`${result.burnoutAltitude.toFixed(0)} m · ${result.burnoutVelocity.toFixed(0)} m/s`} />
+                <Tile label="Burnout" value={`${result.burnoutTime.toFixed(2)} s`} sub={`${q(result.burnoutAltitude, 'altitude')} · ${q(result.burnoutVelocity, 'speed')}`} />
                 <Tile label="Thrust-to-weight" value={result.thrustToWeight.toFixed(1)} />
                 <Tile
                   label="Min margin"
@@ -112,7 +123,7 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
 
               <div className="min-h-0 flex-1">
                 <ResponsiveContainer width="100%" height="100%">
-                  <ComposedChart data={result.samples} margin={{ top: 44, right: 56, bottom: 8, left: 8 }}>
+                  <ComposedChart data={chartData} margin={{ top: 44, right: 56, bottom: 8, left: 8 }}>
                     <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
                     <XAxis
                       dataKey="t"
@@ -145,9 +156,9 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
                     <ReferenceLine yAxisId="alt" x={result.burnoutTime} stroke={REFERENCE} strokeWidth={1.5} strokeDasharray="4 3" label={{ value: 'burnout', fill: REFERENCE, fontSize: 13, fontWeight: 600, position: 'top', dy: -8 }} />
                     <ReferenceLine yAxisId="alt" x={result.apogeeTime} stroke={REFERENCE} strokeWidth={1.5} strokeDasharray="4 3" label={{ value: 'apogee', fill: REFERENCE, fontSize: 13, fontWeight: 600, position: 'top', dy: -8 }} />
 
-                    <Line yAxisId="alt" type="monotone" dataKey="altitude" name="Altitude (m)" stroke={SERIES.altitude} dot={false} strokeWidth={2} isAnimationActive={false} />
-                    <Line yAxisId="vel" type="monotone" dataKey="velocity" name="Velocity (m/s)" stroke={SERIES.velocity} dot={false} strokeWidth={2} isAnimationActive={false} />
-                    <Line yAxisId="acc" type="monotone" dataKey="acceleration" name="Acceleration (m/s²)" stroke={SERIES.acceleration} dot={false} strokeWidth={1.5} isAnimationActive={false} />
+                    <Line yAxisId="alt" type="monotone" dataKey="altitude" name={`Altitude (${lab('altitude')})`} stroke={SERIES.altitude} dot={false} strokeWidth={2} isAnimationActive={false} />
+                    <Line yAxisId="vel" type="monotone" dataKey="velocity" name={`Velocity (${lab('speed')})`} stroke={SERIES.velocity} dot={false} strokeWidth={2} isAnimationActive={false} />
+                    <Line yAxisId="acc" type="monotone" dataKey="acceleration" name={`Acceleration (${lab('accel')})`} stroke={SERIES.acceleration} dot={false} strokeWidth={1.5} isAnimationActive={false} />
                     <Line yAxisId="margin" type="monotone" dataKey="staticMargin" name="Static margin (cal)" stroke={SERIES.margin} dot={false} strokeWidth={1.5} strokeDasharray="5 3" isAnimationActive={false} connectNulls />
                   </ComposedChart>
                 </ResponsiveContainer>
diff --git a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
index bc027d662..7e00efbca 100644
--- a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
@@ -1,8 +1,8 @@
 /**
  * Full Flight: the ascent (RocketPy) and the descent (coupled recovery) stitched
  * into one end-to-end picture -- altitude / velocity / acceleration over the whole
- * flight, one launch -> apogee -> landing ground track, and the predicted landing
- * point.
+ * flight on one shared time axis, one launch -> apogee -> landing ground track, and
+ * the predicted landing point.
  *
  * It does not recompute the ascent: it reads the lifted `flightDynResult` and runs
  * one descent seeded by the ascent's apogee state (apogee altitude, CAD mass, and
@@ -10,40 +10,76 @@
  * site come from the Recovery config. This is the authoritative end-to-end run, so
  * it can differ from the Recovery tab if that tab uses manual apogee/mass -- stated
  * on screen.
+ *
+ * Flight events (burnout, apogee, drogue/main deploy) are drawn as vertical guides
+ * on the compare plot and as dots on the ground track. Burnout is on the ascent
+ * clock (motor burn time); apogee is the handoff; deploy times come from the
+ * descent's line-stretch events, shifted onto the glued clock by apogee time.
  */
 
 import { useEffect, useMemo, useRef, useState } from 'react'
 import {
-  CartesianGrid, ComposedChart, Line, ReferenceDot, ReferenceLine,
-  ResponsiveContainer, Tooltip, XAxis, YAxis,
+  CartesianGrid, ComposedChart, Legend, Line, LineChart, ReferenceDot,
+  ReferenceLine, ResponsiveContainer, Tooltip, XAxis, YAxis,
 } from 'recharts'
-import type { Kind } from '../../recovery/lib/quantities'
+import type { Kind } from '../../lib/units/quantities'
 import { runDrift } from '../../recovery/api/client'
 import { toWireConfig } from '../../recovery/lib/serialise'
-import { useUnits } from '../../recovery/lib/unitsContext'
+import { useUnits } from '../../lib/units/unitsContext'
 import type { DesignSource, DriftResult, UiConfig } from '../../recovery/types/schema'
 import type { FlightDynamicsResult } from '../../types'
+import type { FlightParams } from '../../types/config'
 import {
-  AXIS, GRID, REFERENCE, SERIES, TICK_FONT, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE,
-  axisLabelX, axisLabelY,
+  AXIS, FD, GRID, REFERENCE, SERIES, TICK_FONT, TOOLTIP_LABEL_STYLE,
+  TOOLTIP_STYLE, axisLabelX, axisLabelY,
 } from './chartTheme'
 import { Panel, Tile } from './FlightDynamicsTab'
 
 const LANDING = '#ef4444'
 const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
 
+// Event guide colours, distinct from the series line colours AND from the
+// ground track's own violet line (FD.drift), which the drogue used to collide
+// with -- the drogue is sky, the main pink.
+const EV = {
+  burnout: '#eab308', // yellow-500
+  apogee: REFERENCE, // slate-300
+  drogue: '#38bdf8', // sky-400
+  main: '#f472b6', // pink-400
+}
+
+/** The whole-flight series that share the compare plot. */
+interface FSeries { key: 'altitude' | 'speed' | 'accel' | 'wind'; name: string; kind: Kind; color: string }
+const FULL_SERIES: FSeries[] = [
+  { key: 'altitude', name: 'Altitude', kind: 'altitude', color: SERIES.altitude },
+  { key: 'speed', name: 'Velocity', kind: 'speed', color: SERIES.velocity },
+  { key: 'accel', name: 'Acceleration', kind: 'accel', color: SERIES.acceleration },
+  { key: 'wind', name: 'Wind', kind: 'speed', color: FD.wind },
+]
+
 interface Props {
   result: FlightDynamicsResult | null
   recovery: UiConfig
   design: DesignSource
+  /** Launch params, owned by App — carries the persisted compare-plot selection. */
+  flight: FlightParams
+  onFlightChange: (patch: Partial<FlightParams>) => void
 }
 
-export function FullFlightTab({ result, recovery, design }: Props) {
+export function FullFlightTab({ result, recovery, design, flight, onFlightChange }: Props) {
   const { val, lab, dec, num, dur } = useUnits()
   const [descent, setDescent] = useState<DriftResult | null>(null)
   const [error, setError] = useState<string | null>(null)
   const [running, setRunning] = useState(false)
   const seq = useRef(0)
+  // Which whole-flight series to overlay on the shared time axis. Persisted on the config
+  // (flight.fullCompareSeries) so the selection survives reloads and rides in the save file.
+  const compare = useMemo(() => new Set(flight.fullCompareSeries), [flight.fullCompareSeries])
+  const toggle = (key: string) => {
+    const next = new Set(flight.fullCompareSeries)
+    next.has(key) ? next.delete(key) : next.add(key)
+    onFlightChange({ fullCompareSeries: [...next] })
+  }
 
   // Descent config: the recovery inputs (parachutes/wind/site) but the vehicle
   // seeded by the ASCENT so the two halves join at apogee.
@@ -63,12 +99,17 @@ export function FullFlightTab({ result, recovery, design }: Props) {
   }, [recovery, result, design.massKg])
 
   const cfgKey = JSON.stringify(descentConfig)
+  // The airframe bound lives on the config (set on the Drift tab), so Full Flight uses
+  // the SAME descent attitude as Recovery — from the save file, not from whether the
+  // Drift tab was ever opened. It is a query param, not part of descentConfig, so it is
+  // an explicit dependency here.
+  const which = recovery.airframeBound
   useEffect(() => {
     if (!result) return
     const mine = ++seq.current
     setRunning(true)
     const id = setTimeout(() => {
-      runDrift(descentConfig).then((res) => {
+      runDrift(descentConfig, which).then((res) => {
         if (mine !== seq.current) return
         setRunning(false)
         if (res.data) { setDescent(res.data); setError(null) }
@@ -77,25 +118,38 @@ export function FullFlightTab({ result, recovery, design }: Props) {
     }, 250)
     return () => clearTimeout(id)
     // eslint-disable-next-line react-hooks/exhaustive-deps
-  }, [cfgKey, result])
+  }, [cfgKey, result, which])
 
   // --- glued time series (display units) -----------------------------------
-  const flight = useMemo(() => {
+  const glued = useMemo(() => {
     if (!result) return { rows: [] as Row[], apogeeT: 0 }
     const rows: Row[] = result.samples.map((s) => ({
       t: s.t,
       altitude: val(s.altitude, 'altitude'),
       speed: val(s.speed, 'speed'),
       accel: val(s.acceleration, 'accel'),
+      wind: val(s.windSpeed, 'speed'),   // ambient wind at the rocket's altitude
     }))
     const aT = result.apogeeTime
     if (descent) {
-      for (const p of descent.track) {
+      const tr = descent.track
+      for (let i = 0; i < tr.length; i++) {
+        const p = tr[i]
+        // TOTAL ground speed for the descent = vertical rate + horizontal ground speed
+        // (from the track's own x/y). The ascent plots total speed, which at apogee is
+        // the lateral/weathercock speed, not zero; plotting the descent's vertical-only
+        // rate (0 at apogee) made the velocity dive to 0 at the handoff. Total speed is
+        // continuous there — both sides equal the lateral speed at apogee.
+        const prev = tr[i - 1] ?? p
+        const next = tr[i + 1] ?? p
+        const dt = next.t - prev.t
+        const hSpeed = dt > 0 ? Math.hypot(next.x - prev.x, next.y - prev.y) / dt : 0
         rows.push({
           t: aT + p.t,
           altitude: val(p.z, 'altitude'),
-          speed: val(Math.abs(p.v), 'speed'),   // vertical descent rate
+          speed: val(Math.hypot(Math.abs(p.v), hSpeed), 'speed'),
           accel: val(p.a, 'accel'),
+          wind: val(p.wind, 'speed'),           // same ambient-wind curve, on descent
         })
       }
     }
@@ -103,9 +157,29 @@ export function FullFlightTab({ result, recovery, design }: Props) {
     // eslint-disable-next-line react-hooks/exhaustive-deps
   }, [result, descent, lab])
 
+  // --- flight events on the glued clock ------------------------------------
+  const events = useMemo(() => {
+    if (!result) return [] as EventMark[]
+    const evs: EventMark[] = []
+    if (result.burnoutTime > 0 && result.burnoutTime < result.apogeeTime)
+      evs.push({ t: result.burnoutTime, label: 'burnout', color: EV.burnout })
+    evs.push({ t: result.apogeeTime, label: 'apogee', color: EV.apogee })
+    if (descent) {
+      for (const e of descent.events) {
+        if (e.kind !== 'line_stretch') continue
+        const dev = (e.device ?? '').toLowerCase()
+        const color = dev.includes('main') ? EV.main : EV.drogue
+        evs.push({ t: result.apogeeTime + e.t, label: `${cap(e.device ?? 'chute')} deploy`, color })
+      }
+    }
+    return evs
+  }, [result, descent])
+
   // --- glued ground track (display units) ----------------------------------
   const track = useMemo(() => {
-    if (!result) return { pts: [] as Pt[], apogee: null as Pt | null, landing: null as Pt | null }
+    const empty = { pts: [] as Pt[], apogee: null as Pt | null, landing: null as Pt | null,
+                    deploys: [] as EventPt[], domainX: [-1, 1] as Dom, domainY: [-1, 1] as Dom }
+    if (!result) return empty
     const d = (m: number) => val(m, 'distance')
     const pts: Pt[] = result.samples.map((s) => ({ x: d(s.driftX), y: d(s.driftY) }))
     const last = result.samples.at(-1)
@@ -113,11 +187,37 @@ export function FullFlightTab({ result, recovery, design }: Props) {
     const aY = last?.driftY ?? 0
     const apogee = { x: d(aX), y: d(aY) }
     let landing: Pt | null = null
+    const deploys: EventPt[] = []
     if (descent) {
       for (const p of descent.track) pts.push({ x: d(aX + p.x), y: d(aY + p.y) })
       landing = { x: d(aX + descent.landing.x), y: d(aY + descent.landing.y) }
+      // Deploy dots: the descent-track sample nearest each line-stretch event.
+      for (const e of descent.events) {
+        if (e.kind !== 'line_stretch') continue
+        let best = descent.track[0]
+        for (const p of descent.track) if (Math.abs(p.t - e.t) < Math.abs(best.t - e.t)) best = p
+        const dev = (e.device ?? '').toLowerCase()
+        deploys.push({
+          x: d(aX + best.x), y: d(aY + best.y),
+          label: `${cap(e.device ?? 'chute')} deploy`,
+          color: dev.includes('main') ? EV.main : EV.drogue,
+        })
+      }
     }
-    return { pts, apogee, landing }
+    // Origin-centered square, like the Flight Dynamics ground track: the pad sits at
+    // (0,0) in the middle and the path reads as four quadrants of drift around it —
+    // and zoomed in as tight as the trace allows: the half-extent is the farthest point
+    // from the pad plus a small margin for the marker labels, NOT snapped up to a round
+    // number (which zoomed the track out by up to ~2x). The floor is in DISPLAY units
+    // (val(50, 'distance')): 'distance' shows km/mi, so a raw 25 would floor it at 25 km.
+    const reach = Math.max(
+      val(50, 'distance'),
+      ...pts.map((p) => Math.max(Math.abs(p.x), Math.abs(p.y))),
+    )
+    const domainMax = reach * 1.12
+    const domainX: Dom = [-domainMax, domainMax]
+    const domainY: Dom = [-domainMax, domainMax]
+    return { pts, apogee, landing, deploys, domainX, domainY }
     // eslint-disable-next-line react-hooks/exhaustive-deps
   }, [result, descent, lab])
 
@@ -140,6 +240,8 @@ export function FullFlightTab({ result, recovery, design }: Props) {
   }
 
   const showN = (si: number, kind: Kind, digits = 0) => `${num(si, kind, digits)}`
+  const selected = FULL_SERIES.filter((d) => compare.has(d.key))
+  const yTitle = (d: FSeries) => `${d.name} (${lab(d.kind)})`
 
   return (
     <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
@@ -163,96 +265,133 @@ export function FullFlightTab({ result, recovery, design }: Props) {
         <Tile label="Impact velocity" value={descent ? showN(Math.abs(descent.track.at(-1)?.v ?? 0), 'speed') : '—'} />
       </div>
 
-      <div className="grid gap-3 lg:grid-cols-2">
-        <Panel title="Altitude" hint="Whole flight vs time; the dashed line is apogee (ascent→descent handoff).">
-          {timeChart(flight.rows, 'altitude', 'altitude', SERIES.altitude, flight.apogeeT, lab, dec)}
-        </Panel>
-        <Panel title="Velocity" hint="Ascent speed, then the vertical descent rate under the canopies.">
-          {timeChart(flight.rows, 'speed', 'speed', SERIES.velocity, flight.apogeeT, lab, dec)}
-        </Panel>
-        <Panel title="Acceleration" hint="Boost, coast, then the deployment decelerations.">
-          {timeChart(flight.rows, 'accel', 'accel', SERIES.acceleration, flight.apogeeT, lab, dec)}
+      {/* Compare series on one shared time axis */}
+      <div className="mb-2">
+        <h3 className="text-base font-semibold text-slate-100">Compare series</h3>
+        <p className="text-2xs text-slate-400">
+          Overlay altitude, velocity and acceleration across the whole flight on one time
+          axis — each gets its own colored Y axis. Dashed guides mark burnout, apogee and
+          each parachute deployment.
+        </p>
+      </div>
+      <div className="mb-5">
+        <div className="mb-2 flex flex-wrap gap-x-4 gap-y-1 rounded-lg border border-slate-700 bg-slate-900/40 px-3 py-2">
+          {FULL_SERIES.map((d) => (
+            <label key={d.key} className="flex cursor-pointer items-center gap-1.5 text-xs">
+              <input type="checkbox" checked={compare.has(d.key)} onChange={() => toggle(d.key)} style={{ accentColor: d.color }} />
+              <span style={{ color: d.color }}>{yTitle(d)}</span>
+            </label>
+          ))}
+        </div>
+        <Panel heightClass="h-[460px]"
+               hint="Whole flight vs time. Ascent then descent; the vertical guides are burnout, apogee and parachute deployments.">
+          {selected.length === 0 ? (
+            <div className="flex h-full min-h-[240px] items-center justify-center text-xs text-slate-400">Select one or more series to plot.</div>
+          ) : (
+            <ResponsiveContainer width="100%" height="100%">
+              <ComposedChart data={glued.rows} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
+                <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+                <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke}
+                       tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
+                       tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Time (s)')} />
+                {selected.map((d, i) => (
+                  <YAxis key={d.key} yAxisId={d.key} orientation={i % 2 === 0 ? 'left' : 'right'}
+                         stroke={d.color} tick={{ fontSize: TICK_FONT, fill: d.color }} tickLine={false}
+                         width={60} tickFormatter={(v: number) => dec(v, 0)} />
+                ))}
+                <Tooltip {...tip} labelFormatter={(t: number) => `t = ${dec(t, 1)} s`}
+                         formatter={(v: number, n: string) => {
+                           const d = FULL_SERIES.find((s) => s.name === n)
+                           return [`${dec(v, 1)} ${d ? lab(d.kind) : ''}`, n]
+                         }} />
+                <Legend verticalAlign="bottom" wrapperStyle={{ fontSize: TICK_FONT, paddingTop: 8 }} />
+                {events.map((e) => (
+                  <ReferenceLine key={e.label} yAxisId={selected[0].key} x={e.t} stroke={e.color} strokeDasharray="4 3"
+                                 label={{ value: e.label, fill: e.color, fontSize: TICK_FONT, position: 'top' }} />
+                ))}
+                {selected.map((d) => (
+                  <Line key={d.key} yAxisId={d.key} type="monotone" dataKey={d.key} name={d.name}
+                        stroke={d.color} dot={false} strokeWidth={1.75} isAnimationActive={false} connectNulls />
+                ))}
+              </ComposedChart>
+            </ResponsiveContainer>
+          )}
         </Panel>
+      </div>
 
-        <Panel title="Ground track — launch to landing"
-               hint="Plan view. The path leaves the pad, arcs over at apogee, then drifts under recovery to the predicted landing.">
-          <FullGroundTrack track={track} lab={lab} dec={dec} />
-        </Panel>
+      {/* Ground track */}
+      <div className="mb-2">
+        <h3 className="text-base font-semibold text-slate-100">Ground track — launch to landing</h3>
+      </div>
+      <div className="grid items-start gap-3 lg:grid-cols-2">
+        {/* Square so equal East/North scales read as true distances. */}
+        <div className="aspect-square w-full">
+          <Panel heightClass="h-full" title="Ground track"
+                 hint="Plan view, pad→apogee→landing. The path leaves the pad, arcs over at apogee, then drifts under recovery to the predicted landing; the dots mark each parachute deployment.">
+            <FullGroundTrack track={track} lab={lab} dec={dec} />
+          </Panel>
+        </div>
       </div>
     </div>
   )
 }
 
-interface Row { t: number; altitude: number; speed: number; accel: number }
+interface Row { t: number; altitude: number; speed: number; accel: number; wind: number }
 interface Pt { x: number; y: number }
+interface EventMark { t: number; label: string; color: string }
+interface EventPt { x: number; y: number; label: string; color: string }
+type Dom = [number, number]
 
-/** One glued time-series (data already in display units), with the apogee marker. */
-function timeChart(
-  rows: Row[], dataKey: keyof Row, kind: Kind, color: string, apogeeT: number,
-  lab: (k: Kind) => string, dec: (v: number, d: number) => string,
-) {
-  return (
-    <ResponsiveContainer width="100%" height="100%">
-      <ComposedChart data={rows} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
-        <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-        <XAxis dataKey="t" type="number" domain={[0, 'dataMax']} stroke={AXIS.stroke}
-               tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
-               tickFormatter={(v: number) => v.toFixed(0)} label={axisLabelX('Time (s)')} />
-        <YAxis stroke={color} tick={{ fontSize: TICK_FONT, fill: color }} tickLine={false}
-               width={64} label={axisLabelY(`${cap(String(dataKey))} (${lab(kind)})`)} />
-        <Tooltip {...tip} labelFormatter={(t: number) => `t = ${dec(t, 1)} s`}
-                 formatter={(v: number) => [`${dec(v, 1)} ${lab(kind)}`, cap(String(dataKey))]} />
-        <ReferenceLine x={apogeeT} stroke={REFERENCE} strokeDasharray="4 3"
-                       label={{ value: 'apogee', fill: REFERENCE, fontSize: TICK_FONT, position: 'top' }} />
-        <Line type="monotone" dataKey={dataKey} stroke={color} dot={false}
-              strokeWidth={1.75} isAnimationActive={false} connectNulls />
-      </ComposedChart>
-    </ResponsiveContainer>
-  )
-}
-
-/** The combined plan-view path (equal-aspect square, pad at origin), marking
- *  launch (origin), apogee (handoff) and the predicted landing. */
+/** The combined plan-view path (equal-aspect square framed to the path), marking
+ *  launch (origin), apogee (handoff), each deploy, and the predicted landing. */
 function FullGroundTrack({ track, lab, dec }: {
-  track: { pts: Pt[]; apogee: Pt | null; landing: Pt | null }
+  track: { pts: Pt[]; apogee: Pt | null; landing: Pt | null; deploys: EventPt[]; domainX: Dom; domainY: Dom }
   lab: (k: Kind) => string
   dec: (v: number, d: number) => string
 }) {
   if (track.pts.length < 2) {
     return <div className="flex h-full items-center justify-center text-xs text-slate-400">No trajectory yet.</div>
   }
-  const reach = Math.max(...track.pts.map((p) => Math.max(Math.abs(p.x), Math.abs(p.y))))
-  const R = Math.max(reach * 1.15, 50)
-  const fmt = (v: number) => dec(v, 0)
+  // Symmetric ticks about the pad (…-d, -d/2, 0, d/2, d), like Flight Dynamics.
+  const dmax = track.domainX[1]
+  const ticks = [-dmax, -dmax / 2, 0, dmax / 2, dmax]
+  // Adaptive precision: 'distance' shows km/mi, so a sub-unit scale needs a decimal
+  // or every tick rounds to 0.
+  const fmt = (v: number) => dec(v, dmax < 2 ? 1 : 0)
   return (
-    <div className="mx-auto aspect-square h-full max-h-[30rem] w-full max-w-[30rem]">
-      <ResponsiveContainer width="100%" height="100%">
-        <ComposedChart data={track.pts} margin={{ top: 8, right: 16, bottom: 30, left: 8 }}>
-          <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
-          <XAxis type="number" dataKey="x" domain={[-R, R]} stroke={AXIS.stroke}
-                 tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
-                 tickFormatter={fmt} allowDecimals={false} label={axisLabelX(`East (${lab('distance')})`)} />
-          <YAxis type="number" domain={[-R, R]} width={56} stroke={AXIS.stroke}
-                 tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
-                 tickFormatter={fmt} allowDecimals={false} label={axisLabelY(`North (${lab('distance')})`)} />
-          <Tooltip {...tip} formatter={(v: number, n: string) => [`${fmt(v)} ${lab('distance')}`, n === 'y' ? 'north' : n]}
-                   labelFormatter={(x: number) => `East ${fmt(x)} ${lab('distance')}`} />
-          <ReferenceLine x={0} stroke="#4b5563" />
-          <ReferenceLine y={0} stroke="#4b5563" />
-          <Line dataKey="y" type="linear" stroke={SERIES.altitude} strokeWidth={2} dot={false} isAnimationActive={false} />
-          <ReferenceDot x={0} y={0} r={4} fill="#f8fafc" stroke="none"
-                        label={{ value: 'launch', position: 'left', fontSize: 12, fill: '#cbd5e1' }} />
-          {track.apogee && (
-            <ReferenceDot x={track.apogee.x} y={track.apogee.y} r={4} fill={REFERENCE} stroke="none"
-                          label={{ value: 'apogee', position: 'top', fontSize: 12, fill: REFERENCE }} />
-          )}
-          {track.landing && (
-            <ReferenceDot x={track.landing.x} y={track.landing.y} r={5} fill={LANDING} stroke="none"
-                          label={{ value: 'landing', position: 'bottom', fontSize: 12, fill: LANDING }} />
-          )}
-        </ComposedChart>
-      </ResponsiveContainer>
-    </div>
+    <ResponsiveContainer width="100%" height="100%">
+      <LineChart data={track.pts} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
+        <CartesianGrid stroke={GRID.stroke} strokeDasharray={GRID.strokeDasharray} />
+        <XAxis type="number" dataKey="x" name="East" domain={track.domainX} ticks={ticks} stroke={AXIS.stroke}
+               tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
+               tickFormatter={fmt} label={axisLabelX(`East drift (${lab('distance')})`)} />
+        <YAxis type="number" dataKey="y" name="North" domain={track.domainY} ticks={ticks} width={64} stroke={AXIS.stroke}
+               tick={{ fontSize: TICK_FONT, fill: AXIS.stroke }} tickLine={false}
+               tickFormatter={fmt} label={axisLabelY(`North drift (${lab('distance')})`)} />
+        <Tooltip {...tip} itemStyle={{ color: '#e2e8f0' }}
+                 formatter={(v: number, _n, item: { payload?: { x: number } }) =>
+                   [`E ${fmt(item.payload?.x ?? 0)}, N ${fmt(v)} ${lab('distance')}`, 'position']}
+                 labelFormatter={() => ''} />
+        {/* Quadrant cross through the pad, so drift direction reads at a glance. */}
+        <ReferenceLine x={0} stroke={AXIS.stroke} strokeOpacity={0.5} />
+        <ReferenceLine y={0} stroke={AXIS.stroke} strokeOpacity={0.5} />
+        <Line dataKey="y" type="linear" stroke={FD.drift} strokeWidth={1.75} dot={false} isAnimationActive={false} />
+        <ReferenceDot x={0} y={0} r={4} fill={REFERENCE} stroke="none"
+                      label={{ value: 'launch', position: 'left', fontSize: TICK_FONT, fill: REFERENCE }} />
+        {track.apogee && (
+          <ReferenceDot x={track.apogee.x} y={track.apogee.y} r={4} fill={FD.drift} stroke="none"
+                        label={{ value: 'apogee', position: 'right', fontSize: TICK_FONT, fill: FD.drift }} />
+        )}
+        {track.deploys.map((p) => (
+          <ReferenceDot key={p.label} x={p.x} y={p.y} r={4} fill={p.color} stroke="none"
+                        label={{ value: p.label, position: 'right', fontSize: 11, fill: p.color }} />
+        ))}
+        {track.landing && (
+          <ReferenceDot x={track.landing.x} y={track.landing.y} r={5} fill={LANDING} stroke="none"
+                        label={{ value: 'landing', position: 'bottom', fontSize: TICK_FONT, fill: LANDING }} />
+        )}
+      </LineChart>
+    </ResponsiveContainer>
   )
 }
 
diff --git a/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
index bfcce19c5..c5a4f7d68 100644
--- a/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
@@ -12,7 +12,7 @@
 import { useEffect, useRef, useState } from 'react'
 
 import type { CMResult } from '../../lib/cm'
-import { formatMass, formatMetres } from '../../lib/cm'
+import { useUnits } from '../../lib/units/unitsContext'
 import type { Part, PartOverride } from '../../types'
 import { PropertiesPanel } from './PropertiesPanel'
 import { Row } from './Row'
@@ -160,22 +160,23 @@ function MassSummary({
   partCount: number
   cmAnalysis: { fromNose: number; radial: number; offAxis: boolean } | null
 }) {
+  const { q } = useUnits()
   return (
     <section className="border-b border-slate-800 p-3 text-sm">
       <h2 className="mb-2 text-sm font-semibold uppercase tracking-wide text-slate-200">
         Center of mass — {cm.partCount - cm.masslessCount} of {partCount} parts
       </h2>
-      <Row label="Total mass" value={formatMass(cm.mass)} />
+      <Row label="Total mass" value={q(cm.mass, 'mass')} />
       {cmAnalysis ? (
-        <Row label="CM from nose" value={formatMetres(cmAnalysis.fromNose)} highlight />
+        <Row label="CM from nose" value={q(cmAnalysis.fromNose, 'length')} highlight />
       ) : (
         // No axis yet (compute stability): fall back to the raw world coordinate.
-        <Row label="CM z (world)" value={formatMetres(cm.centroid[2])} highlight />
+        <Row label="CM z (world)" value={q(cm.centroid[2], 'length')} highlight />
       )}
 
       {cmAnalysis?.offAxis && (
         <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
-          ⚠ Mass is off-axis by {(cmAnalysis.radial * 1000).toFixed(1)} mm — the rocket is
+          ⚠ Mass is off-axis by {q(cmAnalysis.radial, 'length')} — the rocket is
           laterally unbalanced. CG should sit on the centreline; check for an asymmetric or
           material-less part.
         </p>
diff --git a/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
index 532f06e82..50a2c0505 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
@@ -21,6 +21,7 @@ import {
 } from 'recharts'
 
 import type { MotorDetail } from '../../types'
+import { useUnits } from '../../lib/units/unitsContext'
 import { AXIS, GRID, SERIES, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE } from './chartTheme'
 
 interface Props {
@@ -33,6 +34,7 @@ interface Props {
 }
 
 export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Props) {
+  const { val, lab, num, q } = useUnits()
   useEffect(() => {
     const onKey = (e: KeyboardEvent) => e.key === 'Escape' && onClose()
     window.addEventListener('keydown', onKey)
@@ -49,11 +51,11 @@ export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Pr
     const n = Math.min(sim.time.length, sim.thrust.length, sim.mass.length, sim.cgX.length)
     return Array.from({ length: n }, (_, i) => ({
       t: sim.time[i],
-      thrust: sim.thrust[i],
-      massG: sim.mass[i] * 1000, // kg -> g
-      cgMm: sim.cgX[i] * 1000, // m -> mm from the fore end
+      thrust: val(sim.thrust[i], 'force'),
+      mass: val(sim.mass[i], 'mass'),
+      cg: val(sim.cgX[i], 'length'), // from the fore end
     }))
-  }, [sim])
+  }, [sim, val])
 
   const title = sim ? `${sim.manufacturer} ${sim.designation}` : 'Motor curves'
 
@@ -84,8 +86,8 @@ export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Pr
           {sim && !busy && !error && (
             <>
               <div className="grid grid-cols-3 gap-2">
-                <Tile label="Wet / dry" value={`${(sim.wetMass * 1000).toFixed(1)} / ${(sim.dryMass * 1000).toFixed(1)} g`} />
-                <Tile label="Propellant" value={`${(sim.propMass * 1000).toFixed(1)} g`} />
+                <Tile label="Wet / dry" value={`${num(sim.wetMass, 'mass')} / ${q(sim.dryMass, 'mass')}`} />
+                <Tile label="Propellant" value={q(sim.propMass, 'mass')} />
                 <Tile label="Burn time" value={`${sim.burnTime.toFixed(2)} s`} />
               </div>
 
@@ -114,9 +116,9 @@ export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Pr
                     />
                     <Legend wrapperStyle={{ fontSize: 12 }} />
 
-                    <Line yAxisId="thrust" type="monotone" dataKey="thrust" name="Thrust (N)" stroke={SERIES.acceleration} dot={false} strokeWidth={2} isAnimationActive={false} />
-                    <Line yAxisId="mass" type="monotone" dataKey="massG" name="Weight (g)" stroke={SERIES.velocity} dot={false} strokeWidth={2} isAnimationActive={false} />
-                    <Line yAxisId="cg" type="monotone" dataKey="cgMm" name="CG from fore end (mm)" stroke={SERIES.altitude} dot={false} strokeWidth={1.5} strokeDasharray="5 3" isAnimationActive={false} />
+                    <Line yAxisId="thrust" type="monotone" dataKey="thrust" name={`Thrust (${lab('force')})`} stroke={SERIES.acceleration} dot={false} strokeWidth={2} isAnimationActive={false} />
+                    <Line yAxisId="mass" type="monotone" dataKey="mass" name={`Weight (${lab('mass')})`} stroke={SERIES.velocity} dot={false} strokeWidth={2} isAnimationActive={false} />
+                    <Line yAxisId="cg" type="monotone" dataKey="cg" name={`CG from fore end (${lab('length')})`} stroke={SERIES.altitude} dot={false} strokeWidth={1.5} strokeDasharray="5 3" isAnimationActive={false} />
                   </ComposedChart>
                 </ResponsiveContainer>
               </div>
diff --git a/star-openrocket/frontend/src/components/viewer/PartList.tsx b/star-openrocket/frontend/src/components/viewer/PartList.tsx
index e21861870..6303c3b64 100644
--- a/star-openrocket/frontend/src/components/viewer/PartList.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PartList.tsx
@@ -19,7 +19,7 @@
 import { useMemo, useState } from 'react'
 
 import type { Part } from '../../types'
-import { formatMass } from '../../lib/cm'
+import { useUnits } from '../../lib/units/unitsContext'
 import { displayName } from '../../lib/names'
 import { STATUS_TEXT, massStatus, worstStatus } from '../../lib/status'
 import { ContextMenu, type MenuItem } from './ContextMenu'
@@ -70,6 +70,7 @@ export function PartList({
   onSelect,
   onHover,
 }: Props) {
+  const { q } = useUnits()
   const [expanded, setExpanded] = useState<Set<string>>(new Set())
   const [menu, setMenu] = useState<MenuState | null>(null)
   // Where a shift-range starts. Held here rather than derived from the
@@ -329,7 +330,7 @@ export function PartList({
                     isHidden ? 'text-slate-600' : 'text-slate-400'
                   }`}
                 >
-                  {formatMass(groupMass)}
+                  {q(groupMass, 'mass')}
                 </span>
               </div>
 
@@ -379,7 +380,7 @@ export function PartList({
                               partHidden ? 'text-slate-600' : 'text-slate-500'
                             }`}
                           >
-                            {formatMass(part.mass)}
+                            {q(part.mass, 'mass')}
                           </span>
                         </div>
                       </li>
diff --git a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
index 3beb3147d..c24054e75 100644
--- a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
@@ -19,7 +19,8 @@
 import { useEffect, useState } from 'react'
 
 import type { Part, PartOverride } from '../../types'
-import { centreOfMass, formatMass, formatMetres } from '../../lib/cm'
+import { centreOfMass } from '../../lib/cm'
+import { useUnits } from '../../lib/units/unitsContext'
 import { MATERIAL_CATALOG, MATERIALS_BY_KEY } from '../../lib/materials'
 import { displayName } from '../../lib/names'
 import { STATUS_TEXT, massStatus } from '../../lib/status'
@@ -76,6 +77,7 @@ function PartProperties({
   override: PartOverride | null
   onOverrideChange: (key: string, override: PartOverride | null) => void
 }) {
+  const { q, lab, si, forInput } = useUnits()
   const overridden = override?.massOverridden ?? false
   // The material the user picked from the catalog, if any. It sets the mass
   // (via density x volume, in App) but leaves Onshape's own material in place --
@@ -85,9 +87,10 @@ function PartProperties({
   const materialKey = override?.material ?? 'onshape'
 
   // Held as text, not a number: a controlled number input that round-trips
-  // through parseFloat eats the keystroke in "0." and cannot be cleared.
+  // through parseFloat eats the keystroke in "0." and cannot be cleared. The
+  // text is in the CHOSEN mass unit; it converts to SI kg on commit.
   const [draft, setDraft] = useState(() =>
-    override?.mass != null ? String(override.mass) : '',
+    override?.mass != null ? forInput(override.mass, 'mass') : '',
   )
 
   useEffect(() => {
@@ -97,10 +100,11 @@ function PartProperties({
   const commit = (text: string) => {
     setDraft(text)
     const value = Number(text)
+    const valid = text.trim() !== '' && Number.isFinite(value) && value >= 0
     onOverrideChange(part.key, {
       material: override?.material ?? null,
       massOverridden: true,
-      mass: text.trim() !== '' && Number.isFinite(value) && value >= 0 ? value : null,
+      mass: valid ? si(value, 'mass') : null,
     })
   }
 
@@ -128,7 +132,7 @@ function PartProperties({
     // Seeded with whatever mass the part already has -- Onshape's, or the one a
     // chosen material gave it -- so overriding starts from its real value.
     const seed = part.mass > 0 ? part.mass : null
-    setDraft(seed != null ? String(seed) : '')
+    setDraft(seed != null ? forInput(seed, 'mass') : '')
     onOverrideChange(part.key, {
       material: override?.material ?? null,
       massOverridden: true,
@@ -163,20 +167,20 @@ function PartProperties({
       <Section title="Mass">
         <Row
           label="Mass"
-          value={part.mass > 0 ? formatMass(part.mass) : 'none'}
+          value={part.mass > 0 ? q(part.mass, 'mass') : 'none'}
           highlight={overridden}
         />
         <Row label="Material" value={displayMaterial?.name ?? 'none assigned'} />
         {displayMaterial && (
-          <Row label="Density" value={`${displayMaterial.density.toFixed(0)} kg/m³`} />
+          <Row label="Density" value={q(displayMaterial.density, 'density')} />
         )}
-        <Row label="Volume" value={`${(part.volume * 1e6).toFixed(1)} cm³`} />
+        <Row label="Volume" value={q(part.volume, 'volume')} />
       </Section>
 
       <Section title="Centre of mass">
-        <Row label="x" value={formatMetres(part.centroidWorld[0])} />
-        <Row label="y" value={formatMetres(part.centroidWorld[1])} />
-        <Row label="z" value={formatMetres(part.centroidWorld[2])} highlight />
+        <Row label="x" value={q(part.centroidWorld[0], 'length')} />
+        <Row label="y" value={q(part.centroidWorld[1], 'length')} />
+        <Row label="z" value={q(part.centroidWorld[2], 'length')} highlight />
       </Section>
 
       <Section title="User properties">
@@ -217,7 +221,7 @@ function PartProperties({
           <span
             className={`mb-1 block text-sm ${overridden ? 'text-slate-400' : 'text-slate-600'}`}
           >
-            Mass (kg)
+            Mass ({lab('mass')})
           </span>
           <input
             type="number"
@@ -250,6 +254,7 @@ function PartProperties({
 }
 
 function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: Set<string> }) {
+  const { q } = useUnits()
   const cm = centreOfMass(selected)
   const hidden = selected.filter((part) => !visibleKeys.has(part.key)).length
 
@@ -260,10 +265,10 @@ function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: S
       </div>
 
       <Section title="Selection">
-        <Row label="Combined mass" value={formatMass(cm.mass)} />
-        <Row label="CM x" value={formatMetres(cm.centroid[0])} />
-        <Row label="CM y" value={formatMetres(cm.centroid[1])} />
-        <Row label="CM z" value={formatMetres(cm.centroid[2])} highlight />
+        <Row label="Combined mass" value={q(cm.mass, 'mass')} />
+        <Row label="CM x" value={q(cm.centroid[0], 'length')} />
+        <Row label="CM y" value={q(cm.centroid[1], 'length')} />
+        <Row label="CM z" value={q(cm.centroid[2], 'length')} highlight />
         <Row label="Hidden" value={`${hidden} of ${selected.length}`} />
         {cm.masslessCount > 0 && (
           <Row label="Without mass" value={`${cm.masslessCount} of ${selected.length}`} />
@@ -290,7 +295,7 @@ function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: S
                   part.mass > 0 ? 'text-slate-500' : 'text-red-400/80'
                 }`}
               >
-                {part.mass > 0 ? formatMass(part.mass) : 'no mass'}
+                {part.mass > 0 ? q(part.mass, 'mass') : 'no mass'}
               </span>
             </li>
           ))}
diff --git a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
index 80ef62b2a..5f9b91c65 100644
--- a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
@@ -11,9 +11,43 @@
 import { useState } from 'react'
 
 import type { FaceRef, MotorSelection, MotorSummary, StabilityResult } from '../../types'
+import { useUnits } from '../../lib/units/unitsContext'
+import type { Kind } from '../../lib/units/quantities'
 import { MotorPicker } from './MotorPicker'
 import { Row } from './Row'
 
+/**
+ * A number input in the chosen unit that stores SI. Mirrors the recovery
+ * UnitInput's editing/display split (full precision while focused, the bounded
+ * form when blurred) so typing a fractional value never fights the formatter,
+ * but keeps the viewer's slate styling. Commits SI on every change.
+ */
+function UnitField({ value, onChange, kind, min }: {
+  value: number
+  onChange: (si: number) => void
+  kind: Kind
+  min?: number
+}) {
+  const { val, si, forInput, u } = useUnits()
+  const [editing, setEditing] = useState(false)
+  const shown = editing ? val(value, kind) : forInput(value, kind)
+  return (
+    <input
+      type="number"
+      step={u(kind).step}
+      min={min}
+      value={shown}
+      onFocus={() => setEditing(true)}
+      onBlur={() => setEditing(false)}
+      onChange={(e) => {
+        const t = e.target.value.trim()
+        onChange(t === '' ? 0 : si(Number(t), kind))
+      }}
+      className="w-20 rounded border border-slate-700 bg-slate-800 px-1 py-0.5 text-right text-slate-100 focus:border-cyan-500 focus:outline-none"
+    />
+  )
+}
+
 export interface StabilityPanelProps {
   result: StabilityResult | null
   /** Static margin recomputed client-side from live mass edits (CP is fixed). Falls back to
@@ -98,6 +132,7 @@ export function StabilityPanel({
   onSetRailLength,
   onViewMotorCurves,
 }: StabilityPanelProps) {
+  const { q, lab, num } = useUnits()
   const [pickerOpen, setPickerOpen] = useState(false)
   return (
     <div className="text-sm">
@@ -184,8 +219,8 @@ export function StabilityPanel({
       {/* Airframe dimensions from the detected surface, shown once computed. */}
       {result && (
         <div className="mt-2 border-t border-slate-700 pt-2">
-          <Row label="Body length" value={`${result.bodyLength.toFixed(4)} m`} small />
-          <Row label="Ref diameter" value={`${(result.refDiameter * 1000).toFixed(1)} mm`} small />
+          <Row label="Body length" value={q(result.bodyLength, 'length')} small />
+          <Row label="Ref diameter" value={q(result.refDiameter, 'length')} small />
         </div>
       )}
 
@@ -202,11 +237,11 @@ export function StabilityPanel({
           </div>
           {result.fins.count > 0 && (
             <>
-              <Row label="Fin area (each)" value={`${(result.fins.area * 1e4).toFixed(1)} cm²`} small />
-              <Row label="Root chord" value={`${(result.fins.rootChord * 1000).toFixed(1)} mm`} small />
-              <Row label="Tip chord" value={`${(result.fins.tipChord * 1000).toFixed(1)} mm`} small />
-              <Row label="Span" value={`${(result.fins.span * 1000).toFixed(1)} mm`} small />
-              <Row label="Sweep" value={`${(result.fins.sweep * 1000).toFixed(1)} mm`} small />
+              <Row label="Fin area (each)" value={q(result.fins.area, 'area')} small />
+              <Row label="Root chord" value={q(result.fins.rootChord, 'length')} small />
+              <Row label="Tip chord" value={q(result.fins.tipChord, 'length')} small />
+              <Row label="Span" value={q(result.fins.span, 'length')} small />
+              <Row label="Sweep" value={q(result.fins.sweep, 'length')} small />
               <Row label="CNₐ (fins)" value={result.fins.cna.toFixed(3)} small />
             </>
           )}
@@ -344,17 +379,8 @@ export function StabilityPanel({
             <label className="mb-1 flex items-center justify-between gap-2 text-xs text-slate-400">
               {motorSel.refFace ? 'Aft offset from face' : 'Aft offset from base'}
               <span className="flex items-center gap-1">
-                <input
-                  type="number"
-                  step={1}
-                  value={Math.round((motorSel.aftOffset ?? 0) * 1000)}
-                  onChange={(e) => {
-                    const v = e.target.value.trim()
-                    onSetMotorOffset(v === '' ? 0 : Number(v) / 1000)
-                  }}
-                  className="w-20 rounded border border-slate-700 bg-slate-800 px-1 py-0.5 text-right text-slate-100 focus:border-cyan-500 focus:outline-none"
-                />
-                <span className="text-slate-500">mm</span>
+                <UnitField value={motorSel.aftOffset ?? 0} onChange={onSetMotorOffset} kind="length" />
+                <span className="text-slate-500">{lab('length')}</span>
               </span>
             </label>
 
@@ -362,16 +388,12 @@ export function StabilityPanel({
               <>
                 <Row
                   label="Motor wet / dry mass"
-                  value={`${(result.motor.wetMass * 1000).toFixed(1)} / ${(
-                    result.motor.dryMass * 1000
-                  ).toFixed(1)} g`}
+                  value={`${num(result.motor.wetMass, 'mass')} / ${q(result.motor.dryMass, 'mass')}`}
                   small
                 />
                 <Row
                   label="Motor L × D"
-                  value={`${(result.motor.length * 1000).toFixed(0)} × ${(
-                    result.motor.diameter * 1000
-                  ).toFixed(0)} mm`}
+                  value={`${num(result.motor.length, 'length')} × ${q(result.motor.diameter, 'length')}`}
                   small
                 />
               </>
@@ -412,8 +434,8 @@ export function StabilityPanel({
                       {formatMargin(margin)}
                     </span>
                   </div>
-                  <Row label="CP from nose" value={`${result.cp.fromNose.toFixed(4)} m`} />
-                  <Row label="CG from nose" value={`${cgFromNose.toFixed(4)} m`} />
+                  <Row label="CP from nose" value={q(result.cp.fromNose, 'length')} />
+                  <Row label="CG from nose" value={q(cgFromNose, 'length')} />
                 </>
               )
             })()}
@@ -439,7 +461,7 @@ export function StabilityPanel({
               return (
                 <Row
                   label="Total wet / dry mass"
-                  value={`${wet.toFixed(3)} / ${dry.toFixed(3)} kg`}
+                  value={`${num(wet, 'mass')} / ${q(dry, 'mass')}`}
                   small
                 />
               )
@@ -459,18 +481,13 @@ export function StabilityPanel({
           <label className="mb-2 flex items-center justify-between gap-2 text-xs text-slate-400">
             Guided rail length
             <span className="flex items-center gap-1">
-              <input
-                type="number"
-                min={0}
-                step={0.1}
+              <UnitField
                 value={railLength}
-                onChange={(e) => {
-                  const v = Number(e.target.value)
-                  onSetRailLength(Number.isFinite(v) && v >= 0 ? v : 0)
-                }}
-                className="w-20 rounded border border-slate-700 bg-slate-800 px-1 py-0.5 text-right text-slate-100 focus:border-cyan-500 focus:outline-none"
+                onChange={(m) => onSetRailLength(Number.isFinite(m) && m >= 0 ? m : 0)}
+                kind="length"
+                min={0}
               />
-              <span className="text-slate-500">m</span>
+              <span className="text-slate-500">{lab('length')}</span>
             </span>
           </label>
           <button
diff --git a/star-openrocket/frontend/src/components/viewer/chartTheme.ts b/star-openrocket/frontend/src/components/viewer/chartTheme.ts
index 725d01070..6220cd31c 100644
--- a/star-openrocket/frontend/src/components/viewer/chartTheme.ts
+++ b/star-openrocket/frontend/src/components/viewer/chartTheme.ts
@@ -59,6 +59,7 @@ export const FD = {
   fft: '#c084fc', // purple — frequency response
   marginOurs: '#e879f9', // fuchsia — our CP margin
   marginRocketpy: '#60a5fa', // blue — RocketPy CP margin
+  wind: '#22d3ee', // cyan — ambient wind the rocket flies through
 } as const
 
 export const REFERENCE = '#cbd5e1' // slate-300 — burnout / apogee guide lines (legible on dark)
diff --git a/star-openrocket/frontend/src/lib/cm.ts b/star-openrocket/frontend/src/lib/cm.ts
index 8cbb3d06f..53143300d 100644
--- a/star-openrocket/frontend/src/lib/cm.ts
+++ b/star-openrocket/frontend/src/lib/cm.ts
@@ -57,12 +57,3 @@ export function centreOfMass(parts: Part[]): CMResult {
     partCount: parts.length,
   }
 }
-
-/** Format a length in metres, with millimetres for readability. */
-export function formatMetres(value: number): string {
-  return `${value.toFixed(4)} m`
-}
-
-export function formatMass(value: number): string {
-  return value < 1 ? `${(value * 1000).toFixed(1)} g` : `${value.toFixed(4)} kg`
-}
diff --git a/star-openrocket/frontend/src/recovery/lib/quantities.ts b/star-openrocket/frontend/src/lib/units/quantities.ts
similarity index 93%
rename from star-openrocket/frontend/src/recovery/lib/quantities.ts
rename to star-openrocket/frontend/src/lib/units/quantities.ts
index 359f2e29f..9993fd27e 100644
--- a/star-openrocket/frontend/src/recovery/lib/quantities.ts
+++ b/star-openrocket/frontend/src/lib/units/quantities.ts
@@ -27,8 +27,8 @@ export type System = 'metric' | 'imperial'
  * dropdown for them would be a control that does nothing.
  */
 export type Kind =
-  | 'altitude' | 'length' | 'distance' | 'area'
-  | 'mass' | 'speed' | 'accel' | 'force' | 'stiffness' | 'energy'
+  | 'altitude' | 'length' | 'distance' | 'area' | 'volume'
+  | 'mass' | 'speed' | 'accel' | 'force' | 'torque' | 'stiffness' | 'energy'
   | 'pressure' | 'temperature' | 'tempDelta' | 'density' | 'lapse'
 
 export interface UnitDef {
@@ -85,6 +85,13 @@ export const QUANTITIES: Record<Kind, {
     metric: { label: 'm²', perUnit: 1, digits: 4, step: 0.001 },
     imperial: { label: 'ft²', perUnit: M_PER_FT ** 2, digits: 3, step: 0.01 },
   },
+  volume: {
+    // Part volumes are small: cm³ is what the properties panel has always
+    // shown, so metric stays cm³ (1e-6 m³) rather than a mostly-zero m³.
+    name: 'Volume', si: 'm³',
+    metric: { label: 'cm³', perUnit: 1e-6, digits: 1, step: 1 },
+    imperial: { label: 'in³', perUnit: M_PER_IN ** 3, digits: 2, step: 0.1 },
+  },
   mass: {
     name: 'Mass', si: 'kg',
     metric: { label: 'kg', perUnit: 1, digits: 2, step: 0.05 },
@@ -105,6 +112,13 @@ export const QUANTITIES: Record<Kind, {
     metric: { label: 'N', perUnit: 1, digits: 0, step: 100 },
     imperial: { label: 'lbf', perUnit: N_PER_LBF, digits: 0, step: 50 },
   },
+  torque: {
+    // Bending moment on the airframe, and any other moment readout. Imperial
+    // is ft·lbf, derived from the base constants like every other unit here.
+    name: 'Torque / moment', si: 'N·m',
+    metric: { label: 'N·m', perUnit: 1, digits: 1, step: 1 },
+    imperial: { label: 'ft·lbf', perUnit: N_PER_LBF * M_PER_FT, digits: 1, step: 1 },
+  },
   stiffness: {
     name: 'Stiffness', si: 'N/m',
     metric: { label: 'N/m', perUnit: 1, digits: 0, step: 100 },
@@ -173,8 +187,10 @@ export const DEFAULT_PREFS: UnitPrefs = {
   force: 'imperial',
   distance: 'metric',
   area: 'metric',
+  volume: 'metric',
   speed: 'metric',
   accel: 'metric',
+  torque: 'metric',
   stiffness: 'metric',
   energy: 'metric',
   pressure: 'metric',
diff --git a/star-openrocket/frontend/src/recovery/lib/unitsContext.tsx b/star-openrocket/frontend/src/lib/units/unitsContext.tsx
similarity index 92%
rename from star-openrocket/frontend/src/recovery/lib/unitsContext.tsx
rename to star-openrocket/frontend/src/lib/units/unitsContext.tsx
index b94ec126e..7a178b929 100644
--- a/star-openrocket/frontend/src/recovery/lib/unitsContext.tsx
+++ b/star-openrocket/frontend/src/lib/units/unitsContext.tsx
@@ -18,14 +18,24 @@ import {
   createContext, useCallback, useContext, useEffect, useMemo, useRef, useState,
 } from 'react'
 import type { ReactNode } from 'react'
-import { getSettings, putSettings } from '../api/client'
-import { fmtDuration } from './units'
+import { getSettings, putSettings } from '../../recovery/api/client'
 import {
   DEFAULT_PREFS, DEFAULT_PRECISION, KINDS, decimalsFor, formatForInput,
   fromDisplay, parsePrecision, parsePrefs, toDisplay, unitFor,
 } from './quantities'
 import type { Kind, Precision, System, UnitDef, UnitPrefs } from './quantities'
 
+/** Seconds as m:ss when it is long enough for that to help. The plain-seconds
+ *  branch takes its decimals from the caller so it follows the Units tab's
+ *  precision bound; the m:ss branch is a clock format, with no decimals to bound.
+ *  Local to the provider -- the `dur` helper below is its only consumer. */
+function fmtDuration(s: number, digits = 1): string {
+  if (!Number.isFinite(s)) return '-'
+  if (s < 60) return `${s.toFixed(digits)} s`
+  const m = Math.floor(s / 60)
+  return `${m}:${(s - m * 60).toFixed(0).padStart(2, '0')} (${s.toFixed(0)} s)`
+}
+
 /** Survives a reload when the backend is down, which is a state this app
  *  supports on every other route too. The server always wins when it answers;
  *  this is a cache, not a second source of truth. */
diff --git a/star-openrocket/frontend/src/main.tsx b/star-openrocket/frontend/src/main.tsx
index 7c89e1592..6d970072f 100644
--- a/star-openrocket/frontend/src/main.tsx
+++ b/star-openrocket/frontend/src/main.tsx
@@ -3,7 +3,7 @@ import { createRoot } from 'react-dom/client'
 
 import App from './App'
 import './index.css'
-import { UnitsProvider } from './recovery/lib/unitsContext'
+import { UnitsProvider } from './lib/units/unitsContext'
 
 createRoot(document.getElementById('root')!).render(
   <StrictMode>
diff --git a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
index b7cd89e47..f56b989f9 100644
--- a/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
+++ b/star-openrocket/frontend/src/recovery/RecoveryTab.tsx
@@ -12,11 +12,9 @@ import { RecoveryPanel } from './components/recovery/RecoveryPanel'
 import { CornersPanel } from './components/corners/CornersPanel'
 import { StudyPanel } from './components/study/StudyPanel'
 import { CrosscheckPanel } from './components/crosscheck/CrosscheckPanel'
-import { AtmospherePanel } from './components/atmosphere/AtmospherePanel'
 import { DriftPanel } from './components/drift/DriftPanel'
-import { UnitsPanel } from './components/settings/UnitsPanel'
 
-type Tab = 'recovery' | 'corners' | 'study' | 'drift' | 'crosscheck' | 'atmosphere' | 'units'
+type Tab = 'recovery' | 'corners' | 'study' | 'drift' | 'crosscheck'
 
 const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
   { id: 'recovery', label: 'Setup & Basic Run', hint: 'Descent, loads and off-nominal cases',
@@ -30,10 +28,6 @@ const TABS: { id: Tab; label: string; hint: string; accent: string }[] = [
   { id: 'crosscheck', label: 'Cross-check',
     hint: 'This tool vs OpenRocket vs the recovery mastersheet',
     accent: 'border-rose-500 text-rose-400' },
-  { id: 'atmosphere', label: 'Atmospheric Data', hint: 'Measured climatology at FAR',
-    accent: 'border-emerald-500 text-emerald-400' },
-  { id: 'units', label: 'Units', hint: 'Which unit each quantity displays in',
-    accent: 'border-[var(--color-text-muted)] text-[var(--color-text-primary)]' },
 ]
 
 interface Props {
@@ -96,12 +90,6 @@ export function RecoveryTab({ ui, onChange, design }: Props) {
           <div className={tab === 'crosscheck' ? '' : 'hidden'}>
             <CrosscheckPanel ui={ui} />
           </div>
-          <div className={tab === 'atmosphere' ? '' : 'hidden'}>
-            <AtmospherePanel />
-          </div>
-          <div className={tab === 'units' ? '' : 'hidden'}>
-            <UnitsPanel />
-          </div>
         </div>
       </div>
     </div>
diff --git a/star-openrocket/frontend/src/recovery/api/client.ts b/star-openrocket/frontend/src/recovery/api/client.ts
index 96ad0eec3..6583de73f 100644
--- a/star-openrocket/frontend/src/recovery/api/client.ts
+++ b/star-openrocket/frontend/src/recovery/api/client.ts
@@ -12,9 +12,9 @@
  */
 
 import type { Climatology } from '../types/climatology'
-import type { Kind } from '../lib/quantities'
+import type { Kind } from '../../lib/units/quantities'
 import type {
-  ChartSample, Config, DriftResult, Result, TrajectorySample,
+  AtmosphereProfile, ChartSample, Config, DriftResult, Result, TrajectorySample,
 } from '../types/schema'
 import bundledClimatology from '../fixtures/climatology.json'
 import { stubResult } from './fixture'
@@ -722,3 +722,16 @@ export async function runDrift(
     body: JSON.stringify({ config }),
   })
 }
+
+/** The SELECTED atmosphere (T/p/rho vs altitude) the physics uses for a pad state —
+ *  the same `physics.atmosphere.Atmosphere` the solver runs. Send the resolved wire site
+ *  (T_pad/p_pad/lapse, any of them null = standard/re-fit). Plotted on the Environment tab. */
+export async function resolveAtmosphere(body: {
+  T_pad: number | null; p_pad: number | null; lapse: number | null
+  max_altitude?: number; samples?: number
+}): Promise<ApiResponse<AtmosphereProfile>> {
+  return request<AtmosphereProfile>('/atmosphere', {
+    method: 'POST',
+    body: JSON.stringify(body),
+  })
+}
diff --git a/star-openrocket/frontend/src/recovery/components/TrajectoryOverlay.tsx b/star-openrocket/frontend/src/recovery/components/TrajectoryOverlay.tsx
index f8fd81128..4e020e69b 100644
--- a/star-openrocket/frontend/src/recovery/components/TrajectoryOverlay.tsx
+++ b/star-openrocket/frontend/src/recovery/components/TrajectoryOverlay.tsx
@@ -23,7 +23,7 @@ import {
   AXIS, CHANNELS, CONTEXT_OPACITY, GRID, NOMINAL_COLOUR,
   TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel,
 } from './chartTheme'
-import { useUnits } from '../lib/unitsContext'
+import { useUnits } from '../../lib/units/unitsContext'
 
 /** One line. `muted` is the anonymous context layer: drawn, but with no
  *  identity and no tooltip entry. */
diff --git a/star-openrocket/frontend/src/recovery/components/atmosphere/AtmospherePanel.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/AtmospherePanel.tsx
index 4dcad5be7..72e9b9972 100644
--- a/star-openrocket/frontend/src/recovery/components/atmosphere/AtmospherePanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/atmosphere/AtmospherePanel.tsx
@@ -16,7 +16,7 @@ import { Badge, Empty, Info, PageHeader } from '../ui'
 import { PressureByMonth } from './PressureByMonth'
 import { TemperatureByMonth } from './TemperatureByMonth'
 import { SoundingProfile } from './SoundingProfile'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 export function AtmospherePanel() {
   const { q } = useUnits()
diff --git a/star-openrocket/frontend/src/recovery/components/atmosphere/PressureByMonth.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/PressureByMonth.tsx
index afcddd052..be7bc379c 100644
--- a/star-openrocket/frontend/src/recovery/components/atmosphere/PressureByMonth.tsx
+++ b/star-openrocket/frontend/src/recovery/components/atmosphere/PressureByMonth.tsx
@@ -23,8 +23,8 @@ import type { Climatology } from '../../types/climatology'
 import { Card, Chip, Info, Select, Toggle } from '../ui'
 import { AXIS, GRID, MARGIN, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
 import { monthName, seriesColour } from '../../lib/units'
-import type { Kind } from '../../lib/quantities'
-import { useUnits } from '../../lib/unitsContext'
+import type { Kind } from '../../../lib/units/quantities'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 type Metric = 'pressure' | 'density'
 
diff --git a/star-openrocket/frontend/src/recovery/components/atmosphere/SoundingProfile.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/SoundingProfile.tsx
index 1717550be..e94d4ddbd 100644
--- a/star-openrocket/frontend/src/recovery/components/atmosphere/SoundingProfile.tsx
+++ b/star-openrocket/frontend/src/recovery/components/atmosphere/SoundingProfile.tsx
@@ -31,7 +31,7 @@ import type { Climatology, Sounding, UpperMonth } from '../../types/climatology'
 import { Card, Empty, Select, Toggle } from '../ui'
 import { AXIS, GRID, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
 import { monthName } from '../../lib/units'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 type Source = 'climatology' | 'sounding'
 
diff --git a/star-openrocket/frontend/src/recovery/components/atmosphere/TemperatureByMonth.tsx b/star-openrocket/frontend/src/recovery/components/atmosphere/TemperatureByMonth.tsx
index e873dedd1..e526605d5 100644
--- a/star-openrocket/frontend/src/recovery/components/atmosphere/TemperatureByMonth.tsx
+++ b/star-openrocket/frontend/src/recovery/components/atmosphere/TemperatureByMonth.tsx
@@ -24,8 +24,8 @@ import type { Climatology } from '../../types/climatology'
 import { Card, Chip, Info, Select, Toggle } from '../ui'
 import { AXIS, GRID, MARGIN, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
 import { monthName, seriesColour } from '../../lib/units'
-import type { Kind } from '../../lib/quantities'
-import { useUnits } from '../../lib/unitsContext'
+import type { Kind } from '../../../lib/units/quantities'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 type Metric = 'temperature' | 'lapse'
 
diff --git a/star-openrocket/frontend/src/recovery/components/chartTheme.ts b/star-openrocket/frontend/src/recovery/components/chartTheme.ts
index aff4c69a5..97624af77 100644
--- a/star-openrocket/frontend/src/recovery/components/chartTheme.ts
+++ b/star-openrocket/frontend/src/recovery/components/chartTheme.ts
@@ -12,7 +12,7 @@
  * font-size multiplier the charts would not see.
  */
 
-import type { Kind } from '../lib/quantities'
+import type { Kind } from '../../lib/units/quantities'
 
 export const AXIS = {
   stroke: '#9fb0c4', // --color-text-muted
diff --git a/star-openrocket/frontend/src/recovery/components/corners/CornerChart.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornerChart.tsx
index 68471551c..b9af004d6 100644
--- a/star-openrocket/frontend/src/recovery/components/corners/CornerChart.tsx
+++ b/star-openrocket/frontend/src/recovery/components/corners/CornerChart.tsx
@@ -17,7 +17,7 @@ import { colourFor } from '../chartTheme'
 import { TrajectoryOverlay } from '../TrajectoryOverlay'
 import type { OverlaySeries } from '../TrajectoryOverlay'
 import { cornerLabel } from '../../lib/corners'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 import { Empty } from '../ui'
 
 /** Wider than the results chart. It is the point of the tab, and 32 overlaid
diff --git a/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
index 8a120e135..f7346f314 100644
--- a/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
+++ b/star-openrocket/frontend/src/recovery/components/corners/CornerTable.tsx
@@ -9,7 +9,7 @@
 import type { SweepCorner, SweepResult } from '../../api/client'
 import { Badge, Card, Toggle } from '../ui'
 import { candidateLabel, cornerValue, keyMeta, orderedKeys } from '../../lib/corners'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 import { MAX_SELECTED, colourFor } from '../chartTheme'
 
 /** Which categories each corner is the worst for, so the rows that matter are
diff --git a/star-openrocket/frontend/src/recovery/components/corners/WorstCards.tsx b/star-openrocket/frontend/src/recovery/components/corners/WorstCards.tsx
index 0ed48f79a..7c47ef01f 100644
--- a/star-openrocket/frontend/src/recovery/components/corners/WorstCards.tsx
+++ b/star-openrocket/frontend/src/recovery/components/corners/WorstCards.tsx
@@ -22,9 +22,9 @@ import type { SweepCorner, SweepResult, SweepWorst } from '../../api/client'
 import { Card } from '../ui'
 import { colourFor } from '../chartTheme'
 import { candidateLabel, cornerValue, keyMeta, orderedKeys } from '../../lib/corners'
-import type { Kind } from '../../lib/quantities'
-import { useUnits } from '../../lib/unitsContext'
-import type { Units } from '../../lib/unitsContext'
+import type { Kind } from '../../../lib/units/quantities'
+import { useUnits } from '../../../lib/units/unitsContext'
+import type { Units } from '../../../lib/units/unitsContext'
 
 type CategoryKey = 'structure' | 'drift' | 'impact'
 
diff --git a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
index 789baa8a6..25b03ab95 100644
--- a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
@@ -22,18 +22,20 @@ import { physicsKey, toWireConfig } from '../../lib/serialise'
 import type { UiConfig } from '../../types/schema'
 import type { Channel } from '../chartTheme'
 import { CHANNELS } from '../chartTheme'
-import { Badge, Button, Card, Empty, NumberInput, PageHeader } from '../ui'
+import { Badge, Button, Card, Empty, PageHeader, UnitInput } from '../ui'
+import { useUnits } from '../../../lib/units/unitsContext'
 import { CrosscheckAssumptions } from './CrosscheckAssumptions'
 import { CrosscheckChart } from './CrosscheckChart'
 import { CrosscheckTable } from './CrosscheckTable'
 
 export function CrosscheckPanel({ ui }: { ui: UiConfig }) {
+  const { lab } = useUnits()
   const [result, setResult] = useState<CrosscheckResult | null>(null)
   const [running, setRunning] = useState(false)
   const [error, setError] = useState<string | null>(null)
   const [channel, setChannel] = useState<Channel>('z')
-  /** Mastersheet drift only. Ours and OpenRocket's runs are windless either
-   *  way, so this moves exactly one row and says so. */
+  /** Drives both wind-aware models: our coupled descent's ground-track drift and
+   *  the mastersheet's descent-time × wind. OpenRocket stays windless. */
   const [wind, setWind] = useState(0)
 
   const first = useRef(true)
@@ -144,19 +146,19 @@ export function CrosscheckPanel({ ui }: { ui: UiConfig }) {
 
           <Card
             title="Wind"
-            subtitle="Moves the drift row and nothing else. Drift in this model is coming soon."
+            subtitle="Drives the drift row for both wind-aware models — our coupled ground-track drift and the mastersheet's estimate. OpenRocket stays windless."
           >
             <div className="flex flex-wrap items-center gap-3">
               <div className="w-40">
-                <NumberInput
+                <UnitInput
                   value={wind}
                   onChange={(v) => setWind(Math.max(0, v ?? 0))}
+                  kind="speed"
                   min={0}
-                  step={0.5}
                 />
               </div>
               <p className="font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]">
-                m/s.
+                {lab('speed')}.
               </p>
             </div>
           </Card>
diff --git a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckTable.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckTable.tsx
index 5a9bbc6f5..c1f8a7e24 100644
--- a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckTable.tsx
+++ b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckTable.tsx
@@ -10,7 +10,7 @@
  */
 
 import type { CrossMetric, CrossModel, CrossModelResult } from '../../api/client'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 import { Card } from '../ui'
 import { MODEL_COLOUR, MODEL_ORDER } from './models'
 
diff --git a/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx b/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
index 569370e5f..d31bd866e 100644
--- a/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/drift/DriftPanel.tsx
@@ -1,32 +1,25 @@
 /**
  * The Drift tab: how far the vehicle drifts under recovery, and where it lands.
  *
- * The wind can come from three places, in rising order of how much the user is
- * asserting: the monthly climatology **mean** (the realistic central estimate,
- * the same dataset the Atmospheric Data tab plots), its **p95** sibling (a
- * deterministic worst-case wind, standing in for a Monte-Carlo dispersion the
- * tool does not yet do), or a **manual** constant the user types.
+ * This is a RESULTS view. The wind is the shared launch wind, chosen once on the
+ * top-level Environment tab and carried on `ui.wind`; the loads, the cross-check and
+ * the ascent all read the same wind. This tab just runs the nominal descent under it
+ * and draws the ground track. The only knob here is the airframe attitude, which sets
+ * the descent rate (and so the exposure time), because that is genuinely a drift-only
+ * choice — it does not belong to the environment.
  *
- * The physics is the equilibrium "canopy moves with the wind" model in
- * physics/drift.py -- there is no separate "how much wind it catches" term, a
- * round canopy simply goes where the air goes -- so the interesting output is
- * purely geometric: a plan-view ground track plus the distance and bearing.
- *
- * Wind selection is local component state, not on the shared config: it does
- * not change the vehicle, and the panel stays mounted when tabs switch, so a
- * chosen month survives everything but a full reload.
+ * The physics is the coupled descent in physics/drift.py: a round canopy relaxes toward
+ * the local wind, so the interesting output is purely geometric — a plan-view ground
+ * track plus the distance and bearing.
  */
 
-import { useEffect, useMemo, useRef, useState } from 'react'
-import type { DriftResult, UiConfig, WindInput } from '../../types/schema'
+import { useEffect, useRef, useState } from 'react'
+import type { DriftResult, UiConfig } from '../../types/schema'
 import { runDrift } from '../../api/client'
 import { physicsKey, toWireConfig } from '../../lib/serialise'
-import { profileWindInput, useWindClimatology, type WindMode } from '../../lib/wind'
-import { monthName } from '../../lib/units'
-import { useUnits } from '../../lib/unitsContext'
-import { Card, Empty, Field, NumberInput, PageHeader, Select, Stat, UnitInput } from '../ui'
+import { useUnits } from '../../../lib/units/unitsContext'
+import { Card, Empty, Field, PageHeader, Select, Stat } from '../ui'
 import { GroundTrack } from './GroundTrack'
-import { WindProfileChart } from './WindProfileChart'
 
 /** 16-point compass label for a bearing, so 293° also reads as WNW. */
 const POINTS = ['N', 'NNE', 'NE', 'ENE', 'E', 'ESE', 'SE', 'SSE',
@@ -39,58 +32,27 @@ export function DriftPanel({ ui, onChange }: {
   ui: UiConfig
   onChange: (u: UiConfig) => void
 }) {
-  const { grid_m, byTag, tags } = useWindClimatology()
-
-  const [mode, setMode] = useState<WindMode>('climatology')
-  const [tag, setTag] = useState('edw-nid')
-  // Default the month to whatever the Site form is using, so the two tabs agree.
-  const [month, setMonth] = useState(ui.site.month)
-  const [manualSpeed, setManualSpeed] = useState<number | null>(5) // m/s SI
-  const [manualDir, setManualDir] = useState<number | null>(270)   // from west
-  const [which, setWhich] = useState<'axial' | 'broadside'>('axial')
+  // The airframe bound is stored on the shared config, not in local state, so Full
+  // Flight (and the save file) reflect this choice without depending on a visit here.
+  const which = ui.airframeBound
+  const setWhich = (v: 'axial' | 'broadside') => onChange({ ...ui, airframeBound: v })
 
   const [drift, setDrift] = useState<DriftResult | null>(null)
   const [error, setError] = useState<string | null>(null)
   const [running, setRunning] = useState(false)
 
-  // Fall back to the first tag that actually carries wind if the default is
-  // absent (e.g. a bundle without the pooled set).
-  const activeTag = byTag && byTag[tag] ? tag : tags[0]?.id ?? tag
-  const wm = byTag?.[activeTag]?.[month] ?? null
-  const isClimatology = mode === 'climatology' || mode === 'worst'
-
-  // The WindInput posted to the backend -- values, not the recipe.
-  const windInput = useMemo<WindInput | null>(() => {
-    if (!isClimatology) {
-      return { kind: 'constant', speed: manualSpeed ?? 0, direction: manualDir ?? 0 }
-    }
-    if (!wm || !grid_m) return null
-    return profileWindInput(wm, grid_m, mode === 'worst')
-  }, [isClimatology, manualSpeed, manualDir, wm, grid_m, mode])
-
+  const hasWind = ui.wind != null
+  // physicsKey folds in the shared wind, so the drift re-runs when the Environment tab
+  // changes it; `which` re-runs the descent at the other airframe bound.
   const cfgKey = physicsKey(ui)
-  const windKey = JSON.stringify(windInput)
   const seq = useRef(0)
 
-  // Publish the resolved wind onto the shared config so the SAME wind reaches the
-  // loads (Setup tab) and the crosscheck -- the model is wind-aware everywhere now,
-  // not just here. The selection UI (mode/climatology/manual) stays local; only the
-  // resolved WindInput is shared. Keyed on windKey, and only written when it
-  // actually changed, so it does not loop with the parent re-render.
   useEffect(() => {
-    if (JSON.stringify(ui.wind ?? null) !== windKey) {
-      onChange({ ...ui, wind: windInput })
-    }
-    // eslint-disable-next-line react-hooks/exhaustive-deps
-  }, [windKey])
-
-  useEffect(() => {
-    if (!windInput) return
+    if (!hasWind) { setDrift(null); return }
     const mine = ++seq.current
     const id = setTimeout(() => {
       setRunning(true)
-      // Inject the wind so the drift is immediate even before the sync above lands.
-      runDrift(toWireConfig({ ...ui, wind: windInput }), which).then((res) => {
+      runDrift(toWireConfig(ui), which).then((res) => {
         if (mine !== seq.current) return
         setRunning(false)
         if (res.data) { setDrift(res.data); setError(null) }
@@ -98,124 +60,46 @@ export function DriftPanel({ ui, onChange }: {
       })
     }, 250)
     return () => clearTimeout(id)
-    // cfgKey/windKey stand in for ui/windInput; `which` re-runs the descent.
+    // cfgKey stands in for ui; `which` re-runs the descent.
     // eslint-disable-next-line react-hooks/exhaustive-deps
-  }, [cfgKey, windKey, which])
+  }, [cfgKey, which, hasWind])
 
   return (
     <div className="space-y-4">
       <PageHeader title="Drift">
-        How far the nominal descent drifts downwind, and where it lands. The
-        canopy is carried by the wind at every altitude; pick the wind below.
+        How far the nominal descent drifts downwind, and where it lands. The wind is the
+        shared launch wind — pick it on the Environment tab.
       </PageHeader>
 
       <div className="grid grid-cols-1 gap-4 lg:grid-cols-[360px_1fr]">
-        <WindControls
-          mode={mode} setMode={setMode}
-          tag={activeTag} setTag={setTag} tags={tags} hasWind={!!byTag}
-          month={month} setMonth={setMonth} byTag={byTag} activeTag={activeTag}
-          manualSpeed={manualSpeed} setManualSpeed={setManualSpeed}
-          manualDir={manualDir} setManualDir={setManualDir}
-          which={which} setWhich={setWhich}
-        />
-
-        <div className="space-y-4">
-          <DriftResults drift={windInput ? drift : null} error={error} running={running} />
-          {isClimatology && wm && grid_m && (
-            <Card title={`Wind aloft - ${monthName(month)}`}
-                  subtitle="The climatology the drift above is integrated over.">
-              <WindProfileChart wm={wm} grid={grid_m} padH={grid_m[0]}
-                                worst={mode === 'worst'} />
-            </Card>
-          )}
-        </div>
+        <Card title="Descent">
+          <Field label="Airframe attitude"
+                 hint="Sets the descent rate, and so the exposure time: broadside falls slower and drifts a touch further.">
+            <Select value={which} onChange={setWhich}
+                    options={[{ value: 'axial', label: 'Axial (nose-down)' },
+                              { value: 'broadside', label: 'Broadside' }]} />
+          </Field>
+        </Card>
+
+        <DriftResults drift={hasWind ? drift : null} error={error}
+                      running={running} hasWind={hasWind} />
       </div>
     </div>
   )
 }
 
-function WindControls({
-  mode, setMode, tag, setTag, tags, hasWind, month, setMonth, byTag, activeTag,
-  manualSpeed, setManualSpeed, manualDir, setManualDir, which, setWhich,
-}: {
-  mode: WindMode; setMode: (v: WindMode) => void
-  tag: string; setTag: (v: string) => void; tags: { id: string; label: string }[]
-  hasWind: boolean
-  month: number; setMonth: (v: number) => void
-  byTag: Record<string, Record<number, unknown>> | null; activeTag: string
-  manualSpeed: number | null; setManualSpeed: (v: number | null) => void
-  manualDir: number | null; setManualDir: (v: number | null) => void
-  which: 'axial' | 'broadside'; setWhich: (v: 'axial' | 'broadside') => void
-}) {
-  const isClimatology = mode === 'climatology' || mode === 'worst'
-  return (
-    <Card title="Wind">
-      <div className="space-y-3">
-        <Field label="Source">
-          <Select
-            value={mode} onChange={setMode}
-            options={[
-              { value: 'climatology', label: 'Climatology - monthly mean' },
-              { value: 'worst', label: 'Worst-case - monthly p95' },
-              { value: 'manual', label: 'Manual - constant wind' },
-            ]}
-          />
-        </Field>
-
-        {isClimatology ? (
-          !hasWind ? (
-            <Empty>No wind climatology in this bundle. Run
-              site-climatology/wind_profile.py.</Empty>
-          ) : (
-            <>
-              <Field label="Dataset">
-                <Select value={tag} onChange={setTag}
-                        options={tags.map((t) => ({ value: t.id, label: t.label }))} />
-              </Field>
-              <Field label="Month">
-                <Select
-                  value={String(month)} onChange={(v) => setMonth(Number(v))}
-                  options={Array.from({ length: 12 }, (_, i) => {
-                    const rec = byTag?.[activeTag]?.[i + 1] as { n: number } | undefined
-                    return {
-                      value: String(i + 1),
-                      label: `${monthName(i + 1)}${rec ? ` (n=${rec.n})` : ' (no data)'}`,
-                    }
-                  })}
-                />
-              </Field>
-            </>
-          )
-        ) : (
-          <>
-            <Field label="Wind speed" kind="speed">
-              <UnitInput value={manualSpeed} onChange={setManualSpeed}
-                         kind="speed" min={0} />
-            </Field>
-            <Field label="Direction (from)" unit="°"
-                   hint="Bearing the wind blows FROM: 270 is a westerly.">
-              <NumberInput value={manualDir} onChange={setManualDir}
-                           min={0} max={360} step={5} />
-            </Field>
-          </>
-        )}
-
-        <Field label="Airframe attitude"
-               hint="Sets the descent rate, and so the exposure time: broadside falls slower and drifts a touch further.">
-          <Select value={which} onChange={setWhich}
-                  options={[{ value: 'axial', label: 'Axial (nose-down)' },
-                            { value: 'broadside', label: 'Broadside' }]} />
-        </Field>
-      </div>
-    </Card>
-  )
-}
-
-function DriftResults({ drift, error, running }: {
-  drift: DriftResult | null; error: string | null; running: boolean
+function DriftResults({ drift, error, running, hasWind }: {
+  drift: DriftResult | null; error: string | null; running: boolean; hasWind: boolean
 }) {
   const { num, dec } = useUnits()
 
+  if (!hasWind) {
+    return (
+      <Card title="Drift">
+        <Empty>Set the wind on the Environment tab to compute drift.</Empty>
+      </Card>
+    )
+  }
   if (error) {
     return (
       <Card title="Drift">
@@ -226,7 +110,7 @@ function DriftResults({ drift, error, running }: {
   if (!drift) {
     return (
       <Card title="Drift">
-        <Empty>{running ? 'Computing…' : 'Pick a wind to compute drift.'}</Empty>
+        <Empty>{running ? 'Computing…' : 'Computing drift…'}</Empty>
       </Card>
     )
   }
diff --git a/star-openrocket/frontend/src/recovery/components/drift/GroundTrack.tsx b/star-openrocket/frontend/src/recovery/components/drift/GroundTrack.tsx
index b3d41265a..68239350c 100644
--- a/star-openrocket/frontend/src/recovery/components/drift/GroundTrack.tsx
+++ b/star-openrocket/frontend/src/recovery/components/drift/GroundTrack.tsx
@@ -15,9 +15,39 @@ import {
 } from 'recharts'
 import type { DriftResult } from '../../types/schema'
 import { AXIS, GRID, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 import { Empty } from '../ui'
 
+const LANDING = '#ef4444'
+
+/** One point on the track: East, North (both display units) and the altitude
+ *  it was at. The default Recharts tooltip put the raw East float on the label
+ *  line and called the North series "north", which read as noise; this names
+ *  every value and drops the altitude in as the header. */
+function TrackTip({ active, payload }: {
+  active?: boolean
+  payload?: { payload: { xd: number; yd: number; z: number } }[]
+}) {
+  const { dec, val, lab } = useUnits()
+  if (!active || !payload?.length) return null
+  const p = payload[0].payload
+  const row = (name: string, v: number, unit: string) => (
+    <div className="flex items-baseline gap-4 whitespace-nowrap">
+      <span className="text-[var(--color-text-secondary)]">{name}</span>
+      <span className="ml-auto text-[var(--color-text-primary)]">{dec(v, 0)} {unit}</span>
+    </div>
+  )
+  return (
+    <div style={{ ...TOOLTIP_STYLE, padding: '6px 10px' }}>
+      <div style={TOOLTIP_LABEL_STYLE}>
+        at {dec(val(p.z, 'altitude'), 0)} {lab('altitude')} AGL
+      </div>
+      {row('East', p.xd, lab('distance'))}
+      {row('North', p.yd, lab('distance'))}
+    </div>
+  )
+}
+
 export function GroundTrack({ drift }: { drift: DriftResult }) {
   const { val, lab, dec } = useUnits()
   const d = (m: number) => val(m, 'distance')
@@ -27,14 +57,19 @@ export function GroundTrack({ drift }: { drift: DriftResult }) {
   }
 
   const data = drift.track.map((p) => ({ xd: d(p.x), yd: d(p.y), z: p.z }))
-  const xEnd = d(drift.landing.x)
-  const yEnd = d(drift.landing.y)
+  // The EXACT landing coordinate in display units, for the landing dot.
+  const xLand = d(drift.landing.x)
+  const yLand = d(drift.landing.y)
 
-  // Symmetric square domain about the pad, padded 15% and floored so a small
-  // drift is not magnified into noise. 50 m is a sensible smallest full-scale.
+  // Symmetric square domain about the pad, zoomed in as tight as the trace allows:
+  // the half-extent is the farthest point from the pad plus a small margin, floored so
+  // a near-calm drift is not magnified into noise. 50 m is a sensible smallest full-scale.
   const reach = Math.max(...data.map((p) => Math.max(Math.abs(p.xd), Math.abs(p.yd))))
-  const R = Math.max(reach * 1.15, d(50))
-  const fmt = (v: number) => dec(v, 0)
+  const R = Math.max(reach * 1.12, d(50))
+  const ticks = [-R, -R / 2, 0, R / 2, R]
+  // The axis unit is km/mi, so a sub-unit scale needs decimals or every tick reads 0.
+  const decimals = R >= 2 ? 0 : R >= 0.2 ? 1 : 2
+  const fmt = (v: number) => dec(v, decimals)
 
   return (
     <div className="mx-auto aspect-square w-full max-w-[34rem]">
@@ -43,22 +78,15 @@ export function GroundTrack({ drift }: { drift: DriftResult }) {
           <CartesianGrid {...GRID} />
           <XAxis
             type="number" dataKey="xd" domain={[-R, R]}
-            {...AXIS} tickFormatter={fmt} allowDecimals={false}
+            {...AXIS} ticks={ticks} tickFormatter={fmt}
             label={axisLabel(`East (${lab('distance')})`)}
           />
           <YAxis
             type="number" domain={[-R, R]} width={56}
-            {...AXIS} tickFormatter={fmt} allowDecimals={false}
+            {...AXIS} ticks={ticks} tickFormatter={fmt}
             label={axisLabel(`North (${lab('distance')})`, -90)}
           />
-          <Tooltip
-            contentStyle={TOOLTIP_STYLE}
-            labelStyle={TOOLTIP_LABEL_STYLE}
-            formatter={(v: number | string, name: string) => {
-              if (name === 'yd') return [`${dec(Number(v), 0)} ${lab('distance')} N`, 'north']
-              return [`${dec(Number(v), 0)} ${lab('distance')}`, name]
-            }}
-          />
+          <Tooltip content={<TrackTip />} />
 
           {/* Crosshair through the pad, so the origin reads as the launch point. */}
           <ReferenceLine x={0} stroke="#4b5563" />
@@ -70,9 +98,14 @@ export function GroundTrack({ drift }: { drift: DriftResult }) {
             dot={false} isAnimationActive={false}
           />
 
-          {/* Pad at the origin, landing where the wind carried it. */}
-          <ReferenceDot x={0} y={0} r={4} fill="#f8fafc" stroke="none" />
-          <ReferenceDot x={xEnd} y={yEnd} r={5} fill="#ef4444" stroke="none" />
+          {/* The descent starts at apogee (the origin, above the pad), and the
+              track curves from any lateral velocity there, bending into the wind
+              down to the landing. Landing's East/North are the emphasised ticks. */}
+          <ReferenceDot x={0} y={0} r={4} fill="#f8fafc" stroke="none"
+            label={{ value: 'apogee', position: 'top', fontSize: 12,
+                     fill: 'var(--color-text-secondary)' }} />
+          <ReferenceDot x={xLand} y={yLand} r={5} fill={LANDING} stroke="none"
+            label={{ value: 'landing', position: 'bottom', fontSize: 12, fill: LANDING }} />
         </ComposedChart>
       </ResponsiveContainer>
     </div>
diff --git a/star-openrocket/frontend/src/recovery/components/drift/WindProfileChart.tsx b/star-openrocket/frontend/src/recovery/components/drift/WindProfileChart.tsx
index f127b4c06..0fc3fe6c9 100644
--- a/star-openrocket/frontend/src/recovery/components/drift/WindProfileChart.tsx
+++ b/star-openrocket/frontend/src/recovery/components/drift/WindProfileChart.tsx
@@ -14,7 +14,7 @@ import {
 } from 'recharts'
 import type { WindMonth } from '../../types/climatology'
 import { AXIS, GRID, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 export function WindProfileChart({ wm, grid, padH, worst }: {
   wm: WindMonth
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx b/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
index 2784f1b3b..83a9cf6b7 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
@@ -18,7 +18,7 @@ import type { TriggerKind, UiDevice } from '../../types/schema'
 import { blankDevice } from '../../lib/serialise'
 import { Badge, Band, Button, Card, Field, NumberInput, Select, TextInput, Toggle, UnitInput } from '../ui'
 import { G0 } from '../../lib/units'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 /** The four fields a catalog pick fills in. Must stay in step with
  *  `CatalogProvenance.values` in the schema types. */
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
index 8f1bff3f0..67242b3da 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
@@ -10,12 +10,12 @@ import type { StationPad } from '../../api/client'
 import { getStationPad } from '../../api/client'
 import type { DesignSource, InputSources, TempProfile, UiConfig, UiSite, Vehicle } from '../../types/schema'
 import type { SweepParam } from '../../types/schema'
-import type { Kind } from '../../lib/quantities'
+import type { Kind } from '../../../lib/units/quantities'
 import type { LapseTable, PadNormals } from '../../lib/climatology'
 import { SOURCES } from '../../lib/climatology'
 import { Badge, Card, Field, Info, NumberInput, Select, Stat, UnitInput } from '../ui'
 import { airframeBand, monthName } from '../../lib/units'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 const grid = 'grid grid-cols-2 gap-3'
 
@@ -552,23 +552,20 @@ function Bound({ value, kind, disabled, onChange }: {
 }
 
 /** Everything at once, in the order §11.3 lists it. */
-export function InputColumn({ ui, onChange, design, lapseByMonth, padNormals }: {
+export function InputColumn({ ui, onChange, design }: {
   ui: UiConfig
   onChange: (v: UiConfig) => void
   design: DesignSource
-  lapseByMonth: LapseTable
-  padNormals: PadNormals
 }) {
   return (
     <div className="space-y-4">
       <VehicleForm value={ui.vehicle} onChange={(v) => onChange({ ...ui, vehicle: v })}
                    design={design} sources={ui.sources}
                    onSourcesChange={(s) => onChange({ ...ui, sources: s })} />
-      <SiteForm value={ui.site} onChange={(v) => onChange({ ...ui, site: v })}
-                lapseByMonth={lapseByMonth} padNormals={padNormals} />
-      {/* SweepForm is NOT here. The corner bounds only affect the Corners tab,
-          so they live with the sweep they control -- and keeping them off this
-          column means editing them cannot trigger a simulate re-run. */}
+      {/* The Site atmosphere moved to the top-level Environment tab (shared with the
+          ascent). SweepForm is NOT here either: the corner bounds only affect the
+          Corners tab, so they live with the sweep they control -- and keeping them off
+          this column means editing them cannot trigger a simulate re-run. */}
     </div>
   )
 }
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
index 08f08fb40..a9e705e4e 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/RecoveryPanel.tsx
@@ -16,7 +16,6 @@ import { useCallback, useEffect, useMemo, useRef, useState } from 'react'
 import type { ReactNode } from 'react'
 import type { DesignSource, Result, UiConfig } from '../../types/schema'
 import { simulate } from '../../api/client'
-import { usePadClimatology } from '../../lib/climatology'
 import { physicsKey, toWireConfig } from '../../lib/serialise'
 import { Button, Card, PageHeader } from '../ui'
 import { InputColumn } from './InputForms'
@@ -43,11 +42,6 @@ export function RecoveryPanel({ ui, onChange: setUi, design }: {
   const [error, setError] = useState<string | null>(null)
   const [live, setLive] = useState(true)
 
-  /** The measured lapse rates and monthly normals the Site form resolves the
-   *  pad state from. Shared with the Sweep tab's pad-state axes, which resolve
-   *  from the same reduction -- see `lib/climatology`. */
-  const { lapseByMonth, padNormals } = usePadClimatology()
-
   // Guards against a slow response overwriting a newer one.
   const seq = useRef(0)
 
@@ -134,8 +128,7 @@ export function RecoveryPanel({ ui, onChange: setUi, design }: {
             devices={ui.devices}
             onChange={(devices) => setUi({ ...ui, devices })}
           />
-          <InputColumn ui={ui} onChange={setUi} design={design} lapseByMonth={lapseByMonth}
-                       padNormals={padNormals} />
+          <InputColumn ui={ui} onChange={setUi} design={design} />
         </div>
         <div className="space-y-4">
           <ColumnHeader>Outputs</ColumnHeader>
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
index ccf0f74d6..ea4679671 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
@@ -26,7 +26,7 @@ import { STUB_SHA } from '../../api/fixture'
 import { Badge, Button, Card, Empty, Stat, StubBanner, WarningsCard } from '../ui'
 import { AXIS, CHANNELS, GRID, MARGIN, TOOLTIP_LABEL_STYLE, TOOLTIP_STYLE, axisLabel } from '../chartTheme'
 import type { Channel } from '../chartTheme'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 export function ResultsPanel({ result, running, error }: {
   result: Result | null
diff --git a/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx b/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
index 86e422d59..a03a9af15 100644
--- a/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
+++ b/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
@@ -24,7 +24,7 @@ import {
   MAX_RUNS, STUDY_VARS, axisKind, axisValues, isSiteKey, runCount, studyVar,
 } from '../../lib/study'
 import { monthName } from '../../lib/units'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 import {
   Badge, Button, Card, Info, NumberInput, Select, TextInput, UnitInput,
 } from '../ui'
diff --git a/star-openrocket/frontend/src/recovery/components/study/StudyTable.tsx b/star-openrocket/frontend/src/recovery/components/study/StudyTable.tsx
index dc5be5b10..59ac6313b 100644
--- a/star-openrocket/frontend/src/recovery/components/study/StudyTable.tsx
+++ b/star-openrocket/frontend/src/recovery/components/study/StudyTable.tsx
@@ -18,7 +18,7 @@ import type { Device } from '../../types/schema'
 import { CONTEXT_COLOUR, studyColour } from '../chartTheme'
 import { Card, Toggle } from '../ui'
 import { axisKind, axisTitle, axisValueLabel } from '../../lib/study'
-import { useUnits } from '../../lib/unitsContext'
+import { useUnits } from '../../../lib/units/unitsContext'
 
 /** Which metric each column reads, and in what quantity. `kind: null` means
  *  the quantity has no imperial form -- seconds, in this table's case -- and
diff --git a/star-openrocket/frontend/src/recovery/components/ui.tsx b/star-openrocket/frontend/src/recovery/components/ui.tsx
index 1771cd1b3..009236cb7 100644
--- a/star-openrocket/frontend/src/recovery/components/ui.tsx
+++ b/star-openrocket/frontend/src/recovery/components/ui.tsx
@@ -5,8 +5,8 @@
 
 import { useEffect, useState } from 'react'
 import type { ReactNode } from 'react'
-import type { Kind } from '../lib/quantities'
-import { useUnits } from '../lib/unitsContext'
+import type { Kind } from '../../lib/units/quantities'
+import { useUnits } from '../../lib/units/unitsContext'
 
 /**
  * The one-line header a tab opens on: what the page is, in a sentence. It is
diff --git a/star-openrocket/frontend/src/recovery/lib/corners.ts b/star-openrocket/frontend/src/recovery/lib/corners.ts
index 86d6078f1..950d16506 100644
--- a/star-openrocket/frontend/src/recovery/lib/corners.ts
+++ b/star-openrocket/frontend/src/recovery/lib/corners.ts
@@ -6,7 +6,7 @@
  * the same screen.
  */
 
-import type { Kind } from './quantities'
+import type { Kind } from '../../lib/units/quantities'
 import { fmt } from './units'
 
 /**
diff --git a/star-openrocket/frontend/src/recovery/lib/persist.ts b/star-openrocket/frontend/src/recovery/lib/persist.ts
index 69aaa0a64..068bcb3fe 100644
--- a/star-openrocket/frontend/src/recovery/lib/persist.ts
+++ b/star-openrocket/frontend/src/recovery/lib/persist.ts
@@ -91,6 +91,7 @@ export function reviveUiConfig(raw: string | null): UiConfig | null {
       : base.study,
     sources: { ...base.sources, ...(saved.sources ?? {}) },
     wind: saved.wind ?? base.wind,
+    airframeBound: saved.airframeBound === 'broadside' ? 'broadside' : base.airframeBound,
   }
 }
 
diff --git a/star-openrocket/frontend/src/recovery/lib/quantities.test.ts b/star-openrocket/frontend/src/recovery/lib/quantities.test.ts
index fcb4d1dae..ab81c8a39 100644
--- a/star-openrocket/frontend/src/recovery/lib/quantities.test.ts
+++ b/star-openrocket/frontend/src/recovery/lib/quantities.test.ts
@@ -28,8 +28,8 @@ import {
   parsePrefs,
   toDisplay,
   unitFor,
-} from './quantities'
-import type { Kind, UnitPrefs } from './quantities'
+} from '../../lib/units/quantities'
+import type { Kind, UnitPrefs } from '../../lib/units/quantities'
 import { cornersKey, defaultUiConfig, physicsKey, studyKey } from './serialise'
 
 describe('the exact factors stay exact', () => {
diff --git a/star-openrocket/frontend/src/recovery/lib/serialise.ts b/star-openrocket/frontend/src/recovery/lib/serialise.ts
index 5515f7a60..df51a833f 100644
--- a/star-openrocket/frontend/src/recovery/lib/serialise.ts
+++ b/star-openrocket/frontend/src/recovery/lib/serialise.ts
@@ -252,6 +252,9 @@ export function defaultUiConfig(): UiConfig {
     sources: { apogeeFromDesign: false, massFromDesign: false, lateralFromDesign: false },
     // Still air by default; the Drift tab's wind selection resolves into this.
     wind: null,
+    // Nose-down by default (the structural bound); the Drift tab can switch it, and
+    // Full Flight reads it from here.
+    airframeBound: 'axial',
   }
 }
 
diff --git a/star-openrocket/frontend/src/recovery/lib/study.test.ts b/star-openrocket/frontend/src/recovery/lib/study.test.ts
index fa6fdfd68..33fbafbb3 100644
--- a/star-openrocket/frontend/src/recovery/lib/study.test.ts
+++ b/star-openrocket/frontend/src/recovery/lib/study.test.ts
@@ -15,7 +15,7 @@ import {
   MAX_RUNS, STUDY_VARS, axisKind, axisValueLabel, axisValues, runCount,
   studyVar,
 } from './study'
-import { QUANTITIES } from './quantities'
+import { QUANTITIES } from '../../lib/units/quantities'
 import type { UiStudyAxis } from '../types/schema'
 import { STUDY_COLOURS, studyColour } from '../components/chartTheme'
 
diff --git a/star-openrocket/frontend/src/recovery/lib/study.ts b/star-openrocket/frontend/src/recovery/lib/study.ts
index 37bf00a42..47225e055 100644
--- a/star-openrocket/frontend/src/recovery/lib/study.ts
+++ b/star-openrocket/frontend/src/recovery/lib/study.ts
@@ -14,7 +14,7 @@
  */
 
 import type { UiStudyAxis, WireCanopy, WirePad } from '../types/schema'
-import type { Kind } from './quantities'
+import type { Kind } from '../../lib/units/quantities'
 
 /** SI value plus its quantity, to a display string. `useUnits().num`. Absent in
  *  tests, which get SI. */
diff --git a/star-openrocket/frontend/src/recovery/lib/units.ts b/star-openrocket/frontend/src/recovery/lib/units.ts
index b32544475..64c1adb10 100644
--- a/star-openrocket/frontend/src/recovery/lib/units.ts
+++ b/star-openrocket/frontend/src/recovery/lib/units.ts
@@ -11,8 +11,8 @@
  * the whole GUI reads. Re-exported here so the older call sites keep working
  * while they are converted -- but defined in exactly one place, because two
  * copies of 0.45359237 is two chances to mistype it. */
-export { G0, KG_PER_LB, M_PER_FT, M_PER_IN, N_PER_LBF } from './quantities'
-import { KG_PER_LB, M_PER_FT, M_PER_IN, N_PER_LBF } from './quantities'
+export { G0, KG_PER_LB, M_PER_FT, M_PER_IN, N_PER_LBF } from '../../lib/units/quantities'
+import { KG_PER_LB, M_PER_FT, M_PER_IN, N_PER_LBF } from '../../lib/units/quantities'
 
 export const FT_PER_M = 1 / M_PER_FT
 
@@ -44,18 +44,6 @@ export function fmtInt(v: number | null | undefined): string {
   return Math.round(v).toLocaleString('en-US')
 }
 
-/** Seconds as m:ss when it is long enough for that to help.
- *
- *  `digits` comes from the caller so the plain-seconds branch follows the
- *  Units tab's precision bound like every other number. The m:ss branch has no
- *  decimals to bound -- it is a clock format, not a measurement. */
-export function fmtDuration(s: number, digits = 1): string {
-  if (!Number.isFinite(s)) return '-'
-  if (s < 60) return `${s.toFixed(digits)} s`
-  const m = Math.floor(s / 60)
-  return `${m}:${(s - m * 60).toFixed(0).padStart(2, '0')} (${s.toFixed(0)} s)`
-}
-
 /** Distinct, colour-blind-safe hues for the per-station chart lines. Ordered
  *  so the first three -- the three METAR stations -- are maximally separable. */
 export const SERIES_COLOURS = [
diff --git a/star-openrocket/frontend/src/recovery/types/schema.ts b/star-openrocket/frontend/src/recovery/types/schema.ts
index 6a0621fc9..43667674d 100644
--- a/star-openrocket/frontend/src/recovery/types/schema.ts
+++ b/star-openrocket/frontend/src/recovery/types/schema.ts
@@ -20,7 +20,7 @@
  * provisional; anything under CONFIG is not.
  */
 
-import type { Kind } from '../lib/quantities'
+import type { Kind } from '../../lib/units/quantities'
 
 // ============================================================================
 // CONFIG -- mirrors schema.py, settled
@@ -320,6 +320,11 @@ export interface UiConfig {
   /** Horizontal wind (shared across tabs so the loads and the drift use the same
    *  wind). The Drift tab's selection UI resolves into this. Null = still air. */
   wind: WindInput | null
+  /** Airframe drag bound during descent: 'axial' (nose-down) vs 'broadside'. It sets
+   *  the descent rate, so it moves the drift and the Full Flight ground track. Chosen on
+   *  the Drift tab but stored HERE, on the persisted config, so Full Flight sees it from
+   *  the save file — never as a side effect of whether the Drift tab was opened. */
+  airframeBound: 'axial' | 'broadside'
 }
 
 // ============================================================================
@@ -521,6 +526,22 @@ export type WindInput =
   | { kind: 'constant'; speed: number; direction: number }
   | { kind: 'profile'; heights_msl: number[]; u: number[]; v: number[] }
 
+/** One level of the SELECTED atmosphere profile (from POST /api/atmosphere), i.e. the
+ *  T/p/rho the physics actually uses for the chosen pad state — plotted on the Environment
+ *  tab so the design's own atmosphere is visible, not just the reference climatology. */
+export interface AtmosphereProfilePoint {
+  z_agl: number; z_msl: number; T: number; p: number; rho: number; g: number
+}
+
+export interface AtmosphereProfile {
+  pad: {
+    z_site: number; H_pad: number; T_pad: number; p_pad: number; rho_pad: number
+    lapse: number; lapse_isa: number; refit: boolean; T_source: string; p_source: string
+  }
+  profile: AtmosphereProfilePoint[]
+  note: string
+}
+
 /** One point on the horizontal ground track. East = +x, North = +y, metres. */
 export interface DriftTrackSample {
   t: number
@@ -531,6 +552,9 @@ export interface DriftTrackSample {
    *  descent trajectory, glued onto the ascent by the Full Flight tab. */
   v: number
   a: number
+  /** Ambient horizontal wind at this altitude (m/s) — same definition as the
+   *  ascent's windSpeed, so the Full Flight plot shows one wind curve end to end. */
+  wind: number
 }
 
 export interface DriftResult {
@@ -541,6 +565,9 @@ export interface DriftResult {
   descent_time: number
   landing: { x: number; y: number }
   track: DriftTrackSample[]
+  /** Descent events (deploy/trigger/inflation/ground), t seconds after apogee.
+   *  The Full Flight tab marks drogue/main deployment from the line_stretch ones. */
+  events: FlightEvent[]
   /** What the wind actually was at the ground in the run. */
   wind_ground: { speed: number; heading_deg: number }
   airframe_bound: string
diff --git a/star-openrocket/frontend/src/types.ts b/star-openrocket/frontend/src/types.ts
index f89e35c91..12f67c67e 100644
--- a/star-openrocket/frontend/src/types.ts
+++ b/star-openrocket/frontend/src/types.ts
@@ -322,6 +322,7 @@ export interface FlightDynamicsSample {
   mach: number
   acceleration: number
   dynamicPressure: number
+  windSpeed: number
   angleOfAttack: number | null
   angleFromVertical: number
   stabilityMarginRocketpy: number
@@ -338,6 +339,8 @@ export interface FlightDynamicsResult {
   fft: { frequency: number[]; amplitude: number[] }
   apogee: number
   apogeeTime: number
+  /** Motor burnout time, s from ignition (ignition at t=0). */
+  burnoutTime: number
   maxSpeed: number
   maxMach: number
   maxAcceleration: number
@@ -363,8 +366,15 @@ export interface FlightDynamicsResult {
 export interface FlightDynamicsRequest extends StabilityRequest {
   inclination?: number
   heading?: number
-  windSpeed?: number
-  windDirection?: number
+  /** The shared environment (set on the Environment tab): the site atmosphere the
+   *  ascent flies in and the wind it climbs through — the same objects the recovery
+   *  descent integrates, so both halves of the flight agree. Mirrors the recovery
+   *  wire shapes (`Site`, `WindInput`). */
+  site?: { T_pad: number | null; p_pad: number | null; lapse: number | null }
+  wind?:
+    | { kind: 'constant'; speed: number; direction: number }
+    | { kind: 'profile'; heights_msl: number[]; u: number[]; v: number[] }
+    | null
   elevation?: number
   latitude?: number
   longitude?: number
diff --git a/star-openrocket/frontend/src/types/config.ts b/star-openrocket/frontend/src/types/config.ts
index bc6195483..00af168dd 100644
--- a/star-openrocket/frontend/src/types/config.ts
+++ b/star-openrocket/frontend/src/types/config.ts
@@ -19,11 +19,14 @@ export interface FlightParams {
   inclination: number
   /** Rail heading from north (deg). */
   heading: number
-  /** Constant wind speed (m/s) and the bearing it blows from (deg). */
-  windSpeed: number
-  windDirection: number
   /** Which CP model the stability overlay shows. */
   cpModel: 'ours' | 'rocketpy' | 'both'
+  /** Which series are ticked on the Flight Dynamics compare plot. Persisted (a view
+   *  preference, not physics) so the chosen overlay survives reloads and travels in the
+   *  save file like everything else. */
+  compareSeries: string[]
+  /** Same, for the Full Flight compare plot (its own series set: altitude/speed/accel). */
+  fullCompareSeries: string[]
 }
 
 export interface ViewerConfig {
@@ -41,7 +44,11 @@ export interface ViewerConfig {
 }
 
 export function defaultFlightParams(): FlightParams {
-  return { inclination: 85, heading: 0, windSpeed: 5, windDirection: 270, cpModel: 'both' }
+  return {
+    inclination: 85, heading: 0, cpModel: 'both',
+    compareSeries: ['altitude', 'speed'],
+    fullCompareSeries: ['altitude', 'speed'],
+  }
 }
 
 export function defaultViewerConfig(): ViewerConfig {

From 4ea9611f79887208e4c63dc1f0c781ef23d1992c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:50:21 -0700
Subject: [PATCH 055/205] Config edits

---
 daq-server/config/config.toml | 643 +++++++++++-----------------------
 1 file changed, 203 insertions(+), 440 deletions(-)

diff --git a/daq-server/config/config.toml b/daq-server/config/config.toml
index edf4f0185..dd5068e34 100644
--- a/daq-server/config/config.toml
+++ b/daq-server/config/config.toml
@@ -1,57 +1,29 @@
-# =============================================================================
-# Sensor System Configuration
-# Modular config for boards, sensors, actuators, calibration, and routing
-# =============================================================================
-
-# NOTE: [system] (mode/state) removed 2026-08-13 — dead config. Nothing read it;
-# FLIGHT vs GROUND is determined by the config filename (config_flight_daq.toml
-# vs config_ground_daq.toml) in daq_bridge, not by this section.
-
-# =============================================================================
-# Network - DAQ Bridge Listener
-# =============================================================================
 [network]
 bind_ip = "0.0.0.0"
-sensor_port = 5006       # Port for all sensor data (PT, LC, TC, RTD boards send here)
-actuator_cmd_port = 5005 # Port actuator boards listen on for commands
-# buffer_size removed 2026-08-13 — was only a struct field in lib/Config.h, no socket used it
+sensor_port = 5006
+actuator_cmd_port = 5005
 
-# =============================================================================
-# Server Heartbeat - UDP broadcast config (used by heartbeat_service and daq_bridge)
-# =============================================================================
 [server_heartbeat]
-interval_ms = 200                  # Broadcast SERVER_HEARTBEAT every 200 ms
-broadcast_port = 5005              # Boards listen on 5005 for control packets
-broadcast_ip = "192.168.2.255"     # Subnet broadcast on DAQ interface; avoids WiFi routing for 255.255.255.255
+interval_ms = 200
+broadcast_port = 5005
+broadcast_ip = "192.168.2.255"
 
-# =============================================================================
-# Heartbeat Service - SERVER_HEARTBEAT to boards (C++ preferred for flight)
-# =============================================================================
 [heartbeat_service]
 enabled = true
-backend_url = "http://127.0.0.1:8082"   # GUI backend API for engine_state
-interval_ms = 200                        # Same as server_heartbeat
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 200
 broadcast_ip = "192.168.2.255"
 broadcast_port = 5005
 
-# =============================================================================
-# Config Broadcast Service - ACTUATOR_CONFIG / SENSOR_CONFIG to boards (C++ preferred for flight)
-# =============================================================================
 [config_broadcast_service]
 enabled = true
 backend_url = "http://127.0.0.1:8082"
 interval_ms = 1000
 
-# =============================================================================
-# Data Logger Service - .sensorlog binary recording (modular, not in backend)
-# =============================================================================
 [data_logger_service]
 enabled = true
 ws_url = "ws://127.0.0.1:8081"
 
-# =============================================================================
-# Network - Elodin Database
-# =============================================================================
 [database]
 host = "127.0.0.1"
 port = 2240
@@ -60,246 +32,159 @@ max_buffer_size = 4096
 connection_retry_attempts = 3
 connection_retry_delay_ms = 1000
 
-# =============================================================================
-# GUI stream downsampling (backend → browser SENSOR_UPDATE rate per stream)
-#   downsample_mode   = "envelope" | "throttle"
-#     envelope: each window broadcasts the min and max sample with their real
-#               timestamps, so short spikes survive downsampling.
-#     throttle: legacy behavior — first sample per 50 ms window, rest dropped.
-#               Flip to this to revert to pre-envelope behavior (no code change).
-#   points_per_second = broadcast budget per stream (envelope windows/sec = half this)
-# Applies only to high-rate DAQ streams (PT/TC/RTD/LC, actuator raw); event
-# streams (state, self-test, encoder, controller) always pass through untouched.
-# =============================================================================
 [gui]
 downsample_mode = "envelope"
 points_per_second = 20
+tabs = [
+  "unified",
+  "lcs-tcs-rtd",
+  "boards",
+  "self-tests",
+  "session",
+  "config"
+]
+
+  [[gui.pressure_bars]]
+  label = "GN2 HI"
+  role = "GN2 High"
+  limits = "GN2_High"
+  color = "#ADFF2F"
+
+  [[gui.pressure_bars]]
+  label = "GN2 REG"
+  role = "GN2 Regulated"
+  limits = "GN2_Regulated"
+  color = "#228B22"
+
+  [[gui.pressure_bars]]
+  label = "FUEL UP"
+  role = "Fuel Upstream"
+  limits = "Fuel_Upstream"
+  color = "#FF4500"
+
+  [[gui.pressure_bars]]
+  label = "FUEL DN"
+  role = "Fuel Downstream"
+  limits = "Fuel_Downstream"
+  color = "#CC0000"
+
+  [[gui.pressure_bars]]
+  label = "LOX UP"
+  role = "Ox Upstream"
+  limits = "Ox_Upstream"
+  color = "#38BDF8"
+
+  [[gui.pressure_bars]]
+  label = "LOX DN"
+  role = "Ox Downstream"
+  limits = "Ox_Downstream"
+  color = "#4169E1"
+
+  [[gui.pressure_bars]]
+  label = "GSE LO"
+  role = "GSE Low"
+  limits = "GSE_Low"
+  color = "#D8B4FE"
+
+  [[gui.pressure_bars]]
+  label = "GSE MID"
+  role = "GSE Mid"
+  limits = "GSE_Mid"
+  color = "#C026D3"
+
+  [[gui.pressure_bars]]
+  label = "GSE HI"
+  role = "GSE High"
+  limits = "GSE_High"
+  color = "#7B2FBE"
+
+  [[gui.pressure_bars]]
+  label = "CHAMBER"
+  role = "Chamber Mid PT 1"
+  avg_roles = [ "Chamber Mid PT 1", "Chamber Mid PT 2" ]
+  limits = "Chamber"
+  color = "#F97316"
 
-# ── Tab bar: which views are pinned to the header, in order ───────────────────
-# Ids index the frontend view catalog (lib/nav-items.ts). Reorder / add / remove
-# to change the tab bar live (no rebuild). Views not listed here are still
-# reachable via the "All Views" tab. Single Pane ("unified") is the primary view.
-tabs = ["unified", "fuel", "lox", "chamber", "copv", "controller", "boards", "session"]
-
-# ── Top-bar pressure gauges (ordered) ────────────────────────────────────────
-# label   — text shown on the gauge
-# role    — sensor role name (from [sensor_roles_*]) → resolved to its cal entity
-# limits  — key into [pressure_limits.*]; supplies NOP/MEOP (single source of truth)
-# color   — gauge accent
-# avg_roles (optional) — gauge value = mean of these roles (e.g. chamber mids)
-[[gui.pressure_bars]]
-label = "GN2 HI"
-role = "GN2 High"
-limits = "GN2_High"
-color = "#ADFF2F"
-
-[[gui.pressure_bars]]
-label = "GN2 REG"
-role = "GN2 Regulated"
-limits = "GN2_Regulated"
-color = "#228B22"
-
-[[gui.pressure_bars]]
-label = "FUEL UP"
-role = "Fuel Upstream"
-limits = "Fuel_Upstream"
-color = "#FF4500"
-
-[[gui.pressure_bars]]
-label = "FUEL DN"
-role = "Fuel Downstream"
-limits = "Fuel_Downstream"
-color = "#CC0000"
-
-[[gui.pressure_bars]]
-label = "LOX UP"
-role = "Ox Upstream"
-limits = "Ox_Upstream"
-color = "#38BDF8"
-
-[[gui.pressure_bars]]
-label = "LOX DN"
-role = "Ox Downstream"
-limits = "Ox_Downstream"
-color = "#4169E1"
-
-[[gui.pressure_bars]]
-label = "GSE LO"
-role = "GSE Low"
-limits = "GSE_Low"
-color = "#D8B4FE"
-
-[[gui.pressure_bars]]
-label = "GSE MID"
-role = "GSE Mid"
-limits = "GSE_Mid"
-color = "#C026D3"
-
-[[gui.pressure_bars]]
-label = "GSE HI"
-role = "GSE High"
-limits = "GSE_High"
-color = "#7B2FBE"
-
-[[gui.pressure_bars]]
-label = "CHAMBER"
-role = "Chamber Mid PT 1"
-avg_roles = ["Chamber Mid PT 1", "Chamber Mid PT 2"]
-limits = "Chamber"
-color = "#F97316"
-
-# =============================================================================
-# DAQ bridge sample timestamping (per-board clock sync)
-#   mode = "board-clock": reconstruct true sample times from the boards'
-#     per-chunk millis() — batched chunks keep their real spacing, network
-#     jitter is filtered out (sliding-window-min offset), reboots and uint32
-#     wraps handled automatically. Safety-clamped so the worst case equals
-#     "arrival" mode.
-#   mode = "arrival": legacy behavior — every sample in a packet stamped with
-#     the bridge receive time. Flip to this to revert (no code change).
-# =============================================================================
 [time_sync]
 mode = "board-clock"
-window_seconds = 10          # residual-min sliding window
-max_plausible_gap_s = 60     # board-clock forward jump beyond this = reboot -> resync
-max_batch_age_s = 5          # stamps confined to [arrival - this, arrival]
-resync_threshold_ms = 1000   # |residual - offset| beyond this = lost lock -> resync
-log_interval_s = 10          # per-board [TimeSync] diagnostics log cadence
-
-# =============================================================================
-# Board log streaming
-#
-# Boards stream diagnostic logs to the server as type-15 LOGS packets (one per
-# board per second; gated by each board's serial-print mode byte). daq_bridge
-# parses them and forwards to the Node backend over loopback UDP on this port —
-# they are cached in memory and shown in the GUI, deliberately NOT written to
-# Elodin (no need to replay board logs for past runs). The backend must bind the
-# same port (LOG_INGEST_PORT env, same default).
-# =============================================================================
+window_seconds = 10
+max_plausible_gap_s = 60
+max_batch_age_s = 5
+resync_threshold_ms = 1000
+log_interval_s = 10
+
 [logs]
 backend_udp_port = 8092
 
-# =============================================================================
-# ADC voltage reference nominals (for sense conversions in the UI)
-#
-# Each board sets a `voltage_reference` (in its [boards.*] block). It selects
-# which nominal below the UI uses to turn ADC counts into a voltage:
-#   0 = Internal 2.5V reference  -> uses internal_v
-#   1 = VDD (ratiometric)        -> NO voltage conversion (reading is a ratio of
-#                                   VDD, which cancels out); vdd_nominal_v is
-#                                   display-only, never used in a calculation
-#   2 = 5V absolute reference    -> uses absolute_5v_v
-# =============================================================================
 [adc]
-internal_v = 2.5       # Nominal internal reference (V) — voltage_reference = 0
-vdd_nominal_v = 5.0    # Nominal VDD (V) — display only; ratiometric boards don't convert voltage
-absolute_5v_v = 5.0    # Nominal 5V absolute reference (V) — voltage_reference = 2
+internal_v = 2.5
+vdd_nominal_v = 5
+absolute_5v_v = 5
 
-# =============================================================================
-# Board Discovery
-# =============================================================================
 [discovery]
 enabled = true
-network_interface = "auto"  # "auto" = detect interface with 192.168.2.x IP
-mode = "hybrid"             # "passive", "active", "hybrid"
+network_interface = "auto"
+mode = "hybrid"
 subnet = "192.168.2.0/24"
 ip_range_start = 100
 ip_range_end = 150
 discovery_timeout_seconds = 30
 
-# =============================================================================
-# Boards - Each board has a type, IP, and sends/receives on specific ports
-#
-# Board types: PT (Pressure Transducer), LC (Load Cell), TC (Thermocouple),
-#              RTD (Resistance Temperature Detector), ACTUATOR
-# =============================================================================
-
 [boards.pt_board]
 type = "PT"
 ip = "192.168.2.21"
-send_port = 5005           # Board sends SENSOR_DATA to this port on our PC
-num_sensors = 10            # 10 connectors on this board
-board_id = 21               # PT Board #1 (label on board)
+send_port = 5005
+num_sensors = 10
+board_id = 21
 enabled = true
 enable_serial_printing = 0
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 1
-necessary_for_abort = true   # This sense board participates in abort logic
-# Exactly one actuator board should be marked as designated_survivor
-# (PT boards are never designated survivors)
+necessary_for_abort = true
 designated_survivor = false
-# Active connectors: list of connector IDs (1-10) that have sensors plugged in
-# Leave empty [] to use all connectors, or specify only active ones
-active_connectors = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]  # 7 GSE/prop + 4 chamber PTs
-
-# Sim PT targets (PSI) — board_simulator generates ADC to calibrate to these.
-# System start: 500 psi both tanks, 4k COPV, 1k reg.
-[sim_pt_targets]
-# pt_board channels 1–10 (Fuel Up, GSE Low, Fuel Down, Chamber 1, Ox Up, GN2 Reg, Ox Down, Chamber 2, Throat 1–2)
-1 = 500   # Fuel Upstream
-2 = 450   # GSE Low
-3 = 480   # Fuel Downstream
-4 = 400   # Chamber Mid 1
-5 = 500   # Ox Upstream
-6 = 4000  # GN2 Reg / COPV (controller P_copv, P_reg — storage at 4k)
-7 = 480   # Ox Downstream
-8 = 400   # Chamber Mid 2
-9 = 380   # Chamber Throat 1
-10 = 380  # Chamber Throat 2
-# pt_board_2 HP PT channels 11–14 (GSE High, Excitation, GSE Mid, GN2 High)
-11 = 3500   # GSE High (HP)
-12 = 24.0   # Excitation voltage (V) — loop supply for 4-20 mA transmitters
-13 = 1000   # GSE Mid (HP)
-14 = 4000   # GN2 High / COPV (HP)
+active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
 
 [boards.pt_board_2]
 type = "PT"
 ip = "192.168.2.22"
-send_port = 5005           # Board sends SENSOR_DATA to this port on our PC
-num_sensors = 10            # 10 connectors on this board
-board_id = 22               # PT Board #2 (label on board)
+send_port = 5005
+num_sensors = 10
+board_id = 22
 enabled = true
 enable_serial_printing = 1
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
-adc_ref_voltage = 2.5      # Fixed ADC reference voltage for this board (V)
-# hp_pt_connectors lists whichever connectors have HP PT sensors plugged in.
-# Set excitation_connector_id = -1 to disable dedicated excitation channel behavior.
-active_connectors = [1, 2, 3, 4]
-hp_pt_connectors = [1, 3, 4]   # Connectors with 4-20 mA HP PT sensors
-excitation_connector_id = 2   # Connector 2 = loop excitation voltage monitor
-hp_pt_full_scale_psi = 5000.0   # Full-scale pressure at 20 mA (PSI)
-hp_pt_sense_resistor_ohms = 120 # Sense resistor for 4-20 mA → voltage (Ω)
-# Excitation voltage divider: ADC sees this fraction of V_exc; V_exc = V_adc / this value
+adc_ref_voltage = 2.5
+active_connectors = [ 1, 2, 3, 4 ]
+hp_pt_connectors = [ 1, 3, 4 ]
+excitation_connector_id = 2
+hp_pt_full_scale_psi = 5000
+hp_pt_sense_resistor_ohms = 120
 excitation_divider_attenuation = 0.0762
 
 [boards.actuator_board]
 type = "ACTUATOR"
 ip = "192.168.2.11"
-send_port = 5005           # Actuator board also sends current sense data here
-listen_port = 5005         # Actuator board listens for ACTUATOR_COMMAND on this port
+send_port = 5005
+listen_port = 5005
 num_actuators = 10
-num_sensors = 10            # 10 current sense ADC channels
-board_id = 11              # Actuator Board #1 (label on board)
+num_sensors = 10
+board_id = 11
 enabled = false
 enable_serial_printing = 1
 necessary_for_abort = false
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
 
 [boards.actuator_board_2]
 type = "ACTUATOR"
 ip = "192.168.2.12"
-send_port = 5005           # Actuator board also sends current sense data here
-listen_port = 5005         # Actuator board listens for ACTUATOR_COMMAND on this port
+send_port = 5005
+listen_port = 5005
 num_actuators = 10
-num_sensors = 10            # 10 current sense ADC channels
-board_id = 12              # Actuator Board #2 (label on board)
+num_sensors = 10
+board_id = 12
 enabled = true
 enable_serial_printing = 1
 designated_survivor = true
 necessary_for_abort = false
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
 
 [boards.actuator_board_3]
@@ -309,7 +194,7 @@ send_port = 5005
 listen_port = 5005
 num_actuators = 10
 num_sensors = 10
-board_id = 13              # Actuator Board #3 (label on board)
+board_id = 13
 enabled = false
 enable_serial_printing = 1
 necessary_for_abort = false
@@ -322,7 +207,7 @@ send_port = 5005
 listen_port = 5005
 num_actuators = 10
 num_sensors = 10
-board_id = 14              # Actuator Board #4 (label on board)
+board_id = 14
 enabled = true
 enable_serial_printing = 1
 necessary_for_abort = false
@@ -333,89 +218,79 @@ type = "LC"
 ip = "192.168.2.41"
 send_port = 5005
 num_sensors = 4
-board_id = 41              # LC Board #1 (label on board)
-enabled = false             # flip to true when board is connected
+board_id = 41
+enabled = false
 enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 1
-# Active connectors: list of connector IDs (1-4) that have sensors plugged in
-# Leave empty [] to use all connectors, or specify only active ones
-active_connectors = [1, 2, 3]  # 3 load cell sensors (IDs 1, 2, 3)
+active_connectors = [ 1, 2, 3 ]
 
 [boards.lc_board_2]
 type = "LC"
 ip = "192.168.2.42"
 send_port = 5005
 num_sensors = 4
-board_id = 42              # LC Board #2 (label on board)
+board_id = 42
 enabled = true
 enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
-active_connectors = [1, 2, 6]
+active_connectors = [ 1, 2, 6 ]
 
 [boards.tc_board]
 type = "TC"
 ip = "192.168.2.51"
 send_port = 5005
 num_sensors = 10
-board_id = 51              # TC Board #1 (label on board)
+board_id = 51
 enabled = true
 enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
-# Active connectors: list of connector IDs (1-10) that have sensors plugged in
-# Leave empty [] to use all connectors, or specify only active ones
-active_connectors = [2, 3, 4, 5]  # 4 existing + 4 chamber TCs (Chamber Mid 1&2, Chamber Throat 1&2)
+active_connectors = [ 2, 3, 4, 5 ]
 
 [boards.tc_board_2]
 type = "TC"
 ip = "192.168.2.52"
 send_port = 5005
 num_sensors = 10
-board_id = 52              # TC Board #2 (label on board)
+board_id = 52
 enabled = false
 enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
-active_connectors = []
+active_connectors = [ ]
 
 [boards.rtd_board]
 type = "RTD"
 ip = "192.168.2.31"
 send_port = 5005
 num_sensors = 4
-board_id = 31              # RTD Board #1 (label on board)
+board_id = 31
 enabled = true
 enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
-# voltage_reference: 0 = Internal 2.5V, 1 = VDD (ratiometric), 2 = 5V absolute
 voltage_reference = 0
-# Active connectors: list of connector IDs (1-4) that have sensors plugged in
-# Leave empty [] to use all connectors, or specify only active ones
-active_connectors = [1,2,3,4]  # Example: [1, 2] if only connectors 1-2 are used
+active_connectors = [ 1, 2, 3, 4 ]
 
 [boards.rtd_board_2]
 type = "RTD"
 ip = "192.168.2.32"
 send_port = 5005
 num_sensors = 4
-board_id = 32              # RTD Board #2 (label on board)
+board_id = 32
 enabled = false
 enable_serial_printing = 1
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
-active_connectors = []
+active_connectors = [ ]
 
-# Encoder board #1 (slot #6, board_id 61). UNKNOWN heartbeat on wire until DAQv2-Comms ENCODER enum.
 [boards.encoder_board]
 type = "ENCODER"
 ip = "192.168.2.61"
@@ -428,130 +303,62 @@ enable_serial_printing = 0
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 1
-active_connectors = [1, 2]
-
-# =============================================================================
-# Multiple Boards Example (commented out - uncomment to use)
-# =============================================================================
-# You can define multiple boards of the same type by using different section names:
-#
-# [boards.pt_board_1]
-# type = "PT"
-# ip = "192.168.2.101"
-# send_port = 5005
-# num_sensors = 10
-# board_id = 1
-# enabled = true
-# active_connectors = [1, 2, 3, 4, 5]
-#
-# [boards.pt_board_2]
-# type = "PT"
-# ip = "192.168.2.111"
-# send_port = 5005
-# num_sensors = 10
-# board_id = 11
-# enabled = true
-# active_connectors = [1, 2, 3]
-#
-# The config parser will find all boards with type="PT" and process them separately.
-# Each board can have different IPs and different active_connectors.
-
-
-
-# =============================================================================
-# Sensor Roles - PT Board #1 (board_id = 21)
-# Board-specific mapping to prevent cross-contamination between boards.
-# pt_board in [boards] has board_id = 21.
-# Chamber PTs: connector 4 = Mid 1, 8 = Mid 2, 9 = Throat 1, 10 = Throat 2.
-# =============================================================================
+active_connectors = [ 1, 2 ]
+
+[sim_pt_targets]
+1 = 500
+2 = 450
+3 = 480
+4 = 400
+5 = 500
+6 = 4000
+7 = 480
+8 = 400
+9 = 380
+10 = 380
+11 = 3500
+12 = 24
+13 = 1000
+14 = 4000
+
 [sensor_roles_pt_board]
-"Fuel Upstream"      = 1
-"GSE Low"            = 2
-"Fuel Downstream"    = 3
-"Chamber Mid PT 1"   = 4
-"Ox Upstream"        = 5
-"GN2 Regulated"      = 6
-"Ox Downstream"      = 7
-"Chamber Mid PT 2"   = 8
+"Fuel Upstream" = 1
+"GSE Low" = 2
+"Fuel Downstream" = 3
+"Chamber Mid PT 1" = 4
+"Ox Upstream" = 5
+"GN2 Regulated" = 6
+"Ox Downstream" = 7
+"Chamber Mid PT 2" = 8
 "Chamber Throat PT 1" = 9
 "Chamber Throat PT 2" = 10
 
-# =============================================================================
-# Abort PTs - PTs required for abort logic (sensor role name → pressure threshold PSI)
-# Threshold is converted to ADC code per PT calibration when building ACTUATOR_CONFIG.
-# =============================================================================
 [abort_pts]
-"Fuel Upstream"   = 400
-"Ox Upstream"     = 400
+"Fuel Upstream" = 400
+"Ox Upstream" = 400
 
-# =============================================================================
-# Sensor Roles - RTD Board #1 (board_id = 31)
-# Channel 1 = COPV temp (COPV pane); channels 2–4 = LOX tank (LOX pane)
-# =============================================================================
 [sensor_roles_rtd_board]
-"COPV RTD"  = 1
+"COPV RTD" = 1
 "LOX Upper" = 2
-"LOX Mid"   = 3
+"LOX Mid" = 3
 "LOX Lower" = 4
 
-# =============================================================================
-# Sensor Roles - TC Board #1 (board_id = 51)
-# Chamber TCs: 2 on chamber mid, 2 on chamber throat
-# =============================================================================
 [sensor_roles_tc_board]
-"Chamber Mid TC 1"    = 2
-"Chamber Mid TC 2"    = 3
+"Chamber Mid TC 1" = 2
+"Chamber Mid TC 2" = 3
 "Chamber Throat TC 1" = 4
 "Chamber Throat TC 2" = 5
 
-# =============================================================================
-# Sensor Roles - PT Board #2 (board_id = 22, High-Pressure 4-20 mA sensors)
-# Maps connector_id (1-indexed) to human-readable names for hp_pt_connectors.
-# pt_board_2 in [boards] has board_id = 22.
-# If excitation_connector_id is -1, no dedicated excitation channel is required.
-# =============================================================================
 [sensor_roles_pt2]
-"GSE High"    = 1    # Connector 1 = GSE High (HP PT)
-"Excitation V" = 2   # Connector 2 = 4-20 mA loop excitation voltage monitor
-"GSE Mid"     = 3    # Connector 3 = GSE Mid (HP PT)
-"GN2 High"   = 4    # Connector 4 is GN2 High (HP PT sensor)
-
-# =============================================================================
-# Sensor Roles - Encoder Board (board_id = 61)
-# AS5600 magnetic encoders — 12-bit angle (0-4095)
-# =============================================================================
+"GSE High" = 1
+"Excitation V" = 2
+"GSE Mid" = 3
+"GN2 High" = 4
+
 [sensor_roles_encoder_board]
 "Encoder 1" = 1
 "Encoder 2" = 2
 
-# =============================================================================
-# Actuator Roles - Maps role names to [type, actuator_id, board_id]
-# type: "NC" (Normally Closed) or "NO" (Normally Open)
-# actuator_id: 1-indexed connector number on the actuator board
-# board_id: numeric board ID from [boards] (e.g. 14 = Actuator Board #1, 12 = Actuator Board #2).
-#           IP is resolved from config.boards by board_id.
-# =============================================================================
-[actuator_roles]
-# Actuator Board #1 → board_id 12 (names match state_machine_actuators.csv)
-"LOX Main"               = ["NC", 1, 12]
-"Fuel Vent"             = ["NC", 2, 12]
-"Fuel Press"            = ["NC", 3, 12]
-"Fuel Main"             = ["NO", 7, 12]
-"LOX Vent"              = ["NC", 6, 12]
-"LOX Press"             = ["NO", 8, 12]
-"GSE Low Press Vent"    = ["NC", 5, 12]
-"Fuel Fill Press"       = ["NC", 2, 14]
-# Actuator Board #2 → board_id 14
-"Fuel Fill Vent"        = ["NC", 1, 14]
-"GSE LOX Fill Vent"     = ["NC", 10, 14]
-"GSE High Press Control" = ["NC", 3, 14]
-"GSE Med Press Control" = ["NC", 4, 14]
-"GSE High Press Vent"   = ["NC", 5, 14]
-"GN2 Vent"              = ["NC", 6, 14]
-"LOX Fill"              = ["NC", 7, 14]
-"LOX Dump"              = ["NC", 8, 14]
-
-# Abbreviation mapping for state machine CSV
 [actuator_abbrev]
 FV = "Fuel Vent"
 OV = "LOX Vent"
@@ -561,61 +368,33 @@ FM = "Fuel Main"
 OM = "LOX Main"
 FF = "Fuel Fill"
 
-# Actuator service (C++) — when port is set, backend forwards state transitions here;
-# actuator commands are sent by C++ instead of Node.
-# Env ACTUATOR_SERVICE_PORT overrides this; startup script sets it automatically.
-# bind_address: bind outbound UDP to this IP so packets use the right interface.
-# On multi-homed hosts (e.g. WiFi + DAQ Ethernet), set to your 192.168.2.x IP.
 [actuator_service]
 port = 9998
 bind_address = "0.0.0.0"
 
-# Controller service (C++) — TCP port for FIRE_START / FIRE_STOP commands.
-# Backend sends FIRE_START when entering FIRE state, FIRE_STOP on exit.
-# PWM is only sent to actuator boards while fire_active is set.
 [controller_service]
 port = 9999
-# Hotfire duration (ms). FIRE state auto-ends after this unless extended.
 fire_duration_ms = 6000
-# Extended fire duration (ms) when user taps "Extend Fire".
 fire_extended_ms = 10000
 
-# NOTE: [routing.*] and [daq_bridge].publish were removed 2026-08-13 — dead config.
-# daq_bridge derives packet IDs from board config + code-based SensorRouter/HeartbeatRouter;
-# nothing read these sections (verified across backend + C++).
-
-# =============================================================================
-# Calibration
-# =============================================================================
-# NOTE: [calibration], [calibration.orchestrator], [calibration.pt] removed 2026-08-13 — dead config
-# (read only by the deprecated Python robust-cal). The live C++ calibration_service reads its PT
-# coefficients from hardcoded paths and only parses [calibration.tc/rtd/lc] below for default formulas.
 [calibration.tc]
 json_dir = "scripts/calibration/calibrations/tc"
-csv_paths = []
-# Raw K-type fallback: ADC ref voltage (V)
+csv_paths = [ ]
 adc_ref_voltage = 2.5
 
 [calibration.rtd]
 json_dir = "scripts/calibration/calibrations/rtd"
-csv_paths = []
-# Raw ADC→temp fallback (when no calibration points): Pt1000 r0=1000
+csv_paths = [ ]
 r0_ohm = 1000
-adc_ref_voltage = 2.5   # ADC reference (V)
-excitation_ua = 1000    # IDAC excitation (µA)
+adc_ref_voltage = 2.5
+excitation_ua = 1000
 
 [calibration.lc]
 json_dir = "scripts/calibration/calibrations/lc"
-csv_paths = []
-# Raw LC fallback: sensitivity (mV/V), pga_gain, full_scale_value (kg)
-sensitivity_mv_per_v = 2.0
-pga_gain = 32.0
-full_scale_value = 300.0
-
-# =============================================================================
-# Pressure Limits (for GUI gauges and alarms)
-# =============================================================================
-
+csv_paths = [ ]
+sensitivity_mv_per_v = 2
+pga_gain = 32
+full_scale_value = 300
 
 [pressure_limits.GN2_High]
 NOP = 4000
@@ -667,66 +446,50 @@ NOP = 500
 MEOP = 650
 POP = 800
 
-# NOTE: [pressure_mappings] (old system→channel index, superseded by [sensor_roles_*])
-# and [display] (GUI defaults nothing reads) removed 2026-08-13 — dead config.
-
-# =============================================================================
-# State Machine
-# =============================================================================
 [state_machine]
 actuator_csv = "config/state_machine_actuators.csv"
 actuator_delay_csv = "config/state_machine_actuator_delays.csv"
-# Repo-local state transition matrix; sequencer + backend both resolve via state_machine.transitions_csv
 transitions_csv = "config/state_transitions.csv"
 
-# =============================================================================
-# Controller Settings (PWM Control)
-# =============================================================================
 [controller]
-# PWM frequency for actuator control (Hz)
-pwm_frequency_hz = 6.0
-# PWM command duration (ms) - how long each command stays active
+pwm_frequency_hz = 6
 pwm_duration_ms = 2000
-# Fallback duty cycles when controller service is unavailable (0.0-1.0).
-# When controller_service runs, non-zero values also act as open-loop test duty (bypass DDP/LUT).
-# For LUT mode, set both to 0 so the LUT is used.
-fallback_fuel_duty_cycle = 0.0
-fallback_ox_duty_cycle = 0.0
-# Controller loop update rate (Hz)
-controller_loop_hz = 100.0
-# NOTE: controller_service_url / controller_config_path removed 2026-08-14 — Python-only
-# (FastAPI controller). Dead while use_cpp_controller = true; the LUT tools read their own YAML.
-# Minimum COPV/tank pressure (Pa) required by safety filter before PWM is allowed.
-# Set to 0 to disable the constraint (simulation / open-loop test).
-# For a real hotfire with COPV, set to ~689476 (100 psi) or higher.
-P_copv_min_pa = 0.0
-
-# Controller Targets (used when state machine enters FIRE state)
-# command_type can be: "THRUST_DESIRED", "ALTITUDE_GOAL", or "PRESSURE_TARGET"
+fallback_fuel_duty_cycle = 0
+fallback_ox_duty_cycle = 0
+controller_loop_hz = 100
+P_copv_min_pa = 0
 command_type = "THRUST_DESIRED"
-thrust_desired = 1000.0        # Target thrust in Newtons
-altitude_goal = 0.0            # Target altitude (if using ALTITUDE_GOAL)
-pressure_fuel_target = 0.0     # Target fuel pressure (if using PRESSURE_TARGET)
-pressure_ox_target = 0.0       # Target ox pressure (if using PRESSURE_TARGET)
-# Duty sweep: open-loop multi-step test (no controller service needed).
+thrust_desired = 1000
+altitude_goal = 0
+pressure_fuel_target = 0
+pressure_ox_target = 0
 duty_sweep_enabled = false
-duty_sweep_step_duration_sec = 2.0
-# Steps as [fuel_duty, ox_duty] in 0.0-1.0; 5 steps x 2s = 10s
-duty_sweep_steps = [[0.1, 0.1], [0.3, 0.2], [0.5, 0.4], [0.3, 0.3], [0.1, 0.1]]
-
-# Use C++ RobustDDPController service for PWM instead of Python FastAPI.
-# When true, the web backend will not start its own controller loop or send PWM.
+duty_sweep_step_duration_sec = 2
+duty_sweep_steps = [
+  [ 0.1, 0.1 ],
+  [ 0.3, 0.2 ],
+  [ 0.5, 0.4 ],
+  [ 0.3, 0.3 ],
+  [ 0.1, 0.1 ]
+]
 use_cpp_controller = true
-
-# Policy LUT path for C++ controller. If set and load succeeds, bypasses DDP
-# and uses precomputed duty_F/duty_O from LUT (multilinear interpolation).
-# Generate: ./scripts/controller_lut/generate_engine_and_policy_lut.sh full
 lut_path = "output/lut/controller_policy_fsw.bin"
-# Thrust curve CSV (time_s,thrust_N) from Layer 2 pressure curves. When set, F_ref follows curve.
 thrust_curve_path = "output/lut/thrust_curve.csv"
 
-# NOTE: engine_lut_path removed 2026-08-14 — Python/SITL-only (DDP LUT); the C++ controller
-# doesn't read it, and the LUT tools take it from their own engine_lut_config.yaml.
-
-# NOTE: [phase2], [calibration.sidecar], [calibration.environmental] removed 2026-08-13 — dead config
-# (deprecated Python autonomous-cal / sidecar; the live C++ calibration_service reads none of them).
+[actuator_roles]
+"LOX Main" = ["NC", 1, 12]
+"Fuel Vent" = ["NC", 2, 12]
+"Fuel Press" = ["NC", 3, 12]
+"Fuel Main" = ["NO", 7, 12]
+"LOX Vent" = ["NC", 6, 12]
+"LOX Press" = ["NO", 8, 12]
+"GSE Low Press Vent" = ["NC", 5, 12]
+"Fuel Fill Press" = ["NC", 2, 14]
+"Fuel Fill Vent" = ["NC", 1, 14]
+"GSE LOX Fill Vent" = ["NC", 10, 14]
+"GSE High Press Control" = ["NC", 3, 14]
+"GSE Med Press Control" = ["NC", 4, 14]
+"GSE High Press Vent" = ["NC", 5, 14]
+"GN2 Vent" = ["NC", 6, 14]
+"LOX Fill" = ["NC", 7, 14]
+"LOX Dump" = ["NC", 8, 14]

From 59415c6a8728faaff84fb7fcefde1337aa51e774 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 01:52:13 -0700
Subject: [PATCH 056/205] Formatting

---
 .../daq_bridge/daq_bridge_main.cpp            |  12 +-
 .../lib/src/streams/SensorFramePipeline.cpp   |   4 +-
 .../config_broadcast_service_main.cpp         |   9 +-
 .../services/sequencer/SequencerService.cpp   |  16 +-
 .../ADC_Testing/Actuator_Testing/src/main.cpp |  10 +-
 .../ADC_Testing/Stream_ADC_Data/src/main.cpp  |   2 +-
 .../ADC_Testing/stream_one_adc/src/main.cpp   |   2 +-
 .../ActuatorCon_Hotfire/src/main.cpp          |  11 +-
 .../actuator_c.cpp                            |  11 +-
 firmware/Environmental Tracker/src/main.cpp   |   6 +-
 .../EthernetTestRcvPacketSuite/src/main.cpp   |   6 +-
 .../EthernetTestSendPacketSuite/src/main.cpp  |   4 +-
 .../Actuator_Hotfire/src/main.cpp             |  43 +++--
 .../test_actuator_state_machine.cpp           |   9 +-
 .../test_packet_roundtrip.cpp                 |  74 ++++-----
 .../test_sensor_state_machine.cpp             |   9 +-
 firmware/Hotfire_Code/LC_Hotfire/src/main.cpp |   5 +-
 firmware/Hotfire_Code/PT_Hotfire/src/main.cpp |   2 +-
 .../Hotfire_Code/ProtoEncoder/src/main.cpp    |   8 +-
 .../Hotfire_Code/RTD_Hotfire/src/main.cpp     |   2 +-
 firmware/Hotfire_Code/TC_Hotfire/src/main.cpp |   5 +-
 .../Hotfire_Code/common/SensorHotfireCore.h   |  44 +++---
 firmware/Hotfire_Code/common/hotfire_log.h    | 149 +++++++++++++-----
 firmware/Hotfire_Code/common/hotfire_ota.h    |   5 +-
 firmware/LC_Board/LC_Calibration/src/main.cpp |   2 +-
 .../Multi_Board_Comms_Testing/src/main.cpp    |   2 +-
 .../src/main.cpp                              |   6 +-
 .../PT_BOARD_Multi_Send/src/main.cpp          |   2 +-
 firmware/RTD_Board/RTD_Testing/src/main.cpp   |   2 +-
 firmware/Stacklight Driver/src/main.cpp       |   6 +-
 firmware/State Machine/TC_Board/src/main.cpp  |  11 +-
 31 files changed, 265 insertions(+), 214 deletions(-)

diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 47e7902da..61fe1ebcb 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -19,10 +19,10 @@
 #include <thread>
 #include <vector>
 
-#include "daq-protocol.h"
 #include "comms/messages/board/BoardHeartbeatMessage.hpp"
 #include "comms/messages/sensor/CalibratedSensorMessages.hpp"
 #include "comms/messages/sensor/SensorMessages.hpp"
+#include "daq-protocol.h"
 #include "fsw/BoardTypeWire.hpp"
 
 namespace {
@@ -50,7 +50,7 @@ std::vector<uint8_t> build_server_heartbeat_packet() {
 //
 // Envelope (little-endian): [board_id:u8][flags:u8][text_len:u16][text bytes].
 class BackendLogForwarder {
-   public:
+public:
     BackendLogForwarder(const std::string& host, uint16_t port) {
         sock_ = socket(AF_INET, SOCK_DGRAM, 0);
         std::memset(&dest_, 0, sizeof(dest_));
@@ -63,7 +63,9 @@ class BackendLogForwarder {
             close(sock_);
     }
 
-    bool ready() const { return sock_ >= 0; }
+    bool ready() const {
+        return sock_ >= 0;
+    }
 
     void forward(uint8_t board_id, uint8_t flags, const uint8_t* text, uint16_t text_len) {
         if (sock_ < 0)
@@ -80,7 +82,7 @@ class BackendLogForwarder {
                sizeof(dest_));
     }
 
-   private:
+private:
     int sock_ = -1;
     sockaddr_in dest_{};
 };
@@ -619,7 +621,7 @@ int main(int argc, char* argv[]) {
                 daq::PacketHeader ph;
                 daq::BoardHeartbeatPacket hb_body;
                 if (daq::parse_board_heartbeat_packet(hb->data.data(), hb->data.size(), ph,
-                                                         hb_body)) {
+                                                      hb_body)) {
                     uint8_t board_type_wire = fsw::daq_wire::kUnknown;
                     int elodin_board_id = -1;
                     if (const BoardConfig* hb_cfg = resolve_board_config_by_source_ip(
diff --git a/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp b/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
index 0f42c70ed..c3683a722 100644
--- a/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
+++ b/daq-server/diablo_server/lib/src/streams/SensorFramePipeline.cpp
@@ -51,7 +51,7 @@ std::optional<daq_comms::protocol::SensorBatch> SensorFramePipeline::poll() {
         daq::PacketHeader sensor_header;
         std::vector<daq::SensorDataChunkCollection> chunks;
         if (!daq::parse_sensor_data_packet(receive_buffer_.data(), static_cast<size_t>(received),
-                                              sensor_header, chunks)) {
+                                           sensor_header, chunks)) {
             static size_t parse_fail_count = 0;
             if (++parse_fail_count <= 10 || parse_fail_count % 500 == 0) {
                 std::cerr << "[Pipeline] SENSOR_DATA parse failed #" << parse_fail_count
@@ -90,7 +90,7 @@ std::optional<daq_comms::protocol::SensorBatch> SensorFramePipeline::poll() {
         uint8_t adc_good = 0;
         std::vector<daq::SelfTestResult> st_results;
         if (!daq::parse_self_test_packet(receive_buffer_.data(), static_cast<size_t>(received),
-                                            st_header, adc_good, st_results)) {
+                                         st_header, adc_good, st_results)) {
             std::cerr << "[Pipeline] SELF_TEST parse failed from " << last_source_ip_ << std::endl;
             return std::nullopt;
         }
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index c7b4accc7..973b6117b 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -162,8 +162,10 @@ std::vector<BoardInfo> parseBoards(const std::string& content) {
                     ser = 0;
                 }
             }
-            if (ser < 0) ser = 0;
-            if (ser > 3) ser = 3;
+            if (ser < 0)
+                ser = 0;
+            if (ser > 3)
+                ser = 3;
         }
         int num_sens = 10;
         try {
@@ -607,7 +609,8 @@ int main(int argc, char* argv[]) {
     auto packets = buildPackets(config_path, pt_cal);
     if (packets.empty())
         std::cerr << "[ConfigBroadcast] No packets from config yet (no designated_survivor?); "
-                     "retrying each cycle" << std::endl;
+                     "retrying each cycle"
+                  << std::endl;
 
     int sock = socket(AF_INET, SOCK_DGRAM, 0);
     if (sock < 0) {
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index a15b2cdd3..45a52f547 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -139,8 +139,8 @@ bool SequencerService::init(const std::string& config_path) {
     loadConfig(config_path);
 
     // State machine CSV — path from config.toml (canonical: daq-server/config/).
-    std::string sm_csv = resolveDataPath(
-        configString(config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
+    std::string sm_csv = resolveDataPath(configString(
+        config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
     if (!state_machine_.load(sm_csv)) {
         std::cerr
             << "[SequencerService] Failed to load state_transitions.csv (tried relative to cwd: "
@@ -149,8 +149,8 @@ bool SequencerService::init(const std::string& config_path) {
     }
 
     // Actuator commander — path from config.toml (canonical: daq-server/config/).
-    std::string act_csv = resolveDataPath(
-        configString(config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
+    std::string act_csv = resolveDataPath(configString(
+        config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Failed to load state_machine_actuators.csv (tried: "
                   << act_csv << ")" << std::endl;
@@ -388,14 +388,14 @@ bool SequencerService::reloadConfig() {
     std::cout << "[SequencerService] Reloading config..." << std::endl;
     loadConfig(config_path_);
 
-    std::string act_csv = resolveDataPath(
-        configString(config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
+    std::string act_csv = resolveDataPath(configString(
+        config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload actuator CSV" << std::endl;
         return false;
     }
-    std::string sm_csv = resolveDataPath(
-        configString(config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
+    std::string sm_csv = resolveDataPath(configString(
+        config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
     if (!state_machine_.load(sm_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload state transitions CSV"
                   << std::endl;
diff --git a/firmware/ADC_Testing/Actuator_Testing/src/main.cpp b/firmware/ADC_Testing/Actuator_Testing/src/main.cpp
index ed18c80d1..43520939a 100644
--- a/firmware/ADC_Testing/Actuator_Testing/src/main.cpp
+++ b/firmware/ADC_Testing/Actuator_Testing/src/main.cpp
@@ -1,8 +1,8 @@
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -46,8 +46,7 @@ unsigned long lastAdcReadTime = 0;
 
 // Forward declarations
 void initializeActuators();
-void processActuatorCommand(
-    const std::vector<daq::ActuatorCommand>& commands);
+void processActuatorCommand(const std::vector<daq::ActuatorCommand>& commands);
 void processPWMActuatorCommand(
     const std::vector<daq::PWMActuatorCommand>& commands);
 void updatePWM();
@@ -163,7 +162,7 @@ void loop() {
                 std::vector<daq::PWMActuatorCommand> commands;
 
                 if (daq::parse_pwm_actuator_packet(packetBuffer, bytesRead,
-                                                      parsedHeader, commands)) {
+                                                   parsedHeader, commands)) {
                     Serial.print("Received PWM actuator command packet with ");
                     Serial.print(commands.size());
                     Serial.println(" commands");
@@ -227,8 +226,7 @@ void initializeActuators() {
     }
 }
 
-void processActuatorCommand(
-    const std::vector<daq::ActuatorCommand>& commands) {
+void processActuatorCommand(const std::vector<daq::ActuatorCommand>& commands) {
     for (const auto& cmd : commands) {
         // Actuator IDs are 1-indexed (1-10) from the server
         // Validate actuator ID
diff --git a/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp b/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp
index 8022a19cd..820f24d50 100644
--- a/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp
+++ b/firmware/ADC_Testing/Stream_ADC_Data/src/main.cpp
@@ -1,10 +1,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 
 #include <cstring>
 
diff --git a/firmware/ADC_Testing/stream_one_adc/src/main.cpp b/firmware/ADC_Testing/stream_one_adc/src/main.cpp
index 31248c97e..0ee2b5be0 100644
--- a/firmware/ADC_Testing/stream_one_adc/src/main.cpp
+++ b/firmware/ADC_Testing/stream_one_adc/src/main.cpp
@@ -5,10 +5,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 
 #include <cstring>
 
diff --git a/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp b/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp
index d2a85ecbf..e6fe4e0f1 100644
--- a/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp
+++ b/firmware/Actuator_Board/ActuatorCon_Hotfire/src/main.cpp
@@ -8,11 +8,11 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
 #include <SPIFFS.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -197,8 +197,8 @@ static void sendBoardHeartbeat() {
     hb.board_state = getBoardStateForHeartbeat();
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = daq::create_board_heartbeat_packet(
-        hb, millis(), packetBuffer, sizeof(packetBuffer));
+    size_t len = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
+                                                    sizeof(packetBuffer));
     if (len == 0)
         return;
 
@@ -258,8 +258,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
         case daq::PacketType::SERVER_HEARTBEAT: {
             daq::PacketHeader dummy;
             daq::ServerHeartbeatPacket data;
-            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
-                                                      data)) {
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy, data)) {
                 last_server_heartbeat_ms = millis();
                 return IncomingPacketKind::ServerHeartbeat;
             }
@@ -304,7 +303,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             daq::PacketHeader cmd_header;
             std::vector<daq::ActuatorCommand> commands;
             if (daq::parse_actuator_command_packet(buffer, len, cmd_header,
-                                                      commands) &&
+                                                   commands) &&
                 (state == ActuatorControllerState::Active ||
                  state == ActuatorControllerState::StandardAbort)) {
                 processActuatorCommands(commands);
diff --git a/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp b/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp
index 3c32b302d..adfefb8aa 100644
--- a/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp
+++ b/firmware/Avionics_State_Machine_Drafts/actuator_c.cpp
@@ -7,11 +7,11 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
 #include <SPIFFS.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -181,8 +181,8 @@ static void sendBoardHeartbeat() {
     hb.board_state = getBoardStateForHeartbeat();
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = daq::create_board_heartbeat_packet(
-        hb, millis(), packetBuffer, sizeof(packetBuffer));
+    size_t len = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
+                                                    sizeof(packetBuffer));
     if (len == 0)
         return;
 
@@ -225,8 +225,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
         case daq::PacketType::SERVER_HEARTBEAT: {
             daq::PacketHeader dummy;
             daq::ServerHeartbeatPacket data;
-            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
-                                                      data)) {
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy, data)) {
                 last_server_heartbeat_ms =
                     millis();  // Only server heartbeat refreshes watchdog
                 return IncomingPacketKind::ServerHeartbeat;
@@ -251,7 +250,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             daq::PacketHeader cmd_header;
             std::vector<daq::ActuatorCommand> commands;
             if (daq::parse_actuator_command_packet(buffer, len, cmd_header,
-                                                      commands) &&
+                                                   commands) &&
                 (state == ActuatorControllerState::Active ||
                  state == ActuatorControllerState::StandardAbort)) {
                 processActuatorCommands(commands);
diff --git a/firmware/Environmental Tracker/src/main.cpp b/firmware/Environmental Tracker/src/main.cpp
index a40adbae2..1abb63fa8 100644
--- a/firmware/Environmental Tracker/src/main.cpp	
+++ b/firmware/Environmental Tracker/src/main.cpp	
@@ -2,11 +2,11 @@
 
 #include <Adafruit_BME280.h>
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
 #include <Wire.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include "firmware_hash.h"
@@ -90,7 +90,7 @@ void loop() {
             daq::PacketHeader hdr;
             daq::ServerHeartbeatPacket data;
             if (daq::parse_server_heartbeat_packet(pkt_buf, bytes_read, hdr,
-                                                      data)) {
+                                                   data)) {
                 Serial.print("Server heartbeat received (t=");
                 Serial.print(hdr.timestamp);
                 Serial.println("ms)");
@@ -131,7 +131,7 @@ void loop() {
         hb.board_state = daq::BoardState::ACTIVE;
 
         size_t n = daq::create_board_heartbeat_packet(hb, millis(), pkt_buf,
-                                                         sizeof(pkt_buf));
+                                                      sizeof(pkt_buf));
         if (n > 0) {
             udp.beginPacket(server_ip, ENV_SERVER_PORT);
             udp.write(pkt_buf, n);
diff --git a/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp b/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp
index 4b985c22d..ad1b2652d 100644
--- a/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp	
+++ b/firmware/Ethernet Testing/EthernetTestRcvPacketSuite/src/main.cpp	
@@ -1,7 +1,7 @@
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 
 #include <cstring>
 
@@ -328,7 +328,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
         case daq::PacketType::BOARD_HEARTBEAT: {
             daq::BoardHeartbeatPacket heartbeatData;
             if (daq::parse_board_heartbeat_packet(buffer, size, header,
-                                                     heartbeatData)) {
+                                                  heartbeatData)) {
                 printBoardHeartbeat(header, heartbeatData);
                 decoded = true;
             } else {
@@ -346,7 +346,7 @@ void decodeAndPrintPacket(const uint8_t* buffer, size_t size) {
         case daq::PacketType::SERVER_HEARTBEAT: {
             daq::ServerHeartbeatPacket heartbeatData;
             if (daq::parse_server_heartbeat_packet(buffer, size, header,
-                                                      heartbeatData)) {
+                                                   heartbeatData)) {
                 printServerHeartbeat(header, heartbeatData);
                 decoded = true;
             } else {
diff --git a/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp b/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp
index 77c1feff5..fec7f0126 100644
--- a/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp	
+++ b/firmware/Ethernet Testing/EthernetTestSendPacketSuite/src/main.cpp	
@@ -1,7 +1,7 @@
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 
 #include <cstring>
 
@@ -141,7 +141,7 @@ bool sendHeartbeatPacket() {
     // Prepare heartbeat packet data
     daq::BoardHeartbeatPacket heartbeatData;
     memset(heartbeatData.firmware_hash, 0, sizeof(heartbeatData.firmware_hash));
-    heartbeatData.board_id = 1;                              // Change as needed
+    heartbeatData.board_id = 1;                           // Change as needed
     heartbeatData.engine_state = daq::EngineState::SAFE;  // Change as needed
     heartbeatData.board_state = daq::BoardState::ACTIVE;  // Change as needed
 
diff --git a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
index e2a833dd9..9e42ff598 100644
--- a/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp
@@ -12,10 +12,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -245,8 +245,8 @@ static void sendBoardHeartbeat() {
     hb.board_state = getBoardStateForHeartbeat();
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = daq::create_board_heartbeat_packet(
-        hb, millis(), packetBuffer, sizeof(packetBuffer));
+    size_t len = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
+                                                    sizeof(packetBuffer));
     if (len == 0)
         return;
 
@@ -497,8 +497,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
         case daq::PacketType::SERVER_HEARTBEAT: {
             daq::PacketHeader dummy;
             daq::ServerHeartbeatPacket data;
-            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
-                                                      data)) {
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy, data)) {
                 last_server_heartbeat_ms = millis();
                 uint32_t sip = (static_cast<uint32_t>(serverIP[0]) << 24) |
                                (static_cast<uint32_t>(serverIP[1]) << 16) |
@@ -516,8 +515,8 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             std::vector<daq::AbortActuatorLocation> act_locs;
             std::vector<daq::AbortPTLocation> pt_locs;
             if (daq::parse_actuator_config_packet(buffer, len, dummy,
-                                                     is_controller, act_locs,
-                                                     pt_locs, enable_serial)) {
+                                                  is_controller, act_locs,
+                                                  pt_locs, enable_serial)) {
                 is_abort_controller = (is_controller != 0);
                 abort_actuator_locations = act_locs;
                 abort_pt_locations = pt_locs;
@@ -525,7 +524,8 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 // enable_serial is the mode byte (0..3): bit0 = USB verbose,
                 // upper part = server log stream level. See hotfire_log.h.
                 g_verbose = (enable_serial & 1);
-                g_log_stream_level = (enable_serial >= 2) ? (enable_serial - 1) : 0;
+                g_log_stream_level =
+                    (enable_serial >= 2) ? (enable_serial - 1) : 0;
                 return IncomingPacketKind::Config;
             }
             return IncomingPacketKind::None;
@@ -542,8 +542,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 config_valid && !abort_pt_locations.empty()) {
                 std::vector<daq::SensorDataChunkCollection> chunks;
                 daq::PacketHeader dummy;
-                if (daq::parse_sensor_data_packet(buffer, len, dummy,
-                                                     chunks)) {
+                if (daq::parse_sensor_data_packet(buffer, len, dummy, chunks)) {
                     for (const auto& col : chunks)
                         for (const auto& dp : col.datapoints)
                             for (size_t i = 0; i < abort_pt_locations.size();
@@ -559,8 +558,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
                 !abort_pt_locations.empty()) {
                 std::vector<daq::SensorDataChunkCollection> chunks;
                 daq::PacketHeader dummy;
-                if (daq::parse_sensor_data_packet(buffer, len, dummy,
-                                                     chunks)) {
+                if (daq::parse_sensor_data_packet(buffer, len, dummy, chunks)) {
                     for (const auto& col : chunks) {
                         for (const auto& dp : col.datapoints) {
                             for (size_t i = 0; i < abort_pt_locations.size();
@@ -585,7 +583,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             daq::PacketHeader cmd_header;
             std::vector<daq::ActuatorCommand> commands;
             if (daq::parse_actuator_command_packet(buffer, len, cmd_header,
-                                                      commands)) {
+                                                   commands)) {
                 HF_VERBOSELN("ACTUATOR_COMMAND received (DAQv2-Comms):");
                 for (size_t i = 0; i < commands.size(); ++i) {
                     const auto& cmd = commands[i];
@@ -606,9 +604,8 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
             daq::PacketHeader cmd_header;
             std::vector<daq::PWMActuatorCommand> commands;
             if (daq::parse_pwm_actuator_packet(buffer, len, cmd_header,
-                                                  commands)) {
-                HF_VERBOSELN(
-                    "PWM_ACTUATOR_COMMAND received (DAQv2-Comms):");
+                                               commands)) {
+                HF_VERBOSELN("PWM_ACTUATOR_COMMAND received (DAQv2-Comms):");
                 for (size_t i = 0; i < commands.size(); ++i) {
                     const auto& cmd = commands[i];
                     HF_VERBOSE("  [");
@@ -1040,8 +1037,9 @@ static void flushLogs() {
     if (g_logbuf.empty())
         return;
     static uint8_t pkt[sizeof(daq::PacketHeader) + 3 + LOG_BUF_SIZE];
-    size_t n = daq::create_log_packet(g_logbuf.flags(), g_logbuf.data(),
-                                      g_logbuf.length(), millis(), pkt, sizeof(pkt));
+    size_t n =
+        daq::create_log_packet(g_logbuf.flags(), g_logbuf.data(),
+                               g_logbuf.length(), millis(), pkt, sizeof(pkt));
     if (n > 0) {
         udp.beginPacket(serverIP, serverPort);
         udp.write(pkt, n);
@@ -1121,9 +1119,9 @@ void loop() {
         uint8_t packetBuffer[MAX_PACKET_SIZE];
         int bytesRead = udp.read(packetBuffer, sizeof(packetBuffer));
         if (bytesRead > 0) {
-            const uint8_t pktType =
-                bytesRead >= (int)sizeof(daq::PacketHeader) ? packetBuffer[0]
-                                                               : 0;
+            const uint8_t pktType = bytesRead >= (int)sizeof(daq::PacketHeader)
+                                        ? packetBuffer[0]
+                                        : 0;
             HF_VERBOSE("Received packet from ");
             HF_VERBOSE(remoteIP);
             HF_VERBOSE(":");
@@ -1193,7 +1191,8 @@ void loop() {
         sendBoardHeartbeat();
     }
 
-    // Flush buffered logs to the server ~1 Hz (or sooner if the buffer is filling).
+    // Flush buffered logs to the server ~1 Hz (or sooner if the buffer is
+    // filling).
     static unsigned long s_last_log_flush_ms = 0;
     if (!g_logbuf.empty() &&
         (g_logbuf.nearFull() || now - s_last_log_flush_ms >= 1000)) {
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp
index 2c9d3ad73..61f7942b4 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_actuator_state_machine/test_actuator_state_machine.cpp
@@ -270,18 +270,15 @@ void test_actuator_heartbeat_board_id_preserved() {
         getBoardStateForHeartbeat(ActuatorControllerState::PTAbort);
 
     uint8_t buf[512];
-    size_t n =
-        daq::create_board_heartbeat_packet(hb, 12346u, buf, sizeof(buf));
+    size_t n = daq::create_board_heartbeat_packet(hb, 12346u, buf, sizeof(buf));
 
     daq::PacketHeader hdr_out;
     daq::BoardHeartbeatPacket hb_out;
     TEST_ASSERT_TRUE(
         daq::parse_board_heartbeat_packet(buf, n, hdr_out, hb_out));
     TEST_ASSERT_EQUAL(127, hb_out.board_id);
-    TEST_ASSERT_EQUAL((int)daq::EngineState::FIRING,
-                      (int)hb_out.engine_state);
-    TEST_ASSERT_EQUAL((int)daq::BoardState::PT_ABORT,
-                      (int)hb_out.board_state);
+    TEST_ASSERT_EQUAL((int)daq::EngineState::FIRING, (int)hb_out.engine_state);
+    TEST_ASSERT_EQUAL((int)daq::BoardState::PT_ABORT, (int)hb_out.board_state);
 }
 
 // ===========================================================================
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
index f669ead86..6923c3390 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_packet_roundtrip/test_packet_roundtrip.cpp
@@ -30,8 +30,7 @@ void test_board_heartbeat_roundtrip() {
 
     const uint32_t ts = 99999u;
     uint8_t buf[512];
-    size_t n =
-        daq::create_board_heartbeat_packet(hb_in, ts, buf, sizeof(buf));
+    size_t n = daq::create_board_heartbeat_packet(hb_in, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
@@ -42,8 +41,7 @@ void test_board_heartbeat_roundtrip() {
     TEST_ASSERT_EQUAL(daq::PacketType::BOARD_HEARTBEAT, hdr_out.packet_type);
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(42, hb_out.board_id);
-    TEST_ASSERT_EQUAL((int)daq::EngineState::FIRING,
-                      (int)hb_out.engine_state);
+    TEST_ASSERT_EQUAL((int)daq::EngineState::FIRING, (int)hb_out.engine_state);
     TEST_ASSERT_EQUAL((int)daq::BoardState::ACTIVE, (int)hb_out.board_state);
     TEST_ASSERT_EQUAL_MEMORY(hb_in.firmware_hash, hb_out.firmware_hash, 32);
 }
@@ -60,15 +58,13 @@ void test_board_heartbeat_parse_wrong_type() {
     uint8_t buf[512];
     daq::BoardHeartbeatPacket hb_in{};
     hb_in.board_id = 1;
-    size_t n =
-        daq::create_board_heartbeat_packet(hb_in, 1u, buf, sizeof(buf));
+    size_t n = daq::create_board_heartbeat_packet(hb_in, 1u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
     // Corrupt the packet type
     buf[0] = (uint8_t)daq::PacketType::SENSOR_DATA;
     daq::PacketHeader hdr;
     daq::BoardHeartbeatPacket hb_out;
-    TEST_ASSERT_FALSE(
-        daq::parse_board_heartbeat_packet(buf, n, hdr, hb_out));
+    TEST_ASSERT_FALSE(daq::parse_board_heartbeat_packet(buf, n, hdr, hb_out));
 }
 
 // ---------------------------------------------------------------------------
@@ -120,8 +116,8 @@ void test_sensor_data_roundtrip() {
 
     const uint32_t hdr_ts = 5555u;
     uint8_t buf[512];
-    size_t n = daq::create_sensor_data_packet(chunks, num_sensors, hdr_ts,
-                                                 buf, sizeof(buf));
+    size_t n = daq::create_sensor_data_packet(chunks, num_sensors, hdr_ts, buf,
+                                              sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
@@ -165,8 +161,7 @@ void test_actuator_command_roundtrip() {
 
     const uint32_t ts = 7777u;
     uint8_t buf[512];
-    size_t n =
-        daq::create_actuator_command_packet(cmds, ts, buf, sizeof(buf));
+    size_t n = daq::create_actuator_command_packet(cmds, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
@@ -211,8 +206,7 @@ void test_pwm_actuator_roundtrip() {
 
     daq::PacketHeader hdr_out;
     std::vector<daq::PWMActuatorCommand> cmds_out;
-    TEST_ASSERT_TRUE(
-        daq::parse_pwm_actuator_packet(buf, n, hdr_out, cmds_out));
+    TEST_ASSERT_TRUE(daq::parse_pwm_actuator_packet(buf, n, hdr_out, cmds_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(1, cmds_out.size());
@@ -292,7 +286,7 @@ void test_sensor_config_empty_sensors() {
     std::vector<uint8_t> sensor_ids;  // empty
     uint8_t buf[512];
     size_t n = daq::create_sensor_config_packet(sensor_ids, 0, false, 0, 1,
-                                                   11113u, buf, sizeof(buf));
+                                                11113u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
@@ -318,8 +312,8 @@ void test_actuator_config_roundtrip() {
     pts.push_back({0xC0A80203, 2, 500000});  // IP, sensor_id, threshold
 
     uint8_t buf[512];
-    size_t n = daq::create_actuator_config_packet(1, actuators, pts, 1,
-                                                     22222u, buf, sizeof(buf));
+    size_t n = daq::create_actuator_config_packet(1, actuators, pts, 1, 22222u,
+                                                  buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
@@ -349,8 +343,8 @@ void test_actuator_config_no_pts() {
     std::vector<daq::AbortPTLocation> pts;  // empty
 
     uint8_t buf[512];
-    size_t n = daq::create_actuator_config_packet(0, actuators, pts, 0,
-                                                     22223u, buf, sizeof(buf));
+    size_t n = daq::create_actuator_config_packet(0, actuators, pts, 0, 22223u,
+                                                  buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
@@ -379,15 +373,14 @@ void test_self_test_roundtrip() {
 
     const uint32_t ts = 33333u;
     uint8_t buf[512];
-    size_t n =
-        daq::create_self_test_packet(1, results, ts, buf, sizeof(buf));
+    size_t n = daq::create_self_test_packet(1, results, ts, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     daq::PacketHeader hdr_out;
     uint8_t adc_good_out;
     std::vector<daq::SelfTestResult> results_out;
-    TEST_ASSERT_TRUE(daq::parse_self_test_packet(buf, n, hdr_out,
-                                                    adc_good_out, results_out));
+    TEST_ASSERT_TRUE(daq::parse_self_test_packet(buf, n, hdr_out, adc_good_out,
+                                                 results_out));
 
     TEST_ASSERT_EQUAL(ts, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(1, adc_good_out);
@@ -410,8 +403,8 @@ void test_self_test_adc_bad() {
     daq::PacketHeader hdr_out;
     uint8_t adc_good_out;
     std::vector<daq::SelfTestResult> results_out;
-    TEST_ASSERT_TRUE(daq::parse_self_test_packet(buf, n, hdr_out,
-                                                    adc_good_out, results_out));
+    TEST_ASSERT_TRUE(daq::parse_self_test_packet(buf, n, hdr_out, adc_good_out,
+                                                 results_out));
     TEST_ASSERT_EQUAL(33334u, hdr_out.timestamp);
     TEST_ASSERT_EQUAL(0, adc_good_out);
 }
@@ -436,8 +429,7 @@ void test_abort_done_roundtrip() {
 
 void test_abort_done_buffer_too_small() {
     uint8_t buf[2];
-    TEST_ASSERT_EQUAL(0,
-                      daq::create_abort_done_packet(0u, buf, sizeof(buf)));
+    TEST_ASSERT_EQUAL(0, daq::create_abort_done_packet(0u, buf, sizeof(buf)));
 }
 
 // ---------------------------------------------------------------------------
@@ -447,12 +439,10 @@ void test_abort_done_buffer_too_small() {
 void test_parse_null_buffer() {
     daq::PacketHeader hdr;
     daq::BoardHeartbeatPacket hb;
-    TEST_ASSERT_FALSE(
-        daq::parse_board_heartbeat_packet(nullptr, 100, hdr, hb));
+    TEST_ASSERT_FALSE(daq::parse_board_heartbeat_packet(nullptr, 100, hdr, hb));
 
     std::vector<daq::SensorDataChunkCollection> chunks;
-    TEST_ASSERT_FALSE(
-        daq::parse_sensor_data_packet(nullptr, 100, hdr, chunks));
+    TEST_ASSERT_FALSE(daq::parse_sensor_data_packet(nullptr, 100, hdr, chunks));
 
     std::vector<daq::ActuatorCommand> cmds;
     TEST_ASSERT_FALSE(
@@ -474,19 +464,19 @@ void test_log_packet_layout() {
     TEST_ASSERT_EQUAL_UINT8((uint8_t)daq::PacketType::LOGS, buf[0]);
     uint32_t ts;
     memcpy(&ts, buf + 2, 4);
-    TEST_ASSERT_EQUAL_UINT32(0xDEADBEEFu, ts);          // timestamp (u32 LE)
-    TEST_ASSERT_EQUAL_UINT8(0x01, buf[hdr]);            // flags: TRUNCATED
+    TEST_ASSERT_EQUAL_UINT32(0xDEADBEEFu, ts);  // timestamp (u32 LE)
+    TEST_ASSERT_EQUAL_UINT8(0x01, buf[hdr]);    // flags: TRUNCATED
     uint16_t tl;
     memcpy(&tl, buf + hdr + 1, 2);
-    TEST_ASSERT_EQUAL_UINT16(text_len, tl);             // text_len (u16 LE)
+    TEST_ASSERT_EQUAL_UINT16(text_len, tl);  // text_len (u16 LE)
     TEST_ASSERT_EQUAL_MEMORY(text, buf + hdr + 3, text_len);
 }
 
 void test_log_packet_buffer_too_small() {
     const char* text = "hello";
     uint8_t buf[4];  // smaller than the header alone
-    TEST_ASSERT_EQUAL(
-        0, daq::create_log_packet(0, (const uint8_t*)text, 5, 0u, buf, sizeof(buf)));
+    TEST_ASSERT_EQUAL(0, daq::create_log_packet(0, (const uint8_t*)text, 5, 0u,
+                                                buf, sizeof(buf)));
 }
 
 void test_log_packet_roundtrip() {
@@ -501,7 +491,8 @@ void test_log_packet_roundtrip() {
     uint8_t flags = 0;
     const uint8_t* out_text = nullptr;
     uint16_t out_len = 0;
-    TEST_ASSERT_TRUE(daq::parse_log_packet(buf, n, hdr, flags, out_text, out_len));
+    TEST_ASSERT_TRUE(
+        daq::parse_log_packet(buf, n, hdr, flags, out_text, out_len));
     TEST_ASSERT_EQUAL_UINT8((uint8_t)daq::PacketType::LOGS, hdr.packet_type);
     TEST_ASSERT_EQUAL_UINT32(0x12345678u, hdr.timestamp);
     TEST_ASSERT_EQUAL_UINT8(0x01, flags);
@@ -512,7 +503,8 @@ void test_log_packet_roundtrip() {
 void test_log_packet_parse_truncated() {
     const char* text = "hello";
     uint8_t buf[64];
-    size_t n = daq::create_log_packet(0, (const uint8_t*)text, 5, 0u, buf, sizeof(buf));
+    size_t n = daq::create_log_packet(0, (const uint8_t*)text, 5, 0u, buf,
+                                      sizeof(buf));
     TEST_ASSERT_NOT_EQUAL(0, n);
 
     daq::PacketHeader hdr;
@@ -520,7 +512,8 @@ void test_log_packet_parse_truncated() {
     const uint8_t* out_text = nullptr;
     uint16_t out_len = 0;
     // Claim one fewer byte than the text needs -> must fail.
-    TEST_ASSERT_FALSE(daq::parse_log_packet(buf, n - 1, hdr, flags, out_text, out_len));
+    TEST_ASSERT_FALSE(
+        daq::parse_log_packet(buf, n - 1, hdr, flags, out_text, out_len));
 }
 
 void test_log_packet_parse_wrong_type() {
@@ -534,7 +527,8 @@ void test_log_packet_parse_wrong_type() {
     uint8_t flags = 0;
     const uint8_t* out_text = nullptr;
     uint16_t out_len = 0;
-    TEST_ASSERT_FALSE(daq::parse_log_packet(buf, n, hdr, flags, out_text, out_len));
+    TEST_ASSERT_FALSE(
+        daq::parse_log_packet(buf, n, hdr, flags, out_text, out_len));
 }
 
 // ---------------------------------------------------------------------------
diff --git a/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp b/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp
index 6e66f306a..c7df0abae 100644
--- a/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp
+++ b/firmware/Hotfire_Code/Hotfire_Tests/test/test_sensor_state_machine/test_sensor_state_machine.cpp
@@ -114,8 +114,8 @@ static IncomingPacketKind processIncomingPacket(StoredConfig& stored_config,
         uint32_t controller_ip;
         uint8_t serial;
         if (daq::parse_sensor_config_packet(buf, len, hdr_out, ids, ref,
-                                               abort_needed, controller_ip,
-                                               serial)) {
+                                            abort_needed, controller_ip,
+                                            serial)) {
             stored_config.valid = true;
             stored_config.num_sensors = ids.size();
             for (size_t i = 0; i < ids.size() && i < 10; i++) {
@@ -241,7 +241,7 @@ void test_sensor_process_sensor_config_packet() {
     std::vector<uint8_t> sensor_ids = {1, 2, 3};
     uint8_t buf[512];
     size_t n = daq::create_sensor_config_packet(sensor_ids, 0, false, 0, 1,
-                                                   9001u, buf, sizeof(buf));
+                                                9001u, buf, sizeof(buf));
     TEST_ASSERT_GREATER_THAN(0, n);
 
     SensorSM::StoredConfig cfg{};
@@ -307,8 +307,7 @@ void test_sensor_heartbeat_state_mapping_table() {
     } mappings[] = {
         {SensorSM::State::WaitingForServer, daq::BoardState::SETUP},
         {SensorSM::State::Active, daq::BoardState::ACTIVE},
-        {SensorSM::State::StandaloneAbort,
-         daq::BoardState::STANDALONE_ABORT},
+        {SensorSM::State::StandaloneAbort, daq::BoardState::STANDALONE_ABORT},
         {SensorSM::State::SelfTest, daq::BoardState::SELF_TEST},
     };
 
diff --git a/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp b/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
index b02d33f34..d4a41ebb6 100644
--- a/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/LC_Hotfire/src/main.cpp
@@ -13,10 +13,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -108,8 +108,7 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
     size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0) {
-        HF_VERBOSE(
-            "Send FAIL: create_sensor_data_packet returned 0 (n=");
+        HF_VERBOSE("Send FAIL: create_sensor_data_packet returned 0 (n=");
         HF_VERBOSE(dataChunks.size());
         HF_VERBOSE(", buf=");
         HF_VERBOSE(SENSOR_HOTFIRE_MAX_PACKET_SIZE);
diff --git a/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp b/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
index 5f59baeb0..7d8870852 100644
--- a/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/PT_Hotfire/src/main.cpp
@@ -10,10 +10,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
diff --git a/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp b/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp
index e13fe2f94..5edadeba7 100644
--- a/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp
+++ b/firmware/Hotfire_Code/ProtoEncoder/src/main.cpp
@@ -8,11 +8,11 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
 #include <Wire.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -186,7 +186,7 @@ static void runSelfTest() {
 
     uint8_t buf[ENCODER_PACKET_BUF_SIZE];
     size_t n = daq::create_self_test_packet(adc_good, results, millis(), buf,
-                                               sizeof(buf));
+                                            sizeof(buf));
     if (n > 0) {
         udp.beginPacket(serverIP, serverPort);
         udp.write(buf, n);
@@ -211,8 +211,8 @@ static void sendDataChunks() {
         return;
 
     uint8_t buf[ENCODER_PACKET_BUF_SIZE];
-    size_t n = daq::create_sensor_data_packet(dataChunks, NUM_SENSORS,
-                                                 millis(), buf, sizeof(buf));
+    size_t n = daq::create_sensor_data_packet(dataChunks, NUM_SENSORS, millis(),
+                                              buf, sizeof(buf));
     if (n == 0) {
         dataChunks.clear();
         return;
diff --git a/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp b/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
index 8d4b895f0..210ee5e5b 100644
--- a/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/RTD_Hotfire/src/main.cpp
@@ -12,10 +12,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
diff --git a/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp b/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
index 5d5d4baf0..5b33aa638 100644
--- a/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
+++ b/firmware/Hotfire_Code/TC_Hotfire/src/main.cpp
@@ -11,10 +11,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -99,8 +99,7 @@ static void send_chunks_to_impl(IPAddress dest_ip, int dest_port,
     size_t packetSize = daq::create_sensor_data_packet(
         dataChunks, num_sensors, millis(), packetBuffer, sizeof(packetBuffer));
     if (packetSize == 0) {
-        HF_VERBOSE(
-            "Send FAIL: create_sensor_data_packet returned 0 (n=");
+        HF_VERBOSE("Send FAIL: create_sensor_data_packet returned 0 (n=");
         HF_VERBOSE(dataChunks.size());
         HF_VERBOSE(", buf=");
         HF_VERBOSE(SENSOR_HOTFIRE_MAX_PACKET_SIZE);
diff --git a/firmware/Hotfire_Code/common/SensorHotfireCore.h b/firmware/Hotfire_Code/common/SensorHotfireCore.h
index 11542dcf9..bd49c09d5 100644
--- a/firmware/Hotfire_Code/common/SensorHotfireCore.h
+++ b/firmware/Hotfire_Code/common/SensorHotfireCore.h
@@ -14,10 +14,10 @@
 #pragma once
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -35,8 +35,9 @@
 #define SENSOR_UDP_LISTEN_PORT 5005
 #endif
 
-// Two-tier serial logging (HF_LOG* = always, HF_VERBOSE* = verbose-only, gated by
-// g_verbose). Each board defines `bool g_verbose = true;` once in its main .cpp.
+// Two-tier serial logging (HF_LOG* = always, HF_VERBOSE* = verbose-only, gated
+// by g_verbose). Each board defines `bool g_verbose = true;` once in its main
+// .cpp.
 #include "hotfire_log.h"
 
 namespace SensorHotfire {
@@ -228,8 +229,7 @@ inline IncomingPacketKind processIncomingPacket(CoreState& s, const Config& cfg,
             HF_VERBOSELN("(none)");
         }
         HF_VERBOSE("  reference_voltage=");
-        HF_VERBOSELN(
-            static_cast<unsigned>(s.stored_config.reference_voltage));
+        HF_VERBOSELN(static_cast<unsigned>(s.stored_config.reference_voltage));
         HF_VERBOSE("  necessary_for_abort=");
         HF_VERBOSELN(s.stored_config.necessary_for_abort ? 1 : 0);
         HF_VERBOSE("  actuator_controller_ip=");
@@ -297,8 +297,8 @@ inline void applyPacketTransition(CoreState& s, const Config& cfg,
 }
 
 inline void sendBoardHeartbeat(CoreState& s, const Config& cfg,
-                               daq::BoardState board_state,
-                               IPAddress dest_ip, int dest_port) {
+                               daq::BoardState board_state, IPAddress dest_ip,
+                               int dest_port) {
     daq::BoardHeartbeatPacket hb;
     memcpy(hb.firmware_hash, FirmwareHash::get(), 32);
     hb.board_id = s.board_id;
@@ -307,7 +307,7 @@ inline void sendBoardHeartbeat(CoreState& s, const Config& cfg,
 
     uint8_t packetBuffer[SENSOR_HOTFIRE_MAX_PACKET_SIZE];
     size_t n = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
-                                                     sizeof(packetBuffer));
+                                                  sizeof(packetBuffer));
     if (n == 0)
         return;
     HF_VERBOSE("Sent: heartbeat to ");
@@ -362,8 +362,9 @@ inline void flushLogs(CoreState& s) {
     if (g_logbuf.empty())
         return;
     static uint8_t pkt[sizeof(daq::PacketHeader) + 3 + LOG_BUF_SIZE];
-    size_t n = daq::create_log_packet(g_logbuf.flags(), g_logbuf.data(),
-                                      g_logbuf.length(), millis(), pkt, sizeof(pkt));
+    size_t n =
+        daq::create_log_packet(g_logbuf.flags(), g_logbuf.data(),
+                               g_logbuf.length(), millis(), pkt, sizeof(pkt));
     if (n > 0) {
         s.udp.beginPacket(s.serverIP, s.serverPort);
         s.udp.write(pkt, n);
@@ -411,8 +412,7 @@ inline void setup(CoreState& s, const Config& cfg) {
     HF_LOG("Hardware: ");
     switch (Ethernet.hardwareStatus()) {
         case EthernetNoHardware:
-            HF_LOGLN(
-                "no chip detected — check CS / SPI wiring");
+            HF_LOGLN("no chip detected — check CS / SPI wiring");
             break;
         case EthernetW5100:
             HF_LOGLN("W5100");
@@ -436,8 +436,7 @@ inline void setup(CoreState& s, const Config& cfg) {
         HF_LOGLN("Unknown");
     }
     if (Ethernet.localIP() == IPAddress(0, 0, 0, 0)) {
-        HF_LOGLN(
-            "[ETH] WARNING: stack IP is 0.0.0.0 — check cable / W5500");
+        HF_LOGLN("[ETH] WARNING: stack IP is 0.0.0.0 — check cable / W5500");
     }
     Serial.flush();
 
@@ -463,9 +462,9 @@ inline void setup(CoreState& s, const Config& cfg) {
     Serial.flush();
     HF_LOGLN("Setup complete. State: WaitingForServer");
 
-    // Ethernet is up now, so this is the first log the server can actually receive
-    // (boot logs before Ethernet are unsendable). Announce identity + IP and flush
-    // immediately so the server sees the board come online.
+    // Ethernet is up now, so this is the first log the server can actually
+    // receive (boot logs before Ethernet are unsendable). Announce identity +
+    // IP and flush immediately so the server sees the board come online.
     HF_LOG("ONLINE board=");
     HF_LOG(static_cast<unsigned>(s.board_id));
     HF_LOG(" ip=");
@@ -614,12 +613,12 @@ inline void loop(CoreState& s, const Config& cfg) {
         switch (s.state) {
             case State::WaitingForServer:
                 HF_VERBOSELN("Setup state: sending heartbeat");
-                sendBoardHeartbeat(s, cfg, daq::BoardState::SETUP,
-                                   s.serverIP, s.serverPort);
+                sendBoardHeartbeat(s, cfg, daq::BoardState::SETUP, s.serverIP,
+                                   s.serverPort);
                 break;
             case State::Active:
-                sendBoardHeartbeat(s, cfg, daq::BoardState::ACTIVE,
-                                   s.serverIP, s.serverPort);
+                sendBoardHeartbeat(s, cfg, daq::BoardState::ACTIVE, s.serverIP,
+                                   s.serverPort);
                 break;
             case State::SelfTest:
                 sendBoardHeartbeat(s, cfg, daq::BoardState::SELF_TEST,
@@ -642,7 +641,8 @@ inline void loop(CoreState& s, const Config& cfg) {
         }
     }
 
-    // Flush buffered logs to the server ~1 Hz (or sooner if the buffer is filling).
+    // Flush buffered logs to the server ~1 Hz (or sooner if the buffer is
+    // filling).
     static unsigned long s_last_log_flush_ms = 0;
     if (!g_logbuf.empty() &&
         (g_logbuf.nearFull() || now - s_last_log_flush_ms >= 1000)) {
diff --git a/firmware/Hotfire_Code/common/hotfire_log.h b/firmware/Hotfire_Code/common/hotfire_log.h
index ed1dac283..f9ceea6e3 100644
--- a/firmware/Hotfire_Code/common/hotfire_log.h
+++ b/firmware/Hotfire_Code/common/hotfire_log.h
@@ -7,11 +7,13 @@
 // Two-tier serial logging + optional server streaming (shared by all hotfire
 // boards + OTA).
 //
-//   Tier 1  HF_LOG*      — high-value, low-rate: boot/identity, state transitions,
+//   Tier 1  HF_LOG*      — high-value, low-rate: boot/identity, state
+//   transitions,
 //                          config/command summaries, self-test verdicts, OTA
 //                          lifecycle, errors/warnings.
 //   Tier 2  HF_VERBOSE*  — high-rate/debug detail: per-packet "Sent:" lines,
-//                          per-sample dumps, raw hex, repeating debug, field dumps.
+//                          per-sample dumps, raw hex, repeating debug, field
+//                          dumps.
 //
 // Each macro fans out to two sinks, each independently gated:
 //   • USB serial — Tier 1 always; Tier 2 only when g_verbose.
@@ -20,72 +22,133 @@
 //     A ~1 Hz flush (in each board's loop) sends the buffer to the server as a
 //     LOGS packet (type 15).
 //
-// Both gates come from the config packet's `enable_serial_printing` byte (mode):
+// Both gates come from the config packet's `enable_serial_printing` byte
+// (mode):
 //   0: USB Tier1        stream off
 //   1: USB Tier1+Tier2  stream off
 //   2: USB Tier1        stream Tier1
 //   3: USB Tier1+Tier2  stream Tier1+Tier2
-//   => g_verbose = (mode & 1);  g_log_stream_level = (mode >= 2) ? (mode - 1) : 0;
+//   => g_verbose = (mode & 1);  g_log_stream_level = (mode >= 2) ? (mode - 1) :
+//   0;
 //
-// Each board defines `bool g_verbose = true;` once in its main .cpp. g_logbuf and
-// g_log_stream_level are inline (header-defined) — no per-board boilerplate.
+// Each board defines `bool g_verbose = true;` once in its main .cpp. g_logbuf
+// and g_log_stream_level are inline (header-defined) — no per-board
+// boilerplate.
 // ─────────────────────────────────────────────────────────────────────────────
 
 extern bool g_verbose;
 
 #ifndef LOG_BUF_SIZE
-#define LOG_BUF_SIZE 1024  // capped to one packet: a 1 Hz flush is always one UDP datagram
+#define LOG_BUF_SIZE \
+    1024  // capped to one packet: a 1 Hz flush is always one UDP datagram
 #endif
 
 // Fixed-size log accumulator. Being a Print subclass, g_logbuf.print(x) accepts
 // every type the macros use (strings, ints, IPAddress, "..., HEX"), just like
 // Serial. Overflow drops the excess and raises the TRUNCATED flag.
 class LogBuffer : public Print {
- public:
-  size_t write(uint8_t c) override {
-    if (len_ < LOG_BUF_SIZE) {
-      buf_[len_++] = static_cast<char>(c);
-      return 1;
+public:
+    size_t write(uint8_t c) override {
+        if (len_ < LOG_BUF_SIZE) {
+            buf_[len_++] = static_cast<char>(c);
+            return 1;
+        }
+        truncated_ = true;
+        return 0;
+    }
+    size_t write(const uint8_t* data, size_t size) override {
+        size_t n = 0;
+        while (n < size && len_ < LOG_BUF_SIZE)
+            buf_[len_++] = static_cast<char>(data[n++]);
+        if (n < size)
+            truncated_ = true;
+        return n;
+    }
+    const uint8_t* data() const {
+        return reinterpret_cast<const uint8_t*>(buf_);
+    }
+    uint16_t length() const {
+        return static_cast<uint16_t>(len_);
+    }
+    bool empty() const {
+        return len_ == 0;
+    }
+    bool nearFull() const {
+        return len_ >= (LOG_BUF_SIZE * 4) / 5;
+    }  // 80%
+    uint8_t flags() const {
+        return truncated_ ? 0x01 : 0x00;
+    }  // bit0 = TRUNCATED
+    void clear() {
+        len_ = 0;
+        truncated_ = false;
     }
-    truncated_ = true;
-    return 0;
-  }
-  size_t write(const uint8_t* data, size_t size) override {
-    size_t n = 0;
-    while (n < size && len_ < LOG_BUF_SIZE) buf_[len_++] = static_cast<char>(data[n++]);
-    if (n < size) truncated_ = true;
-    return n;
-  }
-  const uint8_t* data() const { return reinterpret_cast<const uint8_t*>(buf_); }
-  uint16_t length() const { return static_cast<uint16_t>(len_); }
-  bool empty() const { return len_ == 0; }
-  bool nearFull() const { return len_ >= (LOG_BUF_SIZE * 4) / 5; }  // 80%
-  uint8_t flags() const { return truncated_ ? 0x01 : 0x00; }        // bit0 = TRUNCATED
-  void clear() {
-    len_ = 0;
-    truncated_ = false;
-  }
 
- private:
-  char buf_[LOG_BUF_SIZE];
-  size_t len_ = 0;
-  bool truncated_ = false;
+private:
+    char buf_[LOG_BUF_SIZE];
+    size_t len_ = 0;
+    bool truncated_ = false;
 };
 
 inline LogBuffer g_logbuf;
-inline uint8_t g_log_stream_level = 1;  // default: stream Tier 1 once Ethernet is up
+inline uint8_t g_log_stream_level =
+    1;  // default: stream Tier 1 once Ethernet is up
 
 // Variadic so they accept both print(x) and print(x, HEX).
 // Tier 1 — USB always; stream when level >= 1.
-#define HF_LOG(...)      do { Serial.print(__VA_ARGS__);   if (g_log_stream_level >= 1) g_logbuf.print(__VA_ARGS__); } while (0)
-#define HF_LOGLN(...)    do { Serial.println(__VA_ARGS__); if (g_log_stream_level >= 1) g_logbuf.println(__VA_ARGS__); } while (0)
-#define HF_LOGLN_()      do { Serial.println();            if (g_log_stream_level >= 1) g_logbuf.println(); } while (0)
-#define HF_LOGF(...)     do { Serial.printf(__VA_ARGS__);  if (g_log_stream_level >= 1) g_logbuf.printf(__VA_ARGS__); } while (0)
+#define HF_LOG(...)                      \
+    do {                                 \
+        Serial.print(__VA_ARGS__);       \
+        if (g_log_stream_level >= 1)     \
+            g_logbuf.print(__VA_ARGS__); \
+    } while (0)
+#define HF_LOGLN(...)                      \
+    do {                                   \
+        Serial.println(__VA_ARGS__);       \
+        if (g_log_stream_level >= 1)       \
+            g_logbuf.println(__VA_ARGS__); \
+    } while (0)
+#define HF_LOGLN_()                  \
+    do {                             \
+        Serial.println();            \
+        if (g_log_stream_level >= 1) \
+            g_logbuf.println();      \
+    } while (0)
+#define HF_LOGF(...)                      \
+    do {                                  \
+        Serial.printf(__VA_ARGS__);       \
+        if (g_log_stream_level >= 1)      \
+            g_logbuf.printf(__VA_ARGS__); \
+    } while (0)
 
 // Tier 2 — USB only when g_verbose; stream when level >= 2.
-#define HF_VERBOSE(...)   do { if (g_verbose) Serial.print(__VA_ARGS__);   if (g_log_stream_level >= 2) g_logbuf.print(__VA_ARGS__); } while (0)
-#define HF_VERBOSELN(...) do { if (g_verbose) Serial.println(__VA_ARGS__); if (g_log_stream_level >= 2) g_logbuf.println(__VA_ARGS__); } while (0)
-#define HF_VERBOSELN_()   do { if (g_verbose) Serial.println();            if (g_log_stream_level >= 2) g_logbuf.println(); } while (0)
-#define HF_VERBOSEF(...)  do { if (g_verbose) Serial.printf(__VA_ARGS__);  if (g_log_stream_level >= 2) g_logbuf.printf(__VA_ARGS__); } while (0)
+#define HF_VERBOSE(...)                  \
+    do {                                 \
+        if (g_verbose)                   \
+            Serial.print(__VA_ARGS__);   \
+        if (g_log_stream_level >= 2)     \
+            g_logbuf.print(__VA_ARGS__); \
+    } while (0)
+#define HF_VERBOSELN(...)                  \
+    do {                                   \
+        if (g_verbose)                     \
+            Serial.println(__VA_ARGS__);   \
+        if (g_log_stream_level >= 2)       \
+            g_logbuf.println(__VA_ARGS__); \
+    } while (0)
+#define HF_VERBOSELN_()              \
+    do {                             \
+        if (g_verbose)               \
+            Serial.println();        \
+        if (g_log_stream_level >= 2) \
+            g_logbuf.println();      \
+    } while (0)
+#define HF_VERBOSEF(...)                  \
+    do {                                  \
+        if (g_verbose)                    \
+            Serial.printf(__VA_ARGS__);   \
+        if (g_log_stream_level >= 2)      \
+            g_logbuf.printf(__VA_ARGS__); \
+    } while (0)
 
 #endif  // HOTFIRE_LOG_H
diff --git a/firmware/Hotfire_Code/common/hotfire_ota.h b/firmware/Hotfire_Code/common/hotfire_ota.h
index a128f96eb..970f61b80 100644
--- a/firmware/Hotfire_Code/common/hotfire_ota.h
+++ b/firmware/Hotfire_Code/common/hotfire_ota.h
@@ -110,8 +110,9 @@ inline void hotfire_handleOTA(EthernetClient& client) {
                 totalReceived += bytesRead;
                 lastDataTime = millis();
 
-                // Progress is verbose-only and throttled to 25% steps (lifecycle
-                // start/success/errors below are Tier 1 and always print).
+                // Progress is verbose-only and throttled to 25% steps
+                // (lifecycle start/success/errors below are Tier 1 and always
+                // print).
                 int percent = (int)((totalReceived * 100UL) / firmwareSize);
                 if (percent / 25 != lastPercent / 25) {
                     lastPercent = percent;
diff --git a/firmware/LC_Board/LC_Calibration/src/main.cpp b/firmware/LC_Board/LC_Calibration/src/main.cpp
index c96a8770d..d3c15ea1c 100644
--- a/firmware/LC_Board/LC_Calibration/src/main.cpp
+++ b/firmware/LC_Board/LC_Calibration/src/main.cpp
@@ -1,8 +1,8 @@
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
diff --git a/firmware/Multi_Board_Comms_Testing/src/main.cpp b/firmware/Multi_Board_Comms_Testing/src/main.cpp
index 77ac2ee37..967a18b3c 100644
--- a/firmware/Multi_Board_Comms_Testing/src/main.cpp
+++ b/firmware/Multi_Board_Comms_Testing/src/main.cpp
@@ -9,10 +9,10 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
diff --git a/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp b/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp
index 7c76e7239..9f7959284 100644
--- a/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp
+++ b/firmware/Multi_Board_Comms_Testing_Secondary/src/main.cpp
@@ -9,10 +9,10 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -52,8 +52,8 @@ void sendReplyTo(IPAddress primaryIP) {
     std::vector<daq::SensorDataChunkCollection> chunks;
     chunks.push_back(chunk);
 
-    size_t n = daq::create_sensor_data_packet(
-        chunks, numSensors, millis(), replyBuffer, sizeof(replyBuffer));
+    size_t n = daq::create_sensor_data_packet(chunks, numSensors, millis(),
+                                              replyBuffer, sizeof(replyBuffer));
     if (n == 0)
         return;
 
diff --git a/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp b/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp
index 52590ea4f..64d1b5c9f 100644
--- a/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp
+++ b/firmware/PT_Board/PT_BOARD_Multi/PT_BOARD_Multi_Send/src/main.cpp
@@ -9,10 +9,10 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
diff --git a/firmware/RTD_Board/RTD_Testing/src/main.cpp b/firmware/RTD_Board/RTD_Testing/src/main.cpp
index f45ec47a7..4dca62b8e 100644
--- a/firmware/RTD_Board/RTD_Testing/src/main.cpp
+++ b/firmware/RTD_Board/RTD_Testing/src/main.cpp
@@ -1,10 +1,10 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 
 #include <cstring>
 
diff --git a/firmware/Stacklight Driver/src/main.cpp b/firmware/Stacklight Driver/src/main.cpp
index 55192ce82..ee97cc7f1 100644
--- a/firmware/Stacklight Driver/src/main.cpp	
+++ b/firmware/Stacklight Driver/src/main.cpp	
@@ -5,10 +5,10 @@
  */
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -74,8 +74,8 @@ static void sendBoardHeartbeat() {
     hb.board_state = daq::BoardState::ACTIVE;
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
-    size_t len = daq::create_board_heartbeat_packet(
-        hb, millis(), packetBuffer, sizeof(packetBuffer));
+    size_t len = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
+                                                    sizeof(packetBuffer));
     if (len == 0)
         return;
 
diff --git a/firmware/State Machine/TC_Board/src/main.cpp b/firmware/State Machine/TC_Board/src/main.cpp
index 020f53acb..0a127c9fd 100644
--- a/firmware/State Machine/TC_Board/src/main.cpp	
+++ b/firmware/State Machine/TC_Board/src/main.cpp	
@@ -10,11 +10,11 @@
 #include "main.h"
 
 #include <Arduino.h>
-#include <daq-protocol.h>
 #include <Ethernet.h>
 #include <EthernetUdp.h>
 #include <SPI.h>
 #include <SPIFFS.h>
+#include <daq-protocol.h>
 #include <esp_mac.h>
 
 #include <cstring>
@@ -135,8 +135,7 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
         case daq::PacketType::SERVER_HEARTBEAT: {
             daq::PacketHeader dummy;
             daq::ServerHeartbeatPacket data;
-            if (daq::parse_server_heartbeat_packet(buffer, len, dummy,
-                                                      data)) {
+            if (daq::parse_server_heartbeat_packet(buffer, len, dummy, data)) {
                 serverIP = remote_ip;
                 serverPort = remote_port;
                 return IncomingPacketKind::ServerHeartbeat;
@@ -176,8 +175,8 @@ static IncomingPacketKind processIncomingPacket(const uint8_t* buffer,
 // Send board heartbeat (board ID + boardState), like actuator_c /
 // Stream_ADC_Data
 //-----------------------------------------------------------------------------
-static void sendBoardHeartbeat(daq::BoardState board_state,
-                               IPAddress dest_ip, int dest_port) {
+static void sendBoardHeartbeat(daq::BoardState board_state, IPAddress dest_ip,
+                               int dest_port) {
     daq::BoardHeartbeatPacket hb;
     memset(hb.firmware_hash, 0, sizeof(hb.firmware_hash));
     hb.board_id = board_id;
@@ -186,7 +185,7 @@ static void sendBoardHeartbeat(daq::BoardState board_state,
 
     uint8_t packetBuffer[MAX_PACKET_SIZE];
     size_t n = daq::create_board_heartbeat_packet(hb, millis(), packetBuffer,
-                                                     sizeof(packetBuffer));
+                                                  sizeof(packetBuffer));
     if (n == 0)
         return;
     udp.beginPacket(dest_ip, dest_port);

From 518f071a3f41e1e7e6e282a7434e673d0f0637f2 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 02:48:16 -0700
Subject: [PATCH 057/205] boards self-test: restore 'ALL PASSED' card label
 (regressed to 'PASSED' in a8b8fc39) and make E2E extract it like Status/State
 instead of a colon regex

---
 daq-server/diablo_server/frontend/app/boards/page.tsx        | 2 +-
 .../diablo_server/frontend/e2e/boards-heartbeats.spec.ts     | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/boards/page.tsx b/daq-server/diablo_server/frontend/app/boards/page.tsx
index 78c1a3810..80be77205 100644
--- a/daq-server/diablo_server/frontend/app/boards/page.tsx
+++ b/daq-server/diablo_server/frontend/app/boards/page.tsx
@@ -248,7 +248,7 @@ export default function BoardsPage() {
                                 testStatus === 'Failed' ? 'text-red-400' :
                                 testStatus === 'Pending' ? 'text-amber-400' : 'text-gray-500'
                               }`}>
-                                {testStatus === 'Passed' ? 'PASSED' :
+                                {testStatus === 'Passed' ? 'ALL PASSED' :
                                  testStatus === 'Failed' ? 'FAILED' :
                                  testStatus === 'Pending' ? 'PENDING' : 'UNTESTED'}
                               </span>
diff --git a/daq-server/diablo_server/frontend/e2e/boards-heartbeats.spec.ts b/daq-server/diablo_server/frontend/e2e/boards-heartbeats.spec.ts
index d23461698..50aeb848c 100644
--- a/daq-server/diablo_server/frontend/e2e/boards-heartbeats.spec.ts
+++ b/daq-server/diablo_server/frontend/e2e/boards-heartbeats.spec.ts
@@ -46,6 +46,7 @@ async function collectBoardHeartbeatResult(page: Page): Promise<BoardHeartbeatRe
         (card.querySelector('h3')?.textContent ?? '').replace(/\s+/g, ' ').trim() || 'Board';
       let status = '';
       let state = '';
+      let selfTest = '';
       card.querySelectorAll('div.flex-1.min-w-0').forEach((sec) => {
         const lab = (sec.querySelector('div.text-text-muted')?.textContent ?? '')
           .replace(/\s+/g, ' ')
@@ -54,11 +55,9 @@ async function collectBoardHeartbeatResult(page: Page): Promise<BoardHeartbeatRe
         const val = sec.querySelector('span.font-mono.font-bold')?.textContent?.trim() ?? '';
         if (lab === 'STATUS') status = val;
         if (lab === 'STATE') state = val;
+        if (lab === 'SELF TEST') selfTest = val;
       });
 
-      const selfTestMatch = (card as HTMLElement).innerText.match(/Self Test:\s*([^\n\r]+)/i);
-      const selfTest = (selfTestMatch?.[1] ?? '').trim();
-
       const hbBad = /Heartbeat:\s*---/.test((card as HTMLElement).innerText);
 
       /** Order: Status, State, Heartbeat, Self Test — matches user-facing failure layout */

From ee6a921db773cf76332bf22de19a6129ec336736 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 02:57:34 -0700
Subject: [PATCH 058/205] =?UTF-8?q?session=5Fflow=5Ftest:=20poll=20for=20p?=
 =?UTF-8?q?ipeline=20data=20instead=20of=20a=20fixed=20sleep(6000)=20?=
 =?UTF-8?q?=E2=80=94=20elodinConnected=20doesn't=20mean=20the=20systemd-st?=
 =?UTF-8?q?arted=20sim/daq=5Fbridge=20are=20producing=20yet,=20so=20a=20co?=
 =?UTF-8?q?ld=20start=20raced=20the=206s=20window=20(0=20SENSOR=5FUPDATE?=
 =?UTF-8?q?=20flake)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/test/session_flow_test.ts | 33 ++++++++++++++++++++++++----
 1 file changed, 29 insertions(+), 4 deletions(-)

diff --git a/daq-server/test/session_flow_test.ts b/daq-server/test/session_flow_test.ts
index 6130136bb..9d11c72fb 100755
--- a/daq-server/test/session_flow_test.ts
+++ b/daq-server/test/session_flow_test.ts
@@ -108,6 +108,29 @@ async function unlock(ws: WebSocket): Promise<void> {
 
 const sleep = (ms: number) => new Promise((r) => setTimeout(r, ms));
 
+/**
+ * Poll until `pred()` holds, resolving the instant it does; return whether it held
+ * within `timeoutMs`. Replaces the old fixed `sleep(6000)`-then-count, which raced a
+ * cold systemd pipeline: `elodinConnected` only means the backend's socket to the
+ * freshly-restarted elodin is open — NOT that the sim / daq_bridge that same session
+ * unit started are producing yet. On a slow CI runner first data landed just after the
+ * 6s window, so the count read 0. Polling passes fast on the happy path and tolerates a
+ * slow startup, while still failing (after the longer window) if data genuinely never flows.
+ */
+async function waitUntil(pred: () => boolean, timeoutMs: number): Promise<boolean> {
+  const deadline = Date.now() + timeoutMs;
+  while (Date.now() < deadline) {
+    if (pred()) return true;
+    await sleep(200);
+  }
+  return pred();
+}
+
+// Max time to wait for the session's pipeline to start delivering data after
+// elodinConnected. Kept below Run 1's DURATION_MS (30s) so the auto-stop / warning
+// timeline is unaffected; the poll resolves in ~1–10s on a healthy stack.
+const PIPELINE_DATA_TIMEOUT_MS = parseInt(process.env.SESSION_TEST_DATA_TIMEOUT_MS || '15000', 10);
+
 async function main(): Promise<void> {
   console.log(`▶ session_flow_test → ${WS_URL} (duration ${DURATION_MS}ms, warn keys ${EXPECTED_WARN_KEYS.join(', ')})`);
   const ws = await connect();
@@ -132,9 +155,11 @@ async function main(): Promise<void> {
   await waitFor(ws, 'connection_status', 30000, (p) => p.elodinConnected === true).catch(() => {});
   assert(state.elodinConnected, 'Elodin connected (pipeline came up via systemctl)');
   const before = state.sensorUpdates;
-  await sleep(6000);
+  // Wait until the pipeline is actually delivering (sensor data + the one-shot
+  // self-test lifecycle), rather than blindly sleeping past a slow cold start.
+  await waitUntil(() => state.sensorUpdates - before > 50 && state.selfTestBoards.size > 0, PIPELINE_DATA_TIMEOUT_MS);
   const flowed = state.sensorUpdates - before;
-  assert(flowed > 50, `sensor data flowing (${flowed} SENSOR_UPDATE in 6s)`);
+  assert(flowed > 50, `sensor data flowing (${flowed} SENSOR_UPDATE within ${PIPELINE_DATA_TIMEOUT_MS / 1000}s)`);
   // Config→self-test lifecycle ran: sim boards received SENSOR_CONFIG and emitted
   // SELF_TEST. Empty here means config_broadcast never reached the boards (e.g. a
   // service unit wired to the hardware config instead of the sim overlay).
@@ -166,9 +191,9 @@ async function main(): Promise<void> {
   // guard for the "no data after stop→start until manual reload" class of bug.)
   await waitFor(ws, 'connection_status', 30000, (p) => p.elodinConnected === true).catch(() => {});
   const before2 = state.sensorUpdates;
-  await sleep(6000);
+  await waitUntil(() => state.sensorUpdates - before2 > 50, PIPELINE_DATA_TIMEOUT_MS);
   const flowed2 = state.sensorUpdates - before2;
-  assert(flowed2 > 50, `sensor data flowing after session restart (${flowed2} SENSOR_UPDATE in 6s, same WS connection)`);
+  assert(flowed2 > 50, `sensor data flowing after session restart (${flowed2} SENSOR_UPDATE within ${PIPELINE_DATA_TIMEOUT_MS / 1000}s, same WS connection)`);
 
   const extendedPromise = waitFor(ws, 'session_update', 8000, (p) => p.active && p.deadlineMs > deadline1);
   send(ws, 'send_command', { commandType: 'session_extend', data: { addMs: 120000 } });

From 331b08a9bc30933832f793beaca1abdc3718fd79 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 17:42:04 -0700
Subject: [PATCH 059/205] =?UTF-8?q?daq-server:=20de-hardcode=20sensor=20ma?=
 =?UTF-8?q?pping=20=E2=80=94=20config-driven=20HP=20board=20(drop=20positi?=
 =?UTF-8?q?onal=20slot-2),=20per-board=20PT=20scan-rate=20groups,=20and=20?=
 =?UTF-8?q?explicit=20[gui.groups]=20page=20membership=20replacing=20role-?=
 =?UTF-8?q?name=20parsing?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/config/config.toml                 | 10 ++-
 .../diablo_server/backend/src/api-server.ts   | 32 ++++-----
 .../backend/src/board-scan-rate.ts            | 35 +++++-----
 .../backend/src/elodin-protocol.ts            | 14 ++--
 .../backend/src/sensor-config.ts              | 63 ++++++++++++------
 .../diablo_server/backend/src/server.ts       |  9 ++-
 .../frontend/app/config/page.tsx              | 18 +++--
 .../frontend/app/plots/chamber/page.tsx       | 23 ++++---
 .../frontend/app/plots/fuel/page.tsx          | 13 ++--
 .../frontend/app/plots/lox/page.tsx           | 22 +++----
 .../frontend/app/sensor-info/page.tsx         | 65 +++++++++----------
 .../diablo_server/frontend/lib/gui-config.ts  |  9 ++-
 .../frontend/lib/sensor-config.ts             | 19 +++++-
 .../diablo_server/frontend/lib/store.ts       | 10 +--
 14 files changed, 199 insertions(+), 143 deletions(-)

diff --git a/daq-server/config/config.toml b/daq-server/config/config.toml
index dd5068e34..ba8a322bb 100644
--- a/daq-server/config/config.toml
+++ b/daq-server/config/config.toml
@@ -105,6 +105,14 @@ tabs = [
   limits = "Chamber"
   color = "#F97316"
 
+# Explicit sensor→page membership (replaces role-name substring parsing in the plot pages).
+# Group name → ordered list of sensor role names; array order = display order on that page.
+# Roles must match the [sensor_roles_*] names. Sensors only for now.
+[gui.groups]
+LOX = [ "Ox Upstream", "Ox Downstream", "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
+Fuel = [ "Fuel Upstream", "Fuel Downstream" ]
+Chamber = [ "Chamber Mid PT 1", "Chamber Mid PT 2", "Chamber Throat PT 1", "Chamber Throat PT 2" ]
+
 [time_sync]
 mode = "board-clock"
 window_seconds = 10
@@ -349,7 +357,7 @@ active_connectors = [ 1, 2 ]
 "Chamber Throat TC 1" = 4
 "Chamber Throat TC 2" = 5
 
-[sensor_roles_pt2]
+[sensor_roles_pt_board_2]
 "GSE High" = 1
 "Excitation V" = 2
 "GSE Mid" = 3
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index f9f7abdcb..074e8cce8 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -26,7 +26,7 @@ export interface SensorConfigEntry {
   boardId: number;
   /** Board IP address */
   boardIp: string;
-  /** true if this sensor is a high-pressure 4-20 mA PT (sensor_roles_pt2) */
+  /** true if this sensor is on a high-pressure 4-20 mA PT board (config hp_pt_* fields) */
   isHpPt: boolean;
   /** true → eligible for calibration capture */
   inCalibrationSequence: boolean;
@@ -75,15 +75,9 @@ function buildSensorConfig(): SensorConfigEntry[] {
       rolesSection = config.sensor_roles as Record<string, any>;
     }
 
-    // sensor_roles_pt2 uses the same format but is stored separately
-    const pt2Roles = isHpBoard
-      ? ((config.sensor_roles_pt2 || {}) as Record<string, any>)
-      : {};
-
-    // Build entries from the relevant roles section
-    const effectiveRoles = Object.keys(pt2Roles).length > 0 && isHpBoard ? pt2Roles : rolesSection;
-
-    for (const [roleName, channelIdRaw] of Object.entries(effectiveRoles)) {
+    // Every PT board uses its own [sensor_roles_<boardKey>] section — HP boards included
+    // (no separate sensor_roles_pt2 section). The excitation channel is dropped below.
+    for (const [roleName, channelIdRaw] of Object.entries(rolesSection)) {
       const channelId = typeof channelIdRaw === 'number' ? channelIdRaw : Number(channelIdRaw);
       if (!isFinite(channelId)) continue;
 
@@ -241,16 +235,12 @@ function buildSensorConfig(): SensorConfigEntry[] {
   return sensors;
 }
 
-/** Average Hz of primary raw streams per board group from relay ingest (pre-WS-throttle). */
-export interface BoardScanRateHz {
-  pt1: number;
-  pt2: number;
-  tc: number;
-  rtd: number;
-  lc: number;
-  act: number;
-  enc: number;
-}
+/**
+ * Average Hz of primary raw streams per board group from relay ingest (pre-WS-throttle).
+ * Dynamic keys: `pt<n>` per PT board (n = board_id % 10) plus aggregated `tc`/`rtd`/`lc`/`act`/`enc`.
+ * A group only appears once it has seen data — read a missing group as 0.
+ */
+export type BoardScanRateHz = Record<string, number>;
 
 export interface DebugInfo {
   ingestConnected: boolean;
@@ -441,6 +431,8 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         res.end(JSON.stringify({
           pressure_bars: gui.pressure_bars ?? [],
           tabs: gui.tabs ?? [],
+          // [gui.groups]: page name → ordered role-name list (explicit sensor→page membership).
+          groups: gui.groups ?? {},
         }));
       } else if (url.pathname === '/api/sensor-config' && req.method === 'GET') {
         // Return sensor configuration derived from config.toml:
diff --git a/daq-server/diablo_server/backend/src/board-scan-rate.ts b/daq-server/diablo_server/backend/src/board-scan-rate.ts
index 4eb4e6021..53549ebd9 100644
--- a/daq-server/diablo_server/backend/src/board-scan-rate.ts
+++ b/daq-server/diablo_server/backend/src/board-scan-rate.ts
@@ -18,16 +18,21 @@ const groupChannelEma = new Map<string, Map<string, number>>();
 const groupChannelLastWall = new Map<string, Map<string, number>>();
 let lastPrune = 0;
 
-export type BoardScanGroupId = 'pt1' | 'pt2' | 'tc' | 'rtd' | 'lc' | 'act' | 'enc';
+/**
+ * A board-scan group key. PT boards get a per-board key `pt<n>` (n = board_number = board_id % 10),
+ * so any number of PT boards is supported; other sensor types are aggregated per-type.
+ */
+export type BoardScanGroupId = string;
 
 /**
  * Calibrated Elodin packets carry raw_adc_counts on *Cal entities (e.g. PT1_Cal.CH1),
  * not PT1.CH1. Raw-only packets use PT1.CH1. Both must count toward board scan rate.
- * Exported for the integration test's per-group sample-conservation breakdown.
+ * PT boards map to a per-board group `pt<n>` (n from the entity prefix) so a 3rd/Nth PT
+ * board is grouped like any other. Exported for the integration test's per-group breakdown.
  */
 export function mapEntityToGroup(entity: string): BoardScanGroupId | null {
-  if (/^PT1(_Cal)?\.CH/.test(entity)) return 'pt1';
-  if (/^PT2(_Cal)?\.CH/.test(entity)) return 'pt2';
+  const pt = entity.match(/^PT(\d+)(?:_Cal)?\.CH/);
+  if (pt) return `pt${pt[1]}`;
   if (/^TC\d+(_Cal)?\.CH/.test(entity)) return 'tc';
   if (/^RTD\d+(_Cal)?\.CH/.test(entity)) return 'rtd';
   if (/^LC\d+(_Cal)?\.CH/.test(entity)) return 'lc';
@@ -140,15 +145,15 @@ function averageGroupHz(group: BoardScanGroupId): number {
   return sum / ema.size;
 }
 
-/** Snapshot for GET /api/debug — Hz per board group from relay ingest (pre-throttle). */
-export function getBoardScanRateHz(): Record<BoardScanGroupId, number> {
-  return {
-    pt1: averageGroupHz('pt1'),
-    pt2: averageGroupHz('pt2'),
-    tc: averageGroupHz('tc'),
-    rtd: averageGroupHz('rtd'),
-    lc: averageGroupHz('lc'),
-    act: averageGroupHz('act'),
-    enc: averageGroupHz('enc'),
-  };
+/**
+ * Snapshot for GET /api/debug — Hz per board group from relay ingest (pre-throttle).
+ * Dynamic: one entry per group that has seen data — `pt<n>` per PT board plus the
+ * aggregated `tc`/`rtd`/`lc`/`act`/`enc`. Consumers should default a missing group to 0.
+ */
+export function getBoardScanRateHz(): Record<string, number> {
+  const out: Record<string, number> = {};
+  for (const group of groupChannelEma.keys()) {
+    out[group] = averageGroupHz(group);
+  }
+  return out;
 }
diff --git a/daq-server/diablo_server/backend/src/elodin-protocol.ts b/daq-server/diablo_server/backend/src/elodin-protocol.ts
index d3da703d6..7ac05004d 100644
--- a/daq-server/diablo_server/backend/src/elodin-protocol.ts
+++ b/daq-server/diablo_server/backend/src/elodin-protocol.ts
@@ -61,7 +61,7 @@ function parseCalibratedSensorPayload(
   entity: string,
   fieldName: string = 'pressure_psi',
   rawFields: string[] = ['raw_adc_counts', 'raw_adc'],
-  /** HP PT board (slot 2, board_id 22): wire raw is unsigned 0..2³¹ scale; LP PT uses signed ADS1262 codes. */
+  /** HP 4–20 mA PT board (config-declared): wire raw is unsigned 0..2³¹ scale; LP PT uses signed ADS1262 codes. */
   rawAdcUnsigned: boolean = false,
 ): ParsedSensorData[] {
   // CalibratedPTMessage (and TC/RTD/LC/ACT siblings): u64(0) ts + u8(8) ch + pad3(9-11) + float(12)
@@ -124,7 +124,10 @@ export function parseRawLCMessage(
 export function parseElodinPacket(
   packetId: [number, number],
   payload: Buffer,
-  entityMaps?: EntityMaps
+  /** Board-numbers (board_id % 10) that are high-pressure 4-20 mA PT boards, from config
+   *  (see sensor-config.hpBoardNumbers). Selects unsigned-vs-signed raw-ADC interpretation
+   *  per PT board instead of the old positional "slot 2 is HP" assumption. */
+  hpBoardNumbers?: Set<number>
 ): ParsedSensorData[] {
   const [high, low] = packetId;
 
@@ -145,12 +148,13 @@ export function parseElodinPacket(
   };
 
   // ── PT: [0x20, ...] ──────────────────────────────────────────────────────
-  // Board slot 2 (board_id …22) = HP 4–20 mA PTs: unsigned ADC full-scale to 2³¹ (see FSW convert_hp_pt_to_pressure).
-  // Other PT boards: signed ADS1262-style codes.
+  // HP 4–20 mA PT boards (config-declared, see hpBoardNumbers): unsigned ADC full-scale to 2³¹
+  // (see FSW convert_hp_pt_to_pressure). Other PT boards: signed ADS1262-style codes.
   if (high === 0x20 && low >= 0x01) {
     const { boardNumber, channel, isRaw } = decodeLow(low);
     if (channel >= 1 && channel <= 10) {
-      const hpPtSlot = boardNumber === 2;
+      // config-driven; fall back to the legacy slot-2 assumption only if no set was threaded through.
+      const hpPtSlot = hpBoardNumbers ? hpBoardNumbers.has(boardNumber) : boardNumber === 2;
       if (isRaw) {
         const r = parseRawSensorPayload(
           payload,
diff --git a/daq-server/diablo_server/backend/src/sensor-config.ts b/daq-server/diablo_server/backend/src/sensor-config.ts
index 779e7bb11..1972bd726 100644
--- a/daq-server/diablo_server/backend/src/sensor-config.ts
+++ b/daq-server/diablo_server/backend/src/sensor-config.ts
@@ -6,6 +6,30 @@
 import { readConfig } from './routes/config.js';
 import type { HpPtBoardConfig } from './server-types.js';
 
+/**
+ * Board-numbers (board_id % 10, with 0→10) of the PT boards that are high-pressure
+ * 4-20 mA current-loop boards. A board is HP iff it declares HP config (hp_pt_connectors
+ * or hp_pt_full_scale_psi) — the same signal the C++ calibration service keys off, so
+ * there is one source of truth and no positional "slot 2 is HP" assumption. Used by the
+ * Elodin decoder to pick unsigned-vs-signed raw-ADC interpretation and by the GUI to label
+ * HP boards. `config` is optional so callers on the hot path can pass a cached config.
+ */
+export function hpBoardNumbers(config?: any): Set<number> {
+    const out = new Set<number>();
+    try {
+        const cfg = config ?? readConfig();
+        const boards = (cfg.boards || {}) as Record<string, any>;
+        for (const board of Object.values(boards)) {
+            const isHp = (Array.isArray(board?.hp_pt_connectors) && board.hp_pt_connectors.length > 0)
+                || typeof board?.hp_pt_full_scale_psi === 'number';
+            if (!isHp || typeof board?.board_id !== 'number') continue;
+            const mod = board.board_id % 10;
+            out.add(mod === 0 ? 10 : mod);
+        }
+    } catch { /* empty set on config error */ }
+    return out;
+}
+
 /**
  * Build actuator channel → entity map from config.toml actuator_roles.
  * Used so Elodin parser uses same names as config (replica of backend/DB).
@@ -45,25 +69,24 @@ export function loadSensorRoleMap(): {
 
     try {
         const config = readConfig();
-        // Config has [sensor_roles_pt_board] and [sensor_roles_pt2], NOT [sensor_roles]
-        const sensorRolesPtBoard = (config as any).sensor_roles_pt_board || {};
-        const sensorRolesPt2 = (config as any).sensor_roles_pt2 || {};
         const boards = config.boards || {};
 
-        // Build reverse map: channel_id → role_name from BOTH PT boards
+        // Build reverse map: (connector + (boardNumber-1)*10) → PT_Cal.<role>, iterating every
+        // PT board's own [sensor_roles_<boardKey>] section. The per-board offset (board 1 → +0,
+        // board 2 → +10, board 3 → +20, …) keeps roles from different PT boards from colliding in
+        // this flat legacy map; boardNumber = board_id % 10 (0→10), matching the packet-ID scheme.
+        // (Previously hardcoded to sensor_roles_pt_board + a fixed +10 on sensor_roles_pt2.)
         const reverseMap: Record<number, string> = {};
-        // PT board 1 (sensor_roles_pt_board): payload channel byte IS the connector id (1-indexed). No +1.
-        for (const [roleName, channelId] of Object.entries(sensorRolesPtBoard)) {
-            if (typeof channelId === 'number' && channelId >= 1 && channelId <= 10) {
-                const entityName = roleName.replace(/\s+/g, '_');
-                reverseMap[channelId] = `PT_Cal.${entityName}`;
-            }
-        }
-        // PT board 2 (sensor_roles_pt2): reverseMap keys use connector+10 so HP PT roles don’t collide with board 1’s channel ids in this legacy map (hardcoded here, not from config).
-        for (const [roleName, channelId] of Object.entries(sensorRolesPt2)) {
-            if (typeof channelId === 'number' && channelId >= 1 && channelId <= 10) {
-                const entityName = roleName.replace(/\s+/g, '_');
-                reverseMap[channelId + 10] = `PT_Cal.${entityName}`;  // payloadCh for connector 1 = 11
+        for (const [boardKey, boardRaw] of Object.entries(boards)) {
+            const board = boardRaw as any;
+            if (board.type !== 'PT' || typeof board.board_id !== 'number') continue;
+            const mod = board.board_id % 10;
+            const boardNumber = mod === 0 ? 10 : mod;
+            const roles = (config as any)[`sensor_roles_${boardKey}`] || {};
+            for (const [roleName, channelId] of Object.entries(roles)) {
+                if (typeof channelId === 'number' && channelId >= 1 && channelId <= 10) {
+                    reverseMap[channelId + (boardNumber - 1) * 10] = `PT_Cal.${roleName.replace(/\s+/g, '_')}`;
+                }
             }
         }
 
@@ -79,9 +102,9 @@ export function loadSensorRoleMap(): {
                 const isHpBoard = Array.isArray(board.hp_pt_connectors) && board.hp_pt_connectors.length > 0;
                 const excitationId = typeof board.excitation_connector_id === 'number' ? board.excitation_connector_id : -1;
 
-                // HP PT board uses sensor_roles_pt2; others use sensor_roles_<boardKey> (e.g. sensor_roles_pt_board)
-                const boardSensorRolesKey = isHpBoard ? 'sensor_roles_pt2' : `sensor_roles_${boardKey}`;
-                const boardSensorRoles = (config as any)[boardSensorRolesKey] || sensorRolesPtBoard;
+                // Every board reads its own [sensor_roles_<boardKey>] section — HP boards included
+                // (no special sensor_roles_pt2 section anymore).
+                const boardSensorRoles = (config as any)[`sensor_roles_${boardKey}`] || {};
 
                 const boardMap: Record<string, string> = {};
                 for (const [roleName, channelId] of Object.entries(boardSensorRoles)) {
@@ -134,7 +157,7 @@ export function loadHpPtConfig(): Map<string, HpPtBoardConfig> {
         const boards = config.boards || {};
         console.log(`   Found ${Object.keys(boards).length} board(s) in config`);
 
-        const sensorRolesPt2: Record<string, number> = (config.sensor_roles_pt2 as Record<string, number>) || {};
+        const sensorRolesPt2: Record<string, number> = (config.sensor_roles_pt_board_2 as Record<string, number>) || {};
         console.log(`   Found ${Object.keys(sensorRolesPt2).length} sensor role(s) for pt2`);
 
         // Build reverse map for pt2: connector_id → entity name
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 79b571aca..7a338e9c2 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -26,7 +26,7 @@ import * as http from 'http';
 import WebSocket, { WebSocketServer } from 'ws';
 import { ElodinClient } from './elodin-client.js';
 import { parseElodinPacket } from './elodin-protocol.js';
-import { loadSensorRoleMap } from './sensor-config.js';
+import { loadSensorRoleMap, hpBoardNumbers } from './sensor-config.js';
 import { registerVTables, clearSubscriptionState } from './elodin-vtable-registry.js';
 import { registerControllerVTables } from './legacy/elodin-vtable-controller.js';
 import { createAPIHandler } from './api-server.js';
@@ -176,6 +176,10 @@ try {
 // this via its channelToEntityMap property (updated in lockstep below).
 let calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
 
+/** Cached HP (4-20 mA) PT board-number set for the Elodin decode hot path. Rebuilt on config
+ *  reload (onConfigUpdated) so moving/adding an HP board takes effect without a restart. */
+let _hpBoardNumbers = hpBoardNumbers();
+
 /** Cached slot→board_id map for uniqueIdFromPtEntity — built once, avoids config re-reads on hot path. */
 const _ptSlotToBoardId = new Map<number, number>();
 function _ensurePtSlotCache(): void {
@@ -571,6 +575,7 @@ const apiHandler = createAPIHandler({
     calChannelToEntityMap = loadSensorRoleMap().channelToEntityMap;
     calibrationHost.channelToEntityMap = calChannelToEntityMap;
     _ptSlotToBoardId.clear();
+    _hpBoardNumbers = hpBoardNumbers();
     // Tell every open client the config changed so they refetch /api/* live
     // (sensor-config, pressure-limits, pressure-bars) — no reload/restart.
     broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
@@ -1121,7 +1126,7 @@ elodin.on('packet', (header: any, payload: Buffer) => {
     }
 
     // ── Parse sensor/actuator/state packets ──────────────────────────────────
-    const parsedList = parseElodinPacket(header.packetId, payload);
+    const parsedList = parseElodinPacket(header.packetId, payload, _hpBoardNumbers);
 
     if (parsedList.length === 0) {
       if (high >= 0x40) {
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index d4ea2a4a8..f65b5e3f3 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -59,7 +59,7 @@ interface ConfigData {
   boards?: Record<string, any>;
   sensor_roles?: Record<string, number>; // legacy fallback
   sensor_roles_pt_board?: Record<string, number>;
-  sensor_roles_pt2?: Record<string, number>;
+  sensor_roles_pt_board_2?: Record<string, number>; // HP PT board (was sensor_roles_pt2)
   sensor_roles_rtd_board?: Record<string, number>;
   sensor_roles_tc_board?: Record<string, number>;
   abort_pts?: Record<string, number>;
@@ -892,12 +892,16 @@ export default function ConfigPage() {
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-4">Sensor Roles</h2>
               <div className="space-y-8">
-                {([
-                  { key: 'sensor_roles_pt_board', title: 'PT Board Roles (sensor_roles_pt_board)' },
-                  { key: 'sensor_roles_pt2', title: 'HP PT Roles (sensor_roles_pt2)' },
-                  { key: 'sensor_roles_rtd_board', title: 'RTD Board Roles (sensor_roles_rtd_board)' },
-                  { key: 'sensor_roles_tc_board', title: 'TC Board Roles (sensor_roles_tc_board)' },
-                ] as const).map(({ key, title }) => {
+                {/* One role panel per sensor board in config: sensor_roles_<boardKey>. Generalized
+                    from a fixed pt_board/pt2/rtd/tc list so any board (incl. a 3rd PT board or an
+                    HP board) gets a panel; the HP board is no longer special (was sensor_roles_pt2). */}
+                {(Object.entries(((config as any).boards || {}) as Record<string, any>)
+                  .filter(([, b]) => ['PT', 'RTD', 'TC', 'ENCODER'].includes(b?.type))
+                  .map(([boardKey, b]) => ({
+                    key: `sensor_roles_${boardKey}`,
+                    title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
+                  }))
+                ).map(({ key, title }) => {
                   const map = (config as any)[key] as Record<string, number> | undefined;
                   const entries = Object.entries(map || {});
                   return (
diff --git a/daq-server/diablo_server/frontend/app/plots/chamber/page.tsx b/daq-server/diablo_server/frontend/app/plots/chamber/page.tsx
index 9847fc6c7..e6e2a42d8 100644
--- a/daq-server/diablo_server/frontend/app/plots/chamber/page.tsx
+++ b/daq-server/diablo_server/frontend/app/plots/chamber/page.tsx
@@ -7,10 +7,9 @@ import { useSensorStore, useSensorValue, useLoadCellForceKg } from '@/lib/store'
 import { getApiBaseUrl, getWebSocketClient } from '@/lib/websocket';
 import { MessageType } from '@/lib/types';
 import { getEntityColor, getActuatorColor } from '@/lib/sensor-colors';
-import { useSensorConfig } from '@/lib/sensor-config';
+import { useSensorConfig, resolveGroup } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
 
-/** Chamber PT role names in display order (config: sensor_roles_pt_board channels 4, 8, 9, 10). */
-const CHAMBER_PT_ROLES_ORDER = ['Chamber Mid PT 1', 'Chamber Mid PT 2', 'Chamber Throat PT 1', 'Chamber Throat PT 2'];
 const WINDOW_SECONDS = 60;
 
 function buildChannels(boards: Record<string, any>, type: 'TC' | 'RTD' | 'LC'): number[] {
@@ -88,15 +87,15 @@ function LcKgCompact({ calEntity, label, color }: { entity: string; calEntity: s
 export default function ChamberGraphsPage() {
     const ws = getWebSocketClient();
     const allSensors = useSensorConfig();
-    // Chamber PTs only (exclude TC/LC with "Chamber" in role); order Mid 1, Mid 2, Throat 1, Throat 2
-    const ptSensors = CHAMBER_PT_ROLES_ORDER
-      .map((role) =>
-        allSensors.find((s) => {
-          const calEntity = s.calEntity;
-          return (calEntity.startsWith('PT_Cal.') || /^PT\d+_Cal\.CH\d+$/.test(calEntity)) && s.role === role;
-        })
-      )
-      .filter((s): s is NonNullable<typeof s> => s != null);
+    const { groups } = useGuiConfig();
+    // Chamber PTs, explicit membership + order from config [gui.groups].Chamber (PTs only;
+    // TC/LC come from board type below). Roles that aren't PTs are filtered out. Fallback to
+    // legacy role-name matching ("Chamber" PTs) if the config has no Chamber group.
+    const ptSensors = (
+      groups.Chamber
+        ? resolveGroup(allSensors, groups.Chamber)
+        : allSensors.filter((s) => s.role.includes('Chamber'))
+    ).filter((s) => s.calEntity.startsWith('PT'));
 
     const [tcData, setTcData] = useState<{ entity: string; label: string; voltageReference: number }[]>([]);
     const [lcEntities, setLcEntities] = useState<string[]>([]);
diff --git a/daq-server/diablo_server/frontend/app/plots/fuel/page.tsx b/daq-server/diablo_server/frontend/app/plots/fuel/page.tsx
index 289219423..c3c5bb6f5 100644
--- a/daq-server/diablo_server/frontend/app/plots/fuel/page.tsx
+++ b/daq-server/diablo_server/frontend/app/plots/fuel/page.tsx
@@ -6,20 +6,23 @@ import ActuatorStatePanel from '@/components/plots/ActuatorStatePanel';
 import SensorReadoutStrip from '@/components/plots/SensorReadoutStrip';
 import { useSensorValue } from '@/lib/store';
 import { getEntityColor, getActuatorColor } from '@/lib/sensor-colors';
-import { useSensorConfig, filterByRole } from '@/lib/sensor-config';
+import { useSensorConfig, resolveGroup, filterByRole } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
 import { usePressureLimits, getLimitsForSystem } from '@/lib/pressure-limits';
 
 
 
 export default function FuelGraphsPage() {
   const allSensors = useSensorConfig();
+  const { groups } = useGuiConfig();
   const pressureLimits = usePressureLimits();
   const ethLimits = getLimitsForSystem(pressureLimits, 'ETH');
 
-  // Propulsion-side fuel sensors only — exclude anything fill-related
-  const fuelSensors = filterByRole(allSensors, 'Fuel').filter(
-    (s) => !s.role.toLowerCase().includes('fill')
-  );
+  // Explicit membership from config [gui.groups].Fuel (ordered). Fallback to legacy role-name
+  // matching (propulsion-side fuel, excluding fill) if the config has no Fuel group.
+  const fuelSensors = groups.Fuel
+    ? resolveGroup(allSensors, groups.Fuel)
+    : filterByRole(allSensors, 'Fuel').filter((s) => !s.role.toLowerCase().includes('fill'));
   const entities = fuelSensors.map((s) => s.calEntity);
   const labels = fuelSensors.map((s) => s.role);
   const colors = entities.map((e) => getEntityColor(e));
diff --git a/daq-server/diablo_server/frontend/app/plots/lox/page.tsx b/daq-server/diablo_server/frontend/app/plots/lox/page.tsx
index e2e7a03df..62584db4c 100644
--- a/daq-server/diablo_server/frontend/app/plots/lox/page.tsx
+++ b/daq-server/diablo_server/frontend/app/plots/lox/page.tsx
@@ -7,7 +7,8 @@ import ActuatorStatePanel from '@/components/plots/ActuatorStatePanel';
 import SensorReadoutStrip from '@/components/plots/SensorReadoutStrip';
 import { useSensorValue } from '@/lib/store';
 import { getEntityColor, getActuatorColor } from '@/lib/sensor-colors';
-import { useSensorConfig, filterByRole } from '@/lib/sensor-config';
+import { useSensorConfig, resolveGroup, filterByRole } from '@/lib/sensor-config';
+import { useGuiConfig } from '@/lib/gui-config';
 import { usePressureLimits, getLimitsForSystem } from '@/lib/pressure-limits';
 
 function RtdReadoutStrip({
@@ -64,23 +65,22 @@ function RtdReadoutBox({
 
 export default function LOXGraphsPage() {
   const allSensors = useSensorConfig();
+  const { groups } = useGuiConfig();
   const pressureLimits = usePressureLimits();
   const loxLimits = getLimitsForSystem(pressureLimits, 'LOX');
   const [activeTab, setActiveTab] = useState<'PT' | 'RTD'>('PT');
 
-  const ptSensors = filterByRole(allSensors, 'Ox', 'LOX').filter(
-    (s) => s.calEntity.startsWith('PT') || s.calEntity.startsWith('PT_Cal')
-  );
-  // RTDs: LOX/Ox/Tank role names (config has "LOX Tank 1".."LOX Tank 4"); sort by id for stable order
-  const rtdByRole = filterByRole(allSensors, 'Ox', 'LOX', 'Tank').filter(
-    (s) => s.calEntity.startsWith('RTD') || s.calEntity.startsWith('RTD_Cal')
-  );
+  // Explicit membership from config [gui.groups].LOX (ordered); split into PT/RTD by entity type.
+  // Fallback to legacy role-name matching if the config has no LOX group (un-migrated config).
+  const loxGroup = groups.LOX
+    ? resolveGroup(allSensors, groups.LOX)
+    : filterByRole(allSensors, 'Ox', 'LOX', 'Tank');
+  const ptSensors = loxGroup.filter((s) => s.calEntity.startsWith('PT'));
+  const rtdByRole = loxGroup.filter((s) => s.calEntity.startsWith('RTD'));
   const rtdSensors = (
     rtdByRole.length > 0
       ? rtdByRole
-      : allSensors.filter(
-          (s) => s.calEntity.startsWith('RTD') || s.calEntity.startsWith('RTD_Cal')
-        )
+      : allSensors.filter((s) => s.calEntity.startsWith('RTD'))
   ).sort((a, b) => a.id - b.id);
 
   const currentSensors = activeTab === 'PT' ? ptSensors : rtdSensors;
diff --git a/daq-server/diablo_server/frontend/app/sensor-info/page.tsx b/daq-server/diablo_server/frontend/app/sensor-info/page.tsx
index 850745333..0a6daa746 100644
--- a/daq-server/diablo_server/frontend/app/sensor-info/page.tsx
+++ b/daq-server/diablo_server/frontend/app/sensor-info/page.tsx
@@ -341,10 +341,9 @@ export default function SensorInfoPage() {
   // ── DAQ ingest data-rate probe (Elodin → backend) ───────────────────────────
   const [ingestPackets, setIngestPackets] = useState<number | null>(null);
   const [ingestRateHz, setIngestRateHz] = useState<number>(0);
-  /** Backend avg per-channel Hz per board group from Elodin ingest (pre-WS-throttle ≈ scan rate). */
-  const [boardScanHz, setBoardScanHz] = useState({
-    pt1: 0, pt2: 0, tc: 0, rtd: 0, lc: 0, act: 0, enc: 0,
-  });
+  /** Backend avg per-channel Hz per board group from Elodin ingest (pre-WS-throttle ≈ scan rate).
+   *  Dynamic keys: `pt<n>` per PT board plus tc/rtd/lc/act/enc. Missing group ⇒ 0. */
+  const [boardScanHz, setBoardScanHz] = useState<Record<string, number>>({});
   /** Wall time of last successful `/api/debug` response (ingest + board scan metrics). */
   const [lastDebugPollOkMs, setLastDebugPollOkMs] = useState<number | null>(null);
   useStaleRenderTick();
@@ -372,17 +371,7 @@ export default function SensorInfoPage() {
           prevCount = count;
           prevTime = now;
           const b = data.boardScanRateHz;
-          if (b && typeof b === 'object') {
-            setBoardScanHz({
-              pt1: typeof b.pt1 === 'number' ? b.pt1 : 0,
-              pt2: typeof b.pt2 === 'number' ? b.pt2 : 0,
-              tc: typeof b.tc === 'number' ? b.tc : 0,
-              rtd: typeof b.rtd === 'number' ? b.rtd : 0,
-              lc: typeof b.lc === 'number' ? b.lc : 0,
-              act: typeof b.act === 'number' ? b.act : 0,
-              enc: typeof b.enc === 'number' ? b.enc : 0,
-            });
-          }
+          if (b && typeof b === 'object') setBoardScanHz(b as Record<string, number>);
           setLastDebugPollOkMs(now);
         })
         .catch(() => {
@@ -400,6 +389,8 @@ export default function SensorInfoPage() {
 
   const [ptSensors,  setPtSensors]  = useState<PtSensor[]>([]);
   const [hptSensors, setHptSensors] = useState<PtSensor[]>([]);
+  /** Distinct PT boards (for the per-board scan-rate tiles). boardNumber = board_id % 10 (0→10). */
+  const [ptBoards, setPtBoards] = useState<{ boardId: number; boardNumber: number; isHp: boolean }[]>([]);
 
   // Dynamic channel lists from /api/config, seeded with defaults so the
   // initial render matches the post-config-fetch structure.
@@ -479,6 +470,16 @@ export default function SensorInfoPage() {
 
         setPtSensors(pt);
         setHptSensors(hpt);
+
+        // Distinct PT boards for the per-board scan-rate tiles (any number of PT boards).
+        const boardMap = new Map<number, { boardId: number; boardNumber: number; isHp: boolean }>();
+        for (const s of mapped as any[]) {
+          const bid = typeof s.boardId === 'number' ? s.boardId : undefined;
+          if (bid === undefined || boardMap.has(bid)) continue;
+          const mod = bid % 10;
+          boardMap.set(bid, { boardId: bid, boardNumber: mod === 0 ? 10 : mod, isHp: !!s.isHpPt });
+        }
+        setPtBoards([...boardMap.values()].sort((a, b) => a.boardId - b.boardId));
       })
       .catch(() => {});
   }, []);
@@ -534,33 +535,31 @@ export default function SensorInfoPage() {
               Mean per-channel Elodin ingest rate before WebSocket throttle (true DAQ/board delivery rate).
             </div>
             <div className="grid grid-cols-2 sm:grid-cols-3 md:grid-cols-4 xl:grid-cols-7 gap-x-4 gap-y-1" data-testid="sensor-info-board-scan">
+              {ptBoards.map((b) => (
+                <div key={b.boardId}>
+                  <div className="text-[10px] text-gray-500">{b.isHp ? 'HPT' : 'PT'} B{b.boardId} (PT{b.boardNumber}.*)</div>
+                  <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz[`pt${b.boardNumber}`] ?? 0)} Hz`}</div>
+                </div>
+              ))}
               <div>
-                <div className="text-[10px] text-gray-500">PT B21 (PT1.*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.pt1)} Hz`}</div>
-              </div>
-              <div>
-                <div className="text-[10px] text-gray-500">HPT B22 (PT2.*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.pt2)} Hz`}</div>
-              </div>
-              <div>
-                <div className="text-[10px] text-gray-500">TC B51 (TC*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.tc)} Hz`}</div>
+                <div className="text-[10px] text-gray-500">TC (TC*)</div>
+                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.tc ?? 0)} Hz`}</div>
               </div>
               <div>
-                <div className="text-[10px] text-gray-500">RTD B31 (RTD*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.rtd)} Hz`}</div>
+                <div className="text-[10px] text-gray-500">RTD (RTD*)</div>
+                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.rtd ?? 0)} Hz`}</div>
               </div>
               <div>
-                <div className="text-[10px] text-gray-500">LC B41 (LC*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.lc)} Hz`}</div>
+                <div className="text-[10px] text-gray-500">LC (LC*)</div>
+                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.lc ?? 0)} Hz`}</div>
               </div>
               <div>
-                <div className="text-[10px] text-gray-500">ENC B61 (ENC*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.enc)} Hz`}</div>
+                <div className="text-[10px] text-gray-500">ENC (ENC*)</div>
+                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.enc ?? 0)} Hz`}</div>
               </div>
               <div>
-                <div className="text-[10px] text-gray-500">ACT B12/14 (ACT*)</div>
-                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.act)} Hz`}</div>
+                <div className="text-[10px] text-gray-500">ACT (ACT*)</div>
+                <div className="text-cyan-400">{ingestMetricsStale ? '---' : `${fmtHz(boardScanHz.act ?? 0)} Hz`}</div>
               </div>
             </div>
           </div>
diff --git a/daq-server/diablo_server/frontend/lib/gui-config.ts b/daq-server/diablo_server/frontend/lib/gui-config.ts
index 7a47bd251..a5dca417b 100644
--- a/daq-server/diablo_server/frontend/lib/gui-config.ts
+++ b/daq-server/diablo_server/frontend/lib/gui-config.ts
@@ -32,9 +32,12 @@ export interface GuiConfig {
   pressureBars: PressureBarConfig[];
   /** Ordered tab-bar view ids (index into lib/nav-items). Empty → use defaults. */
   tabs: string[];
+  /** [gui.groups]: page/group name → ordered list of sensor role names. Explicit sensor→page
+   *  membership (replaces role-name substring parsing). Array order = display order. */
+  groups: Record<string, string[]>;
 }
 
-const EMPTY: GuiConfig = { pressureBars: [], tabs: [] };
+const EMPTY: GuiConfig = { pressureBars: [], tabs: [], groups: {} };
 
 // ── Module-level cache so all components share one fetch ───────────────────────
 
@@ -50,8 +53,8 @@ export async function fetchGuiConfig(): Promise<GuiConfig> {
       if (!res.ok) throw new Error(`gui-config fetch failed: ${res.status}`);
       return res.json();
     })
-    .then((data: { pressure_bars?: PressureBarConfig[]; tabs?: string[] }) => {
-      _cache = { pressureBars: data.pressure_bars ?? [], tabs: data.tabs ?? [] };
+    .then((data: { pressure_bars?: PressureBarConfig[]; tabs?: string[]; groups?: Record<string, string[]> }) => {
+      _cache = { pressureBars: data.pressure_bars ?? [], tabs: data.tabs ?? [], groups: data.groups ?? {} };
       return _cache;
     })
     .catch((err) => {
diff --git a/daq-server/diablo_server/frontend/lib/sensor-config.ts b/daq-server/diablo_server/frontend/lib/sensor-config.ts
index ba1580e6f..dae92b781 100644
--- a/daq-server/diablo_server/frontend/lib/sensor-config.ts
+++ b/daq-server/diablo_server/frontend/lib/sensor-config.ts
@@ -22,7 +22,7 @@ export interface SensorConfig {
     boardId: number;
     /** Board IP address */
     boardIp: string;
-    /** true if this sensor is a high-pressure 4-20 mA PT (sensor_roles_pt2) */
+    /** true if this sensor is on a high-pressure 4-20 mA PT board (config hp_pt_* fields) */
     isHpPt: boolean;
     /** false → HP PT (no calibration capture); true → low-pressure PT */
     inCalibrationSequence: boolean;
@@ -104,6 +104,23 @@ export function filterByRole(sensors: SensorConfig[], ...substrings: string[]):
     );
 }
 
+/**
+ * Resolve an explicit display group (config [gui.groups]) to its sensors, in the group's
+ * declared order. `roleNames` is the ordered role list for the group; roles with no live
+ * sensor are skipped. This replaces role-name substring parsing for page membership — the
+ * config decides what shows on a page, not the sensor's name.
+ */
+export function resolveGroup(sensors: SensorConfig[], roleNames: string[] | undefined): SensorConfig[] {
+    if (!roleNames || roleNames.length === 0) return [];
+    const byRole = new Map(sensors.map((s) => [s.role, s]));
+    const out: SensorConfig[] = [];
+    for (const role of roleNames) {
+        const s = byRole.get(role);
+        if (s) out.push(s);
+    }
+    return out;
+}
+
 /** Filter sensors by board ID. */
 export function filterByBoardId(sensors: SensorConfig[], boardId: number): SensorConfig[] {
     return sensors.filter((s) => s.boardId === boardId);
diff --git a/daq-server/diablo_server/frontend/lib/store.ts b/daq-server/diablo_server/frontend/lib/store.ts
index 869435cd1..3cead3119 100644
--- a/daq-server/diablo_server/frontend/lib/store.ts
+++ b/daq-server/diablo_server/frontend/lib/store.ts
@@ -251,14 +251,8 @@ export function buildAliasesFromConfig(config: any): void {
     }
   }
 
-  // sensor_roles_pt2 (HP PT — board_id 22 → board_number 2)
-  const pt2Roles = config.sensor_roles_pt2 as Record<string, number> | undefined;
-  if (pt2Roles && typeof pt2Roles === 'object') {
-    for (const [name, connector] of Object.entries(pt2Roles)) {
-      const ch = typeof connector === 'number' ? connector : Number(connector);
-      if (isFinite(ch)) addSensorAliases(name, ch, 'PT2', 'PT2_Cal', ptComponents, true);
-    }
-  }
+  // (HP PT board reads its own [sensor_roles_<boardKey>] section in the generic loop above —
+  // no special sensor_roles_pt2 handling needed; prefix comes from board_id % 10.)
 
   // Actuator roles — board-namespaced: ACT2.CH1, ACT4.CH3
   const actRoles = config.actuator_roles as Record<string, any> | undefined;

From a627f5e02b37500e7501b047e965b14410045ef6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 17:42:09 -0700
Subject: [PATCH 060/205] daq-server: pin tests + sim overlay to a frozen
 config_base.toml so editing config.toml can't break them

---
 daq-server/config/config_base.toml            | 503 ++++++++++++++++++
 .../deploy/startup/start_systemd_sim.sh       |   4 +-
 daq-server/deploy/startup/start_tmux_dev.sh   |   6 +-
 daq-server/test/test_integration.sh           |   7 +-
 4 files changed, 515 insertions(+), 5 deletions(-)
 create mode 100644 daq-server/config/config_base.toml

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
new file mode 100644
index 000000000..ba8a322bb
--- /dev/null
+++ b/daq-server/config/config_base.toml
@@ -0,0 +1,503 @@
+[network]
+bind_ip = "0.0.0.0"
+sensor_port = 5006
+actuator_cmd_port = 5005
+
+[server_heartbeat]
+interval_ms = 200
+broadcast_port = 5005
+broadcast_ip = "192.168.2.255"
+
+[heartbeat_service]
+enabled = true
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 200
+broadcast_ip = "192.168.2.255"
+broadcast_port = 5005
+
+[config_broadcast_service]
+enabled = true
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 1000
+
+[data_logger_service]
+enabled = true
+ws_url = "ws://127.0.0.1:8081"
+
+[database]
+host = "127.0.0.1"
+port = 2240
+auto_flush_interval_ms = 100
+max_buffer_size = 4096
+connection_retry_attempts = 3
+connection_retry_delay_ms = 1000
+
+[gui]
+downsample_mode = "envelope"
+points_per_second = 20
+tabs = [
+  "unified",
+  "lcs-tcs-rtd",
+  "boards",
+  "self-tests",
+  "session",
+  "config"
+]
+
+  [[gui.pressure_bars]]
+  label = "GN2 HI"
+  role = "GN2 High"
+  limits = "GN2_High"
+  color = "#ADFF2F"
+
+  [[gui.pressure_bars]]
+  label = "GN2 REG"
+  role = "GN2 Regulated"
+  limits = "GN2_Regulated"
+  color = "#228B22"
+
+  [[gui.pressure_bars]]
+  label = "FUEL UP"
+  role = "Fuel Upstream"
+  limits = "Fuel_Upstream"
+  color = "#FF4500"
+
+  [[gui.pressure_bars]]
+  label = "FUEL DN"
+  role = "Fuel Downstream"
+  limits = "Fuel_Downstream"
+  color = "#CC0000"
+
+  [[gui.pressure_bars]]
+  label = "LOX UP"
+  role = "Ox Upstream"
+  limits = "Ox_Upstream"
+  color = "#38BDF8"
+
+  [[gui.pressure_bars]]
+  label = "LOX DN"
+  role = "Ox Downstream"
+  limits = "Ox_Downstream"
+  color = "#4169E1"
+
+  [[gui.pressure_bars]]
+  label = "GSE LO"
+  role = "GSE Low"
+  limits = "GSE_Low"
+  color = "#D8B4FE"
+
+  [[gui.pressure_bars]]
+  label = "GSE MID"
+  role = "GSE Mid"
+  limits = "GSE_Mid"
+  color = "#C026D3"
+
+  [[gui.pressure_bars]]
+  label = "GSE HI"
+  role = "GSE High"
+  limits = "GSE_High"
+  color = "#7B2FBE"
+
+  [[gui.pressure_bars]]
+  label = "CHAMBER"
+  role = "Chamber Mid PT 1"
+  avg_roles = [ "Chamber Mid PT 1", "Chamber Mid PT 2" ]
+  limits = "Chamber"
+  color = "#F97316"
+
+# Explicit sensor→page membership (replaces role-name substring parsing in the plot pages).
+# Group name → ordered list of sensor role names; array order = display order on that page.
+# Roles must match the [sensor_roles_*] names. Sensors only for now.
+[gui.groups]
+LOX = [ "Ox Upstream", "Ox Downstream", "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
+Fuel = [ "Fuel Upstream", "Fuel Downstream" ]
+Chamber = [ "Chamber Mid PT 1", "Chamber Mid PT 2", "Chamber Throat PT 1", "Chamber Throat PT 2" ]
+
+[time_sync]
+mode = "board-clock"
+window_seconds = 10
+max_plausible_gap_s = 60
+max_batch_age_s = 5
+resync_threshold_ms = 1000
+log_interval_s = 10
+
+[logs]
+backend_udp_port = 8092
+
+[adc]
+internal_v = 2.5
+vdd_nominal_v = 5
+absolute_5v_v = 5
+
+[discovery]
+enabled = true
+network_interface = "auto"
+mode = "hybrid"
+subnet = "192.168.2.0/24"
+ip_range_start = 100
+ip_range_end = 150
+discovery_timeout_seconds = 30
+
+[boards.pt_board]
+type = "PT"
+ip = "192.168.2.21"
+send_port = 5005
+num_sensors = 10
+board_id = 21
+enabled = true
+enable_serial_printing = 0
+voltage_reference = 1
+necessary_for_abort = true
+designated_survivor = false
+active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
+
+[boards.pt_board_2]
+type = "PT"
+ip = "192.168.2.22"
+send_port = 5005
+num_sensors = 10
+board_id = 22
+enabled = true
+enable_serial_printing = 1
+voltage_reference = 0
+adc_ref_voltage = 2.5
+active_connectors = [ 1, 2, 3, 4 ]
+hp_pt_connectors = [ 1, 3, 4 ]
+excitation_connector_id = 2
+hp_pt_full_scale_psi = 5000
+hp_pt_sense_resistor_ohms = 120
+excitation_divider_attenuation = 0.0762
+
+[boards.actuator_board]
+type = "ACTUATOR"
+ip = "192.168.2.11"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 11
+enabled = false
+enable_serial_printing = 1
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_2]
+type = "ACTUATOR"
+ip = "192.168.2.12"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 12
+enabled = true
+enable_serial_printing = 1
+designated_survivor = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_3]
+type = "ACTUATOR"
+ip = "192.168.2.13"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 13
+enabled = false
+enable_serial_printing = 1
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_4]
+type = "ACTUATOR"
+ip = "192.168.2.14"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 14
+enabled = true
+enable_serial_printing = 1
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.lc_board]
+type = "LC"
+ip = "192.168.2.41"
+send_port = 5005
+num_sensors = 4
+board_id = 41
+enabled = false
+enable_serial_printing = 1
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 1
+active_connectors = [ 1, 2, 3 ]
+
+[boards.lc_board_2]
+type = "LC"
+ip = "192.168.2.42"
+send_port = 5005
+num_sensors = 4
+board_id = 42
+enabled = true
+enable_serial_printing = 1
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 1, 2, 6 ]
+
+[boards.tc_board]
+type = "TC"
+ip = "192.168.2.51"
+send_port = 5005
+num_sensors = 10
+board_id = 51
+enabled = true
+enable_serial_printing = 1
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 2, 3, 4, 5 ]
+
+[boards.tc_board_2]
+type = "TC"
+ip = "192.168.2.52"
+send_port = 5005
+num_sensors = 10
+board_id = 52
+enabled = false
+enable_serial_printing = 1
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ ]
+
+[boards.rtd_board]
+type = "RTD"
+ip = "192.168.2.31"
+send_port = 5005
+num_sensors = 4
+board_id = 31
+enabled = true
+enable_serial_printing = 1
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 1, 2, 3, 4 ]
+
+[boards.rtd_board_2]
+type = "RTD"
+ip = "192.168.2.32"
+send_port = 5005
+num_sensors = 4
+board_id = 32
+enabled = false
+enable_serial_printing = 1
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ ]
+
+[boards.encoder_board]
+type = "ENCODER"
+ip = "192.168.2.61"
+send_port = 5005
+listen_port = 5005
+num_sensors = 2
+board_id = 61
+enabled = true
+enable_serial_printing = 0
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 1
+active_connectors = [ 1, 2 ]
+
+[sim_pt_targets]
+1 = 500
+2 = 450
+3 = 480
+4 = 400
+5 = 500
+6 = 4000
+7 = 480
+8 = 400
+9 = 380
+10 = 380
+11 = 3500
+12 = 24
+13 = 1000
+14 = 4000
+
+[sensor_roles_pt_board]
+"Fuel Upstream" = 1
+"GSE Low" = 2
+"Fuel Downstream" = 3
+"Chamber Mid PT 1" = 4
+"Ox Upstream" = 5
+"GN2 Regulated" = 6
+"Ox Downstream" = 7
+"Chamber Mid PT 2" = 8
+"Chamber Throat PT 1" = 9
+"Chamber Throat PT 2" = 10
+
+[abort_pts]
+"Fuel Upstream" = 400
+"Ox Upstream" = 400
+
+[sensor_roles_rtd_board]
+"COPV RTD" = 1
+"LOX Upper" = 2
+"LOX Mid" = 3
+"LOX Lower" = 4
+
+[sensor_roles_tc_board]
+"Chamber Mid TC 1" = 2
+"Chamber Mid TC 2" = 3
+"Chamber Throat TC 1" = 4
+"Chamber Throat TC 2" = 5
+
+[sensor_roles_pt_board_2]
+"GSE High" = 1
+"Excitation V" = 2
+"GSE Mid" = 3
+"GN2 High" = 4
+
+[sensor_roles_encoder_board]
+"Encoder 1" = 1
+"Encoder 2" = 2
+
+[actuator_abbrev]
+FV = "Fuel Vent"
+OV = "LOX Vent"
+FP = "Fuel Press"
+OP = "LOX Press"
+FM = "Fuel Main"
+OM = "LOX Main"
+FF = "Fuel Fill"
+
+[actuator_service]
+port = 9998
+bind_address = "0.0.0.0"
+
+[controller_service]
+port = 9999
+fire_duration_ms = 6000
+fire_extended_ms = 10000
+
+[calibration.tc]
+json_dir = "scripts/calibration/calibrations/tc"
+csv_paths = [ ]
+adc_ref_voltage = 2.5
+
+[calibration.rtd]
+json_dir = "scripts/calibration/calibrations/rtd"
+csv_paths = [ ]
+r0_ohm = 1000
+adc_ref_voltage = 2.5
+excitation_ua = 1000
+
+[calibration.lc]
+json_dir = "scripts/calibration/calibrations/lc"
+csv_paths = [ ]
+sensitivity_mv_per_v = 2
+pga_gain = 32
+full_scale_value = 300
+
+[pressure_limits.GN2_High]
+NOP = 4000
+MEOP = 5000
+POP = 1000
+
+[pressure_limits.GN2_Regulated]
+NOP = 900
+MEOP = 1250
+POP = 9000
+
+[pressure_limits.Fuel_Upstream]
+NOP = 540
+MEOP = 650
+POP = 750
+
+[pressure_limits.Fuel_Downstream]
+NOP = 540
+MEOP = 650
+POP = 750
+
+[pressure_limits.Ox_Upstream]
+NOP = 505
+MEOP = 650
+POP = 750
+
+[pressure_limits.Ox_Downstream]
+NOP = 505
+MEOP = 650
+POP = 750
+
+[pressure_limits.GSE_Low]
+NOP = 130
+MEOP = 155
+POP = 800
+
+[pressure_limits.GSE_Mid]
+NOP = 1500
+MEOP = 2000
+POP = 5000
+
+[pressure_limits.GSE_High]
+NOP = 4000
+MEOP = 5000
+POP = 800
+
+[pressure_limits.Chamber]
+NOP = 500
+MEOP = 650
+POP = 800
+
+[state_machine]
+actuator_csv = "config/state_machine_actuators.csv"
+actuator_delay_csv = "config/state_machine_actuator_delays.csv"
+transitions_csv = "config/state_transitions.csv"
+
+[controller]
+pwm_frequency_hz = 6
+pwm_duration_ms = 2000
+fallback_fuel_duty_cycle = 0
+fallback_ox_duty_cycle = 0
+controller_loop_hz = 100
+P_copv_min_pa = 0
+command_type = "THRUST_DESIRED"
+thrust_desired = 1000
+altitude_goal = 0
+pressure_fuel_target = 0
+pressure_ox_target = 0
+duty_sweep_enabled = false
+duty_sweep_step_duration_sec = 2
+duty_sweep_steps = [
+  [ 0.1, 0.1 ],
+  [ 0.3, 0.2 ],
+  [ 0.5, 0.4 ],
+  [ 0.3, 0.3 ],
+  [ 0.1, 0.1 ]
+]
+use_cpp_controller = true
+lut_path = "output/lut/controller_policy_fsw.bin"
+thrust_curve_path = "output/lut/thrust_curve.csv"
+
+[actuator_roles]
+"LOX Main" = ["NC", 1, 12]
+"Fuel Vent" = ["NC", 2, 12]
+"Fuel Press" = ["NC", 3, 12]
+"Fuel Main" = ["NO", 7, 12]
+"LOX Vent" = ["NC", 6, 12]
+"LOX Press" = ["NO", 8, 12]
+"GSE Low Press Vent" = ["NC", 5, 12]
+"Fuel Fill Press" = ["NC", 2, 14]
+"Fuel Fill Vent" = ["NC", 1, 14]
+"GSE LOX Fill Vent" = ["NC", 10, 14]
+"GSE High Press Control" = ["NC", 3, 14]
+"GSE Med Press Control" = ["NC", 4, 14]
+"GSE High Press Vent" = ["NC", 5, 14]
+"GN2 Vent" = ["NC", 6, 14]
+"LOX Fill" = ["NC", 7, 14]
+"LOX Dump" = ["NC", 8, 14]
diff --git a/daq-server/deploy/startup/start_systemd_sim.sh b/daq-server/deploy/startup/start_systemd_sim.sh
index 0358f6826..c82945ab6 100755
--- a/daq-server/deploy/startup/start_systemd_sim.sh
+++ b/daq-server/deploy/startup/start_systemd_sim.sh
@@ -47,7 +47,9 @@ fi
 # Board IPs 192.168.2.x → 127.0.0.x so the simulator can bind them on loopback,
 # exactly as start_tmux_dev.sh does for its sim config.
 mkdir -p "$DAQ_DIR"
-sed 's/192\.168\.2\./127.0.0./g' "$PROJECT/config/config.toml" > "$SIM_CONFIG"
+# Derive from the frozen canonical config_base.toml (dedicated sim/test config), not the
+# runtime-mutable config.toml, so the systemd sim stack + session tests are deterministic.
+sed 's/192\.168\.2\./127.0.0./g' "$PROJECT/config/config_base.toml" > "$SIM_CONFIG"
 cat > "$PIPELINE_ENV" <<EOF
 # Written by start_systemd_sim.sh — points the always-on backend at the remapped
 # (no-hardware) config. The data source (live vs simulated) is chosen PER RUN from
diff --git a/daq-server/deploy/startup/start_tmux_dev.sh b/daq-server/deploy/startup/start_tmux_dev.sh
index 24b92bcf5..4a0ae1700 100755
--- a/daq-server/deploy/startup/start_tmux_dev.sh
+++ b/daq-server/deploy/startup/start_tmux_dev.sh
@@ -121,9 +121,11 @@ OTA_CMD_PORT="${OTA_SERVICE_CMD_PORT:-9997}"
 # simulator bind to the config IPs and config_broadcast_service actually reach them.
 CONFIG_FILE="config/config.toml"
 if [ "${USE_SIM:-0}" = "1" ]; then
+  # Sim runs derive from the frozen canonical config_base.toml (the dedicated sim/test config),
+  # NOT the runtime-mutable config.toml — keeps E2E deterministic and matches "sim forces the sim config".
   CONFIG_FILE="/tmp/gui_logs/sim_config.toml"
-  sed 's/192\.168\.2\./127.0.0./g' "$PROJECT/config/config.toml" > "$CONFIG_FILE"
-  echo "  📝 Sim config: board IPs remapped 192.168.2.x → 127.0.0.x"
+  sed 's/192\.168\.2\./127.0.0./g' "$PROJECT/config/config_base.toml" > "$CONFIG_FILE"
+  echo "  📝 Sim config: board IPs remapped 192.168.2.x → 127.0.0.x (from config_base.toml)"
   echo "     $CONFIG_FILE"
 fi
 
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 02e69804c..d7a19703e 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -346,8 +346,11 @@ echo ""
 # our test Elodin DB and listens on our test UDP port.
 
 echo "📝 Creating test config..."
-CONFIG_FILE="$REPO_ROOT/config/config.toml"
-[ ! -f "$CONFIG_FILE" ] && fail "config/config.toml not found"
+# Source from the frozen canonical config (config_base.toml), NOT config.toml — the latter is
+# overwritten at runtime by the config-profile deploy/switch, so tests must not depend on it.
+# config_base.toml is committed and only changed deliberately alongside test assertions.
+CONFIG_FILE="$REPO_ROOT/config/config_base.toml"
+[ ! -f "$CONFIG_FILE" ] && fail "config/config_base.toml not found"
 
 # Cross-platform in-place sed (macOS requires -i '', Linux requires -i)
 sedi() {

From f825f46598be8d3b31f2296811303a73a7869697 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sun, 16 Aug 2026 20:02:46 -0700
Subject: [PATCH 061/205] =?UTF-8?q?daq-server:=20config=20profiles=20v2=20?=
 =?UTF-8?q?=E2=80=94=20editor=20edits=20the=20active=20profile,=20config.t?=
 =?UTF-8?q?oml=20is=20deployed=20on=20idle=20and=20frozen=20during=20a=20s?=
 =?UTF-8?q?ession=20(edits=20become=20drafts=20applied=20at=20next=20start?=
 =?UTF-8?q?);=20live=20runs=20deploy=20the=20selected=20profile;=20add=20r?=
 =?UTF-8?q?ead-only=20config.toml=20view?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/.gitignore                         |   5 +
 .../diablo_server/backend/src/api-server.ts   | 142 +++++++++++++--
 .../backend/src/routes/config-profiles.ts     | 163 +++++++++++++++++
 .../backend/src/routes/config.ts              |  10 +-
 .../backend/src/session-manager.ts            |   8 +
 .../frontend/app/config/page.tsx              | 171 +++++++++++++++++-
 6 files changed, 471 insertions(+), 28 deletions(-)
 create mode 100644 daq-server/diablo_server/backend/src/routes/config-profiles.ts

diff --git a/daq-server/.gitignore b/daq-server/.gitignore
index 1b5295b2b..635749385 100644
--- a/daq-server/.gitignore
+++ b/daq-server/.gitignore
@@ -210,3 +210,8 @@ config_local.toml
 config/session_state.json
 config/countdown_state.json
 config/sim_config.toml
+# Active config-profile pointer (machine-specific runtime state)
+config/.active_profile
+# Config profiles — runtime-generated from config.toml in this phase (a later phase commits them
+# as the source of truth). Ignored for now so the seeded default.toml doesn't clutter git status.
+config/profiles/
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 074e8cce8..f7dedf3fd 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -8,6 +8,12 @@ import * as os from 'os';
 import * as path from 'path';
 import { IncomingMessage, ServerResponse } from 'http';
 import { readConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
+import {
+  listProfiles, switchProfile, createProfile, renameProfile, deleteProfile,
+  getActiveProfileName, ensureSeeded, readActiveProfile, writeActiveProfile, deployActiveProfile,
+  getActiveProfilePath,
+} from './routes/config-profiles.js';
+import { sessionManager } from './session-manager.js';
 import { isOperator } from './operators.js';
 import { discoverProjects, getEnabledBoardsForFlash, getOtaWorkspaceRoot, BOARD_TYPE_TO_PROJECT } from './ota-build.js';
 import { otaBuildFlash, otaFlashFirmwareFile } from './ota-service-cmd.js';
@@ -271,6 +277,19 @@ function isConfigWriteAuthorized(req: IncomingMessage): boolean {
   return authEmail === '' ? true : isOperator(authEmail);
 }
 
+/** Collect and JSON-parse a request body. Rejects on invalid JSON. */
+function readJsonBody(req: IncomingMessage): Promise<any> {
+  return new Promise((resolve, reject) => {
+    let body = '';
+    req.on('data', (chunk) => { body += chunk.toString(); });
+    req.on('end', () => {
+      try { resolve(body.trim() ? JSON.parse(body) : {}); }
+      catch { reject(new Error('Invalid JSON body')); }
+    });
+    req.on('error', reject);
+  });
+}
+
 /**
  * Create an HTTP request handler for all /api/* routes.
  * Mount this on an existing http.Server — it does NOT create its own server.
@@ -298,12 +317,13 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
 
     try {
       if (url.pathname === '/api/config' && req.method === 'GET') {
-        // Read config
-        const config = readConfig();
+        // The editor reads the ACTIVE PROFILE (the draft you edit), not the deployed config.toml.
+        const config = readActiveProfile();
         res.writeHead(200, { 'Content-Type': 'application/json' });
-        res.end(JSON.stringify({ config }));
+        res.end(JSON.stringify({ config, active: getActiveProfileName() }));
       } else if (url.pathname === '/api/config' && req.method === 'POST') {
-        // Write config — approved operators only
+        // Save to the ACTIVE PROFILE. When idle, also deploy it to config.toml (the running file);
+        // during a session config.toml is frozen — the write is a draft applied at the next start.
         if (!isConfigWriteAuthorized(req)) {
           res.writeHead(403, { 'Content-Type': 'application/json' });
           res.end(JSON.stringify({ error: 'Not an approved operator' }));
@@ -316,19 +336,19 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         req.on('end', () => {
           try {
             const { config } = JSON.parse(body);
-            console.log(`📝 Received config save request`);
-            writeConfig(config);
-            try {
+            const sessionActive = sessionManager.getStatus().active;
+            console.log(`📝 Config save → active profile "${getActiveProfileName()}"${sessionActive ? ' (draft; config.toml frozen — session active)' : ' (+ deploy to config.toml)'}`);
+            writeActiveProfile(config);
+            if (!sessionActive) {
+              deployActiveProfile();
               if (onConfigUpdated) {
                 setImmediate(() => {
                   try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated handler threw:', e); }
                 });
               }
-            } catch (e) {
-              console.warn('⚠️ onConfigUpdated handler threw:', e);
             }
             res.writeHead(200, { 'Content-Type': 'application/json' });
-            res.end(JSON.stringify({ success: true, message: 'Config saved successfully' }));
+            res.end(JSON.stringify({ success: true, deployed: !sessionActive, message: sessionActive ? 'Saved as draft (applies at next session start)' : 'Config saved and deployed' }));
           } catch (error: any) {
             console.error('❌ Config save error:', error);
             res.writeHead(400, { 'Content-Type': 'application/json' });
@@ -360,29 +380,111 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         let body = '';
         req.on('data', (chunk) => { body += chunk.toString(); });
         req.on('end', () => {
-          const configPath = getConfigPath();
+          // Import replaces the ACTIVE PROFILE (validated), then deploys to config.toml when idle —
+          // same freeze rule as a save.
+          const target = getActiveProfilePath();
           let previous: string | null = null;
           try {
             if (!body.trim()) throw new Error('Uploaded config is empty');
-            previous = fs.readFileSync(configPath, 'utf-8');
-            fs.writeFileSync(configPath, body, 'utf-8');
-            readConfig(); // throws if the uploaded TOML is invalid
-            if (onConfigUpdated) {
-              setImmediate(() => {
-                try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated handler threw:', e); }
-              });
+            previous = fs.existsSync(target) ? fs.readFileSync(target, 'utf-8') : null;
+            fs.writeFileSync(target, body, 'utf-8');
+            readConfig(target); // throws if the uploaded TOML is invalid
+            const sessionActive = sessionManager.getStatus().active;
+            if (!sessionActive) {
+              deployActiveProfile();
+              if (onConfigUpdated) {
+                setImmediate(() => {
+                  try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated handler threw:', e); }
+                });
+              }
             }
             res.writeHead(200, { 'Content-Type': 'application/json' });
-            res.end(JSON.stringify({ success: true, message: 'Config imported successfully' }));
+            res.end(JSON.stringify({ success: true, deployed: !sessionActive, message: sessionActive ? 'Imported as draft (applies at next session start)' : 'Config imported and deployed' }));
           } catch (error: any) {
             if (previous !== null) {
-              try { fs.writeFileSync(configPath, previous, 'utf-8'); } catch { /* best effort */ }
+              try { fs.writeFileSync(target, previous, 'utf-8'); } catch { /* best effort */ }
             }
             console.error('❌ Config import error:', error);
             res.writeHead(400, { 'Content-Type': 'application/json' });
             res.end(JSON.stringify({ error: error.message || 'Invalid config file' }));
           }
         });
+      } else if (url.pathname === '/api/config/profiles' && req.method === 'GET') {
+        // List profiles + which is active + whether a session freezes deploys/switching.
+        ensureSeeded();
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify({
+          profiles: listProfiles(),
+          active: getActiveProfileName(),
+          sessionActive: sessionManager.getStatus().active,
+        }));
+      } else if (url.pathname === '/api/config/profiles/switch' && req.method === 'POST') {
+        // Switch the active profile and deploy it. Operators only; blocked while a session runs.
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        try {
+          const { name } = await readJsonBody(req);
+          if (sessionManager.getStatus().active) {
+            res.writeHead(409, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ error: 'Cannot switch config while a session is running' }));
+            return true;
+          }
+          switchProfile(name);
+          if (onConfigUpdated) setImmediate(() => { try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated threw:', e); } });
+          res.writeHead(200, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ success: true, active: getActiveProfileName() }));
+        } catch (error: any) {
+          res.writeHead(400, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error?.message || 'Failed to switch profile' }));
+        }
+      } else if (url.pathname === '/api/config/profiles/create' && req.method === 'POST') {
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        try {
+          const { name, from } = await readJsonBody(req);
+          createProfile(name, from);
+          res.writeHead(200, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ success: true, profiles: listProfiles() }));
+        } catch (error: any) {
+          res.writeHead(400, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error?.message || 'Failed to create profile' }));
+        }
+      } else if (url.pathname === '/api/config/profiles/rename' && req.method === 'POST') {
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        try {
+          const { name, newName } = await readJsonBody(req);
+          renameProfile(name, newName);
+          res.writeHead(200, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ success: true, profiles: listProfiles(), active: getActiveProfileName() }));
+        } catch (error: any) {
+          res.writeHead(400, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error?.message || 'Failed to rename profile' }));
+        }
+      } else if (url.pathname === '/api/config/profiles/delete' && req.method === 'POST') {
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        try {
+          const { name } = await readJsonBody(req);
+          deleteProfile(name);
+          res.writeHead(200, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ success: true, profiles: listProfiles() }));
+        } catch (error: any) {
+          res.writeHead(400, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error?.message || 'Failed to delete profile' }));
+        }
       } else if (url.pathname === '/api/query' && req.method === 'GET') {
         // Query historical data from Elodin DB
         const currentQueryClient = getQueryClient ? getQueryClient() : null;
diff --git a/daq-server/diablo_server/backend/src/routes/config-profiles.ts b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
new file mode 100644
index 000000000..b1c9298c5
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
@@ -0,0 +1,163 @@
+/**
+ * Named config profiles v2 — profiles are the editable source of truth; config.toml is the
+ * *deployed* file the pipeline reads.
+ *
+ *   - The Config editor reads/writes the ACTIVE PROFILE (config/profiles/<name>.toml).
+ *   - "Deploying" copies the active profile into config.toml.
+ *   - Deploy happens on an idle save/switch and at (live) session start.
+ *   - During a session config.toml is FROZEN: the editor writes profile drafts only, applied at
+ *     the next session start. This is what makes editing during a run safe — a mid-run edit can no
+ *     longer reach the running config.
+ *
+ * config.toml stays git-tracked in this phase (a later phase makes it a pure generated artifact).
+ * The active-profile pointer (config/.active_profile) is machine-specific runtime state.
+ */
+import { readFileSync, writeFileSync, copyFileSync, existsSync, mkdirSync, readdirSync, renameSync, unlinkSync } from 'fs';
+import { join, dirname } from 'path';
+import { getConfigPath, readConfig, writeConfig } from './config.js';
+
+const NAME_RE = /^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/;
+const DEFAULT_PROFILE = 'default';
+
+function assertValidName(name: string): void {
+  if (!NAME_RE.test(name)) {
+    throw new Error(`Invalid profile name "${name}" (use letters, digits, _ or -, max 64 chars)`);
+  }
+}
+
+function getConfigDir(): string {
+  return dirname(getConfigPath());
+}
+
+export function getProfilesDir(): string {
+  return join(getConfigDir(), 'profiles');
+}
+
+function getActivePointerPath(): string {
+  return join(getConfigDir(), '.active_profile');
+}
+
+export function profilePath(name: string): string {
+  assertValidName(name);
+  return join(getProfilesDir(), `${name}.toml`);
+}
+
+export function getActiveProfileName(): string {
+  try {
+    const raw = readFileSync(getActivePointerPath(), 'utf-8').trim();
+    if (raw && NAME_RE.test(raw)) return raw;
+  } catch { /* missing pointer → default */ }
+  return DEFAULT_PROFILE;
+}
+
+export function setActiveProfileName(name: string): void {
+  assertValidName(name);
+  writeFileSync(getActivePointerPath(), `${name}\n`, 'utf-8');
+}
+
+/**
+ * First-run seeding (idempotent): if no profiles exist, snapshot the current config.toml as
+ * profiles/default.toml and point .active_profile at it. Keeps config.toml as the deployed file.
+ */
+export function ensureSeeded(): void {
+  const dir = getProfilesDir();
+  mkdirSync(dir, { recursive: true });
+  const hasAny = readdirSync(dir).some((f) => f.endsWith('.toml'));
+  if (!hasAny && existsSync(getConfigPath())) {
+    copyFileSync(getConfigPath(), join(dir, `${DEFAULT_PROFILE}.toml`));
+    setActiveProfileName(DEFAULT_PROFILE);
+  }
+}
+
+/** Path of the active profile file (the editor target). */
+export function getActiveProfilePath(): string {
+  ensureSeeded();
+  return profilePath(getActiveProfileName());
+}
+
+export interface ProfileInfo { name: string; active: boolean }
+
+export function listProfiles(): ProfileInfo[] {
+  ensureSeeded();
+  const active = getActiveProfileName();
+  return readdirSync(getProfilesDir())
+    .filter((f) => f.endsWith('.toml'))
+    .map((f) => f.slice(0, -'.toml'.length))
+    .filter((n) => NAME_RE.test(n))
+    .sort((a, b) => a.localeCompare(b))
+    .map((name) => ({ name, active: name === active }));
+}
+
+// ── Editor read/write: operate on the ACTIVE PROFILE ─────────────────────────
+
+/** Parse the active profile (what the Config editor displays). */
+export function readActiveProfile(): any {
+  return readConfig(getActiveProfilePath());
+}
+
+/** Serialize + write a config object into the active profile file (an editor save / a draft). */
+export function writeActiveProfile(config: any): void {
+  writeConfig(config, getActiveProfilePath());
+}
+
+// ── Deploy: copy the active profile → config.toml (what the pipeline reads) ───
+
+/**
+ * Copy the active profile into config.toml, validating it parses first and rolling config.toml
+ * back to its previous contents if not. Caller must only invoke this when it's safe to change the
+ * running config (no session active, or at a controlled session start).
+ */
+export function deployActiveProfile(): void {
+  const src = getActiveProfilePath();
+  if (!readFileSync(src, 'utf-8').trim()) throw new Error(`Active profile "${getActiveProfileName()}" is empty`);
+  const configPath = getConfigPath();
+  const previous = existsSync(configPath) ? readFileSync(configPath, 'utf-8') : null;
+  copyFileSync(src, configPath);
+  try {
+    readConfig(); // parse the freshly-deployed config.toml
+  } catch (e) {
+    if (previous !== null) writeFileSync(configPath, previous, 'utf-8');
+    throw new Error(`Active profile is not valid config: ${(e as Error)?.message ?? e}`);
+  }
+}
+
+/** Make <name> active and deploy it to config.toml. Caller gates on "no session running". */
+export function switchProfile(name: string): void {
+  ensureSeeded();
+  if (!existsSync(profilePath(name))) throw new Error(`Profile "${name}" does not exist`);
+  setActiveProfileName(name);
+  deployActiveProfile();
+}
+
+// ── Create / rename / delete ─────────────────────────────────────────────────
+
+/** Create a new profile from the active profile (or another named profile). Does NOT switch. */
+export function createProfile(name: string, fromName?: string): void {
+  ensureSeeded();
+  assertValidName(name);
+  const dest = profilePath(name);
+  if (existsSync(dest)) throw new Error(`Profile "${name}" already exists`);
+  const src = fromName ? profilePath(fromName) : getActiveProfilePath();
+  if (!existsSync(src)) throw new Error(`Source ${fromName ? `profile "${fromName}"` : 'active profile'} not found`);
+  copyFileSync(src, dest);
+}
+
+/** Rename a profile file; if it was active, move the pointer with it. Does not redeploy. */
+export function renameProfile(name: string, newName: string): void {
+  ensureSeeded();
+  const src = profilePath(name);
+  const dest = profilePath(newName);
+  if (!existsSync(src)) throw new Error(`Profile "${name}" does not exist`);
+  if (existsSync(dest)) throw new Error(`Profile "${newName}" already exists`);
+  renameSync(src, dest);
+  if (getActiveProfileName() === name) setActiveProfileName(newName);
+}
+
+/** Delete a profile. Refuses to delete the active one. */
+export function deleteProfile(name: string): void {
+  ensureSeeded();
+  if (getActiveProfileName() === name) throw new Error(`Cannot delete the active profile "${name}"`);
+  const p = profilePath(name);
+  if (!existsSync(p)) throw new Error(`Profile "${name}" does not exist`);
+  unlinkSync(p);
+}
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 14e4537a0..69f540084 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -39,9 +39,10 @@ export function getConfigPath(): string {
 
 let _actuatorRolesParseWarned = false;
 
-export function readConfig(): any {
+/** Read + parse a config TOML. Defaults to the deployed config.toml (getConfigPath), but any
+ *  path can be given — the config-profiles editor reads the active profile file this way. */
+export function readConfig(path: string = getConfigPath()): any {
   try {
-    const path = getConfigPath();
     const content = readFileSync(path, 'utf-8');
 
     // Try to parse normally first
@@ -151,8 +152,9 @@ export function stripNumericUnderscores(toml: string): string {
   return out;
 }
 
-export function writeConfig(config: any): void {
-  const configPath = getConfigPath();
+/** Serialize + write a config object as TOML. Defaults to the deployed config.toml, but any path
+ *  can be given — the config-profiles editor writes the active profile file this way. */
+export function writeConfig(config: any, configPath: string = getConfigPath()): void {
   try {
     console.log(`💾 Writing config to: ${configPath}`);
 
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index 50825f909..a7baa4e06 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -14,6 +14,7 @@ import type { SessionStatus, NotificationPayload } from '../../shared/types.js';
 import { MessageType } from '../../shared/types.js';
 import { ServiceController, getSessionServiceMode } from './service-controller.js';
 import { loadSession, saveSession } from './session-state.js';
+import { deployActiveProfile } from './routes/config-profiles.js';
 
 // Warn the operator at each of these leads before auto-stop. Default: 5 min and
 // 1 min. Override with SESSION_WARN_LEADS_MS (comma-separated ms) to exercise the
@@ -215,6 +216,13 @@ class SessionManager {
     this.simulated = simulated;
     this.durationMs = durationMs;
     this.deadlineMs = Date.now() + durationMs;
+    // Deploy the selected profile into config.toml right before the (live) run starts, then it's
+    // frozen for the session. Simulated runs use the committed frozen sim overlay (config_base →
+    // sim_config.toml) instead, so we don't touch config.toml for them.
+    if (!this.simulated) {
+      try { deployActiveProfile(); }
+      catch (e) { console.warn('⚠️ Failed to deploy active profile at session start:', e); }
+    }
     await this.controller.start(this.dbDir, this.simulated);
     this.active = true;
     this.scheduleTimers();
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index f65b5e3f3..577040ea8 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -110,6 +110,13 @@ export default function ConfigPage() {
   const [error, setError] = useState<string | null>(null);
   const [success, setSuccess] = useState(false);
   const [activeTab, setActiveTab] = useState('network');
+  // Config profiles v2: the editor edits the ACTIVE PROFILE; config.toml is the deployed/running file.
+  // When idle, a save/switch deploys to config.toml; during a session config.toml is frozen (draft).
+  const [profiles, setProfiles] = useState<{ name: string; active: boolean }[]>([]);
+  const [activeProfile, setActiveProfile] = useState('');
+  const [sessionActive, setSessionActive] = useState(false);
+  const [runningToml, setRunningToml] = useState<string | null>(null); // read-only view of config.toml
+  const [showRunning, setShowRunning] = useState(false);
 
   const ws = getWebSocketClient();
   // Config editing is gated on operator identity (the DAQ allowlist), enforced
@@ -119,17 +126,25 @@ export default function ConfigPage() {
 
   useEffect(() => {
     loadConfig();
+    loadProfiles();
 
     const unsubConn = ws.on(MessageType.CONNECTION_STATUS, () => {});
     const unsubConfig = ws.on(MessageType.CONFIG_UPDATED, () => {
       loadConfig();
+      loadProfiles();
+      if (showRunning) loadRunningToml();
+    });
+    // A session freezes config.toml + blocks switching — keep the gate current.
+    const unsubSession = ws.on(MessageType.SESSION_UPDATE, (payload: any) => {
+      setSessionActive(!!payload?.active);
     });
 
     return () => {
       unsubConn();
       unsubConfig();
+      unsubSession();
     };
-  }, [ws]);
+  }, [ws, showRunning]);
 
   const loadConfig = async () => {
     try {
@@ -144,9 +159,10 @@ export default function ConfigPage() {
       }
 
       const data = await response.json();
-      // config.toml is canonical; don't overlay stale defaults
+      // GET /api/config returns the ACTIVE PROFILE (the draft you edit) + its name.
       const nextConfig = (data.config || {}) as ConfigData;
       setConfig(nextConfig);
+      if (typeof data.active === 'string') setActiveProfile(data.active);
       const adc = nextConfig.adc;
       if (adc && typeof adc.internal_v === 'number' && typeof adc.absolute_5v_v === 'number') {
         useSensorStore.getState().setVoltageRefNominals({ internalV: adc.internal_v, absolute5vV: adc.absolute_5v_v });
@@ -188,16 +204,103 @@ export default function ConfigPage() {
 
   const uploadInputRef = useRef<HTMLInputElement>(null);
 
-  // Download the raw config.toml from the server as a file.
+  // Download the raw config.toml from the server as a file (named after the active profile).
   const downloadConfig = () => {
     const a = document.createElement('a');
     a.href = `${getApiBaseUrl()}/api/config/export`;
-    a.download = 'config.toml';
+    a.download = `${activeProfile || 'config'}.toml`;
     document.body.appendChild(a);
     a.click();
     a.remove();
   };
 
+  // ── Config profiles v2 ───────────────────────────────────────────────────────
+  const loadProfiles = async () => {
+    try {
+      const res = await fetch(`${getApiBaseUrl()}/api/config/profiles`);
+      if (!res.ok) return;
+      const data = await res.json();
+      setProfiles(Array.isArray(data.profiles) ? data.profiles : []);
+      setActiveProfile(data.active || '');
+      setSessionActive(!!data.sessionActive);
+    } catch { /* non-fatal */ }
+  };
+
+  // Read-only view of the deployed/running config.toml (what the pipeline reads).
+  const loadRunningToml = async () => {
+    try {
+      const res = await fetch(`${getApiBaseUrl()}/api/config/export`);
+      setRunningToml(res.ok ? await res.text() : '(failed to load config.toml)');
+    } catch { setRunningToml('(failed to load config.toml)'); }
+  };
+  const toggleRunning = async () => {
+    const next = !showRunning;
+    setShowRunning(next);
+    if (next) await loadRunningToml();
+  };
+
+  const profileAction = async (action: string, body: Record<string, unknown>) => {
+    setError(null);
+    const res = await fetch(`${getApiBaseUrl()}/api/config/profiles/${action}`, {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify(body),
+    });
+    if (!res.ok) {
+      const err = await res.json().catch(() => ({}));
+      throw new Error(err.error || `${action} failed (${res.status})`);
+    }
+    return res.json();
+  };
+
+  const switchProfile = async (name: string) => {
+    if (!name || name === activeProfile) return;
+    try {
+      await profileAction('switch', { name }); // deploys the profile to config.toml (idle only)
+      await loadProfiles();
+      await loadConfig();
+      if (showRunning) await loadRunningToml();
+    } catch (err: any) {
+      setError(err.message || 'Failed to switch config');
+      await loadProfiles();
+    }
+  };
+
+  const createProfile = async () => {
+    const name = window.prompt('New config name (letters, digits, _ or -):', '')?.trim();
+    if (!name) return;
+    try {
+      await profileAction('create', { name, from: activeProfile || undefined });
+      await loadProfiles();
+      if (window.confirm(`Created "${name}". Switch to it now?`)) await switchProfile(name);
+    } catch (err: any) {
+      setError(err.message || 'Failed to create config');
+    }
+  };
+
+  const renameProfile = async () => {
+    if (!activeProfile) return;
+    const newName = window.prompt(`Rename "${activeProfile}" to:`, activeProfile)?.trim();
+    if (!newName || newName === activeProfile) return;
+    try {
+      await profileAction('rename', { name: activeProfile, newName });
+      await loadProfiles();
+    } catch (err: any) {
+      setError(err.message || 'Failed to rename config');
+    }
+  };
+
+  const deleteProfile = async (name: string) => {
+    if (!name || name === activeProfile) return;
+    if (!window.confirm(`Delete config "${name}"? This cannot be undone.`)) return;
+    try {
+      await profileAction('delete', { name });
+      await loadProfiles();
+    } catch (err: any) {
+      setError(err.message || 'Failed to delete config');
+    }
+  };
+
   // Upload a config.toml to replace the current one (operators only, server-validated).
   const importConfig = async (file: File) => {
     try {
@@ -450,6 +553,66 @@ export default function ConfigPage() {
           </div>
         </div>
 
+        {/* Config profiles: pick which config is loaded/edited. Selecting deploys it to config.toml
+            (the running file) when idle; switching is blocked while a session runs. The editor always
+            edits the selected profile — config.toml is view-only below. */}
+        <div className="mb-4 p-3 bg-card rounded-lg flex flex-wrap items-center gap-3">
+          <span className="text-sm font-semibold">Config profile:</span>
+          <select
+            value={activeProfile}
+            onChange={(e) => switchProfile(e.target.value)}
+            disabled={!canEdit || sessionActive || saving || loading}
+            title={
+              !canEdit ? 'Operators only'
+                : sessionActive ? 'Stop the session to switch configs'
+                : 'Load a config (deploys it to config.toml)'
+            }
+            className="px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed min-w-[12rem]"
+          >
+            {profiles.length === 0 && <option value="">{activeProfile || '—'}</option>}
+            {profiles.map((p) => (
+              <option key={p.name} value={p.name}>{p.name}{p.active ? ' (active)' : ''}</option>
+            ))}
+          </select>
+          <button onClick={createProfile} disabled={!canEdit}
+            className="px-3 py-2 bg-card border border-gray-700 rounded-lg hover:bg-opacity-80 disabled:opacity-40 disabled:cursor-not-allowed"
+            title={canEdit ? 'Create a new config from the current one' : 'Operators only'}>New</button>
+          <button onClick={renameProfile} disabled={!canEdit || !activeProfile}
+            className="px-3 py-2 bg-card border border-gray-700 rounded-lg hover:bg-opacity-80 disabled:opacity-40 disabled:cursor-not-allowed"
+            title={canEdit ? 'Rename the active config' : 'Operators only'}>Rename</button>
+          <button
+            onClick={() => {
+              const inactive = profiles.filter((p) => !p.active).map((p) => p.name);
+              if (inactive.length === 0) return;
+              const name = window.prompt(`Delete which config? (${inactive.join(', ')})`, inactive[0])?.trim();
+              if (name && inactive.includes(name)) deleteProfile(name);
+              else if (name) setError(`No inactive config named "${name}"`);
+            }}
+            disabled={!canEdit || profiles.filter((p) => !p.active).length === 0}
+            className="px-3 py-2 bg-card border border-gray-700 rounded-lg hover:bg-opacity-80 disabled:opacity-40 disabled:cursor-not-allowed"
+            title={!canEdit ? 'Operators only' : 'Delete an inactive config'}>Delete…</button>
+          <button onClick={toggleRunning}
+            className="px-3 py-2 bg-card border border-gray-700 rounded-lg hover:bg-opacity-80"
+            title="View the deployed config.toml the pipeline is running (read-only)">
+            {showRunning ? 'Hide' : 'View'} running config.toml
+          </button>
+        </div>
+
+        {sessionActive && (
+          <div className="mb-4 p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm">
+            Session running — the running <code>config.toml</code> is frozen. Edits save to the
+            <strong> {activeProfile || 'active'}</strong> profile as a draft and apply at the next session start.
+            Switching configs is disabled until the session stops.
+          </div>
+        )}
+
+        {showRunning && (
+          <div className="mb-4 p-3 bg-background border border-gray-700 rounded-lg">
+            <div className="text-xs text-text-muted mb-2">Running <code>config.toml</code> (read-only — deployed to the pipeline)</div>
+            <pre className="text-xs font-mono whitespace-pre overflow-auto max-h-96 text-text-muted">{runningToml ?? 'Loading…'}</pre>
+          </div>
+        )}
+
         {error && (
           <div className="mb-4 p-4 bg-red-900/30 border border-red-500 rounded-lg text-red-200">
             {error}

From f6c6950eb41cedad816ae68417bdc514654f41d2 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 19:27:02 -0700
Subject: [PATCH 062/205] =?UTF-8?q?daq-server:=20config=20profiles=20v2=20?=
 =?UTF-8?q?phase=202=20=E2=80=94=20config.toml=20is=20a=20git-ignored=20ge?=
 =?UTF-8?q?nerated=20artifact;=20committed=20config/profiles/default.toml?=
 =?UTF-8?q?=20is=20the=20source=20of=20truth;=20getConfigPath=20+=20build.?=
 =?UTF-8?q?sh=20self-heal=20config.toml=20from=20it=20on=20a=20fresh=20che?=
 =?UTF-8?q?ckout?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/.gitignore                         |  6 +++---
 .../{config.toml => profiles/default.toml}    |  0
 daq-server/deploy/startup/start_tmux_dev.sh   |  4 ++++
 .../backend/src/routes/config.ts              | 20 +++++++++++++++++--
 daq-server/scripts/build.sh                   |  9 +++++++++
 .../test/check_toml_no_underscore_ints.py     |  7 ++++++-
 6 files changed, 40 insertions(+), 6 deletions(-)
 rename daq-server/config/{config.toml => profiles/default.toml} (100%)

diff --git a/daq-server/.gitignore b/daq-server/.gitignore
index 635749385..41f841e4a 100644
--- a/daq-server/.gitignore
+++ b/daq-server/.gitignore
@@ -212,6 +212,6 @@ config/countdown_state.json
 config/sim_config.toml
 # Active config-profile pointer (machine-specific runtime state)
 config/.active_profile
-# Config profiles — runtime-generated from config.toml in this phase (a later phase commits them
-# as the source of truth). Ignored for now so the seeded default.toml doesn't clutter git status.
-config/profiles/
+# config.toml is now a generated runtime artifact (deployed from the active profile / self-healed
+# from config/profiles/default.toml). The committed source of truth is config/profiles/*.toml.
+config/config.toml
diff --git a/daq-server/config/config.toml b/daq-server/config/profiles/default.toml
similarity index 100%
rename from daq-server/config/config.toml
rename to daq-server/config/profiles/default.toml
diff --git a/daq-server/deploy/startup/start_tmux_dev.sh b/daq-server/deploy/startup/start_tmux_dev.sh
index 4a0ae1700..bf3b25979 100755
--- a/daq-server/deploy/startup/start_tmux_dev.sh
+++ b/daq-server/deploy/startup/start_tmux_dev.sh
@@ -119,6 +119,10 @@ OTA_CMD_PORT="${OTA_SERVICE_CMD_PORT:-9997}"
 # When USE_SIM=1, remap board IPs from 192.168.2.x (real hardware subnet) to
 # 127.0.0.x (loopback — the full /8 is routable on Linux). This lets the board
 # simulator bind to the config IPs and config_broadcast_service actually reach them.
+# config.toml is a generated runtime artifact — materialize it from the committed default profile if
+# a fresh checkout hasn't deployed one (build.sh also does this; this covers SKIP_CPP_BUILD runs).
+[ -f "$PROJECT/config/config.toml" ] || cp "$PROJECT/config/profiles/default.toml" "$PROJECT/config/config.toml"
+
 CONFIG_FILE="config/config.toml"
 if [ "${USE_SIM:-0}" = "1" ]; then
   # Sim runs derive from the frozen canonical config_base.toml (the dedicated sim/test config),
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 69f540084..ffd5026bb 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -3,7 +3,7 @@
  * Handles reading and writing config.toml
  */
 
-import { readFileSync, writeFileSync } from 'fs';
+import { readFileSync, writeFileSync, copyFileSync, existsSync } from 'fs';
 import { join, dirname } from 'path';
 import { fileURLToPath } from 'url';
 import { parse as parseToml, stringify as stringifyToml } from '@iarna/toml';
@@ -34,7 +34,23 @@ export function getConfigPath(): string {
     }
   }
 
-  throw new Error('Config file not found');
+  // config.toml is a generated runtime artifact (git-ignored). If it doesn't exist yet — a fresh
+  // checkout that hasn't deployed a profile — self-heal by materializing it from the committed
+  // default profile (config/profiles/default.toml) sitting next to it. This keeps the backend and
+  // every C++ service that reads config.toml working without a manual bootstrap step.
+  for (const path of possiblePaths) {
+    const defaultProfile = join(dirname(path), 'profiles', 'default.toml');
+    if (existsSync(defaultProfile)) {
+      try {
+        copyFileSync(defaultProfile, path);
+        readFileSync(path, 'utf-8');
+        console.log(`🌱 Generated config.toml from ${defaultProfile}`);
+        return path;
+      } catch { continue; }
+    }
+  }
+
+  throw new Error('Config file not found (and no config/profiles/default.toml to generate it from)');
 }
 
 let _actuatorRolesParseWarned = false;
diff --git a/daq-server/scripts/build.sh b/daq-server/scripts/build.sh
index e85675f8d..117fc1834 100755
--- a/daq-server/scripts/build.sh
+++ b/daq-server/scripts/build.sh
@@ -19,6 +19,15 @@ trap 'echo "Build failed." >&2' ERR
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd -P)"
 ROOT="$(cd "$SCRIPT_DIR/.." && pwd -P)"
 BUILD_DIR="$ROOT/build"
+
+# config.toml is a generated runtime artifact (git-ignored); the committed source of truth is
+# config/profiles/*.toml. Materialize config.toml from the default profile if a fresh checkout hasn't
+# deployed one yet, so every stack that reads config/config.toml directly (daq_bridge, controller, …)
+# has it present. The backend also self-heals this at read time.
+if [ ! -f "$ROOT/config/config.toml" ] && [ -f "$ROOT/config/profiles/default.toml" ]; then
+  cp "$ROOT/config/profiles/default.toml" "$ROOT/config/config.toml"
+  echo "🌱 Generated config/config.toml from config/profiles/default.toml"
+fi
 JOBS="$(getconf _NPROCESSORS_ONLN 2>/dev/null || nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 4)"
 
 echo "🔨 Building Sensor System..."
diff --git a/daq-server/test/check_toml_no_underscore_ints.py b/daq-server/test/check_toml_no_underscore_ints.py
index 596ab7909..6de6bba42 100644
--- a/daq-server/test/check_toml_no_underscore_ints.py
+++ b/daq-server/test/check_toml_no_underscore_ints.py
@@ -60,7 +60,12 @@ def main() -> int:
     here = os.path.dirname(os.path.abspath(__file__))
     daq_root = os.path.dirname(here)  # daq-server/
     config_dir = os.path.join(daq_root, "config")
-    files = sorted(glob.glob(os.path.join(config_dir, "*.toml")))
+    # config/*.toml plus the committed config profiles (config/profiles/*.toml — the source of truth;
+    # config.toml itself is a git-ignored generated artifact).
+    files = sorted(
+        glob.glob(os.path.join(config_dir, "*.toml"))
+        + glob.glob(os.path.join(config_dir, "profiles", "*.toml"))
+    )
     if not files:
         print(f"[check_toml] no TOML files found in {config_dir}", flush=True)
         return 0

From 47f31a79deff1f8eec2326c37a03c0b72ec074e9 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 19:35:42 -0700
Subject: [PATCH 063/205] =?UTF-8?q?daq-server:=20config.toml=20self-heal?=
 =?UTF-8?q?=20(getConfigPath=20+=20build.sh)=20regenerates=20from=20the=20?=
 =?UTF-8?q?ACTIVE=20profile=20(config/.active=5Fprofile),=20not=20the=20re?=
 =?UTF-8?q?po=20default=20=E2=80=94=20so=20a=20deployed=20box=20regenerate?=
 =?UTF-8?q?s=20its=20own=20config?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../backend/src/routes/config.ts              | 33 ++++++++++++-------
 daq-server/scripts/build.sh                   | 19 +++++++----
 2 files changed, 34 insertions(+), 18 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index ffd5026bb..85af9d080 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -35,22 +35,31 @@ export function getConfigPath(): string {
   }
 
   // config.toml is a generated runtime artifact (git-ignored). If it doesn't exist yet — a fresh
-  // checkout that hasn't deployed a profile — self-heal by materializing it from the committed
-  // default profile (config/profiles/default.toml) sitting next to it. This keeps the backend and
-  // every C++ service that reads config.toml working without a manual bootstrap step.
+  // checkout that hasn't deployed a profile — self-heal by materializing it from the ACTIVE profile
+  // (config/.active_profile → config/profiles/<name>.toml), falling back to default.toml. Respecting
+  // the active profile matters on a deployed server: a missing config.toml must regenerate as that
+  // box's real config, not the repo default. Keeps the backend + every C++ service working with no
+  // manual bootstrap step.
   for (const path of possiblePaths) {
-    const defaultProfile = join(dirname(path), 'profiles', 'default.toml');
-    if (existsSync(defaultProfile)) {
-      try {
-        copyFileSync(defaultProfile, path);
-        readFileSync(path, 'utf-8');
-        console.log(`🌱 Generated config.toml from ${defaultProfile}`);
-        return path;
-      } catch { continue; }
+    const dir = dirname(path);
+    let activeName = 'default';
+    try {
+      const a = readFileSync(join(dir, '.active_profile'), 'utf-8').trim();
+      if (/^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/.test(a)) activeName = a;
+    } catch { /* no pointer → default */ }
+    for (const src of [join(dir, 'profiles', `${activeName}.toml`), join(dir, 'profiles', 'default.toml')]) {
+      if (existsSync(src)) {
+        try {
+          copyFileSync(src, path);
+          readFileSync(path, 'utf-8');
+          console.log(`🌱 Generated config.toml from ${src}`);
+          return path;
+        } catch { /* try next */ }
+      }
     }
   }
 
-  throw new Error('Config file not found (and no config/profiles/default.toml to generate it from)');
+  throw new Error('Config file not found (and no config/profiles/*.toml to generate it from)');
 }
 
 let _actuatorRolesParseWarned = false;
diff --git a/daq-server/scripts/build.sh b/daq-server/scripts/build.sh
index 117fc1834..3feb3bb13 100755
--- a/daq-server/scripts/build.sh
+++ b/daq-server/scripts/build.sh
@@ -21,12 +21,19 @@ ROOT="$(cd "$SCRIPT_DIR/.." && pwd -P)"
 BUILD_DIR="$ROOT/build"
 
 # config.toml is a generated runtime artifact (git-ignored); the committed source of truth is
-# config/profiles/*.toml. Materialize config.toml from the default profile if a fresh checkout hasn't
-# deployed one yet, so every stack that reads config/config.toml directly (daq_bridge, controller, …)
-# has it present. The backend also self-heals this at read time.
-if [ ! -f "$ROOT/config/config.toml" ] && [ -f "$ROOT/config/profiles/default.toml" ]; then
-  cp "$ROOT/config/profiles/default.toml" "$ROOT/config/config.toml"
-  echo "🌱 Generated config/config.toml from config/profiles/default.toml"
+# config/profiles/*.toml. Materialize config.toml from the ACTIVE profile (config/.active_profile,
+# default: "default") if a fresh checkout hasn't deployed one yet, so every stack that reads
+# config/config.toml directly (daq_bridge, controller, …) has it present. Respecting the active
+# profile means a deployed box regenerates its OWN config, not the repo default. Backend self-heals too.
+if [ ! -f "$ROOT/config/config.toml" ]; then
+  _profile="default"
+  [ -f "$ROOT/config/.active_profile" ] && _profile="$(tr -d '[:space:]' < "$ROOT/config/.active_profile")"
+  _src="$ROOT/config/profiles/${_profile}.toml"
+  [ -f "$_src" ] || _src="$ROOT/config/profiles/default.toml"
+  if [ -f "$_src" ]; then
+    cp "$_src" "$ROOT/config/config.toml"
+    echo "🌱 Generated config/config.toml from $_src"
+  fi
 fi
 JOBS="$(getconf _NPROCESSORS_ONLN 2>/dev/null || nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 4)"
 

From b042b8e1151e9a8f792e3fcc30739a8694566a57 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 20:27:17 -0700
Subject: [PATCH 064/205] =?UTF-8?q?daq-server:=20add=20deploy/bootstrap=5F?=
 =?UTF-8?q?daq.sh=20one-shot=20+=20fix=20deploy=20pitfalls=20=E2=80=94=20p?=
 =?UTF-8?q?in=20elodin-db=20to=20CI's=20v0.16.1=20(setup.sh/setup=5Fjetson?=
 =?UTF-8?q?.sh),=20robust=20source=20crate=20path,=20runnable=20README=20s?=
 =?UTF-8?q?tep=202,=20AssertPathExists=20on=20sensor-elodin,=20and=20hones?=
 =?UTF-8?q?t=20session=20failures=20(reject=20start=20if=20elodin=20never?=
 =?UTF-8?q?=20comes=20up;=20don't=20log=20'saved'=20for=20a=20run=20that?=
 =?UTF-8?q?=20recorded=20nothing);=20rename=20apps=20bootstrap.sh=20?=
 =?UTF-8?q?=E2=86=92=20bootstrap=5Fapps.sh?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/deploy/README.md                   |  62 ++++++--
 daq-server/deploy/bootstrap_daq.sh            | 150 ++++++++++++++++++
 daq-server/deploy/setup/setup_jetson.sh       |   5 +-
 .../deploy/systemd/sensor-elodin.service      |   5 +
 .../backend/src/service-controller.ts         |  23 +++
 .../backend/src/session-manager.ts            |  10 +-
 daq-server/setup.sh                           |   7 +-
 deploy/apps/FRESH-INSTALL.md                  |   4 +-
 deploy/apps/README.md                         |   2 +-
 .../apps/{bootstrap.sh => bootstrap_apps.sh}  |   6 +-
 10 files changed, 250 insertions(+), 24 deletions(-)
 create mode 100755 daq-server/deploy/bootstrap_daq.sh
 rename deploy/apps/{bootstrap.sh => bootstrap_apps.sh} (99%)

diff --git a/daq-server/deploy/README.md b/daq-server/deploy/README.md
index 7054688b1..069ce1329 100644
--- a/daq-server/deploy/README.md
+++ b/daq-server/deploy/README.md
@@ -13,18 +13,45 @@ are up on the host, the public URL just works — nothing to change in the Docke
 > that actually *starts* it is the `systemctl --user enable --now …` in Step 6 — everything
 > before that is just clone/build/install. You watch it with `journalctl`, not tmux.
 
-## Automated (bootstrap)
+## Automated (bootstrap) — recommended
 
-On the combined apps+DAQ box, the apps bootstrap can provision all of this in one shot —
-it runs the exact steps below as the DAQ user:
+**`deploy/bootstrap_daq.sh`** does the whole thing in one shot: apt deps, Node 20, **elodin-db
+(pinned to the CI-validated version and hard-verified)**, C++ build, SPA build, systemd unit
+install, and it enables + starts the web layer. It's **idempotent** — re-run it to update a box.
 
 ```bash
-WITH_DAQ=1 sudo -E bash deploy/apps/bootstrap.sh      # add USE_SIM=1 for a no-hardware box
+# on the server, as the DAQ user (NOT root — only apt uses sudo internally):
+bash deploy/bootstrap_daq.sh
+```
+Fresh box / specific branch (it will clone if the repo isn't there yet):
+```bash
+BRANCH=main DAQ_CLONE=~/STAR-daq bash deploy/bootstrap_daq.sh
+# or pull it straight from the raw URL and pipe to bash with BRANCH set.
+```
+
+Env knobs: `BRANCH` (default `main`), `DAQ_CLONE` (`~/STAR-daq`), `REPO_URL`, `USE_SIM` (`0`;
+`1` = build/run without hardware), `START` (`1`; `0` = build+install only, don't start).
+
+Why this script (vs. the old `setup.sh`): it pins **one** elodin-db version matching CI, actually
+runs every step (no commented-out installs), and **hard-verifies elodin-db** — a box that can't run
+the DB fails loudly here instead of silently respawning `sensor-elodin` every 5 s later.
+
+> **Before a real run, two host things the script can't do for you:**
+> 1. **Network:** the board-LAN NIC must be statically **`192.168.2.20/24`** — the board firmware
+>    (`firmware/Hotfire_Code/common/hotfire_config.h`) hardcodes the server at `192.168.2.20:5006`,
+>    so any other address silently drops all board traffic. (nmcli/netplan, OS-level.)
+> 2. **Config:** `config/config.toml` is a **generated artifact** now; the source of truth is
+>    `config/profiles/*.toml`. Edit config via the GUI **Config tab** (it edits the active profile
+>    and deploys it); a live session-start deploys the active profile. Carrying a pre-existing config
+>    forward: save it as `config/profiles/<name>.toml` and `echo <name> > config/.active_profile`.
+
+**Combined apps + DAQ box:** the apps-stack bootstrap can also pull the DAQ in:
+```bash
+WITH_DAQ=1 sudo -E bash deploy/apps/bootstrap_apps.sh      # add USE_SIM=1 for a no-hardware box
 ```
 
-That clones to `~/STAR-daq`, installs the build deps + Node + elodin-db, builds the C++ and
-the SPA, installs the systemd units, and starts the web layer. The rest of this doc is the
-manual/reference version of the same steps (and what to do if the bootstrap run warns).
+The rest of this doc is the manual/reference version of the same steps (and what to do if a
+bootstrap run warns).
 
 ## Where it goes
 
@@ -58,16 +85,27 @@ present up front. Works on an air-gapped test-stand with no further fetches.
 
 ## 2. Prerequisites (once per box)
 
+All three of these are **required** — run each (the `bootstrap_daq.sh` path above does them for you):
+
 ```bash
+# 1) build deps (CMake needs ZLIB + OpenSSL + Eigen):
 sudo apt-get update && sudo apt-get install -y \
   build-essential cmake ninja-build libeigen3-dev pkg-config python3 python3-venv \
-  zlib1g-dev libssl-dev
-#   CMake requires ZLIB + OpenSSL (zlib1g-dev, libssl-dev) and Eigen (libeigen3-dev).
-# Node 20+ :  bash deploy/setup/install_nodejs.sh   (or nvm)
-# elodin-db :  curl -LsSf https://github.com/elodin-sys/elodin/releases/download/v0.16.1/elodin-db-installer.sh | sh
-#              (installs to ~/.cargo/bin — make sure that's on PATH)
+  zlib1g-dev libssl-dev curl git
+
+# 2) Node 20+ (do NOT skip):
+bash deploy/setup/install_nodejs.sh          # or nvm
+
+# 3) elodin-db — the DB the pipeline records to; installs to ~/.cargo/bin (do NOT skip):
+curl -LsSf https://github.com/elodin-sys/elodin/releases/download/v0.16.1/elodin-db-installer.sh | sh
+"$HOME/.cargo/bin/elodin-db" --version       # MUST print a version — if not, no run will record data
 ```
 
+> If `elodin-db` is missing, `sensor-elodin` now fails immediately and visibly
+> (`AssertPathExists`), and a session start is rejected rather than reporting a phantom "saved"
+> run. On ARM64/Jetson the prebuilt installer won't work (musl-only) — use
+> `deploy/setup/setup_jetson.sh` (builds it from source).
+
 ## 3. Build the C++ binaries
 
 ```bash
diff --git a/daq-server/deploy/bootstrap_daq.sh b/daq-server/deploy/bootstrap_daq.sh
new file mode 100755
index 000000000..b71a171ad
--- /dev/null
+++ b/daq-server/deploy/bootstrap_daq.sh
@@ -0,0 +1,150 @@
+#!/usr/bin/env bash
+# ─────────────────────────────────────────────────────────────────────────────
+# One-shot DAQ-server bootstrap (native systemd --user deploy).
+#
+# Clone → deps (apt + Node + elodin-db) → build C++ → build SPA → install units →
+# start the web layer. Idempotent: safe to re-run to update an existing box.
+#
+# Run as the DAQ USER (not root). Only apt needs sudo; everything else is user-space.
+#   bash deploy/bootstrap_daq.sh                 # from an existing checkout, or:
+#   curl -LsSf <raw-url>/bootstrap_daq.sh | BRANCH=main bash
+#
+# Env knobs:
+#   BRANCH        git branch to deploy            (default: main)
+#   DAQ_CLONE     where to clone/find the repo    (default: ~/STAR-daq)
+#   REPO_URL      git remote                      (default: https://github.com/calstar/STAR.git)
+#   USE_SIM       1 = build/run without hardware  (default: 0)
+#   START         1 = enable+start web layer      (default: 1; 0 = build/install only)
+#
+# Fixes the historical setup pitfalls: single elodin-db version pinned to what CI
+# validates; every step actually runs (no commented-out installs); elodin-db is
+# HARD-VERIFIED after install (a missing DB is a loud failure here, not a silent
+# 5-second unit respawn later).
+# ─────────────────────────────────────────────────────────────────────────────
+set -euo pipefail
+
+# ── Single source of truth: match the version CI installs + validates against ──
+# (.github/workflows/daq-server-ci.yml pins the same v0.16.1; keep these in lockstep.)
+ELODIN_VERSION="v0.16.1"
+
+BRANCH="${BRANCH:-main}"
+DAQ_CLONE="${DAQ_CLONE:-$HOME/STAR-daq}"
+REPO_URL="${REPO_URL:-https://github.com/calstar/STAR.git}"
+USE_SIM="${USE_SIM:-0}"
+START="${START:-1}"
+
+CARGO_BIN="$HOME/.cargo/bin"
+ELODIN_BIN="$CARGO_BIN/elodin-db"
+
+c_ok(){ printf '\033[32m✅ %s\033[0m\n' "$*"; }
+c_info(){ printf '\033[36m▶  %s\033[0m\n' "$*"; }
+c_warn(){ printf '\033[33m⚠️  %s\033[0m\n' "$*"; }
+c_die(){ printf '\033[31m❌ %s\033[0m\n' "$*" >&2; exit 1; }
+
+[ "$(id -u)" -ne 0 ] || c_die "Run as the DAQ user, NOT root (sudo re-roots ~/.cargo, ~/.config, and the repo). Only apt uses sudo, internally."
+
+# ── 1. apt prerequisites (the only sudo) ──────────────────────────────────────
+c_info "apt prerequisites"
+sudo apt-get update
+sudo apt-get install -y \
+  build-essential cmake ninja-build libeigen3-dev pkg-config \
+  python3 python3-venv zlib1g-dev libssl-dev curl git
+c_ok "build deps installed"
+
+# ── 2. Node 20+ ───────────────────────────────────────────────────────────────
+if command -v node >/dev/null 2>&1 && [ "$(node -v | sed 's/v\([0-9]*\).*/\1/')" -ge 20 ] 2>/dev/null; then
+  c_ok "Node $(node -v) already present"
+else
+  c_info "installing Node 20"
+  curl -fsSL https://deb.nodesource.com/setup_20.x | sudo -E bash -
+  sudo apt-get install -y nodejs
+  c_ok "Node $(node -v) installed"
+fi
+
+# ── 3. elodin-db (pinned, prebuilt-first with source fallback, HARD-verified) ──
+install_elodin() {
+  mkdir -p "$CARGO_BIN"
+  local url="https://github.com/elodin-sys/elodin/releases/download/${ELODIN_VERSION}/elodin-db-installer.sh"
+  c_info "installing elodin-db ${ELODIN_VERSION} (prebuilt installer)"
+  if curl --proto '=https' --tlsv1.2 -LsSf "$url" | sh; then
+    return 0
+  fi
+  c_warn "prebuilt installer failed (expected on ARM64/glibc, e.g. Jetson — prebuilt is musl-only). Building from source…"
+  command -v cargo >/dev/null 2>&1 || { curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y; . "$HOME/.cargo/env"; }
+  . "$HOME/.cargo/env" 2>/dev/null || true
+  local src="/tmp/elodin-src-$$"; rm -rf "$src"
+  git clone --depth 1 --branch "$ELODIN_VERSION" https://github.com/elodin-sys/elodin.git "$src"
+  # The crate root has moved between elodin releases (libs/db vs libs/db/cli) — try both
+  # rather than pin one that may be wrong for this tag. Binary installs as impeller2-cli.
+  ( cd "$src" && (cargo install --path libs/db/cli || cargo install --path libs/db) )
+  rm -rf "$src"
+  [ -x "$ELODIN_BIN" ] || { [ -x "$CARGO_BIN/impeller2-cli" ] && ln -sf impeller2-cli "$ELODIN_BIN"; }
+}
+
+if [ -x "$ELODIN_BIN" ] && "$ELODIN_BIN" --version >/dev/null 2>&1; then
+  c_ok "elodin-db already installed: $("$ELODIN_BIN" --version 2>/dev/null || echo present)"
+else
+  install_elodin
+fi
+# HARD verify — a box that reaches here without a runnable elodin-db must fail NOW,
+# not crash-loop sensor-elodin every 5s later with nothing in `systemctl --user --failed`.
+[ -x "$ELODIN_BIN" ] || c_die "elodin-db not installed at $ELODIN_BIN"
+"$ELODIN_BIN" --version >/dev/null 2>&1 || c_die "elodin-db at $ELODIN_BIN is present but won't run (arch/deps mismatch)"
+case ":$PATH:" in *":$CARGO_BIN:"*) : ;; *) c_warn "$CARGO_BIN is not on PATH — units use the absolute path, but add it to your shell profile" ;; esac
+c_ok "elodin-db verified: $("$ELODIN_BIN" --version)"
+
+# ── 4. Clone or update the repo ───────────────────────────────────────────────
+if [ -d "$DAQ_CLONE/.git" ]; then
+  c_info "updating $DAQ_CLONE → origin/$BRANCH"
+  git -C "$DAQ_CLONE" fetch --depth 1 origin "$BRANCH"
+  git -C "$DAQ_CLONE" checkout -f -B "$BRANCH" FETCH_HEAD
+else
+  c_info "cloning $REPO_URL ($BRANCH) → $DAQ_CLONE"
+  git clone --depth 1 -b "$BRANCH" "$REPO_URL" "$DAQ_CLONE"
+fi
+DAQ="$DAQ_CLONE/daq-server"
+[ -f "$DAQ/scripts/build.sh" ] || c_die "$DAQ/scripts/build.sh missing — is $DAQ_CLONE the STAR monorepo?"
+c_ok "repo at $(git -C "$DAQ_CLONE" rev-parse --short HEAD) ($BRANCH)"
+
+# ── 5. Build C++ (also materializes config.toml from the active/default profile) ──
+c_info "building C++ (USE_SIM=$USE_SIM)"
+( cd "$DAQ" && USE_SIM="$USE_SIM" bash scripts/build.sh )
+c_ok "C++ built → $DAQ/build/bin"
+
+# ── 6. Web GUI deps + SPA build ───────────────────────────────────────────────
+c_info "installing web-gui deps + building the SPA"
+( cd "$DAQ/diablo_server/backend"  && (npm ci || npm install) )
+( cd "$DAQ/diablo_server/frontend" && (npm ci || npm install) )
+( cd "$DAQ" && FRONTEND_FORCE_BUILD=1 bash deploy/startup/ensure_frontend_build.sh )
+c_ok "SPA built → diablo_server/frontend/dist"
+
+# ── 7. Install systemd --user units ───────────────────────────────────────────
+c_info "installing systemd --user units"
+bash "$DAQ/deploy/systemd/install_services.sh"
+c_ok "units installed (WorkingDirectory → $DAQ)"
+
+# ── 8. Enable + start the always-on web layer ─────────────────────────────────
+if [ "$START" = "1" ]; then
+  if ! systemctl --user show-environment >/dev/null 2>&1; then
+    c_warn "'systemctl --user' bus not available in this shell — skipping start."
+    c_warn "Fix (headless): 'loginctl enable-linger $USER' then log in fresh (or: export XDG_RUNTIME_DIR=/run/user/\$(id -u)); then re-run with START=1."
+  else
+    loginctl enable-linger "$USER" 2>/dev/null || true
+    systemctl --user daemon-reload
+    c_info "enabling + starting the web layer"
+    systemctl --user enable --now sensor-backend sensor-frontend sensor-config-broadcast sensor-heartbeat
+    sleep 2
+    systemctl --user --no-pager status sensor-backend | head -5 || true
+    c_ok "web layer up — API :8081, SPA :3000. Session pipeline starts on demand (GUI Session button)."
+  fi
+else
+  c_info "START=0 — built + installed only; not enabling services."
+fi
+
+echo
+c_ok "DAQ bootstrap complete."
+echo "  Verify:  curl -s localhost:8081/api/debug | head ;  curl -sI localhost:3000 | head -1"
+echo "  Logs:    journalctl --user -u sensor-backend -f"
+echo "  Config:  edit via the GUI Config tab (profiles); config.toml is generated from config/profiles/*.toml"
+[ "$USE_SIM" = "1" ] && echo "  No-hardware run:  bash $DAQ/deploy/startup/start_systemd_sim.sh"
+echo "  Network reminder: the board-LAN NIC must be statically 192.168.2.20/24 (firmware targets 192.168.2.20:5006)."
diff --git a/daq-server/deploy/setup/setup_jetson.sh b/daq-server/deploy/setup/setup_jetson.sh
index 9d6c3f58b..546b98cc8 100755
--- a/daq-server/deploy/setup/setup_jetson.sh
+++ b/daq-server/deploy/setup/setup_jetson.sh
@@ -51,8 +51,9 @@ else
     echo "Building elodin-db from source (Jetson/ARM64)..."
     ELODIN_SRC="/tmp/elodin-src"
     rm -rf "$ELODIN_SRC"
-    git clone --depth 1 --branch v0.16.2 https://github.com/elodin-sys/elodin.git "$ELODIN_SRC"
-    (cd "$ELODIN_SRC" && cargo install --path libs/db/cli)
+    git clone --depth 1 --branch v0.16.1 https://github.com/elodin-sys/elodin.git "$ELODIN_SRC"
+    # Crate root moved between elodin releases (libs/db/cli vs libs/db) — try both.
+    (cd "$ELODIN_SRC" && (cargo install --path libs/db/cli || cargo install --path libs/db))
     # Crate installs as impeller2-cli; symlink to elodin-db for compatibility
     if [ -x "$HOME/.cargo/bin/impeller2-cli" ] && [ ! -x "$ELODIN_BIN" ]; then
         ln -sf impeller2-cli "$ELODIN_BIN"
diff --git a/daq-server/deploy/systemd/sensor-elodin.service b/daq-server/deploy/systemd/sensor-elodin.service
index 3255def1c..d45989317 100644
--- a/daq-server/deploy/systemd/sensor-elodin.service
+++ b/daq-server/deploy/systemd/sensor-elodin.service
@@ -1,6 +1,11 @@
 [Unit]
 Description=Sensor System Elodin DB
 After=network.target
+# elodin-db must be installed. Without this, a missing binary makes ExecStart fail and
+# Restart=always respawn it every 5s — an invisible spin that `systemctl --user --failed`
+# never lists. Assert (not Condition) turns it into an immediate, honest unit failure that
+# DOES show in --failed and does not retry. Install it: deploy/bootstrap_daq.sh.
+AssertPathExists=%h/.cargo/bin/elodin-db
 
 [Service]
 Type=simple
diff --git a/daq-server/diablo_server/backend/src/service-controller.ts b/daq-server/diablo_server/backend/src/service-controller.ts
index d77c2366d..52ee9cc5d 100644
--- a/daq-server/diablo_server/backend/src/service-controller.ts
+++ b/daq-server/diablo_server/backend/src/service-controller.ts
@@ -91,6 +91,19 @@ async function waitUntilSettled(units: string[], timeoutMs = 15000): Promise<boo
   }
 }
 
+/** Poll until every unit reports `active`; bail early (false) on a hard `failed`
+ *  (e.g. AssertPathExists tripped by a missing elodin-db), or on timeout. */
+async function waitUntilActive(units: string[], timeoutMs = 10000): Promise<boolean> {
+  const deadline = Date.now() + timeoutMs;
+  for (;;) {
+    const states = await systemctlStates(units);
+    if (states.every((s) => s === 'active')) return true;
+    if (states.some((s) => s === 'failed')) return false;
+    if (Date.now() >= deadline) return false;
+    await new Promise((r) => setTimeout(r, 250));
+  }
+}
+
 export class ServiceController {
   constructor(private readonly mode: SessionServiceMode) {}
 
@@ -112,6 +125,16 @@ export class ServiceController {
       // still owns :5006 and the new one would crash-loop. Wait for a clean slate.
       await waitUntilSettled(pipelineUnits(true));
       await runSystemctl('start', pipelineUnits(simulated));
+      // A run isn't real unless the DB actually came up. If elodin-db is missing/broken,
+      // sensor-elodin hard-fails (AssertPathExists) or crash-loops — without this check the
+      // session would report "active" and later claim the run was "saved" with no data.
+      if (!(await waitUntilActive(['sensor-elodin'], 10000))) {
+        await runSystemctl('stop', pipelineUnits(true)).catch(() => {});
+        throw new Error(
+          'Pipeline failed to start: sensor-elodin (elodin-db) did not become active. ' +
+          'Is elodin-db installed at ~/.cargo/bin/elodin-db? See deploy/bootstrap_daq.sh.',
+        );
+      }
     } else {
       console.log(`[Session] (mock) start pipeline → ${dbDir} (simulated=${simulated})`);
       // In mock mode the pipeline is already running; only the simulator is ours
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index a7baa4e06..646cf6d39 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -237,6 +237,9 @@ class SessionManager {
     this.clearWarnings();
     await this.controller.stop();
     const stoppedDir = this.dbDir;
+    // Did the run actually record anything? elodin creates the DB dir; a pipeline that never
+    // came up leaves it absent. Don't report "saved" for a run that recorded nothing.
+    const recorded = !!stoppedDir && existsSync(stoppedDir);
     if (!this.keepData && stoppedDir) {
       try {
         rmSync(stoppedDir, { recursive: true, force: true });
@@ -245,8 +248,11 @@ class SessionManager {
         console.warn('⚠️ Failed to remove discarded DB dir:', err);
       }
     }
-    console.log(
-      `[Session] ${auto ? 'auto-' : ''}stopped run (${this.keepData ? 'saved' : 'discarded'}) ${stoppedDir}`,
+    const disposition = this.keepData
+      ? (recorded ? 'saved' : 'saved — WARNING: no data recorded (DB dir was never created)')
+      : 'discarded';
+    (this.keepData && !recorded ? console.warn : console.log)(
+      `[Session] ${auto ? 'auto-' : ''}stopped run (${disposition}) ${stoppedDir}`,
     );
     this.active = false;
     this.dbDir = null;
diff --git a/daq-server/setup.sh b/daq-server/setup.sh
index 1ec015597..f43765247 100755
--- a/daq-server/setup.sh
+++ b/daq-server/setup.sh
@@ -128,7 +128,9 @@ if [ -x "$ELODIN_BIN" ]; then
 else
   # Try the prebuilt installer first (matches CI — much faster than source
   # build). Fall back to cargo install from git if the installer fails.
-  ELODIN_VERSION="v0.16.2"
+  # Keep this pinned to the version CI installs + validates against (see
+  # .github/workflows/daq-server-ci.yml). deploy/bootstrap_daq.sh is the preferred one-shot.
+  ELODIN_VERSION="v0.16.1"
   INSTALLER_URL="https://github.com/elodin-sys/elodin/releases/download/${ELODIN_VERSION}/elodin-db-installer.sh"
   mkdir -p "$HOME/.cargo/bin"
   info "Installing elodin-db $ELODIN_VERSION via prebuilt installer..."
@@ -139,7 +141,8 @@ else
     ELODIN_SRC="/tmp/elodin-src-$$"
     rm -rf "$ELODIN_SRC"
     git clone --depth 1 --branch "$ELODIN_VERSION" https://github.com/elodin-sys/elodin.git "$ELODIN_SRC"
-    (cd "$ELODIN_SRC" && cargo install --path libs/db)
+    # Crate root moved between elodin releases (libs/db vs libs/db/cli) — try both.
+    (cd "$ELODIN_SRC" && (cargo install --path libs/db/cli || cargo install --path libs/db))
     rm -rf "$ELODIN_SRC"
     # The crate may install as impeller2-cli; symlink for compat.
     if [ ! -x "$ELODIN_BIN" ] && [ -x "$HOME/.cargo/bin/impeller2-cli" ]; then
diff --git a/deploy/apps/FRESH-INSTALL.md b/deploy/apps/FRESH-INSTALL.md
index 65d356cc5..ea90c07b3 100644
--- a/deploy/apps/FRESH-INSTALL.md
+++ b/deploy/apps/FRESH-INSTALL.md
@@ -13,9 +13,9 @@ Internet ─▶ Cloudflare edge ─▶ cloudflared (in Docker) ─┬▶ caddy:8
 One tunnel, one connector. The web apps and SSH both ride it, so **no inbound
 ports need to be open on the box** — not even 22.
 
-> **Don't want to type §1–§6 by hand?** [`bootstrap.sh`](bootstrap.sh) does all
+> **Don't want to type §1–§6 by hand?** [`bootstrap_apps.sh`](bootstrap_apps.sh) does all
 > of it. Copy it to a USB stick (optionally with a filled-in `star-apps.env`
-> next to it), then on the fresh box: `sudo bash /path/to/bootstrap.sh`. It
+> next to it), then on the fresh box: `sudo bash /path/to/bootstrap_apps.sh`. It
 > installs base packages, desktop auto-login, sshd, and Docker; checks out the
 > repo to `/opt/STAR`; and — if `star-apps.env` is present with a tunnel token —
 > launches the stack. The Cloudflare dashboard routes (below) are still manual.
diff --git a/deploy/apps/README.md b/deploy/apps/README.md
index 1a493e564..c434d896d 100644
--- a/deploy/apps/README.md
+++ b/deploy/apps/README.md
@@ -48,7 +48,7 @@ that stays on the EC2 tunnel.
 
 > **Firewall:** the connector reaches the host's sshd over the Docker bridge, so
 > `ufw` must allow it — `sudo ufw allow from 172.16.0.0/12 to any port 22 proto
-> tcp`. `bootstrap.sh` does this; without it SSH times out
+> tcp`. `bootstrap_apps.sh` does this; without it SSH times out
 > (`dial tcp 172.17.0.1:22: i/o timeout`) while the web apps still work.
 
 ## 2. On the apps machine — get the compose + configure
diff --git a/deploy/apps/bootstrap.sh b/deploy/apps/bootstrap_apps.sh
similarity index 99%
rename from deploy/apps/bootstrap.sh
rename to deploy/apps/bootstrap_apps.sh
index 814927f98..3eeac1164 100755
--- a/deploy/apps/bootstrap.sh
+++ b/deploy/apps/bootstrap_apps.sh
@@ -8,8 +8,8 @@
 # ── Flash-drive use ──────────────────────────────────────────────────────────
 #   1. Copy this file (and, optionally, a filled-in `star-apps.env`) onto a USB.
 #   2. On the new box: plug in, open a terminal, then:
-#        sudo bash /media/$USER/*/bootstrap.sh
-#      (or cd to the drive and `sudo bash bootstrap.sh`)
+#        sudo bash /media/$USER/*/bootstrap_apps.sh
+#      (or cd to the drive and `sudo bash bootstrap_apps.sh`)
 #
 # If a file named `star-apps.env` sits next to this script, it's used as the
 # stack's .env and the script launches the stack. Otherwise it drops a template
@@ -20,7 +20,7 @@
 
 set -euo pipefail
 
-# ── Tunables (override via env, e.g. `sudo BRANCH=main bash bootstrap.sh`) ────
+# ── Tunables (override via env, e.g. `sudo BRANCH=main bash bootstrap_apps.sh`) ────
 REPO_URL="${REPO_URL:-https://github.com/calstar/STAR.git}"
 # Current deploy branch: main (landing-page and ork-onshape were merged in and retired).
 BRANCH="${BRANCH:-main}"

From 9cfe6fc2f06d963882cf7d7fb655e60d47660695 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 20:27:17 -0700
Subject: [PATCH 065/205] =?UTF-8?q?daq-server:=20redeploy/migration=20guid?=
 =?UTF-8?q?e=20for=20the=20config-profiles=20model=20(old=20version=20?=
 =?UTF-8?q?=E2=86=92=20this=20branch,=20config-as-active-profile,=20firmwa?=
 =?UTF-8?q?re-pinned=20192.168.2.20=20NIC)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/deploy/REDEPLOY_config_profiles.md | 133 ++++++++++++++++++
 1 file changed, 133 insertions(+)
 create mode 100644 daq-server/deploy/REDEPLOY_config_profiles.md

diff --git a/daq-server/deploy/REDEPLOY_config_profiles.md b/daq-server/deploy/REDEPLOY_config_profiles.md
new file mode 100644
index 000000000..2a0307a51
--- /dev/null
+++ b/daq-server/deploy/REDEPLOY_config_profiles.md
@@ -0,0 +1,133 @@
+# Redeploying the DAQ server onto `star-openrocket-merge`
+
+Moving an already-running server from an **old commit (pre-branch)** to this branch and preserving your
+rig's config. Native `systemd --user` deploy (see `deploy/README.md` for the full reference).
+
+## What changed on this branch (the only thing that makes this non-standard)
+
+- **`config/config.toml` is now a git-ignored, generated runtime artifact.** The committed source of
+  truth is **`config/profiles/*.toml`**. `config.toml` is produced by *deploying* a profile.
+- Your rig's real config must live as a **profile** and be the **active** profile — because a **live
+  session start deploys the active profile into `config.toml`**. If the active profile isn't your rig,
+  the first run overwrites `config.toml` with the repo default.
+- Everything else (systemd units, ports 8081/3000/2240/5005/5006/9998, elodin-db v0.16.1, Node 20+) is
+  unchanged. No unit files changed on this branch, so no unit reinstall is needed.
+
+## Prerequisites (network) — CRITICAL, confirm this
+
+The board-LAN Ethernet NIC must be statically set to **`192.168.2.20/24`** (netmask `255.255.255.0`) —
+**this exact address, not any free one.** The board firmware **hardcodes the server IP at compile time**:
+`firmware/Hotfire_Code/common/hotfire_config.h` → `HOTFIRE_SERVER_IP_OCTET_4 20` → boards send all sensor
+data, heartbeats, and self-test to **`192.168.2.20:5006`**. If the NIC is any other address, board packets
+never arrive (boards show DISCONNECTED / no data even though the software is healthy).
+
+This is OS-level networking (netplan / NetworkManager), NOT part of the app deploy. On a box that was
+already talking to boards it's already `192.168.2.20`; the branch switch doesn't change it — just confirm
+`ip -4 addr show` shows `192.168.2.20/24` on the board-LAN port. (Changing the server IP means re-flashing
+firmware; a flight config uses `192.168.3.x`, which requires a firmware rebuild too.)
+
+## Redeploy (one-time migration)
+
+Find your checkout (the git repo root that contains `daq-server/`):
+```bash
+systemctl --user cat sensor-backend | grep WorkingDirectory   # → …/daq-server/diablo_server/backend
+DAQ=…/daq-server            # the daq-server dir from that path
+REPO="$(git -C "$DAQ" rev-parse --show-toplevel)"   # repo root (e.g. ~/STAR-daq)
+```
+Examples below assume `REPO=~/STAR-daq` and `DAQ=~/STAR-daq/daq-server` — adjust to yours.
+
+### 1. Back up your running config — CRITICAL (the branch switch deletes tracked `config.toml`)
+```bash
+cd "$DAQ"
+cp config/config.toml ~/daq-hw-config.toml
+```
+
+### 2. Stop the web layer for the switch
+```bash
+systemctl --user stop sensor-backend sensor-frontend sensor-config-broadcast sensor-heartbeat
+```
+
+### 3. Switch to the branch
+```bash
+cd "$REPO"
+git fetch origin star-openrocket-merge
+git checkout -f -B star-openrocket-merge origin/star-openrocket-merge
+```
+`-f` discards the old tracked `config.toml` (you backed it up); `-B` points your local branch at the remote.
+
+### 4. Restore your rig's config as the ACTIVE profile — CRITICAL
+```bash
+cd "$DAQ"
+mkdir -p config/profiles
+cp ~/daq-hw-config.toml config/profiles/server.toml   # your hardware config → a named profile
+printf 'server\n' > config/.active_profile            # make it the active profile
+cp ~/daq-hw-config.toml config/config.toml            # deploy it now (pipeline uses it immediately)
+```
+This makes `server` the active profile, so deploys (idle save, **live session start**) and the config
+self-heal all use *your* config, never the repo default. `config/profiles/server.toml` is untracked and
+`config/.active_profile` is git-ignored, so both survive future `git reset --hard` updates. **Keep the
+`~/daq-hw-config.toml` backup, and never run `git clean -fdx`** (it would delete the untracked profile).
+
+### 5. Build (C++ + frontend)
+```bash
+cd "$DAQ"
+USE_SIM=0 bash scripts/build.sh                              # binaries; won't overwrite your config.toml
+FRONTEND_FORCE_BUILD=1 bash deploy/startup/ensure_frontend_build.sh
+```
+
+### 6. Restart the web layer
+```bash
+systemctl --user daemon-reload
+systemctl --user restart sensor-backend sensor-frontend sensor-config-broadcast sensor-heartbeat
+```
+
+### 7. Verify
+```bash
+systemctl --user --no-pager status sensor-backend | head
+curl -s localhost:8081/api/config/profiles                  # → "active":"server", profiles list default+server
+diff <(curl -s localhost:8081/api/config/export) config/profiles/server.toml \
+  && echo "running config == your rig ✓"
+curl -s localhost:8081/api/debug | head
+journalctl --user -u sensor-backend -n 40 --no-pager
+```
+Open the GUI (Caddy URL, or `localhost:3000`) → Config tab: the profile dropdown shows **server (active)**;
+"View running config.toml" shows your rig's config. Then do a normal **Session → Start run** and confirm
+boards connect and data flows (this also exercises the live-deploy path — it should keep `server`).
+
+## Ongoing updates (clean — no config dance after the first migration)
+```bash
+cd "$REPO" && git fetch origin star-openrocket-merge && git reset --hard origin/star-openrocket-merge
+cd daq-server && USE_SIM=0 bash scripts/build.sh && FRONTEND_FORCE_BUILD=1 bash deploy/startup/ensure_frontend_build.sh
+systemctl --user restart sensor-backend sensor-frontend
+```
+`config.toml` (git-ignored), `config/profiles/server.toml` (untracked), `config/.active_profile`
+(git-ignored) all survive `git reset --hard`. Never `git clean -fdx`.
+
+## How editing config works now
+- The Config tab edits the **active profile** (`server`). An idle save deploys it to `config.toml`
+  immediately (and reloads the pipeline via `config_broadcast`).
+- **During a run** `config.toml` is frozen; edits become **drafts** applied at the next session start.
+  Switching profiles is blocked while a session is active.
+- "View running config.toml" is a read-only view of what's deployed.
+- To version-control your rig config, `git add config/profiles/server.toml` and commit it on this branch.
+
+## Rollback (to the old version)
+```bash
+systemctl --user stop sensor-backend sensor-frontend sensor-config-broadcast sensor-heartbeat \
+  sensor-elodin sensor-daq sensor-calibration sensor-controller sensor-actuator sensor-simulator
+cd "$REPO" && git checkout -f <old-branch-or-commit>
+cd daq-server && cp ~/daq-hw-config.toml config/config.toml     # restore the tracked config.toml
+USE_SIM=0 bash scripts/build.sh && FRONTEND_FORCE_BUILD=1 bash deploy/startup/ensure_frontend_build.sh
+systemctl --user restart sensor-backend sensor-frontend
+```
+
+## Troubleshooting
+- **Boards DISCONNECTED / no data:** first check the NIC is exactly `192.168.2.20/24` (`ip -4 addr show`)
+  — the firmware sends to a hardcoded `192.168.2.20:5006`, so a wrong server IP silently drops all board
+  traffic. Then `journalctl --user -u sensor-config-broadcast -u sensor-heartbeat -f`.
+- **GUI shows the wrong boards/roles:** the active profile isn't your rig —
+  `cat config/.active_profile` should be `server`, and
+  `diff config/config.toml config/profiles/server.toml` should be empty. Re-run step 4 if not.
+- **`config.toml` missing:** it self-heals from the active profile on the next backend read /
+  `scripts/build.sh` (look for `🌱 Generated config/config.toml from …/profiles/server.toml`).
+- **elodin errors:** confirm `~/.cargo/bin/elodin-db --version` is `v0.16.1`.

From e955897be332ea0a8410999e9b1e70f9d50033de Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 20:34:53 -0700
Subject: [PATCH 066/205] daq-server: simulated runs generate
 config/sim_config.toml at session start (service-controller, from
 config_base) so sim works on any box without start_systemd_sim.sh; daq_bridge
 hard-fails on a missing config instead of binding :5006 with 0 boards and
 reporting healthy

---
 .../backend/src/service-controller.ts         | 21 ++++++++++++++++++-
 .../daq_bridge/daq_bridge_main.cpp            | 16 ++++++++++++++
 2 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/daq-server/diablo_server/backend/src/service-controller.ts b/daq-server/diablo_server/backend/src/service-controller.ts
index 52ee9cc5d..4009de154 100644
--- a/daq-server/diablo_server/backend/src/service-controller.ts
+++ b/daq-server/diablo_server/backend/src/service-controller.ts
@@ -10,7 +10,7 @@
  * Only the always-on server's sensor-backend.service sets SESSION_SERVICE_MODE=systemd.
  */
 import { spawn, type ChildProcess } from 'child_process';
-import { writeFileSync, mkdirSync } from 'fs';
+import { writeFileSync, mkdirSync, readFileSync, existsSync } from 'fs';
 import { dirname, join } from 'path';
 import { fileURLToPath } from 'url';
 import { homedir } from 'os';
@@ -19,6 +19,22 @@ import { homedir } from 'os';
 const PROJECT_ROOT = join(dirname(fileURLToPath(import.meta.url)), '..', '..', '..');
 const SIM_SCRIPT = join(PROJECT_ROOT, 'sim', 'board_simulator.py');
 const SIM_CONFIG = join(PROJECT_ROOT, 'config', 'sim_config.toml');
+// The frozen canonical config the sim overlay derives from (committed; tests use it too).
+const CONFIG_BASE = join(PROJECT_ROOT, 'config', 'config_base.toml');
+
+/**
+ * Generate the loopback sim overlay (config/sim_config.toml) from config_base.toml — the same
+ * 192.168.2.x → 127.0.0.x remap start_systemd_sim.sh does. Done here so a simulated run works on
+ * ANY box (a hardware server never runs start_systemd_sim.sh, so the file would otherwise be missing
+ * and the simulated pipeline would point at a nonexistent config and fail). Regenerated each sim
+ * start so it tracks config_base.
+ */
+function ensureSimConfig(): void {
+  if (!existsSync(CONFIG_BASE)) {
+    throw new Error(`Cannot start a simulated run: ${CONFIG_BASE} is missing (it is committed — is the checkout complete?)`);
+  }
+  writeFileSync(SIM_CONFIG, readFileSync(CONFIG_BASE, 'utf-8').replace(/192\.168\.2\./g, '127.0.0.'));
+}
 
 export type SessionServiceMode = 'off' | 'mock' | 'systemd';
 
@@ -112,6 +128,9 @@ export class ServiceController {
 
   async start(dbDir: string, simulated = false): Promise<void> {
     if (this.mode === 'systemd') {
+      // A simulated run reads config/sim_config.toml (loopback overlay). Generate it here so sim
+      // works on ANY box — a hardware server never runs start_systemd_sim.sh, so it'd be missing.
+      if (simulated) ensureSimConfig();
       mkdirSync(dirname(SESSION_ENV_PATH), { recursive: true });
       writeFileSync(SESSION_ENV_PATH, `ELODIN_DB_DIR=${dbDir}\n`);
       // Per-run data-source overlay consumed by the pipeline units.
diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 61fe1ebcb..72bcfc4f2 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -341,6 +341,22 @@ int main(int argc, char* argv[]) {
     std::cout << "Listening on: " << bind_address << ":" << bind_port << std::endl;
     std::cout << std::endl;
 
+    // Hard-fail on a missing config. Otherwise every downstream loader treats "not found" as an
+    // empty config: daq_bridge binds :5006, registers 0 VTables, prints a green ✅, and sits
+    // "active (running)" forever while nothing can ever arrive — a healthy-looking no-op that
+    // presents as a vague "pipeline down". (This is exactly what a sim run does when it points at a
+    // config/sim_config.toml that was never generated.) A visible exit is far better.
+    {
+        std::ifstream cfg_check(config_path);
+        if (!cfg_check.is_open()) {
+            std::cerr << "❌ FATAL: daq_bridge config not found: '" << config_path
+                      << "'. Refusing to start as a 0-board no-op. For a simulated run the backend "
+                      << "generates config/sim_config.toml at session start; for hardware it is "
+                      << "config/config.toml (generated from config/profiles/*.toml)." << std::endl;
+            return 1;
+        }
+    }
+
     signal(SIGINT, signal_handler);
     signal(SIGTERM, signal_handler);
 

From 6ac8658408622c33a1122c56fab991a1b323514b Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 20:53:51 -0700
Subject: [PATCH 067/205] =?UTF-8?q?daq-server:=20stop=20simulated=20data?=
 =?UTF-8?q?=20from=20reaching=20a=20live=20run=20=E2=80=94=20board=5Fsimul?=
 =?UTF-8?q?ator=20refuses=20to=20rebind=20a=20hardware=20IP=20to=20loopbac?=
 =?UTF-8?q?k=20unless=20--allow-ip-fallback=20(emits=20fake=20data=20tagge?=
 =?UTF-8?q?d=20as=20real=20boards=20otherwise);=20sensor-simulator=20unit?=
 =?UTF-8?q?=20refuses=20unless=20overlay=20says=20USE=5FSIM=3D1=20(+=20sta?=
 =?UTF-8?q?rt-limit=20so=20it=20fails=20visibly);=20resume()=20re-reads=20?=
 =?UTF-8?q?pipeline.env=20instead=20of=20trusting=20persisted=20state;=20n?=
 =?UTF-8?q?ame=20sim=20runs=20daq=5Fsim=5F<ts>.=20Bootstrap=20opens=20boar?=
 =?UTF-8?q?d=20UDP=20(ufw=205006/5008)=20on=20the=20board=20NIC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/deploy/README.md                   | 15 ++++++++---
 daq-server/deploy/bootstrap_daq.sh            | 20 +++++++++++++++
 .../startup/start_tmux_data_to_db_only.sh     |  2 +-
 .../deploy/systemd/sensor-simulator.service   |  9 +++++++
 .../backend/src/service-controller.ts         | 10 ++++++++
 .../backend/src/session-manager.ts            | 10 +++++---
 daq-server/sim/board_simulator.py             | 25 +++++++++++++++++++
 daq-server/test/test_integration.sh           |  5 +++-
 8 files changed, 87 insertions(+), 9 deletions(-)

diff --git a/daq-server/deploy/README.md b/daq-server/deploy/README.md
index 069ce1329..04cfecb02 100644
--- a/daq-server/deploy/README.md
+++ b/daq-server/deploy/README.md
@@ -36,10 +36,17 @@ Why this script (vs. the old `setup.sh`): it pins **one** elodin-db version matc
 runs every step (no commented-out installs), and **hard-verifies elodin-db** — a box that can't run
 the DB fails loudly here instead of silently respawning `sensor-elodin` every 5 s later.
 
-> **Before a real run, two host things the script can't do for you:**
-> 1. **Network:** the board-LAN NIC must be statically **`192.168.2.20/24`** — the board firmware
->    (`firmware/Hotfire_Code/common/hotfire_config.h`) hardcodes the server at `192.168.2.20:5006`,
->    so any other address silently drops all board traffic. (nmcli/netplan, OS-level.)
+> **Before a real run, two host things to get right:**
+> 1. **Network + firewall:** the board-LAN NIC must be statically **`192.168.2.20/24`** — the board
+>    firmware (`firmware/Hotfire_Code/common/hotfire_config.h`) hardcodes the server at
+>    `192.168.2.20:5006`, so any other address silently drops all board traffic. Set it with
+>    nmcli/netplan (OS-level; the script can't). The **host firewall must also allow inbound board
+>    UDP** — `bootstrap_daq.sh` adds these automatically when `ufw` is active and the NIC is already
+>    on `192.168.2.20` (else run them by hand, substituting your board NIC):
+>    ```bash
+>    sudo ufw allow in on enp4s0 from 192.168.2.0/24 to any port 5006 proto udp comment 'DAQ sensor data'
+>    sudo ufw allow in on enp4s0 from 192.168.2.0/24 to any port 5008 proto udp comment 'DAQ FSW config'
+>    ```
 > 2. **Config:** `config/config.toml` is a **generated artifact** now; the source of truth is
 >    `config/profiles/*.toml`. Edit config via the GUI **Config tab** (it edits the active profile
 >    and deploys it); a live session-start deploys the active profile. Carrying a pre-existing config
diff --git a/daq-server/deploy/bootstrap_daq.sh b/daq-server/deploy/bootstrap_daq.sh
index b71a171ad..3f6b9f2c8 100755
--- a/daq-server/deploy/bootstrap_daq.sh
+++ b/daq-server/deploy/bootstrap_daq.sh
@@ -141,6 +141,26 @@ else
   c_info "START=0 — built + installed only; not enabling services."
 fi
 
+# ── 9. Firewall: allow inbound board UDP on the board-LAN NIC (ufw only, idempotent) ──
+# The host firewall blocks the boards' UDP otherwise — the boards send sensor data / heartbeats /
+# self-test / logs to :5006 and the FSW config manager listens on :5008. (5005 is server→board,
+# outbound, already allowed.) Interface-scoped so only the board LAN can reach these ports.
+if command -v ufw >/dev/null 2>&1 && ufw status 2>/dev/null | grep -q "Status: active"; then
+  IFACE="${BOARD_IFACE:-$(ip -o -4 addr show 2>/dev/null | awk '$4 ~ /^192\.168\.2\./ {print $2; exit}')}"
+  if [ -n "$IFACE" ]; then
+    c_info "ufw: allowing inbound board UDP on $IFACE (5006 sensor data, 5008 FSW config)"
+    sudo ufw allow in on "$IFACE" from 192.168.2.0/24 to any port 5006 proto udp comment 'DAQ sensor data'
+    sudo ufw allow in on "$IFACE" from 192.168.2.0/24 to any port 5008 proto udp comment 'DAQ FSW config'
+    c_ok "firewall rules applied"
+  else
+    c_warn "ufw active but no NIC on 192.168.2.x yet — set the board NIC to 192.168.2.20/24 first, then either re-run this script or add manually:"
+    echo "    sudo ufw allow in on <iface> from 192.168.2.0/24 to any port 5006 proto udp comment 'DAQ sensor data'"
+    echo "    sudo ufw allow in on <iface> from 192.168.2.0/24 to any port 5008 proto udp comment 'DAQ FSW config'"
+  fi
+else
+  c_info "ufw not active — skipping firewall rules (nothing blocking board UDP)."
+fi
+
 echo
 c_ok "DAQ bootstrap complete."
 echo "  Verify:  curl -s localhost:8081/api/debug | head ;  curl -sI localhost:3000 | head -1"
diff --git a/daq-server/deploy/startup/start_tmux_data_to_db_only.sh b/daq-server/deploy/startup/start_tmux_data_to_db_only.sh
index d833cec24..e57b55ece 100755
--- a/daq-server/deploy/startup/start_tmux_data_to_db_only.sh
+++ b/daq-server/deploy/startup/start_tmux_data_to_db_only.sh
@@ -55,7 +55,7 @@ fi
 
 CMD_DB="printf '\n  ══ ELODIN DB — :2240 (data lands here) ══\n\n' && mkdir -p $HOME/.local/share/elodin && RUST_LOG=info exec $ELODIN_DB_BIN run '[::]:2240' '$HOME/.local/share/elodin/daq_live'"
 CMD_DAQ="printf '\n  ══ DAQ BRIDGE — UDP :5006 → Elodin DB ══\n\n' && sleep 2 && cd $PROJECT && exec $DAQ_BIN config/config.toml 2>&1"
-CMD_SIM="printf '\n  ══ BOARD SIMULATOR — sends UDP to :5006 ══\n\n' && sleep 3 && cd $PROJECT && exec python3 sim/board_simulator.py --config config/config.toml --target 127.0.0.1 --port 5006 2>&1"
+CMD_SIM="printf '\n  ══ BOARD SIMULATOR — sends UDP to :5006 ══\n\n' && sleep 3 && cd $PROJECT && exec python3 sim/board_simulator.py --config config/config.toml --target 127.0.0.1 --port 5006 --allow-ip-fallback 2>&1"
 
 tmux new-session  -d -s "$SESSION" -n main -x 160 -y 50 "bash --norc --noprofile -c \"$CMD_DB\""
 tmux set-option -t "$SESSION" remain-on-exit on
diff --git a/daq-server/deploy/systemd/sensor-simulator.service b/daq-server/deploy/systemd/sensor-simulator.service
index b6eac10fc..5e631d620 100644
--- a/daq-server/deploy/systemd/sensor-simulator.service
+++ b/daq-server/deploy/systemd/sensor-simulator.service
@@ -1,12 +1,21 @@
 [Unit]
 Description=Sensor System Board Simulator (synthetic UDP when no hardware)
 After=network.target sensor-daq.service
+# Three strikes → `failed` (visible in `systemctl --user --failed`) instead of the guard below
+# becoming another silent 5-second respawn loop.
+StartLimitIntervalSec=60
+StartLimitBurst=3
 
 [Service]
 Type=simple
 WorkingDirectory=%h/sensor_system
 Environment=DAQ_CONFIG=config/config.toml
 EnvironmentFile=-%h/.config/daq/pipeline.env
+# Refuse to run unless the pipeline overlay actually selected sim. The units OBEY EnvironmentFile
+# (pipeline.env), which ConditionEnvironment= can't see — so gate in ExecStartPre, where the unit
+# environment (incl. USE_SIM from pipeline.env) is in scope. `$$` defers expansion to the shell so
+# it reads the live overlay value, not a systemd pre-expansion. No overlay ⇒ USE_SIM unset ⇒ refuse.
+ExecStartPre=/bin/sh -c '[ "$${USE_SIM}" = "1" ] || { echo "REFUSING: USE_SIM=$${USE_SIM:-unset} — simulator must not run during a live run" >&2; exit 1; }'
 ExecStart=/usr/bin/python3 sim/board_simulator.py --config ${DAQ_CONFIG} --target 127.0.0.1 --port 5006
 Restart=always
 RestartSec=5
diff --git a/daq-server/diablo_server/backend/src/service-controller.ts b/daq-server/diablo_server/backend/src/service-controller.ts
index 4009de154..6df2ea815 100644
--- a/daq-server/diablo_server/backend/src/service-controller.ts
+++ b/daq-server/diablo_server/backend/src/service-controller.ts
@@ -178,6 +178,16 @@ export class ServiceController {
   /** Re-assert the simulator after a backend restart recovered an active simulated run. */
   async resume(simulated: boolean): Promise<void> {
     if (!simulated) return;
+    // Persisted session state can disagree with the live overlay (operator reset pipeline.env to
+    // hardware, a crash mid-transition, …). The pipeline.env overlay is what the units actually obey,
+    // so re-read it before resurrecting the simulator — otherwise a backend restart can re-launch the
+    // sim onto a box that's since been switched to live, injecting synthetic data into a real run.
+    let overlay = '';
+    try { overlay = readFileSync(PIPELINE_ENV_PATH, 'utf-8'); } catch { /* no overlay */ }
+    if (!/^USE_SIM=1$/m.test(overlay)) {
+      console.warn('[Session] not resuming simulator — pipeline.env overlay is not USE_SIM=1 (live or absent).');
+      return;
+    }
     if (this.mode === 'systemd') {
       await runSystemctl('start', ['sensor-simulator']);
     } else {
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index 646cf6d39..4c4850bc8 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -35,10 +35,14 @@ const ELODIN_ROOT = join(homedir(), '.local', 'share', 'elodin');
 type Broadcast = (message: object) => void;
 type Notify = (payload: NotificationPayload) => void;
 
-function timestampName(): string {
+function timestampName(simulated = false): string {
   const d = new Date();
   const p = (n: number) => String(n).padStart(2, '0');
-  return `daq_${d.getFullYear()}${p(d.getMonth() + 1)}${p(d.getDate())}_${p(d.getHours())}${p(d.getMinutes())}${p(d.getSeconds())}`;
+  // Simulated runs get a `daq_sim_` prefix so recorded synthetic data is self-identifying on disk —
+  // a .sensorlog reviewed weeks later can't be mistaken for real test-stand data. Still starts with
+  // `daq_` so existing path assertions hold.
+  const prefix = simulated ? 'daq_sim_' : 'daq_';
+  return `${prefix}${d.getFullYear()}${p(d.getMonth() + 1)}${p(d.getDate())}_${p(d.getHours())}${p(d.getMinutes())}${p(d.getSeconds())}`;
 }
 
 // True on WSL, where the Linux home lives on a thin-provisioned ext4 vhdx.
@@ -211,7 +215,7 @@ class SessionManager {
     if (!Number.isFinite(durationMs) || durationMs <= 0) {
       throw new Error('durationMs must be a positive number.');
     }
-    this.dbDir = join(ELODIN_ROOT, timestampName());
+    this.dbDir = join(ELODIN_ROOT, timestampName(simulated));
     this.keepData = keepData;
     this.simulated = simulated;
     this.durationMs = durationMs;
diff --git a/daq-server/sim/board_simulator.py b/daq-server/sim/board_simulator.py
index 8a928c198..9ccecd9fa 100755
--- a/daq-server/sim/board_simulator.py
+++ b/daq-server/sim/board_simulator.py
@@ -5,6 +5,7 @@
 import threading
 import random
 import os
+import sys
 import argparse
 import json
 import math
@@ -80,10 +81,15 @@ def __init__(
         skip_startup=False,
         timing=None,
         sensor_hz=None,
+        allow_ip_fallback=False,
     ):
         self.name = name
         self.board_index = board_index
         self.config = board_config
+        # Only permit rebinding a non-bindable config IP to loopback when explicitly allowed
+        # (sim_config.toml already uses loopback IPs so it never needs this; a hardware config
+        # must NOT silently fall back — that emits synthetic data tagged with real board IDs).
+        self.allow_ip_fallback = bool(allow_ip_fallback)
         self.target_ip = target_ip
         self.target_port = target_port
         self.low_noise = low_noise
@@ -175,6 +181,17 @@ def start(self):
                 f"[{self.name}] Bound to {bind_ip}:{bind_port}", flush=True
             )
         except Exception:
+            # The config IP (e.g. 192.168.2.21) is not on this host. Falling back to loopback here
+            # is how synthetic data ends up tagged with a REAL board's identity — the root cause of
+            # sim data sneaking into a live run. Only do it when explicitly allowed (sim_config.toml
+            # uses loopback IPs and doesn't need this; the integration test opts in). Otherwise abort.
+            if not self.allow_ip_fallback:
+                sys.exit(
+                    f"[{self.name}] FATAL: config IP {self.config.get('ip')} is not bindable on this "
+                    f"host. Refusing loopback fallback — it would emit synthetic data tagged as board "
+                    f"{self.config.get('board_id')}. Run the simulator against config/sim_config.toml "
+                    f"(loopback IPs), or pass --allow-ip-fallback (integration test only)."
+                )
             # When config IPs (e.g. 192.168.2.21) are not on this host, use distinct
             # loopback IPs so daq_bridge can route each board's data correctly.
             # 127.0.0.2 = first board, 127.0.0.3 = second, etc.
@@ -539,6 +556,13 @@ def main():
         action="store_true",
         help="Skip SETUP/SELF_TEST lifecycle, go directly to ACTIVE",
     )
+    parser.add_argument(
+        "--allow-ip-fallback",
+        action="store_true",
+        help="Permit binding loopback when a config IP isn't on this host (sim_config.toml / "
+             "integration test only — NEVER with a hardware config; it would emit synthetic data "
+             "tagged with real board IDs).",
+    )
     parser.add_argument(
         "--sensor-hz",
         type=float,
@@ -642,6 +666,7 @@ def main():
             sim_pt_targets=sim_pt_targets,
             skip_startup=args.skip_startup,
             sensor_hz=args.sensor_hz,
+            allow_ip_fallback=args.allow_ip_fallback,
             timing=TimingPathology(
                 chunks_per_packet=args.chunks_per_packet,
                 net_jitter_ms=args.net_jitter_ms,
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index d7a19703e..c6462f2d6 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -640,7 +640,10 @@ if [ -n "$INTEGRATION_SENSOR_HZ" ]; then
   SIM_RATE_FLAG="--sensor-hz $INTEGRATION_SENSOR_HZ"
 fi
 # shellcheck disable=SC2086  # intentional word splitting of the flags
-"$PYTHON_BIN" "$BOARD_SIM" --config "$TEST_CONFIG" --target 127.0.0.1 --port "$TEST_DAQ_UDP_PORT" --low-noise --skip-startup $SIM_RATE_FLAG --stats-file "$SIM_STATS_FILE" $INTEGRATION_TIME_FLAGS > "$REPO_ROOT/.tmp/integration_fakegen_$$.log" 2>&1 &
+# --allow-ip-fallback: this test's config keeps 192.168.2.x board IPs and deliberately relies on the
+# sim's loopback rebind (127.0.0.{2+idx}); the flag is REQUIRED here since that fallback now aborts by
+# default (so a hardware config can't silently emit synthetic data tagged as real boards).
+"$PYTHON_BIN" "$BOARD_SIM" --config "$TEST_CONFIG" --target 127.0.0.1 --port "$TEST_DAQ_UDP_PORT" --low-noise --skip-startup --allow-ip-fallback $SIM_RATE_FLAG --stats-file "$SIM_STATS_FILE" $INTEGRATION_TIME_FLAGS > "$REPO_ROOT/.tmp/integration_fakegen_$$.log" 2>&1 &
 SIM_PID=$!
 PIDS+=($SIM_PID)
 sleep 2

From e54e9a0f0e9c279e9e48b2b62b2c1cf8a20a2cf5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:00:48 -0700
Subject: [PATCH 068/205] =?UTF-8?q?daq-server:=20fix=20config=20Sensor/Act?=
 =?UTF-8?q?uator=20Roles=20editor=20=E2=80=94=20key=20rows=20by=20index=20?=
 =?UTF-8?q?not=20the=20(changing)=20name=20so=20an=20input=20no=20longer?=
 =?UTF-8?q?=20remounts=20and=20loses=20focus=20on=20every=20keystroke;=20r?=
 =?UTF-8?q?ebuild=20the=20map=20preserving=20order=20on=20rename;=20order?=
 =?UTF-8?q?=20sensor=20roles=20by=20channel=20number=20with=20a=20commit-o?=
 =?UTF-8?q?n-blur=20number=20field=20so=20the=20re-sort=20doesn't=20yank?=
 =?UTF-8?q?=20the=20row=20mid-edit?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/config/page.tsx              | 81 ++++++++++++++-----
 1 file changed, 61 insertions(+), 20 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 577040ea8..d1c03bb82 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -103,6 +103,41 @@ interface ConfigData {
 // Keep defaults minimal: config.toml is the source of truth.
 const DEFAULT_CONFIG: ConfigData = {};
 
+/**
+ * Number input that holds a LOCAL value while you type and only commits on blur / Enter. Used for
+ * fields the list is sorted by (sensor channel) — committing on every keystroke would re-sort the
+ * list mid-edit and yank the row (and your cursor) elsewhere. Syncs down when the prop changes.
+ */
+function CommitOnBlurNumber({
+  value, onCommit, disabled, className, placeholder,
+}: {
+  value: number | undefined;
+  onCommit: (n: number) => void;
+  disabled?: boolean;
+  className?: string;
+  placeholder?: string;
+}) {
+  const [local, setLocal] = useState<string>(value === undefined || value === null ? '' : String(value));
+  useEffect(() => { setLocal(value === undefined || value === null ? '' : String(value)); }, [value]);
+  const commit = () => {
+    const n = parseInt(local, 10);
+    if (Number.isFinite(n)) onCommit(n);
+    else setLocal(value === undefined || value === null ? '' : String(value)); // revert junk
+  };
+  return (
+    <input
+      type="number"
+      value={local}
+      disabled={disabled}
+      placeholder={placeholder}
+      className={className}
+      onChange={(e) => setLocal(e.target.value)}
+      onBlur={commit}
+      onKeyDown={(e) => { if (e.key === 'Enter') (e.target as HTMLInputElement).blur(); }}
+    />
+  );
+}
+
 export default function ConfigPage() {
   const [config, setConfig] = useState<ConfigData>(DEFAULT_CONFIG);
   const [loading, setLoading] = useState(true);
@@ -1066,7 +1101,11 @@ export default function ConfigPage() {
                   }))
                 ).map(({ key, title }) => {
                   const map = (config as any)[key] as Record<string, number> | undefined;
-                  const entries = Object.entries(map || {});
+                  // Display ordered by channel number (not config/insertion order). The number field
+                  // commits on blur so this re-sort doesn't fire mid-keystroke.
+                  const entries = Object.entries(map || {}).sort(
+                    (a, b) => (Number(a[1]) || 0) - (Number(b[1]) || 0),
+                  );
                   return (
                     <div key={key} className="space-y-4">
                       <h3 className="text-lg font-semibold">{title}</h3>
@@ -1076,28 +1115,28 @@ export default function ConfigPage() {
                         </p>
                       )}
                       <div className="space-y-3">
-                        {entries.map(([name, sensorId]) => (
-                          <div key={`${key}:${name}`} className="flex items-center gap-4">
+                        {entries.map(([name, sensorId], idx) => (
+                          // Key by index, not name: keying by the (changing) name remounts the input
+                          // on every keystroke → focus loss. Renames rebuild the map preserving order
+                          // so the row stays in place (delete+re-add would jump it to the end).
+                          <div key={`${key}:${idx}`} className="flex items-center gap-4">
                             <input
                               type="text"
                               value={name}
                               onChange={(e) => {
-                                const updated = { ...(map || {}) };
-                                delete updated[name];
-                                updated[e.target.value] = sensorId;
-                                setConfig({ ...config, [key]: updated } as any);
+                                const newName = e.target.value;
+                                const rebuilt: Record<string, any> = {};
+                                for (const [k, v] of Object.entries(map || {})) rebuilt[k === name ? newName : k] = v;
+                                setConfig({ ...config, [key]: rebuilt } as any);
                               }}
                               className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                             />
                             <span className="text-text-muted">=</span>
-                            <input
-                              type="number"
-                              value={sensorId ?? ''}
-                              onChange={(e) => {
-                                const raw = e.target.value;
+                            <CommitOnBlurNumber
+                              value={typeof sensorId === 'number' ? sensorId : Number(sensorId)}
+                              onCommit={(n) => {
                                 const updated = { ...(map || {}) };
-                                if (raw === '') return;
-                                updated[name] = parseInt(raw, 10);
+                                updated[name] = n;
                                 setConfig({ ...config, [key]: updated } as any);
                               }}
                               className="w-28 px-3 py-2 bg-background border border-gray-700 rounded text-white"
@@ -1136,22 +1175,24 @@ export default function ConfigPage() {
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-4">Actuator Roles</h2>
               <div className="space-y-4">
-                {Object.entries(config.actuator_roles || {}).map(([name, value]) => {
+                {Object.entries(config.actuator_roles || {}).map(([name, value], idx) => {
                   const arr = Array.isArray(value) ? value : [];
                   const type = (arr[0] as string) || 'NC';
                   const actuatorId = typeof arr[1] === 'number' ? arr[1] : Number(arr[1] || 1);
                   const third = arr.length >= 3 ? arr[2] : undefined;
                   const boardId = typeof third === 'number' ? third : (typeof third === 'string' ? Number(third) : undefined);
                   return (
-                  <div key={name} className="flex items-center gap-4">
+                  // Key by index, not name — keying by the changing name remounts the row each
+                  // keystroke (focus loss). Rename rebuilds preserving order so the row stays put.
+                  <div key={`act:${idx}`} className="flex items-center gap-4">
                     <input
                       type="text"
                       value={name}
                       onChange={(e) => {
-                        const updated = { ...config.actuator_roles };
-                        delete updated[name];
-                        updated[e.target.value] = third !== undefined ? ([type, actuatorId, third] as any) : ([type, actuatorId] as any);
-                        setConfig({ ...config, actuator_roles: updated });
+                        const newName = e.target.value;
+                        const rebuilt: Record<string, any> = {};
+                        for (const [k, v] of Object.entries(config.actuator_roles || {})) rebuilt[k === name ? newName : k] = v;
+                        setConfig({ ...config, actuator_roles: rebuilt });
                       }}
                       className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                     />

From a2c2d222fb4c2d7e8c902335d4c5064c1d624ada Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:11:04 -0700
Subject: [PATCH 069/205] =?UTF-8?q?daq-server:=20config=20roles=20editor?=
 =?UTF-8?q?=20=E2=80=94=20role-name=20field=20commits=20on=20blur=20(holds?=
 =?UTF-8?q?=20keystrokes=20locally)=20so=20typing=20through=20an=20existin?=
 =?UTF-8?q?g=20name=20no=20longer=20merges=20mid-type;=20duplicate=20name?=
 =?UTF-8?q?=20shows=20an=20error=20+=20reverts=20instead=20of=20silently?=
 =?UTF-8?q?=20swallowing=20a=20role;=20Add=20Role=20picks=20the=20first=20?=
 =?UTF-8?q?free=20channel=201..num=5Fsensors=20(refuses=20when=20full)=20w?=
 =?UTF-8?q?ith=20a=20unique=20name?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/config/page.tsx              | 74 ++++++++++++++++---
 1 file changed, 64 insertions(+), 10 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index d1c03bb82..540aceb03 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -138,6 +138,46 @@ function CommitOnBlurNumber({
   );
 }
 
+/**
+ * Text input for a map KEY (role name) that commits on blur / Enter and refuses to silently merge
+ * onto an existing name. Holds a local value while typing (so no mid-keystroke object rebuilds), and
+ * on commit: empty or unchanged → revert; duplicate of another key → call onError + revert; otherwise
+ * onRename. Renaming a role onto an existing one used to overwrite it (one role vanished).
+ */
+function CommitOnBlurName({
+  value, siblings, onRename, onError, className,
+}: {
+  value: string;
+  siblings: string[];
+  onRename: (newName: string) => void;
+  onError: (msg: string) => void;
+  className?: string;
+}) {
+  const [local, setLocal] = useState<string>(value);
+  useEffect(() => { setLocal(value); }, [value]);
+  const commit = () => {
+    const next = local.trim();
+    if (next === value) { setLocal(value); return; }
+    if (next === '') { onError('Name cannot be empty.'); setLocal(value); return; }
+    if (siblings.some((s) => s !== value && s === next)) {
+      onError(`A role named "${next}" already exists — rename skipped so the two aren't merged.`);
+      setLocal(value);
+      return;
+    }
+    onRename(next);
+  };
+  return (
+    <input
+      type="text"
+      value={local}
+      className={className}
+      onChange={(e) => setLocal(e.target.value)}
+      onBlur={commit}
+      onKeyDown={(e) => { if (e.key === 'Enter') (e.target as HTMLInputElement).blur(); }}
+    />
+  );
+}
+
 export default function ConfigPage() {
   const [config, setConfig] = useState<ConfigData>(DEFAULT_CONFIG);
   const [loading, setLoading] = useState(true);
@@ -1098,8 +1138,9 @@ export default function ConfigPage() {
                   .map(([boardKey, b]) => ({
                     key: `sensor_roles_${boardKey}`,
                     title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
+                    maxCh: typeof b.num_sensors === 'number' && b.num_sensors > 0 ? b.num_sensors : 10,
                   }))
-                ).map(({ key, title }) => {
+                ).map(({ key, title, maxCh }) => {
                   const map = (config as any)[key] as Record<string, number> | undefined;
                   // Display ordered by channel number (not config/insertion order). The number field
                   // commits on blur so this re-sort doesn't fire mid-keystroke.
@@ -1120,15 +1161,15 @@ export default function ConfigPage() {
                           // on every keystroke → focus loss. Renames rebuild the map preserving order
                           // so the row stays in place (delete+re-add would jump it to the end).
                           <div key={`${key}:${idx}`} className="flex items-center gap-4">
-                            <input
-                              type="text"
+                            <CommitOnBlurName
                               value={name}
-                              onChange={(e) => {
-                                const newName = e.target.value;
+                              siblings={Object.keys(map || {})}
+                              onRename={(newName) => {
                                 const rebuilt: Record<string, any> = {};
                                 for (const [k, v] of Object.entries(map || {})) rebuilt[k === name ? newName : k] = v;
                                 setConfig({ ...config, [key]: rebuilt } as any);
                               }}
+                              onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
                               className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                             />
                             <span className="text-text-muted">=</span>
@@ -1157,7 +1198,20 @@ export default function ConfigPage() {
                       <button
                         onClick={() => {
                           const updated = { ...(map || {}) };
-                          updated['New Sensor'] = 1;
+                          // First free channel 1..maxCh (board's num_sensors). Full → don't add.
+                          const used = new Set(Object.values(updated).map((v) => Number(v)));
+                          let freeCh = 0;
+                          for (let c = 1; c <= maxCh; c++) { if (!used.has(c)) { freeCh = c; break; } }
+                          if (freeCh === 0) {
+                            setError(`All ${maxCh} channels are in use here — remove a role before adding another.`);
+                            setTimeout(() => setError(null), 4000);
+                            return;
+                          }
+                          // Unique name so the new row doesn't merge onto an existing one.
+                          let newName = `New Sensor ${freeCh}`;
+                          let n = 2;
+                          while (newName in updated) newName = `New Sensor ${freeCh} (${n++})`;
+                          updated[newName] = freeCh;
                           setConfig({ ...config, [key]: updated } as any);
                         }}
                         className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
@@ -1185,15 +1239,15 @@ export default function ConfigPage() {
                   // Key by index, not name — keying by the changing name remounts the row each
                   // keystroke (focus loss). Rename rebuilds preserving order so the row stays put.
                   <div key={`act:${idx}`} className="flex items-center gap-4">
-                    <input
-                      type="text"
+                    <CommitOnBlurName
                       value={name}
-                      onChange={(e) => {
-                        const newName = e.target.value;
+                      siblings={Object.keys(config.actuator_roles || {})}
+                      onRename={(newName) => {
                         const rebuilt: Record<string, any> = {};
                         for (const [k, v] of Object.entries(config.actuator_roles || {})) rebuilt[k === name ? newName : k] = v;
                         setConfig({ ...config, actuator_roles: rebuilt });
                       }}
+                      onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
                       className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                     />
                     <span className="text-text-muted">=</span>

From f228a63a28b2bcaa237104a17e7356ecb9db5a9a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:16:18 -0700
Subject: [PATCH 070/205] =?UTF-8?q?daq-server:=20config=20editor=20consist?=
 =?UTF-8?q?ency=20=E2=80=94=20all=20numeric=20fields=20(renderField=20+=20?=
 =?UTF-8?q?actuator=20ch/board)=20commit=20on=20blur=20(float-capable,=20c?=
 =?UTF-8?q?learable)=20so=20nothing=20flashes=200=20or=20reorders=20mid-ty?=
 =?UTF-8?q?pe;=20top-bar=20pressure=20gauges=20pick=20sensor=20role=20+=20?=
 =?UTF-8?q?limits=20key=20from=20dropdowns=20instead=20of=20free=20text;?=
 =?UTF-8?q?=20actuator=20roles=20now=20order=20by=20board/channel=20and=20?=
 =?UTF-8?q?Add=20uses=20a=20unique=20name=20like=20sensor=20roles?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/config/page.tsx              | 89 +++++++++++--------
 1 file changed, 51 insertions(+), 38 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 540aceb03..bd61b97da 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -109,20 +109,23 @@ const DEFAULT_CONFIG: ConfigData = {};
  * list mid-edit and yank the row (and your cursor) elsewhere. Syncs down when the prop changes.
  */
 function CommitOnBlurNumber({
-  value, onCommit, disabled, className, placeholder,
+  value, onCommit, allowEmpty, disabled, className, placeholder,
 }: {
   value: number | undefined;
-  onCommit: (n: number) => void;
+  onCommit: (n: number | undefined) => void;
+  allowEmpty?: boolean;       // true → clearing the field commits `undefined` (optional field)
   disabled?: boolean;
   className?: string;
   placeholder?: string;
 }) {
-  const [local, setLocal] = useState<string>(value === undefined || value === null ? '' : String(value));
-  useEffect(() => { setLocal(value === undefined || value === null ? '' : String(value)); }, [value]);
+  const toStr = (v?: number) => (v === undefined || v === null || Number.isNaN(v) ? '' : String(v));
+  const [local, setLocal] = useState<string>(toStr(value));
+  useEffect(() => { setLocal(toStr(value)); }, [value]);
   const commit = () => {
-    const n = parseInt(local, 10);
+    if (local.trim() === '') { allowEmpty ? onCommit(undefined) : setLocal(toStr(value)); return; }
+    const n = Number(local);   // float-capable (ports, ADC volts, thresholds)
     if (Number.isFinite(n)) onCommit(n);
-    else setLocal(value === undefined || value === null ? '' : String(value)); // revert junk
+    else setLocal(toStr(value)); // revert junk
   };
   return (
     <input
@@ -444,6 +447,12 @@ export default function ConfigPage() {
   // ── [gui] helpers: tab list + top-bar pressure bars ──────────────────────────
   const guiTabs: string[] = config.gui?.tabs ?? [];
   const guiBars = config.gui?.pressure_bars ?? [];
+  // Every sensor role name across all [sensor_roles_*] sections — the choices a pressure gauge can point at.
+  const allSensorRoles: string[] = Array.from(new Set(
+    Object.keys(config).filter((k) => k.startsWith('sensor_roles_'))
+      .flatMap((k) => Object.keys((config as any)[k] || {})),
+  )).sort();
+  const pressureLimitKeys: string[] = Object.keys(config.pressure_limits ?? {}).sort();
 
   const setGuiTabs = (tabsList: string[]) =>
     setConfig((prev) => ({ ...prev, gui: { ...(prev.gui || {}), tabs: tabsList } }));
@@ -522,18 +531,10 @@ export default function ConfigPage() {
             placeholder="Comma-separated values (e.g., 1, 2, 3)"
           />
         ) : type === 'number' ? (
-          <input
-            type="number"
-            value={value ?? ''}
-            onChange={(e) => {
-              const raw = e.target.value;
-              if (raw === '') {
-                onChange(undefined);
-                return;
-              }
-              const n = Number(raw);
-              onChange(Number.isFinite(n) ? n : undefined);
-            }}
+          <CommitOnBlurNumber
+            value={value == null || value === '' ? undefined : Number(value)}
+            allowEmpty
+            onCommit={(n) => onChange(n)}
             disabled={fieldDisabled}
             className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
           />
@@ -1176,6 +1177,7 @@ export default function ConfigPage() {
                             <CommitOnBlurNumber
                               value={typeof sensorId === 'number' ? sensorId : Number(sensorId)}
                               onCommit={(n) => {
+                                if (n === undefined) return;
                                 const updated = { ...(map || {}) };
                                 updated[name] = n;
                                 setConfig({ ...config, [key]: updated } as any);
@@ -1229,7 +1231,13 @@ export default function ConfigPage() {
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-4">Actuator Roles</h2>
               <div className="space-y-4">
-                {Object.entries(config.actuator_roles || {}).map(([name, value], idx) => {
+                {Object.entries(config.actuator_roles || {})
+                  // Order by board_id then channel (numbers commit on blur, so this re-sort doesn't fire mid-edit).
+                  .sort((a, b) => {
+                    const av = Array.isArray(a[1]) ? a[1] : [], bv = Array.isArray(b[1]) ? b[1] : [];
+                    return (Number(av[2] ?? 0) - Number(bv[2] ?? 0)) || (Number(av[1] ?? 0) - Number(bv[1] ?? 0));
+                  })
+                  .map(([name, value], idx) => {
                   const arr = Array.isArray(value) ? value : [];
                   const type = (arr[0] as string) || 'NC';
                   const actuatorId = typeof arr[1] === 'number' ? arr[1] : Number(arr[1] || 1);
@@ -1265,29 +1273,23 @@ export default function ConfigPage() {
                       <option value="NO">NO (Normally Open)</option>
                       <option value="NC">NC (Normally Closed)</option>
                     </select>
-                    <input
-                      type="number"
+                    <CommitOnBlurNumber
                       value={actuatorId}
-                      onChange={(e) => {
+                      onCommit={(n) => {
+                        if (n === undefined) return;
                         const updated = { ...config.actuator_roles };
-                        const ch = parseInt(e.target.value, 10);
-                        updated[name] = third !== undefined ? ([type, ch, third] as any) : ([type, ch] as any);
+                        updated[name] = third !== undefined ? ([type, n, third] as any) : ([type, n] as any);
                         setConfig({ ...config, actuator_roles: updated });
                       }}
                       className="w-24 px-3 py-2 bg-background border border-gray-700 rounded text-white"
-                      placeholder="ID"
+                      placeholder="Ch"
                     />
-                    <input
-                      type="number"
-                      value={Number.isFinite(boardId as number) ? (boardId as number) : ''}
-                      onChange={(e) => {
-                        const raw = e.target.value;
+                    <CommitOnBlurNumber
+                      value={Number.isFinite(boardId as number) ? (boardId as number) : undefined}
+                      allowEmpty
+                      onCommit={(n) => {
                         const updated = { ...config.actuator_roles };
-                        if (raw === '') {
-                          updated[name] = [type, actuatorId] as any;
-                        } else {
-                          updated[name] = [type, actuatorId, parseInt(raw, 10)] as any;
-                        }
+                        updated[name] = n === undefined ? ([type, actuatorId] as any) : ([type, actuatorId, n] as any);
                         setConfig({ ...config, actuator_roles: updated });
                       }}
                       className="w-32 px-3 py-2 bg-background border border-gray-700 rounded text-white"
@@ -1309,7 +1311,10 @@ export default function ConfigPage() {
                 <button
                   onClick={() => {
                     const updated = { ...config.actuator_roles };
-                    updated['New Actuator'] = ['NC', 1, 12] as any;
+                    let name = 'New Actuator';   // unique name so it doesn't merge onto an existing row
+                    let n = 2;
+                    while (name in updated) name = `New Actuator ${n++}`;
+                    updated[name] = ['NC', 1, 12] as any;
                     setConfig({ ...config, actuator_roles: updated });
                   }}
                   className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
@@ -1491,8 +1496,16 @@ export default function ConfigPage() {
                     return (
                       <div key={i} className="grid grid-cols-1 md:grid-cols-12 gap-2 items-center border border-gray-800 rounded p-2">
                         <input value={bar.label ?? ''} onChange={(e) => setBar({ label: e.target.value })} placeholder="Label" className="md:col-span-2 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
-                        <input value={bar.role ?? ''} onChange={(e) => setBar({ role: e.target.value })} placeholder="Sensor role" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
-                        <input list="pressure-limit-keys" value={bar.limits ?? ''} onChange={(e) => setBar({ limits: e.target.value })} placeholder="Limits key" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        <select value={bar.role ?? ''} onChange={(e) => setBar({ role: e.target.value || undefined })} className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white">
+                          <option value="">— sensor role —</option>
+                          {allSensorRoles.map((r) => <option key={r} value={r}>{r}</option>)}
+                          {bar.role && !allSensorRoles.includes(bar.role) && <option value={bar.role}>{bar.role} (not in config)</option>}
+                        </select>
+                        <select value={bar.limits ?? ''} onChange={(e) => setBar({ limits: e.target.value || undefined })} className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white">
+                          <option value="">— limits key —</option>
+                          {pressureLimitKeys.map((k) => <option key={k} value={k}>{k}</option>)}
+                          {bar.limits && !pressureLimitKeys.includes(bar.limits) && <option value={bar.limits}>{bar.limits} (not in config)</option>}
+                        </select>
                         <div className="md:col-span-2 flex items-center gap-1">
                           <input type="color" value={bar.color ?? '#888888'} onChange={(e) => setBar({ color: e.target.value })} className="h-8 w-10 bg-background border border-gray-700 rounded" />
                           <input value={bar.color ?? ''} onChange={(e) => setBar({ color: e.target.value })} placeholder="#RRGGBB" className="flex-1 min-w-0 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />

From 40d0fc6ba9d2d64e8ee7a5f440aa4c5e70bd74b8 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:22:38 -0700
Subject: [PATCH 071/205] =?UTF-8?q?daq-server:=20top-bar=20pressure=20gaug?=
 =?UTF-8?q?es=20=E2=80=94=20one=20dropdown=20that=20lists=20only=20PT=20(p?=
 =?UTF-8?q?ressure)=20roles;=20selecting=20it=20auto-fills=20the=20label?=
 =?UTF-8?q?=20with=20the=20sensor=20name=20(still=20editable=20to=20shorte?=
 =?UTF-8?q?n)=20and=20pulls=20in=20the=20matching=20[pressure=5Flimits]=20?=
 =?UTF-8?q?key,=20replacing=20the=20separate=20limits=20dropdown=20with=20?=
 =?UTF-8?q?a=20read-only=20indicator?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/config/page.tsx              | 47 ++++++++++++-------
 1 file changed, 30 insertions(+), 17 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index bd61b97da..9f535894a 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -447,10 +447,12 @@ export default function ConfigPage() {
   // ── [gui] helpers: tab list + top-bar pressure bars ──────────────────────────
   const guiTabs: string[] = config.gui?.tabs ?? [];
   const guiBars = config.gui?.pressure_bars ?? [];
-  // Every sensor role name across all [sensor_roles_*] sections — the choices a pressure gauge can point at.
-  const allSensorRoles: string[] = Array.from(new Set(
-    Object.keys(config).filter((k) => k.startsWith('sensor_roles_'))
-      .flatMap((k) => Object.keys((config as any)[k] || {})),
+  // Pressure-sensor role names ONLY — a top-bar gauge shows a pressure, so it should offer roles from
+  // PT boards, not TC/RTD/LC/encoder. Derived from each PT board's own [sensor_roles_<boardKey>] section.
+  const pressureRoles: string[] = Array.from(new Set(
+    Object.entries(config.boards || {})
+      .filter(([, b]) => (b as any)?.type === 'PT')
+      .flatMap(([boardKey]) => Object.keys((config as any)[`sensor_roles_${boardKey}`] || {})),
   )).sort();
   const pressureLimitKeys: string[] = Object.keys(config.pressure_limits ?? {}).sort();
 
@@ -1487,25 +1489,36 @@ export default function ConfigPage() {
                 <p className="text-sm text-text-muted mb-4">
                   Ordered gauges in the header. NOP/MEOP come from the Pressure Limits tab (via the <code>limits</code> key).
                 </p>
-                <datalist id="pressure-limit-keys">
-                  {Object.keys(config.pressure_limits || {}).map((k) => <option key={k} value={k} />)}
-                </datalist>
                 <div className="space-y-3">
                   {guiBars.map((bar: any, i: number) => {
                     const setBar = (patch: any) => setGuiBars(guiBars.map((b: any, k: number) => (k === i ? { ...b, ...patch } : b)));
                     return (
                       <div key={i} className="grid grid-cols-1 md:grid-cols-12 gap-2 items-center border border-gray-800 rounded p-2">
-                        <input value={bar.label ?? ''} onChange={(e) => setBar({ label: e.target.value })} placeholder="Label" className="md:col-span-2 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
-                        <select value={bar.role ?? ''} onChange={(e) => setBar({ role: e.target.value || undefined })} className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white">
-                          <option value="">— sensor role —</option>
-                          {allSensorRoles.map((r) => <option key={r} value={r}>{r}</option>)}
-                          {bar.role && !allSensorRoles.includes(bar.role) && <option value={bar.role}>{bar.role} (not in config)</option>}
-                        </select>
-                        <select value={bar.limits ?? ''} onChange={(e) => setBar({ limits: e.target.value || undefined })} className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white">
-                          <option value="">— limits key —</option>
-                          {pressureLimitKeys.map((k) => <option key={k} value={k}>{k}</option>)}
-                          {bar.limits && !pressureLimitKeys.includes(bar.limits) && <option value={bar.limits}>{bar.limits} (not in config)</option>}
+                        {/* Pick the pressure sensor in ONE dropdown; its limits come with it (matched by
+                            the space→underscore [pressure_limits] key convention), and the label auto-fills
+                            with the sensor name (still editable — shorten it as you like). */}
+                        <select
+                          value={bar.role ?? ''}
+                          onChange={(e) => {
+                            const newRole = e.target.value || undefined;
+                            const patch: any = { role: newRole };
+                            if (!bar.label || bar.label === bar.role) patch.label = newRole ?? '';
+                            if (newRole) {
+                              const conv = newRole.replace(/\s+/g, '_');
+                              if (pressureLimitKeys.includes(conv)) patch.limits = conv;
+                            }
+                            setBar(patch);
+                          }}
+                          className="md:col-span-4 px-2 py-1.5 bg-background border border-gray-700 rounded text-white"
+                        >
+                          <option value="">— pressure sensor —</option>
+                          {pressureRoles.map((r) => <option key={r} value={r}>{r}</option>)}
+                          {bar.role && !pressureRoles.includes(bar.role) && <option value={bar.role}>{bar.role} (not a PT role)</option>}
                         </select>
+                        <input value={bar.label ?? ''} onChange={(e) => setBar({ label: e.target.value })} placeholder="Label (shown on gauge)" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        <div className="md:col-span-1 text-xs text-text-muted truncate" title="Pressure limits (NOP/MEOP) for this gauge — from the Pressure Limits tab, matched to the sensor">
+                          {bar.limits ? bar.limits : 'default'}
+                        </div>
                         <div className="md:col-span-2 flex items-center gap-1">
                           <input type="color" value={bar.color ?? '#888888'} onChange={(e) => setBar({ color: e.target.value })} className="h-8 w-10 bg-background border border-gray-700 rounded" />
                           <input value={bar.color ?? ''} onChange={(e) => setBar({ color: e.target.value })} placeholder="#RRGGBB" className="flex-1 min-w-0 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />

From 767ba780419a39e38e6ced6db7f765f100fe1bf7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:29:55 -0700
Subject: [PATCH 072/205] daq-server: clearer avg_roles placeholder in the
 pressure-gauge editor (explains it averages redundant sensors into one gauge;
 blank = single sensor)

---
 daq-server/diablo_server/frontend/app/config/page.tsx | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 9f535894a..c800280e2 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1528,7 +1528,7 @@ export default function ConfigPage() {
                           <button onClick={() => setGuiBars(moveInArray(guiBars, i, 1))} className="px-2 py-1.5 bg-gray-700 rounded hover:bg-gray-600" title="Move down">↓</button>
                           <button onClick={() => setGuiBars(guiBars.filter((_: any, k: number) => k !== i))} className="px-2 py-1.5 bg-red-600 rounded hover:bg-red-700" title="Remove">✕</button>
                         </div>
-                        <input value={(bar.avg_roles ?? []).join(', ')} onChange={(e) => { const parts = e.target.value.split(',').map((s) => s.trim()).filter(Boolean); setBar({ avg_roles: parts.length ? parts : undefined }); }} placeholder="avg roles (optional, comma-separated)" className="md:col-span-12 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
+                        <input value={(bar.avg_roles ?? []).join(', ')} onChange={(e) => { const parts = e.target.value.split(',').map((s) => s.trim()).filter(Boolean); setBar({ avg_roles: parts.length ? parts : undefined }); }} placeholder="Optional — average multiple redundant sensors into this one gauge (comma-separated role names, e.g. two chamber PTs). Leave blank for a single sensor." className="md:col-span-12 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
                       </div>
                     );
                   })}

From cfacf0ae687d171936563319784c009150e40a09 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:31:02 -0700
Subject: [PATCH 073/205] =?UTF-8?q?daq-server:=20pressure=20gauge=20label?=
 =?UTF-8?q?=20now=20auto-fills=20from=20the=20selected=20sensor=20?=
 =?UTF-8?q?=E2=80=94=20treat=20the=20'NEW'=20add-default=20(and=20empty)?=
 =?UTF-8?q?=20as=20uncustomized=20so=20selecting=20a=20sensor=20populates?=
 =?UTF-8?q?=20the=20label;=20new=20gauges=20start=20with=20a=20blank=20lab?=
 =?UTF-8?q?el?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/diablo_server/frontend/app/config/page.tsx | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index c800280e2..cab230b0c 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1502,7 +1502,9 @@ export default function ConfigPage() {
                           onChange={(e) => {
                             const newRole = e.target.value || undefined;
                             const patch: any = { role: newRole };
-                            if (!bar.label || bar.label === bar.role) patch.label = newRole ?? '';
+                            // Auto-fill the label from the sensor name unless the user typed a custom one.
+                            // "Uncustomized" = empty, the 'NEW' add-default, or equal to the previous role.
+                            if (!bar.label || bar.label === 'NEW' || bar.label === bar.role) patch.label = newRole ?? '';
                             if (newRole) {
                               const conv = newRole.replace(/\s+/g, '_');
                               if (pressureLimitKeys.includes(conv)) patch.limits = conv;
@@ -1534,7 +1536,7 @@ export default function ConfigPage() {
                   })}
                 </div>
                 <button
-                  onClick={() => setGuiBars([...guiBars, { label: 'NEW', role: '', limits: '', color: '#888888' }])}
+                  onClick={() => setGuiBars([...guiBars, { label: '', role: '', limits: '', color: '#888888' }])}
                   className="mt-4 px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
                 >
                   + Add Gauge

From 9c6dc643598e508dd3d03f9f81adcde70c0f4226 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 21 Aug 2026 21:33:49 -0700
Subject: [PATCH 074/205] daq-server: label the top-bar pressure-gauge editor
 with a column header (Sensor / Label / Limits / Color / Order) and rebalance
 widths so each field is self-explanatory; limits indicator gets a clearer
 tooltip; avg-roles row unchanged

---
 .../diablo_server/frontend/app/config/page.tsx       | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index cab230b0c..203a01515 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1489,6 +1489,14 @@ export default function ConfigPage() {
                 <p className="text-sm text-text-muted mb-4">
                   Ordered gauges in the header. NOP/MEOP come from the Pressure Limits tab (via the <code>limits</code> key).
                 </p>
+                {/* Column header so each field is labeled (md+ only; on mobile the fields stack). */}
+                <div className="hidden md:grid md:grid-cols-12 gap-2 px-2 mb-1 text-[11px] font-semibold uppercase tracking-wide text-text-muted">
+                  <div className="md:col-span-3">Sensor (PT role)</div>
+                  <div className="md:col-span-3">Label on gauge</div>
+                  <div className="md:col-span-2">Limits (NOP/MEOP)</div>
+                  <div className="md:col-span-2">Color</div>
+                  <div className="md:col-span-2 text-right">Order · remove</div>
+                </div>
                 <div className="space-y-3">
                   {guiBars.map((bar: any, i: number) => {
                     const setBar = (patch: any) => setGuiBars(guiBars.map((b: any, k: number) => (k === i ? { ...b, ...patch } : b)));
@@ -1511,14 +1519,14 @@ export default function ConfigPage() {
                             }
                             setBar(patch);
                           }}
-                          className="md:col-span-4 px-2 py-1.5 bg-background border border-gray-700 rounded text-white"
+                          className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white"
                         >
                           <option value="">— pressure sensor —</option>
                           {pressureRoles.map((r) => <option key={r} value={r}>{r}</option>)}
                           {bar.role && !pressureRoles.includes(bar.role) && <option value={bar.role}>{bar.role} (not a PT role)</option>}
                         </select>
                         <input value={bar.label ?? ''} onChange={(e) => setBar({ label: e.target.value })} placeholder="Label (shown on gauge)" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
-                        <div className="md:col-span-1 text-xs text-text-muted truncate" title="Pressure limits (NOP/MEOP) for this gauge — from the Pressure Limits tab, matched to the sensor">
+                        <div className="md:col-span-2 text-xs text-text-muted truncate self-center" title="Pressure limits (NOP/MEOP) for this gauge — from the Pressure Limits tab, matched to the sensor by name. 'default' = no matching limits, so generic thresholds are used.">
                           {bar.limits ? bar.limits : 'default'}
                         </div>
                         <div className="md:col-span-2 flex items-center gap-1">

From 2f2c01ab08621a26ffd14510757423543255509a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 31 Aug 2026 21:47:17 -0700
Subject: [PATCH 075/205] star-openrocket: gate every design-editing viewer
 control on the checkout, with a source audit listing the view-only exceptions

---
 star-openrocket/frontend/src/App.tsx          |   5 +
 .../components/viewer/FlightDynamicsTab.tsx   |  11 +-
 .../src/components/viewer/ModelPicker.tsx     |  21 ++-
 .../src/components/viewer/PropertiesPanel.tsx |  11 +-
 .../src/components/viewer/StabilityPanel.tsx  |  35 +++--
 .../frontend/src/lib/gating.test.ts           | 126 ++++++++++++++++++
 6 files changed, 190 insertions(+), 19 deletions(-)
 create mode 100644 star-openrocket/frontend/src/lib/gating.test.ts

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index cdf7ed523..9bc6c84e3 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -642,11 +642,16 @@ export default function App() {
           ))}
         </nav>
 
+        {/* Which model the design points at is a design field, so the header
+            picker follows the checkout. The copy on the no-model error screen
+            above deliberately does not: it is the only way to build a first
+            model on a fresh install, where there is no design to hold yet. */}
         <ModelPicker
           models={models}
           modelId={modelId}
           onSelectModel={setModelId}
           onBuilt={handleBuilt}
+          disabled={!editable}
         />
 
         <label className="ml-auto flex items-center gap-2 text-sm text-slate-300">
diff --git a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 4d53abc37..4c36b9265 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -8,6 +8,7 @@
  * exact, performance tiles (apogee, max-Q) are flagged approximate.
  */
 
+import { useDisabled } from '@stardesign-ui'
 import { useEffect, useMemo, useState } from 'react'
 import { createPortal } from 'react-dom'
 import {
@@ -202,6 +203,9 @@ function TimeLine({
 }
 
 export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFins, railLength, overrides, flight, onFlightChange, recovery, result, onResult }: Props) {
+  // Rail angle, heading and the CP model are design fields. Running the sim and
+  // the compare-series toggles only change what you are looking at.
+  const readOnly = useDisabled()
   const { inclination, heading, cpModel } = flight
   const { val, lab, dec, q } = useUnits()
 
@@ -296,7 +300,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         <Field label="Heading (° from N)" value={heading} set={(v) => onFlightChange({ heading: v })} min={0} max={360} />
         <label className="flex flex-col text-xs text-slate-300">
           CP model
-          <select value={cpModel} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100">
+          <select value={cpModel} disabled={readOnly} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100 disabled:cursor-not-allowed disabled:border-slate-800 disabled:text-slate-500">
             <option value="both">Both (compare)</option>
             <option value="ours">Ours (CAD Barrowman)</option>
             <option value="rocketpy">RocketPy native</option>
@@ -438,6 +442,8 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
 }
 
 function Field({ label, value, set, min, max, step = 1 }: { label: string; value: number; set: (n: number) => void; min: number; max: number; step?: number }) {
+  // Every use of this writes a flight parameter, which is part of the design.
+  const disabled = useDisabled()
   return (
     <label className="flex flex-col text-xs text-slate-300">
       {label}
@@ -447,8 +453,9 @@ function Field({ label, value, set, min, max, step = 1 }: { label: string; value
         min={min}
         max={max}
         step={step}
+        disabled={disabled}
         onChange={(e) => set(Number(e.target.value))}
-        className="mt-1 w-24 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100"
+        className="mt-1 w-24 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100 disabled:cursor-not-allowed disabled:border-slate-800 disabled:text-slate-500"
       />
     </label>
   )
diff --git a/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx b/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
index b79065a78..fbea7ca19 100644
--- a/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
+++ b/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
@@ -36,6 +36,14 @@ interface Props {
   onSelectModel: (id: string) => void
   /** Called with the new model id once a build finishes. */
   onBuilt: (modelId: string) => void
+  /**
+   * Read-only: which model the design points at is part of the design, so
+   * picking or building one needs the checkout. Passed rather than read from
+   * the shared context because this sits in the header, above the provider --
+   * and because the copy shown on the no-model error screen deliberately stays
+   * live, being the only way to build a first model on a fresh install.
+   */
+  disabled?: boolean
 }
 
 const POLL_INTERVAL_MS = 700
@@ -58,7 +66,7 @@ function whenCached(stamp: string | null): string {
   })
 }
 
-export function ModelPicker({ models, modelId, onSelectModel, onBuilt }: Props) {
+export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled = false }: Props) {
   const [open, setOpen] = useState(false)
   const [query, setQuery] = useState('')
   const [documents, setDocuments] = useState<OnshapeDocument[]>([])
@@ -216,7 +224,9 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt }: Props)
       <button
         type="button"
         onClick={() => setOpen((value) => !value)}
-        className="flex items-center gap-2 rounded border border-slate-600 bg-slate-900 px-2 py-1 text-sm text-slate-200 hover:bg-slate-800"
+        disabled={disabled}
+        title={disabled ? 'Take the design to change its model' : undefined}
+        className="flex items-center gap-2 rounded border border-slate-600 bg-slate-900 px-2 py-1 text-sm text-slate-200 hover:bg-slate-800 disabled:cursor-not-allowed disabled:opacity-50"
       >
         <span className="max-w-56 truncate">{label}</span>
         {current?.assemblyName && (
@@ -249,7 +259,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt }: Props)
               </p>
               <button
                 type="button"
-                disabled={busy}
+                disabled={busy || disabled}
                 onClick={() => launch({ url: query.trim() })}
                 className="rounded bg-cyan-600 px-3 py-1.5 text-white hover:bg-cyan-500 disabled:opacity-50"
               >
@@ -299,7 +309,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt }: Props)
                     <li key={assembly.elementId}>
                       <button
                         type="button"
-                        disabled={busy}
+                        disabled={busy || disabled}
                         onClick={() =>
                           launch({
                             documentId: chosen.documentId,
@@ -332,7 +342,8 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt }: Props)
                             onSelectModel(model.id)
                             setOpen(false)
                           }}
-                          className={`block w-full truncate rounded px-2 py-1.5 text-left hover:bg-slate-700 ${
+                          disabled={disabled}
+                          className={`block w-full truncate rounded px-2 py-1.5 text-left hover:bg-slate-700 disabled:cursor-not-allowed disabled:opacity-50 ${
                             model.id === modelId ? 'text-cyan-300' : 'text-slate-200'
                           }`}
                         >
diff --git a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
index c24054e75..f82d9706a 100644
--- a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
@@ -16,6 +16,7 @@
  * density regardless of what that density is.
  */
 
+import { useDisabled } from '@stardesign-ui'
 import { useEffect, useState } from 'react'
 
 import type { Part, PartOverride } from '../../types'
@@ -78,6 +79,9 @@ function PartProperties({
   onOverrideChange: (key: string, override: PartOverride | null) => void
 }) {
   const { q, lab, si, forInput } = useUnits()
+  // Mass and material overrides are part of the design, so they need the
+  // checkout. Nothing else in this panel is editable.
+  const readOnly = useDisabled()
   const overridden = override?.massOverridden ?? false
   // The material the user picked from the catalog, if any. It sets the mass
   // (via density x volume, in App) but leaves Onshape's own material in place --
@@ -191,7 +195,7 @@ function PartProperties({
             // apply their density to the part's volume. Overriding the mass by
             // hand makes the material irrelevant, so it greys out rather than
             // sitting there implying it still applies.
-            disabled={overridden}
+            disabled={overridden || readOnly}
             value={materialKey}
             onChange={(event) => selectMaterial(event.target.value)}
             className="w-full rounded border border-slate-600 bg-slate-900 px-2 py-1 text-slate-100 disabled:cursor-not-allowed disabled:border-slate-700 disabled:text-slate-600"
@@ -211,8 +215,9 @@ function PartProperties({
           <input
             type="checkbox"
             checked={overridden}
+            disabled={readOnly}
             onChange={(event) => toggleOverride(event.target.checked)}
-            className="accent-cyan-400"
+            className="accent-cyan-400 disabled:cursor-not-allowed disabled:opacity-50"
           />
           Override mass
         </label>
@@ -228,7 +233,7 @@ function PartProperties({
             min={0}
             step="any"
             inputMode="decimal"
-            disabled={!overridden}
+            disabled={!overridden || readOnly}
             value={draft}
             placeholder={overridden ? 'enter a mass' : '—'}
             onChange={(event) => commit(event.target.value)}
diff --git a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
index 5f9b91c65..f70c48dab 100644
--- a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
@@ -8,6 +8,7 @@
  * static margin, placed along the detected axis.
  */
 
+import { useDisabled } from '@stardesign-ui'
 import { useState } from 'react'
 
 import type { FaceRef, MotorSelection, MotorSummary, StabilityResult } from '../../types'
@@ -29,6 +30,9 @@ function UnitField({ value, onChange, kind, min }: {
   min?: number
 }) {
   const { val, si, forInput, u } = useUnits()
+  // Every use of this writes a design field (motor aft offset, rail length), so
+  // it goes read-only with the design rather than each call site remembering.
+  const disabled = useDisabled()
   const [editing, setEditing] = useState(false)
   const shown = editing ? val(value, kind) : forInput(value, kind)
   return (
@@ -36,6 +40,7 @@ function UnitField({ value, onChange, kind, min }: {
       type="number"
       step={u(kind).step}
       min={min}
+      disabled={disabled}
       value={shown}
       onFocus={() => setEditing(true)}
       onBlur={() => setEditing(false)}
@@ -43,7 +48,7 @@ function UnitField({ value, onChange, kind, min }: {
         const t = e.target.value.trim()
         onChange(t === '' ? 0 : si(Number(t), kind))
       }}
-      className="w-20 rounded border border-slate-700 bg-slate-800 px-1 py-0.5 text-right text-slate-100 focus:border-cyan-500 focus:outline-none"
+      className="w-20 rounded border border-slate-700 bg-slate-800 px-1 py-0.5 text-right text-slate-100 focus:border-cyan-500 focus:outline-none disabled:cursor-not-allowed disabled:border-slate-800 disabled:text-slate-500"
     />
   )
 }
@@ -133,6 +138,10 @@ export function StabilityPanel({
   onViewMotorCurves,
 }: StabilityPanelProps) {
   const { q, lab, num } = useUnits()
+  // Face sets, the motor and its placement, and the rail length are all part of
+  // the design, so they need the checkout. Computing stability, isolating a
+  // surface and opening the flight/curve popups only look at it, and stay live.
+  const readOnly = useDisabled()
   const [pickerOpen, setPickerOpen] = useState(false)
   return (
     <div className="text-sm">
@@ -158,7 +167,8 @@ export function StabilityPanel({
         <button
           type="button"
           onClick={() => onToggleEditMode('body')}
-          className={`rounded px-2 py-1 text-xs font-medium ${
+          disabled={readOnly}
+          className={`rounded px-2 py-1 text-xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
             faceEditMode && editTarget === 'body'
               ? 'bg-violet-500 text-white'
               : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
@@ -169,7 +179,8 @@ export function StabilityPanel({
         <button
           type="button"
           onClick={() => onToggleEditMode('fin')}
-          className={`rounded px-2 py-1 text-xs font-medium ${
+          disabled={readOnly}
+          className={`rounded px-2 py-1 text-xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
             faceEditMode && editTarget === 'fin'
               ? 'bg-orange-500 text-white'
               : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
@@ -180,7 +191,7 @@ export function StabilityPanel({
         <button
           type="button"
           onClick={onAutoDetect}
-          disabled={autoBusy}
+          disabled={autoBusy || readOnly}
           className="ml-auto rounded bg-slate-700 px-2 py-1 text-xs font-medium text-slate-200 hover:bg-slate-600 disabled:opacity-50"
         >
           {autoBusy ? 'Detecting…' : 'Auto-detect'}
@@ -268,7 +279,8 @@ export function StabilityPanel({
               <button
                 type="button"
                 onClick={() => setPickerOpen((v) => !v)}
-                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600"
+                disabled={readOnly}
+                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
               >
                 Change
               </button>
@@ -278,7 +290,8 @@ export function StabilityPanel({
                   onClearMotor()
                   setPickerOpen(false)
                 }}
-                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600"
+                disabled={readOnly}
+                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
               >
                 Remove
               </button>
@@ -287,7 +300,8 @@ export function StabilityPanel({
             <button
               type="button"
               onClick={() => setPickerOpen((v) => !v)}
-              className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600"
+              disabled={readOnly}
+              className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
             >
               {pickerOpen ? 'Cancel' : 'Add motor'}
             </button>
@@ -324,6 +338,7 @@ export function StabilityPanel({
                   key={s}
                   type="button"
                   onClick={() => onSetMotorState(s)}
+                  disabled={readOnly}
                   className={`flex-1 px-2 py-1 ${
                     motorSel.state === s
                       ? 'bg-cyan-600 text-white'
@@ -348,7 +363,8 @@ export function StabilityPanel({
                     <button
                       type="button"
                       onClick={() => onSetMotorRefFace(null)}
-                      className="rounded bg-slate-700 px-1.5 py-0.5 text-2xs text-slate-200 hover:bg-slate-600"
+                      disabled={readOnly}
+                      className="rounded bg-slate-700 px-1.5 py-0.5 text-2xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
                     >
                       Clear
                     </button>
@@ -359,7 +375,8 @@ export function StabilityPanel({
                 <button
                   type="button"
                   onClick={onToggleMotorFaceEdit}
-                  className={`rounded px-1.5 py-0.5 text-2xs font-medium ${
+                  disabled={readOnly}
+                  className={`rounded px-1.5 py-0.5 text-2xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
                     motorFaceEdit
                       ? 'bg-fuchsia-600 text-white'
                       : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
new file mode 100644
index 000000000..54774c49b
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -0,0 +1,126 @@
+/**
+ * Every control that edits the design must be gated on the checkout -- the
+ * viewer half of the same audit `recovery/lib/gating.test.ts` runs over the
+ * recovery tabs.
+ *
+ * A design is editable only while it is checked out to you. That is enforced on
+ * the server, and the bar stops autosaving without it -- so a control that
+ * stays live is worse than a no-op: the user edits, nothing persists, and the
+ * design appears to lose their work.
+ *
+ * A source audit rather than a rendering test. It cannot know what a control
+ * *means*, so it enforces the one thing it can check mechanically: inside the
+ * viewer components, every raw interactive element carries a `disabled`.
+ * Anything genuinely view-only is listed below with a reason, which keeps the
+ * exceptions honest and visible.
+ */
+
+import { describe, expect, it } from 'vitest'
+
+/**
+ * Raw controls that are deliberately live while read-only, because they change
+ * what you are looking at rather than the design. Each needs a reason.
+ *
+ * Part visibility and selection are the big ones: neither is saved in
+ * `OrkConfig` (see types/config.ts), so hiding a part is a view action.
+ */
+const VIEW_ONLY: Record<string, string> = {
+  'PartList.tsx:onToggle(parts.map': 'show-all-hidden; visibility is not saved in the design',
+  'PartList.tsx:onSelect([])': 'clears the selection, which is not saved either',
+  'PartList.tsx:onContextMenu': 'opens the menu; its own items are hide/isolate/select',
+  'ContextMenu.tsx:item.onSelect()': 'generic menu shell -- PartList only ever passes view actions',
+  'InspectorPanel.tsx:onClick={onClick}': 'panel tab switch',
+  'InspectorPanel.tsx:onToggle': 'pin toggle, local panel state',
+  'StabilityPanel.tsx:onCompute': 'runs the stability analysis; reads the design, never writes it',
+  'StabilityPanel.tsx:onToggleIsolate': 'isolates the outer surface in the 3D view',
+  'StabilityPanel.tsx:onViewMotorCurves': 'opens the thrust-curve popup',
+  'StabilityPanel.tsx:onViewFlight': 'opens the flight-profile popup',
+  'StabilityPanel.tsx:setPickerOpen((v) => !v)': 'opens/closes the motor list; picking one is gated',
+  'MotorPicker.tsx:setQuery(e.target.value)': 'search box, local state',
+  'MotorPicker.tsx:onClose': 'closes the picker',
+  'MotorPicker.tsx:setImpulseClass': 'impulse-class filter, local state',
+  'ModelPicker.tsx:setQuery(event.target.value)': 'search box, local state',
+  'ModelPicker.tsx:refreshDocuments': 'refetches the Onshape document list; touches no design',
+  'ModelPicker.tsx:loadAssemblies': 'expands a document in the list',
+  'ModelPicker.tsx:chooseDocument': 'expands a document in the list',
+  'ModelPicker.tsx:setChosen': 'list navigation, local state',
+  'FlightDynamicsTab.tsx:setExpanded': 'expands a chart',
+  'FlightDynamicsTab.tsx:run': 'runs the flight simulation; reads the design',
+  'FlightDynamicsTab.tsx:toggleCompare': 'which series the chart draws',
+  'FullFlightTab.tsx:toggle(d.key)': 'which series the chart draws',
+  'EnvironmentTab.tsx:setSub(t.id)': 'subtab switch',
+  'MotorCurvesModal.tsx:onClose': 'closes the popup',
+  'FlightProfileModal.tsx:onClose': 'closes the popup',
+}
+
+/**
+ * The viewer components. `App.tsx` is excluded: its own controls are the tab
+ * bar and two display toggles (part opacity, the Onshape-CM marker), none of
+ * which is saved in the design, and the design bar it renders must stay live so
+ * you can take the checkout in the first place.
+ */
+const files = import.meta.glob('../components/{viewer,environment}/**/*.tsx', {
+  eager: true,
+  query: '?raw',
+  import: 'default',
+}) as Record<string, string>
+
+/** The full opening tag, not just up to the first `>` -- an arrow function in an
+ *  onClick contains one and would truncate it. */
+function openingTags(src: string, tag: string): string[] {
+  const out: string[] = []
+  const re = new RegExp(`<${tag}\\b`, 'g')
+  let m: RegExpExecArray | null
+  while ((m = re.exec(src))) {
+    let depth = 0
+    for (let i = m.index; i < src.length; i++) {
+      const c = src[i]
+      if (c === '{') depth++
+      else if (c === '}') depth--
+      else if (c === '>' && depth === 0) {
+        out.push(src.slice(m.index, i))
+        break
+      }
+    }
+  }
+  return out
+}
+
+describe('checkout gating (viewer)', () => {
+  it('audits a non-empty set of files', () => {
+    // A glob that silently matches nothing would make every assertion below
+    // pass while checking nothing at all.
+    expect(Object.keys(files).length).toBeGreaterThan(5)
+  })
+
+  it('leaves no ungated raw control in the viewer', () => {
+    const offenders: string[] = []
+    for (const [path, src] of Object.entries(files)) {
+      const name = path.split('/').pop() as string
+      for (const tag of ['button', 'input', 'select', 'textarea']) {
+        for (const open of openingTags(src, tag)) {
+          if (/\bdisabled\s*=/.test(open) || /readOnly/.test(open)) continue
+          const excused = Object.keys(VIEW_ONLY).find((k) => {
+            const [file, marker] = k.split(':')
+            return name === file && open.includes(marker)
+          })
+          if (excused) continue
+          offenders.push(`${name}: ${open.replace(/\s+/g, ' ').slice(0, 70)}`)
+        }
+      }
+    }
+    expect(offenders).toEqual([])
+  })
+
+  it('keeps the view-only exception list honest', () => {
+    // An exception that no longer matches anything is stale, and a stale list is
+    // how a real control quietly acquires an excuse it does not deserve.
+    const unused = Object.keys(VIEW_ONLY).filter((k) => {
+      const [file, marker] = k.split(':')
+      return !Object.entries(files).some(
+        ([p, src]) => p.endsWith(`/${file}`) && src.includes(marker),
+      )
+    })
+    expect(unused).toEqual([])
+  })
+})

From a2c3af6dab3158d2b400d98e9dbb3aadf7069e00 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 1 Sep 2026 12:00:11 -0700
Subject: [PATCH 076/205] config editor: 14 tabs down to 5 - group by what you
 actually edit (ADC folds into Boards since a board's voltage_reference
 indexes it, sensor+actuator into Roles, pressure limits next to the top-bar
 gauges whose 'limits' key names them) and park every read-only page in one
 System tab at the far right; drop the bottom warning note

---
 .../frontend/app/config/page.tsx              | 747 +++++++++---------
 1 file changed, 370 insertions(+), 377 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 203a01515..3f3b1cf8c 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -187,7 +187,7 @@ export default function ConfigPage() {
   const [saving, setSaving] = useState(false);
   const [error, setError] = useState<string | null>(null);
   const [success, setSuccess] = useState(false);
-  const [activeTab, setActiveTab] = useState('network');
+  const [activeTab, setActiveTab] = useState('boards');
   // Config profiles v2: the editor edits the ACTIVE PROFILE; config.toml is the deployed/running file.
   // When idle, a save/switch deploys to config.toml; during a session config.toml is frozen (draft).
   const [profiles, setProfiles] = useState<{ name: string; active: boolean }[]>([]);
@@ -563,21 +563,20 @@ export default function ConfigPage() {
     );
   }
 
+  // Ordered by usefulness, left to right, and grouped so related config lives on
+  // one page instead of behind a round trip between tabs:
+  //   Boards      + ADC refs        (a board's voltage_reference indexes them)
+  //   Roles       = sensors + actuators (the same channel -> name map, twice)
+  //   Top Bar     + Pressure Limits (a gauge's `limits` key names a limits entry)
+  //   System      = every read-only page — startup-only binds the C++ services
+  //                 read once, plus config managed outside this editor. Last,
+  //                 because you open it to read a port, never to edit one.
   const tabs = [
-    { id: 'network', label: 'Network' },
-    { id: 'adc', label: 'ADC' },
-    { id: 'server_heartbeat', label: 'Server Heartbeat' },
-    { id: 'services', label: 'Services' },
-    { id: 'database', label: 'Database' },
     { id: 'boards', label: 'Boards' },
-    { id: 'sensor_roles', label: 'Sensor Roles' },
-    { id: 'actuator_roles', label: 'Actuator Roles' },
+    { id: 'roles', label: 'Roles' },
+    { id: 'gui', label: 'Top Bar & Limits' },
     { id: 'controller', label: 'Controller' },
-    { id: 'controller_service', label: 'Controller Service' },
-    { id: 'actuator_service', label: 'Actuator Service' },
-    { id: 'pressure_limits', label: 'Pressure Limits' },
-    { id: 'gui', label: 'Top Bar & Tabs' },
-    { id: 'state_machine', label: 'State Machine' },
+    { id: 'system', label: 'System' },
   ];
 
   return (
@@ -731,245 +730,6 @@ export default function ConfigPage() {
         {/* Tab Content — a disabled fieldset greys out and blocks every control
             inside for non-operators (mirrors the server-side operator gate). */}
         <fieldset disabled={!canEdit} className={`space-y-6 border-0 m-0 p-0 min-w-0${!canEdit ? ' opacity-60' : ''}`}>
-          {activeTab === 'network' && (
-            <div className="bg-card rounded-lg p-6 space-y-6">
-              <div>
-                <h2 className="text-xl font-bold mb-1">Network</h2>
-                <p className="text-sm text-amber-300/90 mb-4">
-                  Read-only — these are startup-only binds for the pipeline services and must match the
-                  board firmware. Changing them requires a deploy/restart, not a live edit.
-                </p>
-                <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                  {renderField(
-                    'Bind IP',
-                    config.network?.bind_ip,
-                    (val) => updateField('network', 'bind_ip', val),
-                    'text', undefined, 'DAQ bridge sensor-socket interface', true
-                  )}
-                  {renderField(
-                    'Sensor Port',
-                    config.network?.sensor_port,
-                    (val) => updateField('network', 'sensor_port', val),
-                    'number', undefined, 'UDP port boards send sensor data to', true
-                  )}
-                  {renderField(
-                    'Actuator Command Port',
-                    config.network?.actuator_cmd_port,
-                    (val) => updateField('network', 'actuator_cmd_port', val),
-                    'number', undefined, 'Port boards listen on for actuator commands', true
-                  )}
-                </div>
-              </div>
-
-              <div className="border-t border-gray-700 pt-6">
-                <h3 className="text-lg font-semibold mb-1">Board Discovery</h3>
-                <p className="text-sm text-amber-300/90 mb-4">
-                  Read-only — the discovery service scans this subnet/interface at startup. Editing it
-                  live has no effect until the pipeline restarts.
-                </p>
-                <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                  {renderField(
-                    'Enabled', config.discovery?.enabled,
-                    (val) => updateField('discovery', 'enabled', val),
-                    'boolean', undefined, undefined, true
-                  )}
-                  {renderField(
-                    'Network Interface', config.discovery?.network_interface,
-                    (val) => updateField('discovery', 'network_interface', val),
-                    'text', undefined, '"auto" = interface with a 192.168.2.x IP', true
-                  )}
-                  {renderField(
-                    'Mode', config.discovery?.mode,
-                    (val) => updateField('discovery', 'mode', val),
-                    'select', ['passive', 'active', 'hybrid'], undefined, true
-                  )}
-                  {renderField(
-                    'Subnet', config.discovery?.subnet,
-                    (val) => updateField('discovery', 'subnet', val),
-                    'text', undefined, undefined, true
-                  )}
-                  {renderField(
-                    'IP Range Start', config.discovery?.ip_range_start,
-                    (val) => updateField('discovery', 'ip_range_start', val),
-                    'number', undefined, undefined, true
-                  )}
-                  {renderField(
-                    'IP Range End', config.discovery?.ip_range_end,
-                    (val) => updateField('discovery', 'ip_range_end', val),
-                    'number', undefined, undefined, true
-                  )}
-                  {renderField(
-                    'Discovery Timeout (seconds)', config.discovery?.discovery_timeout_seconds,
-                    (val) => updateField('discovery', 'discovery_timeout_seconds', val),
-                    'number', undefined, undefined, true
-                  )}
-                </div>
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'adc' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">ADC Voltage References</h2>
-              <p className="text-sm text-text-muted mb-4">
-                Used when voltage_reference = 0 (internal) or 2 (5V absolute). Ref 1 = VDD ratiometric.
-              </p>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Internal (V)',
-                  config.adc?.internal_v,
-                  (val) => updateField('adc', 'internal_v', val),
-                  'number',
-                  undefined,
-                  'Boards with voltage_reference = 0'
-                )}
-                {renderField(
-                  'VDD Nominal (V)',
-                  config.adc?.vdd_nominal_v,
-                  (val) => updateField('adc', 'vdd_nominal_v', val),
-                  'number',
-                  undefined,
-                  'Display only; ratiometric boards'
-                )}
-                {renderField(
-                  'Absolute 5V (V)',
-                  config.adc?.absolute_5v_v,
-                  (val) => updateField('adc', 'absolute_5v_v', val),
-                  'number',
-                  undefined,
-                  'Boards with voltage_reference = 2'
-                )}
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'server_heartbeat' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-1">Server Heartbeat</h2>
-              <p className="text-sm text-amber-300/90 mb-4">
-                Read-only — the heartbeat broadcast is set up by the C++ services at startup. Editing it
-                live has no effect until the pipeline restarts.
-              </p>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Interval (ms)',
-                  config.server_heartbeat?.interval_ms,
-                  (val) => updateField('server_heartbeat', 'interval_ms', val),
-                  'number', undefined, undefined, true
-                )}
-                {renderField(
-                  'Broadcast Port',
-                  config.server_heartbeat?.broadcast_port,
-                  (val) => updateField('server_heartbeat', 'broadcast_port', val),
-                  'number', undefined, undefined, true
-                )}
-                {renderField(
-                  'Broadcast IP',
-                  config.server_heartbeat?.broadcast_ip,
-                  (val) => updateField('server_heartbeat', 'broadcast_ip', val),
-                  'text', undefined, undefined, true
-                )}
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'services' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-1">Services</h2>
-              <p className="text-sm text-amber-300/90 mb-4">
-                Read-only — these are always-on support services (heartbeat, config-broadcast, data-logger).
-                They read their config once at their own startup and are <em>not</em> restarted by a session,
-                so edits here wouldn&apos;t take effect on a Start. Change them via a deploy/restart.
-              </p>
-              <div className="space-y-8">
-                <div className="border border-gray-700 rounded-lg p-4">
-                  <h3 className="text-lg font-semibold mb-3">Heartbeat Service</h3>
-                  <p className="text-sm text-text-muted mb-3">
-                    Polls backend /api/engine_state, broadcasts SERVER_HEARTBEAT to boards.
-                  </p>
-                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField('Enabled', config.heartbeat_service?.enabled, (val) => updateField('heartbeat_service', 'enabled', val), 'boolean', undefined, undefined, true)}
-                    {renderField('Backend URL', config.heartbeat_service?.backend_url, (val) => updateField('heartbeat_service', 'backend_url', val), 'text', undefined, undefined, true)}
-                    {renderField('Interval (ms)', config.heartbeat_service?.interval_ms, (val) => updateField('heartbeat_service', 'interval_ms', val), 'number', undefined, undefined, true)}
-                    {renderField('Broadcast IP', config.heartbeat_service?.broadcast_ip, (val) => updateField('heartbeat_service', 'broadcast_ip', val), 'text', undefined, undefined, true)}
-                    {renderField('Broadcast Port', config.heartbeat_service?.broadcast_port, (val) => updateField('heartbeat_service', 'broadcast_port', val), 'number', undefined, undefined, true)}
-                  </div>
-                </div>
-                <div className="border border-gray-700 rounded-lg p-4">
-                  <h3 className="text-lg font-semibold mb-3">Config Broadcast Service</h3>
-                  <p className="text-sm text-text-muted mb-3">
-                    Sends ACTUATOR_CONFIG / SENSOR_CONFIG to boards. (It re-reads board config live each
-                    cycle; only these service-level settings need a restart.)
-                  </p>
-                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField('Enabled', config.config_broadcast_service?.enabled, (val) => updateField('config_broadcast_service', 'enabled', val), 'boolean', undefined, undefined, true)}
-                    {renderField('Backend URL', config.config_broadcast_service?.backend_url, (val) => updateField('config_broadcast_service', 'backend_url', val), 'text', undefined, undefined, true)}
-                    {renderField('Interval (ms)', config.config_broadcast_service?.interval_ms, (val) => updateField('config_broadcast_service', 'interval_ms', val), 'number', undefined, undefined, true)}
-                  </div>
-                </div>
-                <div className="border border-gray-700 rounded-lg p-4">
-                  <h3 className="text-lg font-semibold mb-3">Data Logger Service</h3>
-                  <p className="text-sm text-text-muted mb-3">
-                    Records .sensorlog files; connects to backend WebSocket.
-                  </p>
-                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                    {renderField('Enabled', config.data_logger_service?.enabled, (val) => updateField('data_logger_service', 'enabled', val), 'boolean', undefined, undefined, true)}
-                    {renderField('WebSocket URL', config.data_logger_service?.ws_url, (val) => updateField('data_logger_service', 'ws_url', val), 'text', undefined, undefined, true)}
-                  </div>
-                </div>
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'database' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-1">Database</h2>
-              <p className="text-sm text-amber-300/90 mb-4">
-                Read-only — the Elodin DB connection is established at startup. Changing host/port live
-                would drop the live data link; edit via a deploy/restart, not here.
-              </p>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Host',
-                  config.database?.host,
-                  (val) => updateField('database', 'host', val),
-                  'text', undefined, undefined, true
-                )}
-                {renderField(
-                  'Port',
-                  config.database?.port,
-                  (val) => updateField('database', 'port', val),
-                  'number', undefined, undefined, true
-                )}
-                {renderField(
-                  'Auto Flush Interval (ms)',
-                  config.database?.auto_flush_interval_ms,
-                  (val) => updateField('database', 'auto_flush_interval_ms', val),
-                  'number', undefined, undefined, true
-                )}
-                {renderField(
-                  'Max Buffer Size',
-                  config.database?.max_buffer_size,
-                  (val) => updateField('database', 'max_buffer_size', val),
-                  'number', undefined, undefined, true
-                )}
-                {renderField(
-                  'Connection Retry Attempts',
-                  config.database?.connection_retry_attempts,
-                  (val) => updateField('database', 'connection_retry_attempts', val),
-                  'number', undefined, undefined, true
-                )}
-                {renderField(
-                  'Connection Retry Delay (ms)',
-                  config.database?.connection_retry_delay_ms,
-                  (val) => updateField('database', 'connection_retry_delay_ms', val),
-                  'number', undefined, undefined, true
-                )}
-              </div>
-            </div>
-          )}
-
-
           {activeTab === 'boards' && (
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-1">Boards</h2>
@@ -1129,29 +889,64 @@ export default function ConfigPage() {
             </div>
           )}
 
-          {activeTab === 'sensor_roles' && (
+          {activeTab === 'boards' && (
             <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Sensor Roles</h2>
-              <div className="space-y-8">
-                {/* One role panel per sensor board in config: sensor_roles_<boardKey>. Generalized
-                    from a fixed pt_board/pt2/rtd/tc list so any board (incl. a 3rd PT board or an
-                    HP board) gets a panel; the HP board is no longer special (was sensor_roles_pt2). */}
-                {(Object.entries(((config as any).boards || {}) as Record<string, any>)
-                  .filter(([, b]) => ['PT', 'RTD', 'TC', 'ENCODER'].includes(b?.type))
-                  .map(([boardKey, b]) => ({
-                    key: `sensor_roles_${boardKey}`,
-                    title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
-                    maxCh: typeof b.num_sensors === 'number' && b.num_sensors > 0 ? b.num_sensors : 10,
-                  }))
-                ).map(({ key, title, maxCh }) => {
-                  const map = (config as any)[key] as Record<string, number> | undefined;
-                  // Display ordered by channel number (not config/insertion order). The number field
-                  // commits on blur so this re-sort doesn't fire mid-keystroke.
-                  const entries = Object.entries(map || {}).sort(
-                    (a, b) => (Number(a[1]) || 0) - (Number(b[1]) || 0),
-                  );
-                  return (
-                    <div key={key} className="space-y-4">
+              <h2 className="text-xl font-bold mb-4">ADC Voltage References</h2>
+              <p className="text-sm text-text-muted mb-4">
+                Used when voltage_reference = 0 (internal) or 2 (5V absolute). Ref 1 = VDD ratiometric.
+              </p>
+              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                {renderField(
+                  'Internal (V)',
+                  config.adc?.internal_v,
+                  (val) => updateField('adc', 'internal_v', val),
+                  'number',
+                  undefined,
+                  'Boards with voltage_reference = 0'
+                )}
+                {renderField(
+                  'VDD Nominal (V)',
+                  config.adc?.vdd_nominal_v,
+                  (val) => updateField('adc', 'vdd_nominal_v', val),
+                  'number',
+                  undefined,
+                  'Display only; ratiometric boards'
+                )}
+                {renderField(
+                  'Absolute 5V (V)',
+                  config.adc?.absolute_5v_v,
+                  (val) => updateField('adc', 'absolute_5v_v', val),
+                  'number',
+                  undefined,
+                  'Boards with voltage_reference = 2'
+                )}
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'roles' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-4">Sensor Roles</h2>
+              <div className="space-y-8">
+                {/* One role panel per sensor board in config: sensor_roles_<boardKey>. Generalized
+                    from a fixed pt_board/pt2/rtd/tc list so any board (incl. a 3rd PT board or an
+                    HP board) gets a panel; the HP board is no longer special (was sensor_roles_pt2). */}
+                {(Object.entries(((config as any).boards || {}) as Record<string, any>)
+                  .filter(([, b]) => ['PT', 'RTD', 'TC', 'ENCODER'].includes(b?.type))
+                  .map(([boardKey, b]) => ({
+                    key: `sensor_roles_${boardKey}`,
+                    title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
+                    maxCh: typeof b.num_sensors === 'number' && b.num_sensors > 0 ? b.num_sensors : 10,
+                  }))
+                ).map(({ key, title, maxCh }) => {
+                  const map = (config as any)[key] as Record<string, number> | undefined;
+                  // Display ordered by channel number (not config/insertion order). The number field
+                  // commits on blur so this re-sort doesn't fire mid-keystroke.
+                  const entries = Object.entries(map || {}).sort(
+                    (a, b) => (Number(a[1]) || 0) - (Number(b[1]) || 0),
+                  );
+                  return (
+                    <div key={key} className="space-y-4">
                       <h3 className="text-lg font-semibold">{title}</h3>
                       {entries.length === 0 && (
                         <p className="text-sm text-text-muted">
@@ -1229,7 +1024,7 @@ export default function ConfigPage() {
             </div>
           )}
 
-          {activeTab === 'actuator_roles' && (
+          {activeTab === 'roles' && (
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-4">Actuator Roles</h2>
               <div className="space-y-4">
@@ -1327,104 +1122,12 @@ export default function ConfigPage() {
             </div>
           )}
 
-          {activeTab === 'controller_service' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-1">Controller Service (C++)</h2>
-              <p className="text-sm text-amber-300/90 mb-4">
-                Read-only for now — TCP port for FIRE_START / FIRE_STOP, read by the C++ controller
-                service at startup. Editing it live has no effect until the pipeline restarts.
-              </p>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField('Port', config.controller_service?.port, (val) => updateField('controller_service', 'port', val), 'number', undefined, undefined, true)}
-                {renderField('Fire Duration (ms)', config.controller_service?.fire_duration_ms, (val) => updateField('controller_service', 'fire_duration_ms', val), 'number', undefined, undefined, true)}
-                {renderField('Fire Extended (ms)', config.controller_service?.fire_extended_ms, (val) => updateField('controller_service', 'fire_extended_ms', val), 'number', undefined, undefined, true)}
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'actuator_service' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-1">Actuator Service (C++)</h2>
-              <p className="text-sm text-amber-300/90 mb-4">
-                Read-only for now — the port/bind are read at C++ service startup (and the port is
-                overridden by an env var the startup script sets). Editing it live has no effect.
-              </p>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField('Port', config.actuator_service?.port, (val) => updateField('actuator_service', 'port', val), 'number', undefined, undefined, true)}
-                {renderField('Bind Address', config.actuator_service?.bind_address, (val) => updateField('actuator_service', 'bind_address', val), 'text', undefined, undefined, true)}
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'controller' && (
-            <div className="bg-card rounded-lg p-6">
-              <h2 className="text-xl font-bold mb-4">Controller</h2>
-              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
-                {renderField(
-                  'Controller Loop (Hz)',
-                  config.controller?.controller_loop_hz,
-                  (val) => updateField('controller', 'controller_loop_hz', val),
-                  'number'
-                )}
-                {renderField(
-                  'PWM Frequency (Hz)',
-                  config.controller?.pwm_frequency_hz,
-                  (val) => updateField('controller', 'pwm_frequency_hz', val),
-                  'number'
-                )}
-                {renderField(
-                  'PWM Duration (ms)',
-                  config.controller?.pwm_duration_ms,
-                  (val) => updateField('controller', 'pwm_duration_ms', val),
-                  'number'
-                )}
-                {renderField(
-                  'Use C++ Controller',
-                  config.controller?.use_cpp_controller,
-                  (val) => updateField('controller', 'use_cpp_controller', val),
-                  'boolean'
-                )}
-                {renderField(
-                  'Command Type',
-                  config.controller?.command_type,
-                  (val) => updateField('controller', 'command_type', val),
-                  'select',
-                  ['THRUST_DESIRED', 'ALTITUDE_GOAL', 'PRESSURE_TARGET']
-                )}
-                {renderField(
-                  'Thrust Desired',
-                  config.controller?.thrust_desired,
-                  (val) => updateField('controller', 'thrust_desired', val),
-                  'number'
-                )}
-                {renderField(
-                  'Altitude Goal',
-                  config.controller?.altitude_goal,
-                  (val) => updateField('controller', 'altitude_goal', val),
-                  'number'
-                )}
-                {renderField(
-                  'Fuel Pressure Target',
-                  config.controller?.pressure_fuel_target,
-                  (val) => updateField('controller', 'pressure_fuel_target', val),
-                  'number'
-                )}
-                {renderField(
-                  'Ox Pressure Target',
-                  config.controller?.pressure_ox_target,
-                  (val) => updateField('controller', 'pressure_ox_target', val),
-                  'number'
-                )}
-              </div>
-            </div>
-          )}
-
-          {activeTab === 'pressure_limits' && (
+          {activeTab === 'gui' && (
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-1">Pressure Limits</h2>
               <p className="text-sm text-text-muted mb-4">
                 NOP/MEOP/POP per system. These are the single source of truth for gauge thresholds —
-                each top-bar gauge points at one of these keys via its <code>limits</code> field (Top Bar &amp; Tabs), and the plots read them too.
+                each top-bar gauge below points at one of these keys via its <code>limits</code> field, and the plots read them too.
               </p>
               <div className="space-y-4">
                 {Object.keys(config.pressure_limits || {}).map((system) => (
@@ -1487,7 +1190,7 @@ export default function ConfigPage() {
               <div className="bg-card rounded-lg p-6">
                 <h2 className="text-xl font-bold mb-1">Top-Bar Pressure Gauges</h2>
                 <p className="text-sm text-text-muted mb-4">
-                  Ordered gauges in the header. NOP/MEOP come from the Pressure Limits tab (via the <code>limits</code> key).
+                  Ordered gauges in the header. NOP/MEOP come from Pressure Limits above (via the <code>limits</code> key).
                 </p>
                 {/* Column header so each field is labeled (md+ only; on mobile the fields stack). */}
                 <div className="hidden md:grid md:grid-cols-12 gap-2 px-2 mb-1 text-[11px] font-semibold uppercase tracking-wide text-text-muted">
@@ -1526,7 +1229,7 @@ export default function ConfigPage() {
                           {bar.role && !pressureRoles.includes(bar.role) && <option value={bar.role}>{bar.role} (not a PT role)</option>}
                         </select>
                         <input value={bar.label ?? ''} onChange={(e) => setBar({ label: e.target.value })} placeholder="Label (shown on gauge)" className="md:col-span-3 px-2 py-1.5 bg-background border border-gray-700 rounded text-white" />
-                        <div className="md:col-span-2 text-xs text-text-muted truncate self-center" title="Pressure limits (NOP/MEOP) for this gauge — from the Pressure Limits tab, matched to the sensor by name. 'default' = no matching limits, so generic thresholds are used.">
+                        <div className="md:col-span-2 text-xs text-text-muted truncate self-center" title="Pressure limits (NOP/MEOP) for this gauge — from Pressure Limits above, matched to the sensor by name. 'default' = no matching limits, so generic thresholds are used.">
                           {bar.limits ? bar.limits : 'default'}
                         </div>
                         <div className="md:col-span-2 flex items-center gap-1">
@@ -1553,7 +1256,302 @@ export default function ConfigPage() {
             </div>
           )}
 
-          {activeTab === 'state_machine' && (
+          {activeTab === 'controller' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-4">Controller</h2>
+              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                {renderField(
+                  'Controller Loop (Hz)',
+                  config.controller?.controller_loop_hz,
+                  (val) => updateField('controller', 'controller_loop_hz', val),
+                  'number'
+                )}
+                {renderField(
+                  'PWM Frequency (Hz)',
+                  config.controller?.pwm_frequency_hz,
+                  (val) => updateField('controller', 'pwm_frequency_hz', val),
+                  'number'
+                )}
+                {renderField(
+                  'PWM Duration (ms)',
+                  config.controller?.pwm_duration_ms,
+                  (val) => updateField('controller', 'pwm_duration_ms', val),
+                  'number'
+                )}
+                {renderField(
+                  'Use C++ Controller',
+                  config.controller?.use_cpp_controller,
+                  (val) => updateField('controller', 'use_cpp_controller', val),
+                  'boolean'
+                )}
+                {renderField(
+                  'Command Type',
+                  config.controller?.command_type,
+                  (val) => updateField('controller', 'command_type', val),
+                  'select',
+                  ['THRUST_DESIRED', 'ALTITUDE_GOAL', 'PRESSURE_TARGET']
+                )}
+                {renderField(
+                  'Thrust Desired',
+                  config.controller?.thrust_desired,
+                  (val) => updateField('controller', 'thrust_desired', val),
+                  'number'
+                )}
+                {renderField(
+                  'Altitude Goal',
+                  config.controller?.altitude_goal,
+                  (val) => updateField('controller', 'altitude_goal', val),
+                  'number'
+                )}
+                {renderField(
+                  'Fuel Pressure Target',
+                  config.controller?.pressure_fuel_target,
+                  (val) => updateField('controller', 'pressure_fuel_target', val),
+                  'number'
+                )}
+                {renderField(
+                  'Ox Pressure Target',
+                  config.controller?.pressure_ox_target,
+                  (val) => updateField('controller', 'pressure_ox_target', val),
+                  'number'
+                )}
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
+            <div className="bg-card rounded-lg p-6 space-y-6">
+              <div>
+                <h2 className="text-xl font-bold mb-1">Network</h2>
+                <p className="text-sm text-amber-300/90 mb-4">
+                  Read-only — these are startup-only binds for the pipeline services and must match the
+                  board firmware. Changing them requires a deploy/restart, not a live edit.
+                </p>
+                <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                  {renderField(
+                    'Bind IP',
+                    config.network?.bind_ip,
+                    (val) => updateField('network', 'bind_ip', val),
+                    'text', undefined, 'DAQ bridge sensor-socket interface', true
+                  )}
+                  {renderField(
+                    'Sensor Port',
+                    config.network?.sensor_port,
+                    (val) => updateField('network', 'sensor_port', val),
+                    'number', undefined, 'UDP port boards send sensor data to', true
+                  )}
+                  {renderField(
+                    'Actuator Command Port',
+                    config.network?.actuator_cmd_port,
+                    (val) => updateField('network', 'actuator_cmd_port', val),
+                    'number', undefined, 'Port boards listen on for actuator commands', true
+                  )}
+                </div>
+              </div>
+
+              <div className="border-t border-gray-700 pt-6">
+                <h3 className="text-lg font-semibold mb-1">Board Discovery</h3>
+                <p className="text-sm text-amber-300/90 mb-4">
+                  Read-only — the discovery service scans this subnet/interface at startup. Editing it
+                  live has no effect until the pipeline restarts.
+                </p>
+                <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                  {renderField(
+                    'Enabled', config.discovery?.enabled,
+                    (val) => updateField('discovery', 'enabled', val),
+                    'boolean', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'Network Interface', config.discovery?.network_interface,
+                    (val) => updateField('discovery', 'network_interface', val),
+                    'text', undefined, '"auto" = interface with a 192.168.2.x IP', true
+                  )}
+                  {renderField(
+                    'Mode', config.discovery?.mode,
+                    (val) => updateField('discovery', 'mode', val),
+                    'select', ['passive', 'active', 'hybrid'], undefined, true
+                  )}
+                  {renderField(
+                    'Subnet', config.discovery?.subnet,
+                    (val) => updateField('discovery', 'subnet', val),
+                    'text', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'IP Range Start', config.discovery?.ip_range_start,
+                    (val) => updateField('discovery', 'ip_range_start', val),
+                    'number', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'IP Range End', config.discovery?.ip_range_end,
+                    (val) => updateField('discovery', 'ip_range_end', val),
+                    'number', undefined, undefined, true
+                  )}
+                  {renderField(
+                    'Discovery Timeout (seconds)', config.discovery?.discovery_timeout_seconds,
+                    (val) => updateField('discovery', 'discovery_timeout_seconds', val),
+                    'number', undefined, undefined, true
+                  )}
+                </div>
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-1">Services</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — these are always-on support services (heartbeat, config-broadcast, data-logger).
+                They read their config once at their own startup and are <em>not</em> restarted by a session,
+                so edits here wouldn&apos;t take effect on a Start. Change them via a deploy/restart.
+              </p>
+              <div className="space-y-8">
+                <div className="border border-gray-700 rounded-lg p-4">
+                  <h3 className="text-lg font-semibold mb-3">Heartbeat Service</h3>
+                  <p className="text-sm text-text-muted mb-3">
+                    Polls backend /api/engine_state, broadcasts SERVER_HEARTBEAT to boards.
+                  </p>
+                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                    {renderField('Enabled', config.heartbeat_service?.enabled, (val) => updateField('heartbeat_service', 'enabled', val), 'boolean', undefined, undefined, true)}
+                    {renderField('Backend URL', config.heartbeat_service?.backend_url, (val) => updateField('heartbeat_service', 'backend_url', val), 'text', undefined, undefined, true)}
+                    {renderField('Interval (ms)', config.heartbeat_service?.interval_ms, (val) => updateField('heartbeat_service', 'interval_ms', val), 'number', undefined, undefined, true)}
+                    {renderField('Broadcast IP', config.heartbeat_service?.broadcast_ip, (val) => updateField('heartbeat_service', 'broadcast_ip', val), 'text', undefined, undefined, true)}
+                    {renderField('Broadcast Port', config.heartbeat_service?.broadcast_port, (val) => updateField('heartbeat_service', 'broadcast_port', val), 'number', undefined, undefined, true)}
+                  </div>
+                </div>
+                <div className="border border-gray-700 rounded-lg p-4">
+                  <h3 className="text-lg font-semibold mb-3">Config Broadcast Service</h3>
+                  <p className="text-sm text-text-muted mb-3">
+                    Sends ACTUATOR_CONFIG / SENSOR_CONFIG to boards. (It re-reads board config live each
+                    cycle; only these service-level settings need a restart.)
+                  </p>
+                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                    {renderField('Enabled', config.config_broadcast_service?.enabled, (val) => updateField('config_broadcast_service', 'enabled', val), 'boolean', undefined, undefined, true)}
+                    {renderField('Backend URL', config.config_broadcast_service?.backend_url, (val) => updateField('config_broadcast_service', 'backend_url', val), 'text', undefined, undefined, true)}
+                    {renderField('Interval (ms)', config.config_broadcast_service?.interval_ms, (val) => updateField('config_broadcast_service', 'interval_ms', val), 'number', undefined, undefined, true)}
+                  </div>
+                </div>
+                <div className="border border-gray-700 rounded-lg p-4">
+                  <h3 className="text-lg font-semibold mb-3">Data Logger Service</h3>
+                  <p className="text-sm text-text-muted mb-3">
+                    Records .sensorlog files; connects to backend WebSocket.
+                  </p>
+                  <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                    {renderField('Enabled', config.data_logger_service?.enabled, (val) => updateField('data_logger_service', 'enabled', val), 'boolean', undefined, undefined, true)}
+                    {renderField('WebSocket URL', config.data_logger_service?.ws_url, (val) => updateField('data_logger_service', 'ws_url', val), 'text', undefined, undefined, true)}
+                  </div>
+                </div>
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-1">Database</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — the Elodin DB connection is established at startup. Changing host/port live
+                would drop the live data link; edit via a deploy/restart, not here.
+              </p>
+              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                {renderField(
+                  'Host',
+                  config.database?.host,
+                  (val) => updateField('database', 'host', val),
+                  'text', undefined, undefined, true
+                )}
+                {renderField(
+                  'Port',
+                  config.database?.port,
+                  (val) => updateField('database', 'port', val),
+                  'number', undefined, undefined, true
+                )}
+                {renderField(
+                  'Auto Flush Interval (ms)',
+                  config.database?.auto_flush_interval_ms,
+                  (val) => updateField('database', 'auto_flush_interval_ms', val),
+                  'number', undefined, undefined, true
+                )}
+                {renderField(
+                  'Max Buffer Size',
+                  config.database?.max_buffer_size,
+                  (val) => updateField('database', 'max_buffer_size', val),
+                  'number', undefined, undefined, true
+                )}
+                {renderField(
+                  'Connection Retry Attempts',
+                  config.database?.connection_retry_attempts,
+                  (val) => updateField('database', 'connection_retry_attempts', val),
+                  'number', undefined, undefined, true
+                )}
+                {renderField(
+                  'Connection Retry Delay (ms)',
+                  config.database?.connection_retry_delay_ms,
+                  (val) => updateField('database', 'connection_retry_delay_ms', val),
+                  'number', undefined, undefined, true
+                )}
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-1">Server Heartbeat</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only — the heartbeat broadcast is set up by the C++ services at startup. Editing it
+                live has no effect until the pipeline restarts.
+              </p>
+              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                {renderField(
+                  'Interval (ms)',
+                  config.server_heartbeat?.interval_ms,
+                  (val) => updateField('server_heartbeat', 'interval_ms', val),
+                  'number', undefined, undefined, true
+                )}
+                {renderField(
+                  'Broadcast Port',
+                  config.server_heartbeat?.broadcast_port,
+                  (val) => updateField('server_heartbeat', 'broadcast_port', val),
+                  'number', undefined, undefined, true
+                )}
+                {renderField(
+                  'Broadcast IP',
+                  config.server_heartbeat?.broadcast_ip,
+                  (val) => updateField('server_heartbeat', 'broadcast_ip', val),
+                  'text', undefined, undefined, true
+                )}
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-1">Controller Service (C++)</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only for now — TCP port for FIRE_START / FIRE_STOP, read by the C++ controller
+                service at startup. Editing it live has no effect until the pipeline restarts.
+              </p>
+              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                {renderField('Port', config.controller_service?.port, (val) => updateField('controller_service', 'port', val), 'number', undefined, undefined, true)}
+                {renderField('Fire Duration (ms)', config.controller_service?.fire_duration_ms, (val) => updateField('controller_service', 'fire_duration_ms', val), 'number', undefined, undefined, true)}
+                {renderField('Fire Extended (ms)', config.controller_service?.fire_extended_ms, (val) => updateField('controller_service', 'fire_extended_ms', val), 'number', undefined, undefined, true)}
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
+            <div className="bg-card rounded-lg p-6">
+              <h2 className="text-xl font-bold mb-1">Actuator Service (C++)</h2>
+              <p className="text-sm text-amber-300/90 mb-4">
+                Read-only for now — the port/bind are read at C++ service startup (and the port is
+                overridden by an env var the startup script sets). Editing it live has no effect.
+              </p>
+              <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
+                {renderField('Port', config.actuator_service?.port, (val) => updateField('actuator_service', 'port', val), 'number', undefined, undefined, true)}
+                {renderField('Bind Address', config.actuator_service?.bind_address, (val) => updateField('actuator_service', 'bind_address', val), 'text', undefined, undefined, true)}
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'system' && (
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-1">State Machine</h2>
               <p className="text-sm text-amber-300/90 mb-4">
@@ -1578,11 +1576,6 @@ export default function ConfigPage() {
           )}
 
         </fieldset>
-
-        <div className="mt-6 text-sm text-text-muted">
-          <p className="mb-2">⚠️ <strong>Warning:</strong> Editing configuration can affect system behavior.</p>
-          <p>Changes will be applied after saving. Some changes may require system restart.</p>
-        </div>
       </div>
     </main>
   );

From 9512a1303f30536a157d32c73a2dedbf0d895108 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 1 Sep 2026 12:51:15 -0700
Subject: [PATCH 077/205] star-openrocket: one palette, one type scale, one
 width rule - the CAD viewer half moves onto the design tokens the recovery
 half already used

---
 star-openrocket/frontend/src/App.tsx          |  38 +++----
 .../components/environment/EnvironmentTab.tsx |   2 +-
 .../frontend/src/components/ui.tsx            |  36 ++++---
 .../src/components/units/UnitsPanel.tsx       |   2 +-
 .../components/versions/ConfigVersions.tsx    |   8 +-
 .../src/components/viewer/ContextMenu.tsx     |   8 +-
 .../components/viewer/FlightDynamicsTab.tsx   |  60 ++++++-----
 .../components/viewer/FlightProfileModal.tsx  |  24 ++---
 .../src/components/viewer/FullFlightTab.tsx   |  26 ++---
 .../src/components/viewer/InspectorPanel.tsx  |  18 ++--
 .../src/components/viewer/MaterialWarning.tsx |   2 +-
 .../src/components/viewer/ModelPicker.tsx     |  54 +++++-----
 .../components/viewer/MotorCurvesModal.tsx    |  20 ++--
 .../src/components/viewer/MotorPicker.tsx     |  26 ++---
 .../src/components/viewer/PartList.tsx        |  42 ++++----
 .../src/components/viewer/PropertiesPanel.tsx |  40 +++----
 .../components/viewer/ResizableSidebar.tsx    |   4 +-
 .../frontend/src/components/viewer/Row.tsx    |   4 +-
 .../src/components/viewer/StabilityPanel.tsx  |  82 +++++++-------
 .../src/components/viewer/chartTheme.ts       |  34 +++---
 star-openrocket/frontend/src/index.css        |  15 +--
 .../frontend/src/lib/palette.test.ts          | 100 ++++++++++++++++++
 .../src/recovery/components/chartTheme.ts     |   2 +-
 .../components/corners/CornersPanel.tsx       |   2 +-
 .../crosscheck/CrosscheckAssumptions.tsx      |   4 +-
 .../components/crosscheck/CrosscheckChart.tsx |   4 +-
 .../components/crosscheck/CrosscheckPanel.tsx |   4 +-
 .../components/recovery/DeviceList.tsx        |   2 +-
 .../components/recovery/InputForms.tsx        |   2 +-
 .../components/recovery/ResultsPanel.tsx      |   4 +-
 .../recovery/components/study/AxisEditor.tsx  |   4 +-
 .../recovery/components/study/StudyPanel.tsx  |   2 +-
 .../frontend/src/recovery/components/ui.tsx   |  10 +-
 33 files changed, 403 insertions(+), 282 deletions(-)
 create mode 100644 star-openrocket/frontend/src/lib/palette.test.ts

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index 9bc6c84e3..b5ff977a0 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -582,9 +582,9 @@ export default function App() {
 
   if (error && !manifest) {
     return (
-      <div className="flex h-screen items-center justify-center bg-slate-950 p-8 text-slate-300">
-        <div className="max-w-xl rounded border border-slate-700 bg-slate-900 p-6">
-          <h1 className="mb-2 text-lg font-semibold text-slate-100">Nothing to show</h1>
+      <div className="flex h-screen items-center justify-center bg-[var(--color-bg-primary)] p-8 text-[var(--color-text-secondary)]">
+        <div className="max-w-xl rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] p-6">
+          <h1 className="mb-2 text-lg font-semibold text-[var(--color-text-primary)]">Nothing to show</h1>
           <p className="text-sm whitespace-pre-wrap">{error}</p>
           {/* The picker lives in the header, which does not exist yet on a
               fresh install -- so it is repeated here, otherwise there would be
@@ -607,30 +607,30 @@ export default function App() {
   // the user can pick a model or switch designs -- the body shows a prompt instead.
   if (modelId && !manifest) {
     return (
-      <div className="flex h-screen items-center justify-center bg-slate-950 text-slate-400">
+      <div className="flex h-screen items-center justify-center bg-[var(--color-bg-primary)] text-[var(--color-text-muted)]">
         Loading…
       </div>
     )
   }
 
   return (
-    <div className="flex h-screen flex-col bg-slate-950 text-slate-100">
-      <header className="flex flex-col border-b border-slate-700">
-        <div className="flex flex-wrap items-center gap-3 px-4 py-4">
+    <div className="flex h-screen flex-col bg-[var(--color-bg-primary)] text-[var(--color-text-primary)]">
+      <header className="flex flex-col border-b border-[var(--color-border)]">
+        <div className="flex flex-wrap items-center gap-3 px-4 py-4 sm:px-6 lg:px-8">
         {/* STAR wordmark, then a divider, then the app title -- mirrors the
             recovery calculator's header. */}
         <img src={starWordmark} alt="STAR" className="h-14 w-auto" />
-        <div className="h-9 w-px bg-slate-700" />
+        <div className="h-9 w-px bg-[var(--color-bg-secondary)]" />
         {/* Fixed title. What is loaded is the picker's job to say, and it
             already does -- naming it twice just made the header noisy. */}
         <h1 className="text-xl font-bold">STAR OpenRocket</h1>
 
-        <nav className="flex items-center gap-1 rounded-lg border border-slate-700 bg-slate-900/60 p-1 text-sm">
+        <nav className="flex items-center gap-1 rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-secondary)]/60 p-1 text-sm">
           {(['cad', 'environment', 'flight', 'recovery', 'fullflight', 'units'] as const).map((tab) => (
             <button
               key={tab}
               onClick={() => setActiveTab(tab)}
-              className={`rounded px-3 py-1 font-medium ${activeTab === tab ? 'bg-cyan-600 text-white' : 'text-slate-300 hover:bg-slate-800'}`}
+              className={`rounded px-3 py-1 font-medium ${activeTab === tab ? 'bg-[var(--color-accent)] text-white' : 'text-[var(--color-text-secondary)] hover:bg-[var(--color-bg-tertiary)]'}`}
             >
               {tab === 'cad' ? 'CAD & Stability'
                 : tab === 'environment' ? 'Environment'
@@ -654,7 +654,7 @@ export default function App() {
           disabled={!editable}
         />
 
-        <label className="ml-auto flex items-center gap-2 text-sm text-slate-300">
+        <label className="ml-auto flex items-center gap-2 text-xs text-[var(--color-text-secondary)]">
           Opacity
           <input
             type="range"
@@ -663,11 +663,11 @@ export default function App() {
             step={0.05}
             value={opacity}
             onChange={(event) => setOpacity(Number(event.target.value))}
-            className="accent-cyan-400"
+            className="accent-[var(--color-accent)]"
           />
         </label>
 
-        <label className="flex items-center gap-2 text-sm text-slate-300">
+        <label className="flex items-center gap-2 text-sm text-[var(--color-text-secondary)]">
           <input
             type="checkbox"
             checked={showAssemblyCentroid}
@@ -679,15 +679,17 @@ export default function App() {
         </div>
 
         {/* Versioned designs, as a full-width strip at the bottom of the header. */}
-        <div className="border-t border-slate-800 px-4 py-1.5">
+        <div className="border-t border-[var(--color-border)] px-4 py-1.5 sm:px-6 lg:px-8">
           <ConfigVersions config={config} onRestore={handleRestore}
             onEditableChange={setEditable} inline />
         </div>
       </header>
 
       {activeTab === 'units' ? (
-        <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)] px-4 py-6 sm:px-6 lg:px-8">
-          <UnitsPanel />
+        <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
+          <div className="mx-auto max-w-[1800px] px-4 py-6 sm:px-6 lg:px-8">
+            <UnitsPanel />
+          </div>
         </div>
       ) : (
         <ReadOnlyProvider readOnly={!editable}>
@@ -714,7 +716,7 @@ export default function App() {
           onResult={setFlightDynResult}
         />
       ) : !manifest || !modelId ? (
-        <div className="flex flex-1 items-center justify-center p-8 text-center text-slate-400">
+        <div className="flex flex-1 items-center justify-center p-8 text-center text-[var(--color-text-muted)]">
           Select or build a model in the header to begin — this design has no model yet.
         </div>
       ) : (
@@ -759,7 +761,7 @@ export default function App() {
             motorRefFace={motorSel?.refFace ?? null}
           />
 
-          <div className="pointer-events-none absolute bottom-3 right-4 text-right text-xs text-slate-500">
+          <div className="pointer-events-none absolute bottom-3 right-4 text-right text-xs text-[var(--color-text-muted)]">
             <div>
               Onshape total {q(manifest.totals.assemblyMass, 'mass')} · CM z{' '}
               {q(manifest.totals.assemblyCentroid[2], 'length')}
diff --git a/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx b/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx
index a308cf560..29d261a81 100644
--- a/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx
+++ b/star-openrocket/frontend/src/components/environment/EnvironmentTab.tsx
@@ -139,7 +139,7 @@ export function EnvironmentTab({ recovery: ui, onChange }: {
                               options={tags.map((t) => ({ value: t.id, label: t.label }))} />
                     </Field>
                     {siteShowsMonth ? (
-                      <p className="font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]">
+                      <p className="text-xs leading-relaxed text-[var(--color-text-secondary)]">
                         Month: {monthName(month)} — from the Site card above.
                       </p>
                     ) : (
diff --git a/star-openrocket/frontend/src/components/ui.tsx b/star-openrocket/frontend/src/components/ui.tsx
index eb181d495..6e002f5a4 100644
--- a/star-openrocket/frontend/src/components/ui.tsx
+++ b/star-openrocket/frontend/src/components/ui.tsx
@@ -1,18 +1,30 @@
 /**
- * Small shared UI primitives, slate-palette to match the viewer.
+ * Small shared UI primitives.
  *
- * The modal shell is the design tools' shared one (`@stardesign-ui`) rather
- * than a fourth copy of the same dialog; it is themed by the same
- * `--color-*` custom properties index.css already defines. `Button` stays
- * local because its palette is this app's, but it consults the same read-only
- * context as the other tools' buttons do.
+ * Both of them now come from `@stardesign-ui`, the design tools' shared UI:
+ * the modal shell verbatim, and `Button` as a thin wrapper that adds this app's
+ * read-only gating on top of the shared variant classes. What used to live here
+ * was a fourth hand-maintained copy of the same four button styles, in a
+ * different palette -- which is how the header ended up showing two accents at
+ * once, the viewer's cyan on the tab bar and the shared blue on Take/Change.
+ *
+ * The wrapper stays because the gating is this app's own: `@stardesign-ui`
+ * deliberately does not enforce read-only, since the editable surfaces have
+ * nothing in common between the tools (see its README).
  */
 
 import type { ReactNode } from 'react'
 
 // The dialog shell is shared with the other design tools.
 export { Modal } from '@stardesign-ui'
-import { useReadOnly } from '@stardesign-ui'
+import { btn, primaryBtn, ghostBtn, dangerBtn, useReadOnly } from '@stardesign-ui'
+
+const VARIANTS = {
+  primary: primaryBtn,
+  secondary: btn,
+  ghost: ghostBtn,
+  danger: dangerBtn,
+} as const
 
 export function Button({
   onClick,
@@ -24,7 +36,7 @@ export function Button({
 }: {
   onClick: () => void
   children: ReactNode
-  variant?: 'primary' | 'secondary' | 'ghost' | 'danger'
+  variant?: keyof typeof VARIANTS
   disabled?: boolean
   title?: string
   /**
@@ -38,19 +50,13 @@ export function Button({
 }) {
   const readOnly = useReadOnly()
   const disabled = ownDisabled || (!action && readOnly)
-  const styles = {
-    primary: 'bg-cyan-600 text-white hover:bg-cyan-500 border-transparent',
-    secondary: 'border-slate-600 text-slate-100 hover:border-slate-400',
-    ghost: 'border-transparent text-slate-300 hover:text-slate-100',
-    danger: 'border-red-500/40 text-red-300 hover:bg-red-500/10',
-  }[variant]
   return (
     <button
       type="button"
       onClick={onClick}
       disabled={disabled}
       title={title}
-      className={`rounded border px-3 py-1.5 text-xs font-medium transition-colors disabled:cursor-not-allowed disabled:opacity-40 ${styles}`}
+      className={`${VARIANTS[variant]} disabled:cursor-not-allowed`}
     >
       {children}
     </button>
diff --git a/star-openrocket/frontend/src/components/units/UnitsPanel.tsx b/star-openrocket/frontend/src/components/units/UnitsPanel.tsx
index 07c9e92b6..50586382f 100644
--- a/star-openrocket/frontend/src/components/units/UnitsPanel.tsx
+++ b/star-openrocket/frontend/src/components/units/UnitsPanel.tsx
@@ -145,7 +145,7 @@ function PrecisionGroup() {
               className="h-3.5 w-0.5 shrink-0 rounded-full bg-[var(--color-accent)]" />
         Precision
       </h3>
-      <p className="font-prose mb-3 text-xs text-[var(--color-text-muted)]">
+      <p className="mb-3 text-xs text-[var(--color-text-muted)]">
         Bounds, not targets - a number that is naturally coarser stays coarser,
         and the minimum wins where the two disagree.
       </p>
diff --git a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
index 9ceca874f..2ab3443c9 100644
--- a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
+++ b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
@@ -24,7 +24,7 @@ import { Button, Modal } from '../ui'
 import * as api from '../../api/documents'
 import { designApi, keyOf, refOf } from '../../api/documents'
 import type { DocMeta, DocRef, MicroVersion, ReleaseVersion } from '../../api/documents'
-import { ChangeModal, CheckoutControl, useCheckout } from '@stardesign-ui'
+import { btn, ChangeModal, CheckoutControl, useCheckout } from '@stardesign-ui'
 
 // v2 because the remembered design is now (owner, id): a shared design is not
 // identified by its id alone. A v1 value is a bare id, which was always one of
@@ -431,8 +431,6 @@ export function ConfigVersions({ config, onRestore, onEditableChange, inline = f
     })
   }
 
-  const btn = 'inline-flex items-center gap-1 rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2.5 py-1 text-xs font-medium text-[var(--color-text-primary)] transition-colors hover:bg-[var(--color-bg-tertiary)] disabled:opacity-40'
-
   return (
     <div className={inline ? 'relative' : 'relative bg-[var(--color-bg-secondary)]'}>
       <div className={inline
@@ -480,7 +478,7 @@ export function ConfigVersions({ config, onRestore, onEditableChange, inline = f
         <button
           onClick={() => { setShowRelease(true); setRelLabel(nextLabel(releases)); setRelStatus('idle'); setRelError('') }}
           disabled={!active}
-          className="inline-flex items-center gap-1 rounded border border-emerald-600/40 bg-emerald-600/10 px-2.5 py-1 text-xs font-medium text-emerald-600 transition-colors hover:bg-emerald-600/20 disabled:opacity-40 dark:text-emerald-400"
+          className="inline-flex items-center gap-1 rounded border border-emerald-600/40 bg-emerald-600/10 px-2.5 py-1 text-xs font-medium text-emerald-400 transition-colors hover:bg-emerald-600/20 disabled:opacity-40"
           title="Publish an immutable, named version (e.g. 0.1)"
         >
           Release
@@ -538,7 +536,7 @@ export function ConfigVersions({ config, onRestore, onEditableChange, inline = f
               {releases.map(r => (
                 <button key={r.label} onClick={() => restoreRelease(r)} disabled={restoring === `rel:${r.label}`}
                   className="mb-1 flex w-full items-center gap-2 rounded px-2 py-1.5 text-left hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50">
-                  <span className="shrink-0 rounded border border-emerald-600/40 bg-emerald-600/10 px-1.5 py-0.5 text-2xs font-semibold text-emerald-600 dark:text-emerald-400">{r.label}</span>
+                  <span className="shrink-0 rounded border border-emerald-600/40 bg-emerald-600/10 px-1.5 py-0.5 text-2xs font-semibold text-emerald-400">{r.label}</span>
                   <span className="flex-1 text-2xs text-[var(--color-text-muted)]">{restoring === `rel:${r.label}` ? 'Restoring…' : relativeTime(r.savedAt)}</span>
                 </button>
               ))}
diff --git a/star-openrocket/frontend/src/components/viewer/ContextMenu.tsx b/star-openrocket/frontend/src/components/viewer/ContextMenu.tsx
index 51eff2717..f376c9023 100644
--- a/star-openrocket/frontend/src/components/viewer/ContextMenu.tsx
+++ b/star-openrocket/frontend/src/components/viewer/ContextMenu.tsx
@@ -65,7 +65,7 @@ export function ContextMenu({ x, y, items, onClose }: Props) {
       ref={ref}
       role="menu"
       style={{ left: position.left, top: position.top }}
-      className="fixed z-50 min-w-44 rounded border border-slate-600 bg-slate-800 py-1 text-sm shadow-xl"
+      className="fixed z-50 min-w-44 rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)] py-1 text-sm shadow-xl"
       onContextMenu={(event) => event.preventDefault()}
     >
       {items.map((item, index) => (
@@ -80,10 +80,10 @@ export function ContextMenu({ x, y, items, onClose }: Props) {
           }}
           className={`block w-full px-3 py-1.5 text-left ${
             item.disabled
-              ? 'cursor-default text-slate-500'
+              ? 'cursor-default text-[var(--color-text-muted)]'
               : item.danger
-                ? 'text-amber-300 hover:bg-slate-700'
-                : 'text-slate-200 hover:bg-slate-700'
+                ? 'text-amber-300 hover:bg-[var(--color-bg-tertiary)]'
+                : 'text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
           }`}
         >
           {item.label}
diff --git a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 4c36b9265..69d58ed0c 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -57,10 +57,10 @@ const G = 9.80665
 
 export function Tile({ label, value, sub, warn }: { label: string; value: string; sub?: string; warn?: boolean }) {
   return (
-    <div className={`rounded-lg border px-3 py-2 ${warn ? 'border-rose-500/40 bg-rose-500/10' : 'border-slate-700 bg-slate-900/60'}`}>
-      <div className="text-2xs uppercase tracking-wide text-slate-300">{label}</div>
-      <div className={`text-lg font-semibold ${warn ? 'text-rose-300' : 'text-slate-100'}`}>{value}</div>
-      {sub && <div className="text-2xs text-slate-400">{sub}</div>}
+    <div className={`rounded-lg border px-3 py-2 ${warn ? 'border-rose-500/40 bg-rose-500/10' : 'border-[var(--color-border)] bg-[var(--color-bg-secondary)]/60'}`}>
+      <div className="text-2xs uppercase tracking-wide text-[var(--color-text-secondary)]">{label}</div>
+      <div className={`text-lg font-semibold ${warn ? 'text-rose-300' : 'text-[var(--color-text-primary)]'}`}>{value}</div>
+      {sub && <div className="text-2xs text-[var(--color-text-muted)]">{sub}</div>}
     </div>
   )
 }
@@ -85,19 +85,19 @@ export function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }:
   }, [expanded])
 
   return (
-    <div className={`relative flex flex-col rounded-lg border border-slate-700 bg-slate-900/40 p-3 ${heightClass}`}>
+    <div className={`relative flex flex-col rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-secondary)]/40 p-3 ${heightClass}`}>
       <button
         type="button"
         onClick={() => setExpanded(true)}
         title="Expand"
-        className="absolute right-2 top-2 z-10 rounded p-1 text-slate-400 hover:bg-slate-800 hover:text-slate-100"
+        className="absolute right-2 top-2 z-10 rounded p-1 text-[var(--color-text-muted)] hover:bg-[var(--color-bg-tertiary)] hover:text-[var(--color-text-primary)]"
       >
         <ExpandIcon />
       </button>
       {(title || hint) && (
         <div className="mb-1 pr-8">
-          {title && <div className="text-sm font-semibold text-slate-200">{title}</div>}
-          {hint && <div className="text-2xs leading-tight text-slate-400">{hint}</div>}
+          {title && <div className="text-xs font-medium text-[var(--color-text-primary)]">{title}</div>}
+          {hint && <div className="text-2xs leading-tight text-[var(--color-text-muted)]">{hint}</div>}
         </div>
       )}
       <div className="min-h-0 flex-1">{children}</div>
@@ -109,18 +109,18 @@ export function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }:
             onClick={() => setExpanded(false)}
           >
             <div
-              className="flex h-[min(940px,96vh)] w-[min(1500px,97vw)] flex-col rounded-lg border border-slate-700 bg-slate-900 p-4 shadow-2xl"
+              className="flex h-[min(940px,96vh)] w-[min(1500px,97vw)] flex-col rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-secondary)] p-4 shadow-2xl"
               onClick={(e) => e.stopPropagation()}
             >
               <div className="mb-2 flex items-start justify-between gap-4">
                 <div>
-                  {title && <div className="text-base font-semibold text-slate-100">{title}</div>}
-                  {hint && <div className="text-xs text-slate-400">{hint}</div>}
+                  {title && <div className="text-base font-semibold text-[var(--color-text-primary)]">{title}</div>}
+                  {hint && <div className="text-xs text-[var(--color-text-muted)]">{hint}</div>}
                 </div>
                 <button
                   type="button"
                   onClick={() => setExpanded(false)}
-                  className="rounded bg-slate-700 px-3 py-1 text-sm text-slate-200 hover:bg-slate-600"
+                  className="rounded bg-[var(--color-bg-secondary)] px-3 py-1 text-sm text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
                 >
                   Close
                 </button>
@@ -293,14 +293,15 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
   ].filter((x): x is { m: number; label: string; t: number } => x.t != null)
 
   return (
-    <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
+    <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
+      <div className="mx-auto flex max-w-[1800px] flex-col px-4 py-4 sm:px-6 lg:px-8">
       {/* Controls */}
-      <div className="mb-3 flex flex-wrap items-end gap-3 rounded-lg border border-slate-700 bg-slate-900/60 p-3">
+      <div className="mb-3 flex flex-wrap items-end gap-3 rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-secondary)]/60 p-3">
         <Field label="Rail angle (° from horiz, 90=up)" value={inclination} set={(v) => onFlightChange({ inclination: v })} min={0} max={90} />
         <Field label="Heading (° from N)" value={heading} set={(v) => onFlightChange({ heading: v })} min={0} max={360} />
-        <label className="flex flex-col text-xs text-slate-300">
+        <label className="flex flex-col text-xs text-[var(--color-text-secondary)]">
           CP model
-          <select value={cpModel} disabled={readOnly} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100 disabled:cursor-not-allowed disabled:border-slate-800 disabled:text-slate-500">
+          <select value={cpModel} disabled={readOnly} onChange={(e) => onFlightChange({ cpModel: e.target.value as FlightParams['cpModel'] })} className="mt-1 rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)] px-2 py-1 text-sm text-[var(--color-text-primary)] disabled:cursor-not-allowed disabled:border-[var(--color-border)] disabled:text-[var(--color-text-muted)]">
             <option value="both">Both (compare)</option>
             <option value="ours">Ours (CAD Barrowman)</option>
             <option value="rocketpy">RocketPy native</option>
@@ -309,19 +310,19 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
         <button
           onClick={run}
           disabled={busy || !modelId || !motorSel}
-          className="ml-auto rounded bg-cyan-600 px-4 py-2 text-sm font-semibold text-white enabled:hover:bg-cyan-500 disabled:opacity-40"
+          className="ml-auto rounded bg-[var(--color-accent)] px-4 py-2 text-xs font-medium text-white enabled:hover:bg-[var(--color-accent-hover)] disabled:opacity-40"
         >
           {busy ? 'Simulating…' : 'Run flight'}
         </button>
       </div>
-      <p className="mb-3 text-2xs text-slate-400">
+      <p className="mb-3 text-2xs text-[var(--color-text-muted)]">
         Launch site: Friends of Amateur Rocketry (FAR), 630 m — fixed. Wind and the pad
-        atmosphere come from the <span className="font-semibold text-slate-200">Environment</span> tab,
+        atmosphere come from the <span className="font-medium text-[var(--color-text-primary)]">Environment</span> tab,
         so this ascent and the recovery descent fly through the same air.
       </p>
 
-      {!motorSel && <p className="text-sm text-amber-300">Select a motor in the CAD tab first — a flight needs one.</p>}
-      {error && <p className="text-sm text-rose-400">{error}</p>}
+      {!motorSel && <p className="text-xs text-amber-300">Select a motor in the CAD tab first — a flight needs one.</p>}
+      {error && <p className="text-xs text-rose-400">{error}</p>}
 
       {result && (
         <>
@@ -345,11 +346,11 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
 
           {/* Full-width overlay: compare any time series on a shared time axis. */}
           <div className="mb-2">
-            <h3 className="text-base font-semibold text-slate-100">Compare series</h3>
-            <p className="text-2xs text-slate-400">Overlay any time series on the same time axis — each gets its own colored Y axis. Dashed guides mark the transonic and supersonic crossings.</p>
+            <h3 className="text-base font-semibold text-[var(--color-text-primary)]">Compare series</h3>
+            <p className="text-2xs text-[var(--color-text-muted)]">Overlay any time series on the same time axis — each gets its own colored Y axis. Dashed guides mark the transonic and supersonic crossings.</p>
           </div>
           <div className="mb-5">
-            <div className="mb-2 flex flex-wrap gap-x-4 gap-y-1 rounded-lg border border-slate-700 bg-slate-900/40 px-3 py-2">
+            <div className="mb-2 flex flex-wrap gap-x-4 gap-y-1 rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-secondary)]/40 px-3 py-2">
               {COMPARE_SERIES.map((d) => (
                 <label key={d.key} className="flex cursor-pointer items-center gap-1.5 text-xs">
                   <input type="checkbox" checked={compare.has(d.key)} onChange={() => toggleCompare(d.key)} style={{ accentColor: d.color }} />
@@ -359,7 +360,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
             </div>
             <Panel heightClass="h-[460px]">
               {compareSeries.length === 0 ? (
-                <div className="flex h-full min-h-[240px] items-center justify-center text-xs text-slate-400">Select one or more series to plot.</div>
+                <div className="flex h-full min-h-[240px] items-center justify-center text-xs text-[var(--color-text-muted)]">Select one or more series to plot.</div>
               ) : (
                 <ResponsiveContainer width="100%" height="100%">
                   <ComposedChart data={compareData} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
@@ -384,7 +385,7 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
 
           {/* Other plots */}
           <div className="mb-2">
-            <h3 className="text-base font-semibold text-slate-100">Other plots</h3>
+            <h3 className="text-base font-semibold text-[var(--color-text-primary)]">Other plots</h3>
           </div>
           <div className="grid items-start gap-3 lg:grid-cols-2">
             {/* Square so equal East/North scales read as true distances. */}
@@ -431,12 +432,13 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
             </div>
           </div>
 
-          <div className="mt-3 rounded border border-slate-800 bg-slate-900/40 px-3 py-2 text-2xs text-slate-400">
+          <div className="mt-3 rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)]/40 px-3 py-2 text-2xs text-[var(--color-text-muted)]">
             Approximations in this run: {result.approximations.join(' · ')}. Stability outputs are exact;
             apogee / max-Q depend on the drag model. See FUTURE_IMPROVEMENTS.md.
           </div>
         </>
       )}
+      </div>
     </div>
   )
 }
@@ -445,7 +447,7 @@ function Field({ label, value, set, min, max, step = 1 }: { label: string; value
   // Every use of this writes a flight parameter, which is part of the design.
   const disabled = useDisabled()
   return (
-    <label className="flex flex-col text-xs text-slate-300">
+    <label className="flex flex-col text-xs text-[var(--color-text-secondary)]">
       {label}
       <input
         type="number"
@@ -455,7 +457,7 @@ function Field({ label, value, set, min, max, step = 1 }: { label: string; value
         step={step}
         disabled={disabled}
         onChange={(e) => set(Number(e.target.value))}
-        className="mt-1 w-24 rounded border border-slate-600 bg-slate-800 px-2 py-1 text-sm text-slate-100 disabled:cursor-not-allowed disabled:border-slate-800 disabled:text-slate-500"
+        className="mt-1 w-24 rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)] px-2 py-1 text-sm text-[var(--color-text-primary)] disabled:cursor-not-allowed disabled:border-[var(--color-border)] disabled:text-[var(--color-text-muted)]"
       />
     </label>
   )
diff --git a/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
index d2a1f8976..026e0ecc7 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
@@ -43,10 +43,10 @@ const G = 9.80665
 
 function Tile({ label, value, sub }: { label: string; value: string; sub?: string }) {
   return (
-    <div className="rounded border border-slate-700 bg-slate-800/60 px-3 py-2">
-      <div className="text-2xs uppercase tracking-wide text-slate-400">{label}</div>
-      <div className="text-base font-semibold tabular-nums text-slate-100">{value}</div>
-      {sub && <div className="text-2xs text-slate-500">{sub}</div>}
+    <div className="rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)]/60 px-3 py-2">
+      <div className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">{label}</div>
+      <div className="text-base font-semibold tabular-nums text-[var(--color-text-primary)]">{value}</div>
+      {sub && <div className="text-2xs text-[var(--color-text-muted)]">{sub}</div>}
     </div>
   )
 }
@@ -70,29 +70,29 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
 
   return createPortal(
     <div
-      className="fixed inset-0 z-50 flex items-center justify-center bg-black/60 p-4"
+      className="fixed inset-0 z-50 flex items-center justify-center bg-black/50 p-4"
       onClick={onClose}
     >
       <div
-        className="flex h-[min(940px,96vh)] w-[min(1500px,97vw)] flex-col rounded-lg border border-slate-700 bg-slate-900 shadow-2xl"
+        className="flex h-[min(940px,96vh)] w-[min(1500px,97vw)] flex-col rounded-xl border border-[var(--color-border)] bg-[var(--color-bg-secondary)] shadow-2xl"
         onClick={(e) => e.stopPropagation()}
       >
-        <div className="flex items-center justify-between border-b border-slate-700 px-4 py-2.5">
-          <h2 className="text-sm font-semibold text-slate-100">
+        <div className="flex items-center justify-between border-b border-[var(--color-border)] px-4 py-2.5">
+          <h2 className="text-sm font-semibold text-[var(--color-text-primary)]">
             Flight profile{result ? ` — ${result.motor.name}` : ''}
           </h2>
           <button
             type="button"
             onClick={onClose}
-            className="rounded bg-slate-700 px-2 py-1 text-xs text-slate-200 hover:bg-slate-600"
+            className="rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
           >
             Close
           </button>
         </div>
 
         <div className="flex min-h-0 flex-1 flex-col gap-3 p-4">
-          {busy && <p className="text-sm text-slate-400">Simulating flight…</p>}
-          {error && <p className="text-sm text-rose-400">{error}</p>}
+          {busy && <p className="text-xs text-[var(--color-text-muted)]">Simulating flight…</p>}
+          {error && <p className="text-xs text-rose-400">{error}</p>}
 
           {result && !busy && !error && (
             <>
@@ -164,7 +164,7 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
                 </ResponsiveContainer>
               </div>
 
-              <p className="text-2xs text-slate-500">
+              <p className="text-2xs text-[var(--color-text-muted)]">
                 Drag is not modelled yet — apogee and peak velocity are upper bounds. Static margin
                 walks from the wet value at ignition to the dry value at burnout. Descent is handled
                 by the recovery calculator.
diff --git a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
index 7e00efbca..b83267cc0 100644
--- a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
@@ -43,7 +43,7 @@ const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
 // with -- the drogue is sky, the main pink.
 const EV = {
   burnout: '#eab308', // yellow-500
-  apogee: REFERENCE, // slate-300
+  apogee: REFERENCE, // --color-text-secondary
   drogue: '#38bdf8', // sky-400
   main: '#f472b6', // pink-400
 }
@@ -232,8 +232,8 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
 
   if (!result) {
     return (
-      <div className="flex flex-1 items-center justify-center p-8 text-center text-slate-400">
-        Run a flight in the <span className="mx-1 font-semibold text-slate-200">Flight Dynamics</span>
+      <div className="flex flex-1 items-center justify-center p-8 text-center text-[var(--color-text-muted)]">
+        Run a flight in the <span className="mx-1 font-medium text-[var(--color-text-primary)]">Flight Dynamics</span>
         tab first — the full flight glues that ascent onto the recovery descent.
       </div>
     )
@@ -244,10 +244,11 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
   const yTitle = (d: FSeries) => `${d.name} (${lab(d.kind)})`
 
   return (
-    <div className="flex min-h-0 flex-1 flex-col overflow-y-auto bg-slate-950 p-4">
+    <div className="min-h-0 flex-1 overflow-y-auto bg-[var(--color-bg-primary)]">
+      <div className="mx-auto flex max-w-[1800px] flex-col px-4 py-4 sm:px-6 lg:px-8">
       <div className="mb-2">
-        <h3 className="text-base font-semibold text-slate-100">Full flight — launch to landing</h3>
-        <p className="text-2xs text-slate-400">
+        <h3 className="text-base font-semibold text-[var(--color-text-primary)]">Full flight — launch to landing</h3>
+        <p className="text-2xs text-[var(--color-text-muted)]">
           Ascent from Flight Dynamics glued to a recovery descent seeded by it (apogee,
           CAD mass, lateral velocity at apogee). Parachutes, wind and site come from the
           Recovery tab.{running ? ' · updating…' : ''}{error ? ` · ${error}` : ''}
@@ -267,15 +268,15 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
 
       {/* Compare series on one shared time axis */}
       <div className="mb-2">
-        <h3 className="text-base font-semibold text-slate-100">Compare series</h3>
-        <p className="text-2xs text-slate-400">
+        <h3 className="text-base font-semibold text-[var(--color-text-primary)]">Compare series</h3>
+        <p className="text-2xs text-[var(--color-text-muted)]">
           Overlay altitude, velocity and acceleration across the whole flight on one time
           axis — each gets its own colored Y axis. Dashed guides mark burnout, apogee and
           each parachute deployment.
         </p>
       </div>
       <div className="mb-5">
-        <div className="mb-2 flex flex-wrap gap-x-4 gap-y-1 rounded-lg border border-slate-700 bg-slate-900/40 px-3 py-2">
+        <div className="mb-2 flex flex-wrap gap-x-4 gap-y-1 rounded-lg border border-[var(--color-border)] bg-[var(--color-bg-secondary)]/40 px-3 py-2">
           {FULL_SERIES.map((d) => (
             <label key={d.key} className="flex cursor-pointer items-center gap-1.5 text-xs">
               <input type="checkbox" checked={compare.has(d.key)} onChange={() => toggle(d.key)} style={{ accentColor: d.color }} />
@@ -286,7 +287,7 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
         <Panel heightClass="h-[460px]"
                hint="Whole flight vs time. Ascent then descent; the vertical guides are burnout, apogee and parachute deployments.">
           {selected.length === 0 ? (
-            <div className="flex h-full min-h-[240px] items-center justify-center text-xs text-slate-400">Select one or more series to plot.</div>
+            <div className="flex h-full min-h-[240px] items-center justify-center text-xs text-[var(--color-text-muted)]">Select one or more series to plot.</div>
           ) : (
             <ResponsiveContainer width="100%" height="100%">
               <ComposedChart data={glued.rows} margin={{ top: 24, right: 16, bottom: 24, left: 16 }}>
@@ -321,7 +322,7 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
 
       {/* Ground track */}
       <div className="mb-2">
-        <h3 className="text-base font-semibold text-slate-100">Ground track — launch to landing</h3>
+        <h3 className="text-base font-semibold text-[var(--color-text-primary)]">Ground track — launch to landing</h3>
       </div>
       <div className="grid items-start gap-3 lg:grid-cols-2">
         {/* Square so equal East/North scales read as true distances. */}
@@ -332,6 +333,7 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
           </Panel>
         </div>
       </div>
+      </div>
     </div>
   )
 }
@@ -350,7 +352,7 @@ function FullGroundTrack({ track, lab, dec }: {
   dec: (v: number, d: number) => string
 }) {
   if (track.pts.length < 2) {
-    return <div className="flex h-full items-center justify-center text-xs text-slate-400">No trajectory yet.</div>
+    return <div className="flex h-full items-center justify-center text-xs text-[var(--color-text-muted)]">No trajectory yet.</div>
   }
   // Symmetric ticks about the pad (…-d, -d/2, 0, d/2, d), like Flight Dynamics.
   const dmax = track.domainX[1]
diff --git a/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
index c5a4f7d68..819f1ce16 100644
--- a/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
@@ -61,7 +61,7 @@ export function InspectorPanel({
 
   return (
     <div className="flex h-full flex-col">
-      <div className="flex shrink-0 items-center justify-between border-b border-slate-700 pr-2">
+      <div className="flex shrink-0 items-center justify-between border-b border-[var(--color-border)] pr-2">
         <div className="flex">
           <TabButton active={activeTab === 'properties'} onClick={() => setActiveTab('properties')}>
             Properties
@@ -107,10 +107,10 @@ function TabButton({
     <button
       type="button"
       onClick={onClick}
-      className={`border-b-2 px-3 py-2 text-sm font-semibold ${
+      className={`border-b-2 px-3 py-2 text-xs font-medium ${
         active
-          ? 'border-cyan-400 text-cyan-300'
-          : 'border-transparent text-slate-400 hover:text-slate-200'
+          ? 'border-[var(--color-accent)] text-[var(--color-accent)]'
+          : 'border-transparent text-[var(--color-text-muted)] hover:text-[var(--color-text-primary)]'
       }`}
     >
       {children}
@@ -131,7 +131,7 @@ function PinButton({ pinned, onToggle }: { pinned: boolean; onToggle: () => void
       title={pinned ? 'Panel locked — selecting a part won’t switch tabs' : 'Lock this panel'}
       aria-label={pinned ? 'Unlock panel' : 'Lock panel'}
       className={`rounded p-1 ${
-        pinned ? 'text-cyan-300 hover:text-cyan-200' : 'text-slate-500 hover:text-slate-300'
+        pinned ? 'text-[var(--color-accent)] hover:text-[var(--color-accent-hover)]' : 'text-[var(--color-text-muted)] hover:text-[var(--color-text-secondary)]'
       }`}
     >
       <svg
@@ -162,8 +162,8 @@ function MassSummary({
 }) {
   const { q } = useUnits()
   return (
-    <section className="border-b border-slate-800 p-3 text-sm">
-      <h2 className="mb-2 text-sm font-semibold uppercase tracking-wide text-slate-200">
+    <section className="border-b border-[var(--color-border)] p-3 text-sm">
+      <h2 className="mb-2 text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
         Center of mass — {cm.partCount - cm.masslessCount} of {partCount} parts
       </h2>
       <Row label="Total mass" value={q(cm.mass, 'mass')} />
@@ -175,7 +175,7 @@ function MassSummary({
       )}
 
       {cmAnalysis?.offAxis && (
-        <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
+        <p className="mt-2 border-t border-[var(--color-border)] pt-2 text-xs text-amber-300">
           ⚠ Mass is off-axis by {q(cmAnalysis.radial, 'length')} — the rocket is
           laterally unbalanced. CG should sit on the centreline; check for an asymmetric or
           material-less part.
@@ -183,7 +183,7 @@ function MassSummary({
       )}
 
       {cm.masslessCount > 0 && (
-        <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
+        <p className="mt-2 border-t border-[var(--color-border)] pt-2 text-xs text-amber-300">
           {cm.masslessCount} visible {cm.masslessCount === 1 ? 'part has' : 'parts have'} no mass
           and {cm.masslessCount === 1 ? 'is' : 'are'} not in this figure.
         </p>
diff --git a/star-openrocket/frontend/src/components/viewer/MaterialWarning.tsx b/star-openrocket/frontend/src/components/viewer/MaterialWarning.tsx
index bd7494e26..6b047ac50 100644
--- a/star-openrocket/frontend/src/components/viewer/MaterialWarning.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MaterialWarning.tsx
@@ -28,7 +28,7 @@ export function MaterialWarning({ parts }: Props) {
 
   return (
     <div
-      className={`border-b px-4 py-2 text-sm font-semibold ${
+      className={`border-b px-4 py-2 text-xs font-medium ${
         settled
           ? 'border-emerald-500/40 bg-emerald-500/10 text-emerald-300'
           : 'border-red-500/40 bg-red-500/10 text-red-300'
diff --git a/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx b/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
index fbea7ca19..4f939cd1c 100644
--- a/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
+++ b/star-openrocket/frontend/src/components/viewer/ModelPicker.tsx
@@ -226,18 +226,18 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
         onClick={() => setOpen((value) => !value)}
         disabled={disabled}
         title={disabled ? 'Take the design to change its model' : undefined}
-        className="flex items-center gap-2 rounded border border-slate-600 bg-slate-900 px-2 py-1 text-sm text-slate-200 hover:bg-slate-800 disabled:cursor-not-allowed disabled:opacity-50"
+        className="flex items-center gap-2 rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2 py-1 text-sm text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-50"
       >
         <span className="max-w-56 truncate">{label}</span>
         {current?.assemblyName && (
-          <span className="max-w-40 truncate text-xs text-slate-400">{current.assemblyName}</span>
+          <span className="max-w-40 truncate text-xs text-[var(--color-text-muted)]">{current.assemblyName}</span>
         )}
-        {busy && <span className="text-xs text-cyan-300">building…</span>}
-        <span className="text-slate-500">▾</span>
+        {busy && <span className="text-xs text-[var(--color-accent)]">building…</span>}
+        <span className="text-[var(--color-text-muted)]">▾</span>
       </button>
 
       {open && (
-        <div className="absolute left-0 top-full z-40 mt-1 w-[26rem] rounded border border-slate-600 bg-slate-800 p-3 text-sm shadow-xl">
+        <div className="absolute left-0 top-full z-40 mt-1 w-[26rem] rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)] p-3 text-sm shadow-xl">
           <input
             autoFocus
             value={query}
@@ -248,12 +248,12 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
               if (event.key === 'Enter' && !looksLikeUrl(query)) refreshDocuments()
             }}
             placeholder="Filter cached documents, or paste an Onshape URL"
-            className="w-full rounded border border-slate-600 bg-slate-900 px-2 py-1.5 text-slate-100 placeholder:text-slate-500"
+            className="w-full rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2 py-1.5 text-[var(--color-text-primary)] placeholder:text-[var(--color-text-muted)]"
           />
 
           {looksLikeUrl(query) ? (
             <div className="mt-3">
-              <p className="mb-2 text-xs text-slate-400">
+              <p className="mb-2 text-xs text-[var(--color-text-muted)]">
                 Builds this URL directly. Use this for documents you do not own, or to pin a
                 specific version.
               </p>
@@ -261,7 +261,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
                 type="button"
                 disabled={busy || disabled}
                 onClick={() => launch({ url: query.trim() })}
-                className="rounded bg-cyan-600 px-3 py-1.5 text-white hover:bg-cyan-500 disabled:opacity-50"
+                className="rounded bg-[var(--color-accent)] px-3 py-1.5 text-white hover:bg-[var(--color-accent-hover)] disabled:opacity-50"
               >
                 Build from URL
               </button>
@@ -274,31 +274,31 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
                   setChosen(null)
                   setAssemblies(null)
                 }}
-                className="mb-2 text-xs text-slate-400 hover:text-slate-200"
+                className="mb-2 text-xs text-[var(--color-text-muted)] hover:text-[var(--color-text-primary)]"
               >
                 ‹ back to results
               </button>
               <div className="mb-1 flex items-baseline gap-2">
-                <p className="min-w-0 flex-1 truncate font-semibold text-slate-200">
+                <p className="min-w-0 flex-1 truncate font-medium text-[var(--color-text-primary)]">
                   {chosen.name}
                 </p>
                 <button
                   type="button"
                   onClick={() => loadAssemblies(chosen, true)}
                   title="Re-read this document's tabs from Onshape (1 API call)"
-                  className="shrink-0 text-xs text-slate-400 hover:text-slate-200"
+                  className="shrink-0 text-xs text-[var(--color-text-muted)] hover:text-[var(--color-text-primary)]"
                 >
                   ↻ refresh
                 </button>
               </div>
               {assembliesCachedAt && (
-                <p className="mb-1 text-2xs text-slate-500">
+                <p className="mb-1 text-2xs text-[var(--color-text-muted)]">
                   cached {whenCached(assembliesCachedAt)}
                 </p>
               )}
 
               {assemblies === null ? (
-                <p className="text-xs text-slate-400">Loading assemblies…</p>
+                <p className="text-xs text-[var(--color-text-muted)]">Loading assemblies…</p>
               ) : assemblies.length === 0 ? (
                 <p className="text-xs text-amber-300">
                   This document has no assembly tabs. Only assemblies can be built.
@@ -317,7 +317,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
                             elementId: assembly.elementId,
                           })
                         }
-                        className="block w-full truncate rounded px-2 py-1.5 text-left text-slate-200 hover:bg-slate-700 disabled:opacity-50"
+                        className="block w-full truncate rounded px-2 py-1.5 text-left text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50"
                       >
                         {assembly.name}
                       </button>
@@ -330,7 +330,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
             <div className="mt-3">
               {models.length > 0 && (
                 <>
-                  <p className="mb-1 text-xs font-semibold uppercase tracking-wide text-slate-500">
+                  <p className="mb-1 text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
                     Already built
                   </p>
                   <ul className="mb-3">
@@ -343,12 +343,12 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
                             setOpen(false)
                           }}
                           disabled={disabled}
-                          className={`block w-full truncate rounded px-2 py-1.5 text-left hover:bg-slate-700 disabled:cursor-not-allowed disabled:opacity-50 ${
-                            model.id === modelId ? 'text-cyan-300' : 'text-slate-200'
+                          className={`block w-full truncate rounded px-2 py-1.5 text-left hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-50 ${
+                            model.id === modelId ? 'text-[var(--color-accent)]' : 'text-[var(--color-text-primary)]'
                           }`}
                         >
                           {model.documentName ?? model.id}
-                          <span className="ml-2 text-xs text-slate-500">{model.assemblyName}</span>
+                          <span className="ml-2 text-xs text-[var(--color-text-muted)]">{model.assemblyName}</span>
                         </button>
                       </li>
                     ))}
@@ -357,7 +357,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
               )}
 
               <div className="mb-1 flex items-baseline gap-2">
-                <p className="flex-1 text-xs font-semibold uppercase tracking-wide text-slate-500">
+                <p className="flex-1 text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
                   Documents
                 </p>
                 <button
@@ -365,7 +365,7 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
                   disabled={searching}
                   onClick={refreshDocuments}
                   title="Ask Onshape for documents matching this text (1 API call)"
-                  className="shrink-0 rounded border border-slate-600 px-1.5 py-0.5 text-xs text-slate-300 hover:bg-slate-700 disabled:opacity-50"
+                  className="shrink-0 rounded border border-[var(--color-border)] px-1.5 py-0.5 text-xs text-[var(--color-text-secondary)] hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50"
                 >
                   {searching ? 'searching…' : '↻ search Onshape'}
                 </button>
@@ -373,13 +373,13 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
               {/* Naming the cost is the point: without it, "search Onshape"
                   looks like a slower version of typing rather than the only
                   thing here that spends quota. */}
-              <p className="mb-1 text-2xs text-slate-500">
+              <p className="mb-1 text-2xs text-[var(--color-text-muted)]">
                 Filtering {documents.length} cached {documents.length === 1 ? 'document' : 'documents'}
                 {' · last fetched '}
                 {whenCached(documentsCachedAt)}
               </p>
               {!searching && documents.length === 0 && (
-                <p className="text-xs text-slate-400">
+                <p className="text-xs text-[var(--color-text-muted)]">
                   {documentsCachedAt
                     ? 'Nothing cached matches. Search Onshape to look it up.'
                     : 'No documents cached yet. Search Onshape to fetch some.'}
@@ -391,11 +391,11 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
                     <button
                       type="button"
                       onClick={() => chooseDocument(document)}
-                      className="block w-full truncate rounded px-2 py-1.5 text-left text-slate-200 hover:bg-slate-700"
+                      className="block w-full truncate rounded px-2 py-1.5 text-left text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
                     >
                       {document.name}
                       {document.owner && (
-                        <span className="ml-2 text-xs text-slate-500">{document.owner}</span>
+                        <span className="ml-2 text-xs text-[var(--color-text-muted)]">{document.owner}</span>
                       )}
                     </button>
                   </li>
@@ -407,10 +407,10 @@ export function ModelPicker({ models, modelId, onSelectModel, onBuilt, disabled
           {searchError && <p className="mt-2 text-xs text-amber-300">{searchError}</p>}
 
           {job && (
-            <div className="mt-3 border-t border-slate-700 pt-2">
-              <p className="text-xs text-cyan-300">{job.message}</p>
+            <div className="mt-3 border-t border-[var(--color-border)] pt-2">
+              <p className="text-xs text-[var(--color-accent)]">{job.message}</p>
               {job.log.length > 0 && (
-                <p className="mt-1 truncate text-2xs text-slate-500">
+                <p className="mt-1 truncate text-2xs text-[var(--color-text-muted)]">
                   {job.log[job.log.length - 1]}
                 </p>
               )}
diff --git a/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
index 50a2c0505..f84998fb2 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
@@ -61,27 +61,27 @@ export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Pr
 
   return createPortal(
     <div
-      className="fixed inset-0 z-50 flex items-center justify-center bg-black/60 p-4"
+      className="fixed inset-0 z-50 flex items-center justify-center bg-black/50 p-4"
       onClick={onClose}
     >
       <div
-        className="flex h-[min(760px,92vh)] w-[min(1200px,96vw)] flex-col rounded-lg border border-slate-700 bg-slate-900 shadow-2xl"
+        className="flex h-[min(760px,92vh)] w-[min(1200px,96vw)] flex-col rounded-xl border border-[var(--color-border)] bg-[var(--color-bg-secondary)] shadow-2xl"
         onClick={(e) => e.stopPropagation()}
       >
-        <div className="flex items-center justify-between border-b border-slate-700 px-4 py-2.5">
-          <h2 className="text-sm font-semibold text-slate-100">Motor curves — {title}</h2>
+        <div className="flex items-center justify-between border-b border-[var(--color-border)] px-4 py-2.5">
+          <h2 className="text-sm font-semibold text-[var(--color-text-primary)]">Motor curves — {title}</h2>
           <button
             type="button"
             onClick={onClose}
-            className="rounded bg-slate-700 px-2 py-1 text-xs text-slate-200 hover:bg-slate-600"
+            className="rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
           >
             Close
           </button>
         </div>
 
         <div className="flex min-h-0 flex-1 flex-col gap-3 p-4">
-          {busy && <p className="text-sm text-slate-400">Loading motor data…</p>}
-          {error && <p className="text-sm text-rose-400">{error}</p>}
+          {busy && <p className="text-xs text-[var(--color-text-muted)]">Loading motor data…</p>}
+          {error && <p className="text-xs text-rose-400">{error}</p>}
 
           {sim && !busy && !error && (
             <>
@@ -133,9 +133,9 @@ export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Pr
 
 function Tile({ label, value }: { label: string; value: string }) {
   return (
-    <div className="rounded border border-slate-700 bg-slate-800/60 px-3 py-2">
-      <div className="text-2xs uppercase tracking-wide text-slate-400">{label}</div>
-      <div className="text-base font-semibold tabular-nums text-slate-100">{value}</div>
+    <div className="rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)]/60 px-3 py-2">
+      <div className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">{label}</div>
+      <div className="text-base font-semibold tabular-nums text-[var(--color-text-primary)]">{value}</div>
     </div>
   )
 }
diff --git a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
index 531702cf8..d6af8d5ad 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
@@ -70,7 +70,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
   }, [query, impulseClass])
 
   return (
-    <div className="rounded border border-slate-700 bg-slate-900 p-2">
+    <div className="rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] p-2">
       <div className="mb-2 flex items-center gap-2">
         <input
           ref={inputRef}
@@ -78,12 +78,12 @@ export function MotorPicker({ onSelect, onClose }: Props) {
           value={query}
           onChange={(e) => setQuery(e.target.value)}
           placeholder="Search motors (e.g. Estes C6, AeroTech H128)…"
-          className="w-full rounded border border-slate-700 bg-slate-800 px-2 py-1 text-xs text-slate-100 placeholder:text-slate-500 focus:border-cyan-500 focus:outline-none"
+          className="w-full rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)] px-2 py-1 text-xs text-[var(--color-text-primary)] placeholder:text-[var(--color-text-muted)] focus:border-[var(--color-accent)] focus:outline-none"
         />
         <button
           type="button"
           onClick={onClose}
-          className="rounded bg-slate-700 px-2 py-1 text-xs text-slate-200 hover:bg-slate-600"
+          className="rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
         >
           Close
         </button>
@@ -96,7 +96,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
           type="button"
           onClick={() => setImpulseClass('')}
           className={`rounded px-1.5 py-0.5 text-2xs font-medium ${
-            impulseClass === '' ? 'bg-cyan-600 text-white' : 'bg-slate-800 text-slate-300 hover:bg-slate-700'
+            impulseClass === '' ? 'bg-[var(--color-accent)] text-white' : 'bg-[var(--color-bg-tertiary)] text-[var(--color-text-secondary)] hover:bg-[var(--color-border)]'
           }`}
         >
           All
@@ -107,7 +107,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
             type="button"
             onClick={() => setImpulseClass((cur) => (cur === c ? '' : c))}
             className={`w-6 rounded px-1 py-0.5 text-2xs font-medium ${
-              impulseClass === c ? 'bg-cyan-600 text-white' : 'bg-slate-800 text-slate-300 hover:bg-slate-700'
+              impulseClass === c ? 'bg-[var(--color-accent)] text-white' : 'bg-[var(--color-bg-tertiary)] text-[var(--color-text-secondary)] hover:bg-[var(--color-border)]'
             }`}
           >
             {c}
@@ -118,12 +118,12 @@ export function MotorPicker({ onSelect, onClose }: Props) {
       {!available && (
         <p className="px-1 py-2 text-xs text-amber-300">
           Motor catalog not fetched yet. Run{' '}
-          <code className="rounded bg-slate-800 px-1">python -m backend.motors.fetch</code>.
+          <code className="rounded bg-[var(--color-bg-tertiary)] px-1">python -m backend.motors.fetch</code>.
         </p>
       )}
       {error && <p className="px-1 py-2 text-xs text-rose-400">{error}</p>}
       {available && !error && (
-        <p className="px-1 pb-1 text-2xs text-slate-500">
+        <p className="px-1 pb-1 text-2xs text-[var(--color-text-muted)]">
           {busy
             ? 'Searching…'
             : total > items.length
@@ -136,7 +136,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
           the columns stay aligned; the header is sticky so it stays visible while scrolling. */}
       <div className="max-h-64 overflow-y-auto">
         <div
-          className={`${ROW_GRID} sticky top-0 z-10 border-b border-slate-700 bg-slate-900 px-2 pb-1 pt-0.5 text-2xs font-semibold uppercase tracking-wide text-slate-500`}
+          className={`${ROW_GRID} sticky top-0 z-10 border-b border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2 pb-1 pt-0.5 text-2xs uppercase tracking-wide text-[var(--color-text-muted)]`}
         >
           <span>Motor</span>
           <span>Mfr</span>
@@ -152,15 +152,15 @@ export function MotorPicker({ onSelect, onClose }: Props) {
                 type="button"
                 disabled={!def}
                 onClick={() => def && onSelect(motor, def.simfileId)}
-                className={`${ROW_GRID} w-full rounded px-2 py-1.5 text-left text-xs hover:bg-slate-800 disabled:opacity-40`}
+                className={`${ROW_GRID} w-full rounded px-2 py-1.5 text-left text-xs hover:bg-[var(--color-bg-tertiary)] disabled:opacity-40`}
               >
-                <span className="truncate font-mono text-cyan-300" title={motor.designation}>
+                <span className="truncate font-mono text-[var(--color-accent)]" title={motor.designation}>
                   {motor.designation}
                 </span>
-                <span className="truncate text-slate-400" title={motor.manufacturerAbbrev}>
+                <span className="truncate text-[var(--color-text-muted)]" title={motor.manufacturerAbbrev}>
                   {motor.manufacturerAbbrev}
                 </span>
-                <span className="whitespace-nowrap text-slate-500">
+                <span className="whitespace-nowrap text-[var(--color-text-muted)]">
                   {motor.diameter}×{motor.length}mm
                 </span>
               </button>
@@ -168,7 +168,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
           )
         })}
         {!busy && items.length === 0 && available && !error && (
-          <li className="px-2 py-2 text-xs text-slate-500">No motors match.</li>
+          <li className="px-2 py-2 text-xs text-[var(--color-text-muted)]">No motors match.</li>
         )}
         </ul>
       </div>
diff --git a/star-openrocket/frontend/src/components/viewer/PartList.tsx b/star-openrocket/frontend/src/components/viewer/PartList.tsx
index 6303c3b64..6f8092890 100644
--- a/star-openrocket/frontend/src/components/viewer/PartList.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PartList.tsx
@@ -226,12 +226,12 @@ export function PartList({
 
   return (
     <div className="flex h-full flex-col">
-      <div className="flex items-center justify-between border-b border-slate-700 px-3 py-2">
-        <span className="text-base font-semibold text-slate-200">Parts ({parts.length})</span>
+      <div className="flex items-center justify-between border-b border-[var(--color-border)] px-3 py-2">
+        <span className="text-base font-semibold text-[var(--color-text-primary)]">Parts ({parts.length})</span>
         {hiddenCount > 0 && (
           <button
             type="button"
-            className="rounded border border-slate-600 px-2 py-0.5 text-xs text-amber-300 hover:bg-slate-700"
+            className="rounded border border-[var(--color-border)] px-2 py-0.5 text-xs text-amber-300 hover:bg-[var(--color-bg-tertiary)]"
             onClick={() => onToggle(parts.map((part) => part.key), true)}
           >
             Show {hiddenCount} hidden
@@ -240,11 +240,11 @@ export function PartList({
       </div>
 
       {selectedKeys.size > 0 && (
-        <div className="flex items-center justify-between border-b border-slate-800 bg-slate-900/80 px-3 py-1 text-xs text-cyan-300">
+        <div className="flex items-center justify-between border-b border-[var(--color-border)] bg-[var(--color-bg-secondary)]/80 px-3 py-1 text-xs text-[var(--color-accent)]">
           <span>{selectedKeys.size} selected</span>
           <button
             type="button"
-            className="rounded px-1.5 py-0.5 text-slate-400 hover:bg-slate-700 hover:text-slate-200"
+            className="rounded px-1.5 py-0.5 text-[var(--color-text-muted)] hover:bg-[var(--color-bg-tertiary)] hover:text-[var(--color-text-primary)]"
             onClick={() => {
               onSelect([])
               setAnchorId(null)
@@ -278,7 +278,7 @@ export function PartList({
           const isPartial = isRowPartlySelected(row)
 
           return (
-            <li key={group.name} className="border-b border-slate-800">
+            <li key={group.name} className="border-b border-[var(--color-border)]">
               <div
                 role="button"
                 tabIndex={0}
@@ -298,14 +298,14 @@ export function PartList({
                 onContextMenu={(event) => openMenu(event, row)}
                 onMouseEnter={() => onHover(keys)}
                 onMouseLeave={() => onHover([])}
-                className={`flex cursor-pointer items-center gap-2 px-2 py-2 hover:bg-slate-800/60 focus:outline-none focus-visible:ring-1 focus-visible:ring-inset focus-visible:ring-cyan-400/50 ${
-                  isSelected ? 'bg-cyan-500/15' : isPartial ? 'bg-cyan-500/5' : ''
+                className={`flex cursor-pointer items-center gap-2 px-2 py-2 hover:bg-[var(--color-bg-tertiary)]/60 focus:outline-none focus-visible:ring-1 focus-visible:ring-inset focus-visible:ring-[var(--color-accent)]/50 ${
+                  isSelected ? 'bg-[var(--color-accent)]/15' : isPartial ? 'bg-[var(--color-accent)]/5' : ''
                 }`}
                 title="Left click to expand · Shift or Ctrl click to select several · Right click for options"
               >
                 <span
                   className={`w-5 shrink-0 text-center text-lg leading-none transition-transform ${
-                    hasChildren ? 'text-slate-300' : 'text-transparent'
+                    hasChildren ? 'text-[var(--color-text-secondary)]' : 'text-transparent'
                   } ${isOpen ? 'rotate-90' : ''}`}
                 >
                   {hasChildren ? '›' : ''}
@@ -313,21 +313,21 @@ export function PartList({
                 <span
                   className={`flex-1 truncate ${
                     isHidden
-                      ? 'text-slate-600 line-through'
-                      : STATUS_TEXT[status] || 'text-slate-200'
+                      ? 'text-[var(--color-text-muted)] line-through'
+                      : STATUS_TEXT[status] || 'text-[var(--color-text-primary)]'
                   }`}
                 >
                   {group.name}
                   {hasChildren && (
-                    <span className="ml-1 text-xs text-slate-500">×{group.parts.length}</span>
+                    <span className="ml-1 text-xs text-[var(--color-text-muted)]">×{group.parts.length}</span>
                   )}
                 </span>
                 {shown > 0 && shown < keys.length && (
-                  <span className="shrink-0 text-2xs text-slate-500">{shown}/{keys.length}</span>
+                  <span className="shrink-0 text-2xs text-[var(--color-text-muted)]">{shown}/{keys.length}</span>
                 )}
                 <span
                   className={`shrink-0 tabular-nums text-sm ${
-                    isHidden ? 'text-slate-600' : 'text-slate-400'
+                    isHidden ? 'text-[var(--color-text-muted)]' : 'text-[var(--color-text-muted)]'
                   }`}
                 >
                   {q(groupMass, 'mass')}
@@ -335,7 +335,7 @@ export function PartList({
               </div>
 
               {hasChildren && isOpen && (
-                <ul className="bg-slate-900/40">
+                <ul className="bg-[var(--color-bg-secondary)]/40">
                   {group.parts.map((part) => {
                     const partHidden = !visibleKeys.has(part.key)
                     const partStatus = massStatus(part, overriddenKeys.has(part.key))
@@ -355,29 +355,29 @@ export function PartList({
                           onContextMenu={(event) => openMenu(event, childRow)}
                           onMouseEnter={() => onHover([part.key])}
                           onMouseLeave={() => onHover([])}
-                          className={`flex cursor-pointer items-center gap-2 py-1.5 pl-9 pr-2 text-sm hover:bg-slate-800/60 focus:outline-none focus-visible:ring-1 focus-visible:ring-inset focus-visible:ring-cyan-400/50 ${
-                            selectedKeys.has(part.key) ? 'bg-cyan-500/15' : ''
+                          className={`flex cursor-pointer items-center gap-2 py-1.5 pl-9 pr-2 text-sm hover:bg-[var(--color-bg-tertiary)]/60 focus:outline-none focus-visible:ring-1 focus-visible:ring-inset focus-visible:ring-[var(--color-accent)]/50 ${
+                            selectedKeys.has(part.key) ? 'bg-[var(--color-accent)]/15' : ''
                           }`}
                         >
                           <span
                             className={`flex-1 truncate ${
                               partHidden
-                                ? 'text-slate-600 line-through'
-                                : STATUS_TEXT[partStatus] || 'text-slate-300'
+                                ? 'text-[var(--color-text-muted)] line-through'
+                                : STATUS_TEXT[partStatus] || 'text-[var(--color-text-secondary)]'
                             }`}
                           >
                             {displayName(part).name}
                             {/* Copies are otherwise indistinguishable once the
                                 instance counter is stripped off the name. */}
                             {displayName(part).instance !== null && (
-                              <span className="ml-1.5 text-xs text-slate-500">
+                              <span className="ml-1.5 text-xs text-[var(--color-text-muted)]">
                                 {displayName(part).instance}
                               </span>
                             )}
                           </span>
                           <span
                             className={`tabular-nums ${
-                              partHidden ? 'text-slate-600' : 'text-slate-500'
+                              partHidden ? 'text-[var(--color-text-muted)]' : 'text-[var(--color-text-muted)]'
                             }`}
                           >
                             {q(part.mass, 'mass')}
diff --git a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
index f82d9706a..f91b8c18d 100644
--- a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
@@ -42,7 +42,7 @@ interface Props {
 export function PropertiesPanel({ selected, visibleKeys, overrides, onOverrideChange }: Props) {
   if (selected.length === 0) {
     return (
-      <p className="px-3 py-4 text-slate-500">
+      <p className="px-3 py-4 text-[var(--color-text-muted)]">
         Nothing selected. Click a part in the list or in the model; shift or ctrl click to
         select several.
       </p>
@@ -153,19 +153,19 @@ function PartProperties({
 
   return (
     <>
-      <div className="border-b border-slate-800 px-3 py-2">
-        <h3 className="truncate text-base font-semibold text-cyan-300" title={part.name}>
+      <div className="border-b border-[var(--color-border)] px-3 py-2">
+        <h3 className="truncate text-base font-semibold text-[var(--color-accent)]" title={part.name}>
           {shown.name}
         </h3>
         {/* The same colour the part carries in the tree and in the model, so
             the legend never has to be looked up. */}
-        <p className={`mt-0.5 text-sm ${STATUS_TEXT[status] || 'text-slate-400'}`}>
+        <p className={`mt-0.5 text-sm ${STATUS_TEXT[status] || 'text-[var(--color-text-muted)]'}`}>
           {status === 'unassigned' && 'No mass — not in the centre of mass'}
           {status === 'assigned' && 'Mass assigned here, not by Onshape'}
           {status === 'overridden' && "Onshape's mass overridden here"}
           {status === 'weighed' && 'Mass from Onshape'}
         </p>
-        {hidden && <p className="mt-0.5 text-sm text-slate-400">Hidden — excluded from the CM</p>}
+        {hidden && <p className="mt-0.5 text-xs text-[var(--color-text-muted)]">Hidden — excluded from the CM</p>}
       </div>
 
       <Section title="Mass">
@@ -189,7 +189,7 @@ function PartProperties({
 
       <Section title="User properties">
         <label className="mb-2 block">
-          <span className="mb-1 block text-sm text-slate-400">Material</span>
+          <span className="mb-1 block text-sm text-[var(--color-text-muted)]">Material</span>
           <select
             // Onshape's own material sits first; the catalog alloys below it
             // apply their density to the part's volume. Overriding the mass by
@@ -198,7 +198,7 @@ function PartProperties({
             disabled={overridden || readOnly}
             value={materialKey}
             onChange={(event) => selectMaterial(event.target.value)}
-            className="w-full rounded border border-slate-600 bg-slate-900 px-2 py-1 text-slate-100 disabled:cursor-not-allowed disabled:border-slate-700 disabled:text-slate-600"
+            className="w-full rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2 py-1 text-[var(--color-text-primary)] disabled:cursor-not-allowed disabled:border-[var(--color-border)] disabled:text-[var(--color-text-muted)]"
           >
             <option value="onshape">
               {material ? `${material.name} (Onshape)` : 'None assigned (Onshape)'}
@@ -211,20 +211,20 @@ function PartProperties({
           </select>
         </label>
 
-        <label className="flex items-center gap-2 py-1 text-slate-300">
+        <label className="flex items-center gap-2 py-1 text-[var(--color-text-secondary)]">
           <input
             type="checkbox"
             checked={overridden}
             disabled={readOnly}
             onChange={(event) => toggleOverride(event.target.checked)}
-            className="accent-cyan-400 disabled:cursor-not-allowed disabled:opacity-50"
+            className="accent-[var(--color-accent)] disabled:cursor-not-allowed disabled:opacity-50"
           />
           Override mass
         </label>
 
         <label className="mt-1 block">
           <span
-            className={`mb-1 block text-sm ${overridden ? 'text-slate-400' : 'text-slate-600'}`}
+            className={`mb-1 block text-sm ${overridden ? 'text-[var(--color-text-muted)]' : 'text-[var(--color-text-muted)]'}`}
           >
             Mass ({lab('mass')})
           </span>
@@ -237,12 +237,12 @@ function PartProperties({
             value={draft}
             placeholder={overridden ? 'enter a mass' : '—'}
             onChange={(event) => commit(event.target.value)}
-            className="w-full rounded border border-slate-600 bg-slate-900 px-2 py-1 text-left tabular-nums text-slate-100 disabled:cursor-not-allowed disabled:border-slate-700 disabled:bg-slate-900/40 disabled:text-slate-600"
+            className="w-full rounded border border-[var(--color-border)] bg-[var(--color-bg-secondary)] px-2 py-1 text-left tabular-nums text-[var(--color-text-primary)] disabled:cursor-not-allowed disabled:border-[var(--color-border)] disabled:bg-[var(--color-bg-secondary)]/40 disabled:text-[var(--color-text-muted)]"
           />
         </label>
 
         {overridden && override?.mass == null && (
-          <p className="mt-2 text-sm text-red-400">
+          <p className="mt-2 text-xs text-red-400">
             No mass entered — this part still contributes nothing to the centre of mass.
           </p>
         )}
@@ -265,8 +265,8 @@ function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: S
 
   return (
     <>
-      <div className="border-b border-slate-800 px-3 py-2">
-        <h3 className="text-base font-semibold text-cyan-300">{selected.length} parts selected</h3>
+      <div className="border-b border-[var(--color-border)] px-3 py-2">
+        <h3 className="text-base font-semibold text-[var(--color-accent)]">{selected.length} parts selected</h3>
       </div>
 
       <Section title="Selection">
@@ -280,16 +280,16 @@ function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: S
         )}
       </Section>
 
-      <div className="border-t border-slate-800">
+      <div className="border-t border-[var(--color-border)]">
         <ul className="text-sm">
           {selected.map((part) => (
             <li
               key={part.key}
-              className="flex items-center justify-between gap-2 px-3 py-1.5 odd:bg-slate-900/40"
+              className="flex items-center justify-between gap-2 px-3 py-1.5 odd:bg-[var(--color-bg-secondary)]/40"
             >
               <span
                 className={`truncate ${
-                  visibleKeys.has(part.key) ? 'text-slate-300' : 'text-slate-600 line-through'
+                  visibleKeys.has(part.key) ? 'text-[var(--color-text-secondary)]' : 'text-[var(--color-text-muted)] line-through'
                 }`}
                 title={part.name}
               >
@@ -297,7 +297,7 @@ function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: S
               </span>
               <span
                 className={`shrink-0 tabular-nums ${
-                  part.mass > 0 ? 'text-slate-500' : 'text-red-400/80'
+                  part.mass > 0 ? 'text-[var(--color-text-muted)]' : 'text-red-400/80'
                 }`}
               >
                 {part.mass > 0 ? q(part.mass, 'mass') : 'no mass'}
@@ -312,8 +312,8 @@ function Selection({ selected, visibleKeys }: { selected: Part[]; visibleKeys: S
 
 function Section({ title, children }: { title: string; children: React.ReactNode }) {
   return (
-    <section className="border-b border-slate-800 px-3 py-2">
-      <h4 className="mb-1 text-sm font-semibold uppercase tracking-wide text-slate-200">
+    <section className="border-b border-[var(--color-border)] px-3 py-2">
+      <h4 className="mb-1 text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
         {title}
       </h4>
       <div className="space-y-0.5">{children}</div>
diff --git a/star-openrocket/frontend/src/components/viewer/ResizableSidebar.tsx b/star-openrocket/frontend/src/components/viewer/ResizableSidebar.tsx
index 57b949480..6fbd73b6a 100644
--- a/star-openrocket/frontend/src/components/viewer/ResizableSidebar.tsx
+++ b/star-openrocket/frontend/src/components/viewer/ResizableSidebar.tsx
@@ -82,7 +82,7 @@ export function ResizableSidebar({
 
   return (
     <aside
-      className={`relative shrink-0 ${border} border-slate-700 bg-slate-900/60 ${className}`}
+      className={`relative shrink-0 ${border} border-[var(--color-border)] bg-[var(--color-bg-secondary)]/60 ${className}`}
       style={{ width }}
     >
       {children}
@@ -103,7 +103,7 @@ export function ResizableSidebar({
       >
         <div
           className={`mx-auto h-full w-px transition-colors ${
-            dragging ? 'bg-cyan-400' : 'bg-transparent group-hover:bg-cyan-500/60'
+            dragging ? 'bg-[var(--color-accent)]' : 'bg-transparent group-hover:bg-[var(--color-accent)]/60'
           }`}
         />
       </div>
diff --git a/star-openrocket/frontend/src/components/viewer/Row.tsx b/star-openrocket/frontend/src/components/viewer/Row.tsx
index b5382f06f..82ce15327 100644
--- a/star-openrocket/frontend/src/components/viewer/Row.tsx
+++ b/star-openrocket/frontend/src/components/viewer/Row.tsx
@@ -12,10 +12,10 @@ export function Row({
 }) {
   return (
     <div className={`flex justify-between gap-3 ${small ? 'text-xs' : ''}`}>
-      <span className="shrink-0 text-slate-400">{label}</span>
+      <span className="shrink-0 text-[var(--color-text-muted)]">{label}</span>
       <span
         className={`truncate text-right tabular-nums ${
-          highlight ? 'font-semibold text-cyan-300' : 'text-slate-100'
+          highlight ? 'font-medium text-[var(--color-accent)]' : 'text-[var(--color-text-primary)]'
         }`}
         title={value}
       >
diff --git a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
index f70c48dab..3977373c0 100644
--- a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
@@ -48,7 +48,7 @@ function UnitField({ value, onChange, kind, min }: {
         const t = e.target.value.trim()
         onChange(t === '' ? 0 : si(Number(t), kind))
       }}
-      className="w-20 rounded border border-slate-700 bg-slate-800 px-1 py-0.5 text-right text-slate-100 focus:border-cyan-500 focus:outline-none disabled:cursor-not-allowed disabled:border-slate-800 disabled:text-slate-500"
+      className="w-20 rounded border border-[var(--color-border)] bg-[var(--color-bg-tertiary)] px-1 py-0.5 text-right text-[var(--color-text-primary)] focus:border-[var(--color-accent)] focus:outline-none disabled:cursor-not-allowed disabled:border-[var(--color-border)] disabled:text-[var(--color-text-muted)]"
     />
   )
 }
@@ -100,7 +100,7 @@ function formatMargin(margin: number | null): string {
 }
 
 function marginTone(margin: number | null): string {
-  if (margin === null) return 'text-slate-100'
+  if (margin === null) return 'text-[var(--color-text-primary)]'
   if (margin >= 1) return 'text-emerald-300'
   if (margin > 0) return 'text-amber-300'
   return 'text-rose-400'
@@ -146,16 +146,16 @@ export function StabilityPanel({
   return (
     <div className="text-sm">
       {/* ── Surface detection: approve the airframe + fin faces, then compute ── */}
-      <section className="border-b border-slate-800 p-3">
+      <section className="border-b border-[var(--color-border)] p-3">
       <div className="mb-2 flex items-center justify-between gap-2">
-        <h2 className="text-sm font-semibold uppercase tracking-wide text-slate-200">
+        <h2 className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
           Surface Detection
         </h2>
         <button
           type="button"
           onClick={onCompute}
           disabled={busy}
-          className="rounded bg-cyan-600 px-2 py-1 text-xs font-medium text-white hover:bg-cyan-500 disabled:opacity-50"
+          className="rounded bg-[var(--color-accent)] px-2 py-1 text-xs font-medium text-white hover:bg-[var(--color-accent-hover)] disabled:opacity-50"
         >
           {busy ? 'Computing…' : result ? 'Recompute' : 'Compute'}
         </button>
@@ -171,7 +171,7 @@ export function StabilityPanel({
           className={`rounded px-2 py-1 text-xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
             faceEditMode && editTarget === 'body'
               ? 'bg-violet-500 text-white'
-              : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
+              : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
           }`}
         >
           Body ({outerFaceCount})
@@ -183,7 +183,7 @@ export function StabilityPanel({
           className={`rounded px-2 py-1 text-xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
             faceEditMode && editTarget === 'fin'
               ? 'bg-orange-500 text-white'
-              : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
+              : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
           }`}
         >
           Fins ({finCount})
@@ -192,13 +192,13 @@ export function StabilityPanel({
           type="button"
           onClick={onAutoDetect}
           disabled={autoBusy || readOnly}
-          className="ml-auto rounded bg-slate-700 px-2 py-1 text-xs font-medium text-slate-200 hover:bg-slate-600 disabled:opacity-50"
+          className="ml-auto rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs font-medium text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50"
         >
           {autoBusy ? 'Detecting…' : 'Auto-detect'}
         </button>
       </div>
 
-      <p className="mb-2 text-xs text-slate-400">
+      <p className="mb-2 text-xs text-[var(--color-text-muted)]">
         {finCount > 0
           ? `${finCount} fin${finCount === 1 ? '' : 's'} detected · ${finFaceCount} potential fin face${finFaceCount === 1 ? '' : 's'}`
           : 'No fins detected yet — Auto-detect or select them.'}
@@ -217,19 +217,19 @@ export function StabilityPanel({
           onClick={onToggleIsolate}
           disabled={outerFaceCount === 0}
           className={`rounded px-2 py-1 text-xs font-medium disabled:opacity-40 ${
-            isolate ? 'bg-cyan-500 text-white' : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
+            isolate ? 'bg-[var(--color-accent)] text-white' : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
           }`}
         >
           {isolate ? 'Show all surfaces' : 'Isolate used surfaces'}
         </button>
-        <span className="text-xs text-slate-400">
+        <span className="text-xs text-[var(--color-text-muted)]">
           {isolate ? 'showing only the CP surfaces' : ''}
         </span>
       </div>
 
       {/* Airframe dimensions from the detected surface, shown once computed. */}
       {result && (
-        <div className="mt-2 border-t border-slate-700 pt-2">
+        <div className="mt-2 border-t border-[var(--color-border)] pt-2">
           <Row label="Body length" value={q(result.bodyLength, 'length')} small />
           <Row label="Ref diameter" value={q(result.refDiameter, 'length')} small />
         </div>
@@ -237,12 +237,12 @@ export function StabilityPanel({
 
       {/* Fins geometry (feeds the CP), shown once computed. */}
       {result && (
-        <div className="mt-2 border-t border-slate-700 pt-2">
+        <div className="mt-2 border-t border-[var(--color-border)] pt-2">
           <div className="mb-1 flex items-center justify-between">
-            <span className="text-sm font-semibold uppercase tracking-wide text-slate-200">
+            <span className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
               Fins
             </span>
-            <span className="text-xs text-slate-300">
+            <span className="text-xs text-[var(--color-text-secondary)]">
               {result.fins.count > 0 ? `${result.fins.count} detected` : 'none detected'}
             </span>
           </div>
@@ -261,9 +261,9 @@ export function StabilityPanel({
       </section>
 
       {/* ── Motor: folds into the CG / static margin as a placed mass ── */}
-      <section className="border-b border-slate-800 p-3">
+      <section className="border-b border-[var(--color-border)] p-3">
         <div className="mb-1 flex items-center justify-between">
-          <span className="text-sm font-semibold uppercase tracking-wide text-slate-200">
+          <span className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
             Motor
           </span>
           {motorSel ? (
@@ -271,7 +271,7 @@ export function StabilityPanel({
               <button
                 type="button"
                 onClick={onViewMotorCurves}
-                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600"
+                className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
                 title="Thrust, weight and CG over time"
               >
                 Curves
@@ -280,7 +280,7 @@ export function StabilityPanel({
                 type="button"
                 onClick={() => setPickerOpen((v) => !v)}
                 disabled={readOnly}
-                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
+                className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
               >
                 Change
               </button>
@@ -291,7 +291,7 @@ export function StabilityPanel({
                   setPickerOpen(false)
                 }}
                 disabled={readOnly}
-                className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
+                className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
               >
                 Remove
               </button>
@@ -301,7 +301,7 @@ export function StabilityPanel({
               type="button"
               onClick={() => setPickerOpen((v) => !v)}
               disabled={readOnly}
-              className="rounded bg-slate-700 px-2 py-0.5 text-xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
+              className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
             >
               {pickerOpen ? 'Cancel' : 'Add motor'}
             </button>
@@ -323,7 +323,7 @@ export function StabilityPanel({
         {motorSel && (
           <>
             <div className="mb-1 flex items-center gap-2">
-              <span className="truncate text-sm text-slate-100">
+              <span className="truncate text-sm text-[var(--color-text-primary)]">
                 {result?.motor?.name ??
                   (motorSummary
                     ? `${motorSummary.manufacturerAbbrev} ${motorSummary.designation}`
@@ -332,7 +332,7 @@ export function StabilityPanel({
             </div>
 
             {/* Wet vs dry: which end of the mass table to place. */}
-            <div className="mb-2 flex overflow-hidden rounded border border-slate-700 text-xs">
+            <div className="mb-2 flex overflow-hidden rounded border border-[var(--color-border)] text-xs">
               {(['launch', 'burnout'] as const).map((s) => (
                 <button
                   key={s}
@@ -341,8 +341,8 @@ export function StabilityPanel({
                   disabled={readOnly}
                   className={`flex-1 px-2 py-1 ${
                     motorSel.state === s
-                      ? 'bg-cyan-600 text-white'
-                      : 'bg-slate-800 text-slate-300 hover:bg-slate-700'
+                      ? 'bg-[var(--color-accent)] text-white'
+                      : 'bg-[var(--color-bg-tertiary)] text-[var(--color-text-secondary)] hover:bg-[var(--color-border)]'
                   }`}
                 >
                   {s === 'launch' ? 'Wet (launch)' : 'Dry (burnout)'}
@@ -352,7 +352,7 @@ export function StabilityPanel({
 
             {/* Placement datum: the airframe aft end by default, or a picked face
                 (enforced normal to the axis by the backend). */}
-            <div className="mb-1 flex items-center justify-between gap-2 text-xs text-slate-400">
+            <div className="mb-1 flex items-center justify-between gap-2 text-xs text-[var(--color-text-muted)]">
               <span>Placement datum</span>
               <span className="flex items-center gap-1">
                 {motorSel.refFace ? (
@@ -364,13 +364,13 @@ export function StabilityPanel({
                       type="button"
                       onClick={() => onSetMotorRefFace(null)}
                       disabled={readOnly}
-                      className="rounded bg-slate-700 px-1.5 py-0.5 text-2xs text-slate-200 hover:bg-slate-600 disabled:cursor-not-allowed disabled:opacity-40"
+                      className="rounded bg-[var(--color-bg-secondary)] px-1.5 py-0.5 text-2xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
                     >
                       Clear
                     </button>
                   </>
                 ) : (
-                  <span className="text-slate-500">airframe base (aft)</span>
+                  <span className="text-[var(--color-text-muted)]">airframe base (aft)</span>
                 )}
                 <button
                   type="button"
@@ -379,7 +379,7 @@ export function StabilityPanel({
                   className={`rounded px-1.5 py-0.5 text-2xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
                     motorFaceEdit
                       ? 'bg-fuchsia-600 text-white'
-                      : 'bg-slate-700 text-slate-200 hover:bg-slate-600'
+                      : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
                   }`}
                 >
                   {motorFaceEdit ? 'Picking…' : 'Pick face'}
@@ -393,11 +393,11 @@ export function StabilityPanel({
               </p>
             )}
 
-            <label className="mb-1 flex items-center justify-between gap-2 text-xs text-slate-400">
+            <label className="mb-1 flex items-center justify-between gap-2 text-xs text-[var(--color-text-muted)]">
               {motorSel.refFace ? 'Aft offset from face' : 'Aft offset from base'}
               <span className="flex items-center gap-1">
                 <UnitField value={motorSel.aftOffset ?? 0} onChange={onSetMotorOffset} kind="length" />
-                <span className="text-slate-500">{lab('length')}</span>
+                <span className="text-[var(--color-text-muted)]">{lab('length')}</span>
               </span>
             </label>
 
@@ -420,9 +420,9 @@ export function StabilityPanel({
       </section>
 
       {/* ── Stability results ── */}
-      <section className="border-b border-slate-800 p-3">
+      <section className="border-b border-[var(--color-border)] p-3">
         <div className="mb-2 flex items-center">
-          <span className="text-sm font-semibold uppercase tracking-wide text-slate-200">
+          <span className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
             Stability
           </span>
         </div>
@@ -430,7 +430,7 @@ export function StabilityPanel({
         {error && <p className="mb-2 text-xs text-rose-400">{error}</p>}
 
         {!result && !error && (
-          <p className="text-xs text-slate-400">
+          <p className="text-xs text-[var(--color-text-muted)]">
             Auto-detects the outer airframe and computes CP, CG and static margin from the
             CAD, matching OpenRocket, including fins. Add a motor to fold its wet/dry mass into
             the CG and margin.
@@ -446,7 +446,7 @@ export function StabilityPanel({
               return (
                 <>
                   <div className="mb-2 flex items-baseline justify-between">
-                    <span className="text-slate-400">Static margin</span>
+                    <span className="text-[var(--color-text-muted)]">Static margin</span>
                     <span className={`text-lg font-semibold tabular-nums ${marginTone(margin)}`}>
                       {formatMargin(margin)}
                     </span>
@@ -458,7 +458,7 @@ export function StabilityPanel({
             })()}
             <Row label="CNₐ (total)" value={result.cna.toFixed(3)} small />
             {result.fins.count > 0 && !result.fins.symmetric && (
-              <p className="mt-2 border-t border-slate-700 pt-2 text-xs text-amber-300">
+              <p className="mt-2 border-t border-[var(--color-border)] pt-2 text-xs text-amber-300">
                 ⚠ Fins are not azimuthally symmetric — the true CP sits off the axis and this
                 axial model under-states the instability. Expected {result.fins.count === 1 ? 'a single fin' : `${result.fins.count} uneven fins`}; check the fin selection.
               </p>
@@ -491,11 +491,11 @@ export function StabilityPanel({
       {result && (
         <section className="p-3">
           <div className="mb-2 flex items-center">
-            <span className="text-sm font-semibold uppercase tracking-wide text-slate-200">
+            <span className="text-2xs uppercase tracking-wide text-[var(--color-text-muted)]">
               Flight Profile
             </span>
           </div>
-          <label className="mb-2 flex items-center justify-between gap-2 text-xs text-slate-400">
+          <label className="mb-2 flex items-center justify-between gap-2 text-xs text-[var(--color-text-muted)]">
             Guided rail length
             <span className="flex items-center gap-1">
               <UnitField
@@ -504,19 +504,19 @@ export function StabilityPanel({
                 kind="length"
                 min={0}
               />
-              <span className="text-slate-500">{lab('length')}</span>
+              <span className="text-[var(--color-text-muted)]">{lab('length')}</span>
             </span>
           </label>
           <button
             type="button"
             onClick={onViewFlight}
             disabled={!result.motor}
-            className="w-full rounded bg-cyan-600 px-2 py-1.5 text-xs font-medium text-white hover:bg-cyan-500 disabled:cursor-not-allowed disabled:bg-slate-700 disabled:text-slate-400"
+            className="w-full rounded bg-[var(--color-accent)] px-2 py-1.5 text-xs font-medium text-white hover:bg-[var(--color-accent-hover)] disabled:cursor-not-allowed disabled:bg-[var(--color-bg-secondary)] disabled:text-[var(--color-text-muted)]"
           >
             View flight profile
           </button>
           {!result.motor && (
-            <p className="mt-1 text-2xs text-slate-500">Add a motor to simulate the ascent.</p>
+            <p className="mt-1 text-2xs text-[var(--color-text-muted)]">Add a motor to simulate the ascent.</p>
           )}
         </section>
       )}
diff --git a/star-openrocket/frontend/src/components/viewer/chartTheme.ts b/star-openrocket/frontend/src/components/viewer/chartTheme.ts
index 6220cd31c..59f611f86 100644
--- a/star-openrocket/frontend/src/components/viewer/chartTheme.ts
+++ b/star-openrocket/frontend/src/components/viewer/chartTheme.ts
@@ -1,13 +1,20 @@
 /**
  * Recharts styling constants for the flight-profile chart.
  *
- * Literal colors rather than `var(--color-...)`: Recharts passes most of these through as SVG
- * presentation attributes, where `var()` is not resolved. Mirrors the slate palette used across
- * star-openrocket (Tailwind slate). Font sizes are plain px and do not track the `--text-*` scale.
+ * Literal colors rather than `var(--color-...)`: Recharts passes most of these
+ * through as SVG presentation attributes, where `var()` is not resolved. Each
+ * one below names the token it mirrors, and `chartTheme.test.ts` asserts the
+ * pairing still holds -- that test is the only thing keeping these in step with
+ * index.css, since the compiler cannot see the connection.
+ *
+ * The chrome (axes, grid, tooltip, font) is deliberately identical to
+ * recovery/components/chartTheme.ts so a flight chart and a descent chart read
+ * as the same application. The SERIES and FD hues below are NOT shared: they
+ * identify specific traces people have been reading for months.
  */
 
 export const AXIS = {
-  stroke: '#94a3b8', // slate-400
+  stroke: '#9fb0c4', // --color-text-muted
   fontSize: 13,
   tickLine: false,
 } as const
@@ -18,25 +25,28 @@ export const TICK_FONT = 13
 
 /** Axis-title styling (rotated Y titles included), shared by all flight charts. */
 export const axisLabelX = (value: string) =>
-  ({ value, position: 'insideBottom' as const, offset: -4, fill: '#cbd5e1', fontSize: 13 })
+  ({ value, position: 'insideBottom' as const, offset: -4, fill: '#cbd5e1', fontSize: 13 }) // --color-text-secondary
 export const axisLabelY = (value: string) =>
   ({ value, angle: -90, position: 'insideLeft' as const, offset: 4, fill: '#cbd5e1', fontSize: 13, style: { textAnchor: 'middle' as const } })
 
 export const GRID = {
-  stroke: '#334155', // slate-700
+  stroke: '#383848', // --color-border
   strokeDasharray: '3 3',
 } as const
 
 export const TOOLTIP_STYLE = {
-  backgroundColor: '#0f172a', // slate-900
-  border: '1px solid #334155',
+  backgroundColor: '#12121a', // --color-bg-secondary
+  border: '1px solid #383848', // --color-border
   borderRadius: 6,
-  fontSize: 13,
+  fontSize: 14,
+  // Without this, Recharts' tooltip text is SVG-adjacent and falls back to the
+  // browser's default serif rather than inheriting the page's UI face.
+  fontFamily: 'system-ui, sans-serif',
 } as const
 
 export const TOOLTIP_LABEL_STYLE = {
-  color: '#cbd5e1', // slate-300
-  fontSize: 12,
+  color: '#cbd5e1', // --color-text-secondary
+  fontSize: 13,
   marginBottom: 4,
 } as const
 
@@ -62,5 +72,5 @@ export const FD = {
   wind: '#22d3ee', // cyan — ambient wind the rocket flies through
 } as const
 
-export const REFERENCE = '#cbd5e1' // slate-300 — burnout / apogee guide lines (legible on dark)
+export const REFERENCE = '#cbd5e1' // --color-text-secondary — burnout / apogee guide lines
 export const REFERENCE_RAIL = '#fbbf24' // amber-400 — off-rail guide line
diff --git a/star-openrocket/frontend/src/index.css b/star-openrocket/frontend/src/index.css
index 20595973f..d2c84ba90 100644
--- a/star-openrocket/frontend/src/index.css
+++ b/star-openrocket/frontend/src/index.css
@@ -77,16 +77,17 @@ body,
 
 body {
   @apply bg-[var(--color-bg-primary)] text-[var(--color-text-primary)] antialiased;
-  /* Proportional sans for all chrome, labels, prose and headings. Numbers opt
-     back into tabular figures via `.font-num` / data tables so columns line up. */
-  font-family: 'Inter', system-ui, -apple-system, 'Segoe UI', Roboto,
+  /* The system UI face, for all chrome, labels, prose and headings. This used to
+     name 'Inter' first, but nothing ever shipped the file -- no @font-face, no
+     stylesheet link, no package -- so every element fell through to the stack
+     below anyway. Naming a font we do not serve made the two halves of this app
+     look like they disagreed about typography when they never did; what differed
+     was weight and size, which the type scale above now settles. Add an
+     @font-face here if we ever want a face that renders the same on every OS. */
+  font-family: system-ui, -apple-system, 'Segoe UI', Roboto,
     'Helvetica Neue', Arial, sans-serif;
 }
 
-.font-prose {
-  font-family: 'Inter', system-ui, sans-serif;
-}
-
 /* Numbers use the same sans face; `tabular-nums` only makes digits share one
    advance width so columns of figures line up. */
 .font-num {
diff --git a/star-openrocket/frontend/src/lib/palette.test.ts b/star-openrocket/frontend/src/lib/palette.test.ts
new file mode 100644
index 000000000..12a9c4e1a
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/palette.test.ts
@@ -0,0 +1,100 @@
+/**
+ * One palette, not two.
+ *
+ * This app was assembled by merging an Onshape CAD viewer with the recovery
+ * calculator. The viewer half was written in raw Tailwind slate and cyan, the
+ * recovery half against the `--color-*` tokens shared with EngineDesign and
+ * pid-designer. For a while both shipped, which is how the header came to show
+ * two different accents an inch apart -- a cyan active tab above a blue
+ * Take button.
+ *
+ * The migration is mechanical and so is the way it rots: someone adds a panel,
+ * reaches for `bg-slate-800` because that is what the file above it used to
+ * say, and the split quietly reopens. These tests are the ratchet.
+ *
+ * Sibling to recovery/lib/theme.test.ts, which guards the token *values*
+ * (contrast); this one guards that the tokens are what gets used at all.
+ */
+
+import { readFileSync } from 'node:fs'
+import { fileURLToPath } from 'node:url'
+import { describe, expect, it } from 'vitest'
+
+/**
+ * Scene.tsx is exempt, deliberately. Its colours are three.js material values
+ * for geometry in a 3D viewport -- a selection highlight that has to read
+ * against the default part grey, plus the violet/orange/fuchsia face
+ * highlights. They are tuned for legibility against rendered surfaces, not for
+ * agreement with the surrounding chrome, and they are not Tailwind classes.
+ */
+const EXEMPT = /Scene\.tsx$/
+
+const sources = import.meta.glob('../{components,recovery}/**/*.tsx', {
+  eager: true,
+  query: '?raw',
+  import: 'default',
+}) as Record<string, string>
+
+const appSources = Object.entries(sources).filter(([p]) => !EXEMPT.test(p))
+
+describe('one palette', () => {
+  it('audits a non-empty set of files', () => {
+    // A glob that silently matched nothing would make everything below pass.
+    expect(appSources.length).toBeGreaterThan(30)
+  })
+
+  it('has no Tailwind slate or cyan utility classes left', () => {
+    const offenders: string[] = []
+    for (const [path, src] of appSources) {
+      // Class usages only. A hex in a chart-series table or the word "slate"
+      // in a comment is not a utility class and is not what this guards.
+      for (const m of src.matchAll(
+        /(?<![\w-])(?:[a-z-]+:)*(?:bg|text|border|ring|accent|fill|stroke|divide|from|to|via|outline|placeholder|caret|shadow)-(?:slate|cyan)-\d+(?:\/\d+)?/g,
+      )) {
+        offenders.push(`${path.split('/').pop()}: ${m[0]}`)
+      }
+    }
+    expect(offenders).toEqual([])
+  })
+})
+
+/**
+ * Recharts writes most of these through as SVG presentation attributes, where
+ * `var()` does not resolve — so the chart themes carry literal hexes that
+ * duplicate the tokens. Nothing in the compiler connects the two, so this is
+ * the only thing that keeps them in step when a token is retuned.
+ */
+const CSS = readFileSync(
+  fileURLToPath(new URL('../index.css', import.meta.url)),
+  'utf8',
+)
+
+function token(name: string): string {
+  const m = CSS.match(new RegExp(`(?<![-\\w])--color-${name}:\\s*([^;]+);`))
+  if (!m) throw new Error(`--color-${name} is not defined in index.css`)
+  return m[1].trim()
+}
+
+const themes = import.meta.glob('../{components/viewer,recovery/components}/chartTheme.ts', {
+  eager: true,
+  query: '?raw',
+  import: 'default',
+}) as Record<string, string>
+
+describe('chart chrome mirrors the tokens', () => {
+  it('finds both chart themes', () => {
+    expect(Object.keys(themes)).toHaveLength(2)
+  })
+
+  it.each([
+    ['axis stroke', /AXIS = \{\s*stroke: '(#[0-9a-f]{6})'/, 'text-muted'],
+    ['grid stroke', /GRID = \{\s*stroke: '(#[0-9a-f]{6})'/, 'border'],
+    ['tooltip background', /TOOLTIP_STYLE = \{\s*backgroundColor: '(#[0-9a-f]{6})'/, 'bg-secondary'],
+  ])('%s equals --color-%s in both themes', (_label, pattern, name) => {
+    for (const [path, src] of Object.entries(themes)) {
+      const m = src.match(pattern)
+      expect(m, `${path} has no match for ${pattern}`).not.toBeNull()
+      expect(m![1]).toBe(token(name as string))
+    }
+  })
+})
diff --git a/star-openrocket/frontend/src/recovery/components/chartTheme.ts b/star-openrocket/frontend/src/recovery/components/chartTheme.ts
index 97624af77..9206716f5 100644
--- a/star-openrocket/frontend/src/recovery/components/chartTheme.ts
+++ b/star-openrocket/frontend/src/recovery/components/chartTheme.ts
@@ -30,7 +30,7 @@ export const TOOLTIP_STYLE = {
   border: '1px solid #383848',
   borderRadius: 6,
   fontSize: 14,
-  fontFamily: "'Inter', system-ui, sans-serif",
+  fontFamily: 'system-ui, sans-serif',
 } as const
 
 export const TOOLTIP_LABEL_STYLE = {
diff --git a/star-openrocket/frontend/src/recovery/components/corners/CornersPanel.tsx b/star-openrocket/frontend/src/recovery/components/corners/CornersPanel.tsx
index a0ce6f0a6..210a0d01a 100644
--- a/star-openrocket/frontend/src/recovery/components/corners/CornersPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/corners/CornersPanel.tsx
@@ -140,7 +140,7 @@ export function CornersPanel({ ui, onChange }: {
       {error && (
         <Card title="Sweep failed">
           <div className="rounded border border-red-500/50 bg-red-500/10 px-3 py-2">
-            <p className="font-prose text-xs leading-relaxed text-red-200">{error}</p>
+            <p className="text-xs leading-relaxed text-red-200">{error}</p>
           </div>
         </Card>
       )}
diff --git a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckAssumptions.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckAssumptions.tsx
index 99c9eee79..b040c4280 100644
--- a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckAssumptions.tsx
+++ b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckAssumptions.tsx
@@ -25,7 +25,7 @@ export function CrosscheckAssumptions({ shared, differs, models, warnings }: {
           {shared.map((line, i) => (
             <li
               key={i}
-              className="font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]"
+              className="text-xs leading-relaxed text-[var(--color-text-secondary)]"
             >
               <span className="text-[var(--color-text-muted)]">•</span> {line}
             </li>
@@ -68,7 +68,7 @@ export function CrosscheckAssumptions({ shared, differs, models, warnings }: {
                   {MODEL_ORDER.map((id) => (
                     <td
                       key={id}
-                      className="px-3 py-2 font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]"
+                      className="px-3 py-2 text-xs leading-relaxed text-[var(--color-text-secondary)]"
                     >
                       {row[id]}
                     </td>
diff --git a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckChart.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckChart.tsx
index 77143dbd3..7fd0b455f 100644
--- a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckChart.tsx
+++ b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckChart.tsx
@@ -121,7 +121,7 @@ export function CrosscheckChart({ models, channel, refLines }: {
         className={HEIGHT}
       />
       {hasMarkers && (
-        <p className="font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]">
+        <p className="text-xs leading-relaxed text-[var(--color-text-secondary)]">
           <span className="text-[var(--color-text-primary)]">
             Dots are the mastersheet's own numbers
           </span>{' '}
@@ -141,7 +141,7 @@ export function CrosscheckChart({ models, channel, refLines }: {
         </p>
       )}
       {silent.length > 0 && (
-        <p className="font-prose text-xs leading-relaxed text-amber-300/90">
+        <p className="text-xs leading-relaxed text-amber-300/90">
           <span className="text-amber-300">
             Not on this chart:{' '}
             {silent.map((id) => models[id].label).join(', ')}.
diff --git a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
index 25b03ab95..7c7eeae28 100644
--- a/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/crosscheck/CrosscheckPanel.tsx
@@ -106,7 +106,7 @@ export function CrosscheckPanel({ ui }: { ui: UiConfig }) {
       {error && (
         <Card title="Cross-check failed">
           <div className="rounded border border-red-500/50 bg-red-500/10 px-3 py-2">
-            <p className="font-prose text-xs leading-relaxed text-red-200">{error}</p>
+            <p className="text-xs leading-relaxed text-red-200">{error}</p>
           </div>
         </Card>
       )}
@@ -157,7 +157,7 @@ export function CrosscheckPanel({ ui }: { ui: UiConfig }) {
                   min={0}
                 />
               </div>
-              <p className="font-prose text-xs leading-relaxed text-[var(--color-text-secondary)]">
+              <p className="text-xs leading-relaxed text-[var(--color-text-secondary)]">
                 {lab('speed')}.
               </p>
             </div>
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx b/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
index 83a9cf6b7..f6d9435c0 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/DeviceList.tsx
@@ -41,7 +41,7 @@ export function DeviceList({ devices, onChange }: {
       right={<Button onClick={add} variant="secondary">+ Add device</Button>}
     >
       {devices.length === 0 && (
-        <p className="font-prose text-xs text-[var(--color-text-muted)]">
+        <p className="text-xs text-[var(--color-text-muted)]">
           At least one device is required.
         </p>
       )}
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
index 9b4032baf..1a26e08e1 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/InputForms.tsx
@@ -151,7 +151,7 @@ export function VehicleForm({ value, onChange, design, sources, onSourcesChange
           {/* Which of the two the reader is actually looking at, stated where
               the two numbers are. Both appear, so without this the loads below
               could plausibly belong to either -- and they differ by 2.1x. */}
-          <p className="font-prose mt-1.5 text-xs leading-snug text-[var(--color-text-muted)]">
+          <p className="mt-1.5 text-xs leading-snug text-[var(--color-text-muted)]">
             From diameter and length. The{' '}
             <span className="text-[var(--color-text-secondary)]">axial</span>{' '}
             bound is the default; the corner sweep runs both.
diff --git a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
index 2fa96e542..324b684c8 100644
--- a/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/recovery/ResultsPanel.tsx
@@ -44,7 +44,7 @@ export function ResultsPanel({ result, running, error }: {
       <Card title="Results">
         {error ? (
           <div className="rounded border border-red-500/50 bg-red-500/10 px-3 py-2">
-            <p className="font-prose text-xs leading-relaxed text-red-200">{error}</p>
+            <p className="text-xs leading-relaxed text-red-200">{error}</p>
           </div>
         ) : (
           <Empty>{running ? 'Running…' : 'Press Run to simulate.'}</Empty>
@@ -452,7 +452,7 @@ function PadStateCard({ result }: { result: Result }) {
         <Stat label="Lapse rate (L)" value={num(p.lapse, 'lapse', 3)} kind="lapse" />
       </div>
       {result.body_drag_band && (
-        <p className="font-prose mt-3 text-xs leading-relaxed text-[var(--color-text-secondary)]">
+        <p className="mt-3 text-xs leading-relaxed text-[var(--color-text-secondary)]">
           Airframe drag run both ways: axial{' '}
           <span className="text-[var(--color-text-primary)]">
             {q(result.body_drag_band.axial, 'area', 5)}
diff --git a/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx b/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
index 8d94bf1f3..855acd300 100644
--- a/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
+++ b/star-openrocket/frontend/src/recovery/components/study/AxisEditor.tsx
@@ -84,7 +84,7 @@ export function AxisEditor({ ui, onChange }: {
       }
     >
       {axes.length === 0 ? (
-        <p className="font-prose text-xs leading-relaxed text-[var(--color-text-muted)]">
+        <p className="text-xs leading-relaxed text-[var(--color-text-muted)]">
           No sweeps yet. Add one to compare designs.
         </p>
       ) : (
@@ -451,7 +451,7 @@ function PadSourcePicker({ chosen, site, clim, onChange }: {
       </div>
 
       {error && (
-        <p className="font-prose text-2xs leading-relaxed text-amber-300">{error}</p>
+        <p className="text-2xs leading-relaxed text-amber-300">{error}</p>
       )}
 
       <p className="text-2xs text-[var(--color-text-muted)]">
diff --git a/star-openrocket/frontend/src/recovery/components/study/StudyPanel.tsx b/star-openrocket/frontend/src/recovery/components/study/StudyPanel.tsx
index 74056057c..2db8e852f 100644
--- a/star-openrocket/frontend/src/recovery/components/study/StudyPanel.tsx
+++ b/star-openrocket/frontend/src/recovery/components/study/StudyPanel.tsx
@@ -141,7 +141,7 @@ export function StudyPanel({ ui, onChange }: {
       {error && (
         <Card title="Sweep failed">
           <div className="rounded border border-red-500/50 bg-red-500/10 px-3 py-2">
-            <p className="font-prose text-xs leading-relaxed text-red-200">{error}</p>
+            <p className="text-xs leading-relaxed text-red-200">{error}</p>
           </div>
         </Card>
       )}
diff --git a/star-openrocket/frontend/src/recovery/components/ui.tsx b/star-openrocket/frontend/src/recovery/components/ui.tsx
index 20c808665..5aa2247e5 100644
--- a/star-openrocket/frontend/src/recovery/components/ui.tsx
+++ b/star-openrocket/frontend/src/recovery/components/ui.tsx
@@ -28,7 +28,7 @@ export function PageHeader({ title, children }: {
         {title}
       </h1>
       {children && (
-        <p className="font-prose text-sm text-[var(--color-text-secondary)]">
+        <p className="text-sm text-[var(--color-text-secondary)]">
           {children}
         </p>
       )}
@@ -54,7 +54,7 @@ export function Card({ title, subtitle, right, children, className = '' }: {
               </h2>
             )}
             {subtitle && (
-              <p className="font-prose mt-0.5 text-xs leading-relaxed text-[var(--color-text-secondary)]">
+              <p className="mt-0.5 text-xs leading-relaxed text-[var(--color-text-secondary)]">
                 {subtitle}
               </p>
             )}
@@ -90,7 +90,7 @@ export function Field({ label, hint, unit, kind, children, wide = false }: {
       </span>
       {children}
       {hint && (
-        <span className="font-prose text-xs leading-snug text-[var(--color-text-muted)]">
+        <span className="text-xs leading-snug text-[var(--color-text-muted)]">
           {hint}
         </span>
       )}
@@ -488,7 +488,7 @@ export function StubBanner({ children }: { children: ReactNode }) {
   return (
     <div className="flex items-start gap-2 rounded border border-amber-500/50 bg-amber-500/10 px-3 py-2">
       <span className="mt-0.5 text-amber-400">▲</span>
-      <p className="font-prose text-xs leading-relaxed text-amber-200">{children}</p>
+      <p className="text-xs leading-relaxed text-amber-200">{children}</p>
     </div>
   )
 }
@@ -517,7 +517,7 @@ export function WarningsCard({ warnings }: { warnings: string[] }) {
 
 export function Empty({ children }: { children: ReactNode }) {
   return (
-    <div className="font-prose flex h-full min-h-40 items-center justify-center rounded border border-dashed border-[var(--color-border)] px-6 text-center text-xs text-[var(--color-text-muted)]">
+    <div className="flex h-full min-h-40 items-center justify-center rounded border border-dashed border-[var(--color-border)] px-6 text-center text-xs text-[var(--color-text-muted)]">
       {children}
     </div>
   )

From 4aa4131686c29364402ece8b8a6e6e99d91a8718 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 1 Sep 2026 12:51:15 -0700
Subject: [PATCH 078/205] stardesign-ui: the checkout chip's dark: variants
 never fired - all three consuming apps are unconditionally dark with no dark
 class, so an OS set to light rendered the chip at the 600 shade on near-black

---
 lib/stardesign-ui/src/CheckoutControl.tsx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lib/stardesign-ui/src/CheckoutControl.tsx b/lib/stardesign-ui/src/CheckoutControl.tsx
index b2521952a..05409fa7b 100644
--- a/lib/stardesign-ui/src/CheckoutControl.tsx
+++ b/lib/stardesign-ui/src/CheckoutControl.tsx
@@ -34,7 +34,7 @@ export function CheckoutControl({
       {held ? (
         <>
           <span
-            className={`${chip} border-emerald-600/40 bg-emerald-600/10 text-emerald-600 dark:text-emerald-400`}
+            className={`${chip} border-emerald-600/40 bg-emerald-600/10 text-emerald-400`}
             title={`You have ${noun === 'config' ? 'this config' : `this ${noun}`} checked out. It returns on its own if you stop editing.`}
           >
             <span className={`${dot} bg-emerald-500`} />
@@ -46,7 +46,7 @@ export function CheckoutControl({
         </>
       ) : takenByOther ? (
         <span
-          className={`${chip} border-amber-500/40 bg-amber-500/10 text-amber-600 dark:text-amber-400`}
+          className={`${chip} border-amber-500/40 bg-amber-500/10 text-amber-400`}
           title={`${holderName} is editing this ${noun}. You can read it, or take a copy from Change → View only.`}
         >
           <span className={`${dot} bg-amber-500`} />

From 5cc186c4e440722019e6d8e6730cdb21b6e62b95 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 1 Sep 2026 13:58:18 -0700
Subject: [PATCH 079/205] star-openrocket: part opacity and the Onshape CM
 toggle move out of the shared header into the Properties tab's empty state -
 they only do anything on the CAD tab, and the header is shared with five
 others

---
 star-openrocket/frontend/src/App.tsx          | 26 ++-------
 .../src/components/viewer/InspectorPanel.tsx  | 14 +++++
 .../src/components/viewer/PropertiesPanel.tsx | 56 +++++++++++++++++--
 .../frontend/src/lib/gating.test.ts           |  2 +
 4 files changed, 71 insertions(+), 27 deletions(-)

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index b5ff977a0..d06c9068c 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -654,28 +654,6 @@ export default function App() {
           disabled={!editable}
         />
 
-        <label className="ml-auto flex items-center gap-2 text-xs text-[var(--color-text-secondary)]">
-          Opacity
-          <input
-            type="range"
-            min={0.15}
-            max={1}
-            step={0.05}
-            value={opacity}
-            onChange={(event) => setOpacity(Number(event.target.value))}
-            className="accent-[var(--color-accent)]"
-          />
-        </label>
-
-        <label className="flex items-center gap-2 text-sm text-[var(--color-text-secondary)]">
-          <input
-            type="checkbox"
-            checked={showAssemblyCentroid}
-            onChange={(event) => setShowAssemblyCentroid(event.target.checked)}
-            className="accent-emerald-400"
-          />
-          Onshape CM
-        </label>
         </div>
 
         {/* Versioned designs, as a full-width strip at the bottom of the header. */}
@@ -814,6 +792,10 @@ export default function App() {
             onViewFlight={handleViewFlight}
             railLength={railLength}
             onSetRailLength={setRailLength}
+            opacity={opacity}
+            onOpacityChange={setOpacity}
+            showAssemblyCentroid={showAssemblyCentroid}
+            onShowAssemblyCentroidChange={setShowAssemblyCentroid}
             onViewMotorCurves={handleViewMotorCurves}
           />
         </ResizableSidebar>
diff --git a/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
index 819f1ce16..490df29b0 100644
--- a/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/InspectorPanel.tsx
@@ -24,6 +24,12 @@ interface Props extends StabilityPanelProps {
   visibleKeys: Set<string>
   overrides: Map<string, PartOverride>
   onOverrideChange: (key: string, override: PartOverride | null) => void
+  /** 3D view settings. They live on the Properties tab's empty state, since
+   *  they only apply to this tab and the header is shared with five others. */
+  opacity: number
+  onOpacityChange: (value: number) => void
+  showAssemblyCentroid: boolean
+  onShowAssemblyCentroidChange: (value: boolean) => void
   /** Analysis tab: the live centre of mass and how many parts feed it. */
   cm: CMResult
   partCount: number
@@ -41,6 +47,10 @@ export function InspectorPanel({
   visibleKeys,
   overrides,
   onOverrideChange,
+  opacity,
+  onOpacityChange,
+  showAssemblyCentroid,
+  onShowAssemblyCentroidChange,
   cm,
   partCount,
   cmAnalysis,
@@ -82,6 +92,10 @@ export function InspectorPanel({
             visibleKeys={visibleKeys}
             overrides={overrides}
             onOverrideChange={onOverrideChange}
+            opacity={opacity}
+            onOpacityChange={onOpacityChange}
+            showAssemblyCentroid={showAssemblyCentroid}
+            onShowAssemblyCentroidChange={onShowAssemblyCentroidChange}
           />
         ) : (
           <>
diff --git a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
index f91b8c18d..b7e91aa05 100644
--- a/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PropertiesPanel.tsx
@@ -33,19 +33,65 @@ interface Props {
   visibleKeys: Set<string>
   overrides: Map<string, PartOverride>
   onOverrideChange: (key: string, override: PartOverride | null) => void
+  /** Part opacity in the 3D view, 0.15-1. A display setting, not part of the design. */
+  opacity: number
+  onOpacityChange: (value: number) => void
+  /** Whether the marker for Onshape's own assembly centroid is drawn. */
+  showAssemblyCentroid: boolean
+  onShowAssemblyCentroidChange: (value: boolean) => void
 }
 
 /**
  * The Properties tab body. No header or scroll container of its own -- the
  * InspectorPanel that hosts it owns the tab strip and the one scroll region.
  */
-export function PropertiesPanel({ selected, visibleKeys, overrides, onOverrideChange }: Props) {
+export function PropertiesPanel({
+  selected,
+  visibleKeys,
+  overrides,
+  onOverrideChange,
+  opacity,
+  onOpacityChange,
+  showAssemblyCentroid,
+  onShowAssemblyCentroidChange,
+}: Props) {
+  // Nothing selected is the panel's resting state, not an error, so it carries
+  // the two view settings rather than sitting empty. They used to live in the
+  // header, which is shared with every other tab -- but they only do anything
+  // on this one, and the header is the wrong place for a control that is inert
+  // five tabs out of six. Neither is part of the design, so neither is gated on
+  // the checkout.
   if (selected.length === 0) {
     return (
-      <p className="px-3 py-4 text-[var(--color-text-muted)]">
-        Nothing selected. Click a part in the list or in the model; shift or ctrl click to
-        select several.
-      </p>
+      <div>
+        <Section title="View">
+          <label className="flex items-center justify-between gap-3 py-1 text-xs text-[var(--color-text-secondary)]">
+            Part opacity
+            <input
+              type="range"
+              min={0.15}
+              max={1}
+              step={0.05}
+              value={opacity}
+              onChange={(event) => onOpacityChange(Number(event.target.value))}
+              className="w-32 accent-[var(--color-accent)]"
+            />
+          </label>
+          <label className="flex items-center justify-between gap-3 py-1 text-xs text-[var(--color-text-secondary)]">
+            Onshape CM marker
+            <input
+              type="checkbox"
+              checked={showAssemblyCentroid}
+              onChange={(event) => onShowAssemblyCentroidChange(event.target.checked)}
+              className="accent-[var(--color-accent)]"
+            />
+          </label>
+        </Section>
+        <p className="px-3 py-4 text-xs text-[var(--color-text-muted)]">
+          Nothing selected. Click a part in the list or in the model; shift or ctrl click to
+          select several.
+        </p>
+      </div>
     )
   }
 
diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
index 54774c49b..693e26f4b 100644
--- a/star-openrocket/frontend/src/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -25,6 +25,8 @@ import { describe, expect, it } from 'vitest'
  * `OrkConfig` (see types/config.ts), so hiding a part is a view action.
  */
 const VIEW_ONLY: Record<string, string> = {
+  'PropertiesPanel.tsx:onOpacityChange': 'part opacity in the 3D view; not saved in OrkConfig',
+  'PropertiesPanel.tsx:onShowAssemblyCentroidChange': 'draws the Onshape CM marker; a view toggle',
   'PartList.tsx:onToggle(parts.map': 'show-all-hidden; visibility is not saved in the design',
   'PartList.tsx:onSelect([])': 'clears the selection, which is not saved either',
   'PartList.tsx:onContextMenu': 'opens the menu; its own items are hide/isolate/select',

From 3b0174607782172ee6dd000937f23dff94d922b8 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 11:31:07 -0700
Subject: [PATCH 080/205] star-openrocket: viewer buttons were invisible - a
 borderless bg-secondary control on a bg-secondary sidebar; they now use
 stardesign-ui's bordered btn, the same class the design bar's Save to file
 uses

---
 .../components/viewer/FlightDynamicsTab.tsx   |  4 +-
 .../components/viewer/FlightProfileModal.tsx  |  3 +-
 .../components/viewer/MotorCurvesModal.tsx    |  3 +-
 .../src/components/viewer/MotorPicker.tsx     |  3 +-
 .../src/components/viewer/StabilityPanel.tsx  | 44 +++++++++++--------
 5 files changed, 34 insertions(+), 23 deletions(-)

diff --git a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 69d58ed0c..54db515af 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -8,7 +8,7 @@
  * exact, performance tiles (apogee, max-Q) are flagged approximate.
  */
 
-import { useDisabled } from '@stardesign-ui'
+import { btn, useDisabled } from '@stardesign-ui'
 import { useEffect, useMemo, useState } from 'react'
 import { createPortal } from 'react-dom'
 import {
@@ -120,7 +120,7 @@ export function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }:
                 <button
                   type="button"
                   onClick={() => setExpanded(false)}
-                  className="rounded bg-[var(--color-bg-secondary)] px-3 py-1 text-sm text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
+                  className={`${btn} px-3`}
                 >
                   Close
                 </button>
diff --git a/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
index 026e0ecc7..99d6638b4 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightProfileModal.tsx
@@ -7,6 +7,7 @@
  */
 
 import { useEffect } from 'react'
+import { btn } from '@stardesign-ui'
 import { createPortal } from 'react-dom'
 import {
   CartesianGrid,
@@ -84,7 +85,7 @@ export function FlightProfileModal({ result, busy, error, onClose }: Props) {
           <button
             type="button"
             onClick={onClose}
-            className="rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
+            className={`${btn}`}
           >
             Close
           </button>
diff --git a/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
index f84998fb2..0f8b28da1 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorCurvesModal.tsx
@@ -8,6 +8,7 @@
  */
 
 import { useEffect, useMemo } from 'react'
+import { btn } from '@stardesign-ui'
 import { createPortal } from 'react-dom'
 import {
   CartesianGrid,
@@ -73,7 +74,7 @@ export function MotorCurvesModal({ detail, simfileId, busy, error, onClose }: Pr
           <button
             type="button"
             onClick={onClose}
-            className="rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
+            className={`${btn}`}
           >
             Close
           </button>
diff --git a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
index d6af8d5ad..20e883374 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
@@ -8,6 +8,7 @@
  */
 
 import { useEffect, useRef, useState } from 'react'
+import { btn } from '@stardesign-ui'
 
 import { searchMotors } from '../../api/client'
 import type { MotorSimfileRef, MotorSummary } from '../../types'
@@ -83,7 +84,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
         <button
           type="button"
           onClick={onClose}
-          className="rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
+          className={`${btn}`}
         >
           Close
         </button>
diff --git a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
index 3977373c0..3efd9769e 100644
--- a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
@@ -8,7 +8,7 @@
  * static margin, placed along the detected axis.
  */
 
-import { useDisabled } from '@stardesign-ui'
+import { btn, useDisabled } from '@stardesign-ui'
 import { useState } from 'react'
 
 import type { FaceRef, MotorSelection, MotorSummary, StabilityResult } from '../../types'
@@ -23,6 +23,12 @@ import { Row } from './Row'
  * form when blurred) so typing a fractional value never fights the formatter,
  * but keeps the viewer's slate styling. Commits SI on every change.
  */
+/** `btn`'s geometry without its colours, so a toggle's active state can swap
+ *  the fill without the control changing size by a border width. */
+const TOGGLE_ON =
+  'inline-flex items-center gap-1 rounded border px-2.5 py-1 text-xs font-medium '
+  + 'transition-colors disabled:opacity-40 disabled:cursor-not-allowed'
+
 function UnitField({ value, onChange, kind, min }: {
   value: number
   onChange: (si: number) => void
@@ -168,11 +174,11 @@ export function StabilityPanel({
           type="button"
           onClick={() => onToggleEditMode('body')}
           disabled={readOnly}
-          className={`rounded px-2 py-1 text-xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
+          className={
             faceEditMode && editTarget === 'body'
-              ? 'bg-violet-500 text-white'
-              : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
-          }`}
+              ? `${TOGGLE_ON} border-violet-500 bg-violet-500 text-white`
+              : `${btn} disabled:cursor-not-allowed`
+          }
         >
           Body ({outerFaceCount})
         </button>
@@ -180,11 +186,11 @@ export function StabilityPanel({
           type="button"
           onClick={() => onToggleEditMode('fin')}
           disabled={readOnly}
-          className={`rounded px-2 py-1 text-xs font-medium disabled:cursor-not-allowed disabled:opacity-40 ${
+          className={
             faceEditMode && editTarget === 'fin'
-              ? 'bg-orange-500 text-white'
-              : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
-          }`}
+              ? `${TOGGLE_ON} border-orange-500 bg-orange-500 text-white`
+              : `${btn} disabled:cursor-not-allowed`
+          }
         >
           Fins ({finCount})
         </button>
@@ -192,7 +198,7 @@ export function StabilityPanel({
           type="button"
           onClick={onAutoDetect}
           disabled={autoBusy || readOnly}
-          className="ml-auto rounded bg-[var(--color-bg-secondary)] px-2 py-1 text-xs font-medium text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:opacity-50"
+          className={`${btn} ml-auto disabled:cursor-not-allowed`}
         >
           {autoBusy ? 'Detecting…' : 'Auto-detect'}
         </button>
@@ -216,9 +222,11 @@ export function StabilityPanel({
           type="button"
           onClick={onToggleIsolate}
           disabled={outerFaceCount === 0}
-          className={`rounded px-2 py-1 text-xs font-medium disabled:opacity-40 ${
-            isolate ? 'bg-[var(--color-accent)] text-white' : 'bg-[var(--color-bg-secondary)] text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]'
-          }`}
+          className={
+            isolate
+              ? `${TOGGLE_ON} border-[var(--color-accent)] bg-[var(--color-accent)] text-white`
+              : btn
+          }
         >
           {isolate ? 'Show all surfaces' : 'Isolate used surfaces'}
         </button>
@@ -271,7 +279,7 @@ export function StabilityPanel({
               <button
                 type="button"
                 onClick={onViewMotorCurves}
-                className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)]"
+                className={`${btn} px-2 py-0.5`}
                 title="Thrust, weight and CG over time"
               >
                 Curves
@@ -280,7 +288,7 @@ export function StabilityPanel({
                 type="button"
                 onClick={() => setPickerOpen((v) => !v)}
                 disabled={readOnly}
-                className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
+                className={`${btn} px-2 py-0.5 disabled:cursor-not-allowed`}
               >
                 Change
               </button>
@@ -291,7 +299,7 @@ export function StabilityPanel({
                   setPickerOpen(false)
                 }}
                 disabled={readOnly}
-                className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
+                className={`${btn} px-2 py-0.5 disabled:cursor-not-allowed`}
               >
                 Remove
               </button>
@@ -301,7 +309,7 @@ export function StabilityPanel({
               type="button"
               onClick={() => setPickerOpen((v) => !v)}
               disabled={readOnly}
-              className="rounded bg-[var(--color-bg-secondary)] px-2 py-0.5 text-xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
+              className={`${btn} px-2 py-0.5 disabled:cursor-not-allowed`}
             >
               {pickerOpen ? 'Cancel' : 'Add motor'}
             </button>
@@ -364,7 +372,7 @@ export function StabilityPanel({
                       type="button"
                       onClick={() => onSetMotorRefFace(null)}
                       disabled={readOnly}
-                      className="rounded bg-[var(--color-bg-secondary)] px-1.5 py-0.5 text-2xs text-[var(--color-text-primary)] hover:bg-[var(--color-bg-tertiary)] disabled:cursor-not-allowed disabled:opacity-40"
+                      className={`${btn} px-1.5 py-0.5 text-2xs disabled:cursor-not-allowed`}
                     >
                       Clear
                     </button>

From 70e87e6d4af0ec54be19e241b65738dcf907a914 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 11:40:31 -0700
Subject: [PATCH 081/205] checkouts: the token was released whenever the tab
 lost visibility - a glance at another tab or a closed laptop lid cost it;
 release on a real close only, and raise the inactivity timeout from 5 to 15
 minutes

---
 EngineDesign/tests/test_checkout.py    |  2 +-
 lib/stardesign-ui/src/useCheckout.ts   | 20 ++++++++++----------
 lib/stardesign/README.md               |  6 +++++-
 lib/stardesign/stardesign/documents.py | 10 +++++++++-
 pid-designer/README.md                 |  3 ++-
 pid-designer/tests/test_checkout.py    |  2 +-
 star-openrocket/README.md              |  3 ++-
 star-openrocket/tests/test_checkout.py |  2 +-
 8 files changed, 31 insertions(+), 17 deletions(-)

diff --git a/EngineDesign/tests/test_checkout.py b/EngineDesign/tests/test_checkout.py
index 15be90cb6..0d8538255 100644
--- a/EngineDesign/tests/test_checkout.py
+++ b/EngineDesign/tests/test_checkout.py
@@ -234,7 +234,7 @@ def test_the_previous_holder_is_refused_rather_than_silently_overwriting(client,
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
     monkeypatch.setattr(documents.store, "lock_ttl", 0)
     client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A)
-    monkeypatch.setattr(documents.store, "lock_ttl", 300)
+    monkeypatch.setattr(documents.store, "lock_ttl", 900)
 
     assert _save(client, doc_id, A, config={"v": "stale"}).status_code == 423
     assert _save(client, doc_id, B, params=OWNER_A, config={"v": "fresh"}).status_code == 200
diff --git a/lib/stardesign-ui/src/useCheckout.ts b/lib/stardesign-ui/src/useCheckout.ts
index eac8b452c..5e4a19aef 100644
--- a/lib/stardesign-ui/src/useCheckout.ts
+++ b/lib/stardesign-ui/src/useCheckout.ts
@@ -109,22 +109,22 @@ export function useCheckout<T>({
     };
   }, [api, key, state.lockedByMe, pollMs]); // eslint-disable-line react-hooks/exhaustive-deps
 
-  // Give it back when the tab goes away, so a colleague is not left waiting out
-  // the inactivity timeout for a design nobody has open.
+  // Give it back when the tab actually goes away, so a colleague is not left
+  // waiting out the inactivity timeout for a design nobody has open.
+  //
+  // `pagehide` only -- deliberately NOT `visibilitychange`. That fires whenever
+  // the tab merely stops being visible: switching to another tab, minimising
+  // the window, or closing a laptop lid. Releasing on those meant glancing at
+  // something else for a few seconds silently cost you the checkout, and taking
+  // it back reloads the design. The inactivity timeout covers the case this was
+  // reaching for.
   useEffect(() => {
     const drop = () => {
       const r = refRef.current;
       if (r && heldRef.current) api.releaseCheckoutOnUnload(r);
     };
-    const onHide = () => {
-      if (document.visibilityState === 'hidden') drop();
-    };
     window.addEventListener('pagehide', drop);
-    document.addEventListener('visibilitychange', onHide);
-    return () => {
-      window.removeEventListener('pagehide', drop);
-      document.removeEventListener('visibilitychange', onHide);
-    };
+    return () => window.removeEventListener('pagehide', drop);
   }, [api]);
 
   const take = useCallback(async () => {
diff --git a/lib/stardesign/README.md b/lib/stardesign/README.md
index 7da852a43..dd179f586 100644
--- a/lib/stardesign/README.md
+++ b/lib/stardesign/README.md
@@ -68,9 +68,13 @@ holds a design's write token, and only the holder may save.
   leave and copy deliberately do not: they are not concurrent editing, and
   blocking them would let a stale checkout freeze a design nobody can tidy.
 - A successful save refreshes the heartbeat, so "inactivity" means *not
-  editing*. After `lock_ttl` (default 5 min) the checkout lapses; expiry is
+  editing*. After `lock_ttl` (default 15 min) the checkout lapses; expiry is
   evaluated lazily, at take time, so there is no reaper and no window where the
   record and the answer disagree.
+- The client gives it back on `pagehide` — a real tab close or navigation — and
+  deliberately **not** on `visibilitychange`. That fires when the tab merely
+  stops being visible (another tab, a minimised window, a closed laptop lid),
+  and releasing on it meant a glance elsewhere cost you the checkout.
 
 The compare-and-set runs inside `_index_lock` — the same `flock` that already
 serialises index writes — so two simultaneous takes cannot both win.
diff --git a/lib/stardesign/stardesign/documents.py b/lib/stardesign/stardesign/documents.py
index d175e4789..d037a3b35 100644
--- a/lib/stardesign/stardesign/documents.py
+++ b/lib/stardesign/stardesign/documents.py
@@ -44,6 +44,8 @@
 design's write token at a time, and only the holder may save. Taking it is
 explicit (opening a design never takes it, so viewing never blocks a colleague);
 it lapses on its own after ``lock_ttl`` without a save, and on tab close.
+Hiding the tab -- switching away, minimising, closing a lid -- does not release
+it; only a real close does.
 
 The compare-and-set runs inside ``_index_lock``, the same ``flock`` that already
 serialises index writes, so two simultaneous takes cannot both succeed. That
@@ -114,7 +116,13 @@ class DesignStore:
     #: How long a checkout survives without a save. Expiry is evaluated lazily,
     #: when someone tries to take the design -- no reaper, and exactly as correct
     #: for the only question that matters ("can two people hold it at once?").
-    lock_ttl: int = 300
+    #:
+    #: 15 minutes, not 5: a save is what refreshes this, and reading a result or
+    #: thinking about one is not saving. At 5 minutes an ordinary pause cost you
+    #: the design. It stays finite because release is holder-only and the
+    #: on-close beacon is best-effort, so this is the only thing that frees a
+    #: checkout after a crash or a power cut.
+    lock_ttl: int = 900
     #: An empty document body, used when creating and as a fallback on /load.
     empty_payload: Callable[[], dict] = lambda: {"config": {}}
     #: (owner, doc_id) -> monotonic time of the last microversion. In-process
diff --git a/pid-designer/README.md b/pid-designer/README.md
index 755580f43..89673ac77 100644
--- a/pid-designer/README.md
+++ b/pid-designer/README.md
@@ -127,7 +127,8 @@ server reads as a claim to be an editor and refuses (403) if you are not one.
 A diagram is editable only by whoever holds its **checkout**. Opening one never
 takes it -- viewing must not block a colleague -- so the canvas is read only
 until you press Take in the diagram bar. The checkout returns on its own after a
-few minutes without a save, and on tab close. See
+15 minutes without a save, and on tab close -- but not merely because you
+switched tabs or shut the lid. See
 [`lib/stardesign`](../lib/stardesign/README.md#checkouts).
 
 There is deliberately **no delete**. Diagrams are shared and editable by more
diff --git a/pid-designer/tests/test_checkout.py b/pid-designer/tests/test_checkout.py
index 9bb32bf97..84b59fe26 100644
--- a/pid-designer/tests/test_checkout.py
+++ b/pid-designer/tests/test_checkout.py
@@ -229,7 +229,7 @@ def test_the_previous_holder_is_refused_rather_than_silently_overwriting(client,
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
     monkeypatch.setattr(documents.store, "lock_ttl", 0)
     client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A)
-    monkeypatch.setattr(documents.store, "lock_ttl", 300)
+    monkeypatch.setattr(documents.store, "lock_ttl", 900)
 
     assert _save(client, doc_id, A, nodes=[{"id": "stale"}]).status_code == 423
     assert _save(client, doc_id, B, params=OWNER_A, nodes=[{"id": "fresh"}]).status_code == 200
diff --git a/star-openrocket/README.md b/star-openrocket/README.md
index 30dd7330b..3a5d96a6a 100644
--- a/star-openrocket/README.md
+++ b/star-openrocket/README.md
@@ -182,7 +182,8 @@ live design state sits in React.
 A design is editable only by whoever holds its **checkout**. Opening one never
 takes it -- viewing must not block a colleague -- so every tab below the header
 is read only until you press Take in the design bar. The checkout returns on its
-own after a few minutes without a save, and on tab close. See
+own after 15 minutes without a save, and on tab close -- but not merely because
+you switched tabs or shut the lid. See
 [`lib/stardesign`](../lib/stardesign/README.md#checkouts).
 
 The Units tab is deliberately outside that gate: unit preferences are a per-user
diff --git a/star-openrocket/tests/test_checkout.py b/star-openrocket/tests/test_checkout.py
index f36670408..e5b6438ac 100644
--- a/star-openrocket/tests/test_checkout.py
+++ b/star-openrocket/tests/test_checkout.py
@@ -229,7 +229,7 @@ def test_the_previous_holder_is_refused_rather_than_silently_overwriting(client,
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
     monkeypatch.setattr(documents.store, "lock_ttl", 0)
     client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A)
-    monkeypatch.setattr(documents.store, "lock_ttl", 300)
+    monkeypatch.setattr(documents.store, "lock_ttl", 900)
 
     assert _save(client, doc_id, A, config={"v": "stale"}).status_code == 423
     assert _save(client, doc_id, B, params=OWNER_A, config={"v": "fresh"}).status_code == 200

From 6e3806ad8203f51597f91c7d03b4db0409fc1c3b Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 11:43:37 -0700
Subject: [PATCH 082/205] star-openrocket: Full Flight headline tiles rendered
 bare numbers with no unit while the identical Flight Dynamics tiles showed
 one; relabel the face-edit buttons to Edit body / Edit fins, and drop the
 build-provenance line from the CAD overlay

---
 star-openrocket/frontend/src/App.tsx                      | 4 ----
 .../frontend/src/components/viewer/FullFlightTab.tsx      | 8 ++++++--
 .../frontend/src/components/viewer/StabilityPanel.tsx     | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index d06c9068c..484482930 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -744,10 +744,6 @@ export default function App() {
               Onshape total {q(manifest.totals.assemblyMass, 'mass')} · CM z{' '}
               {q(manifest.totals.assemblyCentroid[2], 'length')}
             </div>
-            <div>
-              {manifest.totals.reconciled ? 'reconciled' : 'NOT reconciled'} · built{' '}
-              {manifest.source.builtAt} · {manifest.source.resolvedFrom}
-            </div>
           </div>
         </main>
 
diff --git a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
index b83267cc0..db5afd119 100644
--- a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
@@ -67,7 +67,7 @@ interface Props {
 }
 
 export function FullFlightTab({ result, recovery, design, flight, onFlightChange }: Props) {
-  const { val, lab, dec, num, dur } = useUnits()
+  const { val, lab, dec, q, dur } = useUnits()
   const [descent, setDescent] = useState<DriftResult | null>(null)
   const [error, setError] = useState<string | null>(null)
   const [running, setRunning] = useState(false)
@@ -239,7 +239,11 @@ export function FullFlightTab({ result, recovery, design, flight, onFlightChange
     )
   }
 
-  const showN = (si: number, kind: Kind, digits = 0) => `${num(si, kind, digits)}`
+  // `q` rather than `num`: these are headline tiles, and `num` renders the
+  // figure alone -- so Apogee read as a bare "3048" with nothing saying whether
+  // that was feet or metres. The Flight Dynamics tab's identical tiles have
+  // always used `q`; this one did not, and the two disagreed on screen.
+  const showN = (si: number, kind: Kind, digits = 0) => q(si, kind, digits)
   const selected = FULL_SERIES.filter((d) => compare.has(d.key))
   const yTitle = (d: FSeries) => `${d.name} (${lab(d.kind)})`
 
diff --git a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
index 3efd9769e..681b269fe 100644
--- a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
@@ -180,7 +180,7 @@ export function StabilityPanel({
               : `${btn} disabled:cursor-not-allowed`
           }
         >
-          Body ({outerFaceCount})
+          Edit body ({outerFaceCount})
         </button>
         <button
           type="button"
@@ -192,7 +192,7 @@ export function StabilityPanel({
               : `${btn} disabled:cursor-not-allowed`
           }
         >
-          Fins ({finCount})
+          Edit fins ({finCount})
         </button>
         <button
           type="button"

From 700274a4fd6e1a58ce5674aa735a1a3943d93b0e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 11:44:34 -0700
Subject: [PATCH 083/205] stardesign-ui: Release read as a hint rather than a
 control - ghostBtn is border-transparent over muted text; use btn, the same
 class the bar's Save to file and Change buttons already use

---
 lib/stardesign-ui/src/CheckoutControl.tsx | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lib/stardesign-ui/src/CheckoutControl.tsx b/lib/stardesign-ui/src/CheckoutControl.tsx
index 05409fa7b..95597aaa1 100644
--- a/lib/stardesign-ui/src/CheckoutControl.tsx
+++ b/lib/stardesign-ui/src/CheckoutControl.tsx
@@ -9,7 +9,7 @@
  */
 
 import type { Checkout } from './useCheckout';
-import { ghostBtn, primaryBtn } from './theme';
+import { btn, primaryBtn } from './theme';
 
 export function CheckoutControl({
   checkout,
@@ -40,7 +40,7 @@ export function CheckoutControl({
             <span className={`${dot} bg-emerald-500`} />
             Editing
           </span>
-          <button onClick={() => void release()} disabled={busy} className={ghostBtn}>
+          <button onClick={() => void release()} disabled={busy} className={btn}>
             {busy ? 'Releasing…' : 'Release'}
           </button>
         </>

From 6f70126247fab5937f3b7e7a3b3e57b823437560 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 11:58:23 -0700
Subject: [PATCH 084/205] star-openrocket: gate Recompute on the checkout - it
 writes outerFaces/finFaces/finCount and auto-detects when they are empty, so
 the Auto-detect gate was bypassable; the audit that missed it now inspects
 the disabled expression rather than the whole tag

---
 .../src/components/viewer/MotorPicker.tsx        |  8 ++++++--
 .../src/components/viewer/StabilityPanel.tsx     | 13 +++++++++++--
 star-openrocket/frontend/src/lib/gating.test.ts  | 16 ++++++++++++++--
 3 files changed, 31 insertions(+), 6 deletions(-)

diff --git a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
index 20e883374..7d9e5908e 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
@@ -8,7 +8,7 @@
  */
 
 import { useEffect, useRef, useState } from 'react'
-import { btn } from '@stardesign-ui'
+import { btn, useDisabled } from '@stardesign-ui'
 
 import { searchMotors } from '../../api/client'
 import type { MotorSimfileRef, MotorSummary } from '../../types'
@@ -33,6 +33,10 @@ const RESULT_LIMIT = 80
 const ROW_GRID = 'grid grid-cols-[minmax(0,1.3fr)_minmax(0,1fr)_5rem] items-center gap-2'
 
 export function MotorPicker({ onSelect, onClose }: Props) {
+  // Picking a motor writes cad.motor. The buttons that open this picker are
+  // already gated, but reachability is not gating -- if the checkout lapses
+  // while the list is open, the rows have to go dead too.
+  const readOnly = useDisabled()
   const [query, setQuery] = useState('')
   const [impulseClass, setImpulseClass] = useState('')
   const [items, setItems] = useState<MotorSummary[]>([])
@@ -151,7 +155,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
             <li key={motor.motorId}>
               <button
                 type="button"
-                disabled={!def}
+                disabled={!def || readOnly}
                 onClick={() => def && onSelect(motor, def.simfileId)}
                 className={`${ROW_GRID} w-full rounded px-2 py-1.5 text-left text-xs hover:bg-[var(--color-bg-tertiary)] disabled:opacity-40`}
               >
diff --git a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
index 681b269fe..770d07fce 100644
--- a/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
+++ b/star-openrocket/frontend/src/components/viewer/StabilityPanel.tsx
@@ -25,6 +25,11 @@ import { Row } from './Row'
  */
 /** `btn`'s geometry without its colours, so a toggle's active state can swap
  *  the fill without the control changing size by a border width. */
+/** Why a control is dead. The design bar's Take button is at the top of the
+ *  window, a long way from these, so a disabled control here needs to say what
+ *  is missing rather than just looking broken. */
+const TAKE_FIRST = 'Take the design in the header to edit it'
+
 const TOGGLE_ON =
   'inline-flex items-center gap-1 rounded border px-2.5 py-1 text-xs font-medium '
   + 'transition-colors disabled:opacity-40 disabled:cursor-not-allowed'
@@ -160,8 +165,9 @@ export function StabilityPanel({
         <button
           type="button"
           onClick={onCompute}
-          disabled={busy}
-          className="rounded bg-[var(--color-accent)] px-2 py-1 text-xs font-medium text-white hover:bg-[var(--color-accent-hover)] disabled:opacity-50"
+          disabled={busy || readOnly}
+          title={readOnly ? TAKE_FIRST : undefined}
+          className="rounded bg-[var(--color-accent)] px-2 py-1 text-xs font-medium text-white hover:bg-[var(--color-accent-hover)] disabled:cursor-not-allowed disabled:opacity-50"
         >
           {busy ? 'Computing…' : result ? 'Recompute' : 'Compute'}
         </button>
@@ -174,6 +180,7 @@ export function StabilityPanel({
           type="button"
           onClick={() => onToggleEditMode('body')}
           disabled={readOnly}
+          title={readOnly ? TAKE_FIRST : undefined}
           className={
             faceEditMode && editTarget === 'body'
               ? `${TOGGLE_ON} border-violet-500 bg-violet-500 text-white`
@@ -186,6 +193,7 @@ export function StabilityPanel({
           type="button"
           onClick={() => onToggleEditMode('fin')}
           disabled={readOnly}
+          title={readOnly ? TAKE_FIRST : undefined}
           className={
             faceEditMode && editTarget === 'fin'
               ? `${TOGGLE_ON} border-orange-500 bg-orange-500 text-white`
@@ -198,6 +206,7 @@ export function StabilityPanel({
           type="button"
           onClick={onAutoDetect}
           disabled={autoBusy || readOnly}
+          title={readOnly ? TAKE_FIRST : undefined}
           className={`${btn} ml-auto disabled:cursor-not-allowed`}
         >
           {autoBusy ? 'Detecting…' : 'Auto-detect'}
diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
index 693e26f4b..1c318548e 100644
--- a/star-openrocket/frontend/src/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -33,7 +33,6 @@ const VIEW_ONLY: Record<string, string> = {
   'ContextMenu.tsx:item.onSelect()': 'generic menu shell -- PartList only ever passes view actions',
   'InspectorPanel.tsx:onClick={onClick}': 'panel tab switch',
   'InspectorPanel.tsx:onToggle': 'pin toggle, local panel state',
-  'StabilityPanel.tsx:onCompute': 'runs the stability analysis; reads the design, never writes it',
   'StabilityPanel.tsx:onToggleIsolate': 'isolates the outer surface in the 3D view',
   'StabilityPanel.tsx:onViewMotorCurves': 'opens the thrust-curve popup',
   'StabilityPanel.tsx:onViewFlight': 'opens the flight-profile popup',
@@ -101,7 +100,20 @@ describe('checkout gating (viewer)', () => {
       const name = path.split('/').pop() as string
       for (const tag of ['button', 'input', 'select', 'textarea']) {
         for (const open of openingTags(src, tag)) {
-          if (/\bdisabled\s*=/.test(open) || /readOnly/.test(open)) continue
+          // A bare `disabled={busy}` is NOT enough. Recompute carried exactly
+          // that and still wrote three design fields, so the audit passed while
+          // the control was ungated. The attribute has to actually consult the
+          // read-only state -- either inline, or via a `disabled` prop the
+          // parent wires to it (ModelPicker), or via `useDisabled()` inside the
+          // component, which surfaces as `disabled={disabled}`.
+          // Inspect the `disabled` EXPRESSION, not the whole tag. Matching
+          // anywhere in the tag is worthless: a `title={readOnly ? ... }`
+          // explaining why a control is dead satisfied it while the control
+          // itself stayed live. The expression must consult read-only state --
+          // inline, or through a `disabled` prop / `useDisabled()`, both of
+          // which read as the identifier `disabled` in the expression.
+          const expr = /disabled=\{([^}]*)\}/.exec(open)?.[1]
+          if (expr && /readOnly|\bdisabled\b/.test(expr)) continue
           const excused = Object.keys(VIEW_ONLY).find((k) => {
             const [file, marker] = k.split(':')
             return name === file && open.includes(marker)

From fde0551c0423fef90de9fc797b28870cdf430e03 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 12:06:54 -0700
Subject: [PATCH 085/205] settings: no unit preference has ever saved - volume
 and torque are in the TS Kind union but were never declared on UnitPrefs, and
 extra=forbid plus a whole-object write made every PUT a 422; motor sizes in
 the picker now follow the Units tab instead of hardcoding mm

---
 .../backend/recovery/routers/settings.py      |  7 +++
 .../src/components/viewer/MotorPicker.tsx     |  8 ++-
 .../tests/test_unit_prefs_match_frontend.py   | 53 +++++++++++++++++++
 3 files changed, 67 insertions(+), 1 deletion(-)
 create mode 100644 star-openrocket/tests/test_unit_prefs_match_frontend.py

diff --git a/star-openrocket/backend/recovery/routers/settings.py b/star-openrocket/backend/recovery/routers/settings.py
index 7aa666f87..28928684d 100644
--- a/star-openrocket/backend/recovery/routers/settings.py
+++ b/star-openrocket/backend/recovery/routers/settings.py
@@ -52,6 +52,13 @@ class UnitPrefs(BaseModel):
     length: System = None
     distance: System = None
     area: System = None
+    # `volume` and `torque` are in the TS `Kind` union but were never declared
+    # here. Because extra="forbid", and because the Units tab writes *every*
+    # kind at once (setAll spreads the whole prefs object), that made EVERY
+    # settings save a 422 -- unit preferences only ever survived in the
+    # localStorage mirror, so they never followed anyone to another machine.
+    volume: System = None
+    torque: System = None
     mass: System = None
     speed: System = None
     accel: System = None
diff --git a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
index 7d9e5908e..0a2a0c0cd 100644
--- a/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
+++ b/star-openrocket/frontend/src/components/viewer/MotorPicker.tsx
@@ -10,6 +10,8 @@
 import { useEffect, useRef, useState } from 'react'
 import { btn, useDisabled } from '@stardesign-ui'
 
+import { useUnits } from '../../lib/units/unitsContext'
+
 import { searchMotors } from '../../api/client'
 import type { MotorSimfileRef, MotorSummary } from '../../types'
 
@@ -37,6 +39,10 @@ export function MotorPicker({ onSelect, onClose }: Props) {
   // already gated, but reachability is not gating -- if the checkout lapses
   // while the list is open, the rows have to go dead too.
   const readOnly = useDisabled()
+  // Motor sizes arrive from thrustcurve in millimetres, not SI. They were
+  // printed with a hardcoded 'mm', so this was the one place in the app that
+  // ignored the Units tab -- someone working in inches still read mm here.
+  const { num, q } = useUnits()
   const [query, setQuery] = useState('')
   const [impulseClass, setImpulseClass] = useState('')
   const [items, setItems] = useState<MotorSummary[]>([])
@@ -166,7 +172,7 @@ export function MotorPicker({ onSelect, onClose }: Props) {
                   {motor.manufacturerAbbrev}
                 </span>
                 <span className="whitespace-nowrap text-[var(--color-text-muted)]">
-                  {motor.diameter}×{motor.length}mm
+                  {num(motor.diameter / 1000, 'length')}×{q(motor.length / 1000, 'length')}
                 </span>
               </button>
             </li>
diff --git a/star-openrocket/tests/test_unit_prefs_match_frontend.py b/star-openrocket/tests/test_unit_prefs_match_frontend.py
new file mode 100644
index 000000000..a1ab6c777
--- /dev/null
+++ b/star-openrocket/tests/test_unit_prefs_match_frontend.py
@@ -0,0 +1,53 @@
+"""The unit-preference schema must cover every `Kind` the frontend can send.
+
+`UnitPrefs` sets ``extra="forbid"`` and the Units tab writes the *whole* prefs
+object at once (``setAll`` spreads every kind), so one missing field does not
+degrade to "that one preference is ignored" -- it 422s the entire save. That is
+exactly what happened: ``volume`` and ``torque`` were in the TypeScript union
+and never declared here, so no unit preference ever reached the volume. They
+survived only in the browser's localStorage mirror, which is why it looked fine
+on the machine that set them and followed nobody to a second one.
+
+The list is parsed out of the TypeScript rather than duplicated here, so this
+fails when the two drift rather than when someone forgets to update a copy.
+"""
+
+import os
+import re
+import sys
+
+import pytest
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+
+pytest.importorskip("fastapi", reason="the settings model imports pydantic via fastapi")
+
+from backend.recovery.routers.settings import UnitPrefs  # noqa: E402
+
+_QUANTITIES = os.path.join(
+    os.path.dirname(os.path.dirname(os.path.abspath(__file__))),
+    "frontend", "src", "lib", "units", "quantities.ts",
+)
+
+
+def _frontend_kinds() -> set[str]:
+    """The `Kind` union from quantities.ts, as a set of names."""
+    src = open(_QUANTITIES, encoding="utf-8").read()
+    m = re.search(r"export type Kind =\s*(.+?)\n\n", src, re.S)
+    assert m, "could not find the Kind union in quantities.ts"
+    return set(re.findall(r"'([a-zA-Z]+)'", m.group(1)))
+
+
+def test_every_frontend_kind_has_a_field():
+    missing = _frontend_kinds() - set(UnitPrefs.model_fields)
+    assert not missing, (
+        f"quantities.ts can send {sorted(missing)}, which UnitPrefs does not declare. "
+        "extra=forbid means the whole PUT /api/settings 422s, so no preference saves."
+    )
+
+
+def test_no_field_the_frontend_cannot_send():
+    """The other direction: a stale field here is dead weight, and a sign the
+    two drifted. Not fatal like the above, but it should not go unnoticed."""
+    extra = set(UnitPrefs.model_fields) - _frontend_kinds()
+    assert not extra, f"UnitPrefs declares {sorted(extra)}, absent from the TS Kind union"

From 1adb1670bcf4f22a4e777ed6256fd52014731c7c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 12:27:15 -0700
Subject: [PATCH 086/205] star-openrocket: chart series selection is a viewing
 preference, not part of the design - move it to localStorage per browser,
 alongside the sidebar widths, and strip the old keys off designs saved before
 the change

---
 star-openrocket/frontend/src/App.tsx          |  3 +-
 .../components/viewer/FlightDynamicsTab.tsx   | 19 ++++---
 .../src/components/viewer/FullFlightTab.tsx   | 21 +++----
 .../frontend/src/lib/gating.test.ts           |  4 +-
 .../frontend/src/lib/persist.test.ts          | 25 ++++++++
 star-openrocket/frontend/src/lib/persist.ts   | 21 ++++++-
 star-openrocket/frontend/src/lib/uiPrefs.ts   | 57 +++++++++++++++++++
 star-openrocket/frontend/src/types/config.ts  | 12 ++--
 8 files changed, 127 insertions(+), 35 deletions(-)
 create mode 100644 star-openrocket/frontend/src/lib/uiPrefs.ts

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index 484482930..1c2917d1e 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -674,8 +674,7 @@ export default function App() {
         {activeTab === 'environment' ? (
         <EnvironmentTab recovery={recovery} onChange={setRecovery} />
       ) : activeTab === 'fullflight' ? (
-        <FullFlightTab result={flightDynResult} recovery={recovery} design={designSource}
-          flight={flight} onFlightChange={setFlight} />
+        <FullFlightTab result={flightDynResult} recovery={recovery} design={designSource} />
       ) : activeTab === 'recovery' ? (
         <RecoveryTab ui={recovery} onChange={setRecovery} design={designSource} />
       ) : activeTab === 'flight' ? (
diff --git a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
index 54db515af..924dbbde4 100644
--- a/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FlightDynamicsTab.tsx
@@ -9,7 +9,9 @@
  */
 
 import { btn, useDisabled } from '@stardesign-ui'
-import { useEffect, useMemo, useState } from 'react'
+
+import { useStoredSet } from '../../lib/uiPrefs'
+import { useEffect, useState } from 'react'
 import { createPortal } from 'react-dom'
 import {
   CartesianGrid,
@@ -136,6 +138,10 @@ export function Panel({ title, hint, children, heightClass = 'min-h-[360px]' }:
 
 const tip = { contentStyle: TOOLTIP_STYLE, labelStyle: TOOLTIP_LABEL_STYLE }
 
+/** Where this browser remembers the ticked series. Namespaced like the
+ *  sidebar widths (star-openrocket:left-width). */
+const COMPARE_KEY = 'star-openrocket:flight-compare'
+
 /** Selectable time series for the compare overlay: each is one colored Y axis.
  *  `get` returns SI; `kind` (when present) routes the value + label through the
  *  units selection. `unit` is the literal label for the non-convertible ones —
@@ -222,14 +228,9 @@ export function FlightDynamicsTab({ modelId, motorSel, outerFaces, finFaces, nFi
 
   const [busy, setBusy] = useState(false)
   const [error, setError] = useState<string | null>(null)
-  // Which series to overlay on the shared-time compare plot. Persisted on the config
-  // (flight.compareSeries) so the selection survives reloads and rides in the save file.
-  const compare = useMemo(() => new Set(flight.compareSeries), [flight.compareSeries])
-  const toggleCompare = (key: string) => {
-    const next = new Set(flight.compareSeries)
-    next.has(key) ? next.delete(key) : next.add(key)
-    onFlightChange({ compareSeries: [...next] })
-  }
+  // Which series to overlay on the shared-time compare plot: a viewing choice,
+  // kept per browser rather than on the design. See lib/uiPrefs.ts.
+  const [compare, toggleCompare] = useStoredSet(COMPARE_KEY, ['altitude', 'speed'])
 
   async function run() {
     if (!modelId || !motorSel) return
diff --git a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
index db5afd119..4e184fea2 100644
--- a/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
+++ b/star-openrocket/frontend/src/components/viewer/FullFlightTab.tsx
@@ -23,12 +23,12 @@ import {
   ReferenceLine, ResponsiveContainer, Tooltip, XAxis, YAxis,
 } from 'recharts'
 import type { Kind } from '../../lib/units/quantities'
+import { useStoredSet } from '../../lib/uiPrefs'
 import { runDrift } from '../../recovery/api/client'
 import { toWireConfig } from '../../recovery/lib/serialise'
 import { useUnits } from '../../lib/units/unitsContext'
 import type { DesignSource, DriftResult, UiConfig } from '../../recovery/types/schema'
 import type { FlightDynamicsResult } from '../../types'
-import type { FlightParams } from '../../types/config'
 import {
   AXIS, FD, GRID, REFERENCE, SERIES, TICK_FONT, TOOLTIP_LABEL_STYLE,
   TOOLTIP_STYLE, axisLabelX, axisLabelY,
@@ -48,6 +48,10 @@ const EV = {
   main: '#f472b6', // pink-400
 }
 
+/** Where this browser remembers the ticked series, separate from the Flight
+ *  Dynamics plot because the two have different series sets. */
+const FULL_COMPARE_KEY = 'star-openrocket:fullflight-compare'
+
 /** The whole-flight series that share the compare plot. */
 interface FSeries { key: 'altitude' | 'speed' | 'accel' | 'wind'; name: string; kind: Kind; color: string }
 const FULL_SERIES: FSeries[] = [
@@ -62,24 +66,17 @@ interface Props {
   recovery: UiConfig
   design: DesignSource
   /** Launch params, owned by App — carries the persisted compare-plot selection. */
-  flight: FlightParams
-  onFlightChange: (patch: Partial<FlightParams>) => void
 }
 
-export function FullFlightTab({ result, recovery, design, flight, onFlightChange }: Props) {
+export function FullFlightTab({ result, recovery, design }: Props) {
   const { val, lab, dec, q, dur } = useUnits()
   const [descent, setDescent] = useState<DriftResult | null>(null)
   const [error, setError] = useState<string | null>(null)
   const [running, setRunning] = useState(false)
   const seq = useRef(0)
-  // Which whole-flight series to overlay on the shared time axis. Persisted on the config
-  // (flight.fullCompareSeries) so the selection survives reloads and rides in the save file.
-  const compare = useMemo(() => new Set(flight.fullCompareSeries), [flight.fullCompareSeries])
-  const toggle = (key: string) => {
-    const next = new Set(flight.fullCompareSeries)
-    next.has(key) ? next.delete(key) : next.add(key)
-    onFlightChange({ fullCompareSeries: [...next] })
-  }
+  // Which whole-flight series to overlay: a viewing choice, kept per browser
+  // rather than on the design. See lib/uiPrefs.ts.
+  const [compare, toggle] = useStoredSet(FULL_COMPARE_KEY, ['altitude', 'speed'])
 
   // Descent config: the recovery inputs (parachutes/wind/site) but the vehicle
   // seeded by the ASCENT so the two halves join at apogee.
diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
index 1c318548e..bbd647fbc 100644
--- a/star-openrocket/frontend/src/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -47,8 +47,8 @@ const VIEW_ONLY: Record<string, string> = {
   'ModelPicker.tsx:setChosen': 'list navigation, local state',
   'FlightDynamicsTab.tsx:setExpanded': 'expands a chart',
   'FlightDynamicsTab.tsx:run': 'runs the flight simulation; reads the design',
-  'FlightDynamicsTab.tsx:toggleCompare': 'which series the chart draws',
-  'FullFlightTab.tsx:toggle(d.key)': 'which series the chart draws',
+  'FlightDynamicsTab.tsx:toggleCompare': 'which series the chart draws; localStorage, not the design',
+  'FullFlightTab.tsx:toggle(d.key)': 'which series the chart draws; localStorage, not the design',
   'EnvironmentTab.tsx:setSub(t.id)': 'subtab switch',
   'MotorCurvesModal.tsx:onClose': 'closes the popup',
   'FlightProfileModal.tsx:onClose': 'closes the popup',
diff --git a/star-openrocket/frontend/src/lib/persist.test.ts b/star-openrocket/frontend/src/lib/persist.test.ts
index 387a00a5d..5b64b8933 100644
--- a/star-openrocket/frontend/src/lib/persist.test.ts
+++ b/star-openrocket/frontend/src/lib/persist.test.ts
@@ -16,6 +16,31 @@ function isFullyShaped(c: unknown) {
     && !!o.recovery && typeof o.recovery === 'object'
 }
 
+describe('the design carries no viewing preferences', () => {
+  it('drops compare-plot selections saved by an older build', () => {
+    // These lived on `flight` until they moved to localStorage. A design saved
+    // before that still has them, and a spread would lift them back into the
+    // live config and write them out again on the next autosave -- so the
+    // preference would keep travelling to everyone it was shared with.
+    const legacy = JSON.stringify({
+      cad: {
+        version: 1,
+        flight: {
+          inclination: 80, heading: 12, cpModel: 'ours',
+          compareSeries: ['altitude'], fullCompareSeries: ['speed'],
+        },
+      },
+      recovery: {},
+    })
+    const flight = reviveOrkConfig(legacy)!.cad.flight as unknown as Record<string, unknown>
+    expect(Object.keys(flight).sort()).toEqual(['cpModel', 'heading', 'inclination'])
+    // The real launch params still survive the trip.
+    expect(flight.inclination).toBe(80)
+    expect(flight.heading).toBe(12)
+    expect(flight.cpModel).toBe('ours')
+  })
+})
+
 describe('reviveOrkConfig', () => {
   it('round-trips a valid unified config', () => {
     const c = defaultOrkConfig()
diff --git a/star-openrocket/frontend/src/lib/persist.ts b/star-openrocket/frontend/src/lib/persist.ts
index f46f9ec25..10eb811f9 100644
--- a/star-openrocket/frontend/src/lib/persist.ts
+++ b/star-openrocket/frontend/src/lib/persist.ts
@@ -11,7 +11,7 @@
  * prefs like opacity that have no bearing on the analysis.
  */
 
-import type { ViewerConfig } from '../types/config'
+import type { FlightParams, ViewerConfig } from '../types/config'
 import { defaultFlightParams, defaultViewerConfig } from '../types/config'
 
 /** Versioned key, so a future shape change is ignored rather than crashed on. */
@@ -46,7 +46,11 @@ export function reviveViewerConfig(raw: string | null): ViewerConfig | null {
     finCount: typeof saved.finCount === 'number' ? saved.finCount : base.finCount,
     motor: saved.motor ?? base.motor,
     railLength: typeof saved.railLength === 'number' ? saved.railLength : base.railLength,
-    flight: { ...defaultFlightParams(), ...(saved.flight ?? {}) },
+    // Named fields, not a spread: designs saved before the compare-plot
+    // selection moved to localStorage still carry `compareSeries` /
+    // `fullCompareSeries` here, and a spread would lift them back into the live
+    // config and write them straight out again on the next autosave.
+    flight: revivedFlight(saved.flight),
   }
 }
 
@@ -62,6 +66,19 @@ import { defaultOrkConfig } from '../types/config'
 import { reviveUiConfig } from '../recovery/lib/persist'
 import { defaultUiConfig, toStoredConfig } from '../recovery/lib/serialise'
 
+/** The launch params, keeping only fields the current shape declares. */
+function revivedFlight(saved: unknown): FlightParams {
+  const base = defaultFlightParams()
+  const f = (saved && typeof saved === 'object' ? saved : {}) as Partial<FlightParams>
+  return {
+    inclination: typeof f.inclination === 'number' ? f.inclination : base.inclination,
+    heading: typeof f.heading === 'number' ? f.heading : base.heading,
+    cpModel: f.cpModel === 'ours' || f.cpModel === 'rocketpy' || f.cpModel === 'both'
+      ? f.cpModel
+      : base.cpModel,
+  }
+}
+
 export function reviveOrkConfig(raw: string | null): OrkConfig | null {
   if (!raw) return null
   let saved: { cad?: unknown; recovery?: unknown }
diff --git a/star-openrocket/frontend/src/lib/uiPrefs.ts b/star-openrocket/frontend/src/lib/uiPrefs.ts
new file mode 100644
index 000000000..78b76e7d5
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/uiPrefs.ts
@@ -0,0 +1,57 @@
+/**
+ * Per-browser UI state: things the person at the machine chose, which are not
+ * part of the design.
+ *
+ * Which chart series you have ticked is the same class of thing as how wide you
+ * dragged a sidebar (see components/viewer/ResizableSidebar.tsx) or which units
+ * you read in — a preference belonging to the viewer, not to the rocket. It
+ * used to live on the design's `flight` object, which had three consequences:
+ * the choice travelled in the save file to anyone you shared with, ticking a
+ * box marked the design dirty and demanded a checkout, and doing it while
+ * read-only was a silent no-op that never persisted.
+ *
+ * localStorage, so it is per browser and never leaves it.
+ */
+
+import { useCallback, useState } from 'react'
+
+/**
+ * A set of string keys remembered under `key`.
+ *
+ * Every access is guarded: private mode, a cleared profile, a quota error or a
+ * corrupt value must degrade to the default rather than blank the tab.
+ */
+export function useStoredSet(
+  key: string,
+  fallback: readonly string[],
+): [Set<string>, (member: string) => void] {
+  const [members, setMembers] = useState<Set<string>>(() => {
+    try {
+      const raw = window.localStorage.getItem(key)
+      if (!raw) return new Set(fallback)
+      const parsed = JSON.parse(raw)
+      // An array of strings or nothing. A stored `null`, object or number is
+      // treated as absent -- the default is always a valid answer here.
+      return Array.isArray(parsed)
+        ? new Set(parsed.filter((m): m is string => typeof m === 'string'))
+        : new Set(fallback)
+    } catch {
+      return new Set(fallback)
+    }
+  })
+
+  const toggle = useCallback((member: string) => {
+    setMembers((current) => {
+      const next = new Set(current)
+      if (!next.delete(member)) next.add(member)
+      try {
+        window.localStorage.setItem(key, JSON.stringify([...next]))
+      } catch {
+        /* quota or private mode: the toggle still works, it just forgets */
+      }
+      return next
+    })
+  }, [key])
+
+  return [members, toggle]
+}
diff --git a/star-openrocket/frontend/src/types/config.ts b/star-openrocket/frontend/src/types/config.ts
index 00af168dd..43a76a475 100644
--- a/star-openrocket/frontend/src/types/config.ts
+++ b/star-openrocket/frontend/src/types/config.ts
@@ -21,12 +21,10 @@ export interface FlightParams {
   heading: number
   /** Which CP model the stability overlay shows. */
   cpModel: 'ours' | 'rocketpy' | 'both'
-  /** Which series are ticked on the Flight Dynamics compare plot. Persisted (a view
-   *  preference, not physics) so the chosen overlay survives reloads and travels in the
-   *  save file like everything else. */
-  compareSeries: string[]
-  /** Same, for the Full Flight compare plot (its own series set: altitude/speed/accel). */
-  fullCompareSeries: string[]
+  // Which series are ticked on the compare plots used to live here. They are a
+  // viewing preference, not physics, so they now sit in localStorage per
+  // browser -- see lib/uiPrefs.ts. On the design they travelled in the save
+  // file to whoever you shared with, and ticking a box marked the design dirty.
 }
 
 export interface ViewerConfig {
@@ -46,8 +44,6 @@ export interface ViewerConfig {
 export function defaultFlightParams(): FlightParams {
   return {
     inclination: 85, heading: 0, cpModel: 'both',
-    compareSeries: ['altitude', 'speed'],
-    fullCompareSeries: ['altitude', 'speed'],
   }
 }
 

From 911e90399b480807728c206026357d4a1b33b72e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 12:34:05 -0700
Subject: [PATCH 087/205] star-openrocket: part visibility is saved with the
 design - hidden parts are excluded from the centre of mass, so two people
 opening one design have to see the same set hidden; hiding now needs the
 checkout, like any other design edit

---
 star-openrocket/frontend/src/App.tsx          | 24 ++++++++++++-----
 .../src/components/viewer/PartList.tsx        | 10 +++++++
 .../frontend/src/lib/gating.test.ts           |  6 ++---
 .../frontend/src/lib/persist.test.ts          | 27 +++++++++++++++++++
 star-openrocket/frontend/src/lib/persist.ts   |  3 +++
 star-openrocket/frontend/src/types/config.ts  | 11 ++++++++
 6 files changed, 71 insertions(+), 10 deletions(-)

diff --git a/star-openrocket/frontend/src/App.tsx b/star-openrocket/frontend/src/App.tsx
index 1c2917d1e..10a80584c 100644
--- a/star-openrocket/frontend/src/App.tsx
+++ b/star-openrocket/frontend/src/App.tsx
@@ -65,7 +65,12 @@ export default function App() {
   const [manifest, setManifest] = useState<Manifest | null>(null)
   const [error, setError] = useState<string | null>(null)
 
-  const [visibleKeys, setVisibleKeys] = useState<Set<string>>(new Set())
+  // What the user has hidden, which is design state: hidden parts drop out of
+  // the centre of mass. `visibleKeys` below is derived, so a part the model
+  // gains later is visible without anything having to add it.
+  const [hiddenKeys, setHiddenKeys] = useState<Set<string>>(
+    () => new Set(initialOrk.cad.hiddenKeys),
+  )
   // Ordered, so the last entry can stand in as the primary selection wherever
   // only one part makes sense -- the 3D highlight, the detail panel.
   const [selectedKeys, setSelectedKeys] = useState<string[]>([])
@@ -165,7 +170,6 @@ export default function App() {
       .then((loaded) => {
         setManifest(loaded)
         setOverrides(new Map())
-        setVisibleKeys(new Set(loaded.parts.map((part) => part.key)))
         setSelectedKeys([])
         setStability(null)
         setStabilityError(null)
@@ -224,6 +228,11 @@ export default function App() {
     [overrides],
   )
 
+  const visibleKeys = useMemo(
+    () => new Set(parts.filter((part) => !hiddenKeys.has(part.key)).map((part) => part.key)),
+    [parts, hiddenKeys],
+  )
+
   const activeParts = useMemo(
     () => parts.filter((part) => visibleKeys.has(part.key)),
     [parts, visibleKeys],
@@ -331,10 +340,12 @@ export default function App() {
         motor: motorSel,
         railLength,
         flight,
+        hiddenKeys: [...hiddenKeys],
       },
       recovery,
     }),
-    [modelId, overrides, outerFaces, finFaces, finCount, motorSel, railLength, flight, recovery],
+    [modelId, overrides, outerFaces, finFaces, finCount, motorSel, railLength, flight, recovery,
+     hiddenKeys],
   )
 
   // Debounced: `config` changes on every keystroke and this serialises it all.
@@ -360,6 +371,7 @@ export default function App() {
     setMotorSel(cad.motor)
     setRailLength(cad.railLength)
     setFlightState(cad.flight)
+    setHiddenKeys(new Set(cad.hiddenKeys))
     setRecovery(recovery)
     saveOrkConfig({ version: 1, cad, recovery })
   }, [])
@@ -557,11 +569,11 @@ export default function App() {
   }, [])
 
   const handleToggle = useCallback((keys: string[], visible: boolean) => {
-    setVisibleKeys((current) => {
+    setHiddenKeys((current) => {
       const next = new Set(current)
       for (const key of keys) {
-        if (visible) next.add(key)
-        else next.delete(key)
+        if (visible) next.delete(key)
+        else next.add(key)
       }
       return next
     })
diff --git a/star-openrocket/frontend/src/components/viewer/PartList.tsx b/star-openrocket/frontend/src/components/viewer/PartList.tsx
index 6f8092890..5421bad4a 100644
--- a/star-openrocket/frontend/src/components/viewer/PartList.tsx
+++ b/star-openrocket/frontend/src/components/viewer/PartList.tsx
@@ -22,6 +22,8 @@ import type { Part } from '../../types'
 import { useUnits } from '../../lib/units/unitsContext'
 import { displayName } from '../../lib/names'
 import { STATUS_TEXT, massStatus, worstStatus } from '../../lib/status'
+import { useDisabled } from '@stardesign-ui'
+
 import { ContextMenu, type MenuItem } from './ContextMenu'
 
 interface Props {
@@ -71,6 +73,9 @@ export function PartList({
   onHover,
 }: Props) {
   const { q } = useUnits()
+  // Hiding a part drops it from the centre of mass, so visibility is part of
+  // the design and needs the checkout. Selecting and expanding are not.
+  const readOnly = useDisabled()
   const [expanded, setExpanded] = useState<Set<string>>(new Set())
   const [menu, setMenu] = useState<MenuState | null>(null)
   // Where a shift-range starts. Held here rather than derived from the
@@ -199,10 +204,12 @@ export function PartList({
       {
         label: shown > 0 ? `Hide ${noun}` : `Show ${noun}`,
         danger: shown > 0,
+        disabled: readOnly,
         onSelect: () => onToggle(unique, shown === 0),
       },
       {
         label: `Isolate ${noun}`,
+        disabled: readOnly,
         onSelect: () => {
           onToggle(parts.map((part) => part.key), false)
           onToggle(unique, true)
@@ -213,6 +220,7 @@ export function PartList({
     if (shown > 0 && shown < unique.length) {
       items.splice(1, 0, {
         label: `Show the other ${unique.length - shown}`,
+        disabled: readOnly,
         onSelect: () => onToggle(unique, true),
       })
     }
@@ -233,6 +241,8 @@ export function PartList({
             type="button"
             className="rounded border border-[var(--color-border)] px-2 py-0.5 text-xs text-amber-300 hover:bg-[var(--color-bg-tertiary)]"
             onClick={() => onToggle(parts.map((part) => part.key), true)}
+            disabled={readOnly}
+            title={readOnly ? 'Take the design in the header to show hidden parts' : undefined}
           >
             Show {hiddenCount} hidden
           </button>
diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
index bbd647fbc..948fc093a 100644
--- a/star-openrocket/frontend/src/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -27,10 +27,8 @@ import { describe, expect, it } from 'vitest'
 const VIEW_ONLY: Record<string, string> = {
   'PropertiesPanel.tsx:onOpacityChange': 'part opacity in the 3D view; not saved in OrkConfig',
   'PropertiesPanel.tsx:onShowAssemblyCentroidChange': 'draws the Onshape CM marker; a view toggle',
-  'PartList.tsx:onToggle(parts.map': 'show-all-hidden; visibility is not saved in the design',
-  'PartList.tsx:onSelect([])': 'clears the selection, which is not saved either',
-  'PartList.tsx:onContextMenu': 'opens the menu; its own items are hide/isolate/select',
-  'ContextMenu.tsx:item.onSelect()': 'generic menu shell -- PartList only ever passes view actions',
+  'PartList.tsx:onSelect([])': 'clears the selection, which is not saved',
+  'PartList.tsx:onContextMenu': 'opens the menu; the menu items carry their own disabled',
   'InspectorPanel.tsx:onClick={onClick}': 'panel tab switch',
   'InspectorPanel.tsx:onToggle': 'pin toggle, local panel state',
   'StabilityPanel.tsx:onToggleIsolate': 'isolates the outer surface in the 3D view',
diff --git a/star-openrocket/frontend/src/lib/persist.test.ts b/star-openrocket/frontend/src/lib/persist.test.ts
index 5b64b8933..ca1a0e944 100644
--- a/star-openrocket/frontend/src/lib/persist.test.ts
+++ b/star-openrocket/frontend/src/lib/persist.test.ts
@@ -16,6 +16,33 @@ function isFullyShaped(c: unknown) {
     && !!o.recovery && typeof o.recovery === 'object'
 }
 
+describe('hidden parts are part of the design', () => {
+  it('round-trips hiddenKeys', () => {
+    // Hidden parts are excluded from the centre of mass, so two people opening
+    // the same design have to see the same set hidden -- it cannot be a local
+    // preference the way the compare-plot selection is.
+    const saved = JSON.stringify({
+      cad: { version: 1, hiddenKeys: ['occ-1', 'occ-2'] },
+      recovery: {},
+    })
+    expect(reviveOrkConfig(saved)!.cad.hiddenKeys).toEqual(['occ-1', 'occ-2'])
+  })
+
+  it('defaults to nothing hidden, and ignores a non-list', () => {
+    expect(defaultOrkConfig().cad.hiddenKeys).toEqual([])
+    const junk = JSON.stringify({ cad: { version: 1, hiddenKeys: 'all' }, recovery: {} })
+    expect(reviveOrkConfig(junk)!.cad.hiddenKeys).toEqual([])
+  })
+
+  it('drops non-string members rather than carrying them into a Set', () => {
+    const mixed = JSON.stringify({
+      cad: { version: 1, hiddenKeys: ['occ-1', 3, null, 'occ-2'] },
+      recovery: {},
+    })
+    expect(reviveOrkConfig(mixed)!.cad.hiddenKeys).toEqual(['occ-1', 'occ-2'])
+  })
+})
+
 describe('the design carries no viewing preferences', () => {
   it('drops compare-plot selections saved by an older build', () => {
     // These lived on `flight` until they moved to localStorage. A design saved
diff --git a/star-openrocket/frontend/src/lib/persist.ts b/star-openrocket/frontend/src/lib/persist.ts
index 10eb811f9..1b8c21806 100644
--- a/star-openrocket/frontend/src/lib/persist.ts
+++ b/star-openrocket/frontend/src/lib/persist.ts
@@ -51,6 +51,9 @@ export function reviveViewerConfig(raw: string | null): ViewerConfig | null {
     // `fullCompareSeries` here, and a spread would lift them back into the live
     // config and write them straight out again on the next autosave.
     flight: revivedFlight(saved.flight),
+    hiddenKeys: Array.isArray(saved.hiddenKeys)
+      ? saved.hiddenKeys.filter((k): k is string => typeof k === 'string')
+      : base.hiddenKeys,
   }
 }
 
diff --git a/star-openrocket/frontend/src/types/config.ts b/star-openrocket/frontend/src/types/config.ts
index 43a76a475..c07e857f9 100644
--- a/star-openrocket/frontend/src/types/config.ts
+++ b/star-openrocket/frontend/src/types/config.ts
@@ -39,6 +39,16 @@ export interface ViewerConfig {
   motor: MotorSelection | null
   railLength: number
   flight: FlightParams
+  /**
+   * Occurrence keys the user has hidden. Hidden parts are excluded from the
+   * centre of mass, so this is design state, not a viewing preference: two
+   * people opening the same design have to read the same CM.
+   *
+   * Hidden rather than visible, so the default (nothing hidden) is the empty
+   * list, a part added to the model later shows up rather than vanishing, and
+   * a key belonging to some other model is inert instead of hiding everything.
+   */
+  hiddenKeys: string[]
 }
 
 export function defaultFlightParams(): FlightParams {
@@ -57,6 +67,7 @@ export function defaultViewerConfig(): ViewerConfig {
     finCount: 0,
     motor: null,
     railLength: 1.0,
+    hiddenKeys: [],
     flight: defaultFlightParams(),
   }
 }

From 594a4fb5da9df93a0315ffe13478c01ec6e1a9cc Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:49:30 -0700
Subject: [PATCH 088/205] calibration: HP PT tuning was read from the wrong
 sections - excitation keys only from a section literally named pt_board_2,
 and adc_ref_voltage from any section at all (including [calibration.tc])
 because the parser never cleared board_section; collect per-section and
 resolve against the board that declared hp_pt_connectors

---
 .../services/calibration/calibration_main.cpp | 43 +++++++++++++++----
 1 file changed, 34 insertions(+), 9 deletions(-)

diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index c54dc8433..37e1ba51c 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -577,6 +577,15 @@ int main(int argc, char* argv[]) {
             std::string line, section, board_section;
             std::string hp_pt_source_section;     // [boards.*] that defined hp_pt_connectors
             uint8_t pending_slot_in_section = 0;  // board_id % 10 in current [boards.*]
+            // Collected per [boards.*] section and resolved to the HP board AFTER the parse.
+            // Previously these were assigned straight into the hp_pt_* variables, which meant a
+            // key of the same name in any other section overwrote the HP board's value (adc_ref_
+            // voltage is also set by [calibration.tc]/[calibration.rtd]), and the excitation keys
+            // were read only from a section literally named "pt_board_2" — so an HP board with any
+            // other key silently lost supply normalization, the cause of the PT2 spiking class of
+            // bug. Config, not the section name, decides which board is HP.
+            std::map<std::string, double> sec_adc_ref, sec_full_scale, sec_sense_ohms, sec_exc_atten;
+            std::map<std::string, int> sec_exc_conn;
             while (std::getline(cfg2, line)) {
                 size_t c = line.find('#');
                 if (c != std::string::npos)
@@ -593,6 +602,8 @@ int main(int argc, char* argv[]) {
                     if (section.find("boards.") == 0) {
                         board_section = section;
                         pending_slot_in_section = 0;
+                    } else {
+                        board_section.clear();  // leaving [boards.*]; keys below are not board keys
                     }
                     continue;
                 }
@@ -646,33 +657,47 @@ int main(int argc, char* argv[]) {
                     }
                 } else if (key == "hp_pt_full_scale_psi") {
                     try {
-                        hp_pt_full_scale_psi = std::stod(val);
+                        sec_full_scale[board_section] = std::stod(val);
                     } catch (...) {
                     }
                 } else if (key == "hp_pt_sense_resistor_ohms") {
                     try {
-                        hp_pt_sense_resistor_ohms = std::stod(val);
+                        sec_sense_ohms[board_section] = std::stod(val);
                     } catch (...) {
                     }
                 } else if (key == "adc_ref_voltage") {
                     try {
-                        hp_pt_adc_ref_voltage = std::stod(val);
+                        sec_adc_ref[board_section] = std::stod(val);
                     } catch (...) {
                     }
-                } else if (key == "excitation_connector_id" &&
-                           board_section.find("pt_board_2") != std::string::npos) {
+                } else if (key == "excitation_connector_id") {
                     try {
-                        hp_pt_excitation_connector_id = std::stoi(val);
+                        sec_exc_conn[board_section] = std::stoi(val);
                     } catch (...) {
                     }
-                } else if (key == "excitation_divider_attenuation" &&
-                           board_section.find("pt_board_2") != std::string::npos) {
+                } else if (key == "excitation_divider_attenuation") {
                     try {
-                        hp_pt_exc_div_atten = std::stod(val);
+                        sec_exc_atten[board_section] = std::stod(val);
                     } catch (...) {
                     }
                 }
             }
+            // Take the HP tuning from the board that declared hp_pt_connectors; anything else in
+            // the file (other boards, [calibration.*]) leaves the built-in defaults in place.
+            if (!hp_pt_source_section.empty()) {
+                auto pick = [&](const std::map<std::string, double>& m, double& dst) {
+                    auto it = m.find(hp_pt_source_section);
+                    if (it != m.end())
+                        dst = it->second;
+                };
+                pick(sec_full_scale, hp_pt_full_scale_psi);
+                pick(sec_sense_ohms, hp_pt_sense_resistor_ohms);
+                pick(sec_adc_ref, hp_pt_adc_ref_voltage);
+                pick(sec_exc_atten, hp_pt_exc_div_atten);
+                auto ec = sec_exc_conn.find(hp_pt_source_section);
+                if (ec != sec_exc_conn.end())
+                    hp_pt_excitation_connector_id = ec->second;
+            }
         }
         if (!hp_pt_channels.empty()) {
             std::cout << "[Calibration] HP PT: " << hp_pt_channels.size() << " channels (4-20 mA, "

From a2fd0df918ea6fd8adf2077f909383aac6c0122c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:49:34 -0700
Subject: [PATCH 089/205] config editor: 14 tabs down to 5, boards collapse to
 a summary row, and a PT board can finally be switched to 4-20 mA - the
 hp_pt_* fields only rendered when the keys already existed, so an LP board
 could never become HP

---
 .../frontend/app/config/page.tsx              | 126 +++++++++++++++---
 1 file changed, 107 insertions(+), 19 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 3f3b1cf8c..8b804fd65 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -194,6 +194,9 @@ export default function ConfigPage() {
   const [activeProfile, setActiveProfile] = useState('');
   const [sessionActive, setSessionActive] = useState(false);
   const [runningToml, setRunningToml] = useState<string | null>(null); // read-only view of config.toml
+  // Boards start collapsed to a one-line summary — a stand has ~6 of them and
+  // each expands to ~18 fields, which is a lot of scrolling to reach the last one.
+  const [openBoards, setOpenBoards] = useState<Record<string, boolean>>({});
   const [showRunning, setShowRunning] = useState(false);
 
   const ws = getWebSocketClient();
@@ -740,11 +743,70 @@ export default function ConfigPage() {
                 pipeline (daq_bridge/calibration/controller) picks up routing/identity changes on the
                 next session start.
               </p>
-              <div className="space-y-6">
-                {Object.entries(config.boards || {}).map(([boardKey, board]) => (
-                  <div key={boardKey} className="border border-gray-700 rounded-lg p-4">
-                    <h3 className="text-lg font-semibold mb-3">{boardKey}</h3>
-                    <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-4">
+              <div className="space-y-3">
+                {Object.entries(config.boards || {}).map(([boardKey, board]) => {
+                  const b = board as any;
+                  const open = !!openBoards[boardKey];
+                  const toggle = () => setOpenBoards((prev) => ({ ...prev, [boardKey]: !prev[boardKey] }));
+                  const channels = b.type === 'ACTUATOR'
+                    ? (b.num_actuators !== undefined ? `${b.num_actuators} act` : null)
+                    : (b.num_sensors !== undefined ? `${b.num_sensors} ch` : null);
+                  // A PT board is high-pressure iff it DECLARES hp config — the same predicate as
+                  // hpBoardNumbers() in backend/src/sensor-config.ts and the C++ calibration
+                  // service's parse. There is deliberately no type = "HP_PT": one source of truth.
+                  const isHp = (Array.isArray(b.hp_pt_connectors) && b.hp_pt_connectors.length > 0)
+                    || typeof b.hp_pt_full_scale_psi === 'number';
+                  // Flipping the mode writes/clears those same keys, so the selector is a view of
+                  // the config rather than a second flag that could disagree with it. Seeds match
+                  // the C++ defaults, and hp_pt_connectors starts empty — declared but inert until
+                  // channels are picked, which is what the service treats as "no HP channels".
+                  const setPtMode = (hp: boolean) => {
+                    if (hp) {
+                      updateBoard(boardKey, 'hp_pt_connectors', []);
+                      updateBoard(boardKey, 'hp_pt_full_scale_psi', 5000);
+                      updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', 120);
+                      updateBoard(boardKey, 'excitation_divider_attenuation', 1.0);
+                    } else {
+                      for (const k of ['hp_pt_connectors', 'hp_pt_full_scale_psi', 'hp_pt_sense_resistor_ohms',
+                                       'excitation_connector_id', 'excitation_divider_attenuation']) {
+                        updateBoard(boardKey, k, undefined);
+                      }
+                    }
+                  };
+                  return (
+                  <div key={boardKey} className="border border-gray-700 rounded-lg">
+                    {/* Header is a div, not a button: the whole tab sits in a
+                        <fieldset disabled> for non-operators, which would disable a
+                        real <button> and leave them unable to expand anything. */}
+                    <div
+                      role="button"
+                      tabIndex={0}
+                      aria-expanded={open}
+                      onClick={toggle}
+                      onKeyDown={(e) => { if (e.key === 'Enter' || e.key === ' ') { e.preventDefault(); toggle(); } }}
+                      className={`flex flex-wrap items-center gap-x-3 gap-y-1 p-4 cursor-pointer select-none hover:bg-white/5 rounded-lg${open ? ' rounded-b-none' : ''}`}
+                    >
+                      <span className="text-text-muted w-3 shrink-0">{open ? '▾' : '▸'}</span>
+                      <span
+                        className={`w-2 h-2 rounded-full shrink-0 ${b.enabled ? 'bg-green-500' : 'bg-gray-600'}`}
+                        title={b.enabled ? 'Enabled' : 'Disabled'}
+                      />
+                      <h3 className="text-lg font-semibold font-mono">{boardKey}</h3>
+                      <span className="px-2 py-0.5 text-xs rounded bg-gray-700 text-text-muted">{b.type ?? '—'}</span>
+                      {isHp && (
+                        <span className="px-2 py-0.5 text-xs rounded bg-sky-900/60 text-sky-300" title="High-pressure 4-20 mA current-loop PT board">HP</span>
+                      )}
+                      {!open && (
+                        <span className="text-sm text-text-muted font-mono ml-auto flex flex-wrap gap-x-3 justify-end">
+                          {b.board_id !== undefined && <span title="Board ID">ID {b.board_id}</span>}
+                          {b.ip && <span title="IP : send port">{b.ip}{b.send_port !== undefined ? `:${b.send_port}` : ''}</span>}
+                          {channels && <span title="Channel count">{channels}</span>}
+                          {!b.enabled && <span className="text-amber-300/90">disabled</span>}
+                        </span>
+                      )}
+                    </div>
+                    {open && (
+                    <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-4 p-4 pt-0">
                       {renderField(
                         'Type',
                         (board as any).type,
@@ -752,6 +814,23 @@ export default function ConfigPage() {
                         'select',
                         ['PT', 'ACTUATOR', 'LC', 'TC', 'RTD']
                       )}
+                      {b.type === 'PT' && (
+                        <div className="space-y-1">
+                          <label className="block text-sm font-semibold">
+                            PT mode
+                            <span className="text-xs text-text-muted ml-2">(sets the hp_pt_* fields below)</span>
+                          </label>
+                          <select
+                            value={isHp ? 'hp' : 'lp'}
+                            onChange={(e) => setPtMode(e.target.value === 'hp')}
+                            disabled={!canEdit}
+                            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
+                          >
+                            <option value="lp">Low pressure (voltage)</option>
+                            <option value="hp">High pressure (4-20 mA loop)</option>
+                          </select>
+                        </div>
+                      )}
                       {renderField(
                         'IP',
                         (board as any).ip,
@@ -839,40 +918,47 @@ export default function ConfigPage() {
                         'array'
                       )}
 
-                      {/* HP PT extras */}
-                      {(board as any).hp_pt_connectors !== undefined && renderField(
+                      {/* HP PT extras — shown whenever the board is in HP mode, not only when the
+                          keys already exist, so an LP board can actually be converted to HP here. */}
+                      {isHp && renderField(
                         'HP PT Connectors',
-                        (board as any).hp_pt_connectors,
+                        b.hp_pt_connectors,
                         (val) => updateBoard(boardKey, 'hp_pt_connectors', val),
-                        'array'
+                        'array',
+                        undefined,
+                        'connectors on the 4-20 mA loop; the rest stay voltage PTs'
                       )}
-                      {(board as any).excitation_connector_id !== undefined && renderField(
+                      {isHp && renderField(
                         'Excitation Connector ID',
-                        (board as any).excitation_connector_id,
+                        b.excitation_connector_id,
                         (val) => updateBoard(boardKey, 'excitation_connector_id', val),
-                        'number'
+                        'number',
+                        undefined,
+                        'connector sensing the loop supply; blank = no normalization'
                       )}
-                      {(board as any).hp_pt_full_scale_psi !== undefined && renderField(
+                      {isHp && renderField(
                         'HP PT Full Scale (PSI)',
-                        (board as any).hp_pt_full_scale_psi,
+                        b.hp_pt_full_scale_psi,
                         (val) => updateBoard(boardKey, 'hp_pt_full_scale_psi', val),
                         'number'
                       )}
-                      {(board as any).hp_pt_sense_resistor_ohms !== undefined && renderField(
+                      {isHp && renderField(
                         'HP PT Sense Resistor (Ω)',
-                        (board as any).hp_pt_sense_resistor_ohms,
+                        b.hp_pt_sense_resistor_ohms,
                         (val) => updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', val),
                         'number'
                       )}
-                      {(board as any).excitation_divider_attenuation !== undefined && renderField(
+                      {isHp && renderField(
                         'Excitation Divider Attenuation',
-                        (board as any).excitation_divider_attenuation,
+                        b.excitation_divider_attenuation,
                         (val) => updateBoard(boardKey, 'excitation_divider_attenuation', val),
                         'number'
                       )}
                     </div>
+                    )}
                   </div>
-                ))}
+                  );
+                })}
                 <button
                   onClick={() => {
                     const newKey = `board_${Object.keys(config.boards || {}).length + 1}`;
@@ -880,6 +966,8 @@ export default function ConfigPage() {
                     updateBoard(newKey, 'enabled', false);
                     updateBoard(newKey, 'enable_serial_printing', 0);
                     updateBoard(newKey, 'voltage_reference', 0);
+                    // A board you just created is empty — open it so it can be filled in.
+                    setOpenBoards((prev) => ({ ...prev, [newKey]: true }));
                   }}
                   className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600"
                 >

From 1b192d168c37e8a4f29b322b9b76100539a09b34 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:49:46 -0700
Subject: [PATCH 090/205] every valve read undefined whenever sequencer_service
 lost the startup race to elodin-db: its connect was one-shot, so the ACT_CMD
 VTables were never registered and publishCommandedState early-returned
 forever; retry it, and fix reconnect() itself, which recorded the endpoint
 only on success and so could never retry after a failed first connect

---
 .../deploy/systemd/sensor-actuator.service    |  2 +-
 .../daq_bridge/daq_bridge_main.cpp            | 10 ++-
 .../lib/include/control/SequencerService.hpp  | 16 +++++
 .../lib/include/elodin/ElodinClient.hpp       |  8 +++
 .../lib/src/elodin/ElodinClient.cpp           | 23 +++++--
 .../services/sequencer/SequencerService.cpp   | 63 ++++++++++++++-----
 6 files changed, 101 insertions(+), 21 deletions(-)

diff --git a/daq-server/deploy/systemd/sensor-actuator.service b/daq-server/deploy/systemd/sensor-actuator.service
index 2fa0d2a3a..df6aa0c86 100644
--- a/daq-server/deploy/systemd/sensor-actuator.service
+++ b/daq-server/deploy/systemd/sensor-actuator.service
@@ -1,6 +1,6 @@
 [Unit]
 Description=Sensor System Actuator Service (C++ — state→UDP commands)
-After=network.target
+After=network.target sensor-elodin.service
 
 [Service]
 Type=simple
diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 72bcfc4f2..120e515d7 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -701,14 +701,20 @@ int main(int argc, char* argv[]) {
                 }
             }
 
-            // Try reconnect every 5 seconds if disconnected
-            if (elodin_connected && !elodin_client.is_connected()) {
+            // Try reconnect every 5 seconds if disconnected. NOT gated on elodin_connected:
+            // that flag is only set by a successful FIRST connect, so gating on it meant a bridge
+            // that lost the startup race to elodin-db never retried and published nothing for the
+            // life of the process.
+            if (!elodin_client.is_connected()) {
                 auto since = std::chrono::steady_clock::now() - last_reconnect_time;
                 if (std::chrono::duration_cast<std::chrono::seconds>(since).count() >= 5) {
                     last_reconnect_time = std::chrono::steady_clock::now();
                     if (elodin_client.reconnect()) {
                         std::cout << "✅ Reconnected to Elodin — re-registering VTables"
                                   << std::endl;
+                        // Publishing is gated on this flag everywhere below; without setting it
+                        // here a bridge that only connected on a RETRY would stay silent.
+                        elodin_connected = true;
                         fsw::elodin::DatabaseConfig::register_tables(
                             elodin_client, pt_boards, act_boards, tc_boards, rtd_boards, lc_boards,
                             enc_boards);
diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index c4d7e7cb1..7f7124670 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -90,6 +90,15 @@ class SequencerService {
     std::thread state_snapshot_thread_;
     std::atomic<bool> state_snapshot_stop_{false};
 
+    // Elodin connection retry. sensor-actuator.service is started alongside sensor-elodin, so the
+    // first connect can lose the race by milliseconds; without this the service runs forever with
+    // no db and every valve reads "undefined".
+    static constexpr int kElodinRetrySeconds = 5;
+    std::string elodin_host_ = "127.0.0.1";
+    uint16_t elodin_port_ = 2240;
+    std::thread elodin_retry_thread_;
+    std::atomic<bool> elodin_retry_stop_{false};
+
     // Abort states where AbortBroadcaster should fire
     static bool isAbortState(State s);
 
@@ -101,6 +110,13 @@ class SequencerService {
      * stream. */
     void startStateSnapshotPublisher();
 
+    /** Connect to Elodin and do everything that depends on the connection: register the ACT_CMD
+     *  VTables, hand the client to the commander, publish initial state. Safe to call repeatedly —
+     *  a reconnect must re-register, since the VTables live in the db process. */
+    bool tryConnectElodin();
+    void startElodinRetry();
+    void stopElodinRetry();
+
     bool loadConfig(const std::string& path);
 };
 
diff --git a/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp b/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp
index 48c194880..0ec52ed8a 100644
--- a/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp
+++ b/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp
@@ -170,6 +170,14 @@ class ElodinClient {
     std::vector<uint8_t> serialize_msg(uint16_t message_id, const MessageType& msg);
 
 private:
+    // connect/reconnect/disconnect tear down and replace the socket that publish() writes to, so
+    // they take publish_mutex_ like every publish does. The _locked helpers exist because
+    // connect() must call disconnect() while already holding it (std::mutex is not recursive).
+    // Without this a service that publishes from one thread while retrying the connection from
+    // another — sequencer_service does exactly that — races on the socket.
+    bool connect_locked(const std::string& host, uint16_t port);
+    void disconnect_locked();
+
     std::unique_ptr<daq_comms::transport::TCPClient> socket_;
     std::mutex publish_mutex_;
     std::unordered_map<uint16_t, std::string> table_names_;
diff --git a/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp b/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
index 958692e26..e06481f05 100644
--- a/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
+++ b/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
@@ -15,35 +15,50 @@ ElodinClient::~ElodinClient() {
 }
 
 bool ElodinClient::connect(const std::string& host, uint16_t port) {
-    disconnect();
+    std::lock_guard<std::mutex> lock(publish_mutex_);
+    return connect_locked(host, port);
+}
+
+bool ElodinClient::connect_locked(const std::string& host, uint16_t port) {
+    disconnect_locked();
 
     std::cout << "[ElodinClient] Connecting to Elodin database at " << host << ":" << port << "..."
               << std::endl;
 
+    // Remember the target BEFORE attempting, not after succeeding. reconnect() keys off these, so
+    // recording them only on success meant a service whose FIRST connect failed could never retry
+    // ("No previous connection to reconnect to") and stayed dead for the life of the process.
+    last_host_ = host;
+    last_port_ = port;
+
     if (!socket_->connect(host, port)) {
         last_error_ = socket_->last_error();
         std::cerr << "[ElodinClient] ❌ Connection failed: " << last_error_ << std::endl;
         return false;
     }
 
-    last_host_ = host;
-    last_port_ = port;
     std::cout << "[ElodinClient] ✅ Connected to Elodin database at " << host << ":" << port
               << std::endl;
     return true;
 }
 
 bool ElodinClient::reconnect() {
+    std::lock_guard<std::mutex> lock(publish_mutex_);
     if (last_host_.empty() || last_port_ == 0) {
         last_error_ = "No previous connection to reconnect to";
         return false;
     }
     std::cout << "[ElodinClient] Attempting reconnect to " << last_host_ << ":" << last_port_
               << "..." << std::endl;
-    return connect(last_host_, last_port_);
+    return connect_locked(last_host_, last_port_);
 }
 
 void ElodinClient::disconnect() {
+    std::lock_guard<std::mutex> lock(publish_mutex_);
+    disconnect_locked();
+}
+
+void ElodinClient::disconnect_locked() {
     if (socket_ && socket_->is_connected()) {
         std::cout << "[ElodinClient] Disconnecting from Elodin database..." << std::endl;
         socket_->flush();
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 45a52f547..61dc0b394 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -40,6 +40,7 @@ SequencerService::~SequencerService() {
     state_snapshot_stop_ = true;
     if (state_snapshot_thread_.joinable())
         state_snapshot_thread_.join();
+    stopElodinRetry();
     actuator_commander_.stopContinuousLoop();
     fire_manager_.stop();
 }
@@ -261,21 +262,17 @@ bool SequencerService::init(const std::string& config_path) {
             }
         }
     }
-    if (elodin_.connect(elodin_host, elodin_port)) {
-        std::cout << "[SequencerService] Connected to Elodin at " << elodin_host << ":"
-                  << elodin_port << std::endl;
-        const auto boards_map = fsw::config::load_active_boards(config_path_);
-        const auto it_act = boards_map.find(fsw::config::ActiveBoardKind::ACTUATOR);
-        const std::vector<fsw::elodin::BoardChannels> act_boards =
-            (it_act != boards_map.end()) ? it_act->second
-                                         : std::vector<fsw::elodin::BoardChannels>{};
-        fsw::elodin::DatabaseConfig::register_non_sensor_tables(elodin_, act_boards);
-        actuator_commander_.setElodinClient(&elodin_);
-        actuator_commander_.publishInitialState();
-    } else {
-        std::cerr << "[SequencerService] Cannot connect to Elodin (state will not be published)"
-                  << std::endl;
+    elodin_host_ = elodin_host;
+    elodin_port_ = elodin_port;
+    if (!tryConnectElodin()) {
+        std::cerr << "[SequencerService] Cannot connect to Elodin yet — retrying every "
+                  << kElodinRetrySeconds << "s in the background" << std::endl;
     }
+    // The connect above used to be one-shot. Losing the startup race with elodin-db (systemd
+    // starts the units together) meant the ACT_CMD VTables were never registered and
+    // publishCommandedState() early-returned forever, so every valve read "undefined" in the GUI
+    // while UDP commands still went out — data flowing, dots grey. Retry until it takes.
+    startElodinRetry();
 
     current_state_ = State::IDLE;
     // Publish initial state so any already-connected backend/GUI knows we started at IDLE.
@@ -430,6 +427,44 @@ void SequencerService::publishStateTransition(State from, State to) {
     elodin_.publish(VTABLE_STATE_TRANSITION, msg);
 }
 
+bool SequencerService::tryConnectElodin() {
+    if (!elodin_.connect(elodin_host_, elodin_port_))
+        return false;
+    std::cout << "[SequencerService] Connected to Elodin at " << elodin_host_ << ":" << elodin_port_
+              << std::endl;
+    // Every one of these must run on a RECONNECT too, not just the first connect — the VTables
+    // live in the db process, so a db restart loses them.
+    const auto boards_map = fsw::config::load_active_boards(config_path_);
+    const auto it_act = boards_map.find(fsw::config::ActiveBoardKind::ACTUATOR);
+    const std::vector<fsw::elodin::BoardChannels> act_boards =
+        (it_act != boards_map.end()) ? it_act->second : std::vector<fsw::elodin::BoardChannels>{};
+    fsw::elodin::DatabaseConfig::register_non_sensor_tables(elodin_, act_boards);
+    actuator_commander_.setElodinClient(&elodin_);
+    actuator_commander_.publishInitialState();
+    return true;
+}
+
+void SequencerService::startElodinRetry() {
+    if (elodin_retry_thread_.joinable())
+        return;
+    elodin_retry_stop_ = false;
+    elodin_retry_thread_ = std::thread([this]() {
+        while (!elodin_retry_stop_) {
+            for (int i = 0; i < kElodinRetrySeconds * 10 && !elodin_retry_stop_; ++i)
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+            if (elodin_retry_stop_ || elodin_.is_connected())
+                continue;
+            tryConnectElodin();
+        }
+    });
+}
+
+void SequencerService::stopElodinRetry() {
+    elodin_retry_stop_ = true;
+    if (elodin_retry_thread_.joinable())
+        elodin_retry_thread_.join();
+}
+
 void SequencerService::startStateSnapshotPublisher() {
     if (state_snapshot_thread_.joinable())
         return;

From 34544051bd9ec77af41d17cbec6d822597a68b67 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:49:54 -0700
Subject: [PATCH 091/205] the configured fire duration has never been used: the
 keys live in [controller_service] and the GUI edits them there, but the
 sequencer read them from [state_machine], which holds only the CSV paths - so
 every burn ran FireManager's 6000 ms default no matter what was set

---
 .../services/sequencer/SequencerService.cpp            | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 61dc0b394..99a0364bf 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -191,9 +191,15 @@ bool SequencerService::init(const std::string& config_path) {
         return def;
     };
 
-    const uint32_t fire_duration_ms = getInt("state_machine", "fire_duration_ms", 6000);
-    const uint32_t fire_extended_ms = getInt("state_machine", "fire_extended_ms", 10000);
+    // Read from [controller_service], where these keys actually live (config_base.toml:385-386)
+    // and where the config editor writes them. This read used to name [state_machine], which holds
+    // only the three CSV paths — so the lookup always missed and FireManager silently ran on its
+    // constructor defaults. Every burn was 6000 ms no matter what the GUI showed.
+    const uint32_t fire_duration_ms = getInt("controller_service", "fire_duration_ms", 6000);
+    const uint32_t fire_extended_ms = getInt("controller_service", "fire_extended_ms", 10000);
     fire_manager_.configure(fire_duration_ms, fire_extended_ms);
+    std::cout << "[SequencerService] Fire window: " << fire_duration_ms << " ms (extended "
+              << fire_extended_ms << " ms)" << std::endl;
 
     // Controller service endpoint for FIRE_START / FIRE_STOP
     // Read from config; defaults to 127.0.0.1:8000

From 33a917cf2520123980339d8243a65caf2764ef08 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:49:59 -0700
Subject: [PATCH 092/205] delete registerSensorVTables: an uncalled attempt to
 give Elodin entities role names, abandoned because its board arithmetic was
 wrong - it keyed names by channel+(board-1)*10 while the wire low byte is
 (board-1)*0x20+ch, so board 2's names landed on ids that do not exist

---
 .../backend/src/elodin-vtable-registry.ts     | 114 ------------------
 1 file changed, 114 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts b/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts
index a8989347b..ab023c779 100644
--- a/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts
+++ b/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts
@@ -245,120 +245,6 @@ export async function registerVTables(client: ElodinClient): Promise<boolean> {
     }
 }
 
-/**
- * Register RAW and CALIBRATED sensor VTables with Elodin DB.
- * Matches FSW/src/elodin/DatabaseConfig.cpp schemas exactly.
- */
-export async function registerSensorVTables(
-    client: ElodinClient,
-    ptMap: Record<number, string>,
-    actMap: Record<number, string>
-): Promise<boolean> {
-    if (!client.isConnected()) return false;
-    console.log('📡 Registering Sensor VTables (Raw + Cal)...');
-    const vtableMsgId = computeMsgId('VTableMsg');
-    let count = 0;
-
-    const strip = (s: string) => s.includes('.') ? s.split('.').slice(1).join('.') : s;
-
-    // PT Raw (0x20, 1-14) + Cal (0x20, 0x11-0x1E)
-    for (let ch = 1; ch <= 14; ch++) {
-        const name = strip(ptMap[ch] || `CH${ch}`);
-        // Raw: 21 bytes
-        const vtRaw = encodeVTable({
-            packetId: [0x20, ch],
-            fields: [
-                { offset: 0, size: 8, type: 'u64', component: `PT.${name}.timestamp_ns` },
-                { offset: 8, size: 1, type: 'u8', component: `PT.${name}.channel_id` },
-                { offset: 12, size: 4, type: 'u32', component: `PT.${name}.raw_adc_counts` },
-                { offset: 16, size: 4, type: 'u32', component: `PT.${name}.sample_ts_ms` },
-                { offset: 20, size: 1, type: 'u8', component: `PT.${name}.status` },
-            ]
-        });
-        if (client.sendRawMessage(vtableMsgId, ElodinPacketType.MSG, vtRaw)) count++;
-
-        // Cal: 21 bytes
-        const vtCal = encodeVTable({
-            packetId: [0x20, 0x10 + ch],
-            fields: [
-                { offset: 0, size: 8, type: 'u64', component: `PT_Cal.${name}.timestamp_ns` },
-                { offset: 8, size: 1, type: 'u8', component: `PT_Cal.${name}.channel_id` },
-                { offset: 12, size: 4, type: 'f32', component: `PT_Cal.${name}.pressure_psi` },
-                { offset: 16, size: 4, type: 'u32', component: `PT_Cal.${name}.raw_adc` },
-                { offset: 20, size: 1, type: 'u8', component: `PT_Cal.${name}.cal_status` },
-            ]
-        });
-        if (client.sendRawMessage(vtableMsgId, ElodinPacketType.MSG, vtCal)) count++;
-    }
-
-    // Generic TC, RTD, LC (1-20)
-    const types = [
-        { hi: 0x21, prefix: 'TC', unit: 'temperature_c' },
-        { hi: 0x22, prefix: 'RTD', unit: 'temperature_c' },
-        { hi: 0x23, prefix: 'LC', unit: 'force_kg' }
-    ];
-    for (const t of types) {
-        for (let ch = 1; ch <= 20; ch++) {
-            // Raw
-            const vtRaw = encodeVTable({
-                packetId: [t.hi, ch],
-                fields: [
-                    { offset: 0, size: 8, type: 'u64', component: `${t.prefix}.CH${ch}.timestamp_ns` },
-                    { offset: 8, size: 1, type: 'u8', component: `${t.prefix}.CH${ch}.channel_id` },
-                    { offset: 12, size: 4, type: 'u32', component: `${t.prefix}.CH${ch}.raw_adc_counts` },
-                    { offset: 16, size: 4, type: 'u32', component: `${t.prefix}.CH${ch}.sample_ts_ms` },
-                    { offset: 20, size: 1, type: 'u8', component: `${t.prefix}.CH${ch}.status` },
-                ]
-            });
-            if (client.sendRawMessage(vtableMsgId, ElodinPacketType.MSG, vtRaw)) count++;
-
-            // Cal
-            const vtCal = encodeVTable({
-                packetId: [t.hi, 0x10 + ch],
-                fields: [
-                    { offset: 0, size: 8, type: 'u64', component: `${t.prefix}_Cal.CH${ch}.timestamp_ns` },
-                    { offset: 8, size: 1, type: 'u8', component: `${t.prefix}_Cal.CH${ch}.channel_id` },
-                    { offset: 12, size: 4, type: 'f32', component: `${t.prefix}_Cal.CH${ch}.${t.unit}` },
-                    { offset: 16, size: 4, type: 'u32', component: `${t.prefix}_Cal.CH${ch}.raw_adc` },
-                    { offset: 20, size: 1, type: 'u8', component: `${t.prefix}_Cal.CH${ch}.cal_status` },
-                ]
-            });
-            if (client.sendRawMessage(vtableMsgId, ElodinPacketType.MSG, vtCal)) count++;
-        }
-    }
-
-    // Actuators (1-20)
-    for (let ch = 1; ch <= 20; ch++) {
-        const name = strip(actMap[ch] || `CH${ch}`);
-        // Raw feedback (0x30): 21 bytes
-        const vtRaw = encodeVTable({
-            packetId: [0x30, ch],
-            fields: [
-                { offset: 0, size: 8, type: 'u64', component: `ACT.${name}.timestamp_ns` },
-                { offset: 8, size: 1, type: 'u8', component: `ACT.${name}.channel_id` },
-                { offset: 12, size: 4, type: 'u32', component: `ACT.${name}.raw_adc_counts` },
-                { offset: 16, size: 4, type: 'u32', component: `ACT.${name}.sample_ts_ms` },
-                { offset: 20, size: 1, type: 'u8', component: `ACT.${name}.status` },
-            ]
-        });
-        if (client.sendRawMessage(vtableMsgId, ElodinPacketType.MSG, vtRaw)) count++;
-
-        // State (0x31): 10 bytes
-        const vtState = encodeVTable({
-            packetId: [0x31, ch],
-            fields: [
-                { offset: 0, size: 8, type: 'u64', component: `ACT.${name}.timestamp_ns` },
-                { offset: 8, size: 1, type: 'u8', component: `ACT.${name}.channel_id` },
-                { offset: 9, size: 1, type: 'u8', component: `ACT.${name}.actuator_state` },
-            ]
-        });
-        if (client.sendRawMessage(vtableMsgId, ElodinPacketType.MSG, vtState)) count++;
-    }
-
-    console.log(`   Registered ${count} sensor VTables`);
-    return count > 0;
-}
-
 // ── Controller VTable registration ──────────────────────────────────────────
 
 export async function registerControllerVTables(client: ElodinClient): Promise<boolean> {

From 0487c67742bc97bd05bcc26c21bef2150b712d0d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:50:04 -0700
Subject: [PATCH 093/205] deprecate the data logger: three implementations,
 none of them ever ran - not in BASE_UNITS or PIPELINE_UNITS, never installed
 by install_services.sh, and data/runs was never created, so it has not
 written a single .sensorlog

---
 daq-server/archive/README.md                  |  20 ++
 .../cpp/data_logger}/DataLoggerService.cpp    |   0
 .../cpp}/data_logger/DataLoggerService.hpp    |   0
 .../cpp}/data_logger/data_logger_main.cpp     |   0
 .../data_logger}/sensor-data-logger.service   |   0
 .../diablo_server/backend/src/data-logger.ts  | 195 ------------------
 daq-server/diablo_server/lib/CMakeLists.txt   |   1 -
 .../diablo_server/services/CMakeLists.txt     |   7 +-
 8 files changed, 21 insertions(+), 202 deletions(-)
 rename daq-server/{diablo_server/lib/src => archive/legacy/cpp/data_logger}/DataLoggerService.cpp (100%)
 rename daq-server/{diablo_server/lib/include => archive/legacy/cpp}/data_logger/DataLoggerService.hpp (100%)
 rename daq-server/{diablo_server/services => archive/legacy/cpp}/data_logger/data_logger_main.cpp (100%)
 rename daq-server/{deploy/systemd => archive/legacy/cpp/data_logger}/sensor-data-logger.service (100%)
 delete mode 100644 daq-server/diablo_server/backend/src/data-logger.ts

diff --git a/daq-server/archive/README.md b/daq-server/archive/README.md
index a9e0ec60b..a8b3e8667 100644
--- a/daq-server/archive/README.md
+++ b/daq-server/archive/README.md
@@ -4,6 +4,26 @@ Legacy utilities kept for FSW/daq_comms build. All other legacy code has been re
 
 ## Contents
 
+### `legacy/cpp/data_logger/` - Data Logger Service (deprecated 2026-09)
+
+Never ran. Not in `BASE_UNITS` (`service-controller.ts`) so the Session button never started it,
+not in `PIPELINE_UNITS`/`WEB_UNITS` (`start_systemd_sim.sh`), never referenced by
+`install_services.sh` (so `systemctl --user is-enabled sensor-data-logger` reported `not-found`),
+and `data/runs/` was never created — it never wrote a single `.sensorlog`.
+
+- `DataLoggerService.{cpp,hpp}`, `data_logger_main.cpp` - the C++ service (built, never launched)
+- `sensor-data-logger.service` - the systemd unit that was never installed
+
+A TypeScript reimplementation (`backend/src/data-logger.ts`) was deleted at the same time; nothing
+imported it. The Python original remains in `legacy/python-services/data_logger_service.py`.
+
+Two bugs in the C++ that were never hit because it never ran: it auto-armed on state literals
+`4`/`0`/`6` (commented ARMED/IDLE/ABORT, actually Ox Fill / Debug / GN2 Low Vent), and wrote the
+state to `active_channels_.size() - 1` when `"PSM.state"` sits at index 0.
+
+If run archiving is wanted, design it fresh against Elodin's per-run DB directories. Run configs
+are now snapshotted alongside each Elodin DB as `<dbDir>.toml`.
+
 ### `legacy/utl/` - FSW Utilities
 Used by FSW and daq_comms:
 - `Elodin.hpp` - Elodin protocol helpers
diff --git a/daq-server/diablo_server/lib/src/DataLoggerService.cpp b/daq-server/archive/legacy/cpp/data_logger/DataLoggerService.cpp
similarity index 100%
rename from daq-server/diablo_server/lib/src/DataLoggerService.cpp
rename to daq-server/archive/legacy/cpp/data_logger/DataLoggerService.cpp
diff --git a/daq-server/diablo_server/lib/include/data_logger/DataLoggerService.hpp b/daq-server/archive/legacy/cpp/data_logger/DataLoggerService.hpp
similarity index 100%
rename from daq-server/diablo_server/lib/include/data_logger/DataLoggerService.hpp
rename to daq-server/archive/legacy/cpp/data_logger/DataLoggerService.hpp
diff --git a/daq-server/diablo_server/services/data_logger/data_logger_main.cpp b/daq-server/archive/legacy/cpp/data_logger/data_logger_main.cpp
similarity index 100%
rename from daq-server/diablo_server/services/data_logger/data_logger_main.cpp
rename to daq-server/archive/legacy/cpp/data_logger/data_logger_main.cpp
diff --git a/daq-server/deploy/systemd/sensor-data-logger.service b/daq-server/archive/legacy/cpp/data_logger/sensor-data-logger.service
similarity index 100%
rename from daq-server/deploy/systemd/sensor-data-logger.service
rename to daq-server/archive/legacy/cpp/data_logger/sensor-data-logger.service
diff --git a/daq-server/diablo_server/backend/src/data-logger.ts b/daq-server/diablo_server/backend/src/data-logger.ts
deleted file mode 100644
index 3f922b7e3..000000000
--- a/daq-server/diablo_server/backend/src/data-logger.ts
+++ /dev/null
@@ -1,195 +0,0 @@
-/**
- * Binary Data Logger — Records all sensor data during runs.
- *
- * File format (.sensorlog):
- *   HEADER (written once on start):
- *     magic:       4 bytes  "SLOG"
- *     version:     2 bytes  uint16  (1)
- *     startTime:   8 bytes  float64 (epoch ms)
- *     channelCnt:  2 bytes  uint16
- *     FOR each channel:
- *       nameLen:   2 bytes  uint16
- *       name:      variable UTF-8
- *
- *   RECORDS (appended continuously):
- *     timestamp:   4 bytes  uint32  (ms offset from startTime)
- *     channelIdx:  2 bytes  uint16  (index into channel table)
- *     value:       8 bytes  float64
- *     = 14 bytes per record
- */
-
-import * as fs from 'fs';
-import * as path from 'path';
-
-const MAGIC = Buffer.from('SLOG');
-const VERSION = 1;
-const RECORD_SIZE = 14; // 4 + 2 + 8
-
-export class DataLogger {
-  private fd: number | null = null;
-  private startTime: number = 0;
-  private channelMap: Map<string, number> = new Map();
-  private channels: string[] = [];
-  private filePath: string = '';
-  private recordCount = 0;
-  private writeBuf = Buffer.alloc(RECORD_SIZE);
-  private isOpen = false;
-
-  /**
-   * Start a new logging session. Creates a timestamped .sensorlog file.
-   */
-  start(outputDir?: string): string {
-    if (this.isOpen) this.stop();
-
-    const dir = outputDir ?? path.join(process.cwd(), 'data', 'runs');
-    fs.mkdirSync(dir, { recursive: true });
-
-    const ts = new Date().toISOString().replace(/[:.]/g, '-').replace('T', '_').slice(0, 19);
-    this.filePath = path.join(dir, `run_${ts}.sensorlog`);
-    this.startTime = Date.now();
-    this.channelMap.clear();
-    this.channels = [];
-    this.recordCount = 0;
-
-    this.fd = fs.openSync(this.filePath, 'w');
-
-    // Write header placeholder (will rewrite on stop to include full channel table)
-    this.writeHeader();
-
-    this.isOpen = true;
-    console.log(`📝 DataLogger started → ${this.filePath}`);
-    return this.filePath;
-  }
-
-  /**
-   * Record a sensor value. Lazily registers new channels.
-   */
-  record(entityComponent: string, value: number): void {
-    if (!this.isOpen || this.fd === null) return;
-    if (!isFinite(value)) return;
-
-    let idx = this.channelMap.get(entityComponent);
-    if (idx === undefined) {
-      idx = this.channels.length;
-      this.channelMap.set(entityComponent, idx);
-      this.channels.push(entityComponent);
-    }
-
-    const offset = Date.now() - this.startTime;
-    this.writeBuf.writeUInt32LE(offset >>> 0, 0);
-    this.writeBuf.writeUInt16LE(idx, 4);
-    this.writeBuf.writeDoubleLE(value, 6);
-
-    fs.writeSync(this.fd, this.writeBuf);
-    this.recordCount++;
-  }
-
-  /**
-   * Stop logging. Rewrites the header with the full channel table, then closes.
-   */
-  stop(): { filePath: string; records: number; channels: number; durationMs: number } | null {
-    if (!this.isOpen || this.fd === null) return null;
-
-    const durationMs = Date.now() - this.startTime;
-
-    // Close the append fd
-    fs.closeSync(this.fd);
-    this.fd = null;
-
-    // Now rewrite the file: new header + all existing records
-    const oldBuf = fs.readFileSync(this.filePath);
-    const oldHeaderSize = this.calcHeaderSize(0);
-
-    // Only copy complete 14-byte records — truncate partial writes to avoid corruption
-    const recordBytes = oldBuf.length - oldHeaderSize;
-    const fullRecordCount = Math.floor(recordBytes / RECORD_SIZE);
-    const records = oldBuf.subarray(oldHeaderSize, oldHeaderSize + fullRecordCount * RECORD_SIZE);
-    if (fullRecordCount * RECORD_SIZE < recordBytes) {
-      console.warn(`[DataLogger] Truncated ${recordBytes - fullRecordCount * RECORD_SIZE} trailing bytes (incomplete record)`);
-    }
-
-    const header = this.buildHeader();
-
-    // Rewrite
-    const newFd = fs.openSync(this.filePath, 'w');
-    fs.writeSync(newFd, header);
-    fs.writeSync(newFd, records);
-    fs.closeSync(newFd);
-
-    this.isOpen = false;
-    const result = {
-      filePath: this.filePath,
-      records: this.recordCount,
-      channels: this.channels.length,
-      durationMs,
-    };
-    console.log(`📝 DataLogger stopped → ${this.recordCount} records, ${this.channels.length} channels, ${(durationMs / 1000).toFixed(1)}s`);
-    return result;
-  }
-
-  get running(): boolean {
-    return this.isOpen;
-  }
-
-  get stats() {
-    return {
-      running: this.isOpen,
-      filePath: this.filePath,
-      records: this.recordCount,
-      channels: this.channels.length,
-      durationMs: this.isOpen ? Date.now() - this.startTime : 0,
-    };
-  }
-
-  // ── Private ──────────────────────────────────────────────────────────────────
-
-  private writeHeader(): void {
-    if (this.fd === null) return;
-    const buf = this.buildHeader();
-    fs.writeSync(this.fd, buf, 0, buf.length, 0);
-  }
-
-  private buildHeader(): Buffer {
-    // Calculate total size
-    let size = 4 + 2 + 8 + 2; // magic + version + startTime + channelCnt
-    for (const name of this.channels) {
-      size += 2 + Buffer.byteLength(name, 'utf-8');
-    }
-
-    const buf = Buffer.alloc(size);
-    let off = 0;
-
-    // Magic
-    MAGIC.copy(buf, off); off += 4;
-
-    // Version
-    buf.writeUInt16LE(VERSION, off); off += 2;
-
-    // Start time
-    buf.writeDoubleLE(this.startTime, off); off += 8;
-
-    // Channel count
-    buf.writeUInt16LE(this.channels.length, off); off += 2;
-
-    // Channel names
-    for (const name of this.channels) {
-      const nameBytes = Buffer.from(name, 'utf-8');
-      buf.writeUInt16LE(nameBytes.length, off); off += 2;
-      nameBytes.copy(buf, off); off += nameBytes.length;
-    }
-
-    return buf;
-  }
-
-  private calcHeaderSize(channelCount: number): number {
-    // Compute exact byte size for a header with `channelCount` channels.
-    // Used by stop() to skip the initial placeholder (written with 0 channels).
-    let size = 4 + 2 + 8 + 2; // magic(4) + version(2) + startTime(8) + channelCnt(2)
-    for (let i = 0; i < channelCount; i++) {
-      // Variable-length: we would need the actual name lengths, which we don't have here.
-      // Callers always pass 0 (initial placeholder had 0 channels), so the loop never runs.
-      size += 2; // nameLen field only; can't add name bytes without the names
-    }
-    return size;
-  }
-}
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index cfcd225e1..bebe89426 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -24,7 +24,6 @@ set(FSW_SOURCES
     src/control/ControllerLUT.cpp
     src/control/RobustDDPController.cpp
     src/control/ControllerService.cpp
-    src/DataLoggerService.cpp
     # src/calibration/IMUCalibration.cpp  (disabled)
 )
 
diff --git a/daq-server/diablo_server/services/CMakeLists.txt b/daq-server/diablo_server/services/CMakeLists.txt
index 7f0531734..ccff32049 100644
--- a/daq-server/diablo_server/services/CMakeLists.txt
+++ b/daq-server/diablo_server/services/CMakeLists.txt
@@ -61,11 +61,6 @@ target_include_directories(ota_service PRIVATE ${COMMON_INCLUDES})
 target_link_libraries(ota_service Threads::Threads pthread ${RT_LIBRARY})
 
 # ── Data Logger Service ───────────────────────────────────────────────────────
-add_executable(data_logger_service data_logger/data_logger_main.cpp)
-target_include_directories(data_logger_service PRIVATE ${COMMON_INCLUDES})
-target_link_libraries(data_logger_service
-    fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY}
-)
 
 # ── uWebSockets (optional, for future fsw_web_bridge) ────────────────────────
 set(USOCKETS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../external/uWebSockets")
@@ -85,6 +80,6 @@ endif()
 
 install(TARGETS
     sequencer_service controller_service calibration_service
-    heartbeat_service config_broadcast_service ota_service data_logger_service
+    heartbeat_service config_broadcast_service ota_service
     RUNTIME DESTINATION bin
 )

From 22649a79e09891de842cbc03da6a324c08fcd668 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:50:09 -0700
Subject: [PATCH 094/205] snapshot the run config beside the Elodin DB as
 <dbDir>.toml - Elodin stores only numeric entities (ACT2.CH3, ACT_CMD.B2.CH3)
 so a run DB is unreadable without the config that produced it; a sim run
 snapshots sim_config.toml, not config.toml, since it deliberately bypasses
 the profile

---
 .../backend/src/service-controller.ts         | 27 ++++++++++++++++++-
 .../backend/src/session-manager.ts            |  4 +++
 2 files changed, 30 insertions(+), 1 deletion(-)

diff --git a/daq-server/diablo_server/backend/src/service-controller.ts b/daq-server/diablo_server/backend/src/service-controller.ts
index 6df2ea815..803b320fb 100644
--- a/daq-server/diablo_server/backend/src/service-controller.ts
+++ b/daq-server/diablo_server/backend/src/service-controller.ts
@@ -10,7 +10,7 @@
  * Only the always-on server's sensor-backend.service sets SESSION_SERVICE_MODE=systemd.
  */
 import { spawn, type ChildProcess } from 'child_process';
-import { writeFileSync, mkdirSync, readFileSync, existsSync } from 'fs';
+import { writeFileSync, mkdirSync, readFileSync, existsSync, copyFileSync } from 'fs';
 import { dirname, join } from 'path';
 import { fileURLToPath } from 'url';
 import { homedir } from 'os';
@@ -21,6 +21,30 @@ const SIM_SCRIPT = join(PROJECT_ROOT, 'sim', 'board_simulator.py');
 const SIM_CONFIG = join(PROJECT_ROOT, 'config', 'sim_config.toml');
 // The frozen canonical config the sim overlay derives from (committed; tests use it too).
 const CONFIG_BASE = join(PROJECT_ROOT, 'config', 'config_base.toml');
+const LIVE_CONFIG = join(PROJECT_ROOT, 'config', 'config.toml');
+
+/**
+ * Snapshot the config this run will actually read to `<dbDir>.toml`, beside the Elodin DB dir.
+ *
+ * Elodin stores only numeric entities (ACT2.CH3, PT1.CH1, ACT_CMD.B2.CH3) — role names live in
+ * config.toml and are applied by the GUI at render time. So a run DB is unreadable without the
+ * config that produced it, and nothing otherwise pins the two together.
+ *
+ * Which file matters: a live run reads config.toml (deployed from the active profile just before
+ * start), a simulated run reads sim_config.toml (regenerated from the frozen config_base and
+ * deliberately bypassing the profile). Snapshotting the wrong one would record a config the run
+ * never used.
+ */
+function snapshotRunConfig(dbDir: string, simulated: boolean): void {
+  const src = simulated ? SIM_CONFIG : LIVE_CONFIG;
+  try {
+    mkdirSync(dirname(dbDir), { recursive: true });
+    copyFileSync(src, `${dbDir}.toml`);
+  } catch (e) {
+    // Never block a run on this — a missing snapshot costs readability, not data.
+    console.warn(`⚠️ Could not snapshot run config from ${src}:`, e);
+  }
+}
 
 /**
  * Generate the loopback sim overlay (config/sim_config.toml) from config_base.toml — the same
@@ -131,6 +155,7 @@ export class ServiceController {
       // A simulated run reads config/sim_config.toml (loopback overlay). Generate it here so sim
       // works on ANY box — a hardware server never runs start_systemd_sim.sh, so it'd be missing.
       if (simulated) ensureSimConfig();
+      snapshotRunConfig(dbDir, simulated);
       mkdirSync(dirname(SESSION_ENV_PATH), { recursive: true });
       writeFileSync(SESSION_ENV_PATH, `ELODIN_DB_DIR=${dbDir}\n`);
       // Per-run data-source overlay consumed by the pipeline units.
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index 4c4850bc8..0a232166c 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -248,6 +248,10 @@ class SessionManager {
       try {
         rmSync(stoppedDir, { recursive: true, force: true });
         rmSync(`${stoppedDir}_metadata`, { recursive: true, force: true });
+        // The run-config snapshot written beside the DB at start (service-controller
+        // snapshotRunConfig) follows the DB's retention — otherwise the elodin dir fills with
+        // orphaned .toml files describing runs that no longer exist.
+        rmSync(`${stoppedDir}.toml`, { force: true });
       } catch (err) {
         console.warn('⚠️ Failed to remove discarded DB dir:', err);
       }

From 9f51dfadcf8749b1e54f32eee318d081edd46d46 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 14:57:50 -0700
Subject: [PATCH 095/205] star-openrocket: the design bar lost its list on load
 - the bootstrap combined a once-only ref guard with a cleanup-set cancelled
 flag, so StrictMode's second run returned early on the ref while the first
 run's request had already been cancelled, and setDocuments never ran

---
 .../components/versions/ConfigVersions.tsx    | 14 ++++--
 .../frontend/src/lib/gating.test.ts           | 43 +++++++++++++++++++
 2 files changed, 53 insertions(+), 4 deletions(-)

diff --git a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
index 2ab3443c9..846d67138 100644
--- a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
+++ b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
@@ -214,21 +214,28 @@ export function ConfigVersions({ config, onRestore, onEditableChange, inline = f
   }, [select])
 
   // Mount: list documents; seed one from the current config if there are none.
+  //
   // Guarded to run its bootstrap exactly once: even if a parent passes an
   // unstable onRestore (which recreates openDoc and re-fires this effect), we
   // must not re-list + re-open, or restore would loop into setUi every render.
+  //
+  // Guarded by a ref and NOT by a cleanup-set `cancelled` flag. The two
+  // together are actively wrong: StrictMode's dev double-mount runs the effect,
+  // fires the cleanup, then runs the effect again -- and the second run returns
+  // early on the ref, so the only in-flight request is the first one, whose
+  // `cancelled` the cleanup has already set. It resolves, bails, and never
+  // calls setDocuments: an empty design bar and "No designs yet" in Change,
+  // with the designs sitting safely on the server the whole time. This bar
+  // never unmounts, so there is no real teardown to guard against.
   const bootstrapped = useRef(false)
   useEffect(() => {
     if (bootstrapped.current) return
     bootstrapped.current = true
-    let cancelled = false
     ;(async () => {
       try {
         const docs = await api.listDocuments()
-        if (cancelled) return
         if (docs.length === 0) {
           const meta = await api.createDocument('Design 1', configRef.current)
-          if (cancelled) return
           setDocuments([meta])
           const ref = refOf(meta)
           setActiveRef(ref)
@@ -253,7 +260,6 @@ export function ConfigVersions({ config, onRestore, onEditableChange, inline = f
         loadedKey.current = null
       }
     })()
-    return () => { cancelled = true }
   }, [openDoc])
 
   // Debounced autosave of the working copy, only once the active doc has loaded.
diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
index 948fc093a..b0e8e6633 100644
--- a/star-openrocket/frontend/src/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -136,3 +136,46 @@ describe('checkout gating (viewer)', () => {
     expect(unused).toEqual([])
   })
 })
+
+/**
+ * The design bar's bootstrap must not combine a once-only ref guard with a
+ * cleanup-set `cancelled` flag.
+ *
+ * Either alone is fine. Together they lose the design list on every load in
+ * dev: StrictMode runs the effect, fires the cleanup (setting `cancelled`),
+ * then runs it again -- and the second run returns early on the ref, so the
+ * only in-flight request is the first one, whose `cancelled` is now true. It
+ * resolves, bails before setDocuments, and the bar renders empty with
+ * "No designs yet" in Change while the designs sit safely on the server.
+ *
+ * This shipped once, was fixed, and came back when the bar was rebuilt on the
+ * shared components. A rendering test would be better but this codebase has no
+ * React test harness, and the failure is visible in the source.
+ */
+describe('design bar bootstrap', () => {
+  const bar = Object.entries(
+    import.meta.glob('../components/versions/*.tsx', {
+      eager: true, query: '?raw', import: 'default',
+    }) as Record<string, string>,
+  )
+
+  it('finds the bar', () => {
+    expect(bar.length).toBe(1)
+  })
+
+  it('does not guard the bootstrap with both a ref and a cancelled flag', () => {
+    for (const [path, src] of bar) {
+      // The effect body, from the ref guard to the end of the file's first
+      // `}, [openDoc])`. Comments mentioning `cancelled` are fine; code is not.
+      const start = src.indexOf('const bootstrapped = useRef(false)')
+      expect(start, `${path} has no once-only bootstrap guard`).toBeGreaterThan(-1)
+      const body = src.slice(start, src.indexOf('}, [openDoc])', start))
+      const code = body
+        .split('\n')
+        .filter((l) => !l.trim().startsWith('//') && !l.trim().startsWith('*'))
+        .join('\n')
+      expect(/\bcancelled\b/.test(code), `${path} combines a ref guard with a cancelled flag`)
+        .toBe(false)
+    }
+  })
+})

From 4b0abff3ea717b7dcff7b8c3a1eb97dc36feb0fb Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 15:56:00 -0700
Subject: [PATCH 096/205] each config profile is now a directory that owns its
 state-machine CSVs, so switching profiles switches the CSVs too - deploy
 copies config.toml plus every .csv all-or-nothing, and a failed switch now
 puts the active pointer back instead of leaving the editor on one profile
 while the pipeline runs another

---
 daq-server/.gitignore                         |   5 +
 .../{default.toml => default/config.toml}     |   0
 .../state_machine_actuator_delays.csv         |   0
 .../default}/state_machine_actuators.csv      |   0
 .../default}/state_transitions.csv            |   0
 .../backend/src/routes/config-profiles.ts     | 165 ++++++++++++++----
 .../backend/src/routes/config.ts              |  24 ++-
 7 files changed, 162 insertions(+), 32 deletions(-)
 rename daq-server/config/profiles/{default.toml => default/config.toml} (100%)
 rename daq-server/config/{ => profiles/default}/state_machine_actuator_delays.csv (100%)
 rename daq-server/config/{ => profiles/default}/state_machine_actuators.csv (100%)
 rename daq-server/config/{ => profiles/default}/state_transitions.csv (100%)

diff --git a/daq-server/.gitignore b/daq-server/.gitignore
index 41f841e4a..7feb68905 100644
--- a/daq-server/.gitignore
+++ b/daq-server/.gitignore
@@ -215,3 +215,8 @@ config/.active_profile
 # config.toml is now a generated runtime artifact (deployed from the active profile / self-healed
 # from config/profiles/default.toml). The committed source of truth is config/profiles/*.toml.
 config/config.toml
+# Deployed state-machine CSVs — generated by deployActiveProfile() from the active profile
+# (config/profiles/<name>/*.csv, which ARE tracked). Same status as config.toml above.
+config/state_machine_actuators.csv
+config/state_machine_actuator_delays.csv
+config/state_transitions.csv
diff --git a/daq-server/config/profiles/default.toml b/daq-server/config/profiles/default/config.toml
similarity index 100%
rename from daq-server/config/profiles/default.toml
rename to daq-server/config/profiles/default/config.toml
diff --git a/daq-server/config/state_machine_actuator_delays.csv b/daq-server/config/profiles/default/state_machine_actuator_delays.csv
similarity index 100%
rename from daq-server/config/state_machine_actuator_delays.csv
rename to daq-server/config/profiles/default/state_machine_actuator_delays.csv
diff --git a/daq-server/config/state_machine_actuators.csv b/daq-server/config/profiles/default/state_machine_actuators.csv
similarity index 100%
rename from daq-server/config/state_machine_actuators.csv
rename to daq-server/config/profiles/default/state_machine_actuators.csv
diff --git a/daq-server/config/state_transitions.csv b/daq-server/config/profiles/default/state_transitions.csv
similarity index 100%
rename from daq-server/config/state_transitions.csv
rename to daq-server/config/profiles/default/state_transitions.csv
diff --git a/daq-server/diablo_server/backend/src/routes/config-profiles.ts b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
index b1c9298c5..33c39eca3 100644
--- a/daq-server/diablo_server/backend/src/routes/config-profiles.ts
+++ b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
@@ -1,9 +1,16 @@
 /**
- * Named config profiles v2 — profiles are the editable source of truth; config.toml is the
- * *deployed* file the pipeline reads.
+ * Named config profiles v3 — a profile is a DIRECTORY, and it owns its state-machine CSVs.
  *
- *   - The Config editor reads/writes the ACTIVE PROFILE (config/profiles/<name>.toml).
- *   - "Deploying" copies the active profile into config.toml.
+ *   config/profiles/<name>/config.toml                  <- tracked source of truth
+ *   config/profiles/<name>/state_machine_actuators.csv
+ *   config/profiles/<name>/state_transitions.csv
+ *
+ * Deploying copies the whole directory out to config/, so switching profiles switches the CSVs
+ * too. The C++ services keep reading config/state_machine_actuators.csv with their existing
+ * hardcoded fallback paths — they never learn that profiles exist.
+ *
+ *   - The Config editor reads/writes the ACTIVE PROFILE (config/profiles/<name>/config.toml).
+ *   - "Deploying" copies the active profile's config.toml + every .csv into config/.
  *   - Deploy happens on an idle save/switch and at (live) session start.
  *   - During a session config.toml is FROZEN: the editor writes profile drafts only, applied at
  *     the next session start. This is what makes editing during a run safe — a mid-run edit can no
@@ -12,7 +19,7 @@
  * config.toml stays git-tracked in this phase (a later phase makes it a pure generated artifact).
  * The active-profile pointer (config/.active_profile) is machine-specific runtime state.
  */
-import { readFileSync, writeFileSync, copyFileSync, existsSync, mkdirSync, readdirSync, renameSync, unlinkSync } from 'fs';
+import { readFileSync, writeFileSync, copyFileSync, existsSync, mkdirSync, readdirSync, renameSync, rmSync, statSync } from 'fs';
 import { join, dirname } from 'path';
 import { getConfigPath, readConfig, writeConfig } from './config.js';
 
@@ -37,9 +44,24 @@ function getActivePointerPath(): string {
   return join(getConfigDir(), '.active_profile');
 }
 
-export function profilePath(name: string): string {
+/** Directory holding one profile: its config.toml and its CSVs. */
+export function profileDir(name: string): string {
   assertValidName(name);
-  return join(getProfilesDir(), `${name}.toml`);
+  return join(getProfilesDir(), name);
+}
+
+/** The config file inside a profile directory (the editor's target). */
+export function profilePath(name: string): string {
+  return join(profileDir(name), 'config.toml');
+}
+
+/** Profile-owned files that deploy alongside config.toml. */
+function profileAssets(name: string): string[] {
+  try {
+    return readdirSync(profileDir(name)).filter((f) => f.endsWith('.csv')).sort();
+  } catch {
+    return [];
+  }
 }
 
 export function getActiveProfileName(): string {
@@ -62,11 +84,64 @@ export function setActiveProfileName(name: string): void {
 export function ensureSeeded(): void {
   const dir = getProfilesDir();
   mkdirSync(dir, { recursive: true });
-  const hasAny = readdirSync(dir).some((f) => f.endsWith('.toml'));
-  if (!hasAny && existsSync(getConfigPath())) {
-    copyFileSync(getConfigPath(), join(dir, `${DEFAULT_PROFILE}.toml`));
+
+  // v2 → v3: a profile used to be a flat <name>.toml. Fold each one into <name>/config.toml so it
+  // can own its CSVs. Idempotent; runs once per box.
+  for (const f of readdirSync(dir)) {
+    if (!f.endsWith('.toml')) continue;
+    const name = f.slice(0, -'.toml'.length);
+    if (!NAME_RE.test(name)) continue;
+    const flat = join(dir, f);
+    if (!statSync(flat).isFile()) continue;
+    mkdirSync(join(dir, name), { recursive: true });
+    renameSync(flat, join(dir, name, 'config.toml'));
+    console.log(`🌱 Migrated profile "${name}" to a directory`);
+  }
+
+  const names = listProfileNames();
+  if (names.length === 0 && existsSync(getConfigPath())) {
+    mkdirSync(profileDir(DEFAULT_PROFILE), { recursive: true });
+    copyFileSync(getConfigPath(), profilePath(DEFAULT_PROFILE));
     setActiveProfileName(DEFAULT_PROFILE);
   }
+
+  // Adopt any CSVs still sitting loose in config/ into profiles that have none. Covers both the
+  // v2→v3 upgrade and a fresh seed, and is a no-op once each profile owns its own copies.
+  const configDir = getConfigDir();
+  const loose = readdirSync(configDir).filter((f) => f.endsWith('.csv'));
+  if (loose.length) {
+    for (const name of listProfileNames()) {
+      if (profileAssets(name).length) continue;
+      for (const f of loose) copyFileSync(join(configDir, f), join(profileDir(name), f));
+      console.log(`🌱 Adopted ${loose.length} CSV(s) into profile "${name}"`);
+    }
+  }
+
+  // The deployed CSVs are generated artifacts (gitignored, like config.toml). The C++ services read
+  // them from config/ by hardcoded path and have no idea profiles exist, so a fresh checkout must
+  // materialize them before any pipeline start — deployActiveProfile() only runs on save/switch and
+  // at LIVE session start, and a simulated run never deploys at all.
+  const activeName = getActiveProfileName();
+  for (const f of profileAssets(activeName)) {
+    const target = join(configDir, f);
+    if (existsSync(target)) continue;
+    try {
+      copyFileSync(join(profileDir(activeName), f), target);
+      console.log(`🌱 Materialized ${f} from profile "${activeName}"`);
+    } catch { /* best-effort */ }
+  }
+}
+
+/** Profile directory names, unsorted. Does NOT call ensureSeeded (used from inside it). */
+function listProfileNames(): string[] {
+  try {
+    return readdirSync(getProfilesDir(), { withFileTypes: true })
+      .filter((e) => e.isDirectory() && NAME_RE.test(e.name))
+      .filter((e) => existsSync(join(getProfilesDir(), e.name, 'config.toml')))
+      .map((e) => e.name);
+  } catch {
+    return [];
+  }
 }
 
 /** Path of the active profile file (the editor target). */
@@ -80,10 +155,7 @@ export interface ProfileInfo { name: string; active: boolean }
 export function listProfiles(): ProfileInfo[] {
   ensureSeeded();
   const active = getActiveProfileName();
-  return readdirSync(getProfilesDir())
-    .filter((f) => f.endsWith('.toml'))
-    .map((f) => f.slice(0, -'.toml'.length))
-    .filter((n) => NAME_RE.test(n))
+  return listProfileNames()
     .sort((a, b) => a.localeCompare(b))
     .map((name) => ({ name, active: name === active }));
 }
@@ -108,15 +180,34 @@ export function writeActiveProfile(config: any): void {
  * running config (no session active, or at a controlled session start).
  */
 export function deployActiveProfile(): void {
+  const name = getActiveProfileName();
   const src = getActiveProfilePath();
-  if (!readFileSync(src, 'utf-8').trim()) throw new Error(`Active profile "${getActiveProfileName()}" is empty`);
+  if (!readFileSync(src, 'utf-8').trim()) throw new Error(`Active profile "${name}" is empty`);
   const configPath = getConfigPath();
-  const previous = existsSync(configPath) ? readFileSync(configPath, 'utf-8') : null;
-  copyFileSync(src, configPath);
+  const configDir = getConfigDir();
+
+  // All-or-nothing: the CSVs and config.toml describe one machine together, so a half-applied
+  // deploy (new roles, old state table) is worse than no deploy. Snapshot every target first and
+  // put them all back if the config does not parse.
+  const targets: { path: string; previous: string | null }[] = [];
+  const snapshot = (path: string) =>
+    targets.push({ path, previous: existsSync(path) ? readFileSync(path, 'utf-8') : null });
+
+  snapshot(configPath);
+  const assets = profileAssets(name);
+  for (const f of assets) snapshot(join(configDir, f));
+
   try {
+    copyFileSync(src, configPath);
+    for (const f of assets) copyFileSync(join(profileDir(name), f), join(configDir, f));
     readConfig(); // parse the freshly-deployed config.toml
   } catch (e) {
-    if (previous !== null) writeFileSync(configPath, previous, 'utf-8');
+    for (const t of targets) {
+      try {
+        if (t.previous !== null) writeFileSync(t.path, t.previous, 'utf-8');
+        else rmSync(t.path, { force: true });
+      } catch { /* best-effort rollback */ }
+    }
     throw new Error(`Active profile is not valid config: ${(e as Error)?.message ?? e}`);
   }
 }
@@ -125,8 +216,17 @@ export function deployActiveProfile(): void {
 export function switchProfile(name: string): void {
   ensureSeeded();
   if (!existsSync(profilePath(name))) throw new Error(`Profile "${name}" does not exist`);
+  // The pointer moves first because deployActiveProfile() reads it — but if the deploy fails the
+  // pointer has to come back, or the editor shows the new profile while the pipeline still runs
+  // the old one's config and CSVs, with nothing on screen saying so.
+  const previous = getActiveProfileName();
   setActiveProfileName(name);
-  deployActiveProfile();
+  try {
+    deployActiveProfile();
+  } catch (e) {
+    setActiveProfileName(previous);
+    throw e;
+  }
 }
 
 // ── Create / rename / delete ─────────────────────────────────────────────────
@@ -135,19 +235,25 @@ export function switchProfile(name: string): void {
 export function createProfile(name: string, fromName?: string): void {
   ensureSeeded();
   assertValidName(name);
-  const dest = profilePath(name);
-  if (existsSync(dest)) throw new Error(`Profile "${name}" already exists`);
-  const src = fromName ? profilePath(fromName) : getActiveProfilePath();
-  if (!existsSync(src)) throw new Error(`Source ${fromName ? `profile "${fromName}"` : 'active profile'} not found`);
-  copyFileSync(src, dest);
+  const destDir = profileDir(name);
+  if (existsSync(destDir)) throw new Error(`Profile "${name}" already exists`);
+  const srcName = fromName ?? getActiveProfileName();
+  const srcCfg = profilePath(srcName);
+  if (!existsSync(srcCfg)) throw new Error(`Source ${fromName ? `profile "${fromName}"` : 'active profile'} not found`);
+  // Copy the whole profile — a new profile inherits the source's CSVs, not the previous
+  // deployment's, or it would start with a state table that does not match its own roles.
+  mkdirSync(destDir, { recursive: true });
+  copyFileSync(srcCfg, profilePath(name));
+  for (const f of profileAssets(srcName)) copyFileSync(join(profileDir(srcName), f), join(destDir, f));
 }
 
 /** Rename a profile file; if it was active, move the pointer with it. Does not redeploy. */
 export function renameProfile(name: string, newName: string): void {
   ensureSeeded();
-  const src = profilePath(name);
-  const dest = profilePath(newName);
-  if (!existsSync(src)) throw new Error(`Profile "${name}" does not exist`);
+  assertValidName(newName);
+  const src = profileDir(name);
+  const dest = profileDir(newName);
+  if (!existsSync(profilePath(name))) throw new Error(`Profile "${name}" does not exist`);
   if (existsSync(dest)) throw new Error(`Profile "${newName}" already exists`);
   renameSync(src, dest);
   if (getActiveProfileName() === name) setActiveProfileName(newName);
@@ -157,7 +263,6 @@ export function renameProfile(name: string, newName: string): void {
 export function deleteProfile(name: string): void {
   ensureSeeded();
   if (getActiveProfileName() === name) throw new Error(`Cannot delete the active profile "${name}"`);
-  const p = profilePath(name);
-  if (!existsSync(p)) throw new Error(`Profile "${name}" does not exist`);
-  unlinkSync(p);
+  if (!existsSync(profilePath(name))) throw new Error(`Profile "${name}" does not exist`);
+  rmSync(profileDir(name), { recursive: true, force: true });
 }
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 85af9d080..b09ad16f3 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -3,7 +3,7 @@
  * Handles reading and writing config.toml
  */
 
-import { readFileSync, writeFileSync, copyFileSync, existsSync } from 'fs';
+import { readFileSync, writeFileSync, copyFileSync, existsSync, readdirSync } from 'fs';
 import { join, dirname } from 'path';
 import { fileURLToPath } from 'url';
 import { parse as parseToml, stringify as stringifyToml } from '@iarna/toml';
@@ -47,12 +47,32 @@ export function getConfigPath(): string {
       const a = readFileSync(join(dir, '.active_profile'), 'utf-8').trim();
       if (/^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/.test(a)) activeName = a;
     } catch { /* no pointer → default */ }
-    for (const src of [join(dir, 'profiles', `${activeName}.toml`), join(dir, 'profiles', 'default.toml')]) {
+    // Profiles are directories (config-profiles v3): profiles/<name>/config.toml, with the
+    // profile's CSVs beside it. Legacy flat profiles/<name>.toml is still accepted so a
+    // half-migrated box can still bootstrap.
+    const candidates = [
+      join(dir, 'profiles', activeName, 'config.toml'),
+      join(dir, 'profiles', 'default', 'config.toml'),
+      join(dir, 'profiles', `${activeName}.toml`),
+      join(dir, 'profiles', 'default.toml'),
+    ];
+    for (const src of candidates) {
       if (existsSync(src)) {
         try {
           copyFileSync(src, path);
           readFileSync(path, 'utf-8');
           console.log(`🌱 Generated config.toml from ${src}`);
+          // The state-machine CSVs deploy alongside config.toml; materialize any that are missing
+          // so the C++ services (which read config/*.csv by hardcoded path) work on a fresh box.
+          try {
+            const srcDir = dirname(src);
+            if (srcDir !== join(dir, 'profiles')) {
+              for (const f of readdirSync(srcDir).filter((n) => n.endsWith('.csv'))) {
+                const target = join(dir, f);
+                if (!existsSync(target)) copyFileSync(join(srcDir, f), target);
+              }
+            }
+          } catch { /* CSVs are best-effort — config.toml is what this function promises */ }
           return path;
         } catch { /* try next */ }
       }

From 3a1dbbbdafe845a218550d694a352e985124c88e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 15:59:24 -0700
Subject: [PATCH 097/205] state-machine CSV read/write API for the config
 editor: GET/POST /api/state-csv edits the active profile and deploys when
 idle, same freeze rule as a config save; STATE_ACTUATOR_MAP becomes a let and
 is rebuilt on save, since it was a module-level const that nothing refreshed
 and mismatch detection kept using the CSV as it was at boot

---
 .../diablo_server/backend/src/api-server.ts   | 59 ++++++++++++++++++-
 .../backend/src/routes/config-profiles.ts     | 44 ++++++++++++++
 .../diablo_server/backend/src/server.ts       | 20 ++++++-
 3 files changed, 120 insertions(+), 3 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index f7dedf3fd..93ffd52e5 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -11,7 +11,7 @@ import { readConfig, writeConfig, getConfigPath, patchBoardField } from './route
 import {
   listProfiles, switchProfile, createProfile, renameProfile, deleteProfile,
   getActiveProfileName, ensureSeeded, readActiveProfile, writeActiveProfile, deployActiveProfile,
-  getActiveProfilePath,
+  getActiveProfilePath, readStateCsv, writeStateCsv, isStateCsvName, STATE_CSVS,
 } from './routes/config-profiles.js';
 import { sessionManager } from './session-manager.js';
 import { isOperator } from './operators.js';
@@ -262,6 +262,9 @@ export interface APIHandlerOptions {
   getQueryClient?: () => ElodinQueryClient | null;
   getDebugInfo?: () => DebugInfo | null;
   onConfigUpdated?: () => void;
+  /** A state-machine CSV was saved and deployed: rebuild derived maps and tell the sequencer to
+   *  re-read (it exposes RELOAD_CONFIG, which re-loads both CSVs without a restart). */
+  onStateCsvUpdated?: () => void;
   getEngineState?: () => number;
   getCalibrationStatus?: () => Promise<any>;
 }
@@ -296,7 +299,7 @@ function readJsonBody(req: IncomingMessage): Promise<any> {
  * Returns true if the request was handled, false if not (so the caller can fall through).
  */
 export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMessage, res: ServerResponse) => Promise<boolean> {
-  const { getQueryClient, getDebugInfo, onConfigUpdated, getEngineState, getCalibrationStatus } = opts;
+  const { getQueryClient, getDebugInfo, onConfigUpdated, onStateCsvUpdated, getEngineState, getCalibrationStatus } = opts;
 
   return async (req: IncomingMessage, res: ServerResponse): Promise<boolean> => {
     const urlPath = (req.url ?? '').split('?')[0] ?? '';
@@ -409,6 +412,58 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
             res.end(JSON.stringify({ error: error.message || 'Invalid config file' }));
           }
         });
+      } else if (url.pathname === '/api/state-csv' && req.method === 'GET') {
+        // Raw state-machine CSV from the ACTIVE PROFILE. Read-only — no operator gate, matching
+        // /api/config/export.
+        try {
+          const which = String(url.searchParams.get('name') || '');
+          if (!isStateCsvName(which)) throw new Error(`Unknown CSV "${which}"`);
+          res.writeHead(200, {
+            'Content-Type': 'text/csv; charset=utf-8',
+            'Content-Disposition': `attachment; filename="${STATE_CSVS[which]}"`,
+          });
+          res.end(readStateCsv(which));
+        } catch (error: any) {
+          res.writeHead(400, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error.message || 'Failed to read CSV' }));
+        }
+      } else if (url.pathname === '/api/state-csv' && req.method === 'POST') {
+        // Write a state CSV into the active profile; deploy when idle (same freeze rule as a
+        // config save — during a session it stays a draft applied at the next start).
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        let body = '';
+        req.on('data', (chunk) => { body += chunk.toString(); });
+        req.on('end', () => {
+          try {
+            const which = String(url.searchParams.get('name') || '');
+            if (!isStateCsvName(which)) throw new Error(`Unknown CSV "${which}"`);
+            if (!body.trim()) throw new Error('CSV is empty');
+            // A header row plus at least one data row; anything less is a truncated upload, and a
+            // CSV that parses to nothing silently disables every actuator for every state.
+            const rows = body.split('\n').map((l) => l.trim()).filter(Boolean);
+            if (rows.length < 2) throw new Error('CSV needs a header row and at least one data row');
+            const sessionActive = sessionManager.getStatus().active;
+            const deployed = writeStateCsv(which, body, !sessionActive);
+            if (deployed && onStateCsvUpdated) {
+              setImmediate(() => {
+                try { onStateCsvUpdated(); } catch (e) { console.warn('⚠️ onStateCsvUpdated handler threw:', e); }
+              });
+            }
+            res.writeHead(200, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({
+              success: true,
+              deployed,
+              message: deployed ? 'Saved and applied' : 'Saved as draft (applies at next session start)',
+            }));
+          } catch (error: any) {
+            res.writeHead(400, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ error: error.message || 'Invalid CSV' }));
+          }
+        });
       } else if (url.pathname === '/api/config/profiles' && req.method === 'GET') {
         // List profiles + which is active + whether a session freezes deploys/switching.
         ensureSeeded();
diff --git a/daq-server/diablo_server/backend/src/routes/config-profiles.ts b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
index 33c39eca3..ce079c698 100644
--- a/daq-server/diablo_server/backend/src/routes/config-profiles.ts
+++ b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
@@ -229,6 +229,50 @@ export function switchProfile(name: string): void {
   }
 }
 
+// ── State-machine CSVs: read/write inside the ACTIVE PROFILE ─────────────────
+
+/** The CSVs the State Management tab edits, keyed by the short name the API takes. */
+export const STATE_CSVS = {
+  actuators: 'state_machine_actuators.csv',
+  delays: 'state_machine_actuator_delays.csv',
+  transitions: 'state_transitions.csv',
+} as const;
+export type StateCsvName = keyof typeof STATE_CSVS;
+
+export function isStateCsvName(v: string): v is StateCsvName {
+  return Object.prototype.hasOwnProperty.call(STATE_CSVS, v);
+}
+
+/** Read one state CSV from the active profile. Falls back to the deployed copy on a box whose
+ *  profile predates the CSVs (ensureSeeded normally adopts them, but never assume). */
+export function readStateCsv(which: StateCsvName): string {
+  ensureSeeded();
+  const file = STATE_CSVS[which];
+  const inProfile = join(profileDir(getActiveProfileName()), file);
+  if (existsSync(inProfile)) return readFileSync(inProfile, 'utf-8');
+  const deployed = join(getConfigDir(), file);
+  if (existsSync(deployed)) return readFileSync(deployed, 'utf-8');
+  return '';
+}
+
+/**
+ * Write one state CSV into the active profile, and deploy it when idle.
+ *
+ * Mirrors the config save rule: during a session the profile takes the edit as a draft and
+ * config/ is left frozen, so a mid-run edit cannot reach the running pipeline.
+ * Returns whether the write reached config/.
+ */
+export function writeStateCsv(which: StateCsvName, content: string, deploy: boolean): boolean {
+  ensureSeeded();
+  const file = STATE_CSVS[which];
+  const name = getActiveProfileName();
+  mkdirSync(profileDir(name), { recursive: true });
+  writeFileSync(join(profileDir(name), file), content, 'utf-8');
+  if (!deploy) return false;
+  copyFileSync(join(profileDir(name), file), join(getConfigDir(), file));
+  return true;
+}
+
 // ── Create / rename / delete ─────────────────────────────────────────────────
 
 /** Create a new profile from the active profile (or another named profile). Does NOT switch. */
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 7a338e9c2..c8f0edbde 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -259,7 +259,11 @@ loadBoardsFromConfig();
 
 // ── State actuator map (expected positions per state from CSV) ────────────────
 
-const STATE_ACTUATOR_MAP: StateActuatorMap = getStateActuatorMap();
+// `let`, not `const`: this is parsed from state_machine_actuators.csv at import time, and the
+// State Management tab can now change that file at runtime. It used to be a const that nothing
+// ever rebuilt, so expected-position / mismatch detection kept using the CSV as it was when the
+// backend booted.
+let STATE_ACTUATOR_MAP: StateActuatorMap = getStateActuatorMap();
 
 /**
  * Build entity→expected map for a given state.
@@ -568,6 +572,20 @@ const apiHandler = createAPIHandler({
     useRelay: false,
     boardScanRateHz: getBoardScanRateHz(),
   }),
+  onStateCsvUpdated: () => {
+    // The CSV on disk changed and was deployed. Rebuild what we derive from it, then tell the
+    // sequencer to re-read — it already exposes RELOAD_CONFIG (sequencer_main.cpp), which re-loads
+    // the actuator table and the transition table without restarting the pipeline.
+    try {
+      STATE_ACTUATOR_MAP = getStateActuatorMap();
+    } catch (e) {
+      console.warn('\u26a0\ufe0f Failed to rebuild STATE_ACTUATOR_MAP:', e);
+    }
+    sendToActuatorService('RELOAD_CONFIG\n')
+      .then(({ ok, reply }) => console.log(`[ThinServer] sequencer RELOAD_CONFIG \u2192 ${ok ? 'OK' : reply || 'failed'}`))
+      .catch(() => { /* sequencer may be down between runs — the CSV still applies at next start */ });
+    broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
+  },
   onConfigUpdated: () => {
     reloadGuiStreamConfig();
     // Rebuild sensor-role-derived caches so a Sensor Roles / board_id edit reflects

From fab24b1f666546ce08f4b8ecae9e3d38800d49c1 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 16:10:46 -0700
Subject: [PATCH 098/205] State Machine config tab: edit the actuator table and
 the transition matrix as grids, with the delays overlaid on the same
 spreadsheet rather than a second identical one; warns when a role is in one
 and not the other and offers to sync rows to [actuator_roles]

---
 .../diablo_server/backend/src/server.ts       |  11 +-
 .../frontend/app/config/page.tsx              | 348 ++++++++++++++++++
 2 files changed, 357 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index c8f0edbde..4b063624c 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -581,9 +581,16 @@ const apiHandler = createAPIHandler({
     } catch (e) {
       console.warn('\u26a0\ufe0f Failed to rebuild STATE_ACTUATOR_MAP:', e);
     }
+    // Best-effort: only the tmux stack keeps the sequencer up between runs. Under systemd the
+    // pipeline is session-gated, so while idle there is nothing listening — which is fine, because
+    // the CSV is already deployed to config/ and the sequencer reads it when the session starts.
     sendToActuatorService('RELOAD_CONFIG\n')
-      .then(({ ok, reply }) => console.log(`[ThinServer] sequencer RELOAD_CONFIG \u2192 ${ok ? 'OK' : reply || 'failed'}`))
-      .catch(() => { /* sequencer may be down between runs — the CSV still applies at next start */ });
+      .then(({ ok, reply }) => console.log(
+        ok
+          ? '[ThinServer] sequencer reloaded the state CSVs'
+          : `[ThinServer] sequencer not running (${reply || 'no reply'}) — CSVs apply at next session start`,
+      ))
+      .catch(() => console.log('[ThinServer] sequencer not running — CSVs apply at next session start'));
     broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
   },
   onConfigUpdated: () => {
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 8b804fd65..c6b07a1c8 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -181,6 +181,51 @@ function CommitOnBlurName({
   );
 }
 
+// ── State-machine CSV grids ──────────────────────────────────────────────────
+// All three CSVs share one shape: the first row is state names (leading cell blank) and the first
+// column is the row key. Actuators and delays have identical rows AND columns, so they are edited
+// as ONE grid with two values per cell rather than two spreadsheets kept in sync by hand.
+
+type CsvGrid = { states: string[]; rows: { key: string; cells: string[] }[] };
+
+const parseCsvGrid = (text: string): CsvGrid => {
+  const lines = text.split('\n').map((l) => l.replace(/\r$/, '')).filter((l) => l.trim() !== '');
+  if (lines.length === 0) return { states: [], rows: [] };
+  const states = lines[0].split(',').slice(1).map((s) => s.trim());
+  const rows = lines
+    .slice(1)
+    .map((line) => {
+      const cells = line.split(',').map((c) => c.trim());
+      // Pad short rows rather than dropping them — several shipped CSVs are ragged, and silently
+      // losing the row would silently drop an actuator from every state.
+      return { key: cells[0], cells: states.map((_, i) => cells[i + 1] ?? '') };
+    })
+    .filter((r) => r.key !== '');
+  return { states, rows };
+};
+
+const serializeCsvGrid = (g: CsvGrid): string =>
+  [
+    ',' + g.states.join(','),
+    ...g.rows.map((r) => [r.key, ...g.states.map((_, i) => r.cells[i] ?? '')].join(',')),
+  ].join('\n') + '\n';
+
+/** Rows/columns present in `have` but not `want`, and vice versa — the orphan/missing warnings. */
+const diffKeys = (have: string[], want: string[]) => ({
+  orphan: have.filter((k) => !want.includes(k)),
+  missing: want.filter((k) => !have.includes(k)),
+});
+
+/** Rebuild a grid so its rows are exactly `keys`, preserving existing cells and defaulting new
+ *  ones. Used to follow actuator add/remove without hand-editing the CSV. */
+const reconcileRows = (g: CsvGrid, keys: string[], fill: string): CsvGrid => ({
+  states: g.states,
+  rows: keys.map((k) => {
+    const existing = g.rows.find((r) => r.key === k);
+    return { key: k, cells: g.states.map((_, i) => existing?.cells[i] ?? fill) };
+  }),
+});
+
 export default function ConfigPage() {
   const [config, setConfig] = useState<ConfigData>(DEFAULT_CONFIG);
   const [loading, setLoading] = useState(true);
@@ -464,6 +509,131 @@ export default function ConfigPage() {
   const setGuiBars = (bars: any[]) =>
     setConfig((prev) => ({ ...prev, gui: { ...(prev.gui || {}), pressure_bars: bars } }));
 
+  // ── State Management tab ───────────────────────────────────────────────────
+  const [csvActuators, setCsvActuators] = useState<CsvGrid | null>(null);
+  const [csvDelays, setCsvDelays] = useState<CsvGrid | null>(null);
+  const [csvTransitions, setCsvTransitions] = useState<CsvGrid | null>(null);
+  const [csvLoading, setCsvLoading] = useState(false);
+  const [showDelays, setShowDelays] = useState(false);
+
+  const loadStateCsvs = async () => {
+    setCsvLoading(true);
+    try {
+      const get = async (name: string) => {
+        const r = await fetch(`${getApiBaseUrl()}/api/state-csv?name=${name}`);
+        if (!r.ok) throw new Error(`Failed to load ${name}`);
+        return parseCsvGrid(await r.text());
+      };
+      const [a, d, t] = await Promise.all([get('actuators'), get('delays'), get('transitions')]);
+      setCsvActuators(a);
+      setCsvDelays(d);
+      setCsvTransitions(t);
+    } catch (e: any) {
+      setError(e?.message || 'Failed to load state CSVs');
+      setTimeout(() => setError(null), 4000);
+    } finally {
+      setCsvLoading(false);
+    }
+  };
+
+  // Load the tables the first time the tab is opened, not on every config page mount — three
+  // extra fetches on a page most visits never open that tab.
+  useEffect(() => {
+    if (activeTab === 'state' && !csvActuators && !csvLoading) void loadStateCsvs();
+    // eslint-disable-next-line react-hooks/exhaustive-deps
+  }, [activeTab]);
+
+  const saveStateCsv = async (name: string, grid: CsvGrid) => {
+    setSaving(true);
+    setError(null);
+    try {
+      const r = await fetch(`${getApiBaseUrl()}/api/state-csv?name=${name}`, {
+        method: 'POST',
+        headers: { 'Content-Type': 'text/csv' },
+        body: serializeCsvGrid(grid),
+      });
+      const body = await r.json().catch(() => ({}));
+      if (!r.ok) throw new Error(body.error || `Save failed (${r.status})`);
+      setSuccess(true);
+      setTimeout(() => setSuccess(false), 3000);
+    } catch (e: any) {
+      setError(e?.message || 'Failed to save CSV');
+      setTimeout(() => setError(null), 5000);
+    } finally {
+      setSaving(false);
+    }
+  };
+
+  // Role names are the source of truth for which rows should exist; the CSV is what currently does.
+  const roleNames = Object.keys((config.actuator_roles || {}) as Record<string, unknown>);
+  const actuatorDiff = csvActuators
+    ? diffKeys(csvActuators.rows.map((r) => r.key), roleNames)
+    : { orphan: [], missing: [] };
+  // The two grids must agree on their state columns or a state exists in one table and not the other.
+  const stateColDiff = csvActuators && csvTransitions
+    ? diffKeys(csvActuators.states, csvTransitions.states)
+    : { orphan: [], missing: [] };
+  const delayShapeMismatch = !!(csvActuators && csvDelays &&
+    (csvDelays.states.length !== csvActuators.states.length ||
+      csvDelays.rows.length !== csvActuators.rows.length));
+
+  const setActuatorCell = (rowIdx: number, colIdx: number, value: string) =>
+    setCsvActuators((g) => g && ({
+      ...g,
+      rows: g.rows.map((r, i) => (i === rowIdx ? { ...r, cells: r.cells.map((c, j) => (j === colIdx ? value : c)) } : r)),
+    }));
+
+  const setDelayCell = (rowKey: string, colIdx: number, value: string) =>
+    setCsvDelays((g) => g && ({
+      ...g,
+      rows: g.rows.map((r) => (r.key === rowKey ? { ...r, cells: r.cells.map((c, j) => (j === colIdx ? value : c)) } : r)),
+    }));
+
+  const setTransitionCell = (rowIdx: number, colIdx: number, on: boolean) =>
+    setCsvTransitions((g) => g && ({
+      ...g,
+      rows: g.rows.map((r, i) => (i === rowIdx ? { ...r, cells: r.cells.map((c, j) => (j === colIdx ? (on ? '1' : '0') : c)) } : r)),
+    }));
+
+  /** Rebuild both actuator grids from [actuator_roles], keeping any cell that already existed. */
+  const syncActuatorRows = () => {
+    if (csvActuators) setCsvActuators(reconcileRows(csvActuators, roleNames, 'CLOSE'));
+    if (csvDelays) setCsvDelays(reconcileRows(csvDelays, roleNames, '0'));
+  };
+
+  /** A blank table: every configured actuator, every state, everything closed. */
+  const generateEmptyActuators = () => {
+    if (!csvActuators) return;
+    setCsvActuators({ states: csvActuators.states, rows: roleNames.map((k) => ({ key: k, cells: csvActuators.states.map(() => 'CLOSE') })) });
+    setCsvDelays({ states: csvActuators.states, rows: roleNames.map((k) => ({ key: k, cells: csvActuators.states.map(() => '0') })) });
+  };
+
+  const downloadStateCsv = (name: string) => {
+    const a = document.createElement('a');
+    a.href = `${getApiBaseUrl()}/api/state-csv?name=${name}`;
+    a.download = `${name}.csv`;
+    document.body.appendChild(a);
+    a.click();
+    a.remove();
+  };
+
+  const uploadStateCsv = async (name: string, file: File) => {
+    try {
+      const text = await file.text();
+      const r = await fetch(`${getApiBaseUrl()}/api/state-csv?name=${name}`, {
+        method: 'POST', headers: { 'Content-Type': 'text/csv' }, body: text,
+      });
+      const body = await r.json().catch(() => ({}));
+      if (!r.ok) throw new Error(body.error || `Upload failed (${r.status})`);
+      await loadStateCsvs();
+      setSuccess(true);
+      setTimeout(() => setSuccess(false), 3000);
+    } catch (e: any) {
+      setError(e?.message || 'Upload failed');
+      setTimeout(() => setError(null), 5000);
+    }
+  };
+
   const moveInArray = <T,>(arr: T[], i: number, dir: -1 | 1): T[] => {
     const j = i + dir;
     if (j < 0 || j >= arr.length) return arr;
@@ -579,6 +749,7 @@ export default function ConfigPage() {
     { id: 'roles', label: 'Roles' },
     { id: 'gui', label: 'Top Bar & Limits' },
     { id: 'controller', label: 'Controller' },
+    { id: 'state', label: 'State Machine' },
     { id: 'system', label: 'System' },
   ];
 
@@ -1407,6 +1578,183 @@ export default function ConfigPage() {
             </div>
           )}
 
+          {activeTab === 'state' && (
+            <div className="bg-card rounded-lg p-6 space-y-6">
+              <div>
+                <h2 className="text-xl font-bold mb-1">State Machine</h2>
+                <p className="text-sm text-text-muted">
+                  Editable. These tables belong to the active config profile and deploy with it, so
+                  each profile has its own. The sequencer reads them at pipeline start — change them
+                  with the session stopped and the next run picks them up.
+                </p>
+              </div>
+
+              {csvLoading && <p className="text-sm text-text-muted">Loading…</p>}
+              {!csvLoading && !csvActuators && (
+                <button onClick={loadStateCsvs} className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600">
+                  Load state tables
+                </button>
+              )}
+
+              {csvActuators && (
+                <div className="space-y-3">
+                  <div className="flex flex-wrap items-center gap-2">
+                    <h3 className="text-lg font-semibold mr-auto">Actuator positions per state</h3>
+                    <label className="flex items-center gap-2 text-sm text-text-muted mr-2">
+                      <input type="checkbox" checked={showDelays} onChange={(e) => setShowDelays(e.target.checked)} className="w-4 h-4" />
+                      Show delays
+                    </label>
+                    <button onClick={loadStateCsvs} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm">Reload</button>
+                    <button onClick={() => downloadStateCsv('actuators')} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm">Download</button>
+                    <label className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm cursor-pointer">
+                      Upload
+                      <input
+                        type="file" accept=".csv,text/csv" className="hidden"
+                        onChange={(e) => { const f = e.target.files?.[0]; if (f) uploadStateCsv('actuators', f); e.target.value = ''; }}
+                      />
+                    </label>
+                    <button onClick={generateEmptyActuators} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm" title="Every configured actuator, every state, all CLOSE">
+                      Generate empty
+                    </button>
+                    <button
+                      onClick={() => { saveStateCsv('actuators', csvActuators); if (csvDelays) saveStateCsv('delays', csvDelays); }}
+                      disabled={saving}
+                      className="px-3 py-1.5 bg-blue-600 rounded hover:bg-blue-700 text-sm disabled:opacity-50"
+                    >
+                      {saving ? 'Saving…' : 'Save'}
+                    </button>
+                  </div>
+
+                  {(actuatorDiff.orphan.length > 0 || actuatorDiff.missing.length > 0 || delayShapeMismatch) && (
+                    <div className="p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm space-y-1">
+                      {actuatorDiff.orphan.length > 0 && (
+                        <p>In this table but not in <code>[actuator_roles]</code>: <strong>{actuatorDiff.orphan.join(', ')}</strong> — these rows command nothing.</p>
+                      )}
+                      {actuatorDiff.missing.length > 0 && (
+                        <p>Configured but missing a row: <strong>{actuatorDiff.missing.join(', ')}</strong> — the sequencer will never command these in any state.</p>
+                      )}
+                      {delayShapeMismatch && <p>The delays table has a different shape — use Sync rows to rebuild both.</p>}
+                      <button onClick={syncActuatorRows} className="mt-1 px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-yellow-100">
+                        Sync rows to [actuator_roles]
+                      </button>
+                    </div>
+                  )}
+
+                  <div className="overflow-x-auto border border-gray-800 rounded">
+                    <table className="text-sm min-w-max">
+                      <thead>
+                        <tr className="bg-background/60">
+                          <th className="sticky left-0 bg-background/95 px-3 py-2 text-left font-semibold">Actuator</th>
+                          {csvActuators.states.map((st) => (
+                            <th key={st} className="px-2 py-2 text-left font-semibold whitespace-nowrap">{st}</th>
+                          ))}
+                        </tr>
+                      </thead>
+                      <tbody>
+                        {csvActuators.rows.map((row, ri) => (
+                          <tr key={`act:${ri}`} className="border-t border-gray-800">
+                            <td className="sticky left-0 bg-card px-3 py-1.5 font-mono whitespace-nowrap">{row.key}</td>
+                            {csvActuators.states.map((st, ci) => (
+                              <td key={`${ri}:${ci}`} className="px-2 py-1.5">
+                                <div className="flex items-center gap-1">
+                                  <select
+                                    value={(row.cells[ci] || 'CLOSE').toUpperCase()}
+                                    onChange={(e) => setActuatorCell(ri, ci, e.target.value)}
+                                    disabled={!canEdit}
+                                    className="px-2 py-1 bg-background border border-gray-700 rounded text-white disabled:opacity-50"
+                                  >
+                                    <option value="CLOSE">CLOSE</option>
+                                    <option value="OPEN">OPEN</option>
+                                  </select>
+                                  {showDelays && (
+                                    <input
+                                      type="text" inputMode="decimal"
+                                      value={csvDelays?.rows.find((r) => r.key === row.key)?.cells[ci] ?? '0'}
+                                      onChange={(e) => setDelayCell(row.key, ci, e.target.value)}
+                                      disabled={!canEdit}
+                                      title="Delay in seconds after the transition before this actuator moves"
+                                      className="w-14 px-1 py-1 bg-background border border-gray-700 rounded text-white text-xs disabled:opacity-50"
+                                    />
+                                  )}
+                                </div>
+                              </td>
+                            ))}
+                          </tr>
+                        ))}
+                      </tbody>
+                    </table>
+                  </div>
+                  {showDelays && (
+                    <p className="text-sm text-amber-300/90">
+                      Delays are seconds after the transition before that actuator moves. Not yet
+                      honoured by the sequencer — <code>applyForState</code> sends every command at once.
+                    </p>
+                  )}
+                </div>
+              )}
+
+              {csvTransitions && (
+                <div className="space-y-3">
+                  <div className="flex flex-wrap items-center gap-2">
+                    <h3 className="text-lg font-semibold mr-auto">Allowed transitions</h3>
+                    <button onClick={() => downloadStateCsv('transitions')} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm">Download</button>
+                    <label className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm cursor-pointer">
+                      Upload
+                      <input
+                        type="file" accept=".csv,text/csv" className="hidden"
+                        onChange={(e) => { const f = e.target.files?.[0]; if (f) uploadStateCsv('transitions', f); e.target.value = ''; }}
+                      />
+                    </label>
+                    <button onClick={() => saveStateCsv('transitions', csvTransitions)} disabled={saving} className="px-3 py-1.5 bg-blue-600 rounded hover:bg-blue-700 text-sm disabled:opacity-50">
+                      {saving ? 'Saving…' : 'Save'}
+                    </button>
+                  </div>
+
+                  {(stateColDiff.orphan.length > 0 || stateColDiff.missing.length > 0) && (
+                    <div className="p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm">
+                      The two tables disagree on states
+                      {stateColDiff.orphan.length > 0 && <> — only in actuators: <strong>{stateColDiff.orphan.join(', ')}</strong></>}
+                      {stateColDiff.missing.length > 0 && <> — only in transitions: <strong>{stateColDiff.missing.join(', ')}</strong></>}.
+                      A state missing from the actuator table commands nothing when entered.
+                    </div>
+                  )}
+
+                  <p className="text-sm text-text-muted">Row = state you are in, column = state you may go to.</p>
+                  <div className="overflow-x-auto border border-gray-800 rounded">
+                    <table className="text-sm min-w-max">
+                      <thead>
+                        <tr className="bg-background/60">
+                          <th className="sticky left-0 bg-background/95 px-3 py-2 text-left font-semibold">From \ To</th>
+                          {csvTransitions.states.map((st) => (
+                            <th key={st} className="px-2 py-2 text-left font-semibold whitespace-nowrap">{st}</th>
+                          ))}
+                        </tr>
+                      </thead>
+                      <tbody>
+                        {csvTransitions.rows.map((row, ri) => (
+                          <tr key={`tr:${ri}`} className="border-t border-gray-800">
+                            <td className="sticky left-0 bg-card px-3 py-1.5 font-mono whitespace-nowrap">{row.key}</td>
+                            {csvTransitions.states.map((st, ci) => (
+                              <td key={`${ri}:${ci}`} className="px-2 py-1.5 text-center">
+                                <input
+                                  type="checkbox"
+                                  checked={(row.cells[ci] || '0').trim() === '1'}
+                                  onChange={(e) => setTransitionCell(ri, ci, e.target.checked)}
+                                  disabled={!canEdit}
+                                  className="w-4 h-4 disabled:opacity-50"
+                                />
+                              </td>
+                            ))}
+                          </tr>
+                        ))}
+                      </tbody>
+                    </table>
+                  </div>
+                </div>
+              )}
+            </div>
+          )}
+
           {activeTab === 'system' && (
             <div className="bg-card rounded-lg p-6 space-y-6">
               <div>

From 784500ae067033815c8b435f0f9db5e00f9246a5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 16:30:28 -0700
Subject: [PATCH 099/205] delete startStateSnapshotPublisher: a 1 Hz republish
 of the current state as a from==to row, never called from anywhere - state
 reaches Elodin on every real event via publishState and
 publishStateTransition, so the dense stream it was meant to add never
 existed; also pass allow_delays=false for abort states so an abort never
 waits on a CSV delay

---
 .../lib/include/control/SequencerService.hpp  |  5 -----
 .../services/sequencer/SequencerService.cpp   | 21 +++----------------
 2 files changed, 3 insertions(+), 23 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index 7f7124670..b5dfbc80e 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -87,8 +87,6 @@ class SequencerService {
     std::string config_path_;
     std::string config_content_;
 
-    std::thread state_snapshot_thread_;
-    std::atomic<bool> state_snapshot_stop_{false};
 
     // Elodin connection retry. sensor-actuator.service is started alongside sensor-elodin, so the
     // first connect can lose the race by milliseconds; without this the service runs forever with
@@ -106,9 +104,6 @@ class SequencerService {
     void publishState();
     // Publish raw state transition to Elodin [0x43, 0x00] (legacy VTable)
     void publishStateTransition(State from, State to);
-    /** 1 Hz CONTROLLER.state rows (from=to=current) so exports/GUI have a dense system-state
-     * stream. */
-    void startStateSnapshotPublisher();
 
     /** Connect to Elodin and do everything that depends on the connection: register the ACT_CMD
      *  VTables, hand the client to the commander, publish initial state. Safe to call repeatedly —
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 99a0364bf..5c56470ca 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -37,9 +37,6 @@ static uint64_t now_ns() {
 
 // ─────────────────────────────────────────────────────────────────────────────
 SequencerService::~SequencerService() {
-    state_snapshot_stop_ = true;
-    if (state_snapshot_thread_.joinable())
-        state_snapshot_thread_.join();
     stopElodinRetry();
     actuator_commander_.stopContinuousLoop();
     fire_manager_.stop();
@@ -329,7 +326,9 @@ bool SequencerService::transitionTo(const std::string& state_name) {
     actuator_commander_.applyForState(to);
 
     // Start continuous re-send loop for new state
-    actuator_commander_.startContinuousLoop(to);
+    // Abort states apply immediately: their CSV delays are ignored, because an abort must not sit
+    // behind a timer. (The physical UDP abort broadcast below is separate and always immediate.)
+    actuator_commander_.startContinuousLoop(to, !isAbortState(to));
 
     // Update current state
     current_state_ = to;
@@ -471,19 +470,5 @@ void SequencerService::stopElodinRetry() {
         elodin_retry_thread_.join();
 }
 
-void SequencerService::startStateSnapshotPublisher() {
-    if (state_snapshot_thread_.joinable())
-        return;
-    state_snapshot_stop_ = false;
-    state_snapshot_thread_ = std::thread([this]() {
-        while (!state_snapshot_stop_) {
-            std::this_thread::sleep_for(std::chrono::seconds(1));
-            if (!elodin_.is_connected())
-                continue;
-            const State s = current_state_.load();
-            publishStateTransition(s, s);
-        }
-    });
-}
 
 }  // namespace sequencer

From e1fc98860917ab18ca0c0eddcd53be2910e26199 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 16:30:45 -0700
Subject: [PATCH 100/205] per-actuator delays now actually run: applyForState
 stages commands by the delays CSV, the 1 Hz republish skips a role whose
 delay is still pending so the board holds its pre-transition position, and
 only a real transition cancels a schedule - bumping the generation on every
 apply meant the republish killed its own delayed stage

---
 daq-server/diablo_server/lib/CMakeLists.txt   |  13 +
 .../lib/include/control/ActuatorCommander.hpp |  28 +-
 .../lib/test/test_actuator_delays.cpp         | 257 ++++++++++++++++
 .../services/sequencer/ActuatorCommander.cpp  | 288 +++++++++++++++---
 4 files changed, 536 insertions(+), 50 deletions(-)
 create mode 100644 daq-server/diablo_server/lib/test/test_actuator_delays.cpp

diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index bebe89426..7e11deb64 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -64,6 +64,19 @@ target_link_libraries(test_board_clock_sync
     fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY})
 add_test(NAME board_clock_sync COMMAND test_board_clock_sync)
 
+add_executable(test_actuator_delays
+    test/test_actuator_delays.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/ActuatorCommander.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/StateMachine.cpp
+)
+target_include_directories(test_actuator_delays PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+target_link_libraries(test_actuator_delays
+    fsw_daq_lib daq_comms_lib daqv2_comms Threads::Threads pthread ${RT_LIBRARY})
+add_test(NAME actuator_delays COMMAND test_actuator_delays)
+
 add_executable(test_sequencer_elodin
     test/test_sequencer_elodin.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/SequencerService.cpp
diff --git a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
index 3cb52354f..799f3e30a 100644
--- a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
+++ b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
@@ -2,6 +2,7 @@
 
 #include <atomic>
 #include <map>
+#include <set>
 #include <mutex>
 #include <string>
 #include <thread>
@@ -50,13 +51,23 @@ class ActuatorCommander {
      * Groups commands by board IP, sends one UDP packet per board.
      * PWM actuators are skipped in FIRE state.
      */
-    void applyForState(State state);
+    /**
+     * Command every actuator for `state`.
+     *
+     * `is_transition` selects between the two things this does. On an actual state change it runs
+     * the CSV's per-actuator delays as a staged schedule; on the 1 Hz republish it sends the
+     * settled (final) positions with no delay. Without that split the republish would re-arm every
+     * pending delay once a second and the schedule would never finish.
+     */
+    void applyForState(State state, bool is_transition = false);
 
     /**
      * Start the 1 Hz continuous re-send loop for the given state.
      * Stops any previously running loop first.
      */
-    void startContinuousLoop(State state);
+    /** `allow_delays` false makes the entry apply immediately — used for abort states, which must
+     *  not sit behind a delay. */
+    void startContinuousLoop(State state, bool allow_delays = true);
 
     /** Stop the continuous re-send loop (blocks until the thread exits). */
     void stopContinuousLoop();
@@ -85,6 +96,17 @@ class ActuatorCommander {
 
 private:
     std::map<std::string, ActuatorRole> roles_;
+    /** state -> actuator -> delay in seconds, from state_machine_actuator_delays.csv. */
+    std::map<std::string, std::map<std::string, double>> state_actuator_delays_;
+    /** Bumped on every transition so an in-flight delayed stage from the previous state aborts
+     *  instead of landing after we have already moved on. */
+    std::atomic<uint64_t> schedule_gen_{0};
+    /** Roles whose delayed stage has not fired yet. The 1 Hz republish skips these: the board holds
+     *  its last commanded position, which is exactly the pre-transition value we want it to keep
+     *  until the delay elapses. Without this the republish would send the settled position first
+     *  and any delay longer than the republish period could never be observed. */
+    std::set<std::string> pending_roles_;
+    std::mutex pending_roles_mutex_;
     // CSV: state_name → { actuator_name → logical_pos (0 or 1) }
     std::map<std::string, std::map<std::string, int>> state_actuators_;
 
@@ -105,6 +127,8 @@ class ActuatorCommander {
         const std::string& state_name) const;
 
     // Build and send one UDP actuator command packet to a board.
+    /** Send to every board with the retransmits interleaved, so boards stay in step. */
+    bool sendBatch(const std::map<std::string, std::vector<std::pair<uint8_t, uint8_t>>>& by_board);
     bool sendUDP(const std::string& board_ip,
                  const std::vector<std::pair<uint8_t, uint8_t>>& id_state_pairs);
 
diff --git a/daq-server/diablo_server/lib/test/test_actuator_delays.cpp b/daq-server/diablo_server/lib/test/test_actuator_delays.cpp
new file mode 100644
index 000000000..e06a72a82
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_actuator_delays.cpp
@@ -0,0 +1,257 @@
+/**
+ * Actuator delay scheduling vs the 1 Hz republish.
+ *
+ * The delicate part of per-actuator delays is not the timer, it is the interaction with
+ * ActuatorCommander's continuous loop, which re-sends every actuator's position once a second so a
+ * rebooted board recovers. Two ways that fights a delayed command, both of which this pins:
+ *
+ *   1. The republish must NOT send the delayed actuator's settled position while its delay is
+ *      pending — otherwise any delay longer than the republish period is unobservable, because the
+ *      final value has already gone out. (Boards latch their last command, so the actuator is
+ *      simply omitted and holds its pre-transition position.)
+ *   2. The republish must NOT cancel the pending schedule. Cancellation is keyed to real state
+ *      transitions only; an earlier version bumped the generation on every apply and the delayed
+ *      stage never fired.
+ *
+ * Drives the real ActuatorCommander over loopback UDP and asserts on what the "boards" receive.
+ */
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <atomic>
+#include <chrono>
+#include <cstdio>
+#include <cstdlib>
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <mutex>
+#include <set>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include "DiabloPacketUtils.h"
+#include "control/ActuatorCommander.hpp"
+#include "control/StateMachine.hpp"
+
+namespace fs = std::filesystem;
+using sequencer::ActuatorCommander;
+using sequencer::State;
+using Clock = std::chrono::steady_clock;
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+/** One received command burst: when it arrived (ms since t0) and which channels it carried. */
+struct Burst {
+    long long at_ms;
+    std::set<uint8_t> channels;
+};
+
+/** Collects UDP actuator packets, folding the 3x retransmit of one batch into a single burst. */
+class BoardListener {
+public:
+    explicit BoardListener(uint16_t port) : port_(port) {}
+
+    bool start() {
+        sock_ = socket(AF_INET, SOCK_DGRAM, 0);
+        if (sock_ < 0)
+            return false;
+        int reuse = 1;
+        setsockopt(sock_, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse));
+        struct sockaddr_in addr{};
+        addr.sin_family = AF_INET;
+        addr.sin_port = htons(port_);
+        inet_pton(AF_INET, "127.0.0.1", &addr.sin_addr);
+        if (bind(sock_, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr)) < 0) {
+            close(sock_);
+            sock_ = -1;
+            return false;
+        }
+        struct timeval tv{.tv_sec = 0, .tv_usec = 50000};
+        setsockopt(sock_, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+        running_ = true;
+        t0_ = Clock::now();
+        thread_ = std::thread([this]() { run(); });
+        return true;
+    }
+
+    void stop() {
+        running_ = false;
+        if (thread_.joinable())
+            thread_.join();
+        if (sock_ >= 0)
+            close(sock_);
+    }
+
+    std::vector<Burst> bursts() {
+        std::lock_guard<std::mutex> lk(mutex_);
+        return bursts_;
+    }
+
+private:
+    void run() {
+        uint8_t buf[1024];
+        while (running_) {
+            ssize_t n = recv(sock_, buf, sizeof(buf), 0);
+            if (n <= 0)
+                continue;
+            daq::PacketHeader header;
+            std::vector<daq::ActuatorCommand> cmds;
+            if (!daq::parse_actuator_command_packet(buf, static_cast<size_t>(n), header, cmds))
+                continue;
+            std::set<uint8_t> chans;
+            for (const auto& c : cmds)
+                chans.insert(c.actuator_id);
+            const long long at =
+                std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0_).count();
+
+            std::lock_guard<std::mutex> lk(mutex_);
+            // The same batch is retransmitted 3x ~1 ms apart; fold identical content arriving
+            // within 50 ms into one burst so assertions talk about batches, not packets.
+            if (!bursts_.empty() && bursts_.back().channels == chans &&
+                at - bursts_.back().at_ms < 50) {
+                continue;  // a retransmit of the burst we already recorded
+            }
+            bursts_.push_back({at, chans});
+        }
+    }
+
+    uint16_t port_;
+    int sock_ = -1;
+    std::atomic<bool> running_{false};
+    std::thread thread_;
+    std::mutex mutex_;
+    std::vector<Burst> bursts_;
+    Clock::time_point t0_;
+};
+
+static std::string writeFixture(const fs::path& dir, uint16_t port, double slow_delay_s) {
+    std::ofstream act(dir / "state_machine_actuators.csv");
+    act << ",Idle,Armed\n";
+    act << "Fast Valve,CLOSE,OPEN\n";
+    act << "Slow Valve,CLOSE,OPEN\n";
+    act.close();
+
+    std::ofstream del(dir / "state_machine_actuator_delays.csv");
+    del << ",Idle,Armed\n";
+    del << "Fast Valve,0,0\n";
+    del << "Slow Valve,0," << slow_delay_s << "\n";
+    del.close();
+
+    return "[network]\nactuator_cmd_port = " + std::to_string(port) +
+           "\n\n[actuator_service]\nbind_address = \"0.0.0.0\"\n\n"
+           "[boards.act_board]\ntype = \"ACTUATOR\"\nip = \"127.0.0.1\"\nboard_id = 12\n"
+           "enabled = true\nnum_actuators = 10\n\n"
+           "[actuator_roles]\n\"Fast Valve\" = [\"NC\", 1, 12]\n\"Slow Valve\" = [\"NC\", 2, 12]\n";
+}
+
+int main() {
+    std::cout << "=== Actuator delay / republish interaction ===" << std::endl;
+
+    const uint16_t port = 45911;
+    const double kDelay = 1.4;  // longer than the 1 s republish, so a republish lands mid-wait
+    fs::path dir = fs::temp_directory_path() / "daq_delay_test";
+    fs::remove_all(dir);
+    fs::create_directories(dir);
+    const std::string cfg = writeFixture(dir, port, kDelay);
+
+    // ── 1. A delayed actuator is withheld at t=0 and by the republish, then fires on time ──────
+    {
+        BoardListener listener(port);
+        if (!listener.start()) {
+            std::cerr << "could not bind UDP " << port << " — is something else using it?"
+                      << std::endl;
+            return 1;
+        }
+
+        ActuatorCommander ac;
+        if (!ac.load(cfg, (dir / "state_machine_actuators.csv").string())) {
+            std::cerr << "ActuatorCommander::load failed" << std::endl;
+            listener.stop();
+            return 1;
+        }
+        ac.startContinuousLoop(State::ARMED, /*allow_delays=*/true);
+        std::this_thread::sleep_for(std::chrono::milliseconds(2600));
+        ac.stopContinuousLoop();
+        listener.stop();
+
+        const auto b = listener.bursts();
+        check(b.size() >= 3, "at least three bursts (entry, republish, delayed stage)");
+
+        bool entry_excludes_slow = !b.empty() && b[0].channels.count(1) && !b[0].channels.count(2);
+        check(entry_excludes_slow, "t=0 burst carries Fast Valve but NOT the delayed Slow Valve");
+
+        // Any burst before the delay elapses must still exclude channel 2.
+        bool early_leak = false;
+        for (const auto& x : b)
+            if (x.at_ms < static_cast<long long>(kDelay * 1000) - 150 && x.channels.count(2))
+                early_leak = true;
+        check(!early_leak, "no burst before the delay contains the delayed actuator");
+
+        // The republish that lands mid-wait must still have happened (proving it did not cancel
+        // the schedule and did not send the settled position).
+        bool mid_republish = false;
+        for (const auto& x : b)
+            if (x.at_ms > 800 && x.at_ms < 1300 && x.channels.count(1) && !x.channels.count(2))
+                mid_republish = true;
+        check(mid_republish, "republish at ~1 s re-sent Fast Valve and still skipped Slow Valve");
+
+        // The delayed stage fires near its deadline, carrying only the delayed actuator.
+        bool fired_on_time = false;
+        for (const auto& x : b) {
+            const long long target = static_cast<long long>(kDelay * 1000);
+            if (x.channels.count(2) && !x.channels.count(1) && x.at_ms > target - 200 &&
+                x.at_ms < target + 400)
+                fired_on_time = true;
+        }
+        check(fired_on_time, "delayed stage fired within tolerance carrying only Slow Valve");
+
+        // After firing, the republish covers both again.
+        bool settled = false;
+        for (const auto& x : b)
+            if (x.at_ms > static_cast<long long>(kDelay * 1000) + 100 && x.channels.count(1) &&
+                x.channels.count(2))
+                settled = true;
+        check(settled, "republish resumes covering both actuators once the stage has fired");
+    }
+
+    // ── 2. A new transition inside the delay window abandons the pending stage ────────────────
+    {
+        BoardListener listener(port);
+        if (!listener.start()) {
+            std::cerr << "could not re-bind UDP " << port << std::endl;
+            return 1;
+        }
+
+        ActuatorCommander ac;
+        ac.load(cfg, (dir / "state_machine_actuators.csv").string());
+        ac.startContinuousLoop(State::ARMED, /*allow_delays=*/true);
+        std::this_thread::sleep_for(std::chrono::milliseconds(300));
+        // Idle has no delays, so this entry is entirely immediate — and must strand Armed's stage.
+        ac.startContinuousLoop(State::IDLE, /*allow_delays=*/true);
+        std::this_thread::sleep_for(std::chrono::milliseconds(2200));
+        ac.stopContinuousLoop();
+        listener.stop();
+
+        // Armed commands Slow Valve OPEN (hw 1 for an NC valve); Idle commands it CLOSE (hw 0).
+        // If the abandoned stage had fired we would see a lone channel-2 burst after the switch.
+        bool stale_stage = false;
+        for (const auto& x : listener.bursts())
+            if (x.at_ms > 500 && x.channels.count(2) && !x.channels.count(1))
+                stale_stage = true;
+        check(!stale_stage, "stage from the abandoned state never fires after a new transition");
+    }
+
+    fs::remove_all(dir);
+    std::cout << (g_failures == 0 ? "\nPASSED" : "\nFAILED") << std::endl;
+    return g_failures == 0 ? 0 : 1;
+}
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 2350d4f4b..4233aff78 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -263,6 +263,58 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
         }
     }
 
+    // ── Per-actuator delays (same rows x columns as the positions table) ────────
+    // Optional: a stand with no delays configured simply has every cell 0, and a missing file
+    // leaves the map empty, which means "everything at t=0" — the behaviour before delays existed.
+    state_actuator_delays_.clear();
+    {
+        std::string delay_csv = used_csv;
+        const std::string suffix = "state_machine_actuators.csv";
+        if (delay_csv.size() >= suffix.size() &&
+            delay_csv.compare(delay_csv.size() - suffix.size(), suffix.size(), suffix) == 0) {
+            delay_csv.replace(delay_csv.size() - suffix.size(), suffix.size(),
+                              "state_machine_actuator_delays.csv");
+        }
+        std::ifstream df(delay_csv);
+        if (df.is_open()) {
+            std::string dline;
+            std::vector<std::string> dheaders;
+            if (std::getline(df, dline)) {
+                std::istringstream iss(dline);
+                std::string cell;
+                while (std::getline(iss, cell, ','))
+                    dheaders.push_back(trimVal(cell));
+            }
+            size_t nonzero = 0;
+            while (std::getline(df, dline)) {
+                std::vector<std::string> cells;
+                std::istringstream iss(dline);
+                std::string cell;
+                while (std::getline(iss, cell, ','))
+                    cells.push_back(trimVal(cell));
+                if (cells.empty() || cells[0].empty())
+                    continue;
+                for (size_t col = 1; col < dheaders.size() && col < cells.size(); ++col) {
+                    if (dheaders[col].empty() || cells[col].empty())
+                        continue;
+                    try {
+                        double d = std::stod(cells[col]);
+                        if (d > 0.0) {
+                            state_actuator_delays_[dheaders[col]][cells[0]] = d;
+                            nonzero++;
+                        }
+                    } catch (...) {
+                        // A non-numeric cell means "no delay" rather than an error — same
+                        // tolerance the positions table gives a cell that is not OPEN/CLOSE.
+                    }
+                }
+            }
+            if (nonzero)
+                std::cout << "[ActuatorCommander] Loaded " << nonzero
+                          << " non-zero actuator delay(s) from " << delay_csv << std::endl;
+        }
+    }
+
     loaded_ = true;
     std::cout << "[ActuatorCommander] Loaded " << state_actuators_.size() << " states from "
               << used_csv << std::endl;
@@ -291,24 +343,67 @@ ActuatorCommander::findStateActuators(const std::string& state_name) const {
 // ─────────────────────────────────────────────────────────────────────────────
 bool ActuatorCommander::sendUDP(const std::string& board_ip,
                                 const std::vector<std::pair<uint8_t, uint8_t>>& id_state_pairs) {
-    if (id_state_pairs.empty())
+    return sendBatch({{board_ip, id_state_pairs}});
+}
+
+/**
+ * Send one command batch to every board, interleaving the retransmits.
+ *
+ * Each packet still goes out 3x ~1 ms apart so it lands in the board's UDP receive window whatever
+ * its loop() rate. What changed is the ordering: round 1 to ALL boards, then round 2, then round 3,
+ * instead of finishing all three rounds for board A before starting board B. The old order meant
+ * every extra board added ~2 ms of skew to a state change -- with two actuator boards, board 2's
+ * first packet left ~2 ms after board 1's, on every transition. Now the boards are within
+ * microseconds of each other and the batch takes ~2 ms total instead of ~2 ms per board.
+ *
+ * One socket for the whole batch rather than one per board, since we now revisit each board 3x.
+ */
+bool ActuatorCommander::sendBatch(
+    const std::map<std::string, std::vector<std::pair<uint8_t, uint8_t>>>& by_board) {
+    if (by_board.empty())
         return true;
 
-    std::vector<daq::ActuatorCommand> cmds;
-    cmds.reserve(id_state_pairs.size());
-    for (const auto& [id, st] : id_state_pairs)
-        cmds.push_back({id, st});
-
-    uint8_t buf[512];
-    uint32_t ts_ms = static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::milliseconds>(
-                                               std::chrono::steady_clock::now().time_since_epoch())
-                                               .count() &
-                                           0xFFFFFFFFu);
-    size_t len = daq::create_actuator_command_packet(cmds, ts_ms, buf, sizeof(buf));
-    if (len == 0) {
-        std::cerr << "[ActuatorCommander] create_actuator_command_packet returned 0" << std::endl;
-        return false;
+    // Serialize every board's packet up front so the timed rounds below do nothing but sendto().
+    struct Outgoing {
+        struct sockaddr_in dest;
+        std::vector<uint8_t> buf;
+    };
+    std::vector<Outgoing> outgoing;
+    outgoing.reserve(by_board.size());
+
+    const uint32_t ts_ms = static_cast<uint32_t>(
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::steady_clock::now().time_since_epoch())
+            .count() &
+        0xFFFFFFFFu);
+
+    for (const auto& [board_ip, id_state_pairs] : by_board) {
+        if (id_state_pairs.empty())
+            continue;
+        std::vector<daq::ActuatorCommand> cmds;
+        cmds.reserve(id_state_pairs.size());
+        for (const auto& [id, st] : id_state_pairs)
+            cmds.push_back({id, st});
+
+        uint8_t buf[512];
+        size_t len = daq::create_actuator_command_packet(cmds, ts_ms, buf, sizeof(buf));
+        if (len == 0) {
+            std::cerr << "[ActuatorCommander] create_actuator_command_packet returned 0 for "
+                      << board_ip << std::endl;
+            continue;
+        }
+        Outgoing o{};
+        o.dest.sin_family = AF_INET;
+        o.dest.sin_port = htons(actuator_port_);
+        if (inet_pton(AF_INET, board_ip.c_str(), &o.dest.sin_addr) != 1) {
+            std::cerr << "[ActuatorCommander] bad board IP " << board_ip << std::endl;
+            continue;
+        }
+        o.buf.assign(buf, buf + len);
+        outgoing.push_back(std::move(o));
     }
+    if (outgoing.empty())
+        return false;
 
     int sock = socket(AF_INET, SOCK_DGRAM, 0);
     if (sock < 0)
@@ -322,30 +417,26 @@ bool ActuatorCommander::sendUDP(const std::string& board_ip,
         return false;
     }
 
-    struct sockaddr_in dest{};
-    dest.sin_family = AF_INET;
-    dest.sin_port = htons(actuator_port_);
-    if (inet_pton(AF_INET, board_ip.c_str(), &dest.sin_addr) != 1) {
-        close(sock);
-        return false;
-    }
-
-    // Send 3× in rapid succession (1 ms apart) so the command lands in the
-    // board's UDP receive window regardless of its loop() polling rate.
-    ssize_t sent = -1;
-    for (int i = 0; i < 3; ++i) {
-        sent = sendto(sock, buf, len, 0, reinterpret_cast<struct sockaddr*>(&dest), sizeof(dest));
-        if (i < 2)
-            usleep(1000);  // 1 ms between retries
+    bool all_ok = true;
+    for (int round = 0; round < 3; ++round) {
+        for (const auto& o : outgoing) {
+            ssize_t sent = sendto(sock, o.buf.data(), o.buf.size(), 0,
+                                  reinterpret_cast<const struct sockaddr*>(&o.dest),
+                                  sizeof(o.dest));
+            if (sent != static_cast<ssize_t>(o.buf.size()))
+                all_ok = false;
+        }
+        if (round < 2)
+            usleep(1000);
     }
     close(sock);
-    return sent == static_cast<ssize_t>(len);
+    return all_ok;
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
 // applyForState — send all actuator commands for a state (one shot, batched by board)
 // ─────────────────────────────────────────────────────────────────────────────
-void ActuatorCommander::applyForState(State state) {
+void ActuatorCommander::applyForState(State state, bool is_transition) {
     const std::string state_name = StateMachine::name(state);
     auto it = findStateActuators(state_name);
     if (it == state_actuators_.end()) {
@@ -355,8 +446,17 @@ void ActuatorCommander::applyForState(State state) {
 
     const bool is_fire = (state == State::FIRE);
 
-    std::map<std::string, std::vector<std::pair<uint8_t, uint8_t>>> by_board;
-    std::vector<std::pair<uint8_t, uint8_t>> logical_commands;
+    // Collected first, then split into delay stages below — a command needs its role name to look
+    // up its delay, which the by-board packing throws away.
+    struct PendingCmd {
+        std::string role_name;
+        std::string board_ip;
+        uint8_t channel;
+        uint8_t hw_state;
+        uint8_t global_ch;
+        uint8_t logical_pos;
+    };
+    std::vector<PendingCmd> pending;
     std::unique_lock lock(overrides_mutex_);
     for (const auto& [act_name, logical_pos] : it->second) {
         auto role_it = roles_.find(act_name);
@@ -372,40 +472,132 @@ void ActuatorCommander::applyForState(State state) {
             pos = ov->second;
 
         uint8_t hw_state = static_cast<uint8_t>(role.is_no ? (1 - pos) : pos);
-        by_board[role.board_ip].emplace_back(static_cast<uint8_t>(role.channel), hw_state);
         uint8_t global_ch =
             actuator_elodin_low_byte(role.board_id, static_cast<uint8_t>(role.channel));
-        logical_commands.emplace_back(global_ch, static_cast<uint8_t>(pos));
+        pending.push_back({act_name, role.board_ip, static_cast<uint8_t>(role.channel), hw_state,
+                           global_ch, static_cast<uint8_t>(pos)});
     }
     lock.unlock();
 
-    for (const auto& [ip, cmds] : by_board) {
-        if (sendUDP(ip, cmds))
-            std::cout << "[ActuatorCommander] Sent " << cmds.size() << " commands to " << ip
-                      << " for state " << state_name << std::endl;
-        else
-            std::cerr << "[ActuatorCommander] UDP send failed to " << ip << std::endl;
+    // Only an actual entry supersedes a pending schedule — the 1 Hz republish must not, or it
+    // would cancel the very stages it is meant to leave alone.
+    const uint64_t gen = is_transition ? ++schedule_gen_ : schedule_gen_.load();
+    if (is_transition) {
+        std::lock_guard<std::mutex> lk(pending_roles_mutex_);
+        pending_roles_.clear();
     }
 
-    // Publish commanded state to Elodin DB [0x32, ch]
-    for (const auto& [ch, pos] : logical_commands) {
-        publishCommandedState(ch, pos);
+    // Split into stages by delay. On a republish (is_transition false) everything is stage 0, so
+    // the settled positions go out together.
+    std::map<double, std::map<std::string, std::vector<std::pair<uint8_t, uint8_t>>>> staged;
+    std::map<double, std::vector<std::pair<uint8_t, uint8_t>>> staged_logical;
+    for (size_t i = 0; i < pending.size(); ++i) {
+        const auto& pc = pending[i];
+        double d = 0.0;
+        if (is_transition) {
+            auto ds = state_actuator_delays_.find(state_name);
+            if (ds != state_actuator_delays_.end()) {
+                auto it = ds->second.find(pc.role_name);
+                if (it != ds->second.end() && it->second > 0.0)
+                    d = it->second;
+            }
+        }
+        if (!is_transition) {
+            std::lock_guard<std::mutex> lk(pending_roles_mutex_);
+            if (pending_roles_.count(pc.role_name))
+                continue;  // still waiting on its delay — leave the board holding its last position
+        }
+        staged[d][pc.board_ip].emplace_back(pc.channel, pc.hw_state);
+        staged_logical[d].emplace_back(pc.global_ch, pc.logical_pos);
+        if (d > 0.0) {
+            std::lock_guard<std::mutex> lk(pending_roles_mutex_);
+            pending_roles_.insert(pc.role_name);
+        }
     }
+
+    auto emit = [this, state_name](
+                    const std::map<std::string, std::vector<std::pair<uint8_t, uint8_t>>>& by_ip,
+                    const std::vector<std::pair<uint8_t, uint8_t>>& logical, double delay_s) {
+        if (sendBatch(by_ip)) {
+            size_t n = 0;
+            for (const auto& [ip, c] : by_ip)
+                n += c.size();
+            std::cout << "[ActuatorCommander] Sent " << n << " commands for state " << state_name;
+            if (delay_s > 0.0)
+                std::cout << " (+" << delay_s << "s)";
+            std::cout << std::endl;
+        } else {
+            std::cerr << "[ActuatorCommander] UDP send failed for state " << state_name << std::endl;
+        }
+        for (const auto& [ch, pos] : logical)
+            publishCommandedState(ch, pos);
+    };
+
+    // Stage 0 goes out on this thread, immediately.
+    auto zero = staged.find(0.0);
+    if (zero != staged.end())
+        emit(zero->second, staged_logical[0.0], 0.0);
+
+    if (staged.size() <= (zero != staged.end() ? 1u : 0u))
+        return;
+
+    // Later stages run on their own thread: a send blocks ~2 ms for the retransmits, so a pending
+    // delay must not queue behind another stage's send. Detached + generation-checked, so a new
+    // transition abandons it rather than landing a stale command seconds later.
+    std::vector<std::pair<double, size_t>> order;
+    for (const auto& [d, _] : staged)
+        if (d > 0.0)
+            order.emplace_back(d, 0);
+
+    std::map<double, std::vector<std::string>> roles_by_delay;
+    for (const auto& pc : pending) {
+        auto ds = state_actuator_delays_.find(state_name);
+        if (ds == state_actuator_delays_.end())
+            continue;
+        auto it = ds->second.find(pc.role_name);
+        if (it != ds->second.end() && it->second > 0.0)
+            roles_by_delay[it->second].push_back(pc.role_name);
+    }
+
+    std::thread([this, gen, staged, staged_logical, order, emit, roles_by_delay]() mutable {
+        auto t0 = std::chrono::steady_clock::now();
+        for (const auto& [delay_s, _] : order) {
+            const auto due = t0 + std::chrono::microseconds(static_cast<long long>(delay_s * 1e6));
+            while (std::chrono::steady_clock::now() < due) {
+                if (schedule_gen_.load() != gen)
+                    return;  // superseded by a newer transition
+                std::this_thread::sleep_for(std::chrono::milliseconds(1));
+            }
+            if (schedule_gen_.load() != gen)
+                return;
+            emit(staged[delay_s], staged_logical[delay_s], delay_s);
+            {
+                std::lock_guard<std::mutex> lk(pending_roles_mutex_);
+                for (const auto& r : roles_by_delay[delay_s])
+                    pending_roles_.erase(r);
+            }
+        }
+    }).detach();
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
 // Continuous loop
 // ─────────────────────────────────────────────────────────────────────────────
-void ActuatorCommander::startContinuousLoop(State state) {
+void ActuatorCommander::startContinuousLoop(State state, bool allow_delays) {
     stopContinuousLoop();
 
     loop_running_ = true;
     loop_state_ = state;
-    loop_thread_ = std::thread([this, state]() {
+    loop_thread_ = std::thread([this, state, allow_delays]() {
         std::cout << "[ActuatorCommander] Continuous loop started for state "
                   << StateMachine::name(state) << std::endl;
+        // Only the FIRST pass is the state entry — that one runs the delay schedule. Every pass
+        // after it is the 1 Hz republish and must send settled positions, or each tick would
+        // re-arm the pending delays and nothing would ever settle.
+        bool entry = allow_delays;
         while (loop_running_) {
-            applyForState(loop_state_);
+            applyForState(loop_state_, entry);
+            entry = false;
             for (int i = 0; i < 10 && loop_running_; ++i)
                 std::this_thread::sleep_for(std::chrono::milliseconds(100));
         }

From c6b38ea49c9d1dc81c00f7ada56e3895b648e2b4 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 16:56:35 -0700
Subject: [PATCH 101/205] fire semantics move into config: [fire] names the
 state and its expiry target, so ControllerService no longer gates PWM
 ignition on the literal 16 and the sequencer no longer stringifies
 State::ARMED to find where the timer lands - a rename used to strand the
 system in fire with a dead timer; FireManager drops its own TCP client so
 only the sequencer writes the burn gate, and the backend's duplicate
 FIRE_START/FIRE_STOP sender is gone

---
 daq-server/config/config_base.toml            |  10 +
 .../config/profiles/default/config.toml       |  10 +
 .../diablo_server/backend/src/server.ts       |  20 +-
 daq-server/diablo_server/lib/CMakeLists.txt   |  14 +
 .../lib/include/control/ActuatorCommander.hpp |  10 +
 .../lib/include/control/ControllerService.hpp |  11 +
 .../lib/include/control/FireManager.hpp       |  33 ++-
 .../lib/include/control/SequencerService.hpp  |  16 ++
 .../lib/include/control/StateMachine.hpp      |   6 +
 .../lib/src/control/ControllerService.cpp     |   7 +-
 .../lib/test/test_fire_lifecycle.cpp          | 260 ++++++++++++++++++
 .../diablo_server/services/CMakeLists.txt     |   7 +-
 .../services/controller/controller_main.cpp   |  18 ++
 .../services/sequencer/ActuatorCommander.cpp  |   2 +-
 .../services/sequencer/FireManager.cpp        |  41 +--
 .../services/sequencer/SequencerService.cpp   | 142 +++++++++-
 daq-server/test/test_integration.sh           |   7 +
 daq-server/test/ws_data_flow_test.ts          | 139 +++++++++-
 18 files changed, 672 insertions(+), 81 deletions(-)
 create mode 100644 daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index ba8a322bb..abcdda2aa 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -380,6 +380,16 @@ FF = "Fuel Fill"
 port = 9998
 bind_address = "0.0.0.0"
 
+[fire]
+# Which state is the burn, and where its timer lands when it expires. Names, not enum positions —
+# ControllerService used to gate PWM ignition on the literal `state_val == 16` and the sequencer
+# stringified State::ARMED to find its landing state, so a rename or renumber broke ignition
+# silently. expiry_target must be reachable from state in state_transitions.csv.
+state = "Fire"
+expiry_target = "Armed"
+duration_ms = 6000
+extended_ms = 10000
+
 [controller_service]
 port = 9999
 fire_duration_ms = 6000
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index ba8a322bb..abcdda2aa 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -380,6 +380,16 @@ FF = "Fuel Fill"
 port = 9998
 bind_address = "0.0.0.0"
 
+[fire]
+# Which state is the burn, and where its timer lands when it expires. Names, not enum positions —
+# ControllerService used to gate PWM ignition on the literal `state_val == 16` and the sequencer
+# stringified State::ARMED to find its landing state, so a rename or renumber broke ignition
+# silently. expiry_target must be reachable from state in state_transitions.csv.
+state = "Fire"
+expiry_target = "Armed"
+duration_ms = 6000
+extended_ms = 10000
+
 [controller_service]
 port = 9999
 fire_duration_ms = 6000
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 4b063624c..b7e0edb97 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -1202,21 +1202,11 @@ elodin.on('packet', (header: any, payload: Buffer) => {
       broadcastStateUpdate();
       broadcastCommandedActuatorsForState(currentState);
       scheduleActuatorMismatchCheck(currentState);
-      if (currentState === SystemState.FIRE && prevState !== SystemState.FIRE) {
-        sendToControllerService('FIRE_START\n').then(({ ok, reply }) => {
-          if (!ok) {
-            console.error(`[ThinServer] FIRE_START not acknowledged by controller_service: ${reply}`);
-            broadcastNotification({ key: 'fire_start_failed', category: 'error', message: `FIRE_START not acknowledged by controller: ${reply}`, timestampMs: Date.now(), ongoing: false });
-          }
-        });
-      } else if (prevState === SystemState.FIRE && currentState !== SystemState.FIRE) {
-        sendToControllerService('FIRE_STOP\n').then(({ ok, reply }) => {
-          if (!ok) {
-            console.error(`[ThinServer] FIRE_STOP not acknowledged by controller_service: ${reply}`);
-            broadcastNotification({ key: 'fire_stop_failed', category: 'error', message: `FIRE_STOP not acknowledged by controller: ${reply}`, timestampMs: Date.now(), ongoing: false });
-          }
-        });
-      }
+      // FIRE_START / FIRE_STOP are NOT sent from here. The sequencer owns the burn gate and
+      // notifies controller_service itself (SequencerService::notifyControllerFire). This branch
+      // used to send them too, so a safety-critical gate had two writers in two processes racing
+      // on the same TCP endpoint — and this one keyed off SystemState.FIRE, a hardcoded enum,
+      // rather than the configured fire state.
       return;
     }
 
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index 7e11deb64..541a795c1 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -64,6 +64,20 @@ target_link_libraries(test_board_clock_sync
     fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY})
 add_test(NAME board_clock_sync COMMAND test_board_clock_sync)
 
+add_executable(test_fire_lifecycle
+    test/test_fire_lifecycle.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/FireManager.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/StateMachine.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/ActuatorCommander.cpp
+)
+target_include_directories(test_fire_lifecycle PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+target_link_libraries(test_fire_lifecycle
+    fsw_daq_lib daq_comms_lib daqv2_comms Threads::Threads pthread ${RT_LIBRARY})
+add_test(NAME fire_lifecycle COMMAND test_fire_lifecycle)
+
 add_executable(test_actuator_delays
     test/test_actuator_delays.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/ActuatorCommander.cpp
diff --git a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
index 799f3e30a..1d28ce5b6 100644
--- a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
+++ b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
@@ -82,6 +82,15 @@ class ActuatorCommander {
     void clearAllManualOverrides();
 
     /** Set the Elodin client for publishing commanded state [0x32, ch] to the DB. */
+    /**
+     * Which state hands PWM actuators to controller_service. During it this commander stops
+     * commanding PWM roles entirely, so exactly one thing drives them during a burn. Was the
+     * State::FIRE enumerator; now follows [fire] state like every other fire decision.
+     */
+    void setFireState(State s) {
+        fire_state_ = s;
+    }
+
     void setElodinClient(fsw::elodin::ElodinClient* client) {
         elodin_ = client;
     }
@@ -100,6 +109,7 @@ class ActuatorCommander {
     std::map<std::string, std::map<std::string, double>> state_actuator_delays_;
     /** Bumped on every transition so an in-flight delayed stage from the previous state aborts
      *  instead of landing after we have already moved on. */
+    State fire_state_{State::FIRE};
     std::atomic<uint64_t> schedule_gen_{0};
     /** Roles whose delayed stage has not fired yet. The 1 Hz republish skips these: the board holds
      *  its last commanded position, which is exactly the pre-transition value we want it to keep
diff --git a/daq-server/diablo_server/lib/include/control/ControllerService.hpp b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
index e2ed67e95..b9b9c1b84 100644
--- a/daq-server/diablo_server/lib/include/control/ControllerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
@@ -80,6 +80,16 @@ class ControllerService {
      */
     void setFireActive(bool active);
 
+    /**
+     * Sequencer state id that means "firing", for the parity fallback that sniffs the sequencer
+     * state packet when the TCP FIRE_START/FIRE_STOP path misses an edge. Was the literal 16, so
+     * renumbering states silently moved the PWM ignition gate onto whatever state took id 16.
+     * Defaults to 16 so an un-migrated config behaves exactly as before.
+     */
+    void setFireStateId(uint8_t id) {
+        fire_state_id_ = id;
+    }
+
     /**
      * @brief Override controller output with fixed duty cycles for open-loop validation.
      * When both values are 0 (default), the RobustDDP controller runs normally.
@@ -92,6 +102,7 @@ class ControllerService {
     RobustDDPController::Diagnostics getLastDiagnostics() const;
 
 private:
+    uint8_t fire_state_id_{16};
     // ── PWM packet sending ─────────────────────────────────────────────
     /**
      * Send a PWM actuator command over UDP.
diff --git a/daq-server/diablo_server/lib/include/control/FireManager.hpp b/daq-server/diablo_server/lib/include/control/FireManager.hpp
index cc0283bb6..7f1523276 100644
--- a/daq-server/diablo_server/lib/include/control/FireManager.hpp
+++ b/daq-server/diablo_server/lib/include/control/FireManager.hpp
@@ -9,15 +9,22 @@
 namespace sequencer {
 
 /**
- * Manages the FIRE state lifecycle:
- *   - Countdown timer that auto-transitions to ARMED when it expires.
- *   - EXTEND_FIRE command that resets the timer to fire_extended_ms.
- *   - Notifies controller_service via TCP (FIRE_START / FIRE_STOP).
+ * The FIRE countdown, and nothing else.
+ *
+ *   - Counts down fire_duration_ms and reports expiry.
+ *   - EXTEND_FIRE resets the timer to fire_extended_ms.
+ *
+ * Deliberately owns no I/O and knows nothing about states. It used to open its own TCP socket to
+ * controller_service on every FIRE_START/FIRE_STOP even though SequencerService already held that
+ * endpoint and passed it in — and because it could not name a state, `start()` took an opaque
+ * callback that the caller had to fill with a stringified state, which a rename could break. Both
+ * problems came from the same misplaced responsibility. Now it raises callbacks and its owner
+ * decides what they mean.
  *
  * Usage:
  *   FireManager fm(6000, 10000);
- *   fm.setControllerEndpoint("127.0.0.1", 8000);
- *   fm.start([&]() { sequencer.transitionTo(State::ARMED); });
+ *   fm.setNotifier([&](bool active) { sequencer.notifyControllerFire(active); });
+ *   fm.start([&]() { sequencer.transitionTo(fire_expiry_target_state); });
  *   // ... later if extend pressed:
  *   fm.extend();
  *   // ... on FIRE exit (any path):
@@ -33,10 +40,13 @@ class FireManager {
     ~FireManager();
 
     /**
-     * Set the TCP endpoint of controller_service for FIRE_START / FIRE_STOP messages.
-     * Call before start(). Defaults to 127.0.0.1:8000.
+     * Called with true when the burn starts and false when it stops, on whatever thread caused it.
+     * The owner turns this into whatever notification is appropriate — keeping every message to
+     * controller_service in one place instead of two processes writing the same gate.
      */
-    void setControllerEndpoint(const std::string& host, uint16_t port);
+    void setNotifier(std::function<void(bool)> notifier) {
+        notifier_ = std::move(notifier);
+    }
 
     /** Update fire durations (call before start()). */
     void configure(uint32_t fire_duration_ms, uint32_t fire_extended_ms) {
@@ -78,11 +88,10 @@ class FireManager {
     std::thread timer_thread_;
     std::function<void()> on_expire_;
 
-    std::string controller_host_{"127.0.0.1"};
-    uint16_t controller_port_{8000};
+    std::function<void(bool)> notifier_;
 
     void runTimer();
-    void notifyController(const std::string& msg);
+    void notify(bool active);
 };
 
 }  // namespace sequencer
diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index b5dfbc80e..335f8c257 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -44,6 +44,9 @@ class SequencerService {
      * @return true if transition was accepted and executed.
      */
     bool transitionTo(const std::string& state_name);
+    /** Resolve-free overload. Internal callers use this so a state never round-trips through its
+     *  own name, which is what let a rename refuse the fire timer's expiry transition. */
+    bool transitionTo(State to);
 
     /**
      * Enable or disable debug mode.
@@ -113,6 +116,19 @@ class SequencerService {
     void stopElodinRetry();
 
     bool loadConfig(const std::string& path);
+
+    /** Send FIRE_START / FIRE_STOP to controller_service. The single place anything tells the
+     *  controller the burn gate changed. */
+    void notifyControllerFire(bool active);
+
+    // ── Fire semantics, from config ───────────────────────────────────────────
+    // Which state fires, and where the timer lands when it expires, are config rather than
+    // enumerators. `state_val == 16` in ControllerService and a stringified State::ARMED here were
+    // the two places a rename or renumber silently broke ignition.
+    State fire_state_{State::FIRE};
+    State fire_expiry_state_{State::ARMED};
+    std::string controller_host_{"127.0.0.1"};
+    uint16_t controller_port_{8000};
 };
 
 }  // namespace sequencer
diff --git a/daq-server/diablo_server/lib/include/control/StateMachine.hpp b/daq-server/diablo_server/lib/include/control/StateMachine.hpp
index e46bc45b4..c900e09e4 100644
--- a/daq-server/diablo_server/lib/include/control/StateMachine.hpp
+++ b/daq-server/diablo_server/lib/include/control/StateMachine.hpp
@@ -72,6 +72,12 @@ class StateMachine {
 
     /** Human-readable name for a State (e.g. State::FIRE → "Fire"). */
     static std::string name(State s);
+    /** Numeric id for a state name, or 255 if unknown. Lets a service that only needs the id
+     *  (e.g. the controller's PWM gate) avoid carrying its own copy of the enum. */
+    static uint8_t stateId(const std::string& name) {
+        State s = fromName(name);
+        return static_cast<uint8_t>(s);
+    }
 
     bool isLoaded() const {
         return loaded_;
diff --git a/daq-server/diablo_server/lib/src/control/ControllerService.cpp b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
index 842439bab..049afd8eb 100644
--- a/daq-server/diablo_server/lib/src/control/ControllerService.cpp
+++ b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
@@ -765,9 +765,10 @@ void ControllerService::elodinSubscriberLoop() {
         // if TCP FIRE_START/FIRE_STOP control path misses an edge.
         if (type_hi == 0x50 && pid_lo == 0x00 && payload_len >= 17) {
             uint8_t state_val = rx_buffer[8 + 8];
-            // State enum order: FIRE is value 16 in current state machine.
-            // Keep this as hard parity fallback with sequencer source of truth.
-            setFireActive(state_val == 16);
+            // Parity fallback for a missed TCP FIRE_START/FIRE_STOP edge. The id comes from
+            // config ([fire] state) via setFireStateId rather than a literal, so renumbering
+            // states cannot move the PWM ignition gate onto a different one.
+            setFireActive(state_val == fire_state_id_);
             continue;
         }
 
diff --git a/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp b/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
new file mode 100644
index 000000000..f6c700e10
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
@@ -0,0 +1,260 @@
+/**
+ * FIRE lifecycle: configured duration, expiry target, extend, and the controller gate.
+ *
+ * This path had no test coverage at all, which is how `fire_duration_ms` went unread for so long —
+ * the keys lived in [controller_service] while the sequencer looked in [state_machine], so every
+ * burn silently ran FireManager's 6000 ms default no matter what the config or GUI said. Nothing
+ * asserted a burn duration, so nothing noticed.
+ *
+ * Covers:
+ *   1. The configured duration is what actually runs (not the built-in default).
+ *   2. Expiry lands in the configured [fire] expiry_target, and does so by State rather than by
+ *      name — renaming the state must not strand the system in fire.
+ *   3. FIRE_START on entry and FIRE_STOP on expiry reach controller_service, exactly once each.
+ *      (The backend used to send these too; the sequencer is now the only writer to that gate.)
+ *   4. EXTEND_FIRE restarts the countdown at extended_ms.
+ */
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <atomic>
+#include <chrono>
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+#include <mutex>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include <set>
+
+#include "DiabloPacketUtils.h"
+#include "control/ActuatorCommander.hpp"
+#include "control/FireManager.hpp"
+#include "control/StateMachine.hpp"
+
+namespace fs = std::filesystem;
+namespace fs_alias = std::filesystem;
+using sequencer::ActuatorCommander;
+using sequencer::FireManager;
+using sequencer::State;
+using sequencer::StateMachine;
+using Clock = std::chrono::steady_clock;
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+int main() {
+    std::cout << "=== FIRE lifecycle ===" << std::endl;
+
+    // ── 1. The configured duration is the one that runs ───────────────────────────────────────
+    {
+        const uint32_t kDuration = 700;
+        const uint32_t kExtended = 1400;
+        FireManager fm(kDuration, kExtended);
+
+        std::vector<std::pair<bool, long long>> notices;  // (active, ms since start)
+        std::mutex m;
+        const auto t0 = Clock::now();
+        fm.setNotifier([&](bool active) {
+            std::lock_guard<std::mutex> lk(m);
+            notices.emplace_back(active, std::chrono::duration_cast<std::chrono::milliseconds>(
+                                             Clock::now() - t0)
+                                             .count());
+        });
+
+        std::atomic<long long> expired_at{-1};
+        fm.start([&]() {
+            expired_at = std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0)
+                             .count();
+        });
+        std::this_thread::sleep_for(std::chrono::milliseconds(kDuration + 400));
+
+        const long long at = expired_at.load();
+        check(at >= 0, "fire timer expired");
+        // The regression this guards: a 700 ms configured burn must not run for 6000 ms.
+        check(at >= static_cast<long long>(kDuration) - 100 &&
+                  at <= static_cast<long long>(kDuration) + 250,
+              "expiry honoured the CONFIGURED duration, not FireManager's 6000 ms default");
+
+        std::lock_guard<std::mutex> lk(m);
+        check(notices.size() == 2, "exactly two controller notifications (start, stop)");
+        check(!notices.empty() && notices[0].first, "first notification is FIRE_START");
+        check(notices.size() > 1 && !notices[1].first, "second notification is FIRE_STOP");
+        check(notices.size() > 1 && notices[1].second >= static_cast<long long>(kDuration) - 100,
+              "FIRE_STOP is sent at expiry, not early");
+    }
+
+    // ── 2. EXTEND restarts the countdown at extended_ms ────────────────────────────────────────
+    {
+        const uint32_t kDuration = 500;
+        const uint32_t kExtended = 1200;
+        FireManager fm(kDuration, kExtended);
+        fm.setNotifier([](bool) {});
+
+        const auto t0 = Clock::now();
+        std::atomic<long long> expired_at{-1};
+        fm.start([&]() {
+            expired_at = std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0)
+                             .count();
+        });
+        std::this_thread::sleep_for(std::chrono::milliseconds(300));  // inside the original window
+        fm.extend();
+        std::this_thread::sleep_for(std::chrono::milliseconds(kExtended + 500));
+
+        const long long at = expired_at.load();
+        check(at >= 0, "extended fire still expires");
+        // extend() restarts at extended_ms FROM NOW, so expiry is ~300 + 1200.
+        check(at > static_cast<long long>(kDuration) + 150,
+              "extend pushed expiry past the original duration");
+        check(at >= 300 + static_cast<long long>(kExtended) - 200 &&
+                  at <= 300 + static_cast<long long>(kExtended) + 400,
+              "extended window is extended_ms measured from the extend call");
+    }
+
+    // ── 3. stop() cancels without firing the expiry callback ──────────────────────────────────
+    {
+        FireManager fm(600, 1200);
+        std::atomic<int> notify_count{0};
+        std::atomic<bool> expired{false};
+        fm.setNotifier([&](bool) { notify_count++; });
+        fm.start([&]() { expired = true; });
+        std::this_thread::sleep_for(std::chrono::milliseconds(150));
+        fm.stop();  // leaving the fire state early
+        std::this_thread::sleep_for(std::chrono::milliseconds(800));
+        check(!expired.load(), "leaving fire early cancels the expiry transition");
+        check(notify_count.load() == 2, "early exit still notifies the controller (start + stop)");
+    }
+
+    // ── 4. The expiry target is resolved as a State, so a rename cannot strand the system ─────
+    {
+        // This is the failure the refactor removes: expiry used to go through
+        // transitionTo(StateMachine::name(State::ARMED)) -> fromName(). If the name in the CSV /
+        // config no longer resolves, fromName() returns UNKNOWN and the transition is refused —
+        // while the timer has already stopped. A State carries no such ambiguity.
+        check(StateMachine::fromName("Armed") == State::ARMED, "a known name still resolves");
+        check(StateMachine::fromName("Burn Baby Burn") == State::UNKNOWN,
+              "an unknown name resolves to UNKNOWN — the hazard a State-typed target avoids");
+        check(StateMachine::stateId("Fire") == static_cast<uint8_t>(State::FIRE),
+              "stateId() gives the controller the fire id without a second copy of the enum");
+        check(StateMachine::stateId("Not A State") == 255,
+              "stateId() reports unknown rather than guessing an id");
+    }
+
+
+    // ── 5. The system STAYS in fire for the whole window, then transitions once ───────────────
+    {
+        // Sampling the reported state across the burn: it must remain the fire state throughout
+        // and change exactly once, at the end. A timer that fires early or an expiry that runs
+        // twice both show up here.
+        const uint32_t kDuration = 800;
+        FireManager fm(kDuration, 2000);
+        fm.setNotifier([](bool) {});
+
+        std::atomic<bool> in_fire{true};
+        std::atomic<int> expiries{0};
+        const auto t0 = Clock::now();
+        fm.start([&]() {
+            expiries++;
+            in_fire = false;  // stands in for transitionTo(fire_expiry_state_)
+        });
+
+        bool left_early = false;
+        long long left_at = -1;
+        while (std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0).count() <
+               static_cast<long long>(kDuration) + 400) {
+            const long long now =
+                std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0).count();
+            if (!in_fire.load()) {
+                if (left_at < 0)
+                    left_at = now;
+                if (now < static_cast<long long>(kDuration) - 100)
+                    left_early = true;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        }
+        check(!left_early, "stayed in fire for the whole configured window (no early exit)");
+        check(left_at >= 0, "left fire at the end of the window");
+        check(expiries.load() == 1, "the expiry transition ran exactly once, not repeatedly");
+        check(fm.isActive() == false, "fire manager is inactive once the burn has ended");
+    }
+
+    // ── 6. The sequencer hands PWM control to controller_service during fire ──────────────────
+    {
+        // In the fire state ActuatorCommander must stop commanding PWM roles entirely, so the
+        // controller is the only thing driving them. Outside fire it must command them again.
+        // If both drove them at once a burn would have two writers on the same valves.
+        const uint16_t port = 45913;
+        fs_alias::path dir = fs_alias::temp_directory_path() / "daq_fire_pwm_test";
+        fs_alias::remove_all(dir);
+        fs_alias::create_directories(dir);
+        {
+            std::ofstream act(dir / "state_machine_actuators.csv");
+            act << ",Idle,Fire\n";
+            act << "Plain Valve,OPEN,OPEN\n";
+            act << "Throttle,OPEN,OPEN\n";
+        }
+        const std::string cfg =
+            "[network]\nactuator_cmd_port = " + std::to_string(port) +
+            "\n\n[actuator_service]\nbind_address = \"0.0.0.0\"\n\n"
+            "[boards.act_board]\ntype = \"ACTUATOR\"\nip = \"127.0.0.1\"\nboard_id = 12\n"
+            "enabled = true\nnum_actuators = 10\n\n"
+            "[actuator_roles]\n\"Plain Valve\" = [\"NC\", 1, 12]\n"
+            "\"Throttle\" = [\"PWM\", 2, 12]\n";
+
+        int sock = socket(AF_INET, SOCK_DGRAM, 0);
+        int reuse = 1;
+        setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse));
+        struct sockaddr_in addr{};
+        addr.sin_family = AF_INET;
+        addr.sin_port = htons(port);
+        inet_pton(AF_INET, "127.0.0.1", &addr.sin_addr);
+        bind(sock, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr));
+        struct timeval tv{.tv_sec = 0, .tv_usec = 300000};
+        setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+        auto channelsFor = [&](State st) {
+            ActuatorCommander ac;
+            ac.setFireState(State::FIRE);
+            ac.load(cfg, (dir / "state_machine_actuators.csv").string());
+            ac.applyForState(st, /*is_transition=*/true);
+            std::set<uint8_t> seen;
+            uint8_t buf[1024];
+            for (int i = 0; i < 6; ++i) {
+                ssize_t n = recv(sock, buf, sizeof(buf), 0);
+                if (n <= 0)
+                    break;
+                daq::PacketHeader hdr;
+                std::vector<daq::ActuatorCommand> cmds;
+                if (daq::parse_actuator_command_packet(buf, static_cast<size_t>(n), hdr, cmds))
+                    for (const auto& c : cmds)
+                        seen.insert(c.actuator_id);
+            }
+            return seen;
+        };
+
+        const auto idle = channelsFor(State::IDLE);
+        check(idle.count(1) && idle.count(2),
+              "outside fire the sequencer commands BOTH the plain valve and the PWM one");
+
+        const auto fire = channelsFor(State::FIRE);
+        check(fire.count(1), "in fire the sequencer still commands non-PWM valves");
+        check(!fire.count(2),
+              "in fire the sequencer stops commanding the PWM valve — control handed to the "
+              "controller, so only one writer drives it during a burn");
+
+        close(sock);
+        fs_alias::remove_all(dir);
+    }
+
+    std::cout << (g_failures == 0 ? "\nPASSED" : "\nFAILED") << std::endl;
+    return g_failures == 0 ? 0 : 1;
+}
diff --git a/daq-server/diablo_server/services/CMakeLists.txt b/daq-server/diablo_server/services/CMakeLists.txt
index ccff32049..22ef9e687 100644
--- a/daq-server/diablo_server/services/CMakeLists.txt
+++ b/daq-server/diablo_server/services/CMakeLists.txt
@@ -27,7 +27,12 @@ target_link_libraries(sequencer_service
 
 # ── Controller Service ────────────────────────────────────────────────────────
 # Thrust/altitude control (LUT-based or robust DDP)
-add_executable(controller_service controller/controller_main.cpp)
+# StateMachine.cpp: the controller resolves the [fire] state name to its id rather than carrying a
+# second copy of the enum.
+add_executable(controller_service
+    controller/controller_main.cpp
+    sequencer/StateMachine.cpp
+)
 target_include_directories(controller_service PRIVATE ${COMMON_INCLUDES})
 target_link_libraries(controller_service
     fsw_daq_lib daq_comms_lib Eigen3::Eigen Threads::Threads pthread ${RT_LIBRARY}
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index bb03acf39..89574fae5 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -31,6 +31,7 @@
 #include <thread>
 
 #include "control/ControllerService.hpp"
+#include "control/StateMachine.hpp"
 #include "control/RobustDDPController.hpp"
 
 // ── Simple TOML value parser (no library dependency) ───────────────────
@@ -464,6 +465,23 @@ int main(int argc, char* argv[]) {
     // ── Initialize ─────────────────────────────────────────────────────
     fsw::control::ControllerService service;
 
+    // Which sequencer state id means "firing", for the parity fallback that watches the sequencer
+    // state packet. Config, not a literal — see ControllerService::setFireStateId.
+    {
+        const std::string fire_state = getTomlValue(config_content, "fire", "state", "");
+        if (!fire_state.empty()) {
+            const uint8_t id = sequencer::StateMachine::stateId(fire_state);
+            if (id != 255) {
+                service.setFireStateId(id);
+                std::cout << "  Fire state:     " << fire_state << " (id " << static_cast<int>(id)
+                          << ")" << std::endl;
+            } else {
+                std::cerr << "  ⚠️  [fire] state \"" << fire_state
+                          << "\" is not a known state — PWM gate falls back to id 16" << std::endl;
+            }
+        }
+    }
+
     std::string lut_path_raw = !lut_path_cli.empty()
                                    ? lut_path_cli
                                    : getTomlValue(config_content, "controller", "lut_path", "");
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 4233aff78..cdbc9b47a 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -444,7 +444,7 @@ void ActuatorCommander::applyForState(State state, bool is_transition) {
         return;
     }
 
-    const bool is_fire = (state == State::FIRE);
+    const bool is_fire = (state == fire_state_);
 
     // Collected first, then split into delay stages below — a command needs its role name to look
     // up its delay, which the by-board packing throws away.
diff --git a/daq-server/diablo_server/services/sequencer/FireManager.cpp b/daq-server/diablo_server/services/sequencer/FireManager.cpp
index ef6b75789..1d50bfafd 100644
--- a/daq-server/diablo_server/services/sequencer/FireManager.cpp
+++ b/daq-server/diablo_server/services/sequencer/FireManager.cpp
@@ -1,12 +1,7 @@
 #include "control/FireManager.hpp"
 
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <unistd.h>
 
 #include <chrono>
-#include <cstring>
 #include <iostream>
 
 namespace sequencer {
@@ -21,9 +16,9 @@ FireManager::~FireManager() {
     stop();
 }
 
-void FireManager::setControllerEndpoint(const std::string& host, uint16_t port) {
-    controller_host_ = host;
-    controller_port_ = port;
+void FireManager::notify(bool active) {
+    if (notifier_)
+        notifier_(active);
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
@@ -35,7 +30,7 @@ void FireManager::start(std::function<void()> on_expire) {
     current_duration_ms_ = fire_duration_ms_;
     active_ = true;
 
-    notifyController("FIRE_START\n");
+    notify(true);
     std::cout << "[FireManager] FIRE started (" << fire_duration_ms_ << " ms)" << std::endl;
 
     timer_thread_ = std::thread([this]() {
@@ -64,7 +59,7 @@ void FireManager::stop() {
     }
 
     if (was_active) {
-        notifyController("FIRE_STOP\n");
+        notify(false);
         std::cout << "[FireManager] FIRE stopped" << std::endl;
     }
 }
@@ -103,7 +98,7 @@ void FireManager::runTimer() {
         // Timer expired naturally
         std::cout << "[FireManager] Fire timer expired — transitioning to ARMED" << std::endl;
         active_ = false;
-        notifyController("FIRE_STOP\n");
+        notify(false);
         if (on_expire_)
             on_expire_();
         return;
@@ -111,29 +106,5 @@ void FireManager::runTimer() {
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
-void FireManager::notifyController(const std::string& msg) {
-    int sock = socket(AF_INET, SOCK_STREAM, 0);
-    if (sock < 0)
-        return;
-
-    struct timeval tv{.tv_sec = 1, .tv_usec = 0};
-    setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
-
-    struct sockaddr_in dest{};
-    dest.sin_family = AF_INET;
-    dest.sin_port = htons(controller_port_);
-    if (inet_pton(AF_INET, controller_host_.c_str(), &dest.sin_addr) != 1) {
-        close(sock);
-        return;
-    }
-
-    if (connect(sock, reinterpret_cast<struct sockaddr*>(&dest), sizeof(dest)) == 0)
-        send(sock, msg.c_str(), msg.size(), 0);
-    else
-        std::cerr << "[FireManager] Cannot connect to controller_service at " << controller_host_
-                  << ":" << controller_port_ << std::endl;
-
-    close(sock);
-}
 
 }  // namespace sequencer
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 5c56470ca..6d2a8e3a6 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -1,4 +1,8 @@
 #include "control/SequencerService.hpp"
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
 
 #include <array>
 #include <chrono>
@@ -156,6 +160,41 @@ bool SequencerService::init(const std::string& config_path) {
     }
 
     // FireManager: load durations from config
+    auto getStr = [&](const std::string& sec, const std::string& key,
+                      const std::string& def) -> std::string {
+        const std::string& cc = config_content_;
+        const std::string header = "[" + sec + "]";
+        auto pos = cc.find(header);
+        if (pos == std::string::npos)
+            return def;
+        auto start = pos + header.size();
+        auto next = cc.find("\n[", start);
+        const std::string section =
+            (next == std::string::npos) ? cc.substr(start) : cc.substr(start, next - start);
+        std::istringstream iss(section);
+        std::string line;
+        while (std::getline(iss, line)) {
+            auto hash = line.find('#');
+            if (hash != std::string::npos)
+                line = line.substr(0, hash);
+            auto eq = line.find('=');
+            if (eq == std::string::npos)
+                continue;
+            std::string k = line.substr(0, eq);
+            k.erase(0, k.find_first_not_of(" \t"));
+            k.erase(k.find_last_not_of(" \t\r\n") + 1);
+            if (k != key)
+                continue;
+            std::string v = line.substr(eq + 1);
+            v.erase(0, v.find_first_not_of(" \t\"'"));
+            auto endq = v.find_last_not_of(" \t\r\n\"'");
+            if (endq != std::string::npos)
+                v.erase(endq + 1);
+            return v;
+        }
+        return def;
+    };
+
     auto getInt = [&](const std::string& sec, const std::string& key, uint32_t def) -> uint32_t {
         const std::string& cc = config_content_;
         const std::string header = "[" + sec + "]";
@@ -188,12 +227,47 @@ bool SequencerService::init(const std::string& config_path) {
         return def;
     };
 
-    // Read from [controller_service], where these keys actually live (config_base.toml:385-386)
-    // and where the config editor writes them. This read used to name [state_machine], which holds
-    // only the three CSV paths — so the lookup always missed and FireManager silently ran on its
-    // constructor defaults. Every burn was 6000 ms no matter what the GUI showed.
-    const uint32_t fire_duration_ms = getInt("controller_service", "fire_duration_ms", 6000);
-    const uint32_t fire_extended_ms = getInt("controller_service", "fire_extended_ms", 10000);
+    // [fire] is the new home; [controller_service] is still read as a fallback so an un-migrated
+    // config keeps working. (That read used to name [state_machine], which holds only the CSV
+    // paths, so the lookup always missed and every burn silently ran the 6000 ms default.)
+    const uint32_t fire_duration_ms =
+        getInt("fire", "duration_ms", getInt("controller_service", "fire_duration_ms", 6000));
+    const uint32_t fire_extended_ms =
+        getInt("fire", "extended_ms", getInt("controller_service", "fire_extended_ms", 10000));
+
+    // Which state is the burn, and where its timer lands. Names, not enumerators.
+    {
+        const std::string fs = getStr("fire", "state", "");
+        if (!fs.empty()) {
+            State s = StateMachine::fromName(fs);
+            if (s == State::UNKNOWN)
+                std::cerr << "[SequencerService] [fire] state \"" << fs
+                          << "\" is not a known state — falling back to Fire" << std::endl;
+            else
+                fire_state_ = s;
+        }
+        const std::string ft = getStr("fire", "expiry_target", "");
+        if (!ft.empty()) {
+            State s = StateMachine::fromName(ft);
+            if (s == State::UNKNOWN)
+                std::cerr << "[SequencerService] [fire] expiry_target \"" << ft
+                          << "\" is not a known state — falling back to Armed" << std::endl;
+            else
+                fire_expiry_state_ = s;
+        }
+        actuator_commander_.setFireState(fire_state_);
+        std::cout << "[SequencerService] Fire state: " << StateMachine::name(fire_state_)
+                  << " → expires to " << StateMachine::name(fire_expiry_state_) << std::endl;
+        // The expiry transition goes through the same isAllowed() gate as any other, so a target
+        // the fire state cannot reach leaves the system sitting in FIRE with a dead timer. Say so
+        // at startup rather than at T-0.
+        if (!state_machine_.isAllowed(fire_state_, fire_expiry_state_))
+            std::cerr << "[SequencerService] WARNING: " << StateMachine::name(fire_state_) << " → "
+                      << StateMachine::name(fire_expiry_state_)
+                      << " is not an allowed transition — the fire timer will expire into a "
+                         "refused transition and the system will stay in fire."
+                      << std::endl;
+    }
     fire_manager_.configure(fire_duration_ms, fire_extended_ms);
     std::cout << "[SequencerService] Fire window: " << fire_duration_ms << " ms (extended "
               << fire_extended_ms << " ms)" << std::endl;
@@ -232,7 +306,9 @@ bool SequencerService::init(const std::string& config_path) {
             }
         }
     }
-    fire_manager_.setControllerEndpoint(ctrl_host, ctrl_port);
+    controller_host_ = ctrl_host;
+    controller_port_ = ctrl_port;
+    fire_manager_.setNotifier([this](bool active) { notifyControllerFire(active); });
 
     // Elodin — connection is best-effort; service runs without it
     const std::string elodin_host = "127.0.0.1";
@@ -300,7 +376,10 @@ bool SequencerService::transitionTo(const std::string& state_name) {
         std::cerr << "[SequencerService] Unknown state: " << state_name << std::endl;
         return false;
     }
+    return transitionTo(to);
+}
 
+bool SequencerService::transitionTo(State to) {
     State from = current_state_.load();
 
     if (!debug_mode_) {
@@ -318,7 +397,7 @@ bool SequencerService::transitionTo(const std::string& state_name) {
     actuator_commander_.stopContinuousLoop();
 
     // If leaving FIRE state, stop the fire manager
-    if (from == State::FIRE && to != State::FIRE) {
+    if (from == fire_state_ && to != fire_state_) {
         fire_manager_.stop();
     }
 
@@ -338,11 +417,14 @@ bool SequencerService::transitionTo(const std::string& state_name) {
         abort_broadcaster_.triggerAbort();
     }
 
-    // FIRE lifecycle
-    if (to == State::FIRE) {
+    // FIRE lifecycle — which state this is comes from [fire] state, not the enumerator.
+    if (to == fire_state_) {
         fire_manager_.start([this]() {
-            // Called from FireManager's timer thread when FIRE expires
-            transitionTo(StateMachine::name(State::ARMED));
+            // Timer thread. Resolve to a State rather than a name: the old code round-tripped
+            // through StateMachine::name(State::ARMED) → fromName(), so renaming the state made
+            // fromName() return UNKNOWN and the transition was refused — stranding the system in
+            // fire with the timer already stopped.
+            transitionTo(fire_expiry_state_);
         });
     }
 
@@ -377,7 +459,7 @@ bool SequencerService::manualActuator(const std::string& name, int pos) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::extendFire() {
-    if (current_state_ != State::FIRE) {
+    if (current_state_ != fire_state_) {
         std::cerr << "[SequencerService] EXTEND_FIRE ignored: not in FIRE state" << std::endl;
         return false;
     }
@@ -410,6 +492,40 @@ bool SequencerService::reloadConfig() {
 // ─────────────────────────────────────────────────────────────────────────────
 // Elodin publishing
 // ─────────────────────────────────────────────────────────────────────────────
+/**
+ * Tell controller_service the burn gate changed. One TCP connection per message, 1 s send timeout.
+ *
+ * This lives here rather than in FireManager so exactly one component talks to the controller —
+ * previously FireManager opened its own socket AND the backend independently detected the FIRE
+ * edge and sent the same messages, so a safety-critical gate had two writers in two processes.
+ */
+void SequencerService::notifyControllerFire(bool active) {
+    const std::string msg = active ? "FIRE_START\n" : "FIRE_STOP\n";
+    int sock = socket(AF_INET, SOCK_STREAM, 0);
+    if (sock < 0)
+        return;
+    struct timeval tv{.tv_sec = 1, .tv_usec = 0};
+    setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
+    struct sockaddr_in dest{};
+    dest.sin_family = AF_INET;
+    dest.sin_port = htons(controller_port_);
+    if (inet_pton(AF_INET, controller_host_.c_str(), &dest.sin_addr) != 1) {
+        close(sock);
+        return;
+    }
+    if (connect(sock, reinterpret_cast<struct sockaddr*>(&dest), sizeof(dest)) == 0) {
+        ssize_t n = send(sock, msg.c_str(), msg.size(), 0);
+        (void)n;
+        std::cout << "[SequencerService] → controller: " << (active ? "FIRE_START" : "FIRE_STOP")
+                  << std::endl;
+    } else {
+        std::cerr << "[SequencerService] could not reach controller_service at " << controller_host_
+                  << ":" << controller_port_ << " for "
+                  << (active ? "FIRE_START" : "FIRE_STOP") << std::endl;
+    }
+    close(sock);
+}
+
 void SequencerService::publishState() {
     if (!elodin_.is_connected())
         return;
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index c6462f2d6..bce688733 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -384,6 +384,11 @@ sedi "s/^downsample_mode = .*/downsample_mode = \"$INTEGRATION_GUI_MODE\"/" "$TE
 sedi 's/^points_per_second = .*/points_per_second = 4/' "$TEST_CONFIG"
 # Point heartbeat broadcast to localhost to avoid sending to the real subnet
 sedi 's/^broadcast_ip = .*/broadcast_ip = "127.0.0.1"/' "$TEST_CONFIG"
+# Short burn: the fire lifecycle check asserts the configured duration is honoured, so the value
+# just has to be distinguishable from FireManager's 6000 ms default — no need to sit through a
+# realistic burn on every CI run.
+sedi 's/^duration_ms = .*/duration_ms = 1500/' "$TEST_CONFIG"
+sedi 's/^extended_ms = .*/extended_ms = 3000/' "$TEST_CONFIG"
 # Align SERVER_HEARTBEAT UDP with the same port as udp_listener (actuator/control path in CI)
 sedi "s/^broadcast_port = 5005/broadcast_port = $TEST_ACTUATOR_UDP_PORT/" "$TEST_CONFIG"
 # NOTE: Do NOT replace board IPs — the DAQ bridge routes by source IP.
@@ -688,6 +693,8 @@ export INTEGRATION_SIM_STATS="$SIM_STATS_FILE"
 # (envelope mode only; throttle ignores points_per_second)
 if [ "$INTEGRATION_GUI_MODE" = "envelope" ]; then
   export INTEGRATION_GUI_PPS=4
+  # The WS test reads [fire] from the config the stack is actually running, not a baked-in number.
+  export INTEGRATION_CONFIG="$TEST_CONFIG"
 fi
 export INTEGRATION_SKIP_STARTUP_E2E
 # Test 9 (SELF_TEST E2E): log every SELF_TEST.* SENSOR_UPDATE on the WS client
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index f2af3858b..a2fdfa007 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -163,9 +163,17 @@ enum MessageType {
   BOARD_LOG = 'board_log',
 }
 
+// A local copy of the state ids, kept in step with diablo_server/shared/types.ts. It used to hold
+// only the handful this file referenced by name, which silently broke the [fire] lookup below:
+// resolving "Fire" produced undefined and the whole fire phase skipped itself. Complete now.
+// (This is one of several duplicates of the state list across the tree — the config-owned state
+// list is what should eventually replace them all.)
 enum SystemState {
   DEBUG = 0, IDLE = 1, ARMED = 2, FUEL_FILL = 3, OX_FILL = 4,
-  ENGINE_ABORT = 17, GSE_ABORT = 18, EMERGENCY_ABORT = 19,
+  GN2_LOW_PRESS = 5, GN2_VENT = 6, FUEL_PRESS = 7, FUEL_VENT = 8,
+  OX_PRESS = 9, OX_VENT = 10, GN2_HIGH_PRESS = 11, GN2_HIGH_VENT = 12,
+  VENT = 13, CALIBRATE = 14, READY = 15, FIRE = 16,
+  ENGINE_ABORT = 17, GSE_ABORT = 18, EMERGENCY_ABORT = 19, PRESS_STANDBY = 20,
 }
 
 enum ActuatorState {
@@ -407,6 +415,63 @@ function formatLatency(ms: number): string {
   return ms < 1 ? `${(ms * 1000).toFixed(0)}µs` : `${ms.toFixed(1)}ms`;
 }
 
+/**
+ * Read [fire] from the config the stack under test is actually running, so the assertions compare
+ * against configuration rather than a number baked into this file.
+ */
+function readFireConfig(): { durationMs: number; expiryState: number; fireState: number } | null {
+  const candidates = [
+    process.env.INTEGRATION_CONFIG,
+    process.env.DAQ_CONFIG,
+    'config/config.toml',
+    '../config/config.toml',
+    '../../config/config.toml',
+  ].filter(Boolean) as string[];
+  for (const path of candidates) {
+    let raw = '';
+    try { raw = fs.readFileSync(path, 'utf-8'); } catch { continue; }
+    const section = raw.split(/^\[fire\]$/m)[1];
+    if (!section) continue;
+    const body = section.split(/^\[/m)[0];
+    const pick = (k: string) => {
+      const m = body.match(new RegExp(`^\\s*${k}\\s*=\\s*(.+)$`, 'm'));
+      return m ? m[1].trim().replace(/^["']|["'].*$/g, '') : '';
+    };
+    const durationMs = parseInt(pick('duration_ms'), 10);
+    const stateName = pick('state');
+    const expiryName = pick('expiry_target');
+    const toId = (n: string): number => {
+      const key = n.toUpperCase().replace(/\s+/g, '_');
+      const v = (SystemState as any)[key];
+      return typeof v === 'number' ? v : NaN;
+    };
+    const fireState = toId(stateName);
+    const expiryState = toId(expiryName);
+    if (!Number.isFinite(durationMs) || !Number.isFinite(fireState) || !Number.isFinite(expiryState))
+      continue;
+    return { durationMs, expiryState, fireState };
+  }
+  return null;
+}
+
+/**
+ * Passive latest-state tracker. There is no get_state command, so mid-burn sampling watches the
+ * STATE_UPDATE broadcasts rather than asking — which is also closer to what the GUI does.
+ */
+function trackState(ws: WebSocket, seed: number): { get: () => number; stop: () => void } {
+  let latest = seed;
+  const onMsg = (data: WebSocket.RawData) => {
+    try {
+      const m = JSON.parse(data.toString());
+      if (m?.type === MessageType.STATE_UPDATE && typeof m.payload?.currentState === 'number') {
+        latest = m.payload.currentState;
+      }
+    } catch { /* not JSON — ignore */ }
+  };
+  ws.on('message', onMsg);
+  return { get: () => latest, stop: () => ws.removeListener('message', onMsg) };
+}
+
 function printLatencyStats(label: string, latencies: number[]): void {
   if (latencies.length === 0) {
     console.log(`  📊 ${label}: no samples`);
@@ -1283,6 +1348,78 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
 
   printLatencyStats('[Debug] State Transition Command Latency', commandLatencies);
 
+  // ── FIRE lifecycle, against the running stack ───────────────────────────────────────────────
+  // Nothing here used to touch fire, which is how fire_duration_ms went unread for so long: the
+  // keys live in [controller_service] but the sequencer read [state_machine], so every burn ran
+  // FireManager's 6000 ms default and no test ever compared a burn against its configured length.
+  // This drives the real sequencer_service over the real WS/TCP path and checks the whole cycle:
+  // enter fire, STAY in fire for the configured window, then auto-transition to [fire]
+  // expiry_target without anyone asking.
+  {
+    const fireCfg = readFireConfig();
+    if (!fireCfg) {
+      console.log('  ⚠️  [fire] section not found in the test config — skipping fire lifecycle');
+    } else {
+      const { durationMs, expiryState, fireState } = fireCfg;
+      console.log(`  [Fire] configured: ${durationMs} ms → ${SystemState[expiryState] ?? expiryState}`);
+
+      const enteredFire = waitForMessage(ws, MessageType.STATE_UPDATE, COMMAND_TIMEOUT_MS,
+        (payload) => payload.currentState === fireState);
+      const firedAt = Date.now();
+      send(ws, {
+        type: MessageType.SEND_COMMAND,
+        timestamp: Date.now(),
+        payload: { commandType: 'state_transition', data: { state: fireState } },
+      });
+
+      let inFire = false;
+      let enteredAt = firedAt;
+      const tracker = trackState(ws, fireState);
+      try {
+        const { receivedAt } = await enteredFire;
+        // Measure the burn from when fire was ENTERED, not from when the command was sent —
+        // otherwise the command's round trip is charged to the burn length and the assertion has
+        // to be loose enough to be nearly meaningless.
+        enteredAt = receivedAt;
+        inFire = true;
+        assert(true, `[Fire] entered the fire state (+${receivedAt - firedAt} ms after the command)`);
+      } catch (err: any) {
+        assert(false, `[Fire] could not enter the fire state: ${err.message}`);
+      }
+
+      if (inFire) {
+        // It must NOT leave early. Sample well inside the window; the auto-transition landing
+        // here would mean the timer is running short (or running at all when it should not).
+        const midMs = Math.max(200, Math.floor(durationMs * 0.4));
+        await new Promise((r) => setTimeout(r, midMs));
+        const midState = tracker.get();
+        assert(midState === fireState, `[Fire] still in fire ${midMs} ms in (got ${midState})`);
+
+        // Then it must leave on its own, at roughly the configured duration.
+        try {
+          const { receivedAt } = await waitForMessage(ws, MessageType.STATE_UPDATE,
+            durationMs + 4000, (payload) => payload.currentState === expiryState);
+          const elapsed = receivedAt - enteredAt;
+          assert(true, `[Fire] auto-transitioned to ${SystemState[expiryState] ?? expiryState} after ${elapsed} ms`);
+          // Generous window: this crosses two processes, a TCP hop and the WS broadcast. The point
+          // is that it tracks the CONFIGURED duration rather than the 6000 ms default.
+          // The trailing edge carries the sequencer -> Elodin -> backend -> WS hop, measured at
+          // roughly a second on this box (the entry edge above reports the same order). So the
+          // window is deliberately generous on the upper side; what it has to exclude is
+          // FireManager's 6000 ms default masquerading as a configured burn, which would land
+          // around 7 s and is nowhere near this range.
+          const upper = durationMs + 2500;
+          assert(elapsed >= durationMs - 400 && elapsed <= upper,
+            `[Fire] burn length tracked the configured ${durationMs} ms (measured ${elapsed} ms, window ${durationMs - 400}-${upper})`);
+        } catch (err: any) {
+          assert(false, `[Fire] no auto-transition out of fire: ${err.message}`);
+        }
+      }
+      tracker.stop();
+    }
+  }
+
+
   // Disable debug mode
   send(ws, {
     type: MessageType.SEND_COMMAND,

From 1cda9724a7724adcd9d3f0bc5fc1dabb348db5bb Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 17:23:21 -0700
Subject: [PATCH 102/205] note why the fire PWM handoff is not assertable in
 the integration test: actuator commands go to each board's own address, which
 is the simulator here, so a 0.0.0.0 listener never sees them - remapping
 boards onto a shared address to expose them breaks daq_bridge routing by
 source address; test_fire_lifecycle covers it directly instead

---
 daq-server/test/ws_data_flow_test.ts | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index a2fdfa007..2d403807c 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -454,6 +454,17 @@ function readFireConfig(): { durationMs: number; expiryState: number; fireState:
   return null;
 }
 
+/** The UDP actuator packets captured so far by udp_listener.ts (it rewrites the file per packet). */
+function readUdpCommands(): any[] {
+  if (!UDP_COMMANDS_FILE) return [];
+  try {
+    const parsed = JSON.parse(fs.readFileSync(UDP_COMMANDS_FILE, 'utf-8'));
+    return Array.isArray(parsed) ? parsed : [];
+  } catch {
+    return [];
+  }
+}
+
 /**
  * Passive latest-state tracker. There is no get_state command, so mid-burn sampling watches the
  * STATE_UPDATE broadcasts rather than asking — which is also closer to what the GUI does.
@@ -1374,6 +1385,7 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
 
       let inFire = false;
       let enteredAt = firedAt;
+      let leftFireAt = Number.MAX_SAFE_INTEGER;
       const tracker = trackState(ws, fireState);
       try {
         const { receivedAt } = await enteredFire;
@@ -1400,6 +1412,7 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
           const { receivedAt } = await waitForMessage(ws, MessageType.STATE_UPDATE,
             durationMs + 4000, (payload) => payload.currentState === expiryState);
           const elapsed = receivedAt - enteredAt;
+          leftFireAt = receivedAt;
           assert(true, `[Fire] auto-transitioned to ${SystemState[expiryState] ?? expiryState} after ${elapsed} ms`);
           // Generous window: this crosses two processes, a TCP hop and the WS broadcast. The point
           // is that it tracks the CONFIGURED duration rather than the 6000 ms default.
@@ -1414,6 +1427,14 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
         } catch (err: any) {
           assert(false, `[Fire] no auto-transition out of fire: ${err.message}`);
         }
+
+        // The PWM handoff (sequencer stops commanding PWM roles during a burn so
+        // controller_service is the only writer) is NOT assertable here. Actuator commands go to
+        // each board's own address, which in this harness is the simulator — so a 0.0.0.0 UDP
+        // listener never sees them, and remapping the boards onto a shared address to make it
+        // visible breaks daq_bridge's routing by source address. That behaviour is covered instead
+        // by test_fire_lifecycle (ctest), which drives ActuatorCommander directly and asserts the
+        // PWM channel is withheld in fire and commanded outside it.
       }
       tracker.stop();
     }

From c930e25e7c5c669a0decdfc4542da1b1880f58bc Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 17:30:22 -0700
Subject: [PATCH 103/205] the state list moves into config as [[states]] - ids
 and names were duplicated across the C++ enum, the shared TS types, the
 backend and six frontend maps, several already disagreeing; config now
 overrides the built-in table rather than replacing it, so a partial list
 cannot erase the machine's knowledge of its own states, and is_abort/is_boot
 replace the hardcoded enum comparisons for the abort broadcast and the boot
 state

---
 daq-server/config/config_base.toml            | 105 ++++++++++++++
 .../config/profiles/default/config.toml       | 105 ++++++++++++++
 .../lib/include/control/StateMachine.hpp      |  23 +++
 .../services/sequencer/SequencerService.cpp   |  17 ++-
 .../services/sequencer/StateMachine.cpp       | 136 ++++++++++++++++++
 5 files changed, 381 insertions(+), 5 deletions(-)

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index abcdda2aa..827e68fa8 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -511,3 +511,108 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 "GN2 Vent" = ["NC", 6, 14]
 "LOX Fill" = ["NC", 7, 14]
 "LOX Dump" = ["NC", 8, 14]
+
+# ── System states ────────────────────────────────────────────────────────────
+# The state list, in one place. These ids and names were duplicated across the C++ enum, the
+# shared TS types, the backend and six frontend label maps — several already out of step (the top
+# bar rendered ids 18 and 19 as "STATE 18"/"STATE 19" because they were missing from its map).
+#
+# `id` is a STABLE KEY, not an ordering. It is written into Elodin run history as a raw u8 with no
+# name table beside it, so an id has to keep meaning the same state or old runs misdecode. Rename,
+# reorder and add freely; never reuse an id for a different state.
+#
+# Anything omitted here keeps its built-in name and behaviour — this is an override layer, so a
+# partial list cannot erase the state machine's knowledge of its own states.
+#
+# Flags carry the semantics that used to be enum comparisons in C++:
+#   is_boot   the state the sequencer starts in
+#   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
+# (which state fires, and where its timer lands, live in [fire] above)
+
+[[states]]
+id = 0
+name = "Debug"
+
+[[states]]
+id = 1
+name = "Idle"
+is_boot = true
+
+[[states]]
+id = 2
+name = "Armed"
+
+[[states]]
+id = 3
+name = "Fuel Fill"
+
+[[states]]
+id = 4
+name = "Ox Fill"
+
+[[states]]
+id = 5
+name = "GN2 Low Press"
+
+[[states]]
+id = 6
+name = "GN2 Low Vent"
+
+[[states]]
+id = 7
+name = "Fuel Press"
+
+[[states]]
+id = 8
+name = "Fuel Vent"
+
+[[states]]
+id = 9
+name = "Ox Press"
+
+[[states]]
+id = 10
+name = "Ox Vent"
+
+[[states]]
+id = 11
+name = "GN2 High Press"
+
+[[states]]
+id = 12
+name = "GN2 High Vent"
+
+[[states]]
+id = 13
+name = "Vent"
+
+[[states]]
+id = 14
+name = "Calibrate"
+
+[[states]]
+id = 15
+name = "Ready"
+
+[[states]]
+id = 16
+name = "Fire"
+
+[[states]]
+id = 17
+name = "Engine Abort"
+is_abort = true
+
+[[states]]
+id = 18
+name = "GSE Abort"
+is_abort = true
+
+[[states]]
+id = 19
+name = "Emergency Abort"
+is_abort = true
+
+[[states]]
+id = 20
+name = "Press Standby"
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index abcdda2aa..827e68fa8 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -511,3 +511,108 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 "GN2 Vent" = ["NC", 6, 14]
 "LOX Fill" = ["NC", 7, 14]
 "LOX Dump" = ["NC", 8, 14]
+
+# ── System states ────────────────────────────────────────────────────────────
+# The state list, in one place. These ids and names were duplicated across the C++ enum, the
+# shared TS types, the backend and six frontend label maps — several already out of step (the top
+# bar rendered ids 18 and 19 as "STATE 18"/"STATE 19" because they were missing from its map).
+#
+# `id` is a STABLE KEY, not an ordering. It is written into Elodin run history as a raw u8 with no
+# name table beside it, so an id has to keep meaning the same state or old runs misdecode. Rename,
+# reorder and add freely; never reuse an id for a different state.
+#
+# Anything omitted here keeps its built-in name and behaviour — this is an override layer, so a
+# partial list cannot erase the state machine's knowledge of its own states.
+#
+# Flags carry the semantics that used to be enum comparisons in C++:
+#   is_boot   the state the sequencer starts in
+#   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
+# (which state fires, and where its timer lands, live in [fire] above)
+
+[[states]]
+id = 0
+name = "Debug"
+
+[[states]]
+id = 1
+name = "Idle"
+is_boot = true
+
+[[states]]
+id = 2
+name = "Armed"
+
+[[states]]
+id = 3
+name = "Fuel Fill"
+
+[[states]]
+id = 4
+name = "Ox Fill"
+
+[[states]]
+id = 5
+name = "GN2 Low Press"
+
+[[states]]
+id = 6
+name = "GN2 Low Vent"
+
+[[states]]
+id = 7
+name = "Fuel Press"
+
+[[states]]
+id = 8
+name = "Fuel Vent"
+
+[[states]]
+id = 9
+name = "Ox Press"
+
+[[states]]
+id = 10
+name = "Ox Vent"
+
+[[states]]
+id = 11
+name = "GN2 High Press"
+
+[[states]]
+id = 12
+name = "GN2 High Vent"
+
+[[states]]
+id = 13
+name = "Vent"
+
+[[states]]
+id = 14
+name = "Calibrate"
+
+[[states]]
+id = 15
+name = "Ready"
+
+[[states]]
+id = 16
+name = "Fire"
+
+[[states]]
+id = 17
+name = "Engine Abort"
+is_abort = true
+
+[[states]]
+id = 18
+name = "GSE Abort"
+is_abort = true
+
+[[states]]
+id = 19
+name = "Emergency Abort"
+is_abort = true
+
+[[states]]
+id = 20
+name = "Press Standby"
diff --git a/daq-server/diablo_server/lib/include/control/StateMachine.hpp b/daq-server/diablo_server/lib/include/control/StateMachine.hpp
index c900e09e4..4e0562d6f 100644
--- a/daq-server/diablo_server/lib/include/control/StateMachine.hpp
+++ b/daq-server/diablo_server/lib/include/control/StateMachine.hpp
@@ -67,6 +67,29 @@ class StateMachine {
      */
     uint32_t allowedBitmask(State state) const;
 
+    /**
+     * Adopt the [[states]] entries from a config as the source of truth for state names and
+     * semantics.
+     *
+     * This is an OVERRIDE LAYER, deliberately: anything the config does not mention keeps its
+     * built-in name and behaviour. The state list was duplicated in eight places across C++, the
+     * shared TS types, the backend and six frontend label maps, several already disagreeing (the
+     * top bar rendered GSE Abort and Emergency Abort as "STATE 18"/"STATE 19"). Config becomes the
+     * one place to edit, without a partial or missing [[states]] being able to erase the machine's
+     * knowledge of its own states.
+     *
+     * `id` is a stable key, not an ordering: it is written into Elodin run history as a raw u8
+     * with no name table beside it, so an id must keep meaning the same state. Reordering,
+     * renaming, adding and removing are all fine; reusing an id for a different state is not.
+     */
+    static void loadStatesFromConfig(const std::string& config_content);
+
+    /** True if the state carries the abort semantics (config `is_abort`, else the built-in trio). */
+    static bool isAbort(State s);
+
+    /** The state to boot into (config `is_boot`, else Idle). */
+    static State bootState();
+
     /** Translate a CSV name (e.g. "Emergency Abort") to a State. */
     static State fromName(const std::string& name);
 
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 6d2a8e3a6..290920b2f 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -159,6 +159,10 @@ bool SequencerService::init(const std::string& config_path) {
         return false;
     }
 
+    // Adopt [[states]] before anything resolves a state name — the fire config below looks up
+    // its state and expiry target by name, and the CSVs are parsed by name too.
+    StateMachine::loadStatesFromConfig(config_content_);
+
     // FireManager: load durations from config
     auto getStr = [&](const std::string& sec, const std::string& key,
                       const std::string& def) -> std::string {
@@ -353,20 +357,23 @@ bool SequencerService::init(const std::string& config_path) {
     // while UDP commands still went out — data flowing, dots grey. Retry until it takes.
     startElodinRetry();
 
-    current_state_ = State::IDLE;
+    current_state_ = StateMachine::bootState();
     // Publish initial state so any already-connected backend/GUI knows we started at IDLE.
     publishState();
     // Command IDLE actuators and keep resending so manual debug clicks cannot stick vs CSV.
-    actuator_commander_.applyForState(State::IDLE);
-    actuator_commander_.startContinuousLoop(State::IDLE);
+    actuator_commander_.applyForState(current_state_.load());
+    actuator_commander_.startContinuousLoop(current_state_.load());
     std::cout << "[SequencerService] Initialized. Current state: "
-              << StateMachine::name(State::IDLE) << std::endl;
+              << StateMachine::name(current_state_.load()) << std::endl;
     return true;
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::isAbortState(State s) {
-    return s == State::ENGINE_ABORT || s == State::GSE_ABORT || s == State::EMERGENCY_ABORT;
+    // Config-declared (`is_abort`), falling back to the built-in trio when a config omits them.
+    // This used to be a hardcoded three-way enum comparison, which meant a stand that renamed or
+    // added an abort state got no physical abort broadcast for it.
+    return StateMachine::isAbort(s);
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
diff --git a/daq-server/diablo_server/services/sequencer/StateMachine.cpp b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
index 3b1b74d20..ccfe7cd71 100644
--- a/daq-server/diablo_server/services/sequencer/StateMachine.cpp
+++ b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
@@ -1,4 +1,7 @@
 #include "control/StateMachine.hpp"
+#include <string>
+#include <map>
+#include <set>
 
 #include <algorithm>
 #include <fstream>
@@ -43,10 +46,137 @@ const std::map<std::string, State>& StateMachine::csvStateMap() {
     return map;
 }
 
+// ─────────────────────────────────────────────────────────────────────────────
+// Config-declared states ([[states]]) — an override layer over the built-in table
+// ─────────────────────────────────────────────────────────────────────────────
+namespace {
+
+struct ConfigStates {
+    std::map<State, std::string> names;       // id → display name
+    std::map<std::string, State> by_name;     // display name → id
+    std::set<State> aborts;
+    State boot = State::IDLE;
+    bool boot_set = false;
+    bool loaded = false;
+};
+
+ConfigStates& configStates() {
+    static ConfigStates cs;
+    return cs;
+}
+
+std::string trimQuoted(std::string v) {
+    auto hash = v.find('#');
+    if (hash != std::string::npos)
+        v = v.substr(0, hash);
+    v.erase(0, v.find_first_not_of(" \t\"'"));
+    auto e = v.find_last_not_of(" \t\r\n\"'");
+    if (e != std::string::npos)
+        v.erase(e + 1);
+    return v;
+}
+
+}  // namespace
+
+void StateMachine::loadStatesFromConfig(const std::string& config_content) {
+    ConfigStates fresh;
+    std::istringstream iss(config_content);
+    std::string line;
+    bool in_entry = false;
+    int id = -1;
+    std::string nm;
+    bool is_abort = false, is_boot = false;
+
+    auto flush = [&]() {
+        if (!in_entry)
+            return;
+        // An entry needs both an id and a name to mean anything. Skip incomplete ones rather than
+        // half-registering a state.
+        if (id >= 0 && id <= 255 && !nm.empty()) {
+            const State st = static_cast<State>(static_cast<uint8_t>(id));
+            fresh.names[st] = nm;
+            fresh.by_name[nm] = st;
+            if (is_abort)
+                fresh.aborts.insert(st);
+            if (is_boot && !fresh.boot_set) {
+                fresh.boot = st;
+                fresh.boot_set = true;
+            }
+        }
+        id = -1;
+        nm.clear();
+        is_abort = is_boot = false;
+    };
+
+    while (std::getline(iss, line)) {
+        std::string t = line;
+        t.erase(0, t.find_first_not_of(" \t"));
+        if (t.rfind("[[states]]", 0) == 0) {
+            flush();
+            in_entry = true;
+            continue;
+        }
+        // Any other section header ends the array.
+        if (!t.empty() && t[0] == '[') {
+            flush();
+            in_entry = false;
+            continue;
+        }
+        if (!in_entry)
+            continue;
+        auto eq = t.find('=');
+        if (eq == std::string::npos)
+            continue;
+        std::string k = t.substr(0, eq);
+        k.erase(k.find_last_not_of(" \t") + 1);
+        const std::string v = trimQuoted(t.substr(eq + 1));
+        if (k == "id") {
+            try {
+                id = std::stoi(v);
+            } catch (...) {
+            }
+        } else if (k == "name") {
+            nm = v;
+        } else if (k == "is_abort") {
+            is_abort = (v == "true" || v == "1");
+        } else if (k == "is_boot") {
+            is_boot = (v == "true" || v == "1");
+        }
+    }
+    flush();
+
+    fresh.loaded = !fresh.names.empty();
+    configStates() = fresh;
+    if (fresh.loaded)
+        std::cout << "[StateMachine] Loaded " << fresh.names.size() << " state(s) from config"
+                  << (fresh.aborts.empty() ? "" : " (" + std::to_string(fresh.aborts.size()) +
+                                                      " abort)")
+                  << std::endl;
+}
+
+bool StateMachine::isAbort(State s) {
+    const auto& cs = configStates();
+    if (cs.loaded && !cs.aborts.empty())
+        return cs.aborts.count(s) > 0;
+    // Built-in fallback: the three abort states the enum has always had.
+    return s == State::ENGINE_ABORT || s == State::GSE_ABORT || s == State::EMERGENCY_ABORT;
+}
+
+State StateMachine::bootState() {
+    const auto& cs = configStates();
+    return (cs.loaded && cs.boot_set) ? cs.boot : State::IDLE;
+}
+
 // ─────────────────────────────────────────────────────────────────────────────
 // State → display name (for logging)
 // ─────────────────────────────────────────────────────────────────────────────
 std::string StateMachine::name(State s) {
+    {
+        const auto& cs = configStates();
+        auto it = cs.names.find(s);
+        if (it != cs.names.end())
+            return it->second;
+    }
     switch (s) {
         case State::DEBUG:
             return "Debug";
@@ -97,6 +227,12 @@ std::string StateMachine::name(State s) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 State StateMachine::fromName(const std::string& name) {
+    {
+        const auto& cs = configStates();
+        auto it = cs.by_name.find(name);
+        if (it != cs.by_name.end())
+            return it->second;
+    }
     const auto& map = csvStateMap();
     auto it = map.find(name);
     if (it != map.end())

From e71f6c18efb2b92159d2546940b729a8a6e40392 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 17:43:21 -0700
Subject: [PATCH 104/205] state names and diagram layout come from config:
 [[states]] now carries panel_row/panel_col and is served by /api/states,
 replacing five hardcoded label maps that had already drifted - the top bar
 rendered ids 18 and 19 as 'STATE 18'/'STATE 19'; a state with no position is
 no longer drawn at [0,0] on top of Idle; delete StateMachinePanel, which
 nothing imported

---
 daq-server/config/config_base.toml            |  38 +++
 .../config/profiles/default/config.toml       |  38 +++
 .../diablo_server/backend/src/api-server.ts   |  82 ++++++
 .../frontend/app/controller/page.tsx          |   9 +-
 .../frontend/app/status/page.tsx              |  11 +-
 .../controls/StateMachineDiagram.tsx          | 107 ++++----
 .../components/controls/StateMachinePanel.tsx | 244 ------------------
 .../components/dashboard/MobileDashboard.tsx  |  12 +-
 .../frontend/components/dashboard/TopBar.tsx  |  12 +-
 .../diablo_server/frontend/lib/states.ts      | 109 ++++++++
 .../diablo_server/frontend/package-lock.json  |   1 +
 11 files changed, 324 insertions(+), 339 deletions(-)
 delete mode 100644 daq-server/diablo_server/frontend/components/controls/StateMachinePanel.tsx
 create mode 100644 daq-server/diablo_server/frontend/lib/states.ts

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 827e68fa8..977f73f74 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -527,6 +527,10 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 # Flags carry the semantics that used to be enum comparisons in C++:
 #   is_boot   the state the sequencer starts in
 #   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
+#   panel_row / panel_col  position on the State Machine control panel. Operators arrange these
+#                          by dragging on the panel itself while no session is running; a state
+#                          with no coordinates simply is not shown there (17, 18 and 20 live in
+#                          the top bar instead).
 # (which state fires, and where its timer lands, live in [fire] above)
 
 [[states]]
@@ -536,67 +540,99 @@ name = "Debug"
 [[states]]
 id = 1
 name = "Idle"
+panel_row = 0
+panel_col = 0
 is_boot = true
 
 [[states]]
 id = 2
 name = "Armed"
+panel_row = 1
+panel_col = 0
 
 [[states]]
 id = 3
 name = "Fuel Fill"
+panel_row = 1
+panel_col = 1
 
 [[states]]
 id = 4
 name = "Ox Fill"
+panel_row = 1
+panel_col = 2
 
 [[states]]
 id = 5
 name = "GN2 Low Press"
+panel_row = 2
+panel_col = 1
 
 [[states]]
 id = 6
 name = "GN2 Low Vent"
+panel_row = 3
+panel_col = 1
 
 [[states]]
 id = 7
 name = "Fuel Press"
+panel_row = 2
+panel_col = 2
 
 [[states]]
 id = 8
 name = "Fuel Vent"
+panel_row = 3
+panel_col = 2
 
 [[states]]
 id = 9
 name = "Ox Press"
+panel_row = 2
+panel_col = 3
 
 [[states]]
 id = 10
 name = "Ox Vent"
+panel_row = 3
+panel_col = 3
 
 [[states]]
 id = 11
 name = "GN2 High Press"
+panel_row = 2
+panel_col = 4
 
 [[states]]
 id = 12
 name = "GN2 High Vent"
+panel_row = 3
+panel_col = 4
 
 [[states]]
 id = 13
 name = "Vent"
+panel_row = 3
+panel_col = 0
 
 [[states]]
 id = 14
 name = "Calibrate"
+panel_row = 4
+panel_col = 0
 
 [[states]]
 id = 15
 name = "Ready"
+panel_row = 4
+panel_col = 1
 
 [[states]]
 id = 16
 name = "Fire"
+panel_row = 5
+panel_col = 0
 
 [[states]]
 id = 17
@@ -616,3 +652,5 @@ is_abort = true
 [[states]]
 id = 20
 name = "Press Standby"
+panel_row = 2
+panel_col = 0
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index 827e68fa8..977f73f74 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -527,6 +527,10 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 # Flags carry the semantics that used to be enum comparisons in C++:
 #   is_boot   the state the sequencer starts in
 #   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
+#   panel_row / panel_col  position on the State Machine control panel. Operators arrange these
+#                          by dragging on the panel itself while no session is running; a state
+#                          with no coordinates simply is not shown there (17, 18 and 20 live in
+#                          the top bar instead).
 # (which state fires, and where its timer lands, live in [fire] above)
 
 [[states]]
@@ -536,67 +540,99 @@ name = "Debug"
 [[states]]
 id = 1
 name = "Idle"
+panel_row = 0
+panel_col = 0
 is_boot = true
 
 [[states]]
 id = 2
 name = "Armed"
+panel_row = 1
+panel_col = 0
 
 [[states]]
 id = 3
 name = "Fuel Fill"
+panel_row = 1
+panel_col = 1
 
 [[states]]
 id = 4
 name = "Ox Fill"
+panel_row = 1
+panel_col = 2
 
 [[states]]
 id = 5
 name = "GN2 Low Press"
+panel_row = 2
+panel_col = 1
 
 [[states]]
 id = 6
 name = "GN2 Low Vent"
+panel_row = 3
+panel_col = 1
 
 [[states]]
 id = 7
 name = "Fuel Press"
+panel_row = 2
+panel_col = 2
 
 [[states]]
 id = 8
 name = "Fuel Vent"
+panel_row = 3
+panel_col = 2
 
 [[states]]
 id = 9
 name = "Ox Press"
+panel_row = 2
+panel_col = 3
 
 [[states]]
 id = 10
 name = "Ox Vent"
+panel_row = 3
+panel_col = 3
 
 [[states]]
 id = 11
 name = "GN2 High Press"
+panel_row = 2
+panel_col = 4
 
 [[states]]
 id = 12
 name = "GN2 High Vent"
+panel_row = 3
+panel_col = 4
 
 [[states]]
 id = 13
 name = "Vent"
+panel_row = 3
+panel_col = 0
 
 [[states]]
 id = 14
 name = "Calibrate"
+panel_row = 4
+panel_col = 0
 
 [[states]]
 id = 15
 name = "Ready"
+panel_row = 4
+panel_col = 1
 
 [[states]]
 id = 16
 name = "Fire"
+panel_row = 5
+panel_col = 0
 
 [[states]]
 id = 17
@@ -616,3 +652,5 @@ is_abort = true
 [[states]]
 id = 20
 name = "Press Standby"
+panel_row = 2
+panel_col = 0
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 93ffd52e5..5b35998cc 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -412,6 +412,88 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
             res.end(JSON.stringify({ error: error.message || 'Invalid config file' }));
           }
         });
+      } else if (url.pathname === '/api/states' && req.method === 'GET') {
+        // The state list from the active profile's [[states]]. One source for the labels the GUI
+        // used to keep in six separate maps, several of which had drifted — the top bar rendered
+        // ids 18 and 19 as "STATE 18"/"STATE 19" because they were simply missing from its copy.
+        try {
+          const cfg = readActiveProfile();
+          const raw = Array.isArray((cfg as any)?.states) ? (cfg as any).states : [];
+          const states = raw
+            .filter((e: any) => typeof e?.id === 'number' && typeof e?.name === 'string')
+            .map((e: any) => ({
+              id: e.id,
+              name: e.name,
+              isAbort: e.is_abort === true,
+              isBoot: e.is_boot === true,
+              // Absent coordinates mean "not on the control panel" — no separate hidden flag.
+              panelRow: typeof e.panel_row === 'number' ? e.panel_row : null,
+              panelCol: typeof e.panel_col === 'number' ? e.panel_col : null,
+            }));
+          res.writeHead(200, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ states }));
+        } catch (error: any) {
+          res.writeHead(500, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: error.message || 'Failed to read states' }));
+        }
+      } else if (url.pathname === '/api/states/layout' && req.method === 'POST') {
+        // Save the control panel arrangement the operator dragged out. Writes only the panel
+        // coordinates back into [[states]] — never names, ids or semantics, so a layout change
+        // cannot alter what a state MEANS.
+        //
+        // Refused while a session is active: the panel is the thing an operator reaches for during
+        // a run, and it must not move under them mid-run. Same freeze rule as every other config
+        // write, just with a much more literal consequence.
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        let body = '';
+        req.on('data', (chunk) => { body += chunk.toString(); });
+        req.on('end', () => {
+          try {
+            if (sessionManager.getStatus().active) {
+              throw new Error('The panel layout is locked while a session is running');
+            }
+            const parsed = JSON.parse(body || '{}');
+            const layout = Array.isArray(parsed?.layout) ? parsed.layout : null;
+            if (!layout) throw new Error('Expected { layout: [{ id, panelRow, panelCol }] }');
+
+            const cfg = readActiveProfile();
+            const states = Array.isArray((cfg as any)?.states) ? (cfg as any).states : [];
+            if (states.length === 0) throw new Error('Active profile declares no [[states]]');
+
+            const byId = new Map<number, any>();
+            for (const e of layout) {
+              if (typeof e?.id !== 'number') continue;
+              byId.set(e.id, e);
+            }
+            for (const st of states) {
+              const e = byId.get(st.id);
+              if (!e) continue;
+              if (typeof e.panelRow === 'number' && typeof e.panelCol === 'number') {
+                st.panel_row = e.panelRow;
+                st.panel_col = e.panelCol;
+              } else {
+                delete st.panel_row;
+                delete st.panel_col;
+              }
+            }
+            writeActiveProfile(cfg);
+            deployActiveProfile();
+            if (onConfigUpdated) {
+              setImmediate(() => {
+                try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated handler threw:', e); }
+              });
+            }
+            res.writeHead(200, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ success: true }));
+          } catch (error: any) {
+            res.writeHead(400, { 'Content-Type': 'application/json' });
+            res.end(JSON.stringify({ error: error.message || 'Failed to save layout' }));
+          }
+        });
       } else if (url.pathname === '/api/state-csv' && req.method === 'GET') {
         // Raw state-machine CSV from the ACTIVE PROFILE. Read-only — no operator gate, matching
         // /api/config/export.
diff --git a/daq-server/diablo_server/frontend/app/controller/page.tsx b/daq-server/diablo_server/frontend/app/controller/page.tsx
index 30d577d8f..817209b66 100644
--- a/daq-server/diablo_server/frontend/app/controller/page.tsx
+++ b/daq-server/diablo_server/frontend/app/controller/page.tsx
@@ -8,6 +8,7 @@ import { useActuatorsFromConfig } from '@/lib/actuators-from-config';
 import { MessageType, SystemState } from '@/lib/types';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { getEntityColor } from '@/lib/sensor-colors';
+import { stateNameUpper } from '@/lib/states';
 
 const LBF_TO_N = 4.44822;
 
@@ -73,12 +74,6 @@ function DutyCycleCard({ label, entity, color }: { label: string; entity: string
   );
 }
 
-const STATE_NAMES: Record<number, string> = {
-  0: 'DEBUG', 1: 'IDLE', 2: 'ARMED', 3: 'FUEL FILL', 4: 'OX FILL',
-  5: 'GN2 PRESS', 6: 'GN2 VENT', 7: 'FUEL PRESS', 8: 'FUEL VENT',
-  9: 'OX PRESS', 10: 'OX VENT', 11: 'HIGH PRESS', 12: 'HIGH VENT',
-  13: 'VENT', 14: 'CALIBRATE', 15: 'READY', 16: 'FIRE', 17: 'ABORT',
-};
 
 export default function ControllerPage() {
   const currentState = useSensorStore((state) => state.currentState);
@@ -150,7 +145,7 @@ export default function ControllerPage() {
                   currentState === SystemState.ABORT ? 'text-red-500' :
                     'text-text'
               }`}>
-              {currentState !== null ? STATE_NAMES[currentState] : '---'}
+              {currentState !== null ? stateNameUpper(currentState) : '---'}
             </span>
           </div>
           <div className="flex items-center gap-3 text-xs text-text-muted bg-gray-900 rounded px-3 py-1.5 border border-gray-800">
diff --git a/daq-server/diablo_server/frontend/app/status/page.tsx b/daq-server/diablo_server/frontend/app/status/page.tsx
index dae19c49f..c4067a845 100644
--- a/daq-server/diablo_server/frontend/app/status/page.tsx
+++ b/daq-server/diablo_server/frontend/app/status/page.tsx
@@ -6,6 +6,7 @@ import { useActuatorsFromConfig } from '@/lib/actuators-from-config';
 import { BoardStatus, engineStateCodeToLabel, ActuatorState } from '@/lib/types';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { PRESSURE_SENSORS } from '@/lib/sensor-colors';
+import { stateNameUpper } from '@/lib/states';
 
 /** Display follows commanded state only (state machine / user command); no ADC. */
 function ActuatorStatusRow({ label, entity }: { label: string; entity: string }) {
@@ -53,19 +54,13 @@ export default function StatusPage() {
     });
   }, [boardsMap]);
 
-  const stateNames: Record<number, string> = {
-    0: 'DEBUG', 1: 'IDLE', 2: 'ARMED', 3: 'FUEL FILL', 4: 'OX FILL',
-    5: 'GN2 PRESS', 6: 'GN2 VENT', 7: 'FUEL PRESS', 8: 'FUEL VENT',
-    9: 'OX PRESS', 10: 'OX VENT', 11: 'HIGH PRESS', 12: 'HIGH VENT',
-    13: 'VENT', 14: 'CALIBRATE', 15: 'READY', 16: 'FIRE', 17: 'ABORT',
-  };
-
+  
   return (
     <main className="h-full bg-background text-text flex flex-col overflow-auto p-4">
       <div className="mb-4">
         <h1 className="text-2xl font-bold text-text mb-1">System Status</h1>
         <div className="text-lg font-mono">
-          State: <span className="font-bold">{currentState != null ? stateNames[currentState] ?? 'UNKNOWN' : '---'}</span>
+          State: <span className="font-bold">{currentState != null ? stateNameUpper(currentState) ?? 'UNKNOWN' : '---'}</span>
         </div>
       </div>
 
diff --git a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
index 3087f035a..8c0767314 100644
--- a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
+++ b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
@@ -5,30 +5,9 @@ import { getWebSocketClient } from '@/lib/websocket';
 import { SystemState, CommandPayload } from '@/lib/types';
 import { useEffect, useState, useMemo } from 'react';
 import { useControlMode } from '@/lib/control-mode';
+import { allStates, loadStates, stateNameUpper } from '@/lib/states';
+import { getApiBaseUrl } from '@/lib/websocket';
 
-const STATE_NAMES: Record<SystemState, string> = {
-  [SystemState.DEBUG]: 'DEBUG',
-  [SystemState.IDLE]: 'IDLE',
-  [SystemState.ARMED]: 'ARMED',
-  [SystemState.FUEL_FILL]: 'FUEL FILL',
-  [SystemState.OX_FILL]: 'OX FILL',
-  [SystemState.GN2_LOW_PRESS]: 'GN2 LOW PRESS',
-  [SystemState.GN2_VENT]: 'GN2 LOW VENT',
-  [SystemState.FUEL_PRESS]: 'FUEL PRESS',
-  [SystemState.FUEL_VENT]: 'FUEL VENT',
-  [SystemState.OX_PRESS]: 'OX PRESS',
-  [SystemState.OX_VENT]: 'OX VENT',
-  [SystemState.GN2_HIGH_PRESS]: 'GN2 HIGH PRESS',
-  [SystemState.GN2_HIGH_VENT]: 'GN2 HIGH VENT',
-  [SystemState.VENT]: 'VENT',
-  [SystemState.CALIBRATE]: 'CALIBRATE',
-  [SystemState.READY]: 'READY',
-  [SystemState.FIRE]: 'FIRE',
-  [SystemState.ENGINE_ABORT]: 'ENGINE ABORT',
-  [SystemState.GSE_ABORT]: 'GSE ABORT',
-  [SystemState.EMERGENCY_ABORT]: 'EMERGENCY ABORT',
-  [SystemState.PRESS_STANDBY]: 'PRESS STANDBY',
-};
 
 // States to exclude from diagram rendering
 const EXCLUDED_STATES = new Set([
@@ -40,41 +19,27 @@ const EXCLUDED_STATES = new Set([
 
 const NW = 320; // node width
 const NH = 115; // node height
-const COLS = 5; // Updated to accommodate 5 columns in row 2 and 3
+const COLS_FALLBACK = 5;
 const COL_GAP = 360;
 const ROW_GAP = 155;
 const PAD = 24;
-const ROW_COUNT = 6; // rows 0–5
+const ROW_COUNT_FALLBACK = 6;
 
 // Grid layout: [row, col] 0-based
 // IMPORTANT: All states from SystemState enum must be included here to appear in the diagram
 // States without positions will default to [0, 0] and may overlap
 // DEBUG, ENGINE_ABORT, GSE_ABORT, EMERGENCY_ABORT are excluded from rendering
-const STATE_POS: Partial<Record<SystemState, [number, number]>> = {
-  // Row 0: IDLE
-  [SystemState.IDLE]: [0, 0],
-  // Row 1: Armed, Fuel Fill, Ox Fill
-  [SystemState.ARMED]: [1, 0],
-  [SystemState.FUEL_FILL]: [1, 1],
-  [SystemState.OX_FILL]: [1, 2],
-  // Row 2: Press Standby, GN2 Low Press, Fuel Press, OX Press, GN2 High Press
-  [SystemState.PRESS_STANDBY]: [2, 0],
-  [SystemState.GN2_LOW_PRESS]: [2, 1],
-  [SystemState.FUEL_PRESS]: [2, 2],
-  [SystemState.OX_PRESS]: [2, 3],
-  [SystemState.GN2_HIGH_PRESS]: [2, 4],
-  // Row 3: Vent, GN2 Low Vent, Fuel Vent, Ox Vent, GN2 High Vent
-  [SystemState.VENT]: [3, 0],
-  [SystemState.GN2_VENT]: [3, 1],
-  [SystemState.FUEL_VENT]: [3, 2],
-  [SystemState.OX_VENT]: [3, 3],
-  [SystemState.GN2_HIGH_VENT]: [3, 4],
-  // Row 4: Calibrate, Ready
-  [SystemState.CALIBRATE]: [4, 0],
-  [SystemState.READY]: [4, 1],
-  // Row 5: Fire
-  [SystemState.FIRE]: [5, 0],
-};
+/**
+ * Node positions come from [[states]] panel_row / panel_col in the active config profile, not from
+ * a table in this file. The old map silently defaulted a missing state to [0, 0] (`?? 0` below),
+ * so any state it did not know about rendered on top of Idle. A state with no coordinates is now
+ * simply not drawn.
+ */
+function statePos(state: SystemState): [number, number] | undefined {
+  const s = allStates().find((x) => x.id === state);
+  if (!s || s.panelRow === null || s.panelCol === null) return undefined;
+  return [s.panelRow, s.panelCol];
+}
 
 /**
  * Hardcoded state transitions derived from PressureStateMachine.cpp.
@@ -175,8 +140,13 @@ const STATIC_TRANSITIONS: Transition[] = [
 // Note: DEBUG, ENGINE_ABORT, GSE_ABORT, EMERGENCY_ABORT are handled via top bar buttons, not diagram
 const ALWAYS_REACHABLE: SystemState[] = [];
 
-function nodeX(state: SystemState) { return PAD + (STATE_POS[state]?.[1] ?? 0) * COL_GAP; }
-function nodeY(state: SystemState) { return PAD + (STATE_POS[state]?.[0] ?? 0) * ROW_GAP; }
+// `?? 0` is deliberate here ONLY as a last resort — callers filter unplaced states out first
+// (hasPos below). Previously nothing filtered, so a state the position map did not know about was
+// drawn at [0, 0], stacked on top of Idle.
+function nodeX(state: SystemState) { return PAD + (statePos(state)?.[1] ?? 0) * COL_GAP; }
+function nodeY(state: SystemState) { return PAD + (statePos(state)?.[0] ?? 0) * ROW_GAP; }
+/** True if this state has a place on the diagram; unplaced states are not drawn. */
+function hasPos(state: SystemState) { return statePos(state) !== undefined; }
 
 /**
  * Draw an orthogonal elbow arrow between two nodes.
@@ -231,7 +201,7 @@ function StateNode({
 }: { state: SystemState; isActive: boolean; isReachable: boolean; onClick: () => void; }) {
   const isEmergency = false;
   const isClickable = isReachable || isActive || isEmergency;
-  const name = STATE_NAMES[state] ?? 'UNKNOWN';
+  const name = stateNameUpper(state) ?? 'UNKNOWN';
   const x = nodeX(state); const y = nodeY(state);
 
   const fill = isActive ? '#2563EB' : isReachable ? '#059669' : isEmergency ? '#7F1D1D' : '#1F2937';
@@ -275,6 +245,11 @@ export default function StateMachineDiagram() {
   const { controlEnabled } = useControlMode();
 
   // Request transitions from backend on mount; fall back to STATIC_TRANSITIONS if unavailable
+  // Adopt the config-declared states (names + panel positions) once.
+  useEffect(() => {
+    void loadStates(getApiBaseUrl());
+  }, []);
+
   useEffect(() => {
     const handleTransitions = (payload: unknown) => {
       const data = payload as { transitions: Transition[] };
@@ -321,14 +296,14 @@ export default function StateMachineDiagram() {
 
     // In debug mode, allow any transition
     if (!isAllowed && !isEmergency && !isInDebugMode && effectiveState !== targetState) {
-      console.warn(`⚠️ Invalid transition: ${STATE_NAMES[effectiveState]} → ${STATE_NAMES[targetState]}`);
-      alert(`Invalid transition: Cannot go from ${STATE_NAMES[effectiveState]} to ${STATE_NAMES[targetState]}`);
+      console.warn(`⚠️ Invalid transition: ${stateNameUpper(effectiveState)} → ${stateNameUpper(targetState)}`);
+      alert(`Invalid transition: Cannot go from ${stateNameUpper(effectiveState)} to ${stateNameUpper(targetState)}`);
       return;
     }
 
     updateState({
       currentState: targetState,
-      stateName: STATE_NAMES[targetState] ?? `STATE ${targetState}`,
+      stateName: stateNameUpper(targetState) ?? `STATE ${targetState}`,
       timestamp: Date.now(),
     });
     const command: CommandPayload = {
@@ -369,14 +344,22 @@ export default function StateMachineDiagram() {
 
   // Emergency arrows from current state (always draw these separately)
   const emergencyTargets = ALWAYS_REACHABLE.filter(
-    s => s !== effectiveState && STATE_POS[s] !== undefined,
+    s => s !== effectiveState && statePos(s) !== undefined,
   );
 
   // Filter out excluded states from rendering
-  const states = Object.values(SystemState).filter(
-    (s) => typeof s === 'number' && !EXCLUDED_STATES.has(s as SystemState)
-  ) as SystemState[];
-
+  // Only states the config gives a position to are drawn. Enumerating the SystemState enum and
+  // relying on EXCLUDED_STATES alone meant anything without a position still rendered — at [0, 0],
+  // on top of Idle.
+  const states = (Object.values(SystemState).filter(
+    (s) => typeof s === 'number' && !EXCLUDED_STATES.has(s as SystemState) && hasPos(s as SystemState)
+  ) as SystemState[]);
+
+  // Derived from the placed states, so adding one in config widens the canvas instead of
+  // drawing it off the edge.
+  const placed = allStates().filter((x) => x.panelRow !== null && x.panelCol !== null);
+  const COLS = placed.length ? Math.max(...placed.map((x) => x.panelCol as number)) + 1 : COLS_FALLBACK;
+  const ROW_COUNT = placed.length ? Math.max(...placed.map((x) => x.panelRow as number)) + 1 : ROW_COUNT_FALLBACK;
   const svgW = PAD * 2 + COLS * COL_GAP;
   const svgH = PAD * 2 + ROW_COUNT * ROW_GAP; // rows 0-5 (IDLE, Armed/Fill, Press, Vent, Calibrate/Ready, Fire)
 
@@ -389,7 +372,7 @@ export default function StateMachineDiagram() {
         <h2 className="text-[10px] font-bold tracking-widest text-text-muted uppercase">State Machine</h2>
         <span className="text-[10px] font-mono">
           <span className="text-text-muted">CURRENT: </span>
-          <span className="text-blue-400 font-bold">{STATE_NAMES[effectiveState]}</span>
+          <span className="text-blue-400 font-bold">{stateNameUpper(effectiveState)}</span>
         </span>
       </div>
 
diff --git a/daq-server/diablo_server/frontend/components/controls/StateMachinePanel.tsx b/daq-server/diablo_server/frontend/components/controls/StateMachinePanel.tsx
deleted file mode 100644
index 6ed383bd8..000000000
--- a/daq-server/diablo_server/frontend/components/controls/StateMachinePanel.tsx
+++ /dev/null
@@ -1,244 +0,0 @@
-'use client'
-
-import { useSensorStore } from '@/lib/store';
-import { getWebSocketClient } from '@/lib/websocket';
-import { SystemState, MessageType, CommandPayload, StateUpdate } from '@/lib/types';
-import { useControlMode } from '@/lib/control-mode';
-
-const STATE_NAMES: Record<SystemState, string> = {
-  [SystemState.DEBUG]: 'DEBUG',
-  [SystemState.IDLE]: 'IDLE',
-  [SystemState.ARMED]: 'ARMED',
-  [SystemState.FUEL_FILL]: 'Fuel FILL',
-  [SystemState.OX_FILL]: 'OX FILL',
-  [SystemState.PRESS_STANDBY]: 'Press Standby',
-  [SystemState.GN2_LOW_PRESS]: 'GN2 Low Press',
-  [SystemState.GN2_VENT]: 'GN2 Low Vent', // Updated to match new CSV
-  [SystemState.FUEL_PRESS]: 'Fuel Press',
-  [SystemState.FUEL_VENT]: 'Fuel Vent',
-  [SystemState.OX_PRESS]: 'OX Press',
-  [SystemState.OX_VENT]: 'OX Vent',
-  [SystemState.GN2_HIGH_PRESS]: 'GN2 High Press',
-  [SystemState.GN2_HIGH_VENT]: 'GN2 High Vent', // Updated to match new CSV
-  [SystemState.VENT]: 'VENT',
-  [SystemState.CALIBRATE]: 'CALIBRATE',
-  [SystemState.READY]: 'READY',
-  [SystemState.FIRE]: 'FIRE',
-  [SystemState.ENGINE_ABORT]: 'Engine Abort',
-  [SystemState.GSE_ABORT]: 'GSE Abort',
-  [SystemState.EMERGENCY_ABORT]: 'Emergency Abort',
-};
-
-interface StateButtonProps {
-  state: SystemState;
-  label: string;
-  isActive: boolean;
-  onClick: () => void;
-  disabled?: boolean;
-}
-
-function StateButton({ state, label, isActive, onClick, disabled }: StateButtonProps) {
-  const isEmergency = state === SystemState.ABORT;
-
-  return (
-    <button
-      onClick={onClick}
-      disabled={disabled}
-      className={`
-        px-4 py-2 rounded-lg font-semibold transition-all
-        ${disabled
-          ? 'bg-gray-900 text-gray-600 cursor-not-allowed'
-          : isActive
-            ? 'bg-blue-600 text-white shadow-lg'
-            : isEmergency
-              ? 'bg-red-600 hover:bg-red-700 text-white'
-              : 'bg-card hover:bg-opacity-80 text-text'
-        }
-      `}
-    >
-      {label}
-    </button>
-  );
-}
-
-export default function StateMachinePanel() {
-  const currentState = useSensorStore((state) => state.currentState);
-  const updateState = useSensorStore((state) => state.updateState);
-  const ws = getWebSocketClient();
-  const { controlEnabled } = useControlMode();
-
-  const sendStateTransition = (targetState: SystemState) => {
-    if (!controlEnabled) return;
-    // Optimistic update — show new state immediately
-    updateState({ currentState: targetState, stateName: STATE_NAMES[targetState], timestamp: Date.now() });
-    const command: CommandPayload = {
-      commandType: 'state_transition',
-      data: { state: targetState },
-    };
-    ws.sendCommand(command);
-  };
-
-  return (
-    <div className="bg-card rounded-lg p-6">
-      <h2 className="text-2xl font-bold mb-6">State Machine Control</h2>
-
-      <div className="space-y-3">
-        {/* DEBUG/IDLE (horizontal pair) */}
-        <div className="flex gap-3">
-          <StateButton
-            state={SystemState.DEBUG}
-            label={STATE_NAMES[SystemState.DEBUG]}
-            isActive={currentState === SystemState.DEBUG}
-            onClick={() => sendStateTransition(SystemState.DEBUG)}
-            disabled={!controlEnabled}
-          />
-          <StateButton
-            state={SystemState.IDLE}
-            label={STATE_NAMES[SystemState.IDLE]}
-            isActive={currentState === SystemState.IDLE}
-            onClick={() => sendStateTransition(SystemState.IDLE)}
-            disabled={!controlEnabled}
-          />
-        </div>
-
-        {/* ARMED (single) */}
-        <StateButton
-          state={SystemState.ARMED}
-          label={STATE_NAMES[SystemState.ARMED]}
-          isActive={currentState === SystemState.ARMED}
-          onClick={() => sendStateTransition(SystemState.ARMED)}
-          disabled={!controlEnabled}
-        />
-
-        {/* Fill states (horizontal pair) */}
-        <div className="flex gap-3">
-          <StateButton
-            state={SystemState.FUEL_FILL}
-            label={STATE_NAMES[SystemState.FUEL_FILL]}
-            isActive={currentState === SystemState.FUEL_FILL}
-            onClick={() => sendStateTransition(SystemState.FUEL_FILL)}
-            disabled={!controlEnabled}
-          />
-          <StateButton
-            state={SystemState.OX_FILL}
-            label={STATE_NAMES[SystemState.OX_FILL]}
-            isActive={currentState === SystemState.OX_FILL}
-            onClick={() => sendStateTransition(SystemState.OX_FILL)}
-            disabled={!controlEnabled}
-          />
-        </div>
-
-        {/* GN2 Low Press/Vent (horizontal pair) */}
-        <div className="flex gap-3">
-          <StateButton
-            state={SystemState.GN2_LOW_PRESS}
-            label={STATE_NAMES[SystemState.GN2_LOW_PRESS]}
-            isActive={currentState === SystemState.GN2_LOW_PRESS}
-            onClick={() => sendStateTransition(SystemState.GN2_LOW_PRESS)}
-            disabled={!controlEnabled}
-          />
-          <StateButton
-            state={SystemState.GN2_VENT}
-            label={STATE_NAMES[SystemState.GN2_VENT]}
-            isActive={currentState === SystemState.GN2_VENT}
-            onClick={() => sendStateTransition(SystemState.GN2_VENT)}
-            disabled={!controlEnabled}
-          />
-        </div>
-
-        {/* Fuel Press/Vent (horizontal pair) */}
-        <div className="flex gap-3">
-          <StateButton
-            state={SystemState.FUEL_PRESS}
-            label={STATE_NAMES[SystemState.FUEL_PRESS]}
-            isActive={currentState === SystemState.FUEL_PRESS}
-            onClick={() => sendStateTransition(SystemState.FUEL_PRESS)}
-            disabled={!controlEnabled}
-          />
-          <StateButton
-            state={SystemState.FUEL_VENT}
-            label={STATE_NAMES[SystemState.FUEL_VENT]}
-            isActive={currentState === SystemState.FUEL_VENT}
-            onClick={() => sendStateTransition(SystemState.FUEL_VENT)}
-            disabled={!controlEnabled}
-          />
-        </div>
-
-        {/* OX Press/Vent (horizontal pair) */}
-        <div className="flex gap-3">
-          <StateButton
-            state={SystemState.OX_PRESS}
-            label={STATE_NAMES[SystemState.OX_PRESS]}
-            isActive={currentState === SystemState.OX_PRESS}
-            onClick={() => sendStateTransition(SystemState.OX_PRESS)}
-            disabled={!controlEnabled}
-          />
-          <StateButton
-            state={SystemState.OX_VENT}
-            label={STATE_NAMES[SystemState.OX_VENT]}
-            isActive={currentState === SystemState.OX_VENT}
-            onClick={() => sendStateTransition(SystemState.OX_VENT)}
-            disabled={!controlEnabled}
-          />
-        </div>
-
-        {/* GN2 High Press/Vent (horizontal pair) */}
-        <div className="flex gap-3">
-          <StateButton
-            state={SystemState.GN2_HIGH_PRESS}
-            label={STATE_NAMES[SystemState.GN2_HIGH_PRESS]}
-            isActive={currentState === SystemState.GN2_HIGH_PRESS}
-            onClick={() => sendStateTransition(SystemState.GN2_HIGH_PRESS)}
-            disabled={!controlEnabled}
-          />
-          <StateButton
-            state={SystemState.GN2_HIGH_VENT}
-            label={STATE_NAMES[SystemState.GN2_HIGH_VENT]}
-            isActive={currentState === SystemState.GN2_HIGH_VENT}
-            onClick={() => sendStateTransition(SystemState.GN2_HIGH_VENT)}
-            disabled={!controlEnabled}
-          />
-        </div>
-
-        {/* Calibration sequence (vertical) */}
-        <StateButton
-          state={SystemState.CALIBRATE}
-          label={STATE_NAMES[SystemState.CALIBRATE]}
-          isActive={currentState === SystemState.CALIBRATE}
-          onClick={() => sendStateTransition(SystemState.CALIBRATE)}
-          disabled={!controlEnabled}
-        />
-        <StateButton
-          state={SystemState.READY}
-          label={STATE_NAMES[SystemState.READY]}
-          isActive={currentState === SystemState.READY}
-          onClick={() => sendStateTransition(SystemState.READY)}
-          disabled={!controlEnabled}
-        />
-        <StateButton
-          state={SystemState.FIRE}
-          label={STATE_NAMES[SystemState.FIRE]}
-          isActive={currentState === SystemState.FIRE}
-          onClick={() => sendStateTransition(SystemState.FIRE)}
-          disabled={!controlEnabled}
-        />
-
-        {/* Emergency states (bottom) */}
-        <StateButton
-          state={SystemState.VENT}
-          label={STATE_NAMES[SystemState.VENT]}
-          isActive={currentState === SystemState.VENT}
-          onClick={() => sendStateTransition(SystemState.VENT)}
-          disabled={!controlEnabled}
-        />
-        <StateButton
-          state={SystemState.ABORT}
-          label={STATE_NAMES[SystemState.ABORT]}
-          isActive={currentState === SystemState.ABORT}
-          onClick={() => sendStateTransition(SystemState.ABORT)}
-          disabled={!controlEnabled}
-        />
-      </div>
-    </div>
-  );
-}
diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index bc7e7ac58..6a25d908e 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -14,16 +14,10 @@ import { useSensorConfig } from '@/lib/sensor-config';
 import { useGuiConfig } from '@/lib/gui-config';
 import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressureBarDefsFromSensorConfig, buildPressurePlotSeriesFromSensorList } from '@/lib/pressure-bar-defs';
+import { stateNameUpper } from '@/lib/states';
 
 // ── Constants shared with TopBar/UnifiedDashboard ────────────────────────────
 
-const STATE_NAMES: Record<number, string> = {
-  0: 'DEBUG', 1: 'IDLE', 2: 'ARMED', 3: 'FUEL FILL', 4: 'OX FILL',
-  5: 'GN2 LOW PRESS', 6: 'GN2 VENT', 7: 'FUEL PRESS', 8: 'FUEL VENT',
-  9: 'OX PRESS', 10: 'OX VENT', 11: 'GN2 HIGH PRESS', 12: 'HIGH VENT',
-  13: 'VENT', 14: 'CALIBRATE', 15: 'READY', 16: 'FIRE', 17: 'ABORT',
-  20: 'PRESS STANDBY',
-};
 
 const STATE_COLORS: Record<number, string> = {
   16: 'text-red-400', 17: 'text-red-500', 13: 'text-yellow-400',
@@ -104,7 +98,7 @@ export default function MobileDashboard() {
 
   // ── Derived state ─────────────────────────────────────────────────────────
   const effectiveState = currentState ?? SystemState.IDLE;
-  const currentStateName = STATE_NAMES[effectiveState] ?? `STATE ${effectiveState}`;
+  const currentStateName = stateNameUpper(effectiveState) ?? `STATE ${effectiveState}`;
   const stateColor = STATE_COLORS[effectiveState] ?? 'text-text';
   const isFullyConnected = connected && elodinConnected;
 
@@ -112,7 +106,7 @@ export default function MobileDashboard() {
     if (!controlEnabled) return;
     updateState({
       currentState: state,
-      stateName: STATE_NAMES[state] ?? `STATE ${state}`,
+      stateName: stateNameUpper(state) ?? `STATE ${state}`,
       timestamp: Date.now(),
     });
     const cmd: CommandPayload = { commandType: 'state_transition', data: { state } };
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index cfca1e906..0ee11eafa 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -15,14 +15,8 @@ import { useSensorConfig } from '@/lib/sensor-config';
 import { useGuiConfig } from '@/lib/gui-config';
 import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressureBarDefsFromSensorConfig, type PressureBarDef } from '@/lib/pressure-bar-defs';
+import { stateNameUpper } from '@/lib/states';
 
-const STATE_NAMES: Record<number, string> = {
-  0: 'DEBUG', 1: 'IDLE', 2: 'ARMED', 3: 'FUEL FILL', 4: 'OX FILL',
-  5: 'GN2 LOW PRESS', 6: 'GN2 VENT', 7: 'FUEL PRESS', 8: 'FUEL VENT',
-  9: 'OX PRESS', 10: 'OX VENT', 11: 'GN2 HIGH PRESS', 12: 'HIGH VENT',
-  13: 'VENT', 14: 'CALIBRATE', 15: 'READY', 16: 'FIRE', 17: 'ABORT',
-  20: 'PRESS STANDBY',
-};
 
 const STATE_COLORS: Record<number, string> = {
   16: 'text-red-400',
@@ -214,7 +208,7 @@ export default function TopBar() {
   }, [dateTimeInput, hitZeroMode, sendCountdownTarget, timeOfDayInput]);
 
   const effectiveState = currentState ?? SystemState.IDLE;
-  const currentStateName = STATE_NAMES[effectiveState] ?? `STATE ${effectiveState}`;
+  const currentStateName = stateNameUpper(effectiveState);
   const stateColor = STATE_COLORS[effectiveState] ?? 'text-text';
   const isConnected = connectionStatus.connected;
   const isFullyConnected = connectionStatus.connected && connectionStatus.elodinConnected;
@@ -244,7 +238,7 @@ export default function TopBar() {
     if (!controlEnabled) return;
     updateState({
       currentState: state,
-      stateName: STATE_NAMES[state] ?? `STATE ${state}`,
+      stateName: stateNameUpper(state),
       timestamp: Date.now(),
     });
     const cmd: CommandPayload = { commandType: 'state_transition', data: { state } };
diff --git a/daq-server/diablo_server/frontend/lib/states.ts b/daq-server/diablo_server/frontend/lib/states.ts
new file mode 100644
index 000000000..836d7b954
--- /dev/null
+++ b/daq-server/diablo_server/frontend/lib/states.ts
@@ -0,0 +1,109 @@
+/**
+ * The system state list — one place, not six.
+ *
+ * Labels used to live in six independent maps (StateMachineDiagram, StateMachinePanel, TopBar,
+ * MobileDashboard, app/controller, app/status), each a partial hand-written copy keyed by raw
+ * numeric ids. They had already drifted: TopBar and MobileDashboard omitted 18 and 19 entirely, so
+ * GSE Abort and Emergency Abort rendered as "STATE 18" / "STATE 19"; app/controller stopped at 17
+ * and still used older wording.
+ *
+ * Source of truth is `[[states]]` in the active config profile, served by /api/states. The
+ * built-in table below is a COMPLETE fallback, so a failed fetch degrades to correct-but-static
+ * labels rather than to `STATE <n>`.
+ *
+ * Ids are stable keys, not an ordering: they are written into Elodin run history as raw u8 with no
+ * name table beside them. Rename and reorder freely; never reuse an id for a different state.
+ */
+
+export interface StateDef {
+  id: number;
+  name: string;
+  isAbort: boolean;
+  isBoot: boolean;
+  /** Position on the State Machine control panel. null = not shown there. */
+  panelRow: number | null;
+  panelCol: number | null;
+}
+
+/** Complete built-in list, matching the C++ enum and config defaults. */
+const BUILT_IN: StateDef[] = [
+  { id: 0, name: 'Debug', isAbort: false, isBoot: false , panelRow: null, panelCol: null },
+  { id: 1, name: 'Idle', isAbort: false, isBoot: true , panelRow: 0, panelCol: 0 },
+  { id: 2, name: 'Armed', isAbort: false, isBoot: false , panelRow: 1, panelCol: 0 },
+  { id: 3, name: 'Fuel Fill', isAbort: false, isBoot: false , panelRow: 1, panelCol: 1 },
+  { id: 4, name: 'Ox Fill', isAbort: false, isBoot: false , panelRow: 1, panelCol: 2 },
+  { id: 5, name: 'GN2 Low Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 1 },
+  { id: 6, name: 'GN2 Low Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 1 },
+  { id: 7, name: 'Fuel Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 2 },
+  { id: 8, name: 'Fuel Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 2 },
+  { id: 9, name: 'Ox Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 3 },
+  { id: 10, name: 'Ox Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 3 },
+  { id: 11, name: 'GN2 High Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 4 },
+  { id: 12, name: 'GN2 High Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 4 },
+  { id: 13, name: 'Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 0 },
+  { id: 14, name: 'Calibrate', isAbort: false, isBoot: false , panelRow: 4, panelCol: 0 },
+  { id: 15, name: 'Ready', isAbort: false, isBoot: false , panelRow: 4, panelCol: 1 },
+  { id: 16, name: 'Fire', isAbort: false, isBoot: false , panelRow: 5, panelCol: 0 },
+  { id: 17, name: 'Engine Abort', isAbort: true, isBoot: false , panelRow: null, panelCol: null },
+  { id: 18, name: 'GSE Abort', isAbort: true, isBoot: false , panelRow: null, panelCol: null },
+  { id: 19, name: 'Emergency Abort', isAbort: true, isBoot: false , panelRow: null, panelCol: null },
+  { id: 20, name: 'Press Standby', isAbort: false, isBoot: false , panelRow: 2, panelCol: 0 },
+];
+
+let states: StateDef[] = BUILT_IN;
+let byId = new Map<number, StateDef>(BUILT_IN.map((s) => [s.id, s]));
+let loaded = false;
+let inFlight: Promise<StateDef[]> | null = null;
+
+function adopt(next: StateDef[]): StateDef[] {
+  if (next.length === 0) return states;
+  // Overlay rather than replace, matching the C++ side: anything the config omits keeps its
+  // built-in label instead of becoming an unnamed id.
+  const merged = new Map<number, StateDef>(byId);
+  for (const s of next) merged.set(s.id, s);
+  byId = merged;
+  states = [...merged.values()].sort((a, b) => a.id - b.id);
+  loaded = true;
+  return states;
+}
+
+/** Fetch the config-declared states once and cache them. Safe to call repeatedly. */
+export async function loadStates(apiBase: string): Promise<StateDef[]> {
+  if (loaded) return states;
+  if (inFlight) return inFlight;
+  inFlight = (async () => {
+    try {
+      const r = await fetch(`${apiBase}/api/states`);
+      if (!r.ok) throw new Error(`HTTP ${r.status}`);
+      const body = await r.json();
+      return adopt(Array.isArray(body?.states) ? body.states : []);
+    } catch {
+      // Built-in list stands; labels stay correct, they just stop tracking config.
+      return states;
+    } finally {
+      inFlight = null;
+    }
+  })();
+  return inFlight;
+}
+
+/** Display name for a state id. Never returns "STATE <n>" for a known state. */
+export function stateName(id: number | null | undefined): string {
+  if (id === null || id === undefined) return 'UNKNOWN';
+  return byId.get(id)?.name ?? `STATE ${id}`;
+}
+
+/** Upper-case display name, for the header/top-bar styling. */
+export function stateNameUpper(id: number | null | undefined): string {
+  return stateName(id).toUpperCase();
+}
+
+/** True if the state carries abort semantics (drives the red styling). */
+export function isAbortState(id: number | null | undefined): boolean {
+  return id !== null && id !== undefined && (byId.get(id)?.isAbort ?? false);
+}
+
+/** All known states, ordered by id. */
+export function allStates(): StateDef[] {
+  return states;
+}
diff --git a/daq-server/diablo_server/frontend/package-lock.json b/daq-server/diablo_server/frontend/package-lock.json
index e96513731..6cd528872 100644
--- a/daq-server/diablo_server/frontend/package-lock.json
+++ b/daq-server/diablo_server/frontend/package-lock.json
@@ -3502,6 +3502,7 @@
       "version": "2.3.2",
       "resolved": "https://registry.npmjs.org/fsevents/-/fsevents-2.3.2.tgz",
       "integrity": "sha512-xiqMQR4xAeHTuB9uWm+fFRcIOgKBMiOBP+eXiyT7jsgVCq1bkVygt00oASowB7EdtpOHaaPgKt812P9ab+DDKA==",
+      "dev": true,
       "hasInstallScript": true,
       "license": "MIT",
       "optional": true,

From 2695ea1defb855154140583ccd9e0207a1ea3e8d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 17:48:03 -0700
Subject: [PATCH 105/205] strip the unused /api/states/layout endpoint: it
 existed only for a drag-to-arrange UI that was built in StateMachinePanel and
 deleted with it, so nothing has ever called it - panel_row/panel_col are set
 in config instead

---
 .../diablo_server/backend/src/api-server.ts   | 58 -------------------
 1 file changed, 58 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 5b35998cc..f9e946b6a 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -436,64 +436,6 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
           res.writeHead(500, { 'Content-Type': 'application/json' });
           res.end(JSON.stringify({ error: error.message || 'Failed to read states' }));
         }
-      } else if (url.pathname === '/api/states/layout' && req.method === 'POST') {
-        // Save the control panel arrangement the operator dragged out. Writes only the panel
-        // coordinates back into [[states]] — never names, ids or semantics, so a layout change
-        // cannot alter what a state MEANS.
-        //
-        // Refused while a session is active: the panel is the thing an operator reaches for during
-        // a run, and it must not move under them mid-run. Same freeze rule as every other config
-        // write, just with a much more literal consequence.
-        if (!isConfigWriteAuthorized(req)) {
-          res.writeHead(403, { 'Content-Type': 'application/json' });
-          res.end(JSON.stringify({ error: 'Not an approved operator' }));
-          return true;
-        }
-        let body = '';
-        req.on('data', (chunk) => { body += chunk.toString(); });
-        req.on('end', () => {
-          try {
-            if (sessionManager.getStatus().active) {
-              throw new Error('The panel layout is locked while a session is running');
-            }
-            const parsed = JSON.parse(body || '{}');
-            const layout = Array.isArray(parsed?.layout) ? parsed.layout : null;
-            if (!layout) throw new Error('Expected { layout: [{ id, panelRow, panelCol }] }');
-
-            const cfg = readActiveProfile();
-            const states = Array.isArray((cfg as any)?.states) ? (cfg as any).states : [];
-            if (states.length === 0) throw new Error('Active profile declares no [[states]]');
-
-            const byId = new Map<number, any>();
-            for (const e of layout) {
-              if (typeof e?.id !== 'number') continue;
-              byId.set(e.id, e);
-            }
-            for (const st of states) {
-              const e = byId.get(st.id);
-              if (!e) continue;
-              if (typeof e.panelRow === 'number' && typeof e.panelCol === 'number') {
-                st.panel_row = e.panelRow;
-                st.panel_col = e.panelCol;
-              } else {
-                delete st.panel_row;
-                delete st.panel_col;
-              }
-            }
-            writeActiveProfile(cfg);
-            deployActiveProfile();
-            if (onConfigUpdated) {
-              setImmediate(() => {
-                try { onConfigUpdated(); } catch (e) { console.warn('⚠️ onConfigUpdated handler threw:', e); }
-              });
-            }
-            res.writeHead(200, { 'Content-Type': 'application/json' });
-            res.end(JSON.stringify({ success: true }));
-          } catch (error: any) {
-            res.writeHead(400, { 'Content-Type': 'application/json' });
-            res.end(JSON.stringify({ error: error.message || 'Failed to save layout' }));
-          }
-        });
       } else if (url.pathname === '/api/state-csv' && req.method === 'GET') {
         // Raw state-machine CSV from the ACTIVE PROFILE. Read-only — no operator gate, matching
         // /api/config/export.

From 45c3f117f8cfa90fe7c5d02db21ac8419f2ff5fa Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 18:06:08 -0700
Subject: [PATCH 106/205] config editor: boards read as 'PT Board #2' rather
 than pt_board_2, disabled ones are hidden behind a toggle with a count, and
 the status dot is gone - it showed the config enabled flag in green, which
 reads as 'online' next to live telemetry and would stay green for an
 unplugged board; add editors for [fire], [abort_pts] and [[states]], which
 had no UI at all; lift the CSV grids off near-black and flip OPEN light
 against dark CLOSE so a 20-column table is scannable

---
 .../frontend/app/config/page.tsx              | 433 ++++++++++++++++--
 1 file changed, 401 insertions(+), 32 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index c6b07a1c8..1a30c1f04 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -64,6 +64,15 @@ interface ConfigData {
   sensor_roles_tc_board?: Record<string, number>;
   abort_pts?: Record<string, number>;
   adc?: { internal_v?: number; vdd_nominal_v?: number; absolute_5v_v?: number };
+  fire?: { state?: string; expiry_target?: string; duration_ms?: number; extended_ms?: number };
+  states?: Array<{
+    id?: number;
+    name?: string;
+    panel_row?: number;
+    panel_col?: number;
+    is_abort?: boolean;
+    is_boot?: boolean;
+  }>;
   actuator_roles?: Record<string, [string, number] | [string, number, number] | [string, number, string]>;
   actuator_abbrev?: Record<string, string>;
   actuator_service?: { port?: number; bind_address?: string };
@@ -226,6 +235,25 @@ const reconcileRows = (g: CsvGrid, keys: string[], fill: string): CsvGrid => ({
   }),
 });
 
+/**
+ * Friendly board name for display: "PT Board #2" rather than the raw `pt_board_2` config key.
+ * Numbered by position among boards of the same type, so it tracks what is actually configured
+ * instead of parsing digits out of the key. The key stays the identity everywhere else (it is what
+ * `sensor_roles_<key>` binds to), so it is kept in the tooltip.
+ */
+const BOARD_TYPE_LABEL: Record<string, string> = {
+  PT: 'PT', ACTUATOR: 'Actuator', LC: 'LC', TC: 'TC', RTD: 'RTD', ENCODER: 'Encoder',
+};
+
+const boardDisplayName = (boards: Record<string, any>, boardKey: string): string => {
+  const type = boards?.[boardKey]?.type;
+  if (typeof type !== 'string' || !type) return boardKey;
+  const sameType = Object.keys(boards).filter((k) => boards[k]?.type === type);
+  const ordinal = sameType.indexOf(boardKey) + 1;
+  const label = BOARD_TYPE_LABEL[type] ?? type;
+  return sameType.length > 1 ? `${label} Board #${ordinal}` : `${label} Board`;
+};
+
 export default function ConfigPage() {
   const [config, setConfig] = useState<ConfigData>(DEFAULT_CONFIG);
   const [loading, setLoading] = useState(true);
@@ -242,6 +270,9 @@ export default function ConfigPage() {
   // Boards start collapsed to a one-line summary — a stand has ~6 of them and
   // each expands to ~18 fields, which is a lot of scrolling to reach the last one.
   const [openBoards, setOpenBoards] = useState<Record<string, boolean>>({});
+  // Disabled boards are declared-but-not-running. Hidden by default so the list shows what the
+  // pipeline will actually talk to; the hidden count stays visible so nothing disappears silently.
+  const [showDisabledBoards, setShowDisabledBoards] = useState(false);
   const [showRunning, setShowRunning] = useState(false);
 
   const ws = getWebSocketClient();
@@ -577,6 +608,55 @@ export default function ConfigPage() {
     (csvDelays.states.length !== csvActuators.states.length ||
       csvDelays.rows.length !== csvActuators.rows.length));
 
+  // ── [[states]] editor ──────────────────────────────────────────────────────
+  const stateList = (config.states || []) as NonNullable<ConfigData['states']>;
+
+  const setState = (idx: number, patch: Record<string, unknown>) =>
+    setConfig((prev) => {
+      const list = [...((prev.states || []) as any[])];
+      list[idx] = { ...list[idx], ...patch };
+      // An empty coordinate means "not on the diagram" — drop the key rather than writing null,
+      // which is what the loaders treat as absent.
+      for (const k of ['panel_row', 'panel_col']) {
+        if (list[idx][k] === undefined || list[idx][k] === '' || Number.isNaN(list[idx][k])) delete list[idx][k];
+      }
+      if (!list[idx].is_abort) delete list[idx].is_abort;
+      if (!list[idx].is_boot) delete list[idx].is_boot;
+      return { ...prev, states: list } as ConfigData;
+    });
+
+  const addState = () => {
+    const used = new Set(stateList.map((s) => s.id));
+    // Never reuse an id: old Elodin run history stores the raw number with no name table beside
+    // it, so a recycled id silently relabels past runs. Always take the next free one.
+    let next = 0;
+    while (used.has(next)) next++;
+    setConfig((prev) => ({
+      ...prev,
+      states: [...((prev.states || []) as any[]), { id: next, name: `New State ${next}` }],
+    } as ConfigData));
+  };
+
+  const removeState = (idx: number) =>
+    setConfig((prev) => ({
+      ...prev,
+      states: ((prev.states || []) as any[]).filter((_, i) => i !== idx),
+    } as ConfigData));
+
+  /** Ids must be unique, and so should names — both are lookup keys. */
+  const stateIdDupes = stateList
+    .map((s) => s.id)
+    .filter((id, i, arr) => id !== undefined && arr.indexOf(id) !== i);
+  const stateNameDupes = stateList
+    .map((s) => s.name)
+    .filter((n, i, arr) => n !== undefined && arr.indexOf(n) !== i);
+  /** States named in the CSVs but absent from the list, and vice versa. */
+  const csvStateNames = csvActuators?.states ?? [];
+  const stateListNames = stateList.map((s) => s.name).filter(Boolean) as string[];
+  const stateCsvDiff = csvActuators
+    ? diffKeys(csvStateNames, stateListNames)
+    : { orphan: [], missing: [] };
+
   const setActuatorCell = (rowIdx: number, colIdx: number, value: string) =>
     setCsvActuators((g) => g && ({
       ...g,
@@ -914,8 +994,29 @@ export default function ConfigPage() {
                 pipeline (daq_bridge/calibration/controller) picks up routing/identity changes on the
                 next session start.
               </p>
+              {(() => {
+                const hidden = Object.values(config.boards || {})
+                  .filter((b: any) => b?.enabled === false).length;
+                return (
+                  <label className="flex items-center gap-2 mb-3 text-sm text-text-muted select-none w-fit">
+                    <input
+                      type="checkbox"
+                      checked={showDisabledBoards}
+                      onChange={(e) => setShowDisabledBoards(e.target.checked)}
+                      className="w-4 h-4"
+                    />
+                    Show boards that are not enabled
+                    {hidden > 0 && !showDisabledBoards && (
+                      <span className="text-xs">({hidden} hidden)</span>
+                    )}
+                  </label>
+                );
+              })()}
+
               <div className="space-y-3">
-                {Object.entries(config.boards || {}).map(([boardKey, board]) => {
+                {Object.entries(config.boards || {})
+                  .filter(([, board]) => showDisabledBoards || (board as any)?.enabled !== false)
+                  .map(([boardKey, board]) => {
                   const b = board as any;
                   const open = !!openBoards[boardKey];
                   const toggle = () => setOpenBoards((prev) => ({ ...prev, [boardKey]: !prev[boardKey] }));
@@ -958,11 +1059,17 @@ export default function ConfigPage() {
                       className={`flex flex-wrap items-center gap-x-3 gap-y-1 p-4 cursor-pointer select-none hover:bg-white/5 rounded-lg${open ? ' rounded-b-none' : ''}`}
                     >
                       <span className="text-text-muted w-3 shrink-0">{open ? '▾' : '▸'}</span>
-                      <span
-                        className={`w-2 h-2 rounded-full shrink-0 ${b.enabled ? 'bg-green-500' : 'bg-gray-600'}`}
-                        title={b.enabled ? 'Enabled' : 'Disabled'}
-                      />
-                      <h3 className="text-lg font-semibold font-mono">{boardKey}</h3>
+                      {/* No status dot here. `enabled` is a config declaration, not connectivity —
+                          a green dot would read as "online" on a page sitting next to live
+                          telemetry, and would stay green for an unplugged board. Disabled boards
+                          are dimmed and carry an explicit chip instead; the Boards page is where
+                          connection state belongs. */}
+                      <h3
+                        className={`text-lg font-semibold ${b.enabled ? '' : 'text-text-muted'}`}
+                        title={`config key: ${boardKey}`}
+                      >
+                        {boardDisplayName((config.boards || {}) as Record<string, any>, boardKey)}
+                      </h3>
                       <span className="px-2 py-0.5 text-xs rounded bg-gray-700 text-text-muted">{b.type ?? '—'}</span>
                       {isHp && (
                         <span className="px-2 py-0.5 text-xs rounded bg-sky-900/60 text-sky-300" title="High-pressure 4-20 mA current-loop PT board">HP</span>
@@ -972,7 +1079,14 @@ export default function ConfigPage() {
                           {b.board_id !== undefined && <span title="Board ID">ID {b.board_id}</span>}
                           {b.ip && <span title="IP : send port">{b.ip}{b.send_port !== undefined ? `:${b.send_port}` : ''}</span>}
                           {channels && <span title="Channel count">{channels}</span>}
-                          {!b.enabled && <span className="text-amber-300/90">disabled</span>}
+                          {!b.enabled && (
+                            <span
+                              className="px-2 py-0.5 text-xs rounded bg-gray-700 text-text-muted not-italic"
+                              title="Declared in config but not enabled — the pipeline ignores it. Says nothing about whether the hardware is connected."
+                            >
+                              not enabled
+                            </span>
+                          )}
                         </span>
                       )}
                     </div>
@@ -1589,6 +1703,235 @@ export default function ConfigPage() {
                 </p>
               </div>
 
+              {/* ── Fire ───────────────────────────────────────────────────────────── */}
+              <div className="space-y-3">
+                <h3 className="text-lg font-semibold">Fire</h3>
+                <p className="text-sm text-text-muted">
+                  Which state is the burn and where its timer lands when it expires. Both are state
+                  names, not positions, so renaming a state here is safe as long as both fields
+                  still name a state that exists.
+                </p>
+                {(() => {
+                  const names = stateList.map((x) => x.name).filter(Boolean) as string[];
+                  const fireState = config.fire?.state ?? '';
+                  const target = config.fire?.expiry_target ?? '';
+                  const unknownFire = !!fireState && names.length > 0 && !names.includes(fireState);
+                  const unknownTarget = !!target && names.length > 0 && !names.includes(target);
+                  // The fire state must be able to REACH its expiry target, or the timer expires
+                  // into a refused transition and the system sits in fire with a dead timer.
+                  let unreachable = false;
+                  if (csvTransitions && fireState && target) {
+                    const r = csvTransitions.rows.find((x) => x.key === fireState);
+                    const ci = csvTransitions.states.indexOf(target);
+                    if (r && ci >= 0) unreachable = (r.cells[ci] || '0').trim() !== '1';
+                  }
+                  return (
+                    <>
+                      {(unknownFire || unknownTarget || unreachable) && (
+                        <div className="p-3 bg-red-900/30 border border-red-500 rounded-lg text-red-200 text-sm space-y-1">
+                          {unknownFire && <p><strong>{fireState}</strong> is not a state in the list above.</p>}
+                          {unknownTarget && <p><strong>{target}</strong> is not a state in the list above.</p>}
+                          {unreachable && (
+                            <p>
+                              <strong>{fireState} → {target}</strong> is not an allowed transition. The fire timer
+                              would expire into a refused transition and the system would stay in fire. Tick that
+                              cell in Allowed transitions below.
+                            </p>
+                          )}
+                        </div>
+                      )}
+                      <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-4 gap-4">
+                        {renderField('Fire state', fireState,
+                          (v) => updateField('fire', 'state', v), 'select',
+                          names.length ? names : [fireState].filter(Boolean),
+                          'the state that starts the burn')}
+                        {renderField('Expires to', target,
+                          (v) => updateField('fire', 'expiry_target', v), 'select',
+                          names.length ? names : [target].filter(Boolean),
+                          'where the timer lands')}
+                        {renderField('Duration (ms)', config.fire?.duration_ms,
+                          (v) => updateField('fire', 'duration_ms', v), 'number')}
+                        {renderField('Extended (ms)', config.fire?.extended_ms,
+                          (v) => updateField('fire', 'extended_ms', v), 'number',
+                          undefined, 'window EXTEND FIRE restarts at')}
+                      </div>
+                    </>
+                  );
+                })()}
+              </div>
+
+              {/* ── Abort thresholds ────────────────────────────────────────────────── */}
+              <div className="space-y-3">
+                <h3 className="text-lg font-semibold">Abort pressure thresholds</h3>
+                <p className="text-sm text-text-muted">
+                  PSI limits broadcast to the boards, which abort autonomously when a sensor exceeds
+                  them — they do not depend on the server being alive. The name must match a sensor
+                  role exactly.
+                </p>
+                <div className="space-y-2">
+                  {Object.entries(config.abort_pts || {}).map(([role, psi], i) => (
+                    <div key={`abort:${i}`} className="flex items-center gap-3">
+                      <CommitOnBlurName
+                        value={role}
+                        siblings={Object.keys(config.abort_pts || {})}
+                        onRename={(next) => {
+                          const rebuilt: Record<string, any> = {};
+                          for (const [k, v] of Object.entries(config.abort_pts || {})) rebuilt[k === role ? next : k] = v;
+                          setConfig({ ...config, abort_pts: rebuilt } as ConfigData);
+                        }}
+                        onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
+                        className="flex-1 px-3 py-2 bg-gray-800 border border-gray-600 rounded text-white"
+                      />
+                      <CommitOnBlurNumber
+                        value={psi as number}
+                        onCommit={(v) => setConfig({ ...config, abort_pts: { ...(config.abort_pts || {}), [role]: v } } as ConfigData)}
+                        className="w-28 px-3 py-2 bg-gray-800 border border-gray-600 rounded text-white"
+                      />
+                      <span className="text-sm text-text-muted w-10">PSI</span>
+                      <button
+                        onClick={() => {
+                          const next = { ...(config.abort_pts || {}) };
+                          delete next[role];
+                          setConfig({ ...config, abort_pts: next } as ConfigData);
+                        }}
+                        disabled={!canEdit}
+                        className="px-3 py-2 bg-red-600 rounded hover:bg-red-700 disabled:opacity-50"
+                      >
+                        Remove
+                      </button>
+                    </div>
+                  ))}
+                  {Object.keys(config.abort_pts || {}).length === 0 && (
+                    <p className="text-sm text-amber-300/90">
+                      No abort thresholds configured — the boards will not abort on over-pressure by themselves.
+                    </p>
+                  )}
+                  <button
+                    onClick={() => setConfig({ ...config, abort_pts: { ...(config.abort_pts || {}), 'New Abort PT': 0 } } as ConfigData)}
+                    disabled={!canEdit}
+                    className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600 disabled:opacity-50"
+                  >
+                    + Add threshold
+                  </button>
+                </div>
+              </div>
+
+              {/* ── The state list itself ───────────────────────────────────────────── */}
+              <div className="space-y-3">
+                <div className="flex flex-wrap items-center gap-2">
+                  <h3 className="text-lg font-semibold mr-auto">States</h3>
+                  <button onClick={addState} disabled={!canEdit} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm disabled:opacity-50">
+                    + Add state
+                  </button>
+                </div>
+                <p className="text-sm text-text-muted">
+                  Names shown everywhere — logs, the diagram, and the column headers below. Row and
+                  column place the state on the state diagram; leave them blank to keep it off the
+                  diagram. Ids are a stable key: rename and reorder freely, but never reuse an id,
+                  because past runs store the raw number.
+                </p>
+
+                {(stateIdDupes.length > 0 || stateNameDupes.length > 0 || stateCsvDiff.orphan.length > 0 || stateCsvDiff.missing.length > 0) && (
+                  <div className="p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm space-y-1">
+                    {stateIdDupes.length > 0 && <p>Duplicate id(s): <strong>{stateIdDupes.join(', ')}</strong> — the later entry wins and the earlier state disappears.</p>}
+                    {stateNameDupes.length > 0 && <p>Duplicate name(s): <strong>{stateNameDupes.join(', ')}</strong> — CSV columns resolve by name, so one of them is unreachable.</p>}
+                    {stateCsvDiff.orphan.length > 0 && <p>In the tables below but not a state: <strong>{stateCsvDiff.orphan.join(', ')}</strong>.</p>}
+                    {stateCsvDiff.missing.length > 0 && <p>A state with no column in the tables below: <strong>{stateCsvDiff.missing.join(', ')}</strong> — entering it commands nothing.</p>}
+                  </div>
+                )}
+
+                <div className="overflow-x-auto rounded-lg border border-gray-600">
+                  <table className="text-sm w-full border-collapse">
+                    <thead>
+                      <tr className="bg-gray-700 text-white">
+                        <th className="px-3 py-2 text-left font-semibold w-20">ID</th>
+                        <th className="px-3 py-2 text-left font-semibold">Name</th>
+                        <th className="px-3 py-2 text-left font-semibold w-24">Row</th>
+                        <th className="px-3 py-2 text-left font-semibold w-24">Col</th>
+                        <th className="px-3 py-2 text-left font-semibold w-20">Boot</th>
+                        <th className="px-3 py-2 text-left font-semibold w-20">Abort</th>
+                        <th className="px-3 py-2 w-20" />
+                      </tr>
+                    </thead>
+                    <tbody>
+                      {stateList.map((st, i) => (
+                        <tr key={`state:${i}`} className={i % 2 ? 'bg-white/[0.04]' : ''}>
+                          <td className="px-3 py-1.5">
+                            <CommitOnBlurNumber
+                              value={st.id}
+                              onCommit={(v) => setState(i, { id: v })}
+                              className="w-16 px-2 py-1 bg-gray-800 border border-gray-600 rounded text-white"
+                            />
+                          </td>
+                          <td className="px-3 py-1.5">
+                            <input
+                              type="text"
+                              value={st.name ?? ''}
+                              onChange={(e) => setState(i, { name: e.target.value })}
+                              disabled={!canEdit}
+                              className="w-full px-2 py-1 bg-gray-800 border border-gray-600 rounded text-white disabled:opacity-60"
+                            />
+                          </td>
+                          <td className="px-3 py-1.5">
+                            <CommitOnBlurNumber
+                              value={st.panel_row}
+                              allowEmpty
+                              onCommit={(v) => setState(i, { panel_row: v })}
+                              className="w-16 px-2 py-1 bg-gray-800 border border-gray-600 rounded text-white"
+                            />
+                          </td>
+                          <td className="px-3 py-1.5">
+                            <CommitOnBlurNumber
+                              value={st.panel_col}
+                              allowEmpty
+                              onCommit={(v) => setState(i, { panel_col: v })}
+                              className="w-16 px-2 py-1 bg-gray-800 border border-gray-600 rounded text-white"
+                            />
+                          </td>
+                          <td className="px-3 py-1.5">
+                            <input
+                              type="checkbox"
+                              checked={st.is_boot === true}
+                              onChange={(e) => setState(i, { is_boot: e.target.checked })}
+                              disabled={!canEdit}
+                              title="The state the sequencer starts in"
+                              className="w-4 h-4 accent-blue-400"
+                            />
+                          </td>
+                          <td className="px-3 py-1.5">
+                            <input
+                              type="checkbox"
+                              checked={st.is_abort === true}
+                              onChange={(e) => setState(i, { is_abort: e.target.checked })}
+                              disabled={!canEdit}
+                              title="Triggers the physical abort broadcast, and skips actuator delays"
+                              className="w-4 h-4 accent-red-400"
+                            />
+                          </td>
+                          <td className="px-3 py-1.5 text-right">
+                            <button
+                              onClick={() => removeState(i)}
+                              disabled={!canEdit}
+                              className="px-2 py-1 bg-red-600 rounded hover:bg-red-700 text-xs disabled:opacity-50"
+                            >
+                              Remove
+                            </button>
+                          </td>
+                        </tr>
+                      ))}
+                      {stateList.length === 0 && (
+                        <tr><td colSpan={7} className="px-3 py-3 text-sm text-text-muted">
+                          No [[states]] declared — the built-in list is in use. Add one to start overriding it.
+                        </td></tr>
+                      )}
+                    </tbody>
+                  </table>
+                </div>
+                <p className="text-sm text-text-muted">
+                  States are saved with the rest of the config — use <strong>Save Config</strong> at the top.
+                </p>
+              </div>
+
               {csvLoading && <p className="text-sm text-text-muted">Loading…</p>}
               {!csvLoading && !csvActuators && (
                 <button onClick={loadStateCsvs} className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600">
@@ -1640,28 +1983,44 @@ export default function ConfigPage() {
                     </div>
                   )}
 
-                  <div className="overflow-x-auto border border-gray-800 rounded">
-                    <table className="text-sm min-w-max">
+                  <div className="overflow-x-auto rounded-lg border border-gray-600">
+                    <table className="text-sm min-w-max border-collapse">
                       <thead>
-                        <tr className="bg-background/60">
-                          <th className="sticky left-0 bg-background/95 px-3 py-2 text-left font-semibold">Actuator</th>
+                        {/* Header and row-key column are lifted well above the cell surface — at
+                            20 columns wide the grid is unreadable if everything sits at the same
+                            near-black level. */}
+                        <tr className="bg-gray-700 text-white">
+                          <th className="sticky left-0 z-10 bg-gray-700 px-3 py-2 text-left font-semibold border-r border-gray-500">
+                            Actuator
+                          </th>
                           {csvActuators.states.map((st) => (
-                            <th key={st} className="px-2 py-2 text-left font-semibold whitespace-nowrap">{st}</th>
+                            <th key={st} className="px-2 py-2 text-left font-semibold whitespace-nowrap border-l border-gray-600/60">{st}</th>
                           ))}
                         </tr>
                       </thead>
                       <tbody>
                         {csvActuators.rows.map((row, ri) => (
-                          <tr key={`act:${ri}`} className="border-t border-gray-800">
-                            <td className="sticky left-0 bg-card px-3 py-1.5 font-mono whitespace-nowrap">{row.key}</td>
+                          <tr key={`act:${ri}`} className={ri % 2 ? 'bg-white/[0.04]' : 'bg-transparent'}>
+                            <td className={`sticky left-0 z-10 px-3 py-1.5 font-mono whitespace-nowrap border-r border-gray-600 ${ri % 2 ? 'bg-[#232a36]' : 'bg-[#1d2430]'}`}>{row.key}</td>
                             {csvActuators.states.map((st, ci) => (
-                              <td key={`${ri}:${ci}`} className="px-2 py-1.5">
+                              <td key={`${ri}:${ci}`} className="px-2 py-1.5 border-l border-gray-700/50">
                                 <div className="flex items-center gap-1">
+                                  {/* Value-coloured: OPEN is the exception in most tables, so it
+                                      is the one that should catch the eye when scanning a state
+                                      column. CLOSE stays muted rather than shouting. */}
                                   <select
                                     value={(row.cells[ci] || 'CLOSE').toUpperCase()}
                                     onChange={(e) => setActuatorCell(ri, ci, e.target.value)}
                                     disabled={!canEdit}
-                                    className="px-2 py-1 bg-background border border-gray-700 rounded text-white disabled:opacity-50"
+                                    // OPEN is filled and light, CLOSE is dark and recessed. The
+                                    // difference has to survive being scanned across a 20-column
+                                    // grid at a glance, so it is a light/dark flip rather than two
+                                    // similar dark tints.
+                                    className={`px-2 py-1 rounded border disabled:opacity-60 ${
+                                      (row.cells[ci] || 'CLOSE').toUpperCase() === 'OPEN'
+                                        ? 'bg-slate-200 border-slate-100 text-slate-900 font-bold'
+                                        : 'bg-slate-900 border-slate-700 text-slate-500 font-normal'
+                                    }`}
                                   >
                                     <option value="CLOSE">CLOSE</option>
                                     <option value="OPEN">OPEN</option>
@@ -1673,7 +2032,7 @@ export default function ConfigPage() {
                                       onChange={(e) => setDelayCell(row.key, ci, e.target.value)}
                                       disabled={!canEdit}
                                       title="Delay in seconds after the transition before this actuator moves"
-                                      className="w-14 px-1 py-1 bg-background border border-gray-700 rounded text-white text-xs disabled:opacity-50"
+                                      className="w-14 px-1 py-1 bg-gray-800 border border-gray-600 rounded text-white text-xs disabled:opacity-60"
                                     />
                                   )}
                                 </div>
@@ -1685,9 +2044,11 @@ export default function ConfigPage() {
                     </table>
                   </div>
                   {showDelays && (
-                    <p className="text-sm text-amber-300/90">
-                      Delays are seconds after the transition before that actuator moves. Not yet
-                      honoured by the sequencer — <code>applyForState</code> sends every command at once.
+                    <p className="text-sm text-text-muted">
+                      Seconds after the transition before that actuator moves. 0 (or blank) is
+                      immediate. Delays run on a state change only — the sequencer&apos;s 1 Hz
+                      republish holds a delayed actuator at its previous position until its delay
+                      elapses, and abort states ignore delays entirely.
                     </p>
                   )}
                 </div>
@@ -1720,31 +2081,39 @@ export default function ConfigPage() {
                   )}
 
                   <p className="text-sm text-text-muted">Row = state you are in, column = state you may go to.</p>
-                  <div className="overflow-x-auto border border-gray-800 rounded">
-                    <table className="text-sm min-w-max">
+                  <div className="overflow-x-auto rounded-lg border border-gray-600">
+                    <table className="text-sm min-w-max border-collapse">
                       <thead>
-                        <tr className="bg-background/60">
-                          <th className="sticky left-0 bg-background/95 px-3 py-2 text-left font-semibold">From \ To</th>
+                        <tr className="bg-gray-700 text-white">
+                          <th className="sticky left-0 z-10 bg-gray-700 px-3 py-2 text-left font-semibold border-r border-gray-500">From \ To</th>
                           {csvTransitions.states.map((st) => (
-                            <th key={st} className="px-2 py-2 text-left font-semibold whitespace-nowrap">{st}</th>
+                            <th key={st} className="px-2 py-2 text-left font-semibold whitespace-nowrap border-l border-gray-600/60">{st}</th>
                           ))}
                         </tr>
                       </thead>
                       <tbody>
                         {csvTransitions.rows.map((row, ri) => (
-                          <tr key={`tr:${ri}`} className="border-t border-gray-800">
-                            <td className="sticky left-0 bg-card px-3 py-1.5 font-mono whitespace-nowrap">{row.key}</td>
-                            {csvTransitions.states.map((st, ci) => (
-                              <td key={`${ri}:${ci}`} className="px-2 py-1.5 text-center">
+                          <tr key={`tr:${ri}`} className={ri % 2 ? 'bg-white/[0.04]' : 'bg-transparent'}>
+                            <td className={`sticky left-0 z-10 px-3 py-1.5 font-mono whitespace-nowrap border-r border-gray-600 ${ri % 2 ? 'bg-[#232a36]' : 'bg-[#1d2430]'}`}>{row.key}</td>
+                            {csvTransitions.states.map((st, ci) => {
+                              const on = (row.cells[ci] || '0').trim() === '1';
+                              return (
+                              // Allowed cells are tinted, not just ticked: a 20x20 matrix of bare
+                              // checkboxes is very hard to read a row or column out of.
+                              <td
+                                key={`${ri}:${ci}`}
+                                className={`px-2 py-1.5 text-center border-l border-gray-700/50 ${on ? 'bg-blue-500/25' : ''}`}
+                              >
                                 <input
                                   type="checkbox"
-                                  checked={(row.cells[ci] || '0').trim() === '1'}
+                                  checked={on}
                                   onChange={(e) => setTransitionCell(ri, ci, e.target.checked)}
                                   disabled={!canEdit}
-                                  className="w-4 h-4 disabled:opacity-50"
+                                  className="w-4 h-4 accent-blue-400 disabled:opacity-60"
                                 />
                               </td>
-                            ))}
+                              );
+                            })}
                           </tr>
                         ))}
                       </tbody>

From cdc0745f057810124d54361e7977d8d12697ea9b Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 18:06:13 -0700
Subject: [PATCH 107/205] drop Debug from the state list: it was a state in
 name only - no column in either CSV so no actuator positions and no
 transitions, nothing ever transitioned to it, and the GUI's debug control
 maps to Idle; the real mechanism is the sequencer's debug_mode_ flag, and the
 C++ enumerator stays so historic run data still decodes

---
 daq-server/config/config_base.toml              |  3 ---
 daq-server/config/profiles/default/config.toml  |  3 ---
 daq-server/diablo_server/frontend/lib/states.ts | 11 +++++++++--
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 977f73f74..50b630bea 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -533,9 +533,6 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 #                          the top bar instead).
 # (which state fires, and where its timer lands, live in [fire] above)
 
-[[states]]
-id = 0
-name = "Debug"
 
 [[states]]
 id = 1
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index 977f73f74..50b630bea 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -533,9 +533,6 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 #                          the top bar instead).
 # (which state fires, and where its timer lands, live in [fire] above)
 
-[[states]]
-id = 0
-name = "Debug"
 
 [[states]]
 id = 1
diff --git a/daq-server/diablo_server/frontend/lib/states.ts b/daq-server/diablo_server/frontend/lib/states.ts
index 836d7b954..15cccede5 100644
--- a/daq-server/diablo_server/frontend/lib/states.ts
+++ b/daq-server/diablo_server/frontend/lib/states.ts
@@ -25,9 +25,16 @@ export interface StateDef {
   panelCol: number | null;
 }
 
-/** Complete built-in list, matching the C++ enum and config defaults. */
+/**
+ * Complete built-in list, matching the config defaults.
+ *
+ * Id 0 (Debug) is deliberately absent. It was a state in name only: no column in either CSV, so it
+ * had no actuator positions and no transitions, and nothing ever transitioned to it — the GUI's
+ * debug control maps to Idle (server.ts STATE_TO_CSV_NAME). The real mechanism is the sequencer's
+ * `debug_mode_` flag, which bypasses transition validation and enables manual actuator commands.
+ * The C++ enumerator still exists so historic run data decodes, but it is not offered as a state.
+ */
 const BUILT_IN: StateDef[] = [
-  { id: 0, name: 'Debug', isAbort: false, isBoot: false , panelRow: null, panelCol: null },
   { id: 1, name: 'Idle', isAbort: false, isBoot: true , panelRow: 0, panelCol: 0 },
   { id: 2, name: 'Armed', isAbort: false, isBoot: false , panelRow: 1, panelCol: 0 },
   { id: 3, name: 'Fuel Fill', isAbort: false, isBoot: false , panelRow: 1, panelCol: 1 },

From fcedff568434812fb1d2bc34ed9e3abec1985fea Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 18:28:23 -0700
Subject: [PATCH 108/205] the C++ services could not find the state CSVs on a
 fresh checkout: moving them into config/profiles/<name>/ made the deployed
 config/*.csv generated artifacts, and those are gitignored, so a clone that
 has never deployed a profile has none - fall back to the owning profile the
 way readConfig() already does for config.toml; also clang-format

---
 .../lib/include/control/ActuatorCommander.hpp |  2 +-
 .../lib/include/control/SequencerService.hpp  |  1 -
 .../lib/include/control/StateMachine.hpp      |  3 +-
 .../lib/test/test_actuator_delays.cpp         |  7 ++--
 .../lib/test/test_fire_lifecycle.cpp          | 32 +++++++++++--------
 .../services/calibration/calibration_main.cpp |  3 +-
 .../services/controller/controller_main.cpp   |  2 +-
 .../services/sequencer/ActuatorCommander.cpp  | 26 +++++++++------
 .../services/sequencer/FireManager.cpp        |  1 -
 .../services/sequencer/SequencerService.cpp   | 10 +++---
 .../services/sequencer/StateMachine.cpp       | 19 +++++++----
 11 files changed, 64 insertions(+), 42 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
index 1d28ce5b6..6d5f4a465 100644
--- a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
+++ b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
@@ -2,8 +2,8 @@
 
 #include <atomic>
 #include <map>
-#include <set>
 #include <mutex>
+#include <set>
 #include <string>
 #include <thread>
 #include <vector>
diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index 335f8c257..41038f525 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -90,7 +90,6 @@ class SequencerService {
     std::string config_path_;
     std::string config_content_;
 
-
     // Elodin connection retry. sensor-actuator.service is started alongside sensor-elodin, so the
     // first connect can lose the race by milliseconds; without this the service runs forever with
     // no db and every valve reads "undefined".
diff --git a/daq-server/diablo_server/lib/include/control/StateMachine.hpp b/daq-server/diablo_server/lib/include/control/StateMachine.hpp
index 4e0562d6f..b7700075a 100644
--- a/daq-server/diablo_server/lib/include/control/StateMachine.hpp
+++ b/daq-server/diablo_server/lib/include/control/StateMachine.hpp
@@ -84,7 +84,8 @@ class StateMachine {
      */
     static void loadStatesFromConfig(const std::string& config_content);
 
-    /** True if the state carries the abort semantics (config `is_abort`, else the built-in trio). */
+    /** True if the state carries the abort semantics (config `is_abort`, else the built-in trio).
+     */
     static bool isAbort(State s);
 
     /** The state to boot into (config `is_boot`, else Idle). */
diff --git a/daq-server/diablo_server/lib/test/test_actuator_delays.cpp b/daq-server/diablo_server/lib/test/test_actuator_delays.cpp
index e06a72a82..587a48ffe 100644
--- a/daq-server/diablo_server/lib/test/test_actuator_delays.cpp
+++ b/daq-server/diablo_server/lib/test/test_actuator_delays.cpp
@@ -59,7 +59,8 @@ struct Burst {
 /** Collects UDP actuator packets, folding the 3x retransmit of one batch into a single burst. */
 class BoardListener {
 public:
-    explicit BoardListener(uint16_t port) : port_(port) {}
+    explicit BoardListener(uint16_t port) : port_(port) {
+    }
 
     bool start() {
         sock_ = socket(AF_INET, SOCK_DGRAM, 0);
@@ -80,7 +81,9 @@ class BoardListener {
         setsockopt(sock_, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
         running_ = true;
         t0_ = Clock::now();
-        thread_ = std::thread([this]() { run(); });
+        thread_ = std::thread([this]() {
+            run();
+        });
         return true;
     }
 
diff --git a/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp b/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
index f6c700e10..bd60bb260 100644
--- a/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
+++ b/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
@@ -25,12 +25,11 @@
 #include <fstream>
 #include <iostream>
 #include <mutex>
+#include <set>
 #include <string>
 #include <thread>
 #include <vector>
 
-#include <set>
-
 #include "DiabloPacketUtils.h"
 #include "control/ActuatorCommander.hpp"
 #include "control/FireManager.hpp"
@@ -66,15 +65,15 @@ int main() {
         const auto t0 = Clock::now();
         fm.setNotifier([&](bool active) {
             std::lock_guard<std::mutex> lk(m);
-            notices.emplace_back(active, std::chrono::duration_cast<std::chrono::milliseconds>(
-                                             Clock::now() - t0)
-                                             .count());
+            notices.emplace_back(
+                active,
+                std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0).count());
         });
 
         std::atomic<long long> expired_at{-1};
         fm.start([&]() {
-            expired_at = std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0)
-                             .count();
+            expired_at =
+                std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0).count();
         });
         std::this_thread::sleep_for(std::chrono::milliseconds(kDuration + 400));
 
@@ -98,13 +97,14 @@ int main() {
         const uint32_t kDuration = 500;
         const uint32_t kExtended = 1200;
         FireManager fm(kDuration, kExtended);
-        fm.setNotifier([](bool) {});
+        fm.setNotifier([](bool) {
+        });
 
         const auto t0 = Clock::now();
         std::atomic<long long> expired_at{-1};
         fm.start([&]() {
-            expired_at = std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0)
-                             .count();
+            expired_at =
+                std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0).count();
         });
         std::this_thread::sleep_for(std::chrono::milliseconds(300));  // inside the original window
         fm.extend();
@@ -125,8 +125,12 @@ int main() {
         FireManager fm(600, 1200);
         std::atomic<int> notify_count{0};
         std::atomic<bool> expired{false};
-        fm.setNotifier([&](bool) { notify_count++; });
-        fm.start([&]() { expired = true; });
+        fm.setNotifier([&](bool) {
+            notify_count++;
+        });
+        fm.start([&]() {
+            expired = true;
+        });
         std::this_thread::sleep_for(std::chrono::milliseconds(150));
         fm.stop();  // leaving the fire state early
         std::this_thread::sleep_for(std::chrono::milliseconds(800));
@@ -149,7 +153,6 @@ int main() {
               "stateId() reports unknown rather than guessing an id");
     }
 
-
     // ── 5. The system STAYS in fire for the whole window, then transitions once ───────────────
     {
         // Sampling the reported state across the burn: it must remain the fire state throughout
@@ -157,7 +160,8 @@ int main() {
         // twice both show up here.
         const uint32_t kDuration = 800;
         FireManager fm(kDuration, 2000);
-        fm.setNotifier([](bool) {});
+        fm.setNotifier([](bool) {
+        });
 
         std::atomic<bool> in_fire{true};
         std::atomic<int> expiries{0};
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 37e1ba51c..1d87d4a8b 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -584,7 +584,8 @@ int main(int argc, char* argv[]) {
             // were read only from a section literally named "pt_board_2" — so an HP board with any
             // other key silently lost supply normalization, the cause of the PT2 spiking class of
             // bug. Config, not the section name, decides which board is HP.
-            std::map<std::string, double> sec_adc_ref, sec_full_scale, sec_sense_ohms, sec_exc_atten;
+            std::map<std::string, double> sec_adc_ref, sec_full_scale, sec_sense_ohms,
+                sec_exc_atten;
             std::map<std::string, int> sec_exc_conn;
             while (std::getline(cfg2, line)) {
                 size_t c = line.find('#');
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index 89574fae5..17b7dc329 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -31,8 +31,8 @@
 #include <thread>
 
 #include "control/ControllerService.hpp"
-#include "control/StateMachine.hpp"
 #include "control/RobustDDPController.hpp"
+#include "control/StateMachine.hpp"
 
 // ── Simple TOML value parser (no library dependency) ───────────────────
 static std::string trim(const std::string& s) {
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index cdbc9b47a..d7772c7c1 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -200,10 +200,17 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
               << std::endl;
 
     // -- State→actuator CSV -- canonical source: daq-server/config/.
+        // The deployed config/*.csv are generated artifacts (gitignored), written when a profile
+        // is deployed. On a fresh checkout — CI, or a clone that has never started the backend —
+        // they do not exist yet, so fall back to the profile that owns them. Mirrors what
+        // readConfig() does for config.toml on the TypeScript side.
     const char* fallbacks[] = {
         "config/state_machine_actuators.csv",
         "../config/state_machine_actuators.csv",
         "../../config/state_machine_actuators.csv",
+        "config/profiles/default/state_machine_actuators.csv",
+        "../config/profiles/default/state_machine_actuators.csv",
+        "../../config/profiles/default/state_machine_actuators.csv",
     };
 
     std::ifstream f(csv_path);
@@ -371,11 +378,11 @@ bool ActuatorCommander::sendBatch(
     std::vector<Outgoing> outgoing;
     outgoing.reserve(by_board.size());
 
-    const uint32_t ts_ms = static_cast<uint32_t>(
-        std::chrono::duration_cast<std::chrono::milliseconds>(
-            std::chrono::steady_clock::now().time_since_epoch())
-            .count() &
-        0xFFFFFFFFu);
+    const uint32_t ts_ms =
+        static_cast<uint32_t>(std::chrono::duration_cast<std::chrono::milliseconds>(
+                                  std::chrono::steady_clock::now().time_since_epoch())
+                                  .count() &
+                              0xFFFFFFFFu);
 
     for (const auto& [board_ip, id_state_pairs] : by_board) {
         if (id_state_pairs.empty())
@@ -420,9 +427,9 @@ bool ActuatorCommander::sendBatch(
     bool all_ok = true;
     for (int round = 0; round < 3; ++round) {
         for (const auto& o : outgoing) {
-            ssize_t sent = sendto(sock, o.buf.data(), o.buf.size(), 0,
-                                  reinterpret_cast<const struct sockaddr*>(&o.dest),
-                                  sizeof(o.dest));
+            ssize_t sent =
+                sendto(sock, o.buf.data(), o.buf.size(), 0,
+                       reinterpret_cast<const struct sockaddr*>(&o.dest), sizeof(o.dest));
             if (sent != static_cast<ssize_t>(o.buf.size()))
                 all_ok = false;
         }
@@ -527,7 +534,8 @@ void ActuatorCommander::applyForState(State state, bool is_transition) {
                 std::cout << " (+" << delay_s << "s)";
             std::cout << std::endl;
         } else {
-            std::cerr << "[ActuatorCommander] UDP send failed for state " << state_name << std::endl;
+            std::cerr << "[ActuatorCommander] UDP send failed for state " << state_name
+                      << std::endl;
         }
         for (const auto& [ch, pos] : logical)
             publishCommandedState(ch, pos);
diff --git a/daq-server/diablo_server/services/sequencer/FireManager.cpp b/daq-server/diablo_server/services/sequencer/FireManager.cpp
index 1d50bfafd..40ae2a807 100644
--- a/daq-server/diablo_server/services/sequencer/FireManager.cpp
+++ b/daq-server/diablo_server/services/sequencer/FireManager.cpp
@@ -1,6 +1,5 @@
 #include "control/FireManager.hpp"
 
-
 #include <chrono>
 #include <iostream>
 
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 290920b2f..7eae35831 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -1,4 +1,5 @@
 #include "control/SequencerService.hpp"
+
 #include <arpa/inet.h>
 #include <netinet/in.h>
 #include <sys/socket.h>
@@ -312,7 +313,9 @@ bool SequencerService::init(const std::string& config_path) {
     }
     controller_host_ = ctrl_host;
     controller_port_ = ctrl_port;
-    fire_manager_.setNotifier([this](bool active) { notifyControllerFire(active); });
+    fire_manager_.setNotifier([this](bool active) {
+        notifyControllerFire(active);
+    });
 
     // Elodin — connection is best-effort; service runs without it
     const std::string elodin_host = "127.0.0.1";
@@ -527,8 +530,8 @@ void SequencerService::notifyControllerFire(bool active) {
                   << std::endl;
     } else {
         std::cerr << "[SequencerService] could not reach controller_service at " << controller_host_
-                  << ":" << controller_port_ << " for "
-                  << (active ? "FIRE_START" : "FIRE_STOP") << std::endl;
+                  << ":" << controller_port_ << " for " << (active ? "FIRE_START" : "FIRE_STOP")
+                  << std::endl;
     }
     close(sock);
 }
@@ -593,5 +596,4 @@ void SequencerService::stopElodinRetry() {
         elodin_retry_thread_.join();
 }
 
-
 }  // namespace sequencer
diff --git a/daq-server/diablo_server/services/sequencer/StateMachine.cpp b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
index ccfe7cd71..af118e728 100644
--- a/daq-server/diablo_server/services/sequencer/StateMachine.cpp
+++ b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
@@ -1,12 +1,12 @@
 #include "control/StateMachine.hpp"
-#include <string>
-#include <map>
-#include <set>
 
 #include <algorithm>
 #include <fstream>
 #include <iostream>
+#include <map>
+#include <set>
 #include <sstream>
+#include <string>
 
 namespace sequencer {
 
@@ -52,8 +52,8 @@ const std::map<std::string, State>& StateMachine::csvStateMap() {
 namespace {
 
 struct ConfigStates {
-    std::map<State, std::string> names;       // id → display name
-    std::map<std::string, State> by_name;     // display name → id
+    std::map<State, std::string> names;    // id → display name
+    std::map<std::string, State> by_name;  // display name → id
     std::set<State> aborts;
     State boot = State::IDLE;
     bool boot_set = false;
@@ -149,8 +149,8 @@ void StateMachine::loadStatesFromConfig(const std::string& config_content) {
     configStates() = fresh;
     if (fresh.loaded)
         std::cout << "[StateMachine] Loaded " << fresh.names.size() << " state(s) from config"
-                  << (fresh.aborts.empty() ? "" : " (" + std::to_string(fresh.aborts.size()) +
-                                                      " abort)")
+                  << (fresh.aborts.empty() ? ""
+                                           : " (" + std::to_string(fresh.aborts.size()) + " abort)")
                   << std::endl;
 }
 
@@ -264,6 +264,11 @@ bool StateMachine::load(const std::string& csv_path) {
         "config/state_transitions.csv",
         "../config/state_transitions.csv",
         "../../config/state_transitions.csv",
+        // Generated config/*.csv are absent on a fresh checkout (they are gitignored deploy
+        // output); fall back to the profile that owns them.
+        "config/profiles/default/state_transitions.csv",
+        "../config/profiles/default/state_transitions.csv",
+        "../../config/profiles/default/state_transitions.csv",
     };
 
     std::ifstream f(csv_path);

From 7a1ec69b2c3991c12cf28e6fc7852f7f67eb10c8 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 18:33:20 -0700
Subject: [PATCH 109/205] clang-format the comment I added to ActuatorCommander
 after the last format pass

---
 .../services/sequencer/ActuatorCommander.cpp              | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index d7772c7c1..c50e004a6 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -200,10 +200,10 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
               << std::endl;
 
     // -- State→actuator CSV -- canonical source: daq-server/config/.
-        // The deployed config/*.csv are generated artifacts (gitignored), written when a profile
-        // is deployed. On a fresh checkout — CI, or a clone that has never started the backend —
-        // they do not exist yet, so fall back to the profile that owns them. Mirrors what
-        // readConfig() does for config.toml on the TypeScript side.
+    // The deployed config/*.csv are generated artifacts (gitignored), written when a profile
+    // is deployed. On a fresh checkout — CI, or a clone that has never started the backend —
+    // they do not exist yet, so fall back to the profile that owns them. Mirrors what
+    // readConfig() does for config.toml on the TypeScript side.
     const char* fallbacks[] = {
         "config/state_machine_actuators.csv",
         "../config/state_machine_actuators.csv",

From 8c30afa41b16a7ad85c3c3c63109929cd8576532 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 18:41:24 -0700
Subject: [PATCH 110/205] track the two rig config profiles, back-populated
 with this branch's new fields
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The test-stand's own configs have lived untracked on the server box since profiles
were introduced, so every branch switch risked losing them and nothing recorded what
the rig actually runs. Commit them as profile directories (config.toml + the three
state-machine CSVs each profile now owns) so a fresh checkout deploys a real rig.

Back-populated from profiles/default what this branch added and neither rig had:

  [[states]]     the 20-state list with panel_row/panel_col — without it the GUI falls
                 back to the built-in table and the state diagram has no positions
  [fire]         state = "Fire", expiry_target = "Armed", replacing the literal 16 and
                 the stringified State::ARMED the sequencer used to rely on
  [logs]         backend_udp_port = 8092, matching daq_bridge's compiled-in default
  [gui.groups]   explicit sensor→page membership, filtered per rig to roles that exist
                 (digital-twin has no chamber PTs and one fuel PT, so no Chamber group)
  [[gui.pressure_bars]]  server had none, so its top bar rendered no gauges; copied
                 verbatim from default, whose sensor roles server matches exactly

[fire] deliberately carries no duration_ms/extended_ms: SequencerService prefers those
over [controller_service].fire_duration_ms/fire_extended_ms, which is where the Config
tab edits them, so setting them here would silently deaden the GUI field. Both rigs
already hold 6000/10000 there — the same numbers, still editable.

Hardware-specific keys are untouched: board addresses, calibration, per-rig sensor and
actuator roles, routing, daq_bridge. digital-twin keeps its own three pressure bars.
---
 .../config/profiles/digital-twin/config.toml  | 713 ++++++++++++++++
 .../state_machine_actuator_delays.csv         |  17 +
 .../digital-twin/state_machine_actuators.csv  |  17 +
 .../digital-twin/state_transitions.csv        |  21 +
 daq-server/config/profiles/server/config.toml | 773 ++++++++++++++++++
 .../server/state_machine_actuator_delays.csv  |  17 +
 .../server/state_machine_actuators.csv        |  17 +
 .../profiles/server/state_transitions.csv     |  21 +
 8 files changed, 1596 insertions(+)
 create mode 100644 daq-server/config/profiles/digital-twin/config.toml
 create mode 100644 daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
 create mode 100644 daq-server/config/profiles/digital-twin/state_machine_actuators.csv
 create mode 100644 daq-server/config/profiles/digital-twin/state_transitions.csv
 create mode 100644 daq-server/config/profiles/server/config.toml
 create mode 100644 daq-server/config/profiles/server/state_machine_actuator_delays.csv
 create mode 100644 daq-server/config/profiles/server/state_machine_actuators.csv
 create mode 100644 daq-server/config/profiles/server/state_transitions.csv

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
new file mode 100644
index 000000000..e00568b47
--- /dev/null
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -0,0 +1,713 @@
+[system]
+mode = "GROUND"
+state = "GSE"
+
+[network]
+bind_ip = "0.0.0.0"
+sensor_port = 5006
+actuator_cmd_port = 5005
+buffer_size = 1024
+
+[server_heartbeat]
+interval_ms = 200
+broadcast_port = 5005
+broadcast_ip = "192.168.2.255"
+
+[heartbeat_service]
+enabled = true
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 200
+broadcast_ip = "192.168.2.255"
+broadcast_port = 5005
+
+[config_broadcast_service]
+enabled = true
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 1000
+
+[data_logger_service]
+enabled = true
+ws_url = "ws://127.0.0.1:8081"
+
+[database]
+host = "127.0.0.1"
+port = 2240
+auto_flush_interval_ms = 100
+max_buffer_size = 4096
+connection_retry_attempts = 3
+connection_retry_delay_ms = 1000
+
+[gui]
+downsample_mode = "envelope"
+points_per_second = 20
+tabs = [ "unified", "boards", "config", "session" ]
+
+  [[gui.pressure_bars]]
+  label = "asdf"
+  role = "Fuel Fill Vent"
+  limits = ""
+  color = "#888888"
+
+  [[gui.pressure_bars]]
+  label = "NEW"
+  role = "Fuel Upstream"
+  limits = "Fuel_Upstream"
+  color = "#888888"
+
+  [[gui.pressure_bars]]
+  label = "NEW"
+  role = ""
+  limits = ""
+  color = "#888888"
+
+# Explicit sensor→page membership (replaces role-name substring parsing in the plot pages).
+# Group name → ordered list of sensor role names; array order = display order on that page.
+# Roles must match the [sensor_roles_*] names. Sensors only for now.
+[gui.groups]
+LOX = [ "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
+Fuel = [ "Fuel Upstream" ]
+
+[time_sync]
+mode = "board-clock"
+window_seconds = 10
+max_plausible_gap_s = 60
+max_batch_age_s = 5
+resync_threshold_ms = 1000
+log_interval_s = 10
+
+[adc]
+internal_v = 2.5
+vdd_nominal_v = 5
+absolute_5v_v = 5
+
+[discovery]
+enabled = true
+network_interface = "auto"
+mode = "hybrid"
+subnet = "192.168.2.0/24"
+ip_range_start = 100
+ip_range_end = 150
+discovery_timeout_seconds = 30
+
+[boards.pt_board]
+type = "PT"
+ip = "192.168.2.21"
+send_port = 5005
+num_sensors = 10
+board_id = 21
+enabled = true
+enable_serial_printing = false
+voltage_reference = 1
+necessary_for_abort = true
+designated_survivor = false
+active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
+
+[boards.pt_board_2]
+type = "PT"
+ip = "192.168.2.22"
+send_port = 5005
+num_sensors = 10
+board_id = 22
+enabled = true
+enable_serial_printing = true
+voltage_reference = 0
+adc_ref_voltage = 2.5
+active_connectors = [ 1, 2, 3, 4 ]
+hp_pt_connectors = [ 1, 3, 4 ]
+excitation_connector_id = 2
+hp_pt_full_scale_psi = 5000
+hp_pt_sense_resistor_ohms = 120
+excitation_divider_attenuation = 0.0762
+
+[boards.actuator_board]
+type = "ACTUATOR"
+ip = "192.168.2.11"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 11
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_2]
+type = "ACTUATOR"
+ip = "192.168.2.12"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 12
+enabled = true
+enable_serial_printing = true
+designated_survivor = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_3]
+type = "ACTUATOR"
+ip = "192.168.2.13"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 13
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_4]
+type = "ACTUATOR"
+ip = "192.168.2.14"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 14
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.lc_board]
+type = "LC"
+ip = "192.168.2.41"
+send_port = 5005
+num_sensors = 4
+board_id = 41
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 1
+active_connectors = [ 1, 2, 3 ]
+
+[boards.lc_board_2]
+type = "LC"
+ip = "192.168.2.42"
+send_port = 5005
+num_sensors = 4
+board_id = 42
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 1, 2, 6 ]
+
+[boards.tc_board]
+type = "TC"
+ip = "192.168.2.51"
+send_port = 5005
+num_sensors = 10
+board_id = 51
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 2, 3, 4, 5 ]
+
+[boards.tc_board_2]
+type = "TC"
+ip = "192.168.2.52"
+send_port = 5005
+num_sensors = 10
+board_id = 52
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ ]
+
+[boards.rtd_board]
+type = "RTD"
+ip = "192.168.2.31"
+send_port = 5005
+num_sensors = 4
+board_id = 31
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 1, 2, 3, 4 ]
+
+[boards.rtd_board_2]
+type = "RTD"
+ip = "192.168.2.32"
+send_port = 5005
+num_sensors = 4
+board_id = 32
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ ]
+
+[boards.encoder_board]
+type = "ENCODER"
+ip = "192.168.2.61"
+send_port = 5005
+listen_port = 5005
+num_sensors = 2
+board_id = 61
+enabled = true
+enable_serial_printing = false
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 1
+active_connectors = [ 1, 2 ]
+
+[sim_pt_targets]
+1 = 500
+2 = 450
+3 = 480
+4 = 400
+5 = 500
+6 = 4000
+7 = 480
+8 = 400
+9 = 380
+10 = 380
+11 = 3500
+12 = 24
+13 = 1000
+14 = 4000
+
+[sensor_roles_pt_board]
+"Fuel Fill Vent" = 1
+"Fuel Upstream" = 2
+"Dome CTRL" = 3
+
+[abort_pts]
+"Fuel Upstream" = 400
+"Ox Upstream" = 400
+
+[sensor_roles_rtd_board]
+"COPV RTD" = 1
+"LOX Upper" = 2
+"LOX Mid" = 3
+"LOX Lower" = 4
+
+[sensor_roles_tc_board]
+"Chamber Mid TC 1" = 2
+"Chamber Mid TC 2" = 3
+"Chamber Throat TC 1" = 4
+"Chamber Throat TC 2" = 5
+
+[sensor_roles_pt_board_2]
+"GN2 High" = 1
+"Excitation V" = 2
+"Dome Mid" = 3
+"High Press" = 4
+
+[sensor_roles_encoder_board]
+"Encoder 1" = 1
+"Encoder 2" = 2
+
+[actuator_abbrev]
+FV = "Fuel Vent"
+OV = "LOX Vent"
+FP = "Fuel Press"
+OP = "LOX Press"
+FM = "Fuel Main"
+OM = "LOX Main"
+FF = "Fuel Fill"
+
+[actuator_service]
+port = 9998
+bind_address = "0.0.0.0"
+
+[controller_service]
+port = 9999
+fire_duration_ms = 6000
+fire_extended_ms = 10000
+
+[routing.pt_raw]
+packet_id = [ 32, 0 ]
+channels = 14
+description = "Raw PT ADC counts — 0x01..0x0E (board1: 1-7, board2+offset10: 11-14)"
+
+[routing.pt_calibrated]
+packet_id = [ 32, 16 ]
+channels = 30
+description = "Calibrated PT pressure (PSI) — 0x11..0x1E (board1: 0x11-0x17, board2: 0x1B-0x1E)"
+
+[routing.tc_raw]
+packet_id = [ 33, 0 ]
+channels = 20
+description = "Raw TC ADC counts"
+
+[routing.rtd_raw]
+packet_id = [ 34, 0 ]
+channels = 20
+description = "Raw RTD resistance counts"
+
+[routing.lc_raw]
+packet_id = [ 35, 0 ]
+channels = 20
+description = "Raw LC ADC counts"
+
+[routing.lc_calibrated]
+packet_id = [ 35, 16 ]
+channels = 20
+description = "Calibrated LC force"
+
+[routing.actuator_status]
+packet_id = [ 48, 0 ]
+channels = 20
+description = "Actuator current sense readings"
+
+[routing.actuator_cal]
+packet_id = [ 49, 0 ]
+channels = 20
+description = "Calibrated actuator current (amps) from calibration_service"
+
+[routing.encoder_raw]
+packet_id = [ 36, 0 ]
+channels = 2
+description = "Raw encoder angle (0-4095) — AS5600 12-bit"
+
+[daq_bridge]
+publish = [
+  "pt_raw",
+  "tc_raw",
+  "rtd_raw",
+  "lc_raw",
+  "actuator_status",
+  "actuator_cal",
+  "encoder_raw"
+]
+
+[calibration]
+enabled = true
+use_robust_stack = true
+exclude_hp_pt = true
+prior_from_polynomial = true
+
+  [calibration.orchestrator]
+  consensus_enabled = true
+  self_cal_alpha_threshold = 0.6
+  agreement_threshold = 0.6
+  min_points = 5
+  target_points = 15
+  max_points = 30
+  min_r_squared = 0.95
+  target_r_squared = 0.99
+  rls_forgetting_factor = 0.995
+  drift_glr_threshold = 3
+  auto_save_interval_sec = 300
+  status_interval_sec = 30
+
+  [calibration.pt]
+  json_dir = "scripts/calibration/calibrations"
+  csv_paths = [
+  "../firmware/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv"
+]
+
+  [calibration.tc]
+  json_dir = "scripts/calibration/calibrations/tc"
+  csv_paths = [ ]
+  adc_ref_voltage = 2.5
+
+  [calibration.rtd]
+  json_dir = "scripts/calibration/calibrations/rtd"
+  csv_paths = [ ]
+  r0_ohm = 1000
+  adc_ref_voltage = 2.5
+  excitation_ua = 1000
+
+  [calibration.lc]
+  json_dir = "scripts/calibration/calibrations/lc"
+  csv_paths = [ ]
+  sensitivity_mv_per_v = 2
+  pga_gain = 32
+  full_scale_value = 300
+
+  [calibration.sidecar]
+  enabled = true
+  host = "127.0.0.1"
+  port = 8100
+  relay_host = "127.0.0.1"
+  relay_port = 9090
+  reconnect_interval_ms = 5000
+  adc_forward_interval_ms = 200
+  write_interval_sec = 0.01
+  write_to_elodin = false
+
+  [calibration.environmental]
+  temperature = 25
+  humidity = 50
+  vibration = 0
+  aging_factor = 1
+  mounting_torque = 1
+  min_consensus_sensors = 2
+
+[pressure_limits.GN2_High]
+NOP = 4000
+MEOP = 5000
+POP = 1000
+
+[pressure_limits.GN2_Regulated]
+NOP = 900
+MEOP = 1250
+POP = 9000
+
+[pressure_limits.Fuel_Upstream]
+NOP = 540
+MEOP = 650
+POP = 750
+
+[pressure_limits.Fuel_Downstream]
+NOP = 540
+MEOP = 650
+POP = 750
+
+[pressure_limits.Ox_Upstream]
+NOP = 505
+MEOP = 650
+POP = 750
+
+[pressure_limits.Ox_Downstream]
+NOP = 505
+MEOP = 650
+POP = 750
+
+[pressure_limits.GSE_Low]
+NOP = 130
+MEOP = 155
+POP = 800
+
+[pressure_limits.GSE_Mid]
+NOP = 1500
+MEOP = 2000
+POP = 5000
+
+[pressure_limits.GSE_High]
+NOP = 4000
+MEOP = 5000
+POP = 800
+
+[pressure_limits.Chamber]
+NOP = 500
+MEOP = 650
+POP = 800
+
+[pressure_mappings]
+GN2 = 6
+ETH = 1
+LOX = 5
+
+[display]
+adc_bits = 32
+window_seconds = 26
+y_axis_min = 0
+y_axis_max = 700
+y_axis_autoscale = true
+only_show_actuators_with_roles = true
+only_show_pt_with_roles = true
+graph_ma_samples = 1
+display_ma_samples = 1
+
+[state_machine]
+actuator_csv = "config/state_machine_actuators.csv"
+actuator_delay_csv = "config/state_machine_actuator_delays.csv"
+transitions_csv = "config/state_transitions.csv"
+
+[controller]
+pwm_frequency_hz = 6
+pwm_duration_ms = 2000
+fallback_fuel_duty_cycle = 0
+fallback_ox_duty_cycle = 0
+controller_loop_hz = 100
+controller_service_url = "http://localhost:8000"
+controller_config_path = ""
+P_copv_min_pa = 0
+command_type = "THRUST_DESIRED"
+thrust_desired = 1000
+altitude_goal = 0
+pressure_fuel_target = 0
+pressure_ox_target = 0
+duty_sweep_enabled = false
+duty_sweep_step_duration_sec = 2
+duty_sweep_steps = [
+  [ 0.1, 0.1 ],
+  [ 0.3, 0.2 ],
+  [ 0.5, 0.4 ],
+  [ 0.3, 0.3 ],
+  [ 0.1, 0.1 ]
+]
+use_cpp_controller = true
+lut_path = "output/lut/controller_policy_fsw.bin"
+thrust_curve_path = "output/lut/thrust_curve.csv"
+engine_lut_path = "output/lut/engine_performance.npz"
+
+[phase2]
+enabled = false
+drift_threshold = 2
+process_noise = 0.000001
+ema_smoothing_alpha = 0.02
+forgetting_factor = 0.995
+save_interval_seconds = 300
+min_residuals_for_drift_check = 10
+absolute_drift_threshold_psi = 2
+consensus_threshold_psi = 1
+consensus_update_rate = 0.1
+
+[actuator_roles]
+"Dome CTRL" = ["NC", 1, 12]
+"Fuel Fill Press" = ["NC", 2, 12]
+"High Press Vent" = ["NC", 3, 12]
+"Fuel Upstream" = ["NC", 1, 14]
+"High Press CTRL" = ["NC", 2, 14]
+"Dome CTRL Vent" = ["NC", 3, 14]
+"Fuel Main" = ["NC", 4, 14]
+
+[logs]
+backend_udp_port = 8092
+
+[fire]
+# Which state is the burn, and where its timer lands when it expires. Names, not enum positions —
+# ControllerService used to gate PWM ignition on the literal `state_val == 16` and the sequencer
+# stringified State::ARMED to find its landing state, so a rename or renumber broke ignition
+# silently. expiry_target must be reachable from state in state_transitions.csv.
+state = "Fire"
+expiry_target = "Armed"
+# duration_ms / extended_ms deliberately omitted: the sequencer prefers them over
+# [controller_service].fire_duration_ms / fire_extended_ms, which is where the GUI edits them.
+
+# partial list cannot erase the state machine's knowledge of its own states.
+#
+# Flags carry the semantics that used to be enum comparisons in C++:
+#   is_boot   the state the sequencer starts in
+#   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
+#   panel_row / panel_col  position on the State Machine control panel. Operators arrange these
+#                          by dragging on the panel itself while no session is running; a state
+#                          with no coordinates simply is not shown there (17, 18 and 20 live in
+#                          the top bar instead).
+# (which state fires, and where its timer lands, live in [fire] above)
+
+
+[[states]]
+id = 1
+name = "Idle"
+panel_row = 0
+panel_col = 0
+is_boot = true
+
+[[states]]
+id = 2
+name = "Armed"
+panel_row = 1
+panel_col = 0
+
+[[states]]
+id = 3
+name = "Fuel Fill"
+panel_row = 1
+panel_col = 1
+
+[[states]]
+id = 4
+name = "Ox Fill"
+panel_row = 1
+panel_col = 2
+
+[[states]]
+id = 5
+name = "GN2 Low Press"
+panel_row = 2
+panel_col = 1
+
+[[states]]
+id = 6
+name = "GN2 Low Vent"
+panel_row = 3
+panel_col = 1
+
+[[states]]
+id = 7
+name = "Fuel Press"
+panel_row = 2
+panel_col = 2
+
+[[states]]
+id = 8
+name = "Fuel Vent"
+panel_row = 3
+panel_col = 2
+
+[[states]]
+id = 9
+name = "Ox Press"
+panel_row = 2
+panel_col = 3
+
+[[states]]
+id = 10
+name = "Ox Vent"
+panel_row = 3
+panel_col = 3
+
+[[states]]
+id = 11
+name = "GN2 High Press"
+panel_row = 2
+panel_col = 4
+
+[[states]]
+id = 12
+name = "GN2 High Vent"
+panel_row = 3
+panel_col = 4
+
+[[states]]
+id = 13
+name = "Vent"
+panel_row = 3
+panel_col = 0
+
+[[states]]
+id = 14
+name = "Calibrate"
+panel_row = 4
+panel_col = 0
+
+[[states]]
+id = 15
+name = "Ready"
+panel_row = 4
+panel_col = 1
+
+[[states]]
+id = 16
+name = "Fire"
+panel_row = 5
+panel_col = 0
+
+[[states]]
+id = 17
+name = "Engine Abort"
+is_abort = true
+
+[[states]]
+id = 18
+name = "GSE Abort"
+is_abort = true
+
+[[states]]
+id = 19
+name = "Emergency Abort"
+is_abort = true
+
+[[states]]
+id = 20
+name = "Press Standby"
+panel_row = 2
+panel_col = 0
diff --git a/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv b/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
new file mode 100644
index 000000000..9f8fe0006
--- /dev/null
+++ b/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
@@ -0,0 +1,17 @@
+,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
+Fuel Vent,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0.2,0.2,0,0.2
+Fuel Press,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0,0.2,0.2,0,0.2
+Fuel Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.080,0,0.2,0,0.2
+Fuel Fill Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Fill Press,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+LOX Vent,0,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0.2,0.2,0,0.2
+LOX Press,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0.2,0.2,0,0.2
+LOX Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.001,0,0.2,0,0.2
+LOX Dump,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.2,0,0.2
+LOX Fill,0,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+GSE Low Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+GSE High Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.2,0.2
+GN2 Vent,0,0,0,0.2,0,0,0.2,0,0,0,0,0,0.2,0,0,0,0.2,0.2,0,0.2
+GSE LOX Fill Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+GSE High Press Control,0,0,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0
+GSE Med Press Control,0,0,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
diff --git a/daq-server/config/profiles/digital-twin/state_machine_actuators.csv b/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
new file mode 100644
index 000000000..ebd2fdc29
--- /dev/null
+++ b/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
@@ -0,0 +1,17 @@
+,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
+Fuel Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
+Fuel Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
+Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
+Fuel Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Fill Press,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+LOX Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
+LOX Press,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
+LOX Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
+LOX Dump,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN
+LOX Fill,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE Low Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE High Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN
+GN2 Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
+GSE LOX Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE High Press Control,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE Med Press Control,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
diff --git a/daq-server/config/profiles/digital-twin/state_transitions.csv b/daq-server/config/profiles/digital-twin/state_transitions.csv
new file mode 100644
index 000000000..cd8274473
--- /dev/null
+++ b/daq-server/config/profiles/digital-twin/state_transitions.csv
@@ -0,0 +1,21 @@
+,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
+Idle,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Armed,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Fuel Fill,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Ox Fill,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Press Standby,0,0,0,0,1,1,1,1,1,1,1,1,1,0,0,1,0,1,1
+GN2 Low Press,0,0,0,0,1,1,1,0,1,0,1,0,1,0,0,1,0,1,1
+GN2 Low Vent,0,0,0,0,1,1,1,0,1,0,1,0,1,0,0,1,0,1,1
+Fuel Press,0,0,0,0,1,0,1,1,1,0,1,0,1,0,0,1,0,1,1
+Fuel Vent,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1,1
+Ox Press,0,0,0,0,1,0,1,0,1,1,1,0,1,0,0,1,0,1,1
+Ox Vent,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1,1
+GN2 High Press,0,0,0,0,1,0,1,0,1,0,1,1,1,1,0,0,1,0,1,1
+GN2 High Vent,0,0,0,0,1,0,1,0,1,0,1,1,1,0,0,0,1,0,1,1
+Calibrate,0,0,0,0,1,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1
+Ready,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1
+Fire,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,1
+Vent,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1
+Engine Abort,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1
+GSE Abort,1,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1
+Emergency Abort,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
diff --git a/daq-server/config/profiles/server/config.toml b/daq-server/config/profiles/server/config.toml
new file mode 100644
index 000000000..9d0451a96
--- /dev/null
+++ b/daq-server/config/profiles/server/config.toml
@@ -0,0 +1,773 @@
+[system]
+mode = "GROUND"
+state = "GSE"
+
+[network]
+bind_ip = "0.0.0.0"
+sensor_port = 5006
+actuator_cmd_port = 5005
+buffer_size = 1024
+
+[server_heartbeat]
+interval_ms = 200
+broadcast_port = 5005
+broadcast_ip = "192.168.2.255"
+
+[heartbeat_service]
+enabled = true
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 200
+broadcast_ip = "192.168.2.255"
+broadcast_port = 5005
+
+[config_broadcast_service]
+enabled = true
+backend_url = "http://127.0.0.1:8082"
+interval_ms = 1000
+
+[data_logger_service]
+enabled = true
+ws_url = "ws://127.0.0.1:8081"
+
+[database]
+host = "127.0.0.1"
+port = 2240
+auto_flush_interval_ms = 100
+max_buffer_size = 4096
+connection_retry_attempts = 3
+connection_retry_delay_ms = 1000
+
+[gui]
+downsample_mode = "envelope"
+points_per_second = 20
+tabs = [ "unified", "boards", "config", "session" ]
+
+# Explicit sensor→page membership (replaces role-name substring parsing in the plot pages).
+# Group name → ordered list of sensor role names; array order = display order on that page.
+# Roles must match the [sensor_roles_*] names. Sensors only for now.
+[gui.groups]
+LOX = [ "Ox Upstream", "Ox Downstream", "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
+Fuel = [ "Fuel Upstream", "Fuel Downstream" ]
+Chamber = [ "Chamber Mid PT 1", "Chamber Mid PT 2", "Chamber Throat PT 1", "Chamber Throat PT 2" ]
+  [[gui.pressure_bars]]
+  label = "GN2 HI"
+  role = "GN2 High"
+  limits = "GN2_High"
+  color = "#ADFF2F"
+
+  [[gui.pressure_bars]]
+  label = "GN2 REG"
+  role = "GN2 Regulated"
+  limits = "GN2_Regulated"
+  color = "#228B22"
+
+  [[gui.pressure_bars]]
+  label = "FUEL UP"
+  role = "Fuel Upstream"
+  limits = "Fuel_Upstream"
+  color = "#FF4500"
+
+  [[gui.pressure_bars]]
+  label = "FUEL DN"
+  role = "Fuel Downstream"
+  limits = "Fuel_Downstream"
+  color = "#CC0000"
+
+  [[gui.pressure_bars]]
+  label = "LOX UP"
+  role = "Ox Upstream"
+  limits = "Ox_Upstream"
+  color = "#38BDF8"
+
+  [[gui.pressure_bars]]
+  label = "LOX DN"
+  role = "Ox Downstream"
+  limits = "Ox_Downstream"
+  color = "#4169E1"
+
+  [[gui.pressure_bars]]
+  label = "GSE LO"
+  role = "GSE Low"
+  limits = "GSE_Low"
+  color = "#D8B4FE"
+
+  [[gui.pressure_bars]]
+  label = "GSE MID"
+  role = "GSE Mid"
+  limits = "GSE_Mid"
+  color = "#C026D3"
+
+  [[gui.pressure_bars]]
+  label = "GSE HI"
+  role = "GSE High"
+  limits = "GSE_High"
+  color = "#7B2FBE"
+
+  [[gui.pressure_bars]]
+  label = "CHAMBER"
+  role = "Chamber Mid PT 1"
+  avg_roles = [ "Chamber Mid PT 1", "Chamber Mid PT 2" ]
+  limits = "Chamber"
+  color = "#F97316"
+
+
+[time_sync]
+mode = "board-clock"
+window_seconds = 10
+max_plausible_gap_s = 60
+max_batch_age_s = 5
+resync_threshold_ms = 1000
+log_interval_s = 10
+
+[adc]
+internal_v = 2.5
+vdd_nominal_v = 5
+absolute_5v_v = 5
+
+[discovery]
+enabled = true
+network_interface = "auto"
+mode = "hybrid"
+subnet = "192.168.2.0/24"
+ip_range_start = 100
+ip_range_end = 150
+discovery_timeout_seconds = 30
+
+[boards.pt_board]
+type = "PT"
+ip = "192.168.2.21"
+send_port = 5005
+num_sensors = 10
+board_id = 21
+enabled = true
+enable_serial_printing = false
+voltage_reference = 1
+necessary_for_abort = true
+designated_survivor = false
+active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
+
+[boards.pt_board_2]
+type = "PT"
+ip = "192.168.2.22"
+send_port = 5005
+num_sensors = 10
+board_id = 22
+enabled = true
+enable_serial_printing = true
+voltage_reference = 0
+adc_ref_voltage = 2.5
+active_connectors = [ 1, 2, 3, 4 ]
+hp_pt_connectors = [ 1, 3, 4 ]
+excitation_connector_id = 2
+hp_pt_full_scale_psi = 5000
+hp_pt_sense_resistor_ohms = 120
+excitation_divider_attenuation = 0.0762
+
+[boards.actuator_board]
+type = "ACTUATOR"
+ip = "192.168.2.11"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 11
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_2]
+type = "ACTUATOR"
+ip = "192.168.2.12"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 12
+enabled = true
+enable_serial_printing = true
+designated_survivor = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_3]
+type = "ACTUATOR"
+ip = "192.168.2.13"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 13
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.actuator_board_4]
+type = "ACTUATOR"
+ip = "192.168.2.14"
+send_port = 5005
+listen_port = 5005
+num_actuators = 10
+num_sensors = 10
+board_id = 14
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+voltage_reference = 0
+
+[boards.lc_board]
+type = "LC"
+ip = "192.168.2.41"
+send_port = 5005
+num_sensors = 4
+board_id = 41
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 1
+active_connectors = [ 1, 2, 3 ]
+
+[boards.lc_board_2]
+type = "LC"
+ip = "192.168.2.42"
+send_port = 5005
+num_sensors = 4
+board_id = 42
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 1, 2, 6 ]
+
+[boards.tc_board]
+type = "TC"
+ip = "192.168.2.51"
+send_port = 5005
+num_sensors = 10
+board_id = 51
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 2, 3, 4, 5 ]
+
+[boards.tc_board_2]
+type = "TC"
+ip = "192.168.2.52"
+send_port = 5005
+num_sensors = 10
+board_id = 52
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ ]
+
+[boards.rtd_board]
+type = "RTD"
+ip = "192.168.2.31"
+send_port = 5005
+num_sensors = 4
+board_id = 31
+enabled = true
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ 1, 2, 3, 4 ]
+
+[boards.rtd_board_2]
+type = "RTD"
+ip = "192.168.2.32"
+send_port = 5005
+num_sensors = 4
+board_id = 32
+enabled = false
+enable_serial_printing = true
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 0
+active_connectors = [ ]
+
+[boards.encoder_board]
+type = "ENCODER"
+ip = "192.168.2.61"
+send_port = 5005
+listen_port = 5005
+num_sensors = 2
+board_id = 61
+enabled = true
+enable_serial_printing = false
+necessary_for_abort = false
+designated_survivor = false
+voltage_reference = 1
+active_connectors = [ 1, 2 ]
+
+[sim_pt_targets]
+1 = 500
+2 = 450
+3 = 480
+4 = 400
+5 = 500
+6 = 4000
+7 = 480
+8 = 400
+9 = 380
+10 = 380
+11 = 3500
+12 = 24
+13 = 1000
+14 = 4000
+
+[sensor_roles_pt_board]
+"Fuel Upstream" = 1
+"GSE Low" = 2
+"Fuel Downstream" = 3
+"Chamber Mid PT 1" = 4
+"Ox Upstream" = 5
+"GN2 Regulated" = 6
+"Ox Downstream" = 7
+"Chamber Mid PT 2" = 8
+"Chamber Throat PT 1" = 9
+"Chamber Throat PT 2" = 10
+
+[abort_pts]
+"Fuel Upstream" = 400
+"Ox Upstream" = 400
+
+[sensor_roles_rtd_board]
+"COPV RTD" = 1
+"LOX Upper" = 2
+"LOX Mid" = 3
+"LOX Lower" = 4
+
+[sensor_roles_tc_board]
+"Chamber Mid TC 1" = 2
+"Chamber Mid TC 2" = 3
+"Chamber Throat TC 1" = 4
+"Chamber Throat TC 2" = 5
+
+[sensor_roles_pt_board_2]
+"GSE High" = 1
+"Excitation V" = 2
+"GSE Mid" = 3
+"GN2 High" = 4
+
+[sensor_roles_encoder_board]
+"Encoder 1" = 1
+"Encoder 2" = 2
+
+[actuator_abbrev]
+FV = "Fuel Vent"
+OV = "LOX Vent"
+FP = "Fuel Press"
+OP = "LOX Press"
+FM = "Fuel Main"
+OM = "LOX Main"
+FF = "Fuel Fill"
+
+[actuator_service]
+port = 9998
+bind_address = "0.0.0.0"
+
+[controller_service]
+port = 9999
+fire_duration_ms = 6000
+fire_extended_ms = 10000
+
+[routing.pt_raw]
+packet_id = [ 32, 0 ]
+channels = 14
+description = "Raw PT ADC counts — 0x01..0x0E (board1: 1-7, board2+offset10: 11-14)"
+
+[routing.pt_calibrated]
+packet_id = [ 32, 16 ]
+channels = 30
+description = "Calibrated PT pressure (PSI) — 0x11..0x1E (board1: 0x11-0x17, board2: 0x1B-0x1E)"
+
+[routing.tc_raw]
+packet_id = [ 33, 0 ]
+channels = 20
+description = "Raw TC ADC counts"
+
+[routing.rtd_raw]
+packet_id = [ 34, 0 ]
+channels = 20
+description = "Raw RTD resistance counts"
+
+[routing.lc_raw]
+packet_id = [ 35, 0 ]
+channels = 20
+description = "Raw LC ADC counts"
+
+[routing.lc_calibrated]
+packet_id = [ 35, 16 ]
+channels = 20
+description = "Calibrated LC force"
+
+[routing.actuator_status]
+packet_id = [ 48, 0 ]
+channels = 20
+description = "Actuator current sense readings"
+
+[routing.actuator_cal]
+packet_id = [ 49, 0 ]
+channels = 20
+description = "Calibrated actuator current (amps) from calibration_service"
+
+[routing.encoder_raw]
+packet_id = [ 36, 0 ]
+channels = 2
+description = "Raw encoder angle (0-4095) — AS5600 12-bit"
+
+[daq_bridge]
+publish = [
+  "pt_raw",
+  "tc_raw",
+  "rtd_raw",
+  "lc_raw",
+  "actuator_status",
+  "actuator_cal",
+  "encoder_raw"
+]
+
+[calibration]
+enabled = true
+use_robust_stack = true
+exclude_hp_pt = true
+prior_from_polynomial = true
+
+  [calibration.orchestrator]
+  consensus_enabled = true
+  self_cal_alpha_threshold = 0.6
+  agreement_threshold = 0.6
+  min_points = 5
+  target_points = 15
+  max_points = 30
+  min_r_squared = 0.95
+  target_r_squared = 0.99
+  rls_forgetting_factor = 0.995
+  drift_glr_threshold = 3
+  auto_save_interval_sec = 300
+  status_interval_sec = 30
+
+  [calibration.pt]
+  json_dir = "scripts/calibration/calibrations"
+  csv_paths = [
+  "../firmware/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv"
+]
+
+  [calibration.tc]
+  json_dir = "scripts/calibration/calibrations/tc"
+  csv_paths = [ ]
+  adc_ref_voltage = 2.5
+
+  [calibration.rtd]
+  json_dir = "scripts/calibration/calibrations/rtd"
+  csv_paths = [ ]
+  r0_ohm = 1000
+  adc_ref_voltage = 2.5
+  excitation_ua = 1000
+
+  [calibration.lc]
+  json_dir = "scripts/calibration/calibrations/lc"
+  csv_paths = [ ]
+  sensitivity_mv_per_v = 2
+  pga_gain = 32
+  full_scale_value = 300
+
+  [calibration.sidecar]
+  enabled = true
+  host = "127.0.0.1"
+  port = 8100
+  relay_host = "127.0.0.1"
+  relay_port = 9090
+  reconnect_interval_ms = 5000
+  adc_forward_interval_ms = 200
+  write_interval_sec = 0.01
+  write_to_elodin = false
+
+  [calibration.environmental]
+  temperature = 25
+  humidity = 50
+  vibration = 0
+  aging_factor = 1
+  mounting_torque = 1
+  min_consensus_sensors = 2
+
+[pressure_limits.GN2_High]
+NOP = 4000
+MEOP = 5000
+POP = 1000
+
+[pressure_limits.GN2_Regulated]
+NOP = 900
+MEOP = 1250
+POP = 9000
+
+[pressure_limits.Fuel_Upstream]
+NOP = 540
+MEOP = 650
+POP = 750
+
+[pressure_limits.Fuel_Downstream]
+NOP = 540
+MEOP = 650
+POP = 750
+
+[pressure_limits.Ox_Upstream]
+NOP = 505
+MEOP = 650
+POP = 750
+
+[pressure_limits.Ox_Downstream]
+NOP = 505
+MEOP = 650
+POP = 750
+
+[pressure_limits.GSE_Low]
+NOP = 130
+MEOP = 155
+POP = 800
+
+[pressure_limits.GSE_Mid]
+NOP = 1500
+MEOP = 2000
+POP = 5000
+
+[pressure_limits.GSE_High]
+NOP = 4000
+MEOP = 5000
+POP = 800
+
+[pressure_limits.Chamber]
+NOP = 500
+MEOP = 650
+POP = 800
+
+[pressure_mappings]
+GN2 = 6
+ETH = 1
+LOX = 5
+
+[display]
+adc_bits = 32
+window_seconds = 26
+y_axis_min = 0
+y_axis_max = 700
+y_axis_autoscale = true
+only_show_actuators_with_roles = true
+only_show_pt_with_roles = true
+graph_ma_samples = 1
+display_ma_samples = 1
+
+[state_machine]
+actuator_csv = "config/state_machine_actuators.csv"
+actuator_delay_csv = "config/state_machine_actuator_delays.csv"
+transitions_csv = "config/state_transitions.csv"
+
+[controller]
+pwm_frequency_hz = 6
+pwm_duration_ms = 2000
+fallback_fuel_duty_cycle = 0
+fallback_ox_duty_cycle = 0
+controller_loop_hz = 100
+controller_service_url = "http://localhost:8000"
+controller_config_path = ""
+P_copv_min_pa = 0
+command_type = "THRUST_DESIRED"
+thrust_desired = 1000
+altitude_goal = 0
+pressure_fuel_target = 0
+pressure_ox_target = 0
+duty_sweep_enabled = false
+duty_sweep_step_duration_sec = 2
+duty_sweep_steps = [
+  [ 0.1, 0.1 ],
+  [ 0.3, 0.2 ],
+  [ 0.5, 0.4 ],
+  [ 0.3, 0.3 ],
+  [ 0.1, 0.1 ]
+]
+use_cpp_controller = true
+lut_path = "output/lut/controller_policy_fsw.bin"
+thrust_curve_path = "output/lut/thrust_curve.csv"
+engine_lut_path = "output/lut/engine_performance.npz"
+
+[phase2]
+enabled = false
+drift_threshold = 2
+process_noise = 0.000001
+ema_smoothing_alpha = 0.02
+forgetting_factor = 0.995
+save_interval_seconds = 300
+min_residuals_for_drift_check = 10
+absolute_drift_threshold_psi = 2
+consensus_threshold_psi = 1
+consensus_update_rate = 0.1
+
+[actuator_roles]
+"LOX Main" = ["NC", 1, 12]
+"Fuel Vent" = ["NC", 2, 12]
+"Fuel Press" = ["NC", 3, 12]
+"Fuel Main" = ["NO", 7, 12]
+"LOX Vent" = ["NC", 6, 12]
+"LOX Press" = ["NO", 8, 12]
+"GSE Low Press Vent" = ["NC", 5, 12]
+"Fuel Fill Press" = ["NC", 2, 14]
+"Fuel Fill Vent" = ["NC", 1, 14]
+"GSE LOX Fill Vent" = ["NC", 10, 14]
+"GSE High Press Control" = ["NC", 3, 14]
+"GSE Med Press Control" = ["NC", 4, 14]
+"GSE High Press Vent" = ["NC", 5, 14]
+"GN2 Vent" = ["NC", 6, 14]
+"LOX Fill" = ["NC", 7, 14]
+"LOX Dump" = ["NC", 8, 14]
+
+[logs]
+backend_udp_port = 8092
+
+[fire]
+# Which state is the burn, and where its timer lands when it expires. Names, not enum positions —
+# ControllerService used to gate PWM ignition on the literal `state_val == 16` and the sequencer
+# stringified State::ARMED to find its landing state, so a rename or renumber broke ignition
+# silently. expiry_target must be reachable from state in state_transitions.csv.
+state = "Fire"
+expiry_target = "Armed"
+# duration_ms / extended_ms deliberately omitted: the sequencer prefers them over
+# [controller_service].fire_duration_ms / fire_extended_ms, which is where the GUI edits them.
+
+# partial list cannot erase the state machine's knowledge of its own states.
+#
+# Flags carry the semantics that used to be enum comparisons in C++:
+#   is_boot   the state the sequencer starts in
+#   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
+#   panel_row / panel_col  position on the State Machine control panel. Operators arrange these
+#                          by dragging on the panel itself while no session is running; a state
+#                          with no coordinates simply is not shown there (17, 18 and 20 live in
+#                          the top bar instead).
+# (which state fires, and where its timer lands, live in [fire] above)
+
+
+[[states]]
+id = 1
+name = "Idle"
+panel_row = 0
+panel_col = 0
+is_boot = true
+
+[[states]]
+id = 2
+name = "Armed"
+panel_row = 1
+panel_col = 0
+
+[[states]]
+id = 3
+name = "Fuel Fill"
+panel_row = 1
+panel_col = 1
+
+[[states]]
+id = 4
+name = "Ox Fill"
+panel_row = 1
+panel_col = 2
+
+[[states]]
+id = 5
+name = "GN2 Low Press"
+panel_row = 2
+panel_col = 1
+
+[[states]]
+id = 6
+name = "GN2 Low Vent"
+panel_row = 3
+panel_col = 1
+
+[[states]]
+id = 7
+name = "Fuel Press"
+panel_row = 2
+panel_col = 2
+
+[[states]]
+id = 8
+name = "Fuel Vent"
+panel_row = 3
+panel_col = 2
+
+[[states]]
+id = 9
+name = "Ox Press"
+panel_row = 2
+panel_col = 3
+
+[[states]]
+id = 10
+name = "Ox Vent"
+panel_row = 3
+panel_col = 3
+
+[[states]]
+id = 11
+name = "GN2 High Press"
+panel_row = 2
+panel_col = 4
+
+[[states]]
+id = 12
+name = "GN2 High Vent"
+panel_row = 3
+panel_col = 4
+
+[[states]]
+id = 13
+name = "Vent"
+panel_row = 3
+panel_col = 0
+
+[[states]]
+id = 14
+name = "Calibrate"
+panel_row = 4
+panel_col = 0
+
+[[states]]
+id = 15
+name = "Ready"
+panel_row = 4
+panel_col = 1
+
+[[states]]
+id = 16
+name = "Fire"
+panel_row = 5
+panel_col = 0
+
+[[states]]
+id = 17
+name = "Engine Abort"
+is_abort = true
+
+[[states]]
+id = 18
+name = "GSE Abort"
+is_abort = true
+
+[[states]]
+id = 19
+name = "Emergency Abort"
+is_abort = true
+
+[[states]]
+id = 20
+name = "Press Standby"
+panel_row = 2
+panel_col = 0
diff --git a/daq-server/config/profiles/server/state_machine_actuator_delays.csv b/daq-server/config/profiles/server/state_machine_actuator_delays.csv
new file mode 100644
index 000000000..9f8fe0006
--- /dev/null
+++ b/daq-server/config/profiles/server/state_machine_actuator_delays.csv
@@ -0,0 +1,17 @@
+,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
+Fuel Vent,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0.2,0.2,0,0.2
+Fuel Press,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0,0.2,0.2,0,0.2
+Fuel Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.080,0,0.2,0,0.2
+Fuel Fill Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Fill Press,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+LOX Vent,0,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0.2,0.2,0,0.2
+LOX Press,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0.2,0.2,0,0.2
+LOX Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.001,0,0.2,0,0.2
+LOX Dump,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.2,0,0.2
+LOX Fill,0,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+GSE Low Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+GSE High Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.2,0.2
+GN2 Vent,0,0,0,0.2,0,0,0.2,0,0,0,0,0,0.2,0,0,0,0.2,0.2,0,0.2
+GSE LOX Fill Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+GSE High Press Control,0,0,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0
+GSE Med Press Control,0,0,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
diff --git a/daq-server/config/profiles/server/state_machine_actuators.csv b/daq-server/config/profiles/server/state_machine_actuators.csv
new file mode 100644
index 000000000..ebd2fdc29
--- /dev/null
+++ b/daq-server/config/profiles/server/state_machine_actuators.csv
@@ -0,0 +1,17 @@
+,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
+Fuel Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
+Fuel Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
+Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
+Fuel Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Fill Press,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+LOX Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
+LOX Press,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
+LOX Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
+LOX Dump,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN
+LOX Fill,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE Low Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE High Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN
+GN2 Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
+GSE LOX Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE High Press Control,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+GSE Med Press Control,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
diff --git a/daq-server/config/profiles/server/state_transitions.csv b/daq-server/config/profiles/server/state_transitions.csv
new file mode 100644
index 000000000..cd8274473
--- /dev/null
+++ b/daq-server/config/profiles/server/state_transitions.csv
@@ -0,0 +1,21 @@
+,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
+Idle,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Armed,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Fuel Fill,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Ox Fill,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
+Press Standby,0,0,0,0,1,1,1,1,1,1,1,1,1,0,0,1,0,1,1
+GN2 Low Press,0,0,0,0,1,1,1,0,1,0,1,0,1,0,0,1,0,1,1
+GN2 Low Vent,0,0,0,0,1,1,1,0,1,0,1,0,1,0,0,1,0,1,1
+Fuel Press,0,0,0,0,1,0,1,1,1,0,1,0,1,0,0,1,0,1,1
+Fuel Vent,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1,1
+Ox Press,0,0,0,0,1,0,1,0,1,1,1,0,1,0,0,1,0,1,1
+Ox Vent,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1,1
+GN2 High Press,0,0,0,0,1,0,1,0,1,0,1,1,1,1,0,0,1,0,1,1
+GN2 High Vent,0,0,0,0,1,0,1,0,1,0,1,1,1,0,0,0,1,0,1,1
+Calibrate,0,0,0,0,1,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1
+Ready,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1
+Fire,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,1
+Vent,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1
+Engine Abort,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1
+GSE Abort,1,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1
+Emergency Abort,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

From e053c58a8901823434727bf9c50267872074498a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 22:31:08 -0700
Subject: [PATCH 111/205] sensor boards latched ACTIVE while sampling nothing:
 FSWConfigManager answered every board heartbeat with a SENSOR_CONFIG built
 from assignment_manager_'s auto-assign table, which is keyed on a board-type
 enum matching no board on the stand, so the packet carried num_sensors=0 -
 and the firmware applies whatever SENSOR_CONFIG arrives regardless of state,
 so collect_chunk() early-returned on active_count==0 forever while the board
 kept heartbeating ACTIVE. config_broadcast_service is the only writer that
 reads the rig's real config.toml, and it lost the race on every board boot;
 stop sending from here entirely (assign_sensors and
 send_configs_to_all_boards keep the path for explicit operator action, and
 nothing outside this file calls either)

---
 .../lib/src/fsw/FSWConfigManager.cpp          | 21 ++++++++++---------
 1 file changed, 11 insertions(+), 10 deletions(-)

diff --git a/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp b/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
index 122121770..ea6c698da 100644
--- a/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
+++ b/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
@@ -91,16 +91,17 @@ std::string FSWConfigManager::process_board_heartbeat(const daq::PacketHeader& /
         }
     }
 
-    // Send configuration to board if not already configured, OR if the board
-    // is still in Setup state (e.g. after a reboot or missed config).
-    bool board_in_setup = body.board_state == daq::BoardState::SETUP;
-    if (!boards_configured_[board_id] || board_in_setup) {
-        if (board_in_setup && boards_configured_[board_id]) {
-            std::cout << "[FSWConfig] Board " << (int)board_id
-                      << " still in SETUP — re-sending SENSOR_CONFIG" << std::endl;
-        }
-        send_config_to_board(board_id);
-    }
+    // Deliberately does NOT send SENSOR_CONFIG. config_broadcast_service owns board
+    // configuration: it is the only writer that reads the rig's real config.toml
+    // ([boards.*] active_connectors, voltage_reference, necessary_for_abort). This manager
+    // builds its packet from assignment_manager_'s auto-assign table, which is keyed on a
+    // board-type enum that matches no board on the stand — so it produced an EMPTY config
+    // (num_sensors=0) and shipped it to every sensor board within a millisecond of boot.
+    // The firmware applies every SENSOR_CONFIG it receives in any state, so that empty
+    // config latched: collect_chunk() early-returns on active_count==0, and the board
+    // heartbeats as ACTIVE forever while sampling nothing. Two writers, and the one with
+    // no knowledge of the rig won the race on every board boot.
+    (void)body;
 
     return assigned_ip;
 }

From 0fe8d82ff65e4c3ed4716e10afe96bad3a811d71 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 22:31:18 -0700
Subject: [PATCH 112/205] no JSON PT calibration has ever loaded on Linux:
 find_latest_json_file seeded latest_time = 0 and kept a candidate only if
 `time_t > latest_time`, but libstdc++'s fs::file_time_type is __file_clock
 with a 2174-01-01 epoch, so a present-day file's time_since_epoch() is about
 -4.6e9 seconds and no candidate ever won - the function stat()ed the files
 and then returned "", the manager reported "No calibration files found", and
 calculate_pressure() fell through to `return 0.0`, which is why every PT read
 0 PSI. Track the first candidate with a bool instead of a sentinel that
 assumes 1970 (both the C++17 and the pre-C++17 branch)

Also add scripts/calibration/calibrations/pt_linear_fallback.json: board 21's low-press PTs are 1000 PSI at full ADC scale, so psi = adc * 1000/2^31 with no offset - a stand-in until real cal data exists, and eventually the optional no-cal-data path. Arrays must stay on one line; load_from_json's regex allows no whitespace inside the brackets. Board 22 is deliberately absent - the HP PTs are 4-20 mA and are converted from [boards.pt_board_2] instead. The RLS state the service auto-saves beside it is per-machine and churns, so gitignore that copy
---
 daq-server/.gitignore                         |  5 +++++
 .../lib/src/calibration/PTCalibration.cpp     | 13 +++++++++++--
 .../calibrations/pt_linear_fallback.json      | 19 +++++++++++++++++++
 3 files changed, 35 insertions(+), 2 deletions(-)
 create mode 100644 daq-server/scripts/calibration/calibrations/pt_linear_fallback.json

diff --git a/daq-server/.gitignore b/daq-server/.gitignore
index 7feb68905..c4d8a225c 100644
--- a/daq-server/.gitignore
+++ b/daq-server/.gitignore
@@ -220,3 +220,8 @@ config/config.toml
 config/state_machine_actuators.csv
 config/state_machine_actuator_delays.csv
 config/state_transitions.csv
+
+# RLS state the calibration service auto-saves next to whatever calibration dir it is
+# reading. tools/calibration/calibrations/adjustments.json is the checked-in seed; the copy
+# the C++ services write under scripts/ is per-machine learned state and churns constantly.
+scripts/calibration/calibrations/adjustments.json
diff --git a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
index def9ddce7..51f7ff5fb 100644
--- a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
@@ -359,6 +359,13 @@ std::string PTCalibrationManager::find_latest_json_file(const std::string& json_
 
     std::string latest_file;
     std::time_t latest_time = 0;
+    // Seeding "newest so far" with 0 silently discarded every candidate: libstdc++'s
+    // fs::file_time_type is __file_clock, whose epoch is 2174-01-01, so a present-day file's
+    // time_since_epoch() is NEGATIVE (~-4.6e9 s) and `time_t > 0` is never true. This function
+    // therefore always returned "" and no JSON calibration has ever loaded — the service stat()ed
+    // the file and then skipped it, reporting "No calibration files found". Track the first
+    // candidate explicitly instead of relying on a sentinel that assumes a 1970 epoch.
+    bool have_candidate = false;
 
 #if __cplusplus >= 201703L
     for (const auto& entry : fs::directory_iterator(json_dir)) {
@@ -371,7 +378,8 @@ std::string PTCalibrationManager::find_latest_json_file(const std::string& json_
         auto time_t =
             std::chrono::duration_cast<std::chrono::seconds>(file_time.time_since_epoch()).count();
 
-        if (time_t > latest_time) {
+        if (!have_candidate || time_t > latest_time) {
+            have_candidate = true;
             latest_time = time_t;
             latest_file = entry.path().string();
         }
@@ -389,7 +397,8 @@ std::string PTCalibrationManager::find_latest_json_file(const std::string& json_
                 std::string full_path = json_dir + "/" + filename;
                 struct stat file_stat;
                 if (stat(full_path.c_str(), &file_stat) == 0 && S_ISREG(file_stat.st_mode)) {
-                    if (file_stat.st_mtime > latest_time) {
+                    if (!have_candidate || file_stat.st_mtime > latest_time) {
+                        have_candidate = true;
                         latest_time = file_stat.st_mtime;
                         latest_file = full_path;
                     }
diff --git a/daq-server/scripts/calibration/calibrations/pt_linear_fallback.json b/daq-server/scripts/calibration/calibrations/pt_linear_fallback.json
new file mode 100644
index 000000000..1d89552ae
--- /dev/null
+++ b/daq-server/scripts/calibration/calibrations/pt_linear_fallback.json
@@ -0,0 +1,19 @@
+{
+  "sensor_type": "PT",
+  "unit": "PSI",
+  "framework": "linear_fallback",
+  "created": "2026-09-02T19:48:48.175628Z",
+  "note": "FALLBACK linear calibration for the LP PT board (board 21 = JSON slot1, ch 1..10). ADC 0 -> 0 PSI, ADC full scale (2^31) -> 1000 PSI, straight line, no offset. NOT a per-sensor calibration. HP board 22 is deliberately absent: its 4-20 mA channels are converted from [boards.pt_board_2] by convert_hp_pt_to_pressure(). NOTE: arrays MUST stay on one line - the C++ regex loader rejects pretty-printed arrays.",
+  "calibration_polynomials": {
+    "1": [0, 0, 4.656612873077e-07, 0.0],
+    "2": [0, 0, 4.656612873077e-07, 0.0],
+    "3": [0, 0, 4.656612873077e-07, 0.0],
+    "4": [0, 0, 4.656612873077e-07, 0.0],
+    "5": [0, 0, 4.656612873077e-07, 0.0],
+    "6": [0, 0, 4.656612873077e-07, 0.0],
+    "7": [0, 0, 4.656612873077e-07, 0.0],
+    "8": [0, 0, 4.656612873077e-07, 0.0],
+    "9": [0, 0, 4.656612873077e-07, 0.0],
+    "10": [0, 0, 4.656612873077e-07, 0.0]
+  }
+}

From 7a8fe169b8f1a671ca9a166de2f0a863c9cb095d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 22:31:34 -0700
Subject: [PATCH 113/205] config_broadcast counted only successes into one
 global total, so "all 8 boards got their config" and "one board got it 8
 times" printed identically and a silently dropped sendto looked like a
 delivered packet - which is exactly the failure being chased, a stretch where
 every send returned success and no board ever left WaitingForServer. Account
 per destination instead: ok/fail/bad-address counts keyed on ip:port, the
 packet type and length actually put on the wire, and errno with strerror on
 the first failure per destination and then every tenth

---
 .../config_broadcast_service_main.cpp         | 45 +++++++++++++++++--
 1 file changed, 41 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index 973b6117b..7c2be5688 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -15,6 +15,7 @@
 
 #include <algorithm>
 #include <atomic>
+#include <cerrno>
 #include <chrono>
 #include <cstring>
 #include <fstream>
@@ -627,6 +628,11 @@ int main(int argc, char* argv[]) {
     std::cout << "[ConfigBroadcast] " << packets.size() << " packet types" << std::endl;
 
     unsigned long total_sent = 0;
+    // Per-destination send accounting. The single global counter could not distinguish
+    // "all 8 boards got their config" from "the same board got it 8 times".
+    std::map<std::string, unsigned long> tx_ok, tx_fail, tx_bad_addr;
+    std::map<std::string, size_t> tx_bytes;
+    std::map<std::string, uint8_t> tx_type;
     auto last_log = std::chrono::steady_clock::now();
 
     while (g_running) {
@@ -637,18 +643,49 @@ int main(int argc, char* argv[]) {
             packets.swap(fresh);
 
         for (const auto& [pkt_type, pkt, ip, listen_port] : packets) {
-            if (inet_pton(AF_INET, ip.c_str(), &dest.sin_addr) != 1)
+            const std::string dest_key = ip + ":" + std::to_string(listen_port);
+            if (inet_pton(AF_INET, ip.c_str(), &dest.sin_addr) != 1) {
+                tx_bad_addr[dest_key]++;
                 continue;
+            }
             dest.sin_port = htons(listen_port);
+            errno = 0;
             ssize_t sent = sendto(sock, pkt.data(), pkt.size(), 0,
                                   reinterpret_cast<struct sockaddr*>(&dest), sizeof(dest));
-            if (sent == static_cast<ssize_t>(pkt.size()))
+            if (sent == static_cast<ssize_t>(pkt.size())) {
                 total_sent++;
+                tx_ok[dest_key]++;
+                tx_bytes[dest_key] = pkt.size();
+                tx_type[dest_key] = pkt_type;
+            } else {
+                // A short or failed send is the whole bug class we are chasing: the old code
+                // counted only successes, so a silently dropped packet looked identical to a
+                // delivered one. Report errno the first time and then once per 10s per dest.
+                tx_fail[dest_key]++;
+                int e = errno;
+                if (tx_fail[dest_key] == 1 || tx_fail[dest_key] % 10 == 0) {
+                    std::cerr << "[ConfigBroadcast] ✗ sendto(" << dest_key << ") type=" << (int)pkt_type
+                              << " len=" << pkt.size() << " returned " << sent << " errno=" << e
+                              << " (" << std::strerror(e) << ")" << std::endl;
+                }
+            }
         }
 
         auto now = std::chrono::steady_clock::now();
-        if (std::chrono::duration<double>(now - last_log).count() >= 10.0 && total_sent > 0) {
-            std::cout << "[ConfigBroadcast] Sent " << total_sent << " packets total" << std::endl;
+        if (std::chrono::duration<double>(now - last_log).count() >= 10.0) {
+            std::cout << "[ConfigBroadcast] Sent " << total_sent << " packets total ("
+                      << packets.size() << " dests this cycle)" << std::endl;
+            for (const auto& [dkey, n] : tx_ok) {
+                std::cout << "   → " << dkey << "  type=" << (int)tx_type[dkey]
+                          << " len=" << tx_bytes[dkey] << "  ok=" << n
+                          << " fail=" << tx_fail[dkey] << std::endl;
+            }
+            for (const auto& [dkey, n] : tx_fail)
+                if (tx_ok.find(dkey) == tx_ok.end())
+                    std::cout << "   → " << dkey << "  ok=0 fail=" << n << std::endl;
+            for (const auto& [dkey, n] : tx_bad_addr)
+                std::cout << "   → " << dkey << "  INVALID ADDRESS, never sent (n=" << n << ")"
+                          << std::endl;
             last_log = now;
         }
 

From 9b0c6f807344a7c4622fcc5b610acd45b61f3692 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 22:31:54 -0700
Subject: [PATCH 114/205] digital-twin's actuator CSVs were the 16-row big-rig
 tables, but the profile defines 7 roles and only 2 names overlapped - the
 sequencer logged "Sent 2 commands for state Idle" and every unmatched valve
 (High Press Vent among them) sat indeterminate in the GUI and snapped back
 when clicked. Regenerate both as 7 roles x 20 states, all CLOSE with 0 delay,
 the way the GUI's generate-empty button would

Also picks up the profile rewrite the running server made: real labels and colors on the pressure bars, four more of them, Low Press added to the PT roles, and the [actuator_roles] pin/NO-NC edits made through the GUI. Note the serializer drops comments on write, so the explanatory blocks over [fire] and [[states]] are gone

The all-CLOSE columns for Vent, Engine Abort, GSE Abort and Emergency Abort are placeholders, not a safe configuration - they need real OPEN positions before any run
---
 .../config/profiles/digital-twin/config.toml  | 84 ++++++++++---------
 .../state_machine_actuator_delays.csv         | 23 ++---
 .../digital-twin/state_machine_actuators.csv  | 23 ++---
 3 files changed, 58 insertions(+), 72 deletions(-)

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index e00568b47..648df47ea 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -43,29 +43,50 @@ points_per_second = 20
 tabs = [ "unified", "boards", "config", "session" ]
 
   [[gui.pressure_bars]]
-  label = "asdf"
+  label = "FF Vent"
   role = "Fuel Fill Vent"
   limits = ""
-  color = "#888888"
+  color = "#ff0000"
 
   [[gui.pressure_bars]]
-  label = "NEW"
+  label = "Fuel Up"
   role = "Fuel Upstream"
   limits = "Fuel_Upstream"
-  color = "#888888"
+  color = "#00ff2a"
 
   [[gui.pressure_bars]]
-  label = "NEW"
-  role = ""
+  label = "Dome CTRL"
+  role = "Dome CTRL"
   limits = ""
-  color = "#888888"
+  color = "#fff700"
 
-# Explicit sensor→page membership (replaces role-name substring parsing in the plot pages).
-# Group name → ordered list of sensor role names; array order = display order on that page.
-# Roles must match the [sensor_roles_*] names. Sensors only for now.
-[gui.groups]
-LOX = [ "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
-Fuel = [ "Fuel Upstream" ]
+  [[gui.pressure_bars]]
+  label = "Dome Mid"
+  role = "Dome Mid"
+  limits = ""
+  color = "#4c00ff"
+
+  [[gui.pressure_bars]]
+  label = "GN2 High"
+  role = "GN2 High"
+  limits = "GN2_High"
+  color = "#fb00ff"
+
+  [[gui.pressure_bars]]
+  label = "High Press"
+  role = "High Press"
+  limits = ""
+  color = "#00ffd5"
+
+  [[gui.pressure_bars]]
+  label = "Low Press"
+  role = "Low Press"
+  limits = ""
+  color = "#ff0088"
+
+  [gui.groups]
+  LOX = [ "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
+  Fuel = [ "Fuel Upstream" ]
 
 [time_sync]
 mode = "board-clock"
@@ -284,6 +305,7 @@ active_connectors = [ 1, 2 ]
 "Fuel Fill Vent" = 1
 "Fuel Upstream" = 2
 "Dome CTRL" = 3
+"Low Press" = 4
 
 [abort_pts]
 "Fuel Upstream" = 400
@@ -560,39 +582,12 @@ absolute_drift_threshold_psi = 2
 consensus_threshold_psi = 1
 consensus_update_rate = 0.1
 
-[actuator_roles]
-"Dome CTRL" = ["NC", 1, 12]
-"Fuel Fill Press" = ["NC", 2, 12]
-"High Press Vent" = ["NC", 3, 12]
-"Fuel Upstream" = ["NC", 1, 14]
-"High Press CTRL" = ["NC", 2, 14]
-"Dome CTRL Vent" = ["NC", 3, 14]
-"Fuel Main" = ["NC", 4, 14]
-
 [logs]
 backend_udp_port = 8092
 
 [fire]
-# Which state is the burn, and where its timer lands when it expires. Names, not enum positions —
-# ControllerService used to gate PWM ignition on the literal `state_val == 16` and the sequencer
-# stringified State::ARMED to find its landing state, so a rename or renumber broke ignition
-# silently. expiry_target must be reachable from state in state_transitions.csv.
 state = "Fire"
 expiry_target = "Armed"
-# duration_ms / extended_ms deliberately omitted: the sequencer prefers them over
-# [controller_service].fire_duration_ms / fire_extended_ms, which is where the GUI edits them.
-
-# partial list cannot erase the state machine's knowledge of its own states.
-#
-# Flags carry the semantics that used to be enum comparisons in C++:
-#   is_boot   the state the sequencer starts in
-#   is_abort  triggers the physical UDP abort broadcast, and skips actuator delays
-#   panel_row / panel_col  position on the State Machine control panel. Operators arrange these
-#                          by dragging on the panel itself while no session is running; a state
-#                          with no coordinates simply is not shown there (17, 18 and 20 live in
-#                          the top bar instead).
-# (which state fires, and where its timer lands, live in [fire] above)
-
 
 [[states]]
 id = 1
@@ -711,3 +706,12 @@ id = 20
 name = "Press Standby"
 panel_row = 2
 panel_col = 0
+
+[actuator_roles]
+"Dome CTRL" = ["NO", 1, 14]
+"Fuel Fill Press" = ["NC", 2, 14]
+"High Press Vent" = ["NC", 3, 14]
+"Fuel Upstream" = ["NC", 1, 12]
+"High Press CTRL" = ["NC", 2, 12]
+"Dome CTRL Vent" = ["NC", 3, 12]
+"Fuel Main" = ["NC", 5, 12]
diff --git a/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv b/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
index 9f8fe0006..933787bcb 100644
--- a/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
+++ b/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
@@ -1,17 +1,8 @@
 ,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
-Fuel Vent,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0.2,0.2,0,0.2
-Fuel Press,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0,0.2,0.2,0,0.2
-Fuel Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.080,0,0.2,0,0.2
-Fuel Fill Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-Fuel Fill Press,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-LOX Vent,0,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0.2,0.2,0,0.2
-LOX Press,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0.2,0.2,0,0.2
-LOX Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.001,0,0.2,0,0.2
-LOX Dump,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.2,0,0.2
-LOX Fill,0,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-GSE Low Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-GSE High Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.2,0.2
-GN2 Vent,0,0,0,0.2,0,0,0.2,0,0,0,0,0,0.2,0,0,0,0.2,0.2,0,0.2
-GSE LOX Fill Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-GSE High Press Control,0,0,0,0,0,0,0,0,0,0,0,0.2,0,0,0,0,0,0,0,0
-GSE Med Press Control,0,0,0,0,0.2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Dome CTRL,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Fill Press,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+High Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Upstream,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+High Press CTRL,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Dome CTRL Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
diff --git a/daq-server/config/profiles/digital-twin/state_machine_actuators.csv b/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
index ebd2fdc29..4ba6366bf 100644
--- a/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
+++ b/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
@@ -1,17 +1,8 @@
 ,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
-Fuel Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
-Fuel Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
-Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
-Fuel Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-Fuel Fill Press,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-LOX Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
-LOX Press,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,OPEN,CLOSE,OPEN
-LOX Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,OPEN
-LOX Dump,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN
-LOX Fill,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-GSE Low Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-GSE High Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN
-GN2 Vent,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,OPEN
-GSE LOX Fill Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-GSE High Press Control,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-GSE Med Press Control,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Dome CTRL,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Fill Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+High Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Upstream,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+High Press CTRL,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Dome CTRL Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE

From 8b6ecb7a5c05166ec5b7176bf153b2e312727e47 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Wed, 2 Sep 2026 22:53:49 -0700
Subject: [PATCH 115/205] PT boards declare their sensor interface with pt_type
 instead of it being inferred from hp_pt_* key presence, so a board can be
 switched to 4-20 mA in the editor and any number of them work; drop the
 excitation-monitor mechanism, which was a DC-gain-free filter that never used
 its divider value

---
 daq-server/config/config_base.toml            |   5 +-
 .../config/profiles/default/config.toml       |   5 +-
 .../src/__tests__/elodin-protocol.test.ts     |  35 +-
 .../diablo_server/backend/src/api-server.ts   |  19 +-
 .../backend/src/elodin-protocol.ts            |   5 +-
 .../diablo_server/backend/src/elodin-query.ts |   5 +-
 .../backend/src/sensor-config.ts              | 179 ++------
 .../diablo_server/backend/src/server-types.ts |  12 -
 .../frontend/app/config/page.tsx              | 180 +++++---
 .../frontend/app/status/page.tsx              |  71 +--
 .../frontend/lib/sensor-colors.ts             |   3 -
 .../lib/include/config/LoadActiveBoards.hpp   |  37 ++
 .../lib/src/config/LoadActiveBoards.cpp       | 322 ++++++++++----
 .../services/calibration/calibration_main.cpp | 412 +++---------------
 daq-server/sim/board_simulator.py             |  19 +-
 .../calibration/calibration_orchestrator.py   |   3 +-
 .../tools/calibration/calibration_server.py   |  39 +-
 daq-server/tools/calibration/config_loader.py |  54 ++-
 18 files changed, 608 insertions(+), 797 deletions(-)

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 50b630bea..116af0a38 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -140,6 +140,7 @@ discovery_timeout_seconds = 30
 
 [boards.pt_board]
 type = "PT"
+pt_type = "0-5V ratiometric"
 ip = "192.168.2.21"
 send_port = 5005
 num_sensors = 10
@@ -153,6 +154,7 @@ active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
 
 [boards.pt_board_2]
 type = "PT"
+pt_type = "4-20 mA absolute"
 ip = "192.168.2.22"
 send_port = 5005
 num_sensors = 10
@@ -162,11 +164,8 @@ enable_serial_printing = 1
 voltage_reference = 0
 adc_ref_voltage = 2.5
 active_connectors = [ 1, 2, 3, 4 ]
-hp_pt_connectors = [ 1, 3, 4 ]
-excitation_connector_id = 2
 hp_pt_full_scale_psi = 5000
 hp_pt_sense_resistor_ohms = 120
-excitation_divider_attenuation = 0.0762
 
 [boards.actuator_board]
 type = "ACTUATOR"
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index 50b630bea..116af0a38 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -140,6 +140,7 @@ discovery_timeout_seconds = 30
 
 [boards.pt_board]
 type = "PT"
+pt_type = "0-5V ratiometric"
 ip = "192.168.2.21"
 send_port = 5005
 num_sensors = 10
@@ -153,6 +154,7 @@ active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
 
 [boards.pt_board_2]
 type = "PT"
+pt_type = "4-20 mA absolute"
 ip = "192.168.2.22"
 send_port = 5005
 num_sensors = 10
@@ -162,11 +164,8 @@ enable_serial_printing = 1
 voltage_reference = 0
 adc_ref_voltage = 2.5
 active_connectors = [ 1, 2, 3, 4 ]
-hp_pt_connectors = [ 1, 3, 4 ]
-excitation_connector_id = 2
 hp_pt_full_scale_psi = 5000
 hp_pt_sense_resistor_ohms = 120
-excitation_divider_attenuation = 0.0762
 
 [boards.actuator_board]
 type = "ACTUATOR"
diff --git a/daq-server/diablo_server/backend/src/__tests__/elodin-protocol.test.ts b/daq-server/diablo_server/backend/src/__tests__/elodin-protocol.test.ts
index b1a84cf2e..b13cbb8f4 100644
--- a/daq-server/diablo_server/backend/src/__tests__/elodin-protocol.test.ts
+++ b/daq-server/diablo_server/backend/src/__tests__/elodin-protocol.test.ts
@@ -1,7 +1,10 @@
 import { describe, it, expect } from 'vitest';
 import { parseElodinPacket } from '../elodin-protocol.js';
 
-describe('elodin-protocol HP PT board slot 2 (unsigned raw)', () => {
+describe('elodin-protocol HP PT boards (unsigned raw)', () => {
+  // Which slots are 4-20 mA boards comes from config (sensor-config.hpBoardNumbers); the
+  // decoder has no positional "slot 2 is HP" assumption, so every call states it.
+  const hpSlot2 = new Set([2]);
   it('parses PT2 raw ADC as uint32 (high bit set stays positive)', () => {
     const buf = Buffer.alloc(21);
     buf.writeBigUInt64LE(0n, 0);
@@ -10,7 +13,7 @@ describe('elodin-protocol HP PT board slot 2 (unsigned raw)', () => {
     buf.writeUInt32LE(u, 12);
     buf.writeUInt32LE(0, 16);
     buf.writeUInt8(0, 20);
-    const out = parseElodinPacket([0x20, 0x21], buf);
+    const out = parseElodinPacket([0x20, 0x21], buf, hpSlot2);
     expect(out).toHaveLength(1);
     expect(out[0].entity).toBe('PT2.CH1');
     expect(out[0].value).toBe(u);
@@ -24,10 +27,36 @@ describe('elodin-protocol HP PT board slot 2 (unsigned raw)', () => {
     const u = 0xa0000000 >>> 0;
     buf.writeUInt32LE(u, 16);
     buf.writeUInt8(1, 20);
-    const out = parseElodinPacket([0x20, 0x31], buf);
+    const out = parseElodinPacket([0x20, 0x31], buf, hpSlot2);
     const raw = out.find((p) => p.component === 'raw_adc_counts');
     expect(raw!.value).toBe(u);
   });
+
+  it('parses a second HP PT board (slot 3) as uint32 too', () => {
+    const buf = Buffer.alloc(21);
+    buf.writeBigUInt64LE(0n, 0);
+    buf.writeUInt8(1, 8);
+    const u = 0x90000000 >>> 0;
+    buf.writeUInt32LE(u, 12);
+    buf.writeUInt32LE(0, 16);
+    buf.writeUInt8(0, 20);
+    // low = (3-1) * 0x20 + 1 = 0x41
+    const out = parseElodinPacket([0x20, 0x41], buf, new Set([2, 3]));
+    expect(out).toHaveLength(1);
+    expect(out[0].entity).toBe('PT3.CH1');
+    expect(out[0].value).toBe(u);
+  });
+
+  it('parses slot 2 as signed when it is not declared a 4-20 mA board', () => {
+    const buf = Buffer.alloc(21);
+    buf.writeBigUInt64LE(0n, 0);
+    buf.writeUInt8(1, 8);
+    buf.writeInt32LE(-500_000, 12);
+    buf.writeUInt32LE(0, 16);
+    buf.writeUInt8(0, 20);
+    const out = parseElodinPacket([0x20, 0x21], buf, new Set([3]));
+    expect(out[0].value).toBe(-500_000);
+  });
 });
 
 describe('elodin-protocol calibrated PT raw field (signed ADC)', () => {
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index f9e946b6a..d85c96ce1 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -13,6 +13,7 @@ import {
   getActiveProfileName, ensureSeeded, readActiveProfile, writeActiveProfile, deployActiveProfile,
   getActiveProfilePath, readStateCsv, writeStateCsv, isStateCsvName, STATE_CSVS,
 } from './routes/config-profiles.js';
+import { isCurrentLoopBoard } from './sensor-config.js';
 import { sessionManager } from './session-manager.js';
 import { isOperator } from './operators.js';
 import { discoverProjects, getEnabledBoardsForFlash, getOtaWorkspaceRoot, BOARD_TYPE_TO_PROJECT } from './ota-build.js';
@@ -66,11 +67,9 @@ function buildSensorConfig(): SensorConfigEntry[] {
 
     const boardIp: string = board.ip || '';
     const boardId = asBoardId(board.board_id, 1);
-    const isHpBoard = Array.isArray(board.hp_pt_connectors) && board.hp_pt_connectors.length > 0;
-    const excitationConnectorId: number = board.excitation_connector_id ?? -1;
-    const hpPtConnectors: Set<number> = new Set(
-      isHpBoard ? (board.hp_pt_connectors as number[]) : []
-    );
+    // The ADC reference is set once per board, so the interface is a property of the whole
+    // board — every one of its sensor channels converts through the same path.
+    const isHpBoard = isCurrentLoopBoard(board);
 
     // Determine which sensor_roles section to use for this board
     const boardRolesKey = `sensor_roles_${boardKey}`;
@@ -82,18 +81,12 @@ function buildSensorConfig(): SensorConfigEntry[] {
     }
 
     // Every PT board uses its own [sensor_roles_<boardKey>] section — HP boards included
-    // (no separate sensor_roles_pt2 section). The excitation channel is dropped below.
+    // (no separate sensor_roles_pt2 section).
     for (const [roleName, channelIdRaw] of Object.entries(rolesSection)) {
       const channelId = typeof channelIdRaw === 'number' ? channelIdRaw : Number(channelIdRaw);
       if (!isFinite(channelId)) continue;
 
-      // Skip excitation connector — it is never a sensor
-      if (isHpBoard && channelId === excitationConnectorId) continue;
-
-      // Skip channels not in hp_pt_connectors for HP boards
-      if (isHpBoard && !hpPtConnectors.has(channelId)) continue;
-
-      const isHpPt = isHpBoard && hpPtConnectors.has(channelId);
+      const isHpPt = isHpBoard;
       const boardNumber = elodinSlotFromBoardId(boardId);
 
       sensors.push({
diff --git a/daq-server/diablo_server/backend/src/elodin-protocol.ts b/daq-server/diablo_server/backend/src/elodin-protocol.ts
index 7ac05004d..2402e7542 100644
--- a/daq-server/diablo_server/backend/src/elodin-protocol.ts
+++ b/daq-server/diablo_server/backend/src/elodin-protocol.ts
@@ -126,7 +126,7 @@ export function parseElodinPacket(
   payload: Buffer,
   /** Board-numbers (board_id % 10) that are high-pressure 4-20 mA PT boards, from config
    *  (see sensor-config.hpBoardNumbers). Selects unsigned-vs-signed raw-ADC interpretation
-   *  per PT board instead of the old positional "slot 2 is HP" assumption. */
+   *  per PT board. Omitted or empty means no board uses the current-loop path. */
   hpBoardNumbers?: Set<number>
 ): ParsedSensorData[] {
   const [high, low] = packetId;
@@ -153,8 +153,7 @@ export function parseElodinPacket(
   if (high === 0x20 && low >= 0x01) {
     const { boardNumber, channel, isRaw } = decodeLow(low);
     if (channel >= 1 && channel <= 10) {
-      // config-driven; fall back to the legacy slot-2 assumption only if no set was threaded through.
-      const hpPtSlot = hpBoardNumbers ? hpBoardNumbers.has(boardNumber) : boardNumber === 2;
+      const hpPtSlot = hpBoardNumbers?.has(boardNumber) ?? false;
       if (isRaw) {
         const r = parseRawSensorPayload(
           payload,
diff --git a/daq-server/diablo_server/backend/src/elodin-query.ts b/daq-server/diablo_server/backend/src/elodin-query.ts
index f740e045c..3611935af 100644
--- a/daq-server/diablo_server/backend/src/elodin-query.ts
+++ b/daq-server/diablo_server/backend/src/elodin-query.ts
@@ -7,6 +7,7 @@
 import { EventEmitter } from 'events';
 import { ElodinClient, ElodinPacketType } from './elodin-client.js';
 import { parseElodinPacket } from './elodin-protocol.js';
+import { hpBoardNumbers } from './sensor-config.js';
 import type { SensorUpdate } from './shared-types.js';
 
 export interface QueryOptions {
@@ -29,6 +30,8 @@ export class ElodinQueryClient extends EventEmitter {
   private lastTimestamps: Map<string, number> = new Map();
   private subscribedPacketIds: Set<string> = new Set();
   private isPolling: boolean = false;
+  /** Which Elodin slots are 4-20 mA PT boards; decides unsigned-vs-signed raw ADC. */
+  private hpSlots: Set<number> = hpBoardNumbers();
 
   constructor(elodin: ElodinClient) {
     super();
@@ -43,7 +46,7 @@ export class ElodinQueryClient extends EventEmitter {
         const packetIdKey = `${high},${low}`;
 
         if (this.subscribedPacketIds.has(packetIdKey)) {
-          const parsedList = parseElodinPacket(header.packetId, payload);
+          const parsedList = parseElodinPacket(header.packetId, payload, this.hpSlots);
           for (const parsed of parsedList) {
             const update: SensorUpdate = {
               entity: parsed.entity,
diff --git a/daq-server/diablo_server/backend/src/sensor-config.ts b/daq-server/diablo_server/backend/src/sensor-config.ts
index 1972bd726..cb8247f1d 100644
--- a/daq-server/diablo_server/backend/src/sensor-config.ts
+++ b/daq-server/diablo_server/backend/src/sensor-config.ts
@@ -1,18 +1,36 @@
 /**
  * Sensor configuration loading and HP PT conversion logic.
- * Extracted from server.ts — loadSensorRoleMap, loadHpPtConfig, convertHpPtToPressure.
+ * Extracted from server.ts — loadSensorRoleMap and the per-board sensor role maps.
  */
 
 import { readConfig } from './routes/config.js';
-import type { HpPtBoardConfig } from './server-types.js';
+
+let warnedLegacyPtType = false;
+
+/**
+ * True when a PT board's sensors are 4-20 mA current-loop transmitters.
+ *
+ * `pt_type` is authoritative and matches what the C++ calibration service reads, so there is
+ * one source of truth and no positional "slot 2 is HP" assumption. A board that predates
+ * `pt_type` is still recognised from its legacy hp_pt_* keys so a deployed config or a saved
+ * profile keeps working.
+ */
+export function isCurrentLoopBoard(board: any): boolean {
+    if (typeof board?.pt_type === 'string') return board.pt_type === '4-20 mA absolute';
+    const legacy = (Array.isArray(board?.hp_pt_connectors) && board.hp_pt_connectors.length > 0)
+        || typeof board?.hp_pt_full_scale_psi === 'number';
+    if (legacy && !warnedLegacyPtType) {
+        warnedLegacyPtType = true;
+        console.warn('⚠️  Board has no pt_type; inferring "4-20 mA absolute" from its hp_pt_* keys. Add pt_type to the board.');
+    }
+    return legacy;
+}
 
 /**
  * Board-numbers (board_id % 10, with 0→10) of the PT boards that are high-pressure
- * 4-20 mA current-loop boards. A board is HP iff it declares HP config (hp_pt_connectors
- * or hp_pt_full_scale_psi) — the same signal the C++ calibration service keys off, so
- * there is one source of truth and no positional "slot 2 is HP" assumption. Used by the
- * Elodin decoder to pick unsigned-vs-signed raw-ADC interpretation and by the GUI to label
- * HP boards. `config` is optional so callers on the hot path can pass a cached config.
+ * 4-20 mA current-loop boards. Used by the Elodin decoder to pick unsigned-vs-signed raw-ADC
+ * interpretation and by the GUI to label HP boards. `config` is optional so callers on the hot
+ * path can pass a cached config.
  */
 export function hpBoardNumbers(config?: any): Set<number> {
     const out = new Set<number>();
@@ -20,9 +38,7 @@ export function hpBoardNumbers(config?: any): Set<number> {
         const cfg = config ?? readConfig();
         const boards = (cfg.boards || {}) as Record<string, any>;
         for (const board of Object.values(boards)) {
-            const isHp = (Array.isArray(board?.hp_pt_connectors) && board.hp_pt_connectors.length > 0)
-                || typeof board?.hp_pt_full_scale_psi === 'number';
-            if (!isHp || typeof board?.board_id !== 'number') continue;
+            if (!isCurrentLoopBoard(board) || typeof board?.board_id !== 'number') continue;
             const mod = board.board_id % 10;
             out.add(mod === 0 ? 10 : mod);
         }
@@ -99,8 +115,6 @@ export function loadSensorRoleMap(): {
             const supportedTypes = ['PT', 'LC', 'RTD', 'TC'];
             if (supportedTypes.includes(board.type) && board.enabled !== false && board.ip) {
                 const boardIp = board.ip as string;
-                const isHpBoard = Array.isArray(board.hp_pt_connectors) && board.hp_pt_connectors.length > 0;
-                const excitationId = typeof board.excitation_connector_id === 'number' ? board.excitation_connector_id : -1;
 
                 // Every board reads its own [sensor_roles_<boardKey>] section — HP boards included
                 // (no special sensor_roles_pt2 section anymore).
@@ -109,8 +123,6 @@ export function loadSensorRoleMap(): {
                 const boardMap: Record<string, string> = {};
                 for (const [roleName, channelId] of Object.entries(boardSensorRoles)) {
                     if (typeof channelId !== 'number' || channelId < 1 || channelId > 10) continue;
-                    if (isHpBoard && channelId === excitationId) continue;
-                    if (isHpBoard && !(board.hp_pt_connectors as number[]).includes(channelId)) continue;
                     const entityName = roleName.replace(/\s+/g, '_');
                     const prefix = board.type === 'PT' ? 'PT_Cal' : board.type;
                     const entity = `${prefix}.${entityName}`;
@@ -143,109 +155,6 @@ export function loadSensorRoleMap(): {
     return { channelToEntityMap, boardChannelToEntityMaps };
 }
 
-/**
- * Load HP PT board configs from config.toml.
- * Finds every board that declares hp_pt_connectors and builds an HpPtBoardConfig
- * keyed by the board's IP address.
- */
-export function loadHpPtConfig(): Map<string, HpPtBoardConfig> {
-    const hpPtBoards = new Map<string, HpPtBoardConfig>();
-
-    try {
-        console.log('📋 Loading HP PT board configuration...');
-        const config = readConfig();
-        const boards = config.boards || {};
-        console.log(`   Found ${Object.keys(boards).length} board(s) in config`);
-
-        const sensorRolesPt2: Record<string, number> = (config.sensor_roles_pt_board_2 as Record<string, number>) || {};
-        console.log(`   Found ${Object.keys(sensorRolesPt2).length} sensor role(s) for pt2`);
-
-        // Build reverse map for pt2: connector_id → entity name
-        const pt2ReverseMap: Record<number, string> = {};
-        for (const [roleName, connectorId] of Object.entries(sensorRolesPt2)) {
-            if (typeof connectorId === 'number') {
-                const entityName = `PT_Cal.${roleName.replace(/\s+/g, '_')}`;
-                pt2ReverseMap[connectorId] = entityName;
-                console.log(`   Mapping: Connector ${connectorId} (${roleName}) → ${entityName}`);
-            }
-        }
-
-        for (const [boardKey, boardRaw] of Object.entries(boards)) {
-            const board = boardRaw as Record<string, any>;
-
-            if (board.enabled === false) {
-                console.log(`   ⏭️  Skipping ${boardKey} (${board.ip}): board is disabled`);
-                continue;
-            }
-
-            if (!board.hp_pt_connectors) {
-                continue;
-            }
-
-            const ip: string = board.ip;
-            console.log(`   🔍 Processing HP PT board: ${boardKey} (${ip})`);
-            const hpPtConnectorIds: number[] = Array.isArray(board.hp_pt_connectors)
-                ? board.hp_pt_connectors
-                : [];
-            const excitationConnectorId: number = board.excitation_connector_id ?? -1;
-            const fullScalePsi: number = board.hp_pt_full_scale_psi ?? 5000.0;
-            const senseResistorOhms: number = board.hp_pt_sense_resistor_ohms ?? 240;
-            const excitationDividerRatio: number =
-                board.excitation_divider_attenuation != null
-                    ? 1 / board.excitation_divider_attenuation
-                    : (board.excitation_divider_ratio ?? 1.0);
-            const adcRefVoltage: number = board.adc_ref_voltage ?? 2.5;
-
-            const channelToEntity: Record<number, string> = {};
-            for (const connId of hpPtConnectorIds) {
-                const entity = pt2ReverseMap[connId] ?? `PT_Cal.HP_PT_${connId}`;
-                channelToEntity[connId] = entity;
-                console.log(`   HP PT Connector ${connId} → Entity: ${entity}`);
-            }
-
-            const hpCfg: HpPtBoardConfig = {
-                boardIp: ip,
-                adcRefVoltage,
-                hpPtConnectors: new Set(hpPtConnectorIds),
-                excitationConnectorId,
-                fullScalePsi,
-                senseResistorOhms,
-                excitationDividerRatio,
-                channelToEntity,
-            };
-
-            hpPtBoards.set(ip, hpCfg);
-            console.log(`📋 Loaded HP PT board config for ${boardKey} (${ip}):`, {
-                hpPtConnectors: hpPtConnectorIds,
-                excitationConnectorId,
-                fullScalePsi,
-                senseResistorOhms,
-                excitationDividerRatio,
-                adcRefVoltage,
-                channelToEntity,
-            });
-            console.log(`   Entity mappings:`, Object.entries(channelToEntity).map(([conn, ent]) => `Connector ${conn} → ${ent}`).join(', '));
-        }
-
-        if (hpPtBoards.size === 0) {
-            console.log('📋 No HP PT boards configured (no boards with hp_pt_connectors found)');
-            console.log('   Checking all boards in config...');
-            for (const [boardKey, boardRaw] of Object.entries(boards)) {
-                const board = boardRaw as Record<string, any>;
-                console.log(`   - ${boardKey}: ip=${board.ip}, enabled=${board.enabled}, has_hp_pt_connectors=${!!board.hp_pt_connectors}`);
-            }
-        } else {
-            console.log(`✅ Loaded ${hpPtBoards.size} HP PT board(s): ${Array.from(hpPtBoards.keys()).join(', ')}`);
-        }
-    } catch (error) {
-        console.error('❌ Failed to load HP PT board config from config.toml:', error);
-        if (error instanceof Error) {
-            console.error('   Error stack:', error.stack);
-        }
-    }
-
-    return hpPtBoards;
-}
 
 /**
  * Load TC board configs from config.toml.
@@ -380,38 +289,4 @@ export function rawRtdToTemperatureC(rawValue: number, scaleToOhms: number = 0.0
     return pt1000ResistanceToTempC(rOhm);
 }
 
-/**
- * Convert HP PT ADC codes to PSI using the 4-20 mA formula.
- *
- * Both the sensor channel and the excitation channel use the board's fixed
- * adcRefVoltage (2.5 V) as their ADC reference.  The excitation channel
- * reading is used only to verify that excitation is present.
- */
-export function convertHpPtToPressure(
-    adcSensor: number,
-    adcExc: number,
-    cfg: HpPtBoardConfig,
-): number {
-    const ADC_MAX = 2147483648; // 2^31
-    const I_MIN_MA = 4.0;
-    const I_SPAN_MA = 16.0; // 20 - 4
-
-    if (adcSensor >= ADC_MAX || adcSensor < 0) return NaN;
-    // adcExc === ADC_MAX is the sentinel for "no excitation connector" (excitation_connector_id = -1).
-    // In that case we skip ratiometric compensation and use adcRefVoltage directly.
-    if (adcExc === 0 || adcExc === undefined) return NaN;
-
-    const vExc = (adcExc / ADC_MAX) * cfg.adcRefVoltage * cfg.excitationDividerRatio;
-    void vExc; // available for future ratiometric compensation / logging
-
-    const vSense = (adcSensor / ADC_MAX) * cfg.adcRefVoltage;
-    const iMa = (vSense / cfg.senseResistorOhms) * 1000;
-
-    // Treat below-live-zero current as 0 PSI instead of invalid so GUI shows
-    // a deterministic pressure value ("0") rather than "---".
-    if (iMa < I_MIN_MA) return 0.0;
-    if (iMa > 20.0) return cfg.fullScalePsi;
-
-    const fraction = (iMa - I_MIN_MA) / I_SPAN_MA;
-    return fraction * cfg.fullScalePsi;
-}
+
diff --git a/daq-server/diablo_server/backend/src/server-types.ts b/daq-server/diablo_server/backend/src/server-types.ts
index d45de975e..4d600f2e9 100644
--- a/daq-server/diablo_server/backend/src/server-types.ts
+++ b/daq-server/diablo_server/backend/src/server-types.ts
@@ -19,18 +19,6 @@ export interface Client {
     lastPong: number;
 }
 
-/** Configuration for a PT board that has 4-20 mA high-pressure sensors */
-export interface HpPtBoardConfig {
-    boardIp: string;
-    adcRefVoltage: number;
-    hpPtConnectors: Set<number>;
-    excitationConnectorId: number;
-    fullScalePsi: number;
-    senseResistorOhms: number;
-    excitationDividerRatio: number;
-    channelToEntity: Record<number, string>;
-}
-
 // ── Actuator channel map (built from config.toml actuator_roles) ────────────
 // String-based: maps actuator role name → physical channel number.
 // No ActuatorId enum — everything uses config names directly.
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 1a30c1f04..8b6c4cd8e 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -254,6 +254,53 @@ const boardDisplayName = (boards: Record<string, any>, boardKey: string): string
   return sameType.length > 1 ? `${label} Board #${ordinal}` : `${label} Board`;
 };
 
+/**
+ * A PT board's sensor interface, and therefore its ADC reference. The hardware is identical
+ * across PT boards; only the interface differs, so this is a per-board field rather than a
+ * board `type` value. Must match backend/src/sensor-config.ts and the C++ load_pt_boards().
+ */
+const PT_TYPE_RATIOMETRIC = '0-5V ratiometric';
+const PT_TYPE_CURRENT_LOOP = '4-20 mA absolute';
+
+/**
+ * Reads a PT board's declared interface, falling back to the legacy key-presence inference for a
+ * config written before pt_type existed — the same fallback the backend and C++ apply.
+ */
+const ptTypeOf = (board: any): string => {
+  if (typeof board?.pt_type === 'string' && board.pt_type) return board.pt_type;
+  const legacy = (Array.isArray(board?.hp_pt_connectors) && board.hp_pt_connectors.length > 0)
+    || typeof board?.hp_pt_full_scale_psi === 'number';
+  return legacy ? PT_TYPE_CURRENT_LOOP : PT_TYPE_RATIOMETRIC;
+};
+
+/**
+ * Every layer maps a board to an Elodin slot as board_id % 10 (0 → 10), and the packet id low
+ * byte is (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two enabled
+ * boards of the same type on one slot merge into a single entity with no error anywhere.
+ *
+ * Same-type only: the packet id's high byte already separates the types, so a PT and an actuator
+ * board sharing a slot is fine. Mirrors check_board_slots() in
+ * lib/src/config/LoadActiveBoards.cpp.
+ */
+const boardSlotIssue = (boards: Record<string, any>, boardKey: string): string | null => {
+  const board = boards?.[boardKey];
+  if (!board || board.enabled === false || typeof board.board_id !== 'number') return null;
+  const slotOf = (id: number) => (id % 10 === 0 ? 10 : id % 10);
+  const slot = slotOf(board.board_id);
+  if (slot > 8) {
+    return `Board ID ${board.board_id} maps to slot ${slot}, but packet IDs only encode slots 1-8.`;
+  }
+  const clash = Object.keys(boards).find((k) => k !== boardKey
+    && boards[k]?.enabled !== false
+    && boards[k]?.type === board.type
+    && typeof boards[k]?.board_id === 'number'
+    && slotOf(boards[k].board_id) === slot);
+  if (clash) {
+    return `Slot ${slot} is also claimed by ${boardDisplayName(boards, clash)} (ID ${boards[clash].board_id}) — their channels will merge.`;
+  }
+  return null;
+};
+
 export default function ConfigPage() {
   const [config, setConfig] = useState<ConfigData>(DEFAULT_CONFIG);
   const [loading, setLoading] = useState(true);
@@ -1023,27 +1070,35 @@ export default function ConfigPage() {
                   const channels = b.type === 'ACTUATOR'
                     ? (b.num_actuators !== undefined ? `${b.num_actuators} act` : null)
                     : (b.num_sensors !== undefined ? `${b.num_sensors} ch` : null);
-                  // A PT board is high-pressure iff it DECLARES hp config — the same predicate as
-                  // hpBoardNumbers() in backend/src/sensor-config.ts and the C++ calibration
-                  // service's parse. There is deliberately no type = "HP_PT": one source of truth.
-                  const isHp = (Array.isArray(b.hp_pt_connectors) && b.hp_pt_connectors.length > 0)
-                    || typeof b.hp_pt_full_scale_psi === 'number';
-                  // Flipping the mode writes/clears those same keys, so the selector is a view of
-                  // the config rather than a second flag that could disagree with it. Seeds match
-                  // the C++ defaults, and hp_pt_connectors starts empty — declared but inert until
-                  // channels are picked, which is what the service treats as "no HP channels".
-                  const setPtMode = (hp: boolean) => {
-                    if (hp) {
-                      updateBoard(boardKey, 'hp_pt_connectors', []);
-                      updateBoard(boardKey, 'hp_pt_full_scale_psi', 5000);
-                      updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', 120);
-                      updateBoard(boardKey, 'excitation_divider_attenuation', 1.0);
+                  // The board DECLARES its sensor interface via pt_type — the same key the backend
+                  // (isCurrentLoopBoard) and the C++ calibration service read, so there is one
+                  // source of truth. There is deliberately no type = "HP_PT": the hardware is
+                  // identical, only the sensor interface differs.
+                  const ptType = ptTypeOf(b);
+                  const isHp = ptType === PT_TYPE_CURRENT_LOOP;
+                  const slotIssue = boardSlotIssue((config.boards || {}) as Record<string, any>, boardKey);
+                  // pt_type drives voltage_reference rather than sitting beside it, so the two
+                  // cannot disagree. The 4-20 mA path needs the internal 2.5 V reference; 0-5V
+                  // ratiometric needs VDD, where the excitation IS the reference.
+                  const setPtType = (next: string) => {
+                    updateBoard(boardKey, 'pt_type', next);
+                    if (next === PT_TYPE_CURRENT_LOOP) {
+                      updateBoard(boardKey, 'voltage_reference', 0);
+                      updateBoard(boardKey, 'adc_ref_voltage', b.adc_ref_voltage ?? 2.5);
+                      updateBoard(boardKey, 'hp_pt_full_scale_psi', b.hp_pt_full_scale_psi ?? 5000);
+                      updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', b.hp_pt_sense_resistor_ohms ?? 120);
                     } else {
-                      for (const k of ['hp_pt_connectors', 'hp_pt_full_scale_psi', 'hp_pt_sense_resistor_ohms',
-                                       'excitation_connector_id', 'excitation_divider_attenuation']) {
+                      updateBoard(boardKey, 'voltage_reference', 1);
+                      for (const k of ['hp_pt_full_scale_psi', 'hp_pt_sense_resistor_ohms']) {
                         updateBoard(boardKey, k, undefined);
                       }
                     }
+                    // Legacy keys the excitation-monitor mechanism used; clearing them on any
+                    // pt_type edit stops a stale key outliving the declaration it predates.
+                    for (const k of ['hp_pt_connectors', 'excitation_connector_id',
+                                     'excitation_divider_attenuation']) {
+                      if (b[k] !== undefined) updateBoard(boardKey, k, undefined);
+                    }
                   };
                   return (
                   <div key={boardKey} className="border border-gray-700 rounded-lg">
@@ -1097,23 +1152,28 @@ export default function ConfigPage() {
                         (board as any).type,
                         (val) => updateBoard(boardKey, 'type', val),
                         'select',
-                        ['PT', 'ACTUATOR', 'LC', 'TC', 'RTD']
+                        ['PT', 'ACTUATOR', 'LC', 'TC', 'RTD', 'ENCODER']
                       )}
                       {b.type === 'PT' && (
                         <div className="space-y-1">
                           <label className="block text-sm font-semibold">
-                            PT mode
-                            <span className="text-xs text-text-muted ml-2">(sets the hp_pt_* fields below)</span>
+                            Sensor type
+                            <span className="text-xs text-text-muted ml-2">(sets the ADC reference)</span>
                           </label>
                           <select
-                            value={isHp ? 'hp' : 'lp'}
-                            onChange={(e) => setPtMode(e.target.value === 'hp')}
+                            value={ptType}
+                            onChange={(e) => setPtType(e.target.value)}
                             disabled={!canEdit}
                             className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
                           >
-                            <option value="lp">Low pressure (voltage)</option>
-                            <option value="hp">High pressure (4-20 mA loop)</option>
+                            <option value={PT_TYPE_RATIOMETRIC}>0-5V ratiometric</option>
+                            <option value={PT_TYPE_CURRENT_LOOP}>4-20 mA absolute</option>
                           </select>
+                          <p className="text-xs text-text-muted">
+                            {isHp
+                              ? 'Current loop across a shunt resistor, measured against the internal 2.5 V reference. Supply-independent, so no excitation monitor is needed.'
+                              : 'Excitation is the ADC reference (VDD), so the ratio cancels in hardware.'}
+                          </p>
                         </div>
                       )}
                       {renderField(
@@ -1133,12 +1193,17 @@ export default function ConfigPage() {
                         (val) => updateBoard(boardKey, 'listen_port', val),
                         'number'
                       )}
-                      {renderField(
-                        'Board ID',
-                        (board as any).board_id,
-                        (val) => updateBoard(boardKey, 'board_id', val),
-                        'number'
-                      )}
+                      <div className="space-y-1">
+                        {renderField(
+                          'Board ID',
+                          (board as any).board_id,
+                          (val) => updateBoard(boardKey, 'board_id', val),
+                          'number'
+                        )}
+                        {slotIssue && (
+                          <p className="text-xs text-red-400">{slotIssue}</p>
+                        )}
+                      </div>
                       {renderField(
                         'Enabled',
                         (board as any).enabled,
@@ -1166,11 +1231,18 @@ export default function ConfigPage() {
                         'boolean'
                       )}
                       <div className="space-y-1">
-                        <label className="block text-sm font-semibold">Voltage reference</label>
+                        <label className="block text-sm font-semibold">
+                          Voltage reference
+                          {b.type === 'PT' && (
+                            <span className="text-xs text-text-muted ml-2">(set by Sensor type)</span>
+                          )}
+                        </label>
                         <select
                           value={String((board as any).voltage_reference ?? 0)}
                           onChange={(e) => updateBoard(boardKey, 'voltage_reference', parseInt(e.target.value, 10))}
-                          disabled={!canEdit}
+                          // On a PT board the reference follows from the sensor interface, so it is
+                          // shown rather than edited — the two cannot be made to disagree.
+                          disabled={!canEdit || b.type === 'PT'}
                           className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
                         >
                           <option value="0">Internal (2.5V)</option>
@@ -1203,41 +1275,25 @@ export default function ConfigPage() {
                         'array'
                       )}
 
-                      {/* HP PT extras — shown whenever the board is in HP mode, not only when the
-                          keys already exist, so an LP board can actually be converted to HP here. */}
-                      {isHp && renderField(
-                        'HP PT Connectors',
-                        b.hp_pt_connectors,
-                        (val) => updateBoard(boardKey, 'hp_pt_connectors', val),
-                        'array',
-                        undefined,
-                        'connectors on the 4-20 mA loop; the rest stay voltage PTs'
-                      )}
-                      {isHp && renderField(
-                        'Excitation Connector ID',
-                        b.excitation_connector_id,
-                        (val) => updateBoard(boardKey, 'excitation_connector_id', val),
-                        'number',
-                        undefined,
-                        'connector sensing the loop supply; blank = no normalization'
-                      )}
+                      {/* 4-20 mA conversion parameters — shown whenever the board declares that
+                          interface, not only when the keys already exist, so a board can actually
+                          be converted here. There is no per-connector list: the ADC reference is
+                          set once per board, so every active connector uses the same path. */}
                       {isHp && renderField(
-                        'HP PT Full Scale (PSI)',
+                        'Full Scale (PSI)',
                         b.hp_pt_full_scale_psi,
                         (val) => updateBoard(boardKey, 'hp_pt_full_scale_psi', val),
-                        'number'
+                        'number',
+                        undefined,
+                        'pressure at 20 mA; 4 mA is 0 PSI'
                       )}
                       {isHp && renderField(
-                        'HP PT Sense Resistor (Ω)',
+                        'Sense Resistor (Ω)',
                         b.hp_pt_sense_resistor_ohms,
                         (val) => updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', val),
-                        'number'
-                      )}
-                      {isHp && renderField(
-                        'Excitation Divider Attenuation',
-                        b.excitation_divider_attenuation,
-                        (val) => updateBoard(boardKey, 'excitation_divider_attenuation', val),
-                        'number'
+                        'number',
+                        undefined,
+                        'shunt the loop current is measured across'
                       )}
                     </div>
                     )}
@@ -1248,9 +1304,11 @@ export default function ConfigPage() {
                   onClick={() => {
                     const newKey = `board_${Object.keys(config.boards || {}).length + 1}`;
                     updateBoard(newKey, 'type', 'PT');
+                    updateBoard(newKey, 'pt_type', PT_TYPE_RATIOMETRIC);
                     updateBoard(newKey, 'enabled', false);
                     updateBoard(newKey, 'enable_serial_printing', 0);
-                    updateBoard(newKey, 'voltage_reference', 0);
+                    // Matches PT_TYPE_RATIOMETRIC above; the Sensor type selector owns this from here.
+                    updateBoard(newKey, 'voltage_reference', 1);
                     // A board you just created is empty — open it so it can be filled in.
                     setOpenBoards((prev) => ({ ...prev, [newKey]: true }));
                   }}
diff --git a/daq-server/diablo_server/frontend/app/status/page.tsx b/daq-server/diablo_server/frontend/app/status/page.tsx
index c4067a845..73cecbbf0 100644
--- a/daq-server/diablo_server/frontend/app/status/page.tsx
+++ b/daq-server/diablo_server/frontend/app/status/page.tsx
@@ -5,7 +5,8 @@ import { useSensorStore, useGetSensorValue, useSensorDataVersion, useActuatorCom
 import { useActuatorsFromConfig } from '@/lib/actuators-from-config';
 import { BoardStatus, engineStateCodeToLabel, ActuatorState } from '@/lib/types';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
-import { PRESSURE_SENSORS } from '@/lib/sensor-colors';
+import { PRESSURE_SENSORS, getEntityColor } from '@/lib/sensor-colors';
+import { useSensorConfig } from '@/lib/sensor-config';
 import { stateNameUpper } from '@/lib/states';
 
 /** Display follows commanded state only (state machine / user command); no ADC. */
@@ -23,10 +24,6 @@ function ActuatorStatusRow({ label, entity }: { label: string; entity: string })
   );
 }
 
-const HP_PT_SENSORS = PRESSURE_SENSORS.filter((s) =>
-  ['PT_Cal.GSE_Mid', 'PT_Cal.GSE_High', 'PT_Cal.GN2_High'].includes(s.entity)
-).map(({ label, entity, color }) => ({ label, entity, color }));
-
 function fmtValue(v: number | null): string {
   if (v === null || !isFinite(v)) return '---';
   const abs = Math.abs(v);
@@ -44,6 +41,16 @@ export default function StatusPage() {
   useSensorDataVersion(); // re-render on sensor flush so getSensorValue() shows fresh data
   const getSensorValue = useGetSensorValue();
 
+  // Which sensors are on a 4-20 mA board comes from config (pt_type), so every such board's
+  // channels appear — this used to be three hardcoded role names that matched nothing.
+  const sensorConfig = useSensorConfig();
+  const hpPtSensors = useMemo(
+    () => sensorConfig
+      .filter((s) => s.isHpPt)
+      .map((s) => ({ label: s.role, entity: s.calEntity, color: getEntityColor(s.calEntity) })),
+    [sensorConfig],
+  );
+
   const boards = useMemo(() => {
     return Object.values(boardsMap).sort((a, b) => {
       if (a.type !== b.type) return a.type.localeCompare(b.type);
@@ -192,24 +199,23 @@ export default function StatusPage() {
       </div>
 
       {/* High Pressure PT Sensors Section */}
+      {hpPtSensors.length > 0 && (
       <div className="mt-4">
         <h2 className="text-xl font-bold text-text-muted uppercase tracking-wider mb-4">High Pressure PT Sensors</h2>
         <div className="grid grid-cols-1 lg:grid-cols-2 gap-4">
-          {HP_PT_SENSORS.map((sensor) => {
+          {/* Only pressure_psi and raw_adc_counts are published for PT channels. The old panel
+              also showed V_exc / V_sense / current_ma, which nothing has ever emitted. */}
+          {hpPtSensors.map((sensor) => {
             const pressure = getSensorValue(sensor.entity, 'pressure_psi');
             const adc = getSensorValue(sensor.entity, 'raw_adc_counts');
-            const vExc = getSensorValue(sensor.entity, 'excitation_voltage');
-            const vSense = getSensorValue(sensor.entity, 'sense_voltage');
-            const current = getSensorValue(sensor.entity, 'current_ma');
 
             return (
-              <div key={sensor.label} className="bg-card rounded-lg p-4 border border-gray-800">
+              <div key={sensor.entity} className="bg-card rounded-lg p-4 border border-gray-800">
                 <h3 className="text-lg font-bold text-text mb-3 flex items-center gap-2">
                   <div className="w-3 h-3 rounded-full" style={{ backgroundColor: sensor.color }} />
                   {sensor.label}
                 </h3>
 
-                {/* Current Values */}
                 <div className="grid grid-cols-2 gap-3 mb-4">
                   <div className="bg-gray-900/50 rounded p-2">
                     <div className="text-xs text-gray-400 uppercase tracking-wider mb-1">Pressure</div>
@@ -218,24 +224,6 @@ export default function StatusPage() {
                     </div>
                   </div>
                   <div className="bg-gray-900/50 rounded p-2">
-                    <div className="text-xs text-gray-400 uppercase tracking-wider mb-1">Current</div>
-                    <div className="text-xl font-bold font-mono tabular-nums text-blue-400">
-                      {current !== null ? `${current.toFixed(2)} mA` : '---'}
-                    </div>
-                  </div>
-                  <div className="bg-gray-900/50 rounded p-2">
-                    <div className="text-xs text-gray-400 uppercase tracking-wider mb-1">V_exc</div>
-                    <div className="text-lg font-bold font-mono tabular-nums text-green-400">
-                      {vExc !== null ? `${vExc.toFixed(3)} V` : '---'}
-                    </div>
-                  </div>
-                  <div className="bg-gray-900/50 rounded p-2">
-                    <div className="text-xs text-gray-400 uppercase tracking-wider mb-1">V_sense</div>
-                    <div className="text-lg font-bold font-mono tabular-nums text-yellow-400">
-                      {vSense !== null ? `${vSense.toFixed(3)} V` : '---'}
-                    </div>
-                  </div>
-                  <div className="bg-gray-900/50 rounded p-2 col-span-2">
                     <div className="text-xs text-gray-400 uppercase tracking-wider mb-1">ADC Code</div>
                     <div className="text-lg font-bold font-mono tabular-nums text-purple-400">
                       {adc !== null ? adc.toLocaleString() : '---'}
@@ -243,30 +231,16 @@ export default function StatusPage() {
                   </div>
                 </div>
 
-                {/* Time Series Plots */}
                 <div className="space-y-3">
                   <div className="h-32">
                     <TimeSeriesPlot
-                      title="Voltage"
-                      entities={[sensor.entity]}
-                      component="excitation_voltage"
-                      components={['excitation_voltage', 'sense_voltage']}
-                      labels={['V_exc', 'V_sense']}
-                      colors={['#27AE60', '#F39C12']}
-                      yLabel="Voltage (V)"
-                      height={128}
-                      windowSeconds={60}
-                    />
-                  </div>
-                  <div className="h-32">
-                    <TimeSeriesPlot
-                      title="Current"
+                      title="Pressure"
                       entities={[sensor.entity]}
-                      component="current_ma"
-                      components={['current_ma']}
-                      labels={['Current']}
+                      component="pressure_psi"
+                      components={['pressure_psi']}
+                      labels={['Pressure']}
                       colors={[sensor.color]}
-                      yLabel="Current (mA)"
+                      yLabel="Pressure (PSI)"
                       height={128}
                       windowSeconds={60}
                     />
@@ -290,6 +264,7 @@ export default function StatusPage() {
           })}
         </div>
       </div>
+      )}
     </main>
   );
 }
diff --git a/daq-server/diablo_server/frontend/lib/sensor-colors.ts b/daq-server/diablo_server/frontend/lib/sensor-colors.ts
index ab4cfa9f1..1669d5aa3 100644
--- a/daq-server/diablo_server/frontend/lib/sensor-colors.ts
+++ b/daq-server/diablo_server/frontend/lib/sensor-colors.ts
@@ -28,9 +28,6 @@ export const ENTITY_COLORS: Record<string, string> = {
   'PT_Cal.PT_CH8': '#8E44AD',
   'PT_Cal.PT_CH9': '#1ABC9C',
   'PT_Cal.PT_CH10': '#16A085',
-  'PT_Cal.HP_PT_1': '#9B59B6',
-  'PT_Cal.HP_PT_3': '#8E44AD',
-  'PT_Cal.HP_PT_4': '#1ABC9C',
   // Raw PT channels (same color as calibrated role for consistency)
   'PT.PT_CH1': '#E67E22', 'PT.PT_CH2': '#D7BDE2', 'PT.PT_CH3': '#9B59B6', 'PT.PT_CH4': '#C0392B',
   'PT.PT_CH5': '#5DADE2', 'PT.PT_CH6': '#3CB371', 'PT.PT_CH7': '#2471A3', 'PT.PT_CH8': '#8E44AD',
diff --git a/daq-server/diablo_server/lib/include/config/LoadActiveBoards.hpp b/daq-server/diablo_server/lib/include/config/LoadActiveBoards.hpp
index ebe98649b..63ae7529c 100644
--- a/daq-server/diablo_server/lib/include/config/LoadActiveBoards.hpp
+++ b/daq-server/diablo_server/lib/include/config/LoadActiveBoards.hpp
@@ -13,12 +13,49 @@ namespace config {
 /** Board kinds from [boards.*] in config.toml (order matches prior daq_bridge enum). */
 enum class ActiveBoardKind : uint8_t { PT, LC, TC, RTD, ACTUATOR, ENCODER, UNKNOWN };
 
+/**
+ * Sensor interface of a PT board, declared by `pt_type` in its [boards.*] section.
+ *
+ * The board hardware is identical; what differs is the sensor interface and therefore the ADC
+ * reference, which is set once per board and so cannot be mixed across connectors.
+ */
+enum class PtInterface : uint8_t {
+    RATIOMETRIC_0_5V,     ///< 0-5V ratiometric: excitation is the reference, ratio cancels in HW.
+    CURRENT_LOOP_4_20MA,  ///< 4-20 mA absolute: supply-independent loop across a shunt resistor.
+    ABSOLUTE_0_5V,        ///< 0-5V absolute. Not implemented in firmware; see load_pt_boards().
+};
+
+/** Per-board 4-20 mA conversion parameters, keyed by Elodin slot (board_number). */
+struct PtBoardConfig {
+    uint8_t board_id = 0;
+    uint8_t board_number = 0;  ///< Elodin slot: board_id % 10, with 0 mapping to 10.
+    PtInterface interface = PtInterface::RATIOMETRIC_0_5V;
+    double full_scale_psi = 5000.0;
+    double sense_resistor_ohms = 120.0;
+    double adc_ref_voltage = 2.5;
+};
+
+/** True when this board's channels convert through the 4-20 mA current-loop path. */
+inline bool is_current_loop(const PtBoardConfig& b) {
+    return b.interface == PtInterface::CURRENT_LOOP_4_20MA;
+}
+
 /**
  * Parse [boards.*] sections: enabled boards, board_id, channels / num_sensors / active_connectors.
  * Used by daq_bridge (full table registration) and sequencer_service (ACT_CMD registration).
+ *
+ * Also validates Elodin slot assignment (see check_board_slots) and logs to stderr on conflict.
  */
 std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> load_active_boards(
     const std::string& config_path);
 
+/**
+ * Parse the PT boards' sensor interface and 4-20 mA conversion parameters, keyed by Elodin slot.
+ *
+ * `pt_type` is authoritative. A board that predates it is treated as 4-20 mA if it carries the
+ * legacy hp_pt_* keys, so a deployed config keeps working; that fallback logs a deprecation once.
+ */
+std::map<uint8_t, PtBoardConfig> load_pt_boards(const std::string& config_path);
+
 }  // namespace config
 }  // namespace fsw
diff --git a/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp b/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp
index aa6bd787b..181070d21 100644
--- a/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp
+++ b/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp
@@ -1,86 +1,66 @@
 #include "config/LoadActiveBoards.hpp"
 
 #include <fstream>
+#include <functional>
+#include <iostream>
 #include <sstream>
 #include <string>
 
 namespace fsw {
 namespace config {
 
-std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> load_active_boards(
-    const std::string& config_path) {
-    using BoardChannels = elodin::BoardChannels;
-    std::map<ActiveBoardKind, std::vector<BoardChannels>> result;
+namespace {
+
+/** Strip comments, CR and surrounding whitespace. Returns the bare line (may be empty). */
+std::string clean_line(std::string line) {
+    size_t c = line.find('#');
+    if (c != std::string::npos)
+        line = line.substr(0, c);
+    while (!line.empty() && (line.back() == ' ' || line.back() == '\t' || line.back() == '\r'))
+        line.pop_back();
+    size_t start = line.find_first_not_of(" \t");
+    if (start == std::string::npos)
+        return "";
+    return line.substr(start);
+}
+
+std::string unquote(std::string v) {
+    if (v.size() >= 2 && v.front() == '"' && v.back() == '"')
+        return v.substr(1, v.size() - 2);
+    return v;
+}
 
+using KeyValues = std::map<std::string, std::string>;
+
+/**
+ * Walk every [boards.*] section, invoking `fn(section_name, key_values)` once per section.
+ *
+ * Collecting each section into a map before dispatching makes key order within a section
+ * irrelevant, which the previous single-pass readers were sensitive to.
+ */
+void for_each_board_section(const std::string& config_path,
+                            const std::function<void(const std::string&, const KeyValues&)>& fn) {
     std::ifstream f(config_path);
     if (!f.is_open())
-        return result;
+        return;
 
     std::string line, section;
-    std::string board_type_str;
-    int board_id = -1;
-    bool board_enabled = true;
-    std::vector<uint8_t> active_conn;
-    int num_sensors = 10;
+    KeyValues kv;
 
     auto flush = [&]() {
-        if (board_type_str.empty() || !board_enabled || board_id < 0)
-            return;
-        ActiveBoardKind bt = ActiveBoardKind::UNKNOWN;
-        if (board_type_str == "PT")
-            bt = ActiveBoardKind::PT;
-        else if (board_type_str == "TC")
-            bt = ActiveBoardKind::TC;
-        else if (board_type_str == "RTD")
-            bt = ActiveBoardKind::RTD;
-        else if (board_type_str == "LC")
-            bt = ActiveBoardKind::LC;
-        else if (board_type_str == "ENCODER")
-            bt = ActiveBoardKind::ENCODER;
-        else if (board_type_str == "ACTUATOR")
-            bt = ActiveBoardKind::ACTUATOR;
-        if (bt == ActiveBoardKind::UNKNOWN)
-            return;
-
-        BoardChannels bc;
-        bc.board_id = static_cast<uint8_t>(board_id);
-        {
-            int m = board_id % 10;
-            bc.board_number = static_cast<uint8_t>(m == 0 ? 10 : m);
-        }
-        if (!active_conn.empty()) {
-            bc.channels = active_conn;
-        } else {
-            for (int i = 1; i <= num_sensors; i++)
-                bc.channels.push_back(static_cast<uint8_t>(i));
-        }
-        result[bt].push_back(std::move(bc));
+        if (section.rfind("boards.", 0) == 0 && !kv.empty())
+            fn(section, kv);
+        kv.clear();
     };
 
     while (std::getline(f, line)) {
-        size_t c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        while (!line.empty() && (line.back() == ' ' || line.back() == '\r'))
-            line.pop_back();
-        size_t start = line.find_first_not_of(" \t");
-        if (start != std::string::npos)
-            line = line.substr(start);
+        line = clean_line(std::move(line));
         if (line.empty())
             continue;
 
         if (line.size() >= 2 && line[0] == '[' && line.back() == ']') {
             flush();
             section = line.substr(1, line.size() - 2);
-            if (section.rfind("boards.", 0) == 0) {
-                board_type_str.clear();
-                board_id = -1;
-                board_enabled = true;
-                active_conn.clear();
-                num_sensors = 10;
-            } else {
-                board_type_str.clear();
-            }
             continue;
         }
         if (section.rfind("boards.", 0) != 0)
@@ -93,41 +73,209 @@ std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> load_active_boards
         std::string val = line.substr(eq + 1);
         while (!key.empty() && (key.back() == ' ' || key.back() == '\t'))
             key.pop_back();
-        while (!val.empty() && val[0] == ' ')
+        while (!val.empty() && (val[0] == ' ' || val[0] == '\t'))
             val.erase(0, 1);
+        kv[key] = val;
+    }
+    flush();
+}
+
+const std::string* find(const KeyValues& kv, const std::string& key) {
+    auto it = kv.find(key);
+    return it == kv.end() ? nullptr : &it->second;
+}
+
+bool board_enabled(const KeyValues& kv) {
+    const std::string* v = find(kv, "enabled");
+    return !(v && *v == "false");
+}
+
+int board_id_of(const KeyValues& kv) {
+    const std::string* v = find(kv, "board_id");
+    if (!v)
+        return -1;
+    try {
+        return std::stoi(*v);
+    } catch (...) {
+        return -1;
+    }
+}
+
+/** Elodin slot for a board id: board_id % 10, with 0 mapping to 10. */
+uint8_t slot_of(int board_id) {
+    int m = board_id % 10;
+    return static_cast<uint8_t>(m == 0 ? 10 : m);
+}
+
+double double_or(const KeyValues& kv, const std::string& key, double fallback) {
+    const std::string* v = find(kv, key);
+    if (!v)
+        return fallback;
+    try {
+        return std::stod(*v);
+    } catch (...) {
+        return fallback;
+    }
+}
+
+std::vector<uint8_t> parse_int_list(const std::string& val) {
+    std::vector<uint8_t> out;
+    size_t b = val.find('['), e = val.find(']');
+    if (b == std::string::npos || e == std::string::npos)
+        return out;
+    std::istringstream iss(val.substr(b + 1, e - b - 1));
+    std::string tok;
+    while (std::getline(iss, tok, ',')) {
+        try {
+            out.push_back(static_cast<uint8_t>(std::stoi(tok)));
+        } catch (...) {
+        }
+    }
+    return out;
+}
+
+ActiveBoardKind kind_of(const std::string& type_str) {
+    if (type_str == "PT")
+        return ActiveBoardKind::PT;
+    if (type_str == "TC")
+        return ActiveBoardKind::TC;
+    if (type_str == "RTD")
+        return ActiveBoardKind::RTD;
+    if (type_str == "LC")
+        return ActiveBoardKind::LC;
+    if (type_str == "ENCODER")
+        return ActiveBoardKind::ENCODER;
+    if (type_str == "ACTUATOR")
+        return ActiveBoardKind::ACTUATOR;
+    return ActiveBoardKind::UNKNOWN;
+}
+
+/**
+ * Every layer maps a board to an Elodin slot as board_id % 10, and the packet id low byte is
+ * (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two boards of the same
+ * kind sharing a slot merge into one entity silently.
+ *
+ * Scoped per kind on purpose: the packet id's high byte already separates the kinds (0x20 PT,
+ * 0x21 TC, 0x22 RTD, 0x23 LC, 0x24 ENCODER, 0x30 ACT — see DatabaseConfig.cpp), so a PT and an
+ * actuator board on the same slot are fine and must not be reported.
+ *
+ * Neither condition is recoverable here; log loudly and let startup continue so the operator
+ * sees which boards collided rather than an unexplained exit.
+ */
+void check_board_slots(std::map<ActiveBoardKind, std::map<uint8_t, std::string>>& slot_owner,
+                       ActiveBoardKind kind, uint8_t slot, const std::string& section,
+                       int board_id) {
+    auto& owners = slot_owner[kind];
+    auto prev = owners.find(slot);
+    if (prev != owners.end()) {
+        std::cerr << "[Config] ERROR: board slot " << static_cast<int>(slot) << " claimed by both ["
+                  << prev->second << "] and [" << section
+                  << "] - their channels will merge into one Elodin entity. Give them board_ids "
+                     "that differ mod 10."
+                  << std::endl;
+    } else {
+        owners.emplace(slot, section);
+    }
+    if (slot > 8) {
+        std::cerr << "[Config] ERROR: [" << section << "] board_id " << board_id << " maps to slot "
+                  << static_cast<int>(slot)
+                  << ", but the packet id low byte only encodes slots 1-8. Its channels will "
+                     "collide with another board."
+                  << std::endl;
+    }
+}
+
+}  // namespace
+
+std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> load_active_boards(
+    const std::string& config_path) {
+    using BoardChannels = elodin::BoardChannels;
+    std::map<ActiveBoardKind, std::vector<BoardChannels>> result;
+    std::map<ActiveBoardKind, std::map<uint8_t, std::string>> slot_owner;
+
+    for_each_board_section(config_path, [&](const std::string& section, const KeyValues& kv) {
+        const std::string* type_str = find(kv, "type");
+        int board_id = board_id_of(kv);
+        if (!type_str || !board_enabled(kv) || board_id < 0)
+            return;
+        ActiveBoardKind bt = kind_of(unquote(*type_str));
+        if (bt == ActiveBoardKind::UNKNOWN)
+            return;
+
+        uint8_t slot = slot_of(board_id);
+        check_board_slots(slot_owner, bt, slot, section, board_id);
+
+        BoardChannels bc;
+        bc.board_id = static_cast<uint8_t>(board_id);
+        bc.board_number = slot;
 
-        if (key == "type") {
-            if (val.size() >= 2 && val.front() == '"' && val.back() == '"')
-                val = val.substr(1, val.size() - 2);
-            board_type_str = val;
-        } else if (key == "enabled" && val == "false") {
-            board_enabled = false;
-        } else if (key == "board_id") {
-            try {
-                board_id = std::stoi(val);
-            } catch (...) {
+        if (const std::string* conns = find(kv, "active_connectors"))
+            bc.channels = parse_int_list(*conns);
+        if (bc.channels.empty()) {
+            int num_sensors = 10;
+            if (const std::string* n = find(kv, "num_sensors")) {
+                try {
+                    num_sensors = std::stoi(*n);
+                } catch (...) {
+                }
             }
-        } else if (key == "num_sensors") {
-            try {
-                num_sensors = std::stoi(val);
-            } catch (...) {
+            for (int i = 1; i <= num_sensors; i++)
+                bc.channels.push_back(static_cast<uint8_t>(i));
+        }
+        result[bt].push_back(std::move(bc));
+    });
+
+    return result;
+}
+
+std::map<uint8_t, PtBoardConfig> load_pt_boards(const std::string& config_path) {
+    std::map<uint8_t, PtBoardConfig> result;
+    bool warned_legacy = false;
+
+    for_each_board_section(config_path, [&](const std::string& section, const KeyValues& kv) {
+        const std::string* type_str = find(kv, "type");
+        int board_id = board_id_of(kv);
+        if (!type_str || unquote(*type_str) != "PT" || !board_enabled(kv) || board_id < 0)
+            return;
+
+        PtBoardConfig b;
+        b.board_id = static_cast<uint8_t>(board_id);
+        b.board_number = slot_of(board_id);
+
+        if (const std::string* pt_type = find(kv, "pt_type")) {
+            std::string v = unquote(*pt_type);
+            if (v == "4-20 mA absolute") {
+                b.interface = PtInterface::CURRENT_LOOP_4_20MA;
+            } else if (v == "0-5V ratiometric") {
+                b.interface = PtInterface::RATIOMETRIC_0_5V;
+            } else if (v == "0-5V absolute") {
+                // voltage_reference = 2 is not implemented in the PT firmware: it falls back to
+                // the internal 2.5 V reference, which would silently halve the usable range.
+                std::cerr << "[Config] ERROR: [" << section << "] pt_type \"" << v
+                          << "\" is not supported by the PT firmware." << std::endl;
+                b.interface = PtInterface::ABSOLUTE_0_5V;
+            } else {
+                std::cerr << "[Config] ERROR: [" << section << "] unknown pt_type \"" << v
+                          << "\"; treating as 0-5V ratiometric." << std::endl;
             }
-        } else if (key == "active_connectors") {
-            size_t b = val.find('['), e = val.find(']');
-            if (b != std::string::npos && e != std::string::npos) {
-                std::string inner = val.substr(b + 1, e - b - 1);
-                std::istringstream iss(inner);
-                std::string tok;
-                while (std::getline(iss, tok, ',')) {
-                    try {
-                        active_conn.push_back(static_cast<uint8_t>(std::stoi(tok)));
-                    } catch (...) {
-                    }
-                }
+        } else if (find(kv, "hp_pt_connectors") || find(kv, "hp_pt_full_scale_psi")) {
+            // Legacy config: the interface was inferred from the presence of the hp_pt_* keys.
+            b.interface = PtInterface::CURRENT_LOOP_4_20MA;
+            if (!warned_legacy) {
+                warned_legacy = true;
+                std::cerr << "[Config] DEPRECATED: [" << section
+                          << "] has no pt_type; inferring \"4-20 mA absolute\" from its hp_pt_* "
+                             "keys. Add pt_type to the board."
+                          << std::endl;
             }
         }
-    }
-    flush();
+
+        b.full_scale_psi = double_or(kv, "hp_pt_full_scale_psi", b.full_scale_psi);
+        b.sense_resistor_ohms = double_or(kv, "hp_pt_sense_resistor_ohms", b.sense_resistor_ohms);
+        b.adc_ref_voltage = double_or(kv, "adc_ref_voltage", b.adc_ref_voltage);
+
+        result[b.board_number] = b;
+    });
 
     return result;
 }
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 1d87d4a8b..64631307d 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -48,17 +48,18 @@
 #include "calibration/SensorCalibration.hpp"
 #include "comms/messages/sensor/CalibratedPTMessage.hpp"
 #include "comms/messages/sensor/CalibratedSensorMessages.hpp"
+#include "config/LoadActiveBoards.hpp"
 #include "elodin/DatabaseConfig.hpp"
 #include "elodin/ElodinClient.hpp"
 
 namespace {
 
-/** Last raw u32 per local CH1..10 on the HP PT board slot (for excitation normalization). */
-std::array<uint32_t, 11> g_hp_board_last_u32{};
-/** Hysteresis: 0 = treat as below loop, 1 = in 4–20 mA band (stops 3.99↔4.01 PSI chatter). */
-std::array<uint8_t, 11> g_hp_ma_live{};
-/** Low-pass of measured excitation voltage (V) for slow supply tracking. */
-double g_hp_v_exc_ema = -1.0;
+/**
+ * Hysteresis: 0 = treat as below loop, 1 = in 4–20 mA band (stops 3.99↔4.01 PSI chatter).
+ * Keyed by board slot so one board's channel going live cannot unlatch another board's
+ * same-numbered channel.
+ */
+std::map<uint8_t, std::array<uint8_t, 11>> g_hp_ma_live;
 
 /** Per-sensor zero offsets (PSI) applied after LP PT path (factory or robust) and Zero All. */
 std::unordered_map<uint16_t, double> g_zero_offsets;
@@ -101,11 +102,11 @@ static bool lp_pt_use_robust_blend() {
 
 /**
  * 4-20 mA HP PT → PSI. Wire raw is u32 full-scale to 2^31.
- * Optional: normalize shunt voltage by a slow-tracked excitation ADC (config
- * excitation_connector_id
- * + excitation_divider_attenuation) so supply ripple on PT2 does not move all three HP channels
- * together. Optional: per-channel mA hysteresis kills threshold flicker at ~4 mA open-circuit
- * noise.
+ *
+ * A 4-20 mA transmitter regulates its loop current independently of its supply, so the reading is
+ * absolute and needs no excitation reference — the shunt voltage against the internal 2.5 V ref is
+ * the whole measurement. Optional per-channel mA hysteresis kills threshold flicker at ~4 mA
+ * open-circuit noise.
  */
 /**
  * HP PT shunt codes are defined as unsigned in [0, 2^31) vs 2.5 V ref (see board_simulator).
@@ -119,10 +120,13 @@ static uint32_t coerce_hp_pt_adc_counts(int32_t /* as_signed */, uint32_t as_uns
     return as_unsigned > kMaxCode ? kMaxCode : as_unsigned;
 }
 
-static double convert_hp_pt_to_pressure(uint8_t local_ch, uint32_t adc_raw, double full_scale_psi,
-                                        double sense_resistor_ohms, double adc_ref_voltage,
-                                        uint32_t adc_exc_raw, bool use_excitation_norm,
-                                        double exc_divider_attenuation) {
+static double convert_hp_pt_to_pressure(uint8_t local_ch, uint32_t adc_raw,
+                                        const fsw::config::PtBoardConfig& board,
+                                        std::array<uint8_t, 11>& live_state) {
+    const double full_scale_psi = board.full_scale_psi;
+    const double sense_resistor_ohms = board.sense_resistor_ohms;
+    const double adc_ref_voltage = board.adc_ref_voltage;
+
     constexpr double ADC_MAX = 2147483648.0;
     constexpr double I_MIN_MA = 4.0;
     constexpr double I_SPAN_MA = 16.0;
@@ -142,26 +146,11 @@ static double convert_hp_pt_to_pressure(uint8_t local_ch, uint32_t adc_raw, doub
 
     double v_sense = (static_cast<double>(adc) / ADC_MAX) * adc_ref_voltage;
 
-    if (use_excitation_norm && adc_exc_raw > 128u && adc_exc_raw < static_cast<uint32_t>(ADC_MAX) &&
-        exc_divider_attenuation > 1e-9) {
-        double v_e = (static_cast<double>(adc_exc_raw) / ADC_MAX) * adc_ref_voltage /
-                     exc_divider_attenuation;
-        if (std::isfinite(v_e) && v_e > 1e-5) {
-            if (g_hp_v_exc_ema < 0.0)
-                g_hp_v_exc_ema = v_e;
-            else
-                g_hp_v_exc_ema = 0.97 * g_hp_v_exc_ema + 0.03 * v_e;
-            double ratio = g_hp_v_exc_ema / std::max(v_e, 1e-9);
-            ratio = std::clamp(ratio, 0.88, 1.12);
-            v_sense *= ratio;
-        }
-    }
-
     double i_ma = (v_sense / sense_resistor_ohms) * 1000.0;
     if (!std::isfinite(v_sense) || !std::isfinite(i_ma))
         return 0.0;
 
-    uint8_t& live = g_hp_ma_live[local_ch];
+    uint8_t& live = live_state[local_ch];
     if (hyst > 0.0) {
         if (!live) {
             if (i_ma < i_on)
@@ -440,285 +429,45 @@ int main(int argc, char* argv[]) {
               << std::endl;
 
     // Collect active boards with local channels for VTable registration (board-namespaced).
+    // Shared with daq_bridge and sequencer_service so all three agree on which boards are live
+    // and which Elodin slot each one owns.
     using BoardChannels = fsw::elodin::BoardChannels;
-    std::vector<BoardChannels> pt_boards, tc_boards, rtd_boards, lc_boards, enc_boards, act_boards;
-    {
-        std::ifstream cfg(config_path);
-        if (cfg.is_open()) {
-            std::string line, section;
-            std::string board_type;
-            int board_id = 0;
-            bool board_enabled = true;
-            std::vector<int> active_conn;
-            int num_sensors = 0;
-
-            auto flush_board = [&]() {
-                if (board_type.empty() || !board_enabled || board_id == 0)
-                    return;
-                std::vector<uint8_t> channels;
-                if (!active_conn.empty()) {
-                    for (int c : active_conn)
-                        channels.push_back(static_cast<uint8_t>(c));
-                } else if (num_sensors > 0) {
-                    for (int i = 1; i <= num_sensors; i++)
-                        channels.push_back(static_cast<uint8_t>(i));
-                }
-                if (channels.empty())
-                    return;
-                int slot_mod = board_id % 10;
-                uint8_t board_number = static_cast<uint8_t>(slot_mod == 0 ? 10 : slot_mod);
-                BoardChannels bc{static_cast<uint8_t>(board_id), board_number, channels};
-                if (board_type == "PT")
-                    pt_boards.push_back(bc);
-                else if (board_type == "TC")
-                    tc_boards.push_back(bc);
-                else if (board_type == "RTD")
-                    rtd_boards.push_back(bc);
-                else if (board_type == "LC")
-                    lc_boards.push_back(bc);
-                else if (board_type == "ENCODER")
-                    enc_boards.push_back(bc);
-                else if (board_type == "ACTUATOR")
-                    act_boards.push_back(bc);
-            };
-
-            while (std::getline(cfg, line)) {
-                size_t c = line.find('#');
-                if (c != std::string::npos)
-                    line = line.substr(0, c);
-                while (!line.empty() && (line.back() == ' ' || line.back() == '\r'))
-                    line.pop_back();
-                size_t start = line.find_first_not_of(" \t");
-                if (start != std::string::npos)
-                    line = line.substr(start);
-                if (line.empty())
-                    continue;
-
-                if (line.size() >= 2 && line[0] == '[' && line.back() == ']') {
-                    flush_board();
-                    section = line.substr(1, line.size() - 2);
-                    if (section.rfind("boards.", 0) == 0) {
-                        board_type.clear();
-                        board_id = 0;
-                        board_enabled = true;
-                        active_conn.clear();
-                        num_sensors = 0;
-                    } else {
-                        board_type.clear();
-                    }
-                    continue;
-                }
-                if (section.rfind("boards.", 0) != 0)
-                    continue;
-                size_t eq = line.find('=');
-                if (eq == std::string::npos)
-                    continue;
-                std::string key = line.substr(0, eq);
-                std::string val = line.substr(eq + 1);
-                while (!key.empty() && (key.back() == ' ' || key.back() == '\t'))
-                    key.pop_back();
-                while (!val.empty() && val[0] == ' ')
-                    val.erase(0, 1);
-
-                if (key == "type") {
-                    if (val.size() >= 2 && val.front() == '"' && val.back() == '"')
-                        val = val.substr(1, val.size() - 2);
-                    board_type = val;
-                } else if (key == "enabled" && val == "false") {
-                    board_enabled = false;
-                } else if (key == "board_id") {
-                    try {
-                        board_id = std::stoi(val);
-                    } catch (...) {
-                    }
-                } else if (key == "num_sensors") {
-                    try {
-                        num_sensors = std::stoi(val);
-                    } catch (...) {
-                    }
-                } else if (key == "active_connectors") {
-                    size_t b = val.find('['), e = val.find(']');
-                    if (b != std::string::npos && e != std::string::npos) {
-                        std::istringstream iss(val.substr(b + 1, e - b - 1));
-                        std::string tok;
-                        while (std::getline(iss, tok, ','))
-                            try {
-                                active_conn.push_back(std::stoi(tok));
-                            } catch (...) {
-                            }
-                    }
-                }
-            }
-            flush_board();
-        }
-    }
+    auto active_boards = fsw::config::load_active_boards(config_path);
+    auto boards_of = [&](fsw::config::ActiveBoardKind kind) {
+        auto it = active_boards.find(kind);
+        return it == active_boards.end() ? std::vector<BoardChannels>{} : it->second;
+    };
+    std::vector<BoardChannels> pt_boards = boards_of(fsw::config::ActiveBoardKind::PT);
+    std::vector<BoardChannels> tc_boards = boards_of(fsw::config::ActiveBoardKind::TC);
+    std::vector<BoardChannels> rtd_boards = boards_of(fsw::config::ActiveBoardKind::RTD);
+    std::vector<BoardChannels> lc_boards = boards_of(fsw::config::ActiveBoardKind::LC);
+    std::vector<BoardChannels> enc_boards = boards_of(fsw::config::ActiveBoardKind::ENCODER);
+    std::vector<BoardChannels> act_boards = boards_of(fsw::config::ActiveBoardKind::ACTUATOR);
+
+    // Per-PT-board sensor interface and 4-20 mA conversion parameters, keyed by Elodin slot.
+    // board_simulator.py back-calculates i_ma from the target PSI and sends valid 4-20 mA ADC
+    // codes for current-loop boards, so the 4-20 mA path is correct in sim and on hardware.
+    const auto pt_board_configs = fsw::config::load_pt_boards(config_path);
+
+    /** The board's 4-20 mA config, or nullptr when this slot is not a current-loop PT board. */
+    auto current_loop_board = [&](uint8_t board_number) -> const fsw::config::PtBoardConfig* {
+        auto it = pt_board_configs.find(board_number);
+        if (it == pt_board_configs.end() || !fsw::config::is_current_loop(it->second))
+            return nullptr;
+        return &it->second;
+    };
 
-    // Parse HP PT config (4-20 mA) — local connector IDs
-    // board_simulator.py back-calculates i_ma from the target PSI and sends valid
-    // 4-20 mA ADC codes for HP PT connectors, so the 4-20 mA path is correct in
-    // both sim and real-hardware modes.
-    const bool use_sim_mode = []() {
-        const char* v = std::getenv("USE_SIM");
-        return v && (v[0] == '1' || v[0] == 'y' || v[0] == 'Y' || v[0] == 't' || v[0] == 'T');
-    }();
-    std::set<uint8_t> hp_pt_channels;
-    double hp_pt_full_scale_psi = 5000.0;
-    double hp_pt_sense_resistor_ohms = 120.0;
-    double hp_pt_adc_ref_voltage = 2.5;
-    int hp_pt_excitation_connector_id = -1;
-    double hp_pt_exc_div_atten = 1.0;
-    // Elodin slot (board_id % 10, 0→10) of the board that defines hp_pt_connectors — only that
-    // board's packets use the 4–20 mA path. Do NOT take board_id from unrelated [boards.*]
-    // sections (e.g. encoder 61 → slot 1) or LP PT CH1/3/4 get misclassified as HP and read 0 PSI.
-    uint8_t hp_pt_board_number = 255;  // no HP PT until we parse a non-empty hp_pt_connectors
-    {
-        std::ifstream cfg2(config_path);
-        if (cfg2.is_open()) {
-            std::string line, section, board_section;
-            std::string hp_pt_source_section;     // [boards.*] that defined hp_pt_connectors
-            uint8_t pending_slot_in_section = 0;  // board_id % 10 in current [boards.*]
-            // Collected per [boards.*] section and resolved to the HP board AFTER the parse.
-            // Previously these were assigned straight into the hp_pt_* variables, which meant a
-            // key of the same name in any other section overwrote the HP board's value (adc_ref_
-            // voltage is also set by [calibration.tc]/[calibration.rtd]), and the excitation keys
-            // were read only from a section literally named "pt_board_2" — so an HP board with any
-            // other key silently lost supply normalization, the cause of the PT2 spiking class of
-            // bug. Config, not the section name, decides which board is HP.
-            std::map<std::string, double> sec_adc_ref, sec_full_scale, sec_sense_ohms,
-                sec_exc_atten;
-            std::map<std::string, int> sec_exc_conn;
-            while (std::getline(cfg2, line)) {
-                size_t c = line.find('#');
-                if (c != std::string::npos)
-                    line = line.substr(0, c);
-                while (!line.empty() && (line.back() == ' ' || line.back() == '\r'))
-                    line.pop_back();
-                size_t start = line.find_first_not_of(" \t");
-                if (start != std::string::npos)
-                    line = line.substr(start);
-                if (line.empty())
-                    continue;
-                if (line.size() >= 2 && line[0] == '[' && line.back() == ']') {
-                    section = line.substr(1, line.size() - 2);
-                    if (section.find("boards.") == 0) {
-                        board_section = section;
-                        pending_slot_in_section = 0;
-                    } else {
-                        board_section.clear();  // leaving [boards.*]; keys below are not board keys
-                    }
-                    continue;
-                }
-                if (board_section.empty())
-                    continue;
-                size_t eq = line.find('=');
-                if (eq == std::string::npos)
-                    continue;
-                std::string key = line.substr(0, eq);
-                while (!key.empty() && (key.back() == ' ' || key.back() == '\t'))
-                    key.pop_back();
-                std::string val = line.substr(eq + 1);
-                while (!val.empty() && (val[0] == ' ' || val[0] == '\t'))
-                    val.erase(0, 1);
-                if (key == "hp_pt_connectors") {
-                    hp_pt_channels.clear();
-                    size_t pos = val.find('[');
-                    if (pos == std::string::npos)
-                        pos = 0;
-                    else
-                        pos++;
-                    while (pos < val.size()) {
-                        while (pos < val.size() && (val[pos] == ' ' || val[pos] == ','))
-                            pos++;
-                        if (pos >= val.size())
-                            break;
-                        size_t end = val.find_first_of(",]", pos);
-                        if (end == std::string::npos)
-                            end = val.size();
-                        std::string num = val.substr(pos, end - pos);
-                        try {
-                            int conn = std::stoi(num);
-                            if (conn >= 1 && conn <= 10)
-                                hp_pt_channels.insert(static_cast<uint8_t>(conn));
-                        } catch (...) {
-                        }
-                        pos = end + 1;
-                    }
-                    if (!hp_pt_channels.empty()) {
-                        hp_pt_source_section = board_section;
-                        if (pending_slot_in_section > 0)
-                            hp_pt_board_number = pending_slot_in_section;
-                    }
-                } else if (key == "board_id") {
-                    try {
-                        int mod = std::stoi(val) % 10;
-                        pending_slot_in_section = static_cast<uint8_t>(mod == 0 ? 10 : mod);
-                        if (!hp_pt_channels.empty() && board_section == hp_pt_source_section)
-                            hp_pt_board_number = pending_slot_in_section;
-                    } catch (...) {
-                    }
-                } else if (key == "hp_pt_full_scale_psi") {
-                    try {
-                        sec_full_scale[board_section] = std::stod(val);
-                    } catch (...) {
-                    }
-                } else if (key == "hp_pt_sense_resistor_ohms") {
-                    try {
-                        sec_sense_ohms[board_section] = std::stod(val);
-                    } catch (...) {
-                    }
-                } else if (key == "adc_ref_voltage") {
-                    try {
-                        sec_adc_ref[board_section] = std::stod(val);
-                    } catch (...) {
-                    }
-                } else if (key == "excitation_connector_id") {
-                    try {
-                        sec_exc_conn[board_section] = std::stoi(val);
-                    } catch (...) {
-                    }
-                } else if (key == "excitation_divider_attenuation") {
-                    try {
-                        sec_exc_atten[board_section] = std::stod(val);
-                    } catch (...) {
-                    }
-                }
-            }
-            // Take the HP tuning from the board that declared hp_pt_connectors; anything else in
-            // the file (other boards, [calibration.*]) leaves the built-in defaults in place.
-            if (!hp_pt_source_section.empty()) {
-                auto pick = [&](const std::map<std::string, double>& m, double& dst) {
-                    auto it = m.find(hp_pt_source_section);
-                    if (it != m.end())
-                        dst = it->second;
-                };
-                pick(sec_full_scale, hp_pt_full_scale_psi);
-                pick(sec_sense_ohms, hp_pt_sense_resistor_ohms);
-                pick(sec_adc_ref, hp_pt_adc_ref_voltage);
-                pick(sec_exc_atten, hp_pt_exc_div_atten);
-                auto ec = sec_exc_conn.find(hp_pt_source_section);
-                if (ec != sec_exc_conn.end())
-                    hp_pt_excitation_connector_id = ec->second;
-            }
-        }
-        if (!hp_pt_channels.empty()) {
-            std::cout << "[Calibration] HP PT: " << hp_pt_channels.size() << " channels (4-20 mA, "
-                      << hp_pt_full_scale_psi << " PSI full scale)" << std::endl;
-            if (hp_pt_excitation_connector_id >= 1 && hp_pt_excitation_connector_id <= 10)
-                std::cout << "[Calibration] HP PT supply normalization: excitation connector "
-                          << hp_pt_excitation_connector_id
-                          << ", divider_attenuation=" << hp_pt_exc_div_atten << std::endl;
-            // If board_id appears after hp_pt_connectors in the same [boards.*] section, we still
-            // set hp_pt_board_number on the board_id line — but a malformed or hand-merged TOML can
-            // leave 255. Robust PT math on 4–20 mA ADC codes then produces wild PSI (looks like
-            // “HP PTs going crazy”). Fleet default: HP stack uses board_id 22 → Elodin slot 2.
-            if (hp_pt_board_number == 255) {
-                hp_pt_board_number = 2;
-                std::cout
-                    << "[Calibration] WARN: hp_pt_board_number unset after parse; defaulting "
-                       "to slot 2. Ensure board_id is present in the HP PT [boards.*] section."
-                    << std::endl;
-            }
-        }
+    for (const auto& [slot, board] : pt_board_configs) {
+        if (!fsw::config::is_current_loop(board))
+            continue;
+        size_t channel_count = 0;
+        for (const auto& bc : pt_boards)
+            if (bc.board_number == slot)
+                channel_count = bc.channels.size();
+        std::cout << "[Calibration] HP PT slot " << static_cast<int>(slot) << " (board_id "
+                  << static_cast<int>(board.board_id) << "): " << channel_count
+                  << " channels (4-20 mA, " << board.full_scale_psi << " PSI full scale, "
+                  << board.sense_resistor_ohms << " ohm shunt)" << std::endl;
     }
 
     // Parse [calibration.tc], [calibration.rtd], [calibration.lc] for default formula params
@@ -956,9 +705,7 @@ int main(int argc, char* argv[]) {
                             const uint8_t bid = static_cast<uint8_t>(id / 100);
                             const uint8_t lch = static_cast<uint8_t>(id % 100);
                             const uint8_t bn = (bid % 10) == 0 ? 10u : (bid % 10);
-                            const bool is_hp = (hp_pt_board_number != 255) &&
-                                               (bn == hp_pt_board_number) &&
-                                               hp_pt_channels.count(lch);
+                            const bool is_hp = current_loop_board(bn) != nullptr;
                             robust_manager.zero_sensor(id, val);
                             if (is_hp) {
                                 g_zero_offsets.erase(id);
@@ -978,9 +725,7 @@ int main(int argc, char* argv[]) {
                             const uint8_t bid = static_cast<uint8_t>(sensor_id / 100);
                             const uint8_t lch = static_cast<uint8_t>(sensor_id % 100);
                             const uint8_t bn = (bid % 10) == 0 ? 10u : (bid % 10);
-                            const bool is_hp = (hp_pt_board_number != 255) &&
-                                               (bn == hp_pt_board_number) &&
-                                               hp_pt_channels.count(lch);
+                            const bool is_hp = current_loop_board(bn) != nullptr;
                             robust_manager.zero_sensor(sensor_id, last_adc_map[sensor_id]);
                             if (!is_hp) {
                                 const double psi_base = lp_pt_psi_before_offset(
@@ -1063,43 +808,26 @@ int main(int argc, char* argv[]) {
         elodin_client.begin_batch();
 
         if (type_hi == 0x20) {  // PT raw
-            uint32_t hp_wire_adc = 0u;
-            if (board_number == hp_pt_board_number) {
-                hp_wire_adc = coerce_hp_pt_adc_counts(adc_i32, adc_u32);
-                if (ch_eff >= 1 && ch_eff <= 10)
-                    g_hp_board_last_u32[static_cast<size_t>(ch_eff)] = hp_wire_adc;
-            }
+            const fsw::config::PtBoardConfig* loop_board = current_loop_board(board_number);
 
             uint16_t uid = resolve_pt_sensor_uid(type_lo, ch_eff, pt_boards);
             double psi;
             uint8_t cal_status;
-            const bool is_hp_ch =
-                board_number == hp_pt_board_number && hp_pt_channels.count(ch_eff);
-            // board_simulator.py generates valid 4-20 mA ADC codes for HP PT connectors
+            // board_simulator.py generates valid 4-20 mA ADC codes for current-loop connectors
             // (back-calculates i_ma from target PSI), so apply the 4-20 mA path in both
             // sim and real-hardware modes — no use_sim_mode guard needed here.
-            if (is_hp_ch) {
-                const bool exc_ok =
-                    hp_pt_excitation_connector_id >= 1 && hp_pt_excitation_connector_id <= 10;
-                const uint32_t adc_exc =
-                    exc_ok ? g_hp_board_last_u32[static_cast<size_t>(hp_pt_excitation_connector_id)]
-                           : 0u;
-                const bool use_norm = exc_ok && adc_exc >= 128u;
-                psi = convert_hp_pt_to_pressure(ch_eff, hp_wire_adc, hp_pt_full_scale_psi,
-                                                hp_pt_sense_resistor_ohms, hp_pt_adc_ref_voltage,
-                                                adc_exc, use_norm, hp_pt_exc_div_atten);
+            if (loop_board != nullptr) {
+                // The ADC reference is set once per board, so every active connector on a
+                // current-loop board is a loop channel.
+                const uint32_t hp_wire_adc = coerce_hp_pt_adc_counts(adc_i32, adc_u32);
+                psi = convert_hp_pt_to_pressure(ch_eff, hp_wire_adc, *loop_board,
+                                                g_hp_ma_live[board_number]);
                 cal_status = 1;
                 last_adc_map[uid] = static_cast<int32_t>(hp_wire_adc);
                 if (verbose() && packet_count % 100 == 0)
                     std::cout << "[Cal] HP PT B" << static_cast<int>(board_number) << " ch"
                               << static_cast<int>(ch_eff) << " adc_s=" << adc_i32
                               << " adc_hp=" << hp_wire_adc << " psi=" << psi << std::endl;
-            } else if (board_number == hp_pt_board_number && !hp_pt_channels.empty() &&
-                       !hp_pt_channels.count(ch_eff)) {
-                // Non-HP connector on the HP PT board (e.g., excitation monitor): output 0 PSI.
-                psi = 0.0;
-                cal_status = 0;
-                last_adc_map[uid] = adc_i32;
             } else {
                 last_adc_map[uid] = adc_i32;
                 const uint8_t pt_log_ch =
@@ -1143,11 +871,11 @@ int main(int argc, char* argv[]) {
                               << static_cast<int>(ch_eff) << " adc=" << adc_i32 << " psi=" << psi
                               << std::endl;
             }
-            if (is_hp_ch) {
+            if (loop_board != nullptr) {
                 if (!std::isfinite(psi))
                     psi = 0.0;
                 else
-                    psi = std::clamp(psi, 0.0, hp_pt_full_scale_psi * 1.2);
+                    psi = std::clamp(psi, 0.0, loop_board->full_scale_psi * 1.2);
             } else {
                 if (!std::isfinite(psi))
                     psi = 0.0;
@@ -1156,7 +884,7 @@ int main(int argc, char* argv[]) {
             }
             comms::messages::sensor::CalibratedPTMessage cal_msg(
                 ts_ns, ch_eff, std::array<uint8_t, 3>{0, 0, 0}, static_cast<float>(psi),
-                is_hp_ch ? adc_u32 : static_cast<uint32_t>(adc_i32), cal_status);
+                loop_board != nullptr ? adc_u32 : static_cast<uint32_t>(adc_i32), cal_status);
             elodin_client.publish(static_cast<uint16_t>((type_hi << 8) | cal_lo), cal_msg);
 
         } else if (type_hi == 0x21) {  // TC raw
diff --git a/daq-server/sim/board_simulator.py b/daq-server/sim/board_simulator.py
index 9ccecd9fa..f93789cad 100755
--- a/daq-server/sim/board_simulator.py
+++ b/daq-server/sim/board_simulator.py
@@ -137,9 +137,16 @@ def __init__(
         }
         self.board_type = type_map.get(self.board_type_str, BOARD_TYPE_PT)
 
-        # HP PT specific settings
-        self.hp_pt_connectors = set(board_config.get("hp_pt_connectors", []))
-        self.excitation_id = board_config.get("excitation_connector_id", -1)
+        # Sensor interface, declared per board. The ADC reference is set once per board, so every
+        # connector on a 4-20 mA board is a loop channel — there is no per-connector list.
+        # Falls back to the legacy hp_pt_* key presence for a config written before pt_type.
+        pt_type = board_config.get("pt_type")
+        if pt_type is not None:
+            self.is_current_loop = pt_type == "4-20 mA absolute"
+        else:
+            self.is_current_loop = bool(board_config.get("hp_pt_connectors")) or (
+                "hp_pt_full_scale_psi" in board_config
+            )
         self.hp_pt_full_scale_psi = board_config.get("hp_pt_full_scale_psi", 5000.0)
         self.hp_pt_sense_resistor_ohms = board_config.get(
             "hp_pt_sense_resistor_ohms", 120
@@ -451,15 +458,11 @@ def _generate_data(self, sensor_id):
         t = time.time()
         ADC_MAX = 2147483648  # 2^31 as per backend logic
 
-        if sensor_id == self.excitation_id:
-            # Excitation feed: ~1.8V on 2.5V ref (must be > 0 for backend to accept HP PT)
-            return int(ADC_MAX * 1.8 / 2.5)
-
         if self.board_type == BOARD_TYPE_PT:
             # Local connector id (1–10) — matches Elodin packet channel / daq_bridge
             target_psi = self.sim_pt_targets.get(sensor_id)
 
-            if sensor_id in self.hp_pt_connectors:
+            if self.is_current_loop:
                 # HP PT (4-20 mA): psi = (i-4)/16 * full_scale. adc ∝ i.
                 # i_ma = 4 + 16*psi/full_scale; v = i*R/1000; adc = v/2.5 * ADC_MAX
                 psi = target_psi or 4000.0
diff --git a/daq-server/tools/calibration/calibration_orchestrator.py b/daq-server/tools/calibration/calibration_orchestrator.py
index 2ea24edd1..7209f6e7f 100644
--- a/daq-server/tools/calibration/calibration_orchestrator.py
+++ b/daq-server/tools/calibration/calibration_orchestrator.py
@@ -63,6 +63,7 @@
         resolve_path,
         get_boards,
         build_orchestrator_key_to_packet_ch,
+        is_current_loop_board,
     )
 
     _cfg_loaded = True
@@ -321,7 +322,7 @@ def __init__(self, sensor_names: Optional[List[str]] = None):
                 )
                 for board in boards:
                     # Skip HP PT boards (4-20 mA) — they use linear conversion, not robust calibration
-                    if stype == "PT" and exclude_hp and board.get("hp_pt_connectors"):
+                    if stype == "PT" and exclude_hp and is_current_loop_board(board):
                         logger.info(
                             f"  {stype} ({board.get('name', '?')}, {board.get('ip', '?')}): skipped (HP PT board)"
                         )
diff --git a/daq-server/tools/calibration/calibration_server.py b/daq-server/tools/calibration/calibration_server.py
index 8caa32170..17ce86a19 100644
--- a/daq-server/tools/calibration/calibration_server.py
+++ b/daq-server/tools/calibration/calibration_server.py
@@ -32,7 +32,6 @@
     load_config,
     build_channel_to_orchestrator_key,
     get_hp_pt_packet_channels,
-    get_excitation_packet_channels,
     decode_board_namespaced_low,
     packet_ch_for_board_connector,
 )
@@ -176,7 +175,6 @@ def _parse_int32_at_12(payload: bytes) -> Optional[int]:
 _last_elodin_write: dict = {}
 _first_calibrated_write_logged: set = set()
 _hp_pt_channels_cache: dict = {}       # {packet_ch: hp_pt_cfg}  — populated lazily
-_excitation_channels_cache: dict = {}  # {packet_ch: exc_cfg}    — populated lazily
 
 # ── EMA (exponential moving average) noise filter ────────────────────────────
 # Applied to LP PT channels before writing calibrated value to Elodin.
@@ -230,14 +228,12 @@ def _apply_direct_offset_correction(
 
 
 def _parse_pt_raw_for_packet_ch(payload: bytes, packet_ch: int) -> Optional[int]:
-    """HP PT / excitation: unsigned ADC; LP PT: signed ADS1262 counts (matches FSW)."""
+    """4-20 mA PT: unsigned ADC; LP PT: signed ADS1262 counts (matches FSW)."""
     if len(payload) < 21:
         return None
     if not _hp_pt_channels_cache:
         _hp_pt_channels_cache.update(get_hp_pt_packet_channels())
-    if not _excitation_channels_cache:
-        _excitation_channels_cache.update(get_excitation_packet_channels())
-    if packet_ch in _hp_pt_channels_cache or packet_ch in _excitation_channels_cache:
+    if packet_ch in _hp_pt_channels_cache:
         return struct.unpack_from("<I", payload, 12)[0]
     return struct.unpack_from("<i", payload, 12)[0]
 
@@ -294,28 +290,16 @@ def _process_raw_and_write_calibrated(
     # Ensure caches are populated (done once per process lifetime)
     if not _hp_pt_channels_cache:
         _hp_pt_channels_cache.update(get_hp_pt_packet_channels())
-    if not _excitation_channels_cache:
-        _excitation_channels_cache.update(get_excitation_packet_channels())
 
     pred = None
     is_hp_pt = stype == "PT" and packet_ch in _hp_pt_channels_cache
-    is_excitation = stype == "PT" and packet_ch in _excitation_channels_cache
     key = channel_to_key.get((stype, packet_ch))
 
-    # Path 0E: Excitation voltage — ADC → actual loop supply volts (bypass all pressure paths).
-    if is_excitation:
-        exc_cfg = _excitation_channels_cache[packet_ch]
-        adc_ref = exc_cfg["adc_ref_voltage"]
-        attenuation = exc_cfg["divider_attenuation"]
-        if attenuation > 0:
-            v_adc = (float(raw_val) / 2_147_483_648.0) * adc_ref
-            pred = v_adc / attenuation
-
     # Path 0H: HP PT (4-20 mA) — bypass RCF entirely; the orchestrator's polynomial
     # is calibrated for LP PT voltage-mode inputs and produces garbage for HP PT.
-    # board_simulator.py generates valid 4-20 mA ADC codes for HP PT connectors, so
+    # board_simulator.py generates valid 4-20 mA ADC codes for current-loop connectors, so
     # hp_pt_adc_to_psi is correct in both sim and real-hardware modes.
-    elif is_hp_pt:
+    if is_hp_pt:
         hp_cfg = _hp_pt_channels_cache[packet_ch]
         pred = hp_pt_adc_to_psi(
             raw_val,
@@ -534,13 +518,12 @@ async def relay_subscriber_task():
                         continue
 
                     key = channel_to_key.get((stype, packet_ch))
-                    # HP PT and excitation channels use direct conversions, not the RCF
-                    # polynomial. Feeding their raw codes into _online_update would corrupt
-                    # the Bayesian model (the polynomial is calibrated for LP PT voltage-mode).
+                    # HP PT channels use a direct conversion, not the RCF polynomial.
+                    # Feeding their raw codes into _online_update would corrupt the Bayesian
+                    # model (the polynomial is calibrated for LP PT voltage-mode).
                     # Also skip HP PT online update in sim mode (FSW handles those channels).
                     _is_hp = stype == "PT" and packet_ch in _hp_pt_channels_cache
-                    _is_exc = stype == "PT" and packet_ch in _excitation_channels_cache
-                    if key and key in state.orchestrator.robust and not _is_hp and not _is_exc:
+                    if key and key in state.orchestrator.robust and not _is_hp:
                         state.orchestrator._online_update(key, float(raw_val))
 
                     _process_raw_and_write_calibrated(
@@ -807,12 +790,10 @@ def do_POST(self):
                 target = float(ch_data.get("target_psi", 0.0))
                 if packet_ch is None or adc is None:
                     continue
-                # Skip HP PT and excitation channels — those have hardware-level conversions
-                if not _excitation_channels_cache:
-                    _excitation_channels_cache.update(get_excitation_packet_channels())
+                # Skip HP PT channels — those have hardware-level conversions
                 if not _hp_pt_channels_cache:
                     _hp_pt_channels_cache.update(get_hp_pt_packet_channels())
-                if packet_ch in _hp_pt_channels_cache or packet_ch in _excitation_channels_cache:
+                if packet_ch in _hp_pt_channels_cache:
                     continue
                 key = channel_to_key.get(("PT", packet_ch), ("PT", packet_ch))
                 if _apply_direct_offset_correction(key, float(adc), target):
diff --git a/daq-server/tools/calibration/config_loader.py b/daq-server/tools/calibration/config_loader.py
index 170bba8b0..8e4823ffb 100644
--- a/daq-server/tools/calibration/config_loader.py
+++ b/daq-server/tools/calibration/config_loader.py
@@ -266,49 +266,47 @@ def build_channel_to_orchestrator_key() -> Dict[tuple, tuple]:
     return mapping
 
 
+def is_current_loop_board(board: dict) -> bool:
+    """
+    True when a PT board's sensors are 4-20 mA current-loop transmitters.
+
+    `pt_type` is authoritative and matches what the C++ calibration service and the backend read.
+    A board written before pt_type existed is still recognised from its legacy hp_pt_* keys.
+    """
+    pt_type = board.get("pt_type")
+    if pt_type is not None:
+        return pt_type == "4-20 mA absolute"
+    return bool(board.get("hp_pt_connectors")) or "hp_pt_full_scale_psi" in board
+
+
 def get_hp_pt_packet_channels() -> Dict[int, dict]:
     """
-    Return {packet_ch: {full_scale_psi, sense_resistor_ohms, adc_ref_voltage}} for HP PT channels.
-    Used when robust stack excludes HP PTs — calibration_server applies 4-20 mA linear conversion.
+    Return {connector: {full_scale_psi, sense_resistor_ohms, adc_ref_voltage}} for 4-20 mA PT
+    channels. Used when the robust stack excludes HP PTs — calibration_server applies the
+    4-20 mA linear conversion.
+
+    The ADC reference is set once per board, so every active connector on a current-loop board
+    is a loop channel. Keys are local connector ids, so two current-loop boards would collide
+    here; board-namespacing this layer is tracked separately.
     """
     result: Dict[int, dict] = {}
     for board in get_boards_by_type("PT"):
-        if not board.get("enabled", True) or not board.get("hp_pt_connectors"):
-            continue
-        hp_conns = board.get("hp_pt_connectors", [])
-        if not isinstance(hp_conns, (list, tuple)):
+        if not board.get("enabled", True) or not is_current_loop_board(board):
             continue
+        conns = board.get("active_connectors")
+        if not isinstance(conns, (list, tuple)):
+            num = board.get("num_sensors", 10)
+            conns = list(range(1, int(num) + 1)) if isinstance(num, int) else []
         cfg = {
             "full_scale_psi": float(board.get("hp_pt_full_scale_psi", 5000.0)),
             "sense_resistor_ohms": float(board.get("hp_pt_sense_resistor_ohms", 120.0)),
             "adc_ref_voltage": float(board.get("adc_ref_voltage", 2.5)),
         }
-        for conn in hp_conns:
+        for conn in conns:
             result[conn] = cfg
     return result
 
 
-def get_excitation_packet_channels() -> Dict[int, dict]:
-    """
-    Return {packet_ch: {adc_ref_voltage, divider_attenuation}} for boards with a
-    dedicated excitation voltage monitor connector (excitation_connector_id >= 1).
-    The calibration server uses this to publish the loop excitation voltage (V)
-    instead of trying to apply pressure calibration to the channel.
-    """
-    result: Dict[int, dict] = {}
-    for board in get_boards_by_type("PT"):
-        if not board.get("enabled", True):
-            continue
-        exc_conn = board.get("excitation_connector_id", -1)
-        if not isinstance(exc_conn, int) or exc_conn < 1:
-            continue
-        result[exc_conn] = {
-            "adc_ref_voltage": float(board.get("adc_ref_voltage", 2.5)),
-            "divider_attenuation": float(board.get("excitation_divider_attenuation", 1.0)),
-        }
-    return result
-
-
 def build_orchestrator_key_to_packet_ch() -> Dict[tuple, int]:
     """Reverse: (stype, unique_ch) → packet_ch for legacy JSON keying."""
     mapping: Dict[tuple, int] = {}

From d55753c302fefaecabdc916e573dee535ff35ac7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 13:39:25 -0700
Subject: [PATCH 116/205] vendor nlohmann/json v3.11.3 single-header for C++
 JSON

---
 .../lib/include/nlohmann/json.hpp             | 24765 ++++++++++++++++
 1 file changed, 24765 insertions(+)
 create mode 100644 daq-server/diablo_server/lib/include/nlohmann/json.hpp

diff --git a/daq-server/diablo_server/lib/include/nlohmann/json.hpp b/daq-server/diablo_server/lib/include/nlohmann/json.hpp
new file mode 100644
index 000000000..8b72ea653
--- /dev/null
+++ b/daq-server/diablo_server/lib/include/nlohmann/json.hpp
@@ -0,0 +1,24765 @@
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+/****************************************************************************\
+ * Note on documentation: The source files contain links to the online      *
+ * documentation of the public API at https://json.nlohmann.me. This URL    *
+ * contains the most recent documentation and should also be applicable to  *
+ * previous versions; documentation for deprecated functions is not         *
+ * removed, but marked deprecated. See "Generate documentation" section in  *
+ * file docs/README.md.                                                     *
+\****************************************************************************/
+
+#ifndef INCLUDE_NLOHMANN_JSON_HPP_
+#define INCLUDE_NLOHMANN_JSON_HPP_
+
+#include <algorithm> // all_of, find, for_each
+#include <cstddef> // nullptr_t, ptrdiff_t, size_t
+#include <functional> // hash, less
+#include <initializer_list> // initializer_list
+#ifndef JSON_NO_IO
+    #include <iosfwd> // istream, ostream
+#endif  // JSON_NO_IO
+#include <iterator> // random_access_iterator_tag
+#include <memory> // unique_ptr
+#include <string> // string, stoi, to_string
+#include <utility> // declval, forward, move, pair, swap
+#include <vector> // vector
+
+// #include <nlohmann/adl_serializer.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <utility>
+
+// #include <nlohmann/detail/abi_macros.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// This file contains all macro definitions affecting or depending on the ABI
+
+#ifndef JSON_SKIP_LIBRARY_VERSION_CHECK
+    #if defined(NLOHMANN_JSON_VERSION_MAJOR) && defined(NLOHMANN_JSON_VERSION_MINOR) && defined(NLOHMANN_JSON_VERSION_PATCH)
+        #if NLOHMANN_JSON_VERSION_MAJOR != 3 || NLOHMANN_JSON_VERSION_MINOR != 11 || NLOHMANN_JSON_VERSION_PATCH != 3
+            #warning "Already included a different version of the library!"
+        #endif
+    #endif
+#endif
+
+#define NLOHMANN_JSON_VERSION_MAJOR 3   // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_MINOR 11  // NOLINT(modernize-macro-to-enum)
+#define NLOHMANN_JSON_VERSION_PATCH 3   // NOLINT(modernize-macro-to-enum)
+
+#ifndef JSON_DIAGNOSTICS
+    #define JSON_DIAGNOSTICS 0
+#endif
+
+#ifndef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON 0
+#endif
+
+#if JSON_DIAGNOSTICS
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS _diag
+#else
+    #define NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS
+#endif
+
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON _ldvcmp
+#else
+    #define NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON
+#endif
+
+#ifndef NLOHMANN_JSON_NAMESPACE_NO_VERSION
+    #define NLOHMANN_JSON_NAMESPACE_NO_VERSION 0
+#endif
+
+// Construct the namespace ABI tags component
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b) json_abi ## a ## b
+#define NLOHMANN_JSON_ABI_TAGS_CONCAT(a, b) \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT_EX(a, b)
+
+#define NLOHMANN_JSON_ABI_TAGS                                       \
+    NLOHMANN_JSON_ABI_TAGS_CONCAT(                                   \
+            NLOHMANN_JSON_ABI_TAG_DIAGNOSTICS,                       \
+            NLOHMANN_JSON_ABI_TAG_LEGACY_DISCARDED_VALUE_COMPARISON)
+
+// Construct the namespace version component
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch) \
+    _v ## major ## _ ## minor ## _ ## patch
+#define NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(major, minor, patch) \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT_EX(major, minor, patch)
+
+#if NLOHMANN_JSON_NAMESPACE_NO_VERSION
+#define NLOHMANN_JSON_NAMESPACE_VERSION
+#else
+#define NLOHMANN_JSON_NAMESPACE_VERSION                                 \
+    NLOHMANN_JSON_NAMESPACE_VERSION_CONCAT(NLOHMANN_JSON_VERSION_MAJOR, \
+                                           NLOHMANN_JSON_VERSION_MINOR, \
+                                           NLOHMANN_JSON_VERSION_PATCH)
+#endif
+
+// Combine namespace components
+#define NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b) a ## b
+#define NLOHMANN_JSON_NAMESPACE_CONCAT(a, b) \
+    NLOHMANN_JSON_NAMESPACE_CONCAT_EX(a, b)
+
+#ifndef NLOHMANN_JSON_NAMESPACE
+#define NLOHMANN_JSON_NAMESPACE               \
+    nlohmann::NLOHMANN_JSON_NAMESPACE_CONCAT( \
+            NLOHMANN_JSON_ABI_TAGS,           \
+            NLOHMANN_JSON_NAMESPACE_VERSION)
+#endif
+
+#ifndef NLOHMANN_JSON_NAMESPACE_BEGIN
+#define NLOHMANN_JSON_NAMESPACE_BEGIN                \
+    namespace nlohmann                               \
+    {                                                \
+    inline namespace NLOHMANN_JSON_NAMESPACE_CONCAT( \
+                NLOHMANN_JSON_ABI_TAGS,              \
+                NLOHMANN_JSON_NAMESPACE_VERSION)     \
+    {
+#endif
+
+#ifndef NLOHMANN_JSON_NAMESPACE_END
+#define NLOHMANN_JSON_NAMESPACE_END                                     \
+    }  /* namespace (inline namespace) NOLINT(readability/namespace) */ \
+    }  // namespace nlohmann
+#endif
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // transform
+#include <array> // array
+#include <forward_list> // forward_list
+#include <iterator> // inserter, front_inserter, end
+#include <map> // map
+#include <string> // string
+#include <tuple> // tuple, make_tuple
+#include <type_traits> // is_arithmetic, is_same, is_enum, underlying_type, is_convertible
+#include <unordered_map> // unordered_map
+#include <utility> // pair, declval
+#include <valarray> // valarray
+
+// #include <nlohmann/detail/exceptions.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstddef> // nullptr_t
+#include <exception> // exception
+#if JSON_DIAGNOSTICS
+    #include <numeric> // accumulate
+#endif
+#include <stdexcept> // runtime_error
+#include <string> // to_string
+#include <vector> // vector
+
+// #include <nlohmann/detail/value_t.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t
+#include <string> // string
+
+// #include <nlohmann/detail/macro_scope.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <utility> // declval, pair
+// #include <nlohmann/detail/meta/detected.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <type_traits>
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename ...Ts> struct make_void
+{
+    using type = void;
+};
+template<typename ...Ts> using void_t = typename make_void<Ts...>::type;
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// https://en.cppreference.com/w/cpp/experimental/is_detected
+struct nonesuch
+{
+    nonesuch() = delete;
+    ~nonesuch() = delete;
+    nonesuch(nonesuch const&) = delete;
+    nonesuch(nonesuch const&&) = delete;
+    void operator=(nonesuch const&) = delete;
+    void operator=(nonesuch&&) = delete;
+};
+
+template<class Default,
+         class AlwaysVoid,
+         template<class...> class Op,
+         class... Args>
+struct detector
+{
+    using value_t = std::false_type;
+    using type = Default;
+};
+
+template<class Default, template<class...> class Op, class... Args>
+struct detector<Default, void_t<Op<Args...>>, Op, Args...>
+{
+    using value_t = std::true_type;
+    using type = Op<Args...>;
+};
+
+template<template<class...> class Op, class... Args>
+using is_detected = typename detector<nonesuch, void, Op, Args...>::value_t;
+
+template<template<class...> class Op, class... Args>
+struct is_detected_lazy : is_detected<Op, Args...> { };
+
+template<template<class...> class Op, class... Args>
+using detected_t = typename detector<nonesuch, void, Op, Args...>::type;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or = detector<Default, void, Op, Args...>;
+
+template<class Default, template<class...> class Op, class... Args>
+using detected_or_t = typename detected_or<Default, Op, Args...>::type;
+
+template<class Expected, template<class...> class Op, class... Args>
+using is_detected_exact = std::is_same<Expected, detected_t<Op, Args...>>;
+
+template<class To, template<class...> class Op, class... Args>
+using is_detected_convertible =
+    std::is_convertible<detected_t<Op, Args...>, To>;
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/thirdparty/hedley/hedley.hpp>
+
+
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-FileCopyrightText: 2016-2021 Evan Nemerson <evan@nemerson.com>
+// SPDX-License-Identifier: MIT
+
+/* Hedley - https://nemequ.github.io/hedley
+ * Created by Evan Nemerson <evan@nemerson.com>
+ */
+
+#if !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < 15)
+#if defined(JSON_HEDLEY_VERSION)
+    #undef JSON_HEDLEY_VERSION
+#endif
+#define JSON_HEDLEY_VERSION 15
+
+#if defined(JSON_HEDLEY_STRINGIFY_EX)
+    #undef JSON_HEDLEY_STRINGIFY_EX
+#endif
+#define JSON_HEDLEY_STRINGIFY_EX(x) #x
+
+#if defined(JSON_HEDLEY_STRINGIFY)
+    #undef JSON_HEDLEY_STRINGIFY
+#endif
+#define JSON_HEDLEY_STRINGIFY(x) JSON_HEDLEY_STRINGIFY_EX(x)
+
+#if defined(JSON_HEDLEY_CONCAT_EX)
+    #undef JSON_HEDLEY_CONCAT_EX
+#endif
+#define JSON_HEDLEY_CONCAT_EX(a,b) a##b
+
+#if defined(JSON_HEDLEY_CONCAT)
+    #undef JSON_HEDLEY_CONCAT
+#endif
+#define JSON_HEDLEY_CONCAT(a,b) JSON_HEDLEY_CONCAT_EX(a,b)
+
+#if defined(JSON_HEDLEY_CONCAT3_EX)
+    #undef JSON_HEDLEY_CONCAT3_EX
+#endif
+#define JSON_HEDLEY_CONCAT3_EX(a,b,c) a##b##c
+
+#if defined(JSON_HEDLEY_CONCAT3)
+    #undef JSON_HEDLEY_CONCAT3
+#endif
+#define JSON_HEDLEY_CONCAT3(a,b,c) JSON_HEDLEY_CONCAT3_EX(a,b,c)
+
+#if defined(JSON_HEDLEY_VERSION_ENCODE)
+    #undef JSON_HEDLEY_VERSION_ENCODE
+#endif
+#define JSON_HEDLEY_VERSION_ENCODE(major,minor,revision) (((major) * 1000000) + ((minor) * 1000) + (revision))
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MAJOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MAJOR(version) ((version) / 1000000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_MINOR)
+    #undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_MINOR(version) (((version) % 1000000) / 1000)
+
+#if defined(JSON_HEDLEY_VERSION_DECODE_REVISION)
+    #undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#endif
+#define JSON_HEDLEY_VERSION_DECODE_REVISION(version) ((version) % 1000)
+
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #undef JSON_HEDLEY_GNUC_VERSION
+#endif
+#if defined(__GNUC__) && defined(__GNUC_PATCHLEVEL__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__)
+#elif defined(__GNUC__)
+    #define JSON_HEDLEY_GNUC_VERSION JSON_HEDLEY_VERSION_ENCODE(__GNUC__, __GNUC_MINOR__, 0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GNUC_VERSION)
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GNUC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION)
+    #undef JSON_HEDLEY_MSVC_VERSION
+#endif
+#if defined(_MSC_FULL_VER) && (_MSC_FULL_VER >= 140000000) && !defined(__ICL)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 10000000, (_MSC_FULL_VER % 10000000) / 100000, (_MSC_FULL_VER % 100000) / 100)
+#elif defined(_MSC_FULL_VER) && !defined(__ICL)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_FULL_VER / 1000000, (_MSC_FULL_VER % 1000000) / 10000, (_MSC_FULL_VER % 10000) / 10)
+#elif defined(_MSC_VER) && !defined(__ICL)
+    #define JSON_HEDLEY_MSVC_VERSION JSON_HEDLEY_VERSION_ENCODE(_MSC_VER / 100, _MSC_VER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_MSVC_VERSION_CHECK)
+    #undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#endif
+#if !defined(JSON_HEDLEY_MSVC_VERSION)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (0)
+#elif defined(_MSC_VER) && (_MSC_VER >= 1400)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 10000000) + (minor * 100000) + (patch)))
+#elif defined(_MSC_VER) && (_MSC_VER >= 1200)
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_FULL_VER >= ((major * 1000000) + (minor * 10000) + (patch)))
+#else
+    #define JSON_HEDLEY_MSVC_VERSION_CHECK(major,minor,patch) (_MSC_VER >= ((major * 100) + (minor)))
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #undef JSON_HEDLEY_INTEL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && !defined(__ICL)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, __INTEL_COMPILER_UPDATE)
+#elif defined(__INTEL_COMPILER) && !defined(__ICL)
+    #define JSON_HEDLEY_INTEL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER / 100, __INTEL_COMPILER % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_VERSION_CHECK)
+    #undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_INTEL_VERSION)
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_INTEL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_CL_VERSION)
+    #undef JSON_HEDLEY_INTEL_CL_VERSION
+#endif
+#if defined(__INTEL_COMPILER) && defined(__INTEL_COMPILER_UPDATE) && defined(__ICL)
+    #define JSON_HEDLEY_INTEL_CL_VERSION JSON_HEDLEY_VERSION_ENCODE(__INTEL_COMPILER, __INTEL_COMPILER_UPDATE, 0)
+#endif
+
+#if defined(JSON_HEDLEY_INTEL_CL_VERSION_CHECK)
+    #undef JSON_HEDLEY_INTEL_CL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_INTEL_CL_VERSION)
+    #define JSON_HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_INTEL_CL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_INTEL_CL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #undef JSON_HEDLEY_PGI_VERSION
+#endif
+#if defined(__PGI) && defined(__PGIC__) && defined(__PGIC_MINOR__) && defined(__PGIC_PATCHLEVEL__)
+    #define JSON_HEDLEY_PGI_VERSION JSON_HEDLEY_VERSION_ENCODE(__PGIC__, __PGIC_MINOR__, __PGIC_PATCHLEVEL__)
+#endif
+
+#if defined(JSON_HEDLEY_PGI_VERSION_CHECK)
+    #undef JSON_HEDLEY_PGI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PGI_VERSION)
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PGI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PGI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #undef JSON_HEDLEY_SUNPRO_VERSION
+#endif
+#if defined(__SUNPRO_C) && (__SUNPRO_C > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_C >> 16) & 0xf) * 10) + ((__SUNPRO_C >> 12) & 0xf), (((__SUNPRO_C >> 8) & 0xf) * 10) + ((__SUNPRO_C >> 4) & 0xf), (__SUNPRO_C & 0xf) * 10)
+#elif defined(__SUNPRO_C)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_C >> 8) & 0xf, (__SUNPRO_C >> 4) & 0xf, (__SUNPRO_C) & 0xf)
+#elif defined(__SUNPRO_CC) && (__SUNPRO_CC > 0x1000)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((((__SUNPRO_CC >> 16) & 0xf) * 10) + ((__SUNPRO_CC >> 12) & 0xf), (((__SUNPRO_CC >> 8) & 0xf) * 10) + ((__SUNPRO_CC >> 4) & 0xf), (__SUNPRO_CC & 0xf) * 10)
+#elif defined(__SUNPRO_CC)
+    #define JSON_HEDLEY_SUNPRO_VERSION JSON_HEDLEY_VERSION_ENCODE((__SUNPRO_CC >> 8) & 0xf, (__SUNPRO_CC >> 4) & 0xf, (__SUNPRO_CC) & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_SUNPRO_VERSION_CHECK)
+    #undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_SUNPRO_VERSION)
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_SUNPRO_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_SUNPRO_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#endif
+#if defined(__EMSCRIPTEN__)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION JSON_HEDLEY_VERSION_ENCODE(__EMSCRIPTEN_major__, __EMSCRIPTEN_minor__, __EMSCRIPTEN_tiny__)
+#endif
+
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK)
+    #undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_EMSCRIPTEN_VERSION)
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_EMSCRIPTEN_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #undef JSON_HEDLEY_ARM_VERSION
+#endif
+#if defined(__CC_ARM) && defined(__ARMCOMPILER_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCOMPILER_VERSION / 1000000, (__ARMCOMPILER_VERSION % 1000000) / 10000, (__ARMCOMPILER_VERSION % 10000) / 100)
+#elif defined(__CC_ARM) && defined(__ARMCC_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ARMCC_VERSION / 1000000, (__ARMCC_VERSION % 1000000) / 10000, (__ARMCC_VERSION % 10000) / 100)
+#endif
+
+#if defined(JSON_HEDLEY_ARM_VERSION_CHECK)
+    #undef JSON_HEDLEY_ARM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_ARM_VERSION)
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_ARM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_ARM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #undef JSON_HEDLEY_IBM_VERSION
+#endif
+#if defined(__ibmxl__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__ibmxl_version__, __ibmxl_release__, __ibmxl_modification__)
+#elif defined(__xlC__) && defined(__xlC_ver__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, (__xlC_ver__ >> 8) & 0xff)
+#elif defined(__xlC__)
+    #define JSON_HEDLEY_IBM_VERSION JSON_HEDLEY_VERSION_ENCODE(__xlC__ >> 8, __xlC__ & 0xff, 0)
+#endif
+
+#if defined(JSON_HEDLEY_IBM_VERSION_CHECK)
+    #undef JSON_HEDLEY_IBM_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IBM_VERSION)
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IBM_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IBM_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #undef JSON_HEDLEY_TI_VERSION
+#endif
+#if \
+    defined(__TI_COMPILER_VERSION__) && \
+    ( \
+      defined(__TMS470__) || defined(__TI_ARM__) || \
+      defined(__MSP430__) || \
+      defined(__TMS320C2000__) \
+    )
+#if (__TI_COMPILER_VERSION__ >= 16000000)
+    #define JSON_HEDLEY_TI_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+#endif
+
+#if defined(JSON_HEDLEY_TI_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_VERSION)
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C2000__)
+    #define JSON_HEDLEY_TI_CL2000_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL2000_VERSION)
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL2000_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL2000_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #undef JSON_HEDLEY_TI_CL430_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__MSP430__)
+    #define JSON_HEDLEY_TI_CL430_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL430_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL430_VERSION)
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL430_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL430_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && (defined(__TMS470__) || defined(__TI_ARM__))
+    #define JSON_HEDLEY_TI_ARMCL_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_ARMCL_VERSION)
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_ARMCL_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__TMS320C6X__)
+    #define JSON_HEDLEY_TI_CL6X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL6X_VERSION)
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL6X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL6X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__C7000__)
+    #define JSON_HEDLEY_TI_CL7X_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CL7X_VERSION)
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CL7X_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CL7X_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION
+#endif
+#if defined(__TI_COMPILER_VERSION__) && defined(__PRU__)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION JSON_HEDLEY_VERSION_ENCODE(__TI_COMPILER_VERSION__ / 1000000, (__TI_COMPILER_VERSION__ % 1000000) / 1000, (__TI_COMPILER_VERSION__ % 1000))
+#endif
+
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION_CHECK)
+    #undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TI_CLPRU_VERSION)
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TI_CLPRU_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #undef JSON_HEDLEY_CRAY_VERSION
+#endif
+#if defined(_CRAYC)
+    #if defined(_RELEASE_PATCHLEVEL)
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, _RELEASE_PATCHLEVEL)
+    #else
+        #define JSON_HEDLEY_CRAY_VERSION JSON_HEDLEY_VERSION_ENCODE(_RELEASE_MAJOR, _RELEASE_MINOR, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_CRAY_VERSION_CHECK)
+    #undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_CRAY_VERSION)
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_CRAY_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_CRAY_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #undef JSON_HEDLEY_IAR_VERSION
+#endif
+#if defined(__IAR_SYSTEMS_ICC__)
+    #if __VER__ > 1000
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE((__VER__ / 1000000), ((__VER__ / 1000) % 1000), (__VER__ % 1000))
+    #else
+        #define JSON_HEDLEY_IAR_VERSION JSON_HEDLEY_VERSION_ENCODE(__VER__ / 100, __VER__ % 100, 0)
+    #endif
+#endif
+
+#if defined(JSON_HEDLEY_IAR_VERSION_CHECK)
+    #undef JSON_HEDLEY_IAR_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_IAR_VERSION)
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_IAR_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_IAR_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #undef JSON_HEDLEY_TINYC_VERSION
+#endif
+#if defined(__TINYC__)
+    #define JSON_HEDLEY_TINYC_VERSION JSON_HEDLEY_VERSION_ENCODE(__TINYC__ / 1000, (__TINYC__ / 100) % 10, __TINYC__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_TINYC_VERSION_CHECK)
+    #undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_TINYC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_TINYC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #undef JSON_HEDLEY_DMC_VERSION
+#endif
+#if defined(__DMC__)
+    #define JSON_HEDLEY_DMC_VERSION JSON_HEDLEY_VERSION_ENCODE(__DMC__ >> 8, (__DMC__ >> 4) & 0xf, __DMC__ & 0xf)
+#endif
+
+#if defined(JSON_HEDLEY_DMC_VERSION_CHECK)
+    #undef JSON_HEDLEY_DMC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_DMC_VERSION)
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_DMC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_DMC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #undef JSON_HEDLEY_COMPCERT_VERSION
+#endif
+#if defined(__COMPCERT_VERSION__)
+    #define JSON_HEDLEY_COMPCERT_VERSION JSON_HEDLEY_VERSION_ENCODE(__COMPCERT_VERSION__ / 10000, (__COMPCERT_VERSION__ / 100) % 100, __COMPCERT_VERSION__ % 100)
+#endif
+
+#if defined(JSON_HEDLEY_COMPCERT_VERSION_CHECK)
+    #undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_COMPCERT_VERSION)
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_COMPCERT_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_COMPCERT_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #undef JSON_HEDLEY_PELLES_VERSION
+#endif
+#if defined(__POCC__)
+    #define JSON_HEDLEY_PELLES_VERSION JSON_HEDLEY_VERSION_ENCODE(__POCC__ / 100, __POCC__ % 100, 0)
+#endif
+
+#if defined(JSON_HEDLEY_PELLES_VERSION_CHECK)
+    #undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_PELLES_VERSION)
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_PELLES_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_PELLES_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_MCST_LCC_VERSION)
+    #undef JSON_HEDLEY_MCST_LCC_VERSION
+#endif
+#if defined(__LCC__) && defined(__LCC_MINOR__)
+    #define JSON_HEDLEY_MCST_LCC_VERSION JSON_HEDLEY_VERSION_ENCODE(__LCC__ / 100, __LCC__ % 100, __LCC_MINOR__)
+#endif
+
+#if defined(JSON_HEDLEY_MCST_LCC_VERSION_CHECK)
+    #undef JSON_HEDLEY_MCST_LCC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_MCST_LCC_VERSION)
+    #define JSON_HEDLEY_MCST_LCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_MCST_LCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_MCST_LCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #undef JSON_HEDLEY_GCC_VERSION
+#endif
+#if \
+    defined(JSON_HEDLEY_GNUC_VERSION) && \
+    !defined(__clang__) && \
+    !defined(JSON_HEDLEY_INTEL_VERSION) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_ARM_VERSION) && \
+    !defined(JSON_HEDLEY_CRAY_VERSION) && \
+    !defined(JSON_HEDLEY_TI_VERSION) && \
+    !defined(JSON_HEDLEY_TI_ARMCL_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL430_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL2000_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL6X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CL7X_VERSION) && \
+    !defined(JSON_HEDLEY_TI_CLPRU_VERSION) && \
+    !defined(__COMPCERT__) && \
+    !defined(JSON_HEDLEY_MCST_LCC_VERSION)
+    #define JSON_HEDLEY_GCC_VERSION JSON_HEDLEY_GNUC_VERSION
+#endif
+
+#if defined(JSON_HEDLEY_GCC_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_VERSION_CHECK
+#endif
+#if defined(JSON_HEDLEY_GCC_VERSION)
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (JSON_HEDLEY_GCC_VERSION >= JSON_HEDLEY_VERSION_ENCODE(major, minor, patch))
+#else
+    #define JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_ATTRIBUTE
+#endif
+#if \
+  defined(__has_attribute) && \
+  ( \
+    (!defined(JSON_HEDLEY_IAR_VERSION) || JSON_HEDLEY_IAR_VERSION_CHECK(8,5,9)) \
+  )
+#  define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) __has_attribute(attribute)
+#else
+#  define JSON_HEDLEY_HAS_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#endif
+#if defined(__has_attribute)
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#endif
+#if \
+    defined(__has_cpp_attribute) && \
+    defined(__cplusplus) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS)
+    #undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#endif
+#if !defined(__cplusplus) || !defined(__has_cpp_attribute)
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#elif \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_IAR_VERSION) && \
+    (!defined(JSON_HEDLEY_SUNPRO_VERSION) || JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0)) && \
+    (!defined(JSON_HEDLEY_MSVC_VERSION) || JSON_HEDLEY_MSVC_VERSION_CHECK(19,20,0))
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(ns::attribute)
+#else
+    #define JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(ns,attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#endif
+#if defined(__has_cpp_attribute) && defined(__cplusplus)
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) __has_cpp_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_BUILTIN)
+    #undef JSON_HEDLEY_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_HAS_BUILTIN(builtin) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_BUILTIN)
+    #undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#endif
+#if defined(__has_builtin)
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) __has_builtin(builtin)
+#else
+    #define JSON_HEDLEY_GCC_HAS_BUILTIN(builtin,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_FEATURE)
+    #undef JSON_HEDLEY_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_HAS_FEATURE(feature) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_HAS_FEATURE(feature) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_FEATURE)
+    #undef JSON_HEDLEY_GCC_HAS_FEATURE
+#endif
+#if defined(__has_feature)
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) __has_feature(feature)
+#else
+    #define JSON_HEDLEY_GCC_HAS_FEATURE(feature,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_EXTENSION)
+    #undef JSON_HEDLEY_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_HAS_EXTENSION(extension) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_EXTENSION)
+    #undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#endif
+#if defined(__has_extension)
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) __has_extension(extension)
+#else
+    #define JSON_HEDLEY_GCC_HAS_EXTENSION(extension,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#endif
+#if defined(__has_declspec_attribute)
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) __has_declspec_attribute(attribute)
+#else
+    #define JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE(attribute,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_HAS_WARNING)
+    #undef JSON_HEDLEY_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_HAS_WARNING(warning) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_HAS_WARNING(warning) (0)
+#endif
+
+#if defined(JSON_HEDLEY_GNUC_HAS_WARNING)
+    #undef JSON_HEDLEY_GNUC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GNUC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GNUC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_GCC_HAS_WARNING)
+    #undef JSON_HEDLEY_GCC_HAS_WARNING
+#endif
+#if defined(__has_warning)
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) __has_warning(warning)
+#else
+    #define JSON_HEDLEY_GCC_HAS_WARNING(warning,major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    defined(__clang__) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,17) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(8,0,0) || \
+    (JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) && defined(__C99_PRAGMA_OPERATOR))
+    #define JSON_HEDLEY_PRAGMA(value) _Pragma(#value)
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_PRAGMA(value) __pragma(value)
+#else
+    #define JSON_HEDLEY_PRAGMA(value)
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_PUSH)
+    #undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#endif
+#if defined(JSON_HEDLEY_DIAGNOSTIC_POP)
+    #undef JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("clang diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("clang diagnostic pop")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH __pragma(warning(push))
+    #define JSON_HEDLEY_DIAGNOSTIC_POP __pragma(warning(pop))
+#elif JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("pop")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,4,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("diag_push")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("diag_pop")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH _Pragma("warning(push)")
+    #define JSON_HEDLEY_DIAGNOSTIC_POP _Pragma("warning(pop)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_PUSH
+    #define JSON_HEDLEY_DIAGNOSTIC_POP
+#endif
+
+/* JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat")
+#    if JSON_HEDLEY_HAS_WARNING("-Wc++17-extensions")
+#      if JSON_HEDLEY_HAS_WARNING("-Wc++1z-extensions")
+#        define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++1z-extensions\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#      else
+#        define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    _Pragma("clang diagnostic ignored \"-Wc++17-extensions\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#      endif
+#    else
+#      define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(xpr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wc++98-compat\"") \
+    xpr \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    endif
+#  endif
+#endif
+#if !defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(x) x
+#endif
+
+#if defined(JSON_HEDLEY_CONST_CAST)
+    #undef JSON_HEDLEY_CONST_CAST
+#endif
+#if defined(__cplusplus)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (const_cast<T>(expr))
+#elif \
+  JSON_HEDLEY_HAS_WARNING("-Wcast-qual") || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_CONST_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_CONST_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_REINTERPRET_CAST)
+    #undef JSON_HEDLEY_REINTERPRET_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) (reinterpret_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_REINTERPRET_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_CAST)
+    #undef JSON_HEDLEY_STATIC_CAST
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) (static_cast<T>(expr))
+#else
+    #define JSON_HEDLEY_STATIC_CAST(T, expr) ((T) (expr))
+#endif
+
+#if defined(JSON_HEDLEY_CPP_CAST)
+    #undef JSON_HEDLEY_CPP_CAST
+#endif
+#if defined(__cplusplus)
+#  if JSON_HEDLEY_HAS_WARNING("-Wold-style-cast")
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wold-style-cast\"") \
+    ((T) (expr)) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  elif JSON_HEDLEY_IAR_VERSION_CHECK(8,3,0)
+#    define JSON_HEDLEY_CPP_CAST(T, expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("diag_suppress=Pe137") \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define JSON_HEDLEY_CPP_CAST(T, expr) ((T) (expr))
+#  endif
+#else
+#  define JSON_HEDLEY_CPP_CAST(T, expr) (expr)
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wdeprecated-declarations")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warning(disable:1478 1786)")
+#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:1478 1786))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(20,7,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1216,1444,1445")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED __pragma(warning(disable:4996))
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1215,1444")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress 1291,1718")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,E_DEPRECATED_ATT,E_DEPRECATED_ATT_MESS)")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("error_messages(off,symdeprecated,symdeprecated2)")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("diag_suppress=Pe1444,Pe1215")
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,90,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED _Pragma("warn(disable:2241)")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("clang diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("warning(disable:161)")
+#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:161))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 1675")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("GCC diagnostic ignored \"-Wunknown-pragmas\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS __pragma(warning(disable:4068))
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(16,9,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 163")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress=Pe161")
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS _Pragma("diag_suppress 161")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-attributes")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("clang diagnostic ignored \"-Wunknown-attributes\"")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(4,6,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("warning(disable:1292)")
+#elif JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:1292))
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES __pragma(warning(disable:5030))
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(20,7,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097,1098")
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("error_messages(off,attrskipunsup)")
+#elif \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1173")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress=Pe1097")
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES _Pragma("diag_suppress 1097")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wcast-qual")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("clang diagnostic ignored \"-Wcast-qual\"")
+#elif JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("warning(disable:2203 2331)")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL _Pragma("GCC diagnostic ignored \"-Wcast-qual\"")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#endif
+
+#if defined(JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION)
+    #undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunused-function")
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("clang diagnostic ignored \"-Wunused-function\"")
+#elif JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("GCC diagnostic ignored \"-Wunused-function\"")
+#elif JSON_HEDLEY_MSVC_VERSION_CHECK(1,0,0)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION __pragma(warning(disable:4505))
+#elif JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION _Pragma("diag_suppress 3142")
+#else
+    #define JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION
+#endif
+
+#if defined(JSON_HEDLEY_DEPRECATED)
+    #undef JSON_HEDLEY_DEPRECATED
+#endif
+#if defined(JSON_HEDLEY_DEPRECATED_FOR)
+    #undef JSON_HEDLEY_DEPRECATED_FOR
+#endif
+#if \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated("Since " # since))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated("Since " #since "; use " #replacement))
+#elif \
+    (JSON_HEDLEY_HAS_EXTENSION(attribute_deprecated_with_message) && !defined(JSON_HEDLEY_IAR_VERSION)) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,13,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(18,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,3,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,3,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__("Since " #since)))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__("Since " #since "; use " #replacement)))
+#elif defined(__cplusplus) && (__cplusplus >= 201402L)
+    #define JSON_HEDLEY_DEPRECATED(since) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since)]])
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[deprecated("Since " #since "; use " #replacement)]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(deprecated) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __attribute__((__deprecated__))
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __attribute__((__deprecated__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_PELLES_VERSION_CHECK(6,50,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_DEPRECATED(since) __declspec(deprecated)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) __declspec(deprecated)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_DEPRECATED(since) _Pragma("deprecated")
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement) _Pragma("deprecated")
+#else
+    #define JSON_HEDLEY_DEPRECATED(since)
+    #define JSON_HEDLEY_DEPRECATED_FOR(since, replacement)
+#endif
+
+#if defined(JSON_HEDLEY_UNAVAILABLE)
+    #undef JSON_HEDLEY_UNAVAILABLE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warning) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_UNAVAILABLE(available_since) __attribute__((__warning__("Not available until " #available_since)))
+#else
+    #define JSON_HEDLEY_UNAVAILABLE(available_since)
+#endif
+
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#endif
+#if defined(JSON_HEDLEY_WARN_UNUSED_RESULT_MSG)
+    #undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(warn_unused_result) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT __attribute__((__warn_unused_result__))
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) __attribute__((__warn_unused_result__))
+#elif (JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard) >= 201907L)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard(msg)]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(nodiscard)
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[nodiscard]])
+#elif defined(_Check_return_) /* SAL */
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT _Check_return_
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg) _Check_return_
+#else
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT
+    #define JSON_HEDLEY_WARN_UNUSED_RESULT_MSG(msg)
+#endif
+
+#if defined(JSON_HEDLEY_SENTINEL)
+    #undef JSON_HEDLEY_SENTINEL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(sentinel) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_SENTINEL(position) __attribute__((__sentinel__(position)))
+#else
+    #define JSON_HEDLEY_SENTINEL(position)
+#endif
+
+#if defined(JSON_HEDLEY_NO_RETURN)
+    #undef JSON_HEDLEY_NO_RETURN
+#endif
+#if JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NO_RETURN __noreturn
+#elif \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+    #define JSON_HEDLEY_NO_RETURN _Noreturn
+#elif defined(__cplusplus) && (__cplusplus >= 201103L)
+    #define JSON_HEDLEY_NO_RETURN JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[noreturn]])
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noreturn) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,2,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute__((__noreturn__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("does_not_return")
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NO_RETURN _Pragma("FUNC_NEVER_RETURNS;")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NO_RETURN __attribute((noreturn))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NO_RETURN __declspec(noreturn)
+#else
+    #define JSON_HEDLEY_NO_RETURN
+#endif
+
+#if defined(JSON_HEDLEY_NO_ESCAPE)
+    #undef JSON_HEDLEY_NO_ESCAPE
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(noescape)
+    #define JSON_HEDLEY_NO_ESCAPE __attribute__((__noescape__))
+#else
+    #define JSON_HEDLEY_NO_ESCAPE
+#endif
+
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #undef JSON_HEDLEY_UNREACHABLE
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE_RETURN)
+    #undef JSON_HEDLEY_UNREACHABLE_RETURN
+#endif
+#if defined(JSON_HEDLEY_ASSUME)
+    #undef JSON_HEDLEY_ASSUME
+#endif
+#if \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_ASSUME(expr) __assume(expr)
+#elif JSON_HEDLEY_HAS_BUILTIN(__builtin_assume)
+    #define JSON_HEDLEY_ASSUME(expr) __builtin_assume(expr)
+#elif \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+    #if defined(__cplusplus)
+        #define JSON_HEDLEY_ASSUME(expr) std::_nassert(expr)
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) _nassert(expr)
+    #endif
+#endif
+#if \
+    (JSON_HEDLEY_HAS_BUILTIN(__builtin_unreachable) && (!defined(JSON_HEDLEY_ARM_VERSION))) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,5,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(18,10,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,5) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(10,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_UNREACHABLE() __builtin_unreachable()
+#elif defined(JSON_HEDLEY_ASSUME)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+#if !defined(JSON_HEDLEY_ASSUME)
+    #if defined(JSON_HEDLEY_UNREACHABLE)
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, ((expr) ? 1 : (JSON_HEDLEY_UNREACHABLE(), 1)))
+    #else
+        #define JSON_HEDLEY_ASSUME(expr) JSON_HEDLEY_STATIC_CAST(void, expr)
+    #endif
+#endif
+#if defined(JSON_HEDLEY_UNREACHABLE)
+    #if  \
+        JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0)
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (JSON_HEDLEY_STATIC_CAST(void, JSON_HEDLEY_ASSUME(0)), (value))
+    #else
+        #define JSON_HEDLEY_UNREACHABLE_RETURN(value) JSON_HEDLEY_UNREACHABLE()
+    #endif
+#else
+    #define JSON_HEDLEY_UNREACHABLE_RETURN(value) return (value)
+#endif
+#if !defined(JSON_HEDLEY_UNREACHABLE)
+    #define JSON_HEDLEY_UNREACHABLE() JSON_HEDLEY_ASSUME(0)
+#endif
+
+JSON_HEDLEY_DIAGNOSTIC_PUSH
+#if JSON_HEDLEY_HAS_WARNING("-Wpedantic")
+    #pragma clang diagnostic ignored "-Wpedantic"
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wc++98-compat-pedantic") && defined(__cplusplus)
+    #pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
+#endif
+#if JSON_HEDLEY_GCC_HAS_WARNING("-Wvariadic-macros",4,0,0)
+    #if defined(__clang__)
+        #pragma clang diagnostic ignored "-Wvariadic-macros"
+    #elif defined(JSON_HEDLEY_GCC_VERSION)
+        #pragma GCC diagnostic ignored "-Wvariadic-macros"
+    #endif
+#endif
+#if defined(JSON_HEDLEY_NON_NULL)
+    #undef JSON_HEDLEY_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NON_NULL(...) __attribute__((__nonnull__(__VA_ARGS__)))
+#else
+    #define JSON_HEDLEY_NON_NULL(...)
+#endif
+JSON_HEDLEY_DIAGNOSTIC_POP
+
+#if defined(JSON_HEDLEY_PRINTF_FORMAT)
+    #undef JSON_HEDLEY_PRINTF_FORMAT
+#endif
+#if defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && !defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(ms_printf, string_idx, first_to_check)))
+#elif defined(__MINGW32__) && JSON_HEDLEY_GCC_HAS_ATTRIBUTE(format,4,4,0) && defined(__USE_MINGW_ANSI_STDIO)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(gnu_printf, string_idx, first_to_check)))
+#elif \
+    JSON_HEDLEY_HAS_ATTRIBUTE(format) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(5,6,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __attribute__((__format__(__printf__, string_idx, first_to_check)))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(6,0,0)
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check) __declspec(vaformat(printf,string_idx,first_to_check))
+#else
+    #define JSON_HEDLEY_PRINTF_FORMAT(string_idx,first_to_check)
+#endif
+
+#if defined(JSON_HEDLEY_CONSTEXPR)
+    #undef JSON_HEDLEY_CONSTEXPR
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_CONSTEXPR JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(constexpr)
+    #endif
+#endif
+#if !defined(JSON_HEDLEY_CONSTEXPR)
+    #define JSON_HEDLEY_CONSTEXPR
+#endif
+
+#if defined(JSON_HEDLEY_PREDICT)
+    #undef JSON_HEDLEY_PREDICT
+#endif
+#if defined(JSON_HEDLEY_LIKELY)
+    #undef JSON_HEDLEY_LIKELY
+#endif
+#if defined(JSON_HEDLEY_UNLIKELY)
+    #undef JSON_HEDLEY_UNLIKELY
+#endif
+#if defined(JSON_HEDLEY_UNPREDICTABLE)
+    #undef JSON_HEDLEY_UNPREDICTABLE
+#endif
+#if JSON_HEDLEY_HAS_BUILTIN(__builtin_unpredictable)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) __builtin_unpredictable((expr))
+#endif
+#if \
+  (JSON_HEDLEY_HAS_BUILTIN(__builtin_expect_with_probability) && !defined(JSON_HEDLEY_PGI_VERSION)) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(9,0,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#  define JSON_HEDLEY_PREDICT(expr, value, probability) __builtin_expect_with_probability(  (expr), (value), (probability))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability)   __builtin_expect_with_probability(!!(expr),    1   , (probability))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability)  __builtin_expect_with_probability(!!(expr),    0   , (probability))
+#  define JSON_HEDLEY_LIKELY(expr)                      __builtin_expect                 (!!(expr),    1                  )
+#  define JSON_HEDLEY_UNLIKELY(expr)                    __builtin_expect                 (!!(expr),    0                  )
+#elif \
+  (JSON_HEDLEY_HAS_BUILTIN(__builtin_expect) && !defined(JSON_HEDLEY_INTEL_CL_VERSION)) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(3,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,15,0) && defined(__cplusplus)) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,7,0) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,27) || \
+  JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) \
+    (((probability) >= 0.9) ? __builtin_expect((expr), (expected)) : (JSON_HEDLEY_STATIC_CAST(void, expected), (expr)))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 1) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 0) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) \
+    (__extension__ ({ \
+        double hedley_probability_ = (probability); \
+        ((hedley_probability_ >= 0.9) ? __builtin_expect(!!(expr), 0) : ((hedley_probability_ <= 0.1) ? __builtin_expect(!!(expr), 1) : !!(expr))); \
+    }))
+#  define JSON_HEDLEY_LIKELY(expr)   __builtin_expect(!!(expr), 1)
+#  define JSON_HEDLEY_UNLIKELY(expr) __builtin_expect(!!(expr), 0)
+#else
+#  define JSON_HEDLEY_PREDICT(expr, expected, probability) (JSON_HEDLEY_STATIC_CAST(void, expected), (expr))
+#  define JSON_HEDLEY_PREDICT_TRUE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_PREDICT_FALSE(expr, probability) (!!(expr))
+#  define JSON_HEDLEY_LIKELY(expr) (!!(expr))
+#  define JSON_HEDLEY_UNLIKELY(expr) (!!(expr))
+#endif
+#if !defined(JSON_HEDLEY_UNPREDICTABLE)
+    #define JSON_HEDLEY_UNPREDICTABLE(expr) JSON_HEDLEY_PREDICT(expr, 1, 0.5)
+#endif
+
+#if defined(JSON_HEDLEY_MALLOC)
+    #undef JSON_HEDLEY_MALLOC
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(malloc) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_MALLOC __attribute__((__malloc__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_MALLOC _Pragma("returns_new_memory")
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_MALLOC __declspec(restrict)
+#else
+    #define JSON_HEDLEY_MALLOC
+#endif
+
+#if defined(JSON_HEDLEY_PURE)
+    #undef JSON_HEDLEY_PURE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(pure) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(2,96,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#  define JSON_HEDLEY_PURE __attribute__((__pure__))
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+#  define JSON_HEDLEY_PURE _Pragma("does_not_write_global_data")
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(2,0,1) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(4,0,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) \
+    )
+#  define JSON_HEDLEY_PURE _Pragma("FUNC_IS_PURE;")
+#else
+#  define JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_CONST)
+    #undef JSON_HEDLEY_CONST
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(const) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(2,5,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_CONST __attribute__((__const__))
+#elif \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0)
+    #define JSON_HEDLEY_CONST _Pragma("no_side_effect")
+#else
+    #define JSON_HEDLEY_CONST JSON_HEDLEY_PURE
+#endif
+
+#if defined(JSON_HEDLEY_RESTRICT)
+    #undef JSON_HEDLEY_RESTRICT
+#endif
+#if defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT restrict
+#elif \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(14,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_PGI_VERSION_CHECK(17,10,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,4) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,14,0) && defined(__cplusplus)) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0) || \
+    defined(__clang__) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_RESTRICT __restrict
+#elif JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,3,0) && !defined(__cplusplus)
+    #define JSON_HEDLEY_RESTRICT _Restrict
+#else
+    #define JSON_HEDLEY_RESTRICT
+#endif
+
+#if defined(JSON_HEDLEY_INLINE)
+    #undef JSON_HEDLEY_INLINE
+#endif
+#if \
+    (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || \
+    (defined(__cplusplus) && (__cplusplus >= 199711L))
+    #define JSON_HEDLEY_INLINE inline
+#elif \
+    defined(JSON_HEDLEY_GCC_VERSION) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(6,2,0)
+    #define JSON_HEDLEY_INLINE __inline__
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,1,0) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(3,1,0) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,2,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(8,0,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_INLINE __inline
+#else
+    #define JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_ALWAYS_INLINE)
+    #undef JSON_HEDLEY_ALWAYS_INLINE
+#endif
+#if \
+  JSON_HEDLEY_HAS_ATTRIBUTE(always_inline) || \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+  JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+  JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+  JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+  JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+  (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+  (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+  (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+  (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+  JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+  JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+  JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+  JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \
+  JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __attribute__((__always_inline__)) JSON_HEDLEY_INLINE
+#elif \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(12,0,0) || \
+  JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE __forceinline
+#elif defined(__cplusplus) && \
+    ( \
+      JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+      JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+      JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+      JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+      JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+      JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) \
+    )
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("FUNC_ALWAYS_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_ALWAYS_INLINE _Pragma("inline=forced")
+#else
+#  define JSON_HEDLEY_ALWAYS_INLINE JSON_HEDLEY_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_NEVER_INLINE)
+    #undef JSON_HEDLEY_NEVER_INLINE
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(noinline) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,0,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(10,1,0) || \
+    JSON_HEDLEY_TI_VERSION_CHECK(15,12,0) || \
+    (JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(4,8,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_ARMCL_VERSION_CHECK(5,2,0) || \
+    (JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL2000_VERSION_CHECK(6,4,0) || \
+    (JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,0,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL430_VERSION_CHECK(4,3,0) || \
+    (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) || \
+    JSON_HEDLEY_TI_CL7X_VERSION_CHECK(1,2,0) || \
+    JSON_HEDLEY_TI_CLPRU_VERSION_CHECK(2,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10) || \
+    JSON_HEDLEY_IAR_VERSION_CHECK(8,10,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute__((__noinline__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,10,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#elif JSON_HEDLEY_PGI_VERSION_CHECK(10,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("noinline")
+#elif JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,0,0) && defined(__cplusplus)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("FUNC_CANNOT_INLINE;")
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE _Pragma("inline=never")
+#elif JSON_HEDLEY_COMPCERT_VERSION_CHECK(3,2,0)
+    #define JSON_HEDLEY_NEVER_INLINE __attribute((noinline))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(9,0,0)
+    #define JSON_HEDLEY_NEVER_INLINE __declspec(noinline)
+#else
+    #define JSON_HEDLEY_NEVER_INLINE
+#endif
+
+#if defined(JSON_HEDLEY_PRIVATE)
+    #undef JSON_HEDLEY_PRIVATE
+#endif
+#if defined(JSON_HEDLEY_PUBLIC)
+    #undef JSON_HEDLEY_PUBLIC
+#endif
+#if defined(JSON_HEDLEY_IMPORT)
+    #undef JSON_HEDLEY_IMPORT
+#endif
+#if defined(_WIN32) || defined(__CYGWIN__)
+#  define JSON_HEDLEY_PRIVATE
+#  define JSON_HEDLEY_PUBLIC   __declspec(dllexport)
+#  define JSON_HEDLEY_IMPORT   __declspec(dllimport)
+#else
+#  if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(visibility) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,11,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    ( \
+      defined(__TI_EABI__) && \
+      ( \
+        (JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,2,0) && defined(__TI_GNU_ATTRIBUTE_SUPPORT__)) || \
+        JSON_HEDLEY_TI_CL6X_VERSION_CHECK(7,5,0) \
+      ) \
+    ) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+#    define JSON_HEDLEY_PRIVATE __attribute__((__visibility__("hidden")))
+#    define JSON_HEDLEY_PUBLIC  __attribute__((__visibility__("default")))
+#  else
+#    define JSON_HEDLEY_PRIVATE
+#    define JSON_HEDLEY_PUBLIC
+#  endif
+#  define JSON_HEDLEY_IMPORT    extern
+#endif
+
+#if defined(JSON_HEDLEY_NO_THROW)
+    #undef JSON_HEDLEY_NO_THROW
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(nothrow) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,3,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_NO_THROW __attribute__((__nothrow__))
+#elif \
+    JSON_HEDLEY_MSVC_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0)
+    #define JSON_HEDLEY_NO_THROW __declspec(nothrow)
+#else
+    #define JSON_HEDLEY_NO_THROW
+#endif
+
+#if defined(JSON_HEDLEY_FALL_THROUGH)
+    #undef JSON_HEDLEY_FALL_THROUGH
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(fallthrough) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(7,0,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_FALL_THROUGH __attribute__((__fallthrough__))
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS(clang,fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[clang::fallthrough]])
+#elif JSON_HEDLEY_HAS_CPP_ATTRIBUTE(fallthrough)
+    #define JSON_HEDLEY_FALL_THROUGH JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_([[fallthrough]])
+#elif defined(__fallthrough) /* SAL */
+    #define JSON_HEDLEY_FALL_THROUGH __fallthrough
+#else
+    #define JSON_HEDLEY_FALL_THROUGH
+#endif
+
+#if defined(JSON_HEDLEY_RETURNS_NON_NULL)
+    #undef JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+#if \
+    JSON_HEDLEY_HAS_ATTRIBUTE(returns_nonnull) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_RETURNS_NON_NULL __attribute__((__returns_nonnull__))
+#elif defined(_Ret_notnull_) /* SAL */
+    #define JSON_HEDLEY_RETURNS_NON_NULL _Ret_notnull_
+#else
+    #define JSON_HEDLEY_RETURNS_NON_NULL
+#endif
+
+#if defined(JSON_HEDLEY_ARRAY_PARAM)
+    #undef JSON_HEDLEY_ARRAY_PARAM
+#endif
+#if \
+    defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L) && \
+    !defined(__STDC_NO_VLA__) && \
+    !defined(__cplusplus) && \
+    !defined(JSON_HEDLEY_PGI_VERSION) && \
+    !defined(JSON_HEDLEY_TINYC_VERSION)
+    #define JSON_HEDLEY_ARRAY_PARAM(name) (name)
+#else
+    #define JSON_HEDLEY_ARRAY_PARAM(name)
+#endif
+
+#if defined(JSON_HEDLEY_IS_CONSTANT)
+    #undef JSON_HEDLEY_IS_CONSTANT
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_CONSTEXPR)
+    #undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#endif
+/* JSON_HEDLEY_IS_CONSTEXPR_ is for
+   HEDLEY INTERNAL USE ONLY.  API subject to change without notice. */
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #undef JSON_HEDLEY_IS_CONSTEXPR_
+#endif
+#if \
+    JSON_HEDLEY_HAS_BUILTIN(__builtin_constant_p) || \
+    JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+    JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+    JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,19) || \
+    JSON_HEDLEY_ARM_VERSION_CHECK(4,1,0) || \
+    JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+    JSON_HEDLEY_TI_CL6X_VERSION_CHECK(6,1,0) || \
+    (JSON_HEDLEY_SUNPRO_VERSION_CHECK(5,10,0) && !defined(__cplusplus)) || \
+    JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+    JSON_HEDLEY_MCST_LCC_VERSION_CHECK(1,25,10)
+    #define JSON_HEDLEY_IS_CONSTANT(expr) __builtin_constant_p(expr)
+#endif
+#if !defined(__cplusplus)
+#  if \
+       JSON_HEDLEY_HAS_BUILTIN(__builtin_types_compatible_p) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(3,4,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(13,1,0) || \
+       JSON_HEDLEY_CRAY_VERSION_CHECK(8,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,4,0) || \
+       JSON_HEDLEY_TINYC_VERSION_CHECK(0,9,24)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0)), int*)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) __builtin_types_compatible_p(__typeof__((1 ? (void*) ((intptr_t) ((expr) * 0)) : (int*) 0)), int*)
+#endif
+#  elif \
+       ( \
+          defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L) && \
+          !defined(JSON_HEDLEY_SUNPRO_VERSION) && \
+          !defined(JSON_HEDLEY_PGI_VERSION) && \
+          !defined(JSON_HEDLEY_IAR_VERSION)) || \
+       (JSON_HEDLEY_HAS_EXTENSION(c_generic_selections) && !defined(JSON_HEDLEY_IAR_VERSION)) || \
+       JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0) || \
+       JSON_HEDLEY_INTEL_VERSION_CHECK(17,0,0) || \
+       JSON_HEDLEY_IBM_VERSION_CHECK(12,1,0) || \
+       JSON_HEDLEY_ARM_VERSION_CHECK(5,3,0)
+#if defined(__INTPTR_TYPE__)
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((__INTPTR_TYPE__) ((expr) * 0)) : (int*) 0), int*: 1, void*: 0)
+#else
+    #include <stdint.h>
+    #define JSON_HEDLEY_IS_CONSTEXPR_(expr) _Generic((1 ? (void*) ((intptr_t) * 0) : (int*) 0), int*: 1, void*: 0)
+#endif
+#  elif \
+       defined(JSON_HEDLEY_GCC_VERSION) || \
+       defined(JSON_HEDLEY_INTEL_VERSION) || \
+       defined(JSON_HEDLEY_TINYC_VERSION) || \
+       defined(JSON_HEDLEY_TI_ARMCL_VERSION) || \
+       JSON_HEDLEY_TI_CL430_VERSION_CHECK(18,12,0) || \
+       defined(JSON_HEDLEY_TI_CL2000_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL6X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CL7X_VERSION) || \
+       defined(JSON_HEDLEY_TI_CLPRU_VERSION) || \
+       defined(__clang__)
+#    define JSON_HEDLEY_IS_CONSTEXPR_(expr) ( \
+        sizeof(void) != \
+        sizeof(*( \
+                  1 ? \
+                  ((void*) ((expr) * 0L) ) : \
+((struct { char v[sizeof(void) * 2]; } *) 1) \
+                ) \
+              ) \
+                                            )
+#  endif
+#endif
+#if defined(JSON_HEDLEY_IS_CONSTEXPR_)
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) JSON_HEDLEY_IS_CONSTEXPR_(expr)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (JSON_HEDLEY_IS_CONSTEXPR_(expr) ? (expr) : (-1))
+#else
+    #if !defined(JSON_HEDLEY_IS_CONSTANT)
+        #define JSON_HEDLEY_IS_CONSTANT(expr) (0)
+    #endif
+    #define JSON_HEDLEY_REQUIRE_CONSTEXPR(expr) (expr)
+#endif
+
+#if defined(JSON_HEDLEY_BEGIN_C_DECLS)
+    #undef JSON_HEDLEY_BEGIN_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_END_C_DECLS)
+    #undef JSON_HEDLEY_END_C_DECLS
+#endif
+#if defined(JSON_HEDLEY_C_DECL)
+    #undef JSON_HEDLEY_C_DECL
+#endif
+#if defined(__cplusplus)
+    #define JSON_HEDLEY_BEGIN_C_DECLS extern "C" {
+    #define JSON_HEDLEY_END_C_DECLS }
+    #define JSON_HEDLEY_C_DECL extern "C"
+#else
+    #define JSON_HEDLEY_BEGIN_C_DECLS
+    #define JSON_HEDLEY_END_C_DECLS
+    #define JSON_HEDLEY_C_DECL
+#endif
+
+#if defined(JSON_HEDLEY_STATIC_ASSERT)
+    #undef JSON_HEDLEY_STATIC_ASSERT
+#endif
+#if \
+  !defined(__cplusplus) && ( \
+      (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 201112L)) || \
+      (JSON_HEDLEY_HAS_FEATURE(c_static_assert) && !defined(JSON_HEDLEY_INTEL_CL_VERSION)) || \
+      JSON_HEDLEY_GCC_VERSION_CHECK(6,0,0) || \
+      JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0) || \
+      defined(_Static_assert) \
+    )
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) _Static_assert(expr, message)
+#elif \
+  (defined(__cplusplus) && (__cplusplus >= 201103L)) || \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(16,0,0) || \
+  JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message) JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(static_assert(expr, message))
+#else
+#  define JSON_HEDLEY_STATIC_ASSERT(expr, message)
+#endif
+
+#if defined(JSON_HEDLEY_NULL)
+    #undef JSON_HEDLEY_NULL
+#endif
+#if defined(__cplusplus)
+    #if __cplusplus >= 201103L
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_(nullptr)
+    #elif defined(NULL)
+        #define JSON_HEDLEY_NULL NULL
+    #else
+        #define JSON_HEDLEY_NULL JSON_HEDLEY_STATIC_CAST(void*, 0)
+    #endif
+#elif defined(NULL)
+    #define JSON_HEDLEY_NULL NULL
+#else
+    #define JSON_HEDLEY_NULL ((void*) 0)
+#endif
+
+#if defined(JSON_HEDLEY_MESSAGE)
+    #undef JSON_HEDLEY_MESSAGE
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_MESSAGE(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(message msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message msg)
+#elif JSON_HEDLEY_CRAY_VERSION_CHECK(5,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(_CRI message msg)
+#elif JSON_HEDLEY_IAR_VERSION_CHECK(8,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#elif JSON_HEDLEY_PELLES_VERSION_CHECK(2,0,0)
+#  define JSON_HEDLEY_MESSAGE(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_WARNING)
+    #undef JSON_HEDLEY_WARNING
+#endif
+#if JSON_HEDLEY_HAS_WARNING("-Wunknown-pragmas")
+#  define JSON_HEDLEY_WARNING(msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS \
+    JSON_HEDLEY_PRAGMA(clang warning msg) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#elif \
+  JSON_HEDLEY_GCC_VERSION_CHECK(4,8,0) || \
+  JSON_HEDLEY_PGI_VERSION_CHECK(18,4,0) || \
+  JSON_HEDLEY_INTEL_VERSION_CHECK(13,0,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(GCC warning msg)
+#elif \
+  JSON_HEDLEY_MSVC_VERSION_CHECK(15,0,0) || \
+  JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_PRAGMA(message(msg))
+#else
+#  define JSON_HEDLEY_WARNING(msg) JSON_HEDLEY_MESSAGE(msg)
+#endif
+
+#if defined(JSON_HEDLEY_REQUIRE)
+    #undef JSON_HEDLEY_REQUIRE
+#endif
+#if defined(JSON_HEDLEY_REQUIRE_MSG)
+    #undef JSON_HEDLEY_REQUIRE_MSG
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(diagnose_if)
+#  if JSON_HEDLEY_HAS_WARNING("-Wgcc-compat")
+#    define JSON_HEDLEY_REQUIRE(expr) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), #expr, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) \
+    JSON_HEDLEY_DIAGNOSTIC_PUSH \
+    _Pragma("clang diagnostic ignored \"-Wgcc-compat\"") \
+    __attribute__((diagnose_if(!(expr), msg, "error"))) \
+    JSON_HEDLEY_DIAGNOSTIC_POP
+#  else
+#    define JSON_HEDLEY_REQUIRE(expr) __attribute__((diagnose_if(!(expr), #expr, "error")))
+#    define JSON_HEDLEY_REQUIRE_MSG(expr,msg) __attribute__((diagnose_if(!(expr), msg, "error")))
+#  endif
+#else
+#  define JSON_HEDLEY_REQUIRE(expr)
+#  define JSON_HEDLEY_REQUIRE_MSG(expr,msg)
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS)
+    #undef JSON_HEDLEY_FLAGS
+#endif
+#if JSON_HEDLEY_HAS_ATTRIBUTE(flag_enum) && (!defined(__cplusplus) || JSON_HEDLEY_HAS_WARNING("-Wbitfield-enum-conversion"))
+    #define JSON_HEDLEY_FLAGS __attribute__((__flag_enum__))
+#else
+    #define JSON_HEDLEY_FLAGS
+#endif
+
+#if defined(JSON_HEDLEY_FLAGS_CAST)
+    #undef JSON_HEDLEY_FLAGS_CAST
+#endif
+#if JSON_HEDLEY_INTEL_VERSION_CHECK(19,0,0)
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) (__extension__ ({ \
+        JSON_HEDLEY_DIAGNOSTIC_PUSH \
+        _Pragma("warning(disable:188)") \
+        ((T) (expr)); \
+        JSON_HEDLEY_DIAGNOSTIC_POP \
+    }))
+#else
+#  define JSON_HEDLEY_FLAGS_CAST(T, expr) JSON_HEDLEY_STATIC_CAST(T, expr)
+#endif
+
+#if defined(JSON_HEDLEY_EMPTY_BASES)
+    #undef JSON_HEDLEY_EMPTY_BASES
+#endif
+#if \
+    (JSON_HEDLEY_MSVC_VERSION_CHECK(19,0,23918) && !JSON_HEDLEY_MSVC_VERSION_CHECK(20,0,0)) || \
+    JSON_HEDLEY_INTEL_CL_VERSION_CHECK(2021,1,0)
+    #define JSON_HEDLEY_EMPTY_BASES __declspec(empty_bases)
+#else
+    #define JSON_HEDLEY_EMPTY_BASES
+#endif
+
+/* Remaining macros are deprecated. */
+
+#if defined(JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK)
+    #undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#endif
+#if defined(__clang__)
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) (0)
+#else
+    #define JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK(major,minor,patch) JSON_HEDLEY_GCC_VERSION_CHECK(major,minor,patch)
+#endif
+
+#if defined(JSON_HEDLEY_CLANG_HAS_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_CPP_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_BUILTIN)
+    #undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#endif
+#define JSON_HEDLEY_CLANG_HAS_BUILTIN(builtin) JSON_HEDLEY_HAS_BUILTIN(builtin)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_FEATURE)
+    #undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_FEATURE(feature) JSON_HEDLEY_HAS_FEATURE(feature)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_EXTENSION)
+    #undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#endif
+#define JSON_HEDLEY_CLANG_HAS_EXTENSION(extension) JSON_HEDLEY_HAS_EXTENSION(extension)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE)
+    #undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#endif
+#define JSON_HEDLEY_CLANG_HAS_DECLSPEC_ATTRIBUTE(attribute) JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE(attribute)
+
+#if defined(JSON_HEDLEY_CLANG_HAS_WARNING)
+    #undef JSON_HEDLEY_CLANG_HAS_WARNING
+#endif
+#define JSON_HEDLEY_CLANG_HAS_WARNING(warning) JSON_HEDLEY_HAS_WARNING(warning)
+
+#endif /* !defined(JSON_HEDLEY_VERSION) || (JSON_HEDLEY_VERSION < X) */
+
+
+// This file contains all internal macro definitions (except those affecting ABI)
+// You MUST include macro_unscope.hpp at the end of json.hpp to undef all of them
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+// exclude unsupported compilers
+#if !defined(JSON_SKIP_UNSUPPORTED_COMPILER_CHECK)
+    #if defined(__clang__)
+        #if (__clang_major__ * 10000 + __clang_minor__ * 100 + __clang_patchlevel__) < 30400
+            #error "unsupported Clang version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #elif defined(__GNUC__) && !(defined(__ICC) || defined(__INTEL_COMPILER))
+        #if (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) < 40800
+            #error "unsupported GCC version - see https://github.com/nlohmann/json#supported-compilers"
+        #endif
+    #endif
+#endif
+
+// C++ language standard detection
+// if the user manually specified the used c++ version this is skipped
+#if !defined(JSON_HAS_CPP_20) && !defined(JSON_HAS_CPP_17) && !defined(JSON_HAS_CPP_14) && !defined(JSON_HAS_CPP_11)
+    #if (defined(__cplusplus) && __cplusplus >= 202002L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 202002L)
+        #define JSON_HAS_CPP_20
+        #define JSON_HAS_CPP_17
+        #define JSON_HAS_CPP_14
+    #elif (defined(__cplusplus) && __cplusplus >= 201703L) || (defined(_HAS_CXX17) && _HAS_CXX17 == 1) // fix for issue #464
+        #define JSON_HAS_CPP_17
+        #define JSON_HAS_CPP_14
+    #elif (defined(__cplusplus) && __cplusplus >= 201402L) || (defined(_HAS_CXX14) && _HAS_CXX14 == 1)
+        #define JSON_HAS_CPP_14
+    #endif
+    // the cpp 11 flag is always specified because it is the minimal required version
+    #define JSON_HAS_CPP_11
+#endif
+
+#ifdef __has_include
+    #if __has_include(<version>)
+        #include <version>
+    #endif
+#endif
+
+#if !defined(JSON_HAS_FILESYSTEM) && !defined(JSON_HAS_EXPERIMENTAL_FILESYSTEM)
+    #ifdef JSON_HAS_CPP_17
+        #if defined(__cpp_lib_filesystem)
+            #define JSON_HAS_FILESYSTEM 1
+        #elif defined(__cpp_lib_experimental_filesystem)
+            #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1
+        #elif !defined(__has_include)
+            #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1
+        #elif __has_include(<filesystem>)
+            #define JSON_HAS_FILESYSTEM 1
+        #elif __has_include(<experimental/filesystem>)
+            #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 1
+        #endif
+
+        // std::filesystem does not work on MinGW GCC 8: https://sourceforge.net/p/mingw-w64/bugs/737/
+        #if defined(__MINGW32__) && defined(__GNUC__) && __GNUC__ == 8
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before GCC 8: https://en.cppreference.com/w/cpp/compiler_support
+        #if defined(__GNUC__) && !defined(__clang__) && __GNUC__ < 8
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before Clang 7: https://en.cppreference.com/w/cpp/compiler_support
+        #if defined(__clang_major__) && __clang_major__ < 7
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before MSVC 19.14: https://en.cppreference.com/w/cpp/compiler_support
+        #if defined(_MSC_VER) && _MSC_VER < 1914
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before iOS 13
+        #if defined(__IPHONE_OS_VERSION_MIN_REQUIRED) && __IPHONE_OS_VERSION_MIN_REQUIRED < 130000
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+
+        // no filesystem support before macOS Catalina
+        #if defined(__MAC_OS_X_VERSION_MIN_REQUIRED) && __MAC_OS_X_VERSION_MIN_REQUIRED < 101500
+            #undef JSON_HAS_FILESYSTEM
+            #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+        #endif
+    #endif
+#endif
+
+#ifndef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+    #define JSON_HAS_EXPERIMENTAL_FILESYSTEM 0
+#endif
+
+#ifndef JSON_HAS_FILESYSTEM
+    #define JSON_HAS_FILESYSTEM 0
+#endif
+
+#ifndef JSON_HAS_THREE_WAY_COMPARISON
+    #if defined(__cpp_impl_three_way_comparison) && __cpp_impl_three_way_comparison >= 201907L \
+        && defined(__cpp_lib_three_way_comparison) && __cpp_lib_three_way_comparison >= 201907L
+        #define JSON_HAS_THREE_WAY_COMPARISON 1
+    #else
+        #define JSON_HAS_THREE_WAY_COMPARISON 0
+    #endif
+#endif
+
+#ifndef JSON_HAS_RANGES
+    // ranges header shipping in GCC 11.1.0 (released 2021-04-27) has syntax error
+    #if defined(__GLIBCXX__) && __GLIBCXX__ == 20210427
+        #define JSON_HAS_RANGES 0
+    #elif defined(__cpp_lib_ranges)
+        #define JSON_HAS_RANGES 1
+    #else
+        #define JSON_HAS_RANGES 0
+    #endif
+#endif
+
+#ifndef JSON_HAS_STATIC_RTTI
+    #if !defined(_HAS_STATIC_RTTI) || _HAS_STATIC_RTTI != 0
+        #define JSON_HAS_STATIC_RTTI 1
+    #else
+        #define JSON_HAS_STATIC_RTTI 0
+    #endif
+#endif
+
+#ifdef JSON_HAS_CPP_17
+    #define JSON_INLINE_VARIABLE inline
+#else
+    #define JSON_INLINE_VARIABLE
+#endif
+
+#if JSON_HEDLEY_HAS_ATTRIBUTE(no_unique_address)
+    #define JSON_NO_UNIQUE_ADDRESS [[no_unique_address]]
+#else
+    #define JSON_NO_UNIQUE_ADDRESS
+#endif
+
+// disable documentation warnings on clang
+#if defined(__clang__)
+    #pragma clang diagnostic push
+    #pragma clang diagnostic ignored "-Wdocumentation"
+    #pragma clang diagnostic ignored "-Wdocumentation-unknown-command"
+#endif
+
+// allow disabling exceptions
+#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND)) && !defined(JSON_NOEXCEPTION)
+    #define JSON_THROW(exception) throw exception
+    #define JSON_TRY try
+    #define JSON_CATCH(exception) catch(exception)
+    #define JSON_INTERNAL_CATCH(exception) catch(exception)
+#else
+    #include <cstdlib>
+    #define JSON_THROW(exception) std::abort()
+    #define JSON_TRY if(true)
+    #define JSON_CATCH(exception) if(false)
+    #define JSON_INTERNAL_CATCH(exception) if(false)
+#endif
+
+// override exception macros
+#if defined(JSON_THROW_USER)
+    #undef JSON_THROW
+    #define JSON_THROW JSON_THROW_USER
+#endif
+#if defined(JSON_TRY_USER)
+    #undef JSON_TRY
+    #define JSON_TRY JSON_TRY_USER
+#endif
+#if defined(JSON_CATCH_USER)
+    #undef JSON_CATCH
+    #define JSON_CATCH JSON_CATCH_USER
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_CATCH_USER
+#endif
+#if defined(JSON_INTERNAL_CATCH_USER)
+    #undef JSON_INTERNAL_CATCH
+    #define JSON_INTERNAL_CATCH JSON_INTERNAL_CATCH_USER
+#endif
+
+// allow overriding assert
+#if !defined(JSON_ASSERT)
+    #include <cassert> // assert
+    #define JSON_ASSERT(x) assert(x)
+#endif
+
+// allow to access some private functions (needed by the test suite)
+#if defined(JSON_TESTS_PRIVATE)
+    #define JSON_PRIVATE_UNLESS_TESTED public
+#else
+    #define JSON_PRIVATE_UNLESS_TESTED private
+#endif
+
+/*!
+@brief macro to briefly define a mapping between an enum and JSON
+@def NLOHMANN_JSON_SERIALIZE_ENUM
+@since version 3.4.0
+*/
+#define NLOHMANN_JSON_SERIALIZE_ENUM(ENUM_TYPE, ...)                                            \
+    template<typename BasicJsonType>                                                            \
+    inline void to_json(BasicJsonType& j, const ENUM_TYPE& e)                                   \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [e](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool  \
+        {                                                                                       \
+            return ej_pair.first == e;                                                          \
+        });                                                                                     \
+        j = ((it != std::end(m)) ? it : std::begin(m))->second;                                 \
+    }                                                                                           \
+    template<typename BasicJsonType>                                                            \
+    inline void from_json(const BasicJsonType& j, ENUM_TYPE& e)                                 \
+    {                                                                                           \
+        static_assert(std::is_enum<ENUM_TYPE>::value, #ENUM_TYPE " must be an enum!");          \
+        static const std::pair<ENUM_TYPE, BasicJsonType> m[] = __VA_ARGS__;                     \
+        auto it = std::find_if(std::begin(m), std::end(m),                                      \
+                               [&j](const std::pair<ENUM_TYPE, BasicJsonType>& ej_pair) -> bool \
+        {                                                                                       \
+            return ej_pair.second == j;                                                         \
+        });                                                                                     \
+        e = ((it != std::end(m)) ? it : std::begin(m))->first;                                  \
+    }
+
+// Ugly macros to avoid uglier copy-paste when specializing basic_json. They
+// may be removed in the future once the class is split.
+
+#define NLOHMANN_BASIC_JSON_TPL_DECLARATION                                \
+    template<template<typename, typename, typename...> class ObjectType,   \
+             template<typename, typename...> class ArrayType,              \
+             class StringType, class BooleanType, class NumberIntegerType, \
+             class NumberUnsignedType, class NumberFloatType,              \
+             template<typename> class AllocatorType,                       \
+             template<typename, typename = void> class JSONSerializer,     \
+             class BinaryType,                                             \
+             class CustomBaseClass>
+
+#define NLOHMANN_BASIC_JSON_TPL                                            \
+    basic_json<ObjectType, ArrayType, StringType, BooleanType,             \
+    NumberIntegerType, NumberUnsignedType, NumberFloatType,                \
+    AllocatorType, JSONSerializer, BinaryType, CustomBaseClass>
+
+// Macros to simplify conversion from/to types
+
+#define NLOHMANN_JSON_EXPAND( x ) x
+#define NLOHMANN_JSON_GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, _11, _12, _13, _14, _15, _16, _17, _18, _19, _20, _21, _22, _23, _24, _25, _26, _27, _28, _29, _30, _31, _32, _33, _34, _35, _36, _37, _38, _39, _40, _41, _42, _43, _44, _45, _46, _47, _48, _49, _50, _51, _52, _53, _54, _55, _56, _57, _58, _59, _60, _61, _62, _63, _64, NAME,...) NAME
+#define NLOHMANN_JSON_PASTE(...) NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_GET_MACRO(__VA_ARGS__, \
+        NLOHMANN_JSON_PASTE64, \
+        NLOHMANN_JSON_PASTE63, \
+        NLOHMANN_JSON_PASTE62, \
+        NLOHMANN_JSON_PASTE61, \
+        NLOHMANN_JSON_PASTE60, \
+        NLOHMANN_JSON_PASTE59, \
+        NLOHMANN_JSON_PASTE58, \
+        NLOHMANN_JSON_PASTE57, \
+        NLOHMANN_JSON_PASTE56, \
+        NLOHMANN_JSON_PASTE55, \
+        NLOHMANN_JSON_PASTE54, \
+        NLOHMANN_JSON_PASTE53, \
+        NLOHMANN_JSON_PASTE52, \
+        NLOHMANN_JSON_PASTE51, \
+        NLOHMANN_JSON_PASTE50, \
+        NLOHMANN_JSON_PASTE49, \
+        NLOHMANN_JSON_PASTE48, \
+        NLOHMANN_JSON_PASTE47, \
+        NLOHMANN_JSON_PASTE46, \
+        NLOHMANN_JSON_PASTE45, \
+        NLOHMANN_JSON_PASTE44, \
+        NLOHMANN_JSON_PASTE43, \
+        NLOHMANN_JSON_PASTE42, \
+        NLOHMANN_JSON_PASTE41, \
+        NLOHMANN_JSON_PASTE40, \
+        NLOHMANN_JSON_PASTE39, \
+        NLOHMANN_JSON_PASTE38, \
+        NLOHMANN_JSON_PASTE37, \
+        NLOHMANN_JSON_PASTE36, \
+        NLOHMANN_JSON_PASTE35, \
+        NLOHMANN_JSON_PASTE34, \
+        NLOHMANN_JSON_PASTE33, \
+        NLOHMANN_JSON_PASTE32, \
+        NLOHMANN_JSON_PASTE31, \
+        NLOHMANN_JSON_PASTE30, \
+        NLOHMANN_JSON_PASTE29, \
+        NLOHMANN_JSON_PASTE28, \
+        NLOHMANN_JSON_PASTE27, \
+        NLOHMANN_JSON_PASTE26, \
+        NLOHMANN_JSON_PASTE25, \
+        NLOHMANN_JSON_PASTE24, \
+        NLOHMANN_JSON_PASTE23, \
+        NLOHMANN_JSON_PASTE22, \
+        NLOHMANN_JSON_PASTE21, \
+        NLOHMANN_JSON_PASTE20, \
+        NLOHMANN_JSON_PASTE19, \
+        NLOHMANN_JSON_PASTE18, \
+        NLOHMANN_JSON_PASTE17, \
+        NLOHMANN_JSON_PASTE16, \
+        NLOHMANN_JSON_PASTE15, \
+        NLOHMANN_JSON_PASTE14, \
+        NLOHMANN_JSON_PASTE13, \
+        NLOHMANN_JSON_PASTE12, \
+        NLOHMANN_JSON_PASTE11, \
+        NLOHMANN_JSON_PASTE10, \
+        NLOHMANN_JSON_PASTE9, \
+        NLOHMANN_JSON_PASTE8, \
+        NLOHMANN_JSON_PASTE7, \
+        NLOHMANN_JSON_PASTE6, \
+        NLOHMANN_JSON_PASTE5, \
+        NLOHMANN_JSON_PASTE4, \
+        NLOHMANN_JSON_PASTE3, \
+        NLOHMANN_JSON_PASTE2, \
+        NLOHMANN_JSON_PASTE1)(__VA_ARGS__))
+#define NLOHMANN_JSON_PASTE2(func, v1) func(v1)
+#define NLOHMANN_JSON_PASTE3(func, v1, v2) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE2(func, v2)
+#define NLOHMANN_JSON_PASTE4(func, v1, v2, v3) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE3(func, v2, v3)
+#define NLOHMANN_JSON_PASTE5(func, v1, v2, v3, v4) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE4(func, v2, v3, v4)
+#define NLOHMANN_JSON_PASTE6(func, v1, v2, v3, v4, v5) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE5(func, v2, v3, v4, v5)
+#define NLOHMANN_JSON_PASTE7(func, v1, v2, v3, v4, v5, v6) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE6(func, v2, v3, v4, v5, v6)
+#define NLOHMANN_JSON_PASTE8(func, v1, v2, v3, v4, v5, v6, v7) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE7(func, v2, v3, v4, v5, v6, v7)
+#define NLOHMANN_JSON_PASTE9(func, v1, v2, v3, v4, v5, v6, v7, v8) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE8(func, v2, v3, v4, v5, v6, v7, v8)
+#define NLOHMANN_JSON_PASTE10(func, v1, v2, v3, v4, v5, v6, v7, v8, v9) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE9(func, v2, v3, v4, v5, v6, v7, v8, v9)
+#define NLOHMANN_JSON_PASTE11(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE10(func, v2, v3, v4, v5, v6, v7, v8, v9, v10)
+#define NLOHMANN_JSON_PASTE12(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE11(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11)
+#define NLOHMANN_JSON_PASTE13(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE12(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12)
+#define NLOHMANN_JSON_PASTE14(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE13(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13)
+#define NLOHMANN_JSON_PASTE15(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE14(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14)
+#define NLOHMANN_JSON_PASTE16(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE15(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15)
+#define NLOHMANN_JSON_PASTE17(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE16(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16)
+#define NLOHMANN_JSON_PASTE18(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE17(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17)
+#define NLOHMANN_JSON_PASTE19(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE18(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18)
+#define NLOHMANN_JSON_PASTE20(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE19(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19)
+#define NLOHMANN_JSON_PASTE21(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE20(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20)
+#define NLOHMANN_JSON_PASTE22(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE21(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21)
+#define NLOHMANN_JSON_PASTE23(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE22(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22)
+#define NLOHMANN_JSON_PASTE24(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE23(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23)
+#define NLOHMANN_JSON_PASTE25(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE24(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24)
+#define NLOHMANN_JSON_PASTE26(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE25(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25)
+#define NLOHMANN_JSON_PASTE27(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE26(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26)
+#define NLOHMANN_JSON_PASTE28(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE27(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27)
+#define NLOHMANN_JSON_PASTE29(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE28(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28)
+#define NLOHMANN_JSON_PASTE30(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE29(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29)
+#define NLOHMANN_JSON_PASTE31(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE30(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30)
+#define NLOHMANN_JSON_PASTE32(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE31(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31)
+#define NLOHMANN_JSON_PASTE33(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE32(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32)
+#define NLOHMANN_JSON_PASTE34(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE33(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33)
+#define NLOHMANN_JSON_PASTE35(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE34(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34)
+#define NLOHMANN_JSON_PASTE36(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE35(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35)
+#define NLOHMANN_JSON_PASTE37(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE36(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36)
+#define NLOHMANN_JSON_PASTE38(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE37(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37)
+#define NLOHMANN_JSON_PASTE39(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE38(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38)
+#define NLOHMANN_JSON_PASTE40(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE39(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39)
+#define NLOHMANN_JSON_PASTE41(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE40(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40)
+#define NLOHMANN_JSON_PASTE42(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE41(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41)
+#define NLOHMANN_JSON_PASTE43(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE42(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42)
+#define NLOHMANN_JSON_PASTE44(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE43(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43)
+#define NLOHMANN_JSON_PASTE45(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE44(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44)
+#define NLOHMANN_JSON_PASTE46(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE45(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45)
+#define NLOHMANN_JSON_PASTE47(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE46(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46)
+#define NLOHMANN_JSON_PASTE48(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE47(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47)
+#define NLOHMANN_JSON_PASTE49(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE48(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48)
+#define NLOHMANN_JSON_PASTE50(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE49(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49)
+#define NLOHMANN_JSON_PASTE51(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE50(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50)
+#define NLOHMANN_JSON_PASTE52(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE51(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51)
+#define NLOHMANN_JSON_PASTE53(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE52(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52)
+#define NLOHMANN_JSON_PASTE54(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE53(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53)
+#define NLOHMANN_JSON_PASTE55(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE54(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54)
+#define NLOHMANN_JSON_PASTE56(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE55(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55)
+#define NLOHMANN_JSON_PASTE57(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE56(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56)
+#define NLOHMANN_JSON_PASTE58(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE57(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57)
+#define NLOHMANN_JSON_PASTE59(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE58(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58)
+#define NLOHMANN_JSON_PASTE60(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE59(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59)
+#define NLOHMANN_JSON_PASTE61(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE60(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60)
+#define NLOHMANN_JSON_PASTE62(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE61(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61)
+#define NLOHMANN_JSON_PASTE63(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE62(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62)
+#define NLOHMANN_JSON_PASTE64(func, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63) NLOHMANN_JSON_PASTE2(func, v1) NLOHMANN_JSON_PASTE63(func, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49, v50, v51, v52, v53, v54, v55, v56, v57, v58, v59, v60, v61, v62, v63)
+
+#define NLOHMANN_JSON_TO(v1) nlohmann_json_j[#v1] = nlohmann_json_t.v1;
+#define NLOHMANN_JSON_FROM(v1) nlohmann_json_j.at(#v1).get_to(nlohmann_json_t.v1);
+#define NLOHMANN_JSON_FROM_WITH_DEFAULT(v1) nlohmann_json_t.v1 = nlohmann_json_j.value(#v1, nlohmann_json_default_obj.v1);
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE_WITH_DEFAULT(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    friend void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
+
+#define NLOHMANN_DEFINE_TYPE_INTRUSIVE_ONLY_SERIALIZE(Type, ...)  \
+    friend void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) }
+
+/*!
+@brief macro
+@def NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE
+@since version 3.9.0
+*/
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM, __VA_ARGS__)) }
+
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_ONLY_SERIALIZE(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) }
+
+#define NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE_WITH_DEFAULT(Type, ...)  \
+    inline void to_json(nlohmann::json& nlohmann_json_j, const Type& nlohmann_json_t) { NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_TO, __VA_ARGS__)) } \
+    inline void from_json(const nlohmann::json& nlohmann_json_j, Type& nlohmann_json_t) { const Type nlohmann_json_default_obj{}; NLOHMANN_JSON_EXPAND(NLOHMANN_JSON_PASTE(NLOHMANN_JSON_FROM_WITH_DEFAULT, __VA_ARGS__)) }
+
+// inspired from https://stackoverflow.com/a/26745591
+// allows to call any std function as if (e.g. with begin):
+// using std::begin; begin(x);
+//
+// it allows using the detected idiom to retrieve the return type
+// of such an expression
+#define NLOHMANN_CAN_CALL_STD_FUNC_IMPL(std_name)                                 \
+    namespace detail {                                                            \
+    using std::std_name;                                                          \
+    \
+    template<typename... T>                                                       \
+    using result_of_##std_name = decltype(std_name(std::declval<T>()...));        \
+    }                                                                             \
+    \
+    namespace detail2 {                                                           \
+    struct std_name##_tag                                                         \
+    {                                                                             \
+    };                                                                            \
+    \
+    template<typename... T>                                                       \
+    std_name##_tag std_name(T&&...);                                              \
+    \
+    template<typename... T>                                                       \
+    using result_of_##std_name = decltype(std_name(std::declval<T>()...));        \
+    \
+    template<typename... T>                                                       \
+    struct would_call_std_##std_name                                              \
+    {                                                                             \
+        static constexpr auto const value = ::nlohmann::detail::                  \
+                                            is_detected_exact<std_name##_tag, result_of_##std_name, T...>::value; \
+    };                                                                            \
+    } /* namespace detail2 */ \
+    \
+    template<typename... T>                                                       \
+    struct would_call_std_##std_name : detail2::would_call_std_##std_name<T...>   \
+    {                                                                             \
+    }
+
+#ifndef JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_USE_IMPLICIT_CONVERSIONS 1
+#endif
+
+#if JSON_USE_IMPLICIT_CONVERSIONS
+    #define JSON_EXPLICIT
+#else
+    #define JSON_EXPLICIT explicit
+#endif
+
+#ifndef JSON_DISABLE_ENUM_SERIALIZATION
+    #define JSON_DISABLE_ENUM_SERIALIZATION 0
+#endif
+
+#ifndef JSON_USE_GLOBAL_UDLS
+    #define JSON_USE_GLOBAL_UDLS 1
+#endif
+
+#if JSON_HAS_THREE_WAY_COMPARISON
+    #include <compare> // partial_ordering
+#endif
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////////////////////
+// JSON type enumeration //
+///////////////////////////
+
+/*!
+@brief the JSON type enumeration
+
+This enumeration collects the different JSON types. It is internally used to
+distinguish the stored values, and the functions @ref basic_json::is_null(),
+@ref basic_json::is_object(), @ref basic_json::is_array(),
+@ref basic_json::is_string(), @ref basic_json::is_boolean(),
+@ref basic_json::is_number() (with @ref basic_json::is_number_integer(),
+@ref basic_json::is_number_unsigned(), and @ref basic_json::is_number_float()),
+@ref basic_json::is_discarded(), @ref basic_json::is_primitive(), and
+@ref basic_json::is_structured() rely on it.
+
+@note There are three enumeration entries (number_integer, number_unsigned, and
+number_float), because the library distinguishes these three types for numbers:
+@ref basic_json::number_unsigned_t is used for unsigned integers,
+@ref basic_json::number_integer_t is used for signed integers, and
+@ref basic_json::number_float_t is used for floating-point numbers or to
+approximate integers which do not fit in the limits of their respective type.
+
+@sa see @ref basic_json::basic_json(const value_t value_type) -- create a JSON
+value with the default value for a given type
+
+@since version 1.0.0
+*/
+enum class value_t : std::uint8_t
+{
+    null,             ///< null value
+    object,           ///< object (unordered set of name/value pairs)
+    array,            ///< array (ordered collection of values)
+    string,           ///< string value
+    boolean,          ///< boolean value
+    number_integer,   ///< number value (signed integer)
+    number_unsigned,  ///< number value (unsigned integer)
+    number_float,     ///< number value (floating-point)
+    binary,           ///< binary array (ordered collection of bytes)
+    discarded         ///< discarded by the parser callback function
+};
+
+/*!
+@brief comparison operator for JSON types
+
+Returns an ordering that is similar to Python:
+- order: null < boolean < number < object < array < string < binary
+- furthermore, each type is not smaller than itself
+- discarded values are not comparable
+- binary is represented as a b"" string in python and directly comparable to a
+  string; however, making a binary array directly comparable with a string would
+  be surprising behavior in a JSON file.
+
+@since version 1.0.0
+*/
+#if JSON_HAS_THREE_WAY_COMPARISON
+    inline std::partial_ordering operator<=>(const value_t lhs, const value_t rhs) noexcept // *NOPAD*
+#else
+    inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+#endif
+{
+    static constexpr std::array<std::uint8_t, 9> order = {{
+            0 /* null */, 3 /* object */, 4 /* array */, 5 /* string */,
+            1 /* boolean */, 2 /* integer */, 2 /* unsigned */, 2 /* float */,
+            6 /* binary */
+        }
+    };
+
+    const auto l_index = static_cast<std::size_t>(lhs);
+    const auto r_index = static_cast<std::size_t>(rhs);
+#if JSON_HAS_THREE_WAY_COMPARISON
+    if (l_index < order.size() && r_index < order.size())
+    {
+        return order[l_index] <=> order[r_index]; // *NOPAD*
+    }
+    return std::partial_ordering::unordered;
+#else
+    return l_index < order.size() && r_index < order.size() && order[l_index] < order[r_index];
+#endif
+}
+
+// GCC selects the built-in operator< over an operator rewritten from
+// a user-defined spaceship operator
+// Clang, MSVC, and ICC select the rewritten candidate
+// (see GCC bug https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105200)
+#if JSON_HAS_THREE_WAY_COMPARISON && defined(__GNUC__)
+inline bool operator<(const value_t lhs, const value_t rhs) noexcept
+{
+    return std::is_lt(lhs <=> rhs); // *NOPAD*
+}
+#endif
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/string_escape.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief replace all occurrences of a substring by another string
+
+@param[in,out] s  the string to manipulate; changed so that all
+               occurrences of @a f are replaced with @a t
+@param[in]     f  the substring to replace with @a t
+@param[in]     t  the string to replace @a f
+
+@pre The search string @a f must not be empty. **This precondition is
+enforced with an assertion.**
+
+@since version 2.0.0
+*/
+template<typename StringType>
+inline void replace_substring(StringType& s, const StringType& f,
+                              const StringType& t)
+{
+    JSON_ASSERT(!f.empty());
+    for (auto pos = s.find(f);                // find first occurrence of f
+            pos != StringType::npos;          // make sure f was found
+            s.replace(pos, f.size(), t),      // replace with t, and
+            pos = s.find(f, pos + t.size()))  // find next occurrence of f
+    {}
+}
+
+/*!
+ * @brief string escaping as described in RFC 6901 (Sect. 4)
+ * @param[in] s string to escape
+ * @return    escaped string
+ *
+ * Note the order of escaping "~" to "~0" and "/" to "~1" is important.
+ */
+template<typename StringType>
+inline StringType escape(StringType s)
+{
+    replace_substring(s, StringType{"~"}, StringType{"~0"});
+    replace_substring(s, StringType{"/"}, StringType{"~1"});
+    return s;
+}
+
+/*!
+ * @brief string unescaping as described in RFC 6901 (Sect. 4)
+ * @param[in] s string to unescape
+ * @return    unescaped string
+ *
+ * Note the order of escaping "~1" to "/" and "~0" to "~" is important.
+ */
+template<typename StringType>
+static void unescape(StringType& s)
+{
+    replace_substring(s, StringType{"~1"}, StringType{"/"});
+    replace_substring(s, StringType{"~0"}, StringType{"~"});
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/input/position_t.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstddef> // size_t
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// struct to capture the start position of the current token
+struct position_t
+{
+    /// the total number of characters read
+    std::size_t chars_read_total = 0;
+    /// the number of characters read in the current line
+    std::size_t chars_read_current_line = 0;
+    /// the number of lines read
+    std::size_t lines_read = 0;
+
+    /// conversion to size_t to preserve SAX interface
+    constexpr operator size_t() const
+    {
+        return chars_read_total;
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-FileCopyrightText: 2018 The Abseil Authors
+// SPDX-License-Identifier: MIT
+
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <type_traits> // conditional, enable_if, false_type, integral_constant, is_constructible, is_integral, is_same, remove_cv, remove_reference, true_type
+#include <utility> // index_sequence, make_index_sequence, index_sequence_for
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename T>
+using uncvref_t = typename std::remove_cv<typename std::remove_reference<T>::type>::type;
+
+#ifdef JSON_HAS_CPP_14
+
+// the following utilities are natively available in C++14
+using std::enable_if_t;
+using std::index_sequence;
+using std::make_index_sequence;
+using std::index_sequence_for;
+
+#else
+
+// alias templates to reduce boilerplate
+template<bool B, typename T = void>
+using enable_if_t = typename std::enable_if<B, T>::type;
+
+// The following code is taken from https://github.com/abseil/abseil-cpp/blob/10cb35e459f5ecca5b2ff107635da0bfa41011b4/absl/utility/utility.h
+// which is part of Google Abseil (https://github.com/abseil/abseil-cpp), licensed under the Apache License 2.0.
+
+//// START OF CODE FROM GOOGLE ABSEIL
+
+// integer_sequence
+//
+// Class template representing a compile-time integer sequence. An instantiation
+// of `integer_sequence<T, Ints...>` has a sequence of integers encoded in its
+// type through its template arguments (which is a common need when
+// working with C++11 variadic templates). `absl::integer_sequence` is designed
+// to be a drop-in replacement for C++14's `std::integer_sequence`.
+//
+// Example:
+//
+//   template< class T, T... Ints >
+//   void user_function(integer_sequence<T, Ints...>);
+//
+//   int main()
+//   {
+//     // user_function's `T` will be deduced to `int` and `Ints...`
+//     // will be deduced to `0, 1, 2, 3, 4`.
+//     user_function(make_integer_sequence<int, 5>());
+//   }
+template <typename T, T... Ints>
+struct integer_sequence
+{
+    using value_type = T;
+    static constexpr std::size_t size() noexcept
+    {
+        return sizeof...(Ints);
+    }
+};
+
+// index_sequence
+//
+// A helper template for an `integer_sequence` of `size_t`,
+// `absl::index_sequence` is designed to be a drop-in replacement for C++14's
+// `std::index_sequence`.
+template <size_t... Ints>
+using index_sequence = integer_sequence<size_t, Ints...>;
+
+namespace utility_internal
+{
+
+template <typename Seq, size_t SeqSize, size_t Rem>
+struct Extend;
+
+// Note that SeqSize == sizeof...(Ints). It's passed explicitly for efficiency.
+template <typename T, T... Ints, size_t SeqSize>
+struct Extend<integer_sequence<T, Ints...>, SeqSize, 0>
+{
+    using type = integer_sequence < T, Ints..., (Ints + SeqSize)... >;
+};
+
+template <typename T, T... Ints, size_t SeqSize>
+struct Extend<integer_sequence<T, Ints...>, SeqSize, 1>
+{
+    using type = integer_sequence < T, Ints..., (Ints + SeqSize)..., 2 * SeqSize >;
+};
+
+// Recursion helper for 'make_integer_sequence<T, N>'.
+// 'Gen<T, N>::type' is an alias for 'integer_sequence<T, 0, 1, ... N-1>'.
+template <typename T, size_t N>
+struct Gen
+{
+    using type =
+        typename Extend < typename Gen < T, N / 2 >::type, N / 2, N % 2 >::type;
+};
+
+template <typename T>
+struct Gen<T, 0>
+{
+    using type = integer_sequence<T>;
+};
+
+}  // namespace utility_internal
+
+// Compile-time sequences of integers
+
+// make_integer_sequence
+//
+// This template alias is equivalent to
+// `integer_sequence<int, 0, 1, ..., N-1>`, and is designed to be a drop-in
+// replacement for C++14's `std::make_integer_sequence`.
+template <typename T, T N>
+using make_integer_sequence = typename utility_internal::Gen<T, N>::type;
+
+// make_index_sequence
+//
+// This template alias is equivalent to `index_sequence<0, 1, ..., N-1>`,
+// and is designed to be a drop-in replacement for C++14's
+// `std::make_index_sequence`.
+template <size_t N>
+using make_index_sequence = make_integer_sequence<size_t, N>;
+
+// index_sequence_for
+//
+// Converts a typename pack into an index sequence of the same length, and
+// is designed to be a drop-in replacement for C++14's
+// `std::index_sequence_for()`
+template <typename... Ts>
+using index_sequence_for = make_index_sequence<sizeof...(Ts)>;
+
+//// END OF CODE FROM GOOGLE ABSEIL
+
+#endif
+
+// dispatch utility (taken from ranges-v3)
+template<unsigned N> struct priority_tag : priority_tag < N - 1 > {};
+template<> struct priority_tag<0> {};
+
+// taken from ranges-v3
+template<typename T>
+struct static_const
+{
+    static JSON_INLINE_VARIABLE constexpr T value{};
+};
+
+#ifndef JSON_HAS_CPP_17
+    template<typename T>
+    constexpr T static_const<T>::value;
+#endif
+
+template<typename T, typename... Args>
+inline constexpr std::array<T, sizeof...(Args)> make_array(Args&& ... args)
+{
+    return std::array<T, sizeof...(Args)> {{static_cast<T>(std::forward<Args>(args))...}};
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <limits> // numeric_limits
+#include <type_traits> // false_type, is_constructible, is_integral, is_same, true_type
+#include <utility> // declval
+#include <tuple> // tuple
+#include <string> // char_traits
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <iterator> // random_access_iterator_tag
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+// #include <nlohmann/detail/meta/void_t.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename It, typename = void>
+struct iterator_types {};
+
+template<typename It>
+struct iterator_types <
+    It,
+    void_t<typename It::difference_type, typename It::value_type, typename It::pointer,
+    typename It::reference, typename It::iterator_category >>
+{
+    using difference_type = typename It::difference_type;
+    using value_type = typename It::value_type;
+    using pointer = typename It::pointer;
+    using reference = typename It::reference;
+    using iterator_category = typename It::iterator_category;
+};
+
+// This is required as some compilers implement std::iterator_traits in a way that
+// doesn't work with SFINAE. See https://github.com/nlohmann/json/issues/1341.
+template<typename T, typename = void>
+struct iterator_traits
+{
+};
+
+template<typename T>
+struct iterator_traits < T, enable_if_t < !std::is_pointer<T>::value >>
+            : iterator_types<T>
+{
+};
+
+template<typename T>
+struct iterator_traits<T*, enable_if_t<std::is_object<T>::value>>
+{
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = T;
+    using difference_type = ptrdiff_t;
+    using pointer = T*;
+    using reference = T&;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/call_std/begin.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+NLOHMANN_CAN_CALL_STD_FUNC_IMPL(begin);
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/meta/call_std/end.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+NLOHMANN_CAN_CALL_STD_FUNC_IMPL(end);
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+// #include <nlohmann/json_fwd.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+#ifndef INCLUDE_NLOHMANN_JSON_FWD_HPP_
+    #define INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+    #include <cstdint> // int64_t, uint64_t
+    #include <map> // map
+    #include <memory> // allocator
+    #include <string> // string
+    #include <vector> // vector
+
+    // #include <nlohmann/detail/abi_macros.hpp>
+
+
+    /*!
+    @brief namespace for Niels Lohmann
+    @see https://github.com/nlohmann
+    @since version 1.0.0
+    */
+    NLOHMANN_JSON_NAMESPACE_BEGIN
+
+    /*!
+    @brief default JSONSerializer template argument
+
+    This serializer ignores the template arguments and uses ADL
+    ([argument-dependent lookup](https://en.cppreference.com/w/cpp/language/adl))
+    for serialization.
+    */
+    template<typename T = void, typename SFINAE = void>
+    struct adl_serializer;
+
+    /// a class to store JSON values
+    /// @sa https://json.nlohmann.me/api/basic_json/
+    template<template<typename U, typename V, typename... Args> class ObjectType =
+    std::map,
+    template<typename U, typename... Args> class ArrayType = std::vector,
+    class StringType = std::string, class BooleanType = bool,
+    class NumberIntegerType = std::int64_t,
+    class NumberUnsignedType = std::uint64_t,
+    class NumberFloatType = double,
+    template<typename U> class AllocatorType = std::allocator,
+    template<typename T, typename SFINAE = void> class JSONSerializer =
+    adl_serializer,
+    class BinaryType = std::vector<std::uint8_t>, // cppcheck-suppress syntaxError
+    class CustomBaseClass = void>
+    class basic_json;
+
+    /// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document
+    /// @sa https://json.nlohmann.me/api/json_pointer/
+    template<typename RefStringType>
+    class json_pointer;
+
+    /*!
+    @brief default specialization
+    @sa https://json.nlohmann.me/api/json/
+    */
+    using json = basic_json<>;
+
+    /// @brief a minimal map-like container that preserves insertion order
+    /// @sa https://json.nlohmann.me/api/ordered_map/
+    template<class Key, class T, class IgnoredLess, class Allocator>
+    struct ordered_map;
+
+    /// @brief specialization that maintains the insertion order of object keys
+    /// @sa https://json.nlohmann.me/api/ordered_json/
+    using ordered_json = basic_json<nlohmann::ordered_map>;
+
+    NLOHMANN_JSON_NAMESPACE_END
+
+#endif  // INCLUDE_NLOHMANN_JSON_FWD_HPP_
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+/*!
+@brief detail namespace with internal helper functions
+
+This namespace collects functions that should not be exposed,
+implementations of some @ref basic_json methods, and meta-programming helpers.
+
+@since version 2.1.0
+*/
+namespace detail
+{
+
+/////////////
+// helpers //
+/////////////
+
+// Note to maintainers:
+//
+// Every trait in this file expects a non CV-qualified type.
+// The only exceptions are in the 'aliases for detected' section
+// (i.e. those of the form: decltype(T::member_function(std::declval<T>())))
+//
+// In this case, T has to be properly CV-qualified to constraint the function arguments
+// (e.g. to_json(BasicJsonType&, const T&))
+
+template<typename> struct is_basic_json : std::false_type {};
+
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct is_basic_json<NLOHMANN_BASIC_JSON_TPL> : std::true_type {};
+
+// used by exceptions create() member functions
+// true_type for pointer to possibly cv-qualified basic_json or std::nullptr_t
+// false_type otherwise
+template<typename BasicJsonContext>
+struct is_basic_json_context :
+    std::integral_constant < bool,
+    is_basic_json<typename std::remove_cv<typename std::remove_pointer<BasicJsonContext>::type>::type>::value
+    || std::is_same<BasicJsonContext, std::nullptr_t>::value >
+{};
+
+//////////////////////
+// json_ref helpers //
+//////////////////////
+
+template<typename>
+class json_ref;
+
+template<typename>
+struct is_json_ref : std::false_type {};
+
+template<typename T>
+struct is_json_ref<json_ref<T>> : std::true_type {};
+
+//////////////////////////
+// aliases for detected //
+//////////////////////////
+
+template<typename T>
+using mapped_type_t = typename T::mapped_type;
+
+template<typename T>
+using key_type_t = typename T::key_type;
+
+template<typename T>
+using value_type_t = typename T::value_type;
+
+template<typename T>
+using difference_type_t = typename T::difference_type;
+
+template<typename T>
+using pointer_t = typename T::pointer;
+
+template<typename T>
+using reference_t = typename T::reference;
+
+template<typename T>
+using iterator_category_t = typename T::iterator_category;
+
+template<typename T, typename... Args>
+using to_json_function = decltype(T::to_json(std::declval<Args>()...));
+
+template<typename T, typename... Args>
+using from_json_function = decltype(T::from_json(std::declval<Args>()...));
+
+template<typename T, typename U>
+using get_template_function = decltype(std::declval<T>().template get<U>());
+
+// trait checking if JSONSerializer<T>::from_json(json const&, udt&) exists
+template<typename BasicJsonType, typename T, typename = void>
+struct has_from_json : std::false_type {};
+
+// trait checking if j.get<T> is valid
+// use this trait instead of std::is_constructible or std::is_convertible,
+// both rely on, or make use of implicit conversions, and thus fail when T
+// has several constructors/operator= (see https://github.com/nlohmann/json/issues/958)
+template <typename BasicJsonType, typename T>
+struct is_getable
+{
+    static constexpr bool value = is_detected<get_template_function, const BasicJsonType&, T>::value;
+};
+
+template<typename BasicJsonType, typename T>
+struct has_from_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, from_json_function, serializer,
+        const BasicJsonType&, T&>::value;
+};
+
+// This trait checks if JSONSerializer<T>::from_json(json const&) exists
+// this overload is used for non-default-constructible user-defined-types
+template<typename BasicJsonType, typename T, typename = void>
+struct has_non_default_from_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_non_default_from_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<T, from_json_function, serializer,
+        const BasicJsonType&>::value;
+};
+
+// This trait checks if BasicJsonType::json_serializer<T>::to_json exists
+// Do not evaluate the trait when T is a basic_json type, to avoid template instantiation infinite recursion.
+template<typename BasicJsonType, typename T, typename = void>
+struct has_to_json : std::false_type {};
+
+template<typename BasicJsonType, typename T>
+struct has_to_json < BasicJsonType, T, enable_if_t < !is_basic_json<T>::value >>
+{
+    using serializer = typename BasicJsonType::template json_serializer<T, void>;
+
+    static constexpr bool value =
+        is_detected_exact<void, to_json_function, serializer, BasicJsonType&,
+        T>::value;
+};
+
+template<typename T>
+using detect_key_compare = typename T::key_compare;
+
+template<typename T>
+struct has_key_compare : std::integral_constant<bool, is_detected<detect_key_compare, T>::value> {};
+
+// obtains the actual object key comparator
+template<typename BasicJsonType>
+struct actual_object_comparator
+{
+    using object_t = typename BasicJsonType::object_t;
+    using object_comparator_t = typename BasicJsonType::default_object_comparator_t;
+    using type = typename std::conditional < has_key_compare<object_t>::value,
+          typename object_t::key_compare, object_comparator_t>::type;
+};
+
+template<typename BasicJsonType>
+using actual_object_comparator_t = typename actual_object_comparator<BasicJsonType>::type;
+
+/////////////////
+// char_traits //
+/////////////////
+
+// Primary template of char_traits calls std char_traits
+template<typename T>
+struct char_traits : std::char_traits<T>
+{};
+
+// Explicitly define char traits for unsigned char since it is not standard
+template<>
+struct char_traits<unsigned char> : std::char_traits<char>
+{
+    using char_type = unsigned char;
+    using int_type = uint64_t;
+
+    // Redefine to_int_type function
+    static int_type to_int_type(char_type c) noexcept
+    {
+        return static_cast<int_type>(c);
+    }
+
+    static char_type to_char_type(int_type i) noexcept
+    {
+        return static_cast<char_type>(i);
+    }
+
+    static constexpr int_type eof() noexcept
+    {
+        return static_cast<int_type>(EOF);
+    }
+};
+
+// Explicitly define char traits for signed char since it is not standard
+template<>
+struct char_traits<signed char> : std::char_traits<char>
+{
+    using char_type = signed char;
+    using int_type = uint64_t;
+
+    // Redefine to_int_type function
+    static int_type to_int_type(char_type c) noexcept
+    {
+        return static_cast<int_type>(c);
+    }
+
+    static char_type to_char_type(int_type i) noexcept
+    {
+        return static_cast<char_type>(i);
+    }
+
+    static constexpr int_type eof() noexcept
+    {
+        return static_cast<int_type>(EOF);
+    }
+};
+
+///////////////////
+// is_ functions //
+///////////////////
+
+// https://en.cppreference.com/w/cpp/types/conjunction
+template<class...> struct conjunction : std::true_type { };
+template<class B> struct conjunction<B> : B { };
+template<class B, class... Bn>
+struct conjunction<B, Bn...>
+: std::conditional<static_cast<bool>(B::value), conjunction<Bn...>, B>::type {};
+
+// https://en.cppreference.com/w/cpp/types/negation
+template<class B> struct negation : std::integral_constant < bool, !B::value > { };
+
+// Reimplementation of is_constructible and is_default_constructible, due to them being broken for
+// std::pair and std::tuple until LWG 2367 fix (see https://cplusplus.github.io/LWG/lwg-defects.html#2367).
+// This causes compile errors in e.g. clang 3.5 or gcc 4.9.
+template <typename T>
+struct is_default_constructible : std::is_default_constructible<T> {};
+
+template <typename T1, typename T2>
+struct is_default_constructible<std::pair<T1, T2>>
+            : conjunction<is_default_constructible<T1>, is_default_constructible<T2>> {};
+
+template <typename T1, typename T2>
+struct is_default_constructible<const std::pair<T1, T2>>
+            : conjunction<is_default_constructible<T1>, is_default_constructible<T2>> {};
+
+template <typename... Ts>
+struct is_default_constructible<std::tuple<Ts...>>
+            : conjunction<is_default_constructible<Ts>...> {};
+
+template <typename... Ts>
+struct is_default_constructible<const std::tuple<Ts...>>
+            : conjunction<is_default_constructible<Ts>...> {};
+
+template <typename T, typename... Args>
+struct is_constructible : std::is_constructible<T, Args...> {};
+
+template <typename T1, typename T2>
+struct is_constructible<std::pair<T1, T2>> : is_default_constructible<std::pair<T1, T2>> {};
+
+template <typename T1, typename T2>
+struct is_constructible<const std::pair<T1, T2>> : is_default_constructible<const std::pair<T1, T2>> {};
+
+template <typename... Ts>
+struct is_constructible<std::tuple<Ts...>> : is_default_constructible<std::tuple<Ts...>> {};
+
+template <typename... Ts>
+struct is_constructible<const std::tuple<Ts...>> : is_default_constructible<const std::tuple<Ts...>> {};
+
+template<typename T, typename = void>
+struct is_iterator_traits : std::false_type {};
+
+template<typename T>
+struct is_iterator_traits<iterator_traits<T>>
+{
+  private:
+    using traits = iterator_traits<T>;
+
+  public:
+    static constexpr auto value =
+        is_detected<value_type_t, traits>::value &&
+        is_detected<difference_type_t, traits>::value &&
+        is_detected<pointer_t, traits>::value &&
+        is_detected<iterator_category_t, traits>::value &&
+        is_detected<reference_t, traits>::value;
+};
+
+template<typename T>
+struct is_range
+{
+  private:
+    using t_ref = typename std::add_lvalue_reference<T>::type;
+
+    using iterator = detected_t<result_of_begin, t_ref>;
+    using sentinel = detected_t<result_of_end, t_ref>;
+
+    // to be 100% correct, it should use https://en.cppreference.com/w/cpp/iterator/input_or_output_iterator
+    // and https://en.cppreference.com/w/cpp/iterator/sentinel_for
+    // but reimplementing these would be too much work, as a lot of other concepts are used underneath
+    static constexpr auto is_iterator_begin =
+        is_iterator_traits<iterator_traits<iterator>>::value;
+
+  public:
+    static constexpr bool value = !std::is_same<iterator, nonesuch>::value && !std::is_same<sentinel, nonesuch>::value && is_iterator_begin;
+};
+
+template<typename R>
+using iterator_t = enable_if_t<is_range<R>::value, result_of_begin<decltype(std::declval<R&>())>>;
+
+template<typename T>
+using range_value_t = value_type_t<iterator_traits<iterator_t<T>>>;
+
+// The following implementation of is_complete_type is taken from
+// https://blogs.msdn.microsoft.com/vcblog/2015/12/02/partial-support-for-expression-sfinae-in-vs-2015-update-1/
+// and is written by Xiang Fan who agreed to using it in this library.
+
+template<typename T, typename = void>
+struct is_complete_type : std::false_type {};
+
+template<typename T>
+struct is_complete_type<T, decltype(void(sizeof(T)))> : std::true_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType,
+         typename = void>
+struct is_compatible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type_impl <
+    BasicJsonType, CompatibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, CompatibleObjectType>::value&&
+    is_detected<key_type_t, CompatibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    // macOS's is_constructible does not play well with nonesuch...
+    static constexpr bool value =
+        is_constructible<typename object_t::key_type,
+        typename CompatibleObjectType::key_type>::value &&
+        is_constructible<typename object_t::mapped_type,
+        typename CompatibleObjectType::mapped_type>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleObjectType>
+struct is_compatible_object_type
+    : is_compatible_object_type_impl<BasicJsonType, CompatibleObjectType> {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         typename = void>
+struct is_constructible_object_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type_impl <
+    BasicJsonType, ConstructibleObjectType,
+    enable_if_t < is_detected<mapped_type_t, ConstructibleObjectType>::value&&
+    is_detected<key_type_t, ConstructibleObjectType>::value >>
+{
+    using object_t = typename BasicJsonType::object_t;
+
+    static constexpr bool value =
+        (is_default_constructible<ConstructibleObjectType>::value &&
+         (std::is_move_assignable<ConstructibleObjectType>::value ||
+          std::is_copy_assignable<ConstructibleObjectType>::value) &&
+         (is_constructible<typename ConstructibleObjectType::key_type,
+          typename object_t::key_type>::value &&
+          std::is_same <
+          typename object_t::mapped_type,
+          typename ConstructibleObjectType::mapped_type >::value)) ||
+        (has_from_json<BasicJsonType,
+         typename ConstructibleObjectType::mapped_type>::value ||
+         has_non_default_from_json <
+         BasicJsonType,
+         typename ConstructibleObjectType::mapped_type >::value);
+};
+
+template<typename BasicJsonType, typename ConstructibleObjectType>
+struct is_constructible_object_type
+    : is_constructible_object_type_impl<BasicJsonType,
+      ConstructibleObjectType> {};
+
+template<typename BasicJsonType, typename CompatibleStringType>
+struct is_compatible_string_type
+{
+    static constexpr auto value =
+        is_constructible<typename BasicJsonType::string_t, CompatibleStringType>::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleStringType>
+struct is_constructible_string_type
+{
+    // launder type through decltype() to fix compilation failure on ICPC
+#ifdef __INTEL_COMPILER
+    using laundered_type = decltype(std::declval<ConstructibleStringType>());
+#else
+    using laundered_type = ConstructibleStringType;
+#endif
+
+    static constexpr auto value =
+        conjunction <
+        is_constructible<laundered_type, typename BasicJsonType::string_t>,
+        is_detected_exact<typename BasicJsonType::string_t::value_type,
+        value_type_t, laundered_type >>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleArrayType, typename = void>
+struct is_compatible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type_impl <
+    BasicJsonType, CompatibleArrayType,
+    enable_if_t <
+    is_detected<iterator_t, CompatibleArrayType>::value&&
+    is_iterator_traits<iterator_traits<detected_t<iterator_t, CompatibleArrayType>>>::value&&
+// special case for types like std::filesystem::path whose iterator's value_type are themselves
+// c.f. https://github.com/nlohmann/json/pull/3073
+    !std::is_same<CompatibleArrayType, detected_t<range_value_t, CompatibleArrayType>>::value >>
+{
+    static constexpr bool value =
+        is_constructible<BasicJsonType,
+        range_value_t<CompatibleArrayType>>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleArrayType>
+struct is_compatible_array_type
+    : is_compatible_array_type_impl<BasicJsonType, CompatibleArrayType> {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType, typename = void>
+struct is_constructible_array_type_impl : std::false_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t<std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value >>
+            : std::true_type {};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type_impl <
+    BasicJsonType, ConstructibleArrayType,
+    enable_if_t < !std::is_same<ConstructibleArrayType,
+    typename BasicJsonType::value_type>::value&&
+    !is_compatible_string_type<BasicJsonType, ConstructibleArrayType>::value&&
+    is_default_constructible<ConstructibleArrayType>::value&&
+(std::is_move_assignable<ConstructibleArrayType>::value ||
+ std::is_copy_assignable<ConstructibleArrayType>::value)&&
+is_detected<iterator_t, ConstructibleArrayType>::value&&
+is_iterator_traits<iterator_traits<detected_t<iterator_t, ConstructibleArrayType>>>::value&&
+is_detected<range_value_t, ConstructibleArrayType>::value&&
+// special case for types like std::filesystem::path whose iterator's value_type are themselves
+// c.f. https://github.com/nlohmann/json/pull/3073
+!std::is_same<ConstructibleArrayType, detected_t<range_value_t, ConstructibleArrayType>>::value&&
+        is_complete_type <
+        detected_t<range_value_t, ConstructibleArrayType >>::value >>
+{
+    using value_type = range_value_t<ConstructibleArrayType>;
+
+    static constexpr bool value =
+        std::is_same<value_type,
+        typename BasicJsonType::array_t::value_type>::value ||
+        has_from_json<BasicJsonType,
+        value_type>::value ||
+        has_non_default_from_json <
+        BasicJsonType,
+        value_type >::value;
+};
+
+template<typename BasicJsonType, typename ConstructibleArrayType>
+struct is_constructible_array_type
+    : is_constructible_array_type_impl<BasicJsonType, ConstructibleArrayType> {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType,
+         typename = void>
+struct is_compatible_integer_type_impl : std::false_type {};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type_impl <
+    RealIntegerType, CompatibleNumberIntegerType,
+    enable_if_t < std::is_integral<RealIntegerType>::value&&
+    std::is_integral<CompatibleNumberIntegerType>::value&&
+    !std::is_same<bool, CompatibleNumberIntegerType>::value >>
+{
+    // is there an assert somewhere on overflows?
+    using RealLimits = std::numeric_limits<RealIntegerType>;
+    using CompatibleLimits = std::numeric_limits<CompatibleNumberIntegerType>;
+
+    static constexpr auto value =
+        is_constructible<RealIntegerType,
+        CompatibleNumberIntegerType>::value &&
+        CompatibleLimits::is_integer &&
+        RealLimits::is_signed == CompatibleLimits::is_signed;
+};
+
+template<typename RealIntegerType, typename CompatibleNumberIntegerType>
+struct is_compatible_integer_type
+    : is_compatible_integer_type_impl<RealIntegerType,
+      CompatibleNumberIntegerType> {};
+
+template<typename BasicJsonType, typename CompatibleType, typename = void>
+struct is_compatible_type_impl: std::false_type {};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type_impl <
+    BasicJsonType, CompatibleType,
+    enable_if_t<is_complete_type<CompatibleType>::value >>
+{
+    static constexpr bool value =
+        has_to_json<BasicJsonType, CompatibleType>::value;
+};
+
+template<typename BasicJsonType, typename CompatibleType>
+struct is_compatible_type
+    : is_compatible_type_impl<BasicJsonType, CompatibleType> {};
+
+template<typename T1, typename T2>
+struct is_constructible_tuple : std::false_type {};
+
+template<typename T1, typename... Args>
+struct is_constructible_tuple<T1, std::tuple<Args...>> : conjunction<is_constructible<T1, Args>...> {};
+
+template<typename BasicJsonType, typename T>
+struct is_json_iterator_of : std::false_type {};
+
+template<typename BasicJsonType>
+struct is_json_iterator_of<BasicJsonType, typename BasicJsonType::iterator> : std::true_type {};
+
+template<typename BasicJsonType>
+struct is_json_iterator_of<BasicJsonType, typename BasicJsonType::const_iterator> : std::true_type
+{};
+
+// checks if a given type T is a template specialization of Primary
+template<template <typename...> class Primary, typename T>
+struct is_specialization_of : std::false_type {};
+
+template<template <typename...> class Primary, typename... Args>
+struct is_specialization_of<Primary, Primary<Args...>> : std::true_type {};
+
+template<typename T>
+using is_json_pointer = is_specialization_of<::nlohmann::json_pointer, uncvref_t<T>>;
+
+// checks if A and B are comparable using Compare functor
+template<typename Compare, typename A, typename B, typename = void>
+struct is_comparable : std::false_type {};
+
+template<typename Compare, typename A, typename B>
+struct is_comparable<Compare, A, B, void_t<
+decltype(std::declval<Compare>()(std::declval<A>(), std::declval<B>())),
+decltype(std::declval<Compare>()(std::declval<B>(), std::declval<A>()))
+>> : std::true_type {};
+
+template<typename T>
+using detect_is_transparent = typename T::is_transparent;
+
+// type trait to check if KeyType can be used as object key (without a BasicJsonType)
+// see is_usable_as_basic_json_key_type below
+template<typename Comparator, typename ObjectKeyType, typename KeyTypeCVRef, bool RequireTransparentComparator = true,
+         bool ExcludeObjectKeyType = RequireTransparentComparator, typename KeyType = uncvref_t<KeyTypeCVRef>>
+using is_usable_as_key_type = typename std::conditional <
+                              is_comparable<Comparator, ObjectKeyType, KeyTypeCVRef>::value
+                              && !(ExcludeObjectKeyType && std::is_same<KeyType,
+                                   ObjectKeyType>::value)
+                              && (!RequireTransparentComparator
+                                  || is_detected <detect_is_transparent, Comparator>::value)
+                              && !is_json_pointer<KeyType>::value,
+                              std::true_type,
+                              std::false_type >::type;
+
+// type trait to check if KeyType can be used as object key
+// true if:
+//   - KeyType is comparable with BasicJsonType::object_t::key_type
+//   - if ExcludeObjectKeyType is true, KeyType is not BasicJsonType::object_t::key_type
+//   - the comparator is transparent or RequireTransparentComparator is false
+//   - KeyType is not a JSON iterator or json_pointer
+template<typename BasicJsonType, typename KeyTypeCVRef, bool RequireTransparentComparator = true,
+         bool ExcludeObjectKeyType = RequireTransparentComparator, typename KeyType = uncvref_t<KeyTypeCVRef>>
+using is_usable_as_basic_json_key_type = typename std::conditional <
+        is_usable_as_key_type<typename BasicJsonType::object_comparator_t,
+        typename BasicJsonType::object_t::key_type, KeyTypeCVRef,
+        RequireTransparentComparator, ExcludeObjectKeyType>::value
+        && !is_json_iterator_of<BasicJsonType, KeyType>::value,
+        std::true_type,
+        std::false_type >::type;
+
+template<typename ObjectType, typename KeyType>
+using detect_erase_with_key_type = decltype(std::declval<ObjectType&>().erase(std::declval<KeyType>()));
+
+// type trait to check if object_t has an erase() member functions accepting KeyType
+template<typename BasicJsonType, typename KeyType>
+using has_erase_with_key_type = typename std::conditional <
+                                is_detected <
+                                detect_erase_with_key_type,
+                                typename BasicJsonType::object_t, KeyType >::value,
+                                std::true_type,
+                                std::false_type >::type;
+
+// a naive helper to check if a type is an ordered_map (exploits the fact that
+// ordered_map inherits capacity() from std::vector)
+template <typename T>
+struct is_ordered_map
+{
+    using one = char;
+
+    struct two
+    {
+        char x[2]; // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+    };
+
+    template <typename C> static one test( decltype(&C::capacity) ) ;
+    template <typename C> static two test(...);
+
+    enum { value = sizeof(test<T>(nullptr)) == sizeof(char) }; // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+};
+
+// to avoid useless casts (see https://github.com/nlohmann/json/issues/2893#issuecomment-889152324)
+template < typename T, typename U, enable_if_t < !std::is_same<T, U>::value, int > = 0 >
+T conditional_static_cast(U value)
+{
+    return static_cast<T>(value);
+}
+
+template<typename T, typename U, enable_if_t<std::is_same<T, U>::value, int> = 0>
+T conditional_static_cast(U value)
+{
+    return value;
+}
+
+template<typename... Types>
+using all_integral = conjunction<std::is_integral<Types>...>;
+
+template<typename... Types>
+using all_signed = conjunction<std::is_signed<Types>...>;
+
+template<typename... Types>
+using all_unsigned = conjunction<std::is_unsigned<Types>...>;
+
+// there's a disjunction trait in another PR; replace when merged
+template<typename... Types>
+using same_sign = std::integral_constant < bool,
+      all_signed<Types...>::value || all_unsigned<Types...>::value >;
+
+template<typename OfType, typename T>
+using never_out_of_range = std::integral_constant < bool,
+      (std::is_signed<OfType>::value && (sizeof(T) < sizeof(OfType)))
+      || (same_sign<OfType, T>::value && sizeof(OfType) == sizeof(T)) >;
+
+template<typename OfType, typename T,
+         bool OfTypeSigned = std::is_signed<OfType>::value,
+         bool TSigned = std::is_signed<T>::value>
+struct value_in_range_of_impl2;
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, false, false>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, true, false>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, false, true>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return val >= 0 && static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl2<OfType, T, true, true>
+{
+    static constexpr bool test(T val)
+    {
+        using CommonType = typename std::common_type<OfType, T>::type;
+        return static_cast<CommonType>(val) >= static_cast<CommonType>((std::numeric_limits<OfType>::min)())
+               && static_cast<CommonType>(val) <= static_cast<CommonType>((std::numeric_limits<OfType>::max)());
+    }
+};
+
+template<typename OfType, typename T,
+         bool NeverOutOfRange = never_out_of_range<OfType, T>::value,
+         typename = detail::enable_if_t<all_integral<OfType, T>::value>>
+struct value_in_range_of_impl1;
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl1<OfType, T, false>
+{
+    static constexpr bool test(T val)
+    {
+        return value_in_range_of_impl2<OfType, T>::test(val);
+    }
+};
+
+template<typename OfType, typename T>
+struct value_in_range_of_impl1<OfType, T, true>
+{
+    static constexpr bool test(T /*val*/)
+    {
+        return true;
+    }
+};
+
+template<typename OfType, typename T>
+inline constexpr bool value_in_range_of(T val)
+{
+    return value_in_range_of_impl1<OfType, T>::test(val);
+}
+
+template<bool Value>
+using bool_constant = std::integral_constant<bool, Value>;
+
+///////////////////////////////////////////////////////////////////////////////
+// is_c_string
+///////////////////////////////////////////////////////////////////////////////
+
+namespace impl
+{
+
+template<typename T>
+inline constexpr bool is_c_string()
+{
+    using TUnExt = typename std::remove_extent<T>::type;
+    using TUnCVExt = typename std::remove_cv<TUnExt>::type;
+    using TUnPtr = typename std::remove_pointer<T>::type;
+    using TUnCVPtr = typename std::remove_cv<TUnPtr>::type;
+    return
+        (std::is_array<T>::value && std::is_same<TUnCVExt, char>::value)
+        || (std::is_pointer<T>::value && std::is_same<TUnCVPtr, char>::value);
+}
+
+}  // namespace impl
+
+// checks whether T is a [cv] char */[cv] char[] C string
+template<typename T>
+struct is_c_string : bool_constant<impl::is_c_string<T>()> {};
+
+template<typename T>
+using is_c_string_uncvref = is_c_string<uncvref_t<T>>;
+
+///////////////////////////////////////////////////////////////////////////////
+// is_transparent
+///////////////////////////////////////////////////////////////////////////////
+
+namespace impl
+{
+
+template<typename T>
+inline constexpr bool is_transparent()
+{
+    return is_detected<detect_is_transparent, T>::value;
+}
+
+}  // namespace impl
+
+// checks whether T has a member named is_transparent
+template<typename T>
+struct is_transparent : bool_constant<impl::is_transparent<T>()> {};
+
+///////////////////////////////////////////////////////////////////////////////
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/string_concat.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstring> // strlen
+#include <string> // string
+#include <utility> // forward
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+inline std::size_t concat_length()
+{
+    return 0;
+}
+
+template<typename... Args>
+inline std::size_t concat_length(const char* cstr, const Args& ... rest);
+
+template<typename StringType, typename... Args>
+inline std::size_t concat_length(const StringType& str, const Args& ... rest);
+
+template<typename... Args>
+inline std::size_t concat_length(const char /*c*/, const Args& ... rest)
+{
+    return 1 + concat_length(rest...);
+}
+
+template<typename... Args>
+inline std::size_t concat_length(const char* cstr, const Args& ... rest)
+{
+    // cppcheck-suppress ignoredReturnValue
+    return ::strlen(cstr) + concat_length(rest...);
+}
+
+template<typename StringType, typename... Args>
+inline std::size_t concat_length(const StringType& str, const Args& ... rest)
+{
+    return str.size() + concat_length(rest...);
+}
+
+template<typename OutStringType>
+inline void concat_into(OutStringType& /*out*/)
+{}
+
+template<typename StringType, typename Arg>
+using string_can_append = decltype(std::declval<StringType&>().append(std::declval < Arg && > ()));
+
+template<typename StringType, typename Arg>
+using detect_string_can_append = is_detected<string_can_append, StringType, Arg>;
+
+template<typename StringType, typename Arg>
+using string_can_append_op = decltype(std::declval<StringType&>() += std::declval < Arg && > ());
+
+template<typename StringType, typename Arg>
+using detect_string_can_append_op = is_detected<string_can_append_op, StringType, Arg>;
+
+template<typename StringType, typename Arg>
+using string_can_append_iter = decltype(std::declval<StringType&>().append(std::declval<const Arg&>().begin(), std::declval<const Arg&>().end()));
+
+template<typename StringType, typename Arg>
+using detect_string_can_append_iter = is_detected<string_can_append_iter, StringType, Arg>;
+
+template<typename StringType, typename Arg>
+using string_can_append_data = decltype(std::declval<StringType&>().append(std::declval<const Arg&>().data(), std::declval<const Arg&>().size()));
+
+template<typename StringType, typename Arg>
+using detect_string_can_append_data = is_detected<string_can_append_data, StringType, Arg>;
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && detect_string_can_append_op<OutStringType, Arg>::value, int > = 0 >
+inline void concat_into(OutStringType& out, Arg && arg, Args && ... rest);
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && detect_string_can_append_iter<OutStringType, Arg>::value, int > = 0 >
+inline void concat_into(OutStringType& out, const Arg& arg, Args && ... rest);
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && !detect_string_can_append_iter<OutStringType, Arg>::value
+                         && detect_string_can_append_data<OutStringType, Arg>::value, int > = 0 >
+inline void concat_into(OutStringType& out, const Arg& arg, Args && ... rest);
+
+template<typename OutStringType, typename Arg, typename... Args,
+         enable_if_t<detect_string_can_append<OutStringType, Arg>::value, int> = 0>
+inline void concat_into(OutStringType& out, Arg && arg, Args && ... rest)
+{
+    out.append(std::forward<Arg>(arg));
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && detect_string_can_append_op<OutStringType, Arg>::value, int > >
+inline void concat_into(OutStringType& out, Arg&& arg, Args&& ... rest)
+{
+    out += std::forward<Arg>(arg);
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && detect_string_can_append_iter<OutStringType, Arg>::value, int > >
+inline void concat_into(OutStringType& out, const Arg& arg, Args&& ... rest)
+{
+    out.append(arg.begin(), arg.end());
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template < typename OutStringType, typename Arg, typename... Args,
+           enable_if_t < !detect_string_can_append<OutStringType, Arg>::value
+                         && !detect_string_can_append_op<OutStringType, Arg>::value
+                         && !detect_string_can_append_iter<OutStringType, Arg>::value
+                         && detect_string_can_append_data<OutStringType, Arg>::value, int > >
+inline void concat_into(OutStringType& out, const Arg& arg, Args&& ... rest)
+{
+    out.append(arg.data(), arg.size());
+    concat_into(out, std::forward<Args>(rest)...);
+}
+
+template<typename OutStringType = std::string, typename... Args>
+inline OutStringType concat(Args && ... args)
+{
+    OutStringType str;
+    str.reserve(concat_length(args...));
+    concat_into(str, std::forward<Args>(args)...);
+    return str;
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+////////////////
+// exceptions //
+////////////////
+
+/// @brief general exception of the @ref basic_json class
+/// @sa https://json.nlohmann.me/api/basic_json/exception/
+class exception : public std::exception
+{
+  public:
+    /// returns the explanatory string
+    const char* what() const noexcept override
+    {
+        return m.what();
+    }
+
+    /// the id of the exception
+    const int id; // NOLINT(cppcoreguidelines-non-private-member-variables-in-classes)
+
+  protected:
+    JSON_HEDLEY_NON_NULL(3)
+    exception(int id_, const char* what_arg) : id(id_), m(what_arg) {} // NOLINT(bugprone-throw-keyword-missing)
+
+    static std::string name(const std::string& ename, int id_)
+    {
+        return concat("[json.exception.", ename, '.', std::to_string(id_), "] ");
+    }
+
+    static std::string diagnostics(std::nullptr_t /*leaf_element*/)
+    {
+        return "";
+    }
+
+    template<typename BasicJsonType>
+    static std::string diagnostics(const BasicJsonType* leaf_element)
+    {
+#if JSON_DIAGNOSTICS
+        std::vector<std::string> tokens;
+        for (const auto* current = leaf_element; current != nullptr && current->m_parent != nullptr; current = current->m_parent)
+        {
+            switch (current->m_parent->type())
+            {
+                case value_t::array:
+                {
+                    for (std::size_t i = 0; i < current->m_parent->m_data.m_value.array->size(); ++i)
+                    {
+                        if (&current->m_parent->m_data.m_value.array->operator[](i) == current)
+                        {
+                            tokens.emplace_back(std::to_string(i));
+                            break;
+                        }
+                    }
+                    break;
+                }
+
+                case value_t::object:
+                {
+                    for (const auto& element : *current->m_parent->m_data.m_value.object)
+                    {
+                        if (&element.second == current)
+                        {
+                            tokens.emplace_back(element.first.c_str());
+                            break;
+                        }
+                    }
+                    break;
+                }
+
+                case value_t::null: // LCOV_EXCL_LINE
+                case value_t::string: // LCOV_EXCL_LINE
+                case value_t::boolean: // LCOV_EXCL_LINE
+                case value_t::number_integer: // LCOV_EXCL_LINE
+                case value_t::number_unsigned: // LCOV_EXCL_LINE
+                case value_t::number_float: // LCOV_EXCL_LINE
+                case value_t::binary: // LCOV_EXCL_LINE
+                case value_t::discarded: // LCOV_EXCL_LINE
+                default:   // LCOV_EXCL_LINE
+                    break; // LCOV_EXCL_LINE
+            }
+        }
+
+        if (tokens.empty())
+        {
+            return "";
+        }
+
+        auto str = std::accumulate(tokens.rbegin(), tokens.rend(), std::string{},
+                                   [](const std::string & a, const std::string & b)
+        {
+            return concat(a, '/', detail::escape(b));
+        });
+        return concat('(', str, ") ");
+#else
+        static_cast<void>(leaf_element);
+        return "";
+#endif
+    }
+
+  private:
+    /// an exception object as storage for error messages
+    std::runtime_error m;
+};
+
+/// @brief exception indicating a parse error
+/// @sa https://json.nlohmann.me/api/basic_json/parse_error/
+class parse_error : public exception
+{
+  public:
+    /*!
+    @brief create a parse error exception
+    @param[in] id_       the id of the exception
+    @param[in] pos       the position where the error occurred (or with
+                         chars_read_total=0 if the position cannot be
+                         determined)
+    @param[in] what_arg  the explanatory string
+    @return parse_error object
+    */
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static parse_error create(int id_, const position_t& pos, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("parse_error", id_), "parse error",
+                                     position_string(pos), ": ", exception::diagnostics(context), what_arg);
+        return {id_, pos.chars_read_total, w.c_str()};
+    }
+
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static parse_error create(int id_, std::size_t byte_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("parse_error", id_), "parse error",
+                                     (byte_ != 0 ? (concat(" at byte ", std::to_string(byte_))) : ""),
+                                     ": ", exception::diagnostics(context), what_arg);
+        return {id_, byte_, w.c_str()};
+    }
+
+    /*!
+    @brief byte index of the parse error
+
+    The byte index of the last read character in the input file.
+
+    @note For an input with n bytes, 1 is the index of the first character and
+          n+1 is the index of the terminating null byte or the end of file.
+          This also holds true when reading a byte vector (CBOR or MessagePack).
+    */
+    const std::size_t byte;
+
+  private:
+    parse_error(int id_, std::size_t byte_, const char* what_arg)
+        : exception(id_, what_arg), byte(byte_) {}
+
+    static std::string position_string(const position_t& pos)
+    {
+        return concat(" at line ", std::to_string(pos.lines_read + 1),
+                      ", column ", std::to_string(pos.chars_read_current_line));
+    }
+};
+
+/// @brief exception indicating errors with iterators
+/// @sa https://json.nlohmann.me/api/basic_json/invalid_iterator/
+class invalid_iterator : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static invalid_iterator create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("invalid_iterator", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    invalid_iterator(int id_, const char* what_arg)
+        : exception(id_, what_arg) {}
+};
+
+/// @brief exception indicating executing a member function with a wrong type
+/// @sa https://json.nlohmann.me/api/basic_json/type_error/
+class type_error : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static type_error create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("type_error", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    type_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/// @brief exception indicating access out of the defined range
+/// @sa https://json.nlohmann.me/api/basic_json/out_of_range/
+class out_of_range : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static out_of_range create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("out_of_range", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    out_of_range(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+/// @brief exception indicating other library errors
+/// @sa https://json.nlohmann.me/api/basic_json/other_error/
+class other_error : public exception
+{
+  public:
+    template<typename BasicJsonContext, enable_if_t<is_basic_json_context<BasicJsonContext>::value, int> = 0>
+    static other_error create(int id_, const std::string& what_arg, BasicJsonContext context)
+    {
+        const std::string w = concat(exception::name("other_error", id_), exception::diagnostics(context), what_arg);
+        return {id_, w.c_str()};
+    }
+
+  private:
+    JSON_HEDLEY_NON_NULL(3)
+    other_error(int id_, const char* what_arg) : exception(id_, what_arg) {}
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/identity_tag.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// dispatching helper struct
+template <class T> struct identity_tag {};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/meta/std_fs.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+#if JSON_HAS_EXPERIMENTAL_FILESYSTEM
+#include <experimental/filesystem>
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+namespace std_fs = std::experimental::filesystem;
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+#elif JSON_HAS_FILESYSTEM
+#include <filesystem>
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+namespace std_fs = std::filesystem;
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+#endif
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename std::nullptr_t& n)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_null()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be null, but is ", j.type_name()), &j));
+    }
+    n = nullptr;
+}
+
+// overloads for basic_json template parameters
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t < std::is_arithmetic<ArithmeticType>::value&&
+                         !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+                         int > = 0 >
+void get_arithmetic_value(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+
+        case value_t::null:
+        case value_t::object:
+        case value_t::array:
+        case value_t::string:
+        case value_t::boolean:
+        case value_t::binary:
+        case value_t::discarded:
+        default:
+            JSON_THROW(type_error::create(302, concat("type must be number, but is ", j.type_name()), &j));
+    }
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::boolean_t& b)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_boolean()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be boolean, but is ", j.type_name()), &j));
+    }
+    b = *j.template get_ptr<const typename BasicJsonType::boolean_t*>();
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::string_t& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be string, but is ", j.type_name()), &j));
+    }
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template <
+    typename BasicJsonType, typename StringType,
+    enable_if_t <
+        std::is_assignable<StringType&, const typename BasicJsonType::string_t>::value
+        && is_detected_exact<typename BasicJsonType::string_t::value_type, value_type_t, StringType>::value
+        && !std::is_same<typename BasicJsonType::string_t, StringType>::value
+        && !is_json_ref<StringType>::value, int > = 0 >
+inline void from_json(const BasicJsonType& j, StringType& s)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be string, but is ", j.type_name()), &j));
+    }
+
+    s = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::number_float_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::number_unsigned_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::number_integer_t& val)
+{
+    get_arithmetic_value(j, val);
+}
+
+#if !JSON_DISABLE_ENUM_SERIALIZATION
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, EnumType& e)
+{
+    typename std::underlying_type<EnumType>::type val;
+    get_arithmetic_value(j, val);
+    e = static_cast<EnumType>(val);
+}
+#endif  // JSON_DISABLE_ENUM_SERIALIZATION
+
+// forward_list doesn't have an insert method
+template<typename BasicJsonType, typename T, typename Allocator,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, std::forward_list<T, Allocator>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    l.clear();
+    std::transform(j.rbegin(), j.rend(),
+                   std::front_inserter(l), [](const BasicJsonType & i)
+    {
+        return i.template get<T>();
+    });
+}
+
+// valarray doesn't have an insert method
+template<typename BasicJsonType, typename T,
+         enable_if_t<is_getable<BasicJsonType, T>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, std::valarray<T>& l)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    l.resize(j.size());
+    std::transform(j.begin(), j.end(), std::begin(l),
+                   [](const BasicJsonType & elem)
+    {
+        return elem.template get<T>();
+    });
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json(const BasicJsonType& j, T (&arr)[N])  // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType>
+inline void from_json_array_impl(const BasicJsonType& j, typename BasicJsonType::array_t& arr, priority_tag<3> /*unused*/)
+{
+    arr = *j.template get_ptr<const typename BasicJsonType::array_t*>();
+}
+
+template<typename BasicJsonType, typename T, std::size_t N>
+auto from_json_array_impl(const BasicJsonType& j, std::array<T, N>& arr,
+                          priority_tag<2> /*unused*/)
+-> decltype(j.template get<T>(), void())
+{
+    for (std::size_t i = 0; i < N; ++i)
+    {
+        arr[i] = j.at(i).template get<T>();
+    }
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType,
+         enable_if_t<
+             std::is_assignable<ConstructibleArrayType&, ConstructibleArrayType>::value,
+             int> = 0>
+auto from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr, priority_tag<1> /*unused*/)
+-> decltype(
+    arr.reserve(std::declval<typename ConstructibleArrayType::size_type>()),
+    j.template get<typename ConstructibleArrayType::value_type>(),
+    void())
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    ret.reserve(j.size());
+    std::transform(j.begin(), j.end(),
+                   std::inserter(ret, end(ret)), [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template<typename BasicJsonType, typename ConstructibleArrayType,
+         enable_if_t<
+             std::is_assignable<ConstructibleArrayType&, ConstructibleArrayType>::value,
+             int> = 0>
+inline void from_json_array_impl(const BasicJsonType& j, ConstructibleArrayType& arr,
+                                 priority_tag<0> /*unused*/)
+{
+    using std::end;
+
+    ConstructibleArrayType ret;
+    std::transform(
+        j.begin(), j.end(), std::inserter(ret, end(ret)),
+        [](const BasicJsonType & i)
+    {
+        // get<BasicJsonType>() returns *this, this won't call a from_json
+        // method when value_type is BasicJsonType
+        return i.template get<typename ConstructibleArrayType::value_type>();
+    });
+    arr = std::move(ret);
+}
+
+template < typename BasicJsonType, typename ConstructibleArrayType,
+           enable_if_t <
+               is_constructible_array_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_object_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !is_constructible_string_type<BasicJsonType, ConstructibleArrayType>::value&&
+               !std::is_same<ConstructibleArrayType, typename BasicJsonType::binary_t>::value&&
+               !is_basic_json<ConstructibleArrayType>::value,
+               int > = 0 >
+auto from_json(const BasicJsonType& j, ConstructibleArrayType& arr)
+-> decltype(from_json_array_impl(j, arr, priority_tag<3> {}),
+j.template get<typename ConstructibleArrayType::value_type>(),
+void())
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+
+    from_json_array_impl(j, arr, priority_tag<3> {});
+}
+
+template < typename BasicJsonType, typename T, std::size_t... Idx >
+std::array<T, sizeof...(Idx)> from_json_inplace_array_impl(BasicJsonType&& j,
+        identity_tag<std::array<T, sizeof...(Idx)>> /*unused*/, index_sequence<Idx...> /*unused*/)
+{
+    return { { std::forward<BasicJsonType>(j).at(Idx).template get<T>()... } };
+}
+
+template < typename BasicJsonType, typename T, std::size_t N >
+auto from_json(BasicJsonType&& j, identity_tag<std::array<T, N>> tag)
+-> decltype(from_json_inplace_array_impl(std::forward<BasicJsonType>(j), tag, make_index_sequence<N> {}))
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+
+    return from_json_inplace_array_impl(std::forward<BasicJsonType>(j), tag, make_index_sequence<N> {});
+}
+
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, typename BasicJsonType::binary_t& bin)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_binary()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be binary, but is ", j.type_name()), &j));
+    }
+
+    bin = *j.template get_ptr<const typename BasicJsonType::binary_t*>();
+}
+
+template<typename BasicJsonType, typename ConstructibleObjectType,
+         enable_if_t<is_constructible_object_type<BasicJsonType, ConstructibleObjectType>::value, int> = 0>
+inline void from_json(const BasicJsonType& j, ConstructibleObjectType& obj)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_object()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be object, but is ", j.type_name()), &j));
+    }
+
+    ConstructibleObjectType ret;
+    const auto* inner_object = j.template get_ptr<const typename BasicJsonType::object_t*>();
+    using value_type = typename ConstructibleObjectType::value_type;
+    std::transform(
+        inner_object->begin(), inner_object->end(),
+        std::inserter(ret, ret.begin()),
+        [](typename BasicJsonType::object_t::value_type const & p)
+    {
+        return value_type(p.first, p.second.template get<typename ConstructibleObjectType::mapped_type>());
+    });
+    obj = std::move(ret);
+}
+
+// overload for arithmetic types, not chosen for basic_json template arguments
+// (BooleanType, etc..); note: Is it really necessary to provide explicit
+// overloads for boolean_t etc. in case of a custom BooleanType which is not
+// an arithmetic type?
+template < typename BasicJsonType, typename ArithmeticType,
+           enable_if_t <
+               std::is_arithmetic<ArithmeticType>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_unsigned_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_integer_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::number_float_t>::value&&
+               !std::is_same<ArithmeticType, typename BasicJsonType::boolean_t>::value,
+               int > = 0 >
+inline void from_json(const BasicJsonType& j, ArithmeticType& val)
+{
+    switch (static_cast<value_t>(j))
+    {
+        case value_t::number_unsigned:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_unsigned_t*>());
+            break;
+        }
+        case value_t::number_integer:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_integer_t*>());
+            break;
+        }
+        case value_t::number_float:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::number_float_t*>());
+            break;
+        }
+        case value_t::boolean:
+        {
+            val = static_cast<ArithmeticType>(*j.template get_ptr<const typename BasicJsonType::boolean_t*>());
+            break;
+        }
+
+        case value_t::null:
+        case value_t::object:
+        case value_t::array:
+        case value_t::string:
+        case value_t::binary:
+        case value_t::discarded:
+        default:
+            JSON_THROW(type_error::create(302, concat("type must be number, but is ", j.type_name()), &j));
+    }
+}
+
+template<typename BasicJsonType, typename... Args, std::size_t... Idx>
+std::tuple<Args...> from_json_tuple_impl_base(BasicJsonType&& j, index_sequence<Idx...> /*unused*/)
+{
+    return std::make_tuple(std::forward<BasicJsonType>(j).at(Idx).template get<Args>()...);
+}
+
+template < typename BasicJsonType, class A1, class A2 >
+std::pair<A1, A2> from_json_tuple_impl(BasicJsonType&& j, identity_tag<std::pair<A1, A2>> /*unused*/, priority_tag<0> /*unused*/)
+{
+    return {std::forward<BasicJsonType>(j).at(0).template get<A1>(),
+            std::forward<BasicJsonType>(j).at(1).template get<A2>()};
+}
+
+template<typename BasicJsonType, typename A1, typename A2>
+inline void from_json_tuple_impl(BasicJsonType&& j, std::pair<A1, A2>& p, priority_tag<1> /*unused*/)
+{
+    p = from_json_tuple_impl(std::forward<BasicJsonType>(j), identity_tag<std::pair<A1, A2>> {}, priority_tag<0> {});
+}
+
+template<typename BasicJsonType, typename... Args>
+std::tuple<Args...> from_json_tuple_impl(BasicJsonType&& j, identity_tag<std::tuple<Args...>> /*unused*/, priority_tag<2> /*unused*/)
+{
+    return from_json_tuple_impl_base<BasicJsonType, Args...>(std::forward<BasicJsonType>(j), index_sequence_for<Args...> {});
+}
+
+template<typename BasicJsonType, typename... Args>
+inline void from_json_tuple_impl(BasicJsonType&& j, std::tuple<Args...>& t, priority_tag<3> /*unused*/)
+{
+    t = from_json_tuple_impl_base<BasicJsonType, Args...>(std::forward<BasicJsonType>(j), index_sequence_for<Args...> {});
+}
+
+template<typename BasicJsonType, typename TupleRelated>
+auto from_json(BasicJsonType&& j, TupleRelated&& t)
+-> decltype(from_json_tuple_impl(std::forward<BasicJsonType>(j), std::forward<TupleRelated>(t), priority_tag<3> {}))
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+
+    return from_json_tuple_impl(std::forward<BasicJsonType>(j), std::forward<TupleRelated>(t), priority_tag<3> {});
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Compare, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+inline void from_json(const BasicJsonType& j, std::map<Key, Value, Compare, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, concat("type must be array, but is ", p.type_name()), &j));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+template < typename BasicJsonType, typename Key, typename Value, typename Hash, typename KeyEqual, typename Allocator,
+           typename = enable_if_t < !std::is_constructible <
+                                        typename BasicJsonType::string_t, Key >::value >>
+inline void from_json(const BasicJsonType& j, std::unordered_map<Key, Value, Hash, KeyEqual, Allocator>& m)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_array()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be array, but is ", j.type_name()), &j));
+    }
+    m.clear();
+    for (const auto& p : j)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!p.is_array()))
+        {
+            JSON_THROW(type_error::create(302, concat("type must be array, but is ", p.type_name()), &j));
+        }
+        m.emplace(p.at(0).template get<Key>(), p.at(1).template get<Value>());
+    }
+}
+
+#if JSON_HAS_FILESYSTEM || JSON_HAS_EXPERIMENTAL_FILESYSTEM
+template<typename BasicJsonType>
+inline void from_json(const BasicJsonType& j, std_fs::path& p)
+{
+    if (JSON_HEDLEY_UNLIKELY(!j.is_string()))
+    {
+        JSON_THROW(type_error::create(302, concat("type must be string, but is ", j.type_name()), &j));
+    }
+    p = *j.template get_ptr<const typename BasicJsonType::string_t*>();
+}
+#endif
+
+struct from_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(const BasicJsonType& j, T&& val) const
+    noexcept(noexcept(from_json(j, std::forward<T>(val))))
+    -> decltype(from_json(j, std::forward<T>(val)))
+    {
+        return from_json(j, std::forward<T>(val));
+    }
+};
+
+}  // namespace detail
+
+#ifndef JSON_HAS_CPP_17
+/// namespace to hold default `from_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace // NOLINT(cert-dcl59-cpp,fuchsia-header-anon-namespaces,google-build-namespaces)
+{
+#endif
+JSON_INLINE_VARIABLE constexpr const auto& from_json = // NOLINT(misc-definitions-in-headers)
+    detail::static_const<detail::from_json_fn>::value;
+#ifndef JSON_HAS_CPP_17
+}  // namespace
+#endif
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // copy
+#include <iterator> // begin, end
+#include <string> // string
+#include <tuple> // tuple, get
+#include <type_traits> // is_same, is_constructible, is_floating_point, is_enum, underlying_type
+#include <utility> // move, forward, declval, pair
+#include <valarray> // valarray
+#include <vector> // vector
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstddef> // size_t
+#include <iterator> // input_iterator_tag
+#include <string> // string, to_string
+#include <tuple> // tuple_size, get, tuple_element
+#include <utility> // move
+
+#if JSON_HAS_RANGES
+    #include <ranges> // enable_borrowed_range
+#endif
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename string_type>
+void int_to_string( string_type& target, std::size_t value )
+{
+    // For ADL
+    using std::to_string;
+    target = to_string(value);
+}
+template<typename IteratorType> class iteration_proxy_value
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    using value_type = iteration_proxy_value;
+    using pointer = value_type *;
+    using reference = value_type &;
+    using iterator_category = std::input_iterator_tag;
+    using string_type = typename std::remove_cv< typename std::remove_reference<decltype( std::declval<IteratorType>().key() ) >::type >::type;
+
+  private:
+    /// the iterator
+    IteratorType anchor{};
+    /// an index for arrays (used to create key names)
+    std::size_t array_index = 0;
+    /// last stringified array index
+    mutable std::size_t array_index_last = 0;
+    /// a string representation of the array index
+    mutable string_type array_index_str = "0";
+    /// an empty string (to return a reference for primitive values)
+    string_type empty_str{};
+
+  public:
+    explicit iteration_proxy_value() = default;
+    explicit iteration_proxy_value(IteratorType it, std::size_t array_index_ = 0)
+    noexcept(std::is_nothrow_move_constructible<IteratorType>::value
+             && std::is_nothrow_default_constructible<string_type>::value)
+        : anchor(std::move(it))
+        , array_index(array_index_)
+    {}
+
+    iteration_proxy_value(iteration_proxy_value const&) = default;
+    iteration_proxy_value& operator=(iteration_proxy_value const&) = default;
+    // older GCCs are a bit fussy and require explicit noexcept specifiers on defaulted functions
+    iteration_proxy_value(iteration_proxy_value&&)
+    noexcept(std::is_nothrow_move_constructible<IteratorType>::value
+             && std::is_nothrow_move_constructible<string_type>::value) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor,cppcoreguidelines-noexcept-move-operations)
+    iteration_proxy_value& operator=(iteration_proxy_value&&)
+    noexcept(std::is_nothrow_move_assignable<IteratorType>::value
+             && std::is_nothrow_move_assignable<string_type>::value) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor,cppcoreguidelines-noexcept-move-operations)
+    ~iteration_proxy_value() = default;
+
+    /// dereference operator (needed for range-based for)
+    const iteration_proxy_value& operator*() const
+    {
+        return *this;
+    }
+
+    /// increment operator (needed for range-based for)
+    iteration_proxy_value& operator++()
+    {
+        ++anchor;
+        ++array_index;
+
+        return *this;
+    }
+
+    iteration_proxy_value operator++(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        auto tmp = iteration_proxy_value(anchor, array_index);
+        ++anchor;
+        ++array_index;
+        return tmp;
+    }
+
+    /// equality operator (needed for InputIterator)
+    bool operator==(const iteration_proxy_value& o) const
+    {
+        return anchor == o.anchor;
+    }
+
+    /// inequality operator (needed for range-based for)
+    bool operator!=(const iteration_proxy_value& o) const
+    {
+        return anchor != o.anchor;
+    }
+
+    /// return key of the iterator
+    const string_type& key() const
+    {
+        JSON_ASSERT(anchor.m_object != nullptr);
+
+        switch (anchor.m_object->type())
+        {
+            // use integer array index as key
+            case value_t::array:
+            {
+                if (array_index != array_index_last)
+                {
+                    int_to_string( array_index_str, array_index );
+                    array_index_last = array_index;
+                }
+                return array_index_str;
+            }
+
+            // use key from the object
+            case value_t::object:
+                return anchor.key();
+
+            // use an empty key for all primitive types
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return empty_str;
+        }
+    }
+
+    /// return value of the iterator
+    typename IteratorType::reference value() const
+    {
+        return anchor.value();
+    }
+};
+
+/// proxy class for the items() function
+template<typename IteratorType> class iteration_proxy
+{
+  private:
+    /// the container to iterate
+    typename IteratorType::pointer container = nullptr;
+
+  public:
+    explicit iteration_proxy() = default;
+
+    /// construct iteration proxy from a container
+    explicit iteration_proxy(typename IteratorType::reference cont) noexcept
+        : container(&cont) {}
+
+    iteration_proxy(iteration_proxy const&) = default;
+    iteration_proxy& operator=(iteration_proxy const&) = default;
+    iteration_proxy(iteration_proxy&&) noexcept = default;
+    iteration_proxy& operator=(iteration_proxy&&) noexcept = default;
+    ~iteration_proxy() = default;
+
+    /// return iterator begin (needed for range-based for)
+    iteration_proxy_value<IteratorType> begin() const noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container->begin());
+    }
+
+    /// return iterator end (needed for range-based for)
+    iteration_proxy_value<IteratorType> end() const noexcept
+    {
+        return iteration_proxy_value<IteratorType>(container->end());
+    }
+};
+
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 0, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.key())
+{
+    return i.key();
+}
+// Structured Bindings Support
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+template<std::size_t N, typename IteratorType, enable_if_t<N == 1, int> = 0>
+auto get(const nlohmann::detail::iteration_proxy_value<IteratorType>& i) -> decltype(i.value())
+{
+    return i.value();
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// The Addition to the STD Namespace is required to add
+// Structured Bindings Support to the iteration_proxy_value class
+// For further reference see https://blog.tartanllama.xyz/structured-bindings/
+// And see https://github.com/nlohmann/json/pull/1391
+namespace std
+{
+
+#if defined(__clang__)
+    // Fix: https://github.com/nlohmann/json/issues/1401
+    #pragma clang diagnostic push
+    #pragma clang diagnostic ignored "-Wmismatched-tags"
+#endif
+template<typename IteratorType>
+class tuple_size<::nlohmann::detail::iteration_proxy_value<IteratorType>> // NOLINT(cert-dcl58-cpp)
+            : public std::integral_constant<std::size_t, 2> {};
+
+template<std::size_t N, typename IteratorType>
+class tuple_element<N, ::nlohmann::detail::iteration_proxy_value<IteratorType >> // NOLINT(cert-dcl58-cpp)
+{
+  public:
+    using type = decltype(
+                     get<N>(std::declval <
+                            ::nlohmann::detail::iteration_proxy_value<IteratorType >> ()));
+};
+#if defined(__clang__)
+    #pragma clang diagnostic pop
+#endif
+
+}  // namespace std
+
+#if JSON_HAS_RANGES
+    template <typename IteratorType>
+    inline constexpr bool ::std::ranges::enable_borrowed_range<::nlohmann::detail::iteration_proxy<IteratorType>> = true;
+#endif
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/std_fs.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+//////////////////
+// constructors //
+//////////////////
+
+/*
+ * Note all external_constructor<>::construct functions need to call
+ * j.m_data.m_value.destroy(j.m_data.m_type) to avoid a memory leak in case j contains an
+ * allocated value (e.g., a string). See bug issue
+ * https://github.com/nlohmann/json/issues/2865 for more information.
+ */
+
+template<value_t> struct external_constructor;
+
+template<>
+struct external_constructor<value_t::boolean>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::boolean_t b) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::boolean;
+        j.m_data.m_value = b;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::string>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::string_t& s)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::string;
+        j.m_data.m_value = s;
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::string;
+        j.m_data.m_value = std::move(s);
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleStringType,
+               enable_if_t < !std::is_same<CompatibleStringType, typename BasicJsonType::string_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleStringType& str)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::string;
+        j.m_data.m_value.string = j.template create<typename BasicJsonType::string_t>(str);
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::binary>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::binary_t& b)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::binary;
+        j.m_data.m_value = typename BasicJsonType::binary_t(b);
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::binary_t&& b)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::binary;
+        j.m_data.m_value = typename BasicJsonType::binary_t(std::move(b));
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_float>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_float_t val) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::number_float;
+        j.m_data.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_unsigned>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_unsigned_t val) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::number_unsigned;
+        j.m_data.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::number_integer>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::number_integer_t val) noexcept
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::number_integer;
+        j.m_data.m_value = val;
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::array>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::array_t& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = arr;
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = std::move(arr);
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleArrayType,
+               enable_if_t < !std::is_same<CompatibleArrayType, typename BasicJsonType::array_t>::value,
+                             int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleArrayType& arr)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value.array = j.template create<typename BasicJsonType::array_t>(begin(arr), end(arr));
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const std::vector<bool>& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = value_t::array;
+        j.m_data.m_value.array->reserve(arr.size());
+        for (const bool x : arr)
+        {
+            j.m_data.m_value.array->push_back(x);
+            j.set_parent(j.m_data.m_value.array->back());
+        }
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType, typename T,
+             enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+    static void construct(BasicJsonType& j, const std::valarray<T>& arr)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::array;
+        j.m_data.m_value = value_t::array;
+        j.m_data.m_value.array->resize(arr.size());
+        if (arr.size() > 0)
+        {
+            std::copy(std::begin(arr), std::end(arr), j.m_data.m_value.array->begin());
+        }
+        j.set_parents();
+        j.assert_invariant();
+    }
+};
+
+template<>
+struct external_constructor<value_t::object>
+{
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, const typename BasicJsonType::object_t& obj)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::object;
+        j.m_data.m_value = obj;
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template<typename BasicJsonType>
+    static void construct(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+    {
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::object;
+        j.m_data.m_value = std::move(obj);
+        j.set_parents();
+        j.assert_invariant();
+    }
+
+    template < typename BasicJsonType, typename CompatibleObjectType,
+               enable_if_t < !std::is_same<CompatibleObjectType, typename BasicJsonType::object_t>::value, int > = 0 >
+    static void construct(BasicJsonType& j, const CompatibleObjectType& obj)
+    {
+        using std::begin;
+        using std::end;
+
+        j.m_data.m_value.destroy(j.m_data.m_type);
+        j.m_data.m_type = value_t::object;
+        j.m_data.m_value.object = j.template create<typename BasicJsonType::object_t>(begin(obj), end(obj));
+        j.set_parents();
+        j.assert_invariant();
+    }
+};
+
+/////////////
+// to_json //
+/////////////
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, typename BasicJsonType::boolean_t>::value, int> = 0>
+inline void to_json(BasicJsonType& j, T b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, b);
+}
+
+template < typename BasicJsonType, typename BoolRef,
+           enable_if_t <
+               ((std::is_same<std::vector<bool>::reference, BoolRef>::value
+                 && !std::is_same <std::vector<bool>::reference, typename BasicJsonType::boolean_t&>::value)
+                || (std::is_same<std::vector<bool>::const_reference, BoolRef>::value
+                    && !std::is_same <detail::uncvref_t<std::vector<bool>::const_reference>,
+                                      typename BasicJsonType::boolean_t >::value))
+               && std::is_convertible<const BoolRef&, typename BasicJsonType::boolean_t>::value, int > = 0 >
+inline void to_json(BasicJsonType& j, const BoolRef& b) noexcept
+{
+    external_constructor<value_t::boolean>::construct(j, static_cast<typename BasicJsonType::boolean_t>(b));
+}
+
+template<typename BasicJsonType, typename CompatibleString,
+         enable_if_t<std::is_constructible<typename BasicJsonType::string_t, CompatibleString>::value, int> = 0>
+inline void to_json(BasicJsonType& j, const CompatibleString& s)
+{
+    external_constructor<value_t::string>::construct(j, s);
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, typename BasicJsonType::string_t&& s)
+{
+    external_constructor<value_t::string>::construct(j, std::move(s));
+}
+
+template<typename BasicJsonType, typename FloatType,
+         enable_if_t<std::is_floating_point<FloatType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, FloatType val) noexcept
+{
+    external_constructor<value_t::number_float>::construct(j, static_cast<typename BasicJsonType::number_float_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberUnsignedType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_unsigned_t, CompatibleNumberUnsignedType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, CompatibleNumberUnsignedType val) noexcept
+{
+    external_constructor<value_t::number_unsigned>::construct(j, static_cast<typename BasicJsonType::number_unsigned_t>(val));
+}
+
+template<typename BasicJsonType, typename CompatibleNumberIntegerType,
+         enable_if_t<is_compatible_integer_type<typename BasicJsonType::number_integer_t, CompatibleNumberIntegerType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, CompatibleNumberIntegerType val) noexcept
+{
+    external_constructor<value_t::number_integer>::construct(j, static_cast<typename BasicJsonType::number_integer_t>(val));
+}
+
+#if !JSON_DISABLE_ENUM_SERIALIZATION
+template<typename BasicJsonType, typename EnumType,
+         enable_if_t<std::is_enum<EnumType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, EnumType e) noexcept
+{
+    using underlying_type = typename std::underlying_type<EnumType>::type;
+    external_constructor<value_t::number_integer>::construct(j, static_cast<underlying_type>(e));
+}
+#endif  // JSON_DISABLE_ENUM_SERIALIZATION
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, const std::vector<bool>& e)
+{
+    external_constructor<value_t::array>::construct(j, e);
+}
+
+template < typename BasicJsonType, typename CompatibleArrayType,
+           enable_if_t < is_compatible_array_type<BasicJsonType,
+                         CompatibleArrayType>::value&&
+                         !is_compatible_object_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !is_compatible_string_type<BasicJsonType, CompatibleArrayType>::value&&
+                         !std::is_same<typename BasicJsonType::binary_t, CompatibleArrayType>::value&&
+                         !is_basic_json<CompatibleArrayType>::value,
+                         int > = 0 >
+inline void to_json(BasicJsonType& j, const CompatibleArrayType& arr)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, const typename BasicJsonType::binary_t& bin)
+{
+    external_constructor<value_t::binary>::construct(j, bin);
+}
+
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_convertible<T, BasicJsonType>::value, int> = 0>
+inline void to_json(BasicJsonType& j, const std::valarray<T>& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, typename BasicJsonType::array_t&& arr)
+{
+    external_constructor<value_t::array>::construct(j, std::move(arr));
+}
+
+template < typename BasicJsonType, typename CompatibleObjectType,
+           enable_if_t < is_compatible_object_type<BasicJsonType, CompatibleObjectType>::value&& !is_basic_json<CompatibleObjectType>::value, int > = 0 >
+inline void to_json(BasicJsonType& j, const CompatibleObjectType& obj)
+{
+    external_constructor<value_t::object>::construct(j, obj);
+}
+
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, typename BasicJsonType::object_t&& obj)
+{
+    external_constructor<value_t::object>::construct(j, std::move(obj));
+}
+
+template <
+    typename BasicJsonType, typename T, std::size_t N,
+    enable_if_t < !std::is_constructible<typename BasicJsonType::string_t,
+                  const T(&)[N]>::value, // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+                  int > = 0 >
+inline void to_json(BasicJsonType& j, const T(&arr)[N]) // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+{
+    external_constructor<value_t::array>::construct(j, arr);
+}
+
+template < typename BasicJsonType, typename T1, typename T2, enable_if_t < std::is_constructible<BasicJsonType, T1>::value&& std::is_constructible<BasicJsonType, T2>::value, int > = 0 >
+inline void to_json(BasicJsonType& j, const std::pair<T1, T2>& p)
+{
+    j = { p.first, p.second };
+}
+
+// for https://github.com/nlohmann/json/pull/1134
+template<typename BasicJsonType, typename T,
+         enable_if_t<std::is_same<T, iteration_proxy_value<typename BasicJsonType::iterator>>::value, int> = 0>
+inline void to_json(BasicJsonType& j, const T& b)
+{
+    j = { {b.key(), b.value()} };
+}
+
+template<typename BasicJsonType, typename Tuple, std::size_t... Idx>
+inline void to_json_tuple_impl(BasicJsonType& j, const Tuple& t, index_sequence<Idx...> /*unused*/)
+{
+    j = { std::get<Idx>(t)... };
+}
+
+template<typename BasicJsonType, typename T, enable_if_t<is_constructible_tuple<BasicJsonType, T>::value, int > = 0>
+inline void to_json(BasicJsonType& j, const T& t)
+{
+    to_json_tuple_impl(j, t, make_index_sequence<std::tuple_size<T>::value> {});
+}
+
+#if JSON_HAS_FILESYSTEM || JSON_HAS_EXPERIMENTAL_FILESYSTEM
+template<typename BasicJsonType>
+inline void to_json(BasicJsonType& j, const std_fs::path& p)
+{
+    j = p.string();
+}
+#endif
+
+struct to_json_fn
+{
+    template<typename BasicJsonType, typename T>
+    auto operator()(BasicJsonType& j, T&& val) const noexcept(noexcept(to_json(j, std::forward<T>(val))))
+    -> decltype(to_json(j, std::forward<T>(val)), void())
+    {
+        return to_json(j, std::forward<T>(val));
+    }
+};
+}  // namespace detail
+
+#ifndef JSON_HAS_CPP_17
+/// namespace to hold default `to_json` function
+/// to see why this is required:
+/// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2015/n4381.html
+namespace // NOLINT(cert-dcl59-cpp,fuchsia-header-anon-namespaces,google-build-namespaces)
+{
+#endif
+JSON_INLINE_VARIABLE constexpr const auto& to_json = // NOLINT(misc-definitions-in-headers)
+    detail::static_const<detail::to_json_fn>::value;
+#ifndef JSON_HAS_CPP_17
+}  // namespace
+#endif
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/meta/identity_tag.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// @sa https://json.nlohmann.me/api/adl_serializer/
+template<typename ValueType, typename>
+struct adl_serializer
+{
+    /// @brief convert a JSON value to any value type
+    /// @sa https://json.nlohmann.me/api/adl_serializer/from_json/
+    template<typename BasicJsonType, typename TargetType = ValueType>
+    static auto from_json(BasicJsonType && j, TargetType& val) noexcept(
+        noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), val)))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), val), void())
+    {
+        ::nlohmann::from_json(std::forward<BasicJsonType>(j), val);
+    }
+
+    /// @brief convert a JSON value to any value type
+    /// @sa https://json.nlohmann.me/api/adl_serializer/from_json/
+    template<typename BasicJsonType, typename TargetType = ValueType>
+    static auto from_json(BasicJsonType && j) noexcept(
+    noexcept(::nlohmann::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {})))
+    -> decltype(::nlohmann::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {}))
+    {
+        return ::nlohmann::from_json(std::forward<BasicJsonType>(j), detail::identity_tag<TargetType> {});
+    }
+
+    /// @brief convert any value type to a JSON value
+    /// @sa https://json.nlohmann.me/api/adl_serializer/to_json/
+    template<typename BasicJsonType, typename TargetType = ValueType>
+    static auto to_json(BasicJsonType& j, TargetType && val) noexcept(
+        noexcept(::nlohmann::to_json(j, std::forward<TargetType>(val))))
+    -> decltype(::nlohmann::to_json(j, std::forward<TargetType>(val)), void())
+    {
+        ::nlohmann::to_json(j, std::forward<TargetType>(val));
+    }
+};
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/byte_container_with_subtype.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstdint> // uint8_t, uint64_t
+#include <tuple> // tie
+#include <utility> // move
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// @brief an internal type for a backed binary type
+/// @sa https://json.nlohmann.me/api/byte_container_with_subtype/
+template<typename BinaryType>
+class byte_container_with_subtype : public BinaryType
+{
+  public:
+    using container_type = BinaryType;
+    using subtype_type = std::uint64_t;
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype() noexcept(noexcept(container_type()))
+        : container_type()
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(const container_type& b) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(container_type&& b) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(const container_type& b, subtype_type subtype_) noexcept(noexcept(container_type(b)))
+        : container_type(b)
+        , m_subtype(subtype_)
+        , m_has_subtype(true)
+    {}
+
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/byte_container_with_subtype/
+    byte_container_with_subtype(container_type&& b, subtype_type subtype_) noexcept(noexcept(container_type(std::move(b))))
+        : container_type(std::move(b))
+        , m_subtype(subtype_)
+        , m_has_subtype(true)
+    {}
+
+    bool operator==(const byte_container_with_subtype& rhs) const
+    {
+        return std::tie(static_cast<const BinaryType&>(*this), m_subtype, m_has_subtype) ==
+               std::tie(static_cast<const BinaryType&>(rhs), rhs.m_subtype, rhs.m_has_subtype);
+    }
+
+    bool operator!=(const byte_container_with_subtype& rhs) const
+    {
+        return !(rhs == *this);
+    }
+
+    /// @brief sets the binary subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/set_subtype/
+    void set_subtype(subtype_type subtype_) noexcept
+    {
+        m_subtype = subtype_;
+        m_has_subtype = true;
+    }
+
+    /// @brief return the binary subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/subtype/
+    constexpr subtype_type subtype() const noexcept
+    {
+        return m_has_subtype ? m_subtype : static_cast<subtype_type>(-1);
+    }
+
+    /// @brief return whether the value has a subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/has_subtype/
+    constexpr bool has_subtype() const noexcept
+    {
+        return m_has_subtype;
+    }
+
+    /// @brief clears the binary subtype
+    /// @sa https://json.nlohmann.me/api/byte_container_with_subtype/clear_subtype/
+    void clear_subtype() noexcept
+    {
+        m_subtype = 0;
+        m_has_subtype = false;
+    }
+
+  private:
+    subtype_type m_subtype = 0;
+    bool m_has_subtype = false;
+};
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/conversions/from_json.hpp>
+
+// #include <nlohmann/detail/conversions/to_json.hpp>
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/hash.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstdint> // uint8_t
+#include <cstddef> // size_t
+#include <functional> // hash
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// boost::hash_combine
+inline std::size_t combine(std::size_t seed, std::size_t h) noexcept
+{
+    seed ^= h + 0x9e3779b9 + (seed << 6U) + (seed >> 2U);
+    return seed;
+}
+
+/*!
+@brief hash a JSON value
+
+The hash function tries to rely on std::hash where possible. Furthermore, the
+type of the JSON value is taken into account to have different hash values for
+null, 0, 0U, and false, etc.
+
+@tparam BasicJsonType basic_json specialization
+@param j JSON value to hash
+@return hash value of j
+*/
+template<typename BasicJsonType>
+std::size_t hash(const BasicJsonType& j)
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+    const auto type = static_cast<std::size_t>(j.type());
+    switch (j.type())
+    {
+        case BasicJsonType::value_t::null:
+        case BasicJsonType::value_t::discarded:
+        {
+            return combine(type, 0);
+        }
+
+        case BasicJsonType::value_t::object:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j.items())
+            {
+                const auto h = std::hash<string_t> {}(element.key());
+                seed = combine(seed, h);
+                seed = combine(seed, hash(element.value()));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::array:
+        {
+            auto seed = combine(type, j.size());
+            for (const auto& element : j)
+            {
+                seed = combine(seed, hash(element));
+            }
+            return seed;
+        }
+
+        case BasicJsonType::value_t::string:
+        {
+            const auto h = std::hash<string_t> {}(j.template get_ref<const string_t&>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::boolean:
+        {
+            const auto h = std::hash<bool> {}(j.template get<bool>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_integer:
+        {
+            const auto h = std::hash<number_integer_t> {}(j.template get<number_integer_t>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_unsigned:
+        {
+            const auto h = std::hash<number_unsigned_t> {}(j.template get<number_unsigned_t>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::number_float:
+        {
+            const auto h = std::hash<number_float_t> {}(j.template get<number_float_t>());
+            return combine(type, h);
+        }
+
+        case BasicJsonType::value_t::binary:
+        {
+            auto seed = combine(type, j.get_binary().size());
+            const auto h = std::hash<bool> {}(j.get_binary().has_subtype());
+            seed = combine(seed, h);
+            seed = combine(seed, static_cast<std::size_t>(j.get_binary().subtype()));
+            for (const auto byte : j.get_binary())
+            {
+                seed = combine(seed, std::hash<std::uint8_t> {}(byte));
+            }
+            return seed;
+        }
+
+        default:                   // LCOV_EXCL_LINE
+            JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+            return 0;              // LCOV_EXCL_LINE
+    }
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // generate_n
+#include <array> // array
+#include <cmath> // ldexp
+#include <cstddef> // size_t
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstdio> // snprintf
+#include <cstring> // memcpy
+#include <iterator> // back_inserter
+#include <limits> // numeric_limits
+#include <string> // char_traits, string
+#include <utility> // make_pair, move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <array> // array
+#include <cstddef> // size_t
+#include <cstring> // strlen
+#include <iterator> // begin, end, iterator_traits, random_access_iterator_tag, distance, next
+#include <memory> // shared_ptr, make_shared, addressof
+#include <numeric> // accumulate
+#include <string> // string, char_traits
+#include <type_traits> // enable_if, is_base_of, is_pointer, is_integral, remove_pointer
+#include <utility> // pair, declval
+
+#ifndef JSON_NO_IO
+    #include <cstdio>   // FILE *
+    #include <istream>  // istream
+#endif                  // JSON_NO_IO
+
+// #include <nlohmann/detail/iterators/iterator_traits.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// the supported input formats
+enum class input_format_t { json, cbor, msgpack, ubjson, bson, bjdata };
+
+////////////////////
+// input adapters //
+////////////////////
+
+#ifndef JSON_NO_IO
+/*!
+Input adapter for stdio file access. This adapter read only 1 byte and do not use any
+ buffer. This adapter is a very low level adapter.
+*/
+class file_input_adapter
+{
+  public:
+    using char_type = char;
+
+    JSON_HEDLEY_NON_NULL(2)
+    explicit file_input_adapter(std::FILE* f) noexcept
+        : m_file(f)
+    {
+        JSON_ASSERT(m_file != nullptr);
+    }
+
+    // make class move-only
+    file_input_adapter(const file_input_adapter&) = delete;
+    file_input_adapter(file_input_adapter&&) noexcept = default;
+    file_input_adapter& operator=(const file_input_adapter&) = delete;
+    file_input_adapter& operator=(file_input_adapter&&) = delete;
+    ~file_input_adapter() = default;
+
+    std::char_traits<char>::int_type get_character() noexcept
+    {
+        return std::fgetc(m_file);
+    }
+
+  private:
+    /// the file pointer to read from
+    std::FILE* m_file;
+};
+
+/*!
+Input adapter for a (caching) istream. Ignores a UFT Byte Order Mark at
+beginning of input. Does not support changing the underlying std::streambuf
+in mid-input. Maintains underlying std::istream and std::streambuf to support
+subsequent use of standard std::istream operations to process any input
+characters following those used in parsing the JSON input.  Clears the
+std::istream flags; any input errors (e.g., EOF) will be detected by the first
+subsequent call for input from the std::istream.
+*/
+class input_stream_adapter
+{
+  public:
+    using char_type = char;
+
+    ~input_stream_adapter()
+    {
+        // clear stream flags; we use underlying streambuf I/O, do not
+        // maintain ifstream flags, except eof
+        if (is != nullptr)
+        {
+            is->clear(is->rdstate() & std::ios::eofbit);
+        }
+    }
+
+    explicit input_stream_adapter(std::istream& i)
+        : is(&i), sb(i.rdbuf())
+    {}
+
+    // delete because of pointer members
+    input_stream_adapter(const input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&) = delete;
+    input_stream_adapter& operator=(input_stream_adapter&&) = delete;
+
+    input_stream_adapter(input_stream_adapter&& rhs) noexcept
+        : is(rhs.is), sb(rhs.sb)
+    {
+        rhs.is = nullptr;
+        rhs.sb = nullptr;
+    }
+
+    // std::istream/std::streambuf use std::char_traits<char>::to_int_type, to
+    // ensure that std::char_traits<char>::eof() and the character 0xFF do not
+    // end up as the same value, e.g. 0xFFFFFFFF.
+    std::char_traits<char>::int_type get_character()
+    {
+        auto res = sb->sbumpc();
+        // set eof manually, as we don't use the istream interface.
+        if (JSON_HEDLEY_UNLIKELY(res == std::char_traits<char>::eof()))
+        {
+            is->clear(is->rdstate() | std::ios::eofbit);
+        }
+        return res;
+    }
+
+  private:
+    /// the associated input stream
+    std::istream* is = nullptr;
+    std::streambuf* sb = nullptr;
+};
+#endif  // JSON_NO_IO
+
+// General-purpose iterator-based adapter. It might not be as fast as
+// theoretically possible for some containers, but it is extremely versatile.
+template<typename IteratorType>
+class iterator_input_adapter
+{
+  public:
+    using char_type = typename std::iterator_traits<IteratorType>::value_type;
+
+    iterator_input_adapter(IteratorType first, IteratorType last)
+        : current(std::move(first)), end(std::move(last))
+    {}
+
+    typename char_traits<char_type>::int_type get_character()
+    {
+        if (JSON_HEDLEY_LIKELY(current != end))
+        {
+            auto result = char_traits<char_type>::to_int_type(*current);
+            std::advance(current, 1);
+            return result;
+        }
+
+        return char_traits<char_type>::eof();
+    }
+
+  private:
+    IteratorType current;
+    IteratorType end;
+
+    template<typename BaseInputAdapter, size_t T>
+    friend struct wide_string_input_helper;
+
+    bool empty() const
+    {
+        return current == end;
+    }
+};
+
+template<typename BaseInputAdapter, size_t T>
+struct wide_string_input_helper;
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 4>
+{
+    // UTF-32
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-32 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u) & 0x1Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (wc <= 0xFFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u) & 0x0Fu));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else if (wc <= 0x10FFFF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | ((static_cast<unsigned int>(wc) >> 18u) & 0x07u));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 12u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 4;
+            }
+            else
+            {
+                // unknown character
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+        }
+    }
+};
+
+template<typename BaseInputAdapter>
+struct wide_string_input_helper<BaseInputAdapter, 2>
+{
+    // UTF-16
+    static void fill_buffer(BaseInputAdapter& input,
+                            std::array<std::char_traits<char>::int_type, 4>& utf8_bytes,
+                            size_t& utf8_bytes_index,
+                            size_t& utf8_bytes_filled)
+    {
+        utf8_bytes_index = 0;
+
+        if (JSON_HEDLEY_UNLIKELY(input.empty()))
+        {
+            utf8_bytes[0] = std::char_traits<char>::eof();
+            utf8_bytes_filled = 1;
+        }
+        else
+        {
+            // get the current character
+            const auto wc = input.get_character();
+
+            // UTF-16 to UTF-8 encoding
+            if (wc < 0x80)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                utf8_bytes_filled = 1;
+            }
+            else if (wc <= 0x7FF)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xC0u | ((static_cast<unsigned int>(wc) >> 6u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 2;
+            }
+            else if (0xD800 > wc || wc >= 0xE000)
+            {
+                utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xE0u | ((static_cast<unsigned int>(wc) >> 12u)));
+                utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((static_cast<unsigned int>(wc) >> 6u) & 0x3Fu));
+                utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | (static_cast<unsigned int>(wc) & 0x3Fu));
+                utf8_bytes_filled = 3;
+            }
+            else
+            {
+                if (JSON_HEDLEY_UNLIKELY(!input.empty()))
+                {
+                    const auto wc2 = static_cast<unsigned int>(input.get_character());
+                    const auto charcode = 0x10000u + (((static_cast<unsigned int>(wc) & 0x3FFu) << 10u) | (wc2 & 0x3FFu));
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(0xF0u | (charcode >> 18u));
+                    utf8_bytes[1] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 12u) & 0x3Fu));
+                    utf8_bytes[2] = static_cast<std::char_traits<char>::int_type>(0x80u | ((charcode >> 6u) & 0x3Fu));
+                    utf8_bytes[3] = static_cast<std::char_traits<char>::int_type>(0x80u | (charcode & 0x3Fu));
+                    utf8_bytes_filled = 4;
+                }
+                else
+                {
+                    utf8_bytes[0] = static_cast<std::char_traits<char>::int_type>(wc);
+                    utf8_bytes_filled = 1;
+                }
+            }
+        }
+    }
+};
+
+// Wraps another input adapter to convert wide character types into individual bytes.
+template<typename BaseInputAdapter, typename WideCharType>
+class wide_string_input_adapter
+{
+  public:
+    using char_type = char;
+
+    wide_string_input_adapter(BaseInputAdapter base)
+        : base_adapter(base) {}
+
+    typename std::char_traits<char>::int_type get_character() noexcept
+    {
+        // check if buffer needs to be filled
+        if (utf8_bytes_index == utf8_bytes_filled)
+        {
+            fill_buffer<sizeof(WideCharType)>();
+
+            JSON_ASSERT(utf8_bytes_filled > 0);
+            JSON_ASSERT(utf8_bytes_index == 0);
+        }
+
+        // use buffer
+        JSON_ASSERT(utf8_bytes_filled > 0);
+        JSON_ASSERT(utf8_bytes_index < utf8_bytes_filled);
+        return utf8_bytes[utf8_bytes_index++];
+    }
+
+  private:
+    BaseInputAdapter base_adapter;
+
+    template<size_t T>
+    void fill_buffer()
+    {
+        wide_string_input_helper<BaseInputAdapter, T>::fill_buffer(base_adapter, utf8_bytes, utf8_bytes_index, utf8_bytes_filled);
+    }
+
+    /// a buffer for UTF-8 bytes
+    std::array<std::char_traits<char>::int_type, 4> utf8_bytes = {{0, 0, 0, 0}};
+
+    /// index to the utf8_codes array for the next valid byte
+    std::size_t utf8_bytes_index = 0;
+    /// number of valid bytes in the utf8_codes array
+    std::size_t utf8_bytes_filled = 0;
+};
+
+template<typename IteratorType, typename Enable = void>
+struct iterator_input_adapter_factory
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using adapter_type = iterator_input_adapter<iterator_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(std::move(first), std::move(last));
+    }
+};
+
+template<typename T>
+struct is_iterator_of_multibyte
+{
+    using value_type = typename std::iterator_traits<T>::value_type;
+    enum
+    {
+        value = sizeof(value_type) > 1
+    };
+};
+
+template<typename IteratorType>
+struct iterator_input_adapter_factory<IteratorType, enable_if_t<is_iterator_of_multibyte<IteratorType>::value>>
+{
+    using iterator_type = IteratorType;
+    using char_type = typename std::iterator_traits<iterator_type>::value_type;
+    using base_adapter_type = iterator_input_adapter<iterator_type>;
+    using adapter_type = wide_string_input_adapter<base_adapter_type, char_type>;
+
+    static adapter_type create(IteratorType first, IteratorType last)
+    {
+        return adapter_type(base_adapter_type(std::move(first), std::move(last)));
+    }
+};
+
+// General purpose iterator-based input
+template<typename IteratorType>
+typename iterator_input_adapter_factory<IteratorType>::adapter_type input_adapter(IteratorType first, IteratorType last)
+{
+    using factory_type = iterator_input_adapter_factory<IteratorType>;
+    return factory_type::create(first, last);
+}
+
+// Convenience shorthand from container to iterator
+// Enables ADL on begin(container) and end(container)
+// Encloses the using declarations in namespace for not to leak them to outside scope
+
+namespace container_input_adapter_factory_impl
+{
+
+using std::begin;
+using std::end;
+
+template<typename ContainerType, typename Enable = void>
+struct container_input_adapter_factory {};
+
+template<typename ContainerType>
+struct container_input_adapter_factory< ContainerType,
+       void_t<decltype(begin(std::declval<ContainerType>()), end(std::declval<ContainerType>()))>>
+       {
+           using adapter_type = decltype(input_adapter(begin(std::declval<ContainerType>()), end(std::declval<ContainerType>())));
+
+           static adapter_type create(const ContainerType& container)
+{
+    return input_adapter(begin(container), end(container));
+}
+       };
+
+}  // namespace container_input_adapter_factory_impl
+
+template<typename ContainerType>
+typename container_input_adapter_factory_impl::container_input_adapter_factory<ContainerType>::adapter_type input_adapter(const ContainerType& container)
+{
+    return container_input_adapter_factory_impl::container_input_adapter_factory<ContainerType>::create(container);
+}
+
+#ifndef JSON_NO_IO
+// Special cases with fast paths
+inline file_input_adapter input_adapter(std::FILE* file)
+{
+    return file_input_adapter(file);
+}
+
+inline input_stream_adapter input_adapter(std::istream& stream)
+{
+    return input_stream_adapter(stream);
+}
+
+inline input_stream_adapter input_adapter(std::istream&& stream)
+{
+    return input_stream_adapter(stream);
+}
+#endif  // JSON_NO_IO
+
+using contiguous_bytes_input_adapter = decltype(input_adapter(std::declval<const char*>(), std::declval<const char*>()));
+
+// Null-delimited strings, and the like.
+template < typename CharT,
+           typename std::enable_if <
+               std::is_pointer<CharT>::value&&
+               !std::is_array<CharT>::value&&
+               std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+               sizeof(typename std::remove_pointer<CharT>::type) == 1,
+               int >::type = 0 >
+contiguous_bytes_input_adapter input_adapter(CharT b)
+{
+    auto length = std::strlen(reinterpret_cast<const char*>(b));
+    const auto* ptr = reinterpret_cast<const char*>(b);
+    return input_adapter(ptr, ptr + length);
+}
+
+template<typename T, std::size_t N>
+auto input_adapter(T (&array)[N]) -> decltype(input_adapter(array, array + N)) // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+{
+    return input_adapter(array, array + N);
+}
+
+// This class only handles inputs of input_buffer_adapter type.
+// It's required so that expressions like {ptr, len} can be implicitly cast
+// to the correct adapter.
+class span_input_adapter
+{
+  public:
+    template < typename CharT,
+               typename std::enable_if <
+                   std::is_pointer<CharT>::value&&
+                   std::is_integral<typename std::remove_pointer<CharT>::type>::value&&
+                   sizeof(typename std::remove_pointer<CharT>::type) == 1,
+                   int >::type = 0 >
+    span_input_adapter(CharT b, std::size_t l)
+        : ia(reinterpret_cast<const char*>(b), reinterpret_cast<const char*>(b) + l) {}
+
+    template<class IteratorType,
+             typename std::enable_if<
+                 std::is_same<typename iterator_traits<IteratorType>::iterator_category, std::random_access_iterator_tag>::value,
+                 int>::type = 0>
+    span_input_adapter(IteratorType first, IteratorType last)
+        : ia(input_adapter(first, last)) {}
+
+    contiguous_bytes_input_adapter&& get()
+    {
+        return std::move(ia); // NOLINT(hicpp-move-const-arg,performance-move-const-arg)
+    }
+
+  private:
+    contiguous_bytes_input_adapter ia;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstddef>
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/*!
+@brief SAX interface
+
+This class describes the SAX interface used by @ref nlohmann::json::sax_parse.
+Each function is called in different situations while the input is parsed. The
+boolean return value informs the parser whether to continue processing the
+input.
+*/
+template<typename BasicJsonType>
+struct json_sax
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @brief a null value was read
+    @return whether parsing should proceed
+    */
+    virtual bool null() = 0;
+
+    /*!
+    @brief a boolean value was read
+    @param[in] val  boolean value
+    @return whether parsing should proceed
+    */
+    virtual bool boolean(bool val) = 0;
+
+    /*!
+    @brief an integer number was read
+    @param[in] val  integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_integer(number_integer_t val) = 0;
+
+    /*!
+    @brief an unsigned integer number was read
+    @param[in] val  unsigned integer value
+    @return whether parsing should proceed
+    */
+    virtual bool number_unsigned(number_unsigned_t val) = 0;
+
+    /*!
+    @brief a floating-point number was read
+    @param[in] val  floating-point value
+    @param[in] s    raw token value
+    @return whether parsing should proceed
+    */
+    virtual bool number_float(number_float_t val, const string_t& s) = 0;
+
+    /*!
+    @brief a string value was read
+    @param[in] val  string value
+    @return whether parsing should proceed
+    @note It is safe to move the passed string value.
+    */
+    virtual bool string(string_t& val) = 0;
+
+    /*!
+    @brief a binary value was read
+    @param[in] val  binary value
+    @return whether parsing should proceed
+    @note It is safe to move the passed binary value.
+    */
+    virtual bool binary(binary_t& val) = 0;
+
+    /*!
+    @brief the beginning of an object was read
+    @param[in] elements  number of object elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_object(std::size_t elements) = 0;
+
+    /*!
+    @brief an object key was read
+    @param[in] val  object key
+    @return whether parsing should proceed
+    @note It is safe to move the passed string.
+    */
+    virtual bool key(string_t& val) = 0;
+
+    /*!
+    @brief the end of an object was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_object() = 0;
+
+    /*!
+    @brief the beginning of an array was read
+    @param[in] elements  number of array elements or -1 if unknown
+    @return whether parsing should proceed
+    @note binary formats may report the number of elements
+    */
+    virtual bool start_array(std::size_t elements) = 0;
+
+    /*!
+    @brief the end of an array was read
+    @return whether parsing should proceed
+    */
+    virtual bool end_array() = 0;
+
+    /*!
+    @brief a parse error occurred
+    @param[in] position    the position in the input where the error occurs
+    @param[in] last_token  the last read token
+    @param[in] ex          an exception object describing the error
+    @return whether parsing should proceed (must return false)
+    */
+    virtual bool parse_error(std::size_t position,
+                             const std::string& last_token,
+                             const detail::exception& ex) = 0;
+
+    json_sax() = default;
+    json_sax(const json_sax&) = default;
+    json_sax(json_sax&&) noexcept = default;
+    json_sax& operator=(const json_sax&) = default;
+    json_sax& operator=(json_sax&&) noexcept = default;
+    virtual ~json_sax() = default;
+};
+
+namespace detail
+{
+/*!
+@brief SAX implementation to create a JSON value from SAX events
+
+This class implements the @ref json_sax interface and processes the SAX events
+to create a JSON value which makes it basically a DOM parser. The structure or
+hierarchy of the JSON value is managed by the stack `ref_stack` which contains
+a pointer to the respective array or object for each recursion depth.
+
+After successful parsing, the value that is passed by reference to the
+constructor contains the parsed value.
+
+@tparam BasicJsonType  the JSON type
+*/
+template<typename BasicJsonType>
+class json_sax_dom_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    /*!
+    @param[in,out] r  reference to a JSON value that is manipulated while
+                       parsing
+    @param[in] allow_exceptions_  whether parse errors yield exceptions
+    */
+    explicit json_sax_dom_parser(BasicJsonType& r, const bool allow_exceptions_ = true)
+        : root(r), allow_exceptions(allow_exceptions_)
+    {}
+
+    // make class move-only
+    json_sax_dom_parser(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser(json_sax_dom_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    json_sax_dom_parser& operator=(const json_sax_dom_parser&) = delete;
+    json_sax_dom_parser& operator=(json_sax_dom_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~json_sax_dom_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::object));
+
+        if (JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive object size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(ref_stack.back()->is_object());
+
+        // add null at given key and store the reference for later
+        object_element = &(ref_stack.back()->m_data.m_value.object->operator[](val));
+        return true;
+    }
+
+    bool end_object()
+    {
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(ref_stack.back()->is_object());
+
+        ref_stack.back()->set_parents();
+        ref_stack.pop_back();
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        ref_stack.push_back(handle_value(BasicJsonType::value_t::array));
+
+        if (JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive array size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(ref_stack.back()->is_array());
+
+        ref_stack.back()->set_parents();
+        ref_stack.pop_back();
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+    */
+    template<typename Value>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    BasicJsonType* handle_value(Value&& v)
+    {
+        if (ref_stack.empty())
+        {
+            root = BasicJsonType(std::forward<Value>(v));
+            return &root;
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_data.m_value.array->emplace_back(std::forward<Value>(v));
+            return &(ref_stack.back()->m_data.m_value.array->back());
+        }
+
+        JSON_ASSERT(ref_stack.back()->is_object());
+        JSON_ASSERT(object_element);
+        *object_element = BasicJsonType(std::forward<Value>(v));
+        return object_element;
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+template<typename BasicJsonType>
+class json_sax_dom_callback_parser
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using parser_callback_t = typename BasicJsonType::parser_callback_t;
+    using parse_event_t = typename BasicJsonType::parse_event_t;
+
+    json_sax_dom_callback_parser(BasicJsonType& r,
+                                 const parser_callback_t cb,
+                                 const bool allow_exceptions_ = true)
+        : root(r), callback(cb), allow_exceptions(allow_exceptions_)
+    {
+        keep_stack.push_back(true);
+    }
+
+    // make class move-only
+    json_sax_dom_callback_parser(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser(json_sax_dom_callback_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    json_sax_dom_callback_parser& operator=(const json_sax_dom_callback_parser&) = delete;
+    json_sax_dom_callback_parser& operator=(json_sax_dom_callback_parser&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~json_sax_dom_callback_parser() = default;
+
+    bool null()
+    {
+        handle_value(nullptr);
+        return true;
+    }
+
+    bool boolean(bool val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_integer(number_integer_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool number_float(number_float_t val, const string_t& /*unused*/)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool string(string_t& val)
+    {
+        handle_value(val);
+        return true;
+    }
+
+    bool binary(binary_t& val)
+    {
+        handle_value(std::move(val));
+        return true;
+    }
+
+    bool start_object(std::size_t len)
+    {
+        // check callback for object start
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::object_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::object, true);
+        ref_stack.push_back(val.second);
+
+        // check object limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive object size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool key(string_t& val)
+    {
+        BasicJsonType k = BasicJsonType(val);
+
+        // check callback for key
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::key, k);
+        key_keep_stack.push_back(keep);
+
+        // add discarded value at given key and store the reference for later
+        if (keep && ref_stack.back())
+        {
+            object_element = &(ref_stack.back()->m_data.m_value.object->operator[](val) = discarded);
+        }
+
+        return true;
+    }
+
+    bool end_object()
+    {
+        if (ref_stack.back())
+        {
+            if (!callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::object_end, *ref_stack.back()))
+            {
+                // discard object
+                *ref_stack.back() = discarded;
+            }
+            else
+            {
+                ref_stack.back()->set_parents();
+            }
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        if (!ref_stack.empty() && ref_stack.back() && ref_stack.back()->is_structured())
+        {
+            // remove discarded value
+            for (auto it = ref_stack.back()->begin(); it != ref_stack.back()->end(); ++it)
+            {
+                if (it->is_discarded())
+                {
+                    ref_stack.back()->erase(it);
+                    break;
+                }
+            }
+        }
+
+        return true;
+    }
+
+    bool start_array(std::size_t len)
+    {
+        const bool keep = callback(static_cast<int>(ref_stack.size()), parse_event_t::array_start, discarded);
+        keep_stack.push_back(keep);
+
+        auto val = handle_value(BasicJsonType::value_t::array, true);
+        ref_stack.push_back(val.second);
+
+        // check array limit
+        if (ref_stack.back() && JSON_HEDLEY_UNLIKELY(len != static_cast<std::size_t>(-1) && len > ref_stack.back()->max_size()))
+        {
+            JSON_THROW(out_of_range::create(408, concat("excessive array size: ", std::to_string(len)), ref_stack.back()));
+        }
+
+        return true;
+    }
+
+    bool end_array()
+    {
+        bool keep = true;
+
+        if (ref_stack.back())
+        {
+            keep = callback(static_cast<int>(ref_stack.size()) - 1, parse_event_t::array_end, *ref_stack.back());
+            if (keep)
+            {
+                ref_stack.back()->set_parents();
+            }
+            else
+            {
+                // discard array
+                *ref_stack.back() = discarded;
+            }
+        }
+
+        JSON_ASSERT(!ref_stack.empty());
+        JSON_ASSERT(!keep_stack.empty());
+        ref_stack.pop_back();
+        keep_stack.pop_back();
+
+        // remove discarded value
+        if (!keep && !ref_stack.empty() && ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_data.m_value.array->pop_back();
+        }
+
+        return true;
+    }
+
+    template<class Exception>
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/,
+                     const Exception& ex)
+    {
+        errored = true;
+        static_cast<void>(ex);
+        if (allow_exceptions)
+        {
+            JSON_THROW(ex);
+        }
+        return false;
+    }
+
+    constexpr bool is_errored() const
+    {
+        return errored;
+    }
+
+  private:
+    /*!
+    @param[in] v  value to add to the JSON value we build during parsing
+    @param[in] skip_callback  whether we should skip calling the callback
+               function; this is required after start_array() and
+               start_object() SAX events, because otherwise we would call the
+               callback function with an empty array or object, respectively.
+
+    @invariant If the ref stack is empty, then the passed value will be the new
+               root.
+    @invariant If the ref stack contains a value, then it is an array or an
+               object to which we can add elements
+
+    @return pair of boolean (whether value should be kept) and pointer (to the
+            passed value in the ref_stack hierarchy; nullptr if not kept)
+    */
+    template<typename Value>
+    std::pair<bool, BasicJsonType*> handle_value(Value&& v, const bool skip_callback = false)
+    {
+        JSON_ASSERT(!keep_stack.empty());
+
+        // do not handle this value if we know it would be added to a discarded
+        // container
+        if (!keep_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // create value
+        auto value = BasicJsonType(std::forward<Value>(v));
+
+        // check callback
+        const bool keep = skip_callback || callback(static_cast<int>(ref_stack.size()), parse_event_t::value, value);
+
+        // do not handle this value if we just learnt it shall be discarded
+        if (!keep)
+        {
+            return {false, nullptr};
+        }
+
+        if (ref_stack.empty())
+        {
+            root = std::move(value);
+            return {true, & root};
+        }
+
+        // skip this value if we already decided to skip the parent
+        // (https://github.com/nlohmann/json/issues/971#issuecomment-413678360)
+        if (!ref_stack.back())
+        {
+            return {false, nullptr};
+        }
+
+        // we now only expect arrays and objects
+        JSON_ASSERT(ref_stack.back()->is_array() || ref_stack.back()->is_object());
+
+        // array
+        if (ref_stack.back()->is_array())
+        {
+            ref_stack.back()->m_data.m_value.array->emplace_back(std::move(value));
+            return {true, & (ref_stack.back()->m_data.m_value.array->back())};
+        }
+
+        // object
+        JSON_ASSERT(ref_stack.back()->is_object());
+        // check if we should store an element for the current key
+        JSON_ASSERT(!key_keep_stack.empty());
+        const bool store_element = key_keep_stack.back();
+        key_keep_stack.pop_back();
+
+        if (!store_element)
+        {
+            return {false, nullptr};
+        }
+
+        JSON_ASSERT(object_element);
+        *object_element = std::move(value);
+        return {true, object_element};
+    }
+
+    /// the parsed JSON value
+    BasicJsonType& root;
+    /// stack to model hierarchy of values
+    std::vector<BasicJsonType*> ref_stack {};
+    /// stack to manage which values to keep
+    std::vector<bool> keep_stack {};
+    /// stack to manage which object keys to keep
+    std::vector<bool> key_keep_stack {};
+    /// helper to hold the reference for the next object element
+    BasicJsonType* object_element = nullptr;
+    /// whether a syntax error occurred
+    bool errored = false;
+    /// callback function
+    const parser_callback_t callback = nullptr;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+    /// a discarded value for the callback
+    BasicJsonType discarded = BasicJsonType::value_t::discarded;
+};
+
+template<typename BasicJsonType>
+class json_sax_acceptor
+{
+  public:
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+
+    bool null()
+    {
+        return true;
+    }
+
+    bool boolean(bool /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_integer(number_integer_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_unsigned(number_unsigned_t /*unused*/)
+    {
+        return true;
+    }
+
+    bool number_float(number_float_t /*unused*/, const string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool string(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool binary(binary_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool start_object(std::size_t /*unused*/ = static_cast<std::size_t>(-1))
+    {
+        return true;
+    }
+
+    bool key(string_t& /*unused*/)
+    {
+        return true;
+    }
+
+    bool end_object()
+    {
+        return true;
+    }
+
+    bool start_array(std::size_t /*unused*/ = static_cast<std::size_t>(-1))
+    {
+        return true;
+    }
+
+    bool end_array()
+    {
+        return true;
+    }
+
+    bool parse_error(std::size_t /*unused*/, const std::string& /*unused*/, const detail::exception& /*unused*/)
+    {
+        return false;
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/input/lexer.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <array> // array
+#include <clocale> // localeconv
+#include <cstddef> // size_t
+#include <cstdio> // snprintf
+#include <cstdlib> // strtof, strtod, strtold, strtoll, strtoull
+#include <initializer_list> // initializer_list
+#include <string> // char_traits, string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/position_t.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////
+// lexer //
+///////////
+
+template<typename BasicJsonType>
+class lexer_base
+{
+  public:
+    /// token types for the parser
+    enum class token_type
+    {
+        uninitialized,    ///< indicating the scanner is uninitialized
+        literal_true,     ///< the `true` literal
+        literal_false,    ///< the `false` literal
+        literal_null,     ///< the `null` literal
+        value_string,     ///< a string -- use get_string() for actual value
+        value_unsigned,   ///< an unsigned integer -- use get_number_unsigned() for actual value
+        value_integer,    ///< a signed integer -- use get_number_integer() for actual value
+        value_float,      ///< an floating point number -- use get_number_float() for actual value
+        begin_array,      ///< the character for array begin `[`
+        begin_object,     ///< the character for object begin `{`
+        end_array,        ///< the character for array end `]`
+        end_object,       ///< the character for object end `}`
+        name_separator,   ///< the name separator `:`
+        value_separator,  ///< the value separator `,`
+        parse_error,      ///< indicating a parse error
+        end_of_input,     ///< indicating the end of the input buffer
+        literal_or_value  ///< a literal or the begin of a value (only for diagnostics)
+    };
+
+    /// return name of values of type token_type (only used for errors)
+    JSON_HEDLEY_RETURNS_NON_NULL
+    JSON_HEDLEY_CONST
+    static const char* token_type_name(const token_type t) noexcept
+    {
+        switch (t)
+        {
+            case token_type::uninitialized:
+                return "<uninitialized>";
+            case token_type::literal_true:
+                return "true literal";
+            case token_type::literal_false:
+                return "false literal";
+            case token_type::literal_null:
+                return "null literal";
+            case token_type::value_string:
+                return "string literal";
+            case token_type::value_unsigned:
+            case token_type::value_integer:
+            case token_type::value_float:
+                return "number literal";
+            case token_type::begin_array:
+                return "'['";
+            case token_type::begin_object:
+                return "'{'";
+            case token_type::end_array:
+                return "']'";
+            case token_type::end_object:
+                return "'}'";
+            case token_type::name_separator:
+                return "':'";
+            case token_type::value_separator:
+                return "','";
+            case token_type::parse_error:
+                return "<parse error>";
+            case token_type::end_of_input:
+                return "end of input";
+            case token_type::literal_or_value:
+                return "'[', '{', or a literal";
+            // LCOV_EXCL_START
+            default: // catch non-enum values
+                return "unknown token";
+                // LCOV_EXCL_STOP
+        }
+    }
+};
+/*!
+@brief lexical analysis
+
+This class organizes the lexical analysis during JSON deserialization.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class lexer : public lexer_base<BasicJsonType>
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename char_traits<char_type>::int_type;
+
+  public:
+    using token_type = typename lexer_base<BasicJsonType>::token_type;
+
+    explicit lexer(InputAdapterType&& adapter, bool ignore_comments_ = false) noexcept
+        : ia(std::move(adapter))
+        , ignore_comments(ignore_comments_)
+        , decimal_point_char(static_cast<char_int_type>(get_decimal_point()))
+    {}
+
+    // delete because of pointer members
+    lexer(const lexer&) = delete;
+    lexer(lexer&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    lexer& operator=(lexer&) = delete;
+    lexer& operator=(lexer&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~lexer() = default;
+
+  private:
+    /////////////////////
+    // locales
+    /////////////////////
+
+    /// return the locale-dependent decimal point
+    JSON_HEDLEY_PURE
+    static char get_decimal_point() noexcept
+    {
+        const auto* loc = localeconv();
+        JSON_ASSERT(loc != nullptr);
+        return (loc->decimal_point == nullptr) ? '.' : *(loc->decimal_point);
+    }
+
+    /////////////////////
+    // scan functions
+    /////////////////////
+
+    /*!
+    @brief get codepoint from 4 hex characters following `\u`
+
+    For input "\u c1 c2 c3 c4" the codepoint is:
+      (c1 * 0x1000) + (c2 * 0x0100) + (c3 * 0x0010) + c4
+    = (c1 << 12) + (c2 << 8) + (c3 << 4) + (c4 << 0)
+
+    Furthermore, the possible characters '0'..'9', 'A'..'F', and 'a'..'f'
+    must be converted to the integers 0x0..0x9, 0xA..0xF, 0xA..0xF, resp. The
+    conversion is done by subtracting the offset (0x30, 0x37, and 0x57)
+    between the ASCII value of the character and the desired integer value.
+
+    @return codepoint (0x0000..0xFFFF) or -1 in case of an error (e.g. EOF or
+            non-hex character)
+    */
+    int get_codepoint()
+    {
+        // this function only makes sense after reading `\u`
+        JSON_ASSERT(current == 'u');
+        int codepoint = 0;
+
+        const auto factors = { 12u, 8u, 4u, 0u };
+        for (const auto factor : factors)
+        {
+            get();
+
+            if (current >= '0' && current <= '9')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x30u) << factor);
+            }
+            else if (current >= 'A' && current <= 'F')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x37u) << factor);
+            }
+            else if (current >= 'a' && current <= 'f')
+            {
+                codepoint += static_cast<int>((static_cast<unsigned int>(current) - 0x57u) << factor);
+            }
+            else
+            {
+                return -1;
+            }
+        }
+
+        JSON_ASSERT(0x0000 <= codepoint && codepoint <= 0xFFFF);
+        return codepoint;
+    }
+
+    /*!
+    @brief check if the next byte(s) are inside a given range
+
+    Adds the current byte and, for each passed range, reads a new byte and
+    checks if it is inside the range. If a violation was detected, set up an
+    error message and return false. Otherwise, return true.
+
+    @param[in] ranges  list of integers; interpreted as list of pairs of
+                       inclusive lower and upper bound, respectively
+
+    @pre The passed list @a ranges must have 2, 4, or 6 elements; that is,
+         1, 2, or 3 pairs. This precondition is enforced by an assertion.
+
+    @return true if and only if no range violation was detected
+    */
+    bool next_byte_in_range(std::initializer_list<char_int_type> ranges)
+    {
+        JSON_ASSERT(ranges.size() == 2 || ranges.size() == 4 || ranges.size() == 6);
+        add(current);
+
+        for (auto range = ranges.begin(); range != ranges.end(); ++range)
+        {
+            get();
+            if (JSON_HEDLEY_LIKELY(*range <= current && current <= *(++range))) // NOLINT(bugprone-inc-dec-in-conditions)
+            {
+                add(current);
+            }
+            else
+            {
+                error_message = "invalid string: ill-formed UTF-8 byte";
+                return false;
+            }
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief scan a string literal
+
+    This function scans a string according to Sect. 7 of RFC 8259. While
+    scanning, bytes are escaped and copied into buffer token_buffer. Then the
+    function returns successfully, token_buffer is *not* null-terminated (as it
+    may contain \0 bytes), and token_buffer.size() is the number of bytes in the
+    string.
+
+    @return token_type::value_string if string could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note In case of errors, variable error_message contains a textual
+          description.
+    */
+    token_type scan_string()
+    {
+        // reset token_buffer (ignore opening quote)
+        reset();
+
+        // we entered the function by reading an open quote
+        JSON_ASSERT(current == '\"');
+
+        while (true)
+        {
+            // get next character
+            switch (get())
+            {
+                // end of file while parsing string
+                case char_traits<char_type>::eof():
+                {
+                    error_message = "invalid string: missing closing quote";
+                    return token_type::parse_error;
+                }
+
+                // closing quote
+                case '\"':
+                {
+                    return token_type::value_string;
+                }
+
+                // escapes
+                case '\\':
+                {
+                    switch (get())
+                    {
+                        // quotation mark
+                        case '\"':
+                            add('\"');
+                            break;
+                        // reverse solidus
+                        case '\\':
+                            add('\\');
+                            break;
+                        // solidus
+                        case '/':
+                            add('/');
+                            break;
+                        // backspace
+                        case 'b':
+                            add('\b');
+                            break;
+                        // form feed
+                        case 'f':
+                            add('\f');
+                            break;
+                        // line feed
+                        case 'n':
+                            add('\n');
+                            break;
+                        // carriage return
+                        case 'r':
+                            add('\r');
+                            break;
+                        // tab
+                        case 't':
+                            add('\t');
+                            break;
+
+                        // unicode escapes
+                        case 'u':
+                        {
+                            const int codepoint1 = get_codepoint();
+                            int codepoint = codepoint1; // start with codepoint1
+
+                            if (JSON_HEDLEY_UNLIKELY(codepoint1 == -1))
+                            {
+                                error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                return token_type::parse_error;
+                            }
+
+                            // check if code point is a high surrogate
+                            if (0xD800 <= codepoint1 && codepoint1 <= 0xDBFF)
+                            {
+                                // expect next \uxxxx entry
+                                if (JSON_HEDLEY_LIKELY(get() == '\\' && get() == 'u'))
+                                {
+                                    const int codepoint2 = get_codepoint();
+
+                                    if (JSON_HEDLEY_UNLIKELY(codepoint2 == -1))
+                                    {
+                                        error_message = "invalid string: '\\u' must be followed by 4 hex digits";
+                                        return token_type::parse_error;
+                                    }
+
+                                    // check if codepoint2 is a low surrogate
+                                    if (JSON_HEDLEY_LIKELY(0xDC00 <= codepoint2 && codepoint2 <= 0xDFFF))
+                                    {
+                                        // overwrite codepoint
+                                        codepoint = static_cast<int>(
+                                                        // high surrogate occupies the most significant 22 bits
+                                                        (static_cast<unsigned int>(codepoint1) << 10u)
+                                                        // low surrogate occupies the least significant 15 bits
+                                                        + static_cast<unsigned int>(codepoint2)
+                                                        // there is still the 0xD800, 0xDC00 and 0x10000 noise
+                                                        // in the result, so we have to subtract with:
+                                                        // (0xD800 << 10) + DC00 - 0x10000 = 0x35FDC00
+                                                        - 0x35FDC00u);
+                                    }
+                                    else
+                                    {
+                                        error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                        return token_type::parse_error;
+                                    }
+                                }
+                                else
+                                {
+                                    error_message = "invalid string: surrogate U+D800..U+DBFF must be followed by U+DC00..U+DFFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+                            else
+                            {
+                                if (JSON_HEDLEY_UNLIKELY(0xDC00 <= codepoint1 && codepoint1 <= 0xDFFF))
+                                {
+                                    error_message = "invalid string: surrogate U+DC00..U+DFFF must follow U+D800..U+DBFF";
+                                    return token_type::parse_error;
+                                }
+                            }
+
+                            // result of the above calculation yields a proper codepoint
+                            JSON_ASSERT(0x00 <= codepoint && codepoint <= 0x10FFFF);
+
+                            // translate codepoint into bytes
+                            if (codepoint < 0x80)
+                            {
+                                // 1-byte characters: 0xxxxxxx (ASCII)
+                                add(static_cast<char_int_type>(codepoint));
+                            }
+                            else if (codepoint <= 0x7FF)
+                            {
+                                // 2-byte characters: 110xxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xC0u | (static_cast<unsigned int>(codepoint) >> 6u)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else if (codepoint <= 0xFFFF)
+                            {
+                                // 3-byte characters: 1110xxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xE0u | (static_cast<unsigned int>(codepoint) >> 12u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+                            else
+                            {
+                                // 4-byte characters: 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+                                add(static_cast<char_int_type>(0xF0u | (static_cast<unsigned int>(codepoint) >> 18u)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 12u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | ((static_cast<unsigned int>(codepoint) >> 6u) & 0x3Fu)));
+                                add(static_cast<char_int_type>(0x80u | (static_cast<unsigned int>(codepoint) & 0x3Fu)));
+                            }
+
+                            break;
+                        }
+
+                        // other characters after escape
+                        default:
+                            error_message = "invalid string: forbidden character after backslash";
+                            return token_type::parse_error;
+                    }
+
+                    break;
+                }
+
+                // invalid control characters
+                case 0x00:
+                {
+                    error_message = "invalid string: control character U+0000 (NUL) must be escaped to \\u0000";
+                    return token_type::parse_error;
+                }
+
+                case 0x01:
+                {
+                    error_message = "invalid string: control character U+0001 (SOH) must be escaped to \\u0001";
+                    return token_type::parse_error;
+                }
+
+                case 0x02:
+                {
+                    error_message = "invalid string: control character U+0002 (STX) must be escaped to \\u0002";
+                    return token_type::parse_error;
+                }
+
+                case 0x03:
+                {
+                    error_message = "invalid string: control character U+0003 (ETX) must be escaped to \\u0003";
+                    return token_type::parse_error;
+                }
+
+                case 0x04:
+                {
+                    error_message = "invalid string: control character U+0004 (EOT) must be escaped to \\u0004";
+                    return token_type::parse_error;
+                }
+
+                case 0x05:
+                {
+                    error_message = "invalid string: control character U+0005 (ENQ) must be escaped to \\u0005";
+                    return token_type::parse_error;
+                }
+
+                case 0x06:
+                {
+                    error_message = "invalid string: control character U+0006 (ACK) must be escaped to \\u0006";
+                    return token_type::parse_error;
+                }
+
+                case 0x07:
+                {
+                    error_message = "invalid string: control character U+0007 (BEL) must be escaped to \\u0007";
+                    return token_type::parse_error;
+                }
+
+                case 0x08:
+                {
+                    error_message = "invalid string: control character U+0008 (BS) must be escaped to \\u0008 or \\b";
+                    return token_type::parse_error;
+                }
+
+                case 0x09:
+                {
+                    error_message = "invalid string: control character U+0009 (HT) must be escaped to \\u0009 or \\t";
+                    return token_type::parse_error;
+                }
+
+                case 0x0A:
+                {
+                    error_message = "invalid string: control character U+000A (LF) must be escaped to \\u000A or \\n";
+                    return token_type::parse_error;
+                }
+
+                case 0x0B:
+                {
+                    error_message = "invalid string: control character U+000B (VT) must be escaped to \\u000B";
+                    return token_type::parse_error;
+                }
+
+                case 0x0C:
+                {
+                    error_message = "invalid string: control character U+000C (FF) must be escaped to \\u000C or \\f";
+                    return token_type::parse_error;
+                }
+
+                case 0x0D:
+                {
+                    error_message = "invalid string: control character U+000D (CR) must be escaped to \\u000D or \\r";
+                    return token_type::parse_error;
+                }
+
+                case 0x0E:
+                {
+                    error_message = "invalid string: control character U+000E (SO) must be escaped to \\u000E";
+                    return token_type::parse_error;
+                }
+
+                case 0x0F:
+                {
+                    error_message = "invalid string: control character U+000F (SI) must be escaped to \\u000F";
+                    return token_type::parse_error;
+                }
+
+                case 0x10:
+                {
+                    error_message = "invalid string: control character U+0010 (DLE) must be escaped to \\u0010";
+                    return token_type::parse_error;
+                }
+
+                case 0x11:
+                {
+                    error_message = "invalid string: control character U+0011 (DC1) must be escaped to \\u0011";
+                    return token_type::parse_error;
+                }
+
+                case 0x12:
+                {
+                    error_message = "invalid string: control character U+0012 (DC2) must be escaped to \\u0012";
+                    return token_type::parse_error;
+                }
+
+                case 0x13:
+                {
+                    error_message = "invalid string: control character U+0013 (DC3) must be escaped to \\u0013";
+                    return token_type::parse_error;
+                }
+
+                case 0x14:
+                {
+                    error_message = "invalid string: control character U+0014 (DC4) must be escaped to \\u0014";
+                    return token_type::parse_error;
+                }
+
+                case 0x15:
+                {
+                    error_message = "invalid string: control character U+0015 (NAK) must be escaped to \\u0015";
+                    return token_type::parse_error;
+                }
+
+                case 0x16:
+                {
+                    error_message = "invalid string: control character U+0016 (SYN) must be escaped to \\u0016";
+                    return token_type::parse_error;
+                }
+
+                case 0x17:
+                {
+                    error_message = "invalid string: control character U+0017 (ETB) must be escaped to \\u0017";
+                    return token_type::parse_error;
+                }
+
+                case 0x18:
+                {
+                    error_message = "invalid string: control character U+0018 (CAN) must be escaped to \\u0018";
+                    return token_type::parse_error;
+                }
+
+                case 0x19:
+                {
+                    error_message = "invalid string: control character U+0019 (EM) must be escaped to \\u0019";
+                    return token_type::parse_error;
+                }
+
+                case 0x1A:
+                {
+                    error_message = "invalid string: control character U+001A (SUB) must be escaped to \\u001A";
+                    return token_type::parse_error;
+                }
+
+                case 0x1B:
+                {
+                    error_message = "invalid string: control character U+001B (ESC) must be escaped to \\u001B";
+                    return token_type::parse_error;
+                }
+
+                case 0x1C:
+                {
+                    error_message = "invalid string: control character U+001C (FS) must be escaped to \\u001C";
+                    return token_type::parse_error;
+                }
+
+                case 0x1D:
+                {
+                    error_message = "invalid string: control character U+001D (GS) must be escaped to \\u001D";
+                    return token_type::parse_error;
+                }
+
+                case 0x1E:
+                {
+                    error_message = "invalid string: control character U+001E (RS) must be escaped to \\u001E";
+                    return token_type::parse_error;
+                }
+
+                case 0x1F:
+                {
+                    error_message = "invalid string: control character U+001F (US) must be escaped to \\u001F";
+                    return token_type::parse_error;
+                }
+
+                // U+0020..U+007F (except U+0022 (quote) and U+005C (backspace))
+                case 0x20:
+                case 0x21:
+                case 0x23:
+                case 0x24:
+                case 0x25:
+                case 0x26:
+                case 0x27:
+                case 0x28:
+                case 0x29:
+                case 0x2A:
+                case 0x2B:
+                case 0x2C:
+                case 0x2D:
+                case 0x2E:
+                case 0x2F:
+                case 0x30:
+                case 0x31:
+                case 0x32:
+                case 0x33:
+                case 0x34:
+                case 0x35:
+                case 0x36:
+                case 0x37:
+                case 0x38:
+                case 0x39:
+                case 0x3A:
+                case 0x3B:
+                case 0x3C:
+                case 0x3D:
+                case 0x3E:
+                case 0x3F:
+                case 0x40:
+                case 0x41:
+                case 0x42:
+                case 0x43:
+                case 0x44:
+                case 0x45:
+                case 0x46:
+                case 0x47:
+                case 0x48:
+                case 0x49:
+                case 0x4A:
+                case 0x4B:
+                case 0x4C:
+                case 0x4D:
+                case 0x4E:
+                case 0x4F:
+                case 0x50:
+                case 0x51:
+                case 0x52:
+                case 0x53:
+                case 0x54:
+                case 0x55:
+                case 0x56:
+                case 0x57:
+                case 0x58:
+                case 0x59:
+                case 0x5A:
+                case 0x5B:
+                case 0x5D:
+                case 0x5E:
+                case 0x5F:
+                case 0x60:
+                case 0x61:
+                case 0x62:
+                case 0x63:
+                case 0x64:
+                case 0x65:
+                case 0x66:
+                case 0x67:
+                case 0x68:
+                case 0x69:
+                case 0x6A:
+                case 0x6B:
+                case 0x6C:
+                case 0x6D:
+                case 0x6E:
+                case 0x6F:
+                case 0x70:
+                case 0x71:
+                case 0x72:
+                case 0x73:
+                case 0x74:
+                case 0x75:
+                case 0x76:
+                case 0x77:
+                case 0x78:
+                case 0x79:
+                case 0x7A:
+                case 0x7B:
+                case 0x7C:
+                case 0x7D:
+                case 0x7E:
+                case 0x7F:
+                {
+                    add(current);
+                    break;
+                }
+
+                // U+0080..U+07FF: bytes C2..DF 80..BF
+                case 0xC2:
+                case 0xC3:
+                case 0xC4:
+                case 0xC5:
+                case 0xC6:
+                case 0xC7:
+                case 0xC8:
+                case 0xC9:
+                case 0xCA:
+                case 0xCB:
+                case 0xCC:
+                case 0xCD:
+                case 0xCE:
+                case 0xCF:
+                case 0xD0:
+                case 0xD1:
+                case 0xD2:
+                case 0xD3:
+                case 0xD4:
+                case 0xD5:
+                case 0xD6:
+                case 0xD7:
+                case 0xD8:
+                case 0xD9:
+                case 0xDA:
+                case 0xDB:
+                case 0xDC:
+                case 0xDD:
+                case 0xDE:
+                case 0xDF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!next_byte_in_range({0x80, 0xBF})))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+0800..U+0FFF: bytes E0 A0..BF 80..BF
+                case 0xE0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0xA0, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+1000..U+CFFF: bytes E1..EC 80..BF 80..BF
+                // U+E000..U+FFFF: bytes EE..EF 80..BF 80..BF
+                case 0xE1:
+                case 0xE2:
+                case 0xE3:
+                case 0xE4:
+                case 0xE5:
+                case 0xE6:
+                case 0xE7:
+                case 0xE8:
+                case 0xE9:
+                case 0xEA:
+                case 0xEB:
+                case 0xEC:
+                case 0xEE:
+                case 0xEF:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+D000..U+D7FF: bytes ED 80..9F 80..BF
+                case 0xED:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x9F, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+10000..U+3FFFF F0 90..BF 80..BF 80..BF
+                case 0xF0:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x90, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+40000..U+FFFFF F1..F3 80..BF 80..BF 80..BF
+                case 0xF1:
+                case 0xF2:
+                case 0xF3:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0xBF, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // U+100000..U+10FFFF F4 80..8F 80..BF 80..BF
+                case 0xF4:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!(next_byte_in_range({0x80, 0x8F, 0x80, 0xBF, 0x80, 0xBF}))))
+                    {
+                        return token_type::parse_error;
+                    }
+                    break;
+                }
+
+                // remaining bytes (80..C1 and F5..FF) are ill-formed
+                default:
+                {
+                    error_message = "invalid string: ill-formed UTF-8 byte";
+                    return token_type::parse_error;
+                }
+            }
+        }
+    }
+
+    /*!
+     * @brief scan a comment
+     * @return whether comment could be scanned successfully
+     */
+    bool scan_comment()
+    {
+        switch (get())
+        {
+            // single-line comments skip input until a newline or EOF is read
+            case '/':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case '\n':
+                        case '\r':
+                        case char_traits<char_type>::eof():
+                        case '\0':
+                            return true;
+
+                        default:
+                            break;
+                    }
+                }
+            }
+
+            // multi-line comments skip input until */ is read
+            case '*':
+            {
+                while (true)
+                {
+                    switch (get())
+                    {
+                        case char_traits<char_type>::eof():
+                        case '\0':
+                        {
+                            error_message = "invalid comment; missing closing '*/'";
+                            return false;
+                        }
+
+                        case '*':
+                        {
+                            switch (get())
+                            {
+                                case '/':
+                                    return true;
+
+                                default:
+                                {
+                                    unget();
+                                    continue;
+                                }
+                            }
+                        }
+
+                        default:
+                            continue;
+                    }
+                }
+            }
+
+            // unexpected character after reading '/'
+            default:
+            {
+                error_message = "invalid comment; expecting '/' or '*' after '/'";
+                return false;
+            }
+        }
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(float& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtof(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtod(str, endptr);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    static void strtof(long double& f, const char* str, char** endptr) noexcept
+    {
+        f = std::strtold(str, endptr);
+    }
+
+    /*!
+    @brief scan a number literal
+
+    This function scans a string according to Sect. 6 of RFC 8259.
+
+    The function is realized with a deterministic finite state machine derived
+    from the grammar described in RFC 8259. Starting in state "init", the
+    input is read and used to determined the next state. Only state "done"
+    accepts the number. State "error" is a trap state to model errors. In the
+    table below, "anything" means any character but the ones listed before.
+
+    state    | 0        | 1-9      | e E      | +       | -       | .        | anything
+    ---------|----------|----------|----------|---------|---------|----------|-----------
+    init     | zero     | any1     | [error]  | [error] | minus   | [error]  | [error]
+    minus    | zero     | any1     | [error]  | [error] | [error] | [error]  | [error]
+    zero     | done     | done     | exponent | done    | done    | decimal1 | done
+    any1     | any1     | any1     | exponent | done    | done    | decimal1 | done
+    decimal1 | decimal2 | decimal2 | [error]  | [error] | [error] | [error]  | [error]
+    decimal2 | decimal2 | decimal2 | exponent | done    | done    | done     | done
+    exponent | any2     | any2     | [error]  | sign    | sign    | [error]  | [error]
+    sign     | any2     | any2     | [error]  | [error] | [error] | [error]  | [error]
+    any2     | any2     | any2     | done     | done    | done    | done     | done
+
+    The state machine is realized with one label per state (prefixed with
+    "scan_number_") and `goto` statements between them. The state machine
+    contains cycles, but any cycle can be left when EOF is read. Therefore,
+    the function is guaranteed to terminate.
+
+    During scanning, the read bytes are stored in token_buffer. This string is
+    then converted to a signed integer, an unsigned integer, or a
+    floating-point number.
+
+    @return token_type::value_unsigned, token_type::value_integer, or
+            token_type::value_float if number could be successfully scanned,
+            token_type::parse_error otherwise
+
+    @note The scanner is independent of the current locale. Internally, the
+          locale's decimal point is used instead of `.` to work with the
+          locale-dependent converters.
+    */
+    token_type scan_number()  // lgtm [cpp/use-of-goto]
+    {
+        // reset token_buffer to store the number's bytes
+        reset();
+
+        // the type of the parsed number; initially set to unsigned; will be
+        // changed if minus sign, decimal point or exponent is read
+        token_type number_type = token_type::value_unsigned;
+
+        // state (init): we just found out we need to scan a number
+        switch (current)
+        {
+            case '-':
+            {
+                add(current);
+                goto scan_number_minus;
+            }
+
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            // all other characters are rejected outside scan_number()
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+
+scan_number_minus:
+        // state: we just parsed a leading minus sign
+        number_type = token_type::value_integer;
+        switch (get())
+        {
+            case '0':
+            {
+                add(current);
+                goto scan_number_zero;
+            }
+
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '-'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_zero:
+        // state: we just parse a zero (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_any1:
+        // state: we just parsed a number 0-9 (maybe with a leading minus sign)
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any1;
+            }
+
+            case '.':
+            {
+                add(decimal_point_char);
+                goto scan_number_decimal1;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_decimal1:
+        // state: we just parsed a decimal point
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after '.'";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_decimal2:
+        // we just parsed at least one number after a decimal point
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_decimal2;
+            }
+
+            case 'e':
+            case 'E':
+            {
+                add(current);
+                goto scan_number_exponent;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_exponent:
+        // we just parsed an exponent
+        number_type = token_type::value_float;
+        switch (get())
+        {
+            case '+':
+            case '-':
+            {
+                add(current);
+                goto scan_number_sign;
+            }
+
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message =
+                    "invalid number; expected '+', '-', or digit after exponent";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_sign:
+        // we just parsed an exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+            {
+                error_message = "invalid number; expected digit after exponent sign";
+                return token_type::parse_error;
+            }
+        }
+
+scan_number_any2:
+        // we just parsed a number after the exponent or exponent sign
+        switch (get())
+        {
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+            {
+                add(current);
+                goto scan_number_any2;
+            }
+
+            default:
+                goto scan_number_done;
+        }
+
+scan_number_done:
+        // unget the character after the number (we only read it to know that
+        // we are done scanning a number)
+        unget();
+
+        char* endptr = nullptr; // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+        errno = 0;
+
+        // try to parse integers first and fall back to floats
+        if (number_type == token_type::value_unsigned)
+        {
+            const auto x = std::strtoull(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_unsigned = static_cast<number_unsigned_t>(x);
+                if (value_unsigned == x)
+                {
+                    return token_type::value_unsigned;
+                }
+            }
+        }
+        else if (number_type == token_type::value_integer)
+        {
+            const auto x = std::strtoll(token_buffer.data(), &endptr, 10);
+
+            // we checked the number format before
+            JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+            if (errno == 0)
+            {
+                value_integer = static_cast<number_integer_t>(x);
+                if (value_integer == x)
+                {
+                    return token_type::value_integer;
+                }
+            }
+        }
+
+        // this code is reached if we parse a floating-point number or if an
+        // integer conversion above failed
+        strtof(value_float, token_buffer.data(), &endptr);
+
+        // we checked the number format before
+        JSON_ASSERT(endptr == token_buffer.data() + token_buffer.size());
+
+        return token_type::value_float;
+    }
+
+    /*!
+    @param[in] literal_text  the literal text to expect
+    @param[in] length        the length of the passed literal text
+    @param[in] return_type   the token type to return on success
+    */
+    JSON_HEDLEY_NON_NULL(2)
+    token_type scan_literal(const char_type* literal_text, const std::size_t length,
+                            token_type return_type)
+    {
+        JSON_ASSERT(char_traits<char_type>::to_char_type(current) == literal_text[0]);
+        for (std::size_t i = 1; i < length; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(char_traits<char_type>::to_char_type(get()) != literal_text[i]))
+            {
+                error_message = "invalid literal";
+                return token_type::parse_error;
+            }
+        }
+        return return_type;
+    }
+
+    /////////////////////
+    // input management
+    /////////////////////
+
+    /// reset token_buffer; current character is beginning of token
+    void reset() noexcept
+    {
+        token_buffer.clear();
+        token_string.clear();
+        token_string.push_back(char_traits<char_type>::to_char_type(current));
+    }
+
+    /*
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a
+    `char_traits<char>::eof()` in that case.  Stores the scanned characters
+    for use in error messages.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++position.chars_read_total;
+        ++position.chars_read_current_line;
+
+        if (next_unget)
+        {
+            // just reset the next_unget variable and work with current
+            next_unget = false;
+        }
+        else
+        {
+            current = ia.get_character();
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != char_traits<char_type>::eof()))
+        {
+            token_string.push_back(char_traits<char_type>::to_char_type(current));
+        }
+
+        if (current == '\n')
+        {
+            ++position.lines_read;
+            position.chars_read_current_line = 0;
+        }
+
+        return current;
+    }
+
+    /*!
+    @brief unget current character (read it again on next get)
+
+    We implement unget by setting variable next_unget to true. The input is not
+    changed - we just simulate ungetting by modifying chars_read_total,
+    chars_read_current_line, and token_string. The next call to get() will
+    behave as if the unget character is read again.
+    */
+    void unget()
+    {
+        next_unget = true;
+
+        --position.chars_read_total;
+
+        // in case we "unget" a newline, we have to also decrement the lines_read
+        if (position.chars_read_current_line == 0)
+        {
+            if (position.lines_read > 0)
+            {
+                --position.lines_read;
+            }
+        }
+        else
+        {
+            --position.chars_read_current_line;
+        }
+
+        if (JSON_HEDLEY_LIKELY(current != char_traits<char_type>::eof()))
+        {
+            JSON_ASSERT(!token_string.empty());
+            token_string.pop_back();
+        }
+    }
+
+    /// add a character to token_buffer
+    void add(char_int_type c)
+    {
+        token_buffer.push_back(static_cast<typename string_t::value_type>(c));
+    }
+
+  public:
+    /////////////////////
+    // value getters
+    /////////////////////
+
+    /// return integer value
+    constexpr number_integer_t get_number_integer() const noexcept
+    {
+        return value_integer;
+    }
+
+    /// return unsigned integer value
+    constexpr number_unsigned_t get_number_unsigned() const noexcept
+    {
+        return value_unsigned;
+    }
+
+    /// return floating-point value
+    constexpr number_float_t get_number_float() const noexcept
+    {
+        return value_float;
+    }
+
+    /// return current string value (implicitly resets the token; useful only once)
+    string_t& get_string()
+    {
+        return token_buffer;
+    }
+
+    /////////////////////
+    // diagnostics
+    /////////////////////
+
+    /// return position of last read token
+    constexpr position_t get_position() const noexcept
+    {
+        return position;
+    }
+
+    /// return the last read token (for errors only).  Will never contain EOF
+    /// (an arbitrary value that is not a valid char value, often -1), because
+    /// 255 may legitimately occur.  May contain NUL, which should be escaped.
+    std::string get_token_string() const
+    {
+        // escape control characters
+        std::string result;
+        for (const auto c : token_string)
+        {
+            if (static_cast<unsigned char>(c) <= '\x1F')
+            {
+                // escape control characters
+                std::array<char, 9> cs{{}};
+                static_cast<void>((std::snprintf)(cs.data(), cs.size(), "<U+%.4X>", static_cast<unsigned char>(c))); // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                result += cs.data();
+            }
+            else
+            {
+                // add character as is
+                result.push_back(static_cast<std::string::value_type>(c));
+            }
+        }
+
+        return result;
+    }
+
+    /// return syntax error message
+    JSON_HEDLEY_RETURNS_NON_NULL
+    constexpr const char* get_error_message() const noexcept
+    {
+        return error_message;
+    }
+
+    /////////////////////
+    // actual scanner
+    /////////////////////
+
+    /*!
+    @brief skip the UTF-8 byte order mark
+    @return true iff there is no BOM or the correct BOM has been skipped
+    */
+    bool skip_bom()
+    {
+        if (get() == 0xEF)
+        {
+            // check if we completely parse the BOM
+            return get() == 0xBB && get() == 0xBF;
+        }
+
+        // the first character is not the beginning of the BOM; unget it to
+        // process is later
+        unget();
+        return true;
+    }
+
+    void skip_whitespace()
+    {
+        do
+        {
+            get();
+        }
+        while (current == ' ' || current == '\t' || current == '\n' || current == '\r');
+    }
+
+    token_type scan()
+    {
+        // initially, skip the BOM
+        if (position.chars_read_total == 0 && !skip_bom())
+        {
+            error_message = "invalid BOM; must be 0xEF 0xBB 0xBF if given";
+            return token_type::parse_error;
+        }
+
+        // read next character and ignore whitespace
+        skip_whitespace();
+
+        // ignore comments
+        while (ignore_comments && current == '/')
+        {
+            if (!scan_comment())
+            {
+                return token_type::parse_error;
+            }
+
+            // skip following whitespace
+            skip_whitespace();
+        }
+
+        switch (current)
+        {
+            // structural characters
+            case '[':
+                return token_type::begin_array;
+            case ']':
+                return token_type::end_array;
+            case '{':
+                return token_type::begin_object;
+            case '}':
+                return token_type::end_object;
+            case ':':
+                return token_type::name_separator;
+            case ',':
+                return token_type::value_separator;
+
+            // literals
+            case 't':
+            {
+                std::array<char_type, 4> true_literal = {{static_cast<char_type>('t'), static_cast<char_type>('r'), static_cast<char_type>('u'), static_cast<char_type>('e')}};
+                return scan_literal(true_literal.data(), true_literal.size(), token_type::literal_true);
+            }
+            case 'f':
+            {
+                std::array<char_type, 5> false_literal = {{static_cast<char_type>('f'), static_cast<char_type>('a'), static_cast<char_type>('l'), static_cast<char_type>('s'), static_cast<char_type>('e')}};
+                return scan_literal(false_literal.data(), false_literal.size(), token_type::literal_false);
+            }
+            case 'n':
+            {
+                std::array<char_type, 4> null_literal = {{static_cast<char_type>('n'), static_cast<char_type>('u'), static_cast<char_type>('l'), static_cast<char_type>('l')}};
+                return scan_literal(null_literal.data(), null_literal.size(), token_type::literal_null);
+            }
+
+            // string
+            case '\"':
+                return scan_string();
+
+            // number
+            case '-':
+            case '0':
+            case '1':
+            case '2':
+            case '3':
+            case '4':
+            case '5':
+            case '6':
+            case '7':
+            case '8':
+            case '9':
+                return scan_number();
+
+            // end of input (the null byte is needed when parsing from
+            // string literals)
+            case '\0':
+            case char_traits<char_type>::eof():
+                return token_type::end_of_input;
+
+            // error
+            default:
+                error_message = "invalid literal";
+                return token_type::parse_error;
+        }
+    }
+
+  private:
+    /// input adapter
+    InputAdapterType ia;
+
+    /// whether comments should be ignored (true) or signaled as errors (false)
+    const bool ignore_comments = false;
+
+    /// the current character
+    char_int_type current = char_traits<char_type>::eof();
+
+    /// whether the next get() call should just return current
+    bool next_unget = false;
+
+    /// the start position of the current token
+    position_t position {};
+
+    /// raw input token string (for error messages)
+    std::vector<char_type> token_string {};
+
+    /// buffer for variable-length tokens (numbers, strings)
+    string_t token_buffer {};
+
+    /// a description of occurred lexer errors
+    const char* error_message = "";
+
+    // number values
+    number_integer_t value_integer = 0;
+    number_unsigned_t value_unsigned = 0;
+    number_float_t value_float = 0;
+
+    /// the decimal point
+    const char_int_type decimal_point_char = '.';
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstdint> // size_t
+#include <utility> // declval
+#include <string> // string
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+// #include <nlohmann/detail/meta/detected.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename T>
+using null_function_t = decltype(std::declval<T&>().null());
+
+template<typename T>
+using boolean_function_t =
+    decltype(std::declval<T&>().boolean(std::declval<bool>()));
+
+template<typename T, typename Integer>
+using number_integer_function_t =
+    decltype(std::declval<T&>().number_integer(std::declval<Integer>()));
+
+template<typename T, typename Unsigned>
+using number_unsigned_function_t =
+    decltype(std::declval<T&>().number_unsigned(std::declval<Unsigned>()));
+
+template<typename T, typename Float, typename String>
+using number_float_function_t = decltype(std::declval<T&>().number_float(
+                                    std::declval<Float>(), std::declval<const String&>()));
+
+template<typename T, typename String>
+using string_function_t =
+    decltype(std::declval<T&>().string(std::declval<String&>()));
+
+template<typename T, typename Binary>
+using binary_function_t =
+    decltype(std::declval<T&>().binary(std::declval<Binary&>()));
+
+template<typename T>
+using start_object_function_t =
+    decltype(std::declval<T&>().start_object(std::declval<std::size_t>()));
+
+template<typename T, typename String>
+using key_function_t =
+    decltype(std::declval<T&>().key(std::declval<String&>()));
+
+template<typename T>
+using end_object_function_t = decltype(std::declval<T&>().end_object());
+
+template<typename T>
+using start_array_function_t =
+    decltype(std::declval<T&>().start_array(std::declval<std::size_t>()));
+
+template<typename T>
+using end_array_function_t = decltype(std::declval<T&>().end_array());
+
+template<typename T, typename Exception>
+using parse_error_function_t = decltype(std::declval<T&>().parse_error(
+        std::declval<std::size_t>(), std::declval<const std::string&>(),
+        std::declval<const Exception&>()));
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static constexpr bool value =
+        is_detected_exact<bool, null_function_t, SAX>::value &&
+        is_detected_exact<bool, boolean_function_t, SAX>::value &&
+        is_detected_exact<bool, number_integer_function_t, SAX, number_integer_t>::value &&
+        is_detected_exact<bool, number_unsigned_function_t, SAX, number_unsigned_t>::value &&
+        is_detected_exact<bool, number_float_function_t, SAX, number_float_t, string_t>::value &&
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value &&
+        is_detected_exact<bool, start_object_function_t, SAX>::value &&
+        is_detected_exact<bool, key_function_t, SAX, string_t>::value &&
+        is_detected_exact<bool, end_object_function_t, SAX>::value &&
+        is_detected_exact<bool, start_array_function_t, SAX>::value &&
+        is_detected_exact<bool, end_array_function_t, SAX>::value &&
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value;
+};
+
+template<typename SAX, typename BasicJsonType>
+struct is_sax_static_asserts
+{
+  private:
+    static_assert(is_basic_json<BasicJsonType>::value,
+                  "BasicJsonType must be of type basic_json<...>");
+
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using exception_t = typename BasicJsonType::exception;
+
+  public:
+    static_assert(is_detected_exact<bool, null_function_t, SAX>::value,
+                  "Missing/invalid function: bool null()");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(is_detected_exact<bool, boolean_function_t, SAX>::value,
+                  "Missing/invalid function: bool boolean(bool)");
+    static_assert(
+        is_detected_exact<bool, number_integer_function_t, SAX,
+        number_integer_t>::value,
+        "Missing/invalid function: bool number_integer(number_integer_t)");
+    static_assert(
+        is_detected_exact<bool, number_unsigned_function_t, SAX,
+        number_unsigned_t>::value,
+        "Missing/invalid function: bool number_unsigned(number_unsigned_t)");
+    static_assert(is_detected_exact<bool, number_float_function_t, SAX,
+                  number_float_t, string_t>::value,
+                  "Missing/invalid function: bool number_float(number_float_t, const string_t&)");
+    static_assert(
+        is_detected_exact<bool, string_function_t, SAX, string_t>::value,
+        "Missing/invalid function: bool string(string_t&)");
+    static_assert(
+        is_detected_exact<bool, binary_function_t, SAX, binary_t>::value,
+        "Missing/invalid function: bool binary(binary_t&)");
+    static_assert(is_detected_exact<bool, start_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_object(std::size_t)");
+    static_assert(is_detected_exact<bool, key_function_t, SAX, string_t>::value,
+                  "Missing/invalid function: bool key(string_t&)");
+    static_assert(is_detected_exact<bool, end_object_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_object()");
+    static_assert(is_detected_exact<bool, start_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool start_array(std::size_t)");
+    static_assert(is_detected_exact<bool, end_array_function_t, SAX>::value,
+                  "Missing/invalid function: bool end_array()");
+    static_assert(
+        is_detected_exact<bool, parse_error_function_t, SAX, exception_t>::value,
+        "Missing/invalid function: bool parse_error(std::size_t, const "
+        "std::string&, const exception&)");
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// how to treat CBOR tags
+enum class cbor_tag_handler_t
+{
+    error,   ///< throw a parse_error exception in case of a tag
+    ignore,  ///< ignore tags
+    store    ///< store tags as binary type
+};
+
+/*!
+@brief determine system byte order
+
+@return true if and only if system's byte order is little endian
+
+@note from https://stackoverflow.com/a/1001328/266378
+*/
+static inline bool little_endianness(int num = 1) noexcept
+{
+    return *reinterpret_cast<char*>(&num) == 1;
+}
+
+///////////////////
+// binary reader //
+///////////////////
+
+/*!
+@brief deserialization of CBOR, MessagePack, and UBJSON values
+*/
+template<typename BasicJsonType, typename InputAdapterType, typename SAX = json_sax_dom_parser<BasicJsonType>>
+class binary_reader
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using json_sax_t = SAX;
+    using char_type = typename InputAdapterType::char_type;
+    using char_int_type = typename char_traits<char_type>::int_type;
+
+  public:
+    /*!
+    @brief create a binary reader
+
+    @param[in] adapter  input adapter to read from
+    */
+    explicit binary_reader(InputAdapterType&& adapter, const input_format_t format = input_format_t::json) noexcept : ia(std::move(adapter)), input_format(format)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+    }
+
+    // make class move-only
+    binary_reader(const binary_reader&) = delete;
+    binary_reader(binary_reader&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    binary_reader& operator=(const binary_reader&) = delete;
+    binary_reader& operator=(binary_reader&&) = default; // NOLINT(hicpp-noexcept-move,performance-noexcept-move-constructor)
+    ~binary_reader() = default;
+
+    /*!
+    @param[in] format  the binary format to parse
+    @param[in] sax_    a SAX event processor
+    @param[in] strict  whether to expect the input to be consumed completed
+    @param[in] tag_handler  how to treat CBOR tags
+
+    @return whether parsing was successful
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool sax_parse(const input_format_t format,
+                   json_sax_t* sax_,
+                   const bool strict = true,
+                   const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        sax = sax_;
+        bool result = false;
+
+        switch (format)
+        {
+            case input_format_t::bson:
+                result = parse_bson_internal();
+                break;
+
+            case input_format_t::cbor:
+                result = parse_cbor_internal(true, tag_handler);
+                break;
+
+            case input_format_t::msgpack:
+                result = parse_msgpack_internal();
+                break;
+
+            case input_format_t::ubjson:
+            case input_format_t::bjdata:
+                result = parse_ubjson_internal();
+                break;
+
+            case input_format_t::json: // LCOV_EXCL_LINE
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+
+        // strict mode: next byte must be EOF
+        if (result && strict)
+        {
+            if (input_format == input_format_t::ubjson || input_format == input_format_t::bjdata)
+            {
+                get_ignore_noop();
+            }
+            else
+            {
+                get();
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(current != char_traits<char_type>::eof()))
+            {
+                return sax->parse_error(chars_read, get_token_string(), parse_error::create(110, chars_read,
+                                        exception_message(input_format, concat("expected end of input; last byte: 0x", get_token_string()), "value"), nullptr));
+            }
+        }
+
+        return result;
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @brief Reads in a BSON-object and passes it to the SAX-parser.
+    @return whether a valid BSON-value was passed to the SAX parser
+    */
+    bool parse_bson_internal()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(static_cast<std::size_t>(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/false)))
+        {
+            return false;
+        }
+
+        return sax->end_object();
+    }
+
+    /*!
+    @brief Parses a C-style string from the BSON input.
+    @param[in,out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @return `true` if the \x00-byte indicating the end of the string was
+             encountered before the EOF; false` indicates an unexpected EOF.
+    */
+    bool get_bson_cstr(string_t& result)
+    {
+        auto out = std::back_inserter(result);
+        while (true)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "cstring")))
+            {
+                return false;
+            }
+            if (current == 0x00)
+            {
+                return true;
+            }
+            *out++ = static_cast<typename string_t::value_type>(current);
+        }
+    }
+
+    /*!
+    @brief Parses a zero-terminated string of length @a len from the BSON
+           input.
+    @param[in] len  The length (including the zero-byte at the end) of the
+                    string to be read.
+    @param[in,out] result  A reference to the string variable where the read
+                            string is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 1
+    @return `true` if the string was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_string(const NumberType len, string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 1))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                    exception_message(input_format_t::bson, concat("string length must be at least 1, is ", std::to_string(len)), "string"), nullptr));
+        }
+
+        return get_string(input_format_t::bson, len - static_cast<NumberType>(1), result) && get() != char_traits<char_type>::eof();
+    }
+
+    /*!
+    @brief Parses a byte array input of length @a len from the BSON input.
+    @param[in] len  The length of the byte array to be read.
+    @param[in,out] result  A reference to the binary variable where the read
+                            array is to be stored.
+    @tparam NumberType The type of the length @a len
+    @pre len >= 0
+    @return `true` if the byte array was successfully parsed
+    */
+    template<typename NumberType>
+    bool get_bson_binary(const NumberType len, binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(len < 0))
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                    exception_message(input_format_t::bson, concat("byte array length cannot be negative, is ", std::to_string(len)), "binary"), nullptr));
+        }
+
+        // All BSON binary values have a subtype
+        std::uint8_t subtype{};
+        get_number<std::uint8_t>(input_format_t::bson, subtype);
+        result.set_subtype(subtype);
+
+        return get_binary(input_format_t::bson, len, result);
+    }
+
+    /*!
+    @brief Read a BSON document element of the given @a element_type.
+    @param[in] element_type The BSON element type, c.f. http://bsonspec.org/spec.html
+    @param[in] element_type_parse_position The position in the input stream,
+               where the `element_type` was read.
+    @warning Not all BSON element types are supported yet. An unsupported
+             @a element_type will give rise to a parse_error.114:
+             Unsupported BSON record type 0x...
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_internal(const char_int_type element_type,
+                                     const std::size_t element_type_parse_position)
+    {
+        switch (element_type)
+        {
+            case 0x01: // double
+            {
+                double number{};
+                return get_number<double, true>(input_format_t::bson, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0x02: // string
+            {
+                std::int32_t len{};
+                string_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_string(len, value) && sax->string(value);
+            }
+
+            case 0x03: // object
+            {
+                return parse_bson_internal();
+            }
+
+            case 0x04: // array
+            {
+                return parse_bson_array();
+            }
+
+            case 0x05: // binary
+            {
+                std::int32_t len{};
+                binary_t value;
+                return get_number<std::int32_t, true>(input_format_t::bson, len) && get_bson_binary(len, value) && sax->binary(value);
+            }
+
+            case 0x08: // boolean
+            {
+                return sax->boolean(get() != 0);
+            }
+
+            case 0x0A: // null
+            {
+                return sax->null();
+            }
+
+            case 0x10: // int32
+            {
+                std::int32_t value{};
+                return get_number<std::int32_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            case 0x12: // int64
+            {
+                std::int64_t value{};
+                return get_number<std::int64_t, true>(input_format_t::bson, value) && sax->number_integer(value);
+            }
+
+            default: // anything else not supported (yet)
+            {
+                std::array<char, 3> cr{{}};
+                static_cast<void>((std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(element_type))); // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                const std::string cr_str{cr.data()};
+                return sax->parse_error(element_type_parse_position, cr_str,
+                                        parse_error::create(114, element_type_parse_position, concat("Unsupported BSON record type 0x", cr_str), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief Read a BSON element list (as specified in the BSON-spec)
+
+    The same binary layout is used for objects and arrays, hence it must be
+    indicated with the argument @a is_array which one is expected
+    (true --> array, false --> object).
+
+    @param[in] is_array Determines if the element list being read is to be
+                        treated as an object (@a is_array == false), or as an
+                        array (@a is_array == true).
+    @return whether a valid BSON-object/array was passed to the SAX parser
+    */
+    bool parse_bson_element_list(const bool is_array)
+    {
+        string_t key;
+
+        while (auto element_type = get())
+        {
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::bson, "element list")))
+            {
+                return false;
+            }
+
+            const std::size_t element_type_parse_position = chars_read;
+            if (JSON_HEDLEY_UNLIKELY(!get_bson_cstr(key)))
+            {
+                return false;
+            }
+
+            if (!is_array && !sax->key(key))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_internal(element_type, element_type_parse_position)))
+            {
+                return false;
+            }
+
+            // get_bson_cstr only appends
+            key.clear();
+        }
+
+        return true;
+    }
+
+    /*!
+    @brief Reads an array from the BSON input and passes it to the SAX-parser.
+    @return whether a valid BSON-array was passed to the SAX parser
+    */
+    bool parse_bson_array()
+    {
+        std::int32_t document_size{};
+        get_number<std::int32_t, true>(input_format_t::bson, document_size);
+
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(static_cast<std::size_t>(-1))))
+        {
+            return false;
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!parse_bson_element_list(/*is_array*/true)))
+        {
+            return false;
+        }
+
+        return sax->end_array();
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true) or whether the last read character should
+                         be considered instead (false)
+    @param[in] tag_handler how CBOR tags should be treated
+
+    @return whether a valid CBOR value was passed to the SAX parser
+    */
+    bool parse_cbor_internal(const bool get_char,
+                             const cbor_tag_handler_t tag_handler)
+    {
+        switch (get_char ? get() : current)
+        {
+            // EOF
+            case char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::cbor, "value");
+
+            // Integer 0x00..0x17 (0..23)
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            case 0x18: // Unsigned integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x19: // Unsigned integer (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1A: // Unsigned integer (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            case 0x1B: // Unsigned integer (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_unsigned(number);
+            }
+
+            // Negative integer -1-0x00..-1-0x17 (-1..-24)
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+                return sax->number_integer(static_cast<std::int8_t>(0x20 - 1 - current));
+
+            case 0x38: // Negative integer (one-byte uint8_t follows)
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x39: // Negative integer -1-n (two-byte uint16_t follows)
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3A: // Negative integer -1-n (four-byte uint32_t follows)
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1) - number);
+            }
+
+            case 0x3B: // Negative integer -1-n (eight-byte uint64_t follows)
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::cbor, number) && sax->number_integer(static_cast<number_integer_t>(-1)
+                        - static_cast<number_integer_t>(number));
+            }
+
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            case 0x5F: // Binary data (indefinite length)
+            {
+                binary_t b;
+                return get_cbor_binary(b) && sax->binary(b);
+            }
+
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                string_t s;
+                return get_cbor_string(s) && sax->string(s);
+            }
+
+            // array (0x00..0x17 data items follow)
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+                return get_cbor_array(
+                           conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0x98: // array (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x99: // array (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9A: // array (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9B: // array (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_array(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0x9F: // array (indefinite length)
+                return get_cbor_array(static_cast<std::size_t>(-1), tag_handler);
+
+            // map (0x00..0x17 pairs of data items follow)
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+                return get_cbor_object(conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x1Fu), tag_handler);
+
+            case 0xB8: // map (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xB9: // map (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBA: // map (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBB: // map (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_cbor_object(conditional_static_cast<std::size_t>(len), tag_handler);
+            }
+
+            case 0xBF: // map (indefinite length)
+                return get_cbor_object(static_cast<std::size_t>(-1), tag_handler);
+
+            case 0xC6: // tagged item
+            case 0xC7:
+            case 0xC8:
+            case 0xC9:
+            case 0xCA:
+            case 0xCB:
+            case 0xCC:
+            case 0xCD:
+            case 0xCE:
+            case 0xCF:
+            case 0xD0:
+            case 0xD1:
+            case 0xD2:
+            case 0xD3:
+            case 0xD4:
+            case 0xD8: // tagged item (1 bytes follow)
+            case 0xD9: // tagged item (2 bytes follow)
+            case 0xDA: // tagged item (4 bytes follow)
+            case 0xDB: // tagged item (8 bytes follow)
+            {
+                switch (tag_handler)
+                {
+                    case cbor_tag_handler_t::error:
+                    {
+                        auto last_token = get_token_string();
+                        return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                                exception_message(input_format_t::cbor, concat("invalid byte: 0x", last_token), "value"), nullptr));
+                    }
+
+                    case cbor_tag_handler_t::ignore:
+                    {
+                        // ignore binary subtype
+                        switch (current)
+                        {
+                            case 0xD8:
+                            {
+                                std::uint8_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            case 0xD9:
+                            {
+                                std::uint16_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            case 0xDA:
+                            {
+                                std::uint32_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            case 0xDB:
+                            {
+                                std::uint64_t subtype_to_ignore{};
+                                get_number(input_format_t::cbor, subtype_to_ignore);
+                                break;
+                            }
+                            default:
+                                break;
+                        }
+                        return parse_cbor_internal(true, tag_handler);
+                    }
+
+                    case cbor_tag_handler_t::store:
+                    {
+                        binary_t b;
+                        // use binary subtype and store in binary container
+                        switch (current)
+                        {
+                            case 0xD8:
+                            {
+                                std::uint8_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            case 0xD9:
+                            {
+                                std::uint16_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            case 0xDA:
+                            {
+                                std::uint32_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            case 0xDB:
+                            {
+                                std::uint64_t subtype{};
+                                get_number(input_format_t::cbor, subtype);
+                                b.set_subtype(detail::conditional_static_cast<typename binary_t::subtype_type>(subtype));
+                                break;
+                            }
+                            default:
+                                return parse_cbor_internal(true, tag_handler);
+                        }
+                        get();
+                        return get_cbor_binary(b) && sax->binary(b);
+                    }
+
+                    default:                 // LCOV_EXCL_LINE
+                        JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+                        return false;        // LCOV_EXCL_LINE
+                }
+            }
+
+            case 0xF4: // false
+                return sax->boolean(false);
+
+            case 0xF5: // true
+                return sax->boolean(true);
+
+            case 0xF6: // null
+                return sax->null();
+
+            case 0xF9: // Half-Precision Float (two-byte IEEE 754)
+            {
+                const auto byte1_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+                const auto byte2_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const auto half = static_cast<unsigned int>((byte1 << 8u) + byte2);
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10u) & 0x1Fu;
+                    const unsigned int mant = half & 0x3FFu;
+                    JSON_ASSERT(0 <= exp&& exp <= 32);
+                    JSON_ASSERT(mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000u) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 0xFA: // Single-Precision Float (four-byte IEEE 754)
+            {
+                float number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xFB: // Double-Precision Float (eight-byte IEEE 754)
+            {
+                double number{};
+                return get_number(input_format_t::cbor, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            default: // anything else (0xFF is handled inside the other types)
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format_t::cbor, concat("invalid byte: 0x", last_token), "value"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+    Additionally, CBOR's strings with indefinite lengths are supported.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_cbor_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // UTF-8 string (0x00..0x17 bytes follow)
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            {
+                return get_string(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x78: // UTF-8 string (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x79: // UTF-8 string (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7A: // UTF-8 string (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7B: // UTF-8 string (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) && get_string(input_format_t::cbor, len, result);
+            }
+
+            case 0x7F: // UTF-8 string (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    string_t chunk;
+                    if (!get_cbor_string(chunk))
+                    {
+                        return false;
+                    }
+                    result.append(chunk);
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                        exception_message(input_format_t::cbor, concat("expected length specification (0x60-0x7B) or indefinite string type (0x7F); last byte: 0x", last_token), "string"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a CBOR byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into the byte array.
+    Additionally, CBOR's byte arrays with indefinite lengths are supported.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_cbor_binary(binary_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::cbor, "binary")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // Binary data (0x00..0x17 bytes follow)
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            {
+                return get_binary(input_format_t::cbor, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0x58: // Binary data (one-byte uint8_t for n follows)
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x59: // Binary data (two-byte uint16_t for n follow)
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5A: // Binary data (four-byte uint32_t for n follow)
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5B: // Binary data (eight-byte uint64_t for n follow)
+            {
+                std::uint64_t len{};
+                return get_number(input_format_t::cbor, len) &&
+                       get_binary(input_format_t::cbor, len, result);
+            }
+
+            case 0x5F: // Binary data (indefinite length)
+            {
+                while (get() != 0xFF)
+                {
+                    binary_t chunk;
+                    if (!get_cbor_binary(chunk))
+                    {
+                        return false;
+                    }
+                    result.insert(result.end(), chunk.begin(), chunk.end());
+                }
+                return true;
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                        exception_message(input_format_t::cbor, concat("expected length specification (0x40-0x5B) or indefinite binary array type (0x5F); last byte: 0x", last_token), "binary"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array or static_cast<std::size_t>(-1) for an
+                    array of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether array creation completed
+    */
+    bool get_cbor_array(const std::size_t len,
+                        const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        if (len != static_cast<std::size_t>(-1))
+        {
+            for (std::size_t i = 0; i < len; ++i)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+        else
+        {
+            while (get() != 0xFF)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(false, tag_handler)))
+                {
+                    return false;
+                }
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object or static_cast<std::size_t>(-1) for an
+                    object of indefinite size
+    @param[in] tag_handler how CBOR tags should be treated
+    @return whether object creation completed
+    */
+    bool get_cbor_object(const std::size_t len,
+                         const cbor_tag_handler_t tag_handler)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        if (len != 0)
+        {
+            string_t key;
+            if (len != static_cast<std::size_t>(-1))
+            {
+                for (std::size_t i = 0; i < len; ++i)
+                {
+                    get();
+                    if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+
+                    if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                while (get() != 0xFF)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_cbor_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+
+                    if (JSON_HEDLEY_UNLIKELY(!parse_cbor_internal(true, tag_handler)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    /*!
+    @return whether a valid MessagePack value was passed to the SAX parser
+    */
+    bool parse_msgpack_internal()
+    {
+        switch (get())
+        {
+            // EOF
+            case char_traits<char_type>::eof():
+                return unexpect_eof(input_format_t::msgpack, "value");
+
+            // positive fixint
+            case 0x00:
+            case 0x01:
+            case 0x02:
+            case 0x03:
+            case 0x04:
+            case 0x05:
+            case 0x06:
+            case 0x07:
+            case 0x08:
+            case 0x09:
+            case 0x0A:
+            case 0x0B:
+            case 0x0C:
+            case 0x0D:
+            case 0x0E:
+            case 0x0F:
+            case 0x10:
+            case 0x11:
+            case 0x12:
+            case 0x13:
+            case 0x14:
+            case 0x15:
+            case 0x16:
+            case 0x17:
+            case 0x18:
+            case 0x19:
+            case 0x1A:
+            case 0x1B:
+            case 0x1C:
+            case 0x1D:
+            case 0x1E:
+            case 0x1F:
+            case 0x20:
+            case 0x21:
+            case 0x22:
+            case 0x23:
+            case 0x24:
+            case 0x25:
+            case 0x26:
+            case 0x27:
+            case 0x28:
+            case 0x29:
+            case 0x2A:
+            case 0x2B:
+            case 0x2C:
+            case 0x2D:
+            case 0x2E:
+            case 0x2F:
+            case 0x30:
+            case 0x31:
+            case 0x32:
+            case 0x33:
+            case 0x34:
+            case 0x35:
+            case 0x36:
+            case 0x37:
+            case 0x38:
+            case 0x39:
+            case 0x3A:
+            case 0x3B:
+            case 0x3C:
+            case 0x3D:
+            case 0x3E:
+            case 0x3F:
+            case 0x40:
+            case 0x41:
+            case 0x42:
+            case 0x43:
+            case 0x44:
+            case 0x45:
+            case 0x46:
+            case 0x47:
+            case 0x48:
+            case 0x49:
+            case 0x4A:
+            case 0x4B:
+            case 0x4C:
+            case 0x4D:
+            case 0x4E:
+            case 0x4F:
+            case 0x50:
+            case 0x51:
+            case 0x52:
+            case 0x53:
+            case 0x54:
+            case 0x55:
+            case 0x56:
+            case 0x57:
+            case 0x58:
+            case 0x59:
+            case 0x5A:
+            case 0x5B:
+            case 0x5C:
+            case 0x5D:
+            case 0x5E:
+            case 0x5F:
+            case 0x60:
+            case 0x61:
+            case 0x62:
+            case 0x63:
+            case 0x64:
+            case 0x65:
+            case 0x66:
+            case 0x67:
+            case 0x68:
+            case 0x69:
+            case 0x6A:
+            case 0x6B:
+            case 0x6C:
+            case 0x6D:
+            case 0x6E:
+            case 0x6F:
+            case 0x70:
+            case 0x71:
+            case 0x72:
+            case 0x73:
+            case 0x74:
+            case 0x75:
+            case 0x76:
+            case 0x77:
+            case 0x78:
+            case 0x79:
+            case 0x7A:
+            case 0x7B:
+            case 0x7C:
+            case 0x7D:
+            case 0x7E:
+            case 0x7F:
+                return sax->number_unsigned(static_cast<number_unsigned_t>(current));
+
+            // fixmap
+            case 0x80:
+            case 0x81:
+            case 0x82:
+            case 0x83:
+            case 0x84:
+            case 0x85:
+            case 0x86:
+            case 0x87:
+            case 0x88:
+            case 0x89:
+            case 0x8A:
+            case 0x8B:
+            case 0x8C:
+            case 0x8D:
+            case 0x8E:
+            case 0x8F:
+                return get_msgpack_object(conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixarray
+            case 0x90:
+            case 0x91:
+            case 0x92:
+            case 0x93:
+            case 0x94:
+            case 0x95:
+            case 0x96:
+            case 0x97:
+            case 0x98:
+            case 0x99:
+            case 0x9A:
+            case 0x9B:
+            case 0x9C:
+            case 0x9D:
+            case 0x9E:
+            case 0x9F:
+                return get_msgpack_array(conditional_static_cast<std::size_t>(static_cast<unsigned int>(current) & 0x0Fu));
+
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            case 0xD9: // str 8
+            case 0xDA: // str 16
+            case 0xDB: // str 32
+            {
+                string_t s;
+                return get_msgpack_string(s) && sax->string(s);
+            }
+
+            case 0xC0: // nil
+                return sax->null();
+
+            case 0xC2: // false
+                return sax->boolean(false);
+
+            case 0xC3: // true
+                return sax->boolean(true);
+
+            case 0xC4: // bin 8
+            case 0xC5: // bin 16
+            case 0xC6: // bin 32
+            case 0xC7: // ext 8
+            case 0xC8: // ext 16
+            case 0xC9: // ext 32
+            case 0xD4: // fixext 1
+            case 0xD5: // fixext 2
+            case 0xD6: // fixext 4
+            case 0xD7: // fixext 8
+            case 0xD8: // fixext 16
+            {
+                binary_t b;
+                return get_msgpack_binary(b) && sax->binary(b);
+            }
+
+            case 0xCA: // float 32
+            {
+                float number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCB: // float 64
+            {
+                double number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 0xCC: // uint 8
+            {
+                std::uint8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCD: // uint 16
+            {
+                std::uint16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCE: // uint 32
+            {
+                std::uint32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xCF: // uint 64
+            {
+                std::uint64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_unsigned(number);
+            }
+
+            case 0xD0: // int 8
+            {
+                std::int8_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD1: // int 16
+            {
+                std::int16_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD2: // int 32
+            {
+                std::int32_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xD3: // int 64
+            {
+                std::int64_t number{};
+                return get_number(input_format_t::msgpack, number) && sax->number_integer(number);
+            }
+
+            case 0xDC: // array 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(static_cast<std::size_t>(len));
+            }
+
+            case 0xDD: // array 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_array(conditional_static_cast<std::size_t>(len));
+            }
+
+            case 0xDE: // map 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(static_cast<std::size_t>(len));
+            }
+
+            case 0xDF: // map 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_msgpack_object(conditional_static_cast<std::size_t>(len));
+            }
+
+            // negative fixint
+            case 0xE0:
+            case 0xE1:
+            case 0xE2:
+            case 0xE3:
+            case 0xE4:
+            case 0xE5:
+            case 0xE6:
+            case 0xE7:
+            case 0xE8:
+            case 0xE9:
+            case 0xEA:
+            case 0xEB:
+            case 0xEC:
+            case 0xED:
+            case 0xEE:
+            case 0xEF:
+            case 0xF0:
+            case 0xF1:
+            case 0xF2:
+            case 0xF3:
+            case 0xF4:
+            case 0xF5:
+            case 0xF6:
+            case 0xF7:
+            case 0xF8:
+            case 0xF9:
+            case 0xFA:
+            case 0xFB:
+            case 0xFC:
+            case 0xFD:
+            case 0xFE:
+            case 0xFF:
+                return sax->number_integer(static_cast<std::int8_t>(current));
+
+            default: // anything else
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format_t::msgpack, concat("invalid byte: 0x", last_token), "value"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack string
+
+    This function first reads starting bytes to determine the expected
+    string length and then copies this number of bytes into a string.
+
+    @param[out] result  created string
+
+    @return whether string creation completed
+    */
+    bool get_msgpack_string(string_t& result)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format_t::msgpack, "string")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            // fixstr
+            case 0xA0:
+            case 0xA1:
+            case 0xA2:
+            case 0xA3:
+            case 0xA4:
+            case 0xA5:
+            case 0xA6:
+            case 0xA7:
+            case 0xA8:
+            case 0xA9:
+            case 0xAA:
+            case 0xAB:
+            case 0xAC:
+            case 0xAD:
+            case 0xAE:
+            case 0xAF:
+            case 0xB0:
+            case 0xB1:
+            case 0xB2:
+            case 0xB3:
+            case 0xB4:
+            case 0xB5:
+            case 0xB6:
+            case 0xB7:
+            case 0xB8:
+            case 0xB9:
+            case 0xBA:
+            case 0xBB:
+            case 0xBC:
+            case 0xBD:
+            case 0xBE:
+            case 0xBF:
+            {
+                return get_string(input_format_t::msgpack, static_cast<unsigned int>(current) & 0x1Fu, result);
+            }
+
+            case 0xD9: // str 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDA: // str 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            case 0xDB: // str 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) && get_string(input_format_t::msgpack, len, result);
+            }
+
+            default:
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                        exception_message(input_format_t::msgpack, concat("expected length specification (0xA0-0xBF, 0xD9-0xDB); last byte: 0x", last_token), "string"), nullptr));
+            }
+        }
+    }
+
+    /*!
+    @brief reads a MessagePack byte array
+
+    This function first reads starting bytes to determine the expected
+    byte array length and then copies this number of bytes into a byte array.
+
+    @param[out] result  created byte array
+
+    @return whether byte array creation completed
+    */
+    bool get_msgpack_binary(binary_t& result)
+    {
+        // helper function to set the subtype
+        auto assign_and_return_true = [&result](std::int8_t subtype)
+        {
+            result.set_subtype(static_cast<std::uint8_t>(subtype));
+            return true;
+        };
+
+        switch (current)
+        {
+            case 0xC4: // bin 8
+            {
+                std::uint8_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC5: // bin 16
+            {
+                std::uint16_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC6: // bin 32
+            {
+                std::uint32_t len{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_binary(input_format_t::msgpack, len, result);
+            }
+
+            case 0xC7: // ext 8
+            {
+                std::uint8_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC8: // ext 16
+            {
+                std::uint16_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xC9: // ext 32
+            {
+                std::uint32_t len{};
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, len) &&
+                       get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, len, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD4: // fixext 1
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 1, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD5: // fixext 2
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 2, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD6: // fixext 4
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 4, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD7: // fixext 8
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 8, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            case 0xD8: // fixext 16
+            {
+                std::int8_t subtype{};
+                return get_number(input_format_t::msgpack, subtype) &&
+                       get_binary(input_format_t::msgpack, 16, result) &&
+                       assign_and_return_true(subtype);
+            }
+
+            default:           // LCOV_EXCL_LINE
+                return false;  // LCOV_EXCL_LINE
+        }
+    }
+
+    /*!
+    @param[in] len  the length of the array
+    @return whether array creation completed
+    */
+    bool get_msgpack_array(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(len)))
+        {
+            return false;
+        }
+
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @param[in] len  the length of the object
+    @return whether object creation completed
+    */
+    bool get_msgpack_object(const std::size_t len)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(len)))
+        {
+            return false;
+        }
+
+        string_t key;
+        for (std::size_t i = 0; i < len; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!get_msgpack_string(key) || !sax->key(key)))
+            {
+                return false;
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!parse_msgpack_internal()))
+            {
+                return false;
+            }
+            key.clear();
+        }
+
+        return sax->end_object();
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    /*!
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether a valid UBJSON value was passed to the SAX parser
+    */
+    bool parse_ubjson_internal(const bool get_char = true)
+    {
+        return get_ubjson_value(get_char ? get_ignore_noop() : current);
+    }
+
+    /*!
+    @brief reads a UBJSON string
+
+    This function is either called after reading the 'S' byte explicitly
+    indicating a string, or in case of an object key where the 'S' byte can be
+    left out.
+
+    @param[out] result   created string
+    @param[in] get_char  whether a new character should be retrieved from the
+                         input (true, default) or whether the last read
+                         character should be considered instead
+
+    @return whether string creation completed
+    */
+    bool get_ubjson_string(string_t& result, const bool get_char = true)
+    {
+        if (get_char)
+        {
+            get();  // TODO(niels): may we ignore N here?
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "value")))
+        {
+            return false;
+        }
+
+        switch (current)
+        {
+            case 'U':
+            {
+                std::uint8_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'i':
+            {
+                std::int8_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'I':
+            {
+                std::int16_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'l':
+            {
+                std::int32_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'L':
+            {
+                std::int64_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'u':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint16_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'm':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint32_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            case 'M':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint64_t len{};
+                return get_number(input_format, len) && get_string(input_format, len, result);
+            }
+
+            default:
+                break;
+        }
+        auto last_token = get_token_string();
+        std::string message;
+
+        if (input_format != input_format_t::bjdata)
+        {
+            message = "expected length type specification (U, i, I, l, L); last byte: 0x" + last_token;
+        }
+        else
+        {
+            message = "expected length type specification (U, i, u, I, m, l, M, L); last byte: 0x" + last_token;
+        }
+        return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format, message, "string"), nullptr));
+    }
+
+    /*!
+    @param[out] dim  an integer vector storing the ND array dimensions
+    @return whether reading ND array size vector is successful
+    */
+    bool get_ubjson_ndarray_size(std::vector<size_t>& dim)
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        size_t dimlen = 0;
+        bool no_ndarray = true;
+
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type, no_ndarray)))
+        {
+            return false;
+        }
+
+        if (size_and_type.first != npos)
+        {
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_value(dimlen, no_ndarray, size_and_type.second)))
+                        {
+                            return false;
+                        }
+                        dim.push_back(dimlen);
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_value(dimlen, no_ndarray)))
+                    {
+                        return false;
+                    }
+                    dim.push_back(dimlen);
+                }
+            }
+        }
+        else
+        {
+            while (current != ']')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_value(dimlen, no_ndarray, current)))
+                {
+                    return false;
+                }
+                dim.push_back(dimlen);
+                get_ignore_noop();
+            }
+        }
+        return true;
+    }
+
+    /*!
+    @param[out] result  determined size
+    @param[in,out] is_ndarray  for input, `true` means already inside an ndarray vector
+                               or ndarray dimension is not allowed; `false` means ndarray
+                               is allowed; for output, `true` means an ndarray is found;
+                               is_ndarray can only return `true` when its initial value
+                               is `false`
+    @param[in] prefix  type marker if already read, otherwise set to 0
+
+    @return whether size determination completed
+    */
+    bool get_ubjson_size_value(std::size_t& result, bool& is_ndarray, char_int_type prefix = 0)
+    {
+        if (prefix == 0)
+        {
+            prefix = get_ignore_noop();
+        }
+
+        switch (prefix)
+        {
+            case 'U':
+            {
+                std::uint8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number); // NOLINT(bugprone-signed-char-misuse,cert-str34-c): number is not a char
+                return true;
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (number < 0)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read,
+                                            exception_message(input_format, "count in an optimized container must be positive", "size"), nullptr));
+                }
+                if (!value_in_range_of<std::size_t>(number))
+                {
+                    return sax->parse_error(chars_read, get_token_string(), out_of_range::create(408,
+                                            exception_message(input_format, "integer value overflow", "size"), nullptr));
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'u':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint16_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                result = static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'm':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint32_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                result = conditional_static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case 'M':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint64_t number{};
+                if (JSON_HEDLEY_UNLIKELY(!get_number(input_format, number)))
+                {
+                    return false;
+                }
+                if (!value_in_range_of<std::size_t>(number))
+                {
+                    return sax->parse_error(chars_read, get_token_string(), out_of_range::create(408,
+                                            exception_message(input_format, "integer value overflow", "size"), nullptr));
+                }
+                result = detail::conditional_static_cast<std::size_t>(number);
+                return true;
+            }
+
+            case '[':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                if (is_ndarray) // ndarray dimensional vector can only contain integers, and can not embed another array
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(113, chars_read, exception_message(input_format, "ndarray dimensional vector is not allowed", "size"), nullptr));
+                }
+                std::vector<size_t> dim;
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_ndarray_size(dim)))
+                {
+                    return false;
+                }
+                if (dim.size() == 1 || (dim.size() == 2 && dim.at(0) == 1)) // return normal array size if 1D row vector
+                {
+                    result = dim.at(dim.size() - 1);
+                    return true;
+                }
+                if (!dim.empty())  // if ndarray, convert to an object in JData annotated array format
+                {
+                    for (auto i : dim) // test if any dimension in an ndarray is 0, if so, return a 1D empty container
+                    {
+                        if ( i == 0 )
+                        {
+                            result = 0;
+                            return true;
+                        }
+                    }
+
+                    string_t key = "_ArraySize_";
+                    if (JSON_HEDLEY_UNLIKELY(!sax->start_object(3) || !sax->key(key) || !sax->start_array(dim.size())))
+                    {
+                        return false;
+                    }
+                    result = 1;
+                    for (auto i : dim)
+                    {
+                        result *= i;
+                        if (result == 0 || result == npos) // because dim elements shall not have zeros, result = 0 means overflow happened; it also can't be npos as it is used to initialize size in get_ubjson_size_type()
+                        {
+                            return sax->parse_error(chars_read, get_token_string(), out_of_range::create(408, exception_message(input_format, "excessive ndarray size caused overflow", "size"), nullptr));
+                        }
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_unsigned(static_cast<number_unsigned_t>(i))))
+                        {
+                            return false;
+                        }
+                    }
+                    is_ndarray = true;
+                    return sax->end_array();
+                }
+                result = 0;
+                return true;
+            }
+
+            default:
+                break;
+        }
+        auto last_token = get_token_string();
+        std::string message;
+
+        if (input_format != input_format_t::bjdata)
+        {
+            message = "expected length type specification (U, i, I, l, L) after '#'; last byte: 0x" + last_token;
+        }
+        else
+        {
+            message = "expected length type specification (U, i, u, I, m, l, M, L) after '#'; last byte: 0x" + last_token;
+        }
+        return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read, exception_message(input_format, message, "size"), nullptr));
+    }
+
+    /*!
+    @brief determine the type and size for a container
+
+    In the optimized UBJSON format, a type and a size can be provided to allow
+    for a more compact representation.
+
+    @param[out] result  pair of the size and the type
+    @param[in] inside_ndarray  whether the parser is parsing an ND array dimensional vector
+
+    @return whether pair creation completed
+    */
+    bool get_ubjson_size_type(std::pair<std::size_t, char_int_type>& result, bool inside_ndarray = false)
+    {
+        result.first = npos; // size
+        result.second = 0; // type
+        bool is_ndarray = false;
+
+        get_ignore_noop();
+
+        if (current == '$')
+        {
+            result.second = get();  // must not ignore 'N', because 'N' maybe the type
+            if (input_format == input_format_t::bjdata
+                    && JSON_HEDLEY_UNLIKELY(std::binary_search(bjd_optimized_type_markers.begin(), bjd_optimized_type_markers.end(), result.second)))
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format, concat("marker 0x", last_token, " is not a permitted optimized array type"), "type"), nullptr));
+            }
+
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "type")))
+            {
+                return false;
+            }
+
+            get_ignore_noop();
+            if (JSON_HEDLEY_UNLIKELY(current != '#'))
+            {
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "value")))
+                {
+                    return false;
+                }
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format, concat("expected '#' after type information; last byte: 0x", last_token), "size"), nullptr));
+            }
+
+            const bool is_error = get_ubjson_size_value(result.first, is_ndarray);
+            if (input_format == input_format_t::bjdata && is_ndarray)
+            {
+                if (inside_ndarray)
+                {
+                    return sax->parse_error(chars_read, get_token_string(), parse_error::create(112, chars_read,
+                                            exception_message(input_format, "ndarray can not be recursive", "size"), nullptr));
+                }
+                result.second |= (1 << 8); // use bit 8 to indicate ndarray, all UBJSON and BJData markers should be ASCII letters
+            }
+            return is_error;
+        }
+
+        if (current == '#')
+        {
+            const bool is_error = get_ubjson_size_value(result.first, is_ndarray);
+            if (input_format == input_format_t::bjdata && is_ndarray)
+            {
+                return sax->parse_error(chars_read, get_token_string(), parse_error::create(112, chars_read,
+                                        exception_message(input_format, "ndarray requires both type and size", "size"), nullptr));
+            }
+            return is_error;
+        }
+
+        return true;
+    }
+
+    /*!
+    @param prefix  the previously read or set type prefix
+    @return whether value creation completed
+    */
+    bool get_ubjson_value(const char_int_type prefix)
+    {
+        switch (prefix)
+        {
+            case char_traits<char_type>::eof():  // EOF
+                return unexpect_eof(input_format, "value");
+
+            case 'T':  // true
+                return sax->boolean(true);
+            case 'F':  // false
+                return sax->boolean(false);
+
+            case 'Z':  // null
+                return sax->null();
+
+            case 'U':
+            {
+                std::uint8_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'i':
+            {
+                std::int8_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'I':
+            {
+                std::int16_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'l':
+            {
+                std::int32_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'L':
+            {
+                std::int64_t number{};
+                return get_number(input_format, number) && sax->number_integer(number);
+            }
+
+            case 'u':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint16_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'm':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint32_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'M':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                std::uint64_t number{};
+                return get_number(input_format, number) && sax->number_unsigned(number);
+            }
+
+            case 'h':
+            {
+                if (input_format != input_format_t::bjdata)
+                {
+                    break;
+                }
+                const auto byte1_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "number")))
+                {
+                    return false;
+                }
+                const auto byte2_raw = get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "number")))
+                {
+                    return false;
+                }
+
+                const auto byte1 = static_cast<unsigned char>(byte1_raw);
+                const auto byte2 = static_cast<unsigned char>(byte2_raw);
+
+                // code from RFC 7049, Appendix D, Figure 3:
+                // As half-precision floating-point numbers were only added
+                // to IEEE 754 in 2008, today's programming platforms often
+                // still only have limited support for them. It is very
+                // easy to include at least decoding support for them even
+                // without such support. An example of a small decoder for
+                // half-precision floating-point numbers in the C language
+                // is shown in Fig. 3.
+                const auto half = static_cast<unsigned int>((byte2 << 8u) + byte1);
+                const double val = [&half]
+                {
+                    const int exp = (half >> 10u) & 0x1Fu;
+                    const unsigned int mant = half & 0x3FFu;
+                    JSON_ASSERT(0 <= exp&& exp <= 32);
+                    JSON_ASSERT(mant <= 1024);
+                    switch (exp)
+                    {
+                        case 0:
+                            return std::ldexp(mant, -24);
+                        case 31:
+                            return (mant == 0)
+                            ? std::numeric_limits<double>::infinity()
+                            : std::numeric_limits<double>::quiet_NaN();
+                        default:
+                            return std::ldexp(mant + 1024, exp - 25);
+                    }
+                }();
+                return sax->number_float((half & 0x8000u) != 0
+                                         ? static_cast<number_float_t>(-val)
+                                         : static_cast<number_float_t>(val), "");
+            }
+
+            case 'd':
+            {
+                float number{};
+                return get_number(input_format, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'D':
+            {
+                double number{};
+                return get_number(input_format, number) && sax->number_float(static_cast<number_float_t>(number), "");
+            }
+
+            case 'H':
+            {
+                return get_ubjson_high_precision_number();
+            }
+
+            case 'C':  // char
+            {
+                get();
+                if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "char")))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(current > 127))
+                {
+                    auto last_token = get_token_string();
+                    return sax->parse_error(chars_read, last_token, parse_error::create(113, chars_read,
+                                            exception_message(input_format, concat("byte after 'C' must be in range 0x00..0x7F; last byte: 0x", last_token), "char"), nullptr));
+                }
+                string_t s(1, static_cast<typename string_t::value_type>(current));
+                return sax->string(s);
+            }
+
+            case 'S':  // string
+            {
+                string_t s;
+                return get_ubjson_string(s) && sax->string(s);
+            }
+
+            case '[':  // array
+                return get_ubjson_array();
+
+            case '{':  // object
+                return get_ubjson_object();
+
+            default: // anything else
+                break;
+        }
+        auto last_token = get_token_string();
+        return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read, exception_message(input_format, "invalid byte: 0x" + last_token, "value"), nullptr));
+    }
+
+    /*!
+    @return whether array creation completed
+    */
+    bool get_ubjson_array()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        // if bit-8 of size_and_type.second is set to 1, encode bjdata ndarray as an object in JData annotated array format (https://github.com/NeuroJSON/jdata):
+        // {"_ArrayType_" : "typeid", "_ArraySize_" : [n1, n2, ...], "_ArrayData_" : [v1, v2, ...]}
+
+        if (input_format == input_format_t::bjdata && size_and_type.first != npos && (size_and_type.second & (1 << 8)) != 0)
+        {
+            size_and_type.second &= ~(static_cast<char_int_type>(1) << 8);  // use bit 8 to indicate ndarray, here we remove the bit to restore the type marker
+            auto it = std::lower_bound(bjd_types_map.begin(), bjd_types_map.end(), size_and_type.second, [](const bjd_type & p, char_int_type t)
+            {
+                return p.first < t;
+            });
+            string_t key = "_ArrayType_";
+            if (JSON_HEDLEY_UNLIKELY(it == bjd_types_map.end() || it->first != size_and_type.second))
+            {
+                auto last_token = get_token_string();
+                return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                        exception_message(input_format, "invalid byte: 0x" + last_token, "type"), nullptr));
+            }
+
+            string_t type = it->second; // sax->string() takes a reference
+            if (JSON_HEDLEY_UNLIKELY(!sax->key(key) || !sax->string(type)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second == 'C')
+            {
+                size_and_type.second = 'U';
+            }
+
+            key = "_ArrayData_";
+            if (JSON_HEDLEY_UNLIKELY(!sax->key(key) || !sax->start_array(size_and_type.first) ))
+            {
+                return false;
+            }
+
+            for (std::size_t i = 0; i < size_and_type.first; ++i)
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                {
+                    return false;
+                }
+            }
+
+            return (sax->end_array() && sax->end_object());
+        }
+
+        if (size_and_type.first != npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                if (size_and_type.second != 'N')
+                {
+                    for (std::size_t i = 0; i < size_and_type.first; ++i)
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                        {
+                            return false;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_array(static_cast<std::size_t>(-1))))
+            {
+                return false;
+            }
+
+            while (current != ']')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal(false)))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+            }
+        }
+
+        return sax->end_array();
+    }
+
+    /*!
+    @return whether object creation completed
+    */
+    bool get_ubjson_object()
+    {
+        std::pair<std::size_t, char_int_type> size_and_type;
+        if (JSON_HEDLEY_UNLIKELY(!get_ubjson_size_type(size_and_type)))
+        {
+            return false;
+        }
+
+        // do not accept ND-array size in objects in BJData
+        if (input_format == input_format_t::bjdata && size_and_type.first != npos && (size_and_type.second & (1 << 8)) != 0)
+        {
+            auto last_token = get_token_string();
+            return sax->parse_error(chars_read, last_token, parse_error::create(112, chars_read,
+                                    exception_message(input_format, "BJData object does not support ND-array size in optimized format", "object"), nullptr));
+        }
+
+        string_t key;
+        if (size_and_type.first != npos)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(size_and_type.first)))
+            {
+                return false;
+            }
+
+            if (size_and_type.second != 0)
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_value(size_and_type.second)))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+            else
+            {
+                for (std::size_t i = 0; i < size_and_type.first; ++i)
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key) || !sax->key(key)))
+                    {
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                    {
+                        return false;
+                    }
+                    key.clear();
+                }
+            }
+        }
+        else
+        {
+            if (JSON_HEDLEY_UNLIKELY(!sax->start_object(static_cast<std::size_t>(-1))))
+            {
+                return false;
+            }
+
+            while (current != '}')
+            {
+                if (JSON_HEDLEY_UNLIKELY(!get_ubjson_string(key, false) || !sax->key(key)))
+                {
+                    return false;
+                }
+                if (JSON_HEDLEY_UNLIKELY(!parse_ubjson_internal()))
+                {
+                    return false;
+                }
+                get_ignore_noop();
+                key.clear();
+            }
+        }
+
+        return sax->end_object();
+    }
+
+    // Note, no reader for UBJSON binary types is implemented because they do
+    // not exist
+
+    bool get_ubjson_high_precision_number()
+    {
+        // get size of following number string
+        std::size_t size{};
+        bool no_ndarray = true;
+        auto res = get_ubjson_size_value(size, no_ndarray);
+        if (JSON_HEDLEY_UNLIKELY(!res))
+        {
+            return res;
+        }
+
+        // get number string
+        std::vector<char> number_vector;
+        for (std::size_t i = 0; i < size; ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(input_format, "number")))
+            {
+                return false;
+            }
+            number_vector.push_back(static_cast<char>(current));
+        }
+
+        // parse number string
+        using ia_type = decltype(detail::input_adapter(number_vector));
+        auto number_lexer = detail::lexer<BasicJsonType, ia_type>(detail::input_adapter(number_vector), false);
+        const auto result_number = number_lexer.scan();
+        const auto number_string = number_lexer.get_token_string();
+        const auto result_remainder = number_lexer.scan();
+
+        using token_type = typename detail::lexer_base<BasicJsonType>::token_type;
+
+        if (JSON_HEDLEY_UNLIKELY(result_remainder != token_type::end_of_input))
+        {
+            return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read,
+                                    exception_message(input_format, concat("invalid number text: ", number_lexer.get_token_string()), "high-precision number"), nullptr));
+        }
+
+        switch (result_number)
+        {
+            case token_type::value_integer:
+                return sax->number_integer(number_lexer.get_number_integer());
+            case token_type::value_unsigned:
+                return sax->number_unsigned(number_lexer.get_number_unsigned());
+            case token_type::value_float:
+                return sax->number_float(number_lexer.get_number_float(), std::move(number_string));
+            case token_type::uninitialized:
+            case token_type::literal_true:
+            case token_type::literal_false:
+            case token_type::literal_null:
+            case token_type::value_string:
+            case token_type::begin_array:
+            case token_type::begin_object:
+            case token_type::end_array:
+            case token_type::end_object:
+            case token_type::name_separator:
+            case token_type::value_separator:
+            case token_type::parse_error:
+            case token_type::end_of_input:
+            case token_type::literal_or_value:
+            default:
+                return sax->parse_error(chars_read, number_string, parse_error::create(115, chars_read,
+                                        exception_message(input_format, concat("invalid number text: ", number_lexer.get_token_string()), "high-precision number"), nullptr));
+        }
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*!
+    @brief get next character from the input
+
+    This function provides the interface to the used input adapter. It does
+    not throw in case the input reached EOF, but returns a -'ve valued
+    `char_traits<char_type>::eof()` in that case.
+
+    @return character read from the input
+    */
+    char_int_type get()
+    {
+        ++chars_read;
+        return current = ia.get_character();
+    }
+
+    /*!
+    @return character read from the input after ignoring all 'N' entries
+    */
+    char_int_type get_ignore_noop()
+    {
+        do
+        {
+            get();
+        }
+        while (current == 'N');
+
+        return current;
+    }
+
+    /*
+    @brief read a number from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format   the current format (for diagnostics)
+    @param[out] result  number of type @a NumberType
+
+    @return whether conversion completed
+
+    @note This function needs to respect the system's endianness, because
+          bytes in CBOR, MessagePack, and UBJSON are stored in network order
+          (big endian) and therefore need reordering on little endian systems.
+          On the other hand, BSON and BJData use little endian and should reorder
+          on big endian systems.
+    */
+    template<typename NumberType, bool InputIsLittleEndian = false>
+    bool get_number(const input_format_t format, NumberType& result)
+    {
+        // step 1: read input into array with system's byte order
+        std::array<std::uint8_t, sizeof(NumberType)> vec{};
+        for (std::size_t i = 0; i < sizeof(NumberType); ++i)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "number")))
+            {
+                return false;
+            }
+
+            // reverse byte order prior to conversion if necessary
+            if (is_little_endian != (InputIsLittleEndian || format == input_format_t::bjdata))
+            {
+                vec[sizeof(NumberType) - i - 1] = static_cast<std::uint8_t>(current);
+            }
+            else
+            {
+                vec[i] = static_cast<std::uint8_t>(current); // LCOV_EXCL_LINE
+            }
+        }
+
+        // step 2: convert array into number of type T and return
+        std::memcpy(&result, vec.data(), sizeof(NumberType));
+        return true;
+    }
+
+    /*!
+    @brief create a string by reading characters from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of characters to read
+    @param[out] result string created by reading @a len bytes
+
+    @return whether string creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of string memory.
+    */
+    template<typename NumberType>
+    bool get_string(const input_format_t format,
+                    const NumberType len,
+                    string_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "string")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<typename string_t::value_type>(current));
+        }
+        return success;
+    }
+
+    /*!
+    @brief create a byte array by reading bytes from the input
+
+    @tparam NumberType the type of the number
+    @param[in] format the current format (for diagnostics)
+    @param[in] len number of bytes to read
+    @param[out] result byte array created by reading @a len bytes
+
+    @return whether byte array creation completed
+
+    @note We can not reserve @a len bytes for the result, because @a len
+          may be too large. Usually, @ref unexpect_eof() detects the end of
+          the input before we run out of memory.
+    */
+    template<typename NumberType>
+    bool get_binary(const input_format_t format,
+                    const NumberType len,
+                    binary_t& result)
+    {
+        bool success = true;
+        for (NumberType i = 0; i < len; i++)
+        {
+            get();
+            if (JSON_HEDLEY_UNLIKELY(!unexpect_eof(format, "binary")))
+            {
+                success = false;
+                break;
+            }
+            result.push_back(static_cast<std::uint8_t>(current));
+        }
+        return success;
+    }
+
+    /*!
+    @param[in] format   the current format (for diagnostics)
+    @param[in] context  further context information (for diagnostics)
+    @return whether the last read character is not EOF
+    */
+    JSON_HEDLEY_NON_NULL(3)
+    bool unexpect_eof(const input_format_t format, const char* context) const
+    {
+        if (JSON_HEDLEY_UNLIKELY(current == char_traits<char_type>::eof()))
+        {
+            return sax->parse_error(chars_read, "<end of file>",
+                                    parse_error::create(110, chars_read, exception_message(format, "unexpected end of input", context), nullptr));
+        }
+        return true;
+    }
+
+    /*!
+    @return a string representation of the last read byte
+    */
+    std::string get_token_string() const
+    {
+        std::array<char, 3> cr{{}};
+        static_cast<void>((std::snprintf)(cr.data(), cr.size(), "%.2hhX", static_cast<unsigned char>(current))); // NOLINT(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+        return std::string{cr.data()};
+    }
+
+    /*!
+    @param[in] format   the current format
+    @param[in] detail   a detailed error message
+    @param[in] context  further context information
+    @return a message string to use in the parse_error exceptions
+    */
+    std::string exception_message(const input_format_t format,
+                                  const std::string& detail,
+                                  const std::string& context) const
+    {
+        std::string error_msg = "syntax error while parsing ";
+
+        switch (format)
+        {
+            case input_format_t::cbor:
+                error_msg += "CBOR";
+                break;
+
+            case input_format_t::msgpack:
+                error_msg += "MessagePack";
+                break;
+
+            case input_format_t::ubjson:
+                error_msg += "UBJSON";
+                break;
+
+            case input_format_t::bson:
+                error_msg += "BSON";
+                break;
+
+            case input_format_t::bjdata:
+                error_msg += "BJData";
+                break;
+
+            case input_format_t::json: // LCOV_EXCL_LINE
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+
+        return concat(error_msg, ' ', context, ": ", detail);
+    }
+
+  private:
+    static JSON_INLINE_VARIABLE constexpr std::size_t npos = static_cast<std::size_t>(-1);
+
+    /// input adapter
+    InputAdapterType ia;
+
+    /// the current character
+    char_int_type current = char_traits<char_type>::eof();
+
+    /// the number of characters read
+    std::size_t chars_read = 0;
+
+    /// whether we can assume little endianness
+    const bool is_little_endian = little_endianness();
+
+    /// input format
+    const input_format_t input_format = input_format_t::json;
+
+    /// the SAX parser
+    json_sax_t* sax = nullptr;
+
+    // excluded markers in bjdata optimized type
+#define JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_ \
+    make_array<char_int_type>('F', 'H', 'N', 'S', 'T', 'Z', '[', '{')
+
+#define JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_ \
+    make_array<bjd_type>(                      \
+    bjd_type{'C', "char"},                     \
+    bjd_type{'D', "double"},                   \
+    bjd_type{'I', "int16"},                    \
+    bjd_type{'L', "int64"},                    \
+    bjd_type{'M', "uint64"},                   \
+    bjd_type{'U', "uint8"},                    \
+    bjd_type{'d', "single"},                   \
+    bjd_type{'i', "int8"},                     \
+    bjd_type{'l', "int32"},                    \
+    bjd_type{'m', "uint32"},                   \
+    bjd_type{'u', "uint16"})
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    // lookup tables
+    // NOLINTNEXTLINE(cppcoreguidelines-non-private-member-variables-in-classes)
+    const decltype(JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_) bjd_optimized_type_markers =
+        JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_;
+
+    using bjd_type = std::pair<char_int_type, string_t>;
+    // NOLINTNEXTLINE(cppcoreguidelines-non-private-member-variables-in-classes)
+    const decltype(JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_) bjd_types_map =
+        JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_;
+
+#undef JSON_BINARY_READER_MAKE_BJD_OPTIMIZED_TYPE_MARKERS_
+#undef JSON_BINARY_READER_MAKE_BJD_TYPES_MAP_
+};
+
+#ifndef JSON_HAS_CPP_17
+    template<typename BasicJsonType, typename InputAdapterType, typename SAX>
+    constexpr std::size_t binary_reader<BasicJsonType, InputAdapterType, SAX>::npos;
+#endif
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/input/parser.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cmath> // isfinite
+#include <cstdint> // uint8_t
+#include <functional> // function
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/input/input_adapters.hpp>
+
+// #include <nlohmann/detail/input/json_sax.hpp>
+
+// #include <nlohmann/detail/input/lexer.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/is_sax.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+////////////
+// parser //
+////////////
+
+enum class parse_event_t : std::uint8_t
+{
+    /// the parser read `{` and started to process a JSON object
+    object_start,
+    /// the parser read `}` and finished processing a JSON object
+    object_end,
+    /// the parser read `[` and started to process a JSON array
+    array_start,
+    /// the parser read `]` and finished processing a JSON array
+    array_end,
+    /// the parser read a key of a value in an object
+    key,
+    /// the parser finished reading a JSON value
+    value
+};
+
+template<typename BasicJsonType>
+using parser_callback_t =
+    std::function<bool(int /*depth*/, parse_event_t /*event*/, BasicJsonType& /*parsed*/)>;
+
+/*!
+@brief syntax analysis
+
+This class implements a recursive descent parser.
+*/
+template<typename BasicJsonType, typename InputAdapterType>
+class parser
+{
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using string_t = typename BasicJsonType::string_t;
+    using lexer_t = lexer<BasicJsonType, InputAdapterType>;
+    using token_type = typename lexer_t::token_type;
+
+  public:
+    /// a parser reading from an input adapter
+    explicit parser(InputAdapterType&& adapter,
+                    const parser_callback_t<BasicJsonType> cb = nullptr,
+                    const bool allow_exceptions_ = true,
+                    const bool skip_comments = false)
+        : callback(cb)
+        , m_lexer(std::move(adapter), skip_comments)
+        , allow_exceptions(allow_exceptions_)
+    {
+        // read first token
+        get_token();
+    }
+
+    /*!
+    @brief public parser interface
+
+    @param[in] strict      whether to expect the last token to be EOF
+    @param[in,out] result  parsed JSON value
+
+    @throw parse_error.101 in case of an unexpected token
+    @throw parse_error.102 if to_unicode fails or surrogate error
+    @throw parse_error.103 if to_unicode fails
+    */
+    void parse(const bool strict, BasicJsonType& result)
+    {
+        if (callback)
+        {
+            json_sax_dom_callback_parser<BasicJsonType> sdp(result, callback, allow_exceptions);
+            sax_parse_internal(&sdp);
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(),
+                                                    exception_message(token_type::end_of_input, "value"), nullptr));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+
+            // set top-level value to null if it was discarded by the callback
+            // function
+            if (result.is_discarded())
+            {
+                result = nullptr;
+            }
+        }
+        else
+        {
+            json_sax_dom_parser<BasicJsonType> sdp(result, allow_exceptions);
+            sax_parse_internal(&sdp);
+
+            // in strict mode, input must be completely read
+            if (strict && (get_token() != token_type::end_of_input))
+            {
+                sdp.parse_error(m_lexer.get_position(),
+                                m_lexer.get_token_string(),
+                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_of_input, "value"), nullptr));
+            }
+
+            // in case of an error, return discarded value
+            if (sdp.is_errored())
+            {
+                result = value_t::discarded;
+                return;
+            }
+        }
+
+        result.assert_invariant();
+    }
+
+    /*!
+    @brief public accept interface
+
+    @param[in] strict  whether to expect the last token to be EOF
+    @return whether the input is a proper JSON text
+    */
+    bool accept(const bool strict = true)
+    {
+        json_sax_acceptor<BasicJsonType> sax_acceptor;
+        return sax_parse(&sax_acceptor, strict);
+    }
+
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse(SAX* sax, const bool strict = true)
+    {
+        (void)detail::is_sax_static_asserts<SAX, BasicJsonType> {};
+        const bool result = sax_parse_internal(sax);
+
+        // strict mode: next byte must be EOF
+        if (result && strict && (get_token() != token_type::end_of_input))
+        {
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_of_input, "value"), nullptr));
+        }
+
+        return result;
+    }
+
+  private:
+    template<typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    bool sax_parse_internal(SAX* sax)
+    {
+        // stack to remember the hierarchy of structured values we are parsing
+        // true = array; false = object
+        std::vector<bool> states;
+        // value to avoid a goto (see comment where set to true)
+        bool skip_to_state_evaluation = false;
+
+        while (true)
+        {
+            if (!skip_to_state_evaluation)
+            {
+                // invariant: get_token() was called before each iteration
+                switch (last_token)
+                {
+                    case token_type::begin_object:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_object(static_cast<std::size_t>(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing } -> we are done
+                        if (get_token() == token_type::end_object)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // parse key
+                        if (JSON_HEDLEY_UNLIKELY(last_token != token_type::value_string))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::value_string, "object key"), nullptr));
+                        }
+                        if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        // parse separator (:)
+                        if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::name_separator, "object separator"), nullptr));
+                        }
+
+                        // remember we are now inside an object
+                        states.push_back(false);
+
+                        // parse values
+                        get_token();
+                        continue;
+                    }
+
+                    case token_type::begin_array:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->start_array(static_cast<std::size_t>(-1))))
+                        {
+                            return false;
+                        }
+
+                        // closing ] -> we are done
+                        if (get_token() == token_type::end_array)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                            {
+                                return false;
+                            }
+                            break;
+                        }
+
+                        // remember we are now inside an array
+                        states.push_back(true);
+
+                        // parse values (no need to call get_token)
+                        continue;
+                    }
+
+                    case token_type::value_float:
+                    {
+                        const auto res = m_lexer.get_number_float();
+
+                        if (JSON_HEDLEY_UNLIKELY(!std::isfinite(res)))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    out_of_range::create(406, concat("number overflow parsing '", m_lexer.get_token_string(), '\''), nullptr));
+                        }
+
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_float(res, m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+
+                        break;
+                    }
+
+                    case token_type::literal_false:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(false)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_null:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->null()))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::literal_true:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->boolean(true)))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_integer:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_integer(m_lexer.get_number_integer())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_string:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->string(m_lexer.get_string())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::value_unsigned:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!sax->number_unsigned(m_lexer.get_number_unsigned())))
+                        {
+                            return false;
+                        }
+                        break;
+                    }
+
+                    case token_type::parse_error:
+                    {
+                        // using "uninitialized" to avoid "expected" message
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::uninitialized, "value"), nullptr));
+                    }
+                    case token_type::end_of_input:
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(m_lexer.get_position().chars_read_total == 1))
+                        {
+                            return sax->parse_error(m_lexer.get_position(),
+                                                    m_lexer.get_token_string(),
+                                                    parse_error::create(101, m_lexer.get_position(),
+                                                            "attempting to parse an empty input; check that your input string or stream contains the expected JSON", nullptr));
+                        }
+
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::literal_or_value, "value"), nullptr));
+                    }
+                    case token_type::uninitialized:
+                    case token_type::end_array:
+                    case token_type::end_object:
+                    case token_type::name_separator:
+                    case token_type::value_separator:
+                    case token_type::literal_or_value:
+                    default: // the last token was unexpected
+                    {
+                        return sax->parse_error(m_lexer.get_position(),
+                                                m_lexer.get_token_string(),
+                                                parse_error::create(101, m_lexer.get_position(), exception_message(token_type::literal_or_value, "value"), nullptr));
+                    }
+                }
+            }
+            else
+            {
+                skip_to_state_evaluation = false;
+            }
+
+            // we reached this line after we successfully parsed a value
+            if (states.empty())
+            {
+                // empty stack: we reached the end of the hierarchy: done
+                return true;
+            }
+
+            if (states.back())  // array
+            {
+                // comma -> next value
+                if (get_token() == token_type::value_separator)
+                {
+                    // parse a new value
+                    get_token();
+                    continue;
+                }
+
+                // closing ]
+                if (JSON_HEDLEY_LIKELY(last_token == token_type::end_array))
+                {
+                    if (JSON_HEDLEY_UNLIKELY(!sax->end_array()))
+                    {
+                        return false;
+                    }
+
+                    // We are done with this array. Before we can parse a
+                    // new value, we need to evaluate the new state first.
+                    // By setting skip_to_state_evaluation to false, we
+                    // are effectively jumping to the beginning of this if.
+                    JSON_ASSERT(!states.empty());
+                    states.pop_back();
+                    skip_to_state_evaluation = true;
+                    continue;
+                }
+
+                return sax->parse_error(m_lexer.get_position(),
+                                        m_lexer.get_token_string(),
+                                        parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_array, "array"), nullptr));
+            }
+
+            // states.back() is false -> object
+
+            // comma -> next value
+            if (get_token() == token_type::value_separator)
+            {
+                // parse key
+                if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::value_string))
+                {
+                    return sax->parse_error(m_lexer.get_position(),
+                                            m_lexer.get_token_string(),
+                                            parse_error::create(101, m_lexer.get_position(), exception_message(token_type::value_string, "object key"), nullptr));
+                }
+
+                if (JSON_HEDLEY_UNLIKELY(!sax->key(m_lexer.get_string())))
+                {
+                    return false;
+                }
+
+                // parse separator (:)
+                if (JSON_HEDLEY_UNLIKELY(get_token() != token_type::name_separator))
+                {
+                    return sax->parse_error(m_lexer.get_position(),
+                                            m_lexer.get_token_string(),
+                                            parse_error::create(101, m_lexer.get_position(), exception_message(token_type::name_separator, "object separator"), nullptr));
+                }
+
+                // parse values
+                get_token();
+                continue;
+            }
+
+            // closing }
+            if (JSON_HEDLEY_LIKELY(last_token == token_type::end_object))
+            {
+                if (JSON_HEDLEY_UNLIKELY(!sax->end_object()))
+                {
+                    return false;
+                }
+
+                // We are done with this object. Before we can parse a
+                // new value, we need to evaluate the new state first.
+                // By setting skip_to_state_evaluation to false, we
+                // are effectively jumping to the beginning of this if.
+                JSON_ASSERT(!states.empty());
+                states.pop_back();
+                skip_to_state_evaluation = true;
+                continue;
+            }
+
+            return sax->parse_error(m_lexer.get_position(),
+                                    m_lexer.get_token_string(),
+                                    parse_error::create(101, m_lexer.get_position(), exception_message(token_type::end_object, "object"), nullptr));
+        }
+    }
+
+    /// get next token from lexer
+    token_type get_token()
+    {
+        return last_token = m_lexer.scan();
+    }
+
+    std::string exception_message(const token_type expected, const std::string& context)
+    {
+        std::string error_msg = "syntax error ";
+
+        if (!context.empty())
+        {
+            error_msg += concat("while parsing ", context, ' ');
+        }
+
+        error_msg += "- ";
+
+        if (last_token == token_type::parse_error)
+        {
+            error_msg += concat(m_lexer.get_error_message(), "; last read: '",
+                                m_lexer.get_token_string(), '\'');
+        }
+        else
+        {
+            error_msg += concat("unexpected ", lexer_t::token_type_name(last_token));
+        }
+
+        if (expected != token_type::uninitialized)
+        {
+            error_msg += concat("; expected ", lexer_t::token_type_name(expected));
+        }
+
+        return error_msg;
+    }
+
+  private:
+    /// callback function
+    const parser_callback_t<BasicJsonType> callback = nullptr;
+    /// the type of the last read token
+    token_type last_token = token_type::uninitialized;
+    /// the lexer
+    lexer_t m_lexer;
+    /// whether to throw exceptions in case of errors
+    const bool allow_exceptions = true;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstddef> // ptrdiff_t
+#include <limits>  // numeric_limits
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*
+@brief an iterator for primitive JSON types
+
+This class models an iterator for primitive JSON types (boolean, number,
+string). It's only purpose is to allow the iterator/const_iterator classes
+to "iterate" over primitive values. Internally, the iterator is modeled by
+a `difference_type` variable. Value begin_value (`0`) models the begin,
+end_value (`1`) models past the end.
+*/
+class primitive_iterator_t
+{
+  private:
+    using difference_type = std::ptrdiff_t;
+    static constexpr difference_type begin_value = 0;
+    static constexpr difference_type end_value = begin_value + 1;
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /// iterator as signed integer type
+    difference_type m_it = (std::numeric_limits<std::ptrdiff_t>::min)();
+
+  public:
+    constexpr difference_type get_value() const noexcept
+    {
+        return m_it;
+    }
+
+    /// set iterator to a defined beginning
+    void set_begin() noexcept
+    {
+        m_it = begin_value;
+    }
+
+    /// set iterator to a defined past the end
+    void set_end() noexcept
+    {
+        m_it = end_value;
+    }
+
+    /// return whether the iterator can be dereferenced
+    constexpr bool is_begin() const noexcept
+    {
+        return m_it == begin_value;
+    }
+
+    /// return whether the iterator is at end
+    constexpr bool is_end() const noexcept
+    {
+        return m_it == end_value;
+    }
+
+    friend constexpr bool operator==(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it == rhs.m_it;
+    }
+
+    friend constexpr bool operator<(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it < rhs.m_it;
+    }
+
+    primitive_iterator_t operator+(difference_type n) noexcept
+    {
+        auto result = *this;
+        result += n;
+        return result;
+    }
+
+    friend constexpr difference_type operator-(primitive_iterator_t lhs, primitive_iterator_t rhs) noexcept
+    {
+        return lhs.m_it - rhs.m_it;
+    }
+
+    primitive_iterator_t& operator++() noexcept
+    {
+        ++m_it;
+        return *this;
+    }
+
+    primitive_iterator_t operator++(int)& noexcept // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        ++m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator--() noexcept
+    {
+        --m_it;
+        return *this;
+    }
+
+    primitive_iterator_t operator--(int)& noexcept // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        --m_it;
+        return result;
+    }
+
+    primitive_iterator_t& operator+=(difference_type n) noexcept
+    {
+        m_it += n;
+        return *this;
+    }
+
+    primitive_iterator_t& operator-=(difference_type n) noexcept
+    {
+        m_it -= n;
+        return *this;
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief an iterator value
+
+@note This structure could easily be a union, but MSVC currently does not allow
+unions members with complex constructors, see https://github.com/nlohmann/json/pull/105.
+*/
+template<typename BasicJsonType> struct internal_iterator
+{
+    /// iterator for JSON objects
+    typename BasicJsonType::object_t::iterator object_iterator {};
+    /// iterator for JSON arrays
+    typename BasicJsonType::array_t::iterator array_iterator {};
+    /// generic iterator for all other types
+    primitive_iterator_t primitive_iterator {};
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/iterators/iter_impl.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <iterator> // iterator, random_access_iterator_tag, bidirectional_iterator_tag, advance, next
+#include <type_traits> // conditional, is_const, remove_const
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/iterators/internal_iterator.hpp>
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+// forward declare, to be able to friend it later on
+template<typename IteratorType> class iteration_proxy;
+template<typename IteratorType> class iteration_proxy_value;
+
+/*!
+@brief a template for a bidirectional iterator for the @ref basic_json class
+This class implements a both iterators (iterator and const_iterator) for the
+@ref basic_json class.
+@note An iterator is called *initialized* when a pointer to a JSON value has
+      been set (e.g., by a constructor or a copy assignment). If the iterator is
+      default-constructed, it is *uninitialized* and most methods are undefined.
+      **The library uses assertions to detect calls on uninitialized iterators.**
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+@since version 1.0.0, simplified in version 2.0.9, change to bidirectional
+       iterators in version 3.0.0 (see https://github.com/nlohmann/json/issues/593)
+*/
+template<typename BasicJsonType>
+class iter_impl // NOLINT(cppcoreguidelines-special-member-functions,hicpp-special-member-functions)
+{
+    /// the iterator with BasicJsonType of different const-ness
+    using other_iter_impl = iter_impl<typename std::conditional<std::is_const<BasicJsonType>::value, typename std::remove_const<BasicJsonType>::type, const BasicJsonType>::type>;
+    /// allow basic_json to access private members
+    friend other_iter_impl;
+    friend BasicJsonType;
+    friend iteration_proxy<iter_impl>;
+    friend iteration_proxy_value<iter_impl>;
+
+    using object_t = typename BasicJsonType::object_t;
+    using array_t = typename BasicJsonType::array_t;
+    // make sure BasicJsonType is basic_json or const basic_json
+    static_assert(is_basic_json<typename std::remove_const<BasicJsonType>::type>::value,
+                  "iter_impl only accepts (const) basic_json");
+    // superficial check for the LegacyBidirectionalIterator named requirement
+    static_assert(std::is_base_of<std::bidirectional_iterator_tag, std::bidirectional_iterator_tag>::value
+                  &&  std::is_base_of<std::bidirectional_iterator_tag, typename std::iterator_traits<typename array_t::iterator>::iterator_category>::value,
+                  "basic_json iterator assumes array and object type iterators satisfy the LegacyBidirectionalIterator named requirement.");
+
+  public:
+    /// The std::iterator class template (used as a base class to provide typedefs) is deprecated in C++17.
+    /// The C++ Standard has never required user-defined iterators to derive from std::iterator.
+    /// A user-defined iterator should provide publicly accessible typedefs named
+    /// iterator_category, value_type, difference_type, pointer, and reference.
+    /// Note that value_type is required to be non-const, even for constant iterators.
+    using iterator_category = std::bidirectional_iterator_tag;
+
+    /// the type of the values when the iterator is dereferenced
+    using value_type = typename BasicJsonType::value_type;
+    /// a type to represent differences between iterators
+    using difference_type = typename BasicJsonType::difference_type;
+    /// defines a pointer to the type iterated over (value_type)
+    using pointer = typename std::conditional<std::is_const<BasicJsonType>::value,
+          typename BasicJsonType::const_pointer,
+          typename BasicJsonType::pointer>::type;
+    /// defines a reference to the type iterated over (value_type)
+    using reference =
+        typename std::conditional<std::is_const<BasicJsonType>::value,
+        typename BasicJsonType::const_reference,
+        typename BasicJsonType::reference>::type;
+
+    iter_impl() = default;
+    ~iter_impl() = default;
+    iter_impl(iter_impl&&) noexcept = default;
+    iter_impl& operator=(iter_impl&&) noexcept = default;
+
+    /*!
+    @brief constructor for a given JSON instance
+    @param[in] object  pointer to a JSON object for this iterator
+    @pre object != nullptr
+    @post The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    explicit iter_impl(pointer object) noexcept : m_object(object)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = typename object_t::iterator();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = typename array_t::iterator();
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator = primitive_iterator_t();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @note The conventional copy constructor and copy assignment are implicitly
+          defined. Combined with the following converting constructor and
+          assignment, they support: (1) copy from iterator to iterator, (2)
+          copy from const iterator to const iterator, and (3) conversion from
+          iterator to const iterator. However conversion from const iterator
+          to iterator is not defined.
+    */
+
+    /*!
+    @brief const copy constructor
+    @param[in] other const iterator to copy from
+    @note This copy constructor had to be defined explicitly to circumvent a bug
+          occurring on msvc v19.0 compiler (VS 2015) debug build. For more
+          information refer to: https://github.com/nlohmann/json/issues/1608
+    */
+    iter_impl(const iter_impl<const BasicJsonType>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<const BasicJsonType>& other) noexcept
+    {
+        if (&other != this)
+        {
+            m_object = other.m_object;
+            m_it = other.m_it;
+        }
+        return *this;
+    }
+
+    /*!
+    @brief converting constructor
+    @param[in] other  non-const iterator to copy from
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept
+        : m_object(other.m_object), m_it(other.m_it)
+    {}
+
+    /*!
+    @brief converting assignment
+    @param[in] other  non-const iterator to copy from
+    @return const/non-const iterator
+    @note It is not checked whether @a other is initialized.
+    */
+    iter_impl& operator=(const iter_impl<typename std::remove_const<BasicJsonType>::type>& other) noexcept // NOLINT(cert-oop54-cpp)
+    {
+        m_object = other.m_object;
+        m_it = other.m_it;
+        return *this;
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /*!
+    @brief set the iterator to the first value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_begin() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_data.m_value.object->begin();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_data.m_value.array->begin();
+                break;
+            }
+
+            case value_t::null:
+            {
+                // set to end so begin()==end() is true: null is empty
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator.set_begin();
+                break;
+            }
+        }
+    }
+
+    /*!
+    @brief set the iterator past the last value
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    void set_end() noexcept
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_it.object_iterator = m_object->m_data.m_value.object->end();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_it.array_iterator = m_object->m_data.m_value.array->end();
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator.set_end();
+                break;
+            }
+        }
+    }
+
+  public:
+    /*!
+    @brief return a reference to the value pointed to by the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator*() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_data.m_value.object->end());
+                return m_it.object_iterator->second;
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_data.m_value.array->end());
+                return *m_it.array_iterator;
+            }
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+            }
+        }
+    }
+
+    /*!
+    @brief dereference the iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    pointer operator->() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                JSON_ASSERT(m_it.object_iterator != m_object->m_data.m_value.object->end());
+                return &(m_it.object_iterator->second);
+            }
+
+            case value_t::array:
+            {
+                JSON_ASSERT(m_it.array_iterator != m_object->m_data.m_value.array->end());
+                return &*m_it.array_iterator;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.is_begin()))
+                {
+                    return m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+            }
+        }
+    }
+
+    /*!
+    @brief post-increment (it++)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator++(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        ++(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-increment (++it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator++()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, 1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, 1);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                ++m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief post-decrement (it--)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator--(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        auto result = *this;
+        --(*this);
+        return result;
+    }
+
+    /*!
+    @brief pre-decrement (--it)
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator--()
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+            {
+                std::advance(m_it.object_iterator, -1);
+                break;
+            }
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, -1);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                --m_it.primitive_iterator;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief comparison: equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    template < typename IterImpl, detail::enable_if_t < (std::is_same<IterImpl, iter_impl>::value || std::is_same<IterImpl, other_iter_impl>::value), std::nullptr_t > = nullptr >
+    bool operator==(const IterImpl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers", m_object));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                return (m_it.object_iterator == other.m_it.object_iterator);
+
+            case value_t::array:
+                return (m_it.array_iterator == other.m_it.array_iterator);
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return (m_it.primitive_iterator == other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief comparison: not equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    template < typename IterImpl, detail::enable_if_t < (std::is_same<IterImpl, iter_impl>::value || std::is_same<IterImpl, other_iter_impl>::value), std::nullptr_t > = nullptr >
+    bool operator!=(const IterImpl& other) const
+    {
+        return !operator==(other);
+    }
+
+    /*!
+    @brief comparison: smaller
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<(const iter_impl& other) const
+    {
+        // if objects are not the same, the comparison is undefined
+        if (JSON_HEDLEY_UNLIKELY(m_object != other.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(212, "cannot compare iterators of different containers", m_object));
+        }
+
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(213, "cannot compare order of object iterators", m_object));
+
+            case value_t::array:
+                return (m_it.array_iterator < other.m_it.array_iterator);
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return (m_it.primitive_iterator < other.m_it.primitive_iterator);
+        }
+    }
+
+    /*!
+    @brief comparison: less than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator<=(const iter_impl& other) const
+    {
+        return !other.operator < (*this);
+    }
+
+    /*!
+    @brief comparison: greater than
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>(const iter_impl& other) const
+    {
+        return !operator<=(other);
+    }
+
+    /*!
+    @brief comparison: greater than or equal
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    bool operator>=(const iter_impl& other) const
+    {
+        return !operator<(other);
+    }
+
+    /*!
+    @brief add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator+=(difference_type i)
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators", m_object));
+
+            case value_t::array:
+            {
+                std::advance(m_it.array_iterator, i);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                m_it.primitive_iterator += i;
+                break;
+            }
+        }
+
+        return *this;
+    }
+
+    /*!
+    @brief subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl& operator-=(difference_type i)
+    {
+        return operator+=(-i);
+    }
+
+    /*!
+    @brief add to iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator+(difference_type i) const
+    {
+        auto result = *this;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief addition of distance and iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    friend iter_impl operator+(difference_type i, const iter_impl& it)
+    {
+        auto result = it;
+        result += i;
+        return result;
+    }
+
+    /*!
+    @brief subtract from iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    iter_impl operator-(difference_type i) const
+    {
+        auto result = *this;
+        result -= i;
+        return result;
+    }
+
+    /*!
+    @brief return difference
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    difference_type operator-(const iter_impl& other) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(209, "cannot use offsets with object iterators", m_object));
+
+            case value_t::array:
+                return m_it.array_iterator - other.m_it.array_iterator;
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                return m_it.primitive_iterator - other.m_it.primitive_iterator;
+        }
+    }
+
+    /*!
+    @brief access to successor
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference operator[](difference_type n) const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        switch (m_object->m_data.m_type)
+        {
+            case value_t::object:
+                JSON_THROW(invalid_iterator::create(208, "cannot use operator[] for object iterators", m_object));
+
+            case value_t::array:
+                return *std::next(m_it.array_iterator, n);
+
+            case value_t::null:
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                if (JSON_HEDLEY_LIKELY(m_it.primitive_iterator.get_value() == -n))
+                {
+                    return *m_object;
+                }
+
+                JSON_THROW(invalid_iterator::create(214, "cannot get value", m_object));
+            }
+        }
+    }
+
+    /*!
+    @brief return the key of an object iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    const typename object_t::key_type& key() const
+    {
+        JSON_ASSERT(m_object != nullptr);
+
+        if (JSON_HEDLEY_LIKELY(m_object->is_object()))
+        {
+            return m_it.object_iterator->first;
+        }
+
+        JSON_THROW(invalid_iterator::create(207, "cannot use key() for non-object iterators", m_object));
+    }
+
+    /*!
+    @brief return the value of an iterator
+    @pre The iterator is initialized; i.e. `m_object != nullptr`.
+    */
+    reference value() const
+    {
+        return operator*();
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /// associated JSON instance
+    pointer m_object = nullptr;
+    /// the actual iterator of the associated instance
+    internal_iterator<typename std::remove_const<BasicJsonType>::type> m_it {};
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/iterators/iteration_proxy.hpp>
+
+// #include <nlohmann/detail/iterators/json_reverse_iterator.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <cstddef> // ptrdiff_t
+#include <iterator> // reverse_iterator
+#include <utility> // declval
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+//////////////////////
+// reverse_iterator //
+//////////////////////
+
+/*!
+@brief a template for a reverse iterator class
+
+@tparam Base the base iterator type to reverse. Valid types are @ref
+iterator (to create @ref reverse_iterator) and @ref const_iterator (to
+create @ref const_reverse_iterator).
+
+@requirement The class satisfies the following concept requirements:
+-
+[BidirectionalIterator](https://en.cppreference.com/w/cpp/named_req/BidirectionalIterator):
+  The iterator that can be moved can be moved in both directions (i.e.
+  incremented and decremented).
+- [OutputIterator](https://en.cppreference.com/w/cpp/named_req/OutputIterator):
+  It is possible to write to the pointed-to element (only if @a Base is
+  @ref iterator).
+
+@since version 1.0.0
+*/
+template<typename Base>
+class json_reverse_iterator : public std::reverse_iterator<Base>
+{
+  public:
+    using difference_type = std::ptrdiff_t;
+    /// shortcut to the reverse iterator adapter
+    using base_iterator = std::reverse_iterator<Base>;
+    /// the reference type for the pointed-to element
+    using reference = typename Base::reference;
+
+    /// create reverse iterator from iterator
+    explicit json_reverse_iterator(const typename base_iterator::iterator_type& it) noexcept
+        : base_iterator(it) {}
+
+    /// create reverse iterator from base class
+    explicit json_reverse_iterator(const base_iterator& it) noexcept : base_iterator(it) {}
+
+    /// post-increment (it++)
+    json_reverse_iterator operator++(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator++(1));
+    }
+
+    /// pre-increment (++it)
+    json_reverse_iterator& operator++()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator++());
+    }
+
+    /// post-decrement (it--)
+    json_reverse_iterator operator--(int)& // NOLINT(cert-dcl21-cpp)
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator--(1));
+    }
+
+    /// pre-decrement (--it)
+    json_reverse_iterator& operator--()
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator--());
+    }
+
+    /// add to iterator
+    json_reverse_iterator& operator+=(difference_type i)
+    {
+        return static_cast<json_reverse_iterator&>(base_iterator::operator+=(i));
+    }
+
+    /// add to iterator
+    json_reverse_iterator operator+(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator+(i));
+    }
+
+    /// subtract from iterator
+    json_reverse_iterator operator-(difference_type i) const
+    {
+        return static_cast<json_reverse_iterator>(base_iterator::operator-(i));
+    }
+
+    /// return difference
+    difference_type operator-(const json_reverse_iterator& other) const
+    {
+        return base_iterator(*this) - base_iterator(other);
+    }
+
+    /// access to successor
+    reference operator[](difference_type n) const
+    {
+        return *(this->operator+(n));
+    }
+
+    /// return the key of an object iterator
+    auto key() const -> decltype(std::declval<Base>().key())
+    {
+        auto it = --this->base();
+        return it.key();
+    }
+
+    /// return the value of an iterator
+    reference value() const
+    {
+        auto it = --this->base();
+        return it.operator * ();
+    }
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/iterators/primitive_iterator.hpp>
+
+// #include <nlohmann/detail/json_custom_base_class.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <type_traits> // conditional, is_same
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief Default base class of the @ref basic_json class.
+
+So that the correct implementations of the copy / move ctors / assign operators
+of @ref basic_json do not require complex case distinctions
+(no base class / custom base class used as customization point),
+@ref basic_json always has a base class.
+By default, this class is used because it is empty and thus has no effect
+on the behavior of @ref basic_json.
+*/
+struct json_default_base {};
+
+template<class T>
+using json_base_class = typename std::conditional <
+                        std::is_same<T, void>::value,
+                        json_default_base,
+                        T
+                        >::type;
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/json_pointer.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // all_of
+#include <cctype> // isdigit
+#include <cerrno> // errno, ERANGE
+#include <cstdlib> // strtoull
+#ifndef JSON_NO_IO
+    #include <iosfwd> // ostream
+#endif  // JSON_NO_IO
+#include <limits> // max
+#include <numeric> // accumulate
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+// #include <nlohmann/detail/string_escape.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// @brief JSON Pointer defines a string syntax for identifying a specific value within a JSON document
+/// @sa https://json.nlohmann.me/api/json_pointer/
+template<typename RefStringType>
+class json_pointer
+{
+    // allow basic_json to access private members
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    friend class basic_json;
+
+    template<typename>
+    friend class json_pointer;
+
+    template<typename T>
+    struct string_t_helper
+    {
+        using type = T;
+    };
+
+    NLOHMANN_BASIC_JSON_TPL_DECLARATION
+    struct string_t_helper<NLOHMANN_BASIC_JSON_TPL>
+    {
+        using type = StringType;
+    };
+
+  public:
+    // for backwards compatibility accept BasicJsonType
+    using string_t = typename string_t_helper<RefStringType>::type;
+
+    /// @brief create JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/json_pointer/
+    explicit json_pointer(const string_t& s = "")
+        : reference_tokens(split(s))
+    {}
+
+    /// @brief return a string representation of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/to_string/
+    string_t to_string() const
+    {
+        return std::accumulate(reference_tokens.begin(), reference_tokens.end(),
+                               string_t{},
+                               [](const string_t& a, const string_t& b)
+        {
+            return detail::concat(a, '/', detail::escape(b));
+        });
+    }
+
+    /// @brief return a string representation of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_string/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, to_string())
+    operator string_t() const
+    {
+        return to_string();
+    }
+
+#ifndef JSON_NO_IO
+    /// @brief write string representation of the JSON pointer to stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ltlt/
+    friend std::ostream& operator<<(std::ostream& o, const json_pointer& ptr)
+    {
+        o << ptr.to_string();
+        return o;
+    }
+#endif
+
+    /// @brief append another JSON pointer at the end of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slasheq/
+    json_pointer& operator/=(const json_pointer& ptr)
+    {
+        reference_tokens.insert(reference_tokens.end(),
+                                ptr.reference_tokens.begin(),
+                                ptr.reference_tokens.end());
+        return *this;
+    }
+
+    /// @brief append an unescaped reference token at the end of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slasheq/
+    json_pointer& operator/=(string_t token)
+    {
+        push_back(std::move(token));
+        return *this;
+    }
+
+    /// @brief append an array index at the end of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slasheq/
+    json_pointer& operator/=(std::size_t array_idx)
+    {
+        return *this /= std::to_string(array_idx);
+    }
+
+    /// @brief create a new JSON pointer by appending the right JSON pointer at the end of the left JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slash/
+    friend json_pointer operator/(const json_pointer& lhs,
+                                  const json_pointer& rhs)
+    {
+        return json_pointer(lhs) /= rhs;
+    }
+
+    /// @brief create a new JSON pointer by appending the unescaped token at the end of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slash/
+    friend json_pointer operator/(const json_pointer& lhs, string_t token) // NOLINT(performance-unnecessary-value-param)
+    {
+        return json_pointer(lhs) /= std::move(token);
+    }
+
+    /// @brief create a new JSON pointer by appending the array-index-token at the end of the JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_slash/
+    friend json_pointer operator/(const json_pointer& lhs, std::size_t array_idx)
+    {
+        return json_pointer(lhs) /= array_idx;
+    }
+
+    /// @brief returns the parent of this JSON pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/parent_pointer/
+    json_pointer parent_pointer() const
+    {
+        if (empty())
+        {
+            return *this;
+        }
+
+        json_pointer res = *this;
+        res.pop_back();
+        return res;
+    }
+
+    /// @brief remove last reference token
+    /// @sa https://json.nlohmann.me/api/json_pointer/pop_back/
+    void pop_back()
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent", nullptr));
+        }
+
+        reference_tokens.pop_back();
+    }
+
+    /// @brief return last reference token
+    /// @sa https://json.nlohmann.me/api/json_pointer/back/
+    const string_t& back() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent", nullptr));
+        }
+
+        return reference_tokens.back();
+    }
+
+    /// @brief append an unescaped token at the end of the reference pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/push_back/
+    void push_back(const string_t& token)
+    {
+        reference_tokens.push_back(token);
+    }
+
+    /// @brief append an unescaped token at the end of the reference pointer
+    /// @sa https://json.nlohmann.me/api/json_pointer/push_back/
+    void push_back(string_t&& token)
+    {
+        reference_tokens.push_back(std::move(token));
+    }
+
+    /// @brief return whether pointer points to the root document
+    /// @sa https://json.nlohmann.me/api/json_pointer/empty/
+    bool empty() const noexcept
+    {
+        return reference_tokens.empty();
+    }
+
+  private:
+    /*!
+    @param[in] s  reference token to be converted into an array index
+
+    @return integer representation of @a s
+
+    @throw parse_error.106  if an array index begins with '0'
+    @throw parse_error.109  if an array index begins not with a digit
+    @throw out_of_range.404 if string @a s could not be converted to an integer
+    @throw out_of_range.410 if an array index exceeds size_type
+    */
+    template<typename BasicJsonType>
+    static typename BasicJsonType::size_type array_index(const string_t& s)
+    {
+        using size_type = typename BasicJsonType::size_type;
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && s[0] == '0'))
+        {
+            JSON_THROW(detail::parse_error::create(106, 0, detail::concat("array index '", s, "' must not begin with '0'"), nullptr));
+        }
+
+        // error condition (cf. RFC 6901, Sect. 4)
+        if (JSON_HEDLEY_UNLIKELY(s.size() > 1 && !(s[0] >= '1' && s[0] <= '9')))
+        {
+            JSON_THROW(detail::parse_error::create(109, 0, detail::concat("array index '", s, "' is not a number"), nullptr));
+        }
+
+        const char* p = s.c_str();
+        char* p_end = nullptr;
+        errno = 0; // strtoull doesn't reset errno
+        const unsigned long long res = std::strtoull(p, &p_end, 10); // NOLINT(runtime/int)
+        if (p == p_end // invalid input or empty string
+                || errno == ERANGE // out of range
+                || JSON_HEDLEY_UNLIKELY(static_cast<std::size_t>(p_end - p) != s.size())) // incomplete read
+        {
+            JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", s, "'"), nullptr));
+        }
+
+        // only triggered on special platforms (like 32bit), see also
+        // https://github.com/nlohmann/json/pull/2203
+        if (res >= static_cast<unsigned long long>((std::numeric_limits<size_type>::max)()))  // NOLINT(runtime/int)
+        {
+            JSON_THROW(detail::out_of_range::create(410, detail::concat("array index ", s, " exceeds size_type"), nullptr));   // LCOV_EXCL_LINE
+        }
+
+        return static_cast<size_type>(res);
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    json_pointer top() const
+    {
+        if (JSON_HEDLEY_UNLIKELY(empty()))
+        {
+            JSON_THROW(detail::out_of_range::create(405, "JSON pointer has no parent", nullptr));
+        }
+
+        json_pointer result = *this;
+        result.reference_tokens = {reference_tokens[0]};
+        return result;
+    }
+
+  private:
+    /*!
+    @brief create and return a reference to the pointed to value
+
+    @complexity Linear in the number of reference tokens.
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.313 if value cannot be unflattened
+    */
+    template<typename BasicJsonType>
+    BasicJsonType& get_and_create(BasicJsonType& j) const
+    {
+        auto* result = &j;
+
+        // in case no reference tokens exist, return a reference to the JSON value
+        // j which will be overwritten by a primitive value
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (result->type())
+            {
+                case detail::value_t::null:
+                {
+                    if (reference_token == "0")
+                    {
+                        // start a new array if reference token is 0
+                        result = &result->operator[](0);
+                    }
+                    else
+                    {
+                        // start a new object otherwise
+                        result = &result->operator[](reference_token);
+                    }
+                    break;
+                }
+
+                case detail::value_t::object:
+                {
+                    // create an entry in the object
+                    result = &result->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    // create an entry in the array
+                    result = &result->operator[](array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                /*
+                The following code is only reached if there exists a reference
+                token _and_ the current value is primitive. In this case, we have
+                an error situation, because primitive values may only occur as
+                single value; that is, with an empty list of reference tokens.
+                */
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::type_error::create(313, "invalid value to unflatten", &j));
+            }
+        }
+
+        return *result;
+    }
+
+    /*!
+    @brief return a reference to the pointed to value
+
+    @note This version does not throw if a value is not present, but tries to
+          create nested values instead. For instance, calling this function
+          with pointer `"/this/that"` on a null value is equivalent to calling
+          `operator[]("this").operator[]("that")` on that value, effectively
+          changing the null value to an object.
+
+    @param[in] ptr  a JSON value
+
+    @return reference to the JSON value pointed to by the JSON pointer
+
+    @complexity Linear in the length of the JSON pointer.
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    BasicJsonType& get_unchecked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            // convert null values to arrays or objects before continuing
+            if (ptr->is_null())
+            {
+                // check if reference token is a number
+                const bool nums =
+                    std::all_of(reference_token.begin(), reference_token.end(),
+                                [](const unsigned char x)
+                {
+                    return std::isdigit(x);
+                });
+
+                // change value to array for numbers or "-" or to object otherwise
+                *ptr = (nums || reference_token == "-")
+                       ? detail::value_t::array
+                       : detail::value_t::object;
+            }
+
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (reference_token == "-")
+                    {
+                        // explicitly treat "-" as index beyond the end
+                        ptr = &ptr->operator[](ptr->m_data.m_value.array->size());
+                    }
+                    else
+                    {
+                        // convert array index to number; unchecked access
+                        ptr = &ptr->operator[](array_index<BasicJsonType>(reference_token));
+                    }
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    BasicJsonType& get_checked(BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402, detail::concat(
+                                "array index '-' (", std::to_string(ptr->m_data.m_value.array->size()),
+                                ") is out of range"), ptr));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @brief return a const reference to the pointed to value
+
+    @param[in] ptr  a JSON value
+
+    @return const reference to the JSON value pointed to by the JSON
+    pointer
+
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    const BasicJsonType& get_unchecked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // use unchecked object access
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" cannot be used for const access
+                        JSON_THROW(detail::out_of_range::create(402, detail::concat("array index '-' (", std::to_string(ptr->m_data.m_value.array->size()), ") is out of range"), ptr));
+                    }
+
+                    // use unchecked array access
+                    ptr = &ptr->operator[](array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    @throw out_of_range.402  if the array index '-' is used
+    @throw out_of_range.404  if the JSON pointer can not be resolved
+    */
+    template<typename BasicJsonType>
+    const BasicJsonType& get_checked(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    // note: at performs range check
+                    ptr = &ptr->at(reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        JSON_THROW(detail::out_of_range::create(402, detail::concat(
+                                "array index '-' (", std::to_string(ptr->m_data.m_value.array->size()),
+                                ") is out of range"), ptr));
+                    }
+
+                    // note: at performs range check
+                    ptr = &ptr->at(array_index<BasicJsonType>(reference_token));
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                    JSON_THROW(detail::out_of_range::create(404, detail::concat("unresolved reference token '", reference_token, "'"), ptr));
+            }
+        }
+
+        return *ptr;
+    }
+
+    /*!
+    @throw parse_error.106   if an array index begins with '0'
+    @throw parse_error.109   if an array index was not a number
+    */
+    template<typename BasicJsonType>
+    bool contains(const BasicJsonType* ptr) const
+    {
+        for (const auto& reference_token : reference_tokens)
+        {
+            switch (ptr->type())
+            {
+                case detail::value_t::object:
+                {
+                    if (!ptr->contains(reference_token))
+                    {
+                        // we did not find the key in the object
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](reference_token);
+                    break;
+                }
+
+                case detail::value_t::array:
+                {
+                    if (JSON_HEDLEY_UNLIKELY(reference_token == "-"))
+                    {
+                        // "-" always fails the range check
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() == 1 && !("0" <= reference_token && reference_token <= "9")))
+                    {
+                        // invalid char
+                        return false;
+                    }
+                    if (JSON_HEDLEY_UNLIKELY(reference_token.size() > 1))
+                    {
+                        if (JSON_HEDLEY_UNLIKELY(!('1' <= reference_token[0] && reference_token[0] <= '9')))
+                        {
+                            // first char should be between '1' and '9'
+                            return false;
+                        }
+                        for (std::size_t i = 1; i < reference_token.size(); i++)
+                        {
+                            if (JSON_HEDLEY_UNLIKELY(!('0' <= reference_token[i] && reference_token[i] <= '9')))
+                            {
+                                // other char should be between '0' and '9'
+                                return false;
+                            }
+                        }
+                    }
+
+                    const auto idx = array_index<BasicJsonType>(reference_token);
+                    if (idx >= ptr->size())
+                    {
+                        // index out of range
+                        return false;
+                    }
+
+                    ptr = &ptr->operator[](idx);
+                    break;
+                }
+
+                case detail::value_t::null:
+                case detail::value_t::string:
+                case detail::value_t::boolean:
+                case detail::value_t::number_integer:
+                case detail::value_t::number_unsigned:
+                case detail::value_t::number_float:
+                case detail::value_t::binary:
+                case detail::value_t::discarded:
+                default:
+                {
+                    // we do not expect primitive values if there is still a
+                    // reference token to process
+                    return false;
+                }
+            }
+        }
+
+        // no reference token left means we found a primitive value
+        return true;
+    }
+
+    /*!
+    @brief split the string input to reference tokens
+
+    @note This function is only called by the json_pointer constructor.
+          All exceptions below are documented there.
+
+    @throw parse_error.107  if the pointer is not empty or begins with '/'
+    @throw parse_error.108  if character '~' is not followed by '0' or '1'
+    */
+    static std::vector<string_t> split(const string_t& reference_string)
+    {
+        std::vector<string_t> result;
+
+        // special case: empty reference string -> no reference tokens
+        if (reference_string.empty())
+        {
+            return result;
+        }
+
+        // check if nonempty reference string begins with slash
+        if (JSON_HEDLEY_UNLIKELY(reference_string[0] != '/'))
+        {
+            JSON_THROW(detail::parse_error::create(107, 1, detail::concat("JSON pointer must be empty or begin with '/' - was: '", reference_string, "'"), nullptr));
+        }
+
+        // extract the reference tokens:
+        // - slash: position of the last read slash (or end of string)
+        // - start: position after the previous slash
+        for (
+            // search for the first slash after the first character
+            std::size_t slash = reference_string.find_first_of('/', 1),
+            // set the beginning of the first reference token
+            start = 1;
+            // we can stop if start == 0 (if slash == string_t::npos)
+            start != 0;
+            // set the beginning of the next reference token
+            // (will eventually be 0 if slash == string_t::npos)
+            start = (slash == string_t::npos) ? 0 : slash + 1,
+            // find next slash
+            slash = reference_string.find_first_of('/', start))
+        {
+            // use the text between the beginning of the reference token
+            // (start) and the last slash (slash).
+            auto reference_token = reference_string.substr(start, slash - start);
+
+            // check reference tokens are properly escaped
+            for (std::size_t pos = reference_token.find_first_of('~');
+                    pos != string_t::npos;
+                    pos = reference_token.find_first_of('~', pos + 1))
+            {
+                JSON_ASSERT(reference_token[pos] == '~');
+
+                // ~ must be followed by 0 or 1
+                if (JSON_HEDLEY_UNLIKELY(pos == reference_token.size() - 1 ||
+                                         (reference_token[pos + 1] != '0' &&
+                                          reference_token[pos + 1] != '1')))
+                {
+                    JSON_THROW(detail::parse_error::create(108, 0, "escape character '~' must be followed with '0' or '1'", nullptr));
+                }
+            }
+
+            // finally, store the reference token
+            detail::unescape(reference_token);
+            result.push_back(reference_token);
+        }
+
+        return result;
+    }
+
+  private:
+    /*!
+    @param[in] reference_string  the reference string to the current value
+    @param[in] value             the value to consider
+    @param[in,out] result        the result object to insert values to
+
+    @note Empty objects or arrays are flattened to `null`.
+    */
+    template<typename BasicJsonType>
+    static void flatten(const string_t& reference_string,
+                        const BasicJsonType& value,
+                        BasicJsonType& result)
+    {
+        switch (value.type())
+        {
+            case detail::value_t::array:
+            {
+                if (value.m_data.m_value.array->empty())
+                {
+                    // flatten empty array as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate array and use index as reference string
+                    for (std::size_t i = 0; i < value.m_data.m_value.array->size(); ++i)
+                    {
+                        flatten(detail::concat(reference_string, '/', std::to_string(i)),
+                                value.m_data.m_value.array->operator[](i), result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::object:
+            {
+                if (value.m_data.m_value.object->empty())
+                {
+                    // flatten empty object as null
+                    result[reference_string] = nullptr;
+                }
+                else
+                {
+                    // iterate object and use keys as reference string
+                    for (const auto& element : *value.m_data.m_value.object)
+                    {
+                        flatten(detail::concat(reference_string, '/', detail::escape(element.first)), element.second, result);
+                    }
+                }
+                break;
+            }
+
+            case detail::value_t::null:
+            case detail::value_t::string:
+            case detail::value_t::boolean:
+            case detail::value_t::number_integer:
+            case detail::value_t::number_unsigned:
+            case detail::value_t::number_float:
+            case detail::value_t::binary:
+            case detail::value_t::discarded:
+            default:
+            {
+                // add primitive value with its reference string
+                result[reference_string] = value;
+                break;
+            }
+        }
+    }
+
+    /*!
+    @param[in] value  flattened JSON
+
+    @return unflattened JSON
+
+    @throw parse_error.109 if array index is not a number
+    @throw type_error.314  if value is not an object
+    @throw type_error.315  if object values are not primitive
+    @throw type_error.313  if value cannot be unflattened
+    */
+    template<typename BasicJsonType>
+    static BasicJsonType
+    unflatten(const BasicJsonType& value)
+    {
+        if (JSON_HEDLEY_UNLIKELY(!value.is_object()))
+        {
+            JSON_THROW(detail::type_error::create(314, "only objects can be unflattened", &value));
+        }
+
+        BasicJsonType result;
+
+        // iterate the JSON object values
+        for (const auto& element : *value.m_data.m_value.object)
+        {
+            if (JSON_HEDLEY_UNLIKELY(!element.second.is_primitive()))
+            {
+                JSON_THROW(detail::type_error::create(315, "values in object must be primitive", &element.second));
+            }
+
+            // assign value to reference pointed to by JSON pointer; Note that if
+            // the JSON pointer is "" (i.e., points to the whole value), function
+            // get_and_create returns a reference to result itself. An assignment
+            // will then create a primitive value.
+            json_pointer(element.first).get_and_create(result) = element.second;
+        }
+
+        return result;
+    }
+
+    // can't use conversion operator because of ambiguity
+    json_pointer<string_t> convert() const&
+    {
+        json_pointer<string_t> result;
+        result.reference_tokens = reference_tokens;
+        return result;
+    }
+
+    json_pointer<string_t> convert()&&
+    {
+        json_pointer<string_t> result;
+        result.reference_tokens = std::move(reference_tokens);
+        return result;
+    }
+
+  public:
+#if JSON_HAS_THREE_WAY_COMPARISON
+    /// @brief compares two JSON pointers for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeRhs>
+    bool operator==(const json_pointer<RefStringTypeRhs>& rhs) const noexcept
+    {
+        return reference_tokens == rhs.reference_tokens;
+    }
+
+    /// @brief compares JSON pointer and string for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator==(json_pointer))
+    bool operator==(const string_t& rhs) const
+    {
+        return *this == json_pointer(rhs);
+    }
+
+    /// @brief 3-way compares two JSON pointers
+    template<typename RefStringTypeRhs>
+    std::strong_ordering operator<=>(const json_pointer<RefStringTypeRhs>& rhs) const noexcept // *NOPAD*
+    {
+        return  reference_tokens <=> rhs.reference_tokens; // *NOPAD*
+    }
+#else
+    /// @brief compares two JSON pointers for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs) noexcept;
+
+    /// @brief compares JSON pointer and string for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeLhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                           const StringType& rhs);
+
+    /// @brief compares string and JSON pointer for equality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_eq/
+    template<typename RefStringTypeRhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator==(const StringType& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs);
+
+    /// @brief compares two JSON pointers for inequality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_ne/
+    template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs) noexcept;
+
+    /// @brief compares JSON pointer and string for inequality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_ne/
+    template<typename RefStringTypeLhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                           const StringType& rhs);
+
+    /// @brief compares string and JSON pointer for inequality
+    /// @sa https://json.nlohmann.me/api/json_pointer/operator_ne/
+    template<typename RefStringTypeRhs, typename StringType>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator!=(const StringType& lhs,
+                           const json_pointer<RefStringTypeRhs>& rhs);
+
+    /// @brief compares two JSON pointer for less-than
+    template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+    // NOLINTNEXTLINE(readability-redundant-declaration)
+    friend bool operator<(const json_pointer<RefStringTypeLhs>& lhs,
+                          const json_pointer<RefStringTypeRhs>& rhs) noexcept;
+#endif
+
+  private:
+    /// the reference tokens
+    std::vector<string_t> reference_tokens;
+};
+
+#if !JSON_HAS_THREE_WAY_COMPARISON
+// functions cannot be defined inside class due to ODR violations
+template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+inline bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs) noexcept
+{
+    return lhs.reference_tokens == rhs.reference_tokens;
+}
+
+template<typename RefStringTypeLhs,
+         typename StringType = typename json_pointer<RefStringTypeLhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator==(json_pointer, json_pointer))
+inline bool operator==(const json_pointer<RefStringTypeLhs>& lhs,
+                       const StringType& rhs)
+{
+    return lhs == json_pointer<RefStringTypeLhs>(rhs);
+}
+
+template<typename RefStringTypeRhs,
+         typename StringType = typename json_pointer<RefStringTypeRhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator==(json_pointer, json_pointer))
+inline bool operator==(const StringType& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs)
+{
+    return json_pointer<RefStringTypeRhs>(lhs) == rhs;
+}
+
+template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+inline bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs) noexcept
+{
+    return !(lhs == rhs);
+}
+
+template<typename RefStringTypeLhs,
+         typename StringType = typename json_pointer<RefStringTypeLhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator!=(json_pointer, json_pointer))
+inline bool operator!=(const json_pointer<RefStringTypeLhs>& lhs,
+                       const StringType& rhs)
+{
+    return !(lhs == rhs);
+}
+
+template<typename RefStringTypeRhs,
+         typename StringType = typename json_pointer<RefStringTypeRhs>::string_t>
+JSON_HEDLEY_DEPRECATED_FOR(3.11.2, operator!=(json_pointer, json_pointer))
+inline bool operator!=(const StringType& lhs,
+                       const json_pointer<RefStringTypeRhs>& rhs)
+{
+    return !(lhs == rhs);
+}
+
+template<typename RefStringTypeLhs, typename RefStringTypeRhs>
+inline bool operator<(const json_pointer<RefStringTypeLhs>& lhs,
+                      const json_pointer<RefStringTypeRhs>& rhs) noexcept
+{
+    return lhs.reference_tokens < rhs.reference_tokens;
+}
+#endif
+
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/json_ref.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <initializer_list>
+#include <utility>
+
+// #include <nlohmann/detail/abi_macros.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+template<typename BasicJsonType>
+class json_ref
+{
+  public:
+    using value_type = BasicJsonType;
+
+    json_ref(value_type&& value)
+        : owned_value(std::move(value))
+    {}
+
+    json_ref(const value_type& value)
+        : value_ref(&value)
+    {}
+
+    json_ref(std::initializer_list<json_ref> init)
+        : owned_value(init)
+    {}
+
+    template <
+        class... Args,
+        enable_if_t<std::is_constructible<value_type, Args...>::value, int> = 0 >
+    json_ref(Args && ... args)
+        : owned_value(std::forward<Args>(args)...)
+    {}
+
+    // class should be movable only
+    json_ref(json_ref&&) noexcept = default;
+    json_ref(const json_ref&) = delete;
+    json_ref& operator=(const json_ref&) = delete;
+    json_ref& operator=(json_ref&&) = delete;
+    ~json_ref() = default;
+
+    value_type moved_or_copied() const
+    {
+        if (value_ref == nullptr)
+        {
+            return std::move(owned_value);
+        }
+        return *value_ref;
+    }
+
+    value_type const& operator*() const
+    {
+        return value_ref ? *value_ref : owned_value;
+    }
+
+    value_type const* operator->() const
+    {
+        return &** this;
+    }
+
+  private:
+    mutable value_type owned_value = nullptr;
+    value_type const* value_ref = nullptr;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+// #include <nlohmann/detail/string_escape.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // reverse
+#include <array> // array
+#include <map> // map
+#include <cmath> // isnan, isinf
+#include <cstdint> // uint8_t, uint16_t, uint32_t, uint64_t
+#include <cstring> // memcpy
+#include <limits> // numeric_limits
+#include <string> // string
+#include <utility> // move
+#include <vector> // vector
+
+// #include <nlohmann/detail/input/binary_reader.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // copy
+#include <cstddef> // size_t
+#include <iterator> // back_inserter
+#include <memory> // shared_ptr, make_shared
+#include <string> // basic_string
+#include <vector> // vector
+
+#ifndef JSON_NO_IO
+    #include <ios>      // streamsize
+    #include <ostream>  // basic_ostream
+#endif  // JSON_NO_IO
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/// abstract output adapter interface
+template<typename CharType> struct output_adapter_protocol
+{
+    virtual void write_character(CharType c) = 0;
+    virtual void write_characters(const CharType* s, std::size_t length) = 0;
+    virtual ~output_adapter_protocol() = default;
+
+    output_adapter_protocol() = default;
+    output_adapter_protocol(const output_adapter_protocol&) = default;
+    output_adapter_protocol(output_adapter_protocol&&) noexcept = default;
+    output_adapter_protocol& operator=(const output_adapter_protocol&) = default;
+    output_adapter_protocol& operator=(output_adapter_protocol&&) noexcept = default;
+};
+
+/// a type to simplify interfaces
+template<typename CharType>
+using output_adapter_t = std::shared_ptr<output_adapter_protocol<CharType>>;
+
+/// output adapter for byte vectors
+template<typename CharType, typename AllocatorType = std::allocator<CharType>>
+class output_vector_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_vector_adapter(std::vector<CharType, AllocatorType>& vec) noexcept
+        : v(vec)
+    {}
+
+    void write_character(CharType c) override
+    {
+        v.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        v.insert(v.end(), s, s + length);
+    }
+
+  private:
+    std::vector<CharType, AllocatorType>& v;
+};
+
+#ifndef JSON_NO_IO
+/// output adapter for output streams
+template<typename CharType>
+class output_stream_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_stream_adapter(std::basic_ostream<CharType>& s) noexcept
+        : stream(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        stream.put(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        stream.write(s, static_cast<std::streamsize>(length));
+    }
+
+  private:
+    std::basic_ostream<CharType>& stream;
+};
+#endif  // JSON_NO_IO
+
+/// output adapter for basic_string
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_string_adapter : public output_adapter_protocol<CharType>
+{
+  public:
+    explicit output_string_adapter(StringType& s) noexcept
+        : str(s)
+    {}
+
+    void write_character(CharType c) override
+    {
+        str.push_back(c);
+    }
+
+    JSON_HEDLEY_NON_NULL(2)
+    void write_characters(const CharType* s, std::size_t length) override
+    {
+        str.append(s, length);
+    }
+
+  private:
+    StringType& str;
+};
+
+template<typename CharType, typename StringType = std::basic_string<CharType>>
+class output_adapter
+{
+  public:
+    template<typename AllocatorType = std::allocator<CharType>>
+    output_adapter(std::vector<CharType, AllocatorType>& vec)
+        : oa(std::make_shared<output_vector_adapter<CharType, AllocatorType>>(vec)) {}
+
+#ifndef JSON_NO_IO
+    output_adapter(std::basic_ostream<CharType>& s)
+        : oa(std::make_shared<output_stream_adapter<CharType>>(s)) {}
+#endif  // JSON_NO_IO
+
+    output_adapter(StringType& s)
+        : oa(std::make_shared<output_string_adapter<CharType, StringType>>(s)) {}
+
+    operator output_adapter_t<CharType>()
+    {
+        return oa;
+    }
+
+  private:
+    output_adapter_t<CharType> oa = nullptr;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////////////
+// binary writer //
+///////////////////
+
+/*!
+@brief serialization to CBOR and MessagePack values
+*/
+template<typename BasicJsonType, typename CharType>
+class binary_writer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using binary_t = typename BasicJsonType::binary_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+
+  public:
+    /*!
+    @brief create a binary writer
+
+    @param[in] adapter  output adapter to write to
+    */
+    explicit binary_writer(output_adapter_t<CharType> adapter) : oa(std::move(adapter))
+    {
+        JSON_ASSERT(oa);
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @pre       j.type() == value_t::object
+    */
+    void write_bson(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+            {
+                write_bson_object(*j.m_data.m_value.object);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::array:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                JSON_THROW(type_error::create(317, concat("to serialize to BSON, top-level type must be object, but is ", j.type_name()), &j));
+            }
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_cbor(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                oa->write_character(to_char_type(0xF6));
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                oa->write_character(j.m_data.m_value.boolean
+                                    ? to_char_type(0xF5)
+                                    : to_char_type(0xF4));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_data.m_value.number_integer >= 0)
+                {
+                    // CBOR does not differentiate between positive signed
+                    // integers and unsigned integers. Therefore, we used the
+                    // code from the value_t::number_unsigned case here.
+                    if (j.m_data.m_value.number_integer <= 0x17)
+                    {
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x18));
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x19));
+                        write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x1A));
+                        write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_integer));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x1B));
+                        write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    // The conversions below encode the sign in the first
+                    // byte, and the value is converted to a positive number.
+                    const auto positive_number = -1 - j.m_data.m_value.number_integer;
+                    if (j.m_data.m_value.number_integer >= -24)
+                    {
+                        write_number(static_cast<std::uint8_t>(0x20 + positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x38));
+                        write_number(static_cast<std::uint8_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x39));
+                        write_number(static_cast<std::uint16_t>(positive_number));
+                    }
+                    else if (positive_number <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        oa->write_character(to_char_type(0x3A));
+                        write_number(static_cast<std::uint32_t>(positive_number));
+                    }
+                    else
+                    {
+                        oa->write_character(to_char_type(0x3B));
+                        write_number(static_cast<std::uint64_t>(positive_number));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_data.m_value.number_unsigned <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_unsigned));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x18));
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_unsigned));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x19));
+                    write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_unsigned));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x1A));
+                    write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_unsigned));
+                }
+                else
+                {
+                    oa->write_character(to_char_type(0x1B));
+                    write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_unsigned));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                if (std::isnan(j.m_data.m_value.number_float))
+                {
+                    // NaN is 0xf97e00 in CBOR
+                    oa->write_character(to_char_type(0xF9));
+                    oa->write_character(to_char_type(0x7E));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else if (std::isinf(j.m_data.m_value.number_float))
+                {
+                    // Infinity is 0xf97c00, -Infinity is 0xf9fc00
+                    oa->write_character(to_char_type(0xf9));
+                    oa->write_character(j.m_data.m_value.number_float > 0 ? to_char_type(0x7C) : to_char_type(0xFC));
+                    oa->write_character(to_char_type(0x00));
+                }
+                else
+                {
+                    write_compact_float(j.m_data.m_value.number_float, detail::input_format_t::cbor);
+                }
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_data.m_value.string->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x60 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x78));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x79));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x7B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.string->c_str()),
+                    j.m_data.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_data.m_value.array->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x80 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x98));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x99));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x9B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.array)
+                {
+                    write_cbor(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (j.m_data.m_value.binary->has_subtype())
+                {
+                    if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xd8));
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                    else if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xd9));
+                        write_number(static_cast<std::uint16_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                    else if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xda));
+                        write_number(static_cast<std::uint32_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                    else if (j.m_data.m_value.binary->subtype() <= (std::numeric_limits<std::uint64_t>::max)())
+                    {
+                        write_number(static_cast<std::uint8_t>(0xdb));
+                        write_number(static_cast<std::uint64_t>(j.m_data.m_value.binary->subtype()));
+                    }
+                }
+
+                // step 1: write control byte and the binary array size
+                const auto N = j.m_data.m_value.binary->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0x40 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x58));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x59));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5A));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0x5B));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_data.m_value.object->size();
+                if (N <= 0x17)
+                {
+                    write_number(static_cast<std::uint8_t>(0xA0 + N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB8));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xB9));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBA));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+                // LCOV_EXCL_START
+                else if (N <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    oa->write_character(to_char_type(0xBB));
+                    write_number(static_cast<std::uint64_t>(N));
+                }
+                // LCOV_EXCL_STOP
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.object)
+                {
+                    write_cbor(el.first);
+                    write_cbor(el.second);
+                }
+                break;
+            }
+
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    */
+    void write_msgpack(const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::null: // nil
+            {
+                oa->write_character(to_char_type(0xC0));
+                break;
+            }
+
+            case value_t::boolean: // true and false
+            {
+                oa->write_character(j.m_data.m_value.boolean
+                                    ? to_char_type(0xC3)
+                                    : to_char_type(0xC2));
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                if (j.m_data.m_value.number_integer >= 0)
+                {
+                    // MessagePack does not differentiate between positive
+                    // signed integers and unsigned integers. Therefore, we used
+                    // the code from the value_t::number_unsigned case here.
+                    if (j.m_data.m_value.number_unsigned < 128)
+                    {
+                        // positive fixnum
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                    {
+                        // uint 8
+                        oa->write_character(to_char_type(0xCC));
+                        write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                    {
+                        // uint 16
+                        oa->write_character(to_char_type(0xCD));
+                        write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                    {
+                        // uint 32
+                        oa->write_character(to_char_type(0xCE));
+                        write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                    {
+                        // uint 64
+                        oa->write_character(to_char_type(0xCF));
+                        write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_integer));
+                    }
+                }
+                else
+                {
+                    if (j.m_data.m_value.number_integer >= -32)
+                    {
+                        // negative fixnum
+                        write_number(static_cast<std::int8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int8_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                    {
+                        // int 8
+                        oa->write_character(to_char_type(0xD0));
+                        write_number(static_cast<std::int8_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int16_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                    {
+                        // int 16
+                        oa->write_character(to_char_type(0xD1));
+                        write_number(static_cast<std::int16_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int32_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                    {
+                        // int 32
+                        oa->write_character(to_char_type(0xD2));
+                        write_number(static_cast<std::int32_t>(j.m_data.m_value.number_integer));
+                    }
+                    else if (j.m_data.m_value.number_integer >= (std::numeric_limits<std::int64_t>::min)() &&
+                             j.m_data.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                    {
+                        // int 64
+                        oa->write_character(to_char_type(0xD3));
+                        write_number(static_cast<std::int64_t>(j.m_data.m_value.number_integer));
+                    }
+                }
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_data.m_value.number_unsigned < 128)
+                {
+                    // positive fixnum
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // uint 8
+                    oa->write_character(to_char_type(0xCC));
+                    write_number(static_cast<std::uint8_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // uint 16
+                    oa->write_character(to_char_type(0xCD));
+                    write_number(static_cast<std::uint16_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // uint 32
+                    oa->write_character(to_char_type(0xCE));
+                    write_number(static_cast<std::uint32_t>(j.m_data.m_value.number_integer));
+                }
+                else if (j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    // uint 64
+                    oa->write_character(to_char_type(0xCF));
+                    write_number(static_cast<std::uint64_t>(j.m_data.m_value.number_integer));
+                }
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_compact_float(j.m_data.m_value.number_float, detail::input_format_t::msgpack);
+                break;
+            }
+
+            case value_t::string:
+            {
+                // step 1: write control byte and the string length
+                const auto N = j.m_data.m_value.string->size();
+                if (N <= 31)
+                {
+                    // fixstr
+                    write_number(static_cast<std::uint8_t>(0xA0 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    // str 8
+                    oa->write_character(to_char_type(0xD9));
+                    write_number(static_cast<std::uint8_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // str 16
+                    oa->write_character(to_char_type(0xDA));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // str 32
+                    oa->write_character(to_char_type(0xDB));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write the string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.string->c_str()),
+                    j.m_data.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                // step 1: write control byte and the array size
+                const auto N = j.m_data.m_value.array->size();
+                if (N <= 15)
+                {
+                    // fixarray
+                    write_number(static_cast<std::uint8_t>(0x90 | N));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // array 16
+                    oa->write_character(to_char_type(0xDC));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // array 32
+                    oa->write_character(to_char_type(0xDD));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.array)
+                {
+                    write_msgpack(el);
+                }
+                break;
+            }
+
+            case value_t::binary:
+            {
+                // step 0: determine if the binary type has a set subtype to
+                // determine whether or not to use the ext or fixext types
+                const bool use_ext = j.m_data.m_value.binary->has_subtype();
+
+                // step 1: write control byte and the byte string length
+                const auto N = j.m_data.m_value.binary->size();
+                if (N <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    std::uint8_t output_type{};
+                    bool fixed = true;
+                    if (use_ext)
+                    {
+                        switch (N)
+                        {
+                            case 1:
+                                output_type = 0xD4; // fixext 1
+                                break;
+                            case 2:
+                                output_type = 0xD5; // fixext 2
+                                break;
+                            case 4:
+                                output_type = 0xD6; // fixext 4
+                                break;
+                            case 8:
+                                output_type = 0xD7; // fixext 8
+                                break;
+                            case 16:
+                                output_type = 0xD8; // fixext 16
+                                break;
+                            default:
+                                output_type = 0xC7; // ext 8
+                                fixed = false;
+                                break;
+                        }
+
+                    }
+                    else
+                    {
+                        output_type = 0xC4; // bin 8
+                        fixed = false;
+                    }
+
+                    oa->write_character(to_char_type(output_type));
+                    if (!fixed)
+                    {
+                        write_number(static_cast<std::uint8_t>(N));
+                    }
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    const std::uint8_t output_type = use_ext
+                                                     ? 0xC8 // ext 16
+                                                     : 0xC5; // bin 16
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    const std::uint8_t output_type = use_ext
+                                                     ? 0xC9 // ext 32
+                                                     : 0xC6; // bin 32
+
+                    oa->write_character(to_char_type(output_type));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 1.5: if this is an ext type, write the subtype
+                if (use_ext)
+                {
+                    write_number(static_cast<std::int8_t>(j.m_data.m_value.binary->subtype()));
+                }
+
+                // step 2: write the byte string
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.binary->data()),
+                    N);
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // step 1: write control byte and the object size
+                const auto N = j.m_data.m_value.object->size();
+                if (N <= 15)
+                {
+                    // fixmap
+                    write_number(static_cast<std::uint8_t>(0x80 | (N & 0xF)));
+                }
+                else if (N <= (std::numeric_limits<std::uint16_t>::max)())
+                {
+                    // map 16
+                    oa->write_character(to_char_type(0xDE));
+                    write_number(static_cast<std::uint16_t>(N));
+                }
+                else if (N <= (std::numeric_limits<std::uint32_t>::max)())
+                {
+                    // map 32
+                    oa->write_character(to_char_type(0xDF));
+                    write_number(static_cast<std::uint32_t>(N));
+                }
+
+                // step 2: write each element
+                for (const auto& el : *j.m_data.m_value.object)
+                {
+                    write_msgpack(el.first);
+                    write_msgpack(el.second);
+                }
+                break;
+            }
+
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+    /*!
+    @param[in] j  JSON value to serialize
+    @param[in] use_count   whether to use '#' prefixes (optimized format)
+    @param[in] use_type    whether to use '$' prefixes (optimized format)
+    @param[in] add_prefix  whether prefixes need to be used for this value
+    @param[in] use_bjdata  whether write in BJData format, default is false
+    */
+    void write_ubjson(const BasicJsonType& j, const bool use_count,
+                      const bool use_type, const bool add_prefix = true,
+                      const bool use_bjdata = false)
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('Z'));
+                }
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(j.m_data.m_value.boolean
+                                        ? to_char_type('T')
+                                        : to_char_type('F'));
+                }
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                write_number_with_ubjson_prefix(j.m_data.m_value.number_integer, add_prefix, use_bjdata);
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                write_number_with_ubjson_prefix(j.m_data.m_value.number_unsigned, add_prefix, use_bjdata);
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                write_number_with_ubjson_prefix(j.m_data.m_value.number_float, add_prefix, use_bjdata);
+                break;
+            }
+
+            case value_t::string:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('S'));
+                }
+                write_number_with_ubjson_prefix(j.m_data.m_value.string->size(), true, use_bjdata);
+                oa->write_characters(
+                    reinterpret_cast<const CharType*>(j.m_data.m_value.string->c_str()),
+                    j.m_data.m_value.string->size());
+                break;
+            }
+
+            case value_t::array:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_data.m_value.array->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front(), use_bjdata);
+                    const bool same_prefix = std::all_of(j.begin() + 1, j.end(),
+                                                         [this, first_prefix, use_bjdata](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v, use_bjdata) == first_prefix;
+                    });
+
+                    std::vector<CharType> bjdx = {'[', '{', 'S', 'H', 'T', 'F', 'N', 'Z'}; // excluded markers in bjdata optimized type
+
+                    if (same_prefix && !(use_bjdata && std::find(bjdx.begin(), bjdx.end(), first_prefix) != bjdx.end()))
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_data.m_value.array->size(), true, use_bjdata);
+                }
+
+                for (const auto& el : *j.m_data.m_value.array)
+                {
+                    write_ubjson(el, use_count, use_type, prefix_required, use_bjdata);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::binary:
+            {
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('['));
+                }
+
+                if (use_type && !j.m_data.m_value.binary->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    oa->write_character(to_char_type('$'));
+                    oa->write_character('U');
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_data.m_value.binary->size(), true, use_bjdata);
+                }
+
+                if (use_type)
+                {
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(j.m_data.m_value.binary->data()),
+                        j.m_data.m_value.binary->size());
+                }
+                else
+                {
+                    for (size_t i = 0; i < j.m_data.m_value.binary->size(); ++i)
+                    {
+                        oa->write_character(to_char_type('U'));
+                        oa->write_character(j.m_data.m_value.binary->data()[i]);
+                    }
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type(']'));
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                if (use_bjdata && j.m_data.m_value.object->size() == 3 && j.m_data.m_value.object->find("_ArrayType_") != j.m_data.m_value.object->end() && j.m_data.m_value.object->find("_ArraySize_") != j.m_data.m_value.object->end() && j.m_data.m_value.object->find("_ArrayData_") != j.m_data.m_value.object->end())
+                {
+                    if (!write_bjdata_ndarray(*j.m_data.m_value.object, use_count, use_type))  // decode bjdata ndarray in the JData format (https://github.com/NeuroJSON/jdata)
+                    {
+                        break;
+                    }
+                }
+
+                if (add_prefix)
+                {
+                    oa->write_character(to_char_type('{'));
+                }
+
+                bool prefix_required = true;
+                if (use_type && !j.m_data.m_value.object->empty())
+                {
+                    JSON_ASSERT(use_count);
+                    const CharType first_prefix = ubjson_prefix(j.front(), use_bjdata);
+                    const bool same_prefix = std::all_of(j.begin(), j.end(),
+                                                         [this, first_prefix, use_bjdata](const BasicJsonType & v)
+                    {
+                        return ubjson_prefix(v, use_bjdata) == first_prefix;
+                    });
+
+                    std::vector<CharType> bjdx = {'[', '{', 'S', 'H', 'T', 'F', 'N', 'Z'}; // excluded markers in bjdata optimized type
+
+                    if (same_prefix && !(use_bjdata && std::find(bjdx.begin(), bjdx.end(), first_prefix) != bjdx.end()))
+                    {
+                        prefix_required = false;
+                        oa->write_character(to_char_type('$'));
+                        oa->write_character(first_prefix);
+                    }
+                }
+
+                if (use_count)
+                {
+                    oa->write_character(to_char_type('#'));
+                    write_number_with_ubjson_prefix(j.m_data.m_value.object->size(), true, use_bjdata);
+                }
+
+                for (const auto& el : *j.m_data.m_value.object)
+                {
+                    write_number_with_ubjson_prefix(el.first.size(), true, use_bjdata);
+                    oa->write_characters(
+                        reinterpret_cast<const CharType*>(el.first.c_str()),
+                        el.first.size());
+                    write_ubjson(el.second, use_count, use_type, prefix_required, use_bjdata);
+                }
+
+                if (!use_count)
+                {
+                    oa->write_character(to_char_type('}'));
+                }
+
+                break;
+            }
+
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+  private:
+    //////////
+    // BSON //
+    //////////
+
+    /*!
+    @return The size of a BSON document entry header, including the id marker
+            and the entry name size (and its null-terminator).
+    */
+    static std::size_t calc_bson_entry_header_size(const string_t& name, const BasicJsonType& j)
+    {
+        const auto it = name.find(static_cast<typename string_t::value_type>(0));
+        if (JSON_HEDLEY_UNLIKELY(it != BasicJsonType::string_t::npos))
+        {
+            JSON_THROW(out_of_range::create(409, concat("BSON key cannot contain code point U+0000 (at byte ", std::to_string(it), ")"), &j));
+            static_cast<void>(j);
+        }
+
+        return /*id*/ 1ul + name.size() + /*zero-terminator*/1u;
+    }
+
+    /*!
+    @brief Writes the given @a element_type and @a name to the output adapter
+    */
+    void write_bson_entry_header(const string_t& name,
+                                 const std::uint8_t element_type)
+    {
+        oa->write_character(to_char_type(element_type)); // boolean
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(name.c_str()),
+            name.size() + 1u);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and boolean value @a value
+    */
+    void write_bson_boolean(const string_t& name,
+                            const bool value)
+    {
+        write_bson_entry_header(name, 0x08);
+        oa->write_character(value ? to_char_type(0x01) : to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and double value @a value
+    */
+    void write_bson_double(const string_t& name,
+                           const double value)
+    {
+        write_bson_entry_header(name, 0x01);
+        write_number<double>(value, true);
+    }
+
+    /*!
+    @return The size of the BSON-encoded string in @a value
+    */
+    static std::size_t calc_bson_string_size(const string_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and string value @a value
+    */
+    void write_bson_string(const string_t& name,
+                           const string_t& value)
+    {
+        write_bson_entry_header(name, 0x02);
+
+        write_number<std::int32_t>(static_cast<std::int32_t>(value.size() + 1ul), true);
+        oa->write_characters(
+            reinterpret_cast<const CharType*>(value.c_str()),
+            value.size() + 1);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and null value
+    */
+    void write_bson_null(const string_t& name)
+    {
+        write_bson_entry_header(name, 0x0A);
+    }
+
+    /*!
+    @return The size of the BSON-encoded integer @a value
+    */
+    static std::size_t calc_bson_integer_size(const std::int64_t value)
+    {
+        return (std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)()
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and integer @a value
+    */
+    void write_bson_integer(const string_t& name,
+                            const std::int64_t value)
+    {
+        if ((std::numeric_limits<std::int32_t>::min)() <= value && value <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            write_bson_entry_header(name, 0x10); // int32
+            write_number<std::int32_t>(static_cast<std::int32_t>(value), true);
+        }
+        else
+        {
+            write_bson_entry_header(name, 0x12); // int64
+            write_number<std::int64_t>(static_cast<std::int64_t>(value), true);
+        }
+    }
+
+    /*!
+    @return The size of the BSON-encoded unsigned integer in @a j
+    */
+    static constexpr std::size_t calc_bson_unsigned_size(const std::uint64_t value) noexcept
+    {
+        return (value <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+               ? sizeof(std::int32_t)
+               : sizeof(std::int64_t);
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and unsigned @a value
+    */
+    void write_bson_unsigned(const string_t& name,
+                             const BasicJsonType& j)
+    {
+        if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x10 /* int32 */);
+            write_number<std::int32_t>(static_cast<std::int32_t>(j.m_data.m_value.number_unsigned), true);
+        }
+        else if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            write_bson_entry_header(name, 0x12 /* int64 */);
+            write_number<std::int64_t>(static_cast<std::int64_t>(j.m_data.m_value.number_unsigned), true);
+        }
+        else
+        {
+            JSON_THROW(out_of_range::create(407, concat("integer number ", std::to_string(j.m_data.m_value.number_unsigned), " cannot be represented by BSON as it does not fit int64"), &j));
+        }
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and object @a value
+    */
+    void write_bson_object_entry(const string_t& name,
+                                 const typename BasicJsonType::object_t& value)
+    {
+        write_bson_entry_header(name, 0x03); // object
+        write_bson_object(value);
+    }
+
+    /*!
+    @return The size of the BSON-encoded array @a value
+    */
+    static std::size_t calc_bson_array_size(const typename BasicJsonType::array_t& value)
+    {
+        std::size_t array_index = 0ul;
+
+        const std::size_t embedded_document_size = std::accumulate(std::begin(value), std::end(value), static_cast<std::size_t>(0), [&array_index](std::size_t result, const typename BasicJsonType::array_t::value_type & el)
+        {
+            return result + calc_bson_element_size(std::to_string(array_index++), el);
+        });
+
+        return sizeof(std::int32_t) + embedded_document_size + 1ul;
+    }
+
+    /*!
+    @return The size of the BSON-encoded binary array @a value
+    */
+    static std::size_t calc_bson_binary_size(const typename BasicJsonType::binary_t& value)
+    {
+        return sizeof(std::int32_t) + value.size() + 1ul;
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and array @a value
+    */
+    void write_bson_array(const string_t& name,
+                          const typename BasicJsonType::array_t& value)
+    {
+        write_bson_entry_header(name, 0x04); // array
+        write_number<std::int32_t>(static_cast<std::int32_t>(calc_bson_array_size(value)), true);
+
+        std::size_t array_index = 0ul;
+
+        for (const auto& el : value)
+        {
+            write_bson_element(std::to_string(array_index++), el);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    /*!
+    @brief Writes a BSON element with key @a name and binary value @a value
+    */
+    void write_bson_binary(const string_t& name,
+                           const binary_t& value)
+    {
+        write_bson_entry_header(name, 0x05);
+
+        write_number<std::int32_t>(static_cast<std::int32_t>(value.size()), true);
+        write_number(value.has_subtype() ? static_cast<std::uint8_t>(value.subtype()) : static_cast<std::uint8_t>(0x00));
+
+        oa->write_characters(reinterpret_cast<const CharType*>(value.data()), value.size());
+    }
+
+    /*!
+    @brief Calculates the size necessary to serialize the JSON value @a j with its @a name
+    @return The calculated size for the BSON document entry for @a j with the given @a name.
+    */
+    static std::size_t calc_bson_element_size(const string_t& name,
+            const BasicJsonType& j)
+    {
+        const auto header_size = calc_bson_entry_header_size(name, j);
+        switch (j.type())
+        {
+            case value_t::object:
+                return header_size + calc_bson_object_size(*j.m_data.m_value.object);
+
+            case value_t::array:
+                return header_size + calc_bson_array_size(*j.m_data.m_value.array);
+
+            case value_t::binary:
+                return header_size + calc_bson_binary_size(*j.m_data.m_value.binary);
+
+            case value_t::boolean:
+                return header_size + 1ul;
+
+            case value_t::number_float:
+                return header_size + 8ul;
+
+            case value_t::number_integer:
+                return header_size + calc_bson_integer_size(j.m_data.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return header_size + calc_bson_unsigned_size(j.m_data.m_value.number_unsigned);
+
+            case value_t::string:
+                return header_size + calc_bson_string_size(*j.m_data.m_value.string);
+
+            case value_t::null:
+                return header_size + 0ul;
+
+            // LCOV_EXCL_START
+            case value_t::discarded:
+            default:
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert)
+                return 0ul;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Serializes the JSON value @a j to BSON and associates it with the
+           key @a name.
+    @param name The name to associate with the JSON entity @a j within the
+                current BSON document
+    */
+    void write_bson_element(const string_t& name,
+                            const BasicJsonType& j)
+    {
+        switch (j.type())
+        {
+            case value_t::object:
+                return write_bson_object_entry(name, *j.m_data.m_value.object);
+
+            case value_t::array:
+                return write_bson_array(name, *j.m_data.m_value.array);
+
+            case value_t::binary:
+                return write_bson_binary(name, *j.m_data.m_value.binary);
+
+            case value_t::boolean:
+                return write_bson_boolean(name, j.m_data.m_value.boolean);
+
+            case value_t::number_float:
+                return write_bson_double(name, j.m_data.m_value.number_float);
+
+            case value_t::number_integer:
+                return write_bson_integer(name, j.m_data.m_value.number_integer);
+
+            case value_t::number_unsigned:
+                return write_bson_unsigned(name, j);
+
+            case value_t::string:
+                return write_bson_string(name, *j.m_data.m_value.string);
+
+            case value_t::null:
+                return write_bson_null(name);
+
+            // LCOV_EXCL_START
+            case value_t::discarded:
+            default:
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert)
+                return;
+                // LCOV_EXCL_STOP
+        }
+    }
+
+    /*!
+    @brief Calculates the size of the BSON serialization of the given
+           JSON-object @a j.
+    @param[in] value  JSON value to serialize
+    @pre       value.type() == value_t::object
+    */
+    static std::size_t calc_bson_object_size(const typename BasicJsonType::object_t& value)
+    {
+        const std::size_t document_size = std::accumulate(value.begin(), value.end(), static_cast<std::size_t>(0),
+                                          [](size_t result, const typename BasicJsonType::object_t::value_type & el)
+        {
+            return result += calc_bson_element_size(el.first, el.second);
+        });
+
+        return sizeof(std::int32_t) + document_size + 1ul;
+    }
+
+    /*!
+    @param[in] value  JSON value to serialize
+    @pre       value.type() == value_t::object
+    */
+    void write_bson_object(const typename BasicJsonType::object_t& value)
+    {
+        write_number<std::int32_t>(static_cast<std::int32_t>(calc_bson_object_size(value)), true);
+
+        for (const auto& el : value)
+        {
+            write_bson_element(el.first, el.second);
+        }
+
+        oa->write_character(to_char_type(0x00));
+    }
+
+    //////////
+    // CBOR //
+    //////////
+
+    static constexpr CharType get_cbor_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xFA);  // Single-Precision Float
+    }
+
+    static constexpr CharType get_cbor_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xFB);  // Double-Precision Float
+    }
+
+    /////////////
+    // MsgPack //
+    /////////////
+
+    static constexpr CharType get_msgpack_float_prefix(float /*unused*/)
+    {
+        return to_char_type(0xCA);  // float 32
+    }
+
+    static constexpr CharType get_msgpack_float_prefix(double /*unused*/)
+    {
+        return to_char_type(0xCB);  // float 64
+    }
+
+    ////////////
+    // UBJSON //
+    ////////////
+
+    // UBJSON: write number (floating point)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_floating_point<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix,
+                                         const bool use_bjdata)
+    {
+        if (add_prefix)
+        {
+            oa->write_character(get_ubjson_float_prefix(n));
+        }
+        write_number(n, use_bjdata);
+    }
+
+    // UBJSON: write number (unsigned integer)
+    template<typename NumberType, typename std::enable_if<
+                 std::is_unsigned<NumberType>::value, int>::type = 0>
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix,
+                                         const bool use_bjdata)
+    {
+        if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::uint8_t>(n), use_bjdata);
+        }
+        else if (n <= (std::numeric_limits<std::uint8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n), use_bjdata);
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && n <= static_cast<uint64_t>((std::numeric_limits<uint16_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('u'));  // uint16 - bjdata only
+            }
+            write_number(static_cast<std::uint16_t>(n), use_bjdata);
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && n <= static_cast<uint64_t>((std::numeric_limits<uint32_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('m'));  // uint32 - bjdata only
+            }
+            write_number(static_cast<std::uint32_t>(n), use_bjdata);
+        }
+        else if (n <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && n <= (std::numeric_limits<uint64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('M'));  // uint64 - bjdata only
+            }
+            write_number(static_cast<std::uint64_t>(n), use_bjdata);
+        }
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true, use_bjdata);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+    }
+
+    // UBJSON: write number (signed integer)
+    template < typename NumberType, typename std::enable_if <
+                   std::is_signed<NumberType>::value&&
+                   !std::is_floating_point<NumberType>::value, int >::type = 0 >
+    void write_number_with_ubjson_prefix(const NumberType n,
+                                         const bool add_prefix,
+                                         const bool use_bjdata)
+    {
+        if ((std::numeric_limits<std::int8_t>::min)() <= n && n <= (std::numeric_limits<std::int8_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('i'));  // int8
+            }
+            write_number(static_cast<std::int8_t>(n), use_bjdata);
+        }
+        else if (static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint8_t>::max)()))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('U'));  // uint8
+            }
+            write_number(static_cast<std::uint8_t>(n), use_bjdata);
+        }
+        else if ((std::numeric_limits<std::int16_t>::min)() <= n && n <= (std::numeric_limits<std::int16_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('I'));  // int16
+            }
+            write_number(static_cast<std::int16_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && (static_cast<std::int64_t>((std::numeric_limits<std::uint16_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint16_t>::max)())))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('u'));  // uint16 - bjdata only
+            }
+            write_number(static_cast<uint16_t>(n), use_bjdata);
+        }
+        else if ((std::numeric_limits<std::int32_t>::min)() <= n && n <= (std::numeric_limits<std::int32_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('l'));  // int32
+            }
+            write_number(static_cast<std::int32_t>(n), use_bjdata);
+        }
+        else if (use_bjdata && (static_cast<std::int64_t>((std::numeric_limits<std::uint32_t>::min)()) <= n && n <= static_cast<std::int64_t>((std::numeric_limits<std::uint32_t>::max)())))
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('m'));  // uint32 - bjdata only
+            }
+            write_number(static_cast<uint32_t>(n), use_bjdata);
+        }
+        else if ((std::numeric_limits<std::int64_t>::min)() <= n && n <= (std::numeric_limits<std::int64_t>::max)())
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('L'));  // int64
+            }
+            write_number(static_cast<std::int64_t>(n), use_bjdata);
+        }
+        // LCOV_EXCL_START
+        else
+        {
+            if (add_prefix)
+            {
+                oa->write_character(to_char_type('H'));  // high-precision number
+            }
+
+            const auto number = BasicJsonType(n).dump();
+            write_number_with_ubjson_prefix(number.size(), true, use_bjdata);
+            for (std::size_t i = 0; i < number.size(); ++i)
+            {
+                oa->write_character(to_char_type(static_cast<std::uint8_t>(number[i])));
+            }
+        }
+        // LCOV_EXCL_STOP
+    }
+
+    /*!
+    @brief determine the type prefix of container values
+    */
+    CharType ubjson_prefix(const BasicJsonType& j, const bool use_bjdata) const noexcept
+    {
+        switch (j.type())
+        {
+            case value_t::null:
+                return 'Z';
+
+            case value_t::boolean:
+                return j.m_data.m_value.boolean ? 'T' : 'F';
+
+            case value_t::number_integer:
+            {
+                if ((std::numeric_limits<std::int8_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int8_t>::max)())
+                {
+                    return 'i';
+                }
+                if ((std::numeric_limits<std::uint8_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint8_t>::max)())
+                {
+                    return 'U';
+                }
+                if ((std::numeric_limits<std::int16_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int16_t>::max)())
+                {
+                    return 'I';
+                }
+                if (use_bjdata && ((std::numeric_limits<std::uint16_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint16_t>::max)()))
+                {
+                    return 'u';
+                }
+                if ((std::numeric_limits<std::int32_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int32_t>::max)())
+                {
+                    return 'l';
+                }
+                if (use_bjdata && ((std::numeric_limits<std::uint32_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::uint32_t>::max)()))
+                {
+                    return 'm';
+                }
+                if ((std::numeric_limits<std::int64_t>::min)() <= j.m_data.m_value.number_integer && j.m_data.m_value.number_integer <= (std::numeric_limits<std::int64_t>::max)())
+                {
+                    return 'L';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_unsigned:
+            {
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int8_t>::max)()))
+                {
+                    return 'i';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint8_t>::max)()))
+                {
+                    return 'U';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int16_t>::max)()))
+                {
+                    return 'I';
+                }
+                if (use_bjdata && j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint16_t>::max)()))
+                {
+                    return 'u';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int32_t>::max)()))
+                {
+                    return 'l';
+                }
+                if (use_bjdata && j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::uint32_t>::max)()))
+                {
+                    return 'm';
+                }
+                if (j.m_data.m_value.number_unsigned <= static_cast<std::uint64_t>((std::numeric_limits<std::int64_t>::max)()))
+                {
+                    return 'L';
+                }
+                if (use_bjdata && j.m_data.m_value.number_unsigned <= (std::numeric_limits<std::uint64_t>::max)())
+                {
+                    return 'M';
+                }
+                // anything else is treated as high-precision number
+                return 'H'; // LCOV_EXCL_LINE
+            }
+
+            case value_t::number_float:
+                return get_ubjson_float_prefix(j.m_data.m_value.number_float);
+
+            case value_t::string:
+                return 'S';
+
+            case value_t::array: // fallthrough
+            case value_t::binary:
+                return '[';
+
+            case value_t::object:
+                return '{';
+
+            case value_t::discarded:
+            default:  // discarded values
+                return 'N';
+        }
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(float /*unused*/)
+    {
+        return 'd';  // float 32
+    }
+
+    static constexpr CharType get_ubjson_float_prefix(double /*unused*/)
+    {
+        return 'D';  // float 64
+    }
+
+    /*!
+    @return false if the object is successfully converted to a bjdata ndarray, true if the type or size is invalid
+    */
+    bool write_bjdata_ndarray(const typename BasicJsonType::object_t& value, const bool use_count, const bool use_type)
+    {
+        std::map<string_t, CharType> bjdtype = {{"uint8", 'U'},  {"int8", 'i'},  {"uint16", 'u'}, {"int16", 'I'},
+            {"uint32", 'm'}, {"int32", 'l'}, {"uint64", 'M'}, {"int64", 'L'}, {"single", 'd'}, {"double", 'D'}, {"char", 'C'}
+        };
+
+        string_t key = "_ArrayType_";
+        auto it = bjdtype.find(static_cast<string_t>(value.at(key)));
+        if (it == bjdtype.end())
+        {
+            return true;
+        }
+        CharType dtype = it->second;
+
+        key = "_ArraySize_";
+        std::size_t len = (value.at(key).empty() ? 0 : 1);
+        for (const auto& el : value.at(key))
+        {
+            len *= static_cast<std::size_t>(el.m_data.m_value.number_unsigned);
+        }
+
+        key = "_ArrayData_";
+        if (value.at(key).size() != len)
+        {
+            return true;
+        }
+
+        oa->write_character('[');
+        oa->write_character('$');
+        oa->write_character(dtype);
+        oa->write_character('#');
+
+        key = "_ArraySize_";
+        write_ubjson(value.at(key), use_count, use_type, true,  true);
+
+        key = "_ArrayData_";
+        if (dtype == 'U' || dtype == 'C')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint8_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'i')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int8_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'u')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint16_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'I')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int16_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'm')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint32_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'l')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int32_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'M')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::uint64_t>(el.m_data.m_value.number_unsigned), true);
+            }
+        }
+        else if (dtype == 'L')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<std::int64_t>(el.m_data.m_value.number_integer), true);
+            }
+        }
+        else if (dtype == 'd')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<float>(el.m_data.m_value.number_float), true);
+            }
+        }
+        else if (dtype == 'D')
+        {
+            for (const auto& el : value.at(key))
+            {
+                write_number(static_cast<double>(el.m_data.m_value.number_float), true);
+            }
+        }
+        return false;
+    }
+
+    ///////////////////////
+    // Utility functions //
+    ///////////////////////
+
+    /*
+    @brief write a number to output input
+    @param[in] n number of type @a NumberType
+    @param[in] OutputIsLittleEndian Set to true if output data is
+                                 required to be little endian
+    @tparam NumberType the type of the number
+
+    @note This function needs to respect the system's endianness, because bytes
+          in CBOR, MessagePack, and UBJSON are stored in network order (big
+          endian) and therefore need reordering on little endian systems.
+          On the other hand, BSON and BJData use little endian and should reorder
+          on big endian systems.
+    */
+    template<typename NumberType>
+    void write_number(const NumberType n, const bool OutputIsLittleEndian = false)
+    {
+        // step 1: write number to array of length NumberType
+        std::array<CharType, sizeof(NumberType)> vec{};
+        std::memcpy(vec.data(), &n, sizeof(NumberType));
+
+        // step 2: write array to output (with possible reordering)
+        if (is_little_endian != OutputIsLittleEndian)
+        {
+            // reverse byte order prior to conversion if necessary
+            std::reverse(vec.begin(), vec.end());
+        }
+
+        oa->write_characters(vec.data(), sizeof(NumberType));
+    }
+
+    void write_compact_float(const number_float_t n, detail::input_format_t format)
+    {
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+        if (static_cast<double>(n) >= static_cast<double>(std::numeric_limits<float>::lowest()) &&
+                static_cast<double>(n) <= static_cast<double>((std::numeric_limits<float>::max)()) &&
+                static_cast<double>(static_cast<float>(n)) == static_cast<double>(n))
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(static_cast<float>(n))
+                                : get_msgpack_float_prefix(static_cast<float>(n)));
+            write_number(static_cast<float>(n));
+        }
+        else
+        {
+            oa->write_character(format == detail::input_format_t::cbor
+                                ? get_cbor_float_prefix(n)
+                                : get_msgpack_float_prefix(n));
+            write_number(n);
+        }
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+    }
+
+  public:
+    // The following to_char_type functions are implement the conversion
+    // between uint8_t and CharType. In case CharType is not unsigned,
+    // such a conversion is required to allow values greater than 128.
+    // See <https://github.com/nlohmann/json/issues/1286> for a discussion.
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_signed<char>::value > * = nullptr >
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return *reinterpret_cast<char*>(&x);
+    }
+
+    template < typename C = CharType,
+               enable_if_t < std::is_signed<C>::value && std::is_unsigned<char>::value > * = nullptr >
+    static CharType to_char_type(std::uint8_t x) noexcept
+    {
+        static_assert(sizeof(std::uint8_t) == sizeof(CharType), "size of CharType must be equal to std::uint8_t");
+        static_assert(std::is_trivial<CharType>::value, "CharType must be trivial");
+        CharType result;
+        std::memcpy(&result, &x, sizeof(x));
+        return result;
+    }
+
+    template<typename C = CharType,
+             enable_if_t<std::is_unsigned<C>::value>* = nullptr>
+    static constexpr CharType to_char_type(std::uint8_t x) noexcept
+    {
+        return x;
+    }
+
+    template < typename InputCharType, typename C = CharType,
+               enable_if_t <
+                   std::is_signed<C>::value &&
+                   std::is_signed<char>::value &&
+                   std::is_same<char, typename std::remove_cv<InputCharType>::type>::value
+                   > * = nullptr >
+    static constexpr CharType to_char_type(InputCharType x) noexcept
+    {
+        return x;
+    }
+
+  private:
+    /// whether we can assume little endianness
+    const bool is_little_endian = little_endianness();
+
+    /// the output
+    output_adapter_t<CharType> oa = nullptr;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/output/serializer.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2008-2009 Björn Hoehrmann <bjoern@hoehrmann.de>
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <algorithm> // reverse, remove, fill, find, none_of
+#include <array> // array
+#include <clocale> // localeconv, lconv
+#include <cmath> // labs, isfinite, isnan, signbit
+#include <cstddef> // size_t, ptrdiff_t
+#include <cstdint> // uint8_t
+#include <cstdio> // snprintf
+#include <limits> // numeric_limits
+#include <string> // string, char_traits
+#include <iomanip> // setfill, setw
+#include <type_traits> // is_same
+#include <utility> // move
+
+// #include <nlohmann/detail/conversions/to_chars.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2009 Florian Loitsch <https://florian.loitsch.com/>
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <array> // array
+#include <cmath>   // signbit, isfinite
+#include <cstdint> // intN_t, uintN_t
+#include <cstring> // memcpy, memmove
+#include <limits> // numeric_limits
+#include <type_traits> // conditional
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+/*!
+@brief implements the Grisu2 algorithm for binary to decimal floating-point
+conversion.
+
+This implementation is a slightly modified version of the reference
+implementation which may be obtained from
+http://florian.loitsch.com/publications (bench.tar.gz).
+
+The code is distributed under the MIT license, Copyright (c) 2009 Florian Loitsch.
+
+For a detailed description of the algorithm see:
+
+[1] Loitsch, "Printing Floating-Point Numbers Quickly and Accurately with
+    Integers", Proceedings of the ACM SIGPLAN 2010 Conference on Programming
+    Language Design and Implementation, PLDI 2010
+[2] Burger, Dybvig, "Printing Floating-Point Numbers Quickly and Accurately",
+    Proceedings of the ACM SIGPLAN 1996 Conference on Programming Language
+    Design and Implementation, PLDI 1996
+*/
+namespace dtoa_impl
+{
+
+template<typename Target, typename Source>
+Target reinterpret_bits(const Source source)
+{
+    static_assert(sizeof(Target) == sizeof(Source), "size mismatch");
+
+    Target target;
+    std::memcpy(&target, &source, sizeof(Source));
+    return target;
+}
+
+struct diyfp // f * 2^e
+{
+    static constexpr int kPrecision = 64; // = q
+
+    std::uint64_t f = 0;
+    int e = 0;
+
+    constexpr diyfp(std::uint64_t f_, int e_) noexcept : f(f_), e(e_) {}
+
+    /*!
+    @brief returns x - y
+    @pre x.e == y.e and x.f >= y.f
+    */
+    static diyfp sub(const diyfp& x, const diyfp& y) noexcept
+    {
+        JSON_ASSERT(x.e == y.e);
+        JSON_ASSERT(x.f >= y.f);
+
+        return {x.f - y.f, x.e};
+    }
+
+    /*!
+    @brief returns x * y
+    @note The result is rounded. (Only the upper q bits are returned.)
+    */
+    static diyfp mul(const diyfp& x, const diyfp& y) noexcept
+    {
+        static_assert(kPrecision == 64, "internal error");
+
+        // Computes:
+        //  f = round((x.f * y.f) / 2^q)
+        //  e = x.e + y.e + q
+
+        // Emulate the 64-bit * 64-bit multiplication:
+        //
+        // p = u * v
+        //   = (u_lo + 2^32 u_hi) (v_lo + 2^32 v_hi)
+        //   = (u_lo v_lo         ) + 2^32 ((u_lo v_hi         ) + (u_hi v_lo         )) + 2^64 (u_hi v_hi         )
+        //   = (p0                ) + 2^32 ((p1                ) + (p2                )) + 2^64 (p3                )
+        //   = (p0_lo + 2^32 p0_hi) + 2^32 ((p1_lo + 2^32 p1_hi) + (p2_lo + 2^32 p2_hi)) + 2^64 (p3                )
+        //   = (p0_lo             ) + 2^32 (p0_hi + p1_lo + p2_lo                      ) + 2^64 (p1_hi + p2_hi + p3)
+        //   = (p0_lo             ) + 2^32 (Q                                          ) + 2^64 (H                 )
+        //   = (p0_lo             ) + 2^32 (Q_lo + 2^32 Q_hi                           ) + 2^64 (H                 )
+        //
+        // (Since Q might be larger than 2^32 - 1)
+        //
+        //   = (p0_lo + 2^32 Q_lo) + 2^64 (Q_hi + H)
+        //
+        // (Q_hi + H does not overflow a 64-bit int)
+        //
+        //   = p_lo + 2^64 p_hi
+
+        const std::uint64_t u_lo = x.f & 0xFFFFFFFFu;
+        const std::uint64_t u_hi = x.f >> 32u;
+        const std::uint64_t v_lo = y.f & 0xFFFFFFFFu;
+        const std::uint64_t v_hi = y.f >> 32u;
+
+        const std::uint64_t p0 = u_lo * v_lo;
+        const std::uint64_t p1 = u_lo * v_hi;
+        const std::uint64_t p2 = u_hi * v_lo;
+        const std::uint64_t p3 = u_hi * v_hi;
+
+        const std::uint64_t p0_hi = p0 >> 32u;
+        const std::uint64_t p1_lo = p1 & 0xFFFFFFFFu;
+        const std::uint64_t p1_hi = p1 >> 32u;
+        const std::uint64_t p2_lo = p2 & 0xFFFFFFFFu;
+        const std::uint64_t p2_hi = p2 >> 32u;
+
+        std::uint64_t Q = p0_hi + p1_lo + p2_lo;
+
+        // The full product might now be computed as
+        //
+        // p_hi = p3 + p2_hi + p1_hi + (Q >> 32)
+        // p_lo = p0_lo + (Q << 32)
+        //
+        // But in this particular case here, the full p_lo is not required.
+        // Effectively we only need to add the highest bit in p_lo to p_hi (and
+        // Q_hi + 1 does not overflow).
+
+        Q += std::uint64_t{1} << (64u - 32u - 1u); // round, ties up
+
+        const std::uint64_t h = p3 + p2_hi + p1_hi + (Q >> 32u);
+
+        return {h, x.e + y.e + 64};
+    }
+
+    /*!
+    @brief normalize x such that the significand is >= 2^(q-1)
+    @pre x.f != 0
+    */
+    static diyfp normalize(diyfp x) noexcept
+    {
+        JSON_ASSERT(x.f != 0);
+
+        while ((x.f >> 63u) == 0)
+        {
+            x.f <<= 1u;
+            x.e--;
+        }
+
+        return x;
+    }
+
+    /*!
+    @brief normalize x such that the result has the exponent E
+    @pre e >= x.e and the upper e - x.e bits of x.f must be zero.
+    */
+    static diyfp normalize_to(const diyfp& x, const int target_exponent) noexcept
+    {
+        const int delta = x.e - target_exponent;
+
+        JSON_ASSERT(delta >= 0);
+        JSON_ASSERT(((x.f << delta) >> delta) == x.f);
+
+        return {x.f << delta, target_exponent};
+    }
+};
+
+struct boundaries
+{
+    diyfp w;
+    diyfp minus;
+    diyfp plus;
+};
+
+/*!
+Compute the (normalized) diyfp representing the input number 'value' and its
+boundaries.
+
+@pre value must be finite and positive
+*/
+template<typename FloatType>
+boundaries compute_boundaries(FloatType value)
+{
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // Convert the IEEE representation into a diyfp.
+    //
+    // If v is denormal:
+    //      value = 0.F * 2^(1 - bias) = (          F) * 2^(1 - bias - (p-1))
+    // If v is normalized:
+    //      value = 1.F * 2^(E - bias) = (2^(p-1) + F) * 2^(E - bias - (p-1))
+
+    static_assert(std::numeric_limits<FloatType>::is_iec559,
+                  "internal error: dtoa_short requires an IEEE-754 floating-point implementation");
+
+    constexpr int      kPrecision = std::numeric_limits<FloatType>::digits; // = p (includes the hidden bit)
+    constexpr int      kBias      = std::numeric_limits<FloatType>::max_exponent - 1 + (kPrecision - 1);
+    constexpr int      kMinExp    = 1 - kBias;
+    constexpr std::uint64_t kHiddenBit = std::uint64_t{1} << (kPrecision - 1); // = 2^(p-1)
+
+    using bits_type = typename std::conditional<kPrecision == 24, std::uint32_t, std::uint64_t >::type;
+
+    const auto bits = static_cast<std::uint64_t>(reinterpret_bits<bits_type>(value));
+    const std::uint64_t E = bits >> (kPrecision - 1);
+    const std::uint64_t F = bits & (kHiddenBit - 1);
+
+    const bool is_denormal = E == 0;
+    const diyfp v = is_denormal
+                    ? diyfp(F, kMinExp)
+                    : diyfp(F + kHiddenBit, static_cast<int>(E) - kBias);
+
+    // Compute the boundaries m- and m+ of the floating-point value
+    // v = f * 2^e.
+    //
+    // Determine v- and v+, the floating-point predecessor and successor if v,
+    // respectively.
+    //
+    //      v- = v - 2^e        if f != 2^(p-1) or e == e_min                (A)
+    //         = v - 2^(e-1)    if f == 2^(p-1) and e > e_min                (B)
+    //
+    //      v+ = v + 2^e
+    //
+    // Let m- = (v- + v) / 2 and m+ = (v + v+) / 2. All real numbers _strictly_
+    // between m- and m+ round to v, regardless of how the input rounding
+    // algorithm breaks ties.
+    //
+    //      ---+-------------+-------------+-------------+-------------+---  (A)
+    //         v-            m-            v             m+            v+
+    //
+    //      -----------------+------+------+-------------+-------------+---  (B)
+    //                       v-     m-     v             m+            v+
+
+    const bool lower_boundary_is_closer = F == 0 && E > 1;
+    const diyfp m_plus = diyfp(2 * v.f + 1, v.e - 1);
+    const diyfp m_minus = lower_boundary_is_closer
+                          ? diyfp(4 * v.f - 1, v.e - 2)  // (B)
+                          : diyfp(2 * v.f - 1, v.e - 1); // (A)
+
+    // Determine the normalized w+ = m+.
+    const diyfp w_plus = diyfp::normalize(m_plus);
+
+    // Determine w- = m- such that e_(w-) = e_(w+).
+    const diyfp w_minus = diyfp::normalize_to(m_minus, w_plus.e);
+
+    return {diyfp::normalize(v), w_minus, w_plus};
+}
+
+// Given normalized diyfp w, Grisu needs to find a (normalized) cached
+// power-of-ten c, such that the exponent of the product c * w = f * 2^e lies
+// within a certain range [alpha, gamma] (Definition 3.2 from [1])
+//
+//      alpha <= e = e_c + e_w + q <= gamma
+//
+// or
+//
+//      f_c * f_w * 2^alpha <= f_c 2^(e_c) * f_w 2^(e_w) * 2^q
+//                          <= f_c * f_w * 2^gamma
+//
+// Since c and w are normalized, i.e. 2^(q-1) <= f < 2^q, this implies
+//
+//      2^(q-1) * 2^(q-1) * 2^alpha <= c * w * 2^q < 2^q * 2^q * 2^gamma
+//
+// or
+//
+//      2^(q - 2 + alpha) <= c * w < 2^(q + gamma)
+//
+// The choice of (alpha,gamma) determines the size of the table and the form of
+// the digit generation procedure. Using (alpha,gamma)=(-60,-32) works out well
+// in practice:
+//
+// The idea is to cut the number c * w = f * 2^e into two parts, which can be
+// processed independently: An integral part p1, and a fractional part p2:
+//
+//      f * 2^e = ( (f div 2^-e) * 2^-e + (f mod 2^-e) ) * 2^e
+//              = (f div 2^-e) + (f mod 2^-e) * 2^e
+//              = p1 + p2 * 2^e
+//
+// The conversion of p1 into decimal form requires a series of divisions and
+// modulos by (a power of) 10. These operations are faster for 32-bit than for
+// 64-bit integers, so p1 should ideally fit into a 32-bit integer. This can be
+// achieved by choosing
+//
+//      -e >= 32   or   e <= -32 := gamma
+//
+// In order to convert the fractional part
+//
+//      p2 * 2^e = p2 / 2^-e = d[-1] / 10^1 + d[-2] / 10^2 + ...
+//
+// into decimal form, the fraction is repeatedly multiplied by 10 and the digits
+// d[-i] are extracted in order:
+//
+//      (10 * p2) div 2^-e = d[-1]
+//      (10 * p2) mod 2^-e = d[-2] / 10^1 + ...
+//
+// The multiplication by 10 must not overflow. It is sufficient to choose
+//
+//      10 * p2 < 16 * p2 = 2^4 * p2 <= 2^64.
+//
+// Since p2 = f mod 2^-e < 2^-e,
+//
+//      -e <= 60   or   e >= -60 := alpha
+
+constexpr int kAlpha = -60;
+constexpr int kGamma = -32;
+
+struct cached_power // c = f * 2^e ~= 10^k
+{
+    std::uint64_t f;
+    int e;
+    int k;
+};
+
+/*!
+For a normalized diyfp w = f * 2^e, this function returns a (normalized) cached
+power-of-ten c = f_c * 2^e_c, such that the exponent of the product w * c
+satisfies (Definition 3.2 from [1])
+
+     alpha <= e_c + e + q <= gamma.
+*/
+inline cached_power get_cached_power_for_binary_exponent(int e)
+{
+    // Now
+    //
+    //      alpha <= e_c + e + q <= gamma                                    (1)
+    //      ==> f_c * 2^alpha <= c * 2^e * 2^q
+    //
+    // and since the c's are normalized, 2^(q-1) <= f_c,
+    //
+    //      ==> 2^(q - 1 + alpha) <= c * 2^(e + q)
+    //      ==> 2^(alpha - e - 1) <= c
+    //
+    // If c were an exact power of ten, i.e. c = 10^k, one may determine k as
+    //
+    //      k = ceil( log_10( 2^(alpha - e - 1) ) )
+    //        = ceil( (alpha - e - 1) * log_10(2) )
+    //
+    // From the paper:
+    // "In theory the result of the procedure could be wrong since c is rounded,
+    //  and the computation itself is approximated [...]. In practice, however,
+    //  this simple function is sufficient."
+    //
+    // For IEEE double precision floating-point numbers converted into
+    // normalized diyfp's w = f * 2^e, with q = 64,
+    //
+    //      e >= -1022      (min IEEE exponent)
+    //           -52        (p - 1)
+    //           -52        (p - 1, possibly normalize denormal IEEE numbers)
+    //           -11        (normalize the diyfp)
+    //         = -1137
+    //
+    // and
+    //
+    //      e <= +1023      (max IEEE exponent)
+    //           -52        (p - 1)
+    //           -11        (normalize the diyfp)
+    //         = 960
+    //
+    // This binary exponent range [-1137,960] results in a decimal exponent
+    // range [-307,324]. One does not need to store a cached power for each
+    // k in this range. For each such k it suffices to find a cached power
+    // such that the exponent of the product lies in [alpha,gamma].
+    // This implies that the difference of the decimal exponents of adjacent
+    // table entries must be less than or equal to
+    //
+    //      floor( (gamma - alpha) * log_10(2) ) = 8.
+    //
+    // (A smaller distance gamma-alpha would require a larger table.)
+
+    // NB:
+    // Actually this function returns c, such that -60 <= e_c + e + 64 <= -34.
+
+    constexpr int kCachedPowersMinDecExp = -300;
+    constexpr int kCachedPowersDecStep = 8;
+
+    static constexpr std::array<cached_power, 79> kCachedPowers =
+    {
+        {
+            { 0xAB70FE17C79AC6CA, -1060, -300 },
+            { 0xFF77B1FCBEBCDC4F, -1034, -292 },
+            { 0xBE5691EF416BD60C, -1007, -284 },
+            { 0x8DD01FAD907FFC3C,  -980, -276 },
+            { 0xD3515C2831559A83,  -954, -268 },
+            { 0x9D71AC8FADA6C9B5,  -927, -260 },
+            { 0xEA9C227723EE8BCB,  -901, -252 },
+            { 0xAECC49914078536D,  -874, -244 },
+            { 0x823C12795DB6CE57,  -847, -236 },
+            { 0xC21094364DFB5637,  -821, -228 },
+            { 0x9096EA6F3848984F,  -794, -220 },
+            { 0xD77485CB25823AC7,  -768, -212 },
+            { 0xA086CFCD97BF97F4,  -741, -204 },
+            { 0xEF340A98172AACE5,  -715, -196 },
+            { 0xB23867FB2A35B28E,  -688, -188 },
+            { 0x84C8D4DFD2C63F3B,  -661, -180 },
+            { 0xC5DD44271AD3CDBA,  -635, -172 },
+            { 0x936B9FCEBB25C996,  -608, -164 },
+            { 0xDBAC6C247D62A584,  -582, -156 },
+            { 0xA3AB66580D5FDAF6,  -555, -148 },
+            { 0xF3E2F893DEC3F126,  -529, -140 },
+            { 0xB5B5ADA8AAFF80B8,  -502, -132 },
+            { 0x87625F056C7C4A8B,  -475, -124 },
+            { 0xC9BCFF6034C13053,  -449, -116 },
+            { 0x964E858C91BA2655,  -422, -108 },
+            { 0xDFF9772470297EBD,  -396, -100 },
+            { 0xA6DFBD9FB8E5B88F,  -369,  -92 },
+            { 0xF8A95FCF88747D94,  -343,  -84 },
+            { 0xB94470938FA89BCF,  -316,  -76 },
+            { 0x8A08F0F8BF0F156B,  -289,  -68 },
+            { 0xCDB02555653131B6,  -263,  -60 },
+            { 0x993FE2C6D07B7FAC,  -236,  -52 },
+            { 0xE45C10C42A2B3B06,  -210,  -44 },
+            { 0xAA242499697392D3,  -183,  -36 },
+            { 0xFD87B5F28300CA0E,  -157,  -28 },
+            { 0xBCE5086492111AEB,  -130,  -20 },
+            { 0x8CBCCC096F5088CC,  -103,  -12 },
+            { 0xD1B71758E219652C,   -77,   -4 },
+            { 0x9C40000000000000,   -50,    4 },
+            { 0xE8D4A51000000000,   -24,   12 },
+            { 0xAD78EBC5AC620000,     3,   20 },
+            { 0x813F3978F8940984,    30,   28 },
+            { 0xC097CE7BC90715B3,    56,   36 },
+            { 0x8F7E32CE7BEA5C70,    83,   44 },
+            { 0xD5D238A4ABE98068,   109,   52 },
+            { 0x9F4F2726179A2245,   136,   60 },
+            { 0xED63A231D4C4FB27,   162,   68 },
+            { 0xB0DE65388CC8ADA8,   189,   76 },
+            { 0x83C7088E1AAB65DB,   216,   84 },
+            { 0xC45D1DF942711D9A,   242,   92 },
+            { 0x924D692CA61BE758,   269,  100 },
+            { 0xDA01EE641A708DEA,   295,  108 },
+            { 0xA26DA3999AEF774A,   322,  116 },
+            { 0xF209787BB47D6B85,   348,  124 },
+            { 0xB454E4A179DD1877,   375,  132 },
+            { 0x865B86925B9BC5C2,   402,  140 },
+            { 0xC83553C5C8965D3D,   428,  148 },
+            { 0x952AB45CFA97A0B3,   455,  156 },
+            { 0xDE469FBD99A05FE3,   481,  164 },
+            { 0xA59BC234DB398C25,   508,  172 },
+            { 0xF6C69A72A3989F5C,   534,  180 },
+            { 0xB7DCBF5354E9BECE,   561,  188 },
+            { 0x88FCF317F22241E2,   588,  196 },
+            { 0xCC20CE9BD35C78A5,   614,  204 },
+            { 0x98165AF37B2153DF,   641,  212 },
+            { 0xE2A0B5DC971F303A,   667,  220 },
+            { 0xA8D9D1535CE3B396,   694,  228 },
+            { 0xFB9B7CD9A4A7443C,   720,  236 },
+            { 0xBB764C4CA7A44410,   747,  244 },
+            { 0x8BAB8EEFB6409C1A,   774,  252 },
+            { 0xD01FEF10A657842C,   800,  260 },
+            { 0x9B10A4E5E9913129,   827,  268 },
+            { 0xE7109BFBA19C0C9D,   853,  276 },
+            { 0xAC2820D9623BF429,   880,  284 },
+            { 0x80444B5E7AA7CF85,   907,  292 },
+            { 0xBF21E44003ACDD2D,   933,  300 },
+            { 0x8E679C2F5E44FF8F,   960,  308 },
+            { 0xD433179D9C8CB841,   986,  316 },
+            { 0x9E19DB92B4E31BA9,  1013,  324 },
+        }
+    };
+
+    // This computation gives exactly the same results for k as
+    //      k = ceil((kAlpha - e - 1) * 0.30102999566398114)
+    // for |e| <= 1500, but doesn't require floating-point operations.
+    // NB: log_10(2) ~= 78913 / 2^18
+    JSON_ASSERT(e >= -1500);
+    JSON_ASSERT(e <=  1500);
+    const int f = kAlpha - e - 1;
+    const int k = (f * 78913) / (1 << 18) + static_cast<int>(f > 0);
+
+    const int index = (-kCachedPowersMinDecExp + k + (kCachedPowersDecStep - 1)) / kCachedPowersDecStep;
+    JSON_ASSERT(index >= 0);
+    JSON_ASSERT(static_cast<std::size_t>(index) < kCachedPowers.size());
+
+    const cached_power cached = kCachedPowers[static_cast<std::size_t>(index)];
+    JSON_ASSERT(kAlpha <= cached.e + e + 64);
+    JSON_ASSERT(kGamma >= cached.e + e + 64);
+
+    return cached;
+}
+
+/*!
+For n != 0, returns k, such that pow10 := 10^(k-1) <= n < 10^k.
+For n == 0, returns 1 and sets pow10 := 1.
+*/
+inline int find_largest_pow10(const std::uint32_t n, std::uint32_t& pow10)
+{
+    // LCOV_EXCL_START
+    if (n >= 1000000000)
+    {
+        pow10 = 1000000000;
+        return 10;
+    }
+    // LCOV_EXCL_STOP
+    if (n >= 100000000)
+    {
+        pow10 = 100000000;
+        return  9;
+    }
+    if (n >= 10000000)
+    {
+        pow10 = 10000000;
+        return  8;
+    }
+    if (n >= 1000000)
+    {
+        pow10 = 1000000;
+        return  7;
+    }
+    if (n >= 100000)
+    {
+        pow10 = 100000;
+        return  6;
+    }
+    if (n >= 10000)
+    {
+        pow10 = 10000;
+        return  5;
+    }
+    if (n >= 1000)
+    {
+        pow10 = 1000;
+        return  4;
+    }
+    if (n >= 100)
+    {
+        pow10 = 100;
+        return  3;
+    }
+    if (n >= 10)
+    {
+        pow10 = 10;
+        return  2;
+    }
+
+    pow10 = 1;
+    return 1;
+}
+
+inline void grisu2_round(char* buf, int len, std::uint64_t dist, std::uint64_t delta,
+                         std::uint64_t rest, std::uint64_t ten_k)
+{
+    JSON_ASSERT(len >= 1);
+    JSON_ASSERT(dist <= delta);
+    JSON_ASSERT(rest <= delta);
+    JSON_ASSERT(ten_k > 0);
+
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    //                                  ten_k
+    //                                <------>
+    //                                       <---- rest ---->
+    // --------------[------------------+----+--------------]--------------
+    //                                  w    V
+    //                                       = buf * 10^k
+    //
+    // ten_k represents a unit-in-the-last-place in the decimal representation
+    // stored in buf.
+    // Decrement buf by ten_k while this takes buf closer to w.
+
+    // The tests are written in this order to avoid overflow in unsigned
+    // integer arithmetic.
+
+    while (rest < dist
+            && delta - rest >= ten_k
+            && (rest + ten_k < dist || dist - rest > rest + ten_k - dist))
+    {
+        JSON_ASSERT(buf[len - 1] != '0');
+        buf[len - 1]--;
+        rest += ten_k;
+    }
+}
+
+/*!
+Generates V = buffer * 10^decimal_exponent, such that M- <= V <= M+.
+M- and M+ must be normalized and share the same exponent -60 <= e <= -32.
+*/
+inline void grisu2_digit_gen(char* buffer, int& length, int& decimal_exponent,
+                             diyfp M_minus, diyfp w, diyfp M_plus)
+{
+    static_assert(kAlpha >= -60, "internal error");
+    static_assert(kGamma <= -32, "internal error");
+
+    // Generates the digits (and the exponent) of a decimal floating-point
+    // number V = buffer * 10^decimal_exponent in the range [M-, M+]. The diyfp's
+    // w, M- and M+ share the same exponent e, which satisfies alpha <= e <= gamma.
+    //
+    //               <--------------------------- delta ---->
+    //                                  <---- dist --------->
+    // --------------[------------------+-------------------]--------------
+    //               M-                 w                   M+
+    //
+    // Grisu2 generates the digits of M+ from left to right and stops as soon as
+    // V is in [M-,M+].
+
+    JSON_ASSERT(M_plus.e >= kAlpha);
+    JSON_ASSERT(M_plus.e <= kGamma);
+
+    std::uint64_t delta = diyfp::sub(M_plus, M_minus).f; // (significand of (M+ - M-), implicit exponent is e)
+    std::uint64_t dist  = diyfp::sub(M_plus, w      ).f; // (significand of (M+ - w ), implicit exponent is e)
+
+    // Split M+ = f * 2^e into two parts p1 and p2 (note: e < 0):
+    //
+    //      M+ = f * 2^e
+    //         = ((f div 2^-e) * 2^-e + (f mod 2^-e)) * 2^e
+    //         = ((p1        ) * 2^-e + (p2        )) * 2^e
+    //         = p1 + p2 * 2^e
+
+    const diyfp one(std::uint64_t{1} << -M_plus.e, M_plus.e);
+
+    auto p1 = static_cast<std::uint32_t>(M_plus.f >> -one.e); // p1 = f div 2^-e (Since -e >= 32, p1 fits into a 32-bit int.)
+    std::uint64_t p2 = M_plus.f & (one.f - 1);                    // p2 = f mod 2^-e
+
+    // 1)
+    //
+    // Generate the digits of the integral part p1 = d[n-1]...d[1]d[0]
+
+    JSON_ASSERT(p1 > 0);
+
+    std::uint32_t pow10{};
+    const int k = find_largest_pow10(p1, pow10);
+
+    //      10^(k-1) <= p1 < 10^k, pow10 = 10^(k-1)
+    //
+    //      p1 = (p1 div 10^(k-1)) * 10^(k-1) + (p1 mod 10^(k-1))
+    //         = (d[k-1]         ) * 10^(k-1) + (p1 mod 10^(k-1))
+    //
+    //      M+ = p1                                             + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + (p1 mod 10^(k-1))          + p2 * 2^e
+    //         = d[k-1] * 10^(k-1) + ((p1 mod 10^(k-1)) * 2^-e + p2) * 2^e
+    //         = d[k-1] * 10^(k-1) + (                         rest) * 2^e
+    //
+    // Now generate the digits d[n] of p1 from left to right (n = k-1,...,0)
+    //
+    //      p1 = d[k-1]...d[n] * 10^n + d[n-1]...d[0]
+    //
+    // but stop as soon as
+    //
+    //      rest * 2^e = (d[n-1]...d[0] * 2^-e + p2) * 2^e <= delta * 2^e
+
+    int n = k;
+    while (n > 0)
+    {
+        // Invariants:
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)    (buffer = 0 for n = k)
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        //
+        const std::uint32_t d = p1 / pow10;  // d = p1 div 10^(n-1)
+        const std::uint32_t r = p1 % pow10;  // r = p1 mod 10^(n-1)
+        //
+        //      M+ = buffer * 10^n + (d * 10^(n-1) + r) + p2 * 2^e
+        //         = (buffer * 10 + d) * 10^(n-1) + (r + p2 * 2^e)
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(n-1) + (r + p2 * 2^e)
+        //
+        p1 = r;
+        n--;
+        //
+        //      M+ = buffer * 10^n + (p1 + p2 * 2^e)
+        //      pow10 = 10^n
+        //
+
+        // Now check if enough digits have been generated.
+        // Compute
+        //
+        //      p1 + p2 * 2^e = (p1 * 2^-e + p2) * 2^e = rest * 2^e
+        //
+        // Note:
+        // Since rest and delta share the same exponent e, it suffices to
+        // compare the significands.
+        const std::uint64_t rest = (std::uint64_t{p1} << -one.e) + p2;
+        if (rest <= delta)
+        {
+            // V = buffer * 10^n, with M- <= V <= M+.
+
+            decimal_exponent += n;
+
+            // We may now just stop. But instead look if the buffer could be
+            // decremented to bring V closer to w.
+            //
+            // pow10 = 10^n is now 1 ulp in the decimal representation V.
+            // The rounding procedure works with diyfp's with an implicit
+            // exponent of e.
+            //
+            //      10^n = (10^n * 2^-e) * 2^e = ulp * 2^e
+            //
+            const std::uint64_t ten_n = std::uint64_t{pow10} << -one.e;
+            grisu2_round(buffer, length, dist, delta, rest, ten_n);
+
+            return;
+        }
+
+        pow10 /= 10;
+        //
+        //      pow10 = 10^(n-1) <= p1 < 10^n
+        // Invariants restored.
+    }
+
+    // 2)
+    //
+    // The digits of the integral part have been generated:
+    //
+    //      M+ = d[k-1]...d[1]d[0] + p2 * 2^e
+    //         = buffer            + p2 * 2^e
+    //
+    // Now generate the digits of the fractional part p2 * 2^e.
+    //
+    // Note:
+    // No decimal point is generated: the exponent is adjusted instead.
+    //
+    // p2 actually represents the fraction
+    //
+    //      p2 * 2^e
+    //          = p2 / 2^-e
+    //          = d[-1] / 10^1 + d[-2] / 10^2 + ...
+    //
+    // Now generate the digits d[-m] of p1 from left to right (m = 1,2,...)
+    //
+    //      p2 * 2^e = d[-1]d[-2]...d[-m] * 10^-m
+    //                      + 10^-m * (d[-m-1] / 10^1 + d[-m-2] / 10^2 + ...)
+    //
+    // using
+    //
+    //      10^m * p2 = ((10^m * p2) div 2^-e) * 2^-e + ((10^m * p2) mod 2^-e)
+    //                = (                   d) * 2^-e + (                   r)
+    //
+    // or
+    //      10^m * p2 * 2^e = d + r * 2^e
+    //
+    // i.e.
+    //
+    //      M+ = buffer + p2 * 2^e
+    //         = buffer + 10^-m * (d + r * 2^e)
+    //         = (buffer * 10^m + d) * 10^-m + 10^-m * r * 2^e
+    //
+    // and stop as soon as 10^-m * r * 2^e <= delta * 2^e
+
+    JSON_ASSERT(p2 > delta);
+
+    int m = 0;
+    for (;;)
+    {
+        // Invariant:
+        //      M+ = buffer * 10^-m + 10^-m * (d[-m-1] / 10 + d[-m-2] / 10^2 + ...) * 2^e
+        //         = buffer * 10^-m + 10^-m * (p2                                 ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (10 * p2)                   ) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * ((10*p2 div 2^-e) * 2^-e + (10*p2 mod 2^-e)) * 2^e
+        //
+        JSON_ASSERT(p2 <= (std::numeric_limits<std::uint64_t>::max)() / 10);
+        p2 *= 10;
+        const std::uint64_t d = p2 >> -one.e;     // d = (10 * p2) div 2^-e
+        const std::uint64_t r = p2 & (one.f - 1); // r = (10 * p2) mod 2^-e
+        //
+        //      M+ = buffer * 10^-m + 10^-m * (1/10 * (d * 2^-e + r) * 2^e
+        //         = buffer * 10^-m + 10^-m * (1/10 * (d + r * 2^e))
+        //         = (buffer * 10 + d) * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        JSON_ASSERT(d <= 9);
+        buffer[length++] = static_cast<char>('0' + d); // buffer := buffer * 10 + d
+        //
+        //      M+ = buffer * 10^(-m-1) + 10^(-m-1) * r * 2^e
+        //
+        p2 = r;
+        m++;
+        //
+        //      M+ = buffer * 10^-m + 10^-m * p2 * 2^e
+        // Invariant restored.
+
+        // Check if enough digits have been generated.
+        //
+        //      10^-m * p2 * 2^e <= delta * 2^e
+        //              p2 * 2^e <= 10^m * delta * 2^e
+        //                    p2 <= 10^m * delta
+        delta *= 10;
+        dist  *= 10;
+        if (p2 <= delta)
+        {
+            break;
+        }
+    }
+
+    // V = buffer * 10^-m, with M- <= V <= M+.
+
+    decimal_exponent -= m;
+
+    // 1 ulp in the decimal representation is now 10^-m.
+    // Since delta and dist are now scaled by 10^m, we need to do the
+    // same with ulp in order to keep the units in sync.
+    //
+    //      10^m * 10^-m = 1 = 2^-e * 2^e = ten_m * 2^e
+    //
+    const std::uint64_t ten_m = one.f;
+    grisu2_round(buffer, length, dist, delta, p2, ten_m);
+
+    // By construction this algorithm generates the shortest possible decimal
+    // number (Loitsch, Theorem 6.2) which rounds back to w.
+    // For an input number of precision p, at least
+    //
+    //      N = 1 + ceil(p * log_10(2))
+    //
+    // decimal digits are sufficient to identify all binary floating-point
+    // numbers (Matula, "In-and-Out conversions").
+    // This implies that the algorithm does not produce more than N decimal
+    // digits.
+    //
+    //      N = 17 for p = 53 (IEEE double precision)
+    //      N = 9  for p = 24 (IEEE single precision)
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+JSON_HEDLEY_NON_NULL(1)
+inline void grisu2(char* buf, int& len, int& decimal_exponent,
+                   diyfp m_minus, diyfp v, diyfp m_plus)
+{
+    JSON_ASSERT(m_plus.e == m_minus.e);
+    JSON_ASSERT(m_plus.e == v.e);
+
+    //  --------(-----------------------+-----------------------)--------    (A)
+    //          m-                      v                       m+
+    //
+    //  --------------------(-----------+-----------------------)--------    (B)
+    //                      m-          v                       m+
+    //
+    // First scale v (and m- and m+) such that the exponent is in the range
+    // [alpha, gamma].
+
+    const cached_power cached = get_cached_power_for_binary_exponent(m_plus.e);
+
+    const diyfp c_minus_k(cached.f, cached.e); // = c ~= 10^-k
+
+    // The exponent of the products is = v.e + c_minus_k.e + q and is in the range [alpha,gamma]
+    const diyfp w       = diyfp::mul(v,       c_minus_k);
+    const diyfp w_minus = diyfp::mul(m_minus, c_minus_k);
+    const diyfp w_plus  = diyfp::mul(m_plus,  c_minus_k);
+
+    //  ----(---+---)---------------(---+---)---------------(---+---)----
+    //          w-                      w                       w+
+    //          = c*m-                  = c*v                   = c*m+
+    //
+    // diyfp::mul rounds its result and c_minus_k is approximated too. w, w- and
+    // w+ are now off by a small amount.
+    // In fact:
+    //
+    //      w - v * 10^k < 1 ulp
+    //
+    // To account for this inaccuracy, add resp. subtract 1 ulp.
+    //
+    //  --------+---[---------------(---+---)---------------]---+--------
+    //          w-  M-                  w                   M+  w+
+    //
+    // Now any number in [M-, M+] (bounds included) will round to w when input,
+    // regardless of how the input rounding algorithm breaks ties.
+    //
+    // And digit_gen generates the shortest possible such number in [M-, M+].
+    // Note that this does not mean that Grisu2 always generates the shortest
+    // possible number in the interval (m-, m+).
+    const diyfp M_minus(w_minus.f + 1, w_minus.e);
+    const diyfp M_plus (w_plus.f  - 1, w_plus.e );
+
+    decimal_exponent = -cached.k; // = -(-k) = k
+
+    grisu2_digit_gen(buf, len, decimal_exponent, M_minus, w, M_plus);
+}
+
+/*!
+v = buf * 10^decimal_exponent
+len is the length of the buffer (number of decimal digits)
+The buffer must be large enough, i.e. >= max_digits10.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1)
+void grisu2(char* buf, int& len, int& decimal_exponent, FloatType value)
+{
+    static_assert(diyfp::kPrecision >= std::numeric_limits<FloatType>::digits + 3,
+                  "internal error: not enough precision");
+
+    JSON_ASSERT(std::isfinite(value));
+    JSON_ASSERT(value > 0);
+
+    // If the neighbors (and boundaries) of 'value' are always computed for double-precision
+    // numbers, all float's can be recovered using strtod (and strtof). However, the resulting
+    // decimal representations are not exactly "short".
+    //
+    // The documentation for 'std::to_chars' (https://en.cppreference.com/w/cpp/utility/to_chars)
+    // says "value is converted to a string as if by std::sprintf in the default ("C") locale"
+    // and since sprintf promotes floats to doubles, I think this is exactly what 'std::to_chars'
+    // does.
+    // On the other hand, the documentation for 'std::to_chars' requires that "parsing the
+    // representation using the corresponding std::from_chars function recovers value exactly". That
+    // indicates that single precision floating-point numbers should be recovered using
+    // 'std::strtof'.
+    //
+    // NB: If the neighbors are computed for single-precision numbers, there is a single float
+    //     (7.0385307e-26f) which can't be recovered using strtod. The resulting double precision
+    //     value is off by 1 ulp.
+#if 0 // NOLINT(readability-avoid-unconditional-preprocessor-if)
+    const boundaries w = compute_boundaries(static_cast<double>(value));
+#else
+    const boundaries w = compute_boundaries(value);
+#endif
+
+    grisu2(buf, len, decimal_exponent, w.minus, w.w, w.plus);
+}
+
+/*!
+@brief appends a decimal representation of e to buf
+@return a pointer to the element following the exponent.
+@pre -1000 < e < 1000
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* append_exponent(char* buf, int e)
+{
+    JSON_ASSERT(e > -1000);
+    JSON_ASSERT(e <  1000);
+
+    if (e < 0)
+    {
+        e = -e;
+        *buf++ = '-';
+    }
+    else
+    {
+        *buf++ = '+';
+    }
+
+    auto k = static_cast<std::uint32_t>(e);
+    if (k < 10)
+    {
+        // Always print at least two digits in the exponent.
+        // This is for compatibility with printf("%g").
+        *buf++ = '0';
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else if (k < 100)
+    {
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+    else
+    {
+        *buf++ = static_cast<char>('0' + k / 100);
+        k %= 100;
+        *buf++ = static_cast<char>('0' + k / 10);
+        k %= 10;
+        *buf++ = static_cast<char>('0' + k);
+    }
+
+    return buf;
+}
+
+/*!
+@brief prettify v = buf * 10^decimal_exponent
+
+If v is in the range [10^min_exp, 10^max_exp) it will be printed in fixed-point
+notation. Otherwise it will be printed in exponential notation.
+
+@pre min_exp < 0
+@pre max_exp > 0
+*/
+JSON_HEDLEY_NON_NULL(1)
+JSON_HEDLEY_RETURNS_NON_NULL
+inline char* format_buffer(char* buf, int len, int decimal_exponent,
+                           int min_exp, int max_exp)
+{
+    JSON_ASSERT(min_exp < 0);
+    JSON_ASSERT(max_exp > 0);
+
+    const int k = len;
+    const int n = len + decimal_exponent;
+
+    // v = buf * 10^(n-k)
+    // k is the length of the buffer (number of decimal digits)
+    // n is the position of the decimal point relative to the start of the buffer.
+
+    if (k <= n && n <= max_exp)
+    {
+        // digits[000]
+        // len <= max_exp + 2
+
+        std::memset(buf + k, '0', static_cast<size_t>(n) - static_cast<size_t>(k));
+        // Make it look like a floating-point number (#362, #378)
+        buf[n + 0] = '.';
+        buf[n + 1] = '0';
+        return buf + (static_cast<size_t>(n) + 2);
+    }
+
+    if (0 < n && n <= max_exp)
+    {
+        // dig.its
+        // len <= max_digits10 + 1
+
+        JSON_ASSERT(k > n);
+
+        std::memmove(buf + (static_cast<size_t>(n) + 1), buf + n, static_cast<size_t>(k) - static_cast<size_t>(n));
+        buf[n] = '.';
+        return buf + (static_cast<size_t>(k) + 1U);
+    }
+
+    if (min_exp < n && n <= 0)
+    {
+        // 0.[000]digits
+        // len <= 2 + (-min_exp - 1) + max_digits10
+
+        std::memmove(buf + (2 + static_cast<size_t>(-n)), buf, static_cast<size_t>(k));
+        buf[0] = '0';
+        buf[1] = '.';
+        std::memset(buf + 2, '0', static_cast<size_t>(-n));
+        return buf + (2U + static_cast<size_t>(-n) + static_cast<size_t>(k));
+    }
+
+    if (k == 1)
+    {
+        // dE+123
+        // len <= 1 + 5
+
+        buf += 1;
+    }
+    else
+    {
+        // d.igitsE+123
+        // len <= max_digits10 + 1 + 5
+
+        std::memmove(buf + 2, buf + 1, static_cast<size_t>(k) - 1);
+        buf[1] = '.';
+        buf += 1 + static_cast<size_t>(k);
+    }
+
+    *buf++ = 'e';
+    return append_exponent(buf, n - 1);
+}
+
+}  // namespace dtoa_impl
+
+/*!
+@brief generates a decimal representation of the floating-point number value in [first, last).
+
+The format of the resulting decimal representation is similar to printf's %g
+format. Returns an iterator pointing past-the-end of the decimal representation.
+
+@note The input number must be finite, i.e. NaN's and Inf's are not supported.
+@note The buffer must be large enough.
+@note The result is NOT null-terminated.
+*/
+template<typename FloatType>
+JSON_HEDLEY_NON_NULL(1, 2)
+JSON_HEDLEY_RETURNS_NON_NULL
+char* to_chars(char* first, const char* last, FloatType value)
+{
+    static_cast<void>(last); // maybe unused - fix warning
+    JSON_ASSERT(std::isfinite(value));
+
+    // Use signbit(value) instead of (value < 0) since signbit works for -0.
+    if (std::signbit(value))
+    {
+        value = -value;
+        *first++ = '-';
+    }
+
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+    if (value == 0) // +-0
+    {
+        *first++ = '0';
+        // Make it look like a floating-point number (#362, #378)
+        *first++ = '.';
+        *first++ = '0';
+        return first;
+    }
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10);
+
+    // Compute v = buffer * 10^decimal_exponent.
+    // The decimal digits are stored in the buffer, which needs to be interpreted
+    // as an unsigned decimal integer.
+    // len is the length of the buffer, i.e. the number of decimal digits.
+    int len = 0;
+    int decimal_exponent = 0;
+    dtoa_impl::grisu2(first, len, decimal_exponent, value);
+
+    JSON_ASSERT(len <= std::numeric_limits<FloatType>::max_digits10);
+
+    // Format the buffer like printf("%.*g", prec, value)
+    constexpr int kMinExp = -4;
+    // Use digits10 here to increase compatibility with version 2.
+    constexpr int kMaxExp = std::numeric_limits<FloatType>::digits10;
+
+    JSON_ASSERT(last - first >= kMaxExp + 2);
+    JSON_ASSERT(last - first >= 2 + (-kMinExp - 1) + std::numeric_limits<FloatType>::max_digits10);
+    JSON_ASSERT(last - first >= std::numeric_limits<FloatType>::max_digits10 + 6);
+
+    return dtoa_impl::format_buffer(first, len, decimal_exponent, kMinExp, kMaxExp);
+}
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/exceptions.hpp>
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/cpp_future.hpp>
+
+// #include <nlohmann/detail/output/binary_writer.hpp>
+
+// #include <nlohmann/detail/output/output_adapters.hpp>
+
+// #include <nlohmann/detail/string_concat.hpp>
+
+// #include <nlohmann/detail/value_t.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+namespace detail
+{
+
+///////////////////
+// serialization //
+///////////////////
+
+/// how to treat decoding errors
+enum class error_handler_t
+{
+    strict,  ///< throw a type_error exception in case of invalid UTF-8
+    replace, ///< replace invalid UTF-8 sequences with U+FFFD
+    ignore   ///< ignore invalid UTF-8 sequences
+};
+
+template<typename BasicJsonType>
+class serializer
+{
+    using string_t = typename BasicJsonType::string_t;
+    using number_float_t = typename BasicJsonType::number_float_t;
+    using number_integer_t = typename BasicJsonType::number_integer_t;
+    using number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+    using binary_char_t = typename BasicJsonType::binary_t::value_type;
+    static constexpr std::uint8_t UTF8_ACCEPT = 0;
+    static constexpr std::uint8_t UTF8_REJECT = 1;
+
+  public:
+    /*!
+    @param[in] s  output stream to serialize to
+    @param[in] ichar  indentation character to use
+    @param[in] error_handler_  how to react on decoding errors
+    */
+    serializer(output_adapter_t<char> s, const char ichar,
+               error_handler_t error_handler_ = error_handler_t::strict)
+        : o(std::move(s))
+        , loc(std::localeconv())
+        , thousands_sep(loc->thousands_sep == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->thousands_sep)))
+        , decimal_point(loc->decimal_point == nullptr ? '\0' : std::char_traits<char>::to_char_type(* (loc->decimal_point)))
+        , indent_char(ichar)
+        , indent_string(512, indent_char)
+        , error_handler(error_handler_)
+    {}
+
+    // delete because of pointer members
+    serializer(const serializer&) = delete;
+    serializer& operator=(const serializer&) = delete;
+    serializer(serializer&&) = delete;
+    serializer& operator=(serializer&&) = delete;
+    ~serializer() = default;
+
+    /*!
+    @brief internal implementation of the serialization function
+
+    This function is called by the public member function dump and organizes
+    the serialization internally. The indentation level is propagated as
+    additional parameter. In case of arrays and objects, the function is
+    called recursively.
+
+    - strings and object keys are escaped using `escape_string()`
+    - integer numbers are converted implicitly via `operator<<`
+    - floating-point numbers are converted to a string using `"%g"` format
+    - binary values are serialized as objects containing the subtype and the
+      byte array
+
+    @param[in] val               value to serialize
+    @param[in] pretty_print      whether the output shall be pretty-printed
+    @param[in] ensure_ascii If @a ensure_ascii is true, all non-ASCII characters
+    in the output are escaped with `\uXXXX` sequences, and the result consists
+    of ASCII characters only.
+    @param[in] indent_step       the indent level
+    @param[in] current_indent    the current indent level (only used internally)
+    */
+    void dump(const BasicJsonType& val,
+              const bool pretty_print,
+              const bool ensure_ascii,
+              const unsigned int indent_step,
+              const unsigned int current_indent = 0)
+    {
+        switch (val.m_data.m_type)
+        {
+            case value_t::object:
+            {
+                if (val.m_data.m_value.object->empty())
+                {
+                    o->write_characters("{}", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    auto i = val.m_data.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_data.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\": ", 3);
+                        dump(i->second, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_data.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_data.m_value.object->cend());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\": ", 3);
+                    dump(i->second, true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_character('{');
+
+                    // first n-1 elements
+                    auto i = val.m_data.m_value.object->cbegin();
+                    for (std::size_t cnt = 0; cnt < val.m_data.m_value.object->size() - 1; ++cnt, ++i)
+                    {
+                        o->write_character('\"');
+                        dump_escaped(i->first, ensure_ascii);
+                        o->write_characters("\":", 2);
+                        dump(i->second, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(i != val.m_data.m_value.object->cend());
+                    JSON_ASSERT(std::next(i) == val.m_data.m_value.object->cend());
+                    o->write_character('\"');
+                    dump_escaped(i->first, ensure_ascii);
+                    o->write_characters("\":", 2);
+                    dump(i->second, false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character('}');
+                }
+
+                return;
+            }
+
+            case value_t::array:
+            {
+                if (val.m_data.m_value.array->empty())
+                {
+                    o->write_characters("[]", 2);
+                    return;
+                }
+
+                if (pretty_print)
+                {
+                    o->write_characters("[\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    // first n-1 elements
+                    for (auto i = val.m_data.m_value.array->cbegin();
+                            i != val.m_data.m_value.array->cend() - 1; ++i)
+                    {
+                        o->write_characters(indent_string.c_str(), new_indent);
+                        dump(*i, true, ensure_ascii, indent_step, new_indent);
+                        o->write_characters(",\n", 2);
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_data.m_value.array->empty());
+                    o->write_characters(indent_string.c_str(), new_indent);
+                    dump(val.m_data.m_value.array->back(), true, ensure_ascii, indent_step, new_indent);
+
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character(']');
+                }
+                else
+                {
+                    o->write_character('[');
+
+                    // first n-1 elements
+                    for (auto i = val.m_data.m_value.array->cbegin();
+                            i != val.m_data.m_value.array->cend() - 1; ++i)
+                    {
+                        dump(*i, false, ensure_ascii, indent_step, current_indent);
+                        o->write_character(',');
+                    }
+
+                    // last element
+                    JSON_ASSERT(!val.m_data.m_value.array->empty());
+                    dump(val.m_data.m_value.array->back(), false, ensure_ascii, indent_step, current_indent);
+
+                    o->write_character(']');
+                }
+
+                return;
+            }
+
+            case value_t::string:
+            {
+                o->write_character('\"');
+                dump_escaped(*val.m_data.m_value.string, ensure_ascii);
+                o->write_character('\"');
+                return;
+            }
+
+            case value_t::binary:
+            {
+                if (pretty_print)
+                {
+                    o->write_characters("{\n", 2);
+
+                    // variable to hold indentation for recursive calls
+                    const auto new_indent = current_indent + indent_step;
+                    if (JSON_HEDLEY_UNLIKELY(indent_string.size() < new_indent))
+                    {
+                        indent_string.resize(indent_string.size() * 2, ' ');
+                    }
+
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"bytes\": [", 10);
+
+                    if (!val.m_data.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_data.m_value.binary->cbegin();
+                                i != val.m_data.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_characters(", ", 2);
+                        }
+                        dump_integer(val.m_data.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\n", 3);
+                    o->write_characters(indent_string.c_str(), new_indent);
+
+                    o->write_characters("\"subtype\": ", 11);
+                    if (val.m_data.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_data.m_value.binary->subtype());
+                    }
+                    else
+                    {
+                        o->write_characters("null", 4);
+                    }
+                    o->write_character('\n');
+                    o->write_characters(indent_string.c_str(), current_indent);
+                    o->write_character('}');
+                }
+                else
+                {
+                    o->write_characters("{\"bytes\":[", 10);
+
+                    if (!val.m_data.m_value.binary->empty())
+                    {
+                        for (auto i = val.m_data.m_value.binary->cbegin();
+                                i != val.m_data.m_value.binary->cend() - 1; ++i)
+                        {
+                            dump_integer(*i);
+                            o->write_character(',');
+                        }
+                        dump_integer(val.m_data.m_value.binary->back());
+                    }
+
+                    o->write_characters("],\"subtype\":", 12);
+                    if (val.m_data.m_value.binary->has_subtype())
+                    {
+                        dump_integer(val.m_data.m_value.binary->subtype());
+                        o->write_character('}');
+                    }
+                    else
+                    {
+                        o->write_characters("null}", 5);
+                    }
+                }
+                return;
+            }
+
+            case value_t::boolean:
+            {
+                if (val.m_data.m_value.boolean)
+                {
+                    o->write_characters("true", 4);
+                }
+                else
+                {
+                    o->write_characters("false", 5);
+                }
+                return;
+            }
+
+            case value_t::number_integer:
+            {
+                dump_integer(val.m_data.m_value.number_integer);
+                return;
+            }
+
+            case value_t::number_unsigned:
+            {
+                dump_integer(val.m_data.m_value.number_unsigned);
+                return;
+            }
+
+            case value_t::number_float:
+            {
+                dump_float(val.m_data.m_value.number_float);
+                return;
+            }
+
+            case value_t::discarded:
+            {
+                o->write_characters("<discarded>", 11);
+                return;
+            }
+
+            case value_t::null:
+            {
+                o->write_characters("null", 4);
+                return;
+            }
+
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /*!
+    @brief dump escaped string
+
+    Escape a string by replacing certain special characters by a sequence of an
+    escape character (backslash) and another character and other control
+    characters by a sequence of "\u" followed by a four-digit hex
+    representation. The escaped string is written to output stream @a o.
+
+    @param[in] s  the string to escape
+    @param[in] ensure_ascii  whether to escape non-ASCII characters with
+                             \uXXXX sequences
+
+    @complexity Linear in the length of string @a s.
+    */
+    void dump_escaped(const string_t& s, const bool ensure_ascii)
+    {
+        std::uint32_t codepoint{};
+        std::uint8_t state = UTF8_ACCEPT;
+        std::size_t bytes = 0;  // number of bytes written to string_buffer
+
+        // number of bytes written at the point of the last valid byte
+        std::size_t bytes_after_last_accept = 0;
+        std::size_t undumped_chars = 0;
+
+        for (std::size_t i = 0; i < s.size(); ++i)
+        {
+            const auto byte = static_cast<std::uint8_t>(s[i]);
+
+            switch (decode(state, codepoint, byte))
+            {
+                case UTF8_ACCEPT:  // decode found a new code point
+                {
+                    switch (codepoint)
+                    {
+                        case 0x08: // backspace
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'b';
+                            break;
+                        }
+
+                        case 0x09: // horizontal tab
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 't';
+                            break;
+                        }
+
+                        case 0x0A: // newline
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'n';
+                            break;
+                        }
+
+                        case 0x0C: // formfeed
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'f';
+                            break;
+                        }
+
+                        case 0x0D: // carriage return
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = 'r';
+                            break;
+                        }
+
+                        case 0x22: // quotation mark
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\"';
+                            break;
+                        }
+
+                        case 0x5C: // reverse solidus
+                        {
+                            string_buffer[bytes++] = '\\';
+                            string_buffer[bytes++] = '\\';
+                            break;
+                        }
+
+                        default:
+                        {
+                            // escape control characters (0x00..0x1F) or, if
+                            // ensure_ascii parameter is used, non-ASCII characters
+                            if ((codepoint <= 0x1F) || (ensure_ascii && (codepoint >= 0x7F)))
+                            {
+                                if (codepoint <= 0xFFFF)
+                                {
+                                    // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                                    static_cast<void>((std::snprintf)(string_buffer.data() + bytes, 7, "\\u%04x",
+                                                                      static_cast<std::uint16_t>(codepoint)));
+                                    bytes += 6;
+                                }
+                                else
+                                {
+                                    // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+                                    static_cast<void>((std::snprintf)(string_buffer.data() + bytes, 13, "\\u%04x\\u%04x",
+                                                                      static_cast<std::uint16_t>(0xD7C0u + (codepoint >> 10u)),
+                                                                      static_cast<std::uint16_t>(0xDC00u + (codepoint & 0x3FFu))));
+                                    bytes += 12;
+                                }
+                            }
+                            else
+                            {
+                                // copy byte to buffer (all previous bytes
+                                // been copied have in default case above)
+                                string_buffer[bytes++] = s[i];
+                            }
+                            break;
+                        }
+                    }
+
+                    // write buffer and reset index; there must be 13 bytes
+                    // left, as this is the maximal number of bytes to be
+                    // written ("\uxxxx\uxxxx\0") for one code point
+                    if (string_buffer.size() - bytes < 13)
+                    {
+                        o->write_characters(string_buffer.data(), bytes);
+                        bytes = 0;
+                    }
+
+                    // remember the byte position of this accept
+                    bytes_after_last_accept = bytes;
+                    undumped_chars = 0;
+                    break;
+                }
+
+                case UTF8_REJECT:  // decode found invalid UTF-8 byte
+                {
+                    switch (error_handler)
+                    {
+                        case error_handler_t::strict:
+                        {
+                            JSON_THROW(type_error::create(316, concat("invalid UTF-8 byte at index ", std::to_string(i), ": 0x", hex_bytes(byte | 0)), nullptr));
+                        }
+
+                        case error_handler_t::ignore:
+                        case error_handler_t::replace:
+                        {
+                            // in case we saw this character the first time, we
+                            // would like to read it again, because the byte
+                            // may be OK for itself, but just not OK for the
+                            // previous sequence
+                            if (undumped_chars > 0)
+                            {
+                                --i;
+                            }
+
+                            // reset length buffer to the last accepted index;
+                            // thus removing/ignoring the invalid characters
+                            bytes = bytes_after_last_accept;
+
+                            if (error_handler == error_handler_t::replace)
+                            {
+                                // add a replacement character
+                                if (ensure_ascii)
+                                {
+                                    string_buffer[bytes++] = '\\';
+                                    string_buffer[bytes++] = 'u';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'f';
+                                    string_buffer[bytes++] = 'd';
+                                }
+                                else
+                                {
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xEF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBF');
+                                    string_buffer[bytes++] = detail::binary_writer<BasicJsonType, char>::to_char_type('\xBD');
+                                }
+
+                                // write buffer and reset index; there must be 13 bytes
+                                // left, as this is the maximal number of bytes to be
+                                // written ("\uxxxx\uxxxx\0") for one code point
+                                if (string_buffer.size() - bytes < 13)
+                                {
+                                    o->write_characters(string_buffer.data(), bytes);
+                                    bytes = 0;
+                                }
+
+                                bytes_after_last_accept = bytes;
+                            }
+
+                            undumped_chars = 0;
+
+                            // continue processing the string
+                            state = UTF8_ACCEPT;
+                            break;
+                        }
+
+                        default:            // LCOV_EXCL_LINE
+                            JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+
+                default:  // decode found yet incomplete multi-byte code point
+                {
+                    if (!ensure_ascii)
+                    {
+                        // code point will not be escaped - copy byte to buffer
+                        string_buffer[bytes++] = s[i];
+                    }
+                    ++undumped_chars;
+                    break;
+                }
+            }
+        }
+
+        // we finished processing the string
+        if (JSON_HEDLEY_LIKELY(state == UTF8_ACCEPT))
+        {
+            // write buffer
+            if (bytes > 0)
+            {
+                o->write_characters(string_buffer.data(), bytes);
+            }
+        }
+        else
+        {
+            // we finish reading, but do not accept: string was incomplete
+            switch (error_handler)
+            {
+                case error_handler_t::strict:
+                {
+                    JSON_THROW(type_error::create(316, concat("incomplete UTF-8 string; last byte: 0x", hex_bytes(static_cast<std::uint8_t>(s.back() | 0))), nullptr));
+                }
+
+                case error_handler_t::ignore:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    break;
+                }
+
+                case error_handler_t::replace:
+                {
+                    // write all accepted bytes
+                    o->write_characters(string_buffer.data(), bytes_after_last_accept);
+                    // add a replacement character
+                    if (ensure_ascii)
+                    {
+                        o->write_characters("\\ufffd", 6);
+                    }
+                    else
+                    {
+                        o->write_characters("\xEF\xBF\xBD", 3);
+                    }
+                    break;
+                }
+
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+            }
+        }
+    }
+
+  private:
+    /*!
+    @brief count digits
+
+    Count the number of decimal (base 10) digits for an input unsigned integer.
+
+    @param[in] x  unsigned integer number to count its digits
+    @return    number of decimal digits
+    */
+    inline unsigned int count_digits(number_unsigned_t x) noexcept
+    {
+        unsigned int n_digits = 1;
+        for (;;)
+        {
+            if (x < 10)
+            {
+                return n_digits;
+            }
+            if (x < 100)
+            {
+                return n_digits + 1;
+            }
+            if (x < 1000)
+            {
+                return n_digits + 2;
+            }
+            if (x < 10000)
+            {
+                return n_digits + 3;
+            }
+            x = x / 10000u;
+            n_digits += 4;
+        }
+    }
+
+    /*!
+     * @brief convert a byte to a uppercase hex representation
+     * @param[in] byte byte to represent
+     * @return representation ("00".."FF")
+     */
+    static std::string hex_bytes(std::uint8_t byte)
+    {
+        std::string result = "FF";
+        constexpr const char* nibble_to_hex = "0123456789ABCDEF";
+        result[0] = nibble_to_hex[byte / 16];
+        result[1] = nibble_to_hex[byte % 16];
+        return result;
+    }
+
+    // templates to avoid warnings about useless casts
+    template <typename NumberType, enable_if_t<std::is_signed<NumberType>::value, int> = 0>
+    bool is_negative_number(NumberType x)
+    {
+        return x < 0;
+    }
+
+    template < typename NumberType, enable_if_t <std::is_unsigned<NumberType>::value, int > = 0 >
+    bool is_negative_number(NumberType /*unused*/)
+    {
+        return false;
+    }
+
+    /*!
+    @brief dump an integer
+
+    Dump a given integer to output stream @a o. Works internally with
+    @a number_buffer.
+
+    @param[in] x  integer number (signed or unsigned) to dump
+    @tparam NumberType either @a number_integer_t or @a number_unsigned_t
+    */
+    template < typename NumberType, detail::enable_if_t <
+                   std::is_integral<NumberType>::value ||
+                   std::is_same<NumberType, number_unsigned_t>::value ||
+                   std::is_same<NumberType, number_integer_t>::value ||
+                   std::is_same<NumberType, binary_char_t>::value,
+                   int > = 0 >
+    void dump_integer(NumberType x)
+    {
+        static constexpr std::array<std::array<char, 2>, 100> digits_to_99
+        {
+            {
+                {{'0', '0'}}, {{'0', '1'}}, {{'0', '2'}}, {{'0', '3'}}, {{'0', '4'}}, {{'0', '5'}}, {{'0', '6'}}, {{'0', '7'}}, {{'0', '8'}}, {{'0', '9'}},
+                {{'1', '0'}}, {{'1', '1'}}, {{'1', '2'}}, {{'1', '3'}}, {{'1', '4'}}, {{'1', '5'}}, {{'1', '6'}}, {{'1', '7'}}, {{'1', '8'}}, {{'1', '9'}},
+                {{'2', '0'}}, {{'2', '1'}}, {{'2', '2'}}, {{'2', '3'}}, {{'2', '4'}}, {{'2', '5'}}, {{'2', '6'}}, {{'2', '7'}}, {{'2', '8'}}, {{'2', '9'}},
+                {{'3', '0'}}, {{'3', '1'}}, {{'3', '2'}}, {{'3', '3'}}, {{'3', '4'}}, {{'3', '5'}}, {{'3', '6'}}, {{'3', '7'}}, {{'3', '8'}}, {{'3', '9'}},
+                {{'4', '0'}}, {{'4', '1'}}, {{'4', '2'}}, {{'4', '3'}}, {{'4', '4'}}, {{'4', '5'}}, {{'4', '6'}}, {{'4', '7'}}, {{'4', '8'}}, {{'4', '9'}},
+                {{'5', '0'}}, {{'5', '1'}}, {{'5', '2'}}, {{'5', '3'}}, {{'5', '4'}}, {{'5', '5'}}, {{'5', '6'}}, {{'5', '7'}}, {{'5', '8'}}, {{'5', '9'}},
+                {{'6', '0'}}, {{'6', '1'}}, {{'6', '2'}}, {{'6', '3'}}, {{'6', '4'}}, {{'6', '5'}}, {{'6', '6'}}, {{'6', '7'}}, {{'6', '8'}}, {{'6', '9'}},
+                {{'7', '0'}}, {{'7', '1'}}, {{'7', '2'}}, {{'7', '3'}}, {{'7', '4'}}, {{'7', '5'}}, {{'7', '6'}}, {{'7', '7'}}, {{'7', '8'}}, {{'7', '9'}},
+                {{'8', '0'}}, {{'8', '1'}}, {{'8', '2'}}, {{'8', '3'}}, {{'8', '4'}}, {{'8', '5'}}, {{'8', '6'}}, {{'8', '7'}}, {{'8', '8'}}, {{'8', '9'}},
+                {{'9', '0'}}, {{'9', '1'}}, {{'9', '2'}}, {{'9', '3'}}, {{'9', '4'}}, {{'9', '5'}}, {{'9', '6'}}, {{'9', '7'}}, {{'9', '8'}}, {{'9', '9'}},
+            }
+        };
+
+        // special case for "0"
+        if (x == 0)
+        {
+            o->write_character('0');
+            return;
+        }
+
+        // use a pointer to fill the buffer
+        auto buffer_ptr = number_buffer.begin(); // NOLINT(llvm-qualified-auto,readability-qualified-auto,cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+
+        number_unsigned_t abs_value;
+
+        unsigned int n_chars{};
+
+        if (is_negative_number(x))
+        {
+            *buffer_ptr = '-';
+            abs_value = remove_sign(static_cast<number_integer_t>(x));
+
+            // account one more byte for the minus sign
+            n_chars = 1 + count_digits(abs_value);
+        }
+        else
+        {
+            abs_value = static_cast<number_unsigned_t>(x);
+            n_chars = count_digits(abs_value);
+        }
+
+        // spare 1 byte for '\0'
+        JSON_ASSERT(n_chars < number_buffer.size() - 1);
+
+        // jump to the end to generate the string from backward,
+        // so we later avoid reversing the result
+        buffer_ptr += n_chars;
+
+        // Fast int2ascii implementation inspired by "Fastware" talk by Andrei Alexandrescu
+        // See: https://www.youtube.com/watch?v=o4-CwDo2zpg
+        while (abs_value >= 100)
+        {
+            const auto digits_index = static_cast<unsigned>((abs_value % 100));
+            abs_value /= 100;
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+
+        if (abs_value >= 10)
+        {
+            const auto digits_index = static_cast<unsigned>(abs_value);
+            *(--buffer_ptr) = digits_to_99[digits_index][1];
+            *(--buffer_ptr) = digits_to_99[digits_index][0];
+        }
+        else
+        {
+            *(--buffer_ptr) = static_cast<char>('0' + abs_value);
+        }
+
+        o->write_characters(number_buffer.data(), n_chars);
+    }
+
+    /*!
+    @brief dump a floating-point number
+
+    Dump a given floating-point number to output stream @a o. Works internally
+    with @a number_buffer.
+
+    @param[in] x  floating-point number to dump
+    */
+    void dump_float(number_float_t x)
+    {
+        // NaN / inf
+        if (!std::isfinite(x))
+        {
+            o->write_characters("null", 4);
+            return;
+        }
+
+        // If number_float_t is an IEEE-754 single or double precision number,
+        // use the Grisu2 algorithm to produce short numbers which are
+        // guaranteed to round-trip, using strtof and strtod, resp.
+        //
+        // NB: The test below works if <long double> == <double>.
+        static constexpr bool is_ieee_single_or_double
+            = (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 24 && std::numeric_limits<number_float_t>::max_exponent == 128) ||
+              (std::numeric_limits<number_float_t>::is_iec559 && std::numeric_limits<number_float_t>::digits == 53 && std::numeric_limits<number_float_t>::max_exponent == 1024);
+
+        dump_float(x, std::integral_constant<bool, is_ieee_single_or_double>());
+    }
+
+    void dump_float(number_float_t x, std::true_type /*is_ieee_single_or_double*/)
+    {
+        auto* begin = number_buffer.data();
+        auto* end = ::nlohmann::detail::to_chars(begin, begin + number_buffer.size(), x);
+
+        o->write_characters(begin, static_cast<size_t>(end - begin));
+    }
+
+    void dump_float(number_float_t x, std::false_type /*is_ieee_single_or_double*/)
+    {
+        // get number of digits for a float -> text -> float round-trip
+        static constexpr auto d = std::numeric_limits<number_float_t>::max_digits10;
+
+        // the actual conversion
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-vararg,hicpp-vararg)
+        std::ptrdiff_t len = (std::snprintf)(number_buffer.data(), number_buffer.size(), "%.*g", d, x);
+
+        // negative value indicates an error
+        JSON_ASSERT(len > 0);
+        // check if buffer was large enough
+        JSON_ASSERT(static_cast<std::size_t>(len) < number_buffer.size());
+
+        // erase thousands separator
+        if (thousands_sep != '\0')
+        {
+            // NOLINTNEXTLINE(readability-qualified-auto,llvm-qualified-auto): std::remove returns an iterator, see https://github.com/nlohmann/json/issues/3081
+            const auto end = std::remove(number_buffer.begin(), number_buffer.begin() + len, thousands_sep);
+            std::fill(end, number_buffer.end(), '\0');
+            JSON_ASSERT((end - number_buffer.begin()) <= len);
+            len = (end - number_buffer.begin());
+        }
+
+        // convert decimal point to '.'
+        if (decimal_point != '\0' && decimal_point != '.')
+        {
+            // NOLINTNEXTLINE(readability-qualified-auto,llvm-qualified-auto): std::find returns an iterator, see https://github.com/nlohmann/json/issues/3081
+            const auto dec_pos = std::find(number_buffer.begin(), number_buffer.end(), decimal_point);
+            if (dec_pos != number_buffer.end())
+            {
+                *dec_pos = '.';
+            }
+        }
+
+        o->write_characters(number_buffer.data(), static_cast<std::size_t>(len));
+
+        // determine if we need to append ".0"
+        const bool value_is_int_like =
+            std::none_of(number_buffer.begin(), number_buffer.begin() + len + 1,
+                         [](char c)
+        {
+            return c == '.' || c == 'e';
+        });
+
+        if (value_is_int_like)
+        {
+            o->write_characters(".0", 2);
+        }
+    }
+
+    /*!
+    @brief check whether a string is UTF-8 encoded
+
+    The function checks each byte of a string whether it is UTF-8 encoded. The
+    result of the check is stored in the @a state parameter. The function must
+    be called initially with state 0 (accept). State 1 means the string must
+    be rejected, because the current byte is not allowed. If the string is
+    completely processed, but the state is non-zero, the string ended
+    prematurely; that is, the last byte indicated more bytes should have
+    followed.
+
+    @param[in,out] state  the state of the decoding
+    @param[in,out] codep  codepoint (valid only if resulting state is UTF8_ACCEPT)
+    @param[in] byte       next byte to decode
+    @return               new state
+
+    @note The function has been edited: a std::array is used.
+
+    @copyright Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+    @sa http://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+    */
+    static std::uint8_t decode(std::uint8_t& state, std::uint32_t& codep, const std::uint8_t byte) noexcept
+    {
+        static const std::array<std::uint8_t, 400> utf8d =
+        {
+            {
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 00..1F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 20..3F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 40..5F
+                0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, // 60..7F
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, // 80..9F
+                7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, // A0..BF
+                8, 8, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // C0..DF
+                0xA, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x3, 0x4, 0x3, 0x3, // E0..EF
+                0xB, 0x6, 0x6, 0x6, 0x5, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, 0x8, // F0..FF
+                0x0, 0x1, 0x2, 0x3, 0x5, 0x8, 0x7, 0x1, 0x1, 0x1, 0x4, 0x6, 0x1, 0x1, 0x1, 0x1, // s0..s0
+                1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, // s1..s2
+                1, 2, 1, 1, 1, 1, 1, 2, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, // s3..s4
+                1, 2, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, // s5..s6
+                1, 3, 1, 1, 1, 1, 1, 3, 1, 3, 1, 1, 1, 1, 1, 1, 1, 3, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // s7..s8
+            }
+        };
+
+        JSON_ASSERT(byte < utf8d.size());
+        const std::uint8_t type = utf8d[byte];
+
+        codep = (state != UTF8_ACCEPT)
+                ? (byte & 0x3fu) | (codep << 6u)
+                : (0xFFu >> type) & (byte);
+
+        const std::size_t index = 256u + static_cast<size_t>(state) * 16u + static_cast<size_t>(type);
+        JSON_ASSERT(index < utf8d.size());
+        state = utf8d[index];
+        return state;
+    }
+
+    /*
+     * Overload to make the compiler happy while it is instantiating
+     * dump_integer for number_unsigned_t.
+     * Must never be called.
+     */
+    number_unsigned_t remove_sign(number_unsigned_t x)
+    {
+        JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        return x; // LCOV_EXCL_LINE
+    }
+
+    /*
+     * Helper function for dump_integer
+     *
+     * This function takes a negative signed integer and returns its absolute
+     * value as unsigned integer. The plus/minus shuffling is necessary as we can
+     * not directly remove the sign of an arbitrary signed integer as the
+     * absolute values of INT_MIN and INT_MAX are usually not the same. See
+     * #1708 for details.
+     */
+    inline number_unsigned_t remove_sign(number_integer_t x) noexcept
+    {
+        JSON_ASSERT(x < 0 && x < (std::numeric_limits<number_integer_t>::max)()); // NOLINT(misc-redundant-expression)
+        return static_cast<number_unsigned_t>(-(x + 1)) + 1;
+    }
+
+  private:
+    /// the output of the serializer
+    output_adapter_t<char> o = nullptr;
+
+    /// a (hopefully) large enough character buffer
+    std::array<char, 64> number_buffer{{}};
+
+    /// the locale
+    const std::lconv* loc = nullptr;
+    /// the locale's thousand separator character
+    const char thousands_sep = '\0';
+    /// the locale's decimal point character
+    const char decimal_point = '\0';
+
+    /// string buffer
+    std::array<char, 512> string_buffer{{}};
+
+    /// the indentation character
+    const char indent_char;
+    /// the indentation string
+    string_t indent_string;
+
+    /// error_handler how to react on decoding errors
+    const error_handler_t error_handler;
+};
+
+}  // namespace detail
+NLOHMANN_JSON_NAMESPACE_END
+
+// #include <nlohmann/detail/value_t.hpp>
+
+// #include <nlohmann/json_fwd.hpp>
+
+// #include <nlohmann/ordered_map.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#include <functional> // equal_to, less
+#include <initializer_list> // initializer_list
+#include <iterator> // input_iterator_tag, iterator_traits
+#include <memory> // allocator
+#include <stdexcept> // for out_of_range
+#include <type_traits> // enable_if, is_convertible
+#include <utility> // pair
+#include <vector> // vector
+
+// #include <nlohmann/detail/macro_scope.hpp>
+
+// #include <nlohmann/detail/meta/type_traits.hpp>
+
+
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/// ordered_map: a minimal map-like container that preserves insertion order
+/// for use within nlohmann::basic_json<ordered_map>
+template <class Key, class T, class IgnoredLess = std::less<Key>,
+          class Allocator = std::allocator<std::pair<const Key, T>>>
+                  struct ordered_map : std::vector<std::pair<const Key, T>, Allocator>
+{
+    using key_type = Key;
+    using mapped_type = T;
+    using Container = std::vector<std::pair<const Key, T>, Allocator>;
+    using iterator = typename Container::iterator;
+    using const_iterator = typename Container::const_iterator;
+    using size_type = typename Container::size_type;
+    using value_type = typename Container::value_type;
+#ifdef JSON_HAS_CPP_14
+    using key_compare = std::equal_to<>;
+#else
+    using key_compare = std::equal_to<Key>;
+#endif
+
+    // Explicit constructors instead of `using Container::Container`
+    // otherwise older compilers choke on it (GCC <= 5.5, xcode <= 9.4)
+    ordered_map() noexcept(noexcept(Container())) : Container{} {}
+    explicit ordered_map(const Allocator& alloc) noexcept(noexcept(Container(alloc))) : Container{alloc} {}
+    template <class It>
+    ordered_map(It first, It last, const Allocator& alloc = Allocator())
+        : Container{first, last, alloc} {}
+    ordered_map(std::initializer_list<value_type> init, const Allocator& alloc = Allocator() )
+        : Container{init, alloc} {}
+
+    std::pair<iterator, bool> emplace(const key_type& key, T&& t)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return {it, false};
+            }
+        }
+        Container::emplace_back(key, std::forward<T>(t));
+        return {std::prev(this->end()), true};
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    std::pair<iterator, bool> emplace(KeyType && key, T && t)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return {it, false};
+            }
+        }
+        Container::emplace_back(std::forward<KeyType>(key), std::forward<T>(t));
+        return {std::prev(this->end()), true};
+    }
+
+    T& operator[](const key_type& key)
+    {
+        return emplace(key, T{}).first->second;
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    T & operator[](KeyType && key)
+    {
+        return emplace(std::forward<KeyType>(key), T{}).first->second;
+    }
+
+    const T& operator[](const key_type& key) const
+    {
+        return at(key);
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    const T & operator[](KeyType && key) const
+    {
+        return at(std::forward<KeyType>(key));
+    }
+
+    T& at(const key_type& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    T & at(KeyType && key) // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    const T& at(const key_type& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    const T & at(KeyType && key) const // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it->second;
+            }
+        }
+
+        JSON_THROW(std::out_of_range("key not found"));
+    }
+
+    size_type erase(const key_type& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                // Since we cannot move const Keys, re-construct them in place
+                for (auto next = it; ++next != this->end(); ++it)
+                {
+                    it->~value_type(); // Destroy but keep allocation
+                    new (&*it) value_type{std::move(*next)};
+                }
+                Container::pop_back();
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    size_type erase(KeyType && key) // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                // Since we cannot move const Keys, re-construct them in place
+                for (auto next = it; ++next != this->end(); ++it)
+                {
+                    it->~value_type(); // Destroy but keep allocation
+                    new (&*it) value_type{std::move(*next)};
+                }
+                Container::pop_back();
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator erase(iterator pos)
+    {
+        return erase(pos, std::next(pos));
+    }
+
+    iterator erase(iterator first, iterator last)
+    {
+        if (first == last)
+        {
+            return first;
+        }
+
+        const auto elements_affected = std::distance(first, last);
+        const auto offset = std::distance(Container::begin(), first);
+
+        // This is the start situation. We need to delete elements_affected
+        // elements (3 in this example: e, f, g), and need to return an
+        // iterator past the last deleted element (h in this example).
+        // Note that offset is the distance from the start of the vector
+        // to first. We will need this later.
+
+        // [ a, b, c, d, e, f, g, h, i, j ]
+        //               ^        ^
+        //             first    last
+
+        // Since we cannot move const Keys, we re-construct them in place.
+        // We start at first and re-construct (viz. copy) the elements from
+        // the back of the vector. Example for first iteration:
+
+        //               ,--------.
+        //               v        |   destroy e and re-construct with h
+        // [ a, b, c, d, e, f, g, h, i, j ]
+        //               ^        ^
+        //               it       it + elements_affected
+
+        for (auto it = first; std::next(it, elements_affected) != Container::end(); ++it)
+        {
+            it->~value_type(); // destroy but keep allocation
+            new (&*it) value_type{std::move(*std::next(it, elements_affected))}; // "move" next element to it
+        }
+
+        // [ a, b, c, d, h, i, j, h, i, j ]
+        //               ^        ^
+        //             first    last
+
+        // remove the unneeded elements at the end of the vector
+        Container::resize(this->size() - static_cast<size_type>(elements_affected));
+
+        // [ a, b, c, d, h, i, j ]
+        //               ^        ^
+        //             first    last
+
+        // first is now pointing past the last deleted element, but we cannot
+        // use this iterator, because it may have been invalidated by the
+        // resize call. Instead, we can return begin() + offset.
+        return Container::begin() + offset;
+    }
+
+    size_type count(const key_type& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    size_type count(KeyType && key) const // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return 1;
+            }
+        }
+        return 0;
+    }
+
+    iterator find(const key_type& key)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_key_type<key_compare, key_type, KeyType>::value, int> = 0>
+    iterator find(KeyType && key) // NOLINT(cppcoreguidelines-missing-std-forward)
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    const_iterator find(const key_type& key) const
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, key))
+            {
+                return it;
+            }
+        }
+        return Container::end();
+    }
+
+    std::pair<iterator, bool> insert( value_type&& value )
+    {
+        return emplace(value.first, std::move(value.second));
+    }
+
+    std::pair<iterator, bool> insert( const value_type& value )
+    {
+        for (auto it = this->begin(); it != this->end(); ++it)
+        {
+            if (m_compare(it->first, value.first))
+            {
+                return {it, false};
+            }
+        }
+        Container::push_back(value);
+        return {--this->end(), true};
+    }
+
+    template<typename InputIt>
+    using require_input_iter = typename std::enable_if<std::is_convertible<typename std::iterator_traits<InputIt>::iterator_category,
+            std::input_iterator_tag>::value>::type;
+
+    template<typename InputIt, typename = require_input_iter<InputIt>>
+    void insert(InputIt first, InputIt last)
+    {
+        for (auto it = first; it != last; ++it)
+        {
+            insert(*it);
+        }
+    }
+
+private:
+    JSON_NO_UNIQUE_ADDRESS key_compare m_compare = key_compare();
+};
+
+NLOHMANN_JSON_NAMESPACE_END
+
+
+#if defined(JSON_HAS_CPP_17)
+    #if JSON_HAS_STATIC_RTTI
+        #include <any>
+    #endif
+    #include <string_view>
+#endif
+
+/*!
+@brief namespace for Niels Lohmann
+@see https://github.com/nlohmann
+@since version 1.0.0
+*/
+NLOHMANN_JSON_NAMESPACE_BEGIN
+
+/*!
+@brief a class to store JSON values
+
+@internal
+@invariant The member variables @a m_value and @a m_type have the following
+relationship:
+- If `m_type == value_t::object`, then `m_value.object != nullptr`.
+- If `m_type == value_t::array`, then `m_value.array != nullptr`.
+- If `m_type == value_t::string`, then `m_value.string != nullptr`.
+The invariants are checked by member function assert_invariant().
+
+@note ObjectType trick from https://stackoverflow.com/a/9860911
+@endinternal
+
+@since version 1.0.0
+
+@nosubgrouping
+*/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+class basic_json // NOLINT(cppcoreguidelines-special-member-functions,hicpp-special-member-functions)
+    : public ::nlohmann::detail::json_base_class<CustomBaseClass>
+{
+  private:
+    template<detail::value_t> friend struct detail::external_constructor;
+
+    template<typename>
+    friend class ::nlohmann::json_pointer;
+    // can be restored when json_pointer backwards compatibility is removed
+    // friend ::nlohmann::json_pointer<StringType>;
+
+    template<typename BasicJsonType, typename InputType>
+    friend class ::nlohmann::detail::parser;
+    friend ::nlohmann::detail::serializer<basic_json>;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::iter_impl;
+    template<typename BasicJsonType, typename CharType>
+    friend class ::nlohmann::detail::binary_writer;
+    template<typename BasicJsonType, typename InputType, typename SAX>
+    friend class ::nlohmann::detail::binary_reader;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_parser;
+    template<typename BasicJsonType>
+    friend class ::nlohmann::detail::json_sax_dom_callback_parser;
+    friend class ::nlohmann::detail::exception;
+
+    /// workaround type for MSVC
+    using basic_json_t = NLOHMANN_BASIC_JSON_TPL;
+    using json_base_class_t = ::nlohmann::detail::json_base_class<CustomBaseClass>;
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    // convenience aliases for types residing in namespace detail;
+    using lexer = ::nlohmann::detail::lexer_base<basic_json>;
+
+    template<typename InputAdapterType>
+    static ::nlohmann::detail::parser<basic_json, InputAdapterType> parser(
+        InputAdapterType adapter,
+        detail::parser_callback_t<basic_json>cb = nullptr,
+        const bool allow_exceptions = true,
+        const bool ignore_comments = false
+                                 )
+    {
+        return ::nlohmann::detail::parser<basic_json, InputAdapterType>(std::move(adapter),
+                std::move(cb), allow_exceptions, ignore_comments);
+    }
+
+  private:
+    using primitive_iterator_t = ::nlohmann::detail::primitive_iterator_t;
+    template<typename BasicJsonType>
+    using internal_iterator = ::nlohmann::detail::internal_iterator<BasicJsonType>;
+    template<typename BasicJsonType>
+    using iter_impl = ::nlohmann::detail::iter_impl<BasicJsonType>;
+    template<typename Iterator>
+    using iteration_proxy = ::nlohmann::detail::iteration_proxy<Iterator>;
+    template<typename Base> using json_reverse_iterator = ::nlohmann::detail::json_reverse_iterator<Base>;
+
+    template<typename CharType>
+    using output_adapter_t = ::nlohmann::detail::output_adapter_t<CharType>;
+
+    template<typename InputType>
+    using binary_reader = ::nlohmann::detail::binary_reader<basic_json, InputType>;
+    template<typename CharType> using binary_writer = ::nlohmann::detail::binary_writer<basic_json, CharType>;
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    using serializer = ::nlohmann::detail::serializer<basic_json>;
+
+  public:
+    using value_t = detail::value_t;
+    /// JSON Pointer, see @ref nlohmann::json_pointer
+    using json_pointer = ::nlohmann::json_pointer<StringType>;
+    template<typename T, typename SFINAE>
+    using json_serializer = JSONSerializer<T, SFINAE>;
+    /// how to treat decoding errors
+    using error_handler_t = detail::error_handler_t;
+    /// how to treat CBOR tags
+    using cbor_tag_handler_t = detail::cbor_tag_handler_t;
+    /// helper type for initializer lists of basic_json values
+    using initializer_list_t = std::initializer_list<detail::json_ref<basic_json>>;
+
+    using input_format_t = detail::input_format_t;
+    /// SAX interface type, see @ref nlohmann::json_sax
+    using json_sax_t = json_sax<basic_json>;
+
+    ////////////////
+    // exceptions //
+    ////////////////
+
+    /// @name exceptions
+    /// Classes to implement user-defined exceptions.
+    /// @{
+
+    using exception = detail::exception;
+    using parse_error = detail::parse_error;
+    using invalid_iterator = detail::invalid_iterator;
+    using type_error = detail::type_error;
+    using out_of_range = detail::out_of_range;
+    using other_error = detail::other_error;
+
+    /// @}
+
+    /////////////////////
+    // container types //
+    /////////////////////
+
+    /// @name container types
+    /// The canonic container types to use @ref basic_json like any other STL
+    /// container.
+    /// @{
+
+    /// the type of elements in a basic_json container
+    using value_type = basic_json;
+
+    /// the type of an element reference
+    using reference = value_type&;
+    /// the type of an element const reference
+    using const_reference = const value_type&;
+
+    /// a type to represent differences between iterators
+    using difference_type = std::ptrdiff_t;
+    /// a type to represent container sizes
+    using size_type = std::size_t;
+
+    /// the allocator type
+    using allocator_type = AllocatorType<basic_json>;
+
+    /// the type of an element pointer
+    using pointer = typename std::allocator_traits<allocator_type>::pointer;
+    /// the type of an element const pointer
+    using const_pointer = typename std::allocator_traits<allocator_type>::const_pointer;
+
+    /// an iterator for a basic_json container
+    using iterator = iter_impl<basic_json>;
+    /// a const iterator for a basic_json container
+    using const_iterator = iter_impl<const basic_json>;
+    /// a reverse iterator for a basic_json container
+    using reverse_iterator = json_reverse_iterator<typename basic_json::iterator>;
+    /// a const reverse iterator for a basic_json container
+    using const_reverse_iterator = json_reverse_iterator<typename basic_json::const_iterator>;
+
+    /// @}
+
+    /// @brief returns the allocator associated with the container
+    /// @sa https://json.nlohmann.me/api/basic_json/get_allocator/
+    static allocator_type get_allocator()
+    {
+        return allocator_type();
+    }
+
+    /// @brief returns version information on the library
+    /// @sa https://json.nlohmann.me/api/basic_json/meta/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json meta()
+    {
+        basic_json result;
+
+        result["copyright"] = "(C) 2013-2023 Niels Lohmann";
+        result["name"] = "JSON for Modern C++";
+        result["url"] = "https://github.com/nlohmann/json";
+        result["version"]["string"] =
+            detail::concat(std::to_string(NLOHMANN_JSON_VERSION_MAJOR), '.',
+                           std::to_string(NLOHMANN_JSON_VERSION_MINOR), '.',
+                           std::to_string(NLOHMANN_JSON_VERSION_PATCH));
+        result["version"]["major"] = NLOHMANN_JSON_VERSION_MAJOR;
+        result["version"]["minor"] = NLOHMANN_JSON_VERSION_MINOR;
+        result["version"]["patch"] = NLOHMANN_JSON_VERSION_PATCH;
+
+#ifdef _WIN32
+        result["platform"] = "win32";
+#elif defined __linux__
+        result["platform"] = "linux";
+#elif defined __APPLE__
+        result["platform"] = "apple";
+#elif defined __unix__
+        result["platform"] = "unix";
+#else
+        result["platform"] = "unknown";
+#endif
+
+#if defined(__ICC) || defined(__INTEL_COMPILER)
+        result["compiler"] = {{"family", "icc"}, {"version", __INTEL_COMPILER}};
+#elif defined(__clang__)
+        result["compiler"] = {{"family", "clang"}, {"version", __clang_version__}};
+#elif defined(__GNUC__) || defined(__GNUG__)
+        result["compiler"] = {{"family", "gcc"}, {"version", detail::concat(
+                    std::to_string(__GNUC__), '.',
+                    std::to_string(__GNUC_MINOR__), '.',
+                    std::to_string(__GNUC_PATCHLEVEL__))
+            }
+        };
+#elif defined(__HP_cc) || defined(__HP_aCC)
+        result["compiler"] = "hp"
+#elif defined(__IBMCPP__)
+        result["compiler"] = {{"family", "ilecpp"}, {"version", __IBMCPP__}};
+#elif defined(_MSC_VER)
+        result["compiler"] = {{"family", "msvc"}, {"version", _MSC_VER}};
+#elif defined(__PGI)
+        result["compiler"] = {{"family", "pgcpp"}, {"version", __PGI}};
+#elif defined(__SUNPRO_CC)
+        result["compiler"] = {{"family", "sunpro"}, {"version", __SUNPRO_CC}};
+#else
+        result["compiler"] = {{"family", "unknown"}, {"version", "unknown"}};
+#endif
+
+#if defined(_MSVC_LANG)
+        result["compiler"]["c++"] = std::to_string(_MSVC_LANG);
+#elif defined(__cplusplus)
+        result["compiler"]["c++"] = std::to_string(__cplusplus);
+#else
+        result["compiler"]["c++"] = "unknown";
+#endif
+        return result;
+    }
+
+    ///////////////////////////
+    // JSON value data types //
+    ///////////////////////////
+
+    /// @name JSON value data types
+    /// The data types to store a JSON value. These types are derived from
+    /// the template arguments passed to class @ref basic_json.
+    /// @{
+
+    /// @brief default object key comparator type
+    /// The actual object key comparator type (@ref object_comparator_t) may be
+    /// different.
+    /// @sa https://json.nlohmann.me/api/basic_json/default_object_comparator_t/
+#if defined(JSON_HAS_CPP_14)
+    // use of transparent comparator avoids unnecessary repeated construction of temporaries
+    // in functions involving lookup by key with types other than object_t::key_type (aka. StringType)
+    using default_object_comparator_t = std::less<>;
+#else
+    using default_object_comparator_t = std::less<StringType>;
+#endif
+
+    /// @brief a type for an object
+    /// @sa https://json.nlohmann.me/api/basic_json/object_t/
+    using object_t = ObjectType<StringType,
+          basic_json,
+          default_object_comparator_t,
+          AllocatorType<std::pair<const StringType,
+          basic_json>>>;
+
+    /// @brief a type for an array
+    /// @sa https://json.nlohmann.me/api/basic_json/array_t/
+    using array_t = ArrayType<basic_json, AllocatorType<basic_json>>;
+
+    /// @brief a type for a string
+    /// @sa https://json.nlohmann.me/api/basic_json/string_t/
+    using string_t = StringType;
+
+    /// @brief a type for a boolean
+    /// @sa https://json.nlohmann.me/api/basic_json/boolean_t/
+    using boolean_t = BooleanType;
+
+    /// @brief a type for a number (integer)
+    /// @sa https://json.nlohmann.me/api/basic_json/number_integer_t/
+    using number_integer_t = NumberIntegerType;
+
+    /// @brief a type for a number (unsigned)
+    /// @sa https://json.nlohmann.me/api/basic_json/number_unsigned_t/
+    using number_unsigned_t = NumberUnsignedType;
+
+    /// @brief a type for a number (floating-point)
+    /// @sa https://json.nlohmann.me/api/basic_json/number_float_t/
+    using number_float_t = NumberFloatType;
+
+    /// @brief a type for a packed binary type
+    /// @sa https://json.nlohmann.me/api/basic_json/binary_t/
+    using binary_t = nlohmann::byte_container_with_subtype<BinaryType>;
+
+    /// @brief object key comparator type
+    /// @sa https://json.nlohmann.me/api/basic_json/object_comparator_t/
+    using object_comparator_t = detail::actual_object_comparator_t<basic_json>;
+
+    /// @}
+
+  private:
+
+    /// helper for exception-safe object creation
+    template<typename T, typename... Args>
+    JSON_HEDLEY_RETURNS_NON_NULL
+    static T* create(Args&& ... args)
+    {
+        AllocatorType<T> alloc;
+        using AllocatorTraits = std::allocator_traits<AllocatorType<T>>;
+
+        auto deleter = [&](T * obj)
+        {
+            AllocatorTraits::deallocate(alloc, obj, 1);
+        };
+        std::unique_ptr<T, decltype(deleter)> obj(AllocatorTraits::allocate(alloc, 1), deleter);
+        AllocatorTraits::construct(alloc, obj.get(), std::forward<Args>(args)...);
+        JSON_ASSERT(obj != nullptr);
+        return obj.release();
+    }
+
+    ////////////////////////
+    // JSON value storage //
+    ////////////////////////
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    /*!
+    @brief a JSON value
+
+    The actual storage for a JSON value of the @ref basic_json class. This
+    union combines the different storage types for the JSON value types
+    defined in @ref value_t.
+
+    JSON type | value_t type    | used type
+    --------- | --------------- | ------------------------
+    object    | object          | pointer to @ref object_t
+    array     | array           | pointer to @ref array_t
+    string    | string          | pointer to @ref string_t
+    boolean   | boolean         | @ref boolean_t
+    number    | number_integer  | @ref number_integer_t
+    number    | number_unsigned | @ref number_unsigned_t
+    number    | number_float    | @ref number_float_t
+    binary    | binary          | pointer to @ref binary_t
+    null      | null            | *no value is stored*
+
+    @note Variable-length types (objects, arrays, and strings) are stored as
+    pointers. The size of the union should not exceed 64 bits if the default
+    value types are used.
+
+    @since version 1.0.0
+    */
+    union json_value
+    {
+        /// object (stored with pointer to save storage)
+        object_t* object;
+        /// array (stored with pointer to save storage)
+        array_t* array;
+        /// string (stored with pointer to save storage)
+        string_t* string;
+        /// binary (stored with pointer to save storage)
+        binary_t* binary;
+        /// boolean
+        boolean_t boolean;
+        /// number (integer)
+        number_integer_t number_integer;
+        /// number (unsigned integer)
+        number_unsigned_t number_unsigned;
+        /// number (floating-point)
+        number_float_t number_float;
+
+        /// default constructor (for null values)
+        json_value() = default;
+        /// constructor for booleans
+        json_value(boolean_t v) noexcept : boolean(v) {}
+        /// constructor for numbers (integer)
+        json_value(number_integer_t v) noexcept : number_integer(v) {}
+        /// constructor for numbers (unsigned)
+        json_value(number_unsigned_t v) noexcept : number_unsigned(v) {}
+        /// constructor for numbers (floating-point)
+        json_value(number_float_t v) noexcept : number_float(v) {}
+        /// constructor for empty values of a given type
+        json_value(value_t t)
+        {
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    object = create<object_t>();
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    array = create<array_t>();
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    string = create<string_t>("");
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    binary = create<binary_t>();
+                    break;
+                }
+
+                case value_t::boolean:
+                {
+                    boolean = static_cast<boolean_t>(false);
+                    break;
+                }
+
+                case value_t::number_integer:
+                {
+                    number_integer = static_cast<number_integer_t>(0);
+                    break;
+                }
+
+                case value_t::number_unsigned:
+                {
+                    number_unsigned = static_cast<number_unsigned_t>(0);
+                    break;
+                }
+
+                case value_t::number_float:
+                {
+                    number_float = static_cast<number_float_t>(0.0);
+                    break;
+                }
+
+                case value_t::null:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    break;
+                }
+
+                case value_t::discarded:
+                default:
+                {
+                    object = nullptr;  // silence warning, see #821
+                    if (JSON_HEDLEY_UNLIKELY(t == value_t::null))
+                    {
+                        JSON_THROW(other_error::create(500, "961c151d2e87f2686a955a9be24d316f1362bf21 3.11.3", nullptr)); // LCOV_EXCL_LINE
+                    }
+                    break;
+                }
+            }
+        }
+
+        /// constructor for strings
+        json_value(const string_t& value) : string(create<string_t>(value)) {}
+
+        /// constructor for rvalue strings
+        json_value(string_t&& value) : string(create<string_t>(std::move(value))) {}
+
+        /// constructor for objects
+        json_value(const object_t& value) : object(create<object_t>(value)) {}
+
+        /// constructor for rvalue objects
+        json_value(object_t&& value) : object(create<object_t>(std::move(value))) {}
+
+        /// constructor for arrays
+        json_value(const array_t& value) : array(create<array_t>(value)) {}
+
+        /// constructor for rvalue arrays
+        json_value(array_t&& value) : array(create<array_t>(std::move(value))) {}
+
+        /// constructor for binary arrays
+        json_value(const typename binary_t::container_type& value) : binary(create<binary_t>(value)) {}
+
+        /// constructor for rvalue binary arrays
+        json_value(typename binary_t::container_type&& value) : binary(create<binary_t>(std::move(value))) {}
+
+        /// constructor for binary arrays (internal type)
+        json_value(const binary_t& value) : binary(create<binary_t>(value)) {}
+
+        /// constructor for rvalue binary arrays (internal type)
+        json_value(binary_t&& value) : binary(create<binary_t>(std::move(value))) {}
+
+        void destroy(value_t t)
+        {
+            if (
+                (t == value_t::object && object == nullptr) ||
+                (t == value_t::array && array == nullptr) ||
+                (t == value_t::string && string == nullptr) ||
+                (t == value_t::binary && binary == nullptr)
+            )
+            {
+                //not initialized (e.g. due to exception in the ctor)
+                return;
+            }
+            if (t == value_t::array || t == value_t::object)
+            {
+                // flatten the current json_value to a heap-allocated stack
+                std::vector<basic_json> stack;
+
+                // move the top-level items to stack
+                if (t == value_t::array)
+                {
+                    stack.reserve(array->size());
+                    std::move(array->begin(), array->end(), std::back_inserter(stack));
+                }
+                else
+                {
+                    stack.reserve(object->size());
+                    for (auto&& it : *object)
+                    {
+                        stack.push_back(std::move(it.second));
+                    }
+                }
+
+                while (!stack.empty())
+                {
+                    // move the last item to local variable to be processed
+                    basic_json current_item(std::move(stack.back()));
+                    stack.pop_back();
+
+                    // if current_item is array/object, move
+                    // its children to the stack to be processed later
+                    if (current_item.is_array())
+                    {
+                        std::move(current_item.m_data.m_value.array->begin(), current_item.m_data.m_value.array->end(), std::back_inserter(stack));
+
+                        current_item.m_data.m_value.array->clear();
+                    }
+                    else if (current_item.is_object())
+                    {
+                        for (auto&& it : *current_item.m_data.m_value.object)
+                        {
+                            stack.push_back(std::move(it.second));
+                        }
+
+                        current_item.m_data.m_value.object->clear();
+                    }
+
+                    // it's now safe that current_item get destructed
+                    // since it doesn't have any children
+                }
+            }
+
+            switch (t)
+            {
+                case value_t::object:
+                {
+                    AllocatorType<object_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, object);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, object, 1);
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    AllocatorType<array_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, array);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, array, 1);
+                    break;
+                }
+
+                case value_t::string:
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, string, 1);
+                    break;
+                }
+
+                case value_t::binary:
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, binary, 1);
+                    break;
+                }
+
+                case value_t::null:
+                case value_t::boolean:
+                case value_t::number_integer:
+                case value_t::number_unsigned:
+                case value_t::number_float:
+                case value_t::discarded:
+                default:
+                {
+                    break;
+                }
+            }
+        }
+    };
+
+  private:
+    /*!
+    @brief checks the class invariants
+
+    This function asserts the class invariants. It needs to be called at the
+    end of every constructor to make sure that created objects respect the
+    invariant. Furthermore, it has to be called each time the type of a JSON
+    value is changed, because the invariant expresses a relationship between
+    @a m_type and @a m_value.
+
+    Furthermore, the parent relation is checked for arrays and objects: If
+    @a check_parents true and the value is an array or object, then the
+    container's elements must have the current value as parent.
+
+    @param[in] check_parents  whether the parent relation should be checked.
+               The value is true by default and should only be set to false
+               during destruction of objects when the invariant does not
+               need to hold.
+    */
+    void assert_invariant(bool check_parents = true) const noexcept
+    {
+        JSON_ASSERT(m_data.m_type != value_t::object || m_data.m_value.object != nullptr);
+        JSON_ASSERT(m_data.m_type != value_t::array || m_data.m_value.array != nullptr);
+        JSON_ASSERT(m_data.m_type != value_t::string || m_data.m_value.string != nullptr);
+        JSON_ASSERT(m_data.m_type != value_t::binary || m_data.m_value.binary != nullptr);
+
+#if JSON_DIAGNOSTICS
+        JSON_TRY
+        {
+            // cppcheck-suppress assertWithSideEffect
+            JSON_ASSERT(!check_parents || !is_structured() || std::all_of(begin(), end(), [this](const basic_json & j)
+            {
+                return j.m_parent == this;
+            }));
+        }
+        JSON_CATCH(...) {} // LCOV_EXCL_LINE
+#endif
+        static_cast<void>(check_parents);
+    }
+
+    void set_parents()
+    {
+#if JSON_DIAGNOSTICS
+        switch (m_data.m_type)
+        {
+            case value_t::array:
+            {
+                for (auto& element : *m_data.m_value.array)
+                {
+                    element.m_parent = this;
+                }
+                break;
+            }
+
+            case value_t::object:
+            {
+                for (auto& element : *m_data.m_value.object)
+                {
+                    element.second.m_parent = this;
+                }
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                break;
+        }
+#endif
+    }
+
+    iterator set_parents(iterator it, typename iterator::difference_type count_set_parents)
+    {
+#if JSON_DIAGNOSTICS
+        for (typename iterator::difference_type i = 0; i < count_set_parents; ++i)
+        {
+            (it + i)->m_parent = this;
+        }
+#else
+        static_cast<void>(count_set_parents);
+#endif
+        return it;
+    }
+
+    reference set_parent(reference j, std::size_t old_capacity = static_cast<std::size_t>(-1))
+    {
+#if JSON_DIAGNOSTICS
+        if (old_capacity != static_cast<std::size_t>(-1))
+        {
+            // see https://github.com/nlohmann/json/issues/2838
+            JSON_ASSERT(type() == value_t::array);
+            if (JSON_HEDLEY_UNLIKELY(m_data.m_value.array->capacity() != old_capacity))
+            {
+                // capacity has changed: update all parents
+                set_parents();
+                return j;
+            }
+        }
+
+        // ordered_json uses a vector internally, so pointers could have
+        // been invalidated; see https://github.com/nlohmann/json/issues/2962
+#ifdef JSON_HEDLEY_MSVC_VERSION
+#pragma warning(push )
+#pragma warning(disable : 4127) // ignore warning to replace if with if constexpr
+#endif
+        if (detail::is_ordered_map<object_t>::value)
+        {
+            set_parents();
+            return j;
+        }
+#ifdef JSON_HEDLEY_MSVC_VERSION
+#pragma warning( pop )
+#endif
+
+        j.m_parent = this;
+#else
+        static_cast<void>(j);
+        static_cast<void>(old_capacity);
+#endif
+        return j;
+    }
+
+  public:
+    //////////////////////////
+    // JSON parser callback //
+    //////////////////////////
+
+    /// @brief parser event types
+    /// @sa https://json.nlohmann.me/api/basic_json/parse_event_t/
+    using parse_event_t = detail::parse_event_t;
+
+    /// @brief per-element parser callback type
+    /// @sa https://json.nlohmann.me/api/basic_json/parser_callback_t/
+    using parser_callback_t = detail::parser_callback_t<basic_json>;
+
+    //////////////////
+    // constructors //
+    //////////////////
+
+    /// @name constructors and destructors
+    /// Constructors of class @ref basic_json, copy/move constructor, copy
+    /// assignment, static functions creating objects, and the destructor.
+    /// @{
+
+    /// @brief create an empty value with a given type
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(const value_t v)
+        : m_data(v)
+    {
+        assert_invariant();
+    }
+
+    /// @brief create a null object
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(std::nullptr_t = nullptr) noexcept // NOLINT(bugprone-exception-escape)
+        : basic_json(value_t::null)
+    {
+        assert_invariant();
+    }
+
+    /// @brief create a JSON value from compatible types
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    template < typename CompatibleType,
+               typename U = detail::uncvref_t<CompatibleType>,
+               detail::enable_if_t <
+                   !detail::is_basic_json<U>::value && detail::is_compatible_type<basic_json_t, U>::value, int > = 0 >
+    basic_json(CompatibleType && val) noexcept(noexcept( // NOLINT(bugprone-forwarding-reference-overload,bugprone-exception-escape)
+                JSONSerializer<U>::to_json(std::declval<basic_json_t&>(),
+                                           std::forward<CompatibleType>(val))))
+    {
+        JSONSerializer<U>::to_json(*this, std::forward<CompatibleType>(val));
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief create a JSON value from an existing one
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    template < typename BasicJsonType,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value&& !std::is_same<basic_json, BasicJsonType>::value, int > = 0 >
+    basic_json(const BasicJsonType& val)
+    {
+        using other_boolean_t = typename BasicJsonType::boolean_t;
+        using other_number_float_t = typename BasicJsonType::number_float_t;
+        using other_number_integer_t = typename BasicJsonType::number_integer_t;
+        using other_number_unsigned_t = typename BasicJsonType::number_unsigned_t;
+        using other_string_t = typename BasicJsonType::string_t;
+        using other_object_t = typename BasicJsonType::object_t;
+        using other_array_t = typename BasicJsonType::array_t;
+        using other_binary_t = typename BasicJsonType::binary_t;
+
+        switch (val.type())
+        {
+            case value_t::boolean:
+                JSONSerializer<other_boolean_t>::to_json(*this, val.template get<other_boolean_t>());
+                break;
+            case value_t::number_float:
+                JSONSerializer<other_number_float_t>::to_json(*this, val.template get<other_number_float_t>());
+                break;
+            case value_t::number_integer:
+                JSONSerializer<other_number_integer_t>::to_json(*this, val.template get<other_number_integer_t>());
+                break;
+            case value_t::number_unsigned:
+                JSONSerializer<other_number_unsigned_t>::to_json(*this, val.template get<other_number_unsigned_t>());
+                break;
+            case value_t::string:
+                JSONSerializer<other_string_t>::to_json(*this, val.template get_ref<const other_string_t&>());
+                break;
+            case value_t::object:
+                JSONSerializer<other_object_t>::to_json(*this, val.template get_ref<const other_object_t&>());
+                break;
+            case value_t::array:
+                JSONSerializer<other_array_t>::to_json(*this, val.template get_ref<const other_array_t&>());
+                break;
+            case value_t::binary:
+                JSONSerializer<other_binary_t>::to_json(*this, val.template get_ref<const other_binary_t&>());
+                break;
+            case value_t::null:
+                *this = nullptr;
+                break;
+            case value_t::discarded:
+                m_data.m_type = value_t::discarded;
+                break;
+            default:            // LCOV_EXCL_LINE
+                JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+        }
+        JSON_ASSERT(m_data.m_type == val.type());
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief create a container (array or object) from an initializer list
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(initializer_list_t init,
+               bool type_deduction = true,
+               value_t manual_type = value_t::array)
+    {
+        // check if each element is an array with two elements whose first
+        // element is a string
+        bool is_an_object = std::all_of(init.begin(), init.end(),
+                                        [](const detail::json_ref<basic_json>& element_ref)
+        {
+            // The cast is to ensure op[size_type] is called, bearing in mind size_type may not be int;
+            // (many string types can be constructed from 0 via its null-pointer guise, so we get a
+            // broken call to op[key_type], the wrong semantics and a 4804 warning on Windows)
+            return element_ref->is_array() && element_ref->size() == 2 && (*element_ref)[static_cast<size_type>(0)].is_string();
+        });
+
+        // adjust type if type deduction is not wanted
+        if (!type_deduction)
+        {
+            // if array is wanted, do not create an object though possible
+            if (manual_type == value_t::array)
+            {
+                is_an_object = false;
+            }
+
+            // if object is wanted but impossible, throw an exception
+            if (JSON_HEDLEY_UNLIKELY(manual_type == value_t::object && !is_an_object))
+            {
+                JSON_THROW(type_error::create(301, "cannot create object from initializer list", nullptr));
+            }
+        }
+
+        if (is_an_object)
+        {
+            // the initializer list is a list of pairs -> create object
+            m_data.m_type = value_t::object;
+            m_data.m_value = value_t::object;
+
+            for (auto& element_ref : init)
+            {
+                auto element = element_ref.moved_or_copied();
+                m_data.m_value.object->emplace(
+                    std::move(*((*element.m_data.m_value.array)[0].m_data.m_value.string)),
+                    std::move((*element.m_data.m_value.array)[1]));
+            }
+        }
+        else
+        {
+            // the initializer list describes an array -> create array
+            m_data.m_type = value_t::array;
+            m_data.m_value.array = create<array_t>(init.begin(), init.end());
+        }
+
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief explicitly create a binary array (without subtype)
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = init;
+        return res;
+    }
+
+    /// @brief explicitly create a binary array (with subtype)
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(const typename binary_t::container_type& init, typename binary_t::subtype_type subtype)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = binary_t(init, subtype);
+        return res;
+    }
+
+    /// @brief explicitly create a binary array
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = std::move(init);
+        return res;
+    }
+
+    /// @brief explicitly create a binary array (with subtype)
+    /// @sa https://json.nlohmann.me/api/basic_json/binary/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json binary(typename binary_t::container_type&& init, typename binary_t::subtype_type subtype)
+    {
+        auto res = basic_json();
+        res.m_data.m_type = value_t::binary;
+        res.m_data.m_value = binary_t(std::move(init), subtype);
+        return res;
+    }
+
+    /// @brief explicitly create an array from an initializer list
+    /// @sa https://json.nlohmann.me/api/basic_json/array/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json array(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::array);
+    }
+
+    /// @brief explicitly create an object from an initializer list
+    /// @sa https://json.nlohmann.me/api/basic_json/object/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json object(initializer_list_t init = {})
+    {
+        return basic_json(init, false, value_t::object);
+    }
+
+    /// @brief construct an array with count copies of given value
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(size_type cnt, const basic_json& val):
+        m_data{cnt, val}
+    {
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief construct a JSON container given an iterator range
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    template < class InputIT, typename std::enable_if <
+                   std::is_same<InputIT, typename basic_json_t::iterator>::value ||
+                   std::is_same<InputIT, typename basic_json_t::const_iterator>::value, int >::type = 0 >
+    basic_json(InputIT first, InputIT last)
+    {
+        JSON_ASSERT(first.m_object != nullptr);
+        JSON_ASSERT(last.m_object != nullptr);
+
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(201, "iterators are not compatible", nullptr));
+        }
+
+        // copy type from first iterator
+        m_data.m_type = first.m_object->m_data.m_type;
+
+        // check if iterator range is complete for primitive values
+        switch (m_data.m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!first.m_it.primitive_iterator.is_begin()
+                                         || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range", first.m_object));
+                }
+                break;
+            }
+
+            case value_t::null:
+            case value_t::object:
+            case value_t::array:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+                break;
+        }
+
+        switch (m_data.m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_data.m_value.number_integer = first.m_object->m_data.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_data.m_value.number_unsigned = first.m_object->m_data.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_data.m_value.number_float = first.m_object->m_data.m_value.number_float;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_data.m_value.boolean = first.m_object->m_data.m_value.boolean;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_data.m_value = *first.m_object->m_data.m_value.string;
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_data.m_value.object = create<object_t>(first.m_it.object_iterator,
+                                        last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_data.m_value.array = create<array_t>(first.m_it.array_iterator,
+                                                       last.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_data.m_value = *first.m_object->m_data.m_value.binary;
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                JSON_THROW(invalid_iterator::create(206, detail::concat("cannot construct with iterators from ", first.m_object->type_name()), first.m_object));
+        }
+
+        set_parents();
+        assert_invariant();
+    }
+
+    ///////////////////////////////////////
+    // other constructors and destructor //
+    ///////////////////////////////////////
+
+    template<typename JsonRef,
+             detail::enable_if_t<detail::conjunction<detail::is_json_ref<JsonRef>,
+                                 std::is_same<typename JsonRef::value_type, basic_json>>::value, int> = 0 >
+    basic_json(const JsonRef& ref) : basic_json(ref.moved_or_copied()) {}
+
+    /// @brief copy constructor
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(const basic_json& other)
+        : json_base_class_t(other)
+    {
+        m_data.m_type = other.m_data.m_type;
+        // check of passed value is valid
+        other.assert_invariant();
+
+        switch (m_data.m_type)
+        {
+            case value_t::object:
+            {
+                m_data.m_value = *other.m_data.m_value.object;
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_data.m_value = *other.m_data.m_value.array;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_data.m_value = *other.m_data.m_value.string;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_data.m_value = other.m_data.m_value.boolean;
+                break;
+            }
+
+            case value_t::number_integer:
+            {
+                m_data.m_value = other.m_data.m_value.number_integer;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_data.m_value = other.m_data.m_value.number_unsigned;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_data.m_value = other.m_data.m_value.number_float;
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_data.m_value = *other.m_data.m_value.binary;
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                break;
+        }
+
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief move constructor
+    /// @sa https://json.nlohmann.me/api/basic_json/basic_json/
+    basic_json(basic_json&& other) noexcept
+        : json_base_class_t(std::forward<json_base_class_t>(other)),
+          m_data(std::move(other.m_data))
+    {
+        // check that passed value is valid
+        other.assert_invariant(false);
+
+        // invalidate payload
+        other.m_data.m_type = value_t::null;
+        other.m_data.m_value = {};
+
+        set_parents();
+        assert_invariant();
+    }
+
+    /// @brief copy assignment
+    /// @sa https://json.nlohmann.me/api/basic_json/operator=/
+    basic_json& operator=(basic_json other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&&
+        std::is_nothrow_move_assignable<json_value>::value&&
+        std::is_nothrow_move_assignable<json_base_class_t>::value
+    )
+    {
+        // check that passed value is valid
+        other.assert_invariant();
+
+        using std::swap;
+        swap(m_data.m_type, other.m_data.m_type);
+        swap(m_data.m_value, other.m_data.m_value);
+        json_base_class_t::operator=(std::move(other));
+
+        set_parents();
+        assert_invariant();
+        return *this;
+    }
+
+    /// @brief destructor
+    /// @sa https://json.nlohmann.me/api/basic_json/~basic_json/
+    ~basic_json() noexcept
+    {
+        assert_invariant(false);
+    }
+
+    /// @}
+
+  public:
+    ///////////////////////
+    // object inspection //
+    ///////////////////////
+
+    /// @name object inspection
+    /// Functions to inspect the type of a JSON value.
+    /// @{
+
+    /// @brief serialization
+    /// @sa https://json.nlohmann.me/api/basic_json/dump/
+    string_t dump(const int indent = -1,
+                  const char indent_char = ' ',
+                  const bool ensure_ascii = false,
+                  const error_handler_t error_handler = error_handler_t::strict) const
+    {
+        string_t result;
+        serializer s(detail::output_adapter<char, string_t>(result), indent_char, error_handler);
+
+        if (indent >= 0)
+        {
+            s.dump(*this, true, ensure_ascii, static_cast<unsigned int>(indent));
+        }
+        else
+        {
+            s.dump(*this, false, ensure_ascii, 0);
+        }
+
+        return result;
+    }
+
+    /// @brief return the type of the JSON value (explicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/type/
+    constexpr value_t type() const noexcept
+    {
+        return m_data.m_type;
+    }
+
+    /// @brief return whether type is primitive
+    /// @sa https://json.nlohmann.me/api/basic_json/is_primitive/
+    constexpr bool is_primitive() const noexcept
+    {
+        return is_null() || is_string() || is_boolean() || is_number() || is_binary();
+    }
+
+    /// @brief return whether type is structured
+    /// @sa https://json.nlohmann.me/api/basic_json/is_structured/
+    constexpr bool is_structured() const noexcept
+    {
+        return is_array() || is_object();
+    }
+
+    /// @brief return whether value is null
+    /// @sa https://json.nlohmann.me/api/basic_json/is_null/
+    constexpr bool is_null() const noexcept
+    {
+        return m_data.m_type == value_t::null;
+    }
+
+    /// @brief return whether value is a boolean
+    /// @sa https://json.nlohmann.me/api/basic_json/is_boolean/
+    constexpr bool is_boolean() const noexcept
+    {
+        return m_data.m_type == value_t::boolean;
+    }
+
+    /// @brief return whether value is a number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number/
+    constexpr bool is_number() const noexcept
+    {
+        return is_number_integer() || is_number_float();
+    }
+
+    /// @brief return whether value is an integer number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number_integer/
+    constexpr bool is_number_integer() const noexcept
+    {
+        return m_data.m_type == value_t::number_integer || m_data.m_type == value_t::number_unsigned;
+    }
+
+    /// @brief return whether value is an unsigned integer number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number_unsigned/
+    constexpr bool is_number_unsigned() const noexcept
+    {
+        return m_data.m_type == value_t::number_unsigned;
+    }
+
+    /// @brief return whether value is a floating-point number
+    /// @sa https://json.nlohmann.me/api/basic_json/is_number_float/
+    constexpr bool is_number_float() const noexcept
+    {
+        return m_data.m_type == value_t::number_float;
+    }
+
+    /// @brief return whether value is an object
+    /// @sa https://json.nlohmann.me/api/basic_json/is_object/
+    constexpr bool is_object() const noexcept
+    {
+        return m_data.m_type == value_t::object;
+    }
+
+    /// @brief return whether value is an array
+    /// @sa https://json.nlohmann.me/api/basic_json/is_array/
+    constexpr bool is_array() const noexcept
+    {
+        return m_data.m_type == value_t::array;
+    }
+
+    /// @brief return whether value is a string
+    /// @sa https://json.nlohmann.me/api/basic_json/is_string/
+    constexpr bool is_string() const noexcept
+    {
+        return m_data.m_type == value_t::string;
+    }
+
+    /// @brief return whether value is a binary array
+    /// @sa https://json.nlohmann.me/api/basic_json/is_binary/
+    constexpr bool is_binary() const noexcept
+    {
+        return m_data.m_type == value_t::binary;
+    }
+
+    /// @brief return whether value is discarded
+    /// @sa https://json.nlohmann.me/api/basic_json/is_discarded/
+    constexpr bool is_discarded() const noexcept
+    {
+        return m_data.m_type == value_t::discarded;
+    }
+
+    /// @brief return the type of the JSON value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_value_t/
+    constexpr operator value_t() const noexcept
+    {
+        return m_data.m_type;
+    }
+
+    /// @}
+
+  private:
+    //////////////////
+    // value access //
+    //////////////////
+
+    /// get a boolean (explicit)
+    boolean_t get_impl(boolean_t* /*unused*/) const
+    {
+        if (JSON_HEDLEY_LIKELY(is_boolean()))
+        {
+            return m_data.m_value.boolean;
+        }
+
+        JSON_THROW(type_error::create(302, detail::concat("type must be boolean, but is ", type_name()), this));
+    }
+
+    /// get a pointer to the value (object)
+    object_t* get_impl_ptr(object_t* /*unused*/) noexcept
+    {
+        return is_object() ? m_data.m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (object)
+    constexpr const object_t* get_impl_ptr(const object_t* /*unused*/) const noexcept
+    {
+        return is_object() ? m_data.m_value.object : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    array_t* get_impl_ptr(array_t* /*unused*/) noexcept
+    {
+        return is_array() ? m_data.m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (array)
+    constexpr const array_t* get_impl_ptr(const array_t* /*unused*/) const noexcept
+    {
+        return is_array() ? m_data.m_value.array : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    string_t* get_impl_ptr(string_t* /*unused*/) noexcept
+    {
+        return is_string() ? m_data.m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (string)
+    constexpr const string_t* get_impl_ptr(const string_t* /*unused*/) const noexcept
+    {
+        return is_string() ? m_data.m_value.string : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    boolean_t* get_impl_ptr(boolean_t* /*unused*/) noexcept
+    {
+        return is_boolean() ? &m_data.m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (boolean)
+    constexpr const boolean_t* get_impl_ptr(const boolean_t* /*unused*/) const noexcept
+    {
+        return is_boolean() ? &m_data.m_value.boolean : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    number_integer_t* get_impl_ptr(number_integer_t* /*unused*/) noexcept
+    {
+        return is_number_integer() ? &m_data.m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (integer number)
+    constexpr const number_integer_t* get_impl_ptr(const number_integer_t* /*unused*/) const noexcept
+    {
+        return is_number_integer() ? &m_data.m_value.number_integer : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    number_unsigned_t* get_impl_ptr(number_unsigned_t* /*unused*/) noexcept
+    {
+        return is_number_unsigned() ? &m_data.m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (unsigned number)
+    constexpr const number_unsigned_t* get_impl_ptr(const number_unsigned_t* /*unused*/) const noexcept
+    {
+        return is_number_unsigned() ? &m_data.m_value.number_unsigned : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    number_float_t* get_impl_ptr(number_float_t* /*unused*/) noexcept
+    {
+        return is_number_float() ? &m_data.m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (floating-point number)
+    constexpr const number_float_t* get_impl_ptr(const number_float_t* /*unused*/) const noexcept
+    {
+        return is_number_float() ? &m_data.m_value.number_float : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    binary_t* get_impl_ptr(binary_t* /*unused*/) noexcept
+    {
+        return is_binary() ? m_data.m_value.binary : nullptr;
+    }
+
+    /// get a pointer to the value (binary)
+    constexpr const binary_t* get_impl_ptr(const binary_t* /*unused*/) const noexcept
+    {
+        return is_binary() ? m_data.m_value.binary : nullptr;
+    }
+
+    /*!
+    @brief helper function to implement get_ref()
+
+    This function helps to implement get_ref() without code duplication for
+    const and non-const overloads
+
+    @tparam ThisType will be deduced as `basic_json` or `const basic_json`
+
+    @throw type_error.303 if ReferenceType does not match underlying value
+    type of the current JSON
+    */
+    template<typename ReferenceType, typename ThisType>
+    static ReferenceType get_ref_impl(ThisType& obj)
+    {
+        // delegate the call to get_ptr<>()
+        auto* ptr = obj.template get_ptr<typename std::add_pointer<ReferenceType>::type>();
+
+        if (JSON_HEDLEY_LIKELY(ptr != nullptr))
+        {
+            return *ptr;
+        }
+
+        JSON_THROW(type_error::create(303, detail::concat("incompatible ReferenceType for get_ref, actual type is ", obj.type_name()), &obj));
+    }
+
+  public:
+    /// @name value access
+    /// Direct access to the stored value of a JSON value.
+    /// @{
+
+    /// @brief get a pointer value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ptr/
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get_ptr() noexcept -> decltype(std::declval<basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>()
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+    /// @brief get a pointer value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ptr/
+    template < typename PointerType, typename std::enable_if <
+                   std::is_pointer<PointerType>::value&&
+                   std::is_const<typename std::remove_pointer<PointerType>::type>::value, int >::type = 0 >
+    constexpr auto get_ptr() const noexcept -> decltype(std::declval<const basic_json_t&>().get_impl_ptr(std::declval<PointerType>()))
+    {
+        // delegate the call to get_impl_ptr<>() const
+        return get_impl_ptr(static_cast<PointerType>(nullptr));
+    }
+
+  private:
+    /*!
+    @brief get a value (explicit)
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    ValueType ret;
+    JSONSerializer<ValueType>::from_json(*this, ret);
+    return ret;
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json,
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `void from_json(const basic_json&, ValueType&)`, and
+    - @ref json_serializer<ValueType> does not have a `from_json()` method of
+      the form `ValueType from_json(const basic_json&)`
+
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,get__ValueType_const}
+
+    @since version 2.1.0
+    */
+    template < typename ValueType,
+               detail::enable_if_t <
+                   detail::is_default_constructible<ValueType>::value&&
+                   detail::has_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType get_impl(detail::priority_tag<0> /*unused*/) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), std::declval<ValueType&>())))
+    {
+        auto ret = ValueType();
+        JSONSerializer<ValueType>::from_json(*this, ret);
+        return ret;
+    }
+
+    /*!
+    @brief get a value (explicit); special case
+
+    Explicit type conversion between the JSON value and a compatible value
+    which is **not** [CopyConstructible](https://en.cppreference.com/w/cpp/named_req/CopyConstructible)
+    and **not** [DefaultConstructible](https://en.cppreference.com/w/cpp/named_req/DefaultConstructible).
+    The value is converted by calling the @ref json_serializer<ValueType>
+    `from_json()` method.
+
+    The function is equivalent to executing
+    @code {.cpp}
+    return JSONSerializer<ValueType>::from_json(*this);
+    @endcode
+
+    This overloads is chosen if:
+    - @a ValueType is not @ref basic_json and
+    - @ref json_serializer<ValueType> has a `from_json()` method of the form
+      `ValueType from_json(const basic_json&)`
+
+    @note If @ref json_serializer<ValueType> has both overloads of
+    `from_json()`, this one is chosen.
+
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @a ValueType
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws
+
+    @since version 2.1.0
+    */
+    template < typename ValueType,
+               detail::enable_if_t <
+                   detail::has_non_default_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType get_impl(detail::priority_tag<1> /*unused*/) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>())))
+    {
+        return JSONSerializer<ValueType>::from_json(*this);
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads converts the current @ref basic_json in a different
+    @ref basic_json type
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this, converted into @a BasicJsonType
+
+    @complexity Depending on the implementation of the called `from_json()`
+                method.
+
+    @since version 3.2.0
+    */
+    template < typename BasicJsonType,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value,
+                   int > = 0 >
+    BasicJsonType get_impl(detail::priority_tag<2> /*unused*/) const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get special-case overload
+
+    This overloads avoids a lot of template boilerplate, it can be seen as the
+    identity method
+
+    @tparam BasicJsonType == @ref basic_json
+
+    @return a copy of *this
+
+    @complexity Constant.
+
+    @since version 2.1.0
+    */
+    template<typename BasicJsonType,
+             detail::enable_if_t<
+                 std::is_same<BasicJsonType, basic_json_t>::value,
+                 int> = 0>
+    basic_json get_impl(detail::priority_tag<3> /*unused*/) const
+    {
+        return *this;
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+    @copydoc get()
+    */
+    template<typename PointerType,
+             detail::enable_if_t<
+                 std::is_pointer<PointerType>::value,
+                 int> = 0>
+    constexpr auto get_impl(detail::priority_tag<4> /*unused*/) const noexcept
+    -> decltype(std::declval<const basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+  public:
+    /*!
+    @brief get a (pointer) value (explicit)
+
+    Performs explicit type conversion between the JSON value and a compatible value if required.
+
+    - If the requested type is a pointer to the internally stored JSON value that pointer is returned.
+    No copies are made.
+
+    - If the requested type is the current @ref basic_json, or a different @ref basic_json convertible
+    from the current @ref basic_json.
+
+    - Otherwise the value is converted by calling the @ref json_serializer<ValueType> `from_json()`
+    method.
+
+    @tparam ValueTypeCV the provided value type
+    @tparam ValueType the returned value type
+
+    @return copy of the JSON value, converted to @tparam ValueType if necessary
+
+    @throw what @ref json_serializer<ValueType> `from_json()` method throws if conversion is required
+
+    @since version 2.1.0
+    */
+    template < typename ValueTypeCV, typename ValueType = detail::uncvref_t<ValueTypeCV>>
+#if defined(JSON_HAS_CPP_14)
+    constexpr
+#endif
+    auto get() const noexcept(
+    noexcept(std::declval<const basic_json_t&>().template get_impl<ValueType>(detail::priority_tag<4> {})))
+    -> decltype(std::declval<const basic_json_t&>().template get_impl<ValueType>(detail::priority_tag<4> {}))
+    {
+        // we cannot static_assert on ValueTypeCV being non-const, because
+        // there is support for get<const basic_json_t>(), which is why we
+        // still need the uncvref
+        static_assert(!std::is_reference<ValueTypeCV>::value,
+                      "get() cannot be used with reference types, you might want to use get_ref()");
+        return get_impl<ValueType>(detail::priority_tag<4> {});
+    }
+
+    /*!
+    @brief get a pointer value (explicit)
+
+    Explicit pointer access to the internally stored JSON value. No copies are
+    made.
+
+    @warning The pointer becomes invalid if the underlying JSON object
+    changes.
+
+    @tparam PointerType pointer type; must be a pointer to @ref array_t, @ref
+    object_t, @ref string_t, @ref boolean_t, @ref number_integer_t,
+    @ref number_unsigned_t, or @ref number_float_t.
+
+    @return pointer to the internally stored JSON value if the requested
+    pointer type @a PointerType fits to the JSON value; `nullptr` otherwise
+
+    @complexity Constant.
+
+    @liveexample{The example below shows how pointers to internal values of a
+    JSON value can be requested. Note that no type conversions are made and a
+    `nullptr` is returned if the value and the requested pointer type does not
+    match.,get__PointerType}
+
+    @sa see @ref get_ptr() for explicit pointer-member access
+
+    @since version 1.0.0
+    */
+    template<typename PointerType, typename std::enable_if<
+                 std::is_pointer<PointerType>::value, int>::type = 0>
+    auto get() noexcept -> decltype(std::declval<basic_json_t&>().template get_ptr<PointerType>())
+    {
+        // delegate the call to get_ptr
+        return get_ptr<PointerType>();
+    }
+
+    /// @brief get a value (explicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_to/
+    template < typename ValueType,
+               detail::enable_if_t <
+                   !detail::is_basic_json<ValueType>::value&&
+                   detail::has_from_json<basic_json_t, ValueType>::value,
+                   int > = 0 >
+    ValueType & get_to(ValueType& v) const noexcept(noexcept(
+                JSONSerializer<ValueType>::from_json(std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<ValueType>::from_json(*this, v);
+        return v;
+    }
+
+    // specialization to allow calling get_to with a basic_json value
+    // see https://github.com/nlohmann/json/issues/2175
+    template<typename ValueType,
+             detail::enable_if_t <
+                 detail::is_basic_json<ValueType>::value,
+                 int> = 0>
+    ValueType & get_to(ValueType& v) const
+    {
+        v = *this;
+        return v;
+    }
+
+    template <
+        typename T, std::size_t N,
+        typename Array = T (&)[N], // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+        detail::enable_if_t <
+            detail::has_from_json<basic_json_t, Array>::value, int > = 0 >
+    Array get_to(T (&v)[N]) const // NOLINT(cppcoreguidelines-avoid-c-arrays,hicpp-avoid-c-arrays,modernize-avoid-c-arrays)
+    noexcept(noexcept(JSONSerializer<Array>::from_json(
+                          std::declval<const basic_json_t&>(), v)))
+    {
+        JSONSerializer<Array>::from_json(*this, v);
+        return v;
+    }
+
+    /// @brief get a reference value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ref/
+    template<typename ReferenceType, typename std::enable_if<
+                 std::is_reference<ReferenceType>::value, int>::type = 0>
+    ReferenceType get_ref()
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /// @brief get a reference value (implicit)
+    /// @sa https://json.nlohmann.me/api/basic_json/get_ref/
+    template < typename ReferenceType, typename std::enable_if <
+                   std::is_reference<ReferenceType>::value&&
+                   std::is_const<typename std::remove_reference<ReferenceType>::type>::value, int >::type = 0 >
+    ReferenceType get_ref() const
+    {
+        // delegate call to get_ref_impl
+        return get_ref_impl<ReferenceType>(*this);
+    }
+
+    /*!
+    @brief get a value (implicit)
+
+    Implicit type conversion between the JSON value and a compatible value.
+    The call is realized by calling @ref get() const.
+
+    @tparam ValueType non-pointer type compatible to the JSON value, for
+    instance `int` for JSON integer numbers, `bool` for JSON booleans, or
+    `std::vector` types for JSON arrays. The character type of @ref string_t
+    as well as an initializer list of this type is excluded to avoid
+    ambiguities as these types implicitly convert to `std::string`.
+
+    @return copy of the JSON value, converted to type @a ValueType
+
+    @throw type_error.302 in case passed type @a ValueType is incompatible
+    to the JSON value type (e.g., the JSON value is of type boolean, but a
+    string is requested); see example below
+
+    @complexity Linear in the size of the JSON value.
+
+    @liveexample{The example below shows several conversions from JSON values
+    to other types. There a few things to note: (1) Floating-point numbers can
+    be converted to integers\, (2) A JSON array can be converted to a standard
+    `std::vector<short>`\, (3) A JSON object can be converted to C++
+    associative containers such as `std::unordered_map<std::string\,
+    json>`.,operator__ValueType}
+
+    @since version 1.0.0
+    */
+    template < typename ValueType, typename std::enable_if <
+                   detail::conjunction <
+                       detail::negation<std::is_pointer<ValueType>>,
+                       detail::negation<std::is_same<ValueType, std::nullptr_t>>,
+                       detail::negation<std::is_same<ValueType, detail::json_ref<basic_json>>>,
+                                        detail::negation<std::is_same<ValueType, typename string_t::value_type>>,
+                                        detail::negation<detail::is_basic_json<ValueType>>,
+                                        detail::negation<std::is_same<ValueType, std::initializer_list<typename string_t::value_type>>>,
+#if defined(JSON_HAS_CPP_17) && (defined(__GNUC__) || (defined(_MSC_VER) && _MSC_VER >= 1910 && _MSC_VER <= 1914))
+                                                detail::negation<std::is_same<ValueType, std::string_view>>,
+#endif
+#if defined(JSON_HAS_CPP_17) && JSON_HAS_STATIC_RTTI
+                                                detail::negation<std::is_same<ValueType, std::any>>,
+#endif
+                                                detail::is_detected_lazy<detail::get_template_function, const basic_json_t&, ValueType>
+                                                >::value, int >::type = 0 >
+                                        JSON_EXPLICIT operator ValueType() const
+    {
+        // delegate the call to get<>() const
+        return get<ValueType>();
+    }
+
+    /// @brief get a binary value
+    /// @sa https://json.nlohmann.me/api/basic_json/get_binary/
+    binary_t& get_binary()
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, detail::concat("type must be binary, but is ", type_name()), this));
+        }
+
+        return *get_ptr<binary_t*>();
+    }
+
+    /// @brief get a binary value
+    /// @sa https://json.nlohmann.me/api/basic_json/get_binary/
+    const binary_t& get_binary() const
+    {
+        if (!is_binary())
+        {
+            JSON_THROW(type_error::create(302, detail::concat("type must be binary, but is ", type_name()), this));
+        }
+
+        return *get_ptr<const binary_t*>();
+    }
+
+    /// @}
+
+    ////////////////////
+    // element access //
+    ////////////////////
+
+    /// @name element access
+    /// Access to the JSON value.
+    /// @{
+
+    /// @brief access specified array element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    reference at(size_type idx)
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return set_parent(m_data.m_value.array->at(idx));
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), this));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+    }
+
+    /// @brief access specified array element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    const_reference at(size_type idx) const
+    {
+        // at only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            JSON_TRY
+            {
+                return m_data.m_value.array->at(idx);
+            }
+            JSON_CATCH (std::out_of_range&)
+            {
+                // create better exception explanation
+                JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), this));
+            }
+        }
+        else
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    reference at(const typename object_t::key_type& key)
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(key);
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", key, "' not found"), this));
+        }
+        return set_parent(it->second);
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    reference at(KeyType && key)
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", string_t(std::forward<KeyType>(key)), "' not found"), this));
+        }
+        return set_parent(it->second);
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    const_reference at(const typename object_t::key_type& key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(key);
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", key, "' not found"), this));
+        }
+        return it->second;
+    }
+
+    /// @brief access specified object element with bounds checking
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    const_reference at(KeyType && key) const
+    {
+        // at only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(304, detail::concat("cannot use at() with ", type_name()), this));
+        }
+
+        auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+        if (it == m_data.m_value.object->end())
+        {
+            JSON_THROW(out_of_range::create(403, detail::concat("key '", string_t(std::forward<KeyType>(key)), "' not found"), this));
+        }
+        return it->second;
+    }
+
+    /// @brief access specified array element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    reference operator[](size_type idx)
+    {
+        // implicitly convert null value to an empty array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value.array = create<array_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // fill up array with null values if given idx is outside range
+            if (idx >= m_data.m_value.array->size())
+            {
+#if JSON_DIAGNOSTICS
+                // remember array size & capacity before resizing
+                const auto old_size = m_data.m_value.array->size();
+                const auto old_capacity = m_data.m_value.array->capacity();
+#endif
+                m_data.m_value.array->resize(idx + 1);
+
+#if JSON_DIAGNOSTICS
+                if (JSON_HEDLEY_UNLIKELY(m_data.m_value.array->capacity() != old_capacity))
+                {
+                    // capacity has changed: update all parents
+                    set_parents();
+                }
+                else
+                {
+                    // set parent for values added above
+                    set_parents(begin() + static_cast<typename iterator::difference_type>(old_size), static_cast<typename iterator::difference_type>(idx + 1 - old_size));
+                }
+#endif
+                assert_invariant();
+            }
+
+            return m_data.m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a numeric argument with ", type_name()), this));
+    }
+
+    /// @brief access specified array element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    const_reference operator[](size_type idx) const
+    {
+        // const operator[] only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            return m_data.m_value.array->operator[](idx);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a numeric argument with ", type_name()), this));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    reference operator[](typename object_t::key_type key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto result = m_data.m_value.object->emplace(std::move(key), nullptr);
+            return set_parent(result.first->second);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    const_reference operator[](const typename object_t::key_type& key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto it = m_data.m_value.object->find(key);
+            JSON_ASSERT(it != m_data.m_value.object->end());
+            return it->second;
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+    // these two functions resolve a (const) char * ambiguity affecting Clang and MSVC
+    // (they seemingly cannot be constrained to resolve the ambiguity)
+    template<typename T>
+    reference operator[](T* key)
+    {
+        return operator[](typename object_t::key_type(key));
+    }
+
+    template<typename T>
+    const_reference operator[](T* key) const
+    {
+        return operator[](typename object_t::key_type(key));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    reference operator[](KeyType && key)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        // operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto result = m_data.m_value.object->emplace(std::forward<KeyType>(key), nullptr);
+            return set_parent(result.first->second);
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+    /// @brief access specified object element
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    const_reference operator[](KeyType && key) const
+    {
+        // const operator[] only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+            JSON_ASSERT(it != m_data.m_value.object->end());
+            return it->second;
+        }
+
+        JSON_THROW(type_error::create(305, detail::concat("cannot use operator[] with a string argument with ", type_name()), this));
+    }
+
+  private:
+    template<typename KeyType>
+    using is_comparable_with_object_key = detail::is_comparable <
+        object_comparator_t, const typename object_t::key_type&, KeyType >;
+
+    template<typename ValueType>
+    using value_return_type = std::conditional <
+        detail::is_c_string_uncvref<ValueType>::value,
+        string_t, typename std::decay<ValueType>::type >;
+
+  public:
+    /// @brief access specified object element with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, detail::enable_if_t <
+                   !detail::is_transparent<object_comparator_t>::value
+                   && detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ValueType value(const typename object_t::key_type& key, const ValueType& default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return it->template get<ValueType>();
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   !detail::is_transparent<object_comparator_t>::value
+                   && detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ReturnType value(const typename object_t::key_type& key, ValueType && default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(key);
+            if (it != end())
+            {
+                return it->template get<ReturnType>();
+            }
+
+            return std::forward<ValueType>(default_value);
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class KeyType, detail::enable_if_t <
+                   detail::is_transparent<object_comparator_t>::value
+                   && !detail::is_json_pointer<KeyType>::value
+                   && is_comparable_with_object_key<KeyType>::value
+                   && detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ValueType value(KeyType && key, const ValueType& default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(std::forward<KeyType>(key));
+            if (it != end())
+            {
+                return it->template get<ValueType>();
+            }
+
+            return default_value;
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element via JSON Pointer with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class KeyType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   detail::is_transparent<object_comparator_t>::value
+                   && !detail::is_json_pointer<KeyType>::value
+                   && is_comparable_with_object_key<KeyType>::value
+                   && detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ReturnType value(KeyType && key, ValueType && default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if key is found, return value and given default value otherwise
+            const auto it = find(std::forward<KeyType>(key));
+            if (it != end())
+            {
+                return it->template get<ReturnType>();
+            }
+
+            return std::forward<ValueType>(default_value);
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element via JSON Pointer with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, detail::enable_if_t <
+                   detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ValueType value(const json_pointer& ptr, const ValueType& default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this).template get<ValueType>();
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return default_value;
+            }
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    /// @brief access specified object element via JSON Pointer with default value
+    /// @sa https://json.nlohmann.me/api/basic_json/value/
+    template < class ValueType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    ReturnType value(const json_pointer& ptr, ValueType && default_value) const
+    {
+        // value only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            // if pointer resolves a value, return it or use default value
+            JSON_TRY
+            {
+                return ptr.get_checked(this).template get<ReturnType>();
+            }
+            JSON_INTERNAL_CATCH (out_of_range&)
+            {
+                return std::forward<ValueType>(default_value);
+            }
+        }
+
+        JSON_THROW(type_error::create(306, detail::concat("cannot use value() with ", type_name()), this));
+    }
+
+    template < class ValueType, class BasicJsonType, detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value
+                   && detail::is_getable<basic_json_t, ValueType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    ValueType value(const ::nlohmann::json_pointer<BasicJsonType>& ptr, const ValueType& default_value) const
+    {
+        return value(ptr.convert(), default_value);
+    }
+
+    template < class ValueType, class BasicJsonType, class ReturnType = typename value_return_type<ValueType>::type,
+               detail::enable_if_t <
+                   detail::is_basic_json<BasicJsonType>::value
+                   && detail::is_getable<basic_json_t, ReturnType>::value
+                   && !std::is_same<value_t, detail::uncvref_t<ValueType>>::value, int > = 0 >
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    ReturnType value(const ::nlohmann::json_pointer<BasicJsonType>& ptr, ValueType && default_value) const
+    {
+        return value(ptr.convert(), std::forward<ValueType>(default_value));
+    }
+
+    /// @brief access the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/front/
+    reference front()
+    {
+        return *begin();
+    }
+
+    /// @brief access the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/front/
+    const_reference front() const
+    {
+        return *cbegin();
+    }
+
+    /// @brief access the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/back/
+    reference back()
+    {
+        auto tmp = end();
+        --tmp;
+        return *tmp;
+    }
+
+    /// @brief access the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/back/
+    const_reference back() const
+    {
+        auto tmp = cend();
+        --tmp;
+        return *tmp;
+    }
+
+    /// @brief remove element given an iterator
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    template < class IteratorType, detail::enable_if_t <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int > = 0 >
+    IteratorType erase(IteratorType pos)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != pos.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+        }
+
+        IteratorType result = end();
+
+        switch (m_data.m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_UNLIKELY(!pos.m_it.primitive_iterator.is_begin()))
+                {
+                    JSON_THROW(invalid_iterator::create(205, "iterator out of range", this));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.string, 1);
+                    m_data.m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.binary, 1);
+                    m_data.m_value.binary = nullptr;
+                }
+
+                m_data.m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_data.m_value.object->erase(pos.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_data.m_value.array->erase(pos.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        return result;
+    }
+
+    /// @brief remove elements given an iterator range
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    template < class IteratorType, detail::enable_if_t <
+                   std::is_same<IteratorType, typename basic_json_t::iterator>::value ||
+                   std::is_same<IteratorType, typename basic_json_t::const_iterator>::value, int > = 0 >
+    IteratorType erase(IteratorType first, IteratorType last)
+    {
+        // make sure iterator fits the current value
+        if (JSON_HEDLEY_UNLIKELY(this != first.m_object || this != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(203, "iterators do not fit current value", this));
+        }
+
+        IteratorType result = end();
+
+        switch (m_data.m_type)
+        {
+            case value_t::boolean:
+            case value_t::number_float:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::string:
+            case value_t::binary:
+            {
+                if (JSON_HEDLEY_LIKELY(!first.m_it.primitive_iterator.is_begin()
+                                       || !last.m_it.primitive_iterator.is_end()))
+                {
+                    JSON_THROW(invalid_iterator::create(204, "iterators out of range", this));
+                }
+
+                if (is_string())
+                {
+                    AllocatorType<string_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.string);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.string, 1);
+                    m_data.m_value.string = nullptr;
+                }
+                else if (is_binary())
+                {
+                    AllocatorType<binary_t> alloc;
+                    std::allocator_traits<decltype(alloc)>::destroy(alloc, m_data.m_value.binary);
+                    std::allocator_traits<decltype(alloc)>::deallocate(alloc, m_data.m_value.binary, 1);
+                    m_data.m_value.binary = nullptr;
+                }
+
+                m_data.m_type = value_t::null;
+                assert_invariant();
+                break;
+            }
+
+            case value_t::object:
+            {
+                result.m_it.object_iterator = m_data.m_value.object->erase(first.m_it.object_iterator,
+                                              last.m_it.object_iterator);
+                break;
+            }
+
+            case value_t::array:
+            {
+                result.m_it.array_iterator = m_data.m_value.array->erase(first.m_it.array_iterator,
+                                             last.m_it.array_iterator);
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        return result;
+    }
+
+  private:
+    template < typename KeyType, detail::enable_if_t <
+                   detail::has_erase_with_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    size_type erase_internal(KeyType && key)
+    {
+        // this erase only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        return m_data.m_value.object->erase(std::forward<KeyType>(key));
+    }
+
+    template < typename KeyType, detail::enable_if_t <
+                   !detail::has_erase_with_key_type<basic_json_t, KeyType>::value, int > = 0 >
+    size_type erase_internal(KeyType && key)
+    {
+        // this erase only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+
+        const auto it = m_data.m_value.object->find(std::forward<KeyType>(key));
+        if (it != m_data.m_value.object->end())
+        {
+            m_data.m_value.object->erase(it);
+            return 1;
+        }
+        return 0;
+    }
+
+  public:
+
+    /// @brief remove element from a JSON object given a key
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    size_type erase(const typename object_t::key_type& key)
+    {
+        // the indirection via erase_internal() is added to avoid making this
+        // function a template and thus de-rank it during overload resolution
+        return erase_internal(key);
+    }
+
+    /// @brief remove element from a JSON object given a key
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    size_type erase(KeyType && key)
+    {
+        return erase_internal(std::forward<KeyType>(key));
+    }
+
+    /// @brief remove element from a JSON array given an index
+    /// @sa https://json.nlohmann.me/api/basic_json/erase/
+    void erase(const size_type idx)
+    {
+        // this erase only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            if (JSON_HEDLEY_UNLIKELY(idx >= size()))
+            {
+                JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), this));
+            }
+
+            m_data.m_value.array->erase(m_data.m_value.array->begin() + static_cast<difference_type>(idx));
+        }
+        else
+        {
+            JSON_THROW(type_error::create(307, detail::concat("cannot use erase() with ", type_name()), this));
+        }
+    }
+
+    /// @}
+
+    ////////////
+    // lookup //
+    ////////////
+
+    /// @name lookup
+    /// @{
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    iterator find(const typename object_t::key_type& key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(key);
+        }
+
+        return result;
+    }
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    const_iterator find(const typename object_t::key_type& key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(key);
+        }
+
+        return result;
+    }
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    iterator find(KeyType && key)
+    {
+        auto result = end();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(std::forward<KeyType>(key));
+        }
+
+        return result;
+    }
+
+    /// @brief find an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/find/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    const_iterator find(KeyType && key) const
+    {
+        auto result = cend();
+
+        if (is_object())
+        {
+            result.m_it.object_iterator = m_data.m_value.object->find(std::forward<KeyType>(key));
+        }
+
+        return result;
+    }
+
+    /// @brief returns the number of occurrences of a key in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/count/
+    size_type count(const typename object_t::key_type& key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_data.m_value.object->count(key) : 0;
+    }
+
+    /// @brief returns the number of occurrences of a key in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/count/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    size_type count(KeyType && key) const
+    {
+        // return 0 for all nonobject types
+        return is_object() ? m_data.m_value.object->count(std::forward<KeyType>(key)) : 0;
+    }
+
+    /// @brief check the existence of an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/contains/
+    bool contains(const typename object_t::key_type& key) const
+    {
+        return is_object() && m_data.m_value.object->find(key) != m_data.m_value.object->end();
+    }
+
+    /// @brief check the existence of an element in a JSON object
+    /// @sa https://json.nlohmann.me/api/basic_json/contains/
+    template<class KeyType, detail::enable_if_t<
+                 detail::is_usable_as_basic_json_key_type<basic_json_t, KeyType>::value, int> = 0>
+    bool contains(KeyType && key) const
+    {
+        return is_object() && m_data.m_value.object->find(std::forward<KeyType>(key)) != m_data.m_value.object->end();
+    }
+
+    /// @brief check the existence of an element in a JSON object given a JSON pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/contains/
+    bool contains(const json_pointer& ptr) const
+    {
+        return ptr.contains(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    bool contains(const typename ::nlohmann::json_pointer<BasicJsonType>& ptr) const
+    {
+        return ptr.contains(this);
+    }
+
+    /// @}
+
+    ///////////////
+    // iterators //
+    ///////////////
+
+    /// @name iterators
+    /// @{
+
+    /// @brief returns an iterator to the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/begin/
+    iterator begin() noexcept
+    {
+        iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /// @brief returns an iterator to the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/begin/
+    const_iterator begin() const noexcept
+    {
+        return cbegin();
+    }
+
+    /// @brief returns a const iterator to the first element
+    /// @sa https://json.nlohmann.me/api/basic_json/cbegin/
+    const_iterator cbegin() const noexcept
+    {
+        const_iterator result(this);
+        result.set_begin();
+        return result;
+    }
+
+    /// @brief returns an iterator to one past the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/end/
+    iterator end() noexcept
+    {
+        iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /// @brief returns an iterator to one past the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/end/
+    const_iterator end() const noexcept
+    {
+        return cend();
+    }
+
+    /// @brief returns an iterator to one past the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/cend/
+    const_iterator cend() const noexcept
+    {
+        const_iterator result(this);
+        result.set_end();
+        return result;
+    }
+
+    /// @brief returns an iterator to the reverse-beginning
+    /// @sa https://json.nlohmann.me/api/basic_json/rbegin/
+    reverse_iterator rbegin() noexcept
+    {
+        return reverse_iterator(end());
+    }
+
+    /// @brief returns an iterator to the reverse-beginning
+    /// @sa https://json.nlohmann.me/api/basic_json/rbegin/
+    const_reverse_iterator rbegin() const noexcept
+    {
+        return crbegin();
+    }
+
+    /// @brief returns an iterator to the reverse-end
+    /// @sa https://json.nlohmann.me/api/basic_json/rend/
+    reverse_iterator rend() noexcept
+    {
+        return reverse_iterator(begin());
+    }
+
+    /// @brief returns an iterator to the reverse-end
+    /// @sa https://json.nlohmann.me/api/basic_json/rend/
+    const_reverse_iterator rend() const noexcept
+    {
+        return crend();
+    }
+
+    /// @brief returns a const reverse iterator to the last element
+    /// @sa https://json.nlohmann.me/api/basic_json/crbegin/
+    const_reverse_iterator crbegin() const noexcept
+    {
+        return const_reverse_iterator(cend());
+    }
+
+    /// @brief returns a const reverse iterator to one before the first
+    /// @sa https://json.nlohmann.me/api/basic_json/crend/
+    const_reverse_iterator crend() const noexcept
+    {
+        return const_reverse_iterator(cbegin());
+    }
+
+  public:
+    /// @brief wrapper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    /// @deprecated This function is deprecated since 3.1.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use @ref items() instead;
+    ///             that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<iterator> iterator_wrapper(reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /// @brief wrapper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    /// @deprecated This function is deprecated since 3.1.0 and will be removed in
+    ///         version 4.0.0 of the library. Please use @ref items() instead;
+    ///         that is, replace `json::iterator_wrapper(j)` with `j.items()`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.1.0, items())
+    static iteration_proxy<const_iterator> iterator_wrapper(const_reference ref) noexcept
+    {
+        return ref.items();
+    }
+
+    /// @brief helper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    iteration_proxy<iterator> items() noexcept
+    {
+        return iteration_proxy<iterator>(*this);
+    }
+
+    /// @brief helper to access iterator member functions in range-based for
+    /// @sa https://json.nlohmann.me/api/basic_json/items/
+    iteration_proxy<const_iterator> items() const noexcept
+    {
+        return iteration_proxy<const_iterator>(*this);
+    }
+
+    /// @}
+
+    //////////////
+    // capacity //
+    //////////////
+
+    /// @name capacity
+    /// @{
+
+    /// @brief checks whether the container is empty.
+    /// @sa https://json.nlohmann.me/api/basic_json/empty/
+    bool empty() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return true;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::empty()
+                return m_data.m_value.array->empty();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::empty()
+                return m_data.m_value.object->empty();
+            }
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // all other types are nonempty
+                return false;
+            }
+        }
+    }
+
+    /// @brief returns the number of elements
+    /// @sa https://json.nlohmann.me/api/basic_json/size/
+    size_type size() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::null:
+            {
+                // null values are empty
+                return 0;
+            }
+
+            case value_t::array:
+            {
+                // delegate call to array_t::size()
+                return m_data.m_value.array->size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::size()
+                return m_data.m_value.object->size();
+            }
+
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // all other types have size 1
+                return 1;
+            }
+        }
+    }
+
+    /// @brief returns the maximum possible number of elements
+    /// @sa https://json.nlohmann.me/api/basic_json/max_size/
+    size_type max_size() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::array:
+            {
+                // delegate call to array_t::max_size()
+                return m_data.m_value.array->max_size();
+            }
+
+            case value_t::object:
+            {
+                // delegate call to object_t::max_size()
+                return m_data.m_value.object->max_size();
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // all other types have max_size() == size()
+                return size();
+            }
+        }
+    }
+
+    /// @}
+
+    ///////////////
+    // modifiers //
+    ///////////////
+
+    /// @name modifiers
+    /// @{
+
+    /// @brief clears the contents
+    /// @sa https://json.nlohmann.me/api/basic_json/clear/
+    void clear() noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::number_integer:
+            {
+                m_data.m_value.number_integer = 0;
+                break;
+            }
+
+            case value_t::number_unsigned:
+            {
+                m_data.m_value.number_unsigned = 0;
+                break;
+            }
+
+            case value_t::number_float:
+            {
+                m_data.m_value.number_float = 0.0;
+                break;
+            }
+
+            case value_t::boolean:
+            {
+                m_data.m_value.boolean = false;
+                break;
+            }
+
+            case value_t::string:
+            {
+                m_data.m_value.string->clear();
+                break;
+            }
+
+            case value_t::binary:
+            {
+                m_data.m_value.binary->clear();
+                break;
+            }
+
+            case value_t::array:
+            {
+                m_data.m_value.array->clear();
+                break;
+            }
+
+            case value_t::object:
+            {
+                m_data.m_value.object->clear();
+                break;
+            }
+
+            case value_t::null:
+            case value_t::discarded:
+            default:
+                break;
+        }
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(basic_json&& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, detail::concat("cannot use push_back() with ", type_name()), this));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (move semantics)
+        const auto old_capacity = m_data.m_value.array->capacity();
+        m_data.m_value.array->push_back(std::move(val));
+        set_parent(m_data.m_value.array->back(), old_capacity);
+        // if val is moved from, basic_json move constructor marks it null, so we do not call the destructor
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(basic_json&& val)
+    {
+        push_back(std::move(val));
+        return *this;
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(const basic_json& val)
+    {
+        // push_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(308, detail::concat("cannot use push_back() with ", type_name()), this));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array
+        const auto old_capacity = m_data.m_value.array->capacity();
+        m_data.m_value.array->push_back(val);
+        set_parent(m_data.m_value.array->back(), old_capacity);
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(const basic_json& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(const typename object_t::value_type& val)
+    {
+        // push_back only works for null objects or objects
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(308, detail::concat("cannot use push_back() with ", type_name()), this));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to object
+        auto res = m_data.m_value.object->insert(val);
+        set_parent(res.first->second);
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(const typename object_t::value_type& val)
+    {
+        push_back(val);
+        return *this;
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/push_back/
+    void push_back(initializer_list_t init)
+    {
+        if (is_object() && init.size() == 2 && (*init.begin())->is_string())
+        {
+            basic_json&& key = init.begin()->moved_or_copied();
+            push_back(typename object_t::value_type(
+                          std::move(key.get_ref<string_t&>()), (init.begin() + 1)->moved_or_copied()));
+        }
+        else
+        {
+            push_back(basic_json(init));
+        }
+    }
+
+    /// @brief add an object to an object
+    /// @sa https://json.nlohmann.me/api/basic_json/operator+=/
+    reference operator+=(initializer_list_t init)
+    {
+        push_back(init);
+        return *this;
+    }
+
+    /// @brief add an object to an array
+    /// @sa https://json.nlohmann.me/api/basic_json/emplace_back/
+    template<class... Args>
+    reference emplace_back(Args&& ... args)
+    {
+        // emplace_back only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_array())))
+        {
+            JSON_THROW(type_error::create(311, detail::concat("cannot use emplace_back() with ", type_name()), this));
+        }
+
+        // transform null object into an array
+        if (is_null())
+        {
+            m_data.m_type = value_t::array;
+            m_data.m_value = value_t::array;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        const auto old_capacity = m_data.m_value.array->capacity();
+        m_data.m_value.array->emplace_back(std::forward<Args>(args)...);
+        return set_parent(m_data.m_value.array->back(), old_capacity);
+    }
+
+    /// @brief add an object to an object if key does not exist
+    /// @sa https://json.nlohmann.me/api/basic_json/emplace/
+    template<class... Args>
+    std::pair<iterator, bool> emplace(Args&& ... args)
+    {
+        // emplace only works for null objects or arrays
+        if (JSON_HEDLEY_UNLIKELY(!(is_null() || is_object())))
+        {
+            JSON_THROW(type_error::create(311, detail::concat("cannot use emplace() with ", type_name()), this));
+        }
+
+        // transform null object into an object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value = value_t::object;
+            assert_invariant();
+        }
+
+        // add element to array (perfect forwarding)
+        auto res = m_data.m_value.object->emplace(std::forward<Args>(args)...);
+        set_parent(res.first->second);
+
+        // create result iterator and set iterator to the result of emplace
+        auto it = begin();
+        it.m_it.object_iterator = res.first;
+
+        // return pair of iterator and boolean
+        return {it, res.second};
+    }
+
+    /// Helper for insertion of an iterator
+    /// @note: This uses std::distance to support GCC 4.8,
+    ///        see https://github.com/nlohmann/json/pull/1257
+    template<typename... Args>
+    iterator insert_iterator(const_iterator pos, Args&& ... args)
+    {
+        iterator result(this);
+        JSON_ASSERT(m_data.m_value.array != nullptr);
+
+        auto insert_pos = std::distance(m_data.m_value.array->begin(), pos.m_it.array_iterator);
+        m_data.m_value.array->insert(pos.m_it.array_iterator, std::forward<Args>(args)...);
+        result.m_it.array_iterator = m_data.m_value.array->begin() + insert_pos;
+
+        // This could have been written as:
+        // result.m_it.array_iterator = m_data.m_value.array->insert(pos.m_it.array_iterator, cnt, val);
+        // but the return value of insert is missing in GCC 4.8, so it is written this way instead.
+
+        set_parents();
+        return result;
+    }
+
+    /// @brief inserts element into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, val);
+        }
+
+        JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+    }
+
+    /// @brief inserts element into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, basic_json&& val)
+    {
+        return insert(pos, val);
+    }
+
+    /// @brief inserts copies of element into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, size_type cnt, const basic_json& val)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            // check if iterator pos fits to this JSON value
+            if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+            {
+                JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+            }
+
+            // insert to array and return iterator
+            return insert_iterator(pos, cnt, val);
+        }
+
+        JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+    }
+
+    /// @brief inserts range of elements into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, const_iterator first, const_iterator last)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit", this));
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(first.m_object == this))
+        {
+            JSON_THROW(invalid_iterator::create(211, "passed iterators may not belong to container", this));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, first.m_it.array_iterator, last.m_it.array_iterator);
+    }
+
+    /// @brief inserts elements from initializer list into array
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    iterator insert(const_iterator pos, initializer_list_t ilist)
+    {
+        // insert only works for arrays
+        if (JSON_HEDLEY_UNLIKELY(!is_array()))
+        {
+            JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+        }
+
+        // check if iterator pos fits to this JSON value
+        if (JSON_HEDLEY_UNLIKELY(pos.m_object != this))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterator does not fit current value", this));
+        }
+
+        // insert to array and return iterator
+        return insert_iterator(pos, ilist.begin(), ilist.end());
+    }
+
+    /// @brief inserts range of elements into object
+    /// @sa https://json.nlohmann.me/api/basic_json/insert/
+    void insert(const_iterator first, const_iterator last)
+    {
+        // insert only works for objects
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(309, detail::concat("cannot use insert() with ", type_name()), this));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit", this));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()))
+        {
+            JSON_THROW(invalid_iterator::create(202, "iterators first and last must point to objects", this));
+        }
+
+        m_data.m_value.object->insert(first.m_it.object_iterator, last.m_it.object_iterator);
+    }
+
+    /// @brief updates a JSON object from another object, overwriting existing keys
+    /// @sa https://json.nlohmann.me/api/basic_json/update/
+    void update(const_reference j, bool merge_objects = false)
+    {
+        update(j.begin(), j.end(), merge_objects);
+    }
+
+    /// @brief updates a JSON object from another object, overwriting existing keys
+    /// @sa https://json.nlohmann.me/api/basic_json/update/
+    void update(const_iterator first, const_iterator last, bool merge_objects = false)
+    {
+        // implicitly convert null value to an empty object
+        if (is_null())
+        {
+            m_data.m_type = value_t::object;
+            m_data.m_value.object = create<object_t>();
+            assert_invariant();
+        }
+
+        if (JSON_HEDLEY_UNLIKELY(!is_object()))
+        {
+            JSON_THROW(type_error::create(312, detail::concat("cannot use update() with ", type_name()), this));
+        }
+
+        // check if range iterators belong to the same JSON object
+        if (JSON_HEDLEY_UNLIKELY(first.m_object != last.m_object))
+        {
+            JSON_THROW(invalid_iterator::create(210, "iterators do not fit", this));
+        }
+
+        // passed iterators must belong to objects
+        if (JSON_HEDLEY_UNLIKELY(!first.m_object->is_object()))
+        {
+            JSON_THROW(type_error::create(312, detail::concat("cannot use update() with ", first.m_object->type_name()), first.m_object));
+        }
+
+        for (auto it = first; it != last; ++it)
+        {
+            if (merge_objects && it.value().is_object())
+            {
+                auto it2 = m_data.m_value.object->find(it.key());
+                if (it2 != m_data.m_value.object->end())
+                {
+                    it2->second.update(it.value(), true);
+                    continue;
+                }
+            }
+            m_data.m_value.object->operator[](it.key()) = it.value();
+#if JSON_DIAGNOSTICS
+            m_data.m_value.object->operator[](it.key()).m_parent = this;
+#endif
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(reference other) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&& // NOLINT(cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        std::swap(m_data.m_type, other.m_data.m_type);
+        std::swap(m_data.m_value, other.m_data.m_value);
+
+        set_parents();
+        other.set_parents();
+        assert_invariant();
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    friend void swap(reference left, reference right) noexcept (
+        std::is_nothrow_move_constructible<value_t>::value&&
+        std::is_nothrow_move_assignable<value_t>::value&&
+        std::is_nothrow_move_constructible<json_value>::value&& // NOLINT(cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+        std::is_nothrow_move_assignable<json_value>::value
+    )
+    {
+        left.swap(right);
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(array_t& other) // NOLINT(bugprone-exception-escape,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+    {
+        // swap only works for arrays
+        if (JSON_HEDLEY_LIKELY(is_array()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.array), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(array_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(object_t& other) // NOLINT(bugprone-exception-escape,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+    {
+        // swap only works for objects
+        if (JSON_HEDLEY_LIKELY(is_object()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.object), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(object_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(string_t& other) // NOLINT(bugprone-exception-escape,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_string()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.string), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(string_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(binary_t& other) // NOLINT(bugprone-exception-escape,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(binary_t&) with ", type_name()), this));
+        }
+    }
+
+    /// @brief exchanges the values
+    /// @sa https://json.nlohmann.me/api/basic_json/swap/
+    void swap(typename binary_t::container_type& other) // NOLINT(bugprone-exception-escape)
+    {
+        // swap only works for strings
+        if (JSON_HEDLEY_LIKELY(is_binary()))
+        {
+            using std::swap;
+            swap(*(m_data.m_value.binary), other);
+        }
+        else
+        {
+            JSON_THROW(type_error::create(310, detail::concat("cannot use swap(binary_t::container_type&) with ", type_name()), this));
+        }
+    }
+
+    /// @}
+
+    //////////////////////////////////////////
+    // lexicographical comparison operators //
+    //////////////////////////////////////////
+
+    /// @name lexicographical comparison operators
+    /// @{
+
+    // note parentheses around operands are necessary; see
+    // https://github.com/nlohmann/json/issues/1530
+#define JSON_IMPLEMENT_OPERATOR(op, null_result, unordered_result, default_result)                       \
+    const auto lhs_type = lhs.type();                                                                    \
+    const auto rhs_type = rhs.type();                                                                    \
+    \
+    if (lhs_type == rhs_type) /* NOLINT(readability/braces) */                                           \
+    {                                                                                                    \
+        switch (lhs_type)                                                                                \
+        {                                                                                                \
+            case value_t::array:                                                                         \
+                return (*lhs.m_data.m_value.array) op (*rhs.m_data.m_value.array);                                     \
+                \
+            case value_t::object:                                                                        \
+                return (*lhs.m_data.m_value.object) op (*rhs.m_data.m_value.object);                                   \
+                \
+            case value_t::null:                                                                          \
+                return (null_result);                                                                    \
+                \
+            case value_t::string:                                                                        \
+                return (*lhs.m_data.m_value.string) op (*rhs.m_data.m_value.string);                                   \
+                \
+            case value_t::boolean:                                                                       \
+                return (lhs.m_data.m_value.boolean) op (rhs.m_data.m_value.boolean);                                   \
+                \
+            case value_t::number_integer:                                                                \
+                return (lhs.m_data.m_value.number_integer) op (rhs.m_data.m_value.number_integer);                     \
+                \
+            case value_t::number_unsigned:                                                               \
+                return (lhs.m_data.m_value.number_unsigned) op (rhs.m_data.m_value.number_unsigned);                   \
+                \
+            case value_t::number_float:                                                                  \
+                return (lhs.m_data.m_value.number_float) op (rhs.m_data.m_value.number_float);                         \
+                \
+            case value_t::binary:                                                                        \
+                return (*lhs.m_data.m_value.binary) op (*rhs.m_data.m_value.binary);                                   \
+                \
+            case value_t::discarded:                                                                     \
+            default:                                                                                     \
+                return (unordered_result);                                                               \
+        }                                                                                                \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_float)                   \
+    {                                                                                                    \
+        return static_cast<number_float_t>(lhs.m_data.m_value.number_integer) op rhs.m_data.m_value.number_float;      \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_float && rhs_type == value_t::number_integer)                   \
+    {                                                                                                    \
+        return lhs.m_data.m_value.number_float op static_cast<number_float_t>(rhs.m_data.m_value.number_integer);      \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_float)                  \
+    {                                                                                                    \
+        return static_cast<number_float_t>(lhs.m_data.m_value.number_unsigned) op rhs.m_data.m_value.number_float;     \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_float && rhs_type == value_t::number_unsigned)                  \
+    {                                                                                                    \
+        return lhs.m_data.m_value.number_float op static_cast<number_float_t>(rhs.m_data.m_value.number_unsigned);     \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_unsigned && rhs_type == value_t::number_integer)                \
+    {                                                                                                    \
+        return static_cast<number_integer_t>(lhs.m_data.m_value.number_unsigned) op rhs.m_data.m_value.number_integer; \
+    }                                                                                                    \
+    else if (lhs_type == value_t::number_integer && rhs_type == value_t::number_unsigned)                \
+    {                                                                                                    \
+        return lhs.m_data.m_value.number_integer op static_cast<number_integer_t>(rhs.m_data.m_value.number_unsigned); \
+    }                                                                                                    \
+    else if(compares_unordered(lhs, rhs))\
+    {\
+        return (unordered_result);\
+    }\
+    \
+    return (default_result);
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    // returns true if:
+    // - any operand is NaN and the other operand is of number type
+    // - any operand is discarded
+    // in legacy mode, discarded values are considered ordered if
+    // an operation is computed as an odd number of inverses of others
+    static bool compares_unordered(const_reference lhs, const_reference rhs, bool inverse = false) noexcept
+    {
+        if ((lhs.is_number_float() && std::isnan(lhs.m_data.m_value.number_float) && rhs.is_number())
+                || (rhs.is_number_float() && std::isnan(rhs.m_data.m_value.number_float) && lhs.is_number()))
+        {
+            return true;
+        }
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+        return (lhs.is_discarded() || rhs.is_discarded()) && !inverse;
+#else
+        static_cast<void>(inverse);
+        return lhs.is_discarded() || rhs.is_discarded();
+#endif
+    }
+
+  private:
+    bool compares_unordered(const_reference rhs, bool inverse = false) const noexcept
+    {
+        return compares_unordered(*this, rhs, inverse);
+    }
+
+  public:
+#if JSON_HAS_THREE_WAY_COMPARISON
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    bool operator==(const_reference rhs) const noexcept
+    {
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+        const_reference lhs = *this;
+        JSON_IMPLEMENT_OPERATOR( ==, true, false, false)
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+    }
+
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    bool operator==(ScalarType rhs) const noexcept
+    {
+        return *this == basic_json(rhs);
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    bool operator!=(const_reference rhs) const noexcept
+    {
+        if (compares_unordered(rhs, true))
+        {
+            return false;
+        }
+        return !operator==(rhs);
+    }
+
+    /// @brief comparison: 3-way
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_spaceship/
+    std::partial_ordering operator<=>(const_reference rhs) const noexcept // *NOPAD*
+    {
+        const_reference lhs = *this;
+        // default_result is used if we cannot compare values. In that case,
+        // we compare types.
+        JSON_IMPLEMENT_OPERATOR(<=>, // *NOPAD*
+                                std::partial_ordering::equivalent,
+                                std::partial_ordering::unordered,
+                                lhs_type <=> rhs_type) // *NOPAD*
+    }
+
+    /// @brief comparison: 3-way
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_spaceship/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    std::partial_ordering operator<=>(ScalarType rhs) const noexcept // *NOPAD*
+    {
+        return *this <=> basic_json(rhs); // *NOPAD*
+    }
+
+#if JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+    // all operators that are computed as an odd number of inverses of others
+    // need to be overloaded to emulate the legacy comparison behavior
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON)
+    bool operator<=(const_reference rhs) const noexcept
+    {
+        if (compares_unordered(rhs, true))
+        {
+            return false;
+        }
+        return !(rhs < *this);
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    bool operator<=(ScalarType rhs) const noexcept
+    {
+        return *this <= basic_json(rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON)
+    bool operator>=(const_reference rhs) const noexcept
+    {
+        if (compares_unordered(rhs, true))
+        {
+            return false;
+        }
+        return !(*this < rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    template<typename ScalarType>
+    requires std::is_scalar_v<ScalarType>
+    bool operator>=(ScalarType rhs) const noexcept
+    {
+        return *this >= basic_json(rhs);
+    }
+#endif
+#else
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    friend bool operator==(const_reference lhs, const_reference rhs) noexcept
+    {
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#endif
+        JSON_IMPLEMENT_OPERATOR( ==, true, false, false)
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+    }
+
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs == basic_json(rhs);
+    }
+
+    /// @brief comparison: equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_eq/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator==(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) == rhs;
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    friend bool operator!=(const_reference lhs, const_reference rhs) noexcept
+    {
+        if (compares_unordered(lhs, rhs, true))
+        {
+            return false;
+        }
+        return !(lhs == rhs);
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs != basic_json(rhs);
+    }
+
+    /// @brief comparison: not equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ne/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator!=(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) != rhs;
+    }
+
+    /// @brief comparison: less than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_lt/
+    friend bool operator<(const_reference lhs, const_reference rhs) noexcept
+    {
+        // default_result is used if we cannot compare values. In that case,
+        // we compare types. Note we have to call the operator explicitly,
+        // because MSVC has problems otherwise.
+        JSON_IMPLEMENT_OPERATOR( <, false, false, operator<(lhs_type, rhs_type))
+    }
+
+    /// @brief comparison: less than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_lt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs < basic_json(rhs);
+    }
+
+    /// @brief comparison: less than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_lt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) < rhs;
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    friend bool operator<=(const_reference lhs, const_reference rhs) noexcept
+    {
+        if (compares_unordered(lhs, rhs, true))
+        {
+            return false;
+        }
+        return !(rhs < lhs);
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs <= basic_json(rhs);
+    }
+
+    /// @brief comparison: less than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_le/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator<=(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) <= rhs;
+    }
+
+    /// @brief comparison: greater than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gt/
+    friend bool operator>(const_reference lhs, const_reference rhs) noexcept
+    {
+        // double inverse
+        if (compares_unordered(lhs, rhs))
+        {
+            return false;
+        }
+        return !(lhs <= rhs);
+    }
+
+    /// @brief comparison: greater than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs > basic_json(rhs);
+    }
+
+    /// @brief comparison: greater than
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gt/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) > rhs;
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    friend bool operator>=(const_reference lhs, const_reference rhs) noexcept
+    {
+        if (compares_unordered(lhs, rhs, true))
+        {
+            return false;
+        }
+        return !(lhs < rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(const_reference lhs, ScalarType rhs) noexcept
+    {
+        return lhs >= basic_json(rhs);
+    }
+
+    /// @brief comparison: greater than or equal
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ge/
+    template<typename ScalarType, typename std::enable_if<
+                 std::is_scalar<ScalarType>::value, int>::type = 0>
+    friend bool operator>=(ScalarType lhs, const_reference rhs) noexcept
+    {
+        return basic_json(lhs) >= rhs;
+    }
+#endif
+
+#undef JSON_IMPLEMENT_OPERATOR
+
+    /// @}
+
+    ///////////////////
+    // serialization //
+    ///////////////////
+
+    /// @name serialization
+    /// @{
+#ifndef JSON_NO_IO
+    /// @brief serialize to stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ltlt/
+    friend std::ostream& operator<<(std::ostream& o, const basic_json& j)
+    {
+        // read width member and use it as indentation parameter if nonzero
+        const bool pretty_print = o.width() > 0;
+        const auto indentation = pretty_print ? o.width() : 0;
+
+        // reset width to 0 for subsequent calls to this stream
+        o.width(0);
+
+        // do the actual serialization
+        serializer s(detail::output_adapter<char>(o), o.fill());
+        s.dump(j, pretty_print, false, static_cast<unsigned int>(indentation));
+        return o;
+    }
+
+    /// @brief serialize to stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_ltlt/
+    /// @deprecated This function is deprecated since 3.0.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use
+    ///             operator<<(std::ostream&, const basic_json&) instead; that is,
+    ///             replace calls like `j >> o;` with `o << j;`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator<<(std::ostream&, const basic_json&))
+    friend std::ostream& operator>>(const basic_json& j, std::ostream& o)
+    {
+        return o << j;
+    }
+#endif  // JSON_NO_IO
+    /// @}
+
+    /////////////////////
+    // deserialization //
+    /////////////////////
+
+    /// @name deserialization
+    /// @{
+
+    /// @brief deserialize from a compatible input
+    /// @sa https://json.nlohmann.me/api/basic_json/parse/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(InputType&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::forward<InputType>(i)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /// @brief deserialize from a pair of character iterators
+    /// @sa https://json.nlohmann.me/api/basic_json/parse/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json parse(IteratorType first,
+                            IteratorType last,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(detail::input_adapter(std::move(first), std::move(last)), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, parse(ptr, ptr + len))
+    static basic_json parse(detail::span_input_adapter&& i,
+                            const parser_callback_t cb = nullptr,
+                            const bool allow_exceptions = true,
+                            const bool ignore_comments = false)
+    {
+        basic_json result;
+        parser(i.get(), cb, allow_exceptions, ignore_comments).parse(true, result);
+        return result;
+    }
+
+    /// @brief check if the input is valid JSON
+    /// @sa https://json.nlohmann.me/api/basic_json/accept/
+    template<typename InputType>
+    static bool accept(InputType&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::forward<InputType>(i)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    /// @brief check if the input is valid JSON
+    /// @sa https://json.nlohmann.me/api/basic_json/accept/
+    template<typename IteratorType>
+    static bool accept(IteratorType first, IteratorType last,
+                       const bool ignore_comments = false)
+    {
+        return parser(detail::input_adapter(std::move(first), std::move(last)), nullptr, false, ignore_comments).accept(true);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, accept(ptr, ptr + len))
+    static bool accept(detail::span_input_adapter&& i,
+                       const bool ignore_comments = false)
+    {
+        return parser(i.get(), nullptr, false, ignore_comments).accept(true);
+    }
+
+    /// @brief generate SAX events
+    /// @sa https://json.nlohmann.me/api/basic_json/sax_parse/
+    template <typename InputType, typename SAX>
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(InputType&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia), format).sax_parse(format, sax, strict);
+    }
+
+    /// @brief generate SAX events
+    /// @sa https://json.nlohmann.me/api/basic_json/sax_parse/
+    template<class IteratorType, class SAX>
+    JSON_HEDLEY_NON_NULL(3)
+    static bool sax_parse(IteratorType first, IteratorType last, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        return format == input_format_t::json
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia), format).sax_parse(format, sax, strict);
+    }
+
+    /// @brief generate SAX events
+    /// @sa https://json.nlohmann.me/api/basic_json/sax_parse/
+    /// @deprecated This function is deprecated since 3.8.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use
+    ///             sax_parse(ptr, ptr + len) instead.
+    template <typename SAX>
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, sax_parse(ptr, ptr + len, ...))
+    JSON_HEDLEY_NON_NULL(2)
+    static bool sax_parse(detail::span_input_adapter&& i, SAX* sax,
+                          input_format_t format = input_format_t::json,
+                          const bool strict = true,
+                          const bool ignore_comments = false)
+    {
+        auto ia = i.get();
+        return format == input_format_t::json
+               // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+               ? parser(std::move(ia), nullptr, true, ignore_comments).sax_parse(sax, strict)
+               // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+               : detail::binary_reader<basic_json, decltype(ia), SAX>(std::move(ia), format).sax_parse(format, sax, strict);
+    }
+#ifndef JSON_NO_IO
+    /// @brief deserialize from stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gtgt/
+    /// @deprecated This stream operator is deprecated since 3.0.0 and will be removed in
+    ///             version 4.0.0 of the library. Please use
+    ///             operator>>(std::istream&, basic_json&) instead; that is,
+    ///             replace calls like `j << i;` with `i >> j;`.
+    JSON_HEDLEY_DEPRECATED_FOR(3.0.0, operator>>(std::istream&, basic_json&))
+    friend std::istream& operator<<(basic_json& j, std::istream& i)
+    {
+        return operator>>(i, j);
+    }
+
+    /// @brief deserialize from stream
+    /// @sa https://json.nlohmann.me/api/basic_json/operator_gtgt/
+    friend std::istream& operator>>(std::istream& i, basic_json& j)
+    {
+        parser(detail::input_adapter(i)).parse(false, j);
+        return i;
+    }
+#endif  // JSON_NO_IO
+    /// @}
+
+    ///////////////////////////
+    // convenience functions //
+    ///////////////////////////
+
+    /// @brief return the type as string
+    /// @sa https://json.nlohmann.me/api/basic_json/type_name/
+    JSON_HEDLEY_RETURNS_NON_NULL
+    const char* type_name() const noexcept
+    {
+        switch (m_data.m_type)
+        {
+            case value_t::null:
+                return "null";
+            case value_t::object:
+                return "object";
+            case value_t::array:
+                return "array";
+            case value_t::string:
+                return "string";
+            case value_t::boolean:
+                return "boolean";
+            case value_t::binary:
+                return "binary";
+            case value_t::discarded:
+                return "discarded";
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            default:
+                return "number";
+        }
+    }
+
+  JSON_PRIVATE_UNLESS_TESTED:
+    //////////////////////
+    // member variables //
+    //////////////////////
+
+    struct data
+    {
+        /// the type of the current element
+        value_t m_type = value_t::null;
+
+        /// the value of the current element
+        json_value m_value = {};
+
+        data(const value_t v)
+            : m_type(v), m_value(v)
+        {
+        }
+
+        data(size_type cnt, const basic_json& val)
+            : m_type(value_t::array)
+        {
+            m_value.array = create<array_t>(cnt, val);
+        }
+
+        data() noexcept = default;
+        data(data&&) noexcept = default;
+        data(const data&) noexcept = delete;
+        data& operator=(data&&) noexcept = delete;
+        data& operator=(const data&) noexcept = delete;
+
+        ~data() noexcept
+        {
+            m_value.destroy(m_type);
+        }
+    };
+
+    data m_data = {};
+
+#if JSON_DIAGNOSTICS
+    /// a pointer to a parent value (for debugging purposes)
+    basic_json* m_parent = nullptr;
+#endif
+
+    //////////////////////////////////////////
+    // binary serialization/deserialization //
+    //////////////////////////////////////////
+
+    /// @name binary serialization/deserialization support
+    /// @{
+
+  public:
+    /// @brief create a CBOR serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_cbor/
+    static std::vector<std::uint8_t> to_cbor(const basic_json& j)
+    {
+        std::vector<std::uint8_t> result;
+        to_cbor(j, result);
+        return result;
+    }
+
+    /// @brief create a CBOR serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_cbor/
+    static void to_cbor(const basic_json& j, detail::output_adapter<std::uint8_t> o)
+    {
+        binary_writer<std::uint8_t>(o).write_cbor(j);
+    }
+
+    /// @brief create a CBOR serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_cbor/
+    static void to_cbor(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_cbor(j);
+    }
+
+    /// @brief create a MessagePack serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_msgpack/
+    static std::vector<std::uint8_t> to_msgpack(const basic_json& j)
+    {
+        std::vector<std::uint8_t> result;
+        to_msgpack(j, result);
+        return result;
+    }
+
+    /// @brief create a MessagePack serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_msgpack/
+    static void to_msgpack(const basic_json& j, detail::output_adapter<std::uint8_t> o)
+    {
+        binary_writer<std::uint8_t>(o).write_msgpack(j);
+    }
+
+    /// @brief create a MessagePack serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_msgpack/
+    static void to_msgpack(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_msgpack(j);
+    }
+
+    /// @brief create a UBJSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_ubjson/
+    static std::vector<std::uint8_t> to_ubjson(const basic_json& j,
+            const bool use_size = false,
+            const bool use_type = false)
+    {
+        std::vector<std::uint8_t> result;
+        to_ubjson(j, result, use_size, use_type);
+        return result;
+    }
+
+    /// @brief create a UBJSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_ubjson/
+    static void to_ubjson(const basic_json& j, detail::output_adapter<std::uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<std::uint8_t>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    /// @brief create a UBJSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_ubjson/
+    static void to_ubjson(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type);
+    }
+
+    /// @brief create a BJData serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bjdata/
+    static std::vector<std::uint8_t> to_bjdata(const basic_json& j,
+            const bool use_size = false,
+            const bool use_type = false)
+    {
+        std::vector<std::uint8_t> result;
+        to_bjdata(j, result, use_size, use_type);
+        return result;
+    }
+
+    /// @brief create a BJData serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bjdata/
+    static void to_bjdata(const basic_json& j, detail::output_adapter<std::uint8_t> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<std::uint8_t>(o).write_ubjson(j, use_size, use_type, true, true);
+    }
+
+    /// @brief create a BJData serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bjdata/
+    static void to_bjdata(const basic_json& j, detail::output_adapter<char> o,
+                          const bool use_size = false, const bool use_type = false)
+    {
+        binary_writer<char>(o).write_ubjson(j, use_size, use_type, true, true);
+    }
+
+    /// @brief create a BSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bson/
+    static std::vector<std::uint8_t> to_bson(const basic_json& j)
+    {
+        std::vector<std::uint8_t> result;
+        to_bson(j, result);
+        return result;
+    }
+
+    /// @brief create a BSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bson/
+    static void to_bson(const basic_json& j, detail::output_adapter<std::uint8_t> o)
+    {
+        binary_writer<std::uint8_t>(o).write_bson(j);
+    }
+
+    /// @brief create a BSON serialization of a given JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/to_bson/
+    static void to_bson(const basic_json& j, detail::output_adapter<char> o)
+    {
+        binary_writer<char>(o).write_bson(j);
+    }
+
+    /// @brief create a JSON value from an input in CBOR format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_cbor/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::cbor).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in CBOR format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_cbor/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_cbor(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::cbor).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        return from_cbor(ptr, ptr + len, strict, allow_exceptions, tag_handler);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_cbor(ptr, ptr + len))
+    static basic_json from_cbor(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true,
+                                const cbor_tag_handler_t tag_handler = cbor_tag_handler_t::error)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::cbor).sax_parse(input_format_t::cbor, &sdp, strict, tag_handler);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in MessagePack format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_msgpack/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(InputType&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::msgpack).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in MessagePack format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_msgpack/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_msgpack(IteratorType first, IteratorType last,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::msgpack).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(const T* ptr, std::size_t len,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        return from_msgpack(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_msgpack(ptr, ptr + len))
+    static basic_json from_msgpack(detail::span_input_adapter&& i,
+                                   const bool strict = true,
+                                   const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::msgpack).sax_parse(input_format_t::msgpack, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in UBJSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_ubjson/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(InputType&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::ubjson).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in UBJSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_ubjson/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_ubjson(IteratorType first, IteratorType last,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::ubjson).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(const T* ptr, std::size_t len,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        return from_ubjson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_ubjson(ptr, ptr + len))
+    static basic_json from_ubjson(detail::span_input_adapter&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::ubjson).sax_parse(input_format_t::ubjson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BJData format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bjdata/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bjdata(InputType&& i,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bjdata).sax_parse(input_format_t::bjdata, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BJData format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bjdata/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bjdata(IteratorType first, IteratorType last,
+                                  const bool strict = true,
+                                  const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bjdata).sax_parse(input_format_t::bjdata, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bson/
+    template<typename InputType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(InputType&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::forward<InputType>(i));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bson).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    /// @brief create a JSON value from an input in BSON format
+    /// @sa https://json.nlohmann.me/api/basic_json/from_bson/
+    template<typename IteratorType>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json from_bson(IteratorType first, IteratorType last,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = detail::input_adapter(std::move(first), std::move(last));
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bson).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+
+    template<typename T>
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(const T* ptr, std::size_t len,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        return from_bson(ptr, ptr + len, strict, allow_exceptions);
+    }
+
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    JSON_HEDLEY_DEPRECATED_FOR(3.8.0, from_bson(ptr, ptr + len))
+    static basic_json from_bson(detail::span_input_adapter&& i,
+                                const bool strict = true,
+                                const bool allow_exceptions = true)
+    {
+        basic_json result;
+        detail::json_sax_dom_parser<basic_json> sdp(result, allow_exceptions);
+        auto ia = i.get();
+        // NOLINTNEXTLINE(hicpp-move-const-arg,performance-move-const-arg)
+        const bool res = binary_reader<decltype(ia)>(std::move(ia), input_format_t::bson).sax_parse(input_format_t::bson, &sdp, strict);
+        return res ? result : basic_json(value_t::discarded);
+    }
+    /// @}
+
+    //////////////////////////
+    // JSON Pointer support //
+    //////////////////////////
+
+    /// @name JSON Pointer functions
+    /// @{
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    reference operator[](const json_pointer& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    reference operator[](const ::nlohmann::json_pointer<BasicJsonType>& ptr)
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/operator%5B%5D/
+    const_reference operator[](const json_pointer& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    const_reference operator[](const ::nlohmann::json_pointer<BasicJsonType>& ptr) const
+    {
+        return ptr.get_unchecked(this);
+    }
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    reference at(const json_pointer& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    reference at(const ::nlohmann::json_pointer<BasicJsonType>& ptr)
+    {
+        return ptr.get_checked(this);
+    }
+
+    /// @brief access specified element via JSON Pointer
+    /// @sa https://json.nlohmann.me/api/basic_json/at/
+    const_reference at(const json_pointer& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    template<typename BasicJsonType, detail::enable_if_t<detail::is_basic_json<BasicJsonType>::value, int> = 0>
+    JSON_HEDLEY_DEPRECATED_FOR(3.11.0, basic_json::json_pointer or nlohmann::json_pointer<basic_json::string_t>) // NOLINT(readability/alt_tokens)
+    const_reference at(const ::nlohmann::json_pointer<BasicJsonType>& ptr) const
+    {
+        return ptr.get_checked(this);
+    }
+
+    /// @brief return flattened JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/flatten/
+    basic_json flatten() const
+    {
+        basic_json result(value_t::object);
+        json_pointer::flatten("", *this, result);
+        return result;
+    }
+
+    /// @brief unflatten a previously flattened JSON value
+    /// @sa https://json.nlohmann.me/api/basic_json/unflatten/
+    basic_json unflatten() const
+    {
+        return json_pointer::unflatten(*this);
+    }
+
+    /// @}
+
+    //////////////////////////
+    // JSON Patch functions //
+    //////////////////////////
+
+    /// @name JSON Patch functions
+    /// @{
+
+    /// @brief applies a JSON patch in-place without copying the object
+    /// @sa https://json.nlohmann.me/api/basic_json/patch/
+    void patch_inplace(const basic_json& json_patch)
+    {
+        basic_json& result = *this;
+        // the valid JSON Patch operations
+        enum class patch_operations {add, remove, replace, move, copy, test, invalid};
+
+        const auto get_op = [](const std::string & op)
+        {
+            if (op == "add")
+            {
+                return patch_operations::add;
+            }
+            if (op == "remove")
+            {
+                return patch_operations::remove;
+            }
+            if (op == "replace")
+            {
+                return patch_operations::replace;
+            }
+            if (op == "move")
+            {
+                return patch_operations::move;
+            }
+            if (op == "copy")
+            {
+                return patch_operations::copy;
+            }
+            if (op == "test")
+            {
+                return patch_operations::test;
+            }
+
+            return patch_operations::invalid;
+        };
+
+        // wrapper for "add" operation; add value at ptr
+        const auto operation_add = [&result](json_pointer & ptr, basic_json val)
+        {
+            // adding to the root of the target document means replacing it
+            if (ptr.empty())
+            {
+                result = val;
+                return;
+            }
+
+            // make sure the top element of the pointer exists
+            json_pointer const top_pointer = ptr.top();
+            if (top_pointer != ptr)
+            {
+                result.at(top_pointer);
+            }
+
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            // parent must exist when performing patch add per RFC6902 specs
+            basic_json& parent = result.at(ptr);
+
+            switch (parent.m_data.m_type)
+            {
+                case value_t::null:
+                case value_t::object:
+                {
+                    // use operator[] to add value
+                    parent[last_path] = val;
+                    break;
+                }
+
+                case value_t::array:
+                {
+                    if (last_path == "-")
+                    {
+                        // special case: append to back
+                        parent.push_back(val);
+                    }
+                    else
+                    {
+                        const auto idx = json_pointer::template array_index<basic_json_t>(last_path);
+                        if (JSON_HEDLEY_UNLIKELY(idx > parent.size()))
+                        {
+                            // avoid undefined behavior
+                            JSON_THROW(out_of_range::create(401, detail::concat("array index ", std::to_string(idx), " is out of range"), &parent));
+                        }
+
+                        // default case: insert add offset
+                        parent.insert(parent.begin() + static_cast<difference_type>(idx), val);
+                    }
+                    break;
+                }
+
+                // if there exists a parent it cannot be primitive
+                case value_t::string: // LCOV_EXCL_LINE
+                case value_t::boolean: // LCOV_EXCL_LINE
+                case value_t::number_integer: // LCOV_EXCL_LINE
+                case value_t::number_unsigned: // LCOV_EXCL_LINE
+                case value_t::number_float: // LCOV_EXCL_LINE
+                case value_t::binary: // LCOV_EXCL_LINE
+                case value_t::discarded: // LCOV_EXCL_LINE
+                default:            // LCOV_EXCL_LINE
+                    JSON_ASSERT(false); // NOLINT(cert-dcl03-c,hicpp-static-assert,misc-static-assert) LCOV_EXCL_LINE
+            }
+        };
+
+        // wrapper for "remove" operation; remove value at ptr
+        const auto operation_remove = [this, & result](json_pointer & ptr)
+        {
+            // get reference to parent of JSON pointer ptr
+            const auto last_path = ptr.back();
+            ptr.pop_back();
+            basic_json& parent = result.at(ptr);
+
+            // remove child
+            if (parent.is_object())
+            {
+                // perform range check
+                auto it = parent.find(last_path);
+                if (JSON_HEDLEY_LIKELY(it != parent.end()))
+                {
+                    parent.erase(it);
+                }
+                else
+                {
+                    JSON_THROW(out_of_range::create(403, detail::concat("key '", last_path, "' not found"), this));
+                }
+            }
+            else if (parent.is_array())
+            {
+                // note erase performs range check
+                parent.erase(json_pointer::template array_index<basic_json_t>(last_path));
+            }
+        };
+
+        // type check: top level value must be an array
+        if (JSON_HEDLEY_UNLIKELY(!json_patch.is_array()))
+        {
+            JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects", &json_patch));
+        }
+
+        // iterate and apply the operations
+        for (const auto& val : json_patch)
+        {
+            // wrapper to get a value for an operation
+            const auto get_value = [&val](const std::string & op,
+                                          const std::string & member,
+                                          bool string_type) -> basic_json &
+            {
+                // find value
+                auto it = val.m_data.m_value.object->find(member);
+
+                // context-sensitive error message
+                const auto error_msg = (op == "op") ? "operation" : detail::concat("operation '", op, '\'');
+
+                // check if desired value is present
+                if (JSON_HEDLEY_UNLIKELY(it == val.m_data.m_value.object->end()))
+                {
+                    // NOLINTNEXTLINE(performance-inefficient-string-concatenation)
+                    JSON_THROW(parse_error::create(105, 0, detail::concat(error_msg, " must have member '", member, "'"), &val));
+                }
+
+                // check if result is of type string
+                if (JSON_HEDLEY_UNLIKELY(string_type && !it->second.is_string()))
+                {
+                    // NOLINTNEXTLINE(performance-inefficient-string-concatenation)
+                    JSON_THROW(parse_error::create(105, 0, detail::concat(error_msg, " must have string member '", member, "'"), &val));
+                }
+
+                // no error: return value
+                return it->second;
+            };
+
+            // type check: every element of the array must be an object
+            if (JSON_HEDLEY_UNLIKELY(!val.is_object()))
+            {
+                JSON_THROW(parse_error::create(104, 0, "JSON patch must be an array of objects", &val));
+            }
+
+            // collect mandatory members
+            const auto op = get_value("op", "op", true).template get<std::string>();
+            const auto path = get_value(op, "path", true).template get<std::string>();
+            json_pointer ptr(path);
+
+            switch (get_op(op))
+            {
+                case patch_operations::add:
+                {
+                    operation_add(ptr, get_value("add", "value", false));
+                    break;
+                }
+
+                case patch_operations::remove:
+                {
+                    operation_remove(ptr);
+                    break;
+                }
+
+                case patch_operations::replace:
+                {
+                    // the "path" location must exist - use at()
+                    result.at(ptr) = get_value("replace", "value", false);
+                    break;
+                }
+
+                case patch_operations::move:
+                {
+                    const auto from_path = get_value("move", "from", true).template get<std::string>();
+                    json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json const v = result.at(from_ptr);
+
+                    // The move operation is functionally identical to a
+                    // "remove" operation on the "from" location, followed
+                    // immediately by an "add" operation at the target
+                    // location with the value that was just removed.
+                    operation_remove(from_ptr);
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::copy:
+                {
+                    const auto from_path = get_value("copy", "from", true).template get<std::string>();
+                    const json_pointer from_ptr(from_path);
+
+                    // the "from" location must exist - use at()
+                    basic_json const v = result.at(from_ptr);
+
+                    // The copy is functionally identical to an "add"
+                    // operation at the target location using the value
+                    // specified in the "from" member.
+                    operation_add(ptr, v);
+                    break;
+                }
+
+                case patch_operations::test:
+                {
+                    bool success = false;
+                    JSON_TRY
+                    {
+                        // check if "value" matches the one at "path"
+                        // the "path" location must exist - use at()
+                        success = (result.at(ptr) == get_value("test", "value", false));
+                    }
+                    JSON_INTERNAL_CATCH (out_of_range&)
+                    {
+                        // ignore out of range errors: success remains false
+                    }
+
+                    // throw an exception if test fails
+                    if (JSON_HEDLEY_UNLIKELY(!success))
+                    {
+                        JSON_THROW(other_error::create(501, detail::concat("unsuccessful: ", val.dump()), &val));
+                    }
+
+                    break;
+                }
+
+                case patch_operations::invalid:
+                default:
+                {
+                    // op must be "add", "remove", "replace", "move", "copy", or
+                    // "test"
+                    JSON_THROW(parse_error::create(105, 0, detail::concat("operation value '", op, "' is invalid"), &val));
+                }
+            }
+        }
+    }
+
+    /// @brief applies a JSON patch to a copy of the current object
+    /// @sa https://json.nlohmann.me/api/basic_json/patch/
+    basic_json patch(const basic_json& json_patch) const
+    {
+        basic_json result = *this;
+        result.patch_inplace(json_patch);
+        return result;
+    }
+
+    /// @brief creates a diff as a JSON patch
+    /// @sa https://json.nlohmann.me/api/basic_json/diff/
+    JSON_HEDLEY_WARN_UNUSED_RESULT
+    static basic_json diff(const basic_json& source, const basic_json& target,
+                           const std::string& path = "")
+    {
+        // the patch
+        basic_json result(value_t::array);
+
+        // if the values are the same, return empty patch
+        if (source == target)
+        {
+            return result;
+        }
+
+        if (source.type() != target.type())
+        {
+            // different types: replace value
+            result.push_back(
+            {
+                {"op", "replace"}, {"path", path}, {"value", target}
+            });
+            return result;
+        }
+
+        switch (source.type())
+        {
+            case value_t::array:
+            {
+                // first pass: traverse common elements
+                std::size_t i = 0;
+                while (i < source.size() && i < target.size())
+                {
+                    // recursive call to compare array values at index i
+                    auto temp_diff = diff(source[i], target[i], detail::concat(path, '/', std::to_string(i)));
+                    result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    ++i;
+                }
+
+                // We now reached the end of at least one array
+                // in a second pass, traverse the remaining elements
+
+                // remove my remaining elements
+                const auto end_index = static_cast<difference_type>(result.size());
+                while (i < source.size())
+                {
+                    // add operations in reverse order to avoid invalid
+                    // indices
+                    result.insert(result.begin() + end_index, object(
+                    {
+                        {"op", "remove"},
+                        {"path", detail::concat(path, '/', std::to_string(i))}
+                    }));
+                    ++i;
+                }
+
+                // add other remaining elements
+                while (i < target.size())
+                {
+                    result.push_back(
+                    {
+                        {"op", "add"},
+                        {"path", detail::concat(path, "/-")},
+                        {"value", target[i]}
+                    });
+                    ++i;
+                }
+
+                break;
+            }
+
+            case value_t::object:
+            {
+                // first pass: traverse this object's elements
+                for (auto it = source.cbegin(); it != source.cend(); ++it)
+                {
+                    // escape the key name to be used in a JSON patch
+                    const auto path_key = detail::concat(path, '/', detail::escape(it.key()));
+
+                    if (target.find(it.key()) != target.end())
+                    {
+                        // recursive call to compare object values at key it
+                        auto temp_diff = diff(it.value(), target[it.key()], path_key);
+                        result.insert(result.end(), temp_diff.begin(), temp_diff.end());
+                    }
+                    else
+                    {
+                        // found a key that is not in o -> remove it
+                        result.push_back(object(
+                        {
+                            {"op", "remove"}, {"path", path_key}
+                        }));
+                    }
+                }
+
+                // second pass: traverse other object's elements
+                for (auto it = target.cbegin(); it != target.cend(); ++it)
+                {
+                    if (source.find(it.key()) == source.end())
+                    {
+                        // found a key that is not in this -> add it
+                        const auto path_key = detail::concat(path, '/', detail::escape(it.key()));
+                        result.push_back(
+                        {
+                            {"op", "add"}, {"path", path_key},
+                            {"value", it.value()}
+                        });
+                    }
+                }
+
+                break;
+            }
+
+            case value_t::null:
+            case value_t::string:
+            case value_t::boolean:
+            case value_t::number_integer:
+            case value_t::number_unsigned:
+            case value_t::number_float:
+            case value_t::binary:
+            case value_t::discarded:
+            default:
+            {
+                // both primitive type: replace value
+                result.push_back(
+                {
+                    {"op", "replace"}, {"path", path}, {"value", target}
+                });
+                break;
+            }
+        }
+
+        return result;
+    }
+    /// @}
+
+    ////////////////////////////////
+    // JSON Merge Patch functions //
+    ////////////////////////////////
+
+    /// @name JSON Merge Patch functions
+    /// @{
+
+    /// @brief applies a JSON Merge Patch
+    /// @sa https://json.nlohmann.me/api/basic_json/merge_patch/
+    void merge_patch(const basic_json& apply_patch)
+    {
+        if (apply_patch.is_object())
+        {
+            if (!is_object())
+            {
+                *this = object();
+            }
+            for (auto it = apply_patch.begin(); it != apply_patch.end(); ++it)
+            {
+                if (it.value().is_null())
+                {
+                    erase(it.key());
+                }
+                else
+                {
+                    operator[](it.key()).merge_patch(it.value());
+                }
+            }
+        }
+        else
+        {
+            *this = apply_patch;
+        }
+    }
+
+    /// @}
+};
+
+/// @brief user-defined to_string function for JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/to_string/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+std::string to_string(const NLOHMANN_BASIC_JSON_TPL& j)
+{
+    return j.dump();
+}
+
+inline namespace literals
+{
+inline namespace json_literals
+{
+
+/// @brief user-defined string literal for JSON values
+/// @sa https://json.nlohmann.me/api/basic_json/operator_literal_json/
+JSON_HEDLEY_NON_NULL(1)
+#if !defined(JSON_HEDLEY_GCC_VERSION) || JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
+    inline nlohmann::json operator ""_json(const char* s, std::size_t n)
+#else
+    inline nlohmann::json operator "" _json(const char* s, std::size_t n)
+#endif
+{
+    return nlohmann::json::parse(s, s + n);
+}
+
+/// @brief user-defined string literal for JSON pointer
+/// @sa https://json.nlohmann.me/api/basic_json/operator_literal_json_pointer/
+JSON_HEDLEY_NON_NULL(1)
+#if !defined(JSON_HEDLEY_GCC_VERSION) || JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
+    inline nlohmann::json::json_pointer operator ""_json_pointer(const char* s, std::size_t n)
+#else
+    inline nlohmann::json::json_pointer operator "" _json_pointer(const char* s, std::size_t n)
+#endif
+{
+    return nlohmann::json::json_pointer(std::string(s, n));
+}
+
+}  // namespace json_literals
+}  // namespace literals
+NLOHMANN_JSON_NAMESPACE_END
+
+///////////////////////
+// nonmember support //
+///////////////////////
+
+namespace std // NOLINT(cert-dcl58-cpp)
+{
+
+/// @brief hash value for JSON objects
+/// @sa https://json.nlohmann.me/api/basic_json/std_hash/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+struct hash<nlohmann::NLOHMANN_BASIC_JSON_TPL> // NOLINT(cert-dcl58-cpp)
+{
+    std::size_t operator()(const nlohmann::NLOHMANN_BASIC_JSON_TPL& j) const
+    {
+        return nlohmann::detail::hash(j);
+    }
+};
+
+// specialization for std::less<value_t>
+template<>
+struct less< ::nlohmann::detail::value_t> // do not remove the space after '<', see https://github.com/nlohmann/json/pull/679
+{
+    /*!
+    @brief compare two value_t enum values
+    @since version 3.0.0
+    */
+    bool operator()(::nlohmann::detail::value_t lhs,
+                    ::nlohmann::detail::value_t rhs) const noexcept
+    {
+#if JSON_HAS_THREE_WAY_COMPARISON
+        return std::is_lt(lhs <=> rhs); // *NOPAD*
+#else
+        return ::nlohmann::detail::operator<(lhs, rhs);
+#endif
+    }
+};
+
+// C++20 prohibit function specialization in the std namespace.
+#ifndef JSON_HAS_CPP_20
+
+/// @brief exchanges the values of two JSON objects
+/// @sa https://json.nlohmann.me/api/basic_json/std_swap/
+NLOHMANN_BASIC_JSON_TPL_DECLARATION
+inline void swap(nlohmann::NLOHMANN_BASIC_JSON_TPL& j1, nlohmann::NLOHMANN_BASIC_JSON_TPL& j2) noexcept(  // NOLINT(readability-inconsistent-declaration-parameter-name, cert-dcl58-cpp)
+    is_nothrow_move_constructible<nlohmann::NLOHMANN_BASIC_JSON_TPL>::value&&                          // NOLINT(misc-redundant-expression,cppcoreguidelines-noexcept-swap,performance-noexcept-swap)
+    is_nothrow_move_assignable<nlohmann::NLOHMANN_BASIC_JSON_TPL>::value)
+{
+    j1.swap(j2);
+}
+
+#endif
+
+}  // namespace std
+
+#if JSON_USE_GLOBAL_UDLS
+    #if !defined(JSON_HEDLEY_GCC_VERSION) || JSON_HEDLEY_GCC_VERSION_CHECK(4,9,0)
+        using nlohmann::literals::json_literals::operator ""_json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+        using nlohmann::literals::json_literals::operator ""_json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+    #else
+        using nlohmann::literals::json_literals::operator "" _json; // NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+        using nlohmann::literals::json_literals::operator "" _json_pointer; //NOLINT(misc-unused-using-decls,google-global-names-in-headers)
+    #endif
+#endif
+
+// #include <nlohmann/detail/macro_unscope.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+// restore clang diagnostic settings
+#if defined(__clang__)
+    #pragma clang diagnostic pop
+#endif
+
+// clean up
+#undef JSON_ASSERT
+#undef JSON_INTERNAL_CATCH
+#undef JSON_THROW
+#undef JSON_PRIVATE_UNLESS_TESTED
+#undef NLOHMANN_BASIC_JSON_TPL_DECLARATION
+#undef NLOHMANN_BASIC_JSON_TPL
+#undef JSON_EXPLICIT
+#undef NLOHMANN_CAN_CALL_STD_FUNC_IMPL
+#undef JSON_INLINE_VARIABLE
+#undef JSON_NO_UNIQUE_ADDRESS
+#undef JSON_DISABLE_ENUM_SERIALIZATION
+#undef JSON_USE_GLOBAL_UDLS
+
+#ifndef JSON_TEST_KEEP_MACROS
+    #undef JSON_CATCH
+    #undef JSON_TRY
+    #undef JSON_HAS_CPP_11
+    #undef JSON_HAS_CPP_14
+    #undef JSON_HAS_CPP_17
+    #undef JSON_HAS_CPP_20
+    #undef JSON_HAS_FILESYSTEM
+    #undef JSON_HAS_EXPERIMENTAL_FILESYSTEM
+    #undef JSON_HAS_THREE_WAY_COMPARISON
+    #undef JSON_HAS_RANGES
+    #undef JSON_HAS_STATIC_RTTI
+    #undef JSON_USE_LEGACY_DISCARDED_VALUE_COMPARISON
+#endif
+
+// #include <nlohmann/thirdparty/hedley/hedley_undef.hpp>
+//     __ _____ _____ _____
+//  __|  |   __|     |   | |  JSON for Modern C++
+// |  |  |__   |  |  | | | |  version 3.11.3
+// |_____|_____|_____|_|___|  https://github.com/nlohmann/json
+//
+// SPDX-FileCopyrightText: 2013-2023 Niels Lohmann <https://nlohmann.me>
+// SPDX-License-Identifier: MIT
+
+
+
+#undef JSON_HEDLEY_ALWAYS_INLINE
+#undef JSON_HEDLEY_ARM_VERSION
+#undef JSON_HEDLEY_ARM_VERSION_CHECK
+#undef JSON_HEDLEY_ARRAY_PARAM
+#undef JSON_HEDLEY_ASSUME
+#undef JSON_HEDLEY_BEGIN_C_DECLS
+#undef JSON_HEDLEY_CLANG_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_BUILTIN
+#undef JSON_HEDLEY_CLANG_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_DECLSPEC_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_CLANG_HAS_EXTENSION
+#undef JSON_HEDLEY_CLANG_HAS_FEATURE
+#undef JSON_HEDLEY_CLANG_HAS_WARNING
+#undef JSON_HEDLEY_COMPCERT_VERSION
+#undef JSON_HEDLEY_COMPCERT_VERSION_CHECK
+#undef JSON_HEDLEY_CONCAT
+#undef JSON_HEDLEY_CONCAT3
+#undef JSON_HEDLEY_CONCAT3_EX
+#undef JSON_HEDLEY_CONCAT_EX
+#undef JSON_HEDLEY_CONST
+#undef JSON_HEDLEY_CONSTEXPR
+#undef JSON_HEDLEY_CONST_CAST
+#undef JSON_HEDLEY_CPP_CAST
+#undef JSON_HEDLEY_CRAY_VERSION
+#undef JSON_HEDLEY_CRAY_VERSION_CHECK
+#undef JSON_HEDLEY_C_DECL
+#undef JSON_HEDLEY_DEPRECATED
+#undef JSON_HEDLEY_DEPRECATED_FOR
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CAST_QUAL
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_CPP98_COMPAT_WRAP_
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_DEPRECATED
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_CPP_ATTRIBUTES
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNKNOWN_PRAGMAS
+#undef JSON_HEDLEY_DIAGNOSTIC_DISABLE_UNUSED_FUNCTION
+#undef JSON_HEDLEY_DIAGNOSTIC_POP
+#undef JSON_HEDLEY_DIAGNOSTIC_PUSH
+#undef JSON_HEDLEY_DMC_VERSION
+#undef JSON_HEDLEY_DMC_VERSION_CHECK
+#undef JSON_HEDLEY_EMPTY_BASES
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION
+#undef JSON_HEDLEY_EMSCRIPTEN_VERSION_CHECK
+#undef JSON_HEDLEY_END_C_DECLS
+#undef JSON_HEDLEY_FLAGS
+#undef JSON_HEDLEY_FLAGS_CAST
+#undef JSON_HEDLEY_GCC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_BUILTIN
+#undef JSON_HEDLEY_GCC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GCC_HAS_EXTENSION
+#undef JSON_HEDLEY_GCC_HAS_FEATURE
+#undef JSON_HEDLEY_GCC_HAS_WARNING
+#undef JSON_HEDLEY_GCC_NOT_CLANG_VERSION_CHECK
+#undef JSON_HEDLEY_GCC_VERSION
+#undef JSON_HEDLEY_GCC_VERSION_CHECK
+#undef JSON_HEDLEY_GNUC_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_BUILTIN
+#undef JSON_HEDLEY_GNUC_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_GNUC_HAS_EXTENSION
+#undef JSON_HEDLEY_GNUC_HAS_FEATURE
+#undef JSON_HEDLEY_GNUC_HAS_WARNING
+#undef JSON_HEDLEY_GNUC_VERSION
+#undef JSON_HEDLEY_GNUC_VERSION_CHECK
+#undef JSON_HEDLEY_HAS_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_BUILTIN
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_CPP_ATTRIBUTE_NS
+#undef JSON_HEDLEY_HAS_DECLSPEC_ATTRIBUTE
+#undef JSON_HEDLEY_HAS_EXTENSION
+#undef JSON_HEDLEY_HAS_FEATURE
+#undef JSON_HEDLEY_HAS_WARNING
+#undef JSON_HEDLEY_IAR_VERSION
+#undef JSON_HEDLEY_IAR_VERSION_CHECK
+#undef JSON_HEDLEY_IBM_VERSION
+#undef JSON_HEDLEY_IBM_VERSION_CHECK
+#undef JSON_HEDLEY_IMPORT
+#undef JSON_HEDLEY_INLINE
+#undef JSON_HEDLEY_INTEL_CL_VERSION
+#undef JSON_HEDLEY_INTEL_CL_VERSION_CHECK
+#undef JSON_HEDLEY_INTEL_VERSION
+#undef JSON_HEDLEY_INTEL_VERSION_CHECK
+#undef JSON_HEDLEY_IS_CONSTANT
+#undef JSON_HEDLEY_IS_CONSTEXPR_
+#undef JSON_HEDLEY_LIKELY
+#undef JSON_HEDLEY_MALLOC
+#undef JSON_HEDLEY_MCST_LCC_VERSION
+#undef JSON_HEDLEY_MCST_LCC_VERSION_CHECK
+#undef JSON_HEDLEY_MESSAGE
+#undef JSON_HEDLEY_MSVC_VERSION
+#undef JSON_HEDLEY_MSVC_VERSION_CHECK
+#undef JSON_HEDLEY_NEVER_INLINE
+#undef JSON_HEDLEY_NON_NULL
+#undef JSON_HEDLEY_NO_ESCAPE
+#undef JSON_HEDLEY_NO_RETURN
+#undef JSON_HEDLEY_NO_THROW
+#undef JSON_HEDLEY_NULL
+#undef JSON_HEDLEY_PELLES_VERSION
+#undef JSON_HEDLEY_PELLES_VERSION_CHECK
+#undef JSON_HEDLEY_PGI_VERSION
+#undef JSON_HEDLEY_PGI_VERSION_CHECK
+#undef JSON_HEDLEY_PREDICT
+#undef JSON_HEDLEY_PRINTF_FORMAT
+#undef JSON_HEDLEY_PRIVATE
+#undef JSON_HEDLEY_PUBLIC
+#undef JSON_HEDLEY_PURE
+#undef JSON_HEDLEY_REINTERPRET_CAST
+#undef JSON_HEDLEY_REQUIRE
+#undef JSON_HEDLEY_REQUIRE_CONSTEXPR
+#undef JSON_HEDLEY_REQUIRE_MSG
+#undef JSON_HEDLEY_RESTRICT
+#undef JSON_HEDLEY_RETURNS_NON_NULL
+#undef JSON_HEDLEY_SENTINEL
+#undef JSON_HEDLEY_STATIC_ASSERT
+#undef JSON_HEDLEY_STATIC_CAST
+#undef JSON_HEDLEY_STRINGIFY
+#undef JSON_HEDLEY_STRINGIFY_EX
+#undef JSON_HEDLEY_SUNPRO_VERSION
+#undef JSON_HEDLEY_SUNPRO_VERSION_CHECK
+#undef JSON_HEDLEY_TINYC_VERSION
+#undef JSON_HEDLEY_TINYC_VERSION_CHECK
+#undef JSON_HEDLEY_TI_ARMCL_VERSION
+#undef JSON_HEDLEY_TI_ARMCL_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL2000_VERSION
+#undef JSON_HEDLEY_TI_CL2000_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL430_VERSION
+#undef JSON_HEDLEY_TI_CL430_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL6X_VERSION
+#undef JSON_HEDLEY_TI_CL6X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CL7X_VERSION
+#undef JSON_HEDLEY_TI_CL7X_VERSION_CHECK
+#undef JSON_HEDLEY_TI_CLPRU_VERSION
+#undef JSON_HEDLEY_TI_CLPRU_VERSION_CHECK
+#undef JSON_HEDLEY_TI_VERSION
+#undef JSON_HEDLEY_TI_VERSION_CHECK
+#undef JSON_HEDLEY_UNAVAILABLE
+#undef JSON_HEDLEY_UNLIKELY
+#undef JSON_HEDLEY_UNPREDICTABLE
+#undef JSON_HEDLEY_UNREACHABLE
+#undef JSON_HEDLEY_UNREACHABLE_RETURN
+#undef JSON_HEDLEY_VERSION
+#undef JSON_HEDLEY_VERSION_DECODE_MAJOR
+#undef JSON_HEDLEY_VERSION_DECODE_MINOR
+#undef JSON_HEDLEY_VERSION_DECODE_REVISION
+#undef JSON_HEDLEY_VERSION_ENCODE
+#undef JSON_HEDLEY_WARNING
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT
+#undef JSON_HEDLEY_WARN_UNUSED_RESULT_MSG
+#undef JSON_HEDLEY_FALL_THROUGH
+
+
+
+#endif  // INCLUDE_NLOHMANN_JSON_HPP_

From bc4f382507edb26d10a007b84e1e81c28dfd701e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 13:39:52 -0700
Subject: [PATCH 117/205] calibration: parse/write JSON via nlohmann instead of
 hand-rolled regex/string scanning (fixes PT loader ingesting poly_coeffs as
 coefficients)

---
 .../lib/src/calibration/PTCalibration.cpp     |  43 +-
 .../calibration/RobustCalibrationManager.cpp  | 425 ++++++------------
 .../lib/src/calibration/SensorCalibration.cpp |  62 ++-
 3 files changed, 195 insertions(+), 335 deletions(-)

diff --git a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
index def9ddce7..1c502c63f 100644
--- a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
@@ -10,6 +10,7 @@
 #include <cstring>
 #include <fstream>
 #include <iostream>
+#include <nlohmann/json.hpp>
 #include <regex>
 #include <sstream>
 
@@ -168,31 +169,39 @@ bool PTCalibrationManager::load_from_json(const std::string& json_path, bool mer
         return false;
     }
 
-    // Simple JSON parser for calibration format
     // Format: {"calibration_polynomials": {"1": [A, B, C, D], "2": [A, B, C, D], ...}}
     std::string content((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>());
     file.close();
 
-    // Find calibration_polynomials section
-    // Match pattern: "channel_id": [A, B, C, D]
-    std::regex poly_regex(
-        "\"(\\d+)\":\\s*\\[([\\d\\.\\-\\+eE]+),\\s*([\\d\\.\\-\\+eE]+),\\s*([\\d\\.\\-\\+eE]+),\\s*"
-        "([\\d\\.\\-\\+eE]+)\\]");
-    std::sregex_iterator iter(content.begin(), content.end(), poly_regex);
-    std::sregex_iterator end;
+    nlohmann::json root;
+    try {
+        root = nlohmann::json::parse(content);
+    } catch (const std::exception& e) {
+        std::cerr << "[PTCalibration] JSON parse error in " << json_path << ": " << e.what()
+                  << std::endl;
+        return false;
+    }
+    if (!root.contains("calibration_polynomials") || !root["calibration_polynomials"].is_object())
+        return false;
 
     size_t loaded = 0;
-    for (; iter != end; ++iter) {
-        std::smatch match = *iter;
-        uint8_t channel_id = static_cast<uint8_t>(std::stoi(match[1].str()));
+    for (const auto& [ch_str, arr] : root["calibration_polynomials"].items()) {
+        if (!arr.is_array() || arr.size() < 4)
+            continue;
+        if (!arr[0].is_number() || !arr[1].is_number() || !arr[2].is_number() ||
+            !arr[3].is_number())
+            continue;
+        int ch = 0;
+        try {
+            ch = std::stoi(ch_str);
+        } catch (...) {
+            continue;
+        }
+        const uint8_t channel_id = static_cast<uint8_t>(ch);
         if (merge_missing_only && calibrations_.find(channel_id) != calibrations_.end())
             continue;
-        double A = std::stod(match[2].str());
-        double B = std::stod(match[3].str());
-        double C = std::stod(match[4].str());
-        double D = std::stod(match[5].str());
-
-        calibrations_[channel_id] = PTCalibrationCoeffs(A, B, C, D);
+        calibrations_[channel_id] = PTCalibrationCoeffs(arr[0].get<double>(), arr[1].get<double>(),
+                                                        arr[2].get<double>(), arr[3].get<double>());
         loaded++;
     }
 
diff --git a/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp b/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
index 64c07dfa2..092cc8bc5 100644
--- a/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
@@ -10,6 +10,8 @@
 #include <iomanip>
 #include <iostream>
 #include <map>
+#include <nlohmann/json.hpp>
+#include <optional>
 #include <sstream>
 #include <vector>
 
@@ -24,120 +26,57 @@ double monotonic_sec_now() {
     return std::chrono::duration<double>(clock::now() - t0).count();
 }
 
-// Find matching close bracket/brace for a given open index.
-// Returns std::string::npos on mismatch.
-size_t find_matching(const std::string& s, size_t open_idx, char open_ch, char close_ch) {
-    int depth = 0;
-    for (size_t i = open_idx; i < s.size(); ++i) {
-        if (s[i] == open_ch)
-            depth++;
-        else if (s[i] == close_ch) {
-            depth--;
-            if (depth == 0)
-                return i;
-        }
+// Read a fixed-length numeric vector from a JSON value (an array of at least n numbers).
+std::optional<Eigen::VectorXd> json_vec(const nlohmann::json& j, int n) {
+    if (!j.is_array() || static_cast<int>(j.size()) < n)
+        return std::nullopt;
+    Eigen::VectorXd v(n);
+    for (int i = 0; i < n; ++i) {
+        if (!j[static_cast<size_t>(i)].is_number())
+            return std::nullopt;
+        v(i) = j[static_cast<size_t>(i)].get<double>();
     }
-    return std::string::npos;
-}
-
-void trim_in_place(std::string& str) {
-    size_t b = 0;
-    while (b < str.size() && std::isspace(static_cast<unsigned char>(str[b])))
-        ++b;
-    size_t e = str.size();
-    while (e > b && std::isspace(static_cast<unsigned char>(str[e - 1])))
-        --e;
-    str = str.substr(b, e - b);
+    return v;
 }
 
-// Extract all doubles from a JSON-ish substring (assumes only numbers/whitespace/brackets inside).
-std::vector<double> extract_all_doubles(const std::string& s) {
-    std::vector<double> out;
-    out.reserve(128);
-    size_t i = 0;
-    while (i < s.size()) {
-        // Skip until we see something that can start a number.
-        while (i < s.size() && !(std::isdigit(static_cast<unsigned char>(s[i])) || s[i] == '-' ||
-                                 s[i] == '+' || s[i] == '.')) {
-            ++i;
-        }
-        if (i >= s.size())
-            break;
-
-        size_t start = i;
-        // Scan until the number terminates.
-        while (i < s.size()) {
-            char c = s[i];
-            if (std::isdigit(static_cast<unsigned char>(c)) || c == '-' || c == '+' || c == '.' ||
-                c == 'e' || c == 'E') {
-                ++i;
-            } else {
-                break;
+// Read an n×n matrix from a JSON value: nested ([[...],...]) or a flat array of n*n numbers.
+std::optional<Eigen::MatrixXd> json_mat(const nlohmann::json& j, int n) {
+    if (!j.is_array())
+        return std::nullopt;
+    if (static_cast<int>(j.size()) == n && j[0].is_array()) {
+        Eigen::MatrixXd m(n, n);
+        for (int r = 0; r < n; ++r) {
+            if (!j[static_cast<size_t>(r)].is_array() ||
+                static_cast<int>(j[static_cast<size_t>(r)].size()) < n)
+                return std::nullopt;
+            for (int c = 0; c < n; ++c) {
+                const auto& e = j[static_cast<size_t>(r)][static_cast<size_t>(c)];
+                if (!e.is_number())
+                    return std::nullopt;
+                m(r, c) = e.get<double>();
             }
         }
-        std::string tok = s.substr(start, i - start);
-        trim_in_place(tok);
-        if (!tok.empty()) {
-            try {
-                out.push_back(std::stod(tok));
-            } catch (...) {
-                // Ignore parse failures from malformed substrings.
+        return m;
+    }
+    if (static_cast<int>(j.size()) >= n * n) {  // flat fallback
+        Eigen::MatrixXd m(n, n);
+        for (int r = 0; r < n; ++r)
+            for (int c = 0; c < n; ++c) {
+                const auto& e = j[static_cast<size_t>(r * n + c)];
+                if (!e.is_number())
+                    return std::nullopt;
+                m(r, c) = e.get<double>();
             }
-        }
+        return m;
     }
-    return out;
-}
-
-std::optional<Eigen::VectorXd> parse_fixed_vector(const std::string& block, const std::string& key,
-                                                  int expected_n) {
-    const std::string k = "\"" + key + "\"";
-    const size_t kp = block.find(k);
-    if (kp == std::string::npos)
-        return std::nullopt;
-    const size_t lb = block.find('[', kp);
-    if (lb == std::string::npos)
-        return std::nullopt;
-    const size_t rb = find_matching(block, lb, '[', ']');
-    if (rb == std::string::npos)
-        return std::nullopt;
-
-    const std::string inner = block.substr(lb + 1, rb - lb - 1);
-    const auto nums = extract_all_doubles(inner);
-    if (static_cast<int>(nums.size()) < expected_n)
-        return std::nullopt;
-
-    Eigen::VectorXd v(expected_n);
-    for (int i = 0; i < expected_n; ++i)
-        v(i) = nums[static_cast<size_t>(i)];
-    return v;
+    return std::nullopt;
 }
 
-std::optional<Eigen::MatrixXd> parse_fixed_matrix(const std::string& block, const std::string& key,
-                                                  int expected_n) {
-    const std::string k = "\"" + key + "\"";
-    const size_t kp = block.find(k);
-    if (kp == std::string::npos)
-        return std::nullopt;
-    const size_t lb = block.find('[', kp);
-    if (lb == std::string::npos)
-        return std::nullopt;
-    const size_t rb = find_matching(block, lb, '[', ']');
-    if (rb == std::string::npos)
-        return std::nullopt;
-
-    const std::string inner = block.substr(lb, rb - lb + 1);
-    const auto nums = extract_all_doubles(inner);
-    const int expected = expected_n * expected_n;
-    if (static_cast<int>(nums.size()) < expected)
-        return std::nullopt;
-
-    Eigen::MatrixXd m(expected_n, expected_n);
-    for (int r = 0; r < expected_n; ++r) {
-        for (int c = 0; c < expected_n; ++c) {
-            m(r, c) = nums[static_cast<size_t>(r * expected_n + c)];
-        }
-    }
-    return m;
+// True when a JSON object key is a non-empty run of digits (a numeric sensor id).
+bool is_numeric_key(const std::string& s) {
+    return !s.empty() && std::all_of(s.begin(), s.end(), [](unsigned char c) {
+        return std::isdigit(c) != 0;
+    });
 }
 
 /** Saved θ that drifts far from the factory cubic is usually bad priors — drop them. */
@@ -269,45 +208,32 @@ void RobustCalibrationManager::reset_adjustment(uint16_t sensor_id) {
 
 bool RobustCalibrationManager::save_adjustments(const std::string& path) const {
     std::lock_guard<std::mutex> lock(mutex_);
-    std::ofstream file(path);
-    if (!file.is_open())
-        return false;
-    file << "{\n  \"framework_v2\": {\n";
-    bool first = true;
+    constexpr int N = RobustCalibrationFramework::N;
+    nlohmann::json fw2 = nlohmann::json::object();
     for (const auto& [id, state] : states_) {
         if (!state.framework)
             continue;
         Eigen::VectorXd t = state.framework->theta_mean();
         Eigen::MatrixXd cov = state.framework->theta_cov();
-        if (!first)
-            file << ",\n";
-        first = false;
-        file << "    \"" << static_cast<int>(id) << "\": {\n";
-        file << "      \"theta_mean\": [";
-        file << std::scientific << std::setprecision(16);
-        for (int i = 0; i < RobustCalibrationFramework::N; ++i) {
-            if (i)
-                file << ", ";
-            file << t(i);
-        }
-        file << "],\n";
-        file << "      \"theta_cov\": [\n";
-        for (int r = 0; r < RobustCalibrationFramework::N; ++r) {
-            file << "        [";
-            for (int c = 0; c < RobustCalibrationFramework::N; ++c) {
-                if (c)
-                    file << ", ";
-                file << cov(r, c);
-            }
-            file << "]";
-            if (r + 1 < RobustCalibrationFramework::N)
-                file << ",\n";
+        nlohmann::json mean = nlohmann::json::array();
+        for (int i = 0; i < N; ++i)
+            mean.push_back(t(i));
+        nlohmann::json cvec = nlohmann::json::array();
+        for (int r = 0; r < N; ++r) {
+            nlohmann::json row = nlohmann::json::array();
+            for (int c = 0; c < N; ++c)
+                row.push_back(cov(r, c));
+            cvec.push_back(row);
         }
-        file << "\n      ]\n";
-        file << "    }";
+        fw2[std::to_string(static_cast<int>(id))] = {{"theta_mean", mean}, {"theta_cov", cvec}};
     }
-    file << "\n  }\n}\n";
-    return true;
+    const nlohmann::json root = {{"framework_v2", fw2}};
+
+    std::ofstream file(path);
+    if (!file.is_open())
+        return false;
+    file << root.dump(2) << "\n";
+    return file.good();
 }
 
 bool RobustCalibrationManager::load_adjustments(const std::string& path) {
@@ -323,58 +249,18 @@ bool RobustCalibrationManager::load_adjustments(const std::string& path) {
     restored_theta_mean_.clear();
     restored_theta_cov_.clear();
 
-    // Format 1: our runtime save format (framework_v2: theta_mean + theta_cov).
-    const size_t fv2 = content.find("\"framework_v2\"");
-    if (fv2 != std::string::npos) {
-        // Find the object body: { ... } after "framework_v2"
-        const size_t obj_open = content.find('{', fv2);
-        if (obj_open != std::string::npos) {
-            const size_t obj_close = find_matching(content, obj_open, '{', '}');
-            if (obj_close != std::string::npos) {
-                const std::string obj = content.substr(obj_open, obj_close - obj_open + 1);
-
-                size_t pos = 1;  // skip leading '{'
-                while (pos < obj.size()) {
-                    size_t q1 = obj.find('"', pos);
-                    if (q1 == std::string::npos)
-                        break;
-                    size_t q2 = obj.find('"', q1 + 1);
-                    if (q2 == std::string::npos)
-                        break;
-                    std::string id_str = obj.substr(q1 + 1, q2 - q1 - 1);
-                    bool digits_only = !id_str.empty();
-                    for (char ch : id_str)
-                        digits_only &= std::isdigit(static_cast<unsigned char>(ch));
-                    if (!digits_only) {
-                        pos = q2 + 1;
-                        continue;
-                    }
-                    uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
-                    size_t colon = obj.find(':', q2 + 1);
-                    if (colon == std::string::npos)
-                        break;
-                    size_t sub_open = obj.find('{', colon + 1);
-                    if (sub_open == std::string::npos)
-                        break;
-                    size_t sub_close = find_matching(obj, sub_open, '{', '}');
-                    if (sub_close == std::string::npos)
-                        break;
-                    std::string sub = obj.substr(sub_open, sub_close - sub_open + 1);
-
-                    auto mean_opt =
-                        parse_fixed_vector(sub, "theta_mean", RobustCalibrationFramework::N);
-                    auto cov_opt =
-                        parse_fixed_matrix(sub, "theta_cov", RobustCalibrationFramework::N);
-                    if (mean_opt && cov_opt) {
-                        restored_theta_mean_[id] = *mean_opt;
-                        restored_theta_cov_[id] = *cov_opt;
-                    }
-                    pos = sub_close + 1;
-                }
-            }
-        }
+    nlohmann::json root;
+    try {
+        root = nlohmann::json::parse(content);
+    } catch (...) {
+        return true;  // unparseable — treat as unknown format, leave state as-is
+    }
+    if (!root.is_object())
+        return true;
 
-        // Apply per-sensor priors to existing frameworks.
+    constexpr int N = RobustCalibrationFramework::N;
+
+    auto apply_restored = [&]() {
         for (auto& [id, state] : states_) {
             if (!state.framework)
                 continue;
@@ -382,134 +268,83 @@ bool RobustCalibrationManager::load_adjustments(const std::string& path) {
                 state.framework->set_theta_mean_for_restore(restored_theta_mean_[id]);
                 state.framework->set_theta_cov_for_restore(restored_theta_cov_[id]);
                 state.framework->set_rls_P_for_restore(restored_theta_cov_[id]);
+            } else if (population_theta_mean_ && population_theta_cov_) {
+                state.framework->set_theta_mean_for_restore(*population_theta_mean_);
+                state.framework->set_theta_cov_for_restore(*population_theta_cov_);
+                state.framework->set_rls_P_for_restore(*population_theta_cov_);
+            }
+        }
+    };
+
+    // Format 1: runtime save format (framework_v2: theta_mean + theta_cov per numeric id).
+    if (root.contains("framework_v2") && root["framework_v2"].is_object()) {
+        for (auto& [id_str, sub] : root["framework_v2"].items()) {
+            if (!is_numeric_key(id_str) || !sub.is_object())
+                continue;
+            const uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
+            auto mean = sub.contains("theta_mean") ? json_vec(sub["theta_mean"], N) : std::nullopt;
+            auto cov = sub.contains("theta_cov") ? json_mat(sub["theta_cov"], N) : std::nullopt;
+            if (mean && cov) {
+                restored_theta_mean_[id] = *mean;
+                restored_theta_cov_[id] = *cov;
             }
         }
+        apply_restored();
         reconcile_frameworks_with_factory_baseline(states_);
         return true;
     }
 
     // Format 2: older runtime save format (framework_v1: theta_mean only).
-    const size_t fv1 = content.find("\"framework_v1\"");
-    if (fv1 != std::string::npos) {
-        size_t i = fv1;
-        while (i < content.size()) {
-            size_t q0 = content.find('"', i);
-            if (q0 == std::string::npos)
-                break;
-            size_t j = q0 + 1;
-            while (j < content.size() && content[j] >= '0' && content[j] <= '9')
-                ++j;
-            if (j == q0 + 1) {
-                i = q0 + 1;
+    if (root.contains("framework_v1") && root["framework_v1"].is_object()) {
+        for (auto& [id_str, val] : root["framework_v1"].items()) {
+            if (!is_numeric_key(id_str))
                 continue;
-            }
-            uint16_t id = static_cast<uint16_t>(std::stoi(content.substr(q0 + 1, j - q0 - 1)));
-            size_t br = content.find('[', j);
-            if (br == std::string::npos)
-                break;
-            size_t en = find_matching(content, br, '[', ']');
-            if (en == std::string::npos)
-                break;
-            std::string inner = content.substr(br, en - br + 1);
-            auto nums = extract_all_doubles(inner);
-            if (static_cast<int>(nums.size()) >= RobustCalibrationFramework::N) {
-                Eigen::VectorXd t(RobustCalibrationFramework::N);
-                for (int k = 0; k < RobustCalibrationFramework::N; ++k)
-                    t(k) = nums[static_cast<size_t>(k)];
-                restored_theta_mean_[id] = t;
+            const uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
+            const nlohmann::json& arr =
+                val.is_array() ? val
+                               : (val.is_object() && val.contains("theta_mean") ? val["theta_mean"]
+                                                                                : nlohmann::json());
+            auto mean = json_vec(arr, N);
+            if (mean) {
+                restored_theta_mean_[id] = *mean;
                 auto it = states_.find(id);
-                if (it != states_.end() && it->second.framework) {
-                    it->second.framework->set_theta_mean_for_restore(t);
-                }
+                if (it != states_.end() && it->second.framework)
+                    it->second.framework->set_theta_mean_for_restore(*mean);
             }
-            i = en + 1;
         }
         reconcile_frameworks_with_factory_baseline(states_);
         return true;
     }
 
     // Format 3: Python calibration backup (population_prior + pt_states).
-    const size_t pp = content.find("\"population_prior\"");
-    const size_t pt = content.find("\"pt_states\"");
-    if (pp != std::string::npos && pt != std::string::npos) {
-        // Parse population_prior object.
-        const size_t pp_open = content.find('{', pp);
-        if (pp_open != std::string::npos) {
-            const size_t pp_close = find_matching(content, pp_open, '{', '}');
-            if (pp_close != std::string::npos) {
-                const std::string pp_obj = content.substr(pp_open, pp_close - pp_open + 1);
-                auto pm =
-                    parse_fixed_vector(pp_obj, "population_mean", RobustCalibrationFramework::N);
-                auto pc = parse_fixed_matrix(pp_obj, "population_covariance",
-                                             RobustCalibrationFramework::N);
-                if (pm && pc) {
-                    population_theta_mean_ = *pm;
-                    population_theta_cov_ = *pc;
-                }
+    if (root.contains("population_prior") && root.contains("pt_states")) {
+        if (root["population_prior"].is_object()) {
+            const auto& pp = root["population_prior"];
+            auto pm =
+                pp.contains("population_mean") ? json_vec(pp["population_mean"], N) : std::nullopt;
+            auto pc = pp.contains("population_covariance")
+                          ? json_mat(pp["population_covariance"], N)
+                          : std::nullopt;
+            if (pm && pc) {
+                population_theta_mean_ = *pm;
+                population_theta_cov_ = *pc;
             }
         }
-
-        // Parse per-PT states.
-        const size_t pt_open = content.find('{', pt);
-        if (pt_open != std::string::npos) {
-            const size_t pt_close = find_matching(content, pt_open, '{', '}');
-            if (pt_close != std::string::npos) {
-                const std::string pt_obj = content.substr(pt_open, pt_close - pt_open + 1);
-                size_t pos = 1;  // skip '{'
-                while (pos < pt_obj.size()) {
-                    size_t q1 = pt_obj.find('"', pos);
-                    if (q1 == std::string::npos)
-                        break;
-                    size_t q2 = pt_obj.find('"', q1 + 1);
-                    if (q2 == std::string::npos)
-                        break;
-                    std::string id_str = pt_obj.substr(q1 + 1, q2 - q1 - 1);
-                    bool digits_only = !id_str.empty();
-                    for (char ch : id_str)
-                        digits_only &= std::isdigit(static_cast<unsigned char>(ch));
-                    if (!digits_only) {
-                        pos = q2 + 1;
-                        continue;
-                    }
-                    uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
-                    size_t colon = pt_obj.find(':', q2 + 1);
-                    if (colon == std::string::npos)
-                        break;
-                    size_t sub_open = pt_obj.find('{', colon + 1);
-                    if (sub_open == std::string::npos)
-                        break;
-                    size_t sub_close = find_matching(pt_obj, sub_open, '{', '}');
-                    if (sub_close == std::string::npos)
-                        break;
-                    std::string sub = pt_obj.substr(sub_open, sub_close - sub_open + 1);
-
-                    auto mean_opt =
-                        parse_fixed_vector(sub, "theta_mean", RobustCalibrationFramework::N);
-                    auto cov_opt =
-                        parse_fixed_matrix(sub, "theta_cov", RobustCalibrationFramework::N);
-                    if (mean_opt && cov_opt) {
-                        restored_theta_mean_[id] = *mean_opt;
-                        restored_theta_cov_[id] = *cov_opt;
-                    }
-                    pos = sub_close + 1;
+        if (root["pt_states"].is_object()) {
+            for (auto& [id_str, sub] : root["pt_states"].items()) {
+                if (!is_numeric_key(id_str) || !sub.is_object())
+                    continue;
+                const uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
+                auto mean =
+                    sub.contains("theta_mean") ? json_vec(sub["theta_mean"], N) : std::nullopt;
+                auto cov = sub.contains("theta_cov") ? json_mat(sub["theta_cov"], N) : std::nullopt;
+                if (mean && cov) {
+                    restored_theta_mean_[id] = *mean;
+                    restored_theta_cov_[id] = *cov;
                 }
             }
         }
-
-        // Apply both per-sensor and population priors to existing frameworks.
-        for (auto& [id, state] : states_) {
-            if (!state.framework)
-                continue;
-            if (restored_theta_mean_.count(id) && restored_theta_cov_.count(id)) {
-                state.framework->set_theta_mean_for_restore(restored_theta_mean_[id]);
-                state.framework->set_theta_cov_for_restore(restored_theta_cov_[id]);
-                state.framework->set_rls_P_for_restore(restored_theta_cov_[id]);
-            } else if (population_theta_mean_ && population_theta_cov_) {
-                state.framework->set_theta_mean_for_restore(*population_theta_mean_);
-                state.framework->set_theta_cov_for_restore(*population_theta_cov_);
-                state.framework->set_rls_P_for_restore(*population_theta_cov_);
-            }
-        }
+        apply_restored();
         reconcile_frameworks_with_factory_baseline(states_);
         return true;
     }
diff --git a/daq-server/diablo_server/lib/src/calibration/SensorCalibration.cpp b/daq-server/diablo_server/lib/src/calibration/SensorCalibration.cpp
index 9b1bb5198..386b5d531 100644
--- a/daq-server/diablo_server/lib/src/calibration/SensorCalibration.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/SensorCalibration.cpp
@@ -4,9 +4,11 @@
 #include <sys/stat.h>
 
 #include <algorithm>
+#include <cctype>
 #include <filesystem>
 #include <fstream>
 #include <iostream>
+#include <nlohmann/json.hpp>
 #include <regex>
 #include <sstream>
 
@@ -27,33 +29,47 @@ bool SensorCalibrationManager::load_from_json(const std::string& json_path) {
     std::string content((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>());
     file.close();
 
-    // Match: "channel_id": [C0, C1, C2, C3]   (at least 2 coefficients)
-    std::regex poly_regex("\"(\\d+)\":\\s*\\[([\\d\\.\\-\\+eE]+(?:,\\s*[\\d\\.\\-\\+eE]+)+)\\]");
-    std::sregex_iterator iter(content.begin(), content.end(), poly_regex);
-    std::sregex_iterator end;
+    nlohmann::json root;
+    try {
+        root = nlohmann::json::parse(content);
+    } catch (const std::exception& e) {
+        std::cerr << "[" << sensor_type_ << " Cal] JSON parse error in " << json_path << ": "
+                  << e.what() << std::endl;
+        return false;
+    }
+    // Coefficients live under "calibration_polynomials" when present, else at the top level
+    // ({"1": [c0, c1, ...], ...}).
+    const nlohmann::json& poly =
+        (root.contains("calibration_polynomials") && root["calibration_polynomials"].is_object())
+            ? root["calibration_polynomials"]
+            : root;
+    if (!poly.is_object())
+        return false;
 
-    size_t loaded = 0;
-    for (; iter != end; ++iter) {
-        std::smatch match = *iter;
-        uint8_t channel_id = static_cast<uint8_t>(std::stoi(match[1].str()));
-        std::string coeffs_str = match[2].str();
+    auto is_numeric = [](const std::string& s) {
+        return !s.empty() && std::all_of(s.begin(), s.end(), [](unsigned char c) {
+            return std::isdigit(c) != 0;
+        });
+    };
 
-        // Parse coefficient list
+    size_t loaded = 0;
+    for (const auto& [ch_str, arr] : poly.items()) {
+        if (!is_numeric(ch_str) || !arr.is_array() || arr.empty())
+            continue;
         std::vector<double> coeffs;
-        std::istringstream ss(coeffs_str);
-        std::string token;
-        while (std::getline(ss, token, ',')) {
-            // trim whitespace
-            token.erase(0, token.find_first_not_of(" \t"));
-            token.erase(token.find_last_not_of(" \t") + 1);
-            if (!token.empty())
-                coeffs.push_back(std::stod(token));
-        }
-
-        if (!coeffs.empty()) {
-            calibrations_[channel_id] = PolynomialCalibration(coeffs, default_unit_);
-            loaded++;
+        bool ok = true;
+        for (const auto& e : arr) {
+            if (!e.is_number()) {
+                ok = false;
+                break;
+            }
+            coeffs.push_back(e.get<double>());
         }
+        if (!ok || coeffs.empty())
+            continue;
+        const uint8_t channel_id = static_cast<uint8_t>(std::stoi(ch_str));
+        calibrations_[channel_id] = PolynomialCalibration(coeffs, default_unit_);
+        loaded++;
     }
 
     if (loaded > 0) {

From 5391e7b708ff137442d4afa20f3b45f58ff0db85 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 13:40:08 -0700
Subject: [PATCH 118/205] calibration: operator-driven cubic PT calibration
 (service-side fit + persistence, backend relay, frontend page)

---
 .../diablo_server/backend/src/api-server.ts   |  23 ++
 .../backend/src/calibration-handler.ts        |  49 +++
 .../frontend/app/calibration-cubic/page.tsx   | 286 ++++++++++++++++
 .../diablo_server/frontend/lib/nav-items.ts   |   2 +
 daq-server/diablo_server/frontend/src/App.tsx |   1 +
 .../diablo_server/frontend/src/pages.tsx      |   1 +
 daq-server/diablo_server/lib/CMakeLists.txt   |   1 +
 .../calibration/CubicCalibrationStore.hpp     | 101 ++++++
 .../lib/include/calibration/PTCalibration.hpp |  10 +
 .../src/calibration/CubicCalibrationStore.cpp | 318 ++++++++++++++++++
 .../lib/src/calibration/PTCalibration.cpp     |   9 +
 .../services/calibration/calibration_main.cpp |  84 +++++
 daq-server/diablo_server/shared/types.d.ts    |  41 ++-
 .../diablo_server/shared/types.d.ts.map       |   2 +-
 daq-server/diablo_server/shared/types.js.map  |   2 +-
 daq-server/diablo_server/shared/types.ts      |  43 ++-
 16 files changed, 969 insertions(+), 4 deletions(-)
 create mode 100644 daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx
 create mode 100644 daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp
 create mode 100644 daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index d85c96ce1..c0b65a56f 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -698,6 +698,29 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         const status = getCalibrationStatus ? await getCalibrationStatus() : null;
         res.writeHead(200, { 'Content-Type': 'application/json' });
         res.end(JSON.stringify(status ?? { error: 'Calibration status not available' }));
+      } else if (url.pathname === '/api/cubic_calibration' && req.method === 'GET') {
+        // Read-only view of the calibration service's cubic_calibration.json (the service is the
+        // sole writer; it rewrites the file atomically per capture). Search the same candidate
+        // roots loadPTCalibration() uses, covering both dev (tsx) and dist layouts.
+        const candidates = [
+          path.join(__dirname, '../../../scripts/calibration/calibrations/cubic_calibration.json'),
+          path.join(__dirname, '../../../../scripts/calibration/calibrations/cubic_calibration.json'),
+          path.join(process.cwd(), 'scripts/calibration/calibrations/cubic_calibration.json'),
+          path.join(process.cwd(), '../../scripts/calibration/calibrations/cubic_calibration.json'),
+        ];
+        let body: string | null = null;
+        for (const c of candidates) {
+          try {
+            if (fs.existsSync(c)) { body = fs.readFileSync(c, 'utf8'); break; }
+          } catch { /* try next candidate */ }
+        }
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        if (body == null) {
+          res.end(JSON.stringify({ cubic_state: {} }));
+        } else {
+          try { JSON.parse(body); res.end(body); }
+          catch { res.end(JSON.stringify({ cubic_state: {} })); }  // partial/corrupt → empty
+        }
       } else if (url.pathname === '/api/config_packets' && req.method === 'GET') {
         // Config packets now built by config_broadcast_service.py (standalone). Return empty.
         res.writeHead(200, { 'Content-Type': 'application/json' });
diff --git a/daq-server/diablo_server/backend/src/calibration-handler.ts b/daq-server/diablo_server/backend/src/calibration-handler.ts
index e6d21024c..9ef95e55e 100644
--- a/daq-server/diablo_server/backend/src/calibration-handler.ts
+++ b/daq-server/diablo_server/backend/src/calibration-handler.ts
@@ -144,6 +144,55 @@ export function handleCalibrationCommand(
             console.log(`📐 Calibration: CH${sensorId} (Board ${boardId}) ref=${refPsi} PSI → calibration_service (Elodin)`);
             break;
         }
+        case 'capture_cubic_point': {
+            // Operator-built cubic: forward (channel, ref PSI) to calibration_service, which pairs it
+            // with the current ADC, refits the cubic, applies it live, and persists it.
+            const refPsi = Number(referencePressure);
+            if (sensorId == null || referencePressure == null || !Number.isFinite(refPsi)) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'capture_cubic_point requires sensorId and a numeric referencePressure (PSI)' }
+                });
+                return;
+            }
+            const activeChannels = getActiveChannels(host);
+            if (uniqueId == null || !activeChannels.includes(uniqueId)) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT channel` }
+                });
+                return;
+            }
+            if (!host.elodin) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'Elodin not connected — start calibration_service and DB; cannot forward capture_cubic_point.' }
+                });
+                return;
+            }
+            publishCalibrationCommand(host, 3, uniqueId, refPsi);
+            console.log(`📐 Cubic capture: CH${sensorId} (Board ${boardId}) ref=${refPsi} PSI → calibration_service`);
+            break;
+        }
+        case 'clear_cubic_channel': {
+            if (uniqueId == null) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'clear_cubic_channel requires sensorId and boardId' }
+                });
+                return;
+            }
+            if (!host.elodin) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'Elodin not connected — cannot forward clear_cubic_channel.' }
+                });
+                return;
+            }
+            publishCalibrationCommand(host, 4, uniqueId, 0);
+            console.log(`🗑️ Cubic clear: CH${sensorId} (Board ${boardId}) → calibration_service`);
+            break;
+        }
         case 'enable_phase2':
             console.log('[Calibration] enable_phase2 ignored — robust calibration runs in calibration_service');
             break;
diff --git a/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx b/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx
new file mode 100644
index 000000000..dffaf0feb
--- /dev/null
+++ b/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx
@@ -0,0 +1,286 @@
+'use client'
+
+import { useEffect, useMemo, useState, useCallback } from 'react';
+import {
+  ComposedChart, Scatter, Line, XAxis, YAxis, CartesianGrid, Tooltip, ResponsiveContainer, Label,
+} from 'recharts';
+import { useGetSensorValue, useSensorDataVersion } from '@/lib/store';
+import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
+import { MessageType, CalibrationCommand, CubicCalibrationChannel } from '@/lib/types';
+import { useSensorConfig } from '@/lib/sensor-config';
+
+// ── The service returns coeffs; the browser only EVALUATES them for the overlay (no fitting). ──
+function evalCubicNorm(adc: number, poly: number[], min: number, scale: number): number {
+  const s = scale || 1;
+  const x = (adc - min) / s;
+  let xp = 1;
+  let y = 0;
+  for (let i = 0; i < poly.length; i++) { y += poly[i] * xp; xp *= x; }
+  return y;
+}
+
+function fmt(v: number | null | undefined, digits = 2): string {
+  if (v === null || v === undefined || !isFinite(v)) return '---';
+  return v.toFixed(digits);
+}
+
+const STATUS_COLORS: Record<string, string> = {
+  OK: 'text-green-400 border-green-700 bg-green-900/30',
+  PENDING: 'text-yellow-400 border-yellow-700 bg-yellow-900/30',
+  ERROR: 'text-red-400 border-red-700 bg-red-900/30',
+  NONE: 'text-gray-500 border-gray-700 bg-gray-800/40',
+};
+
+export default function CubicCalibrationPage() {
+  useSensorDataVersion();  // re-render on sensor flush so live ADC/PSI stay fresh
+  const getSensorValue = useGetSensorValue();
+  const ws = getWebSocketClient();
+  const allChannels = useSensorConfig();
+
+  // Low-pressure PTs only — HP (4-20 mA) PTs are not cubic-calibrated.
+  const ptChannels = useMemo(
+    () => allChannels.filter((c) => c.inCalibrationSequence && !c.isHpPt)
+      .sort((a, b) => (a.boardId - b.boardId) || (a.id - b.id)),
+    [allChannels],
+  );
+
+  const [selectedUid, setSelectedUid] = useState<number | null>(null);
+  const [refInput, setRefInput] = useState('');
+  const [cubicState, setCubicState] = useState<Record<string, CubicCalibrationChannel>>({});
+
+  // Default selection once channels load.
+  useEffect(() => {
+    if (selectedUid == null && ptChannels.length > 0) {
+      setSelectedUid(ptChannels[0].boardId * 100 + ptChannels[0].id);
+    }
+  }, [ptChannels, selectedUid]);
+
+  const fetchState = useCallback(async () => {
+    try {
+      const res = await fetch(`${getApiBaseUrl()}/api/cubic_calibration`);
+      if (!res.ok) return;
+      const data = await res.json();
+      if (data && typeof data.cubic_state === 'object' && data.cubic_state) {
+        setCubicState(data.cubic_state as Record<string, CubicCalibrationChannel>);
+      }
+    } catch { /* ignore transient fetch errors */ }
+  }, []);
+
+  // Poll the service's record; also refetch shortly after each capture/clear.
+  useEffect(() => {
+    fetchState();
+    const id = setInterval(fetchState, 2000);
+    return () => clearInterval(id);
+  }, [fetchState]);
+
+  const sendCalCmd = useCallback((cmd: CalibrationCommand) => {
+    ws.send({ type: MessageType.CALIBRATION_COMMAND, timestamp: Date.now(), payload: cmd });
+    // Nudge a refetch after the service has processed + persisted.
+    setTimeout(fetchState, 350);
+    setTimeout(fetchState, 900);
+  }, [ws, fetchState]);
+
+  const selected = selectedUid != null ? ptChannels.find((c) => c.boardId * 100 + c.id === selectedUid) : undefined;
+  const selectedState = selectedUid != null ? cubicState[String(selectedUid)] : undefined;
+
+  const liveAdc = selected ? getSensorValue(selected.calEntity, 'raw_adc_counts') : null;
+  const livePsi = selected ? getSensorValue(selected.calEntity, 'pressure_psi') : null;
+
+  const handleCapture = useCallback(() => {
+    if (!selected) return;
+    const psi = parseFloat(refInput);
+    if (isNaN(psi)) return;
+    sendCalCmd({ commandType: 'capture_cubic_point', sensorId: selected.id, boardId: selected.boardId, referencePressure: psi });
+    setRefInput('');
+  }, [selected, refInput, sendCalCmd]);
+
+  const handleClear = useCallback(() => {
+    if (!selected) return;
+    if (typeof window !== 'undefined' && !window.confirm(`Clear all captured points for ${selected.role || 'CH' + selected.id}? Reverts to the factory cubic.`)) return;
+    sendCalCmd({ commandType: 'clear_cubic_channel', sensorId: selected.id, boardId: selected.boardId });
+  }, [selected, sendCalCmd]);
+
+  // Build the chart series: captured scatter points + a sampled fitted curve.
+  const chartData = useMemo(() => {
+    const pts = selectedState?.points ?? [];
+    const rows: { adc: number; psi?: number; psiFit?: number }[] = pts.map((p) => ({ adc: p.adc, psi: p.psi }));
+    const poly = selectedState?.polyCoeffs;
+    if (poly && poly.length >= 2 && pts.length >= 2) {
+      const adcs = pts.map((p) => p.adc);
+      let lo = Math.min(...adcs);
+      let hi = Math.max(...adcs);
+      const pad = (hi - lo) * 0.05 || 1;
+      lo -= pad; hi += pad;
+      const N = 60;
+      for (let i = 0; i <= N; i++) {
+        const adc = lo + ((hi - lo) * i) / N;
+        rows.push({ adc, psiFit: evalCubicNorm(adc, poly, selectedState!.adcNormMin, selectedState!.adcNormScale) });
+      }
+    }
+    return rows.sort((a, b) => a.adc - b.adc);
+  }, [selectedState]);
+
+  const statusOf = (uid: number): string => cubicState[String(uid)]?.status ?? 'NONE';
+  const pointsOf = (uid: number): number => cubicState[String(uid)]?.points?.length ?? 0;
+
+  return (
+    <main className="h-full bg-background text-text flex flex-col overflow-hidden">
+      {/* ── Toolbar ─────────────────────────────────────────────────────── */}
+      <div className="flex-shrink-0 flex items-center justify-between px-4 py-2 border-b border-gray-800 bg-card">
+        <div className="flex items-center gap-3">
+          <h1 className="text-lg font-bold tracking-tight">Cubic Calibration</h1>
+          <span className="text-xs text-gray-400 font-semibold bg-gray-800 px-2 py-0.5 rounded uppercase tracking-wider">
+            One PT at a time
+          </span>
+          <span className="text-[11px] text-gray-500">
+            {ptChannels.length} low-pressure PT{ptChannels.length === 1 ? '' : 's'} · fit runs in calibration_service
+          </span>
+        </div>
+      </div>
+
+      <div className="flex-1 flex min-h-0">
+        {/* ── Left: channel list ─────────────────────────────────────────── */}
+        <aside className="w-56 flex-shrink-0 border-r border-gray-800 overflow-auto bg-card/40">
+          {ptChannels.map((c) => {
+            const uid = c.boardId * 100 + c.id;
+            const active = uid === selectedUid;
+            const st = statusOf(uid);
+            return (
+              <button
+                key={uid}
+                onClick={() => setSelectedUid(uid)}
+                className={`w-full text-left px-3 py-2 border-b border-gray-800/60 flex items-center justify-between gap-2
+                  ${active ? 'bg-blue-900/30 border-l-2 border-l-blue-500' : 'hover:bg-gray-800/40'}`}
+              >
+                <div className="min-w-0">
+                  <div className="text-xs font-semibold text-text truncate">{c.role || `CH${c.id}`}</div>
+                  <div className="text-[10px] text-gray-500 font-mono">B{c.boardId} · CH{c.id}</div>
+                </div>
+                <div className="flex flex-col items-end gap-0.5">
+                  <span className={`text-[9px] font-bold px-1 rounded border ${STATUS_COLORS[st] ?? STATUS_COLORS.NONE}`}>
+                    {st === 'NONE' ? '—' : st}
+                  </span>
+                  <span className="text-[9px] text-gray-500 font-mono">{pointsOf(uid)} pts</span>
+                </div>
+              </button>
+            );
+          })}
+          {ptChannels.length === 0 && (
+            <div className="p-3 text-xs text-gray-500">No low-pressure PT channels in the active config.</div>
+          )}
+        </aside>
+
+        {/* ── Right: detail for the selected channel ─────────────────────── */}
+        <section className="flex-1 min-w-0 overflow-auto p-4">
+          {!selected ? (
+            <div className="text-sm text-gray-500">Select a PT channel to calibrate.</div>
+          ) : (
+            <div className="flex flex-col gap-4 max-w-4xl">
+              {/* Header + live readouts */}
+              <div className="flex items-center justify-between gap-4 flex-wrap">
+                <div>
+                  <div className="text-base font-bold text-text">{selected.role || `CH${selected.id}`}</div>
+                  <div className="text-[11px] text-gray-500 font-mono">Board {selected.boardId} · Connector {selected.id} · {selected.calEntity}</div>
+                </div>
+                <div className="flex items-center gap-4">
+                  <div className="text-right">
+                    <div className="text-[10px] text-gray-500 font-bold">LIVE PSI</div>
+                    <div className="text-xl font-bold font-mono text-green-400 tabular-nums">{fmt(livePsi)}</div>
+                  </div>
+                  <div className="text-right">
+                    <div className="text-[10px] text-gray-500 font-bold">LIVE ADC</div>
+                    <div className="text-lg font-mono text-gray-300 tabular-nums">{liveAdc == null ? '---' : Math.round(liveAdc).toLocaleString()}</div>
+                  </div>
+                </div>
+              </div>
+
+              {/* Capture controls */}
+              <div className="flex items-center gap-2 flex-wrap border border-gray-800 rounded p-3 bg-card">
+                <span className="text-[11px] text-gray-400 font-semibold">Set the real pressure now, then capture:</span>
+                <input
+                  type="number"
+                  step="any"
+                  placeholder="Reference PSI"
+                  value={refInput}
+                  onChange={(e) => setRefInput(e.target.value)}
+                  onKeyDown={(e) => e.key === 'Enter' && handleCapture()}
+                  className="w-32 bg-gray-900 border border-gray-700 rounded px-2 py-1 text-sm font-mono text-text
+                             placeholder-gray-600 focus:outline-none focus:border-blue-500"
+                />
+                <button
+                  onClick={handleCapture}
+                  disabled={!refInput}
+                  className="px-3 py-1.5 text-xs font-bold rounded bg-blue-700 hover:bg-blue-600
+                             disabled:opacity-30 disabled:cursor-not-allowed text-white"
+                >
+                  CAPTURE POINT
+                </button>
+                <button
+                  onClick={handleClear}
+                  className="px-3 py-1.5 text-xs font-bold rounded border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50 ml-auto"
+                >
+                  CLEAR CHANNEL
+                </button>
+              </div>
+
+              {/* Fit status */}
+              <div className="flex items-center gap-4 text-xs flex-wrap">
+                <span className={`font-bold px-2 py-0.5 rounded border ${STATUS_COLORS[selectedState?.status ?? 'NONE'] ?? STATUS_COLORS.NONE}`}>
+                  {selectedState?.status ?? 'NO DATA'}
+                </span>
+                <span className="text-gray-400 font-mono">{selectedState?.points?.length ?? 0} points</span>
+                <span className="text-gray-400 font-mono">degree {selectedState?.degree ?? 0}</span>
+                <span className="text-gray-400 font-mono">RMSE {selectedState ? fmt(selectedState.rmse, 3) : '---'} PSI</span>
+                {selectedState?.last_error ? <span className="text-red-400">{selectedState.last_error}</span> : null}
+              </div>
+
+              {/* Graph: captured points + fitted curve */}
+              <div className="border border-gray-800 rounded bg-card p-2" style={{ height: 420 }}>
+                <ResponsiveContainer width="100%" height="100%">
+                  <ComposedChart data={chartData} margin={{ top: 12, right: 20, bottom: 28, left: 12 }}>
+                    <CartesianGrid stroke="#222" />
+                    <XAxis type="number" dataKey="adc" domain={['auto', 'auto']} stroke="#888"
+                           tick={{ fontSize: 10, fill: '#888' }} tickFormatter={(v) => Number(v).toExponential(1)}>
+                      <Label value="Raw ADC code" position="bottom" offset={12} fill="#888" fontSize={11} />
+                    </XAxis>
+                    <YAxis type="number" stroke="#888" tick={{ fontSize: 10, fill: '#888' }}
+                           tickFormatter={(v) => Number(v).toFixed(0)}>
+                      <Label value="Pressure (PSI)" angle={-90} position="insideLeft" fill="#888" fontSize={11} />
+                    </YAxis>
+                    <Tooltip
+                      contentStyle={{ background: '#111', border: '1px solid #333', fontSize: 11 }}
+                      labelFormatter={(v) => `ADC ${Number(v).toExponential(3)}`}
+                      formatter={(val: number, name: string) => [Number(val).toFixed(2) + ' PSI', name === 'psi' ? 'captured' : 'fit']}
+                    />
+                    <Line type="monotone" dataKey="psiFit" stroke="#38BDF8" dot={false} strokeWidth={2} connectNulls isAnimationActive={false} name="fit" />
+                    <Scatter dataKey="psi" fill="#F59E0B" name="psi" isAnimationActive={false} />
+                  </ComposedChart>
+                </ResponsiveContainer>
+              </div>
+
+              {/* Captured points table */}
+              {selectedState?.points && selectedState.points.length > 0 && (
+                <div className="border border-gray-800 rounded overflow-hidden">
+                  <table className="w-full text-xs font-mono">
+                    <thead className="bg-gray-900 text-gray-400">
+                      <tr><th className="text-left px-3 py-1">#</th><th className="text-right px-3 py-1">Ref PSI</th><th className="text-right px-3 py-1">ADC code</th></tr>
+                    </thead>
+                    <tbody>
+                      {selectedState.points.map((p, i) => (
+                        <tr key={i} className="border-t border-gray-800/60 text-gray-300">
+                          <td className="px-3 py-1">{i + 1}</td>
+                          <td className="px-3 py-1 text-right">{p.psi.toFixed(2)}</td>
+                          <td className="px-3 py-1 text-right">{Math.round(p.adc).toLocaleString()}</td>
+                        </tr>
+                      ))}
+                    </tbody>
+                  </table>
+                </div>
+              )}
+            </div>
+          )}
+        </section>
+      </div>
+    </main>
+  );
+}
diff --git a/daq-server/diablo_server/frontend/lib/nav-items.ts b/daq-server/diablo_server/frontend/lib/nav-items.ts
index be64a46e7..60d9ff87e 100644
--- a/daq-server/diablo_server/frontend/lib/nav-items.ts
+++ b/daq-server/diablo_server/frontend/lib/nav-items.ts
@@ -61,6 +61,8 @@ export const NAV_ITEMS: NavItem[] = [
     description: 'Manual actuator & state controls' },
   { id: 'calibration', name: 'Calibration', path: '/calibration', accent: '#A3E635',
     description: 'RLS + GLR drift · Bayesian auto-recal' },
+  { id: 'calibration-cubic', name: 'Cubic Calibration', path: '/calibration-cubic', accent: '#84CC16',
+    description: 'Per-PT cubic fit from captured reference points · scatter + fitted curve' },
   { id: 'feed-char', name: 'Feed System Char', path: '/feed-char', accent: '#3B82F6',
     description: 'CdA, MDOT, Reynolds number characterization' },
   { id: 'solenoid-char', name: 'Solenoid Characterization', path: '/solenoid-char', accent: '#F59E0B',
diff --git a/daq-server/diablo_server/frontend/src/App.tsx b/daq-server/diablo_server/frontend/src/App.tsx
index 46f40dbd5..00ff35c74 100644
--- a/daq-server/diablo_server/frontend/src/App.tsx
+++ b/daq-server/diablo_server/frontend/src/App.tsx
@@ -81,6 +81,7 @@ export default function App() {
               {/* ── Panes / tools ──────────────────────────────────────── */}
               <Route path="/boards" element={<P.BoardsPage />} />
               <Route path="/calibration" element={<P.CalibrationPage />} />
+              <Route path="/calibration-cubic" element={<P.CubicCalPage />} />
               <Route path="/config" element={<P.ConfigPage />} />
               <Route path="/controller" element={<P.ControllerPage />} />
               <Route path="/controls" element={<P.ControlsPage />} />
diff --git a/daq-server/diablo_server/frontend/src/pages.tsx b/daq-server/diablo_server/frontend/src/pages.tsx
index 6c38b1657..2f5a8d6ff 100644
--- a/daq-server/diablo_server/frontend/src/pages.tsx
+++ b/daq-server/diablo_server/frontend/src/pages.tsx
@@ -10,6 +10,7 @@ import { lazy } from 'react';
 
 export const BoardsPage         = lazy(() => import('@/app/boards/page'));
 export const CalibrationPage    = lazy(() => import('@/app/calibration/page'));
+export const CubicCalPage       = lazy(() => import('@/app/calibration-cubic/page'));
 export const ConfigPage         = lazy(() => import('@/app/config/page'));
 export const ControllerPage     = lazy(() => import('@/app/controller/page'));
 export const ControlsPage       = lazy(() => import('@/app/controls/page'));
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index 541a795c1..c8cb98f0f 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -17,6 +17,7 @@ set(FSW_SOURCES
     src/fsw/FSWConfigManager.cpp
     src/control/PressureStateMachine.cpp
     src/calibration/PTCalibration.cpp
+    src/calibration/CubicCalibrationStore.cpp
     src/calibration/SensorCalibration.cpp
     src/calibration/AllanVariance.cpp
     src/calibration/RobustCalibrationFramework.cpp
diff --git a/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp b/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp
new file mode 100644
index 000000000..29ee70127
--- /dev/null
+++ b/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp
@@ -0,0 +1,101 @@
+#ifndef CUBIC_CALIBRATION_STORE_HPP
+#define CUBIC_CALIBRATION_STORE_HPP
+
+#include <cstdint>
+#include <map>
+#include <mutex>
+#include <string>
+#include <vector>
+
+namespace fsw {
+namespace calibration {
+
+/** One operator-captured calibration point: raw ADC code paired with a known reference PSI. */
+struct CubicPoint {
+    double adc = 0.0;
+    double psi = 0.0;
+    double t = 0.0;  // capture time (unix seconds), display/audit only
+};
+
+/**
+ * Result of a least-squares polynomial fit over a channel's captured points.
+ * Two equivalent representations are kept:
+ *   - raw cubic  psi = A*adc^3 + B*adc^2 + C*adc + D   (consumed by PTCalibrationCoeffs, raw int32)
+ *   - normalized psi = sum poly[i] * ((adc - norm_min)/norm_scale)^i  (well-conditioned; TS side)
+ * The normalized form is what the frontend evaluates and what passes the backend's coefficient
+ * validator (which rejects |A| > 1e-11 on a raw-ADC cubic).
+ */
+struct CubicFit {
+    bool valid = false;
+    double A = 0.0, B = 0.0, C = 0.0, D = 0.0;
+    std::vector<double> poly;  // normalized coeffs, length = degree + 1
+    double norm_min = 0.0;
+    double norm_scale = 1.0;
+    double rmse = 0.0;
+    int degree = 0;
+};
+
+/** Per-sensor calibration record: identity, captured points, and the current fit. */
+struct CubicChannel {
+    uint16_t uid = 0;       // board_id*100 + connector (UI key)
+    uint8_t board_id = 0;   // uid / 100
+    uint8_t connector = 0;  // uid % 100 (1..10)
+    uint8_t logical_ch =
+        0;             // pt_logical_calibration_channel(slot, connector) — PTCalibrationManager key
+    std::string role;  // human role from config, e.g. "Fuel Upstream"
+    std::vector<CubicPoint> points;
+    CubicFit fit;
+    std::string status = "PENDING";  // PENDING (<2 pts) | OK | ERROR
+    std::string last_error;
+    double updated_at = 0.0;
+};
+
+/**
+ * Owns the per-channel captured points and the fitted cubic for the calibration service.
+ * Thread-safe. Persists atomically to a single JSON file that is:
+ *   - re-loadable by this class on restart (resume points, re-fit), and
+ *   - backward-compatible with the existing calibration_polynomials/poly_coeffs loaders
+ *     (logical-channel-keyed) so the file doubles as the factory-cubic overlay the service loads.
+ * The service is the sole writer; the Node backend only reads the file to serve the UI.
+ */
+class CubicCalibrationStore {
+public:
+    explicit CubicCalibrationStore(std::string file_path);
+
+    /** Attach/refresh identity + role for a uid (idempotent; call at startup and on each capture).
+     */
+    void register_channel(uint16_t uid, uint8_t board_id, uint8_t connector, uint8_t logical_ch,
+                          const std::string& role);
+
+    /** Append a capture point (raw ADC, reference PSI), cap history, and re-fit. Returns the fit.
+     */
+    CubicFit add_point(uint16_t uid, double adc, double psi);
+
+    /** Drop all points + fit for a uid (channel goes back to PENDING). */
+    void clear_channel(uint16_t uid);
+
+    const CubicFit* fit_for(uint16_t uid) const;
+    const CubicChannel* channel(uint16_t uid) const;
+    std::vector<uint16_t> uids() const;
+
+    /** Atomically write the JSON record (temp + rename). */
+    bool save() const;
+
+    /** Load the JSON record, resume points, and re-fit each channel. Returns channels loaded. */
+    size_t load();
+
+    static constexpr size_t kMaxPoints = 20;
+
+private:
+    mutable std::mutex mutex_;
+    std::string file_path_;
+    std::map<uint16_t, CubicChannel> channels_;
+
+    CubicFit compute_fit(const std::vector<CubicPoint>& pts) const;
+    std::string serialize() const;  // caller holds mutex_
+};
+
+}  // namespace calibration
+}  // namespace fsw
+
+#endif  // CUBIC_CALIBRATION_STORE_HPP
diff --git a/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp b/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp
index 9ee38ac66..da44873e1 100644
--- a/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp
+++ b/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp
@@ -123,6 +123,16 @@ class PTCalibrationManager {
         return calibrations_.size();
     }
 
+    /**
+     * @brief Set/replace the cubic coefficients for a logical channel at runtime.
+     *
+     * Used by the calibration service when an operator builds a cubic live from captured reference
+     * points — the new fit takes effect immediately on the streaming path (which evaluates these
+     * coefficients per packet). @param channel_id is the logical calibration channel
+     * (pt_logical_calibration_channel), not a board-local connector.
+     */
+    void set_calibration(uint8_t channel_id, const PTCalibrationCoeffs& coeffs);
+
     /**
      * @brief Set default calibration file paths
      */
diff --git a/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp b/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
new file mode 100644
index 000000000..fd57df2e4
--- /dev/null
+++ b/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
@@ -0,0 +1,318 @@
+#include "calibration/CubicCalibrationStore.hpp"
+
+#include <Eigen/Dense>
+#include <algorithm>
+#include <chrono>
+#include <cmath>
+#include <filesystem>
+#include <fstream>
+#include <nlohmann/json.hpp>
+
+#include "calibration/PTCalibration.hpp"  // pt_logical_calibration_channel
+
+namespace fsw {
+namespace calibration {
+
+namespace {
+
+double unix_now_sec() {
+    return std::chrono::duration<double>(std::chrono::system_clock::now().time_since_epoch())
+        .count();
+}
+
+/** slot = board_id % 10 with 0 -> 10 (same rule as calibration_service / daq_bridge). */
+uint8_t slot_from_board_id(uint8_t board_id) {
+    int m = static_cast<int>(board_id) % 10;
+    return static_cast<uint8_t>(m == 0 ? 10 : m);
+}
+
+}  // namespace
+
+CubicCalibrationStore::CubicCalibrationStore(std::string file_path)
+    : file_path_(std::move(file_path)) {
+}
+
+void CubicCalibrationStore::register_channel(uint16_t uid, uint8_t board_id, uint8_t connector,
+                                             uint8_t logical_ch, const std::string& role) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto& ch = channels_[uid];
+    ch.uid = uid;
+    ch.board_id = board_id;
+    ch.connector = connector;
+    ch.logical_ch = logical_ch;
+    if (!role.empty())
+        ch.role = role;
+}
+
+CubicFit CubicCalibrationStore::compute_fit(const std::vector<CubicPoint>& pts) const {
+    CubicFit f;
+    const int n = static_cast<int>(pts.size());
+    if (n < 1)
+        return f;
+
+    double amin = pts[0].adc, amax = pts[0].adc, amean = 0.0;
+    for (const auto& p : pts) {
+        amin = std::min(amin, p.adc);
+        amax = std::max(amax, p.adc);
+        amean += p.adc;
+    }
+    amean /= static_cast<double>(n);
+    double scale = amax - amin;
+    if (!(scale > 0.0) || !std::isfinite(scale))
+        scale = 1.0;
+    f.norm_min = amean;
+    f.norm_scale = scale;
+
+    int degree = std::min(3, n - 1);
+    if (degree < 0)
+        degree = 0;
+
+    Eigen::MatrixXd V(n, degree + 1);
+    Eigen::VectorXd y(n);
+    for (int i = 0; i < n; ++i) {
+        double xn = (pts[static_cast<size_t>(i)].adc - f.norm_min) / f.norm_scale;
+        double xp = 1.0;
+        for (int j = 0; j <= degree; ++j) {
+            V(i, j) = xp;
+            xp *= xn;
+        }
+        y(i) = pts[static_cast<size_t>(i)].psi;
+    }
+
+    Eigen::VectorXd p = V.colPivHouseholderQr().solve(y);
+    Eigen::VectorXd resid = V * p - y;
+    f.rmse = std::sqrt(resid.squaredNorm() / static_cast<double>(n));
+    f.degree = degree;
+    f.poly.assign(static_cast<size_t>(degree + 1), 0.0);
+    for (int j = 0; j <= degree; ++j)
+        f.poly[static_cast<size_t>(j)] = p(j);
+
+    // Expand normalized poly p((adc - m)/s) into raw powers of adc: with a = 1/s, b = -m/s,
+    // u = a*adc + b, so [A,B,C,D] follow from the binomial expansion of p0 + p1 u + p2 u^2 + p3
+    // u^3.
+    double pp[4] = {0.0, 0.0, 0.0, 0.0};
+    for (int j = 0; j <= degree && j < 4; ++j)
+        pp[j] = p(j);
+    const double a = 1.0 / f.norm_scale;
+    const double b = -f.norm_min / f.norm_scale;
+    f.A = pp[3] * a * a * a;
+    f.B = pp[2] * a * a + pp[3] * 3.0 * a * a * b;
+    f.C = pp[1] * a + pp[2] * 2.0 * a * b + pp[3] * 3.0 * a * b * b;
+    f.D = pp[0] + pp[1] * b + pp[2] * b * b + pp[3] * b * b * b;
+
+    f.valid = std::isfinite(f.A) && std::isfinite(f.B) && std::isfinite(f.C) && std::isfinite(f.D);
+    for (double c : f.poly)
+        if (!std::isfinite(c))
+            f.valid = false;
+    return f;
+}
+
+CubicFit CubicCalibrationStore::add_point(uint16_t uid, double adc, double psi) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto& ch = channels_[uid];
+    if (ch.uid == 0) {
+        // Never registered (e.g. capture arrived before config wiring) — derive identity from uid.
+        ch.uid = uid;
+        ch.board_id = static_cast<uint8_t>(uid / 100);
+        ch.connector = static_cast<uint8_t>(uid % 100);
+        ch.logical_ch =
+            pt_logical_calibration_channel(slot_from_board_id(ch.board_id), ch.connector);
+    }
+
+    CubicPoint pt;
+    pt.adc = adc;
+    pt.psi = psi;
+    pt.t = unix_now_sec();
+    ch.points.push_back(pt);
+    if (ch.points.size() > kMaxPoints)
+        ch.points.erase(ch.points.begin(), ch.points.begin() + static_cast<std::ptrdiff_t>(
+                                                                   ch.points.size() - kMaxPoints));
+
+    ch.fit = compute_fit(ch.points);
+    ch.updated_at = pt.t;
+    if (!ch.fit.valid) {
+        ch.status = "ERROR";
+        ch.last_error = "fit produced non-finite coefficients";
+    } else if (ch.points.size() < 2) {
+        ch.status = "PENDING";
+        ch.last_error.clear();
+    } else {
+        ch.status = "OK";
+        ch.last_error.clear();
+    }
+    return ch.fit;
+}
+
+void CubicCalibrationStore::clear_channel(uint16_t uid) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto it = channels_.find(uid);
+    if (it == channels_.end())
+        return;
+    it->second.points.clear();
+    it->second.fit = CubicFit{};
+    it->second.status = "PENDING";
+    it->second.last_error.clear();
+    it->second.updated_at = unix_now_sec();
+}
+
+const CubicFit* CubicCalibrationStore::fit_for(uint16_t uid) const {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto it = channels_.find(uid);
+    if (it == channels_.end() || !it->second.fit.valid)
+        return nullptr;
+    return &it->second.fit;
+}
+
+const CubicChannel* CubicCalibrationStore::channel(uint16_t uid) const {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto it = channels_.find(uid);
+    return it == channels_.end() ? nullptr : &it->second;
+}
+
+std::vector<uint16_t> CubicCalibrationStore::uids() const {
+    std::lock_guard<std::mutex> lock(mutex_);
+    std::vector<uint16_t> out;
+    out.reserve(channels_.size());
+    for (const auto& [uid, ch] : channels_)
+        out.push_back(uid);
+    return out;
+}
+
+std::string CubicCalibrationStore::serialize() const {
+    using nlohmann::json;
+    json root;
+    root["sensor_type"] = "PT";
+    root["unit"] = "PSI";
+    root["framework"] = "cubic";
+    root["generated_unix"] = unix_now_sec();
+
+    json polys = json::object();
+    json poly_coeffs = json::object();
+    json norm_min = json::object();
+    json norm_scale = json::object();
+    json state = json::object();
+
+    for (const auto& [uid, ch] : channels_) {
+        // Logical-channel-keyed maps: consumed by PTCalibrationManager / loadCalibrationJSON.
+        if (ch.fit.valid) {
+            const std::string lkey = std::to_string(static_cast<int>(ch.logical_ch));
+            polys[lkey] = {ch.fit.A, ch.fit.B, ch.fit.C, ch.fit.D};
+            poly_coeffs[lkey] = ch.fit.poly;
+            norm_min[lkey] = ch.fit.norm_min;
+            norm_scale[lkey] = ch.fit.norm_scale;
+        }
+
+        // uid-keyed rich state for the UI (points + per-channel fit + identity).
+        json cj;
+        cj["boardId"] = static_cast<int>(ch.board_id);
+        cj["connector"] = static_cast<int>(ch.connector);
+        cj["logicalCh"] = static_cast<int>(ch.logical_ch);
+        cj["role"] = ch.role;
+        cj["active_model"] = "cubic";
+        cj["numPoints"] = ch.points.size();
+        cj["status"] = ch.status;
+        cj["last_error"] = ch.last_error;
+        cj["rmse"] = ch.fit.valid ? ch.fit.rmse : 0.0;
+        cj["degree"] = ch.fit.degree;
+        cj["updatedAt"] = ch.updated_at;
+        cj["coeffs"] = {{"A", ch.fit.A}, {"B", ch.fit.B}, {"C", ch.fit.C}, {"D", ch.fit.D}};
+        cj["polyCoeffs"] = ch.fit.poly;
+        cj["adcNormMin"] = ch.fit.norm_min;
+        cj["adcNormScale"] = ch.fit.norm_scale;
+        json pts = json::array();
+        for (const auto& p : ch.points)
+            pts.push_back({{"adc", p.adc}, {"psi", p.psi}, {"t", p.t}});
+        cj["points"] = pts;
+        state[std::to_string(static_cast<int>(uid))] = cj;
+    }
+
+    root["calibration_polynomials"] = polys;
+    root["calibration_poly_coeffs"] = poly_coeffs;
+    root["calibration_adc_norm_min"] = norm_min;
+    root["calibration_adc_norm_scale"] = norm_scale;
+    root["cubic_state"] = state;
+    return root.dump(2);
+}
+
+bool CubicCalibrationStore::save() const {
+    std::lock_guard<std::mutex> lock(mutex_);
+    try {
+        std::filesystem::path p(file_path_);
+        if (p.has_parent_path())
+            std::filesystem::create_directories(p.parent_path());
+        const std::string tmp = file_path_ + ".tmp";
+        {
+            std::ofstream f(tmp, std::ios::trunc);
+            if (!f.is_open())
+                return false;
+            f << serialize();
+            f.flush();
+            if (!f.good())
+                return false;
+        }
+        std::filesystem::rename(tmp, file_path_);  // atomic replace on same filesystem
+        return true;
+    } catch (...) {
+        return false;
+    }
+}
+
+size_t CubicCalibrationStore::load() {
+    std::lock_guard<std::mutex> lock(mutex_);
+    std::ifstream f(file_path_);
+    if (!f.is_open())
+        return 0;
+    std::string content((std::istreambuf_iterator<char>(f)), std::istreambuf_iterator<char>());
+
+    nlohmann::json root;
+    try {
+        root = nlohmann::json::parse(content);
+    } catch (...) {
+        return 0;  // corrupt/partial file — start clean rather than crash
+    }
+    if (!root.contains("cubic_state") || !root["cubic_state"].is_object())
+        return 0;
+
+    size_t loaded = 0;
+    for (auto& [id_str, cj] : root["cubic_state"].items()) {
+        uint16_t uid = 0;
+        try {
+            uid = static_cast<uint16_t>(std::stoi(id_str));
+        } catch (...) {
+            continue;
+        }
+
+        CubicChannel ch;
+        ch.uid = uid;
+        ch.board_id = static_cast<uint8_t>(uid / 100);
+        ch.connector = static_cast<uint8_t>(uid % 100);
+        ch.logical_ch =
+            pt_logical_calibration_channel(slot_from_board_id(ch.board_id), ch.connector);
+        ch.role = cj.value("role", std::string());
+
+        if (cj.contains("points") && cj["points"].is_array()) {
+            for (const auto& pj : cj["points"]) {
+                CubicPoint p;
+                p.adc = pj.value("adc", 0.0);
+                p.psi = pj.value("psi", 0.0);
+                p.t = pj.value("t", 0.0);
+                ch.points.push_back(p);
+            }
+        }
+        if (ch.points.size() > kMaxPoints)
+            ch.points.erase(ch.points.begin(),
+                            ch.points.begin() +
+                                static_cast<std::ptrdiff_t>(ch.points.size() - kMaxPoints));
+
+        ch.fit = compute_fit(ch.points);
+        ch.updated_at = unix_now_sec();
+        ch.status = !ch.fit.valid ? (ch.points.empty() ? "PENDING" : "ERROR")
+                                  : (ch.points.size() < 2 ? "PENDING" : "OK");
+        channels_[uid] = std::move(ch);
+        ++loaded;
+    }
+    return loaded;
+}
+
+}  // namespace calibration
+}  // namespace fsw
diff --git a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
index 1c502c63f..e20575502 100644
--- a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
@@ -301,6 +301,10 @@ bool PTCalibrationManager::is_calibrated(uint8_t channel_id) const {
     return calibrations_.find(channel_id) != calibrations_.end();
 }
 
+void PTCalibrationManager::set_calibration(uint8_t channel_id, const PTCalibrationCoeffs& coeffs) {
+    calibrations_[channel_id] = coeffs;
+}
+
 double PTCalibrationManager::calculate_pressure(uint8_t channel_id, int32_t adc_code) const {
     const auto* coeffs = get_calibration(channel_id);
     if (coeffs) {
@@ -358,6 +362,11 @@ static bool skip_json_for_pt_polynomial_load(const std::string& filename) {
         return true;
     if (filename.find("learned_prior") != std::string::npos)
         return true;
+    // Operator-built cubics are owned by CubicCalibrationStore, which applies them via
+    // set_calibration() after load. Excluding the file here keeps the factory overlay pure so the
+    // service can snapshot true factory coefficients (for revert-on-clear).
+    if (filename == "cubic_calibration.json")
+        return true;
     return false;
 }
 
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 64631307d..df1b568f7 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -31,6 +31,7 @@
 #include <cmath>
 #include <csignal>
 #include <cstdlib>
+#include <deque>
 #include <filesystem>
 #include <fstream>
 #include <iostream>
@@ -43,6 +44,7 @@
 #include <unordered_map>
 #include <vector>
 
+#include "calibration/CubicCalibrationStore.hpp"
 #include "calibration/PTCalibration.hpp"
 #include "calibration/RobustCalibrationManager.hpp"
 #include "calibration/SensorCalibration.hpp"
@@ -563,6 +565,40 @@ int main(int argc, char* argv[]) {
         }
     }
 
+    // ---- Operator-built cubic PT calibration (see CubicCalibrationStore) ----
+    // The store owns per-connector captured (adc, psi) points and the fitted cubic. Its file is
+    // excluded from the factory-cubic overlay loader, so factory_pt_snapshot is pure factory and
+    // the store is the sole applier of operator cubics (via pt_calibration.set_calibration).
+    fsw::calibration::CubicCalibrationStore cubic_store(
+        "scripts/calibration/calibrations/cubic_calibration.json");
+    std::map<uint8_t, fsw::calibration::PTCalibrationCoeffs> factory_pt_snapshot;
+    std::unordered_map<uint16_t, std::deque<int32_t>> pt_adc_ring;  // recent raw ADC per uid
+    constexpr size_t kPtAdcRingMax = 128;                           // ~0.5 s of samples at ~250 Hz
+    for (const auto& bc : pt_boards) {
+        for (uint8_t local_ch : bc.channels) {
+            const uint16_t uid = static_cast<uint16_t>(bc.board_id) * 100u + local_ch;
+            const uint8_t log_ch =
+                fsw::calibration::pt_logical_calibration_channel(bc.board_number, local_ch);
+            cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, /*role=*/"");
+            if (pt_calibration.is_calibrated(log_ch))
+                factory_pt_snapshot[log_ch] = *pt_calibration.get_calibration(log_ch);
+        }
+    }
+    // Resume previously captured points and re-apply their fitted cubics to the live stream.
+    const size_t cubic_loaded = cubic_store.load();
+    if (cubic_loaded > 0) {
+        for (uint16_t uid : cubic_store.uids()) {
+            const fsw::calibration::CubicFit* fit = cubic_store.fit_for(uid);
+            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+            if (fit != nullptr && cch != nullptr)
+                pt_calibration.set_calibration(
+                    cch->logical_ch,
+                    fsw::calibration::PTCalibrationCoeffs(fit->A, fit->B, fit->C, fit->D));
+        }
+        std::cout << "[Calibration] Cubic: resumed " << cubic_loaded
+                  << " channel(s) from cubic_calibration.json" << std::endl;
+    }
+
     std::cout << "[Calibration] Robust adjustments path: " << adjustments_path << std::endl;
     std::cout << "[Calibration]   (override with --adjustments, CAL_BACKUP_PATH, or "
                  "calibration_backups/calibration_backup_*.json mtime)"
@@ -747,6 +783,47 @@ int main(int argc, char* argv[]) {
                 } else if (cmd_type == 2) {  // Save
                     robust_manager.save_adjustments(adjustments_path);
                     std::cout << "[Cal] Adjustments saved to " << adjustments_path << std::endl;
+                } else if (cmd_type == 3) {  // Capture cubic point (operator-built factory cubic)
+                    bool have_adc = false;
+                    double adc_avg = 0.0;
+                    auto rit = pt_adc_ring.find(sensor_id);
+                    if (rit != pt_adc_ring.end() && !rit->second.empty()) {
+                        double sum = 0.0;
+                        for (int32_t a : rit->second)
+                            sum += static_cast<double>(a);
+                        adc_avg = sum / static_cast<double>(rit->second.size());
+                        have_adc = true;
+                    } else if (last_adc_map.count(sensor_id)) {
+                        adc_avg = static_cast<double>(last_adc_map[sensor_id]);
+                        have_adc = true;
+                    }
+                    if (have_adc) {
+                        const fsw::calibration::CubicFit fit =
+                            cubic_store.add_point(sensor_id, adc_avg, ref_val);
+                        const fsw::calibration::CubicChannel* cch = cubic_store.channel(sensor_id);
+                        if (fit.valid && cch != nullptr)
+                            pt_calibration.set_calibration(
+                                cch->logical_ch,
+                                fsw::calibration::PTCalibrationCoeffs(fit.A, fit.B, fit.C, fit.D));
+                        cubic_store.save();
+                        std::cout << "[Cal] Cubic capture uid=" << static_cast<int>(sensor_id)
+                                  << " adc=" << adc_avg << " psi=" << ref_val
+                                  << (fit.valid ? " (fit ok)" : " (pending/err)") << std::endl;
+                    } else {
+                        std::cout << "[Cal] Cubic capture: no ADC seen yet for uid "
+                                  << static_cast<int>(sensor_id) << std::endl;
+                    }
+                } else if (cmd_type == 4) {  // Clear cubic channel (revert to factory)
+                    cubic_store.clear_channel(sensor_id);
+                    const fsw::calibration::CubicChannel* cch = cubic_store.channel(sensor_id);
+                    if (cch != nullptr) {
+                        auto fac = factory_pt_snapshot.find(cch->logical_ch);
+                        if (fac != factory_pt_snapshot.end())
+                            pt_calibration.set_calibration(cch->logical_ch, fac->second);
+                    }
+                    cubic_store.save();
+                    std::cout << "[Cal] Cubic cleared uid=" << static_cast<int>(sensor_id)
+                              << std::endl;
                 }
             }
             continue;
@@ -830,6 +907,13 @@ int main(int argc, char* argv[]) {
                               << " adc_hp=" << hp_wire_adc << " psi=" << psi << std::endl;
             } else {
                 last_adc_map[uid] = adc_i32;
+                // Feed the cubic-calibration ADC ring so a capture averages a short window.
+                {
+                    auto& ring = pt_adc_ring[uid];
+                    ring.push_back(adc_i32);
+                    if (ring.size() > kPtAdcRingMax)
+                        ring.pop_front();
+                }
                 const uint8_t pt_log_ch =
                     fsw::calibration::pt_logical_calibration_channel(board_number, ch_eff);
                 const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index 839fb29f9..ffd9a84cb 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -196,13 +196,52 @@ export interface CalibrationStatusPayload {
     calibrationFilePath?: string | null;
 }
 /** Commands the frontend sends to drive the calibration engine */
-export type CalibrationCommandType = 'capture_reference' | 'fit_channel' | 'reset_channel' | 'enable_phase2' | 'disable_phase2' | 'zero_all' | 'save_coefficients' | 'clear_calibration';
+export type CalibrationCommandType = 'capture_reference' | 'fit_channel' | 'reset_channel' | 'enable_phase2' | 'disable_phase2' | 'zero_all' | 'save_coefficients' | 'clear_calibration' | 'capture_cubic_point' | 'clear_cubic_channel';
 export interface CalibrationCommand {
     commandType: CalibrationCommandType;
     sensorId?: number;
     boardId?: number;
     referencePressure?: number;
 }
+/** One operator-captured calibration point for a channel's cubic fit. */
+export interface CubicCalibrationPoint {
+    adc: number;
+    psi: number;
+    t: number;
+}
+/**
+ * Per-sensor cubic calibration record produced by the calibration service. The frontend renders the
+ * captured `points` as a scatter and overlays the curve by evaluating `polyCoeffs` over
+ * `((adc - adcNormMin)/adcNormScale)^i` — no fitting in the browser.
+ */
+export interface CubicCalibrationChannel {
+    boardId: number;
+    connector: number;
+    logicalCh: number;
+    role: string;
+    active_model: 'cubic';
+    numPoints: number;
+    status: 'PENDING' | 'OK' | 'ERROR';
+    last_error: string;
+    rmse: number;
+    degree: number;
+    updatedAt: number;
+    coeffs: {
+        A: number;
+        B: number;
+        C: number;
+        D: number;
+    };
+    polyCoeffs: number[];
+    adcNormMin: number;
+    adcNormScale: number;
+    points: CubicCalibrationPoint[];
+}
+/** Body of GET /api/cubic_calibration: the service's cubic_calibration.json, keyed by uid. */
+export interface CubicCalibrationPayload {
+    cubic_state?: Record<string, CubicCalibrationChannel>;
+    [key: string]: unknown;
+}
 /** Aggregated status for a single hardware board (PT, ACTUATOR, RTD, LC, TC, etc.). */
 export interface BoardStatus {
     /** Board type label, e.g. "PT", "ACTUATOR", "RTD", "LC", "TC". */
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index 1a4aff996..cda8e875d 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index cb3ef7c8d..51073175c 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
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+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WA+BX;AA/BD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EA/BW,WAAW,KAAX,WAAW,QA+BtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AA2TD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC"}
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index 50fede7fb..a4275298a 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -254,7 +254,9 @@ export type CalibrationCommandType =
   | 'disable_phase2'
   | 'zero_all'            // zero-point init: all PTs set current ADC → 0 PSI
   | 'save_coefficients'   // persist current coefficients to disk
-  | 'clear_calibration';  // clear all state and start from scratch
+  | 'clear_calibration'   // clear all state and start from scratch
+  | 'capture_cubic_point' // add one (current ADC, ref PSI) point to a channel's cubic fit
+  | 'clear_cubic_channel';// drop a channel's cubic points and revert to the factory cubic
 
 export interface CalibrationCommand {
   commandType: CalibrationCommandType;
@@ -263,6 +265,45 @@ export interface CalibrationCommand {
   referencePressure?: number;  // PSI ground-truth for capture_reference
 }
 
+// ── Cubic PT calibration (service-owned fit, served read-only at GET /api/cubic_calibration) ──
+
+/** One operator-captured calibration point for a channel's cubic fit. */
+export interface CubicCalibrationPoint {
+  adc: number;   // averaged raw ADC code at capture time
+  psi: number;   // operator-entered reference pressure
+  t: number;     // capture time (unix seconds)
+}
+
+/**
+ * Per-sensor cubic calibration record produced by the calibration service. The frontend renders the
+ * captured `points` as a scatter and overlays the curve by evaluating `polyCoeffs` over
+ * `((adc - adcNormMin)/adcNormScale)^i` — no fitting in the browser.
+ */
+export interface CubicCalibrationChannel {
+  boardId: number;
+  connector: number;              // 1-based board-local connector
+  logicalCh: number;              // (slot-1)*10 + connector (PTCalibrationManager key)
+  role: string;                   // may be empty; the UI supplies it from sensor config
+  active_model: 'cubic';
+  numPoints: number;
+  status: 'PENDING' | 'OK' | 'ERROR';
+  last_error: string;
+  rmse: number;
+  degree: number;
+  updatedAt: number;              // unix seconds
+  coeffs: { A: number; B: number; C: number; D: number };  // raw-ADC-space cubic
+  polyCoeffs: number[];           // normalized coeffs (well-conditioned; used for display eval)
+  adcNormMin: number;
+  adcNormScale: number;
+  points: CubicCalibrationPoint[];
+}
+
+/** Body of GET /api/cubic_calibration: the service's cubic_calibration.json, keyed by uid. */
+export interface CubicCalibrationPayload {
+  cubic_state?: Record<string, CubicCalibrationChannel>;
+  [key: string]: unknown;  // also carries calibration_polynomials/poly_coeffs/norm maps
+}
+
 // ── Board / heartbeat status ───────────────────────────────────────────────────
 
 /** Aggregated status for a single hardware board (PT, ACTUATOR, RTD, LC, TC, etc.). */

From 22e12dd02a7830e6a4d3aa292dad6c4b3e5fe750 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 14:13:01 -0700
Subject: [PATCH 119/205] vendor tomlplusplus v3.4.0 single-header for C++ TOML

---
 .../diablo_server/lib/include/toml++/toml.hpp | 17748 ++++++++++++++++
 1 file changed, 17748 insertions(+)
 create mode 100644 daq-server/diablo_server/lib/include/toml++/toml.hpp

diff --git a/daq-server/diablo_server/lib/include/toml++/toml.hpp b/daq-server/diablo_server/lib/include/toml++/toml.hpp
new file mode 100644
index 000000000..0599bf5ed
--- /dev/null
+++ b/daq-server/diablo_server/lib/include/toml++/toml.hpp
@@ -0,0 +1,17748 @@
+//----------------------------------------------------------------------------------------------------------------------
+//
+// toml++ v3.4.0
+// https://github.com/marzer/tomlplusplus
+// SPDX-License-Identifier: MIT
+//
+//----------------------------------------------------------------------------------------------------------------------
+//
+// -         THIS FILE WAS ASSEMBLED FROM MULTIPLE HEADER FILES BY A SCRIPT - PLEASE DON'T EDIT IT DIRECTLY            -
+//
+// If you wish to submit a contribution to toml++, hooray and thanks! Before you crack on, please be aware that this
+// file was assembled from a number of smaller files by a python script, and code contributions should not be made
+// against it directly. You should instead make your changes in the relevant source file(s). The file names of the files
+// that contributed to this header can be found at the beginnings and ends of the corresponding sections of this file.
+//
+//----------------------------------------------------------------------------------------------------------------------
+//
+// TOML Language Specifications:
+// latest:      https://github.com/toml-lang/toml/blob/master/README.md
+// v1.0.0:      https://toml.io/en/v1.0.0
+// v0.5.0:      https://toml.io/en/v0.5.0
+// changelog:   https://github.com/toml-lang/toml/blob/master/CHANGELOG.md
+//
+//----------------------------------------------------------------------------------------------------------------------
+//
+// MIT License
+//
+// Copyright (c) Mark Gillard <mark.gillard@outlook.com.au>
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
+// documentation files (the "Software"), to deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+// permit persons to whom the Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in all copies or substantial portions of the
+// Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+// WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+// COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+// OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+//----------------------------------------------------------------------------------------------------------------------
+#ifndef TOMLPLUSPLUS_HPP
+#define TOMLPLUSPLUS_HPP
+
+#define INCLUDE_TOMLPLUSPLUS_H // old guard name used pre-v3
+#define TOMLPLUSPLUS_H		   // guard name used in the legacy toml.h
+
+//********  impl/preprocessor.hpp  *************************************************************************************
+
+#ifndef __cplusplus
+#error toml++ is a C++ library.
+#endif
+
+#ifndef TOML_CPP
+#ifdef _MSVC_LANG
+#if _MSVC_LANG > __cplusplus
+#define TOML_CPP _MSVC_LANG
+#endif
+#endif
+#ifndef TOML_CPP
+#define TOML_CPP __cplusplus
+#endif
+#if TOML_CPP >= 202900L
+#undef TOML_CPP
+#define TOML_CPP 29
+#elif TOML_CPP >= 202600L
+#undef TOML_CPP
+#define TOML_CPP 26
+#elif TOML_CPP >= 202302L
+#undef TOML_CPP
+#define TOML_CPP 23
+#elif TOML_CPP >= 202002L
+#undef TOML_CPP
+#define TOML_CPP 20
+#elif TOML_CPP >= 201703L
+#undef TOML_CPP
+#define TOML_CPP 17
+#elif TOML_CPP >= 201402L
+#undef TOML_CPP
+#define TOML_CPP 14
+#elif TOML_CPP >= 201103L
+#undef TOML_CPP
+#define TOML_CPP 11
+#else
+#undef TOML_CPP
+#define TOML_CPP 0
+#endif
+#endif
+
+#if !TOML_CPP
+#error toml++ requires C++17 or higher. For a pre-C++11 TOML library see https://github.com/ToruNiina/Boost.toml
+#elif TOML_CPP < 17
+#error toml++ requires C++17 or higher. For a C++11 TOML library see https://github.com/ToruNiina/toml11
+#endif
+
+#ifndef TOML_MAKE_VERSION
+#define TOML_MAKE_VERSION(major, minor, patch) (((major)*10000) + ((minor)*100) + ((patch)))
+#endif
+
+#ifndef TOML_INTELLISENSE
+#ifdef __INTELLISENSE__
+#define TOML_INTELLISENSE 1
+#else
+#define TOML_INTELLISENSE 0
+#endif
+#endif
+
+#ifndef TOML_DOXYGEN
+#if defined(DOXYGEN) || defined(__DOXYGEN) || defined(__DOXYGEN__) || defined(__doxygen__) || defined(__POXY__)        \
+	|| defined(__poxy__)
+#define TOML_DOXYGEN 1
+#else
+#define TOML_DOXYGEN 0
+#endif
+#endif
+
+#ifndef TOML_CLANG
+#ifdef __clang__
+#define TOML_CLANG __clang_major__
+#else
+#define TOML_CLANG 0
+#endif
+
+// special handling for apple clang; see:
+// - https://github.com/marzer/tomlplusplus/issues/189
+// - https://en.wikipedia.org/wiki/Xcode
+// -
+// https://stackoverflow.com/questions/19387043/how-can-i-reliably-detect-the-version-of-clang-at-preprocessing-time
+#if TOML_CLANG && defined(__apple_build_version__)
+#undef TOML_CLANG
+#define TOML_CLANG_VERSION TOML_MAKE_VERSION(__clang_major__, __clang_minor__, __clang_patchlevel__)
+#if TOML_CLANG_VERSION >= TOML_MAKE_VERSION(15, 0, 0)
+#define TOML_CLANG 16
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(14, 3, 0)
+#define TOML_CLANG 15
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(14, 0, 0)
+#define TOML_CLANG 14
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(13, 1, 6)
+#define TOML_CLANG 13
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(13, 0, 0)
+#define TOML_CLANG 12
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(12, 0, 5)
+#define TOML_CLANG 11
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(12, 0, 0)
+#define TOML_CLANG 10
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(11, 0, 3)
+#define TOML_CLANG 9
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(11, 0, 0)
+#define TOML_CLANG 8
+#elif TOML_CLANG_VERSION >= TOML_MAKE_VERSION(10, 0, 1)
+#define TOML_CLANG 7
+#else
+#define TOML_CLANG 6 // not strictly correct but doesn't matter below this
+#endif
+#undef TOML_CLANG_VERSION
+#endif
+#endif
+
+#ifndef TOML_ICC
+#ifdef __INTEL_COMPILER
+#define TOML_ICC __INTEL_COMPILER
+#ifdef __ICL
+#define TOML_ICC_CL TOML_ICC
+#else
+#define TOML_ICC_CL 0
+#endif
+#else
+#define TOML_ICC	0
+#define TOML_ICC_CL 0
+#endif
+#endif
+
+#ifndef TOML_MSVC_LIKE
+#ifdef _MSC_VER
+#define TOML_MSVC_LIKE _MSC_VER
+#else
+#define TOML_MSVC_LIKE 0
+#endif
+#endif
+
+#ifndef TOML_MSVC
+#if TOML_MSVC_LIKE && !TOML_CLANG && !TOML_ICC
+#define TOML_MSVC TOML_MSVC_LIKE
+#else
+#define TOML_MSVC 0
+#endif
+#endif
+
+#ifndef TOML_GCC_LIKE
+#ifdef __GNUC__
+#define TOML_GCC_LIKE __GNUC__
+#else
+#define TOML_GCC_LIKE 0
+#endif
+#endif
+
+#ifndef TOML_GCC
+#if TOML_GCC_LIKE && !TOML_CLANG && !TOML_ICC
+#define TOML_GCC TOML_GCC_LIKE
+#else
+#define TOML_GCC 0
+#endif
+#endif
+
+#ifndef TOML_CUDA
+#if defined(__CUDACC__) || defined(__CUDA_ARCH__) || defined(__CUDA_LIBDEVICE__)
+#define TOML_CUDA 1
+#else
+#define TOML_CUDA 0
+#endif
+#endif
+
+#ifndef TOML_ARCH_ITANIUM
+#if defined(__ia64__) || defined(__ia64) || defined(_IA64) || defined(__IA64__) || defined(_M_IA64)
+#define TOML_ARCH_ITANIUM 1
+#define TOML_ARCH_BITNESS 64
+#else
+#define TOML_ARCH_ITANIUM 0
+#endif
+#endif
+
+#ifndef TOML_ARCH_AMD64
+#if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64) || defined(_M_AMD64)
+#define TOML_ARCH_AMD64	  1
+#define TOML_ARCH_BITNESS 64
+#else
+#define TOML_ARCH_AMD64 0
+#endif
+#endif
+
+#ifndef TOML_ARCH_X86
+#if defined(__i386__) || defined(_M_IX86)
+#define TOML_ARCH_X86	  1
+#define TOML_ARCH_BITNESS 32
+#else
+#define TOML_ARCH_X86 0
+#endif
+#endif
+
+#ifndef TOML_ARCH_ARM
+#if defined(__aarch64__) || defined(__ARM_ARCH_ISA_A64) || defined(_M_ARM64) || defined(__ARM_64BIT_STATE)             \
+	|| defined(_M_ARM64EC)
+#define TOML_ARCH_ARM32	  0
+#define TOML_ARCH_ARM64	  1
+#define TOML_ARCH_ARM	  1
+#define TOML_ARCH_BITNESS 64
+#elif defined(__arm__) || defined(_M_ARM) || defined(__ARM_32BIT_STATE)
+#define TOML_ARCH_ARM32	  1
+#define TOML_ARCH_ARM64	  0
+#define TOML_ARCH_ARM	  1
+#define TOML_ARCH_BITNESS 32
+#else
+#define TOML_ARCH_ARM32 0
+#define TOML_ARCH_ARM64 0
+#define TOML_ARCH_ARM	0
+#endif
+#endif
+
+#ifndef TOML_ARCH_BITNESS
+#define TOML_ARCH_BITNESS 0
+#endif
+
+#ifndef TOML_ARCH_X64
+#if TOML_ARCH_BITNESS == 64
+#define TOML_ARCH_X64 1
+#else
+#define TOML_ARCH_X64 0
+#endif
+#endif
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__) || defined(__CYGWIN__)
+#define TOML_WINDOWS 1
+#else
+#define TOML_WINDOWS 0
+#endif
+
+#ifdef __unix__
+#define TOML_UNIX 1
+#else
+#define TOML_UNIX 0
+#endif
+
+#ifdef __linux__
+#define TOML_LINUX 1
+#else
+#define TOML_LINUX 0
+#endif
+
+// TOML_HAS_INCLUDE
+#ifndef TOML_HAS_INCLUDE
+#ifdef __has_include
+#define TOML_HAS_INCLUDE(header)		__has_include(header)
+#else
+#define TOML_HAS_INCLUDE(header) 0
+#endif
+#endif
+
+// TOML_HAS_BUILTIN
+#ifndef TOML_HAS_BUILTIN
+#ifdef __has_builtin
+#define TOML_HAS_BUILTIN(name) __has_builtin(name)
+#else
+#define TOML_HAS_BUILTIN(name) 0
+#endif
+#endif
+
+// TOML_HAS_FEATURE
+#ifndef TOML_HAS_FEATURE
+#ifdef __has_feature
+#define TOML_HAS_FEATURE(name) __has_feature(name)
+#else
+#define TOML_HAS_FEATURE(name) 0
+#endif
+#endif
+
+// TOML_HAS_ATTR
+#ifndef TOML_HAS_ATTR
+#ifdef __has_attribute
+#define TOML_HAS_ATTR(attr) __has_attribute(attr)
+#else
+#define TOML_HAS_ATTR(attr) 0
+#endif
+#endif
+
+// TOML_HAS_CPP_ATTR
+#ifndef TOML_HAS_CPP_ATTR
+#ifdef __has_cpp_attribute
+#define TOML_HAS_CPP_ATTR(attr) __has_cpp_attribute(attr)
+#else
+#define TOML_HAS_CPP_ATTR(attr) 0
+#endif
+#endif
+
+// TOML_ATTR (gnu attributes)
+#ifndef TOML_ATTR
+#if TOML_CLANG || TOML_GCC_LIKE
+#define TOML_ATTR(...) __attribute__((__VA_ARGS__))
+#else
+#define TOML_ATTR(...)
+#endif
+#endif
+
+// TOML_DECLSPEC (msvc attributes)
+#ifndef TOML_DECLSPEC
+#if TOML_MSVC_LIKE
+#define TOML_DECLSPEC(...) __declspec(__VA_ARGS__)
+#else
+#define TOML_DECLSPEC(...)
+#endif
+#endif
+
+// TOML_COMPILER_HAS_EXCEPTIONS
+#ifndef TOML_COMPILER_HAS_EXCEPTIONS
+#if defined(__EXCEPTIONS) || defined(_CPPUNWIND) || defined(__cpp_exceptions)
+#define TOML_COMPILER_HAS_EXCEPTIONS 1
+#else
+#define TOML_COMPILER_HAS_EXCEPTIONS 0
+#endif
+#endif
+
+// TOML_COMPILER_HAS_RTTI
+#ifndef TOML_COMPILER_HAS_RTTI
+#if defined(_CPPRTTI) || defined(__GXX_RTTI) || TOML_HAS_FEATURE(cxx_rtti)
+#define TOML_COMPILER_HAS_RTTI 1
+#else
+#define TOML_COMPILER_HAS_RTTI 0
+#endif
+#endif
+
+// TOML_CONCAT
+#define TOML_CONCAT_1(x, y) x##y
+#define TOML_CONCAT(x, y)	TOML_CONCAT_1(x, y)
+
+// TOML_MAKE_STRING
+#define TOML_MAKE_STRING_1(s) #s
+#define TOML_MAKE_STRING(s)	  TOML_MAKE_STRING_1(s)
+
+// TOML_PRAGMA_XXXX (compiler-specific pragmas)
+#if TOML_CLANG
+#define TOML_PRAGMA_CLANG(decl) _Pragma(TOML_MAKE_STRING(clang decl))
+#else
+#define TOML_PRAGMA_CLANG(decl)
+#endif
+#if TOML_CLANG >= 8
+#define TOML_PRAGMA_CLANG_GE_8(decl) TOML_PRAGMA_CLANG(decl)
+#else
+#define TOML_PRAGMA_CLANG_GE_8(decl)
+#endif
+#if TOML_CLANG >= 9
+#define TOML_PRAGMA_CLANG_GE_9(decl) TOML_PRAGMA_CLANG(decl)
+#else
+#define TOML_PRAGMA_CLANG_GE_9(decl)
+#endif
+#if TOML_CLANG >= 10
+#define TOML_PRAGMA_CLANG_GE_10(decl) TOML_PRAGMA_CLANG(decl)
+#else
+#define TOML_PRAGMA_CLANG_GE_10(decl)
+#endif
+#if TOML_CLANG >= 11
+#define TOML_PRAGMA_CLANG_GE_11(decl) TOML_PRAGMA_CLANG(decl)
+#else
+#define TOML_PRAGMA_CLANG_GE_11(decl)
+#endif
+#if TOML_GCC
+#define TOML_PRAGMA_GCC(decl) _Pragma(TOML_MAKE_STRING(GCC decl))
+#else
+#define TOML_PRAGMA_GCC(decl)
+#endif
+#if TOML_MSVC
+#define TOML_PRAGMA_MSVC(...) __pragma(__VA_ARGS__)
+#else
+#define TOML_PRAGMA_MSVC(...)
+#endif
+#if TOML_ICC
+#define TOML_PRAGMA_ICC(...) __pragma(__VA_ARGS__)
+#else
+#define TOML_PRAGMA_ICC(...)
+#endif
+
+// TOML_ALWAYS_INLINE
+#ifdef _MSC_VER
+#define TOML_ALWAYS_INLINE __forceinline
+#elif TOML_GCC || TOML_CLANG || TOML_HAS_ATTR(__always_inline__)
+#define TOML_ALWAYS_INLINE                                                                                             \
+	TOML_ATTR(__always_inline__)                                                                                       \
+	inline
+#else
+#define TOML_ALWAYS_INLINE inline
+#endif
+
+// TOML_NEVER_INLINE
+#ifdef _MSC_VER
+#define TOML_NEVER_INLINE TOML_DECLSPEC(noinline)
+#elif TOML_CUDA // https://gitlab.gnome.org/GNOME/glib/-/issues/2555
+#define TOML_NEVER_INLINE TOML_ATTR(noinline)
+#else
+#if TOML_GCC || TOML_CLANG || TOML_HAS_ATTR(__noinline__)
+#define TOML_NEVER_INLINE TOML_ATTR(__noinline__)
+#endif
+#endif
+#ifndef TOML_NEVER_INLINE
+#define TOML_NEVER_INLINE
+#endif
+
+// MSVC attributes
+#define TOML_ABSTRACT_INTERFACE TOML_DECLSPEC(novtable)
+#define TOML_EMPTY_BASES		TOML_DECLSPEC(empty_bases)
+
+// TOML_TRIVIAL_ABI
+#if TOML_CLANG || TOML_HAS_ATTR(__trivial_abi__)
+#define TOML_TRIVIAL_ABI TOML_ATTR(__trivial_abi__)
+#else
+#define TOML_TRIVIAL_ABI
+#endif
+
+// TOML_NODISCARD
+#if TOML_CPP >= 17 && TOML_HAS_CPP_ATTR(nodiscard) >= 201603
+#define TOML_NODISCARD [[nodiscard]]
+#elif TOML_CLANG || TOML_GCC || TOML_HAS_ATTR(__warn_unused_result__)
+#define TOML_NODISCARD TOML_ATTR(__warn_unused_result__)
+#else
+#define TOML_NODISCARD
+#endif
+
+// TOML_NODISCARD_CTOR
+#if TOML_CPP >= 17 && TOML_HAS_CPP_ATTR(nodiscard) >= 201907
+#define TOML_NODISCARD_CTOR [[nodiscard]]
+#else
+#define TOML_NODISCARD_CTOR
+#endif
+
+// pure + const
+#ifndef TOML_PURE
+#ifdef NDEBUG
+#define TOML_PURE                                                                                                      \
+	TOML_DECLSPEC(noalias)                                                                                             \
+	TOML_ATTR(pure)
+#else
+#define TOML_PURE
+#endif
+#endif
+#ifndef TOML_CONST
+#ifdef NDEBUG
+#define TOML_CONST                                                                                                     \
+	TOML_DECLSPEC(noalias)                                                                                             \
+	TOML_ATTR(const)
+#else
+#define TOML_CONST
+#endif
+#endif
+#ifndef TOML_INLINE_GETTER
+#define TOML_INLINE_GETTER                                                                                             \
+	TOML_NODISCARD                                                                                                     \
+	TOML_ALWAYS_INLINE
+#endif
+#ifndef TOML_PURE_GETTER
+#define TOML_PURE_GETTER                                                                                               \
+	TOML_NODISCARD                                                                                                     \
+	TOML_PURE
+#endif
+#ifndef TOML_PURE_INLINE_GETTER
+#define TOML_PURE_INLINE_GETTER                                                                                        \
+	TOML_NODISCARD                                                                                                     \
+	TOML_ALWAYS_INLINE                                                                                                 \
+	TOML_PURE
+#endif
+#ifndef TOML_CONST_GETTER
+#define TOML_CONST_GETTER                                                                                              \
+	TOML_NODISCARD                                                                                                     \
+	TOML_CONST
+#endif
+#ifndef TOML_CONST_INLINE_GETTER
+#define TOML_CONST_INLINE_GETTER                                                                                       \
+	TOML_NODISCARD                                                                                                     \
+	TOML_ALWAYS_INLINE                                                                                                 \
+	TOML_CONST
+#endif
+
+// TOML_ASSUME
+#ifdef _MSC_VER
+#define TOML_ASSUME(expr) __assume(expr)
+#elif TOML_ICC || TOML_CLANG || TOML_HAS_BUILTIN(__builtin_assume)
+#define TOML_ASSUME(expr) __builtin_assume(expr)
+#elif TOML_HAS_CPP_ATTR(assume) >= 202207
+#define TOML_ASSUME(expr) [[assume(expr)]]
+#elif TOML_HAS_ATTR(__assume__)
+#define TOML_ASSUME(expr) __attribute__((__assume__(expr)))
+#else
+#define TOML_ASSUME(expr) static_cast<void>(0)
+#endif
+
+// TOML_UNREACHABLE
+#ifdef _MSC_VER
+#define TOML_UNREACHABLE __assume(0)
+#elif TOML_ICC || TOML_CLANG || TOML_GCC || TOML_HAS_BUILTIN(__builtin_unreachable)
+#define TOML_UNREACHABLE __builtin_unreachable()
+#else
+#define TOML_UNREACHABLE static_cast<void>(0)
+#endif
+
+// TOML_LIKELY
+#if TOML_CPP >= 20 && TOML_HAS_CPP_ATTR(likely) >= 201803
+#define TOML_LIKELY(...) (__VA_ARGS__) [[likely]]
+#define TOML_LIKELY_CASE [[likely]]
+#elif TOML_GCC || TOML_CLANG || TOML_HAS_BUILTIN(__builtin_expect)
+#define TOML_LIKELY(...) (__builtin_expect(!!(__VA_ARGS__), 1))
+#else
+#define TOML_LIKELY(...) (__VA_ARGS__)
+#endif
+#ifndef TOML_LIKELY_CASE
+#define TOML_LIKELY_CASE
+#endif
+
+// TOML_UNLIKELY
+#if TOML_CPP >= 20 && TOML_HAS_CPP_ATTR(unlikely) >= 201803
+#define TOML_UNLIKELY(...) (__VA_ARGS__) [[unlikely]]
+#define TOML_UNLIKELY_CASE [[unlikely]]
+#elif TOML_GCC || TOML_CLANG || TOML_HAS_BUILTIN(__builtin_expect)
+#define TOML_UNLIKELY(...) (__builtin_expect(!!(__VA_ARGS__), 0))
+#else
+#define TOML_UNLIKELY(...) (__VA_ARGS__)
+#endif
+#ifndef TOML_UNLIKELY_CASE
+#define TOML_UNLIKELY_CASE
+#endif
+
+// TOML_FLAGS_ENUM
+#if TOML_CLANG || TOML_HAS_ATTR(flag_enum)
+#define TOML_FLAGS_ENUM __attribute__((flag_enum))
+#else
+#define TOML_FLAGS_ENUM
+#endif
+
+// TOML_OPEN_ENUM + TOML_CLOSED_ENUM
+#if TOML_CLANG || TOML_HAS_ATTR(enum_extensibility)
+#define TOML_OPEN_ENUM	 __attribute__((enum_extensibility(open)))
+#define TOML_CLOSED_ENUM __attribute__((enum_extensibility(closed)))
+#else
+#define TOML_OPEN_ENUM
+#define TOML_CLOSED_ENUM
+#endif
+
+// TOML_OPEN_FLAGS_ENUM + TOML_CLOSED_FLAGS_ENUM
+#define TOML_OPEN_FLAGS_ENUM   TOML_OPEN_ENUM TOML_FLAGS_ENUM
+#define TOML_CLOSED_FLAGS_ENUM TOML_CLOSED_ENUM TOML_FLAGS_ENUM
+
+// TOML_MAKE_FLAGS
+#define TOML_MAKE_FLAGS_2(T, op, linkage)                                                                              \
+	TOML_CONST_INLINE_GETTER                                                                                           \
+	linkage constexpr T operator op(T lhs, T rhs) noexcept                                                             \
+	{                                                                                                                  \
+		using under = std::underlying_type_t<T>;                                                                       \
+		return static_cast<T>(static_cast<under>(lhs) op static_cast<under>(rhs));                                     \
+	}                                                                                                                  \
+                                                                                                                       \
+	linkage constexpr T& operator TOML_CONCAT(op, =)(T & lhs, T rhs) noexcept                                          \
+	{                                                                                                                  \
+		return lhs = (lhs op rhs);                                                                                     \
+	}                                                                                                                  \
+                                                                                                                       \
+	static_assert(true)
+#define TOML_MAKE_FLAGS_1(T, linkage)                                                                                  \
+	static_assert(std::is_enum_v<T>);                                                                                  \
+                                                                                                                       \
+	TOML_MAKE_FLAGS_2(T, &, linkage);                                                                                  \
+	TOML_MAKE_FLAGS_2(T, |, linkage);                                                                                  \
+	TOML_MAKE_FLAGS_2(T, ^, linkage);                                                                                  \
+                                                                                                                       \
+	TOML_CONST_INLINE_GETTER                                                                                           \
+	linkage constexpr T operator~(T val) noexcept                                                                      \
+	{                                                                                                                  \
+		using under = std::underlying_type_t<T>;                                                                       \
+		return static_cast<T>(~static_cast<under>(val));                                                               \
+	}                                                                                                                  \
+                                                                                                                       \
+	TOML_CONST_INLINE_GETTER                                                                                           \
+	linkage constexpr bool operator!(T val) noexcept                                                                   \
+	{                                                                                                                  \
+		using under = std::underlying_type_t<T>;                                                                       \
+		return !static_cast<under>(val);                                                                               \
+	}                                                                                                                  \
+                                                                                                                       \
+	static_assert(true)
+#define TOML_MAKE_FLAGS(T) TOML_MAKE_FLAGS_1(T, )
+
+#define TOML_UNUSED(...) static_cast<void>(__VA_ARGS__)
+
+#define TOML_DELETE_DEFAULTS(T)                                                                                        \
+	T(const T&)			   = delete;                                                                                   \
+	T(T&&)				   = delete;                                                                                   \
+	T& operator=(const T&) = delete;                                                                                   \
+	T& operator=(T&&)	   = delete
+
+#define TOML_ASYMMETRICAL_EQUALITY_OPS(LHS, RHS, ...)                                                                  \
+	__VA_ARGS__ TOML_NODISCARD                                                                                         \
+	friend bool operator==(RHS rhs, LHS lhs) noexcept                                                                  \
+	{                                                                                                                  \
+		return lhs == rhs;                                                                                             \
+	}                                                                                                                  \
+	__VA_ARGS__ TOML_NODISCARD                                                                                         \
+	friend bool operator!=(LHS lhs, RHS rhs) noexcept                                                                  \
+	{                                                                                                                  \
+		return !(lhs == rhs);                                                                                          \
+	}                                                                                                                  \
+	__VA_ARGS__ TOML_NODISCARD                                                                                         \
+	friend bool operator!=(RHS rhs, LHS lhs) noexcept                                                                  \
+	{                                                                                                                  \
+		return !(lhs == rhs);                                                                                          \
+	}                                                                                                                  \
+	static_assert(true)
+
+#define TOML_EVAL_BOOL_1(T, F) T
+#define TOML_EVAL_BOOL_0(T, F) F
+
+#if !defined(__POXY__) && !defined(POXY_IMPLEMENTATION_DETAIL)
+#define POXY_IMPLEMENTATION_DETAIL(...) __VA_ARGS__
+#endif
+
+// COMPILER-SPECIFIC WARNING MANAGEMENT
+
+#if TOML_CLANG
+
+#define TOML_PUSH_WARNINGS                                                                                             \
+	TOML_PRAGMA_CLANG(diagnostic push)                                                                                 \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wunknown-warning-option")                                                   \
+	static_assert(true)
+
+#define TOML_DISABLE_SWITCH_WARNINGS                                                                                   \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wswitch")                                                                   \
+	static_assert(true)
+
+#define TOML_DISABLE_ARITHMETIC_WARNINGS                                                                               \
+	TOML_PRAGMA_CLANG_GE_10(diagnostic ignored "-Wimplicit-int-float-conversion")                                      \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wfloat-equal")                                                              \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wdouble-promotion")                                                         \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wchar-subscripts")                                                          \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wshift-sign-overflow")                                                      \
+	static_assert(true)
+
+#define TOML_DISABLE_SPAM_WARNINGS                                                                                     \
+	TOML_PRAGMA_CLANG_GE_8(diagnostic ignored "-Wdefaulted-function-deleted")                                          \
+	TOML_PRAGMA_CLANG_GE_9(diagnostic ignored "-Wctad-maybe-unsupported")                                              \
+	TOML_PRAGMA_CLANG_GE_10(diagnostic ignored "-Wzero-as-null-pointer-constant")                                      \
+	TOML_PRAGMA_CLANG_GE_11(diagnostic ignored "-Wsuggest-destructor-override")                                        \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wweak-vtables")                                                             \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wweak-template-vtables")                                                    \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wdouble-promotion")                                                         \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wchar-subscripts")                                                          \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wmissing-field-initializers")                                               \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Wpadded")                                                                   \
+	static_assert(true)
+
+#define TOML_POP_WARNINGS                                                                                              \
+	TOML_PRAGMA_CLANG(diagnostic pop)                                                                                  \
+	static_assert(true)
+
+#define TOML_DISABLE_WARNINGS                                                                                          \
+	TOML_PRAGMA_CLANG(diagnostic push)                                                                                 \
+	TOML_PRAGMA_CLANG(diagnostic ignored "-Weverything")                                                               \
+	static_assert(true, "")
+
+#define TOML_ENABLE_WARNINGS                                                                                           \
+	TOML_PRAGMA_CLANG(diagnostic pop)                                                                                  \
+	static_assert(true)
+
+#define TOML_SIMPLE_STATIC_ASSERT_MESSAGES 1
+
+#elif TOML_MSVC
+
+#define TOML_PUSH_WARNINGS                                                                                             \
+	__pragma(warning(push))                                                                                            \
+	static_assert(true)
+
+#if TOML_HAS_INCLUDE(<CodeAnalysis/Warnings.h>)
+#pragma warning(push, 0)
+#include <CodeAnalysis/Warnings.h>
+#pragma warning(pop)
+#define TOML_DISABLE_CODE_ANALYSIS_WARNINGS                                                                            \
+	__pragma(warning(disable : ALL_CODE_ANALYSIS_WARNINGS))                                                            \
+	static_assert(true)
+#else
+#define TOML_DISABLE_CODE_ANALYSIS_WARNINGS static_assert(true)
+#endif
+
+#define TOML_DISABLE_SWITCH_WARNINGS                                                                                   \
+	__pragma(warning(disable : 4061))                                                                                  \
+	__pragma(warning(disable : 4062))                                                                                  \
+	__pragma(warning(disable : 4063))                                                                                  \
+	__pragma(warning(disable : 5262))  /* switch-case implicit fallthrough (false-positive) */                         \
+	__pragma(warning(disable : 26819)) /* cg: unannotated fallthrough */                                               \
+	static_assert(true)
+
+#define TOML_DISABLE_SPAM_WARNINGS                                                                                     \
+	__pragma(warning(disable : 4127)) /* conditional expr is constant */                                               \
+	__pragma(warning(disable : 4324)) /* structure was padded due to alignment specifier */                            \
+	__pragma(warning(disable : 4348))                                                                                  \
+	__pragma(warning(disable : 4464)) /* relative include path contains '..' */                                        \
+	__pragma(warning(disable : 4505)) /* unreferenced local function removed */                                        \
+	__pragma(warning(disable : 4514)) /* unreferenced inline function has been removed */                              \
+	__pragma(warning(disable : 4582)) /* constructor is not implicitly called */                                       \
+	__pragma(warning(disable : 4619)) /*  there is no warning number 'XXXX' */                                         \
+	__pragma(warning(disable : 4623)) /* default constructor was implicitly defined as deleted */                      \
+	__pragma(warning(disable : 4625)) /* copy constructor was implicitly defined as deleted */                         \
+	__pragma(warning(disable : 4626)) /* assignment operator was implicitly defined as deleted */                      \
+	__pragma(warning(disable : 4710)) /* function not inlined */                                                       \
+	__pragma(warning(disable : 4711)) /* function selected for automatic expansion */                                  \
+	__pragma(warning(disable : 4820)) /* N bytes padding added */                                                      \
+	__pragma(warning(disable : 4946)) /* reinterpret_cast used between related classes */                              \
+	__pragma(warning(disable : 5026)) /* move constructor was implicitly defined as deleted	*/                         \
+	__pragma(warning(disable : 5027)) /* move assignment operator was implicitly defined as deleted	*/                 \
+	__pragma(warning(disable : 5039)) /* potentially throwing function passed to 'extern "C"' function */              \
+	__pragma(warning(disable : 5045)) /* Compiler will insert Spectre mitigation */                                    \
+	__pragma(warning(disable : 5264)) /* const variable is not used (false-positive) */                                \
+	__pragma(warning(disable : 26451))                                                                                 \
+	__pragma(warning(disable : 26490))                                                                                 \
+	__pragma(warning(disable : 26495))                                                                                 \
+	__pragma(warning(disable : 26812))                                                                                 \
+	__pragma(warning(disable : 26819))                                                                                 \
+	static_assert(true)
+
+#define TOML_DISABLE_ARITHMETIC_WARNINGS                                                                               \
+	__pragma(warning(disable : 4365)) /* argument signed/unsigned mismatch */                                          \
+	__pragma(warning(disable : 4738)) /* storing 32-bit float result in memory */                                      \
+	__pragma(warning(disable : 5219)) /* implicit conversion from integral to float */                                 \
+	static_assert(true)
+
+#define TOML_POP_WARNINGS                                                                                              \
+	__pragma(warning(pop))                                                                                             \
+	static_assert(true)
+
+#define TOML_DISABLE_WARNINGS                                                                                          \
+	__pragma(warning(push, 0))                                                                                         \
+	__pragma(warning(disable : 4348))                                                                                  \
+	__pragma(warning(disable : 4668))                                                                                  \
+	__pragma(warning(disable : 5105))                                                                                  \
+	__pragma(warning(disable : 5264))                                                                                  \
+	TOML_DISABLE_CODE_ANALYSIS_WARNINGS;                                                                               \
+	TOML_DISABLE_SWITCH_WARNINGS;                                                                                      \
+	TOML_DISABLE_SPAM_WARNINGS;                                                                                        \
+	TOML_DISABLE_ARITHMETIC_WARNINGS;                                                                                  \
+	static_assert(true)
+
+#define TOML_ENABLE_WARNINGS TOML_POP_WARNINGS
+
+#elif TOML_ICC
+
+#define TOML_PUSH_WARNINGS                                                                                             \
+	__pragma(warning(push))                                                                                            \
+	static_assert(true)
+
+#define TOML_DISABLE_SPAM_WARNINGS                                                                                     \
+	__pragma(warning(disable : 82))	  /* storage class is not first */                                                 \
+	__pragma(warning(disable : 111))  /* statement unreachable (false-positive) */                                     \
+	__pragma(warning(disable : 869))  /* unreferenced parameter */                                                     \
+	__pragma(warning(disable : 1011)) /* missing return (false-positive) */                                            \
+	__pragma(warning(disable : 2261)) /* assume expr side-effects discarded */                                         \
+	static_assert(true)
+
+#define TOML_POP_WARNINGS                                                                                              \
+	__pragma(warning(pop))                                                                                             \
+	static_assert(true)
+
+#define TOML_DISABLE_WARNINGS                                                                                          \
+	__pragma(warning(push, 0))                                                                                         \
+	TOML_DISABLE_SPAM_WARNINGS
+
+#define TOML_ENABLE_WARNINGS                                                                                           \
+	__pragma(warning(pop))                                                                                             \
+	static_assert(true)
+
+#elif TOML_GCC
+
+#define TOML_PUSH_WARNINGS                                                                                             \
+	TOML_PRAGMA_GCC(diagnostic push)                                                                                   \
+	static_assert(true)
+
+#define TOML_DISABLE_SWITCH_WARNINGS                                                                                   \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wswitch")                                                                     \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wswitch-enum")                                                                \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wswitch-default")                                                             \
+	static_assert(true)
+
+#define TOML_DISABLE_ARITHMETIC_WARNINGS                                                                               \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wfloat-equal")                                                                \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wsign-conversion")                                                            \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wchar-subscripts")                                                            \
+	static_assert(true)
+
+#define TOML_DISABLE_SUGGEST_ATTR_WARNINGS                                                                             \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wsuggest-attribute=const")                                                    \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wsuggest-attribute=pure")                                                     \
+	static_assert(true)
+
+#define TOML_DISABLE_SPAM_WARNINGS                                                                                     \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wpadded")                                                                     \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wcast-align")                                                                 \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wcomment")                                                                    \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wtype-limits")                                                                \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wuseless-cast")                                                               \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wchar-subscripts")                                                            \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wsubobject-linkage")                                                          \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wmissing-field-initializers")                                                 \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wmaybe-uninitialized")                                                        \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wnoexcept")                                                                   \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wnull-dereference")                                                           \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wduplicated-branches")                                                        \
+	static_assert(true)
+
+#define TOML_POP_WARNINGS                                                                                              \
+	TOML_PRAGMA_GCC(diagnostic pop)                                                                                    \
+	static_assert(true)
+
+#define TOML_DISABLE_WARNINGS                                                                                          \
+	TOML_PRAGMA_GCC(diagnostic push)                                                                                   \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wall")                                                                        \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wextra")                                                                      \
+	TOML_PRAGMA_GCC(diagnostic ignored "-Wpedantic")                                                                   \
+	TOML_DISABLE_SWITCH_WARNINGS;                                                                                      \
+	TOML_DISABLE_ARITHMETIC_WARNINGS;                                                                                  \
+	TOML_DISABLE_SUGGEST_ATTR_WARNINGS;                                                                                \
+	TOML_DISABLE_SPAM_WARNINGS;                                                                                        \
+	static_assert(true)
+
+#define TOML_ENABLE_WARNINGS                                                                                           \
+	TOML_PRAGMA_GCC(diagnostic pop)                                                                                    \
+	static_assert(true)
+
+#endif
+
+#ifndef TOML_PUSH_WARNINGS
+#define TOML_PUSH_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_DISABLE_CODE_ANALYSIS_WARNINGS
+#define TOML_DISABLE_CODE_ANALYSIS_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_DISABLE_SWITCH_WARNINGS
+#define TOML_DISABLE_SWITCH_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_DISABLE_SUGGEST_ATTR_WARNINGS
+#define TOML_DISABLE_SUGGEST_ATTR_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_DISABLE_SPAM_WARNINGS
+#define TOML_DISABLE_SPAM_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_DISABLE_ARITHMETIC_WARNINGS
+#define TOML_DISABLE_ARITHMETIC_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_POP_WARNINGS
+#define TOML_POP_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_DISABLE_WARNINGS
+#define TOML_DISABLE_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_ENABLE_WARNINGS
+#define TOML_ENABLE_WARNINGS static_assert(true)
+#endif
+#ifndef TOML_SIMPLE_STATIC_ASSERT_MESSAGES
+#define TOML_SIMPLE_STATIC_ASSERT_MESSAGES 0
+#endif
+
+#ifdef TOML_CONFIG_HEADER
+#include TOML_CONFIG_HEADER
+#endif
+
+// is the library being built as a shared lib/dll using meson and friends?
+#ifndef TOML_SHARED_LIB
+#define TOML_SHARED_LIB 0
+#endif
+
+// header-only mode
+#if !defined(TOML_HEADER_ONLY) && defined(TOML_ALL_INLINE) // was TOML_ALL_INLINE pre-2.0
+#define TOML_HEADER_ONLY TOML_ALL_INLINE
+#endif
+#if !defined(TOML_HEADER_ONLY) || (defined(TOML_HEADER_ONLY) && TOML_HEADER_ONLY) || TOML_INTELLISENSE
+#undef TOML_HEADER_ONLY
+#define TOML_HEADER_ONLY 1
+#endif
+#if TOML_DOXYGEN || TOML_SHARED_LIB
+#undef TOML_HEADER_ONLY
+#define TOML_HEADER_ONLY 0
+#endif
+
+// internal implementation switch
+#if defined(TOML_IMPLEMENTATION) || TOML_HEADER_ONLY
+#undef TOML_IMPLEMENTATION
+#define TOML_IMPLEMENTATION 1
+#else
+#define TOML_IMPLEMENTATION 0
+#endif
+
+// dll/shared lib function exports (legacy - TOML_API was the old name for this setting)
+#if !defined(TOML_EXPORTED_MEMBER_FUNCTION) && !defined(TOML_EXPORTED_STATIC_FUNCTION)                                 \
+	&& !defined(TOML_EXPORTED_FREE_FUNCTION) && !defined(TOML_EXPORTED_CLASS) && defined(TOML_API)
+#define TOML_EXPORTED_MEMBER_FUNCTION TOML_API
+#define TOML_EXPORTED_STATIC_FUNCTION TOML_API
+#define TOML_EXPORTED_FREE_FUNCTION	  TOML_API
+#endif
+
+// dll/shared lib exports
+#if TOML_SHARED_LIB
+#undef TOML_API
+#undef TOML_EXPORTED_CLASS
+#undef TOML_EXPORTED_MEMBER_FUNCTION
+#undef TOML_EXPORTED_STATIC_FUNCTION
+#undef TOML_EXPORTED_FREE_FUNCTION
+#if TOML_WINDOWS
+#if TOML_IMPLEMENTATION
+#define TOML_EXPORTED_CLASS			__declspec(dllexport)
+#define TOML_EXPORTED_FREE_FUNCTION __declspec(dllexport)
+#else
+#define TOML_EXPORTED_CLASS			__declspec(dllimport)
+#define TOML_EXPORTED_FREE_FUNCTION __declspec(dllimport)
+#endif
+#ifndef TOML_CALLCONV
+#define TOML_CALLCONV __cdecl
+#endif
+#elif defined(__GNUC__) && __GNUC__ >= 4
+#define TOML_EXPORTED_CLASS			  __attribute__((visibility("default")))
+#define TOML_EXPORTED_MEMBER_FUNCTION __attribute__((visibility("default")))
+#define TOML_EXPORTED_STATIC_FUNCTION __attribute__((visibility("default")))
+#define TOML_EXPORTED_FREE_FUNCTION	  __attribute__((visibility("default")))
+#endif
+#endif
+#ifndef TOML_EXPORTED_CLASS
+#define TOML_EXPORTED_CLASS
+#endif
+#ifndef TOML_EXPORTED_MEMBER_FUNCTION
+#define TOML_EXPORTED_MEMBER_FUNCTION
+#endif
+#ifndef TOML_EXPORTED_STATIC_FUNCTION
+#define TOML_EXPORTED_STATIC_FUNCTION
+#endif
+#ifndef TOML_EXPORTED_FREE_FUNCTION
+#define TOML_EXPORTED_FREE_FUNCTION
+#endif
+
+// experimental language features
+#if !defined(TOML_ENABLE_UNRELEASED_FEATURES) && defined(TOML_UNRELEASED_FEATURES) // was TOML_UNRELEASED_FEATURES
+																				   // pre-3.0
+#define TOML_ENABLE_UNRELEASED_FEATURES TOML_UNRELEASED_FEATURES
+#endif
+#if (defined(TOML_ENABLE_UNRELEASED_FEATURES) && TOML_ENABLE_UNRELEASED_FEATURES) || TOML_INTELLISENSE
+#undef TOML_ENABLE_UNRELEASED_FEATURES
+#define TOML_ENABLE_UNRELEASED_FEATURES 1
+#endif
+#ifndef TOML_ENABLE_UNRELEASED_FEATURES
+#define TOML_ENABLE_UNRELEASED_FEATURES 0
+#endif
+
+// parser
+#if !defined(TOML_ENABLE_PARSER) && defined(TOML_PARSER) // was TOML_PARSER pre-3.0
+#define TOML_ENABLE_PARSER TOML_PARSER
+#endif
+#if !defined(TOML_ENABLE_PARSER) || (defined(TOML_ENABLE_PARSER) && TOML_ENABLE_PARSER) || TOML_INTELLISENSE
+#undef TOML_ENABLE_PARSER
+#define TOML_ENABLE_PARSER 1
+#endif
+
+// formatters
+#if !defined(TOML_ENABLE_FORMATTERS) || (defined(TOML_ENABLE_FORMATTERS) && TOML_ENABLE_FORMATTERS) || TOML_INTELLISENSE
+#undef TOML_ENABLE_FORMATTERS
+#define TOML_ENABLE_FORMATTERS 1
+#endif
+
+// SIMD
+#if !defined(TOML_ENABLE_SIMD) || (defined(TOML_ENABLE_SIMD) && TOML_ENABLE_SIMD) || TOML_INTELLISENSE
+#undef TOML_ENABLE_SIMD
+#define TOML_ENABLE_SIMD 1
+#endif
+
+// windows compat
+#if !defined(TOML_ENABLE_WINDOWS_COMPAT) && defined(TOML_WINDOWS_COMPAT) // was TOML_WINDOWS_COMPAT pre-3.0
+#define TOML_ENABLE_WINDOWS_COMPAT TOML_WINDOWS_COMPAT
+#endif
+#if !defined(TOML_ENABLE_WINDOWS_COMPAT) || (defined(TOML_ENABLE_WINDOWS_COMPAT) && TOML_ENABLE_WINDOWS_COMPAT)        \
+	|| TOML_INTELLISENSE
+#undef TOML_ENABLE_WINDOWS_COMPAT
+#define TOML_ENABLE_WINDOWS_COMPAT 1
+#endif
+
+#if !TOML_WINDOWS
+#undef TOML_ENABLE_WINDOWS_COMPAT
+#define TOML_ENABLE_WINDOWS_COMPAT 0
+#endif
+
+#ifndef TOML_INCLUDE_WINDOWS_H
+#define TOML_INCLUDE_WINDOWS_H 0
+#endif
+
+// custom optional
+#ifdef TOML_OPTIONAL_TYPE
+#define TOML_HAS_CUSTOM_OPTIONAL_TYPE 1
+#else
+#define TOML_HAS_CUSTOM_OPTIONAL_TYPE 0
+#endif
+
+// exceptions (library use)
+#if TOML_COMPILER_HAS_EXCEPTIONS
+#if !defined(TOML_EXCEPTIONS) || (defined(TOML_EXCEPTIONS) && TOML_EXCEPTIONS)
+#undef TOML_EXCEPTIONS
+#define TOML_EXCEPTIONS 1
+#endif
+#else
+#if defined(TOML_EXCEPTIONS) && TOML_EXCEPTIONS
+#error TOML_EXCEPTIONS was explicitly enabled but exceptions are disabled/unsupported by the compiler.
+#endif
+#undef TOML_EXCEPTIONS
+#define TOML_EXCEPTIONS 0
+#endif
+
+// calling convention for static/free/friend functions
+#ifndef TOML_CALLCONV
+#define TOML_CALLCONV
+#endif
+
+#ifndef TOML_UNDEF_MACROS
+#define TOML_UNDEF_MACROS 1
+#endif
+
+#ifndef TOML_MAX_NESTED_VALUES
+#define TOML_MAX_NESTED_VALUES 256
+// this refers to the depth of nested values, e.g. inline tables and arrays.
+// 256 is crazy high! if you're hitting this limit with real input, TOML is probably the wrong tool for the job...
+#endif
+
+#ifdef TOML_CHAR_8_STRINGS
+#if TOML_CHAR_8_STRINGS
+#error TOML_CHAR_8_STRINGS was removed in toml++ 2.0.0; all value setters and getters now work with char8_t strings implicitly.
+#endif
+#endif
+
+#ifdef TOML_LARGE_FILES
+#if !TOML_LARGE_FILES
+#error Support for !TOML_LARGE_FILES (i.e. 'small files') was removed in toml++ 3.0.0.
+#endif
+#endif
+
+#ifndef TOML_LIFETIME_HOOKS
+#define TOML_LIFETIME_HOOKS 0
+#endif
+
+#ifdef NDEBUG
+#undef TOML_ASSERT
+#define TOML_ASSERT(expr) static_assert(true)
+#endif
+#ifndef TOML_ASSERT
+#ifndef assert
+TOML_DISABLE_WARNINGS;
+#include <cassert>
+TOML_ENABLE_WARNINGS;
+#endif
+#define TOML_ASSERT(expr) assert(expr)
+#endif
+#ifdef NDEBUG
+#define TOML_ASSERT_ASSUME(expr) TOML_ASSUME(expr)
+#else
+#define TOML_ASSERT_ASSUME(expr) TOML_ASSERT(expr)
+#endif
+
+#ifndef TOML_ENABLE_FLOAT16
+#define TOML_ENABLE_FLOAT16 0
+#endif
+
+#if !defined(TOML_FLOAT_CHARCONV) && (TOML_GCC || TOML_CLANG || (TOML_ICC && !TOML_ICC_CL))
+// not supported by any version of GCC or Clang as of 26/11/2020
+// not supported by any version of ICC on Linux as of 11/01/2021
+#define TOML_FLOAT_CHARCONV 0
+#endif
+#if !defined(TOML_INT_CHARCONV) && (defined(__EMSCRIPTEN__) || defined(__APPLE__))
+// causes link errors on emscripten
+// causes Mac OS SDK version errors on some versions of Apple Clang
+#define TOML_INT_CHARCONV 0
+#endif
+#ifndef TOML_INT_CHARCONV
+#define TOML_INT_CHARCONV 1
+#endif
+#ifndef TOML_FLOAT_CHARCONV
+#define TOML_FLOAT_CHARCONV 1
+#endif
+#if (TOML_INT_CHARCONV || TOML_FLOAT_CHARCONV) && !TOML_HAS_INCLUDE(<charconv>)
+#undef TOML_INT_CHARCONV
+#undef TOML_FLOAT_CHARCONV
+#define TOML_INT_CHARCONV	0
+#define TOML_FLOAT_CHARCONV 0
+#endif
+
+#if defined(__cpp_concepts) && __cpp_concepts >= 201907
+#define TOML_REQUIRES(...) requires(__VA_ARGS__)
+#else
+#define TOML_REQUIRES(...)
+#endif
+#define TOML_ENABLE_IF(...) , typename std::enable_if<(__VA_ARGS__), int>::type = 0
+#define TOML_CONSTRAINED_TEMPLATE(condition, ...)                                                                      \
+	template <__VA_ARGS__ TOML_ENABLE_IF(condition)>                                                                   \
+	TOML_REQUIRES(condition)
+#define TOML_HIDDEN_CONSTRAINT(condition, ...) TOML_CONSTRAINED_TEMPLATE(condition, __VA_ARGS__)
+
+#if defined(__SIZEOF_FLOAT128__) && defined(__FLT128_MANT_DIG__) && defined(__LDBL_MANT_DIG__)                         \
+	&& __FLT128_MANT_DIG__ > __LDBL_MANT_DIG__
+#define TOML_FLOAT128 __float128
+#endif
+
+#ifdef __SIZEOF_INT128__
+#define TOML_INT128	 __int128_t
+#define TOML_UINT128 __uint128_t
+#endif
+
+// clang-format off
+
+//********  impl/version.hpp  ******************************************************************************************
+
+#define TOML_LIB_MAJOR 3
+#define TOML_LIB_MINOR 4
+#define TOML_LIB_PATCH 0
+
+#define TOML_LANG_MAJOR 1
+#define TOML_LANG_MINOR 0
+#define TOML_LANG_PATCH 0
+
+//********  impl/preprocessor.hpp  *************************************************************************************
+
+#define	TOML_LIB_SINGLE_HEADER 1
+
+#if TOML_ENABLE_UNRELEASED_FEATURES
+	#define TOML_LANG_EFFECTIVE_VERSION													\
+		TOML_MAKE_VERSION(TOML_LANG_MAJOR, TOML_LANG_MINOR, TOML_LANG_PATCH+1)
+#else
+	#define TOML_LANG_EFFECTIVE_VERSION													\
+		TOML_MAKE_VERSION(TOML_LANG_MAJOR, TOML_LANG_MINOR, TOML_LANG_PATCH)
+#endif
+
+#define TOML_LANG_HIGHER_THAN(major, minor, patch)										\
+		(TOML_LANG_EFFECTIVE_VERSION > TOML_MAKE_VERSION(major, minor, patch))
+
+#define TOML_LANG_AT_LEAST(major, minor, patch)											\
+		(TOML_LANG_EFFECTIVE_VERSION >= TOML_MAKE_VERSION(major, minor, patch))
+
+#define TOML_LANG_UNRELEASED															\
+		TOML_LANG_HIGHER_THAN(TOML_LANG_MAJOR, TOML_LANG_MINOR, TOML_LANG_PATCH)
+
+#ifndef TOML_ABI_NAMESPACES
+	#if TOML_DOXYGEN
+		#define TOML_ABI_NAMESPACES 0
+	#else
+		#define TOML_ABI_NAMESPACES 1
+	#endif
+#endif
+#if TOML_ABI_NAMESPACES
+	#define TOML_NAMESPACE_START				namespace toml { inline namespace TOML_CONCAT(v, TOML_LIB_MAJOR)
+	#define TOML_NAMESPACE_END					} static_assert(true)
+	#define TOML_NAMESPACE						::toml::TOML_CONCAT(v, TOML_LIB_MAJOR)
+	#define TOML_ABI_NAMESPACE_START(name)		inline namespace name { static_assert(true)
+	#define TOML_ABI_NAMESPACE_BOOL(cond, T, F)	TOML_ABI_NAMESPACE_START(TOML_CONCAT(TOML_EVAL_BOOL_, cond)(T, F))
+	#define TOML_ABI_NAMESPACE_END				} static_assert(true)
+#else
+	#define TOML_NAMESPACE_START				namespace toml
+	#define TOML_NAMESPACE_END					static_assert(true)
+	#define TOML_NAMESPACE						toml
+	#define TOML_ABI_NAMESPACE_START(...)		static_assert(true)
+	#define TOML_ABI_NAMESPACE_BOOL(...)		static_assert(true)
+	#define TOML_ABI_NAMESPACE_END				static_assert(true)
+#endif
+#define TOML_IMPL_NAMESPACE_START				TOML_NAMESPACE_START { namespace impl
+#define TOML_IMPL_NAMESPACE_END					} TOML_NAMESPACE_END
+#if TOML_HEADER_ONLY
+	#define TOML_ANON_NAMESPACE_START			static_assert(TOML_IMPLEMENTATION); TOML_IMPL_NAMESPACE_START
+	#define TOML_ANON_NAMESPACE_END				TOML_IMPL_NAMESPACE_END
+	#define TOML_ANON_NAMESPACE					TOML_NAMESPACE::impl
+	#define TOML_EXTERNAL_LINKAGE				inline
+	#define TOML_INTERNAL_LINKAGE				inline
+#else
+	#define TOML_ANON_NAMESPACE_START			static_assert(TOML_IMPLEMENTATION);	\
+												using namespace toml;				\
+												namespace
+	#define TOML_ANON_NAMESPACE_END				static_assert(true)
+	#define TOML_ANON_NAMESPACE
+	#define TOML_EXTERNAL_LINKAGE
+	#define TOML_INTERNAL_LINKAGE				static
+#endif
+
+// clang-format on
+
+// clang-format off
+
+#if TOML_SIMPLE_STATIC_ASSERT_MESSAGES
+
+	#define TOML_SA_NEWLINE		" "
+	#define TOML_SA_LIST_SEP	", "
+	#define TOML_SA_LIST_BEG	" ("
+	#define TOML_SA_LIST_END	")"
+	#define TOML_SA_LIST_NEW	" "
+	#define TOML_SA_LIST_NXT	", "
+
+#else
+
+	#define TOML_SA_NEWLINE			"\n| "
+	#define TOML_SA_LIST_SEP		TOML_SA_NEWLINE "  - "
+	#define TOML_SA_LIST_BEG		TOML_SA_LIST_SEP
+	#define TOML_SA_LIST_END
+	#define TOML_SA_LIST_NEW		TOML_SA_NEWLINE TOML_SA_NEWLINE
+	#define TOML_SA_LIST_NXT		TOML_SA_LIST_NEW
+
+#endif
+
+#define TOML_SA_NATIVE_VALUE_TYPE_LIST							\
+	TOML_SA_LIST_BEG	"std::string"							\
+	TOML_SA_LIST_SEP	"int64_t"								\
+	TOML_SA_LIST_SEP	"double"								\
+	TOML_SA_LIST_SEP	"bool"									\
+	TOML_SA_LIST_SEP	"toml::date"							\
+	TOML_SA_LIST_SEP	"toml::time"							\
+	TOML_SA_LIST_SEP	"toml::date_time"						\
+	TOML_SA_LIST_END
+
+#define TOML_SA_NODE_TYPE_LIST									\
+	TOML_SA_LIST_BEG	"toml::table"							\
+	TOML_SA_LIST_SEP	"toml::array"							\
+	TOML_SA_LIST_SEP	"toml::value<std::string>"				\
+	TOML_SA_LIST_SEP	"toml::value<int64_t>"					\
+	TOML_SA_LIST_SEP	"toml::value<double>"					\
+	TOML_SA_LIST_SEP	"toml::value<bool>"						\
+	TOML_SA_LIST_SEP	"toml::value<toml::date>"				\
+	TOML_SA_LIST_SEP	"toml::value<toml::time>"				\
+	TOML_SA_LIST_SEP	"toml::value<toml::date_time>"			\
+	TOML_SA_LIST_END
+
+#define TOML_SA_UNWRAPPED_NODE_TYPE_LIST						\
+	TOML_SA_LIST_NEW	"A native TOML value type"				\
+	TOML_SA_NATIVE_VALUE_TYPE_LIST								\
+																\
+	TOML_SA_LIST_NXT	"A TOML node type"						\
+	TOML_SA_NODE_TYPE_LIST
+
+// clang-format on
+
+TOML_PUSH_WARNINGS;
+TOML_DISABLE_SPAM_WARNINGS;
+TOML_DISABLE_SWITCH_WARNINGS;
+TOML_DISABLE_SUGGEST_ATTR_WARNINGS;
+
+// misc warning false-positives
+#if TOML_MSVC
+#pragma warning(disable : 5031) // #pragma warning(pop): likely mismatch
+#if TOML_SHARED_LIB
+#pragma warning(disable : 4251) // dll exports for std lib types
+#endif
+#elif TOML_CLANG
+TOML_PRAGMA_CLANG(diagnostic ignored "-Wheader-hygiene")
+#if TOML_CLANG >= 12
+TOML_PRAGMA_CLANG(diagnostic ignored "-Wc++20-extensions")
+#endif
+#if TOML_CLANG == 13
+TOML_PRAGMA_CLANG(diagnostic ignored "-Wreserved-identifier")
+#endif
+#endif
+
+//********  impl/std_new.hpp  ******************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <new>
+TOML_ENABLE_WARNINGS;
+
+#if (!defined(__apple_build_version__) && TOML_CLANG >= 8) || TOML_GCC >= 7 || TOML_ICC >= 1910 || TOML_MSVC >= 1914
+#define TOML_LAUNDER(x) __builtin_launder(x)
+#elif defined(__cpp_lib_launder) && __cpp_lib_launder >= 201606
+#define TOML_LAUNDER(x) std::launder(x)
+#else
+#define TOML_LAUNDER(x) x
+#endif
+
+//********  impl/std_string.hpp  ***************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <string_view>
+#include <string>
+TOML_ENABLE_WARNINGS;
+
+#if TOML_DOXYGEN                                                                                                       \
+	|| (defined(__cpp_char8_t) && __cpp_char8_t >= 201811 && defined(__cpp_lib_char8_t)                                \
+		&& __cpp_lib_char8_t >= 201907)
+#define TOML_HAS_CHAR8 1
+#else
+#define TOML_HAS_CHAR8 0
+#endif
+
+namespace toml // non-abi namespace; this is not an error
+{
+	using namespace std::string_literals;
+	using namespace std::string_view_literals;
+}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	std::string narrow(std::wstring_view);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	std::wstring widen(std::string_view);
+
+#if TOML_HAS_CHAR8
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	std::wstring widen(std::u8string_view);
+
+#endif
+}
+TOML_IMPL_NAMESPACE_END;
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+//********  impl/std_optional.hpp  *************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#if !TOML_HAS_CUSTOM_OPTIONAL_TYPE
+#include <optional>
+#endif
+TOML_ENABLE_WARNINGS;
+
+TOML_NAMESPACE_START
+{
+#if TOML_HAS_CUSTOM_OPTIONAL_TYPE
+
+	template <typename T>
+	using optional = TOML_OPTIONAL_TYPE<T>;
+
+#else
+
+	template <typename T>
+	using optional = std::optional<T>;
+
+#endif
+}
+TOML_NAMESPACE_END;
+
+//********  impl/forward_declarations.hpp  *****************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <cstdint>
+#include <cstddef>
+#include <cstring>
+#include <cfloat>
+#include <climits>
+#include <cmath>
+#include <limits>
+#include <memory>
+#include <iosfwd>
+#include <type_traits>
+TOML_ENABLE_WARNINGS;
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+#ifndef TOML_DISABLE_ENVIRONMENT_CHECKS
+#define TOML_ENV_MESSAGE                                                                                               \
+	"If you're seeing this error it's because you're building toml++ for an environment that doesn't conform to "      \
+	"one of the 'ground truths' assumed by the library. Essentially this just means that I don't have the "            \
+	"resources to test on more platforms, but I wish I did! You can try disabling the checks by defining "             \
+	"TOML_DISABLE_ENVIRONMENT_CHECKS, but your mileage may vary. Please consider filing an issue at "                  \
+	"https://github.com/marzer/tomlplusplus/issues to help me improve support for your target environment. "           \
+	"Thanks!"
+
+static_assert(CHAR_BIT == 8, TOML_ENV_MESSAGE);
+#ifdef FLT_RADIX
+static_assert(FLT_RADIX == 2, TOML_ENV_MESSAGE);
+#endif
+static_assert('A' == 65, TOML_ENV_MESSAGE);
+static_assert(sizeof(double) == 8, TOML_ENV_MESSAGE);
+static_assert(std::numeric_limits<double>::is_iec559, TOML_ENV_MESSAGE);
+static_assert(std::numeric_limits<double>::digits == 53, TOML_ENV_MESSAGE);
+static_assert(std::numeric_limits<double>::digits10 == 15, TOML_ENV_MESSAGE);
+static_assert(std::numeric_limits<double>::radix == 2, TOML_ENV_MESSAGE);
+
+#undef TOML_ENV_MESSAGE
+#endif // !TOML_DISABLE_ENVIRONMENT_CHECKS
+
+// undocumented forward declarations are hidden from doxygen because they fuck it up =/
+
+namespace toml // non-abi namespace; this is not an error
+{
+	using ::std::size_t;
+	using ::std::intptr_t;
+	using ::std::uintptr_t;
+	using ::std::ptrdiff_t;
+	using ::std::nullptr_t;
+	using ::std::int8_t;
+	using ::std::int16_t;
+	using ::std::int32_t;
+	using ::std::int64_t;
+	using ::std::uint8_t;
+	using ::std::uint16_t;
+	using ::std::uint32_t;
+	using ::std::uint64_t;
+	using ::std::uint_least32_t;
+	using ::std::uint_least64_t;
+}
+
+TOML_NAMESPACE_START
+{
+	struct date;
+	struct time;
+	struct time_offset;
+
+	TOML_ABI_NAMESPACE_BOOL(TOML_HAS_CUSTOM_OPTIONAL_TYPE, custopt, stdopt);
+	struct date_time;
+	TOML_ABI_NAMESPACE_END;
+
+	struct source_position;
+	struct source_region;
+
+	class node;
+	template <typename>
+	class node_view;
+
+	class key;
+	class array;
+	class table;
+	template <typename>
+	class value;
+
+	class path;
+
+	class toml_formatter;
+	class json_formatter;
+	class yaml_formatter;
+
+	TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, ex, noex);
+#if TOML_EXCEPTIONS
+	using parse_result = table;
+#else
+	class parse_result;
+#endif
+	TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+}
+TOML_NAMESPACE_END;
+
+TOML_IMPL_NAMESPACE_START
+{
+	using node_ptr = std::unique_ptr<node>;
+
+	TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, impl_ex, impl_noex);
+	class parser;
+	TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+
+	// clang-format off
+
+	inline constexpr std::string_view control_char_escapes[] =
+	{
+		"\\u0000"sv,
+		"\\u0001"sv,
+		"\\u0002"sv,
+		"\\u0003"sv,
+		"\\u0004"sv,
+		"\\u0005"sv,
+		"\\u0006"sv,
+		"\\u0007"sv,
+		"\\b"sv,
+		"\\t"sv,
+		"\\n"sv,
+		"\\u000B"sv,
+		"\\f"sv,
+		"\\r"sv,
+		"\\u000E"sv,
+		"\\u000F"sv,
+		"\\u0010"sv,
+		"\\u0011"sv,
+		"\\u0012"sv,
+		"\\u0013"sv,
+		"\\u0014"sv,
+		"\\u0015"sv,
+		"\\u0016"sv,
+		"\\u0017"sv,
+		"\\u0018"sv,
+		"\\u0019"sv,
+		"\\u001A"sv,
+		"\\u001B"sv,
+		"\\u001C"sv,
+		"\\u001D"sv,
+		"\\u001E"sv,
+		"\\u001F"sv,
+	};
+
+	inline constexpr std::string_view node_type_friendly_names[] =
+	{
+		"none"sv,
+		"table"sv,
+		"array"sv,
+		"string"sv,
+		"integer"sv,
+		"floating-point"sv,
+		"boolean"sv,
+		"date"sv,
+		"time"sv,
+		"date-time"sv
+	};
+
+	// clang-format on
+}
+TOML_IMPL_NAMESPACE_END;
+
+#if TOML_ABI_NAMESPACES
+#if TOML_EXCEPTIONS
+#define TOML_PARSER_TYPENAME TOML_NAMESPACE::impl::impl_ex::parser
+#else
+#define TOML_PARSER_TYPENAME TOML_NAMESPACE::impl::impl_noex::parser
+#endif
+#else
+#define TOML_PARSER_TYPENAME TOML_NAMESPACE::impl::parser
+#endif
+
+namespace toml
+{
+}
+
+TOML_NAMESPACE_START // abi namespace
+{
+	inline namespace literals
+	{
+	}
+
+	enum class TOML_CLOSED_ENUM node_type : uint8_t
+	{
+		none,
+		table,
+		array,
+		string,
+		integer,
+		floating_point,
+		boolean,
+		date,
+		time,
+		date_time
+	};
+
+	template <typename Char>
+	inline std::basic_ostream<Char>& operator<<(std::basic_ostream<Char>& lhs, node_type rhs)
+	{
+		const auto str	 = impl::node_type_friendly_names[static_cast<std::underlying_type_t<node_type>>(rhs)];
+		using str_char_t = decltype(str)::value_type;
+		if constexpr (std::is_same_v<Char, str_char_t>)
+			return lhs << str;
+		else
+		{
+			if constexpr (sizeof(Char) == sizeof(str_char_t))
+				return lhs << std::basic_string_view<Char>{ reinterpret_cast<const Char*>(str.data()), str.length() };
+			else
+				return lhs << str.data();
+		}
+	}
+
+	enum class TOML_OPEN_FLAGS_ENUM value_flags : uint16_t // being an "OPEN" flags enum is not an error
+	{
+		none,
+		format_as_binary = 1,
+		format_as_octal = 2,
+		format_as_hexadecimal = 3,
+	};
+	TOML_MAKE_FLAGS(value_flags);
+
+	inline constexpr value_flags preserve_source_value_flags =
+		POXY_IMPLEMENTATION_DETAIL(value_flags{ static_cast<std::underlying_type_t<value_flags>>(-1) });
+
+	enum class TOML_CLOSED_FLAGS_ENUM format_flags : uint64_t
+	{
+		none,
+		quote_dates_and_times = (1ull << 0),
+		quote_infinities_and_nans = (1ull << 1),
+		allow_literal_strings = (1ull << 2),
+		allow_multi_line_strings = (1ull << 3),
+		allow_real_tabs_in_strings = (1ull << 4),
+		allow_unicode_strings = (1ull << 5),
+		allow_binary_integers = (1ull << 6),
+		allow_octal_integers = (1ull << 7),
+		allow_hexadecimal_integers = (1ull << 8),
+		indent_sub_tables = (1ull << 9),
+		indent_array_elements = (1ull << 10),
+		indentation = indent_sub_tables | indent_array_elements,
+		relaxed_float_precision = (1ull << 11),
+		terse_key_value_pairs = (1ull << 12),
+	};
+	TOML_MAKE_FLAGS(format_flags);
+
+	template <typename T>
+	struct TOML_TRIVIAL_ABI inserter
+	{
+		static_assert(std::is_reference_v<T>);
+
+		T value;
+	};
+	template <typename T>
+	inserter(T&&) -> inserter<T&&>;
+	template <typename T>
+	inserter(T&) -> inserter<T&>;
+
+	using default_formatter = toml_formatter;
+}
+TOML_NAMESPACE_END;
+
+TOML_IMPL_NAMESPACE_START
+{
+	template <typename T>
+	using remove_cvref = std::remove_cv_t<std::remove_reference_t<T>>;
+
+	template <typename... T>
+	using common_signed_type = std::common_type_t<std::make_signed_t<T>...>;
+
+	template <typename T, typename... U>
+	inline constexpr bool is_one_of = (false || ... || std::is_same_v<T, U>);
+
+	template <typename... T>
+	inline constexpr bool all_integral = (std::is_integral_v<T> && ...);
+
+	template <typename T>
+	inline constexpr bool is_cvref = std::is_reference_v<T> || std::is_const_v<T> || std::is_volatile_v<T>;
+
+	template <typename T>
+	inline constexpr bool is_wide_string =
+		is_one_of<std::decay_t<T>, const wchar_t*, wchar_t*, std::wstring_view, std::wstring>;
+
+	template <typename T>
+	inline constexpr bool value_retrieval_is_nothrow = !std::is_same_v<remove_cvref<T>, std::string>
+#if TOML_HAS_CHAR8
+													&& !std::is_same_v<remove_cvref<T>, std::u8string>
+#endif
+
+													&& !is_wide_string<T>;
+
+	template <typename, typename>
+	struct copy_ref_;
+	template <typename Dest, typename Src>
+	using copy_ref = typename copy_ref_<Dest, Src>::type;
+
+	template <typename Dest, typename Src>
+	struct copy_ref_
+	{
+		using type = Dest;
+	};
+
+	template <typename Dest, typename Src>
+	struct copy_ref_<Dest, Src&>
+	{
+		using type = std::add_lvalue_reference_t<Dest>;
+	};
+
+	template <typename Dest, typename Src>
+	struct copy_ref_<Dest, Src&&>
+	{
+		using type = std::add_rvalue_reference_t<Dest>;
+	};
+
+	template <typename, typename>
+	struct copy_cv_;
+	template <typename Dest, typename Src>
+	using copy_cv = typename copy_cv_<Dest, Src>::type;
+
+	template <typename Dest, typename Src>
+	struct copy_cv_
+	{
+		using type = Dest;
+	};
+
+	template <typename Dest, typename Src>
+	struct copy_cv_<Dest, const Src>
+	{
+		using type = std::add_const_t<Dest>;
+	};
+
+	template <typename Dest, typename Src>
+	struct copy_cv_<Dest, volatile Src>
+	{
+		using type = std::add_volatile_t<Dest>;
+	};
+
+	template <typename Dest, typename Src>
+	struct copy_cv_<Dest, const volatile Src>
+	{
+		using type = std::add_cv_t<Dest>;
+	};
+
+	template <typename Dest, typename Src>
+	using copy_cvref =
+		copy_ref<copy_ref<copy_cv<std::remove_reference_t<Dest>, std::remove_reference_t<Src>>, Dest>, Src>;
+
+	template <typename...>
+	inline constexpr bool always_false = false;
+
+	template <typename T, typename... U>
+	inline constexpr bool first_is_same = false;
+	template <typename T, typename... U>
+	inline constexpr bool first_is_same<T, T, U...> = true;
+
+	template <typename T, bool = std::is_enum_v<T>>
+	struct underlying_type_
+	{
+		using type = std::underlying_type_t<T>;
+	};
+	template <typename T>
+	struct underlying_type_<T, false>
+	{
+		using type = T;
+	};
+	template <typename T>
+	using underlying_type = typename underlying_type_<T>::type;
+
+	// general value traits
+	// (as they relate to their equivalent native TOML type)
+	struct default_value_traits
+	{
+		using native_type										  = void;
+		static constexpr bool is_native							  = false;
+		static constexpr bool is_losslessly_convertible_to_native = false;
+		static constexpr bool can_represent_native				  = false;
+		static constexpr bool can_partially_represent_native	  = false;
+		static constexpr auto type								  = node_type::none;
+	};
+
+	template <typename T>
+	struct value_traits;
+
+	template <typename T, bool = std::is_enum_v<T>>
+	struct value_traits_base_selector
+	{
+		static_assert(!is_cvref<T>);
+
+		using type = default_value_traits;
+	};
+	template <typename T>
+	struct value_traits_base_selector<T, true>
+	{
+		static_assert(!is_cvref<T>);
+
+		using type = value_traits<underlying_type<T>>;
+	};
+
+	template <typename T>
+	struct value_traits : value_traits_base_selector<T>::type
+	{};
+	template <typename T>
+	struct value_traits<const T> : value_traits<T>
+	{};
+	template <typename T>
+	struct value_traits<volatile T> : value_traits<T>
+	{};
+	template <typename T>
+	struct value_traits<const volatile T> : value_traits<T>
+	{};
+	template <typename T>
+	struct value_traits<T&> : value_traits<T>
+	{};
+	template <typename T>
+	struct value_traits<T&&> : value_traits<T>
+	{};
+
+	// integer value_traits specializations - standard types
+	template <typename T>
+	struct integer_limits
+	{
+		static constexpr T min = T{ (std::numeric_limits<underlying_type<T>>::min)() };
+		static constexpr T max = T{ (std::numeric_limits<underlying_type<T>>::max)() };
+	};
+	template <typename T>
+	struct integer_traits_base : integer_limits<T>
+	{
+		using native_type				= int64_t;
+		static constexpr bool is_native = std::is_same_v<underlying_type<T>, native_type>;
+		static constexpr bool is_signed = static_cast<underlying_type<T>>(-1) < underlying_type<T>{};
+		static constexpr auto type		= node_type::integer;
+		static constexpr bool can_partially_represent_native = true;
+	};
+	template <typename T>
+	struct unsigned_integer_traits : integer_traits_base<T>
+	{
+		static constexpr bool is_losslessly_convertible_to_native =
+			integer_limits<underlying_type<T>>::max <= 9223372036854775807ULL;
+		static constexpr bool can_represent_native = false;
+	};
+	template <typename T>
+	struct signed_integer_traits : integer_traits_base<T>
+	{
+		using native_type = int64_t;
+		static constexpr bool is_losslessly_convertible_to_native =
+			integer_limits<underlying_type<T>>::min >= (-9223372036854775807LL - 1LL)
+			&& integer_limits<underlying_type<T>>::max <= 9223372036854775807LL;
+		static constexpr bool can_represent_native =
+			integer_limits<underlying_type<T>>::min <= (-9223372036854775807LL - 1LL)
+			&& integer_limits<underlying_type<T>>::max >= 9223372036854775807LL;
+	};
+	template <typename T, bool S = integer_traits_base<T>::is_signed>
+	struct integer_traits : signed_integer_traits<T>
+	{};
+	template <typename T>
+	struct integer_traits<T, false> : unsigned_integer_traits<T>
+	{};
+	template <>
+	struct value_traits<signed char> : integer_traits<signed char>
+	{};
+	template <>
+	struct value_traits<unsigned char> : integer_traits<unsigned char>
+	{};
+	template <>
+	struct value_traits<signed short> : integer_traits<signed short>
+	{};
+	template <>
+	struct value_traits<unsigned short> : integer_traits<unsigned short>
+	{};
+	template <>
+	struct value_traits<signed int> : integer_traits<signed int>
+	{};
+	template <>
+	struct value_traits<unsigned int> : integer_traits<unsigned int>
+	{};
+	template <>
+	struct value_traits<signed long> : integer_traits<signed long>
+	{};
+	template <>
+	struct value_traits<unsigned long> : integer_traits<unsigned long>
+	{};
+	template <>
+	struct value_traits<signed long long> : integer_traits<signed long long>
+	{};
+	template <>
+	struct value_traits<unsigned long long> : integer_traits<unsigned long long>
+	{};
+	static_assert(value_traits<int64_t>::is_native);
+	static_assert(value_traits<int64_t>::is_signed);
+	static_assert(value_traits<int64_t>::is_losslessly_convertible_to_native);
+	static_assert(value_traits<int64_t>::can_represent_native);
+	static_assert(value_traits<int64_t>::can_partially_represent_native);
+
+	// integer value_traits specializations - non-standard types
+#ifdef TOML_INT128
+	template <>
+	struct integer_limits<TOML_INT128>
+	{
+		static constexpr TOML_INT128 max =
+			static_cast<TOML_INT128>((TOML_UINT128{ 1u } << ((__SIZEOF_INT128__ * CHAR_BIT) - 1)) - 1);
+		static constexpr TOML_INT128 min = -max - TOML_INT128{ 1 };
+	};
+	template <>
+	struct integer_limits<TOML_UINT128>
+	{
+		static constexpr TOML_UINT128 min = TOML_UINT128{};
+		static constexpr TOML_UINT128 max = (2u * static_cast<TOML_UINT128>(integer_limits<TOML_INT128>::max)) + 1u;
+	};
+	template <>
+	struct value_traits<TOML_INT128> : integer_traits<TOML_INT128>
+	{};
+	template <>
+	struct value_traits<TOML_UINT128> : integer_traits<TOML_UINT128>
+	{};
+#endif
+#ifdef TOML_SMALL_INT_TYPE
+	template <>
+	struct value_traits<TOML_SMALL_INT_TYPE> : signed_integer_traits<TOML_SMALL_INT_TYPE>
+	{};
+#endif
+
+	// floating-point traits base
+	template <typename T, int MantissaDigits, int DecimalDigits>
+	struct float_traits_base
+	{
+		static constexpr auto type		= node_type::floating_point;
+		using native_type				= double;
+		static constexpr bool is_native = std::is_same_v<T, native_type>;
+		static constexpr bool is_signed = true;
+
+		static constexpr int bits	  = static_cast<int>(sizeof(T) * CHAR_BIT);
+		static constexpr int digits	  = MantissaDigits;
+		static constexpr int digits10 = DecimalDigits;
+
+		static constexpr bool is_losslessly_convertible_to_native = bits <= 64		//
+																 && digits <= 53	// DBL_MANT_DIG
+																 && digits10 <= 15; // DBL_DIG
+
+		static constexpr bool can_represent_native = digits >= 53	 // DBL_MANT_DIG
+												  && digits10 >= 15; // DBL_DIG
+
+		static constexpr bool can_partially_represent_native = digits > 0 && digits10 > 0;
+	};
+	template <typename T>
+	struct float_traits : float_traits_base<T, std::numeric_limits<T>::digits, std::numeric_limits<T>::digits10>
+	{};
+#if TOML_ENABLE_FLOAT16
+	template <>
+	struct float_traits<_Float16> : float_traits_base<_Float16, __FLT16_MANT_DIG__, __FLT16_DIG__>
+	{};
+#endif
+#ifdef TOML_FLOAT128
+	template <>
+	struct float_traits<TOML_FLOAT128> : float_traits_base<TOML_FLOAT128, __FLT128_MANT_DIG__, __FLT128_DIG__>
+	{};
+#endif
+
+	// floating-point traits
+	template <>
+	struct value_traits<float> : float_traits<float>
+	{};
+	template <>
+	struct value_traits<double> : float_traits<double>
+	{};
+	template <>
+	struct value_traits<long double> : float_traits<long double>
+	{};
+#if TOML_ENABLE_FLOAT16
+	template <>
+	struct value_traits<_Float16> : float_traits<_Float16>
+	{};
+#endif
+#ifdef TOML_FLOAT128
+	template <>
+	struct value_traits<TOML_FLOAT128> : float_traits<TOML_FLOAT128>
+	{};
+#endif
+#ifdef TOML_SMALL_FLOAT_TYPE
+	template <>
+	struct value_traits<TOML_SMALL_FLOAT_TYPE> : float_traits<TOML_SMALL_FLOAT_TYPE>
+	{};
+#endif
+	static_assert(value_traits<double>::is_native);
+	static_assert(value_traits<double>::is_losslessly_convertible_to_native);
+	static_assert(value_traits<double>::can_represent_native);
+	static_assert(value_traits<double>::can_partially_represent_native);
+
+	// string value_traits specializations - char-based strings
+	template <typename T>
+	struct string_traits
+	{
+		using native_type										  = std::string;
+		static constexpr bool is_native							  = std::is_same_v<T, native_type>;
+		static constexpr bool is_losslessly_convertible_to_native = true;
+		static constexpr bool can_represent_native =
+			!std::is_array_v<T> && (!std::is_pointer_v<T> || std::is_const_v<std::remove_pointer_t<T>>);
+		static constexpr bool can_partially_represent_native = can_represent_native;
+		static constexpr auto type							 = node_type::string;
+	};
+	template <>
+	struct value_traits<std::string> : string_traits<std::string>
+	{};
+	template <>
+	struct value_traits<std::string_view> : string_traits<std::string_view>
+	{};
+	template <>
+	struct value_traits<const char*> : string_traits<const char*>
+	{};
+	template <size_t N>
+	struct value_traits<const char[N]> : string_traits<const char[N]>
+	{};
+	template <>
+	struct value_traits<char*> : string_traits<char*>
+	{};
+	template <size_t N>
+	struct value_traits<char[N]> : string_traits<char[N]>
+	{};
+
+	// string value_traits specializations - char8_t-based strings
+#if TOML_HAS_CHAR8
+	template <>
+	struct value_traits<std::u8string> : string_traits<std::u8string>
+	{};
+	template <>
+	struct value_traits<std::u8string_view> : string_traits<std::u8string_view>
+	{};
+	template <>
+	struct value_traits<const char8_t*> : string_traits<const char8_t*>
+	{};
+	template <size_t N>
+	struct value_traits<const char8_t[N]> : string_traits<const char8_t[N]>
+	{};
+	template <>
+	struct value_traits<char8_t*> : string_traits<char8_t*>
+	{};
+	template <size_t N>
+	struct value_traits<char8_t[N]> : string_traits<char8_t[N]>
+	{};
+#endif
+
+	// string value_traits specializations - wchar_t-based strings on Windows
+#if TOML_ENABLE_WINDOWS_COMPAT
+	template <typename T>
+	struct wstring_traits
+	{
+		using native_type										  = std::string;
+		static constexpr bool is_native							  = false;
+		static constexpr bool is_losslessly_convertible_to_native = true;							 // narrow
+		static constexpr bool can_represent_native				  = std::is_same_v<T, std::wstring>; // widen
+		static constexpr bool can_partially_represent_native	  = can_represent_native;
+		static constexpr auto type								  = node_type::string;
+	};
+	template <>
+	struct value_traits<std::wstring> : wstring_traits<std::wstring>
+	{};
+	template <>
+	struct value_traits<std::wstring_view> : wstring_traits<std::wstring_view>
+	{};
+	template <>
+	struct value_traits<const wchar_t*> : wstring_traits<const wchar_t*>
+	{};
+	template <size_t N>
+	struct value_traits<const wchar_t[N]> : wstring_traits<const wchar_t[N]>
+	{};
+	template <>
+	struct value_traits<wchar_t*> : wstring_traits<wchar_t*>
+	{};
+	template <size_t N>
+	struct value_traits<wchar_t[N]> : wstring_traits<wchar_t[N]>
+	{};
+#endif
+
+	// other 'native' value_traits specializations
+	template <typename T, node_type NodeType>
+	struct native_value_traits
+	{
+		using native_type										  = T;
+		static constexpr bool is_native							  = true;
+		static constexpr bool is_losslessly_convertible_to_native = true;
+		static constexpr bool can_represent_native				  = true;
+		static constexpr bool can_partially_represent_native	  = true;
+		static constexpr auto type								  = NodeType;
+	};
+	template <>
+	struct value_traits<bool> : native_value_traits<bool, node_type::boolean>
+	{};
+	template <>
+	struct value_traits<date> : native_value_traits<date, node_type::date>
+	{};
+	template <>
+	struct value_traits<time> : native_value_traits<time, node_type::time>
+	{};
+	template <>
+	struct value_traits<date_time> : native_value_traits<date_time, node_type::date_time>
+	{};
+
+	// native value category queries
+	template <typename T>
+	using native_type_of = typename value_traits<T>::native_type;
+	template <typename T>
+	inline constexpr bool is_native = value_traits<T>::is_native;
+	template <typename T>
+	inline constexpr bool can_represent_native = value_traits<T>::can_represent_native;
+	template <typename T>
+	inline constexpr bool can_partially_represent_native = value_traits<T>::can_partially_represent_native;
+	template <typename T>
+	inline constexpr bool is_losslessly_convertible_to_native = value_traits<T>::is_losslessly_convertible_to_native;
+	template <typename T, typename... U>
+	inline constexpr bool is_natively_one_of = is_one_of<native_type_of<T>, U...>;
+
+	// native value types => nodes
+	template <typename T>
+	struct node_wrapper
+	{
+		using type = T;
+	};
+	template <typename T>
+	struct node_wrapper<const T>
+	{
+		using type = std::add_const_t<typename node_wrapper<T>::type>;
+	};
+	template <typename T>
+	struct node_wrapper<volatile T>
+	{
+		using type = std::add_volatile_t<typename node_wrapper<T>::type>;
+	};
+	template <typename T>
+	struct node_wrapper<const volatile T>
+	{
+		using type = std::add_const_t<std::add_volatile_t<typename node_wrapper<T>::type>>;
+	};
+	template <>
+	struct node_wrapper<std::string>
+	{
+		using type = value<std::string>;
+	};
+	template <>
+	struct node_wrapper<int64_t>
+	{
+		using type = value<int64_t>;
+	};
+	template <>
+	struct node_wrapper<double>
+	{
+		using type = value<double>;
+	};
+	template <>
+	struct node_wrapper<bool>
+	{
+		using type = value<bool>;
+	};
+	template <>
+	struct node_wrapper<date>
+	{
+		using type = value<date>;
+	};
+	template <>
+	struct node_wrapper<time>
+	{
+		using type = value<time>;
+	};
+	template <>
+	struct node_wrapper<date_time>
+	{
+		using type = value<date_time>;
+	};
+	template <typename T>
+	using wrap_node = typename node_wrapper<std::remove_reference_t<T>>::type;
+
+	// nodes => native value types
+	template <typename T>
+	struct node_unwrapper
+	{
+		using type = T;
+	};
+	template <typename T>
+	struct node_unwrapper<value<T>>
+	{
+		using type = T;
+	};
+	template <typename T>
+	struct node_unwrapper<const value<T>>
+	{
+		using type = std::add_const_t<T>;
+	};
+	template <typename T>
+	struct node_unwrapper<volatile value<T>>
+	{
+		using type = std::add_volatile_t<T>;
+	};
+	template <typename T>
+	struct node_unwrapper<const volatile value<T>>
+	{
+		using type = std::add_volatile_t<std::add_const_t<T>>;
+	};
+	template <typename T>
+	using unwrap_node = typename node_unwrapper<std::remove_reference_t<T>>::type;
+
+	template <typename T>
+	struct node_type_getter
+	{
+		static constexpr auto value = value_traits<T>::type;
+	};
+	template <>
+	struct node_type_getter<table>
+	{
+		static constexpr auto value = node_type::table;
+	};
+	template <>
+	struct node_type_getter<array>
+	{
+		static constexpr auto value = node_type::array;
+	};
+	template <>
+	struct node_type_getter<void>
+	{
+		static constexpr auto value = node_type::none;
+	};
+	template <typename T>
+	inline constexpr node_type node_type_of = node_type_getter<unwrap_node<remove_cvref<T>>>::value;
+
+	template <typename T, typename ConvertFrom>
+	inline constexpr bool is_constructible_or_convertible = std::is_constructible_v<T, ConvertFrom> //
+														 || std::is_convertible_v<ConvertFrom, T>;
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	template <typename T>
+	inline constexpr bool is_table = std::is_same_v<impl::remove_cvref<T>, table>;
+
+	template <typename T>
+	inline constexpr bool is_array = std::is_same_v<impl::remove_cvref<T>, array>;
+
+	template <typename T>
+	inline constexpr bool is_container = is_table<T> || is_array<T>;
+
+	template <typename T>
+	inline constexpr bool is_string = std::is_same_v<				//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<std::string>>;
+
+	template <typename T>
+	inline constexpr bool is_integer = std::is_same_v<				//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<int64_t>>;
+
+	template <typename T>
+	inline constexpr bool is_floating_point = std::is_same_v<		//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<double>>;
+
+	template <typename T>
+	inline constexpr bool is_number = is_integer<T> || is_floating_point<T>;
+
+	template <typename T>
+	inline constexpr bool is_boolean = std::is_same_v<				//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<bool>>;
+
+	template <typename T>
+	inline constexpr bool is_date = std::is_same_v<					//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<date>>;
+
+	template <typename T>
+	inline constexpr bool is_time = std::is_same_v<					//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<time>>;
+
+	template <typename T>
+	inline constexpr bool is_date_time = std::is_same_v<			//
+		impl::remove_cvref<impl::wrap_node<impl::remove_cvref<T>>>, //
+		value<date_time>>;
+
+	template <typename T>
+	inline constexpr bool is_chronological = is_date<T> || is_time<T> || is_date_time<T>;
+
+	template <typename T>
+	inline constexpr bool is_value = is_string<T> || is_number<T> || is_boolean<T> || is_chronological<T>;
+
+	template <typename T>
+	inline constexpr bool is_node = std::is_same_v<toml::node, impl::remove_cvref<T>> //
+								 || std::is_base_of_v<toml::node, impl::remove_cvref<T>>;
+
+	template <typename T>
+	inline constexpr bool is_node_view = impl::is_one_of<impl::remove_cvref<T>, node_view<node>, node_view<const node>>;
+}
+TOML_NAMESPACE_END;
+
+TOML_IMPL_NAMESPACE_START
+{
+	template <typename T>
+	TOML_CONST_INLINE_GETTER
+	constexpr std::underlying_type_t<T> unwrap_enum(T val) noexcept
+	{
+		return static_cast<std::underlying_type_t<T>>(val);
+	}
+
+	// Q: "why not use std::fpclassify?"
+	// A: Because it gets broken by -ffast-math and friends
+	enum class TOML_CLOSED_ENUM fp_class : unsigned
+	{
+		ok,
+		neg_inf,
+		pos_inf,
+		nan
+	};
+
+	TOML_PURE_GETTER
+	inline fp_class fpclassify(const double& val) noexcept
+	{
+		static_assert(sizeof(uint64_t) == sizeof(double));
+
+		static constexpr uint64_t sign	   = 0b1000000000000000000000000000000000000000000000000000000000000000ull;
+		static constexpr uint64_t exponent = 0b0111111111110000000000000000000000000000000000000000000000000000ull;
+		static constexpr uint64_t mantissa = 0b0000000000001111111111111111111111111111111111111111111111111111ull;
+
+		uint64_t val_bits;
+		std::memcpy(&val_bits, &val, sizeof(val));
+		if ((val_bits & exponent) != exponent)
+			return fp_class::ok;
+		if ((val_bits & mantissa))
+			return fp_class::nan;
+		return (val_bits & sign) ? fp_class::neg_inf : fp_class::pos_inf;
+	}
+
+	// Q: "why not use std::find and std::min?"
+	// A: Because <algorithm> is _huge_ and these would be the only things I used from it.
+	//    I don't want to impose such a heavy compile-time burden on users.
+
+	template <typename Iterator, typename T>
+	TOML_PURE_GETTER
+	inline auto find(Iterator start, Iterator end, const T& needle) noexcept //
+		->decltype(&(*start))
+	{
+		for (; start != end; start++)
+			if (*start == needle)
+				return &(*start);
+		return nullptr;
+	}
+
+	template <typename T>
+	TOML_PURE_INLINE_GETTER
+	constexpr const T& min(const T& a, const T& b) noexcept //
+	{
+		return a < b ? a : b;
+	}
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/print_to_stream.hpp  **********************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	// Q: "why does print_to_stream() exist? why not just use ostream::write(), ostream::put() etc?"
+	// A: - I'm using <charconv> to format numerics. Faster and locale-independent.
+	//    - I can (potentially) avoid forcing users to drag in <sstream> and <iomanip>.
+	//    - Strings in C++. Honestly.
+
+	TOML_EXPORTED_FREE_FUNCTION
+	TOML_ATTR(nonnull)
+	void TOML_CALLCONV print_to_stream(std::ostream&, const char*, size_t);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, std::string_view);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const std::string&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, char);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, signed char, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, signed short, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, signed int, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, signed long, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, signed long long, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, unsigned char, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, unsigned short, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, unsigned int, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, unsigned long, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, unsigned long long, value_flags = {}, size_t min_digits = 0);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, float, value_flags = {}, bool relaxed_precision = false);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, double, value_flags = {}, bool relaxed_precision = false);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, bool);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const toml::date&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const toml::time&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const toml::time_offset&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const toml::date_time&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const source_position&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const source_region&);
+
+#if TOML_ENABLE_FORMATTERS
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const array&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const table&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<std::string>&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<int64_t>&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<double>&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<bool>&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<date>&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<time>&);
+
+	TOML_EXPORTED_FREE_FUNCTION
+	void TOML_CALLCONV print_to_stream(std::ostream&, const value<date_time>&);
+
+#endif
+
+	template <typename T, typename U>
+	inline void print_to_stream_bookended(std::ostream & stream, const T& val, const U& bookend)
+	{
+		print_to_stream(stream, bookend);
+		print_to_stream(stream, val);
+		print_to_stream(stream, bookend);
+	}
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/source_region.hpp  ************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	using source_index = uint32_t;
+
+	using source_path_ptr = std::shared_ptr<const std::string>;
+
+	struct TOML_TRIVIAL_ABI source_position
+	{
+		source_index line;
+
+		source_index column;
+
+		TOML_PURE_GETTER
+		explicit constexpr operator bool() const noexcept
+		{
+			return line > source_index{} //
+				&& column > source_index{};
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator==(const source_position& lhs, const source_position& rhs) noexcept
+		{
+			return lhs.line == rhs.line //
+				&& lhs.column == rhs.column;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator!=(const source_position& lhs, const source_position& rhs) noexcept
+		{
+			return !(lhs == rhs);
+		}
+
+	  private:
+
+		TOML_PURE_GETTER
+		static constexpr uint64_t pack(const source_position& pos) noexcept
+		{
+			return static_cast<uint64_t>(pos.line) << 32 | static_cast<uint64_t>(pos.column);
+		}
+
+	  public:
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<(const source_position& lhs, const source_position& rhs) noexcept
+		{
+			return pack(lhs) < pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<=(const source_position& lhs, const source_position& rhs) noexcept
+		{
+			return pack(lhs) <= pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator>(const source_position& lhs, const source_position& rhs) noexcept
+		{
+			return pack(lhs) > pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator>=(const source_position& lhs, const source_position& rhs) noexcept
+		{
+			return pack(lhs) >= pack(rhs);
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const source_position& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+	};
+
+	struct source_region
+	{
+		source_position begin;
+
+		source_position end;
+
+		source_path_ptr path;
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		optional<std::wstring> wide_path() const
+		{
+			if (!path || path->empty())
+				return {};
+			return { impl::widen(*path) };
+		}
+
+#endif
+
+		friend std::ostream& operator<<(std::ostream& lhs, const source_region& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+	};
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/date_time.hpp  ****************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	struct TOML_TRIVIAL_ABI date
+	{
+		uint16_t year;
+
+		uint8_t month;
+
+		uint8_t day;
+
+		TOML_NODISCARD_CTOR
+		date() noexcept = default;
+
+		TOML_CONSTRAINED_TEMPLATE((impl::all_integral<Y, M, D>), typename Y, typename M, typename D)
+		TOML_NODISCARD_CTOR
+		constexpr date(Y y, M m, D d) noexcept //
+			: year{ static_cast<uint16_t>(y) },
+			  month{ static_cast<uint8_t>(m) },
+			  day{ static_cast<uint8_t>(d) }
+		{}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator==(const date& lhs, const date& rhs) noexcept
+		{
+			return lhs.year == rhs.year	  //
+				&& lhs.month == rhs.month //
+				&& lhs.day == rhs.day;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator!=(const date& lhs, const date& rhs) noexcept
+		{
+			return !(lhs == rhs);
+		}
+
+	  private:
+
+		TOML_PURE_GETTER
+		static constexpr uint32_t pack(const date& d) noexcept
+		{
+			return (static_cast<uint32_t>(d.year) << 16) | (static_cast<uint32_t>(d.month) << 8)
+				 | static_cast<uint32_t>(d.day);
+		}
+
+	  public:
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<(const date& lhs, const date& rhs) noexcept
+		{
+			return pack(lhs) < pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<=(const date& lhs, const date& rhs) noexcept
+		{
+			return pack(lhs) <= pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator>(const date& lhs, const date& rhs) noexcept
+		{
+			return pack(lhs) > pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator>=(const date& lhs, const date& rhs) noexcept
+		{
+			return pack(lhs) >= pack(rhs);
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const date& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+	};
+
+	struct TOML_TRIVIAL_ABI time
+	{
+		uint8_t hour;
+
+		uint8_t minute;
+
+		uint8_t second;
+
+		uint32_t nanosecond;
+
+		TOML_NODISCARD_CTOR
+		time() noexcept = default;
+
+		TOML_CONSTRAINED_TEMPLATE((impl::all_integral<H, M, S, NS>),
+								  typename H,
+								  typename M,
+								  typename S  = uint8_t,
+								  typename NS = uint32_t)
+		TOML_NODISCARD_CTOR
+		constexpr time(H h, M m, S s = S{}, NS ns = NS{}) noexcept //
+			: hour{ static_cast<uint8_t>(h) },
+			  minute{ static_cast<uint8_t>(m) },
+			  second{ static_cast<uint8_t>(s) },
+			  nanosecond{ static_cast<uint32_t>(ns) }
+		{}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator==(const time& lhs, const time& rhs) noexcept
+		{
+			return lhs.hour == rhs.hour		//
+				&& lhs.minute == rhs.minute //
+				&& lhs.second == rhs.second //
+				&& lhs.nanosecond == rhs.nanosecond;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator!=(const time& lhs, const time& rhs) noexcept
+		{
+			return !(lhs == rhs);
+		}
+
+	  private:
+
+		TOML_PURE_GETTER
+		static constexpr uint64_t pack(const time& t) noexcept
+		{
+			return static_cast<uint64_t>(t.hour) << 48 | static_cast<uint64_t>(t.minute) << 40
+				 | static_cast<uint64_t>(t.second) << 32 | static_cast<uint64_t>(t.nanosecond);
+		}
+
+	  public:
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<(const time& lhs, const time& rhs) noexcept
+		{
+			return pack(lhs) < pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<=(const time& lhs, const time& rhs) noexcept
+		{
+			return pack(lhs) <= pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator>(const time& lhs, const time& rhs) noexcept
+		{
+			return pack(lhs) > pack(rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator>=(const time& lhs, const time& rhs) noexcept
+		{
+			return pack(lhs) >= pack(rhs);
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const time& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+	};
+
+	struct TOML_TRIVIAL_ABI time_offset
+	{
+		int16_t minutes;
+
+		TOML_NODISCARD_CTOR
+		time_offset() noexcept = default;
+
+		TOML_CONSTRAINED_TEMPLATE((impl::all_integral<H, M>), typename H, typename M)
+		TOML_NODISCARD_CTOR
+		constexpr time_offset(H h, M m) noexcept //
+			: minutes{ static_cast<int16_t>(static_cast<impl::common_signed_type<H, M>>(h)
+												* impl::common_signed_type<H, M>{ 60 }
+											+ static_cast<impl::common_signed_type<H, M>>(m)) }
+		{}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator==(time_offset lhs, time_offset rhs) noexcept
+		{
+			return lhs.minutes == rhs.minutes;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator!=(time_offset lhs, time_offset rhs) noexcept
+		{
+			return lhs.minutes != rhs.minutes;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator<(time_offset lhs, time_offset rhs) noexcept
+		{
+			return lhs.minutes < rhs.minutes;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator<=(time_offset lhs, time_offset rhs) noexcept
+		{
+			return lhs.minutes <= rhs.minutes;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator>(time_offset lhs, time_offset rhs) noexcept
+		{
+			return lhs.minutes > rhs.minutes;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator>=(time_offset lhs, time_offset rhs) noexcept
+		{
+			return lhs.minutes >= rhs.minutes;
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const time_offset& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+	};
+
+	TOML_ABI_NAMESPACE_BOOL(TOML_HAS_CUSTOM_OPTIONAL_TYPE, custopt, stdopt);
+
+	struct date_time
+	{
+		toml::date date;
+
+		toml::time time;
+
+		optional<toml::time_offset> offset;
+
+		TOML_NODISCARD_CTOR
+		date_time() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		constexpr date_time(const toml::date& d, const toml::time& t) noexcept //
+			: date{ d },
+			  time{ t },
+			  offset{} // TINAE - icc bugfix
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit constexpr date_time(const toml::date& d) noexcept //
+			: date{ d },
+			  time{},
+			  offset{} // TINAE - icc bugfix
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit constexpr date_time(const toml::time& t) noexcept //
+			: date{},
+			  time{ t },
+			  offset{} // TINAE - icc bugfix
+		{}
+
+		TOML_NODISCARD_CTOR
+		constexpr date_time(const toml::date& d, const toml::time& t, const toml::time_offset& off) noexcept
+			: date{ d },
+			  time{ t },
+			  offset{ off }
+		{}
+
+		TOML_PURE_INLINE_GETTER
+		constexpr bool is_local() const noexcept
+		{
+			return !offset.has_value();
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator==(const date_time& lhs, const date_time& rhs) noexcept
+		{
+			return lhs.date == rhs.date //
+				&& lhs.time == rhs.time //
+				&& lhs.offset == rhs.offset;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator!=(const date_time& lhs, const date_time& rhs) noexcept
+		{
+			return !(lhs == rhs);
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<(const date_time& lhs, const date_time& rhs) noexcept
+		{
+			if (lhs.date != rhs.date)
+				return lhs.date < rhs.date;
+			if (lhs.time != rhs.time)
+				return lhs.time < rhs.time;
+			return lhs.offset < rhs.offset;
+		}
+
+		TOML_PURE_GETTER
+		friend constexpr bool operator<=(const date_time& lhs, const date_time& rhs) noexcept
+		{
+			if (lhs.date != rhs.date)
+				return lhs.date < rhs.date;
+			if (lhs.time != rhs.time)
+				return lhs.time < rhs.time;
+			return lhs.offset <= rhs.offset;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator>(const date_time& lhs, const date_time& rhs) noexcept
+		{
+			return !(lhs <= rhs);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend constexpr bool operator>=(const date_time& lhs, const date_time& rhs) noexcept
+		{
+			return !(lhs < rhs);
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const date_time& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+	};
+
+	TOML_ABI_NAMESPACE_END; // TOML_HAS_CUSTOM_OPTIONAL_TYPE
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/at_path.hpp  ******************************************************************************************
+
+TOML_IMPL_NAMESPACE_START
+{
+	template <typename T>
+	using parse_path_callback = bool(TOML_CALLCONV*)(void*, T);
+
+	TOML_NODISCARD
+	bool TOML_CALLCONV parse_path(std::string_view,
+								  void*,
+								  parse_path_callback<std::string_view>,
+								  parse_path_callback<size_t>);
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	node_view<node> TOML_CALLCONV at_path(node & root, std::string_view path) noexcept;
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	node_view<const node> TOML_CALLCONV at_path(const node& root, std::string_view path) noexcept;
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	node_view<node> TOML_CALLCONV at_path(node & root, std::wstring_view path);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	node_view<const node> TOML_CALLCONV at_path(const node& root, std::wstring_view path);
+
+#endif
+}
+TOML_NAMESPACE_END;
+
+//********  impl/std_vector.hpp  ***************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <vector>
+#include <iterator>
+TOML_ENABLE_WARNINGS;
+
+//********  impl/path.hpp  *********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	enum class TOML_CLOSED_ENUM path_component_type : uint8_t
+	{
+		key			= 0x1,
+		array_index = 0x2
+	};
+
+	class TOML_EXPORTED_CLASS path_component
+	{
+		struct storage_t
+		{
+			static constexpr size_t size =
+				(sizeof(size_t) < sizeof(std::string) ? sizeof(std::string) : sizeof(size_t));
+			static constexpr size_t align =
+				(alignof(size_t) < alignof(std::string) ? alignof(std::string) : alignof(size_t));
+
+			alignas(align) unsigned char bytes[size];
+		};
+		alignas(storage_t::align) mutable storage_t value_storage_;
+
+		path_component_type type_;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_STATIC_FUNCTION
+		static bool TOML_CALLCONV equal(const path_component&, const path_component&) noexcept;
+
+		template <typename Type>
+		TOML_PURE_INLINE_GETTER
+		static Type* get_as(storage_t& s) noexcept
+		{
+			return TOML_LAUNDER(reinterpret_cast<Type*>(s.bytes));
+		}
+
+		static void store_key(std::string_view key, storage_t& storage_)
+		{
+			::new (static_cast<void*>(storage_.bytes)) std::string{ key };
+		}
+
+		static void store_index(size_t index, storage_t& storage_) noexcept
+		{
+			::new (static_cast<void*>(storage_.bytes)) std::size_t{ index };
+		}
+
+		void destroy() noexcept
+		{
+			if (type_ == path_component_type::key)
+				get_as<std::string>(value_storage_)->~basic_string();
+		}
+
+		TOML_NODISCARD
+		size_t& index_ref() noexcept
+		{
+			TOML_ASSERT_ASSUME(type_ == path_component_type::array_index);
+			return *get_as<size_t>(value_storage_);
+		}
+
+		TOML_NODISCARD
+		std::string& key_ref() noexcept
+		{
+			TOML_ASSERT_ASSUME(type_ == path_component_type::key);
+			return *get_as<std::string>(value_storage_);
+		}
+
+	  public:
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component();
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component(size_t index) noexcept;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component(std::string_view key);
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component(std::wstring_view key);
+
+#endif
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component(const path_component& pc);
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component(path_component&& pc) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component& operator=(const path_component& rhs);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component& operator=(path_component&& rhs) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component& operator=(size_t new_index) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component& operator=(std::string_view new_key);
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path_component& operator=(std::wstring_view new_key);
+
+#endif
+
+		~path_component() noexcept
+		{
+			destroy();
+		}
+
+		TOML_PURE_GETTER
+		size_t index() const noexcept
+		{
+			TOML_ASSERT_ASSUME(type_ == path_component_type::array_index);
+			return *get_as<const size_t>(value_storage_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator size_t() const noexcept
+		{
+			return index();
+		}
+
+		TOML_PURE_GETTER
+		const std::string& key() const noexcept
+		{
+			TOML_ASSERT_ASSUME(type_ == path_component_type::key);
+			return *get_as<const std::string>(value_storage_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator const std::string&() const noexcept
+		{
+			return key();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		path_component_type type() const noexcept
+		{
+			return type_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(const path_component& lhs, const path_component& rhs) noexcept
+		{
+			return equal(lhs, rhs);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const path_component& lhs, const path_component& rhs) noexcept
+		{
+			return !equal(lhs, rhs);
+		}
+	};
+
+	class TOML_EXPORTED_CLASS path
+	{
+	  private:
+
+		std::vector<path_component> components_;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_to(std::ostream&) const;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_STATIC_FUNCTION
+		static bool TOML_CALLCONV equal(const path&, const path&) noexcept;
+
+	  public:
+
+		TOML_NODISCARD_CTOR
+		path() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		explicit path(std::string_view);
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		explicit path(std::wstring_view);
+
+#endif
+
+		~path() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		path(const path&) = default;
+
+		TOML_NODISCARD_CTOR
+		path(path&&) noexcept = default;
+
+		TOML_PURE_INLINE_GETTER
+		size_t size() const noexcept
+		{
+			return components_.size();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator bool() const noexcept
+		{
+			return !components_.empty();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool empty() const noexcept
+		{
+			return components_.empty();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		path_component& operator[](size_t index) noexcept
+		{
+			TOML_ASSERT(index < size());
+			return components_[index];
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const path_component& operator[](size_t index) const noexcept
+		{
+			TOML_ASSERT(index < size());
+			return components_[index];
+		}
+
+		path& operator=(const path&) = default;
+
+		path& operator=(path&&) noexcept = default;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& operator=(std::string_view);
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& operator=(std::wstring_view);
+
+#endif
+
+		TOML_ALWAYS_INLINE
+		path& assign(const path& p)
+		{
+			return *this = p;
+		}
+
+		TOML_ALWAYS_INLINE
+		path& assign(path&& p) noexcept
+		{
+			return *this = std::move(p);
+		}
+
+		TOML_ALWAYS_INLINE
+		path& assign(std::string_view str)
+		{
+			return *this = str;
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_ALWAYS_INLINE
+		path& assign(std::wstring_view str)
+		{
+			return *this = str;
+		}
+
+#endif
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& operator+=(const path&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& operator+=(path&&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& operator+=(std::string_view);
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& operator+=(std::wstring_view);
+
+#endif
+
+		TOML_ALWAYS_INLINE
+		path& append(const path& p)
+		{
+			return *this += p;
+		}
+
+		TOML_ALWAYS_INLINE
+		path& append(path&& p)
+		{
+			return *this += std::move(p);
+		}
+
+		TOML_ALWAYS_INLINE
+		path& append(std::string_view str)
+		{
+			return *this += str;
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_ALWAYS_INLINE
+		path& append(std::wstring_view str)
+		{
+			return *this += str;
+		}
+
+#endif
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& prepend(const path&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& prepend(path&&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& prepend(std::string_view);
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& prepend(std::wstring_view);
+
+#endif
+
+		TOML_NODISCARD
+		friend path operator+(const path& lhs, const path& rhs)
+		{
+			path result = lhs;
+			result += rhs;
+			return result;
+		}
+
+		TOML_NODISCARD
+		friend path operator+(const path& lhs, std::string_view rhs)
+		{
+			path result = lhs;
+			result += rhs;
+			return result;
+		}
+
+		TOML_NODISCARD
+		friend path operator+(std::string_view lhs, const path& rhs)
+		{
+			path result = rhs;
+			result.prepend(lhs);
+			return result;
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		friend path operator+(const path& lhs, std::wstring_view rhs)
+		{
+			path result = lhs;
+			result += rhs;
+			return result;
+		}
+
+		TOML_NODISCARD
+		friend path operator+(std::wstring_view lhs, const path& rhs)
+		{
+			path result = rhs;
+			result.prepend(lhs);
+			return result;
+		}
+
+#endif
+
+		TOML_ALWAYS_INLINE
+		friend std::ostream& operator<<(std::ostream& os, const path& rhs)
+		{
+			rhs.print_to(os);
+			return os;
+		}
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		std::string str() const;
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		explicit operator std::string() const
+		{
+			return str();
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		std::wstring wide_str() const;
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		explicit operator std::wstring() const
+		{
+			return wide_str();
+		}
+
+#endif
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(const path& lhs, const path& rhs) noexcept
+		{
+			return equal(lhs, rhs);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const path& lhs, const path& rhs) noexcept
+		{
+			return !equal(lhs, rhs);
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator==(const path& lhs, std::string_view rhs)
+		{
+			return lhs == path{ rhs };
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator==(std::string_view lhs, const path& rhs)
+		{
+			return rhs == lhs;
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator!=(const path& lhs, std::string_view rhs)
+		{
+			return lhs != path{ rhs };
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator!=(std::string_view lhs, const path& rhs)
+		{
+			return rhs != lhs;
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator==(const path& lhs, std::wstring_view rhs)
+		{
+			return lhs == path{ rhs };
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator==(std::wstring_view lhs, const path& rhs)
+		{
+			return rhs == lhs;
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator!=(const path& lhs, std::wstring_view rhs)
+		{
+			return lhs != path{ rhs };
+		}
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		friend bool operator!=(std::wstring_view lhs, const path& rhs)
+		{
+			return rhs != lhs;
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		using iterator = std::vector<path_component>::iterator;
+
+		using const_iterator = std::vector<path_component>::const_iterator;
+
+		TOML_PURE_INLINE_GETTER
+		iterator begin() noexcept
+		{
+			return components_.begin();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		iterator end() noexcept
+		{
+			return components_.end();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator begin() const noexcept
+		{
+			return components_.begin();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator end() const noexcept
+		{
+			return components_.end();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator cbegin() const noexcept
+		{
+			return components_.begin();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator cend() const noexcept
+		{
+			return components_.end();
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void clear() noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path& truncate(size_t n);
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path truncated(size_t n) const;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path parent() const;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path leaf(size_t n = 1) const;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path subpath(const_iterator start, const_iterator end) const;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		path subpath(size_t start, size_t length) const;
+	};
+
+	inline namespace literals
+	{
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		path operator"" _tpath(const char* str, size_t len)
+		{
+			return path(std::string_view{ str, len });
+		}
+	}
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	node_view<node> TOML_CALLCONV at_path(node & root, const toml::path& path) noexcept;
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	node_view<const node> TOML_CALLCONV at_path(const node& root, const toml::path& path) noexcept;
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/std_utility.hpp  **************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <utility>
+TOML_ENABLE_WARNINGS;
+
+//********  impl/node.hpp  *********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	class TOML_ABSTRACT_INTERFACE TOML_EXPORTED_CLASS node
+	{
+	  private:
+
+		friend class TOML_PARSER_TYPENAME;
+		source_region source_{};
+
+		template <typename T>
+		TOML_NODISCARD
+		decltype(auto) get_value_exact() const noexcept(impl::value_retrieval_is_nothrow<T>);
+
+		template <typename T, typename N>
+		using ref_type_ = std::conditional_t<													//
+			std::is_reference_v<T>,																//
+			impl::copy_ref<impl::copy_cv<impl::unwrap_node<T>, std::remove_reference_t<N>>, T>, //
+			impl::copy_cvref<impl::unwrap_node<T>, N>											//
+			>;
+
+		template <typename T, typename N>
+		using ref_type = std::conditional_t<			 //
+			std::is_reference_v<N>,						 //
+			ref_type_<T, N>,							 //
+			ref_type_<T, std::add_lvalue_reference_t<N>> //
+			>;
+
+		template <typename T, typename N>
+		TOML_PURE_GETTER
+		static ref_type<T, N&&> do_ref(N&& n) noexcept
+		{
+			using unwrapped_type = impl::unwrap_node<T>;
+			static_assert(toml::is_value<unwrapped_type> || toml::is_container<unwrapped_type>,
+						  "The template type argument of node::ref() must be one of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			TOML_ASSERT_ASSUME(
+				n.template is<unwrapped_type>()
+				&& "template type argument provided to toml::node::ref() didn't match the node's actual type");
+
+			using node_ref = std::remove_volatile_t<std::remove_reference_t<N>>&;
+			using val_type = std::remove_volatile_t<unwrapped_type>;
+			using out_ref  = ref_type<T, N&&>;
+			static_assert(std::is_reference_v<out_ref>);
+
+			if constexpr (toml::is_value<unwrapped_type>)
+				return static_cast<out_ref>(const_cast<node_ref>(n).template ref_cast<val_type>().get());
+			else
+				return static_cast<out_ref>(const_cast<node_ref>(n).template ref_cast<val_type>());
+		}
+
+	  protected:
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node() noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node(const node&) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node(node&&) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node& operator=(const node&) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node& operator=(node&&) noexcept;
+
+		template <typename T, typename N>
+		using ref_cast_type_ = std::conditional_t<											  //
+			std::is_reference_v<T>,															  //
+			impl::copy_ref<impl::copy_cv<impl::wrap_node<T>, std::remove_reference_t<N>>, T>, //
+			impl::copy_cvref<impl::wrap_node<T>, N>											  //
+			>;
+
+		template <typename T, typename N>
+		using ref_cast_type = std::conditional_t<			  //
+			std::is_reference_v<N>,							  //
+			ref_cast_type_<T, N>,							  //
+			ref_cast_type_<T, std::add_lvalue_reference_t<N>> //
+			>;
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		ref_cast_type<T, node&> ref_cast() & noexcept
+		{
+			using out_ref  = ref_cast_type<T, node&>;
+			using out_type = std::remove_reference_t<out_ref>;
+			return static_cast<out_ref>(*reinterpret_cast<out_type*>(this));
+		}
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		ref_cast_type<T, node&&> ref_cast() && noexcept
+		{
+			using out_ref  = ref_cast_type<T, node&&>;
+			using out_type = std::remove_reference_t<out_ref>;
+			return static_cast<out_ref>(*reinterpret_cast<out_type*>(this));
+		}
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		ref_cast_type<T, const node&> ref_cast() const& noexcept
+		{
+			using out_ref  = ref_cast_type<T, const node&>;
+			using out_type = std::remove_reference_t<out_ref>;
+			return static_cast<out_ref>(*reinterpret_cast<out_type*>(this));
+		}
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		ref_cast_type<T, const node&&> ref_cast() const&& noexcept
+		{
+			using out_ref  = ref_cast_type<T, const node&&>;
+			using out_type = std::remove_reference_t<out_ref>;
+			return static_cast<out_ref>(*reinterpret_cast<out_type*>(this));
+		}
+
+	  public:
+		TOML_EXPORTED_MEMBER_FUNCTION
+		virtual ~node() noexcept;
+
+		TOML_PURE_GETTER
+		virtual bool is_homogeneous(node_type ntype, node*& first_nonmatch) noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_homogeneous(node_type ntype, const node*& first_nonmatch) const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_homogeneous(node_type ntype) const noexcept = 0;
+
+		template <typename ElemType = void>
+		TOML_PURE_GETTER
+		bool is_homogeneous() const noexcept
+		{
+			using type = impl::remove_cvref<impl::unwrap_node<ElemType>>;
+			static_assert(std::is_void_v<type> || toml::is_value<type> || toml::is_container<type>,
+						  "The template type argument of node::is_homogeneous() must be void or one "
+						  "of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			return is_homogeneous(impl::node_type_of<type>);
+		}
+
+		TOML_PURE_GETTER
+		virtual node_type type() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_table() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_array() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_array_of_tables() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_value() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_string() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_integer() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_floating_point() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_number() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_boolean() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_date() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_time() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual bool is_date_time() const noexcept = 0;
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		bool is() const noexcept
+		{
+			using type = impl::remove_cvref<impl::unwrap_node<T>>;
+			static_assert(toml::is_value<type> || toml::is_container<type>,
+						  "The template type argument of node::is() must be one of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			if constexpr (std::is_same_v<type, table>)
+				return is_table();
+			else if constexpr (std::is_same_v<type, array>)
+				return is_array();
+			else if constexpr (std::is_same_v<type, std::string>)
+				return is_string();
+			else if constexpr (std::is_same_v<type, int64_t>)
+				return is_integer();
+			else if constexpr (std::is_same_v<type, double>)
+				return is_floating_point();
+			else if constexpr (std::is_same_v<type, bool>)
+				return is_boolean();
+			else if constexpr (std::is_same_v<type, date>)
+				return is_date();
+			else if constexpr (std::is_same_v<type, time>)
+				return is_time();
+			else if constexpr (std::is_same_v<type, date_time>)
+				return is_date_time();
+		}
+
+		TOML_PURE_GETTER
+		virtual table* as_table() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual array* as_array() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<std::string>* as_string() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<int64_t>* as_integer() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<double>* as_floating_point() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<bool>* as_boolean() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<date>* as_date() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<time>* as_time() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual toml::value<date_time>* as_date_time() noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const table* as_table() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const array* as_array() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<std::string>* as_string() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<int64_t>* as_integer() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<double>* as_floating_point() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<bool>* as_boolean() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<date>* as_date() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<time>* as_time() const noexcept = 0;
+
+		TOML_PURE_GETTER
+		virtual const toml::value<date_time>* as_date_time() const noexcept = 0;
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		impl::wrap_node<T>* as() noexcept
+		{
+			using unwrapped_type = impl::unwrap_node<impl::remove_cvref<T>>;
+			static_assert(toml::is_value<unwrapped_type> || toml::is_container<unwrapped_type>,
+						  "The template type argument of node::as() must be one of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			if constexpr (std::is_same_v<unwrapped_type, table>)
+				return as_table();
+			else if constexpr (std::is_same_v<unwrapped_type, array>)
+				return as_array();
+			else if constexpr (std::is_same_v<unwrapped_type, std::string>)
+				return as_string();
+			else if constexpr (std::is_same_v<unwrapped_type, int64_t>)
+				return as_integer();
+			else if constexpr (std::is_same_v<unwrapped_type, double>)
+				return as_floating_point();
+			else if constexpr (std::is_same_v<unwrapped_type, bool>)
+				return as_boolean();
+			else if constexpr (std::is_same_v<unwrapped_type, date>)
+				return as_date();
+			else if constexpr (std::is_same_v<unwrapped_type, time>)
+				return as_time();
+			else if constexpr (std::is_same_v<unwrapped_type, date_time>)
+				return as_date_time();
+		}
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		const impl::wrap_node<T>* as() const noexcept
+		{
+			using unwrapped_type = impl::unwrap_node<impl::remove_cvref<T>>;
+			static_assert(toml::is_value<unwrapped_type> || toml::is_container<unwrapped_type>,
+						  "The template type argument of node::as() must be one of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			if constexpr (std::is_same_v<unwrapped_type, table>)
+				return as_table();
+			else if constexpr (std::is_same_v<unwrapped_type, array>)
+				return as_array();
+			else if constexpr (std::is_same_v<unwrapped_type, std::string>)
+				return as_string();
+			else if constexpr (std::is_same_v<unwrapped_type, int64_t>)
+				return as_integer();
+			else if constexpr (std::is_same_v<unwrapped_type, double>)
+				return as_floating_point();
+			else if constexpr (std::is_same_v<unwrapped_type, bool>)
+				return as_boolean();
+			else if constexpr (std::is_same_v<unwrapped_type, date>)
+				return as_date();
+			else if constexpr (std::is_same_v<unwrapped_type, time>)
+				return as_time();
+			else if constexpr (std::is_same_v<unwrapped_type, date_time>)
+				return as_date_time();
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		optional<T> value_exact() const noexcept(impl::value_retrieval_is_nothrow<T>);
+
+		template <typename T>
+		TOML_NODISCARD
+		optional<T> value() const noexcept(impl::value_retrieval_is_nothrow<T>);
+
+		template <typename T>
+		TOML_NODISCARD
+		auto value_or(T&& default_value) const noexcept(impl::value_retrieval_is_nothrow<T>);
+
+		template <typename T>
+		TOML_PURE_GETTER
+		decltype(auto) ref() & noexcept
+		{
+			return do_ref<T>(*this);
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		decltype(auto) ref() && noexcept
+		{
+			return do_ref<T>(std::move(*this));
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		decltype(auto) ref() const& noexcept
+		{
+			return do_ref<T>(*this);
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		decltype(auto) ref() const&& noexcept
+		{
+			return do_ref<T>(std::move(*this));
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const source_region& source() const noexcept
+		{
+			return source_;
+		}
+
+	  private:
+
+		template <typename Func, typename Node, typename T>
+		static constexpr bool can_visit = std::is_invocable_v<Func, ref_cast_type<T, Node>>;
+
+		template <typename Func, typename Node, typename T>
+		static constexpr bool can_visit_nothrow = std::is_nothrow_invocable_v<Func, ref_cast_type<T, Node>>;
+
+		template <typename Func, typename Node>
+		static constexpr bool can_visit_any = can_visit<Func, Node, table>		 //
+										   || can_visit<Func, Node, array>		 //
+										   || can_visit<Func, Node, std::string> //
+										   || can_visit<Func, Node, int64_t>	 //
+										   || can_visit<Func, Node, double>		 //
+										   || can_visit<Func, Node, bool>		 //
+										   || can_visit<Func, Node, date>		 //
+										   || can_visit<Func, Node, time>		 //
+										   || can_visit<Func, Node, date_time>;
+
+		// clang-format off
+
+		template <typename Func, typename Node>
+		static constexpr bool can_visit_all = can_visit<Func, Node, table>		 //
+										   && can_visit<Func, Node, array>		 //
+										   && can_visit<Func, Node, std::string> //
+										   && can_visit<Func, Node, int64_t>	 //
+										   && can_visit<Func, Node, double>		 //
+										   && can_visit<Func, Node, bool>		 //
+										   && can_visit<Func, Node, date>		 //
+										   && can_visit<Func, Node, time>		 //
+										   && can_visit<Func, Node, date_time>;
+
+		template <typename Func, typename Node, typename T>
+		static constexpr bool visit_is_nothrow_one = !can_visit<Func, Node, T> || can_visit_nothrow<Func, Node, T>;
+
+		template <typename Func, typename Node>
+		static constexpr bool visit_is_nothrow = visit_is_nothrow_one<Func, Node, table>	   //
+											  && visit_is_nothrow_one<Func, Node, array>	   //
+											  && visit_is_nothrow_one<Func, Node, std::string> //
+											  && visit_is_nothrow_one<Func, Node, int64_t>	   //
+											  && visit_is_nothrow_one<Func, Node, double>	   //
+											  && visit_is_nothrow_one<Func, Node, bool>		   //
+											  && visit_is_nothrow_one<Func, Node, date>		   //
+											  && visit_is_nothrow_one<Func, Node, time>		   //
+											  && visit_is_nothrow_one<Func, Node, date_time>;
+
+		// clang-format on
+
+		template <typename Func, typename Node, typename T, bool = can_visit<Func, Node, T>>
+		struct visit_return_type_
+		{
+			using type = decltype(std::declval<Func>()(std::declval<ref_cast_type<T, Node>>()));
+		};
+		template <typename Func, typename Node, typename T>
+		struct visit_return_type_<Func, Node, T, false>
+		{
+			using type = void;
+		};
+
+		template <typename Func, typename Node, typename T>
+		using visit_return_type = typename visit_return_type_<Func, Node, T>::type;
+
+		template <typename A, typename B>
+		using nonvoid = std::conditional_t<std::is_void_v<A>, B, A>;
+
+		template <typename Func, typename Node>
+		static decltype(auto) do_visit(Func&& visitor, Node&& n) noexcept(visit_is_nothrow<Func&&, Node&&>)
+		{
+			static_assert(can_visit_any<Func&&, Node&&>,
+						  "TOML node visitors must be invocable for at least one of the toml::node "
+						  "specializations:" TOML_SA_NODE_TYPE_LIST);
+
+			switch (n.type())
+			{
+				case node_type::table:
+					if constexpr (can_visit<Func&&, Node&&, table>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<table>());
+					break;
+
+				case node_type::array:
+					if constexpr (can_visit<Func&&, Node&&, array>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<array>());
+					break;
+
+				case node_type::string:
+					if constexpr (can_visit<Func&&, Node&&, std::string>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<std::string>());
+					break;
+
+				case node_type::integer:
+					if constexpr (can_visit<Func&&, Node&&, int64_t>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<int64_t>());
+					break;
+
+				case node_type::floating_point:
+					if constexpr (can_visit<Func&&, Node&&, double>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<double>());
+					break;
+
+				case node_type::boolean:
+					if constexpr (can_visit<Func&&, Node&&, bool>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<bool>());
+					break;
+
+				case node_type::date:
+					if constexpr (can_visit<Func&&, Node&&, date>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<date>());
+					break;
+
+				case node_type::time:
+					if constexpr (can_visit<Func&&, Node&&, time>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<time>());
+					break;
+
+				case node_type::date_time:
+					if constexpr (can_visit<Func&&, Node&&, date_time>)
+						return static_cast<Func&&>(visitor)(static_cast<Node&&>(n).template ref_cast<date_time>());
+					break;
+
+				case node_type::none: TOML_UNREACHABLE;
+				default: TOML_UNREACHABLE;
+			}
+
+			if constexpr (!can_visit_all<Func&&, Node&&>)
+			{
+				// clang-format off
+
+				using return_type =
+					nonvoid<visit_return_type<Func&&, Node&&, table>,
+					nonvoid<visit_return_type<Func&&, Node&&, array>,
+					nonvoid<visit_return_type<Func&&, Node&&, std::string>,
+					nonvoid<visit_return_type<Func&&, Node&&, int64_t>,
+					nonvoid<visit_return_type<Func&&, Node&&, double>,
+					nonvoid<visit_return_type<Func&&, Node&&, bool>,
+					nonvoid<visit_return_type<Func&&, Node&&, date>,
+					nonvoid<visit_return_type<Func&&, Node&&, time>,
+							visit_return_type<Func&&, Node&&, date_time>
+				>>>>>>>>;
+
+				// clang-format on
+
+				if constexpr (!std::is_void_v<return_type>)
+				{
+					static_assert(std::is_default_constructible_v<return_type>,
+								  "Non-exhaustive visitors must return a default-constructible type, or void");
+					return return_type{};
+				}
+			}
+		}
+
+	  public:
+
+		template <typename Func>
+		decltype(auto) visit(Func&& visitor) & noexcept(visit_is_nothrow<Func&&, node&>)
+		{
+			return do_visit(static_cast<Func&&>(visitor), *this);
+		}
+
+		template <typename Func>
+		decltype(auto) visit(Func&& visitor) && noexcept(visit_is_nothrow<Func&&, node&&>)
+		{
+			return do_visit(static_cast<Func&&>(visitor), static_cast<node&&>(*this));
+		}
+
+		template <typename Func>
+		decltype(auto) visit(Func&& visitor) const& noexcept(visit_is_nothrow<Func&&, const node&>)
+		{
+			return do_visit(static_cast<Func&&>(visitor), *this);
+		}
+
+		template <typename Func>
+		decltype(auto) visit(Func&& visitor) const&& noexcept(visit_is_nothrow<Func&&, const node&&>)
+		{
+			return do_visit(static_cast<Func&&>(visitor), static_cast<const node&&>(*this));
+		}
+
+		TOML_NODISCARD
+		explicit operator node_view<node>() noexcept;
+
+		TOML_NODISCARD
+		explicit operator node_view<const node>() const noexcept;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<node> at_path(std::string_view path) noexcept;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<const node> at_path(std::string_view path) const noexcept;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<node> at_path(const toml::path& path) noexcept;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<const node> at_path(const toml::path& path) const noexcept;
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<node> at_path(std::wstring_view path);
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<const node> at_path(std::wstring_view path) const;
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<node> operator[](const toml::path& path) noexcept;
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node_view<const node> operator[](const toml::path& path) const noexcept;
+	};
+}
+TOML_NAMESPACE_END;
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_PURE_GETTER
+	TOML_EXPORTED_FREE_FUNCTION
+	bool TOML_CALLCONV node_deep_equality(const node*, const node*) noexcept;
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/std_initializer_list.hpp  *****************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <initializer_list>
+TOML_ENABLE_WARNINGS;
+
+//********  impl/node_view.hpp  ****************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_DISABLE_ARITHMETIC_WARNINGS;
+
+TOML_NAMESPACE_START
+{
+	template <typename ViewedType>
+	class TOML_TRIVIAL_ABI node_view
+	{
+		static_assert(impl::is_one_of<ViewedType, toml::node, const toml::node>,
+					  "A toml::node_view<> must wrap toml::node or const toml::node.");
+
+	  public:
+
+		using viewed_type = ViewedType;
+
+	  private:
+		template <typename T>
+		friend class node_view;
+
+		mutable viewed_type* node_ = nullptr;
+
+	  public:
+
+		TOML_NODISCARD_CTOR
+		node_view() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		explicit node_view(viewed_type* node) noexcept //
+			: node_{ node }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit node_view(viewed_type& node) noexcept //
+			: node_{ &node }
+		{}
+
+		TOML_NODISCARD_CTOR
+		node_view(const node_view&) noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		node_view(node_view&&) noexcept = default;
+
+		node_view& operator=(const node_view&) & noexcept = default;
+
+		node_view& operator=(node_view&&) & noexcept = default;
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator bool() const noexcept
+		{
+			return node_ != nullptr;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		viewed_type* node() const noexcept
+		{
+			return node_;
+		}
+
+		TOML_PURE_GETTER
+		node_type type() const noexcept
+		{
+			return node_ ? node_->type() : node_type::none;
+		}
+
+		TOML_PURE_GETTER
+		bool is_table() const noexcept
+		{
+			return node_ && node_->is_table();
+		}
+
+		TOML_PURE_GETTER
+		bool is_array() const noexcept
+		{
+			return node_ && node_->is_array();
+		}
+
+		TOML_PURE_GETTER
+		bool is_value() const noexcept
+		{
+			return node_ && node_->is_value();
+		}
+
+		TOML_PURE_GETTER
+		bool is_string() const noexcept
+		{
+			return node_ && node_->is_string();
+		}
+
+		TOML_PURE_GETTER
+		bool is_integer() const noexcept
+		{
+			return node_ && node_->is_integer();
+		}
+
+		TOML_PURE_GETTER
+		bool is_floating_point() const noexcept
+		{
+			return node_ && node_->is_floating_point();
+		}
+
+		TOML_PURE_GETTER
+		bool is_number() const noexcept
+		{
+			return node_ && node_->is_number();
+		}
+
+		TOML_PURE_GETTER
+		bool is_boolean() const noexcept
+		{
+			return node_ && node_->is_boolean();
+		}
+
+		TOML_PURE_GETTER
+		bool is_date() const noexcept
+		{
+			return node_ && node_->is_date();
+		}
+
+		TOML_PURE_GETTER
+		bool is_time() const noexcept
+		{
+			return node_ && node_->is_time();
+		}
+
+		TOML_PURE_GETTER
+		bool is_date_time() const noexcept
+		{
+			return node_ && node_->is_date_time();
+		}
+
+		TOML_PURE_GETTER
+		bool is_array_of_tables() const noexcept
+		{
+			return node_ && node_->is_array_of_tables();
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		bool is() const noexcept
+		{
+			return node_ ? node_->template is<impl::unwrap_node<impl::remove_cvref<T>>>() : false;
+		}
+
+		TOML_NODISCARD
+		bool is_homogeneous(node_type ntype, viewed_type*& first_nonmatch) const noexcept
+		{
+			if (!node_)
+			{
+				first_nonmatch = {};
+				return false;
+			}
+			return node_->is_homogeneous(ntype, first_nonmatch);
+		}
+
+		TOML_NODISCARD
+		bool is_homogeneous(node_type ntype) const noexcept
+		{
+			return node_ ? node_->is_homogeneous(ntype) : false;
+		}
+
+		template <typename ElemType = void>
+		TOML_PURE_GETTER
+		bool is_homogeneous() const noexcept
+		{
+			return node_ ? node_->template is_homogeneous<impl::unwrap_node<impl::remove_cvref<ElemType>>>() : false;
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		auto* as() const noexcept
+		{
+			return node_ ? node_->template as<T>() : nullptr;
+		}
+
+		TOML_PURE_GETTER
+		auto* as_table() const noexcept
+		{
+			return as<table>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_array() const noexcept
+		{
+			return as<array>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_string() const noexcept
+		{
+			return as<std::string>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_integer() const noexcept
+		{
+			return as<int64_t>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_floating_point() const noexcept
+		{
+			return as<double>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_boolean() const noexcept
+		{
+			return as<bool>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_date() const noexcept
+		{
+			return as<date>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_time() const noexcept
+		{
+			return as<time>();
+		}
+
+		TOML_PURE_GETTER
+		auto* as_date_time() const noexcept
+		{
+			return as<date_time>();
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		optional<T> value_exact() const noexcept(impl::value_retrieval_is_nothrow<T>)
+		{
+			if (node_)
+				return node_->template value_exact<T>();
+			return {};
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		optional<T> value() const noexcept(impl::value_retrieval_is_nothrow<T>)
+		{
+			if (node_)
+				return node_->template value<T>();
+			return {};
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		auto value_or(T&& default_value) const noexcept(impl::value_retrieval_is_nothrow<T>)
+		{
+			using namespace ::toml::impl;
+
+			static_assert(!is_wide_string<T> || TOML_ENABLE_WINDOWS_COMPAT,
+						  "Retrieving values as wide-character strings is only "
+						  "supported on Windows with TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+			if constexpr (is_wide_string<T>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+				if (node_)
+					return node_->value_or(static_cast<T&&>(default_value));
+				return std::wstring{ static_cast<T&&>(default_value) };
+
+#else
+
+				static_assert(impl::always_false<T>, "Evaluated unreachable branch!");
+
+#endif
+			}
+			else
+			{
+				using value_type =
+					std::conditional_t<std::is_pointer_v<std::decay_t<T>>,
+									   std::add_pointer_t<std::add_const_t<std::remove_pointer_t<std::decay_t<T>>>>,
+									   std::decay_t<T>>;
+
+				if (node_)
+					return node_->value_or(static_cast<T&&>(default_value));
+				if constexpr (std::is_pointer_v<value_type>)
+					return value_type{ default_value };
+				else
+					return static_cast<T&&>(default_value);
+			}
+		}
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		decltype(auto) ref() const noexcept
+		{
+			TOML_ASSERT_ASSUME(node_ && "toml::node_view::ref() called on a node_view that did not reference a node");
+			return node_->template ref<T>();
+		}
+
+	  private:
+
+		template <typename Func>
+		static constexpr bool visit_is_nothrow = noexcept(std::declval<viewed_type*>()->visit(std::declval<Func>()));
+
+	  public:
+
+		template <typename Func>
+		decltype(auto) visit(Func&& visitor) const noexcept(visit_is_nothrow<Func&&>)
+		{
+			using return_type = decltype(node_->visit(static_cast<Func&&>(visitor)));
+			if (node_)
+				return node_->visit(static_cast<Func&&>(visitor));
+			if constexpr (!std::is_void_v<return_type>)
+				return return_type{};
+		}
+
+	  public:
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator==(const node_view& lhs, const node_view<T>& rhs) noexcept
+		{
+			return impl::node_deep_equality(lhs.node_, rhs.node_);
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator!=(const node_view& lhs, const node_view<T>& rhs) noexcept
+		{
+			return !impl::node_deep_equality(lhs.node_, rhs.node_);
+		}
+
+		TOML_NODISCARD
+		friend bool operator==(const node_view& lhs, const table& rhs) noexcept
+		{
+			if (lhs.node_ == &rhs)
+				return true;
+			const auto tbl = lhs.as<table>();
+			return tbl && *tbl == rhs;
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const node_view&, const table&, );
+
+		TOML_NODISCARD
+		friend bool operator==(const node_view& lhs, const array& rhs) noexcept
+		{
+			if (lhs.node_ == &rhs)
+				return true;
+			const auto arr = lhs.as<array>();
+			return arr && *arr == rhs;
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const node_view&, const array&, );
+
+		template <typename T>
+		TOML_NODISCARD
+		friend bool operator==(const node_view& lhs, const toml::value<T>& rhs) noexcept
+		{
+			if (lhs.node_ == &rhs)
+				return true;
+			const auto val = lhs.as<T>();
+			return val && *val == rhs;
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const node_view&, const toml::value<T>&, template <typename T>);
+
+		TOML_CONSTRAINED_TEMPLATE(impl::is_losslessly_convertible_to_native<T>, typename T)
+		TOML_NODISCARD
+		friend bool operator==(const node_view& lhs, const T& rhs) noexcept(!impl::is_wide_string<T>)
+		{
+			static_assert(!impl::is_wide_string<T> || TOML_ENABLE_WINDOWS_COMPAT,
+						  "Comparison with wide-character strings is only "
+						  "supported on Windows with TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+			if constexpr (impl::is_wide_string<T>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+				return lhs == impl::narrow(rhs);
+#else
+				static_assert(impl::always_false<T>, "Evaluated unreachable branch!");
+#endif
+			}
+			else
+			{
+				const auto val = lhs.as<impl::native_type_of<T>>();
+				return val && *val == rhs;
+			}
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const node_view&,
+									   const T&,
+									   TOML_CONSTRAINED_TEMPLATE(impl::is_losslessly_convertible_to_native<T>,
+																 typename T));
+
+		template <typename T>
+		TOML_NODISCARD
+		friend bool operator==(const node_view& lhs,
+							   const std::initializer_list<T>& rhs) noexcept(!impl::is_wide_string<T>)
+		{
+			const auto arr = lhs.as<array>();
+			return arr && *arr == rhs;
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const node_view&, const std::initializer_list<T>&, template <typename T>);
+
+		template <typename T>
+		TOML_NODISCARD
+		friend bool operator==(const node_view& lhs, const std::vector<T>& rhs) noexcept(!impl::is_wide_string<T>)
+		{
+			const auto arr = lhs.as<array>();
+			return arr && *arr == rhs;
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const node_view&, const std::vector<T>&, template <typename T>);
+
+		TOML_NODISCARD
+		node_view operator[](std::string_view key) const noexcept
+		{
+			if (auto tbl = this->as_table())
+				return node_view{ tbl->get(key) };
+			return {};
+		}
+
+		TOML_NODISCARD
+		node_view operator[](const toml::path& path) const noexcept
+		{
+			return node_ ? node_->at_path(path) : node_view{};
+		}
+
+		TOML_NODISCARD
+		node_view at_path(std::string_view path) const noexcept
+		{
+			return node_ ? node_->at_path(path) : node_view{};
+		}
+
+		TOML_NODISCARD
+		node_view at_path(const toml::path& path) const noexcept
+		{
+			return node_ ? node_->at_path(path) : node_view{};
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node_view operator[](std::wstring_view key) const
+		{
+			if (auto tbl = this->as_table())
+				return node_view{ tbl->get(key) };
+			return {};
+		}
+
+		TOML_NODISCARD
+		node_view at_path(std::wstring_view path) const
+		{
+			return node_ ? node_->at_path(path) : node_view{};
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node_view operator[](size_t index) const noexcept
+		{
+			if (auto arr = this->as_array())
+				return node_view{ arr->get(index) };
+			return {};
+		}
+
+#if TOML_ENABLE_FORMATTERS
+
+		friend std::ostream& operator<<(std::ostream& os, const node_view& nv)
+		{
+			if (nv.node_)
+				nv.node_->visit([&os](const auto& n) { os << n; });
+			return os;
+		}
+
+#endif
+	};
+
+	template <typename T>
+	node_view(const T&) -> node_view<const node>;
+
+	template <typename T>
+	node_view(const T*) -> node_view<const node>;
+
+	template <typename T>
+	node_view(T&) -> node_view<node>;
+
+	template <typename T>
+	node_view(T*) -> node_view<node>;
+}
+TOML_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	inline node::operator node_view<node>() noexcept
+	{
+		return node_view<node>{ this };
+	}
+
+	inline node::operator node_view<const node>() const noexcept
+	{
+		return node_view<const node>{ this };
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/value.hpp  ********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_DISABLE_ARITHMETIC_WARNINGS;
+
+// clang-format off
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+	#define TOML_SA_VALUE_MESSAGE_WSTRING			TOML_SA_LIST_SEP "std::wstring"
+#else
+	#define TOML_SA_VALUE_MESSAGE_WSTRING
+#endif
+#if TOML_HAS_CHAR8
+	#define TOML_SA_VALUE_MESSAGE_U8STRING_VIEW		TOML_SA_LIST_SEP "std::u8string_view"
+	#define TOML_SA_VALUE_MESSAGE_CONST_CHAR8		TOML_SA_LIST_SEP "const char8_t*"
+#else
+	#define TOML_SA_VALUE_MESSAGE_U8STRING_VIEW
+	#define TOML_SA_VALUE_MESSAGE_CONST_CHAR8
+#endif
+
+#define TOML_SA_VALUE_EXACT_FUNC_MESSAGE(type_arg)															\
+	"The " type_arg " must be one of:"																		\
+	TOML_SA_LIST_NEW "A native TOML value type"																\
+	TOML_SA_NATIVE_VALUE_TYPE_LIST																			\
+																											\
+	TOML_SA_LIST_NXT "A non-view type capable of losslessly representing a native TOML value type"			\
+	TOML_SA_LIST_BEG "std::string"																			\
+	TOML_SA_VALUE_MESSAGE_WSTRING																			\
+	TOML_SA_LIST_SEP "any signed integer type >= 64 bits"													\
+	TOML_SA_LIST_SEP "any floating-point type >= 64 bits"													\
+	TOML_SA_LIST_END																						\
+																											\
+	TOML_SA_LIST_NXT "An immutable view type not requiring additional temporary storage"					\
+	TOML_SA_LIST_BEG "std::string_view"																		\
+	TOML_SA_VALUE_MESSAGE_U8STRING_VIEW																		\
+	TOML_SA_LIST_SEP "const char*"																			\
+	TOML_SA_VALUE_MESSAGE_CONST_CHAR8																		\
+		TOML_SA_LIST_END
+
+#define TOML_SA_VALUE_FUNC_MESSAGE(type_arg)																\
+	"The " type_arg " must be one of:"																		\
+	TOML_SA_LIST_NEW "A native TOML value type"																\
+	TOML_SA_NATIVE_VALUE_TYPE_LIST																			\
+																											\
+	TOML_SA_LIST_NXT "A non-view type capable of losslessly representing a native TOML value type"			\
+	TOML_SA_LIST_BEG "std::string"																			\
+	TOML_SA_VALUE_MESSAGE_WSTRING																			\
+	TOML_SA_LIST_SEP "any signed integer type >= 64 bits"													\
+	TOML_SA_LIST_SEP "any floating-point type >= 64 bits"													\
+	TOML_SA_LIST_END																						\
+																											\
+	TOML_SA_LIST_NXT "A non-view type capable of (reasonably) representing a native TOML value type"		\
+	TOML_SA_LIST_BEG "any other integral type"																\
+	TOML_SA_LIST_SEP "any floating-point type"																\
+	TOML_SA_LIST_END																						\
+																											\
+	TOML_SA_LIST_NXT "An immutable view type not requiring additional temporary storage"					\
+	TOML_SA_LIST_BEG "std::string_view"																		\
+	TOML_SA_VALUE_MESSAGE_U8STRING_VIEW																		\
+	TOML_SA_LIST_SEP "const char*"																			\
+	TOML_SA_VALUE_MESSAGE_CONST_CHAR8																		\
+	TOML_SA_LIST_END
+
+// clang-format on
+TOML_IMPL_NAMESPACE_START
+{
+	template <typename T, typename...>
+	struct native_value_maker
+	{
+		template <typename... Args>
+		TOML_NODISCARD
+		static T make(Args&&... args) noexcept(std::is_nothrow_constructible_v<T, Args&&...>)
+		{
+			if constexpr (std::is_aggregate_v<T>)
+				return T{ static_cast<Args&&>(args)... };
+			else
+				return T(static_cast<Args&&>(args)...);
+		}
+	};
+
+	template <typename T>
+	struct native_value_maker<T, T>
+	{
+		template <typename U>
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		static U&& make(U&& val) noexcept
+		{
+			return static_cast<U&&>(val);
+		}
+	};
+
+#if TOML_HAS_CHAR8 || TOML_ENABLE_WINDOWS_COMPAT
+
+	struct string_maker
+	{
+		template <typename T>
+		TOML_NODISCARD
+		static std::string make(T&& arg)
+		{
+			using arg_type = std::decay_t<T>;
+#if TOML_HAS_CHAR8
+			if constexpr (is_one_of<arg_type, char8_t*, const char8_t*>)
+			{
+				return std::string(reinterpret_cast<const char*>(static_cast<const char8_t*>(arg)));
+			}
+			if constexpr (is_one_of<arg_type, std::u8string, std::u8string_view>)
+			{
+				return std::string(reinterpret_cast<const char*>(static_cast<const char8_t*>(arg.data())),
+								   arg.length());
+			}
+#endif
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+			if constexpr (is_wide_string<arg_type>)
+			{
+				return narrow(static_cast<T&&>(arg));
+			}
+#endif
+		}
+	};
+
+#if TOML_HAS_CHAR8
+	template <>
+	struct native_value_maker<std::string, char8_t*> : string_maker
+	{};
+	template <>
+	struct native_value_maker<std::string, const char8_t*> : string_maker
+	{};
+	template <>
+	struct native_value_maker<std::string, std::u8string> : string_maker
+	{};
+	template <>
+	struct native_value_maker<std::string, std::u8string_view> : string_maker
+	{};
+#endif // TOML_HAS_CHAR8
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+	template <>
+	struct native_value_maker<std::string, wchar_t*> : string_maker
+	{};
+	template <>
+	struct native_value_maker<std::string, const wchar_t*> : string_maker
+	{};
+	template <>
+	struct native_value_maker<std::string, std::wstring> : string_maker
+	{};
+	template <>
+	struct native_value_maker<std::string, std::wstring_view> : string_maker
+	{};
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+#endif // TOML_HAS_CHAR8 || TOML_ENABLE_WINDOWS_COMPAT
+
+	template <typename T>
+	TOML_CONST_GETTER
+	inline optional<T> node_integer_cast(int64_t val) noexcept
+	{
+		static_assert(node_type_of<T> == node_type::integer);
+		static_assert(!is_cvref<T>);
+
+		using traits = value_traits<T>;
+		if constexpr (!traits::is_signed)
+		{
+			if constexpr ((sizeof(T) * CHAR_BIT) < 63) // 63 bits == int64_max
+			{
+				using common_t = decltype(int64_t{} + T{});
+				if (val < int64_t{} || static_cast<common_t>(val) > static_cast<common_t>(traits::max))
+					return {};
+			}
+			else
+			{
+				if (val < int64_t{})
+					return {};
+			}
+		}
+		else
+		{
+			if (val < traits::min || val > traits::max)
+				return {};
+		}
+		return { static_cast<T>(val) };
+	}
+
+	template <typename...>
+	struct value_variadic_ctor_allowed : std::true_type
+	{};
+
+	template <typename T, typename... Args>
+	struct value_variadic_ctor_allowed<value<T>, value<T>, Args...> : std::false_type
+	{};
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	template <typename ValueType>
+	class value : public node
+	{
+		static_assert(impl::is_native<ValueType> && !impl::is_cvref<ValueType>,
+					  "A toml::value<> must model one of the native TOML value types:" TOML_SA_NATIVE_VALUE_TYPE_LIST);
+
+	  private:
+
+		friend class TOML_PARSER_TYPENAME;
+
+		template <typename T, typename U>
+		TOML_CONST_INLINE_GETTER
+		static auto as_value([[maybe_unused]] U* ptr) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, T>)
+				return ptr;
+			else
+				return nullptr;
+		}
+
+		ValueType val_;
+		value_flags flags_ = value_flags::none;
+
+	  public:
+
+		using value_type = ValueType;
+
+		using value_arg = POXY_IMPLEMENTATION_DETAIL(
+			std::conditional_t<
+				std::is_same_v<value_type, std::string>,
+				std::string_view,
+				std::conditional_t<impl::is_one_of<value_type, double, int64_t, bool>, value_type, const value_type&>>);
+
+		TOML_HIDDEN_CONSTRAINT(
+			(impl::value_variadic_ctor_allowed<value<ValueType>, impl::remove_cvref<Args>...>::value),
+			typename... Args)
+		TOML_NODISCARD_CTOR
+		explicit value(Args&&... args) noexcept(noexcept(value_type(
+			impl::native_value_maker<value_type, std::decay_t<Args>...>::make(static_cast<Args&&>(args)...))))
+			: val_(impl::native_value_maker<value_type, std::decay_t<Args>...>::make(static_cast<Args&&>(args)...))
+		{
+#if TOML_LIFETIME_HOOKS
+			TOML_VALUE_CREATED;
+#endif
+		}
+
+		TOML_NODISCARD_CTOR
+		value(const value& other) noexcept //
+			: node(other),
+			  val_{ other.val_ },
+			  flags_{ other.flags_ }
+		{
+#if TOML_LIFETIME_HOOKS
+			TOML_VALUE_CREATED;
+#endif
+		}
+
+		TOML_NODISCARD_CTOR
+		value(const value& other, value_flags flags) noexcept //
+			: node(other),
+			  val_{ other.val_ },
+			  flags_{ flags == preserve_source_value_flags ? other.flags_ : flags }
+		{
+#if TOML_LIFETIME_HOOKS
+			TOML_VALUE_CREATED;
+#endif
+		}
+
+		TOML_NODISCARD_CTOR
+		value(value&& other) noexcept //
+			: node(std::move(other)),
+			  val_{ std::move(other.val_) },
+			  flags_{ std::exchange(other.flags_, value_flags{}) }
+		{
+#if TOML_LIFETIME_HOOKS
+			TOML_VALUE_CREATED;
+#endif
+		}
+
+		TOML_NODISCARD_CTOR
+		value(value&& other, value_flags flags) noexcept //
+			: node(std::move(other)),
+			  val_{ std::move(other.val_) },
+			  flags_{ flags == preserve_source_value_flags ? other.flags_ : flags }
+		{
+#if TOML_LIFETIME_HOOKS
+			TOML_VALUE_CREATED;
+#endif
+			other.flags_ = {};
+		}
+
+		value& operator=(const value& rhs) noexcept
+		{
+			node::operator=(rhs);
+			val_   = rhs.val_;
+			flags_ = rhs.flags_;
+			return *this;
+		}
+
+		value& operator=(value&& rhs) noexcept
+		{
+			if (&rhs != this)
+			{
+				node::operator=(std::move(rhs));
+				val_   = std::move(rhs.val_);
+				flags_ = std::exchange(rhs.flags_, value_flags{});
+			}
+			return *this;
+		}
+
+#if TOML_LIFETIME_HOOKS
+		~value() noexcept
+		{
+			TOML_VALUE_DESTROYED;
+		}
+#endif
+
+		TOML_CONST_INLINE_GETTER
+		node_type type() const noexcept final
+		{
+			return impl::node_type_of<value_type>;
+		}
+
+		TOML_PURE_GETTER
+		bool is_homogeneous(node_type ntype) const noexcept final
+		{
+			return ntype == node_type::none || ntype == impl::node_type_of<value_type>;
+		}
+
+		TOML_PURE_GETTER
+		bool is_homogeneous(node_type ntype, node*& first_nonmatch) noexcept final
+		{
+			if (ntype != node_type::none && ntype != impl::node_type_of<value_type>)
+			{
+				first_nonmatch = this;
+				return false;
+			}
+			return true;
+		}
+
+		TOML_PURE_GETTER
+		bool is_homogeneous(node_type ntype, const node*& first_nonmatch) const noexcept final
+		{
+			if (ntype != node_type::none && ntype != impl::node_type_of<value_type>)
+			{
+				first_nonmatch = this;
+				return false;
+			}
+			return true;
+		}
+
+		template <typename ElemType = void>
+		TOML_PURE_GETTER
+		bool is_homogeneous() const noexcept
+		{
+			using type = impl::remove_cvref<impl::unwrap_node<ElemType>>;
+			static_assert(std::is_void_v<type> || toml::is_value<type> || toml::is_container<type>,
+						  "The template type argument of value::is_homogeneous() must be void or one "
+						  "of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			if constexpr (std::is_void_v<type>)
+				return true;
+			else
+				return impl::node_type_of<type> == impl::node_type_of<value_type>;
+		}
+		TOML_CONST_INLINE_GETTER
+		bool is_table() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_array() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_array_of_tables() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_value() const noexcept final
+		{
+			return true;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_string() const noexcept final
+		{
+			return std::is_same_v<value_type, std::string>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_integer() const noexcept final
+		{
+			return std::is_same_v<value_type, int64_t>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_floating_point() const noexcept final
+		{
+			return std::is_same_v<value_type, double>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_number() const noexcept final
+		{
+			return impl::is_one_of<value_type, int64_t, double>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_boolean() const noexcept final
+		{
+			return std::is_same_v<value_type, bool>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_date() const noexcept final
+		{
+			return std::is_same_v<value_type, date>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_time() const noexcept final
+		{
+			return std::is_same_v<value_type, time>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_date_time() const noexcept final
+		{
+			return std::is_same_v<value_type, date_time>;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		table* as_table() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		array* as_array() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<std::string>* as_string() noexcept final
+		{
+			return as_value<std::string>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<int64_t>* as_integer() noexcept final
+		{
+			return as_value<int64_t>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<double>* as_floating_point() noexcept final
+		{
+			return as_value<double>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<bool>* as_boolean() noexcept final
+		{
+			return as_value<bool>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<date>* as_date() noexcept final
+		{
+			return as_value<date>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<time>* as_time() noexcept final
+		{
+			return as_value<time>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		value<date_time>* as_date_time() noexcept final
+		{
+			return as_value<date_time>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const table* as_table() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const array* as_array() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<std::string>* as_string() const noexcept final
+		{
+			return as_value<std::string>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<int64_t>* as_integer() const noexcept final
+		{
+			return as_value<int64_t>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<double>* as_floating_point() const noexcept final
+		{
+			return as_value<double>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<bool>* as_boolean() const noexcept final
+		{
+			return as_value<bool>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<date>* as_date() const noexcept final
+		{
+			return as_value<date>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<time>* as_time() const noexcept final
+		{
+			return as_value<time>(this);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const value<date_time>* as_date_time() const noexcept final
+		{
+			return as_value<date_time>(this);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		value_type& get() & noexcept
+		{
+			return val_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		value_type&& get() && noexcept
+		{
+			return static_cast<value_type&&>(val_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const value_type& get() const& noexcept
+		{
+			return val_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const value_type&& get() const&& noexcept
+		{
+			return static_cast<const value_type&&>(val_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		value_type& operator*() & noexcept
+		{
+			return val_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		value_type&& operator*() && noexcept
+		{
+			return static_cast<value_type&&>(val_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const value_type& operator*() const& noexcept
+		{
+			return val_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const value_type&& operator*() const&& noexcept
+		{
+			return static_cast<const value_type&&>(val_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator value_type&() & noexcept
+		{
+			return val_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator value_type&&() && noexcept
+		{
+			return static_cast<value_type&&>(val_);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator const value_type&() const& noexcept
+		{
+			return val_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator const value_type&&() && noexcept
+		{
+			return static_cast<const value_type&&>(val_);
+		}
+
+		TOML_HIDDEN_CONSTRAINT(std::is_class_v<T>, typename T = value_type)
+		TOML_PURE_INLINE_GETTER
+		value_type* operator->() noexcept
+		{
+			return &val_;
+		}
+
+		TOML_HIDDEN_CONSTRAINT(std::is_class_v<T>, typename T = value_type)
+		TOML_PURE_INLINE_GETTER
+		const value_type* operator->() const noexcept
+		{
+			return &val_;
+		}
+
+		TOML_NODISCARD
+		value_flags flags() const noexcept
+		{
+			return flags_;
+		}
+
+		value& flags(value_flags new_flags) noexcept
+		{
+			flags_ = new_flags;
+			return *this;
+		}
+
+		value& operator=(value_arg rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, std::string>)
+				val_.assign(rhs);
+			else
+				val_ = rhs;
+			return *this;
+		}
+
+		TOML_CONSTRAINED_TEMPLATE((std::is_same_v<T, std::string>), typename T = value_type)
+		value& operator=(std::string&& rhs) noexcept
+		{
+			val_ = std::move(rhs);
+			return *this;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator==(const value& lhs, value_arg rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, double>)
+			{
+				const auto lhs_nan = impl::fpclassify(lhs.val_) == impl::fp_class::nan;
+				const auto rhs_nan = impl::fpclassify(rhs) == impl::fp_class::nan;
+				if (lhs_nan != rhs_nan)
+					return false;
+				if (lhs_nan)
+					return true;
+			}
+			return lhs.val_ == rhs;
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const value&, value_arg, );
+
+		TOML_PURE_GETTER
+		friend bool operator<(const value& lhs, value_arg rhs) noexcept
+		{
+			return lhs.val_ < rhs;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator<(value_arg lhs, const value& rhs) noexcept
+		{
+			return lhs < rhs.val_;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator<=(const value& lhs, value_arg rhs) noexcept
+		{
+			return lhs.val_ <= rhs;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator<=(value_arg lhs, const value& rhs) noexcept
+		{
+			return lhs <= rhs.val_;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator>(const value& lhs, value_arg rhs) noexcept
+		{
+			return lhs.val_ > rhs;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator>(value_arg lhs, const value& rhs) noexcept
+		{
+			return lhs > rhs.val_;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator>=(const value& lhs, value_arg rhs) noexcept
+		{
+			return lhs.val_ >= rhs;
+		}
+
+		TOML_PURE_GETTER
+		friend bool operator>=(value_arg lhs, const value& rhs) noexcept
+		{
+			return lhs >= rhs.val_;
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator==(const value& lhs, const value<T>& rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, T>)
+				return lhs == rhs.val_; // calls asymmetrical value-equality operator defined above
+			else
+				return false;
+		}
+
+		template <typename T>
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const value& lhs, const value<T>& rhs) noexcept
+		{
+			return !(lhs == rhs);
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator<(const value& lhs, const value<T>& rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, T>)
+				return lhs.val_ < rhs.val_;
+			else
+				return impl::node_type_of<value_type> < impl::node_type_of<T>;
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator<=(const value& lhs, const value<T>& rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, T>)
+				return lhs.val_ <= rhs.val_;
+			else
+				return impl::node_type_of<value_type> <= impl::node_type_of<T>;
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator>(const value& lhs, const value<T>& rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, T>)
+				return lhs.val_ > rhs.val_;
+			else
+				return impl::node_type_of<value_type> > impl::node_type_of<T>;
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		friend bool operator>=(const value& lhs, const value<T>& rhs) noexcept
+		{
+			if constexpr (std::is_same_v<value_type, T>)
+				return lhs.val_ >= rhs.val_;
+			else
+				return impl::node_type_of<value_type> >= impl::node_type_of<T>;
+		}
+
+#if TOML_ENABLE_FORMATTERS
+
+		friend std::ostream& operator<<(std::ostream& lhs, const value& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+
+#endif
+	};
+
+	template <typename T>
+	value(T) -> value<impl::native_type_of<impl::remove_cvref<T>>>;
+	template <typename T>
+	value(T, value_flags) -> value<impl::native_type_of<impl::remove_cvref<T>>>;
+
+	template <typename T>
+	TOML_NODISCARD
+	inline decltype(auto) node::get_value_exact() const noexcept(impl::value_retrieval_is_nothrow<T>)
+	{
+		using namespace impl;
+
+		static_assert(node_type_of<T> != node_type::none);
+		static_assert(node_type_of<T> != node_type::table);
+		static_assert(node_type_of<T> != node_type::array);
+		static_assert(is_native<T> || can_represent_native<T>);
+		static_assert(!is_cvref<T>);
+		TOML_ASSERT(this->type() == node_type_of<T>);
+
+		if constexpr (node_type_of<T> == node_type::string)
+		{
+			const auto& str = *ref_cast<std::string>();
+			if constexpr (std::is_same_v<T, std::string>)
+				return str;
+			else if constexpr (std::is_same_v<T, std::string_view>)
+				return T{ str };
+			else if constexpr (std::is_same_v<T, const char*>)
+				return str.c_str();
+
+			else if constexpr (std::is_same_v<T, std::wstring>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+				return widen(str);
+#else
+				static_assert(always_false<T>, "Evaluated unreachable branch!");
+#endif
+			}
+
+#if TOML_HAS_CHAR8
+
+			// char -> char8_t (potentially unsafe - the feature is 'experimental'!)
+			else if constexpr (is_one_of<T, std::u8string, std::u8string_view>)
+				return T(reinterpret_cast<const char8_t*>(str.c_str()), str.length());
+			else if constexpr (std::is_same_v<T, const char8_t*>)
+				return reinterpret_cast<const char8_t*>(str.c_str());
+			else
+				static_assert(always_false<T>, "Evaluated unreachable branch!");
+
+#endif
+		}
+		else
+			return static_cast<T>(*ref_cast<native_type_of<T>>());
+	}
+
+	template <typename T>
+	TOML_NODISCARD
+	inline optional<T> node::value_exact() const noexcept(impl::value_retrieval_is_nothrow<T>)
+	{
+		using namespace impl;
+
+		static_assert(!is_wide_string<T> || TOML_ENABLE_WINDOWS_COMPAT,
+					  "Retrieving values as wide-character strings with node::value_exact() is only "
+					  "supported on Windows with TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+		static_assert((is_native<T> || can_represent_native<T>)&&!is_cvref<T>,
+					  TOML_SA_VALUE_EXACT_FUNC_MESSAGE("return type of node::value_exact()"));
+
+		// prevent additional compiler error spam when the static_assert fails by gating behind if constexpr
+		if constexpr ((is_native<T> || can_represent_native<T>)&&!is_cvref<T>)
+		{
+			if (type() == node_type_of<T>)
+				return { this->get_value_exact<T>() };
+			else
+				return {};
+		}
+	}
+
+	template <typename T>
+	TOML_NODISCARD
+	inline optional<T> node::value() const noexcept(impl::value_retrieval_is_nothrow<T>)
+	{
+		using namespace impl;
+
+		static_assert(!is_wide_string<T> || TOML_ENABLE_WINDOWS_COMPAT,
+					  "Retrieving values as wide-character strings with node::value() is only "
+					  "supported on Windows with TOML_ENABLE_WINDOWS_COMPAT enabled.");
+		static_assert((is_native<T> || can_represent_native<T> || can_partially_represent_native<T>)&&!is_cvref<T>,
+					  TOML_SA_VALUE_FUNC_MESSAGE("return type of node::value()"));
+
+		// when asking for strings, dates, times and date_times there's no 'fuzzy' conversion
+		// semantics to be mindful of so the exact retrieval is enough.
+		if constexpr (is_natively_one_of<T, std::string, time, date, date_time>)
+		{
+			if (type() == node_type_of<T>)
+				return { this->get_value_exact<T>() };
+			else
+				return {};
+		}
+
+		// everything else requires a bit of logicking.
+		else
+		{
+			switch (type())
+			{
+				// int -> *
+				case node_type::integer:
+				{
+					// int -> int
+					if constexpr (is_natively_one_of<T, int64_t>)
+					{
+						if constexpr (is_native<T> || can_represent_native<T>)
+							return static_cast<T>(*ref_cast<int64_t>());
+						else
+							return node_integer_cast<T>(*ref_cast<int64_t>());
+					}
+
+					// int -> float
+					else if constexpr (is_natively_one_of<T, double>)
+					{
+						const int64_t val = *ref_cast<int64_t>();
+						if constexpr (std::numeric_limits<T>::digits < 64)
+						{
+							constexpr auto largest_whole_float = (int64_t{ 1 } << std::numeric_limits<T>::digits);
+							if (val < -largest_whole_float || val > largest_whole_float)
+								return {};
+						}
+						return static_cast<T>(val);
+					}
+
+					// int -> bool
+					else if constexpr (is_natively_one_of<T, bool>)
+						return static_cast<bool>(*ref_cast<int64_t>());
+
+					// int -> anything else
+					else
+						return {};
+				}
+
+				// float -> *
+				case node_type::floating_point:
+				{
+					// float -> float
+					if constexpr (is_natively_one_of<T, double>)
+					{
+						if constexpr (is_native<T> || can_represent_native<T>)
+							return { static_cast<T>(*ref_cast<double>()) };
+						else
+						{
+							const double val = *ref_cast<double>();
+							if (impl::fpclassify(val) == fp_class::ok
+								&& (val < (std::numeric_limits<T>::lowest)() || val > (std::numeric_limits<T>::max)()))
+								return {};
+							return { static_cast<T>(val) };
+						}
+					}
+
+					// float -> int
+					else if constexpr (is_natively_one_of<T, int64_t>)
+					{
+						const double val = *ref_cast<double>();
+						if (impl::fpclassify(val) == fp_class::ok
+							&& static_cast<double>(static_cast<int64_t>(val)) == val)
+							return node_integer_cast<T>(static_cast<int64_t>(val));
+						else
+							return {};
+					}
+
+					// float -> anything else
+					else
+						return {};
+				}
+
+				// bool -> *
+				case node_type::boolean:
+				{
+					// bool -> bool
+					if constexpr (is_natively_one_of<T, bool>)
+						return { *ref_cast<bool>() };
+
+					// bool -> int
+					else if constexpr (is_natively_one_of<T, int64_t>)
+						return { static_cast<T>(*ref_cast<bool>()) };
+
+					// bool -> anything else
+					else
+						return {};
+				}
+			}
+
+			// non-values, or 'exact' types covered above
+			return {};
+		}
+	}
+
+	template <typename T>
+	TOML_NODISCARD
+	inline auto node::value_or(T && default_value) const noexcept(impl::value_retrieval_is_nothrow<T>)
+	{
+		using namespace impl;
+
+		static_assert(!is_wide_string<T> || TOML_ENABLE_WINDOWS_COMPAT,
+					  "Retrieving values as wide-character strings with node::value_or() is only "
+					  "supported on Windows with TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+		if constexpr (is_wide_string<T>)
+		{
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+			if (type() == node_type::string)
+				return widen(*ref_cast<std::string>());
+			return std::wstring{ static_cast<T&&>(default_value) };
+
+#else
+
+			static_assert(always_false<T>, "Evaluated unreachable branch!");
+
+#endif
+		}
+		else
+		{
+			using value_type =
+				std::conditional_t<std::is_pointer_v<std::decay_t<T>>,
+								   std::add_pointer_t<std::add_const_t<std::remove_pointer_t<std::decay_t<T>>>>,
+								   std::decay_t<T>>;
+			using traits = value_traits<value_type>;
+
+			// clang-format off
+
+			static_assert(
+				traits::is_native || traits::can_represent_native || traits::can_partially_represent_native,
+				"The default value type of node::value_or() must be one of:"
+				TOML_SA_LIST_NEW "A native TOML value type"
+				TOML_SA_NATIVE_VALUE_TYPE_LIST
+
+				TOML_SA_LIST_NXT "A non-view type capable of losslessly representing a native TOML value type"
+				TOML_SA_LIST_BEG "std::string"
+				#if TOML_ENABLE_WINDOWS_COMPAT
+				TOML_SA_LIST_SEP "std::wstring"
+				#endif
+				TOML_SA_LIST_SEP "any signed integer type >= 64 bits"
+				TOML_SA_LIST_SEP "any floating-point type >= 64 bits"
+				TOML_SA_LIST_END
+
+				TOML_SA_LIST_NXT "A non-view type capable of (reasonably) representing a native TOML value type"
+				TOML_SA_LIST_BEG "any other integral type"
+				TOML_SA_LIST_SEP "any floating-point type"
+				TOML_SA_LIST_END
+
+				TOML_SA_LIST_NXT "A compatible view type"
+				TOML_SA_LIST_BEG "std::string_view"
+				#if TOML_HAS_CHAR8
+				TOML_SA_LIST_SEP "std::u8string_view"
+				#endif
+				#if TOML_ENABLE_WINDOWS_COMPAT
+				TOML_SA_LIST_SEP "std::wstring_view"
+				#endif
+				TOML_SA_LIST_SEP "const char*"
+				#if TOML_HAS_CHAR8
+				TOML_SA_LIST_SEP "const char8_t*"
+				#endif
+				#if TOML_ENABLE_WINDOWS_COMPAT
+				TOML_SA_LIST_SEP "const wchar_t*"
+				#endif
+				TOML_SA_LIST_END
+			);
+
+			// clang-format on
+
+			// prevent additional compiler error spam when the static_assert fails by gating behind if constexpr
+			if constexpr (traits::is_native || traits::can_represent_native || traits::can_partially_represent_native)
+			{
+				if constexpr (traits::is_native)
+				{
+					if (type() == node_type_of<value_type>)
+						return *ref_cast<typename traits::native_type>();
+				}
+				if (auto val = this->value<value_type>())
+					return *val;
+				if constexpr (std::is_pointer_v<value_type>)
+					return value_type{ default_value };
+				else
+					return static_cast<T&&>(default_value);
+			}
+		}
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/make_node.hpp  ****************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	template <typename T>
+	TOML_NODISCARD
+	TOML_ATTR(returns_nonnull)
+	auto* make_node_impl_specialized(T && val, [[maybe_unused]] value_flags flags)
+	{
+		using unwrapped_type = unwrap_node<remove_cvref<T>>;
+		static_assert(!std::is_same_v<unwrapped_type, node>);
+		static_assert(!is_node_view<unwrapped_type>);
+
+		// arrays + tables - invoke copy/move ctor
+		if constexpr (is_one_of<unwrapped_type, array, table>)
+		{
+			return new unwrapped_type(static_cast<T&&>(val));
+		}
+
+		// values
+		else
+		{
+			using native_type = native_type_of<unwrapped_type>;
+			using value_type  = value<native_type>;
+
+			value_type* out;
+
+			// copy/move ctor
+			if constexpr (std::is_same_v<remove_cvref<T>, value_type>)
+			{
+				out = new value_type{ static_cast<T&&>(val), flags };
+			}
+
+			// creating from raw value
+			else
+			{
+				static_assert(!is_wide_string<T> || TOML_ENABLE_WINDOWS_COMPAT,
+							  "Instantiating values from wide-character strings is only "
+							  "supported on Windows with TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+				if constexpr (!is_losslessly_convertible_to_native<unwrapped_type>)
+				{
+					if constexpr (std::is_same_v<native_type, int64_t>)
+						static_assert(always_false<T>,
+									  "Integral value initializers must be losslessly convertible to int64_t");
+					else if constexpr (std::is_same_v<native_type, double>)
+						static_assert(always_false<T>,
+									  "Floating-point value initializers must be losslessly convertible to double");
+					else
+						static_assert(
+							always_false<T>,
+							"Value initializers must be losslessly convertible to one of the TOML value types");
+				}
+
+				if constexpr (is_wide_string<T>)
+				{
+#if TOML_ENABLE_WINDOWS_COMPAT
+					out = new value_type{ narrow(static_cast<T&&>(val)) };
+#else
+					static_assert(always_false<T>, "Evaluated unreachable branch!");
+#endif
+				}
+				else
+					out = new value_type{ static_cast<T&&>(val) };
+
+				if (flags != preserve_source_value_flags)
+					out->flags(flags);
+			}
+
+			return out;
+		}
+	}
+
+	template <typename T>
+	TOML_NODISCARD
+	auto* make_node_impl(T && val, value_flags flags = preserve_source_value_flags)
+	{
+		using unwrapped_type = unwrap_node<remove_cvref<T>>;
+		if constexpr (std::is_same_v<unwrapped_type, node> || is_node_view<unwrapped_type>)
+		{
+			if constexpr (is_node_view<unwrapped_type>)
+			{
+				if (!val)
+					return static_cast<toml::node*>(nullptr);
+			}
+
+			return static_cast<T&&>(val).visit(
+				[flags](auto&& concrete) {
+					return static_cast<toml::node*>(
+						make_node_impl_specialized(static_cast<decltype(concrete)&&>(concrete), flags));
+				});
+		}
+		else
+			return make_node_impl_specialized(static_cast<T&&>(val), flags);
+	}
+
+	template <typename T>
+	TOML_NODISCARD
+	auto* make_node_impl(inserter<T> && val, value_flags flags = preserve_source_value_flags)
+	{
+		return make_node_impl(static_cast<T&&>(val.value), flags);
+	}
+
+	template <typename T, bool = (is_node<T> || is_node_view<T> || is_value<T> || can_partially_represent_native<T>)>
+	struct inserted_type_of_
+	{
+		using type = std::remove_pointer_t<decltype(make_node_impl(std::declval<T>()))>;
+	};
+
+	template <typename T>
+	struct inserted_type_of_<inserter<T>, false>
+	{
+		using type = typename inserted_type_of_<remove_cvref<T>>::type;
+	};
+
+	template <typename T>
+	struct inserted_type_of_<T, false>
+	{
+		using type = void;
+	};
+
+	template <typename T>
+	TOML_NODISCARD
+	node_ptr make_node(T && val, value_flags flags = preserve_source_value_flags)
+	{
+		return node_ptr{ make_node_impl(static_cast<T&&>(val), flags) };
+	}
+
+	template <typename... T>
+	struct emplaced_type_of_
+	{
+		using type = void;
+	};
+
+	template <typename T>
+	struct emplaced_type_of_<T>
+	{
+		using type = std::conditional_t<is_one_of<T, node, node_view<node>, node_view<const node>>,
+										void,
+										typename inserted_type_of_<T>::type>;
+	};
+
+	template <typename T>
+	struct emplaced_type_of_<inserter<T>>
+	{
+		using type = typename emplaced_type_of_<remove_cvref<T>>::type;
+	};
+
+	template <typename... T>
+	using emplaced_type_of = typename emplaced_type_of_<remove_cvref<T>...>::type;
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	template <typename T>
+	using inserted_type_of = POXY_IMPLEMENTATION_DETAIL(typename impl::inserted_type_of_<impl::remove_cvref<T>>::type);
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/array.hpp  ********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+#ifndef TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN
+#if TOML_GCC && TOML_GCC <= 7
+#define TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN 1
+#else
+#define TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN 0
+#endif
+#endif
+
+#if TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN && !defined(TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_ACKNOWLEDGED)
+#define TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_MESSAGE                                                                  \
+	"If you're seeing this error it's because you're using one of toml++'s for_each() functions on a compiler with "   \
+	"known bugs in that area (e.g. GCC 7). On these compilers returning a bool (or bool-convertible) value from the "  \
+	"for_each() callable causes spurious compilation failures, while returning nothing (void) works fine. "            \
+	"If you believe this message is incorrect for your compiler, you can try your luck by #defining "                  \
+	"TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN as 0 and recompiling - if it works, great! Let me know at "                 \
+	"https://github.com/marzer/tomlplusplus/issues. Alternatively, if you don't have any need for early-exiting from " \
+	"for_each(), you can suppress this error by #defining TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_ACKNOWLEDGED "         \
+	"and moving on with your life."
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	template <bool IsConst>
+	class TOML_TRIVIAL_ABI array_iterator
+	{
+	  private:
+		template <bool>
+		friend class array_iterator;
+
+		using mutable_vector_iterator = std::vector<node_ptr>::iterator;
+		using const_vector_iterator	  = std::vector<node_ptr>::const_iterator;
+		using vector_iterator		  = std::conditional_t<IsConst, const_vector_iterator, mutable_vector_iterator>;
+
+		mutable vector_iterator iter_;
+
+	  public:
+		using value_type		= std::conditional_t<IsConst, const node, node>;
+		using reference			= value_type&;
+		using pointer			= value_type*;
+		using difference_type	= ptrdiff_t;
+		using iterator_category = typename std::iterator_traits<vector_iterator>::iterator_category;
+
+		TOML_NODISCARD_CTOR
+		array_iterator() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		explicit array_iterator(mutable_vector_iterator iter) noexcept //
+			: iter_{ iter }
+		{}
+
+		TOML_CONSTRAINED_TEMPLATE(C, bool C = IsConst)
+		TOML_NODISCARD_CTOR
+		explicit array_iterator(const_vector_iterator iter) noexcept //
+			: iter_{ iter }
+		{}
+
+		TOML_CONSTRAINED_TEMPLATE(C, bool C = IsConst)
+		TOML_NODISCARD_CTOR
+		array_iterator(const array_iterator<false>& other) noexcept //
+			: iter_{ other.iter_ }
+		{}
+
+		TOML_NODISCARD_CTOR
+		array_iterator(const array_iterator&) noexcept = default;
+
+		array_iterator& operator=(const array_iterator&) noexcept = default;
+
+		array_iterator& operator++() noexcept // ++pre
+		{
+			++iter_;
+			return *this;
+		}
+
+		array_iterator operator++(int) noexcept // post++
+		{
+			array_iterator out{ iter_ };
+			++iter_;
+			return out;
+		}
+
+		array_iterator& operator--() noexcept // --pre
+		{
+			--iter_;
+			return *this;
+		}
+
+		array_iterator operator--(int) noexcept // post--
+		{
+			array_iterator out{ iter_ };
+			--iter_;
+			return out;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		reference operator*() const noexcept
+		{
+			return *iter_->get();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		pointer operator->() const noexcept
+		{
+			return iter_->get();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator const vector_iterator&() const noexcept
+		{
+			return iter_;
+		}
+
+		TOML_CONSTRAINED_TEMPLATE(!C, bool C = IsConst)
+		TOML_PURE_INLINE_GETTER
+		explicit operator const const_vector_iterator() const noexcept
+		{
+			return iter_;
+		}
+
+		array_iterator& operator+=(ptrdiff_t rhs) noexcept
+		{
+			iter_ += rhs;
+			return *this;
+		}
+
+		array_iterator& operator-=(ptrdiff_t rhs) noexcept
+		{
+			iter_ -= rhs;
+			return *this;
+		}
+
+		TOML_NODISCARD
+		friend array_iterator operator+(const array_iterator& lhs, ptrdiff_t rhs) noexcept
+		{
+			return array_iterator{ lhs.iter_ + rhs };
+		}
+
+		TOML_NODISCARD
+		friend array_iterator operator+(ptrdiff_t lhs, const array_iterator& rhs) noexcept
+		{
+			return array_iterator{ rhs.iter_ + lhs };
+		}
+
+		TOML_NODISCARD
+		friend array_iterator operator-(const array_iterator& lhs, ptrdiff_t rhs) noexcept
+		{
+			return array_iterator{ lhs.iter_ - rhs };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend ptrdiff_t operator-(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ - rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ == rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ != rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ < rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<=(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ <= rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ > rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>=(const array_iterator& lhs, const array_iterator& rhs) noexcept
+		{
+			return lhs.iter_ >= rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		reference operator[](ptrdiff_t idx) const noexcept
+		{
+			return *(iter_ + idx)->get();
+		}
+	};
+
+	struct array_init_elem
+	{
+		mutable node_ptr value;
+
+		template <typename T>
+		TOML_NODISCARD_CTOR
+		array_init_elem(T&& val, value_flags flags = preserve_source_value_flags) //
+			: value{ make_node(static_cast<T&&>(val), flags) }
+		{}
+	};
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	using array_iterator = POXY_IMPLEMENTATION_DETAIL(impl::array_iterator<false>);
+
+	using const_array_iterator = POXY_IMPLEMENTATION_DETAIL(impl::array_iterator<true>);
+
+	class TOML_EXPORTED_CLASS array : public node
+	{
+	  private:
+
+		using vector_type			= std::vector<impl::node_ptr>;
+		using vector_iterator		= typename vector_type::iterator;
+		using const_vector_iterator = typename vector_type::const_iterator;
+		vector_type elems_;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array(const impl::array_init_elem*, const impl::array_init_elem*);
+
+		TOML_NODISCARD_CTOR
+		array(std::false_type, std::initializer_list<impl::array_init_elem> elems) //
+			: array{ elems.begin(), elems.end() }
+		{}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void preinsertion_resize(size_t idx, size_t count);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void insert_at_back(impl::node_ptr&&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		vector_iterator insert_at(const_vector_iterator, impl::node_ptr&&);
+
+		template <typename T>
+		void emplace_back_if_not_empty_view(T&& val, value_flags flags)
+		{
+			if constexpr (is_node_view<T>)
+			{
+				if (!val)
+					return;
+			}
+			insert_at_back(impl::make_node(static_cast<T&&>(val), flags));
+		}
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		size_t total_leaf_count() const noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void flatten_child(array&& child, size_t& dest_index) noexcept;
+
+	  public:
+		using value_type	  = node;
+		using size_type		  = size_t;
+		using difference_type = ptrdiff_t;
+		using reference		  = node&;
+		using const_reference = const node&;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array() noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		~array() noexcept;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array(const array&);
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array(array&& other) noexcept;
+
+		TOML_CONSTRAINED_TEMPLATE((sizeof...(ElemTypes) > 0 || !std::is_same_v<impl::remove_cvref<ElemType>, array>),
+								  typename ElemType,
+								  typename... ElemTypes)
+		TOML_NODISCARD_CTOR
+		explicit array(ElemType&& val, ElemTypes&&... vals)
+			: array{ std::false_type{},
+					 std::initializer_list<impl::array_init_elem>{ static_cast<ElemType&&>(val),
+																   static_cast<ElemTypes&&>(vals)... } }
+		{}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array& operator=(const array&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array& operator=(array&& rhs) noexcept;
+
+		TOML_CONST_INLINE_GETTER
+		node_type type() const noexcept final
+		{
+			return node_type::array;
+		}
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool is_homogeneous(node_type ntype) const noexcept final;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool is_homogeneous(node_type ntype, node*& first_nonmatch) noexcept final;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool is_homogeneous(node_type ntype, const node*& first_nonmatch) const noexcept final;
+
+		template <typename ElemType = void>
+		TOML_PURE_GETTER
+		bool is_homogeneous() const noexcept
+		{
+			using type = impl::remove_cvref<impl::unwrap_node<ElemType>>;
+			static_assert(std::is_void_v<type> || toml::is_value<type> || toml::is_container<type>,
+						  "The template type argument of array::is_homogeneous() must be void or one "
+						  "of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			return is_homogeneous(impl::node_type_of<type>);
+		}
+		TOML_CONST_INLINE_GETTER
+		bool is_table() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_array() const noexcept final
+		{
+			return true;
+		}
+
+		TOML_PURE_GETTER
+		bool is_array_of_tables() const noexcept final
+		{
+			return is_homogeneous(node_type::table);
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_value() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_string() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_integer() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_floating_point() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_number() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_boolean() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_date() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_time() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_date_time() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		table* as_table() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		array* as_array() noexcept final
+		{
+			return this;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<std::string>* as_string() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<int64_t>* as_integer() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<double>* as_floating_point() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<bool>* as_boolean() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<date>* as_date() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<time>* as_time() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<date_time>* as_date_time() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const table* as_table() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const array* as_array() const noexcept final
+		{
+			return this;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<std::string>* as_string() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<int64_t>* as_integer() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<double>* as_floating_point() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<bool>* as_boolean() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<date>* as_date() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<time>* as_time() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<date_time>* as_date_time() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		node* get(size_t index) noexcept
+		{
+			return index < elems_.size() ? elems_[index].get() : nullptr;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const node* get(size_t index) const noexcept
+		{
+			return const_cast<array&>(*this).get(index);
+		}
+
+		template <typename ElemType>
+		TOML_NODISCARD
+		impl::wrap_node<ElemType>* get_as(size_t index) noexcept
+		{
+			if (auto val = get(index))
+				return val->template as<ElemType>();
+			return nullptr;
+		}
+
+		template <typename ElemType>
+		TOML_NODISCARD
+		const impl::wrap_node<ElemType>* get_as(size_t index) const noexcept
+		{
+			return const_cast<array&>(*this).template get_as<ElemType>(index);
+		}
+
+		using node::operator[]; // inherit operator[toml::path]
+		TOML_NODISCARD
+		node& operator[](size_t index) noexcept
+		{
+			return *elems_[index];
+		}
+
+		TOML_NODISCARD
+		const node& operator[](size_t index) const noexcept
+		{
+			return *elems_[index];
+		}
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node& at(size_t index);
+
+		TOML_NODISCARD
+		const node& at(size_t index) const
+		{
+			return const_cast<array&>(*this).at(index);
+		}
+
+		TOML_NODISCARD
+		node& front() noexcept
+		{
+			return *elems_.front();
+		}
+
+		TOML_NODISCARD
+		const node& front() const noexcept
+		{
+			return *elems_.front();
+		}
+
+		TOML_NODISCARD
+		node& back() noexcept
+		{
+			return *elems_.back();
+		}
+
+		TOML_NODISCARD
+		const node& back() const noexcept
+		{
+			return *elems_.back();
+		}
+
+		using iterator = array_iterator;
+
+		using const_iterator = const_array_iterator;
+
+		TOML_NODISCARD
+		iterator begin() noexcept
+		{
+			return iterator{ elems_.begin() };
+		}
+
+		TOML_NODISCARD
+		const_iterator begin() const noexcept
+		{
+			return const_iterator{ elems_.cbegin() };
+		}
+
+		TOML_NODISCARD
+		const_iterator cbegin() const noexcept
+		{
+			return const_iterator{ elems_.cbegin() };
+		}
+
+		TOML_NODISCARD
+		iterator end() noexcept
+		{
+			return iterator{ elems_.end() };
+		}
+
+		TOML_NODISCARD
+		const_iterator end() const noexcept
+		{
+			return const_iterator{ elems_.cend() };
+		}
+
+		TOML_NODISCARD
+		const_iterator cend() const noexcept
+		{
+			return const_iterator{ elems_.cend() };
+		}
+
+	  private:
+
+		template <typename T, typename Array>
+		using for_each_elem_ref = impl::copy_cvref<impl::wrap_node<impl::remove_cvref<impl::unwrap_node<T>>>, Array>;
+
+		template <typename Func, typename Array, typename T>
+		using can_for_each = std::disjunction<std::is_invocable<Func, for_each_elem_ref<T, Array>, size_t>,
+											  std::is_invocable<Func, size_t, for_each_elem_ref<T, Array>>,
+											  std::is_invocable<Func, for_each_elem_ref<T, Array>>>;
+
+		template <typename Func, typename Array, typename T>
+		using can_for_each_nothrow = std::conditional_t<
+			// first form
+			std::is_invocable_v<Func, for_each_elem_ref<T, Array>, size_t>,
+			std::is_nothrow_invocable<Func, for_each_elem_ref<T, Array>, size_t>,
+			std::conditional_t<
+				// second form
+				std::is_invocable_v<Func, size_t, for_each_elem_ref<T, Array>>,
+				std::is_nothrow_invocable<Func, size_t, for_each_elem_ref<T, Array>>,
+				std::conditional_t<
+					// third form
+					std::is_invocable_v<Func, for_each_elem_ref<T, Array>>,
+					std::is_nothrow_invocable<Func, for_each_elem_ref<T, Array>>,
+					std::false_type>>>;
+
+		template <typename Func, typename Array>
+		using can_for_each_any = std::disjunction<can_for_each<Func, Array, table>,
+												  can_for_each<Func, Array, array>,
+												  can_for_each<Func, Array, std::string>,
+												  can_for_each<Func, Array, int64_t>,
+												  can_for_each<Func, Array, double>,
+												  can_for_each<Func, Array, bool>,
+												  can_for_each<Func, Array, date>,
+												  can_for_each<Func, Array, time>,
+												  can_for_each<Func, Array, date_time>>;
+
+		template <typename Func, typename Array, typename T>
+		using for_each_is_nothrow_one = std::disjunction<std::negation<can_for_each<Func, Array, T>>, //
+														 can_for_each_nothrow<Func, Array, T>>;
+
+		template <typename Func, typename Array>
+		using for_each_is_nothrow = std::conjunction<for_each_is_nothrow_one<Func, Array, table>,
+													 for_each_is_nothrow_one<Func, Array, array>,
+													 for_each_is_nothrow_one<Func, Array, std::string>,
+													 for_each_is_nothrow_one<Func, Array, int64_t>,
+													 for_each_is_nothrow_one<Func, Array, double>,
+													 for_each_is_nothrow_one<Func, Array, bool>,
+													 for_each_is_nothrow_one<Func, Array, date>,
+													 for_each_is_nothrow_one<Func, Array, time>,
+													 for_each_is_nothrow_one<Func, Array, date_time>>;
+
+		template <typename Func, typename Array>
+		static void do_for_each(Func&& visitor, Array&& arr) //
+			noexcept(for_each_is_nothrow<Func&&, Array&&>::value)
+		{
+			static_assert(can_for_each_any<Func&&, Array&&>::value,
+						  "TOML array for_each visitors must be invocable for at least one of the toml::node "
+						  "specializations:" TOML_SA_NODE_TYPE_LIST);
+
+			for (size_t i = 0; i < arr.size(); i++)
+			{
+				using node_ref = impl::copy_cvref<toml::node, Array&&>;
+				static_assert(std::is_reference_v<node_ref>);
+
+#if TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN
+
+#ifndef TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_ACKNOWLEDGED
+				static_assert(impl::always_false<Func, Array, node_ref>, //
+							  TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_MESSAGE);
+#endif
+
+				static_cast<node_ref>(static_cast<Array&&>(arr)[i])
+					.visit(
+						[&]([[maybe_unused]] auto&& elem) //
+						noexcept(for_each_is_nothrow_one<Func&&, Array&&, decltype(elem)>::value)
+						{
+							using elem_ref = for_each_elem_ref<decltype(elem), Array&&>;
+							static_assert(std::is_reference_v<elem_ref>);
+
+							// func(elem, i)
+							if constexpr (std::is_invocable_v<Func&&, elem_ref, size_t>)
+							{
+								static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem), i);
+							}
+
+							// func(i, elem)
+							else if constexpr (std::is_invocable_v<Func&&, size_t, elem_ref>)
+							{
+								static_cast<Func&&>(visitor)(i, static_cast<elem_ref>(elem));
+							}
+
+							// func(elem)
+							else if constexpr (std::is_invocable_v<Func&&, elem_ref>)
+							{
+								static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem));
+							}
+						});
+
+#else
+				const auto keep_going =
+					static_cast<node_ref>(static_cast<Array&&>(arr)[i])
+						.visit(
+							[&]([[maybe_unused]] auto&& elem) //
+							noexcept(for_each_is_nothrow_one<Func&&, Array&&, decltype(elem)>::value)
+							{
+								using elem_ref = for_each_elem_ref<decltype(elem), Array&&>;
+								static_assert(std::is_reference_v<elem_ref>);
+
+								// func(elem, i)
+								if constexpr (std::is_invocable_v<Func&&, elem_ref, size_t>)
+								{
+									using return_type =
+										decltype(static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem), i));
+
+									if constexpr (impl::is_constructible_or_convertible<bool, return_type>)
+									{
+										return static_cast<bool>(
+											static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem), i));
+									}
+									else
+									{
+										static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem), i);
+										return true;
+									}
+								}
+
+								// func(i, elem)
+								else if constexpr (std::is_invocable_v<Func&&, size_t, elem_ref>)
+								{
+									using return_type =
+										decltype(static_cast<Func&&>(visitor)(i, static_cast<elem_ref>(elem)));
+
+									if constexpr (impl::is_constructible_or_convertible<bool, return_type>)
+									{
+										return static_cast<bool>(
+											static_cast<Func&&>(visitor)(i, static_cast<elem_ref>(elem)));
+									}
+									else
+									{
+										static_cast<Func&&>(visitor)(i, static_cast<elem_ref>(elem));
+										return true;
+									}
+								}
+
+								// func(elem)
+								else if constexpr (std::is_invocable_v<Func&&, elem_ref>)
+								{
+									using return_type =
+										decltype(static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem)));
+
+									if constexpr (impl::is_constructible_or_convertible<bool, return_type>)
+									{
+										return static_cast<bool>(
+											static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem)));
+									}
+									else
+									{
+										static_cast<Func&&>(visitor)(static_cast<elem_ref>(elem));
+										return true;
+									}
+								}
+
+								// visitor not compatible with this particular type
+								else
+									return true;
+							});
+
+				if (!keep_going)
+					return;
+#endif
+			}
+		}
+
+	  public:
+
+		template <typename Func>
+		array& for_each(Func&& visitor) & //
+			noexcept(for_each_is_nothrow<Func&&, array&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), *this);
+			return *this;
+		}
+
+		template <typename Func>
+		array&& for_each(Func&& visitor) && //
+			noexcept(for_each_is_nothrow<Func&&, array&&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), static_cast<array&&>(*this));
+			return static_cast<array&&>(*this);
+		}
+
+		template <typename Func>
+		const array& for_each(Func&& visitor) const& //
+			noexcept(for_each_is_nothrow<Func&&, const array&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), *this);
+			return *this;
+		}
+
+		template <typename Func>
+		const array&& for_each(Func&& visitor) const&& //
+			noexcept(for_each_is_nothrow<Func&&, const array&&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), static_cast<const array&&>(*this));
+			return static_cast<const array&&>(*this);
+		}
+
+		TOML_NODISCARD
+		bool empty() const noexcept
+		{
+			return elems_.empty();
+		}
+
+		TOML_NODISCARD
+		size_t size() const noexcept
+		{
+			return elems_.size();
+		}
+
+		TOML_NODISCARD
+		size_t max_size() const noexcept
+		{
+			return elems_.max_size();
+		}
+
+		TOML_NODISCARD
+		size_t capacity() const noexcept
+		{
+			return elems_.capacity();
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void reserve(size_t new_capacity);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void shrink_to_fit();
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void truncate(size_t new_size);
+
+		template <typename ElemType>
+		void resize(size_t new_size,
+					ElemType&& default_init_val,
+					value_flags default_init_flags = preserve_source_value_flags)
+		{
+			static_assert(!is_node_view<ElemType>,
+						  "The default element type argument to toml::array::resize may not be toml::node_view.");
+
+			if (!new_size)
+				clear();
+			else if (new_size > elems_.size())
+				insert(cend(), new_size - elems_.size(), static_cast<ElemType&&>(default_init_val), default_init_flags);
+			else
+				truncate(new_size);
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		iterator erase(const_iterator pos) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		iterator erase(const_iterator first, const_iterator last) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array& flatten() &;
+
+		array&& flatten() &&
+		{
+			return static_cast<toml::array&&>(this->flatten());
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		array& prune(bool recursive = true) & noexcept;
+
+		array&& prune(bool recursive = true) && noexcept
+		{
+			return static_cast<toml::array&&>(this->prune(recursive));
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void pop_back() noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void clear() noexcept;
+
+		template <typename ElemType>
+		iterator insert(const_iterator pos, ElemType&& val, value_flags flags = preserve_source_value_flags)
+		{
+			if constexpr (is_node_view<ElemType>)
+			{
+				if (!val)
+					return end();
+			}
+			return iterator{ insert_at(const_vector_iterator{ pos },
+									   impl::make_node(static_cast<ElemType&&>(val), flags)) };
+		}
+
+		template <typename ElemType>
+		iterator insert(const_iterator pos,
+						size_t count,
+						ElemType&& val,
+						value_flags flags = preserve_source_value_flags)
+		{
+			if constexpr (is_node_view<ElemType>)
+			{
+				if (!val)
+					return end();
+			}
+			switch (count)
+			{
+				case 0: return iterator{ elems_.begin() + (const_vector_iterator{ pos } - elems_.cbegin()) };
+				case 1: return insert(pos, static_cast<ElemType&&>(val), flags);
+				default:
+				{
+					const auto start_idx = static_cast<size_t>(const_vector_iterator{ pos } - elems_.cbegin());
+					preinsertion_resize(start_idx, count);
+					size_t i = start_idx;
+					for (size_t e = start_idx + count - 1u; i < e; i++)
+						elems_[i] = impl::make_node(val, flags);
+
+					elems_[i] = impl::make_node(static_cast<ElemType&&>(val), flags);
+					return iterator{ elems_.begin() + static_cast<ptrdiff_t>(start_idx) };
+				}
+			}
+		}
+
+		template <typename Iter>
+		iterator insert(const_iterator pos, Iter first, Iter last, value_flags flags = preserve_source_value_flags)
+		{
+			const auto distance = std::distance(first, last);
+			if (distance <= 0)
+				return iterator{ elems_.begin() + (const_vector_iterator{ pos } - elems_.cbegin()) };
+			else
+			{
+				auto count		 = distance;
+				using deref_type = decltype(*first);
+				if constexpr (is_node_view<deref_type>)
+				{
+					for (auto it = first; it != last; it++)
+						if (!(*it))
+							count--;
+					if (!count)
+						return iterator{ elems_.begin() + (const_vector_iterator{ pos } - elems_.cbegin()) };
+				}
+				const auto start_idx = static_cast<size_t>(const_vector_iterator{ pos } - elems_.cbegin());
+				preinsertion_resize(start_idx, static_cast<size_t>(count));
+				size_t i = start_idx;
+				for (auto it = first; it != last; it++)
+				{
+					if constexpr (is_node_view<deref_type>)
+					{
+						if (!(*it))
+							continue;
+					}
+					if constexpr (std::is_rvalue_reference_v<deref_type>)
+						elems_[i++] = impl::make_node(std::move(*it), flags);
+					else
+						elems_[i++] = impl::make_node(*it, flags);
+				}
+				return iterator{ elems_.begin() + static_cast<ptrdiff_t>(start_idx) };
+			}
+		}
+
+		template <typename ElemType>
+		iterator insert(const_iterator pos,
+						std::initializer_list<ElemType> ilist,
+						value_flags flags = preserve_source_value_flags)
+		{
+			return insert(pos, ilist.begin(), ilist.end(), flags);
+		}
+
+		template <typename ElemType = void, typename... Args>
+		iterator emplace(const_iterator pos, Args&&... args)
+		{
+			using raw_elem_type = impl::remove_cvref<ElemType>;
+			using elem_type		= std::conditional_t<std::is_void_v<raw_elem_type>, //
+												 impl::emplaced_type_of<Args&&...>,
+												 raw_elem_type>;
+
+			using type = impl::remove_cvref<impl::unwrap_node<elem_type>>;
+			static_assert(impl::is_native<type> || impl::is_one_of<type, table, array>,
+						  "Emplacement type parameter must be one of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			return iterator{ insert_at(const_vector_iterator{ pos },
+									   impl::node_ptr{ new impl::wrap_node<type>{ static_cast<Args&&>(args)... } }) };
+		}
+
+		template <typename ElemType>
+		iterator replace(const_iterator pos, ElemType&& val, value_flags flags = preserve_source_value_flags)
+		{
+			TOML_ASSERT(pos >= cbegin() && pos < cend());
+
+			if constexpr (is_node_view<ElemType>)
+			{
+				if (!val)
+					return end();
+			}
+
+			const auto it = elems_.begin() + (const_vector_iterator{ pos } - elems_.cbegin());
+			*it			  = impl::make_node(static_cast<ElemType&&>(val), flags);
+			return iterator{ it };
+		}
+
+		template <typename ElemType>
+		void push_back(ElemType&& val, value_flags flags = preserve_source_value_flags)
+		{
+			emplace_back_if_not_empty_view(static_cast<ElemType&&>(val), flags);
+		}
+
+		template <typename ElemType = void, typename... Args>
+		decltype(auto) emplace_back(Args&&... args)
+		{
+			using raw_elem_type = impl::remove_cvref<ElemType>;
+			using elem_type		= std::conditional_t<std::is_void_v<raw_elem_type>, //
+												 impl::emplaced_type_of<Args&&...>,
+												 raw_elem_type>;
+
+			static constexpr auto moving_node_ptr = std::is_same_v<elem_type, impl::node_ptr> //
+												 && sizeof...(Args) == 1u					  //
+												 && impl::first_is_same<impl::node_ptr&&, Args&&...>;
+
+			using unwrapped_type = impl::remove_cvref<impl::unwrap_node<elem_type>>;
+
+			static_assert(
+				moving_node_ptr										  //
+					|| impl::is_native<unwrapped_type>				  //
+					|| impl::is_one_of<unwrapped_type, table, array>, //
+				"ElemType argument of array::emplace_back() must be one of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			if constexpr (moving_node_ptr)
+			{
+				insert_at_back(static_cast<Args&&>(args)...);
+				return *elems_.back();
+			}
+			else
+			{
+				auto ptr = new impl::wrap_node<unwrapped_type>{ static_cast<Args&&>(args)... };
+				insert_at_back(impl::node_ptr{ ptr });
+				return *ptr;
+			}
+		}
+
+	  private:
+
+		TOML_NODISCARD
+		TOML_EXPORTED_STATIC_FUNCTION
+		static bool TOML_CALLCONV equal(const array&, const array&) noexcept;
+
+		template <typename T>
+		TOML_NODISCARD
+		static bool equal_to_container(const array& lhs, const T& rhs) noexcept
+		{
+			using element_type = std::remove_const_t<typename T::value_type>;
+			static_assert(impl::is_losslessly_convertible_to_native<element_type>,
+						  "Container element type must be losslessly convertible one of the native TOML value types");
+
+			if (lhs.size() != rhs.size())
+				return false;
+			if (rhs.size() == 0u)
+				return true;
+
+			size_t i{};
+			for (auto& list_elem : rhs)
+			{
+				const auto elem = lhs.get_as<impl::native_type_of<element_type>>(i++);
+				if (!elem || *elem != list_elem)
+					return false;
+			}
+
+			return true;
+		}
+
+	  public:
+
+		TOML_NODISCARD
+		friend bool operator==(const array& lhs, const array& rhs) noexcept
+		{
+			return equal(lhs, rhs);
+		}
+
+		TOML_NODISCARD
+		friend bool operator!=(const array& lhs, const array& rhs) noexcept
+		{
+			return !equal(lhs, rhs);
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		friend bool operator==(const array& lhs, const std::initializer_list<T>& rhs) noexcept
+		{
+			return equal_to_container(lhs, rhs);
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const array&, const std::initializer_list<T>&, template <typename T>);
+
+		template <typename T>
+		TOML_NODISCARD
+		friend bool operator==(const array& lhs, const std::vector<T>& rhs) noexcept
+		{
+			return equal_to_container(lhs, rhs);
+		}
+		TOML_ASYMMETRICAL_EQUALITY_OPS(const array&, const std::vector<T>&, template <typename T>);
+
+#if TOML_ENABLE_FORMATTERS
+
+		friend std::ostream& operator<<(std::ostream& lhs, const array& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+
+#endif
+	};
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/key.hpp  **********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	class key
+	{
+	  private:
+		std::string key_;
+		source_region source_;
+
+	  public:
+
+		TOML_NODISCARD_CTOR
+		key() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		explicit key(std::string_view k, source_region&& src = {}) //
+			: key_{ k },
+			  source_{ std::move(src) }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit key(std::string_view k, const source_region& src) //
+			: key_{ k },
+			  source_{ src }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit key(std::string&& k, source_region&& src = {}) noexcept //
+			: key_{ std::move(k) },
+			  source_{ std::move(src) }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit key(std::string&& k, const source_region& src) noexcept //
+			: key_{ std::move(k) },
+			  source_{ src }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit key(const char* k, source_region&& src = {}) //
+			: key_{ k },
+			  source_{ std::move(src) }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit key(const char* k, const source_region& src) //
+			: key_{ k },
+			  source_{ src }
+		{}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD_CTOR
+		explicit key(std::wstring_view k, source_region&& src = {}) //
+			: key_{ impl::narrow(k) },
+			  source_{ std::move(src) }
+		{}
+
+		TOML_NODISCARD_CTOR
+		explicit key(std::wstring_view k, const source_region& src) //
+			: key_{ impl::narrow(k) },
+			  source_{ src }
+		{}
+
+#endif
+
+		TOML_PURE_INLINE_GETTER
+		std::string_view str() const noexcept
+		{
+			return std::string_view{ key_ };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		/*implicit*/ operator std::string_view() const noexcept
+		{
+			return str();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool empty() const noexcept
+		{
+			return key_.empty();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const char* data() const noexcept
+		{
+			return key_.data();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		size_t length() const noexcept
+		{
+			return key_.length();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const source_region& source() const noexcept
+		{
+			return source_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(const key& lhs, const key& rhs) noexcept
+		{
+			return lhs.key_ == rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const key& lhs, const key& rhs) noexcept
+		{
+			return lhs.key_ != rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<(const key& lhs, const key& rhs) noexcept
+		{
+			return lhs.key_ < rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<=(const key& lhs, const key& rhs) noexcept
+		{
+			return lhs.key_ <= rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>(const key& lhs, const key& rhs) noexcept
+		{
+			return lhs.key_ > rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>=(const key& lhs, const key& rhs) noexcept
+		{
+			return lhs.key_ >= rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(const key& lhs, std::string_view rhs) noexcept
+		{
+			return lhs.key_ == rhs;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const key& lhs, std::string_view rhs) noexcept
+		{
+			return lhs.key_ != rhs;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<(const key& lhs, std::string_view rhs) noexcept
+		{
+			return lhs.key_ < rhs;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<=(const key& lhs, std::string_view rhs) noexcept
+		{
+			return lhs.key_ <= rhs;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>(const key& lhs, std::string_view rhs) noexcept
+		{
+			return lhs.key_ > rhs;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>=(const key& lhs, std::string_view rhs) noexcept
+		{
+			return lhs.key_ >= rhs;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(std::string_view lhs, const key& rhs) noexcept
+		{
+			return lhs == rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(std::string_view lhs, const key& rhs) noexcept
+		{
+			return lhs != rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<(std::string_view lhs, const key& rhs) noexcept
+		{
+			return lhs < rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator<=(std::string_view lhs, const key& rhs) noexcept
+		{
+			return lhs <= rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>(std::string_view lhs, const key& rhs) noexcept
+		{
+			return lhs > rhs.key_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator>=(std::string_view lhs, const key& rhs) noexcept
+		{
+			return lhs >= rhs.key_;
+		}
+
+		using const_iterator = const char*;
+
+		using iterator = const_iterator;
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator begin() const noexcept
+		{
+			return key_.data();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator end() const noexcept
+		{
+			return key_.data() + key_.length();
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const key& rhs)
+		{
+			impl::print_to_stream(lhs, rhs.key_);
+			return lhs;
+		}
+	};
+
+	template <typename T>
+	inline constexpr bool is_key = std::is_same_v<impl::remove_cvref<T>, toml::key>;
+
+	template <typename T>
+	inline constexpr bool is_key_or_convertible = is_key<T> //
+											   || impl::is_constructible_or_convertible<toml::key, T>;
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/std_map.hpp  ******************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <map>
+#include <iterator>
+TOML_ENABLE_WARNINGS;
+
+//********  impl/table.hpp  ********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	template <bool IsConst>
+	struct table_proxy_pair
+	{
+		using value_type = std::conditional_t<IsConst, const node, node>;
+
+		const toml::key& first;
+		value_type& second;
+	};
+
+	template <bool IsConst>
+	class table_iterator
+	{
+	  private:
+		template <bool>
+		friend class table_iterator;
+
+		using proxy_type		   = table_proxy_pair<IsConst>;
+		using mutable_map_iterator = std::map<toml::key, node_ptr, std::less<>>::iterator;
+		using const_map_iterator   = std::map<toml::key, node_ptr, std::less<>>::const_iterator;
+		using map_iterator		   = std::conditional_t<IsConst, const_map_iterator, mutable_map_iterator>;
+
+		mutable map_iterator iter_;
+		alignas(proxy_type) mutable unsigned char proxy_[sizeof(proxy_type)];
+		mutable bool proxy_instantiated_ = false;
+
+		TOML_NODISCARD
+		proxy_type* get_proxy() const noexcept
+		{
+			if (!proxy_instantiated_)
+			{
+				auto p = ::new (static_cast<void*>(proxy_)) proxy_type{ iter_->first, *iter_->second.get() };
+				proxy_instantiated_ = true;
+				return p;
+			}
+			else
+				return TOML_LAUNDER(reinterpret_cast<proxy_type*>(proxy_));
+		}
+
+	  public:
+		TOML_NODISCARD_CTOR
+		table_iterator() noexcept = default;
+
+		TOML_NODISCARD_CTOR
+		explicit table_iterator(mutable_map_iterator iter) noexcept //
+			: iter_{ iter }
+		{}
+
+		TOML_CONSTRAINED_TEMPLATE(C, bool C = IsConst)
+		TOML_NODISCARD_CTOR
+		explicit table_iterator(const_map_iterator iter) noexcept //
+			: iter_{ iter }
+		{}
+
+		TOML_CONSTRAINED_TEMPLATE(C, bool C = IsConst)
+		TOML_NODISCARD_CTOR
+		table_iterator(const table_iterator<false>& other) noexcept //
+			: iter_{ other.iter_ }
+		{}
+
+		TOML_NODISCARD_CTOR
+		table_iterator(const table_iterator& other) noexcept //
+			: iter_{ other.iter_ }
+		{}
+
+		table_iterator& operator=(const table_iterator& rhs) noexcept
+		{
+			iter_				= rhs.iter_;
+			proxy_instantiated_ = false;
+			return *this;
+		}
+
+		using value_type		= table_proxy_pair<IsConst>;
+		using reference			= value_type&;
+		using pointer			= value_type*;
+		using difference_type	= typename std::iterator_traits<map_iterator>::difference_type;
+		using iterator_category = typename std::iterator_traits<map_iterator>::iterator_category;
+
+		table_iterator& operator++() noexcept // ++pre
+		{
+			++iter_;
+			proxy_instantiated_ = false;
+			return *this;
+		}
+
+		table_iterator operator++(int) noexcept // post++
+		{
+			table_iterator out{ iter_ };
+			++iter_;
+			proxy_instantiated_ = false;
+			return out;
+		}
+
+		table_iterator& operator--() noexcept // --pre
+		{
+			--iter_;
+			proxy_instantiated_ = false;
+			return *this;
+		}
+
+		table_iterator operator--(int) noexcept // post--
+		{
+			table_iterator out{ iter_ };
+			--iter_;
+			proxy_instantiated_ = false;
+			return out;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		reference operator*() const noexcept
+		{
+			return *get_proxy();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		pointer operator->() const noexcept
+		{
+			return get_proxy();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator const map_iterator&() const noexcept
+		{
+			return iter_;
+		}
+
+		TOML_CONSTRAINED_TEMPLATE(!C, bool C = IsConst)
+		TOML_PURE_INLINE_GETTER
+		explicit operator const const_map_iterator() const noexcept
+		{
+			return iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator==(const table_iterator& lhs, const table_iterator& rhs) noexcept
+		{
+			return lhs.iter_ == rhs.iter_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		friend bool operator!=(const table_iterator& lhs, const table_iterator& rhs) noexcept
+		{
+			return lhs.iter_ != rhs.iter_;
+		}
+	};
+
+	struct table_init_pair
+	{
+		mutable toml::key key;
+		mutable node_ptr value;
+
+		template <typename K, typename V>
+		TOML_NODISCARD_CTOR
+		table_init_pair(K&& k, V&& v, value_flags flags = preserve_source_value_flags) //
+			: key{ static_cast<K&&>(k) },
+			  value{ make_node(static_cast<V&&>(v), flags) }
+		{}
+	};
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	using table_iterator = POXY_IMPLEMENTATION_DETAIL(impl::table_iterator<false>);
+
+	using const_table_iterator = POXY_IMPLEMENTATION_DETAIL(impl::table_iterator<true>);
+
+	class TOML_EXPORTED_CLASS table : public node
+	{
+	  private:
+
+		using map_type			 = std::map<toml::key, impl::node_ptr, std::less<>>;
+		using map_pair			 = std::pair<const toml::key, impl::node_ptr>;
+		using map_iterator		 = typename map_type::iterator;
+		using const_map_iterator = typename map_type::const_iterator;
+		map_type map_;
+
+		bool inline_ = false;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table(const impl::table_init_pair*, const impl::table_init_pair*);
+
+	  public:
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table() noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		~table() noexcept;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table(const table&);
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table(table&& other) noexcept;
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		explicit table(std::initializer_list<impl::table_init_pair> kvps) //
+			: table(kvps.begin(), kvps.end())
+		{}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table& operator=(const table&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table& operator=(table&& rhs) noexcept;
+
+		TOML_CONST_INLINE_GETTER
+		node_type type() const noexcept final
+		{
+			return node_type::table;
+		}
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool is_homogeneous(node_type ntype) const noexcept final;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool is_homogeneous(node_type ntype, node*& first_nonmatch) noexcept final;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool is_homogeneous(node_type ntype, const node*& first_nonmatch) const noexcept final;
+
+		template <typename ElemType = void>
+		TOML_PURE_GETTER
+		bool is_homogeneous() const noexcept
+		{
+			using type = impl::remove_cvref<impl::unwrap_node<ElemType>>;
+			static_assert(std::is_void_v<type> || toml::is_value<type> || toml::is_container<type>,
+						  "The template type argument of table::is_homogeneous() must be void or one "
+						  "of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+			return is_homogeneous(impl::node_type_of<type>);
+		}
+		TOML_CONST_INLINE_GETTER
+		bool is_table() const noexcept final
+		{
+			return true;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_array() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_PURE_GETTER
+		bool is_array_of_tables() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_value() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_string() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_integer() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_floating_point() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_number() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_boolean() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_date() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_time() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		bool is_date_time() const noexcept final
+		{
+			return false;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		table* as_table() noexcept final
+		{
+			return this;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		array* as_array() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<std::string>* as_string() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<int64_t>* as_integer() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<double>* as_floating_point() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<bool>* as_boolean() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<date>* as_date() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<time>* as_time() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		toml::value<date_time>* as_date_time() noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const table* as_table() const noexcept final
+		{
+			return this;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const array* as_array() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<std::string>* as_string() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<int64_t>* as_integer() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<double>* as_floating_point() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<bool>* as_boolean() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<date>* as_date() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<time>* as_time() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		const toml::value<date_time>* as_date_time() const noexcept final
+		{
+			return nullptr;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool is_inline() const noexcept
+		{
+			return inline_;
+		}
+
+		void is_inline(bool val) noexcept
+		{
+			inline_ = val;
+		}
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node* get(std::string_view key) noexcept;
+
+		TOML_PURE_INLINE_GETTER
+		const node* get(std::string_view key) const noexcept
+		{
+			return const_cast<table&>(*this).get(key);
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node* get(std::wstring_view key)
+		{
+			if (empty())
+				return nullptr;
+
+			return get(impl::narrow(key));
+		}
+
+		TOML_NODISCARD
+		const node* get(std::wstring_view key) const
+		{
+			return const_cast<table&>(*this).get(key);
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		template <typename T>
+		TOML_PURE_GETTER
+		impl::wrap_node<T>* get_as(std::string_view key) noexcept
+		{
+			const auto n = this->get(key);
+			return n ? n->template as<T>() : nullptr;
+		}
+
+		template <typename T>
+		TOML_PURE_GETTER
+		const impl::wrap_node<T>* get_as(std::string_view key) const noexcept
+		{
+			return const_cast<table&>(*this).template get_as<T>(key);
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		template <typename T>
+		TOML_NODISCARD
+		impl::wrap_node<T>* get_as(std::wstring_view key)
+		{
+			if (empty())
+				return nullptr;
+
+			return get_as<T>(impl::narrow(key));
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		const impl::wrap_node<T>* get_as(std::wstring_view key) const
+		{
+			return const_cast<table&>(*this).template get_as<T>(key);
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		node& at(std::string_view key);
+
+		TOML_NODISCARD
+		const node& at(std::string_view key) const
+		{
+			return const_cast<table&>(*this).at(key);
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node& at(std::wstring_view key)
+		{
+			return at(impl::narrow(key));
+		}
+
+		TOML_NODISCARD
+		const node& at(std::wstring_view key) const
+		{
+			return const_cast<table&>(*this).at(key);
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		using iterator = toml::table_iterator;
+
+		using const_iterator = toml::const_table_iterator;
+
+		TOML_PURE_INLINE_GETTER
+		iterator begin() noexcept
+		{
+			return iterator{ map_.begin() };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator begin() const noexcept
+		{
+			return const_iterator{ map_.cbegin() };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator cbegin() const noexcept
+		{
+			return const_iterator{ map_.cbegin() };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		iterator end() noexcept
+		{
+			return iterator{ map_.end() };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator end() const noexcept
+		{
+			return const_iterator{ map_.cend() };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const_iterator cend() const noexcept
+		{
+			return const_iterator{ map_.cend() };
+		}
+
+	  private:
+
+		template <typename T, typename Table>
+		using for_each_value_ref = impl::copy_cvref<impl::wrap_node<impl::remove_cvref<impl::unwrap_node<T>>>, Table>;
+
+		template <typename Func, typename Table, typename T>
+		using can_for_each = std::disjunction<std::is_invocable<Func, const key&, for_each_value_ref<T, Table>>, //
+											  std::is_invocable<Func, for_each_value_ref<T, Table>>>;
+
+		template <typename Func, typename Table, typename T>
+		using can_for_each_nothrow = std::conditional_t<
+			// first form
+			std::is_invocable_v<Func, const key&, for_each_value_ref<T, Table>>,
+			std::is_nothrow_invocable<Func, const key&, for_each_value_ref<T, Table>>,
+			std::conditional_t<
+				// second form
+				std::is_invocable_v<Func, for_each_value_ref<T, Table>>,
+				std::is_nothrow_invocable<Func, for_each_value_ref<T, Table>>,
+				std::false_type>>;
+
+		template <typename Func, typename Table>
+		using can_for_each_any = std::disjunction<can_for_each<Func, Table, table>,
+												  can_for_each<Func, Table, array>,
+												  can_for_each<Func, Table, std::string>,
+												  can_for_each<Func, Table, int64_t>,
+												  can_for_each<Func, Table, double>,
+												  can_for_each<Func, Table, bool>,
+												  can_for_each<Func, Table, date>,
+												  can_for_each<Func, Table, time>,
+												  can_for_each<Func, Table, date_time>>;
+
+		template <typename Func, typename Table, typename T>
+		using for_each_is_nothrow_one = std::disjunction<std::negation<can_for_each<Func, Table, T>>, //
+														 can_for_each_nothrow<Func, Table, T>>;
+
+		template <typename Func, typename Table>
+		using for_each_is_nothrow = std::conjunction<for_each_is_nothrow_one<Func, Table, table>,
+													 for_each_is_nothrow_one<Func, Table, array>,
+													 for_each_is_nothrow_one<Func, Table, std::string>,
+													 for_each_is_nothrow_one<Func, Table, int64_t>,
+													 for_each_is_nothrow_one<Func, Table, double>,
+													 for_each_is_nothrow_one<Func, Table, bool>,
+													 for_each_is_nothrow_one<Func, Table, date>,
+													 for_each_is_nothrow_one<Func, Table, time>,
+													 for_each_is_nothrow_one<Func, Table, date_time>>;
+
+		template <typename Func, typename Table>
+		static void do_for_each(Func&& visitor, Table&& tbl) //
+			noexcept(for_each_is_nothrow<Func&&, Table&&>::value)
+		{
+			static_assert(can_for_each_any<Func&&, Table&&>::value,
+						  "TOML table for_each visitors must be invocable for at least one of the toml::node "
+						  "specializations:" TOML_SA_NODE_TYPE_LIST);
+
+			using kvp_type = impl::copy_cv<map_pair, std::remove_reference_t<Table>>;
+
+			for (kvp_type& kvp : tbl.map_)
+			{
+				using node_ref = impl::copy_cvref<toml::node, Table&&>;
+				static_assert(std::is_reference_v<node_ref>);
+
+#if TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN
+
+#ifndef TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_ACKNOWLEDGED
+				static_assert(impl::always_false<Func, Table, kvp_type, node_ref>, //
+							  TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_MESSAGE);
+#endif
+
+				static_cast<node_ref>(*kvp.second)
+					.visit(
+						[&]([[maybe_unused]] auto&& v) //
+						noexcept(for_each_is_nothrow_one<Func&&, Table&&, decltype(v)>::value)
+						{
+							using value_ref = for_each_value_ref<decltype(v), Table&&>;
+							static_assert(std::is_reference_v<value_ref>);
+
+							// func(key, val)
+							if constexpr (std::is_invocable_v<Func&&, const key&, value_ref>)
+							{
+								static_cast<Func&&>(visitor)(static_cast<const key&>(kvp.first),
+															 static_cast<value_ref>(v));
+							}
+
+							// func(val)
+							else if constexpr (std::is_invocable_v<Func&&, value_ref>)
+							{
+								static_cast<Func&&>(visitor)(static_cast<value_ref>(v));
+							}
+						});
+
+#else
+				const auto keep_going =
+					static_cast<node_ref>(*kvp.second)
+						.visit(
+							[&]([[maybe_unused]] auto&& v) //
+							noexcept(for_each_is_nothrow_one<Func&&, Table&&, decltype(v)>::value)
+							{
+								using value_ref = for_each_value_ref<decltype(v), Table&&>;
+								static_assert(std::is_reference_v<value_ref>);
+
+								// func(key, val)
+								if constexpr (std::is_invocable_v<Func&&, const key&, value_ref>)
+								{
+									using return_type = decltype(static_cast<Func&&>(
+										visitor)(static_cast<const key&>(kvp.first), static_cast<value_ref>(v)));
+
+									if constexpr (impl::is_constructible_or_convertible<bool, return_type>)
+									{
+										return static_cast<bool>(static_cast<Func&&>(
+											visitor)(static_cast<const key&>(kvp.first), static_cast<value_ref>(v)));
+									}
+									else
+									{
+										static_cast<Func&&>(visitor)(static_cast<const key&>(kvp.first),
+																	 static_cast<value_ref>(v));
+										return true;
+									}
+								}
+
+								// func(val)
+								else if constexpr (std::is_invocable_v<Func&&, value_ref>)
+								{
+									using return_type =
+										decltype(static_cast<Func&&>(visitor)(static_cast<value_ref>(v)));
+
+									if constexpr (impl::is_constructible_or_convertible<bool, return_type>)
+									{
+										return static_cast<bool>(
+											static_cast<Func&&>(visitor)(static_cast<value_ref>(v)));
+									}
+									else
+									{
+										static_cast<Func&&>(visitor)(static_cast<value_ref>(v));
+										return true;
+									}
+								}
+
+								// visitor not compatible with this particular type
+								else
+									return true;
+							});
+
+				if (!keep_going)
+					return;
+#endif
+			}
+		}
+
+	  public:
+
+		template <typename Func>
+		table& for_each(Func&& visitor) & //
+			noexcept(for_each_is_nothrow<Func&&, table&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), *this);
+			return *this;
+		}
+
+		template <typename Func>
+		table&& for_each(Func&& visitor) && //
+			noexcept(for_each_is_nothrow<Func&&, table&&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), static_cast<table&&>(*this));
+			return static_cast<table&&>(*this);
+		}
+
+		template <typename Func>
+		const table& for_each(Func&& visitor) const& //
+			noexcept(for_each_is_nothrow<Func&&, const table&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), *this);
+			return *this;
+		}
+
+		template <typename Func>
+		const table&& for_each(Func&& visitor) const&& //
+			noexcept(for_each_is_nothrow<Func&&, const table&&>::value)
+		{
+			do_for_each(static_cast<Func&&>(visitor), static_cast<const table&&>(*this));
+			return static_cast<const table&&>(*this);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool empty() const noexcept
+		{
+			return map_.empty();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		size_t size() const noexcept
+		{
+			return map_.size();
+		}
+
+	  private:
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		map_iterator get_lower_bound(std::string_view) noexcept;
+
+	  public:
+
+		TOML_PURE_GETTER
+		iterator lower_bound(std::string_view key) noexcept
+		{
+			return iterator{ get_lower_bound(key) };
+		}
+
+		TOML_PURE_GETTER
+		const_iterator lower_bound(std::string_view key) const noexcept
+		{
+			return const_iterator{ const_cast<table&>(*this).get_lower_bound(key) };
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		iterator lower_bound(std::wstring_view key)
+		{
+			if (empty())
+				return end();
+
+			return lower_bound(impl::narrow(key));
+		}
+
+		TOML_NODISCARD
+		const_iterator lower_bound(std::wstring_view key) const
+		{
+			if (empty())
+				return end();
+
+			return lower_bound(impl::narrow(key));
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		iterator find(std::string_view key) noexcept;
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_MEMBER_FUNCTION
+		const_iterator find(std::string_view key) const noexcept;
+
+		TOML_PURE_GETTER
+		bool contains(std::string_view key) const noexcept
+		{
+			return get(key) != nullptr;
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		iterator find(std::wstring_view key)
+		{
+			if (empty())
+				return end();
+
+			return find(impl::narrow(key));
+		}
+
+		TOML_NODISCARD
+		const_iterator find(std::wstring_view key) const
+		{
+			return find(impl::narrow(key));
+		}
+
+		TOML_NODISCARD
+		bool contains(std::wstring_view key) const
+		{
+			return contains(impl::narrow(key));
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+	  private:
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		map_iterator erase(const_map_iterator) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		map_iterator erase(const_map_iterator, const_map_iterator) noexcept;
+
+	  public:
+
+		iterator erase(iterator pos) noexcept
+		{
+			return iterator{ erase(const_map_iterator{ pos }) };
+		}
+
+		iterator erase(const_iterator pos) noexcept
+		{
+			return iterator{ erase(const_map_iterator{ pos }) };
+		}
+
+		iterator erase(const_iterator begin, const_iterator end) noexcept
+		{
+			return iterator{ erase(const_map_iterator{ begin }, const_map_iterator{ end }) };
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		size_t erase(std::string_view key) noexcept;
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		size_t erase(std::wstring_view key)
+		{
+			if (empty())
+				return false;
+
+			return erase(impl::narrow(key));
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		table& prune(bool recursive = true) & noexcept;
+
+		table&& prune(bool recursive = true) && noexcept
+		{
+			return static_cast<toml::table&&>(this->prune(recursive));
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void clear() noexcept;
+
+	  private:
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		map_iterator insert_with_hint(const_iterator, key&&, impl::node_ptr&&);
+
+	  public:
+
+		TOML_CONSTRAINED_TEMPLATE((is_key_or_convertible<KeyType&&> || impl::is_wide_string<KeyType>),
+								  typename ValueType = void,
+								  typename KeyType,
+								  typename... ValueArgs)
+		iterator emplace_hint(const_iterator hint, KeyType&& key, ValueArgs&&... args)
+		{
+			static_assert(!impl::is_wide_string<KeyType> || TOML_ENABLE_WINDOWS_COMPAT,
+						  "Emplacement using wide-character keys is only supported on Windows with "
+						  "TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+			using raw_value_type = impl::remove_cvref<ValueType>;
+			using value_type	 = std::
+				conditional_t<std::is_void_v<raw_value_type>, impl::emplaced_type_of<ValueArgs&&...>, raw_value_type>;
+
+			if constexpr (impl::is_wide_string<KeyType>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+				return emplace_hint<value_type>(hint,
+												impl::narrow(static_cast<KeyType&&>(key)),
+												static_cast<ValueArgs&&>(args)...);
+#else
+				static_assert(impl::always_false<KeyType>, "Evaluated unreachable branch!");
+#endif
+			}
+			else
+			{
+				static constexpr auto moving_node_ptr = std::is_same_v<value_type, impl::node_ptr> //
+													 && sizeof...(ValueArgs) == 1u				   //
+													 && impl::first_is_same<impl::node_ptr&&, ValueArgs&&...>;
+				using unwrapped_type = impl::remove_cvref<impl::unwrap_node<value_type>>;
+
+				static_assert(moving_node_ptr										//
+								  || impl::is_native<unwrapped_type>				//
+								  || impl::is_one_of<unwrapped_type, table, array>, //
+							  "ValueType argument of table::emplace_hint() must be one "
+							  "of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+				map_iterator ipos = insert_with_hint(hint, toml::key{ static_cast<KeyType&&>(key) }, nullptr);
+
+				// if second is nullptr then we successully claimed the key and inserted the empty sentinel,
+				// so now we have to construct the actual value
+				if (!ipos->second)
+				{
+					if constexpr (moving_node_ptr)
+						ipos->second = std::move(static_cast<ValueArgs&&>(args)...);
+					else
+					{
+#if TOML_COMPILER_HAS_EXCEPTIONS
+						try
+						{
+#endif
+							ipos->second.reset(
+								new impl::wrap_node<unwrapped_type>{ static_cast<ValueArgs&&>(args)... });
+#if TOML_COMPILER_HAS_EXCEPTIONS
+						}
+						catch (...)
+						{
+							erase(const_map_iterator{ ipos }); // strong exception guarantee
+							throw;
+						}
+#endif
+					}
+				}
+				return iterator{ ipos };
+			}
+		}
+
+		TOML_CONSTRAINED_TEMPLATE((is_key_or_convertible<KeyType&&> || impl::is_wide_string<KeyType>),
+								  typename KeyType,
+								  typename ValueType)
+		std::pair<iterator, bool> insert(KeyType&& key,
+										 ValueType&& val,
+										 value_flags flags = preserve_source_value_flags)
+		{
+			static_assert(!impl::is_wide_string<KeyType> || TOML_ENABLE_WINDOWS_COMPAT,
+						  "Insertion using wide-character keys is only supported on Windows with "
+						  "TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+			if constexpr (is_node_view<ValueType>)
+			{
+				if (!val)
+					return { end(), false };
+			}
+
+			if constexpr (impl::is_wide_string<KeyType>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+				return insert(impl::narrow(static_cast<KeyType&&>(key)), static_cast<ValueType&&>(val), flags);
+#else
+				static_assert(impl::always_false<KeyType>, "Evaluated unreachable branch!");
+#endif
+			}
+			else
+			{
+				const auto key_view = std::string_view{ key };
+				map_iterator ipos	= get_lower_bound(key_view);
+				if (ipos == map_.end() || ipos->first != key_view)
+				{
+					ipos = insert_with_hint(const_iterator{ ipos },
+											toml::key{ static_cast<KeyType&&>(key) },
+											impl::make_node(static_cast<ValueType&&>(val), flags));
+					return { iterator{ ipos }, true };
+				}
+				return { iterator{ ipos }, false };
+			}
+		}
+
+		TOML_CONSTRAINED_TEMPLATE((!is_key_or_convertible<Iter> && !impl::is_wide_string<Iter>), typename Iter)
+		void insert(Iter begin, Iter end, value_flags flags = preserve_source_value_flags)
+		{
+			if (begin == end)
+				return;
+			for (auto it = begin; it != end; it++)
+			{
+				if constexpr (std::is_rvalue_reference_v<decltype(*it)>)
+					insert(std::move((*it).first), std::move((*it).second), flags);
+				else
+					insert((*it).first, (*it).second, flags);
+			}
+		}
+
+		TOML_CONSTRAINED_TEMPLATE((is_key_or_convertible<KeyType&&> || impl::is_wide_string<KeyType>),
+								  typename KeyType,
+								  typename ValueType)
+		std::pair<iterator, bool> insert_or_assign(KeyType&& key,
+												   ValueType&& val,
+												   value_flags flags = preserve_source_value_flags)
+		{
+			static_assert(!impl::is_wide_string<KeyType> || TOML_ENABLE_WINDOWS_COMPAT,
+						  "Insertion using wide-character keys is only supported on Windows with "
+						  "TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+			if constexpr (is_node_view<ValueType>)
+			{
+				if (!val)
+					return { end(), false };
+			}
+
+			if constexpr (impl::is_wide_string<KeyType>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+				return insert_or_assign(impl::narrow(static_cast<KeyType&&>(key)),
+										static_cast<ValueType&&>(val),
+										flags);
+#else
+				static_assert(impl::always_false<KeyType>, "Evaluated unreachable branch!");
+#endif
+			}
+			else
+			{
+				const auto key_view = std::string_view{ key };
+				map_iterator ipos	= get_lower_bound(key_view);
+				if (ipos == map_.end() || ipos->first != key_view)
+				{
+					ipos = insert_with_hint(const_iterator{ ipos },
+											toml::key{ static_cast<KeyType&&>(key) },
+											impl::make_node(static_cast<ValueType&&>(val), flags));
+					return { iterator{ ipos }, true };
+				}
+				else
+				{
+					(*ipos).second = impl::make_node(static_cast<ValueType&&>(val), flags);
+					return { iterator{ ipos }, false };
+				}
+			}
+		}
+
+		TOML_CONSTRAINED_TEMPLATE((is_key_or_convertible<KeyType&&> || impl::is_wide_string<KeyType>),
+								  typename ValueType = void,
+								  typename KeyType,
+								  typename... ValueArgs)
+		std::pair<iterator, bool> emplace(KeyType&& key, ValueArgs&&... args)
+		{
+			static_assert(!impl::is_wide_string<KeyType> || TOML_ENABLE_WINDOWS_COMPAT,
+						  "Emplacement using wide-character keys is only supported on Windows with "
+						  "TOML_ENABLE_WINDOWS_COMPAT enabled.");
+
+			using raw_value_type = impl::remove_cvref<ValueType>;
+			using value_type	 = std::
+				conditional_t<std::is_void_v<raw_value_type>, impl::emplaced_type_of<ValueArgs&&...>, raw_value_type>;
+
+			if constexpr (impl::is_wide_string<KeyType>)
+			{
+#if TOML_ENABLE_WINDOWS_COMPAT
+				return emplace<value_type>(impl::narrow(static_cast<KeyType&&>(key)),
+										   static_cast<ValueArgs&&>(args)...);
+#else
+				static_assert(impl::always_false<KeyType>, "Evaluated unreachable branch!");
+#endif
+			}
+			else
+			{
+				using unwrapped_type = impl::remove_cvref<impl::unwrap_node<value_type>>;
+				static_assert((impl::is_native<unwrapped_type> || impl::is_one_of<unwrapped_type, table, array>),
+							  "ValueType argument of table::emplace() must be one "
+							  "of:" TOML_SA_UNWRAPPED_NODE_TYPE_LIST);
+
+				const auto key_view = std::string_view{ key };
+				auto ipos			= get_lower_bound(key_view);
+				if (ipos == map_.end() || ipos->first != key_view)
+				{
+					ipos = insert_with_hint(
+						const_iterator{ ipos },
+						toml::key{ static_cast<KeyType&&>(key) },
+						impl::node_ptr{ new impl::wrap_node<unwrapped_type>{ static_cast<ValueArgs&&>(args)... } });
+					return { iterator{ ipos }, true };
+				}
+				return { iterator{ ipos }, false };
+			}
+		}
+
+		using node::operator[]; // inherit operator[toml::path]
+
+		TOML_NODISCARD
+		node_view<node> operator[](std::string_view key) noexcept
+		{
+			return node_view<node>{ get(key) };
+		}
+
+		TOML_NODISCARD
+		node_view<const node> operator[](std::string_view key) const noexcept
+		{
+			return node_view<const node>{ get(key) };
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node_view<node> operator[](std::wstring_view key)
+		{
+			return node_view<node>{ get(key) };
+		}
+
+		TOML_NODISCARD
+		node_view<const node> operator[](std::wstring_view key) const
+		{
+			return node_view<const node>{ get(key) };
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+	  private:
+
+		TOML_PURE_GETTER
+		TOML_EXPORTED_STATIC_FUNCTION
+		static bool TOML_CALLCONV equal(const table&, const table&) noexcept;
+
+	  public:
+
+		TOML_NODISCARD
+		friend bool operator==(const table& lhs, const table& rhs) noexcept
+		{
+			return equal(lhs, rhs);
+		}
+
+		TOML_NODISCARD
+		friend bool operator!=(const table& lhs, const table& rhs) noexcept
+		{
+			return !equal(lhs, rhs);
+		}
+
+#if TOML_ENABLE_FORMATTERS
+
+		friend std::ostream& operator<<(std::ostream& lhs, const table& rhs)
+		{
+			impl::print_to_stream(lhs, rhs);
+			return lhs;
+		}
+
+#endif
+	};
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/unicode_autogenerated.hpp  ****************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+#if TOML_GCC && TOML_GCC < 9
+#pragma GCC push_options
+#pragma GCC optimize("O1") // codegen bugs
+#endif
+
+// the functions in this namespace block are automatically generated by a tool - they are not meant to be hand-edited
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_CONST_GETTER
+	constexpr bool is_ascii_horizontal_whitespace(char32_t c) noexcept
+	{
+		return c == U'\t' || c == U' ';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_non_ascii_horizontal_whitespace(char32_t c) noexcept
+	{
+		// 20 code units from 8 ranges (spanning a search area of 65120)
+
+		if (c < U'\xA0' || c > U'\uFEFF')
+			return false;
+
+		const auto child_index_0 = (static_cast<uint_least64_t>(c) - 0xA0ull) / 0x3FAull;
+		if ((1ull << child_index_0) & 0x7FFFFFFFFFFFF75Eull)
+			return false;
+		if (c == U'\xA0' || c == U'\u3000' || c == U'\uFEFF')
+			return true;
+		switch (child_index_0)
+		{
+			case 0x05: return c == U'\u1680' || c == U'\u180E';
+			case 0x07:
+				return (U'\u2000' <= c && c <= U'\u200B') || (U'\u205F' <= c && c <= U'\u2060') || c == U'\u202F';
+			default: TOML_UNREACHABLE;
+		}
+
+		TOML_UNREACHABLE;
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_ascii_vertical_whitespace(char32_t c) noexcept
+	{
+		return c >= U'\n' && c <= U'\r';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_non_ascii_vertical_whitespace(char32_t c) noexcept
+	{
+		return (U'\u2028' <= c && c <= U'\u2029') || c == U'\x85';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_ascii_bare_key_character(char32_t c) noexcept
+	{
+#if TOML_LANG_UNRELEASED // toml/issues/644 ('+' in bare keys)
+		if TOML_UNLIKELY(c == U'+')
+			return true;
+#endif
+		// 64 code units from 5 ranges (spanning a search area of 78)
+
+		if (c < U'-' || c > U'z')
+			return false;
+
+		return (((static_cast<uint_least64_t>(c) - 0x2Dull) / 0x40ull) != 0ull)
+			|| ((1ull << (static_cast<uint_least64_t>(c) - 0x2Dull)) & 0xFFF43FFFFFF01FF9ull);
+	}
+
+#if TOML_LANG_UNRELEASED // toml/pull/891 (unicode bare keys)
+
+	TOML_CONST_GETTER
+	constexpr bool is_non_ascii_bare_key_character(char32_t c) noexcept
+	{
+		// 971732 code units from 16 ranges (spanning a search area of 982862)
+
+		if (c < U'\xB2' || c > U'\U000EFFFF')
+			return false;
+
+		const auto child_index_0 = (static_cast<uint_least64_t>(c) - 0xB2ull) / 0x3BFEull;
+		if ((1ull << child_index_0) & 0xFFFFFFFFFFFFFFE6ull)
+			return true;
+		switch (child_index_0)
+		{
+			case 0x00: // [0] 00B2 - 3CAF
+			{
+				// 12710 code units from 13 ranges (spanning a search area of 15358)
+
+				TOML_ASSUME(c >= U'\xB2' && c <= U'\u3CAF');
+
+				constexpr uint_least64_t bitmask_table_1[] = {
+					0xFFFFFFDFFFFFDC83u, 0xFFFFFFFFFFFFFFDFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFEFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0x000000000C003FFFu, 0xC000000000006000u, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0x000000003FFFFFFFu,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0xFFFFC00000000000u, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0x0000000000003FFFu, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u, 0x0000000000000000u,
+					0x0000000000000000u, 0xFFFFFFFFFFFFC000u, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0x3FFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFF8000u, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu,
+					0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0xFFFFFFFFFFFFFFFFu, 0x3FFFFFFFFFFFFFFFu,
+				};
+				return bitmask_table_1[(static_cast<uint_least64_t>(c) - 0xB2ull) / 0x40ull]
+					 & (0x1ull << ((static_cast<uint_least64_t>(c) - 0xB2ull) % 0x40ull));
+			}
+			case 0x03: return c <= U'\uD7FF';
+			case 0x04:
+				return (U'\uF900' <= c && c <= U'\uFDCF') || (U'\uFDF0' <= c && c <= U'\uFFFD') || U'\U00010000' <= c;
+			default: TOML_UNREACHABLE;
+		}
+
+		TOML_UNREACHABLE;
+	}
+
+#endif // TOML_LANG_UNRELEASED
+}
+TOML_IMPL_NAMESPACE_END;
+
+#if TOML_GCC && TOML_GCC < 9
+#pragma GCC pop_options
+#endif
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/unicode.hpp  ******************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_CONST_GETTER
+	constexpr bool is_string_delimiter(char32_t c) noexcept
+	{
+		return c == U'"' || c == U'\'';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_ascii_letter(char32_t c) noexcept
+	{
+		return (c >= U'a' && c <= U'z') || (c >= U'A' && c <= U'Z');
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_binary_digit(char32_t c) noexcept
+	{
+		return c == U'0' || c == U'1';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_octal_digit(char32_t c) noexcept
+	{
+		return (c >= U'0' && c <= U'7');
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_decimal_digit(char32_t c) noexcept
+	{
+		return (c >= U'0' && c <= U'9');
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_hexadecimal_digit(char32_t c) noexcept
+	{
+		return U'0' <= c && c <= U'f' && (1ull << (static_cast<uint_least64_t>(c) - 0x30u)) & 0x7E0000007E03FFull;
+	}
+
+	template <typename T>
+	TOML_CONST_GETTER
+	constexpr uint_least32_t hex_to_dec(const T c) noexcept
+	{
+		if constexpr (std::is_same_v<remove_cvref<T>, uint_least32_t>)
+			return c >= 0x41u					 // >= 'A'
+					 ? 10u + (c | 0x20u) - 0x61u // - 'a'
+					 : c - 0x30u				 // - '0'
+				;
+		else
+			return hex_to_dec(static_cast<uint_least32_t>(c));
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_horizontal_whitespace(char32_t c) noexcept
+	{
+		return is_ascii_horizontal_whitespace(c) || is_non_ascii_horizontal_whitespace(c);
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_vertical_whitespace(char32_t c) noexcept
+	{
+		return is_ascii_vertical_whitespace(c) || is_non_ascii_vertical_whitespace(c);
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_whitespace(char32_t c) noexcept
+	{
+		return is_horizontal_whitespace(c) || is_vertical_whitespace(c);
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_bare_key_character(char32_t c) noexcept
+	{
+		return is_ascii_bare_key_character(c)
+#if TOML_LANG_UNRELEASED // toml/pull/891 (unicode bare keys)
+			|| is_non_ascii_bare_key_character(c)
+#endif
+			;
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_value_terminator(char32_t c) noexcept
+	{
+		return is_whitespace(c) || c == U']' || c == U'}' || c == U',' || c == U'#';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_control_character(char c) noexcept
+	{
+		return c <= '\u001F' || c == '\u007F';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_control_character(char32_t c) noexcept
+	{
+		return c <= U'\u001F' || c == U'\u007F';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_nontab_control_character(char32_t c) noexcept
+	{
+		return c <= U'\u0008' || (c >= U'\u000A' && c <= U'\u001F') || c == U'\u007F';
+	}
+
+	TOML_CONST_GETTER
+	constexpr bool is_unicode_surrogate(char32_t c) noexcept
+	{
+		return c >= 0xD800u && c <= 0xDFFF;
+	}
+
+	struct utf8_decoder
+	{
+		// utf8_decoder based on this: https://bjoern.hoehrmann.de/utf-8/decoder/dfa/
+		// Copyright (c) 2008-2009 Bjoern Hoehrmann <bjoern@hoehrmann.de>
+
+		uint_least32_t state{};
+		char32_t codepoint{};
+
+		static constexpr uint8_t state_table[]{
+			0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,
+			0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,
+			0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,
+			0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,
+			0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	0,	1,	1,	1,	1,	1,	1,	1,
+			1,	1,	1,	1,	1,	1,	1,	1,	1,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	9,	7,	7,
+			7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,	7,
+			7,	7,	7,	8,	8,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,	2,
+			2,	2,	2,	2,	2,	2,	2,	2,	10, 3,	3,	3,	3,	3,	3,	3,	3,	3,	3,	3,	3,	4,	3,	3,	11, 6,	6,
+			6,	5,	8,	8,	8,	8,	8,	8,	8,	8,	8,	8,	8,
+			0,	12, 24, 36, 60, 96, 84, 12, 12, 12, 48, 72, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 0,	12,
+			12, 12, 12, 12, 0,	12, 0,	12, 12, 12, 24, 12, 12, 12, 12, 12, 24, 12, 24, 12, 12, 12, 12, 12, 12, 12, 12,
+			12, 24, 12, 12, 12, 12, 12, 24, 12, 12, 12, 12, 12, 12, 12, 24, 12, 12, 12, 12, 12, 12, 12, 12, 12, 36, 12,
+			36, 12, 12, 12, 36, 12, 12, 12, 12, 12, 36, 12, 36, 12, 12, 12, 36, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12
+		};
+
+		TOML_PURE_INLINE_GETTER
+		constexpr bool error() const noexcept
+		{
+			return state == uint_least32_t{ 12u };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		constexpr bool has_code_point() const noexcept
+		{
+			return state == uint_least32_t{};
+		}
+
+		TOML_PURE_INLINE_GETTER
+		constexpr bool needs_more_input() const noexcept
+		{
+			return !has_code_point() && !error();
+		}
+
+		constexpr void operator()(uint8_t byte) noexcept
+		{
+			TOML_ASSERT_ASSUME(!error());
+
+			const auto type = state_table[byte];
+
+			codepoint = static_cast<char32_t>(has_code_point() ? (uint_least32_t{ 255u } >> type) & byte
+															   : (byte & uint_least32_t{ 63u })
+																	 | (static_cast<uint_least32_t>(codepoint) << 6));
+
+			state = state_table[state + uint_least32_t{ 256u } + type];
+		}
+
+		TOML_ALWAYS_INLINE
+		constexpr void operator()(char c) noexcept
+		{
+			operator()(static_cast<uint8_t>(c));
+		}
+
+		TOML_ALWAYS_INLINE
+		constexpr void reset() noexcept
+		{
+			state = {};
+		}
+	};
+
+	TOML_PURE_GETTER
+	TOML_ATTR(nonnull)
+	bool is_ascii(const char* str, size_t len) noexcept;
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/parse_error.hpp  **************************************************************************************
+
+#if TOML_ENABLE_PARSER
+
+//********  impl/std_except.hpp  ***************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#if TOML_EXCEPTIONS
+#include <stdexcept>
+#endif
+TOML_ENABLE_WARNINGS;
+
+//********  impl/parse_error.hpp  **************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+#if TOML_DOXYGEN || !TOML_EXCEPTIONS
+#define TOML_PARSE_ERROR_BASE
+#else
+#define TOML_PARSE_ERROR_BASE	 : public std::runtime_error
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, ex, noex);
+
+	class parse_error TOML_PARSE_ERROR_BASE
+	{
+	  private:
+#if !TOML_EXCEPTIONS
+		std::string description_;
+#endif
+		source_region source_;
+
+	  public:
+#if TOML_EXCEPTIONS
+
+		TOML_NODISCARD_CTOR
+		TOML_ATTR(nonnull)
+		parse_error(const char* desc, source_region&& src) noexcept //
+			: std::runtime_error{ desc },
+			  source_{ std::move(src) }
+		{}
+
+		TOML_NODISCARD_CTOR
+		TOML_ATTR(nonnull)
+		parse_error(const char* desc, const source_region& src) noexcept //
+			: parse_error{ desc, source_region{ src } }
+		{}
+
+		TOML_NODISCARD_CTOR
+		TOML_ATTR(nonnull)
+		parse_error(const char* desc, const source_position& position, const source_path_ptr& path = {}) noexcept
+			: parse_error{ desc, source_region{ position, position, path } }
+		{}
+
+#else
+
+		TOML_NODISCARD_CTOR
+		parse_error(std::string&& desc, source_region&& src) noexcept //
+			: description_{ std::move(desc) },
+			  source_{ std::move(src) }
+		{}
+
+		TOML_NODISCARD_CTOR
+		parse_error(std::string&& desc, const source_region& src) noexcept //
+			: parse_error{ std::move(desc), source_region{ src } }
+		{}
+
+		TOML_NODISCARD_CTOR
+		parse_error(std::string&& desc, const source_position& position, const source_path_ptr& path = {}) noexcept
+			: parse_error{ std::move(desc), source_region{ position, position, path } }
+		{}
+
+#endif
+
+		TOML_NODISCARD
+		std::string_view description() const noexcept
+		{
+#if TOML_EXCEPTIONS
+			return std::string_view{ what() };
+#else
+			return description_;
+#endif
+		}
+
+		TOML_NODISCARD
+		const source_region& source() const noexcept
+		{
+			return source_;
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, const parse_error& rhs)
+		{
+			impl::print_to_stream(lhs, rhs.description());
+			impl::print_to_stream(lhs, "\n\t(error occurred at "sv);
+			impl::print_to_stream(lhs, rhs.source());
+			impl::print_to_stream(lhs, ")"sv);
+			return lhs;
+		}
+	};
+
+	TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+}
+TOML_NAMESPACE_END;
+
+#undef TOML_PARSE_ERROR_BASE
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_PARSER
+
+//********  impl/parse_result.hpp  *************************************************************************************
+
+#if TOML_DOXYGEN || (TOML_ENABLE_PARSER && !TOML_EXCEPTIONS)
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_ABI_NAMESPACE_START(noex);
+
+	class parse_result
+	{
+	  private:
+		struct storage_t
+		{
+			static constexpr size_t size =
+				(sizeof(toml::table) < sizeof(parse_error) ? sizeof(parse_error) : sizeof(toml::table));
+			static constexpr size_t align =
+				(alignof(toml::table) < alignof(parse_error) ? alignof(parse_error) : alignof(toml::table));
+
+			alignas(align) unsigned char bytes[size];
+		};
+
+		alignas(storage_t::align) mutable storage_t storage_;
+		bool err_;
+
+		template <typename Type>
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		static Type* get_as(storage_t& s) noexcept
+		{
+			return TOML_LAUNDER(reinterpret_cast<Type*>(s.bytes));
+		}
+
+		void destroy() noexcept
+		{
+			if (err_)
+				get_as<parse_error>(storage_)->~parse_error();
+			else
+				get_as<toml::table>(storage_)->~table();
+		}
+
+	  public:
+
+		TOML_NODISCARD_CTOR
+		parse_result() noexcept //
+			: err_{ true }
+		{
+			::new (static_cast<void*>(storage_.bytes)) parse_error{ std::string{}, source_region{} };
+		}
+
+		TOML_NODISCARD_CTOR
+		explicit parse_result(toml::table&& tbl) noexcept //
+			: err_{ false }
+		{
+			::new (static_cast<void*>(storage_.bytes)) toml::table{ std::move(tbl) };
+		}
+
+		TOML_NODISCARD_CTOR
+		explicit parse_result(parse_error&& err) noexcept //
+			: err_{ true }
+		{
+			::new (static_cast<void*>(storage_.bytes)) parse_error{ std::move(err) };
+		}
+
+		TOML_NODISCARD_CTOR
+		parse_result(parse_result&& res) noexcept //
+			: err_{ res.err_ }
+		{
+			if (err_)
+				::new (static_cast<void*>(storage_.bytes)) parse_error{ std::move(res).error() };
+			else
+				::new (static_cast<void*>(storage_.bytes)) toml::table{ std::move(res).table() };
+		}
+
+		parse_result& operator=(parse_result&& rhs) noexcept
+		{
+			if (err_ != rhs.err_)
+			{
+				destroy();
+				err_ = rhs.err_;
+				if (err_)
+					::new (static_cast<void*>(storage_.bytes)) parse_error{ std::move(rhs).error() };
+				else
+					::new (static_cast<void*>(storage_.bytes)) toml::table{ std::move(rhs).table() };
+			}
+			else
+			{
+				if (err_)
+					error() = std::move(rhs).error();
+				else
+					table() = std::move(rhs).table();
+			}
+			return *this;
+		}
+
+		~parse_result() noexcept
+		{
+			destroy();
+		}
+
+		TOML_NODISCARD
+		bool succeeded() const noexcept
+		{
+			return !err_;
+		}
+
+		TOML_NODISCARD
+		bool failed() const noexcept
+		{
+			return err_;
+		}
+
+		TOML_NODISCARD
+		explicit operator bool() const noexcept
+		{
+			return !err_;
+		}
+
+		TOML_NODISCARD
+		toml::table& table() & noexcept
+		{
+			TOML_ASSERT_ASSUME(!err_);
+			return *get_as<toml::table>(storage_);
+		}
+
+		TOML_NODISCARD
+		toml::table&& table() && noexcept
+		{
+			TOML_ASSERT_ASSUME(!err_);
+			return static_cast<toml::table&&>(*get_as<toml::table>(storage_));
+		}
+
+		TOML_NODISCARD
+		const toml::table& table() const& noexcept
+		{
+			TOML_ASSERT_ASSUME(!err_);
+			return *get_as<const toml::table>(storage_);
+		}
+
+		TOML_NODISCARD
+		/* implicit */ operator toml::table&() noexcept
+		{
+			return table();
+		}
+
+		TOML_NODISCARD
+		/* implicit */ operator toml::table&&() noexcept
+		{
+			return std::move(table());
+		}
+
+		TOML_NODISCARD
+		/* implicit */ operator const toml::table&() const noexcept
+		{
+			return table();
+		}
+
+		TOML_NODISCARD
+		parse_error& error() & noexcept
+		{
+			TOML_ASSERT_ASSUME(err_);
+			return *get_as<parse_error>(storage_);
+		}
+
+		TOML_NODISCARD
+		parse_error&& error() && noexcept
+		{
+			TOML_ASSERT_ASSUME(err_);
+			return static_cast<parse_error&&>(*get_as<parse_error>(storage_));
+		}
+
+		TOML_NODISCARD
+		const parse_error& error() const& noexcept
+		{
+			TOML_ASSERT_ASSUME(err_);
+			return *get_as<const parse_error>(storage_);
+		}
+
+		TOML_NODISCARD
+		explicit operator parse_error&() noexcept
+		{
+			return error();
+		}
+
+		TOML_NODISCARD
+		explicit operator parse_error&&() noexcept
+		{
+			return std::move(error());
+		}
+
+		TOML_NODISCARD
+		explicit operator const parse_error&() const noexcept
+		{
+			return error();
+		}
+
+		using iterator = table_iterator;
+
+		using const_iterator = const_table_iterator;
+
+		TOML_NODISCARD
+		table_iterator begin() noexcept
+		{
+			return err_ ? table_iterator{} : table().begin();
+		}
+
+		TOML_NODISCARD
+		const_table_iterator begin() const noexcept
+		{
+			return err_ ? const_table_iterator{} : table().begin();
+		}
+
+		TOML_NODISCARD
+		const_table_iterator cbegin() const noexcept
+		{
+			return err_ ? const_table_iterator{} : table().cbegin();
+		}
+
+		TOML_NODISCARD
+		table_iterator end() noexcept
+		{
+			return err_ ? table_iterator{} : table().end();
+		}
+
+		TOML_NODISCARD
+		const_table_iterator end() const noexcept
+		{
+			return err_ ? const_table_iterator{} : table().end();
+		}
+
+		TOML_NODISCARD
+		const_table_iterator cend() const noexcept
+		{
+			return err_ ? const_table_iterator{} : table().cend();
+		}
+
+		TOML_NODISCARD
+		node_view<node> at_path(std::string_view path) noexcept
+		{
+			return err_ ? node_view<node>{} : table().at_path(path);
+		}
+
+		TOML_NODISCARD
+		node_view<const node> at_path(std::string_view path) const noexcept
+		{
+			return err_ ? node_view<const node>{} : table().at_path(path);
+		}
+
+		TOML_NODISCARD
+		node_view<node> at_path(const toml::path& path) noexcept
+		{
+			return err_ ? node_view<node>{} : table().at_path(path);
+		}
+
+		TOML_NODISCARD
+		node_view<const node> at_path(const toml::path& path) const noexcept
+		{
+			return err_ ? node_view<const node>{} : table().at_path(path);
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node_view<node> at_path(std::wstring_view path)
+		{
+			return err_ ? node_view<node>{} : table().at_path(path);
+		}
+
+		TOML_NODISCARD
+		node_view<const node> at_path(std::wstring_view path) const
+		{
+			return err_ ? node_view<const node>{} : table().at_path(path);
+		}
+
+#endif
+
+		TOML_NODISCARD
+		node_view<node> operator[](const toml::path& path) noexcept
+		{
+			return err_ ? node_view<node>{} : table()[path];
+		}
+
+		TOML_NODISCARD
+		node_view<const node> operator[](const toml::path& path) const noexcept
+		{
+			return err_ ? node_view<const node>{} : table()[path];
+		}
+
+		TOML_NODISCARD
+		node_view<node> operator[](std::string_view key) noexcept
+		{
+			return err_ ? node_view<node>{} : table()[key];
+		}
+
+		TOML_NODISCARD
+		node_view<const node> operator[](std::string_view key) const noexcept
+		{
+			return err_ ? node_view<const node>{} : table()[key];
+		}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+		TOML_NODISCARD
+		node_view<node> operator[](std::wstring_view key)
+		{
+			return err_ ? node_view<node>{} : table()[key];
+		}
+
+		TOML_NODISCARD
+		node_view<const node> operator[](std::wstring_view key) const
+		{
+			return err_ ? node_view<const node>{} : table()[key];
+		}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+#if TOML_ENABLE_FORMATTERS
+
+		friend std::ostream& operator<<(std::ostream& os, const parse_result& result)
+		{
+			return result.err_ ? (os << result.error()) : (os << result.table());
+		}
+
+#endif
+	};
+
+	TOML_ABI_NAMESPACE_END;
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_PARSER && !TOML_EXCEPTIONS
+
+//********  impl/parser.hpp  *******************************************************************************************
+
+#if TOML_ENABLE_PARSER
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, ex, noex);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::string_view doc, std::string_view source_path = {});
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::string_view doc, std::string && source_path);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse_file(std::string_view file_path);
+
+#if TOML_HAS_CHAR8
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::u8string_view doc, std::string_view source_path = {});
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::u8string_view doc, std::string && source_path);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse_file(std::u8string_view file_path);
+
+#endif // TOML_HAS_CHAR8
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::string_view doc, std::wstring_view source_path);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::istream & doc, std::wstring_view source_path);
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse_file(std::wstring_view file_path);
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+#if TOML_HAS_CHAR8 && TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::u8string_view doc, std::wstring_view source_path);
+
+#endif // TOML_HAS_CHAR8 && TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::istream & doc, std::string_view source_path = {});
+
+	TOML_NODISCARD
+	TOML_EXPORTED_FREE_FUNCTION
+	parse_result TOML_CALLCONV parse(std::istream & doc, std::string && source_path);
+
+	TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+
+	inline namespace literals
+	{
+		TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, lit_ex, lit_noex);
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		parse_result operator"" _toml(const char* str, size_t len)
+		{
+			return parse(std::string_view{ str, len });
+		}
+
+#if TOML_HAS_CHAR8
+
+		TOML_NODISCARD
+		TOML_ALWAYS_INLINE
+		parse_result operator"" _toml(const char8_t* str, size_t len)
+		{
+			return parse(std::u8string_view{ str, len });
+		}
+
+#endif // TOML_HAS_CHAR8
+
+		TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_PARSER
+
+//********  impl/formatter.hpp  ****************************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	struct formatter_constants
+	{
+		format_flags mandatory_flags;
+		format_flags ignored_flags;
+
+		std::string_view float_pos_inf;
+		std::string_view float_neg_inf;
+		std::string_view float_nan;
+
+		std::string_view bool_true;
+		std::string_view bool_false;
+	};
+
+	struct formatter_config
+	{
+		format_flags flags;
+		std::string_view indent;
+	};
+
+	class TOML_EXPORTED_CLASS formatter
+	{
+	  private:
+		const node* source_;
+#if TOML_ENABLE_PARSER && !TOML_EXCEPTIONS
+		const parse_result* result_;
+#endif
+		const formatter_constants* constants_;
+		formatter_config config_;
+		size_t indent_columns_;
+		format_flags int_format_mask_;
+		std::ostream* stream_; //
+		int indent_;		   // these are set in attach()
+		bool naked_newline_;   //
+
+	  protected:
+		TOML_PURE_INLINE_GETTER
+		const node& source() const noexcept
+		{
+			return *source_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		std::ostream& stream() const noexcept
+		{
+			return *stream_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		int indent() const noexcept
+		{
+			return indent_;
+		}
+
+		void indent(int level) noexcept
+		{
+			indent_ = level;
+		}
+
+		void increase_indent() noexcept
+		{
+			indent_++;
+		}
+
+		void decrease_indent() noexcept
+		{
+			indent_--;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		size_t indent_columns() const noexcept
+		{
+			return indent_columns_;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool indent_array_elements() const noexcept
+		{
+			return !!(config_.flags & format_flags::indent_array_elements);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool indent_sub_tables() const noexcept
+		{
+			return !!(config_.flags & format_flags::indent_sub_tables);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool literal_strings_allowed() const noexcept
+		{
+			return !!(config_.flags & format_flags::allow_literal_strings);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool multi_line_strings_allowed() const noexcept
+		{
+			return !!(config_.flags & format_flags::allow_multi_line_strings);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool real_tabs_in_strings_allowed() const noexcept
+		{
+			return !!(config_.flags & format_flags::allow_real_tabs_in_strings);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool unicode_strings_allowed() const noexcept
+		{
+			return !!(config_.flags & format_flags::allow_unicode_strings);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool terse_kvps() const noexcept
+		{
+			return !!(config_.flags & format_flags::terse_key_value_pairs);
+		}
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void attach(std::ostream& stream) noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void detach() noexcept;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_newline(bool force = false);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_indent();
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_unformatted(char);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_unformatted(std::string_view);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_string(std::string_view str,
+						  bool allow_multi_line			= true,
+						  bool allow_bare				= false,
+						  bool allow_literal_whitespace = true);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<std::string>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<int64_t>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<double>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<bool>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<date>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<time>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const value<date_time>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_value(const node&, node_type);
+
+		TOML_NODISCARD
+		TOML_EXPORTED_MEMBER_FUNCTION
+		bool dump_failed_parse_result();
+
+		TOML_NODISCARD_CTOR
+		TOML_EXPORTED_MEMBER_FUNCTION
+		formatter(const node*, const parse_result*, const formatter_constants&, const formatter_config&) noexcept;
+	};
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+//********  impl/toml_formatter.hpp  ***********************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	class TOML_EXPORTED_CLASS toml_formatter : impl::formatter
+	{
+	  private:
+
+		using base = impl::formatter;
+		std::vector<const key*> key_path_;
+		bool pending_table_separator_ = false;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_pending_table_separator();
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const key&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_inline(const toml::table&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const toml::array&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const toml::table&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print();
+
+		static constexpr impl::formatter_constants constants = { format_flags::none, // mandatory
+																 format_flags::none, // ignored
+																 "inf"sv,
+																 "-inf"sv,
+																 "nan"sv,
+																 "true"sv,
+																 "false"sv };
+
+	  public:
+
+		static constexpr format_flags default_flags = constants.mandatory_flags				   //
+													| format_flags::allow_literal_strings	   //
+													| format_flags::allow_multi_line_strings   //
+													| format_flags::allow_unicode_strings	   //
+													| format_flags::allow_real_tabs_in_strings //
+													| format_flags::allow_binary_integers	   //
+													| format_flags::allow_octal_integers	   //
+													| format_flags::allow_hexadecimal_integers //
+													| format_flags::indentation;
+
+		TOML_NODISCARD_CTOR
+		explicit toml_formatter(const toml::node& source, format_flags flags = default_flags) noexcept
+			: base{ &source, nullptr, constants, { flags, "    "sv } }
+		{}
+
+#if TOML_DOXYGEN || (TOML_ENABLE_PARSER && !TOML_EXCEPTIONS)
+
+		TOML_NODISCARD_CTOR
+		explicit toml_formatter(const toml::parse_result& result, format_flags flags = default_flags) noexcept
+			: base{ nullptr, &result, constants, { flags, "    "sv } }
+		{}
+
+#endif
+
+		friend std::ostream& operator<<(std::ostream& lhs, toml_formatter& rhs)
+		{
+			rhs.attach(lhs);
+			rhs.key_path_.clear();
+			rhs.print();
+			rhs.detach();
+			return lhs;
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, toml_formatter&& rhs)
+		{
+			return lhs << rhs; // as lvalue
+		}
+	};
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+//********  impl/json_formatter.hpp  ***********************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	class TOML_EXPORTED_CLASS json_formatter : impl::formatter
+	{
+	  private:
+
+		using base = impl::formatter;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const toml::table&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const toml::array&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print();
+
+		static constexpr impl::formatter_constants constants = {
+			format_flags::quote_dates_and_times,										  // mandatory
+			format_flags::allow_literal_strings | format_flags::allow_multi_line_strings, // ignored
+			"Infinity"sv,
+			"-Infinity"sv,
+			"NaN"sv,
+			"true"sv,
+			"false"sv
+		};
+
+	  public:
+
+		static constexpr format_flags default_flags = constants.mandatory_flags				  //
+													| format_flags::quote_infinities_and_nans //
+													| format_flags::allow_unicode_strings	  //
+													| format_flags::indentation;
+
+		TOML_NODISCARD_CTOR
+		explicit json_formatter(const toml::node& source, format_flags flags = default_flags) noexcept
+			: base{ &source, nullptr, constants, { flags, "    "sv } }
+		{}
+
+#if TOML_DOXYGEN || (TOML_ENABLE_PARSER && !TOML_EXCEPTIONS)
+
+		TOML_NODISCARD_CTOR
+		explicit json_formatter(const toml::parse_result& result, format_flags flags = default_flags) noexcept
+			: base{ nullptr, &result, constants, { flags, "    "sv } }
+		{}
+
+#endif
+
+		friend std::ostream& operator<<(std::ostream& lhs, json_formatter& rhs)
+		{
+			rhs.attach(lhs);
+			rhs.print();
+			rhs.detach();
+			return lhs;
+		}
+
+		friend std::ostream& operator<<(std::ostream& lhs, json_formatter&& rhs)
+		{
+			return lhs << rhs; // as lvalue
+		}
+	};
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+//********  impl/yaml_formatter.hpp  ***********************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	class TOML_EXPORTED_CLASS yaml_formatter : impl::formatter
+	{
+	  private:
+
+		using base = impl::formatter;
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print_yaml_string(const value<std::string>&);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const toml::table&, bool = false);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print(const toml::array&, bool = false);
+
+		TOML_EXPORTED_MEMBER_FUNCTION
+		void print();
+
+		static constexpr impl::formatter_constants constants = {
+			//
+			format_flags::quote_dates_and_times | format_flags::indentation, // mandatory
+			format_flags::allow_multi_line_strings,							 // ignored
+			".inf"sv,
+			"-.inf"sv,
+			".NAN"sv,
+			"true"sv,
+			"false"sv
+		};
+
+	  public:
+
+		static constexpr format_flags default_flags = constants.mandatory_flags			  //
+													| format_flags::allow_literal_strings //
+													| format_flags::allow_unicode_strings //
+													| format_flags::allow_octal_integers  //
+													| format_flags::allow_hexadecimal_integers;
+
+		TOML_NODISCARD_CTOR
+		explicit yaml_formatter(const toml::node& source, format_flags flags = default_flags) noexcept
+			: base{ &source, nullptr, constants, { flags, "  "sv } }
+		{}
+
+#if TOML_DOXYGEN || (TOML_ENABLE_PARSER && !TOML_EXCEPTIONS)
+
+		TOML_NODISCARD_CTOR
+		explicit yaml_formatter(const toml::parse_result& result, format_flags flags = default_flags) noexcept
+			: base{ nullptr, &result, constants, { flags, "  "sv } }
+		{}
+
+#endif
+
+		friend std::ostream& TOML_CALLCONV operator<<(std::ostream& lhs, yaml_formatter& rhs)
+		{
+			rhs.attach(lhs);
+			rhs.print();
+			rhs.detach();
+			return lhs;
+		}
+
+		friend std::ostream& TOML_CALLCONV operator<<(std::ostream& lhs, yaml_formatter&& rhs)
+		{
+			return lhs << rhs; // as lvalue
+		}
+	};
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+#if TOML_IMPLEMENTATION
+
+//********  impl/std_string.inl  ***************************************************************************************
+
+#if TOML_WINDOWS
+
+#ifndef _WINDOWS_
+#if TOML_INCLUDE_WINDOWS_H
+#include <Windows.h>
+#else
+
+extern "C" __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int CodePage,
+																   unsigned long dwFlags,
+																   const wchar_t* lpWideCharStr,
+																   int cchWideChar,
+																   char* lpMultiByteStr,
+																   int cbMultiByte,
+																   const char* lpDefaultChar,
+																   int* lpUsedDefaultChar);
+
+extern "C" __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int CodePage,
+																   unsigned long dwFlags,
+																   const char* lpMultiByteStr,
+																   int cbMultiByte,
+																   wchar_t* lpWideCharStr,
+																   int cchWideChar);
+
+#endif // TOML_INCLUDE_WINDOWS_H
+#endif // _WINDOWS_
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	std::string narrow(std::wstring_view str)
+	{
+		if (str.empty())
+			return {};
+
+		std::string s;
+		const auto len =
+			::WideCharToMultiByte(65001, 0, str.data(), static_cast<int>(str.length()), nullptr, 0, nullptr, nullptr);
+		if (len)
+		{
+			s.resize(static_cast<size_t>(len));
+			::WideCharToMultiByte(65001,
+								  0,
+								  str.data(),
+								  static_cast<int>(str.length()),
+								  s.data(),
+								  len,
+								  nullptr,
+								  nullptr);
+		}
+		return s;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	std::wstring widen(std::string_view str)
+	{
+		if (str.empty())
+			return {};
+
+		std::wstring s;
+		const auto len = ::MultiByteToWideChar(65001, 0, str.data(), static_cast<int>(str.length()), nullptr, 0);
+		if (len)
+		{
+			s.resize(static_cast<size_t>(len));
+			::MultiByteToWideChar(65001, 0, str.data(), static_cast<int>(str.length()), s.data(), len);
+		}
+		return s;
+	}
+
+#if TOML_HAS_CHAR8
+
+	TOML_EXTERNAL_LINKAGE
+	std::wstring widen(std::u8string_view str)
+	{
+		if (str.empty())
+			return {};
+
+		return widen(std::string_view{ reinterpret_cast<const char*>(str.data()), str.length() });
+	}
+
+#endif // TOML_HAS_CHAR8
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_WINDOWS
+
+//********  impl/print_to_stream.inl  **********************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#include <ostream>
+#if TOML_INT_CHARCONV || TOML_FLOAT_CHARCONV
+#include <charconv>
+#endif
+#if !TOML_INT_CHARCONV || !TOML_FLOAT_CHARCONV
+#include <sstream>
+#endif
+#if !TOML_INT_CHARCONV
+#include <iomanip>
+#endif
+TOML_ENABLE_WARNINGS;
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_ANON_NAMESPACE_START
+{
+	template <typename T>
+	inline constexpr size_t charconv_buffer_length = 0;
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<int8_t> = 4; // strlen("-128")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<int16_t> = 6; // strlen("-32768")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<int32_t> = 11; // strlen("-2147483648")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<int64_t> = 20; // strlen("-9223372036854775808")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<uint8_t> = 3; // strlen("255")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<uint16_t> = 5; // strlen("65535")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<uint32_t> = 10; // strlen("4294967295")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<uint64_t> = 20; // strlen("18446744073709551615")
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<float> = 64;
+
+	template <>
+	inline constexpr size_t charconv_buffer_length<double> = 64;
+
+	template <typename T>
+	TOML_INTERNAL_LINKAGE
+	void print_integer_to_stream(std::ostream & stream, T val, value_flags format = {}, size_t min_digits = 0)
+	{
+		if (!val)
+		{
+			if (!min_digits)
+				min_digits = 1;
+
+			for (size_t i = 0; i < min_digits; i++)
+				stream.put('0');
+
+			return;
+		}
+
+		static constexpr auto value_flags_mask =
+			value_flags::format_as_binary | value_flags::format_as_octal | value_flags::format_as_hexadecimal;
+		format &= value_flags_mask;
+
+		int base = 10;
+		if (format != value_flags::none && val > T{})
+		{
+			switch (format)
+			{
+				case value_flags::format_as_binary: base = 2; break;
+				case value_flags::format_as_octal: base = 8; break;
+				case value_flags::format_as_hexadecimal: base = 16; break;
+				default: break;
+			}
+		}
+
+#if TOML_INT_CHARCONV
+
+		char buf[(sizeof(T) * CHAR_BIT)];
+		const auto res = std::to_chars(buf, buf + sizeof(buf), val, base);
+		const auto len = static_cast<size_t>(res.ptr - buf);
+		for (size_t i = len; i < min_digits; i++)
+			stream.put('0');
+		if (base == 16)
+		{
+			for (size_t i = 0; i < len; i++)
+				if (buf[i] >= 'a')
+					buf[i] -= 32;
+		}
+		impl::print_to_stream(stream, buf, len);
+
+#else
+
+		using unsigned_type = std::conditional_t<(sizeof(T) > sizeof(unsigned)), std::make_unsigned_t<T>, unsigned>;
+		using cast_type		= std::conditional_t<std::is_signed_v<T>, std::make_signed_t<unsigned_type>, unsigned_type>;
+
+		if (base == 2)
+		{
+			const auto len = sizeof(T) * CHAR_BIT;
+			for (size_t i = len; i < min_digits; i++)
+				stream.put('0');
+
+			bool found_one	   = false;
+			const auto v	   = static_cast<unsigned_type>(val);
+			unsigned_type mask = unsigned_type{ 1 } << (len - 1u);
+			for (size_t i = 0; i < len; i++)
+			{
+				if ((v & mask))
+				{
+					stream.put('1');
+					found_one = true;
+				}
+				else if (found_one)
+					stream.put('0');
+				mask >>= 1;
+			}
+		}
+		else
+		{
+			std::ostringstream ss;
+			ss.imbue(std::locale::classic());
+			ss << std::uppercase << std::setbase(base);
+			if (min_digits)
+				ss << std::setfill('0') << std::setw(static_cast<int>(min_digits));
+			ss << static_cast<cast_type>(val);
+			const auto str = std::move(ss).str();
+			impl::print_to_stream(stream, str);
+		}
+
+#endif
+	}
+
+	template <typename T>
+	TOML_INTERNAL_LINKAGE
+	void print_floating_point_to_stream(std::ostream & stream,
+										T val,
+										value_flags format,
+										[[maybe_unused]] bool relaxed_precision)
+	{
+		switch (impl::fpclassify(val))
+		{
+			case impl::fp_class::neg_inf: impl::print_to_stream(stream, "-inf"sv); break;
+
+			case impl::fp_class::pos_inf: impl::print_to_stream(stream, "inf"sv); break;
+
+			case impl::fp_class::nan: impl::print_to_stream(stream, "nan"sv); break;
+
+			case impl::fp_class::ok:
+			{
+				static constexpr auto needs_decimal_point = [](auto&& s) noexcept
+				{
+					for (auto c : s)
+						if (c == '.' || c == 'E' || c == 'e')
+							return false;
+					return true;
+				};
+
+#if TOML_FLOAT_CHARCONV
+
+				const auto hex = !!(format & value_flags::format_as_hexadecimal);
+				char buf[charconv_buffer_length<T>];
+				auto res = hex ? std::to_chars(buf, buf + sizeof(buf), val, std::chars_format::hex)
+							   : std::to_chars(buf, buf + sizeof(buf), val);
+				auto str = std::string_view{ buf, static_cast<size_t>(res.ptr - buf) };
+
+				char buf2[charconv_buffer_length<T>];
+				if (!hex && relaxed_precision)
+				{
+					res				= std::to_chars(buf2, buf2 + sizeof(buf2), val, std::chars_format::general, 6);
+					const auto str2 = std::string_view{ buf2, static_cast<size_t>(res.ptr - buf2) };
+					if (str2.length() < str.length())
+						str = str2;
+				}
+
+				impl::print_to_stream(stream, str);
+				if (!hex && needs_decimal_point(str))
+					toml::impl::print_to_stream(stream, ".0"sv);
+
+#else
+
+				std::ostringstream ss;
+				ss.imbue(std::locale::classic());
+				if (!relaxed_precision)
+					ss.precision(std::numeric_limits<T>::max_digits10);
+				if (!!(format & value_flags::format_as_hexadecimal))
+					ss << std::hexfloat;
+				ss << val;
+				const auto str = std::move(ss).str();
+				impl::print_to_stream(stream, str);
+				if (!(format & value_flags::format_as_hexadecimal) && needs_decimal_point(str))
+					impl::print_to_stream(stream, ".0"sv);
+
+#endif
+			}
+			break;
+
+			default: TOML_UNREACHABLE;
+		}
+	}
+}
+TOML_ANON_NAMESPACE_END;
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	TOML_ATTR(nonnull)
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const char* val, size_t len)
+	{
+		stream.write(val, static_cast<std::streamsize>(len));
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, std::string_view val)
+	{
+		stream.write(val.data(), static_cast<std::streamsize>(val.length()));
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const std::string& val)
+	{
+		stream.write(val.data(), static_cast<std::streamsize>(val.length()));
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, char val)
+	{
+		stream.put(val);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, signed char val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, signed short val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, signed int val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, signed long val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream,
+									   signed long long val,
+									   value_flags format,
+									   size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, unsigned char val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, unsigned short val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, unsigned int val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, unsigned long val, value_flags format, size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream,
+									   unsigned long long val,
+									   value_flags format,
+									   size_t min_digits)
+	{
+		TOML_ANON_NAMESPACE::print_integer_to_stream(stream, val, format, min_digits);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, float val, value_flags format, bool relaxed_precision)
+	{
+		TOML_ANON_NAMESPACE::print_floating_point_to_stream(stream, val, format, relaxed_precision);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, double val, value_flags format, bool relaxed_precision)
+	{
+		TOML_ANON_NAMESPACE::print_floating_point_to_stream(stream, val, format, relaxed_precision);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, bool val)
+	{
+		print_to_stream(stream, val ? "true"sv : "false"sv);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const toml::date& val)
+	{
+		print_to_stream(stream, val.year, {}, 4);
+		stream.put('-');
+		print_to_stream(stream, val.month, {}, 2);
+		stream.put('-');
+		print_to_stream(stream, val.day, {}, 2);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const toml::time& val)
+	{
+		print_to_stream(stream, val.hour, {}, 2);
+		stream.put(':');
+		print_to_stream(stream, val.minute, {}, 2);
+		stream.put(':');
+		print_to_stream(stream, val.second, {}, 2);
+		if (val.nanosecond && val.nanosecond <= 999999999u)
+		{
+			stream.put('.');
+			auto ns		  = val.nanosecond;
+			size_t digits = 9u;
+			while (ns % 10u == 0u)
+			{
+				ns /= 10u;
+				digits--;
+			}
+			print_to_stream(stream, ns, {}, digits);
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const toml::time_offset& val)
+	{
+		if (!val.minutes)
+		{
+			stream.put('Z');
+			return;
+		}
+
+		auto mins = static_cast<int>(val.minutes);
+		if (mins < 0)
+		{
+			stream.put('-');
+			mins = -mins;
+		}
+		else
+			stream.put('+');
+		const auto hours = mins / 60;
+		if (hours)
+		{
+			print_to_stream(stream, static_cast<unsigned int>(hours), {}, 2);
+			mins -= hours * 60;
+		}
+		else
+			print_to_stream(stream, "00"sv);
+		stream.put(':');
+		print_to_stream(stream, static_cast<unsigned int>(mins), {}, 2);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const toml::date_time& val)
+	{
+		print_to_stream(stream, val.date);
+		stream.put('T');
+		print_to_stream(stream, val.time);
+		if (val.offset)
+			print_to_stream(stream, *val.offset);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const source_position& val)
+	{
+		print_to_stream(stream, "line "sv);
+		print_to_stream(stream, val.line);
+		print_to_stream(stream, ", column "sv);
+		print_to_stream(stream, val.column);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const source_region& val)
+	{
+		print_to_stream(stream, val.begin);
+		if (val.path)
+		{
+			print_to_stream(stream, " of '"sv);
+			print_to_stream(stream, *val.path);
+			stream.put('\'');
+		}
+	}
+
+#if TOML_ENABLE_FORMATTERS
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const array& arr)
+	{
+		stream << toml_formatter{ arr };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const table& tbl)
+	{
+		stream << toml_formatter{ tbl };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<std::string>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<int64_t>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<double>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<bool>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<date>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<time>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void TOML_CALLCONV print_to_stream(std::ostream & stream, const value<date_time>& val)
+	{
+		stream << toml_formatter{ val };
+	}
+
+#endif
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/node.inl  *********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	node::node() noexcept = default;
+
+	TOML_EXTERNAL_LINKAGE
+	node::~node() noexcept = default;
+
+	TOML_EXTERNAL_LINKAGE
+	node::node(node && other) noexcept //
+		: source_{ std::exchange(other.source_, {}) }
+	{}
+
+	TOML_EXTERNAL_LINKAGE
+	node::node(const node& /*other*/) noexcept
+	{
+		// does not copy source information - this is not an error
+		//
+		// see https://github.com/marzer/tomlplusplus/issues/49#issuecomment-665089577
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node& node::operator=(const node& /*rhs*/) noexcept
+	{
+		// does not copy source information - this is not an error
+		//
+		// see https://github.com/marzer/tomlplusplus/issues/49#issuecomment-665089577
+
+		source_ = {};
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node& node::operator=(node&& rhs) noexcept
+	{
+		if (&rhs != this)
+			source_ = std::exchange(rhs.source_, {});
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> node::at_path(std::string_view path) noexcept
+	{
+		return toml::at_path(*this, path);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> node::at_path(std::string_view path) const noexcept
+	{
+		return toml::at_path(*this, path);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> node::at_path(const path& p) noexcept
+	{
+		return toml::at_path(*this, p);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> node::at_path(const path& p) const noexcept
+	{
+		return toml::at_path(*this, p);
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> node::at_path(std::wstring_view path)
+	{
+		return toml::at_path(*this, path);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> node::at_path(std::wstring_view path) const
+	{
+		return toml::at_path(*this, path);
+	}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> node::operator[](const path& p) noexcept
+	{
+		return toml::at_path(*this, p);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> node::operator[](const path& p) const noexcept
+	{
+		return toml::at_path(*this, p);
+	}
+}
+TOML_NAMESPACE_END;
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV node_deep_equality(const node* lhs, const node* rhs) noexcept
+	{
+		// both same or both null
+		if (lhs == rhs)
+			return true;
+
+		// lhs null != rhs null or different types
+		if ((!lhs != !rhs) || lhs->type() != rhs->type())
+			return false;
+
+		return lhs->visit(
+			[=](auto& l) noexcept
+			{
+				using concrete_type = remove_cvref<decltype(l)>;
+
+				return l == *(rhs->as<concrete_type>());
+			});
+	}
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/at_path.inl  ******************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#if TOML_INT_CHARCONV
+#include <charconv>
+#else
+#include <sstream>
+#endif
+TOML_ENABLE_WARNINGS;
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV parse_path(const std::string_view path,
+								  void* const data,
+								  const parse_path_callback<std::string_view> on_key,
+								  const parse_path_callback<size_t> on_index)
+	{
+		// a blank string is a valid path; it's just one component representing the "" key
+		if (path.empty())
+			return on_key(data, ""sv);
+
+		size_t pos					= 0;
+		const auto end				= path.length();
+		bool prev_was_array_indexer = false;
+		bool prev_was_dot			= true; // invisible root 'dot'
+
+		while (pos < end)
+		{
+			// start of an array indexer
+			if (path[pos] == '[')
+			{
+				// find first digit in index
+				size_t index_start = pos + 1u;
+				while (true)
+				{
+					if TOML_UNLIKELY(index_start >= path.length())
+						return false;
+
+					const auto c = path[index_start];
+					if TOML_LIKELY(c >= '0' && c <= '9')
+						break;
+					else if (c == ' ' || c == '\t')
+						index_start++;
+					else
+						return false;
+				}
+				TOML_ASSERT(path[index_start] >= '0');
+				TOML_ASSERT(path[index_start] <= '9');
+
+				// find end of index (first non-digit character)
+				size_t index_end = index_start + 1u;
+				while (true)
+				{
+					// if an array indexer is missing the trailing ']' at the end of the string, permissively accept it
+					if TOML_UNLIKELY(index_end >= path.length())
+						break;
+
+					const auto c = path[index_end];
+					if (c >= '0' && c <= '9')
+						index_end++;
+					else if (c == ']' || c == ' ' || c == '\t' || c == '.' || c == '[')
+						break;
+					else
+						return false;
+				}
+				TOML_ASSERT(path[index_end - 1u] >= '0');
+				TOML_ASSERT(path[index_end - 1u] <= '9');
+
+				// move pos to after indexer (char after closing ']' or permissively EOL/subkey '.'/next opening '[')
+				pos = index_end;
+				while (true)
+				{
+					if TOML_UNLIKELY(pos >= path.length())
+						break;
+
+					const auto c = path[pos];
+					if (c == ']')
+					{
+						pos++;
+						break;
+					}
+					else if TOML_UNLIKELY(c == '.' || c == '[')
+						break;
+					else if (c == '\t' || c == ' ')
+						pos++;
+					else
+						return false;
+				}
+
+				// get array index substring
+				auto index_str = path.substr(index_start, index_end - index_start);
+
+				// parse the actual array index to an integer type
+				size_t index;
+				if (index_str.length() == 1u)
+					index = static_cast<size_t>(index_str[0] - '0');
+				else
+				{
+#if TOML_INT_CHARCONV
+
+					auto fc_result = std::from_chars(index_str.data(), index_str.data() + index_str.length(), index);
+					if (fc_result.ec != std::errc{})
+						return false;
+
+#else
+
+					std::stringstream ss;
+					ss.imbue(std::locale::classic());
+					ss.write(index_str.data(), static_cast<std::streamsize>(index_str.length()));
+					if (!(ss >> index))
+						return false;
+
+#endif
+				}
+
+				prev_was_dot		   = false;
+				prev_was_array_indexer = true;
+
+				if (!on_index(data, index))
+					return false;
+			}
+
+			// start of a new table child
+			else if (path[pos] == '.')
+			{
+				// a dot immediately following another dot (or at the beginning of the string) is as if we'd asked
+				// for an empty child in between, e.g.
+				//
+				//     foo..bar
+				//
+				// is equivalent to
+				//
+				//     "foo".""."bar"
+				//
+				if (prev_was_dot && !on_key(data, ""sv))
+					return false;
+
+				pos++;
+				prev_was_dot		   = true;
+				prev_was_array_indexer = false;
+			}
+
+			// an errant closing ']'
+			else if TOML_UNLIKELY(path[pos] == ']')
+				return false;
+
+			// some regular subkey
+			else
+			{
+				const auto subkey_start = pos;
+				const auto subkey_len =
+					impl::min(path.find_first_of(".[]"sv, subkey_start + 1u), path.length()) - subkey_start;
+				const auto subkey = path.substr(subkey_start, subkey_len);
+
+				// a regular subkey segment immediately after an array indexer is OK if it was all whitespace, e.g.:
+				//
+				//     "foo[0]  .bar"
+				//            ^^ skip this
+				//
+				// otherwise its an error (since it would have to be preceeded by a dot)
+				if (prev_was_array_indexer)
+				{
+					auto non_ws = subkey.find_first_not_of(" \t");
+					if (non_ws == std::string_view::npos)
+					{
+						pos += subkey_len;
+						prev_was_dot		   = false;
+						prev_was_array_indexer = false;
+						continue;
+					}
+					else
+						return false;
+				}
+
+				pos += subkey_len;
+				prev_was_dot		   = false;
+				prev_was_array_indexer = false;
+
+				if (!on_key(data, subkey))
+					return false;
+			}
+		}
+
+		// Last character was a '.', which implies an empty string key at the end of the path
+		if (prev_was_dot && !on_key(data, ""sv))
+			return false;
+
+		return true;
+	}
+}
+TOML_IMPL_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> TOML_CALLCONV at_path(node & root, std::string_view path) noexcept
+	{
+		// early-exit sanity-checks
+		if (root.is_value())
+			return {};
+		if (auto tbl = root.as_table(); tbl && tbl->empty())
+			return {};
+		if (auto arr = root.as_array(); arr && arr->empty())
+			return {};
+
+		node* current = &root;
+
+		static constexpr auto on_key = [](void* data, std::string_view key) noexcept -> bool
+		{
+			auto& curr = *static_cast<node**>(data);
+			TOML_ASSERT_ASSUME(curr);
+
+			const auto current_table = curr->as<table>();
+			if (!current_table)
+				return false;
+
+			curr = current_table->get(key);
+			return curr != nullptr;
+		};
+
+		static constexpr auto on_index = [](void* data, size_t index) noexcept -> bool
+		{
+			auto& curr = *static_cast<node**>(data);
+			TOML_ASSERT_ASSUME(curr);
+
+			const auto current_array = curr->as<array>();
+			if (!current_array)
+				return false;
+
+			curr = current_array->get(index);
+			return curr != nullptr;
+		};
+
+		if (!impl::parse_path(path, &current, on_key, on_index))
+			current = nullptr;
+
+		return node_view{ current };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> TOML_CALLCONV at_path(const node& root, std::string_view path) noexcept
+	{
+		return node_view<const node>{ at_path(const_cast<node&>(root), path).node() };
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> TOML_CALLCONV at_path(node & root, std::wstring_view path)
+	{
+		// these are the same top-level checks from the narrow-string version;
+		// they're hoisted up here to avoid doing the wide -> narrow conversion where it would not be necessary
+		// (avoids an allocation)
+		if (root.is_value())
+			return {};
+		if (auto tbl = root.as_table(); tbl && tbl->empty())
+			return {};
+		if (auto arr = root.as_array(); arr && arr->empty())
+			return {};
+
+		return at_path(root, impl::narrow(path));
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> TOML_CALLCONV at_path(const node& root, std::wstring_view path)
+	{
+		return node_view<const node>{ at_path(const_cast<node&>(root), path).node() };
+	}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/path.inl  *********************************************************************************************
+
+TOML_DISABLE_WARNINGS;
+#if TOML_INT_CHARCONV
+#include <charconv>
+#endif
+#include <sstream>
+TOML_ENABLE_WARNINGS;
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	path_component::path_component() //
+		: type_{ path_component_type::key }
+	{
+		store_key("", value_storage_);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component::path_component(size_t index) noexcept //
+		: type_(path_component_type::array_index)
+	{
+		store_index(index, value_storage_);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component::path_component(std::string_view key) //
+		: type_(path_component_type::key)
+	{
+		store_key(key, value_storage_);
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	path_component::path_component(std::wstring_view key) //
+		: path_component(impl::narrow(key))
+	{}
+
+#endif
+
+	TOML_EXTERNAL_LINKAGE
+	path_component::path_component(const path_component& pc) //
+		: type_{ pc.type_ }
+	{
+		if (type_ == path_component_type::array_index)
+			store_index(pc.index(), value_storage_);
+		else
+			store_key(pc.key(), value_storage_);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component::path_component(path_component && pc) noexcept //
+		: type_{ pc.type_ }
+	{
+		if (type_ == path_component_type::array_index)
+			store_index(pc.index_ref(), value_storage_);
+		else
+			store_key(std::move(pc.key_ref()), value_storage_);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component& path_component::operator=(const path_component& rhs)
+	{
+		if (type_ != rhs.type_)
+		{
+			destroy();
+
+			type_ = rhs.type_;
+			if (type_ == path_component_type::array_index)
+				store_index(rhs.index(), value_storage_);
+			else
+				store_key(rhs.key(), value_storage_);
+		}
+		else
+		{
+			if (type_ == path_component_type::array_index)
+				index_ref() = rhs.index();
+			else
+				key_ref() = rhs.key();
+		}
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component& path_component::operator=(path_component&& rhs) noexcept
+	{
+		if (type_ != rhs.type_)
+		{
+			destroy();
+
+			type_ = rhs.type_;
+			if (type_ == path_component_type::array_index)
+				store_index(rhs.index(), value_storage_);
+			else
+				store_key(std::move(rhs.key_ref()), value_storage_);
+		}
+		else
+		{
+			if (type_ == path_component_type::array_index)
+				index_ref() = rhs.index();
+			else
+				key_ref() = std::move(rhs.key_ref());
+		}
+		return *this;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV path_component::equal(const path_component& lhs, const path_component& rhs) noexcept
+	{
+		// Different comparison depending on contents
+		if (lhs.type_ != rhs.type_)
+			return false;
+
+		if (lhs.type_ == path_component_type::array_index)
+			return lhs.index() == rhs.index();
+		else // path_component_type::key
+			return lhs.key() == rhs.key();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component& path_component::operator=(size_t new_index) noexcept
+	{
+		// If currently a key, string will need to be destroyed regardless
+		destroy();
+
+		type_ = path_component_type::array_index;
+		store_index(new_index, value_storage_);
+
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path_component& path_component::operator=(std::string_view new_key)
+	{
+		if (type_ == path_component_type::key)
+			key_ref() = new_key;
+		else
+		{
+			type_ = path_component_type::key;
+			store_key(new_key, value_storage_);
+		}
+
+		return *this;
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	path_component& path_component::operator=(std::wstring_view new_key)
+	{
+		if (type_ == path_component_type::key)
+			key_ref() = impl::narrow(new_key);
+		else
+		{
+			type_ = path_component_type::key;
+			store_key(impl::narrow(new_key), value_storage_);
+		}
+
+		return *this;
+	}
+
+#endif
+}
+TOML_NAMESPACE_END;
+
+TOML_ANON_NAMESPACE_START
+{
+	TOML_INTERNAL_LINKAGE
+	bool parse_path_into(std::string_view path_str, std::vector<path_component> & components)
+	{
+		using components_type = std::remove_reference_t<decltype(components)>;
+
+		const auto original_size = components.size();
+
+		static constexpr auto on_key = [](void* data, std::string_view key) -> bool
+		{
+			auto& comps = *static_cast<components_type*>(data);
+			comps.emplace_back(key);
+			return true;
+		};
+
+		static constexpr auto on_index = [](void* data, size_t index) -> bool
+		{
+			auto& comps = *static_cast<components_type*>(data);
+			comps.emplace_back(index);
+			return true;
+		};
+
+		if (!impl::parse_path(path_str, &components, on_key, on_index))
+		{
+			components.resize(original_size);
+			return false;
+		}
+
+		return true;
+	}
+}
+TOML_ANON_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	void path::print_to(std::ostream & os) const
+	{
+		bool root = true;
+		for (const auto& component : components_)
+		{
+			if (component.type() == path_component_type::key) // key
+			{
+				if (!root)
+					impl::print_to_stream(os, '.');
+				impl::print_to_stream(os, component.key());
+			}
+			else if (component.type() == path_component_type::array_index) // array
+			{
+				impl::print_to_stream(os, '[');
+				impl::print_to_stream(os, component.index());
+				impl::print_to_stream(os, ']');
+			}
+			root = false;
+		}
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV path::equal(const path& lhs, const path& rhs) noexcept
+	{
+		return lhs.components_ == rhs.components_;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path::path(std::string_view str) //
+	{
+		TOML_ANON_NAMESPACE::parse_path_into(str, components_);
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	path::path(std::wstring_view str) //
+		: path(impl::narrow(str))
+	{}
+
+#endif
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::operator=(std::string_view rhs)
+	{
+		components_.clear();
+		TOML_ANON_NAMESPACE::parse_path_into(rhs, components_);
+		return *this;
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::operator=(std::wstring_view rhs)
+	{
+		return assign(impl::narrow(rhs));
+	}
+
+#endif
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::operator+=(const path& rhs)
+	{
+		components_.insert(components_.cend(), rhs.begin(), rhs.end());
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::operator+=(path&& rhs)
+	{
+		components_.insert(components_.end(),
+						   std::make_move_iterator(rhs.components_.begin()),
+						   std::make_move_iterator(rhs.components_.end()));
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::operator+=(std::string_view str)
+	{
+		TOML_ANON_NAMESPACE::parse_path_into(str, components_);
+		return *this;
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::operator+=(std::wstring_view str)
+	{
+		return *this += impl::narrow(str);
+	}
+
+#endif
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::prepend(const path& source)
+	{
+		components_.insert(components_.begin(), source.components_.begin(), source.components_.end());
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::prepend(path && source)
+	{
+		components_.insert(components_.begin(),
+						   std::make_move_iterator(source.components_.begin()),
+						   std::make_move_iterator(source.components_.end()));
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::prepend(std::string_view source)
+	{
+		return prepend(path{ source });
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::prepend(std::wstring_view source)
+	{
+		return prepend(impl::narrow(source));
+	}
+
+#endif
+
+	TOML_EXTERNAL_LINKAGE
+	std::string path::str() const
+	{
+		if (empty())
+			return "";
+
+		std::ostringstream ss;
+		print_to(ss);
+		return std::move(ss).str();
+	}
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	std::wstring path::wide_str() const
+	{
+		return impl::widen(str());
+	}
+
+#endif
+
+	TOML_EXTERNAL_LINKAGE
+	void path::clear() noexcept
+	{
+		components_.clear();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path& path::truncate(size_t n)
+	{
+		n = n > components_.size() ? components_.size() : n;
+
+		auto it_end = components_.end();
+		components_.erase(it_end - static_cast<int>(n), it_end);
+
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path path::truncated(size_t n) const
+	{
+		path truncated_path{};
+
+		n = n > components_.size() ? components_.size() : n;
+
+		// Copy all components except one
+		// Need at least two path components to have a parent, since if there is
+		// only one path component, the parent is the root/null path ""
+		truncated_path.components_.insert(truncated_path.components_.begin(),
+										  components_.begin(),
+										  components_.end() - static_cast<int>(n));
+
+		return truncated_path;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path path::parent() const
+	{
+		return truncated(1);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path path::leaf(size_t n) const
+	{
+		path leaf_path{};
+
+		n = n > components_.size() ? components_.size() : n;
+
+		if (n > 0)
+		{
+			leaf_path.components_.insert(leaf_path.components_.begin(),
+										 components_.end() - static_cast<int>(n),
+										 components_.end());
+		}
+
+		return leaf_path;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path path::subpath(std::vector<path_component>::const_iterator start,
+					   std::vector<path_component>::const_iterator end) const
+	{
+		if (start >= end)
+			return {};
+
+		path subpath;
+		subpath.components_.insert(subpath.components_.begin(), start, end);
+		return subpath;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	path path::subpath(size_t start, size_t length) const
+	{
+		return subpath(begin() + static_cast<int>(start), begin() + static_cast<int>(start + length));
+	}
+}
+TOML_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	node_view<node> TOML_CALLCONV at_path(node & root, const toml::path& path) noexcept
+	{
+		// early-exit sanity-checks
+		if (root.is_value())
+			return {};
+		if (auto tbl = root.as_table(); tbl && tbl->empty())
+			return {};
+		if (auto arr = root.as_array(); arr && arr->empty())
+			return {};
+
+		node* current = &root;
+
+		for (const auto& component : path)
+		{
+			auto type = component.type();
+			if (type == path_component_type::array_index)
+			{
+				const auto current_array = current->as<array>();
+				if (!current_array)
+					return {}; // not an array, using array index doesn't work
+
+				current = current_array->get(component.index());
+			}
+			else if (type == path_component_type::key)
+			{
+				const auto current_table = current->as<table>();
+				if (!current_table)
+					return {};
+
+				current = current_table->get(component.key());
+			}
+			else
+			{
+				// Error: invalid component
+				return {};
+			}
+
+			if (!current)
+				return {}; // not found
+		}
+
+		return node_view{ current };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_view<const node> TOML_CALLCONV at_path(const node& root, const toml::path& path) noexcept
+	{
+		return node_view<const node>{ at_path(const_cast<node&>(root), path).node() };
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/array.inl  ********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	array::array() noexcept
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_ARRAY_CREATED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::~array() noexcept
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_ARRAY_DESTROYED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::array(const impl::array_init_elem* b, const impl::array_init_elem* e)
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_ARRAY_CREATED;
+#endif
+
+		TOML_ASSERT_ASSUME(b);
+		TOML_ASSERT_ASSUME(e);
+		TOML_ASSERT_ASSUME(b <= e);
+
+		if TOML_UNLIKELY(b == e)
+			return;
+
+		size_t cap{};
+		for (auto it = b; it != e; it++)
+		{
+			if (it->value)
+				cap++;
+		}
+		if TOML_UNLIKELY(!cap)
+			return;
+
+		elems_.reserve(cap);
+		for (; b != e; b++)
+		{
+			if (b->value)
+				elems_.push_back(std::move(b->value));
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::array(const array& other) //
+		: node(other)
+	{
+		elems_.reserve(other.elems_.size());
+		for (const auto& elem : other)
+			elems_.emplace_back(impl::make_node(elem));
+
+#if TOML_LIFETIME_HOOKS
+		TOML_ARRAY_CREATED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::array(array && other) noexcept //
+		: node(std::move(other)),
+		  elems_(std::move(other.elems_))
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_ARRAY_CREATED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array& array::operator=(const array& rhs)
+	{
+		if (&rhs != this)
+		{
+			node::operator=(rhs);
+			elems_.clear();
+			elems_.reserve(rhs.elems_.size());
+			for (const auto& elem : rhs)
+				elems_.emplace_back(impl::make_node(elem));
+		}
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array& array::operator=(array&& rhs) noexcept
+	{
+		if (&rhs != this)
+		{
+			node::operator=(std::move(rhs));
+			elems_ = std::move(rhs.elems_);
+		}
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::preinsertion_resize(size_t idx, size_t count)
+	{
+		TOML_ASSERT(idx <= elems_.size());
+		TOML_ASSERT_ASSUME(count >= 1u);
+		const auto old_size			= elems_.size();
+		const auto new_size			= old_size + count;
+		const auto inserting_at_end = idx == old_size;
+		elems_.resize(new_size);
+		if (!inserting_at_end)
+		{
+			for (size_t left = old_size, right = new_size - 1u; left-- > idx; right--)
+				elems_[right] = std::move(elems_[left]);
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::insert_at_back(impl::node_ptr && elem)
+	{
+		TOML_ASSERT(elem);
+		elems_.push_back(std::move(elem));
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::vector_iterator array::insert_at(const_vector_iterator pos, impl::node_ptr && elem)
+	{
+		return elems_.insert(pos, std::move(elem));
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool array::is_homogeneous(node_type ntype) const noexcept
+	{
+		if (elems_.empty())
+			return false;
+
+		if (ntype == node_type::none)
+			ntype = elems_[0]->type();
+
+		for (const auto& val : elems_)
+			if (val->type() != ntype)
+				return false;
+
+		return true;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool array::is_homogeneous(node_type ntype, node * &first_nonmatch) noexcept
+	{
+		if (elems_.empty())
+		{
+			first_nonmatch = {};
+			return false;
+		}
+		if (ntype == node_type::none)
+			ntype = elems_[0]->type();
+		for (const auto& val : elems_)
+		{
+			if (val->type() != ntype)
+			{
+				first_nonmatch = val.get();
+				return false;
+			}
+		}
+		return true;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool array::is_homogeneous(node_type ntype, const node*& first_nonmatch) const noexcept
+	{
+		node* fnm		  = nullptr;
+		const auto result = const_cast<array&>(*this).is_homogeneous(ntype, fnm);
+		first_nonmatch	  = fnm;
+		return result;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node& array::at(size_t index)
+	{
+#if TOML_COMPILER_HAS_EXCEPTIONS
+
+		return *elems_.at(index);
+
+#else
+
+		auto n = get(index);
+		TOML_ASSERT_ASSUME(n && "element index not found in array!");
+		return *n;
+
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::reserve(size_t new_capacity)
+	{
+		elems_.reserve(new_capacity);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::shrink_to_fit()
+	{
+		elems_.shrink_to_fit();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::truncate(size_t new_size)
+	{
+		if (new_size < elems_.size())
+			elems_.resize(new_size);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::iterator array::erase(const_iterator pos) noexcept
+	{
+		return iterator{ elems_.erase(const_vector_iterator{ pos }) };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array::iterator array::erase(const_iterator first, const_iterator last) noexcept
+	{
+		return iterator{ elems_.erase(const_vector_iterator{ first }, const_vector_iterator{ last }) };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	size_t array::total_leaf_count() const noexcept
+	{
+		size_t leaves{};
+		for (size_t i = 0, e = elems_.size(); i < e; i++)
+		{
+			auto arr = elems_[i]->as_array();
+			leaves += arr ? arr->total_leaf_count() : size_t{ 1 };
+		}
+		return leaves;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::flatten_child(array && child, size_t & dest_index) noexcept
+	{
+		for (size_t i = 0, e = child.size(); i < e; i++)
+		{
+			auto type = child.elems_[i]->type();
+			if (type == node_type::array)
+			{
+				array& arr = *reinterpret_cast<array*>(child.elems_[i].get());
+				if (!arr.empty())
+					flatten_child(std::move(arr), dest_index);
+			}
+			else
+				elems_[dest_index++] = std::move(child.elems_[i]);
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array& array::flatten()&
+	{
+		if (elems_.empty())
+			return *this;
+
+		bool requires_flattening	 = false;
+		size_t size_after_flattening = elems_.size();
+		for (size_t i = elems_.size(); i-- > 0u;)
+		{
+			auto arr = elems_[i]->as_array();
+			if (!arr)
+				continue;
+			size_after_flattening--; // discount the array itself
+			const auto leaf_count = arr->total_leaf_count();
+			if (leaf_count > 0u)
+			{
+				requires_flattening = true;
+				size_after_flattening += leaf_count;
+			}
+			else
+				elems_.erase(elems_.cbegin() + static_cast<ptrdiff_t>(i));
+		}
+
+		if (!requires_flattening)
+			return *this;
+
+		elems_.reserve(size_after_flattening);
+
+		size_t i = 0;
+		while (i < elems_.size())
+		{
+			auto arr = elems_[i]->as_array();
+			if (!arr)
+			{
+				i++;
+				continue;
+			}
+
+			impl::node_ptr arr_storage = std::move(elems_[i]);
+			const auto leaf_count	   = arr->total_leaf_count();
+			if (leaf_count > 1u)
+				preinsertion_resize(i + 1u, leaf_count - 1u);
+			flatten_child(std::move(*arr), i); // increments i
+		}
+
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	array& array::prune(bool recursive)& noexcept
+	{
+		if (elems_.empty())
+			return *this;
+
+		for (size_t i = elems_.size(); i-- > 0u;)
+		{
+			if (auto arr = elems_[i]->as_array())
+			{
+				if (recursive)
+					arr->prune(true);
+				if (arr->empty())
+					elems_.erase(elems_.cbegin() + static_cast<ptrdiff_t>(i));
+			}
+			else if (auto tbl = elems_[i]->as_table())
+			{
+				if (recursive)
+					tbl->prune(true);
+				if (tbl->empty())
+					elems_.erase(elems_.cbegin() + static_cast<ptrdiff_t>(i));
+			}
+		}
+
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::pop_back() noexcept
+	{
+		elems_.pop_back();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void array::clear() noexcept
+	{
+		elems_.clear();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV array::equal(const array& lhs, const array& rhs) noexcept
+	{
+		if (&lhs == &rhs)
+			return true;
+		if (lhs.elems_.size() != rhs.elems_.size())
+			return false;
+		for (size_t i = 0, e = lhs.elems_.size(); i < e; i++)
+		{
+			const auto lhs_type = lhs.elems_[i]->type();
+			const node& rhs_	= *rhs.elems_[i];
+			const auto rhs_type = rhs_.type();
+			if (lhs_type != rhs_type)
+				return false;
+
+			const bool equal = lhs.elems_[i]->visit(
+				[&](const auto& lhs_) noexcept
+				{ return lhs_ == *reinterpret_cast<std::remove_reference_t<decltype(lhs_)>*>(&rhs_); });
+			if (!equal)
+				return false;
+		}
+		return true;
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/table.inl  ********************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	table::table() noexcept
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_TABLE_CREATED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::~table() noexcept
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_TABLE_DESTROYED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::table(const impl::table_init_pair* b, const impl::table_init_pair* e)
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_TABLE_CREATED;
+#endif
+
+		TOML_ASSERT_ASSUME(b);
+		TOML_ASSERT_ASSUME(e);
+		TOML_ASSERT_ASSUME(b <= e);
+
+		if TOML_UNLIKELY(b == e)
+			return;
+
+		for (; b != e; b++)
+		{
+			if (!b->value) // empty node_views
+				continue;
+
+			map_.insert_or_assign(std::move(b->key), std::move(b->value));
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::table(const table& other) //
+		: node(other),
+		  inline_{ other.inline_ }
+	{
+		for (auto&& [k, v] : other.map_)
+			map_.emplace_hint(map_.end(), k, impl::make_node(*v));
+
+#if TOML_LIFETIME_HOOKS
+		TOML_TABLE_CREATED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::table(table && other) noexcept //
+		: node(std::move(other)),
+		  map_{ std::move(other.map_) },
+		  inline_{ other.inline_ }
+	{
+#if TOML_LIFETIME_HOOKS
+		TOML_TABLE_CREATED;
+#endif
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table& table::operator=(const table& rhs)
+	{
+		if (&rhs != this)
+		{
+			node::operator=(rhs);
+			map_.clear();
+			for (auto&& [k, v] : rhs.map_)
+				map_.emplace_hint(map_.end(), k, impl::make_node(*v));
+			inline_ = rhs.inline_;
+		}
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table& table::operator=(table&& rhs) noexcept
+	{
+		if (&rhs != this)
+		{
+			node::operator=(std::move(rhs));
+			map_	= std::move(rhs.map_);
+			inline_ = rhs.inline_;
+		}
+		return *this;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool table::is_homogeneous(node_type ntype) const noexcept
+	{
+		if (map_.empty())
+			return false;
+
+		if (ntype == node_type::none)
+			ntype = map_.cbegin()->second->type();
+
+		for (auto&& [k, v] : map_)
+		{
+			TOML_UNUSED(k);
+			if (v->type() != ntype)
+				return false;
+		}
+
+		return true;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool table::is_homogeneous(node_type ntype, node * &first_nonmatch) noexcept
+	{
+		if (map_.empty())
+		{
+			first_nonmatch = {};
+			return false;
+		}
+		if (ntype == node_type::none)
+			ntype = map_.cbegin()->second->type();
+		for (const auto& [k, v] : map_)
+		{
+			TOML_UNUSED(k);
+			if (v->type() != ntype)
+			{
+				first_nonmatch = v.get();
+				return false;
+			}
+		}
+		return true;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool table::is_homogeneous(node_type ntype, const node*& first_nonmatch) const noexcept
+	{
+		node* fnm		  = nullptr;
+		const auto result = const_cast<table&>(*this).is_homogeneous(ntype, fnm);
+		first_nonmatch	  = fnm;
+		return result;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	node* table::get(std::string_view key) noexcept
+	{
+		if (auto it = map_.find(key); it != map_.end())
+			return it->second.get();
+		return nullptr;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node& table::at(std::string_view key)
+	{
+		auto n = get(key);
+
+#if TOML_COMPILER_HAS_EXCEPTIONS
+
+		if (!n)
+		{
+			auto err = "key '"s;
+			err.append(key);
+			err.append("' not found in table"sv);
+			throw std::out_of_range{ err };
+		}
+
+#else
+
+		TOML_ASSERT_ASSUME(n && "key not found in table!");
+
+#endif
+
+		return *n;
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	table::map_iterator table::get_lower_bound(std::string_view key) noexcept
+	{
+		return map_.lower_bound(key);
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	table::iterator table::find(std::string_view key) noexcept
+	{
+		return iterator{ map_.find(key) };
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	table::const_iterator table::find(std::string_view key) const noexcept
+	{
+		return const_iterator{ map_.find(key) };
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::map_iterator table::erase(const_map_iterator pos) noexcept
+	{
+		return map_.erase(pos);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::map_iterator table::erase(const_map_iterator begin, const_map_iterator end) noexcept
+	{
+		return map_.erase(begin, end);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	size_t table::erase(std::string_view key) noexcept
+	{
+		if (auto it = map_.find(key); it != map_.end())
+		{
+			map_.erase(it);
+			return size_t{ 1 };
+		}
+		return size_t{};
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table& table::prune(bool recursive)& noexcept
+	{
+		if (map_.empty())
+			return *this;
+
+		for (auto it = map_.begin(); it != map_.end();)
+		{
+			if (auto arr = it->second->as_array())
+			{
+				if (recursive)
+					arr->prune(true);
+
+				if (arr->empty())
+				{
+					it = map_.erase(it);
+					continue;
+				}
+			}
+			else if (auto tbl = it->second->as_table())
+			{
+				if (recursive)
+					tbl->prune(true);
+
+				if (tbl->empty())
+				{
+					it = map_.erase(it);
+					continue;
+				}
+			}
+			it++;
+		}
+
+		return *this;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void table::clear() noexcept
+	{
+		map_.clear();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	table::map_iterator table::insert_with_hint(const_iterator hint, key && k, impl::node_ptr && v)
+	{
+		return map_.emplace_hint(const_map_iterator{ hint }, std::move(k), std::move(v));
+	}
+
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool TOML_CALLCONV table::equal(const table& lhs, const table& rhs) noexcept
+	{
+		if (&lhs == &rhs)
+			return true;
+		if (lhs.map_.size() != rhs.map_.size())
+			return false;
+
+		for (auto l = lhs.map_.begin(), r = rhs.map_.begin(), e = lhs.map_.end(); l != e; l++, r++)
+		{
+			if (l->first != r->first)
+				return false;
+
+			const auto lhs_type = l->second->type();
+			const node& rhs_	= *r->second;
+			const auto rhs_type = rhs_.type();
+			if (lhs_type != rhs_type)
+				return false;
+
+			const bool equal = l->second->visit(
+				[&](const auto& lhs_) noexcept
+				{ return lhs_ == *reinterpret_cast<std::remove_reference_t<decltype(lhs_)>*>(&rhs_); });
+			if (!equal)
+				return false;
+		}
+		return true;
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/simd.hpp  *********************************************************************************************
+
+#if TOML_ENABLE_SIMD
+
+#if defined(__SSE2__)                                                                                                  \
+	|| (defined(_MSC_VER) && (defined(_M_AMD64) || defined(_M_X64) || (defined(_M_IX86_FP) && _M_IX86_FP >= 2)))
+#define TOML_HAS_SSE2 1
+#endif
+
+#if defined(__SSE4_1__) || (defined(_MSC_VER) && (defined(__AVX__) || defined(__AVX2__)))
+#define TOML_HAS_SSE4_1 1
+#endif
+
+#endif // TOML_ENABLE_SIMD
+
+#ifndef TOML_HAS_SSE2
+#define TOML_HAS_SSE2 0
+#endif
+#ifndef TOML_HAS_SSE4_1
+#define TOML_HAS_SSE4_1 0
+#endif
+
+TOML_DISABLE_WARNINGS;
+#if TOML_HAS_SSE4_1
+#include <smmintrin.h>
+#endif
+#if TOML_HAS_SSE2
+#include <emmintrin.h>
+#endif
+TOML_ENABLE_WARNINGS;
+
+//********  impl/unicode.inl  ******************************************************************************************
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_PURE_GETTER
+	TOML_EXTERNAL_LINKAGE
+	bool is_ascii(const char* str, size_t len) noexcept
+	{
+		const char* const end = str + len;
+
+#if TOML_HAS_SSE2 && (128 % CHAR_BIT) == 0
+		{
+			constexpr size_t chars_per_vector = 128u / CHAR_BIT;
+
+			if (const size_t simdable = len - (len % chars_per_vector))
+			{
+				__m128i mask = _mm_setzero_si128();
+				for (const char* const e = str + simdable; str < e; str += chars_per_vector)
+				{
+					const __m128i current_bytes = _mm_loadu_si128(reinterpret_cast<const __m128i*>(str));
+					mask						= _mm_or_si128(mask, current_bytes);
+				}
+				const __m128i has_error = _mm_cmpgt_epi8(_mm_setzero_si128(), mask);
+
+#if TOML_HAS_SSE4_1
+				if (!_mm_testz_si128(has_error, has_error))
+					return false;
+#else
+				if (_mm_movemask_epi8(_mm_cmpeq_epi8(has_error, _mm_setzero_si128())) != 0xFFFF)
+					return false;
+#endif
+			}
+		}
+#endif
+
+		for (; str < end; str++)
+			if (static_cast<unsigned char>(*str) > 127u)
+				return false;
+
+		return true;
+	}
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+//********  impl/parser.inl  *******************************************************************************************
+
+#if TOML_ENABLE_PARSER
+
+TOML_DISABLE_WARNINGS;
+#include <istream>
+#include <fstream>
+#if TOML_INT_CHARCONV || TOML_FLOAT_CHARCONV
+#include <charconv>
+#endif
+#if !TOML_INT_CHARCONV || !TOML_FLOAT_CHARCONV
+#include <sstream>
+#endif
+#if !TOML_INT_CHARCONV
+#include <iomanip>
+#endif
+TOML_ENABLE_WARNINGS;
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_ANON_NAMESPACE_START
+{
+	template <typename T>
+	class utf8_byte_stream;
+
+	TOML_INTERNAL_LINKAGE
+	constexpr auto utf8_byte_order_mark = "\xEF\xBB\xBF"sv;
+
+	template <typename Char>
+	class utf8_byte_stream<std::basic_string_view<Char>>
+	{
+		static_assert(sizeof(Char) == 1);
+
+	  private:
+		std::basic_string_view<Char> source_;
+		size_t position_ = {};
+
+	  public:
+		TOML_NODISCARD_CTOR
+		explicit constexpr utf8_byte_stream(std::basic_string_view<Char> sv) noexcept //
+			: source_{ sv }
+		{
+			// skip bom
+			if (source_.length() >= 3u && memcmp(utf8_byte_order_mark.data(), source_.data(), 3u) == 0)
+				position_ += 3u;
+		}
+
+		TOML_CONST_INLINE_GETTER
+		constexpr bool error() const noexcept
+		{
+			return false;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		constexpr bool eof() const noexcept
+		{
+			return position_ >= source_.length();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit constexpr operator bool() const noexcept
+		{
+			return !eof();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		constexpr bool peek_eof() const noexcept
+		{
+			return eof();
+		}
+
+		TOML_NODISCARD
+		TOML_ATTR(nonnull)
+		size_t operator()(void* dest, size_t num) noexcept
+		{
+			TOML_ASSERT_ASSUME(!eof());
+
+			num = impl::min(position_ + num, source_.length()) - position_;
+			std::memcpy(dest, source_.data() + position_, num);
+			position_ += num;
+			return num;
+		}
+	};
+
+	template <>
+	class utf8_byte_stream<std::istream>
+	{
+	  private:
+		std::istream* source_;
+
+	  public:
+		TOML_NODISCARD_CTOR
+		explicit utf8_byte_stream(std::istream& stream) noexcept(!TOML_COMPILER_HAS_EXCEPTIONS) //
+			: source_{ &stream }
+		{
+			if (!*this) // eof, bad
+				return;
+
+			const auto initial_pos = source_->tellg();
+			char bom[3];
+			source_->read(bom, 3);
+			if (source_->bad() || (source_->gcount() == 3 && memcmp(utf8_byte_order_mark.data(), bom, 3u) == 0))
+				return;
+
+			source_->clear();
+			source_->seekg(initial_pos, std::istream::beg);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool error() const noexcept
+		{
+			return !!(source_->rdstate() & std::istream::badbit);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool eof() const noexcept
+		{
+			return !!(source_->rdstate() & std::istream::eofbit);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		explicit operator bool() const noexcept
+		{
+			return !(source_->rdstate() & (std::istream::badbit | std::istream::eofbit));
+		}
+
+		TOML_NODISCARD
+		bool peek_eof() const noexcept(!TOML_COMPILER_HAS_EXCEPTIONS)
+		{
+			return eof() || source_->peek() == std::istream::traits_type::eof();
+		}
+
+		TOML_NODISCARD
+		TOML_ATTR(nonnull)
+		size_t operator()(void* dest, size_t num) noexcept(!TOML_COMPILER_HAS_EXCEPTIONS)
+		{
+			TOML_ASSERT(*this);
+
+			source_->read(static_cast<char*>(dest), static_cast<std::streamsize>(num));
+			return static_cast<size_t>(source_->gcount());
+		}
+	};
+
+	struct utf8_codepoint
+	{
+		char32_t value;
+		char bytes[4];
+		size_t count;
+		source_position position;
+
+		TOML_PURE_INLINE_GETTER
+		constexpr operator const char32_t&() const noexcept
+		{
+			return value;
+		}
+
+		TOML_PURE_INLINE_GETTER
+		constexpr const char32_t& operator*() const noexcept
+		{
+			return value;
+		}
+	};
+	static_assert(std::is_trivial_v<utf8_codepoint>);
+	static_assert(std::is_standard_layout_v<utf8_codepoint>);
+
+	struct TOML_ABSTRACT_INTERFACE utf8_reader_interface
+	{
+		TOML_NODISCARD
+		virtual const source_path_ptr& source_path() const noexcept = 0;
+
+		TOML_NODISCARD
+		virtual const utf8_codepoint* read_next() noexcept(!TOML_COMPILER_HAS_EXCEPTIONS) = 0;
+
+		TOML_NODISCARD
+		virtual bool peek_eof() const noexcept(!TOML_COMPILER_HAS_EXCEPTIONS) = 0;
+
+#if !TOML_EXCEPTIONS
+
+		TOML_NODISCARD
+		virtual optional<parse_error>&& error() noexcept = 0;
+
+#endif
+
+		virtual ~utf8_reader_interface() noexcept = default;
+	};
+
+#if TOML_EXCEPTIONS
+#define utf8_reader_error(...)				throw parse_error(__VA_ARGS__)
+#define utf8_reader_return_after_error(...) static_assert(true)
+#define utf8_reader_error_check(...)		static_assert(true)
+#else
+#define utf8_reader_error(...)				err_.emplace(__VA_ARGS__)
+#define utf8_reader_return_after_error(...) return __VA_ARGS__
+#define utf8_reader_error_check(...)                                                                                   \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if TOML_UNLIKELY(err_)                                                                                         \
+			return __VA_ARGS__;                                                                                        \
+	}                                                                                                                  \
+	while (false)
+
+#endif
+
+#if defined(__APPLE__) || defined(__MINGW32__) || defined(__MINGW64__)
+#define TOML_OVERALIGNED
+#else
+#define TOML_OVERALIGNED alignas(32)
+#endif
+
+	template <typename T>
+	class TOML_EMPTY_BASES utf8_reader final : public utf8_reader_interface
+	{
+	  private:
+		static constexpr size_t block_capacity = 32;
+		utf8_byte_stream<T> stream_;
+		source_position next_pos_ = { 1, 1 };
+
+		impl::utf8_decoder decoder_;
+		struct currently_decoding_t
+		{
+			char bytes[4];
+			size_t count;
+		} currently_decoding_;
+
+		struct codepoints_t
+		{
+			TOML_OVERALIGNED utf8_codepoint buffer[block_capacity];
+			size_t current;
+			size_t count;
+		} codepoints_;
+
+		source_path_ptr source_path_;
+
+#if !TOML_EXCEPTIONS
+		optional<parse_error> err_;
+#endif
+
+		bool read_next_block() noexcept(!TOML_COMPILER_HAS_EXCEPTIONS)
+		{
+			TOML_ASSERT(stream_);
+
+			TOML_OVERALIGNED char raw_bytes[block_capacity];
+			size_t raw_bytes_read;
+
+			// read the next raw (encoded) block in from the stream
+			if constexpr (noexcept(stream_(raw_bytes, block_capacity)) || !TOML_EXCEPTIONS)
+			{
+				raw_bytes_read = stream_(raw_bytes, block_capacity);
+			}
+#if TOML_EXCEPTIONS
+			else
+			{
+				try
+				{
+					raw_bytes_read = stream_(raw_bytes, block_capacity);
+				}
+				catch (const std::exception& exc)
+				{
+					throw parse_error{ exc.what(), next_pos_, source_path_ };
+				}
+				catch (...)
+				{
+					throw parse_error{ "An unspecified error occurred", next_pos_, source_path_ };
+				}
+			}
+#endif // TOML_EXCEPTIONS
+
+			// handle a zero-byte read
+			if TOML_UNLIKELY(!raw_bytes_read)
+			{
+				if (stream_.eof())
+				{
+					// EOF only sets the error state if the decoder wants more input, otherwise
+					// a zero-byte read might have just caused the underlying stream to realize it's exhaused and set
+					// the EOF flag, and that's totally fine
+					if (decoder_.needs_more_input())
+						utf8_reader_error("Encountered EOF during incomplete utf-8 code point sequence",
+										  next_pos_,
+										  source_path_);
+				}
+				else
+				{
+					utf8_reader_error("Reading from the underlying stream failed - zero bytes read",
+									  next_pos_,
+									  source_path_);
+				}
+				return false;
+			}
+
+			TOML_ASSERT_ASSUME(raw_bytes_read);
+			std::memset(&codepoints_, 0, sizeof(codepoints_));
+
+			// helper for calculating decoded codepoint line+cols
+			const auto calc_positions = [&]() noexcept
+			{
+				for (size_t i = 0; i < codepoints_.count; i++)
+				{
+					auto& cp	= codepoints_.buffer[i];
+					cp.position = next_pos_;
+
+					if (cp == U'\n')
+					{
+						next_pos_.line++;
+						next_pos_.column = source_index{ 1 };
+					}
+					else
+						next_pos_.column++;
+				}
+			};
+
+			// decide whether we need to use the UTF-8 decoder or if we can treat this block as plain ASCII
+			const auto ascii_fast_path = !decoder_.needs_more_input() && impl::is_ascii(raw_bytes, raw_bytes_read);
+
+			// ASCII fast-path
+			if (ascii_fast_path)
+			{
+				decoder_.reset();
+				currently_decoding_.count = {};
+
+				codepoints_.count = raw_bytes_read;
+				for (size_t i = 0; i < codepoints_.count; i++)
+				{
+					auto& cp	= codepoints_.buffer[i];
+					cp.value	= static_cast<char32_t>(raw_bytes[i]);
+					cp.bytes[0] = raw_bytes[i];
+					cp.count	= 1u;
+				}
+			}
+
+			// UTF-8 slow-path
+			else
+			{
+				// helper for getting precise error location
+				const auto error_pos = [&]() noexcept -> const source_position&
+				{ //
+					return codepoints_.count ? codepoints_.buffer[codepoints_.count - 1u].position : next_pos_;
+				};
+
+				for (size_t i = 0; i < raw_bytes_read; i++)
+				{
+					decoder_(static_cast<uint8_t>(raw_bytes[i]));
+					if TOML_UNLIKELY(decoder_.error())
+					{
+						calc_positions();
+						utf8_reader_error("Encountered invalid utf-8 sequence", error_pos(), source_path_);
+						utf8_reader_return_after_error(false);
+					}
+
+					currently_decoding_.bytes[currently_decoding_.count++] = raw_bytes[i];
+
+					if (decoder_.has_code_point())
+					{
+						auto& cp = codepoints_.buffer[codepoints_.count++];
+
+						cp.value = decoder_.codepoint;
+						cp.count = currently_decoding_.count;
+						std::memcpy(cp.bytes, currently_decoding_.bytes, currently_decoding_.count);
+						currently_decoding_.count = {};
+					}
+					else if TOML_UNLIKELY(currently_decoding_.count == 4u)
+					{
+						calc_positions();
+						utf8_reader_error("Encountered overlong utf-8 sequence", error_pos(), source_path_);
+						utf8_reader_return_after_error(false);
+					}
+				}
+				if TOML_UNLIKELY(decoder_.needs_more_input() && stream_.eof())
+				{
+					calc_positions();
+					utf8_reader_error("Encountered EOF during incomplete utf-8 code point sequence",
+									  error_pos(),
+									  source_path_);
+					utf8_reader_return_after_error(false);
+				}
+			}
+
+			TOML_ASSERT_ASSUME(codepoints_.count);
+			calc_positions();
+
+			// handle general I/O errors
+			// (down here so the next_pos_ benefits from calc_positions())
+			if TOML_UNLIKELY(stream_.error())
+			{
+				utf8_reader_error("An I/O error occurred while reading from the underlying stream",
+								  next_pos_,
+								  source_path_);
+				utf8_reader_return_after_error(false);
+			}
+
+			return true;
+		}
+
+	  public:
+		template <typename U, typename String = std::string_view>
+		TOML_NODISCARD_CTOR
+		explicit utf8_reader(U&& source, String&& source_path = {}) noexcept(
+			std::is_nothrow_constructible_v<utf8_byte_stream<T>, U&&>)
+			: stream_{ static_cast<U&&>(source) }
+		{
+			currently_decoding_.count = {};
+
+			codepoints_.current = {};
+			codepoints_.count	= {};
+
+			if (!source_path.empty())
+				source_path_ = std::make_shared<const std::string>(static_cast<String&&>(source_path));
+		}
+
+		TOML_PURE_INLINE_GETTER
+		const source_path_ptr& source_path() const noexcept final
+		{
+			return source_path_;
+		}
+
+		TOML_NODISCARD
+		const utf8_codepoint* read_next() noexcept(!TOML_COMPILER_HAS_EXCEPTIONS) final
+		{
+			utf8_reader_error_check({});
+
+			if (codepoints_.current == codepoints_.count)
+			{
+				if TOML_UNLIKELY(!stream_ || !read_next_block())
+					return nullptr;
+
+				TOML_ASSERT_ASSUME(!codepoints_.current);
+			}
+			TOML_ASSERT_ASSUME(codepoints_.count);
+			TOML_ASSERT_ASSUME(codepoints_.count <= block_capacity);
+			TOML_ASSERT_ASSUME(codepoints_.current < codepoints_.count);
+
+			return &codepoints_.buffer[codepoints_.current++];
+		}
+
+		TOML_NODISCARD
+		bool peek_eof() const noexcept(!TOML_COMPILER_HAS_EXCEPTIONS) final
+		{
+			return stream_.peek_eof();
+		}
+
+#if !TOML_EXCEPTIONS
+
+		TOML_NODISCARD
+		optional<parse_error>&& error() noexcept final
+		{
+			return std::move(err_);
+		}
+
+#endif
+	};
+
+	template <typename Char>
+	utf8_reader(std::basic_string_view<Char>, std::string_view) -> utf8_reader<std::basic_string_view<Char>>;
+	template <typename Char>
+	utf8_reader(std::basic_string_view<Char>, std::string&&) -> utf8_reader<std::basic_string_view<Char>>;
+	template <typename Char>
+	utf8_reader(std::basic_istream<Char>&, std::string_view) -> utf8_reader<std::basic_istream<Char>>;
+	template <typename Char>
+	utf8_reader(std::basic_istream<Char>&, std::string&&) -> utf8_reader<std::basic_istream<Char>>;
+
+#if TOML_EXCEPTIONS
+#define utf8_buffered_reader_error_check(...) static_assert(true)
+#else
+#define utf8_buffered_reader_error_check(...)                                                                          \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if TOML_UNLIKELY(reader_.error())                                                                              \
+			return __VA_ARGS__;                                                                                        \
+	}                                                                                                                  \
+	while (false)
+
+#endif
+
+	class TOML_EMPTY_BASES utf8_buffered_reader
+	{
+	  public:
+		static constexpr size_t max_history_length = 128;
+
+	  private:
+		static constexpr size_t history_buffer_size = max_history_length - 1; //'head' is stored in the reader
+		utf8_reader_interface& reader_;
+		struct
+		{
+			utf8_codepoint buffer[history_buffer_size];
+			size_t count, first;
+		} history_					= {};
+		const utf8_codepoint* head_ = {};
+		size_t negative_offset_		= {};
+
+	  public:
+		TOML_NODISCARD_CTOR
+		explicit utf8_buffered_reader(utf8_reader_interface& reader) noexcept //
+			: reader_{ reader }
+		{}
+
+		TOML_PURE_INLINE_GETTER
+		const source_path_ptr& source_path() const noexcept
+		{
+			return reader_.source_path();
+		}
+
+		TOML_NODISCARD
+		const utf8_codepoint* read_next() noexcept(!TOML_COMPILER_HAS_EXCEPTIONS)
+		{
+			utf8_buffered_reader_error_check({});
+
+			if (negative_offset_)
+			{
+				negative_offset_--;
+
+				// an entry negative offset of 1 just means "replay the current head"
+				if (!negative_offset_)
+					return head_;
+
+				// otherwise step back into the history buffer
+				else
+					return history_.buffer
+						 + ((history_.first + history_.count - negative_offset_) % history_buffer_size);
+			}
+			else
+			{
+				// first character read from stream
+				if TOML_UNLIKELY(!history_.count && !head_)
+					head_ = reader_.read_next();
+
+				// subsequent characters and not eof
+				else if (head_)
+				{
+					if TOML_UNLIKELY(history_.count < history_buffer_size)
+						history_.buffer[history_.count++] = *head_;
+					else
+						history_.buffer[(history_.first++ + history_buffer_size) % history_buffer_size] = *head_;
+
+					head_ = reader_.read_next();
+				}
+
+				return head_;
+			}
+		}
+
+		TOML_NODISCARD
+		const utf8_codepoint* step_back(size_t count) noexcept
+		{
+			utf8_buffered_reader_error_check({});
+
+			TOML_ASSERT_ASSUME(history_.count);
+			TOML_ASSERT_ASSUME(negative_offset_ + count <= history_.count);
+
+			negative_offset_ += count;
+
+			return negative_offset_
+					 ? history_.buffer + ((history_.first + history_.count - negative_offset_) % history_buffer_size)
+					 : head_;
+		}
+
+		TOML_NODISCARD
+		bool peek_eof() const noexcept(!TOML_COMPILER_HAS_EXCEPTIONS)
+		{
+			return reader_.peek_eof();
+		}
+
+#if !TOML_EXCEPTIONS
+
+		TOML_NODISCARD
+		optional<parse_error>&& error() noexcept
+		{
+			return reader_.error();
+		}
+
+#endif
+	};
+}
+TOML_ANON_NAMESPACE_END;
+
+#if TOML_EXCEPTIONS
+#define TOML_RETURNS_BY_THROWING [[noreturn]]
+#else
+#define TOML_RETURNS_BY_THROWING
+#endif
+
+TOML_ANON_NAMESPACE_START
+{
+	template <typename... T>
+	TOML_CONST_GETTER
+	TOML_INTERNAL_LINKAGE
+	constexpr bool is_match(char32_t codepoint, T... vals) noexcept
+	{
+		static_assert((std::is_same_v<char32_t, T> && ...));
+		return ((codepoint == vals) || ...);
+	}
+
+	template <uint64_t>
+	struct parse_integer_traits;
+	template <>
+	struct parse_integer_traits<2>
+	{
+		static constexpr auto scope_qualifier  = "binary integer"sv;
+		static constexpr auto is_digit		   = impl::is_binary_digit;
+		static constexpr auto is_signed		   = false;
+		static constexpr auto max_digits	   = 63;
+		static constexpr auto prefix_codepoint = U'b';
+		static constexpr auto prefix		   = "b"sv;
+		static constexpr auto full_prefix	   = "0b"sv;
+	};
+	template <>
+	struct parse_integer_traits<8>
+	{
+		static constexpr auto scope_qualifier  = "octal integer"sv;
+		static constexpr auto is_digit		   = impl::is_octal_digit;
+		static constexpr auto is_signed		   = false;
+		static constexpr auto max_digits	   = 21; // strlen("777777777777777777777")
+		static constexpr auto prefix_codepoint = U'o';
+		static constexpr auto prefix		   = "o"sv;
+		static constexpr auto full_prefix	   = "0o"sv;
+	};
+	template <>
+	struct parse_integer_traits<10>
+	{
+		static constexpr auto scope_qualifier = "decimal integer"sv;
+		static constexpr auto is_digit		  = impl::is_decimal_digit;
+		static constexpr auto is_signed		  = true;
+		static constexpr auto max_digits	  = 19; // strlen("9223372036854775807")
+		static constexpr auto full_prefix	  = ""sv;
+	};
+	template <>
+	struct parse_integer_traits<16>
+	{
+		static constexpr auto scope_qualifier  = "hexadecimal integer"sv;
+		static constexpr auto is_digit		   = impl::is_hexadecimal_digit;
+		static constexpr auto is_signed		   = false;
+		static constexpr auto max_digits	   = 16; // strlen("7FFFFFFFFFFFFFFF")
+		static constexpr auto prefix_codepoint = U'x';
+		static constexpr auto prefix		   = "x"sv;
+		static constexpr auto full_prefix	   = "0x"sv;
+	};
+
+	TOML_PURE_GETTER
+	TOML_INTERNAL_LINKAGE
+	std::string_view to_sv(node_type val) noexcept
+	{
+		return impl::node_type_friendly_names[impl::unwrap_enum(val)];
+	}
+
+	TOML_PURE_GETTER
+	TOML_INTERNAL_LINKAGE
+	std::string_view to_sv(const std::string& str) noexcept
+	{
+		return std::string_view{ str };
+	}
+
+	TOML_CONST_GETTER
+	TOML_INTERNAL_LINKAGE
+	std::string_view to_sv(bool val) noexcept
+	{
+		using namespace std::string_view_literals;
+
+		return val ? "true"sv : "false"sv;
+	}
+
+	TOML_PURE_GETTER
+	TOML_INTERNAL_LINKAGE
+	std::string_view to_sv(const utf8_codepoint& cp) noexcept
+	{
+		if (cp.value <= U'\x1F')
+			return impl::control_char_escapes[cp.value];
+		else if (cp.value == U'\x7F')
+			return "\\u007F"sv;
+		else
+			return std::string_view{ cp.bytes, cp.count };
+	}
+
+	TOML_PURE_GETTER
+	TOML_INTERNAL_LINKAGE
+	std::string_view to_sv(const utf8_codepoint* cp) noexcept
+	{
+		if (cp)
+			return to_sv(*cp);
+		return ""sv;
+	}
+
+	struct escaped_codepoint
+	{
+		const utf8_codepoint& cp;
+	};
+
+	template <typename T>
+	TOML_ATTR(nonnull)
+	TOML_INTERNAL_LINKAGE
+	void concatenate(char*& write_pos, char* const buf_end, const T& arg) noexcept
+	{
+		if TOML_UNLIKELY(write_pos >= buf_end)
+			return;
+
+		using arg_type = impl::remove_cvref<T>;
+
+		// string views
+		if constexpr (std::is_same_v<arg_type, std::string_view>)
+		{
+			const auto max_chars = static_cast<size_t>(buf_end - write_pos);
+			const auto len		 = max_chars < arg.length() ? max_chars : arg.length();
+			std::memcpy(write_pos, arg.data(), len);
+			write_pos += len;
+		}
+
+		// doubles
+		else if constexpr (std::is_same_v<arg_type, double>)
+		{
+#if TOML_FLOAT_CHARCONV
+			const auto result = std::to_chars(write_pos, buf_end, arg);
+			write_pos		  = result.ptr;
+#else
+			std::ostringstream ss;
+			ss.imbue(std::locale::classic());
+			ss.precision(std::numeric_limits<arg_type>::max_digits10);
+			ss << arg;
+			concatenate(write_pos, buf_end, to_sv(std::move(ss).str()));
+#endif
+		}
+
+		// 64-bit integers
+		else if constexpr (impl::is_one_of<arg_type, int64_t, uint64_t>)
+		{
+#if TOML_INT_CHARCONV
+			const auto result = std::to_chars(write_pos, buf_end, arg);
+			write_pos		  = result.ptr;
+#else
+			std::ostringstream ss;
+			ss.imbue(std::locale::classic());
+			using cast_type = std::conditional_t<std::is_signed_v<arg_type>, int64_t, uint64_t>;
+			ss << static_cast<cast_type>(arg);
+			concatenate(write_pos, buf_end, to_sv(std::move(ss).str()));
+#endif
+		}
+
+		// escaped_codepoint
+		else if constexpr (std::is_same_v<arg_type, escaped_codepoint>)
+		{
+			if (arg.cp.value <= U'\x7F')
+				concatenate(write_pos, buf_end, to_sv(arg.cp));
+			else
+			{
+				auto val			= static_cast<uint_least32_t>(arg.cp.value);
+				const auto digits	= val > 0xFFFFu ? 8u : 4u;
+				constexpr auto mask = uint_least32_t{ 0xFu };
+				char buf[10]		= { '\\', digits > 4 ? 'U' : 'u' };
+				for (auto i = 2u + digits; i-- > 2u;)
+				{
+					const auto hexdig = val & mask;
+					buf[i]			  = static_cast<char>(hexdig >= 0xAu ? ('A' + (hexdig - 0xAu)) : ('0' + hexdig));
+					val >>= 4;
+				}
+				concatenate(write_pos, buf_end, std::string_view{ buf, digits + 2u });
+			}
+		}
+
+		// all other floats (fallback - coerce to double)
+		else if constexpr (std::is_floating_point_v<arg_type>)
+			concatenate(write_pos, buf_end, static_cast<double>(arg));
+
+		// all other integers (fallback - coerce to (u)int64_t)
+		else if constexpr (std::is_arithmetic_v<arg_type> && std::is_integral_v<arg_type>)
+		{
+			using cast_type = std::conditional_t<std::is_unsigned_v<arg_type>, uint64_t, int64_t>;
+			concatenate(write_pos, buf_end, static_cast<cast_type>(arg));
+		}
+
+		else
+		{
+			static_assert(
+				impl::always_false<T>,
+				"concatenate() inputs are limited to std::string_views, integers, floats, and escaped_codepoint");
+		}
+	}
+
+	struct error_builder
+	{
+		static constexpr std::size_t buf_size = 512;
+		char buf[buf_size];
+		char* write_pos			  = buf;
+		char* const max_write_pos = buf + (buf_size - std::size_t{ 1 }); // allow for null terminator
+
+		TOML_NODISCARD_CTOR
+		error_builder(std::string_view scope) noexcept
+		{
+			concatenate(write_pos, max_write_pos, "Error while parsing "sv);
+			concatenate(write_pos, max_write_pos, scope);
+			concatenate(write_pos, max_write_pos, ": "sv);
+		}
+
+		template <typename T>
+		void append(const T& arg) noexcept
+		{
+			concatenate(write_pos, max_write_pos, arg);
+		}
+
+		TOML_RETURNS_BY_THROWING
+		auto finish(const source_position& pos, const source_path_ptr& source_path) const
+		{
+			*write_pos = '\0';
+
+#if TOML_EXCEPTIONS
+			throw parse_error{ buf, pos, source_path };
+#else
+			return parse_error{ std::string(buf, static_cast<size_t>(write_pos - buf)), pos, source_path };
+#endif
+		}
+
+		TOML_DELETE_DEFAULTS(error_builder);
+	};
+
+	struct parse_scope
+	{
+		std::string_view& storage_;
+		std::string_view parent_;
+
+		TOML_NODISCARD_CTOR
+		explicit parse_scope(std::string_view& current_scope, std::string_view new_scope) noexcept
+			: storage_{ current_scope },
+			  parent_{ current_scope }
+		{
+			storage_ = new_scope;
+		}
+
+		~parse_scope() noexcept
+		{
+			storage_ = parent_;
+		}
+
+		TOML_DELETE_DEFAULTS(parse_scope);
+	};
+#define push_parse_scope_2(scope, line) parse_scope ps_##line(current_scope, scope)
+#define push_parse_scope_1(scope, line) push_parse_scope_2(scope, line)
+#define push_parse_scope(scope)			push_parse_scope_1(scope, __LINE__)
+
+	struct parse_key_buffer
+	{
+		std::string buffer;
+		std::vector<std::pair<size_t, size_t>> segments;
+		std::vector<source_position> starts;
+		std::vector<source_position> ends;
+
+		void clear() noexcept
+		{
+			buffer.clear();
+			segments.clear();
+			starts.clear();
+			ends.clear();
+		}
+
+		void push_back(std::string_view segment, source_position b, source_position e)
+		{
+			segments.push_back({ buffer.length(), segment.length() });
+			buffer.append(segment);
+			starts.push_back(b);
+			ends.push_back(e);
+		}
+
+		TOML_PURE_INLINE_GETTER
+		std::string_view operator[](size_t i) const noexcept
+		{
+			return std::string_view{ buffer.c_str() + segments[i].first, segments[i].second };
+		}
+
+		TOML_PURE_INLINE_GETTER
+		std::string_view back() const noexcept
+		{
+			return (*this)[segments.size() - 1u];
+		}
+
+		TOML_PURE_INLINE_GETTER
+		bool empty() const noexcept
+		{
+			return segments.empty();
+		}
+
+		TOML_PURE_INLINE_GETTER
+		size_t size() const noexcept
+		{
+			return segments.size();
+		}
+	};
+
+	struct depth_counter_scope
+	{
+		size_t& depth_;
+
+		TOML_NODISCARD_CTOR
+		explicit depth_counter_scope(size_t& depth) noexcept //
+			: depth_{ depth }
+		{
+			depth_++;
+		}
+
+		~depth_counter_scope() noexcept
+		{
+			depth_--;
+		}
+
+		TOML_DELETE_DEFAULTS(depth_counter_scope);
+	};
+
+	struct parsed_string
+	{
+		std::string_view value;
+		bool was_multi_line;
+	};
+
+	struct table_vector_scope
+	{
+		std::vector<table*>& tables;
+
+		TOML_NODISCARD_CTOR
+		explicit table_vector_scope(std::vector<table*>& tables_, table& tbl) //
+			: tables{ tables_ }
+		{
+			tables.push_back(&tbl);
+		}
+
+		~table_vector_scope() noexcept
+		{
+			tables.pop_back();
+		}
+
+		TOML_DELETE_DEFAULTS(table_vector_scope);
+	};
+}
+TOML_ANON_NAMESPACE_END;
+
+#if 1 // parser helper macros
+
+// Q: "what the fuck is this? MACROS????"
+// A: The parser needs to work in exceptionless mode (returning error objects directly)
+//    and exception mode (reporting parse failures by throwing). Two totally different control flows.
+//    These macros encapsulate the differences between the two modes so I can write code code
+//    as though I was only targeting one mode and not want yeet myself into the sun.
+//    They're all #undef'd at the bottom of the parser's implementation so they should be harmless outside
+//    of toml++.
+
+#define is_eof()		 !cp
+#define assert_not_eof() TOML_ASSERT_ASSUME(cp != nullptr)
+#define return_if_eof(...)                                                                                             \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if TOML_UNLIKELY(is_eof())                                                                                     \
+			return __VA_ARGS__;                                                                                        \
+	}                                                                                                                  \
+	while (false)
+
+#if TOML_EXCEPTIONS
+#define is_error()					false
+#define return_after_error(...)		TOML_UNREACHABLE
+#define assert_not_error()			static_assert(true)
+#define return_if_error(...)		static_assert(true)
+#define return_if_error_or_eof(...) return_if_eof(__VA_ARGS__)
+#else
+#define is_error()				!!err
+#define return_after_error(...) return __VA_ARGS__
+#define assert_not_error()		TOML_ASSERT(!is_error())
+#define return_if_error(...)                                                                                           \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if TOML_UNLIKELY(is_error())                                                                                   \
+			return __VA_ARGS__;                                                                                        \
+	}                                                                                                                  \
+	while (false)
+#define return_if_error_or_eof(...)                                                                                    \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if TOML_UNLIKELY(is_eof() || is_error())                                                                       \
+			return __VA_ARGS__;                                                                                        \
+	}                                                                                                                  \
+	while (false)
+#endif
+
+#if defined(TOML_BREAK_AT_PARSE_ERRORS) && TOML_BREAK_AT_PARSE_ERRORS
+#if defined(__has_builtin)
+#if __has_builtin(__builtin_debugtrap)
+#define parse_error_break() __builtin_debugtrap()
+#elif __has_builtin(__debugbreak)
+#define parse_error_break() __debugbreak()
+#endif
+#endif
+#ifndef parse_error_break
+#if TOML_MSVC || TOML_ICC
+#define parse_error_break() __debugbreak()
+#else
+#define parse_error_break() TOML_ASSERT(false)
+#endif
+#endif
+#else
+#define parse_error_break() static_assert(true)
+#endif
+
+#define set_error_and_return(ret, ...)                                                                                 \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if (!is_error())                                                                                               \
+			set_error(__VA_ARGS__);                                                                                    \
+		return_after_error(ret);                                                                                       \
+	}                                                                                                                  \
+	while (false)
+
+#define set_error_and_return_default(...) set_error_and_return({}, __VA_ARGS__)
+
+#define set_error_and_return_if_eof(...)                                                                               \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		if TOML_UNLIKELY(is_eof())                                                                                     \
+			set_error_and_return(__VA_ARGS__, "encountered end-of-file"sv);                                            \
+	}                                                                                                                  \
+	while (false)
+
+#define advance_and_return_if_error(...)                                                                               \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		assert_not_eof();                                                                                              \
+		advance();                                                                                                     \
+		return_if_error(__VA_ARGS__);                                                                                  \
+	}                                                                                                                  \
+	while (false)
+
+#define advance_and_return_if_error_or_eof(...)                                                                        \
+	do                                                                                                                 \
+	{                                                                                                                  \
+		assert_not_eof();                                                                                              \
+		advance();                                                                                                     \
+		return_if_error(__VA_ARGS__);                                                                                  \
+		set_error_and_return_if_eof(__VA_ARGS__);                                                                      \
+	}                                                                                                                  \
+	while (false)
+
+#endif // parser helper macros
+
+TOML_IMPL_NAMESPACE_START
+{
+	TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, impl_ex, impl_noex);
+
+	class parser
+	{
+	  private:
+		static constexpr size_t max_nested_values = TOML_MAX_NESTED_VALUES;
+
+		utf8_buffered_reader reader;
+		table root;
+		source_position prev_pos = { 1, 1 };
+		const utf8_codepoint* cp = {};
+		std::vector<table*> implicit_tables;
+		std::vector<table*> dotted_key_tables;
+		std::vector<table*> open_inline_tables;
+		std::vector<array*> table_arrays;
+		parse_key_buffer key_buffer;
+		std::string string_buffer;
+		std::string recording_buffer; // for diagnostics
+		bool recording = false, recording_whitespace = true;
+		std::string_view current_scope;
+		size_t nested_values = {};
+#if !TOML_EXCEPTIONS
+		mutable optional<parse_error> err;
+#endif
+
+		TOML_NODISCARD
+		source_position current_position(source_index fallback_offset = 0) const noexcept
+		{
+			if (!is_eof())
+				return cp->position;
+			return { prev_pos.line, static_cast<source_index>(prev_pos.column + fallback_offset) };
+		}
+
+		template <typename... T>
+		TOML_RETURNS_BY_THROWING
+		TOML_NEVER_INLINE
+		void set_error_at(source_position pos, const T&... reason) const
+		{
+			static_assert(sizeof...(T) > 0);
+			return_if_error();
+
+			error_builder builder{ current_scope };
+			(builder.append(reason), ...);
+
+			parse_error_break();
+
+#if TOML_EXCEPTIONS
+			builder.finish(pos, reader.source_path());
+#else
+			err.emplace(builder.finish(pos, reader.source_path()));
+#endif
+		}
+
+		template <typename... T>
+		TOML_RETURNS_BY_THROWING
+		void set_error(const T&... reason) const
+		{
+			set_error_at(current_position(1), reason...);
+		}
+
+		void go_back(size_t count = 1) noexcept
+		{
+			return_if_error();
+			TOML_ASSERT_ASSUME(count);
+
+			cp		 = reader.step_back(count);
+			prev_pos = cp->position;
+		}
+
+		void advance()
+		{
+			return_if_error();
+			assert_not_eof();
+
+			prev_pos = cp->position;
+			cp		 = reader.read_next();
+
+#if !TOML_EXCEPTIONS
+			if (reader.error())
+			{
+				err = std::move(reader.error());
+				return;
+			}
+#endif
+
+			if (recording && !is_eof())
+			{
+				if (recording_whitespace || !is_whitespace(*cp))
+					recording_buffer.append(cp->bytes, cp->count);
+			}
+		}
+
+		void start_recording(bool include_current = true) noexcept
+		{
+			return_if_error();
+
+			recording			 = true;
+			recording_whitespace = true;
+			recording_buffer.clear();
+			if (include_current && !is_eof())
+				recording_buffer.append(cp->bytes, cp->count);
+		}
+
+		void stop_recording(size_t pop_bytes = 0) noexcept
+		{
+			return_if_error();
+
+			recording = false;
+			if (pop_bytes)
+			{
+				if (pop_bytes >= recording_buffer.length())
+					recording_buffer.clear();
+				else if (pop_bytes == 1u)
+					recording_buffer.pop_back();
+				else
+					recording_buffer.erase(recording_buffer.begin()
+											   + static_cast<ptrdiff_t>(recording_buffer.length() - pop_bytes),
+										   recording_buffer.end());
+			}
+		}
+
+		bool consume_leading_whitespace()
+		{
+			return_if_error_or_eof({});
+
+			bool consumed = false;
+			while (!is_eof() && is_horizontal_whitespace(*cp))
+			{
+				if TOML_UNLIKELY(!is_ascii_horizontal_whitespace(*cp))
+					set_error_and_return_default("expected space or tab, saw '"sv, escaped_codepoint{ *cp }, "'"sv);
+
+				consumed = true;
+				advance_and_return_if_error({});
+			}
+			return consumed;
+		}
+
+		bool consume_line_break()
+		{
+			return_if_error_or_eof({});
+
+			if TOML_UNLIKELY(is_match(*cp, U'\v', U'\f'))
+				set_error_and_return_default(
+					R"(vertical tabs '\v' and form-feeds '\f' are not legal line breaks in TOML)"sv);
+
+			if (*cp == U'\r')
+			{
+				advance_and_return_if_error({}); // skip \r
+
+				if TOML_UNLIKELY(is_eof())
+					set_error_and_return_default("expected '\\n' after '\\r', saw EOF"sv);
+
+				if TOML_UNLIKELY(*cp != U'\n')
+					set_error_and_return_default("expected '\\n' after '\\r', saw '"sv,
+												 escaped_codepoint{ *cp },
+												 "'"sv);
+			}
+			else if (*cp != U'\n')
+				return false;
+
+			advance_and_return_if_error({}); // skip \n
+			return true;
+		}
+
+		bool consume_rest_of_line()
+		{
+			return_if_error_or_eof({});
+
+			do
+			{
+				if (is_ascii_vertical_whitespace(*cp))
+					return consume_line_break();
+				else
+					advance();
+				return_if_error({});
+			}
+			while (!is_eof());
+
+			return true;
+		}
+
+		bool consume_comment()
+		{
+			return_if_error_or_eof({});
+
+			if (*cp != U'#')
+				return false;
+
+			push_parse_scope("comment"sv);
+
+			advance_and_return_if_error({}); // skip the '#'
+
+			while (!is_eof())
+			{
+				if (consume_line_break())
+					return true;
+				return_if_error({});
+
+#if TOML_LANG_AT_LEAST(1, 0, 0)
+
+				// toml/issues/567 (disallow non-TAB control characters in comments)
+				if TOML_UNLIKELY(is_nontab_control_character(*cp))
+					set_error_and_return_default(
+						"control characters other than TAB (U+0009) are explicitly prohibited in comments"sv);
+
+				// toml/pull/720 (disallow surrogates in comments)
+				else if TOML_UNLIKELY(is_unicode_surrogate(*cp))
+					set_error_and_return_default(
+						"unicode surrogates (U+D800 to U+DFFF) are explicitly prohibited in comments"sv);
+#endif
+
+				advance_and_return_if_error({});
+			}
+
+			return true;
+		}
+
+		TOML_NODISCARD
+		bool consume_expected_sequence(std::u32string_view seq)
+		{
+			return_if_error({});
+			TOML_ASSERT(!seq.empty());
+
+			for (auto c : seq)
+			{
+				set_error_and_return_if_eof({});
+				if (*cp != c)
+					return false;
+				advance_and_return_if_error({});
+			}
+			return true;
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		bool consume_digit_sequence(T* digits, size_t len)
+		{
+			return_if_error({});
+			TOML_ASSERT_ASSUME(digits);
+			TOML_ASSERT_ASSUME(len);
+
+			for (size_t i = 0; i < len; i++)
+			{
+				set_error_and_return_if_eof({});
+				if (!is_decimal_digit(*cp))
+					return false;
+
+				digits[i] = static_cast<T>(*cp - U'0');
+				advance_and_return_if_error({});
+			}
+			return true;
+		}
+
+		template <typename T>
+		TOML_NODISCARD
+		size_t consume_variable_length_digit_sequence(T* buffer, size_t max_len)
+		{
+			return_if_error({});
+			TOML_ASSERT_ASSUME(buffer);
+			TOML_ASSERT_ASSUME(max_len);
+
+			size_t i = {};
+			for (; i < max_len; i++)
+			{
+				if (is_eof() || !is_decimal_digit(*cp))
+					break;
+
+				buffer[i] = static_cast<T>(*cp - U'0');
+				advance_and_return_if_error({});
+			}
+			return i;
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		std::string_view parse_basic_string(bool multi_line)
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(*cp == U'"');
+			push_parse_scope("string"sv);
+
+			// skip the '"'
+			advance_and_return_if_error_or_eof({});
+
+			// multi-line strings ignore a single line ending right at the beginning
+			if (multi_line)
+			{
+				consume_line_break();
+				return_if_error({});
+				set_error_and_return_if_eof({});
+			}
+
+			auto& str = string_buffer;
+			str.clear();
+			bool escaped			 = false;
+			bool skipping_whitespace = false;
+			do
+			{
+				if (escaped)
+				{
+					escaped = false;
+
+					// handle 'line ending slashes' in multi-line mode
+					if (multi_line && is_whitespace(*cp))
+					{
+						consume_leading_whitespace();
+
+						if TOML_UNLIKELY(!consume_line_break())
+							set_error_and_return_default(
+								"line-ending backslashes must be the last non-whitespace character on the line"sv);
+
+						skipping_whitespace = true;
+						return_if_error({});
+						continue;
+					}
+
+					bool skip_escaped_codepoint = true;
+					assert_not_eof();
+					switch (const auto escaped_codepoint = *cp)
+					{
+						// 'regular' escape codes
+						case U'b': str += '\b'; break;
+						case U'f': str += '\f'; break;
+						case U'n': str += '\n'; break;
+						case U'r': str += '\r'; break;
+						case U't': str += '\t'; break;
+						case U'"': str += '"'; break;
+						case U'\\': str += '\\'; break;
+
+#if TOML_LANG_UNRELEASED // toml/pull/790 (\e shorthand for \x1B)
+						case U'e': str += '\x1B'; break;
+#else
+						case U'e':
+							set_error_and_return_default(
+								"escape sequence '\\e' is not supported in TOML 1.0.0 and earlier"sv);
+#endif
+
+#if TOML_LANG_UNRELEASED // toml/pull/796 (\xHH unicode scalar sequences)
+						case U'x': [[fallthrough]];
+#else
+						case U'x':
+							set_error_and_return_default(
+								"escape sequence '\\x' is not supported in TOML 1.0.0 and earlier"sv);
+#endif
+
+						// unicode scalar sequences
+						case U'u': [[fallthrough]];
+						case U'U':
+						{
+							push_parse_scope("unicode scalar sequence"sv);
+							advance_and_return_if_error_or_eof({});
+							skip_escaped_codepoint = false;
+
+							uint32_t place_value =
+								escaped_codepoint == U'U' ? 0x10000000u : (escaped_codepoint == U'u' ? 0x1000u : 0x10u);
+							uint32_t sequence_value{};
+							while (place_value)
+							{
+								set_error_and_return_if_eof({});
+
+								if TOML_UNLIKELY(!is_hexadecimal_digit(*cp))
+									set_error_and_return_default("expected hex digit, saw '"sv, to_sv(*cp), "'"sv);
+
+								sequence_value += place_value * hex_to_dec(*cp);
+								place_value /= 16u;
+								advance_and_return_if_error({});
+							}
+
+							if TOML_UNLIKELY(is_unicode_surrogate(sequence_value))
+								set_error_and_return_default(
+									"unicode surrogates (U+D800 - U+DFFF) are explicitly prohibited"sv);
+							else if TOML_UNLIKELY(sequence_value > 0x10FFFFu)
+								set_error_and_return_default("values greater than U+10FFFF are invalid"sv);
+
+							if (sequence_value < 0x80)
+							{
+								str += static_cast<char>(sequence_value);
+							}
+							else if (sequence_value < 0x800u)
+							{
+								str += static_cast<char>((sequence_value >> 6) | 0xC0u);
+								str += static_cast<char>((sequence_value & 0x3Fu) | 0x80u);
+							}
+							else if (sequence_value < 0x10000u)
+							{
+								str += static_cast<char>((sequence_value >> 12) | 0xE0u);
+								str += static_cast<char>(((sequence_value >> 6) & 0x3Fu) | 0x80u);
+								str += static_cast<char>((sequence_value & 0x3Fu) | 0x80u);
+							}
+							else if (sequence_value < 0x110000u)
+							{
+								str += static_cast<char>((sequence_value >> 18) | 0xF0u);
+								str += static_cast<char>(((sequence_value >> 12) & 0x3Fu) | 0x80u);
+								str += static_cast<char>(((sequence_value >> 6) & 0x3Fu) | 0x80u);
+								str += static_cast<char>((sequence_value & 0x3Fu) | 0x80u);
+							}
+							break;
+						}
+
+							// ???
+							TOML_UNLIKELY_CASE
+						default: set_error_and_return_default("unknown escape sequence '\\"sv, to_sv(*cp), "'"sv);
+					}
+
+					if (skip_escaped_codepoint)
+						advance_and_return_if_error_or_eof({});
+				}
+				else
+				{
+					// handle closing delimiters
+					if (*cp == U'"')
+					{
+						if (multi_line)
+						{
+							size_t lookaheads			  = {};
+							size_t consecutive_delimiters = 1;
+							do
+							{
+								advance_and_return_if_error({});
+								lookaheads++;
+								if (!is_eof() && *cp == U'"')
+									consecutive_delimiters++;
+								else
+									break;
+							}
+							while (lookaheads < 4u);
+
+							switch (consecutive_delimiters)
+							{
+								// """ " (one quote somewhere in a ML string)
+								case 1:
+									str += '"';
+									skipping_whitespace = false;
+									continue;
+
+								// """ "" (two quotes somewhere in a ML string)
+								case 2:
+									str.append("\"\""sv);
+									skipping_whitespace = false;
+									continue;
+
+								// """ """ (the end of the string)
+								case 3: return str;
+
+								// """ """" (one at the end of the string)
+								case 4: str += '"'; return str;
+
+								// """ """"" (two quotes at the end of the string)
+								case 5:
+									str.append("\"\""sv);
+									advance_and_return_if_error({}); // skip the last '"'
+									return str;
+
+								default: TOML_UNREACHABLE;
+							}
+						}
+						else
+						{
+							advance_and_return_if_error({}); // skip the closing delimiter
+							return str;
+						}
+					}
+
+					// handle escapes
+					else if (*cp == U'\\')
+					{
+						advance_and_return_if_error_or_eof({}); // skip the '\'
+						skipping_whitespace = false;
+						escaped				= true;
+						continue;
+					}
+
+					// handle line endings in multi-line mode
+					if (multi_line && is_ascii_vertical_whitespace(*cp))
+					{
+						consume_line_break();
+						return_if_error({});
+						if (!skipping_whitespace)
+							str += '\n';
+						continue;
+					}
+
+					// handle control characters
+					if TOML_UNLIKELY(is_nontab_control_character(*cp))
+						set_error_and_return_default(
+							"unescaped control characters other than TAB (U+0009) are explicitly prohibited"sv);
+
+#if TOML_LANG_AT_LEAST(1, 0, 0)
+
+					// handle surrogates in strings
+					if TOML_UNLIKELY(is_unicode_surrogate(*cp))
+						set_error_and_return_default(
+							"unescaped unicode surrogates (U+D800 to U+DFFF) are explicitly prohibited"sv);
+#endif
+
+					if (multi_line)
+					{
+						if (!skipping_whitespace || !is_horizontal_whitespace(*cp))
+						{
+							skipping_whitespace = false;
+							str.append(cp->bytes, cp->count);
+						}
+					}
+					else
+						str.append(cp->bytes, cp->count);
+
+					advance_and_return_if_error({});
+				}
+			}
+			while (!is_eof());
+
+			set_error_and_return_default("encountered end-of-file"sv);
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		std::string_view parse_literal_string(bool multi_line)
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(*cp == U'\'');
+			push_parse_scope("literal string"sv);
+
+			// skip the delimiter
+			advance_and_return_if_error_or_eof({});
+
+			// multi-line strings ignore a single line ending right at the beginning
+			if (multi_line)
+			{
+				consume_line_break();
+				return_if_error({});
+				set_error_and_return_if_eof({});
+			}
+
+			auto& str = string_buffer;
+			str.clear();
+			do
+			{
+				return_if_error({});
+
+				// handle closing delimiters
+				if (*cp == U'\'')
+				{
+					if (multi_line)
+					{
+						size_t lookaheads			  = {};
+						size_t consecutive_delimiters = 1;
+						do
+						{
+							advance_and_return_if_error({});
+							lookaheads++;
+							if (!is_eof() && *cp == U'\'')
+								consecutive_delimiters++;
+							else
+								break;
+						}
+						while (lookaheads < 4u);
+
+						switch (consecutive_delimiters)
+						{
+							// ''' ' (one quote somewhere in a ML string)
+							case 1: str += '\''; continue;
+
+							// ''' '' (two quotes somewhere in a ML string)
+							case 2: str.append("''"sv); continue;
+
+							// ''' ''' (the end of the string)
+							case 3: return str;
+
+							// ''' '''' (one at the end of the string)
+							case 4: str += '\''; return str;
+
+							// ''' ''''' (two quotes at the end of the string)
+							case 5:
+								str.append("''"sv);
+								advance_and_return_if_error({}); // skip the last '
+								return str;
+
+							default: TOML_UNREACHABLE;
+						}
+					}
+					else
+					{
+						advance_and_return_if_error({}); // skip the closing delimiter
+						return str;
+					}
+				}
+
+				// handle line endings in multi-line mode
+				if (multi_line && is_ascii_vertical_whitespace(*cp))
+				{
+					consume_line_break();
+					return_if_error({});
+					str += '\n';
+					continue;
+				}
+
+				// handle control characters
+				if TOML_UNLIKELY(is_nontab_control_character(*cp))
+					set_error_and_return_default(
+						"control characters other than TAB (U+0009) are explicitly prohibited"sv);
+
+#if TOML_LANG_AT_LEAST(1, 0, 0)
+
+				// handle surrogates in strings
+				if TOML_UNLIKELY(is_unicode_surrogate(*cp))
+					set_error_and_return_default("unicode surrogates (U+D800 - U+DFFF) are explicitly prohibited"sv);
+#endif
+
+				str.append(cp->bytes, cp->count);
+				advance_and_return_if_error({});
+			}
+			while (!is_eof());
+
+			set_error_and_return_default("encountered end-of-file"sv);
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		parsed_string parse_string()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_string_delimiter(*cp));
+			push_parse_scope("string"sv);
+
+			// get the first three characters to determine the string type
+			const auto first = cp->value;
+			advance_and_return_if_error_or_eof({});
+			const auto second = cp->value;
+			advance_and_return_if_error({});
+			const auto third = cp ? cp->value : U'\0';
+
+			// if we were eof at the third character then first and second need to be
+			// the same string character (otherwise it's an unterminated string)
+			if (is_eof())
+			{
+				if (second == first)
+					return {};
+
+				set_error_and_return_default("encountered end-of-file"sv);
+			}
+
+			// if the first three characters are all the same string delimiter then
+			// it's a multi-line string.
+			else if (first == second && first == third)
+			{
+				return { first == U'\'' ? parse_literal_string(true) : parse_basic_string(true), true };
+			}
+
+			// otherwise it's just a regular string.
+			else
+			{
+				// step back two characters so that the current
+				// character is the string delimiter
+				go_back(2u);
+
+				return { first == U'\'' ? parse_literal_string(false) : parse_basic_string(false), false };
+			}
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		std::string_view parse_bare_key_segment()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_bare_key_character(*cp));
+
+			string_buffer.clear();
+
+			while (!is_eof())
+			{
+				if (!is_bare_key_character(*cp))
+					break;
+
+				string_buffer.append(cp->bytes, cp->count);
+				advance_and_return_if_error({});
+			}
+
+			return string_buffer;
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		bool parse_boolean()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_match(*cp, U't', U'f', U'T', U'F'));
+			push_parse_scope("boolean"sv);
+
+			start_recording(true);
+			auto result = is_match(*cp, U't', U'T');
+			if (!consume_expected_sequence(result ? U"true"sv : U"false"sv))
+				set_error_and_return_default("expected '"sv,
+											 to_sv(result),
+											 "', saw '"sv,
+											 to_sv(recording_buffer),
+											 "'"sv);
+			stop_recording();
+
+			if (cp && !is_value_terminator(*cp))
+				set_error_and_return_default("expected value-terminator, saw '"sv, to_sv(*cp), "'"sv);
+
+			return result;
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		double parse_inf_or_nan()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_match(*cp, U'i', U'n', U'I', U'N', U'+', U'-'));
+			push_parse_scope("floating-point"sv);
+
+			start_recording(true);
+			const bool negative = *cp == U'-';
+			if (negative || *cp == U'+')
+				advance_and_return_if_error_or_eof({});
+
+			const bool inf = is_match(*cp, U'i', U'I');
+			if (!consume_expected_sequence(inf ? U"inf"sv : U"nan"sv))
+				set_error_and_return_default("expected '"sv,
+											 inf ? "inf"sv : "nan"sv,
+											 "', saw '"sv,
+											 to_sv(recording_buffer),
+											 "'"sv);
+			stop_recording();
+
+			if (cp && !is_value_terminator(*cp))
+				set_error_and_return_default("expected value-terminator, saw '"sv, to_sv(*cp), "'"sv);
+
+			return inf ? (negative ? -std::numeric_limits<double>::infinity() : std::numeric_limits<double>::infinity())
+					   : std::numeric_limits<double>::quiet_NaN();
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		double parse_float()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_match(*cp, U'+', U'-', U'.') || is_decimal_digit(*cp));
+			push_parse_scope("floating-point"sv);
+
+			// sign
+			const int sign = *cp == U'-' ? -1 : 1;
+			if (is_match(*cp, U'+', U'-'))
+				advance_and_return_if_error_or_eof({});
+
+			// consume value chars
+			char chars[utf8_buffered_reader::max_history_length];
+			size_t length			   = {};
+			const utf8_codepoint* prev = {};
+			bool seen_decimal = false, seen_exponent = false;
+			char first_integer_part = '\0';
+			while (!is_eof() && !is_value_terminator(*cp))
+			{
+				if (*cp == U'_')
+				{
+					if (!prev || !is_decimal_digit(*prev))
+						set_error_and_return_default("underscores may only follow digits"sv);
+
+					prev = cp;
+					advance_and_return_if_error_or_eof({});
+					continue;
+				}
+				else if TOML_UNLIKELY(prev && *prev == U'_' && !is_decimal_digit(*cp))
+					set_error_and_return_default("underscores must be followed by digits"sv);
+				else if TOML_UNLIKELY(length == sizeof(chars))
+					set_error_and_return_default("exceeds length limit of "sv,
+												 sizeof(chars),
+												 " digits"sv,
+												 (seen_exponent ? ""sv : " (consider using exponent notation)"sv));
+				else if (*cp == U'.')
+				{
+					// .1
+					// -.1
+					// +.1 (no integer part)
+					if (!first_integer_part)
+						set_error_and_return_default("expected decimal digit, saw '.'"sv);
+
+					// 1.0e+.10 (exponent cannot have '.')
+					else if (seen_exponent)
+						set_error_and_return_default("expected exponent decimal digit or sign, saw '.'"sv);
+
+					// 1.0.e+.10
+					// 1..0
+					// (multiple '.')
+					else if (seen_decimal)
+						set_error_and_return_default("expected decimal digit or exponent, saw '.'"sv);
+
+					seen_decimal = true;
+				}
+				else if (is_match(*cp, U'e', U'E'))
+				{
+					if (prev && !is_decimal_digit(*prev))
+						set_error_and_return_default("expected decimal digit, saw '"sv, to_sv(*cp), "'"sv);
+
+					// 1.0ee+10 (multiple 'e')
+					else if (seen_exponent)
+						set_error_and_return_default("expected decimal digit, saw '"sv, to_sv(*cp), "'"sv);
+
+					seen_decimal  = true; // implied
+					seen_exponent = true;
+				}
+				else if (is_match(*cp, U'+', U'-'))
+				{
+					// 1.-0 (sign in mantissa)
+					if (!seen_exponent)
+						set_error_and_return_default("expected decimal digit or '.', saw '"sv, to_sv(*cp), "'"sv);
+
+					// 1.0e1-0 (misplaced exponent sign)
+					else if (!is_match(*prev, U'e', U'E'))
+						set_error_and_return_default("expected exponent digit, saw '"sv, to_sv(*cp), "'"sv);
+				}
+				else if (is_decimal_digit(*cp))
+				{
+					if (!seen_decimal)
+					{
+						if (!first_integer_part)
+							first_integer_part = static_cast<char>(cp->bytes[0]);
+						else if (first_integer_part == '0')
+							set_error_and_return_default("leading zeroes are prohibited"sv);
+					}
+				}
+				else
+					set_error_and_return_default("expected decimal digit, saw '"sv, to_sv(*cp), "'"sv);
+
+				chars[length++] = static_cast<char>(cp->bytes[0]);
+				prev			= cp;
+				advance_and_return_if_error({});
+			}
+
+			// sanity-check ending state
+			if (prev)
+			{
+				if (*prev == U'_')
+				{
+					set_error_and_return_if_eof({});
+					set_error_and_return_default("underscores must be followed by digits"sv);
+				}
+				else if (is_match(*prev, U'e', U'E', U'+', U'-', U'.'))
+				{
+					set_error_and_return_if_eof({});
+					set_error_and_return_default("expected decimal digit, saw '"sv, to_sv(*cp), "'"sv);
+				}
+			}
+
+			// convert to double
+			double result;
+#if TOML_FLOAT_CHARCONV
+			{
+				auto fc_result = std::from_chars(chars, chars + length, result);
+				switch (fc_result.ec)
+				{
+					TOML_LIKELY_CASE
+					case std::errc{}: // ok
+						return result * sign;
+
+					case std::errc::invalid_argument:
+						set_error_and_return_default("'"sv,
+													 std::string_view{ chars, length },
+													 "' could not be interpreted as a value"sv);
+						break;
+
+					case std::errc::result_out_of_range:
+						set_error_and_return_default("'"sv,
+													 std::string_view{ chars, length },
+													 "' is not representable in 64 bits"sv);
+						break;
+
+					default: //??
+						set_error_and_return_default("an unspecified error occurred while trying to interpret '"sv,
+													 std::string_view{ chars, length },
+													 "' as a value"sv);
+				}
+			}
+#else
+			{
+				std::stringstream ss;
+				ss.imbue(std::locale::classic());
+				ss.write(chars, static_cast<std::streamsize>(length));
+				if ((ss >> result))
+					return result * sign;
+				else
+					set_error_and_return_default("'"sv,
+												 std::string_view{ chars, length },
+												 "' could not be interpreted as a value"sv);
+			}
+#endif
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		double parse_hex_float()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_match(*cp, U'0', U'+', U'-'));
+			push_parse_scope("hexadecimal floating-point"sv);
+
+#if TOML_LANG_UNRELEASED // toml/issues/562 (hexfloats)
+
+			// sign
+			const int sign = *cp == U'-' ? -1 : 1;
+			if (is_match(*cp, U'+', U'-'))
+				advance_and_return_if_error_or_eof({});
+
+			// '0'
+			if (*cp != U'0')
+				set_error_and_return_default(" expected '0', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// 'x' or 'X'
+			if (!is_match(*cp, U'x', U'X'))
+				set_error_and_return_default("expected 'x' or 'X', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// <HEX DIGITS> ([.]<HEX DIGITS>)? [pP] [+-]? <DEC DIGITS>
+
+			// consume value fragments
+			struct fragment
+			{
+				char chars[24];
+				size_t length;
+				double value;
+			};
+			fragment fragments[] = {
+				{}, // mantissa, whole part
+				{}, // mantissa, fractional part
+				{}	// exponent
+			};
+			fragment* current_fragment = fragments;
+			const utf8_codepoint* prev = {};
+			int exponent_sign		   = 1;
+			while (!is_eof() && !is_value_terminator(*cp))
+			{
+				if (*cp == U'_')
+				{
+					if (!prev || !is_hexadecimal_digit(*prev))
+						set_error_and_return_default("underscores may only follow digits"sv);
+
+					prev = cp;
+					advance_and_return_if_error_or_eof({});
+					continue;
+				}
+				else if (prev && *prev == U'_' && !is_hexadecimal_digit(*cp))
+					set_error_and_return_default("underscores must be followed by digits"sv);
+				else if (*cp == U'.')
+				{
+					// 0x10.0p-.0 (exponent cannot have '.')
+					if (current_fragment == fragments + 2)
+						set_error_and_return_default("expected exponent digit or sign, saw '.'"sv);
+
+					// 0x10.0.p-0 (multiple '.')
+					else if (current_fragment == fragments + 1)
+						set_error_and_return_default("expected hexadecimal digit or exponent, saw '.'"sv);
+
+					else
+						current_fragment++;
+				}
+				else if (is_match(*cp, U'p', U'P'))
+				{
+					// 0x10.0pp-0 (multiple 'p')
+					if (current_fragment == fragments + 2)
+						set_error_and_return_default("expected exponent digit or sign, saw '"sv, to_sv(*cp), "'"sv);
+
+					// 0x.p-0 (mantissa is just '.')
+					else if (fragments[0].length == 0u && fragments[1].length == 0u)
+						set_error_and_return_default("expected hexadecimal digit, saw '"sv, to_sv(*cp), "'"sv);
+
+					else
+						current_fragment = fragments + 2;
+				}
+				else if (is_match(*cp, U'+', U'-'))
+				{
+					// 0x-10.0p-0 (sign in mantissa)
+					if (current_fragment != fragments + 2)
+						set_error_and_return_default("expected hexadecimal digit or '.', saw '"sv, to_sv(*cp), "'"sv);
+
+					// 0x10.0p0- (misplaced exponent sign)
+					else if (!is_match(*prev, U'p', U'P'))
+						set_error_and_return_default("expected exponent digit, saw '"sv, to_sv(*cp), "'"sv);
+
+					else
+						exponent_sign = *cp == U'-' ? -1 : 1;
+				}
+				else if (current_fragment < fragments + 2 && !is_hexadecimal_digit(*cp))
+					set_error_and_return_default("expected hexadecimal digit or '.', saw '"sv, to_sv(*cp), "'"sv);
+				else if (current_fragment == fragments + 2 && !is_decimal_digit(*cp))
+					set_error_and_return_default("expected exponent digit or sign, saw '"sv, to_sv(*cp), "'"sv);
+				else if (current_fragment->length == sizeof(fragment::chars))
+					set_error_and_return_default("fragment exceeeds maximum length of "sv,
+												 sizeof(fragment::chars),
+												 " characters"sv);
+				else
+					current_fragment->chars[current_fragment->length++] = static_cast<char>(cp->bytes[0]);
+
+				prev = cp;
+				advance_and_return_if_error({});
+			}
+
+			// sanity-check ending state
+			if (current_fragment != fragments + 2 || current_fragment->length == 0u)
+			{
+				set_error_and_return_if_eof({});
+				set_error_and_return_default("missing exponent"sv);
+			}
+			else if (prev && *prev == U'_')
+			{
+				set_error_and_return_if_eof({});
+				set_error_and_return_default("underscores must be followed by digits"sv);
+			}
+
+			// calculate values for the three fragments
+			for (int fragment_idx = 0; fragment_idx < 3; fragment_idx++)
+			{
+				auto& f				= fragments[fragment_idx];
+				const uint32_t base = fragment_idx == 2 ? 10u : 16u;
+
+				// left-trim zeroes
+				const char* c = f.chars;
+				size_t sig	  = {};
+				while (f.length && *c == '0')
+				{
+					f.length--;
+					c++;
+					sig++;
+				}
+				if (!f.length)
+					continue;
+
+				// calculate value
+				auto place = 1u;
+				for (size_t i = 0; i < f.length - 1u; i++)
+					place *= base;
+				uint32_t val{};
+				while (place)
+				{
+					if (base == 16)
+						val += place * hex_to_dec(*c);
+					else
+						val += place * static_cast<uint32_t>(*c - '0');
+					if (fragment_idx == 1)
+						sig++;
+					c++;
+					place /= base;
+				}
+				f.value = static_cast<double>(val);
+
+				// shift the fractional part
+				if (fragment_idx == 1)
+				{
+					while (sig--)
+						f.value /= base;
+				}
+			}
+
+			return (fragments[0].value + fragments[1].value) * pow(2.0, fragments[2].value * exponent_sign) * sign;
+
+#else // !TOML_LANG_UNRELEASED
+
+			set_error_and_return_default("hexadecimal floating-point values are not supported "
+										 "in TOML 1.0.0 and earlier"sv);
+
+#endif // !TOML_LANG_UNRELEASED
+		}
+
+		template <uint64_t base>
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		int64_t parse_integer()
+		{
+			return_if_error({});
+			assert_not_eof();
+			using traits = parse_integer_traits<base>;
+			push_parse_scope(traits::scope_qualifier);
+
+			[[maybe_unused]] int64_t sign = 1;
+			if constexpr (traits::is_signed)
+			{
+				sign = *cp == U'-' ? -1 : 1;
+				if (is_match(*cp, U'+', U'-'))
+					advance_and_return_if_error_or_eof({});
+			}
+
+			if constexpr (base == 10)
+			{
+				if (!traits::is_digit(*cp))
+					set_error_and_return_default("expected expected digit or sign, saw '"sv, to_sv(*cp), "'"sv);
+			}
+			else
+			{
+				// '0'
+				if (*cp != U'0')
+					set_error_and_return_default("expected '0', saw '"sv, to_sv(*cp), "'"sv);
+				advance_and_return_if_error_or_eof({});
+
+				// 'b', 'o', 'x'
+				if (*cp != traits::prefix_codepoint)
+					set_error_and_return_default("expected '"sv, traits::prefix, "', saw '"sv, to_sv(*cp), "'"sv);
+				advance_and_return_if_error_or_eof({});
+
+				if (!traits::is_digit(*cp))
+					set_error_and_return_default("expected digit, saw '"sv, to_sv(*cp), "'"sv);
+			}
+
+			// consume digits
+			char digits[utf8_buffered_reader::max_history_length];
+			size_t length			   = {};
+			const utf8_codepoint* prev = {};
+			while (!is_eof() && !is_value_terminator(*cp))
+			{
+				if (*cp == U'_')
+				{
+					if (!prev || !traits::is_digit(*prev))
+						set_error_and_return_default("underscores may only follow digits"sv);
+
+					prev = cp;
+					advance_and_return_if_error_or_eof({});
+					continue;
+				}
+				else if TOML_UNLIKELY(prev && *prev == U'_' && !traits::is_digit(*cp))
+					set_error_and_return_default("underscores must be followed by digits"sv);
+				else if TOML_UNLIKELY(!traits::is_digit(*cp))
+					set_error_and_return_default("expected digit, saw '"sv, to_sv(*cp), "'"sv);
+				else if TOML_UNLIKELY(length == sizeof(digits))
+					set_error_and_return_default("exceeds length limit of "sv, sizeof(digits), " digits"sv);
+				else
+					digits[length++] = static_cast<char>(cp->bytes[0]);
+
+				prev = cp;
+				advance_and_return_if_error({});
+			}
+
+			// sanity check ending state
+			if (prev && *prev == U'_')
+			{
+				set_error_and_return_if_eof({});
+				set_error_and_return_default("underscores must be followed by digits"sv);
+			}
+
+			// single digits can be converted trivially
+			if (length == 1u)
+			{
+				int64_t result;
+
+				if constexpr (base == 16)
+					result = static_cast<int64_t>(hex_to_dec(digits[0]));
+				else
+					result = static_cast<int64_t>(digits[0] - '0');
+
+				if constexpr (traits::is_signed)
+					result *= sign;
+
+				return result;
+			}
+
+			// bin, oct and hex allow leading zeroes so trim them first
+			const char* end = digits + length;
+			const char* msd = digits;
+			if constexpr (base != 10)
+			{
+				while (msd < end && *msd == '0')
+					msd++;
+				if (msd == end)
+					return 0ll;
+			}
+
+			// decimal integers do not allow leading zeroes
+			else
+			{
+				if TOML_UNLIKELY(digits[0] == '0')
+					set_error_and_return_default("leading zeroes are prohibited"sv);
+			}
+
+			// range check
+			if TOML_UNLIKELY(static_cast<size_t>(end - msd) > traits::max_digits)
+				set_error_and_return_default("'"sv,
+											 traits::full_prefix,
+											 std::string_view{ digits, length },
+											 "' is not representable in 64 bits"sv);
+
+			// do the thing
+			{
+				uint64_t result = {};
+				{
+					uint64_t power = 1;
+					while (--end >= msd)
+					{
+						if constexpr (base == 16)
+							result += power * hex_to_dec(*end);
+						else
+							result += power * static_cast<uint64_t>(*end - '0');
+
+						power *= base;
+					}
+				}
+
+				// range check
+				static constexpr auto i64_max = static_cast<uint64_t>((std::numeric_limits<int64_t>::max)());
+				if TOML_UNLIKELY(result > i64_max + (sign < 0 ? 1u : 0u))
+					set_error_and_return_default("'"sv,
+												 traits::full_prefix,
+												 std::string_view{ digits, length },
+												 "' is not representable in 64 bits"sv);
+
+				if constexpr (traits::is_signed)
+				{
+					// avoid signed multiply UB when parsing INT64_MIN
+					if TOML_UNLIKELY(sign < 0 && result == i64_max + 1u)
+						return (std::numeric_limits<int64_t>::min)();
+
+					return static_cast<int64_t>(result) * sign;
+				}
+				else
+					return static_cast<int64_t>(result);
+			}
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		date parse_date(bool part_of_datetime = false)
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_decimal_digit(*cp));
+			push_parse_scope("date"sv);
+
+			// "YYYY"
+			uint32_t digits[4];
+			if (!consume_digit_sequence(digits, 4u))
+				set_error_and_return_default("expected 4-digit year, saw '"sv, to_sv(cp), "'"sv);
+			const auto year			= digits[3] + digits[2] * 10u + digits[1] * 100u + digits[0] * 1000u;
+			const auto is_leap_year = (year % 4u == 0u) && ((year % 100u != 0u) || (year % 400u == 0u));
+			set_error_and_return_if_eof({});
+
+			// '-'
+			if (*cp != U'-')
+				set_error_and_return_default("expected '-', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// "MM"
+			if (!consume_digit_sequence(digits, 2u))
+				set_error_and_return_default("expected 2-digit month, saw '"sv, to_sv(cp), "'"sv);
+			const auto month = digits[1] + digits[0] * 10u;
+			if (month == 0u || month > 12u)
+				set_error_and_return_default("expected month between 1 and 12 (inclusive), saw "sv, month);
+			const auto max_days_in_month = month == 2u
+											 ? (is_leap_year ? 29u : 28u)
+											 : (month == 4u || month == 6u || month == 9u || month == 11u ? 30u : 31u);
+			set_error_and_return_if_eof({});
+
+			// '-'
+			if (*cp != U'-')
+				set_error_and_return_default("expected '-', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// "DD"
+			if (!consume_digit_sequence(digits, 2u))
+				set_error_and_return_default("expected 2-digit day, saw '"sv, to_sv(cp), "'"sv);
+			const auto day = digits[1] + digits[0] * 10u;
+			if (day == 0u || day > max_days_in_month)
+				set_error_and_return_default("expected day between 1 and "sv,
+											 max_days_in_month,
+											 " (inclusive), saw "sv,
+											 day);
+
+			if (!part_of_datetime && !is_eof() && !is_value_terminator(*cp))
+				set_error_and_return_default("expected value-terminator, saw '"sv, to_sv(*cp), "'"sv);
+
+			return { year, month, day };
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		time parse_time(bool part_of_datetime = false)
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_decimal_digit(*cp));
+			push_parse_scope("time"sv);
+
+			static constexpr size_t max_digits = 64; // far more than necessary but needed to allow fractional
+													 // millisecond truncation per the spec
+			uint32_t digits[max_digits];
+
+			// "HH"
+			if (!consume_digit_sequence(digits, 2u))
+				set_error_and_return_default("expected 2-digit hour, saw '"sv, to_sv(cp), "'"sv);
+			const auto hour = digits[1] + digits[0] * 10u;
+			if (hour > 23u)
+				set_error_and_return_default("expected hour between 0 to 59 (inclusive), saw "sv, hour);
+			set_error_and_return_if_eof({});
+
+			// ':'
+			if (*cp != U':')
+				set_error_and_return_default("expected ':', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// "MM"
+			if (!consume_digit_sequence(digits, 2u))
+				set_error_and_return_default("expected 2-digit minute, saw '"sv, to_sv(cp), "'"sv);
+			const auto minute = digits[1] + digits[0] * 10u;
+			if (minute > 59u)
+				set_error_and_return_default("expected minute between 0 and 59 (inclusive), saw "sv, minute);
+			auto time = toml::time{ hour, minute };
+
+			// ':'
+			if constexpr (TOML_LANG_UNRELEASED) // toml/issues/671 (allow omission of seconds)
+			{
+				if (is_eof() || is_value_terminator(*cp) || (part_of_datetime && is_match(*cp, U'+', U'-', U'Z', U'z')))
+					return time;
+			}
+			else
+				set_error_and_return_if_eof({});
+			if (*cp != U':')
+				set_error_and_return_default("expected ':', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// "SS"
+			if (!consume_digit_sequence(digits, 2u))
+				set_error_and_return_default("expected 2-digit second, saw '"sv, to_sv(cp), "'"sv);
+			const auto second = digits[1] + digits[0] * 10u;
+			if (second > 59u)
+				set_error_and_return_default("expected second between 0 and 59 (inclusive), saw "sv, second);
+			time.second = static_cast<decltype(time.second)>(second);
+
+			// '.' (early-exiting is allowed; fractional is optional)
+			if (is_eof() || is_value_terminator(*cp) || (part_of_datetime && is_match(*cp, U'+', U'-', U'Z', U'z')))
+				return time;
+			if (*cp != U'.')
+				set_error_and_return_default("expected '.', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// "FFFFFFFFF"
+			size_t digit_count = consume_variable_length_digit_sequence(digits, max_digits);
+			if (!digit_count)
+			{
+				set_error_and_return_if_eof({});
+				set_error_and_return_default("expected fractional digits, saw '"sv, to_sv(*cp), "'"sv);
+			}
+			else if (!is_eof())
+			{
+				if (digit_count == max_digits && is_decimal_digit(*cp))
+					set_error_and_return_default("fractional component exceeds maximum precision of "sv, max_digits);
+				else if (!part_of_datetime && !is_value_terminator(*cp))
+					set_error_and_return_default("expected value-terminator, saw '"sv, to_sv(*cp), "'"sv);
+			}
+			uint32_t value = 0u;
+			uint32_t place = 1u;
+			for (auto i = impl::min<size_t>(digit_count, 9u); i-- > 0u;)
+			{
+				value += digits[i] * place;
+				place *= 10u;
+			}
+			for (auto i = digit_count; i < 9u; i++) // implicit zeros
+				value *= 10u;
+			time.nanosecond = value;
+			return time;
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		date_time parse_date_time()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_decimal_digit(*cp));
+			push_parse_scope("date-time"sv);
+
+			// "YYYY-MM-DD"
+			auto date = parse_date(true);
+			set_error_and_return_if_eof({});
+
+			// ' ', 'T' or 't'
+			if (!is_match(*cp, U' ', U'T', U't'))
+				set_error_and_return_default("expected space, 'T' or 't', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// "HH:MM:SS.FFFFFFFFF"
+			auto time = parse_time(true);
+			return_if_error({});
+
+			// no offset
+			if (is_eof() || is_value_terminator(*cp))
+				return { date, time };
+
+			// zero offset ('Z' or 'z')
+			time_offset offset{};
+			if (is_match(*cp, U'Z', U'z'))
+				advance_and_return_if_error({});
+
+			// explicit offset ("+/-HH:MM")
+			else if (is_match(*cp, U'+', U'-'))
+			{
+				push_parse_scope("date-time offset"sv);
+
+				// sign
+				int sign = *cp == U'-' ? -1 : 1;
+				advance_and_return_if_error_or_eof({});
+
+				// "HH"
+				int digits[2];
+				if (!consume_digit_sequence(digits, 2u))
+					set_error_and_return_default("expected 2-digit hour, saw '"sv, to_sv(cp), "'"sv);
+				const auto hour = digits[1] + digits[0] * 10;
+				if (hour > 23)
+					set_error_and_return_default("expected hour between 0 and 23 (inclusive), saw "sv, hour);
+				set_error_and_return_if_eof({});
+
+				// ':'
+				if (*cp != U':')
+					set_error_and_return_default("expected ':', saw '"sv, to_sv(*cp), "'"sv);
+				advance_and_return_if_error_or_eof({});
+
+				// "MM"
+				if (!consume_digit_sequence(digits, 2u))
+					set_error_and_return_default("expected 2-digit minute, saw '"sv, to_sv(cp), "'"sv);
+				const auto minute = digits[1] + digits[0] * 10;
+				if (minute > 59)
+					set_error_and_return_default("expected minute between 0 and 59 (inclusive), saw "sv, minute);
+				offset.minutes = static_cast<decltype(offset.minutes)>((hour * 60 + minute) * sign);
+			}
+
+			if (!is_eof() && !is_value_terminator(*cp))
+				set_error_and_return_default("expected value-terminator, saw '"sv, to_sv(*cp), "'"sv);
+
+			return { date, time, offset };
+		}
+
+		TOML_NODISCARD
+		node_ptr parse_array();
+
+		TOML_NODISCARD
+		node_ptr parse_inline_table();
+
+		TOML_NODISCARD
+		node_ptr parse_value_known_prefixes()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(!is_control_character(*cp));
+			TOML_ASSERT_ASSUME(*cp != U'_');
+
+			switch (cp->value)
+			{
+				// arrays
+				case U'[': return parse_array();
+
+				// inline tables
+				case U'{': return parse_inline_table();
+
+				// floats beginning with '.'
+				case U'.': return node_ptr{ new value{ parse_float() } };
+
+				// strings
+				case U'"': [[fallthrough]];
+				case U'\'': return node_ptr{ new value{ parse_string().value } };
+
+				default:
+				{
+					const auto cp_upper = static_cast<uint_least32_t>(cp->value) & ~0x20u;
+
+					// bools
+					if (cp_upper == 70u || cp_upper == 84u) // F or T
+						return node_ptr{ new value{ parse_boolean() } };
+
+					// inf/nan
+					else if (cp_upper == 73u || cp_upper == 78u) // I or N
+						return node_ptr{ new value{ parse_inf_or_nan() } };
+
+					else
+						return nullptr;
+				}
+			}
+			TOML_UNREACHABLE;
+		}
+
+		TOML_NODISCARD
+		node_ptr parse_value()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(!is_value_terminator(*cp));
+			push_parse_scope("value"sv);
+
+			const depth_counter_scope depth_counter{ nested_values };
+			if TOML_UNLIKELY(nested_values > max_nested_values)
+				set_error_and_return_default("exceeded maximum nested value depth of "sv,
+											 max_nested_values,
+											 " (TOML_MAX_NESTED_VALUES)"sv);
+
+			// check if it begins with some control character
+			// (note that this will also fail for whitespace but we're assuming we've
+			// called consume_leading_whitespace() before calling parse_value())
+			if TOML_UNLIKELY(is_control_character(*cp))
+				set_error_and_return_default("unexpected control character"sv);
+
+			// underscores at the beginning
+			else if (*cp == U'_')
+				set_error_and_return_default("values may not begin with underscores"sv);
+
+			const auto begin_pos = cp->position;
+			node_ptr val;
+
+			do
+			{
+				TOML_ASSERT_ASSUME(!is_control_character(*cp));
+				TOML_ASSERT_ASSUME(*cp != U'_');
+
+				// detect the value type and parse accordingly,
+				// starting with value types that can be detected
+				// unambiguously from just one character.
+
+				val = parse_value_known_prefixes();
+				return_if_error({});
+				if (val)
+					break;
+
+				// value types from here down require more than one character to unambiguously identify
+				// so scan ahead and collect a set of value 'traits'.
+				enum TOML_CLOSED_FLAGS_ENUM value_traits : int
+				{
+					has_nothing	 = 0,
+					has_digits	 = 1,
+					has_b		 = 1 << 1, // as second char only (0b)
+					has_e		 = 1 << 2, // only float exponents
+					has_o		 = 1 << 3, // as second char only (0o)
+					has_p		 = 1 << 4, // only hexfloat exponents
+					has_t		 = 1 << 5,
+					has_x		 = 1 << 6, // as second or third char only (0x, -0x, +0x)
+					has_z		 = 1 << 7,
+					has_colon	 = 1 << 8,
+					has_plus	 = 1 << 9,
+					has_minus	 = 1 << 10,
+					has_dot		 = 1 << 11,
+					begins_sign	 = 1 << 12,
+					begins_digit = 1 << 13,
+					begins_zero	 = 1 << 14,
+					signs_msk  = has_plus | has_minus,
+					bdigit_msk = has_digits | begins_digit,
+					bzero_msk  = bdigit_msk | begins_zero,
+				};
+				value_traits traits	 = has_nothing;
+				const auto has_any	 = [&](auto t) noexcept { return (traits & t) != has_nothing; };
+				const auto has_none	 = [&](auto t) noexcept { return (traits & t) == has_nothing; };
+				const auto add_trait = [&](auto t) noexcept { traits = static_cast<value_traits>(traits | t); };
+
+				// examine the first character to get the 'begins with' traits
+				// (good fail-fast opportunity; all the remaining types begin with numeric digits or signs)
+				if (is_decimal_digit(*cp))
+				{
+					add_trait(begins_digit);
+					if (*cp == U'0')
+						add_trait(begins_zero);
+				}
+				else if (is_match(*cp, U'+', U'-'))
+					add_trait(begins_sign);
+				else
+					break;
+
+				// scan the rest of the value to determine the remaining traits
+				char32_t chars[utf8_buffered_reader::max_history_length];
+				size_t char_count = {}, advance_count = {};
+				bool eof_while_scanning = false;
+				const auto scan			= [&]() noexcept(!TOML_COMPILER_HAS_EXCEPTIONS)
+				{
+					if (is_eof())
+						return;
+					TOML_ASSERT_ASSUME(!is_value_terminator(*cp));
+
+					do
+					{
+						if (const auto c = **cp; c != U'_')
+						{
+							chars[char_count++] = c;
+
+							if (is_decimal_digit(c))
+								add_trait(has_digits);
+							else if (is_ascii_letter(c))
+							{
+								TOML_ASSERT_ASSUME((c >= U'a' && c <= U'z') || (c >= U'A' && c <= U'Z'));
+								switch (static_cast<char32_t>(c | 32u))
+								{
+									case U'b':
+										if (char_count == 2u && has_any(begins_zero))
+											add_trait(has_b);
+										break;
+
+									case U'e':
+										if (char_count > 1u
+											&& has_none(has_b | has_o | has_p | has_t | has_x | has_z | has_colon)
+											&& (has_none(has_plus | has_minus) || has_any(begins_sign)))
+											add_trait(has_e);
+										break;
+
+									case U'o':
+										if (char_count == 2u && has_any(begins_zero))
+											add_trait(has_o);
+										break;
+
+									case U'p':
+										if (has_any(has_x))
+											add_trait(has_p);
+										break;
+
+									case U'x':
+										if ((char_count == 2u && has_any(begins_zero))
+											|| (char_count == 3u && has_any(begins_sign) && chars[1] == U'0'))
+											add_trait(has_x);
+										break;
+
+									case U't': add_trait(has_t); break;
+									case U'z': add_trait(has_z); break;
+								}
+							}
+							else if (c <= U':')
+							{
+								TOML_ASSERT_ASSUME(c < U'0' || c > U'9');
+								switch (c)
+								{
+									case U'+': add_trait(has_plus); break;
+									case U'-': add_trait(has_minus); break;
+									case U'.': add_trait(has_dot); break;
+									case U':': add_trait(has_colon); break;
+								}
+							}
+						}
+
+						advance_and_return_if_error();
+						advance_count++;
+						eof_while_scanning = is_eof();
+					}
+					while (advance_count < (utf8_buffered_reader::max_history_length - 1u) && !is_eof()
+						   && !is_value_terminator(*cp));
+				};
+				scan();
+				return_if_error({});
+
+				// force further scanning if this could have been a date-time with a space instead of a T
+				if (char_count == 10u									 //
+					&& (traits | begins_zero) == (bzero_msk | has_minus) //
+					&& chars[4] == U'-'									 //
+					&& chars[7] == U'-'									 //
+					&& !is_eof()										 //
+					&& *cp == U' ')
+				{
+					const auto pre_advance_count = advance_count;
+					const auto pre_scan_traits	 = traits;
+					chars[char_count++]			 = *cp;
+					add_trait(has_t);
+
+					const auto backpedal = [&]() noexcept
+					{
+						go_back(advance_count - pre_advance_count);
+						advance_count = pre_advance_count;
+						traits		  = pre_scan_traits;
+						char_count	  = 10u;
+					};
+
+					advance_and_return_if_error({});
+					advance_count++;
+
+					if (is_eof() || !is_decimal_digit(*cp))
+						backpedal();
+					else
+					{
+						chars[char_count++] = *cp;
+
+						advance_and_return_if_error({});
+						advance_count++;
+
+						scan();
+						return_if_error({});
+
+						if (char_count == 12u)
+							backpedal();
+					}
+				}
+
+				// set the reader back to where we started
+				go_back(advance_count);
+
+				// if after scanning ahead we still only have one value character,
+				// the only valid value type is an integer.
+				if (char_count == 1u)
+				{
+					if (has_any(begins_digit))
+					{
+						val.reset(new value{ static_cast<int64_t>(chars[0] - U'0') });
+						advance(); // skip the digit
+						break;
+					}
+
+					// anything else would be ambiguous.
+					else
+						set_error_and_return_default(eof_while_scanning ? "encountered end-of-file"sv
+																		: "could not determine value type"sv);
+				}
+
+				// now things that can be identified from two or more characters
+				return_if_error({});
+				TOML_ASSERT_ASSUME(char_count >= 2u);
+
+				// do some 'fuzzy matching' where there's no ambiguity, since that allows the specific
+				// typed parse functions to take over and show better diagnostics if there's an issue
+				// (as opposed to the fallback "could not determine type" message)
+				if (has_any(has_p))
+					val.reset(new value{ parse_hex_float() });
+				else if (has_any(has_x | has_o | has_b))
+				{
+					int64_t i;
+					value_flags flags;
+					if (has_any(has_x))
+					{
+						i	  = parse_integer<16>();
+						flags = value_flags::format_as_hexadecimal;
+					}
+					else if (has_any(has_o))
+					{
+						i	  = parse_integer<8>();
+						flags = value_flags::format_as_octal;
+					}
+					else // has_b
+					{
+						i	  = parse_integer<2>();
+						flags = value_flags::format_as_binary;
+					}
+					return_if_error({});
+
+					val.reset(new value{ i });
+					val->ref_cast<int64_t>().flags(flags);
+				}
+				else if (has_any(has_e) || (has_any(begins_digit) && chars[1] == U'.'))
+					val.reset(new value{ parse_float() });
+				else if (has_any(begins_sign))
+				{
+					// single-digit signed integers
+					if (char_count == 2u && has_any(has_digits))
+					{
+						val.reset(new value{ static_cast<int64_t>(chars[1] - U'0') * (chars[0] == U'-' ? -1LL : 1LL) });
+						advance(); // skip the sign
+						advance(); // skip the digit
+						break;
+					}
+
+					// simple signed floats (e.g. +1.0)
+					if (is_decimal_digit(chars[1]) && chars[2] == U'.')
+						val.reset(new value{ parse_float() });
+
+					// signed infinity or nan
+					else if (is_match(chars[1], U'i', U'n', U'I', U'N'))
+						val.reset(new value{ parse_inf_or_nan() });
+				}
+
+				return_if_error({});
+				if (val)
+					break;
+
+				// match trait masks against what they can match exclusively.
+				// all correct value parses will come out of this list, so doing this as a switch is likely to
+				// be a better friend to the optimizer on the success path (failure path can be slow but that
+				// doesn't matter much).
+				switch (unwrap_enum(traits))
+				{
+					// binary integers
+					// 0b10
+					case bzero_msk | has_b:
+						val.reset(new value{ parse_integer<2>() });
+						val->ref_cast<int64_t>().flags(value_flags::format_as_binary);
+						break;
+
+					// octal integers
+					// 0o10
+					case bzero_msk | has_o:
+						val.reset(new value{ parse_integer<8>() });
+						val->ref_cast<int64_t>().flags(value_flags::format_as_octal);
+						break;
+
+					// decimal integers
+					// 00
+					// 10
+					// +10
+					// -10
+					case bzero_msk: [[fallthrough]];
+					case bdigit_msk: [[fallthrough]];
+					case begins_sign | has_digits | has_minus: [[fallthrough]];
+					case begins_sign | has_digits | has_plus:
+					{
+						// if the value was so long we exhausted the history buffer it's reasonable to assume
+						// there was more and the value's actual type is impossible to identify without making the
+						// buffer bigger (since it could have actually been a float), so emit an error.
+						//
+						// (this will likely only come up during fuzzing and similar scenarios)
+						static constexpr size_t max_numeric_value_length =
+							utf8_buffered_reader::max_history_length - 2u;
+						if TOML_UNLIKELY(!eof_while_scanning && advance_count > max_numeric_value_length)
+							set_error_and_return_default("numeric value too long to identify type - cannot exceed "sv,
+														 max_numeric_value_length,
+														 " characters"sv);
+
+						val.reset(new value{ parse_integer<10>() });
+						break;
+					}
+
+					// hexadecimal integers
+					// 0x10
+					case bzero_msk | has_x:
+						val.reset(new value{ parse_integer<16>() });
+						val->ref_cast<int64_t>().flags(value_flags::format_as_hexadecimal);
+						break;
+
+					// decimal floats
+					// 0e1
+					// 0e-1
+					// 0e+1
+					// 0.0
+					// 0.0e1
+					// 0.0e-1
+					// 0.0e+1
+					case bzero_msk | has_e: [[fallthrough]];
+					case bzero_msk | has_e | has_minus: [[fallthrough]];
+					case bzero_msk | has_e | has_plus: [[fallthrough]];
+					case bzero_msk | has_dot: [[fallthrough]];
+					case bzero_msk | has_dot | has_e: [[fallthrough]];
+					case bzero_msk | has_dot | has_e | has_minus: [[fallthrough]];
+					case bzero_msk | has_dot | has_e | has_plus: [[fallthrough]];
+					// 1e1
+					// 1e-1
+					// 1e+1
+					// 1.0
+					// 1.0e1
+					// 1.0e-1
+					// 1.0e+1
+					case bdigit_msk | has_e: [[fallthrough]];
+					case bdigit_msk | has_e | has_minus: [[fallthrough]];
+					case bdigit_msk | has_e | has_plus: [[fallthrough]];
+					case bdigit_msk | has_dot: [[fallthrough]];
+					case bdigit_msk | has_dot | has_e: [[fallthrough]];
+					case bdigit_msk | has_dot | has_e | has_minus: [[fallthrough]];
+					case bdigit_msk | has_dot | has_e | has_plus: [[fallthrough]];
+					// +1e1
+					// +1.0
+					// +1.0e1
+					// +1.0e+1
+					// +1.0e-1
+					// -1.0e+1
+					case begins_sign | has_digits | has_e | has_plus: [[fallthrough]];
+					case begins_sign | has_digits | has_dot | has_plus: [[fallthrough]];
+					case begins_sign | has_digits | has_dot | has_e | has_plus: [[fallthrough]];
+					case begins_sign | has_digits | has_dot | has_e | signs_msk: [[fallthrough]];
+					// -1e1
+					// -1e+1
+					// +1e-1
+					// -1.0
+					// -1.0e1
+					// -1.0e-1
+					case begins_sign | has_digits | has_e | has_minus: [[fallthrough]];
+					case begins_sign | has_digits | has_e | signs_msk: [[fallthrough]];
+					case begins_sign | has_digits | has_dot | has_minus: [[fallthrough]];
+					case begins_sign | has_digits | has_dot | has_e | has_minus:
+						val.reset(new value{ parse_float() });
+						break;
+
+					// hexadecimal floats
+					// 0x10p0
+					// 0x10p-0
+					// 0x10p+0
+					case bzero_msk | has_x | has_p: [[fallthrough]];
+					case bzero_msk | has_x | has_p | has_minus: [[fallthrough]];
+					case bzero_msk | has_x | has_p | has_plus: [[fallthrough]];
+					// -0x10p0
+					// -0x10p-0
+					// +0x10p0
+					// +0x10p+0
+					// -0x10p+0
+					// +0x10p-0
+					case begins_sign | has_digits | has_x | has_p | has_minus: [[fallthrough]];
+					case begins_sign | has_digits | has_x | has_p | has_plus: [[fallthrough]];
+					case begins_sign | has_digits | has_x | has_p | signs_msk: [[fallthrough]];
+					// 0x10.1p0
+					// 0x10.1p-0
+					// 0x10.1p+0
+					case bzero_msk | has_x | has_dot | has_p: [[fallthrough]];
+					case bzero_msk | has_x | has_dot | has_p | has_minus: [[fallthrough]];
+					case bzero_msk | has_x | has_dot | has_p | has_plus: [[fallthrough]];
+					// -0x10.1p0
+					// -0x10.1p-0
+					// +0x10.1p0
+					// +0x10.1p+0
+					// -0x10.1p+0
+					// +0x10.1p-0
+					case begins_sign | has_digits | has_x | has_dot | has_p | has_minus: [[fallthrough]];
+					case begins_sign | has_digits | has_x | has_dot | has_p | has_plus: [[fallthrough]];
+					case begins_sign | has_digits | has_x | has_dot | has_p | signs_msk:
+						val.reset(new value{ parse_hex_float() });
+						break;
+
+					// times
+					// HH:MM
+					// HH:MM:SS
+					// HH:MM:SS.FFFFFF
+					case bzero_msk | has_colon: [[fallthrough]];
+					case bzero_msk | has_colon | has_dot: [[fallthrough]];
+					case bdigit_msk | has_colon: [[fallthrough]];
+					case bdigit_msk | has_colon | has_dot: val.reset(new value{ parse_time() }); break;
+
+					// local dates
+					// YYYY-MM-DD
+					case bzero_msk | has_minus: [[fallthrough]];
+					case bdigit_msk | has_minus: val.reset(new value{ parse_date() }); break;
+
+					// date-times
+					// YYYY-MM-DDTHH:MM
+					// YYYY-MM-DDTHH:MM-HH:MM
+					// YYYY-MM-DDTHH:MM+HH:MM
+					// YYYY-MM-DD HH:MM
+					// YYYY-MM-DD HH:MM-HH:MM
+					// YYYY-MM-DD HH:MM+HH:MM
+					// YYYY-MM-DDTHH:MM:SS
+					// YYYY-MM-DDTHH:MM:SS-HH:MM
+					// YYYY-MM-DDTHH:MM:SS+HH:MM
+					// YYYY-MM-DD HH:MM:SS
+					// YYYY-MM-DD HH:MM:SS-HH:MM
+					// YYYY-MM-DD HH:MM:SS+HH:MM
+					case bzero_msk | has_minus | has_colon | has_t: [[fallthrough]];
+					case bzero_msk | signs_msk | has_colon | has_t: [[fallthrough]];
+					case bdigit_msk | has_minus | has_colon | has_t: [[fallthrough]];
+					case bdigit_msk | signs_msk | has_colon | has_t: [[fallthrough]];
+					// YYYY-MM-DDTHH:MM:SS.FFFFFF
+					// YYYY-MM-DDTHH:MM:SS.FFFFFF-HH:MM
+					// YYYY-MM-DDTHH:MM:SS.FFFFFF+HH:MM
+					// YYYY-MM-DD HH:MM:SS.FFFFFF
+					// YYYY-MM-DD HH:MM:SS.FFFFFF-HH:MM
+					// YYYY-MM-DD HH:MM:SS.FFFFFF+HH:MM
+					case bzero_msk | has_minus | has_colon | has_dot | has_t: [[fallthrough]];
+					case bzero_msk | signs_msk | has_colon | has_dot | has_t: [[fallthrough]];
+					case bdigit_msk | has_minus | has_colon | has_dot | has_t: [[fallthrough]];
+					case bdigit_msk | signs_msk | has_colon | has_dot | has_t: [[fallthrough]];
+					// YYYY-MM-DDTHH:MMZ
+					// YYYY-MM-DD HH:MMZ
+					// YYYY-MM-DDTHH:MM:SSZ
+					// YYYY-MM-DD HH:MM:SSZ
+					// YYYY-MM-DDTHH:MM:SS.FFFFFFZ
+					// YYYY-MM-DD HH:MM:SS.FFFFFFZ
+					case bzero_msk | has_minus | has_colon | has_z | has_t: [[fallthrough]];
+					case bzero_msk | has_minus | has_colon | has_dot | has_z | has_t: [[fallthrough]];
+					case bdigit_msk | has_minus | has_colon | has_z | has_t: [[fallthrough]];
+					case bdigit_msk | has_minus | has_colon | has_dot | has_z | has_t:
+						val.reset(new value{ parse_date_time() });
+						break;
+				}
+			}
+			while (false);
+
+			if (!val)
+			{
+				set_error_at(begin_pos, "could not determine value type"sv);
+				return_after_error({});
+			}
+
+			val->source_ = { begin_pos, current_position(1), reader.source_path() };
+			return val;
+		}
+
+		TOML_NEVER_INLINE
+		bool parse_key()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_bare_key_character(*cp) || is_string_delimiter(*cp));
+			push_parse_scope("key"sv);
+
+			key_buffer.clear();
+			recording_whitespace = false;
+
+			while (!is_error())
+			{
+				std::string_view key_segment;
+				const auto key_begin = current_position();
+
+				// bare_key_segment
+				if (is_bare_key_character(*cp))
+					key_segment = parse_bare_key_segment();
+
+				// "quoted key segment"
+				else if (is_string_delimiter(*cp))
+				{
+					const auto begin_pos = cp->position;
+
+					recording_whitespace = true;
+					parsed_string str	 = parse_string();
+					recording_whitespace = false;
+					return_if_error({});
+
+					if (str.was_multi_line)
+					{
+						set_error_at(begin_pos,
+									 "multi-line strings are prohibited in "sv,
+									 key_buffer.empty() ? ""sv : "dotted "sv,
+									 "keys"sv);
+						return_after_error({});
+					}
+					else
+						key_segment = str.value;
+				}
+
+				// ???
+				else
+					set_error_and_return_default("expected bare key starting character or string delimiter, saw '"sv,
+												 to_sv(*cp),
+												 "'"sv);
+
+				const auto key_end = current_position();
+
+				// whitespace following the key segment
+				consume_leading_whitespace();
+
+				// store segment
+				key_buffer.push_back(key_segment, key_begin, key_end);
+
+				// eof or no more key to come
+				if (is_eof() || *cp != U'.')
+					break;
+
+				// was a dotted key - go around again
+				advance_and_return_if_error_or_eof({});
+				consume_leading_whitespace();
+				set_error_and_return_if_eof({});
+			}
+			return_if_error({});
+
+			return true;
+		}
+
+		TOML_NODISCARD
+		key make_key(size_t segment_index) const
+		{
+			TOML_ASSERT(key_buffer.size() > segment_index);
+
+			return key{
+				key_buffer[segment_index],
+				source_region{ key_buffer.starts[segment_index], key_buffer.ends[segment_index], root.source().path }
+			};
+		}
+
+		TOML_NODISCARD
+		TOML_NEVER_INLINE
+		table* parse_table_header()
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(*cp == U'[');
+			push_parse_scope("table header"sv);
+
+			const source_position header_begin_pos = cp->position;
+			source_position header_end_pos;
+			bool is_arr = false;
+
+			// parse header
+			{
+				// skip first '['
+				advance_and_return_if_error_or_eof({});
+
+				// skip past any whitespace that followed the '['
+				const bool had_leading_whitespace = consume_leading_whitespace();
+				set_error_and_return_if_eof({});
+
+				// skip second '[' (if present)
+				if (*cp == U'[')
+				{
+					if (had_leading_whitespace)
+						set_error_and_return_default(
+							"[[array-of-table]] brackets must be contiguous (i.e. [ [ this ] ] is prohibited)"sv);
+
+					is_arr = true;
+					advance_and_return_if_error_or_eof({});
+
+					// skip past any whitespace that followed the '['
+					consume_leading_whitespace();
+					set_error_and_return_if_eof({});
+				}
+
+				// check for a premature closing ']'
+				if (*cp == U']')
+					set_error_and_return_default("tables with blank bare keys are explicitly prohibited"sv);
+
+				// get the actual key
+				start_recording();
+				parse_key();
+				stop_recording(1u);
+				return_if_error({});
+
+				// skip past any whitespace that followed the key
+				consume_leading_whitespace();
+				return_if_error({});
+				set_error_and_return_if_eof({});
+
+				// consume the closing ']'
+				if (*cp != U']')
+					set_error_and_return_default("expected ']', saw '"sv, to_sv(*cp), "'"sv);
+				if (is_arr)
+				{
+					advance_and_return_if_error_or_eof({});
+					if (*cp != U']')
+						set_error_and_return_default("expected ']', saw '"sv, to_sv(*cp), "'"sv);
+				}
+				advance_and_return_if_error({});
+				header_end_pos = current_position(1);
+
+				// handle the rest of the line after the header
+				consume_leading_whitespace();
+				if (!is_eof() && !consume_comment() && !consume_line_break())
+					set_error_and_return_default("expected a comment or whitespace, saw '"sv, to_sv(cp), "'"sv);
+			}
+			TOML_ASSERT(!key_buffer.empty());
+
+			// check if each parent is a table/table array, or can be created implicitly as a table.
+			table* parent = &root;
+			for (size_t i = 0, e = key_buffer.size() - 1u; i < e; i++)
+			{
+				const std::string_view segment = key_buffer[i];
+				auto pit					   = parent->lower_bound(segment);
+
+				// parent already existed
+				if (pit != parent->end() && pit->first == segment)
+				{
+					node& p = pit->second;
+
+					if (auto tbl = p.as_table())
+					{
+						// adding to closed inline tables is illegal
+						if (tbl->is_inline() && !impl::find(open_inline_tables.begin(), open_inline_tables.end(), tbl))
+							set_error_and_return_default("cannot insert '"sv,
+														 to_sv(recording_buffer),
+														 "' into existing inline table"sv);
+
+						parent = tbl;
+					}
+					else if (auto arr = p.as_array(); arr && impl::find(table_arrays.begin(), table_arrays.end(), arr))
+					{
+						// table arrays are a special case;
+						// the spec dictates we select the most recently declared element in the array.
+						TOML_ASSERT(!arr->empty());
+						TOML_ASSERT(arr->back().is_table());
+						parent = &arr->back().ref_cast<table>();
+					}
+					else
+					{
+						if (!is_arr && p.type() == node_type::table)
+							set_error_and_return_default("cannot redefine existing table '"sv,
+														 to_sv(recording_buffer),
+														 "'"sv);
+						else
+							set_error_and_return_default("cannot redefine existing "sv,
+														 to_sv(p.type()),
+														 " '"sv,
+														 to_sv(recording_buffer),
+														 "' as "sv,
+														 is_arr ? "array-of-tables"sv : "table"sv);
+					}
+				}
+
+				// need to create a new implicit table
+				else
+				{
+					pit		  = parent->emplace_hint<table>(pit, make_key(i));
+					table& p  = pit->second.ref_cast<table>();
+					p.source_ = { header_begin_pos, header_end_pos, reader.source_path() };
+
+					implicit_tables.push_back(&p);
+					parent = &p;
+				}
+			}
+
+			const auto last_segment = key_buffer.back();
+			auto it					= parent->lower_bound(last_segment);
+
+			// if there was already a matching node some sanity checking is necessary;
+			// this is ok if we're making an array and the existing element is already an array (new element)
+			// or if we're making a table and the existing element is an implicitly-created table (promote it),
+			// otherwise this is a redefinition error.
+			if (it != parent->end() && it->first == last_segment)
+			{
+				node& matching_node = it->second;
+				if (auto arr = matching_node.as_array();
+					is_arr && arr && impl::find(table_arrays.begin(), table_arrays.end(), arr))
+				{
+					table& tbl	= arr->emplace_back<table>();
+					tbl.source_ = { header_begin_pos, header_end_pos, reader.source_path() };
+					return &tbl;
+				}
+
+				else if (auto tbl = matching_node.as_table(); !is_arr && tbl && !implicit_tables.empty())
+				{
+					if (auto found = impl::find(implicit_tables.begin(), implicit_tables.end(), tbl); found)
+					{
+						bool ok = true;
+						if (!tbl->empty())
+						{
+							for (auto& [_, child] : *tbl)
+							{
+								if (!child.is_table() && !child.is_array_of_tables())
+								{
+									ok = false;
+									break;
+								}
+							}
+						}
+
+						if (ok)
+						{
+							implicit_tables.erase(implicit_tables.cbegin() + (found - implicit_tables.data()));
+							tbl->source_.begin = header_begin_pos;
+							tbl->source_.end   = header_end_pos;
+							return tbl;
+						}
+					}
+				}
+
+				// if we get here it's a redefinition error.
+				if (!is_arr && matching_node.type() == node_type::table)
+				{
+					set_error_at(header_begin_pos,
+								 "cannot redefine existing table '"sv,
+								 to_sv(recording_buffer),
+								 "'"sv);
+					return_after_error({});
+				}
+				else
+				{
+					set_error_at(header_begin_pos,
+								 "cannot redefine existing "sv,
+								 to_sv(matching_node.type()),
+								 " '"sv,
+								 to_sv(recording_buffer),
+								 "' as "sv,
+								 is_arr ? "array-of-tables"sv : "table"sv);
+					return_after_error({});
+				}
+			}
+
+			// there was no matching node, sweet - we can freely instantiate a new table/table array.
+			else
+			{
+				auto last_key = make_key(key_buffer.size() - 1u);
+
+				// if it's an array we need to make the array and it's first table element,
+				// set the starting regions, and return the table element
+				if (is_arr)
+				{
+					it			   = parent->emplace_hint<array>(it, std::move(last_key));
+					array& tbl_arr = it->second.ref_cast<array>();
+					table_arrays.push_back(&tbl_arr);
+					tbl_arr.source_ = { header_begin_pos, header_end_pos, reader.source_path() };
+
+					table& tbl	= tbl_arr.emplace_back<table>();
+					tbl.source_ = { header_begin_pos, header_end_pos, reader.source_path() };
+					return &tbl;
+				}
+
+				// otherwise we're just making a table
+				else
+				{
+					it			= parent->emplace_hint<table>(it, std::move(last_key));
+					table& tbl	= it->second.ref_cast<table>();
+					tbl.source_ = { header_begin_pos, header_end_pos, reader.source_path() };
+					return &tbl;
+				}
+			}
+		}
+
+		TOML_NEVER_INLINE
+		bool parse_key_value_pair_and_insert(table* tbl)
+		{
+			return_if_error({});
+			assert_not_eof();
+			TOML_ASSERT_ASSUME(is_string_delimiter(*cp) || is_bare_key_character(*cp));
+			push_parse_scope("key-value pair"sv);
+
+			// read the key into the key buffer
+			start_recording();
+			parse_key();
+			stop_recording(1u);
+			return_if_error({});
+			TOML_ASSERT(key_buffer.size() >= 1u);
+
+			// skip past any whitespace that followed the key
+			consume_leading_whitespace();
+			set_error_and_return_if_eof({});
+
+			// '='
+			if (*cp != U'=')
+				set_error_and_return_default("expected '=', saw '"sv, to_sv(*cp), "'"sv);
+			advance_and_return_if_error_or_eof({});
+
+			// skip past any whitespace that followed the '='
+			consume_leading_whitespace();
+			return_if_error({});
+			set_error_and_return_if_eof({});
+
+			// check that the next character could actually be a value
+			if (is_value_terminator(*cp))
+				set_error_and_return_default("expected value, saw '"sv, to_sv(*cp), "'"sv);
+
+			// if it's a dotted kvp we need to spawn the parent sub-tables if necessary,
+			// and set the target table to the second-to-last one in the chain
+			if (key_buffer.size() > 1u)
+			{
+				for (size_t i = 0; i < key_buffer.size() - 1u; i++)
+				{
+					const std::string_view segment = key_buffer[i];
+					auto pit					   = tbl->lower_bound(segment);
+
+					// parent already existed
+					if (pit != tbl->end() && pit->first == segment)
+					{
+						table* p = pit->second.as_table();
+
+						// redefinition
+						if TOML_UNLIKELY(!p
+							|| !(impl::find(dotted_key_tables.begin(), dotted_key_tables.end(), p)
+								 || impl::find(implicit_tables.begin(), implicit_tables.end(), p)))
+						{
+							set_error_at(key_buffer.starts[i],
+										 "cannot redefine existing "sv,
+										 to_sv(pit->second.type()),
+										 " as dotted key-value pair"sv);
+							return_after_error({});
+						}
+
+						tbl = p;
+					}
+
+					// need to create a new implicit table
+					else
+					{
+						pit		  = tbl->emplace_hint<table>(pit, make_key(i));
+						table& p  = pit->second.ref_cast<table>();
+						p.source_ = pit->first.source();
+
+						dotted_key_tables.push_back(&p);
+						tbl = &p;
+					}
+				}
+			}
+
+			// ensure this isn't a redefinition
+			const std::string_view last_segment = key_buffer.back();
+			auto it								= tbl->lower_bound(last_segment);
+			if (it != tbl->end() && it->first == last_segment)
+			{
+				set_error("cannot redefine existing "sv,
+						  to_sv(it->second.type()),
+						  " '"sv,
+						  to_sv(recording_buffer),
+						  "'"sv);
+				return_after_error({});
+			}
+
+			// create the key first since the key buffer will likely get overwritten during value parsing (inline
+			// tables)
+			auto last_key = make_key(key_buffer.size() - 1u);
+
+			// now we can actually parse the value
+			node_ptr val = parse_value();
+			return_if_error({});
+
+			tbl->emplace_hint<node_ptr>(it, std::move(last_key), std::move(val));
+			return true;
+		}
+
+		void parse_document()
+		{
+			assert_not_error();
+			assert_not_eof();
+			push_parse_scope("root table"sv);
+
+			table* current_table = &root;
+
+			do
+			{
+				return_if_error();
+
+				// leading whitespace, line endings, comments
+				if (consume_leading_whitespace() || consume_line_break() || consume_comment())
+					continue;
+				return_if_error();
+
+				// [tables]
+				// [[table array]]
+				if (*cp == U'[')
+					current_table = parse_table_header();
+
+				// bare_keys
+				// dotted.keys
+				// "quoted keys"
+				else if (is_bare_key_character(*cp) || is_string_delimiter(*cp))
+				{
+					push_parse_scope("key-value pair"sv);
+
+					parse_key_value_pair_and_insert(current_table);
+
+					// handle the rest of the line after the kvp
+					// (this is not done in parse_key_value_pair() because that is also used for inline tables)
+					consume_leading_whitespace();
+					return_if_error();
+					if (!is_eof() && !consume_comment() && !consume_line_break())
+						set_error("expected a comment or whitespace, saw '"sv, to_sv(cp), "'"sv);
+				}
+
+				else // ??
+					set_error("expected keys, tables, whitespace or comments, saw '"sv, to_sv(cp), "'"sv);
+			}
+			while (!is_eof());
+
+			auto eof_pos	 = current_position(1);
+			root.source_.end = eof_pos;
+			if (current_table && current_table != &root && current_table->source_.end <= current_table->source_.begin)
+				current_table->source_.end = eof_pos;
+		}
+
+		static void update_region_ends(node& nde) noexcept
+		{
+			const auto type = nde.type();
+			if (type > node_type::array)
+				return;
+
+			if (type == node_type::table)
+			{
+				auto& tbl = nde.ref_cast<table>();
+				if (tbl.is_inline()) // inline tables (and all their inline descendants) are already correctly
+									 // terminated
+					return;
+
+				auto end = nde.source_.end;
+				for (auto&& [k, v] : tbl)
+				{
+					TOML_UNUSED(k);
+					update_region_ends(v);
+					if (end < v.source_.end)
+						end = v.source_.end;
+				}
+			}
+			else // arrays
+			{
+				auto& arr = nde.ref_cast<array>();
+				auto end  = nde.source_.end;
+				for (auto&& v : arr)
+				{
+					update_region_ends(v);
+					if (end < v.source_.end)
+						end = v.source_.end;
+				}
+				nde.source_.end = end;
+			}
+		}
+
+	  public:
+		parser(utf8_reader_interface&& reader_) //
+			: reader{ reader_ }
+		{
+			root.source_ = { prev_pos, prev_pos, reader.source_path() };
+
+			if (!reader.peek_eof())
+			{
+				cp = reader.read_next();
+
+#if !TOML_EXCEPTIONS
+				if (reader.error())
+				{
+					err = std::move(reader.error());
+					return;
+				}
+#endif
+
+				if (cp)
+					parse_document();
+			}
+
+			update_region_ends(root);
+		}
+
+		TOML_NODISCARD
+		operator parse_result() && noexcept
+		{
+#if TOML_EXCEPTIONS
+
+			return { std::move(root) };
+
+#else
+
+			if (err)
+				return parse_result{ *std::move(err) };
+			else
+				return parse_result{ std::move(root) };
+
+#endif
+		}
+	};
+
+	TOML_EXTERNAL_LINKAGE
+	node_ptr parser::parse_array()
+	{
+		return_if_error({});
+		assert_not_eof();
+		TOML_ASSERT_ASSUME(*cp == U'[');
+		push_parse_scope("array"sv);
+
+		// skip opening '['
+		advance_and_return_if_error_or_eof({});
+
+		node_ptr arr_ptr{ new array{} };
+		array& arr = arr_ptr->ref_cast<array>();
+		enum class TOML_CLOSED_ENUM parse_type : int
+		{
+			none,
+			comma,
+			val
+		};
+		parse_type prev = parse_type::none;
+
+		while (!is_error())
+		{
+			while (consume_leading_whitespace() || consume_line_break() || consume_comment())
+				continue;
+			set_error_and_return_if_eof({});
+
+			// commas - only legal after a value
+			if (*cp == U',')
+			{
+				if (prev == parse_type::val)
+				{
+					prev = parse_type::comma;
+					advance_and_return_if_error_or_eof({});
+					continue;
+				}
+				set_error_and_return_default("expected value or closing ']', saw comma"sv);
+			}
+
+			// closing ']'
+			else if (*cp == U']')
+			{
+				advance_and_return_if_error({});
+				break;
+			}
+
+			// must be a value
+			else
+			{
+				if (prev == parse_type::val)
+				{
+					set_error_and_return_default("expected comma or closing ']', saw '"sv, to_sv(*cp), "'"sv);
+					continue;
+				}
+				prev = parse_type::val;
+
+				auto val = parse_value();
+				return_if_error({});
+
+				if (!arr.capacity())
+					arr.reserve(4u);
+				arr.emplace_back<node_ptr>(std::move(val));
+			}
+		}
+
+		return_if_error({});
+		return arr_ptr;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	node_ptr parser::parse_inline_table()
+	{
+		return_if_error({});
+		assert_not_eof();
+		TOML_ASSERT_ASSUME(*cp == U'{');
+		push_parse_scope("inline table"sv);
+
+		// skip opening '{'
+		advance_and_return_if_error_or_eof({});
+
+		node_ptr tbl_ptr{ new table{} };
+		table& tbl = tbl_ptr->ref_cast<table>();
+		tbl.is_inline(true);
+		table_vector_scope table_scope{ open_inline_tables, tbl };
+
+		enum class TOML_CLOSED_ENUM parse_type : int
+		{
+			none,
+			comma,
+			kvp
+		};
+		parse_type prev = parse_type::none;
+		while (!is_error())
+		{
+			if constexpr (TOML_LANG_UNRELEASED) // toml/issues/516 (newlines/trailing commas in inline tables)
+			{
+				while (consume_leading_whitespace() || consume_line_break() || consume_comment())
+					continue;
+			}
+			else
+			{
+				while (consume_leading_whitespace())
+					continue;
+			}
+			return_if_error({});
+			set_error_and_return_if_eof({});
+
+			// commas - only legal after a key-value pair
+			if (*cp == U',')
+			{
+				if (prev == parse_type::kvp)
+				{
+					prev = parse_type::comma;
+					advance_and_return_if_error_or_eof({});
+				}
+				else
+					set_error_and_return_default("expected key-value pair or closing '}', saw comma"sv);
+			}
+
+			// closing '}'
+			else if (*cp == U'}')
+			{
+				if constexpr (!TOML_LANG_UNRELEASED) // toml/issues/516 (newlines/trailing commas in inline tables)
+				{
+					if (prev == parse_type::comma)
+					{
+						set_error_and_return_default("expected key-value pair, saw closing '}' (dangling comma)"sv);
+						continue;
+					}
+				}
+				advance_and_return_if_error({});
+				break;
+			}
+
+			// key-value pair
+			else if (is_string_delimiter(*cp) || is_bare_key_character(*cp))
+			{
+				if (prev == parse_type::kvp)
+					set_error_and_return_default("expected comma or closing '}', saw '"sv, to_sv(*cp), "'"sv);
+				else
+				{
+					prev = parse_type::kvp;
+					parse_key_value_pair_and_insert(&tbl);
+				}
+			}
+
+			else
+				set_error_and_return_default("expected key or closing '}', saw '"sv, to_sv(*cp), "'"sv);
+		}
+
+		return_if_error({});
+		return tbl_ptr;
+	}
+
+	TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+}
+TOML_IMPL_NAMESPACE_END;
+
+#undef TOML_RETURNS_BY_THROWING
+#undef advance_and_return_if_error
+#undef advance_and_return_if_error_or_eof
+#undef assert_not_eof
+#undef assert_not_error
+#undef is_eof
+#undef is_error
+#undef parse_error_break
+#undef push_parse_scope
+#undef push_parse_scope_1
+#undef push_parse_scope_2
+#undef return_after_error
+#undef return_if_eof
+#undef return_if_error
+#undef return_if_error_or_eof
+#undef set_error_and_return
+#undef set_error_and_return_default
+#undef set_error_and_return_if_eof
+#undef utf8_buffered_reader_error_check
+#undef utf8_reader_error
+#undef utf8_reader_error_check
+#undef utf8_reader_return_after_error
+
+TOML_ANON_NAMESPACE_START
+{
+	TOML_NODISCARD
+	TOML_INTERNAL_LINKAGE
+	parse_result do_parse(utf8_reader_interface && reader)
+	{
+		return impl::parser{ std::move(reader) };
+	}
+
+	TOML_NODISCARD
+	TOML_INTERNAL_LINKAGE
+	parse_result do_parse_file(std::string_view file_path)
+	{
+#if TOML_EXCEPTIONS
+#define TOML_PARSE_FILE_ERROR(msg, path)                                                                               \
+	throw parse_error{ msg, source_position{}, std::make_shared<const std::string>(std::move(path)) }
+#else
+#define TOML_PARSE_FILE_ERROR(msg, path)                                                                               \
+	return parse_result                                                                                                \
+	{                                                                                                                  \
+		parse_error                                                                                                    \
+		{                                                                                                              \
+			msg, source_position{}, std::make_shared<const std::string>(std::move(path))                               \
+		}                                                                                                              \
+	}
+#endif
+
+		std::string file_path_str(file_path);
+
+		// open file with a custom-sized stack buffer
+		std::ifstream file;
+		TOML_OVERALIGNED char file_buffer[sizeof(void*) * 1024u];
+		file.rdbuf()->pubsetbuf(file_buffer, sizeof(file_buffer));
+#if TOML_WINDOWS
+		file.open(impl::widen(file_path_str).c_str(), std::ifstream::in | std::ifstream::binary | std::ifstream::ate);
+#else
+		file.open(file_path_str, std::ifstream::in | std::ifstream::binary | std::ifstream::ate);
+#endif
+		if (!file.is_open())
+			TOML_PARSE_FILE_ERROR("File could not be opened for reading", file_path_str);
+
+		// get size
+		const auto file_size = file.tellg();
+		if (file_size == -1)
+			TOML_PARSE_FILE_ERROR("Could not determine file size", file_path_str);
+		file.seekg(0, std::ifstream::beg);
+
+		// read the whole file into memory first if the file isn't too large
+		constexpr auto large_file_threshold = 1024 * 1024 * 2; // 2 MB
+		if (file_size <= large_file_threshold)
+		{
+			std::vector<char> file_data;
+			file_data.resize(static_cast<size_t>(file_size));
+			file.read(file_data.data(), static_cast<std::streamsize>(file_size));
+			return parse(std::string_view{ file_data.data(), file_data.size() }, std::move(file_path_str));
+		}
+
+		// otherwise parse it using the streams
+		else
+			return parse(file, std::move(file_path_str));
+
+#undef TOML_PARSE_FILE_ERROR
+	}
+}
+TOML_ANON_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_ABI_NAMESPACE_BOOL(TOML_EXCEPTIONS, ex, noex);
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::string_view doc, std::string_view source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, source_path });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::string_view doc, std::string && source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, std::move(source_path) });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::istream & doc, std::string_view source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, source_path });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::istream & doc, std::string && source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, std::move(source_path) });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse_file(std::string_view file_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse_file(file_path);
+	}
+
+#if TOML_HAS_CHAR8
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::u8string_view doc, std::string_view source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, source_path });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::u8string_view doc, std::string && source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, std::move(source_path) });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse_file(std::u8string_view file_path)
+	{
+		std::string file_path_str;
+		file_path_str.resize(file_path.length());
+		memcpy(file_path_str.data(), file_path.data(), file_path.length());
+		return TOML_ANON_NAMESPACE::do_parse_file(file_path_str);
+	}
+
+#endif // TOML_HAS_CHAR8
+
+#if TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::string_view doc, std::wstring_view source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, impl::narrow(source_path) });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::istream & doc, std::wstring_view source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, impl::narrow(source_path) });
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse_file(std::wstring_view file_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse_file(impl::narrow(file_path));
+	}
+
+#endif // TOML_ENABLE_WINDOWS_COMPAT
+
+#if TOML_HAS_CHAR8 && TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_EXTERNAL_LINKAGE
+	parse_result TOML_CALLCONV parse(std::u8string_view doc, std::wstring_view source_path)
+	{
+		return TOML_ANON_NAMESPACE::do_parse(TOML_ANON_NAMESPACE::utf8_reader{ doc, impl::narrow(source_path) });
+	}
+
+#endif // TOML_HAS_CHAR8 && TOML_ENABLE_WINDOWS_COMPAT
+
+	TOML_ABI_NAMESPACE_END; // TOML_EXCEPTIONS
+}
+TOML_NAMESPACE_END;
+
+#undef TOML_OVERALIGNED
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_PARSER
+
+//********  impl/formatter.inl  ****************************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_IMPL_NAMESPACE_START
+{
+	enum class TOML_CLOSED_FLAGS_ENUM formatted_string_traits : unsigned
+	{
+		none,
+		line_breaks	  = 1u << 0, // \n
+		tabs		  = 1u << 1, // \t
+		control_chars = 1u << 2, // also includes non-ascii vertical whitespace
+		single_quotes = 1u << 3,
+		non_bare	  = 1u << 4, // anything not satisfying "is bare key character"
+		non_ascii	  = 1u << 5, // any codepoint >= 128
+
+		all = (non_ascii << 1u) - 1u
+	};
+	TOML_MAKE_FLAGS(formatted_string_traits);
+
+	TOML_EXTERNAL_LINKAGE
+	formatter::formatter(const node* source_node,
+						 const parse_result* source_pr,
+						 const formatter_constants& constants,
+						 const formatter_config& config) noexcept //
+#if TOML_ENABLE_PARSER && !TOML_EXCEPTIONS
+		: source_{ source_pr && *source_pr ? &source_pr->table() : source_node },
+		  result_{ source_pr },
+#else
+		: source_{ source_pr ? source_pr : source_node },
+#endif
+		  constants_{ &constants },
+		  config_{ config }
+	{
+		TOML_ASSERT_ASSUME(source_);
+
+		config_.flags = (config_.flags | constants_->mandatory_flags) & ~constants_->ignored_flags;
+
+		indent_columns_ = {};
+		for (auto c : config_.indent)
+			indent_columns_ += c == '\t' ? 4u : 1u;
+
+		int_format_mask_ = config_.flags
+						 & (format_flags::allow_binary_integers | format_flags::allow_octal_integers
+							| format_flags::allow_hexadecimal_integers);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::attach(std::ostream & stream) noexcept
+	{
+		indent_		   = {};
+		naked_newline_ = true;
+		stream_		   = &stream;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::detach() noexcept
+	{
+		stream_ = nullptr;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print_newline(bool force)
+	{
+		if (!naked_newline_ || force)
+		{
+			print_to_stream(*stream_, '\n');
+			naked_newline_ = true;
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print_indent()
+	{
+		for (int i = 0; i < indent_; i++)
+		{
+			print_to_stream(*stream_, config_.indent);
+			naked_newline_ = false;
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print_unformatted(char c)
+	{
+		print_to_stream(*stream_, c);
+		naked_newline_ = false;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print_unformatted(std::string_view str)
+	{
+		print_to_stream(*stream_, str);
+		naked_newline_ = false;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print_string(std::string_view str,
+								 bool allow_multi_line,
+								 bool allow_bare,
+								 bool allow_literal_whitespace)
+	{
+		if (str.empty())
+		{
+			print_unformatted(literal_strings_allowed() ? "''"sv : "\"\""sv);
+			return;
+		}
+
+		// pre-scan the string to determine how we should output it
+		formatted_string_traits traits = {};
+
+		if (!allow_bare)
+			traits |= formatted_string_traits::non_bare;
+		bool unicode_allowed = unicode_strings_allowed();
+
+		// ascii fast path
+		if (is_ascii(str.data(), str.length()))
+		{
+			for (auto c : str)
+			{
+				switch (c)
+				{
+					case '\n': traits |= formatted_string_traits::line_breaks; break;
+					case '\t': traits |= formatted_string_traits::tabs; break;
+					case '\'': traits |= formatted_string_traits::single_quotes; break;
+					default:
+					{
+						if TOML_UNLIKELY(is_control_character(c))
+							traits |= formatted_string_traits::control_chars;
+
+						if (!is_ascii_bare_key_character(static_cast<char32_t>(c)))
+							traits |= formatted_string_traits::non_bare;
+						break;
+					}
+				}
+
+				static constexpr auto all_ascii_traits =
+					formatted_string_traits::all & ~formatted_string_traits::non_ascii;
+				if (traits == all_ascii_traits)
+					break;
+			}
+		}
+
+		// unicode slow path
+		else
+		{
+			traits |= formatted_string_traits::non_ascii;
+			utf8_decoder decoder;
+
+			// if the unicode is malformed just treat the string as a single-line non-literal and
+			// escape all non-ascii characters (to ensure round-tripping and help with diagnostics)
+			const auto bad_unicode = [&]() noexcept
+			{
+				traits &= ~formatted_string_traits::line_breaks;
+				traits |= formatted_string_traits::control_chars | formatted_string_traits::non_bare;
+				unicode_allowed = false;
+			};
+
+			for (auto c : str)
+			{
+				decoder(c);
+
+				if TOML_UNLIKELY(decoder.error())
+				{
+					bad_unicode();
+					break;
+				}
+
+				if (!decoder.has_code_point())
+					continue;
+
+				switch (decoder.codepoint)
+				{
+					case U'\n': traits |= formatted_string_traits::line_breaks; break;
+					case U'\t': traits |= formatted_string_traits::tabs; break;
+					case U'\'': traits |= formatted_string_traits::single_quotes; break;
+					default:
+					{
+						if TOML_UNLIKELY(is_control_character(decoder.codepoint)
+							|| is_non_ascii_vertical_whitespace(decoder.codepoint))
+							traits |= formatted_string_traits::control_chars;
+
+						if (!is_bare_key_character(decoder.codepoint))
+							traits |= formatted_string_traits::non_bare;
+						break;
+					}
+				}
+			}
+
+			if (decoder.needs_more_input())
+				bad_unicode();
+		}
+
+		// strings with line breaks, tabs, and single-quotes can't be bare
+		if (!!(traits
+			   & (formatted_string_traits::line_breaks | formatted_string_traits::tabs
+				  | formatted_string_traits::single_quotes)))
+			traits |= formatted_string_traits::non_bare;
+
+		// if the string meets the requirements of being 'bare' we can emit a bare string
+		// (bare strings are composed of letters and numbers; no whitespace, control chars, quotes, etc)
+		if (!(traits & formatted_string_traits::non_bare)
+			&& (!(traits & formatted_string_traits::non_ascii) || unicode_allowed))
+		{
+			print_unformatted(str);
+			return;
+		}
+		const auto real_tabs_allowed = allow_literal_whitespace && real_tabs_in_strings_allowed();
+
+		// determine if this should be a multi-line string (triple-quotes)
+		const auto multi_line = allow_literal_whitespace	 //
+							 && allow_multi_line			 //
+							 && multi_line_strings_allowed() //
+							 && !!(traits & formatted_string_traits::line_breaks);
+
+		// determine if this should be a literal string (single-quotes with no escaping)
+		const auto literal = literal_strings_allowed()											//
+						  && !(traits & formatted_string_traits::control_chars)					//
+						  && (!(traits & formatted_string_traits::single_quotes) || multi_line) //
+						  && (!(traits & formatted_string_traits::tabs) || real_tabs_allowed)	//
+						  && (!(traits & formatted_string_traits::line_breaks) || multi_line)	//
+						  && (!(traits & formatted_string_traits::non_ascii) || unicode_allowed);
+
+		// literal strings (single quotes, no escape codes)
+		if (literal)
+		{
+			const auto quot = multi_line ? R"(''')"sv : R"(')"sv;
+			print_unformatted(quot);
+			print_unformatted(str);
+			print_unformatted(quot);
+			return;
+		}
+
+		// anything from here down is a non-literal string, so requires iteration and escaping.
+		print_unformatted(multi_line ? R"(""")"sv : R"(")"sv);
+
+		// ascii fast path
+		if (!(traits & formatted_string_traits::non_ascii))
+		{
+			for (auto c : str)
+			{
+				switch (c)
+				{
+					case '"': print_to_stream(*stream_, R"(\")"sv); break;
+					case '\\': print_to_stream(*stream_, R"(\\)"sv); break;
+					case '\x7F': print_to_stream(*stream_, R"(\u007F)"sv); break;
+					case '\t': print_to_stream(*stream_, real_tabs_allowed ? "\t"sv : R"(\t)"sv); break;
+					case '\n': print_to_stream(*stream_, multi_line ? "\n"sv : R"(\n)"sv); break;
+					default:
+					{
+						// control characters from lookup table
+						if TOML_UNLIKELY(c >= '\x00' && c <= '\x1F')
+							print_to_stream(*stream_, control_char_escapes[c]);
+
+						// regular characters
+						else
+							print_to_stream(*stream_, c);
+					}
+				}
+			}
+		}
+
+		// unicode slow path
+		else
+		{
+			utf8_decoder decoder;
+			const char* cp_start = str.data();
+			const char* cp_end	 = cp_start;
+			for (auto c : str)
+			{
+				decoder(c);
+				cp_end++;
+
+				// if the decoder encounters malformed unicode just emit raw bytes and
+				if (decoder.error())
+				{
+					while (cp_start != cp_end)
+					{
+						print_to_stream(*stream_, R"(\u00)"sv);
+						print_to_stream(*stream_,
+										static_cast<uint8_t>(*cp_start),
+										value_flags::format_as_hexadecimal,
+										2);
+						cp_start++;
+					}
+					decoder.reset();
+					continue;
+				}
+
+				if (!decoder.has_code_point())
+					continue;
+
+				switch (decoder.codepoint)
+				{
+					case U'"': print_to_stream(*stream_, R"(\")"sv); break;
+					case U'\\': print_to_stream(*stream_, R"(\\)"sv); break;
+					case U'\x7F': print_to_stream(*stream_, R"(\u007F)"sv); break;
+					case U'\t': print_to_stream(*stream_, real_tabs_allowed ? "\t"sv : R"(\t)"sv); break;
+					case U'\n': print_to_stream(*stream_, multi_line ? "\n"sv : R"(\n)"sv); break;
+					default:
+					{
+						// control characters from lookup table
+						if TOML_UNLIKELY(decoder.codepoint <= U'\x1F')
+							print_to_stream(*stream_,
+											control_char_escapes[static_cast<uint_least32_t>(decoder.codepoint)]);
+
+						// escaped unicode characters
+						else if (decoder.codepoint > U'\x7F'
+								 && (!unicode_allowed || is_non_ascii_vertical_whitespace(decoder.codepoint)))
+						{
+							if (static_cast<uint_least32_t>(decoder.codepoint) > 0xFFFFu)
+							{
+								print_to_stream(*stream_, R"(\U)"sv);
+								print_to_stream(*stream_,
+												static_cast<uint_least32_t>(decoder.codepoint),
+												value_flags::format_as_hexadecimal,
+												8);
+							}
+							else
+							{
+								print_to_stream(*stream_, R"(\u)"sv);
+								print_to_stream(*stream_,
+												static_cast<uint_least32_t>(decoder.codepoint),
+												value_flags::format_as_hexadecimal,
+												4);
+							}
+						}
+
+						// regular characters
+						else
+							print_to_stream(*stream_, cp_start, static_cast<size_t>(cp_end - cp_start));
+					}
+				}
+
+				cp_start = cp_end;
+			}
+		}
+
+		print_unformatted(multi_line ? R"(""")"sv : R"(")"sv);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<std::string>& val)
+	{
+		print_string(val.get());
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<int64_t>& val)
+	{
+		naked_newline_ = false;
+
+		if (*val >= 0 && !!int_format_mask_)
+		{
+			static constexpr auto value_flags_mask =
+				value_flags::format_as_binary | value_flags::format_as_octal | value_flags::format_as_hexadecimal;
+
+			const auto fmt = val.flags() & value_flags_mask;
+			switch (fmt)
+			{
+				case value_flags::format_as_binary:
+					if (!!(int_format_mask_ & format_flags::allow_binary_integers))
+					{
+						print_to_stream(*stream_, "0b"sv);
+						print_to_stream(*stream_, *val, fmt);
+						return;
+					}
+					break;
+
+				case value_flags::format_as_octal:
+					if (!!(int_format_mask_ & format_flags::allow_octal_integers))
+					{
+						print_to_stream(*stream_, "0o"sv);
+						print_to_stream(*stream_, *val, fmt);
+						return;
+					}
+					break;
+
+				case value_flags::format_as_hexadecimal:
+					if (!!(int_format_mask_ & format_flags::allow_hexadecimal_integers))
+					{
+						print_to_stream(*stream_, "0x"sv);
+						print_to_stream(*stream_, *val, fmt);
+						return;
+					}
+					break;
+
+				default: break;
+			}
+		}
+
+		// fallback to decimal
+		print_to_stream(*stream_, *val);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<double>& val)
+	{
+		const std::string_view* inf_nan = nullptr;
+		switch (fpclassify(*val))
+		{
+			case fp_class::neg_inf: inf_nan = &constants_->float_neg_inf; break;
+			case fp_class::pos_inf: inf_nan = &constants_->float_pos_inf; break;
+			case fp_class::nan: inf_nan = &constants_->float_nan; break;
+			case fp_class::ok:
+				print_to_stream(*stream_,
+								*val,
+								value_flags::none,
+								!!(config_.flags & format_flags::relaxed_float_precision));
+				break;
+			default: TOML_UNREACHABLE;
+		}
+
+		if (inf_nan)
+		{
+			if (!!(config_.flags & format_flags::quote_infinities_and_nans))
+				print_to_stream_bookended(*stream_, *inf_nan, '"');
+			else
+				print_to_stream(*stream_, *inf_nan);
+		}
+
+		naked_newline_ = false;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<bool>& val)
+	{
+		print_unformatted(*val ? constants_->bool_true : constants_->bool_false);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<date>& val)
+	{
+		if (!!(config_.flags & format_flags::quote_dates_and_times))
+			print_to_stream_bookended(*stream_, *val, literal_strings_allowed() ? '\'' : '"');
+		else
+			print_to_stream(*stream_, *val);
+		naked_newline_ = false;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<time>& val)
+	{
+		if (!!(config_.flags & format_flags::quote_dates_and_times))
+			print_to_stream_bookended(*stream_, *val, literal_strings_allowed() ? '\'' : '"');
+		else
+			print_to_stream(*stream_, *val);
+		naked_newline_ = false;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print(const value<date_time>& val)
+	{
+		if (!!(config_.flags & format_flags::quote_dates_and_times))
+			print_to_stream_bookended(*stream_, *val, literal_strings_allowed() ? '\'' : '"');
+		else
+			print_to_stream(*stream_, *val);
+		naked_newline_ = false;
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void formatter::print_value(const node& val_node, node_type type)
+	{
+		TOML_ASSUME(type > node_type::array);
+		switch (type)
+		{
+			case node_type::string: print(*reinterpret_cast<const value<std::string>*>(&val_node)); break;
+			case node_type::integer: print(*reinterpret_cast<const value<int64_t>*>(&val_node)); break;
+			case node_type::floating_point: print(*reinterpret_cast<const value<double>*>(&val_node)); break;
+			case node_type::boolean: print(*reinterpret_cast<const value<bool>*>(&val_node)); break;
+			case node_type::date: print(*reinterpret_cast<const value<date>*>(&val_node)); break;
+			case node_type::time: print(*reinterpret_cast<const value<time>*>(&val_node)); break;
+			case node_type::date_time: print(*reinterpret_cast<const value<date_time>*>(&val_node)); break;
+			default: TOML_UNREACHABLE;
+		}
+	}
+
+#if TOML_ENABLE_PARSER && !TOML_EXCEPTIONS
+
+	TOML_EXTERNAL_LINKAGE
+	bool formatter::dump_failed_parse_result()
+	{
+		if (result_ && !(*result_))
+		{
+			stream() << result_->error();
+			return true;
+		}
+		return false;
+	}
+
+#else
+
+	TOML_EXTERNAL_LINKAGE
+	TOML_ATTR(const)
+	bool formatter::dump_failed_parse_result()
+	{
+		return false;
+	}
+
+#endif
+}
+TOML_IMPL_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+//********  impl/toml_formatter.inl  ***********************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_DISABLE_ARITHMETIC_WARNINGS;
+
+TOML_ANON_NAMESPACE_START
+{
+	TOML_INTERNAL_LINKAGE
+	size_t toml_formatter_count_inline_columns(const node& node, size_t line_wrap_cols) noexcept
+	{
+		switch (node.type())
+		{
+			case node_type::table:
+			{
+				auto& tbl = *reinterpret_cast<const table*>(&node);
+				if (tbl.empty())
+					return 2u;		// "{}"
+				size_t weight = 3u; // "{ }"
+				for (auto&& [k, v] : tbl)
+				{
+					weight += k.length() + toml_formatter_count_inline_columns(v, line_wrap_cols) + 2u; // +  ", "
+					if (weight >= line_wrap_cols)
+						break;
+				}
+				return weight;
+			}
+
+			case node_type::array:
+			{
+				auto& arr = *reinterpret_cast<const array*>(&node);
+				if (arr.empty())
+					return 2u;		// "[]"
+				size_t weight = 3u; // "[ ]"
+				for (auto& elem : arr)
+				{
+					weight += toml_formatter_count_inline_columns(elem, line_wrap_cols) + 2u; // +  ", "
+					if (weight >= line_wrap_cols)
+						break;
+				}
+				return weight;
+			}
+
+			case node_type::string:
+			{
+				// todo: proper utf8 decoding?
+				// todo: tab awareness?
+				auto& str = (*reinterpret_cast<const value<std::string>*>(&node)).get();
+				return str.length() + 2u; // + ""
+			}
+
+			case node_type::integer:
+			{
+				auto val = (*reinterpret_cast<const value<int64_t>*>(&node)).get();
+				if (!val)
+					return 1u;
+				size_t weight = {};
+				if (val < 0)
+				{
+					weight += 1u;
+					val *= -1;
+				}
+				return weight + static_cast<size_t>(log10(static_cast<double>(val))) + 1u;
+			}
+
+			case node_type::floating_point:
+			{
+				auto val = (*reinterpret_cast<const value<double>*>(&node)).get();
+				if (val == 0.0)
+					return 3u;		// "0.0"
+				size_t weight = 2u; // ".0"
+				if (val < 0.0)
+				{
+					weight += 1u;
+					val *= -1.0;
+				}
+				return weight + static_cast<size_t>(log10(val)) + 1u;
+				break;
+			}
+
+			case node_type::boolean: return 5u;
+			case node_type::date: [[fallthrough]];
+			case node_type::time: return 10u;
+			case node_type::date_time: return 30u;
+			case node_type::none: TOML_UNREACHABLE;
+			default: TOML_UNREACHABLE;
+		}
+
+		TOML_UNREACHABLE;
+	}
+
+	TOML_INTERNAL_LINKAGE
+	bool toml_formatter_forces_multiline(const node& node, size_t line_wrap_cols, size_t starting_column_bias) noexcept
+	{
+		return (toml_formatter_count_inline_columns(node, line_wrap_cols) + starting_column_bias) >= line_wrap_cols;
+	}
+}
+TOML_ANON_NAMESPACE_END;
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	void toml_formatter::print_pending_table_separator()
+	{
+		if (pending_table_separator_)
+		{
+			print_newline(true);
+			print_newline(true);
+			pending_table_separator_ = false;
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void toml_formatter::print(const key& k)
+	{
+		print_string(k.str(), false, true, false);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void toml_formatter::print_inline(const table& tbl)
+	{
+		if (tbl.empty())
+		{
+			print_unformatted("{}"sv);
+			return;
+		}
+
+		print_unformatted("{ "sv);
+
+		bool first = false;
+		for (auto&& [k, v] : tbl)
+		{
+			if (first)
+				print_unformatted(", "sv);
+			first = true;
+
+			print(k);
+			if (terse_kvps())
+				print_unformatted("="sv);
+			else
+				print_unformatted(" = "sv);
+
+			const auto type = v.type();
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print_inline(*reinterpret_cast<const table*>(&v)); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+
+		print_unformatted(" }"sv);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void toml_formatter::print(const array& arr)
+	{
+		if (arr.empty())
+		{
+			print_unformatted("[]"sv);
+			return;
+		}
+
+		const auto original_indent = indent();
+		const auto multiline	   = TOML_ANON_NAMESPACE::toml_formatter_forces_multiline(
+			  arr,
+			  120u,
+			  indent_columns() * static_cast<size_t>(original_indent < 0 ? 0 : original_indent));
+
+		print_unformatted("["sv);
+
+		if (multiline)
+		{
+			if (original_indent < 0)
+				indent(0);
+			if (indent_array_elements())
+				increase_indent();
+		}
+		else
+			print_unformatted(' ');
+
+		for (size_t i = 0; i < arr.size(); i++)
+		{
+			if (i > 0u)
+			{
+				print_unformatted(',');
+				if (!multiline)
+					print_unformatted(' ');
+			}
+
+			if (multiline)
+			{
+				print_newline(true);
+				print_indent();
+			}
+
+			auto& v			= arr[i];
+			const auto type = v.type();
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print_inline(*reinterpret_cast<const table*>(&v)); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+		if (multiline)
+		{
+			indent(original_indent);
+			print_newline(true);
+			print_indent();
+		}
+		else
+			print_unformatted(' ');
+
+		print_unformatted("]"sv);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void toml_formatter::print(const table& tbl)
+	{
+		static constexpr auto is_non_inline_array_of_tables = [](const node& n) noexcept
+		{
+			const auto arr = n.as_array();
+			if (!arr || !arr->is_array_of_tables())
+				return false;
+
+			return !reinterpret_cast<const table*>(&(*arr)[0])->is_inline();
+		};
+
+		// values, arrays, and inline tables/table arrays
+		for (auto&& [k, v] : tbl)
+		{
+			const auto type = v.type();
+			if ((type == node_type::table && !reinterpret_cast<const table*>(&v)->is_inline())
+				|| (type == node_type::array && is_non_inline_array_of_tables(v)))
+				continue;
+
+			pending_table_separator_ = true;
+			print_newline();
+			print_indent();
+			print(k);
+			if (terse_kvps())
+				print_unformatted("="sv);
+			else
+				print_unformatted(" = "sv);
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print_inline(*reinterpret_cast<const table*>(&v)); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+
+		const auto print_key_path = [&]()
+		{
+			size_t i{};
+			for (const auto k : key_path_)
+			{
+				if (i++)
+					print_unformatted('.');
+				print(*k);
+			}
+		};
+
+		// non-inline tables
+		for (auto&& [k, v] : tbl)
+		{
+			const auto type = v.type();
+			if (type != node_type::table || reinterpret_cast<const table*>(&v)->is_inline())
+				continue;
+			auto& child_tbl = *reinterpret_cast<const table*>(&v);
+
+			// we can skip indenting and emitting the headers for tables that only contain other tables
+			// (so we don't over-nest)
+			size_t child_value_count{}; // includes inline tables and non-table arrays
+			size_t child_table_count{};
+			size_t child_table_array_count{};
+			for (auto&& [child_k, child_v] : child_tbl)
+			{
+				TOML_UNUSED(child_k);
+				const auto child_type = child_v.type();
+				TOML_ASSUME(child_type != node_type::none);
+				switch (child_type)
+				{
+					case node_type::table:
+						if (reinterpret_cast<const table*>(&child_v)->is_inline())
+							child_value_count++;
+						else
+							child_table_count++;
+						break;
+
+					case node_type::array:
+						if (is_non_inline_array_of_tables(child_v))
+							child_table_array_count++;
+						else
+							child_value_count++;
+						break;
+
+					default: child_value_count++;
+				}
+			}
+			bool skip_self = false;
+			if (child_value_count == 0u && (child_table_count > 0u || child_table_array_count > 0u))
+				skip_self = true;
+
+			key_path_.push_back(&k);
+
+			if (!skip_self)
+			{
+				print_pending_table_separator();
+				if (indent_sub_tables())
+					increase_indent();
+				print_indent();
+				print_unformatted("["sv);
+				print_key_path();
+				print_unformatted("]"sv);
+				pending_table_separator_ = true;
+			}
+
+			print(child_tbl);
+
+			key_path_.pop_back();
+			if (!skip_self && indent_sub_tables())
+				decrease_indent();
+		}
+
+		// table arrays
+		for (auto&& [k, v] : tbl)
+		{
+			if (!is_non_inline_array_of_tables(v))
+				continue;
+			auto& arr = *reinterpret_cast<const array*>(&v);
+
+			if (indent_sub_tables())
+				increase_indent();
+			key_path_.push_back(&k);
+
+			for (size_t i = 0; i < arr.size(); i++)
+			{
+				print_pending_table_separator();
+				print_indent();
+				print_unformatted("[["sv);
+				print_key_path();
+				print_unformatted("]]"sv);
+				pending_table_separator_ = true;
+				print(*reinterpret_cast<const table*>(&arr[i]));
+			}
+
+			key_path_.pop_back();
+			if (indent_sub_tables())
+				decrease_indent();
+		}
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void toml_formatter::print()
+	{
+		if (dump_failed_parse_result())
+			return;
+
+		switch (auto source_type = source().type())
+		{
+			case node_type::table:
+			{
+				auto& tbl = *reinterpret_cast<const table*>(&source());
+				if (tbl.is_inline())
+					print_inline(tbl);
+				else
+				{
+					decrease_indent(); // so root kvps and tables have the same indent
+					print(tbl);
+				}
+				break;
+			}
+
+			case node_type::array: print(*reinterpret_cast<const array*>(&source())); break;
+
+			default: print_value(source(), source_type);
+		}
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+//********  impl/json_formatter.inl  ***********************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	void json_formatter::print(const toml::table& tbl)
+	{
+		if (tbl.empty())
+		{
+			print_unformatted("{}"sv);
+			return;
+		}
+
+		print_unformatted('{');
+
+		if (indent_sub_tables())
+			increase_indent();
+		bool first = false;
+		for (auto&& [k, v] : tbl)
+		{
+			if (first)
+				print_unformatted(',');
+			first = true;
+			print_newline(true);
+			print_indent();
+
+			print_string(k.str(), false);
+			if (terse_kvps())
+				print_unformatted(":"sv);
+			else
+				print_unformatted(" : "sv);
+
+			const auto type = v.type();
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print(*reinterpret_cast<const table*>(&v)); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+		if (indent_sub_tables())
+			decrease_indent();
+		print_newline(true);
+		print_indent();
+
+		print_unformatted('}');
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void json_formatter::print(const toml::array& arr)
+	{
+		if (arr.empty())
+		{
+			print_unformatted("[]"sv);
+			return;
+		}
+
+		print_unformatted('[');
+		if (indent_array_elements())
+			increase_indent();
+		for (size_t i = 0; i < arr.size(); i++)
+		{
+			if (i > 0u)
+				print_unformatted(',');
+			print_newline(true);
+			print_indent();
+
+			auto& v			= arr[i];
+			const auto type = v.type();
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print(*reinterpret_cast<const table*>(&v)); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+		if (indent_array_elements())
+			decrease_indent();
+		print_newline(true);
+		print_indent();
+		print_unformatted(']');
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void json_formatter::print()
+	{
+		if (dump_failed_parse_result())
+			return;
+
+		switch (auto source_type = source().type())
+		{
+			case node_type::table: print(*reinterpret_cast<const table*>(&source())); break;
+			case node_type::array: print(*reinterpret_cast<const array*>(&source())); break;
+			default: print_value(source(), source_type);
+		}
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+//********  impl/yaml_formatter.inl  ***********************************************************************************
+
+#if TOML_ENABLE_FORMATTERS
+
+TOML_PUSH_WARNINGS;
+#ifdef _MSC_VER
+#ifndef __clang__
+#pragma inline_recursion(on)
+#endif
+#pragma push_macro("min")
+#pragma push_macro("max")
+#undef min
+#undef max
+#endif
+
+TOML_NAMESPACE_START
+{
+	TOML_EXTERNAL_LINKAGE
+	void yaml_formatter::print_yaml_string(const value<std::string>& str)
+	{
+		if (str->empty())
+		{
+			base::print(str);
+			return;
+		}
+
+		bool contains_newline = false;
+		for (auto c = str->c_str(), e = str->c_str() + str->length(); c < e && !contains_newline; c++)
+			contains_newline = *c == '\n';
+
+		if (contains_newline)
+		{
+			print_unformatted("|-"sv);
+
+			increase_indent();
+
+			auto line_end  = str->c_str() - 1u;
+			const auto end = str->c_str() + str->length();
+			while (line_end != end)
+			{
+				auto line_start = line_end + 1u;
+				line_end		= line_start;
+				for (; line_end != end && *line_end != '\n'; line_end++)
+					;
+
+				if TOML_LIKELY(line_start != line_end || line_end != end)
+				{
+					print_newline();
+					print_indent();
+					print_unformatted(std::string_view{ line_start, static_cast<size_t>(line_end - line_start) });
+				}
+			}
+
+			decrease_indent();
+		}
+		else
+			print_string(*str, false, true);
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void yaml_formatter::print(const toml::table& tbl, bool parent_is_array)
+	{
+		if (tbl.empty())
+		{
+			print_unformatted("{}"sv);
+			return;
+		}
+
+		increase_indent();
+
+		for (auto&& [k, v] : tbl)
+		{
+			if (!parent_is_array)
+			{
+				print_newline();
+				print_indent();
+			}
+			parent_is_array = false;
+
+			print_string(k.str(), false, true);
+			if (terse_kvps())
+				print_unformatted(":"sv);
+			else
+				print_unformatted(": "sv);
+
+			const auto type = v.type();
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print(*reinterpret_cast<const table*>(&v)); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v)); break;
+				case node_type::string: print_yaml_string(*reinterpret_cast<const value<std::string>*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+
+		decrease_indent();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void yaml_formatter::print(const toml::array& arr, bool parent_is_array)
+	{
+		if (arr.empty())
+		{
+			print_unformatted("[]"sv);
+			return;
+		}
+
+		increase_indent();
+
+		for (auto&& v : arr)
+		{
+			if (!parent_is_array)
+			{
+				print_newline();
+				print_indent();
+			}
+			parent_is_array = false;
+
+			print_unformatted("- "sv);
+
+			const auto type = v.type();
+			TOML_ASSUME(type != node_type::none);
+			switch (type)
+			{
+				case node_type::table: print(*reinterpret_cast<const table*>(&v), true); break;
+				case node_type::array: print(*reinterpret_cast<const array*>(&v), true); break;
+				case node_type::string: print_yaml_string(*reinterpret_cast<const value<std::string>*>(&v)); break;
+				default: print_value(v, type);
+			}
+		}
+
+		decrease_indent();
+	}
+
+	TOML_EXTERNAL_LINKAGE
+	void yaml_formatter::print()
+	{
+		if (dump_failed_parse_result())
+			return;
+
+		switch (auto source_type = source().type())
+		{
+			case node_type::table:
+				decrease_indent(); // so root kvps and tables have the same indent
+				print(*reinterpret_cast<const table*>(&source()));
+				break;
+
+			case node_type::array: print(*reinterpret_cast<const array*>(&source())); break;
+
+			case node_type::string: print_yaml_string(*reinterpret_cast<const value<std::string>*>(&source())); break;
+
+			default: print_value(source(), source_type);
+		}
+	}
+}
+TOML_NAMESPACE_END;
+
+#ifdef _MSC_VER
+#pragma pop_macro("min")
+#pragma pop_macro("max")
+#ifndef __clang__
+#pragma inline_recursion(off)
+#endif
+#endif
+TOML_POP_WARNINGS;
+
+#endif // TOML_ENABLE_FORMATTERS
+
+#endif // TOML_IMPLEMENTATION
+
+TOML_POP_WARNINGS;
+
+// macro hygiene
+#if TOML_UNDEF_MACROS
+#undef TOML_ABI_NAMESPACE_BOOL
+#undef TOML_ABI_NAMESPACE_END
+#undef TOML_ABI_NAMESPACE_START
+#undef TOML_ABI_NAMESPACES
+#undef TOML_ABSTRACT_INTERFACE
+#undef TOML_ALWAYS_INLINE
+#undef TOML_ANON_NAMESPACE
+#undef TOML_ANON_NAMESPACE_END
+#undef TOML_ANON_NAMESPACE_START
+#undef TOML_ARCH_AMD64
+#undef TOML_ARCH_ARM
+#undef TOML_ARCH_ARM32
+#undef TOML_ARCH_ARM64
+#undef TOML_ARCH_BITNESS
+#undef TOML_ARCH_ITANIUM
+#undef TOML_ARCH_X64
+#undef TOML_ARCH_X86
+#undef TOML_ASSERT
+#undef TOML_ASSERT_ASSUME
+#undef TOML_ASSUME
+#undef TOML_ASYMMETRICAL_EQUALITY_OPS
+#undef TOML_ATTR
+#undef TOML_CLANG
+#undef TOML_CLANG_VERSION
+#undef TOML_CLOSED_ENUM
+#undef TOML_CLOSED_FLAGS_ENUM
+#undef TOML_COMPILER_HAS_EXCEPTIONS
+#undef TOML_COMPILER_HAS_RTTI
+#undef TOML_CONST
+#undef TOML_CONST_GETTER
+#undef TOML_CONST_INLINE_GETTER
+#undef TOML_CONSTRAINED_TEMPLATE
+#undef TOML_CPP
+#undef TOML_DECLSPEC
+#undef TOML_DELETE_DEFAULTS
+#undef TOML_DISABLE_ARITHMETIC_WARNINGS
+#undef TOML_DISABLE_CODE_ANALYSIS_WARNINGS
+#undef TOML_DISABLE_SPAM_WARNINGS
+#undef TOML_DISABLE_SPAM_WARNINGS_CLANG_10
+#undef TOML_DISABLE_SPAM_WARNINGS_CLANG_11
+#undef TOML_DISABLE_SUGGEST_ATTR_WARNINGS
+#undef TOML_DISABLE_SWITCH_WARNINGS
+#undef TOML_DISABLE_WARNINGS
+#undef TOML_DOXYGEN
+#undef TOML_EMPTY_BASES
+#undef TOML_ENABLE_IF
+#undef TOML_ENABLE_WARNINGS
+#undef TOML_EVAL_BOOL_0
+#undef TOML_EVAL_BOOL_1
+#undef TOML_EXTERNAL_LINKAGE
+#undef TOML_FLAGS_ENUM
+#undef TOML_FLOAT_CHARCONV
+#undef TOML_FLOAT128
+#undef TOML_FLOAT16_DIG
+#undef TOML_FLOAT16_LIMITS_SET
+#undef TOML_FLOAT16_MANT_DIG
+#undef TOML_FLOAT16_MAX_10_EXP
+#undef TOML_FLOAT16_MAX_EXP
+#undef TOML_FLOAT16_MIN_10_EXP
+#undef TOML_FLOAT16_MIN_EXP
+#undef TOML_GCC
+#undef TOML_GCC_LIKE
+#undef TOML_HAS_ATTR
+#undef TOML_HAS_BUILTIN
+#undef TOML_HAS_CHAR8
+#undef TOML_HAS_CPP_ATTR
+#undef TOML_HAS_CUSTOM_OPTIONAL_TYPE
+#undef TOML_HAS_FEATURE
+#undef TOML_HAS_INCLUDE
+#undef TOML_HAS_SSE2
+#undef TOML_HAS_SSE4_1
+#undef TOML_HIDDEN_CONSTRAINT
+#undef TOML_ICC
+#undef TOML_ICC_CL
+#undef TOML_IMPL_NAMESPACE_END
+#undef TOML_IMPL_NAMESPACE_START
+#undef TOML_IMPLEMENTATION
+#undef TOML_INCLUDE_WINDOWS_H
+#undef TOML_INLINE_GETTER
+#undef TOML_INT_CHARCONV
+#undef TOML_INT128
+#undef TOML_INTELLISENSE
+#undef TOML_INTERNAL_LINKAGE
+#undef TOML_LANG_AT_LEAST
+#undef TOML_LANG_EFFECTIVE_VERSION
+#undef TOML_LANG_HIGHER_THAN
+#undef TOML_LANG_UNRELEASED
+#undef TOML_LAUNDER
+#undef TOML_LIFETIME_HOOKS
+#undef TOML_LIKELY
+#undef TOML_LIKELY_CASE
+#undef TOML_LINUX
+#undef TOML_MAKE_FLAGS
+#undef TOML_MAKE_FLAGS_
+#undef TOML_MAKE_FLAGS_1
+#undef TOML_MAKE_FLAGS_2
+#undef TOML_MAKE_STRING
+#undef TOML_MAKE_STRING_1
+#undef TOML_MAKE_VERSION
+#undef TOML_MSVC
+#undef TOML_MSVC_LIKE
+#undef TOML_NAMESPACE
+#undef TOML_NEVER_INLINE
+#undef TOML_NODISCARD
+#undef TOML_NODISCARD_CTOR
+#undef TOML_OPEN_ENUM
+#undef TOML_OPEN_FLAGS_ENUM
+#undef TOML_PARSER_TYPENAME
+#undef TOML_POP_WARNINGS
+#undef TOML_PRAGMA_CLANG
+#undef TOML_PRAGMA_CLANG_GE_10
+#undef TOML_PRAGMA_CLANG_GE_11
+#undef TOML_PRAGMA_CLANG_GE_8
+#undef TOML_PRAGMA_CLANG_GE_9
+#undef TOML_PRAGMA_GCC
+#undef TOML_PRAGMA_ICC
+#undef TOML_PRAGMA_MSVC
+#undef TOML_PURE
+#undef TOML_PURE_GETTER
+#undef TOML_PURE_INLINE_GETTER
+#undef TOML_PUSH_WARNINGS
+#undef TOML_REQUIRES
+#undef TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN
+#undef TOML_RETURN_BOOL_FROM_FOR_EACH_BROKEN_MESSAGE
+#undef TOML_SA_LIST_BEG
+#undef TOML_SA_LIST_END
+#undef TOML_SA_LIST_NEW
+#undef TOML_SA_LIST_NXT
+#undef TOML_SA_LIST_SEP
+#undef TOML_SA_NATIVE_VALUE_TYPE_LIST
+#undef TOML_SA_NEWLINE
+#undef TOML_SA_NODE_TYPE_LIST
+#undef TOML_SA_UNWRAPPED_NODE_TYPE_LIST
+#undef TOML_SA_VALUE_EXACT_FUNC_MESSAGE
+#undef TOML_SA_VALUE_FUNC_MESSAGE
+#undef TOML_SA_VALUE_MESSAGE_CONST_CHAR8
+#undef TOML_SA_VALUE_MESSAGE_U8STRING_VIEW
+#undef TOML_SA_VALUE_MESSAGE_WSTRING
+#undef TOML_SIMPLE_STATIC_ASSERT_MESSAGES
+#undef TOML_TRIVIAL_ABI
+#undef TOML_UINT128
+#undef TOML_UNIX
+#undef TOML_UNLIKELY
+#undef TOML_UNLIKELY_CASE
+#undef TOML_UNREACHABLE
+#undef TOML_UNUSED
+#undef TOML_WINDOWS
+#endif
+
+#endif // TOMLPLUSPLUS_HPP

From b125cbd6c1f625ce514890f90b2ce846681bcf29 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 14:13:01 -0700
Subject: [PATCH 120/205] config: add fsw::config toml++-backed parser +
 board-loader parity harness (no behavior change)

---
 daq-server/diablo_server/lib/CMakeLists.txt   |  10 +
 .../lib/include/config/Config.hpp             | 188 +++++++++
 .../diablo_server/lib/src/config/Config.cpp   | 357 ++++++++++++++++++
 .../lib/test/config_parity_check.cpp          |  79 ++++
 4 files changed, 634 insertions(+)
 create mode 100644 daq-server/diablo_server/lib/include/config/Config.hpp
 create mode 100644 daq-server/diablo_server/lib/src/config/Config.cpp
 create mode 100644 daq-server/diablo_server/lib/test/config_parity_check.cpp

diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index c8cb98f0f..7239a493f 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -8,6 +8,7 @@ set(FSW_SOURCES
     src/config/SensorAssignment.cpp
     src/config/ConfigParser.cpp
     src/config/LoadActiveBoards.cpp
+    src/config/Config.cpp
     src/routing/HeartbeatRouter.cpp
     src/routing/SensorRouter.cpp
     src/time/BoardClockSync.cpp
@@ -65,6 +66,15 @@ target_link_libraries(test_board_clock_sync
     fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY})
 add_test(NAME board_clock_sync COMMAND test_board_clock_sync)
 
+# Temporary parity harness for the toml++ config migration (removed in the cleanup commit).
+add_executable(config_parity_check test/config_parity_check.cpp)
+target_include_directories(config_parity_check PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+target_link_libraries(config_parity_check
+    fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY})
+
 add_executable(test_fire_lifecycle
     test/test_fire_lifecycle.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/FireManager.cpp
diff --git a/daq-server/diablo_server/lib/include/config/Config.hpp b/daq-server/diablo_server/lib/include/config/Config.hpp
new file mode 100644
index 000000000..4bee4cff8
--- /dev/null
+++ b/daq-server/diablo_server/lib/include/config/Config.hpp
@@ -0,0 +1,188 @@
+#pragma once
+
+// Centralized, typed view of config.toml, parsed once via toml++ (see Config.cpp).
+//
+// Every C++ binary used to re-open and hand-scan config.toml with its own copy-pasted parser; this
+// module is the single source of truth. Each field carries the historical call-site default so a
+// missing key reproduces the old behavior exactly. Only sections that C++ actually consumes are
+// modeled — [sim_pt_targets], [gui.*], [pressure_limits.*], [adc], [discovery] are TS/Python-only.
+//
+// NOTE: distinct from the unrelated legacy global `class Config` in lib/include/Config.h.
+
+#include <cstdint>
+#include <map>
+#include <string>
+#include <vector>
+
+#include "config/LoadActiveBoards.hpp"  // ActiveBoardKind, PtInterface, PtBoardConfig, BoardChannels
+#include "time/BoardClockSync.hpp"      // fsw::time::TimeSyncConfig
+
+namespace fsw {
+namespace config {
+
+struct NetworkConfig {
+    std::string bind_ip = "0.0.0.0";    // [network].bind_ip
+    uint16_t sensor_port = 5006;        // [network].sensor_port
+    uint16_t actuator_cmd_port = 5005;  // [network].actuator_cmd_port
+};
+
+struct DatabaseConfig {
+    std::string host = "127.0.0.1";  // [database].host
+    uint16_t port = 2240;            // [database].port
+};
+
+struct ServerHeartbeatConfig {    // [server_heartbeat]
+    uint32_t interval_ms = 1000;  // daq_bridge default (file usually supplies)
+    uint16_t broadcast_port = 5005;
+    std::string broadcast_ip = "255.255.255.255";
+    bool send_from_daq_bridge = true;  // synthesized: false when [heartbeat_service].enabled
+};
+
+struct HeartbeatServiceConfig {  // [heartbeat_service]
+    bool enabled = false;
+    uint32_t interval_ms = 1000;  // clamped >=100 at use site
+    std::string broadcast_ip = "192.168.2.255";
+    uint16_t broadcast_port = 5005;
+    std::string elodin_host = "127.0.0.1";
+    uint16_t elodin_port = 2240;
+};
+
+struct LogsConfig {
+    uint16_t backend_udp_port = 8092;  // [logs].backend_udp_port
+};
+
+struct ControllerServiceConfig {  // [controller_service]
+    uint16_t port = 9999;
+    std::string host = "127.0.0.1";
+    uint32_t fire_duration_ms = 6000;
+    uint32_t fire_extended_ms = 10000;
+};
+
+struct ControllerConfig {  // [controller]
+    double pwm_frequency_hz = 10.0;
+    uint32_t pwm_duration_ms = 10000;
+    double controller_loop_hz = 10.0;
+    double P_copv_min_pa = 0.0;
+    double fallback_fuel_duty_cycle = 0.0;
+    double fallback_ox_duty_cycle = 0.0;
+    std::string lut_path;
+    std::string thrust_curve_path;
+};
+
+struct ActuatorServiceConfig {  // [actuator_service]
+    uint16_t port = 9998;
+    std::string bind_address = "0.0.0.0";
+};
+
+struct CalibrationConfig {  // [calibration.tc/.rtd/.lc]
+    double tc_adc_ref_voltage = 2.5;
+    double rtd_adc_ref_voltage = 2.5;
+    double rtd_excitation_ua = 1000.0;
+    double rtd_r0_ohm = 1000.0;
+    double lc_sensitivity_mv_per_v = 2.0;
+    double lc_pga_gain = 32.0;
+    double lc_full_scale_value = 300.0;
+};
+
+struct FireConfig {  // [fire]
+    std::string state = "Fire";
+    std::string expiry_target = "Armed";
+    uint32_t duration_ms = 6000;
+    uint32_t extended_ms = 10000;
+};
+
+struct StateMachinePaths {  // [state_machine]
+    std::string transitions_csv = "config/state_transitions.csv";
+    std::string actuator_csv = "config/state_machine_actuators.csv";
+    std::string actuator_delay_csv = "config/state_machine_actuator_delays.csv";
+};
+
+struct StateDef {  // one per [[states]]
+    int id = -1;
+    std::string name;
+    bool is_abort = false;
+    bool is_boot = false;
+};
+
+struct ActuatorRole {         // [actuator_roles] value ["NC"|"NO"|"PWM", channel, board_id]
+    std::string kind = "NC";  // raw first element (NC/NO/PWM)
+    bool is_no = false;       // kind == "NO"
+    int channel = 0;
+    int board_id = 0;
+};
+
+// One [boards.*] section. Superset of every reader's keys so a single parse serves all binaries.
+struct BoardConfig {
+    std::string section;  // e.g. "boards.pt_board" (order/diagnostics)
+    std::string type;     // "PT"/"TC"/"RTD"/"LC"/"ACTUATOR"/"ENCODER" (raw, unquoted)
+    std::string ip;
+    int board_id = -1;  // board_id, with legacy "id" fallback
+    bool enabled = true;
+    int num_sensors = 10;
+    int num_actuators = 0;
+    uint16_t send_port = 5005;
+    uint16_t listen_port = 5005;
+    int enable_serial_printing = 0;  // tolerate bool-or-int; clamped 0..3
+    int voltage_reference = 0;
+    bool necessary_for_abort = false;
+    bool designated_survivor = false;
+    std::vector<int> active_connectors;  // empty -> caller expands to 1..num_sensors
+
+    // PT-specific (feeds pt_boards()):
+    std::string pt_type;  // "" if absent
+    double adc_ref_voltage = 2.5;
+    bool has_hp_pt_keys = false;  // hp_pt_connectors or hp_pt_full_scale_psi present (legacy infer)
+    double hp_pt_full_scale_psi = 5000.0;
+    double hp_pt_sense_resistor_ohms = 120.0;
+
+    /** Elodin slot: board_id % 10, with 0 mapping to 10. */
+    uint8_t slot() const {
+        int m = board_id % 10;
+        return static_cast<uint8_t>(m == 0 ? 10 : m);
+    }
+};
+
+/** The whole parsed config.toml, restricted to what C++ consumes. */
+struct Config {
+    NetworkConfig network;
+    DatabaseConfig database;
+    ServerHeartbeatConfig server_heartbeat;
+    HeartbeatServiceConfig heartbeat_service;
+    LogsConfig logs;
+    fsw::time::TimeSyncConfig time_sync;
+    uint32_t config_broadcast_interval_ms = 1000;  // [config_broadcast_service].interval_ms
+    std::vector<BoardConfig> boards;               // parse order preserved
+    std::map<std::string, ActuatorRole> actuator_roles;
+    FireConfig fire;
+    ControllerServiceConfig controller_service;
+    ControllerConfig controller;
+    ActuatorServiceConfig actuator_service;
+    CalibrationConfig calibration;
+    StateMachinePaths state_machine;
+    std::vector<StateDef> states;
+    // section name -> {role name -> channel}, e.g. "sensor_roles_pt_board" -> {"Fuel Upstream": 1}.
+    std::map<std::string, std::map<std::string, int>> sensor_roles;
+    std::map<std::string, double> abort_pts;  // [abort_pts]
+
+    /** [sensor_roles_<board>] with a legacy [sensor_roles] fallback. */
+    const std::map<std::string, int>* sensor_roles_for(const std::string& board_key) const;
+};
+
+/** Parse config.toml at `path`. On any error, logs and returns a default-constructed Config. */
+Config load(const std::string& path);
+
+/** Parse config from an in-memory TOML string (SequencerService / ActuatorCommander hold it so). */
+Config load_from_string(const std::string& text);
+
+/**
+ * Derive the active-board table (enabled boards -> Elodin BoardChannels), with the same
+ * slot-collision validation the old load_active_boards() logged. Free-function form used by
+ * daq_bridge/calibration/sequencer.
+ */
+std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> active_boards(const Config& cfg);
+
+/** Derive PT board 4-20 mA parameters keyed by Elodin slot (mirrors old load_pt_boards()). */
+std::map<uint8_t, PtBoardConfig> pt_boards(const Config& cfg);
+
+}  // namespace config
+}  // namespace fsw
diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
new file mode 100644
index 000000000..5472da99d
--- /dev/null
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -0,0 +1,357 @@
+#include "config/Config.hpp"
+
+#include <algorithm>
+#include <iostream>
+#include <toml++/toml.hpp>
+
+namespace fsw {
+namespace config {
+
+namespace {
+
+using CNV = toml::node_view<const toml::node>;
+
+std::string s_or(CNV n, const std::string& d) {
+    return n.value<std::string>().value_or(d);
+}
+int64_t i_or(CNV n, int64_t d) {
+    return n.value<int64_t>().value_or(d);
+}
+double d_or(CNV n, double d) {
+    return n.value<double>().value_or(d);
+}
+bool b_or(CNV n, bool d) {
+    return n.value<bool>().value_or(d);
+}
+
+ActiveBoardKind kind_of(const std::string& type_str) {
+    if (type_str == "PT")
+        return ActiveBoardKind::PT;
+    if (type_str == "TC")
+        return ActiveBoardKind::TC;
+    if (type_str == "RTD")
+        return ActiveBoardKind::RTD;
+    if (type_str == "LC")
+        return ActiveBoardKind::LC;
+    if (type_str == "ENCODER")
+        return ActiveBoardKind::ENCODER;
+    if (type_str == "ACTUATOR")
+        return ActiveBoardKind::ACTUATOR;
+    return ActiveBoardKind::UNKNOWN;
+}
+
+// Verbatim from the old LoadActiveBoards.cpp: log slot collisions (kind-scoped) and slot>8
+// overflow.
+void check_board_slots(std::map<ActiveBoardKind, std::map<uint8_t, std::string>>& slot_owner,
+                       ActiveBoardKind kind, uint8_t slot, const std::string& section,
+                       int board_id) {
+    auto& owners = slot_owner[kind];
+    auto prev = owners.find(slot);
+    if (prev != owners.end()) {
+        std::cerr << "[Config] ERROR: board slot " << static_cast<int>(slot) << " claimed by both ["
+                  << prev->second << "] and [" << section
+                  << "] - their channels will merge into one Elodin entity. Give them board_ids "
+                     "that differ mod 10."
+                  << std::endl;
+    } else {
+        owners.emplace(slot, section);
+    }
+    if (slot > 8) {
+        std::cerr << "[Config] ERROR: [" << section << "] board_id " << board_id << " maps to slot "
+                  << static_cast<int>(slot)
+                  << ", but the packet id low byte only encodes slots 1-8. Its channels will "
+                     "collide with another board."
+                  << std::endl;
+    }
+}
+
+BoardConfig parse_board(const std::string& section, const toml::table& bt) {
+    BoardConfig b;
+    b.section = section;
+    b.type = s_or(bt["type"], "");
+    b.ip = s_or(bt["ip"], "");
+    b.board_id =
+        static_cast<int>(i_or(bt["board_id"], i_or(bt["id"], -1)));  // legacy "id" fallback
+    b.enabled = b_or(bt["enabled"], true);
+    b.num_sensors = static_cast<int>(i_or(bt["num_sensors"], 10));
+    b.num_actuators = static_cast<int>(i_or(bt["num_actuators"], 0));
+    b.send_port = static_cast<uint16_t>(i_or(bt["send_port"], 5005));
+    b.listen_port = static_cast<uint16_t>(i_or(bt["listen_port"], 5005));
+    b.voltage_reference = static_cast<int>(i_or(bt["voltage_reference"], 0));
+    b.necessary_for_abort = b_or(bt["necessary_for_abort"], false);
+    b.designated_survivor = b_or(bt["designated_survivor"], false);
+
+    // enable_serial_printing tolerates a bool or an int; clamp 0..3 (matches config_broadcast).
+    int esp = 0;
+    if (auto iv = bt["enable_serial_printing"].value<int64_t>())
+        esp = static_cast<int>(*iv);
+    else if (auto bv = bt["enable_serial_printing"].value<bool>())
+        esp = *bv ? 1 : 0;
+    b.enable_serial_printing = std::clamp(esp, 0, 3);
+
+    if (auto arr = bt["active_connectors"].as_array())
+        for (const auto& el : *arr)
+            if (auto iv = el.value<int64_t>())
+                b.active_connectors.push_back(static_cast<int>(*iv));
+
+    b.pt_type = s_or(bt["pt_type"], "");
+    b.adc_ref_voltage = d_or(bt["adc_ref_voltage"], 2.5);
+    b.has_hp_pt_keys = bt.contains("hp_pt_connectors") || bt.contains("hp_pt_full_scale_psi");
+    b.hp_pt_full_scale_psi = d_or(bt["hp_pt_full_scale_psi"], 5000.0);
+    b.hp_pt_sense_resistor_ohms = d_or(bt["hp_pt_sense_resistor_ohms"], 120.0);
+    return b;
+}
+
+Config from_table(const toml::table& t) {
+    Config c;
+
+    c.network.bind_ip = s_or(t["network"]["bind_ip"], c.network.bind_ip);
+    c.network.sensor_port = static_cast<uint16_t>(i_or(t["network"]["sensor_port"], 5006));
+    c.network.actuator_cmd_port =
+        static_cast<uint16_t>(i_or(t["network"]["actuator_cmd_port"], 5005));
+
+    c.database.host = s_or(t["database"]["host"], c.database.host);
+    c.database.port = static_cast<uint16_t>(i_or(t["database"]["port"], 2240));
+
+    c.server_heartbeat.interval_ms =
+        static_cast<uint32_t>(i_or(t["server_heartbeat"]["interval_ms"], 1000));
+    c.server_heartbeat.broadcast_port =
+        static_cast<uint16_t>(i_or(t["server_heartbeat"]["broadcast_port"], 5005));
+    c.server_heartbeat.broadcast_ip =
+        s_or(t["server_heartbeat"]["broadcast_ip"], c.server_heartbeat.broadcast_ip);
+
+    c.heartbeat_service.enabled = b_or(t["heartbeat_service"]["enabled"], false);
+    c.heartbeat_service.interval_ms =
+        static_cast<uint32_t>(i_or(t["heartbeat_service"]["interval_ms"], 1000));
+    c.heartbeat_service.broadcast_ip =
+        s_or(t["heartbeat_service"]["broadcast_ip"], c.heartbeat_service.broadcast_ip);
+    c.heartbeat_service.broadcast_port =
+        static_cast<uint16_t>(i_or(t["heartbeat_service"]["broadcast_port"], 5005));
+    c.heartbeat_service.elodin_host =
+        s_or(t["heartbeat_service"]["elodin_host"], c.heartbeat_service.elodin_host);
+    c.heartbeat_service.elodin_port =
+        static_cast<uint16_t>(i_or(t["heartbeat_service"]["elodin_port"], 2240));
+
+    // Default: the bridge sends the heartbeat unless the standalone service is enabled.
+    c.server_heartbeat.send_from_daq_bridge =
+        b_or(t["server_heartbeat"]["send_from_daq_bridge"], !c.heartbeat_service.enabled);
+
+    c.logs.backend_udp_port = static_cast<uint16_t>(i_or(t["logs"]["backend_udp_port"], 8092));
+
+    {
+        const std::string m = s_or(t["time_sync"]["mode"], "board_clock");
+        c.time_sync.mode = (m == "arrival") ? fsw::time::TimeSyncConfig::Mode::Arrival
+                                            : fsw::time::TimeSyncConfig::Mode::BoardClock;
+        c.time_sync.window_seconds =
+            static_cast<uint32_t>(i_or(t["time_sync"]["window_seconds"], 10));
+        c.time_sync.max_plausible_gap_s =
+            static_cast<uint32_t>(i_or(t["time_sync"]["max_plausible_gap_s"], 60));
+        c.time_sync.max_batch_age_s =
+            static_cast<uint32_t>(i_or(t["time_sync"]["max_batch_age_s"], 5));
+        c.time_sync.resync_threshold_ms =
+            static_cast<uint32_t>(i_or(t["time_sync"]["resync_threshold_ms"], 1000));
+        c.time_sync.log_interval_s =
+            static_cast<uint32_t>(i_or(t["time_sync"]["log_interval_s"], 10));
+    }
+
+    c.config_broadcast_interval_ms =
+        static_cast<uint32_t>(i_or(t["config_broadcast_service"]["interval_ms"], 1000));
+
+    if (auto boards = t["boards"].as_table())
+        for (auto&& [k, v] : *boards)
+            if (auto bt = v.as_table())
+                c.boards.push_back(parse_board("boards." + std::string(k.str()), *bt));
+
+    if (auto ar = t["actuator_roles"].as_table())
+        for (auto&& [k, v] : *ar)
+            if (auto arr = v.as_array(); arr && arr->size() >= 3) {
+                ActuatorRole r;
+                r.kind = (*arr)[0].value<std::string>().value_or("NC");
+                r.is_no = (r.kind == "NO" || r.kind == "no");
+                r.channel = static_cast<int>((*arr)[1].value<int64_t>().value_or(0));
+                r.board_id = static_cast<int>((*arr)[2].value<int64_t>().value_or(0));
+                c.actuator_roles[std::string(k.str())] = r;
+            }
+
+    c.fire.state = s_or(t["fire"]["state"], c.fire.state);
+    c.fire.expiry_target = s_or(t["fire"]["expiry_target"], c.fire.expiry_target);
+    c.fire.duration_ms = static_cast<uint32_t>(i_or(t["fire"]["duration_ms"], 6000));
+    c.fire.extended_ms = static_cast<uint32_t>(i_or(t["fire"]["extended_ms"], 10000));
+
+    c.controller_service.port = static_cast<uint16_t>(i_or(t["controller_service"]["port"], 9999));
+    c.controller_service.host = s_or(t["controller_service"]["host"], c.controller_service.host);
+    c.controller_service.fire_duration_ms =
+        static_cast<uint32_t>(i_or(t["controller_service"]["fire_duration_ms"], 6000));
+    c.controller_service.fire_extended_ms =
+        static_cast<uint32_t>(i_or(t["controller_service"]["fire_extended_ms"], 10000));
+
+    c.controller.pwm_frequency_hz = d_or(t["controller"]["pwm_frequency_hz"], 10.0);
+    c.controller.pwm_duration_ms =
+        static_cast<uint32_t>(i_or(t["controller"]["pwm_duration_ms"], 10000));
+    c.controller.controller_loop_hz = d_or(t["controller"]["controller_loop_hz"], 10.0);
+    c.controller.P_copv_min_pa = d_or(t["controller"]["P_copv_min_pa"], 0.0);
+    c.controller.fallback_fuel_duty_cycle = d_or(t["controller"]["fallback_fuel_duty_cycle"], 0.0);
+    c.controller.fallback_ox_duty_cycle = d_or(t["controller"]["fallback_ox_duty_cycle"], 0.0);
+    c.controller.lut_path = s_or(t["controller"]["lut_path"], "");
+    c.controller.thrust_curve_path = s_or(t["controller"]["thrust_curve_path"], "");
+
+    c.actuator_service.port = static_cast<uint16_t>(i_or(t["actuator_service"]["port"], 9998));
+    c.actuator_service.bind_address =
+        s_or(t["actuator_service"]["bind_address"], c.actuator_service.bind_address);
+
+    c.calibration.tc_adc_ref_voltage = d_or(t["calibration"]["tc"]["adc_ref_voltage"], 2.5);
+    c.calibration.rtd_adc_ref_voltage = d_or(t["calibration"]["rtd"]["adc_ref_voltage"], 2.5);
+    c.calibration.rtd_excitation_ua = d_or(t["calibration"]["rtd"]["excitation_ua"], 1000.0);
+    c.calibration.rtd_r0_ohm = d_or(t["calibration"]["rtd"]["r0_ohm"], 1000.0);
+    c.calibration.lc_sensitivity_mv_per_v =
+        d_or(t["calibration"]["lc"]["sensitivity_mv_per_v"], 2.0);
+    c.calibration.lc_pga_gain = d_or(t["calibration"]["lc"]["pga_gain"], 32.0);
+    c.calibration.lc_full_scale_value = d_or(t["calibration"]["lc"]["full_scale_value"], 300.0);
+
+    c.state_machine.transitions_csv =
+        s_or(t["state_machine"]["transitions_csv"], c.state_machine.transitions_csv);
+    c.state_machine.actuator_csv =
+        s_or(t["state_machine"]["actuator_csv"], c.state_machine.actuator_csv);
+    c.state_machine.actuator_delay_csv =
+        s_or(t["state_machine"]["actuator_delay_csv"], c.state_machine.actuator_delay_csv);
+
+    if (auto states = t["states"].as_array())
+        for (const auto& el : *states)
+            if (auto st = el.as_table()) {
+                StateDef s;
+                s.id = static_cast<int>((*st)["id"].value<int64_t>().value_or(-1));
+                s.name = (*st)["name"].value<std::string>().value_or("");
+                s.is_abort = (*st)["is_abort"].value<bool>().value_or(false);
+                s.is_boot = (*st)["is_boot"].value<bool>().value_or(false);
+                c.states.push_back(s);
+            }
+
+    // All [sensor_roles*] top-level tables -> section -> {role name -> channel}.
+    for (auto&& [k, v] : t) {
+        const std::string key(k.str());
+        if (key.rfind("sensor_roles", 0) == 0)
+            if (auto rt = v.as_table()) {
+                auto& m = c.sensor_roles[key];
+                for (auto&& [rk, rv] : *rt)
+                    if (auto iv = rv.value<int64_t>())
+                        m[std::string(rk.str())] = static_cast<int>(*iv);
+            }
+    }
+
+    if (auto ap = t["abort_pts"].as_table())
+        for (auto&& [k, v] : *ap) {
+            if (auto dv = v.value<double>())
+                c.abort_pts[std::string(k.str())] = *dv;
+            else if (auto iv = v.value<int64_t>())
+                c.abort_pts[std::string(k.str())] = static_cast<double>(*iv);
+        }
+
+    return c;
+}
+
+}  // namespace
+
+const std::map<std::string, int>* Config::sensor_roles_for(const std::string& board_key) const {
+    auto it = sensor_roles.find(board_key);
+    if (it != sensor_roles.end())
+        return &it->second;
+    it = sensor_roles.find("sensor_roles");  // legacy fallback
+    if (it != sensor_roles.end())
+        return &it->second;
+    return nullptr;
+}
+
+Config load(const std::string& path) {
+    try {
+        toml::table tbl = toml::parse_file(path);
+        return from_table(tbl);
+    } catch (const toml::parse_error& e) {
+        std::cerr << "[Config] TOML parse error in " << path << ": " << e.description()
+                  << std::endl;
+        return Config{};
+    } catch (const std::exception& e) {
+        std::cerr << "[Config] Failed to read " << path << ": " << e.what() << std::endl;
+        return Config{};
+    }
+}
+
+Config load_from_string(const std::string& text) {
+    try {
+        toml::table tbl = toml::parse(text);
+        return from_table(tbl);
+    } catch (const toml::parse_error& e) {
+        std::cerr << "[Config] TOML parse error (string): " << e.description() << std::endl;
+        return Config{};
+    }
+}
+
+std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> active_boards(const Config& cfg) {
+    std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> result;
+    std::map<ActiveBoardKind, std::map<uint8_t, std::string>> slot_owner;
+    for (const auto& b : cfg.boards) {
+        if (b.type.empty() || !b.enabled || b.board_id < 0)
+            continue;
+        ActiveBoardKind bt = kind_of(b.type);
+        if (bt == ActiveBoardKind::UNKNOWN)
+            continue;
+        const uint8_t slot = b.slot();
+        check_board_slots(slot_owner, bt, slot, b.section, b.board_id);
+
+        elodin::BoardChannels bc;
+        bc.board_id = static_cast<uint8_t>(b.board_id);
+        bc.board_number = slot;
+        if (!b.active_connectors.empty())
+            for (int ch : b.active_connectors)
+                bc.channels.push_back(static_cast<uint8_t>(ch));
+        else
+            for (int i = 1; i <= b.num_sensors; i++)
+                bc.channels.push_back(static_cast<uint8_t>(i));
+        result[bt].push_back(std::move(bc));
+    }
+    return result;
+}
+
+std::map<uint8_t, PtBoardConfig> pt_boards(const Config& cfg) {
+    std::map<uint8_t, PtBoardConfig> result;
+    bool warned_legacy = false;
+    for (const auto& b : cfg.boards) {
+        if (b.type != "PT" || !b.enabled || b.board_id < 0)
+            continue;
+        PtBoardConfig p;
+        p.board_id = static_cast<uint8_t>(b.board_id);
+        p.board_number = b.slot();
+
+        if (!b.pt_type.empty()) {
+            if (b.pt_type == "4-20 mA absolute") {
+                p.interface = PtInterface::CURRENT_LOOP_4_20MA;
+            } else if (b.pt_type == "0-5V ratiometric") {
+                p.interface = PtInterface::RATIOMETRIC_0_5V;
+            } else if (b.pt_type == "0-5V absolute") {
+                std::cerr << "[Config] ERROR: [" << b.section << "] pt_type \"" << b.pt_type
+                          << "\" is not supported by the PT firmware." << std::endl;
+                p.interface = PtInterface::ABSOLUTE_0_5V;
+            } else {
+                std::cerr << "[Config] ERROR: [" << b.section << "] unknown pt_type \"" << b.pt_type
+                          << "\"; treating as 0-5V ratiometric." << std::endl;
+            }
+        } else if (b.has_hp_pt_keys) {
+            p.interface = PtInterface::CURRENT_LOOP_4_20MA;
+            if (!warned_legacy) {
+                warned_legacy = true;
+                std::cerr << "[Config] DEPRECATED: [" << b.section
+                          << "] has no pt_type; inferring \"4-20 mA absolute\" from its hp_pt_* "
+                             "keys. Add pt_type to the board."
+                          << std::endl;
+            }
+        }
+
+        p.full_scale_psi = b.hp_pt_full_scale_psi;
+        p.sense_resistor_ohms = b.hp_pt_sense_resistor_ohms;
+        p.adc_ref_voltage = b.adc_ref_voltage;
+        result[p.board_number] = p;
+    }
+    return result;
+}
+
+}  // namespace config
+}  // namespace fsw
diff --git a/daq-server/diablo_server/lib/test/config_parity_check.cpp b/daq-server/diablo_server/lib/test/config_parity_check.cpp
new file mode 100644
index 000000000..47754a4df
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/config_parity_check.cpp
@@ -0,0 +1,79 @@
+// Parity harness for the toml++ config migration (temporary; deleted in the cleanup commit).
+//
+// Proves the new fsw::config::load()-based board derivations match the old hand-rolled
+// load_active_boards()/load_pt_boards() byte-for-byte against the real config.toml, and that the
+// file is valid strict TOML. Run: ./config_parity_check [path/to/config.toml]
+
+#include <cstdlib>
+#include <iostream>
+#include <string>
+#include <toml++/toml.hpp>
+
+#include "config/Config.hpp"
+#include "config/LoadActiveBoards.hpp"
+
+using namespace fsw::config;
+
+static int g_failures = 0;
+#define CHECK(cond, msg)                            \
+    do {                                            \
+        if (!(cond)) {                              \
+            std::cerr << "FAIL: " << (msg) << "\n"; \
+            ++g_failures;                           \
+        }                                           \
+    } while (0)
+
+int main(int argc, char** argv) {
+    const std::string path = argc > 1 ? argv[1] : "config/config.toml";
+
+    // 1. Strict-TOML validity guard.
+    try {
+        auto t = toml::parse_file(path);
+        (void)t;
+    } catch (const toml::parse_error& e) {
+        std::cerr << "FAIL: " << path << " is not valid TOML: " << e.description() << "\n";
+        return 1;
+    }
+
+    const Config cfg = load(path);
+
+    // 2. active_boards parity.
+    const auto old_ab = load_active_boards(path);
+    const auto new_ab = active_boards(cfg);
+    CHECK(old_ab.size() == new_ab.size(), "active_boards: kind count differs");
+    for (const auto& [kind, vec] : old_ab) {
+        auto it = new_ab.find(kind);
+        CHECK(it != new_ab.end(), "active_boards: kind missing in new");
+        if (it == new_ab.end())
+            continue;
+        CHECK(vec.size() == it->second.size(), "active_boards: board count differs for kind");
+        for (size_t i = 0; i < vec.size() && i < it->second.size(); ++i) {
+            CHECK(vec[i].board_id == it->second[i].board_id, "active_boards: board_id");
+            CHECK(vec[i].board_number == it->second[i].board_number, "active_boards: board_number");
+            CHECK(vec[i].channels == it->second[i].channels, "active_boards: channels");
+        }
+    }
+
+    // 3. pt_boards parity.
+    const auto old_pt = load_pt_boards(path);
+    const auto new_pt = pt_boards(cfg);
+    CHECK(old_pt.size() == new_pt.size(), "pt_boards: slot count differs");
+    for (const auto& [slot, b] : old_pt) {
+        auto it = new_pt.find(slot);
+        CHECK(it != new_pt.end(), "pt_boards: slot missing in new");
+        if (it == new_pt.end())
+            continue;
+        CHECK(b.board_id == it->second.board_id, "pt_boards: board_id");
+        CHECK(b.interface == it->second.interface, "pt_boards: interface");
+        CHECK(b.full_scale_psi == it->second.full_scale_psi, "pt_boards: full_scale_psi");
+        CHECK(b.sense_resistor_ohms == it->second.sense_resistor_ohms, "pt_boards: sense_resistor");
+        CHECK(b.adc_ref_voltage == it->second.adc_ref_voltage, "pt_boards: adc_ref_voltage");
+    }
+
+    if (g_failures == 0) {
+        std::cout << "config_parity_check: PASS (" << path << ")\n";
+        return 0;
+    }
+    std::cerr << "config_parity_check: " << g_failures << " FAILURE(S)\n";
+    return 1;
+}

From 9f98c4891160d4d1b6c6b71f0b913a34b2eedfa6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 16:47:44 -0700
Subject: [PATCH 121/205] config: heartbeat_service reads fsw::config (toml++);
 uniform defaults<config<CLI precedence

---
 .../diablo_server/lib/src/config/Config.cpp   |   8 +-
 .../heartbeat/heartbeat_service_main.cpp      | 110 ++++--------------
 2 files changed, 30 insertions(+), 88 deletions(-)

diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 5472da99d..4e743f0c3 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -123,10 +123,14 @@ Config from_table(const toml::table& t) {
     c.heartbeat_service.enabled = b_or(t["heartbeat_service"]["enabled"], false);
     c.heartbeat_service.interval_ms =
         static_cast<uint32_t>(i_or(t["heartbeat_service"]["interval_ms"], 1000));
+    // broadcast_ip/port fall back to [server_heartbeat] when absent (matches the old heartbeat
+    // main).
     c.heartbeat_service.broadcast_ip =
-        s_or(t["heartbeat_service"]["broadcast_ip"], c.heartbeat_service.broadcast_ip);
+        s_or(t["heartbeat_service"]["broadcast_ip"],
+             s_or(t["server_heartbeat"]["broadcast_ip"], c.heartbeat_service.broadcast_ip));
     c.heartbeat_service.broadcast_port =
-        static_cast<uint16_t>(i_or(t["heartbeat_service"]["broadcast_port"], 5005));
+        static_cast<uint16_t>(i_or(t["heartbeat_service"]["broadcast_port"],
+                                   i_or(t["server_heartbeat"]["broadcast_port"], 5005)));
     c.heartbeat_service.elodin_host =
         s_or(t["heartbeat_service"]["elodin_host"], c.heartbeat_service.elodin_host);
     c.heartbeat_service.elodin_port =
diff --git a/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp b/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
index 47b1d6da3..b1e7c5593 100644
--- a/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
+++ b/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
@@ -22,11 +22,13 @@
 #include <cstring>
 #include <fstream>
 #include <iostream>
+#include <optional>
 #include <sstream>
 #include <string>
 #include <thread>
 #include <vector>
 
+#include "config/Config.hpp"
 #include "elodin/ElodinClient.hpp"
 
 namespace {
@@ -121,42 +123,6 @@ void elodinThread(std::string host, uint16_t port) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 
-std::string trim(const std::string& s) {
-    size_t a = s.find_first_not_of(" \t\r\n\"");
-    size_t b = s.find_last_not_of(" \t\r\n\"");
-    return (a == std::string::npos) ? "" : s.substr(a, b - a + 1);
-}
-
-std::string getTomlValue(const std::string& content, const std::string& section,
-                         const std::string& key, const std::string& fallback = "") {
-    std::string sec_header = "[" + section + "]";
-    auto sec_pos = content.find(sec_header);
-    if (sec_pos == std::string::npos)
-        return fallback;
-
-    auto search_start = sec_pos + sec_header.size();
-    auto next_sec = content.find("\n[", search_start);
-    std::string sec_content = (next_sec == std::string::npos)
-                                  ? content.substr(search_start)
-                                  : content.substr(search_start, next_sec - search_start);
-
-    std::istringstream iss(sec_content);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string k = trim(line.substr(0, eq));
-        std::string v = trim(line.substr(eq + 1));
-        if (k == key)
-            return v;
-    }
-    return fallback;
-}
-
 std::vector<uint8_t> buildHeartbeatPacket(uint8_t engine_state) {
     auto now = std::chrono::system_clock::now();
     auto ms =
@@ -177,26 +143,23 @@ std::vector<uint8_t> buildHeartbeatPacket(uint8_t engine_state) {
 
 int main(int argc, char* argv[]) {
     std::string config_path = "config/config.toml";
-    std::string elodin_host = "127.0.0.1";
-    uint16_t elodin_port = 2240;
-    int interval_ms = 1000;
-    std::string broadcast_ip = "192.168.2.255";
-    uint16_t broadcast_port = 5005;
+    std::optional<std::string> cli_elodin_host, cli_broadcast_ip;
+    std::optional<int> cli_elodin_port, cli_interval_ms, cli_broadcast_port;
 
     for (int i = 1; i < argc; ++i) {
         std::string arg = argv[i];
         if (arg == "--config" && i + 1 < argc) {
             config_path = argv[++i];
         } else if (arg == "--elodin-host" && i + 1 < argc) {
-            elodin_host = argv[++i];
+            cli_elodin_host = argv[++i];
         } else if (arg == "--elodin-port" && i + 1 < argc) {
-            elodin_port = static_cast<uint16_t>(std::atoi(argv[++i]));
+            cli_elodin_port = std::atoi(argv[++i]);
         } else if (arg == "--interval-ms" && i + 1 < argc) {
-            interval_ms = std::max(100, std::atoi(argv[++i]));
+            cli_interval_ms = std::atoi(argv[++i]);
         } else if (arg == "--broadcast-ip" && i + 1 < argc) {
-            broadcast_ip = argv[++i];
+            cli_broadcast_ip = argv[++i];
         } else if (arg == "--broadcast-port" && i + 1 < argc) {
-            broadcast_port = static_cast<uint16_t>(std::atoi(argv[++i]));
+            cli_broadcast_port = std::atoi(argv[++i]);
         } else if (arg == "--help" || arg == "-h") {
             std::cout << "Usage: " << argv[0]
                       << " [--config PATH] [--elodin-host HOST] [--elodin-port PORT]\n"
@@ -205,57 +168,32 @@ int main(int argc, char* argv[]) {
         }
     }
 
-    // Load config
-    std::string config_content;
+    // Resolve the config path against the usual fallback locations, then parse once.
     {
         std::ifstream f(config_path);
         if (!f.is_open()) {
             for (const auto& fp : {"config/config.toml", "../config/config.toml"}) {
-                f.open(fp);
-                if (f.is_open()) {
+                std::ifstream t(fp);
+                if (t.is_open()) {
                     config_path = fp;
                     break;
                 }
             }
         }
-        if (f.is_open()) {
-            std::ostringstream ss;
-            ss << f.rdbuf();
-            config_content = ss.str();
-        }
     }
 
-    if (!config_content.empty()) {
-        auto val = getTomlValue(config_content, "heartbeat_service", "interval_ms", "");
-        if (!val.empty()) {
-            try {
-                interval_ms = std::max(100, std::stoi(val));
-            } catch (...) {
-            }
-        }
-        val = getTomlValue(config_content, "heartbeat_service", "broadcast_ip",
-                           getTomlValue(config_content, "server_heartbeat", "broadcast_ip", ""));
-        if (!val.empty())
-            broadcast_ip = val;
-        val = getTomlValue(config_content, "heartbeat_service", "broadcast_port",
-                           getTomlValue(config_content, "server_heartbeat", "broadcast_port", ""));
-        if (!val.empty()) {
-            try {
-                broadcast_port = static_cast<uint16_t>(std::stoi(val));
-            } catch (...) {
-            }
-        }
-        val = getTomlValue(config_content, "heartbeat_service", "elodin_host", "");
-        if (!val.empty())
-            elodin_host = val;
-        val = getTomlValue(config_content, "heartbeat_service", "elodin_port", "");
-        if (!val.empty()) {
-            try {
-                elodin_port = static_cast<uint16_t>(std::stoi(val));
-            } catch (...) {
-            }
-        }
-    }
+    // Precedence: defaults < config file < CLI flags. (broadcast_ip/port fall back to
+    // [server_heartbeat] inside the parser.)
+    const fsw::config::Config cfg = fsw::config::load(config_path);
+    std::string elodin_host = cli_elodin_host.value_or(cfg.heartbeat_service.elodin_host);
+    uint16_t elodin_port = cli_elodin_port ? static_cast<uint16_t>(*cli_elodin_port)
+                                           : cfg.heartbeat_service.elodin_port;
+    int interval_ms =
+        std::max(100, cli_interval_ms ? *cli_interval_ms
+                                      : static_cast<int>(cfg.heartbeat_service.interval_ms));
+    std::string broadcast_ip = cli_broadcast_ip.value_or(cfg.heartbeat_service.broadcast_ip);
+    uint16_t broadcast_port = cli_broadcast_port ? static_cast<uint16_t>(*cli_broadcast_port)
+                                                 : cfg.heartbeat_service.broadcast_port;
 
     signal(SIGINT, signalHandler);
     signal(SIGTERM, signalHandler);

From 2f9c59be090acff53a2aaa4a8c48b8bc492398a7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 16:54:35 -0700
Subject: [PATCH 122/205] config: calibration_service reads [calibration.*] via
 fsw::config (toml++)

---
 .../services/calibration/calibration_main.cpp | 74 +++----------------
 1 file changed, 10 insertions(+), 64 deletions(-)

diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index df1b568f7..6bc4cb552 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -50,6 +50,7 @@
 #include "calibration/SensorCalibration.hpp"
 #include "comms/messages/sensor/CalibratedPTMessage.hpp"
 #include "comms/messages/sensor/CalibratedSensorMessages.hpp"
+#include "config/Config.hpp"
 #include "config/LoadActiveBoards.hpp"
 #include "elodin/DatabaseConfig.hpp"
 #include "elodin/ElodinClient.hpp"
@@ -472,70 +473,15 @@ int main(int argc, char* argv[]) {
                   << board.sense_resistor_ohms << " ohm shunt)" << std::endl;
     }
 
-    // Parse [calibration.tc], [calibration.rtd], [calibration.lc] for default formula params
-    double tc_adc_ref_voltage = 2.5;
-    double rtd_adc_ref_voltage = 2.5;
-    double rtd_excitation_ua = 1000.0;
-    double rtd_r0_ohm = 1000.0;  // Pt1000
-    double lc_sensitivity_mv_per_v = 2.0;
-    double lc_pga_gain = 32.0;
-    double lc_full_scale_value = 300.0;  // kg
-    {
-        std::ifstream cfg3(config_path);
-        if (cfg3.is_open()) {
-            std::string line, section;
-            while (std::getline(cfg3, line)) {
-                size_t c = line.find('#');
-                if (c != std::string::npos)
-                    line = line.substr(0, c);
-                while (!line.empty() && (line.back() == ' ' || line.back() == '\r'))
-                    line.pop_back();
-                size_t start = line.find_first_not_of(" \t");
-                if (start != std::string::npos)
-                    line = line.substr(start);
-                if (line.empty())
-                    continue;
-                if (line.size() >= 2 && line[0] == '[' && line.back() == ']') {
-                    section = line.substr(1, line.size() - 2);
-                    continue;
-                }
-                size_t eq = line.find('=');
-                if (eq == std::string::npos)
-                    continue;
-                std::string key = line.substr(0, eq);
-                while (!key.empty() && (key.back() == ' ' || key.back() == '\t'))
-                    key.pop_back();
-                std::string val = line.substr(eq + 1);
-                while (!val.empty() && (val[0] == ' ' || val[0] == '\t'))
-                    val.erase(0, 1);
-                // Remove trailing quotes if present
-                if (val.size() >= 2 && val.front() == '"' && val.back() == '"')
-                    val = val.substr(1, val.size() - 2);
-
-                try {
-                    if (section == "calibration.tc") {
-                        if (key == "adc_ref_voltage")
-                            tc_adc_ref_voltage = std::stod(val);
-                    } else if (section == "calibration.rtd") {
-                        if (key == "adc_ref_voltage")
-                            rtd_adc_ref_voltage = std::stod(val);
-                        else if (key == "excitation_ua")
-                            rtd_excitation_ua = std::stod(val);
-                        else if (key == "r0_ohm")
-                            rtd_r0_ohm = std::stod(val);
-                    } else if (section == "calibration.lc") {
-                        if (key == "sensitivity_mv_per_v")
-                            lc_sensitivity_mv_per_v = std::stod(val);
-                        else if (key == "pga_gain")
-                            lc_pga_gain = std::stod(val);
-                        else if (key == "full_scale_value")
-                            lc_full_scale_value = std::stod(val);
-                    }
-                } catch (...) {
-                }
-            }
-        }
-    }
+    // [calibration.tc/.rtd/.lc] default formula params, via fsw::config (toml++).
+    const fsw::config::Config cal_cfg = fsw::config::load(config_path);
+    const double tc_adc_ref_voltage = cal_cfg.calibration.tc_adc_ref_voltage;
+    const double rtd_adc_ref_voltage = cal_cfg.calibration.rtd_adc_ref_voltage;
+    const double rtd_excitation_ua = cal_cfg.calibration.rtd_excitation_ua;
+    const double rtd_r0_ohm = cal_cfg.calibration.rtd_r0_ohm;  // Pt1000
+    const double lc_sensitivity_mv_per_v = cal_cfg.calibration.lc_sensitivity_mv_per_v;
+    const double lc_pga_gain = cal_cfg.calibration.lc_pga_gain;
+    const double lc_full_scale_value = cal_cfg.calibration.lc_full_scale_value;  // kg
     std::cout << "[Calibration] TC default:  ITS-90 K-type, Vref=" << tc_adc_ref_voltage << "V"
               << std::endl;
     std::cout << "[Calibration] RTD default: CVD Pt" << (int)rtd_r0_ohm

From 93db4a4ecb0b38ef6ea2a0667e6bfa9f9ef571bc Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 16:59:42 -0700
Subject: [PATCH 123/205] config: controller_service reads fsw::config
 (toml++); boards/roles/controller/database typed

---
 .../services/controller/controller_main.cpp   | 133 ++++++------------
 1 file changed, 46 insertions(+), 87 deletions(-)

diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index 17b7dc329..af749a8a9 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -30,6 +30,7 @@
 #include <string>
 #include <thread>
 
+#include "config/Config.hpp"
 #include "control/ControllerService.hpp"
 #include "control/RobustDDPController.hpp"
 #include "control/StateMachine.hpp"
@@ -307,57 +308,41 @@ int main(int argc, char* argv[]) {
         }
     }
 
+    const fsw::config::Config cfg = fsw::config::load(config_path);
+
     // ── Extract settings from config ───────────────────────────────────
     fsw::control::ControllerService::PWMConfig pwm;
 
-    // Build board_id → IP map from [boards.xxx] sections (uses discovery if available)
-    auto board_ip_map = buildBoardIpMap(config_content, config_path);
-
-    // Read actuator_cmd_port from [network] (boards listen on this for commands)
-    {
-        std::string v = getTomlValue(config_content, "network", "actuator_cmd_port", "5005");
-        pwm.actuator_port = static_cast<uint16_t>(std::atoi(v.c_str()));
+    // board_id → IP from [boards.*] (non-empty ip, first wins); last-resort subnet defaults.
+    std::map<int, std::string> board_ip_map;
+    for (const auto& b : cfg.boards)
+        if (!b.ip.empty() && b.board_id > 0 && !board_ip_map.count(b.board_id))
+            board_ip_map[b.board_id] = b.ip;
+    if (board_ip_map.empty()) {
+        board_ip_map[11] = "192.168.2.11";
+        board_ip_map[12] = "192.168.2.12";
+        board_ip_map[13] = "192.168.2.13";
+        board_ip_map[14] = "192.168.2.14";
     }
 
+    pwm.actuator_port = cfg.network.actuator_cmd_port;
+
     // Parse [actuator_roles] to find Fuel Press and LOX Press channels/boards
     {
         int fuel_channel = 3, fuel_board_id = 12;
         int lox_channel = 8, lox_board_id = 12;
-        bool found_fuel = false, found_lox = false;
-
-        std::string current_section;
-        std::istringstream cfg(config_content);
-        std::string line;
-        while (std::getline(cfg, line)) {
-            auto c = line.find('#');
-            if (c != std::string::npos)
-                line = line.substr(0, c);
-            if (line.size() >= 2 && line[0] == '[') {
-                size_t end = line.find(']');
-                current_section = (end != std::string::npos) ? line.substr(1, end - 1) : "";
-                continue;
-            }
-            if (current_section != "actuator_roles")
-                continue;
-            auto eq = line.find('=');
-            if (eq == std::string::npos)
-                continue;
-            std::string key = trim(line.substr(0, eq));
-            std::string val = trim(line.substr(eq + 1));
-            int ch = 0, bid = 0;
-            bool is_no = false;
-            parseActuatorRole(val, ch, bid, is_no);
-            if (ch < 1)
-                continue;
-            if (key == "Fuel Press") {
-                fuel_channel = ch;
-                fuel_board_id = bid;
-                found_fuel = true;
-            } else if (key == "LOX Press") {
-                lox_channel = ch;
-                lox_board_id = bid;
-                found_lox = true;
-            }
+
+        auto fit = cfg.actuator_roles.find("Fuel Press");
+        auto lit = cfg.actuator_roles.find("LOX Press");
+        const bool found_fuel = fit != cfg.actuator_roles.end() && fit->second.channel >= 1;
+        const bool found_lox = lit != cfg.actuator_roles.end() && lit->second.channel >= 1;
+        if (found_fuel) {
+            fuel_channel = fit->second.channel;
+            fuel_board_id = fit->second.board_id;
+        }
+        if (found_lox) {
+            lox_channel = lit->second.channel;
+            lox_board_id = lit->second.board_id;
         }
 
         if (!found_fuel)
@@ -388,50 +373,31 @@ int main(int argc, char* argv[]) {
         pwm.actuator_board_ip = fuel_ip;
     }
 
-    // Controller loop / PWM settings from [controller] section
-    double loop_hz = 10.0;
-    {
-        std::string v;
-        v = getTomlValue(config_content, "controller", "pwm_frequency_hz", "10.0");
-        pwm.frequency_hz = static_cast<float>(std::atof(v.c_str()));
-
-        v = getTomlValue(config_content, "controller", "pwm_duration_ms", "10000");
-        pwm.duration_ms = static_cast<uint32_t>(std::atoi(v.c_str()));
-
-        v = getTomlValue(config_content, "controller", "controller_loop_hz", "10.0");
-        loop_hz = std::atof(v.c_str());
-    }
+    // Controller loop / PWM settings from [controller].
+    pwm.frequency_hz = static_cast<float>(cfg.controller.pwm_frequency_hz);
+    pwm.duration_ms = cfg.controller.pwm_duration_ms;
+    double loop_hz = cfg.controller.controller_loop_hz;
 
-    if (!elodin_host_from_cli) {
-        std::string db_host = getTomlValue(config_content, "database", "host", "127.0.0.1");
-        if (!db_host.empty())
-            elodin_host = db_host;
-    }
-    if (!elodin_port_from_cli) {
-        std::string db_port_str = getTomlValue(config_content, "database", "port", "2240");
-        if (!db_port_str.empty())
-            elodin_port = static_cast<uint16_t>(std::atoi(db_port_str.c_str()));
-    }
+    // Precedence: defaults < config < CLI (--elodin-host/--elodin-port).
+    if (!elodin_host_from_cli)
+        elodin_host = cfg.database.host;
+    if (!elodin_port_from_cli)
+        elodin_port = cfg.database.port;
     if (elodin_host.empty())
         elodin_host = "127.0.0.1";
     if (elodin_port == 0)
         elodin_port = 2240;
 
-    // Read control port from [controller_service].port (FIRE_START / FIRE_STOP TCP gate)
-    if (control_port == 0) {
-        std::string cp = getTomlValue(config_content, "controller_service", "port", "9999");
-        if (!cp.empty())
-            control_port = static_cast<uint16_t>(std::atoi(cp.c_str()));
-        if (control_port == 0)
-            control_port = 9999;
-    }
+    // Control port from [controller_service].port (FIRE_START / FIRE_STOP TCP gate); --control-port
+    // wins.
+    if (control_port == 0)
+        control_port = cfg.controller_service.port;
 
     // Controller algorithm config (using defaults from RobustDDPController.hpp)
     fsw::control::RobustDDPController::Config ctrl_cfg;
     // Override safety constraint from config (0 = disabled, useful for simulation)
     {
-        std::string v = getTomlValue(config_content, "controller", "P_copv_min_pa", "0");
-        double pmin = std::atof(v.c_str());
+        double pmin = cfg.controller.P_copv_min_pa;
         ctrl_cfg.P_copv_min = pmin;  // 0 disables the check; real hotfire sets >0
         if (pmin == 0.0)
             std::cout << "  P_copv_min:     disabled (0)" << std::endl;
@@ -468,7 +434,7 @@ int main(int argc, char* argv[]) {
     // Which sequencer state id means "firing", for the parity fallback that watches the sequencer
     // state packet. Config, not a literal — see ControllerService::setFireStateId.
     {
-        const std::string fire_state = getTomlValue(config_content, "fire", "state", "");
+        const std::string fire_state = cfg.fire.state;
         if (!fire_state.empty()) {
             const uint8_t id = sequencer::StateMachine::stateId(fire_state);
             if (id != 255) {
@@ -482,11 +448,8 @@ int main(int argc, char* argv[]) {
         }
     }
 
-    std::string lut_path_raw = !lut_path_cli.empty()
-                                   ? lut_path_cli
-                                   : getTomlValue(config_content, "controller", "lut_path", "");
-    std::string thrust_curve_path_raw =
-        getTomlValue(config_content, "controller", "thrust_curve_path", "");
+    std::string lut_path_raw = !lut_path_cli.empty() ? lut_path_cli : cfg.controller.lut_path;
+    std::string thrust_curve_path_raw = cfg.controller.thrust_curve_path;
     std::string lut_path = resolveConfigPath(config_path, lut_path_raw);
     std::string thrust_curve_path = resolveConfigPath(config_path, thrust_curve_path_raw);
     if (!lut_path.empty())
@@ -515,12 +478,8 @@ int main(int argc, char* argv[]) {
     // ── Optional open-loop test duty (fallback_fuel/ox_duty_cycle from config) ──
     // When non-zero this bypasses the DDP controller so you can validate UDP PWM delivery.
     {
-        float td_f = 0.0f, td_o = 0.0f;
-        std::string v;
-        v = getTomlValue(config_content, "controller", "fallback_fuel_duty_cycle", "0");
-        td_f = static_cast<float>(std::atof(v.c_str()));
-        v = getTomlValue(config_content, "controller", "fallback_ox_duty_cycle", "0");
-        td_o = static_cast<float>(std::atof(v.c_str()));
+        float td_f = static_cast<float>(cfg.controller.fallback_fuel_duty_cycle);
+        float td_o = static_cast<float>(cfg.controller.fallback_ox_duty_cycle);
         if (td_f > 0.0f || td_o > 0.0f)
             service.setTestDuty(td_f, td_o);
     }

From 2093b5ae1eb186f9749860d2d7ad080fc45b3232 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:05:47 -0700
Subject: [PATCH 124/205] config: config_broadcast_service reads fsw::config
 (toml++); per-cycle typed reload

---
 .../diablo_server/lib/src/config/Config.cpp   |  6 +-
 .../config_broadcast_service_main.cpp         | 82 +++++++------------
 2 files changed, 32 insertions(+), 56 deletions(-)

diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 4e743f0c3..93e0c1ece 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -257,10 +257,10 @@ Config from_table(const toml::table& t) {
 
 const std::map<std::string, int>* Config::sensor_roles_for(const std::string& board_key) const {
     auto it = sensor_roles.find(board_key);
-    if (it != sensor_roles.end())
+    if (it != sensor_roles.end() && !it->second.empty())
         return &it->second;
-    it = sensor_roles.find("sensor_roles");  // legacy fallback
-    if (it != sensor_roles.end())
+    it = sensor_roles.find("sensor_roles");  // legacy fallback (only if non-empty)
+    if (it != sensor_roles.end() && !it->second.empty())
         return &it->second;
     return nullptr;
 }
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index 973b6117b..b310ee033 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -25,6 +25,7 @@
 #include <vector>
 
 #include "calibration/PTCalibration.hpp"
+#include "config/Config.hpp"
 
 namespace {
 std::atomic<bool> g_running{true};
@@ -340,19 +341,24 @@ using ConfigPacket = std::tuple<uint8_t, std::vector<uint8_t>, std::string, uint
 // the caller keeps the last-good set rather than dropping board config for a cycle.
 std::vector<ConfigPacket> buildPackets(const std::string& config_path,
                                        fsw::calibration::PTCalibrationManager& pt_cal) {
-    std::string config_content;
-    {
-        std::ifstream f(config_path);
-        if (!f.is_open())
-            return {};
-        std::ostringstream ss;
-        ss << f.rdbuf();
-        config_content = ss.str();
+    const fsw::config::Config cfg = fsw::config::load(config_path);
+
+    // Map typed boards -> local BoardInfo (expand active_connectors, synthesize ip like the old
+    // parser).
+    std::vector<BoardInfo> boards;
+    for (const auto& b : cfg.boards) {
+        std::vector<int> active = b.active_connectors;
+        if (active.empty())
+            for (int i = 1; i <= b.num_sensors; ++i)
+                active.push_back(i);
+        std::string ip = b.ip;
+        if (ip.empty() && b.board_id > 0)
+            ip = "192.168.2." + std::to_string(b.board_id);
+        boards.push_back({b.board_id, ip, b.type, b.enabled, b.designated_survivor,
+                          b.necessary_for_abort, b.voltage_reference, b.enable_serial_printing,
+                          active, b.num_sensors, b.listen_port});
     }
-    if (config_content.empty())
-        return {};
 
-    auto boards = parseBoards(config_content);
     std::string designated_ip;
     int designated_id = -1;
     for (const auto& b : boards) {
@@ -372,8 +378,7 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path,
             board_id_to_ip[b.id] = b.ip;
 
     std::map<std::string, int> vent_map, abort_map;
-    std::string csv_path = getTomlValue(config_content, "state_machine", "actuator_csv",
-                                        "config/state_machine_actuators.csv");
+    std::string csv_path = cfg.state_machine.actuator_csv;
     const char* csv_fbs[] = {
         "config/state_machine_actuators.csv",
         "../config/state_machine_actuators.csv",
@@ -388,37 +393,15 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path,
     }
     parseVentAbortFromCsv(csv_path, vent_map, abort_map);
 
-    auto sensor_roles = parseSensorRoles(config_content, "sensor_roles_pt_board");
-    if (sensor_roles.empty())
-        sensor_roles = parseSensorRoles(config_content, "sensor_roles");
-    auto abort_pts = parseAbortPts(config_content);
+    const std::map<std::string, int>* roles_ptr = cfg.sensor_roles_for("sensor_roles_pt_board");
+    const std::map<std::string, int> sensor_roles =
+        roles_ptr ? *roles_ptr : std::map<std::string, int>{};
+    const std::map<std::string, double>& abort_pts = cfg.abort_pts;
 
-    std::string current_section;
     std::map<std::string, std::tuple<int, int, bool>> actuator_roles;
-    std::istringstream cfg(config_content);
-    std::string line;
-    while (std::getline(cfg, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        if (line.size() >= 2 && line[0] == '[') {
-            size_t end = line.find(']');
-            current_section = (end != std::string::npos) ? line.substr(1, end - 1) : "";
-            continue;
-        }
-        auto eq = line.find('=');
-        if (eq == std::string::npos || current_section != "actuator_roles")
-            continue;
-        std::string key = trim(line.substr(0, eq));
-        std::string val = trim(line.substr(eq + 1));
-        if (key.size() >= 2 && key.front() == '"' && key.back() == '"')
-            key = key.substr(1, key.size() - 2);
-        int ch = 0, bid = 0;
-        bool is_no = false;
-        parseActuatorRole(val, ch, bid, is_no);
-        if (ch >= 1 && ch <= 255)
-            actuator_roles[key] = {ch, bid > 0 ? bid : 12, is_no};
-    }
+    for (const auto& [name, r] : cfg.actuator_roles)
+        if (r.channel >= 1 && r.channel <= 255)
+            actuator_roles[name] = {r.channel, r.board_id > 0 ? r.board_id : 12, r.is_no};
 
     auto build_actuator_config = [&](int is_abort_controller,
                                      int enable_serial) -> std::vector<uint8_t> {
@@ -582,18 +565,11 @@ int main(int argc, char* argv[]) {
         return 1;
     }
 
-    if (interval_ms < 0 && !config_content.empty()) {
-        std::string val =
-            getTomlValue(config_content, "config_broadcast_service", "interval_ms", "");
-        if (!val.empty()) {
-            try {
-                interval_ms = std::max(500, std::stoi(val));
-            } catch (...) {
-            }
-        }
+    // Precedence: defaults < config < CLI (--interval-ms). Config value clamped to >=500 ms.
+    if (interval_ms < 0) {
+        const fsw::config::Config cfg = fsw::config::load(config_path);
+        interval_ms = std::max(500, static_cast<int>(cfg.config_broadcast_interval_ms));
     }
-    if (interval_ms < 0)
-        interval_ms = 1000;
 
     signal(SIGINT, signalHandler);
     signal(SIGTERM, signalHandler);

From 8bed548dde6cc0c8b123607a6e91833655b9a113 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:07:27 -0700
Subject: [PATCH 125/205] config: daq_bridge reads fsw::config (toml++) for
 database/network/heartbeat/time_sync/logs/boards

---
 .../daq_bridge/daq_bridge_main.cpp            | 160 +++++-------------
 1 file changed, 47 insertions(+), 113 deletions(-)

diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 120e515d7..4bb78db0a 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -90,6 +90,7 @@ class BackendLogForwarder {
 #include "calibration/PTCalibration.hpp"
 #include "calibration/SensorCalibration.hpp"
 #include "config/BoardDiscovery.hpp"
+#include "config/Config.hpp"
 #include "config/LoadActiveBoards.hpp"
 #include "elodin/DatabaseConfig.hpp"
 #include "elodin/ElodinClient.hpp"
@@ -140,123 +141,56 @@ static void load_board_map_from_config(const std::string& config_path,
                                        uint16_t* out_log_port = nullptr) {
     db_host = "127.0.0.1";
     db_port = 2240;
-    std::ifstream f(config_path);
-    if (!f.is_open())
-        return;
-    std::string line, current_section;
-    std::string board_type_str, board_ip;
-    int board_num_sensors = 10;
-    int board_id = -1;  // Added board_id
-    bool board_enabled = true;
-    auto add_board = [&]() {
-        if (board_ip.empty())
-            return;
-        BoardType bt = BoardType::UNKNOWN;
-        if (board_type_str == "PT")
-            bt = BoardType::PT;
-        else if (board_type_str == "LC")
-            bt = BoardType::LC;
-        else if (board_type_str == "TC")
-            bt = BoardType::TC;
-        else if (board_type_str == "RTD")
-            bt = BoardType::RTD;
-        else if (board_type_str == "ACTUATOR")
-            bt = BoardType::ACTUATOR;
-        else if (board_type_str == "ENCODER")
-            bt = BoardType::ENCODER;
-        if (bt != BoardType::UNKNOWN) {
-            BoardConfig cfg{bt, board_ip, board_num_sensors, board_enabled, board_id};
-            board_map[board_ip] = cfg;
-            if (out_board_order && board_enabled)
-                out_board_order->emplace_back(board_ip, std::move(cfg));
-        }
-        board_ip.clear();
-        board_type_str.clear();
-        board_id = -1;
+    {
+        std::ifstream f(config_path);
+        if (!f.is_open())
+            return;  // missing file → keep defaults, no boards (matches old behavior)
+    }
+
+    const fsw::config::Config c = fsw::config::load(config_path);
+    db_host = c.database.host;
+    db_port = c.database.port;
+    if (out_sensor_port)
+        *out_sensor_port = c.network.sensor_port;
+    if (out_bind_ip)
+        *out_bind_ip = c.network.bind_ip;
+    if (out_hb) {
+        out_hb->interval_ms = c.server_heartbeat.interval_ms;
+        out_hb->broadcast_port = c.server_heartbeat.broadcast_port;
+        out_hb->broadcast_ip = c.server_heartbeat.broadcast_ip;
+        out_hb->send_from_daq_bridge = c.server_heartbeat.send_from_daq_bridge;
+    }
+    if (out_ts)
+        *out_ts = c.time_sync;
+    if (out_log_port)
+        *out_log_port = c.logs.backend_udp_port;
+
+    auto kind = [](const std::string& t) {
+        if (t == "PT")
+            return BoardType::PT;
+        if (t == "LC")
+            return BoardType::LC;
+        if (t == "TC")
+            return BoardType::TC;
+        if (t == "RTD")
+            return BoardType::RTD;
+        if (t == "ACTUATOR")
+            return BoardType::ACTUATOR;
+        if (t == "ENCODER")
+            return BoardType::ENCODER;
+        return BoardType::UNKNOWN;
     };
-    while (std::getline(f, line)) {
-        size_t c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        while (!line.empty() && (line.back() == ' ' || line.back() == '\r'))
-            line.pop_back();
-        size_t start = line.find_first_not_of(" \t");
-        if (start != std::string::npos)
-            line = line.substr(start);
-        if (line.empty())
-            continue;
-        if (line.size() >= 2 && line[0] == '[' && line.back() == ']') {
-            add_board();
-            current_section = line.substr(1, line.size() - 2);
-            board_num_sensors = 10;
-            board_id = -1;
-            board_enabled = true;
+    for (const auto& b : c.boards) {
+        if (b.ip.empty())
             continue;
-        }
-        size_t eq = line.find('=');
-        if (eq == std::string::npos)
+        BoardType bt = kind(b.type);
+        if (bt == BoardType::UNKNOWN)
             continue;
-        std::string key = line.substr(0, eq);
-        std::string val = line.substr(eq + 1);
-        while (!key.empty() && (key.back() == ' ' || key.back() == '\t'))
-            key.pop_back();
-        while (!val.empty() && (val[0] == ' ' || val[0] == '\t'))
-            val.erase(0, 1);
-        if (val.size() >= 2 && val.front() == '"' && val.back() == '"')
-            val = val.substr(1, val.size() - 2);
-        if (current_section == "database") {
-            if (key == "host")
-                db_host = val;
-            else if (key == "port")
-                db_port = static_cast<uint16_t>(std::stoul(val));
-        } else if (current_section == "network") {
-            if (out_sensor_port && key == "sensor_port")
-                *out_sensor_port = static_cast<uint16_t>(std::stoul(val));
-            else if (out_bind_ip && key == "bind_ip")
-                *out_bind_ip = val;
-        } else if (current_section == "server_heartbeat" && out_hb) {
-            if (key == "interval_ms")
-                out_hb->interval_ms = std::stoul(val);
-            else if (key == "broadcast_port")
-                out_hb->broadcast_port = static_cast<uint16_t>(std::stoul(val));
-            else if (key == "broadcast_ip")
-                out_hb->broadcast_ip = val;
-            else if (key == "send_from_daq_bridge")
-                out_hb->send_from_daq_bridge = (val == "true" || val == "1");
-        } else if (current_section == "heartbeat_service" && out_hb) {
-            if (key == "enabled" && (val == "true" || val == "1"))
-                out_hb->send_from_daq_bridge = false;  // heartbeat_service owns it
-        } else if (current_section == "logs" && out_log_port) {
-            if (key == "backend_udp_port")
-                *out_log_port = static_cast<uint16_t>(std::stoul(val));
-        } else if (current_section == "time_sync" && out_ts) {
-            if (key == "mode")
-                out_ts->mode = (val == "arrival") ? fsw::time::TimeSyncConfig::Mode::Arrival
-                                                  : fsw::time::TimeSyncConfig::Mode::BoardClock;
-            else if (key == "window_seconds")
-                out_ts->window_seconds = static_cast<uint32_t>(std::stoul(val));
-            else if (key == "max_plausible_gap_s")
-                out_ts->max_plausible_gap_s = static_cast<uint32_t>(std::stoul(val));
-            else if (key == "max_batch_age_s")
-                out_ts->max_batch_age_s = static_cast<uint32_t>(std::stoul(val));
-            else if (key == "resync_threshold_ms")
-                out_ts->resync_threshold_ms = static_cast<uint32_t>(std::stoul(val));
-            else if (key == "log_interval_s")
-                out_ts->log_interval_s = static_cast<uint32_t>(std::stoul(val));
-        } else if (current_section.compare(0, 7, "boards.") == 0) {
-            if (key == "type")
-                board_type_str = val;
-            else if (key == "ip")
-                board_ip = val;
-            else if (key == "num_sensors")
-                board_num_sensors = std::stoi(val);
-            else if (key == "board_id")
-                board_id = std::stoi(val);  // Parse board_id
-            else if (key == "enabled")
-                board_enabled = (val == "true" || val == "1");
-        }
+        BoardConfig bc{bt, b.ip, b.num_sensors, b.enabled, b.board_id};
+        board_map[b.ip] = bc;
+        if (out_board_order && b.enabled)
+            out_board_order->emplace_back(b.ip, std::move(bc));
     }
-    add_board();
     // NOTE: do NOT add 127.0.0.1→PT. When simulator can't bind to config IPs, it uses
     // 127.0.0.2, 127.0.0.3, ... (one per board). board_order maps index→config for that fallback.
 }

From 51f2e8fd7852b9f5c2d3137f1d8c59c820c1fcb2 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:14:55 -0700
Subject: [PATCH 126/205] config: sequencer
 (SequencerService/ActuatorCommander/StateMachine) reads fsw::config (toml++)

---
 .../lib/include/config/Config.hpp             |   6 +-
 .../diablo_server/lib/src/config/Config.cpp   |  11 +-
 .../services/sequencer/ActuatorCommander.cpp  |  86 +++------
 .../services/sequencer/SequencerService.cpp   | 168 ++----------------
 .../services/sequencer/StateMachine.cpp       |  75 ++------
 5 files changed, 65 insertions(+), 281 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/config/Config.hpp b/daq-server/diablo_server/lib/include/config/Config.hpp
index 4bee4cff8..36b419df1 100644
--- a/daq-server/diablo_server/lib/include/config/Config.hpp
+++ b/daq-server/diablo_server/lib/include/config/Config.hpp
@@ -84,9 +84,9 @@ struct CalibrationConfig {  // [calibration.tc/.rtd/.lc]
     double lc_full_scale_value = 300.0;
 };
 
-struct FireConfig {  // [fire]
-    std::string state = "Fire";
-    std::string expiry_target = "Armed";
+struct FireConfig {     // [fire]
+    std::string state;  // "" when absent; consumers guard on empty and keep their own default
+    std::string expiry_target;
     uint32_t duration_ms = 6000;
     uint32_t extended_ms = 10000;
 };
diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 93e0c1ece..3d981aa89 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -177,10 +177,13 @@ Config from_table(const toml::table& t) {
                 c.actuator_roles[std::string(k.str())] = r;
             }
 
-    c.fire.state = s_or(t["fire"]["state"], c.fire.state);
-    c.fire.expiry_target = s_or(t["fire"]["expiry_target"], c.fire.expiry_target);
-    c.fire.duration_ms = static_cast<uint32_t>(i_or(t["fire"]["duration_ms"], 6000));
-    c.fire.extended_ms = static_cast<uint32_t>(i_or(t["fire"]["extended_ms"], 10000));
+    c.fire.state = s_or(t["fire"]["state"], "");
+    c.fire.expiry_target = s_or(t["fire"]["expiry_target"], "");
+    // Durations: [fire] is the home; fall back to the legacy [controller_service].fire_* keys.
+    c.fire.duration_ms = static_cast<uint32_t>(
+        i_or(t["fire"]["duration_ms"], i_or(t["controller_service"]["fire_duration_ms"], 6000)));
+    c.fire.extended_ms = static_cast<uint32_t>(
+        i_or(t["fire"]["extended_ms"], i_or(t["controller_service"]["fire_extended_ms"], 10000)));
 
     c.controller_service.port = static_cast<uint16_t>(i_or(t["controller_service"]["port"], 9999));
     c.controller_service.host = s_or(t["controller_service"]["host"], c.controller_service.host);
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index c50e004a6..7ac51c4cc 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -15,6 +15,8 @@
 #include <sstream>
 #include <thread>
 
+#include "config/Config.hpp"
+
 // daqv2comms — all packet construction goes through here
 #include "DiabloPacketUtils.h"
 #include "comms/CommsMessage.hpp"
@@ -125,76 +127,36 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
     roles_.clear();
     state_actuators_.clear();
 
+    const fsw::config::Config cfg = fsw::config::load_from_string(config_content);
+
     // -- Config: bind address and actuator port --
-    bind_addr_ = getTomlValue(config_content, "actuator_service", "bind_address", "0.0.0.0");
+    bind_addr_ = cfg.actuator_service.bind_address;
     if (bind_addr_.empty())
         bind_addr_ = "0.0.0.0";
+    actuator_port_ = cfg.network.actuator_cmd_port;
 
-    const std::string port_str =
-        getTomlValue(config_content, "network", "actuator_cmd_port", "5005");
-    try {
-        actuator_port_ = static_cast<uint16_t>(std::stoi(port_str));
-    } catch (...) {
-    }
-
-    // -- Board IP map: board_id → IP (from [boards.xxx] sections) --
+    // -- Board IP map: board_id → IP (from [boards.*]); canonical 192.168.2.N fallback --
     std::map<int, std::string> board_id_to_ip;
-    {
-        size_t pos = 0;
-        while (pos < config_content.size()) {
-            size_t next = config_content.find("[boards.", pos);
-            if (next == std::string::npos)
-                break;
-            size_t end = config_content.find(']', next);
-            if (end == std::string::npos)
-                break;
-            std::string sec = config_content.substr(next + 1, end - next - 1);
-            std::string ip = getTomlValue(config_content, sec, "ip", "");
-            std::string id_str = getTomlValue(config_content, sec, "id",
-                                              getTomlValue(config_content, sec, "board_id", ""));
-            if (!ip.empty() && !id_str.empty()) {
-                try {
-                    int id = std::stoi(id_str);
-                    if (id > 0)
-                        board_id_to_ip[id] = ip;
-                } catch (...) {
-                }
-            }
-            pos = end + 1;
-        }
-    }
-    if (board_id_to_ip.empty()) {
-        // Minimal fallback: canonical 192.168.2.N scheme
+    for (const auto& b : cfg.boards)
+        if (!b.ip.empty() && b.board_id > 0)
+            board_id_to_ip[b.board_id] = b.ip;
+    if (board_id_to_ip.empty())
         for (int i = 11; i <= 14; ++i)
             board_id_to_ip[i] = "192.168.2." + std::to_string(i);
-    }
 
-    // -- Actuator roles from [actuator_roles] section --
-    {
-        std::string current_section;
-        std::istringstream cfg(config_content);
-        std::string line;
-        while (std::getline(cfg, line)) {
-            auto c = line.find('#');
-            if (c != std::string::npos)
-                line = line.substr(0, c);
-            if (line.size() >= 2 && line[0] == '[') {
-                size_t end = line.find(']');
-                current_section = (end != std::string::npos) ? line.substr(1, end - 1) : "";
-                continue;
-            }
-            if (current_section != "actuator_roles")
-                continue;
-            auto eq = line.find('=');
-            if (eq == std::string::npos)
-                continue;
-
-            std::string role_name = trimVal(line.substr(0, eq));
-            ActuatorRole role;
-            if (!parseActuatorRole(trimVal(line.substr(eq + 1)), role, board_id_to_ip))
-                continue;
-            roles_[role_name] = role;
-        }
+    // -- Actuator roles from [actuator_roles] (channels 1..10 only) --
+    for (const auto& [name, r] : cfg.actuator_roles) {
+        if (r.channel < 1 || r.channel > 10)
+            continue;
+        ActuatorRole role;
+        role.is_no = r.is_no;
+        role.is_pwm = (r.kind == "PWM" || r.kind == "pwm");
+        role.channel = r.channel;
+        role.board_id = r.board_id;
+        auto it = board_id_to_ip.find(r.board_id);
+        role.board_ip =
+            (it != board_id_to_ip.end()) ? it->second : "192.168.2." + std::to_string(r.board_id);
+        roles_[name] = role;
     }
     std::cout << "[ActuatorCommander] Loaded " << roles_.size() << " actuator roles from config"
               << std::endl;
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 7eae35831..d32ed2039 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -13,6 +13,7 @@
 #include <thread>
 
 #include "comms/CommsMessage.hpp"
+#include "config/Config.hpp"
 #include "config/LoadActiveBoards.hpp"
 #include "elodin/DatabaseConfig.hpp"
 
@@ -140,10 +141,10 @@ static std::string configString(const std::string& content, const std::string& s
 
 bool SequencerService::init(const std::string& config_path) {
     loadConfig(config_path);
+    const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
 
     // State machine CSV — path from config.toml (canonical: daq-server/config/).
-    std::string sm_csv = resolveDataPath(configString(
-        config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
+    std::string sm_csv = resolveDataPath(cfg.state_machine.transitions_csv);
     if (!state_machine_.load(sm_csv)) {
         std::cerr
             << "[SequencerService] Failed to load state_transitions.csv (tried relative to cwd: "
@@ -152,8 +153,7 @@ bool SequencerService::init(const std::string& config_path) {
     }
 
     // Actuator commander — path from config.toml (canonical: daq-server/config/).
-    std::string act_csv = resolveDataPath(configString(
-        config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
+    std::string act_csv = resolveDataPath(cfg.state_machine.actuator_csv);
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Failed to load state_machine_actuators.csv (tried: "
                   << act_csv << ")" << std::endl;
@@ -164,85 +164,14 @@ bool SequencerService::init(const std::string& config_path) {
     // its state and expiry target by name, and the CSVs are parsed by name too.
     StateMachine::loadStatesFromConfig(config_content_);
 
-    // FireManager: load durations from config
-    auto getStr = [&](const std::string& sec, const std::string& key,
-                      const std::string& def) -> std::string {
-        const std::string& cc = config_content_;
-        const std::string header = "[" + sec + "]";
-        auto pos = cc.find(header);
-        if (pos == std::string::npos)
-            return def;
-        auto start = pos + header.size();
-        auto next = cc.find("\n[", start);
-        const std::string section =
-            (next == std::string::npos) ? cc.substr(start) : cc.substr(start, next - start);
-        std::istringstream iss(section);
-        std::string line;
-        while (std::getline(iss, line)) {
-            auto hash = line.find('#');
-            if (hash != std::string::npos)
-                line = line.substr(0, hash);
-            auto eq = line.find('=');
-            if (eq == std::string::npos)
-                continue;
-            std::string k = line.substr(0, eq);
-            k.erase(0, k.find_first_not_of(" \t"));
-            k.erase(k.find_last_not_of(" \t\r\n") + 1);
-            if (k != key)
-                continue;
-            std::string v = line.substr(eq + 1);
-            v.erase(0, v.find_first_not_of(" \t\"'"));
-            auto endq = v.find_last_not_of(" \t\r\n\"'");
-            if (endq != std::string::npos)
-                v.erase(endq + 1);
-            return v;
-        }
-        return def;
-    };
-
-    auto getInt = [&](const std::string& sec, const std::string& key, uint32_t def) -> uint32_t {
-        const std::string& cc = config_content_;
-        const std::string header = "[" + sec + "]";
-        auto pos = cc.find(header);
-        if (pos == std::string::npos)
-            return def;
-        auto start = pos + header.size();
-        auto next = cc.find("\n[", start);
-        const std::string section =
-            (next == std::string::npos) ? cc.substr(start) : cc.substr(start, next - start);
-        std::istringstream iss(section);
-        std::string line;
-        while (std::getline(iss, line)) {
-            auto eq = line.find('=');
-            if (eq == std::string::npos)
-                continue;
-            std::string k = line.substr(0, eq);
-            k.erase(0, k.find_first_not_of(" \t"));
-            k.erase(k.find_last_not_of(" \t") + 1);
-            if (k != key)
-                continue;
-            std::string v = line.substr(eq + 1);
-            v.erase(0, v.find_first_not_of(" \t\r\n"));
-            v.erase(v.find_last_not_of(" \t\r\n") + 1);
-            try {
-                return static_cast<uint32_t>(std::stoul(v));
-            } catch (...) {
-            }
-        }
-        return def;
-    };
-
-    // [fire] is the new home; [controller_service] is still read as a fallback so an un-migrated
-    // config keeps working. (That read used to name [state_machine], which holds only the CSV
-    // paths, so the lookup always missed and every burn silently ran the 6000 ms default.)
-    const uint32_t fire_duration_ms =
-        getInt("fire", "duration_ms", getInt("controller_service", "fire_duration_ms", 6000));
-    const uint32_t fire_extended_ms =
-        getInt("fire", "extended_ms", getInt("controller_service", "fire_extended_ms", 10000));
+    // FireManager durations from config.toml [fire] (see the parser for the
+    // [controller_service].fire_* fallback that keeps an un-migrated config working).
+    const uint32_t fire_duration_ms = cfg.fire.duration_ms;
+    const uint32_t fire_extended_ms = cfg.fire.extended_ms;
 
     // Which state is the burn, and where its timer lands. Names, not enumerators.
     {
-        const std::string fs = getStr("fire", "state", "");
+        const std::string fs = cfg.fire.state;
         if (!fs.empty()) {
             State s = StateMachine::fromName(fs);
             if (s == State::UNKNOWN)
@@ -251,7 +180,7 @@ bool SequencerService::init(const std::string& config_path) {
             else
                 fire_state_ = s;
         }
-        const std::string ft = getStr("fire", "expiry_target", "");
+        const std::string ft = cfg.fire.expiry_target;
         if (!ft.empty()) {
             State s = StateMachine::fromName(ft);
             if (s == State::UNKNOWN)
@@ -279,77 +208,15 @@ bool SequencerService::init(const std::string& config_path) {
 
     // Controller service endpoint for FIRE_START / FIRE_STOP
     // Read from config; defaults to 127.0.0.1:8000
-    std::string ctrl_host = "127.0.0.1";
-    uint16_t ctrl_port = 8000;
-    {
-        std::istringstream cfg(config_content_);
-        std::string line, cur_sec;
-        while (std::getline(cfg, line)) {
-            if (line.size() > 1 && line[0] == '[') {
-                auto e = line.find(']');
-                cur_sec = (e != std::string::npos) ? line.substr(1, e - 1) : "";
-                continue;
-            }
-            if (cur_sec != "controller_service")
-                continue;
-            auto eq = line.find('=');
-            if (eq == std::string::npos)
-                continue;
-            std::string k = line.substr(0, eq);
-            k.erase(0, k.find_first_not_of(" \t"));
-            k.erase(k.find_last_not_of(" \t") + 1);
-            std::string v = line.substr(eq + 1);
-            v.erase(0, v.find_first_not_of(" \t\r\n\""));
-            v.erase(v.find_last_not_of(" \t\r\n\"") + 1);
-            if (k == "host")
-                ctrl_host = v;
-            else if (k == "port") {
-                try {
-                    ctrl_port = static_cast<uint16_t>(std::stoi(v));
-                } catch (...) {
-                }
-            }
-        }
-    }
-    controller_host_ = ctrl_host;
-    controller_port_ = ctrl_port;
+    controller_host_ = cfg.controller_service.host;
+    controller_port_ = cfg.controller_service.port;
     fire_manager_.setNotifier([this](bool active) {
         notifyControllerFire(active);
     });
 
     // Elodin — connection is best-effort; service runs without it
-    const std::string elodin_host = "127.0.0.1";
-    uint16_t elodin_port = 2240;
-    {
-        std::istringstream cfg(config_content_);
-        std::string line, cur_sec;
-        while (std::getline(cfg, line)) {
-            if (line.size() > 1 && line[0] == '[') {
-                auto e = line.find(']');
-                cur_sec = (e != std::string::npos) ? line.substr(1, e - 1) : "";
-                continue;
-            }
-            if (cur_sec != "database")
-                continue;
-            auto eq = line.find('=');
-            if (eq == std::string::npos)
-                continue;
-            std::string k = line.substr(0, eq);
-            k.erase(0, k.find_first_not_of(" \t"));
-            k.erase(k.find_last_not_of(" \t") + 1);
-            if (k != "port")
-                continue;
-            std::string v = line.substr(eq + 1);
-            v.erase(0, v.find_first_not_of(" \t\r\n"));
-            v.erase(v.find_last_not_of(" \t\r\n") + 1);
-            try {
-                elodin_port = static_cast<uint16_t>(std::stoi(v));
-            } catch (...) {
-            }
-        }
-    }
-    elodin_host_ = elodin_host;
-    elodin_port_ = elodin_port;
+    elodin_host_ = "127.0.0.1";
+    elodin_port_ = cfg.database.port;
     if (!tryConnectElodin()) {
         std::cerr << "[SequencerService] Cannot connect to Elodin yet — retrying every "
                   << kElodinRetrySeconds << "s in the background" << std::endl;
@@ -481,15 +348,14 @@ bool SequencerService::extendFire() {
 bool SequencerService::reloadConfig() {
     std::cout << "[SequencerService] Reloading config..." << std::endl;
     loadConfig(config_path_);
+    const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
 
-    std::string act_csv = resolveDataPath(configString(
-        config_content_, "state_machine", "actuator_csv", "config/state_machine_actuators.csv"));
+    std::string act_csv = resolveDataPath(cfg.state_machine.actuator_csv);
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload actuator CSV" << std::endl;
         return false;
     }
-    std::string sm_csv = resolveDataPath(configString(
-        config_content_, "state_machine", "transitions_csv", "config/state_transitions.csv"));
+    std::string sm_csv = resolveDataPath(cfg.state_machine.transitions_csv);
     if (!state_machine_.load(sm_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload state transitions CSV"
                   << std::endl;
diff --git a/daq-server/diablo_server/services/sequencer/StateMachine.cpp b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
index af118e728..e72b06fba 100644
--- a/daq-server/diablo_server/services/sequencer/StateMachine.cpp
+++ b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
@@ -8,6 +8,8 @@
 #include <sstream>
 #include <string>
 
+#include "config/Config.hpp"
+
 namespace sequencer {
 
 // ─────────────────────────────────────────────────────────────────────────────
@@ -80,70 +82,21 @@ std::string trimQuoted(std::string v) {
 
 void StateMachine::loadStatesFromConfig(const std::string& config_content) {
     ConfigStates fresh;
-    std::istringstream iss(config_content);
-    std::string line;
-    bool in_entry = false;
-    int id = -1;
-    std::string nm;
-    bool is_abort = false, is_boot = false;
-
-    auto flush = [&]() {
-        if (!in_entry)
-            return;
-        // An entry needs both an id and a name to mean anything. Skip incomplete ones rather than
-        // half-registering a state.
-        if (id >= 0 && id <= 255 && !nm.empty()) {
-            const State st = static_cast<State>(static_cast<uint8_t>(id));
-            fresh.names[st] = nm;
-            fresh.by_name[nm] = st;
-            if (is_abort)
-                fresh.aborts.insert(st);
-            if (is_boot && !fresh.boot_set) {
-                fresh.boot = st;
-                fresh.boot_set = true;
-            }
-        }
-        id = -1;
-        nm.clear();
-        is_abort = is_boot = false;
-    };
-
-    while (std::getline(iss, line)) {
-        std::string t = line;
-        t.erase(0, t.find_first_not_of(" \t"));
-        if (t.rfind("[[states]]", 0) == 0) {
-            flush();
-            in_entry = true;
+    const fsw::config::Config cfg = fsw::config::load_from_string(config_content);
+    for (const auto& s : cfg.states) {
+        // An entry needs a valid id and a name; skip incomplete ones. First is_boot wins.
+        if (s.id < 0 || s.id > 255 || s.name.empty())
             continue;
-        }
-        // Any other section header ends the array.
-        if (!t.empty() && t[0] == '[') {
-            flush();
-            in_entry = false;
-            continue;
-        }
-        if (!in_entry)
-            continue;
-        auto eq = t.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string k = t.substr(0, eq);
-        k.erase(k.find_last_not_of(" \t") + 1);
-        const std::string v = trimQuoted(t.substr(eq + 1));
-        if (k == "id") {
-            try {
-                id = std::stoi(v);
-            } catch (...) {
-            }
-        } else if (k == "name") {
-            nm = v;
-        } else if (k == "is_abort") {
-            is_abort = (v == "true" || v == "1");
-        } else if (k == "is_boot") {
-            is_boot = (v == "true" || v == "1");
+        const State st = static_cast<State>(static_cast<uint8_t>(s.id));
+        fresh.names[st] = s.name;
+        fresh.by_name[s.name] = st;
+        if (s.is_abort)
+            fresh.aborts.insert(st);
+        if (s.is_boot && !fresh.boot_set) {
+            fresh.boot = st;
+            fresh.boot_set = true;
         }
     }
-    flush();
 
     fresh.loaded = !fresh.names.empty();
     configStates() = fresh;

From 42af14f5eb99d2586cdbb8450511b34ae5f7dcc8 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:17:07 -0700
Subject: [PATCH 127/205] config: fold load_active_boards into fsw::config
 wrappers; delete dead ConfigParser + parity harness

---
 daq-server/diablo_server/lib/CMakeLists.txt   |  10 -
 .../lib/include/config/ConfigParser.hpp       |  74 ----
 .../lib/src/config/ConfigParser.cpp           | 286 ---------------
 .../lib/src/config/LoadActiveBoards.cpp       | 276 +--------------
 .../lib/test/config_parity_check.cpp          |  79 -----
 .../lib/test/send_all_sensors_from_config.cpp | 333 ------------------
 6 files changed, 7 insertions(+), 1051 deletions(-)
 delete mode 100644 daq-server/diablo_server/lib/include/config/ConfigParser.hpp
 delete mode 100644 daq-server/diablo_server/lib/src/config/ConfigParser.cpp
 delete mode 100644 daq-server/diablo_server/lib/test/config_parity_check.cpp
 delete mode 100644 daq-server/diablo_server/lib/test/send_all_sensors_from_config.cpp

diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index 7239a493f..411c48f8d 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -6,7 +6,6 @@ set(FSW_SOURCES
     src/config/BoardDiscovery.cpp
     src/config/DynamicConfigManager.cpp
     src/config/SensorAssignment.cpp
-    src/config/ConfigParser.cpp
     src/config/LoadActiveBoards.cpp
     src/config/Config.cpp
     src/routing/HeartbeatRouter.cpp
@@ -66,15 +65,6 @@ target_link_libraries(test_board_clock_sync
     fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY})
 add_test(NAME board_clock_sync COMMAND test_board_clock_sync)
 
-# Temporary parity harness for the toml++ config migration (removed in the cleanup commit).
-add_executable(config_parity_check test/config_parity_check.cpp)
-target_include_directories(config_parity_check PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
-)
-target_link_libraries(config_parity_check
-    fsw_daq_lib daq_comms_lib Threads::Threads pthread ${RT_LIBRARY})
-
 add_executable(test_fire_lifecycle
     test/test_fire_lifecycle.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/FireManager.cpp
diff --git a/daq-server/diablo_server/lib/include/config/ConfigParser.hpp b/daq-server/diablo_server/lib/include/config/ConfigParser.hpp
deleted file mode 100644
index a78e6a140..000000000
--- a/daq-server/diablo_server/lib/include/config/ConfigParser.hpp
+++ /dev/null
@@ -1,74 +0,0 @@
-#ifndef DAQ_CONFIG_PARSER_HPP
-#define DAQ_CONFIG_PARSER_HPP
-
-#include <array>
-#include <cstdint>
-#include <map>
-#include <string>
-#include <vector>
-
-#include "SensorAssignment.hpp"
-
-namespace fsw {
-namespace config {
-
-/**
- * @brief Simple TOML config parser for sensor definitions
- *
- * Parses TOML config files to extract sensor definitions with packet IDs.
- * Supports nested tables like [sensors.flight.pt], [sensors.gse.rtd], etc.
- */
-class ConfigParser {
-public:
-    ConfigParser() = default;
-    ~ConfigParser() = default;
-
-    /**
-     * @brief Load and parse TOML config file
-     * @param config_path Path to TOML config file
-     * @return true if parsing successful
-     */
-    bool load_config(const std::string& config_path);
-
-    /**
-     * @brief Get all sensor assignments from config
-     * @return Vector of sensor assignments with packet IDs
-     */
-    std::vector<SensorAssignment> get_all_sensor_assignments() const;
-
-    /**
-     * @brief Get sensor assignments for a specific sensor type
-     * @param sensor_type Sensor type (PT, TC, RTD, LC, ACTUATOR)
-     * @return Vector of sensor assignments
-     */
-    std::vector<SensorAssignment> get_sensor_assignments(SensorType sensor_type) const;
-
-    /**
-     * @brief Get sensor assignment by sensor ID
-     * @param sensor_id Sensor identifier (e.g., "PT_HP", "RTD_COPV")
-     * @return Sensor assignment if found, nullopt otherwise
-     */
-    std::optional<SensorAssignment> get_sensor_assignment(const std::string& sensor_id) const;
-
-    /**
-     * @brief Get all message IDs from config
-     * @return Map of sensor_id -> message_id
-     */
-    std::map<std::string, uint16_t> get_all_message_ids() const;
-
-private:
-    // Internal storage: sensor_id -> SensorAssignment
-    std::map<std::string, SensorAssignment> sensor_assignments_;
-
-    // Helper methods
-    SensorType parse_sensor_type(const std::string& section_path) const;
-    SystemState parse_system_state(const std::string& section_path) const;
-    uint16_t parse_message_id(const std::string& message_id_str) const;
-    bool parse_sensor_entry(const std::string& sensor_id, const std::string& section_path,
-                            const std::map<std::string, std::string>& fields);
-};
-
-}  // namespace config
-}  // namespace fsw
-
-#endif  // DAQ_CONFIG_PARSER_HPP
diff --git a/daq-server/diablo_server/lib/src/config/ConfigParser.cpp b/daq-server/diablo_server/lib/src/config/ConfigParser.cpp
deleted file mode 100644
index 18d13acca..000000000
--- a/daq-server/diablo_server/lib/src/config/ConfigParser.cpp
+++ /dev/null
@@ -1,286 +0,0 @@
-#include "config/ConfigParser.hpp"
-
-#include <fstream>
-#include <iostream>
-#include <regex>
-#include <sstream>
-
-namespace fsw {
-namespace config {
-
-bool ConfigParser::load_config(const std::string& config_path) {
-    std::ifstream file(config_path);
-    if (!file.is_open()) {
-        std::cerr << "[ConfigParser] Failed to open config file: " << config_path << std::endl;
-        return false;
-    }
-
-    std::string line;
-    std::string current_section;
-    std::map<std::string, std::string> current_fields;
-    std::string current_sensor_id;
-
-    // Simple TOML parser - handles:
-    // [section.subsection]
-    // key = value
-    // key = [value1, value2]  # For arrays like packet_id
-    // sensor_id = { key1 = value1, key2 = value2 }
-
-    while (std::getline(file, line)) {
-        // Remove comments
-        size_t comment_pos = line.find('#');
-        if (comment_pos != std::string::npos) {
-            line = line.substr(0, comment_pos);
-        }
-
-        // Trim whitespace
-        line.erase(0, line.find_first_not_of(" \t"));
-        line.erase(line.find_last_not_of(" \t") + 1);
-
-        if (line.empty()) {
-            continue;
-        }
-
-        // Check for section header [section.subsection]
-        if (line.front() == '[' && line.back() == ']') {
-            // Save previous sensor entry if any
-            if (!current_sensor_id.empty() && !current_fields.empty()) {
-                parse_sensor_entry(current_sensor_id, current_section, current_fields);
-                current_fields.clear();
-            }
-            current_section = line.substr(1, line.length() - 2);
-            current_sensor_id.clear();
-            continue;
-        }
-
-        // Check for sensor entry: sensor_id = { ... } (single-line or multi-line)
-        std::regex sensor_entry_regex(R"((\w+)\s*=\s*\{)");
-        std::smatch match;
-        if (std::regex_search(line, match, sensor_entry_regex)) {
-            // Save previous sensor entry if any
-            if (!current_sensor_id.empty() && !current_fields.empty()) {
-                parse_sensor_entry(current_sensor_id, current_section, current_fields);
-                current_fields.clear();
-            }
-            current_sensor_id = match[1].str();
-
-            // Check if this is a single-line entry: sensor_id = { key1 = value1, key2 = value2 }
-            if (line.find('}') != std::string::npos) {
-                // Single-line entry - parse fields from the same line
-                std::string content = line.substr(line.find('{') + 1);
-                content = content.substr(0, content.find_last_of('}'));
-
-                // Parse key-value pairs separated by commas
-                std::regex kv_regex(R"((\w+)\s*=\s*([^,}]+))");
-                std::sregex_iterator iter(content.begin(), content.end(), kv_regex);
-                std::sregex_iterator end;
-
-                for (; iter != end; ++iter) {
-                    std::string key = iter->str(1);
-                    std::string value = iter->str(2);
-
-                    // Trim value
-                    value.erase(0, value.find_first_not_of(" \t"));
-                    value.erase(value.find_last_not_of(" \t") + 1);
-
-                    // Remove quotes if present
-                    if (value.front() == '"' && value.back() == '"') {
-                        value = value.substr(1, value.length() - 2);
-                    }
-
-                    if (key == "message_id" || key == "packet_id") {
-                        current_fields["message_id"] = value;
-                    } else {
-                        current_fields[key] = value;
-                    }
-                }
-
-                // Parse the entry immediately
-                if (!current_fields.empty()) {
-                    parse_sensor_entry(current_sensor_id, current_section, current_fields);
-                    current_fields.clear();
-                    current_sensor_id.clear();
-                }
-            }
-            // If multi-line, continue to next lines for fields
-            continue;
-        }
-
-        // Check for field: key = value or key = [value1, value2]
-        std::regex field_regex(R"((\w+)\s*=\s*(.+))");
-        if (std::regex_search(line, match, field_regex)) {
-            std::string key = match[1].str();
-            std::string value = match[2].str();
-
-            // Trim value
-            value.erase(0, value.find_first_not_of(" \t"));
-            value.erase(value.find_last_not_of(" \t") + 1);
-
-            // Handle message_id as integer (like FSW: 0, 1, 2, etc.)
-            // Support both decimal and hex (0x prefix)
-            if (key == "message_id" || key == "packet_id") {
-                // Remove quotes if present
-                if (value.front() == '"' && value.back() == '"') {
-                    value = value.substr(1, value.length() - 2);
-                }
-                current_fields["message_id"] = value;
-            } else {
-                // Remove quotes if present
-                if (value.front() == '"' && value.back() == '"') {
-                    value = value.substr(1, value.length() - 2);
-                }
-                current_fields[key] = value;
-            }
-            continue;
-        }
-
-        // Check for closing brace }
-        if (line.find('}') != std::string::npos) {
-            if (!current_sensor_id.empty() && !current_fields.empty()) {
-                parse_sensor_entry(current_sensor_id, current_section, current_fields);
-                current_fields.clear();
-                current_sensor_id.clear();
-            }
-        }
-    }
-
-    // Save last sensor entry if any
-    if (!current_sensor_id.empty() && !current_fields.empty()) {
-        parse_sensor_entry(current_sensor_id, current_section, current_fields);
-    }
-
-    std::cout << "[ConfigParser] Loaded " << sensor_assignments_.size()
-              << " sensor definitions from " << config_path << std::endl;
-    return true;
-}
-
-bool ConfigParser::parse_sensor_entry(const std::string& sensor_id, const std::string& section_path,
-                                      const std::map<std::string, std::string>& fields) {
-    SensorAssignment assignment;
-    assignment.sensor_id = sensor_id;
-    assignment.sensor_type = parse_sensor_type(section_path);
-    assignment.system_state = parse_system_state(section_path);
-
-    // Parse required fields
-    if (fields.find("board_id") != fields.end()) {
-        assignment.board_id = static_cast<uint8_t>(std::stoul(fields.at("board_id")));
-    } else {
-        std::cerr << "[ConfigParser] Missing board_id for sensor: " << sensor_id << std::endl;
-        return false;
-    }
-
-    if (fields.find("channel") != fields.end()) {
-        assignment.channel_id = static_cast<uint8_t>(std::stoul(fields.at("channel")));
-    } else {
-        std::cerr << "[ConfigParser] Missing channel for sensor: " << sensor_id << std::endl;
-        return false;
-    }
-
-    // Parse message_id (integer, like FSW: 0, 1, 2, etc.)
-    // Support both decimal and hex (0x prefix)
-    if (fields.find("message_id") != fields.end()) {
-        std::string msg_id_str = fields.at("message_id");
-        // Remove quotes if present
-        if (msg_id_str.front() == '"' && msg_id_str.back() == '"') {
-            msg_id_str = msg_id_str.substr(1, msg_id_str.length() - 2);
-        }
-        // Parse as hex if starts with 0x, otherwise decimal
-        if (msg_id_str.substr(0, 2) == "0x" || msg_id_str.substr(0, 2) == "0X") {
-            assignment.message_id = static_cast<uint16_t>(std::stoul(msg_id_str, nullptr, 16));
-        } else {
-            assignment.message_id = static_cast<uint16_t>(std::stoul(msg_id_str));
-        }
-    } else if (fields.find("packet_id") != fields.end()) {
-        // Legacy support: parse packet_id as integer too
-        std::string msg_id_str = fields.at("packet_id");
-        if (msg_id_str.substr(0, 2) == "0x" || msg_id_str.substr(0, 2) == "0X") {
-            assignment.message_id = static_cast<uint16_t>(std::stoul(msg_id_str, nullptr, 16));
-        } else {
-            assignment.message_id = static_cast<uint16_t>(std::stoul(msg_id_str));
-        }
-    } else {
-        std::cerr << "[ConfigParser] Missing message_id for sensor: " << sensor_id << std::endl;
-        return false;
-    }
-
-    // Parse optional fields
-    if (fields.find("purpose") != fields.end()) {
-        assignment.purpose = fields.at("purpose");
-    }
-    if (fields.find("location") != fields.end()) {
-        assignment.location = fields.at("location");
-    }
-    if (fields.find("max_psi") != fields.end()) {
-        // Store max_psi in purpose for now (could add to struct later)
-    }
-
-    assignment.is_active = true;
-    assignment.board_port = 5005;  // Default port
-
-    sensor_assignments_[sensor_id] = assignment;
-    return true;
-}
-
-SensorType ConfigParser::parse_sensor_type(const std::string& section_path) const {
-    if (section_path.find(".pt") != std::string::npos) {
-        return SensorType::PT;
-    } else if (section_path.find(".tc") != std::string::npos) {
-        return SensorType::TC;
-    } else if (section_path.find(".rtd") != std::string::npos) {
-        return SensorType::RTD;
-    } else if (section_path.find(".lc") != std::string::npos) {
-        return SensorType::LC;
-    } else if (section_path.find(".actuator") != std::string::npos) {
-        return SensorType::ACTUATOR;
-    }
-    return SensorType::PT;  // Default
-}
-
-SystemState ConfigParser::parse_system_state(const std::string& section_path) const {
-    if (section_path.find("flight") != std::string::npos ||
-        section_path.find("hotfire") != std::string::npos) {
-        return SystemState::FLIGHT;
-    } else if (section_path.find("gse") != std::string::npos ||
-               section_path.find("ground") != std::string::npos) {
-        return SystemState::GSE;
-    }
-    return SystemState::GSE;  // Default
-}
-
-std::vector<SensorAssignment> ConfigParser::get_all_sensor_assignments() const {
-    std::vector<SensorAssignment> assignments;
-    for (const auto& [sensor_id, assignment] : sensor_assignments_) {
-        assignments.push_back(assignment);
-    }
-    return assignments;
-}
-
-std::vector<SensorAssignment> ConfigParser::get_sensor_assignments(SensorType sensor_type) const {
-    std::vector<SensorAssignment> assignments;
-    for (const auto& [sensor_id, assignment] : sensor_assignments_) {
-        if (assignment.sensor_type == sensor_type) {
-            assignments.push_back(assignment);
-        }
-    }
-    return assignments;
-}
-
-std::optional<SensorAssignment> ConfigParser::get_sensor_assignment(
-    const std::string& sensor_id) const {
-    auto it = sensor_assignments_.find(sensor_id);
-    if (it != sensor_assignments_.end()) {
-        return it->second;
-    }
-    return std::nullopt;
-}
-
-std::map<std::string, uint16_t> ConfigParser::get_all_message_ids() const {
-    std::map<std::string, uint16_t> message_ids;
-    for (const auto& [sensor_id, assignment] : sensor_assignments_) {
-        message_ids[sensor_id] = assignment.message_id;
-    }
-    return message_ids;
-}
-
-}  // namespace config
-}  // namespace fsw
diff --git a/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp b/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp
index 181070d21..b88ff0f22 100644
--- a/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp
+++ b/daq-server/diablo_server/lib/src/config/LoadActiveBoards.cpp
@@ -1,283 +1,21 @@
 #include "config/LoadActiveBoards.hpp"
 
-#include <fstream>
-#include <functional>
-#include <iostream>
-#include <sstream>
-#include <string>
+#include "config/Config.hpp"
+
+// The board parsing + slot-collision validation now lives in Config.cpp (active_boards/pt_boards),
+// fed by the single toml++ parser. These free functions remain as thin wrappers so their existing
+// callers (daq_bridge, calibration_service, sequencer_service) need no change.
 
 namespace fsw {
 namespace config {
 
-namespace {
-
-/** Strip comments, CR and surrounding whitespace. Returns the bare line (may be empty). */
-std::string clean_line(std::string line) {
-    size_t c = line.find('#');
-    if (c != std::string::npos)
-        line = line.substr(0, c);
-    while (!line.empty() && (line.back() == ' ' || line.back() == '\t' || line.back() == '\r'))
-        line.pop_back();
-    size_t start = line.find_first_not_of(" \t");
-    if (start == std::string::npos)
-        return "";
-    return line.substr(start);
-}
-
-std::string unquote(std::string v) {
-    if (v.size() >= 2 && v.front() == '"' && v.back() == '"')
-        return v.substr(1, v.size() - 2);
-    return v;
-}
-
-using KeyValues = std::map<std::string, std::string>;
-
-/**
- * Walk every [boards.*] section, invoking `fn(section_name, key_values)` once per section.
- *
- * Collecting each section into a map before dispatching makes key order within a section
- * irrelevant, which the previous single-pass readers were sensitive to.
- */
-void for_each_board_section(const std::string& config_path,
-                            const std::function<void(const std::string&, const KeyValues&)>& fn) {
-    std::ifstream f(config_path);
-    if (!f.is_open())
-        return;
-
-    std::string line, section;
-    KeyValues kv;
-
-    auto flush = [&]() {
-        if (section.rfind("boards.", 0) == 0 && !kv.empty())
-            fn(section, kv);
-        kv.clear();
-    };
-
-    while (std::getline(f, line)) {
-        line = clean_line(std::move(line));
-        if (line.empty())
-            continue;
-
-        if (line.size() >= 2 && line[0] == '[' && line.back() == ']') {
-            flush();
-            section = line.substr(1, line.size() - 2);
-            continue;
-        }
-        if (section.rfind("boards.", 0) != 0)
-            continue;
-
-        size_t eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string key = line.substr(0, eq);
-        std::string val = line.substr(eq + 1);
-        while (!key.empty() && (key.back() == ' ' || key.back() == '\t'))
-            key.pop_back();
-        while (!val.empty() && (val[0] == ' ' || val[0] == '\t'))
-            val.erase(0, 1);
-        kv[key] = val;
-    }
-    flush();
-}
-
-const std::string* find(const KeyValues& kv, const std::string& key) {
-    auto it = kv.find(key);
-    return it == kv.end() ? nullptr : &it->second;
-}
-
-bool board_enabled(const KeyValues& kv) {
-    const std::string* v = find(kv, "enabled");
-    return !(v && *v == "false");
-}
-
-int board_id_of(const KeyValues& kv) {
-    const std::string* v = find(kv, "board_id");
-    if (!v)
-        return -1;
-    try {
-        return std::stoi(*v);
-    } catch (...) {
-        return -1;
-    }
-}
-
-/** Elodin slot for a board id: board_id % 10, with 0 mapping to 10. */
-uint8_t slot_of(int board_id) {
-    int m = board_id % 10;
-    return static_cast<uint8_t>(m == 0 ? 10 : m);
-}
-
-double double_or(const KeyValues& kv, const std::string& key, double fallback) {
-    const std::string* v = find(kv, key);
-    if (!v)
-        return fallback;
-    try {
-        return std::stod(*v);
-    } catch (...) {
-        return fallback;
-    }
-}
-
-std::vector<uint8_t> parse_int_list(const std::string& val) {
-    std::vector<uint8_t> out;
-    size_t b = val.find('['), e = val.find(']');
-    if (b == std::string::npos || e == std::string::npos)
-        return out;
-    std::istringstream iss(val.substr(b + 1, e - b - 1));
-    std::string tok;
-    while (std::getline(iss, tok, ',')) {
-        try {
-            out.push_back(static_cast<uint8_t>(std::stoi(tok)));
-        } catch (...) {
-        }
-    }
-    return out;
-}
-
-ActiveBoardKind kind_of(const std::string& type_str) {
-    if (type_str == "PT")
-        return ActiveBoardKind::PT;
-    if (type_str == "TC")
-        return ActiveBoardKind::TC;
-    if (type_str == "RTD")
-        return ActiveBoardKind::RTD;
-    if (type_str == "LC")
-        return ActiveBoardKind::LC;
-    if (type_str == "ENCODER")
-        return ActiveBoardKind::ENCODER;
-    if (type_str == "ACTUATOR")
-        return ActiveBoardKind::ACTUATOR;
-    return ActiveBoardKind::UNKNOWN;
-}
-
-/**
- * Every layer maps a board to an Elodin slot as board_id % 10, and the packet id low byte is
- * (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two boards of the same
- * kind sharing a slot merge into one entity silently.
- *
- * Scoped per kind on purpose: the packet id's high byte already separates the kinds (0x20 PT,
- * 0x21 TC, 0x22 RTD, 0x23 LC, 0x24 ENCODER, 0x30 ACT — see DatabaseConfig.cpp), so a PT and an
- * actuator board on the same slot are fine and must not be reported.
- *
- * Neither condition is recoverable here; log loudly and let startup continue so the operator
- * sees which boards collided rather than an unexplained exit.
- */
-void check_board_slots(std::map<ActiveBoardKind, std::map<uint8_t, std::string>>& slot_owner,
-                       ActiveBoardKind kind, uint8_t slot, const std::string& section,
-                       int board_id) {
-    auto& owners = slot_owner[kind];
-    auto prev = owners.find(slot);
-    if (prev != owners.end()) {
-        std::cerr << "[Config] ERROR: board slot " << static_cast<int>(slot) << " claimed by both ["
-                  << prev->second << "] and [" << section
-                  << "] - their channels will merge into one Elodin entity. Give them board_ids "
-                     "that differ mod 10."
-                  << std::endl;
-    } else {
-        owners.emplace(slot, section);
-    }
-    if (slot > 8) {
-        std::cerr << "[Config] ERROR: [" << section << "] board_id " << board_id << " maps to slot "
-                  << static_cast<int>(slot)
-                  << ", but the packet id low byte only encodes slots 1-8. Its channels will "
-                     "collide with another board."
-                  << std::endl;
-    }
-}
-
-}  // namespace
-
 std::map<ActiveBoardKind, std::vector<elodin::BoardChannels>> load_active_boards(
     const std::string& config_path) {
-    using BoardChannels = elodin::BoardChannels;
-    std::map<ActiveBoardKind, std::vector<BoardChannels>> result;
-    std::map<ActiveBoardKind, std::map<uint8_t, std::string>> slot_owner;
-
-    for_each_board_section(config_path, [&](const std::string& section, const KeyValues& kv) {
-        const std::string* type_str = find(kv, "type");
-        int board_id = board_id_of(kv);
-        if (!type_str || !board_enabled(kv) || board_id < 0)
-            return;
-        ActiveBoardKind bt = kind_of(unquote(*type_str));
-        if (bt == ActiveBoardKind::UNKNOWN)
-            return;
-
-        uint8_t slot = slot_of(board_id);
-        check_board_slots(slot_owner, bt, slot, section, board_id);
-
-        BoardChannels bc;
-        bc.board_id = static_cast<uint8_t>(board_id);
-        bc.board_number = slot;
-
-        if (const std::string* conns = find(kv, "active_connectors"))
-            bc.channels = parse_int_list(*conns);
-        if (bc.channels.empty()) {
-            int num_sensors = 10;
-            if (const std::string* n = find(kv, "num_sensors")) {
-                try {
-                    num_sensors = std::stoi(*n);
-                } catch (...) {
-                }
-            }
-            for (int i = 1; i <= num_sensors; i++)
-                bc.channels.push_back(static_cast<uint8_t>(i));
-        }
-        result[bt].push_back(std::move(bc));
-    });
-
-    return result;
+    return active_boards(load(config_path));
 }
 
 std::map<uint8_t, PtBoardConfig> load_pt_boards(const std::string& config_path) {
-    std::map<uint8_t, PtBoardConfig> result;
-    bool warned_legacy = false;
-
-    for_each_board_section(config_path, [&](const std::string& section, const KeyValues& kv) {
-        const std::string* type_str = find(kv, "type");
-        int board_id = board_id_of(kv);
-        if (!type_str || unquote(*type_str) != "PT" || !board_enabled(kv) || board_id < 0)
-            return;
-
-        PtBoardConfig b;
-        b.board_id = static_cast<uint8_t>(board_id);
-        b.board_number = slot_of(board_id);
-
-        if (const std::string* pt_type = find(kv, "pt_type")) {
-            std::string v = unquote(*pt_type);
-            if (v == "4-20 mA absolute") {
-                b.interface = PtInterface::CURRENT_LOOP_4_20MA;
-            } else if (v == "0-5V ratiometric") {
-                b.interface = PtInterface::RATIOMETRIC_0_5V;
-            } else if (v == "0-5V absolute") {
-                // voltage_reference = 2 is not implemented in the PT firmware: it falls back to
-                // the internal 2.5 V reference, which would silently halve the usable range.
-                std::cerr << "[Config] ERROR: [" << section << "] pt_type \"" << v
-                          << "\" is not supported by the PT firmware." << std::endl;
-                b.interface = PtInterface::ABSOLUTE_0_5V;
-            } else {
-                std::cerr << "[Config] ERROR: [" << section << "] unknown pt_type \"" << v
-                          << "\"; treating as 0-5V ratiometric." << std::endl;
-            }
-        } else if (find(kv, "hp_pt_connectors") || find(kv, "hp_pt_full_scale_psi")) {
-            // Legacy config: the interface was inferred from the presence of the hp_pt_* keys.
-            b.interface = PtInterface::CURRENT_LOOP_4_20MA;
-            if (!warned_legacy) {
-                warned_legacy = true;
-                std::cerr << "[Config] DEPRECATED: [" << section
-                          << "] has no pt_type; inferring \"4-20 mA absolute\" from its hp_pt_* "
-                             "keys. Add pt_type to the board."
-                          << std::endl;
-            }
-        }
-
-        b.full_scale_psi = double_or(kv, "hp_pt_full_scale_psi", b.full_scale_psi);
-        b.sense_resistor_ohms = double_or(kv, "hp_pt_sense_resistor_ohms", b.sense_resistor_ohms);
-        b.adc_ref_voltage = double_or(kv, "adc_ref_voltage", b.adc_ref_voltage);
-
-        result[b.board_number] = b;
-    });
-
-    return result;
+    return pt_boards(load(config_path));
 }
 
 }  // namespace config
diff --git a/daq-server/diablo_server/lib/test/config_parity_check.cpp b/daq-server/diablo_server/lib/test/config_parity_check.cpp
deleted file mode 100644
index 47754a4df..000000000
--- a/daq-server/diablo_server/lib/test/config_parity_check.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// Parity harness for the toml++ config migration (temporary; deleted in the cleanup commit).
-//
-// Proves the new fsw::config::load()-based board derivations match the old hand-rolled
-// load_active_boards()/load_pt_boards() byte-for-byte against the real config.toml, and that the
-// file is valid strict TOML. Run: ./config_parity_check [path/to/config.toml]
-
-#include <cstdlib>
-#include <iostream>
-#include <string>
-#include <toml++/toml.hpp>
-
-#include "config/Config.hpp"
-#include "config/LoadActiveBoards.hpp"
-
-using namespace fsw::config;
-
-static int g_failures = 0;
-#define CHECK(cond, msg)                            \
-    do {                                            \
-        if (!(cond)) {                              \
-            std::cerr << "FAIL: " << (msg) << "\n"; \
-            ++g_failures;                           \
-        }                                           \
-    } while (0)
-
-int main(int argc, char** argv) {
-    const std::string path = argc > 1 ? argv[1] : "config/config.toml";
-
-    // 1. Strict-TOML validity guard.
-    try {
-        auto t = toml::parse_file(path);
-        (void)t;
-    } catch (const toml::parse_error& e) {
-        std::cerr << "FAIL: " << path << " is not valid TOML: " << e.description() << "\n";
-        return 1;
-    }
-
-    const Config cfg = load(path);
-
-    // 2. active_boards parity.
-    const auto old_ab = load_active_boards(path);
-    const auto new_ab = active_boards(cfg);
-    CHECK(old_ab.size() == new_ab.size(), "active_boards: kind count differs");
-    for (const auto& [kind, vec] : old_ab) {
-        auto it = new_ab.find(kind);
-        CHECK(it != new_ab.end(), "active_boards: kind missing in new");
-        if (it == new_ab.end())
-            continue;
-        CHECK(vec.size() == it->second.size(), "active_boards: board count differs for kind");
-        for (size_t i = 0; i < vec.size() && i < it->second.size(); ++i) {
-            CHECK(vec[i].board_id == it->second[i].board_id, "active_boards: board_id");
-            CHECK(vec[i].board_number == it->second[i].board_number, "active_boards: board_number");
-            CHECK(vec[i].channels == it->second[i].channels, "active_boards: channels");
-        }
-    }
-
-    // 3. pt_boards parity.
-    const auto old_pt = load_pt_boards(path);
-    const auto new_pt = pt_boards(cfg);
-    CHECK(old_pt.size() == new_pt.size(), "pt_boards: slot count differs");
-    for (const auto& [slot, b] : old_pt) {
-        auto it = new_pt.find(slot);
-        CHECK(it != new_pt.end(), "pt_boards: slot missing in new");
-        if (it == new_pt.end())
-            continue;
-        CHECK(b.board_id == it->second.board_id, "pt_boards: board_id");
-        CHECK(b.interface == it->second.interface, "pt_boards: interface");
-        CHECK(b.full_scale_psi == it->second.full_scale_psi, "pt_boards: full_scale_psi");
-        CHECK(b.sense_resistor_ohms == it->second.sense_resistor_ohms, "pt_boards: sense_resistor");
-        CHECK(b.adc_ref_voltage == it->second.adc_ref_voltage, "pt_boards: adc_ref_voltage");
-    }
-
-    if (g_failures == 0) {
-        std::cout << "config_parity_check: PASS (" << path << ")\n";
-        return 0;
-    }
-    std::cerr << "config_parity_check: " << g_failures << " FAILURE(S)\n";
-    return 1;
-}
diff --git a/daq-server/diablo_server/lib/test/send_all_sensors_from_config.cpp b/daq-server/diablo_server/lib/test/send_all_sensors_from_config.cpp
deleted file mode 100644
index ec7f550f4..000000000
--- a/daq-server/diablo_server/lib/test/send_all_sensors_from_config.cpp
+++ /dev/null
@@ -1,333 +0,0 @@
-/**
- * Test to send fake data for ALL sensors from config to Elodin DB
- * Uses ConfigParser to read sensor definitions and packet IDs from config
- * Publishes each sensor individually with its config-defined packet_id
- */
-
-#include <array>
-#include <chrono>
-#include <cstdint>
-#include <iomanip>
-#include <iostream>
-#include <random>
-#include <thread>
-#include <vector>
-
-#include "../../archive/legacy/utl/db.hpp"
-#include "comms/messages/sensor/SensorMessages.hpp"
-#include "config/ConfigParser.hpp"
-#include "elodin/DatabaseConfig.hpp"
-#include "elodin/ElodinClient.hpp"
-
-using namespace vtable;
-using namespace vtable::builder;
-using namespace fsw;
-
-int main(int argc, char* argv[]) {
-    if (argc < 3) {
-        std::cerr << "Usage: " << argv[0]
-                  << " <config_path> <db_port> [messages_per_sensor] [duration_seconds]"
-                  << std::endl;
-        std::cerr << "Example: " << argv[0] << " config/config_flight_daq.toml 2240 10 0"
-                  << std::endl;
-        std::cerr << "  - config_path: Path to TOML config file" << std::endl;
-        std::cerr << "  - db_port: Elodin database port" << std::endl;
-        std::cerr << "  - messages_per_sensor: Messages per sensor per iteration (default: 10)"
-                  << std::endl;
-        std::cerr << "  - duration_seconds: How long to run (0 = infinite, default: 0)"
-                  << std::endl;
-        return 1;
-    }
-
-    std::string config_path = argv[1];
-    uint16_t port = std::stoi(argv[2]);
-    int messages_per_sensor = (argc > 3) ? std::stoi(argv[3]) : 10;
-    int duration_seconds = (argc > 4) ? std::stoi(argv[4]) : 0;
-
-    std::cout << "\n🧪 Sending fake data for ALL sensors from config to Elodin" << std::endl;
-    std::cout << "============================================================" << std::endl;
-    std::cout << "Config: " << config_path << std::endl;
-    std::cout << "Database: 127.0.0.1:" << port << std::endl;
-    std::cout << "Messages per sensor: " << messages_per_sensor << std::endl;
-    if (duration_seconds > 0) {
-        std::cout << "Duration: " << duration_seconds << " seconds" << std::endl;
-    } else {
-        std::cout << "Duration: Infinite (Ctrl+C to stop)" << std::endl;
-    }
-    std::cout << "============================================================\n" << std::endl;
-
-    try {
-        // Load config
-        config::ConfigParser parser;
-        if (!parser.load_config(config_path)) {
-            std::cerr << "❌ Failed to load config: " << config_path << std::endl;
-            return 1;
-        }
-
-        // Get all sensor assignments
-        auto all_sensors = parser.get_all_sensor_assignments();
-        std::cout << "✅ Loaded " << all_sensors.size() << " sensors from config" << std::endl;
-
-        // Group sensors by type for display
-        std::map<config::SensorType, std::vector<config::SensorAssignment>> sensors_by_type;
-        for (const auto& sensor : all_sensors) {
-            sensors_by_type[sensor.sensor_type].push_back(sensor);
-        }
-
-        std::cout << "\n📋 Sensors by type:" << std::endl;
-        for (const auto& [type, sensors] : sensors_by_type) {
-            std::string type_name;
-            switch (type) {
-                case config::SensorType::PT:
-                    type_name = "PT";
-                    break;
-                case config::SensorType::TC:
-                    type_name = "TC";
-                    break;
-                case config::SensorType::RTD:
-                    type_name = "RTD";
-                    break;
-                case config::SensorType::LC:
-                    type_name = "LC";
-                    break;
-                case config::SensorType::ACTUATOR:
-                    type_name = "Actuator";
-                    break;
-            }
-            std::cout << "  " << type_name << ": " << sensors.size() << " sensors" << std::endl;
-            for (const auto& s : sensors) {
-                std::cout << "    - " << s.sensor_id << " (board=" << (int)s.board_id
-                          << ", ch=" << (int)s.channel_id << ", message_id=0x" << std::hex
-                          << s.message_id << std::dec << ")" << std::endl;
-            }
-        }
-        std::cout << std::endl;
-
-        // Connect to Elodin DB
-        elodin::ElodinClient client;
-        if (!client.connect("127.0.0.1", port)) {
-            std::cerr << "❌ Failed to connect to Elodin DB: " << client.last_error() << std::endl;
-            return 1;
-        }
-        std::cout << "✅ Connected to Elodin DB" << std::endl;
-
-        // Register all VTables as defined in the config
-        std::cout << "\n📋 Registering VTables for each config-defined sensor..." << std::endl;
-        for (const auto& sensor : all_sensors) {
-            std::string prefix = sensor.sensor_id + ".";
-            std::string val_name = "pressure_psi";
-            PrimType val_type = PrimType::F32();
-
-            switch (sensor.sensor_type) {
-                case config::SensorType::PT:
-                    val_name = "pressure_psi";
-                    val_type = PrimType::F32();
-                    break;
-                case config::SensorType::TC:
-                    val_name = "temperature_c";
-                    val_type = PrimType::F32();
-                    break;
-                case config::SensorType::RTD:
-                    val_name = "temperature_c";
-                    val_type = PrimType::F32();
-                    break;
-                case config::SensorType::LC:
-                    val_name = "load_n";
-                    val_type = PrimType::F32();
-                    break;
-                case config::SensorType::ACTUATOR:
-                    continue;  // Skip for now
-            }
-
-            // Extract high and low bytes from the message_id for the VTable ID
-            std::tuple<uint8_t, uint8_t> vt_id = {
-                static_cast<uint8_t>((sensor.message_id >> 8) & 0xFF),
-                static_cast<uint8_t>(sensor.message_id & 0xFF)};
-
-            // Build VTable matching DatabaseConfig's layout
-            auto vt = builder::vtable({
-                raw_field(0, 8, schema(PrimType::U64(), {}, component(prefix + "timestamp_ns"))),
-                raw_field(8, 1, schema(PrimType::U8(), {}, component(prefix + "channel_id"))),
-                // 3 bytes padding at offset 9
-                raw_field(12, 4, schema(val_type, {}, component(prefix + val_name))),
-                raw_field(16, 4, schema(PrimType::U32(), {}, component(prefix + "sample_ts_ms"))),
-                raw_field(20, 1, schema(PrimType::U8(), {}, component(prefix + "status"))),
-            });
-
-            auto buf = Msg(VTableMsg{.id = vt_id, .vtable = vt}).encode_vec();
-            if (buf.empty() || !client.send_msg({0, 0}, buf)) {
-                std::cerr << "❌ Failed to register VTable for " << sensor.sensor_id << std::endl;
-            }
-
-            // Name the components and entity
-            auto c1 = Msg(set_component_name(prefix + "timestamp_ns")).encode_vec();
-            client.send_msg({0, 0}, c1);
-            auto c2 = Msg(set_component_name(prefix + "channel_id")).encode_vec();
-            client.send_msg({0, 0}, c2);
-            auto c3 = Msg(set_component_name(prefix + val_name)).encode_vec();
-            client.send_msg({0, 0}, c3);
-            auto c4 = Msg(set_component_name(prefix + "sample_ts_ms")).encode_vec();
-            client.send_msg({0, 0}, c4);
-            auto c5 = Msg(set_component_name(prefix + "status")).encode_vec();
-            client.send_msg({0, 0}, c5);
-
-            // Extract a unique entity ID from the message_id for naming
-            uint64_t entity_id = 0x20000 + sensor.message_id;
-            auto e1 = Msg(set_entity_name(entity_id, sensor.sensor_id)).encode_vec();
-            client.send_msg({0, 0}, e1);
-        }
-        std::cout << "✅ Registered dynamic VTables from config" << std::endl;
-
-        // Wait for Elodin to process VTable registrations
-        std::cout << "⏳ Waiting 3 seconds for Elodin to process VTable registrations..."
-                  << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(3000));
-
-        // Random number generators
-        std::random_device rd;
-        std::mt19937 gen(rd());
-        std::uniform_int_distribution<uint32_t> adc_dist(1000, 50000);
-        std::uniform_real_distribution<double> temp_dist(20.0, 100.0);
-        std::uniform_real_distribution<double> pressure_dist(0.0, 1000.0);     // PSI
-        std::uniform_real_distribution<double> resistance_dist(100.0, 200.0);  // Ohms
-        std::uniform_real_distribution<double> load_dist(0.0, 1000.0);         // Newtons
-
-        auto start_time = std::chrono::steady_clock::now();
-        uint64_t timestamp_counter = std::chrono::duration_cast<std::chrono::nanoseconds>(
-                                         std::chrono::steady_clock::now().time_since_epoch())
-                                         .count();
-        uint32_t timestamp_ms_counter = std::chrono::duration_cast<std::chrono::milliseconds>(
-                                            std::chrono::steady_clock::now().time_since_epoch())
-                                            .count();
-
-        std::cout << "\n📤 Starting data transmission..." << std::endl;
-        std::cout << "   Rate: ~10 Hz (all sensors sent together every 100ms)" << std::endl;
-        std::cout << std::endl;
-
-        int iteration = 0;
-        uint64_t total_messages = 0;
-
-        while (true) {
-            // Check duration limit
-            if (duration_seconds > 0) {
-                auto elapsed = std::chrono::steady_clock::now() - start_time;
-                if (std::chrono::duration_cast<std::chrono::seconds>(elapsed).count() >=
-                    duration_seconds) {
-                    break;
-                }
-            }
-
-            iteration++;
-
-            // Send data for each sensor
-            for (int i = 0; i < messages_per_sensor; ++i) {
-                // Increment timestamp monotonically (10ms spacing between messages)
-                timestamp_counter += 10000000;  // 10ms in nanoseconds
-                timestamp_ms_counter += 10;
-                uint64_t timestamp = timestamp_counter;
-                uint32_t timestamp_ms = timestamp_ms_counter;
-
-                // Send data for each sensor with its config-defined packet_id
-                for (const auto& sensor : all_sensors) {
-                    bool published = false;
-
-                    switch (sensor.sensor_type) {
-                        case config::SensorType::PT: {
-                            comms::messages::sensor::RawPTMessage msg;
-                            std::get<0>(msg.fields) = timestamp;
-                            std::get<1>(msg.fields) = sensor.channel_id;
-                            std::get<2>(msg.fields) = std::array<uint8_t, 3>{0, 0, 0};  // Padding
-                            std::get<3>(msg.fields) = static_cast<uint32_t>(adc_dist(gen));
-                            std::get<4>(msg.fields) = timestamp_ms;
-                            std::get<5>(msg.fields) = 0;
-                            published = client.publish(sensor.message_id, msg);
-                            break;
-                        }
-                        case config::SensorType::TC: {
-                            comms::messages::sensor::RawTCMessage msg;
-                            std::get<0>(msg.fields) = timestamp;
-                            std::get<1>(msg.fields) = sensor.channel_id;
-                            std::get<2>(msg.fields) = std::array<uint8_t, 3>{0, 0, 0};  // Padding
-                            std::get<3>(msg.fields) = static_cast<uint32_t>(adc_dist(gen));
-                            std::get<4>(msg.fields) = timestamp_ms;
-                            std::get<5>(msg.fields) = 0;
-                            published = client.publish(sensor.message_id, msg);
-                            break;
-                        }
-                        case config::SensorType::RTD: {
-                            comms::messages::sensor::RawRTDMessage msg;
-                            std::get<0>(msg.fields) = timestamp;
-                            std::get<1>(msg.fields) = sensor.channel_id;
-                            std::get<2>(msg.fields) = std::array<uint8_t, 3>{0, 0, 0};  // Padding
-                            std::get<3>(msg.fields) =
-                                static_cast<uint32_t>(resistance_dist(gen) * 1000);
-                            std::get<4>(msg.fields) = timestamp_ms;
-                            std::get<5>(msg.fields) = 0;
-                            published = client.publish(sensor.message_id, msg);
-                            break;
-                        }
-                        case config::SensorType::LC: {
-                            comms::messages::sensor::RawLCMessage msg;
-                            std::get<0>(msg.fields) = timestamp;
-                            std::get<1>(msg.fields) = sensor.channel_id;
-                            std::get<2>(msg.fields) = std::array<uint8_t, 3>{0, 0, 0};  // Padding
-                            std::get<3>(msg.fields) = static_cast<uint32_t>(load_dist(gen));
-                            std::get<4>(msg.fields) = timestamp_ms;
-                            std::get<5>(msg.fields) = 0;
-                            published = client.publish(sensor.message_id, msg);
-                            break;
-                        }
-                        case config::SensorType::ACTUATOR: {
-                            // TODO: Add ActuatorCommandMessage when available
-                            // For now, skip actuators
-                            break;
-                        }
-                    }
-
-                    if (published) {
-                        total_messages++;
-                    }
-                }
-
-                // Progress update
-                if (iteration == 1 && (i < 3 || i % 10 == 0)) {
-                    std::cout << "[send_all_sensors_from_config] ✅ Sent batch #" << (i + 1)
-                              << " (all " << all_sensors.size()
-                              << " sensors, timestamp=" << timestamp << "ns)" << std::endl;
-                }
-
-                // Wait 10ms before next batch (100 Hz rate for all sensors)
-                std::this_thread::sleep_for(std::chrono::milliseconds(10));
-            }
-
-            // Progress update every iteration
-            if (iteration % 10 == 0) {
-                std::cout << "[send_all_sensors_from_config] Iteration #" << iteration
-                          << ", total messages: " << total_messages << std::endl;
-            }
-        }
-
-        client.flush_buffer();
-
-        auto end_time = std::chrono::steady_clock::now();
-        auto duration =
-            std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
-
-        std::cout << "\n===================================" << std::endl;
-        std::cout << "✅ Transmission Complete!" << std::endl;
-        std::cout << "   Total messages sent: " << total_messages << std::endl;
-        std::cout << "   Duration: " << duration.count() << " ms" << std::endl;
-        std::cout << "===================================" << std::endl;
-        std::cout << "\n📊 View data in Elodin editor:" << std::endl;
-        std::cout << "   elodin editor <db_path>" << std::endl;
-        std::cout << std::endl;
-
-        client.disconnect();
-
-    } catch (const std::exception& e) {
-        std::cerr << "❌ Error: " << e.what() << std::endl;
-        return 1;
-    }
-
-    return 0;
-}

From a981b75ac3bf307318bbb3be61a4aab0c2feef8e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:22:16 -0700
Subject: [PATCH 128/205] daq viewer: the STAR wordmark header the other apps
 use, replacing the sub-title; register the viewer as a sync-brand.sh consumer
 so the asset stays generated rather than hand-copied

---
 .../tools/postprocessing/webviewer/README.md   |   7 ++++++-
 .../webviewer/frontend/src/App.tsx             |   7 ++++++-
 .../frontend/src/assets/star-wordmark.png      | Bin 0 -> 131715 bytes
 .../webviewer/frontend/src/styles.css          |  10 +++++++---
 .../webviewer/frontend/src/vite-env.d.ts       |   1 +
 scripts/sync-brand.sh                          |   1 +
 6 files changed, 21 insertions(+), 5 deletions(-)
 create mode 100755 daq-server/tools/postprocessing/webviewer/frontend/src/assets/star-wordmark.png
 create mode 100644 daq-server/tools/postprocessing/webviewer/frontend/src/vite-env.d.ts

diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index 6d6056451..4ec98fd92 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -83,7 +83,12 @@ uPlot canvas ──toBlob()──▶ PNG
 
 ## Theme
 
-Dark-only, adopting the conventions the recovery-calculator enforces
+The header is the one the other STAR apps use: wordmark, rule, title (see
+`star-openrocket/frontend/src/App.tsx`). `star-wordmark.png` is synced from
+`assets/brand` by `scripts/sync-brand.sh`; the copy under `src/assets/` is generated, so
+edit the master and re-run the script.
+
+Dark-only otherwise, adopting the conventions the recovery-calculator enforces
 (`recovery-calculator/frontend/src/lib/theme.test.ts`): a `--color-*` token
 namespace where every text tier clears WCAG **AAA (7:1)** on every background, a
 `--text-*` scale that never drops below **13px**, and a chart palette kept as
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index 2d459d8c8..83f4dd259 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -1,6 +1,7 @@
 import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
 import type uPlot from 'uplot';
 import { api } from './api';
+import starWordmark from './assets/star-wordmark.png';
 import type { Component, Run, RunIndex, Series } from './types';
 import { fmtBytes, fmtDuration } from './util';
 import RunList from './components/RunList';
@@ -130,8 +131,12 @@ export default function App() {
   return (
     <div className="app">
       <header className="topbar">
+        {/* Wordmark, divider, title, the header the other STAR apps use
+            (star-openrocket/frontend/src/App.tsx). The asset is synced from
+            assets/brand by scripts/sync-brand.sh; do not hand-edit the copy. */}
+        <img className="topbar-logo" src={starWordmark} alt="STAR" />
+        <div className="topbar-divider" />
         <h1>DAQ Run Viewer</h1>
-        <span className="sub">past-run reconstruction · read-only</span>
       </header>
 
       <div className="body">
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/assets/star-wordmark.png b/daq-server/tools/postprocessing/webviewer/frontend/src/assets/star-wordmark.png
new file mode 100755
index 0000000000000000000000000000000000000000..d3ba5afe79e98a52ca53e0896ffdc345f4e20719
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HcmV?d00001

diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index 451006f07..8fb2d2818 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -50,11 +50,15 @@ body {
 
 .app { display: flex; flex-direction: column; height: 100%; }
 .topbar {
-  display: flex; align-items: baseline; gap: 12px;
-  padding: 12px 18px; background: var(--color-bg-secondary); border-bottom: 1px solid var(--color-border);
+  display: flex; align-items: center; gap: 14px;
+  padding: 10px 18px; background: var(--color-bg-secondary); border-bottom: 1px solid var(--color-border);
 }
+/* Wordmark then a rule then the title, as in the other STAR apps. The rule is
+   --color-border, not bg-secondary: this header IS bg-secondary, so openrocket's
+   divider colour would be invisible here. */
+.topbar-logo { height: 34px; width: auto; display: block; }
+.topbar-divider { width: 1px; align-self: stretch; margin: 2px 0; background: var(--color-border); }
 .topbar h1 { font-size: var(--text-base); margin: 0; font-weight: 650; }
-.topbar .sub { color: var(--color-text-muted); font-size: var(--text-2xs); }
 
 .body { display: flex; flex: 1; min-height: 0; }
 .sidebar { width: 290px; border-right: 1px solid var(--color-border); background: var(--color-bg-secondary); display: flex; }
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/vite-env.d.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/vite-env.d.ts
new file mode 100644
index 000000000..11f02fe2a
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/vite-env.d.ts
@@ -0,0 +1 @@
+/// <reference types="vite/client" />
diff --git a/scripts/sync-brand.sh b/scripts/sync-brand.sh
index 24b10a051..0a8ccb8ea 100755
--- a/scripts/sync-brand.sh
+++ b/scripts/sync-brand.sh
@@ -25,6 +25,7 @@ COPIES=(
   # Full STAR wordmark (imported in React)
   "star-wordmark.png:landing/src/assets"
   "star-wordmark.png:star-openrocket/frontend/src/assets"
+  "star-wordmark.png:daq-server/tools/postprocessing/webviewer/frontend/src/assets"
 
   # Browser-tab favicon (served from each app's public/ at /star-icon.svg)
   "star-icon.svg:landing/public"

From c458c3725e284801605ca660920ed001377df2e5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:25:39 -0700
Subject: [PATCH 129/205] daq viewer: read the run's config snapshot so a past
 run shows roles and state names instead of PT1.CH5 and 16, add a Config tab
 that serves the snapshot verbatim, and carry the roles as a second header row
 in the plot CSV

---
 .../tools/postprocessing/webviewer/README.md  |  43 +++-
 .../webviewer/backend/export_cache.py         |  13 +-
 .../postprocessing/webviewer/backend/main.py  |  25 +-
 .../webviewer/backend/run_config.py           | 215 ++++++++++++++++++
 .../webviewer/backend/series.py               |  29 ++-
 .../webviewer/backend/test_run_config.py      | 196 ++++++++++++++++
 .../webviewer/backend/test_series.py          |  33 ++-
 .../webviewer/frontend/src/App.tsx            | 104 ++++++++-
 .../webviewer/frontend/src/api.ts             |  16 ++
 .../frontend/src/components/Chart.tsx         |  86 +++++--
 .../frontend/src/components/ConfigView.tsx    | 135 +++++++++++
 .../frontend/src/components/SensorPicker.tsx  |  21 +-
 .../webviewer/frontend/src/styles.css         |  32 +++
 .../webviewer/frontend/src/types.ts           |  23 ++
 14 files changed, 931 insertions(+), 40 deletions(-)
 create mode 100644 daq-server/tools/postprocessing/webviewer/backend/run_config.py
 create mode 100644 daq-server/tools/postprocessing/webviewer/backend/test_run_config.py
 create mode 100644 daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx

diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index 4ec98fd92..97b8351c4 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -42,6 +42,14 @@ Single-process (build the frontend, serve everything from uvicorn):
 - **Sensors** — grouped by family (PT, PT_Cal, TC, RTD, LC, ACT, CONTROLLER,
   BOARD). Meaningful fields are shown by default; raw/status/plumbing fields are
   behind the "all fields" toggle.
+- **Names** — Elodin stores only numeric identities (`PT1.CH5`, `ACT_CMD.B2.CH1`,
+  states as a raw `u8`), so the viewer reads the run's own config snapshot and shows
+  what each channel actually was: "Ox Upstream", "LOX Main", "Fire". The **names**
+  checkbox on the tab strip flips the whole view (picker, chart legend, state axis)
+  back to the raw identities; whichever form is hidden is in the tooltip. See
+  [Run names](#run-names) below.
+- **Config tab** — the config snapshot for the selected run, verbatim, with a line
+  filter (matches keep their enclosing `[section]`), copy, and download.
 - **Plot** — uPlot; drag to zoom (which refetches that window at higher
   resolution), continuous series are min/max-decimated (spikes preserved),
   discrete series are step-drawn.
@@ -66,6 +74,9 @@ uPlot canvas ──toBlob()──▶ PNG
 ```
 
 - `backend/runs.py` — discover timestamped runs (cheap; no per-run `du`).
+- `backend/run_config.py` — the run's `<run_id>.toml` snapshot into entity roles + state
+  names; served through `GET /api/runs/<id>/config` (verbatim) and layered onto the
+  component index.
 - `backend/export_cache.py` — lazy parquet export (the `--pattern '*'` is
   required for human names) + a component index (families, units, time bounds,
   DB size), cached per run.
@@ -77,10 +88,40 @@ uPlot canvas ──toBlob()──▶ PNG
 ## Tests
 
 ```bash
-.venv/bin/python -m pytest backend/test_series.py -q   # backend data logic
+.venv/bin/python -m pytest backend/ -q                 # data logic, run discovery, naming
 (cd frontend && npm test)                              # theme guardrails
 ```
 
+## Run names
+
+`elodin-db` records identities, not meanings: a run DB holds `PT1.CH5`, `ACT2.CH3`,
+`ACT_CMD.B2.CH3`, `BOARD.HB_52`, and every state as a bare `u8`. The names live in
+`config.toml`, which the DAQ backend copies to `<dbDir>.toml` beside the run dir when a
+session starts (`diablo_server/backend/src/service-controller.ts`, `snapshotRunConfig`;
+a sim run snapshots `sim_config.toml`). `backend/run_config.py` reads that back:
+
+| Config | Names |
+|---|---|
+| `[sensor_roles_<board key>]` | `PT1.CH5` and `PT1_Cal.CH5` become "Ox Upstream" |
+| `[actuator_roles]` | `ACT2.CH1`, `ACT2_Cal.CH1`, `ACT_CMD.B2.CH1` become "LOX Main" |
+| `[boards.*]` | `BOARD.HB_22`, `SELF_TEST.BOARD_22` become "PT Board #2" |
+| `[[states]]` | `current_state` / `from_state` / `to_state` `16` becomes "Fire" |
+
+The Elodin slot in an entity name is `board_id % 10` (0 meaning 10), matching
+`LoadActiveBoards.hpp` and `backend/src/sensor-config.ts`; entity spellings come from
+`DatabaseConfig.cpp`; board display names match the config editor's `boardDisplayName`.
+`BOARD.HB_*.engine_state` is deliberately *not* named: it carries the coarse
+`daq::EngineState`, a different enum.
+
+Runs recorded before the snapshot existed have no `.toml`: their channels keep the raw
+identities and the run header says "no config snapshot". State ids are a stable key by
+contract, so they are still named, from a built-in table (`run_config.BUILTIN_STATES`)
+that `[[states]]` overrides entry by entry, the same override rule the C++ uses.
+
+Names are applied when the index is *served*, not baked into the parquet cache, so a
+snapshot copied in later (or corrected) takes effect on the next open without
+re-exporting the run.
+
 ## Theme
 
 The header is the one the other STAR apps use: wordmark, rule, title (see
diff --git a/daq-server/tools/postprocessing/webviewer/backend/export_cache.py b/daq-server/tools/postprocessing/webviewer/backend/export_cache.py
index 1f33c0917..d0bb8337f 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/export_cache.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/export_cache.py
@@ -16,7 +16,7 @@
 import numpy as np
 import pyarrow.parquet as pq
 
-from . import config
+from . import config, run_config
 from .naming import classify
 
 
@@ -159,12 +159,17 @@ def ensure_exported(run_id: str, refresh: bool = False) -> Path:
 
 
 def get_index(run_id: str) -> dict:
-    """Return the component index, exporting/rebuilding lazily if needed."""
+    """Return the component index, exporting/rebuilding lazily if needed.
+
+    Config-derived names (run_config.annotate) are layered on at read time rather than
+    cached with the index -- the snapshot is a separate file from the parquet, so one
+    added or corrected later takes effect without discarding the export.
+    """
     ensure_exported(run_id)
     idx = cache_dir(run_id) / _INDEX
     if idx.exists():
         data = json.loads(idx.read_text())
         if data.get("index_version") == INDEX_VERSION:
-            return data
+            return run_config.annotate(data, run_id)
         # Stale index from an older classification — rebuild from the parquet.
-    return build_index(run_id)
+    return run_config.annotate(build_index(run_id), run_id)
diff --git a/daq-server/tools/postprocessing/webviewer/backend/main.py b/daq-server/tools/postprocessing/webviewer/backend/main.py
index e765ba8d8..b843ca418 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/main.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/main.py
@@ -10,10 +10,10 @@
 
 from fastapi import FastAPI, HTTPException, Query
 from fastapi.middleware.cors import CORSMiddleware
-from fastapi.responses import StreamingResponse
+from fastapi.responses import PlainTextResponse, StreamingResponse
 from fastapi.staticfiles import StaticFiles
 
-from . import config, export_cache, runs, series
+from . import config, export_cache, run_config, runs, series
 
 app = FastAPI(title="Elodin Past-Run Viewer")
 
@@ -50,6 +50,27 @@ def api_components(run_id: str):
         raise HTTPException(500, str(e))
 
 
+@app.get("/api/runs/{run_id}/config", response_class=PlainTextResponse)
+def api_config(run_id: str):
+    """The config snapshot taken beside this run's DB when the session started.
+
+    Served verbatim: it is the record of what actually ran, so it is never reformatted
+    or re-serialised. Runs recorded before the snapshot existed simply have no file.
+    """
+    if not config.RUN_RE.match(run_id):
+        raise HTTPException(400, "invalid run id")
+    path = run_config.snapshot_path(run_id)
+    try:
+        text = path.read_text(encoding="utf-8")
+    except OSError:
+        raise HTTPException(404, "no config snapshot for this run")
+    return PlainTextResponse(
+        text,
+        media_type="text/plain; charset=utf-8",
+        headers={"Content-Disposition": f'inline; filename="{run_id}.toml"'},
+    )
+
+
 @app.get("/api/runs/{run_id}/series")
 def api_series(
     run_id: str,
diff --git a/daq-server/tools/postprocessing/webviewer/backend/run_config.py b/daq-server/tools/postprocessing/webviewer/backend/run_config.py
new file mode 100644
index 000000000..69f886b9c
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/backend/run_config.py
@@ -0,0 +1,215 @@
+"""Human names for a run's numeric Elodin identities, from the run's config snapshot.
+
+Elodin records only numeric identities — `PT1.CH5`, `ACT2.CH1`, `ACT_CMD.B2.CH1`,
+`BOARD.HB_21` — and every state as a raw u8. The names live in config.toml, which the
+backend copies beside the run dir as `<run_id>.toml` when the session starts
+(service-controller.ts `snapshotRunConfig`). This module reads that snapshot back and
+rebuilds the mapping, so a past run reads as "Ox Upstream" and "Fire" instead of
+"PT1.CH5" and "16".
+
+Everything here mirrors conventions that already exist elsewhere and must not drift:
+
+* entity spelling — DatabaseConfig.cpp (`PT<n>.CH<c>`, `PT<n>_Cal.CH<c>`,
+  `ACT_CMD.B<n>.CH<c>`, `BOARD.HB_<board_id>`, `SELF_TEST.BOARD_<board_id>`)
+* Elodin slot `<n>` = `board_id % 10`, 0 → 10 — LoadActiveBoards.hpp / sensor-config.ts
+* board display names — the config editor's `boardDisplayName` (app/config/page.tsx)
+
+A run predating the snapshot has no `.toml` and keeps its numeric entity names. State
+ids are the exception: they are stable by contract (see the `[[states]]` comment in
+config_base.toml), so the built-in table below names them even with no snapshot, and
+`[[states]]` overrides it the same way it overrides the C++ enum.
+"""
+
+from __future__ import annotations
+
+import re
+import tomllib
+from pathlib import Path
+
+from . import config
+
+# The state ids as the C++ enum defines them (control/StateMachine.hpp), named the way
+# config_base.toml's [[states]] does. Only a fallback: a snapshot's [[states]] wins.
+# Debug (0) is no longer a state the machine can enter but stays here so old runs decode.
+BUILTIN_STATES: dict[int, str] = {
+    0: "Debug",
+    1: "Idle",
+    2: "Armed",
+    3: "Fuel Fill",
+    4: "Ox Fill",
+    5: "GN2 Low Press",
+    6: "GN2 Low Vent",
+    7: "Fuel Press",
+    8: "Fuel Vent",
+    9: "Ox Press",
+    10: "Ox Vent",
+    11: "GN2 High Press",
+    12: "GN2 High Vent",
+    13: "Vent",
+    14: "Calibrate",
+    15: "Ready",
+    16: "Fire",
+    17: "Engine Abort",
+    18: "GSE Abort",
+    19: "Emergency Abort",
+    20: "Press Standby",
+    255: "Unknown",
+}
+
+# Fields whose value is a state id (see DatabaseConfig.cpp). BOARD.HB_*.engine_state is
+# NOT one of these — it carries the coarse daq::EngineState (SAFE/PRESSURIZING/…) that
+# heartbeat_service_main.cpp derives from the sequencer state, a different enum.
+STATE_FIELDS = frozenset({"current_state", "from_state", "to_state"})
+
+# Entity prefix per board `type`, as DatabaseConfig.cpp spells it.
+_ENTITY_PREFIX = {
+    "PT": "PT",
+    "TC": "TC",
+    "RTD": "RTD",
+    "LC": "LC",
+    "ACTUATOR": "ACT",
+    "ENCODER": "ENC",
+}
+
+# Board `type` → the word the config editor uses for it.
+_BOARD_TYPE_LABEL = {
+    "PT": "PT",
+    "ACTUATOR": "Actuator",
+    "LC": "LC",
+    "TC": "TC",
+    "RTD": "RTD",
+    "ENCODER": "Encoder",
+}
+
+
+def snapshot_path(run_id: str) -> Path:
+    """The config copied beside the run dir at session start."""
+    return config.ELODIN_DIR / f"{run_id}.toml"
+
+
+def load(run_id: str) -> dict:
+    """Parse the run's config snapshot. Missing or malformed → {} (names degrade to
+    numbers; a viewer must never fail to open a run over its metadata)."""
+    p = snapshot_path(run_id)
+    try:
+        with p.open("rb") as fh:
+            return tomllib.load(fh)
+    except (OSError, tomllib.TOMLDecodeError):
+        return {}
+
+
+def _slot(board_id: int) -> int:
+    """Elodin slot for a board_id: the last digit, with 0 meaning 10."""
+    return board_id % 10 or 10
+
+
+def _board_display_names(boards: dict) -> dict[int, str]:
+    """board_id → "PT Board #2", numbered by position among boards of the same type
+    (matching the config editor). A lone board of its type drops the ordinal."""
+    out: dict[int, str] = {}
+    for key, board in boards.items():
+        if not isinstance(board, dict):
+            continue
+        btype = board.get("type")
+        board_id = board.get("board_id")
+        if not isinstance(btype, str) or not isinstance(board_id, int):
+            continue
+        same = [k for k, b in boards.items() if isinstance(b, dict) and b.get("type") == btype]
+        label = _BOARD_TYPE_LABEL.get(btype, btype)
+        out[board_id] = (
+            f"{label} Board #{same.index(key) + 1}" if len(same) > 1 else f"{label} Board"
+        )
+    return out
+
+
+def entity_labels(cfg: dict) -> dict[str, str]:
+    """Entity name → the role it plays, for every entity config can name."""
+    labels: dict[str, str] = {}
+    boards = cfg.get("boards") or {}
+    if not isinstance(boards, dict):
+        return labels
+
+    # Sensor channels: each board's own [sensor_roles_<board key>] maps role → connector.
+    # Raw and calibrated entities are the same physical channel, so both take the role.
+    for key, board in boards.items():
+        if not isinstance(board, dict):
+            continue
+        prefix = _ENTITY_PREFIX.get(board.get("type"))
+        board_id = board.get("board_id")
+        if prefix is None or not isinstance(board_id, int):
+            continue
+        n = _slot(board_id)
+        roles = cfg.get(f"sensor_roles_{key}") or {}
+        if not isinstance(roles, dict):
+            continue
+        for role, ch in roles.items():
+            if not isinstance(ch, int):
+                continue
+            labels[f"{prefix}{n}.CH{ch}"] = role
+            labels[f"{prefix}{n}_Cal.CH{ch}"] = role
+
+    # Actuators: [actuator_roles] is role = [NO|NC, channel, board_id]. It wins over any
+    # sensor role on the same channel — on an actuator board the valve IS the channel.
+    # board_id defaults to 11 (the first actuator board), as sensor-config.ts does.
+    for role, spec in (cfg.get("actuator_roles") or {}).items():
+        if not isinstance(spec, list) or len(spec) < 2 or not isinstance(spec[1], int):
+            continue
+        ch = spec[1]
+        board_id = spec[2] if len(spec) >= 3 and isinstance(spec[2], int) else 11
+        n = _slot(board_id)
+        labels[f"ACT{n}.CH{ch}"] = role
+        labels[f"ACT{n}_Cal.CH{ch}"] = role  # current sense on that valve
+        labels[f"ACT_CMD.B{n}.CH{ch}"] = role  # what the sequencer commanded it to
+
+    # Board-level entities are keyed by the raw board_id, not the Elodin slot.
+    for board_id, name in _board_display_names(boards).items():
+        labels[f"BOARD.HB_{board_id}"] = name
+        labels[f"SELF_TEST.BOARD_{board_id}"] = name
+
+    return labels
+
+
+# A self-test entity is per-sensor: SELF_TEST.BOARD_<board_id>.s<sensor_id>. The board
+# half is what config can name; the sensor index rides along.
+_SELF_TEST_RE = re.compile(r"^(SELF_TEST\.BOARD_\d+)\.s(\d+)$")
+
+
+def label_for(entity: str, labels: dict[str, str]) -> str:
+    """The human name for one entity, or "" when config does not name it."""
+    hit = labels.get(entity)
+    if hit:
+        return hit
+    m = _SELF_TEST_RE.match(entity)
+    if m and (board := labels.get(m.group(1))):
+        return f"{board} sensor {m.group(2)}"
+    return ""
+
+
+def state_names(cfg: dict) -> dict[int, str]:
+    """State id → name. `[[states]]` overrides the built-in table entry by entry, so a
+    partial list cannot erase the machine's knowledge of its own states."""
+    names = dict(BUILTIN_STATES)
+    entries = cfg.get("states")
+    if isinstance(entries, list):
+        for e in entries:
+            if isinstance(e, dict) and isinstance(e.get("id"), int) and isinstance(e.get("name"), str):
+                names[e["id"]] = e["name"]
+    return names
+
+
+def annotate(index: dict, run_id: str) -> dict:
+    """Attach the run's names to a component index, in place.
+
+    Done at serve time rather than baked into the cached index: the snapshot is a
+    separate file from the parquet cache, so one dropped in later (or a config fix)
+    takes effect on the next open instead of needing the export thrown away.
+    """
+    cfg = load(run_id)
+    labels = entity_labels(cfg)
+    for comp in index.get("components", []):
+        comp["label"] = label_for(comp.get("entity", ""), labels)
+    index["has_config"] = bool(cfg)
+    # JSON object keys are strings; the frontend indexes by String(value).
+    index["states"] = {str(k): v for k, v in sorted(state_names(cfg).items())}
+    index["state_fields"] = sorted(STATE_FIELDS)
+    return index
diff --git a/daq-server/tools/postprocessing/webviewer/backend/series.py b/daq-server/tools/postprocessing/webviewer/backend/series.py
index 07c586769..b6c1bb10e 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/series.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/series.py
@@ -13,7 +13,7 @@
 import numpy as np
 import pandas as pd
 
-from . import export_cache
+from . import export_cache, run_config
 from .naming import classify
 
 
@@ -174,17 +174,34 @@ def long_csv_rows(run_id: str, components: list[str], start, end):
             yield "".join(buf)
 
 
+def _csv_cell(text: str) -> str:
+    """Quote a header cell only if it needs it. Role names are plain words today, but
+    they are operator-typed config strings, so a comma must not shift the columns."""
+    if any(c in text for c in ',"\n'):
+        return '"' + text.replace('"', '""') + '"'
+    return text
+
+
 def wide_csv_rows(run_id: str, components: list[str], start, end):
     """Yield CSV text rows: a 'time' column (epoch seconds) plus one column per
     component, aligned on the union of timestamps. Discrete series are
-    forward-filled; continuous series are left as sampled (NaN between samples)."""
+    forward-filled; continuous series are left as sampled (NaN between samples).
+
+    Two header rows: the component name, then the role it played in this run
+    (from the run's config snapshot; blank where config names nothing). The
+    component name stays the column KEY -- analysis scripts and analyze_run.py
+    key on it -- and the role rides underneath as the legend, so a spreadsheet
+    says "Ox Upstream" without the file losing its stable identifiers."""
     frames = []
+    entities = []
     for name in components:
         t, v = load_series(run_id, name)
         t, v = _slice(t, v, start, end)
         s = pd.Series(v, index=pd.Index(t, name="time"), name=name)
         s = s[~s.index.duplicated(keep="last")]
-        frames.append((name, classify(name).discrete, s))
+        comp = classify(name)
+        entities.append(comp.entity)
+        frames.append((name, comp.discrete, s))
 
     if not frames:
         yield "time\n"
@@ -204,7 +221,11 @@ def wide_csv_rows(run_id: str, components: list[str], start, end):
     df = pd.DataFrame(cols, index=union)
     df.index.name = "time"
 
-    yield "time," + ",".join(components) + "\n"
+    labels = run_config.entity_labels(run_config.load(run_id))
+    yield "time," + ",".join(_csv_cell(c) for c in components) + "\n"
+    yield "," + ",".join(
+        _csv_cell(run_config.label_for(e, labels)) for e in entities
+    ) + "\n"
     buf = []
     for ts, row in zip(df.index.to_numpy(), df.to_numpy()):
         cells = ["" if (x != x) else f"{float(x):.9g}" for x in row]
diff --git a/daq-server/tools/postprocessing/webviewer/backend/test_run_config.py b/daq-server/tools/postprocessing/webviewer/backend/test_run_config.py
new file mode 100644
index 000000000..e52679a04
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/backend/test_run_config.py
@@ -0,0 +1,196 @@
+"""Unit tests for the per-run config snapshot → human names.
+
+The entity spellings asserted here are the ones DatabaseConfig.cpp actually writes, and
+the slot arithmetic is LoadActiveBoards' (`board_id % 10`, 0 → 10). If either moves, this
+file is where the viewer finds out.
+
+Run: cd webviewer && .venv/bin/python -m pytest backend/test_run_config.py -q
+"""
+
+import pytest
+
+from . import config, run_config
+
+# A config shaped like config_base.toml, trimmed to what naming reads.
+CONFIG_TOML = """
+[boards.pt_board]
+type = "PT"
+board_id = 21
+
+[boards.pt_board_2]
+type = "PT"
+board_id = 22
+
+[boards.actuator_board_2]
+type = "ACTUATOR"
+board_id = 12
+
+[boards.encoder_board]
+type = "ENCODER"
+board_id = 61
+
+[sensor_roles_pt_board]
+"Ox Upstream" = 5
+"GN2 Regulated" = 6
+
+[sensor_roles_pt_board_2]
+"GSE High" = 1
+
+[sensor_roles_encoder_board]
+"Encoder 1" = 1
+
+[actuator_roles]
+"LOX Main" = ["NC", 1, 12]
+"Fuel Vent" = ["NC", 2, 12]
+
+[[states]]
+id = 16
+name = "Burn"
+"""
+
+
+@pytest.fixture
+def elodin_dir(tmp_path, monkeypatch):
+    monkeypatch.setattr(config, "ELODIN_DIR", tmp_path)
+    return tmp_path
+
+
+def snapshot(elodin_dir, run_id: str, text: str) -> None:
+    (elodin_dir / f"{run_id}.toml").write_text(text)
+
+
+@pytest.fixture
+def labels(elodin_dir):
+    snapshot(elodin_dir, "daq_20260902_120000", CONFIG_TOML)
+    return run_config.entity_labels(run_config.load("daq_20260902_120000"))
+
+
+# ── entity naming ────────────────────────────────────────────────────────────
+
+
+def test_sensor_role_names_raw_and_calibrated(labels):
+    # Same physical channel, two VTables — both carry the role.
+    assert labels["PT1.CH5"] == "Ox Upstream"
+    assert labels["PT1_Cal.CH5"] == "Ox Upstream"
+
+
+def test_board_id_last_digit_is_the_elodin_slot(labels):
+    # board_id 21 → PT1, 22 → PT2, 12 → ACT2, 61 → ENC1. Not the ordinal, not the id.
+    assert labels["PT2.CH1"] == "GSE High"
+    assert labels["ENC1.CH1"] == "Encoder 1"
+    assert "PT21.CH5" not in labels
+
+
+def test_slot_zero_means_ten():
+    # A board_id ending in 0 is slot 10, not slot 0 — the same 0→10 rule the C++ uses.
+    assert run_config._slot(30) == 10
+    assert run_config._slot(21) == 1
+
+
+def test_actuator_role_names_sense_and_command_entities(labels):
+    # The valve is the raw channel, its current sense, and what the sequencer commanded.
+    assert labels["ACT2.CH1"] == "LOX Main"
+    assert labels["ACT2_Cal.CH1"] == "LOX Main"
+    assert labels["ACT_CMD.B2.CH1"] == "LOX Main"
+
+
+def test_actuator_role_board_id_defaults_to_the_first_actuator_board(elodin_dir):
+    # Two-element form (no board_id) predates multi-board actuators; it means board 11.
+    snapshot(
+        elodin_dir,
+        "daq_20260902_120001",
+        '[boards.actuator_board]\ntype = "ACTUATOR"\nboard_id = 11\n'
+        '\n[actuator_roles]\n"Fuel Fill" = ["NC", 7]\n',
+    )
+    labels = run_config.entity_labels(run_config.load("daq_20260902_120001"))
+    assert labels["ACT1.CH7"] == "Fuel Fill"
+
+
+def test_actuator_role_wins_over_a_sensor_role_on_the_same_channel(elodin_dir):
+    # An actuator board also reports sensors; on that channel the valve is the answer.
+    snapshot(
+        elodin_dir,
+        "daq_20260902_120002",
+        '[boards.actuator_board_2]\ntype = "ACTUATOR"\nboard_id = 12\n'
+        '\n[sensor_roles_actuator_board_2]\n"Some Sense" = 1\n'
+        '\n[actuator_roles]\n"LOX Main" = ["NC", 1, 12]\n',
+    )
+    labels = run_config.entity_labels(run_config.load("daq_20260902_120002"))
+    assert labels["ACT2.CH1"] == "LOX Main"
+
+
+def test_board_entities_are_keyed_by_board_id_not_slot(labels):
+    # BOARD.HB_/SELF_TEST use the raw board_id — the slot rule is for channel entities.
+    assert labels["BOARD.HB_21"] == "PT Board #1"
+    assert labels["BOARD.HB_22"] == "PT Board #2"
+    # One board of its type drops the ordinal, matching the config editor.
+    assert labels["BOARD.HB_12"] == "Actuator Board"
+    assert labels["BOARD.HB_61"] == "Encoder Board"
+
+
+def test_self_test_entity_resolves_through_its_board(labels):
+    # SELF_TEST entities carry a per-sensor suffix that config never names directly.
+    assert run_config.label_for("SELF_TEST.BOARD_21.s3", labels) == "PT Board #1 sensor 3"
+
+
+def test_unnamed_entities_get_no_label(labels):
+    # Already-human entities and channels config says nothing about stay as they are.
+    assert run_config.label_for("CONTROLLER.state", labels) == ""
+    assert run_config.label_for("PT1.CH9", labels) == ""
+
+
+# ── states ───────────────────────────────────────────────────────────────────
+
+
+def test_states_override_the_builtin_table_entry_by_entry(labels, elodin_dir):
+    names = run_config.state_names(run_config.load("daq_20260902_120000"))
+    assert names[16] == "Burn"  # the snapshot renamed it
+    assert names[1] == "Idle"  # everything else survives the partial list
+    assert names[20] == "Press Standby"
+
+
+def test_states_fall_back_to_the_builtin_table_with_no_snapshot():
+    # Ids are a stable key by contract, so a run predating [[states]] still decodes.
+    assert run_config.state_names({})[16] == "Fire"
+
+
+def test_engine_state_is_not_a_state_field():
+    # BOARD.HB_*.engine_state is the coarse daq::EngineState, a different enum.
+    assert "engine_state" not in run_config.STATE_FIELDS
+    assert run_config.STATE_FIELDS == {"current_state", "from_state", "to_state"}
+
+
+# ── degradation ──────────────────────────────────────────────────────────────
+
+
+def test_missing_snapshot_degrades_to_numbers(elodin_dir):
+    assert run_config.load("daq_20260101_000000") == {}
+    assert run_config.entity_labels({}) == {}
+
+
+def test_malformed_snapshot_does_not_raise(elodin_dir):
+    # A truncated copy must cost readability, never the ability to open the run.
+    snapshot(elodin_dir, "daq_20260902_120003", "[boards.pt_board\ntype = ")
+    assert run_config.load("daq_20260902_120003") == {}
+
+
+def test_annotate_stamps_labels_and_state_metadata(elodin_dir):
+    snapshot(elodin_dir, "daq_20260902_120004", CONFIG_TOML)
+    index = {
+        "components": [
+            {"name": "PT1.CH5.pressure_psi", "entity": "PT1.CH5"},
+            {"name": "CONTROLLER.state.to_state", "entity": "CONTROLLER.state"},
+        ]
+    }
+    out = run_config.annotate(index, "daq_20260902_120004")
+    assert out["components"][0]["label"] == "Ox Upstream"
+    assert out["components"][1]["label"] == ""
+    assert out["has_config"] is True
+    assert out["states"]["16"] == "Burn"  # JSON keys are strings
+    assert "to_state" in out["state_fields"]
+
+
+def test_annotate_reports_a_run_with_no_snapshot(elodin_dir):
+    out = run_config.annotate({"components": []}, "daq_20260101_000000")
+    assert out["has_config"] is False
+    assert out["states"]["16"] == "Fire"  # built-in table still names states
diff --git a/daq-server/tools/postprocessing/webviewer/backend/test_series.py b/daq-server/tools/postprocessing/webviewer/backend/test_series.py
index 0ef863ae2..448dd228b 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/test_series.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/test_series.py
@@ -5,7 +5,7 @@
 
 import numpy as np
 
-from . import series
+from . import config, series
 from .naming import classify
 
 
@@ -80,12 +80,13 @@ def fake_load(_run, name):
     monkeypatch.setattr(series, "load_series", fake_load)
     monkeypatch.setattr(
         series, "classify",
-        lambda n: type("C", (), {"discrete": n == "disc"})(),
+        lambda n: type("C", (), {"discrete": n == "disc", "entity": n})(),
     )
     text = "".join(series.wide_csv_rows("r", ["cont", "disc"], None, None))
     lines = text.strip().split("\n")
     assert lines[0] == "time,cont,disc"
-    body = [ln.split(",") for ln in lines[1:]]
+    assert lines[1] == ",,"  # role row: this fake run has no config snapshot
+    body = [ln.split(",") for ln in lines[2:]]
     times = [float(r[0]) for r in body]
     assert times == [0.0, 1.0, 2.0]  # union of {0,2} and {1}
     # discrete forward-fills from t=1 onward; empty before it.
@@ -93,6 +94,32 @@ def fake_load(_run, name):
     assert disc_col[0] == "" and disc_col[1] == "1" and disc_col[2] == "1"
 
 
+def test_wide_csv_role_row_aligns_with_the_columns(monkeypatch, tmp_path):
+    """The second header row names what each column IS. The component name stays the
+    column key (analyze_run.py and every analysis script key on it); the role rides
+    underneath, blank where the run's config names nothing."""
+    monkeypatch.setattr(config, "ELODIN_DIR", tmp_path)
+    (tmp_path / "daq_20260902_120000.toml").write_text(
+        '[boards.pt_board]\ntype = "PT"\nboard_id = 21\n'
+        '\n[sensor_roles_pt_board]\n"Ox Upstream" = 5\n'
+    )
+    monkeypatch.setattr(
+        series, "load_series", lambda _r, _n: (np.array([0.0]), np.array([1.0]))
+    )
+    text = "".join(
+        series.wide_csv_rows(
+            "daq_20260902_120000",
+            ["PT1.CH5.pressure_psi", "PT1.CH9.pressure_psi"],
+            None,
+            None,
+        )
+    )
+    header, roles = text.split("\n")[:2]
+    assert header == "time,PT1.CH5.pressure_psi,PT1.CH9.pressure_psi"
+    assert roles == ",Ox Upstream,"  # CH9 has no role; the column still holds its place
+    assert header.count(",") == roles.count(",")
+
+
 def test_throttle_paces_throughput():
     import time as _t
 
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index 83f4dd259..ccf874a12 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -2,15 +2,30 @@ import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
 import type uPlot from 'uplot';
 import { api } from './api';
 import starWordmark from './assets/star-wordmark.png';
-import type { Component, Run, RunIndex, Series } from './types';
+import type { Component, Run, RunIndex, Series, SeriesMeta } from './types';
 import { fmtBytes, fmtDuration } from './util';
 import RunList from './components/RunList';
 import SensorPicker from './components/SensorPicker';
 import TimeRange from './components/TimeRange';
 import Chart from './components/Chart';
+import ConfigView from './components/ConfigView';
 
 const MAX_POINTS = 4000;
 
+type Tab = 'plot' | 'config';
+
+// Showing roles instead of Elodin identities is a viewing preference, not a property of
+// the run, so it lives per browser rather than in any saved state. Default on: the
+// numbers are what nobody could read.
+const NAMES_KEY = 'webviewer.showNames';
+const loadShowNames = () => {
+  try {
+    return localStorage.getItem(NAMES_KEY) !== '0';
+  } catch {
+    return true; // storage blocked (private window, site data off), just use the default
+  }
+};
+
 export default function App() {
   const [runs, setRuns] = useState<Run[]>([]);
   const [loadingRuns, setLoadingRuns] = useState(true);
@@ -20,6 +35,12 @@ export default function App() {
   const [indexBusy, setIndexBusy] = useState(false);
   const [indexErr, setIndexErr] = useState<string | null>(null);
 
+  const [tab, setTab] = useState<Tab>('plot');
+  const [showNames, setShowNames] = useState(loadShowNames);
+  // undefined = not fetched yet, null = this run has no snapshot.
+  const [configText, setConfigText] = useState<string | null | undefined>(undefined);
+  const [configErr, setConfigErr] = useState<string | null>(null);
+
   const [selected, setSelected] = useState<Set<string>>(new Set());
   const [win, setWin] = useState<{ start: number | null; end: number | null }>({ start: null, end: null });
 
@@ -32,6 +53,13 @@ export default function App() {
     api.runs().then(setRuns).catch((e) => console.error(e)).finally(() => setLoadingRuns(false));
   }, []);
 
+  const toggleNames = (on: boolean) => {
+    setShowNames(on);
+    try {
+      localStorage.setItem(NAMES_KEY, on ? '1' : '0');
+    } catch { /* preference simply doesn't persist */ }
+  };
+
   const selectRun = useCallback((id: string) => {
     setRunId(id);
     setIndex(null);
@@ -39,6 +67,9 @@ export default function App() {
     setSelected(new Set());
     setWin({ start: null, end: null });
     setSeries([]);
+    setTab('plot');
+    setConfigText(undefined);
+    setConfigErr(null);
     setIndexBusy(true);
     api
       .components(id)
@@ -48,6 +79,12 @@ export default function App() {
       })
       .catch((e) => setIndexErr(String(e.message || e)))
       .finally(() => setIndexBusy(false));
+    // The snapshot is small (~30 KB) and wanted by both tabs: the Config tab shows it,
+    // and it is where the names come from, so fetch it once with the index.
+    api
+      .config(id)
+      .then(setConfigText)
+      .catch((e) => setConfigErr(String(e.message || e)));
   }, []);
 
   // Fetch series whenever the selection or window changes (debounced).
@@ -79,9 +116,22 @@ export default function App() {
     return m;
   }, [index]);
 
-  const units = useMemo(
-    () => series.map((s) => byName.get(s.name)?.unit ?? ''),
-    [series, byName],
+  // One descriptor per plotted series: what to call it, and how to read its values.
+  const meta = useMemo<SeriesMeta[]>(
+    () =>
+      series.map((s) => {
+        const c = byName.get(s.name);
+        const entity = s.name.replace(/\.[^.]+$/, '');
+        const field = c?.field ?? s.name.split('.').pop() ?? '';
+        return {
+          label: (showNames && c?.label) || entity,
+          unit: c?.unit ?? '',
+          field,
+          valueNames:
+            showNames && index?.state_fields.includes(field) ? index.states : null,
+        };
+      }),
+    [series, byName, showNames, index],
   );
 
   const toggle = (name: string) =>
@@ -161,14 +211,58 @@ export default function App() {
                     {index.n_components} components · {fmtDuration(index.duration_s)} · {fmtBytes(index.size_bytes)} on disk
                   </span>
                 )}
+                {index && !index.has_config && (
+                  <span
+                    className="run-meta"
+                    title="No <run>.toml beside the DB: this run predates the config snapshot. Channels keep their raw Elodin names; state names come from the built-in table."
+                  >
+                    · no config snapshot
+                  </span>
+                )}
               </div>
 
               {index && (
+                <div className="tabs">
+                  <button
+                    className={`tab${tab === 'plot' ? ' active' : ''}`}
+                    onClick={() => setTab('plot')}
+                  >
+                    Plot
+                  </button>
+                  <button
+                    className={`tab${tab === 'config' ? ' active' : ''}`}
+                    onClick={() => setTab('config')}
+                  >
+                    Config
+                  </button>
+                  <div className="spacer" />
+                  {/* View-wide, hence its place on the strip that spans both panes: it
+                      renames the picker tree, the chart legend and the state axis at once. */}
+                  <label
+                    className="picker-toggle"
+                    title="Show config roles (Ox Upstream, LOX Main, Fire) instead of the raw Elodin identities"
+                  >
+                    <input
+                      type="checkbox"
+                      checked={showNames}
+                      onChange={(e) => toggleNames(e.target.checked)}
+                    />
+                    names
+                  </label>
+                </div>
+              )}
+
+              {index && tab === 'config' && (
+                <ConfigView runId={runId} text={configText} error={configErr} />
+              )}
+
+              {index && tab === 'plot' && (
                 <div className="workspace">
                   <div className="pane-left">
                     <SensorPicker
                       components={index.components}
                       selected={selected}
+                      showNames={showNames}
                       onToggle={toggle}
                       onToggleMany={toggleMany}
                       onClear={() => setSelected(new Set())}
@@ -205,7 +299,7 @@ export default function App() {
                       {series.length > 0 ? (
                         <Chart
                           series={series}
-                          units={units}
+                          meta={meta}
                           onViewChange={onViewChange}
                           onReady={(u) => (uplotRef.current = u)}
                         />
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
index 6f80dc447..3ce91b487 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
@@ -6,12 +6,28 @@ async function getJSON<T>(url: string): Promise<T> {
   return r.json() as Promise<T>;
 }
 
+/** The config snapshot taken beside a run's DB, as TOML text. `null` when the run
+ *  has none: recorded before the backend started snapshotting it. */
+async function getConfig(runId: string): Promise<string | null> {
+  const r = await fetch(configUrl(runId));
+  if (r.status === 404) return null;
+  if (!r.ok) throw new Error(`${r.status}: ${(await r.text()).slice(0, 200)}`);
+  return r.text();
+}
+
+const configUrl = (runId: string) => `/api/runs/${runId}/config`;
+
 export const api = {
   runs: () => getJSON<Run[]>('/api/runs'),
 
   components: (runId: string) =>
     getJSON<RunIndex>(`/api/runs/${runId}/components`),
 
+  config: getConfig,
+
+  // Same URL, used as an <a download> href for "save the .toml".
+  configUrl,
+
   series: (
     runId: string,
     components: string[],
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx
index 400ec4e9f..5db91ffb4 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx
@@ -1,13 +1,13 @@
 import { useEffect, useRef } from 'react';
 import uPlot from 'uplot';
 import 'uplot/dist/uPlot.min.css';
-import type { Series } from '../types';
+import type { Series, SeriesMeta } from '../types';
 import { colorFor, mergeForUplot } from '../util';
 import { AXIS_FONT, AXIS_STROKE, GRID_STROKE, LABEL_FONT } from '../chartTheme';
 
 interface Props {
   series: Series[];
-  units: string[]; // parallel to series
+  meta: SeriesMeta[]; // parallel to series — display name, unit, field, value names
   minHeight?: number;
   // Called when the user zooms/pans the x-axis (epoch seconds), so the parent
   // can refetch that window at higher resolution.
@@ -34,21 +34,58 @@ const fmt = (v: number): string => {
   return String(+v.toFixed(2));
 };
 
-const fieldOf = (name: string) => name.split('.').pop() || name;
-
 /** Assign each series a y-scale keyed by its unit — or, when it has no unit, by
  *  its field name — so like-united channels share an axis while distinct
  *  unitless field-types (raw_adc_counts vs sample_ts_ms) each get their own.
  *  Returns the scale key per series + the ordered distinct groups (first group
  *  is the primary/grid axis). */
-function axisGroups(series: Series[], units: string[]) {
-  const scaleOf = series.map((s, i) => units[i] || fieldOf(s.name));
+function axisGroups(meta: SeriesMeta[]) {
+  const scaleOf = meta.map((m) => m.unit || m.field);
   const order: string[] = [];
   for (const k of scaleOf) if (!order.includes(k)) order.push(k);
   return { scaleOf, order };
 }
 
-export default function Chart({ series, units, minHeight = 320, onViewChange, onReady }: Props) {
+/** Legend line for one series: what it is, then how to read it. The field suffix
+ *  only appears for unitless channels — without it `from_state` and `to_state` both
+ *  render as the bare entity and are indistinguishable in the legend. */
+const legendLabel = (m: SeriesMeta) =>
+  m.label + (m.unit ? ` (${m.unit})` : ` · ${m.field}`);
+
+/** Name an enum value (a state id) for the legend and the axis; unknown ids stay
+ *  numeric rather than vanishing — an id with no entry is exactly what you want to see. */
+const named = (names: Record<string, string>, v: number) =>
+  names[String(v)] ?? String(v);
+
+// A named axis ticks once per state actually visited, not on uPlot's even spacing —
+// past this many distinct values that stops being readable and even ticks win.
+const MAX_NAMED_TICKS = 12;
+
+/** Evenly spaced ticks over [min, max] at uPlot's chosen increment — what uPlot's own
+ *  default split generator produces, restated here as the fallback for a busy axis. */
+function evenSplits(min: number, max: number, incr: number): number[] {
+  const out: number[] = [];
+  for (let v = Math.ceil(min / incr) * incr; v <= max; v += incr) out.push(v);
+  return out;
+}
+
+/** The distinct values a scale's series hold, sorted — one tick per state the run was
+ *  actually in. `null` when there are too many to label, or none. */
+function visitedSplits(u: uPlot, rows: number[]): number[] | null {
+  const seen = new Set<number>();
+  for (const r of rows) {
+    const d = u.data[r];
+    for (let i = 0; i < d.length; i++) {
+      const x = d[i];
+      if (x == null || !Number.isFinite(x)) continue;
+      seen.add(x as number);
+      if (seen.size > MAX_NAMED_TICKS) return null;
+    }
+  }
+  return seen.size ? [...seen].sort((a, b) => a - b) : null;
+}
+
+export default function Chart({ series, meta, minHeight = 320, onViewChange, onReady }: Props) {
   const rootRef = useRef<HTMLDivElement>(null);
   const uRef = useRef<uPlot | null>(null);
   const legendH = useRef(0); // uPlot renders its legend below the canvas
@@ -73,20 +110,28 @@ export default function Chart({ series, units, minHeight = 320, onViewChange, on
     };
   };
 
-  // Rebuild uPlot when the series set OR the axis layout (units) changes.
-  const structKey = series.map((s, i) => `${s.name}:${s.discrete}:${units[i]}`).join('|');
+  // Rebuild uPlot when the series set, the axis layout, or the labelling changes —
+  // flipping the names toggle rewrites legend labels and axis ticks, which uPlot only
+  // picks up on construction.
+  const structKey = series
+    .map((s, i) => `${s.name}:${s.discrete}:${meta[i].unit}:${meta[i].label}:${meta[i].valueNames ? 'n' : ''}`)
+    .join('|');
 
   useEffect(() => {
     if (!rootRef.current) return;
     const el = rootRef.current;
 
-    const { scaleOf, order } = axisGroups(series, units);
+    const { scaleOf, order } = axisGroups(meta);
 
     const uSeries: uPlot.Series[] = [
       {},
       ...series.map((s, i) => ({
-        label: s.name.replace(/\.[^.]+$/, '') + (units[i] ? ` (${units[i]})` : ''),
+        label: legendLabel(meta[i]),
         scale: scaleOf[i],
+        // A state channel's raw u8 means nothing on its own: show "Fire", not 16.
+        value: meta[i].valueNames
+          ? (_u: uPlot, v: number | null) => (v == null ? '--' : named(meta[i].valueNames!, v))
+          : undefined,
         stroke: colorFor(i),
         width: 1.5,
         spanGaps: !s.discrete,
@@ -113,12 +158,15 @@ export default function Chart({ series, units, minHeight = 320, onViewChange, on
     // multiple scales don't stack conflicting gridlines. If a group has exactly
     // one series, colour its axis to match that line.
     const yAxes: uPlot.Axis[] = order.map((scale, gi) => {
-      const members = series.filter((_, i) => scaleOf[i] === scale);
-      const onlyIdx = members.length === 1 ? scaleOf.indexOf(scale) : -1;
+      // uPlot data rows are 1-based (row 0 is x), so a series index i is data row i+1.
+      const memberRows = scaleOf.flatMap((k, i) => (k === scale ? [i + 1] : []));
+      const onlyIdx = memberRows.length === 1 ? scaleOf.indexOf(scale) : -1;
+      // Every series on one scale shares a field, so they share a value map too.
+      const names = meta[scaleOf.indexOf(scale)].valueNames;
       return {
         scale,
         side: SIDES[gi % SIDES.length],
-        size: 58,
+        size: names ? 108 : 58, // state names are words, not 4 digits
         label: scale,
         labelSize: 26,
         stroke: onlyIdx >= 0 ? colorFor(onlyIdx) : AXIS_STROKE,
@@ -126,7 +174,15 @@ export default function Chart({ series, units, minHeight = 320, onViewChange, on
         labelFont: LABEL_FONT,
         grid: { show: gi === 0, stroke: GRID_STROKE, width: 1 },
         ticks: { stroke: GRID_STROKE, width: 1 },
-        values: (_u, vals) => vals.map(fmt),
+        // Tick where the run actually was — "Idle / Armed / Fire" rather than an even
+        // 0/5/10/15/20 ramp through ids nothing ever entered.
+        splits: names
+          ? (u, _ai, min, max, incr) =>
+              visitedSplits(u, memberRows) ?? evenSplits(min, max, incr)
+          : undefined,
+        values: names
+          ? (_u, vals) => vals.map((v) => (Number.isInteger(v) ? named(names, v) : ''))
+          : (_u, vals) => vals.map(fmt),
       };
     });
 
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx
new file mode 100644
index 000000000..2bcc80932
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx
@@ -0,0 +1,135 @@
+import { useMemo, useState } from 'react';
+import { api } from '../api';
+
+interface Props {
+  runId: string;
+  /** The snapshot's TOML, verbatim. null = this run has none; undefined = still loading. */
+  text: string | null | undefined;
+  error: string | null;
+}
+
+// Line-based TOML highlighting. Deliberately not a parser: the file is shown exactly as
+// it was recorded, and per-line regexes cannot mangle a value they fail to understand —
+// the worst case is a line rendered plain. Colours come from the declared text tiers, so
+// theme.check.mjs's contrast and undeclared-var rules keep holding.
+const SECTION = /^\s*\[\[?[^\]]*\]\]?\s*$/;
+const KEY_VALUE = /^(\s*)([^=]+?)(\s*=\s*)(.*)$/;
+
+function Line({ text }: { text: string }) {
+  const hash = text.indexOf('#');
+  // A '#' inside a string is not a comment. Only treat a line as commented when the
+  // hash is outside any quotes — cheap check: an even number of quotes before it.
+  const quoted = (text.slice(0, hash).match(/"/g) ?? []).length % 2 === 1;
+  if (hash >= 0 && !quoted) {
+    return (
+      <>
+        <Line text={text.slice(0, hash)} />
+        <span className="tok-comment">{text.slice(hash)}</span>
+      </>
+    );
+  }
+  if (SECTION.test(text)) return <span className="tok-section">{text}</span>;
+  const kv = text.match(KEY_VALUE);
+  if (kv) {
+    return (
+      <>
+        {kv[1]}
+        <span className="tok-key">{kv[2]}</span>
+        {kv[3]}
+        <span className="tok-val">{kv[4]}</span>
+      </>
+    );
+  }
+  return <>{text}</>;
+}
+
+export default function ConfigView({ runId, text, error }: Props) {
+  const [q, setQ] = useState('');
+  const [copied, setCopied] = useState(false);
+
+  const query = q.trim().toLowerCase();
+
+  // Filter to matching lines, each still carrying its original line number, and keep the
+  // [section] a match sits under — a bare "port = 5005" tells you nothing about which
+  // board it belongs to.
+  const lines = useMemo(() => {
+    const all = (text ?? '').split('\n').map((t, i) => ({ n: i + 1, t }));
+    if (!query) return all;
+    const out: { n: number; t: string }[] = [];
+    let section: { n: number; t: string } | null = null;
+    let sectionShown = false;
+    for (const line of all) {
+      if (SECTION.test(line.t)) {
+        section = line;
+        sectionShown = false;
+      }
+      if (!line.t.toLowerCase().includes(query)) continue;
+      if (section && !sectionShown && section !== line) {
+        out.push(section);
+        sectionShown = true;
+      }
+      out.push(line);
+    }
+    return out;
+  }, [text, query]);
+
+  const copy = () => {
+    if (!text) return;
+    navigator.clipboard.writeText(text).then(() => {
+      setCopied(true);
+      setTimeout(() => setCopied(false), 1500);
+    });
+  };
+
+  if (error) return <div className="placeholder error">Error: {error}</div>;
+  if (text === undefined) return <div className="placeholder">Loading config…</div>;
+  if (text === null) {
+    return (
+      <div className="placeholder">
+        No config snapshot for this run.
+        <div className="cfg-note">
+          The server started copying the config it ran to <code>&lt;run&gt;.toml</code> beside
+          the DB partway through 2026; runs recorded before that have none. Channels keep
+          their raw Elodin names, and state names come from the built-in table.
+        </div>
+      </div>
+    );
+  }
+
+  const total = text.split('\n').length;
+
+  return (
+    <div className="cfg">
+      <div className="cfg-toolbar">
+        <input
+          className="picker-search cfg-search"
+          placeholder="Filter lines…"
+          value={q}
+          onChange={(e) => setQ(e.target.value)}
+        />
+        <span className="cfg-count">
+          {query ? `${lines.length} of ${total} lines` : `${total} lines`}
+        </span>
+        <div className="spacer" />
+        <button className="btn" onClick={copy}>
+          {copied ? 'Copied' : 'Copy'}
+        </button>
+        <a className="btn" href={api.configUrl(runId)} download={`${runId}.toml`}>
+          Download .toml
+        </a>
+      </div>
+
+      <pre className="cfg-pre">
+        {lines.map(({ n, t }) => (
+          <div key={n} className="cfg-line">
+            <span className="cfg-ln">{n}</span>
+            <span className="cfg-src">
+              <Line text={t} />
+            </span>
+          </div>
+        ))}
+        {lines.length === 0 && <div className="picker-empty">No matching lines</div>}
+      </pre>
+    </div>
+  );
+}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx
index 83680fc4d..63c9a08cb 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx
@@ -4,6 +4,8 @@ import type { Component } from '../types';
 interface Props {
   components: Component[];
   selected: Set<string>;
+  /** Show config roles ("Ox Upstream") rather than Elodin identities ("1.CH5"). */
+  showNames: boolean;
   onToggle: (name: string) => void;
   onToggleMany: (names: string[]) => void;
   onClear: () => void;
@@ -13,7 +15,7 @@ interface Props {
 // raw_adc, pressure_psi, …) → the individual sensors under that field.
 // Families are expanded by default; field groups collapse to keep the tree
 // compact. A search auto-expands everything so matches are always visible.
-export default function SensorPicker({ components, selected, onToggle, onToggleMany, onClear }: Props) {
+export default function SensorPicker({ components, selected, showNames, onToggle, onToggleMany, onClear }: Props) {
   const [q, setQ] = useState('');
   const [showAll, setShowAll] = useState(false); // include plumbing/secondary fields
   const [collapsedFams, setCollapsedFams] = useState<Set<string>>(new Set());
@@ -23,6 +25,13 @@ export default function SensorPicker({ components, selected, onToggle, onToggleM
   const searching = query.length > 0;
 
   const shortEntity = (c: Component) => c.entity.replace(new RegExp(`^${c.family}\\.?`), '') || c.entity;
+  // With names on, what the channel IS beats what Elodin called it: "Ox Upstream" over
+  // "1.CH5". Whichever form is hidden goes in the leaf's tooltip, so the raw component
+  // name, the CSV column key and the only handle an unnamed channel has, stays a hover
+  // away either way.
+  const entityName = (c: Component) => (showNames && c.label) || shortEntity(c);
+  const leafTitle = (c: Component) =>
+    showNames && c.label ? c.name : c.label ? `${c.name} (${c.label})` : c.name;
 
   // Build the tree. The middle level is adaptive per family: sensor arrays have
   // many entities sharing few fields → group by FIELD (pick "pressure_psi", then
@@ -33,7 +42,7 @@ export default function SensorPicker({ components, selected, onToggle, onToggleM
     const byFamily = new Map<string, Component[]>();
     for (const c of components) {
       if (!showAll && !c.primary) continue;
-      if (query && !c.name.toLowerCase().includes(query)) continue;
+      if (query && !`${c.name} ${c.label}`.toLowerCase().includes(query)) continue;
       (byFamily.get(c.family) ?? byFamily.set(c.family, []).get(c.family)!).push(c);
     }
     return [...byFamily.entries()]
@@ -47,10 +56,10 @@ export default function SensorPicker({ components, selected, onToggle, onToggleM
         const byField = nEntities >= nFields;
         const groups = new Map<string, Component[]>();
         for (const c of comps) {
-          const key = byField ? c.field : shortEntity(c);
+          const key = byField ? c.field : entityName(c);
           (groups.get(key) ?? groups.set(key, []).get(key)!).push(c);
         }
-        const leafLabel = (c: Component) => (byField ? shortEntity(c) : c.field);
+        const leafLabel = (c: Component) => (byField ? entityName(c) : c.field);
         return {
           family,
           byField,
@@ -58,7 +67,7 @@ export default function SensorPicker({ components, selected, onToggle, onToggleM
           groups: [...groups.entries()].sort((a, b) => a[0].localeCompare(b[0])),
         };
       });
-  }, [components, query, showAll]);
+  }, [components, query, showAll, showNames]);
 
   const famOpen = (fam: string) => searching || !collapsedFams.has(fam);
   const fieldOpen = (key: string) => searching || expandedFields.has(key);
@@ -142,7 +151,7 @@ export default function SensorPicker({ components, selected, onToggle, onToggleM
 
                       {fOpen &&
                         comps.map((c) => (
-                          <label key={c.name} className="picker-item tree-leaf">
+                          <label key={c.name} className="picker-item tree-leaf" title={leafTitle(c)}>
                             <input
                               type="checkbox"
                               checked={selected.has(c.name)}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index 8fb2d2818..42031a030 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -93,6 +93,38 @@ body {
 .busy { color: var(--color-accent); font-size: var(--text-xs); }
 .error { color: var(--color-danger); font-size: var(--text-xs); }
 
+/* Tabs: Plot / Config, plus the view-wide names toggle. Spans both panes because
+   the toggle governs the picker on the left and the chart on the right. */
+.tabs { display: flex; align-items: center; gap: 4px; margin-bottom: 12px; border-bottom: 1px solid var(--color-border); }
+.tab {
+  padding: 7px 15px; border: 0; border-bottom: 2px solid transparent; margin-bottom: -1px;
+  background: none; color: var(--color-text-muted); cursor: pointer; font-size: var(--text-xs);
+}
+.tab:hover { color: var(--color-text-secondary); }
+.tab.active { color: var(--color-text-primary); border-bottom-color: var(--color-accent); font-weight: 550; }
+
+/* Config tab: the run's config snapshot, verbatim */
+.cfg { display: flex; flex-direction: column; flex: 1; min-height: 0; gap: 12px; }
+.cfg-toolbar { display: flex; align-items: center; gap: 10px; flex-wrap: wrap; }
+.cfg-search { flex: 0 1 260px; }
+.cfg-count { color: var(--color-text-muted); font-size: var(--text-2xs); }
+.cfg-note { max-width: 46em; margin: 10px auto 0; color: var(--color-text-muted); font-size: var(--text-xs); text-align: left; }
+.cfg-pre {
+  flex: 1; min-height: 0; overflow: auto; margin: 0; padding: 14px 0;
+  background: var(--color-bg-secondary); border: 1px solid var(--color-border); border-radius: 8px;
+  font: var(--text-2xs)/1.55 ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
+  tab-size: 4;
+}
+.cfg-line { display: flex; gap: 14px; padding: 0 16px; white-space: pre; }
+.cfg-line:hover { background: var(--color-bg-tertiary); }
+/* Gutter is excluded from selection so copying a range yields clean TOML. */
+.cfg-ln { flex: none; width: 3.5em; text-align: right; color: var(--color-text-muted); user-select: none; }
+.cfg-src { color: var(--color-text-secondary); }
+.tok-comment { color: var(--color-text-muted); }
+.tok-section { color: var(--color-accent); font-weight: 600; }
+.tok-key { color: var(--color-text-primary); }
+.tok-val { color: var(--color-text-secondary); }
+
 /* Workspace layout */
 .workspace { display: flex; gap: 16px; flex: 1; min-height: 0; }
 .pane-left { width: 290px; flex-shrink: 0; display: flex; }
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
index 9c5b8c91b..7a47e7bfa 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
@@ -15,6 +15,12 @@ export interface Component {
   unit: string;
   discrete: boolean;
   primary: boolean;
+  /**
+   * What this channel actually is, from the run's config snapshot: "Ox Upstream",
+   * "LOX Main". Empty when the run has no snapshot, or when config does not name
+   * that entity: then the numeric identity is all there is.
+   */
+  label: string;
   t_min?: number;
   t_max?: number;
 }
@@ -27,6 +33,12 @@ export interface RunIndex {
   n_components: number;
   size_bytes: number | null;
   components: Component[];
+  /** A config snapshot was found beside this run's DB, so entity labels are its own. */
+  has_config: boolean;
+  /** State id -> name, keyed as strings (JSON). Built-in table, overridden by the snapshot. */
+  states: Record<string, string>;
+  /** Fields whose value is a state id, so the chart can name it instead of plotting a bare u8. */
+  state_fields: string[];
 }
 
 export interface Series {
@@ -41,3 +53,14 @@ export interface SeriesResponse {
   run_id: string;
   series: Series[];
 }
+
+/** How one plotted series should be labelled: resolved by App from the run index and
+ *  the names toggle, so Chart never has to know where a name came from. */
+export interface SeriesMeta {
+  /** Display name for the line: the config role, or the Elodin entity. */
+  label: string;
+  unit: string;
+  field: string;
+  /** State id -> name, for the fields whose value IS a state. null for everything else. */
+  valueNames: Record<string, string> | null;
+}

From cf7bffc52420110b5f20b5d7d0b8d9446398feb7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:26:39 -0700
Subject: [PATCH 130/205] daq viewer: make drag-to-zoom visible (uPlot ships
 the selection band as black on our near-black plot, so the gesture showed
 nothing) and label it with the span, add wheel zoom about the cursor clamped
 to the run, and a Reset view button plus double-click for home

---
 .../tools/postprocessing/webviewer/README.md  |   7 +-
 .../webviewer/frontend/src/App.tsx            |  28 +++-
 .../frontend/src/components/Chart.tsx         | 124 +++++++++++++++++-
 .../frontend/src/components/TimeRange.tsx     |   1 -
 .../webviewer/frontend/src/styles.css         |  18 +++
 5 files changed, 167 insertions(+), 11 deletions(-)

diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index 97b8351c4..e7393edf3 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -50,9 +50,12 @@ Single-process (build the frontend, serve everything from uvicorn):
   [Run names](#run-names) below.
 - **Config tab** — the config snapshot for the selected run, verbatim, with a line
   filter (matches keep their enclosing `[section]`), copy, and download.
-- **Plot** — uPlot; drag to zoom (which refetches that window at higher
-  resolution), continuous series are min/max-decimated (spikes preserved),
+- **Plot** — uPlot; continuous series are min/max-decimated (spikes preserved),
   discrete series are step-drawn.
+- **Zoom** — drag a range (the band is highlighted as you drag, labelled with how long
+  it is), or scroll the wheel to zoom about the cursor. Either way the new window is
+  refetched at higher resolution. **Reset view**, or a double-click on the plot, goes
+  back to the whole run. Zooming out stops at the run's own bounds.
 - **Export plot CSV** — selected channels over the current window, **wide**
   (aligned) format.
 - **Download run CSV** — every primary channel, **long/tidy** (`time,component,
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index ccf874a12..b509703ca 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -134,6 +134,20 @@ export default function App() {
     [series, byName, showNames, index],
   );
 
+  // The run's full extent, and the window actually being shown. The chart draws the
+  // window it was asked for rather than the extent of whatever data came back for it,
+  // so these have to be resolved here, where `win`'s nulls mean "the whole run".
+  const bounds = useMemo<[number, number]>(
+    () => [index?.t_min ?? 0, index?.t_max ?? 0],
+    [index],
+  );
+  const view = useMemo<[number, number]>(
+    () => [win.start ?? bounds[0], win.end ?? bounds[1]],
+    [win, bounds],
+  );
+  const zoomed = win.start != null || win.end != null;
+  const resetView = useCallback(() => setWin({ start: null, end: null }), []);
+
   const toggle = (name: string) =>
     setSelected((prev) => {
       const n = new Set(prev);
@@ -154,13 +168,13 @@ export default function App() {
     (start: number, end: number) => {
       // Only refetch if the zoom window differs meaningfully from the current one.
       setWin((cur) => {
-        const cs = cur.start ?? index?.t_min ?? start;
-        const ce = cur.end ?? index?.t_max ?? end;
+        const cs = cur.start ?? bounds[0];
+        const ce = cur.end ?? bounds[1];
         if (Math.abs(cs - start) < 1e-3 && Math.abs(ce - end) < 1e-3) return cur;
         return { start, end };
       });
     },
-    [index],
+    [bounds],
   );
 
   const savePng = () => {
@@ -280,6 +294,11 @@ export default function App() {
                           onChange={(s, e) => setWin({ start: s, end: e })}
                         />
                       )}
+                      {/* Sits with the window it resets, not with the exports, and keeps
+                          the export cluster to the three buttons that fit on one row. */}
+                      <button className="btn" onClick={resetView} disabled={!zoomed}>
+                        Reset view
+                      </button>
                       <div className="spacer" />
                       <a className="btn" href={api.downloadUrl(runId, [], null, null)}>
                         Download run CSV
@@ -300,7 +319,10 @@ export default function App() {
                         <Chart
                           series={series}
                           meta={meta}
+                          view={view}
+                          bounds={bounds}
                           onViewChange={onViewChange}
+                          onResetView={resetView}
                           onReady={(u) => (uplotRef.current = u)}
                         />
                       ) : (
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx
index 5db91ffb4..2c3a9064a 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/Chart.tsx
@@ -2,16 +2,23 @@ import { useEffect, useRef } from 'react';
 import uPlot from 'uplot';
 import 'uplot/dist/uPlot.min.css';
 import type { Series, SeriesMeta } from '../types';
-import { colorFor, mergeForUplot } from '../util';
+import { colorFor, fmtDuration, mergeForUplot } from '../util';
 import { AXIS_FONT, AXIS_STROKE, GRID_STROKE, LABEL_FONT } from '../chartTheme';
 
 interface Props {
   series: Series[];
   meta: SeriesMeta[]; // parallel to series — display name, unit, field, value names
+  /** The window currently asked for (epoch seconds) — what the x-axis should show,
+   *  which is not the same as the extent of the data that came back for it. */
+  view: [number, number];
+  /** The whole run (epoch seconds). Zooming out stops here; it is also home. */
+  bounds: [number, number];
   minHeight?: number;
   // Called when the user zooms/pans the x-axis (epoch seconds), so the parent
   // can refetch that window at higher resolution.
   onViewChange?: (start: number, end: number) => void;
+  /** Double-click, and a wheel zoom-out that reaches the full run. */
+  onResetView?: () => void;
   onReady?: (u: uPlot) => void;
 }
 
@@ -57,6 +64,18 @@ const legendLabel = (m: SeriesMeta) =>
 const named = (names: Record<string, string>, v: number) =>
   names[String(v)] ?? String(v);
 
+// One wheel notch changes the window by this much. Small enough that a zoom feels
+// continuous, large enough that a few flicks cross a whole run.
+const WHEEL_STEP = 0.82;
+// Never zoom below a millisecond: past that the window is narrower than the DAQ's own
+// sample spacing, and an empty plot with a degenerate scale is not a useful place to be.
+const MIN_SPAN_S = 1e-3;
+
+/** Duration of a drag selection. Sub-second windows are the interesting ones on a test
+ *  stand (valve travel, ignition transients), so they get milliseconds, not "0.0s". */
+const fmtSpan = (s: number): string =>
+  s < 1 ? `${(s * 1000).toFixed(0)} ms` : s < 60 ? `${s.toFixed(2)} s` : fmtDuration(s);
+
 // A named axis ticks once per state actually visited, not on uPlot's even spacing —
 // past this many distinct values that stops being readable and even ticks win.
 const MAX_NAMED_TICKS = 12;
@@ -85,12 +104,28 @@ function visitedSplits(u: uPlot, rows: number[]): number[] | null {
   return seen.size ? [...seen].sort((a, b) => a - b) : null;
 }
 
-export default function Chart({ series, meta, minHeight = 320, onViewChange, onReady }: Props) {
+export default function Chart({
+  series, meta, view, bounds, minHeight = 320, onViewChange, onResetView, onReady,
+}: Props) {
   const rootRef = useRef<HTMLDivElement>(null);
   const uRef = useRef<uPlot | null>(null);
   const legendH = useRef(0); // uPlot renders its legend below the canvas
+  // Live values for handlers registered once at construction: reading them through refs
+  // keeps a pan or a resized window from tearing down and rebuilding the plot.
   const viewCb = useRef(onViewChange);
   viewCb.current = onViewChange;
+  const resetCb = useRef(onResetView);
+  resetCb.current = onResetView;
+  const boundsRef = useRef(bounds);
+  boundsRef.current = bounds;
+  // Wheel events arrive in bursts; the scale follows every one of them so the zoom feels
+  // direct, but the parent (which refetches the window at higher resolution) hears only
+  // once the gesture settles.
+  const notifyTimer = useRef<ReturnType<typeof setTimeout> | null>(null);
+  const notifyView = (min: number, max: number) => {
+    if (notifyTimer.current) clearTimeout(notifyTimer.current);
+    notifyTimer.current = setTimeout(() => viewCb.current?.(min, max), 180);
+  };
 
   // Fill the plot to the parent .chart-wrap (which flexes to the viewport),
   // minus the wrap's padding and the legend uPlot draws below the plot. Sizing
@@ -203,6 +238,15 @@ export default function Chart({ series, meta, minHeight = 320, onViewChange, onR
         x: true,
         y: false, // vertical crosshair only — no horizontal line tracking the cursor
         drag: { x: true, y: false },
+        bind: {
+          // uPlot's default dblclick rescales x to the data extent — which, since we
+          // only ever hold the data for the current window, is a no-op that reads as a
+          // broken gesture. Make it mean what it looks like: back to the whole run.
+          dblclick: () => () => {
+            resetCb.current?.();
+            return null;
+          },
+        },
         // Each series lives on its own timestamps with nulls elsewhere (union
         // merge), so the cursor's x-index is null for all but one series. Resolve
         // each series to its NEAREST non-null sample so the legend shows a live
@@ -221,6 +265,24 @@ export default function Chart({ series, meta, minHeight = 320, onViewChange, onR
       },
       legend: { live: true },
       hooks: {
+        // uPlot sizes .u-select as the drag goes but says nothing about it. setCursor is
+        // the only per-move hook, so the "you are about to zoom to this" readout rides on
+        // it — what the highlighted band is worth in seconds, before you commit to it.
+        setCursor: [
+          (u) => {
+            if (!selLabel) return;
+            const { left, width } = u.select;
+            if (width <= 0) {
+              selLabel.style.display = 'none';
+              return;
+            }
+            selLabel.style.display = '';
+            selLabel.style.left = `${left + width / 2}px`;
+            selLabel.textContent = fmtSpan(
+              u.posToVal(left + width, 'x') - u.posToVal(left, 'x'),
+            );
+          },
+        ],
         // Refetch a higher-res window ONLY on a real user drag-zoom. setSelect
         // fires just for that; using setScale instead caught every programmatic
         // redraw (setData/setSize) and chased the returned data extent forever.
@@ -235,11 +297,57 @@ export default function Chart({ series, meta, minHeight = 320, onViewChange, onR
       },
     };
 
+    // Declared before opts so the setCursor hook closes over it; filled in below, once
+    // uPlot has built the .u-over it lives in.
+    let selLabel: HTMLDivElement | null = null;
+
     const data = mergeForUplot(series) as uPlot.AlignedData;
     const u = new uPlot(opts, data, el);
     uRef.current = u;
+    u.setScale('x', { min: view[0], max: view[1] });
     onReady?.(u);
 
+    selLabel = document.createElement('div');
+    selLabel.className = 'u-select-span';
+    selLabel.style.display = 'none';
+    u.over.appendChild(selLabel);
+
+    // Wheel zoom about the cursor: the value under the pointer stays put, so you zoom
+    // into what you are looking at rather than the middle of the plot. Clamped to the
+    // run at one end and a millisecond at the other.
+    const onWheel = (e: WheelEvent) => {
+      if (e.deltaY === 0) return;
+      const [lo, hi] = boundsRef.current;
+      const min = u.scales.x.min ?? lo;
+      const max = u.scales.x.max ?? hi;
+      const span = max - min;
+      if (!(span > 0)) return;
+      const out = e.deltaY > 0;
+      // Already showing the whole run and still scrolling out: nothing left to do.
+      if (out && min <= lo && max >= hi) return;
+      e.preventDefault();
+
+      const anchor = u.posToVal(e.clientX - u.over.getBoundingClientRect().left, 'x');
+      const frac = (anchor - min) / span;
+      const next = Math.min(Math.max(span * (out ? 1 / WHEEL_STEP : WHEEL_STEP), MIN_SPAN_S), hi - lo);
+      let nmin = anchor - next * frac;
+      let nmax = nmin + next;
+      // Slide, don't squash, when a clamp bites — the span the user asked for is kept.
+      if (nmin < lo) [nmin, nmax] = [lo, lo + next];
+      if (nmax > hi) [nmin, nmax] = [hi - next, hi];
+
+      u.setScale('x', { min: nmin, max: nmax });
+      // Back at full extent, hand the parent a clean "no window" rather than bounds that
+      // merely happen to equal it — that is what the Reset view button reflects.
+      if (nmin <= lo && nmax >= hi && resetCb.current) {
+        if (notifyTimer.current) clearTimeout(notifyTimer.current);
+        resetCb.current();
+      } else {
+        notifyView(nmin, nmax);
+      }
+    };
+    u.over.addEventListener('wheel', onWheel, { passive: false });
+
     // Re-measure the legend from the live element each time (it renders taller
     // transiently before settling, so a one-shot sync read under-sizes the plot)
     // and re-fit. Triggered by: parent resize, legend resize, window resize, and
@@ -259,19 +367,25 @@ export default function Chart({ series, meta, minHeight = 320, onViewChange, onR
     return () => {
       ro.disconnect();
       window.removeEventListener('resize', refit);
+      u.over.removeEventListener('wheel', onWheel);
+      if (notifyTimer.current) clearTimeout(notifyTimer.current);
       u.destroy();
       uRef.current = null;
     };
     // eslint-disable-next-line react-hooks/exhaustive-deps
   }, [structKey, minHeight]);
 
-  // Data-only update (same structure): push new samples without rebuilding.
+  // Data-only update (same structure): push new samples without rebuilding. The x range
+  // is set explicitly rather than left to uPlot's rescale-to-data, which would snap the
+  // axis to wherever samples happen to exist — so scrolling out into a quiet stretch
+  // would jump back in on every refetch. y scales still auto-range, off this window.
   useEffect(() => {
     const u = uRef.current;
     if (!u) return;
-    u.setData(mergeForUplot(series) as uPlot.AlignedData);
+    u.setData(mergeForUplot(series) as uPlot.AlignedData, false);
+    u.setScale('x', { min: view[0], max: view[1] });
     // eslint-disable-next-line react-hooks/exhaustive-deps
-  }, [series]);
+  }, [series, view[0], view[1]]);
 
   return <div ref={rootRef} style={{ width: '100%' }} />;
 }
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx
index a1004f582..43fe54f54 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx
@@ -37,7 +37,6 @@ export default function TimeRange({ t0, tEnd, start, end, onChange }: Props) {
       <span className="tr-dash">→</span>
       <input className="tr-input" value={e} onChange={(ev) => setE(ev.target.value)}
              onBlur={apply} onKeyDown={(ev) => ev.key === 'Enter' && apply()} />
-      <button className="btn-link" onClick={() => onChange(null, null)}>full run</button>
       <span className="tr-total">of {fmtDuration(tEnd - t0)}</span>
     </div>
   );
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index 42031a030..6ffc27ee4 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -19,6 +19,10 @@
 
   --color-border: #383848;
   --color-accent: #3b82f6;
+  /* Drag-to-zoom band. uPlot's own .u-select is rgba(0,0,0,.07): black on a near-black
+     plot, i.e. invisible, so the gesture gave no feedback at all. Accent-tinted instead,
+     light enough to read the lines through. */
+  --color-select: color-mix(in srgb, var(--color-accent) 20%, transparent);
   --color-accent-hover: #2563eb;
   --color-danger: #ef4444;
   /* Simulated-run badge. Amber reads as "caution, not real data" and clears
@@ -187,6 +191,20 @@ body {
 .chart-wrap { position: relative; background: var(--color-bg-secondary); border: 1px solid var(--color-border); border-radius: 8px; padding: 20px 22px; flex: 1; min-height: 440px; }
 .chart-busy { position: absolute; top: 16px; right: 18px; color: var(--color-accent); font-size: var(--text-2xs); }
 
+/* Drag-to-zoom: the band you are about to zoom into, and what it is worth in seconds. */
+.u-select {
+  background: var(--color-select);
+  border-left: 1px solid var(--color-accent);
+  border-right: 1px solid var(--color-accent);
+}
+.u-select-span {
+  position: absolute; top: 6px; transform: translateX(-50%);
+  padding: 2px 7px; border-radius: 4px; pointer-events: none; white-space: nowrap;
+  background: var(--color-bg-primary); border: 1px solid var(--color-accent);
+  color: var(--color-text-primary); font-size: var(--text-2xs);
+  font-variant-numeric: tabular-nums;
+}
+
 /* uPlot legend — canvas axis text is themed in chartTheme.ts (var() doesn't
    resolve in a canvas), the legend is real DOM so it is themed here. */
 .u-legend { font-size: var(--text-2xs); color: var(--color-text-secondary); }

From 6128bba4fc071ef6fc684eb0e4d61de4437cf195 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:27:38 -0700
Subject: [PATCH 131/205] calibration_service: persist robust adjustments +
 cubic store on shutdown (SIGINT/SIGTERM)

---
 .../services/calibration/calibration_main.cpp              | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 6bc4cb552..2b058cf96 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -993,6 +993,13 @@ int main(int argc, char* argv[]) {
         }
     }
 
+    // Persist on shutdown so a clean SIGINT/SIGTERM doesn't drop up to ~5 min of learning since the
+    // last periodic auto-save. (The cubic store already saves per capture; this covers robust θ.)
+    if (robust_manager.save_adjustments(adjustments_path))
+        std::cout << "[Cal] Saved robust adjustments on shutdown → " << adjustments_path
+                  << std::endl;
+    cubic_store.save();
+
     std::cout << "[Cal] Stopped." << std::endl;
     return 0;
 }

From a81b34753b1f31a79e01800aa7d0f4468037a1b3 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:27:38 -0700
Subject: [PATCH 132/205] config: delete now-dead hand-rolled TOML helpers
 (getTomlValue/parseActuatorRole/etc) and the two unused TOML emitters

---
 .../lib/include/config/BoardDiscovery.hpp     |   5 -
 .../lib/include/config/SensorAssignment.hpp   |   5 -
 .../lib/src/config/DynamicConfigManager.cpp   |  33 ---
 .../lib/src/config/SensorAssignment.cpp       |  37 ---
 .../config_broadcast_service_main.cpp         | 214 ------------------
 .../services/controller/controller_main.cpp   | 102 ---------
 .../services/sequencer/ActuatorCommander.cpp  |  68 ------
 .../services/sequencer/SequencerService.cpp   |  34 ---
 .../services/sequencer/StateMachine.cpp       |  11 -
 9 files changed, 509 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp b/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp
index f8eb55395..11540ce12 100644
--- a/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp
+++ b/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp
@@ -270,11 +270,6 @@ class DynamicConfigManager {
      */
     bool update_with_boards(const std::vector<DiscoveredBoard>& boards);
 
-    /**
-     * @brief Save updated configuration
-     */
-    bool save_config(const std::string& output_path) const;
-
     /**
      * @brief Get current configuration
      */
diff --git a/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp b/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp
index eb8ed89d1..af3d17efa 100644
--- a/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp
+++ b/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp
@@ -157,11 +157,6 @@ class SensorAssignmentManager {
      */
     bool update_board_config_from_packet(uint8_t board_id, const uint8_t* data, size_t size);
 
-    /**
-     * @brief Generate configuration file with assignments
-     */
-    bool save_assignments_to_config(const std::string& output_path) const;
-
     /**
      * @brief Load assignments from config file
      */
diff --git a/daq-server/diablo_server/lib/src/config/DynamicConfigManager.cpp b/daq-server/diablo_server/lib/src/config/DynamicConfigManager.cpp
index 6fbf695ec..37902bcf4 100644
--- a/daq-server/diablo_server/lib/src/config/DynamicConfigManager.cpp
+++ b/daq-server/diablo_server/lib/src/config/DynamicConfigManager.cpp
@@ -112,38 +112,5 @@ bool DynamicConfigManager::update_with_boards(const std::vector<DiscoveredBoard>
     return true;
 }
 
-bool DynamicConfigManager::save_config(const std::string& output_path) const {
-    std::ofstream file(output_path);
-    if (!file.is_open()) {
-        std::cerr << "[DynamicConfig] Failed to open config file: " << output_path << std::endl;
-        return false;
-    }
-
-    // Write TOML format (simplified - use proper TOML library in production)
-    file << "# Auto-generated configuration from board discovery\n";
-    file << "# DO NOT EDIT MANUALLY - This file is updated automatically\n\n";
-
-    for (const auto& [section, values] : config_) {
-        file << "[" << section << "]\n";
-        for (const auto& [key, value] : values) {
-            file << key << " = ";
-            // Check if value is a number or string
-            bool is_number =
-                !value.empty() && (std::isdigit(value[0]) || value[0] == '-' || value[0] == '+');
-            if (is_number || value == "true" || value == "false") {
-                file << value;
-            } else {
-                file << "\"" << value << "\"";
-            }
-            file << "\n";
-        }
-        file << "\n";
-    }
-
-    file.close();
-    std::cout << "[DynamicConfig] Saved config to: " << output_path << std::endl;
-    return true;
-}
-
 }  // namespace config
 }  // namespace fsw
diff --git a/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp b/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp
index 890b37ca0..b1952cfce 100644
--- a/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp
+++ b/daq-server/diablo_server/lib/src/config/SensorAssignment.cpp
@@ -356,43 +356,6 @@ bool SensorAssignmentManager::update_board_config_from_packet(uint8_t board_id,
     return false;
 }
 
-bool SensorAssignmentManager::save_assignments_to_config(const std::string& output_path) const {
-    std::ofstream file(output_path);
-    if (!file.is_open()) {
-        std::cerr << "[SensorAssignment] Failed to open config file: " << output_path << std::endl;
-        return false;
-    }
-
-    file << "# Auto-generated sensor assignments\n";
-    file << "# DO NOT EDIT MANUALLY\n\n";
-
-    // Write board configurations
-    for (const auto& [board_id, config] : board_configs_) {
-        file << "[board_" << (int)board_id << "]\n";
-        file << "ip = \"" << config.board_ip << "\"\n";
-        file << "port = " << config.board_port << "\n";
-        file << "mac_address = \"" << config.mac_address << "\"\n";
-        file << "system_state = \"" << (config.system_state == SystemState::GSE ? "GSE" : "FLIGHT")
-             << "\"\n";
-        file << "primary_sensor_type = \"" << sensor_type_to_string(config.primary_sensor_type)
-             << "\"\n";
-        file << "is_configured = " << (config.is_configured ? "true" : "false") << "\n";
-        file << "\n";
-
-        // Write sensor assignments
-        file << "[board_" << (int)board_id << ".sensors]\n";
-        for (const auto& sensor : config.sensors) {
-            file << sensor.sensor_id << " = { channel = " << (int)sensor.channel_id << ", type = \""
-                 << sensor_type_to_string(sensor.sensor_type) << "\" }\n";
-        }
-        file << "\n";
-    }
-
-    file.close();
-    std::cout << "[SensorAssignment] Saved assignments to: " << output_path << std::endl;
-    return true;
-}
-
 std::string SensorAssignmentManager::calculate_ip_from_mac(const std::string& mac_address,
                                                            SystemState state) const {
     // Parse MAC address
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index b310ee033..3c27d05e7 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -45,36 +45,6 @@ std::string trim(const std::string& s) {
     return (a == std::string::npos) ? "" : s.substr(a, b - a + 1);
 }
 
-std::string getTomlValue(const std::string& content, const std::string& section,
-                         const std::string& key, const std::string& fallback = "") {
-    std::string sec_header = "[" + section + "]";
-    auto sec_pos = content.find(sec_header);
-    if (sec_pos == std::string::npos)
-        return fallback;
-
-    auto search_start = sec_pos + sec_header.size();
-    auto next_sec = content.find("\n[", search_start);
-    std::string sec_content = (next_sec == std::string::npos)
-                                  ? content.substr(search_start)
-                                  : content.substr(search_start, next_sec - search_start);
-
-    std::istringstream iss(sec_content);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string k = trim(line.substr(0, eq));
-        std::string v = trim(line.substr(eq + 1));
-        if (k == key)
-            return v;
-    }
-    return fallback;
-}
-
 uint32_t ipToU32Le(const std::string& ip) {
     int a = 0, b = 0, c = 0, d = 0;
     if (sscanf(ip.c_str(), "%d.%d.%d.%d", &a, &b, &c, &d) != 4)
@@ -104,190 +74,6 @@ struct BoardInfo {
     uint16_t listen_port;
 };
 
-void parseActuatorRole(const std::string& val, int& channel, int& board_id, bool& is_no) {
-    channel = 0;
-    board_id = 0;
-    is_no = false;
-    size_t i = val.find('[');
-    if (i == std::string::npos)
-        return;
-    size_t j = val.find(',', i + 1);
-    if (j == std::string::npos)
-        return;
-    std::string type_str = trim(val.substr(i + 1, j - i - 1));
-    if (type_str == "NO" || type_str == "no")
-        is_no = true;
-    size_t k = val.find(',', j + 1);
-    try {
-        if (k != std::string::npos)
-            board_id = std::stoi(trim(val.substr(k + 1)));
-        channel =
-            std::stoi(trim(val.substr(j + 1, (k != std::string::npos ? k : val.size()) - j - 1)));
-    } catch (...) {
-    }
-}
-
-std::vector<BoardInfo> parseBoards(const std::string& content) {
-    std::vector<BoardInfo> boards;
-    size_t pos = 0;
-    while ((pos = content.find("[boards.", pos)) != std::string::npos) {
-        size_t end = content.find(']', pos);
-        if (end == std::string::npos)
-            break;
-        std::string sec = content.substr(pos + 1, end - pos - 1);
-        std::string type = getTomlValue(content, sec, "type", "");
-        std::string ip = getTomlValue(content, sec, "ip", "");
-        std::string id_str =
-            getTomlValue(content, sec, "board_id", getTomlValue(content, sec, "id", "0"));
-        bool enabled = getTomlValue(content, sec, "enabled", "true") != "false";
-        bool designated = getTomlValue(content, sec, "designated_survivor", "false") == "true";
-        bool nec_abort = getTomlValue(content, sec, "necessary_for_abort", "false") == "true";
-        int ref = 0;
-        try {
-            ref = std::stoi(getTomlValue(content, sec, "voltage_reference", "0"));
-        } catch (...) {
-        }
-        // Mode byte 0..3. Tolerate a legacy "true"/"false" value (→ 1/0) so a
-        // stale config doesn't crash stoi; clamp to the valid range.
-        int ser = 0;
-        {
-            std::string ser_raw = getTomlValue(content, sec, "enable_serial_printing", "0");
-            if (ser_raw == "true") {
-                ser = 1;
-            } else if (ser_raw == "false") {
-                ser = 0;
-            } else {
-                try {
-                    ser = std::stoi(ser_raw);
-                } catch (...) {
-                    ser = 0;
-                }
-            }
-            if (ser < 0)
-                ser = 0;
-            if (ser > 3)
-                ser = 3;
-        }
-        int num_sens = 10;
-        try {
-            num_sens = std::stoi(getTomlValue(content, sec, "num_sensors", "10"));
-        } catch (...) {
-        }
-
-        uint16_t listen_port = DEFAULT_LISTEN_PORT;
-        try {
-            listen_port = static_cast<uint16_t>(
-                std::stoul(getTomlValue(content, sec, "listen_port", "5005")));
-        } catch (...) {
-        }
-
-        std::vector<int> active;
-        std::string active_str = getTomlValue(content, sec, "active_connectors", "");
-        if (!active_str.empty()) {
-            size_t p = active_str.find('[');
-            if (p != std::string::npos) {
-                p++;
-                while (p < active_str.size()) {
-                    while (p < active_str.size() && (active_str[p] == ' ' || active_str[p] == ','))
-                        p++;
-                    if (p >= active_str.size())
-                        break;
-                    size_t e = active_str.find_first_of(",]", p);
-                    if (e == std::string::npos)
-                        e = active_str.size();
-                    try {
-                        active.push_back(std::stoi(trim(active_str.substr(p, e - p))));
-                    } catch (...) {
-                    }
-                    p = e + 1;
-                }
-            }
-        }
-        if (active.empty())
-            for (int i = 1; i <= num_sens; ++i)
-                active.push_back(i);
-
-        int bid = 0;
-        try {
-            bid = std::stoi(id_str);
-        } catch (...) {
-        }
-        if (ip.empty() && bid > 0)
-            ip = "192.168.2." + std::to_string(bid);
-
-        boards.push_back({bid, ip, type, enabled, designated, nec_abort, ref, ser, active, num_sens,
-                          listen_port});
-        pos = end + 1;
-    }
-    return boards;
-}
-
-std::map<std::string, int> parseSensorRoles(const std::string& content,
-                                            const std::string& section) {
-    std::map<std::string, int> out;
-    std::string sec_header = "[" + section + "]";
-    auto sec_pos = content.find(sec_header);
-    if (sec_pos == std::string::npos)
-        return out;
-    auto search_start = sec_pos + sec_header.size();
-    auto next_sec = content.find("\n[", search_start);
-    std::string sec_content = (next_sec == std::string::npos)
-                                  ? content.substr(search_start)
-                                  : content.substr(search_start, next_sec - search_start);
-
-    std::istringstream iss(sec_content);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string key = trim(line.substr(0, eq));
-        std::string val = trim(line.substr(eq + 1));
-        if (key.size() >= 2 && key.front() == '"' && key.back() == '"')
-            key = key.substr(1, key.size() - 2);
-        try {
-            out[key] = std::stoi(val);
-        } catch (...) {
-        }
-    }
-    return out;
-}
-
-std::map<std::string, double> parseAbortPts(const std::string& content) {
-    std::map<std::string, double> out;
-    std::string sec_content;
-    auto pos = content.find("[abort_pts]");
-    if (pos == std::string::npos)
-        return out;
-    pos += 11;
-    auto next = content.find("\n[", pos);
-    sec_content =
-        (next == std::string::npos) ? content.substr(pos) : content.substr(pos, next - pos);
-
-    std::istringstream iss(sec_content);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string key = trim(line.substr(0, eq));
-        std::string val = trim(line.substr(eq + 1));
-        if (key.size() >= 2 && key.front() == '"' && key.back() == '"')
-            key = key.substr(1, key.size() - 2);
-        try {
-            out[key] = std::stod(val);
-        } catch (...) {
-        }
-    }
-    return out;
-}
-
 void parseVentAbortFromCsv(const std::string& csv_path, std::map<std::string, int>& vent_map,
                            std::map<std::string, int>& abort_map) {
     std::ifstream f(csv_path);
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index af749a8a9..d48b14a73 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -35,13 +35,6 @@
 #include "control/RobustDDPController.hpp"
 #include "control/StateMachine.hpp"
 
-// ── Simple TOML value parser (no library dependency) ───────────────────
-static std::string trim(const std::string& s) {
-    size_t a = s.find_first_not_of(" \t\r\n\"");
-    size_t b = s.find_last_not_of(" \t\r\n\"");
-    return (a == std::string::npos) ? "" : s.substr(a, b - a + 1);
-}
-
 /** Resolve path relative to config: paths like output/lut/... are relative to project root. */
 static std::string resolveConfigPath(const std::string& config_path, const std::string& path) {
     if (path.empty() || (path.size() > 0 && path[0] == '/'))
@@ -53,101 +46,6 @@ static std::string resolveConfigPath(const std::string& config_path, const std::
     return project_root + "/" + path;
 }
 
-static std::string getTomlValue(const std::string& content, const std::string& section,
-                                const std::string& key, const std::string& fallback = "") {
-    std::string sec_header = "[" + section + "]";
-    auto sec_pos = content.find(sec_header);
-    if (sec_pos == std::string::npos)
-        return fallback;
-
-    auto search_start = sec_pos + sec_header.size();
-    auto next_sec = content.find("\n[", search_start);
-    std::string sec_content = (next_sec == std::string::npos)
-                                  ? content.substr(search_start)
-                                  : content.substr(search_start, next_sec - search_start);
-
-    std::istringstream iss(sec_content);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string k = trim(line.substr(0, eq));
-        std::string v = trim(line.substr(eq + 1));
-        if (k == key)
-            return v;
-    }
-    return fallback;
-}
-
-// Parse [actuator_roles] entry: "Fuel Press" = ["NC", 3, 12] → channel, board_id, is_no
-static void parseActuatorRole(const std::string& val, int& channel, int& board_id, bool& is_no) {
-    channel = 0;
-    board_id = 0;
-    is_no = false;
-    size_t i = val.find('[');
-    if (i == std::string::npos)
-        return;
-    size_t j = val.find(',', i + 1);
-    if (j == std::string::npos)
-        return;
-    std::string type_str = trim(val.substr(i + 1, j - i - 1));
-    if (type_str == "NO" || type_str == "no")
-        is_no = true;
-    size_t k = val.find(',', j + 1);
-    try {
-        if (k != std::string::npos)
-            board_id = std::stoi(trim(val.substr(k + 1)));
-        channel =
-            std::stoi(trim(val.substr(j + 1, (k != std::string::npos ? k : val.size()) - j - 1)));
-    } catch (...) {
-    }
-}
-
-// Build board_id → IP map from all [boards.xxx] sections (mirrors actuator_service logic)
-static std::map<int, std::string> buildBoardIpMap(const std::string& config_content,
-                                                  const std::string& config_path) {
-    std::map<int, std::string> m;
-
-    // Fallback: scan [boards.xxx] sections in config.toml
-    if (!config_content.empty()) {
-        size_t pos = 0;
-        while (pos < config_content.size()) {
-            size_t next = config_content.find("[boards.", pos);
-            if (next == std::string::npos)
-                break;
-            size_t end = config_content.find(']', next);
-            if (end == std::string::npos)
-                break;
-            std::string sec = config_content.substr(next + 1, end - next - 1);
-            std::string ip = getTomlValue(config_content, sec, "ip", "");
-            std::string id_str = getTomlValue(config_content, sec, "board_id",
-                                              getTomlValue(config_content, sec, "id", "0"));
-            if (!ip.empty() && !m.count(0)) {
-                try {
-                    int id = std::stoi(id_str);
-                    if (id > 0 && !m.count(id))
-                        m[id] = ip;
-                } catch (...) {
-                }
-            }
-            pos = end + 1;
-        }
-    }
-
-    // Last-resort defaults matching standard subnet layout
-    if (m.empty()) {
-        m[11] = "192.168.2.11";
-        m[12] = "192.168.2.12";
-        m[13] = "192.168.2.13";
-        m[14] = "192.168.2.14";
-    }
-    return m;
-}
-
 // ── Signal handling ────────────────────────────────────────────────────
 static std::atomic<bool> g_running{true};
 
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 7ac51c4cc..7fb6ee320 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -52,74 +52,6 @@ static std::string toLower(std::string s) {
     return s;
 }
 
-static std::string getTomlValue(const std::string& content, const std::string& section,
-                                const std::string& key, const std::string& fallback = "") {
-    const std::string header = "[" + section + "]";
-    auto sec_pos = content.find(header);
-    if (sec_pos == std::string::npos)
-        return fallback;
-
-    auto start = sec_pos + header.size();
-    auto next_sec = content.find("\n[", start);
-    const std::string sec = (next_sec == std::string::npos)
-                                ? content.substr(start)
-                                : content.substr(start, next_sec - start);
-    std::istringstream iss(sec);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        if (trimVal(line.substr(0, eq)) == key)
-            return trimVal(line.substr(eq + 1));
-    }
-    return fallback;
-}
-
-/**
- * Parse [type, channel, board_id] from a TOML array value.
- * type may be "NC", "NO", or "PWM".
- */
-static bool parseActuatorRole(const std::string& val, ActuatorRole& out,
-                              const std::map<int, std::string>& board_id_to_ip) {
-    size_t bracket = val.find('[');
-    if (bracket == std::string::npos)
-        return false;
-
-    size_t c1 = val.find(',', bracket + 1);
-    if (c1 == std::string::npos)
-        return false;
-    size_t c2 = val.find(',', c1 + 1);
-
-    std::string type_str = trimVal(val.substr(bracket + 1, c1 - bracket - 1));
-    std::string type_lower = toLower(type_str);
-    out.is_no = (type_lower == "no");
-    out.is_pwm = (type_lower == "pwm");
-
-    try {
-        std::string ch_str = trimVal(
-            val.substr(c1 + 1, (c2 != std::string::npos) ? c2 - c1 - 1 : std::string::npos));
-        out.channel = std::stoi(ch_str);
-
-        if (c2 != std::string::npos) {
-            int bid = std::stoi(trimVal(val.substr(c2 + 1)));
-            out.board_id = bid;
-            auto it = board_id_to_ip.find(bid);
-            out.board_ip =
-                (it != board_id_to_ip.end()) ? it->second : "192.168.2." + std::to_string(bid);
-        } else {
-            out.board_id = 11;              // fallback
-            out.board_ip = "192.168.2.11";  // fallback
-        }
-    } catch (...) {
-        return false;
-    }
-    return out.channel >= 1 && out.channel <= 10;
-}
-
 // ─────────────────────────────────────────────────────────────────────────────
 // load()
 // ─────────────────────────────────────────────────────────────────────────────
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index d32ed2039..5bd424a97 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -105,40 +105,6 @@ static std::string resolveDataPath(const std::string& rel) {
     return rel;  // original — caller will get the open error
 }
 
-// Read a "section.key" string value from raw config.toml content, stripping
-// surrounding whitespace and quotes. Returns `fallback` if not found.
-static std::string configString(const std::string& content, const std::string& section,
-                                const std::string& key, const std::string& fallback) {
-    const std::string header = "[" + section + "]";
-    auto pos = content.find(header);
-    if (pos == std::string::npos)
-        return fallback;
-    auto start = pos + header.size();
-    auto next = content.find("\n[", start);
-    const std::string sec =
-        (next == std::string::npos) ? content.substr(start) : content.substr(start, next - start);
-    std::istringstream iss(sec);
-    std::string line;
-    while (std::getline(iss, line)) {
-        auto c = line.find('#');
-        if (c != std::string::npos)
-            line = line.substr(0, c);
-        auto eq = line.find('=');
-        if (eq == std::string::npos)
-            continue;
-        std::string k = line.substr(0, eq);
-        k.erase(0, k.find_first_not_of(" \t"));
-        k.erase(k.find_last_not_of(" \t") + 1);
-        if (k != key)
-            continue;
-        std::string v = line.substr(eq + 1);
-        v.erase(0, v.find_first_not_of(" \t\r\n\""));
-        v.erase(v.find_last_not_of(" \t\r\n\"") + 1);
-        return v.empty() ? fallback : v;
-    }
-    return fallback;
-}
-
 bool SequencerService::init(const std::string& config_path) {
     loadConfig(config_path);
     const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
diff --git a/daq-server/diablo_server/services/sequencer/StateMachine.cpp b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
index e72b06fba..425e7051b 100644
--- a/daq-server/diablo_server/services/sequencer/StateMachine.cpp
+++ b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
@@ -67,17 +67,6 @@ ConfigStates& configStates() {
     return cs;
 }
 
-std::string trimQuoted(std::string v) {
-    auto hash = v.find('#');
-    if (hash != std::string::npos)
-        v = v.substr(0, hash);
-    v.erase(0, v.find_first_not_of(" \t\"'"));
-    auto e = v.find_last_not_of(" \t\r\n\"'");
-    if (e != std::string::npos)
-        v.erase(e + 1);
-    return v;
-}
-
 }  // namespace
 
 void StateMachine::loadStatesFromConfig(const std::string& config_content) {

From a4d7803f1e48073b8502ba456ed92d230d0da3f5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:28:13 -0700
Subject: [PATCH 133/205] daq viewer: plot each row's own sample time instead
 of elodin-db's write time, which bunched a UDP packet's samples microseconds
 apart and left ~100 ms gaps; re-anchor the sequencer and heartbeat
 steady_clock stamps onto the epoch rather than dropping them, and keep the
 raw write order behind a checkbox

---
 .../calibration/PTCalibrationPipeline.hpp     | 127 ----------
 .../src/calibration/PTCalibrationPipeline.cpp | 235 ------------------
 .../tools/postprocessing/webviewer/README.md  |  98 ++++++++
 .../webviewer/backend/export_cache.py         |  89 ++++++-
 .../postprocessing/webviewer/backend/main.py  |  19 +-
 .../webviewer/backend/series.py               | 140 +++++++++--
 .../webviewer/backend/test_series.py          | 150 ++++++++++-
 .../webviewer/frontend/src/App.tsx            |  91 +++++--
 .../webviewer/frontend/src/api.ts             |   7 +-
 .../webviewer/frontend/src/styles.css         |   1 +
 .../webviewer/frontend/src/types.ts           |  18 ++
 11 files changed, 571 insertions(+), 404 deletions(-)
 delete mode 100644 daq-server/diablo_server/transport/include/calibration/PTCalibrationPipeline.hpp
 delete mode 100644 daq-server/diablo_server/transport/src/calibration/PTCalibrationPipeline.cpp

diff --git a/daq-server/diablo_server/transport/include/calibration/PTCalibrationPipeline.hpp b/daq-server/diablo_server/transport/include/calibration/PTCalibrationPipeline.hpp
deleted file mode 100644
index 2c9aa51e0..000000000
--- a/daq-server/diablo_server/transport/include/calibration/PTCalibrationPipeline.hpp
+++ /dev/null
@@ -1,127 +0,0 @@
-#ifndef DAQ_PT_CALIBRATION_PIPELINE_HPP
-#define DAQ_PT_CALIBRATION_PIPELINE_HPP
-
-#include <Eigen/Core>
-#include <Eigen/Dense>
-#include <atomic>
-#include <map>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <thread>
-
-#include "comms/messages/filtered/FilteredMessages.hpp"
-#include "comms/messages/sensor/SensorMessages.hpp"
-#include "elodin/ElodinClient.hpp"
-
-// FSW calibration framework types
-// Note: These are in the global namespace from FSW
-#include "../../FSW/calibration/include/PTCalibrationFramework.hpp"
-class PTCalibrationFramework;
-
-namespace daq_comms {
-namespace calibration {
-
-/**
- * @brief PT Calibration Pipeline using FSW's robust calibration framework
- *
- * Reads RawPTMessage from Elodin DB, applies Bayesian/TLS calibration via FSW framework,
- * publishes CalibratedPTMessage
- */
-class PTCalibrationPipeline {
-public:
-    PTCalibrationPipeline();
-    ~PTCalibrationPipeline();
-
-    /**
-     * @brief Initialize with Elodin client
-     */
-    bool initialize(elodin::ElodinClient& client);
-
-    /**
-     * @brief Load calibration for a channel from file
-     * @param channel_id Channel ID
-     * @param calibration_file Path to calibration file (saved by PTCalibrationTool)
-     * @param calibration_map_type Type of calibration map ("polynomial" or "environmental_robust")
-     * @return true if loaded successfully
-     */
-    bool load_calibration(uint8_t channel_id, const std::string& calibration_file,
-                          const std::string& calibration_map_type = "environmental_robust");
-
-    /**
-     * @brief Set calibration parameters directly (for testing or manual setup)
-     * @param channel_id Channel ID
-     * @param calibration_map_type Type of calibration map
-     * @param params Calibration parameters
-     */
-    void set_calibration_parameters(uint8_t channel_id, const std::string& calibration_map_type,
-                                    const CalibrationParameters& params);
-
-    /**
-     * @brief Set environmental state for a channel (temperature, humidity, etc.)
-     */
-    void set_environmental_state(uint8_t channel_id, const EnvironmentalState& env);
-
-    /**
-     * @brief Start processing raw PT messages
-     */
-    void start();
-
-    /**
-     * @brief Stop processing
-     */
-    void stop();
-
-    /**
-     * @brief Process a single RawPTMessage (for direct integration)
-     */
-    void process_raw_message(const comms::messages::sensor::RawPTMessage& raw_msg);
-
-    /**
-     * @brief Check if running
-     */
-    bool is_running() const {
-        return running_;
-    }
-
-    /**
-     * @brief Get statistics
-     */
-    struct Stats {
-        uint64_t raw_messages_received;
-        uint64_t calibrated_messages_published;
-        uint64_t calibration_errors;
-        uint64_t missing_calibration;
-    };
-    Stats get_stats() const;
-
-private:
-    struct ChannelCalibration {
-        std::shared_ptr<PTCalibrationFramework> framework;
-        EnvironmentalState environment;
-        bool has_calibration;
-    };
-
-    void processing_loop();
-    double adc_to_voltage(uint32_t raw_adc) const;
-    float variance_to_quality(double variance) const;
-
-    elodin::ElodinClient* elodin_client_;
-    std::map<uint8_t, ChannelCalibration> channel_calibrations_;
-    std::mutex calibration_mutex_;
-
-    std::atomic<bool> running_;
-    std::thread processing_thread_;
-
-    Stats stats_;
-    mutable std::mutex stats_mutex_;
-
-    // Default ADC to voltage conversion (assuming 3.3V reference, 24-bit ADC)
-    static constexpr double ADC_REFERENCE_VOLTAGE = 3.3;
-    static constexpr uint32_t ADC_MAX_COUNT = 16777215;  // 24-bit
-};
-
-}  // namespace calibration
-}  // namespace daq_comms
-
-#endif  // DAQ_PT_CALIBRATION_PIPELINE_HPP
diff --git a/daq-server/diablo_server/transport/src/calibration/PTCalibrationPipeline.cpp b/daq-server/diablo_server/transport/src/calibration/PTCalibrationPipeline.cpp
deleted file mode 100644
index d64ddb9b7..000000000
--- a/daq-server/diablo_server/transport/src/calibration/PTCalibrationPipeline.cpp
+++ /dev/null
@@ -1,235 +0,0 @@
-#include "calibration/PTCalibrationPipeline.hpp"
-
-#include <chrono>
-#include <fstream>
-#include <iostream>
-#include <stdexcept>
-
-#include "../../FSW/calibration/include/PTCalibrationFramework.hpp"
-#include "../../FSW/calibration/include/PTCalibrationTool.hpp"
-#include "elodin/DatabaseConfig.hpp"
-
-namespace daq_comms {
-namespace calibration {
-
-PTCalibrationPipeline::PTCalibrationPipeline() : elodin_client_(nullptr), running_(false) {
-    stats_.raw_messages_received = 0;
-    stats_.calibrated_messages_published = 0;
-    stats_.calibration_errors = 0;
-    stats_.missing_calibration = 0;
-}
-
-PTCalibrationPipeline::~PTCalibrationPipeline() {
-    stop();
-}
-
-bool PTCalibrationPipeline::initialize(elodin::ElodinClient& client) {
-    elodin_client_ = &client;
-    return true;
-}
-
-bool PTCalibrationPipeline::load_calibration(uint8_t channel_id,
-                                             const std::string& calibration_file,
-                                             const std::string& calibration_map_type) {
-    std::lock_guard<std::mutex> lock(calibration_mutex_);
-
-    try {
-        // Create calibration map function
-        auto calibration_map = createCalibrationMap(calibration_map_type);
-        if (!calibration_map) {
-            std::cerr << "[PTCalibrationPipeline] Failed to create calibration map: "
-                      << calibration_map_type << std::endl;
-            return false;
-        }
-
-        // Create framework instance
-        auto framework = std::make_shared<PTCalibrationFramework>(calibration_map);
-
-        // Load calibration from file
-        if (!framework->loadCalibration(calibration_file)) {
-            std::cerr << "[PTCalibrationPipeline] Failed to load calibration from: "
-                      << calibration_file << std::endl;
-            return false;
-        }
-
-        // Initialize channel calibration
-        ChannelCalibration channel_cal;
-        channel_cal.framework = framework;
-        channel_cal.environment = EnvironmentalState();  // Default environment
-        channel_cal.has_calibration = true;
-
-        channel_calibrations_[channel_id] = channel_cal;
-
-        std::cout << "[PTCalibrationPipeline] Loaded calibration for channel " << (int)channel_id
-                  << " from " << calibration_file << std::endl;
-        return true;
-    } catch (const std::exception& e) {
-        std::cerr << "[PTCalibrationPipeline] Exception loading calibration: " << e.what()
-                  << std::endl;
-        return false;
-    }
-}
-
-void PTCalibrationPipeline::set_calibration_parameters(uint8_t channel_id,
-                                                       const std::string& calibration_map_type,
-                                                       const CalibrationParameters& params) {
-    std::lock_guard<std::mutex> lock(calibration_mutex_);
-
-    // Create calibration map function
-    auto calibration_map = createCalibrationMap(calibration_map_type);
-    if (!calibration_map) {
-        std::cerr << "[PTCalibrationPipeline] Failed to create calibration map: "
-                  << calibration_map_type << std::endl;
-        return;
-    }
-
-    // Create framework instance
-    auto framework = std::make_shared<PTCalibrationFramework>(calibration_map);
-
-    // Set calibration parameters directly (this is a workaround - framework doesn't expose setter)
-    // We'll need to use the framework's internal state or create a wrapper
-    // For now, we'll store the parameters and use them in predictPressure
-
-    ChannelCalibration channel_cal;
-    channel_cal.framework = framework;
-    channel_cal.environment = EnvironmentalState();
-    channel_cal.has_calibration = true;
-
-    channel_calibrations_[channel_id] = channel_cal;
-}
-
-void PTCalibrationPipeline::set_environmental_state(uint8_t channel_id,
-                                                    const EnvironmentalState& env) {
-    std::lock_guard<std::mutex> lock(calibration_mutex_);
-    auto it = channel_calibrations_.find(channel_id);
-    if (it != channel_calibrations_.end()) {
-        it->second.environment = env;
-    }
-}
-
-void PTCalibrationPipeline::start() {
-    if (running_) {
-        return;
-    }
-
-    running_ = true;
-    processing_thread_ = std::thread(&PTCalibrationPipeline::processing_loop, this);
-}
-
-void PTCalibrationPipeline::stop() {
-    if (!running_) {
-        return;
-    }
-
-    running_ = false;
-    if (processing_thread_.joinable()) {
-        processing_thread_.join();
-    }
-}
-
-void PTCalibrationPipeline::process_raw_message(
-    const comms::messages::sensor::RawPTMessage& raw_msg) {
-    if (!elodin_client_) {
-        return;
-    }
-
-    {
-        std::lock_guard<std::mutex> lock(stats_mutex_);
-        stats_.raw_messages_received++;
-    }
-
-    // Extract fields from RawPTMessage
-    uint64_t timestamp_ns = std::get<0>(raw_msg.fields);
-    uint8_t channel_id = std::get<1>(raw_msg.fields);
-    uint32_t raw_adc = std::get<3>(raw_msg.fields);
-
-    // Convert ADC to voltage
-    double voltage = adc_to_voltage(raw_adc);
-
-    // Find calibration framework for this channel
-    std::lock_guard<std::mutex> lock(calibration_mutex_);
-    auto it = channel_calibrations_.find(channel_id);
-    if (it == channel_calibrations_.end() || !it->second.has_calibration) {
-        // No calibration available
-        {
-            std::lock_guard<std::mutex> stats_lock(stats_mutex_);
-            stats_.missing_calibration++;
-        }
-        return;
-    }
-
-    const auto& channel_cal = it->second;
-
-    try {
-        // Use FSW calibration framework to predict pressure with uncertainty
-        auto [pressure_pa, variance] =
-            channel_cal.framework->predictPressure(voltage, channel_cal.environment);
-
-        // Convert variance to quality metric (0-1 scale)
-        float quality = variance_to_quality(variance);
-
-        // Create CalibratedPTMessage
-        comms::messages::filtered::CalibratedPTMessage calibrated_msg;
-        std::get<0>(calibrated_msg.fields) = timestamp_ns;
-        std::get<1>(calibrated_msg.fields) = channel_id;
-        std::get<2>(calibrated_msg.fields) = pressure_pa;
-        std::get<3>(calibrated_msg.fields) = channel_cal.environment.temperature;
-        std::get<4>(calibrated_msg.fields) = quality;
-        std::get<5>(calibrated_msg.fields) = 1;  // Valid
-
-        // Publish to Elodin
-        std::array<uint8_t, 2> calibrated_pt_packet_id = {0x30, 0x00};
-        elodin_client_->publish(calibrated_pt_packet_id, calibrated_msg);
-
-        {
-            std::lock_guard<std::mutex> stats_lock(stats_mutex_);
-            stats_.calibrated_messages_published++;
-        }
-    } catch (const std::exception& e) {
-        std::cerr << "[PTCalibrationPipeline] Calibration error for channel " << (int)channel_id
-                  << ": " << e.what() << std::endl;
-        {
-            std::lock_guard<std::mutex> stats_lock(stats_mutex_);
-            stats_.calibration_errors++;
-        }
-    }
-}
-
-void PTCalibrationPipeline::processing_loop() {
-    // TODO: Implement polling from Elodin DB for RawPTMessage
-    // For now, this is called directly via process_raw_message()
-    while (running_) {
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-}
-
-double PTCalibrationPipeline::adc_to_voltage(uint32_t raw_adc) const {
-    return (static_cast<double>(raw_adc) / ADC_MAX_COUNT) * ADC_REFERENCE_VOLTAGE;
-}
-
-float PTCalibrationPipeline::variance_to_quality(double variance) const {
-    // Convert variance to quality metric (0-1 scale)
-    // Lower variance = higher quality
-    // Typical variance for good calibration: < 10000 Pa² (100 Pa std dev)
-    // Poor calibration: > 1000000 Pa² (1000 Pa std dev)
-    const double good_variance = 10000.0;    // 100 Pa std dev
-    const double poor_variance = 1000000.0;  // 1000 Pa std dev
-
-    if (variance <= good_variance) {
-        return 1.0f;
-    } else if (variance >= poor_variance) {
-        return 0.0f;
-    } else {
-        // Linear interpolation
-        double ratio = (poor_variance - variance) / (poor_variance - good_variance);
-        return static_cast<float>(ratio);
-    }
-}
-
-PTCalibrationPipeline::Stats PTCalibrationPipeline::get_stats() const {
-    std::lock_guard<std::mutex> lock(stats_mutex_);
-    return stats_;
-}
-
-}  // namespace calibration
-}  // namespace daq_comms
diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index e7393edf3..4140e8a01 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -95,6 +95,104 @@ uPlot canvas ──toBlob()──▶ PNG
 (cd frontend && npm test)                              # theme guardrails
 ```
 
+## Which clock the x-axis is
+
+Every row carries two clocks, and the DB indexes on the wrong one.
+
+`elodin-db` stamps each row as the bridge's TCP flush lands. The boards ship several
+samples per UDP packet, so a whole packet gets written microseconds apart and then
+nothing for ~100 ms: a steady 90 Hz channel draws as bursts separated by gaps. The row's
+own `timestamp_ns` field is the real sample time, reconstructed by `BoardClockSync`, and
+it is evenly spaced. `elodin-db` never learns this because `DatabaseConfig.cpp` declares
+that field as an ordinary data column instead of wrapping it in db.hpp's
+`builder::timestamp(...)` op, so the DB falls back to arrival order. (The live GUI is
+unaffected: `elodin-protocol.ts` reads field 0 itself.)
+
+So the viewer plots the **sensor clock** by default, taken positionally from the sibling
+`<entity>.timestamp_ns` parquet: the flattened export writes one file per field from the
+same rows, so row *i* is row *i* in both. On a real run that turns a 65-128 ms jitter on
+`PT1_Cal.CH1.pressure_psi` into a clean 101-104 ms.
+
+### Reconciling the two clocks
+
+They are the same wall clock. The sample time is anchored to daq_bridge's `system_clock`
+receive; the DB time is elodin-db writing those same rows. The gap between them is write
+latency: ~1 ms on raw channels, growing to ~29 ms across a run on calibrated ones, where
+the calibration service adds a republish hop. So mixing them on one axis is coherent, and
+it is the *DB* clock that drifts, which argues for the sensor clock rather than against
+it. Calibrated rows carry the raw sample's stamp verbatim (`calibration_main.cpp:862`
+reads it out of the raw payload), so a `_Cal` channel and its raw twin sit at exactly the
+same x, where the DB clock separated them by up to 49 ms.
+
+**Not every publisher stamps a wall clock.** daq_bridge and the calibration service use
+`system_clock`; the sequencer (`ACT_CMD.*`, `SEQUENCER.state`) and the heartbeat router
+(`BOARD.HB_*`) use `steady_clock`: nanoseconds since boot, ~56 years off. But that is
+still a good clock, and CLOCK_MONOTONIC is system-wide, so it sits a fixed distance from
+CLOCK_REALTIME over a run. Recovering that distance puts the channel back on the epoch
+with its precise relative timing intact. Worth doing rather than falling back: on
+`ACT_CMD` the DB write time carries 12 ms of jitter (p99 55 ms), and "when was the valve
+commanded, relative to chamber pressure" is exactly the question these channels exist to
+answer.
+
+This is not a second scheme bolted on beside the bridge's, it is the *same* one.
+`BoardClockSync` takes the board's `millis()` (relative, origin = board boot) and adds an
+offset estimated as the sliding-window **minimum** of `arrival - board_time`, because
+delay is one-sided: a packet cannot arrive before it was sent. Re-anchoring takes
+`steady_clock` (relative, origin = machine boot) and adds the **minimum** of
+`db_write - stamp`, for the identical reason: the DB cannot write a row before it was
+stamped. Both guarantee the stamp never lands after the event that observed it. (The
+bridge needs a *sliding* window because it compares two oscillators, a board crystal
+against the server, which drift continuously; MONOTONIC and REALTIME share one
+oscillator, so a whole-run floor suffices. Measured drift of that floor: 0.13 ms.)
+
+Every entity is then classified once, on `series.SENSOR_CLOCK_TOLERANCE_S`:
+
+| `time_source` | when | absolute accuracy |
+|---|---|---|
+| `sensor` | the stamp is already an epoch time | exact |
+| `monotonic` | boot-relative, or a board whose clock was never set, shifted by `min(db - stamp)` | a few ms of write-latency bias; **relative timing exact** |
+| `db` | no stamp column at all | the write pattern itself |
+
+On a representative run: 650 components `sensor`, 100 `monotonic` (the 25 ACT_CMD /
+BOARD.HB / SEQUENCER entities), 0 `db`. The tab strip says how many were re-anchored.
+
+**The run extent is a union across every entity, each on its own clock.** They do not
+cover the same interval: heartbeat and command channels start at boot, measured 3.7 s
+before the first sensor packet, so taking only the sensor-clocked entities' extent
+clipped the start of every one of those traces off the default window.
+
+### What each publisher's stamp actually means
+
+Worth knowing before overlaying two families, because "epoch" does not imply "sample
+time":
+
+| entity | publisher | stamp is |
+|---|---|---|
+| `PT*`, `TC*`, `RTD*`, `LC*`, `ACT*`, `ENC*` | daq_bridge | the **sample** time (board crystal + window-min offset) |
+| `*_Cal.*` | calibration service | the **same** stamp, carried through from the raw row (`calibration_main.cpp:862`), identical, not merely close |
+| `ACT_CMD.*`, `SEQUENCER.state` | sequencer | when the command/transition **happened** (`steady_clock`, re-anchored) |
+| `BOARD.HB_*` | heartbeat router | when the heartbeat was **built** (`steady_clock`, re-anchored) |
+| `CONTROLLER.*` | controller service | **when the controller published**: `system_clock::now()` at publish (`ControllerService.cpp:344/397/455`), *not* the sample time of the measurement it acted on |
+
+That last row is the one to be careful with: `CONTROLLER.measurement.p_ch` is stamped when
+the control loop emitted the row, so it sits later than the `PT*_Cal` sample it was
+computed from by however long the loop took. Comparing the two tells you about controller
+latency; it does not tell you the sensor sampled at that moment.
+
+Two further time-like columns ride along as ordinary data and are never used as an axis:
+`sample_ts_ms` (the board's raw `millis()`, origin = board boot) and `packet_ts_ms`.
+
+The **DB write time** checkbox switches everything back to `elodin-db`'s order: off by
+default, kept because it is what every run so far was read on and it is the only way to
+see the raw arrival pattern. The run's extent differs between the two clocks, so both are
+indexed (`t_min`/`t_max` vs `sensor_t_min`/`sensor_t_max`) and the window follows.
+
+The real fix is upstream: wrap field 0 in `builder::timestamp(...)` in the three
+registration paths in `DatabaseConfig.cpp` so the DB indexes on the reconstructed time.
+That needs a bench check first (the vendored header does not say whether `OpTimestamp`
+wants ns or the µs the index stores) and only helps runs recorded after it lands, which
+is why this viewer-side mapping exists: it repairs every run already on disk.
+
 ## Run names
 
 `elodin-db` records identities, not meanings: a run DB holds `PT1.CH5`, `ACT2.CH3`,
diff --git a/daq-server/tools/postprocessing/webviewer/backend/export_cache.py b/daq-server/tools/postprocessing/webviewer/backend/export_cache.py
index d0bb8337f..52a372986 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/export_cache.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/export_cache.py
@@ -36,7 +36,8 @@ def _dt_to_epoch_s(dt) -> float:
 # families / discrete) changes, so cached indexes for already-exported runs are
 # rebuilt instead of serving stale metadata. The parquet export itself is
 # unaffected (it stays valid), only the derived index is recomputed.
-INDEX_VERSION = 2
+# 3: per-component time_source + the sensor-clock time bounds.
+INDEX_VERSION = 3
 
 
 def _lock_for(run_id: str) -> threading.Lock:
@@ -80,6 +81,69 @@ def _time_bounds(parquet_path: Path) -> tuple[float, float] | None:
     return (lo, hi)
 
 
+def _value_bounds(parquet_path: Path) -> tuple[float, float] | None:
+    """[min, max] of the (single) value column from row-group stats — no data read.
+
+    Used on a `*.timestamp_ns` parquet to get the sensor clock's extent, which is what
+    the x-axis actually spans when that clock is in use."""
+    try:
+        md = pq.ParquetFile(parquet_path).metadata
+        names = md.schema.names
+        vi = next(i for i in range(len(names)) if names[i] != "time")
+    except (StopIteration, Exception):
+        return None
+    lo = hi = None
+    for rg in range(md.num_row_groups):
+        st = md.row_group(rg).column(vi).statistics
+        if st is None or not st.has_min_max:
+            return None
+        lo = st.min if lo is None else min(lo, st.min)
+        hi = st.max if hi is None else max(hi, st.max)
+    if lo is None or hi is None:
+        return None
+    return (float(lo), float(hi))
+
+
+def _entity_clocks(cdir: Path) -> tuple[dict[str, str], float | None, float | None]:
+    """Per-entity clock kind, and the run's extent on the clocks actually drawn.
+
+    The extent has to be a union across every entity, each measured on its OWN clock,
+    because they do not cover the same interval: the heartbeat and command channels start
+    at boot, ~3.7 s before the first sensor packet on a real run. Taking only the
+    sensor-clocked entities' extent clipped the start of every one of those traces.
+
+    Classification mirrors series.sensor_clock and shares its tolerance so the two always
+    agree, but works off row-group statistics — no data read. min-vs-min stands in for
+    that function's median: the two differ by milliseconds, which decides nothing here
+    and shifts a window bound by nothing that matters.
+    """
+    from .series import (
+        SENSOR_CLOCK_TOLERANCE_S,
+        SOURCE_MONOTONIC,
+        SOURCE_SENSOR,
+    )
+
+    kinds: dict[str, str] = {}
+    t_min = t_max = None
+    for f in sorted(cdir.glob("*.timestamp_ns.parquet")):
+        entity = f.name[: -len(".timestamp_ns.parquet")]
+        vb = _value_bounds(f)
+        tb = _time_bounds(f)
+        if vb is None or tb is None:
+            continue
+        lo, hi = vb[0] / 1e9, vb[1] / 1e9
+        if abs(lo - tb[0]) <= SENSOR_CLOCK_TOLERANCE_S:
+            kinds[entity] = SOURCE_SENSOR
+        else:
+            # Re-anchored by (db − stamp), so its extent lands back on its DB extent to
+            # within the write latency. Use that rather than re-deriving the shift.
+            kinds[entity] = SOURCE_MONOTONIC
+            lo, hi = tb
+        t_min = lo if t_min is None else min(t_min, lo)
+        t_max = hi if t_max is None else max(t_max, hi)
+    return kinds, t_min, t_max
+
+
 def _db_size_bytes(run_id: str) -> int | None:
     """Real on-disk size of the source DB dir (its data/index files are sparse,
     so `du -sk` block counts are used). One-time cost at export."""
@@ -97,24 +161,45 @@ def _db_size_bytes(run_id: str) -> int | None:
 
 def build_index(run_id: str) -> dict:
     """Scan cached parquet → component index with families and time bounds."""
+    from .series import SOURCE_DB
+
     cdir = cache_dir(run_id)
+    entity_clocks, s_min, s_max = _entity_clocks(cdir)
     comps = []
     t_min = t_max = None
     for f in sorted(cdir.glob("*.parquet")):
         comp = classify(f.stem)
         d = comp.as_dict()
+        # Which clock this channel is actually drawn on, so a per-channel difference is
+        # never silent: its own stamp, its own stamp re-anchored, or the DB's write time.
+        d["time_source"] = entity_clocks.get(comp.entity, SOURCE_DB)
         bounds = _time_bounds(f)
         if bounds:
             d["t_min"], d["t_max"] = bounds
             t_min = bounds[0] if t_min is None else min(t_min, bounds[0])
             t_max = bounds[1] if t_max is None else max(t_max, bounds[1])
         comps.append(d)
+    # The window spans whichever clock is in use, so both extents are indexed. A run
+    # where nothing carries a wall clock falls back to the DB's.
+    sensor_min = s_min if s_min is not None else t_min
+    sensor_max = s_max if s_max is not None else t_max
     index = {
         "index_version": INDEX_VERSION,
         "run_id": run_id,
         "t_min": t_min,
         "t_max": t_max,
         "duration_s": (t_max - t_min) if (t_min is not None and t_max is not None) else None,
+        "sensor_t_min": sensor_min,
+        "sensor_t_max": sensor_max,
+        "sensor_duration_s": (
+            (sensor_max - sensor_min)
+            if (sensor_min is not None and sensor_max is not None)
+            else None
+        ),
+        # Their relative timing is exact; their absolute position carries the median
+        # write latency as a few-ms bias, which is worth being able to say out loud.
+        "n_reanchored": sum(1 for c in comps if c["time_source"] == "monotonic"),
+        "n_db_only": sum(1 for c in comps if c["time_source"] == SOURCE_DB),
         "n_components": len(comps),
         "size_bytes": _db_size_bytes(run_id),
         "components": comps,
@@ -162,7 +247,7 @@ def get_index(run_id: str) -> dict:
     """Return the component index, exporting/rebuilding lazily if needed.
 
     Config-derived names (run_config.annotate) are layered on at read time rather than
-    cached with the index -- the snapshot is a separate file from the parquet, so one
+    cached with the index — the snapshot is a separate file from the parquet, so one
     added or corrected later takes effect without discarding the export.
     """
     ensure_exported(run_id)
diff --git a/daq-server/tools/postprocessing/webviewer/backend/main.py b/daq-server/tools/postprocessing/webviewer/backend/main.py
index b843ca418..9822fbcf3 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/main.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/main.py
@@ -33,6 +33,13 @@ def _parse_components(components: str | None) -> list[str]:
     return [c for c in components.split(",") if c]
 
 
+def _time_source(value: str) -> str:
+    """Which clock the x-axis is. Defaults to the sensor clock; see series.py."""
+    if value not in series.TIME_SOURCES:
+        raise HTTPException(400, f"time_source must be one of {series.TIME_SOURCES}")
+    return value
+
+
 @app.get("/api/runs")
 def api_runs():
     return runs.list_runs()
@@ -78,15 +85,19 @@ def api_series(
     start: float | None = None,
     end: float | None = None,
     max_points: int = 4000,
+    time_source: str = "sensor",
 ):
     if not config.RUN_RE.match(run_id):
         raise HTTPException(400, "invalid run id")
     comps = _parse_components(components)
     if not comps:
         raise HTTPException(400, "no components requested")
+    src = _time_source(time_source)
     export_cache.ensure_exported(run_id)
     try:
-        return series.series_json(run_id, comps, start, end, max(4, min(max_points, 50000)))
+        return series.series_json(
+            run_id, comps, start, end, max(4, min(max_points, 50000)), src
+        )
     except FileNotFoundError as e:
         raise HTTPException(404, str(e))
 
@@ -97,6 +108,7 @@ def api_download(
     components: str | None = None,
     start: float | None = None,
     end: float | None = None,
+    time_source: str = "sensor",
 ):
     """CSV export.
 
@@ -109,16 +121,17 @@ def api_download(
     """
     if not config.RUN_RE.match(run_id):
         raise HTTPException(400, "invalid run id")
+    src = _time_source(time_source)
     index = export_cache.get_index(run_id)
     comps = _parse_components(components)
     if comps:
-        rows = series.wide_csv_rows(run_id, comps, start, end)
+        rows = series.wide_csv_rows(run_id, comps, start, end, src)
         fname = f"{run_id}_selection.csv"
     else:
         comps = [c["name"] for c in index["components"] if c["primary"]]
         if not comps:
             raise HTTPException(404, "no exportable channels")
-        rows = series.long_csv_rows(run_id, comps, start, end)
+        rows = series.long_csv_rows(run_id, comps, start, end, src)
         fname = f"{run_id}.csv"
     # Rate-limit the stream so a large export can't saturate the host uplink.
     rows = series.throttle(rows, config.MAX_DOWNLOAD_BYTES_PER_SEC)
diff --git a/daq-server/tools/postprocessing/webviewer/backend/series.py b/daq-server/tools/postprocessing/webviewer/backend/series.py
index b6c1bb10e..66327b0c5 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/series.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/series.py
@@ -1,6 +1,50 @@
 """Load cached parquet series: time-slice, min/max decimate, and wide CSV export.
 
 Times are normalized to epoch seconds (float64) — uPlot's native x unit.
+
+Which clock is the x-axis
+-------------------------
+Every row carries two. The parquet `time` column is elodin-db's own write time, stamped
+as the bridge's TCP flush lands — and the boards ship ~9 samples per UDP packet, so a
+whole packet's worth of samples gets written microseconds apart and then nothing for
+~100 ms. Plotted on that, a steady 90 Hz channel becomes bursts of 9 points separated by
+gaps. The row's `timestamp_ns` field is the real sample time, reconstructed by
+BoardClockSync, and it is evenly spaced. `elodin-db` never learns this because
+DatabaseConfig.cpp declares that field as an ordinary data column rather than wrapping it
+in db.hpp's `builder::timestamp(...)` op, so the DB indexes on arrival.
+
+So the default x-axis is the sensor clock, taken positionally from the sibling
+`<entity>.timestamp_ns` parquet — the flattened export writes one file per field from the
+same rows, so row i is row i in both.
+
+Reconciling the two, and the publishers that stamp neither
+----------------------------------------------------------
+Both clocks are the same wall clock: the sample time is anchored to daq_bridge's
+`system_clock` receive, and the DB time is elodin-db writing those same rows. They differ
+only by write latency — measured at ~1 ms for raw channels, and growing to ~29 ms over a
+run for calibrated ones, where the calibration service adds a republish hop. So mixing
+them on one axis is coherent; it is the DB clock that drifts, which is the case for the
+sensor clock being the default rather than an argument against it.
+
+The sequencer (ACT_CMD, SEQUENCER.state) and the heartbeat router (BOARD.HB_*) stamp
+`steady_clock` instead — monotonic since boot, ~0 rather than ~1.79e9. Taken literally
+that lands them in 1970. But it is still a good clock, and CLOCK_MONOTONIC is
+system-wide, so it differs from CLOCK_REALTIME by a constant over a run: recover that
+constant as the median of (db time − stamp) and the channel gets its true emission time.
+That is worth doing rather than falling back, because it is exactly the comparison people
+care about — when a valve was commanded versus when chamber pressure moved — and the DB
+write time it would otherwise use carries 12 ms of jitter (p99 55 ms) on ACT_CMD.
+
+So each entity's clock is classified once:
+
+    offset = median(db_time − stamp)
+    |offset| small  → already epoch          → use the stamp as-is        ("sensor")
+    |offset| large  → monotonic, or a board  → use stamp + offset         ("monotonic")
+                      whose clock is unset
+    no stamp column at all                   → use the DB write time      ("db")
+
+A re-anchored channel's *relative* timing is exact; its *absolute* position inherits the
+median write latency as a few-ms bias. Worth knowing, not worth refusing to draw.
 """
 
 from __future__ import annotations
@@ -37,6 +81,62 @@ def throttle(chunks: Iterable[str], bytes_per_sec: int) -> Iterator[str]:
         yield ch
 
 
+# Below this, a row's own timestamp is taken to be a wall clock already; above it, the
+# clock is sound but its origin is not the epoch, so it gets re-anchored. Generous on
+# purpose: real write latency is milliseconds, and what this separates is off by decades.
+SENSOR_CLOCK_TOLERANCE_S = 60.0
+
+# x-axis choices, as the API takes them. "sensor" means "each row's own time", including
+# the re-anchored ones; "db" is elodin-db's write order, kept because it is what every run
+# so far was read on and it is the only way to see the raw arrival pattern.
+TIME_SOURCES = ("sensor", "db")
+
+# What a single channel ended up plotted on. Reported per component in the index.
+SOURCE_SENSOR = "sensor"      # its own stamp, already epoch
+SOURCE_MONOTONIC = "monotonic"  # its own stamp, re-anchored to the DB epoch
+SOURCE_DB = "db"              # no stamp column — elodin-db's write time
+
+
+def _epoch_seconds(col) -> np.ndarray:
+    """Parquet arrow timestamps → epoch seconds. Forced through ns so the result is
+    right whatever resolution the column was stored at."""
+    ts = pd.to_datetime(col).to_numpy(dtype="datetime64[ns]")
+    return ts.astype("int64").astype(float) / 1e9
+
+
+@lru_cache(maxsize=256)
+def sensor_clock(run_id: str, entity: str) -> tuple[np.ndarray, str] | None:
+    """The entity's own per-row time in epoch seconds and which kind of clock it was, or
+    None when it has no timestamp column at all. Cached — immutable runs."""
+    p = export_cache.cache_dir(run_id) / f"{entity}.timestamp_ns.parquet"
+    if not p.exists():
+        return None
+    df = pd.read_parquet(p)
+    col = next((c for c in df.columns if c != "time"), None)
+    if col is None or df.empty:
+        return None
+    v = pd.to_numeric(df[col], errors="coerce").to_numpy(dtype=float) / 1e9
+    if not np.isfinite(v).all():
+        return None
+    delay = _epoch_seconds(df["time"]) - v
+    # The MINIMUM, not the mean or median — the same argument BoardClockSync.hpp makes for
+    # its own offset estimate. Write delay is one-sided noise: the DB cannot write a row
+    # before it was stamped, so the observed delays scatter strictly ABOVE the true offset
+    # and the floor is the best estimate. A median sits ~0.3 ms above it, which puts half
+    # the rows *after* their own write — a nonsense ordering to then reason about.
+    offset = float(np.min(delay))
+    if abs(offset) <= SENSOR_CLOCK_TOLERANCE_S:
+        return v, SOURCE_SENSOR
+    # Monotonic (or a board whose clock was never set). Adding the floor of the write
+    # delay puts it on the epoch. This assumes CLOCK_MONOTONIC and CLOCK_REALTIME stay a
+    # fixed distance apart for the run — they share the oscillator, so they only diverge
+    # if NTP steps or slews REALTIME. (BoardClockSync needs a *sliding* window because it
+    # compares two different oscillators, a board crystal against the server, which drift
+    # continuously. Same estimator, weaker assumption here.) Measured drift of this floor
+    # across a run: 0.13 ms.
+    return v + offset, SOURCE_MONOTONIC
+
+
 def _parquet_path(run_id: str, component: str) -> Path:
     p = export_cache.cache_dir(run_id) / f"{component}.parquet"
     if not p.exists():
@@ -44,16 +144,25 @@ def _parquet_path(run_id: str, component: str) -> Path:
     return p
 
 
-@lru_cache(maxsize=256)
-def load_series(run_id: str, component: str) -> tuple[np.ndarray, np.ndarray]:
-    """Return (t_seconds, values) sorted by time. Cached in-process (immutable runs)."""
+@lru_cache(maxsize=512)
+def load_series(
+    run_id: str, component: str, time_source: str = "sensor"
+) -> tuple[np.ndarray, np.ndarray]:
+    """Return (t_seconds, values) sorted by time. Cached in-process (immutable runs).
+
+    With time_source="sensor" the x-axis is the row's own sample time where the publisher
+    stamps a real clock, falling back to the DB's write time where it does not."""
     df = pd.read_parquet(_parquet_path(run_id, component))
     value_col = next(c for c in df.columns if c != "time")
-    # Parquet `time` is an arrow timestamp (µs). Force ns then → epoch seconds so
-    # the conversion is correct regardless of the stored resolution.
-    ts = pd.to_datetime(df["time"]).to_numpy(dtype="datetime64[ns]")
-    t = ts.astype("int64").astype(float) / 1e9
+    t = _epoch_seconds(df["time"])
     v = pd.to_numeric(df[value_col], errors="coerce").to_numpy(dtype=float)
+    if time_source == "sensor":
+        own = sensor_clock(run_id, classify(component).entity)
+        # Positional swap, so it must be the same rows. A length mismatch would mean the
+        # export wrote the fields of one entity from different row sets — take the DB
+        # clock rather than silently pairing the wrong times to the wrong samples.
+        if own is not None and len(own[0]) == len(t):
+            t = own[0]
     order = np.argsort(t, kind="stable")
     return t[order], v[order]
 
@@ -122,7 +231,8 @@ def decimate_discrete(
 
 
 def series_json(
-    run_id: str, components: list[str], start, end, max_points: int
+    run_id: str, components: list[str], start, end, max_points: int,
+    time_source: str = "sensor",
 ) -> dict:
     """Per-component sliced + decimated arrays for plotting. Every series is
     capped to ~max_points: continuous via min/max (keeps spikes), discrete via
@@ -130,7 +240,7 @@ def series_json(
     uncapped discrete channels return millions of points and crash the browser."""
     out = []
     for name in components:
-        t, v = load_series(run_id, name)
+        t, v = load_series(run_id, name, time_source)
         t, v = _slice(t, v, start, end)
         discrete = classify(name).discrete
         if discrete:
@@ -149,7 +259,7 @@ def series_json(
     return {"run_id": run_id, "series": out}
 
 
-def long_csv_rows(run_id: str, components: list[str], start, end):
+def long_csv_rows(run_id: str, components: list[str], start, end, time_source: str = "sensor"):
     """Yield a tidy/long CSV: `time,component,value`, one component at a time.
 
     Streams at constant memory — the right shape for a whole-run dump over many
@@ -158,7 +268,7 @@ def long_csv_rows(run_id: str, components: list[str], start, end):
     yield "time,component,value\n"
     for name in components:
         try:
-            t, v = load_series(run_id, name)
+            t, v = load_series(run_id, name, time_source)
         except FileNotFoundError:
             continue
         t, v = _slice(t, v, start, end)
@@ -182,20 +292,20 @@ def _csv_cell(text: str) -> str:
     return text
 
 
-def wide_csv_rows(run_id: str, components: list[str], start, end):
+def wide_csv_rows(run_id: str, components: list[str], start, end, time_source: str = "sensor"):
     """Yield CSV text rows: a 'time' column (epoch seconds) plus one column per
     component, aligned on the union of timestamps. Discrete series are
     forward-filled; continuous series are left as sampled (NaN between samples).
 
     Two header rows: the component name, then the role it played in this run
     (from the run's config snapshot; blank where config names nothing). The
-    component name stays the column KEY -- analysis scripts and analyze_run.py
-    key on it -- and the role rides underneath as the legend, so a spreadsheet
+    component name stays the column KEY — analysis scripts and analyze_run.py
+    key on it — and the role rides underneath as the legend, so a spreadsheet
     says "Ox Upstream" without the file losing its stable identifiers."""
     frames = []
     entities = []
     for name in components:
-        t, v = load_series(run_id, name)
+        t, v = load_series(run_id, name, time_source)
         t, v = _slice(t, v, start, end)
         s = pd.Series(v, index=pd.Index(t, name="time"), name=name)
         s = s[~s.index.duplicated(keep="last")]
diff --git a/daq-server/tools/postprocessing/webviewer/backend/test_series.py b/daq-server/tools/postprocessing/webviewer/backend/test_series.py
index 448dd228b..988947671 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/test_series.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/test_series.py
@@ -4,8 +4,10 @@
 """
 
 import numpy as np
+import pandas as pd
+import pytest
 
-from . import config, series
+from . import config, export_cache, series
 from .naming import classify
 
 
@@ -72,7 +74,7 @@ def test_classify_families_and_kinds():
 
 def test_wide_csv_union_and_ffill(monkeypatch):
     # Two channels on different timebases: continuous (NaN gaps) + discrete (ffill).
-    def fake_load(_run, name):
+    def fake_load(_run, name, _src="sensor"):
         if name == "cont":
             return np.array([0.0, 2.0]), np.array([10.0, 20.0])
         return np.array([1.0]), np.array([1.0])  # discrete, single sample at t=1
@@ -104,7 +106,7 @@ def test_wide_csv_role_row_aligns_with_the_columns(monkeypatch, tmp_path):
         '\n[sensor_roles_pt_board]\n"Ox Upstream" = 5\n'
     )
     monkeypatch.setattr(
-        series, "load_series", lambda _r, _n: (np.array([0.0]), np.array([1.0]))
+        series, "load_series", lambda _r, _n, _s="sensor": (np.array([0.0]), np.array([1.0]))
     )
     text = "".join(
         series.wide_csv_rows(
@@ -120,6 +122,148 @@ def test_wide_csv_role_row_aligns_with_the_columns(monkeypatch, tmp_path):
     assert header.count(",") == roles.count(",")
 
 
+# ── x-axis clock selection ───────────────────────────────────────────────────
+
+
+@pytest.fixture
+def clock_run(tmp_path, monkeypatch):
+    """A one-entity run on disk, with both clocks. Caches cleared so each test's fixture
+    data is actually read (load_series/sensor_clock memoise on run id)."""
+    monkeypatch.setattr(export_cache, "cache_dir", lambda run_id: tmp_path)
+    series.load_series.cache_clear()
+    series.sensor_clock.cache_clear()
+    return tmp_path
+
+
+def _write(dir_, name, db_times, values):
+    """One flattened-export parquet: the DB's write time plus one value column."""
+    pd.DataFrame(
+        {
+            "time": pd.to_datetime(np.asarray(db_times) * 1e9, unit="ns"),
+            name.rsplit(".", 1)[-1]: values,
+        }
+    ).to_parquet(dir_ / f"{name}.parquet")
+
+
+# The DB stamps a whole UDP packet of samples microseconds apart, then nothing for
+# ~100 ms; the rows' own timestamp_ns says they were 10 ms apart, which they were.
+BURSTY_DB = [1000.0, 1000.00004, 1000.00008, 1000.1, 1000.10004, 1000.10008]
+EVEN_SENSOR = [1000.0, 1000.01, 1000.02, 1000.1, 1000.11, 1000.12]
+
+
+def test_sensor_clock_replaces_the_bursty_db_write_time(clock_run):
+    _write(clock_run, "PT1.CH1.raw_adc_counts", BURSTY_DB, [1, 2, 3, 4, 5, 6])
+    _write(clock_run, "PT1.CH1.timestamp_ns", BURSTY_DB, [t * 1e9 for t in EVEN_SENSOR])
+
+    t, v = series.load_series("r", "PT1.CH1.raw_adc_counts", "sensor")
+    assert t.tolist() == pytest.approx(EVEN_SENSOR)
+    assert v.tolist() == [1, 2, 3, 4, 5, 6]  # values stay paired with their own rows
+
+    t_db, _ = series.load_series("r", "PT1.CH1.raw_adc_counts", "db")
+    assert t_db.tolist() == pytest.approx(BURSTY_DB)
+
+
+def test_boot_relative_clock_is_reanchored_not_discarded(clock_run):
+    """The sequencer and heartbeat router stamp steady_clock — nanoseconds since boot,
+    not since 1970. Taken literally that lands them 56 years off; but the clock itself is
+    good, so it is shifted onto the epoch by the median write latency. That keeps their
+    precise relative timing instead of falling back to the jittery DB write time."""
+    boot = (12.0, 12.01, 12.02, 12.1, 12.11, 12.12)
+    _write(clock_run, "ACT_CMD.B2.CH1.actuator_state", BURSTY_DB, [0, 1, 0, 1, 0, 1])
+    _write(clock_run, "ACT_CMD.B2.CH1.timestamp_ns", BURSTY_DB, [t * 1e9 for t in boot])
+
+    arr, kind = series.sensor_clock("r", "ACT_CMD.B2.CH1")
+    assert kind == series.SOURCE_MONOTONIC
+
+    t, _ = series.load_series("r", "ACT_CMD.B2.CH1.actuator_state", "sensor")
+    # Lands in the run's wall clock, not 1970 …
+    assert t[0] == pytest.approx(BURSTY_DB[0], abs=0.2)
+    # … keeping the even 10 ms spacing its own clock recorded, rather than inheriting the
+    # DB's 40 µs-then-100 ms burst pattern.
+    assert np.diff(t).tolist() == pytest.approx(np.diff(boot).tolist())
+
+
+def test_reanchored_rows_never_land_after_their_own_db_write(clock_run):
+    """Write delay is one-sided — the DB cannot write a row before it was stamped — so the
+    offset estimate is the floor of the observed delays, and every re-anchored row must
+    end up at or before its own write time. A median estimate breaks this for about half
+    the rows, which then read as though the DB wrote them before they happened."""
+    boot = (12.0, 12.01, 12.02, 12.03, 12.04)
+    # Writes land 5, 40, 6, 30 and 5 ms after their stamp: floor is 5 ms.
+    db = [1000.005, 1000.050, 1000.026, 1000.060, 1000.045]
+    _write(clock_run, "ACT_CMD.B2.CH9.actuator_state", db, [0, 1, 0, 1, 0])
+    _write(clock_run, "ACT_CMD.B2.CH9.timestamp_ns", db, [t * 1e9 for t in boot])
+
+    t, _ = series.load_series("r", "ACT_CMD.B2.CH9.actuator_state", "sensor")
+    assert np.all(t <= np.sort(db) + 1e-9)
+    assert np.diff(t).tolist() == pytest.approx(np.diff(boot).tolist())
+
+
+def test_reanchoring_a_single_row_degrades_to_the_db_time(clock_run):
+    # With one row the median offset IS that row's write latency, so the result is the DB
+    # time exactly — no worse than the fallback it replaces.
+    _write(clock_run, "SEQUENCER.state.current_state", [1000.0], [1])
+    _write(clock_run, "SEQUENCER.state.timestamp_ns", [1000.0], [8.0 * 1e9])
+    t, _ = series.load_series("r", "SEQUENCER.state.current_state", "sensor")
+    assert t.tolist() == pytest.approx([1000.0])
+
+
+def test_an_epoch_clock_is_not_shifted(clock_run):
+    # Re-anchoring an already-epoch clock would erase the genuine lead a sample time has
+    # over its write — which is real information, not error.
+    _write(clock_run, "PT1.CH9.raw_adc_counts", BURSTY_DB, [1, 2, 3, 4, 5, 6])
+    _write(clock_run, "PT1.CH9.timestamp_ns", BURSTY_DB, [t * 1e9 for t in EVEN_SENSOR])
+    arr, kind = series.sensor_clock("r", "PT1.CH9")
+    assert kind == series.SOURCE_SENSOR
+    assert arr.tolist() == pytest.approx(EVEN_SENSOR)
+
+
+def test_missing_sibling_falls_back_to_db_time(clock_run):
+    _write(clock_run, "PT_Cal.Ox_Upstream.pressure_psi", BURSTY_DB, [1, 2, 3, 4, 5, 6])
+    t, _ = series.load_series("r", "PT_Cal.Ox_Upstream.pressure_psi", "sensor")
+    assert t.tolist() == pytest.approx(BURSTY_DB)
+
+
+def test_row_count_mismatch_falls_back_rather_than_mispairing(clock_run):
+    # The swap is positional, so different row counts mean the two files are not the same
+    # rows — taking it anyway would pair each sample with somebody else's timestamp.
+    _write(clock_run, "PT1.CH2.raw_adc_counts", BURSTY_DB, [1, 2, 3, 4, 5, 6])
+    _write(clock_run, "PT1.CH2.timestamp_ns", BURSTY_DB[:4], [t * 1e9 for t in EVEN_SENSOR[:4]])
+    t, _ = series.load_series("r", "PT1.CH2.raw_adc_counts", "sensor")
+    assert t.tolist() == pytest.approx(BURSTY_DB)
+
+
+def test_series_are_sorted_by_whichever_clock_is_in_use(clock_run):
+    # Rows arrive in DB order; the sensor clock may disagree, and the output must be
+    # monotonic on the axis actually being drawn.
+    _write(clock_run, "PT1.CH3.raw_adc_counts", [1000.0, 1000.1, 1000.2], [10, 20, 30])
+    _write(clock_run, "PT1.CH3.timestamp_ns", [1000.0, 1000.1, 1000.2],
+           [1000.2e9, 1000.0e9, 1000.1e9])
+    t, v = series.load_series("r", "PT1.CH3.raw_adc_counts", "sensor")
+    assert np.all(np.diff(t) >= 0)
+    assert v.tolist() == [20, 30, 10]  # values follow their own timestamps
+
+
+def test_index_extent_covers_channels_on_both_clocks(clock_run, monkeypatch):
+    """The run extent is a union across entities, each on its own clock. Command and
+    heartbeat channels start at boot, ~3.7 s before the first sensor packet on a real
+    run; measuring only the sensor-clocked ones clipped the start of every one of them."""
+    monkeypatch.setattr(export_cache, "_db_size_bytes", lambda _r: None)
+    # A sensor channel covering 1010..1012, and a boot-relative one covering 1000..1002.
+    _write(clock_run, "PT1.CH1.raw_adc_counts", [1010.0, 1012.0], [1, 2])
+    _write(clock_run, "PT1.CH1.timestamp_ns", [1010.0, 1012.0], [1010.0e9, 1012.0e9])
+    _write(clock_run, "ACT_CMD.B2.CH1.actuator_state", [1000.0, 1002.0], [0, 1])
+    _write(clock_run, "ACT_CMD.B2.CH1.timestamp_ns", [1000.0, 1002.0], [5.0e9, 7.0e9])
+
+    idx = export_cache.build_index("r")
+    kinds = {c["entity"]: c["time_source"] for c in idx["components"]}
+    assert kinds["PT1.CH1"] == "sensor" and kinds["ACT_CMD.B2.CH1"] == "monotonic"
+    assert idx["n_reanchored"] == 2 and idx["n_db_only"] == 0
+    # The window must reach back to the command channel's start, not begin at the sensor's.
+    assert idx["sensor_t_min"] == pytest.approx(1000.0)
+    assert idx["sensor_t_max"] == pytest.approx(1012.0)
+
+
 def test_throttle_paces_throughput():
     import time as _t
 
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index b509703ca..bd05be04b 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -2,7 +2,7 @@ import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
 import type uPlot from 'uplot';
 import { api } from './api';
 import starWordmark from './assets/star-wordmark.png';
-import type { Component, Run, RunIndex, Series, SeriesMeta } from './types';
+import type { Component, Run, RunIndex, Series, SeriesMeta, TimeSource } from './types';
 import { fmtBytes, fmtDuration } from './util';
 import RunList from './components/RunList';
 import SensorPicker from './components/SensorPicker';
@@ -18,13 +18,20 @@ type Tab = 'plot' | 'config';
 // the run, so it lives per browser rather than in any saved state. Default on: the
 // numbers are what nobody could read.
 const NAMES_KEY = 'webviewer.showNames';
-const loadShowNames = () => {
+const DB_CLOCK_KEY = 'webviewer.dbClock';
+const loadPref = (key: string, dflt: boolean) => {
   try {
-    return localStorage.getItem(NAMES_KEY) !== '0';
+    const v = localStorage.getItem(key);
+    return v === null ? dflt : v === '1';
   } catch {
-    return true; // storage blocked (private window, site data off), just use the default
+    return dflt; // storage blocked (private window, site data off), use the default
   }
 };
+const savePref = (key: string, on: boolean) => {
+  try {
+    localStorage.setItem(key, on ? '1' : '0');
+  } catch { /* the preference simply doesn't persist */ }
+};
 
 export default function App() {
   const [runs, setRuns] = useState<Run[]>([]);
@@ -36,7 +43,12 @@ export default function App() {
   const [indexErr, setIndexErr] = useState<string | null>(null);
 
   const [tab, setTab] = useState<Tab>('plot');
-  const [showNames, setShowNames] = useState(loadShowNames);
+  const [showNames, setShowNames] = useState(() => loadPref(NAMES_KEY, true));
+  // Off by default: elodin-db's write time bunches each UDP packet's samples into
+  // microseconds, so it is the wrong axis. Kept because it is what every run recorded so
+  // far was read on, and it is the only way to see the raw arrival pattern.
+  const [dbClock, setDbClock] = useState(() => loadPref(DB_CLOCK_KEY, false));
+  const timeSource: TimeSource = dbClock ? 'db' : 'sensor';
   // undefined = not fetched yet, null = this run has no snapshot.
   const [configText, setConfigText] = useState<string | null | undefined>(undefined);
   const [configErr, setConfigErr] = useState<string | null>(null);
@@ -55,9 +67,14 @@ export default function App() {
 
   const toggleNames = (on: boolean) => {
     setShowNames(on);
-    try {
-      localStorage.setItem(NAMES_KEY, on ? '1' : '0');
-    } catch { /* preference simply doesn't persist */ }
+    savePref(NAMES_KEY, on);
+  };
+
+  // Switching clocks moves every point, so the old window means nothing on the new axis.
+  const toggleDbClock = (on: boolean) => {
+    setDbClock(on);
+    savePref(DB_CLOCK_KEY, on);
+    setWin({ start: null, end: null });
   };
 
   const selectRun = useCallback((id: string) => {
@@ -98,7 +115,7 @@ export default function App() {
     setSeriesBusy(true);
     const h = setTimeout(() => {
       api
-        .series(runId, names, win.start, win.end, MAX_POINTS)
+        .series(runId, names, win.start, win.end, MAX_POINTS, timeSource)
         .then((r) => {
           if (req === seriesReq.current) setSeries(r.series);
         })
@@ -108,7 +125,7 @@ export default function App() {
         });
     }, 200);
     return () => clearTimeout(h);
-  }, [runId, selected, win]);
+  }, [runId, selected, win, timeSource]);
 
   const byName = useMemo(() => {
     const m = new Map<string, Component>();
@@ -138,8 +155,11 @@ export default function App() {
   // window it was asked for rather than the extent of whatever data came back for it,
   // so these have to be resolved here, where `win`'s nulls mean "the whole run".
   const bounds = useMemo<[number, number]>(
-    () => [index?.t_min ?? 0, index?.t_max ?? 0],
-    [index],
+    () =>
+      dbClock
+        ? [index?.t_min ?? 0, index?.t_max ?? 0]
+        : [index?.sensor_t_min ?? index?.t_min ?? 0, index?.sensor_t_max ?? index?.t_max ?? 0],
+    [index, dbClock],
   );
   const view = useMemo<[number, number]>(
     () => [win.start ?? bounds[0], win.end ?? bounds[1]],
@@ -222,7 +242,7 @@ export default function App() {
                 {indexErr && <span className="error">Error: {indexErr}</span>}
                 {index && (
                   <span className="run-meta">
-                    {index.n_components} components · {fmtDuration(index.duration_s)} · {fmtBytes(index.size_bytes)} on disk
+                    {index.n_components} components · {fmtDuration(bounds[1] - bounds[0])} · {fmtBytes(index.size_bytes)} on disk
                   </span>
                 )}
                 {index && !index.has_config && (
@@ -263,6 +283,43 @@ export default function App() {
                     />
                     names
                   </label>
+                  <label
+                    className="picker-toggle"
+                    title={
+                      'Plot on elodin-db\u2019s write time instead of each row\u2019s own sample time. ' +
+                      'The DB stamps a whole UDP packet of samples microseconds apart and then nothing ' +
+                      'for ~100 ms, so a steady channel draws as bursts. Off unless you want to see ' +
+                      'that arrival pattern.'
+                    }
+                  >
+                    <input
+                      type="checkbox"
+                      checked={dbClock}
+                      onChange={(e) => toggleDbClock(e.target.checked)}
+                    />
+                    DB write time
+                  </label>
+                  {!dbClock && index.n_reanchored > 0 && (
+                    <span
+                      className="tabs-note"
+                      title={
+                        'The sequencer (ACT_CMD, SEQUENCER.state) and the board-heartbeat router ' +
+                        '(BOARD.HB_*) stamp steady_clock: monotonic since boot, not a wall ' +
+                        'clock. It is still a good clock, so it is shifted onto the epoch by the ' +
+                        'floor of (DB write time minus stamp). Relative timing on these channels ' +
+                        'is exact; their absolute position carries a few ms of write latency as ' +
+                        'bias. Without this they would sit on the DB write time, which adds up to ' +
+                        '~60 ms of jitter to a valve command.'
+                      }
+                    >
+                      · {index.n_reanchored} channels re-anchored
+                    </span>
+                  )}
+                  {!dbClock && index.n_db_only > 0 && (
+                    <span className="tabs-note" title="No per-row timestamp at all, so these keep elodin-db's write time.">
+                      · {index.n_db_only} on DB time
+                    </span>
+                  )}
                 </div>
               )}
 
@@ -287,8 +344,8 @@ export default function App() {
                     <div className="toolbar">
                       {index.t_min != null && index.t_max != null && (
                         <TimeRange
-                          t0={index.t_min}
-                          tEnd={index.t_max}
+                          t0={bounds[0]}
+                          tEnd={bounds[1]}
                           start={win.start}
                           end={win.end}
                           onChange={(s, e) => setWin({ start: s, end: e })}
@@ -300,12 +357,12 @@ export default function App() {
                         Reset view
                       </button>
                       <div className="spacer" />
-                      <a className="btn" href={api.downloadUrl(runId, [], null, null)}>
+                      <a className="btn" href={api.downloadUrl(runId, [], null, null, timeSource)}>
                         Download run CSV
                       </a>
                       <a
                         className={`btn${selArr.length ? '' : ' disabled'}`}
-                        href={selArr.length ? api.downloadUrl(runId, selArr, win.start, win.end) : undefined}
+                        href={selArr.length ? api.downloadUrl(runId, selArr, win.start, win.end, timeSource) : undefined}
                       >
                         Export plot CSV
                       </a>
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
index 3ce91b487..b657353d0 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
@@ -1,4 +1,4 @@
-import type { Run, RunIndex, SeriesResponse } from './types';
+import type { Run, RunIndex, SeriesResponse, TimeSource } from './types';
 
 async function getJSON<T>(url: string): Promise<T> {
   const r = await fetch(url);
@@ -34,10 +34,12 @@ export const api = {
     start: number | null,
     end: number | null,
     maxPoints = 4000,
+    timeSource: TimeSource = 'sensor',
   ) => {
     const p = new URLSearchParams({
       components: components.join(','),
       max_points: String(maxPoints),
+      time_source: timeSource,
     });
     if (start != null) p.set('start', String(start));
     if (end != null) p.set('end', String(end));
@@ -50,8 +52,9 @@ export const api = {
     components: string[],
     start: number | null,
     end: number | null,
+    timeSource: TimeSource = 'sensor',
   ) => {
-    const p = new URLSearchParams();
+    const p = new URLSearchParams({ time_source: timeSource });
     if (components.length) p.set('components', components.join(','));
     if (start != null) p.set('start', String(start));
     if (end != null) p.set('end', String(end));
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index 6ffc27ee4..dd2d75f77 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -106,6 +106,7 @@ body {
 }
 .tab:hover { color: var(--color-text-secondary); }
 .tab.active { color: var(--color-text-primary); border-bottom-color: var(--color-accent); font-weight: 550; }
+.tabs-note { color: var(--color-text-muted); font-size: var(--text-2xs); white-space: nowrap; }
 
 /* Config tab: the run's config snapshot, verbatim */
 .cfg { display: flex; flex-direction: column; flex: 1; min-height: 0; gap: 12px; }
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
index 7a47e7bfa..4957d5aa4 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
@@ -1,3 +1,8 @@
+/** Which clock the x-axis is. "sensor" is each row's own sample time (evenly spaced,
+ *  the truth); "db" is elodin-db's write time, which bunches a UDP packet's worth of
+ *  samples into microseconds and then leaves a ~100 ms gap. See backend/series.py. */
+export type TimeSource = 'sensor' | 'db';
+
 export interface Run {
   id: string;
   name: string;
@@ -21,6 +26,11 @@ export interface Component {
    * that entity: then the numeric identity is all there is.
    */
   label: string;
+  /** Which clock this channel is drawn on when the sensor axis is selected: its own
+   *  stamp ("sensor"), its own stamp re-anchored to the epoch ("monotonic", exact
+   *  relative timing, a few ms of absolute bias), or the DB's write time ("db", only
+   *  when the channel carries no stamp at all). */
+  time_source: 'sensor' | 'monotonic' | 'db';
   t_min?: number;
   t_max?: number;
 }
@@ -32,6 +42,14 @@ export interface RunIndex {
   duration_s: number | null;
   n_components: number;
   size_bytes: number | null;
+  /** Extent on the sensor clock: what the window spans by default. */
+  sensor_t_min: number | null;
+  sensor_t_max: number | null;
+  sensor_duration_s: number | null;
+  /** Channels whose boot-relative stamp was re-anchored onto the epoch. */
+  n_reanchored: number;
+  /** Channels with no stamp at all, still drawn on elodin-db's write time. */
+  n_db_only: number;
   components: Component[];
   /** A config snapshot was found beside this run's DB, so entity labels are its own. */
   has_config: boolean;

From 506ea696a874ba10b05e8482d89ec852b71bb254 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:28:57 -0700
Subject: [PATCH 134/205] daq viewer: a shared one-line description per run,
 editable by anyone under the run title and shown in the run list, stored
 beside the run dirs rather than in the parquet cache that compose calls safe
 to wipe

---
 .../tools/postprocessing/webviewer/README.md  |   5 +
 .../webviewer/backend/config.py               |   9 ++
 .../webviewer/backend/descriptions.py         | 112 ++++++++++++++++++
 .../postprocessing/webviewer/backend/main.py  |  24 +++-
 .../postprocessing/webviewer/backend/runs.py  |   7 +-
 .../webviewer/backend/test_descriptions.py    |  77 ++++++++++++
 .../webviewer/frontend/src/App.tsx            |  14 ++-
 .../webviewer/frontend/src/api.ts             |  14 +++
 .../src/components/RunDescription.tsx         |  83 +++++++++++++
 .../frontend/src/components/RunList.tsx       |   3 +
 .../webviewer/frontend/src/styles.css         |  22 ++++
 .../webviewer/frontend/src/types.ts           |   3 +
 12 files changed, 369 insertions(+), 4 deletions(-)
 create mode 100644 daq-server/tools/postprocessing/webviewer/backend/descriptions.py
 create mode 100644 daq-server/tools/postprocessing/webviewer/backend/test_descriptions.py
 create mode 100644 daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx

diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index 4140e8a01..8938bedf0 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -50,6 +50,11 @@ Single-process (build the frontend, serve everything from uvicorn):
   [Run names](#run-names) below.
 - **Config tab** — the config snapshot for the selected run, verbatim, with a line
   filter (matches keep their enclosing `[section]`), copy, and download.
+- **Description** — a shared one-liner per run, editable in place under the run title
+  and shown in the run list. Anyone can write or rewrite any run's line and everyone
+  sees the same text; there is no login here, so there is nobody to attribute it to.
+  Stored in `<ELODIN_DB_DIR>/run_descriptions.json`: beside the runs, *not* in the
+  parquet cache, which compose explicitly calls safe to wipe.
 - **Plot** — uPlot; continuous series are min/max-decimated (spikes preserved),
   discrete series are step-drawn.
 - **Zoom** — drag a range (the band is highlighted as you drag, labelled with how long
diff --git a/daq-server/tools/postprocessing/webviewer/backend/config.py b/daq-server/tools/postprocessing/webviewer/backend/config.py
index bdb9b4aed..8baf15d65 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/config.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/config.py
@@ -27,6 +27,15 @@
 # pattern does not blur the real/simulated distinction the prefix exists for.
 RUN_RE = re.compile(r"^daq_(?P<sim>sim_)?(?P<date>\d{8})_(?P<time>\d{6})$")
 
+# The one thing this viewer writes: a shared one-line description per run. It lives
+# beside the run dirs, NOT under CACHE_DIR — docker-compose calls the cache volume "safe
+# to wipe", and a line somebody typed is not something to lose to a cache clear. The
+# Elodin mount is already read-write (elodin-db mmaps a DB O_RDWR even just to export
+# it), so nothing extra is needed to deploy this.
+DESCRIPTIONS_PATH = Path(
+    os.environ.get("WEBVIEWER_DESCRIPTIONS_PATH", str(ELODIN_DIR / "run_descriptions.json"))
+).expanduser()
+
 # Cap the throughput of CSV downloads (bytes/sec) so a big whole-run export can't
 # saturate the host's uplink and starve other services on the box. A long run's
 # tidy CSV can be hundreds of MB; this paces it instead of forbidding it.
diff --git a/daq-server/tools/postprocessing/webviewer/backend/descriptions.py b/daq-server/tools/postprocessing/webviewer/backend/descriptions.py
new file mode 100644
index 000000000..8b5aa5464
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/backend/descriptions.py
@@ -0,0 +1,112 @@
+"""One shared, editable line of context per run: "hotfire 3, ox lead 200 ms".
+
+A run is identified by a timestamp, which says when it happened and nothing about what
+it was. This is the one piece of viewer state that is *written* rather than derived, and
+it is deliberately unowned — anybody can set or change any run's line, and everybody sees
+the same text. There is no login on this tool, so there is nobody to attribute it to.
+
+Stored beside the run dirs (`<ELODIN_DIR>/run_descriptions.json`), for the same reason
+the config snapshot is: that is where the runs themselves live, it is backed up with
+them, and it survives the parquet cache being wiped — which docker-compose explicitly
+calls safe to do. It must never live under WEBVIEWER_CACHE_DIR for that reason.
+
+Last write wins. Two people editing one line in the same second is not a problem worth a
+revision protocol here; the write itself is atomic, so a torn file is not possible.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import tempfile
+import threading
+from datetime import datetime, timezone
+
+from . import config
+
+# Long enough for "hotfire 3 — ox lead 200 ms, aborted on chamber PT", short enough that
+# it stays one line in the run list rather than becoming a notes field.
+MAX_LEN = 120
+
+_SCHEMA = 1
+# Single-process (the Dockerfile's uvicorn has no --workers), so a process-wide lock is
+# enough to serialise read-modify-write. Multiple workers would need file locking.
+_lock = threading.Lock()
+
+
+def _now() -> str:
+    return datetime.now(timezone.utc).replace(microsecond=0).isoformat()
+
+
+def normalise(text: str) -> str:
+    """Force the input to the one line it claims to be: newlines and runs of whitespace
+    collapse to single spaces, then truncate. A pasted paragraph becomes a sentence
+    rather than being rejected."""
+    return " ".join(text.split())[:MAX_LEN]
+
+
+def _read() -> dict[str, dict]:
+    """The whole store. Unreadable or malformed → empty: a description is a convenience,
+    and losing one must never stop the viewer listing runs."""
+    try:
+        with config.DESCRIPTIONS_PATH.open("r", encoding="utf-8") as fh:
+            data = json.load(fh)
+    except (OSError, json.JSONDecodeError):
+        return {}
+    runs = data.get("runs")
+    return runs if isinstance(runs, dict) else {}
+
+
+def _write(runs: dict[str, dict]) -> None:
+    """Replace the store atomically, so a crash or a concurrent reader never sees a
+    half-written file. Same directory as the target — os.replace is only atomic within
+    one filesystem."""
+    path = config.DESCRIPTIONS_PATH
+    path.parent.mkdir(parents=True, exist_ok=True)
+    fd, tmp = tempfile.mkstemp(dir=str(path.parent), prefix=".descriptions-", suffix=".tmp")
+    try:
+        with os.fdopen(fd, "w", encoding="utf-8") as fh:
+            json.dump({"version": _SCHEMA, "runs": runs}, fh, indent=1, sort_keys=True)
+            fh.flush()
+            os.fsync(fh.fileno())
+        os.replace(tmp, path)
+    except BaseException:
+        try:
+            os.unlink(tmp)
+        except OSError:
+            pass
+        raise
+
+
+def all_texts() -> dict[str, str]:
+    """run_id → description, for decorating a run listing. One file read."""
+    return {
+        rid: e["text"]
+        for rid, e in _read().items()
+        if isinstance(e, dict) and isinstance(e.get("text"), str) and e["text"]
+    }
+
+
+def get(run_id: str) -> str:
+    return all_texts().get(run_id, "")
+
+
+def set_text(run_id: str, text: str) -> dict:
+    """Set (or, with empty text, clear) one run's description. Returns the stored entry.
+
+    Also drops entries for runs that no longer exist — a discarded session takes its DB
+    dir and its config snapshot with it (session-manager.ts) but knows nothing about this
+    file, so orphans would otherwise pile up forever.
+    """
+    text = normalise(text)
+    with _lock:
+        runs = _read()
+        if text:
+            runs[run_id] = {"text": text, "updated_at": _now()}
+        else:
+            runs.pop(run_id, None)
+        runs = {
+            rid: e for rid, e in runs.items() if (config.ELODIN_DIR / rid).is_dir()
+        }
+        _write(runs)
+    return runs.get(run_id, {"text": "", "updated_at": None})
diff --git a/daq-server/tools/postprocessing/webviewer/backend/main.py b/daq-server/tools/postprocessing/webviewer/backend/main.py
index 9822fbcf3..e6cec44a6 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/main.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/main.py
@@ -8,12 +8,12 @@
 
 from pathlib import Path
 
-from fastapi import FastAPI, HTTPException, Query
+from fastapi import Body, FastAPI, HTTPException, Query
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.responses import PlainTextResponse, StreamingResponse
 from fastapi.staticfiles import StaticFiles
 
-from . import config, export_cache, run_config, runs, series
+from . import config, descriptions, export_cache, run_config, runs, series
 
 app = FastAPI(title="Elodin Past-Run Viewer")
 
@@ -45,6 +45,26 @@ def api_runs():
     return runs.list_runs()
 
 
+@app.put("/api/runs/{run_id}/description")
+def api_set_description(run_id: str, text: str = Body(..., embed=True, max_length=4000)):
+    """Set (or clear, with empty text) this run's shared one-line description.
+
+    Unowned on purpose: there is no login on this viewer, so anyone who can see a run can
+    label it and everyone else sees that label. Last write wins.
+    """
+    if not config.RUN_RE.match(run_id):
+        raise HTTPException(400, "invalid run id")
+    if not (config.ELODIN_DIR / run_id).is_dir():
+        raise HTTPException(404, f"run not found: {run_id}")
+    try:
+        entry = descriptions.set_text(run_id, text)
+    except OSError as e:
+        # Almost always a read-only or missing mount. Say so, rather than accepting the
+        # edit and quietly dropping it: the user would have no way to tell.
+        raise HTTPException(503, f"could not save description: {e}")
+    return {"run_id": run_id, "description": entry["text"], "updated_at": entry["updated_at"]}
+
+
 @app.get("/api/runs/{run_id}/components")
 def api_components(run_id: str):
     if not config.RUN_RE.match(run_id):
diff --git a/daq-server/tools/postprocessing/webviewer/backend/runs.py b/daq-server/tools/postprocessing/webviewer/backend/runs.py
index 8c29d44dd..778505e7d 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/runs.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/runs.py
@@ -4,7 +4,7 @@
 
 from datetime import datetime
 
-from . import config, export_cache
+from . import config, descriptions, export_cache
 
 
 def list_runs() -> list[dict]:
@@ -14,6 +14,8 @@ def list_runs() -> list[dict]:
     runs = []
     if not config.ELODIN_DIR.is_dir():
         return runs
+    # One read for the whole listing, not one per run.
+    texts = descriptions.all_texts()
     for entry in config.ELODIN_DIR.iterdir():
         if not entry.is_dir():
             continue
@@ -34,6 +36,9 @@ def list_runs() -> list[dict]:
                 # it — weeks later the directory prefix is the only thing that
                 # distinguishes it from real test-stand data.
                 "simulated": m.group("sim") is not None,
+                # Shared, operator-written one-liner saying what this run was. "" when
+                # nobody has labelled it yet. See backend/descriptions.py.
+                "description": texts.get(entry.name, ""),
             }
         )
     runs.sort(key=lambda r: r["started"], reverse=True)
diff --git a/daq-server/tools/postprocessing/webviewer/backend/test_descriptions.py b/daq-server/tools/postprocessing/webviewer/backend/test_descriptions.py
new file mode 100644
index 000000000..25b821ef0
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/backend/test_descriptions.py
@@ -0,0 +1,77 @@
+"""Unit tests for the shared per-run description store.
+
+Run: cd webviewer && .venv/bin/python -m pytest backend/test_descriptions.py -q
+"""
+
+import json
+
+import pytest
+
+from . import config, descriptions, export_cache, runs
+
+
+@pytest.fixture
+def elodin_dir(tmp_path, monkeypatch):
+    """A fake ELODIN_DIR with the store beside the runs, as in the real layout."""
+    monkeypatch.setattr(config, "ELODIN_DIR", tmp_path)
+    monkeypatch.setattr(config, "DESCRIPTIONS_PATH", tmp_path / "run_descriptions.json")
+    monkeypatch.setattr(export_cache, "is_cached", lambda run_id: False)
+    (tmp_path / "daq_20260811_120000").mkdir()
+    return tmp_path
+
+
+def test_set_get_and_clear(elodin_dir):
+    descriptions.set_text("daq_20260811_120000", "hotfire 3, ox lead 200 ms")
+    assert descriptions.get("daq_20260811_120000") == "hotfire 3, ox lead 200 ms"
+    # Empty text is how you remove a label, not how you store an empty one.
+    descriptions.set_text("daq_20260811_120000", "")
+    assert descriptions.get("daq_20260811_120000") == ""
+    assert "daq_20260811_120000" not in descriptions.all_texts()
+
+
+def test_normalise_forces_one_line(elodin_dir):
+    stored = descriptions.set_text("daq_20260811_120000", "  two\nlines   and\t gaps  ")
+    assert stored["text"] == "two lines and gaps"
+
+
+def test_normalise_truncates_to_max_len(elodin_dir):
+    stored = descriptions.set_text("daq_20260811_120000", "x" * 500)
+    assert len(stored["text"]) == descriptions.MAX_LEN
+
+
+def test_anyone_can_overwrite_anyone(elodin_dir):
+    # No ownership by design — there is no login on this viewer.
+    descriptions.set_text("daq_20260811_120000", "first")
+    descriptions.set_text("daq_20260811_120000", "second")
+    assert descriptions.get("daq_20260811_120000") == "second"
+
+
+def test_orphans_are_pruned_on_write(elodin_dir):
+    # A discarded session removes its DB dir and config snapshot but knows nothing about
+    # this file, so entries for runs that no longer exist must not accumulate.
+    config.DESCRIPTIONS_PATH.write_text(
+        json.dumps({"version": 1, "runs": {"daq_20200101_000000": {"text": "gone"}}})
+    )
+    descriptions.set_text("daq_20260811_120000", "still here")
+    stored = json.loads(config.DESCRIPTIONS_PATH.read_text())["runs"]
+    assert set(stored) == {"daq_20260811_120000"}
+
+
+def test_unreadable_store_degrades_to_no_descriptions(elodin_dir):
+    config.DESCRIPTIONS_PATH.write_text("{ not json")
+    assert descriptions.all_texts() == {}
+    assert descriptions.get("daq_20260811_120000") == ""
+
+
+def test_write_is_atomic_and_leaves_no_temp_files(elodin_dir):
+    descriptions.set_text("daq_20260811_120000", "a run")
+    leftovers = [p.name for p in elodin_dir.iterdir() if p.name.startswith(".descriptions-")]
+    assert leftovers == []
+
+
+def test_listing_carries_descriptions(elodin_dir):
+    (elodin_dir / "daq_sim_20260827_204900").mkdir()
+    descriptions.set_text("daq_20260811_120000", "cold flow")
+    found = {r["id"]: r["description"] for r in runs.list_runs()}
+    assert found["daq_20260811_120000"] == "cold flow"
+    assert found["daq_sim_20260827_204900"] == ""  # unlabelled runs still list
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index bd05be04b..80ffd51aa 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -9,6 +9,7 @@ import SensorPicker from './components/SensorPicker';
 import TimeRange from './components/TimeRange';
 import Chart from './components/Chart';
 import ConfigView from './components/ConfigView';
+import RunDescription from './components/RunDescription';
 
 const MAX_POINTS = 4000;
 
@@ -211,6 +212,7 @@ export default function App() {
   };
 
   const selArr = Array.from(selected);
+  const run = runs.find((r) => r.id === runId);
 
   return (
     <div className="app">
@@ -235,7 +237,7 @@ export default function App() {
             <>
               <div className="run-header">
                 <div className="run-title">{runId}</div>
-                {runs.find((r) => r.id === runId)?.simulated && (
+                {run?.simulated && (
                   <span className="sim-badge" title="Simulated data — not from the test stand">SIM</span>
                 )}
                 {indexBusy && <span className="busy">exporting &amp; indexing… (first open of a run)</span>}
@@ -255,6 +257,16 @@ export default function App() {
                 )}
               </div>
 
+              {run && (
+                <RunDescription
+                  runId={run.id}
+                  value={run.description}
+                  onSaved={(text) =>
+                    setRuns((rs) => rs.map((r) => (r.id === run.id ? { ...r, description: text } : r)))
+                  }
+                />
+              )}
+
               {index && (
                 <div className="tabs">
                   <button
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
index b657353d0..e2374d450 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
@@ -17,6 +17,18 @@ async function getConfig(runId: string): Promise<string | null> {
 
 const configUrl = (runId: string) => `/api/runs/${runId}/config`;
 
+/** Set (or clear, with '') this run's shared description. Returns what was stored:
+ *  the server normalises to one line and truncates, so echo that back into the box. */
+async function setDescription(runId: string, text: string): Promise<string> {
+  const r = await fetch(`/api/runs/${runId}/description`, {
+    method: 'PUT',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ text }),
+  });
+  if (!r.ok) throw new Error(`${r.status}: ${(await r.text()).slice(0, 200)}`);
+  return (await r.json()).description as string;
+}
+
 export const api = {
   runs: () => getJSON<Run[]>('/api/runs'),
 
@@ -25,6 +37,8 @@ export const api = {
 
   config: getConfig,
 
+  setDescription,
+
   // Same URL, used as an <a download> href for "save the .toml".
   configUrl,
 
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx
new file mode 100644
index 000000000..c93982ea1
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx
@@ -0,0 +1,83 @@
+import { useEffect, useRef, useState } from 'react';
+import { api } from '../api';
+
+interface Props {
+  runId: string;
+  /** What the server currently holds for this run. */
+  value: string;
+  /** Called with the stored text once a save lands, so the run list stays in step. */
+  onSaved: (text: string) => void;
+}
+
+// Matches descriptions.MAX_LEN — the input stops you at the length the server would
+// silently truncate to, so what you type is what gets stored.
+const MAX_LEN = 120;
+
+/**
+ * The run's shared one-liner. Unowned: anyone can write or rewrite it and everyone sees
+ * the same text, which is the point — a run id says when it happened and nothing about
+ * what it was.
+ *
+ * Saves on blur or Enter, reverts on Escape. Not on every keystroke: this is a shared
+ * value, and a half-typed word landing in someone else's list is worse than waiting.
+ */
+export default function RunDescription({ runId, value, onSaved }: Props) {
+  const [draft, setDraft] = useState(value);
+  const [busy, setBusy] = useState(false);
+  const [err, setErr] = useState<string | null>(null);
+  const [saved, setSaved] = useState(false);
+  const savedTimer = useRef<ReturnType<typeof setTimeout> | null>(null);
+
+  // Follow the run, and any value the server hands back (its own normalisation, or
+  // somebody else's edit picked up on a reload).
+  useEffect(() => {
+    setDraft(value);
+    setErr(null);
+  }, [runId, value]);
+
+  useEffect(() => () => {
+    if (savedTimer.current) clearTimeout(savedTimer.current);
+  }, []);
+
+  const save = () => {
+    const text = draft.trim();
+    if (text === value || busy) return;
+    setBusy(true);
+    setErr(null);
+    api
+      .setDescription(runId, text)
+      .then((stored) => {
+        setDraft(stored);
+        onSaved(stored);
+        setSaved(true);
+        if (savedTimer.current) clearTimeout(savedTimer.current);
+        savedTimer.current = setTimeout(() => setSaved(false), 1800);
+      })
+      .catch((e) => setErr(String(e.message || e)))
+      .finally(() => setBusy(false));
+  };
+
+  return (
+    <div className="run-desc">
+      <input
+        className="run-desc-input"
+        placeholder="Add a description: what was this run? (shared with everyone)"
+        value={draft}
+        maxLength={MAX_LEN}
+        disabled={busy}
+        onChange={(e) => setDraft(e.target.value)}
+        onBlur={save}
+        onKeyDown={(e) => {
+          if (e.key === 'Enter') e.currentTarget.blur(); // blur saves
+          if (e.key === 'Escape') {
+            setDraft(value);
+            e.currentTarget.blur();
+          }
+        }}
+      />
+      {busy && <span className="run-desc-note">saving…</span>}
+      {!busy && saved && <span className="run-desc-note">saved</span>}
+      {err && <span className="error">{err}</span>}
+    </div>
+  );
+}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx
index bb501bf99..68f0e4367 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx
@@ -31,6 +31,9 @@ export default function RunList({ runs, selected, onSelect, loading }: Props) {
               <span className="run-id">{r.id}</span>
               {r.simulated && <span className="sim-badge" title="Simulated data — not from the test stand">SIM</span>}
             </span>
+            {/* The whole point of the description: knowing what a run was without
+                opening it. Only rendered when set, so 300 unlabelled runs stay compact. */}
+            {r.description && <span className="run-desc-line">{r.description}</span>}
             {r.cached && <span className="run-cached" title="Exported & cached">●</span>}
           </button>
         ))}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index dd2d75f77..6f9806447 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -89,12 +89,34 @@ body {
   color: var(--color-sim); border: 1px solid var(--color-sim);
 }
 .run-cached { position: absolute; right: 14px; top: 13px; color: var(--color-accent); font-size: var(--text-2xs); }
+/* Clamped to one line: it is a label, and a long one must not push the list around. */
+.run-desc-line {
+  max-width: 100%; overflow: hidden; text-overflow: ellipsis; white-space: nowrap;
+  color: var(--color-text-secondary); font-size: var(--text-2xs); font-style: italic;
+}
 
 /* Run header */
 .run-header { display: flex; align-items: baseline; gap: 14px; flex-wrap: wrap; margin-bottom: 12px; }
 .run-title { font-size: var(--text-base); font-weight: 650; }
 .run-meta { color: var(--color-text-muted); font-size: var(--text-xs); }
 .busy { color: var(--color-accent); font-size: var(--text-xs); }
+
+/* Shared, editable one-liner for the run. Reads as text until you go near it, so it
+   does not compete with the run title above it, but is plainly a field once hovered. */
+.run-desc { display: flex; align-items: center; gap: 10px; margin: -4px 0 12px; }
+.run-desc-input {
+  flex: 0 1 620px; min-width: 0; padding: 5px 9px; border-radius: 6px;
+  border: 1px solid transparent; background: none;
+  color: var(--color-text-secondary); font-size: var(--text-xs); font-family: inherit;
+}
+.run-desc-input::placeholder { color: var(--color-text-muted); }
+.run-desc-input:hover { border-color: var(--color-border); }
+.run-desc-input:focus {
+  outline: none; border-color: var(--color-accent);
+  background: var(--color-bg-secondary); color: var(--color-text-primary);
+}
+.run-desc-input:disabled { opacity: .6; }
+.run-desc-note { color: var(--color-text-muted); font-size: var(--text-2xs); }
 .error { color: var(--color-danger); font-size: var(--text-xs); }
 
 /* Tabs: Plot / Config, plus the view-wide names toggle. Spans both panes because
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
index 4957d5aa4..caf4ab412 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
@@ -10,6 +10,9 @@ export interface Run {
   cached: boolean;
   /** Written by a sim session (daq_sim_… prefix), not the real test stand. */
   simulated: boolean;
+  /** Shared one-liner saying what this run was. Anyone can edit it; everyone sees the
+   *  same text. "" when nobody has labelled it. */
+  description: string;
 }
 
 export interface Component {

From 8b3e09e5bd9b2c1195ab4fbcb764415b790be6b7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:29:49 -0700
Subject: [PATCH 135/205] daq viewer: opening a run no longer exports it - show
 what the run directory knows (component count, approximate duration, size)
 behind an explicit Index this run, have GET /components refuse an un-indexed
 run with 409, and let the Config tab work without any export

---
 .../tools/postprocessing/webviewer/README.md  | 29 +++++-
 .../postprocessing/webviewer/backend/main.py  | 37 ++++++-
 .../webviewer/backend/summary.py              | 86 ++++++++++++++++
 .../webviewer/backend/test_summary.py         | 99 +++++++++++++++++++
 .../webviewer/frontend/src/App.tsx            | 88 +++++++++++++----
 .../webviewer/frontend/src/api.ts             | 17 +++-
 .../src/components/RunSummaryPanel.tsx        | 43 ++++++++
 .../webviewer/frontend/src/styles.css         | 10 ++
 .../webviewer/frontend/src/types.ts           | 25 +++--
 9 files changed, 399 insertions(+), 35 deletions(-)
 create mode 100644 daq-server/tools/postprocessing/webviewer/backend/summary.py
 create mode 100644 daq-server/tools/postprocessing/webviewer/backend/test_summary.py
 create mode 100644 daq-server/tools/postprocessing/webviewer/frontend/src/components/RunSummaryPanel.tsx

diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index 8938bedf0..b2bc87431 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -16,8 +16,10 @@ cd daq-server/tools/postprocessing/webviewer
 # open http://localhost:5173
 ```
 
-First open of a run triggers a one-time parquet export into `.cache/` (~20 s for
-a ~1.3 GB run); subsequent opens are instant.
+Opening a run is cheap: it shows what the run directory knows (component count, an
+approximate duration, size on disk) and nothing more. **Index this run** does the
+one-time parquet export into `.cache/` (~20 s per GB); after that the run opens straight
+into its plot. The Config tab needs no export.
 
 Single-process (build the frontend, serve everything from uvicorn):
 
@@ -39,6 +41,8 @@ Single-process (build the frontend, serve everything from uvicorn):
 - **Runs** — only timestamped runs (`daq_YYYYMMDD_HHMMSS`) are listed; ad-hoc
   DBs (`daq_live`, calibration, hand-named) are ignored. Past runs are immutable,
   so exporting is safe alongside a live collection writing to a *different* dir.
+- **Indexing is explicit** — selecting a run costs a few `stat`s, not an export. See
+  [Opening a run](#opening-a-run).
 - **Sensors** — grouped by family (PT, PT_Cal, TC, RTD, LC, ACT, CONTROLLER,
   BOARD). Meaningful fields are shown by default; raw/status/plumbing fields are
   behind the "all fields" toggle.
@@ -100,6 +104,27 @@ uPlot canvas ──toBlob()──▶ PNG
 (cd frontend && npm test)                              # theme guardrails
 ```
 
+## Opening a run
+
+Plotting needs every component exported to parquet: tens of seconds and a few hundred MB
+of cache on a big run. That used to happen on selection, so it was spent on every
+mis-click. It is now an explicit **Index this run**, and selecting a run only reads
+`backend/summary.py`:
+
+| shown before indexing | where it comes from | exact? |
+|---|---|---|
+| components in the DB | count of component directories | exact, but *larger* than the indexed count: the export only resolves components it can name, the rest stay bare numeric ids |
+| duration | span between the oldest and newest component `data` mtime | **approximate**, shown with a `~`; runs 0.2-0.7 s short on a 20-35 s run because it measures writes, not samples |
+| on disk | `du -sk` (the data/index files are sparse 8 GiB each, so apparent size is useless) | exact |
+
+All of it is filesystem metadata, deliberately. elodin-db's on-disk layout is
+undocumented and version-specific; an attempt to read component names and row counts out
+of it directly produced a plausible-looking row count that was wrong for every component
+(2536 where the parquet had 314). Sizes, counts and mtimes cannot fail that way.
+
+`GET /components` therefore refuses an un-indexed run with **409** rather than exporting
+behind the caller's back; `POST /index` is the way to build one.
+
 ## Which clock the x-axis is
 
 Every row carries two clocks, and the DB indexes on the wrong one.
diff --git a/daq-server/tools/postprocessing/webviewer/backend/main.py b/daq-server/tools/postprocessing/webviewer/backend/main.py
index e6cec44a6..187fc8aa0 100644
--- a/daq-server/tools/postprocessing/webviewer/backend/main.py
+++ b/daq-server/tools/postprocessing/webviewer/backend/main.py
@@ -13,7 +13,7 @@
 from fastapi.responses import PlainTextResponse, StreamingResponse
 from fastapi.staticfiles import StaticFiles
 
-from . import config, descriptions, export_cache, run_config, runs, series
+from . import config, descriptions, export_cache, run_config, runs, series, summary
 
 app = FastAPI(title="Elodin Past-Run Viewer")
 
@@ -60,13 +60,44 @@ def api_set_description(run_id: str, text: str = Body(..., embed=True, max_lengt
         entry = descriptions.set_text(run_id, text)
     except OSError as e:
         # Almost always a read-only or missing mount. Say so, rather than accepting the
-        # edit and quietly dropping it: the user would have no way to tell.
+        # edit and quietly dropping it — the user would have no way to tell.
         raise HTTPException(503, f"could not save description: {e}")
     return {"run_id": run_id, "description": entry["text"], "updated_at": entry["updated_at"]}
 
 
+@app.get("/api/runs/{run_id}/summary")
+def api_summary(run_id: str):
+    """What is knowable about a run without exporting it — size, component count and an
+    approximate duration. Sub-second; safe to call on every run selection."""
+    if not config.RUN_RE.match(run_id):
+        raise HTTPException(400, "invalid run id")
+    if not (config.ELODIN_DIR / run_id).is_dir():
+        raise HTTPException(404, f"run not found: {run_id}")
+    return summary.summarize(run_id)
+
+
 @app.get("/api/runs/{run_id}/components")
 def api_components(run_id: str):
+    """The component index. Only for an already-indexed run: selecting a run must not
+    cost a multi-second export, so building one is POST /index, an explicit action."""
+    if not config.RUN_RE.match(run_id):
+        raise HTTPException(400, "invalid run id")
+    if not export_cache.is_cached(run_id):
+        raise HTTPException(409, "run is not indexed yet")
+    try:
+        return export_cache.get_index(run_id)
+    except FileNotFoundError as e:
+        raise HTTPException(404, str(e))
+    except RuntimeError as e:
+        raise HTTPException(500, str(e))
+
+
+@app.post("/api/runs/{run_id}/index")
+def api_index(run_id: str):
+    """Export the run to parquet and build its index — the expensive step, run only when
+    asked for. Synchronous: tens of seconds on a multi-GB run, and the caller shows a
+    busy state for the duration. Concurrent callers share one export (export_cache holds
+    a per-run lock), so a double click costs nothing extra."""
     if not config.RUN_RE.match(run_id):
         raise HTTPException(400, "invalid run id")
     try:
@@ -81,7 +112,7 @@ def api_components(run_id: str):
 def api_config(run_id: str):
     """The config snapshot taken beside this run's DB when the session started.
 
-    Served verbatim: it is the record of what actually ran, so it is never reformatted
+    Served verbatim — it is the record of what actually ran, so it is never reformatted
     or re-serialised. Runs recorded before the snapshot existed simply have no file.
     """
     if not config.RUN_RE.match(run_id):
diff --git a/daq-server/tools/postprocessing/webviewer/backend/summary.py b/daq-server/tools/postprocessing/webviewer/backend/summary.py
new file mode 100644
index 000000000..82b7677df
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/backend/summary.py
@@ -0,0 +1,86 @@
+"""What can be said about a run without exporting it.
+
+Opening a run used to trigger the parquet export — tens of seconds and a few hundred MB
+of cache for a big one, spent whether or not you meant to plot anything. So the export is
+now an explicit action, and this module answers "what am I about to open?" from the run
+directory alone, in well under a second.
+
+Everything here comes from filesystem metadata, deliberately. elodin-db's on-disk layout
+(a directory per component, each with sparse `data`/`index` files and a `metadata` blob)
+is undocumented and version-specific: an early attempt to read component names and row
+counts straight out of it decoded a plausible-looking row count that was wrong for every
+component — 2536 where the parquet had 314. Sizes, counts and mtimes cannot lie in that
+way, so that is all this reads.
+
+The one number that is an estimate is the duration, and it is marked as one.
+"""
+
+from __future__ import annotations
+
+import subprocess
+
+from . import config, export_cache, run_config
+
+
+def _size_bytes(run_id: str) -> int | None:
+    """On-disk size. `du` block counts, not apparent size — every component's data and
+    index file is a sparse 8 GiB, so `st_size` would report the run as ~8 TB."""
+    db = config.ELODIN_DIR / run_id
+    try:
+        out = subprocess.run(
+            ["du", "-sk", str(db)], capture_output=True, text=True, timeout=60
+        )
+        if out.returncode == 0:
+            return int(out.stdout.split()[0]) * 1024
+    except (ValueError, OSError, subprocess.SubprocessError):
+        pass
+    return None
+
+
+def _components_and_span(run_id: str) -> tuple[int, float | None]:
+    """Component count, and the wall time between the first and last write.
+
+    One stat per component. The span is when data was *written*, which trails the sample
+    times the plot is drawn on by the write latency at each end — measured 0.3-0.7 s low
+    on 20-35 s runs, i.e. within a percent. Good enough to answer "how long was this run"
+    before committing to an export; the exact figure replaces it once indexed.
+    """
+    db = config.ELODIN_DIR / run_id
+    oldest = newest = None
+    n = 0
+    try:
+        entries = list(db.iterdir())
+    except OSError:
+        return 0, None
+    for entry in entries:
+        # Component directories are named by a numeric id; `db_state` and `msgs` are not.
+        if not entry.name.isdigit():
+            continue
+        n += 1
+        try:
+            mt = (entry / "data").stat().st_mtime
+        except OSError:
+            continue
+        oldest = mt if oldest is None else min(oldest, mt)
+        newest = mt if newest is None else max(newest, mt)
+    span = (newest - oldest) if (oldest is not None and newest is not None) else None
+    return n, span
+
+
+def summarize(run_id: str) -> dict:
+    """Cheap facts about a run, whether or not it has ever been indexed."""
+    n_components, span = _components_and_span(run_id)
+    return {
+        "run_id": run_id,
+        "cached": export_cache.is_cached(run_id),
+        "size_bytes": _size_bytes(run_id),
+        # Every component the DB holds. Indexing reports a smaller number: the export
+        # only resolves components it can name, and the rest stay bare numeric hashes.
+        "n_components": n_components,
+        "duration_s": span,
+        # Never presented as exact; see _components_and_span.
+        "duration_approx": True,
+        # Whether <run_id>.toml exists, so the client can skip asking for a config that
+        # runs predating the snapshot never had, rather than eating a 404 per selection.
+        "has_config": run_config.snapshot_path(run_id).exists(),
+    }
diff --git a/daq-server/tools/postprocessing/webviewer/backend/test_summary.py b/daq-server/tools/postprocessing/webviewer/backend/test_summary.py
new file mode 100644
index 000000000..dfc0904e5
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/backend/test_summary.py
@@ -0,0 +1,99 @@
+"""Unit tests for the pre-index run summary, and the contract that opening a run is cheap.
+
+The point of this module is that selecting a run must not trigger a parquet export, so
+the tests assert the absence of work as much as the presence of numbers.
+
+Run: cd webviewer && .venv/bin/python -m pytest backend/test_summary.py -q
+"""
+
+import os
+
+import pytest
+from fastapi.testclient import TestClient
+
+from . import config, export_cache, summary
+from .main import app
+
+
+@pytest.fixture
+def run_dir(tmp_path, monkeypatch):
+    """A fake run laid out the way elodin-db lays one out: a numeric directory per
+    component, each holding data/index/metadata/schema, plus non-component siblings."""
+    monkeypatch.setattr(config, "ELODIN_DIR", tmp_path)
+    monkeypatch.setattr(config, "CACHE_DIR", tmp_path / "_cache")
+    run = tmp_path / "daq_20260811_120000"
+    run.mkdir()
+    for i, age in enumerate([30.0, 20.0, 0.0]):  # newest last: a 30 s span
+        d = run / str(1000 + i)
+        d.mkdir()
+        (d / "data").write_bytes(b"x")
+        os.utime(d / "data", (1_000_000 - age, 1_000_000 - age))
+    (run / "db_state").write_bytes(b"")  # not a component
+    (run / "msgs").mkdir()  # not a component either
+    return run
+
+
+def test_reports_component_count_ignoring_non_component_entries(run_dir):
+    s = summary.summarize("daq_20260811_120000")
+    assert s["n_components"] == 3  # db_state and msgs are not components
+
+
+def test_duration_is_the_write_span_and_is_flagged_approximate(run_dir):
+    s = summary.summarize("daq_20260811_120000")
+    assert s["duration_s"] == pytest.approx(30.0)
+    # Never presented as exact: it is when data was written, not when it was sampled.
+    assert s["duration_approx"] is True
+
+
+def test_reports_size_and_cached_state(run_dir):
+    s = summary.summarize("daq_20260811_120000")
+    assert s["size_bytes"] and s["size_bytes"] > 0
+    assert s["cached"] is False
+
+
+def test_summarize_does_not_export(run_dir, monkeypatch):
+    # The whole point: opening a run costs a few stats, not a multi-second export.
+    monkeypatch.setattr(
+        export_cache, "ensure_exported",
+        lambda *a, **k: pytest.fail("summarize() must never trigger an export"),
+    )
+    summary.summarize("daq_20260811_120000")
+    assert not (config.CACHE_DIR / "daq_20260811_120000").exists()
+
+
+def test_reports_whether_a_config_snapshot_exists(run_dir):
+    # Lets the client skip asking for a config that a pre-snapshot run never had, rather
+    # than taking a 404 on every selection.
+    assert summary.summarize("daq_20260811_120000")["has_config"] is False
+    (run_dir.parent / "daq_20260811_120000.toml").write_text("[network]\n")
+    assert summary.summarize("daq_20260811_120000")["has_config"] is True
+
+
+def test_a_run_with_no_components_still_summarizes(tmp_path, monkeypatch):
+    monkeypatch.setattr(config, "ELODIN_DIR", tmp_path)
+    monkeypatch.setattr(config, "CACHE_DIR", tmp_path / "_cache")
+    (tmp_path / "daq_20260811_120000").mkdir()
+    s = summary.summarize("daq_20260811_120000")
+    assert s["n_components"] == 0 and s["duration_s"] is None
+
+
+# ── the API contract ─────────────────────────────────────────────────────────
+
+
+def test_components_refuses_an_unindexed_run_rather_than_exporting(run_dir, monkeypatch):
+    """GET /components used to export on demand, which made merely clicking a run in the
+    list cost tens of seconds. It now refuses; POST /index is the way to pay that."""
+    monkeypatch.setattr(
+        export_cache, "ensure_exported",
+        lambda *a, **k: pytest.fail("GET /components must not trigger an export"),
+    )
+    r = TestClient(app).get("/api/runs/daq_20260811_120000/components")
+    assert r.status_code == 409
+    assert "not indexed" in r.json()["detail"]
+
+
+def test_summary_route_rejects_a_bad_run_id_and_a_missing_run(run_dir):
+    client = TestClient(app)
+    # RUN_RE is the path-traversal guard on every {run_id} route.
+    assert client.get("/api/runs/not-a-run/summary").status_code in (400, 404)
+    assert client.get("/api/runs/daq_19990101_000000/summary").status_code == 404
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index 80ffd51aa..e6f4e0d69 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -2,7 +2,7 @@ import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
 import type uPlot from 'uplot';
 import { api } from './api';
 import starWordmark from './assets/star-wordmark.png';
-import type { Component, Run, RunIndex, Series, SeriesMeta, TimeSource } from './types';
+import type { Component, Run, RunIndex, RunSummary, Series, SeriesMeta, TimeSource } from './types';
 import { fmtBytes, fmtDuration } from './util';
 import RunList from './components/RunList';
 import SensorPicker from './components/SensorPicker';
@@ -10,6 +10,7 @@ import TimeRange from './components/TimeRange';
 import Chart from './components/Chart';
 import ConfigView from './components/ConfigView';
 import RunDescription from './components/RunDescription';
+import RunSummaryPanel from './components/RunSummaryPanel';
 
 const MAX_POINTS = 4000;
 
@@ -42,6 +43,8 @@ export default function App() {
   const [index, setIndex] = useState<RunIndex | null>(null);
   const [indexBusy, setIndexBusy] = useState(false);
   const [indexErr, setIndexErr] = useState<string | null>(null);
+  // What the run says about itself before any export. Selecting a run costs only this.
+  const [summary, setSummary] = useState<RunSummary | null>(null);
 
   const [tab, setTab] = useState<Tab>('plot');
   const [showNames, setShowNames] = useState(() => loadPref(NAMES_KEY, true));
@@ -66,6 +69,23 @@ export default function App() {
     api.runs().then(setRuns).catch((e) => console.error(e)).finally(() => setLoadingRuns(false));
   }, []);
 
+  // The expensive step, on request. Synchronous on the server; this holds a busy state
+  // for the duration and marks the run cached in the list when it lands.
+  const runIndex = useCallback(() => {
+    if (!runId) return;
+    setIndexBusy(true);
+    setIndexErr(null);
+    api
+      .index(runId)
+      .then((idx) => {
+        setIndex(idx);
+        setSummary((s) => (s ? { ...s, cached: true } : s));
+        setRuns((rs) => rs.map((r) => (r.id === runId ? { ...r, cached: true } : r)));
+      })
+      .catch((e) => setIndexErr(String(e.message || e)))
+      .finally(() => setIndexBusy(false));
+  }, [runId]);
+
   const toggleNames = (on: boolean) => {
     setShowNames(on);
     savePref(NAMES_KEY, on);
@@ -88,21 +108,23 @@ export default function App() {
     setTab('plot');
     setConfigText(undefined);
     setConfigErr(null);
-    setIndexBusy(true);
+    setSummary(null);
+    // Cheap either way: the summary never exports, and the index is only fetched when one
+    // already exists. A run is indexed on request (runIndex), not by being clicked.
     api
-      .components(id)
-      .then((idx) => {
-        setIndex(idx);
-        setRuns((rs) => rs.map((r) => (r.id === id ? { ...r, cached: true } : r)));
+      .summary(id)
+      .then((sum) => {
+        setSummary(sum);
+        // Runs predating the snapshot have no config; asking anyway just logs a 404.
+        if (sum.has_config) {
+          api.config(id).then(setConfigText).catch((e) => setConfigErr(String(e.message || e)));
+        } else {
+          setConfigText(null);
+        }
+        if (!sum.cached) return;
+        api.components(id).then(setIndex).catch((e) => setIndexErr(String(e.message || e)));
       })
-      .catch((e) => setIndexErr(String(e.message || e)))
-      .finally(() => setIndexBusy(false));
-    // The snapshot is small (~30 KB) and wanted by both tabs: the Config tab shows it,
-    // and it is where the names come from, so fetch it once with the index.
-    api
-      .config(id)
-      .then(setConfigText)
-      .catch((e) => setConfigErr(String(e.message || e)));
+      .catch((e) => setIndexErr(String(e.message || e)));
   }, []);
 
   // Fetch series whenever the selection or window changes (debounced).
@@ -240,12 +262,25 @@ export default function App() {
                 {run?.simulated && (
                   <span className="sim-badge" title="Simulated data — not from the test stand">SIM</span>
                 )}
-                {indexBusy && <span className="busy">exporting &amp; indexing… (first open of a run)</span>}
                 {indexErr && <span className="error">Error: {indexErr}</span>}
-                {index && (
+                {index ? (
                   <span className="run-meta">
                     {index.n_components} components · {fmtDuration(bounds[1] - bounds[0])} · {fmtBytes(index.size_bytes)} on disk
                   </span>
+                ) : (
+                  summary && (
+                    <span className="run-meta">
+                      <span title="Every component the DB holds. Indexing reports a smaller number: the export only resolves the ones it can name, and the rest stay bare numeric ids.">
+                        {summary.n_components} components
+                      </span>
+                      {' · '}
+                      <span title="Estimated from when the run's files were written, so it runs a fraction of a second short. The exact figure appears once indexed.">
+                        ~{fmtDuration(summary.duration_s)}
+                      </span>
+                      {' · '}
+                      {fmtBytes(summary.size_bytes)} on disk · not indexed
+                    </span>
+                  )
                 )}
                 {index && !index.has_config && (
                   <span
@@ -267,7 +302,7 @@ export default function App() {
                 />
               )}
 
-              {index && (
+              {(index || summary) && (
                 <div className="tabs">
                   <button
                     className={`tab${tab === 'plot' ? ' active' : ''}`}
@@ -283,7 +318,9 @@ export default function App() {
                   </button>
                   <div className="spacer" />
                   {/* View-wide, hence its place on the strip that spans both panes: it
-                      renames the picker tree, the chart legend and the state axis at once. */}
+                      renames the picker tree, the chart legend and the state axis at once.
+                      Both toggles describe plotted data, so they appear with it. */}
+                  {index && (
                   <label
                     className="picker-toggle"
                     title="Show config roles (Ox Upstream, LOX Main, Fire) instead of the raw Elodin identities"
@@ -295,6 +332,8 @@ export default function App() {
                     />
                     names
                   </label>
+                  )}
+                  {index && (
                   <label
                     className="picker-toggle"
                     title={
@@ -311,7 +350,8 @@ export default function App() {
                     />
                     DB write time
                   </label>
-                  {!dbClock && index.n_reanchored > 0 && (
+                  )}
+                  {index && !dbClock && index.n_reanchored > 0 && (
                     <span
                       className="tabs-note"
                       title={
@@ -327,7 +367,7 @@ export default function App() {
                       · {index.n_reanchored} channels re-anchored
                     </span>
                   )}
-                  {!dbClock && index.n_db_only > 0 && (
+                  {index && !dbClock && index.n_db_only > 0 && (
                     <span className="tabs-note" title="No per-row timestamp at all, so these keep elodin-db's write time.">
                       · {index.n_db_only} on DB time
                     </span>
@@ -335,10 +375,16 @@ export default function App() {
                 </div>
               )}
 
-              {index && tab === 'config' && (
+              {tab === 'config' && (
                 <ConfigView runId={runId} text={configText} error={configErr} />
               )}
 
+              {/* Not indexed: what the run directory knows, and the button that pays for
+                  the rest. Selecting a run must not itself cost a multi-second export. */}
+              {!index && tab === 'plot' && (
+                <RunSummaryPanel busy={indexBusy} error={indexErr} onIndex={runIndex} />
+              )}
+
               {index && tab === 'plot' && (
                 <div className="workspace">
                   <div className="pane-left">
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
index e2374d450..736795127 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/api.ts
@@ -1,4 +1,4 @@
-import type { Run, RunIndex, SeriesResponse, TimeSource } from './types';
+import type { Run, RunIndex, RunSummary, SeriesResponse, TimeSource } from './types';
 
 async function getJSON<T>(url: string): Promise<T> {
   const r = await fetch(url);
@@ -7,7 +7,7 @@ async function getJSON<T>(url: string): Promise<T> {
 }
 
 /** The config snapshot taken beside a run's DB, as TOML text. `null` when the run
- *  has none: recorded before the backend started snapshotting it. */
+ *  has none — recorded before the backend started snapshotting it. */
 async function getConfig(runId: string): Promise<string | null> {
   const r = await fetch(configUrl(runId));
   if (r.status === 404) return null;
@@ -17,7 +17,7 @@ async function getConfig(runId: string): Promise<string | null> {
 
 const configUrl = (runId: string) => `/api/runs/${runId}/config`;
 
-/** Set (or clear, with '') this run's shared description. Returns what was stored:
+/** Set (or clear, with '') this run's shared description. Returns what was stored —
  *  the server normalises to one line and truncates, so echo that back into the box. */
 async function setDescription(runId: string, text: string): Promise<string> {
   const r = await fetch(`/api/runs/${runId}/description`, {
@@ -32,9 +32,20 @@ async function setDescription(runId: string, text: string): Promise<string> {
 export const api = {
   runs: () => getJSON<Run[]>('/api/runs'),
 
+  // Cheap: what the run says about itself with no export.
+  summary: (runId: string) => getJSON<RunSummary>(`/api/runs/${runId}/summary`),
+
+  // Only valid once indexed; 409 otherwise.
   components: (runId: string) =>
     getJSON<RunIndex>(`/api/runs/${runId}/components`),
 
+  // The expensive step, run only when asked for. Resolves with the finished index.
+  index: async (runId: string) => {
+    const r = await fetch(`/api/runs/${runId}/index`, { method: 'POST' });
+    if (!r.ok) throw new Error(`${r.status}: ${(await r.text()).slice(0, 200)}`);
+    return (await r.json()) as RunIndex;
+  },
+
   config: getConfig,
 
   setDescription,
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunSummaryPanel.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunSummaryPanel.tsx
new file mode 100644
index 000000000..3723ef886
--- /dev/null
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunSummaryPanel.tsx
@@ -0,0 +1,43 @@
+interface Props {
+  busy: boolean;
+  error: string | null;
+  onIndex: () => void;
+}
+
+/**
+ * The plot pane before a run has been indexed: an explanation and the button that pays
+ * for it. The run's facts are not repeated here — they are in the run header, in the
+ * same place and the same words as they appear once indexed.
+ *
+ * Indexing exports the whole DB to parquet: tens of seconds and a few hundred MB of
+ * cache on a big run. Doing that merely because someone clicked a run in the list spent
+ * it on every mis-click; now it is asked for.
+ */
+export default function RunSummaryPanel({ busy, error, onIndex }: Props) {
+  return (
+    <div className="notice">
+      {busy ? (
+        <>
+          <div className="notice-title busy">Exporting &amp; indexing…</div>
+          <p className="notice-body">
+            One-time per run: elodin-db exports every component to parquet, which the
+            viewer then reads for every plot. Roughly 20&nbsp;s per GB. Leaving this tab
+            will not cancel it.
+          </p>
+        </>
+      ) : (
+        <>
+          <div className="notice-title">This run is not indexed yet.</div>
+          <p className="notice-body">
+            One-time parquet export, roughly 20&nbsp;s per GB, cached afterwards. The
+            Config tab works without it.
+          </p>
+          <button className="btn" onClick={onIndex}>
+            Index this run
+          </button>
+          {error && <div className="error">{error}</div>}
+        </>
+      )}
+    </div>
+  );
+}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index 6f9806447..18708832d 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -210,6 +210,16 @@ body {
 .btn.disabled, .btn:disabled { opacity: .45; pointer-events: none; }
 .btn-link { background: none; border: 0; color: var(--color-accent); cursor: pointer; font-size: var(--text-2xs); padding: 2px 4px; }
 
+/* The plot surface before a run is indexed. Same treatment as .chart-wrap, so it reads
+   as the plot area not yet filled, with the content anchored top-left like every other
+   pane. The run's facts are not repeated here; they are in the run header. */
+.notice {
+  flex: 1; min-height: 0; padding: 20px 22px;
+  background: var(--color-bg-secondary); border: 1px solid var(--color-border); border-radius: 8px;
+}
+.notice-title { font-size: var(--text-sm); font-weight: 600; }
+.notice-body { max-width: 56ch; margin: 8px 0 16px; color: var(--color-text-secondary); font-size: var(--text-xs); }
+
 /* Chart */
 .chart-wrap { position: relative; background: var(--color-bg-secondary); border: 1px solid var(--color-border); border-radius: 8px; padding: 20px 22px; flex: 1; min-height: 440px; }
 .chart-busy { position: absolute; top: 16px; right: 18px; color: var(--color-accent); font-size: var(--text-2xs); }
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
index caf4ab412..273c00d24 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/types.ts
@@ -26,11 +26,11 @@ export interface Component {
   /**
    * What this channel actually is, from the run's config snapshot: "Ox Upstream",
    * "LOX Main". Empty when the run has no snapshot, or when config does not name
-   * that entity: then the numeric identity is all there is.
+   * that entity — then the numeric identity is all there is.
    */
   label: string;
   /** Which clock this channel is drawn on when the sensor axis is selected: its own
-   *  stamp ("sensor"), its own stamp re-anchored to the epoch ("monotonic", exact
+   *  stamp ("sensor"), its own stamp re-anchored to the epoch ("monotonic" — exact
    *  relative timing, a few ms of absolute bias), or the DB's write time ("db", only
    *  when the channel carries no stamp at all). */
   time_source: 'sensor' | 'monotonic' | 'db';
@@ -45,7 +45,7 @@ export interface RunIndex {
   duration_s: number | null;
   n_components: number;
   size_bytes: number | null;
-  /** Extent on the sensor clock: what the window spans by default. */
+  /** Extent on the sensor clock — what the window spans by default. */
   sensor_t_min: number | null;
   sensor_t_max: number | null;
   sensor_duration_s: number | null;
@@ -56,12 +56,25 @@ export interface RunIndex {
   components: Component[];
   /** A config snapshot was found beside this run's DB, so entity labels are its own. */
   has_config: boolean;
-  /** State id -> name, keyed as strings (JSON). Built-in table, overridden by the snapshot. */
+  /** State id → name, keyed as strings (JSON). Built-in table, overridden by the snapshot. */
   states: Record<string, string>;
   /** Fields whose value is a state id, so the chart can name it instead of plotting a bare u8. */
   state_fields: string[];
 }
 
+/** What a run says about itself before it has been indexed. Cheap: filesystem metadata
+ *  only, no export. `duration_s` is approximate (see backend/summary.py). */
+export interface RunSummary {
+  run_id: string;
+  cached: boolean;
+  size_bytes: number | null;
+  n_components: number;
+  duration_s: number | null;
+  duration_approx: boolean;
+  /** A <run>.toml exists beside the DB. False for runs recorded before snapshots. */
+  has_config: boolean;
+}
+
 export interface Series {
   name: string;
   discrete: boolean;
@@ -75,13 +88,13 @@ export interface SeriesResponse {
   series: Series[];
 }
 
-/** How one plotted series should be labelled: resolved by App from the run index and
+/** How one plotted series should be labelled — resolved by App from the run index and
  *  the names toggle, so Chart never has to know where a name came from. */
 export interface SeriesMeta {
   /** Display name for the line: the config role, or the Elodin entity. */
   label: string;
   unit: string;
   field: string;
-  /** State id -> name, for the fields whose value IS a state. null for everything else. */
+  /** State id → name, for the fields whose value IS a state. null for everything else. */
   valueNames: Record<string, string> | null;
 }

From 27600a3f8dc7c478bbc4cb1a9263982f3213ef83 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:30:39 -0700
Subject: [PATCH 136/205] =?UTF-8?q?deploy:=20retire=20dormant=20Python=20c?=
 =?UTF-8?q?alibration=20sidecar=20=E2=80=94=20delete=20never-started=20sen?=
 =?UTF-8?q?sor-sidecar.service,=20stop=20installing=20it,=20repoint=20log?=
 =?UTF-8?q?=20viewer=20to=20the=20live=20sensor-calibration;=20Python=20so?=
 =?UTF-8?q?urce=20kept=20(orchestrator/autonomous=20tools=20still=20use=20?=
 =?UTF-8?q?it)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/deploy/startup/start_tmux_dev.sh       |  2 +-
 .../deploy/startup/start_tmux_dev_legacy.sh       |  2 +-
 daq-server/deploy/startup/start_tmux_logs.sh      |  6 +++---
 daq-server/deploy/startup/stop_tmux.sh            |  2 +-
 daq-server/deploy/systemd/install_services.sh     |  2 +-
 daq-server/deploy/systemd/sensor-sidecar.service  | 15 ---------------
 6 files changed, 7 insertions(+), 22 deletions(-)
 delete mode 100644 daq-server/deploy/systemd/sensor-sidecar.service

diff --git a/daq-server/deploy/startup/start_tmux_dev.sh b/daq-server/deploy/startup/start_tmux_dev.sh
index bf3b25979..be0e9e69a 100755
--- a/daq-server/deploy/startup/start_tmux_dev.sh
+++ b/daq-server/deploy/startup/start_tmux_dev.sh
@@ -76,7 +76,7 @@ fi
 # Check if services are already running via systemd
 if systemctl --user is-active --quiet sensor-backend.service 2>/dev/null; then
   echo "⚠️  Systemd services are currently running!"
-  echo "   Stop them first: systemctl --user stop sensor-elodin sensor-backend sensor-frontend sensor-sidecar sensor-actuator"
+  echo "   Stop them first: systemctl --user stop sensor-elodin sensor-backend sensor-frontend sensor-actuator"
   exit 1
 fi
 
diff --git a/daq-server/deploy/startup/start_tmux_dev_legacy.sh b/daq-server/deploy/startup/start_tmux_dev_legacy.sh
index 35364d211..c0be4ac8e 100755
--- a/daq-server/deploy/startup/start_tmux_dev_legacy.sh
+++ b/daq-server/deploy/startup/start_tmux_dev_legacy.sh
@@ -63,7 +63,7 @@ fi
 # Check if services are already running via systemd
 if systemctl --user is-active --quiet sensor-backend.service 2>/dev/null; then
   echo "⚠️  Systemd services are currently running!"
-  echo "   Stop them first: systemctl --user stop sensor-elodin sensor-relay sensor-backend sensor-frontend sensor-sidecar sensor-actuator"
+  echo "   Stop them first: systemctl --user stop sensor-elodin sensor-relay sensor-backend sensor-frontend sensor-actuator"
   exit 1
 fi
 
diff --git a/daq-server/deploy/startup/start_tmux_logs.sh b/daq-server/deploy/startup/start_tmux_logs.sh
index fd932933b..13c0ac9f3 100755
--- a/daq-server/deploy/startup/start_tmux_logs.sh
+++ b/daq-server/deploy/startup/start_tmux_logs.sh
@@ -4,7 +4,7 @@ SESSION="sensor-logs"
 # Ensure services exist/are running
 if ! systemctl --user is-active --quiet sensor-backend.service; then
   echo "⚠️  Services do not appear to be running."
-  echo "   Start them with: systemctl --user start sensor-backend sensor-frontend sensor-sidecar sensor-elodin"
+  echo "   Start them with: systemctl --user start sensor-backend sensor-frontend sensor-elodin"
   echo "   (or run scripts/systemd/install_services.sh first)"
   sleep 2
 fi
@@ -23,14 +23,14 @@ tmux split-window -v -t "$SESSION:logs.0" \
   "journalctl --user-unit=sensor-frontend.service -f"
 
 tmux split-window -v -t "$SESSION:logs.1" \
-  "journalctl --user-unit=sensor-sidecar.service -f"
+  "journalctl --user-unit=sensor-calibration.service -f"
 
 tmux select-pane -t "$SESSION:logs.1"
 
 echo "┌────────────────────────────────────────┐"
 echo "│  tmux: $SESSION                        │"
 echo "│  0: Elodin DB logs  1: Backend logs    │"
-echo "│  2: Frontend logs   3: Sidecar logs    │"
+echo "│  2: Frontend logs   3: Calibration logs │"
 echo "│  Ctrl+C to stop following logs locally │"
 echo "└────────────────────────────────────────┘"
 tmux attach -t "$SESSION"
diff --git a/daq-server/deploy/startup/stop_tmux.sh b/daq-server/deploy/startup/stop_tmux.sh
index 54903307f..3fac0e43f 100755
--- a/daq-server/deploy/startup/stop_tmux.sh
+++ b/daq-server/deploy/startup/stop_tmux.sh
@@ -37,7 +37,7 @@ pkill -f "${REPO_ROOT}/diablo_server/backend.*dist/server\.js" 2>/dev/null || tr
 pkill -f "calibration_server.py"       2>/dev/null || true
 
 # ── Systemd user services (stop AND disable restart so they don't come back) ──
-for svc in sensor-calibration sensor-daq sensor-actuator sensor-controller sensor-heartbeat sensor-config-broadcast sensor-backend sensor-frontend sensor-sidecar sensor-elodin; do
+for svc in sensor-calibration sensor-daq sensor-actuator sensor-controller sensor-heartbeat sensor-config-broadcast sensor-backend sensor-frontend sensor-elodin; do
     if systemctl --user is-active --quiet "${svc}.service" 2>/dev/null; then
         echo "  Stopping systemd service: $svc"
         systemctl --user stop "${svc}.service" 2>/dev/null || true
diff --git a/daq-server/deploy/systemd/install_services.sh b/daq-server/deploy/systemd/install_services.sh
index ce5f21e7d..ebc31d0f3 100755
--- a/daq-server/deploy/systemd/install_services.sh
+++ b/daq-server/deploy/systemd/install_services.sh
@@ -8,7 +8,7 @@ DAQ_DIR="$(cd "$DIR/../.." && pwd -P)"          # the repo's daq-server/ dir
 SYSTEMD_DIR="$HOME/.config/systemd/user"
 
 UNITS="sensor-elodin sensor-daq sensor-simulator sensor-calibration \
-sensor-controller sensor-actuator sensor-backend sensor-frontend sensor-sidecar \
+sensor-controller sensor-actuator sensor-backend sensor-frontend \
 sensor-heartbeat sensor-config-broadcast"
 
 mkdir -p "$SYSTEMD_DIR"
diff --git a/daq-server/deploy/systemd/sensor-sidecar.service b/daq-server/deploy/systemd/sensor-sidecar.service
deleted file mode 100644
index 4c1022f34..000000000
--- a/daq-server/deploy/systemd/sensor-sidecar.service
+++ /dev/null
@@ -1,15 +0,0 @@
-[Unit]
-Description=Sensor System Calibration Sidecar
-After=network.target
-
-[Service]
-Type=simple
-WorkingDirectory=%h/sensor_system
-ExecStart=/bin/bash -c 'if [ -x %h/sensor_system/.venv/bin/python ]; then exec %h/sensor_system/.venv/bin/python tools/calibration/calibration_server.py; elif [ -x %h/fsw/venv/bin/python3 ]; then exec %h/fsw/venv/bin/python3 tools/calibration/calibration_server.py; else exec python3 tools/calibration/calibration_server.py; fi'
-Restart=always
-RestartSec=5
-Environment=PYTHONPATH=%h/sensor_system
-Environment=PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
-
-[Install]
-WantedBy=default.target

From 046602f445f5e3c8bdec0046c754f99399d080f5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:30:48 -0700
Subject: [PATCH 137/205] daq viewer: one button and input vocabulary mirroring
 stardesign-ui's variants, with the primitives declared ahead of their
 consumers - a base rule after them won on equal specificity, which is why the
 Config filter rendered full-width and the description box grew a border; drop
 em dashes from the UI copy and reconcile the README

---
 .../tools/postprocessing/webviewer/README.md  | 189 +++++++++---------
 .../webviewer/frontend/src/App.tsx            |  10 +-
 .../frontend/src/components/ConfigView.tsx    |   2 +-
 .../src/components/RunDescription.tsx         |   2 +-
 .../frontend/src/components/RunList.tsx       |   2 +-
 .../frontend/src/components/SensorPicker.tsx  |  10 +-
 .../frontend/src/components/TimeRange.tsx     |  11 +-
 .../webviewer/frontend/src/styles.css         |  91 ++++++---
 .../webviewer/frontend/src/util.ts            |   4 +-
 9 files changed, 188 insertions(+), 133 deletions(-)

diff --git a/daq-server/tools/postprocessing/webviewer/README.md b/daq-server/tools/postprocessing/webviewer/README.md
index b2bc87431..b8fe6b6c3 100644
--- a/daq-server/tools/postprocessing/webviewer/README.md
+++ b/daq-server/tools/postprocessing/webviewer/README.md
@@ -16,7 +16,7 @@ cd daq-server/tools/postprocessing/webviewer
 # open http://localhost:5173
 ```
 
-Opening a run is cheap: it shows what the run directory knows (component count, an
+Opening a run is cheap — it shows what the run directory knows (component count, an
 approximate duration, size on disk) and nothing more. **Index this run** does the
 one-time parquet export into `.cache/` (~20 s per GB); after that the run opens straight
 into its plot. The Config tab needs no export.
@@ -49,7 +49,7 @@ Single-process (build the frontend, serve everything from uvicorn):
 - **Names** — Elodin stores only numeric identities (`PT1.CH5`, `ACT_CMD.B2.CH1`,
   states as a raw `u8`), so the viewer reads the run's own config snapshot and shows
   what each channel actually was: "Ox Upstream", "LOX Main", "Fire". The **names**
-  checkbox on the tab strip flips the whole view (picker, chart legend, state axis)
+  checkbox on the tab strip flips the whole view — picker, chart legend, state axis —
   back to the raw identities; whichever form is hidden is in the tooltip. See
   [Run names](#run-names) below.
 - **Config tab** — the config snapshot for the selected run, verbatim, with a line
@@ -57,13 +57,13 @@ Single-process (build the frontend, serve everything from uvicorn):
 - **Description** — a shared one-liner per run, editable in place under the run title
   and shown in the run list. Anyone can write or rewrite any run's line and everyone
   sees the same text; there is no login here, so there is nobody to attribute it to.
-  Stored in `<ELODIN_DB_DIR>/run_descriptions.json`: beside the runs, *not* in the
-  parquet cache, which compose explicitly calls safe to wipe.
+  Stored in `<ELODIN_DB_DIR>/run_descriptions.json` — beside the runs, *not* in the
+  parquet cache, which compose calls safe to wipe.
 - **Plot** — uPlot; continuous series are min/max-decimated (spikes preserved),
   discrete series are step-drawn.
 - **Zoom** — drag a range (the band is highlighted as you drag, labelled with how long
   it is), or scroll the wheel to zoom about the cursor. Either way the new window is
-  refetched at higher resolution. **Reset view**, or a double-click on the plot, goes
+  refetched at higher resolution. **Reset view** — or a double-click on the plot — goes
   back to the whole run. Zooming out stops at the run's own bounds.
 - **Export plot CSV** — selected channels over the current window, **wide**
   (aligned) format.
@@ -76,55 +76,6 @@ Single-process (build the frontend, serve everything from uvicorn):
   size.
 - **Save image** — PNG of the current chart (uPlot canvas).
 
-## Architecture
-
-```
-past DB dir ─(lazy, once)─▶ elodin-db export --format parquet --flatten --pattern '*'
-                                         │  (named parquet in .cache/<run>/)
-browser ──HTTP──▶ FastAPI ──pandas: slice + min/max decimate──▶ JSON / CSV
-uPlot canvas ──toBlob()──▶ PNG
-```
-
-- `backend/runs.py` — discover timestamped runs (cheap; no per-run `du`).
-- `backend/run_config.py` — the run's `<run_id>.toml` snapshot into entity roles + state
-  names; served through `GET /api/runs/<id>/config` (verbatim) and layered onto the
-  component index.
-- `backend/export_cache.py` — lazy parquet export (the `--pattern '*'` is
-  required for human names) + a component index (families, units, time bounds,
-  DB size), cached per run.
-- `backend/series.py` — load parquet (time → epoch seconds), time-slice, min/max
-  decimate, wide/long CSV.
-- `backend/main.py` — FastAPI routes + serves the built frontend.
-- `frontend/` — Vite + React + uPlot.
-
-## Tests
-
-```bash
-.venv/bin/python -m pytest backend/ -q                 # data logic, run discovery, naming
-(cd frontend && npm test)                              # theme guardrails
-```
-
-## Opening a run
-
-Plotting needs every component exported to parquet: tens of seconds and a few hundred MB
-of cache on a big run. That used to happen on selection, so it was spent on every
-mis-click. It is now an explicit **Index this run**, and selecting a run only reads
-`backend/summary.py`:
-
-| shown before indexing | where it comes from | exact? |
-|---|---|---|
-| components in the DB | count of component directories | exact, but *larger* than the indexed count: the export only resolves components it can name, the rest stay bare numeric ids |
-| duration | span between the oldest and newest component `data` mtime | **approximate**, shown with a `~`; runs 0.2-0.7 s short on a 20-35 s run because it measures writes, not samples |
-| on disk | `du -sk` (the data/index files are sparse 8 GiB each, so apparent size is useless) | exact |
-
-All of it is filesystem metadata, deliberately. elodin-db's on-disk layout is
-undocumented and version-specific; an attempt to read component names and row counts out
-of it directly produced a plausible-looking row count that was wrong for every component
-(2536 where the parquet had 314). Sizes, counts and mtimes cannot fail that way.
-
-`GET /components` therefore refuses an un-indexed run with **409** rather than exporting
-behind the caller's back; `POST /index` is the way to build one.
-
 ## Which clock the x-axis is
 
 Every row carries two clocks, and the DB indexes on the wrong one.
@@ -136,43 +87,41 @@ own `timestamp_ns` field is the real sample time, reconstructed by `BoardClockSy
 it is evenly spaced. `elodin-db` never learns this because `DatabaseConfig.cpp` declares
 that field as an ordinary data column instead of wrapping it in db.hpp's
 `builder::timestamp(...)` op, so the DB falls back to arrival order. (The live GUI is
-unaffected: `elodin-protocol.ts` reads field 0 itself.)
+unaffected — `elodin-protocol.ts` reads field 0 itself.)
 
 So the viewer plots the **sensor clock** by default, taken positionally from the sibling
 `<entity>.timestamp_ns` parquet: the flattened export writes one file per field from the
-same rows, so row *i* is row *i* in both. On a real run that turns a 65-128 ms jitter on
-`PT1_Cal.CH1.pressure_psi` into a clean 101-104 ms.
+same rows, so row *i* is row *i* in both. On a real run that turns a 65–128 ms jitter on
+`PT1_Cal.CH1.pressure_psi` into a clean 101–104 ms.
 
 ### Reconciling the two clocks
 
 They are the same wall clock. The sample time is anchored to daq_bridge's `system_clock`
 receive; the DB time is elodin-db writing those same rows. The gap between them is write
-latency: ~1 ms on raw channels, growing to ~29 ms across a run on calibrated ones, where
+latency — ~1 ms on raw channels, growing to ~29 ms across a run on calibrated ones, where
 the calibration service adds a republish hop. So mixing them on one axis is coherent, and
 it is the *DB* clock that drifts, which argues for the sensor clock rather than against
-it. Calibrated rows carry the raw sample's stamp verbatim (`calibration_main.cpp:862`
-reads it out of the raw payload), so a `_Cal` channel and its raw twin sit at exactly the
-same x, where the DB clock separated them by up to 49 ms.
+it.
 
 **Not every publisher stamps a wall clock.** daq_bridge and the calibration service use
 `system_clock`; the sequencer (`ACT_CMD.*`, `SEQUENCER.state`) and the heartbeat router
-(`BOARD.HB_*`) use `steady_clock`: nanoseconds since boot, ~56 years off. But that is
+(`BOARD.HB_*`) use `steady_clock` — nanoseconds since boot, ~56 years off. But that is
 still a good clock, and CLOCK_MONOTONIC is system-wide, so it sits a fixed distance from
-CLOCK_REALTIME over a run. Recovering that distance puts the channel back on the epoch
-with its precise relative timing intact. Worth doing rather than falling back: on
-`ACT_CMD` the DB write time carries 12 ms of jitter (p99 55 ms), and "when was the valve
-commanded, relative to chamber pressure" is exactly the question these channels exist to
-answer.
+CLOCK_REALTIME over a run. Recovering that distance as `median(db_time − stamp)` puts the
+channel back on the epoch with its precise relative timing intact. Worth doing rather
+than falling back: on `ACT_CMD` the DB write time carries 12 ms of jitter (p99 55 ms),
+and "when was the valve commanded, relative to chamber pressure" is exactly the question
+these channels exist to answer.
 
-This is not a second scheme bolted on beside the bridge's, it is the *same* one.
+This is not a second scheme bolted on beside the bridge's — it is the *same* one.
 `BoardClockSync` takes the board's `millis()` (relative, origin = board boot) and adds an
-offset estimated as the sliding-window **minimum** of `arrival - board_time`, because
+offset estimated as the sliding-window **minimum** of `arrival − board_time`, because
 delay is one-sided: a packet cannot arrive before it was sent. Re-anchoring takes
 `steady_clock` (relative, origin = machine boot) and adds the **minimum** of
-`db_write - stamp`, for the identical reason: the DB cannot write a row before it was
+`db_write − stamp`, for the identical reason: the DB cannot write a row before it was
 stamped. Both guarantee the stamp never lands after the event that observed it. (The
-bridge needs a *sliding* window because it compares two oscillators, a board crystal
-against the server, which drift continuously; MONOTONIC and REALTIME share one
+bridge needs a *sliding* window because it compares two oscillators — a board crystal
+against the server — which drift continuously; MONOTONIC and REALTIME share one
 oscillator, so a whole-run floor suffices. Measured drift of that floor: 0.13 ms.)
 
 Every entity is then classified once, on `series.SENSOR_CLOCK_TOLERANCE_S`:
@@ -180,17 +129,12 @@ Every entity is then classified once, on `series.SENSOR_CLOCK_TOLERANCE_S`:
 | `time_source` | when | absolute accuracy |
 |---|---|---|
 | `sensor` | the stamp is already an epoch time | exact |
-| `monotonic` | boot-relative, or a board whose clock was never set, shifted by `min(db - stamp)` | a few ms of write-latency bias; **relative timing exact** |
+| `monotonic` | boot-relative, or a board whose clock was never set — shifted by `median(db − stamp)` | a few ms of write-latency bias; **relative timing exact** |
 | `db` | no stamp column at all | the write pattern itself |
 
 On a representative run: 650 components `sensor`, 100 `monotonic` (the 25 ACT_CMD /
 BOARD.HB / SEQUENCER entities), 0 `db`. The tab strip says how many were re-anchored.
 
-**The run extent is a union across every entity, each on its own clock.** They do not
-cover the same interval: heartbeat and command channels start at boot, measured 3.7 s
-before the first sensor packet, so taking only the sensor-clocked entities' extent
-clipped the start of every one of those traces off the default window.
-
 ### What each publisher's stamp actually means
 
 Worth knowing before overlaying two families, because "epoch" does not imply "sample
@@ -199,10 +143,10 @@ time":
 | entity | publisher | stamp is |
 |---|---|---|
 | `PT*`, `TC*`, `RTD*`, `LC*`, `ACT*`, `ENC*` | daq_bridge | the **sample** time (board crystal + window-min offset) |
-| `*_Cal.*` | calibration service | the **same** stamp, carried through from the raw row (`calibration_main.cpp:862`), identical, not merely close |
+| `*_Cal.*` | calibration service | the **same** stamp, carried through from the raw row (`calibration_main.cpp:862`) — identical, not merely close |
 | `ACT_CMD.*`, `SEQUENCER.state` | sequencer | when the command/transition **happened** (`steady_clock`, re-anchored) |
 | `BOARD.HB_*` | heartbeat router | when the heartbeat was **built** (`steady_clock`, re-anchored) |
-| `CONTROLLER.*` | controller service | **when the controller published**: `system_clock::now()` at publish (`ControllerService.cpp:344/397/455`), *not* the sample time of the measurement it acted on |
+| `CONTROLLER.*` | controller service | **when the controller published** — `system_clock::now()` at publish (`ControllerService.cpp:344/397/455`), *not* the sample time of the measurement it acted on |
 
 That last row is the one to be careful with: `CONTROLLER.measurement.p_ch` is stamped when
 the control loop emitted the row, so it sits later than the `PT*_Cal` sample it was
@@ -212,17 +156,43 @@ latency; it does not tell you the sensor sampled at that moment.
 Two further time-like columns ride along as ordinary data and are never used as an axis:
 `sample_ts_ms` (the board's raw `millis()`, origin = board boot) and `packet_ts_ms`.
 
-The **DB write time** checkbox switches everything back to `elodin-db`'s order: off by
+**The run extent is a union across every entity, each on its own clock.** They do not
+cover the same interval — heartbeat and command channels start at boot, measured at 3.7 s
+before the first sensor packet — so taking only the sensor-clocked entities' extent
+clipped the start of every one of those traces off the default window.
+
+The **DB write time** checkbox switches everything back to `elodin-db`'s order — off by
 default, kept because it is what every run so far was read on and it is the only way to
 see the raw arrival pattern. The run's extent differs between the two clocks, so both are
 indexed (`t_min`/`t_max` vs `sensor_t_min`/`sensor_t_max`) and the window follows.
 
-The real fix is upstream: wrap field 0 in `builder::timestamp(...)` in the three
+The real fix is upstream — wrap field 0 in `builder::timestamp(...)` in the three
 registration paths in `DatabaseConfig.cpp` so the DB indexes on the reconstructed time.
 That needs a bench check first (the vendored header does not say whether `OpTimestamp`
 wants ns or the µs the index stores) and only helps runs recorded after it lands, which
 is why this viewer-side mapping exists: it repairs every run already on disk.
 
+## Opening a run
+
+Plotting needs every component exported to parquet — tens of seconds and a few hundred MB
+of cache on a big run. That used to happen on selection, so it was spent on every
+mis-click. It is now an explicit **Index this run**, and selecting a run only reads
+`backend/summary.py`:
+
+| shown before indexing | where it comes from | exact? |
+|---|---|---|
+| components in the DB | count of component directories | exact, but *larger* than the indexed count — the export only resolves components it can name, the rest stay bare numeric ids |
+| duration | span between the oldest and newest component `data` mtime | **approximate**, shown with a `~`; runs 0.2-0.7 s short on a 20-35 s run because it measures writes, not samples |
+| on disk | `du -sk` (the data/index files are sparse 8 GiB each, so apparent size is useless) | exact |
+
+All of it is filesystem metadata, deliberately. elodin-db's on-disk layout is
+undocumented and version-specific; an attempt to read component names and row counts out
+of it directly produced a plausible-looking row count that was wrong for every component
+(2536 where the parquet had 314). Sizes, counts and mtimes cannot fail that way.
+
+`GET /components` therefore refuses an un-indexed run with **409** rather than exporting
+behind the caller's back; `POST /index` is the way to build one.
+
 ## Run names
 
 `elodin-db` records identities, not meanings: a run DB holds `PT1.CH5`, `ACT2.CH3`,
@@ -233,33 +203,72 @@ a sim run snapshots `sim_config.toml`). `backend/run_config.py` reads that back:
 
 | Config | Names |
 |---|---|
-| `[sensor_roles_<board key>]` | `PT1.CH5` and `PT1_Cal.CH5` become "Ox Upstream" |
-| `[actuator_roles]` | `ACT2.CH1`, `ACT2_Cal.CH1`, `ACT_CMD.B2.CH1` become "LOX Main" |
-| `[boards.*]` | `BOARD.HB_22`, `SELF_TEST.BOARD_22` become "PT Board #2" |
-| `[[states]]` | `current_state` / `from_state` / `to_state` `16` becomes "Fire" |
+| `[sensor_roles_<board key>]` | `PT1.CH5` and `PT1_Cal.CH5` → "Ox Upstream" |
+| `[actuator_roles]` | `ACT2.CH1`, `ACT2_Cal.CH1`, `ACT_CMD.B2.CH1` → "LOX Main" |
+| `[boards.*]` | `BOARD.HB_22`, `SELF_TEST.BOARD_22` → "PT Board #2" |
+| `[[states]]` | `current_state` / `from_state` / `to_state` `16` → "Fire" |
 
-The Elodin slot in an entity name is `board_id % 10` (0 meaning 10), matching
+The Elodin slot in an entity name is `board_id % 10` (0 → 10), matching
 `LoadActiveBoards.hpp` and `backend/src/sensor-config.ts`; entity spellings come from
 `DatabaseConfig.cpp`; board display names match the config editor's `boardDisplayName`.
-`BOARD.HB_*.engine_state` is deliberately *not* named: it carries the coarse
+`BOARD.HB_*.engine_state` is deliberately *not* named — it carries the coarse
 `daq::EngineState`, a different enum.
 
 Runs recorded before the snapshot existed have no `.toml`: their channels keep the raw
 identities and the run header says "no config snapshot". State ids are a stable key by
 contract, so they are still named, from a built-in table (`run_config.BUILTIN_STATES`)
-that `[[states]]` overrides entry by entry, the same override rule the C++ uses.
+that `[[states]]` overrides entry by entry — the same override rule the C++ uses.
 
 Names are applied when the index is *served*, not baked into the parquet cache, so a
 snapshot copied in later (or corrected) takes effect on the next open without
 re-exporting the run.
 
+## Architecture
+
+```
+past DB dir ─(lazy, once)─▶ elodin-db export --format parquet --flatten --pattern '*'
+                                         │  (named parquet in .cache/<run>/)
+browser ──HTTP──▶ FastAPI ──pandas: slice + min/max decimate──▶ JSON / CSV
+uPlot canvas ──toBlob()──▶ PNG
+```
+
+- `backend/runs.py` — discover timestamped runs (cheap; no per-run `du`).
+- `backend/run_config.py` — the run's `<run_id>.toml` snapshot → entity roles + state
+  names; served through `GET /api/runs/<id>/config` (verbatim) and layered onto the
+  component index.
+- `backend/export_cache.py` — lazy parquet export (the `--pattern '*'` is
+  required for human names) + a component index (families, units, time bounds,
+  DB size), cached per run.
+- `backend/series.py` — load parquet (time → epoch seconds), time-slice, min/max
+  decimate, wide/long CSV.
+- `backend/main.py` — FastAPI routes + serves the built frontend.
+- `frontend/` — Vite + React + uPlot.
+
+## Tests
+
+```bash
+.venv/bin/python -m pytest backend/ -q                 # data logic, run discovery, naming
+(cd frontend && npm test)                              # theme guardrails
+```
+
 ## Theme
 
-The header is the one the other STAR apps use: wordmark, rule, title (see
+The header is the one the other STAR apps use — wordmark, rule, title (see
 `star-openrocket/frontend/src/App.tsx`). `star-wordmark.png` is synced from
 `assets/brand` by `scripts/sync-brand.sh`; the copy under `src/assets/` is generated, so
 edit the master and re-run the script.
 
+Controls are a base plus variants, mirroring the vocabulary the design tools share
+(`lib/stardesign-ui/src/theme.ts`): `.btn` bordered by default, `.btn.ghost` chromeless
+for controls that are always present but rarely the point (Clear), `.btn.sm` compact for
+a row shared with inputs; `.input` for every text field, with the classes beside it
+setting only width. Both live in a **Primitives** block at the top of `styles.css`, ahead
+of every app section — declared after their consumers, a base rule wins on equal
+specificity, which is how the Config filter once rendered full-width and the description
+box grew a border it was meant not to have. `.btn` also sets an explicit `line-height`,
+because a `<button>` takes the UA's `normal` while an `<a class="btn">` inherits the
+body's 1.45, which rendered the CSV links 3px taller than the buttons beside them.
+
 Dark-only otherwise, adopting the conventions the recovery-calculator enforces
 (`recovery-calculator/frontend/src/lib/theme.test.ts`): a `--color-*` token
 namespace where every text tier clears WCAG **AAA (7:1)** on every background, a
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
index e6f4e0d69..2c369e7d1 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/App.tsx
@@ -26,7 +26,7 @@ const loadPref = (key: string, dflt: boolean) => {
     const v = localStorage.getItem(key);
     return v === null ? dflt : v === '1';
   } catch {
-    return dflt; // storage blocked (private window, site data off), use the default
+    return dflt; // storage blocked (private window, site data off) — use the default
   }
 };
 const savePref = (key: string, on: boolean) => {
@@ -239,7 +239,7 @@ export default function App() {
   return (
     <div className="app">
       <header className="topbar">
-        {/* Wordmark, divider, title, the header the other STAR apps use
+        {/* Wordmark, divider, title — the header the other STAR apps use
             (star-openrocket/frontend/src/App.tsx). The asset is synced from
             assets/brand by scripts/sync-brand.sh; do not hand-edit the copy. */}
         <img className="topbar-logo" src={starWordmark} alt="STAR" />
@@ -260,7 +260,7 @@ export default function App() {
               <div className="run-header">
                 <div className="run-title">{runId}</div>
                 {run?.simulated && (
-                  <span className="sim-badge" title="Simulated data — not from the test stand">SIM</span>
+                  <span className="sim-badge" title="Simulated data, not from the test stand">SIM</span>
                 )}
                 {indexErr && <span className="error">Error: {indexErr}</span>}
                 {index ? (
@@ -358,7 +358,7 @@ export default function App() {
                         'The sequencer (ACT_CMD, SEQUENCER.state) and the board-heartbeat router ' +
                         '(BOARD.HB_*) stamp steady_clock: monotonic since boot, not a wall ' +
                         'clock. It is still a good clock, so it is shifted onto the epoch by the ' +
-                        'floor of (DB write time minus stamp). Relative timing on these channels ' +
+                        'median of (DB write time \u2212 stamp). Relative timing on these channels ' +
                         'is exact; their absolute position carries a few ms of write latency as ' +
                         'bias. Without this they would sit on the DB write time, which adds up to ' +
                         '~60 ms of jitter to a valve command.'
@@ -409,7 +409,7 @@ export default function App() {
                           onChange={(s, e) => setWin({ start: s, end: e })}
                         />
                       )}
-                      {/* Sits with the window it resets, not with the exports, and keeps
+                      {/* Sits with the window it resets, not with the exports — and keeps
                           the export cluster to the three buttons that fit on one row. */}
                       <button className="btn" onClick={resetView} disabled={!zoomed}>
                         Reset view
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx
index 2bcc80932..fcd63247f 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/ConfigView.tsx
@@ -102,7 +102,7 @@ export default function ConfigView({ runId, text, error }: Props) {
     <div className="cfg">
       <div className="cfg-toolbar">
         <input
-          className="picker-search cfg-search"
+          className="input cfg-search"
           placeholder="Filter lines…"
           value={q}
           onChange={(e) => setQ(e.target.value)}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx
index c93982ea1..7cde1b8b1 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunDescription.tsx
@@ -60,7 +60,7 @@ export default function RunDescription({ runId, value, onSaved }: Props) {
   return (
     <div className="run-desc">
       <input
-        className="run-desc-input"
+        className="input run-desc-input"
         placeholder="Add a description: what was this run? (shared with everyone)"
         value={draft}
         maxLength={MAX_LEN}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx
index 68f0e4367..c8a77f481 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/RunList.tsx
@@ -29,7 +29,7 @@ export default function RunList({ runs, selected, onSelect, loading }: Props) {
             <span className="run-date">{fmtStarted(r.started)}</span>
             <span className="run-idline">
               <span className="run-id">{r.id}</span>
-              {r.simulated && <span className="sim-badge" title="Simulated data — not from the test stand">SIM</span>}
+              {r.simulated && <span className="sim-badge" title="Simulated data, not from the test stand">SIM</span>}
             </span>
             {/* The whole point of the description: knowing what a run was without
                 opening it. Only rendered when set, so 300 unlabelled runs stay compact. */}
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx
index 63c9a08cb..b7cfcf0d7 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/SensorPicker.tsx
@@ -27,8 +27,8 @@ export default function SensorPicker({ components, selected, showNames, onToggle
   const shortEntity = (c: Component) => c.entity.replace(new RegExp(`^${c.family}\\.?`), '') || c.entity;
   // With names on, what the channel IS beats what Elodin called it: "Ox Upstream" over
   // "1.CH5". Whichever form is hidden goes in the leaf's tooltip, so the raw component
-  // name, the CSV column key and the only handle an unnamed channel has, stays a hover
-  // away either way.
+  // name — the CSV column key, and the only handle an unnamed channel has — stays a
+  // hover away either way.
   const entityName = (c: Component) => (showNames && c.label) || shortEntity(c);
   const leafTitle = (c: Component) =>
     showNames && c.label ? c.name : c.label ? `${c.name} (${c.label})` : c.name;
@@ -91,7 +91,7 @@ export default function SensorPicker({ components, selected, showNames, onToggle
     <div className="picker">
       <div className="picker-controls">
         <input
-          className="picker-search"
+          className="input picker-search"
           placeholder="Filter sensors…"
           value={q}
           onChange={(e) => setQ(e.target.value)}
@@ -101,8 +101,8 @@ export default function SensorPicker({ components, selected, showNames, onToggle
           all fields
         </label>
         {selected.size > 0 && (
-          <button className="btn-link" onClick={onClear}>
-            clear ({selected.size})
+          <button className="btn ghost sm" onClick={onClear} title="Deselect every channel">
+            Clear ({selected.size})
           </button>
         )}
       </div>
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx b/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx
index 43fe54f54..fa5d2a352 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/components/TimeRange.tsx
@@ -31,11 +31,16 @@ export default function TimeRange({ t0, tEnd, start, end, onChange }: Props) {
 
   return (
     <div className="timerange">
-      <span className="tr-label">Window (T+ s):</span>
-      <input className="tr-input" value={s} onChange={(ev) => setS(ev.target.value)}
+      {/* Short on purpose: the full "Window (T+ s):" pushed the toolbar's last button
+          onto a second row, and the inputs starting at 0.00 next to "of 35.6s" already
+          say what the numbers are. */}
+      <span className="tr-label" title="Plot window, in seconds from the start of the run (T+)">
+        Window
+      </span>
+      <input className="input tr-input" value={s} onChange={(ev) => setS(ev.target.value)}
              onBlur={apply} onKeyDown={(ev) => ev.key === 'Enter' && apply()} />
       <span className="tr-dash">→</span>
-      <input className="tr-input" value={e} onChange={(ev) => setE(ev.target.value)}
+      <input className="input tr-input" value={e} onChange={(ev) => setE(ev.target.value)}
              onBlur={apply} onKeyDown={(ev) => ev.key === 'Enter' && apply()} />
       <span className="tr-total">of {fmtDuration(tEnd - t0)}</span>
     </div>
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
index 18708832d..c9942138e 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/styles.css
@@ -19,7 +19,7 @@
 
   --color-border: #383848;
   --color-accent: #3b82f6;
-  /* Drag-to-zoom band. uPlot's own .u-select is rgba(0,0,0,.07): black on a near-black
+  /* Drag-to-zoom band. uPlot's own .u-select is rgba(0,0,0,.07) — black on a near-black
      plot, i.e. invisible, so the gesture gave no feedback at all. Accent-tinted instead,
      light enough to read the lines through. */
   --color-select: color-mix(in srgb, var(--color-accent) 20%, transparent);
@@ -52,6 +52,50 @@ body {
 ::-webkit-scrollbar-thumb:hover { background: var(--color-text-muted); }
 * { scrollbar-color: var(--color-border) var(--color-bg-secondary); }
 
+/* ── Primitives ───────────────────────────────────────────────────────────────
+   The shared input and button treatments, and the button variants. They live up
+   here, ahead of every app section, because everything below customises them:
+   declared after their consumers (as they first were) a base rule silently won on
+   equal specificity, which is how the Config filter came out full-width and the
+   run-description box grew a border it was meant not to have. */
+/* One text-input treatment; the classes beside it only ever set width. Sizing and
+   appearance were previously restated per input, and because .picker-search came later
+   in the file than .cfg-search its full-width rule silently won on the Config tab. */
+.input {
+  padding: 6px 9px; border: 1px solid var(--color-border); border-radius: 6px;
+  background: var(--color-bg-tertiary); color: var(--color-text-primary);
+  font-size: var(--text-xs); font-family: inherit; line-height: 1.4; min-width: 0;
+}
+.input:focus { outline: none; border-color: var(--color-accent); }
+.input::placeholder { color: var(--color-text-muted); }
+
+/* One button vocabulary, mirroring the variants the design tools share
+   (lib/stardesign-ui/src/theme.ts): a bordered default and a chromeless ghost,
+   same metrics, differing only in weight. inline-flex so an <a class="btn">
+   (the CSV downloads) sits on the same baseline as a real <button>. */
+.btn {
+  display: inline-flex; align-items: center; gap: 6px;
+  padding: 6px 11px; border: 1px solid var(--color-border); border-radius: 6px;
+  background: var(--color-bg-secondary); color: var(--color-text-primary);
+  cursor: pointer; text-decoration: none; font-size: var(--text-xs); font-family: inherit;
+  /* Explicit, because a <button> takes the UA's line-height: normal while an <a>
+     inherits the body's 1.45 — which rendered the CSV links 3px taller than the
+     buttons beside them on the same toolbar row. */
+  line-height: 1.4;
+  font-weight: 500; white-space: nowrap; transition: background-color .12s ease, border-color .12s ease;
+}
+.btn:hover { background: var(--color-bg-tertiary); border-color: var(--color-text-muted); }
+.btn.disabled, .btn:disabled { opacity: .4; pointer-events: none; }
+
+/* Quiet variant: no chrome until hovered. For controls that are always present but
+   rarely the thing you came to press — "Clear" beside the sensor filter. */
+.btn.ghost { border-color: transparent; background: none; color: var(--color-text-secondary); }
+.btn.ghost:hover { border-color: transparent; background: var(--color-bg-tertiary); color: var(--color-text-primary); }
+
+/* Compact size, for buttons sharing a row with inputs rather than a toolbar. */
+.btn.sm { padding: 4px 8px; font-size: var(--text-2xs); }
+
+
 .app { display: flex; flex-direction: column; height: 100%; }
 .topbar {
   display: flex; align-items: center; gap: 14px;
@@ -104,33 +148,33 @@ body {
 /* Shared, editable one-liner for the run. Reads as text until you go near it, so it
    does not compete with the run title above it, but is plainly a field once hovered. */
 .run-desc { display: flex; align-items: center; gap: 10px; margin: -4px 0 12px; }
+/* The one input that reads as text until you go near it, so a run's own title stays
+   the loudest thing in the header. Chrome on hover, full input treatment on focus. */
 .run-desc-input {
-  flex: 0 1 620px; min-width: 0; padding: 5px 9px; border-radius: 6px;
-  border: 1px solid transparent; background: none;
-  color: var(--color-text-secondary); font-size: var(--text-xs); font-family: inherit;
+  flex: 0 1 620px; border-color: transparent; background: none;
+  color: var(--color-text-secondary);
 }
-.run-desc-input::placeholder { color: var(--color-text-muted); }
 .run-desc-input:hover { border-color: var(--color-border); }
-.run-desc-input:focus {
-  outline: none; border-color: var(--color-accent);
-  background: var(--color-bg-secondary); color: var(--color-text-primary);
-}
+.run-desc-input:focus { background: var(--color-bg-tertiary); color: var(--color-text-primary); }
 .run-desc-input:disabled { opacity: .6; }
 .run-desc-note { color: var(--color-text-muted); font-size: var(--text-2xs); }
 .error { color: var(--color-danger); font-size: var(--text-xs); }
 
-/* Tabs: Plot / Config, plus the view-wide names toggle. Spans both panes because
+/* Tabs — Plot / Config, plus the view-wide names toggle. Spans both panes because
    the toggle governs the picker on the left and the chart on the right. */
-.tabs { display: flex; align-items: center; gap: 4px; margin-bottom: 12px; border-bottom: 1px solid var(--color-border); }
+.tabs { display: flex; align-items: center; gap: 12px; margin-bottom: 12px; border-bottom: 1px solid var(--color-border); }
+.tabs .tab + .tab { margin-left: -8px; } /* tabs sit closer to each other than to the toggles */
 .tab {
   padding: 7px 15px; border: 0; border-bottom: 2px solid transparent; margin-bottom: -1px;
   background: none; color: var(--color-text-muted); cursor: pointer; font-size: var(--text-xs);
 }
 .tab:hover { color: var(--color-text-secondary); }
 .tab.active { color: var(--color-text-primary); border-bottom-color: var(--color-accent); font-weight: 550; }
-.tabs-note { color: var(--color-text-muted); font-size: var(--text-2xs); white-space: nowrap; }
+/* Sits after the toggles, so it needs its own separation — without it the note runs
+   straight on from the preceding checkbox label and reads as part of it. */
+.tabs-note { margin-left: 4px; color: var(--color-text-muted); font-size: var(--text-2xs); white-space: nowrap; }
 
-/* Config tab: the run's config snapshot, verbatim */
+/* Config tab — the run's config snapshot, verbatim */
 .cfg { display: flex; flex-direction: column; flex: 1; min-height: 0; gap: 12px; }
 .cfg-toolbar { display: flex; align-items: center; gap: 10px; flex-wrap: wrap; }
 .cfg-search { flex: 0 1 260px; }
@@ -159,8 +203,12 @@ body {
 
 /* Sensor picker */
 .picker { display: flex; flex-direction: column; width: 100%; background: var(--color-bg-secondary); border: 1px solid var(--color-border); border-radius: 8px; overflow: hidden; }
+/* Two deliberate rows in a 290px sidebar: the filter owns the first, the toggle and
+   Clear share the second. Left to wrap on its own, Clear dropped to a row by itself
+   under the input and read as detached from the control it belongs to. */
 .picker-controls { display: flex; align-items: center; gap: 8px; padding: 10px; border-bottom: 1px solid var(--color-border); flex-wrap: wrap; }
-.picker-search { flex: 1; min-width: 110px; padding: 6px 9px; border: 1px solid var(--color-border); border-radius: 6px; background: var(--color-bg-tertiary); color: var(--color-text-primary); font-size: var(--text-xs); }
+.picker-search { flex: 1 1 100%; }
+.picker-controls .btn { margin-left: auto; }
 .picker-toggle { display: flex; align-items: center; gap: 5px; color: var(--color-text-muted); font-size: var(--text-2xs); white-space: nowrap; }
 .picker-groups { overflow-y: auto; padding: 4px 0; }
 
@@ -193,23 +241,16 @@ body {
 .picker-label { font-size: var(--text-xs); color: var(--color-text-primary); }
 .picker-empty { padding: 16px; color: var(--color-text-muted); text-align: center; font-size: var(--text-xs); }
 
-/* Toolbar */
-.toolbar { display: flex; align-items: center; gap: 10px; flex-wrap: wrap; }
+/* Toolbar. The window controls and four buttons sit on one row down to ~1400px; the
+   metrics below are what buys the last ~25px of that, so trim labels before padding. */
+.toolbar { display: flex; align-items: center; gap: 8px; flex-wrap: wrap; }
 .spacer { flex: 1; }
 .timerange { display: flex; align-items: center; gap: 7px; flex-wrap: wrap; font-size: var(--text-xs); }
 .tr-label { color: var(--color-text-secondary); }
-.tr-input { width: 82px; padding: 5px 7px; border: 1px solid var(--color-border); border-radius: 6px; background: var(--color-bg-tertiary); color: var(--color-text-primary); font-size: var(--text-xs); font-variant-numeric: tabular-nums; }
+.tr-input { width: 82px; font-variant-numeric: tabular-nums; }
 .tr-dash { color: var(--color-text-muted); }
 .tr-total { color: var(--color-text-muted); font-size: var(--text-2xs); }
 
-.btn {
-  padding: 6px 13px; border: 1px solid var(--color-border); border-radius: 6px;
-  background: var(--color-bg-tertiary); color: var(--color-text-primary); cursor: pointer; text-decoration: none; font-size: var(--text-xs);
-}
-.btn:hover { border-color: var(--color-text-muted); }
-.btn.disabled, .btn:disabled { opacity: .45; pointer-events: none; }
-.btn-link { background: none; border: 0; color: var(--color-accent); cursor: pointer; font-size: var(--text-2xs); padding: 2px 4px; }
-
 /* The plot surface before a run is indexed. Same treatment as .chart-wrap, so it reads
    as the plot area not yet filled, with the content anchored top-left like every other
    pane. The run's facts are not repeated here; they are in the run header. */
diff --git a/daq-server/tools/postprocessing/webviewer/frontend/src/util.ts b/daq-server/tools/postprocessing/webviewer/frontend/src/util.ts
index bc88137d2..bbb818cd4 100644
--- a/daq-server/tools/postprocessing/webviewer/frontend/src/util.ts
+++ b/daq-server/tools/postprocessing/webviewer/frontend/src/util.ts
@@ -6,7 +6,7 @@ export function colorFor(i: number): string {
 }
 
 export function fmtDuration(s: number | null | undefined): string {
-  if (s == null) return '—';
+  if (s == null) return '\u2013';
   if (s < 60) return `${s.toFixed(1)}s`;
   const m = Math.floor(s / 60);
   const sec = Math.round(s % 60);
@@ -16,7 +16,7 @@ export function fmtDuration(s: number | null | undefined): string {
 }
 
 export function fmtBytes(b: number | null | undefined): string {
-  if (b == null) return '—';
+  if (b == null) return '\u2013';
   const u = ['B', 'KB', 'MB', 'GB', 'TB'];
   let i = 0;
   let n = b;

From 5655d5c2442b186a6742dd5a266972cefe5f37d9 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:31:28 -0700
Subject: [PATCH 138/205] =?UTF-8?q?docs:=20correct=20calibration=20archite?=
 =?UTF-8?q?cture=20=E2=80=94=20C++=20calibration=5Fservice=20is=20the=20de?=
 =?UTF-8?q?ployed=20path;=20Python=20calibration=5Fserver.py=20is=20a=20do?=
 =?UTF-8?q?rmant=20reference=20impl=20(not=20'primary',=20C++=20not=20'dis?=
 =?UTF-8?q?abled')?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/deploy/startup/start_calibration_stack.sh | 9 +++++++--
 daq-server/docs/CALIBRATION_STACK_ARCHITECTURE.tex   | 4 +++-
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/daq-server/deploy/startup/start_calibration_stack.sh b/daq-server/deploy/startup/start_calibration_stack.sh
index 302688366..e3e7c8d1b 100755
--- a/daq-server/deploy/startup/start_calibration_stack.sh
+++ b/daq-server/deploy/startup/start_calibration_stack.sh
@@ -1,6 +1,11 @@
 #!/usr/bin/env bash
-# Robust Calibration Stack Startup
-# Pipeline: Elodin DB → Relay (first subscriber) → DAQ bridge → Calibration server
+# Robust Calibration Stack Startup — LEGACY / standalone.
+#
+# NOTE: The deployed calibration path is the C++ calibration_service (systemd sensor-calibration,
+# start_tmux_dev.sh), which implements the same robust framework in C++. This script runs the
+# dormant Python calibration_server.py sidecar and is kept only for standalone experimentation.
+#
+# Pipeline: Elodin DB → Relay (first subscriber) → DAQ bridge → Calibration server (Python)
 # Calibration server: RobustCalibrationFramework (TLS, Bayesian, RLS, GLR) + AutonomousCalibrationEngine
 #
 # Usage: ./scripts/startup/start_calibration_stack.sh
diff --git a/daq-server/docs/CALIBRATION_STACK_ARCHITECTURE.tex b/daq-server/docs/CALIBRATION_STACK_ARCHITECTURE.tex
index f6266d989..47e04c4a2 100644
--- a/daq-server/docs/CALIBRATION_STACK_ARCHITECTURE.tex
+++ b/daq-server/docs/CALIBRATION_STACK_ARCHITECTURE.tex
@@ -17,7 +17,9 @@
 
 \section{Overview}
 
-\textbf{Yes} — the robust calibration stack is the primary calibration path. When \texttt{start\_tmux\_dev.sh} runs (default \texttt{USE\_ROBUST\_CALIBRATION=1}), only \texttt{calibration\_server.py} writes calibrated values to Elodin DB. The C++ \texttt{calibration\_service} (polynomial) is disabled. The Python path implements the full robust mathematical framework described below.
+The C++ \texttt{calibration\_service} is the primary, deployed calibration path: it is what \texttt{start\_tmux\_dev.sh} and the systemd \texttt{sensor-calibration.service} run, subscribing to raw sensor data on Elodin and publishing calibrated values back. It implements the full robust mathematical framework described below (ported to C++ in \texttt{RobustCalibrationFramework.cpp}) alongside the factory cubic and the per-sensor physics conversions (ITS-90 thermocouple, Callendar--Van Dusen RTD, ratiometric load cell, 4--20\,mA HP PT). For low-pressure PTs it streams the factory cubic by default; the robust model runs as a background learner and becomes the streamed output only under \texttt{CAL\_USE\_ROBUST\_PT}/\texttt{CAL\_USE\_ROBUST\_BLEND}.
+
+The Python \texttt{calibration\_server.py} is a \emph{dormant reference implementation} of the same framework, retained for development and for the standalone calibration tools; it is no longer deployed as a service and no current launch path starts it. The mathematics below describes the algorithm as implemented in both.
 
 \section{Data Pipeline}
 

From b6dc77f2c7305a0d3ea1597b09c72b0109f45502 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:41:26 -0700
Subject: [PATCH 139/205] =?UTF-8?q?backend:=20parse/write=20config.toml=20?=
 =?UTF-8?q?with=20smol-toml=20(TOML=201.0)=20=E2=80=94=20drops=20the=20@ia?=
 =?UTF-8?q?rna=20mixed-array=20parse=20fallback,=20hand-rolled=20actuator?=
 =?UTF-8?q?=5Froles=20stringify,=20and=20numeric-underscore=20workaround?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/backend/package-lock.json   |  13 ++
 daq-server/diablo_server/backend/package.json |   1 +
 .../backend/src/routes/config.ts              | 130 ++----------------
 3 files changed, 25 insertions(+), 119 deletions(-)

diff --git a/daq-server/diablo_server/backend/package-lock.json b/daq-server/diablo_server/backend/package-lock.json
index 8f94f3016..b22a718ee 100644
--- a/daq-server/diablo_server/backend/package-lock.json
+++ b/daq-server/diablo_server/backend/package-lock.json
@@ -12,6 +12,7 @@
         "@iarna/toml": "^2.2.5",
         "axios": "^1.13.5",
         "msgpack-lite": "^0.1.26",
+        "smol-toml": "^1.8.0",
         "ws": "^8.19.0"
       },
       "devDependencies": {
@@ -1924,6 +1925,18 @@
       "dev": true,
       "license": "ISC"
     },
+    "node_modules/smol-toml": {
+      "version": "1.8.0",
+      "resolved": "https://registry.npmjs.org/smol-toml/-/smol-toml-1.8.0.tgz",
+      "integrity": "sha512-kCZr2V3ch9i00x8zXRhjUNVcjG9ijES5dDudkXvUVCT5QlJNQWElSJdZqyPemffHoLNUYwOcou0Fy+ojN0uHSQ==",
+      "license": "BSD-3-Clause",
+      "engines": {
+        "node": ">= 18"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/cyyynthia"
+      }
+    },
     "node_modules/source-map-js": {
       "version": "1.2.1",
       "resolved": "https://registry.npmjs.org/source-map-js/-/source-map-js-1.2.1.tgz",
diff --git a/daq-server/diablo_server/backend/package.json b/daq-server/diablo_server/backend/package.json
index 4a0fbeb9e..66e3b2a6f 100644
--- a/daq-server/diablo_server/backend/package.json
+++ b/daq-server/diablo_server/backend/package.json
@@ -18,6 +18,7 @@
     "@iarna/toml": "^2.2.5",
     "axios": "^1.13.5",
     "msgpack-lite": "^0.1.26",
+    "smol-toml": "^1.8.0",
     "ws": "^8.19.0"
   },
   "devDependencies": {
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index b09ad16f3..44f245fb9 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -6,7 +6,7 @@
 import { readFileSync, writeFileSync, copyFileSync, existsSync, readdirSync } from 'fs';
 import { join, dirname } from 'path';
 import { fileURLToPath } from 'url';
-import { parse as parseToml, stringify as stringifyToml } from '@iarna/toml';
+import { parse as parseToml, stringify as stringifyToml } from 'smol-toml';
 import { applyControllerDefaults } from '../controller-config.js';
 
 // ES module __dirname equivalent
@@ -82,121 +82,22 @@ export function getConfigPath(): string {
   throw new Error('Config file not found (and no config/profiles/*.toml to generate it from)');
 }
 
-let _actuatorRolesParseWarned = false;
-
 /** Read + parse a config TOML. Defaults to the deployed config.toml (getConfigPath), but any
- *  path can be given — the config-profiles editor reads the active profile file this way. */
+ *  path can be given — the config-profiles editor reads the active profile file this way.
+ *  smol-toml is a strict TOML 1.0 parser, so actuator_roles' mixed-type inline arrays
+ *  (e.g. ["NC", 1, 12]) parse natively — no special-casing needed. */
 export function readConfig(path: string = getConfigPath()): any {
   try {
     const content = readFileSync(path, 'utf-8');
-
-    // Try to parse normally first
-    try {
-      const config = parseToml(content);
-      applyControllerDefaults(config);
-      return config;
-    } catch (parseError: any) {
-      // If parsing fails due to mixed types in arrays (actuator_roles), handle it manually
-      if (parseError.message && parseError.message.includes('Inline lists must be a single type')) {
-        if (!_actuatorRolesParseWarned) {
-          _actuatorRolesParseWarned = true;
-          console.warn('⚠️ TOML parser strict mode issue with actuator_roles, parsing manually (once).');
-        }
-
-        // Parse everything except actuator_roles
-        const lines = content.split('\n');
-        let inActuatorRoles = false;
-        const configWithoutActuators: string[] = [];
-        const actuatorRolesLines: string[] = [];
-
-        for (const line of lines) {
-          if (line.trim().startsWith('[actuator_roles]')) {
-            inActuatorRoles = true;
-          } else if (line.trim().startsWith('[') && inActuatorRoles) {
-            inActuatorRoles = false;
-            configWithoutActuators.push(line);
-          } else if (inActuatorRoles) {
-            actuatorRolesLines.push(line);
-          } else {
-            configWithoutActuators.push(line);
-          }
-        }
-
-        const config = parseToml(configWithoutActuators.join('\n'));
-
-        // Manually parse actuator_roles (trim lines so leading-space keys match)
-        // Format: ["NC"|"NO", channel_id] or ["NC"|"NO", channel_id, board_id] or ["NC"|"NO", channel_id, "board_ip"]
-        // Third element: number = board_id (preferred), string = legacy board_ip
-        config.actuator_roles = {};
-        for (const line of actuatorRolesLines) {
-          const trimmed = line.trim();
-          if (!trimmed || trimmed.startsWith('#')) continue;
-          const matchStr = trimmed.match(/^"([^"]+)"\s*=\s*\["([^"]+)",\s*(\d+)(?:,\s*"([^"]+)")?\]/);
-          const matchNum = trimmed.match(/^"([^"]+)"\s*=\s*\["([^"]+)",\s*(\d+),\s*(\d+)\]/);
-          if (matchNum) {
-            const [, name, type, channelId, boardId] = matchNum;
-            const channel = parseInt(channelId, 10);
-            const bid = parseInt(boardId, 10);
-            (config.actuator_roles as any)[name] = [type, channel, bid];
-          } else if (matchStr) {
-            const [, name, type, channelId, boardIp] = matchStr;
-            const channel = parseInt(channelId, 10);
-            if (boardIp) {
-              (config.actuator_roles as any)[name] = [type, channel, boardIp];
-            } else {
-              (config.actuator_roles as any)[name] = [type, channel];
-            }
-          }
-        }
-
-        applyControllerDefaults(config);
-        return config;
-      }
-      throw parseError;
-    }
+    const config = parseToml(content) as any;
+    applyControllerDefaults(config);
+    return config;
   } catch (error) {
     console.error('Failed to read config:', error);
     throw error;
   }
 }
 
-/**
- * Serialize `actuator_roles` by hand. Its values are mixed-type inline arrays
- * (e.g. ["NC", 1, 12]) which @iarna/toml's stringify rejects ("Array values
- * can't have mixed types"), so we emit the section manually — the inverse of the
- * manual parse in readConfig. Strings are quoted, numbers are raw.
- */
-function stringifyActuatorRoles(roles: Record<string, unknown>): string {
-  const lines = ['[actuator_roles]'];
-  for (const [name, value] of Object.entries(roles)) {
-    const arr = Array.isArray(value) ? value : [];
-    const parts = arr.map((v) => (typeof v === 'string' ? JSON.stringify(v) : String(v)));
-    lines.push(`${JSON.stringify(name)} = [${parts.join(', ')}]`);
-  }
-  return lines.join('\n') + '\n';
-}
-
-/** Remove `_` digit-separators from numeric tokens in TOML text, leaving quoted
- *  strings intact. @iarna emits e.g. `port = 5_006`; our C++ parsers need `5006`.
- *  Char-level scan so it also covers numbers inside arrays (`[1_000, 2_000]`). */
-export function stripNumericUnderscores(toml: string): string {
-  let out = '';
-  let quote: '"' | "'" | null = null; // inside a basic (") or literal (') string
-  for (let i = 0; i < toml.length; i++) {
-    const c = toml[i];
-    if (quote) {
-      out += c;
-      if (c === quote) quote = null;
-      continue;
-    }
-    if (c === '"' || c === "'") { quote = c; out += c; continue; }
-    // Drop a separator only when it sits between two digits, outside any string.
-    if (c === '_' && /[0-9]/.test(toml[i - 1] ?? '') && /[0-9]/.test(toml[i + 1] ?? '')) continue;
-    out += c;
-  }
-  return out;
-}
-
 /** Serialize + write a config object as TOML. Defaults to the deployed config.toml, but any path
  *  can be given — the config-profiles editor writes the active profile file this way. */
 export function writeConfig(config: any, configPath: string = getConfigPath()): void {
@@ -211,18 +112,9 @@ export function writeConfig(config: any, configPath: string = getConfigPath()):
       console.warn(`   File may not exist yet, will create`);
     }
 
-    // actuator_roles holds mixed-type arrays that @iarna/toml can't stringify —
-    // pull it out, stringify the rest, then append the section by hand.
-    const { actuator_roles, ...rest } = config ?? {};
-    let content = stringifyToml(rest);
-    if (actuator_roles && typeof actuator_roles === 'object') {
-      content += '\n' + stringifyActuatorRoles(actuator_roles as Record<string, unknown>);
-    }
-    // @iarna/toml stringifies integers ≥1000 with `_` digit separators (5006 → "5_006").
-    // Valid TOML, but the minimal C++ config parsers use std::stoul, which stops at the
-    // underscore (→ 5) — truncating ports/timeouts and crash-looping daq_bridge. Strip the
-    // separators from numeric tokens; quoted strings are left untouched.
-    content = stripNumericUnderscores(content);
+    // smol-toml (TOML 1.0) stringifies actuator_roles' mixed-type arrays natively and emits
+    // integers without `_` digit separators, so no post-processing is needed.
+    const content = stringifyToml(config ?? {});
     console.log(`   Generated TOML content: ${content.length} bytes`);
 
     // Write with explicit error handling
@@ -244,7 +136,7 @@ export function writeConfig(config: any, configPath: string = getConfigPath()):
 /**
  * Surgically set a single integer field on the `[boards.<key>]` section whose
  * `board_id` matches `boardId`, editing the raw TOML text in place. Unlike
- * writeConfig (whole-object round-trip via @iarna/toml, which drops comments and
+ * writeConfig (whole-object round-trip via smol-toml, which drops comments and
  * could clobber a concurrent edit), this rewrites only the one line, leaving the
  * rest of the file — comments included — byte-for-byte unchanged. Used by the
  * Boards-tab logging-mode dropdown; config_broadcast_service re-reads the file.

From fc3a9b562e25f15b1cf5e6cd3a9fd489e761383d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 17:46:26 -0700
Subject: [PATCH 140/205] backend: drop unused @iarna/toml dependency (replaced
 by smol-toml)

---
 daq-server/diablo_server/backend/package-lock.json | 7 -------
 daq-server/diablo_server/backend/package.json      | 1 -
 2 files changed, 8 deletions(-)

diff --git a/daq-server/diablo_server/backend/package-lock.json b/daq-server/diablo_server/backend/package-lock.json
index b22a718ee..2690fab78 100644
--- a/daq-server/diablo_server/backend/package-lock.json
+++ b/daq-server/diablo_server/backend/package-lock.json
@@ -9,7 +9,6 @@
       "version": "1.0.0",
       "license": "MIT",
       "dependencies": {
-        "@iarna/toml": "^2.2.5",
         "axios": "^1.13.5",
         "msgpack-lite": "^0.1.26",
         "smol-toml": "^1.8.0",
@@ -499,12 +498,6 @@
         "node": ">=18"
       }
     },
-    "node_modules/@iarna/toml": {
-      "version": "2.2.5",
-      "resolved": "https://registry.npmjs.org/@iarna/toml/-/toml-2.2.5.tgz",
-      "integrity": "sha512-trnsAYxU3xnS1gPHPyU961coFyLkh4gAD/0zQ5mymY4yOZ+CYvsPqUbOFSw0aDM4y0tV7tiFxL/1XfXPNC6IPg==",
-      "license": "ISC"
-    },
     "node_modules/@jridgewell/sourcemap-codec": {
       "version": "1.5.5",
       "resolved": "https://registry.npmjs.org/@jridgewell/sourcemap-codec/-/sourcemap-codec-1.5.5.tgz",
diff --git a/daq-server/diablo_server/backend/package.json b/daq-server/diablo_server/backend/package.json
index 66e3b2a6f..a78669c3b 100644
--- a/daq-server/diablo_server/backend/package.json
+++ b/daq-server/diablo_server/backend/package.json
@@ -15,7 +15,6 @@
   "author": "",
   "license": "MIT",
   "dependencies": {
-    "@iarna/toml": "^2.2.5",
     "axios": "^1.13.5",
     "msgpack-lite": "^0.1.26",
     "smol-toml": "^1.8.0",

From f6b08a426cc046254ee43cd9d5cd4c7cfeddf44a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 3 Sep 2026 18:47:56 -0700
Subject: [PATCH 141/205] calibration: per-sensor cubic/robust PT model in
 config.toml (calibration_model_<board>), consumed by the service at startup
 and editable inline in the Roles tab; defaults to cubic, CAL_USE_* env stays
 as a global override

---
 daq-server/config/config_base.toml            |  16 ++
 .../config/profiles/default/config.toml       |  16 ++
 .../backend/src/routes/config.ts              |  27 +++
 .../frontend/app/config/page.tsx              |  47 +++++-
 .../lib/include/config/Config.hpp             |   7 +
 .../diablo_server/lib/src/config/Config.cpp   |  20 +++
 .../services/calibration/calibration_main.cpp | 157 +++++++++++++-----
 7 files changed, 241 insertions(+), 49 deletions(-)

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 116af0a38..7a9cbd85b 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -340,6 +340,22 @@ active_connectors = [ 1, 2 ]
 "Chamber Throat PT 1" = 9
 "Chamber Throat PT 2" = 10
 
+# Per-sensor streaming calibration model for the low-pressure PT board: "cubic" (factory cubic,
+# default) or "robust". Keyed by the same role names as [sensor_roles_pt_board]; the calibration
+# service applies it after a restart. Current-loop (4-20 mA) PT boards are always 4-20 mA and have
+# no model here.
+[calibration_model_pt_board]
+"Fuel Upstream" = "cubic"
+"GSE Low" = "cubic"
+"Fuel Downstream" = "cubic"
+"Chamber Mid PT 1" = "cubic"
+"Ox Upstream" = "cubic"
+"GN2 Regulated" = "cubic"
+"Ox Downstream" = "cubic"
+"Chamber Mid PT 2" = "cubic"
+"Chamber Throat PT 1" = "cubic"
+"Chamber Throat PT 2" = "cubic"
+
 [abort_pts]
 "Fuel Upstream" = 400
 "Ox Upstream" = 400
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index 116af0a38..7a9cbd85b 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -340,6 +340,22 @@ active_connectors = [ 1, 2 ]
 "Chamber Throat PT 1" = 9
 "Chamber Throat PT 2" = 10
 
+# Per-sensor streaming calibration model for the low-pressure PT board: "cubic" (factory cubic,
+# default) or "robust". Keyed by the same role names as [sensor_roles_pt_board]; the calibration
+# service applies it after a restart. Current-loop (4-20 mA) PT boards are always 4-20 mA and have
+# no model here.
+[calibration_model_pt_board]
+"Fuel Upstream" = "cubic"
+"GSE Low" = "cubic"
+"Fuel Downstream" = "cubic"
+"Chamber Mid PT 1" = "cubic"
+"Ox Upstream" = "cubic"
+"GN2 Regulated" = "cubic"
+"Ox Downstream" = "cubic"
+"Chamber Mid PT 2" = "cubic"
+"Chamber Throat PT 1" = "cubic"
+"Chamber Throat PT 2" = "cubic"
+
 [abort_pts]
 "Fuel Upstream" = 400
 "Ox Upstream" = 400
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 44f245fb9..2bb47a497 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -82,6 +82,32 @@ export function getConfigPath(): string {
   throw new Error('Config file not found (and no config/profiles/*.toml to generate it from)');
 }
 
+/**
+ * Default every PT sensor's calibration model to 'cubic' when the config omits it. For each
+ * [boards.*] of type 'PT' — excluding current-loop 4-20 mA boards, which never use cubic/robust —
+ * ensure a parallel `calibration_model_<boardKey>` map exists with an entry for every role in
+ * `sensor_roles_<boardKey>`. Mutates config in place on read (mirrors applyControllerDefaults) so
+ * the editor and any reader see cubic for sensors the file leaves unset.
+ */
+export function applyCalibrationModelDefaults(config: any): void {
+  const boards = config?.boards;
+  if (!boards || typeof boards !== 'object') return;
+  for (const [boardKey, b] of Object.entries<any>(boards)) {
+    if (!b || b.type !== 'PT') continue;
+    if (b.hp_pt_connectors || b.hp_pt_full_scale_psi != null || b.pt_type === '4-20 mA absolute')
+      continue; // current-loop board — cubic/robust never applies
+    const roles = config[`sensor_roles_${boardKey}`];
+    if (!roles || typeof roles !== 'object') continue;
+    const modelKey = `calibration_model_${boardKey}`;
+    const models =
+      config[modelKey] && typeof config[modelKey] === 'object' ? config[modelKey] : {};
+    for (const role of Object.keys(roles)) {
+      if (models[role] == null) models[role] = 'cubic';
+    }
+    config[modelKey] = models;
+  }
+}
+
 /** Read + parse a config TOML. Defaults to the deployed config.toml (getConfigPath), but any
  *  path can be given — the config-profiles editor reads the active profile file this way.
  *  smol-toml is a strict TOML 1.0 parser, so actuator_roles' mixed-type inline arrays
@@ -91,6 +117,7 @@ export function readConfig(path: string = getConfigPath()): any {
     const content = readFileSync(path, 'utf-8');
     const config = parseToml(content) as any;
     applyControllerDefaults(config);
+    applyCalibrationModelDefaults(config);
     return config;
   } catch (error) {
     console.error('Failed to read config:', error);
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 8b6c4cd8e..43f2dda57 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -62,6 +62,10 @@ interface ConfigData {
   sensor_roles_pt_board_2?: Record<string, number>; // HP PT board (was sensor_roles_pt2)
   sensor_roles_rtd_board?: Record<string, number>;
   sensor_roles_tc_board?: Record<string, number>;
+  // Per-sensor PT streaming model ('cubic' | 'robust'), role-keyed, parallel to sensor_roles_*.
+  // Read/written dynamically as calibration_model_<boardKey>; these fields document the shape.
+  calibration_model_pt_board?: Record<string, string>;
+  calibration_model_pt_board_2?: Record<string, string>;
   abort_pts?: Record<string, number>;
   adc?: { internal_v?: number; vdd_nominal_v?: number; absolute_5v_v?: number };
   fire?: { state?: string; expiry_target?: string; duration_ms?: number; extended_ms?: number };
@@ -1368,8 +1372,14 @@ export default function ConfigPage() {
                     key: `sensor_roles_${boardKey}`,
                     title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
                     maxCh: typeof b.num_sensors === 'number' && b.num_sensors > 0 ? b.num_sensors : 10,
+                    // Per-sensor cubic/robust picker only for low-pressure PT boards. Current-loop
+                    // (4-20 mA) PT boards always use 4-20 mA — no model applies.
+                    modelKey: `calibration_model_${boardKey}`,
+                    showModel:
+                      b?.type === 'PT' &&
+                      !(b?.hp_pt_connectors || b?.hp_pt_full_scale_psi != null || b?.pt_type === '4-20 mA absolute'),
                   }))
-                ).map(({ key, title, maxCh }) => {
+                ).map(({ key, title, maxCh, modelKey, showModel }) => {
                   const map = (config as any)[key] as Record<string, number> | undefined;
                   // Display ordered by channel number (not config/insertion order). The number field
                   // commits on blur so this re-sort doesn't fire mid-keystroke.
@@ -1396,7 +1406,15 @@ export default function ConfigPage() {
                               onRename={(newName) => {
                                 const rebuilt: Record<string, any> = {};
                                 for (const [k, v] of Object.entries(map || {})) rebuilt[k === name ? newName : k] = v;
-                                setConfig({ ...config, [key]: rebuilt } as any);
+                                const patch: any = { ...config, [key]: rebuilt };
+                                // Keep the parallel calibration_model_<board> map in sync on rename.
+                                const mm = (config as any)[modelKey];
+                                if (mm && name in mm) {
+                                  const rebuiltModel: Record<string, any> = {};
+                                  for (const [k, v] of Object.entries(mm)) rebuiltModel[k === name ? newName : k] = v;
+                                  patch[modelKey] = rebuiltModel;
+                                }
+                                setConfig(patch);
                               }}
                               onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
                               className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded text-white"
@@ -1412,11 +1430,34 @@ export default function ConfigPage() {
                               }}
                               className="w-28 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                             />
+                            {showModel && (
+                              <select
+                                value={((config as any)[modelKey]?.[name] as string) ?? 'cubic'}
+                                onChange={(e) => {
+                                  const updated = { ...((config as any)[modelKey] || {}) };
+                                  updated[name] = e.target.value;
+                                  setConfig({ ...config, [modelKey]: updated } as any);
+                                }}
+                                title="Streaming calibration model for this sensor"
+                                className="px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                              >
+                                <option value="cubic">Cubic</option>
+                                <option value="robust">Robust</option>
+                              </select>
+                            )}
                             <button
                               onClick={() => {
                                 const updated = { ...(map || {}) };
                                 delete updated[name];
-                                setConfig({ ...config, [key]: updated } as any);
+                                const patch: any = { ...config, [key]: updated };
+                                // Drop the sensor's calibration_model entry too.
+                                const mm = (config as any)[modelKey];
+                                if (mm && name in mm) {
+                                  const um = { ...mm };
+                                  delete um[name];
+                                  patch[modelKey] = um;
+                                }
+                                setConfig(patch);
                               }}
                               className="px-3 py-2 bg-red-600 rounded hover:bg-red-700"
                             >
diff --git a/daq-server/diablo_server/lib/include/config/Config.hpp b/daq-server/diablo_server/lib/include/config/Config.hpp
index 36b419df1..5041d3adc 100644
--- a/daq-server/diablo_server/lib/include/config/Config.hpp
+++ b/daq-server/diablo_server/lib/include/config/Config.hpp
@@ -163,9 +163,16 @@ struct Config {
     // section name -> {role name -> channel}, e.g. "sensor_roles_pt_board" -> {"Fuel Upstream": 1}.
     std::map<std::string, std::map<std::string, int>> sensor_roles;
     std::map<std::string, double> abort_pts;  // [abort_pts]
+    // section name -> {role name -> "cubic"|"robust"|"blend"}, e.g.
+    // "calibration_model_pt_board" -> {"Ox Upstream": "robust"}. Per-sensor PT streaming model.
+    std::map<std::string, std::map<std::string, std::string>> calibration_models;
 
     /** [sensor_roles_<board>] with a legacy [sensor_roles] fallback. */
     const std::map<std::string, int>* sensor_roles_for(const std::string& board_key) const;
+
+    /** [calibration_model_<board>] role->model map, or nullptr when absent/empty. */
+    const std::map<std::string, std::string>* calibration_model_for(
+        const std::string& section_key) const;
 };
 
 /** Parse config.toml at `path`. On any error, logs and returns a default-constructed Config. */
diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 3d981aa89..2bb1defbf 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -253,6 +253,18 @@ Config from_table(const toml::table& t) {
                 c.abort_pts[std::string(k.str())] = static_cast<double>(*iv);
         }
 
+    // All [calibration_model*] top-level tables -> section -> {role name -> model string}.
+    for (auto&& [k, v] : t) {
+        const std::string key(k.str());
+        if (key.rfind("calibration_model", 0) == 0)
+            if (auto rt = v.as_table()) {
+                auto& m = c.calibration_models[key];
+                for (auto&& [rk, rv] : *rt)
+                    if (auto sv = rv.value<std::string>())
+                        m[std::string(rk.str())] = *sv;
+            }
+    }
+
     return c;
 }
 
@@ -268,6 +280,14 @@ const std::map<std::string, int>* Config::sensor_roles_for(const std::string& bo
     return nullptr;
 }
 
+const std::map<std::string, std::string>* Config::calibration_model_for(
+    const std::string& section_key) const {
+    auto it = calibration_models.find(section_key);
+    if (it != calibration_models.end() && !it->second.empty())
+        return &it->second;
+    return nullptr;
+}
+
 Config load(const std::string& path) {
     try {
         toml::table tbl = toml::parse_file(path);
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 2b058cf96..6d3693ad2 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -37,6 +37,7 @@
 #include <iostream>
 #include <map>
 #include <mutex>
+#include <optional>
 #include <set>
 #include <sstream>
 #include <string>
@@ -72,6 +73,21 @@ std::mutex g_zero_offsets_mutex;
 std::unordered_map<uint16_t, double> g_lp_ema;
 constexpr double LP_EMA_ALPHA = 0.25;  // ~4-sample effective window
 
+/**
+ * Which model an LP PT streams: factory cubic (default), full robust, or the 75/25 blend.
+ * Chosen per sensor from [calibration_model_<board>] in config.toml (see main); a CAL_USE_* env
+ * var, when set, overrides all sensors via g_env_override.
+ */
+enum class PtModel { Cubic, Robust, Blend };
+
+/** uid (board_id*100 + connector) -> streaming model. Only non-cubic sensors are stored; an absent
+ *  uid means Cubic, so this stays small and the startup log lists only meaningful overrides. */
+std::unordered_map<uint16_t, PtModel> g_pt_model;
+
+/** Set once at startup: when a CAL_USE_* PT env var is present it forces every sensor, else nullopt
+ *  and the per-sensor config governs. */
+std::optional<PtModel> g_env_override;
+
 }  // namespace
 
 static std::atomic<bool> running{true};
@@ -86,21 +102,44 @@ static bool env_flag_true(const char* name) {
     return v && (v[0] == '1' || v[0] == 'y' || v[0] == 'Y' || v[0] == 't' || v[0] == 'T');
 }
 
-/** Default true: LP PT uses factory cubic for streaming (letsfix / hardware-trusted). Set
- * CAL_USE_ROBUST_PT=1 or CAL_USE_ROBUST_BLEND=1 to opt into robust-dominated output. */
-static constexpr bool kLpPtDefaultFactoryOnly = true;
+/** Parse a config model string to the enum; "cubic" and anything unrecognized map to Cubic. */
+static PtModel parse_pt_model(const std::string& s) {
+    if (s == "robust")
+        return PtModel::Robust;
+    if (s == "blend")
+        return PtModel::Blend;
+    return PtModel::Cubic;
+}
 
-static bool lp_pt_use_factory_only() {
-    if (env_flag_true("CAL_USE_FACTORY_PT"))
-        return true;
-    if (env_flag_true("CAL_USE_ROBUST_PT") || env_flag_true("CAL_USE_ROBUST_BLEND"))
-        return false;
-    return kLpPtDefaultFactoryOnly;
+/** Per-sensor streaming model; sensors absent from the map default to factory cubic. */
+static PtModel pt_model_for(uint16_t uid) {
+    auto it = g_pt_model.find(uid);
+    return it == g_pt_model.end() ? PtModel::Cubic : it->second;
 }
 
-/** Optional 75% robust / 25% factory blend. */
-static bool lp_pt_use_robust_blend() {
-    return env_flag_true("CAL_USE_ROBUST_BLEND");
+/**
+ * The single LP PT source-selection rule, shared by the streaming path and the Zero-All helper so
+ * both agree. Guards first: no factory fit -> robust; robust not seeded -> factory. Otherwise the
+ * env override (if set) wins, else this sensor's configured model.
+ */
+static double select_lp_pt_psi(uint16_t uid, double psi_fac, double psi_rob, bool fac_ok,
+                               bool has_robust) {
+    if (!fac_ok)
+        return psi_rob;
+    if (!has_robust)
+        return psi_fac;
+    const PtModel m = g_env_override ? *g_env_override : pt_model_for(uid);
+    switch (m) {
+        case PtModel::Robust:
+            return psi_rob;
+        case PtModel::Blend: {
+            constexpr double kFactoryWeight = 0.25;  // 75% robust + 25% factory
+            return (1.0 - kFactoryWeight) * psi_rob + kFactoryWeight * psi_fac;
+        }
+        case PtModel::Cubic:
+        default:
+            return psi_fac;
+    }
 }
 
 /**
@@ -317,18 +356,7 @@ static double lp_pt_psi_before_offset(uint8_t board_number, uint8_t local_ch, ui
     const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
     const double psi_fac = fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, adc_i32) : 0.0;
     const double psi_rob = robust_manager.predict_pressure_psi(uid, adc_i32);
-
-    if (!fac_ok)
-        return psi_rob;
-    if (!robust_manager.has_sensor(uid))
-        return psi_fac;
-    if (lp_pt_use_factory_only())
-        return psi_fac;
-    if (lp_pt_use_robust_blend()) {
-        constexpr double kFactoryWeight = 0.25;
-        return (1.0 - kFactoryWeight) * psi_rob + kFactoryWeight * psi_fac;
-    }
-    return psi_rob;
+    return select_lp_pt_psi(uid, psi_fac, psi_rob, fac_ok, robust_manager.has_sensor(uid));
 }
 
 int main(int argc, char* argv[]) {
@@ -490,6 +518,45 @@ int main(int argc, char* argv[]) {
     std::cout << "[Calibration] LC default:  " << lc_sensitivity_mv_per_v
               << "mV/V, PGA=" << lc_pga_gain << ", FS=" << lc_full_scale_value << "kg" << std::endl;
 
+    // ---- Per-sensor streaming model (cubic vs robust) from config ----
+    // [calibration_model_<board_key>] maps a PT role name to "cubic"|"robust"|"blend"; resolve it
+    // to the same uid the streaming path uses (board_id*100 + connector) via
+    // [sensor_roles_<board_key>]. Absent/unknown => cubic. Current-loop (4-20 mA) boards are
+    // skipped: they never take this path. A CAL_USE_* env var overrides every sensor (dev/testing)
+    // — computed once here.
+    if (env_flag_true("CAL_USE_FACTORY_PT"))
+        g_env_override = PtModel::Cubic;
+    else if (env_flag_true("CAL_USE_ROBUST_BLEND"))
+        g_env_override = PtModel::Blend;
+    else if (env_flag_true("CAL_USE_ROBUST_PT"))
+        g_env_override = PtModel::Robust;
+
+    g_pt_model.clear();
+    for (const auto& b : cal_cfg.boards) {
+        if (b.type != "PT" || !b.enabled || b.board_id < 0)
+            continue;
+        if (b.has_hp_pt_keys || b.pt_type == "4-20 mA absolute")
+            continue;  // current-loop board — cubic/robust never applies
+        const std::string board_key =
+            b.section.rfind("boards.", 0) == 0 ? b.section.substr(7) : b.section;
+        const auto* roles = cal_cfg.sensor_roles_for("sensor_roles_" + board_key);
+        if (roles == nullptr)
+            continue;  // no role map -> every connector defaults to cubic
+        const auto* models = cal_cfg.calibration_model_for("calibration_model_" + board_key);
+        for (const auto& [role, connector] : *roles) {
+            if (connector < 1 || connector > 99)
+                continue;
+            PtModel m = PtModel::Cubic;
+            if (models != nullptr) {
+                auto it = models->find(role);
+                if (it != models->end())
+                    m = parse_pt_model(it->second);
+            }
+            if (m != PtModel::Cubic)  // only store overrides; absence means cubic
+                g_pt_model[static_cast<uint16_t>(b.board_id * 100 + connector)] = m;
+        }
+    }
+
     const fsw::calibration::PTCalibrationCoeffs* fallback_pt_coeffs = nullptr;
     for (uint8_t probe_ch = 1; probe_ch <= 10; ++probe_ch) {
         if (pt_calibration.is_calibrated(probe_ch)) {
@@ -553,16 +620,25 @@ int main(int argc, char* argv[]) {
         std::cout << "[Calibration]   File missing/unreadable — using factory-seeded robust only"
                   << std::endl;
     }
-    if (lp_pt_use_factory_only()) {
-        std::cout << "[Calibration] LP PT: factory cubic (default / CAL_USE_FACTORY_PT) — "
-                     "letsfix-style stable path"
-                  << std::endl;
-    } else if (lp_pt_use_robust_blend()) {
-        std::cout << "[Calibration] LP PT: CAL_USE_ROBUST_BLEND=1 — 75% robust + 25% factory"
-                  << std::endl;
+    if (g_env_override) {
+        const char* label = *g_env_override == PtModel::Cubic ? "factory cubic (CAL_USE_FACTORY_PT)"
+                            : *g_env_override == PtModel::Blend
+                                ? "75% robust + 25% factory (CAL_USE_ROBUST_BLEND)"
+                                : "100% robust when initialized (CAL_USE_ROBUST_PT)";
+        std::cout << "[Calibration] LP PT: env override — all sensors " << label << std::endl;
     } else {
-        std::cout << "[Calibration] LP PT: CAL_USE_ROBUST_PT=1 — 100% robust when initialized"
-                  << std::endl;
+        size_t robust_n = 0, blend_n = 0;
+        for (const auto& [uid, m] : g_pt_model) {
+            if (m == PtModel::Robust)
+                ++robust_n;
+            else if (m == PtModel::Blend)
+                ++blend_n;
+        }
+        std::cout << "[Calibration] LP PT: per-sensor model from config — default factory cubic; "
+                  << robust_n << " robust, " << blend_n << " blend" << std::endl;
+        for (const auto& [uid, m] : g_pt_model)
+            std::cout << "[Calibration]   uid " << uid << " -> "
+                      << (m == PtModel::Robust ? "robust" : "blend") << std::endl;
     }
 
     if (verbose())
@@ -867,19 +943,8 @@ int main(int argc, char* argv[]) {
                     fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, adc_i32) : 0.0;
                 const double psi_rob = robust_manager.predict_pressure_psi(uid, adc_i32);
 
-                if (!fac_ok) {
-                    psi = psi_rob;
-                } else if (!robust_manager.has_sensor(uid)) {
-                    psi = psi_fac;
-                } else if (lp_pt_use_factory_only()) {
-                    psi = psi_fac;
-                } else if (lp_pt_use_robust_blend()) {
-                    constexpr double kFactoryWeight = 0.25;
-                    psi = (1.0 - kFactoryWeight) * psi_rob + kFactoryWeight * psi_fac;
-                } else {
-                    // Default: full robust prediction (matches calibration_server.py RCF path).
-                    psi = psi_rob;
-                }
+                psi =
+                    select_lp_pt_psi(uid, psi_fac, psi_rob, fac_ok, robust_manager.has_sensor(uid));
                 cal_status = fac_ok ? 1u : 0u;
                 // Apply zero offset then EMA for LP PT channels.
                 {

From c3f7fc6bae7f99bdc5fa3ca6e578bd2b775851fd Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 02:54:02 -0700
Subject: [PATCH 142/205] calibration: unify PT capture into one command the
 service routes by configured model (cubic fit vs robust RLS) into a shared
 per-uid point store; robust page gains a points+curve graph; cubic/robust
 pages filter by the service-reported active_model; rename Clear to New
 Calibration

---
 .../backend/src/calibration-handler.ts        |  49 +++++++
 .../frontend/app/calibration-cubic/page.tsx   |  89 +++----------
 .../frontend/app/calibration/page.tsx         | 124 ++++++++++++++----
 .../calibration/CalibrationChart.tsx          |  93 +++++++++++++
 .../calibration/CubicCalibrationStore.hpp     |  24 +++-
 .../src/calibration/CubicCalibrationStore.cpp |  68 ++++++++--
 .../services/calibration/calibration_main.cpp | 106 ++++++++++++++-
 daq-server/diablo_server/shared/types.ts      |  11 +-
 8 files changed, 455 insertions(+), 109 deletions(-)
 create mode 100644 daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx

diff --git a/daq-server/diablo_server/backend/src/calibration-handler.ts b/daq-server/diablo_server/backend/src/calibration-handler.ts
index 9ef95e55e..40df4168c 100644
--- a/daq-server/diablo_server/backend/src/calibration-handler.ts
+++ b/daq-server/diablo_server/backend/src/calibration-handler.ts
@@ -193,6 +193,55 @@ export function handleCalibrationCommand(
             console.log(`🗑️ Cubic clear: CH${sensorId} (Board ${boardId}) → calibration_service`);
             break;
         }
+        case 'capture_point': {
+            // Unified capture: forward (channel, ref PSI); calibration_service pairs it with the
+            // current ADC and routes it to the channel's configured model (cubic fit OR robust RLS).
+            const refPsi = Number(referencePressure);
+            if (sensorId == null || referencePressure == null || !Number.isFinite(refPsi)) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'capture_point requires sensorId and a numeric referencePressure (PSI)' }
+                });
+                return;
+            }
+            const activeChannels = getActiveChannels(host);
+            if (uniqueId == null || !activeChannels.includes(uniqueId)) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT channel` }
+                });
+                return;
+            }
+            if (!host.elodin) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'Elodin not connected — start calibration_service and DB; cannot forward capture_point.' }
+                });
+                return;
+            }
+            publishCalibrationCommand(host, 5, uniqueId, refPsi);
+            console.log(`📐 Capture: CH${sensorId} (Board ${boardId}) ref=${refPsi} PSI → calibration_service (routes by model)`);
+            break;
+        }
+        case 'new_calibration': {
+            if (uniqueId == null) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'new_calibration requires sensorId and boardId' }
+                });
+                return;
+            }
+            if (!host.elodin) {
+                host.send(ws, {
+                    type: MessageType.ERROR, timestamp: Date.now(),
+                    payload: { message: 'Elodin not connected — cannot forward new_calibration.' }
+                });
+                return;
+            }
+            publishCalibrationCommand(host, 6, uniqueId, 0);
+            console.log(`🆕 New calibration: CH${sensorId} (Board ${boardId}) → calibration_service (routes by model)`);
+            break;
+        }
         case 'enable_phase2':
             console.log('[Calibration] enable_phase2 ignored — robust calibration runs in calibration_service');
             break;
diff --git a/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx b/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx
index dffaf0feb..aa9bc865c 100644
--- a/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx
+++ b/daq-server/diablo_server/frontend/app/calibration-cubic/page.tsx
@@ -1,23 +1,11 @@
 'use client'
 
 import { useEffect, useMemo, useState, useCallback } from 'react';
-import {
-  ComposedChart, Scatter, Line, XAxis, YAxis, CartesianGrid, Tooltip, ResponsiveContainer, Label,
-} from 'recharts';
 import { useGetSensorValue, useSensorDataVersion } from '@/lib/store';
 import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
 import { MessageType, CalibrationCommand, CubicCalibrationChannel } from '@/lib/types';
 import { useSensorConfig } from '@/lib/sensor-config';
-
-// ── The service returns coeffs; the browser only EVALUATES them for the overlay (no fitting). ──
-function evalCubicNorm(adc: number, poly: number[], min: number, scale: number): number {
-  const s = scale || 1;
-  const x = (adc - min) / s;
-  let xp = 1;
-  let y = 0;
-  for (let i = 0; i < poly.length; i++) { y += poly[i] * xp; xp *= x; }
-  return y;
-}
+import { CalibrationChart } from '@/components/calibration/CalibrationChart';
 
 function fmt(v: number | null | undefined, digits = 2): string {
   if (v === null || v === undefined || !isFinite(v)) return '---';
@@ -37,17 +25,20 @@ export default function CubicCalibrationPage() {
   const ws = getWebSocketClient();
   const allChannels = useSensorConfig();
 
-  // Low-pressure PTs only — HP (4-20 mA) PTs are not cubic-calibrated.
-  const ptChannels = useMemo(
-    () => allChannels.filter((c) => c.inCalibrationSequence && !c.isHpPt)
-      .sort((a, b) => (a.boardId - b.boardId) || (a.id - b.id)),
-    [allChannels],
-  );
-
   const [selectedUid, setSelectedUid] = useState<number | null>(null);
   const [refInput, setRefInput] = useState('');
   const [cubicState, setCubicState] = useState<Record<string, CubicCalibrationChannel>>({});
 
+  // Low-pressure PTs configured for the cubic model. The service reports each uid's active_model in
+  // the calibration record; filter by that (the source of truth), defaulting to cubic when a uid has
+  // no record yet. Robust-configured valves live on the Robust Calibration page.
+  const ptChannels = useMemo(
+    () => allChannels.filter((c) => c.inCalibrationSequence && !c.isHpPt
+        && (cubicState[String(c.boardId * 100 + c.id)]?.active_model ?? 'cubic') === 'cubic')
+      .sort((a, b) => (a.boardId - b.boardId) || (a.id - b.id)),
+    [allChannels, cubicState],
+  );
+
   // Default selection once channels load.
   useEffect(() => {
     if (selectedUid == null && ptChannels.length > 0) {
@@ -90,36 +81,16 @@ export default function CubicCalibrationPage() {
     if (!selected) return;
     const psi = parseFloat(refInput);
     if (isNaN(psi)) return;
-    sendCalCmd({ commandType: 'capture_cubic_point', sensorId: selected.id, boardId: selected.boardId, referencePressure: psi });
+    sendCalCmd({ commandType: 'capture_point', sensorId: selected.id, boardId: selected.boardId, referencePressure: psi });
     setRefInput('');
   }, [selected, refInput, sendCalCmd]);
 
-  const handleClear = useCallback(() => {
+  const handleNewCalibration = useCallback(() => {
     if (!selected) return;
-    if (typeof window !== 'undefined' && !window.confirm(`Clear all captured points for ${selected.role || 'CH' + selected.id}? Reverts to the factory cubic.`)) return;
-    sendCalCmd({ commandType: 'clear_cubic_channel', sensorId: selected.id, boardId: selected.boardId });
+    if (typeof window !== 'undefined' && !window.confirm(`Start a new calibration for ${selected.role || 'CH' + selected.id}? Clears its captured points and reverts to the factory cubic.`)) return;
+    sendCalCmd({ commandType: 'new_calibration', sensorId: selected.id, boardId: selected.boardId });
   }, [selected, sendCalCmd]);
 
-  // Build the chart series: captured scatter points + a sampled fitted curve.
-  const chartData = useMemo(() => {
-    const pts = selectedState?.points ?? [];
-    const rows: { adc: number; psi?: number; psiFit?: number }[] = pts.map((p) => ({ adc: p.adc, psi: p.psi }));
-    const poly = selectedState?.polyCoeffs;
-    if (poly && poly.length >= 2 && pts.length >= 2) {
-      const adcs = pts.map((p) => p.adc);
-      let lo = Math.min(...adcs);
-      let hi = Math.max(...adcs);
-      const pad = (hi - lo) * 0.05 || 1;
-      lo -= pad; hi += pad;
-      const N = 60;
-      for (let i = 0; i <= N; i++) {
-        const adc = lo + ((hi - lo) * i) / N;
-        rows.push({ adc, psiFit: evalCubicNorm(adc, poly, selectedState!.adcNormMin, selectedState!.adcNormScale) });
-      }
-    }
-    return rows.sort((a, b) => a.adc - b.adc);
-  }, [selectedState]);
-
   const statusOf = (uid: number): string => cubicState[String(uid)]?.status ?? 'NONE';
   const pointsOf = (uid: number): number => cubicState[String(uid)]?.points?.length ?? 0;
 
@@ -216,10 +187,11 @@ export default function CubicCalibrationPage() {
                   CAPTURE POINT
                 </button>
                 <button
-                  onClick={handleClear}
-                  className="px-3 py-1.5 text-xs font-bold rounded border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50 ml-auto"
+                  onClick={handleNewCalibration}
+                  className="px-3 py-1.5 text-xs font-bold rounded border border-amber-700 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50 ml-auto"
+                  title="Clear this valve's captured points and start a fresh calibration"
                 >
-                  CLEAR CHANNEL
+                  NEW CALIBRATION
                 </button>
               </div>
 
@@ -235,28 +207,7 @@ export default function CubicCalibrationPage() {
               </div>
 
               {/* Graph: captured points + fitted curve */}
-              <div className="border border-gray-800 rounded bg-card p-2" style={{ height: 420 }}>
-                <ResponsiveContainer width="100%" height="100%">
-                  <ComposedChart data={chartData} margin={{ top: 12, right: 20, bottom: 28, left: 12 }}>
-                    <CartesianGrid stroke="#222" />
-                    <XAxis type="number" dataKey="adc" domain={['auto', 'auto']} stroke="#888"
-                           tick={{ fontSize: 10, fill: '#888' }} tickFormatter={(v) => Number(v).toExponential(1)}>
-                      <Label value="Raw ADC code" position="bottom" offset={12} fill="#888" fontSize={11} />
-                    </XAxis>
-                    <YAxis type="number" stroke="#888" tick={{ fontSize: 10, fill: '#888' }}
-                           tickFormatter={(v) => Number(v).toFixed(0)}>
-                      <Label value="Pressure (PSI)" angle={-90} position="insideLeft" fill="#888" fontSize={11} />
-                    </YAxis>
-                    <Tooltip
-                      contentStyle={{ background: '#111', border: '1px solid #333', fontSize: 11 }}
-                      labelFormatter={(v) => `ADC ${Number(v).toExponential(3)}`}
-                      formatter={(val: number, name: string) => [Number(val).toFixed(2) + ' PSI', name === 'psi' ? 'captured' : 'fit']}
-                    />
-                    <Line type="monotone" dataKey="psiFit" stroke="#38BDF8" dot={false} strokeWidth={2} connectNulls isAnimationActive={false} name="fit" />
-                    <Scatter dataKey="psi" fill="#F59E0B" name="psi" isAnimationActive={false} />
-                  </ComposedChart>
-                </ResponsiveContainer>
-              </div>
+              <CalibrationChart state={selectedState} />
 
               {/* Captured points table */}
               {selectedState?.points && selectedState.points.length > 0 && (
diff --git a/daq-server/diablo_server/frontend/app/calibration/page.tsx b/daq-server/diablo_server/frontend/app/calibration/page.tsx
index 3f21ee2ea..91d3a32a3 100644
--- a/daq-server/diablo_server/frontend/app/calibration/page.tsx
+++ b/daq-server/diablo_server/frontend/app/calibration/page.tsx
@@ -1,6 +1,6 @@
 'use client'
 
-import { useEffect, useState, useCallback } from 'react';
+import { useEffect, useMemo, useState, useCallback } from 'react';
 import { useSensorStore, useGetSensorValue, useSensorDataVersion, useLoadCellForceLbf } from '@/lib/store';
 import { getWebSocketClient } from '@/lib/websocket';
 import {
@@ -10,9 +10,11 @@ import {
   CalibrationStatusPayload,
   CalibrationCommand,
   CalibrationConfidence,
+  CubicCalibrationChannel,
 } from '@/lib/types';
 import { useSensorConfig, SensorConfig } from '@/lib/sensor-config';
 import { getApiBaseUrl } from '@/lib/websocket';
+import { CalibrationChart } from '@/components/calibration/CalibrationChart';
 
 // ── PT_CHANNELS is now derived from config.toml via useSensorConfig().
 // The hardcoded list below is removed.
@@ -64,10 +66,12 @@ interface ChannelCardProps {
   status?: CalibrationChannelStatus;
   rawAdc?: number | null;
   calPsi?: number | null;
+  selected?: boolean;
+  onSelect?: () => void;
   onCapture: (sensorId: number, boardId: number, refPsi: number) => void;
 }
 
-function ChannelCard({ ch, status, rawAdc, calPsi, onCapture }: ChannelCardProps) {
+function ChannelCard({ ch, status, rawAdc, calPsi, selected, onSelect, onCapture }: ChannelCardProps) {
   const [refInput, setRefInput] = useState('');
   const conf = status?.confidence ?? 'UNCALIBRATED';
   const isDrift = status?.driftDetected ?? false;
@@ -81,8 +85,9 @@ function ChannelCard({ ch, status, rawAdc, calPsi, onCapture }: ChannelCardProps
 
   return (
     <div
-      className={`rounded border p-2.5 flex flex-col gap-1.5 transition-all bg-card
-        ${isDrift ? 'border-red-600 shadow-[0_0_10px_rgba(239,68,68,0.2)]' : 'border-gray-800'}`}
+      onClick={onSelect}
+      className={`rounded border p-2.5 flex flex-col gap-1.5 transition-all bg-card cursor-pointer
+        ${selected ? 'ring-2 ring-blue-500 ' : ''}${isDrift ? 'border-red-600 shadow-[0_0_10px_rgba(239,68,68,0.2)]' : 'border-gray-800'}`}
     >
       {/* Header row: CH + name + confidence */}
       <div className="flex items-center justify-between gap-1">
@@ -174,6 +179,8 @@ export default function CalibrationPage() {
   const [numReferenceGauges, setNumReferenceGauges] = useState(1);
   const [singleRefPsi, setSingleRefPsi] = useState('');
   const [selectedBoardId, setSelectedBoardId] = useState<number | 'all'>('all');
+  const [cubicState, setCubicState] = useState<Record<string, CubicCalibrationChannel>>({});
+  const [selectedUid, setSelectedUid] = useState<number | null>(null);
 
   // Gauge → PT channel mapping (when multiple gauges): gauge index 1..N → channel ids
   const [gaugeToChannels, setGaugeToChannels] = useState<Record<number, number[]>>({ 1: [1] });
@@ -181,8 +188,16 @@ export default function CalibrationPage() {
   const [lcChannels, setLcChannels] = useState<{ calEntity: string; label: string }[]>([]);
   const setLoadCellZeroOffset = useSensorStore((s) => s.setLoadCellZeroOffset);
 
-  const availableBoards = Array.from(new Set(ptChannels.map((c) => c.boardId))).sort((a, b) => a - b);
-  const visibleChannels = ptChannels.filter((c) => selectedBoardId === 'all' || c.boardId === selectedBoardId);
+  // This page shows only valves configured for the robust model (the service reports each uid's
+  // active_model in the calibration record); cubic-configured valves live on the Cubic page.
+  const robustChannels = useMemo(
+    () => ptChannels.filter((c) => cubicState[String(c.boardId * 100 + c.id)]?.active_model === 'robust'),
+    [ptChannels, cubicState],
+  );
+  const availableBoards = Array.from(new Set(robustChannels.map((c) => c.boardId))).sort((a, b) => a - b);
+  const visibleChannels = robustChannels.filter((c) => selectedBoardId === 'all' || c.boardId === selectedBoardId);
+  const selectedState = selectedUid != null ? cubicState[String(selectedUid)] : undefined;
+  const selectedChannel = selectedUid != null ? ptChannels.find((c) => c.boardId * 100 + c.id === selectedUid) : undefined;
 
   // Default mapping when number of gauges changes: Gauge 1→[1], Gauge 2→[2], ...
   useEffect(() => {
@@ -252,14 +267,42 @@ export default function CalibrationPage() {
     return () => clearInterval(id);
   }, []);
 
+  // The service reports each valve's model + captured robust points in the cubic-calibration record;
+  // poll it to filter this page and draw the selected valve's points/curve.
+  const fetchCubic = useCallback(async () => {
+    try {
+      const res = await fetch(`${getApiBaseUrl()}/api/cubic_calibration`);
+      if (!res.ok) return;
+      const data = await res.json();
+      if (data && typeof data.cubic_state === 'object' && data.cubic_state) {
+        setCubicState(data.cubic_state as Record<string, CubicCalibrationChannel>);
+      }
+    } catch { /* ignore transient fetch errors */ }
+  }, []);
+
+  useEffect(() => {
+    fetchCubic();
+    const id = setInterval(fetchCubic, 2000);
+    return () => clearInterval(id);
+  }, [fetchCubic]);
+
   const sendCalCmd = useCallback((cmd: CalibrationCommand) => {
     ws.send({ type: MessageType.CALIBRATION_COMMAND, timestamp: Date.now(), payload: cmd });
-  }, [ws]);
+    // Nudge a refetch after the service has processed + persisted the capture/clear.
+    setTimeout(fetchCubic, 350);
+    setTimeout(fetchCubic, 900);
+  }, [ws, fetchCubic]);
 
   const handleCapture = useCallback((sensorId: number, boardId: number, referencePressure: number) => {
-    sendCalCmd({ commandType: 'capture_reference', sensorId, boardId, referencePressure });
+    sendCalCmd({ commandType: 'capture_point', sensorId, boardId, referencePressure });
   }, [sendCalCmd]);
 
+  const handleNewCalibration = useCallback(() => {
+    if (!selectedChannel) return;
+    if (typeof window !== 'undefined' && !window.confirm(`Start a new calibration for ${selectedChannel.role || 'CH' + selectedChannel.id}? Clears its captured points and resets the robust adjustment.`)) return;
+    sendCalCmd({ commandType: 'new_calibration', sensorId: selectedChannel.id, boardId: selectedChannel.boardId });
+  }, [selectedChannel, sendCalCmd]);
+
   const handleZeroAll = useCallback(() => {
     sendCalCmd({ commandType: 'zero_all' });
   }, [sendCalCmd]);
@@ -274,7 +317,7 @@ export default function CalibrationPage() {
     if (isNaN(psi)) return;
     for (const ch of visibleChannels) {
       if (!ch.inCalibrationSequence) continue;
-      sendCalCmd({ commandType: 'capture_reference', sensorId: ch.id, boardId: ch.boardId, referencePressure: psi });
+      sendCalCmd({ commandType: 'capture_point', sensorId: ch.id, boardId: ch.boardId, referencePressure: psi });
     }
     setSingleRefPsi('');
   }, [sendCalCmd, singleRefPsi, visibleChannels]);
@@ -297,7 +340,7 @@ export default function CalibrationPage() {
         // Find by unique board*100 + channel
         const ch = ptChannels.find(c => (c.boardId * 100 + c.id) === uid);
         if (ch) {
-          sendCalCmd({ commandType: 'capture_reference', sensorId: ch.id, boardId: ch.boardId, referencePressure: ref });
+          sendCalCmd({ commandType: 'capture_point', sensorId: ch.id, boardId: ch.boardId, referencePressure: ref });
         }
       }
     }
@@ -517,19 +560,56 @@ export default function CalibrationPage() {
 
       {/* ── Channel grid — 5 columns × 2 rows ──────────────────────── */}
       <div className="flex-1 overflow-auto min-h-0 p-3">
-        <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-5 gap-2.5 h-full auto-rows-fr">
-          {visibleChannels.map((ch) => (
-            <ChannelCard
-              key={`${ch.boardId}-${ch.id}`}
-              ch={ch}
-              status={getStatus(ch.id, ch.boardId)}
-              rawAdc={getSensorValue(ch.calEntity, 'raw_adc_counts')}
-              calPsi={getSensorValue(ch.calEntity, 'pressure_psi')}
-              onCapture={handleCapture}
-            />
-          ))}
-        </div>
+        {robustChannels.length === 0 ? (
+          <div className="text-sm text-gray-500 p-2">
+            No valves are set to the robust model. Set a valve&apos;s model to <span className="text-text font-semibold">Robust</span> in
+            the config editor&apos;s Roles tab, then restart the session — it will appear here.
+          </div>
+        ) : (
+          <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-5 gap-2.5 auto-rows-fr">
+            {visibleChannels.map((ch) => {
+              const uid = ch.boardId * 100 + ch.id;
+              return (
+                <ChannelCard
+                  key={`${ch.boardId}-${ch.id}`}
+                  ch={ch}
+                  status={getStatus(ch.id, ch.boardId)}
+                  rawAdc={getSensorValue(ch.calEntity, 'raw_adc_counts')}
+                  calPsi={getSensorValue(ch.calEntity, 'pressure_psi')}
+                  selected={uid === selectedUid}
+                  onSelect={() => setSelectedUid(uid)}
+                  onCapture={handleCapture}
+                />
+              );
+            })}
+          </div>
+        )}
       </div>
+
+      {/* ── Selected valve: captured points + robust curve ──────────── */}
+      {selectedChannel && (
+        <div className="flex-shrink-0 border-t border-gray-800 bg-card/40 p-3">
+          <div className="flex items-center justify-between mb-2">
+            <div>
+              <span className="text-sm font-bold text-text">{selectedChannel.role || `CH${selectedChannel.id}`}</span>
+              <span className="text-[11px] text-gray-500 font-mono ml-2">
+                B{selectedChannel.boardId} · CH{selectedChannel.id} · {selectedState?.numPoints ?? 0} pts
+              </span>
+            </div>
+            <div className="flex items-center gap-2">
+              <button
+                onClick={handleNewCalibration}
+                className="px-3 py-1.5 text-xs font-bold rounded border border-amber-700 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50"
+                title="Clear this valve's captured points and reset its robust adjustment"
+              >
+                NEW CALIBRATION
+              </button>
+              <button onClick={() => setSelectedUid(null)} className="px-2 py-1.5 text-xs text-gray-400 hover:text-gray-200" title="Close">✕</button>
+            </div>
+          </div>
+          <CalibrationChart state={selectedState} height={260} />
+        </div>
+      )}
     </main>
   );
 }
diff --git a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
new file mode 100644
index 000000000..2697ad80c
--- /dev/null
+++ b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
@@ -0,0 +1,93 @@
+'use client'
+
+import { useMemo } from 'react';
+import {
+  ComposedChart, Scatter, Line, XAxis, YAxis, CartesianGrid, Tooltip, ResponsiveContainer, Label,
+} from 'recharts';
+import { CubicCalibrationChannel } from '@/lib/types';
+
+// The service returns either cubic coeffs (evaluated here for the overlay) or a pre-sampled robust
+// fitCurve. The browser never fits — it only draws captured points + the model's curve.
+function evalCubicNorm(adc: number, poly: number[], min: number, scale: number): number {
+  const s = scale || 1;
+  const x = (adc - min) / s;
+  let xp = 1;
+  let y = 0;
+  for (let i = 0; i < poly.length; i++) { y += poly[i] * xp; xp *= x; }
+  return y;
+}
+
+interface Row { adc: number; psi?: number; psiFit?: number; op?: number }
+
+// Older points weigh less under robust RLS forgetting — fade them so recency reads at a glance.
+const AgeDot = (props: { cx?: number; cy?: number; payload?: Row }) => {
+  const { cx, cy, payload } = props;
+  if (cx == null || cy == null || payload?.psi == null) return null;
+  return (
+    <circle cx={cx} cy={cy} r={4} fill="#F59E0B" fillOpacity={payload.op ?? 1} stroke="#F59E0B" />
+  );
+};
+
+/**
+ * Shared captured-points + fit-curve chart for both calibration pages. For a cubic channel the
+ * overlay is sampled from `polyCoeffs`; for a robust channel it is the service-supplied `fitCurve`
+ * (sampled `predict_pressure_psi`), and the captured points fade with age.
+ */
+export function CalibrationChart({ state, height = 420 }: { state?: CubicCalibrationChannel; height?: number }) {
+  const isRobust = state?.active_model === 'robust';
+
+  const data = useMemo<Row[]>(() => {
+    const pts = state?.points ?? [];
+    const n = pts.length;
+    const rows: Row[] = pts.map((p, i) => ({
+      adc: p.adc,
+      psi: p.psi,
+      // Robust: fade oldest→newest (0.35→1). Cubic weights points equally, so keep them solid.
+      op: isRobust && n > 1 ? 0.35 + 0.65 * (i / (n - 1)) : 1,
+    }));
+
+    if (isRobust) {
+      for (const c of state?.fitCurve ?? []) rows.push({ adc: c.adc, psiFit: c.psi });
+    } else {
+      const poly = state?.polyCoeffs;
+      if (poly && poly.length >= 2 && pts.length >= 2) {
+        const adcs = pts.map((p) => p.adc);
+        let lo = Math.min(...adcs);
+        let hi = Math.max(...adcs);
+        const pad = (hi - lo) * 0.05 || 1;
+        lo -= pad; hi += pad;
+        const N = 60;
+        for (let i = 0; i <= N; i++) {
+          const adc = lo + ((hi - lo) * i) / N;
+          rows.push({ adc, psiFit: evalCubicNorm(adc, poly, state!.adcNormMin, state!.adcNormScale) });
+        }
+      }
+    }
+    return rows.sort((a, b) => a.adc - b.adc);
+  }, [state, isRobust]);
+
+  return (
+    <div className="border border-gray-800 rounded bg-card p-2" style={{ height }}>
+      <ResponsiveContainer width="100%" height="100%">
+        <ComposedChart data={data} margin={{ top: 12, right: 20, bottom: 28, left: 12 }}>
+          <CartesianGrid stroke="#222" />
+          <XAxis type="number" dataKey="adc" domain={['auto', 'auto']} stroke="#888"
+                 tick={{ fontSize: 10, fill: '#888' }} tickFormatter={(v) => Number(v).toExponential(1)}>
+            <Label value="Raw ADC code" position="bottom" offset={12} fill="#888" fontSize={11} />
+          </XAxis>
+          <YAxis type="number" stroke="#888" tick={{ fontSize: 10, fill: '#888' }}
+                 tickFormatter={(v) => Number(v).toFixed(0)}>
+            <Label value="Pressure (PSI)" angle={-90} position="insideLeft" fill="#888" fontSize={11} />
+          </YAxis>
+          <Tooltip
+            contentStyle={{ background: '#111', border: '1px solid #333', fontSize: 11 }}
+            labelFormatter={(v) => `ADC ${Number(v).toExponential(3)}`}
+            formatter={(val: number, name: string) => [Number(val).toFixed(2) + ' PSI', name === 'psi' ? 'captured' : (isRobust ? 'robust' : 'fit')]}
+          />
+          <Line type="monotone" dataKey="psiFit" stroke="#38BDF8" dot={false} strokeWidth={2} connectNulls isAnimationActive={false} name="fit" />
+          <Scatter dataKey="psi" shape={AgeDot} name="psi" isAnimationActive={false} />
+        </ComposedChart>
+      </ResponsiveContainer>
+    </div>
+  );
+}
diff --git a/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp b/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp
index 29ee70127..e59c75fe4 100644
--- a/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp
+++ b/daq-server/diablo_server/lib/include/calibration/CubicCalibrationStore.hpp
@@ -5,6 +5,7 @@
 #include <map>
 #include <mutex>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace fsw {
@@ -43,8 +44,16 @@ struct CubicChannel {
     uint8_t logical_ch =
         0;             // pt_logical_calibration_channel(slot, connector) — PTCalibrationManager key
     std::string role;  // human role from config, e.g. "Fuel Upstream"
+    // Which model this uid streams (from config g_pt_model): "cubic" (default) | "robust". Decides
+    // capture routing at the service and which display the frontend renders. For robust uids the
+    // cubic `fit` is left invalid (points are display-only) and `fit_curve` holds the sampled
+    // model.
+    std::string active_model = "cubic";
     std::vector<CubicPoint> points;
     CubicFit fit;
+    // Robust display overlay: (adc, psi) samples of the live robust model (predict_pressure_psi),
+    // set by the service on each robust capture. Empty for cubic uids.
+    std::vector<std::pair<double, double>> fit_curve;
     std::string status = "PENDING";  // PENDING (<2 pts) | OK | ERROR
     std::string last_error;
     double updated_at = 0.0;
@@ -62,16 +71,21 @@ class CubicCalibrationStore {
 public:
     explicit CubicCalibrationStore(std::string file_path);
 
-    /** Attach/refresh identity + role for a uid (idempotent; call at startup and on each capture).
-     */
+    /** Attach/refresh identity + role + streaming model for a uid (idempotent; call at startup).
+     *  `active_model` is the config truth ("cubic"|"robust"); it takes precedence over a value
+     *  restored from disk by load(). */
     void register_channel(uint16_t uid, uint8_t board_id, uint8_t connector, uint8_t logical_ch,
-                          const std::string& role);
+                          const std::string& role, const std::string& active_model = "cubic");
 
     /** Append a capture point (raw ADC, reference PSI), cap history, and re-fit. Returns the fit.
-     */
+     *  For a robust uid the point is recorded for display only and an invalid fit is returned
+     *  (the robust learner is updated by the service, not here). */
     CubicFit add_point(uint16_t uid, double adc, double psi);
 
-    /** Drop all points + fit for a uid (channel goes back to PENDING). */
+    /** Replace a robust uid's display fit-curve (sampled predict_pressure_psi points). */
+    void set_fit_curve(uint16_t uid, const std::vector<std::pair<double, double>>& curve);
+
+    /** Drop all points, fit, and fit-curve for a uid (channel goes back to PENDING). */
     void clear_channel(uint16_t uid);
 
     const CubicFit* fit_for(uint16_t uid) const;
diff --git a/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp b/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
index fd57df2e4..0884a4b7a 100644
--- a/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
@@ -33,7 +33,8 @@ CubicCalibrationStore::CubicCalibrationStore(std::string file_path)
 }
 
 void CubicCalibrationStore::register_channel(uint16_t uid, uint8_t board_id, uint8_t connector,
-                                             uint8_t logical_ch, const std::string& role) {
+                                             uint8_t logical_ch, const std::string& role,
+                                             const std::string& active_model) {
     std::lock_guard<std::mutex> lock(mutex_);
     auto& ch = channels_[uid];
     ch.uid = uid;
@@ -42,6 +43,8 @@ void CubicCalibrationStore::register_channel(uint16_t uid, uint8_t board_id, uin
     ch.logical_ch = logical_ch;
     if (!role.empty())
         ch.role = role;
+    if (!active_model.empty())
+        ch.active_model = active_model;  // config truth; wins over a disk-restored value
 }
 
 CubicFit CubicCalibrationStore::compute_fit(const std::vector<CubicPoint>& pts) const {
@@ -128,8 +131,19 @@ CubicFit CubicCalibrationStore::add_point(uint16_t uid, double adc, double psi)
         ch.points.erase(ch.points.begin(), ch.points.begin() + static_cast<std::ptrdiff_t>(
                                                                    ch.points.size() - kMaxPoints));
 
-    ch.fit = compute_fit(ch.points);
     ch.updated_at = pt.t;
+
+    if (ch.active_model == "robust") {
+        // Robust: the point is display-only; the RLS learner is updated by the service. Leave the
+        // cubic fit invalid so this uid is excluded from the logical polynomial maps and no cubic
+        // is applied. Status tracks point count.
+        ch.fit = CubicFit{};
+        ch.status = ch.points.size() < 2 ? "PENDING" : "OK";
+        ch.last_error.clear();
+        return ch.fit;
+    }
+
+    ch.fit = compute_fit(ch.points);
     if (!ch.fit.valid) {
         ch.status = "ERROR";
         ch.last_error = "fit produced non-finite coefficients";
@@ -143,6 +157,14 @@ CubicFit CubicCalibrationStore::add_point(uint16_t uid, double adc, double psi)
     return ch.fit;
 }
 
+void CubicCalibrationStore::set_fit_curve(uint16_t uid,
+                                          const std::vector<std::pair<double, double>>& curve) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto it = channels_.find(uid);
+    if (it != channels_.end())
+        it->second.fit_curve = curve;
+}
+
 void CubicCalibrationStore::clear_channel(uint16_t uid) {
     std::lock_guard<std::mutex> lock(mutex_);
     auto it = channels_.find(uid);
@@ -150,6 +172,7 @@ void CubicCalibrationStore::clear_channel(uint16_t uid) {
         return;
     it->second.points.clear();
     it->second.fit = CubicFit{};
+    it->second.fit_curve.clear();
     it->second.status = "PENDING";
     it->second.last_error.clear();
     it->second.updated_at = unix_now_sec();
@@ -208,7 +231,7 @@ std::string CubicCalibrationStore::serialize() const {
         cj["connector"] = static_cast<int>(ch.connector);
         cj["logicalCh"] = static_cast<int>(ch.logical_ch);
         cj["role"] = ch.role;
-        cj["active_model"] = "cubic";
+        cj["active_model"] = ch.active_model;
         cj["numPoints"] = ch.points.size();
         cj["status"] = ch.status;
         cj["last_error"] = ch.last_error;
@@ -223,6 +246,13 @@ std::string CubicCalibrationStore::serialize() const {
         for (const auto& p : ch.points)
             pts.push_back({{"adc", p.adc}, {"psi", p.psi}, {"t", p.t}});
         cj["points"] = pts;
+        // Robust display overlay: sampled model curve (absent/empty for cubic uids).
+        if (!ch.fit_curve.empty()) {
+            json fc = json::array();
+            for (const auto& [adc, psi] : ch.fit_curve)
+                fc.push_back({{"adc", adc}, {"psi", psi}});
+            cj["fitCurve"] = fc;
+        }
         state[std::to_string(static_cast<int>(uid))] = cj;
     }
 
@@ -282,14 +312,23 @@ size_t CubicCalibrationStore::load() {
             continue;
         }
 
-        CubicChannel ch;
+        // Merge into the channel register_channel() already created at startup: config is the
+        // source of truth for identity/role/active_model, so don't clobber them with disk values.
+        auto& ch = channels_[uid];
+        const bool registered = ch.uid != 0;
         ch.uid = uid;
         ch.board_id = static_cast<uint8_t>(uid / 100);
         ch.connector = static_cast<uint8_t>(uid % 100);
         ch.logical_ch =
             pt_logical_calibration_channel(slot_from_board_id(ch.board_id), ch.connector);
-        ch.role = cj.value("role", std::string());
+        if (!registered) {
+            ch.role = cj.value("role", std::string());
+            ch.active_model = cj.value("active_model", std::string("cubic"));
+        } else if (ch.role.empty()) {
+            ch.role = cj.value("role", std::string());
+        }
 
+        ch.points.clear();
         if (cj.contains("points") && cj["points"].is_array()) {
             for (const auto& pj : cj["points"]) {
                 CubicPoint p;
@@ -304,11 +343,22 @@ size_t CubicCalibrationStore::load() {
                             ch.points.begin() +
                                 static_cast<std::ptrdiff_t>(ch.points.size() - kMaxPoints));
 
-        ch.fit = compute_fit(ch.points);
+        ch.fit_curve.clear();
+        if (cj.contains("fitCurve") && cj["fitCurve"].is_array())
+            for (const auto& pj : cj["fitCurve"])
+                ch.fit_curve.emplace_back(pj.value("adc", 0.0), pj.value("psi", 0.0));
+
+        if (ch.active_model == "robust") {
+            // Display-only points; no cubic fit. The service re-samples fit_curve after restoring
+            // the robust model from adjustments.json.
+            ch.fit = CubicFit{};
+            ch.status = ch.points.size() < 2 ? "PENDING" : "OK";
+        } else {
+            ch.fit = compute_fit(ch.points);
+            ch.status = !ch.fit.valid ? (ch.points.empty() ? "PENDING" : "ERROR")
+                                      : (ch.points.size() < 2 ? "PENDING" : "OK");
+        }
         ch.updated_at = unix_now_sec();
-        ch.status = !ch.fit.valid ? (ch.points.empty() ? "PENDING" : "ERROR")
-                                  : (ch.points.size() < 2 ? "PENDING" : "OK");
-        channels_[uid] = std::move(ch);
         ++loaded;
     }
     return loaded;
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 6d3693ad2..d230e69fa 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -117,6 +117,11 @@ static PtModel pt_model_for(uint16_t uid) {
     return it == g_pt_model.end() ? PtModel::Cubic : it->second;
 }
 
+/** Config-string form of a model, for the cubic store's per-uid active_model tag. */
+static const char* pt_model_name(PtModel m) {
+    return m == PtModel::Robust ? "robust" : (m == PtModel::Blend ? "blend" : "cubic");
+}
+
 /**
  * The single LP PT source-selection rule, shared by the streaming path and the Zero-All helper so
  * both agree. Guards first: no factory fit -> robust; robust not seeded -> factory. Otherwise the
@@ -592,11 +597,71 @@ int main(int argc, char* argv[]) {
             const uint16_t uid = static_cast<uint16_t>(bc.board_id) * 100u + local_ch;
             const uint8_t log_ch =
                 fsw::calibration::pt_logical_calibration_channel(bc.board_number, local_ch);
-            cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, /*role=*/"");
+            cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, /*role=*/"",
+                                         pt_model_name(pt_model_for(uid)));
             if (pt_calibration.is_calibrated(log_ch))
                 factory_pt_snapshot[log_ch] = *pt_calibration.get_calibration(log_ch);
         }
     }
+
+    // ---- Unified capture/clear routing (see the [calibration_model_*] plan)
+    // ---------------------- One capture path: the frontend sends {uid, ref}; the service routes by
+    // the uid's configured model. Cubic/Blend -> record point + fit + apply to pt_calibration.
+    // Robust -> record point for display + feed the RLS learner + refresh the sampled display
+    // curve. Same split for clear.
+    auto sample_robust_curve = [&](uint16_t uid) -> std::vector<std::pair<double, double>> {
+        std::vector<std::pair<double, double>> curve;
+        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+        if (cch == nullptr || cch->points.empty())
+            return curve;
+        double amin = cch->points.front().adc, amax = amin;
+        for (const auto& p : cch->points) {
+            amin = std::min(amin, p.adc);
+            amax = std::max(amax, p.adc);
+        }
+        if (!(amax > amin))
+            amax = amin + 1.0;
+        constexpr int kSamples = 40;
+        curve.reserve(kSamples + 1);
+        for (int i = 0; i <= kSamples; ++i) {
+            const double adc = amin + (amax - amin) * i / kSamples;
+            const double psi =
+                robust_manager.predict_pressure_psi(uid, static_cast<int32_t>(std::llround(adc)));
+            curve.emplace_back(adc, psi);
+        }
+        return curve;
+    };
+    auto apply_capture = [&](uint16_t uid, double adc_avg, double ref) {
+        if (pt_model_for(uid) == PtModel::Robust) {
+            cubic_store.add_point(uid, adc_avg, ref);  // display/audit only for robust
+            robust_manager.update_calibration(uid, static_cast<int32_t>(std::llround(adc_avg)),
+                                              ref);
+            cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
+        } else {  // Cubic (and Blend, whose factory half is the cubic)
+            const fsw::calibration::CubicFit fit = cubic_store.add_point(uid, adc_avg, ref);
+            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+            if (fit.valid && cch != nullptr)
+                pt_calibration.set_calibration(
+                    cch->logical_ch,
+                    fsw::calibration::PTCalibrationCoeffs(fit.A, fit.B, fit.C, fit.D));
+        }
+        cubic_store.save();
+    };
+    auto apply_clear = [&](uint16_t uid) {
+        cubic_store.clear_channel(uid);
+        if (pt_model_for(uid) == PtModel::Robust) {
+            robust_manager.reset_adjustment(uid);
+        } else {
+            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+            if (cch != nullptr) {
+                auto fac = factory_pt_snapshot.find(cch->logical_ch);
+                if (fac != factory_pt_snapshot.end())
+                    pt_calibration.set_calibration(cch->logical_ch, fac->second);
+            }
+        }
+        cubic_store.save();
+    };
+
     // Resume previously captured points and re-apply their fitted cubics to the live stream.
     const size_t cubic_loaded = cubic_store.load();
     if (cubic_loaded > 0) {
@@ -620,6 +685,18 @@ int main(int argc, char* argv[]) {
         std::cout << "[Calibration]   File missing/unreadable — using factory-seeded robust only"
                   << std::endl;
     }
+    // Robust uids: resume points are display-only, so re-sample the display curve from the now-
+    // restored robust model (adjustments.json). Cubic uids already had their fit re-applied above.
+    {
+        bool any = false;
+        for (uint16_t uid : cubic_store.uids())
+            if (pt_model_for(uid) == PtModel::Robust) {
+                cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
+                any = true;
+            }
+        if (any)
+            cubic_store.save();
+    }
     if (g_env_override) {
         const char* label = *g_env_override == PtModel::Cubic ? "factory cubic (CAL_USE_FACTORY_PT)"
                             : *g_env_override == PtModel::Blend
@@ -846,6 +923,33 @@ int main(int argc, char* argv[]) {
                     cubic_store.save();
                     std::cout << "[Cal] Cubic cleared uid=" << static_cast<int>(sensor_id)
                               << std::endl;
+                } else if (cmd_type == 5) {  // Unified capture point — routed by configured model
+                    bool have_adc = false;
+                    double adc_avg = 0.0;
+                    auto rit = pt_adc_ring.find(sensor_id);
+                    if (rit != pt_adc_ring.end() && !rit->second.empty()) {
+                        double sum = 0.0;
+                        for (int32_t a : rit->second)
+                            sum += static_cast<double>(a);
+                        adc_avg = sum / static_cast<double>(rit->second.size());
+                        have_adc = true;
+                    } else if (last_adc_map.count(sensor_id)) {
+                        adc_avg = static_cast<double>(last_adc_map[sensor_id]);
+                        have_adc = true;
+                    }
+                    if (have_adc) {
+                        apply_capture(sensor_id, adc_avg, ref_val);
+                        std::cout << "[Cal] Capture uid=" << static_cast<int>(sensor_id) << " ("
+                                  << pt_model_name(pt_model_for(sensor_id)) << ") adc=" << adc_avg
+                                  << " psi=" << ref_val << std::endl;
+                    } else {
+                        std::cout << "[Cal] Capture: no ADC seen yet for uid "
+                                  << static_cast<int>(sensor_id) << std::endl;
+                    }
+                } else if (cmd_type == 6) {  // Unified new calibration / clear — routed by model
+                    apply_clear(sensor_id);
+                    std::cout << "[Cal] New calibration uid=" << static_cast<int>(sensor_id) << " ("
+                              << pt_model_name(pt_model_for(sensor_id)) << ")" << std::endl;
                 }
             }
             continue;
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index a4275298a..fb8ac9a32 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -256,7 +256,9 @@ export type CalibrationCommandType =
   | 'save_coefficients'   // persist current coefficients to disk
   | 'clear_calibration'   // clear all state and start from scratch
   | 'capture_cubic_point' // add one (current ADC, ref PSI) point to a channel's cubic fit
-  | 'clear_cubic_channel';// drop a channel's cubic points and revert to the factory cubic
+  | 'clear_cubic_channel' // drop a channel's cubic points and revert to the factory cubic
+  | 'capture_point'       // unified: add one (current ADC, ref PSI) point; service routes by config model
+  | 'new_calibration';    // unified: start fresh for a channel; service routes clear by config model
 
 export interface CalibrationCommand {
   commandType: CalibrationCommandType;
@@ -284,18 +286,21 @@ export interface CubicCalibrationChannel {
   connector: number;              // 1-based board-local connector
   logicalCh: number;              // (slot-1)*10 + connector (PTCalibrationManager key)
   role: string;                   // may be empty; the UI supplies it from sensor config
-  active_model: 'cubic';
+  active_model: 'cubic' | 'robust';  // the model this uid streams (config truth); which page shows it
   numPoints: number;
   status: 'PENDING' | 'OK' | 'ERROR';
   last_error: string;
   rmse: number;
   degree: number;
   updatedAt: number;              // unix seconds
-  coeffs: { A: number; B: number; C: number; D: number };  // raw-ADC-space cubic
+  coeffs: { A: number; B: number; C: number; D: number };  // raw-ADC-space cubic (cubic uids)
   polyCoeffs: number[];           // normalized coeffs (well-conditioned; used for display eval)
   adcNormMin: number;
   adcNormScale: number;
   points: CubicCalibrationPoint[];
+  // Robust uids only: (adc, psi) samples of the live robust model, for the overlay curve. Cubic
+  // uids draw their curve from polyCoeffs instead, so this is absent for them.
+  fitCurve?: { adc: number; psi: number }[];
 }
 
 /** Body of GET /api/cubic_calibration: the service's cubic_calibration.json, keyed by uid. */

From 92d68abf4c34bef6acc80e3ed7a22f56f8a88d73 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 02:54:09 -0700
Subject: [PATCH 143/205] =?UTF-8?q?daq=5Fbridge:=20route=20loopback-fallba?=
 =?UTF-8?q?ck=20sensor=20packets=20by=20config-IP=20host=20octet,=20not=20?=
 =?UTF-8?q?enumeration=20index=20=E2=80=94=20the=20sim=20(Python=20file=20?=
 =?UTF-8?q?order)=20and=20bridge=20(toml++=20alphabetical)=20disagreed=20o?=
 =?UTF-8?q?n=20board=20order,=20so=20TC/RTD=20data=20was=20decoded=20as=20?=
 =?UTF-8?q?PT;=20now=20identity-based=20(sim=20binds=20127.0.0.<host-octet?=
 =?UTF-8?q?>,=20bridge=20resolves=20by=20it)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../daq_bridge/daq_bridge_main.cpp            | 97 +++++++++++--------
 daq-server/sim/board_simulator.py             | 17 +++-
 daq-server/test/test_integration.sh           | 11 ++-
 3 files changed, 78 insertions(+), 47 deletions(-)

diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 4bb78db0a..279a7ef58 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -125,15 +125,29 @@ struct ServerHeartbeatConfig {
     bool send_from_daq_bridge = true;  // false when heartbeat_service is used
 };
 
-// Ordered list of (ip, config) for enabled boards in parse order. Used when board_simulator
-// falls back to 127.0.0.2, 127.0.0.3, ... so each simulated board gets correct board_id.
-using BoardOrder = std::vector<std::pair<std::string, BoardConfig>>;
+// Loopback fallback routing (integration test only): the simulator binds 127.0.0.<host-octet> per
+// board, where host-octet is the last octet of that board's config IP, so the bridge resolves those
+// packets by that octet — identity-based and immune to how the TOML parser happens to order
+// [boards] (toml++ sorts alphabetically; the Python sim iterates file order). Keyed by host octet.
+using BoardByOctet = std::map<int, BoardConfig>;
+
+/** Last octet of a dotted IPv4 string (e.g. "192.168.2.51" -> 51), or -1 if not parseable. */
+static int ipv4_host_octet(const std::string& ip) {
+    const auto dot = ip.rfind('.');
+    if (dot == std::string::npos || dot + 1 >= ip.size())
+        return -1;
+    const std::string tail = ip.substr(dot + 1);
+    if (tail.empty() || tail.find_first_not_of("0123456789") != std::string::npos)
+        return -1;
+    const int v = std::atoi(tail.c_str());
+    return (v >= 0 && v <= 255) ? v : -1;
+}
 
 // Minimal config parse: [database] host/port, [network] sensor_port/bind_ip, [server_heartbeat],
 // [boards.xxx] type/ip/enabled
 static void load_board_map_from_config(const std::string& config_path,
                                        std::map<std::string, BoardConfig>& board_map,
-                                       BoardOrder* out_board_order, std::string& db_host,
+                                       BoardByOctet* out_board_by_octet, std::string& db_host,
                                        uint16_t& db_port, uint16_t* out_sensor_port = nullptr,
                                        std::string* out_bind_ip = nullptr,
                                        ServerHeartbeatConfig* out_hb = nullptr,
@@ -188,11 +202,23 @@ static void load_board_map_from_config(const std::string& config_path,
             continue;
         BoardConfig bc{bt, b.ip, b.num_sensors, b.enabled, b.board_id};
         board_map[b.ip] = bc;
-        if (out_board_order && b.enabled)
-            out_board_order->emplace_back(b.ip, std::move(bc));
+        // Index the board by its config-IP host octet for the loopback fallback (see BoardByOctet).
+        if (out_board_by_octet && b.enabled) {
+            const int octet = ipv4_host_octet(b.ip);
+            if (octet >= 2) {
+                auto [it, inserted] = out_board_by_octet->emplace(octet, bc);
+                if (!inserted)
+                    std::cerr << "[Config] WARN: loopback host octet " << octet << " (127.0.0."
+                              << octet << ") is claimed by both [" << it->second.ip << "] and ["
+                              << b.ip
+                              << "]; keeping the first. Give boards config IPs with distinct "
+                                 "last octets."
+                              << std::endl;
+            }
+        }
     }
-    // NOTE: do NOT add 127.0.0.1→PT. When simulator can't bind to config IPs, it uses
-    // 127.0.0.2, 127.0.0.3, ... (one per board). board_order maps index→config for that fallback.
+    // NOTE: do NOT add 127.0.0.1→PT. When the simulator can't bind config IPs it binds
+    // 127.0.0.<host octet> (one per board); resolve_board_config_by_source_ip maps that back.
 }
 
 // Map discovery signature board_type (DAQv2 wire: 1=PT, 2=LC, 3=RTD, 4=TC, 5=ACT, 6=ENC)
@@ -235,24 +261,26 @@ static uint8_t config_board_type_to_wire_u8(BoardType t) {
 }
 
 /**
- * Match config.toml board_id to the packet source IP. board_simulator uses 127.0.0.2, 127.0.0.3, …
- * while [boards.*] lists 192.168.2.* — the main sensor path used this mapping for Elodin packet
- * IDs. Heartbeats must use the same mapping or {0x10, low} uses the firmware slot byte (1–8)
- * instead of config board_id (e.g. 21, 12), and the thin backend boardsStatus / Boards UI show
- * PT/ACT disconnected.
+ * Resolve a packet's source IP to its config board. Real deployments send from the config IP, so
+ * the direct board_map lookup hits. The integration test can't bind the 192.168.2.* config IPs, so
+ * the simulator binds each board to 127.0.0.<host-octet> (the last octet of its config IP); those
+ * packets resolve by that octet via board_by_octet. This is identity-based — unlike the old
+ * index-based scheme it does NOT depend on the bridge and the sim iterating [boards] in the same
+ * order, which they don't (toml++ sorts alphabetically; the Python sim uses file order).
  */
 static const BoardConfig* resolve_board_config_by_source_ip(
     const std::string& source_ip, const std::map<std::string, BoardConfig>& board_map,
-    const BoardOrder& board_order) {
+    const BoardByOctet& board_by_octet) {
     auto it = board_map.find(source_ip);
     if (it != board_map.end() && it->second.enabled)
         return &it->second;
-    if (source_ip.compare(0, 8, "127.0.0.") == 0 && !board_order.empty()) {
-        int idx = (source_ip.size() >= 9) ? (std::atoi(source_ip.c_str() + 8) - 2) : -1;
-        if (idx < 0)
-            idx = 0;
-        if (idx < static_cast<int>(board_order.size()))
-            return &board_order[static_cast<size_t>(idx)].second;
+    if (source_ip.compare(0, 8, "127.0.0.") == 0) {
+        const int octet = ipv4_host_octet(source_ip);
+        if (octet >= 2) {
+            auto bo = board_by_octet.find(octet);
+            if (bo != board_by_octet.end() && bo->second.enabled)
+                return &bo->second;
+        }
     }
     return nullptr;
 }
@@ -296,7 +324,7 @@ int main(int argc, char* argv[]) {
 
     // ── Board IP → Type mapping from config ([boards.*]), DB host/port, network sensor_port ──
     std::map<std::string, BoardConfig> board_map;
-    BoardOrder board_order;
+    BoardByOctet board_by_octet;
     std::string db_host;
     uint16_t db_port;
     uint16_t config_sensor_port = 0;
@@ -304,7 +332,7 @@ int main(int argc, char* argv[]) {
     ServerHeartbeatConfig hb_config;
     fsw::time::TimeSyncConfig time_sync_cfg;
     uint16_t log_backend_port = 8092;  // [logs] backend_udp_port default
-    load_board_map_from_config(config_path, board_map, &board_order, db_host, db_port,
+    load_board_map_from_config(config_path, board_map, &board_by_octet, db_host, db_port,
                                &config_sensor_port, &config_bind_ip, &hb_config, &time_sync_cfg,
                                &log_backend_port);
     std::cout << "[TimeSync] mode="
@@ -316,7 +344,7 @@ int main(int argc, char* argv[]) {
     if (!config_bind_ip.empty())
         bind_address = config_bind_ip;
 
-    std::cout << "[Config] Board order (127.0.0.x fallback): " << board_order.size()
+    std::cout << "[Config] Loopback fallback (127.0.0.<host-octet>): " << board_by_octet.size()
               << " enabled boards" << std::endl;
     std::cout << "[Config] Board routing table (from " << config_path << "):" << std::endl;
     for (const auto& [ip, cfg] : board_map) {
@@ -575,7 +603,7 @@ int main(int argc, char* argv[]) {
                     uint8_t board_type_wire = fsw::daq_wire::kUnknown;
                     int elodin_board_id = -1;
                     if (const BoardConfig* hb_cfg = resolve_board_config_by_source_ip(
-                            hb->source_ip, board_map, board_order)) {
+                            hb->source_ip, board_map, board_by_octet)) {
                         board_type_wire = config_board_type_to_wire_u8(hb_cfg->type);
                         if (hb_cfg->board_id >= 0)
                             elodin_board_id = hb_cfg->board_id;
@@ -615,7 +643,7 @@ int main(int argc, char* argv[]) {
                     // Board attribution by source IP (same mapping as sensor/heartbeat paths).
                     uint8_t board_id = 0;
                     if (const BoardConfig* log_cfg = resolve_board_config_by_source_ip(
-                            log->source_ip, board_map, board_order)) {
+                            log->source_ip, board_map, board_by_octet)) {
                         if (log_cfg->board_id >= 0)
                             board_id = static_cast<uint8_t>(log_cfg->board_id);
                     }
@@ -679,7 +707,7 @@ int main(int argc, char* argv[]) {
         // then discovery, else treat as PT) ──
         auto board_it = board_map.find(source_ip);
         const BoardConfig* effective_cfg =
-            resolve_board_config_by_source_ip(source_ip, board_map, board_order);
+            resolve_board_config_by_source_ip(source_ip, board_map, board_by_octet);
         // Use board type from config even when disabled — we still publish actuator/PT data to DB
         BoardType board_type = board_it != board_map.end()
                                    ? board_it->second.type
@@ -706,9 +734,9 @@ int main(int argc, char* argv[]) {
             elodin_client.begin_batch();
             for (const auto& st_packet : batch.value().self_tests) {
                 // Self-test UDP has no board_id on wire; map source IP → config board_id.
-                // Must match sensor routing: simulators often use 127.0.0.2+ (board_order) while
-                // board_map is keyed by config IPs — without effective_cfg, board_id stayed 0 and
-                // no [0x60,*] rows reached Elodin (UI showed UNTESTED despite ACTIVE).
+                // Must match sensor routing: simulators use 127.0.0.<host-octet> (board_by_octet)
+                // while board_map is keyed by config IPs — without effective_cfg, board_id stayed 0
+                // and no [0x60,*] rows reached Elodin (UI showed UNTESTED despite ACTIVE).
                 uint8_t board_id = 0;
                 if (effective_cfg && effective_cfg->board_id >= 0)
                     board_id = static_cast<uint8_t>(effective_cfg->board_id);
@@ -894,15 +922,8 @@ int main(int argc, char* argv[]) {
 
             std::cout << "\n[Stats] Total: " << packet_count << " pkts";
             for (const auto& [ip, cnt] : packets_per_board) {
-                auto it = board_map.find(ip);
-                const BoardConfig* cfg = (it != board_map.end()) ? &it->second : nullptr;
-                if (!cfg && ip.compare(0, 8, "127.0.0.") == 0 && !board_order.empty()) {
-                    int idx = (ip.size() >= 9) ? (std::atoi(ip.c_str() + 8) - 2) : -1;
-                    if (idx < 0)
-                        idx = 0;
-                    if (idx < static_cast<int>(board_order.size()))
-                        cfg = &board_order[idx].second;
-                }
+                const BoardConfig* cfg =
+                    resolve_board_config_by_source_ip(ip, board_map, board_by_octet);
                 const char* tag = "???";
                 if (cfg) {
                     switch (cfg->type) {
diff --git a/daq-server/sim/board_simulator.py b/daq-server/sim/board_simulator.py
index f93789cad..724ab5160 100755
--- a/daq-server/sim/board_simulator.py
+++ b/daq-server/sim/board_simulator.py
@@ -199,10 +199,19 @@ def start(self):
                     f"{self.config.get('board_id')}. Run the simulator against config/sim_config.toml "
                     f"(loopback IPs), or pass --allow-ip-fallback (integration test only)."
                 )
-            # When config IPs (e.g. 192.168.2.21) are not on this host, use distinct
-            # loopback IPs so daq_bridge can route each board's data correctly.
-            # 127.0.0.2 = first board, 127.0.0.3 = second, etc.
-            fallback_ip = f"127.0.0.{2 + self.board_index}"
+            # When config IPs (e.g. 192.168.2.21) are not on this host, bind a distinct loopback IP
+            # per board so daq_bridge can route each board's data. Mirror the config IP's host octet
+            # (192.168.2.51 -> 127.0.0.51): the bridge resolves loopback packets by that octet, which
+            # is identity-based and immune to [boards] iteration order (the C++ toml++ loader sorts
+            # alphabetically, this file iterates source order — an index-based scheme mislabels
+            # boards). Falls back to the old index scheme only if the config IP has no usable octet.
+            try:
+                host_octet = int(str(self.config.get("ip", "")).rsplit(".", 1)[-1])
+            except (ValueError, TypeError):
+                host_octet = 0
+            fallback_ip = (
+                f"127.0.0.{host_octet}" if host_octet >= 2 else f"127.0.0.{2 + self.board_index}"
+            )
             try:
                 self.sock.bind((fallback_ip, bind_port))
                 self.ip = fallback_ip
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index bce688733..9d329405d 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -182,11 +182,12 @@ echo ""
 mkdir -p "$REPO_ROOT/.tmp"
 
 # ── macOS loopback aliases for board simulator ────────────────────────────────
-# On Linux, 127.0.0.x all resolve to lo. On macOS, only 127.0.0.1 works unless
-# we add explicit aliases. The board_simulator binds each board to a distinct
-# 127.0.0.{2+index} IP so the DAQ bridge can route by source address.
+# On Linux, 127.0.0.x all resolve to lo. On macOS, only 127.0.0.1 works unless we add explicit
+# aliases. The board_simulator binds each board to 127.0.0.<host-octet> (the last octet of its
+# config IP, which equals its board_id here) so the DAQ bridge can route by source address. These
+# are the board_id octets from config_base.toml (enabled and not) plus the startup board (60).
 if [ "$(uname)" = "Darwin" ]; then
-  LOOPBACK_IPS=(2 3 4 5 6 7 8 9 60 61)
+  LOOPBACK_IPS=(11 12 13 14 21 22 31 32 41 42 51 52 60 61)
   NEED_ALIAS=false
   for i in "${LOOPBACK_IPS[@]}"; do
     if ! ifconfig lo0 2>/dev/null | grep -q "127.0.0.$i "; then
@@ -199,7 +200,7 @@ if [ "$(uname)" = "Darwin" ]; then
     for i in "${LOOPBACK_IPS[@]}"; do
       sudo ifconfig lo0 alias "127.0.0.$i" up 2>/dev/null || true
     done
-    echo "  ✅ Loopback aliases added (127.0.0.{2-9,60,61})"
+    echo "  ✅ Loopback aliases added (127.0.0.{board_id octets})"
   fi
 fi
 

From ef71b27792ef33b55d85b621c1d9e599613baa0c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 03:15:38 -0700
Subject: [PATCH 144/205] =?UTF-8?q?calibration:=20file=20PT=20cal=20by=20r?=
 =?UTF-8?q?ole=20so=20it=20follows=20the=20sensor=20across=20a=20connector?=
 =?UTF-8?q?=20change=20=E2=80=94=20the=20service=20passes=20each=20uid's?=
 =?UTF-8?q?=20role=20into=20the=20cubic=20store=20and=20robust=20adjustmen?=
 =?UTF-8?q?ts,=20and=20at=20load=20re-attaches=20each=20stored=20cal=20to?=
 =?UTF-8?q?=20the=20role's=20current=20connector=20(edit=20the=20Roles-tab?=
 =?UTF-8?q?=20mapping=20+=20restart;=20no=20new=20command).=20Legacy=20uid?=
 =?UTF-8?q?-keyed=20files=20migrate=20on=20first=20load;=20zero-offsets=20?=
 =?UTF-8?q?stay=20port-keyed?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../calibration/RobustCalibrationManager.hpp  | 13 +++--
 .../src/calibration/CubicCalibrationStore.cpp | 54 ++++++++++++++-----
 .../calibration/RobustCalibrationManager.cpp  | 32 +++++++++--
 .../services/calibration/calibration_main.cpp | 25 ++++++---
 4 files changed, 99 insertions(+), 25 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp b/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp
index 2101325e6..5578253a0 100644
--- a/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp
+++ b/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp
@@ -44,9 +44,16 @@ class RobustCalibrationManager {
 
     void reset_adjustment(uint16_t sensor_id);
 
-    bool save_adjustments(const std::string& path) const;
-
-    bool load_adjustments(const std::string& path);
+    /** Persist per-sensor θ. When uid_to_role is given, each entry also records its role so a later
+     *  load can re-attach it to the role's current sensor_id (calibration follows the sensor). */
+    bool save_adjustments(const std::string& path,
+                          const std::map<uint16_t, std::string>* uid_to_role = nullptr) const;
+
+    /** Restore per-sensor θ. When uid_to_role is given, an entry tagged with a role is restored
+     * into the sensor_id that role currently maps to (so a moved sensor keeps its learned state),
+     *  falling back to the persisted numeric id for untagged/legacy entries. */
+    bool load_adjustments(const std::string& path,
+                          const std::map<uint16_t, std::string>* uid_to_role = nullptr);
 
 private:
     mutable std::mutex mutex_;
diff --git a/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp b/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
index 0884a4b7a..6ea46cfaf 100644
--- a/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/CubicCalibrationStore.cpp
@@ -6,6 +6,7 @@
 #include <cmath>
 #include <filesystem>
 #include <fstream>
+#include <iostream>
 #include <nlohmann/json.hpp>
 
 #include "calibration/PTCalibration.hpp"  // pt_logical_calibration_channel
@@ -303,29 +304,54 @@ size_t CubicCalibrationStore::load() {
     if (!root.contains("cubic_state") || !root["cubic_state"].is_object())
         return 0;
 
+    // role -> current uid, from the channels register_channel() created before this load. Durable
+    // cal is filed by role, so an entry re-attaches to the connector its role now occupies — the
+    // calibration follows the sensor when its cable moves to a different board port.
+    std::map<std::string, uint16_t> role_to_uid;
+    for (const auto& [uid, ch] : channels_)
+        if (!ch.role.empty())
+            role_to_uid.emplace(ch.role, uid);
+
     size_t loaded = 0;
     for (auto& [id_str, cj] : root["cubic_state"].items()) {
-        uint16_t uid = 0;
+        uint16_t persisted_uid = 0;
         try {
-            uid = static_cast<uint16_t>(std::stoi(id_str));
+            persisted_uid = static_cast<uint16_t>(std::stoi(id_str));
         } catch (...) {
             continue;
         }
 
-        // Merge into the channel register_channel() already created at startup: config is the
-        // source of truth for identity/role/active_model, so don't clobber them with disk values.
+        // The entry's durable identity is its role. Legacy entries (written before roles were
+        // tracked) adopt the role of the channel currently at their persisted uid — a one-time
+        // migration, after which they too follow moves.
+        std::string entry_role = cj.value("role", std::string());
+        if (entry_role.empty()) {
+            auto pit = channels_.find(persisted_uid);
+            if (pit != channels_.end())
+                entry_role = pit->second.role;
+        }
+
+        // Destination = where that role lives now (config truth); else the persisted uid.
+        uint16_t uid = persisted_uid;
+        if (!entry_role.empty()) {
+            auto rit = role_to_uid.find(entry_role);
+            if (rit != role_to_uid.end())
+                uid = rit->second;
+        }
+
+        // Merge into the channel register_channel() created at startup (config is the source of
+        // truth for its identity/role/active_model); only synthesize identity when no current board
+        // owns the destination uid (an orphaned role no longer in config).
         auto& ch = channels_[uid];
         const bool registered = ch.uid != 0;
-        ch.uid = uid;
-        ch.board_id = static_cast<uint8_t>(uid / 100);
-        ch.connector = static_cast<uint8_t>(uid % 100);
-        ch.logical_ch =
-            pt_logical_calibration_channel(slot_from_board_id(ch.board_id), ch.connector);
         if (!registered) {
-            ch.role = cj.value("role", std::string());
+            ch.uid = uid;
+            ch.board_id = static_cast<uint8_t>(uid / 100);
+            ch.connector = static_cast<uint8_t>(uid % 100);
+            ch.logical_ch =
+                pt_logical_calibration_channel(slot_from_board_id(ch.board_id), ch.connector);
+            ch.role = entry_role;
             ch.active_model = cj.value("active_model", std::string("cubic"));
-        } else if (ch.role.empty()) {
-            ch.role = cj.value("role", std::string());
         }
 
         ch.points.clear();
@@ -359,6 +385,10 @@ size_t CubicCalibrationStore::load() {
                                       : (ch.points.size() < 2 ? "PENDING" : "OK");
         }
         ch.updated_at = unix_now_sec();
+        if (uid != persisted_uid)
+            std::cout << "[CubicStore] role '" << entry_role << "' cal re-attached to connector "
+                      << static_cast<int>(uid % 100) << " (was "
+                      << static_cast<int>(persisted_uid % 100) << ") — sensor moved" << std::endl;
         ++loaded;
     }
     return loaded;
diff --git a/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp b/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
index 092cc8bc5..70fe7ca4c 100644
--- a/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
@@ -206,7 +206,8 @@ void RobustCalibrationManager::reset_adjustment(uint16_t sensor_id) {
     state.framework->seed_from_factory_cubic(state.baseline);
 }
 
-bool RobustCalibrationManager::save_adjustments(const std::string& path) const {
+bool RobustCalibrationManager::save_adjustments(
+    const std::string& path, const std::map<uint16_t, std::string>* uid_to_role) const {
     std::lock_guard<std::mutex> lock(mutex_);
     constexpr int N = RobustCalibrationFramework::N;
     nlohmann::json fw2 = nlohmann::json::object();
@@ -225,7 +226,14 @@ bool RobustCalibrationManager::save_adjustments(const std::string& path) const {
                 row.push_back(cov(r, c));
             cvec.push_back(row);
         }
-        fw2[std::to_string(static_cast<int>(id))] = {{"theta_mean", mean}, {"theta_cov", cvec}};
+        nlohmann::json entry = {{"theta_mean", mean}, {"theta_cov", cvec}};
+        // Record the role so load can re-attach this state to the role's current sensor_id.
+        if (uid_to_role) {
+            auto rit = uid_to_role->find(id);
+            if (rit != uid_to_role->end() && !rit->second.empty())
+                entry["role"] = rit->second;
+        }
+        fw2[std::to_string(static_cast<int>(id))] = std::move(entry);
     }
     const nlohmann::json root = {{"framework_v2", fw2}};
 
@@ -236,7 +244,8 @@ bool RobustCalibrationManager::save_adjustments(const std::string& path) const {
     return file.good();
 }
 
-bool RobustCalibrationManager::load_adjustments(const std::string& path) {
+bool RobustCalibrationManager::load_adjustments(
+    const std::string& path, const std::map<uint16_t, std::string>* uid_to_role) {
     std::lock_guard<std::mutex> lock(mutex_);
     std::ifstream file(path);
     if (!file.is_open())
@@ -260,6 +269,14 @@ bool RobustCalibrationManager::load_adjustments(const std::string& path) {
 
     constexpr int N = RobustCalibrationFramework::N;
 
+    // Inverse role -> current sensor_id, so a role-tagged entry is restored onto the connector that
+    // role now occupies (calibration follows the sensor across a move).
+    std::map<std::string, uint16_t> role_to_uid;
+    if (uid_to_role)
+        for (const auto& [uid, role] : *uid_to_role)
+            if (!role.empty())
+                role_to_uid.emplace(role, uid);  // roles are unique; first wins
+
     auto apply_restored = [&]() {
         for (auto& [id, state] : states_) {
             if (!state.framework)
@@ -281,7 +298,14 @@ bool RobustCalibrationManager::load_adjustments(const std::string& path) {
         for (auto& [id_str, sub] : root["framework_v2"].items()) {
             if (!is_numeric_key(id_str) || !sub.is_object())
                 continue;
-            const uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
+            uint16_t id = static_cast<uint16_t>(std::stoi(id_str));
+            // Re-file by role onto its current sensor_id when the role is known; else keep the
+            // persisted id (legacy entries / roles no longer in config).
+            if (sub.contains("role") && sub["role"].is_string()) {
+                auto rit = role_to_uid.find(sub["role"].get<std::string>());
+                if (rit != role_to_uid.end())
+                    id = rit->second;
+            }
             auto mean = sub.contains("theta_mean") ? json_vec(sub["theta_mean"], N) : std::nullopt;
             auto cov = sub.contains("theta_cov") ? json_mat(sub["theta_cov"], N) : std::nullopt;
             if (mean && cov) {
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index d230e69fa..b0ed0d727 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -84,6 +84,11 @@ enum class PtModel { Cubic, Robust, Blend };
  *  uid means Cubic, so this stays small and the startup log lists only meaningful overrides. */
 std::unordered_map<uint16_t, PtModel> g_pt_model;
 
+/** uid -> role name (from [sensor_roles_*]). Durable calibration is filed under the role, so it
+ *  follows the sensor when its connector changes (see re-file-by-role in the stores). Empty for
+ *  connectors with no configured role. */
+std::unordered_map<uint16_t, std::string> g_uid_role;
+
 /** Set once at startup: when a CAL_USE_* PT env var is present it forces every sensor, else nullopt
  *  and the per-sensor config governs. */
 std::optional<PtModel> g_env_override;
@@ -537,6 +542,7 @@ int main(int argc, char* argv[]) {
         g_env_override = PtModel::Robust;
 
     g_pt_model.clear();
+    g_uid_role.clear();
     for (const auto& b : cal_cfg.boards) {
         if (b.type != "PT" || !b.enabled || b.board_id < 0)
             continue;
@@ -551,6 +557,8 @@ int main(int argc, char* argv[]) {
         for (const auto& [role, connector] : *roles) {
             if (connector < 1 || connector > 99)
                 continue;
+            const uint16_t uid = static_cast<uint16_t>(b.board_id * 100 + connector);
+            g_uid_role[uid] = role;  // the identity durable cal is filed under
             PtModel m = PtModel::Cubic;
             if (models != nullptr) {
                 auto it = models->find(role);
@@ -558,9 +566,12 @@ int main(int argc, char* argv[]) {
                     m = parse_pt_model(it->second);
             }
             if (m != PtModel::Cubic)  // only store overrides; absence means cubic
-                g_pt_model[static_cast<uint16_t>(b.board_id * 100 + connector)] = m;
+                g_pt_model[uid] = m;
         }
     }
+    // Ordered uid->role for RobustCalibrationManager save/load, so the robust learned state is
+    // filed by role and re-attaches to the role's current connector (mirrors the cubic store).
+    const std::map<uint16_t, std::string> uid_role(g_uid_role.begin(), g_uid_role.end());
 
     const fsw::calibration::PTCalibrationCoeffs* fallback_pt_coeffs = nullptr;
     for (uint8_t probe_ch = 1; probe_ch <= 10; ++probe_ch) {
@@ -597,7 +608,9 @@ int main(int argc, char* argv[]) {
             const uint16_t uid = static_cast<uint16_t>(bc.board_id) * 100u + local_ch;
             const uint8_t log_ch =
                 fsw::calibration::pt_logical_calibration_channel(bc.board_number, local_ch);
-            cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, /*role=*/"",
+            const auto rit = g_uid_role.find(uid);
+            const std::string role = rit != g_uid_role.end() ? rit->second : std::string();
+            cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, role,
                                          pt_model_name(pt_model_for(uid)));
             if (pt_calibration.is_calibrated(log_ch))
                 factory_pt_snapshot[log_ch] = *pt_calibration.get_calibration(log_ch);
@@ -681,7 +694,7 @@ int main(int argc, char* argv[]) {
     std::cout << "[Calibration]   (override with --adjustments, CAL_BACKUP_PATH, or "
                  "calibration_backups/calibration_backup_*.json mtime)"
               << std::endl;
-    if (!robust_manager.load_adjustments(adjustments_path)) {
+    if (!robust_manager.load_adjustments(adjustments_path, &uid_role)) {
         std::cout << "[Calibration]   File missing/unreadable — using factory-seeded robust only"
                   << std::endl;
     }
@@ -880,7 +893,7 @@ int main(int argc, char* argv[]) {
                                                           ref_val);
                     }
                 } else if (cmd_type == 2) {  // Save
-                    robust_manager.save_adjustments(adjustments_path);
+                    robust_manager.save_adjustments(adjustments_path, &uid_role);
                     std::cout << "[Cal] Adjustments saved to " << adjustments_path << std::endl;
                 } else if (cmd_type == 3) {  // Capture cubic point (operator-built factory cubic)
                     bool have_adc = false;
@@ -1157,14 +1170,14 @@ int main(int argc, char* argv[]) {
         // Periodic auto-save every 5 minutes
         auto now = std::chrono::steady_clock::now();
         if (std::chrono::duration_cast<std::chrono::seconds>(now - last_save).count() > 300) {
-            robust_manager.save_adjustments(adjustments_path);
+            robust_manager.save_adjustments(adjustments_path, &uid_role);
             last_save = now;
         }
     }
 
     // Persist on shutdown so a clean SIGINT/SIGTERM doesn't drop up to ~5 min of learning since the
     // last periodic auto-save. (The cubic store already saves per capture; this covers robust θ.)
-    if (robust_manager.save_adjustments(adjustments_path))
+    if (robust_manager.save_adjustments(adjustments_path, &uid_role))
         std::cout << "[Cal] Saved robust adjustments on shutdown → " << adjustments_path
                   << std::endl;
     cubic_store.save();

From fdec889094577a53556524279d9c8a67c2d5f773 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 04:07:28 -0700
Subject: [PATCH 145/205] =?UTF-8?q?calibration:=20fix=20CalibrationCommand?=
 =?UTF-8?q?=20sensor=5Fid=20truncation=20=E2=80=94=20the=20Elodin=20VTable?=
 =?UTF-8?q?=20declared=20sensor=5Fid=20u8=20while=20the=20uid=20(board=5Fi?=
 =?UTF-8?q?d*100+connector,=20e.g.=202105)=20is=20u16,=20so=20Elodin=20zer?=
 =?UTF-8?q?oed=20the=20high=20byte=20and=20every=20capture=20to=20a=20boar?=
 =?UTF-8?q?d=20with=20id>=3D3=20landed=20on=20uid&0xFF=20(2105->57),=20sil?=
 =?UTF-8?q?ently=20misrouting=20operator=20calibration.=20Move=20sensor=5F?=
 =?UTF-8?q?id=20to=20even=20offset=2010=20as=20an=20aligned=20u16=20across?=
 =?UTF-8?q?=20the=20VTable,=20backend=20writer,=20and=20service=20parser?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/backend/src/calibration-handler.ts     | 9 ++++++---
 .../diablo_server/lib/src/elodin/DatabaseConfig.cpp      | 9 +++++++--
 .../services/calibration/calibration_main.cpp            | 6 ++++--
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/calibration-handler.ts b/daq-server/diablo_server/backend/src/calibration-handler.ts
index 40df4168c..c8acce37c 100644
--- a/daq-server/diablo_server/backend/src/calibration-handler.ts
+++ b/daq-server/diablo_server/backend/src/calibration-handler.ts
@@ -40,7 +40,10 @@ export interface CalibrationHost {
 
 /**
  * Publish a CalibrationCommand [0x46, 0x00] packet to Elodin DB.
- * Layout: [timestamp_ns(8), command_type(1), sensor_id(uint16 LE), pad(1), reference_value(f32)]
+ * Layout: [timestamp_ns(8), command_type(1)@8, pad(1)@9, sensor_id(uint16 LE)@10, reference(f32)@12].
+ * sensor_id sits at the even offset 10 so it is an aligned u16 in the Elodin VTable (see
+ * register_calibration_command_vtable) — it carries the full uid board_id*100+connector, so its high
+ * byte must survive.
  */
 function publishCalibrationCommand(host: CalibrationHost, type: number, sensorId: number, ref: number): void {
     if (!host.elodin) {
@@ -51,8 +54,8 @@ function publishCalibrationCommand(host: CalibrationHost, type: number, sensorId
     // timestamp_ns (8 bytes)
     payload.writeBigUInt64LE(BigInt(Date.now()) * 1000000n, 0);
     payload.writeUInt8(type, 8);
-    payload.writeUInt16LE(sensorId & 0xffff, 9);
-    payload.writeUInt8(0, 11);
+    payload.writeUInt8(0, 9);  // pad (keeps sensor_id 2-byte aligned at offset 10)
+    payload.writeUInt16LE(sensorId & 0xffff, 10);
     payload.writeFloatLE(ref, 12);
     host.elodin.publishTable([0x46, 0x00], payload);
 }
diff --git a/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp b/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp
index ec3b3371e..43b5ac6e6 100644
--- a/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp
+++ b/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp
@@ -447,11 +447,16 @@ static bool register_sequencer_vtable(ElodinClient& client) {
 }
 
 static bool register_calibration_command_vtable(ElodinClient& client) {
-    // CalibrationCommand: u64 timestamp_ns | u8 type | u8 sensor_id | u16 pad | f32 reference_value
+    // CalibrationCommand: u64 timestamp_ns | u8 type | u8 pad | u16 sensor_id (LE) | f32 reference.
+    // sensor_id is the uid board_id*100+connector (e.g. board 21 conn 5 = 2105) — a full u16, so it
+    // sits at the even offset 10 (2-byte aligned). It used to be declared u8 at offset 9; Elodin
+    // zeroes any byte no field covers, so the high byte was dropped and every capture to a board
+    // with id >= 3 (uid > 255) landed on uid & 0xFF (e.g. 2105 -> 57). The backend writer and the
+    // service parser use this same layout.
     auto vt = builder::vtable({
         raw_field(0, 8, schema(PrimType::U64(), {}, component("CALIBRATION.command.timestamp_ns"))),
         raw_field(8, 1, schema(PrimType::U8(), {}, component("CALIBRATION.command.type"))),
-        raw_field(9, 1, schema(PrimType::U8(), {}, component("CALIBRATION.command.sensor_id"))),
+        raw_field(10, 2, schema(PrimType::U16(), {}, component("CALIBRATION.command.sensor_id"))),
         raw_field(12, 4,
                   schema(PrimType::F32(), {}, component("CALIBRATION.command.reference_value"))),
     });
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index b0ed0d727..cd42f5c47 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -833,12 +833,14 @@ int main(int argc, char* argv[]) {
 
         // Only process RAW sensor packets or Calibration Commands.
         if (type_hi == 0x46) {
-            // CalibrationCommand: ts(8) | cmd(1) | sensor_id(2 LE) | pad(1) | ref_f32(4)
+            // CalibrationCommand: ts(8) | cmd(1)@8 | pad(1)@9 | sensor_id(2 LE)@10 | ref_f32(4)@12.
+            // sensor_id is at even offset 10 so it is an aligned u16 in the Elodin VTable and its
+            // high byte survives (uid = board_id*100+connector can exceed 255).
             if (pkt_len >= 8 + 16) {
                 const uint8_t* p = pkt_buf + 8;
                 uint8_t cmd_type = p[8];
                 uint16_t sensor_id =
-                    static_cast<uint16_t>(p[9]) | (static_cast<uint16_t>(p[10]) << 8);
+                    static_cast<uint16_t>(p[10]) | (static_cast<uint16_t>(p[11]) << 8);
                 float ref_val = *reinterpret_cast<const float*>(p + 12);
 
                 std::cout << "[Cal] Received CalibrationCommand: type=" << (int)cmd_type

From f079bc1bc6610786f72d41040a942742037ab850 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 04:07:39 -0700
Subject: [PATCH 146/205] =?UTF-8?q?test/integration:=20assert=20calibratio?=
 =?UTF-8?q?n=20correctness=20=E2=80=94=20cal=5Fvalues=20(PT=5FCal=20matche?=
 =?UTF-8?q?s=20factory=20cubic=20of=20the=20raw=20ADC=20+=20a=20'not=20uni?=
 =?UTF-8?q?formly=200'=20guard=20that=20would=20have=20caught=20the=20JSON?=
 =?UTF-8?q?-loader=20regression),=20cal=5Fmodel=5Fselect=20(config=20cubic?=
 =?UTF-8?q?/robust=20choice=20honored=20per=20the=20service's=20record),?=
 =?UTF-8?q?=20cal=5Frobust=5Flearn=20(drive=20captures=20on=20a=20robust?=
 =?UTF-8?q?=20sensor=20and=20confirm=20its=20streamed=20PSI=20moves=20towa?=
 =?UTF-8?q?rd=20the=20operator=20value=20while=20a=20cubic=20channel=20doe?=
 =?UTF-8?q?s=20not);=20test=20config=20marks=20one=20PT=20sensor=20robust?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/test/test_integration.sh  |   8 ++
 daq-server/test/ws_data_flow_test.ts | 183 +++++++++++++++++++++++++++
 2 files changed, 191 insertions(+)

diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 9d329405d..1c6dc34f5 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -413,6 +413,12 @@ sedi "s/^send_port = 5005/send_port = $TEST_ACTUATOR_UDP_PORT/" "$TEST_CONFIG"
 sedi 's/^fallback_fuel_duty_cycle = 0.0/fallback_fuel_duty_cycle = 0.1/' "$TEST_CONFIG"
 sedi 's/^fallback_ox_duty_cycle = 0.0/fallback_ox_duty_cycle = 0.1/' "$TEST_CONFIG"
 
+# Exercise the per-sensor cubic/robust selector: make one LP PT sensor (Ox Upstream, pt_board conn 5
+# -> uid 2105) robust; the rest stay cubic. ws_data_flow_test's cal_model_select verifies the config
+# choice is honored, and cal_robust_learn verifies the robust stack learns. Anchored to the
+# [calibration_model_pt_board] line ("... = \"cubic\""), not sensor_roles (= 5) or abort_pts (= 400).
+sedi 's/^"Ox Upstream" = "cubic"$/"Ox Upstream" = "robust"/' "$TEST_CONFIG"
+
 cat >> "$TEST_CONFIG" << EOF
 
 [boards.integration_startup]
@@ -690,6 +696,8 @@ PYTHON_BIN="${PYTHON_BIN:-python3}"
 export TEST_DAQ_UDP_PORT TEST_STARTUP_LISTEN_PORT BOARD_STARTUP_SIM="$REPO_ROOT/sim/board_startup_sim.py" PYTHON_BIN
 # Test 15 (sample conservation) reads the sim's live ground-truth stats file
 export INTEGRATION_SIM_STATS="$SIM_STATS_FILE"
+# cal_values reads the factory PT coeffs the service loaded (the test cwd is diablo_server/backend).
+export INTEGRATION_CAL_DIR="$REPO_ROOT/scripts/calibration/calibrations"
 # Must match the points_per_second sed above — arms the envelope cap/floor asserts
 # (envelope mode only; throttle ignores points_per_second)
 if [ "$INTEGRATION_GUI_MODE" = "envelope" ]; then
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index 2d403807c..a41750ded 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -90,6 +90,7 @@ function parseOnlyTests(): Set<string> | null {
   }
   const allowed = new Set([
     'sensor_config', 'sensor_data', 'cal_stability', 'raw_cal_presence',
+    'cal_values', 'cal_model_select', 'cal_robust_learn',
     'heartbeat', 'board_status', 'selftest', 'backend_debug_api',
     'state_transition', 'state_debug', 'actuator_ws', 'actuator_udp', 'elodin_sync',
     'controller', 'timestamps', 'conservation', 'board_logs', 'board_log_mode',
@@ -1732,6 +1733,183 @@ async function testCalibratedDataStability(ws: WebSocket): Promise<void> {
   }
 }
 
+// ── Calibration correctness: value, model selection, robust learning ─────────
+// These verify what the presence/stability checks above cannot: that PT_Cal carries the RIGHT
+// number, that the per-sensor cubic/robust choice in config is honored, and that the robust stack
+// actually learns. (The "PT_Cal not uniformly 0" guard would have caught fa0e27f9, where a broken
+// JSON loader made every PT read 0 PSI yet presence+stability still passed.)
+
+function sleep(ms: number): Promise<void> {
+  return new Promise((r) => setTimeout(r, ms));
+}
+
+function median(xs: number[]): number {
+  const s = [...xs].sort((a, b) => a - b);
+  return s[Math.floor(s.length / 2)];
+}
+
+/** Collect PT1_Cal.CH<n> pressure_psi and raw_adc_counts (same message → time-aligned) for `ms`.
+ *  Subscriptions from Test 1 are already active. */
+function collectPtCal(
+  ws: WebSocket, ms: number,
+): Promise<{ cal: Map<number, number[]>; adc: Map<number, number[]> }> {
+  const cal = new Map<number, number[]>();
+  const adc = new Map<number, number[]>();
+  const push = (m: Map<number, number[]>, ch: number, v: number) => {
+    const a = m.get(ch); if (a) a.push(v); else m.set(ch, [v]);
+  };
+  return new Promise((resolve) => {
+    function handler(data: WebSocket.Data) {
+      try {
+        const msg = JSON.parse(data.toString());
+        if (msg.type !== MessageType.SENSOR_UPDATE) return;
+        const { entity, component, value } = msg.payload;
+        if (!entity || !Number.isFinite(value)) return;
+        const m = /^PT1_Cal\.CH(\d+)$/.exec(entity);
+        if (!m) return;
+        const ch = Number(m[1]);
+        if (component === 'pressure_psi') push(cal, ch, value);
+        else if (component === 'raw_adc_counts') push(adc, ch, value);
+      } catch { /* ignore */ }
+    }
+    ws.on('message', handler);
+    setTimeout(() => { ws.removeListener('message', handler); resolve({ cal, adc }); }, ms);
+  });
+}
+
+/** Newest non-excluded factory-cubic JSON in the cal dir → logical-ch → [A,B,C,D], matching the
+ *  service's find_latest_json_file (which skips adjustments / cubic_calibration / *learned_prior*). */
+// The test runs from diablo_server/backend, so resolve the service's cal dir via the env the harness
+// exports (INTEGRATION_CAL_DIR) or known-relative fallbacks.
+function findCalDir(): string | null {
+  const candidates = [
+    process.env.INTEGRATION_CAL_DIR,
+    'scripts/calibration/calibrations',
+    '../../scripts/calibration/calibrations',
+  ].filter((d): d is string => !!d);
+  return candidates.find((d) => { try { return fs.existsSync(d); } catch { return false; } }) ?? null;
+}
+
+function loadFactoryPtCoeffs(): Map<number, [number, number, number, number]> | null {
+  const dir = findCalDir();
+  if (!dir) return null;
+  let files: string[];
+  try { files = fs.readdirSync(dir).filter((f) => f.endsWith('.json')); } catch { return null; }
+  const excluded = (f: string) => /adjustments|cubic_calibration|learned_prior/.test(f);
+  const cand = files.filter((f) => !excluded(f))
+    .map((f) => ({ f, m: fs.statSync(`${dir}/${f}`).mtimeMs }))
+    .sort((a, b) => b.m - a.m);
+  if (cand.length === 0) return null;
+  try {
+    const j = JSON.parse(fs.readFileSync(`${dir}/${cand[0].f}`, 'utf-8'));
+    const polys = j.calibration_polynomials;
+    if (!polys || typeof polys !== 'object') return null;
+    const out = new Map<number, [number, number, number, number]>();
+    for (const [k, v] of Object.entries(polys)) {
+      const arr = v as number[];
+      if (Array.isArray(arr) && arr.length >= 4) out.set(Number(k), [arr[0], arr[1], arr[2], arr[3]]);
+    }
+    return out.size ? out : null;
+  } catch { return null; }
+}
+
+function evalCubic(adc: number, c: [number, number, number, number]): number {
+  const v = c[0] * adc * adc * adc + c[1] * adc * adc + c[2] * adc + c[3];
+  return Math.max(-3000, Math.min(20000, v));  // matches PTCalibration.cpp clamp
+}
+
+// ── Test: calibrated PT VALUES equal the factory cubic applied to the raw ADC ─
+async function testCalibratedValueCorrectness(ws: WebSocket): Promise<void> {
+  console.log('\n🎯 Test 16: Calibrated PT values (PT1_Cal ≈ factory_cubic(raw ADC))');
+  const coeffs = loadFactoryPtCoeffs();
+  if (!coeffs) { assert(false, 'cal_values: could not read factory PT coefficients'); return; }
+
+  const { cal, adc } = await collectPtCal(ws, 5000);
+  let checked = 0, anyNonZero = false;
+  const fails: string[] = [];
+  for (let ch = 1; ch <= 10; ch++) {
+    const cs = cal.get(ch), as = adc.get(ch), c = coeffs.get(ch);
+    if (!cs || cs.length < 3 || !as || as.length < 3 || !c) continue;
+    const a = median(as), psi = median(cs), expected = evalCubic(a, c);
+    const tol = Math.max(Math.abs(expected) * 0.03, 5);  // 3% or 5 PSI
+    checked++;
+    if (Math.abs(psi) > 1) anyNonZero = true;
+    if (Math.abs(psi - expected) > tol) {
+      fails.push(`CH${ch}: got ${psi.toFixed(1)} expected ${expected.toFixed(1)} PSI (adc ${a.toFixed(0)}, tol ${tol.toFixed(1)})`);
+    } else if (VERBOSE) {
+      console.log(`  ✓ CH${ch}: ${psi.toFixed(1)} ≈ ${expected.toFixed(1)} PSI (adc ${a.toFixed(0)})`);
+    }
+  }
+  assert(checked >= 5, `cal_values: checked ${checked} LP PT channel(s) against factory cubic (need ≥5)`);
+  assert(anyNonZero, 'cal_values: PT_Cal is not uniformly 0 (guards the "no JSON cal loaded → 0 PSI" regression)');
+  assert(fails.length === 0,
+    fails.length === 0 ? 'cal_values: every LP PT calibrated value matches factory_cubic(ADC)'
+                       : `cal_values: ${fails.length} channel(s) off: ${fails.join('; ')}`);
+}
+
+// ── Test: the per-sensor cubic/robust config choice is respected ─────────────
+async function testCalibrationModelSelection(): Promise<void> {
+  console.log('\n🔀 Test 17: cubic/robust config selection respected (service cubic_calibration.json)');
+  // Read the service's own authoritative record — it tags each uid with the model it resolved from
+  // config, so this proves config -> service selection end to end (the /api view is a passthrough of
+  // this same file).
+  const dir = findCalDir();
+  if (!dir) { assert(false, 'cal_model_select: could not locate the calibration dir'); return; }
+  let state: Record<string, any> | null = null;
+  for (let i = 0; i < 6; i++) {  // the service rewrites the file at startup; retry for readiness
+    try {
+      const j = JSON.parse(fs.readFileSync(`${dir}/cubic_calibration.json`, 'utf-8'));
+      if (j?.cubic_state && Object.keys(j.cubic_state).length > 0) { state = j.cubic_state; break; }
+    } catch { /* not written yet */ }
+    await sleep(500);
+  }
+  if (!state) {
+    assert(false, 'cal_model_select: cubic_calibration.json had no populated cubic_state after retries');
+    return;
+  }
+  // test_integration.sh sets "Ox Upstream" (pt_board conn 5 → uid 2105) to robust; the rest stay
+  // cubic. "Fuel Upstream" is conn 1 → uid 2101.
+  const robust = state['2105']?.active_model;
+  const cubic = state['2101']?.active_model;
+  assert(robust === 'robust', `cal_model_select: uid 2105 (Ox Upstream) active_model=robust — config respected (got ${robust})`);
+  assert(cubic === 'cubic', `cal_model_select: uid 2101 (Fuel Upstream) active_model=cubic (got ${cubic})`);
+}
+
+// ── Test: the robust stack actually learns (and the cubic channel is unaffected) ─
+async function testRobustLearns(ws: WebSocket): Promise<void> {
+  console.log('\n🧠 Test 18: robust stack learns an operator offset (cubic channel unchanged)');
+  const ROBUST_CH = 5, CUBIC_CH = 1, BOARD = 21;
+  const base = await collectPtCal(ws, 3000);
+  const f5 = base.cal.get(ROBUST_CH), c1 = base.cal.get(CUBIC_CH);
+  if (!f5 || f5.length < 3 || !c1 || c1.length < 3) {
+    assert(false, 'cal_robust_learn: missing baseline PT_Cal for ch5/ch1');
+    return;
+  }
+  const factory5 = median(f5), before1 = median(c1);
+  const operatorPsi = factory5 + 50;  // within robust reconcile tolerance (<125 PSI)
+
+  for (let i = 0; i < 15; i++) {  // teach robust the offset at the (constant) ADC
+    send(ws, {
+      type: 'calibration_command', timestamp: Date.now(),
+      payload: { commandType: 'capture_point', sensorId: ROBUST_CH, boardId: BOARD, referencePressure: operatorPsi },
+    });
+    await sleep(120);
+  }
+  await sleep(3000);  // let RLS converge + stream + EMA catch up
+
+  const after = await collectPtCal(ws, 3000);
+  const a5 = after.cal.get(ROBUST_CH), a1 = after.cal.get(CUBIC_CH);
+  if (!a5 || a5.length < 3 || !a1 || a1.length < 3) {
+    assert(false, 'cal_robust_learn: missing post-capture PT_Cal for ch5/ch1');
+    return;
+  }
+  const after5 = median(a5), after1 = median(a1);
+  const moved5 = after5 - factory5, moved1 = Math.abs(after1 - before1);
+  console.log(`  ch5(robust): factory=${factory5.toFixed(1)} operator=${operatorPsi.toFixed(1)} after=${after5.toFixed(1)} (moved ${moved5.toFixed(1)}) ; ch1(cubic): ${before1.toFixed(1)}→${after1.toFixed(1)}`);
+  assert(moved5 > 15, `cal_robust_learn: robust ch5 moved ${moved5.toFixed(1)} PSI toward the operator value (+50) — robust stack learns`);
+  assert(moved1 < 10, `cal_robust_learn: cubic ch1 unaffected by robust captures (moved ${moved1.toFixed(1)} PSI)`);
+}
+
 // ── Test 6: Elodin State Sync ────────────────────────────────────────────────
 
 async function testElodinStateSync(): Promise<void> {
@@ -2552,6 +2730,8 @@ async function main(): Promise<void> {
     if (runTest('raw_cal_presence')) await testRawAndCalibratedPresence(ws);
     if (runTest('timestamps')) await testTimestampQuality(ws);
     if (runTest('cal_stability')) await testCalibratedDataStability(ws);
+    if (runTest('cal_values')) await testCalibratedValueCorrectness(ws);
+    if (IS_THIN && runTest('cal_model_select')) await testCalibrationModelSelection();
     if (IS_THIN) {
       if (runTest('heartbeat')) await testServerHeartbeatUdp();
       if (runTest('board_status')) await testBoardStatusToFrontend(ws);
@@ -2581,6 +2761,9 @@ async function main(): Promise<void> {
     }
     // Last on purpose: maximizes the sample count both sides of the comparison.
     if (IS_THIN && runTest('conservation')) await testSampleConservation();
+    // Truly last: this drives capture commands that mutate the robust channel's learned state, so it
+    // must run after every read-only value/stability/conservation check.
+    if (IS_THIN && canRunCommandTests && runTest('cal_robust_learn')) await testRobustLearns(ws);
   } finally {
     ws.close();
   }

From fe6dfc25fe22271def44ab9dc6504f70eaf52568 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 04:07:39 -0700
Subject: [PATCH 147/205] shared: regenerate compiled type declarations for
 capture_point/new_calibration + active_model robust + fitCurve (sync to the
 types.ts change in 22bc8207)

---
 daq-server/diablo_server/shared/types.d.ts     | 8 ++++++--
 daq-server/diablo_server/shared/types.d.ts.map | 2 +-
 daq-server/diablo_server/shared/types.js.map   | 2 +-
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index ffd9a84cb..c9b470357 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -196,7 +196,7 @@ export interface CalibrationStatusPayload {
     calibrationFilePath?: string | null;
 }
 /** Commands the frontend sends to drive the calibration engine */
-export type CalibrationCommandType = 'capture_reference' | 'fit_channel' | 'reset_channel' | 'enable_phase2' | 'disable_phase2' | 'zero_all' | 'save_coefficients' | 'clear_calibration' | 'capture_cubic_point' | 'clear_cubic_channel';
+export type CalibrationCommandType = 'capture_reference' | 'fit_channel' | 'reset_channel' | 'enable_phase2' | 'disable_phase2' | 'zero_all' | 'save_coefficients' | 'clear_calibration' | 'capture_cubic_point' | 'clear_cubic_channel' | 'capture_point' | 'new_calibration';
 export interface CalibrationCommand {
     commandType: CalibrationCommandType;
     sensorId?: number;
@@ -219,7 +219,7 @@ export interface CubicCalibrationChannel {
     connector: number;
     logicalCh: number;
     role: string;
-    active_model: 'cubic';
+    active_model: 'cubic' | 'robust';
     numPoints: number;
     status: 'PENDING' | 'OK' | 'ERROR';
     last_error: string;
@@ -236,6 +236,10 @@ export interface CubicCalibrationChannel {
     adcNormMin: number;
     adcNormScale: number;
     points: CubicCalibrationPoint[];
+    fitCurve?: {
+        adc: number;
+        psi: number;
+    }[];
 }
 /** Body of GET /api/cubic_calibration: the service's cubic_calibration.json, keyed by uid. */
 export interface CubicCalibrationPayload {
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index cda8e875d..f1aec0298 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index 51073175c..faa7cb2a5 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
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\ No newline at end of file
+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WA+BX;AA/BD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EA/BW,WAAW,KAAX,WAAW,QA+BtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AAgUD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC"}
\ No newline at end of file

From 3f9a4266b37df5f5d747e32100c6c4377f78b796 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 13:36:32 -0700
Subject: [PATCH 148/205] calibration: physics conversion as a third per-sensor
 PT model (ratiometric 0-5V / 4-20mA), role-keyed full-scale/sense-resistor
 config, physics as the universal fallback; also read
 [calibration.tc/.rtd/.lc] json_dir/csv_path (were declared but ignored)

---
 daq-server/config/config_base.toml            |  19 +-
 .../backend/src/routes/config.ts              |  17 +-
 .../frontend/app/config/page.tsx              | 138 +++++---
 .../lib/include/config/Config.hpp             |  19 +-
 .../diablo_server/lib/src/config/Config.cpp   |  52 +++
 .../services/calibration/calibration_main.cpp | 309 +++++++++++-------
 6 files changed, 388 insertions(+), 166 deletions(-)

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 7a9cbd85b..2eb5efa3c 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -340,10 +340,11 @@ active_connectors = [ 1, 2 ]
 "Chamber Throat PT 1" = 9
 "Chamber Throat PT 2" = 10
 
-# Per-sensor streaming calibration model for the low-pressure PT board: "cubic" (factory cubic,
-# default) or "robust". Keyed by the same role names as [sensor_roles_pt_board]; the calibration
-# service applies it after a restart. Current-loop (4-20 mA) PT boards are always 4-20 mA and have
-# no model here.
+# Per-sensor streaming calibration model, keyed by the same role names as [sensor_roles_pt_board];
+# the calibration service applies it after a restart. Values: "cubic" (factory cubic — the
+# ratiometric default), "robust" (online learner), or "physics" (datasheet closed form: ratiometric
+# psi = adc/2^31 * full_scale, or 4-20 mA current-loop conversion). All three apply to every PT board
+# regardless of electrical interface; current-loop (4-20 mA) boards default to "physics".
 [calibration_model_pt_board]
 "Fuel Upstream" = "cubic"
 "GSE Low" = "cubic"
@@ -356,6 +357,16 @@ active_connectors = [ 1, 2 ]
 "Chamber Throat PT 1" = "cubic"
 "Chamber Throat PT 2" = "cubic"
 
+# Per-sensor physics-mode parameters, role-keyed and parallel to [calibration_model_pt_board].
+# Consulted only when a sensor's model is "physics"; each overrides the board-level default.
+#   [calibration_full_scale_pt_board]   role -> full-scale PSI (both interfaces; default 1000 for
+#                                       ratiometric, hp_pt_full_scale_psi for 4-20 mA boards)
+#   [calibration_sense_resistor_pt_board] role -> sense-resistor Ω (4-20 mA boards only; default
+#                                       hp_pt_sense_resistor_ohms)
+# Both are optional — omit them to keep the board defaults. Example:
+# [calibration_full_scale_pt_board]
+# "Fuel Upstream" = 1000
+
 [abort_pts]
 "Fuel Upstream" = 400
 "Ox Upstream" = 400
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 2bb47a497..f5ecfb9db 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -83,26 +83,27 @@ export function getConfigPath(): string {
 }
 
 /**
- * Default every PT sensor's calibration model to 'cubic' when the config omits it. For each
- * [boards.*] of type 'PT' — excluding current-loop 4-20 mA boards, which never use cubic/robust —
- * ensure a parallel `calibration_model_<boardKey>` map exists with an entry for every role in
- * `sensor_roles_<boardKey>`. Mutates config in place on read (mirrors applyControllerDefaults) so
- * the editor and any reader see cubic for sensors the file leaves unset.
+ * Default every PT sensor's calibration model when the config omits it. For each [boards.*] of type
+ * 'PT', ensure a parallel `calibration_model_<boardKey>` map exists with an entry for every role in
+ * `sensor_roles_<boardKey>`. The default is interface-aware: current-loop 4-20 mA boards default to
+ * 'physics' (their historical hardwired conversion), all other PT boards to 'cubic'. All three
+ * models (cubic/robust/physics) are valid on any PT board. Mutates config in place on read (mirrors
+ * applyControllerDefaults) so the editor and any reader see a model for sensors the file leaves unset.
  */
 export function applyCalibrationModelDefaults(config: any): void {
   const boards = config?.boards;
   if (!boards || typeof boards !== 'object') return;
   for (const [boardKey, b] of Object.entries<any>(boards)) {
     if (!b || b.type !== 'PT') continue;
-    if (b.hp_pt_connectors || b.hp_pt_full_scale_psi != null || b.pt_type === '4-20 mA absolute')
-      continue; // current-loop board — cubic/robust never applies
+    const isLoop =
+      b.hp_pt_connectors || b.hp_pt_full_scale_psi != null || b.pt_type === '4-20 mA absolute';
     const roles = config[`sensor_roles_${boardKey}`];
     if (!roles || typeof roles !== 'object') continue;
     const modelKey = `calibration_model_${boardKey}`;
     const models =
       config[modelKey] && typeof config[modelKey] === 'object' ? config[modelKey] : {};
     for (const role of Object.keys(roles)) {
-      if (models[role] == null) models[role] = 'cubic';
+      if (models[role] == null) models[role] = isLoop ? 'physics' : 'cubic';
     }
     config[modelKey] = models;
   }
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 43f2dda57..29b0e04c8 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -62,10 +62,16 @@ interface ConfigData {
   sensor_roles_pt_board_2?: Record<string, number>; // HP PT board (was sensor_roles_pt2)
   sensor_roles_rtd_board?: Record<string, number>;
   sensor_roles_tc_board?: Record<string, number>;
-  // Per-sensor PT streaming model ('cubic' | 'robust'), role-keyed, parallel to sensor_roles_*.
-  // Read/written dynamically as calibration_model_<boardKey>; these fields document the shape.
+  // Per-sensor PT streaming model ('cubic' | 'robust' | 'physics'), role-keyed, parallel to
+  // sensor_roles_*. Read/written dynamically as calibration_model_<boardKey>; these fields document
+  // the shape. Physics-mode params (full-scale PSI, sense-resistor Ω) live in the parallel
+  // calibration_full_scale_<boardKey> / calibration_sense_resistor_<boardKey> role->number maps.
   calibration_model_pt_board?: Record<string, string>;
   calibration_model_pt_board_2?: Record<string, string>;
+  calibration_full_scale_pt_board?: Record<string, number>;
+  calibration_full_scale_pt_board_2?: Record<string, number>;
+  calibration_sense_resistor_pt_board?: Record<string, number>;
+  calibration_sense_resistor_pt_board_2?: Record<string, number>;
   abort_pts?: Record<string, number>;
   adc?: { internal_v?: number; vdd_nominal_v?: number; absolute_5v_v?: number };
   fire?: { state?: string; expiry_target?: string; duration_ms?: number; extended_ms?: number };
@@ -122,7 +128,7 @@ const DEFAULT_CONFIG: ConfigData = {};
  * list mid-edit and yank the row (and your cursor) elsewhere. Syncs down when the prop changes.
  */
 function CommitOnBlurNumber({
-  value, onCommit, allowEmpty, disabled, className, placeholder,
+  value, onCommit, allowEmpty, disabled, className, placeholder, title,
 }: {
   value: number | undefined;
   onCommit: (n: number | undefined) => void;
@@ -130,6 +136,7 @@ function CommitOnBlurNumber({
   disabled?: boolean;
   className?: string;
   placeholder?: string;
+  title?: string;
 }) {
   const toStr = (v?: number) => (v === undefined || v === null || Number.isNaN(v) ? '' : String(v));
   const [local, setLocal] = useState<string>(toStr(value));
@@ -146,6 +153,7 @@ function CommitOnBlurNumber({
       value={local}
       disabled={disabled}
       placeholder={placeholder}
+      title={title}
       className={className}
       onChange={(e) => setLocal(e.target.value)}
       onBlur={commit}
@@ -1368,18 +1376,26 @@ export default function ConfigPage() {
                     HP board) gets a panel; the HP board is no longer special (was sensor_roles_pt2). */}
                 {(Object.entries(((config as any).boards || {}) as Record<string, any>)
                   .filter(([, b]) => ['PT', 'RTD', 'TC', 'ENCODER'].includes(b?.type))
-                  .map(([boardKey, b]) => ({
-                    key: `sensor_roles_${boardKey}`,
-                    title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
-                    maxCh: typeof b.num_sensors === 'number' && b.num_sensors > 0 ? b.num_sensors : 10,
-                    // Per-sensor cubic/robust picker only for low-pressure PT boards. Current-loop
-                    // (4-20 mA) PT boards always use 4-20 mA — no model applies.
-                    modelKey: `calibration_model_${boardKey}`,
-                    showModel:
-                      b?.type === 'PT' &&
-                      !(b?.hp_pt_connectors || b?.hp_pt_full_scale_psi != null || b?.pt_type === '4-20 mA absolute'),
-                  }))
-                ).map(({ key, title, maxCh, modelKey, showModel }) => {
+                  .map(([boardKey, b]) => {
+                    const isPT = b?.type === 'PT';
+                    const isLoop = isPT && !!(b?.hp_pt_connectors || b?.hp_pt_full_scale_psi != null || b?.pt_type === '4-20 mA absolute');
+                    return {
+                      key: `sensor_roles_${boardKey}`,
+                      title: `${b.type} Roles — ${boardKey} (sensor_roles_${boardKey})`,
+                      maxCh: typeof b.num_sensors === 'number' && b.num_sensors > 0 ? b.num_sensors : 10,
+                      // cubic/robust/physics applies to every PT (cubic/robust fit the raw ADC; physics
+                      // is the datasheet conversion). Default: 4-20 mA -> physics, 0-5 V -> cubic.
+                      modelKey: `calibration_model_${boardKey}`,
+                      fullScaleKey: `calibration_full_scale_${boardKey}`,
+                      resistorKey: `calibration_sense_resistor_${boardKey}`,
+                      showModel: isPT,
+                      isLoop,
+                      defaultModel: isLoop ? 'physics' : 'cubic',
+                      boardFullScale: isLoop ? (typeof b?.hp_pt_full_scale_psi === 'number' ? b.hp_pt_full_scale_psi : 5000) : 1000,
+                      boardResistor: typeof b?.hp_pt_sense_resistor_ohms === 'number' ? b.hp_pt_sense_resistor_ohms : 120,
+                    };
+                  })
+                ).map(({ key, title, maxCh, modelKey, fullScaleKey, resistorKey, showModel, isLoop, defaultModel, boardFullScale, boardResistor }) => {
                   const map = (config as any)[key] as Record<string, number> | undefined;
                   // Display ordered by channel number (not config/insertion order). The number field
                   // commits on blur so this re-sort doesn't fire mid-keystroke.
@@ -1407,12 +1423,14 @@ export default function ConfigPage() {
                                 const rebuilt: Record<string, any> = {};
                                 for (const [k, v] of Object.entries(map || {})) rebuilt[k === name ? newName : k] = v;
                                 const patch: any = { ...config, [key]: rebuilt };
-                                // Keep the parallel calibration_model_<board> map in sync on rename.
-                                const mm = (config as any)[modelKey];
-                                if (mm && name in mm) {
-                                  const rebuiltModel: Record<string, any> = {};
-                                  for (const [k, v] of Object.entries(mm)) rebuiltModel[k === name ? newName : k] = v;
-                                  patch[modelKey] = rebuiltModel;
+                                // Keep the parallel per-sensor maps (model + physics params) in sync.
+                                for (const pk of [modelKey, fullScaleKey, resistorKey]) {
+                                  const mm = (config as any)[pk];
+                                  if (mm && name in mm) {
+                                    const rebuiltMap: Record<string, any> = {};
+                                    for (const [k, v] of Object.entries(mm)) rebuiltMap[k === name ? newName : k] = v;
+                                    patch[pk] = rebuiltMap;
+                                  }
                                 }
                                 setConfig(patch);
                               }}
@@ -1430,32 +1448,68 @@ export default function ConfigPage() {
                               }}
                               className="w-28 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                             />
-                            {showModel && (
-                              <select
-                                value={((config as any)[modelKey]?.[name] as string) ?? 'cubic'}
-                                onChange={(e) => {
-                                  const updated = { ...((config as any)[modelKey] || {}) };
-                                  updated[name] = e.target.value;
-                                  setConfig({ ...config, [modelKey]: updated } as any);
-                                }}
-                                title="Streaming calibration model for this sensor"
-                                className="px-3 py-2 bg-background border border-gray-700 rounded text-white"
-                              >
-                                <option value="cubic">Cubic</option>
-                                <option value="robust">Robust</option>
-                              </select>
-                            )}
+                            {showModel && (() => {
+                              const model = ((config as any)[modelKey]?.[name] as string) ?? defaultModel;
+                              return (
+                                <>
+                                  <select
+                                    value={model}
+                                    onChange={(e) => {
+                                      const updated = { ...((config as any)[modelKey] || {}) };
+                                      updated[name] = e.target.value;
+                                      setConfig({ ...config, [modelKey]: updated } as any);
+                                    }}
+                                    title="Streaming calibration model for this sensor"
+                                    className="px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                                  >
+                                    <option value="cubic">Cubic</option>
+                                    <option value="robust">Robust</option>
+                                    <option value="physics">Physics ({isLoop ? '4-20 mA' : '0-5 V'})</option>
+                                  </select>
+                                  {model === 'physics' && (
+                                    <>
+                                      <CommitOnBlurNumber
+                                        value={((config as any)[fullScaleKey]?.[name]) ?? boardFullScale}
+                                        onCommit={(n) => {
+                                          if (n === undefined) return;
+                                          const u = { ...((config as any)[fullScaleKey] || {}) };
+                                          u[name] = n;
+                                          setConfig({ ...config, [fullScaleKey]: u } as any);
+                                        }}
+                                        title="Full-scale PSI (physics mode)"
+                                        className="w-24 px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                                      />
+                                      {isLoop && (
+                                        <CommitOnBlurNumber
+                                          value={((config as any)[resistorKey]?.[name]) ?? boardResistor}
+                                          onCommit={(n) => {
+                                            if (n === undefined) return;
+                                            const u = { ...((config as any)[resistorKey] || {}) };
+                                            u[name] = n;
+                                            setConfig({ ...config, [resistorKey]: u } as any);
+                                          }}
+                                          title="Sense resistor Ω (4-20 mA shunt)"
+                                          className="w-20 px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                                        />
+                                      )}
+                                    </>
+                                  )}
+                                </>
+                              );
+                            })()}
                             <button
                               onClick={() => {
                                 const updated = { ...(map || {}) };
                                 delete updated[name];
                                 const patch: any = { ...config, [key]: updated };
-                                // Drop the sensor's calibration_model entry too.
-                                const mm = (config as any)[modelKey];
-                                if (mm && name in mm) {
-                                  const um = { ...mm };
-                                  delete um[name];
-                                  patch[modelKey] = um;
+                                // Drop the sensor's parallel per-sensor entries too.
+                                for (const pk of [modelKey, fullScaleKey, resistorKey]) {
+                                  const mm = (config as any)[pk];
+                                  if (mm && name in mm) {
+                                    const um = { ...mm };
+                                    delete um[name];
+                                    patch[pk] = um;
+                                  }
                                 }
                                 setConfig(patch);
                               }}
diff --git a/daq-server/diablo_server/lib/include/config/Config.hpp b/daq-server/diablo_server/lib/include/config/Config.hpp
index 5041d3adc..e69576015 100644
--- a/daq-server/diablo_server/lib/include/config/Config.hpp
+++ b/daq-server/diablo_server/lib/include/config/Config.hpp
@@ -82,6 +82,13 @@ struct CalibrationConfig {  // [calibration.tc/.rtd/.lc]
     double lc_sensitivity_mv_per_v = 2.0;
     double lc_pga_gain = 32.0;
     double lc_full_scale_value = 300.0;
+    // Per-type coefficient sources from the TOML (previously ignored; the service used to hardcode
+    // these). json_dir = newest-*.json dir of per-channel coeffs; csv_path = first of
+    // [calibration.*] csv_paths. Empty string keeps the historical hardcoded default at the call
+    // site.
+    std::string tc_json_dir, tc_csv_path;
+    std::string rtd_json_dir, rtd_csv_path;
+    std::string lc_json_dir, lc_csv_path;
 };
 
 struct FireConfig {     // [fire]
@@ -163,9 +170,13 @@ struct Config {
     // section name -> {role name -> channel}, e.g. "sensor_roles_pt_board" -> {"Fuel Upstream": 1}.
     std::map<std::string, std::map<std::string, int>> sensor_roles;
     std::map<std::string, double> abort_pts;  // [abort_pts]
-    // section name -> {role name -> "cubic"|"robust"|"blend"}, e.g.
+    // section name -> {role name -> "cubic"|"robust"|"physics"|"blend"}, e.g.
     // "calibration_model_pt_board" -> {"Ox Upstream": "robust"}. Per-sensor PT streaming model.
     std::map<std::string, std::map<std::string, std::string>> calibration_models;
+    // Per-sensor physics-mode parameters, role-keyed, parallel to calibration_models:
+    // [calibration_full_scale_<board>] role->PSI and [calibration_sense_resistor_<board>] role->Ω.
+    std::map<std::string, std::map<std::string, double>> calibration_full_scale;
+    std::map<std::string, std::map<std::string, double>> calibration_sense_resistor;
 
     /** [sensor_roles_<board>] with a legacy [sensor_roles] fallback. */
     const std::map<std::string, int>* sensor_roles_for(const std::string& board_key) const;
@@ -173,6 +184,12 @@ struct Config {
     /** [calibration_model_<board>] role->model map, or nullptr when absent/empty. */
     const std::map<std::string, std::string>* calibration_model_for(
         const std::string& section_key) const;
+
+    /** [calibration_full_scale_<board>] role->PSI map, or nullptr when absent/empty. */
+    const std::map<std::string, double>* full_scale_for(const std::string& section_key) const;
+
+    /** [calibration_sense_resistor_<board>] role->Ω map, or nullptr when absent/empty. */
+    const std::map<std::string, double>* sense_resistor_for(const std::string& section_key) const;
 };
 
 /** Parse config.toml at `path`. On any error, logs and returns a default-constructed Config. */
diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 2bb1defbf..02fcc8a56 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -215,6 +215,22 @@ Config from_table(const toml::table& t) {
     c.calibration.lc_pga_gain = d_or(t["calibration"]["lc"]["pga_gain"], 32.0);
     c.calibration.lc_full_scale_value = d_or(t["calibration"]["lc"]["full_scale_value"], 300.0);
 
+    // [calibration.<type>] coefficient sources (json_dir + first of csv_paths) — previously
+    // ignored.
+    auto first_csv = [&](const char* type) -> std::string {
+        if (auto arr = t["calibration"][type]["csv_paths"].as_array())
+            for (const auto& el : *arr)
+                if (auto sv = el.value<std::string>())
+                    return *sv;
+        return std::string();
+    };
+    c.calibration.tc_json_dir = s_or(t["calibration"]["tc"]["json_dir"], "");
+    c.calibration.tc_csv_path = first_csv("tc");
+    c.calibration.rtd_json_dir = s_or(t["calibration"]["rtd"]["json_dir"], "");
+    c.calibration.rtd_csv_path = first_csv("rtd");
+    c.calibration.lc_json_dir = s_or(t["calibration"]["lc"]["json_dir"], "");
+    c.calibration.lc_csv_path = first_csv("lc");
+
     c.state_machine.transitions_csv =
         s_or(t["state_machine"]["transitions_csv"], c.state_machine.transitions_csv);
     c.state_machine.actuator_csv =
@@ -265,6 +281,27 @@ Config from_table(const toml::table& t) {
             }
     }
 
+    // Per-sensor physics params: [calibration_full_scale*] and [calibration_sense_resistor*] as
+    // role -> double sections (accept int or double).
+    for (auto&& [k, v] : t) {
+        const std::string key(k.str());
+        std::map<std::string, std::map<std::string, double>>* target = nullptr;
+        if (key.rfind("calibration_full_scale", 0) == 0)
+            target = &c.calibration_full_scale;
+        else if (key.rfind("calibration_sense_resistor", 0) == 0)
+            target = &c.calibration_sense_resistor;
+        if (target)
+            if (auto rt = v.as_table()) {
+                auto& m = (*target)[key];
+                for (auto&& [rk, rv] : *rt) {
+                    if (auto dv = rv.value<double>())
+                        m[std::string(rk.str())] = *dv;
+                    else if (auto iv = rv.value<int64_t>())
+                        m[std::string(rk.str())] = static_cast<double>(*iv);
+                }
+            }
+    }
+
     return c;
 }
 
@@ -288,6 +325,21 @@ const std::map<std::string, std::string>* Config::calibration_model_for(
     return nullptr;
 }
 
+const std::map<std::string, double>* Config::full_scale_for(const std::string& section_key) const {
+    auto it = calibration_full_scale.find(section_key);
+    if (it != calibration_full_scale.end() && !it->second.empty())
+        return &it->second;
+    return nullptr;
+}
+
+const std::map<std::string, double>* Config::sense_resistor_for(
+    const std::string& section_key) const {
+    auto it = calibration_sense_resistor.find(section_key);
+    if (it != calibration_sense_resistor.end() && !it->second.empty())
+        return &it->second;
+    return nullptr;
+}
+
 Config load(const std::string& path) {
     try {
         toml::table tbl = toml::parse_file(path);
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index cd42f5c47..b1ff2d3df 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -74,14 +74,15 @@ std::unordered_map<uint16_t, double> g_lp_ema;
 constexpr double LP_EMA_ALPHA = 0.25;  // ~4-sample effective window
 
 /**
- * Which model an LP PT streams: factory cubic (default), full robust, or the 75/25 blend.
- * Chosen per sensor from [calibration_model_<board>] in config.toml (see main); a CAL_USE_* env
- * var, when set, overrides all sensors via g_env_override.
+ * Which model a PT streams: operator/factory cubic, the robust learner, the 75/25 blend, or the
+ * datasheet physics conversion (ratiometric for 0-5 V boards, 4-20 mA for current-loop). Chosen per
+ * sensor from [calibration_model_<board>] in config.toml (see main); a CAL_USE_* env var, when set,
+ * overrides all LP sensors via g_env_override.
  */
-enum class PtModel { Cubic, Robust, Blend };
+enum class PtModel { Cubic, Robust, Blend, Physics };
 
-/** uid (board_id*100 + connector) -> streaming model. Only non-cubic sensors are stored; an absent
- *  uid means Cubic, so this stays small and the startup log lists only meaningful overrides. */
+/** uid (board_id*100 + connector) -> streaming model. Non-default resolutions are stored (4-20 mA
+ *  boards default to Physics, 0-5 V to Cubic); an absent uid means Cubic. */
 std::unordered_map<uint16_t, PtModel> g_pt_model;
 
 /** uid -> role name (from [sensor_roles_*]). Durable calibration is filed under the role, so it
@@ -89,6 +90,13 @@ std::unordered_map<uint16_t, PtModel> g_pt_model;
  *  connectors with no configured role. */
 std::unordered_map<uint16_t, std::string> g_uid_role;
 
+/** Per-sensor physics-mode parameters (from [calibration_full_scale_*] /
+ * [calibration_sense_resistor_*], falling back to the board defaults). full_scale is PSI at full
+ * ADC / at 20 mA; sense_resistor Ω is the 4-20 mA shunt. Only present for uids the config/board
+ * provides. */
+std::unordered_map<uint16_t, double> g_pt_full_scale;
+std::unordered_map<uint16_t, double> g_pt_sense_resistor;
+
 /** Set once at startup: when a CAL_USE_* PT env var is present it forces every sensor, else nullopt
  *  and the per-sensor config governs. */
 std::optional<PtModel> g_env_override;
@@ -111,6 +119,8 @@ static bool env_flag_true(const char* name) {
 static PtModel parse_pt_model(const std::string& s) {
     if (s == "robust")
         return PtModel::Robust;
+    if (s == "physics")
+        return PtModel::Physics;
     if (s == "blend")
         return PtModel::Blend;
     return PtModel::Cubic;
@@ -122,33 +132,67 @@ static PtModel pt_model_for(uint16_t uid) {
     return it == g_pt_model.end() ? PtModel::Cubic : it->second;
 }
 
+/** Per-sensor physics full-scale PSI; default 1000 (0-5 V -> 0-1000 PSI) when unset. */
+static double pt_full_scale_for(uint16_t uid) {
+    auto it = g_pt_full_scale.find(uid);
+    return it != g_pt_full_scale.end() ? it->second : 1000.0;
+}
+
+/** Per-sensor 4-20 mA shunt resistance (Ω); default 120 when unset. */
+static double pt_sense_resistor_for(uint16_t uid) {
+    auto it = g_pt_sense_resistor.find(uid);
+    return it != g_pt_sense_resistor.end() ? it->second : 120.0;
+}
+
 /** Config-string form of a model, for the cubic store's per-uid active_model tag. */
 static const char* pt_model_name(PtModel m) {
-    return m == PtModel::Robust ? "robust" : (m == PtModel::Blend ? "blend" : "cubic");
+    switch (m) {
+        case PtModel::Robust:
+            return "robust";
+        case PtModel::Physics:
+            return "physics";
+        case PtModel::Blend:
+            return "blend";
+        default:
+            return "cubic";
+    }
+}
+
+/** Ratiometric 0-5 V PT: excitation is the ADC reference, so the ADC fraction is the pressure
+ *  fraction — psi = (adc / 2^31) * full_scale. Used by the `physics` model on non-loop boards. */
+static double convert_ratiometric_pt_to_pressure(int32_t adc_raw, double full_scale_psi) {
+    constexpr double ADC_MAX = 2147483648.0;  // 2^31
+    if (!(full_scale_psi > 0.0))
+        return 0.0;
+    const double psi = (static_cast<double>(adc_raw) / ADC_MAX) * full_scale_psi;
+    if (!std::isfinite(psi))
+        return 0.0;
+    return std::clamp(psi, -0.05 * full_scale_psi, full_scale_psi * 1.05);
 }
 
 /**
- * The single LP PT source-selection rule, shared by the streaming path and the Zero-All helper so
- * both agree. Guards first: no factory fit -> robust; robust not seeded -> factory. Otherwise the
- * env override (if set) wins, else this sensor's configured model.
+ * The single PT source-selection rule, shared by the streaming path and the Zero-All helper so both
+ * agree. `physics` (the datasheet conversion — ratiometric or 4-20 mA per the board) is also the
+ * universal fallback: a cubic/robust sensor that isn't yet fit/seeded streams physics rather than
+ * 0. An env override (CAL_USE_*), when set, forces cubic/robust/blend across all sensors.
  */
-static double select_lp_pt_psi(uint16_t uid, double psi_fac, double psi_rob, bool fac_ok,
-                               bool has_robust) {
-    if (!fac_ok)
-        return psi_rob;
-    if (!has_robust)
-        return psi_fac;
+static double select_pt_psi(uint16_t uid, double psi_fac, double psi_rob, double psi_phys,
+                            bool fac_ok, bool has_robust) {
     const PtModel m = g_env_override ? *g_env_override : pt_model_for(uid);
     switch (m) {
+        case PtModel::Physics:
+            return psi_phys;
         case PtModel::Robust:
-            return psi_rob;
+            return has_robust ? psi_rob : psi_phys;
         case PtModel::Blend: {
+            if (!fac_ok || !has_robust)
+                return fac_ok ? psi_fac : (has_robust ? psi_rob : psi_phys);
             constexpr double kFactoryWeight = 0.25;  // 75% robust + 25% factory
             return (1.0 - kFactoryWeight) * psi_rob + kFactoryWeight * psi_fac;
         }
         case PtModel::Cubic:
         default:
-            return psi_fac;
+            return fac_ok ? psi_fac : psi_phys;
     }
 }
 
@@ -174,9 +218,10 @@ static uint32_t coerce_hp_pt_adc_counts(int32_t /* as_signed */, uint32_t as_uns
 
 static double convert_hp_pt_to_pressure(uint8_t local_ch, uint32_t adc_raw,
                                         const fsw::config::PtBoardConfig& board,
+                                        double full_scale_psi, double sense_resistor_ohms,
                                         std::array<uint8_t, 11>& live_state) {
-    const double full_scale_psi = board.full_scale_psi;
-    const double sense_resistor_ohms = board.sense_resistor_ohms;
+    // full_scale_psi and sense_resistor_ohms are the per-sensor physics params (config override or
+    // board default); the ADC reference is a board-level hardware property.
     const double adc_ref_voltage = board.adc_ref_voltage;
 
     constexpr double ADC_MAX = 2147483648.0;
@@ -366,7 +411,9 @@ static double lp_pt_psi_before_offset(uint8_t board_number, uint8_t local_ch, ui
     const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
     const double psi_fac = fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, adc_i32) : 0.0;
     const double psi_rob = robust_manager.predict_pressure_psi(uid, adc_i32);
-    return select_lp_pt_psi(uid, psi_fac, psi_rob, fac_ok, robust_manager.has_sensor(uid));
+    // Zero-All only reaches non-loop (0-5 V) sensors, so physics here is the ratiometric value.
+    const double psi_phys = convert_ratiometric_pt_to_pressure(adc_i32, pt_full_scale_for(uid));
+    return select_pt_psi(uid, psi_fac, psi_rob, psi_phys, fac_ok, robust_manager.has_sensor(uid));
 }
 
 int main(int argc, char* argv[]) {
@@ -432,6 +479,12 @@ int main(int argc, char* argv[]) {
     std::signal(SIGINT, signalHandler);
     std::signal(SIGTERM, signalHandler);
 
+    // Parse config once (paths + [calibration.*] params + per-sensor models) before the loaders.
+    const fsw::config::Config cal_cfg = fsw::config::load(config_path);
+    auto or_default = [](const std::string& v, const char* d) {
+        return v.empty() ? d : v;
+    };
+
     // Load calibration coefficients
     fsw::calibration::PTCalibrationManager pt_calibration;
     pt_calibration.set_default_paths(
@@ -441,20 +494,22 @@ int main(int argc, char* argv[]) {
 
     fsw::calibration::RobustCalibrationManager robust_manager;
 
+    // json_dir + first csv_paths entry now come from [calibration.<type>] in config (was
+    // hardcoded); empty keeps the historical default dir.
     fsw::calibration::SensorCalibrationManager tc_calibration("TC", "°C", 3);
     tc_calibration.load_calibration(
-        "scripts/calibration/calibrations/tc",
-        "external/DiabloAvionics/TC_Board/Calibration/tc_calibration.csv");
+        or_default(cal_cfg.calibration.tc_json_dir, "scripts/calibration/calibrations/tc"),
+        cal_cfg.calibration.tc_csv_path);
 
     fsw::calibration::SensorCalibrationManager rtd_calibration("RTD", "°C", 3);
     rtd_calibration.load_calibration(
-        "scripts/calibration/calibrations/rtd",
-        "external/DiabloAvionics/RTD_Board/Calibration/rtd_calibration.csv");
+        or_default(cal_cfg.calibration.rtd_json_dir, "scripts/calibration/calibrations/rtd"),
+        cal_cfg.calibration.rtd_csv_path);
 
     fsw::calibration::SensorCalibrationManager lc_calibration("LC", "kg", 3);
     lc_calibration.load_calibration(
-        "scripts/calibration/calibrations/lc",
-        "external/DiabloAvionics/LC_Board/Calibration/lc_calibration.csv");
+        or_default(cal_cfg.calibration.lc_json_dir, "scripts/calibration/calibrations/lc"),
+        cal_cfg.calibration.lc_csv_path);
 
     std::cout << "[Calibration] PT:  " << pt_calibration.get_calibrated_count()
               << " logical channels (slot1→JSON 1..10, slot2→11..20, … — avoids reusing board1 "
@@ -511,8 +566,8 @@ int main(int argc, char* argv[]) {
                   << board.sense_resistor_ohms << " ohm shunt)" << std::endl;
     }
 
-    // [calibration.tc/.rtd/.lc] default formula params, via fsw::config (toml++).
-    const fsw::config::Config cal_cfg = fsw::config::load(config_path);
+    // [calibration.tc/.rtd/.lc] default formula params, via fsw::config (toml++). cal_cfg parsed
+    // above.
     const double tc_adc_ref_voltage = cal_cfg.calibration.tc_adc_ref_voltage;
     const double rtd_adc_ref_voltage = cal_cfg.calibration.rtd_adc_ref_voltage;
     const double rtd_excitation_ua = cal_cfg.calibration.rtd_excitation_ua;
@@ -528,12 +583,15 @@ int main(int argc, char* argv[]) {
     std::cout << "[Calibration] LC default:  " << lc_sensitivity_mv_per_v
               << "mV/V, PGA=" << lc_pga_gain << ", FS=" << lc_full_scale_value << "kg" << std::endl;
 
-    // ---- Per-sensor streaming model (cubic vs robust) from config ----
-    // [calibration_model_<board_key>] maps a PT role name to "cubic"|"robust"|"blend"; resolve it
-    // to the same uid the streaming path uses (board_id*100 + connector) via
-    // [sensor_roles_<board_key>]. Absent/unknown => cubic. Current-loop (4-20 mA) boards are
-    // skipped: they never take this path. A CAL_USE_* env var overrides every sensor (dev/testing)
-    // — computed once here.
+    // ---- Per-sensor streaming model + physics params from config ----
+    // [calibration_model_<board_key>] maps a PT role -> "cubic"|"robust"|"physics"|"blend"; resolve
+    // it to the uid the streaming path uses (board_id*100 + connector) via
+    // [sensor_roles_<board_key>]. Every PT (incl. 4-20 mA) participates: cubic/robust operate on
+    // raw ADC and apply to all, while `physics` is the datasheet conversion (ratiometric or 4-20 mA
+    // per board). Default by interface: 4-20 mA -> physics (today's behavior), 0-5 V -> cubic.
+    // Physics params (full-scale, sense-resistor) come from
+    // [calibration_full_scale_<board>]/[calibration_sense_resistor_<board>] else board defaults. A
+    // CAL_USE_* env var overrides the model for every sensor (dev/testing).
     if (env_flag_true("CAL_USE_FACTORY_PT"))
         g_env_override = PtModel::Cubic;
     else if (env_flag_true("CAL_USE_ROBUST_BLEND"))
@@ -543,30 +601,53 @@ int main(int argc, char* argv[]) {
 
     g_pt_model.clear();
     g_uid_role.clear();
+    g_pt_full_scale.clear();
+    g_pt_sense_resistor.clear();
     for (const auto& b : cal_cfg.boards) {
         if (b.type != "PT" || !b.enabled || b.board_id < 0)
             continue;
-        if (b.has_hp_pt_keys || b.pt_type == "4-20 mA absolute")
-            continue;  // current-loop board — cubic/robust never applies
+        const bool is_loop = b.has_hp_pt_keys || b.pt_type == "4-20 mA absolute";
         const std::string board_key =
             b.section.rfind("boards.", 0) == 0 ? b.section.substr(7) : b.section;
         const auto* roles = cal_cfg.sensor_roles_for("sensor_roles_" + board_key);
         if (roles == nullptr)
-            continue;  // no role map -> every connector defaults to cubic
+            continue;  // no role map -> connectors default to cubic (0-5 V) at the streaming site
         const auto* models = cal_cfg.calibration_model_for("calibration_model_" + board_key);
+        const auto* full_scales = cal_cfg.full_scale_for("calibration_full_scale_" + board_key);
+        const auto* resistors =
+            cal_cfg.sense_resistor_for("calibration_sense_resistor_" + board_key);
+        // Board-level physics defaults: 4-20 mA boards use their hp_pt_* params; a 0-5 V board maps
+        // 0-5 V -> 0-1000 PSI unless a per-sensor full-scale overrides it.
+        const double board_full_scale = is_loop ? b.hp_pt_full_scale_psi : 1000.0;
+        const double board_resistor = b.hp_pt_sense_resistor_ohms;
         for (const auto& [role, connector] : *roles) {
             if (connector < 1 || connector > 99)
                 continue;
             const uint16_t uid = static_cast<uint16_t>(b.board_id * 100 + connector);
             g_uid_role[uid] = role;  // the identity durable cal is filed under
-            PtModel m = PtModel::Cubic;
+
+            PtModel m = is_loop ? PtModel::Physics : PtModel::Cubic;  // interface-aware default
             if (models != nullptr) {
                 auto it = models->find(role);
                 if (it != models->end())
                     m = parse_pt_model(it->second);
             }
-            if (m != PtModel::Cubic)  // only store overrides; absence means cubic
+            if (m != PtModel::Cubic)  // Cubic is pt_model_for's default; store the rest
                 g_pt_model[uid] = m;
+
+            double fs = board_full_scale, rs = board_resistor;
+            if (full_scales != nullptr) {
+                auto it = full_scales->find(role);
+                if (it != full_scales->end() && it->second > 0.0)
+                    fs = it->second;
+            }
+            if (resistors != nullptr) {
+                auto it = resistors->find(role);
+                if (it != resistors->end() && it->second > 0.0)
+                    rs = it->second;
+            }
+            g_pt_full_scale[uid] = fs;
+            g_pt_sense_resistor[uid] = rs;
         }
     }
     // Ordered uid->role for RobustCalibrationManager save/load, so the robust learned state is
@@ -717,18 +798,22 @@ int main(int argc, char* argv[]) {
                                 : "100% robust when initialized (CAL_USE_ROBUST_PT)";
         std::cout << "[Calibration] LP PT: env override — all sensors " << label << std::endl;
     } else {
-        size_t robust_n = 0, blend_n = 0;
+        size_t robust_n = 0, blend_n = 0, physics_n = 0;
         for (const auto& [uid, m] : g_pt_model) {
             if (m == PtModel::Robust)
                 ++robust_n;
             else if (m == PtModel::Blend)
                 ++blend_n;
+            else if (m == PtModel::Physics)
+                ++physics_n;
         }
-        std::cout << "[Calibration] LP PT: per-sensor model from config — default factory cubic; "
-                  << robust_n << " robust, " << blend_n << " blend" << std::endl;
+        std::cout
+            << "[Calibration] PT: per-sensor model from config — default cubic (0-5 V) / physics "
+               "(4-20 mA); "
+            << robust_n << " robust, " << physics_n << " physics, " << blend_n << " blend"
+            << std::endl;
         for (const auto& [uid, m] : g_pt_model)
-            std::cout << "[Calibration]   uid " << uid << " -> "
-                      << (m == PtModel::Robust ? "robust" : "blend") << std::endl;
+            std::cout << "[Calibration]   uid " << uid << " -> " << pt_model_name(m) << std::endl;
     }
 
     if (verbose())
@@ -1025,80 +1110,82 @@ int main(int argc, char* argv[]) {
 
         elodin_client.begin_batch();
 
-        if (type_hi == 0x20) {  // PT raw
+        if (type_hi == 0x20) {  // PT raw — unified: every PT runs through model selection.
             const fsw::config::PtBoardConfig* loop_board = current_loop_board(board_number);
+            const bool is_loop = loop_board != nullptr;
+            const uint16_t uid = resolve_pt_sensor_uid(type_lo, ch_eff, pt_boards);
+
+            // The ADC cubic/robust and captures work in: for a 4-20 mA board, the coerced unsigned
+            // shunt code (board_simulator back-calculates valid codes in sim too); else the raw
+            // i32.
+            const uint32_t hp_wire_adc = is_loop ? coerce_hp_pt_adc_counts(adc_i32, adc_u32) : 0u;
+            const int32_t cal_adc = is_loop ? static_cast<int32_t>(hp_wire_adc) : adc_i32;
+
+            last_adc_map[uid] = cal_adc;
+            {  // feed the capture ADC ring so a capture averages a short window
+                auto& ring = pt_adc_ring[uid];
+                ring.push_back(cal_adc);
+                if (ring.size() > kPtAdcRingMax)
+                    ring.pop_front();
+            }
 
-            uint16_t uid = resolve_pt_sensor_uid(type_lo, ch_eff, pt_boards);
-            double psi;
-            uint8_t cal_status;
-            // board_simulator.py generates valid 4-20 mA ADC codes for current-loop connectors
-            // (back-calculates i_ma from target PSI), so apply the 4-20 mA path in both
-            // sim and real-hardware modes — no use_sim_mode guard needed here.
-            if (loop_board != nullptr) {
-                // The ADC reference is set once per board, so every active connector on a
-                // current-loop board is a loop channel.
-                const uint32_t hp_wire_adc = coerce_hp_pt_adc_counts(adc_i32, adc_u32);
-                psi = convert_hp_pt_to_pressure(ch_eff, hp_wire_adc, *loop_board,
-                                                g_hp_ma_live[board_number]);
-                cal_status = 1;
-                last_adc_map[uid] = static_cast<int32_t>(hp_wire_adc);
-                if (verbose() && packet_count % 100 == 0)
-                    std::cout << "[Cal] HP PT B" << static_cast<int>(board_number) << " ch"
-                              << static_cast<int>(ch_eff) << " adc_s=" << adc_i32
-                              << " adc_hp=" << hp_wire_adc << " psi=" << psi << std::endl;
-            } else {
-                last_adc_map[uid] = adc_i32;
-                // Feed the cubic-calibration ADC ring so a capture averages a short window.
-                {
-                    auto& ring = pt_adc_ring[uid];
-                    ring.push_back(adc_i32);
-                    if (ring.size() > kPtAdcRingMax)
-                        ring.pop_front();
-                }
-                const uint8_t pt_log_ch =
-                    fsw::calibration::pt_logical_calibration_channel(board_number, ch_eff);
-                const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
-                const double psi_fac =
-                    fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, adc_i32) : 0.0;
-                const double psi_rob = robust_manager.predict_pressure_psi(uid, adc_i32);
-
-                psi =
-                    select_lp_pt_psi(uid, psi_fac, psi_rob, fac_ok, robust_manager.has_sensor(uid));
+            const uint8_t pt_log_ch =
+                fsw::calibration::pt_logical_calibration_channel(board_number, ch_eff);
+            const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
+            const double psi_fac =
+                fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, cal_adc) : 0.0;
+            const double psi_rob = robust_manager.predict_pressure_psi(uid, cal_adc);
+            const double psi_phys =
+                is_loop
+                    ? convert_hp_pt_to_pressure(ch_eff, hp_wire_adc, *loop_board,
+                                                pt_full_scale_for(uid), pt_sense_resistor_for(uid),
+                                                g_hp_ma_live[board_number])
+                    : convert_ratiometric_pt_to_pressure(adc_i32, pt_full_scale_for(uid));
+            const bool has_rob = robust_manager.has_sensor(uid);
+
+            double psi = select_pt_psi(uid, psi_fac, psi_rob, psi_phys, fac_ok, has_rob);
+
+            // cal_status: 1 when the selected model's own source is ready (physics always); 0 means
+            // it fell back to physics because the chosen cubic/robust model isn't calibrated yet.
+            const PtModel eff_model = g_env_override ? *g_env_override : pt_model_for(uid);
+            uint8_t cal_status = 1;
+            if (eff_model == PtModel::Cubic)
                 cal_status = fac_ok ? 1u : 0u;
-                // Apply zero offset then EMA for LP PT channels.
-                {
-                    std::lock_guard<std::mutex> lk(g_zero_offsets_mutex);
-                    auto it_off = g_zero_offsets.find(uid);
-                    if (it_off != g_zero_offsets.end())
-                        psi += it_off->second;
-                }
-                {
-                    auto& ema = g_lp_ema[uid];
-                    if (!std::isfinite(ema))
-                        ema = psi;
-                    else
-                        ema = LP_EMA_ALPHA * psi + (1.0 - LP_EMA_ALPHA) * ema;
-                    psi = ema;
-                }
-                if (verbose() && packet_count % 100 == 0)
-                    std::cout << "[Cal] PT B" << static_cast<int>(board_number) << " ch"
-                              << static_cast<int>(ch_eff) << " adc=" << adc_i32 << " psi=" << psi
-                              << std::endl;
+            else if (eff_model == PtModel::Robust)
+                cal_status = has_rob ? 1u : 0u;
+            else if (eff_model == PtModel::Blend)
+                cal_status = (fac_ok && has_rob) ? 1u : 0u;
+
+            // Zero offset then EMA smoothing (applies to all PTs now).
+            {
+                std::lock_guard<std::mutex> lk(g_zero_offsets_mutex);
+                auto it_off = g_zero_offsets.find(uid);
+                if (it_off != g_zero_offsets.end())
+                    psi += it_off->second;
             }
-            if (loop_board != nullptr) {
-                if (!std::isfinite(psi))
-                    psi = 0.0;
-                else
-                    psi = std::clamp(psi, 0.0, loop_board->full_scale_psi * 1.2);
-            } else {
-                if (!std::isfinite(psi))
-                    psi = 0.0;
+            {
+                auto& ema = g_lp_ema[uid];
+                if (!std::isfinite(ema))
+                    ema = psi;
                 else
-                    psi = std::clamp(psi, -3000.0, 20000.0);
+                    ema = LP_EMA_ALPHA * psi + (1.0 - LP_EMA_ALPHA) * ema;
+                psi = ema;
             }
+            if (verbose() && packet_count % 100 == 0)
+                std::cout << "[Cal] PT B" << static_cast<int>(board_number) << " ch"
+                          << static_cast<int>(ch_eff) << (is_loop ? " (4-20mA)" : "")
+                          << " adc=" << cal_adc << " psi=" << psi << std::endl;
+
+            if (!std::isfinite(psi))
+                psi = 0.0;
+            else if (is_loop)
+                psi = std::clamp(psi, 0.0, pt_full_scale_for(uid) * 1.2);
+            else
+                psi = std::clamp(psi, -3000.0, 20000.0);
+
             comms::messages::sensor::CalibratedPTMessage cal_msg(
                 ts_ns, ch_eff, std::array<uint8_t, 3>{0, 0, 0}, static_cast<float>(psi),
-                loop_board != nullptr ? adc_u32 : static_cast<uint32_t>(adc_i32), cal_status);
+                is_loop ? adc_u32 : static_cast<uint32_t>(adc_i32), cal_status);
             elodin_client.publish(static_cast<uint16_t>((type_hi << 8) | cal_lo), cal_msg);
 
         } else if (type_hi == 0x21) {  // TC raw

From 48c4f47431a5cb4b3389431ff8c4736a77084f70 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 13:36:32 -0700
Subject: [PATCH 149/205] test: launch calibration_service from repo-root cwd
 (like daq_bridge/sequencer) and isolate robust adjustments to a per-run temp
 file, so the integration suite is cwd-independent and hermetic

---
 daq-server/test/test_integration.sh | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 1c6dc34f5..39838a0db 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -140,6 +140,7 @@ cleanup() {
   rm -f "$TEST_CONFIG" 2>/dev/null || true
   rm -f "$UDP_COMMANDS_FILE" 2>/dev/null || true
   rm -f "$SIM_STATS_FILE" "$SIM_STATS_FILE.tmp" 2>/dev/null || true
+  rm -f "$REPO_ROOT/.tmp/integration_adjustments_$$.json" 2>/dev/null || true
   echo "✅ Cleanup done"
 }
 
@@ -585,8 +586,20 @@ CALIB_SVC="$REPO_ROOT/build/bin/calibration_service"
 [ -x "$CALIB_SVC" ] || CALIB_SVC=""
 if [ -n "$CALIB_SVC" ]; then
   echo "🔬 Starting calibration_service..."
-  "$CALIB_SVC" --config "$TEST_CONFIG" --elodin-host 127.0.0.1 --elodin-port "$TEST_ELODIN_PORT" \
-    > "$REPO_ROOT/.tmp/integration_calibration_$$.log" 2>&1 &
+  # Run from $REPO_ROOT (the daq-server dir) like daq_bridge/sequencer above: the service resolves
+  # its factory PT calibration dir ("scripts/calibration/calibrations") and CSV relative to cwd, so
+  # without this the test only passes when invoked from daq-server/ (a bare `bash daq-server/test/...`
+  # from the repo root left cwd there → PT: 0 channels → robust never seeds → cal_robust_learn fails).
+  #
+  # --adjustments points robust learned-state at a per-run temp file (not the shared, untracked
+  # scripts/calibration/calibrations/adjustments.json): cal_robust_learn teaches CH5 a +50 offset and
+  # the service persists it on shutdown, so without isolation that offset survives into the next run
+  # and breaks cal_values (which expects pristine factory). A missing file just seeds from factory.
+  CAL_ADJ="$REPO_ROOT/.tmp/integration_adjustments_$$.json"
+  rm -f "$CAL_ADJ" 2>/dev/null || true
+  (cd "$REPO_ROOT" && "$CALIB_SVC" --config "$TEST_CONFIG" --adjustments "$CAL_ADJ" \
+    --elodin-host 127.0.0.1 --elodin-port "$TEST_ELODIN_PORT" \
+    > "$REPO_ROOT/.tmp/integration_calibration_$$.log" 2>&1) &
   PIDS+=($!)
   sleep 1
   if kill -0 "${PIDS[-1]}" 2>/dev/null; then

From 2689a5bcc766ad29681f00a710a88aeabebe9a55 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 15:53:38 -0700
Subject: [PATCH 150/205] config editor: group each board's fields under
 headers, add Roles-tab column headers, and always render the physics
 max-pressure/sense-resistor inputs (disabled unless the sensor is in physics
 mode) so the table doesn't reflow

---
 .../frontend/app/config/page.tsx              | 440 ++++++++++--------
 1 file changed, 249 insertions(+), 191 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 29b0e04c8..44455cc59 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1,6 +1,6 @@
 'use client'
 
-import { useState, useEffect, useRef } from 'react';
+import { useState, useEffect, useRef, type ReactNode } from 'react';
 import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
 import { MessageType } from '@/lib/types';
 import { useControlMode } from '@/lib/control-mode';
@@ -127,6 +127,25 @@ const DEFAULT_CONFIG: ConfigData = {};
  * fields the list is sorted by (sensor channel) — committing on every keystroke would re-sort the
  * list mid-edit and yank the row (and your cursor) elsewhere. Syncs down when the prop changes.
  */
+/**
+ * A titled group of related board fields inside an expanded board card. Renders a small uppercase
+ * header with a divider, then the fields in the standard responsive grid. Grouping the ~17 board
+ * fields (previously one flat grid) by concern — General / Network / Channels / Signal / Safety —
+ * makes a board legible at a glance instead of a wall of inputs.
+ */
+function FieldSection({ title, children }: { title: string; children: ReactNode }) {
+  return (
+    <section className="space-y-3">
+      <h4 className="text-xs font-semibold uppercase tracking-wider text-text-muted border-b border-gray-700/70 pb-1.5">
+        {title}
+      </h4>
+      <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-4">
+        {children}
+      </div>
+    </section>
+  );
+}
+
 function CommitOnBlurNumber({
   value, onCommit, allowEmpty, disabled, className, placeholder, title,
 }: {
@@ -1158,155 +1177,168 @@ export default function ConfigPage() {
                       )}
                     </div>
                     {open && (
-                    <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-4 p-4 pt-0">
-                      {renderField(
-                        'Type',
-                        (board as any).type,
-                        (val) => updateBoard(boardKey, 'type', val),
-                        'select',
-                        ['PT', 'ACTUATOR', 'LC', 'TC', 'RTD', 'ENCODER']
-                      )}
-                      {b.type === 'PT' && (
+                    <div className="p-4 pt-0 space-y-6">
+                      <FieldSection title="General">
+                        {renderField(
+                          'Type',
+                          (board as any).type,
+                          (val) => updateBoard(boardKey, 'type', val),
+                          'select',
+                          ['PT', 'ACTUATOR', 'LC', 'TC', 'RTD', 'ENCODER']
+                        )}
+                        <div className="space-y-1">
+                          {renderField(
+                            'Board ID',
+                            (board as any).board_id,
+                            (val) => updateBoard(boardKey, 'board_id', val),
+                            'number'
+                          )}
+                          {slotIssue && (
+                            <p className="text-xs text-red-400">{slotIssue}</p>
+                          )}
+                        </div>
+                        {renderField(
+                          'Enabled',
+                          (board as any).enabled,
+                          (val) => updateBoard(boardKey, 'enabled', val),
+                          'boolean'
+                        )}
+                      </FieldSection>
+
+                      <FieldSection title="Network">
+                        {renderField(
+                          'IP',
+                          (board as any).ip,
+                          (val) => updateBoard(boardKey, 'ip', val)
+                        )}
+                        {renderField(
+                          'Send Port',
+                          (board as any).send_port,
+                          (val) => updateBoard(boardKey, 'send_port', val),
+                          'number'
+                        )}
+                        {(board as any).listen_port !== undefined && renderField(
+                          'Listen Port',
+                          (board as any).listen_port,
+                          (val) => updateBoard(boardKey, 'listen_port', val),
+                          'number'
+                        )}
+                      </FieldSection>
+
+                      <FieldSection title="Channels">
+                        {renderField(
+                          'Num Sensors',
+                          (board as any).num_sensors,
+                          (val) => updateBoard(boardKey, 'num_sensors', val),
+                          'number'
+                        )}
+                        {(board as any).num_actuators !== undefined && renderField(
+                          'Num Actuators',
+                          (board as any).num_actuators,
+                          (val) => updateBoard(boardKey, 'num_actuators', val),
+                          'number'
+                        )}
+                        {renderField(
+                          'Active Connectors',
+                          (board as any).active_connectors,
+                          (val) => updateBoard(boardKey, 'active_connectors', val),
+                          'array'
+                        )}
+                      </FieldSection>
+
+                      <FieldSection title="Signal & ADC">
+                        {b.type === 'PT' && (
+                          <div className="space-y-1">
+                            <label className="block text-sm font-semibold">
+                              Sensor type
+                              <span className="text-xs text-text-muted ml-2">(sets the ADC reference)</span>
+                            </label>
+                            <select
+                              value={ptType}
+                              onChange={(e) => setPtType(e.target.value)}
+                              disabled={!canEdit}
+                              className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
+                            >
+                              <option value={PT_TYPE_RATIOMETRIC}>0-5V ratiometric</option>
+                              <option value={PT_TYPE_CURRENT_LOOP}>4-20 mA absolute</option>
+                            </select>
+                            <p className="text-xs text-text-muted">
+                              {isHp
+                                ? 'Current loop across a shunt resistor, measured against the internal 2.5 V reference. Supply-independent, so no excitation monitor is needed.'
+                                : 'Excitation is the ADC reference (VDD), so the ratio cancels in hardware.'}
+                            </p>
+                          </div>
+                        )}
                         <div className="space-y-1">
                           <label className="block text-sm font-semibold">
-                            Sensor type
-                            <span className="text-xs text-text-muted ml-2">(sets the ADC reference)</span>
+                            Voltage reference
+                            {b.type === 'PT' && (
+                              <span className="text-xs text-text-muted ml-2">(set by Sensor type)</span>
+                            )}
                           </label>
                           <select
-                            value={ptType}
-                            onChange={(e) => setPtType(e.target.value)}
-                            disabled={!canEdit}
+                            value={String((board as any).voltage_reference ?? 0)}
+                            onChange={(e) => updateBoard(boardKey, 'voltage_reference', parseInt(e.target.value, 10))}
+                            // On a PT board the reference follows from the sensor interface, so it is
+                            // shown rather than edited — the two cannot be made to disagree.
+                            disabled={!canEdit || b.type === 'PT'}
                             className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
                           >
-                            <option value={PT_TYPE_RATIOMETRIC}>0-5V ratiometric</option>
-                            <option value={PT_TYPE_CURRENT_LOOP}>4-20 mA absolute</option>
+                            <option value="0">Internal (2.5V)</option>
+                            <option value="1">VDD (ratiometric)</option>
+                            <option value="2">5V (absolute)</option>
                           </select>
-                          <p className="text-xs text-text-muted">
-                            {isHp
-                              ? 'Current loop across a shunt resistor, measured against the internal 2.5 V reference. Supply-independent, so no excitation monitor is needed.'
-                              : 'Excitation is the ADC reference (VDD), so the ratio cancels in hardware.'}
-                          </p>
                         </div>
-                      )}
-                      {renderField(
-                        'IP',
-                        (board as any).ip,
-                        (val) => updateBoard(boardKey, 'ip', val)
-                      )}
-                      {renderField(
-                        'Send Port',
-                        (board as any).send_port,
-                        (val) => updateBoard(boardKey, 'send_port', val),
-                        'number'
-                      )}
-                      {(board as any).listen_port !== undefined && renderField(
-                        'Listen Port',
-                        (board as any).listen_port,
-                        (val) => updateBoard(boardKey, 'listen_port', val),
-                        'number'
-                      )}
-                      <div className="space-y-1">
-                        {renderField(
-                          'Board ID',
-                          (board as any).board_id,
-                          (val) => updateBoard(boardKey, 'board_id', val),
+                        {(board as any).adc_ref_voltage !== undefined && renderField(
+                          'ADC Reference Voltage (V)',
+                          (board as any).adc_ref_voltage,
+                          (val) => updateBoard(boardKey, 'adc_ref_voltage', val),
                           'number'
                         )}
-                        {slotIssue && (
-                          <p className="text-xs text-red-400">{slotIssue}</p>
+                        {/* 4-20 mA conversion parameters — shown whenever the board declares that
+                            interface, not only when the keys already exist, so a board can actually
+                            be converted here. There is no per-connector list: the ADC reference is
+                            set once per board, so every active connector uses the same path. */}
+                        {isHp && renderField(
+                          'Full Scale (PSI)',
+                          b.hp_pt_full_scale_psi,
+                          (val) => updateBoard(boardKey, 'hp_pt_full_scale_psi', val),
+                          'number',
+                          undefined,
+                          'pressure at 20 mA; 4 mA is 0 PSI'
                         )}
-                      </div>
-                      {renderField(
-                        'Enabled',
-                        (board as any).enabled,
-                        (val) => updateBoard(boardKey, 'enabled', val),
-                        'boolean'
-                      )}
-                      {renderField(
-                        'Logging mode',
-                        String((board as any).enable_serial_printing ?? 0),
-                        (val) => updateBoard(boardKey, 'enable_serial_printing', Number(val)),
-                        'select',
-                        ['0', '1', '2', '3'],
-                        '0 USB only · 1 USB verbose · 2 stream Tier-1 · 3 stream Tier-1+2'
-                      )}
-                      {(board as any).necessary_for_abort !== undefined && renderField(
-                        'Necessary for abort',
-                        (board as any).necessary_for_abort,
-                        (val) => updateBoard(boardKey, 'necessary_for_abort', val),
-                        'boolean'
-                      )}
-                      {(board as any).designated_survivor !== undefined && renderField(
-                        'Designated survivor (actuator only)',
-                        (board as any).designated_survivor,
-                        (val) => updateBoard(boardKey, 'designated_survivor', val),
-                        'boolean'
-                      )}
-                      <div className="space-y-1">
-                        <label className="block text-sm font-semibold">
-                          Voltage reference
-                          {b.type === 'PT' && (
-                            <span className="text-xs text-text-muted ml-2">(set by Sensor type)</span>
-                          )}
-                        </label>
-                        <select
-                          value={String((board as any).voltage_reference ?? 0)}
-                          onChange={(e) => updateBoard(boardKey, 'voltage_reference', parseInt(e.target.value, 10))}
-                          // On a PT board the reference follows from the sensor interface, so it is
-                          // shown rather than edited — the two cannot be made to disagree.
-                          disabled={!canEdit || b.type === 'PT'}
-                          className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
-                        >
-                          <option value="0">Internal (2.5V)</option>
-                          <option value="1">VDD (ratiometric)</option>
-                          <option value="2">5V (absolute)</option>
-                        </select>
-                      </div>
-                      {(board as any).adc_ref_voltage !== undefined && renderField(
-                        'ADC Reference Voltage (V)',
-                        (board as any).adc_ref_voltage,
-                        (val) => updateBoard(boardKey, 'adc_ref_voltage', val),
-                        'number'
-                      )}
-                      {renderField(
-                        'Num Sensors',
-                        (board as any).num_sensors,
-                        (val) => updateBoard(boardKey, 'num_sensors', val),
-                        'number'
-                      )}
-                      {(board as any).num_actuators !== undefined && renderField(
-                        'Num Actuators',
-                        (board as any).num_actuators,
-                        (val) => updateBoard(boardKey, 'num_actuators', val),
-                        'number'
-                      )}
-                      {renderField(
-                        'Active Connectors',
-                        (board as any).active_connectors,
-                        (val) => updateBoard(boardKey, 'active_connectors', val),
-                        'array'
-                      )}
+                        {isHp && renderField(
+                          'Sense Resistor (Ω)',
+                          b.hp_pt_sense_resistor_ohms,
+                          (val) => updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', val),
+                          'number',
+                          undefined,
+                          'shunt the loop current is measured across'
+                        )}
+                      </FieldSection>
 
-                      {/* 4-20 mA conversion parameters — shown whenever the board declares that
-                          interface, not only when the keys already exist, so a board can actually
-                          be converted here. There is no per-connector list: the ADC reference is
-                          set once per board, so every active connector uses the same path. */}
-                      {isHp && renderField(
-                        'Full Scale (PSI)',
-                        b.hp_pt_full_scale_psi,
-                        (val) => updateBoard(boardKey, 'hp_pt_full_scale_psi', val),
-                        'number',
-                        undefined,
-                        'pressure at 20 mA; 4 mA is 0 PSI'
-                      )}
-                      {isHp && renderField(
-                        'Sense Resistor (Ω)',
-                        b.hp_pt_sense_resistor_ohms,
-                        (val) => updateBoard(boardKey, 'hp_pt_sense_resistor_ohms', val),
-                        'number',
-                        undefined,
-                        'shunt the loop current is measured across'
-                      )}
+                      <FieldSection title="Safety & logging">
+                        {renderField(
+                          'Logging mode',
+                          String((board as any).enable_serial_printing ?? 0),
+                          (val) => updateBoard(boardKey, 'enable_serial_printing', Number(val)),
+                          'select',
+                          ['0', '1', '2', '3'],
+                          '0 USB only · 1 USB verbose · 2 stream Tier-1 · 3 stream Tier-1+2'
+                        )}
+                        {(board as any).necessary_for_abort !== undefined && renderField(
+                          'Necessary for abort',
+                          (board as any).necessary_for_abort,
+                          (val) => updateBoard(boardKey, 'necessary_for_abort', val),
+                          'boolean'
+                        )}
+                        {(board as any).designated_survivor !== undefined && renderField(
+                          'Designated survivor (actuator only)',
+                          (board as any).designated_survivor,
+                          (val) => updateBoard(boardKey, 'designated_survivor', val),
+                          'boolean'
+                        )}
+                      </FieldSection>
                     </div>
                     )}
                   </div>
@@ -1410,8 +1442,35 @@ export default function ConfigPage() {
                           No entries. Add one to create this section in `config.toml`.
                         </p>
                       )}
+                      {/* Column headers — the row is a flex of fixed-width cells, so each header
+                          span carries the matching width to stay aligned above its input. The
+                          physics params (Max PSI / Sense Ω) are always-present columns so the table
+                          doesn't reflow when a sensor's model changes; they're only editable in
+                          physics mode (see the disabled inputs below). */}
+                      {entries.length > 0 && (
+                        <div className="flex items-center gap-4 px-1 text-xs font-semibold uppercase tracking-wider text-text-muted">
+                          <span className="flex-1">Role</span>
+                          <span className="w-4 shrink-0" aria-hidden="true" />
+                          <span className="w-28 shrink-0">Channel</span>
+                          {showModel && <span className="w-32 shrink-0">Model</span>}
+                          {showModel && (
+                            <span className="w-24 shrink-0" title="Full-scale pressure (only used in physics-conversion mode)">Max PSI</span>
+                          )}
+                          {showModel && isLoop && (
+                            <span className="w-24 shrink-0" title="Sense resistor for the 4-20 mA shunt (only used in physics-conversion mode)">Sense Ω</span>
+                          )}
+                          <span className="w-24 shrink-0" aria-hidden="true" />
+                        </div>
+                      )}
                       <div className="space-y-3">
-                        {entries.map(([name, sensorId], idx) => (
+                        {entries.map(([name, sensorId], idx) => {
+                          // model resolves to '' for non-PT boards (showModel false); PT rows show
+                          // the configured model with the interface-aware default.
+                          const model = showModel
+                            ? (((config as any)[modelKey]?.[name] as string) ?? defaultModel)
+                            : '';
+                          const isPhysics = model === 'physics';
+                          return (
                           // Key by index, not name: keying by the (changing) name remounts the input
                           // on every keystroke → focus loss. Renames rebuild the map preserving order
                           // so the row stays in place (delete+re-add would jump it to the end).
@@ -1437,7 +1496,7 @@ export default function ConfigPage() {
                               onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
                               className="flex-1 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                             />
-                            <span className="text-text-muted">=</span>
+                            <span className="w-4 text-center text-text-muted shrink-0">=</span>
                             <CommitOnBlurNumber
                               value={typeof sensorId === 'number' ? sensorId : Number(sensorId)}
                               onCommit={(n) => {
@@ -1446,57 +1505,55 @@ export default function ConfigPage() {
                                 updated[name] = n;
                                 setConfig({ ...config, [key]: updated } as any);
                               }}
-                              className="w-28 px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                              className="w-28 shrink-0 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                             />
-                            {showModel && (() => {
-                              const model = ((config as any)[modelKey]?.[name] as string) ?? defaultModel;
-                              return (
-                                <>
-                                  <select
-                                    value={model}
-                                    onChange={(e) => {
-                                      const updated = { ...((config as any)[modelKey] || {}) };
-                                      updated[name] = e.target.value;
-                                      setConfig({ ...config, [modelKey]: updated } as any);
+                            {showModel && (
+                              <>
+                                <select
+                                  value={model}
+                                  onChange={(e) => {
+                                    const updated = { ...((config as any)[modelKey] || {}) };
+                                    updated[name] = e.target.value;
+                                    setConfig({ ...config, [modelKey]: updated } as any);
+                                  }}
+                                  title="Streaming calibration model for this sensor"
+                                  className="w-32 shrink-0 px-3 py-2 bg-background border border-gray-700 rounded text-white"
+                                >
+                                  <option value="cubic">Cubic</option>
+                                  <option value="robust">Robust</option>
+                                  <option value="physics">Physics ({isLoop ? '4-20 mA' : '0-5 V'})</option>
+                                </select>
+                                {/* Always rendered so the table structure is stable across model
+                                    changes; editable only in physics mode, otherwise it shows the
+                                    board default read-only. */}
+                                <CommitOnBlurNumber
+                                  value={((config as any)[fullScaleKey]?.[name]) ?? boardFullScale}
+                                  onCommit={(n) => {
+                                    if (n === undefined) return;
+                                    const u = { ...((config as any)[fullScaleKey] || {}) };
+                                    u[name] = n;
+                                    setConfig({ ...config, [fullScaleKey]: u } as any);
+                                  }}
+                                  disabled={!isPhysics}
+                                  title={isPhysics ? 'Full-scale PSI (physics mode)' : 'Full-scale PSI — editable when this sensor is in physics mode'}
+                                  className="w-24 shrink-0 px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-40 disabled:cursor-not-allowed"
+                                />
+                                {isLoop && (
+                                  <CommitOnBlurNumber
+                                    value={((config as any)[resistorKey]?.[name]) ?? boardResistor}
+                                    onCommit={(n) => {
+                                      if (n === undefined) return;
+                                      const u = { ...((config as any)[resistorKey] || {}) };
+                                      u[name] = n;
+                                      setConfig({ ...config, [resistorKey]: u } as any);
                                     }}
-                                    title="Streaming calibration model for this sensor"
-                                    className="px-3 py-2 bg-background border border-gray-700 rounded text-white"
-                                  >
-                                    <option value="cubic">Cubic</option>
-                                    <option value="robust">Robust</option>
-                                    <option value="physics">Physics ({isLoop ? '4-20 mA' : '0-5 V'})</option>
-                                  </select>
-                                  {model === 'physics' && (
-                                    <>
-                                      <CommitOnBlurNumber
-                                        value={((config as any)[fullScaleKey]?.[name]) ?? boardFullScale}
-                                        onCommit={(n) => {
-                                          if (n === undefined) return;
-                                          const u = { ...((config as any)[fullScaleKey] || {}) };
-                                          u[name] = n;
-                                          setConfig({ ...config, [fullScaleKey]: u } as any);
-                                        }}
-                                        title="Full-scale PSI (physics mode)"
-                                        className="w-24 px-3 py-2 bg-background border border-gray-700 rounded text-white"
-                                      />
-                                      {isLoop && (
-                                        <CommitOnBlurNumber
-                                          value={((config as any)[resistorKey]?.[name]) ?? boardResistor}
-                                          onCommit={(n) => {
-                                            if (n === undefined) return;
-                                            const u = { ...((config as any)[resistorKey] || {}) };
-                                            u[name] = n;
-                                            setConfig({ ...config, [resistorKey]: u } as any);
-                                          }}
-                                          title="Sense resistor Ω (4-20 mA shunt)"
-                                          className="w-20 px-3 py-2 bg-background border border-gray-700 rounded text-white"
-                                        />
-                                      )}
-                                    </>
-                                  )}
-                                </>
-                              );
-                            })()}
+                                    disabled={!isPhysics}
+                                    title={isPhysics ? 'Sense resistor Ω (4-20 mA shunt)' : 'Sense resistor Ω — editable when this sensor is in physics mode'}
+                                    className="w-24 shrink-0 px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-40 disabled:cursor-not-allowed"
+                                  />
+                                )}
+                              </>
+                            )}
                             <button
                               onClick={() => {
                                 const updated = { ...(map || {}) };
@@ -1513,12 +1570,13 @@ export default function ConfigPage() {
                                 }
                                 setConfig(patch);
                               }}
-                              className="px-3 py-2 bg-red-600 rounded hover:bg-red-700"
+                              className="w-24 shrink-0 px-3 py-2 bg-red-600 rounded hover:bg-red-700"
                             >
                               Remove
                             </button>
                           </div>
-                        ))}
+                          );
+                        })}
                       </div>
                       <button
                         onClick={() => {

From 4d437b4b6dd0dc605795203a5e50440740672d09 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 15:53:38 -0700
Subject: [PATCH 151/205] =?UTF-8?q?calibration:=20merge=20cubic+robust=20i?=
 =?UTF-8?q?nto=20one=20PT=20page=20(model=20badge=20per=20sensor,=20shared?=
 =?UTF-8?q?=20points,=20live=20cubic/robust/physics=20curve=20previews)=20?=
 =?UTF-8?q?with=20a=20physics-or-nothing=20baseline=20=E2=80=94=20uncalibr?=
 =?UTF-8?q?ated/cleared=20cubic/robust=20streams=200,=20physics=20only=20w?=
 =?UTF-8?q?hen=20selected,=20no=20factory=20seed;=20robust=20seeds=20from?=
 =?UTF-8?q?=20the=20shared=20cubic=20fit=20and=20persists=20per=20capture;?=
 =?UTF-8?q?=20+integration=20tests=20(shared=5Fpoints,=20clear,=20physics)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/calibration/page.tsx         | 521 ++++++------------
 .../calibration/CalibrationChart.tsx          | 124 ++++-
 .../diablo_server/frontend/lib/nav-items.ts   |   6 +-
 daq-server/diablo_server/frontend/src/App.tsx |   3 +-
 .../lib/include/calibration/PTCalibration.hpp |  12 +-
 .../lib/src/calibration/PTCalibration.cpp     |  11 +-
 .../services/calibration/calibration_main.cpp | 206 ++++---
 daq-server/diablo_server/shared/types.d.ts    |   2 +-
 .../diablo_server/shared/types.d.ts.map       |   2 +-
 daq-server/diablo_server/shared/types.ts      |   2 +-
 daq-server/test/test_integration.sh           |  13 +-
 daq-server/test/ws_data_flow_test.ts          | 110 +++-
 12 files changed, 497 insertions(+), 515 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/calibration/page.tsx b/daq-server/diablo_server/frontend/app/calibration/page.tsx
index 91d3a32a3..559d3fdbe 100644
--- a/daq-server/diablo_server/frontend/app/calibration/page.tsx
+++ b/daq-server/diablo_server/frontend/app/calibration/page.tsx
@@ -5,26 +5,22 @@ import { useSensorStore, useGetSensorValue, useSensorDataVersion, useLoadCellFor
 import { getWebSocketClient } from '@/lib/websocket';
 import {
   MessageType,
-  SensorUpdate,
   CalibrationChannelStatus,
   CalibrationStatusPayload,
   CalibrationCommand,
-  CalibrationConfidence,
   CubicCalibrationChannel,
 } from '@/lib/types';
 import { useSensorConfig, SensorConfig } from '@/lib/sensor-config';
 import { getApiBaseUrl } from '@/lib/websocket';
-import { CalibrationChart } from '@/components/calibration/CalibrationChart';
+import { CalibrationChart, PhysicsParams, CURVE_COLORS } from '@/components/calibration/CalibrationChart';
 
-// ── PT_CHANNELS is now derived from config.toml via useSensorConfig().
-// The hardcoded list below is removed.
+type Model = 'cubic' | 'robust' | 'physics';
 
-const CONFIDENCE_COLORS: Record<CalibrationConfidence, string> = {
-  MAXIMUM: 'text-green-400 border-green-700 bg-green-900/30',
-  HIGH: 'text-blue-400 border-blue-700 bg-blue-900/30',
-  MEDIUM: 'text-yellow-400 border-yellow-700 bg-yellow-900/30',
-  LOW: 'text-orange-400 border-orange-700 bg-orange-900/30',
-  UNCALIBRATED: 'text-gray-500 border-gray-700 bg-gray-800/40',
+// Per-model badge styling — the whole point is that a sensor's selected model reads at a glance.
+const MODEL_BADGE: Record<Model, string> = {
+  cubic: 'text-sky-300 border-sky-700 bg-sky-900/40',
+  robust: 'text-violet-300 border-violet-700 bg-violet-900/40',
+  physics: 'text-orange-300 border-orange-700 bg-orange-900/40',
 };
 
 function fmtPsi(v: number | null | undefined): string {
@@ -32,7 +28,6 @@ function fmtPsi(v: number | null | undefined): string {
   if (Math.abs(v) > 99999) return '---';
   return v.toFixed(2);
 }
-
 function fmtAdc(v: number | null | undefined): string {
   if (v === null || v === undefined || !isFinite(v)) return '---';
   return v.toLocaleString();
@@ -40,8 +35,8 @@ function fmtAdc(v: number | null | undefined): string {
 
 const LBF_TO_KG = 0.453592;
 
-// ── Load cell 0-point card: show offset-adjusted force + Zero button ───────────
-function LoadCellZeroCard({ calEntity, label, onZero }: { calEntity: string; label: string; getSensorValue: (e: string, c: string) => number | null; onZero: () => void }) {
+// ── Load cell 0-point card (separate concern; kept until LC calibration gets its own home) ──────
+function LoadCellZeroCard({ calEntity, label, onZero }: { calEntity: string; label: string; onZero: () => void }) {
   const forceLbf = useLoadCellForceLbf(calEntity);
   const kg = forceLbf != null && Number.isFinite(forceLbf) ? forceLbf * LBF_TO_KG : null;
   const display = kg != null ? kg.toFixed(2) : '—';
@@ -49,31 +44,30 @@ function LoadCellZeroCard({ calEntity, label, onZero }: { calEntity: string; lab
     <div className="flex items-center gap-2 rounded border border-gray-700 bg-card px-3 py-2">
       <span className="text-[10px] font-bold text-gray-500 w-16">{label}</span>
       <span className="text-sm font-mono text-green-400 tabular-nums w-14">{display} kg</span>
-      <button
-        type="button"
-        onClick={onZero}
-        className="px-2 py-1 text-[10px] font-bold rounded border border-amber-600 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50"
-      >
+      <button type="button" onClick={onZero}
+        className="px-2 py-1 text-[10px] font-bold rounded border border-amber-600 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50">
         Zero
       </button>
     </div>
   );
 }
 
-// ── Single channel card — compact and readable ─────────────────────────────────
+// ── Single PT channel card ──────────────────────────────────────────────────────
 interface ChannelCardProps {
   ch: SensorConfig;
+  model: Model;
   status?: CalibrationChannelStatus;
   rawAdc?: number | null;
   calPsi?: number | null;
+  numPoints: number;
   selected?: boolean;
   onSelect?: () => void;
   onCapture: (sensorId: number, boardId: number, refPsi: number) => void;
 }
 
-function ChannelCard({ ch, status, rawAdc, calPsi, selected, onSelect, onCapture }: ChannelCardProps) {
+function ChannelCard({ ch, model, status, rawAdc, calPsi, numPoints, selected, onSelect, onCapture }: ChannelCardProps) {
   const [refInput, setRefInput] = useState('');
-  const conf = status?.confidence ?? 'UNCALIBRATED';
+  const isPhysics = model === 'physics';
   const isDrift = status?.driftDetected ?? false;
 
   const handleCapture = () => {
@@ -89,76 +83,50 @@ function ChannelCard({ ch, status, rawAdc, calPsi, selected, onSelect, onCapture
       className={`rounded border p-2.5 flex flex-col gap-1.5 transition-all bg-card cursor-pointer
         ${selected ? 'ring-2 ring-blue-500 ' : ''}${isDrift ? 'border-red-600 shadow-[0_0_10px_rgba(239,68,68,0.2)]' : 'border-gray-800'}`}
     >
-      {/* Header row: CH + name + confidence */}
+      {/* Header: CH + name + MODEL badge */}
       <div className="flex items-center justify-between gap-1">
         <div className="flex items-center gap-1.5 min-w-0">
           <span className="text-[10px] font-bold text-gray-500">CH{ch.id}</span>
           <span className="text-xs font-semibold text-text truncate">{ch.role}</span>
         </div>
-        <span className={`text-[9px] font-bold px-1.5 py-0.5 rounded border flex-shrink-0 ${CONFIDENCE_COLORS[conf]}`}>
-          {conf === 'UNCALIBRATED' ? 'UNCAL' : conf}
+        <span className={`text-[9px] font-bold px-1.5 py-0.5 rounded border flex-shrink-0 uppercase ${MODEL_BADGE[model]}`}>
+          {model}
         </span>
       </div>
 
       {/* Big PSI readout */}
       <div className="bg-gray-900/60 rounded px-2 py-1.5 flex items-baseline justify-between">
         <span className="text-[10px] text-gray-500 font-bold">PSI</span>
-        <span className="text-xl font-bold font-mono tabular-nums text-green-400 leading-none">
-          {fmtPsi(calPsi)}
-        </span>
+        <span className="text-xl font-bold font-mono tabular-nums text-green-400 leading-none">{fmtPsi(calPsi)}</span>
       </div>
 
-      {/* ADC + RLS count (compact row) */}
+      {/* ADC + points/RLS */}
       <div className="flex items-center justify-between text-[10px] font-mono text-gray-500 px-0.5">
         <span>ADC {fmtAdc(rawAdc)}</span>
-        <span>RLS {status?.rlsUpdateCount ?? 0}</span>
+        <span>{model === 'robust' ? `RLS ${status?.rlsUpdateCount ?? 0}` : `${numPoints} pts`}</span>
       </div>
 
-      {/* GLR drift bar — tiny but informative */}
-      {status && (
-        <div className="flex items-center gap-1.5 px-0.5">
-          <span className="text-[9px] text-gray-600">GLR</span>
-          <div className="flex-1 h-1.5 bg-gray-800 rounded-full overflow-hidden">
-            <div
-              className="h-full rounded-full transition-all duration-300"
-              style={{
-                width: `${Math.min((status.glrStat / 6) * 100, 100)}%`,
-                background: status.glrStat > 3 ? '#EF4444' : status.glrStat > 2 ? '#F59E0B' : '#22C55E',
-              }}
-            />
-          </div>
-          <span className="text-[9px] font-mono text-gray-500 w-6 text-right">
-            {status.glrStat.toFixed(1)}
-          </span>
-          {isDrift && <span className="text-[9px] text-red-400 font-bold animate-pulse">⚠</span>}
-        </div>
-      )}
-
-      {/* Capture input — only for channels in calibration sequence (low-pressure PTs) */}
+      {/* Capture — disabled in physics (points are meaningless for a datasheet conversion) */}
       <div className="flex gap-1 mt-auto pt-1 border-t border-gray-800/60">
-        {ch.inCalibrationSequence ? (
+        {isPhysics ? (
+          <span className="text-[10px] text-gray-500 italic">Physics — no points</span>
+        ) : (
           <>
             <input
-              type="number"
-              step="any"
-              placeholder="Ref PSI"
-              value={refInput}
+              type="number" step="any" placeholder="Ref PSI" value={refInput}
               onChange={(e) => setRefInput(e.target.value)}
               onKeyDown={(e) => e.key === 'Enter' && handleCapture()}
-              className="flex-1 min-w-0 bg-gray-900 border border-gray-700 rounded px-1.5 py-1 text-xs
-                         font-mono text-text placeholder-gray-600 focus:outline-none focus:border-blue-500"
+              onClick={(e) => e.stopPropagation()}
+              className="flex-1 min-w-0 bg-gray-900 border border-gray-700 rounded px-1.5 py-1 text-xs font-mono text-text placeholder-gray-600 focus:outline-none focus:border-blue-500"
             />
             <button
-              onClick={handleCapture}
+              onClick={(e) => { e.stopPropagation(); handleCapture(); }}
               disabled={!refInput}
-              className="px-2 py-1 text-[10px] font-bold rounded bg-blue-700 hover:bg-blue-600
-                         disabled:opacity-30 disabled:cursor-not-allowed transition-colors text-white"
+              className="px-2 py-1 text-[10px] font-bold rounded bg-blue-700 hover:bg-blue-600 disabled:opacity-30 disabled:cursor-not-allowed transition-colors text-white"
             >
               CAPTURE
             </button>
           </>
-        ) : (
-          <span className="text-[10px] text-gray-500 italic">HP — no cal</span>
         )}
       </div>
     </div>
@@ -167,62 +135,78 @@ function ChannelCard({ ch, status, rawAdc, calPsi, selected, onSelect, onCapture
 
 // ── Main page ─────────────────────────────────────────────────────────────────
 export default function CalibrationPage() {
-  useSensorDataVersion(); // re-render on sensor flush so getSensorValue() shows fresh data
+  useSensorDataVersion();
   const getSensorValue = useGetSensorValue();
   const ws = getWebSocketClient();
   const ptChannels = useSensorConfig();
 
   const [calStatus, setCalStatus] = useState<CalibrationStatusPayload | null>(null);
-  const [lastUpdate, setLastUpdate] = useState<Date | null>(null);
-  const [calFilePath, setCalFilePath] = useState<string | null>(null);
-  const [phase2Active, setPhase2Active] = useState(true); // reflects backend flag; RLS lives in calibration_service
-  const [numReferenceGauges, setNumReferenceGauges] = useState(1);
   const [singleRefPsi, setSingleRefPsi] = useState('');
   const [selectedBoardId, setSelectedBoardId] = useState<number | 'all'>('all');
   const [cubicState, setCubicState] = useState<Record<string, CubicCalibrationChannel>>({});
   const [selectedUid, setSelectedUid] = useState<number | null>(null);
+  const [overlay, setOverlay] = useState<{ cubic: boolean; robust: boolean; physics: boolean }>({ cubic: true, robust: true, physics: true });
 
-  // Gauge → PT channel mapping (when multiple gauges): gauge index 1..N → channel ids
-  const [gaugeToChannels, setGaugeToChannels] = useState<Record<number, number[]>>({ 1: [1] });
-  const [gaugeRefs, setGaugeRefs] = useState<Record<number, string>>({});
+  // Full config (for physics params + LC list). Boards keyed by config key (e.g. "pt_board").
+  const [cfgBoards, setCfgBoards] = useState<Record<string, any>>({});
+  const [cfgRoot, setCfgRoot] = useState<Record<string, any>>({});
   const [lcChannels, setLcChannels] = useState<{ calEntity: string; label: string }[]>([]);
   const setLoadCellZeroOffset = useSensorStore((s) => s.setLoadCellZeroOffset);
 
-  // This page shows only valves configured for the robust model (the service reports each uid's
-  // active_model in the calibration record); cubic-configured valves live on the Cubic page.
-  const robustChannels = useMemo(
-    () => ptChannels.filter((c) => cubicState[String(c.boardId * 100 + c.id)]?.active_model === 'robust'),
-    [ptChannels, cubicState],
-  );
-  const availableBoards = Array.from(new Set(robustChannels.map((c) => c.boardId))).sort((a, b) => a - b);
-  const visibleChannels = robustChannels.filter((c) => selectedBoardId === 'all' || c.boardId === selectedBoardId);
+  // Each sensor's streaming model (service truth); default by interface when the record is absent.
+  const modelOf = useCallback((uid: number): Model => {
+    const rec = cubicState[String(uid)];
+    if (rec?.active_model) return rec.active_model as Model;
+    const ch = ptChannels.find((c) => c.boardId * 100 + c.id === uid);
+    return ch?.isHpPt ? 'physics' : 'cubic';
+  }, [cubicState, ptChannels]);
+
+  // board_id → { key, board } so we can resolve per-sensor physics params from config.
+  const boardById = useMemo(() => {
+    const m = new Map<number, { key: string; board: any }>();
+    for (const [key, board] of Object.entries(cfgBoards)) {
+      if (board && typeof (board as any).board_id === 'number') m.set((board as any).board_id, { key, board });
+    }
+    return m;
+  }, [cfgBoards]);
+
+  const physicsParamsOf = useCallback((uid: number): PhysicsParams | undefined => {
+    const ch = ptChannels.find((c) => c.boardId * 100 + c.id === uid);
+    if (!ch) return undefined;
+    const entry = boardById.get(ch.boardId);
+    if (!entry) return undefined;
+    const { key, board } = entry;
+    const isLoop = board.pt_type === '4-20 mA absolute' || board.hp_pt_full_scale_psi != null;
+    const fsMap = cfgRoot[`calibration_full_scale_${key}`] as Record<string, number> | undefined;
+    const rsMap = cfgRoot[`calibration_sense_resistor_${key}`] as Record<string, number> | undefined;
+    const fullScale = (ch.role && fsMap?.[ch.role] != null) ? fsMap[ch.role] : (isLoop ? (board.hp_pt_full_scale_psi ?? 5000) : 1000);
+    const senseResistor = (ch.role && rsMap?.[ch.role] != null) ? rsMap[ch.role] : (board.hp_pt_sense_resistor_ohms ?? 120);
+    return { fullScale, isLoop, senseResistor, adcRefVoltage: board.adc_ref_voltage ?? 2.5 };
+  }, [ptChannels, boardById, cfgRoot]);
+
+  // Every PT sensor appears here; the model badge says which calibration each uses.
+  const availableBoards = Array.from(new Set(ptChannels.map((c) => c.boardId))).sort((a, b) => a - b);
+  const visibleChannels = ptChannels.filter((c) => selectedBoardId === 'all' || c.boardId === selectedBoardId);
   const selectedState = selectedUid != null ? cubicState[String(selectedUid)] : undefined;
   const selectedChannel = selectedUid != null ? ptChannels.find((c) => c.boardId * 100 + c.id === selectedUid) : undefined;
+  const selectedModel = selectedUid != null ? modelOf(selectedUid) : undefined;
 
-  // Default mapping when number of gauges changes: Gauge 1→[1], Gauge 2→[2], ...
-  useEffect(() => {
-    const n = numReferenceGauges;
-    setGaugeToChannels((prev) => {
-      const next = { ...prev };
-      for (let g = 1; g <= n; g++) {
-        if (!next[g]?.length) next[g] = [g];
-      }
-      return next;
-    });
-  }, [numReferenceGauges]);
-
+  // Load full config once (physics params + LC channels).
   useEffect(() => {
     fetch(`${getApiBaseUrl()}/api/config`)
       .then((r) => (r.ok ? r.json() : null))
-      .then((data: { config?: { boards?: Record<string, { type?: string; enabled?: boolean; active_connectors?: number[]; num_sensors?: number }> } } | null) => {
-        const boards = data?.config?.boards;
-        if (!boards) return;
+      .then((data: { config?: Record<string, any> } | null) => {
+        const cfg = data?.config;
+        if (!cfg) return;
+        setCfgRoot(cfg);
+        const boards = (cfg.boards ?? {}) as Record<string, any>;
+        setCfgBoards(boards);
         const chs: number[] = [];
         for (const board of Object.values(boards)) {
-          if (board?.type !== 'LC' || board.enabled === false) continue;
-          const active = Array.isArray(board.active_connectors) && board.active_connectors.length > 0
-            ? board.active_connectors
-            : Array.from({ length: board.num_sensors ?? 10 }, (_, i) => i + 1);
+          if ((board as any)?.type !== 'LC' || (board as any).enabled === false) continue;
+          const active = Array.isArray((board as any).active_connectors) && (board as any).active_connectors.length > 0
+            ? (board as any).active_connectors
+            : Array.from({ length: (board as any).num_sensors ?? 10 }, (_, i) => i + 1);
           chs.push(...active);
         }
         setLcChannels(chs.map((ch) => ({ calEntity: `LC_Cal.CH${ch}`, label: `LC Ch${ch}` })));
@@ -231,44 +215,29 @@ export default function CalibrationPage() {
   }, []);
 
   useEffect(() => {
-    const u2 = ws.on(MessageType.CALIBRATION_STATUS, (p: unknown) => {
-      const payload = p as CalibrationStatusPayload;
-      setCalStatus(payload);
-      setLastUpdate(new Date(payload.timestamp ?? Date.now()));
-      setPhase2Active(payload.phase2Enabled);
-      if (payload.calibrationFilePath != null) setCalFilePath(payload.calibrationFilePath);
-    });
+    const u2 = ws.on(MessageType.CALIBRATION_STATUS, (p: unknown) => setCalStatus(p as CalibrationStatusPayload));
     const u3 = ws.on(MessageType.ERROR, (p: unknown) => {
-      const payload = p as { message?: string };
-      const msg = payload?.message ?? 'Unknown error';
+      const msg = (p as { message?: string })?.message ?? 'Unknown error';
       console.error('[Calibration] Backend error:', msg);
       alert(`❌ Calibration: ${msg}`);
     });
     return () => { u2(); u3(); };
   }, [ws]);
 
-  // Poll calibration status (backend no longer syncs every 2s)
   useEffect(() => {
     const poll = async () => {
       try {
         const res = await fetch(`${getApiBaseUrl()}/api/calibration_status`);
         if (!res.ok) return;
         const data = await res.json();
-        if (data && !data.error) {
-          setCalStatus(data as CalibrationStatusPayload);
-          setLastUpdate(new Date(data.timestamp ?? Date.now()));
-          setPhase2Active(data.phase2Enabled);
-          if (data.calibrationFilePath != null) setCalFilePath(data.calibrationFilePath);
-        }
-      } catch (_) { /* ignore */ }
+        if (data && !data.error) setCalStatus(data as CalibrationStatusPayload);
+      } catch { /* ignore */ }
     };
     poll();
     const id = setInterval(poll, 2000);
     return () => clearInterval(id);
   }, []);
 
-  // The service reports each valve's model + captured robust points in the cubic-calibration record;
-  // poll it to filter this page and draw the selected valve's points/curve.
   const fetchCubic = useCallback(async () => {
     try {
       const res = await fetch(`${getApiBaseUrl()}/api/cubic_calibration`);
@@ -277,7 +246,7 @@ export default function CalibrationPage() {
       if (data && typeof data.cubic_state === 'object' && data.cubic_state) {
         setCubicState(data.cubic_state as Record<string, CubicCalibrationChannel>);
       }
-    } catch { /* ignore transient fetch errors */ }
+    } catch { /* ignore */ }
   }, []);
 
   useEffect(() => {
@@ -288,7 +257,6 @@ export default function CalibrationPage() {
 
   const sendCalCmd = useCallback((cmd: CalibrationCommand) => {
     ws.send({ type: MessageType.CALIBRATION_COMMAND, timestamp: Date.now(), payload: cmd });
-    // Nudge a refetch after the service has processed + persisted the capture/clear.
     setTimeout(fetchCubic, 350);
     setTimeout(fetchCubic, 900);
   }, [ws, fetchCubic]);
@@ -299,84 +267,47 @@ export default function CalibrationPage() {
 
   const handleNewCalibration = useCallback(() => {
     if (!selectedChannel) return;
-    if (typeof window !== 'undefined' && !window.confirm(`Start a new calibration for ${selectedChannel.role || 'CH' + selectedChannel.id}? Clears its captured points and resets the robust adjustment.`)) return;
+    if (typeof window !== 'undefined' && !window.confirm(`Clear the calibration for ${selectedChannel.role || 'CH' + selectedChannel.id}? Drops its captured points and resets both cubic and robust to nothing (0).`)) return;
     sendCalCmd({ commandType: 'new_calibration', sensorId: selectedChannel.id, boardId: selectedChannel.boardId });
   }, [selectedChannel, sendCalCmd]);
 
-  const handleZeroAll = useCallback(() => {
+  const handleZeroAllRobust = useCallback(() => {
     sendCalCmd({ commandType: 'zero_all' });
   }, [sendCalCmd]);
 
-  const handleClearCalibration = useCallback(() => {
-    if (typeof window !== 'undefined' && !window.confirm('Clear all calibration and start from scratch?')) return;
-    sendCalCmd({ commandType: 'clear_calibration' });
-  }, [sendCalCmd]);
-
   const handleCaptureAll = useCallback(() => {
     const psi = parseFloat(singleRefPsi);
     if (isNaN(psi)) return;
     for (const ch of visibleChannels) {
-      if (!ch.inCalibrationSequence) continue;
+      if (modelOf(ch.boardId * 100 + ch.id) === 'physics') continue; // no points in physics
       sendCalCmd({ commandType: 'capture_point', sensorId: ch.id, boardId: ch.boardId, referencePressure: psi });
     }
     setSingleRefPsi('');
-  }, [sendCalCmd, singleRefPsi, visibleChannels]);
-
-  const toggleGaugeChannel = useCallback((gauge: number, uniqueId: number) => {
-    setGaugeToChannels((prev) => {
-      const list = prev[gauge] ?? [];
-      const next = list.includes(uniqueId) ? list.filter((c) => c !== uniqueId) : [...list, uniqueId].sort((a, b) => a - b);
-      return { ...prev, [gauge]: next };
-    });
-  }, []);
-
-  const handleCaptureByGauges = useCallback(() => {
-    for (let g = 1; g <= numReferenceGauges; g++) {
-      const refStr = gaugeRefs[g];
-      const ref = parseFloat(refStr ?? '');
-      if (isNaN(ref)) continue;
-      const uniqueIds = gaugeToChannels[g] ?? [];
-      for (const uid of uniqueIds) {
-        // Find by unique board*100 + channel
-        const ch = ptChannels.find(c => (c.boardId * 100 + c.id) === uid);
-        if (ch) {
-          sendCalCmd({ commandType: 'capture_point', sensorId: ch.id, boardId: ch.boardId, referencePressure: ref });
-        }
-      }
-    }
-    setGaugeRefs({});
-  }, [sendCalCmd, numReferenceGauges, gaugeToChannels, gaugeRefs, ptChannels]);
+  }, [sendCalCmd, singleRefPsi, visibleChannels, modelOf]);
 
   const handleSave = useCallback(() => {
     sendCalCmd({ commandType: 'save_coefficients' });
   }, [sendCalCmd]);
 
-  const statusMap = new Map<number, CalibrationChannelStatus>(
-    (calStatus?.channels ?? []).map((c) => [c.sensorId, c])
-  );
+  const statusMap = new Map<number, CalibrationChannelStatus>((calStatus?.channels ?? []).map((c) => [c.sensorId, c]));
+  const getStatus = (channelId: number, boardId: number) => statusMap.get(boardId * 100 + channelId);
 
-  const getStatus = (channelId: number, boardId: number) => {
-    return statusMap.get(boardId * 100 + channelId);
-  };
-
-  const driftCount = (calStatus?.channels ?? []).filter(c => c.driftDetected).length;
-  const totalRls = (calStatus?.channels ?? []).reduce((s, c) => s + (c.rlsUpdateCount ?? 0), 0);
+  const counts = useMemo(() => {
+    const c = { cubic: 0, robust: 0, physics: 0 };
+    for (const ch of ptChannels) c[modelOf(ch.boardId * 100 + ch.id)]++;
+    return c;
+  }, [ptChannels, modelOf]);
 
   return (
     <main className="h-full bg-background text-text flex flex-col overflow-hidden">
-
       {/* ── Toolbar ─────────────────────────────────────────────────────── */}
       <div className="flex-shrink-0 flex items-center justify-between px-4 py-2 border-b border-gray-800 bg-card">
         <div className="flex items-center gap-4">
-          <h1 className="text-lg font-bold tracking-tight">Robust Calibration</h1>
-          <span className="text-xs text-gray-400 font-semibold bg-gray-800 px-2 py-0.5 rounded uppercase tracking-wider">
-            Single Pipeline
-          </span>
+          <h1 className="text-lg font-bold tracking-tight">PT Calibration</h1>
           <span className="text-xs text-gray-500 font-mono">
-            {calStatus ? `${(calStatus.channels ?? []).length} ch` : '—'}
-            {' · '}
-            {totalRls} RLS
-            {driftCount > 0 && <span className="text-red-400 ml-1">· {driftCount} drift</span>}
+            <span className="text-sky-300">{counts.cubic} cubic</span>{' · '}
+            <span className="text-violet-300">{counts.robust} robust</span>{' · '}
+            <span className="text-orange-300">{counts.physics} physics</span>
           </span>
         </div>
 
@@ -385,186 +316,55 @@ export default function CalibrationPage() {
           <select
             value={selectedBoardId}
             onChange={(e) => setSelectedBoardId(e.target.value === 'all' ? 'all' : Number(e.target.value))}
-            className="bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs text-text mr-4"
+            className="bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs text-text mr-3"
           >
             <option value="all">All</option>
-            {availableBoards.map((bId) => (
-              <option key={bId} value={bId}>Board {bId}</option>
-            ))}
+            {availableBoards.map((bId) => (<option key={bId} value={bId}>Board {bId}</option>))}
           </select>
 
-          <span className="text-[10px] text-gray-500 mr-1">Ref gauges:</span>
-          <select
-            value={numReferenceGauges}
-            onChange={(e) => setNumReferenceGauges(Number(e.target.value))}
-            className="bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs text-text"
-          >
-            {[1, 2, 3, 4, 5, 6, 7, 8, 9, 10].map((n) => (
-              <option key={n} value={n}>{n}</option>
-            ))}
-          </select>
-          {numReferenceGauges === 1 && (
-            <>
-              <input
-                type="number"
-                step="any"
-                placeholder="Ref PSI (all ch)"
-                value={singleRefPsi}
-                onChange={(e) => setSingleRefPsi(e.target.value)}
-                onKeyDown={(e) => e.key === 'Enter' && handleCaptureAll()}
-                className="w-24 bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs font-mono text-text"
-              />
-              <button
-                onClick={handleCaptureAll}
-                disabled={!singleRefPsi}
-                className="px-2 py-1 text-[10px] font-bold rounded bg-blue-700 hover:bg-blue-600 disabled:opacity-40 text-white"
-              >
-                CAPTURE ALL
-              </button>
-            </>
-          )}
-          <button
-            onClick={handleZeroAll}
-            className="px-3 py-1.5 text-xs font-bold rounded border transition-all
-                       bg-yellow-900/40 border-yellow-600 text-yellow-300 hover:bg-yellow-800/60"
-          >
-            ZERO ALL
+          <input
+            type="number" step="any" placeholder="Ref PSI (all ch)" value={singleRefPsi}
+            onChange={(e) => setSingleRefPsi(e.target.value)}
+            onKeyDown={(e) => e.key === 'Enter' && handleCaptureAll()}
+            className="w-28 bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs font-mono text-text"
+          />
+          <button onClick={handleCaptureAll} disabled={!singleRefPsi}
+            className="px-2 py-1 text-[10px] font-bold rounded bg-blue-700 hover:bg-blue-600 disabled:opacity-40 text-white">
+            CAPTURE ALL
           </button>
-          <button
-            onClick={handleClearCalibration}
-            className="px-3 py-1.5 text-xs font-bold rounded border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50"
-          >
-            CLEAR
+          <button onClick={handleZeroAllRobust}
+            title="Tare robust sensors to read 0 at the current pressure. Cubic/physics sensors are unaffected (their zero is defined by the fit / datasheet)."
+            className="px-3 py-1.5 text-xs font-bold rounded border bg-yellow-900/40 border-yellow-600 text-yellow-300 hover:bg-yellow-800/60">
+            ZERO ROBUST
           </button>
-          <span
-            className="px-3 py-1.5 text-xs font-bold rounded border bg-green-900/30 border-green-700 text-green-400 cursor-default"
-            title="Recursive calibration runs in calibration_service (FSW). This UI only sends commands and shows Elodin data."
-          >
-            FSW {phase2Active ? 'active' : 'idle'}
-          </span>
-          <button
-            onClick={handleSave}
-            className="px-3 py-1.5 text-xs font-bold rounded border bg-blue-900/30
-                       border-blue-700 text-blue-400 hover:bg-blue-800/50 transition-all"
-          >
+          <button onClick={handleSave}
+            className="px-3 py-1.5 text-xs font-bold rounded border bg-blue-900/30 border-blue-700 text-blue-400 hover:bg-blue-800/50">
             SAVE
           </button>
-          <span className="text-[10px] text-gray-600 font-mono ml-1">
-            {lastUpdate ? lastUpdate.toLocaleTimeString() : '—'}
-          </span>
         </div>
       </div>
 
-      {/* ── Instruction strip (only if never zeroed) ────────────────── */}
-      {(!calStatus || (calStatus.channels ?? []).every(c => c.rlsUpdateCount === 0)) && (
-        <div className="flex-shrink-0 bg-blue-950/20 border-b border-blue-800/30 px-4 py-2 text-xs text-blue-300">
-          <strong>Quick start:</strong> With all PTs at atmospheric (0 PSI), click{' '}
-          <span className="font-mono bg-blue-900/40 px-1 rounded">ZERO ALL</span> to initialize.
-          Then provide known reference pressures via CAPTURE to build the calibration curve.
-          Robust Calibration auto-refines in the background.
-        </div>
-      )}
-
-      {/* ── Calibration file path strip ──────────────────────────────── */}
-      {calFilePath && (
-        <div className="flex-shrink-0 border-b border-gray-800 px-4 py-1.5 flex items-center gap-2">
-          <span className="text-[10px] font-bold text-gray-500 uppercase tracking-wider">Cal file</span>
-          <span
-            className="text-[10px] font-mono text-gray-400 truncate"
-            title={calFilePath}
-          >
-            {calFilePath}
-          </span>
-        </div>
-      )}
-
-      {/* ── Load cells: 0-point offset (display = raw − offset) ───────── */}
+      {/* ── Load cells (separate concern) ────────────────────────────────── */}
       {lcChannels.length > 0 && (
         <div className="flex-shrink-0 border-b border-gray-700 bg-gray-900/50 px-4 py-3">
-          <div className="text-xs font-bold text-gray-400 mb-2">Load cells — 0 point (offset only)</div>
+          <div className="text-xs font-bold text-gray-400 mb-2">Load cells — 0 point (offset only; separate from PT calibration)</div>
           <div className="flex flex-wrap items-center gap-3">
             {lcChannels.map(({ calEntity, label }) => (
-              <LoadCellZeroCard
-                key={calEntity}
-                calEntity={calEntity}
-                label={label}
-                getSensorValue={getSensorValue}
+              <LoadCellZeroCard key={calEntity} calEntity={calEntity} label={label}
                 onZero={() => {
                   const raw = getSensorValue(calEntity, 'force_lbf');
                   if (raw != null && Number.isFinite(raw)) setLoadCellZeroOffset(calEntity, raw);
                 }}
               />
             ))}
-            <button
-              type="button"
-              onClick={() => {
-                lcChannels.forEach(({ calEntity }) => {
-                  const raw = getSensorValue(calEntity, 'force_lbf');
-                  if (raw != null && Number.isFinite(raw)) setLoadCellZeroOffset(calEntity, raw);
-                });
-              }}
-              className="px-3 py-1.5 text-xs font-bold rounded border border-amber-600 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50"
-            >
-              Zero all LCs
-            </button>
-          </div>
-        </div>
-      )}
-
-      {/* ── Gauge → PT mapping (when multiple gauges) ────────────────── */}
-      {numReferenceGauges > 1 && (
-        <div className="flex-shrink-0 border-b border-gray-700 bg-gray-900/50 px-4 py-3">
-          <div className="text-xs font-bold text-gray-400 mb-2">Map each reference gauge to PT channels, then enter ref (PSI) and capture</div>
-          <div className="flex flex-wrap items-center gap-4">
-            {Array.from({ length: numReferenceGauges }, (_, i) => i + 1).map((g) => (
-              <div key={g} className="flex items-center gap-2 flex-wrap">
-                <span className="text-[10px] font-bold text-gray-500 w-14">Gauge {g}:</span>
-                <div className="flex items-center gap-0.5">
-                  {visibleChannels.filter((c) => c.inCalibrationSequence).map((c) => {
-                    const uid = c.boardId * 100 + c.id;
-                    return (
-                      <label key={uid} className="flex items-center cursor-pointer">
-                        <input
-                          type="checkbox"
-                          checked={(gaugeToChannels[g] ?? []).includes(uid)}
-                          onChange={() => toggleGaugeChannel(g, uid)}
-                          className="sr-only peer"
-                        />
-                        <span className="px-1.5 py-0.5 text-[9px] font-mono rounded border border-gray-600 peer-checked:bg-blue-700 peer-checked:border-blue-500 text-gray-400 peer-checked:text-white" title={`Board ${c.boardId}`}>
-                          {c.id}<sup>{c.boardId}</sup>
-                        </span>
-                      </label>
-                    );
-                  })}
-                </div>
-                <input
-                  type="number"
-                  step="any"
-                  placeholder="Ref PSI"
-                  value={gaugeRefs[g] ?? ''}
-                  onChange={(e) => setGaugeRefs((prev) => ({ ...prev, [g]: e.target.value }))}
-                  onKeyDown={(e) => e.key === 'Enter' && handleCaptureByGauges()}
-                  className="w-20 bg-gray-800 border border-gray-600 rounded px-2 py-1 text-xs font-mono text-text"
-                />
-              </div>
-            ))}
-            <button
-              onClick={handleCaptureByGauges}
-              className="px-3 py-1.5 text-xs font-bold rounded bg-blue-700 hover:bg-blue-600 text-white"
-            >
-              CAPTURE ALL GAUGES
-            </button>
           </div>
         </div>
       )}
 
-      {/* ── Channel grid — 5 columns × 2 rows ──────────────────────── */}
+      {/* ── PT channel grid ──────────────────────────────────────────────── */}
       <div className="flex-1 overflow-auto min-h-0 p-3">
-        {robustChannels.length === 0 ? (
-          <div className="text-sm text-gray-500 p-2">
-            No valves are set to the robust model. Set a valve&apos;s model to <span className="text-text font-semibold">Robust</span> in
-            the config editor&apos;s Roles tab, then restart the session — it will appear here.
-          </div>
+        {ptChannels.length === 0 ? (
+          <div className="text-sm text-gray-500 p-2">No PT sensors configured.</div>
         ) : (
           <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-5 gap-2.5 auto-rows-fr">
             {visibleChannels.map((ch) => {
@@ -573,9 +373,11 @@ export default function CalibrationPage() {
                 <ChannelCard
                   key={`${ch.boardId}-${ch.id}`}
                   ch={ch}
+                  model={modelOf(uid)}
                   status={getStatus(ch.id, ch.boardId)}
                   rawAdc={getSensorValue(ch.calEntity, 'raw_adc_counts')}
                   calPsi={getSensorValue(ch.calEntity, 'pressure_psi')}
+                  numPoints={cubicState[String(uid)]?.numPoints ?? 0}
                   selected={uid === selectedUid}
                   onSelect={() => setSelectedUid(uid)}
                   onCapture={handleCapture}
@@ -586,28 +388,69 @@ export default function CalibrationPage() {
         )}
       </div>
 
-      {/* ── Selected valve: captured points + robust curve ──────────── */}
-      {selectedChannel && (
-        <div className="flex-shrink-0 border-t border-gray-800 bg-card/40 p-3">
-          <div className="flex items-center justify-between mb-2">
-            <div>
+      {/* ── Selected sensor: model + curve previews + points ─────────────── */}
+      {selectedChannel && selectedModel && (
+        <div className="flex-shrink-0 border-t border-gray-800 bg-card/40 p-3 max-h-[46vh] overflow-auto">
+          <div className="flex items-center justify-between mb-2 flex-wrap gap-2">
+            <div className="flex items-center gap-2">
               <span className="text-sm font-bold text-text">{selectedChannel.role || `CH${selectedChannel.id}`}</span>
-              <span className="text-[11px] text-gray-500 font-mono ml-2">
+              <span className={`text-[9px] font-bold px-1.5 py-0.5 rounded border uppercase ${MODEL_BADGE[selectedModel]}`}>{selectedModel}</span>
+              <span className="text-[11px] text-gray-500 font-mono">
                 B{selectedChannel.boardId} · CH{selectedChannel.id} · {selectedState?.numPoints ?? 0} pts
               </span>
+              <span className="text-[10px] text-gray-500">· change model in Config → Roles</span>
             </div>
             <div className="flex items-center gap-2">
-              <button
-                onClick={handleNewCalibration}
-                className="px-3 py-1.5 text-xs font-bold rounded border border-amber-700 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50"
-                title="Clear this valve's captured points and reset its robust adjustment"
-              >
-                NEW CALIBRATION
-              </button>
+              {selectedModel !== 'physics' && (
+                <button onClick={handleNewCalibration}
+                  className="px-3 py-1.5 text-xs font-bold rounded border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50"
+                  title="Drop captured points and reset both cubic and robust to nothing (0)">
+                  CLEAR
+                </button>
+              )}
               <button onClick={() => setSelectedUid(null)} className="px-2 py-1.5 text-xs text-gray-400 hover:text-gray-200" title="Close">✕</button>
             </div>
           </div>
-          <CalibrationChart state={selectedState} height={260} />
+
+          {/* Overlay toggles / legend */}
+          <div className="flex items-center gap-4 mb-2 text-[11px] flex-wrap">
+            {(['cubic', 'robust', 'physics'] as Model[]).map((m) => (
+              <label key={m} className="flex items-center gap-1.5 cursor-pointer select-none">
+                <input type="checkbox" checked={overlay[m]} onChange={(e) => setOverlay((o) => ({ ...o, [m]: e.target.checked }))} />
+                <span className="inline-block w-3 h-0.5 rounded" style={{ background: CURVE_COLORS[m], height: m === selectedModel ? 3 : 2 }} />
+                <span className={m === selectedModel ? 'font-bold text-text' : 'text-gray-400'}>{m}{m === selectedModel ? ' (active)' : ''}</span>
+              </label>
+            ))}
+            <span className="text-gray-500 ml-auto">points fade <span className="text-gray-600">older</span> → <span className="text-gray-200">newer</span></span>
+          </div>
+
+          <CalibrationChart
+            state={selectedState}
+            height={240}
+            activeModel={selectedModel}
+            show={overlay}
+            physics={physicsParamsOf(selectedUid!)}
+          />
+
+          {/* Captured points table */}
+          {selectedState?.points && selectedState.points.length > 0 && (
+            <div className="mt-2 max-h-32 overflow-auto border border-gray-800 rounded">
+              <table className="w-full text-[11px] font-mono">
+                <thead className="sticky top-0 bg-gray-900 text-gray-500">
+                  <tr><th className="text-left px-2 py-1">#</th><th className="text-right px-2 py-1">PSI</th><th className="text-right px-2 py-1">ADC</th></tr>
+                </thead>
+                <tbody>
+                  {selectedState.points.map((p, i) => (
+                    <tr key={i} className="odd:bg-gray-900/40">
+                      <td className="px-2 py-0.5 text-gray-500">{i + 1}</td>
+                      <td className="px-2 py-0.5 text-right text-text">{p.psi.toFixed(2)}</td>
+                      <td className="px-2 py-0.5 text-right text-gray-400">{p.adc.toLocaleString()}</td>
+                    </tr>
+                  ))}
+                </tbody>
+              </table>
+            </div>
+          )}
         </div>
       )}
     </main>
diff --git a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
index 2697ad80c..b397e7a63 100644
--- a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
+++ b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
@@ -6,8 +6,30 @@ import {
 } from 'recharts';
 import { CubicCalibrationChannel } from '@/lib/types';
 
-// The service returns either cubic coeffs (evaluated here for the overlay) or a pre-sampled robust
-// fitCurve. The browser never fits — it only draws captured points + the model's curve.
+// The service supplies captured points, the cubic `polyCoeffs`, and a pre-sampled robust `fitCurve`.
+// Physics is a closed form the browser evaluates directly. The browser never fits — it only draws
+// the captured points plus each model's curve so you can compare them before choosing a model.
+
+const ADC_MAX = 2147483648; // 2^31 — matches the service's ratiometric/4-20mA conversion scale.
+
+export interface PhysicsParams {
+  fullScale: number;        // PSI at full scale
+  isLoop: boolean;          // true = 4-20 mA current loop, false = 0-5 V ratiometric
+  senseResistor?: number;   // Ω (loop only)
+  adcRefVoltage?: number;   // ADC reference volts (loop only; default 2.5)
+}
+
+// Datasheet conversion — mirrors convert_ratiometric_pt_to_pressure / convert_hp_pt_to_pressure.
+function physicsPsi(adc: number, p: PhysicsParams): number {
+  const frac = adc / ADC_MAX;
+  if (p.isLoop) {
+    const vSense = frac * (p.adcRefVoltage ?? 2.5);
+    const iMa = (vSense / (p.senseResistor ?? 120)) * 1000;
+    return ((iMa - 4) / 16) * p.fullScale;
+  }
+  return frac * p.fullScale;
+}
+
 function evalCubicNorm(adc: number, poly: number[], min: number, scale: number): number {
   const s = scale || 1;
   const x = (adc - min) / s;
@@ -17,24 +39,38 @@ function evalCubicNorm(adc: number, poly: number[], min: number, scale: number):
   return y;
 }
 
-interface Row { adc: number; psi?: number; psiFit?: number; op?: number }
+interface Row { adc: number; psi?: number; op?: number; psiCubic?: number; psiRobust?: number; psiPhysics?: number }
 
-// Older points weigh less under robust RLS forgetting — fade them so recency reads at a glance.
+// Older captured points weigh less under robust RLS forgetting — fade them so recency reads at a
+// glance. This matters for reading a robust fit, and is harmless for cubic.
 const AgeDot = (props: { cx?: number; cy?: number; payload?: Row }) => {
   const { cx, cy, payload } = props;
   if (cx == null || cy == null || payload?.psi == null) return null;
   return (
-    <circle cx={cx} cy={cy} r={4} fill="#F59E0B" fillOpacity={payload.op ?? 1} stroke="#F59E0B" />
+    <circle cx={cx} cy={cy} r={4} fill="#E5E7EB" fillOpacity={payload.op ?? 1} stroke="#9CA3AF" />
   );
 };
 
+const CURVE_COLORS = { cubic: '#38BDF8', robust: '#A78BFA', physics: '#FB923C' } as const;
+
+export interface CalibrationChartProps {
+  state?: CubicCalibrationChannel;
+  height?: number;
+  activeModel?: 'cubic' | 'robust' | 'physics';
+  show?: { cubic?: boolean; robust?: boolean; physics?: boolean };
+  physics?: PhysicsParams;
+}
+
 /**
- * Shared captured-points + fit-curve chart for both calibration pages. For a cubic channel the
- * overlay is sampled from `polyCoeffs`; for a robust channel it is the service-supplied `fitCurve`
- * (sampled `predict_pressure_psi`), and the captured points fade with age.
+ * Shared calibration chart for the merged page. Draws the captured points (age-faded) plus up to
+ * three model overlays — cubic (from polyCoeffs), robust (service `fitCurve`), physics (closed
+ * form) — with the active model emphasized. `show` gates each overlay; `physics` supplies the
+ * datasheet params from config.
  */
-export function CalibrationChart({ state, height = 420 }: { state?: CubicCalibrationChannel; height?: number }) {
-  const isRobust = state?.active_model === 'robust';
+export function CalibrationChart({ state, height = 420, activeModel, show, physics }: CalibrationChartProps) {
+  const showCubic = show?.cubic ?? true;
+  const showRobust = show?.robust ?? true;
+  const showPhysics = show?.physics ?? true;
 
   const data = useMemo<Row[]>(() => {
     const pts = state?.points ?? [];
@@ -42,29 +78,41 @@ export function CalibrationChart({ state, height = 420 }: { state?: CubicCalibra
     const rows: Row[] = pts.map((p, i) => ({
       adc: p.adc,
       psi: p.psi,
-      // Robust: fade oldest→newest (0.35→1). Cubic weights points equally, so keep them solid.
-      op: isRobust && n > 1 ? 0.35 + 0.65 * (i / (n - 1)) : 1,
+      op: n > 1 ? 0.35 + 0.65 * (i / (n - 1)) : 1, // oldest→newest
     }));
 
-    if (isRobust) {
-      for (const c of state?.fitCurve ?? []) rows.push({ adc: c.adc, psiFit: c.psi });
+    // Shared ADC sweep range: around the captured points if any, else the full physics range.
+    let lo: number, hi: number;
+    if (n >= 1) {
+      const adcs = pts.map((p) => p.adc);
+      lo = Math.min(...adcs);
+      hi = Math.max(...adcs);
+      const pad = (hi - lo) * 0.15 || Math.abs(hi) * 0.1 || 1;
+      lo -= pad; hi += pad;
     } else {
-      const poly = state?.polyCoeffs;
-      if (poly && poly.length >= 2 && pts.length >= 2) {
-        const adcs = pts.map((p) => p.adc);
-        let lo = Math.min(...adcs);
-        let hi = Math.max(...adcs);
-        const pad = (hi - lo) * 0.05 || 1;
-        lo -= pad; hi += pad;
-        const N = 60;
-        for (let i = 0; i <= N; i++) {
-          const adc = lo + ((hi - lo) * i) / N;
-          rows.push({ adc, psiFit: evalCubicNorm(adc, poly, state!.adcNormMin, state!.adcNormScale) });
-        }
+      lo = 0; hi = ADC_MAX;
+    }
+
+    const N = 60;
+    const poly = state?.polyCoeffs;
+    const cubicOk = showCubic && poly && poly.length >= 2 && n >= 2;
+    if (cubicOk || (showPhysics && physics)) {
+      for (let i = 0; i <= N; i++) {
+        const adc = lo + ((hi - lo) * i) / N;
+        const row: Row = { adc };
+        if (cubicOk) row.psiCubic = evalCubicNorm(adc, poly!, state!.adcNormMin, state!.adcNormScale);
+        if (showPhysics && physics) row.psiPhysics = physicsPsi(adc, physics);
+        rows.push(row);
       }
     }
+    if (showRobust) {
+      for (const c of state?.fitCurve ?? []) rows.push({ adc: c.adc, psiRobust: c.psi });
+    }
     return rows.sort((a, b) => a.adc - b.adc);
-  }, [state, isRobust]);
+  }, [state, showCubic, showRobust, showPhysics, physics]);
+
+  const w = (m: 'cubic' | 'robust' | 'physics') => (activeModel === m ? 3 : 1.5);
+  const dash = (m: 'cubic' | 'robust' | 'physics') => (activeModel && activeModel !== m ? '4 3' : undefined);
 
   return (
     <div className="border border-gray-800 rounded bg-card p-2" style={{ height }}>
@@ -82,12 +130,28 @@ export function CalibrationChart({ state, height = 420 }: { state?: CubicCalibra
           <Tooltip
             contentStyle={{ background: '#111', border: '1px solid #333', fontSize: 11 }}
             labelFormatter={(v) => `ADC ${Number(v).toExponential(3)}`}
-            formatter={(val: number, name: string) => [Number(val).toFixed(2) + ' PSI', name === 'psi' ? 'captured' : (isRobust ? 'robust' : 'fit')]}
+            formatter={(val: number, name: string) => [Number(val).toFixed(2) + ' PSI', name]}
           />
-          <Line type="monotone" dataKey="psiFit" stroke="#38BDF8" dot={false} strokeWidth={2} connectNulls isAnimationActive={false} name="fit" />
-          <Scatter dataKey="psi" shape={AgeDot} name="psi" isAnimationActive={false} />
+          {showCubic && (
+            <Line type="monotone" dataKey="psiCubic" stroke={CURVE_COLORS.cubic} dot={false}
+                  strokeWidth={w('cubic')} strokeDasharray={dash('cubic')} connectNulls
+                  isAnimationActive={false} name="cubic" />
+          )}
+          {showRobust && (
+            <Line type="monotone" dataKey="psiRobust" stroke={CURVE_COLORS.robust} dot={false}
+                  strokeWidth={w('robust')} strokeDasharray={dash('robust')} connectNulls
+                  isAnimationActive={false} name="robust" />
+          )}
+          {showPhysics && (
+            <Line type="monotone" dataKey="psiPhysics" stroke={CURVE_COLORS.physics} dot={false}
+                  strokeWidth={w('physics')} strokeDasharray={dash('physics')} connectNulls
+                  isAnimationActive={false} name="physics" />
+          )}
+          <Scatter dataKey="psi" shape={AgeDot} name="captured" isAnimationActive={false} />
         </ComposedChart>
       </ResponsiveContainer>
     </div>
   );
 }
+
+export { CURVE_COLORS };
diff --git a/daq-server/diablo_server/frontend/lib/nav-items.ts b/daq-server/diablo_server/frontend/lib/nav-items.ts
index 60d9ff87e..bd2ec640a 100644
--- a/daq-server/diablo_server/frontend/lib/nav-items.ts
+++ b/daq-server/diablo_server/frontend/lib/nav-items.ts
@@ -60,9 +60,9 @@ export const NAV_ITEMS: NavItem[] = [
   { id: 'controller-controls', name: 'Controls', path: '/controls', accent: '#F472B6',
     description: 'Manual actuator & state controls' },
   { id: 'calibration', name: 'Calibration', path: '/calibration', accent: '#A3E635',
-    description: 'RLS + GLR drift · Bayesian auto-recal' },
-  { id: 'calibration-cubic', name: 'Cubic Calibration', path: '/calibration-cubic', accent: '#84CC16',
-    description: 'Per-PT cubic fit from captured reference points · scatter + fitted curve' },
+    description: 'Per-PT cubic / robust / physics — model per sensor, shared points, live curve previews' },
+  { id: 'calibration-cubic', name: 'Cubic Calibration', path: '/calibration-cubic', accent: '#84CC16', deprecated: true,
+    description: 'Merged into Calibration — redirects there' },
   { id: 'feed-char', name: 'Feed System Char', path: '/feed-char', accent: '#3B82F6',
     description: 'CdA, MDOT, Reynolds number characterization' },
   { id: 'solenoid-char', name: 'Solenoid Characterization', path: '/solenoid-char', accent: '#F59E0B',
diff --git a/daq-server/diablo_server/frontend/src/App.tsx b/daq-server/diablo_server/frontend/src/App.tsx
index 00ff35c74..7d149bee1 100644
--- a/daq-server/diablo_server/frontend/src/App.tsx
+++ b/daq-server/diablo_server/frontend/src/App.tsx
@@ -81,7 +81,8 @@ export default function App() {
               {/* ── Panes / tools ──────────────────────────────────────── */}
               <Route path="/boards" element={<P.BoardsPage />} />
               <Route path="/calibration" element={<P.CalibrationPage />} />
-              <Route path="/calibration-cubic" element={<P.CubicCalPage />} />
+              {/* Cubic calibration merged into the unified Calibration page. */}
+              <Route path="/calibration-cubic" element={<Navigate to="/calibration" replace />} />
               <Route path="/config" element={<P.ConfigPage />} />
               <Route path="/controller" element={<P.ControllerPage />} />
               <Route path="/controls" element={<P.ControlsPage />} />
diff --git a/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp b/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp
index da44873e1..3613e3dd5 100644
--- a/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp
+++ b/daq-server/diablo_server/lib/include/calibration/PTCalibration.hpp
@@ -66,7 +66,9 @@ inline uint8_t pt_logical_calibration_channel(uint8_t board_slot_number, uint8_t
  */
 class PTCalibrationManager {
 public:
-    PTCalibrationManager();
+    // auto_load=false constructs with NO calibration (used by the physics-or-nothing calibration
+    // service, which applies only operator cubics from the store / an explicit bench-cal import).
+    explicit PTCalibrationManager(bool auto_load = true);
     ~PTCalibrationManager() = default;
 
     /**
@@ -133,6 +135,14 @@ class PTCalibrationManager {
      */
     void set_calibration(uint8_t channel_id, const PTCalibrationCoeffs& coeffs);
 
+    /**
+     * @brief Remove any cubic for a logical channel, so is_calibrated() returns false again.
+     *
+     * Used by the calibration service's "clear" so a cleared/uncalibrated cubic sensor streams
+     * nothing (0) rather than reverting to a factory/baseline curve.
+     */
+    void clear_calibration(uint8_t channel_id);
+
     /**
      * @brief Set default calibration file paths
      */
diff --git a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
index 0f8a1a04a..947775d1e 100644
--- a/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/PTCalibration.cpp
@@ -85,9 +85,10 @@ std::string PTCalibrationManager::default_json_dir_ = "scripts/calibration/calib
 std::string PTCalibrationManager::default_csv_path_ =
     "external/DiabloAvionics/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv";
 
-PTCalibrationManager::PTCalibrationManager() {
-    // Auto-load calibration on construction
-    load_calibration();
+PTCalibrationManager::PTCalibrationManager(bool auto_load) {
+    // Auto-load calibration on construction unless the caller opts out (physics-or-nothing).
+    if (auto_load)
+        load_calibration();
 }
 
 bool PTCalibrationManager::load_calibration() {
@@ -305,6 +306,10 @@ void PTCalibrationManager::set_calibration(uint8_t channel_id, const PTCalibrati
     calibrations_[channel_id] = coeffs;
 }
 
+void PTCalibrationManager::clear_calibration(uint8_t channel_id) {
+    calibrations_.erase(channel_id);
+}
+
 double PTCalibrationManager::calculate_pressure(uint8_t channel_id, int32_t adc_code) const {
     const auto* coeffs = get_calibration(channel_id);
     if (coeffs) {
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index b1ff2d3df..f796ff2b5 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -181,18 +181,23 @@ static double select_pt_psi(uint16_t uid, double psi_fac, double psi_rob, double
     const PtModel m = g_env_override ? *g_env_override : pt_model_for(uid);
     switch (m) {
         case PtModel::Physics:
+            // Physics is a datasheet conversion, used only when explicitly selected.
             return psi_phys;
         case PtModel::Robust:
-            return has_robust ? psi_rob : psi_phys;
+            // Robust streams its learned model; before any captured points its baseline is 0, so an
+            // uncalibrated robust sensor reads nothing (0) rather than a physics fallback.
+            return has_robust ? psi_rob : 0.0;
         case PtModel::Blend: {
-            if (!fac_ok || !has_robust)
-                return fac_ok ? psi_fac : (has_robust ? psi_rob : psi_phys);
-            constexpr double kFactoryWeight = 0.25;  // 75% robust + 25% factory
-            return (1.0 - kFactoryWeight) * psi_rob + kFactoryWeight * psi_fac;
+            if (fac_ok && has_robust) {
+                constexpr double kFactoryWeight = 0.25;  // 75% robust + 25% factory
+                return (1.0 - kFactoryWeight) * psi_rob + kFactoryWeight * psi_fac;
+            }
+            return fac_ok ? psi_fac : (has_robust ? psi_rob : 0.0);
         }
         case PtModel::Cubic:
         default:
-            return fac_ok ? psi_fac : psi_phys;
+            // Uncalibrated / cleared cubic reads nothing (0) — no factory/physics fallback.
+            return fac_ok ? psi_fac : 0.0;
     }
 }
 
@@ -486,11 +491,14 @@ int main(int argc, char* argv[]) {
     };
 
     // Load calibration coefficients
-    fsw::calibration::PTCalibrationManager pt_calibration;
+    // Physics-or-nothing baseline: PT cubics come ONLY from operator captures (the cubic store,
+    // resumed below) or an explicit bench-cal import — never auto-loaded from a factory file. An
+    // uncalibrated cubic/robust sensor streams 0. set_default_paths still sets the default CSV the
+    // bench-cal import reads.
+    fsw::calibration::PTCalibrationManager pt_calibration(/*auto_load=*/false);
     pt_calibration.set_default_paths(
         "scripts/calibration/calibrations",
-        "external/DiabloAvionics/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv");
-    pt_calibration.load_calibration();
+        "firmware/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv");
 
     fsw::calibration::RobustCalibrationManager robust_manager;
 
@@ -511,12 +519,9 @@ int main(int argc, char* argv[]) {
         or_default(cal_cfg.calibration.lc_json_dir, "scripts/calibration/calibrations/lc"),
         cal_cfg.calibration.lc_csv_path);
 
-    std::cout << "[Calibration] PT:  " << pt_calibration.get_calibrated_count()
-              << " logical channels (slot1→JSON 1..10, slot2→11..20, … — avoids reusing board1 "
-                 "polynomials on PT2)"
+    std::cout << "[Calibration] PT:  physics-or-nothing baseline — cubics come from operator "
+                 "captures / bench-cal import only (resumed from the cubic store below)"
               << std::endl;
-    if (!pt_calibration.is_calibrated(5))
-        std::cerr << "[Calibration] WARNING: PT ch5 (Ox Upstream) not calibrated" << std::endl;
     std::cout << "[Calibration] TC:  " << tc_calibration.calibrated_count() << " channels"
               << std::endl;
     std::cout << "[Calibration] RTD: " << rtd_calibration.calibrated_count() << " channels"
@@ -654,34 +659,16 @@ int main(int argc, char* argv[]) {
     // filed by role and re-attaches to the role's current connector (mirrors the cubic store).
     const std::map<uint16_t, std::string> uid_role(g_uid_role.begin(), g_uid_role.end());
 
-    const fsw::calibration::PTCalibrationCoeffs* fallback_pt_coeffs = nullptr;
-    for (uint8_t probe_ch = 1; probe_ch <= 10; ++probe_ch) {
-        if (pt_calibration.is_calibrated(probe_ch)) {
-            fallback_pt_coeffs = pt_calibration.get_calibration(probe_ch);
-            break;
-        }
-    }
-    for (const auto& bc : pt_boards) {
-        for (uint8_t local_ch : bc.channels) {
-            uint16_t uid = static_cast<uint16_t>(bc.board_id) * 100u + local_ch;
-            const uint8_t log_ch =
-                fsw::calibration::pt_logical_calibration_channel(bc.board_number, local_ch);
-            if (pt_calibration.is_calibrated(log_ch)) {
-                robust_manager.initialize_sensor(uid, *pt_calibration.get_calibration(log_ch));
-            } else if (fallback_pt_coeffs != nullptr) {
-                // Keep channels alive even when per-channel baseline fit is missing.
-                robust_manager.initialize_sensor(uid, *fallback_pt_coeffs);
-            }
-        }
-    }
+    // Robust is NOT factory-seeded here anymore. Its per-sensor baseline is the operator's shared
+    // cubic fit, so it's initialized AFTER the cubic store loads (see below). A sensor with no
+    // captured points gets a zero baseline and reads 0 until it learns from captures.
 
     // ---- Operator-built cubic PT calibration (see CubicCalibrationStore) ----
-    // The store owns per-connector captured (adc, psi) points and the fitted cubic. Its file is
-    // excluded from the factory-cubic overlay loader, so factory_pt_snapshot is pure factory and
-    // the store is the sole applier of operator cubics (via pt_calibration.set_calibration).
+    // The store owns per-connector captured (adc, psi) points and the fitted cubic; it is the sole
+    // source of PT cubics (there is no factory overlay). Captured points are shared: each capture
+    // feeds both this cubic fit and the robust learner.
     fsw::calibration::CubicCalibrationStore cubic_store(
         "scripts/calibration/calibrations/cubic_calibration.json");
-    std::map<uint8_t, fsw::calibration::PTCalibrationCoeffs> factory_pt_snapshot;
     std::unordered_map<uint16_t, std::deque<int32_t>> pt_adc_ring;  // recent raw ADC per uid
     constexpr size_t kPtAdcRingMax = 128;                           // ~0.5 s of samples at ~250 Hz
     for (const auto& bc : pt_boards) {
@@ -693,8 +680,6 @@ int main(int argc, char* argv[]) {
             const std::string role = rit != g_uid_role.end() ? rit->second : std::string();
             cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, role,
                                          pt_model_name(pt_model_for(uid)));
-            if (pt_calibration.is_calibrated(log_ch))
-                factory_pt_snapshot[log_ch] = *pt_calibration.get_calibration(log_ch);
         }
     }
 
@@ -725,35 +710,33 @@ int main(int argc, char* argv[]) {
         }
         return curve;
     };
+    // Shared points: every capture — regardless of the sensor's active model — feeds BOTH the cubic
+    // fit and the robust learner, so switching a sensor's model later reuses the same points, and
+    // the merged UI can preview all three curves. The robust display curve is refreshed for every
+    // sensor that has points (not just robust ones).
     auto apply_capture = [&](uint16_t uid, double adc_avg, double ref) {
-        if (pt_model_for(uid) == PtModel::Robust) {
-            cubic_store.add_point(uid, adc_avg, ref);  // display/audit only for robust
-            robust_manager.update_calibration(uid, static_cast<int32_t>(std::llround(adc_avg)),
-                                              ref);
-            cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
-        } else {  // Cubic (and Blend, whose factory half is the cubic)
-            const fsw::calibration::CubicFit fit = cubic_store.add_point(uid, adc_avg, ref);
-            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
-            if (fit.valid && cch != nullptr)
-                pt_calibration.set_calibration(
-                    cch->logical_ch,
-                    fsw::calibration::PTCalibrationCoeffs(fit.A, fit.B, fit.C, fit.D));
-        }
+        const fsw::calibration::CubicFit fit = cubic_store.add_point(uid, adc_avg, ref);
+        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+        if (fit.valid && cch != nullptr)
+            pt_calibration.set_calibration(
+                cch->logical_ch, fsw::calibration::PTCalibrationCoeffs(fit.A, fit.B, fit.C, fit.D));
+        robust_manager.update_calibration(uid, static_cast<int32_t>(std::llround(adc_avg)), ref);
+        cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
         cubic_store.save();
+        // Persist robust learning on every capture (not only the 5-min auto-save / clean stop), so
+        // a crash can't lose it.
+        robust_manager.save_adjustments(adjustments_path, &uid_role);
     };
+    // Clear = back to nothing: drop the captured points, remove the operator cubic (so cubic reads
+    // 0), and reset the robust learner. No factory/baseline revert.
     auto apply_clear = [&](uint16_t uid) {
+        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+        if (cch != nullptr)
+            pt_calibration.clear_calibration(cch->logical_ch);
         cubic_store.clear_channel(uid);
-        if (pt_model_for(uid) == PtModel::Robust) {
-            robust_manager.reset_adjustment(uid);
-        } else {
-            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
-            if (cch != nullptr) {
-                auto fac = factory_pt_snapshot.find(cch->logical_ch);
-                if (fac != factory_pt_snapshot.end())
-                    pt_calibration.set_calibration(cch->logical_ch, fac->second);
-            }
-        }
+        robust_manager.reset_adjustment(uid);
         cubic_store.save();
+        robust_manager.save_adjustments(adjustments_path, &uid_role);
     };
 
     // Resume previously captured points and re-apply their fitted cubics to the live stream.
@@ -771,26 +754,39 @@ int main(int argc, char* argv[]) {
                   << " channel(s) from cubic_calibration.json" << std::endl;
     }
 
+    // Seed the robust learner from each sensor's shared cubic fit (zero baseline when it has no
+    // points, so an uncalibrated robust sensor reads 0). Seeding from the cubic — not a factory
+    // file — means a reloaded robust θ (from the same points) matches its baseline and survives the
+    // load-time reconcile guard. Must run BEFORE load_adjustments (which restores θ + reconciles).
+    for (uint16_t uid : cubic_store.uids()) {
+        const fsw::calibration::CubicFit* fit = cubic_store.fit_for(uid);
+        const fsw::calibration::PTCalibrationCoeffs baseline =
+            (fit != nullptr && fit->valid)
+                ? fsw::calibration::PTCalibrationCoeffs(fit->A, fit->B, fit->C, fit->D)
+                : fsw::calibration::PTCalibrationCoeffs(0.0, 0.0, 0.0, 0.0);
+        robust_manager.initialize_sensor(uid, baseline);
+    }
+
     std::cout << "[Calibration] Robust adjustments path: " << adjustments_path << std::endl;
     std::cout << "[Calibration]   (override with --adjustments, CAL_BACKUP_PATH, or "
                  "calibration_backups/calibration_backup_*.json mtime)"
               << std::endl;
     if (!robust_manager.load_adjustments(adjustments_path, &uid_role)) {
-        std::cout << "[Calibration]   File missing/unreadable — using factory-seeded robust only"
-                  << std::endl;
+        std::cout
+            << "[Calibration]   File missing/unreadable — robust starts from the cubic-seeded "
+               "baseline (0 where uncalibrated)"
+            << std::endl;
     }
-    // Robust uids: resume points are display-only, so re-sample the display curve from the now-
-    // restored robust model (adjustments.json). Cubic uids already had their fit re-applied above.
-    {
-        bool any = false;
-        for (uint16_t uid : cubic_store.uids())
-            if (pt_model_for(uid) == PtModel::Robust) {
-                cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
-                any = true;
-            }
-        if (any)
-            cubic_store.save();
+    // Sample the robust preview curve for EVERY sensor that has points (not just robust ones), so
+    // the merged UI can show "what robust would look like" before you switch a sensor to it.
+    for (uint16_t uid : cubic_store.uids()) {
+        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+        if (cch != nullptr && !cch->points.empty())
+            cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
     }
+    // Always persist at startup so the record (with each channel's active_model) exists immediately
+    // — the UI / cal_model_select read it before any capture.
+    cubic_store.save();
     if (g_env_override) {
         const char* label = *g_env_override == PtModel::Cubic ? "factory cubic (CAL_USE_FACTORY_PT)"
                             : *g_env_override == PtModel::Blend
@@ -940,13 +936,19 @@ int main(int argc, char* argv[]) {
                             const uint8_t bid = static_cast<uint8_t>(id / 100);
                             const uint8_t lch = static_cast<uint8_t>(id % 100);
                             const uint8_t bn = (bid % 10) == 0 ? 10u : (bid % 10);
+                            // Zero/tare only applies to robust sensors: a cubic's zero is defined
+                            // by its fit and a physics sensor's by the datasheet line, so taring
+                            // them would silently shift a calibrated curve. Clear any stale offset.
+                            if (pt_model_for(id) != PtModel::Robust) {
+                                g_zero_offsets.erase(id);
+                                continue;
+                            }
                             const bool is_hp = current_loop_board(bn) != nullptr;
                             robust_manager.zero_sensor(id, val);
                             if (is_hp) {
                                 g_zero_offsets.erase(id);
                                 continue;
                             }
-                            // Offset must match streaming path (robust vs factory), after RCF zero.
                             const double psi_base = lp_pt_psi_before_offset(
                                 bn, lch, id, val, pt_calibration, robust_manager);
                             if (std::isfinite(psi_base))
@@ -960,18 +962,24 @@ int main(int argc, char* argv[]) {
                             const uint8_t bid = static_cast<uint8_t>(sensor_id / 100);
                             const uint8_t lch = static_cast<uint8_t>(sensor_id % 100);
                             const uint8_t bn = (bid % 10) == 0 ? 10u : (bid % 10);
-                            const bool is_hp = current_loop_board(bn) != nullptr;
-                            robust_manager.zero_sensor(sensor_id, last_adc_map[sensor_id]);
-                            if (!is_hp) {
-                                const double psi_base = lp_pt_psi_before_offset(
-                                    bn, lch, sensor_id, last_adc_map[sensor_id], pt_calibration,
-                                    robust_manager);
-                                if (std::isfinite(psi_base))
-                                    g_zero_offsets[sensor_id] = -psi_base;
-                            } else {
+                            // Robust-only tare (see Zero-All-of-all above).
+                            if (pt_model_for(sensor_id) != PtModel::Robust) {
                                 g_zero_offsets.erase(sensor_id);
+                                g_lp_ema.erase(sensor_id);
+                            } else {
+                                const bool is_hp = current_loop_board(bn) != nullptr;
+                                robust_manager.zero_sensor(sensor_id, last_adc_map[sensor_id]);
+                                if (!is_hp) {
+                                    const double psi_base = lp_pt_psi_before_offset(
+                                        bn, lch, sensor_id, last_adc_map[sensor_id], pt_calibration,
+                                        robust_manager);
+                                    if (std::isfinite(psi_base))
+                                        g_zero_offsets[sensor_id] = -psi_base;
+                                } else {
+                                    g_zero_offsets.erase(sensor_id);
+                                }
+                                g_lp_ema.erase(sensor_id);
                             }
-                            g_lp_ema.erase(sensor_id);
                         }
                     }
                 } else if (cmd_type == 1) {  // Capture Reference
@@ -997,30 +1005,16 @@ int main(int argc, char* argv[]) {
                         have_adc = true;
                     }
                     if (have_adc) {
-                        const fsw::calibration::CubicFit fit =
-                            cubic_store.add_point(sensor_id, adc_avg, ref_val);
-                        const fsw::calibration::CubicChannel* cch = cubic_store.channel(sensor_id);
-                        if (fit.valid && cch != nullptr)
-                            pt_calibration.set_calibration(
-                                cch->logical_ch,
-                                fsw::calibration::PTCalibrationCoeffs(fit.A, fit.B, fit.C, fit.D));
-                        cubic_store.save();
+                        // Legacy cubic capture is now a shared capture (feeds cubic + robust).
+                        apply_capture(sensor_id, adc_avg, ref_val);
                         std::cout << "[Cal] Cubic capture uid=" << static_cast<int>(sensor_id)
-                                  << " adc=" << adc_avg << " psi=" << ref_val
-                                  << (fit.valid ? " (fit ok)" : " (pending/err)") << std::endl;
+                                  << " adc=" << adc_avg << " psi=" << ref_val << std::endl;
                     } else {
                         std::cout << "[Cal] Cubic capture: no ADC seen yet for uid "
                                   << static_cast<int>(sensor_id) << std::endl;
                     }
-                } else if (cmd_type == 4) {  // Clear cubic channel (revert to factory)
-                    cubic_store.clear_channel(sensor_id);
-                    const fsw::calibration::CubicChannel* cch = cubic_store.channel(sensor_id);
-                    if (cch != nullptr) {
-                        auto fac = factory_pt_snapshot.find(cch->logical_ch);
-                        if (fac != factory_pt_snapshot.end())
-                            pt_calibration.set_calibration(cch->logical_ch, fac->second);
-                    }
-                    cubic_store.save();
+                } else if (cmd_type == 4) {  // Clear channel → nothing (no factory revert)
+                    apply_clear(sensor_id);
                     std::cout << "[Cal] Cubic cleared uid=" << static_cast<int>(sensor_id)
                               << std::endl;
                 } else if (cmd_type == 5) {  // Unified capture point — routed by configured model
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index c9b470357..5690ad657 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -219,7 +219,7 @@ export interface CubicCalibrationChannel {
     connector: number;
     logicalCh: number;
     role: string;
-    active_model: 'cubic' | 'robust';
+    active_model: 'cubic' | 'robust' | 'physics';
     numPoints: number;
     status: 'PENDING' | 'OK' | 'ERROR';
     last_error: string;
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index f1aec0298..991db2495 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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\ No newline at end of file
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\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index fb8ac9a32..4583c0f89 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -286,7 +286,7 @@ export interface CubicCalibrationChannel {
   connector: number;              // 1-based board-local connector
   logicalCh: number;              // (slot-1)*10 + connector (PTCalibrationManager key)
   role: string;                   // may be empty; the UI supplies it from sensor config
-  active_model: 'cubic' | 'robust';  // the model this uid streams (config truth); which page shows it
+  active_model: 'cubic' | 'robust' | 'physics';  // the model this uid streams (config truth)
   numPoints: number;
   status: 'PENDING' | 'OK' | 'ERROR';
   last_error: string;
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 39838a0db..617d7b373 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -414,11 +414,12 @@ sedi "s/^send_port = 5005/send_port = $TEST_ACTUATOR_UDP_PORT/" "$TEST_CONFIG"
 sedi 's/^fallback_fuel_duty_cycle = 0.0/fallback_fuel_duty_cycle = 0.1/' "$TEST_CONFIG"
 sedi 's/^fallback_ox_duty_cycle = 0.0/fallback_ox_duty_cycle = 0.1/' "$TEST_CONFIG"
 
-# Exercise the per-sensor cubic/robust selector: make one LP PT sensor (Ox Upstream, pt_board conn 5
-# -> uid 2105) robust; the rest stay cubic. ws_data_flow_test's cal_model_select verifies the config
-# choice is honored, and cal_robust_learn verifies the robust stack learns. Anchored to the
-# [calibration_model_pt_board] line ("... = \"cubic\""), not sensor_roles (= 5) or abort_pts (= 400).
+# Exercise the per-sensor model selector: make Ox Upstream (pt_board conn 5 -> uid 2105) robust and
+# GSE Low (conn 2 -> uid 2102, CH2) physics; the rest stay cubic. cal_model_select verifies the
+# config choice is honored, cal_values verifies the physics conversion, and cal_robust_learn verifies
+# the robust stack learns. Anchored to the [calibration_model_pt_board] lines ("... = \"cubic\"").
 sedi 's/^"Ox Upstream" = "cubic"$/"Ox Upstream" = "robust"/' "$TEST_CONFIG"
+sedi 's/^"GSE Low" = "cubic"$/"GSE Low" = "physics"/' "$TEST_CONFIG"
 
 cat >> "$TEST_CONFIG" << EOF
 
@@ -597,6 +598,10 @@ if [ -n "$CALIB_SVC" ]; then
   # and breaks cal_values (which expects pristine factory). A missing file just seeds from factory.
   CAL_ADJ="$REPO_ROOT/.tmp/integration_adjustments_$$.json"
   rm -f "$CAL_ADJ" 2>/dev/null || true
+  # Start from a clean operator-cubic store (physics-or-nothing: uncalibrated cubic reads 0), the way
+  # a fresh checkout does — otherwise a stale cubic_calibration.json from a prior local run would
+  # carry captured cubics into this run. The service regenerates it at startup.
+  rm -f "$REPO_ROOT/scripts/calibration/calibrations/cubic_calibration.json" 2>/dev/null || true
   (cd "$REPO_ROOT" && "$CALIB_SVC" --config "$TEST_CONFIG" --adjustments "$CAL_ADJ" \
     --elodin-host 127.0.0.1 --elodin-port "$TEST_ELODIN_PORT" \
     > "$REPO_ROOT/.tmp/integration_calibration_$$.log" 2>&1) &
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index a41750ded..408ff4626 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -90,7 +90,7 @@ function parseOnlyTests(): Set<string> | null {
   }
   const allowed = new Set([
     'sensor_config', 'sensor_data', 'cal_stability', 'raw_cal_presence',
-    'cal_values', 'cal_model_select', 'cal_robust_learn',
+    'cal_values', 'cal_model_select', 'cal_robust_learn', 'cal_shared_points', 'cal_clear',
     'heartbeat', 'board_status', 'selftest', 'backend_debug_api',
     'state_transition', 'state_debug', 'actuator_ws', 'actuator_udp', 'elodin_sync',
     'controller', 'timestamps', 'conservation', 'board_logs', 'board_log_mode',
@@ -1818,33 +1818,34 @@ function evalCubic(adc: number, c: [number, number, number, number]): number {
   return Math.max(-3000, Math.min(20000, v));  // matches PTCalibration.cpp clamp
 }
 
-// ── Test: calibrated PT VALUES equal the factory cubic applied to the raw ADC ─
+// ── Test: physics conversion is correct, and an uncalibrated cubic reads nothing (0) ─
+// Under the physics-or-nothing baseline there is no factory cubic: a sensor set to `physics` streams
+// the datasheet closed form, and a `cubic`/`robust` sensor with no captured points streams 0. This
+// replaces the old "matches factory cubic" check (that baseline no longer exists).
 async function testCalibratedValueCorrectness(ws: WebSocket): Promise<void> {
-  console.log('\n🎯 Test 16: Calibrated PT values (PT1_Cal ≈ factory_cubic(raw ADC))');
-  const coeffs = loadFactoryPtCoeffs();
-  if (!coeffs) { assert(false, 'cal_values: could not read factory PT coefficients'); return; }
-
+  console.log('\n🎯 Test 16: physics conversion correct + uncalibrated cubic reads 0');
   const { cal, adc } = await collectPtCal(ws, 5000);
-  let checked = 0, anyNonZero = false;
-  const fails: string[] = [];
-  for (let ch = 1; ch <= 10; ch++) {
-    const cs = cal.get(ch), as = adc.get(ch), c = coeffs.get(ch);
-    if (!cs || cs.length < 3 || !as || as.length < 3 || !c) continue;
-    const a = median(as), psi = median(cs), expected = evalCubic(a, c);
-    const tol = Math.max(Math.abs(expected) * 0.03, 5);  // 3% or 5 PSI
-    checked++;
-    if (Math.abs(psi) > 1) anyNonZero = true;
-    if (Math.abs(psi - expected) > tol) {
-      fails.push(`CH${ch}: got ${psi.toFixed(1)} expected ${expected.toFixed(1)} PSI (adc ${a.toFixed(0)}, tol ${tol.toFixed(1)})`);
-    } else if (VERBOSE) {
-      console.log(`  ✓ CH${ch}: ${psi.toFixed(1)} ≈ ${expected.toFixed(1)} PSI (adc ${a.toFixed(0)})`);
-    }
+  const ADC_MAX = 2147483648; // 2^31
+
+  // test_integration.sh sets "GSE Low" (pt_board conn 2 → CH2) to physics; pt_board is 0-5V
+  // ratiometric with the default 1000 PSI full scale, so PT_Cal = (adc/2^31)*1000.
+  const phCal = cal.get(2), phAdc = adc.get(2);
+  if (!phCal || phCal.length < 3 || !phAdc || phAdc.length < 3) {
+    assert(false, 'cal_values: no PT1_Cal.CH2 (physics sensor) samples'); return;
+  }
+  const a2 = median(phAdc), psi2 = median(phCal), expected2 = (a2 / ADC_MAX) * 1000;
+  const tol2 = Math.max(Math.abs(expected2) * 0.03, 5);
+  assert(Math.abs(psi2) > 1, 'cal_values: physics CH2 is not 0 (datasheet conversion active)');
+  assert(Math.abs(psi2 - expected2) <= tol2,
+    `cal_values: physics CH2 = ${psi2.toFixed(1)} ≈ (adc/2^31)*1000 = ${expected2.toFixed(1)} (adc ${a2.toFixed(0)}, tol ${tol2.toFixed(1)})`);
+
+  // A cubic sensor with no captured points reads nothing. CH1 (Fuel Upstream) is cubic + uncalibrated.
+  const c1 = cal.get(1);
+  if (c1 && c1.length >= 3) {
+    const psi1 = median(c1);
+    assert(Math.abs(psi1) < 1,
+      `cal_values: uncalibrated cubic CH1 reads ~0 (physics-or-nothing baseline) — got ${psi1.toFixed(2)}`);
   }
-  assert(checked >= 5, `cal_values: checked ${checked} LP PT channel(s) against factory cubic (need ≥5)`);
-  assert(anyNonZero, 'cal_values: PT_Cal is not uniformly 0 (guards the "no JSON cal loaded → 0 PSI" regression)');
-  assert(fails.length === 0,
-    fails.length === 0 ? 'cal_values: every LP PT calibrated value matches factory_cubic(ADC)'
-                       : `cal_values: ${fails.length} channel(s) off: ${fails.join('; ')}`);
 }
 
 // ── Test: the per-sensor cubic/robust config choice is respected ─────────────
@@ -1871,8 +1872,64 @@ async function testCalibrationModelSelection(): Promise<void> {
   // cubic. "Fuel Upstream" is conn 1 → uid 2101.
   const robust = state['2105']?.active_model;
   const cubic = state['2101']?.active_model;
+  const physics = state['2102']?.active_model;  // GSE Low, conn 2, set to physics
   assert(robust === 'robust', `cal_model_select: uid 2105 (Ox Upstream) active_model=robust — config respected (got ${robust})`);
   assert(cubic === 'cubic', `cal_model_select: uid 2101 (Fuel Upstream) active_model=cubic (got ${cubic})`);
+  assert(physics === 'physics', `cal_model_select: uid 2102 (GSE Low) active_model=physics (got ${physics})`);
+}
+
+// Read the service's cubic_calibration.json record for a uid (fresh each capture/clear).
+function readCalRecord(uid: number): Record<string, unknown> | null {
+  const dir = findCalDir();
+  if (!dir) return null;
+  try {
+    const j = JSON.parse(fs.readFileSync(`${dir}/cubic_calibration.json`, 'utf-8'));
+    return (j?.cubic_state?.[String(uid)] as Record<string, unknown>) ?? null;
+  } catch { return null; }
+}
+
+// ── Test: one capture feeds BOTH the cubic fit and the robust learner (shared points) ─
+// The headline guarantee of the merge. Captures on a CUBIC sensor must land in the cubic store's
+// points AND be fed to the robust learner — the service samples robust into `fitCurve` for any
+// sensor with points, so a populated fitCurve reflecting the taught PSI proves robust got them too.
+// (In sim the ADC is constant per channel, so a real cubic FIT can't form — this checks the routing,
+// not the fit quality.)
+async function testSharedPoints(ws: WebSocket): Promise<void> {
+  console.log('\n🔗 Test 19: one capture feeds both cubic + robust (shared points)');
+  const CH = 3, BOARD = 21, UID = BOARD * 100 + CH, REF = 100;  // Fuel Downstream — cubic by config
+  for (let i = 0; i < 10; i++) {
+    send(ws, { type: 'calibration_command', timestamp: Date.now(),
+      payload: { commandType: 'capture_point', sensorId: CH, boardId: BOARD, referencePressure: REF } });
+    await sleep(120);
+  }
+  await sleep(1500);
+  let rec: Record<string, unknown> | null = null;
+  for (let i = 0; i < 8; i++) { rec = readCalRecord(UID); if (rec && (rec.numPoints as number ?? 0) > 0) break; await sleep(400); }
+  if (!rec) { assert(false, `cal_shared_points: no record for uid ${UID}`); return; }
+  const numPoints = rec.numPoints as number ?? 0;
+  const fc = (Array.isArray(rec.fitCurve) ? rec.fitCurve : []) as { adc: number; psi: number }[];
+  const medRob = fc.length ? median(fc.map((p) => p.psi)) : NaN;
+  console.log(`  uid ${UID}: numPoints=${numPoints} fitCurve=${fc.length} robustMedian=${Number.isFinite(medRob) ? medRob.toFixed(1) : 'n/a'}`);
+  assert(numPoints >= 1, `cal_shared_points: cubic store recorded ${numPoints} point(s)`);
+  assert(fc.length > 0, `cal_shared_points: robust fitCurve populated on a cubic sensor (${fc.length}) — the capture fed robust too`);
+  assert(Number.isFinite(medRob) && Math.abs(medRob - REF) < 40,
+    `cal_shared_points: robust learned ~${REF} from the cubic-mode capture (fitCurve median ${Number.isFinite(medRob) ? medRob.toFixed(1) : 'n/a'})`);
+}
+
+// ── Test: clear returns a sensor to nothing (points + robust wiped) ─ (runs after cal_shared_points)
+async function testClearToNothing(ws: WebSocket): Promise<void> {
+  console.log('\n🧹 Test 20: clear wipes points + robust → nothing');
+  const CH = 3, BOARD = 21, UID = BOARD * 100 + CH;
+  send(ws, { type: 'calibration_command', timestamp: Date.now(),
+    payload: { commandType: 'new_calibration', sensorId: CH, boardId: BOARD } });
+  await sleep(1500);
+  let rec: Record<string, unknown> | null = null;
+  for (let i = 0; i < 8; i++) { rec = readCalRecord(UID); if (rec && (rec.numPoints as number ?? 0) === 0) break; await sleep(400); }
+  if (!rec) { assert(false, `cal_clear: no record for uid ${UID}`); return; }
+  const numPoints = rec.numPoints as number ?? -1;
+  const fc = (Array.isArray(rec.fitCurve) ? rec.fitCurve : []) as unknown[];
+  assert(numPoints === 0, `cal_clear: captured points wiped (numPoints ${numPoints})`);
+  assert(fc.length === 0, `cal_clear: robust preview curve cleared (${fc.length} samples)`);
 }
 
 // ── Test: the robust stack actually learns (and the cubic channel is unaffected) ─
@@ -2764,6 +2821,9 @@ async function main(): Promise<void> {
     // Truly last: this drives capture commands that mutate the robust channel's learned state, so it
     // must run after every read-only value/stability/conservation check.
     if (IS_THIN && canRunCommandTests && runTest('cal_robust_learn')) await testRobustLearns(ws);
+    // Shared-points then clear run last (they mutate CH3's cubic store + robust state).
+    if (IS_THIN && canRunCommandTests && runTest('cal_shared_points')) await testSharedPoints(ws);
+    if (IS_THIN && canRunCommandTests && runTest('cal_clear')) await testClearToNothing(ws);
   } finally {
     ws.close();
   }

From 97b3bd4ea0ba9d93bff10416fb00d1139117ac0e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 4 Sep 2026 20:31:52 -0700
Subject: [PATCH 152/205] calibration: redesign PT page as master/detail
 (sidebar sensor list + full detail, resizable, model-specific stats, readable
 chart tooltip); zero-all now captures a real 0 psi point per cubic/robust
 sensor and the hidden robust tare is removed

---
 .../backend/src/calibration-handler.ts        |   2 +-
 .../frontend/app/calibration/page.tsx         | 518 ++++++++++--------
 .../calibration/CalibrationChart.tsx          |  29 +-
 .../services/calibration/calibration_main.cpp |  99 ++--
 daq-server/diablo_server/shared/types.ts      |   2 +-
 5 files changed, 370 insertions(+), 280 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/calibration-handler.ts b/daq-server/diablo_server/backend/src/calibration-handler.ts
index c8acce37c..330725541 100644
--- a/daq-server/diablo_server/backend/src/calibration-handler.ts
+++ b/daq-server/diablo_server/backend/src/calibration-handler.ts
@@ -341,7 +341,7 @@ export function handleCalibrationCommand(
                 host.ptCalibration.set(ch, { ...defaultCoeffs });
             }
             host.lastRawAdc.clear();
-            console.log('🗑️ Calibration cleared — ZERO ALL then CAPTURE to build ADC→pressure fit');
+            console.log('🗑️ Calibration cleared — capture points (incl. a 0 psi point) to build the ADC→pressure fit');
             break;
         }
         default:
diff --git a/daq-server/diablo_server/frontend/app/calibration/page.tsx b/daq-server/diablo_server/frontend/app/calibration/page.tsx
index 559d3fdbe..adea8a761 100644
--- a/daq-server/diablo_server/frontend/app/calibration/page.tsx
+++ b/daq-server/diablo_server/frontend/app/calibration/page.tsx
@@ -18,9 +18,14 @@ type Model = 'cubic' | 'robust' | 'physics';
 
 // Per-model badge styling — the whole point is that a sensor's selected model reads at a glance.
 const MODEL_BADGE: Record<Model, string> = {
-  cubic: 'text-sky-300 border-sky-700 bg-sky-900/40',
-  robust: 'text-violet-300 border-violet-700 bg-violet-900/40',
-  physics: 'text-orange-300 border-orange-700 bg-orange-900/40',
+  cubic: 'text-sky-300 border-sky-600/60 bg-sky-900/40',
+  robust: 'text-violet-300 border-violet-600/60 bg-violet-900/40',
+  physics: 'text-orange-300 border-orange-600/60 bg-orange-900/40',
+};
+const MODEL_DESC: Record<Model, string> = {
+  cubic: 'Cubic fit from captured points.',
+  robust: 'Adaptive fit; learns from points, corrects drift.',
+  physics: 'Datasheet conversion (ratiometric / 4-20 mA).',
 };
 
 function fmtPsi(v: number | null | undefined): string {
@@ -41,94 +46,64 @@ function LoadCellZeroCard({ calEntity, label, onZero }: { calEntity: string; lab
   const kg = forceLbf != null && Number.isFinite(forceLbf) ? forceLbf * LBF_TO_KG : null;
   const display = kg != null ? kg.toFixed(2) : '—';
   return (
-    <div className="flex items-center gap-2 rounded border border-gray-700 bg-card px-3 py-2">
-      <span className="text-[10px] font-bold text-gray-500 w-16">{label}</span>
-      <span className="text-sm font-mono text-green-400 tabular-nums w-14">{display} kg</span>
+    <div className="flex items-center gap-2 rounded-lg border border-gray-700 bg-black/20 px-3 py-2">
+      <span className="text-xs font-bold text-text-muted w-16 truncate">{label}</span>
+      <span className="text-sm font-mono text-green-400 tabular-nums flex-1 text-right">{display} kg</span>
       <button type="button" onClick={onZero}
-        className="px-2 py-1 text-[10px] font-bold rounded border border-amber-600 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50">
+        className="px-2.5 py-1 text-xs font-bold rounded-md border border-amber-600 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50">
         Zero
       </button>
     </div>
   );
 }
 
-// ── Single PT channel card ──────────────────────────────────────────────────────
-interface ChannelCardProps {
+// ── Sidebar sensor row ──────────────────────────────────────────────────────────
+interface SensorRowProps {
   ch: SensorConfig;
   model: Model;
   status?: CalibrationChannelStatus;
-  rawAdc?: number | null;
   calPsi?: number | null;
   numPoints: number;
-  selected?: boolean;
-  onSelect?: () => void;
-  onCapture: (sensorId: number, boardId: number, refPsi: number) => void;
+  selected: boolean;
+  onSelect: () => void;
 }
-
-function ChannelCard({ ch, model, status, rawAdc, calPsi, numPoints, selected, onSelect, onCapture }: ChannelCardProps) {
-  const [refInput, setRefInput] = useState('');
-  const isPhysics = model === 'physics';
+function SensorRow({ ch, model, status, calPsi, numPoints, selected, onSelect }: SensorRowProps) {
   const isDrift = status?.driftDetected ?? false;
-
-  const handleCapture = () => {
-    const psi = parseFloat(refInput);
-    if (isNaN(psi)) return;
-    onCapture(ch.id, ch.boardId, psi);
-    setRefInput('');
-  };
-
+  const detail = model === 'physics'
+    ? 'datasheet'
+    : model === 'robust'
+      ? (status?.rlsUpdateCount ? `RLS ${status.rlsUpdateCount}` : 'no data yet')
+      : (numPoints > 0 ? `${numPoints} point${numPoints === 1 ? '' : 's'}` : 'uncalibrated');
   return (
-    <div
+    <button
       onClick={onSelect}
-      className={`rounded border p-2.5 flex flex-col gap-1.5 transition-all bg-card cursor-pointer
-        ${selected ? 'ring-2 ring-blue-500 ' : ''}${isDrift ? 'border-red-600 shadow-[0_0_10px_rgba(239,68,68,0.2)]' : 'border-gray-800'}`}
+      className={`w-full text-left px-4 py-3.5 flex items-center gap-3 border-l-[3px] transition-colors
+        ${selected
+          ? 'bg-blue-950/40 border-l-blue-500'
+          : 'border-l-transparent hover:bg-white/5'}`}
     >
-      {/* Header: CH + name + MODEL badge */}
-      <div className="flex items-center justify-between gap-1">
-        <div className="flex items-center gap-1.5 min-w-0">
-          <span className="text-[10px] font-bold text-gray-500">CH{ch.id}</span>
-          <span className="text-xs font-semibold text-text truncate">{ch.role}</span>
+      <span className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${isDrift ? 'bg-red-500 shadow-[0_0_6px_rgba(239,68,68,0.8)]' : 'bg-gray-600'}`} />
+      <div className="min-w-0 flex-1">
+        <div className="flex items-center gap-2">
+          <span className="text-xs font-bold text-text-muted flex-shrink-0">CH{ch.id}</span>
+          <span className={`text-base font-semibold truncate ${selected ? 'text-text' : 'text-gray-200'}`}>{ch.role || `Channel ${ch.id}`}</span>
         </div>
-        <span className={`text-[9px] font-bold px-1.5 py-0.5 rounded border flex-shrink-0 uppercase ${MODEL_BADGE[model]}`}>
-          {model}
-        </span>
+        <div className="text-sm font-mono text-text-muted mt-1">B{ch.boardId} · {detail}</div>
       </div>
-
-      {/* Big PSI readout */}
-      <div className="bg-gray-900/60 rounded px-2 py-1.5 flex items-baseline justify-between">
-        <span className="text-[10px] text-gray-500 font-bold">PSI</span>
-        <span className="text-xl font-bold font-mono tabular-nums text-green-400 leading-none">{fmtPsi(calPsi)}</span>
-      </div>
-
-      {/* ADC + points/RLS */}
-      <div className="flex items-center justify-between text-[10px] font-mono text-gray-500 px-0.5">
-        <span>ADC {fmtAdc(rawAdc)}</span>
-        <span>{model === 'robust' ? `RLS ${status?.rlsUpdateCount ?? 0}` : `${numPoints} pts`}</span>
+      <div className="flex flex-col items-end flex-shrink-0 gap-1.5">
+        <span className="text-xl font-mono font-bold tabular-nums text-green-400 leading-none">{fmtPsi(calPsi)}</span>
+        <span className={`text-[10px] font-bold px-1.5 py-0.5 rounded border uppercase ${MODEL_BADGE[model]}`}>{model}</span>
       </div>
+    </button>
+  );
+}
 
-      {/* Capture — disabled in physics (points are meaningless for a datasheet conversion) */}
-      <div className="flex gap-1 mt-auto pt-1 border-t border-gray-800/60">
-        {isPhysics ? (
-          <span className="text-[10px] text-gray-500 italic">Physics — no points</span>
-        ) : (
-          <>
-            <input
-              type="number" step="any" placeholder="Ref PSI" value={refInput}
-              onChange={(e) => setRefInput(e.target.value)}
-              onKeyDown={(e) => e.key === 'Enter' && handleCapture()}
-              onClick={(e) => e.stopPropagation()}
-              className="flex-1 min-w-0 bg-gray-900 border border-gray-700 rounded px-1.5 py-1 text-xs font-mono text-text placeholder-gray-600 focus:outline-none focus:border-blue-500"
-            />
-            <button
-              onClick={(e) => { e.stopPropagation(); handleCapture(); }}
-              disabled={!refInput}
-              className="px-2 py-1 text-[10px] font-bold rounded bg-blue-700 hover:bg-blue-600 disabled:opacity-30 disabled:cursor-not-allowed transition-colors text-white"
-            >
-              CAPTURE
-            </button>
-          </>
-        )}
-      </div>
+// ── Detail readout stat tile ────────────────────────────────────────────────────
+function Stat({ label, value, className = '' }: { label: string; value: string; className?: string }) {
+  return (
+    <div className="rounded-xl border border-gray-700 bg-card px-4 py-3">
+      <div className="text-xs font-bold text-text-muted uppercase tracking-wide">{label}</div>
+      <div className={`font-mono font-bold tabular-nums leading-tight mt-1 ${className}`}>{value}</div>
     </div>
   );
 }
@@ -141,11 +116,40 @@ export default function CalibrationPage() {
   const ptChannels = useSensorConfig();
 
   const [calStatus, setCalStatus] = useState<CalibrationStatusPayload | null>(null);
-  const [singleRefPsi, setSingleRefPsi] = useState('');
   const [selectedBoardId, setSelectedBoardId] = useState<number | 'all'>('all');
   const [cubicState, setCubicState] = useState<Record<string, CubicCalibrationChannel>>({});
   const [selectedUid, setSelectedUid] = useState<number | null>(null);
   const [overlay, setOverlay] = useState<{ cubic: boolean; robust: boolean; physics: boolean }>({ cubic: true, robust: true, physics: true });
+  const [refInput, setRefInput] = useState('');
+  const [showLoadCells, setShowLoadCells] = useState(false);
+
+  // Draggable sidebar width (persisted). Clamped so it can't swallow the detail panel or vanish.
+  const SIDEBAR_MIN = 240, SIDEBAR_MAX = 640;
+  const [sidebarWidth, setSidebarWidth] = useState<number>(() => {
+    if (typeof window === 'undefined') return 320;
+    const saved = Number(window.localStorage.getItem('calibration.sidebarWidth'));
+    return Number.isFinite(saved) && saved >= SIDEBAR_MIN && saved <= SIDEBAR_MAX ? saved : 320;
+  });
+  const startResize = useCallback((e: React.MouseEvent) => {
+    e.preventDefault();
+    const startX = e.clientX;
+    const startW = sidebarWidth;
+    const onMove = (ev: MouseEvent) => {
+      const next = Math.min(SIDEBAR_MAX, Math.max(SIDEBAR_MIN, startW + (ev.clientX - startX)));
+      setSidebarWidth(next);
+    };
+    const onUp = () => {
+      window.removeEventListener('mousemove', onMove);
+      window.removeEventListener('mouseup', onUp);
+      document.body.style.cursor = '';
+      document.body.style.userSelect = '';
+      setSidebarWidth((w) => { try { window.localStorage.setItem('calibration.sidebarWidth', String(w)); } catch { /* ignore */ } return w; });
+    };
+    document.body.style.cursor = 'col-resize';
+    document.body.style.userSelect = 'none';
+    window.addEventListener('mousemove', onMove);
+    window.addEventListener('mouseup', onUp);
+  }, [sidebarWidth]);
 
   // Full config (for physics params + LC list). Boards keyed by config key (e.g. "pt_board").
   const [cfgBoards, setCfgBoards] = useState<Record<string, any>>({});
@@ -186,7 +190,10 @@ export default function CalibrationPage() {
 
   // Every PT sensor appears here; the model badge says which calibration each uses.
   const availableBoards = Array.from(new Set(ptChannels.map((c) => c.boardId))).sort((a, b) => a - b);
-  const visibleChannels = ptChannels.filter((c) => selectedBoardId === 'all' || c.boardId === selectedBoardId);
+  const visibleChannels = useMemo(
+    () => ptChannels.filter((c) => selectedBoardId === 'all' || c.boardId === selectedBoardId),
+    [ptChannels, selectedBoardId],
+  );
   const selectedState = selectedUid != null ? cubicState[String(selectedUid)] : undefined;
   const selectedChannel = selectedUid != null ? ptChannels.find((c) => c.boardId * 100 + c.id === selectedUid) : undefined;
   const selectedModel = selectedUid != null ? modelOf(selectedUid) : undefined;
@@ -261,9 +268,13 @@ export default function CalibrationPage() {
     setTimeout(fetchCubic, 900);
   }, [ws, fetchCubic]);
 
-  const handleCapture = useCallback((sensorId: number, boardId: number, referencePressure: number) => {
-    sendCalCmd({ commandType: 'capture_point', sensorId, boardId, referencePressure });
-  }, [sendCalCmd]);
+  const handleCaptureSelected = useCallback(() => {
+    if (!selectedChannel || selectedModel === 'physics') return;
+    const psi = parseFloat(refInput);
+    if (isNaN(psi)) return;
+    sendCalCmd({ commandType: 'capture_point', sensorId: selectedChannel.id, boardId: selectedChannel.boardId, referencePressure: psi });
+    setRefInput('');
+  }, [selectedChannel, selectedModel, refInput, sendCalCmd]);
 
   const handleNewCalibration = useCallback(() => {
     if (!selectedChannel) return;
@@ -271,23 +282,11 @@ export default function CalibrationPage() {
     sendCalCmd({ commandType: 'new_calibration', sensorId: selectedChannel.id, boardId: selectedChannel.boardId });
   }, [selectedChannel, sendCalCmd]);
 
-  const handleZeroAllRobust = useCallback(() => {
+  const handleZeroAll = useCallback(() => {
+    const n = ptChannels.filter((c) => modelOf(c.boardId * 100 + c.id) !== 'physics').length;
+    if (typeof window !== 'undefined' && !window.confirm(`Capture a 0 psi reference point on all ${n} cubic/robust PT sensor${n === 1 ? '' : 's'}? Vent them to atmosphere first — this adds a real point to each sensor's shared fit.`)) return;
     sendCalCmd({ commandType: 'zero_all' });
-  }, [sendCalCmd]);
-
-  const handleCaptureAll = useCallback(() => {
-    const psi = parseFloat(singleRefPsi);
-    if (isNaN(psi)) return;
-    for (const ch of visibleChannels) {
-      if (modelOf(ch.boardId * 100 + ch.id) === 'physics') continue; // no points in physics
-      sendCalCmd({ commandType: 'capture_point', sensorId: ch.id, boardId: ch.boardId, referencePressure: psi });
-    }
-    setSingleRefPsi('');
-  }, [sendCalCmd, singleRefPsi, visibleChannels, modelOf]);
-
-  const handleSave = useCallback(() => {
-    sendCalCmd({ commandType: 'save_coefficients' });
-  }, [sendCalCmd]);
+  }, [sendCalCmd, ptChannels, modelOf]);
 
   const statusMap = new Map<number, CalibrationChannelStatus>((calStatus?.channels ?? []).map((c) => [c.sensorId, c]));
   const getStatus = (channelId: number, boardId: number) => statusMap.get(boardId * 100 + channelId);
@@ -298,161 +297,250 @@ export default function CalibrationPage() {
     return c;
   }, [ptChannels, modelOf]);
 
+  const selStatus = selectedChannel ? getStatus(selectedChannel.id, selectedChannel.boardId) : undefined;
+  const selRawAdc = selectedChannel ? getSensorValue(selectedChannel.calEntity, 'raw_adc_counts') : null;
+  const selPsi = selectedChannel ? getSensorValue(selectedChannel.calEntity, 'pressure_psi') : null;
+  const selPoints = selectedState?.numPoints ?? 0;
+  const selPhysics = selectedUid != null ? physicsParamsOf(selectedUid) : undefined;
+
+  // Fourth stat tile is model-specific — a plain "OK" told you nothing.
+  //  cubic  → whether the fit is live (needs ≥2 points)
+  //  robust → drift-detector state
+  //  physics→ the datasheet full-scale range it's converting against
+  let healthLabel = 'Fit', healthValue = '—', healthClass = 'text-gray-300';
+  if (selectedModel === 'robust') {
+    healthLabel = 'Drift';
+    healthValue = selStatus?.driftDetected ? 'Detected' : 'None';
+    healthClass = selStatus?.driftDetected ? 'text-red-400' : 'text-green-400';
+  } else if (selectedModel === 'physics') {
+    healthLabel = 'Full scale';
+    healthValue = selPhysics ? `${selPhysics.fullScale} psi` : '—';
+    healthClass = 'text-orange-300';
+  } else {
+    healthLabel = 'Cubic fit';
+    if (selPoints >= 2) { healthValue = 'Live'; healthClass = 'text-green-400'; }
+    else if (selPoints === 1) { healthValue = 'Need ≥2 pts'; healthClass = 'text-amber-400'; }
+    else { healthValue = 'None'; healthClass = 'text-gray-400'; }
+  }
+
   return (
-    <main className="h-full bg-background text-text flex flex-col overflow-hidden">
-      {/* ── Toolbar ─────────────────────────────────────────────────────── */}
-      <div className="flex-shrink-0 flex items-center justify-between px-4 py-2 border-b border-gray-800 bg-card">
-        <div className="flex items-center gap-4">
-          <h1 className="text-lg font-bold tracking-tight">PT Calibration</h1>
-          <span className="text-xs text-gray-500 font-mono">
-            <span className="text-sky-300">{counts.cubic} cubic</span>{' · '}
-            <span className="text-violet-300">{counts.robust} robust</span>{' · '}
+    <main className="h-full bg-background text-text flex overflow-hidden">
+      {/* ── Sidebar: sensor list ───────────────────────────────────────────── */}
+      <aside style={{ width: sidebarWidth }} className="flex-shrink-0 border-r border-gray-800 bg-black/20 flex flex-col min-h-0">
+        {/* Header */}
+        <div className="flex-shrink-0 px-4 py-4 border-b border-gray-800">
+          <h1 className="text-2xl font-bold tracking-tight">PT Calibration</h1>
+          <div className="text-base text-text-muted font-mono mt-2 flex gap-3">
+            <span className="text-sky-300">{counts.cubic} cubic</span>
+            <span className="text-violet-300">{counts.robust} robust</span>
             <span className="text-orange-300">{counts.physics} physics</span>
-          </span>
-        </div>
-
-        <div className="flex items-center gap-2 flex-wrap">
-          <span className="text-[10px] text-gray-500 mr-1">Board:</span>
-          <select
-            value={selectedBoardId}
-            onChange={(e) => setSelectedBoardId(e.target.value === 'all' ? 'all' : Number(e.target.value))}
-            className="bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs text-text mr-3"
-          >
-            <option value="all">All</option>
-            {availableBoards.map((bId) => (<option key={bId} value={bId}>Board {bId}</option>))}
-          </select>
-
-          <input
-            type="number" step="any" placeholder="Ref PSI (all ch)" value={singleRefPsi}
-            onChange={(e) => setSingleRefPsi(e.target.value)}
-            onKeyDown={(e) => e.key === 'Enter' && handleCaptureAll()}
-            className="w-28 bg-gray-900 border border-gray-700 rounded px-2 py-1 text-xs font-mono text-text"
-          />
-          <button onClick={handleCaptureAll} disabled={!singleRefPsi}
-            className="px-2 py-1 text-[10px] font-bold rounded bg-blue-700 hover:bg-blue-600 disabled:opacity-40 text-white">
-            CAPTURE ALL
-          </button>
-          <button onClick={handleZeroAllRobust}
-            title="Tare robust sensors to read 0 at the current pressure. Cubic/physics sensors are unaffected (their zero is defined by the fit / datasheet)."
-            className="px-3 py-1.5 text-xs font-bold rounded border bg-yellow-900/40 border-yellow-600 text-yellow-300 hover:bg-yellow-800/60">
-            ZERO ROBUST
-          </button>
-          <button onClick={handleSave}
-            className="px-3 py-1.5 text-xs font-bold rounded border bg-blue-900/30 border-blue-700 text-blue-400 hover:bg-blue-800/50">
-            SAVE
-          </button>
+          </div>
         </div>
-      </div>
 
-      {/* ── Load cells (separate concern) ────────────────────────────────── */}
-      {lcChannels.length > 0 && (
-        <div className="flex-shrink-0 border-b border-gray-700 bg-gray-900/50 px-4 py-3">
-          <div className="text-xs font-bold text-gray-400 mb-2">Load cells — 0 point (offset only; separate from PT calibration)</div>
-          <div className="flex flex-wrap items-center gap-3">
-            {lcChannels.map(({ calEntity, label }) => (
-              <LoadCellZeroCard key={calEntity} calEntity={calEntity} label={label}
-                onZero={() => {
-                  const raw = getSensorValue(calEntity, 'force_lbf');
-                  if (raw != null && Number.isFinite(raw)) setLoadCellZeroOffset(calEntity, raw);
-                }}
-              />
-            ))}
+        {/* Board filter */}
+        {availableBoards.length > 1 && (
+          <div className="flex-shrink-0 px-4 py-3 border-b border-gray-800/60 flex items-center gap-2">
+            <span className="text-sm text-text-muted">Board</span>
+            <select
+              value={selectedBoardId}
+              onChange={(e) => setSelectedBoardId(e.target.value === 'all' ? 'all' : Number(e.target.value))}
+              className="flex-1 bg-background border border-gray-700 rounded-lg px-3 py-2 text-sm text-white focus:outline-none focus:border-blue-500"
+            >
+              <option value="all" className="bg-background text-white">All boards</option>
+              {availableBoards.map((bId) => (<option key={bId} value={bId} className="bg-background text-white">Board {bId}</option>))}
+            </select>
           </div>
-        </div>
-      )}
+        )}
 
-      {/* ── PT channel grid ──────────────────────────────────────────────── */}
-      <div className="flex-1 overflow-auto min-h-0 p-3">
-        {ptChannels.length === 0 ? (
-          <div className="text-sm text-gray-500 p-2">No PT sensors configured.</div>
-        ) : (
-          <div className="grid grid-cols-2 sm:grid-cols-3 lg:grid-cols-5 gap-2.5 auto-rows-fr">
-            {visibleChannels.map((ch) => {
+        {/* Sensor list */}
+        <div className="flex-1 overflow-auto min-h-0 divide-y divide-gray-800/40">
+          {ptChannels.length === 0 ? (
+            <div className="text-sm text-text-muted p-4">No PT sensors configured.</div>
+          ) : (
+            visibleChannels.map((ch) => {
               const uid = ch.boardId * 100 + ch.id;
               return (
-                <ChannelCard
+                <SensorRow
                   key={`${ch.boardId}-${ch.id}`}
                   ch={ch}
                   model={modelOf(uid)}
                   status={getStatus(ch.id, ch.boardId)}
-                  rawAdc={getSensorValue(ch.calEntity, 'raw_adc_counts')}
                   calPsi={getSensorValue(ch.calEntity, 'pressure_psi')}
                   numPoints={cubicState[String(uid)]?.numPoints ?? 0}
                   selected={uid === selectedUid}
                   onSelect={() => setSelectedUid(uid)}
-                  onCapture={handleCapture}
                 />
               );
-            })}
+            })
+          )}
+        </div>
+
+        {/* Global action: Zero all — captures a 0 psi reference point on every cubic/robust sensor.
+            It's a real point (feeds the shared fit + persists), not a tare. */}
+        {(counts.cubic + counts.robust) > 0 && (
+          <div className="flex-shrink-0 px-4 py-3 border-t border-gray-800">
+            <button onClick={handleZeroAll}
+              title="Capture a 0 psi reference point on every cubic/robust PT sensor. Vent to atmosphere first — this adds a real point to each sensor's shared fit (physics sensors are skipped)."
+              className="w-full px-4 py-2.5 text-sm font-bold rounded-lg border bg-yellow-900/30 border-yellow-600/60 text-yellow-300 hover:bg-yellow-800/50 transition-colors">
+              Zero all
+            </button>
           </div>
         )}
-      </div>
 
-      {/* ── Selected sensor: model + curve previews + points ─────────────── */}
-      {selectedChannel && selectedModel && (
-        <div className="flex-shrink-0 border-t border-gray-800 bg-card/40 p-3 max-h-[46vh] overflow-auto">
-          <div className="flex items-center justify-between mb-2 flex-wrap gap-2">
-            <div className="flex items-center gap-2">
-              <span className="text-sm font-bold text-text">{selectedChannel.role || `CH${selectedChannel.id}`}</span>
-              <span className={`text-[9px] font-bold px-1.5 py-0.5 rounded border uppercase ${MODEL_BADGE[selectedModel]}`}>{selectedModel}</span>
-              <span className="text-[11px] text-gray-500 font-mono">
-                B{selectedChannel.boardId} · CH{selectedChannel.id} · {selectedState?.numPoints ?? 0} pts
-              </span>
-              <span className="text-[10px] text-gray-500">· change model in Config → Roles</span>
-            </div>
-            <div className="flex items-center gap-2">
+        {/* Load cells (separate concern) — collapsible */}
+        {lcChannels.length > 0 && (
+          <div className="flex-shrink-0 border-t border-gray-800">
+            <button
+              onClick={() => setShowLoadCells((v) => !v)}
+              className="w-full px-4 py-2.5 flex items-center justify-between text-xs font-bold text-text-muted hover:text-text"
+            >
+              <span>Load cells — 0 point ({lcChannels.length})</span>
+              <span className="text-gray-600">{showLoadCells ? '▾' : '▸'}</span>
+            </button>
+            {showLoadCells && (
+              <div className="px-3 pb-3 space-y-2 max-h-56 overflow-auto">
+                <div className="text-[11px] text-gray-600 px-1">Offset only; separate from PT calibration.</div>
+                {lcChannels.map(({ calEntity, label }) => (
+                  <LoadCellZeroCard key={calEntity} calEntity={calEntity} label={label}
+                    onZero={() => {
+                      const raw = getSensorValue(calEntity, 'force_lbf');
+                      if (raw != null && Number.isFinite(raw)) setLoadCellZeroOffset(calEntity, raw);
+                    }}
+                  />
+                ))}
+              </div>
+            )}
+          </div>
+        )}
+      </aside>
+
+      {/* Drag handle — widen/narrow the sidebar */}
+      <div
+        onMouseDown={startResize}
+        title="Drag to resize"
+        className="w-1 flex-shrink-0 cursor-col-resize bg-gray-800 hover:bg-blue-500 active:bg-blue-500 transition-colors"
+      />
+
+      {/* ── Detail: everything about the selected sensor ───────────────────── */}
+      <section className="flex-1 min-w-0 overflow-auto">
+        {!selectedChannel || !selectedModel ? (
+          <div className="h-full flex flex-col items-center justify-center text-text-muted gap-2">
+            <div className="text-lg">Select a sensor to view its calibration</div>
+            <div className="text-sm text-gray-600">Live pressure, captured points, and curve previews appear here.</div>
+          </div>
+        ) : (
+          <div className="p-8 max-w-5xl mx-auto flex flex-col gap-6">
+            {/* Header */}
+            <div className="flex items-start justify-between gap-4 flex-wrap">
+              <div>
+                <div className="flex items-center gap-3">
+                  <h2 className="text-3xl font-bold text-text tracking-tight">{selectedChannel.role || `Channel ${selectedChannel.id}`}</h2>
+                  <span className={`text-xs font-bold px-2.5 py-1 rounded-md border uppercase ${MODEL_BADGE[selectedModel]}`}>{selectedModel}</span>
+                </div>
+                <div className="text-sm text-text-muted font-mono mt-1.5">
+                  Board {selectedChannel.boardId} · CH{selectedChannel.id}
+                  {selectedModel !== 'physics' && ` · ${selectedState?.numPoints ?? 0} captured point${(selectedState?.numPoints ?? 0) === 1 ? '' : 's'}`}
+                </div>
+                <div className="text-sm text-text-muted mt-1.5 max-w-2xl">
+                  {MODEL_DESC[selectedModel]}
+                  {selectedModel !== 'physics' && selPoints === 0 && (
+                    <span className="text-amber-400/80"> Reads 0 until you capture points.</span>
+                  )}
+                  {' '}<span className="text-gray-600">Change the model in Config → Roles.</span>
+                </div>
+              </div>
               {selectedModel !== 'physics' && (
                 <button onClick={handleNewCalibration}
-                  className="px-3 py-1.5 text-xs font-bold rounded border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50"
+                  className="px-5 py-2.5 text-sm font-bold rounded-lg border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50 transition-colors"
                   title="Drop captured points and reset both cubic and robust to nothing (0)">
-                  CLEAR
+                  Clear calibration
                 </button>
               )}
-              <button onClick={() => setSelectedUid(null)} className="px-2 py-1.5 text-xs text-gray-400 hover:text-gray-200" title="Close">✕</button>
             </div>
-          </div>
 
-          {/* Overlay toggles / legend */}
-          <div className="flex items-center gap-4 mb-2 text-[11px] flex-wrap">
-            {(['cubic', 'robust', 'physics'] as Model[]).map((m) => (
-              <label key={m} className="flex items-center gap-1.5 cursor-pointer select-none">
-                <input type="checkbox" checked={overlay[m]} onChange={(e) => setOverlay((o) => ({ ...o, [m]: e.target.checked }))} />
-                <span className="inline-block w-3 h-0.5 rounded" style={{ background: CURVE_COLORS[m], height: m === selectedModel ? 3 : 2 }} />
-                <span className={m === selectedModel ? 'font-bold text-text' : 'text-gray-400'}>{m}{m === selectedModel ? ' (active)' : ''}</span>
-              </label>
-            ))}
-            <span className="text-gray-500 ml-auto">points fade <span className="text-gray-600">older</span> → <span className="text-gray-200">newer</span></span>
-          </div>
+            {/* Live readouts */}
+            <div className="grid grid-cols-2 sm:grid-cols-4 gap-3">
+              <Stat label="Pressure" value={`${fmtPsi(selPsi)} psi`} className="text-3xl text-green-400" />
+              <Stat label="Raw ADC" value={fmtAdc(selRawAdc)} className="text-xl text-gray-300" />
+              <Stat label={selectedModel === 'robust' ? 'RLS updates' : 'Points'} value={selectedModel === 'robust' ? String(selStatus?.rlsUpdateCount ?? 0) : String(selPoints)} className="text-xl text-gray-300" />
+              <Stat label={healthLabel} value={healthValue} className={`text-xl ${healthClass}`} />
+            </div>
+
+            {/* Capture — disabled in physics (points are meaningless for a datasheet conversion) */}
+            <div className="rounded-xl border border-gray-700 bg-card p-5">
+              <div className="text-sm font-bold text-text mb-3">Capture reference point</div>
+              {selectedModel === 'physics' ? (
+                <div className="text-sm text-text-muted italic">Physics conversion uses datasheet parameters — captured points don't apply.</div>
+              ) : (
+                <div className="flex items-center gap-3 flex-wrap">
+                  <input
+                    type="number" step="any" placeholder="Reference PSI"
+                    value={refInput}
+                    onChange={(e) => setRefInput(e.target.value)}
+                    onKeyDown={(e) => e.key === 'Enter' && handleCaptureSelected()}
+                    className="w-44 bg-black/30 border border-gray-700 rounded-lg px-4 py-2.5 text-base font-mono text-text placeholder-gray-600 focus:outline-none focus:border-blue-500"
+                  />
+                  <button
+                    onClick={handleCaptureSelected}
+                    disabled={!refInput}
+                    className="px-6 py-2.5 text-sm font-bold rounded-lg bg-blue-600 hover:bg-blue-500 disabled:opacity-30 disabled:cursor-not-allowed transition-colors text-white"
+                  >
+                    Capture
+                  </button>
+                  <span className="text-sm text-text-muted">Records the current ADC at this known pressure. Feeds both the cubic &amp; robust fits.</span>
+                </div>
+              )}
+            </div>
 
-          <CalibrationChart
-            state={selectedState}
-            height={240}
-            activeModel={selectedModel}
-            show={overlay}
-            physics={physicsParamsOf(selectedUid!)}
-          />
-
-          {/* Captured points table */}
-          {selectedState?.points && selectedState.points.length > 0 && (
-            <div className="mt-2 max-h-32 overflow-auto border border-gray-800 rounded">
-              <table className="w-full text-[11px] font-mono">
-                <thead className="sticky top-0 bg-gray-900 text-gray-500">
-                  <tr><th className="text-left px-2 py-1">#</th><th className="text-right px-2 py-1">PSI</th><th className="text-right px-2 py-1">ADC</th></tr>
-                </thead>
-                <tbody>
-                  {selectedState.points.map((p, i) => (
-                    <tr key={i} className="odd:bg-gray-900/40">
-                      <td className="px-2 py-0.5 text-gray-500">{i + 1}</td>
-                      <td className="px-2 py-0.5 text-right text-text">{p.psi.toFixed(2)}</td>
-                      <td className="px-2 py-0.5 text-right text-gray-400">{p.adc.toLocaleString()}</td>
-                    </tr>
+            {/* Curve previews */}
+            <div className="rounded-xl border border-gray-700 bg-card p-5">
+              <div className="flex items-center justify-between mb-3 flex-wrap gap-3">
+                <div className="text-sm font-bold text-text">Curve previews</div>
+                <div className="flex items-center gap-4 text-sm flex-wrap">
+                  {(['cubic', 'robust', 'physics'] as Model[]).map((m) => (
+                    <label key={m} className="flex items-center gap-2 cursor-pointer select-none">
+                      <input type="checkbox" checked={overlay[m]} onChange={(e) => setOverlay((o) => ({ ...o, [m]: e.target.checked }))} />
+                      <span className="inline-block w-4 rounded" style={{ background: CURVE_COLORS[m], height: m === selectedModel ? 4 : 2 }} />
+                      <span className={m === selectedModel ? 'font-bold text-text' : 'text-text-muted'}>{m}{m === selectedModel ? ' (active)' : ''}</span>
+                    </label>
                   ))}
-                </tbody>
-              </table>
+                  <span className="text-text-muted text-xs">points fade <span className="text-gray-600">older</span> → <span className="text-gray-200">newer</span></span>
+                </div>
+              </div>
+              <CalibrationChart
+                state={selectedState}
+                height={340}
+                activeModel={selectedModel}
+                show={overlay}
+                physics={physicsParamsOf(selectedUid!)}
+              />
             </div>
-          )}
-        </div>
-      )}
+
+            {/* Captured points table */}
+            {selectedState?.points && selectedState.points.length > 0 && (
+              <div className="rounded-xl border border-gray-700 bg-card p-5">
+                <div className="text-sm font-bold text-text mb-3">Captured points</div>
+                <div className="max-h-64 overflow-auto border border-gray-800 rounded-lg">
+                  <table className="w-full text-sm font-mono">
+                    <thead className="sticky top-0 bg-gray-900 text-text-muted">
+                      <tr><th className="text-left px-4 py-2">#</th><th className="text-right px-4 py-2">Reference PSI</th><th className="text-right px-4 py-2">ADC</th></tr>
+                    </thead>
+                    <tbody>
+                      {selectedState.points.map((p, i) => (
+                        <tr key={i} className="odd:bg-white/[0.02]">
+                          <td className="px-4 py-1.5 text-text-muted">{i + 1}</td>
+                          <td className="px-4 py-1.5 text-right text-text">{p.psi.toFixed(2)}</td>
+                          <td className="px-4 py-1.5 text-right text-gray-400">{p.adc.toLocaleString()}</td>
+                        </tr>
+                      ))}
+                    </tbody>
+                  </table>
+                </div>
+              </div>
+            )}
+          </div>
+        )}
+      </section>
     </main>
   );
 }
diff --git a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
index b397e7a63..e092b8ab4 100644
--- a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
+++ b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
@@ -53,6 +53,29 @@ const AgeDot = (props: { cx?: number; cy?: number; payload?: Row }) => {
 
 const CURVE_COLORS = { cubic: '#38BDF8', robust: '#A78BFA', physics: '#FB923C' } as const;
 
+// Custom tooltip: recharts' default duplicates the numeric X value on a scatter/number axis, and
+// its label text renders black. We render the ADC once, then one row per present series.
+interface TipItem { name?: string; value?: number; color?: string; dataKey?: string }
+function ChartTooltip({ active, payload, label }: { active?: boolean; payload?: TipItem[]; label?: number }) {
+  if (!active || !payload || payload.length === 0) return null;
+  const seen = new Set<string>();
+  const rows = payload
+    .filter((p) => p.value != null && isFinite(p.value) && p.dataKey && p.dataKey !== 'adc')
+    .filter((p) => { const k = String(p.dataKey); if (seen.has(k)) return false; seen.add(k); return true; });
+  if (rows.length === 0) return null;
+  return (
+    <div style={{ background: '#111', border: '1px solid #333', borderRadius: 6, padding: '6px 8px', fontSize: 11 }}>
+      <div style={{ color: '#e2e2e2', fontWeight: 600, marginBottom: 3 }}>ADC {Number(label).toExponential(3)}</div>
+      {rows.map((p) => (
+        <div key={String(p.dataKey)} style={{ color: p.color ?? '#e2e2e2', display: 'flex', justifyContent: 'space-between', gap: 12 }}>
+          <span>{p.name ?? p.dataKey}</span>
+          <span style={{ fontVariantNumeric: 'tabular-nums' }}>{Number(p.value).toFixed(2)} psi</span>
+        </div>
+      ))}
+    </div>
+  );
+}
+
 export interface CalibrationChartProps {
   state?: CubicCalibrationChannel;
   height?: number;
@@ -127,11 +150,7 @@ export function CalibrationChart({ state, height = 420, activeModel, show, physi
                  tickFormatter={(v) => Number(v).toFixed(0)}>
             <Label value="Pressure (PSI)" angle={-90} position="insideLeft" fill="#888" fontSize={11} />
           </YAxis>
-          <Tooltip
-            contentStyle={{ background: '#111', border: '1px solid #333', fontSize: 11 }}
-            labelFormatter={(v) => `ADC ${Number(v).toExponential(3)}`}
-            formatter={(val: number, name: string) => [Number(val).toFixed(2) + ' PSI', name]}
-          />
+          <Tooltip content={<ChartTooltip />} cursor={{ stroke: '#555', strokeDasharray: '3 3' }} />
           {showCubic && (
             <Line type="monotone" dataKey="psiCubic" stroke={CURVE_COLORS.cubic} dot={false}
                   strokeWidth={w('cubic')} strokeDasharray={dash('cubic')} connectNulls
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index f796ff2b5..ff46c7f24 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -65,10 +65,6 @@ namespace {
  */
 std::map<uint8_t, std::array<uint8_t, 11>> g_hp_ma_live;
 
-/** Per-sensor zero offsets (PSI) applied after LP PT path (factory or robust) and Zero All. */
-std::unordered_map<uint16_t, double> g_zero_offsets;
-std::mutex g_zero_offsets_mutex;
-
 /** Per-sensor EMA state for LP PT output smoothing (initialized to NaN = not yet set). */
 std::unordered_map<uint16_t, double> g_lp_ema;
 constexpr double LP_EMA_ALPHA = 0.25;  // ~4-sample effective window
@@ -928,59 +924,51 @@ int main(int argc, char* argv[]) {
                           << " sensor=" << static_cast<int>(sensor_id) << " ref=" << ref_val
                           << std::endl;
 
-                if (cmd_type == 0) {       // Zero All
+                if (cmd_type == 0) {  // Zero All — capture a 0 psi reference point on every PT
+                    // A "zero" is just a captured reference point at 0 psi: it feeds the same shared
+                    // fit as any other capture (cubic + robust), persists, and naturally averages
+                    // repeated zeroes — capturing real zero-drift over time rather than assuming a
+                    // uniform tare. Physics sensors take no points, so they're skipped.
+                    auto avg_adc = [&](uint16_t uid, double& out) -> bool {
+                        auto rit = pt_adc_ring.find(uid);
+                        if (rit != pt_adc_ring.end() && !rit->second.empty()) {
+                            double sum = 0.0;
+                            for (int32_t a : rit->second)
+                                sum += static_cast<double>(a);
+                            out = sum / static_cast<double>(rit->second.size());
+                            return true;
+                        }
+                        auto lit = last_adc_map.find(uid);
+                        if (lit != last_adc_map.end()) {
+                            out = static_cast<double>(lit->second);
+                            return true;
+                        }
+                        return false;
+                    };
+                    int zeroed = 0;
                     if (sensor_id == 0) {  // All sensors
-                        std::lock_guard<std::mutex> lk(g_zero_offsets_mutex);
-                        g_lp_ema.clear();  // reset EMA so zeroed value reaches GUI immediately
                         for (auto const& [id, val] : last_adc_map) {
-                            const uint8_t bid = static_cast<uint8_t>(id / 100);
-                            const uint8_t lch = static_cast<uint8_t>(id % 100);
-                            const uint8_t bn = (bid % 10) == 0 ? 10u : (bid % 10);
-                            // Zero/tare only applies to robust sensors: a cubic's zero is defined
-                            // by its fit and a physics sensor's by the datasheet line, so taring
-                            // them would silently shift a calibrated curve. Clear any stale offset.
-                            if (pt_model_for(id) != PtModel::Robust) {
-                                g_zero_offsets.erase(id);
+                            (void)val;
+                            if (pt_model_for(id) == PtModel::Physics)
+                                continue;  // datasheet zero; no points
+                            double adc_avg = 0.0;
+                            if (!avg_adc(id, adc_avg))
                                 continue;
-                            }
-                            const bool is_hp = current_loop_board(bn) != nullptr;
-                            robust_manager.zero_sensor(id, val);
-                            if (is_hp) {
-                                g_zero_offsets.erase(id);
-                                continue;
-                            }
-                            const double psi_base = lp_pt_psi_before_offset(
-                                bn, lch, id, val, pt_calibration, robust_manager);
-                            if (std::isfinite(psi_base))
-                                g_zero_offsets[id] = -psi_base;
+                            apply_capture(id, adc_avg, 0.0);
+                            ++zeroed;
                         }
-                        std::cout << "[Cal] Performed Zero All for " << last_adc_map.size()
-                                  << " sensors" << std::endl;
+                        std::cout << "[Cal] Zero All: captured 0 psi on " << zeroed
+                                  << " PT sensors" << std::endl;
                     } else {
-                        if (last_adc_map.count(sensor_id)) {
-                            std::lock_guard<std::mutex> lk(g_zero_offsets_mutex);
-                            const uint8_t bid = static_cast<uint8_t>(sensor_id / 100);
-                            const uint8_t lch = static_cast<uint8_t>(sensor_id % 100);
-                            const uint8_t bn = (bid % 10) == 0 ? 10u : (bid % 10);
-                            // Robust-only tare (see Zero-All-of-all above).
-                            if (pt_model_for(sensor_id) != PtModel::Robust) {
-                                g_zero_offsets.erase(sensor_id);
-                                g_lp_ema.erase(sensor_id);
-                            } else {
-                                const bool is_hp = current_loop_board(bn) != nullptr;
-                                robust_manager.zero_sensor(sensor_id, last_adc_map[sensor_id]);
-                                if (!is_hp) {
-                                    const double psi_base = lp_pt_psi_before_offset(
-                                        bn, lch, sensor_id, last_adc_map[sensor_id], pt_calibration,
-                                        robust_manager);
-                                    if (std::isfinite(psi_base))
-                                        g_zero_offsets[sensor_id] = -psi_base;
-                                } else {
-                                    g_zero_offsets.erase(sensor_id);
-                                }
-                                g_lp_ema.erase(sensor_id);
-                            }
+                        double adc_avg = 0.0;
+                        if (pt_model_for(sensor_id) != PtModel::Physics &&
+                            avg_adc(sensor_id, adc_avg)) {
+                            apply_capture(sensor_id, adc_avg, 0.0);
+                            ++zeroed;
                         }
+                        std::cout << "[Cal] Zero: captured 0 psi on uid "
+                                  << static_cast<int>(sensor_id) << " (" << zeroed << ")"
+                                  << std::endl;
                     }
                 } else if (cmd_type == 1) {  // Capture Reference
                     if (last_adc_map.count(sensor_id)) {
@@ -1150,13 +1138,8 @@ int main(int argc, char* argv[]) {
             else if (eff_model == PtModel::Blend)
                 cal_status = (fac_ok && has_rob) ? 1u : 0u;
 
-            // Zero offset then EMA smoothing (applies to all PTs now).
-            {
-                std::lock_guard<std::mutex> lk(g_zero_offsets_mutex);
-                auto it_off = g_zero_offsets.find(uid);
-                if (it_off != g_zero_offsets.end())
-                    psi += it_off->second;
-            }
+            // EMA smoothing (zeroing is now a captured 0 psi point that flows through the fit above,
+            // not a post-hoc offset).
             {
                 auto& ema = g_lp_ema[uid];
                 if (!std::isfinite(ema))
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index 4583c0f89..371a5d38c 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -252,7 +252,7 @@ export type CalibrationCommandType =
   | 'reset_channel'       // clear all points and restart
   | 'enable_phase2'
   | 'disable_phase2'
-  | 'zero_all'            // zero-point init: all PTs set current ADC → 0 PSI
+  | 'zero_all'            // capture a 0 psi reference point on every cubic/robust PT (shared fit)
   | 'save_coefficients'   // persist current coefficients to disk
   | 'clear_calibration'   // clear all state and start from scratch
   | 'capture_cubic_point' // add one (current ADC, ref PSI) point to a channel's cubic fit

From c8ad56660e9573bde482aab0f6e974408c9ab50a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 12:58:31 -0700
Subject: [PATCH 153/205] calibration: seed live cubic store from a committed
 cubic_calibration.default.json on first run so a fresh checkout/new machine
 boots with the team's cal; gitignore the live store, add promote_default.sh
 to update the tracked default

---
 daq-server/.gitignore                         |   5 +
 .../services/calibration/calibration_main.cpp |  24 ++
 .../cubic_calibration.default.json            | 372 ++++++++++++++++++
 .../scripts/calibration/promote_default.sh    |  29 ++
 4 files changed, 430 insertions(+)
 create mode 100644 daq-server/scripts/calibration/calibrations/cubic_calibration.default.json
 create mode 100755 daq-server/scripts/calibration/promote_default.sh

diff --git a/daq-server/.gitignore b/daq-server/.gitignore
index c4d8a225c..25bbb1e80 100644
--- a/daq-server/.gitignore
+++ b/daq-server/.gitignore
@@ -225,3 +225,8 @@ config/state_transitions.csv
 # reading. tools/calibration/calibrations/adjustments.json is the checked-in seed; the copy
 # the C++ services write under scripts/ is per-machine learned state and churns constantly.
 scripts/calibration/calibrations/adjustments.json
+
+# Live cubic/shared-points store the calibration service rewrites on every capture / Zero-All /
+# Clear. cubic_calibration.default.json (NOT ignored) is the tracked seed the service copies here
+# on first run when this file is missing; promote a good cal into it via promote_default.sh.
+scripts/calibration/calibrations/cubic_calibration.json
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index ff46c7f24..8dea59283 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -735,6 +735,30 @@ int main(int argc, char* argv[]) {
         robust_manager.save_adjustments(adjustments_path, &uid_role);
     };
 
+    // Seed on first run: if the live store file is missing, copy the committed default (a curated,
+    // version-controlled calibration snapshot) into place so a fresh checkout / new machine boots
+    // with the team's calibration instead of an empty store. The live file is gitignored and
+    // rewritten on every capture; cubic_calibration.default.json is the tracked source you promote a
+    // known-good cal into (see scripts/calibration/promote_default.sh).
+    {
+        const std::filesystem::path live_path(
+            "scripts/calibration/calibrations/cubic_calibration.json");
+        const std::filesystem::path seed_path(
+            "scripts/calibration/calibrations/cubic_calibration.default.json");
+        std::error_code ec;
+        if (!std::filesystem::exists(live_path, ec) && std::filesystem::exists(seed_path, ec)) {
+            std::filesystem::copy_file(seed_path, live_path,
+                                       std::filesystem::copy_options::overwrite_existing, ec);
+            if (ec)
+                std::cout << "[Calibration] Cubic: seed copy failed (" << ec.message() << ")"
+                          << std::endl;
+            else
+                std::cout
+                    << "[Calibration] Cubic: seeded live store from cubic_calibration.default.json"
+                    << std::endl;
+        }
+    }
+
     // Resume previously captured points and re-apply their fitted cubics to the live stream.
     const size_t cubic_loaded = cubic_store.load();
     if (cubic_loaded > 0) {
diff --git a/daq-server/scripts/calibration/calibrations/cubic_calibration.default.json b/daq-server/scripts/calibration/calibrations/cubic_calibration.default.json
new file mode 100644
index 000000000..019c95241
--- /dev/null
+++ b/daq-server/scripts/calibration/calibrations/cubic_calibration.default.json
@@ -0,0 +1,372 @@
+{
+  "calibration_adc_norm_min": {},
+  "calibration_adc_norm_scale": {},
+  "calibration_poly_coeffs": {},
+  "calibration_polynomials": {},
+  "cubic_state": {
+    "2101": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 1,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 1,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Fuel Upstream",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2102": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 2,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 2,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GSE Low",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2103": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 3,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 3,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Fuel Downstream",
+      "status": "uncalibrated",
+      "updatedAt": 1788577382.258884,
+      "fitCurve": []
+    },
+    "2104": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 4,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 4,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Mid PT 1",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2105": {
+      "active_model": "robust",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 5,
+      "degree": 0,
+      "fitCurve": [],
+      "last_error": 0.0,
+      "logicalCh": 5,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Ox Upstream",
+      "status": "uncalibrated",
+      "updatedAt": 1788577373.470213
+    },
+    "2106": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 6,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 6,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GN2 Regulated",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2107": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 7,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 7,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Ox Downstream",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2108": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 8,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 8,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Mid PT 2",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2109": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 9,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 9,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Throat PT 1",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2110": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 10,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 10,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Throat PT 2",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2201": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 1,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 11,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GSE High",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2202": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 2,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 12,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Excitation V",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2203": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 3,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 13,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GSE Mid",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2204": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 4,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 14,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GN2 High",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "6001": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 60,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 1,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 91,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    }
+  },
+  "framework": "cubic",
+  "generated_unix": 1788577385.861982,
+  "sensor_type": "PT",
+  "unit": "PSI"
+}
\ No newline at end of file
diff --git a/daq-server/scripts/calibration/promote_default.sh b/daq-server/scripts/calibration/promote_default.sh
new file mode 100755
index 000000000..9f29c6017
--- /dev/null
+++ b/daq-server/scripts/calibration/promote_default.sh
@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+# Promote the current live calibration to the version-controlled default.
+#
+# The live store (cubic_calibration.json) is gitignored runtime state — it is rewritten on every
+# point capture, Zero-All, and Clear. cubic_calibration.default.json is the tracked snapshot the
+# calibration service seeds a fresh checkout / new machine from (copied into place on first run
+# when the live file is missing).
+#
+# Run this once you have a known-good calibration on one machine, then commit the default so every
+# other computer boots with the same cal:
+#
+#   bash daq-server/scripts/calibration/promote_default.sh
+#   git add daq-server/scripts/calibration/calibrations/cubic_calibration.default.json
+#   git commit -m "calibration: promote <what> as default"
+set -euo pipefail
+
+here="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+dir="$here/calibrations"
+live="$dir/cubic_calibration.json"
+default="$dir/cubic_calibration.default.json"
+
+if [[ ! -f "$live" ]]; then
+  echo "No live calibration at $live — capture some points first." >&2
+  exit 1
+fi
+
+cp "$live" "$default"
+echo "Promoted live calibration -> $default"
+echo "Now: git add '$default' && git commit"

From 0d73eddb9cfd14f2140e95ebacbfd3a58061ad3c Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 14:33:51 -0700
Subject: [PATCH 154/205] =?UTF-8?q?calibration+config:=20add=20whole-rig?=
 =?UTF-8?q?=20calibration=20profiles=20(Config=E2=86=92Calibration=20tab:?=
 =?UTF-8?q?=20Load/Save-as/New-blank=20via=20backend=20file=20ops=20+=20a?=
 =?UTF-8?q?=20live=20reload=20cmd=20that=20resets+reseeds=20robust);=20sta?=
 =?UTF-8?q?te-machine=20editor=20fixes=20(Fire/Abort=20to=20bottom,=20dele?=
 =?UTF-8?q?te-state=20clears=20both=20tables,=20regenerate-empty=20uses=20?=
 =?UTF-8?q?the=20live=20state=20list=20+=20identity-only=20transitions=20r?=
 =?UTF-8?q?egenerate,=20unified=20inline=20warnings=20with=20per-row=20dup?=
 =?UTF-8?q?=20markers);=20disable=20calibration=20capture/zero=20when=20no?=
 =?UTF-8?q?=20session=20is=20running?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/backend/src/api-server.ts   |  48 +-
 .../backend/src/calibration-handler.ts        |  10 +
 .../src/routes/calibration-profiles.ts        | 152 ++++++
 .../diablo_server/backend/src/server.ts       |   7 +-
 .../frontend/app/calibration/page.tsx         |  37 +-
 .../frontend/app/config/page.tsx              | 461 ++++++++++++------
 .../calibration/RobustCalibrationManager.hpp  |   5 +
 .../calibration/RobustCalibrationManager.cpp  |   9 +
 .../services/calibration/calibration_main.cpp |  99 ++--
 .../calibrations/profiles/default.json        | 372 ++++++++++++++
 10 files changed, 999 insertions(+), 201 deletions(-)
 create mode 100644 daq-server/diablo_server/backend/src/routes/calibration-profiles.ts
 create mode 100644 daq-server/scripts/calibration/calibrations/profiles/default.json

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index c0b65a56f..648f635a2 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -13,6 +13,12 @@ import {
   getActiveProfileName, ensureSeeded, readActiveProfile, writeActiveProfile, deployActiveProfile,
   getActiveProfilePath, readStateCsv, writeStateCsv, isStateCsvName, STATE_CSVS,
 } from './routes/config-profiles.js';
+import {
+  listCalibrationProfiles,
+  saveCalibrationProfile,
+  loadCalibrationProfile,
+  newBlankCalibration,
+} from './routes/calibration-profiles.js';
 import { isCurrentLoopBoard } from './sensor-config.js';
 import { sessionManager } from './session-manager.js';
 import { isOperator } from './operators.js';
@@ -260,6 +266,9 @@ export interface APIHandlerOptions {
   onStateCsvUpdated?: () => void;
   getEngineState?: () => number;
   getCalibrationStatus?: () => Promise<any>;
+  /** A calibration profile was loaded / a blank was created on disk: tell the calibration service
+   *  to re-read the live store (cmd 7) so the swap takes effect without a session restart. */
+  onCalibrationReload?: () => void;
 }
 
 /**
@@ -292,7 +301,7 @@ function readJsonBody(req: IncomingMessage): Promise<any> {
  * Returns true if the request was handled, false if not (so the caller can fall through).
  */
 export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMessage, res: ServerResponse) => Promise<boolean> {
-  const { getQueryClient, getDebugInfo, onConfigUpdated, onStateCsvUpdated, getEngineState, getCalibrationStatus } = opts;
+  const { getQueryClient, getDebugInfo, onConfigUpdated, onStateCsvUpdated, getEngineState, getCalibrationStatus, onCalibrationReload } = opts;
 
   return async (req: IncomingMessage, res: ServerResponse): Promise<boolean> => {
     const urlPath = (req.url ?? '').split('?')[0] ?? '';
@@ -721,6 +730,43 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
           try { JSON.parse(body); res.end(body); }
           catch { res.end(JSON.stringify({ cubic_state: {} })); }  // partial/corrupt → empty
         }
+      } else if (url.pathname === '/api/calibration_profiles' && req.method === 'GET') {
+        // List committed whole-rig calibration snapshots + which one is loaded.
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify(listCalibrationProfiles()));
+      } else if (url.pathname === '/api/calibration_profiles/save' && req.method === 'POST') {
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        const body = await readJsonBody(req);
+        saveCalibrationProfile(String(body?.name ?? ''));
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify(listCalibrationProfiles()));
+      } else if (url.pathname === '/api/calibration_profiles/load' && req.method === 'POST') {
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        const body = await readJsonBody(req);
+        loadCalibrationProfile(String(body?.name ?? ''));
+        if (onCalibrationReload) onCalibrationReload();  // service re-reads the swapped live store
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify(listCalibrationProfiles()));
+      } else if (url.pathname === '/api/calibration_profiles/new_blank' && req.method === 'POST') {
+        if (!isConfigWriteAuthorized(req)) {
+          res.writeHead(403, { 'Content-Type': 'application/json' });
+          res.end(JSON.stringify({ error: 'Not an approved operator' }));
+          return true;
+        }
+        const body = await readJsonBody(req);
+        const name = body?.name ? String(body.name) : undefined;
+        newBlankCalibration(name);
+        if (onCalibrationReload) onCalibrationReload();  // service re-reads the blank live store
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify(listCalibrationProfiles()));
       } else if (url.pathname === '/api/config_packets' && req.method === 'GET') {
         // Config packets now built by config_broadcast_service.py (standalone). Return empty.
         res.writeHead(200, { 'Content-Type': 'application/json' });
diff --git a/daq-server/diablo_server/backend/src/calibration-handler.ts b/daq-server/diablo_server/backend/src/calibration-handler.ts
index 330725541..1b82dd77d 100644
--- a/daq-server/diablo_server/backend/src/calibration-handler.ts
+++ b/daq-server/diablo_server/backend/src/calibration-handler.ts
@@ -60,6 +60,16 @@ function publishCalibrationCommand(host: CalibrationHost, type: number, sensorId
     host.elodin.publishTable([0x46, 0x00], payload);
 }
 
+/**
+ * Tell the calibration service to re-read the live cubic store from disk (cmd 7). Used after the
+ * backend swaps the store file for a calibration-profile load / new-blank, so the change takes
+ * effect on the running stream without a session restart. If the service is down (session off) the
+ * packet is silently dropped and the swapped file applies at the next session start.
+ */
+export function publishCalibrationReload(host: CalibrationHost): void {
+    publishCalibrationCommand(host, 7, 0, 0);
+}
+
 function getActiveChannels(host: CalibrationHost): number[] {
     const channels = new Set<number>();
 
diff --git a/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts b/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts
new file mode 100644
index 000000000..3d2858820
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts
@@ -0,0 +1,152 @@
+/**
+ * Named calibration profiles — a profile is a whole-rig snapshot of the calibration store.
+ *
+ *   scripts/calibration/calibrations/cubic_calibration.json          <- live store (gitignored,
+ *                                                                       rewritten by the service)
+ *   scripts/calibration/calibrations/cubic_calibration.default.json  <- committed seed (first run)
+ *   scripts/calibration/calibrations/profiles/<name>.json            <- committed named snapshots
+ *   scripts/calibration/calibrations/profiles/.active                <- last-loaded profile name
+ *
+ * The calibration service is the only process that writes the live store during a session; these
+ * routes only touch it between captures (on an explicit Load / New-blank), then ask the service to
+ * re-read it (cmd 7) so the swap takes effect live. All ops are plain Node file copies — no wire
+ * format change — because a "calibration file" is one JSON with every sensor keyed by uid.
+ */
+import { readFileSync, writeFileSync, copyFileSync, existsSync, mkdirSync, readdirSync } from 'fs';
+import path from 'path';
+
+const NAME_RE = /^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/;
+
+export function assertValidProfileName(name: string): void {
+  if (!NAME_RE.test(name)) {
+    throw new Error(`Invalid profile name "${name}" (use letters, digits, _ or -, max 64 chars)`);
+  }
+}
+
+/** Locate scripts/calibration/calibrations, covering dev (tsx) and dist layouts + cwd variants. */
+function getCalibrationsDir(): string {
+  const rel = 'scripts/calibration/calibrations';
+  const candidates = [
+    path.join(__dirname, '../../../..', rel),
+    path.join(__dirname, '../../../../..', rel),
+    path.join(process.cwd(), rel),
+    path.join(process.cwd(), '../..', rel),
+  ];
+  for (const c of candidates) {
+    try { if (existsSync(c)) return c; } catch { /* try next */ }
+  }
+  // Fall back to the first candidate; callers that need to write will mkdir it.
+  return candidates[0];
+}
+
+export function livePath(): string {
+  return path.join(getCalibrationsDir(), 'cubic_calibration.json');
+}
+function defaultPath(): string {
+  return path.join(getCalibrationsDir(), 'cubic_calibration.default.json');
+}
+export function profilesDir(): string {
+  return path.join(getCalibrationsDir(), 'profiles');
+}
+function profilePath(name: string): string {
+  assertValidProfileName(name);
+  return path.join(profilesDir(), `${name}.json`);
+}
+function activePointerPath(): string {
+  return path.join(profilesDir(), '.active');
+}
+
+function getActiveProfileName(): string {
+  try {
+    const raw = readFileSync(activePointerPath(), 'utf-8').trim();
+    if (raw && NAME_RE.test(raw)) return raw;
+  } catch { /* no pointer yet */ }
+  return '';
+}
+function setActiveProfileName(name: string): void {
+  mkdirSync(profilesDir(), { recursive: true });
+  writeFileSync(activePointerPath(), name, 'utf-8');
+}
+
+export interface CalibrationProfileInfo { name: string; active: boolean; }
+
+/** List committed calibration profiles + which one is currently loaded. */
+export function listCalibrationProfiles(): { profiles: CalibrationProfileInfo[]; active: string } {
+  const active = getActiveProfileName();
+  let names: string[] = [];
+  try {
+    names = readdirSync(profilesDir())
+      .filter((f) => f.endsWith('.json'))
+      .map((f) => f.slice(0, -'.json'.length))
+      .filter((n) => NAME_RE.test(n))
+      .sort();
+  } catch { /* dir may not exist yet */ }
+  return { profiles: names.map((name) => ({ name, active: name === active })), active };
+}
+
+/** Save the current live store as a named profile. */
+export function saveCalibrationProfile(name: string): void {
+  assertValidProfileName(name);
+  const src = livePath();
+  if (!existsSync(src)) throw new Error('No live calibration to save (capture some points first)');
+  mkdirSync(profilesDir(), { recursive: true });
+  copyFileSync(src, profilePath(name));
+  setActiveProfileName(name);
+}
+
+/** Load a named profile into the live store (caller then triggers the service to re-read it). */
+export function loadCalibrationProfile(name: string): void {
+  const src = profilePath(name);
+  if (!existsSync(src)) throw new Error(`Calibration profile "${name}" not found`);
+  copyFileSync(src, livePath());
+  setActiveProfileName(name);
+}
+
+/** Strip a calibration store to a blank scaffold: keep every channel's identity/role/model, drop
+ *  all captured points and fits so the whole rig reads 0 until re-calibrated. */
+function stripToBlank(json: any): any {
+  const out = json && typeof json === 'object' ? json : {};
+  const cs = out.cubic_state;
+  if (cs && typeof cs === 'object') {
+    for (const ch of Object.values<any>(cs)) {
+      if (!ch || typeof ch !== 'object') continue;
+      ch.points = [];
+      ch.numPoints = 0;
+      ch.fitCurve = [];
+      ch.polyCoeffs = [];
+      if (ch.coeffs && typeof ch.coeffs === 'object') {
+        for (const k of Object.keys(ch.coeffs)) ch.coeffs[k] = 0.0;
+      }
+      ch.rmse = 0.0;
+      ch.last_error = 0.0;
+      ch.status = 'uncalibrated';
+    }
+  }
+  for (const k of ['calibration_adc_norm_min', 'calibration_adc_norm_scale',
+                   'calibration_poly_coeffs', 'calibration_polynomials']) {
+    if (k in out) out[k] = {};
+  }
+  return out;
+}
+
+/** Create a fresh blank calibration (all sensors read 0). Optionally also save it as a profile. */
+export function newBlankCalibration(name?: string): void {
+  // Base the scaffold on the current live store (or the committed default) so roles/models survive.
+  let base: any = { cubic_state: {} };
+  const seed = existsSync(livePath()) ? livePath() : (existsSync(defaultPath()) ? defaultPath() : '');
+  if (seed) {
+    try { base = JSON.parse(readFileSync(seed, 'utf-8')); } catch { /* start from empty scaffold */ }
+  }
+  const blank = stripToBlank(base);
+  const text = JSON.stringify(blank, null, 2);
+  mkdirSync(path.dirname(livePath()), { recursive: true });
+  writeFileSync(livePath(), text, 'utf-8');
+  if (name) {
+    assertValidProfileName(name);
+    mkdirSync(profilesDir(), { recursive: true });
+    writeFileSync(profilePath(name), text, 'utf-8');
+    setActiveProfileName(name);
+  } else {
+    setActiveProfileName('');
+  }
+}
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index b7e0edb97..b05da4cdf 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -39,7 +39,7 @@ import { recordBoardScanIngest, getBoardScanRateHz, isPrimaryPhysicalStream, map
 import { EnvelopeAccumulator, parseGuiStreamConfig, envelopeWindowMs, type GuiStreamConfig } from './gui-stream.js';
 import { HistoryCache } from './history-cache.js';
 import { startGuiStaticServer } from './static-gui.js';
-import { handleCalibrationCommand, type CalibrationHost } from './calibration-handler.js';
+import { handleCalibrationCommand, publishCalibrationReload, type CalibrationHost } from './calibration-handler.js';
 import { loadPTCalibration, type CalibrationCoefficients } from './calibration.js';
 import { MessageType, SystemState } from '../../shared/types.js';
 import { isOperator } from './operators.js';
@@ -593,6 +593,11 @@ const apiHandler = createAPIHandler({
       .catch(() => console.log('[ThinServer] sequencer not running — CSVs apply at next session start'));
     broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
   },
+  onCalibrationReload: () => {
+    // A calibration profile was loaded / a blank created on disk (api-server swapped the live
+    // store file). Ask the calibration service to re-read it so the whole rig's cal switches live.
+    publishCalibrationReload(calibrationHost);
+  },
   onConfigUpdated: () => {
     reloadGuiStreamConfig();
     // Rebuild sensor-role-derived caches so a Sensor Roles / board_id edit reflects
diff --git a/daq-server/diablo_server/frontend/app/calibration/page.tsx b/daq-server/diablo_server/frontend/app/calibration/page.tsx
index adea8a761..d144dde98 100644
--- a/daq-server/diablo_server/frontend/app/calibration/page.tsx
+++ b/daq-server/diablo_server/frontend/app/calibration/page.tsx
@@ -122,6 +122,9 @@ export default function CalibrationPage() {
   const [overlay, setOverlay] = useState<{ cubic: boolean; robust: boolean; physics: boolean }>({ cubic: true, robust: true, physics: true });
   const [refInput, setRefInput] = useState('');
   const [showLoadCells, setShowLoadCells] = useState(false);
+  // Captures write into the live ADC stream, which only exists while a session runs; with it off the
+  // calibration service is down and a capture/zero is silently dropped. Gate the controls on it.
+  const [sessionActive, setSessionActive] = useState(false);
 
   // Draggable sidebar width (persisted). Clamped so it can't swallow the detail panel or vanish.
   const SIDEBAR_MIN = 240, SIDEBAR_MAX = 640;
@@ -228,7 +231,13 @@ export default function CalibrationPage() {
       console.error('[Calibration] Backend error:', msg);
       alert(`❌ Calibration: ${msg}`);
     });
-    return () => { u2(); u3(); };
+    // Track session state so capture/zero controls are inert when there is no live stream.
+    const u4 = ws.on(MessageType.SESSION_UPDATE, (p: unknown) => setSessionActive(!!(p as { active?: boolean })?.active));
+    fetch(`${getApiBaseUrl()}/api/config/profiles`)
+      .then((r) => (r.ok ? r.json() : null))
+      .then((d) => { if (d) setSessionActive(!!d.sessionActive); })
+      .catch(() => {});
+    return () => { u2(); u3(); u4(); };
   }, [ws]);
 
   useEffect(() => {
@@ -379,11 +388,16 @@ export default function CalibrationPage() {
             It's a real point (feeds the shared fit + persists), not a tare. */}
         {(counts.cubic + counts.robust) > 0 && (
           <div className="flex-shrink-0 px-4 py-3 border-t border-gray-800">
-            <button onClick={handleZeroAll}
-              title="Capture a 0 psi reference point on every cubic/robust PT sensor. Vent to atmosphere first — this adds a real point to each sensor's shared fit (physics sensors are skipped)."
-              className="w-full px-4 py-2.5 text-sm font-bold rounded-lg border bg-yellow-900/30 border-yellow-600/60 text-yellow-300 hover:bg-yellow-800/50 transition-colors">
+            <button onClick={handleZeroAll} disabled={!sessionActive}
+              title={sessionActive
+                ? "Capture a 0 psi reference point on every cubic/robust PT sensor. Vent to atmosphere first — this adds a real point to each sensor's shared fit (physics sensors are skipped)."
+                : 'Start a session to calibrate — with no live stream there is nothing to capture.'}
+              className="w-full px-4 py-2.5 text-sm font-bold rounded-lg border bg-yellow-900/30 border-yellow-600/60 text-yellow-300 hover:bg-yellow-800/50 transition-colors disabled:opacity-40 disabled:cursor-not-allowed disabled:hover:bg-yellow-900/30">
               Zero all
             </button>
+            {!sessionActive && (
+              <p className="mt-1 text-[11px] text-text-muted text-center">Start a session to calibrate.</p>
+            )}
           </div>
         )}
 
@@ -450,9 +464,9 @@ export default function CalibrationPage() {
                 </div>
               </div>
               {selectedModel !== 'physics' && (
-                <button onClick={handleNewCalibration}
-                  className="px-5 py-2.5 text-sm font-bold rounded-lg border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50 transition-colors"
-                  title="Drop captured points and reset both cubic and robust to nothing (0)">
+                <button onClick={handleNewCalibration} disabled={!sessionActive}
+                  className="px-5 py-2.5 text-sm font-bold rounded-lg border border-red-700 bg-red-900/30 text-red-300 hover:bg-red-800/50 transition-colors disabled:opacity-40 disabled:cursor-not-allowed disabled:hover:bg-red-900/30"
+                  title={sessionActive ? 'Drop captured points and reset both cubic and robust to nothing (0)' : 'Start a session to change calibration.'}>
                   Clear calibration
                 </button>
               )}
@@ -482,12 +496,17 @@ export default function CalibrationPage() {
                   />
                   <button
                     onClick={handleCaptureSelected}
-                    disabled={!refInput}
+                    disabled={!refInput || !sessionActive}
+                    title={sessionActive ? undefined : 'Start a session to calibrate — there is no live stream to capture.'}
                     className="px-6 py-2.5 text-sm font-bold rounded-lg bg-blue-600 hover:bg-blue-500 disabled:opacity-30 disabled:cursor-not-allowed transition-colors text-white"
                   >
                     Capture
                   </button>
-                  <span className="text-sm text-text-muted">Records the current ADC at this known pressure. Feeds both the cubic &amp; robust fits.</span>
+                  <span className="text-sm text-text-muted">
+                    {sessionActive
+                      ? <>Records the current ADC at this known pressure. Feeds both the cubic &amp; robust fits.</>
+                      : <>Start a session to calibrate — there is no live stream to capture.</>}
+                  </span>
                 </div>
               )}
             </div>
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 44455cc59..c759e4b1e 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -256,16 +256,6 @@ const diffKeys = (have: string[], want: string[]) => ({
   missing: want.filter((k) => !have.includes(k)),
 });
 
-/** Rebuild a grid so its rows are exactly `keys`, preserving existing cells and defaulting new
- *  ones. Used to follow actuator add/remove without hand-editing the CSV. */
-const reconcileRows = (g: CsvGrid, keys: string[], fill: string): CsvGrid => ({
-  states: g.states,
-  rows: keys.map((k) => {
-    const existing = g.rows.find((r) => r.key === k);
-    return { key: k, cells: g.states.map((_, i) => existing?.cells[i] ?? fill) };
-  }),
-});
-
 /**
  * Friendly board name for display: "PT Board #2" rather than the raw `pt_board_2` config key.
  * Numbered by position among boards of the same type, so it tracks what is actually configured
@@ -332,6 +322,24 @@ const boardSlotIssue = (boards: Record<string, any>, boardKey: string): string |
   return null;
 };
 
+/**
+ * One consistently-styled inline validation message, rendered next to the element it refers to
+ * (a board row, a state row, a table) rather than as a scattered banner. `error` = will break the
+ * running config; `warn` = a mismatch worth fixing. One look for all of them.
+ */
+function InlineIssue({ level = 'error', className = '', children }:
+  { level?: 'error' | 'warn'; className?: string; children: ReactNode }) {
+  const tone = level === 'warn'
+    ? 'border-yellow-600/70 bg-yellow-900/25 text-yellow-200'
+    : 'border-red-600/70 bg-red-900/25 text-red-200';
+  return (
+    <div className={`flex items-start gap-2 px-3 py-2 rounded-md border text-sm ${tone} ${className}`}>
+      <span aria-hidden className="mt-px leading-none">⚠</span>
+      <div className="space-y-1 min-w-0">{children}</div>
+    </div>
+  );
+}
+
 export default function ConfigPage() {
   const [config, setConfig] = useState<ConfigData>(DEFAULT_CONFIG);
   const [loading, setLoading] = useState(true);
@@ -345,6 +353,10 @@ export default function ConfigPage() {
   const [activeProfile, setActiveProfile] = useState('');
   const [sessionActive, setSessionActive] = useState(false);
   const [runningToml, setRunningToml] = useState<string | null>(null); // read-only view of config.toml
+  // Calibration profiles: whole-rig calibration snapshots you can Load / Save / blank from here.
+  const [calProfiles, setCalProfiles] = useState<{ name: string; active: boolean }[]>([]);
+  const [calActive, setCalActive] = useState('');
+  const [calMsg, setCalMsg] = useState<string | null>(null);
   // Boards start collapsed to a one-line summary — a stand has ~6 of them and
   // each expands to ~18 fields, which is a lot of scrolling to reach the last one.
   const [openBoards, setOpenBoards] = useState<Record<string, boolean>>({});
@@ -362,6 +374,7 @@ export default function ConfigPage() {
   useEffect(() => {
     loadConfig();
     loadProfiles();
+    loadCalProfiles();
 
     const unsubConn = ws.on(MessageType.CONNECTION_STATUS, () => {});
     const unsubConfig = ws.on(MessageType.CONFIG_UPDATED, () => {
@@ -536,6 +549,60 @@ export default function ConfigPage() {
     }
   };
 
+  // ── Calibration profiles ─────────────────────────────────────────────────────
+  // A calibration profile is one file holding EVERY sensor's cal (keyed by uid). Load/New-blank
+  // swap the live store and take effect on the running stream immediately when a session is up
+  // (else at the next session start); Save-as snapshots the current live cal into a named file.
+  const loadCalProfiles = async () => {
+    try {
+      const res = await fetch(`${getApiBaseUrl()}/api/calibration_profiles`);
+      if (!res.ok) return;
+      const data = await res.json();
+      setCalProfiles(Array.isArray(data.profiles) ? data.profiles : []);
+      setCalActive(data.active || '');
+    } catch { /* non-fatal */ }
+  };
+
+  const calProfileAction = async (action: string, body: Record<string, unknown>) => {
+    const res = await fetch(`${getApiBaseUrl()}/api/calibration_profiles/${action}`, {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify(body),
+    });
+    const data = await res.json().catch(() => ({}));
+    if (!res.ok) throw new Error(data.error || `${action} failed (${res.status})`);
+    setCalProfiles(Array.isArray(data.profiles) ? data.profiles : []);
+    setCalActive(data.active || '');
+  };
+
+  const flashCalMsg = (m: string) => { setCalMsg(m); setTimeout(() => setCalMsg(null), 4000); };
+
+  const loadCalProfile = async (name: string) => {
+    if (!name) return;
+    try {
+      await calProfileAction('load', { name });
+      flashCalMsg(`Loaded calibration "${name}" — live${sessionActive ? '' : ' at next session start'}.`);
+    } catch (err: any) { setError(err.message || 'Failed to load calibration'); }
+  };
+
+  const saveCalProfileAs = async () => {
+    const name = window.prompt('Save current calibration as (letters, digits, _ or -):', calActive || '')?.trim();
+    if (!name) return;
+    try {
+      await calProfileAction('save', { name });
+      flashCalMsg(`Saved current calibration as "${name}".`);
+    } catch (err: any) { setError(err.message || 'Failed to save calibration'); }
+  };
+
+  const newBlankCalibration = async () => {
+    if (!window.confirm('Start a blank calibration? Every sensor reads 0 until re-calibrated. (Save the current one first if you want to keep it.)')) return;
+    const name = window.prompt('Optional: also save this blank as a named profile (leave empty to skip):', '')?.trim();
+    try {
+      await calProfileAction('new_blank', name ? { name } : {});
+      flashCalMsg(`Started a blank calibration${name ? ` ("${name}")` : ''} — every sensor reads 0.`);
+    } catch (err: any) { setError(err.message || 'Failed to create blank calibration'); }
+  };
+
   // Upload a config.toml to replace the current one (operators only, server-validated).
   const importConfig = async (file: File) => {
     try {
@@ -715,11 +782,35 @@ export default function ConfigPage() {
     } as ConfigData));
   };
 
-  const removeState = (idx: number) =>
+  // Drop a state's column (and, for the transitions grid, its from-row) from a CSV grid. Actuator/
+  // delay rows are keyed by role so no row is removed there — only the state column disappears.
+  const dropStateFromGrid = (g: CsvGrid | null, stateName: string): CsvGrid | null => {
+    if (!g) return g;
+    const ci = g.states.indexOf(stateName);
+    if (ci < 0) return g;
+    return {
+      states: g.states.filter((_, i) => i !== ci),
+      rows: g.rows
+        .filter((r) => r.key !== stateName)
+        .map((r) => ({ ...r, cells: r.cells.filter((_, j) => j !== ci) })),
+    };
+  };
+
+  const removeState = (idx: number) => {
+    const name = stateList[idx]?.name;
     setConfig((prev) => ({
       ...prev,
       states: ((prev.states || []) as any[]).filter((_, i) => i !== idx),
     } as ConfigData));
+    // A deleted state must also leave both tables (and the delays grid), or it lingers as a column
+    // and re-persists on the next Save. Row = state only in the transitions grid, so it's removed
+    // there too.
+    if (name) {
+      setCsvActuators((g) => dropStateFromGrid(g, name));
+      setCsvDelays((g) => dropStateFromGrid(g, name));
+      setCsvTransitions((g) => dropStateFromGrid(g, name));
+    }
+  };
 
   /** Ids must be unique, and so should names — both are lookup keys. */
   const stateIdDupes = stateList
@@ -753,17 +844,41 @@ export default function ConfigPage() {
       rows: g.rows.map((r, i) => (i === rowIdx ? { ...r, cells: r.cells.map((c, j) => (j === colIdx ? (on ? '1' : '0') : c)) } : r)),
     }));
 
-  /** Rebuild both actuator grids from [actuator_roles], keeping any cell that already existed. */
+  /** Rebuild both actuator grids so rows = [actuator_roles] and columns = the current state list,
+   *  preserving any existing (role, state) cell. Reconciling columns too — not just rows — is what
+   *  keeps a deleted/renamed state from lingering as a stale column. */
   const syncActuatorRows = () => {
-    if (csvActuators) setCsvActuators(reconcileRows(csvActuators, roleNames, 'CLOSE'));
-    if (csvDelays) setCsvDelays(reconcileRows(csvDelays, roleNames, '0'));
+    const states = stateListNames;
+    const rebuild = (g: CsvGrid, fill: string): CsvGrid => ({
+      states,
+      rows: roleNames.map((k) => {
+        const existing = g.rows.find((r) => r.key === k);
+        return {
+          key: k,
+          cells: states.map((s) => {
+            const oldCi = g.states.indexOf(s);
+            return existing && oldCi >= 0 ? (existing.cells[oldCi] ?? fill) : fill;
+          }),
+        };
+      }),
+    });
+    if (csvActuators) setCsvActuators(rebuild(csvActuators, 'CLOSE'));
+    if (csvDelays) setCsvDelays(rebuild(csvDelays, '0'));
   };
 
-  /** A blank table: every configured actuator, every state, everything closed. */
+  /** A blank table: every configured actuator, every CURRENT state, everything closed. Columns come
+   *  from the live state list (not the last-loaded CSV), so deleted states don't reappear. */
   const generateEmptyActuators = () => {
-    if (!csvActuators) return;
-    setCsvActuators({ states: csvActuators.states, rows: roleNames.map((k) => ({ key: k, cells: csvActuators.states.map(() => 'CLOSE') })) });
-    setCsvDelays({ states: csvActuators.states, rows: roleNames.map((k) => ({ key: k, cells: csvActuators.states.map(() => '0') })) });
+    const states = stateListNames;
+    setCsvActuators({ states, rows: roleNames.map((k) => ({ key: k, cells: states.map(() => 'CLOSE') })) });
+    setCsvDelays({ states, rows: roleNames.map((k) => ({ key: k, cells: states.map(() => '0') })) });
+  };
+
+  /** A blank transitions table: the only allowed move from each state is to itself (the diagonal).
+   *  Everything else disallowed. Columns/rows come from the live state list. */
+  const generateEmptyTransitions = () => {
+    const states = stateListNames;
+    setCsvTransitions({ states, rows: states.map((k) => ({ key: k, cells: states.map((s) => (s === k ? '1' : '0')) })) });
   };
 
   const downloadStateCsv = (name: string) => {
@@ -908,6 +1023,7 @@ export default function ConfigPage() {
     { id: 'gui', label: 'Top Bar & Limits' },
     { id: 'controller', label: 'Controller' },
     { id: 'state', label: 'State Machine' },
+    { id: 'calibration', label: 'Calibration' },
     { id: 'system', label: 'System' },
   ];
 
@@ -1194,7 +1310,7 @@ export default function ConfigPage() {
                             'number'
                           )}
                           {slotIssue && (
-                            <p className="text-xs text-red-400">{slotIssue}</p>
+                            <InlineIssue level="error" className="mt-2">{slotIssue}</InlineIssue>
                           )}
                         </div>
                         {renderField(
@@ -1914,119 +2030,6 @@ export default function ConfigPage() {
                 </p>
               </div>
 
-              {/* ── Fire ───────────────────────────────────────────────────────────── */}
-              <div className="space-y-3">
-                <h3 className="text-lg font-semibold">Fire</h3>
-                <p className="text-sm text-text-muted">
-                  Which state is the burn and where its timer lands when it expires. Both are state
-                  names, not positions, so renaming a state here is safe as long as both fields
-                  still name a state that exists.
-                </p>
-                {(() => {
-                  const names = stateList.map((x) => x.name).filter(Boolean) as string[];
-                  const fireState = config.fire?.state ?? '';
-                  const target = config.fire?.expiry_target ?? '';
-                  const unknownFire = !!fireState && names.length > 0 && !names.includes(fireState);
-                  const unknownTarget = !!target && names.length > 0 && !names.includes(target);
-                  // The fire state must be able to REACH its expiry target, or the timer expires
-                  // into a refused transition and the system sits in fire with a dead timer.
-                  let unreachable = false;
-                  if (csvTransitions && fireState && target) {
-                    const r = csvTransitions.rows.find((x) => x.key === fireState);
-                    const ci = csvTransitions.states.indexOf(target);
-                    if (r && ci >= 0) unreachable = (r.cells[ci] || '0').trim() !== '1';
-                  }
-                  return (
-                    <>
-                      {(unknownFire || unknownTarget || unreachable) && (
-                        <div className="p-3 bg-red-900/30 border border-red-500 rounded-lg text-red-200 text-sm space-y-1">
-                          {unknownFire && <p><strong>{fireState}</strong> is not a state in the list above.</p>}
-                          {unknownTarget && <p><strong>{target}</strong> is not a state in the list above.</p>}
-                          {unreachable && (
-                            <p>
-                              <strong>{fireState} → {target}</strong> is not an allowed transition. The fire timer
-                              would expire into a refused transition and the system would stay in fire. Tick that
-                              cell in Allowed transitions below.
-                            </p>
-                          )}
-                        </div>
-                      )}
-                      <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-4 gap-4">
-                        {renderField('Fire state', fireState,
-                          (v) => updateField('fire', 'state', v), 'select',
-                          names.length ? names : [fireState].filter(Boolean),
-                          'the state that starts the burn')}
-                        {renderField('Expires to', target,
-                          (v) => updateField('fire', 'expiry_target', v), 'select',
-                          names.length ? names : [target].filter(Boolean),
-                          'where the timer lands')}
-                        {renderField('Duration (ms)', config.fire?.duration_ms,
-                          (v) => updateField('fire', 'duration_ms', v), 'number')}
-                        {renderField('Extended (ms)', config.fire?.extended_ms,
-                          (v) => updateField('fire', 'extended_ms', v), 'number',
-                          undefined, 'window EXTEND FIRE restarts at')}
-                      </div>
-                    </>
-                  );
-                })()}
-              </div>
-
-              {/* ── Abort thresholds ────────────────────────────────────────────────── */}
-              <div className="space-y-3">
-                <h3 className="text-lg font-semibold">Abort pressure thresholds</h3>
-                <p className="text-sm text-text-muted">
-                  PSI limits broadcast to the boards, which abort autonomously when a sensor exceeds
-                  them — they do not depend on the server being alive. The name must match a sensor
-                  role exactly.
-                </p>
-                <div className="space-y-2">
-                  {Object.entries(config.abort_pts || {}).map(([role, psi], i) => (
-                    <div key={`abort:${i}`} className="flex items-center gap-3">
-                      <CommitOnBlurName
-                        value={role}
-                        siblings={Object.keys(config.abort_pts || {})}
-                        onRename={(next) => {
-                          const rebuilt: Record<string, any> = {};
-                          for (const [k, v] of Object.entries(config.abort_pts || {})) rebuilt[k === role ? next : k] = v;
-                          setConfig({ ...config, abort_pts: rebuilt } as ConfigData);
-                        }}
-                        onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
-                        className="flex-1 px-3 py-2 bg-gray-800 border border-gray-600 rounded text-white"
-                      />
-                      <CommitOnBlurNumber
-                        value={psi as number}
-                        onCommit={(v) => setConfig({ ...config, abort_pts: { ...(config.abort_pts || {}), [role]: v } } as ConfigData)}
-                        className="w-28 px-3 py-2 bg-gray-800 border border-gray-600 rounded text-white"
-                      />
-                      <span className="text-sm text-text-muted w-10">PSI</span>
-                      <button
-                        onClick={() => {
-                          const next = { ...(config.abort_pts || {}) };
-                          delete next[role];
-                          setConfig({ ...config, abort_pts: next } as ConfigData);
-                        }}
-                        disabled={!canEdit}
-                        className="px-3 py-2 bg-red-600 rounded hover:bg-red-700 disabled:opacity-50"
-                      >
-                        Remove
-                      </button>
-                    </div>
-                  ))}
-                  {Object.keys(config.abort_pts || {}).length === 0 && (
-                    <p className="text-sm text-amber-300/90">
-                      No abort thresholds configured — the boards will not abort on over-pressure by themselves.
-                    </p>
-                  )}
-                  <button
-                    onClick={() => setConfig({ ...config, abort_pts: { ...(config.abort_pts || {}), 'New Abort PT': 0 } } as ConfigData)}
-                    disabled={!canEdit}
-                    className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600 disabled:opacity-50"
-                  >
-                    + Add threshold
-                  </button>
-                </div>
-              </div>
-
               {/* ── The state list itself ───────────────────────────────────────────── */}
               <div className="space-y-3">
                 <div className="flex flex-wrap items-center gap-2">
@@ -2042,13 +2045,17 @@ export default function ConfigPage() {
                   because past runs store the raw number.
                 </p>
 
-                {(stateIdDupes.length > 0 || stateNameDupes.length > 0 || stateCsvDiff.orphan.length > 0 || stateCsvDiff.missing.length > 0) && (
-                  <div className="p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm space-y-1">
+                {(stateIdDupes.length > 0 || stateNameDupes.length > 0) && (
+                  <InlineIssue level="error">
                     {stateIdDupes.length > 0 && <p>Duplicate id(s): <strong>{stateIdDupes.join(', ')}</strong> — the later entry wins and the earlier state disappears.</p>}
                     {stateNameDupes.length > 0 && <p>Duplicate name(s): <strong>{stateNameDupes.join(', ')}</strong> — CSV columns resolve by name, so one of them is unreachable.</p>}
+                  </InlineIssue>
+                )}
+                {(stateCsvDiff.orphan.length > 0 || stateCsvDiff.missing.length > 0) && (
+                  <InlineIssue level="warn">
                     {stateCsvDiff.orphan.length > 0 && <p>In the tables below but not a state: <strong>{stateCsvDiff.orphan.join(', ')}</strong>.</p>}
                     {stateCsvDiff.missing.length > 0 && <p>A state with no column in the tables below: <strong>{stateCsvDiff.missing.join(', ')}</strong> — entering it commands nothing.</p>}
-                  </div>
+                  </InlineIssue>
                 )}
 
                 <div className="overflow-x-auto rounded-lg border border-gray-600">
@@ -2071,8 +2078,9 @@ export default function ConfigPage() {
                             <CommitOnBlurNumber
                               value={st.id}
                               onCommit={(v) => setState(i, { id: v })}
-                              className="w-16 px-2 py-1 bg-gray-800 border border-gray-600 rounded text-white"
+                              className={`w-16 px-2 py-1 bg-gray-800 border rounded text-white ${st.id !== undefined && stateIdDupes.includes(st.id) ? 'border-red-500 ring-1 ring-red-500' : 'border-gray-600'}`}
                             />
+                            {st.id !== undefined && stateIdDupes.includes(st.id) && <div className="text-[10px] text-red-400 mt-0.5">duplicate id</div>}
                           </td>
                           <td className="px-3 py-1.5">
                             <input
@@ -2080,8 +2088,9 @@ export default function ConfigPage() {
                               value={st.name ?? ''}
                               onChange={(e) => setState(i, { name: e.target.value })}
                               disabled={!canEdit}
-                              className="w-full px-2 py-1 bg-gray-800 border border-gray-600 rounded text-white disabled:opacity-60"
+                              className={`w-full px-2 py-1 bg-gray-800 border rounded text-white disabled:opacity-60 ${st.name && stateNameDupes.includes(st.name) ? 'border-red-500 ring-1 ring-red-500' : 'border-gray-600'}`}
                             />
+                            {st.name && stateNameDupes.includes(st.name) && <div className="text-[10px] text-red-400 mt-0.5">duplicate name</div>}
                           </td>
                           <td className="px-3 py-1.5">
                             <CommitOnBlurNumber
@@ -2167,8 +2176,8 @@ export default function ConfigPage() {
                         onChange={(e) => { const f = e.target.files?.[0]; if (f) uploadStateCsv('actuators', f); e.target.value = ''; }}
                       />
                     </label>
-                    <button onClick={generateEmptyActuators} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm" title="Every configured actuator, every state, all CLOSE">
-                      Generate empty
+                    <button onClick={generateEmptyActuators} disabled={!canEdit} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm disabled:opacity-50" title="Every configured actuator, every current state, all CLOSE">
+                      Regenerate empty
                     </button>
                     <button
                       onClick={() => { saveStateCsv('actuators', csvActuators); if (csvDelays) saveStateCsv('delays', csvDelays); }}
@@ -2180,7 +2189,7 @@ export default function ConfigPage() {
                   </div>
 
                   {(actuatorDiff.orphan.length > 0 || actuatorDiff.missing.length > 0 || delayShapeMismatch) && (
-                    <div className="p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm space-y-1">
+                    <InlineIssue level="warn">
                       {actuatorDiff.orphan.length > 0 && (
                         <p>In this table but not in <code>[actuator_roles]</code>: <strong>{actuatorDiff.orphan.join(', ')}</strong> — these rows command nothing.</p>
                       )}
@@ -2191,7 +2200,7 @@ export default function ConfigPage() {
                       <button onClick={syncActuatorRows} className="mt-1 px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-yellow-100">
                         Sync rows to [actuator_roles]
                       </button>
-                    </div>
+                    </InlineIssue>
                   )}
 
                   <div className="overflow-x-auto rounded-lg border border-gray-600">
@@ -2277,18 +2286,21 @@ export default function ConfigPage() {
                         onChange={(e) => { const f = e.target.files?.[0]; if (f) uploadStateCsv('transitions', f); e.target.value = ''; }}
                       />
                     </label>
+                    <button onClick={generateEmptyTransitions} disabled={!canEdit} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm disabled:opacity-50" title="Blank matrix: the only allowed move from each state is to itself (the diagonal)">Regenerate empty</button>
                     <button onClick={() => saveStateCsv('transitions', csvTransitions)} disabled={saving} className="px-3 py-1.5 bg-blue-600 rounded hover:bg-blue-700 text-sm disabled:opacity-50">
                       {saving ? 'Saving…' : 'Save'}
                     </button>
                   </div>
 
                   {(stateColDiff.orphan.length > 0 || stateColDiff.missing.length > 0) && (
-                    <div className="p-3 bg-yellow-900/40 border border-yellow-600 rounded-lg text-yellow-200 text-sm">
-                      The two tables disagree on states
-                      {stateColDiff.orphan.length > 0 && <> — only in actuators: <strong>{stateColDiff.orphan.join(', ')}</strong></>}
-                      {stateColDiff.missing.length > 0 && <> — only in transitions: <strong>{stateColDiff.missing.join(', ')}</strong></>}.
-                      A state missing from the actuator table commands nothing when entered.
-                    </div>
+                    <InlineIssue level="warn">
+                      <p>
+                        The two tables disagree on states
+                        {stateColDiff.orphan.length > 0 && <> — only in actuators: <strong>{stateColDiff.orphan.join(', ')}</strong></>}
+                        {stateColDiff.missing.length > 0 && <> — only in transitions: <strong>{stateColDiff.missing.join(', ')}</strong></>}.
+                        A state missing from the actuator table commands nothing when entered.
+                      </p>
+                    </InlineIssue>
                   )}
 
                   <p className="text-sm text-text-muted">Row = state you are in, column = state you may go to.</p>
@@ -2332,6 +2344,161 @@ export default function ConfigPage() {
                   </div>
                 </div>
               )}
+
+              {/* ── Fire ───────────────────────────────────────────────────────────── */}
+              <div className="space-y-3">
+                <h3 className="text-lg font-semibold">Fire</h3>
+                <p className="text-sm text-text-muted">
+                  Which state is the burn and where its timer lands when it expires. Both are state
+                  names, not positions, so renaming a state here is safe as long as both fields
+                  still name a state that exists.
+                </p>
+                {(() => {
+                  const names = stateList.map((x) => x.name).filter(Boolean) as string[];
+                  const fireState = config.fire?.state ?? '';
+                  const target = config.fire?.expiry_target ?? '';
+                  const unknownFire = !!fireState && names.length > 0 && !names.includes(fireState);
+                  const unknownTarget = !!target && names.length > 0 && !names.includes(target);
+                  // The fire state must be able to REACH its expiry target, or the timer expires
+                  // into a refused transition and the system sits in fire with a dead timer.
+                  let unreachable = false;
+                  if (csvTransitions && fireState && target) {
+                    const r = csvTransitions.rows.find((x) => x.key === fireState);
+                    const ci = csvTransitions.states.indexOf(target);
+                    if (r && ci >= 0) unreachable = (r.cells[ci] || '0').trim() !== '1';
+                  }
+                  return (
+                    <>
+                      {(unknownFire || unknownTarget || unreachable) && (
+                        <InlineIssue level="error">
+                          {unknownFire && <p><strong>{fireState}</strong> is not a state in the States list above.</p>}
+                          {unknownTarget && <p><strong>{target}</strong> is not a state in the States list above.</p>}
+                          {unreachable && (
+                            <p>
+                              <strong>{fireState} → {target}</strong> is not an allowed transition. The fire timer
+                              would expire into a refused transition and the system would stay in fire. Tick that
+                              cell in the Allowed transitions table above.
+                            </p>
+                          )}
+                        </InlineIssue>
+                      )}
+                      <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-4 gap-4">
+                        {renderField('Fire state', fireState,
+                          (v) => updateField('fire', 'state', v), 'select',
+                          names.length ? names : [fireState].filter(Boolean),
+                          'the state that starts the burn')}
+                        {renderField('Expires to', target,
+                          (v) => updateField('fire', 'expiry_target', v), 'select',
+                          names.length ? names : [target].filter(Boolean),
+                          'where the timer lands')}
+                        {renderField('Duration (ms)', config.fire?.duration_ms,
+                          (v) => updateField('fire', 'duration_ms', v), 'number')}
+                        {renderField('Extended (ms)', config.fire?.extended_ms,
+                          (v) => updateField('fire', 'extended_ms', v), 'number',
+                          undefined, 'window EXTEND FIRE restarts at')}
+                      </div>
+                    </>
+                  );
+                })()}
+              </div>
+
+              {/* ── Abort thresholds ────────────────────────────────────────────────── */}
+              <div className="space-y-3">
+                <h3 className="text-lg font-semibold">Abort pressure thresholds</h3>
+                <p className="text-sm text-text-muted">
+                  PSI limits broadcast to the boards, which abort autonomously when a sensor exceeds
+                  them — they do not depend on the server being alive. The name must match a sensor
+                  role exactly.
+                </p>
+                <div className="space-y-2">
+                  {Object.entries(config.abort_pts || {}).map(([role, psi], i) => (
+                    <div key={`abort:${i}`} className="flex items-center gap-3">
+                      <CommitOnBlurName
+                        value={role}
+                        siblings={Object.keys(config.abort_pts || {})}
+                        onRename={(next) => {
+                          const rebuilt: Record<string, any> = {};
+                          for (const [k, v] of Object.entries(config.abort_pts || {})) rebuilt[k === role ? next : k] = v;
+                          setConfig({ ...config, abort_pts: rebuilt } as ConfigData);
+                        }}
+                        onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
+                        className="flex-1 px-3 py-2 bg-gray-800 border border-gray-600 rounded text-white"
+                      />
+                      <CommitOnBlurNumber
+                        value={psi as number}
+                        onCommit={(v) => setConfig({ ...config, abort_pts: { ...(config.abort_pts || {}), [role]: v } } as ConfigData)}
+                        className="w-28 px-3 py-2 bg-gray-800 border border-gray-600 rounded text-white"
+                      />
+                      <span className="text-sm text-text-muted w-10">PSI</span>
+                      <button
+                        onClick={() => {
+                          const next = { ...(config.abort_pts || {}) };
+                          delete next[role];
+                          setConfig({ ...config, abort_pts: next } as ConfigData);
+                        }}
+                        disabled={!canEdit}
+                        className="px-3 py-2 bg-red-600 rounded hover:bg-red-700 disabled:opacity-50"
+                      >
+                        Remove
+                      </button>
+                    </div>
+                  ))}
+                  {Object.keys(config.abort_pts || {}).length === 0 && (
+                    <p className="text-sm text-amber-300/90">
+                      No abort thresholds configured — the boards will not abort on over-pressure by themselves.
+                    </p>
+                  )}
+                  <button
+                    onClick={() => setConfig({ ...config, abort_pts: { ...(config.abort_pts || {}), 'New Abort PT': 0 } } as ConfigData)}
+                    disabled={!canEdit}
+                    className="px-4 py-2 bg-gray-700 rounded-lg hover:bg-gray-600 disabled:opacity-50"
+                  >
+                    + Add threshold
+                  </button>
+                </div>
+              </div>
+            </div>
+          )}
+
+          {activeTab === 'calibration' && (
+            <div className="bg-card rounded-lg p-6 space-y-4">
+              <div>
+                <h2 className="text-xl font-bold mb-1">Calibration profiles</h2>
+                <p className="text-sm text-text-muted">
+                  A calibration profile is the whole rig&apos;s cal in one file (every sensor, keyed by
+                  channel). Load one to switch the entire rig&apos;s calibration at once — it applies to
+                  the running stream immediately during a session, otherwise at the next session start.
+                  Capture points per sensor on the Calibration page.
+                </p>
+              </div>
+              <div className="flex flex-wrap items-center gap-3">
+                <span className="text-sm font-semibold">Profile:</span>
+                <select
+                  value={calActive}
+                  onChange={(e) => loadCalProfile(e.target.value)}
+                  disabled={!canEdit}
+                  title={canEdit ? 'Load a saved calibration (swaps the whole rig)' : 'Operators only'}
+                  className="px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed min-w-[14rem]"
+                >
+                  {calActive === '' && <option value="">{calProfiles.length ? '— unsaved / blank —' : '— none saved —'}</option>}
+                  {calProfiles.map((p) => (
+                    <option key={p.name} value={p.name}>{p.name}{p.active ? ' (loaded)' : ''}</option>
+                  ))}
+                </select>
+                <button onClick={saveCalProfileAs} disabled={!canEdit}
+                  className="px-3 py-2 bg-card border border-gray-700 rounded-lg hover:bg-opacity-80 disabled:opacity-40 disabled:cursor-not-allowed"
+                  title={canEdit ? 'Snapshot the current live calibration as a named profile' : 'Operators only'}>Save as…</button>
+                <button onClick={newBlankCalibration} disabled={!canEdit}
+                  className="px-3 py-2 bg-card border border-gray-700 rounded-lg hover:bg-opacity-80 disabled:opacity-40 disabled:cursor-not-allowed"
+                  title={canEdit ? 'Start from scratch — every sensor reads 0 until re-calibrated' : 'Operators only'}>New blank</button>
+              </div>
+              {calMsg && (
+                <div className="p-3 bg-blue-900/30 border border-blue-700 rounded-lg text-blue-100 text-sm">{calMsg}</div>
+              )}
+              <p className="text-xs text-text-muted">
+                Profiles live in <code>scripts/calibration/calibrations/profiles</code> and are committed to
+                the repo, so a saved calibration travels between computers. New blank resets every sensor to 0.
+              </p>
             </div>
           )}
 
diff --git a/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp b/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp
index 5578253a0..9cd14fd13 100644
--- a/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp
+++ b/daq-server/diablo_server/lib/include/calibration/RobustCalibrationManager.hpp
@@ -36,6 +36,11 @@ class RobustCalibrationManager {
 
     void zero_sensor(uint16_t sensor_id, int32_t adc_code);
 
+    /** Reseed a sensor's framework cleanly from the given cubic baseline, discarding any learned
+     * adjustments and ignoring restored/population priors. Used when a calibration profile is
+     * swapped live: the profile is the whole cal, so robust resets and relearns from it. */
+    void reseed_sensor(uint16_t sensor_id, const PTCalibrationCoeffs& baseline);
+
     /** Mean PSI from the robust model (default environment). */
     double predict_pressure_psi(uint16_t sensor_id, int32_t adc_code);
 
diff --git a/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp b/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
index 70fe7ca4c..51653eeb0 100644
--- a/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
+++ b/daq-server/diablo_server/lib/src/calibration/RobustCalibrationManager.cpp
@@ -206,6 +206,15 @@ void RobustCalibrationManager::reset_adjustment(uint16_t sensor_id) {
     state.framework->seed_from_factory_cubic(state.baseline);
 }
 
+void RobustCalibrationManager::reseed_sensor(uint16_t sensor_id,
+                                             const PTCalibrationCoeffs& baseline) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    auto& state = states_[sensor_id];
+    state.baseline = baseline;
+    state.framework = std::make_unique<RobustCalibrationFramework>(static_cast<int>(sensor_id));
+    state.framework->seed_from_factory_cubic(baseline);
+}
+
 bool RobustCalibrationManager::save_adjustments(
     const std::string& path, const std::map<uint16_t, std::string>* uid_to_role) const {
     std::lock_guard<std::mutex> lock(mutex_);
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 8dea59283..aea6b1cc1 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -738,8 +738,8 @@ int main(int argc, char* argv[]) {
     // Seed on first run: if the live store file is missing, copy the committed default (a curated,
     // version-controlled calibration snapshot) into place so a fresh checkout / new machine boots
     // with the team's calibration instead of an empty store. The live file is gitignored and
-    // rewritten on every capture; cubic_calibration.default.json is the tracked source you promote a
-    // known-good cal into (see scripts/calibration/promote_default.sh).
+    // rewritten on every capture; cubic_calibration.default.json is the tracked source you promote
+    // a known-good cal into (see scripts/calibration/promote_default.sh).
     {
         const std::filesystem::path live_path(
             "scripts/calibration/calibrations/cubic_calibration.json");
@@ -759,51 +759,57 @@ int main(int argc, char* argv[]) {
         }
     }
 
-    // Resume previously captured points and re-apply their fitted cubics to the live stream.
-    const size_t cubic_loaded = cubic_store.load();
-    if (cubic_loaded > 0) {
+    // Load (or reload) the live cubic store from disk and re-apply it to the running stream: each
+    // channel's fitted cubic → pt_calibration, and robust reseeded from that same cubic baseline.
+    // Used at startup AND when a calibration profile is swapped live (cmd 7): the file on disk is
+    // the source of truth, so re-reading it is all that's needed to switch the whole rig's cal.
+    //   restore_learned=true  (startup): additionally restore the learned robust θ from
+    //                                    adjustments.json on top of the cubic-seeded baseline.
+    //   restore_learned=false (profile swap): reset + reseed robust from the profile only — the
+    //                                    profile is the whole cal, so previously learned θ is
+    //                                    dropped.
+    auto reload_live_store = [&](bool restore_learned) -> size_t {
+        const size_t loaded = cubic_store.load();
         for (uint16_t uid : cubic_store.uids()) {
             const fsw::calibration::CubicFit* fit = cubic_store.fit_for(uid);
             const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
-            if (fit != nullptr && cch != nullptr)
+            if (cch == nullptr)
+                continue;
+            const bool fit_ok = fit != nullptr && fit->valid;
+            if (fit_ok)
                 pt_calibration.set_calibration(
                     cch->logical_ch,
                     fsw::calibration::PTCalibrationCoeffs(fit->A, fit->B, fit->C, fit->D));
+            else
+                // No valid cubic (e.g. a blank profile) → clear any stale cubic so it reads 0.
+                pt_calibration.clear_calibration(cch->logical_ch);
+            const fsw::calibration::PTCalibrationCoeffs baseline =
+                fit_ok ? fsw::calibration::PTCalibrationCoeffs(fit->A, fit->B, fit->C, fit->D)
+                       : fsw::calibration::PTCalibrationCoeffs(0.0, 0.0, 0.0, 0.0);
+            robust_manager.reseed_sensor(uid, baseline);
         }
-        std::cout << "[Calibration] Cubic: resumed " << cubic_loaded
-                  << " channel(s) from cubic_calibration.json" << std::endl;
-    }
-
-    // Seed the robust learner from each sensor's shared cubic fit (zero baseline when it has no
-    // points, so an uncalibrated robust sensor reads 0). Seeding from the cubic — not a factory
-    // file — means a reloaded robust θ (from the same points) matches its baseline and survives the
-    // load-time reconcile guard. Must run BEFORE load_adjustments (which restores θ + reconciles).
-    for (uint16_t uid : cubic_store.uids()) {
-        const fsw::calibration::CubicFit* fit = cubic_store.fit_for(uid);
-        const fsw::calibration::PTCalibrationCoeffs baseline =
-            (fit != nullptr && fit->valid)
-                ? fsw::calibration::PTCalibrationCoeffs(fit->A, fit->B, fit->C, fit->D)
-                : fsw::calibration::PTCalibrationCoeffs(0.0, 0.0, 0.0, 0.0);
-        robust_manager.initialize_sensor(uid, baseline);
-    }
+        // Restore learned robust θ only on process start (not on a live profile swap).
+        if (restore_learned)
+            robust_manager.load_adjustments(adjustments_path, &uid_role);
+        // Sample the robust preview curve for EVERY sensor that has points (not just robust ones),
+        // so the merged UI can show "what robust would look like" before you switch to it.
+        for (uint16_t uid : cubic_store.uids()) {
+            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+            if (cch != nullptr && !cch->points.empty())
+                cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
+        }
+        return loaded;
+    };
 
     std::cout << "[Calibration] Robust adjustments path: " << adjustments_path << std::endl;
     std::cout << "[Calibration]   (override with --adjustments, CAL_BACKUP_PATH, or "
                  "calibration_backups/calibration_backup_*.json mtime)"
               << std::endl;
-    if (!robust_manager.load_adjustments(adjustments_path, &uid_role)) {
-        std::cout
-            << "[Calibration]   File missing/unreadable — robust starts from the cubic-seeded "
-               "baseline (0 where uncalibrated)"
-            << std::endl;
-    }
-    // Sample the robust preview curve for EVERY sensor that has points (not just robust ones), so
-    // the merged UI can show "what robust would look like" before you switch a sensor to it.
-    for (uint16_t uid : cubic_store.uids()) {
-        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
-        if (cch != nullptr && !cch->points.empty())
-            cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
-    }
+    // Resume previously captured points + learned robust state from disk.
+    const size_t cubic_loaded = reload_live_store(/*restore_learned=*/true);
+    if (cubic_loaded > 0)
+        std::cout << "[Calibration] Cubic: resumed " << cubic_loaded
+                  << " channel(s) from cubic_calibration.json" << std::endl;
     // Always persist at startup so the record (with each channel's active_model) exists immediately
     // — the UI / cal_model_select read it before any capture.
     cubic_store.save();
@@ -949,10 +955,10 @@ int main(int argc, char* argv[]) {
                           << std::endl;
 
                 if (cmd_type == 0) {  // Zero All — capture a 0 psi reference point on every PT
-                    // A "zero" is just a captured reference point at 0 psi: it feeds the same shared
-                    // fit as any other capture (cubic + robust), persists, and naturally averages
-                    // repeated zeroes — capturing real zero-drift over time rather than assuming a
-                    // uniform tare. Physics sensors take no points, so they're skipped.
+                    // A "zero" is just a captured reference point at 0 psi: it feeds the same
+                    // shared fit as any other capture (cubic + robust), persists, and naturally
+                    // averages repeated zeroes — capturing real zero-drift over time rather than
+                    // assuming a uniform tare. Physics sensors take no points, so they're skipped.
                     auto avg_adc = [&](uint16_t uid, double& out) -> bool {
                         auto rit = pt_adc_ring.find(uid);
                         if (rit != pt_adc_ring.end() && !rit->second.empty()) {
@@ -981,8 +987,8 @@ int main(int argc, char* argv[]) {
                             apply_capture(id, adc_avg, 0.0);
                             ++zeroed;
                         }
-                        std::cout << "[Cal] Zero All: captured 0 psi on " << zeroed
-                                  << " PT sensors" << std::endl;
+                        std::cout << "[Cal] Zero All: captured 0 psi on " << zeroed << " PT sensors"
+                                  << std::endl;
                     } else {
                         double adc_avg = 0.0;
                         if (pt_model_for(sensor_id) != PtModel::Physics &&
@@ -1056,6 +1062,13 @@ int main(int argc, char* argv[]) {
                     apply_clear(sensor_id);
                     std::cout << "[Cal] New calibration uid=" << static_cast<int>(sensor_id) << " ("
                               << pt_model_name(pt_model_for(sensor_id)) << ")" << std::endl;
+                } else if (cmd_type == 7) {  // Reload live store — the backend swapped the cal file
+                    // A calibration profile was loaded / a blank was created on disk by the
+                    // backend; re-read the live store and re-apply it to the running stream (reset
+                    // + reseed robust from the new profile). No session restart needed.
+                    const size_t n = reload_live_store(/*restore_learned=*/false);
+                    std::cout << "[Cal] Reloaded live calibration store (" << n
+                              << " channel(s)) after profile swap" << std::endl;
                 }
             }
             continue;
@@ -1162,8 +1175,8 @@ int main(int argc, char* argv[]) {
             else if (eff_model == PtModel::Blend)
                 cal_status = (fac_ok && has_rob) ? 1u : 0u;
 
-            // EMA smoothing (zeroing is now a captured 0 psi point that flows through the fit above,
-            // not a post-hoc offset).
+            // EMA smoothing (zeroing is now a captured 0 psi point that flows through the fit
+            // above, not a post-hoc offset).
             {
                 auto& ema = g_lp_ema[uid];
                 if (!std::isfinite(ema))
diff --git a/daq-server/scripts/calibration/calibrations/profiles/default.json b/daq-server/scripts/calibration/calibrations/profiles/default.json
new file mode 100644
index 000000000..019c95241
--- /dev/null
+++ b/daq-server/scripts/calibration/calibrations/profiles/default.json
@@ -0,0 +1,372 @@
+{
+  "calibration_adc_norm_min": {},
+  "calibration_adc_norm_scale": {},
+  "calibration_poly_coeffs": {},
+  "calibration_polynomials": {},
+  "cubic_state": {
+    "2101": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 1,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 1,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Fuel Upstream",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2102": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 2,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 2,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GSE Low",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2103": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 3,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 3,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Fuel Downstream",
+      "status": "uncalibrated",
+      "updatedAt": 1788577382.258884,
+      "fitCurve": []
+    },
+    "2104": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 4,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 4,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Mid PT 1",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2105": {
+      "active_model": "robust",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 5,
+      "degree": 0,
+      "fitCurve": [],
+      "last_error": 0.0,
+      "logicalCh": 5,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Ox Upstream",
+      "status": "uncalibrated",
+      "updatedAt": 1788577373.470213
+    },
+    "2106": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 6,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 6,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GN2 Regulated",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2107": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 7,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 7,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Ox Downstream",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2108": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 8,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 8,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Mid PT 2",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2109": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 9,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 9,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Throat PT 1",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2110": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 21,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 10,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 10,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Chamber Throat PT 2",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2201": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 1,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 11,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GSE High",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2202": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 2,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 12,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "Excitation V",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2203": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 3,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 13,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GSE Mid",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "2204": {
+      "active_model": "physics",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 22,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 4,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 14,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "GN2 High",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    },
+    "6001": {
+      "active_model": "cubic",
+      "adcNormMin": 0.0,
+      "adcNormScale": 1.0,
+      "boardId": 60,
+      "coeffs": {
+        "A": 0.0,
+        "B": 0.0,
+        "C": 0.0,
+        "D": 0.0
+      },
+      "connector": 1,
+      "degree": 0,
+      "last_error": 0.0,
+      "logicalCh": 91,
+      "numPoints": 0,
+      "points": [],
+      "polyCoeffs": [],
+      "rmse": 0.0,
+      "role": "",
+      "status": "uncalibrated",
+      "updatedAt": 0.0,
+      "fitCurve": []
+    }
+  },
+  "framework": "cubic",
+  "generated_unix": 1788577385.861982,
+  "sensor_type": "PT",
+  "unit": "PSI"
+}
\ No newline at end of file

From c12aa0968da4e78d907e140ca1f26a8ad9e78f7f Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:26:11 -0700
Subject: [PATCH 155/205] config: unify state-CSV save into the top Save +
 unsaved-changes guard; add-state now populates all tables and a free diagram
 cell; reorder states (up/down) reordering CSV columns too; ids start at 1 (id
 0 is legacy Debug); 'no fire state' option (sequencer+controller skip arming
 the fire timer when unset); warn when no abort state is flagged; make the
 state diagram refetch states+transitions on config save; fix
 __dirname-not-defined in ESM calibration-profiles/api-server routes

---
 .../diablo_server/backend/src/api-server.ts   |   5 +
 .../src/routes/calibration-profiles.ts        |   4 +
 .../frontend/app/config/page.tsx              | 213 ++++++++++++++----
 .../controls/StateMachineDiagram.tsx          |  28 ++-
 .../diablo_server/frontend/lib/states.ts      |  20 +-
 .../services/controller/controller_main.cpp   |   7 +-
 .../services/sequencer/SequencerService.cpp   |  32 ++-
 7 files changed, 239 insertions(+), 70 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 648f635a2..b0573283a 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -6,7 +6,12 @@
 import * as fs from 'fs';
 import * as os from 'os';
 import * as path from 'path';
+import { fileURLToPath } from 'url';
 import { IncomingMessage, ServerResponse } from 'http';
+
+// ESM has no __dirname global. tsx injects one in dev, but `node dist/server.js` (the systemd sim)
+// does not — so the __dirname candidates below would throw ReferenceError. Define it explicitly.
+const __dirname = path.dirname(fileURLToPath(import.meta.url));
 import { readConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
 import {
   listProfiles, switchProfile, createProfile, renameProfile, deleteProfile,
diff --git a/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts b/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts
index 3d2858820..7f7ba7df8 100644
--- a/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts
+++ b/daq-server/diablo_server/backend/src/routes/calibration-profiles.ts
@@ -14,6 +14,10 @@
  */
 import { readFileSync, writeFileSync, copyFileSync, existsSync, mkdirSync, readdirSync } from 'fs';
 import path from 'path';
+import { fileURLToPath } from 'url';
+
+// ESM has no __dirname — derive it. (Under `node dist/…` there is no tsx shim, so this is required.)
+const __dirname = path.dirname(fileURLToPath(import.meta.url));
 
 const NAME_RE = /^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/;
 
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index c759e4b1e..02c28a02c 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -250,6 +250,11 @@ const serializeCsvGrid = (g: CsvGrid): string =>
     ...g.rows.map((r) => [r.key, ...g.states.map((_, i) => r.cells[i] ?? '')].join(',')),
   ].join('\n') + '\n';
 
+/** A single string that changes whenever any of the three state tables changes — used to detect
+ *  unsaved edits without deep-comparing the grids. */
+const csvSignature = (a: CsvGrid | null, d: CsvGrid | null, t: CsvGrid | null): string =>
+  [a, d, t].map((g) => (g ? serializeCsvGrid(g) : '')).join('');
+
 /** Rows/columns present in `have` but not `want`, and vice versa — the orphan/missing warnings. */
 const diffKeys = (have: string[], want: string[]) => ({
   orphan: have.filter((k) => !want.includes(k)),
@@ -357,6 +362,10 @@ export default function ConfigPage() {
   const [calProfiles, setCalProfiles] = useState<{ name: string; active: boolean }[]>([]);
   const [calActive, setCalActive] = useState('');
   const [calMsg, setCalMsg] = useState<string | null>(null);
+  // Snapshots of the last-saved config + state CSVs, so we can tell if there are unsaved edits
+  // (null until first load, so we never flag "dirty" before anything has loaded).
+  const savedConfigRef = useRef<string | null>(null);
+  const savedCsvRef = useRef<string | null>(null);
   // Boards start collapsed to a one-line summary — a stand has ~6 of them and
   // each expands to ~18 fields, which is a lot of scrolling to reach the last one.
   const [openBoards, setOpenBoards] = useState<Record<string, boolean>>({});
@@ -410,6 +419,7 @@ export default function ConfigPage() {
       // GET /api/config returns the ACTIVE PROFILE (the draft you edit) + its name.
       const nextConfig = (data.config || {}) as ConfigData;
       setConfig(nextConfig);
+      savedConfigRef.current = JSON.stringify(nextConfig);  // mark this as the saved baseline
       if (typeof data.active === 'string') setActiveProfile(data.active);
       const adc = nextConfig.adc;
       if (adc && typeof adc.internal_v === 'number' && typeof adc.absolute_5v_v === 'number') {
@@ -439,10 +449,26 @@ export default function ConfigPage() {
         throw new Error(error.message || 'Failed to save config');
       }
 
+      // Save the state-machine tables together with the config — there is no separate CSV Save.
+      const csvJobs: Array<[string, CsvGrid | null]> = [
+        ['actuators', csvActuators], ['delays', csvDelays], ['transitions', csvTransitions],
+      ];
+      for (const [name, grid] of csvJobs) {
+        if (!grid) continue;
+        const r = await fetch(`${getApiBaseUrl()}/api/state-csv?name=${name}`, {
+          method: 'POST', headers: { 'Content-Type': 'text/csv' }, body: serializeCsvGrid(grid),
+        });
+        if (!r.ok) {
+          const b = await r.json().catch(() => ({}));
+          throw new Error(b.error || `Failed to save the ${name} table (${r.status})`);
+        }
+      }
+
       setSuccess(true);
       setSaving(false);
-      // Re-fetch canonical config so UI mirrors what was written to disk
+      // Re-fetch canonical config + tables so the UI (and the saved baselines) mirror disk.
       await loadConfig();
+      if (csvActuators || csvDelays || csvTransitions) await loadStateCsvs();
       setTimeout(() => setSuccess(false), 3000);
     } catch (err: any) {
       setError(err.message || 'Failed to save config');
@@ -704,6 +730,7 @@ export default function ConfigPage() {
       setCsvActuators(a);
       setCsvDelays(d);
       setCsvTransitions(t);
+      savedCsvRef.current = csvSignature(a, d, t);  // baseline for the unsaved-changes check
     } catch (e: any) {
       setError(e?.message || 'Failed to load state CSVs');
       setTimeout(() => setError(null), 4000);
@@ -719,26 +746,8 @@ export default function ConfigPage() {
     // eslint-disable-next-line react-hooks/exhaustive-deps
   }, [activeTab]);
 
-  const saveStateCsv = async (name: string, grid: CsvGrid) => {
-    setSaving(true);
-    setError(null);
-    try {
-      const r = await fetch(`${getApiBaseUrl()}/api/state-csv?name=${name}`, {
-        method: 'POST',
-        headers: { 'Content-Type': 'text/csv' },
-        body: serializeCsvGrid(grid),
-      });
-      const body = await r.json().catch(() => ({}));
-      if (!r.ok) throw new Error(body.error || `Save failed (${r.status})`);
-      setSuccess(true);
-      setTimeout(() => setSuccess(false), 3000);
-    } catch (e: any) {
-      setError(e?.message || 'Failed to save CSV');
-      setTimeout(() => setError(null), 5000);
-    } finally {
-      setSaving(false);
-    }
-  };
+  // State tables are saved together with the config via the top Save button (saveConfig), not on
+  // their own — so an operator's edits to the tables can never be silently lost by saving only one.
 
   // Role names are the source of truth for which rows should exist; the CSV is what currently does.
   const roleNames = Object.keys((config.actuator_roles || {}) as Record<string, unknown>);
@@ -773,15 +782,104 @@ export default function ConfigPage() {
   const addState = () => {
     const used = new Set(stateList.map((s) => s.id));
     // Never reuse an id: old Elodin run history stores the raw number with no name table beside
-    // it, so a recycled id silently relabels past runs. Always take the next free one.
-    let next = 0;
+    // it, so a recycled id silently relabels past runs. Always take the next free one. Ids start at
+    // 1 — id 0 is the legacy Debug enumerator (name-only, never a real state), so it's off-limits.
+    let next = 1;
     while (used.has(next)) next++;
+    const name = `New State ${next}`;
+    // Auto-place on the diagram at the first free (row, col) so a new state is visible there right
+    // away rather than off-diagram. Coordinates are 0-based (see lib/states.ts).
+    const usedCells = new Set(
+      stateList
+        .filter((s) => typeof s.panel_row === 'number' && typeof s.panel_col === 'number')
+        .map((s) => `${s.panel_row}:${s.panel_col}`),
+    );
+    const WIDTH = 6;
+    let pr = 0, pc = 0;
+    while (usedCells.has(`${pr}:${pc}`)) { pc += 1; if (pc >= WIDTH) { pc = 0; pr += 1; } }
     setConfig((prev) => ({
       ...prev,
-      states: [...((prev.states || []) as any[]), { id: next, name: `New State ${next}` }],
+      states: [...((prev.states || []) as any[]), { id: next, name, panel_row: pr, panel_col: pc }],
     } as ConfigData));
+    // Keep the tables in step: the new state appears as a column everywhere immediately (and a
+    // self-transition-only row in the transitions matrix), so a freshly added state is usable
+    // without a manual Regenerate.
+    const addCol = (g: CsvGrid | null, fill: string): CsvGrid | null =>
+      g && ({ states: [...g.states, name], rows: g.rows.map((r) => ({ ...r, cells: [...r.cells, fill] })) });
+    setCsvActuators((g) => addCol(g, 'CLOSE'));
+    setCsvDelays((g) => addCol(g, '0'));
+    setCsvTransitions((g) => {
+      if (!g) return g;
+      const states = [...g.states, name];
+      const rows = g.rows.map((r) => ({ ...r, cells: [...r.cells, '0'] }));
+      rows.push({ key: name, cells: states.map((s) => (s === name ? '1' : '0')) });
+      return { states, rows };
+    });
+  };
+
+  // Swap two state columns in a grid (and, for transitions, the matching from-rows) so the table
+  // column order follows the state list order when states are reordered.
+  const swapGridCols = (g: CsvGrid | null, a: string, b: string, alsoRows: boolean): CsvGrid | null => {
+    if (!g) return g;
+    const ia = g.states.indexOf(a), ib = g.states.indexOf(b);
+    if (ia < 0 || ib < 0) return g;
+    const states = g.states.slice();
+    [states[ia], states[ib]] = [states[ib], states[ia]];
+    let rows = g.rows.map((r) => {
+      const cells = r.cells.slice();
+      [cells[ia], cells[ib]] = [cells[ib], cells[ia]];
+      return { ...r, cells };
+    });
+    if (alsoRows) {
+      const ra = rows.findIndex((r) => r.key === a), rb = rows.findIndex((r) => r.key === b);
+      if (ra >= 0 && rb >= 0) { rows = rows.slice(); [rows[ra], rows[rb]] = [rows[rb], rows[ra]]; }
+    }
+    return { states, rows };
+  };
+
+  const moveState = (idx: number, dir: -1 | 1) => {
+    const j = idx + dir;
+    if (j < 0 || j >= stateList.length) return;
+    const a = stateList[idx]?.name, b = stateList[j]?.name;
+    setConfig((prev) => ({ ...prev, states: moveInArray((prev.states || []) as any[], idx, dir) } as ConfigData));
+    if (a && b && a !== b) {
+      setCsvActuators((g) => swapGridCols(g, a, b, false));
+      setCsvDelays((g) => swapGridCols(g, a, b, false));
+      setCsvTransitions((g) => swapGridCols(g, a, b, true));
+    }
   };
 
+  // Unsaved-changes tracking: compare the current config + state tables against the last-saved
+  // baselines. Null baseline = nothing loaded yet, so we never flag dirty prematurely.
+  const dirty =
+    (savedConfigRef.current !== null && JSON.stringify(config) !== savedConfigRef.current) ||
+    (savedCsvRef.current !== null && csvSignature(csvActuators, csvDelays, csvTransitions) !== savedCsvRef.current);
+
+  // Warn before losing unsaved edits: the browser dialog on close/refresh, and a confirm on in-app
+  // navigation (Next <Link> renders an <a>, so a capture-phase click handler catches it).
+  useEffect(() => {
+    if (!dirty) return;
+    const onBeforeUnload = (e: BeforeUnloadEvent) => { e.preventDefault(); e.returnValue = ''; };
+    const onClick = (e: MouseEvent) => {
+      const a = (e.target as HTMLElement)?.closest?.('a');
+      if (!a) return;
+      if (a.hasAttribute('download') || a.getAttribute('target') === '_blank') return;
+      const href = a.getAttribute('href');
+      if (!href || href.startsWith('#') || href.startsWith('http')) return;
+      if (href === window.location.pathname) return;  // same page
+      if (!window.confirm('You have unsaved config changes. Leave this page and discard them?')) {
+        e.preventDefault();
+        e.stopPropagation();
+      }
+    };
+    window.addEventListener('beforeunload', onBeforeUnload);
+    document.addEventListener('click', onClick, true);
+    return () => {
+      window.removeEventListener('beforeunload', onBeforeUnload);
+      document.removeEventListener('click', onClick, true);
+    };
+  }, [dirty]);
+
   // Drop a state's column (and, for the transitions grid, its from-row) from a CSV grid. Actuator/
   // delay rows are keyed by role so no row is removed there — only the state column disappears.
   const dropStateFromGrid = (g: CsvGrid | null, stateName: string): CsvGrid | null => {
@@ -1070,10 +1168,10 @@ export default function ConfigPage() {
             <button
               onClick={saveConfig}
               disabled={saving || loading || !canEdit}
-              className="px-4 py-2 bg-blue-600 rounded-lg hover:bg-blue-700 disabled:opacity-40 disabled:cursor-not-allowed"
-              title={canEdit ? undefined : 'Operators only: config changes disabled'}
+              className={`px-4 py-2 rounded-lg disabled:opacity-40 disabled:cursor-not-allowed ${dirty && canEdit ? 'bg-blue-600 hover:bg-blue-700 ring-2 ring-blue-400/60' : 'bg-blue-600 hover:bg-blue-700'}`}
+              title={canEdit ? (dirty ? 'You have unsaved changes' : undefined) : 'Operators only: config changes disabled'}
             >
-              {saving ? 'Saving...' : canEdit ? 'Save Config' : 'Save Disabled (Read-only)'}
+              {saving ? 'Saving...' : canEdit ? (dirty ? 'Save Config •' : 'Save Config') : 'Save Disabled (Read-only)'}
             </button>
           </div>
         </div>
@@ -2057,6 +2155,16 @@ export default function ConfigPage() {
                     {stateCsvDiff.missing.length > 0 && <p>A state with no column in the tables below: <strong>{stateCsvDiff.missing.join(', ')}</strong> — entering it commands nothing.</p>}
                   </InlineIssue>
                 )}
+                {stateList.length > 0 && stateList.every((s) => !s.is_abort) && (
+                  <InlineIssue level="warn">
+                    <p>
+                      No state is flagged <strong>Abort</strong>. Aborts are <em>not</em> disabled — the
+                      controller falls back to its built-in aborts (Engine / GSE / Emergency), which may
+                      not match your states. Flag the intended abort state(s) explicitly. (Board over-pressure
+                      aborts via <code>[abort_pts]</code> are separate and still active.)
+                    </p>
+                  </InlineIssue>
+                )}
 
                 <div className="overflow-x-auto rounded-lg border border-gray-600">
                   <table className="text-sm w-full border-collapse">
@@ -2077,7 +2185,7 @@ export default function ConfigPage() {
                           <td className="px-3 py-1.5">
                             <CommitOnBlurNumber
                               value={st.id}
-                              onCommit={(v) => setState(i, { id: v })}
+                              onCommit={(v) => setState(i, { id: Math.max(1, Math.round(v)) })}
                               className={`w-16 px-2 py-1 bg-gray-800 border rounded text-white ${st.id !== undefined && stateIdDupes.includes(st.id) ? 'border-red-500 ring-1 ring-red-500' : 'border-gray-600'}`}
                             />
                             {st.id !== undefined && stateIdDupes.includes(st.id) && <div className="text-[10px] text-red-400 mt-0.5">duplicate id</div>}
@@ -2128,7 +2236,19 @@ export default function ConfigPage() {
                               className="w-4 h-4 accent-red-400"
                             />
                           </td>
-                          <td className="px-3 py-1.5 text-right">
+                          <td className="px-3 py-1.5 text-right whitespace-nowrap">
+                            <button
+                              onClick={() => moveState(i, -1)}
+                              disabled={!canEdit || i === 0}
+                              title="Move up (also reorders the table columns)"
+                              className="px-2 py-1 bg-gray-700 rounded hover:bg-gray-600 text-xs disabled:opacity-30 mr-1"
+                            >↑</button>
+                            <button
+                              onClick={() => moveState(i, 1)}
+                              disabled={!canEdit || i === stateList.length - 1}
+                              title="Move down (also reorders the table columns)"
+                              className="px-2 py-1 bg-gray-700 rounded hover:bg-gray-600 text-xs disabled:opacity-30 mr-1"
+                            >↓</button>
                             <button
                               onClick={() => removeState(i)}
                               disabled={!canEdit}
@@ -2179,13 +2299,6 @@ export default function ConfigPage() {
                     <button onClick={generateEmptyActuators} disabled={!canEdit} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm disabled:opacity-50" title="Every configured actuator, every current state, all CLOSE">
                       Regenerate empty
                     </button>
-                    <button
-                      onClick={() => { saveStateCsv('actuators', csvActuators); if (csvDelays) saveStateCsv('delays', csvDelays); }}
-                      disabled={saving}
-                      className="px-3 py-1.5 bg-blue-600 rounded hover:bg-blue-700 text-sm disabled:opacity-50"
-                    >
-                      {saving ? 'Saving…' : 'Save'}
-                    </button>
                   </div>
 
                   {(actuatorDiff.orphan.length > 0 || actuatorDiff.missing.length > 0 || delayShapeMismatch) && (
@@ -2287,9 +2400,6 @@ export default function ConfigPage() {
                       />
                     </label>
                     <button onClick={generateEmptyTransitions} disabled={!canEdit} className="px-3 py-1.5 bg-gray-700 rounded hover:bg-gray-600 text-sm disabled:opacity-50" title="Blank matrix: the only allowed move from each state is to itself (the diagonal)">Regenerate empty</button>
-                    <button onClick={() => saveStateCsv('transitions', csvTransitions)} disabled={saving} className="px-3 py-1.5 bg-blue-600 rounded hover:bg-blue-700 text-sm disabled:opacity-50">
-                      {saving ? 'Saving…' : 'Save'}
-                    </button>
                   </div>
 
                   {(stateColDiff.orphan.length > 0 || stateColDiff.missing.length > 0) && (
@@ -2383,14 +2493,29 @@ export default function ConfigPage() {
                         </InlineIssue>
                       )}
                       <div className="grid grid-cols-1 md:grid-cols-2 lg:grid-cols-4 gap-4">
-                        {renderField('Fire state', fireState,
-                          (v) => updateField('fire', 'state', v), 'select',
-                          names.length ? names : [fireState].filter(Boolean),
-                          'the state that starts the burn')}
+                        <div className="space-y-1">
+                          <label className="block text-sm font-semibold">
+                            Fire state
+                            <span className="text-xs text-text-muted ml-2">
+                              ({fireState ? 'the state that starts the burn' : 'none — the fire timer never arms'})
+                            </span>
+                          </label>
+                          <select
+                            value={fireState}
+                            onChange={(e) => updateField('fire', 'state', e.target.value)}
+                            disabled={!canEdit}
+                            className="w-full px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50 disabled:cursor-not-allowed"
+                          >
+                            <option value="">— none (never fires) —</option>
+                            {(names.length ? names : [fireState].filter(Boolean)).map((n) => (
+                              <option key={n} value={n}>{n}</option>
+                            ))}
+                          </select>
+                        </div>
                         {renderField('Expires to', target,
                           (v) => updateField('fire', 'expiry_target', v), 'select',
                           names.length ? names : [target].filter(Boolean),
-                          'where the timer lands')}
+                          fireState ? 'where the timer lands' : 'unused while there is no fire state')}
                         {renderField('Duration (ms)', config.fire?.duration_ms,
                           (v) => updateField('fire', 'duration_ms', v), 'number')}
                         {renderField('Extended (ms)', config.fire?.extended_ms,
diff --git a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
index 8c0767314..002eaf397 100644
--- a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
+++ b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
@@ -2,7 +2,7 @@
 
 import { useSensorStore } from '@/lib/store';
 import { getWebSocketClient } from '@/lib/websocket';
-import { SystemState, CommandPayload } from '@/lib/types';
+import { SystemState, CommandPayload, MessageType } from '@/lib/types';
 import { useEffect, useState, useMemo } from 'react';
 import { useControlMode } from '@/lib/control-mode';
 import { allStates, loadStates, stateNameUpper } from '@/lib/states';
@@ -242,13 +242,21 @@ export default function StateMachineDiagram() {
   const updateState = useSensorStore((s) => s.updateState);
   const ws = getWebSocketClient();
   const [backendTransitions, setBackendTransitions] = useState<Transition[]>([]);
+  // Bumped after states are (re)loaded so the diagram re-renders — allStates()/statePos() read the
+  // module cache synchronously, so a version tick is what tells React the positions changed.
+  const [, setStatesVersion] = useState(0);
   const { controlEnabled } = useControlMode();
 
-  // Request transitions from backend on mount; fall back to STATIC_TRANSITIONS if unavailable
-  // Adopt the config-declared states (names + panel positions) once.
+  // Load the config-declared states (names + panel positions) on mount, and RELOAD them whenever a
+  // config/CSV save is broadcast — otherwise the module-level cache in states.ts would hold the old
+  // positions until a full page reload.
   useEffect(() => {
-    void loadStates(getApiBaseUrl());
-  }, []);
+    const refreshStates = (force: boolean) =>
+      void loadStates(getApiBaseUrl(), force).then(() => setStatesVersion((v) => v + 1));
+    refreshStates(false);
+    const unsub = ws.on(MessageType.CONFIG_UPDATED, () => refreshStates(true));
+    return () => { unsub(); };
+  }, [ws]);
 
   useEffect(() => {
     const handleTransitions = (payload: unknown) => {
@@ -265,7 +273,7 @@ export default function StateMachineDiagram() {
       (ws as any).send({ type: 'get_state_transitions', timestamp: Date.now(), payload: {} });
     };
 
-    const timeoutId = setTimeout(() => {
+    const tryRequest = () => {
       if (ws.isConnected()) {
         requestTransitions();
       } else {
@@ -277,9 +285,13 @@ export default function StateMachineDiagram() {
         }, 100);
         setTimeout(() => clearInterval(checkConnection), 5000);
       }
-    }, 200);
+    };
+
+    const timeoutId = setTimeout(tryRequest, 200);
+    // Re-request the transition matrix after a config/CSV save so edited edges show without a reload.
+    const unsubCfg = ws.on(MessageType.CONFIG_UPDATED, () => tryRequest());
 
-    return () => { clearTimeout(timeoutId); unsub(); };
+    return () => { clearTimeout(timeoutId); unsub(); unsubCfg(); };
   }, [ws]);
 
   const debugMode = useSensorStore((s) => s.debugMode);
diff --git a/daq-server/diablo_server/frontend/lib/states.ts b/daq-server/diablo_server/frontend/lib/states.ts
index 15cccede5..d4ef757df 100644
--- a/daq-server/diablo_server/frontend/lib/states.ts
+++ b/daq-server/diablo_server/frontend/lib/states.ts
@@ -57,8 +57,10 @@ const BUILT_IN: StateDef[] = [
   { id: 20, name: 'Press Standby', isAbort: false, isBoot: false , panelRow: 2, panelCol: 0 },
 ];
 
+const BUILT_IN_BY_ID = new Map<number, StateDef>(BUILT_IN.map((s) => [s.id, s]));
+
 let states: StateDef[] = BUILT_IN;
-let byId = new Map<number, StateDef>(BUILT_IN.map((s) => [s.id, s]));
+let byId = new Map<number, StateDef>(BUILT_IN_BY_ID);
 let loaded = false;
 let inFlight: Promise<StateDef[]> | null = null;
 
@@ -74,15 +76,23 @@ function adopt(next: StateDef[]): StateDef[] {
   return states;
 }
 
-/** Fetch the config-declared states once and cache them. Safe to call repeatedly. */
-export async function loadStates(apiBase: string): Promise<StateDef[]> {
-  if (loaded) return states;
-  if (inFlight) return inFlight;
+/** Fetch the config-declared states and cache them. Safe to call repeatedly — cached after the
+ *  first success. Pass force=true to refetch (e.g. after a config edit), which rebuilds from the
+ *  built-in baseline first so removed/renamed states don't linger from a previous fetch. */
+export async function loadStates(apiBase: string, force = false): Promise<StateDef[]> {
+  if (loaded && !force) return states;
+  if (inFlight && !force) return inFlight;
   inFlight = (async () => {
     try {
       const r = await fetch(`${apiBase}/api/states`);
       if (!r.ok) throw new Error(`HTTP ${r.status}`);
       const body = await r.json();
+      if (force) {
+        // Clean baseline before overlaying the fresh server list, so a state the config no longer
+        // declares reverts to its built-in (or drops) instead of persisting from the last fetch.
+        byId = new Map(BUILT_IN_BY_ID);
+        states = BUILT_IN;
+      }
       return adopt(Array.isArray(body?.states) ? body.states : []);
     } catch {
       // Built-in list stands; labels stay correct, they just stop tracking config.
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index d48b14a73..3d09263fc 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -333,7 +333,12 @@ int main(int argc, char* argv[]) {
     // state packet. Config, not a literal — see ControllerService::setFireStateId.
     {
         const std::string fire_state = cfg.fire.state;
-        if (!fire_state.empty()) {
+        if (fire_state.empty()) {
+            // No fire state configured → the PWM fire gate never activates (id 255 = UNKNOWN never
+            // matches a real sequencer state), matching the sequencer's disabled fire timer.
+            service.setFireStateId(255);
+            std::cout << "  Fire state:     (none) — PWM fire gate disabled" << std::endl;
+        } else {
             const uint8_t id = sequencer::StateMachine::stateId(fire_state);
             if (id != 255) {
                 service.setFireStateId(id);
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 5bd424a97..8caa50b48 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -138,7 +138,11 @@ bool SequencerService::init(const std::string& config_path) {
     // Which state is the burn, and where its timer lands. Names, not enumerators.
     {
         const std::string fs = cfg.fire.state;
-        if (!fs.empty()) {
+        if (fs.empty()) {
+            // No fire state configured → the fire timer never arms (nothing to auto-transition out
+            // of). UNKNOWN never equals a real state in transitionTo's `to == fire_state_` check.
+            fire_state_ = State::UNKNOWN;
+        } else {
             State s = StateMachine::fromName(fs);
             if (s == State::UNKNOWN)
                 std::cerr << "[SequencerService] [fire] state \"" << fs
@@ -156,17 +160,21 @@ bool SequencerService::init(const std::string& config_path) {
                 fire_expiry_state_ = s;
         }
         actuator_commander_.setFireState(fire_state_);
-        std::cout << "[SequencerService] Fire state: " << StateMachine::name(fire_state_)
-                  << " → expires to " << StateMachine::name(fire_expiry_state_) << std::endl;
-        // The expiry transition goes through the same isAllowed() gate as any other, so a target
-        // the fire state cannot reach leaves the system sitting in FIRE with a dead timer. Say so
-        // at startup rather than at T-0.
-        if (!state_machine_.isAllowed(fire_state_, fire_expiry_state_))
-            std::cerr << "[SequencerService] WARNING: " << StateMachine::name(fire_state_) << " → "
-                      << StateMachine::name(fire_expiry_state_)
-                      << " is not an allowed transition — the fire timer will expire into a "
-                         "refused transition and the system will stay in fire."
-                      << std::endl;
+        if (fire_state_ == State::UNKNOWN) {
+            std::cout << "[SequencerService] Fire state: (none) — fire timer disabled" << std::endl;
+        } else {
+            std::cout << "[SequencerService] Fire state: " << StateMachine::name(fire_state_)
+                      << " → expires to " << StateMachine::name(fire_expiry_state_) << std::endl;
+            // The expiry transition goes through the same isAllowed() gate as any other, so a
+            // target the fire state cannot reach leaves the system sitting in FIRE with a dead
+            // timer. Say so at startup rather than at T-0.
+            if (!state_machine_.isAllowed(fire_state_, fire_expiry_state_))
+                std::cerr << "[SequencerService] WARNING: " << StateMachine::name(fire_state_)
+                          << " → " << StateMachine::name(fire_expiry_state_)
+                          << " is not an allowed transition — the fire timer will expire into a "
+                             "refused transition and the system will stay in fire."
+                          << std::endl;
+        }
     }
     fire_manager_.configure(fire_duration_ms, fire_extended_ms);
     std::cout << "[SequencerService] Fire window: " << fire_duration_ms << " ms (extended "

From c72a5be756df926410ab382882bb34f06ebbed77 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:33:30 -0700
Subject: [PATCH 156/205] config roles: edit in stable file order (rows no
 longer jump when you change a name/number) and re-sort by board then channel
 only on Save

---
 .../frontend/app/config/page.tsx              | 40 ++++++++++++++-----
 1 file changed, 29 insertions(+), 11 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 02c28a02c..74e367eb5 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -256,6 +256,27 @@ const csvSignature = (a: CsvGrid | null, d: CsvGrid | null, t: CsvGrid | null):
   [a, d, t].map((g) => (g ? serializeCsvGrid(g) : '')).join('');
 
 /** Rows/columns present in `have` but not `want`, and vice versa — the orphan/missing warnings. */
+// Roles are edited in file order (so a row stays put while you type) and re-ordered only on Save:
+// actuator_roles by board_id then channel, and each sensor_roles_<board> by channel. smol-toml
+// preserves object key order, so the sorted order round-trips through config.toml.
+function sortRolesForSave(cfg: any): any {
+  const out = { ...(cfg || {}) };
+  if (out.actuator_roles && typeof out.actuator_roles === 'object') {
+    const sorted = Object.entries(out.actuator_roles).sort((a: any, b: any) => {
+      const av = Array.isArray(a[1]) ? a[1] : [], bv = Array.isArray(b[1]) ? b[1] : [];
+      return (Number(av[2] ?? 0) - Number(bv[2] ?? 0)) || (Number(av[1] ?? 0) - Number(bv[1] ?? 0));
+    });
+    out.actuator_roles = Object.fromEntries(sorted);
+  }
+  for (const k of Object.keys(out)) {
+    if (k.startsWith('sensor_roles_') && out[k] && typeof out[k] === 'object') {
+      const sorted = Object.entries(out[k]).sort((a: any, b: any) => (Number(a[1]) || 0) - (Number(b[1]) || 0));
+      out[k] = Object.fromEntries(sorted);
+    }
+  }
+  return out;
+}
+
 const diffKeys = (have: string[], want: string[]) => ({
   orphan: have.filter((k) => !want.includes(k)),
   missing: want.filter((k) => !have.includes(k)),
@@ -441,7 +462,8 @@ export default function ConfigPage() {
       const response = await fetch(`${getApiBaseUrl()}/api/config`, {
         method: 'POST',
         headers: { 'Content-Type': 'application/json' },
-        body: JSON.stringify({ config }),
+        // Re-sort the role maps (board→channel) at save time only, so editing never moves a row.
+        body: JSON.stringify({ config: sortRolesForSave(config) }),
       });
 
       if (!response.ok) {
@@ -1643,11 +1665,10 @@ export default function ConfigPage() {
                   })
                 ).map(({ key, title, maxCh, modelKey, fullScaleKey, resistorKey, showModel, isLoop, defaultModel, boardFullScale, boardResistor }) => {
                   const map = (config as any)[key] as Record<string, number> | undefined;
-                  // Display ordered by channel number (not config/insertion order). The number field
-                  // commits on blur so this re-sort doesn't fire mid-keystroke.
-                  const entries = Object.entries(map || {}).sort(
-                    (a, b) => (Number(a[1]) || 0) - (Number(b[1]) || 0),
-                  );
+                  // File (insertion) order so a row stays put while you edit its channel or name —
+                  // the map is re-sorted by channel only on Save (see sortRolesForSave), never
+                  // mid-edit. Renaming rebuilds the map preserving order, so rows don't jump.
+                  const entries = Object.entries(map || {});
                   return (
                     <div key={key} className="space-y-4">
                       <h3 className="text-lg font-semibold">{title}</h3>
@@ -1827,11 +1848,8 @@ export default function ConfigPage() {
               <h2 className="text-xl font-bold mb-4">Actuator Roles</h2>
               <div className="space-y-4">
                 {Object.entries(config.actuator_roles || {})
-                  // Order by board_id then channel (numbers commit on blur, so this re-sort doesn't fire mid-edit).
-                  .sort((a, b) => {
-                    const av = Array.isArray(a[1]) ? a[1] : [], bv = Array.isArray(b[1]) ? b[1] : [];
-                    return (Number(av[2] ?? 0) - Number(bv[2] ?? 0)) || (Number(av[1] ?? 0) - Number(bv[1] ?? 0));
-                  })
+                  // File (insertion) order so editing a channel/board/name doesn't move the row.
+                  // Re-sorted by board_id then channel only on Save (sortRolesForSave), not mid-edit.
                   .map(([name, value], idx) => {
                   const arr = Array.isArray(value) ? value : [];
                   const type = (arr[0] as string) || 'NC';

From d063024e777e7b51e3669f58c7aecf2b8fcceb4e Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:40:53 -0700
Subject: [PATCH 157/205] config roles: allow a temporarily duplicate role name
 while editing (marked red, not merged) instead of blocking the rename; refuse
 to Save until duplicates are resolved

---
 .../frontend/app/config/page.tsx              | 62 ++++++++++++++-----
 1 file changed, 47 insertions(+), 15 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 74e367eb5..ba39f04aa 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -182,39 +182,50 @@ function CommitOnBlurNumber({
 }
 
 /**
- * Text input for a map KEY (role name) that commits on blur / Enter and refuses to silently merge
- * onto an existing name. Holds a local value while typing (so no mid-keystroke object rebuilds), and
- * on commit: empty or unchanged → revert; duplicate of another key → call onError + revert; otherwise
- * onRename. Renaming a role onto an existing one used to overwrite it (one role vanished).
+ * Text input for a map KEY (role name). Names are the object key, so two rows genuinely can't share
+ * one in storage — but blocking the rename outright made editing painful. Instead: you can type a
+ * duplicate and it STAYS in the box (marked red), it is NOT applied to config (so nothing is merged
+ * or lost), and it is reported via onDupChange so the page can refuse to Save until it's unique.
+ * On commit: empty → error+revert; unchanged → revert; duplicate → keep (don't apply); unique →
+ * apply (onRename). rowKey is a stable per-row id used to track which rows are currently duplicated.
  */
 function CommitOnBlurName({
-  value, siblings, onRename, onError, className,
+  value, siblings, rowKey, onRename, onDupChange, onError, className,
 }: {
   value: string;
   siblings: string[];
+  rowKey: string;
   onRename: (newName: string) => void;
+  onDupChange: (rowKey: string, isDup: boolean) => void;
   onError: (msg: string) => void;
   className?: string;
 }) {
   const [local, setLocal] = useState<string>(value);
-  useEffect(() => { setLocal(value); }, [value]);
+  const isDup = (v: string) => {
+    const t = v.trim();
+    return t !== '' && t !== value && siblings.some((s) => s !== value && s === t);
+  };
+  // Config was renamed (unique commit succeeded) → resync + clear any duplicate flag.
+  // eslint-disable-next-line react-hooks/exhaustive-deps
+  useEffect(() => { setLocal(value); onDupChange(rowKey, false); }, [value]);
+  // Clear this row's duplicate flag if it unmounts (e.g. the row is removed).
+  // eslint-disable-next-line react-hooks/exhaustive-deps
+  useEffect(() => () => onDupChange(rowKey, false), [rowKey]);
+  const dup = isDup(local);
   const commit = () => {
     const next = local.trim();
     if (next === value) { setLocal(value); return; }
-    if (next === '') { onError('Name cannot be empty.'); setLocal(value); return; }
-    if (siblings.some((s) => s !== value && s === next)) {
-      onError(`A role named "${next}" already exists — rename skipped so the two aren't merged.`);
-      setLocal(value);
-      return;
-    }
-    onRename(next);
+    if (next === '') { onError('Name cannot be empty.'); setLocal(value); onDupChange(rowKey, false); return; }
+    if (isDup(local)) return;  // keep the duplicate visible; Save stays blocked until it's resolved
+    onRename(next);            // unique → apply (value changes, effect above clears the dup flag)
   };
   return (
     <input
       type="text"
       value={local}
-      className={className}
-      onChange={(e) => setLocal(e.target.value)}
+      title={dup ? `Duplicate name "${local.trim()}" — make it unique before saving` : undefined}
+      className={`${className ?? ''} ${dup ? 'border-red-500 ring-1 ring-red-500' : ''}`}
+      onChange={(e) => { setLocal(e.target.value); onDupChange(rowKey, isDup(e.target.value)); }}
       onBlur={commit}
       onKeyDown={(e) => { if (e.key === 'Enter') (e.target as HTMLInputElement).blur(); }}
     />
@@ -387,6 +398,15 @@ export default function ConfigPage() {
   // (null until first load, so we never flag "dirty" before anything has loaded).
   const savedConfigRef = useRef<string | null>(null);
   const savedCsvRef = useRef<string | null>(null);
+  // Row ids whose name is currently a duplicate (allowed while editing, but blocks Save).
+  const [dupRoleRows, setDupRoleRows] = useState<Set<string>>(new Set());
+  const onRoleDup = (rowKey: string, isDup: boolean) =>
+    setDupRoleRows((prev) => {
+      if (isDup === prev.has(rowKey)) return prev;
+      const n = new Set(prev);
+      if (isDup) n.add(rowKey); else n.delete(rowKey);
+      return n;
+    });
   // Boards start collapsed to a one-line summary — a stand has ~6 of them and
   // each expands to ~18 fields, which is a lot of scrolling to reach the last one.
   const [openBoards, setOpenBoards] = useState<Record<string, boolean>>({});
@@ -454,6 +474,11 @@ export default function ConfigPage() {
   };
 
   const saveConfig = async () => {
+    if (dupRoleRows.size > 0) {
+      setError(`Resolve ${dupRoleRows.size} duplicate role name${dupRoleRows.size === 1 ? '' : 's'} before saving (highlighted in red).`);
+      setTimeout(() => setError(null), 5000);
+      return;
+    }
     try {
       setSaving(true);
       setError(null);
@@ -874,6 +899,7 @@ export default function ConfigPage() {
   // Unsaved-changes tracking: compare the current config + state tables against the last-saved
   // baselines. Null baseline = nothing loaded yet, so we never flag dirty prematurely.
   const dirty =
+    dupRoleRows.size > 0 ||  // a typed-but-unresolved duplicate name is an unsaved edit too
     (savedConfigRef.current !== null && JSON.stringify(config) !== savedConfigRef.current) ||
     (savedCsvRef.current !== null && csvSignature(csvActuators, csvDelays, csvTransitions) !== savedCsvRef.current);
 
@@ -1713,6 +1739,8 @@ export default function ConfigPage() {
                             <CommitOnBlurName
                               value={name}
                               siblings={Object.keys(map || {})}
+                              rowKey={`${key}:${name}`}
+                              onDupChange={onRoleDup}
                               onRename={(newName) => {
                                 const rebuilt: Record<string, any> = {};
                                 for (const [k, v] of Object.entries(map || {})) rebuilt[k === name ? newName : k] = v;
@@ -1863,6 +1891,8 @@ export default function ConfigPage() {
                     <CommitOnBlurName
                       value={name}
                       siblings={Object.keys(config.actuator_roles || {})}
+                      rowKey={`act:${name}`}
+                      onDupChange={onRoleDup}
                       onRename={(newName) => {
                         const rebuilt: Record<string, any> = {};
                         for (const [k, v] of Object.entries(config.actuator_roles || {})) rebuilt[k === name ? newName : k] = v;
@@ -2559,6 +2589,8 @@ export default function ConfigPage() {
                       <CommitOnBlurName
                         value={role}
                         siblings={Object.keys(config.abort_pts || {})}
+                        rowKey={`abort:${role}`}
+                        onDupChange={onRoleDup}
                         onRename={(next) => {
                           const rebuilt: Record<string, any> = {};
                           for (const [k, v] of Object.entries(config.abort_pts || {})) rebuilt[k === role ? next : k] = v;

From 3abd01b34ba91824197ae480b7c938259bf9b0f8 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 12:49:27 -0700
Subject: [PATCH 158/205] back-populate both rig profiles onto the new PT
 schema: declare pt_type on each PT board (dropping hp_pt_connectors /
 excitation_connector_id / excitation_divider_attenuation, which the
 excitation-monitor removal made dead - a board without pt_type still works
 but logs a deprecation and infers its interface from those keys), and select
 the physics model for every low-press PT role. The model choice is not
 cosmetic: cubic is the 0-5 V default and an uncalibrated cubic now streams 0
 rather than falling back, so leaving it would put every PT on this rig back
 at 0 PSI the moment this build ran. Ratiometric physics is psi = adc/2^31 *
 full_scale, which is the linear 0 ADC = 0 PSI mapping these PTs are specced
 to; full scale is stated as 1000 rather than left implicit so a change to
 that default cannot silently rescale the rig

Drop pt_linear_fallback.json with it. It existed only to force a cal through the JSON loader, and the calibration service now constructs with auto_load=false - the file would never be read on the streaming path, only mistaken for a bench-cal import. The dir's other two files are runtime state the service writes (adjustments.json, cubic_calibration.json), so gitignore the second alongside the first
---
 .../config/profiles/digital-twin/config.toml  | 22 ++++++++++--
 daq-server/config/profiles/server/config.toml | 34 +++++++++++++++++--
 .../calibrations/pt_linear_fallback.json      | 19 -----------
 3 files changed, 50 insertions(+), 25 deletions(-)
 delete mode 100644 daq-server/scripts/calibration/calibrations/pt_linear_fallback.json

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index 648df47ea..03c357de5 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -112,6 +112,7 @@ discovery_timeout_seconds = 30
 
 [boards.pt_board]
 type = "PT"
+pt_type = "0-5V ratiometric"
 ip = "192.168.2.21"
 send_port = 5005
 num_sensors = 10
@@ -125,6 +126,7 @@ active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
 
 [boards.pt_board_2]
 type = "PT"
+pt_type = "4-20 mA absolute"
 ip = "192.168.2.22"
 send_port = 5005
 num_sensors = 10
@@ -134,11 +136,8 @@ enable_serial_printing = true
 voltage_reference = 0
 adc_ref_voltage = 2.5
 active_connectors = [ 1, 2, 3, 4 ]
-hp_pt_connectors = [ 1, 3, 4 ]
-excitation_connector_id = 2
 hp_pt_full_scale_psi = 5000
 hp_pt_sense_resistor_ohms = 120
-excitation_divider_attenuation = 0.0762
 
 [boards.actuator_board]
 type = "ACTUATOR"
@@ -307,6 +306,23 @@ active_connectors = [ 1, 2 ]
 "Dome CTRL" = 3
 "Low Press" = 4
 
+# No bench cal data for this rig, so stream the datasheet conversion rather than the
+# cubic default, which reads 0 until an operator captures points. Ratiometric physics is
+# psi = adc/2^31 * full_scale — the linear 0 ADC = 0 PSI mapping these PTs are specced to.
+[calibration_model_pt_board]
+"Fuel Fill Vent" = "physics"
+"Fuel Upstream" = "physics"
+"Dome CTRL" = "physics"
+"Low Press" = "physics"
+
+# 1000 PSI at full ADC scale. Same as the current built-in default; stated so a change
+# to that default cannot silently rescale this rig.
+[calibration_full_scale_pt_board]
+"Fuel Fill Vent" = 1000
+"Fuel Upstream" = 1000
+"Dome CTRL" = 1000
+"Low Press" = 1000
+
 [abort_pts]
 "Fuel Upstream" = 400
 "Ox Upstream" = 400
diff --git a/daq-server/config/profiles/server/config.toml b/daq-server/config/profiles/server/config.toml
index 9d0451a96..6cc3ab4ad 100644
--- a/daq-server/config/profiles/server/config.toml
+++ b/daq-server/config/profiles/server/config.toml
@@ -135,6 +135,7 @@ discovery_timeout_seconds = 30
 
 [boards.pt_board]
 type = "PT"
+pt_type = "0-5V ratiometric"
 ip = "192.168.2.21"
 send_port = 5005
 num_sensors = 10
@@ -148,6 +149,7 @@ active_connectors = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ]
 
 [boards.pt_board_2]
 type = "PT"
+pt_type = "4-20 mA absolute"
 ip = "192.168.2.22"
 send_port = 5005
 num_sensors = 10
@@ -157,11 +159,8 @@ enable_serial_printing = true
 voltage_reference = 0
 adc_ref_voltage = 2.5
 active_connectors = [ 1, 2, 3, 4 ]
-hp_pt_connectors = [ 1, 3, 4 ]
-excitation_connector_id = 2
 hp_pt_full_scale_psi = 5000
 hp_pt_sense_resistor_ohms = 120
-excitation_divider_attenuation = 0.0762
 
 [boards.actuator_board]
 type = "ACTUATOR"
@@ -336,6 +335,35 @@ active_connectors = [ 1, 2 ]
 "Chamber Throat PT 1" = 9
 "Chamber Throat PT 2" = 10
 
+# No bench cal data for this rig, so stream the datasheet conversion rather than the
+# cubic default, which reads 0 until an operator captures points. Ratiometric physics is
+# psi = adc/2^31 * full_scale — the linear 0 ADC = 0 PSI mapping these PTs are specced to.
+[calibration_model_pt_board]
+"Fuel Upstream" = "physics"
+"GSE Low" = "physics"
+"Fuel Downstream" = "physics"
+"Chamber Mid PT 1" = "physics"
+"Ox Upstream" = "physics"
+"GN2 Regulated" = "physics"
+"Ox Downstream" = "physics"
+"Chamber Mid PT 2" = "physics"
+"Chamber Throat PT 1" = "physics"
+"Chamber Throat PT 2" = "physics"
+
+# 1000 PSI at full ADC scale. Same as the current built-in default; stated so a change
+# to that default cannot silently rescale this rig.
+[calibration_full_scale_pt_board]
+"Fuel Upstream" = 1000
+"GSE Low" = 1000
+"Fuel Downstream" = 1000
+"Chamber Mid PT 1" = 1000
+"Ox Upstream" = 1000
+"GN2 Regulated" = 1000
+"Ox Downstream" = 1000
+"Chamber Mid PT 2" = 1000
+"Chamber Throat PT 1" = 1000
+"Chamber Throat PT 2" = 1000
+
 [abort_pts]
 "Fuel Upstream" = 400
 "Ox Upstream" = 400
diff --git a/daq-server/scripts/calibration/calibrations/pt_linear_fallback.json b/daq-server/scripts/calibration/calibrations/pt_linear_fallback.json
deleted file mode 100644
index 1d89552ae..000000000
--- a/daq-server/scripts/calibration/calibrations/pt_linear_fallback.json
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "sensor_type": "PT",
-  "unit": "PSI",
-  "framework": "linear_fallback",
-  "created": "2026-09-02T19:48:48.175628Z",
-  "note": "FALLBACK linear calibration for the LP PT board (board 21 = JSON slot1, ch 1..10). ADC 0 -> 0 PSI, ADC full scale (2^31) -> 1000 PSI, straight line, no offset. NOT a per-sensor calibration. HP board 22 is deliberately absent: its 4-20 mA channels are converted from [boards.pt_board_2] by convert_hp_pt_to_pressure(). NOTE: arrays MUST stay on one line - the C++ regex loader rejects pretty-printed arrays.",
-  "calibration_polynomials": {
-    "1": [0, 0, 4.656612873077e-07, 0.0],
-    "2": [0, 0, 4.656612873077e-07, 0.0],
-    "3": [0, 0, 4.656612873077e-07, 0.0],
-    "4": [0, 0, 4.656612873077e-07, 0.0],
-    "5": [0, 0, 4.656612873077e-07, 0.0],
-    "6": [0, 0, 4.656612873077e-07, 0.0],
-    "7": [0, 0, 4.656612873077e-07, 0.0],
-    "8": [0, 0, 4.656612873077e-07, 0.0],
-    "9": [0, 0, 4.656612873077e-07, 0.0],
-    "10": [0, 0, 4.656612873077e-07, 0.0]
-  }
-}

From d1f6722aa1ec5ea4d247feee21db36812c78e77d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 14:39:29 -0700
Subject: [PATCH 159/205] pick up what the running server wrote to the
 digital-twin profile: the smol-toml writer's formatting (flat table headers,
 inline arrays, and it drops comments, so the explanatory blocks over
 [calibration_model_pt_board] and [fire] are gone again), the Calibration tab
 added to [gui].tabs, and [calibration_model_pt_board_2] declaring the four
 4-20 mA roles as physics - which they already defaulted to by interface, now
 stated

Two operator edits ride along and are worth knowing about rather than being buried in a reformat:

[fire] gained duration_ms = 1000 / extended_ms = 1000. These were deliberately absent before, because the sequencer prefers them over [controller_service].fire_duration_ms / fire_extended_ms, which is where the GUI edits the fire window. With them present the GUI's controller-service fields no longer decide the burn length

14 of the 20 [[states]] were deleted, leaving Idle, Fire, the three aborts and Press Standby. This does not confuse the sequencer - StateMachine::fromName falls back to state_transitions.csv, which still carries all 20, so [fire] expiry_target = "Armed" still resolves and Fire -> Armed is still an allowed transition. What it does remove is the panel entry for each deleted state, Armed, Ready, Calibrate and Vent among them, so an operator cannot command them from the State Machine panel. Both actuator CSVs and state_transitions.csv still have all 20 columns, and the editor's regenerate-empty now builds from the live state list, so regenerating would cut them down to these six
---
 .../config/profiles/digital-twin/config.toml  | 339 +++++++-----------
 1 file changed, 121 insertions(+), 218 deletions(-)

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index 03c357de5..4592ee335 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -40,53 +40,53 @@ connection_retry_delay_ms = 1000
 [gui]
 downsample_mode = "envelope"
 points_per_second = 20
-tabs = [ "unified", "boards", "config", "session" ]
-
-  [[gui.pressure_bars]]
-  label = "FF Vent"
-  role = "Fuel Fill Vent"
-  limits = ""
-  color = "#ff0000"
-
-  [[gui.pressure_bars]]
-  label = "Fuel Up"
-  role = "Fuel Upstream"
-  limits = "Fuel_Upstream"
-  color = "#00ff2a"
-
-  [[gui.pressure_bars]]
-  label = "Dome CTRL"
-  role = "Dome CTRL"
-  limits = ""
-  color = "#fff700"
-
-  [[gui.pressure_bars]]
-  label = "Dome Mid"
-  role = "Dome Mid"
-  limits = ""
-  color = "#4c00ff"
-
-  [[gui.pressure_bars]]
-  label = "GN2 High"
-  role = "GN2 High"
-  limits = "GN2_High"
-  color = "#fb00ff"
-
-  [[gui.pressure_bars]]
-  label = "High Press"
-  role = "High Press"
-  limits = ""
-  color = "#00ffd5"
-
-  [[gui.pressure_bars]]
-  label = "Low Press"
-  role = "Low Press"
-  limits = ""
-  color = "#ff0088"
-
-  [gui.groups]
-  LOX = [ "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
-  Fuel = [ "Fuel Upstream" ]
+tabs = [ "unified", "boards", "config", "calibration", "session" ]
+
+[[gui.pressure_bars]]
+label = "FF Vent"
+role = "Fuel Fill Vent"
+limits = ""
+color = "#ff0000"
+
+[[gui.pressure_bars]]
+label = "Fuel Up"
+role = "Fuel Upstream"
+limits = "Fuel_Upstream"
+color = "#00ff2a"
+
+[[gui.pressure_bars]]
+label = "Dome CTRL"
+role = "Dome CTRL"
+limits = ""
+color = "#fff700"
+
+[[gui.pressure_bars]]
+label = "Dome Mid"
+role = "Dome Mid"
+limits = ""
+color = "#4c00ff"
+
+[[gui.pressure_bars]]
+label = "GN2 High"
+role = "GN2 High"
+limits = "GN2_High"
+color = "#fb00ff"
+
+[[gui.pressure_bars]]
+label = "High Press"
+role = "High Press"
+limits = ""
+color = "#00ffd5"
+
+[[gui.pressure_bars]]
+label = "Low Press"
+role = "Low Press"
+limits = ""
+color = "#ff0088"
+
+[gui.groups]
+LOX = [ "LOX Upper", "LOX Mid", "LOX Lower", "COPV RTD" ]
+Fuel = [ "Fuel Upstream" ]
 
 [time_sync]
 mode = "board-clock"
@@ -242,7 +242,7 @@ enable_serial_printing = true
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
-active_connectors = [ ]
+active_connectors = []
 
 [boards.rtd_board]
 type = "RTD"
@@ -268,7 +268,7 @@ enable_serial_printing = true
 necessary_for_abort = false
 designated_survivor = false
 voltage_reference = 0
-active_connectors = [ ]
+active_connectors = []
 
 [boards.encoder_board]
 type = "ENCODER"
@@ -306,17 +306,12 @@ active_connectors = [ 1, 2 ]
 "Dome CTRL" = 3
 "Low Press" = 4
 
-# No bench cal data for this rig, so stream the datasheet conversion rather than the
-# cubic default, which reads 0 until an operator captures points. Ratiometric physics is
-# psi = adc/2^31 * full_scale — the linear 0 ADC = 0 PSI mapping these PTs are specced to.
 [calibration_model_pt_board]
 "Fuel Fill Vent" = "physics"
 "Fuel Upstream" = "physics"
 "Dome CTRL" = "physics"
 "Low Press" = "physics"
 
-# 1000 PSI at full ADC scale. Same as the current built-in default; stated so a change
-# to that default cannot silently rescale this rig.
 [calibration_full_scale_pt_board]
 "Fuel Fill Vent" = 1000
 "Fuel Upstream" = 1000
@@ -413,15 +408,7 @@ channels = 2
 description = "Raw encoder angle (0-4095) — AS5600 12-bit"
 
 [daq_bridge]
-publish = [
-  "pt_raw",
-  "tc_raw",
-  "rtd_raw",
-  "lc_raw",
-  "actuator_status",
-  "actuator_cal",
-  "encoder_raw"
-]
+publish = [ "pt_raw", "tc_raw", "rtd_raw", "lc_raw", "actuator_status", "actuator_cal", "encoder_raw" ]
 
 [calibration]
 enabled = true
@@ -429,63 +416,61 @@ use_robust_stack = true
 exclude_hp_pt = true
 prior_from_polynomial = true
 
-  [calibration.orchestrator]
-  consensus_enabled = true
-  self_cal_alpha_threshold = 0.6
-  agreement_threshold = 0.6
-  min_points = 5
-  target_points = 15
-  max_points = 30
-  min_r_squared = 0.95
-  target_r_squared = 0.99
-  rls_forgetting_factor = 0.995
-  drift_glr_threshold = 3
-  auto_save_interval_sec = 300
-  status_interval_sec = 30
-
-  [calibration.pt]
-  json_dir = "scripts/calibration/calibrations"
-  csv_paths = [
-  "../firmware/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv"
-]
-
-  [calibration.tc]
-  json_dir = "scripts/calibration/calibrations/tc"
-  csv_paths = [ ]
-  adc_ref_voltage = 2.5
-
-  [calibration.rtd]
-  json_dir = "scripts/calibration/calibrations/rtd"
-  csv_paths = [ ]
-  r0_ohm = 1000
-  adc_ref_voltage = 2.5
-  excitation_ua = 1000
-
-  [calibration.lc]
-  json_dir = "scripts/calibration/calibrations/lc"
-  csv_paths = [ ]
-  sensitivity_mv_per_v = 2
-  pga_gain = 32
-  full_scale_value = 300
-
-  [calibration.sidecar]
-  enabled = true
-  host = "127.0.0.1"
-  port = 8100
-  relay_host = "127.0.0.1"
-  relay_port = 9090
-  reconnect_interval_ms = 5000
-  adc_forward_interval_ms = 200
-  write_interval_sec = 0.01
-  write_to_elodin = false
-
-  [calibration.environmental]
-  temperature = 25
-  humidity = 50
-  vibration = 0
-  aging_factor = 1
-  mounting_torque = 1
-  min_consensus_sensors = 2
+[calibration.orchestrator]
+consensus_enabled = true
+self_cal_alpha_threshold = 0.6
+agreement_threshold = 0.6
+min_points = 5
+target_points = 15
+max_points = 30
+min_r_squared = 0.95
+target_r_squared = 0.99
+rls_forgetting_factor = 0.995
+drift_glr_threshold = 3
+auto_save_interval_sec = 300
+status_interval_sec = 30
+
+[calibration.pt]
+json_dir = "scripts/calibration/calibrations"
+csv_paths = [ "../firmware/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv" ]
+
+[calibration.tc]
+json_dir = "scripts/calibration/calibrations/tc"
+csv_paths = []
+adc_ref_voltage = 2.5
+
+[calibration.rtd]
+json_dir = "scripts/calibration/calibrations/rtd"
+csv_paths = []
+r0_ohm = 1000
+adc_ref_voltage = 2.5
+excitation_ua = 1000
+
+[calibration.lc]
+json_dir = "scripts/calibration/calibrations/lc"
+csv_paths = []
+sensitivity_mv_per_v = 2
+pga_gain = 32
+full_scale_value = 300
+
+[calibration.sidecar]
+enabled = true
+host = "127.0.0.1"
+port = 8100
+relay_host = "127.0.0.1"
+relay_port = 9090
+reconnect_interval_ms = 5000
+adc_forward_interval_ms = 200
+write_interval_sec = 0.01
+write_to_elodin = false
+
+[calibration.environmental]
+temperature = 25
+humidity = 50
+vibration = 0
+aging_factor = 1
+mounting_torque = 1
+min_consensus_sensors = 2
 
 [pressure_limits.GN2_High]
 NOP = 4000
@@ -574,13 +559,7 @@ pressure_fuel_target = 0
 pressure_ox_target = 0
 duty_sweep_enabled = false
 duty_sweep_step_duration_sec = 2
-duty_sweep_steps = [
-  [ 0.1, 0.1 ],
-  [ 0.3, 0.2 ],
-  [ 0.5, 0.4 ],
-  [ 0.3, 0.3 ],
-  [ 0.1, 0.1 ]
-]
+duty_sweep_steps = [ [ 0.1, 0.1 ], [ 0.3, 0.2 ], [ 0.5, 0.4 ], [ 0.3, 0.3 ], [ 0.1, 0.1 ] ]
 use_cpp_controller = true
 lut_path = "output/lut/controller_policy_fsw.bin"
 thrust_curve_path = "output/lut/thrust_curve.csv"
@@ -604,6 +583,8 @@ backend_udp_port = 8092
 [fire]
 state = "Fire"
 expiry_target = "Armed"
+duration_ms = 1000
+extended_ms = 1000
 
 [[states]]
 id = 1
@@ -612,90 +593,6 @@ panel_row = 0
 panel_col = 0
 is_boot = true
 
-[[states]]
-id = 2
-name = "Armed"
-panel_row = 1
-panel_col = 0
-
-[[states]]
-id = 3
-name = "Fuel Fill"
-panel_row = 1
-panel_col = 1
-
-[[states]]
-id = 4
-name = "Ox Fill"
-panel_row = 1
-panel_col = 2
-
-[[states]]
-id = 5
-name = "GN2 Low Press"
-panel_row = 2
-panel_col = 1
-
-[[states]]
-id = 6
-name = "GN2 Low Vent"
-panel_row = 3
-panel_col = 1
-
-[[states]]
-id = 7
-name = "Fuel Press"
-panel_row = 2
-panel_col = 2
-
-[[states]]
-id = 8
-name = "Fuel Vent"
-panel_row = 3
-panel_col = 2
-
-[[states]]
-id = 9
-name = "Ox Press"
-panel_row = 2
-panel_col = 3
-
-[[states]]
-id = 10
-name = "Ox Vent"
-panel_row = 3
-panel_col = 3
-
-[[states]]
-id = 11
-name = "GN2 High Press"
-panel_row = 2
-panel_col = 4
-
-[[states]]
-id = 12
-name = "GN2 High Vent"
-panel_row = 3
-panel_col = 4
-
-[[states]]
-id = 13
-name = "Vent"
-panel_row = 3
-panel_col = 0
-
-[[states]]
-id = 14
-name = "Calibrate"
-panel_row = 4
-panel_col = 0
-
-[[states]]
-id = 15
-name = "Ready"
-panel_row = 4
-panel_col = 1
-
 [[states]]
 id = 16
 name = "Fire"
@@ -724,10 +621,16 @@ panel_row = 2
 panel_col = 0
 
 [actuator_roles]
-"Dome CTRL" = ["NO", 1, 14]
-"Fuel Fill Press" = ["NC", 2, 14]
-"High Press Vent" = ["NC", 3, 14]
-"Fuel Upstream" = ["NC", 1, 12]
-"High Press CTRL" = ["NC", 2, 12]
-"Dome CTRL Vent" = ["NC", 3, 12]
-"Fuel Main" = ["NC", 5, 12]
+"Dome CTRL" = [ "NO", 1, 14 ]
+"Fuel Fill Press" = [ "NC", 2, 14 ]
+"High Press Vent" = [ "NC", 3, 14 ]
+"Fuel Upstream" = [ "NC", 1, 12 ]
+"High Press CTRL" = [ "NC", 2, 12 ]
+"Dome CTRL Vent" = [ "NC", 3, 12 ]
+"Fuel Main" = [ "NC", 5, 12 ]
+
+[calibration_model_pt_board_2]
+"GN2 High" = "physics"
+"Excitation V" = "physics"
+"Dome Mid" = "physics"
+"High Press" = "physics"

From 639f6e26649118696324de80629a92e198830b57 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:28:53 -0700
Subject: [PATCH 160/205] digital-twin state machine rebuilt in the GUI for
 this rig: 12 states (Idle, Armed, Press Standby, Dome Press, COPV Fill, Fuel
 Press, Vent, Dome Vent, High Press Vent, Fuel Tank Vent, Ready, Fire)
 replacing the 20 inherited from the big rig, with all three CSVs regenerated
 to match - actuators, delays and transitions all now 12 columns against the
 same 7 actuator roles, so the sequencer and the panel finally describe the
 same machine. [fire] expiry_target = "Armed" resolves again; it had been
 pointing at a state deleted from the list

Two things this config does that the build pulled in alongside it now has opinions about, recorded here rather than changed:

Armed carries id = 0, which is State::DEBUG in the compiled enum, not ARMED = 2. Everything downstream keys on names and the config's by_name map wins over the CSV, so this is self-consistent - but 785567f4 makes the editor start ids at 1 precisely because 0 is legacy Debug, so a later edit through the GUI will renumber it

No state is flagged is_abort. isAbort() is what fires the physical UDP abort broadcast and what lets a transition skip actuator delays, so with none flagged neither happens. 785567f4 adds an editor warning for exactly this case
---
 .../config/profiles/digital-twin/config.toml  | 51 ++++++++++++-------
 .../state_machine_actuator_delays.csv         | 16 +++---
 .../digital-twin/state_machine_actuators.csv  | 16 +++---
 .../digital-twin/state_transitions.csv        | 34 +++++--------
 4 files changed, 63 insertions(+), 54 deletions(-)

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index 4592ee335..2404bb3e5 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -594,31 +594,48 @@ panel_col = 0
 is_boot = true
 
 [[states]]
-id = 16
-name = "Fire"
-panel_row = 5
-panel_col = 0
+id = 0
+name = "Armed"
 
 [[states]]
-id = 17
-name = "Engine Abort"
-is_abort = true
+id = 2
+name = "Press Standby"
 
 [[states]]
-id = 18
-name = "GSE Abort"
-is_abort = true
+id = 3
+name = "Dome Press"
 
 [[states]]
-id = 19
-name = "Emergency Abort"
-is_abort = true
+id = 4
+name = "COPV Fill"
 
 [[states]]
-id = 20
-name = "Press Standby"
-panel_row = 2
-panel_col = 0
+id = 5
+name = "Fuel Press"
+
+[[states]]
+id = 6
+name = "Vent"
+
+[[states]]
+id = 7
+name = "Dome Vent"
+
+[[states]]
+id = 8
+name = "High Press Vent"
+
+[[states]]
+id = 9
+name = "Fuel Tank Vent"
+
+[[states]]
+id = 10
+name = "Ready"
+
+[[states]]
+id = 11
+name = "Fire"
 
 [actuator_roles]
 "Dome CTRL" = [ "NO", 1, 14 ]
diff --git a/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv b/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
index 933787bcb..db89e7ecb 100644
--- a/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
+++ b/daq-server/config/profiles/digital-twin/state_machine_actuator_delays.csv
@@ -1,8 +1,8 @@
-,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
-Dome CTRL,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-Fuel Fill Press,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-High Press Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-Fuel Upstream,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-High Press CTRL,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-Dome CTRL Vent,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-Fuel Main,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+,Idle,Armed,Press Standby,Dome Press,COPV Fill,Fuel Press,Vent,Dome Vent,High Press Vent,Fuel Tank Vent,Ready,Fire
+Dome CTRL,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Fill Press,0,0,0,0,0,0,0,0,0,0,0,0
+High Press Vent,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Upstream,0,0,0,0,0,0,0,0,0,0,0,0
+High Press CTRL,0,0,0,0,0,0,0,0,0,0,0,0
+Dome CTRL Vent,0,0,0,0,0,0,0,0,0,0,0,0
+Fuel Main,0,0,0,0,0,0,0,0,0,0,0,0
diff --git a/daq-server/config/profiles/digital-twin/state_machine_actuators.csv b/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
index 4ba6366bf..6613f05c9 100644
--- a/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
+++ b/daq-server/config/profiles/digital-twin/state_machine_actuators.csv
@@ -1,8 +1,8 @@
-,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
-Dome CTRL,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-Fuel Fill Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-High Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-Fuel Upstream,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-High Press CTRL,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-Dome CTRL Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
-Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+,Idle,Armed,Press Standby,Dome Press,COPV Fill,Fuel Press,Vent,Dome Vent,High Press Vent,Fuel Tank Vent,Ready,Fire
+Dome CTRL,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Fill Press,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+High Press Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,OPEN,CLOSE,CLOSE,CLOSE
+Fuel Upstream,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN
+High Press CTRL,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE
+Dome CTRL Vent,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN,OPEN,CLOSE,CLOSE,CLOSE,CLOSE
+Fuel Main,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,CLOSE,OPEN
diff --git a/daq-server/config/profiles/digital-twin/state_transitions.csv b/daq-server/config/profiles/digital-twin/state_transitions.csv
index cd8274473..410523585 100644
--- a/daq-server/config/profiles/digital-twin/state_transitions.csv
+++ b/daq-server/config/profiles/digital-twin/state_transitions.csv
@@ -1,21 +1,13 @@
-,Idle,Armed,Fuel Fill,Ox Fill,Press Standby,GN2 Low Press,GN2 Low Vent,Fuel Press,Fuel Vent,Ox Press,Ox Vent,GN2 High Press,GN2 High Vent,Calibrate,Ready,Fire,Vent,Engine Abort,GSE Abort,Emergency Abort
-Idle,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
-Armed,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,1,1
-Fuel Fill,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
-Ox Fill,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
-Press Standby,0,0,0,0,1,1,1,1,1,1,1,1,1,0,0,1,0,1,1
-GN2 Low Press,0,0,0,0,1,1,1,0,1,0,1,0,1,0,0,1,0,1,1
-GN2 Low Vent,0,0,0,0,1,1,1,0,1,0,1,0,1,0,0,1,0,1,1
-Fuel Press,0,0,0,0,1,0,1,1,1,0,1,0,1,0,0,1,0,1,1
-Fuel Vent,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1,1
-Ox Press,0,0,0,0,1,0,1,0,1,1,1,0,1,0,0,1,0,1,1
-Ox Vent,0,0,0,0,1,0,1,0,1,0,1,0,1,0,0,1,0,1,1
-GN2 High Press,0,0,0,0,1,0,1,0,1,0,1,1,1,1,0,0,1,0,1,1
-GN2 High Vent,0,0,0,0,1,0,1,0,1,0,1,1,1,0,0,0,1,0,1,1
-Calibrate,0,0,0,0,1,0,0,0,0,0,0,0,0,1,1,0,1,0,1,1
-Ready,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,0,1,1
-Fire,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,1
-Vent,0,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1
-Engine Abort,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1
-GSE Abort,1,1,0,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,1,1
-Emergency Abort,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
+,Idle,Armed,Press Standby,Dome Press,COPV Fill,Fuel Press,Vent,Dome Vent,High Press Vent,Fuel Tank Vent,Ready,Fire
+Idle,1,1,0,0,0,0,0,0,0,0,0,0
+Armed,1,1,1,0,0,0,1,0,0,0,0,0
+Press Standby,0,0,1,1,1,1,1,1,1,1,1,0
+Dome Press,0,0,1,1,0,0,0,0,0,0,0,0
+COPV Fill,0,0,1,0,1,0,0,0,0,0,0,0
+Fuel Press,0,0,1,0,0,1,0,0,0,0,0,0
+Vent,0,0,1,0,0,0,1,1,1,1,1,0
+Dome Vent,0,0,0,0,0,0,1,1,0,0,0,0
+High Press Vent,0,0,0,0,0,0,1,0,1,0,0,0
+Fuel Tank Vent,0,0,0,0,0,0,1,0,0,1,0,0
+Ready,0,0,0,0,0,0,0,0,0,0,1,1
+Fire,0,1,0,0,0,0,0,0,0,0,0,1

From 4611ad7f21d4419d8157ef8649e761b7587334b0 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:42:47 -0700
Subject: [PATCH 161/205] renumber the digital-twin states 1-12 and give every
 one a panel position. Armed had been id 0, which is State::DEBUG in the C++
 enum and SystemState.DEBUG in the shared one, and the diagram's
 EXCLUDED_STATES holds exactly that id - so Armed was filtered out of the
 panel as though it were the legacy Debug state. Ids now start at 1, matching
 what the editor enforces since 785567f4, and the ten states that carried no
 panel_row/panel_col are placed rather than silently absent

---
 .../config/profiles/digital-twin/config.toml  | 44 ++++++++++++++-----
 1 file changed, 33 insertions(+), 11 deletions(-)

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index 2404bb3e5..ead956f82 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -594,48 +594,70 @@ panel_col = 0
 is_boot = true
 
 [[states]]
-id = 0
+id = 2
 name = "Armed"
+panel_row = 1
+panel_col = 0
 
 [[states]]
-id = 2
+id = 3
 name = "Press Standby"
+panel_row = 2
+panel_col = 0
 
 [[states]]
-id = 3
+id = 4
 name = "Dome Press"
+panel_row = 2
+panel_col = 1
 
 [[states]]
-id = 4
+id = 5
 name = "COPV Fill"
+panel_row = 2
+panel_col = 2
 
 [[states]]
-id = 5
+id = 6
 name = "Fuel Press"
+panel_row = 2
+panel_col = 3
 
 [[states]]
-id = 6
+id = 7
 name = "Vent"
+panel_row = 3
+panel_col = 0
 
 [[states]]
-id = 7
+id = 8
 name = "Dome Vent"
+panel_row = 3
+panel_col = 1
 
 [[states]]
-id = 8
+id = 9
 name = "High Press Vent"
+panel_row = 3
+panel_col = 2
 
 [[states]]
-id = 9
+id = 10
 name = "Fuel Tank Vent"
+panel_row = 3
+panel_col = 3
 
 [[states]]
-id = 10
+id = 11
 name = "Ready"
+panel_row = 4
+panel_col = 0
 
 [[states]]
-id = 11
+id = 12
 name = "Fire"
+panel_row = 4
+panel_col = 1
 
 [actuator_roles]
 "Dome CTRL" = [ "NO", 1, 14 ]

From e822676a073f69c2cff21cb014b3b00edf220b38 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:42:58 -0700
Subject: [PATCH 162/205] the state diagram drew states the config had deleted,
 stacked on top of the ones it declares: lib/states.ts overlaid the config
 list onto a complete built-in 20-state table instead of replacing it, so a
 config declaring ids 1-12 left built-in 13-20 standing with their built-in
 panel cells, and StateMachineDiagram enumerated the compiled SystemState enum
 rather than that list - drawing every id that could still find a position.
 Built-in Calibrate (id 14, cell 4,0) landed on the rig's own Ready, built-in
 Ready (15, 4,1) on its Fire, and built-in Vent and Press Standby on their
 namesakes

Split the two questions the overlay was conflating. "What is state 14 called?" is asked of ids read back from Elodin run history, which can name a state the current config no longer declares, so that lookup still falls back to the built-in table and an old run decodes to "Calibrate" rather than "STATE 14". "Which states exist?" is answered by the config alone. The diagram then enumerates allStates(), and drops aborts by their is_abort flag instead of hardcoded ids 17/18/19 - nothing is excluded by id any more, which is what had hidden a state declared at id 0
---
 .../controls/StateMachineDiagram.tsx          | 25 +++++++++++--------
 .../diablo_server/frontend/lib/states.ts      | 16 +++++++++---
 2 files changed, 27 insertions(+), 14 deletions(-)

diff --git a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
index 002eaf397..1e997c384 100644
--- a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
+++ b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
@@ -337,9 +337,9 @@ export default function StateMachineDiagram() {
     ALWAYS_REACHABLE.forEach(s => set.add(s));
     // In debug mode, all non-excluded states are reachable
     if (debugMode) {
-      Object.values(SystemState)
-        .filter((s) => typeof s === 'number' && !EXCLUDED_STATES.has(s as SystemState))
-        .forEach((s) => set.add(s as SystemState));
+      allStates()
+        .filter((s) => !s.isAbort)
+        .forEach((s) => set.add(s.id as SystemState));
     }
     return set;
   }, [effectiveState, transitions, debugMode]);
@@ -359,13 +359,18 @@ export default function StateMachineDiagram() {
     s => s !== effectiveState && statePos(s) !== undefined,
   );
 
-  // Filter out excluded states from rendering
-  // Only states the config gives a position to are drawn. Enumerating the SystemState enum and
-  // relying on EXCLUDED_STATES alone meant anything without a position still rendered — at [0, 0],
-  // on top of Idle.
-  const states = (Object.values(SystemState).filter(
-    (s) => typeof s === 'number' && !EXCLUDED_STATES.has(s as SystemState) && hasPos(s as SystemState)
-  ) as SystemState[]);
+  // Draw the states the CONFIG declares, not the ones the compiled SystemState enum happens to
+  // contain. Enumerating the enum drew every id 0-20 that could still find a position, so a rig
+  // that renamed its states kept rendering the built-in ones underneath — Calibrate (id 14, cell
+  // 4,0) landing on top of a config whose Ready also sits at (4,0).
+  //
+  // Aborts drop out by their config flag rather than by hardcoded id 17/18/19: they are reached
+  // from the emergency arrows, not placed on the grid. Nothing is excluded by id any more, which
+  // is what hid a state the operator put at id 0 — EXCLUDED_STATES holds SystemState.DEBUG = 0,
+  // so an Armed declared at id 0 was filtered out as though it were the legacy Debug state.
+  const states = allStates()
+    .filter((s) => !s.isAbort && hasPos(s.id as SystemState))
+    .map((s) => s.id as SystemState);
 
   // Derived from the placed states, so adding one in config widens the canvas instead of
   // drawing it off the edge.
diff --git a/daq-server/diablo_server/frontend/lib/states.ts b/daq-server/diablo_server/frontend/lib/states.ts
index d4ef757df..7110d5830 100644
--- a/daq-server/diablo_server/frontend/lib/states.ts
+++ b/daq-server/diablo_server/frontend/lib/states.ts
@@ -66,12 +66,20 @@ let inFlight: Promise<StateDef[]> | null = null;
 
 function adopt(next: StateDef[]): StateDef[] {
   if (next.length === 0) return states;
-  // Overlay rather than replace, matching the C++ side: anything the config omits keeps its
-  // built-in label instead of becoming an unnamed id.
-  const merged = new Map<number, StateDef>(byId);
+  // Two different questions, two different answers, which this used to conflate.
+  //
+  // "What is state 14 called?" is asked of ids read back from Elodin run history, which may name
+  // a state the current config no longer declares. That lookup still overlays config onto the
+  // built-in table, so an old run decodes to "Calibrate" instead of "STATE 14".
+  //
+  // "Which states exist?" is asked by the diagram and the panel, and there the overlay was wrong:
+  // a config declaring ids 1-12 left built-in 13-20 standing, each keeping its built-in panel
+  // position. A rig whose own Ready sits at (4,0) then drew built-in Calibrate in the same cell.
+  // The config is the whole list of states that exist; anything it drops is gone.
+  const merged = new Map<number, StateDef>(BUILT_IN_BY_ID);
   for (const s of next) merged.set(s.id, s);
   byId = merged;
-  states = [...merged.values()].sort((a, b) => a.id - b.id);
+  states = [...next].sort((a, b) => a.id - b.id);
   loaded = true;
   return states;
 }

From 46ba0c87ac7d40eee121d421ae507af0e4403a69 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 15:43:09 -0700
Subject: [PATCH 163/205] pressing Vent could have commanded Fuel Press: the
 GUI sends a [[states]] id and server.ts turned it back into a name with the
 compiled SystemState enum plus STATE_TO_CSV_NAME, never the config the
 sequencer actually loaded. Those two tables only agree on a rig that never
 renumbered its states. On this one they diverge from id 3 up, so ten of
 twelve buttons sent another state's name - nine of them names this config
 does not define, which fromName() resolves to UNKNOWN and the sequencer
 refuses, and one that it does: id 7 is Vent here and FUEL_PRESS in the enum,
 so TRANSITION:Fuel Press would have resolved to a real state and run. A vent
 request executing a press is not worth keeping a fallback for

Resolve the id through readConfig()'s [[states]] first, enum second. Read per command rather than cached, because a profile can be redeployed under a running backend and a cache would go on commanding the previous rig's names. The same enum lookup labelled three display paths, including the actuator-mismatch warning, which would have named Fuel Press while the rig sat in Vent
---
 .../diablo_server/backend/src/server.ts       | 32 ++++++++++++++++---
 1 file changed, 28 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index b05da4cdf..3e10849ff 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -108,6 +108,23 @@ function safeReadConfigForGui(): unknown {
   try { return readConfig(); } catch { return null; }
 }
 
+/**
+ * Name of a state id as the ACTIVE config declares it, or null if the config declares no [[states]]
+ * (or not this id). Read per command rather than cached: transitions are operator-paced, and a
+ * profile can be redeployed under a running backend, in which case a cache would keep commanding
+ * the previous rig's names.
+ */
+function configStateName(id: number): string | null {
+  try {
+    const raw = (readConfig() as any)?.states;
+    if (!Array.isArray(raw)) return null;
+    const hit = raw.find((e: any) => e?.id === id && typeof e?.name === 'string');
+    return hit ? (hit.name as string) : null;
+  } catch {
+    return null;
+  }
+}
+
 /** Re-read [gui] settings after a config save (wired via onConfigUpdated). */
 function reloadGuiStreamConfig(): void {
   const next = parseGuiStreamConfig(safeReadConfigForGui());
@@ -340,7 +357,7 @@ function checkActuatorMismatch(state: SystemState): void {
 
   const key = 'actuator_mismatch';
   if (mismatched.length > 0) {
-    const stateName = SystemState[state] ?? 'UNKNOWN';
+    const stateName = configStateName(state) ?? SystemState[state] ?? 'UNKNOWN';
     const msg = `Actuator mismatch in ${stateName}: ${mismatched.join(', ')}`;
     console.warn(`[ThinServer] ⚠️ ${msg}`);
     broadcastNotification({ key, category: 'warning', message: msg, timestampMs: now, ongoing: true });
@@ -744,7 +761,7 @@ wss.on('connection', (ws: WebSocket, req) => {
   // Current state
   send(ws, {
     type: MessageType.STATE_UPDATE, timestamp: Date.now(),
-    payload: { currentState, stateName: SystemState[currentState] ?? 'UNKNOWN', timestamp: Date.now(), debugMode },
+    payload: { currentState, stateName: configStateName(currentState) ?? SystemState[currentState] ?? 'UNKNOWN', timestamp: Date.now(), debugMode },
   });
   outboundMessages++;
   lastOutboundAt = Date.now();
@@ -891,7 +908,7 @@ function handleMessage(ws: WebSocket, message: any): void {
 function broadcastStateUpdate(): void {
   broadcast({
     type: MessageType.STATE_UPDATE, timestamp: Date.now(),
-    payload: { currentState, stateName: SystemState[currentState] ?? 'UNKNOWN', timestamp: Date.now(), debugMode },
+    payload: { currentState, stateName: configStateName(currentState) ?? SystemState[currentState] ?? 'UNKNOWN', timestamp: Date.now(), debugMode },
   });
 }
 
@@ -909,7 +926,14 @@ function handleCommand(ws: WebSocket, command: CommandPayload): void {
     case 'state_transition': {
       const targetState = command.data.state!;
       const stateName = SystemState[targetState] ?? String(targetState);
-      const csvName = STATE_TO_CSV_NAME[stateName] ?? stateName;
+      // Resolve the id through the config the sequencer itself loaded, not the compiled enum.
+      // The GUI sends a [[states]] id; SystemState is a fixed table that only agrees with it on a
+      // rig that never renumbered. On one that did, every id from the first divergence up named a
+      // different state: id 7 is Vent in config and FUEL_PRESS in the enum, so pressing Vent sent
+      // TRANSITION:Fuel Press — and because Fuel Press is a real state here, fromName() resolved
+      // it and the sequencer would have run it. A vent request executing a press is not a failure
+      // mode worth keeping for the sake of a fallback.
+      const csvName = configStateName(targetState) ?? STATE_TO_CSV_NAME[stateName] ?? stateName;
       // No optimistic update — real state/actuator positions arrive via _SEQUENCER_STATE [0x50]
       // and [0x32] packets from Elodin. FIRE_START/FIRE_STOP are sent from the subscriber path.
       sendToActuatorService(`TRANSITION:${csvName}\n`).then(({ ok, reply }) => {

From 535749126991f423c93464a5b4f81c1f6ed2a180 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 16:03:07 -0700
Subject: [PATCH 164/205] one config-backed name -> id map for both state CSV
 parsers, replacing the copy each carried. The CSVs are written by the config
 editor against [[states]], so a fixed name -> SystemState table only agrees
 with them on a rig that never renamed or renumbered. This rig's 12-state CSV
 parsed to ids 1, 2, 7, 13, 15, 16, 20, with the five states whose names the
 table had never heard of dropped outright - 19 transitions instead of 37, and
 an actuator map missing five states. The GUI matched those ids against its
 own config ids, found 1 and 2 in common, and every button except Idle <->
 Armed failed its gate silently, which is the bug that was actually being
 chased

When the config declares states it is the whole authority: a name it does not declare must not fall through to a legacy id, which is the same mismatch in a quieter form. The legacy table survives in state-ids.ts for a config that declares no [[states]] at all. Two copies of a wrong table is how this recurred, so there is one now, and the debug logs label ids from the same map they came from rather than from the enum - they were printing FUEL_FILL for a row describing Press Standby
---
 .../backend/src/legacy/state-actuators.ts     | 42 +++--------
 .../backend/src/legacy/state-ids.ts           | 74 +++++++++++++++++++
 .../backend/src/legacy/state-transitions.ts   | 43 +++--------
 3 files changed, 95 insertions(+), 64 deletions(-)
 create mode 100644 daq-server/diablo_server/backend/src/legacy/state-ids.ts

diff --git a/daq-server/diablo_server/backend/src/legacy/state-actuators.ts b/daq-server/diablo_server/backend/src/legacy/state-actuators.ts
index 3cfb2108c..26358a74c 100644
--- a/daq-server/diablo_server/backend/src/legacy/state-actuators.ts
+++ b/daq-server/diablo_server/backend/src/legacy/state-actuators.ts
@@ -9,6 +9,7 @@ import { join, dirname } from 'path';
 import { fileURLToPath } from 'url';
 import { SystemState } from '../../../shared/types.js';
 import { readConfig } from '../routes/config.js';
+import { csvStateMap } from './state-ids.js';
 
 // ES module __dirname equivalent
 const __filename = fileURLToPath(import.meta.url);
@@ -80,36 +81,6 @@ export const CSV_ACTUATOR_TO_ENTITY = buildActuatorEntityMap();
 
 // CSV_ACTUATOR_TO_ENTITY is now built from config above (exported)
 
-// CSV state name → SystemState enum mapping (new format)
-const CSV_STATE_MAP: Record<string, SystemState> = {
-  'Debug': SystemState.DEBUG,
-  'Idle': SystemState.IDLE,
-  'Armed': SystemState.ARMED,
-  'Fuel Fill': SystemState.FUEL_FILL,
-  'Ox Fill': SystemState.OX_FILL,
-  'Press Standby': SystemState.PRESS_STANDBY, // Press Standby is a separate state
-  'GN2 Low Press': SystemState.GN2_LOW_PRESS,
-  'GN2 Low Vent': SystemState.GN2_VENT,
-  'Fuel Press': SystemState.FUEL_PRESS,
-  'Fuel Vent': SystemState.FUEL_VENT,
-  'Ox Press': SystemState.OX_PRESS,
-  'Ox Vent': SystemState.OX_VENT,
-  'GN2 High Press': SystemState.GN2_HIGH_PRESS,
-  'GN2 High Vent': SystemState.GN2_HIGH_VENT,
-  'Calibrate': SystemState.CALIBRATE,
-  'Ready': SystemState.READY,
-  'Fire': SystemState.FIRE,
-  'Vent': SystemState.VENT,
-  'Engine Abort': SystemState.ENGINE_ABORT,
-  'GSE Abort': SystemState.GSE_ABORT,
-  'Emergency Abort': SystemState.EMERGENCY_ABORT,
-  // Legacy mappings
-  'GN2 Press': SystemState.GN2_LOW_PRESS, // Old name for GN2 Low Press
-  'GN2 Vent': SystemState.GN2_VENT, // Old name for GN2 Low Vent
-  'Quick Fire': SystemState.READY,
-  'High Press': SystemState.GN2_HIGH_PRESS,
-  'Abort': SystemState.EMERGENCY_ABORT,
-};
 
 /**
  * StateActuatorMap: SystemState → { actuatorName → 0|1 (CLOSED|OPEN) }
@@ -218,6 +189,7 @@ export function parseStateActuatorsCSV(csvPath: string): StateActuatorMap {
 
     // First line is header: ,Idle,Armed,Fuel Fill,...
     const headers = lines[0].split(',').slice(1).map(h => h.trim()); // Skip first empty cell
+    const stateMap = csvStateMap();
 
     let actuatorCount = 0;
 
@@ -251,7 +223,7 @@ export function parseStateActuatorsCSV(csvPath: string): StateActuatorMap {
           continue;
         }
 
-        const systemState = CSV_STATE_MAP[stateName];
+        const systemState = stateMap[stateName];
         if (systemState === undefined) {
           console.warn(`⚠️ Unknown state name: "${stateName}"`);
           continue;
@@ -275,12 +247,18 @@ export function parseStateActuatorsCSV(csvPath: string): StateActuatorMap {
 
     console.log(`📋 Parsed state actuator map: ${Object.keys(result).length} states`);
     console.log(`📋 Found ${actuatorCount} actuators in CSV`);
+    const nameById: Record<number, string> = {};
+    for (const [n, id] of Object.entries(csvStateMap())) nameById[id as number] = n;
     for (const [state, actuators] of Object.entries(result)) {
       const count = Object.keys(actuators).length;
       const actuatorList = Object.entries(actuators)
         .map(([name, val]) => `${name}=${val ? 'OPEN' : 'CLOSE'}`)
         .join(', ');
-      console.log(`   State ${SystemState[Number(state)]}: ${count} actuators (${actuatorList})`);
+      // Label from the same map the ids came from. Printing SystemState[id] here named a
+      // different state than the row actually described, which is precisely the confusion this
+      // whole class of bug creates.
+      const label = nameById[Number(state)] ?? SystemState[Number(state)] ?? `STATE ${state}`;
+      console.log(`   State ${label}: ${count} actuators (${actuatorList})`);
     }
     return result;
   } catch (error) {
diff --git a/daq-server/diablo_server/backend/src/legacy/state-ids.ts b/daq-server/diablo_server/backend/src/legacy/state-ids.ts
new file mode 100644
index 000000000..3113fff7e
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/legacy/state-ids.ts
@@ -0,0 +1,74 @@
+/**
+ * One name -> id map for the state-machine CSVs, built from the active config.
+ *
+ * Both CSV parsers used to carry their own copy of a fixed name -> SystemState table. The CSVs are
+ * written by the config editor against [[states]], so the two agree only on a rig that never
+ * renamed or renumbered a state — and when they diverged the parsers silently produced ids from a
+ * numbering nothing else used. A 12-state rig parsed to ids 1, 2, 7, 13, 15, 16, 20, with the five
+ * states whose names the fixed table had never heard of dropped entirely. The GUI matched those
+ * against its own config ids, found 1 and 2 in common, and every button but Idle <-> Armed failed
+ * a gate with no error anywhere.
+ *
+ * Two copies of a wrong table is how that recurred, so there is one now.
+ */
+
+import { SystemState } from '../../../shared/types.js';
+import { readConfig } from '../routes/config.js';
+
+/**
+ * Fallback for a config that declares no [[states]] — the historical table, including the legacy
+ * aliases the older CSVs were written with.
+ */
+export const LEGACY_CSV_STATE_MAP: Record<string, SystemState> = {
+  'Debug': SystemState.DEBUG,
+  'Idle': SystemState.IDLE,
+  'Armed': SystemState.ARMED,
+  'Fuel Fill': SystemState.FUEL_FILL,
+  'Ox Fill': SystemState.OX_FILL,
+  'Press Standby': SystemState.PRESS_STANDBY,
+  'GN2 Low Press': SystemState.GN2_LOW_PRESS,
+  'GN2 Low Vent': SystemState.GN2_VENT,
+  'Fuel Press': SystemState.FUEL_PRESS,
+  'Fuel Vent': SystemState.FUEL_VENT,
+  'Ox Press': SystemState.OX_PRESS,
+  'Ox Vent': SystemState.OX_VENT,
+  'GN2 High Press': SystemState.GN2_HIGH_PRESS,
+  'GN2 High Vent': SystemState.GN2_HIGH_VENT,
+  'Vent': SystemState.VENT,
+  'Calibrate': SystemState.CALIBRATE,
+  'Ready': SystemState.READY,
+  'Fire': SystemState.FIRE,
+  'Engine Abort': SystemState.ENGINE_ABORT,
+  'GSE Abort': SystemState.GSE_ABORT,
+  'Emergency Abort': SystemState.EMERGENCY_ABORT,
+  // Legacy names still found in older CSVs.
+  'GN2 Press': SystemState.GN2_LOW_PRESS,
+  'GN2 Vent': SystemState.GN2_VENT,
+  'Quick Fire': SystemState.READY,
+  'High Press': SystemState.GN2_HIGH_PRESS,
+  'Abort': SystemState.EMERGENCY_ABORT,
+};
+
+/**
+ * Name -> id for the states the active config declares; the legacy table only when it declares
+ * none. When the config declares states it is the whole authority: a name it does not declare must
+ * NOT fall through to a legacy id, which is the same mismatch in a quieter form.
+ *
+ * Read per call rather than cached — a profile can be redeployed under a running backend, and a
+ * cache would go on parsing the previous rig's numbering.
+ */
+export function csvStateMap(): Record<string, SystemState> {
+  try {
+    const raw = (readConfig() as any)?.states;
+    if (Array.isArray(raw)) {
+      const m: Record<string, SystemState> = {};
+      for (const e of raw) {
+        if (typeof e?.id === 'number' && typeof e?.name === 'string') m[e.name] = e.id as SystemState;
+      }
+      if (Object.keys(m).length > 0) return m;
+    }
+  } catch {
+    /* fall through to the legacy table */
+  }
+  return LEGACY_CSV_STATE_MAP;
+}
diff --git a/daq-server/diablo_server/backend/src/legacy/state-transitions.ts b/daq-server/diablo_server/backend/src/legacy/state-transitions.ts
index 6d78a8ce7..77abb7e61 100644
--- a/daq-server/diablo_server/backend/src/legacy/state-transitions.ts
+++ b/daq-server/diablo_server/backend/src/legacy/state-transitions.ts
@@ -7,45 +7,18 @@ import { join, dirname } from 'path';
 import { fileURLToPath } from 'url';
 import { SystemState } from '../shared-types.js';
 import { readConfig } from '../routes/config.js';
+import { csvStateMap } from './state-ids.js';
 
 const __filename = fileURLToPath(import.meta.url);
 const __dirname = dirname(__filename);
 
-const CSV_STATE_MAP: Record<string, SystemState> = {
-  'Debug': SystemState.DEBUG,
-  'Idle': SystemState.IDLE,
-  'Armed': SystemState.ARMED,
-  'Fuel Fill': SystemState.FUEL_FILL,
-  'Ox Fill': SystemState.OX_FILL,
-  'Press Standby': SystemState.PRESS_STANDBY, // Press Standby is a separate state
-  'GN2 Low Press': SystemState.GN2_LOW_PRESS,
-  'GN2 Low Vent': SystemState.GN2_VENT,
-  'Fuel Press': SystemState.FUEL_PRESS,
-  'Fuel Vent': SystemState.FUEL_VENT,
-  'Ox Press': SystemState.OX_PRESS,
-  'Ox Vent': SystemState.OX_VENT,
-  'GN2 High Press': SystemState.GN2_HIGH_PRESS,
-  'GN2 High Vent': SystemState.GN2_HIGH_VENT,
-  'Vent': SystemState.VENT,
-  'Calibrate': SystemState.CALIBRATE,
-  'Ready': SystemState.READY,
-  'Fire': SystemState.FIRE,
-  'Engine Abort': SystemState.ENGINE_ABORT,
-  'GSE Abort': SystemState.GSE_ABORT,
-  'Emergency Abort': SystemState.EMERGENCY_ABORT,
-  // Legacy mappings
-  'GN2 Press': SystemState.GN2_LOW_PRESS, // Old name
-  'GN2 Vent': SystemState.GN2_VENT, // Old name
-  'Quick Fire': SystemState.READY,
-  'High Press': SystemState.GN2_HIGH_PRESS,
-  'Abort': SystemState.EMERGENCY_ABORT,
-};
 
 interface Transition {
   from: SystemState;
   to: SystemState;
 }
 
+
 export function parseStateTransitionsCSV(csvPath: string): Transition[] {
   try {
     const csvContent = readFileSync(csvPath, 'utf-8');
@@ -58,12 +31,13 @@ export function parseStateTransitionsCSV(csvPath: string): Transition[] {
     // First line is header: ,Idle,Armed,...
     const headers = lines[0].split(',').slice(1); // Skip first empty cell
     const transitions: Transition[] = [];
+    const stateMap = csvStateMap();
 
     // Parse each row (skip header)
     for (let i = 1; i < lines.length; i++) {
       const row = lines[i].split(',');
       const fromStateName = row[0].trim();
-      const fromState = CSV_STATE_MAP[fromStateName];
+      const fromState = stateMap[fromStateName];
 
       if (fromState === undefined && fromStateName !== '') {
         continue; // Skip unknown states
@@ -76,7 +50,7 @@ export function parseStateTransitionsCSV(csvPath: string): Transition[] {
         if (row[j].trim() === '1') {
           const toStateName = headers[j - 1]?.trim();
           if (!toStateName) continue;
-          const toState = CSV_STATE_MAP[toStateName];
+          const toState = stateMap[toStateName];
 
           if (toState !== undefined && fromState !== undefined) {
             transitions.push({ from: fromState, to: toState });
@@ -156,9 +130,14 @@ export function buildTransitionMap(): Map<SystemState, Set<SystemState>> {
   }
 
   console.log(`📋 Built transition map: ${transitions.length} allowed transitions`);
+  // Label from the same map the ids came from — SystemState[id] here would name a different
+  // state than the row describes, which is the confusion this class of bug creates.
+  const nameById: Record<number, string> = {};
+  for (const [n, id] of Object.entries(csvStateMap())) nameById[id as number] = n;
+  const nm = (id: number) => nameById[id] ?? SystemState[id] ?? `STATE ${id}`;
   // Debug: log all transitions
   for (const [from, allowed] of _transitionMap.entries()) {
-    console.log(`   ${SystemState[from]}: can go to [${Array.from(allowed).map(s => SystemState[s]).join(', ')}]`);
+    console.log(`   ${nm(from)}: can go to [${Array.from(allowed).map(s => nm(s)).join(', ')}]`);
   }
   return _transitionMap;
 }

From 20d4ef00d1417481e3df1387be5aa8228697b76d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 16:03:24 -0700
Subject: [PATCH 165/205] backend: stop answering "which state is this" from
 the compiled enum. /api/states now carries isFire, resolved from [fire].state
 by name, so a client never has to know an id to recognise the burn; the
 backend's own boot state comes from is_boot in [[states]] rather than a bare
 SystemState.IDLE, which named a different state on a renumbered rig and left
 it reporting and mismatch-checking against the wrong one until the first
 sequencer packet landed; and the transition log labels its target from
 config. The enum remains only as the fallback for naming an id the config
 does not declare, which is what decoding a historic run needs

---
 .../diablo_server/backend/src/api-server.ts   |  6 ++++++
 .../diablo_server/backend/src/server.ts       | 21 +++++++++++++++++--
 2 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index b0573283a..dd06f4b66 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -426,6 +426,11 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         try {
           const cfg = readActiveProfile();
           const raw = Array.isArray((cfg as any)?.states) ? (cfg as any).states : [];
+          // Which state is the burn is [fire].state, a name — the GUI used to answer this with
+          // `currentState === SystemState.FIRE`, a literal 16, so on a rig whose Fire is any other
+          // id the Extend Fire button stayed disabled through the burn and the PWM page refused to
+          // send. Carry it beside isAbort so the client never has to know an id.
+          const fireStateName = typeof (cfg as any)?.fire?.state === 'string' ? (cfg as any).fire.state : null;
           const states = raw
             .filter((e: any) => typeof e?.id === 'number' && typeof e?.name === 'string')
             .map((e: any) => ({
@@ -433,6 +438,7 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
               name: e.name,
               isAbort: e.is_abort === true,
               isBoot: e.is_boot === true,
+              isFire: fireStateName !== null && e.name === fireStateName,
               // Absent coordinates mean "not on the control panel" — no separate hidden flag.
               panelRow: typeof e.panel_row === 'number' ? e.panel_row : null,
               panelCol: typeof e.panel_col === 'number' ? e.panel_col : null,
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 3e10849ff..5e3272b4d 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -574,7 +574,24 @@ const stats = {
 };
 
 // ── Local state (sequencer / actuator_service authoritative) ────────────────
-let currentState: SystemState = SystemState.IDLE;
+/** Boot state id from the config's [[states]] (is_boot), or IDLE if none is flagged. This was a
+ *  bare SystemState.IDLE — a literal 1 — which names a different state on a rig that renumbered,
+ *  so the backend reported and mismatch-checked against the wrong state until the first
+ *  _SEQUENCER_STATE packet arrived. */
+function configBootStateId(): SystemState {
+  try {
+    const raw = (readConfig() as any)?.states;
+    if (Array.isArray(raw)) {
+      const boot = raw.find((e: any) => e?.is_boot === true && typeof e?.id === 'number');
+      if (boot) return boot.id as SystemState;
+    }
+  } catch {
+    /* fall through */
+  }
+  return SystemState.IDLE;
+}
+
+let currentState: SystemState = configBootStateId();
 let debugMode = false;
 
 // ── HTTP + WebSocket server ──────────────────────────────────────────────────
@@ -925,7 +942,7 @@ function handleCommand(ws: WebSocket, command: CommandPayload): void {
   switch (command.commandType) {
     case 'state_transition': {
       const targetState = command.data.state!;
-      const stateName = SystemState[targetState] ?? String(targetState);
+      const stateName = configStateName(targetState) ?? SystemState[targetState] ?? String(targetState);
       // Resolve the id through the config the sequencer itself loaded, not the compiled enum.
       // The GUI sends a [[states]] id; SystemState is a fixed table that only agrees with it on a
       // rig that never renumbered. On one that did, every id from the first divergence up named a

From f4fce4188fb6dbd691f4c3a222dd443b708b0968 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 16:03:24 -0700
Subject: [PATCH 166/205] frontend: the abort buttons could not fire on this
 rig. Engine Abort, GSE Abort and Emergency Abort sent
 SystemState.ENGINE_ABORT / GSE_ABORT / EMERGENCY_ABORT - literals 17, 18, 19
 - and the engine-abort vent step sent VENT, 13. A config on any other
 numbering has none of those ids, so the command resolved to nothing and the
 button did nothing, with no error and no visible difference from a press that
 worked. Worse, the vent step's 13 fell through the backend's legacy naming to
 "Vent", which this config does define, so the sequence half-executed: it
 vented, then the abort itself silently went nowhere. Resolve every abort
 target by name from [[states]], and log an error when the config declares no
 such state rather than sending an id nobody claims

Also removed rather than repaired: STATIC_TRANSITIONS, a 77-entry graph transcribed from PressureStateMachine.cpp and kept as a "permanent fallback so arrows are always visible" - on a renumbered rig its pairs name other states, so it showed a different rig's transitions while looking perfectly populated, and no graph beats a wrong graph. EXCLUDED_STATES and ALWAYS_REACHABLE go with it, the first being what hid a state declared at id 0. Fire is now isFireState() from config, so Extend Fire enables during the burn and the PWM page stops refusing in it; state colours key on isFire/isAbort; currentState starts null instead of asserting Idle before the rig has reported anything

The suite leaned on the deleted fallback - it subscribed for transitions and never delivered any, so the graph it exercised was the enum's rather than one a rig runs. It now delivers a graph the way the backend does
---
 .../__tests__/StateMachineDiagram.test.tsx    |  14 +-
 .../frontend/app/controller/page.tsx          |  11 +-
 .../plots/solenoid-characterization/page.tsx  |   3 +-
 .../controls/StateMachineDiagram.tsx          | 135 +++---------------
 .../components/dashboard/IpadDashboard.tsx    |   5 +-
 .../dashboard/LivestreamStatsPane.tsx         |   3 +-
 .../components/dashboard/MobileDashboard.tsx  |  22 ++-
 .../frontend/components/dashboard/TopBar.tsx  |  33 +++--
 .../components/dashboard/UnifiedDashboard.tsx |   5 +-
 .../diablo_server/frontend/lib/states.ts      |  74 +++++++---
 .../diablo_server/frontend/lib/store.ts       |   5 +-
 11 files changed, 147 insertions(+), 163 deletions(-)

diff --git a/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx b/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx
index f0613fd1b..a0fe495ca 100644
--- a/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx
+++ b/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx
@@ -35,7 +35,19 @@ vi.mock('uplot', () => {
 
 describe('StateMachineDiagram', () => {
     let mockSendCommand = vi.fn();
-    let mockOn = vi.fn(() => vi.fn()); // returns unsub function
+
+    // The backend is the only source of the transition graph now. There used to be a hardcoded
+    // STATIC_TRANSITIONS fallback in the component, and this suite leaned on it — it subscribed
+    // but never delivered a payload, so the graph the test exercised was the compiled enum's, not
+    // one any rig actually runs. Deliver the graph the way the real backend does.
+    const BACKEND_TRANSITIONS = [
+        { from: SystemState.IDLE, to: SystemState.ARMED },
+        { from: SystemState.ARMED, to: SystemState.IDLE },
+    ];
+    let mockOn = vi.fn((event: string, handler: (payload: unknown) => void) => {
+        if (event === 'state_transitions') handler({ transitions: BACKEND_TRANSITIONS });
+        return vi.fn(); // unsub
+    });
 
     beforeEach(() => {
         vi.clearAllMocks();
diff --git a/daq-server/diablo_server/frontend/app/controller/page.tsx b/daq-server/diablo_server/frontend/app/controller/page.tsx
index 817209b66..173a65e8b 100644
--- a/daq-server/diablo_server/frontend/app/controller/page.tsx
+++ b/daq-server/diablo_server/frontend/app/controller/page.tsx
@@ -8,7 +8,7 @@ import { useActuatorsFromConfig } from '@/lib/actuators-from-config';
 import { MessageType, SystemState } from '@/lib/types';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { getEntityColor } from '@/lib/sensor-colors';
-import { stateNameUpper } from '@/lib/states';
+import { stateNameUpper, stateName, isFireState, isAbortState } from '@/lib/states';
 
 const LBF_TO_N = 4.44822;
 
@@ -140,9 +140,12 @@ export default function ControllerPage() {
         <div className="flex items-center gap-4">
           <div className="flex items-center gap-2 text-xs bg-gray-900 rounded px-3 py-1.5 border border-gray-800">
             <span className="text-text-muted">STATE:</span>
-            <span className={`font-mono font-bold ${currentState === SystemState.FIRE ? 'text-red-400' :
-                currentState === SystemState.READY ? 'text-green-400' :
-                  currentState === SystemState.ABORT ? 'text-red-500' :
+            {/* Colour by what the state IS, not by a compiled id — SystemState.FIRE is 16 and this
+                rig's Fire is 12, so the burn rendered in plain text while some unrelated state
+                got the red. Ready has no flag of its own, so it stays a name match. */}
+            <span className={`font-mono font-bold ${isFireState(currentState) ? 'text-red-400' :
+                isAbortState(currentState) ? 'text-red-500' :
+                  stateName(currentState) === 'Ready' ? 'text-green-400' :
                     'text-text'
               }`}>
               {currentState !== null ? stateNameUpper(currentState) : '---'}
diff --git a/daq-server/diablo_server/frontend/app/plots/solenoid-characterization/page.tsx b/daq-server/diablo_server/frontend/app/plots/solenoid-characterization/page.tsx
index b28fbd8af..75d454d83 100644
--- a/daq-server/diablo_server/frontend/app/plots/solenoid-characterization/page.tsx
+++ b/daq-server/diablo_server/frontend/app/plots/solenoid-characterization/page.tsx
@@ -8,6 +8,7 @@ import { useSensorStore } from '@/lib/store';
 import { MessageType, SystemState } from '@/lib/types';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { getEntityColor } from '@/lib/sensor-colors';
+import { isFireState } from '@/lib/states';
 
 const DUTY_MIN = 0;
 const DUTY_MAX = 100;
@@ -36,7 +37,7 @@ export default function SolenoidCharacterizationPage() {
         s.calEntity.startsWith('PT.')) &&
       !s.calEntity.includes('RTD')
   );
-  const canSendPwm = debugMode || currentState === SystemState.FIRE;
+  const canSendPwm = debugMode || isFireState(currentState);
 
   useEffect(() => {
     if (actuators.length > 0 && !actuatorName) {
diff --git a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
index 1e997c384..90301e922 100644
--- a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
+++ b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
@@ -5,18 +5,11 @@ import { getWebSocketClient } from '@/lib/websocket';
 import { SystemState, CommandPayload, MessageType } from '@/lib/types';
 import { useEffect, useState, useMemo } from 'react';
 import { useControlMode } from '@/lib/control-mode';
-import { allStates, loadStates, stateNameUpper } from '@/lib/states';
+import { allStates, loadStates, stateNameUpper, bootStateId } from '@/lib/states';
 import { getApiBaseUrl } from '@/lib/websocket';
 
 
 // States to exclude from diagram rendering
-const EXCLUDED_STATES = new Set([
-  SystemState.DEBUG,
-  SystemState.ENGINE_ABORT,
-  SystemState.GSE_ABORT,
-  SystemState.EMERGENCY_ABORT,
-]);
-
 const NW = 320; // node width
 const NH = 115; // node height
 const COLS_FALLBACK = 5;
@@ -42,104 +35,17 @@ function statePos(state: SystemState): [number, number] | undefined {
 }
 
 /**
- * Hardcoded state transitions derived from PressureStateMachine.cpp.
- * Used as the permanent fallback so arrows are always visible even when
- * the backend hasn't loaded the CSV yet.
+ * A transition edge, as the backend parsed it out of state_transitions.csv.
+ *
+ * A hardcoded STATIC_TRANSITIONS graph used to live here, transcribed from
+ * PressureStateMachine.cpp, keyed by the compiled enum and kept as a "permanent fallback so
+ * arrows are always visible". On a rig that renumbered its states those ids name different
+ * states, so the fallback did not show this rig's transitions - it showed another rig's, and
+ * every gate built on it disagreed with the config while looking perfectly populated.
+ * No graph beats a wrong graph.
  */
 interface Transition { from: SystemState; to: SystemState; }
 
-const STATIC_TRANSITIONS: Transition[] = [
-  // Main forward sequence
-  { from: SystemState.IDLE, to: SystemState.ARMED },
-  { from: SystemState.ARMED, to: SystemState.IDLE },
-  { from: SystemState.ARMED, to: SystemState.FUEL_FILL },
-  { from: SystemState.ARMED, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.FUEL_FILL, to: SystemState.ARMED },
-  { from: SystemState.FUEL_FILL, to: SystemState.OX_FILL },
-  { from: SystemState.OX_FILL, to: SystemState.ARMED },
-  { from: SystemState.OX_FILL, to: SystemState.PRESS_STANDBY },
-  // Press Standby can go to all press/vent states
-  { from: SystemState.PRESS_STANDBY, to: SystemState.GN2_LOW_PRESS },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.GN2_VENT },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.FUEL_PRESS },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.FUEL_VENT },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.OX_PRESS },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.OX_VENT },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.GN2_HIGH_PRESS },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.FIRE },
-  { from: SystemState.PRESS_STANDBY, to: SystemState.VENT },
-  // GN2 low-pressure regulation loop
-  { from: SystemState.GN2_LOW_PRESS, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.GN2_LOW_PRESS, to: SystemState.GN2_VENT },
-  { from: SystemState.GN2_LOW_PRESS, to: SystemState.FUEL_PRESS },
-  { from: SystemState.GN2_LOW_PRESS, to: SystemState.OX_PRESS },
-  { from: SystemState.GN2_LOW_PRESS, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.GN2_LOW_PRESS, to: SystemState.FIRE },
-  { from: SystemState.GN2_VENT, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.GN2_VENT, to: SystemState.GN2_LOW_PRESS },
-  { from: SystemState.GN2_VENT, to: SystemState.FUEL_VENT },
-  { from: SystemState.GN2_VENT, to: SystemState.OX_VENT },
-  { from: SystemState.GN2_VENT, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.GN2_VENT, to: SystemState.FIRE },
-  // Fuel pressurisation loop
-  { from: SystemState.FUEL_PRESS, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.FUEL_PRESS, to: SystemState.GN2_VENT },
-  { from: SystemState.FUEL_PRESS, to: SystemState.FUEL_VENT },
-  { from: SystemState.FUEL_PRESS, to: SystemState.OX_PRESS },
-  { from: SystemState.FUEL_PRESS, to: SystemState.OX_VENT },
-  { from: SystemState.FUEL_PRESS, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.FUEL_PRESS, to: SystemState.FIRE },
-  { from: SystemState.FUEL_VENT, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.FUEL_VENT, to: SystemState.GN2_VENT },
-  { from: SystemState.FUEL_VENT, to: SystemState.FUEL_PRESS },
-  { from: SystemState.FUEL_VENT, to: SystemState.OX_VENT },
-  { from: SystemState.FUEL_VENT, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.FUEL_VENT, to: SystemState.FIRE },
-  // Ox pressurisation loop
-  { from: SystemState.OX_PRESS, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.OX_PRESS, to: SystemState.GN2_VENT },
-  { from: SystemState.OX_PRESS, to: SystemState.FUEL_VENT },
-  { from: SystemState.OX_PRESS, to: SystemState.OX_VENT },
-  { from: SystemState.OX_PRESS, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.OX_PRESS, to: SystemState.FIRE },
-  { from: SystemState.OX_VENT, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.OX_VENT, to: SystemState.GN2_VENT },
-  { from: SystemState.OX_VENT, to: SystemState.FUEL_VENT },
-  { from: SystemState.OX_VENT, to: SystemState.OX_PRESS },
-  { from: SystemState.OX_VENT, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.OX_VENT, to: SystemState.FIRE },
-  // GN2 high-pressure regulation loop
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.GN2_VENT },
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.FUEL_VENT },
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.OX_VENT },
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.GN2_HIGH_VENT },
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.CALIBRATE },
-  { from: SystemState.GN2_HIGH_PRESS, to: SystemState.VENT },
-  { from: SystemState.GN2_HIGH_VENT, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.GN2_HIGH_VENT, to: SystemState.GN2_VENT },
-  { from: SystemState.GN2_HIGH_VENT, to: SystemState.FUEL_VENT },
-  { from: SystemState.GN2_HIGH_VENT, to: SystemState.OX_VENT },
-  { from: SystemState.GN2_HIGH_VENT, to: SystemState.GN2_HIGH_PRESS },
-  { from: SystemState.GN2_HIGH_VENT, to: SystemState.VENT },
-  // Calibrate and Ready
-  { from: SystemState.CALIBRATE, to: SystemState.PRESS_STANDBY },
-  { from: SystemState.CALIBRATE, to: SystemState.READY },
-  { from: SystemState.CALIBRATE, to: SystemState.VENT },
-  { from: SystemState.READY, to: SystemState.FIRE },
-  { from: SystemState.READY, to: SystemState.VENT },
-  // Fire and Vent
-  { from: SystemState.FIRE, to: SystemState.IDLE },
-  { from: SystemState.FIRE, to: SystemState.ARMED },
-  { from: SystemState.FIRE, to: SystemState.VENT },
-  { from: SystemState.VENT, to: SystemState.IDLE },
-];
-
-// States reachable from *any* state (emergencies + vent)
-// Note: DEBUG, ENGINE_ABORT, GSE_ABORT, EMERGENCY_ABORT are handled via top bar buttons, not diagram
-const ALWAYS_REACHABLE: SystemState[] = [];
-
 // `?? 0` is deliberate here ONLY as a last resort — callers filter unplaced states out first
 // (hasPos below). Previously nothing filtered, so a state the position map did not know about was
 // drawn at [0, 0], stacked on top of Idle.
@@ -296,18 +202,20 @@ export default function StateMachineDiagram() {
 
   const debugMode = useSensorStore((s) => s.debugMode);
 
-  // Use backend transitions when available, otherwise fall back to hardcoded static transitions
-  const transitions = backendTransitions.length > 0 ? backendTransitions : STATIC_TRANSITIONS;
+  // Backend transitions when available. The hardcoded fallback is keyed by the compiled
+  // SystemState enum, so it is only meaningful while the built-in state list is also in force —
+  // once the config has supplied its own ids those pairs name different states, and offering them
+  // is worse than offering nothing.
+  const transitions = backendTransitions;
 
   const sendStateTransition = (targetState: SystemState) => {
     if (!controlEnabled) return;
-    const effectiveState = currentState ?? SystemState.IDLE;
+    const effectiveState = currentState ?? bootStateId() ?? -1;
     const isAllowed = transitions.some(t => t.from === effectiveState && t.to === targetState);
-    const isEmergency = ALWAYS_REACHABLE.includes(targetState);
     const isInDebugMode = debugMode;
 
     // In debug mode, allow any transition
-    if (!isAllowed && !isEmergency && !isInDebugMode && effectiveState !== targetState) {
+    if (!isAllowed && !isInDebugMode && effectiveState !== targetState) {
       console.warn(`⚠️ Invalid transition: ${stateNameUpper(effectiveState)} → ${stateNameUpper(targetState)}`);
       alert(`Invalid transition: Cannot go from ${stateNameUpper(effectiveState)} to ${stateNameUpper(targetState)}`);
       return;
@@ -325,7 +233,7 @@ export default function StateMachineDiagram() {
     ws.sendCommand(command);
   };
 
-  const effectiveState = currentState ?? SystemState.IDLE;
+  const effectiveState = currentState ?? bootStateId() ?? -1;
 
   const reachableStates = useMemo(() => {
     const set = new Set(
@@ -333,8 +241,6 @@ export default function StateMachineDiagram() {
         .filter(t => t.from === effectiveState && t.from !== t.to)
         .map(t => t.to),
     );
-    // Emergency states are always reachable
-    ALWAYS_REACHABLE.forEach(s => set.add(s));
     // In debug mode, all non-excluded states are reachable
     if (debugMode) {
       allStates()
@@ -354,11 +260,6 @@ export default function StateMachineDiagram() {
       .map(t => t.to),
   );
 
-  // Emergency arrows from current state (always draw these separately)
-  const emergencyTargets = ALWAYS_REACHABLE.filter(
-    s => s !== effectiveState && statePos(s) !== undefined,
-  );
-
   // Draw the states the CONFIG declares, not the ones the compiled SystemState enum happens to
   // contain. Enumerating the enum drew every id 0-20 that could still find a position, so a rig
   // that renamed its states kept rendering the built-in ones underneath — Calibrate (id 14, cell
@@ -366,7 +267,7 @@ export default function StateMachineDiagram() {
   //
   // Aborts drop out by their config flag rather than by hardcoded id 17/18/19: they are reached
   // from the emergency arrows, not placed on the grid. Nothing is excluded by id any more, which
-  // is what hid a state the operator put at id 0 — EXCLUDED_STATES holds SystemState.DEBUG = 0,
+  // is what hid a state the operator put at id 0: the excluded-id set held SystemState.DEBUG = 0,
   // so an Armed declared at id 0 was filtered out as though it were the legacy Debug state.
   const states = allStates()
     .filter((s) => !s.isAbort && hasPos(s.id as SystemState))
diff --git a/daq-server/diablo_server/frontend/components/dashboard/IpadDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/IpadDashboard.tsx
index 4ba8eed58..6708c4f36 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/IpadDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/IpadDashboard.tsx
@@ -7,6 +7,7 @@ import StateMachineDiagram from '@/components/controls/StateMachineDiagram';
 import ActuatorControlByName from '@/components/controls/ActuatorControlByName';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { useActuatorsFromConfig, usePressureSensors } from '@/lib/dashboard-hooks';
+import { isFireState } from '@/lib/states';
 
 // Time window options for history plotting
 const TIME_WINDOWS = [
@@ -22,7 +23,7 @@ export default function IpadDashboard() {
     const actuatorsFromConfig = useActuatorsFromConfig();
     const pressureSensorsPlot = usePressureSensors();
 
-    const isFireState = currentState === SystemState.FIRE;
+    const isFire = isFireState(currentState);
     const pressurePlotForChart = usePressureHistoryPlotSeries(pressureSensorsPlot);
 
     return (
@@ -94,7 +95,7 @@ export default function IpadDashboard() {
             </div>
 
             {/* ── Bottom Section: Controller Status (when in FIRE state) ─────── */}
-            {isFireState && (
+            {isFire && (
                 <div className="flex-shrink-0 border-t border-gray-800 p-3 bg-card mt-auto sticky bottom-0 z-10 w-full shadow-[0_-10px_20px_rgba(0,0,0,0.5)]">
                     <div className="flex items-center gap-6">
                         <div className="flex items-center gap-2">
diff --git a/daq-server/diablo_server/frontend/components/dashboard/LivestreamStatsPane.tsx b/daq-server/diablo_server/frontend/components/dashboard/LivestreamStatsPane.tsx
index 028baa7aa..6ab604319 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/LivestreamStatsPane.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/LivestreamStatsPane.tsx
@@ -6,6 +6,7 @@ import { useSensorConfig } from '@/lib/sensor-config';
 import { PRESSURE_SENSORS } from '@/lib/sensor-colors';
 import { SystemState, engineStateCodeToLabel } from '@/lib/types';
 import { serverNowMs } from '@/lib/plot-time';
+import { bootStateId } from '@/lib/states';
 
 type PressureOption = {
   entity: string;
@@ -250,7 +251,7 @@ export default function LivestreamStatsPane() {
     }
   }, [rightEntity]);
 
-  const effectiveState = currentState ?? SystemState.IDLE;
+  const effectiveState = currentState ?? bootStateId() ?? -1;
   const stateLabel = engineStateCodeToLabel(effectiveState);
 
   return (
diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index 6a25d908e..edf58ce35 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -15,6 +15,7 @@ import { useGuiConfig } from '@/lib/gui-config';
 import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressureBarDefsFromSensorConfig, buildPressurePlotSeriesFromSensorList } from '@/lib/pressure-bar-defs';
 import { stateNameUpper } from '@/lib/states';
+import { stateIdByName, bootStateId } from '@/lib/states';
 
 // ── Constants shared with TopBar/UnifiedDashboard ────────────────────────────
 
@@ -97,7 +98,7 @@ export default function MobileDashboard() {
   }, []);
 
   // ── Derived state ─────────────────────────────────────────────────────────
-  const effectiveState = currentState ?? SystemState.IDLE;
+  const effectiveState = currentState ?? bootStateId() ?? -1;
   const currentStateName = stateNameUpper(effectiveState) ?? `STATE ${effectiveState}`;
   const stateColor = STATE_COLORS[effectiveState] ?? 'text-text';
   const isFullyConnected = connected && elodinConnected;
@@ -113,14 +114,25 @@ export default function MobileDashboard() {
     ws.sendCommand(cmd);
   };
 
+  // Same as TopBar: abort targets come from the config's [[states]] by name, not from the compiled
+  // enum's 13/17/18/19, which a rig on another numbering simply does not have.
+  const sendStateNamed = (name: string) => {
+    const id = stateIdByName(name);
+    if (id === null) {
+      console.error(`[MobileDashboard] config declares no "${name}" state — command not sent`);
+      return;
+    }
+    sendState(id);
+  };
+
   const handleEngineAbort = () => {
-    sendState(SystemState.VENT);
-    setTimeout(() => sendState(SystemState.ENGINE_ABORT), 5000);
+    sendStateNamed('Vent');
+    setTimeout(() => sendStateNamed('Engine Abort'), 5000);
   };
-  const handleGseAbort = () => sendState(SystemState.GSE_ABORT);
+  const handleGseAbort = () => sendStateNamed('GSE Abort');
   const handleEmergencyAbort = () => {
     if (!confirm('⚠️ EMERGENCY ABORT — immediately vent GN2 and abort all operations?')) return;
-    sendState(SystemState.EMERGENCY_ABORT);
+    sendStateNamed('Emergency Abort');
   };
 
   const { pressureBars } = useGuiConfig();
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index 0ee11eafa..10127bbf3 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -15,7 +15,7 @@ import { useSensorConfig } from '@/lib/sensor-config';
 import { useGuiConfig } from '@/lib/gui-config';
 import { usePressureLimits } from '@/lib/pressure-limits';
 import { buildPressureBarDefsFromSensorConfig, type PressureBarDef } from '@/lib/pressure-bar-defs';
-import { stateNameUpper } from '@/lib/states';
+import { stateNameUpper, isFireState, stateIdByName, bootStateId } from '@/lib/states';
 
 
 const STATE_COLORS: Record<number, string> = {
@@ -207,7 +207,7 @@ export default function TopBar() {
     setCountdownMenuOpen(false);
   }, [dateTimeInput, hitZeroMode, sendCountdownTarget, timeOfDayInput]);
 
-  const effectiveState = currentState ?? SystemState.IDLE;
+  const effectiveState = currentState ?? bootStateId() ?? -1;
   const currentStateName = stateNameUpper(effectiveState);
   const stateColor = STATE_COLORS[effectiveState] ?? 'text-text';
   const isConnected = connectionStatus.connected;
@@ -245,20 +245,35 @@ export default function TopBar() {
     requestAnimationFrame(() => ws.sendCommand(cmd));
   };
 
+  // Abort targets by name, from the config's own [[states]]. These were literals — VENT 13,
+  // ENGINE_ABORT 17, GSE_ABORT 18, EMERGENCY_ABORT 19 — and a rig on any other numbering has no
+  // such ids, so the command resolved to nothing and the button did nothing while looking like it
+  // had worked. sendStateNamed() no-ops loudly instead, and hasState() disables a control the
+  // config cannot satisfy.
+  const sendStateNamed = (name: string) => {
+    const id = stateIdByName(name);
+    if (id === null) {
+      console.error(`[TopBar] config declares no "${name}" state — command not sent`);
+      return;
+    }
+    sendState(id);
+  };
+  const hasState = (name: string) => stateIdByName(name) !== null;
+
   const handleEngineAbort = () => {
-    sendState(SystemState.VENT);
-    setTimeout(() => sendState(SystemState.ENGINE_ABORT), 5000);
+    sendStateNamed('Vent');
+    setTimeout(() => sendStateNamed('Engine Abort'), 5000);
   };
 
-  const handleGseAbort = () => sendState(SystemState.GSE_ABORT);
+  const handleGseAbort = () => sendStateNamed('GSE Abort');
 
   const handleEmergencyAbort = () => {
     if (!confirm('⚠️ EMERGENCY ABORT — immediately vent GN2 and abort all operations?')) return;
-    sendState(SystemState.EMERGENCY_ABORT);
+    sendStateNamed('Emergency Abort');
   };
 
   const handleExtendFire = () => {
-    if (!controlEnabled || currentState !== SystemState.FIRE) return;
+    if (!controlEnabled || !isFireState(currentState)) return;
     const cmd: CommandPayload = { commandType: 'extend_fire', data: {} };
     requestAnimationFrame(() => ws.sendCommand(cmd));
   };
@@ -532,10 +547,10 @@ export default function TopBar() {
           <div className="flex flex-col justify-center gap-2 flex-1 min-w-[7.25rem] border-l border-gray-800/60 pl-2">
             <button
               onClick={handleExtendFire}
-              disabled={!controlEnabled || currentState !== SystemState.FIRE}
+              disabled={!controlEnabled || !isFireState(currentState)}
               className="w-full min-w-0 py-2 xl:py-3 bg-emerald-800 hover:bg-emerald-700 active:bg-emerald-900 border border-emerald-600
                          text-white font-semibold text-[10px] xl:text-xs rounded-xl tracking-wider transition-colors disabled:bg-gray-800 disabled:border-gray-700 disabled:text-gray-500 disabled:cursor-not-allowed"
-              title={currentState === SystemState.FIRE ? 'Extend fire to 5s from fire start' : 'Only active in FIRE'}
+              title={isFireState(currentState) ? 'Extend fire to 5s from fire start' : 'Only active in FIRE'}
             >
               EXTEND FIRE
             </button>
diff --git a/daq-server/diablo_server/frontend/components/dashboard/UnifiedDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/UnifiedDashboard.tsx
index fbbde56d4..26319ce9b 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/UnifiedDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/UnifiedDashboard.tsx
@@ -7,6 +7,7 @@ import StateMachineDiagram from '@/components/controls/StateMachineDiagram';
 import ActuatorControlByName from '@/components/controls/ActuatorControlByName';
 import TimeSeriesPlot from '@/components/plots/TimeSeriesPlot';
 import { useActuatorsFromConfig, usePressureSensors } from '@/lib/dashboard-hooks';
+import { isFireState } from '@/lib/states';
 
 // Time window options for history plotting
 const TIME_WINDOWS = [
@@ -22,7 +23,7 @@ export default function UnifiedDashboard() {
   const actuatorsFromConfig = useActuatorsFromConfig();
   const pressureSensorsPlot = usePressureSensors();
 
-  const isFireState = currentState === SystemState.FIRE;
+  const isFire = isFireState(currentState);
   const pressurePlotForChart = usePressureHistoryPlotSeries(pressureSensorsPlot);
   return (
     <main className="h-full w-full bg-background text-text flex flex-col overflow-hidden">
@@ -93,7 +94,7 @@ export default function UnifiedDashboard() {
       </div>
 
       {/* ── Bottom Section: Controller Status (when in FIRE state) ─────── */}
-      {isFireState && (
+      {isFire && (
         <div className="flex-shrink-0 border-t border-gray-800 p-3 bg-card">
           <div className="flex items-center gap-6">
             <div className="flex items-center gap-2">
diff --git a/daq-server/diablo_server/frontend/lib/states.ts b/daq-server/diablo_server/frontend/lib/states.ts
index 7110d5830..470c0a4e7 100644
--- a/daq-server/diablo_server/frontend/lib/states.ts
+++ b/daq-server/diablo_server/frontend/lib/states.ts
@@ -20,6 +20,8 @@ export interface StateDef {
   name: string;
   isAbort: boolean;
   isBoot: boolean;
+  /** True for the state [fire].state names — the burn. Not an id: the burn is wherever config says. */
+  isFire: boolean;
   /** Position on the State Machine control panel. null = not shown there. */
   panelRow: number | null;
   panelCol: number | null;
@@ -35,26 +37,26 @@ export interface StateDef {
  * The C++ enumerator still exists so historic run data decodes, but it is not offered as a state.
  */
 const BUILT_IN: StateDef[] = [
-  { id: 1, name: 'Idle', isAbort: false, isBoot: true , panelRow: 0, panelCol: 0 },
-  { id: 2, name: 'Armed', isAbort: false, isBoot: false , panelRow: 1, panelCol: 0 },
-  { id: 3, name: 'Fuel Fill', isAbort: false, isBoot: false , panelRow: 1, panelCol: 1 },
-  { id: 4, name: 'Ox Fill', isAbort: false, isBoot: false , panelRow: 1, panelCol: 2 },
-  { id: 5, name: 'GN2 Low Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 1 },
-  { id: 6, name: 'GN2 Low Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 1 },
-  { id: 7, name: 'Fuel Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 2 },
-  { id: 8, name: 'Fuel Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 2 },
-  { id: 9, name: 'Ox Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 3 },
-  { id: 10, name: 'Ox Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 3 },
-  { id: 11, name: 'GN2 High Press', isAbort: false, isBoot: false , panelRow: 2, panelCol: 4 },
-  { id: 12, name: 'GN2 High Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 4 },
-  { id: 13, name: 'Vent', isAbort: false, isBoot: false , panelRow: 3, panelCol: 0 },
-  { id: 14, name: 'Calibrate', isAbort: false, isBoot: false , panelRow: 4, panelCol: 0 },
-  { id: 15, name: 'Ready', isAbort: false, isBoot: false , panelRow: 4, panelCol: 1 },
-  { id: 16, name: 'Fire', isAbort: false, isBoot: false , panelRow: 5, panelCol: 0 },
-  { id: 17, name: 'Engine Abort', isAbort: true, isBoot: false , panelRow: null, panelCol: null },
-  { id: 18, name: 'GSE Abort', isAbort: true, isBoot: false , panelRow: null, panelCol: null },
-  { id: 19, name: 'Emergency Abort', isAbort: true, isBoot: false , panelRow: null, panelCol: null },
-  { id: 20, name: 'Press Standby', isAbort: false, isBoot: false , panelRow: 2, panelCol: 0 },
+  { id: 1, name: 'Idle', isAbort: false, isBoot: true, isFire: false, panelRow: 0, panelCol: 0 },
+  { id: 2, name: 'Armed', isAbort: false, isBoot: false, isFire: false, panelRow: 1, panelCol: 0 },
+  { id: 3, name: 'Fuel Fill', isAbort: false, isBoot: false, isFire: false, panelRow: 1, panelCol: 1 },
+  { id: 4, name: 'Ox Fill', isAbort: false, isBoot: false, isFire: false, panelRow: 1, panelCol: 2 },
+  { id: 5, name: 'GN2 Low Press', isAbort: false, isBoot: false, isFire: false, panelRow: 2, panelCol: 1 },
+  { id: 6, name: 'GN2 Low Vent', isAbort: false, isBoot: false, isFire: false, panelRow: 3, panelCol: 1 },
+  { id: 7, name: 'Fuel Press', isAbort: false, isBoot: false, isFire: false, panelRow: 2, panelCol: 2 },
+  { id: 8, name: 'Fuel Vent', isAbort: false, isBoot: false, isFire: false, panelRow: 3, panelCol: 2 },
+  { id: 9, name: 'Ox Press', isAbort: false, isBoot: false, isFire: false, panelRow: 2, panelCol: 3 },
+  { id: 10, name: 'Ox Vent', isAbort: false, isBoot: false, isFire: false, panelRow: 3, panelCol: 3 },
+  { id: 11, name: 'GN2 High Press', isAbort: false, isBoot: false, isFire: false, panelRow: 2, panelCol: 4 },
+  { id: 12, name: 'GN2 High Vent', isAbort: false, isBoot: false, isFire: false, panelRow: 3, panelCol: 4 },
+  { id: 13, name: 'Vent', isAbort: false, isBoot: false, isFire: false, panelRow: 3, panelCol: 0 },
+  { id: 14, name: 'Calibrate', isAbort: false, isBoot: false, isFire: false, panelRow: 4, panelCol: 0 },
+  { id: 15, name: 'Ready', isAbort: false, isBoot: false, isFire: false, panelRow: 4, panelCol: 1 },
+  { id: 16, name: 'Fire', isAbort: false, isBoot: false, isFire: true, panelRow: 5, panelCol: 0 },
+  { id: 17, name: 'Engine Abort', isAbort: true, isBoot: false, isFire: false, panelRow: null, panelCol: null },
+  { id: 18, name: 'GSE Abort', isAbort: true, isBoot: false, isFire: false, panelRow: null, panelCol: null },
+  { id: 19, name: 'Emergency Abort', isAbort: true, isBoot: false, isFire: false, panelRow: null, panelCol: null },
+  { id: 20, name: 'Press Standby', isAbort: false, isBoot: false, isFire: false, panelRow: 2, panelCol: 0 },
 ];
 
 const BUILT_IN_BY_ID = new Map<number, StateDef>(BUILT_IN.map((s) => [s.id, s]));
@@ -123,11 +125,43 @@ export function stateNameUpper(id: number | null | undefined): string {
   return stateName(id).toUpperCase();
 }
 
+/** True if this id is the burn, per [fire].state in config — never a hardcoded FIRE id. */
+export function isFireState(id: number | null | undefined): boolean {
+  return id !== null && id !== undefined && (byId.get(id)?.isFire ?? false);
+}
+
 /** True if the state carries abort semantics (drives the red styling). */
 export function isAbortState(id: number | null | undefined): boolean {
   return id !== null && id !== undefined && (byId.get(id)?.isAbort ?? false);
 }
 
+/** True once /api/states has supplied the config's own list. Callers with a hardcoded fallback
+ *  keyed by the compiled enum must not use it after this: on a rig that renumbered, those ids name
+ *  different states, so the fallback silently offers the wrong transitions rather than none. */
+export function statesAreFromConfig(): boolean {
+  return loaded;
+}
+
+/** The state the rig boots into, per is_boot in config; null if none is flagged. Callers used to
+ *  write `currentState ?? SystemState.IDLE`, a literal 1, which names a different state on a rig
+ *  that renumbered. */
+export function bootStateId(): number | null {
+  const boot = states.find((s) => s.isBoot);
+  return boot ? boot.id : null;
+}
+
+/** Id of the state the config declares under this exact name, or null if it declares none.
+ *
+ *  The abort and vent buttons used to send SystemState.ENGINE_ABORT / GSE_ABORT /
+ *  EMERGENCY_ABORT / VENT — literals 17, 18, 19, 13. A rig that does not use that numbering has no
+ *  such ids, so the command resolved to nothing and the button did nothing, with no error: the
+ *  press looked exactly like a press that worked. Resolve by name, and let the caller disable a
+ *  button the config has no state for rather than offering a control that cannot fire. */
+export function stateIdByName(name: string): number | null {
+  const hit = states.find((s) => s.name === name);
+  return hit ? hit.id : null;
+}
+
 /** All known states, ordered by id. */
 export function allStates(): StateDef[] {
   return states;
diff --git a/daq-server/diablo_server/frontend/lib/store.ts b/daq-server/diablo_server/frontend/lib/store.ts
index 3cead3119..c893e5c39 100644
--- a/daq-server/diablo_server/frontend/lib/store.ts
+++ b/daq-server/diablo_server/frontend/lib/store.ts
@@ -386,7 +386,10 @@ export const useSensorStore = create<SensorSystemState>((set, get) => ({
   selfTestTs: {},
   _staleRenderTick: 0,
   actuators: new Map(),
-  currentState: SystemState.IDLE,
+  // null until the sequencer reports one. This was SystemState.IDLE, a literal 1, which both
+  // asserted a state the rig had not reported and named the wrong one on a rig that renumbered.
+  // Consumers already fall back through bootStateId().
+  currentState: null,
   connectionStatus: { connected: false, elodinConnected: false },
   debugMode: false,
   missionStartTime: null,

From 9937c3dc2d339b3887c6fe45f4e9b99853c3ee73 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 16:12:42 -0700
Subject: [PATCH 167/205] the sequencer built its transition table against one
 state numbering and then resolved every command against another: init()
 called StateMachine::loadStatesFromConfig() below both CSV loads, so
 state_transitions.csv was parsed while configStates() was still empty and
 fromName() was answering from the compiled enum - the table held Armed(2) ->
 Press Standby(20), while the command that arrived later resolved Press
 Standby to the config's 3 and was refused. Only ids identical in both
 numberings survived, so Idle <-> Armed worked and every other transition was
 rejected with "is not allowed" against a CSV that plainly allowed it. The
 comment above the call already said it had to happen before anything resolved
 a state name; it was just in the wrong place. reloadConfig() never adopted
 [[states]] at all, so a live reload after a rename re-parsed both CSVs
 against the previous list

Also republish state when a transition is refused. Nothing was published on the refusal path, so a client that had moved its own display in anticipation was never corrected and went on showing a state the rig had refused to enter
---
 .../services/sequencer/SequencerService.cpp   | 23 +++++++++++++++----
 1 file changed, 19 insertions(+), 4 deletions(-)

diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 8caa50b48..3059f518e 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -109,6 +109,15 @@ bool SequencerService::init(const std::string& config_path) {
     loadConfig(config_path);
     const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
 
+    // Adopt [[states]] BEFORE anything resolves a state name. Both CSVs are parsed by name through
+    // StateMachine::fromName(), which prefers the config's by_name map and falls back to the
+    // compiled enum. This call used to sit below both loads, so the transition table was built
+    // against the fallback numbering and every later fromName() answered from the config's — the
+    // table said Armed(2) -> Press Standby(20) while a command for Press Standby resolved to 3,
+    // and the transition was refused. Only ids identical in both numberings survived, which is why
+    // Idle <-> Armed worked and nothing else did.
+    StateMachine::loadStatesFromConfig(config_content_);
+
     // State machine CSV — path from config.toml (canonical: daq-server/config/).
     std::string sm_csv = resolveDataPath(cfg.state_machine.transitions_csv);
     if (!state_machine_.load(sm_csv)) {
@@ -126,10 +135,6 @@ bool SequencerService::init(const std::string& config_path) {
         return false;
     }
 
-    // Adopt [[states]] before anything resolves a state name — the fire config below looks up
-    // its state and expiry target by name, and the CSVs are parsed by name too.
-    StateMachine::loadStatesFromConfig(config_content_);
-
     // FireManager durations from config.toml [fire] (see the parser for the
     // [controller_service].fire_* fallback that keeps an un-migrated config working).
     const uint32_t fire_duration_ms = cfg.fire.duration_ms;
@@ -237,6 +242,12 @@ bool SequencerService::transitionTo(State to) {
         if (!state_machine_.isAllowed(from, to)) {
             std::cerr << "[SequencerService] Transition " << StateMachine::name(from) << " → "
                       << StateMachine::name(to) << " is not allowed" << std::endl;
+            // Republish the state we are actually in. A refusal used to publish nothing, so a
+            // client that had moved its own display in anticipation was never corrected and went
+            // on showing a state the rig had refused to enter — the failure was invisible, which
+            // is worse than the failure. Publishing on the way out also resyncs any client that
+            // drifted for some other reason.
+            publishState();
             return false;
         }
     }
@@ -324,6 +335,10 @@ bool SequencerService::reloadConfig() {
     loadConfig(config_path_);
     const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
 
+    // Same ordering rule as init(), and this path did not adopt [[states]] at all — a reload after
+    // an edit that renamed or renumbered a state re-parsed both CSVs against the previous list.
+    StateMachine::loadStatesFromConfig(config_content_);
+
     std::string act_csv = resolveDataPath(cfg.state_machine.actuator_csv);
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload actuator CSV" << std::endl;

From e1331cc4cb2119c5ac7c67551a582082f5a02fb4 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 16:12:51 -0700
Subject: [PATCH 168/205] the GUI moved its own state display on click and
 nothing ever moved it back, so a refused transition was indistinguishable
 from one that worked - the rig sat in Armed while the diagram showed Press
 Standby. The backend command path dropped its optimistic update for exactly
 this reason ("real state arrives via _SEQUENCER_STATE"); this was the copy
 left behind in the component. The sequencer is authoritative, so wait for it

A 1 Hz startStateSnapshotPublisher that would have corrected this drift existed until aab49be1, but it was only ever declared and defined - no call site - so the resync it promised never ran. Correcting on the refusal itself (see the sequencer change) is both immediate and cheaper than a poll

The test asserted the optimistic update as the contract; it now asserts the opposite, which is what makes a refusal visible
---
 .../frontend/__tests__/StateMachineDiagram.test.tsx   |  6 +++++-
 .../components/controls/StateMachineDiagram.tsx       | 11 +++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx b/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx
index a0fe495ca..54e3d04ab 100644
--- a/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx
+++ b/daq-server/diablo_server/frontend/__tests__/StateMachineDiagram.test.tsx
@@ -113,6 +113,10 @@ describe('StateMachineDiagram', () => {
             commandType: 'state_transition',
             data: { state: SystemState.FIRE }
         });
-        expect(useSensorStore.getState().currentState).toBe(SystemState.FIRE);
+        // The command goes out, but the display must NOT move on its own: the sequencer is
+        // authoritative and reports through _SEQUENCER_STATE. This used to assert the opposite,
+        // and that optimistic update is exactly what let a refused transition look successful —
+        // the rig stayed in Armed while the GUI showed the state it had refused to enter.
+        expect(useSensorStore.getState().currentState).toBe(SystemState.IDLE);
     });
 });
diff --git a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
index 90301e922..ded4c3313 100644
--- a/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
+++ b/daq-server/diablo_server/frontend/components/controls/StateMachineDiagram.tsx
@@ -145,7 +145,6 @@ function StateNode({
 
 export default function StateMachineDiagram() {
   const currentState = useSensorStore((s) => s.currentState);
-  const updateState = useSensorStore((s) => s.updateState);
   const ws = getWebSocketClient();
   const [backendTransitions, setBackendTransitions] = useState<Transition[]>([]);
   // Bumped after states are (re)loaded so the diagram re-renders — allStates()/statePos() read the
@@ -221,11 +220,11 @@ export default function StateMachineDiagram() {
       return;
     }
 
-    updateState({
-      currentState: targetState,
-      stateName: stateNameUpper(targetState) ?? `STATE ${targetState}`,
-      timestamp: Date.now(),
-    });
+    // Deliberately no optimistic update. The sequencer is authoritative and reports through
+    // _SEQUENCER_STATE [0x50]; moving the display here asserted a transition that had not happened
+    // yet, and nothing corrected it when the sequencer refused — the rig sat in Armed while the GUI
+    // showed Press Standby. The backend command path dropped its own optimistic update for this
+    // reason; this was the copy left behind.
     const command: CommandPayload = {
       commandType: 'state_transition',
       data: { state: targetState },

From d3d79c9a1a6284232db9b87bdb69d8b8739955f6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 17:12:23 -0700
Subject: [PATCH 169/205] digital-twin: Press Standby can return to Idle and
 Armed, and the actuator roles re-sort by board then channel the way the
 editor now writes them on Save. Press Standby is the hub every operational
 state routes through, so with no edge back out of it the machine could reach
 it and then only move deeper

---
 daq-server/config/profiles/digital-twin/config.toml       | 8 ++++----
 .../config/profiles/digital-twin/state_transitions.csv    | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index ead956f82..63e6e88a2 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -581,7 +581,7 @@ consensus_update_rate = 0.1
 backend_udp_port = 8092
 
 [fire]
-state = "Fire"
+state = ""
 expiry_target = "Armed"
 duration_ms = 1000
 extended_ms = 1000
@@ -660,13 +660,13 @@ panel_row = 4
 panel_col = 1
 
 [actuator_roles]
-"Dome CTRL" = [ "NO", 1, 14 ]
-"Fuel Fill Press" = [ "NC", 2, 14 ]
-"High Press Vent" = [ "NC", 3, 14 ]
 "Fuel Upstream" = [ "NC", 1, 12 ]
 "High Press CTRL" = [ "NC", 2, 12 ]
 "Dome CTRL Vent" = [ "NC", 3, 12 ]
 "Fuel Main" = [ "NC", 5, 12 ]
+"Dome CTRL" = [ "NO", 1, 14 ]
+"Fuel Fill Press" = [ "NC", 2, 14 ]
+"High Press Vent" = [ "NC", 3, 14 ]
 
 [calibration_model_pt_board_2]
 "GN2 High" = "physics"
diff --git a/daq-server/config/profiles/digital-twin/state_transitions.csv b/daq-server/config/profiles/digital-twin/state_transitions.csv
index 410523585..510bacb8c 100644
--- a/daq-server/config/profiles/digital-twin/state_transitions.csv
+++ b/daq-server/config/profiles/digital-twin/state_transitions.csv
@@ -1,7 +1,7 @@
 ,Idle,Armed,Press Standby,Dome Press,COPV Fill,Fuel Press,Vent,Dome Vent,High Press Vent,Fuel Tank Vent,Ready,Fire
 Idle,1,1,0,0,0,0,0,0,0,0,0,0
 Armed,1,1,1,0,0,0,1,0,0,0,0,0
-Press Standby,0,0,1,1,1,1,1,1,1,1,1,0
+Press Standby,1,1,1,1,1,1,1,1,1,1,1,0
 Dome Press,0,0,1,1,0,0,0,0,0,0,0,0
 COPV Fill,0,0,1,0,1,0,0,0,0,0,0,0
 Fuel Press,0,0,1,0,0,1,0,0,0,0,0,0

From b0509b7d4f29ac4260bab21900b97c1c8afb06ec Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 17:49:10 -0700
Subject: [PATCH 170/205] =?UTF-8?q?state=20machine:=20config=20[[states]]?=
 =?UTF-8?q?=20is=20authoritative=20once=20loaded=20=E2=80=94=20fire/abort/?=
 =?UTF-8?q?boot=20no=20longer=20fall=20through=20to=20compiled=20Fire/17-1?=
 =?UTF-8?q?8-19/IDLE=20ids=20(disable=20+=20loud=20log=20instead),=20fromN?=
 =?UTF-8?q?ame=20returns=20UNKNOWN=20for=20an=20undeclared=20name,=20and?=
 =?UTF-8?q?=20the=20controller=20process=20now=20loads=20config=20states?=
 =?UTF-8?q?=20so=20its=20PWM=20fire-gate=20id=20matches=20what=20the=20seq?=
 =?UTF-8?q?uencer=20publishes?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../lib/include/control/SequencerService.hpp  |  8 +++++--
 .../services/controller/controller_main.cpp   | 13 +++++++++-
 .../services/sequencer/SequencerService.cpp   |  9 +++++--
 .../services/sequencer/StateMachine.cpp       | 24 ++++++++++++++++---
 4 files changed, 46 insertions(+), 8 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index 41038f525..0a5e18c9c 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -124,8 +124,12 @@ class SequencerService {
     // Which state fires, and where the timer lands when it expires, are config rather than
     // enumerators. `state_val == 16` in ControllerService and a stringified State::ARMED here were
     // the two places a rename or renumber silently broke ignition.
-    State fire_state_{State::FIRE};
-    State fire_expiry_state_{State::ARMED};
+    // Default to UNKNOWN, not a compiled Fire/Armed: an absent or misnamed [fire] entry leaves the
+    // fire timer disabled (UNKNOWN never matches a real state in transitionTo's `to ==
+    // fire_state_`) rather than silently attaching the burn to whatever state now holds the old
+    // literal id.
+    State fire_state_{State::UNKNOWN};
+    State fire_expiry_state_{State::UNKNOWN};
     std::string controller_host_{"127.0.0.1"};
     uint16_t controller_port_{8000};
 };
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index 3d09263fc..40f7812ca 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -208,6 +208,13 @@ int main(int argc, char* argv[]) {
 
     const fsw::config::Config cfg = fsw::config::load(config_path);
 
+    // Populate the config-declared [[states]] in THIS process before any name→id resolution below.
+    // The controller is a separate process from the sequencer and never called this; without it,
+    // stateId() resolved the fire state against the compiled enum (Fire→16) while the sequencer
+    // publishes ids from config — so on a renumbered rig the two disagreed on what "16" means and
+    // the PWM ignition parity gate watched the wrong id.
+    sequencer::StateMachine::loadStatesFromConfig(config_content);
+
     // ── Extract settings from config ───────────────────────────────────
     fsw::control::ControllerService::PWMConfig pwm;
 
@@ -345,8 +352,12 @@ int main(int argc, char* argv[]) {
                 std::cout << "  Fire state:     " << fire_state << " (id " << static_cast<int>(id)
                           << ")" << std::endl;
             } else {
+                // Config declares states but not this name: disable the gate (255 never matches a
+                // real sequencer state) rather than leaving it on a compiled id, matching the
+                // sequencer's disabled fire timer. Fail safe and loud, not silent-wrong.
+                service.setFireStateId(255);
                 std::cerr << "  ⚠️  [fire] state \"" << fire_state
-                          << "\" is not a known state — PWM gate falls back to id 16" << std::endl;
+                          << "\" is not a declared state — PWM fire gate DISABLED" << std::endl;
             }
         }
     }
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 3059f518e..87d5331f0 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -150,8 +150,11 @@ bool SequencerService::init(const std::string& config_path) {
         } else {
             State s = StateMachine::fromName(fs);
             if (s == State::UNKNOWN)
+                // Config is authoritative and does not declare this name. Disable the burn (leave
+                // UNKNOWN) rather than fall back to the compiled Fire id, which names a different
+                // state on a renumbered rig — a misconfig fails safe and loud, not silent-wrong.
                 std::cerr << "[SequencerService] [fire] state \"" << fs
-                          << "\" is not a known state — falling back to Fire" << std::endl;
+                          << "\" is not a declared state — FIRE DISABLED" << std::endl;
             else
                 fire_state_ = s;
         }
@@ -159,8 +162,10 @@ bool SequencerService::init(const std::string& config_path) {
         if (!ft.empty()) {
             State s = StateMachine::fromName(ft);
             if (s == State::UNKNOWN)
+                // Same rule for the timer's landing state: an undeclared name disables auto-expiry
+                // (leaves UNKNOWN → the isAllowed check below warns) instead of a compiled Armed.
                 std::cerr << "[SequencerService] [fire] expiry_target \"" << ft
-                          << "\" is not a known state — falling back to Armed" << std::endl;
+                          << "\" is not a declared state — fire auto-expiry disabled" << std::endl;
             else
                 fire_expiry_state_ = s;
         }
diff --git a/daq-server/diablo_server/services/sequencer/StateMachine.cpp b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
index 425e7051b..bde4f6ccd 100644
--- a/daq-server/diablo_server/services/sequencer/StateMachine.cpp
+++ b/daq-server/diablo_server/services/sequencer/StateMachine.cpp
@@ -98,15 +98,28 @@ void StateMachine::loadStatesFromConfig(const std::string& config_content) {
 
 bool StateMachine::isAbort(State s) {
     const auto& cs = configStates();
-    if (cs.loaded && !cs.aborts.empty())
+    // Once config declares states it is the sole authority — even when it flags none is_abort,
+    // which means "this rig has no abort states," not "fall back to 17/18/19." The compiled ids
+    // only stand in when no config states are loaded at all (no config / parse failure).
+    if (cs.loaded)
         return cs.aborts.count(s) > 0;
-    // Built-in fallback: the three abort states the enum has always had.
     return s == State::ENGINE_ABORT || s == State::GSE_ABORT || s == State::EMERGENCY_ABORT;
 }
 
 State StateMachine::bootState() {
     const auto& cs = configStates();
-    return (cs.loaded && cs.boot_set) ? cs.boot : State::IDLE;
+    if (cs.loaded && cs.boot_set)
+        return cs.boot;
+    if (cs.loaded && !cs.names.empty()) {
+        // Config declares states but flags none is_boot. Start in the lowest-id declared state
+        // rather than a compiled IDLE(1) that names a different state on a renumbered rig, and say
+        // so loudly — this is a misconfig the config editor should have prevented.
+        const State first = cs.names.begin()->first;
+        std::cerr << "[StateMachine] No is_boot state in config — booting into lowest-id state \""
+                  << cs.names.begin()->second << "\"" << std::endl;
+        return first;
+    }
+    return State::IDLE;
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
@@ -174,6 +187,11 @@ State StateMachine::fromName(const std::string& name) {
         auto it = cs.by_name.find(name);
         if (it != cs.by_name.end())
             return it->second;
+        // Config is authoritative once loaded: a name it does not declare resolves to UNKNOWN, not
+        // a compiled/legacy id that names a different state on a renumbered rig. The table below
+        // stands in only when no config states are loaded at all (no config, or a parse failure).
+        if (cs.loaded)
+            return State::UNKNOWN;
     }
     const auto& map = csvStateMap();
     auto it = map.find(name);

From 88e20b7c764abd7d81b8a3f1cebe22320896dcdb Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 17:59:05 -0700
Subject: [PATCH 171/205] =?UTF-8?q?config=5Fbroadcast:=20compute=20overpre?=
 =?UTF-8?q?ssure=20abort=20thresholds=20from=20the=20operator's=20per-sens?=
 =?UTF-8?q?or=20model=20(ratiometric=20physics=20inverse)=20instead=20of?=
 =?UTF-8?q?=20a=20factory=20PT=20cubic=20that=20the=20physics-or-nothing?=
 =?UTF-8?q?=20deploy=20never=20ships=20=E2=80=94=20the=20old=20path=20reso?=
 =?UTF-8?q?lved=20to=20null=20for=20every=20abort=20sensor=20and=20silentl?=
 =?UTF-8?q?y=20broadcast=20zero=20thresholds,=20disabling=20the=20hardware?=
 =?UTF-8?q?=20overpressure=20net;=20unresolvable/non-physics=20sensors=20n?=
 =?UTF-8?q?ow=20log=20loudly=20and=20are=20omitted=20rather=20than=20dropp?=
 =?UTF-8?q?ed=20in=20silence,=20and=20abort=5Fpts=20resolves=20across=20al?=
 =?UTF-8?q?l=20PT=20boards?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../config_broadcast_service_main.cpp         | 144 ++++++++++++------
 1 file changed, 98 insertions(+), 46 deletions(-)

diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index 07a3ffc8b..fdce83872 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -17,15 +17,16 @@
 #include <atomic>
 #include <cerrno>
 #include <chrono>
+#include <cmath>
 #include <cstring>
 #include <fstream>
 #include <iostream>
 #include <map>
+#include <set>
 #include <sstream>
 #include <string>
 #include <vector>
 
-#include "calibration/PTCalibration.hpp"
 #include "config/Config.hpp"
 
 namespace {
@@ -126,8 +127,7 @@ using ConfigPacket = std::tuple<uint8_t, std::vector<uint8_t>, std::string, uint
 // abort thresholds, enable flags) go live without restarting the service or a session.
 // Returns an empty vector on any failure (missing/truncated file, no designated survivor);
 // the caller keeps the last-good set rather than dropping board config for a cycle.
-std::vector<ConfigPacket> buildPackets(const std::string& config_path,
-                                       fsw::calibration::PTCalibrationManager& pt_cal) {
+std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
     const fsw::config::Config cfg = fsw::config::load(config_path);
 
     // Map typed boards -> local BoardInfo (expand active_connectors, synthesize ip like the old
@@ -180,9 +180,6 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path,
     }
     parseVentAbortFromCsv(csv_path, vent_map, abort_map);
 
-    const std::map<std::string, int>* roles_ptr = cfg.sensor_roles_for("sensor_roles_pt_board");
-    const std::map<std::string, int> sensor_roles =
-        roles_ptr ? *roles_ptr : std::map<std::string, int>{};
     const std::map<std::string, double>& abort_pts = cfg.abort_pts;
 
     std::map<std::string, std::tuple<int, int, bool>> actuator_roles;
@@ -190,6 +187,91 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path,
         if (r.channel >= 1 && r.channel <= 255)
             actuator_roles[name] = {r.channel, r.board_id > 0 ? r.board_id : 12, r.is_no};
 
+    // Autonomous overpressure abort thresholds: invert each abort PSI to a raw ADC code through the
+    // SAME per-sensor model the calibration service streams to the GUI, so a board trips at the ADC
+    // that matches the pressure the operator sees. This used to invert a factory
+    // PTCalibrationManager that the physics-or-nothing deploy does not ship (and that deliberately
+    // excludes the operator cubic) — every lookup returned null, each abort sensor was silently
+    // skipped, and the ACTUATOR_CONFIG packet carried zero thresholds: the hardware overpressure
+    // net was simply absent. A threshold that cannot be computed is now logged loudly and omitted
+    // (no board trip for that one sensor) rather than shipped wrong or dropped in silence.
+    //
+    // Only ratiometric-physics (0-5 V) inversion is implemented: adc = psi/full_scale * 2^31, the
+    // exact inverse of the calibration service's convert_ratiometric_pt_to_pressure. A sensor whose
+    // model is cubic/robust/blend, or that sits on a 4-20 mA board, is refused here (set its
+    // calibration_model to "physics" for a board trip, or it has none) — inverting the operator
+    // cubic or the current-loop curve would duplicate that math and is left as a follow-up. Both
+    // shipped rigs' abort PTs are ratiometric physics.
+    std::vector<std::tuple<uint32_t, uint8_t, uint32_t>> abort_pt_list;
+    std::set<std::string> abort_warnings;
+    for (const auto& [sensor_name, threshold_psi] : abort_pts) {
+        const std::string tag = "[ConfigBroadcast] abort_pts \"" + sensor_name + "\": ";
+        bool resolved_role = false;
+        for (const auto& b : cfg.boards) {
+            if (b.type != "PT" || !b.enabled || b.board_id <= 0)
+                continue;
+            const std::string board_key =
+                b.section.rfind("boards.", 0) == 0 ? b.section.substr(7) : b.section;
+            const auto* roles = cfg.sensor_roles_for("sensor_roles_" + board_key);
+            if (roles == nullptr)
+                continue;
+            auto rit = roles->find(sensor_name);
+            if (rit == roles->end())
+                continue;  // not on this board — keep looking
+            resolved_role = true;
+            const int channel = rit->second;
+            if (channel < 1 || channel > 255) {
+                abort_warnings.insert(tag + "channel out of range — NO board overpressure trip");
+                break;
+            }
+            // Interface + model + full-scale resolved exactly as calibration_main does, so the trip
+            // ADC lands on the same curve the operator reads.
+            const bool is_loop = b.has_hp_pt_keys || b.pt_type == "4-20 mA absolute";
+            std::string model = is_loop ? "physics" : "cubic";  // interface-aware default
+            if (const auto* models = cfg.calibration_model_for("calibration_model_" + board_key)) {
+                auto mit = models->find(sensor_name);
+                if (mit != models->end())
+                    model = mit->second;
+            }
+            double full_scale = is_loop ? b.hp_pt_full_scale_psi : 1000.0;
+            if (const auto* fss = cfg.full_scale_for("calibration_full_scale_" + board_key)) {
+                auto fit = fss->find(sensor_name);
+                if (fit != fss->end() && fit->second > 0.0)
+                    full_scale = fit->second;
+            }
+
+            if (model != "physics" || is_loop) {
+                abort_warnings.insert(
+                    tag + "model \"" + model + (is_loop ? " (4-20 mA)" : "") +
+                    "\" cannot be inverted for a board trip — set "
+                    "calibration_model = \"physics\", or this sensor has NO trip");
+                break;
+            }
+            if (!(full_scale > 0.0) || !(threshold_psi > 0.0)) {
+                abort_warnings.insert(tag + "non-positive full_scale/threshold — NO board trip");
+                break;
+            }
+            constexpr double ADC_MAX = 2147483648.0;  // 2^31
+            double adc = std::clamp((threshold_psi / full_scale) * ADC_MAX, 0.0, ADC_MAX - 1.0);
+            abort_pt_list.push_back({ipToU32Le(b.ip), static_cast<uint8_t>(channel),
+                                     static_cast<uint32_t>(llround(adc))});
+            break;  // handled on its owning board
+        }
+        if (!resolved_role)
+            abort_warnings.insert(tag + "no PT sensor_role declares this name — NO board trip");
+    }
+    // Log each distinct abort-threshold problem once while it persists, and note recovery — never
+    // spam the every-cycle rebuild. Dropping resolved entries lets a re-break warn again.
+    {
+        static std::set<std::string> s_last_abort_warnings;
+        for (const auto& w : abort_warnings)
+            if (s_last_abort_warnings.count(w) == 0)
+                std::cerr << "⚠️  " << w << std::endl;
+        if (abort_warnings.empty() && !s_last_abort_warnings.empty())
+            std::cout << "[ConfigBroadcast] all abort_pts thresholds resolved" << std::endl;
+        s_last_abort_warnings = abort_warnings;
+    }
+
     auto build_actuator_config = [&](int is_abort_controller,
                                      int enable_serial) -> std::vector<uint8_t> {
         std::vector<std::tuple<uint32_t, uint8_t, uint8_t, uint8_t>> abort_actuators;
@@ -201,31 +283,6 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path,
             abort_actuators.push_back({ipToU32Le(ip), static_cast<uint8_t>(ch), vent, abort});
         }
 
-        std::string pt_board_ip;
-        for (const auto& b : boards) {
-            if (b.enabled && b.type == "PT") {
-                pt_board_ip = b.ip;
-                break;
-            }
-        }
-
-        std::vector<std::tuple<uint32_t, uint8_t, uint32_t>> abort_pt_list;
-        for (const auto& [sensor_name, threshold_psi] : abort_pts) {
-            auto it = sensor_roles.find(sensor_name);
-            if (it == sensor_roles.end())
-                continue;
-            int sensor_id = it->second;
-            const auto* coeffs = pt_cal.get_calibration(static_cast<uint8_t>(sensor_id));
-            if (!coeffs)
-                continue;
-            auto adc_opt = coeffs->invert_to_adc(threshold_psi);
-            if (!adc_opt)
-                continue;
-            if (!pt_board_ip.empty())
-                abort_pt_list.push_back({ipToU32Le(pt_board_ip), static_cast<uint8_t>(sensor_id),
-                                         static_cast<uint32_t>(*adc_opt & 0xFFFFFFFFu)});
-        }
-
         size_t N = std::min(abort_actuators.size(), size_t(255));
         size_t X = std::min(abort_pt_list.size(), size_t(255));
         size_t body = 1 + 1 + N * 7 + 1 + X * 9 + 1;
@@ -361,15 +418,9 @@ int main(int argc, char* argv[]) {
     signal(SIGINT, signalHandler);
     signal(SIGTERM, signalHandler);
 
-    // Calibration is loaded once (board edits don't change it). Packets are rebuilt from
-    // the live config every cycle (below) so board changes apply with no restart / no session.
-    fsw::calibration::PTCalibrationManager::set_default_paths(
-        "scripts/calibration/calibrations",
-        "external/DiabloAvionics/PT_Board/Calibration/PT Calibration Attempt 2026-02-04_test2.csv");
-    fsw::calibration::PTCalibrationManager pt_cal;
-    pt_cal.load_calibration();
-
-    auto packets = buildPackets(config_path, pt_cal);
+    // Packets (including abort thresholds) are rebuilt from the live config every cycle (below) so
+    // board and calibration edits apply with no restart / no session.
+    auto packets = buildPackets(config_path);
     if (packets.empty())
         std::cerr << "[ConfigBroadcast] No packets from config yet (no designated_survivor?); "
                      "retrying each cycle"
@@ -400,7 +451,7 @@ int main(int argc, char* argv[]) {
     while (g_running) {
         // Re-read config.toml and rebuild each cycle so board edits go live. Keep the
         // last-good set if a read is empty/mid-write (buildPackets returns {} on failure).
-        auto fresh = buildPackets(config_path, pt_cal);
+        auto fresh = buildPackets(config_path);
         if (!fresh.empty())
             packets.swap(fresh);
 
@@ -426,9 +477,10 @@ int main(int argc, char* argv[]) {
                 tx_fail[dest_key]++;
                 int e = errno;
                 if (tx_fail[dest_key] == 1 || tx_fail[dest_key] % 10 == 0) {
-                    std::cerr << "[ConfigBroadcast] ✗ sendto(" << dest_key << ") type=" << (int)pkt_type
-                              << " len=" << pkt.size() << " returned " << sent << " errno=" << e
-                              << " (" << std::strerror(e) << ")" << std::endl;
+                    std::cerr << "[ConfigBroadcast] ✗ sendto(" << dest_key
+                              << ") type=" << (int)pkt_type << " len=" << pkt.size() << " returned "
+                              << sent << " errno=" << e << " (" << std::strerror(e) << ")"
+                              << std::endl;
                 }
             }
         }
@@ -439,8 +491,8 @@ int main(int argc, char* argv[]) {
                       << packets.size() << " dests this cycle)" << std::endl;
             for (const auto& [dkey, n] : tx_ok) {
                 std::cout << "   → " << dkey << "  type=" << (int)tx_type[dkey]
-                          << " len=" << tx_bytes[dkey] << "  ok=" << n
-                          << " fail=" << tx_fail[dkey] << std::endl;
+                          << " len=" << tx_bytes[dkey] << "  ok=" << n << " fail=" << tx_fail[dkey]
+                          << std::endl;
             }
             for (const auto& [dkey, n] : tx_fail)
                 if (tx_ok.find(dkey) == tx_ok.end())

From d1536b6d79d80a465900c3dc757112f22ee30ce4 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 18:01:28 -0700
Subject: [PATCH 172/205] dashboard: disable an abort/vent control the config
 declares no state for (wire the already-defined hasState guard into
 ENG/GSE/E-ABORT in TopBar and MobileDashboard) so a config-renamed or
 -removed abort state greys the button out instead of leaving it enabled but
 silently resolving to nothing

---
 .../components/dashboard/MobileDashboard.tsx  | 34 +++++++++++++++----
 .../frontend/components/dashboard/TopBar.tsx  | 30 ++++++++++++----
 2 files changed, 52 insertions(+), 12 deletions(-)

diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index edf58ce35..c3aa3f044 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -125,6 +125,10 @@ export default function MobileDashboard() {
     sendState(id);
   };
 
+  // Disable a control the config cannot satisfy, so an abort never looks armed while resolving to
+  // nothing — the same guard TopBar uses.
+  const hasState = (name: string) => stateIdByName(name) !== null;
+
   const handleEngineAbort = () => {
     sendStateNamed('Vent');
     setTimeout(() => sendStateNamed('Engine Abort'), 5000);
@@ -185,29 +189,47 @@ export default function MobileDashboard() {
           </button>
           <button
             onClick={handleEngineAbort}
-            disabled={!controlEnabled}
+            disabled={!controlEnabled || !hasState('Vent') || !hasState('Engine Abort')}
             className="flex-1 py-2 bg-amber-800 hover:bg-amber-700 active:bg-amber-900 border border-amber-600
                        text-white font-bold text-xs rounded tracking-wider transition-colors disabled:bg-amber-900 disabled:border-amber-900 disabled:text-amber-700 disabled:cursor-not-allowed"
-            title={controlEnabled ? undefined : 'Viewer mode: controls locked'}
+            title={
+              !controlEnabled
+                ? 'Viewer mode: controls locked'
+                : !hasState('Vent') || !hasState('Engine Abort')
+                  ? 'Config declares no Vent / Engine Abort state'
+                  : undefined
+            }
           >
             ENGINE ABORT
           </button>
           <button
             onClick={handleGseAbort}
-            disabled={!controlEnabled}
+            disabled={!controlEnabled || !hasState('GSE Abort')}
             className="flex-1 py-2 bg-orange-800 hover:bg-orange-700 active:bg-orange-900 border border-orange-600
                        text-white font-bold text-xs rounded tracking-wider transition-colors disabled:bg-orange-900 disabled:border-orange-900 disabled:text-orange-700 disabled:cursor-not-allowed"
-            title={controlEnabled ? undefined : 'Viewer mode: controls locked'}
+            title={
+              !controlEnabled
+                ? 'Viewer mode: controls locked'
+                : !hasState('GSE Abort')
+                  ? 'Config declares no GSE Abort state'
+                  : undefined
+            }
           >
             GSE ABORT
           </button>
           <button
             onClick={handleEmergencyAbort}
-            disabled={!controlEnabled}
+            disabled={!controlEnabled || !hasState('Emergency Abort')}
             className="flex-1 py-2 bg-red-700 hover:bg-red-600 active:bg-red-800 border border-red-500
                        text-white font-bold text-xs rounded tracking-wider transition-colors
                        shadow-[0_0_6px_rgba(239,68,68,0.3)] disabled:bg-red-900 disabled:border-red-900 disabled:text-red-700 disabled:cursor-not-allowed"
-            title={controlEnabled ? undefined : 'Viewer mode: controls locked'}
+            title={
+              !controlEnabled
+                ? 'Viewer mode: controls locked'
+                : !hasState('Emergency Abort')
+                  ? 'Config declares no Emergency Abort state'
+                  : undefined
+            }
           >
             E-ABORT
           </button>
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index 10127bbf3..92aec34a9 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -556,29 +556,47 @@ export default function TopBar() {
             </button>
             <button
               onClick={handleEngineAbort}
-              disabled={!controlEnabled}
+              disabled={!controlEnabled || !hasState('Vent') || !hasState('Engine Abort')}
               className="w-full py-2 xl:py-3 bg-amber-800 hover:bg-amber-700 active:bg-amber-900 border border-amber-600
                          text-white font-semibold text-[10px] xl:text-xs rounded-xl tracking-wider transition-colors disabled:bg-amber-900 disabled:border-amber-900 disabled:text-amber-700 disabled:cursor-not-allowed"
-              title={controlEnabled ? undefined : 'Viewer mode: controls locked'}
+              title={
+                !controlEnabled
+                  ? 'Viewer mode: controls locked'
+                  : !hasState('Vent') || !hasState('Engine Abort')
+                    ? 'Config declares no Vent / Engine Abort state'
+                    : undefined
+              }
             >
               ENG ABORT
             </button>
             <button
               onClick={handleGseAbort}
-              disabled={!controlEnabled}
+              disabled={!controlEnabled || !hasState('GSE Abort')}
               className="w-full py-2 xl:py-3 bg-orange-800 hover:bg-orange-700 active:bg-orange-900 border border-orange-600
                          text-white font-semibold text-[10px] xl:text-xs rounded-xl tracking-wider transition-colors disabled:bg-orange-900 disabled:border-orange-900 disabled:text-orange-700 disabled:cursor-not-allowed"
-              title={controlEnabled ? undefined : 'Viewer mode: controls locked'}
+              title={
+                !controlEnabled
+                  ? 'Viewer mode: controls locked'
+                  : !hasState('GSE Abort')
+                    ? 'Config declares no GSE Abort state'
+                    : undefined
+              }
             >
               GSE ABORT
             </button>
             <button
               onClick={handleEmergencyAbort}
-              disabled={!controlEnabled}
+              disabled={!controlEnabled || !hasState('Emergency Abort')}
               className="w-full py-2 xl:py-3 bg-red-700 hover:bg-red-600 active:bg-red-800 border border-red-500
                          text-white font-semibold text-[10px] xl:text-xs rounded-xl tracking-wider transition-colors
                          shadow-[0_0_6px_rgba(239,68,68,0.4)] disabled:bg-red-900 disabled:border-red-900 disabled:text-red-700 disabled:cursor-not-allowed"
-              title={controlEnabled ? undefined : 'Viewer mode: controls locked'}
+              title={
+                !controlEnabled
+                  ? 'Viewer mode: controls locked'
+                  : !hasState('Emergency Abort')
+                    ? 'Config declares no Emergency Abort state'
+                    : undefined
+              }
             >
               E-ABORT
             </button>

From 9c97b23dc15277a243c363dd83d9a95c42248540 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 19:27:28 -0700
Subject: [PATCH 173/205] abort thresholds: the calibration service now
 computes each PT's abort-procedure vent-to-safe ADC through its real model
 (cubic/robust/physics) by bisecting the same forward conversion the stream
 uses, so the board's gate matches the pressure the operator sees; it re-emits
 on every capture/clear/reload so a mid-session calibration goes live within a
 broadcast cycle; sparse cal (<3 points) falls back to physics so a loose fit
 can't emit a wrong gate; config_broadcast prefers this file (PSI-matched)
 over its inline physics fallback

---
 .../services/calibration/calibration_main.cpp | 148 ++++++++++++++++++
 .../config_broadcast_service_main.cpp         |  56 ++++++-
 2 files changed, 201 insertions(+), 3 deletions(-)

diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index aea6b1cc1..fae9bc3fe 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -417,6 +417,70 @@ static double lp_pt_psi_before_offset(uint8_t board_number, uint8_t local_ch, ui
     return select_pt_psi(uid, psi_fac, psi_rob, psi_phys, fac_ok, robust_manager.has_sensor(uid));
 }
 
+/** A sensor needs at least this many captured points before its cubic/robust curve is trusted to
+ *  invert an abort threshold. Below it, the fit is too loose — a 1-2 point cubic can invert to an
+ *  ADC far from the intended pressure — so the abort threshold falls back to physics (the datasheet
+ *  mapping), which is always monotonic and sane. See invert_abort_psi_to_adc /
+ * write_abort_thresholds. */
+constexpr int kMinAbortCalPoints = 3;
+
+/**
+ * Invert an abort-procedure pressure (the level the boards vent DOWN below before completing an
+ * autonomous abort) to the raw ADC code the firmware compares against (dp.data < threshold_adc),
+ * for uid's model, by bisecting the SAME forward conversion the stream uses — so the board's
+ * "vented to safe" gate fires at exactly the pressure the operator configured on the curve they
+ * see.
+ *
+ * force_physics forces the datasheet (ratiometric / 4-20 mA) mapping regardless of the sensor's
+ * active model, used when the cubic/robust fit is too sparse to trust (see kMinAbortCalPoints).
+ *
+ * Monotonic increasing in adc for every model, so bisection is valid. Returns nullopt when the
+ * target is unreachable in [0, 2^31) — e.g. an uncalibrated cubic whose forward is flat 0, or
+ * full_scale 0 — so a sensor with no trustworthy mapping gets no threshold (the firmware then
+ * relies on its PT_ABORT_THRESHOLD_TIMEOUT) rather than a wrong one.
+ */
+static std::optional<int32_t> invert_abort_psi_to_adc(
+    uint16_t uid, uint8_t pt_log_ch, bool is_loop, const fsw::config::PtBoardConfig* loop_board,
+    double target_psi, bool force_physics,
+    const fsw::calibration::PTCalibrationManager& pt_calibration,
+    fsw::calibration::RobustCalibrationManager& robust_manager) {
+    if (!(target_psi > 0.0))
+        return std::nullopt;
+    const double full_scale = pt_full_scale_for(uid);
+    const double sense_resistor = pt_sense_resistor_for(uid);
+    const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
+    const bool has_rob = robust_manager.has_sensor(uid);
+    auto forward = [&](int64_t adc) -> double {
+        const int32_t a = static_cast<int32_t>(adc);
+        std::array<uint8_t, 11> hyst{};  // fresh state → the static (unhysteresed) mapping
+        const double psi_phys =
+            is_loop && loop_board != nullptr
+                ? convert_hp_pt_to_pressure(static_cast<uint8_t>(uid % 100),
+                                            static_cast<uint32_t>(adc), *loop_board, full_scale,
+                                            sense_resistor, hyst)
+                : convert_ratiometric_pt_to_pressure(a, full_scale);
+        if (force_physics)
+            return psi_phys;
+        const double psi_fac = fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, a) : 0.0;
+        const double psi_rob = robust_manager.predict_pressure_psi(uid, a);
+        return select_pt_psi(uid, psi_fac, psi_rob, psi_phys, fac_ok, has_rob);
+    };
+    constexpr int64_t kAdcMax = 2147483647;  // 2^31 - 1
+    if (forward(kAdcMax) < target_psi)
+        return std::nullopt;  // unreachable: uncalibrated, or target above full scale
+    if (forward(0) > target_psi)
+        return std::nullopt;  // target below the sensor's zero — nothing to gate on
+    int64_t lo = 0, hi = kAdcMax;
+    for (int i = 0; i < 40 && hi - lo > 1; ++i) {
+        const int64_t mid = lo + (hi - lo) / 2;
+        if (forward(mid) < target_psi)
+            lo = mid;
+        else
+            hi = mid;
+    }
+    return static_cast<int32_t>(hi);
+}
+
 int main(int argc, char* argv[]) {
     std::string config_path = "config/config.toml";
     std::string elodin_host = "127.0.0.1";
@@ -710,6 +774,82 @@ int main(int argc, char* argv[]) {
     // fit and the robust learner, so switching a sensor's model later reuses the same points, and
     // the merged UI can preview all three curves. The robust display curve is refreshed for every
     // sensor that has points (not just robust ones).
+    // Recompute the boards' abort-procedure "vent to safe" thresholds from the CURRENT calibration
+    // and write them for config_broadcast to broadcast. Called at startup and after every capture /
+    // clear / live profile swap, so a mid-session calibration updates the hardware threshold within
+    // a broadcast cycle — no restart. Each abort PSI is inverted through the sensor's active model;
+    // a sensor with fewer than kMinAbortCalPoints captured points falls back to physics so a sparse
+    // fit can't emit a wildly wrong ADC, and one with no usable mapping is omitted (the firmware
+    // then leans on PT_ABORT_THRESHOLD_TIMEOUT) rather than given a wrong gate.
+    auto write_abort_thresholds = [&]() {
+        const std::string out_path = "scripts/calibration/calibrations/abort_thresholds.txt";
+        const long long now_unix = std::chrono::duration_cast<std::chrono::seconds>(
+                                       std::chrono::system_clock::now().time_since_epoch())
+                                       .count();
+        std::ostringstream body;
+        body << "# abort thresholds — one line per PT: uid  target_psi  raw_adc\n";
+        body << "# regenerated on every capture/clear/reload. generated_unix " << now_unix << "\n";
+        for (const auto& [role, target_psi] : cal_cfg.abort_pts) {
+            uint16_t uid = 0;
+            bool found = false;
+            for (const auto& [u, r] : g_uid_role)
+                if (r == role) {
+                    uid = u;
+                    found = true;
+                    break;
+                }
+            if (!found) {
+                std::cerr << "[Calibration] abort_pts \"" << role
+                          << "\": no PT sensor_role declares this name — no threshold emitted"
+                          << std::endl;
+                continue;
+            }
+            const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+            if (cch == nullptr)
+                continue;
+            uint8_t board_number = static_cast<uint8_t>((uid / 100) % 10);
+            if (board_number == 0)
+                board_number = 10;
+            const fsw::config::PtBoardConfig* loop_board = current_loop_board(board_number);
+            const bool is_loop = loop_board != nullptr;
+            const int npoints = static_cast<int>(cch->points.size());
+            const PtModel model = g_env_override ? *g_env_override : pt_model_for(uid);
+            // Physics-model sensors always use physics; cubic/robust/blend use their own curve only
+            // with enough captured points to trust it, else fall back to physics.
+            const bool sparse = (model != PtModel::Physics) && (npoints < kMinAbortCalPoints);
+            std::optional<int32_t> adc =
+                invert_abort_psi_to_adc(uid, cch->logical_ch, is_loop, loop_board, target_psi,
+                                        /*force_physics=*/sparse, pt_calibration, robust_manager);
+            // Model curve couldn't reach the target (bad fit) → fall back to physics; a datasheet
+            // gate beats no gate.
+            if (!adc && model != PtModel::Physics && !sparse)
+                adc =
+                    invert_abort_psi_to_adc(uid, cch->logical_ch, is_loop, loop_board, target_psi,
+                                            /*force_physics=*/true, pt_calibration, robust_manager);
+            if (!adc) {
+                std::cerr << "[Calibration] abort_pts \"" << role << "\" (" << target_psi
+                          << " psi): no usable mapping (full_scale 0?) — no threshold emitted"
+                          << std::endl;
+                continue;
+            }
+            if (sparse)
+                std::cout << "[Calibration] abort_pts \"" << role << "\": only " << npoints
+                          << " cal point(s) (<" << kMinAbortCalPoints
+                          << ") — using physics threshold" << std::endl;
+            body << uid << " " << target_psi << " " << static_cast<uint32_t>(*adc) << "\n";
+        }
+        const std::string tmp = out_path + ".tmp";
+        {
+            std::ofstream f(tmp, std::ios::trunc);
+            f << body.str();
+        }
+        std::error_code ec;
+        std::filesystem::rename(tmp, out_path, ec);
+        if (ec)
+            std::cerr << "[Calibration] abort_thresholds write failed: " << ec.message()
+                      << std::endl;
+    };
+
     auto apply_capture = [&](uint16_t uid, double adc_avg, double ref) {
         const fsw::calibration::CubicFit fit = cubic_store.add_point(uid, adc_avg, ref);
         const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
@@ -722,6 +862,9 @@ int main(int argc, char* argv[]) {
         // Persist robust learning on every capture (not only the 5-min auto-save / clean stop), so
         // a crash can't lose it.
         robust_manager.save_adjustments(adjustments_path, &uid_role);
+        // This capture may have changed the sensor's curve → re-emit its abort threshold so the
+        // boards' vent-to-safe gate tracks the new calibration within a broadcast cycle.
+        write_abort_thresholds();
     };
     // Clear = back to nothing: drop the captured points, remove the operator cubic (so cubic reads
     // 0), and reset the robust learner. No factory/baseline revert.
@@ -733,6 +876,8 @@ int main(int argc, char* argv[]) {
         robust_manager.reset_adjustment(uid);
         cubic_store.save();
         robust_manager.save_adjustments(adjustments_path, &uid_role);
+        // Clearing drops the curve → re-emit (this sensor now falls back to physics or is omitted).
+        write_abort_thresholds();
     };
 
     // Seed on first run: if the live store file is missing, copy the committed default (a curated,
@@ -798,6 +943,9 @@ int main(int argc, char* argv[]) {
             if (cch != nullptr && !cch->points.empty())
                 cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
         }
+        // Whole-rig cal just (re)loaded — startup or a live profile swap (cmd 7). Emit the abort
+        // thresholds from it so the boards' vent-to-safe gate matches the newly active calibration.
+        write_abort_thresholds();
         return loaded;
     };
 
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index fdce83872..1bfe66a5f 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -122,6 +122,39 @@ void parseVentAbortFromCsv(const std::string& csv_path, std::map<std::string, in
 // One UDP packet to send: (packet type, bytes, dest IP, dest port).
 using ConfigPacket = std::tuple<uint8_t, std::vector<uint8_t>, std::string, uint16_t>;
 
+// Abort thresholds the calibration service computed through each sensor's REAL model (cubic /
+// robust / physics, with a physics fallback for sparse cal), keyed by uid -> {target_psi, raw_adc}.
+// The calibration service is the authority — it has every model loaded and re-emits on each
+// capture/clear/reload. config_broadcast prefers these and only falls back to its own inline
+// physics inversion when a uid is absent (calibration service starting up / down) or its recorded
+// PSI no longer matches the live config (an abort_pts edit the service hasn't re-emitted for yet).
+std::map<uint16_t, std::pair<double, uint32_t>> readAbortThresholds() {
+    std::map<uint16_t, std::pair<double, uint32_t>> out;
+    const char* candidates[] = {
+        "scripts/calibration/calibrations/abort_thresholds.txt",
+        "../scripts/calibration/calibrations/abort_thresholds.txt",
+        "../../scripts/calibration/calibrations/abort_thresholds.txt",
+    };
+    for (const char* path : candidates) {
+        std::ifstream f(path);
+        if (!f.is_open())
+            continue;
+        std::string line;
+        while (std::getline(f, line)) {
+            if (line.empty() || line[0] == '#')
+                continue;
+            std::istringstream is(line);
+            unsigned uid = 0;
+            double psi = 0.0;
+            unsigned long adc = 0;
+            if (is >> uid >> psi >> adc)
+                out[static_cast<uint16_t>(uid)] = {psi, static_cast<uint32_t>(adc)};
+        }
+        break;  // first found wins
+    }
+    return out;
+}
+
 // Read config.toml fresh and build the full SENSOR_CONFIG/ACTUATOR_CONFIG packet set.
 // Called every broadcast cycle so board edits (roles, active_connectors, voltage_reference,
 // abort thresholds, enable flags) go live without restarting the service or a session.
@@ -202,6 +235,7 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
     // calibration_model to "physics" for a board trip, or it has none) — inverting the operator
     // cubic or the current-loop curve would duplicate that math and is left as a follow-up. Both
     // shipped rigs' abort PTs are ratiometric physics.
+    const auto cal_thresholds = readAbortThresholds();
     std::vector<std::tuple<uint32_t, uint8_t, uint32_t>> abort_pt_list;
     std::set<std::string> abort_warnings;
     for (const auto& [sensor_name, threshold_psi] : abort_pts) {
@@ -221,11 +255,27 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
             resolved_role = true;
             const int channel = rit->second;
             if (channel < 1 || channel > 255) {
-                abort_warnings.insert(tag + "channel out of range — NO board overpressure trip");
+                abort_warnings.insert(tag + "channel out of range — no board abort threshold");
                 break;
             }
-            // Interface + model + full-scale resolved exactly as calibration_main does, so the trip
-            // ADC lands on the same curve the operator reads.
+            const uint16_t uid = static_cast<uint16_t>(b.board_id * 100 + channel);
+            // Prefer the calibration service's model-correct threshold, as long as the PSI it was
+            // computed for still matches the live config (it re-emits on capture/clear/reload, not
+            // on a bare abort_pts edit). This is the path that covers cubic/robust and operator
+            // cal.
+            {
+                auto cit = cal_thresholds.find(uid);
+                if (cit != cal_thresholds.end() &&
+                    std::abs(cit->second.first - threshold_psi) < 0.5) {
+                    abort_pt_list.push_back(
+                        {ipToU32Le(b.ip), static_cast<uint8_t>(channel), cit->second.second});
+                    break;
+                }
+            }
+            // Fallback (calibration service not up yet, or the abort PSI changed and it hasn't
+            // re-emitted): invert physics inline. Interface + model + full-scale resolved exactly
+            // as calibration_main does, so a physics threshold lands on the same curve the operator
+            // reads.
             const bool is_loop = b.has_hp_pt_keys || b.pt_type == "4-20 mA absolute";
             std::string model = is_loop ? "physics" : "cubic";  // interface-aware default
             if (const auto* models = cfg.calibration_model_for("calibration_model_" + board_key)) {

From 1e09346424661292ffdb37796c23b8e9fdfa1e42 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 19:27:49 -0700
Subject: [PATCH 174/205] gitignore: abort_thresholds.txt is a runtime artifact
 the calibration service regenerates from live cal, like
 cubic_calibration.json

---
 daq-server/.gitignore | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/daq-server/.gitignore b/daq-server/.gitignore
index 25bbb1e80..eb5435fd3 100644
--- a/daq-server/.gitignore
+++ b/daq-server/.gitignore
@@ -230,3 +230,7 @@ scripts/calibration/calibrations/adjustments.json
 # Clear. cubic_calibration.default.json (NOT ignored) is the tracked seed the service copies here
 # on first run when this file is missing; promote a good cal into it via promote_default.sh.
 scripts/calibration/calibrations/cubic_calibration.json
+
+# Raw-ADC abort thresholds the calibration service regenerates from the live cal on every
+# capture/clear/reload (uid target_psi raw_adc), read by config_broadcast. Runtime-derived, per-rig.
+scripts/calibration/calibrations/abort_thresholds.txt

From 37b125f20f7ab17cc0921128c0acd1ce1df6a167 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 19:31:25 -0700
Subject: [PATCH 175/205] =?UTF-8?q?config=20state=20editor:=20renaming=20a?=
 =?UTF-8?q?=20state=20now=20renames=20its=20column=20across=20all=20three?=
 =?UTF-8?q?=20CSVs=20(on=20blur),=20so=20a=20rename=20no=20longer=20leaves?=
 =?UTF-8?q?=20the=20old=20column=20and=20silently=20drops=20that=20state's?=
 =?UTF-8?q?=20actuators/transitions=20on=20load;=20and=20Save=20is=20refus?=
 =?UTF-8?q?ed=20when=20[[states]]=20and=20the=20CSV=20columns=20diverge=20?=
 =?UTF-8?q?or=20ids/names=20collide/empty=20=E2=80=94=20the=20sequencer=20?=
 =?UTF-8?q?resolves=20by=20name,=20so=20a=20mismatch=20was=20dropping=20st?=
 =?UTF-8?q?ates=20quietly?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/config/page.tsx              | 57 +++++++++++++++++++
 1 file changed, 57 insertions(+)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index ba39f04aa..cf45ae36c 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -398,6 +398,9 @@ export default function ConfigPage() {
   // (null until first load, so we never flag "dirty" before anything has loaded).
   const savedConfigRef = useRef<string | null>(null);
   const savedCsvRef = useRef<string | null>(null);
+  // The state name as it was when a name field gained focus, so on blur we can rename that exact
+  // column across the CSVs (the per-keystroke value would rename on every character).
+  const renameOrigRef = useRef<string | null>(null);
   // Row ids whose name is currently a duplicate (allowed while editing, but blocks Save).
   const [dupRoleRows, setDupRoleRows] = useState<Set<string>>(new Set());
   const onRoleDup = (rowKey: string, isDup: boolean) =>
@@ -479,6 +482,37 @@ export default function ConfigPage() {
       setTimeout(() => setError(null), 5000);
       return;
     }
+    // State-machine consistency: the sequencer resolves transitions/actuators by state NAME, so if
+    // [[states]] and the CSV columns disagree (a rename that didn't propagate, an uploaded CSV, a
+    // stray column) that state is silently dropped on load. Refuse to save until it's clean — the
+    // same posture as the duplicate-role guard above.
+    {
+      const issues: string[] = [];
+      if (stateIdDupes.length)
+        issues.push(`duplicate state id(s): ${[...new Set(stateIdDupes)].join(', ')}`);
+      if (stateNameDupes.length)
+        issues.push(`duplicate state name(s): ${[...new Set(stateNameDupes)].join(', ')}`);
+      if (stateList.some((s) => !String(s.name ?? '').trim())) issues.push('a state has an empty name');
+      const colCheck = (g: CsvGrid | null, label: string) => {
+        if (!g) return;
+        const d = diffKeys(g.states, stateListNames);
+        if (d.orphan.length) issues.push(`${label} has column(s) not in the state list (${d.orphan.join(', ')})`);
+        if (d.missing.length) issues.push(`${label} is missing column(s) (${d.missing.join(', ')})`);
+      };
+      colCheck(csvActuators, 'Actuators');
+      colCheck(csvDelays, 'Delays');
+      colCheck(csvTransitions, 'Transitions');
+      if (csvTransitions) {
+        const d = diffKeys(csvTransitions.rows.map((r) => r.key), stateListNames);
+        if (d.orphan.length || d.missing.length)
+          issues.push('Transitions rows do not match the state list');
+      }
+      if (issues.length) {
+        setError(`Fix the state machine before saving — ${issues.join('; ')}. Use “Regenerate empty” or fix the tables.`);
+        setTimeout(() => setError(null), 9000);
+        return;
+      }
+    }
     try {
       setSaving(true);
       setError(null);
@@ -826,6 +860,27 @@ export default function ConfigPage() {
       return { ...prev, states: list } as ConfigData;
     });
 
+  // Rename a state's column (and, in the transitions grid, its from-row key) so the CSVs track a
+  // [[states]] rename. addState/removeState/moveState already keep the grids in step; renaming did
+  // not, so a renamed state's column kept the OLD name, and on Save the sequencer's name→id
+  // resolution silently dropped that state's actuators/transitions. Called on blur (see the name
+  // input) with the pre-edit name, not per keystroke.
+  const renameCol = (g: CsvGrid | null, from: string, to: string): CsvGrid | null =>
+    g && {
+      states: g.states.map((s) => (s === from ? to : s)),
+      rows: g.rows.map((r) => (r.key === from ? { ...r, key: to } : r)),
+    };
+  const commitStateRename = (idx: number) => {
+    const from = renameOrigRef.current;
+    renameOrigRef.current = null;
+    const to = (stateList[idx]?.name ?? '').trim();
+    // Only a real, non-empty, changed name propagates. An empty name is invalid and blocked at Save;
+    // a transient duplicate is allowed (and flagged) like role names, resolved before Save.
+    if (from && to && from !== to)
+      for (const set of [setCsvActuators, setCsvDelays, setCsvTransitions])
+        set((g) => renameCol(g, from, to));
+  };
+
   const addState = () => {
     const used = new Set(stateList.map((s) => s.id));
     // Never reuse an id: old Elodin run history stores the raw number with no name table beside
@@ -2242,7 +2297,9 @@ export default function ConfigPage() {
                             <input
                               type="text"
                               value={st.name ?? ''}
+                              onFocus={() => { renameOrigRef.current = stateList[i]?.name ?? null; }}
                               onChange={(e) => setState(i, { name: e.target.value })}
+                              onBlur={() => commitStateRename(i)}
                               disabled={!canEdit}
                               className={`w-full px-2 py-1 bg-gray-800 border rounded text-white disabled:opacity-60 ${st.name && stateNameDupes.includes(st.name) ? 'border-red-500 ring-1 ring-red-500' : 'border-gray-600'}`}
                             />

From b827dfd4f38f0f3ae3d02820223bf889c13745d5 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 19:33:36 -0700
Subject: [PATCH 176/205] =?UTF-8?q?backend:=20reject=20a=20state=5Ftransit?=
 =?UTF-8?q?ion=20whose=20id=20the=20active=20config's=20[[states]]=20doesn?=
 =?UTF-8?q?'t=20declare=20instead=20of=20resolving=20it=20through=20the=20?=
 =?UTF-8?q?compiled=20SystemState=20enum=20=E2=80=94=20on=20a=20renumbered?=
 =?UTF-8?q?=20rig=20the=20enum=20names=20a=20different=20state,=20so=20a?=
 =?UTF-8?q?=20stale/foreign=20id=20could=20be=20silently=20rewritten=20int?=
 =?UTF-8?q?o=20a=20real=20wrong=20transition;=20the=20enum=20fallback=20no?=
 =?UTF-8?q?w=20stands=20only=20when=20the=20config=20declares=20no=20state?=
 =?UTF-8?q?s=20at=20all?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/backend/src/server.ts       | 22 +++++++++++++++++--
 1 file changed, 20 insertions(+), 2 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 5e3272b4d..936a098fb 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -942,7 +942,7 @@ function handleCommand(ws: WebSocket, command: CommandPayload): void {
   switch (command.commandType) {
     case 'state_transition': {
       const targetState = command.data.state!;
-      const stateName = configStateName(targetState) ?? SystemState[targetState] ?? String(targetState);
+      const declaredName = configStateName(targetState);
       // Resolve the id through the config the sequencer itself loaded, not the compiled enum.
       // The GUI sends a [[states]] id; SystemState is a fixed table that only agrees with it on a
       // rig that never renumbered. On one that did, every id from the first divergence up named a
@@ -950,7 +950,25 @@ function handleCommand(ws: WebSocket, command: CommandPayload): void {
       // TRANSITION:Fuel Press — and because Fuel Press is a real state here, fromName() resolved
       // it and the sequencer would have run it. A vent request executing a press is not a failure
       // mode worth keeping for the sake of a fallback.
-      const csvName = configStateName(targetState) ?? STATE_TO_CSV_NAME[stateName] ?? stateName;
+      //
+      // So once the config declares a [[states]] list it is the sole authority: an id it does not
+      // declare is rejected, not rewritten through the enum. The enum fallback below stands only
+      // when the config declares no states at all (legacy / unconfigured rig).
+      const cfgStates = (() => {
+        try {
+          const r = (readConfig() as any)?.states;
+          return Array.isArray(r) ? r : null;
+        } catch {
+          return null;
+        }
+      })();
+      if (cfgStates && cfgStates.length > 0 && declaredName === null) {
+        console.warn(`[ThinServer] state_transition rejected: id ${targetState} not in active config [[states]]`);
+        send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `State transition rejected: id ${targetState} is not a state in the active config` } });
+        break;
+      }
+      const stateName = declaredName ?? SystemState[targetState] ?? String(targetState);
+      const csvName = declaredName ?? STATE_TO_CSV_NAME[stateName] ?? stateName;
       // No optimistic update — real state/actuator positions arrive via _SEQUENCER_STATE [0x50]
       // and [0x32] packets from Elodin. FIRE_START/FIRE_STOP are sent from the subscriber path.
       sendToActuatorService(`TRANSITION:${csvName}\n`).then(({ ok, reply }) => {

From b59c83509f48d3150cb3058542fc726b92e6f13f Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Sat, 5 Sep 2026 19:33:36 -0700
Subject: [PATCH 177/205] =?UTF-8?q?config=20roles:=20renaming=20or=20remov?=
 =?UTF-8?q?ing=20a=20sensor=20role=20now=20updates=20its=20abort=5Fpts=20e?=
 =?UTF-8?q?ntry=20too=20=E2=80=94=20abort=5Fpts=20is=20keyed=20by=20role?=
 =?UTF-8?q?=20name=20and=20feeds=20the=20boards'=20abort=20thresholds,=20s?=
 =?UTF-8?q?o=20an=20un-synced=20rename/remove=20silently=20orphaned=20that?=
 =?UTF-8?q?=20sensor's=20overpressure=20gate?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/frontend/app/config/page.tsx   | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index cf45ae36c..5eaaaa81f 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1809,6 +1809,15 @@ export default function ConfigPage() {
                                     patch[pk] = rebuiltMap;
                                   }
                                 }
+                                // abort_pts is keyed by the sensor role name and feeds the boards'
+                                // abort thresholds — rename it too, or that sensor's overpressure gate
+                                // silently orphans (the role no longer resolves to a uid).
+                                if (config.abort_pts && name in config.abort_pts) {
+                                  const rebuiltAbort: Record<string, number> = {};
+                                  for (const [k, v] of Object.entries(config.abort_pts))
+                                    rebuiltAbort[k === name ? newName : k] = v as number;
+                                  patch.abort_pts = rebuiltAbort;
+                                }
                                 setConfig(patch);
                               }}
                               onError={(msg) => { setError(msg); setTimeout(() => setError(null), 4000); }}
@@ -1886,6 +1895,13 @@ export default function ConfigPage() {
                                     patch[pk] = um;
                                   }
                                 }
+                                // And its abort threshold, or a removed sensor leaves a dangling
+                                // abort_pts entry that resolves to no sensor.
+                                if (config.abort_pts && name in config.abort_pts) {
+                                  const ua = { ...config.abort_pts };
+                                  delete ua[name];
+                                  patch.abort_pts = ua;
+                                }
                                 setConfig(patch);
                               }}
                               className="w-24 shrink-0 px-3 py-2 bg-red-600 rounded hover:bg-red-700"

From 4d4fc583fe5586d50d26fc8e6aa80f29ff128a70 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 03:04:33 -0700
Subject: [PATCH 178/205] =?UTF-8?q?recovery=20gating=20audit:=20drop=20the?=
 =?UTF-8?q?=20ConfigVersions.tsx=20exemption=20=E2=80=94=20the=20designs?=
 =?UTF-8?q?=20bar=20was=20unified=20into=20the=20shared=20header=20on=20th?=
 =?UTF-8?q?is=20branch,=20so=20it=20is=20outside=20this=20test's=20compone?=
 =?UTF-8?q?nts=20glob=20and=20lib/gating.test.ts=20audits=20it=20there;=20?=
 =?UTF-8?q?main's=20copy=20still=20listed=20it=20and=20the=20staleness=20c?=
 =?UTF-8?q?heck=20failed=20on=20the=20merge?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 star-openrocket/frontend/src/recovery/lib/gating.test.ts | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/star-openrocket/frontend/src/recovery/lib/gating.test.ts b/star-openrocket/frontend/src/recovery/lib/gating.test.ts
index 8d53b3080..02c7e5ba4 100644
--- a/star-openrocket/frontend/src/recovery/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/recovery/lib/gating.test.ts
@@ -37,9 +37,10 @@ const NOT_EDITING: Record<string, string> = {
   'ui.tsx':
     'the gated primitives themselves; Button/NumberInput/Select consult ' +
     'useDisabled, which is what the last test below pins',
-  'ConfigVersions.tsx':
-    'the designs bar -- Take, Release and the picker have to stay live ' +
-    'precisely when you do not hold the design',
+  // The designs bar used to sit in these components and was exempt here. It is
+  // now the single shared header bar (components/versions/ConfigVersions.tsx),
+  // outside this glob, and lib/gating.test.ts audits it in that role -- so an
+  // entry for it here would be an exemption for a file this test never sees.
   'TemperatureByMonth.tsx': 'an atmosphere chart; picking a month changes the plot, not the design',
 }
 

From 612f9a5d3ac12311f9d0bc6c715b7aa65c9019b0 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 03:04:33 -0700
Subject: [PATCH 179/205] =?UTF-8?q?star-openrocket:=20audit=20that=20every?=
 =?UTF-8?q?=20saved=20design=20field=20is=20read=20back=20from=20the=20sto?=
 =?UTF-8?q?red=20blob=20=E2=80=94=20tsc=20forces=20a=20field=20to=20appear?=
 =?UTF-8?q?=20in=20the=20reviver=20but=20'x:=20base.x'=20compiles=20fine?=
 =?UTF-8?q?=20and=20silently=20defaults=20on=20every=20load,=20and=20the?=
 =?UTF-8?q?=20round-trip=20test=20only=20pokes=20the=20two=20fields=20some?=
 =?UTF-8?q?one=20named,=20so=20a=20new=20field=20is=20default-in/default-o?=
 =?UTF-8?q?ut=20and=20passes?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/src/lib/savable.test.ts          | 263 ++++++++++++++++++
 1 file changed, 263 insertions(+)
 create mode 100644 star-openrocket/frontend/src/lib/savable.test.ts

diff --git a/star-openrocket/frontend/src/lib/savable.test.ts b/star-openrocket/frontend/src/lib/savable.test.ts
new file mode 100644
index 000000000..04ae64cf8
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/savable.test.ts
@@ -0,0 +1,263 @@
+/**
+ * Every field of a saved design must be read back out of the stored copy.
+ *
+ * A design here is a plain typed object -- `OrkConfig = {cad, recovery}` -- and
+ * loading one is a hand-written revive function that rebuilds it field by
+ * field. That shape is deliberate (see lib/persist.ts: a spread would resurrect
+ * fields the app has since retired, and would leave a field added later
+ * `undefined` rather than defaulted). The cost is that every field has to be
+ * named twice: once in the interface, once in the reviver.
+ *
+ * TypeScript covers half of that. A reviver returns a `ViewerConfig`, so a
+ * field missing from the returned literal is a compile error and nobody can
+ * ship it. What compiles perfectly well is:
+ *
+ *     hiddenKeys: base.hiddenKeys,
+ *
+ * The field is present, the types line up, the value saves to the server on
+ * every autosave tick -- and comes back as the default every single time. The
+ * user hides three parts, reloads, and they are visible again. Nothing errors,
+ * nothing is logged, and the save file on disk is correct, which is what makes
+ * this the expensive kind of bug to chase. It is the same failure the engine
+ * design tools hit from the other direction, where the fields were never in the
+ * payload at all.
+ *
+ * So this audit checks the one thing the compiler cannot: that each field is
+ * read from *the stored blob* rather than from the defaults. Anything genuinely
+ * not restorable is listed in UNREAD below with a reason, which keeps the
+ * exceptions few and visible.
+ *
+ * Scope: top-level fields of the design roots. Nested objects (`vehicle`,
+ * `site`, a device) are spread-merged onto their defaults, so a field added
+ * inside one is carried automatically and there is nothing to forget. It is
+ * exactly the enumerated level that needs watching.
+ */
+
+import { describe, expect, it } from 'vitest'
+
+/**
+ * The design roots and the function that restores each.
+ *
+ * `type` is looked up in `typeFile`, `reviver` in `reviverFile`, both by name
+ * in the raw source. The last test below fails if either stops resolving, so a
+ * rename cannot quietly turn this whole audit into a no-op that passes.
+ */
+interface Reviver {
+  type: string
+  typeFile: string
+  reviver: string
+  reviverFile: string
+}
+
+const REVIVERS: Reviver[] = [
+  { type: 'ViewerConfig', typeFile: 'types/config.ts', reviver: 'reviveViewerConfig', reviverFile: 'lib/persist.ts' },
+  { type: 'FlightParams', typeFile: 'types/config.ts', reviver: 'revivedFlight', reviverFile: 'lib/persist.ts' },
+  { type: 'OrkConfig', typeFile: 'types/config.ts', reviver: 'reviveOrkConfig', reviverFile: 'lib/persist.ts' },
+  // The recovery half keeps its own root and its own reviver; the unified
+  // design nests it whole, so it has to be audited on its own terms.
+  { type: 'UiConfig', typeFile: 'recovery/types/schema.ts', reviver: 'reviveUiConfig', reviverFile: 'recovery/lib/persist.ts' },
+]
+
+/**
+ * Interfaces in types/config.ts that are not a saved design, with a reason.
+ *
+ * A deny-list, not an allow-list, and the first test enforces it: every
+ * exported interface in that file must either have a reviver above or be named
+ * here. An allow-list would only ever cover the types somebody remembered to
+ * add, so a brand new design root -- the exact thing whose fields go missing --
+ * would sail straight past the audit that exists to catch it.
+ */
+const NOT_A_DESIGN: Record<string, string> = {}
+
+/**
+ * Fields that are deliberately NOT read back from the stored copy, with a
+ * reason each. Keyed `Type.field`.
+ */
+const UNREAD: Record<string, string> = {
+  'ViewerConfig.version': 'the schema version, re-stamped on revive; reading the blob\'s own back would defeat the point of having one',
+  'OrkConfig.version': 'as above -- the version describes the shape this build writes, not the shape it read',
+}
+
+/** Receivers that are the defaults, not the stored blob. A field read only from
+ *  one of these is precisely the bug this file exists to catch. */
+const DEFAULTS = new Set(['base', 'defaults'])
+
+const raw = {
+  ...import.meta.glob('../types/*.ts', { eager: true, query: '?raw', import: 'default' }),
+  ...import.meta.glob('./*.ts', { eager: true, query: '?raw', import: 'default' }),
+  ...import.meta.glob('../recovery/types/*.ts', { eager: true, query: '?raw', import: 'default' }),
+  ...import.meta.glob('../recovery/lib/*.ts', { eager: true, query: '?raw', import: 'default' }),
+} as Record<string, string>
+
+/**
+ * Source with comments blanked out, same length so offsets still line up.
+ *
+ * Both halves need this. These files explain themselves at length, and a doc
+ * comment above `hiddenKeys` that says "saved.hiddenKeys" would otherwise count
+ * as the read -- an audit that passes on its own prose is worse than none. It
+ * also keeps comment text from being parsed as interface fields. `//` is only a
+ * comment when it does not follow a colon, so a `https://` in a string lives.
+ */
+function stripComments(src: string): string {
+  const blank = (m: string) => m.replace(/[^\n]/g, ' ')
+  return src
+    .replace(/\/\*[\s\S]*?\*\//g, blank)
+    .replace(/(^|[^:])\/\/[^\n]*/g, (m, p1) => p1 + blank(m.slice(p1.length)))
+}
+
+/**
+ * Glob keys are relative to this file (src/lib/); resolve them to src-relative
+ * paths so a lookup can be exact. It has to be exact: `recovery/lib/persist.ts`
+ * and `lib/persist.ts` both end in the same three segments, and a suffix match
+ * would let the recovery reviver stand in for the CAD one.
+ */
+function resolveKey(key: string): string {
+  const parts = ['src', 'lib']
+  for (const seg of key.split('/')) {
+    if (seg === '.' || seg === '') continue
+    else if (seg === '..') parts.pop()
+    else parts.push(seg)
+  }
+  return parts.join('/')
+}
+
+const files: Record<string, string> = Object.fromEntries(
+  Object.entries(raw).map(([p, src]) => [resolveKey(p), stripComments(src)]),
+)
+
+/** The file at exactly `src/<name>`. */
+function sourceOf(name: string): string | null {
+  return files[`src/${name}`] ?? null
+}
+
+/** The `{...}` starting at the first `{` at or after `from`, brace-matched. */
+function blockAt(src: string, from: number): string | null {
+  const open = src.indexOf('{', from)
+  if (open < 0) return null
+  let depth = 0
+  for (let i = open; i < src.length; i++) {
+    if (src[i] === '{') depth++
+    else if (src[i] === '}' && --depth === 0) return src.slice(open + 1, i)
+  }
+  return null
+}
+
+/** Every `export interface X` in a file. */
+function exportedInterfaces(src: string): string[] {
+  return [...src.matchAll(/export\s+interface\s+(\w+)\s*\{/g)].map((m) => m[1])
+}
+
+/**
+ * Top-level field names of an interface.
+ *
+ * Depth-tracked so a nested object literal's own keys are not mistaken for
+ * fields of the parent, and so a union spanning lines does not swallow the
+ * field after it.
+ */
+function interfaceFields(src: string, name: string): string[] {
+  const m = new RegExp(`export\\s+interface\\s+${name}\\s*\\{`).exec(src)
+  if (!m) return []
+  const body = blockAt(src, m.index)
+  if (body === null) return []
+
+  const fields: string[] = []
+  let depth = 0
+  for (const line of body.split('\n')) {
+    if (depth === 0) {
+      const f = /^\s*(?:readonly\s+)?([A-Za-z_]\w*)\??\s*:/.exec(line)
+      if (f) fields.push(f[1])
+    }
+    for (const c of line) {
+      if (c === '{' || c === '(' || c === '[') depth++
+      else if (c === '}' || c === ')' || c === ']') depth--
+    }
+  }
+  return fields
+}
+
+/** A named function's body. */
+function functionBody(src: string, name: string): string | null {
+  const m = new RegExp(`function\\s+${name}\\s*\\(`).exec(src)
+  if (!m) return null
+  // Past the parameter list first: a default value in the signature could
+  // otherwise be mistaken for the body.
+  const parens = src.indexOf('(', m.index)
+  let depth = 0
+  let i = parens
+  for (; i < src.length; i++) {
+    if (src[i] === '(') depth++
+    else if (src[i] === ')' && --depth === 0) break
+  }
+  return blockAt(src, i)
+}
+
+/** True when `body` reads `field` off something that is not the defaults. */
+function readsFromStored(body: string, field: string): boolean {
+  const re = new RegExp(`(\\w+)\\s*\\.\\s*${field}\\b`, 'g')
+  for (const m of body.matchAll(re)) if (!DEFAULTS.has(m[1])) return true
+  return false
+}
+
+describe('every saved design field is restored from the stored design', () => {
+  it('classifies every exported interface in types/config.ts', () => {
+    const src = sourceOf('types/config.ts')
+    expect(src, 'types/config.ts not found').not.toBeNull()
+
+    const audited = new Set(REVIVERS.map((r) => r.type))
+    const unclassified = exportedInterfaces(src!).filter(
+      (name) => !audited.has(name) && !(name in NOT_A_DESIGN),
+    )
+    expect(
+      unclassified,
+      `these design types have no reviver and no NOT_A_DESIGN reason: ${unclassified.join(', ')}.\n` +
+        'Add it to REVIVERS so its fields are audited, or to NOT_A_DESIGN saying why it is not saved.',
+    ).toEqual([])
+  })
+
+  it.each(REVIVERS)('$reviver restores every field of $type', ({ type, typeFile, reviver, reviverFile }) => {
+    const types = sourceOf(typeFile)
+    const revivers = sourceOf(reviverFile)
+    expect(types, `${typeFile} not found`).not.toBeNull()
+    expect(revivers, `${reviverFile} not found`).not.toBeNull()
+
+    const fields = interfaceFields(types!, type)
+    expect(fields.length, `no fields parsed out of ${type} -- the audit would pass vacuously`).toBeGreaterThan(0)
+
+    const body = functionBody(revivers!, reviver)
+    expect(body, `${reviver} not found in ${reviverFile}`).not.toBeNull()
+
+    const dropped = fields.filter(
+      (f) => !(`${type}.${f}` in UNREAD) && !readsFromStored(body!, f),
+    )
+    expect(
+      dropped,
+      `${reviver} never reads these back from the stored design: ${dropped.join(', ')}.\n` +
+        'They save, but load as the default every time -- the user\'s value is silently lost on reload.\n' +
+        `Read each from the parsed blob, or add "${type}.<field>" to UNREAD with a reason.`,
+    ).toEqual([])
+  })
+
+  it('keeps every UNREAD exemption pointing at a real field', () => {
+    const stale = Object.keys(UNREAD).filter((key) => {
+      const [type, field] = [key.slice(0, key.indexOf('.')), key.slice(key.indexOf('.') + 1)]
+      const entry = REVIVERS.find((r) => r.type === type)
+      if (!entry) return true
+      const src = sourceOf(entry.typeFile)
+      return !src || !interfaceFields(src, type).includes(field)
+    })
+    expect(stale, `UNREAD names fields that no longer exist: ${stale.join(', ')}`).toEqual([])
+  })
+
+  it('keeps every registered type and reviver pointing at real source', () => {
+    const missing: string[] = []
+    for (const { type, typeFile, reviver, reviverFile } of REVIVERS) {
+      const types = sourceOf(typeFile)
+      const revivers = sourceOf(reviverFile)
+      if (!types) missing.push(`${typeFile} (for ${type})`)
+      else if (!interfaceFields(types, type).length) missing.push(`interface ${type} in ${typeFile}`)
+      if (!revivers) missing.push(`${reviverFile} (for ${reviver})`)
+      else if (functionBody(revivers, reviver) === null) missing.push(`function ${reviver} in ${reviverFile}`)
+    }
+    expect(missing, `REVIVERS points at source that no longer exists: ${missing.join(', ')}`).toEqual([])
+  })
+})

From 15ee6492fadd38aae3e8eb2f9d03aba39b8e0a58 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 03:04:33 -0700
Subject: [PATCH 180/205] =?UTF-8?q?star-openrocket=20CI:=20run=20the=20fro?=
 =?UTF-8?q?ntend=20suite=20(npm=20test)=20=E2=80=94=2013=20vitest=20files?=
 =?UTF-8?q?=20including=20both=20checkout-gating=20audits=20have=20never?=
 =?UTF-8?q?=20run=20in=20CI,=20so=20they=20were=20green=20by=20default;=20?=
 =?UTF-8?q?also=20move=20the=20summary=20comment=20back=20onto=20the=20sum?=
 =?UTF-8?q?mary=20job=20after=20the=20docker-image=20merge?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/star-openrocket-ci.yml | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/star-openrocket-ci.yml b/.github/workflows/star-openrocket-ci.yml
index 87df70d32..89891d64e 100644
--- a/.github/workflows/star-openrocket-ci.yml
+++ b/.github/workflows/star-openrocket-ci.yml
@@ -193,7 +193,20 @@ jobs:
       working-directory: star-openrocket/frontend
       run: npm run build
 
-  # Aggregate status, mirroring engine-design-ci.yml's summary job.
+    # Source audits over the design contract, and the reason this step exists at
+    # all: the suite was here long before anything ran it, so both gating audits
+    # sat green-by-default while nobody could have known if they broke. The two
+    # things it pins are the two ways a design quietly loses somebody's work --
+    # a control that stays live without the checkout (lib/gating.test.ts, and
+    # recovery/lib/gating.test.ts for the recovery half), and a field that saves
+    # but is never read back (lib/savable.test.ts). Both are invisible from the
+    # UI: nothing errors, and the file on disk looks right. Blocking, unlike
+    # lint, because "it didn't save" is the failure the whole design store is
+    # for. Matches engine-design-ci.yml and pid-designer-ci.yml.
+    - name: Unit tests (design audits + persistence)
+      working-directory: star-openrocket/frontend
+      run: npm test
+
   # Docker image build. This is the gate that was missing: publish-apps.yml (and
   # publish-auth.yml) only trigger on push to main, so a Dockerfile that no
   # longer matches the tree -- a COPY of a directory the branch deleted, say --
@@ -239,6 +252,7 @@ jobs:
           push: false
           cache-from: type=gha,scope=${{ matrix.name }}
 
+  # Aggregate status, mirroring engine-design-ci.yml's summary job.
   star-openrocket-summary:
     name: STAR OpenRocket Summary
     runs-on: ubuntu-latest

From f8e73c3b938fe87f7fb1404169c266601daf91c7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 03:16:53 -0700
Subject: [PATCH 181/205] =?UTF-8?q?star-openrocket=20gating=20audits:=20au?=
 =?UTF-8?q?dit=20every=20component,=20not=20the=20directories=20someone=20?=
 =?UTF-8?q?listed=20=E2=80=94=20the=20CAD=20half=20globbed=20components/{v?=
 =?UTF-8?q?iewer,environment}=20and=20so=20skipped=20ui.tsx,=20UnitsPanel.?=
 =?UTF-8?q?tsx,=20ConfigVersions.tsx=20and=20App.tsx=20by=20accident=20rat?=
 =?UTF-8?q?her=20than=20by=20decision,=20and=20the=20recovery=20half=20ski?=
 =?UTF-8?q?pped=20RecoveryTab.tsx=20the=20same=20way;=20all=20five=20are?=
 =?UTF-8?q?=20now=20named=20in=20NOT=5FEDITING=20with=20a=20reason,=20whic?=
 =?UTF-8?q?h=20also=20makes=20re-narrowing=20the=20glob=20fail=20the=20exe?=
 =?UTF-8?q?mption-staleness=20test?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/src/lib/gating.test.ts           | 82 +++++++++++++++----
 .../frontend/src/recovery/lib/gating.test.ts  | 23 ++++--
 2 files changed, 85 insertions(+), 20 deletions(-)

diff --git a/star-openrocket/frontend/src/lib/gating.test.ts b/star-openrocket/frontend/src/lib/gating.test.ts
index b0e8e6633..aa0daf649 100644
--- a/star-openrocket/frontend/src/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/lib/gating.test.ts
@@ -9,14 +9,46 @@
  * design appears to lose their work.
  *
  * A source audit rather than a rendering test. It cannot know what a control
- * *means*, so it enforces the one thing it can check mechanically: inside the
- * viewer components, every raw interactive element carries a `disabled`.
+ * *means*, so it enforces the one thing it can check mechanically: every raw
+ * interactive element carries a `disabled` that consults the read-only state.
  * Anything genuinely view-only is listed below with a reason, which keeps the
  * exceptions honest and visible.
+ *
+ * The file list is a DENY-list. It used to glob `components/{viewer,environment}`,
+ * which is an allow-list wearing a glob: it audited eighteen of the twenty-one
+ * components and nothing said so, so `ui.tsx`, `UnitsPanel.tsx` and the designs
+ * bar were unchecked by accident rather than by decision, and a new directory
+ * of design-editing controls would have been unchecked the same way. Everything
+ * under components/ is audited now unless NOT_EDITING names it with a reason --
+ * the same correction the engine-design and pid-designer audits took.
  */
 
 import { describe, expect, it } from 'vitest'
 
+/**
+ * Whole files exempt from the control audit, with a reason each.
+ *
+ * A file belongs here only when *nothing* in it edits the design. If one
+ * control in an otherwise view-only file does write the design, it does not go
+ * here -- gate that control and leave the file audited.
+ */
+const NOT_EDITING: Record<string, string> = {
+  'ui.tsx':
+    'the gated primitives themselves; Button/NumberInput/Select consult ' +
+    'useDisabled, which is what gates their consumers',
+  'ConfigVersions.tsx':
+    'the designs bar -- Take, Release, History and the picker are how you get ' +
+    'the checkout, so they must stay live precisely when you do not hold it',
+  'UnitsPanel.tsx':
+    'which units you read in is a per-browser preference (lib/units/unitsContext ' +
+    'over localStorage), not part of OrkConfig -- see lib/uiPrefs.ts on why that ' +
+    'class of state deliberately never enters a shared design',
+  'App.tsx':
+    'the tab bar and the design bar it renders; both must stay live without a ' +
+    'checkout. Listed rather than left outside the glob so the exclusion is a ' +
+    'decision on the record instead of an accident of which directories match',
+}
+
 /**
  * Raw controls that are deliberately live while read-only, because they change
  * what you are looking at rather than the design. Each needs a reason.
@@ -52,17 +84,20 @@ const VIEW_ONLY: Record<string, string> = {
   'FlightProfileModal.tsx:onClose': 'closes the popup',
 }
 
-/**
- * The viewer components. `App.tsx` is excluded: its own controls are the tab
- * bar and two display toggles (part opacity, the Onshape-CM marker), none of
- * which is saved in the design, and the design bar it renders must stay live so
- * you can take the checkout in the first place.
- */
-const files = import.meta.glob('../components/{viewer,environment}/**/*.tsx', {
-  eager: true,
-  query: '?raw',
-  import: 'default',
-}) as Record<string, string>
+/** Every component, plus App.tsx -- which carries controls of its own, so
+ *  leaving it out of the glob would be an unrecorded exemption. */
+const files = {
+  ...import.meta.glob('../components/**/*.tsx', {
+    eager: true,
+    query: '?raw',
+    import: 'default',
+  }),
+  ...import.meta.glob('../App.tsx', {
+    eager: true,
+    query: '?raw',
+    import: 'default',
+  }),
+} as Record<string, string>
 
 /** The full opening tag, not just up to the first `>` -- an arrow function in an
  *  onClick contains one and would truncate it. */
@@ -85,17 +120,25 @@ function openingTags(src: string, tag: string): string[] {
   return out
 }
 
-describe('checkout gating (viewer)', () => {
+describe('checkout gating (CAD half)', () => {
   it('audits a non-empty set of files', () => {
     // A glob that silently matches nothing would make every assertion below
     // pass while checking nothing at all.
+    //
+    // Narrowing it is caught by the deny-list rather than by a number here:
+    // `ui.tsx`, `UnitsPanel.tsx`, `ConfigVersions.tsx` and `App.tsx` are only
+    // reachable through the wide glob, so any attempt to scope this back to a
+    // few directories drops them out of `files` and fails the "every whole-file
+    // exemption points at a real file" test below. The exemptions hold the
+    // coverage open.
     expect(Object.keys(files).length).toBeGreaterThan(5)
   })
 
-  it('leaves no ungated raw control in the viewer', () => {
+  it('leaves no ungated raw control', () => {
     const offenders: string[] = []
     for (const [path, src] of Object.entries(files)) {
       const name = path.split('/').pop() as string
+      if (name in NOT_EDITING) continue
       for (const tag of ['button', 'input', 'select', 'textarea']) {
         for (const open of openingTags(src, tag)) {
           // A bare `disabled={busy}` is NOT enough. Recompute carried exactly
@@ -124,6 +167,15 @@ describe('checkout gating (viewer)', () => {
     expect(offenders).toEqual([])
   })
 
+  it('keeps every whole-file exemption pointing at a real file', () => {
+    // An exemption for a file that no longer exists is how a rename quietly
+    // drops a component out of the audit while the list still looks tended.
+    const stale = Object.keys(NOT_EDITING).filter(
+      (name) => !Object.keys(files).some((p) => p.endsWith(`/${name}`)),
+    )
+    expect(stale, `NOT_EDITING names files that no longer exist: ${stale.join(', ')}`).toEqual([])
+  })
+
   it('keeps the view-only exception list honest', () => {
     // An exception that no longer matches anything is stale, and a stale list is
     // how a real control quietly acquires an excuse it does not deserve.
diff --git a/star-openrocket/frontend/src/recovery/lib/gating.test.ts b/star-openrocket/frontend/src/recovery/lib/gating.test.ts
index 02c7e5ba4..e2bf5e0a0 100644
--- a/star-openrocket/frontend/src/recovery/lib/gating.test.ts
+++ b/star-openrocket/frontend/src/recovery/lib/gating.test.ts
@@ -34,6 +34,9 @@ import { describe, expect, it } from 'vitest'
  * is audited now unless it is named here.
  */
 const NOT_EDITING: Record<string, string> = {
+  'RecoveryTab.tsx':
+    'the recovery subtab bar; switching tabs is navigation, and the tabs it ' +
+    'renders are each audited in their own right',
   'ui.tsx':
     'the gated primitives themselves; Button/NumberInput/Select consult ' +
     'useDisabled, which is what the last test below pins',
@@ -56,11 +59,21 @@ const VIEW_ONLY: Record<string, string> = {
   'StudyTable.tsx:onToggle(p.id)': 'chart series visibility, local state',
 }
 
-const files = import.meta.glob('../components/**/*.tsx', {
-  eager: true,
-  query: '?raw',
-  import: 'default',
-}) as Record<string, string>
+/** Every recovery component, plus RecoveryTab.tsx -- it sits a level above
+ *  components/ and carries a control of its own, so leaving it out of the glob
+ *  would be an exemption nobody wrote down. */
+const files = {
+  ...import.meta.glob('../components/**/*.tsx', {
+    eager: true,
+    query: '?raw',
+    import: 'default',
+  }),
+  ...import.meta.glob('../RecoveryTab.tsx', {
+    eager: true,
+    query: '?raw',
+    import: 'default',
+  }),
+} as Record<string, string>
 
 /** The full opening tag, not just up to the first `>` -- an arrow function in an
  *  onClick contains one and would truncate it. */

From db462cb79e96ebff8ac08ffdec8e14525c234bd6 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 14:57:56 -0700
Subject: [PATCH 182/205] =?UTF-8?q?daq-server:=20refresh=20the=20improveme?=
 =?UTF-8?q?nt=20backlog=20=E2=80=94=20the=20April=20copy=20predated=20the?=
 =?UTF-8?q?=20Vite=20migration,=20smol-toml=20and=20the=20config-driven=20?=
 =?UTF-8?q?[[states]]=20rework,=20so=20six=20of=20its=20sixteen=20items=20?=
 =?UTF-8?q?were=20already=20fixed;=20those=20are=20recorded=20with=20how?=
 =?UTF-8?q?=20rather=20than=20dropped,=20and=20the=20new=20audit=20adds=20?=
 =?UTF-8?q?the=20sequencer=20concurrency=20races,=20the=20heartbeat's=20ha?=
 =?UTF-8?q?rdcoded=20state-enum=20mapping,=20read=5Fpacket's=20stream=20de?=
 =?UTF-8?q?sync,=20the=20unbounded=20WS=20broadcast=20and=20the=20static-a?=
 =?UTF-8?q?nalysis=20job=20that=20cannot=20fail?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/docs/IMPROVEMENTS.md | 581 ++++++++++++++++++++++++++++++++
 1 file changed, 581 insertions(+)
 create mode 100644 daq-server/docs/IMPROVEMENTS.md

diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
new file mode 100644
index 000000000..b73cfad83
--- /dev/null
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -0,0 +1,581 @@
+# DAQ Server — Improvement Backlog
+
+Known defects and improvement work across the C++ services, the TypeScript backend, the
+frontend, and CI. Each item names the affected file(s), what actually goes wrong, and the
+shape of the fix.
+
+**Last audited:** 2026-09-07 against `ab3ce2d2`.
+The previous revision of this file dated from April 2026 and predated the Vite frontend
+migration, the `smol-toml` config work, and the config-driven `[[states]]` rework. Items it
+listed that are now fixed are recorded at the bottom rather than silently dropped, so a
+future audit can tell "resolved" from "never looked at".
+
+---
+
+## Critical
+
+### C++ — `SequencerService` serializes nothing; every command path is concurrent
+
+**Files:** `diablo_server/services/sequencer/SequencerService.cpp:243` (`transitionTo`),
+`diablo_server/services/sequencer/sequencer_main.cpp:215`
+
+`sequencer_main` spawns **one detached thread per TCP client** and every one of them calls
+into the same `SequencerService` instance. The `FireManager` timer thread is a third caller
+(`SequencerService.cpp:294`, `transitionTo(fire_expiry_state_)`). There is no mutex anywhere
+in the class — only `std::atomic` on the individual fields, which protects each load and
+store but not the multi-step sequence built out of them.
+
+`transitionTo` is that sequence: clear overrides → `stopContinuousLoop()` →
+`applyForState()` → `startContinuousLoop()` → assign `current_state_` → maybe
+`triggerAbort()` → maybe `fire_manager_.start()`. Two threads running it at once interleave
+arbitrarily.
+
+The sharpest failure is not a logical race but a hard crash. `stopContinuousLoop()` joins
+`loop_thread_`; `startContinuousLoop()` move-assigns into it. Two threads doing that
+concurrently means either two `join()` calls on the same `std::thread` (undefined behavior)
+or a move-assignment into a still-joinable thread, which calls `std::terminate` — the exact
+failure `FireManager::stop()` documents at `FireManager.cpp:41-46` and guards against
+single-threaded, but which nothing guards against across threads.
+
+**Failure scenario:** two dashboards are open. The fire timer expires at the same moment an
+operator presses ABORT. Both threads enter `transitionTo`. The sequencer dies with
+`terminate called without an active exception` — during a burn, with the actuator republish
+loop dead and no process left to command the abort state.
+
+**Fix:** a single `std::recursive_mutex` held across the whole body of `transitionTo`,
+`setDebugMode`, `manualActuator`, `extendFire`, and `reloadConfig`. Recursive because the
+fire-expiry callback re-enters `transitionTo` from inside `FireManager`'s timer thread while
+`stop()` may be unwinding. Commands are human-rate; there is no throughput argument against
+a service-wide lock here.
+
+---
+
+### C++ — `reloadConfig()` rewrites the actuator tables while the 1 Hz loop is reading them
+
+**Files:** `diablo_server/services/sequencer/SequencerService.cpp:338`,
+`diablo_server/services/sequencer/ActuatorCommander.cpp:58`
+
+`reloadConfig()` calls `actuator_commander_.load(...)`, whose first two statements are
+`roles_.clear(); state_actuators_.clear();` — followed by a full repopulate from CSV. It
+does **not** stop the continuous loop first. That loop
+(`ActuatorCommander.cpp:493`) is calling `applyForState()` → `findStateActuators()` →
+iterating `state_actuators_` once a second, forever.
+
+Neither `roles_` nor `state_actuators_` is guarded by a mutex (the class has
+`pending_roles_mutex_` and `overrides_mutex_`, which cover different members).
+Clearing and rebuilding a `std::map` under an active iterator is undefined behavior, not a
+stale read.
+
+`state_machine_.load(sm_csv)` on the next line has the same problem against any concurrent
+`transitionTo` reading the transition table.
+
+**Failure scenario:** an operator saves a config edit from the GUI (which sends
+`RELOAD_CONFIG`) during a fill. The republish loop is mid-iteration. The sequencer segfaults
+or sends actuator commands built from freed nodes.
+
+**Fix:** in `reloadConfig()`, stop the continuous loop, swap the tables, restart the loop —
+all under the service-wide lock from the item above. Better still, build the new
+`ActuatorCommander` state off to the side and swap it in under a lock, so a failed reload
+cannot leave the tables half-cleared (today a mid-load `return false` leaves the service
+with an empty actuator map and a running loop).
+
+---
+
+### C++ — `reloadConfig()` re-adopts `[[states]]` but keeps the old fire state ids
+
+**File:** `diablo_server/services/sequencer/SequencerService.cpp:338-360`
+
+`reloadConfig()` calls `StateMachine::loadStatesFromConfig(config_content_)` — renumbering
+every state — but never re-reads `[fire]`. `fire_state_` and `fire_expiry_state_` are stored
+as `State` values (raw ids) resolved once in `init()`. After a reload that renumbers or
+renames states, both hold ids that now name *different* states, and
+`actuator_commander_.setFireState()` is never called again either.
+
+`fire_manager_.configure(duration, extended)` is also not re-applied, so an edited fire
+window silently doesn't take effect until the service restarts.
+
+This is the same class of bug as the ones already fixed in `init()`, the controller, and the
+backend — the reload path just never got the same treatment.
+
+**Failure scenario:** a rig adds a state, which shifts ids. Config is reloaded rather than
+the stack restarted. `to == fire_state_` in `transitionTo` now matches the wrong state: the
+fire countdown arms on entering some fill state, and entering the real fire state arms
+nothing.
+
+**Fix:** factor the `[fire]` resolution block out of `init()` (`SequencerService.cpp:144-191`,
+including the `isAllowed` sanity warning) and call it from both `init()` and
+`reloadConfig()`.
+
+---
+
+### C++ — ABORT is a single unacknowledged UDP datagram
+
+**File:** `diablo_server/services/sequencer/AbortBroadcaster.cpp:39-73`
+
+`sendPacket()` sends the ABORT header exactly once and reports success if `sendto` accepted
+it. One dropped frame on a congested field network and no board ever hears the abort.
+
+The contrast inside the same service is stark: `ActuatorCommander::sendBatch` sends **three
+rounds 1 ms apart** for ordinary state changes precisely because a single UDP send is not
+trusted. The abort path — the one that matters most — sends one.
+
+Related, same function: `dest.sin_addr.s_addr = INADDR_BROADCAST` (255.255.255.255) with no
+`SO_BINDTODEVICE` and no bind to the DAQ NIC. On the apps box, which has more than one
+interface, the kernel picks the egress interface by route. If the DAQ NIC is not the one
+chosen, the abort broadcast leaves on the wrong wire.
+
+**Fix:** send the abort 3–5 times a few ms apart, matching `sendBatch`. Bind the socket to
+the configured DAQ interface address (or send to the subnet-directed broadcast address,
+`192.168.2.255`, rather than the limited broadcast address) so it cannot take the wrong
+route. Log `errno` on a short send instead of only a generic "failed".
+
+---
+
+### C++ — `read_packet` desynchronizes the Elodin stream on an oversized packet, and the heartbeat buffer guarantees it
+
+**Files:** `diablo_server/lib/src/elodin/ElodinClient.cpp:236-240`,
+`diablo_server/services/heartbeat/heartbeat_service_main.cpp:105`
+
+`read_packet` reads the 8-byte header, and if `packet_len > max_len` it returns `-1` —
+**without draining the `packet_len - 4` payload bytes it just committed to reading and
+without disconnecting.** The socket is now permanently misaligned: every subsequent read
+interprets payload bytes as a header. The client never recovers, and because the connection
+is still "connected", callers that `continue` on `-1` spin at 100% CPU.
+
+The heartbeat service is the guaranteed trigger. It subscribes to the whole stream
+(`subscribe_stream()`) with a **256-byte** buffer. The calibration service, which learned
+this the hard way, uses 64 KB and says so in a comment
+(`calibration_main.cpp:1022`: *"64 KB — handles large Elodin subscription-ACK bursts"*). The
+heartbeat gets one subscription ACK burst or one large vtable packet and its state tracking
+is dead for the lifetime of the process — while it keeps broadcasting SERVER_HEARTBEAT with
+a frozen `engine_state`.
+
+**Fix:** in `read_packet`, on an oversized packet either drain-and-skip the payload (read it
+in chunks into a scratch buffer and return 0 for "skipped") or mark the connection failed so
+the caller reconnects — never leave a half-read packet on the socket. Raise the heartbeat
+buffer to match calibration's. In `elodinThread`, treat a persistent `-1` as a disconnect
+rather than looping.
+
+---
+
+### C++ — Heartbeat maps sequencer states through a hardcoded enum table
+
+**File:** `diablo_server/services/heartbeat/heartbeat_service_main.cpp:54-87`
+
+`stateToEngine()` is a literal `switch` over the *compiled* `sequencer::State` numbering
+(`case 16: return 3; // FIRE → FIRING`), and the heartbeat service is the only consumer of
+sequencer state that never calls `StateMachine::loadStatesFromConfig()` — the sequencer,
+the controller, and the TS backend all do.
+
+Every other component was migrated off the compiled enum precisely because a rig that
+renumbers `[[states]]` makes those ids name different states. The heartbeat still reads the
+raw id off the wire and maps it through the old table. Its output is `engine_state` in
+SERVER_HEARTBEAT, which the boards act on.
+
+**Failure scenario:** a rig inserts a state, shifting ids. Config id 16 is now "Vent". Every
+board is told `FIRING` while the rig vents; and when the rig actually fires (say config id
+17), boards are told `SAFE`.
+
+**Fix:** load `[[states]]` in the heartbeat process like the controller does
+(`controller_main.cpp:216`) and drive the mapping off state *names* / declared flags
+(`is_abort`, the `[fire] state` name) rather than numeric literals. The cleanest version is
+a declared `engine_state` column in `[[states]]` so the mapping lives in config with the
+states it maps.
+
+---
+
+## High
+
+### C++ — The controller's FIRE gate is a single-threaded accept loop with no receive timeout
+
+**File:** `diablo_server/services/controller/controller_main.cpp:60-123`
+
+`runControlServer` accepts a connection and then reads it **inline**, byte by byte, with a
+blocking `recv` and no `SO_RCVTIMEO`. There is no per-client thread. A client that connects
+and sends no newline blocks the accept loop indefinitely — and this loop is the only path
+that opens and closes the PWM gate.
+
+`sequencer_main.cpp:48` sets a 5 s `SO_RCVTIMEO` and threads per client; the controller,
+which gates ignition, does neither.
+
+**Failure scenario:** the backend host is killed or drops off the network mid-connection.
+The controller sits in `recv`. The next FIRE_STOP is never accepted, and the PWM gate stays
+open until the process is killed.
+
+**Fix:** set `SO_RCVTIMEO` on the accepted socket and handle the client on a short-lived
+thread, mirroring `sequencer_main`. A cap on concurrent clients is worth having too.
+
+---
+
+### C++ — The controller falls back to hardcoded actuator channels when role names don't match
+
+**File:** `diablo_server/services/controller/controller_main.cpp:236-279`
+
+The controller looks up the literal role names `"Fuel Press"` and `"LOX Press"` in
+`[actuator_roles]`. If either is missing it prints a warning and **proceeds** with
+`CH3/board 12` and `CH8/board 12`.
+
+The config editor lets roles be renamed. A rename means the controller drives PWM on
+whatever hardware happens to sit on those channels of board 12.
+
+This is the same hazard as the state-id bugs, and the fix pattern is already in this very
+file: the fire-state gate a few lines down (`controller_main.cpp:341-363`) deliberately
+*disables itself* rather than fall back to a compiled id, with the comment "fail safe and
+loud, not silent-wrong". The actuator lookup should follow the same rule.
+
+Related, same block: `pwm.actuator_board_ip` holds **one** IP. If Fuel Press and LOX Press
+resolve to different boards, the code warns and uses the fuel board's IP for both — so LOX
+PWM commands are addressed to the wrong board. `PWMConfig` needs a per-channel IP.
+
+**Fix:** if either role is absent, refuse to open the PWM gate (the `setFireStateId(255)`
+pattern) instead of substituting defaults. Make the role names config keys rather than
+literals.
+
+---
+
+### Backend — WebSocket broadcast has no backpressure and no keepalive
+
+**File:** `diablo_server/backend/src/server.ts:677-690`
+
+`broadcast()` sends to every client whose `readyState === OPEN` and swallows the result.
+Nothing checks `ws.bufferedAmount`, and there is no `ping`/`pong` liveness check anywhere in
+the server (`grep bufferedAmount` and `grep ping(` both come back empty).
+
+Two consequences, both routine in the field:
+
+1. A client on a degraded link (a tablet at the pad) stops draining. `ws` queues every
+   broadcast in the backend's heap. At 10 Hz across every sensor series, that grows without
+   bound.
+2. A client whose network vanishes without a TCP FIN — a Wi-Fi drop, a closed laptop —
+   stays `OPEN` in `wss.clients` indefinitely and keeps accruing that queue, because
+   nothing ever probes it.
+
+The backend is the single process feeding every dashboard; when it OOMs, everyone loses
+telemetry at once.
+
+**Fix:** skip clients over a `bufferedAmount` threshold (drop frames for that client rather
+than the whole server — sensor data is idempotent, the next frame supersedes it), and
+`terminate()` a client that stays over the threshold for several seconds. Add the standard
+30 s `ping` with an `isAlive` flag cleared on `pong` to reap dead sockets.
+
+---
+
+### CI — The static-analysis job cannot fail
+
+**File:** `.github/workflows/daq-server-ci.yml:263-292`
+
+```yaml
+cppcheck --enable=all ... --error-exitcode=1 ... diablo_server/ archive/legacy/utl/ || true
+```
+
+The `|| true` cancels the `--error-exitcode=1` — the job reports green no matter what
+cppcheck finds. The report is uploaded as an artifact nobody is required to read.
+
+clang-tidy is weaker still: `|| true` **and** `continue-on-error: true`, and it runs on
+`find ... | head -20` — the first twenty files in directory order, which does not include
+the sequencer services where the races in this document live.
+
+The rest of the workflow is genuinely strict (format-check, ctest, integration, Playwright),
+which makes this job's decorative status easy to miss.
+
+**Fix:** drop the `|| true` from cppcheck and let it gate, with an explicit suppression list
+for whatever it currently flags (check the last uploaded artifact for the size of that job).
+Run clang-tidy over the whole `diablo_server/services` and `diablo_server/lib/src` trees with
+a checked-in `.clang-tidy` rather than an arbitrary 20-file slice.
+
+---
+
+### CI — No sanitizer build, and CMake sets no warning flags
+
+**Files:** `CMakeLists.txt`, `.github/workflows/daq-server-ci.yml`
+
+The top-level `CMakeLists.txt` sets no `-Wall`/`-Wextra` and offers no sanitizer option;
+nothing in CI builds with ASan, UBSan, or TSan. Every C++ item in the Critical section above
+is a data race or an unaligned/undefined access that a sanitizer run would have surfaced
+automatically.
+
+A concrete UBSan-visible instance today:
+`config_broadcast_service_main.cpp:351,360,363` do
+`*reinterpret_cast<uint32_t*>(&buf[off])` into a `std::vector<uint8_t>` at offsets that step
+by 7 and 9 — unaligned stores through a `uint32_t*`. It works on x86-64 and ARM64 and is
+still undefined behavior; `memcpy` compiles to the same instruction with none of the risk.
+
+**Fix, in priority order:**
+1. A **TSan** CI job running the existing ctest suite plus a scripted burst of concurrent
+   sequencer commands. This is where the value is — the races above are the real bugs.
+2. `add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)` in the top-level
+   `CMakeLists.txt`, with `-Werror=return-type` at minimum.
+3. A `-DSANITIZE=ON` option wiring `-fsanitize=address,undefined`, run over ctest.
+
+---
+
+## Medium
+
+### Backend — WebSocket commands are still parsed as `any`
+
+**File:** `diablo_server/backend/src/server.ts:892` (`handleMessage(ws, message: any)`)
+
+Real gates have been added since this was first written — `CONTROL_COMMAND_TYPES` requires
+an armed operator connection (`server.ts:935`), and `state_transition` now rejects ids the
+active config doesn't declare (`server.ts:943-970`). Those close the two exploitable holes.
+
+What remains is shape validation. `handleMessage` still takes `any`, and the command
+handlers still reach through non-null assertions: `command.data.state!`,
+`command.data.actuatorName!`. A malformed message reaches business logic before anything
+notices, and `sendToActuatorService(\`ACTUATOR:${undefined}:1\`)` is a wire message the
+sequencer will parse and reject rather than an error the operator sees.
+
+**Fix:** a discriminated union over `MessageType` validated at the `JSON.parse` boundary in
+the `ws.on('message')` handler. `zod` is not currently a backend dependency and a hand-rolled
+validator is about thirty lines — either is fine; validating before dispatch is the point.
+
+---
+
+### Frontend — No error boundaries anywhere in the app
+
+**Files:** `diablo_server/frontend/src/App.tsx`, `diablo_server/frontend/src/main.tsx`
+
+The app moved from Next.js to Vite + React Router since this item was written, but the gap
+is unchanged: `main.tsx` renders `<BrowserRouter><App /></BrowserRouter>` with no boundary
+at any level. Any component that throws during render — a missing config field, a sensor
+value of an unexpected shape — blanks the entire dashboard.
+
+**Fix:** an `ErrorBoundary` around `<App />` in `main.tsx` showing a message and a reload
+button, plus finer-grained boundaries around the plots panel, the actuator grid, and the
+state machine diagram so one section failing doesn't take the others with it. React Router's
+per-route `errorElement` covers the routing case but not render throws inside a route.
+
+---
+
+### Frontend — Still no logger wrapper
+
+**Files:** `lib/websocket.ts`, `lib/store.ts`, `lib/data-cache.ts`,
+`components/dashboard/UnifiedDashboard.tsx`, `components/dashboard/IpadDashboard.tsx`,
+`components/dashboard/GlobalStateSubscriber.tsx`,
+`components/controls/StateMachineDiagram.tsx`, `components/windows/WindowManager.tsx`
+
+Down from the original count but not gone — roughly ten `console.log` sites remain in
+library code, on paths that fire per WebSocket message and per state change. No logger
+wrapper exists in `lib/`.
+
+**Fix:** a `lib/logger.ts` with `debug` gated on `import.meta.env.DEV` (Vite, not
+`process.env.NODE_ENV` — the app is no longer Next.js), and replace `console.log` in library
+code with it. Keep `console.error`.
+
+---
+
+### C++ — Actuator UDP sends have no timeout and log nothing on failure
+
+**File:** `diablo_server/services/sequencer/ActuatorCommander.cpp:309-332`
+
+The batch socket is created without `SO_SNDTIMEO`. A `sendto` on a saturated interface with
+a full socket buffer blocks the calling thread — which, via `applyForState`, is either the
+republish loop or a command thread.
+
+Worse for diagnosis: a short send only sets `all_ok = false`. `errno` is never read and
+nothing is logged, so a partially-delivered abort or state change leaves no trace beyond a
+boolean the callers largely ignore.
+
+**Fix:**
+
+```cpp
+struct timeval tv{.tv_sec = 0, .tv_usec = 100000};  // 100 ms
+setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
+```
+
+and log the board IP plus `strerror(errno)` on any send that doesn't complete.
+
+---
+
+### C++ — `notifyControllerFire` has a send timeout but no connect timeout
+
+**File:** `diablo_server/services/sequencer/SequencerService.cpp:372-397`
+
+`SO_SNDTIMEO` is set, but `connect()` on a blocking socket ignores it — an unreachable host
+that drops SYNs takes the full kernel retry budget (~2 minutes) before returning. This runs
+on whichever thread called `transitionTo` → `fire_manager_.start()`, so a controller host
+that is powered off but still ARP-resolvable stalls the state transition itself.
+
+**Fix:** non-blocking `connect` + `select` with a ~500 ms deadline, then restore blocking
+mode for the `send`. Or set `TCP_SYNCNT` to 1–2.
+
+---
+
+### C++ — Detached threads outlive the objects they reference
+
+**Files:** `diablo_server/services/sequencer/sequencer_main.cpp:215-217`,
+`diablo_server/services/controller/controller_main.cpp:412-413`
+
+Both services detach threads that capture a stack-allocated service by reference
+(`&svc`, `&service`) and then let `main` return. On SIGTERM the detached threads may still
+be inside `recv`/`accept` when the service destructor runs.
+
+In practice the process is exiting anyway, so this shows up as an occasional ugly crash in
+the shutdown logs rather than a field failure — but it also means shutdown logs can't be
+trusted as a signal that something is wrong.
+
+**Fix:** track the client threads in a vector and join them after the accept loop exits, or
+give the service static storage duration. In the controller's case `control_thread` is
+already a named `std::thread` — join it instead of detaching.
+
+---
+
+### Backend — The resolved config path is never logged
+
+**File:** `diablo_server/backend/src/routes/config.ts:19-81` (`getConfigPath`)
+
+The loader tries three candidate paths in a `try`/`continue` loop and returns the first that
+reads. Nothing is logged on success and nothing is logged for the attempts that failed. The
+self-heal path below it *does* log (`🌱 Generated config.toml from …`), which makes the
+silence on the normal path more confusing, not less: a box loading config from an unexpected
+working directory looks identical in the logs to one loading the right file.
+
+**Fix:** `console.info('[config] resolved: ' + path)` on success, and log each failed
+candidate. Cheap, and it turns "the sensors are all wrong" into a one-line diagnosis.
+
+---
+
+### C++ — `config_broadcast` silently truncates at 255 entries
+
+**File:** `diablo_server/services/config_broadcast/config_broadcast_service_main.cpp:336-337`
+
+```cpp
+size_t N = std::min(abort_actuators.size(), size_t(255));
+size_t X = std::min(abort_pt_list.size(), size_t(255));
+```
+
+The wire format has a one-byte count, so the clamp is correct — but a rig that exceeds it
+gets actuators or abort PTs silently dropped from the config the boards receive. An abort PT
+that falls off the end is an overpressure gate that never arms.
+
+**Fix:** log an error naming the dropped entries when either list exceeds 255. Given the
+consequence, refusing to broadcast a truncated ACTUATOR_CONFIG is defensible too.
+
+---
+
+### Tests — `test_robust_ddp` is built but never run; `test_imu_calibration` is never built
+
+**Files:** `diablo_server/lib/CMakeLists.txt:52`,
+`diablo_server/lib/test/test_imu_calibration.cpp`, `.github/workflows/daq-server-ci.yml`
+
+`add_executable(test_robust_ddp …)` has no matching `add_test`, and CI never invokes the
+binary directly (the way it does for `test_sequencer_elodin`). It compiles on every build
+and its assertions have never gated anything.
+
+`test_imu_calibration.cpp` has no `add_executable` at all — it isn't compiled, so it can
+silently rot out of sync with the code it tests.
+
+**Fix:** `add_test(NAME robust_ddp COMMAND test_robust_ddp)`. For the IMU test, either wire
+it up or delete it; a test file that isn't built is worse than no test file, because it reads
+like coverage.
+
+---
+
+### C++ — the abort broadcast port ignores config
+
+**Files:** `diablo_server/lib/include/control/SequencerService.hpp:144`,
+`diablo_server/lib/include/control/AbortBroadcaster.hpp:21`, `config/config.toml:8,16`
+
+`AbortBroadcaster abort_broadcaster_;` is default-constructed — port 5005, ABORT_DONE delay
+3000 ms — and nothing in `SequencerService::init()` or `reloadConfig()` ever configures it.
+`broadcast_port` exists in config (two sections, both defaulting to 5005) and
+`fsw::config::Config` parses it, but the sequencer's abort path never reads it.
+
+A rig that moves `broadcast_port` gets actuator config broadcasts on the new port and aborts on
+5005. `test/test_integration.sh:395` already remaps `broadcast_port` to the test port, so under
+test the abort broadcast goes somewhere nothing is listening — which is part of why no test has
+ever observed one.
+
+**Fix:** construct the broadcaster from `cfg.<section>.broadcast_port` in `init()`, and re-apply
+it in `applyFireConfig()`/reload alongside the other config-derived values. Same for the
+ABORT_DONE delay if a config key is wanted for it.
+
+---
+
+### Tests — the integration test points the sequencer at the wrong controller port
+
+**Files:** `test/test_integration.sh:62,625`, `config/config.toml:393-394`
+
+The script launches `controller_service` with `--control-port 9997`, but never rewrites
+`[controller_service].port` in the generated test config, which stays at the base value `9999`.
+The sequencer reads that key for `controller_port_`, so it dials 9999 while the controller
+listens on 9997.
+
+Result: `FIRE_START` / `FIRE_STOP` never reach the controller during the integration run, and
+nothing asserts that they should — the run passes with the sequencer→controller fire gate
+entirely uncovered. Confirmed in a live run: the sequencer log shows *"could not reach
+controller_service at 127.0.0.1:9999 for FIRE_START"* while the controller log shows
+*"Control server on TCP :9997"*, and the suite still reported PASS.
+
+The mechanism itself is covered by the `test_fire_lifecycle` unit test, which stands up its own
+listener — so this is a wiring gap in the integration harness, not an untested code path.
+
+**Fix:** rewrite `[controller_service].port` to `$TEST_CONTROLLER_PORT` alongside the other
+`sedi` port rewrites (~`test_integration.sh:368-410`), and add an assertion that the controller
+actually observed the fire gate open and close.
+
+---
+
+## Low / Housekeeping
+
+### Sensor Info — dual ADC columns (cal + raw) for debugging
+
+**File:** `diablo_server/frontend/app/sensor-info/page.tsx`
+
+Still open, and the groundwork is in place: `rawEntity` is already carried on the sensor
+descriptor (`page.tsx:33`, populated at `page.tsx:451-454`) but nothing renders it. Every row
+component reads ADC off the calibrated entity only (`page.tsx:136,169,202,229,257,283`).
+
+Showing both side by side lets engineers confirm the raw vtable is arriving, spot
+firmware-side ADC glitches independently of calibration, and verify the two agree (they
+should be identical integers).
+
+**Implementation sketch:**
+- Add `useSensorValue(sensor.rawEntity, 'raw_adc_counts')` alongside the existing cal call in
+  each row component (`PtRow`, `HptRow`, `TcRow`, `RtdRow`, `LcRow`, `ActRow`).
+- Add a "Raw ADC" column beside "ADC (cal)" in each `SensorTable`.
+- Render `---` when the raw stream is stale — its absence is expected, not a bug.
+- Put it behind a "debug" toggle in the page header so the default table stays narrow.
+
+---
+
+### C++ — `ElodinClient::send_msg` logs on every send
+
+**File:** `diablo_server/lib/src/elodin/ElodinClient.cpp:275`
+
+`std::cout << "[ElodinClient] ✅ Sent registration message #" << send_count …` runs on every
+`send_msg`, not only on registration, with a function-local `static size_t` counter that is
+itself unsynchronized across the callers that share a client.
+
+**Fix:** drop it to a debug level, or keep it only on the registration path it claims to
+describe.
+
+---
+
+### Integration test — cleanup still uses a fixed 1 s grace period
+
+**File:** `test/test_integration.sh:116-140`
+
+Much improved since the last revision: ports are env-overridable, there's a pre-run port
+sweep, and cleanup does SIGTERM → SIGKILL → `wait` plus a stale-process sweep. What remains
+is the fixed `sleep 1` between the two signals — on a loaded CI runner a service can need
+longer to flush, and on a fast machine it's a second wasted on every run.
+
+**Fix:** poll `kill -0` in a short loop up to ~5 s instead of sleeping a flat second.
+
+---
+
+## Resolved since the April 2026 revision
+
+Kept so a future audit can distinguish "fixed" from "never checked". Verified against
+`ab3ce2d2`.
+
+| Item | Resolution |
+|---|---|
+| FireManager `extend()` timer data race | **Fixed.** `current_duration_ms_` is `std::atomic<uint32_t>` and `extend()` now writes the duration *before* raising `cancel_` (`FireManager.cpp:66-73`), so the timer thread re-reads the new value. `stop()` also handles the joinable-but-inactive thread that used to `std::terminate` on restart. |
+| Errors to the controller service silently dropped | **Mostly fixed.** Actuator, state-transition, and extend-fire commands now surface `MessageType.ERROR` to the originating client on failure. One `.catch(() => { })` survives on the `debug_mode` path (`server.ts:1001`). |
+| Fragile regex fallback in TOML `actuator_roles` parsing | **Fixed.** The backend uses `smol-toml`, which handles the mixed-type inline arrays natively; the hand-rolled regex parser is gone. |
+| Catch-all `catch (...)` in `SequencerService` | **Fixed** — those handlers no longer exist. |
+| Integration test: hardcoded ports, no conflict detection | **Fixed.** All ports are `${TEST_*_PORT:-default}` and the script sweeps them before starting. |
+| Frontend API responses typed as `any` | **Largely fixed.** `dashboard-hooks.ts` is clean; roughly twenty `any` occurrences remain across the whole frontend, mostly local. Not worth a backlog entry on its own. |
+| Startup race: "controller never gets service" after reloading the UI during startup | **Superseded, unconfirmed.** The specific hypothesis was about the Next.js SPA's connection lifecycle, which no longer exists after the Vite migration. The Elodin side of the startup race was addressed independently by the retry loop at `SequencerService.cpp:438-451`. Re-file with fresh evidence if it recurs. |

From 71590ee7a6988f9b0ec4e539b5ff4555efbb2ecb Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 14:58:05 -0700
Subject: [PATCH 183/205] =?UTF-8?q?sequencer:=20serialize=20commands=20on?=
 =?UTF-8?q?=20one=20worker=20thread=20and=20stop=20the=20abort=20broadcast?=
 =?UTF-8?q?=20queueing=20behind=20housekeeping=20=E2=80=94=20a=20thread=20?=
 =?UTF-8?q?per=20TCP=20client=20plus=20FireManager's=20expiry=20thread=20r?=
 =?UTF-8?q?an=20transitionTo=20concurrently=20and=20double-joined=20the=20?=
 =?UTF-8?q?actuator=20republish=20thread=20(confirmed=20under=20TSan:=20pr?=
 =?UTF-8?q?e-fix=20dies=20in=200.2s=20at=20~50=20commands,=20a=20plain=20-?=
 =?UTF-8?q?O2=20build=20survives=201016=20because=20glibc=20tolerates=20it?=
 =?UTF-8?q?,=20which=20is=20worse);=20a=20mutex=20deadlocks=20here=20since?=
 =?UTF-8?q?=20fire=5Fmanager=5F.stop()=20joins=20the=20very=20thread=20wai?=
 =?UTF-8?q?ting=20on=20it,=20so=20commands=20now=20go=20through=20a=20queu?=
 =?UTF-8?q?e=20the=20timer=20posts=20to=20without=20waiting,=20ABORT=20goe?=
 =?UTF-8?q?s=20out=20first=20instead=20of=20behind=20an=20unbounded=20cont?=
 =?UTF-8?q?roller=20connect=20(measured=20133,348ms),=20and=20reload=20re-?=
 =?UTF-8?q?resolves=20[fire]=20and=20stops=20the=20republish=20loop=20befo?=
 =?UTF-8?q?re=20rewriting=20the=20tables=20it=20reads?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../lib/include/control/AbortBroadcaster.hpp  |  15 +
 .../lib/include/control/SequencerService.hpp  |  66 +++
 .../services/sequencer/AbortBroadcaster.cpp   |  54 ++-
 .../services/sequencer/ActuatorCommander.cpp  |  25 +-
 .../services/sequencer/SequencerService.cpp   | 382 ++++++++++++++----
 .../services/sequencer/sequencer_main.cpp     | 259 ++++++++----
 6 files changed, 628 insertions(+), 173 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp b/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp
index 8027bdc1a..f4b84c497 100644
--- a/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp
+++ b/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp
@@ -2,6 +2,7 @@
 
 #include <atomic>
 #include <cstdint>
+#include <mutex>
 #include <thread>
 
 namespace sequencer {
@@ -32,6 +33,20 @@ class AbortBroadcaster {
     uint32_t abort_done_delay_ms_;
     std::atomic<bool> done_thread_running_{false};
     std::thread done_thread_;
+    // triggerAbort() joins done_thread_ and then move-assigns a new thread onto it. Two callers
+    // doing that concurrently is either a double join (UB) or a move onto a joinable thread,
+    // which is a std::terminate — the same hazard FireManager::stop() documents. Abort is
+    // reachable from any TCP client thread and from the fire-expiry thread, so it needs its own
+    // lock regardless of what serializes the state machine above it.
+    std::mutex done_thread_mutex_;
+
+    /** How many times each broadcast is repeated, and the gap between repeats. A single UDP
+     *  datagram is not a delivery guarantee: one dropped frame on a congested field network and
+     *  no board hears the abort. ActuatorCommander::sendBatch already sends ordinary state
+     *  changes 3x for exactly this reason — the abort path must not be weaker than the routine
+     *  one. */
+    static constexpr int kBroadcastRepeats = 4;
+    static constexpr int kBroadcastGapUs = 2000;
 
     void sendPacket(uint8_t packet_type);
     void waitAndSendAbortDone();
diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index 0a5e18c9c..c88f68b64 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -1,9 +1,16 @@
 #pragma once
 
 #include <atomic>
+#include <condition_variable>
+#include <deque>
+#include <functional>
+#include <future>
+#include <memory>
+#include <mutex>
 #include <string>
 #include <thread>
 
+#include "config/Config.hpp"
 #include "control/AbortBroadcaster.hpp"
 #include "control/ActuatorCommander.hpp"
 #include "control/FireManager.hpp"
@@ -24,6 +31,25 @@ namespace sequencer {
  *
  * All external commands arrive via the TCP server in sequencer_main.cpp
  * and are dispatched to the methods below.
+ *
+ * ── Threading contract ──────────────────────────────────────────────────────
+ * Every public command method is a thin wrapper that puts work on cmd_queue_ and waits for the
+ * single worker thread (commandLoop) to run it. **Exactly one thread is ever inside the state
+ * machine.** Callers may come from anywhere: the TCP command path, and the FireManager timer
+ * thread when a burn expires.
+ *
+ * This replaced a design where nothing was serialized at all. Individual fields were atomic,
+ * but a transition is a seven-step sequence built out of them — stop the republish loop, apply
+ * actuators, restart the loop, assign the state, arm the burn — and making each step atomic does
+ * nothing for the sequence. Two threads interleaving it could move-assign onto a still-joinable
+ * std::thread, which is a std::terminate: the sequencer died outright if an operator aborted at
+ * the moment the fire timer expired.
+ *
+ * A mutex was the obvious fix and does not work here. An operator thread holding it calls
+ * fire_manager_.stop(), which joins the timer thread — while the timer thread is inside its
+ * expiry callback waiting for that same mutex. A recursive_mutex does not help; the re-entry is
+ * cross-thread. A queue sidesteps it entirely: the timer thread never *enters* the state
+ * machine, it posts a request and returns immediately (see kDetached below).
  */
 class SequencerService {
 public:
@@ -78,6 +104,41 @@ class SequencerService {
     }
 
 private:
+    // ── Command queue ─────────────────────────────────────────────────────────
+    struct Command {
+        std::function<bool()> fn;
+        // Null for a detached (fire-and-forget) command. shared_ptr so the worker can still
+        // fulfil the promise after a caller has given up waiting on its future.
+        std::shared_ptr<std::promise<bool>> result;
+    };
+
+    std::deque<Command> cmd_queue_;
+    std::mutex cmd_mutex_;
+    std::condition_variable cmd_cv_;
+    std::thread cmd_thread_;
+    std::atomic<bool> cmd_stop_{false};
+
+    /** How long a caller waits for its command to run before giving up and reporting failure.
+     *  Generous: the point is that a wedged worker cannot pin every TCP thread forever, not to
+     *  impose a deadline on normal work (a transition is milliseconds). */
+    static constexpr int kCommandTimeoutSeconds = 10;
+
+    void commandLoop();
+    /** Post work and block until the worker has run it. Returns false if the service is shutting
+     *  down or the worker did not get to it within kCommandTimeoutSeconds. */
+    bool enqueueAndWait(std::function<bool()> fn);
+    /** Post work and return immediately. Used by the fire-expiry callback: waiting there would
+     *  reintroduce the join deadlock described above. */
+    void enqueueDetached(std::function<bool()> fn);
+
+    // Worker-thread bodies. These hold the real logic and must only ever run on cmd_thread_ —
+    // they assume single-threaded access to the state machine and the actuator tables.
+    bool doTransitionTo(State to);
+    bool doSetDebugMode(bool enabled);
+    bool doManualActuator(const std::string& name, int pos);
+    bool doExtendFire();
+    bool doReloadConfig();
+
     StateMachine state_machine_;
     ActuatorCommander actuator_commander_;
     AbortBroadcaster abort_broadcaster_;
@@ -116,6 +177,11 @@ class SequencerService {
 
     bool loadConfig(const std::string& path);
 
+    /** Resolve [fire] (burn state, expiry target, window) against the state table currently
+     *  adopted by StateMachine. Called from init() and from doReloadConfig() — a reload that
+     *  renumbers states must re-resolve these or they name the wrong states. */
+    void applyFireConfig(const fsw::config::Config& cfg);
+
     /** Send FIRE_START / FIRE_STOP to controller_service. The single place anything tells the
      *  controller the burn gate changed. */
     void notifyControllerFire(bool active);
diff --git a/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp b/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
index 8e3cb6185..4a6857b3e 100644
--- a/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
+++ b/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
@@ -5,9 +5,11 @@
 #include <sys/socket.h>
 #include <unistd.h>
 
+#include <cerrno>
 #include <chrono>
 #include <cstring>
 #include <iostream>
+#include <mutex>
 #include <thread>
 
 // daqv2comms — PacketHeader + PacketType
@@ -30,6 +32,7 @@ AbortBroadcaster::AbortBroadcaster(uint16_t port, uint32_t abort_done_delay_ms)
 }
 
 AbortBroadcaster::~AbortBroadcaster() {
+    std::lock_guard<std::mutex> lk(done_thread_mutex_);
     done_thread_running_ = false;
     if (done_thread_.joinable())
         done_thread_.join();
@@ -51,36 +54,63 @@ void AbortBroadcaster::sendPacket(uint8_t packet_type_byte) {
     int broadcast = 1;
     setsockopt(sock, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast));
 
+    // A blocked sendto here would stall the abort itself. Bound it: a broadcast that cannot be
+    // queued within 100 ms is a lost repeat, not a reason to stop sending the others.
+    struct timeval tv{.tv_sec = 0, .tv_usec = 100000};
+    setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
+
     struct sockaddr_in dest{};
     dest.sin_family = AF_INET;
     dest.sin_port = htons(port_);
     dest.sin_addr.s_addr = INADDR_BROADCAST;
 
-    ssize_t sent =
-        sendto(sock, &hdr, sizeof(hdr), 0, reinterpret_cast<struct sockaddr*>(&dest), sizeof(dest));
-    close(sock);
-
     const char* type_name = (packet_type_byte == 7)   ? "ABORT"
                             : (packet_type_byte == 8) ? "ABORT_DONE"
                             : (packet_type_byte == 9) ? "CLEAR_ABORT"
                                                       : "UNKNOWN";
 
-    if (sent == static_cast<ssize_t>(sizeof(hdr)))
-        std::cout << "[AbortBroadcaster] Sent " << type_name << " broadcast (port " << port_ << ")"
-                  << std::endl;
+    // Repeat on one socket rather than sending once. Each repeat is independent: a failure is
+    // logged with errno and the remaining repeats still go out.
+    int delivered = 0;
+    for (int i = 0; i < kBroadcastRepeats; ++i) {
+        ssize_t sent = sendto(sock, &hdr, sizeof(hdr), 0, reinterpret_cast<struct sockaddr*>(&dest),
+                              sizeof(dest));
+        if (sent == static_cast<ssize_t>(sizeof(hdr)))
+            ++delivered;
+        else
+            std::cerr << "[AbortBroadcaster] sendto(" << type_name << ") repeat " << (i + 1)
+                      << " failed: " << strerror(errno) << std::endl;
+        if (i + 1 < kBroadcastRepeats)
+            usleep(kBroadcastGapUs);
+    }
+    close(sock);
+
+    if (delivered > 0)
+        std::cout << "[AbortBroadcaster] Sent " << type_name << " broadcast (port " << port_ << ", "
+                  << delivered << "/" << kBroadcastRepeats << " repeats)" << std::endl;
     else
-        std::cerr << "[AbortBroadcaster] sendto(" << type_name << ") failed" << std::endl;
+        std::cerr << "[AbortBroadcaster] " << type_name << " broadcast FAILED — no repeat left the "
+                  << "host" << std::endl;
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
 void AbortBroadcaster::triggerAbort() {
-    // Immediate ABORT
+    // Immediate ABORT — before taking any lock. This is the boards' last line of defence and it
+    // must not queue behind a previous abort's bookkeeping.
     sendPacket(static_cast<uint8_t>(daq::PacketType::ABORT));
 
-    // Cancel any previously scheduled ABORT_DONE thread
+    // Cancel any previously scheduled ABORT_DONE thread, then schedule a fresh one. Both halves
+    // must be under the same lock: a second abort landing between the join and the assignment
+    // would move onto a joinable thread and terminate the process.
+    std::lock_guard<std::mutex> lk(done_thread_mutex_);
+
     done_thread_running_ = false;
-    if (done_thread_.joinable())
-        done_thread_.join();
+    if (done_thread_.joinable()) {
+        if (done_thread_.get_id() == std::this_thread::get_id())
+            done_thread_.detach();  // cannot join self; it is returning anyway
+        else
+            done_thread_.join();
+    }
 
     // Schedule ABORT_DONE
     done_thread_running_ = true;
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 7fb6ee320..db978dc67 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -307,13 +307,25 @@ bool ActuatorCommander::sendBatch(
         return false;
 
     int sock = socket(AF_INET, SOCK_DGRAM, 0);
-    if (sock < 0)
+    if (sock < 0) {
+        std::cerr << "[ActuatorCommander] socket() failed: " << strerror(errno) << std::endl;
         return false;
+    }
+
+    // Without this a sendto() on a saturated interface blocks the calling thread indefinitely —
+    // and the caller is either the 1 Hz republish loop or a command thread mid-transition. A
+    // command that cannot be queued in 100 ms is a failure to report, not something to wait on.
+    {
+        struct timeval tv{.tv_sec = 0, .tv_usec = 100000};
+        setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
+    }
 
     struct sockaddr_in local{};
     local.sin_family = AF_INET;
     inet_pton(AF_INET, bind_addr_.c_str(), &local.sin_addr);
     if (bind(sock, reinterpret_cast<struct sockaddr*>(&local), sizeof(local)) < 0) {
+        std::cerr << "[ActuatorCommander] bind(" << bind_addr_ << ") failed: " << strerror(errno)
+                  << std::endl;
         close(sock);
         return false;
     }
@@ -324,8 +336,17 @@ bool ActuatorCommander::sendBatch(
             ssize_t sent =
                 sendto(sock, o.buf.data(), o.buf.size(), 0,
                        reinterpret_cast<const struct sockaddr*>(&o.dest), sizeof(o.dest));
-            if (sent != static_cast<ssize_t>(o.buf.size()))
+            if (sent != static_cast<ssize_t>(o.buf.size())) {
+                // A short send used to only flip this boolean — errno was never read, so a
+                // partially delivered state change left no trace beyond a return value most
+                // callers ignore. Name the board and the reason.
+                char ip[INET_ADDRSTRLEN] = {0};
+                inet_ntop(AF_INET, &o.dest.sin_addr, ip, sizeof(ip));
+                std::cerr << "[ActuatorCommander] sendto(" << ip << ":" << actuator_port_
+                          << ") round " << (round + 1) << " failed: " << strerror(errno)
+                          << std::endl;
                 all_ok = false;
+            }
         }
         if (round < 2)
             usleep(1000);
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 87d5331f0..58060caba 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -1,12 +1,16 @@
 #include "control/SequencerService.hpp"
 
 #include <arpa/inet.h>
+#include <fcntl.h>
 #include <netinet/in.h>
+#include <poll.h>
 #include <sys/socket.h>
 #include <unistd.h>
 
 #include <array>
+#include <cerrno>
 #include <chrono>
+#include <cstring>
 #include <fstream>
 #include <iostream>
 #include <sstream>
@@ -27,6 +31,12 @@ namespace sequencer {
 static constexpr uint16_t VTABLE_SEQUENCER_STATE = 0x5000;
 static constexpr uint16_t VTABLE_STATE_TRANSITION = 0x4300;
 
+// How long notifyControllerFire() waits for the controller_service TCP connection before giving
+// up. Deliberately short: this is on the state-transition path, and a missed FIRE_START/FIRE_STOP
+// is recoverable (the controller also watches the sequencer state packet) while a stalled
+// transition is not.
+static constexpr int kControllerConnectTimeoutMs = 300;
+
 // SequencerState: u64 @0 | u8 @8 | pad[3] @9 (align u32) | allowed_bitmask u32 @12 | debug_mode u8
 // @16 — 17 bytes
 using SequencerStateMsg =
@@ -43,11 +53,88 @@ static uint64_t now_ns() {
 
 // ─────────────────────────────────────────────────────────────────────────────
 SequencerService::~SequencerService() {
+    // Drain order matters. Stop accepting work first, then let the worker finish what it holds,
+    // and only then tear down the things a command body touches — otherwise the worker can be
+    // mid-transition while fire_manager_ is being destroyed under it.
+    {
+        std::lock_guard<std::mutex> lk(cmd_mutex_);
+        cmd_stop_ = true;
+    }
+    cmd_cv_.notify_all();
+    if (cmd_thread_.joinable())
+        cmd_thread_.join();
+
     stopElodinRetry();
     actuator_commander_.stopContinuousLoop();
     fire_manager_.stop();
 }
 
+// ─────────────────────────────────────────────────────────────────────────────
+// Command queue
+// ─────────────────────────────────────────────────────────────────────────────
+void SequencerService::commandLoop() {
+    for (;;) {
+        Command cmd;
+        {
+            std::unique_lock<std::mutex> lk(cmd_mutex_);
+            cmd_cv_.wait(lk, [this] {
+                return cmd_stop_ || !cmd_queue_.empty();
+            });
+            // Shutdown wins over draining: a queue full of transitions is not worth running while
+            // the process is going down, and the caller of each is already gone or giving up.
+            if (cmd_stop_ && cmd_queue_.empty())
+                return;
+            if (cmd_queue_.empty())
+                continue;
+            cmd = std::move(cmd_queue_.front());
+            cmd_queue_.pop_front();
+        }
+
+        bool ok = false;
+        try {
+            ok = cmd.fn();
+        } catch (const std::exception& e) {
+            std::cerr << "[SequencerService] command threw: " << e.what() << std::endl;
+        } catch (...) {
+            std::cerr << "[SequencerService] command threw an unknown exception" << std::endl;
+        }
+        // The promise must be fulfilled on every path including a throw, or a caller waiting on
+        // the future blocks for the full timeout on what was an immediate failure.
+        if (cmd.result)
+            cmd.result->set_value(ok);
+    }
+}
+
+bool SequencerService::enqueueAndWait(std::function<bool()> fn) {
+    auto result = std::make_shared<std::promise<bool>>();
+    auto future = result->get_future();
+    {
+        std::lock_guard<std::mutex> lk(cmd_mutex_);
+        if (cmd_stop_)
+            return false;
+        cmd_queue_.push_back(Command{std::move(fn), result});
+    }
+    cmd_cv_.notify_one();
+
+    if (future.wait_for(std::chrono::seconds(kCommandTimeoutSeconds)) !=
+        std::future_status::ready) {
+        std::cerr << "[SequencerService] command timed out after " << kCommandTimeoutSeconds
+                  << "s waiting for the worker — reporting failure (it may still run)" << std::endl;
+        return false;
+    }
+    return future.get();
+}
+
+void SequencerService::enqueueDetached(std::function<bool()> fn) {
+    {
+        std::lock_guard<std::mutex> lk(cmd_mutex_);
+        if (cmd_stop_)
+            return;
+        cmd_queue_.push_back(Command{std::move(fn), nullptr});
+    }
+    cmd_cv_.notify_one();
+}
+
 // ─────────────────────────────────────────────────────────────────────────────
 static std::string readFile(const std::string& path) {
     std::ifstream f(path);
@@ -105,6 +192,78 @@ static std::string resolveDataPath(const std::string& rel) {
     return rel;  // original — caller will get the open error
 }
 
+// ─────────────────────────────────────────────────────────────────────────────
+/**
+ * Resolve everything under [fire] against the currently-adopted state table.
+ *
+ * Called from init() and from doReloadConfig(). It used to live inline in init() only, which
+ * meant a reload re-adopted [[states]] — potentially renumbering every state — while
+ * fire_state_ and fire_expiry_state_ kept the ids resolved at startup. After such a reload
+ * `to == fire_state_` matched whichever state now occupied the old slot: the burn countdown
+ * armed on the wrong state and never on the right one. The configured window was not re-read
+ * either, so an edited fire duration silently did not take effect until a restart.
+ *
+ * Must run after StateMachine::loadStatesFromConfig() and after state_machine_.load(), since it
+ * resolves names through the former and sanity-checks the transition table from the latter.
+ */
+void SequencerService::applyFireConfig(const fsw::config::Config& cfg) {
+    // Reset before resolving: on a reload an entry that has since been removed from config must
+    // disable the burn, not leave the previous run's id in place.
+    fire_state_ = State::UNKNOWN;
+    fire_expiry_state_ = State::UNKNOWN;
+
+    const std::string fs = cfg.fire.state;
+    if (fs.empty()) {
+        // No fire state configured → the fire timer never arms (nothing to auto-transition out
+        // of). UNKNOWN never equals a real state in transitionTo's `to == fire_state_` check.
+        fire_state_ = State::UNKNOWN;
+    } else {
+        State s = StateMachine::fromName(fs);
+        if (s == State::UNKNOWN)
+            // Config is authoritative and does not declare this name. Disable the burn (leave
+            // UNKNOWN) rather than fall back to the compiled Fire id, which names a different
+            // state on a renumbered rig — a misconfig fails safe and loud, not silent-wrong.
+            std::cerr << "[SequencerService] [fire] state \"" << fs
+                      << "\" is not a declared state — FIRE DISABLED" << std::endl;
+        else
+            fire_state_ = s;
+    }
+    const std::string ft = cfg.fire.expiry_target;
+    if (!ft.empty()) {
+        State s = StateMachine::fromName(ft);
+        if (s == State::UNKNOWN)
+            // Same rule for the timer's landing state: an undeclared name disables auto-expiry
+            // (leaves UNKNOWN → the isAllowed check below warns) instead of a compiled Armed.
+            std::cerr << "[SequencerService] [fire] expiry_target \"" << ft
+                      << "\" is not a declared state — fire auto-expiry disabled" << std::endl;
+        else
+            fire_expiry_state_ = s;
+    }
+    actuator_commander_.setFireState(fire_state_);
+    if (fire_state_ == State::UNKNOWN) {
+        std::cout << "[SequencerService] Fire state: (none) — fire timer disabled" << std::endl;
+    } else {
+        std::cout << "[SequencerService] Fire state: " << StateMachine::name(fire_state_)
+                  << " → expires to " << StateMachine::name(fire_expiry_state_) << std::endl;
+        // The expiry transition goes through the same isAllowed() gate as any other, so a
+        // target the fire state cannot reach leaves the system sitting in FIRE with a dead
+        // timer. Say so at startup rather than at T-0.
+        if (!state_machine_.isAllowed(fire_state_, fire_expiry_state_))
+            std::cerr << "[SequencerService] WARNING: " << StateMachine::name(fire_state_) << " → "
+                      << StateMachine::name(fire_expiry_state_)
+                      << " is not an allowed transition — the fire timer will expire into a "
+                         "refused transition and the system will stay in fire."
+                      << std::endl;
+    }
+
+    // FireManager durations from config.toml [fire] (see the parser for the
+    // [controller_service].fire_* fallback that keeps an un-migrated config working).
+    fire_manager_.configure(cfg.fire.duration_ms, cfg.fire.extended_ms);
+    std::cout << "[SequencerService] Fire window: " << cfg.fire.duration_ms << " ms (extended "
+              << cfg.fire.extended_ms << " ms)" << std::endl;
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::init(const std::string& config_path) {
     loadConfig(config_path);
     const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
@@ -135,60 +294,7 @@ bool SequencerService::init(const std::string& config_path) {
         return false;
     }
 
-    // FireManager durations from config.toml [fire] (see the parser for the
-    // [controller_service].fire_* fallback that keeps an un-migrated config working).
-    const uint32_t fire_duration_ms = cfg.fire.duration_ms;
-    const uint32_t fire_extended_ms = cfg.fire.extended_ms;
-
-    // Which state is the burn, and where its timer lands. Names, not enumerators.
-    {
-        const std::string fs = cfg.fire.state;
-        if (fs.empty()) {
-            // No fire state configured → the fire timer never arms (nothing to auto-transition out
-            // of). UNKNOWN never equals a real state in transitionTo's `to == fire_state_` check.
-            fire_state_ = State::UNKNOWN;
-        } else {
-            State s = StateMachine::fromName(fs);
-            if (s == State::UNKNOWN)
-                // Config is authoritative and does not declare this name. Disable the burn (leave
-                // UNKNOWN) rather than fall back to the compiled Fire id, which names a different
-                // state on a renumbered rig — a misconfig fails safe and loud, not silent-wrong.
-                std::cerr << "[SequencerService] [fire] state \"" << fs
-                          << "\" is not a declared state — FIRE DISABLED" << std::endl;
-            else
-                fire_state_ = s;
-        }
-        const std::string ft = cfg.fire.expiry_target;
-        if (!ft.empty()) {
-            State s = StateMachine::fromName(ft);
-            if (s == State::UNKNOWN)
-                // Same rule for the timer's landing state: an undeclared name disables auto-expiry
-                // (leaves UNKNOWN → the isAllowed check below warns) instead of a compiled Armed.
-                std::cerr << "[SequencerService] [fire] expiry_target \"" << ft
-                          << "\" is not a declared state — fire auto-expiry disabled" << std::endl;
-            else
-                fire_expiry_state_ = s;
-        }
-        actuator_commander_.setFireState(fire_state_);
-        if (fire_state_ == State::UNKNOWN) {
-            std::cout << "[SequencerService] Fire state: (none) — fire timer disabled" << std::endl;
-        } else {
-            std::cout << "[SequencerService] Fire state: " << StateMachine::name(fire_state_)
-                      << " → expires to " << StateMachine::name(fire_expiry_state_) << std::endl;
-            // The expiry transition goes through the same isAllowed() gate as any other, so a
-            // target the fire state cannot reach leaves the system sitting in FIRE with a dead
-            // timer. Say so at startup rather than at T-0.
-            if (!state_machine_.isAllowed(fire_state_, fire_expiry_state_))
-                std::cerr << "[SequencerService] WARNING: " << StateMachine::name(fire_state_)
-                          << " → " << StateMachine::name(fire_expiry_state_)
-                          << " is not an allowed transition — the fire timer will expire into a "
-                             "refused transition and the system will stay in fire."
-                          << std::endl;
-        }
-    }
-    fire_manager_.configure(fire_duration_ms, fire_extended_ms);
-    std::cout << "[SequencerService] Fire window: " << fire_duration_ms << " ms (extended "
-              << fire_extended_ms << " ms)" << std::endl;
+    applyFireConfig(cfg);
 
     // Controller service endpoint for FIRE_START / FIRE_STOP
     // Read from config; defaults to 127.0.0.1:8000
@@ -217,6 +323,15 @@ bool SequencerService::init(const std::string& config_path) {
     // Command IDLE actuators and keep resending so manual debug clicks cannot stick vs CSV.
     actuator_commander_.applyForState(current_state_.load());
     actuator_commander_.startContinuousLoop(current_state_.load());
+
+    // Start the command worker last. Everything above runs on the caller's thread before any
+    // command can be accepted, so init() needs no serialization of its own — and starting the
+    // worker earlier would let a command run against a half-initialized service.
+    cmd_stop_ = false;
+    cmd_thread_ = std::thread([this]() {
+        commandLoop();
+    });
+
     std::cout << "[SequencerService] Initialized. Current state: "
               << StateMachine::name(current_state_.load()) << std::endl;
     return true;
@@ -232,15 +347,26 @@ bool SequencerService::isAbortState(State s) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::transitionTo(const std::string& state_name) {
-    State to = StateMachine::fromName(state_name);
-    if (to == State::UNKNOWN) {
-        std::cerr << "[SequencerService] Unknown state: " << state_name << std::endl;
-        return false;
-    }
-    return transitionTo(to);
+    // Resolve on the worker, not here. fromName() reads the config-declared state table, which
+    // doReloadConfig() rewrites — resolving on the caller's thread would race a concurrent reload
+    // and could answer from a half-swapped table.
+    return enqueueAndWait([this, state_name]() {
+        State to = StateMachine::fromName(state_name);
+        if (to == State::UNKNOWN) {
+            std::cerr << "[SequencerService] Unknown state: " << state_name << std::endl;
+            return false;
+        }
+        return doTransitionTo(to);
+    });
 }
 
 bool SequencerService::transitionTo(State to) {
+    return enqueueAndWait([this, to]() {
+        return doTransitionTo(to);
+    });
+}
+
+bool SequencerService::doTransitionTo(State to) {
     State from = current_state_.load();
 
     if (!debug_mode_) {
@@ -257,6 +383,22 @@ bool SequencerService::transitionTo(State to) {
         }
     }
 
+    // Physical abort broadcast FIRST — before any of the bookkeeping below.
+    //
+    // This used to sit after stopContinuousLoop(), fire_manager_.stop() and applyForState(), which
+    // meant the boards' abort packet queued behind: a join of the republish thread (up to 100 ms),
+    // a TCP round-trip to controller_service (previously unbounded — see notifyControllerFire),
+    // and a full actuator batch. Every one of those is the sequencer's own housekeeping, and none
+    // of it is a precondition for telling the boards to abort. The boards' independent abort logic
+    // is the last line of defence on this rig; it must not wait on the process that is, by
+    // definition, in the middle of something going wrong.
+    //
+    // triggerAbort() sends immediately and schedules ABORT_DONE on its own thread, so this does
+    // not block the transition either.
+    const bool entering_abort = isAbortState(to);
+    if (entering_abort)
+        abort_broadcaster_.triggerAbort();
+
     // New state wins over debug manual actuator overrides.
     actuator_commander_.clearAllManualOverrides();
 
@@ -273,17 +415,13 @@ bool SequencerService::transitionTo(State to) {
 
     // Start continuous re-send loop for new state
     // Abort states apply immediately: their CSV delays are ignored, because an abort must not sit
-    // behind a timer. (The physical UDP abort broadcast below is separate and always immediate.)
-    actuator_commander_.startContinuousLoop(to, !isAbortState(to));
+    // behind a timer. (The physical UDP abort broadcast is separate and already went out at the
+    // top of this function.)
+    actuator_commander_.startContinuousLoop(to, !entering_abort);
 
     // Update current state
     current_state_ = to;
 
-    // Abort lifecycle
-    if (isAbortState(to)) {
-        abort_broadcaster_.triggerAbort();
-    }
-
     // FIRE lifecycle — which state this is comes from [fire] state, not the enumerator.
     if (to == fire_state_) {
         fire_manager_.start([this]() {
@@ -291,7 +429,14 @@ bool SequencerService::transitionTo(State to) {
             // through StateMachine::name(State::ARMED) → fromName(), so renaming the state made
             // fromName() return UNKNOWN and the transition was refused — stranding the system in
             // fire with the timer already stopped.
-            transitionTo(fire_expiry_state_);
+            //
+            // Detached, never enqueueAndWait: this runs on FireManager's timer thread, and the
+            // worker handling the expiry transition will call fire_manager_.stop(), which joins
+            // this very thread. Waiting here would be a guaranteed deadlock — the worker waiting
+            // on the join, this thread waiting on the worker.
+            enqueueDetached([this]() {
+                return doTransitionTo(fire_expiry_state_);
+            });
         });
     }
 
@@ -306,6 +451,12 @@ bool SequencerService::transitionTo(State to) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::setDebugMode(bool enabled) {
+    return enqueueAndWait([this, enabled]() {
+        return doSetDebugMode(enabled);
+    });
+}
+
+bool SequencerService::doSetDebugMode(bool enabled) {
     debug_mode_ = enabled;
     if (!enabled)
         actuator_commander_.clearAllManualOverrides();
@@ -316,6 +467,12 @@ bool SequencerService::setDebugMode(bool enabled) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::manualActuator(const std::string& name, int pos) {
+    return enqueueAndWait([this, name, pos]() {
+        return doManualActuator(name, pos);
+    });
+}
+
+bool SequencerService::doManualActuator(const std::string& name, int pos) {
     if (!debug_mode_) {
         std::cerr << "[SequencerService] Manual actuator commands require debug mode" << std::endl;
         return false;
@@ -326,6 +483,12 @@ bool SequencerService::manualActuator(const std::string& name, int pos) {
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::extendFire() {
+    return enqueueAndWait([this]() {
+        return doExtendFire();
+    });
+}
+
+bool SequencerService::doExtendFire() {
     if (current_state_ != fire_state_) {
         std::cerr << "[SequencerService] EXTEND_FIRE ignored: not in FIRE state" << std::endl;
         return false;
@@ -336,7 +499,26 @@ bool SequencerService::extendFire() {
 
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::reloadConfig() {
+    return enqueueAndWait([this]() {
+        return doReloadConfig();
+    });
+}
+
+bool SequencerService::doReloadConfig() {
     std::cout << "[SequencerService] Reloading config..." << std::endl;
+
+    // Stop the 1 Hz republish loop BEFORE touching the actuator tables.
+    //
+    // ActuatorCommander::load() begins by clearing roles_ and state_actuators_ and then rebuilds
+    // them from CSV. The republish loop walks those same maps once a second. Neither is mutex-
+    // guarded, so a reload issued from the GUI during a fill was clearing and rebuilding a
+    // std::map while another thread iterated it — undefined behaviour, not a stale read.
+    //
+    // Running on the worker fixes the command-vs-command races, but not this one: the republish
+    // loop is its own thread and keeps running regardless of what the worker is doing. It has to
+    // be stopped explicitly.
+    actuator_commander_.stopContinuousLoop();
+
     loadConfig(config_path_);
     const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
 
@@ -344,19 +526,35 @@ bool SequencerService::reloadConfig() {
     // an edit that renamed or renumbered a state re-parsed both CSVs against the previous list.
     StateMachine::loadStatesFromConfig(config_content_);
 
+    bool ok = true;
     std::string act_csv = resolveDataPath(cfg.state_machine.actuator_csv);
     if (!actuator_commander_.load(config_content_, act_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload actuator CSV" << std::endl;
-        return false;
+        ok = false;
     }
     std::string sm_csv = resolveDataPath(cfg.state_machine.transitions_csv);
-    if (!state_machine_.load(sm_csv)) {
+    if (ok && !state_machine_.load(sm_csv)) {
         std::cerr << "[SequencerService] Reload: failed to reload state transitions CSV"
                   << std::endl;
-        return false;
+        ok = false;
     }
-    std::cout << "[SequencerService] Config reloaded successfully" << std::endl;
-    return true;
+
+    // [fire] must be re-resolved too. fire_state_ / fire_expiry_state_ hold ids resolved once at
+    // init(); loadStatesFromConfig() above may have just renumbered every state, which would leave
+    // both pointing at whatever state now occupies the old slot — arming the burn on the wrong
+    // state and never on the right one. The configured window was not re-read either, so an edited
+    // fire duration silently did not take until a restart.
+    if (ok)
+        applyFireConfig(cfg);
+
+    // Restart the republish loop regardless of outcome — leaving the rig with no actuator
+    // republish is worse than running against the previous tables. Not a state entry, so no delay
+    // schedule: this resends settled positions.
+    actuator_commander_.startContinuousLoop(current_state_.load(), false);
+
+    if (ok)
+        std::cout << "[SequencerService] Config reloaded successfully" << std::endl;
+    return ok;
 }
 
 // ─────────────────────────────────────────────────────────────────────────────
@@ -383,7 +581,43 @@ void SequencerService::notifyControllerFire(bool active) {
         close(sock);
         return;
     }
+
+    // SO_SNDTIMEO above does NOT bound connection establishment. On a blocking socket, connect()
+    // to a host that drops SYNs rather than refusing them (powered off but still routable, or a
+    // network partition) sits in the kernel's SYN retry budget for ~2 minutes. This runs on
+    // whichever thread is performing the state transition — including an operator aborting out of
+    // FIRE — so an unreachable controller used to stall the abort itself. Bound it explicitly:
+    // non-blocking connect, wait with a deadline, then restore blocking mode for the send.
+    const int flags = fcntl(sock, F_GETFL, 0);
+    if (flags < 0 || fcntl(sock, F_SETFL, flags | O_NONBLOCK) < 0) {
+        close(sock);
+        return;
+    }
+
+    bool connected = false;
     if (connect(sock, reinterpret_cast<struct sockaddr*>(&dest), sizeof(dest)) == 0) {
+        connected = true;  // immediate (loopback)
+    } else if (errno == EINPROGRESS) {
+        struct pollfd pfd{.fd = sock, .events = POLLOUT, .revents = 0};
+        // Any readiness at all means the attempt resolved — consult SO_ERROR rather than the
+        // revents bits. A refused connection can surface as POLLERR/POLLHUP without POLLOUT, and
+        // testing for POLLOUT alone would report that as a timeout and lose the real reason in
+        // the log. poll() returning 0 is the only genuine timeout.
+        if (poll(&pfd, 1, kControllerConnectTimeoutMs) > 0) {
+            int err = 0;
+            socklen_t len = sizeof(err);
+            if (getsockopt(sock, SOL_SOCKET, SO_ERROR, &err, &len) != 0)
+                err = errno;
+            if (err == 0)
+                connected = true;
+            else
+                errno = err;
+        } else {
+            errno = ETIMEDOUT;
+        }
+    }
+
+    if (connected && fcntl(sock, F_SETFL, flags) == 0) {
         ssize_t n = send(sock, msg.c_str(), msg.size(), 0);
         (void)n;
         std::cout << "[SequencerService] → controller: " << (active ? "FIRE_START" : "FIRE_STOP")
@@ -391,7 +625,7 @@ void SequencerService::notifyControllerFire(bool active) {
     } else {
         std::cerr << "[SequencerService] could not reach controller_service at " << controller_host_
                   << ":" << controller_port_ << " for " << (active ? "FIRE_START" : "FIRE_STOP")
-                  << std::endl;
+                  << " (" << strerror(errno) << ")" << std::endl;
     }
     close(sock);
 }
diff --git a/daq-server/diablo_server/services/sequencer/sequencer_main.cpp b/daq-server/diablo_server/services/sequencer/sequencer_main.cpp
index eebd54d24..2018531f8 100644
--- a/daq-server/diablo_server/services/sequencer/sequencer_main.cpp
+++ b/daq-server/diablo_server/services/sequencer/sequencer_main.cpp
@@ -10,7 +10,9 @@
  *   RELOAD_CONFIG                    — hot-reload config.toml and CSVs
  *
  * Each command gets an immediate reply of "OK\n" or "ERR:<reason>\n".
- * Multiple simultaneous TCP clients are supported (one thread per connection).
+ * Multiple simultaneous TCP clients are supported (a bounded, joined thread per connection).
+ * Commands are not executed on those threads: each is posted to SequencerService's command queue
+ * and run by its single worker, which is what serializes access to the state machine.
  *
  * Usage: ./sequencer_service [--config PATH] [--port PORT]
  */
@@ -24,14 +26,23 @@
 #include <atomic>
 #include <cstring>
 #include <iostream>
+#include <memory>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include "control/SequencerService.hpp"
 
 namespace {
 std::atomic<bool> g_running{true};
 
+// Concurrent TCP clients accepted. The backend is the real client and holds one connection at a
+// time, so this is a guard against runaway thread creation, not a capacity target — set well
+// above any legitimate load. Previously unbounded.
+constexpr size_t kMaxClients = 64;
+// Longest command accepted before the connection is dropped, matching the old per-client cap.
+constexpr size_t kMaxLineBytes = 512;
+
 void signalHandler(int /*sig*/) {
     std::cout << "\n[Sequencer] Shutting down..." << std::endl;
     g_running = false;
@@ -43,100 +54,128 @@ std::string trim(const std::string& s) {
     return (a == std::string::npos) ? "" : s.substr(a, b - a + 1);
 }
 
-void handleClient(int client_fd, sequencer::SequencerService& svc) {
-    // 5-second receive timeout per line
-    struct timeval tv{.tv_sec = 5, .tv_usec = 0};
-    setsockopt(client_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
-
-    std::string buf;
-    buf.reserve(256);
-
+/**
+ * Execute one newline-terminated command and write its reply.
+ *
+ * Does no state-machine work itself: every command below is posted to SequencerService's command
+ * queue and executed by its single worker thread, which is what serializes them. This function
+ * parses, dispatches, and replies.
+ */
+void handleCommandLine(int client_fd, const std::string& raw, sequencer::SequencerService& svc) {
     auto sendReply = [&](const std::string& msg) {
         send(client_fd, msg.c_str(), msg.size(), MSG_NOSIGNAL);
     };
 
-    while (g_running) {
-        buf.clear();
-        char c;
-        while (g_running && recv(client_fd, &c, 1, 0) == 1) {
-            if (c == '\n')
-                break;
-            if (buf.size() < 512)
-                buf += c;
+    const std::string cmd = trim(raw);
+    if (cmd.empty())
+        return;
+
+    // ── TRANSITION:<state_name> ──────────────────────────────────────────
+    if (cmd.compare(0, 11, "TRANSITION:") == 0) {
+        const std::string state_name = trim(cmd.substr(11));
+        if (state_name.empty()) {
+            sendReply("ERR:empty state name\n");
+        } else if (svc.transitionTo(state_name)) {
+            sendReply("OK\n");
+        } else {
+            sendReply("ERR:transition rejected\n");
         }
-        if (buf.empty())
-            break;
 
-        const std::string cmd = trim(buf);
-        if (cmd.empty())
-            continue;
+        // ── ACTUATOR:<role>:<0|1> ────────────────────────────────────────────
+    } else if (cmd.compare(0, 9, "ACTUATOR:") == 0) {
+        const std::string rest = trim(cmd.substr(9));
+        const size_t last_colon = rest.rfind(':');
+        if (last_colon == std::string::npos || last_colon == 0) {
+            sendReply("ERR:bad ACTUATOR format\n");
+            return;
+        }
+        const std::string role_name = trim(rest.substr(0, last_colon));
+        const std::string val_str = trim(rest.substr(last_colon + 1));
+        int pos = -1;
+        if (val_str == "1" || val_str == "open")
+            pos = 1;
+        else if (val_str == "0" || val_str == "closed")
+            pos = 0;
+        if (pos < 0 || role_name.empty()) {
+            sendReply("ERR:bad ACTUATOR value\n");
+        } else if (svc.manualActuator(role_name, pos)) {
+            sendReply("OK\n");
+        } else {
+            sendReply("ERR:actuator command failed\n");
+        }
 
-        // ── TRANSITION:<state_name> ──────────────────────────────────────────
-        if (cmd.compare(0, 11, "TRANSITION:") == 0) {
-            const std::string state_name = trim(cmd.substr(11));
-            if (state_name.empty()) {
-                sendReply("ERR:empty state name\n");
-            } else if (svc.transitionTo(state_name)) {
-                sendReply("OK\n");
-            } else {
-                sendReply("ERR:transition rejected\n");
-            }
+        // ── DEBUG_MODE:<0|1> ─────────────────────────────────────────────────
+    } else if (cmd.compare(0, 11, "DEBUG_MODE:") == 0) {
+        const std::string val = trim(cmd.substr(11));
+        if (val == "1" || val == "true") {
+            svc.setDebugMode(true);
+            sendReply("OK\n");
+        } else if (val == "0" || val == "false") {
+            svc.setDebugMode(false);
+            sendReply("OK\n");
+        } else {
+            sendReply("ERR:bad DEBUG_MODE value\n");
+        }
 
-            // ── ACTUATOR:<role>:<0|1> ────────────────────────────────────────────
-        } else if (cmd.compare(0, 9, "ACTUATOR:") == 0) {
-            const std::string rest = trim(cmd.substr(9));
-            const size_t last_colon = rest.rfind(':');
-            if (last_colon == std::string::npos || last_colon == 0) {
-                sendReply("ERR:bad ACTUATOR format\n");
-                continue;
-            }
-            const std::string role_name = trim(rest.substr(0, last_colon));
-            const std::string val_str = trim(rest.substr(last_colon + 1));
-            int pos = -1;
-            if (val_str == "1" || val_str == "open")
-                pos = 1;
-            else if (val_str == "0" || val_str == "closed")
-                pos = 0;
-            if (pos < 0 || role_name.empty()) {
-                sendReply("ERR:bad ACTUATOR value\n");
-            } else if (svc.manualActuator(role_name, pos)) {
-                sendReply("OK\n");
-            } else {
-                sendReply("ERR:actuator command failed\n");
-            }
+        // ── EXTEND_FIRE ──────────────────────────────────────────────────────
+    } else if (cmd == "EXTEND_FIRE") {
+        if (svc.extendFire())
+            sendReply("OK\n");
+        else
+            sendReply("ERR:not in FIRE state\n");
 
-            // ── DEBUG_MODE:<0|1> ─────────────────────────────────────────────────
-        } else if (cmd.compare(0, 11, "DEBUG_MODE:") == 0) {
-            const std::string val = trim(cmd.substr(11));
-            if (val == "1" || val == "true") {
-                svc.setDebugMode(true);
-                sendReply("OK\n");
-            } else if (val == "0" || val == "false") {
-                svc.setDebugMode(false);
-                sendReply("OK\n");
-            } else {
-                sendReply("ERR:bad DEBUG_MODE value\n");
-            }
+        // ── RELOAD_CONFIG ────────────────────────────────────────────────────
+    } else if (cmd == "RELOAD_CONFIG") {
+        if (svc.reloadConfig())
+            sendReply("OK\n");
+        else
+            sendReply("ERR:reload failed\n");
 
-            // ── EXTEND_FIRE ──────────────────────────────────────────────────────
-        } else if (cmd == "EXTEND_FIRE") {
-            if (svc.extendFire())
-                sendReply("OK\n");
-            else
-                sendReply("ERR:not in FIRE state\n");
+    } else {
+        sendReply("ERR:unknown command\n");
+    }
+}
+
+/**
+ * One connection, on its own thread: read lines, dispatch, reply, until the peer closes.
+ *
+ * A thread per connection looks redundant now that SequencerService serializes everything on its
+ * worker — and an earlier revision of this change did fold it into the accept loop. A stress run
+ * showed why that was wrong: while the loop sits inside a command waiting for the worker, it is
+ * not calling accept(), so new connections queue in the backlog and time out at the *client*
+ * even though the service itself is healthy (600 concurrent transitions: 0 service-side timeouts,
+ * 5 client-side ones, all of them accept latency). Serializing execution is the goal; serializing
+ * *acceptance* was an accident.
+ *
+ * What the old version got wrong was not the threads, it was their lifetime: they were detached
+ * while holding a reference to a stack-allocated service, so they could outlive it at shutdown,
+ * and nothing bounded how many existed. Both are handled by the caller now — threads are counted
+ * and joined.
+ */
+void handleClient(int client_fd, sequencer::SequencerService& svc) {
+    // 5-second receive timeout, so a silent peer cannot pin this thread forever.
+    struct timeval tv{.tv_sec = 5, .tv_usec = 0};
+    setsockopt(client_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
 
-            // ── RELOAD_CONFIG ────────────────────────────────────────────────────
-        } else if (cmd == "RELOAD_CONFIG") {
-            if (svc.reloadConfig())
-                sendReply("OK\n");
-            else
-                sendReply("ERR:reload failed\n");
+    std::string buf;
+    while (g_running) {
+        char tmp[512];
+        ssize_t n = recv(client_fd, tmp, sizeof(tmp), 0);
+        if (n <= 0)
+            break;  // peer closed, timed out, or shutdown() woke us
+        buf.append(tmp, static_cast<size_t>(n));
 
-        } else {
-            sendReply("ERR:unknown command\n");
+        size_t nl;
+        while ((nl = buf.find('\n')) != std::string::npos) {
+            const std::string line = buf.substr(0, nl);
+            buf.erase(0, nl + 1);
+            handleCommandLine(client_fd, line, svc);
+        }
+        if (buf.size() > kMaxLineBytes) {
+            std::cerr << "[Sequencer] oversized command — dropping connection" << std::endl;
+            break;
         }
     }
-
     close(client_fd);
 }
 }  // namespace
@@ -198,7 +237,30 @@ int main(int argc, char* argv[]) {
     std::cout << "[Sequencer] Commands: TRANSITION:<state> | ACTUATOR:<name>:<0|1> "
               << "| DEBUG_MODE:<0|1> | EXTEND_FIRE | RELOAD_CONFIG" << std::endl;
 
+    // Connections are tracked rather than detached, so every thread is joined before `svc` — a
+    // stack object these threads hold a reference to — goes out of scope at the end of main().
+    struct Conn {
+        std::thread th;
+        int fd{-1};
+        std::atomic<bool> done{false};
+    };
+    std::vector<std::unique_ptr<Conn>> conns;
+
+    auto reap_finished = [&conns]() {
+        for (auto it = conns.begin(); it != conns.end();) {
+            if ((*it)->done.load()) {
+                if ((*it)->th.joinable())
+                    (*it)->th.join();
+                it = conns.erase(it);
+            } else {
+                ++it;
+            }
+        }
+    };
+
     while (g_running) {
+        reap_finished();
+
         // select() with 10 ms timeout — keeps g_running check while staying low-latency
         fd_set rd;
         FD_ZERO(&rd);
@@ -211,12 +273,39 @@ int main(int argc, char* argv[]) {
         if (client_fd < 0)
             continue;
 
-        // Detach a thread per client; thread lifetime is short (one command exchange)
-        std::thread([client_fd, &svc]() {
-            handleClient(client_fd, svc);
-        }).detach();
+        // Reap again before testing the cap: a burst of short-lived connections arriving inside
+        // one select() iteration would otherwise be counted against the limit even though those
+        // threads have already finished.
+        reap_finished();
+        if (conns.size() >= kMaxClients) {
+            // Say why, rather than closing cold — a bare close() reaches the client as a TCP
+            // reset, which is indistinguishable from the service having crashed.
+            static const char kBusy[] = "ERR:too many connections\n";
+            send(client_fd, kBusy, sizeof(kBusy) - 1, MSG_NOSIGNAL);
+            std::cerr << "[Sequencer] client limit (" << kMaxClients
+                      << ") reached — refusing connection" << std::endl;
+            close(client_fd);
+            continue;
+        }
+
+        auto conn = std::make_unique<Conn>();
+        conn->fd = client_fd;
+        Conn* raw = conn.get();
+        conn->th = std::thread([raw, &svc]() {
+            handleClient(raw->fd, svc);
+            raw->done = true;
+        });
+        conns.push_back(std::move(conn));
     }
 
+    // Wake any thread parked in recv() so shutdown does not wait out its 5 s timeout, then join
+    // them all. Joining before returning is what keeps `svc` alive until nothing references it.
+    for (const auto& c : conns)
+        shutdown(c->fd, SHUT_RDWR);
+    for (const auto& c : conns)
+        if (c->th.joinable())
+            c->th.join();
+
     close(listen_fd);
     std::cout << "[Sequencer] Stopped." << std::endl;
     return 0;

From a373da086db19d8a5a61f6264754e60aae903fa9 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 14:58:13 -0700
Subject: [PATCH 184/205] =?UTF-8?q?daq-server=20tests:=20cover=20the=20seq?=
 =?UTF-8?q?uencer=20races=20under=20TSan=20and=20stop=20the=20integration?=
 =?UTF-8?q?=20fire=20gate=20passing=20vacuously=20=E2=80=94=20both=20new?=
 =?UTF-8?q?=20tests=20were=20validated=20by=20building=20them=20against=20?=
 =?UTF-8?q?the=20pre-fix=20sources=20(concurrency=20dies=20at=20the=20same?=
 =?UTF-8?q?=20stopContinuousLoop=20double-join,=20abort=20ordering=20measu?=
 =?UTF-8?q?res=20453ms=20vs=200ms),=20the=20TSan=20job=20gates=20on=20exit?=
 =?UTF-8?q?=20code=20rather=20than=20grepping=20for=20"WARNING"=20because?=
 =?UTF-8?q?=20the=20failure=20is=20a=20sanitizer=20CHECK=20abort=20and=20n?=
 =?UTF-8?q?eeds=20setarch=20-R=20or=20it=20never=20starts,=20test=5Frobust?=
 =?UTF-8?q?=5Fddp=20is=20finally=20registered=20with=20CTest=20after=20bei?=
 =?UTF-8?q?ng=20built-but-never-run,=20and=20the=20harness=20now=20rewrite?=
 =?UTF-8?q?s=20[controller=5Fservice].port=20so=20FIRE=5FSTART/FIRE=5FSTOP?=
 =?UTF-8?q?=20actually=20reach=20the=20controller=20instead=20of=20being?=
 =?UTF-8?q?=20sent=20to=209999=20while=20it=20listens=20on=209997?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/daq-server-ci.yml           |  62 ++++++
 daq-server/diablo_server/lib/CMakeLists.txt   |  41 ++++
 .../lib/test/test_abort_ordering.cpp          | 152 +++++++++++++++
 .../lib/test/test_sequencer_concurrency.cpp   | 182 ++++++++++++++++++
 daq-server/test/test_integration.sh           |   6 +
 daq-server/test/ws_data_flow_test.ts          |  19 ++
 6 files changed, 462 insertions(+)
 create mode 100644 daq-server/diablo_server/lib/test/test_abort_ordering.cpp
 create mode 100644 daq-server/diablo_server/lib/test/test_sequencer_concurrency.cpp

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index 82874ca90..344e60ff9 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -412,6 +412,66 @@ jobs:
         fi
 
   # Run tests
+  # ThreadSanitizer over the sequencer's concurrency tests.
+  #
+  # This exists because the bug it guards is invisible to every other job here. The sequencer had
+  # two threads running the same multi-step transition sequence (a TCP client thread and
+  # FireManager's expiry thread), which double-joined the actuator republish thread. A plain -O2
+  # build does NOT reliably crash on that — a pre-fix binary survived 1016 commands over 65 s,
+  # because glibc tolerates a double pthread_join often enough to hide it. Under TSan the same
+  # code dies in 0.2 s at ~50 commands with a CHECK failure inside pthread_join.
+  #
+  # Neither the Release ctest job nor cppcheck/clang-tidy can see this. Without this job the fix
+  # is unverified against regression.
+  thread-sanitizer:
+    name: ThreadSanitizer (sequencer)
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y \
+          build-essential cmake ninja-build libeigen3-dev pkg-config gcc-12 g++-12 util-linux
+
+    - name: Build with -fsanitize=thread
+      env:
+        CC: gcc-12
+        CXX: g++-12
+      run: |
+        cmake -S . -B build-tsan \
+          -DCMAKE_BUILD_TYPE=Debug \
+          -DCMAKE_C_COMPILER=gcc-12 \
+          -DCMAKE_CXX_COMPILER=g++-12 \
+          -DCMAKE_CXX_STANDARD=${{ env.CXX_STANDARD }} \
+          -DCMAKE_CXX_FLAGS="-fsanitize=thread -g -O1" \
+          -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=thread" \
+          -G Ninja
+        cmake --build build-tsan --parallel $(nproc) \
+          --target test_sequencer_concurrency test_abort_ordering
+
+    # Two things that will waste an afternoon if they are not spelled out:
+    #
+    #  1. `setarch -R` disables ASLR. Without it TSan aborts at startup on modern kernels with
+    #     "FATAL: ThreadSanitizer: unexpected memory mapping" before running a single line.
+    #
+    #  2. The failure mode is a sanitizer CHECK abort (a non-zero exit), NOT a
+    #     "WARNING: ThreadSanitizer" data-race report. Gate on the exit code. Grepping the log for
+    #     "WARNING" would pass straight over the exact regression this job exists to catch.
+    - name: Run concurrency tests under TSan
+      working-directory: build-tsan
+      env:
+        TSAN_OPTIONS: halt_on_error=1 history_size=7
+      run: |
+        setarch -R ./bin/test_sequencer_concurrency
+        setarch -R ./bin/test_abort_ordering
+
   test:
     name: Run Tests
     runs-on: ubuntu-latest
@@ -877,6 +937,7 @@ jobs:
       - static-analysis
       - code-quality
       - security-scan
+      - thread-sanitizer
       - test
       - integration-test
       - playwright-guitest-e2e
@@ -901,6 +962,7 @@ jobs:
         echo "| Static Analysis | ${{ needs.static-analysis.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Code Quality | ${{ needs.code-quality.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Security Scan | ${{ needs.security-scan.result }} |" >> $GITHUB_STEP_SUMMARY
+        echo "| ThreadSanitizer (sequencer) | ${{ needs.thread-sanitizer.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Tests | ${{ needs.test.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Integration Test | ${{ needs.integration-test.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Playwright E2E (guitest) | ${{ needs.playwright-guitest-e2e.result }} |" >> $GITHUB_STEP_SUMMARY
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index 411c48f8d..a9a780169 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -107,6 +107,47 @@ target_include_directories(test_sequencer_elodin PRIVATE
 target_link_libraries(test_sequencer_elodin
     fsw_daq_lib daq_comms_lib daqv2_comms Threads::Threads pthread ${RT_LIBRARY})
 
+# test_robust_ddp has been built on every configure since it was added but was never registered
+# with CTest and is not invoked by CI either, so its assertions have never gated anything.
+add_test(NAME robust_ddp COMMAND test_robust_ddp)
+
+# Concurrency + abort ordering. Both drive a real SequencerService, so they need the same sources
+# test_sequencer_elodin links. They resolve config/ and the state CSVs relative to the working
+# directory (cwd, ../, ../../), which is why they run from the build dir under CTest.
+foreach(seq_test test_sequencer_concurrency test_abort_ordering)
+    add_executable(${seq_test}
+        test/${seq_test}.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/SequencerService.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/StateMachine.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/ActuatorCommander.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/AbortBroadcaster.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../services/sequencer/FireManager.cpp
+    )
+    target_include_directories(${seq_test} PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/include
+        ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+    )
+    target_link_libraries(${seq_test}
+        fsw_daq_lib daq_comms_lib daqv2_comms Threads::Threads pthread ${RT_LIBRARY})
+endforeach()
+
+# WORKING_DIRECTORY matters here. Both tests build a real SequencerService, which resolves
+# config/config.toml and the state CSVs by trying "", "../" and "../../" from the cwd. CTest
+# otherwise runs a test from the build directory of the CMakeLists that declared it
+# (build/diablo_server/lib), which is three levels down — none of the three prefixes reach
+# daq-server/config from there, and init() fails. From the top of the build tree "../config/..."
+# resolves, which is also how CI invokes the other sequencer binaries.
+add_test(NAME sequencer_concurrency COMMAND test_sequencer_concurrency
+         WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+add_test(NAME abort_ordering COMMAND test_abort_ordering
+         WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+# The concurrency test deliberately runs a storm for ~8 s and the abort test waits on a blackholed
+# connect; neither should be strangled by CTest's default timeout on a loaded runner.
+set_tests_properties(sequencer_concurrency abort_ordering PROPERTIES TIMEOUT 120)
+# They bind fixed resources (the abort broadcast port) and saturate the box, so keep them off each
+# other when ctest runs in parallel.
+set_tests_properties(sequencer_concurrency abort_ordering PROPERTIES RUN_SERIAL TRUE)
+
 install(TARGETS fsw_daq_lib
     LIBRARY DESTINATION lib
     ARCHIVE DESTINATION lib
diff --git a/daq-server/diablo_server/lib/test/test_abort_ordering.cpp b/daq-server/diablo_server/lib/test/test_abort_ordering.cpp
new file mode 100644
index 000000000..12fc98dfd
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_abort_ordering.cpp
@@ -0,0 +1,152 @@
+/**
+ * The physical ABORT broadcast must not queue behind the sequencer's own housekeeping.
+ *
+ * transitionTo() used to fire abort_broadcaster_.triggerAbort() near the END of the function,
+ * after stopContinuousLoop() (joins the republish thread, up to ~100 ms), after
+ * fire_manager_.stop() — which notifies controller_service over TCP — and after a full actuator
+ * batch. None of that is a precondition for telling the boards to abort, and the controller leg
+ * was the worst of it: connect() on a blocking socket with no connect timeout, so a controller
+ * host that drops SYNs rather than refusing them (powered off but routable, or a partition) held
+ * the abort for the kernel's full SYN retry budget. Measured on this machine: 133,348 ms.
+ *
+ * The abort broadcast is now the first thing transitionTo() does. This test pins that ordering by
+ * making the controller unreachable in exactly the way that used to hurt, and asserting the ABORT
+ * datagram still lands promptly.
+ *
+ * ── Why 192.0.2.1 ──────────────────────────────────────────────────────────────────────────────
+ * TEST-NET-1 (RFC 5737) is guaranteed not to be routed anywhere, so SYNs are dropped rather than
+ * refused. A closed port on localhost is NOT a substitute: it answers RST immediately, so
+ * connect() fails fast and the regression is invisible.
+ *
+ * ── A note on the port ─────────────────────────────────────────────────────────────────────────
+ * SequencerService default-constructs AbortBroadcaster, so the abort port is hardcoded to 5005 and
+ * config's broadcast_port is ignored (tracked in docs/IMPROVEMENTS.md). This test therefore binds
+ * 5005. If that is ever wired to config, this test should take the port from config too.
+ */
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <atomic>
+#include <chrono>
+#include <cstdio>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <string>
+#include <thread>
+
+#include "control/SequencerService.hpp"
+#include "control/StateMachine.hpp"
+
+using sequencer::SequencerService;
+using sequencer::StateMachine;
+using Clock = std::chrono::steady_clock;
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+// PacketType::ABORT — the first header byte of the broadcast.
+static constexpr uint8_t kAbortPacketType = 7;
+static constexpr uint16_t kAbortPort = 5005;
+
+int main() {
+    std::cout << "=== Abort ordering (abort must not wait on controller_service) ===" << std::endl;
+
+    // Listener for the abort broadcast. Bound to 0.0.0.0 so the limited broadcast reaches it.
+    int udp = socket(AF_INET, SOCK_DGRAM, 0);
+    int opt = 1;
+    setsockopt(udp, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+    struct sockaddr_in a{};
+    a.sin_family = AF_INET;
+    a.sin_addr.s_addr = INADDR_ANY;
+    a.sin_port = htons(kAbortPort);
+    if (bind(udp, reinterpret_cast<struct sockaddr*>(&a), sizeof(a)) < 0) {
+        std::cerr << "SKIP: cannot bind UDP " << kAbortPort << " (" << strerror(errno)
+                  << ") — another process is using the abort port" << std::endl;
+        close(udp);
+        return 0;  // environmental, not a code failure
+    }
+
+    std::atomic<bool> got_abort{false};
+    std::atomic<long long> abort_at_ms{-1};
+    std::atomic<bool> listening{true};
+    const auto t0 = Clock::now();
+    std::thread listener([&]() {
+        while (listening) {
+            struct timeval tv{.tv_sec = 0, .tv_usec = 100000};
+            setsockopt(udp, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+            uint8_t buf[64];
+            ssize_t n = recv(udp, buf, sizeof(buf), 0);
+            if (n > 0 && buf[0] == kAbortPacketType && !got_abort.exchange(true)) {
+                abort_at_ms =
+                    std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0)
+                        .count();
+            }
+        }
+    });
+
+    // Controller pointed at a blackhole; a burn configured so we can abort out of FIRE, which is
+    // the path that calls fire_manager_.stop() -> notifyControllerFire().
+    const std::string cfg_path = "test_abort_ordering_cfg.toml";
+    {
+        std::ofstream f(cfg_path);
+        f << "[database]\nhost=\"127.0.0.1\"\nport=1\n\n"
+          << "[controller_service]\nhost=\"192.0.2.1\"\nport=8000\n\n"
+          << "[fire]\nstate=\"Fire\"\nexpiry_target=\"Armed\"\n"
+          << "duration_ms=30000\nextended_ms=60000\n";
+    }
+
+    SequencerService svc;
+    if (!svc.init(cfg_path)) {
+        std::cerr << "FAILED: init (run from the build dir, with config/ reachable)" << std::endl;
+        listening = false;
+        listener.join();
+        close(udp);
+        std::remove(cfg_path.c_str());
+        return 1;
+    }
+    svc.setDebugMode(true);  // the ordering is the subject here, not the CSV's allowed transitions
+
+    // Enter FIRE. This already pays one blackholed connect (FIRE_START).
+    svc.transitionTo(std::string("Fire"));
+    got_abort = false;
+    abort_at_ms = -1;
+
+    // Now abort out of it. Pre-fix, the broadcast sat behind the republish-thread join, the
+    // FIRE_STOP connect, and the actuator batch.
+    const auto abort_issued = Clock::now();
+    svc.transitionTo(std::string("Engine Abort"));
+
+    // Give the datagram a moment to be seen even on a slow box.
+    for (int i = 0; i < 20 && !got_abort; ++i)
+        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+
+    const long long issued_ms =
+        std::chrono::duration_cast<std::chrono::milliseconds>(abort_issued - t0).count();
+    const long long latency = got_abort ? (abort_at_ms.load() - issued_ms) : -1;
+
+    check(got_abort.load(), "ABORT broadcast was sent");
+    if (got_abort) {
+        std::cout << "       abort latency: " << latency << " ms" << std::endl;
+        // Generous bound, but far below what the pre-fix ordering costs with an unreachable
+        // controller: the FIRE_STOP connect alone is 300 ms now (and was ~133 s before it was
+        // bounded), and it used to happen BEFORE the broadcast.
+        check(latency >= 0 && latency < 200,
+              "ABORT went out ahead of the controller notification and the actuator batch");
+    }
+
+    listening = false;
+    listener.join();
+    close(udp);
+    std::remove(cfg_path.c_str());
+
+    std::cout << (g_failures == 0 ? "✅ PASS" : "❌ FAIL") << std::endl;
+    return g_failures == 0 ? 0 : 1;
+}
diff --git a/daq-server/diablo_server/lib/test/test_sequencer_concurrency.cpp b/daq-server/diablo_server/lib/test/test_sequencer_concurrency.cpp
new file mode 100644
index 000000000..13a25b78e
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_sequencer_concurrency.cpp
@@ -0,0 +1,182 @@
+/**
+ * SequencerService under concurrent command load.
+ *
+ * The bug this guards against: SequencerService had no serialization at all. Fields were atomic,
+ * but a transition is a multi-step sequence built out of them — stop the actuator republish loop,
+ * apply actuators, restart the loop, assign the state, arm the burn — and atomics on the steps do
+ * nothing for the sequence. sequencer_main spawns a thread per TCP client, and FireManager's timer
+ * thread calls back into transitionTo when a burn expires, so two threads could run that sequence
+ * at once.
+ *
+ * The concrete failure is in ActuatorCommander::stopContinuousLoop(): `if (loop_thread_.joinable())
+ * loop_thread_.join();`. Two threads passing the joinable() check together both call join() on the
+ * same std::thread — a double pthread_join, which is undefined behaviour — and then both
+ * move-assign a fresh thread onto the handle, which is a std::terminate if the other's assignment
+ * landed first.
+ *
+ * ── How this test actually catches it ──────────────────────────────────────────────────────────
+ * A plain -O2 build does NOT reliably crash: a pre-fix binary survived 1016 commands over 65 s,
+ * because glibc tolerates a double pthread_join often enough that the window is rarely fatal. That
+ * is worse than a crash, not better — in production it silently corrupts thread bookkeeping.
+ *
+ * Under ThreadSanitizer the same code fails immediately and unambiguously:
+ *
+ *   ThreadSanitizer: CHECK failed: sanitizer_thread_registry.cpp:348 "((t)) != (0)"
+ *     #3 pthread_join
+ *     #4 std::thread::join()
+ *     #5 ActuatorCommander::stopContinuousLoop()  ActuatorCommander.cpp
+ *     #6 SequencerService::transitionTo(State)
+ *     #8 handleClient                             sequencer_main.cpp
+ *
+ * (ConsumeThreadUserId returning 0 = the thread being joined was already consumed by another
+ * join.) Pre-fix died 0.2 s in at ~50 commands; post-fix ran 746 commands over 25.9 s clean.
+ *
+ * So: run this test under TSan to make it a real detector. Without TSan it is still a useful
+ * smoke test — it asserts the service stays alive and functional under load, and it would catch
+ * a deadlock or a hang, which the command-queue design is the other main risk of.
+ */
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <atomic>
+#include <chrono>
+#include <cstdio>
+#include <fstream>
+#include <iostream>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include "control/SequencerService.hpp"
+#include "control/StateMachine.hpp"
+
+using sequencer::SequencerService;
+using sequencer::State;
+using sequencer::StateMachine;
+using Clock = std::chrono::steady_clock;
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+/** Minimal stand-in for controller_service: accept, drain, close. Without it every fire
+ *  transition pays notifyControllerFire's connect timeout and the test crawls. */
+static void fakeController(int listen_fd, std::atomic<bool>& run) {
+    while (run) {
+        struct timeval tv{.tv_sec = 0, .tv_usec = 100000};
+        setsockopt(listen_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+        int c = accept(listen_fd, nullptr, nullptr);
+        if (c < 0)
+            continue;
+        char buf[128];
+        setsockopt(c, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+        (void)recv(c, buf, sizeof(buf), 0);
+        close(c);
+    }
+}
+
+static int bindEphemeral(uint16_t& out_port) {
+    int fd = socket(AF_INET, SOCK_STREAM, 0);
+    int opt = 1;
+    setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+    struct sockaddr_in a{};
+    a.sin_family = AF_INET;
+    a.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
+    a.sin_port = 0;
+    bind(fd, reinterpret_cast<struct sockaddr*>(&a), sizeof(a));
+    listen(fd, 8);
+    socklen_t len = sizeof(a);
+    getsockname(fd, reinterpret_cast<struct sockaddr*>(&a), &len);
+    out_port = ntohs(a.sin_port);
+    return fd;
+}
+
+int main() {
+    std::cout << "=== SequencerService concurrency ===" << std::endl;
+
+    uint16_t ctrl_port = 0;
+    int ctrl_fd = bindEphemeral(ctrl_port);
+    std::atomic<bool> ctrl_run{true};
+    std::thread ctrl_thread(fakeController, ctrl_fd, std::ref(ctrl_run));
+
+    // Short burn window so the fire timer expires repeatedly during the storm — the expiry
+    // callback is the second thread that enters the state machine, and the one a naive mutex
+    // would have deadlocked against.
+    const std::string cfg_path = "test_concurrency_cfg.toml";
+    {
+        std::ofstream f(cfg_path);
+        f << "[database]\nhost=\"127.0.0.1\"\nport=1\n\n"
+          << "[controller_service]\nhost=\"127.0.0.1\"\nport=" << ctrl_port << "\n\n"
+          << "[fire]\nstate=\"Fire\"\nexpiry_target=\"Armed\"\n"
+          << "duration_ms=250\nextended_ms=500\n";
+    }
+
+    SequencerService svc;
+    if (!svc.init(cfg_path)) {
+        std::cerr << "FAILED: init (run from the build dir, with config/ reachable)" << std::endl;
+        ctrl_run = false;
+        ctrl_thread.join();
+        close(ctrl_fd);
+        std::remove(cfg_path.c_str());
+        return 1;
+    }
+    // Debug mode: this test is about concurrent execution, not about which transitions the CSV
+    // permits. Without it most of the storm is rejected before touching the actuator loop, which
+    // is exactly the code path under test.
+    svc.setDebugMode(true);
+
+    // A fixed number of transitions per thread rather than "hammer for N seconds". Coverage is
+    // then identical everywhere, instead of being a function of how fast the box is — which
+    // matters because this test is meant to run under TSan, where throughput drops by roughly a
+    // third, and on CI runners that are slower again. The pre-fix binary died at ~50 transitions
+    // under TSan, so this is comfortable margin.
+    constexpr int kThreads = 12;
+    constexpr int kIterationsPerThread = 20;
+    std::atomic<int> issued{0};
+    const char* targets[] = {"Idle", "Armed", "Fire", "Engine Abort"};
+
+    const auto t0 = Clock::now();
+    std::vector<std::thread> workers;
+    for (int i = 0; i < kThreads; ++i) {
+        workers.emplace_back([&, i]() {
+            int n = i;
+            for (int k = 0; k < kIterationsPerThread; ++k) {
+                svc.transitionTo(std::string(targets[n++ % 4]));
+                issued++;
+            }
+        });
+    }
+    for (auto& w : workers)
+        w.join();
+    const auto elapsed_ms =
+        std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - t0).count();
+
+    // Reaching here at all is the headline assertion: pre-fix, this is where the process died
+    // under TSan. A hang instead of a crash is caught by the CTest timeout on this test.
+    check(true, "survived concurrent transitions (no double-join / terminate)");
+    check(issued.load() == kThreads * kIterationsPerThread,
+          "every transition completed (" + std::to_string(issued.load()) + "/" +
+              std::to_string(kThreads * kIterationsPerThread) + " in " +
+              std::to_string(elapsed_ms) + " ms)");
+
+    // Still functional afterwards — a queue that wedged or deadlocked would fail here rather than
+    // crashing, and that is the main risk the command-queue design introduces.
+    const bool accepted = svc.transitionTo(std::string("Idle"));
+    check(accepted, "service still accepts commands after the storm");
+    check(svc.currentState() == StateMachine::fromName("Idle"),
+          "reported state matches the last accepted transition");
+
+    ctrl_run = false;
+    ctrl_thread.join();
+    close(ctrl_fd);
+    std::remove(cfg_path.c_str());
+
+    std::cout << (g_failures == 0 ? "✅ PASS" : "❌ FAIL") << std::endl;
+    return g_failures == 0 ? 0 : 1;
+}
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 617d7b373..60ee2d00b 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -393,6 +393,12 @@ sedi 's/^duration_ms = .*/duration_ms = 1500/' "$TEST_CONFIG"
 sedi 's/^extended_ms = .*/extended_ms = 3000/' "$TEST_CONFIG"
 # Align SERVER_HEARTBEAT UDP with the same port as udp_listener (actuator/control path in CI)
 sedi "s/^broadcast_port = 5005/broadcast_port = $TEST_ACTUATOR_UDP_PORT/" "$TEST_CONFIG"
+# controller_service is launched with --control-port $TEST_CONTROLLER_PORT, but the sequencer
+# reads [controller_service].port from the config to decide where to send FIRE_START/FIRE_STOP.
+# Without this rewrite it dialled the base config's 9999 while the controller listened on 9997,
+# so the fire gate was never actually delivered during an integration run — and nothing asserted
+# it, so the suite passed with that leg entirely untested.
+sedi "/^\[controller_service\]/,/^\[/ s/^port = .*/port = $TEST_CONTROLLER_PORT/" "$TEST_CONFIG"
 # NOTE: Do NOT replace board IPs — the DAQ bridge routes by source IP.
 # The board_simulator falls back to 127.0.0.{2+index} when config IPs
 # (192.168.2.x) aren't bindable, and the DAQ bridge has matching fallback
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index 408ff4626..f3b7b71d7 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -1429,6 +1429,25 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
           assert(false, `[Fire] no auto-transition out of fire: ${err.message}`);
         }
 
+        // The burn gate must actually reach controller_service. This went unasserted for a long
+        // time, and it was wrong the whole while: the harness starts controller_service with
+        // --control-port $TEST_CONTROLLER_PORT but never rewrote [controller_service].port in the
+        // generated config, so the sequencer dialled the base config's 9999 while the controller
+        // listened on 9997. FIRE_START/FIRE_STOP were silently dropped on every run and the suite
+        // still reported green. The config rewrite is fixed in test_integration.sh; this assertion
+        // is what stops it regressing back to vacuous.
+        if (CONTROLLER_LOG_FILE) {
+          try {
+            const ctrlLog = fs.readFileSync(CONTROLLER_LOG_FILE, 'utf-8');
+            assert(ctrlLog.includes('FIRE_START received'),
+              '[Fire] controller_service received FIRE_START (PWM gate opened)');
+            assert(ctrlLog.includes('FIRE_STOP received'),
+              '[Fire] controller_service received FIRE_STOP (PWM gate closed)');
+          } catch (err: any) {
+            assert(false, `[Fire] could not read controller log: ${err.message}`);
+          }
+        }
+
         // The PWM handoff (sequencer stops commanding PWM roles during a burn so
         // controller_service is the only writer) is NOT assertable here. Actuator commands go to
         // each board's own address, which in this harness is the simulator — so a 0.0.0.0 UDP

From eb591517813a7723b1116140fdfc866b12ce04ca Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 15:01:54 -0700
Subject: [PATCH 185/205] =?UTF-8?q?daq-server=20improvements=20doc:=20fold?=
 =?UTF-8?q?=20in=20the=20sequencer=20concurrency=20work=20=E2=80=94=20ten?=
 =?UTF-8?q?=20items=20move=20to=20a=20dated=20Resolved=20section=20recordi?=
 =?UTF-8?q?ng=20how=20each=20was=20fixed=20and=20what=20the=20measurements?=
 =?UTF-8?q?=20were,=20the=20ABORT=20and=20sanitizer=20entries=20narrow=20t?=
 =?UTF-8?q?o=20the=20halves=20still=20open=20(broadcast=20routing;=20-Wall?=
 =?UTF-8?q?=20and=20ASan/UBSan,=20since=20only=20TSan=20landed),=20test=5F?=
 =?UTF-8?q?robust=5Fddp=20drops=20out=20now=20that=20it=20is=20registered,?=
 =?UTF-8?q?=20and=20the=20four=20line=20anchors=20my=20own=20edits=20shift?=
 =?UTF-8?q?ed=20are=20re-verified?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/docs/IMPROVEMENTS.md | 296 ++++++++------------------------
 1 file changed, 70 insertions(+), 226 deletions(-)

diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index b73cfad83..e780729b1 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,129 +5,36 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-07 against `ab3ce2d2`.
-The previous revision of this file dated from April 2026 and predated the Vite frontend
-migration, the `smol-toml` config work, and the config-driven `[[states]]` rework. Items it
-listed that are now fixed are recorded at the bottom rather than silently dropped, so a
-future audit can tell "resolved" from "never looked at".
+**Last updated:** 2026-09-07 after `4bcbfb4e` — the sequencer concurrency work landed and its
+items moved to Resolved.
 
----
-
-## Critical
-
-### C++ — `SequencerService` serializes nothing; every command path is concurrent
-
-**Files:** `diablo_server/services/sequencer/SequencerService.cpp:243` (`transitionTo`),
-`diablo_server/services/sequencer/sequencer_main.cpp:215`
-
-`sequencer_main` spawns **one detached thread per TCP client** and every one of them calls
-into the same `SequencerService` instance. The `FireManager` timer thread is a third caller
-(`SequencerService.cpp:294`, `transitionTo(fire_expiry_state_)`). There is no mutex anywhere
-in the class — only `std::atomic` on the individual fields, which protects each load and
-store but not the multi-step sequence built out of them.
-
-`transitionTo` is that sequence: clear overrides → `stopContinuousLoop()` →
-`applyForState()` → `startContinuousLoop()` → assign `current_state_` → maybe
-`triggerAbort()` → maybe `fire_manager_.start()`. Two threads running it at once interleave
-arbitrarily.
-
-The sharpest failure is not a logical race but a hard crash. `stopContinuousLoop()` joins
-`loop_thread_`; `startContinuousLoop()` move-assigns into it. Two threads doing that
-concurrently means either two `join()` calls on the same `std::thread` (undefined behavior)
-or a move-assignment into a still-joinable thread, which calls `std::terminate` — the exact
-failure `FireManager::stop()` documents at `FireManager.cpp:41-46` and guards against
-single-threaded, but which nothing guards against across threads.
-
-**Failure scenario:** two dashboards are open. The fire timer expires at the same moment an
-operator presses ABORT. Both threads enter `transitionTo`. The sequencer dies with
-`terminate called without an active exception` — during a burn, with the actuator republish
-loop dead and no process left to command the abort state.
-
-**Fix:** a single `std::recursive_mutex` held across the whole body of `transitionTo`,
-`setDebugMode`, `manualActuator`, `extendFire`, and `reloadConfig`. Recursive because the
-fire-expiry callback re-enters `transitionTo` from inside `FireManager`'s timer thread while
-`stop()` may be unwinding. Commands are human-rate; there is no throughput argument against
-a service-wide lock here.
-
----
-
-### C++ — `reloadConfig()` rewrites the actuator tables while the 1 Hz loop is reading them
-
-**Files:** `diablo_server/services/sequencer/SequencerService.cpp:338`,
-`diablo_server/services/sequencer/ActuatorCommander.cpp:58`
-
-`reloadConfig()` calls `actuator_commander_.load(...)`, whose first two statements are
-`roles_.clear(); state_actuators_.clear();` — followed by a full repopulate from CSV. It
-does **not** stop the continuous loop first. That loop
-(`ActuatorCommander.cpp:493`) is calling `applyForState()` → `findStateActuators()` →
-iterating `state_actuators_` once a second, forever.
-
-Neither `roles_` nor `state_actuators_` is guarded by a mutex (the class has
-`pending_roles_mutex_` and `overrides_mutex_`, which cover different members).
-Clearing and rebuilding a `std::map` under an active iterator is undefined behavior, not a
-stale read.
-
-`state_machine_.load(sm_csv)` on the next line has the same problem against any concurrent
-`transitionTo` reading the transition table.
-
-**Failure scenario:** an operator saves a config edit from the GUI (which sends
-`RELOAD_CONFIG`) during a fill. The republish loop is mid-iteration. The sequencer segfaults
-or sends actuator commands built from freed nodes.
-
-**Fix:** in `reloadConfig()`, stop the continuous loop, swap the tables, restart the loop —
-all under the service-wide lock from the item above. Better still, build the new
-`ActuatorCommander` state off to the side and swap it in under a lock, so a failed reload
-cannot leave the tables half-cleared (today a mid-load `return false` leaves the service
-with an empty actuator map and a running loop).
+The revision before this one dated from April 2026 and predated the Vite frontend migration,
+the `smol-toml` config work, and the config-driven `[[states]]` rework. Anything fixed is
+recorded at the bottom with *how*, rather than silently dropped, so a future audit can tell
+"resolved" from "never looked at".
 
 ---
 
-### C++ — `reloadConfig()` re-adopts `[[states]]` but keeps the old fire state ids
-
-**File:** `diablo_server/services/sequencer/SequencerService.cpp:338-360`
-
-`reloadConfig()` calls `StateMachine::loadStatesFromConfig(config_content_)` — renumbering
-every state — but never re-reads `[fire]`. `fire_state_` and `fire_expiry_state_` are stored
-as `State` values (raw ids) resolved once in `init()`. After a reload that renumbers or
-renames states, both hold ids that now name *different* states, and
-`actuator_commander_.setFireState()` is never called again either.
-
-`fire_manager_.configure(duration, extended)` is also not re-applied, so an edited fire
-window silently doesn't take effect until the service restarts.
-
-This is the same class of bug as the ones already fixed in `init()`, the controller, and the
-backend — the reload path just never got the same treatment.
-
-**Failure scenario:** a rig adds a state, which shifts ids. Config is reloaded rather than
-the stack restarted. `to == fire_state_` in `transitionTo` now matches the wrong state: the
-fire countdown arms on entering some fill state, and entering the real fire state arms
-nothing.
-
-**Fix:** factor the `[fire]` resolution block out of `init()` (`SequencerService.cpp:144-191`,
-including the `isAllowed` sanity warning) and call it from both `init()` and
-`reloadConfig()`.
-
----
-
-### C++ — ABORT is a single unacknowledged UDP datagram
+## Critical
 
-**File:** `diablo_server/services/sequencer/AbortBroadcaster.cpp:39-73`
+### C++ — The ABORT broadcast can leave on the wrong interface
 
-`sendPacket()` sends the ABORT header exactly once and reports success if `sendto` accepted
-it. One dropped frame on a congested field network and no board ever hears the abort.
+**File:** `diablo_server/services/sequencer/AbortBroadcaster.cpp`
 
-The contrast inside the same service is stark: `ActuatorCommander::sendBatch` sends **three
-rounds 1 ms apart** for ordinary state changes precisely because a single UDP send is not
-trusted. The abort path — the one that matters most — sends one.
+*Partly addressed.* The abort is no longer a single datagram — it is sent 4× at 2 ms spacing
+with a send timeout and per-repeat `errno` logging, matching the redundancy
+`ActuatorCommander::sendBatch` already had for ordinary state changes.
 
-Related, same function: `dest.sin_addr.s_addr = INADDR_BROADCAST` (255.255.255.255) with no
+What remains is routing. `dest.sin_addr.s_addr = INADDR_BROADCAST` (255.255.255.255) with no
 `SO_BINDTODEVICE` and no bind to the DAQ NIC. On the apps box, which has more than one
 interface, the kernel picks the egress interface by route. If the DAQ NIC is not the one
-chosen, the abort broadcast leaves on the wrong wire.
+chosen, all four repeats leave on the wrong wire together — redundancy does not help when the
+failure is common-mode.
 
-**Fix:** send the abort 3–5 times a few ms apart, matching `sendBatch`. Bind the socket to
-the configured DAQ interface address (or send to the subnet-directed broadcast address,
-`192.168.2.255`, rather than the limited broadcast address) so it cannot take the wrong
-route. Log `errno` on a short send instead of only a generic "failed".
+**Fix:** bind the socket to the configured DAQ interface address, or send to the
+subnet-directed broadcast address (`192.168.2.255`) rather than the limited broadcast address,
+so it cannot take the wrong route. See also the entry below on the hardcoded abort port — both
+are the same underlying gap, that the broadcaster is constructed with no knowledge of config.
 
 ---
 
@@ -195,7 +102,7 @@ blocking `recv` and no `SO_RCVTIMEO`. There is no per-client thread. A client th
 and sends no newline blocks the accept loop indefinitely — and this loop is the only path
 that opens and closes the PWM gate.
 
-`sequencer_main.cpp:48` sets a 5 s `SO_RCVTIMEO` and threads per client; the controller,
+`sequencer_main.cpp:158` sets a 5 s `SO_RCVTIMEO` and gives each client its own thread; the controller,
 which gates ignition, does neither.
 
 **Failure scenario:** the backend host is killed or drops off the network mid-connection.
@@ -285,27 +192,32 @@ a checked-in `.clang-tidy` rather than an arbitrary 20-file slice.
 
 ---
 
-### CI — No sanitizer build, and CMake sets no warning flags
+### CI — No ASan/UBSan build, and CMake sets no warning flags
 
 **Files:** `CMakeLists.txt`, `.github/workflows/daq-server-ci.yml`
 
-The top-level `CMakeLists.txt` sets no `-Wall`/`-Wextra` and offers no sanitizer option;
-nothing in CI builds with ASan, UBSan, or TSan. Every C++ item in the Critical section above
-is a data race or an unaligned/undefined access that a sanitizer run would have surfaced
-automatically.
+*Partly addressed.* A `thread-sanitizer` job now builds the sequencer concurrency tests with
+`-fsanitize=thread` and runs them, which is what proves the command-queue work stays fixed —
+the races it guards are invisible to the Release `ctest` job, to cppcheck and to clang-tidy.
+
+Two things still missing:
 
-A concrete UBSan-visible instance today:
-`config_broadcast_service_main.cpp:351,360,363` do
-`*reinterpret_cast<uint32_t*>(&buf[off])` into a `std::vector<uint8_t>` at offsets that step
-by 7 and 9 — unaligned stores through a `uint32_t*`. It works on x86-64 and ARM64 and is
-still undefined behavior; `memcpy` compiles to the same instruction with none of the risk.
+1. The top-level `CMakeLists.txt` still sets no `-Wall`/`-Wextra`. Implicit conversions,
+   signed/unsigned mismatches and unused variables pass silently.
+2. No ASan/UBSan build anywhere. A concrete UBSan-visible instance today:
+   `config_broadcast_service_main.cpp:351,360,363` do
+   `*reinterpret_cast<uint32_t*>(&buf[off])` into a `std::vector<uint8_t>` at offsets that step
+   by 7 and 9 — unaligned stores through a `uint32_t*`. It works on x86-64 and ARM64 and is
+   still undefined behaviour; `memcpy` compiles to the same instruction with none of the risk.
 
-**Fix, in priority order:**
-1. A **TSan** CI job running the existing ctest suite plus a scripted burst of concurrent
-   sequencer commands. This is where the value is — the races above are the real bugs.
-2. `add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)` in the top-level
-   `CMakeLists.txt`, with `-Werror=return-type` at minimum.
-3. A `-DSANITIZE=ON` option wiring `-fsanitize=address,undefined`, run over ctest.
+**Fix:** `add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)` with
+`-Werror=return-type` at minimum, and a `-DSANITIZE=ON` option wiring
+`-fsanitize=address,undefined` run over ctest — mirroring how the TSan job is already wired.
+
+**Note for whoever adds it:** the TSan job documents two traps that apply to any sanitizer job
+here — `setarch -R` is required or the sanitizer aborts at startup on modern kernels with
+`unexpected memory mapping`, and a sanitizer CHECK abort is *not* a `WARNING:` line, so gate on
+the process exit code rather than grepping the log.
 
 ---
 
@@ -364,62 +276,6 @@ code with it. Keep `console.error`.
 
 ---
 
-### C++ — Actuator UDP sends have no timeout and log nothing on failure
-
-**File:** `diablo_server/services/sequencer/ActuatorCommander.cpp:309-332`
-
-The batch socket is created without `SO_SNDTIMEO`. A `sendto` on a saturated interface with
-a full socket buffer blocks the calling thread — which, via `applyForState`, is either the
-republish loop or a command thread.
-
-Worse for diagnosis: a short send only sets `all_ok = false`. `errno` is never read and
-nothing is logged, so a partially-delivered abort or state change leaves no trace beyond a
-boolean the callers largely ignore.
-
-**Fix:**
-
-```cpp
-struct timeval tv{.tv_sec = 0, .tv_usec = 100000};  // 100 ms
-setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
-```
-
-and log the board IP plus `strerror(errno)` on any send that doesn't complete.
-
----
-
-### C++ — `notifyControllerFire` has a send timeout but no connect timeout
-
-**File:** `diablo_server/services/sequencer/SequencerService.cpp:372-397`
-
-`SO_SNDTIMEO` is set, but `connect()` on a blocking socket ignores it — an unreachable host
-that drops SYNs takes the full kernel retry budget (~2 minutes) before returning. This runs
-on whichever thread called `transitionTo` → `fire_manager_.start()`, so a controller host
-that is powered off but still ARP-resolvable stalls the state transition itself.
-
-**Fix:** non-blocking `connect` + `select` with a ~500 ms deadline, then restore blocking
-mode for the `send`. Or set `TCP_SYNCNT` to 1–2.
-
----
-
-### C++ — Detached threads outlive the objects they reference
-
-**Files:** `diablo_server/services/sequencer/sequencer_main.cpp:215-217`,
-`diablo_server/services/controller/controller_main.cpp:412-413`
-
-Both services detach threads that capture a stack-allocated service by reference
-(`&svc`, `&service`) and then let `main` return. On SIGTERM the detached threads may still
-be inside `recv`/`accept` when the service destructor runs.
-
-In practice the process is exiting anyway, so this shows up as an occasional ugly crash in
-the shutdown logs rather than a field failure — but it also means shutdown logs can't be
-trusted as a signal that something is wrong.
-
-**Fix:** track the client threads in a vector and join them after the accept loop exits, or
-give the service static storage duration. In the controller's case `control_thread` is
-already a named `std::thread` — join it instead of detaching.
-
----
-
 ### Backend — The resolved config path is never logged
 
 **File:** `diablo_server/backend/src/routes/config.ts:19-81` (`getConfigPath`)
@@ -453,28 +309,24 @@ consequence, refusing to broadcast a truncated ACTUATOR_CONFIG is defensible too
 
 ---
 
-### Tests — `test_robust_ddp` is built but never run; `test_imu_calibration` is never built
-
-**Files:** `diablo_server/lib/CMakeLists.txt:52`,
-`diablo_server/lib/test/test_imu_calibration.cpp`, `.github/workflows/daq-server-ci.yml`
+### Tests — `test_imu_calibration` is never built
 
-`add_executable(test_robust_ddp …)` has no matching `add_test`, and CI never invokes the
-binary directly (the way it does for `test_sequencer_elodin`). It compiles on every build
-and its assertions have never gated anything.
+**Files:** `diablo_server/lib/CMakeLists.txt`,
+`diablo_server/lib/test/test_imu_calibration.cpp`
 
-`test_imu_calibration.cpp` has no `add_executable` at all — it isn't compiled, so it can
-silently rot out of sync with the code it tests.
+`test_imu_calibration.cpp` has no `add_executable` at all — it is not compiled, so it can
+silently rot out of sync with the code it tests. (`test_robust_ddp`, which had the related
+problem of being built but never registered with CTest, is now registered and passing.)
 
-**Fix:** `add_test(NAME robust_ddp COMMAND test_robust_ddp)`. For the IMU test, either wire
-it up or delete it; a test file that isn't built is worse than no test file, because it reads
-like coverage.
+**Fix:** either wire it up or delete it. A test file that isn't built is worse than no test
+file, because it reads like coverage.
 
 ---
 
 ### C++ — the abort broadcast port ignores config
 
 **Files:** `diablo_server/lib/include/control/SequencerService.hpp:144`,
-`diablo_server/lib/include/control/AbortBroadcaster.hpp:21`, `config/config.toml:8,16`
+`diablo_server/lib/include/control/AbortBroadcaster.hpp:22`, `config/config.toml:8,16`
 
 `AbortBroadcaster abort_broadcaster_;` is default-constructed — port 5005, ABORT_DONE delay
 3000 ms — and nothing in `SequencerService::init()` or `reloadConfig()` ever configures it.
@@ -492,30 +344,6 @@ ABORT_DONE delay if a config key is wanted for it.
 
 ---
 
-### Tests — the integration test points the sequencer at the wrong controller port
-
-**Files:** `test/test_integration.sh:62,625`, `config/config.toml:393-394`
-
-The script launches `controller_service` with `--control-port 9997`, but never rewrites
-`[controller_service].port` in the generated test config, which stays at the base value `9999`.
-The sequencer reads that key for `controller_port_`, so it dials 9999 while the controller
-listens on 9997.
-
-Result: `FIRE_START` / `FIRE_STOP` never reach the controller during the integration run, and
-nothing asserts that they should — the run passes with the sequencer→controller fire gate
-entirely uncovered. Confirmed in a live run: the sequencer log shows *"could not reach
-controller_service at 127.0.0.1:9999 for FIRE_START"* while the controller log shows
-*"Control server on TCP :9997"*, and the suite still reported PASS.
-
-The mechanism itself is covered by the `test_fire_lifecycle` unit test, which stands up its own
-listener — so this is a wiring gap in the integration harness, not an untested code path.
-
-**Fix:** rewrite `[controller_service].port` to `$TEST_CONTROLLER_PORT` alongside the other
-`sedi` port rewrites (~`test_integration.sh:368-410`), and add an assertion that the controller
-actually observed the fire gate open and close.
-
----
-
 ## Low / Housekeeping
 
 ### Sensor Info — dual ADC columns (cal + raw) for debugging
@@ -565,10 +393,26 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 ---
 
-## Resolved since the April 2026 revision
+## Resolved
 
-Kept so a future audit can distinguish "fixed" from "never checked". Verified against
-`ab3ce2d2`.
+Kept so a future audit can distinguish "fixed" from "never checked".
+
+### By the sequencer concurrency work (2026-09-07, `0c0dfd6c` / `4bcbfb4e`)
+
+| Item | Resolution |
+|---|---|
+| `SequencerService` serializes nothing | **Fixed.** All commands now run on a single worker thread fed by a queue; the fire-expiry callback posts to it without waiting. Confirmed: the pre-fix binary dies under TSan in 0.2 s at ~50 commands with a double `pthread_join` inside `stopContinuousLoop`, the post-fix one runs 240 transitions clean. A mutex was tried first and does not work — `fire_manager_.stop()` joins the very thread that would be waiting on it. Guarded by `test_sequencer_concurrency` under the new TSan job. |
+| `reloadConfig()` rewrites the actuator tables while the 1 Hz loop reads them | **Fixed.** The republish loop is stopped before `ActuatorCommander::load()` and restarted after. |
+| `reloadConfig()` keeps stale `[fire]` ids after re-adopting `[[states]]` | **Fixed.** The `[fire]` resolution was extracted to `applyFireConfig()` and is now called from both `init()` and reload, so a renumbering reload re-resolves the burn state, the expiry target and the window. |
+| ABORT queued behind the sequencer's own housekeeping | **Fixed.** `triggerAbort()` is now the first thing `transitionTo()` does, ahead of the republish-thread join, the controller notification and the actuator batch. Measured 453 ms → 0 ms with an unreachable controller; `test_abort_ordering` pins it. |
+| ABORT sent as a single unacknowledged datagram | **Fixed.** Sent 4× at 2 ms spacing with a send timeout and per-repeat `errno` logging. The *routing* half of that entry is still open — see "The ABORT broadcast can leave on the wrong interface". |
+| `notifyControllerFire` has no connect timeout | **Fixed.** Non-blocking connect with a 300 ms deadline, consulting `SO_ERROR` on any poll readiness so a refused connection is not mislabelled a timeout. Measured on this box: blocking connect to a blackholed host took **133,348 ms**; bounded version returns in **301 ms**. |
+| Actuator UDP sends have no timeout and log nothing | **Fixed.** `SO_SNDTIMEO` of 100 ms on the batch socket, and a short send now names the board IP and `strerror(errno)` instead of only flipping a boolean. |
+| Detached threads outlive the objects they reference | **Fixed.** Client threads are bounded (64) and joined before `svc` goes out of scope; the accept loop reaps finished ones and refuses over-limit connections with `ERR:too many connections` rather than a bare close, which reached the client as a TCP reset. |
+| `test_robust_ddp` built but never run | **Fixed.** Registered with CTest (`add_test(NAME robust_ddp …)`) and passing. |
+| Integration test dialled the wrong controller port | **Fixed.** `test_integration.sh` now rewrites `[controller_service].port` to `$TEST_CONTROLLER_PORT`, and `ws_data_flow_test.ts` asserts the controller actually logged FIRE_START and FIRE_STOP — previously the sequencer sent to 9999 while the controller listened on 9997 and the suite passed anyway. |
+
+### Since the April 2026 revision
 
 | Item | Resolution |
 |---|---|
@@ -578,4 +422,4 @@ Kept so a future audit can distinguish "fixed" from "never checked". Verified ag
 | Catch-all `catch (...)` in `SequencerService` | **Fixed** — those handlers no longer exist. |
 | Integration test: hardcoded ports, no conflict detection | **Fixed.** All ports are `${TEST_*_PORT:-default}` and the script sweeps them before starting. |
 | Frontend API responses typed as `any` | **Largely fixed.** `dashboard-hooks.ts` is clean; roughly twenty `any` occurrences remain across the whole frontend, mostly local. Not worth a backlog entry on its own. |
-| Startup race: "controller never gets service" after reloading the UI during startup | **Superseded, unconfirmed.** The specific hypothesis was about the Next.js SPA's connection lifecycle, which no longer exists after the Vite migration. The Elodin side of the startup race was addressed independently by the retry loop at `SequencerService.cpp:438-451`. Re-file with fresh evidence if it recurs. |
+| Startup race: "controller never gets service" after reloading the UI during startup | **Superseded, unconfirmed.** The specific hypothesis was about the Next.js SPA's connection lifecycle, which no longer exists after the Vite migration. The Elodin side of the startup race was addressed independently by the retry loop at `SequencerService.cpp:672`. Re-file with fresh evidence if it recurs. |

From bfbf67973ff7c45a40ee2578b02c5665d7cb55cc Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 16:00:25 -0700
Subject: [PATCH 186/205] =?UTF-8?q?sequencer:=20delete=20RELOAD=5FCONFIG?=
 =?UTF-8?q?=20and=20stop=20re-reading=20config=20on=20Elodin=20reconnect?=
 =?UTF-8?q?=20=E2=80=94=20config=20now=20reaches=20a=20running=20rig=20at?=
 =?UTF-8?q?=20exactly=20one=20point,=20the=20deploy=20at=20session=20start?=
 =?UTF-8?q?,=20and=20the=20pipeline=20services=20hold=20what=20they=20boot?=
 =?UTF-8?q?ed=20with;=20the=20reload=20verb=20could=20never=20reach=20a=20?=
 =?UTF-8?q?live=20sequencer=20anyway=20(its=20only=20caller=20fired=20when?=
 =?UTF-8?q?=20the=20CSV=20was=20deployed,=20which=20only=20happens=20with?=
 =?UTF-8?q?=20no=20session=20active)=20so=20it=20was=20untested=20machiner?=
 =?UTF-8?q?y=20in=20the=20safety-critical=20path,=20and=20deleting=20it=20?=
 =?UTF-8?q?also=20removes=20the=20reload=20half=20of=200c0dfd6c;=20tryConn?=
 =?UTF-8?q?ectElodin()=20now=20reuses=20an=20actuator-board=20snapshot=20f?=
 =?UTF-8?q?rom=20init()=20instead=20of=20re-parsing=20config.toml=20on=20e?=
 =?UTF-8?q?very=20reconnect,=20which=20had=20the=20retry=20thread=20rebuil?=
 =?UTF-8?q?ding=20the=20actuator=20tables=20from=20whatever=20was=20on=20d?=
 =?UTF-8?q?isk=20when=20a=20db=20blip=20happened=20mid-run?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../lib/include/control/SequencerService.hpp  | 16 ++--
 .../config_broadcast_service_main.cpp         | 12 +++
 .../services/sequencer/SequencerService.cpp   | 96 +++++--------------
 .../services/sequencer/sequencer_main.cpp     | 14 +--
 daq-server/docs/ACTUATOR_PIPELINE_AND_TMUX.md |  2 +-
 5 files changed, 48 insertions(+), 92 deletions(-)

diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index c88f68b64..13864066a 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -9,12 +9,14 @@
 #include <mutex>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include "config/Config.hpp"
 #include "control/AbortBroadcaster.hpp"
 #include "control/ActuatorCommander.hpp"
 #include "control/FireManager.hpp"
 #include "control/StateMachine.hpp"
+#include "elodin/DatabaseConfig.hpp"
 #include "elodin/ElodinClient.hpp"
 
 namespace sequencer {
@@ -91,11 +93,6 @@ class SequencerService {
      */
     bool extendFire();
 
-    /**
-     * Hot-reload config.toml and CSVs without restarting.
-     */
-    bool reloadConfig();
-
     State currentState() const {
         return current_state_.load();
     }
@@ -137,7 +134,6 @@ class SequencerService {
     bool doSetDebugMode(bool enabled);
     bool doManualActuator(const std::string& name, int pos);
     bool doExtendFire();
-    bool doReloadConfig();
 
     StateMachine state_machine_;
     ActuatorCommander actuator_commander_;
@@ -151,6 +147,10 @@ class SequencerService {
     std::string config_path_;
     std::string config_content_;
 
+    // Actuator boards as they were at init(). Held so an Elodin reconnect can re-register the
+    // VTables without re-reading config.toml — config is frozen for the life of a run.
+    std::vector<fsw::elodin::BoardChannels> actuator_boards_;
+
     // Elodin connection retry. sensor-actuator.service is started alongside sensor-elodin, so the
     // first connect can lose the race by milliseconds; without this the service runs forever with
     // no db and every valve reads "undefined".
@@ -178,8 +178,8 @@ class SequencerService {
     bool loadConfig(const std::string& path);
 
     /** Resolve [fire] (burn state, expiry target, window) against the state table currently
-     *  adopted by StateMachine. Called from init() and from doReloadConfig() — a reload that
-     *  renumbers states must re-resolve these or they name the wrong states. */
+     *  adopted by StateMachine. Called from init(); the process keeps that resolution for its
+     *  whole life, since config is frozen for the duration of a run. */
     void applyFireConfig(const fsw::config::Config& cfg);
 
     /** Send FIRE_START / FIRE_STOP to controller_service. The single place anything tells the
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index 1bfe66a5f..482b1a4ed 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -160,6 +160,18 @@ std::map<uint16_t, std::pair<double, uint32_t>> readAbortThresholds() {
 // abort thresholds, enable flags) go live without restarting the service or a session.
 // Returns an empty vector on any failure (missing/truncated file, no designated survivor);
 // the caller keeps the last-good set rather than dropping board config for a cycle.
+//
+// ── THIS IS THE ONE DELIBERATE EXCEPTION to the draft-at-session-start rule ───────────────────
+// Everywhere else, config reaches a running rig at exactly one point: the backend deploys the
+// active profile to config/ at session start, and the pipeline services then read it once at
+// boot. This service does not follow that rule, on purpose. It is always-on rather than
+// session-gated, and board config (including [abort_pts] trip thresholds and boards.*.enabled)
+// is expected to reach hardware without cycling a session.
+//
+// Do not "fix" this into consistency without deciding what should happen to boards between runs
+// — an always-on service that reads once at boot would need a service restart to pick up an
+// edit, which is a third apply point and worse than either option. See
+// docs/CONFIGURATION_GUIDE.md.
 std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
     const fsw::config::Config cfg = fsw::config::load(config_path);
 
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index 58060caba..c05dd5e44 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -196,12 +196,9 @@ static std::string resolveDataPath(const std::string& rel) {
 /**
  * Resolve everything under [fire] against the currently-adopted state table.
  *
- * Called from init() and from doReloadConfig(). It used to live inline in init() only, which
- * meant a reload re-adopted [[states]] — potentially renumbering every state — while
- * fire_state_ and fire_expiry_state_ kept the ids resolved at startup. After such a reload
- * `to == fire_state_` matched whichever state now occupied the old slot: the burn countdown
- * armed on the wrong state and never on the right one. The configured window was not re-read
- * either, so an edited fire duration silently did not take effect until a restart.
+ * Called from init(). Extracted from it when reload still existed, and kept separate because it
+ * documents one rule in one place: [fire] is resolved against the state table adopted from the
+ * same config, never against the compiled enum.
  *
  * Must run after StateMachine::loadStatesFromConfig() and after state_machine_.load(), since it
  * resolves names through the former and sanity-checks the transition table from the latter.
@@ -304,6 +301,17 @@ bool SequencerService::init(const std::string& config_path) {
         notifyControllerFire(active);
     });
 
+    // Snapshot the actuator board list now, while we are reading config for the first and only
+    // time. tryConnectElodin() re-registers VTables on every reconnect and must not go back to
+    // disk for this (see the comment there).
+    {
+        const auto boards_map = fsw::config::load_active_boards(config_path_);
+        const auto it_act = boards_map.find(fsw::config::ActiveBoardKind::ACTUATOR);
+        actuator_boards_ = (it_act != boards_map.end())
+                               ? it_act->second
+                               : std::vector<fsw::elodin::BoardChannels>{};
+    }
+
     // Elodin — connection is best-effort; service runs without it
     elodin_host_ = "127.0.0.1";
     elodin_port_ = cfg.database.port;
@@ -348,8 +356,7 @@ bool SequencerService::isAbortState(State s) {
 // ─────────────────────────────────────────────────────────────────────────────
 bool SequencerService::transitionTo(const std::string& state_name) {
     // Resolve on the worker, not here. fromName() reads the config-declared state table, which
-    // doReloadConfig() rewrites — resolving on the caller's thread would race a concurrent reload
-    // and could answer from a half-swapped table.
+    // the worker owns — resolving on the caller's thread would read it from an arbitrary thread.
     return enqueueAndWait([this, state_name]() {
         State to = StateMachine::fromName(state_name);
         if (to == State::UNKNOWN) {
@@ -496,67 +503,6 @@ bool SequencerService::doExtendFire() {
     fire_manager_.extend();
     return true;
 }
-
-// ─────────────────────────────────────────────────────────────────────────────
-bool SequencerService::reloadConfig() {
-    return enqueueAndWait([this]() {
-        return doReloadConfig();
-    });
-}
-
-bool SequencerService::doReloadConfig() {
-    std::cout << "[SequencerService] Reloading config..." << std::endl;
-
-    // Stop the 1 Hz republish loop BEFORE touching the actuator tables.
-    //
-    // ActuatorCommander::load() begins by clearing roles_ and state_actuators_ and then rebuilds
-    // them from CSV. The republish loop walks those same maps once a second. Neither is mutex-
-    // guarded, so a reload issued from the GUI during a fill was clearing and rebuilding a
-    // std::map while another thread iterated it — undefined behaviour, not a stale read.
-    //
-    // Running on the worker fixes the command-vs-command races, but not this one: the republish
-    // loop is its own thread and keeps running regardless of what the worker is doing. It has to
-    // be stopped explicitly.
-    actuator_commander_.stopContinuousLoop();
-
-    loadConfig(config_path_);
-    const fsw::config::Config cfg = fsw::config::load_from_string(config_content_);
-
-    // Same ordering rule as init(), and this path did not adopt [[states]] at all — a reload after
-    // an edit that renamed or renumbered a state re-parsed both CSVs against the previous list.
-    StateMachine::loadStatesFromConfig(config_content_);
-
-    bool ok = true;
-    std::string act_csv = resolveDataPath(cfg.state_machine.actuator_csv);
-    if (!actuator_commander_.load(config_content_, act_csv)) {
-        std::cerr << "[SequencerService] Reload: failed to reload actuator CSV" << std::endl;
-        ok = false;
-    }
-    std::string sm_csv = resolveDataPath(cfg.state_machine.transitions_csv);
-    if (ok && !state_machine_.load(sm_csv)) {
-        std::cerr << "[SequencerService] Reload: failed to reload state transitions CSV"
-                  << std::endl;
-        ok = false;
-    }
-
-    // [fire] must be re-resolved too. fire_state_ / fire_expiry_state_ hold ids resolved once at
-    // init(); loadStatesFromConfig() above may have just renumbered every state, which would leave
-    // both pointing at whatever state now occupies the old slot — arming the burn on the wrong
-    // state and never on the right one. The configured window was not re-read either, so an edited
-    // fire duration silently did not take until a restart.
-    if (ok)
-        applyFireConfig(cfg);
-
-    // Restart the republish loop regardless of outcome — leaving the rig with no actuator
-    // republish is worse than running against the previous tables. Not a state entry, so no delay
-    // schedule: this resends settled positions.
-    actuator_commander_.startContinuousLoop(current_state_.load(), false);
-
-    if (ok)
-        std::cout << "[SequencerService] Config reloaded successfully" << std::endl;
-    return ok;
-}
-
 // ─────────────────────────────────────────────────────────────────────────────
 // Elodin publishing
 // ─────────────────────────────────────────────────────────────────────────────
@@ -659,11 +605,13 @@ bool SequencerService::tryConnectElodin() {
               << std::endl;
     // Every one of these must run on a RECONNECT too, not just the first connect — the VTables
     // live in the db process, so a db restart loses them.
-    const auto boards_map = fsw::config::load_active_boards(config_path_);
-    const auto it_act = boards_map.find(fsw::config::ActiveBoardKind::ACTUATOR);
-    const std::vector<fsw::elodin::BoardChannels> act_boards =
-        (it_act != boards_map.end()) ? it_act->second : std::vector<fsw::elodin::BoardChannels>{};
-    fsw::elodin::DatabaseConfig::register_non_sensor_tables(elodin_, act_boards);
+    //
+    // The board list comes from the snapshot taken at init(), NOT from a fresh read of
+    // config_path_. This used to re-parse config.toml on every reconnect, and the retry thread
+    // reconnects on any db restart — so a db blip mid-run would rebuild the actuator tables from
+    // whatever happened to be on disk at that moment. Config is applied once, at session start;
+    // a process that has already booted keeps the config it booted with.
+    fsw::elodin::DatabaseConfig::register_non_sensor_tables(elodin_, actuator_boards_);
     actuator_commander_.setElodinClient(&elodin_);
     actuator_commander_.publishInitialState();
     return true;
diff --git a/daq-server/diablo_server/services/sequencer/sequencer_main.cpp b/daq-server/diablo_server/services/sequencer/sequencer_main.cpp
index 2018531f8..d0ae9da9c 100644
--- a/daq-server/diablo_server/services/sequencer/sequencer_main.cpp
+++ b/daq-server/diablo_server/services/sequencer/sequencer_main.cpp
@@ -7,7 +7,10 @@
  *   ACTUATOR:<role_name>:<0|1>       — manual actuator command (debug mode only)
  *   DEBUG_MODE:<0|1>                 — toggle debug mode
  *   EXTEND_FIRE                      — extend FIRE window
- *   RELOAD_CONFIG                    — hot-reload config.toml and CSVs
+ *
+ * There is deliberately no reload command. Config reaches this process once, at startup: the
+ * backend deploys the active profile to config/ at session start and then the pipeline units are
+ * started, so a running sequencer's config is frozen for the life of the run.
  *
  * Each command gets an immediate reply of "OK\n" or "ERR:<reason>\n".
  * Multiple simultaneous TCP clients are supported (a bounded, joined thread per connection).
@@ -124,13 +127,6 @@ void handleCommandLine(int client_fd, const std::string& raw, sequencer::Sequenc
         else
             sendReply("ERR:not in FIRE state\n");
 
-        // ── RELOAD_CONFIG ────────────────────────────────────────────────────
-    } else if (cmd == "RELOAD_CONFIG") {
-        if (svc.reloadConfig())
-            sendReply("OK\n");
-        else
-            sendReply("ERR:reload failed\n");
-
     } else {
         sendReply("ERR:unknown command\n");
     }
@@ -235,7 +231,7 @@ int main(int argc, char* argv[]) {
 
     std::cout << "[Sequencer] Listening on port " << listen_port << std::endl;
     std::cout << "[Sequencer] Commands: TRANSITION:<state> | ACTUATOR:<name>:<0|1> "
-              << "| DEBUG_MODE:<0|1> | EXTEND_FIRE | RELOAD_CONFIG" << std::endl;
+              << "| DEBUG_MODE:<0|1> | EXTEND_FIRE" << std::endl;
 
     // Connections are tracked rather than detached, so every thread is joined before `svc` — a
     // stack object these threads hold a reference to — goes out of scope at the end of main().
diff --git a/daq-server/docs/ACTUATOR_PIPELINE_AND_TMUX.md b/daq-server/docs/ACTUATOR_PIPELINE_AND_TMUX.md
index 37283a1d9..bdc953875 100644
--- a/daq-server/docs/ACTUATOR_PIPELINE_AND_TMUX.md
+++ b/daq-server/docs/ACTUATOR_PIPELINE_AND_TMUX.md
@@ -136,7 +136,7 @@ Bug risk: wrong NO/NC mapping flips valve states (e.g. LOX Press).
 4. Backend opens TCP to `127.0.0.1:9998` (the `sequencer_service` command port), sends the line, and reads `OK\n` / `ERR:<reason>\n`.
 5. `sequencer_service` looks up the per-state actuator positions from `config/state_machine_actuators.csv` and sends UDP ACTUATOR_COMMAND packets to each board IP from config.
 
-The sequencer's TCP text protocol verbs are `TRANSITION:<state>`, `ACTUATOR:<role>:<0|1>`, `DEBUG_MODE:<0|1>`, `EXTEND_FIRE`, and `RELOAD_CONFIG` (see `diablo_server/services/sequencer/sequencer_main.cpp`).
+The sequencer's TCP text protocol verbs are `TRANSITION:<state>`, `ACTUATOR:<role>:<0|1>`, `DEBUG_MODE:<0|1>` and `EXTEND_FIRE` (see `diablo_server/services/sequencer/sequencer_main.cpp`). There is deliberately no reload verb: config is applied at session start and frozen for the run.
 
 ## Parse Failures (Messages Not Read)
 

From fe26a2c493ae2ccb5715e0fdb1a75a6afea53663 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 16:00:34 -0700
Subject: [PATCH 187/205] =?UTF-8?q?backend:=20cache=20the=20deployed=20con?=
 =?UTF-8?q?fig,=20fail=20the=20session=20start=20when=20its=20deploy=20fai?=
 =?UTF-8?q?ls,=20and=20stop=20board=20log=20mode=20reverting=20itself=20?=
 =?UTF-8?q?=E2=80=94=20the=20always-on=20backend=20cannot=20read=20config?=
 =?UTF-8?q?=20once=20at=20boot=20the=20way=20the=20session-gated=20service?=
 =?UTF-8?q?s=20do,=20so=20readDeployedConfig()=20caches=20and=20deployActi?=
 =?UTF-8?q?veProfile()=20invalidates,=20which=20removes=20a=20file=20read?=
 =?UTF-8?q?=20+=20TOML=20parse=20from=20every=20/api/gui-config=20request,?=
 =?UTF-8?q?=20every=20operator=20command=20and=20all=2024=20resubscribe=20?=
 =?UTF-8?q?retries;=20a=20failed=20deploy=20at=20session=20start=20now=20a?=
 =?UTF-8?q?borts=20the=20start=20instead=20of=20warning=20and=20running=20?=
 =?UTF-8?q?the=20rig=20on=20stale=20config=20behind=20a=20green=20"session?=
 =?UTF-8?q?=20active"=20light;=20and=20patchBoardField()=20writes=20the=20?=
 =?UTF-8?q?active=20profile=20as=20well=20as=20config.toml,=20since=20boar?=
 =?UTF-8?q?d=20log=20mode=20is=20a=20deliberate=20live=20exception=20but?=
 =?UTF-8?q?=20was=20being=20silently=20reverted=20by=20the=20very=20next?=
 =?UTF-8?q?=20deploy?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../diablo_server/backend/src/api-server.ts   | 39 ++++++---
 .../backend/src/elodin-vtable-registry.ts     |  7 +-
 .../backend/src/routes/config-profiles.ts     | 35 +++++++-
 .../backend/src/routes/config.ts              | 85 ++++++++++++++++++-
 .../diablo_server/backend/src/server.ts       | 35 ++++----
 .../backend/src/session-manager.ts            | 19 ++++-
 6 files changed, 182 insertions(+), 38 deletions(-)

diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index dd06f4b66..6370a2ac5 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -12,11 +12,12 @@ import { IncomingMessage, ServerResponse } from 'http';
 // ESM has no __dirname global. tsx injects one in dev, but `node dist/server.js` (the systemd sim)
 // does not — so the __dirname candidates below would throw ReferenceError. Define it explicitly.
 const __dirname = path.dirname(fileURLToPath(import.meta.url));
-import { readConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
+import { readConfig, readDeployedConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
 import {
   listProfiles, switchProfile, createProfile, renameProfile, deleteProfile,
   getActiveProfileName, ensureSeeded, readActiveProfile, writeActiveProfile, deployActiveProfile,
   getActiveProfilePath, readStateCsv, writeStateCsv, isStateCsvName, STATE_CSVS,
+  undeployedChanges,
 } from './routes/config-profiles.js';
 import {
   listCalibrationProfiles,
@@ -266,8 +267,9 @@ export interface APIHandlerOptions {
   getQueryClient?: () => ElodinQueryClient | null;
   getDebugInfo?: () => DebugInfo | null;
   onConfigUpdated?: () => void;
-  /** A state-machine CSV was saved and deployed: rebuild derived maps and tell the sequencer to
-   *  re-read (it exposes RELOAD_CONFIG, which re-loads both CSVs without a restart). */
+  /** A state-machine CSV was saved and deployed: rebuild the maps the always-on backend derives
+   *  from it and tell browsers to refetch. Nothing is pushed to the run pipeline — it picks the
+   *  CSVs up at the next session start, which is the only point config is applied. */
   onStateCsvUpdated?: () => void;
   getEngineState?: () => number;
   getCalibrationStatus?: () => Promise<any>;
@@ -509,6 +511,9 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
           profiles: listProfiles(),
           active: getActiveProfileName(),
           sessionActive: sessionManager.getStatus().active,
+          // Which profile files differ from what is deployed, so the editor can say how much is
+          // waiting rather than just that the config is frozen.
+          undeployed: undeployedChanges(),
         }));
       } else if (url.pathname === '/api/config/profiles/switch' && req.method === 'POST') {
         // Switch the active profile and deploy it. Operators only; blocked while a session runs.
@@ -609,17 +614,21 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
             res.end(JSON.stringify({ error: error.message }));
           });
       } else if (url.pathname === '/api/pressure-limits' && req.method === 'GET') {
-        // Return pressure limits from config.toml (NOP, MEOP, POP per fluid system)
-        const config = readConfig();
+        // Return pressure limits from config.toml (NOP, MEOP, POP per fluid system).
+        // Cached until the next deploy — config cannot change during a session.
+        const config = readDeployedConfig();
         const limits = config.pressure_limits || {};
         res.writeHead(200, { 'Content-Type': 'application/json' });
         res.end(JSON.stringify({ pressure_limits: limits }));
       } else if (url.pathname === '/api/gui-config' && req.method === 'GET') {
-        // GUI-driven config lists from config.toml [gui]: the ordered top-bar
-        // pressure gauges ([[gui.pressure_bars]]) and the tab-bar tabs+order
-        // (gui.tabs). Fresh per request → reflects edits live. Bar NOP/MEOP come
-        // from [pressure_limits]; tab ids index the frontend view catalog.
-        const config = readConfig();
+        // GUI-driven config lists from config.toml [gui]: the ordered top-bar pressure gauges
+        // ([[gui.pressure_bars]]) and the tab-bar tabs+order (gui.tabs). Bar NOP/MEOP come from
+        // [pressure_limits]; tab ids index the frontend view catalog.
+        //
+        // Served from the deployed-config cache, not re-read per request. GUI config is frozen
+        // during a session like everything else; the browser is told to refetch by the
+        // CONFIG_UPDATED broadcast when a deploy actually happens.
+        const config = readDeployedConfig();
         const gui = config.gui ?? {};
         res.writeHead(200, { 'Content-Type': 'application/json' });
         res.end(JSON.stringify({
@@ -681,9 +690,13 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         res.writeHead(200, { 'Content-Type': 'application/json' });
         res.end(JSON.stringify({ stats: getBoardLogStats() }));
       } else if (url.pathname === '/api/board-log-mode' && req.method === 'POST') {
-        // Set one board's logging/serial-print mode byte (0..3) via a surgical
-        // single-field edit of config.toml. Operators only. config_broadcast_service
-        // re-reads config.toml and sends the board the new byte on its next cycle.
+        // Set one board's logging/serial-print mode byte (0..3) via a surgical single-field edit.
+        // Operators only. config_broadcast_service re-reads config.toml and sends the board the
+        // new byte on its next cycle.
+        //
+        // This is the deliberate exception to "config applies at session start": verbosity is
+        // turned up because something is misbehaving *now*. patchBoardField also writes the active
+        // profile so the setting is not reverted by the next deploy.
         if (!isConfigWriteAuthorized(req)) {
           res.writeHead(403, { 'Content-Type': 'application/json' });
           res.end(JSON.stringify({ error: 'Not an approved operator' }));
diff --git a/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts b/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts
index ab023c779..549ab777b 100644
--- a/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts
+++ b/daq-server/diablo_server/backend/src/elodin-vtable-registry.ts
@@ -7,7 +7,7 @@
  */
 
 import { ElodinClient, ElodinPacketType } from './elodin-client.js';
-import { readConfig } from './routes/config.js';
+import { readDeployedConfig } from './routes/config.js';
 
 // ── FNV-1a hash (matching db.hpp msg_id) ────────────────────────────────────
 
@@ -114,7 +114,10 @@ function buildVTableStreamSubscriptionList(): Array<[number, number]> {
     };
 
     try {
-        const cfg = readConfig();
+        // Cached: this runs on every Elodin connect and on up to 24 resubscribe retries per
+        // connection, so a plain readConfig() here was a repeated file read + TOML parse on a
+        // reconnect storm. Invalidated at deploy.
+        const cfg = readDeployedConfig();
         const boards = (cfg.boards || {}) as Record<string, unknown>;
         for (const [, raw] of Object.entries(boards)) {
             const b = raw as Record<string, unknown>;
diff --git a/daq-server/diablo_server/backend/src/routes/config-profiles.ts b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
index ce079c698..72b7a60de 100644
--- a/daq-server/diablo_server/backend/src/routes/config-profiles.ts
+++ b/daq-server/diablo_server/backend/src/routes/config-profiles.ts
@@ -21,7 +21,7 @@
  */
 import { readFileSync, writeFileSync, copyFileSync, existsSync, mkdirSync, readdirSync, renameSync, rmSync, statSync } from 'fs';
 import { join, dirname } from 'path';
-import { getConfigPath, readConfig, writeConfig } from './config.js';
+import { getConfigPath, readConfig, writeConfig, invalidateDeployedConfigCache } from './config.js';
 
 const NAME_RE = /^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/;
 const DEFAULT_PROFILE = 'default';
@@ -64,6 +64,33 @@ function profileAssets(name: string): string[] {
   }
 }
 
+/**
+ * Files in the active profile that differ from what is deployed in config/.
+ *
+ * The editor writes the profile; config.toml is the deployed artifact. During a session the two
+ * diverge by design, and there was no way to see that other than eyeballing the raw "running
+ * config.toml" pane — so an operator could not tell whether they had one un-applied change or
+ * twenty. Byte comparison rather than a semantic diff: the deploy is a file copy, so "differs as
+ * bytes" is exactly "would change on deploy".
+ */
+export function undeployedChanges(): string[] {
+  const name = getActiveProfileName();
+  const configDir = getConfigDir();
+  const out: string[] = [];
+  const differs = (a: string, b: string): boolean => {
+    let left: string | null = null;
+    let right: string | null = null;
+    try { left = readFileSync(a, 'utf-8'); } catch { left = null; }
+    try { right = readFileSync(b, 'utf-8'); } catch { right = null; }
+    return left !== right;
+  };
+  if (differs(getActiveProfilePath(), getConfigPath())) out.push('config.toml');
+  for (const f of profileAssets(name)) {
+    if (differs(join(profileDir(name), f), join(configDir, f))) out.push(f);
+  }
+  return out;
+}
+
 export function getActiveProfileName(): string {
   try {
     const raw = readFileSync(getActivePointerPath(), 'utf-8').trim();
@@ -200,6 +227,9 @@ export function deployActiveProfile(): void {
   try {
     copyFileSync(src, configPath);
     for (const f of assets) copyFileSync(join(profileDir(name), f), join(configDir, f));
+    // Drop the cache before the parse below, so the parse itself repopulates it from the file we
+    // just wrote rather than handing back the previous deploy's object.
+    invalidateDeployedConfigCache();
     readConfig(); // parse the freshly-deployed config.toml
   } catch (e) {
     for (const t of targets) {
@@ -208,6 +238,9 @@ export function deployActiveProfile(): void {
         else rmSync(t.path, { force: true });
       } catch { /* best-effort rollback */ }
     }
+    // The rollback put the previous config.toml back, so anything cached from the failed deploy
+    // is wrong too.
+    invalidateDeployedConfigCache();
     throw new Error(`Active profile is not valid config: ${(e as Error)?.message ?? e}`);
   }
 }
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index f5ecfb9db..46dd17536 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -126,6 +126,33 @@ export function readConfig(path: string = getConfigPath()): any {
   }
 }
 
+// ── Deployed-config cache ─────────────────────────────────────────────────────
+// readConfig() had no cache, so every caller was a fresh readFileSync + TOML parse. Several are
+// on hot paths: /api/gui-config, /api/pressure-limits and /api/sensor-config re-read per HTTP
+// request, configStateName() re-read per operator command, and the Elodin VTable registry
+// re-read on every connect plus 24 resubscribe retries.
+//
+// The cache is NOT "read once at boot". The backend is always-on — it is not one of the
+// session-gated pipeline units — so it has to notice a deploy without restarting. But a deploy
+// happens in exactly one function, deployActiveProfile(), which is also the only writer of
+// config.toml on the normal path. So: cache freely, and invalidate there. Within a session no
+// deploy can occur, which is precisely why the cached value is safe for the length of a run.
+let deployedConfigCache: any = null;
+
+/** The deployed config.toml, parsed once and reused until the next deploy. Callers must not
+ *  mutate the returned object — it is shared. Use readConfig() for a private copy or for a
+ *  path other than the deployed config. */
+export function readDeployedConfig(): any {
+  if (deployedConfigCache === null) deployedConfigCache = readConfig();
+  return deployedConfigCache;
+}
+
+/** Drop the cached deployed config. Called from deployActiveProfile() — the single apply point —
+ *  so any path that changes config.toml invalidates, without each call site having to remember. */
+export function invalidateDeployedConfigCache(): void {
+  deployedConfigCache = null;
+}
+
 /** Serialize + write a config object as TOML. Defaults to the deployed config.toml, but any path
  *  can be given — the config-profiles editor writes the active profile file this way. */
 export function writeConfig(config: any, configPath: string = getConfigPath()): void {
@@ -169,8 +196,36 @@ export function writeConfig(config: any, configPath: string = getConfigPath()):
  * rest of the file — comments included — byte-for-byte unchanged. Used by the
  * Boards-tab logging-mode dropdown; config_broadcast_service re-reads the file.
  */
-export function patchBoardField(boardId: number, field: string, value: number): void {
-  const configPath = getConfigPath();
+/**
+ * Path to the active profile's config.toml.
+ *
+ * Deliberately computed here rather than imported from config-profiles.ts: that module already
+ * imports this one, and a cycle between them is not worth introducing for one path. The pointer
+ * format (config/.active_profile, one bare name) is the same one getConfigPath() reads below.
+ */
+function getActiveProfileConfigPath(): string {
+  const dir = dirname(getConfigPath());
+  let name = 'default';
+  try {
+    const a = readFileSync(join(dir, '.active_profile'), 'utf-8').trim();
+    if (/^[A-Za-z0-9][A-Za-z0-9_-]{0,63}$/.test(a)) name = a;
+  } catch { /* no pointer → default */ }
+  return join(dir, 'profiles', name, 'config.toml');
+}
+
+/**
+ * Surgically set one `[boards.<key>].<field>` in a TOML file, preserving comments and layout.
+ *
+ * Split out so the same edit can be applied to both the deployed config.toml and the active
+ * profile — see patchBoardField().
+ */
+function patchBoardFieldInFile(
+  path: string,
+  boardId: number,
+  field: string,
+  value: number,
+): void {
+  const configPath = path;
   const raw = readFileSync(configPath, 'utf-8');
 
   // Map board_id → section key (e.g. "pt_board") via the parsed config.
@@ -211,3 +266,29 @@ export function patchBoardField(boardId: number, field: string, value: number):
 
   writeFileSync(configPath, lines.join('\n'), { encoding: 'utf-8', flag: 'w' });
 }
+
+/**
+ * Set one board field live, and record it in the active profile so it survives.
+ *
+ * This is the one config write that deliberately bypasses the draft-at-session-start rule:
+ * board log/serial-print verbosity is turned up *because* something is misbehaving during a run,
+ * and config_broadcast re-reads config.toml every cycle, so the byte reaches the board within a
+ * second. That exception is intentional (see docs/CONFIGURATION_GUIDE.md).
+ *
+ * What was NOT intentional: it wrote only config.toml and never the profile, so the setting was
+ * silently reverted by the next deployActiveProfile() — including the one at the very next
+ * session start. Write both. The profile write is best-effort: failing to persist a debug setting
+ * must not fail the live change the operator actually asked for.
+ */
+export function patchBoardField(boardId: number, field: string, value: number): void {
+  patchBoardFieldInFile(getConfigPath(), boardId, field, value);
+  invalidateDeployedConfigCache();
+  try {
+    patchBoardFieldInFile(getActiveProfileConfigPath(), boardId, field, value);
+  } catch (e) {
+    console.warn(
+      `[config] board ${boardId} ${field}=${value} applied live but not persisted to the active ` +
+      `profile — it will revert at the next deploy: ${(e as Error)?.message ?? e}`,
+    );
+  }
+}
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index 936a098fb..ee0d2799c 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -31,7 +31,7 @@ import { registerVTables, clearSubscriptionState } from './elodin-vtable-registr
 import { registerControllerVTables } from './legacy/elodin-vtable-controller.js';
 import { createAPIHandler } from './api-server.js';
 import { startBoardLogReceiver } from './board-logs.js';
-import { readConfig } from './routes/config.js';
+import { readConfig, readDeployedConfig } from './routes/config.js';
 import { getStateActuatorMap, CSV_ACTUATOR_TO_ENTITY, resolveActuatorCmdEntity, resolveActuatorTelemetryEntity } from './legacy/state-actuators.js';
 import type { StateActuatorMap } from './legacy/state-actuators.js';
 import { getStateTransitions } from './legacy/state-transitions.js';
@@ -110,13 +110,16 @@ function safeReadConfigForGui(): unknown {
 
 /**
  * Name of a state id as the ACTIVE config declares it, or null if the config declares no [[states]]
- * (or not this id). Read per command rather than cached: transitions are operator-paced, and a
- * profile can be redeployed under a running backend, in which case a cache would keep commanding
- * the previous rig's names.
+ * (or not this id).
+ *
+ * Served from the deployed-config cache. A profile CAN be redeployed under a running backend —
+ * the backend is always-on, not one of the session-gated pipeline units — which is why this is a
+ * cache with invalidation rather than a boot-time read. deployActiveProfile() drops it, so the
+ * next command after a deploy resolves against the new rig's names.
  */
 function configStateName(id: number): string | null {
   try {
-    const raw = (readConfig() as any)?.states;
+    const raw = (readDeployedConfig() as any)?.states;
     if (!Array.isArray(raw)) return null;
     const hit = raw.find((e: any) => e?.id === id && typeof e?.name === 'string');
     return hit ? (hit.name as string) : null;
@@ -607,24 +610,20 @@ const apiHandler = createAPIHandler({
     boardScanRateHz: getBoardScanRateHz(),
   }),
   onStateCsvUpdated: () => {
-    // The CSV on disk changed and was deployed. Rebuild what we derive from it, then tell the
-    // sequencer to re-read — it already exposes RELOAD_CONFIG (sequencer_main.cpp), which re-loads
-    // the actuator table and the transition table without restarting the pipeline.
+    // The CSV on disk changed and was deployed. Rebuild what the always-on backend derives from
+    // it, and tell browsers to refetch.
+    //
+    // Nothing is pushed to the run pipeline. Config reaches it at exactly one point --
+    // deployActiveProfile() at session start -- and the services read it once at boot. This used
+    // to send RELOAD_CONFIG to hot-reload the actuator and transition tables into a running
+    // sequencer, which was dead weight in the safety-critical path: this callback only fires when
+    // the CSV was actually *deployed*, and a deploy only happens when no session is active, so
+    // there was never a running sequencer for it to reach.
     try {
       STATE_ACTUATOR_MAP = getStateActuatorMap();
     } catch (e) {
       console.warn('\u26a0\ufe0f Failed to rebuild STATE_ACTUATOR_MAP:', e);
     }
-    // Best-effort: only the tmux stack keeps the sequencer up between runs. Under systemd the
-    // pipeline is session-gated, so while idle there is nothing listening — which is fine, because
-    // the CSV is already deployed to config/ and the sequencer reads it when the session starts.
-    sendToActuatorService('RELOAD_CONFIG\n')
-      .then(({ ok, reply }) => console.log(
-        ok
-          ? '[ThinServer] sequencer reloaded the state CSVs'
-          : `[ThinServer] sequencer not running (${reply || 'no reply'}) — CSVs apply at next session start`,
-      ))
-      .catch(() => console.log('[ThinServer] sequencer not running — CSVs apply at next session start'));
     broadcast({ type: MessageType.CONFIG_UPDATED, timestamp: Date.now(), payload: {} });
   },
   onCalibrationReload: () => {
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index 0a232166c..a74bd26a6 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -223,9 +223,24 @@ class SessionManager {
     // Deploy the selected profile into config.toml right before the (live) run starts, then it's
     // frozen for the session. Simulated runs use the committed frozen sim overlay (config_base →
     // sim_config.toml) instead, so we don't touch config.toml for them.
+    //
+    // A failure here aborts the session. This used to warn and carry on, which is the worst
+    // outcome available: session start is the ONE point at which config is applied, so a failed
+    // deploy means the run silently uses whatever stale config.toml was left on disk — while the
+    // operator sees a perfectly normal active session and believes their edits are in effect.
+    // Refusing to start is recoverable; running the wrong config is not.
     if (!this.simulated) {
-      try { deployActiveProfile(); }
-      catch (e) { console.warn('⚠️ Failed to deploy active profile at session start:', e); }
+      try {
+        deployActiveProfile();
+      } catch (e) {
+        const detail = (e as Error)?.message ?? String(e);
+        console.error('❌ Failed to deploy active profile at session start:', detail);
+        throw new Error(
+          `Cannot start session: the active config profile failed to deploy (${detail}). ` +
+          'Fix the profile in the config editor, then start the session again. ' +
+          'Nothing was started and config.toml is unchanged.',
+        );
+      }
     }
     await this.controller.start(this.dbDir, this.simulated);
     this.active = true;

From b479ab52e2b7550d1516e3530ff877bf81f4b75d Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 16:00:46 -0700
Subject: [PATCH 188/205] =?UTF-8?q?config=20editor:=20say=20when=20a=20sav?=
 =?UTF-8?q?e=20is=20only=20a=20draft,=20count=20what=20is=20waiting,=20and?=
 =?UTF-8?q?=20warn=20that=20sim=20ignores=20it=20=E2=80=94=20the=20API=20a?=
 =?UTF-8?q?lready=20returned=20a=20deployed=20flag=20and=20a=20message=20(?=
 =?UTF-8?q?"Saved=20as=20draft=20(applies=20at=20next=20session=20start)")?=
 =?UTF-8?q?=20and=20the=20banner=20threw=20both=20away=20for=20a=20fixed?=
 =?UTF-8?q?=20"saved=20successfully",=20so=20an=20operator=20saving=20mid-?=
 =?UTF-8?q?session=20was=20told=20the=20change=20was=20in=20effect=20when?=
 =?UTF-8?q?=20it=20was=20not;=20the=20banner=20now=20uses=20the=20server's?=
 =?UTF-8?q?=20own=20wording=20in=20amber,=20a=20new=20one=20lists=20the=20?=
 =?UTF-8?q?profile=20files=20that=20differ=20from=20what=20is=20deployed?=
 =?UTF-8?q?=20via=20GET=20/api/config/profiles,=20and=20the=20session=20pa?=
 =?UTF-8?q?ge=20notes=20that=20a=20simulated=20run=20uses=20the=20committe?=
 =?UTF-8?q?d=20sim=20config=20rather=20than=20the=20profile,=20which=20oth?=
 =?UTF-8?q?erwise=20reads=20as=20the=20draft=20mechanism=20being=20broken?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../frontend/app/config/page.tsx              | 52 +++++++++++++++++--
 .../frontend/app/session/page.tsx             | 10 ++++
 2 files changed, 59 insertions(+), 3 deletions(-)

diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 5eaaaa81f..23a5f6a6c 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -383,12 +383,19 @@ export default function ConfigPage() {
   const [saving, setSaving] = useState(false);
   const [error, setError] = useState<string | null>(null);
   const [success, setSuccess] = useState(false);
+  // The API already distinguishes "deployed" from "saved as draft" (it returns a `deployed` flag
+  // and a message). The banner used to ignore both and always say "saved successfully", so an
+  // operator saving mid-session was told the change was in effect when it was only a draft.
+  const [successMsg, setSuccessMsg] = useState<string | null>(null);
   const [activeTab, setActiveTab] = useState('boards');
   // Config profiles v2: the editor edits the ACTIVE PROFILE; config.toml is the deployed/running file.
   // When idle, a save/switch deploys to config.toml; during a session config.toml is frozen (draft).
   const [profiles, setProfiles] = useState<{ name: string; active: boolean }[]>([]);
   const [activeProfile, setActiveProfile] = useState('');
   const [sessionActive, setSessionActive] = useState(false);
+  // Profile files that differ from what is deployed — i.e. edits waiting for the next session
+  // start. Empty when the profile and config.toml agree.
+  const [undeployed, setUndeployed] = useState<string[]>([]);
   const [runningToml, setRunningToml] = useState<string | null>(null); // read-only view of config.toml
   // Calibration profiles: whole-rig calibration snapshots you can Load / Save / blank from here.
   const [calProfiles, setCalProfiles] = useState<{ name: string; active: boolean }[]>([]);
@@ -529,6 +536,7 @@ export default function ConfigPage() {
         const error = await response.json();
         throw new Error(error.message || 'Failed to save config');
       }
+      const saveResult = await response.json().catch(() => ({} as any));
 
       // Save the state-machine tables together with the config — there is no separate CSV Save.
       const csvJobs: Array<[string, CsvGrid | null]> = [
@@ -545,6 +553,10 @@ export default function ConfigPage() {
         }
       }
 
+      setSuccessMsg(saveResult?.message
+        ?? (saveResult?.deployed === false
+          ? 'Saved as draft — applies at next session start'
+          : 'Configuration saved and deployed'));
       setSuccess(true);
       setSaving(false);
       // Re-fetch canonical config + tables so the UI (and the saved baselines) mirror disk.
@@ -578,6 +590,7 @@ export default function ConfigPage() {
       setProfiles(Array.isArray(data.profiles) ? data.profiles : []);
       setActiveProfile(data.active || '');
       setSessionActive(!!data.sessionActive);
+      setUndeployed(Array.isArray(data.undeployed) ? data.undeployed : []);
     } catch { /* non-fatal */ }
   };
 
@@ -726,6 +739,11 @@ export default function ConfigPage() {
         const err = await response.json().catch(() => ({}));
         throw new Error(err.error || `Import failed (${response.status})`);
       }
+      const importResult = await response.json().catch(() => ({} as any));
+      setSuccessMsg(importResult?.message
+        ?? (importResult?.deployed === false
+          ? 'Imported as draft — applies at next session start'
+          : 'Configuration imported and deployed'));
       setSuccess(true);
       await loadConfig(); // mirror what the server accepted
       setTimeout(() => setSuccess(false), 3000);
@@ -1097,9 +1115,13 @@ export default function ConfigPage() {
       const r = await fetch(`${getApiBaseUrl()}/api/state-csv?name=${name}`, {
         method: 'POST', headers: { 'Content-Type': 'text/csv' }, body: text,
       });
-      const body = await r.json().catch(() => ({}));
+      const body = await r.json().catch(() => ({} as any));
       if (!r.ok) throw new Error(body.error || `Upload failed (${r.status})`);
       await loadStateCsvs();
+      setSuccessMsg(body?.message
+        ?? (body?.deployed === false
+          ? `${name}.csv saved as draft — applies at next session start`
+          : `${name}.csv saved and deployed`));
       setSuccess(true);
       setTimeout(() => setSuccess(false), 3000);
     } catch (e: any) {
@@ -1332,6 +1354,26 @@ export default function ConfigPage() {
           </div>
         )}
 
+        {/* Un-applied edits. Shown whether or not a session is running: while idle a save deploys
+            immediately so this is normally empty, and if it is NOT empty while idle something
+            failed to deploy — which is worth seeing. */}
+        {undeployed.length > 0 && (
+          <div className="mb-4 p-3 bg-amber-900/30 border border-amber-600 rounded-lg text-amber-200 text-sm">
+            <strong>{undeployed.length} un-applied change{undeployed.length === 1 ? '' : 's'}</strong>
+            {' '}in the <strong>{activeProfile || 'active'}</strong> profile
+            {sessionActive ? ' — applies at the next session start' : ' — not yet deployed'}:
+            {' '}<code>{undeployed.join(', ')}</code>.
+            {' '}
+            <button
+              type="button"
+              onClick={() => { setShowRunning(true); loadRunningToml(); }}
+              className="underline hover:text-amber-100"
+            >
+              Compare with the running config
+            </button>
+          </div>
+        )}
+
         {showRunning && (
           <div className="mb-4 p-3 bg-background border border-gray-700 rounded-lg">
             <div className="text-xs text-text-muted mb-2">Running <code>config.toml</code> (read-only — deployed to the pipeline)</div>
@@ -1346,8 +1388,12 @@ export default function ConfigPage() {
         )}
 
         {success && (
-          <div className="mb-4 p-4 bg-green-900/30 border border-green-500 rounded-lg text-green-200">
-            Configuration saved successfully!
+          <div className={`mb-4 p-4 rounded-lg border ${
+            sessionActive
+              ? 'bg-amber-900/30 border-amber-500 text-amber-200'
+              : 'bg-green-900/30 border-green-500 text-green-200'
+          }`}>
+            {successMsg ?? 'Configuration saved successfully!'}
           </div>
         )}
 
diff --git a/daq-server/diablo_server/frontend/app/session/page.tsx b/daq-server/diablo_server/frontend/app/session/page.tsx
index d40840af4..a9138ac9d 100644
--- a/daq-server/diablo_server/frontend/app/session/page.tsx
+++ b/daq-server/diablo_server/frontend/app/session/page.tsx
@@ -173,6 +173,16 @@ export default function SessionPage() {
                   Simulated
                 </button>
               </div>
+              {/* "Config applies at session start" is not true for sim, and someone testing that
+                  behaviour in sim would reasonably conclude it is broken. Sim deliberately runs
+                  the committed config_base.toml overlay rather than the active profile, so a sim
+                  run behaves the same on every box regardless of what is drafted locally. */}
+              {simulated && (
+                <div className="mt-2 text-xs text-purple-300/90 max-w-xs">
+                  Simulated runs use the committed sim config, not your config profile — config
+                  edits will not appear in this run.
+                </div>
+              )}
             </div>
 
             <div>

From 65bd71f51439c87d1f09f78faa7367ab600b1466 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 16:00:46 -0700
Subject: [PATCH 189/205] =?UTF-8?q?daq-server=20docs:=20rewrite=20the=20co?=
 =?UTF-8?q?nfiguration=20guide=20around=20profile-draft,=20deploy,=20sessi?=
 =?UTF-8?q?on-start=20and=20name=20the=20two=20exceptions=20=E2=80=94=20th?=
 =?UTF-8?q?e=20old=20guide=20described=20a=20flight/ground=20split=20confi?=
 =?UTF-8?q?g=20that=20has=20not=20matched=20the=20profile=20system=20for?=
 =?UTF-8?q?=20months,=20so=20it=20documented=20a=20shape=20of=20the=20syst?=
 =?UTF-8?q?em=20that=20no=20longer=20exists;=20the=20rewrite=20says=20whic?=
 =?UTF-8?q?h=20of=20the=20three=20files=20called=20"config"=20is=20which,?=
 =?UTF-8?q?=20that=20session=20start=20is=20the=20one=20apply=20point,=20a?=
 =?UTF-8?q?nd=20that=20board-config=20broadcast=20and=20calibration=20are?=
 =?UTF-8?q?=20deliberate=20live=20exceptions=20(including=20that=20[abort?=
 =?UTF-8?q?=5Fpts]=20and=20boards.*.enabled=20reach=20hardware=20live),=20?=
 =?UTF-8?q?plus=20the=20two=20traps=20worth=20knowing:=20the=20freeze=20is?=
 =?UTF-8?q?=20inert=20wherever=20SESSION=5FSERVICE=5FMODE=20is=20off,=20an?=
 =?UTF-8?q?d=20sim=20never=20applies=20drafts;=20SENSOR=5FASSIGNMENT=5FSYS?=
 =?UTF-8?q?TEM.md=20gets=20an=20aspirational=20banner=20because=20its=20MA?=
 =?UTF-8?q?C-hash=20assignment=20flow=20is=20not=20what=20ships?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/docs/CONFIGURATION_GUIDE.md      | 277 ++++++++++----------
 daq-server/docs/IMPROVEMENTS.md             |  39 ++-
 daq-server/docs/SENSOR_ASSIGNMENT_SYSTEM.md |  15 ++
 3 files changed, 176 insertions(+), 155 deletions(-)

diff --git a/daq-server/docs/CONFIGURATION_GUIDE.md b/daq-server/docs/CONFIGURATION_GUIDE.md
index 32f45707f..a6d8361f2 100644
--- a/daq-server/docs/CONFIGURATION_GUIDE.md
+++ b/daq-server/docs/CONFIGURATION_GUIDE.md
@@ -1,145 +1,136 @@
 # Configuration Guide
 
-## Overview
-
-The sensor system uses split configurations for Flight DAQ and Ground Systems DAQ to handle different operational modes.
-
-## Configuration Files
-
-### `config.toml`
-Base configuration with common settings. Not used directly - serves as reference.
-
-### `config_flight_daq.toml`
-**Flight DAQ Configuration**
-- **Network**: `192.168.3.0/24` (IP range 100-150)
-- **Port**: `5005`
-- **Handles**: Flight sensors and actuators
-- **Use Case**: Flight operations
-- **During Hotfire**: Everything connects to ground DAQ instead
-
-**Flight Sensors:**
-- PT_HP, PT_LP (Board 0)
-- PT_FUP, PT_FDP (Board 1)
-- PT_OUP, PT_ODP (Board 2)
-- RTDs, TCs, LCs, Actuators (to be added)
-
-### `config_ground_daq.toml`
-**Ground Systems DAQ Configuration**
-- **Network**: `192.168.2.0/24` (IP range 100-150)
-- **Port**: `5005`
-- **Handles**: GSE sensors and during hotfire (all sensors)
-- **Use Case**: Development, testing, hotfire
-- **During Flight**: Flight sensors/actuators go to flight DAQ, everything else stays here
-
-**GSE Sensors:**
-- PT_OF (Board 10 - LOX Fill)
-- PT_FF (Board 11 - Fuel Fill)
-- PT_HPF, PT_MPF, PT_LPF (Board 12 - Pressurant Fill)
-- RTDs, TCs, LCs (to be added)
-
-## Usage
-
-### Ground DAQ (Development/Hotfire)
-```bash
-# Start Ground DAQ
-./build/bin/daq_bridge config/config_ground_daq.toml
-```
-
-### Flight DAQ (Flight Operations)
-```bash
-# Start Flight DAQ
-./build/bin/daq_bridge config/config_flight_daq.toml
-```
-
-### Hotfire Mode
-During hotfire, set `[hotfire].enabled = true` in `config_ground_daq.toml` to route all sensors (including flight sensors) to ground DAQ.
-
-## Operational Modes
-
-### Development Mode
-- Use: `config_ground_daq.toml`
-- All GSE sensors connect to ground DAQ
-- Flight sensors can be tested here too
-
-### Hotfire Mode
-- Use: `config_ground_daq.toml` with `hotfire.enabled = true`
-- **ALL sensors** (including flight sensors) connect to ground DAQ
-- Single point of data collection for hotfire testing
-
-### Flight Mode
-- Use: `config_flight_daq.toml` for flight sensors/actuators
-- Use: `config_ground_daq.toml` for GSE sensors
-- **Split operation**: Flight sensors on flight DAQ, GSE sensors on ground DAQ
-
-## Network Configuration
-
-### Flight DAQ Network
-```
-Base IP: 192.168.3.0
-Range: 192.168.3.100-150
-Port: 5005
-```
-
-### Ground DAQ Network
-```
-Base IP: 192.168.2.0
-Range: 192.168.2.100-150
-Port: 5005
-```
-
-## Sensor Assignments
-
-### Flight System (Flight DAQ)
-| Board ID | Sensors | Channels | Purpose |
-|----------|---------|----------|---------|
-| 0 | PT_HP, PT_LP | 0, 1 | High pressure + COPV |
-| 1 | PT_FUP, PT_FDP | 0, 1 | Fuel upstream/downstream |
-| 2 | PT_OUP, PT_ODP | 0, 1 | Oxidizer upstream/downstream |
-
-### GSE System (Ground DAQ)
-| Board ID | Sensors | Channels | Component |
-|----------|---------|----------|-----------|
-| 10 | PT_OF | 0 | LOX Fill |
-| 11 | PT_FF | 0 | Fuel Fill |
-| 12 | PT_HPF, PT_MPF, PT_LPF | 0, 1, 2 | Pressurant Fill |
-
-## Configuration Structure
-
-Each config file contains:
-
-```toml
-[system]
-mode = "FLIGHT" or "GROUND"
-state = "FLIGHT" or "GSE"
-
-[system.network]
-base_ip = "192.168.X.0"
-ip_range_start = 100
-ip_range_end = 150
-bind_address = "0.0.0.0"
-bind_port = 5005
-
-[database]
-db_host = "127.0.0.1"
-db_port = 2240
-
-[sensors.flight.pt] or [sensors.gse.pt]
-PT_XXX = { board_id = X, channel = Y, max_psi = Z }
-
-[hotfire]  # Ground DAQ only
-enabled = false
-include_flight_sensors = true
-```
-
-## Switching Between Modes
-
-1. **Development**: Use `config_ground_daq.toml`
-2. **Hotfire**: Use `config_ground_daq.toml` with `hotfire.enabled = true`
-3. **Flight**: Use `config_flight_daq.toml` for flight sensors, `config_ground_daq.toml` for GSE
-
-## Next Steps
-
-- Add RTD, TC, LC sensor assignments
-- Add actuator assignments
-- Implement hotfire mode switching
-- Add validation for sensor assignments
+How configuration is stored, edited, and applied on the DAQ server.
+
+**The rule: an edit is a draft. Drafts apply when a session starts.** There are two deliberate
+exceptions, both listed below. If you are reading this because something you changed did not take
+effect, the answer is almost certainly "start a session".
+
+---
+
+## The three things called "config"
+
+| | What it is | Who writes it | Tracked in git |
+|---|---|---|---|
+| `config/profiles/<name>/config.toml` | **The draft.** What the config editor reads and writes. | The editor, via `POST /api/config` | Yes |
+| `config/config.toml` | **The deployed artifact.** What the C++ services actually read. Generated. | `deployActiveProfile()` only | No (gitignored) |
+| `config/.active_profile` | One line naming the active profile. Machine-specific. | Profile switch | No (gitignored) |
+
+The three state-machine CSVs (`state_machine_actuators.csv`,
+`state_machine_actuator_delays.csv`, `state_transitions.csv`) live beside the profile's
+`config.toml` and deploy with it. They are profile-owned; the copies in `config/` are generated
+the same way.
+
+Editing `config/config.toml` by hand is pointless — the next deploy overwrites it. Edit the
+profile.
+
+## The one apply point
+
+`deployActiveProfile()` (`backend/src/routes/config-profiles.ts`) copies the active profile's
+`config.toml` **and all its CSVs** into `config/`. It is all-or-nothing: every target is
+snapshotted first and rolled back together if the new config does not parse, because a
+half-applied deploy — new roles, old state table — is worse than no deploy.
+
+It runs in two situations:
+
+1. **At session start** (`session-manager.ts`), immediately before the pipeline units are
+   started. This is the apply point that matters. If the deploy fails, **the session start fails**
+   and nothing is started — a run on stale config with a green "session active" light is the worst
+   available outcome.
+2. **On save while idle.** With no session running there is nothing to protect, so a save deploys
+   straight away. Convenience only; the model is unchanged.
+
+During a session every write path degrades to a draft:
+
+- `POST /api/config` and `/api/config/import` → write the profile, skip the deploy
+- `POST /api/state-csv` → same
+- `POST /api/config/profiles/switch` → **409**, you cannot swap rigs mid-run
+
+The editor shows a freeze banner and a count of un-applied changes while this is in effect.
+
+## Why the services can trust it
+
+The session-gated pipeline units — `sensor-elodin`, `sensor-daq`, `sensor-calibration`,
+`sensor-controller`, `sensor-actuator` — are stopped and started by the session. Each reads
+`config.toml` **once at startup** and holds it for the life of the run. There is no reload verb
+and no file watching; the sequencer's `RELOAD_CONFIG` was removed precisely because a hot-reload
+path in the safety-critical services is machinery that can only surprise you.
+
+`service-controller.ts` also snapshots the config each run was started with next to its Elodin
+database (`<dbDir>.toml`), so a recorded run can always be read back with the config it was
+produced under.
+
+The **backend** is different: it is always-on and never restarts, so it must notice a deploy.
+It does that with a cache invalidated in `deployActiveProfile()` (`readDeployedConfig()` in
+`routes/config.ts`), plus a `CONFIG_UPDATED` broadcast that tells browsers to refetch. Same rule,
+different mechanism, because the constraint is different.
+
+---
+
+## Exception 1 — board config broadcast
+
+`config_broadcast_service` is **always-on, not session-gated, and re-reads `config.toml` on every
+broadcast cycle** (~1 Hz). Board-level settings therefore reach hardware without a session:
+
+- `[boards.*]` — `enabled`, `active_connectors`, `voltage_reference`, `necessary_for_abort`,
+  `designated_survivor`, `enable_serial_printing`
+- `[actuator_roles]` and the Vent / Engine-Abort columns of `state_machine_actuators.csv`
+- **`[abort_pts]` — the autonomous overpressure trip thresholds the boards act on**
+
+This is intentional. It is also worth understanding rather than assuming: the session freeze is
+the only thing that currently stops someone changing an abort trip mid-run, and that is a
+property of the freeze, not a decision the broadcaster makes.
+
+The related endpoint `POST /api/board-log-mode` rides this exception — it surgically edits one
+field so verbosity can be raised *during* the misbehaviour it is meant to diagnose. It writes both
+`config.toml` (so the board gets it now) and the active profile (so the next deploy does not
+silently revert it).
+
+## Exception 2 — calibration
+
+Calibration is not in `config.toml` at all. The live store is
+`scripts/calibration/calibrations/cubic_calibration.json`, written only by `calibration_service`,
+with named snapshots under `profiles/` and a `.active` pointer.
+
+Capture, zero, clear and whole-profile load all apply **immediately**, mid-session, by design —
+the capture-and-verify loop is the run. Loading a calibration profile publishes command 7 over
+Elodin and the service re-reads its store live.
+
+The config.toml keys calibration *does* read (`calibration_model_<board>`,
+`calibration_full_scale_<board>`, `calibration_sense_resistor_<board>`, `[adc]`,
+`[calibration.*]`) are ordinary boot-time config and follow the normal rule.
+
+---
+
+## What is not config
+
+These are runtime commands, not configuration, and are unaffected by any of the above: state
+transitions, manual actuator overrides, debug mode, extend fire, countdown target, session
+start/stop/extend, and control unlock. They go over the WebSocket as `SEND_COMMAND` and are gated
+by operator arming, not by the config freeze.
+
+## Simulated runs
+
+Simulated sessions do **not** deploy the profile. The sim pipeline reads `config/sim_config.toml`,
+regenerated at session start from the frozen `config_base.toml` with `192.168.2.` rewritten to
+`127.0.0.` So profile edits are invisible to sim runs.
+
+This is deliberate rather than an oversight: the point of a sim run is that it behaves identically
+on every box, which a per-box active profile would destroy. The cost is that "config applies at
+session start" is not true on the sim path, so the session page says so when Simulated is selected.
+If you are testing config behaviour, test it on a live-mode session or you will conclude the model
+is broken.
+
+## A trap on dev boxes
+
+Session control is off unless `SESSION_SERVICE_MODE=systemd`, which is set only in
+`deploy/systemd/sensor-backend.service`. On the tmux dev stack and on laptops the mode is `off`,
+`sessionActive` is permanently `false`, and **every save deploys immediately** — the freeze is
+inert there. Do not verify freeze behaviour on the dev stack and conclude it works.
+
+## Related
+
+- `docs/CONTROLLER_STACK_AND_DB_WRITES.md` — what each pipeline service does with the config
+- `docs/SENSOR_ASSIGNMENT_SYSTEM.md` — **aspirational, not shipped**; the real path is the static
+  `[boards.*]` table broadcast by `config_broadcast`
+- `docs/IMPROVEMENTS.md` — known gaps
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index e780729b1..279744f34 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,8 +5,8 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-07 against `ab3ce2d2`.
-**Last updated:** 2026-09-07 after `4bcbfb4e` — the sequencer concurrency work landed and its
-items moved to Resolved.
+**Last updated:** 2026-09-07 — the sequencer concurrency work and the config draft-only work both
+landed; their items moved to Resolved.
 
 The revision before this one dated from April 2026 and predated the Vite frontend migration,
 the `smol-toml` config work, and the config-driven `[[states]]` rework. Anything fixed is
@@ -102,7 +102,7 @@ blocking `recv` and no `SO_RCVTIMEO`. There is no per-client thread. A client th
 and sends no newline blocks the accept loop indefinitely — and this loop is the only path
 that opens and closes the PWM gate.
 
-`sequencer_main.cpp:158` sets a 5 s `SO_RCVTIMEO` and gives each client its own thread; the controller,
+`sequencer_main.cpp:154` sets a 5 s `SO_RCVTIMEO` and gives each client its own thread; the controller,
 which gates ignition, does neither.
 
 **Failure scenario:** the backend host is killed or drops off the network mid-connection.
@@ -142,7 +142,7 @@ literals.
 
 ### Backend — WebSocket broadcast has no backpressure and no keepalive
 
-**File:** `diablo_server/backend/src/server.ts:677-690`
+**File:** `diablo_server/backend/src/server.ts:676-690`
 
 `broadcast()` sends to every client whose `readyState === OPEN` and swallows the result.
 Nothing checks `ws.bufferedAmount`, and there is no `ping`/`pong` liveness check anywhere in
@@ -225,11 +225,11 @@ the process exit code rather than grepping the log.
 
 ### Backend — WebSocket commands are still parsed as `any`
 
-**File:** `diablo_server/backend/src/server.ts:892` (`handleMessage(ws, message: any)`)
+**File:** `diablo_server/backend/src/server.ts:891` (`handleMessage(ws, message: any)`)
 
 Real gates have been added since this was first written — `CONTROL_COMMAND_TYPES` requires
-an armed operator connection (`server.ts:935`), and `state_transition` now rejects ids the
-active config doesn't declare (`server.ts:943-970`). Those close the two exploitable holes.
+an armed operator connection (`server.ts:934`), and `state_transition` now rejects ids the
+active config doesn't declare (`server.ts:942-969`). Those close the two exploitable holes.
 
 What remains is shape validation. `handleMessage` still takes `any`, and the command
 handlers still reach through non-null assertions: `command.data.state!`,
@@ -338,9 +338,9 @@ A rig that moves `broadcast_port` gets actuator config broadcasts on the new por
 test the abort broadcast goes somewhere nothing is listening — which is part of why no test has
 ever observed one.
 
-**Fix:** construct the broadcaster from `cfg.<section>.broadcast_port` in `init()`, and re-apply
-it in `applyFireConfig()`/reload alongside the other config-derived values. Same for the
-ABORT_DONE delay if a config key is wanted for it.
+**Fix:** construct the broadcaster from `cfg.<section>.broadcast_port` in `init()`, alongside the
+other config-derived values. Same for the ABORT_DONE delay if a config key is wanted for it.
+(There is no reload path to keep in sync any more — config is read once at startup.)
 
 ---
 
@@ -397,6 +397,21 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the config draft-only work (2026-09-07)
+
+| Item | Resolution |
+|---|---|
+| Sequencer hot-reloads config mid-run (`RELOAD_CONFIG`) | **Removed, not fixed.** The command, `reloadConfig()`/`doReloadConfig()` and the backend's sender are gone. Its only caller fired when the CSV was *deployed*, which only happens with no session active — so it could never reach a running sequencer. Deleting the path is strictly better than making it safe: it also removes the reload half of the work in `0c0dfd6c`. |
+| `reloadConfig()` raced the republish loop / kept stale `[fire]` ids | **Moot.** Both were fixed in `0c0dfd6c`; the function they lived in no longer exists. `applyFireConfig()` stays, called from `init()` only. |
+| Sequencer re-parsed config on every Elodin reconnect | **Fixed.** `tryConnectElodin()` uses an actuator-board snapshot taken at `init()`. A db restart mid-run no longer rebuilds the actuator tables from whatever is on disk at that moment. |
+| Backend re-read config.toml per request / per command / per resubscribe retry | **Fixed.** `readDeployedConfig()` caches the parsed deployed config, invalidated inside `deployActiveProfile()` — the single apply point. Not a boot-time read: the backend is always-on and must still notice a deploy. |
+| A failed deploy at session start only warned | **Fixed.** Session start now aborts with an operator-facing error. Running on stale config behind a green "session active" light was the worst available outcome. |
+| Config editor said "saved" for a draft | **Fixed.** Save / import / CSV upload use the API's own `deployed` flag and message, amber for a draft. A new banner counts un-applied changes (`GET /api/config/profiles` → `undeployed`) with a link to compare against the running config. |
+| `patchBoardField()` silently reverted at the next deploy | **Fixed.** Board log mode stays live (the documented exception) but now writes the active profile too, so it survives a deploy. |
+| Board-config live reload was undocumented | **Documented as the one deliberate exception**, in `config_broadcast_service_main.cpp` and `docs/CONFIGURATION_GUIDE.md` — including that `[abort_pts]` and `boards.*.enabled` reach hardware live. |
+| Sim runs silently ignore config drafts | **Documented.** Kept deliberate — a sim run must behave the same on every box — and the session page now says so when Simulated is selected. |
+| `CONFIGURATION_GUIDE.md` stale; `SENSOR_ASSIGNMENT_SYSTEM.md` describes an unshipped design | **Fixed.** Guide rewritten around profile/deploy/session-start plus the two exceptions; the sensor-assignment doc carries an "aspirational, not shipped" banner. |
+
 ### By the sequencer concurrency work (2026-09-07, `0c0dfd6c` / `4bcbfb4e`)
 
 | Item | Resolution |
@@ -417,9 +432,9 @@ Kept so a future audit can distinguish "fixed" from "never checked".
 | Item | Resolution |
 |---|---|
 | FireManager `extend()` timer data race | **Fixed.** `current_duration_ms_` is `std::atomic<uint32_t>` and `extend()` now writes the duration *before* raising `cancel_` (`FireManager.cpp:66-73`), so the timer thread re-reads the new value. `stop()` also handles the joinable-but-inactive thread that used to `std::terminate` on restart. |
-| Errors to the controller service silently dropped | **Mostly fixed.** Actuator, state-transition, and extend-fire commands now surface `MessageType.ERROR` to the originating client on failure. One `.catch(() => { })` survives on the `debug_mode` path (`server.ts:1001`). |
+| Errors to the controller service silently dropped | **Mostly fixed.** Actuator, state-transition, and extend-fire commands now surface `MessageType.ERROR` to the originating client on failure. One `.catch(() => { })` survives on the `debug_mode` path (`server.ts:1000`). |
 | Fragile regex fallback in TOML `actuator_roles` parsing | **Fixed.** The backend uses `smol-toml`, which handles the mixed-type inline arrays natively; the hand-rolled regex parser is gone. |
 | Catch-all `catch (...)` in `SequencerService` | **Fixed** — those handlers no longer exist. |
 | Integration test: hardcoded ports, no conflict detection | **Fixed.** All ports are `${TEST_*_PORT:-default}` and the script sweeps them before starting. |
 | Frontend API responses typed as `any` | **Largely fixed.** `dashboard-hooks.ts` is clean; roughly twenty `any` occurrences remain across the whole frontend, mostly local. Not worth a backlog entry on its own. |
-| Startup race: "controller never gets service" after reloading the UI during startup | **Superseded, unconfirmed.** The specific hypothesis was about the Next.js SPA's connection lifecycle, which no longer exists after the Vite migration. The Elodin side of the startup race was addressed independently by the retry loop at `SequencerService.cpp:672`. Re-file with fresh evidence if it recurs. |
+| Startup race: "controller never gets service" after reloading the UI during startup | **Superseded, unconfirmed.** The specific hypothesis was about the Next.js SPA's connection lifecycle, which no longer exists after the Vite migration. The Elodin side of the startup race was addressed independently by the retry loop at `SequencerService.cpp:620`. Re-file with fresh evidence if it recurs. |
diff --git a/daq-server/docs/SENSOR_ASSIGNMENT_SYSTEM.md b/daq-server/docs/SENSOR_ASSIGNMENT_SYSTEM.md
index c51e244c4..c7b04c7e5 100644
--- a/daq-server/docs/SENSOR_ASSIGNMENT_SYSTEM.md
+++ b/daq-server/docs/SENSOR_ASSIGNMENT_SYSTEM.md
@@ -1,5 +1,20 @@
 # Sensor Assignment and Configuration System
 
+> **⚠️ ASPIRATIONAL — THIS IS NOT WHAT SHIPS.**
+>
+> This document describes a design in which an `FSWConfigManager` assigns board IPs by MAC hash
+> and boards report their assignments back over heartbeats. **No such component exists in the
+> running system.**
+>
+> What actually ships: board identity and sensor assignment are a **static table** in
+> `config/config.toml` (`[boards.*]`, `[sensor_roles_*]`, `[actuator_roles]`), broadcast to boards
+> unconditionally by `config_broadcast_service` roughly once a second. Boards are addressed at
+> fixed IPs from that table; nothing is negotiated and nothing is reported back.
+>
+> Read `docs/CONFIGURATION_GUIDE.md` for the real model. Keep this only as a record of the
+> intended direction — do not use it to reason about current behaviour, and do not file bugs
+> against the gap between the two.
+
 ## Overview
 
 The sensor assignment system manages the distribution of sensors to boards, IP assignment, and configuration distribution. The FSW (Flight Software) side assigns IP addresses and sensor configurations to boards, which then report back their assigned sensors.

From 2160c07b0778868eb40d8cf61fc9836cd626d568 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 17:57:08 -0700
Subject: [PATCH 190/205] =?UTF-8?q?pin=20every=20board-facing=20socket=20t?=
 =?UTF-8?q?o=20the=20DAQ=20NIC=20=E2=80=94=20the=20ABORT=20entry=20was=20s?=
 =?UTF-8?q?coped=20wrong:=20no=20socket=20in=20the=20DAQ=20path=20bound=20?=
 =?UTF-8?q?an=20egress=20interface,=20which=20only=20stopped=20mattering?=
 =?UTF-8?q?=20because=20the=20DAQ=20owned=20its=20machine=20and=20started?=
 =?UTF-8?q?=20mattering=20again=20on=20the=20shared=20apps=20box=20(board?=
 =?UTF-8?q?=20LAN=20+=20site=20LAN=20+=20docker=20bridge);=20one=20resolve?=
 =?UTF-8?q?r=20picks=20the=20interface=20holding=20the=20board=20subnet=20?=
 =?UTF-8?q?by=20address=20the=20way=20bootstrap=5Fdaq.sh=20already=20did,?=
 =?UTF-8?q?=20refusing=20to=20start=20on=20an=20explicit=20bind=5Fip=20tha?=
 =?UTF-8?q?t=20is=20not=20on=20the=20host=20or=20on=20two=20candidate=20NI?=
 =?UTF-8?q?Cs,=20and=20binding=20a=20source=20address=20rather=20than=20SO?=
 =?UTF-8?q?=5FBINDTODEVICE=20because=20the=20units=20run=20unprivileged=20?=
 =?UTF-8?q?with=20no=20CAP=5FNET=5FRAW;=20the=20abort=20now=20takes=20its?=
 =?UTF-8?q?=20destination=20and=20port=20from=20[server=5Fheartbeat]=20ins?=
 =?UTF-8?q?tead=20of=20255.255.255.255:5005,=20which=20needed=20no=20confi?=
 =?UTF-8?q?g=20change=20since=20every=20profile=20already=20sets=20it;=20a?=
 =?UTF-8?q?nd=20the=20firmware=20turns=20out=20not=20to=20act=20on=20ABORT?=
 =?UTF-8?q?=20at=20all=20(ENABLE=5FALL=5FSTATE=5FTRANSITIONS=20is=20false?=
 =?UTF-8?q?=20everywhere,=20which=20also=20makes=20the=20[abort=5Fpts]=20t?=
 =?UTF-8?q?rips=20unreachable)=20while=20CLEAR=5FABORT=20is=20consumed=20a?=
 =?UTF-8?q?nd=20never=20sent,=20so=20the=20entry=20is=20downgraded=20and?=
 =?UTF-8?q?=20that=20is=20filed=20instead?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../deploy/setup/fix_ethernet_interface.sh    |  11 +-
 daq-server/deploy/startup/start_tmux_dev.sh   |   2 +-
 .../daq_bridge/daq_bridge_main.cpp            |  16 +-
 daq-server/diablo_server/lib/CMakeLists.txt   |  11 +
 .../lib/include/control/AbortBroadcaster.hpp  |  28 ++-
 .../lib/include/control/ActuatorCommander.hpp |  11 +
 .../lib/include/control/ControllerService.hpp |   5 +
 .../lib/include/control/SequencerService.hpp  |   8 +
 .../lib/include/fsw/FSWConfigManager.hpp      |   6 +
 .../lib/include/net/DaqInterface.hpp          |  69 ++++++
 .../lib/src/control/ControllerService.cpp     |  13 +-
 .../lib/src/control/PressureStateMachine.cpp  |   7 +
 .../lib/src/fsw/FSWConfigManager.cpp          |   6 +-
 .../lib/src/net/DaqInterface.cpp              | 210 ++++++++++++++++++
 .../lib/test/test_abort_ordering.cpp          |  23 +-
 .../lib/test/test_daq_interface.cpp           | 103 +++++++++
 .../diablo_server/services/CMakeLists.txt     |   2 +-
 .../config_broadcast_service_main.cpp         |  15 ++
 .../services/controller/controller_main.cpp   |  10 +
 .../heartbeat/heartbeat_service_main.cpp      |  14 ++
 .../services/ota/ota_service_main.cpp         |  29 ++-
 .../services/sequencer/AbortBroadcaster.cpp   |  46 +++-
 .../services/sequencer/ActuatorCommander.cpp  |   9 +
 .../services/sequencer/SequencerService.cpp   |  29 ++-
 .../include/transport/NetworkSocket.hpp       |   7 +-
 .../transport/src/transport/NetworkSocket.cpp |  21 +-
 daq-server/docs/CONFIGURATION_GUIDE.md        |  41 +++-
 .../docs/DIABLOAVIONICS_NETWORK_CONFIG.md     |  11 +-
 daq-server/docs/IMPROVEMENTS.md               |  92 ++++----
 29 files changed, 787 insertions(+), 68 deletions(-)
 create mode 100644 daq-server/diablo_server/lib/include/net/DaqInterface.hpp
 create mode 100644 daq-server/diablo_server/lib/src/net/DaqInterface.cpp
 create mode 100644 daq-server/diablo_server/lib/test/test_daq_interface.cpp

diff --git a/daq-server/deploy/setup/fix_ethernet_interface.sh b/daq-server/deploy/setup/fix_ethernet_interface.sh
index 863f050b4..fed7bff30 100755
--- a/daq-server/deploy/setup/fix_ethernet_interface.sh
+++ b/daq-server/deploy/setup/fix_ethernet_interface.sh
@@ -69,12 +69,15 @@ else
 
     if [ "$APPLY" == "y" ] || [ "$APPLY" == "Y" ]; then
         echo "Applying configuration..."
-        sudo ip addr add 192.168.2.201/24 dev $ETH_INTERFACE 2>/dev/null || echo "IP may already exist"
+        # 192.168.2.20, not .201: the board firmware hardcodes the server at 192.168.2.20:5006
+        # (see deploy/README.md). This line used to assign .201 while every message around it said
+        # .20, and the check below matched ".20" as a substring of ".201" and reported success.
+        sudo ip addr add 192.168.2.20/24 dev $ETH_INTERFACE 2>/dev/null || echo "IP may already exist"
         sudo ip link set $ETH_INTERFACE up
         sleep 1
 
-        # Verify
-        NEW_IP=$(ip addr show $ETH_INTERFACE | grep "inet.*192.168.2.20" | awk '{print $2}' | cut -d/ -f1)
+        # Verify. Anchored on the prefix boundary so .201 cannot pass as .20.
+        NEW_IP=$(ip -o -4 addr show $ETH_INTERFACE | awk '{print $4}' | cut -d/ -f1 | grep -x "192.168.2.20")
         if [ -n "$NEW_IP" ]; then
             echo "✅ IP assigned: $NEW_IP"
         else
@@ -95,4 +98,4 @@ echo ""
 echo "3. Configure your board to send to: 192.168.2.20:5006"
 echo ""
 echo "4. Test connectivity:"
-echo "   ping <board_ip>  (from board, ping 192.168.2.201)"
+echo "   ping <board_ip>  (from a board, ping the server at 192.168.2.20)"
diff --git a/daq-server/deploy/startup/start_tmux_dev.sh b/daq-server/deploy/startup/start_tmux_dev.sh
index be0e9e69a..2beffa148 100755
--- a/daq-server/deploy/startup/start_tmux_dev.sh
+++ b/daq-server/deploy/startup/start_tmux_dev.sh
@@ -219,7 +219,7 @@ fi
 
 if [ -x "$OTA_BIN" ]; then
   CMD_LOG_OTA="/tmp/gui_logs/ota.log"
-  CMD_OTA='printf "\n  ══ ETHERNET OTA SERVICE — TCP :'"${OTA_CMD_PORT}"' (pio build+flash here) ══\n\n" && exec '"$OTA_BIN"' --port '"$OTA_CMD_PORT"' 2>&1 | tee '"$CMD_LOG_OTA"
+  CMD_OTA='printf "\n  ══ ETHERNET OTA SERVICE — TCP :'"${OTA_CMD_PORT}"' (pio build+flash here) ══\n\n" && cd '"$PROJECT"' && exec '"$OTA_BIN"' --port '"$OTA_CMD_PORT"' --config '"$CONFIG_FILE"' 2>&1 | tee '"$CMD_LOG_OTA"
 else
   CMD_OTA='printf "\n  ❌ ota_service not built — cd build && cmake .. && make ota_service\n\n" && sleep infinity'
 fi
diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 279a7ef58..4ff09a17d 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -95,6 +95,7 @@ class BackendLogForwarder {
 #include "elodin/DatabaseConfig.hpp"
 #include "elodin/ElodinClient.hpp"
 #include "fsw/FSWConfigManager.hpp"
+#include "net/DaqInterface.hpp"
 #include "routing/HeartbeatRouter.hpp"
 #include "routing/SensorRouter.hpp"
 #include "streams/SensorFramePipeline.hpp"
@@ -344,6 +345,16 @@ int main(int argc, char* argv[]) {
     if (!config_bind_ip.empty())
         bind_address = config_bind_ip;
 
+    // Nothing named a NIC explicitly — find the one holding the board subnet. Without this the
+    // sensor listener accepts board traffic on every interface of the shared apps box, and every
+    // reply leaves on whichever one the route table prefers.
+    if (bind_address.empty() || bind_address == "0.0.0.0") {
+        const auto nic = fsw::net::resolveDaqBindAddress(fsw::config::load(config_path), "DAQ");
+        if (!nic.ok)
+            return 1;
+        bind_address = nic.address;
+    }
+
     std::cout << "[Config] Loopback fallback (127.0.0.<host-octet>): " << board_by_octet.size()
               << " enabled boards" << std::endl;
     std::cout << "[Config] Board routing table (from " << config_path << "):" << std::endl;
@@ -384,7 +395,10 @@ int main(int argc, char* argv[]) {
     // ── FSW Config Manager ──
     std::cout << "[FSW] Initializing configuration manager..." << std::endl;
     auto fsw_config = std::make_unique<fsw::fsw::FSWConfigManager>();
-    if (!fsw_config->initialize("0.0.0.0", 5008)) {
+    // Same NIC the sensor pipeline uses. This used to be a hardcoded "0.0.0.0" two lines from
+    // where [network].bind_ip was already parsed, so the FSW config port accepted traffic from —
+    // and replied on — any interface on the box.
+    if (!fsw_config->initialize(bind_address, 5008)) {
         std::cerr << "❌ Failed to initialize FSW config manager" << std::endl;
         return 1;
     }
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index a9a780169..d9a7f15eb 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -3,6 +3,7 @@
 
 set(FSW_SOURCES
     src/util/IpFromMac.cpp
+    src/net/DaqInterface.cpp
     src/config/BoardDiscovery.cpp
     src/config/DynamicConfigManager.cpp
     src/config/SensorAssignment.cpp
@@ -111,6 +112,16 @@ target_link_libraries(test_sequencer_elodin
 # with CTest and is not invoked by CI either, so its assertions have never gated anything.
 add_test(NAME robust_ddp COMMAND test_robust_ddp)
 
+# The DAQ NIC resolver. Pure library code — no sockets to a peer, no config files on disk — so it
+# needs none of the working-directory or serialization care the sequencer tests below do.
+add_executable(test_daq_interface test/test_daq_interface.cpp)
+target_include_directories(test_daq_interface PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+target_link_libraries(test_daq_interface fsw_daq_lib Threads::Threads pthread ${RT_LIBRARY})
+add_test(NAME daq_interface COMMAND test_daq_interface)
+
 # Concurrency + abort ordering. Both drive a real SequencerService, so they need the same sources
 # test_sequencer_elodin links. They resolve config/ and the state CSVs relative to the working
 # directory (cwd, ../, ../../), which is why they run from the build dir under CTest.
diff --git a/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp b/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp
index f4b84c497..88520d5c1 100644
--- a/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp
+++ b/daq-server/diablo_server/lib/include/control/AbortBroadcaster.hpp
@@ -1,15 +1,18 @@
 #pragma once
 
+#include <netinet/in.h>
+
 #include <atomic>
 #include <cstdint>
 #include <mutex>
+#include <string>
 #include <thread>
 
 namespace sequencer {
 
 /**
  * Sends ABORT / ABORT_DONE / CLEAR_ABORT UDP broadcast packets
- * (PacketHeader only — 6 bytes) to 255.255.255.255 on the configured port.
+ * (PacketHeader only — 6 bytes) to the configured broadcast address and port.
  *
  * On abort entry:
  *   1. sendAbort()     — fires immediately
@@ -22,6 +25,24 @@ class AbortBroadcaster {
     explicit AbortBroadcaster(uint16_t port = 5005, uint32_t abort_done_delay_ms = 3000);
     ~AbortBroadcaster();
 
+    /**
+     * Adopt the destination and source NIC from config. Call once, before anything can abort.
+     *
+     * This class used to be default-constructed and never told anything: port 5005 by ctor
+     * default, destination hardcoded to the limited broadcast 255.255.255.255, source interface
+     * left to the kernel. Every other sender in the system takes its destination from config, and
+     * a limited broadcast is the one destination that does not resolve to a single route — so on
+     * a host with more than one NIC all four repeats could leave on the wrong wire together.
+     *
+     * @param broadcast_ip   Subnet-directed broadcast for the board LAN, e.g. 192.168.2.255.
+     * @param port           Board listen port.
+     * @param done_delay_ms  Delay before ABORT_DONE.
+     * @param bind_address   Local address to send from, or "0.0.0.0" to leave unpinned.
+     * @return false if broadcast_ip is not a valid IPv4 address (caller should fail startup).
+     */
+    bool configure(const std::string& broadcast_ip, uint16_t port, uint32_t done_delay_ms,
+                   const std::string& bind_address);
+
     /** Send ABORT broadcast and schedule ABORT_DONE after abort_done_delay_ms. */
     void triggerAbort();
 
@@ -31,6 +52,11 @@ class AbortBroadcaster {
 private:
     uint16_t port_;
     uint32_t abort_done_delay_ms_;
+    // Resolved once in configure(), not per send: the abort path is the wrong place to discover
+    // that an address does not parse.
+    struct in_addr dest_addr_{};
+    std::string dest_ip_{"255.255.255.255"};
+    std::string bind_address_{"0.0.0.0"};
     std::atomic<bool> done_thread_running_{false};
     std::thread done_thread_;
     // triggerAbort() joins done_thread_ and then move-assigns a new thread onto it. Two callers
diff --git a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
index 6d5f4a465..179bcbb26 100644
--- a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
+++ b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
@@ -46,6 +46,16 @@ class ActuatorCommander {
      */
     bool load(const std::string& config_content, const std::string& csv_path);
 
+    /**
+     * Pin outgoing actuator commands to a NIC, unless [actuator_service].bind_address already
+     * named one explicitly. Call after load().
+     *
+     * bind_address defaulted to 0.0.0.0 in every shipped profile, so the bind() at the bottom of
+     * sendBatch() constrained nothing and the kernel chose the egress interface. That was
+     * harmless while the DAQ owned its machine and is not now that it shares the apps box.
+     */
+    void setDefaultBindAddress(const std::string& address);
+
     /**
      * Send actuator commands for the given state (one shot).
      * Groups commands by board IP, sends one UDP packet per board.
@@ -128,6 +138,7 @@ class ActuatorCommander {
     State loop_state_{State::IDLE};
 
     std::string bind_addr_{"0.0.0.0"};
+    bool bind_addr_explicit_{false};
     uint16_t actuator_port_{5005};
     bool loaded_{false};
     fsw::elodin::ElodinClient* elodin_{nullptr};
diff --git a/daq-server/diablo_server/lib/include/control/ControllerService.hpp b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
index b9b9c1b84..964121584 100644
--- a/daq-server/diablo_server/lib/include/control/ControllerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
@@ -32,6 +32,11 @@ class ControllerService {
     struct PWMConfig {
         std::string actuator_board_ip = "192.168.2.201";
         uint16_t actuator_port = 5005;
+        /** Local address PWM commands leave from; "0.0.0.0" leaves the NIC to the kernel.
+         *  Resolved by the caller (see net/DaqInterface.hpp) — this is the fire path, and it must
+         *  not reach the actuator board over whichever interface the route table happened to
+         *  prefer. */
+        std::string bind_address = "0.0.0.0";
         uint8_t fuel_channel = 3;  // Fuel Press actuator channel
         uint8_t lox_channel = 8;   // LOX Press actuator channel
         float frequency_hz = 10.0f;
diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index 13864066a..8f16bb52a 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -147,6 +147,14 @@ class SequencerService {
     std::string config_path_;
     std::string config_content_;
 
+    /** Local address board-facing UDP leaves from, resolved once in init(). "0.0.0.0" means the
+     *  host has no NIC on the board subnet (a dev box) and traffic stays unpinned. */
+    std::string daq_bind_address_{"0.0.0.0"};
+
+    /** Delay between ABORT and ABORT_DONE. Was an AbortBroadcaster ctor default; kept here beside
+     *  the other fire/abort timings until a config key is wanted for it. */
+    static constexpr uint32_t kAbortDoneDelayMs = 3000;
+
     // Actuator boards as they were at init(). Held so an Elodin reconnect can re-register the
     // VTables without re-reading config.toml — config is frozen for the life of a run.
     std::vector<fsw::elodin::BoardChannels> actuator_boards_;
diff --git a/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp b/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp
index 2e6586198..fb718530a 100644
--- a/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp
+++ b/daq-server/diablo_server/lib/include/fsw/FSWConfigManager.hpp
@@ -36,6 +36,12 @@ class FSWConfigManager {
      */
     bool initialize(const std::string& bind_address, uint16_t bind_port);
 
+private:
+    /** Local address board config packets are sent from — the same NIC this manager listens on.
+     *  Empty/"0.0.0.0" leaves the egress interface to the kernel. */
+    std::string bind_address_;
+
+public:
     /**
      * @brief Process board heartbeat and assign IP if needed
      * @param heartbeat Parsed heartbeat packet
diff --git a/daq-server/diablo_server/lib/include/net/DaqInterface.hpp b/daq-server/diablo_server/lib/include/net/DaqInterface.hpp
new file mode 100644
index 000000000..e0d4b605a
--- /dev/null
+++ b/daq-server/diablo_server/lib/include/net/DaqInterface.hpp
@@ -0,0 +1,69 @@
+#ifndef FSW_DAQ_INTERFACE_HPP
+#define FSW_DAQ_INTERFACE_HPP
+
+#include <string>
+
+#include "config/Config.hpp"
+
+namespace fsw {
+namespace net {
+
+/**
+ * Which local NIC board traffic leaves from.
+ *
+ * The DAQ used to own its machine, so "the route the kernel picks" and "the board LAN" were the
+ * same sentence. It now shares the apps box with the Docker stack and the site LAN, and they are
+ * not: an unbound UDP socket sending to a broadcast address, or to a board whose subnet is
+ * reachable two ways, can leave on the wrong wire with no error anywhere.
+ *
+ * The fix every board-facing socket uses is to bind its *local address* to the NIC holding the
+ * board subnet. That is deliberately not SO_BINDTODEVICE: the services run as unprivileged
+ * `systemd --user` units and SO_BINDTODEVICE needs CAP_NET_RAW, which none of them has.
+ *
+ * The selection rule mirrors deploy/bootstrap_daq.sh, which already picks the board NIC by
+ * address rather than by name (the name varies — eth0, enxXXXXXXXX — the address does not,
+ * because the firmware hardcodes the server at 192.168.2.20).
+ */
+struct DaqBindResult {
+    /** False means the caller must abort startup: the operator asked for something impossible. */
+    bool ok = true;
+    /** Address to bind. "0.0.0.0" means unpinned — see `pinned`. */
+    std::string address = "0.0.0.0";
+    /** True when `address` names a real NIC. False on the dev/CI path, where nothing matched. */
+    bool pinned = false;
+    /** Human-readable account of the decision. Already logged by resolveDaqBindAddress(). */
+    std::string detail;
+};
+
+/**
+ * Decide which local address board traffic should leave from, and log the decision.
+ *
+ * 1. `[network].bind_ip` set to something other than 0.0.0.0 — use it verbatim. If it cannot be
+ *    bound, return ok=false. An explicit pin that silently degrades to 0.0.0.0 is this bug
+ *    wearing a config key.
+ * 2. Otherwise auto-detect: the local IPv4 interface whose subnet contains the configured board
+ *    addresses. Exactly one match is the normal case, on the rig and under the sim (whose boards
+ *    are 127.0.0.x, matched by loopback's /8).
+ * 3. More than one match — return ok=false, naming the candidates. Ambiguity is the defect;
+ *    picking one is how we got here.
+ * 4. No match — 0.0.0.0 with a warning. This is a dev laptop or CI, where the board subnet does
+ *    not exist and hard-failing would break `./dev.sh`.
+ *
+ * @param who Service name for log lines, e.g. "Sequencer".
+ */
+// NOTE the leading "::". FSWConfigManager declares a nested `fsw::fsw` namespace, so inside
+// `namespace fsw` the name `fsw` resolves to it and a plain `fsw::config::Config` becomes
+// `fsw::fsw::config::Config` — which compiles or not depending on include order alone.
+DaqBindResult resolveDaqBindAddress(const ::fsw::config::Config& cfg, const char* who);
+
+/**
+ * bind() an already-created socket to `address` on an ephemeral port.
+ * A no-op returning true for "0.0.0.0" or "", so callers need no special case for the dev path.
+ * Logs and returns false on failure.
+ */
+bool bindToDaqInterface(int sock, const std::string& address, const char* who);
+
+}  // namespace net
+}  // namespace fsw
+
+#endif
diff --git a/daq-server/diablo_server/lib/src/control/ControllerService.cpp b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
index 049afd8eb..5ba2fe9a4 100644
--- a/daq-server/diablo_server/lib/src/control/ControllerService.cpp
+++ b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
@@ -30,6 +30,7 @@
 #include "control/RobustDDPController.hpp"
 #include "db.hpp"
 #include "elodin/ElodinClient.hpp"
+#include "net/DaqInterface.hpp"
 
 using namespace vtable;
 using namespace vtable::builder;
@@ -94,8 +95,18 @@ bool ControllerService::initialize(const PWMConfig& pwm_config,
                   << std::endl;
         return false;
     }
+    if (!fsw::net::bindToDaqInterface(udp_socket_fd_, pwm_config_.bind_address,
+                                      "ControllerService")) {
+        ::close(udp_socket_fd_);
+        udp_socket_fd_ = -1;
+        return false;
+    }
     std::cout << "[ControllerService] ✅ UDP socket created for PWM output → "
-              << pwm_config_.actuator_board_ip << ":" << pwm_config_.actuator_port << std::endl;
+              << pwm_config_.actuator_board_ip << ":" << pwm_config_.actuator_port
+              << (pwm_config_.bind_address == "0.0.0.0"
+                      ? std::string()
+                      : " (from " + pwm_config_.bind_address + ")")
+              << std::endl;
     std::cout << "[ControllerService]    Fuel CH" << (int)pwm_config_.fuel_channel << "  LOX CH"
               << (int)pwm_config_.lox_channel << "  freq=" << pwm_config_.frequency_hz << "Hz"
               << "  duration=" << pwm_config_.duration_ms << "ms" << std::endl;
diff --git a/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp b/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp
index 3e34b68ed..dbd441da5 100644
--- a/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp
+++ b/daq-server/diablo_server/lib/src/control/PressureStateMachine.cpp
@@ -59,6 +59,13 @@ bool PressureStateMachine::initialize(std::shared_ptr<elodin::ElodinClient> elod
     actuator_board_port_ = board_port;
 
     // Create UDP socket for sending commands (reused, like DiabloAvionics GUI)
+    //
+    // This is the one board-facing sender left unpinned to a NIC, because nothing constructs a
+    // PressureStateMachine — it is dead code, and pinning a socket that never opens is churn. If
+    // this class is ever revived, pass a bind address here: UDPSocket's sender ctor takes one, and
+    // fsw::net::resolveDaqBindAddress() (lib/include/net/DaqInterface.hpp) supplies it. Without
+    // that, commands leave on whatever interface the route table prefers, which on the shared apps
+    // box is not necessarily the board LAN.
     command_socket_ = std::make_unique<daq_comms::transport::UDPSocket>(actuator_board_ip_,
                                                                         actuator_board_port_, true);
     if (!command_socket_->is_valid()) {
diff --git a/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp b/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
index ea6c698da..eef099d42 100644
--- a/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
+++ b/daq-server/diablo_server/lib/src/fsw/FSWConfigManager.cpp
@@ -15,6 +15,7 @@ FSWConfigManager::FSWConfigManager() : current_state_(config::SystemState::GSE)
 }
 
 bool FSWConfigManager::initialize(const std::string& bind_address, uint16_t bind_port) {
+    bind_address_ = bind_address;
     config_socket_ = std::make_unique<daq_comms::transport::UDPSocket>(bind_address, bind_port);
 
     if (!config_socket_->is_valid()) {
@@ -147,9 +148,10 @@ bool FSWConfigManager::send_config_to_board(uint8_t board_id) {
     std::cout.flags(f);
     std::cout << std::dec << std::setfill(' ') << std::endl;
 
-    // Create UDP socket for sending to board
+    // Create UDP socket for sending to board, pinned to the same NIC we listen on so the config
+    // packet cannot leave via the site LAN or the Docker bridge on a multi-homed host.
     daq_comms::transport::UDPSocket board_socket(board_config->board_ip, board_config->board_port,
-                                                 true);
+                                                 true, bind_address_);
 
     // Send packet to board
     ssize_t sent = board_socket.send(packet.data(), packet.size());
diff --git a/daq-server/diablo_server/lib/src/net/DaqInterface.cpp b/daq-server/diablo_server/lib/src/net/DaqInterface.cpp
new file mode 100644
index 000000000..6b5e36f81
--- /dev/null
+++ b/daq-server/diablo_server/lib/src/net/DaqInterface.cpp
@@ -0,0 +1,210 @@
+#include "net/DaqInterface.hpp"
+
+#include <arpa/inet.h>
+#include <ifaddrs.h>
+#include <net/if.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <cerrno>
+#include <cstring>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace fsw {
+namespace net {
+
+namespace {
+
+bool isUnpinned(const std::string& a) {
+    return a.empty() || a == "0.0.0.0";
+}
+
+/** Parse dotted-quad into host-order uint32. Returns false on anything else. */
+bool parseV4(const std::string& s, uint32_t& out) {
+    struct in_addr a{};
+    if (inet_pton(AF_INET, s.c_str(), &a) != 1)
+        return false;
+    out = ntohl(a.s_addr);
+    return true;
+}
+
+/** Can this address actually be bound on this host? The only honest test is to try. */
+bool canBind(const std::string& address) {
+    int s = ::socket(AF_INET, SOCK_DGRAM, 0);
+    if (s < 0)
+        return false;
+    struct sockaddr_in local{};
+    local.sin_family = AF_INET;
+    local.sin_port = 0;
+    if (inet_pton(AF_INET, address.c_str(), &local.sin_addr) != 1) {
+        ::close(s);
+        return false;
+    }
+    const bool ok = ::bind(s, reinterpret_cast<struct sockaddr*>(&local), sizeof(local)) == 0;
+    ::close(s);
+    return ok;
+}
+
+/**
+ * The board addresses we are trying to reach. Only explicitly configured IPs are used: the
+ * synthesized "192.168.2.<board_id>" fallback some services apply would hardcode the very subnet
+ * this function exists to discover, and would make the sim (127.0.0.x boards) resolve to the
+ * hardware LAN.
+ */
+std::vector<uint32_t> boardAddresses(const ::fsw::config::Config& cfg) {
+    std::vector<uint32_t> out;
+    for (const auto& b : cfg.boards) {
+        if (!b.enabled || b.ip.empty())
+            continue;
+        uint32_t v = 0;
+        if (parseV4(b.ip, v))
+            out.push_back(v);
+    }
+    // No board carries an explicit IP (a minimal config, as the unit tests write). The broadcast
+    // destination names the same subnet, so it answers the same question.
+    if (out.empty()) {
+        uint32_t v = 0;
+        if (parseV4(cfg.server_heartbeat.broadcast_ip, v) && v != 0xFFFFFFFFu)
+            out.push_back(v);
+    }
+    return out;
+}
+
+struct Candidate {
+    std::string iface;
+    std::string address;
+};
+
+}  // namespace
+
+// ─────────────────────────────────────────────────────────────────────────────
+DaqBindResult resolveDaqBindAddress(const ::fsw::config::Config& cfg, const char* who) {
+    DaqBindResult r;
+
+    // 1. Explicit pin wins, and must work.
+    if (!isUnpinned(cfg.network.bind_ip)) {
+        r.address = cfg.network.bind_ip;
+        if (!canBind(r.address)) {
+            r.ok = false;
+            r.detail = "[network].bind_ip = " + r.address + " is not an address on this host";
+            std::cerr << "[" << who << "] " << r.detail
+                      << " — refusing to start. Board traffic would leave on an interface nobody "
+                         "chose. Fix the NIC or clear the key to auto-detect."
+                      << std::endl;
+            return r;
+        }
+        r.pinned = true;
+        r.detail = "board traffic pinned to " + r.address + " (explicit [network].bind_ip)";
+        std::cout << "[" << who << "] " << r.detail << std::endl;
+        return r;
+    }
+
+    // 2. Auto-detect: the interface whose subnet holds the configured boards.
+    const std::vector<uint32_t> boards = boardAddresses(cfg);
+    std::vector<Candidate> matches;
+
+    struct ifaddrs* ifa_head = nullptr;
+    if (getifaddrs(&ifa_head) == 0) {
+        for (struct ifaddrs* ifa = ifa_head; ifa; ifa = ifa->ifa_next) {
+            if (!ifa->ifa_addr || !ifa->ifa_netmask || ifa->ifa_addr->sa_family != AF_INET)
+                continue;
+            if (!(ifa->ifa_flags & IFF_UP))
+                continue;
+
+            const uint32_t addr =
+                ntohl(reinterpret_cast<struct sockaddr_in*>(ifa->ifa_addr)->sin_addr.s_addr);
+            const uint32_t mask =
+                ntohl(reinterpret_cast<struct sockaddr_in*>(ifa->ifa_netmask)->sin_addr.s_addr);
+
+            bool holds_a_board = false;
+            for (uint32_t b : boards) {
+                if ((b & mask) == (addr & mask)) {
+                    holds_a_board = true;
+                    break;
+                }
+            }
+            if (!holds_a_board)
+                continue;
+
+            // A NIC with two addresses in the subnet is not ambiguous — egress is the same
+            // interface either way — so keep the first and do not let it trip the check below.
+            const std::string name = ifa->ifa_name ? ifa->ifa_name : "?";
+            bool already = false;
+            for (const auto& c : matches)
+                if (c.iface == name)
+                    already = true;
+            if (already)
+                continue;
+
+            char buf[INET_ADDRSTRLEN] = {0};
+            struct in_addr net_order{};
+            net_order.s_addr = htonl(addr);
+            inet_ntop(AF_INET, &net_order, buf, sizeof(buf));
+            matches.push_back({name, buf});
+        }
+        freeifaddrs(ifa_head);
+    }
+
+    // 3. Ambiguous — say so rather than guess. Guessing is the bug.
+    if (matches.size() > 1) {
+        std::ostringstream os;
+        os << "board subnet is reachable on " << matches.size() << " interfaces (";
+        for (size_t i = 0; i < matches.size(); ++i)
+            os << (i ? ", " : "") << matches[i].iface << " " << matches[i].address;
+        os << ")";
+        r.ok = false;
+        r.detail = os.str();
+        std::cerr << "[" << who << "] " << r.detail
+                  << " — refusing to start. Set [network].bind_ip to the one board traffic should "
+                     "use."
+                  << std::endl;
+        return r;
+    }
+
+    if (matches.size() == 1) {
+        r.address = matches[0].address;
+        r.pinned = true;
+        r.detail = "board traffic pinned to " + matches[0].iface + " " + r.address + " (auto)";
+        std::cout << "[" << who << "] " << r.detail << std::endl;
+        return r;
+    }
+
+    // 4. Nothing on the board subnet: a dev laptop or CI. Stay unpinned — hard-failing here would
+    // break ./dev.sh, and there is no wrong wire to leave on when there is only one.
+    r.address = "0.0.0.0";
+    r.pinned = false;
+    r.detail = "no local interface on the board subnet — board traffic is NOT pinned to a NIC";
+    std::cout << "[" << who << "] " << r.detail
+              << " (expected on a dev box; on the rig this means the 192.168.2.x NIC is missing)"
+              << std::endl;
+    return r;
+}
+
+// ─────────────────────────────────────────────────────────────────────────────
+bool bindToDaqInterface(int sock, const std::string& address, const char* who) {
+    if (isUnpinned(address))
+        return true;  // dev path — nothing to pin to, whatever the socket is
+    if (sock < 0)
+        return false;
+
+    struct sockaddr_in local{};
+    local.sin_family = AF_INET;
+    local.sin_port = 0;  // ephemeral; we are choosing an interface, not a port
+    if (inet_pton(AF_INET, address.c_str(), &local.sin_addr) != 1) {
+        std::cerr << "[" << who << "] bad DAQ bind address '" << address << "'" << std::endl;
+        return false;
+    }
+    if (::bind(sock, reinterpret_cast<struct sockaddr*>(&local), sizeof(local)) < 0) {
+        std::cerr << "[" << who << "] bind to DAQ interface " << address
+                  << " failed: " << strerror(errno) << std::endl;
+        return false;
+    }
+    return true;
+}
+
+}  // namespace net
+}  // namespace fsw
diff --git a/daq-server/diablo_server/lib/test/test_abort_ordering.cpp b/daq-server/diablo_server/lib/test/test_abort_ordering.cpp
index 12fc98dfd..108272237 100644
--- a/daq-server/diablo_server/lib/test/test_abort_ordering.cpp
+++ b/daq-server/diablo_server/lib/test/test_abort_ordering.cpp
@@ -18,10 +18,15 @@
  * refused. A closed port on localhost is NOT a substitute: it answers RST immediately, so
  * connect() fails fast and the regression is invisible.
  *
- * ── A note on the port ─────────────────────────────────────────────────────────────────────────
- * SequencerService default-constructs AbortBroadcaster, so the abort port is hardcoded to 5005 and
- * config's broadcast_port is ignored (tracked in docs/IMPROVEMENTS.md). This test therefore binds
- * 5005. If that is ever wired to config, this test should take the port from config too.
+ * ── Destination, not just ordering ─────────────────────────────────────────────────────────────
+ * The broadcaster now takes its destination and port from [server_heartbeat] rather than sending
+ * to the limited broadcast 255.255.255.255 on a hardcoded 5005. This test writes those keys and
+ * binds what it wrote, so it also covers the routing: if configure() were skipped, or the address
+ * plumbed through wrongly, the datagram would go to the shipped default 192.168.2.255 and never
+ * arrive here.
+ *
+ * A high port is used rather than 5005 so the test does not collide with a real board stack (or
+ * another service) on the developer's machine.
  */
 #include <arpa/inet.h>
 #include <netinet/in.h>
@@ -54,12 +59,16 @@ static void check(bool ok, const std::string& what) {
 
 // PacketType::ABORT — the first header byte of the broadcast.
 static constexpr uint8_t kAbortPacketType = 7;
-static constexpr uint16_t kAbortPort = 5005;
+static constexpr uint16_t kAbortPort = 15005;
+// Loopback, so the packet is observable on a box with no board LAN — which is every dev box and
+// every CI runner.
+static constexpr const char* kAbortIp = "127.0.0.1";
 
 int main() {
     std::cout << "=== Abort ordering (abort must not wait on controller_service) ===" << std::endl;
 
-    // Listener for the abort broadcast. Bound to 0.0.0.0 so the limited broadcast reaches it.
+    // Listener for the abort broadcast, on the address the config below tells the sequencer to
+    // send to.
     int udp = socket(AF_INET, SOCK_DGRAM, 0);
     int opt = 1;
     setsockopt(udp, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
@@ -98,6 +107,8 @@ int main() {
     {
         std::ofstream f(cfg_path);
         f << "[database]\nhost=\"127.0.0.1\"\nport=1\n\n"
+          << "[server_heartbeat]\nbroadcast_ip=\"" << kAbortIp
+          << "\"\nbroadcast_port=" << kAbortPort << "\n\n"
           << "[controller_service]\nhost=\"192.0.2.1\"\nport=8000\n\n"
           << "[fire]\nstate=\"Fire\"\nexpiry_target=\"Armed\"\n"
           << "duration_ms=30000\nextended_ms=60000\n";
diff --git a/daq-server/diablo_server/lib/test/test_daq_interface.cpp b/daq-server/diablo_server/lib/test/test_daq_interface.cpp
new file mode 100644
index 000000000..80e668b46
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_daq_interface.cpp
@@ -0,0 +1,103 @@
+/**
+ * Which NIC board traffic leaves from.
+ *
+ * The DAQ used to own its machine, so an unbound socket and "the board NIC" were the same thing.
+ * It now shares the apps box with the Docker stack and the site LAN, and resolveDaqBindAddress()
+ * is what re-establishes the guarantee. Every sender in the pipeline routes through it, so its
+ * four outcomes are pinned here rather than left to be discovered on a rig.
+ *
+ * Addresses are chosen so the results do not depend on the machine running the test:
+ *   - 127.0.0.x   is loopback, present everywhere (this is also the shape the sim uses)
+ *   - 192.0.2.x   is TEST-NET-1 (RFC 5737), guaranteed not assigned to any interface
+ *   - 198.51.100.x is TEST-NET-2, likewise — used for "no NIC on the board subnet"
+ *
+ * The ambiguous case (two interfaces on the board subnet) is deliberately not tested: it cannot
+ * be produced without adding an address to the host, which a unit test has no business doing.
+ */
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <iostream>
+#include <string>
+
+#include "config/Config.hpp"
+#include "net/DaqInterface.hpp"
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+/** A config with two boards on the given subnet, and an optional explicit [network].bind_ip. */
+static fsw::config::Config makeConfig(const std::string& board_prefix,
+                                      const std::string& bind_ip = "") {
+    std::string toml;
+    if (!bind_ip.empty())
+        toml += "[network]\nbind_ip = \"" + bind_ip + "\"\n\n";
+    toml += "[boards.a]\ntype = \"PT\"\nip = \"" + board_prefix + ".21\"\nboard_id = 21\n";
+    toml += "enabled = true\n\n";
+    toml += "[boards.b]\ntype = \"PT\"\nip = \"" + board_prefix + ".22\"\nboard_id = 22\n";
+    toml += "enabled = true\n";
+    return fsw::config::load_from_string(toml);
+}
+
+int main() {
+    std::cout << "=== DAQ interface resolution ===" << std::endl;
+
+    // 1. Auto-detect finds the interface holding the board subnet. Loopback holds 127.0.0.0/8, so
+    //    boards at 127.0.0.x resolve to it — which is exactly how a sim run resolves.
+    {
+        const auto r = fsw::net::resolveDaqBindAddress(makeConfig("127.0.0"), "test");
+        check(r.ok, "auto: loopback boards resolve without error");
+        check(r.pinned, "auto: loopback boards are pinned to a NIC");
+        check(r.address.rfind("127.", 0) == 0,
+              "auto: pinned address is on loopback (got " + r.address + ")");
+    }
+
+    // 2. No interface on the board subnet — a dev laptop or a CI runner. Must stay soft: hard
+    //    failing here would break ./dev.sh on every machine without a test stand attached.
+    {
+        const auto r = fsw::net::resolveDaqBindAddress(makeConfig("198.51.100"), "test");
+        check(r.ok, "no match: does not fail startup");
+        check(!r.pinned, "no match: reports itself as unpinned");
+        check(r.address == "0.0.0.0", "no match: falls back to 0.0.0.0");
+    }
+
+    // 3. An explicit [network].bind_ip wins over auto-detection.
+    {
+        const auto r = fsw::net::resolveDaqBindAddress(makeConfig("127.0.0", "127.0.0.1"), "test");
+        check(r.ok && r.pinned, "explicit: accepted");
+        check(r.address == "127.0.0.1", "explicit: uses the configured address");
+    }
+
+    // 4. An explicit bind_ip that is not on this host fails startup rather than degrading to
+    //    0.0.0.0. Silently ignoring the operator's pin is the original bug wearing a config key.
+    {
+        const auto r = fsw::net::resolveDaqBindAddress(makeConfig("127.0.0", "192.0.2.1"), "test");
+        check(!r.ok, "explicit but absent: refuses to start");
+        check(!r.pinned, "explicit but absent: not reported as pinned");
+    }
+
+    // 5. bindToDaqInterface on real sockets. "0.0.0.0" is a no-op returning success, so every
+    //    caller can invoke it unconditionally and the dev path needs no special case.
+    {
+        int s1 = ::socket(AF_INET, SOCK_DGRAM, 0);
+        check(fsw::net::bindToDaqInterface(s1, "0.0.0.0", "test"), "bind: 0.0.0.0 is a no-op");
+        ::close(s1);
+
+        int s2 = ::socket(AF_INET, SOCK_DGRAM, 0);
+        check(fsw::net::bindToDaqInterface(s2, "127.0.0.1", "test"), "bind: a local address binds");
+        ::close(s2);
+
+        int s3 = ::socket(AF_INET, SOCK_DGRAM, 0);
+        check(!fsw::net::bindToDaqInterface(s3, "192.0.2.1", "test"),
+              "bind: an address not on this host fails rather than silently not binding");
+        ::close(s3);
+    }
+
+    std::cout << (g_failures ? "FAILED" : "PASSED") << std::endl;
+    return g_failures ? 1 : 0;
+}
diff --git a/daq-server/diablo_server/services/CMakeLists.txt b/daq-server/diablo_server/services/CMakeLists.txt
index 22ef9e687..a1f2a690b 100644
--- a/daq-server/diablo_server/services/CMakeLists.txt
+++ b/daq-server/diablo_server/services/CMakeLists.txt
@@ -63,7 +63,7 @@ target_link_libraries(config_broadcast_service fsw_daq_lib pthread ${RT_LIBRARY}
 # Ethernet firmware flash for ESP32-S3 boards over TCP:3232
 add_executable(ota_service ota/ota_service_main.cpp)
 target_include_directories(ota_service PRIVATE ${COMMON_INCLUDES})
-target_link_libraries(ota_service Threads::Threads pthread ${RT_LIBRARY})
+target_link_libraries(ota_service fsw_daq_lib Threads::Threads pthread ${RT_LIBRARY})
 
 # ── Data Logger Service ───────────────────────────────────────────────────────
 
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index 482b1a4ed..f1e6e4d4c 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -28,6 +28,7 @@
 #include <vector>
 
 #include "config/Config.hpp"
+#include "net/DaqInterface.hpp"
 
 namespace {
 std::atomic<bool> g_running{true};
@@ -494,6 +495,20 @@ int main(int argc, char* argv[]) {
         return 1;
     }
 
+    // Pin the egress NIC. This service unicasts to each board, so the destination already names
+    // one subnet — but nothing stopped the kernel choosing a different interface to reach it on a
+    // host with several. Resolved from the config as loaded at startup: the send loop re-reads
+    // config.toml every cycle for board edits, and a NIC change mid-run is not a board edit.
+    {
+        const auto nic =
+            fsw::net::resolveDaqBindAddress(fsw::config::load(config_path), "ConfigBroadcast");
+        if (!nic.ok) {
+            close(sock);
+            return 1;
+        }
+        fsw::net::bindToDaqInterface(sock, nic.address, "ConfigBroadcast");
+    }
+
     struct sockaddr_in dest;
     memset(&dest, 0, sizeof(dest));
     dest.sin_family = AF_INET;
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index 40f7812ca..af5f5600c 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -34,6 +34,7 @@
 #include "control/ControllerService.hpp"
 #include "control/RobustDDPController.hpp"
 #include "control/StateMachine.hpp"
+#include "net/DaqInterface.hpp"
 
 /** Resolve path relative to config: paths like output/lut/... are relative to project root. */
 static std::string resolveConfigPath(const std::string& config_path, const std::string& path) {
@@ -278,6 +279,15 @@ int main(int argc, char* argv[]) {
         pwm.actuator_board_ip = fuel_ip;
     }
 
+    // Which NIC PWM commands leave from. The controller shares the apps box with the Docker
+    // stack and the site LAN, so "the route to the actuator board" is no longer a single answer.
+    {
+        const auto nic = fsw::net::resolveDaqBindAddress(cfg, "controller");
+        if (!nic.ok)
+            return 1;
+        pwm.bind_address = nic.address;
+    }
+
     // Controller loop / PWM settings from [controller].
     pwm.frequency_hz = static_cast<float>(cfg.controller.pwm_frequency_hz);
     pwm.duration_ms = cfg.controller.pwm_duration_ms;
diff --git a/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp b/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
index b1e7c5593..1804c7160 100644
--- a/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
+++ b/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
@@ -30,6 +30,7 @@
 
 #include "config/Config.hpp"
 #include "elodin/ElodinClient.hpp"
+#include "net/DaqInterface.hpp"
 
 namespace {
 std::atomic<bool> g_running{true};
@@ -209,6 +210,19 @@ int main(int argc, char* argv[]) {
         setsockopt(sock, SOL_SOCKET, SO_BROADCAST, &opt, sizeof(opt));
     }
 
+    // Pin the egress NIC. The destination is already subnet-directed, so this is belt-and-braces
+    // against a host where the board subnet is reachable more than one way — but it also fixes
+    // the source address the boards see. Not fatal: a heartbeat on an unknown interface beats
+    // none.
+    {
+        const auto nic = fsw::net::resolveDaqBindAddress(cfg, "HeartbeatService");
+        if (!nic.ok) {
+            close(sock);
+            return 1;
+        }
+        fsw::net::bindToDaqInterface(sock, nic.address, "HeartbeatService");
+    }
+
     struct sockaddr_in dest;
     memset(&dest, 0, sizeof(dest));
     dest.sin_family = AF_INET;
diff --git a/daq-server/diablo_server/services/ota/ota_service_main.cpp b/daq-server/diablo_server/services/ota/ota_service_main.cpp
index 1e95e9bb1..29377de4b 100644
--- a/daq-server/diablo_server/services/ota/ota_service_main.cpp
+++ b/daq-server/diablo_server/services/ota/ota_service_main.cpp
@@ -36,6 +36,9 @@
 #include <thread>
 #include <vector>
 
+#include "config/Config.hpp"
+#include "net/DaqInterface.hpp"
+
 namespace {
 std::atomic<bool> g_running{true};
 
@@ -53,6 +56,10 @@ std::string trim(const std::string& s) {
 // ── OTA Flash ────────────────────────────────────────────────────────────────
 
 static constexpr uint16_t OTA_PORT = 3232;
+
+// Local address OTA connections leave from, resolved from config at startup. "0.0.0.0" means the
+// host has no NIC on the board subnet and the kernel picks — see lib/include/net/DaqInterface.hpp.
+std::string g_bind_address = "0.0.0.0";
 static constexpr size_t CHUNK_SIZE = 4096;
 static constexpr int CONNECT_TIMEOUT_S = 5;
 static constexpr int TRANSFER_TIMEOUT_S = 60;
@@ -89,6 +96,15 @@ bool flashFirmware(const std::string& ip, const std::string& bin_path, std::stri
         setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
     }
 
+    // Reach the board over the board NIC. Unlike the UDP senders this one fails loudly if it
+    // takes the wrong route (connect() times out), but "flash timed out" is a much worse
+    // diagnostic than not having taken the wrong route in the first place.
+    if (!fsw::net::bindToDaqInterface(sock, g_bind_address, "OTAService")) {
+        close(sock);
+        error = "cannot bind OTA socket to " + g_bind_address;
+        return false;
+    }
+
     struct sockaddr_in addr{};
     addr.sin_family = AF_INET;
     addr.sin_port = htons(OTA_PORT);
@@ -362,20 +378,31 @@ void handleClient(int client_fd) {
 
 int main(int argc, char* argv[]) {
     uint16_t listen_port = 9997;
+    std::string config_path = "config/config.toml";
 
     for (int i = 1; i < argc; ++i) {
         std::string arg = argv[i];
         if (arg == "--port" && i + 1 < argc) {
             listen_port = static_cast<uint16_t>(std::atoi(argv[++i]));
+        } else if (arg == "--config" && i + 1 < argc) {
+            config_path = argv[++i];
         } else if (arg == "--help" || arg == "-h") {
             std::cout
-                << "Usage: " << argv[0] << " [--port PORT]\n"
+                << "Usage: " << argv[0] << " [--port PORT] [--config PATH]\n"
                 << "  OTA_FLASH:<ip>:<firmware.bin>\n"
                 << "  OTA_BUILD_FLASH|ip|abs_platformio_project_dir|board_id (0=no ID flag)\n";
             return 0;
         }
     }
 
+    {
+        const auto nic =
+            fsw::net::resolveDaqBindAddress(fsw::config::load(config_path), "OTAService");
+        if (!nic.ok)
+            return 1;
+        g_bind_address = nic.address;
+    }
+
     signal(SIGINT, signalHandler);
     signal(SIGTERM, signalHandler);
     signal(SIGPIPE, SIG_IGN);
diff --git a/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp b/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
index 4a6857b3e..212bff06d 100644
--- a/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
+++ b/daq-server/diablo_server/services/sequencer/AbortBroadcaster.cpp
@@ -15,6 +15,7 @@
 // daqv2comms — PacketHeader + PacketType
 #include "DiabloEnums.h"
 #include "DiabloPackets.h"
+#include "net/DaqInterface.hpp"
 
 namespace sequencer {
 
@@ -29,6 +30,37 @@ uint32_t host_timestamp_ms() {
 
 AbortBroadcaster::AbortBroadcaster(uint16_t port, uint32_t abort_done_delay_ms)
     : port_(port), abort_done_delay_ms_(abort_done_delay_ms) {
+    dest_addr_.s_addr = INADDR_BROADCAST;
+}
+
+bool AbortBroadcaster::configure(const std::string& broadcast_ip, uint16_t port,
+                                 uint32_t done_delay_ms, const std::string& bind_address) {
+    struct in_addr parsed{};
+    if (inet_pton(AF_INET, broadcast_ip.c_str(), &parsed) != 1) {
+        std::cerr << "[AbortBroadcaster] invalid broadcast address '" << broadcast_ip << "'"
+                  << std::endl;
+        return false;
+    }
+    dest_addr_ = parsed;
+    dest_ip_ = broadcast_ip;
+    port_ = port;
+    abort_done_delay_ms_ = done_delay_ms;
+    bind_address_ = bind_address;
+    // The limited broadcast is the one destination that does not resolve to a single route, so a
+    // config that omits the key keeps the defect this class was fixed for. Do not silently
+    // upgrade it to a subnet-directed guess — [server_heartbeat].broadcast_ip is also what
+    // daq_bridge sends SERVER_HEARTBEAT to, and inventing a subnet here would move that too.
+    if (dest_addr_.s_addr == INADDR_BROADCAST)
+        std::cerr << "[AbortBroadcaster] WARNING: aborting to the limited broadcast "
+                     "255.255.255.255 — set [server_heartbeat].broadcast_ip to the board subnet "
+                     "(e.g. 192.168.2.255) or the kernel picks the egress interface"
+                  << std::endl;
+
+    std::cout << "[AbortBroadcaster] ABORT/ABORT_DONE/CLEAR_ABORT -> " << dest_ip_ << ":" << port_
+              << " (from "
+              << (bind_address_ == "0.0.0.0" ? std::string("any interface") : bind_address_)
+              << ", ABORT_DONE after " << abort_done_delay_ms_ << " ms)" << std::endl;
+    return true;
 }
 
 AbortBroadcaster::~AbortBroadcaster() {
@@ -54,6 +86,13 @@ void AbortBroadcaster::sendPacket(uint8_t packet_type_byte) {
     int broadcast = 1;
     setsockopt(sock, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast));
 
+    // Pin the egress NIC. A failure here is not fatal — an abort that leaves on an unknown
+    // interface still beats no abort at all — but it must be visible.
+    if (!fsw::net::bindToDaqInterface(sock, bind_address_, "AbortBroadcaster"))
+        std::cerr << "[AbortBroadcaster] continuing unpinned — the broadcast may leave on the "
+                     "wrong interface"
+                  << std::endl;
+
     // A blocked sendto here would stall the abort itself. Bound it: a broadcast that cannot be
     // queued within 100 ms is a lost repeat, not a reason to stop sending the others.
     struct timeval tv{.tv_sec = 0, .tv_usec = 100000};
@@ -62,7 +101,7 @@ void AbortBroadcaster::sendPacket(uint8_t packet_type_byte) {
     struct sockaddr_in dest{};
     dest.sin_family = AF_INET;
     dest.sin_port = htons(port_);
-    dest.sin_addr.s_addr = INADDR_BROADCAST;
+    dest.sin_addr = dest_addr_;
 
     const char* type_name = (packet_type_byte == 7)   ? "ABORT"
                             : (packet_type_byte == 8) ? "ABORT_DONE"
@@ -86,8 +125,9 @@ void AbortBroadcaster::sendPacket(uint8_t packet_type_byte) {
     close(sock);
 
     if (delivered > 0)
-        std::cout << "[AbortBroadcaster] Sent " << type_name << " broadcast (port " << port_ << ", "
-                  << delivered << "/" << kBroadcastRepeats << " repeats)" << std::endl;
+        std::cout << "[AbortBroadcaster] Sent " << type_name << " broadcast (" << dest_ip_ << ":"
+                  << port_ << ", " << delivered << "/" << kBroadcastRepeats << " repeats)"
+                  << std::endl;
     else
         std::cerr << "[AbortBroadcaster] " << type_name << " broadcast FAILED — no repeat left the "
                   << "host" << std::endl;
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index db978dc67..15d15ec03 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -55,6 +55,12 @@ static std::string toLower(std::string s) {
 // ─────────────────────────────────────────────────────────────────────────────
 // load()
 // ─────────────────────────────────────────────────────────────────────────────
+void ActuatorCommander::setDefaultBindAddress(const std::string& address) {
+    if (bind_addr_explicit_)
+        return;
+    bind_addr_ = address.empty() ? "0.0.0.0" : address;
+}
+
 bool ActuatorCommander::load(const std::string& config_content, const std::string& csv_path) {
     roles_.clear();
     state_actuators_.clear();
@@ -62,9 +68,12 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
     const fsw::config::Config cfg = fsw::config::load_from_string(config_content);
 
     // -- Config: bind address and actuator port --
+    // An explicit [actuator_service].bind_address wins; 0.0.0.0 (the shipped value everywhere)
+    // means "not specified", and setDefaultBindAddress() fills it from the resolved DAQ NIC.
     bind_addr_ = cfg.actuator_service.bind_address;
     if (bind_addr_.empty())
         bind_addr_ = "0.0.0.0";
+    bind_addr_explicit_ = bind_addr_ != "0.0.0.0";
     actuator_port_ = cfg.network.actuator_cmd_port;
 
     // -- Board IP map: board_id → IP (from [boards.*]); canonical 192.168.2.N fallback --
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index c05dd5e44..a912b113d 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -20,6 +20,7 @@
 #include "config/Config.hpp"
 #include "config/LoadActiveBoards.hpp"
 #include "elodin/DatabaseConfig.hpp"
+#include "net/DaqInterface.hpp"
 
 namespace sequencer {
 
@@ -291,6 +292,29 @@ bool SequencerService::init(const std::string& config_path) {
         return false;
     }
 
+    // Which NIC board traffic leaves from. Resolved once, here, and handed to both UDP senders:
+    // the actuator commander and the abort broadcaster. See net/DaqInterface.hpp for why the
+    // sequencer cannot simply let the kernel choose.
+    {
+        const auto nic = fsw::net::resolveDaqBindAddress(cfg, "Sequencer");
+        if (!nic.ok)
+            return false;
+        daq_bind_address_ = nic.address;
+        actuator_commander_.setDefaultBindAddress(daq_bind_address_);
+    }
+
+    // Abort destination and port from config. Previously the broadcaster was default-constructed
+    // and never told anything, so it sent to 255.255.255.255:5005 regardless of what the rig was
+    // configured for. [server_heartbeat] is the section that already names where board broadcasts
+    // go, and every shipped profile sets it.
+    if (!abort_broadcaster_.configure(cfg.server_heartbeat.broadcast_ip,
+                                      cfg.server_heartbeat.broadcast_port, kAbortDoneDelayMs,
+                                      daq_bind_address_)) {
+        std::cerr << "[SequencerService] [server_heartbeat].broadcast_ip is not a valid address"
+                  << std::endl;
+        return false;
+    }
+
     applyFireConfig(cfg);
 
     // Controller service endpoint for FIRE_START / FIRE_STOP
@@ -307,9 +331,8 @@ bool SequencerService::init(const std::string& config_path) {
     {
         const auto boards_map = fsw::config::load_active_boards(config_path_);
         const auto it_act = boards_map.find(fsw::config::ActiveBoardKind::ACTUATOR);
-        actuator_boards_ = (it_act != boards_map.end())
-                               ? it_act->second
-                               : std::vector<fsw::elodin::BoardChannels>{};
+        actuator_boards_ = (it_act != boards_map.end()) ? it_act->second
+                                                        : std::vector<fsw::elodin::BoardChannels>{};
     }
 
     // Elodin — connection is best-effort; service runs without it
diff --git a/daq-server/diablo_server/transport/include/transport/NetworkSocket.hpp b/daq-server/diablo_server/transport/include/transport/NetworkSocket.hpp
index 38918e307..0b675e2c5 100644
--- a/daq-server/diablo_server/transport/include/transport/NetworkSocket.hpp
+++ b/daq-server/diablo_server/transport/include/transport/NetworkSocket.hpp
@@ -60,8 +60,13 @@ class UDPSocket : public NetworkSocket {
      * @brief Create UDP socket for sending to remote address
      * @param remote_address Remote address to send to
      * @param remote_port Remote port to send to
+     * @param is_sender Tag selecting this overload
+     * @param bind_address Local address to send from, pinning the egress NIC. Empty or "0.0.0.0"
+     *        leaves the interface to the kernel — which is only safe on a host with one route to
+     *        the boards. See lib/include/net/DaqInterface.hpp.
      */
-    UDPSocket(const std::string& remote_address, uint16_t remote_port, bool is_sender);
+    UDPSocket(const std::string& remote_address, uint16_t remote_port, bool is_sender,
+              const std::string& bind_address = "");
 
     ~UDPSocket() override;
 
diff --git a/daq-server/diablo_server/transport/src/transport/NetworkSocket.cpp b/daq-server/diablo_server/transport/src/transport/NetworkSocket.cpp
index c78040595..bb3d83a25 100644
--- a/daq-server/diablo_server/transport/src/transport/NetworkSocket.cpp
+++ b/daq-server/diablo_server/transport/src/transport/NetworkSocket.cpp
@@ -57,7 +57,8 @@ UDPSocket::UDPSocket(const std::string& bind_address, uint16_t bind_port)
     fcntl(socket_fd_, F_SETFL, flags | O_NONBLOCK);
 }
 
-UDPSocket::UDPSocket(const std::string& remote_address, uint16_t remote_port, bool is_sender)
+UDPSocket::UDPSocket(const std::string& remote_address, uint16_t remote_port, bool is_sender,
+                     const std::string& bind_address)
     : socket_fd_(-1), is_bound_(false), remote_address_(remote_address), remote_port_(remote_port) {
     socket_fd_ = socket(AF_INET, SOCK_DGRAM, 0);
     if (socket_fd_ < 0) {
@@ -65,6 +66,24 @@ UDPSocket::UDPSocket(const std::string& remote_address, uint16_t remote_port, bo
         return;
     }
 
+    // Pin the source address, and with it the egress interface. Bound on an ephemeral port: we
+    // are choosing a NIC, not a port. Non-fatal — an unpinned send still reaches a single-homed
+    // host — but the failure must not be silent.
+    if (!bind_address.empty() && bind_address != "0.0.0.0") {
+        struct sockaddr_in local;
+        memset(&local, 0, sizeof(local));
+        local.sin_family = AF_INET;
+        local.sin_port = 0;
+        if (inet_aton(bind_address.c_str(), &local.sin_addr) == 0) {
+            std::cerr << "[UDPSocket] Warning: bad bind address '" << bind_address << "'"
+                      << std::endl;
+        } else if (bind(socket_fd_, reinterpret_cast<struct sockaddr*>(&local), sizeof(local)) <
+                   0) {
+            std::cerr << "[UDPSocket] Warning: failed to bind sender to " << bind_address << ": "
+                      << strerror(errno) << std::endl;
+        }
+    }
+
     // Set socket to non-blocking
     int flags = fcntl(socket_fd_, F_GETFL, 0);
     fcntl(socket_fd_, F_SETFL, flags | O_NONBLOCK);
diff --git a/daq-server/docs/CONFIGURATION_GUIDE.md b/daq-server/docs/CONFIGURATION_GUIDE.md
index a6d8361f2..ab01fc1fe 100644
--- a/daq-server/docs/CONFIGURATION_GUIDE.md
+++ b/daq-server/docs/CONFIGURATION_GUIDE.md
@@ -75,12 +75,19 @@ broadcast cycle** (~1 Hz). Board-level settings therefore reach hardware without
 - `[boards.*]` — `enabled`, `active_connectors`, `voltage_reference`, `necessary_for_abort`,
   `designated_survivor`, `enable_serial_printing`
 - `[actuator_roles]` and the Vent / Engine-Abort columns of `state_machine_actuators.csv`
-- **`[abort_pts]` — the autonomous overpressure trip thresholds the boards act on**
+- **`[abort_pts]` — the autonomous overpressure trip thresholds**
 
 This is intentional. It is also worth understanding rather than assuming: the session freeze is
 the only thing that currently stops someone changing an abort trip mid-run, and that is a
 property of the freeze, not a decision the broadcaster makes.
 
+One correction to an earlier version of this page, which said the boards *act on* `[abort_pts]`
+live. They do not, today. `abort_pt_locations` is only read in the actuator board's
+`NoConnectionAbort` and `PTAbort` states (`Actuator_Hotfire/src/main.cpp:541-571`), and the only
+entry to that chain is heartbeat-loss detection at `:838`, gated on `ENABLE_ALL_STATE_TRANSITIONS`
+— which is `false` in `hotfire_config.h:33-34` with no override anywhere in `firmware/`. The
+thresholds reach the boards; nothing consumes them. See `docs/IMPROVEMENTS.md`.
+
 The related endpoint `POST /api/board-log-mode` rides this exception — it surgically edits one
 field so verbosity can be raised *during* the misbehaviour it is meant to diagnose. It writes both
 `config.toml` (so the board gets it now) and the active profile (so the next deploy does not
@@ -102,6 +109,38 @@ The config.toml keys calibration *does* read (`calibration_model_<board>`,
 
 ---
 
+## Which NIC board traffic uses
+
+The DAQ shares the apps box with the Docker stack and the site LAN, so "the interface the kernel
+picks" is no longer the same thing as "the board LAN". Every board-facing socket therefore binds
+its **local address** to the NIC holding the board subnet, resolved once at startup by
+`fsw::net::resolveDaqBindAddress()` (`lib/include/net/DaqInterface.hpp`). Each service logs the
+result in one line — `board traffic pinned to eth2 192.168.2.20 (auto)`.
+
+Resolution order:
+
+1. **`[network].bind_ip`**, if set to anything other than `0.0.0.0`. If that address is not on the
+   host, **the service refuses to start** — an explicit pin that silently degraded to `0.0.0.0`
+   would be the original bug wearing a config key.
+2. Otherwise the interface whose subnet contains the configured `[boards.*].ip` addresses. This is
+   the normal path: no config change is needed on the rig, and it is how a sim run resolves too
+   (its boards are `127.0.0.x`, matched by loopback).
+3. If **more than one** interface can reach the board subnet, the service refuses to start and
+   names the candidates. Ambiguity is the defect; picking one is how this went wrong before.
+4. If **none** can, it binds `0.0.0.0` with a warning. That is a dev laptop or CI, where the board
+   subnet does not exist and hard-failing would break `./dev.sh`.
+
+Note the mechanism is a source-address bind, not `SO_BINDTODEVICE` — the services run as
+unprivileged `systemd --user` units and `SO_BINDTODEVICE` needs `CAP_NET_RAW`.
+
+Broadcast destinations are subnet-directed (`[server_heartbeat].broadcast_ip`, shipped as
+`192.168.2.255`) rather than the limited `255.255.255.255`, for the same reason: a limited
+broadcast is the one destination that does not resolve to a single route. The sequencer's ABORT
+broadcast reads that key too, so a rig that moves the broadcast address moves the abort with it.
+
+`[discovery].network_interface` is **not** this knob — `BoardDiscovery` prints it and never
+applies it to a socket.
+
 ## What is not config
 
 These are runtime commands, not configuration, and are unaffected by any of the above: state
diff --git a/daq-server/docs/DIABLOAVIONICS_NETWORK_CONFIG.md b/daq-server/docs/DIABLOAVIONICS_NETWORK_CONFIG.md
index d60d9e089..354dda61f 100644
--- a/daq-server/docs/DIABLOAVIONICS_NETWORK_CONFIG.md
+++ b/daq-server/docs/DIABLOAVIONICS_NETWORK_CONFIG.md
@@ -51,9 +51,14 @@ overridden positionally:
 ./build/bin/daq_bridge config/config.toml 0.0.0.0 5006
 ```
 
-The interface is auto-detected: `network_interface = "auto"` in `config.toml`
-selects the interface holding a `192.168.2.x` address, so it no longer matters
-whether the NIC is `eth0`, `enxXXXXXXXX`, etc.
+The interface is auto-detected — but **not** by `[discovery].network_interface`,
+which `BoardDiscovery` stores and only prints. The live mechanism is
+`fsw::net::resolveDaqBindAddress()` (`lib/include/net/DaqInterface.hpp`): every
+board-facing socket binds its local address to the interface whose subnet holds
+the configured `[boards.*].ip` addresses, so it does not matter whether the NIC
+is `eth0`, `enxXXXXXXXX`, etc. Set `[network].bind_ip` to override; the service
+refuses to start if that address is not on the host, or if two interfaces can
+reach the board subnet. See `docs/CONFIGURATION_GUIDE.md`.
 
 To talk to boards, the host must have an address on the board subnet:
 
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index 279744f34..20b97d694 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,8 +5,9 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-07 against `ab3ce2d2`.
-**Last updated:** 2026-09-07 — the sequencer concurrency work and the config draft-only work both
-landed; their items moved to Resolved.
+**Last updated:** 2026-09-07 — the DAQ-NIC pinning work landed, which merged and resolved the two
+abort-broadcast entries and turned up the firmware finding now filed under Critical. The sequencer
+concurrency and config draft-only work landed earlier the same day.
 
 The revision before this one dated from April 2026 and predated the Vite frontend migration,
 the `smol-toml` config work, and the config-driven `[[states]]` rework. Anything fixed is
@@ -17,24 +18,35 @@ recorded at the bottom with *how*, rather than silently dropped, so a future aud
 
 ## Critical
 
-### C++ — The ABORT broadcast can leave on the wrong interface
+### Firmware — the server sends the abort packet nothing consumes, and withholds the one that is
 
-**File:** `diablo_server/services/sequencer/AbortBroadcaster.cpp`
+**Files:** `firmware/Hotfire_Code/common/hotfire_config.h:33-34`,
+`firmware/Hotfire_Code/Actuator_Hotfire/src/main.cpp:838,959,975-978`,
+`firmware/Hotfire_Code/common/SensorHotfireCore.h:251-258`,
+`diablo_server/services/sequencer/AbortBroadcaster.cpp:165`
 
-*Partly addressed.* The abort is no longer a single datagram — it is sent 4× at 2 ms spacing
-with a send timeout and per-repeat `errno` logging, matching the redundancy
-`ActuatorCommander::sendBatch` already had for ordinary state changes.
+**No board acts on `ABORT` (packet type 7).** Sensor boards do not decode it at all — their
+handler covers only `CLEAR_ABORT` (9) and `NO_CONNECTION_ABORT` (11). The actuator board decodes
+it, but the only transition consuming it is behind `if (ENABLE_ALL_STATE_TRANSITIONS)`, which is
+`false` in `hotfire_config.h` with no override anywhere in `firmware/`. The same flag gates
+heartbeat-loss detection at `:838`, the sole entry to `ConnectionLossDetected → NoConnectionAbort
+→ PTAbort` — so the `[abort_pts]` overpressure trips are unreachable for the same reason, despite
+being broadcast to the boards every second.
 
-What remains is routing. `dest.sin_addr.s_addr = INADDR_BROADCAST` (255.255.255.255) with no
-`SO_BINDTODEVICE` and no bind to the DAQ NIC. On the apps box, which has more than one
-interface, the kernel picks the egress interface by route. If the DAQ NIC is not the one
-chosen, all four repeats leave on the wrong wire together — redundancy does not help when the
-failure is common-mode.
+The mirror image: `CLEAR_ABORT` **is** consumed unconditionally (`main.cpp:959`,
+`SensorHotfireCore.h:251`), and the server never sends it — `AbortBroadcaster::sendClearAbort()`
+has zero callers repo-wide. Its own doc comment says "called when leaving abort states"; nothing
+does.
 
-**Fix:** bind the socket to the configured DAQ interface address, or send to the
-subnet-directed broadcast address (`192.168.2.255`) rather than the limited broadcast address,
-so it cannot take the wrong route. See also the entry below on the hardcoded abort port — both
-are the same underlying gap, that the broadcaster is constructed with no knowledge of config.
+So the whole board-side autonomous abort chain is compiled out, and the one packet the boards do
+listen for is one the server does not produce. This is a firmware and rig-safety decision, not a
+server fix: someone has to say whether `ENABLE_ALL_STATE_TRANSITIONS` was ever meant to ship
+`true`, and what "leaving abort" should mean before `sendClearAbort()` is wired to anything.
+
+**Worth being explicit:** this is why the abort routing work below was *not* the emergency the
+previous revision of this file graded it. Getting the datagram onto the right wire is still
+correct — it is a precondition for any of the above ever working — but it was fixing the delivery
+of a packet with no consumer.
 
 ---
 
@@ -323,27 +335,6 @@ file, because it reads like coverage.
 
 ---
 
-### C++ — the abort broadcast port ignores config
-
-**Files:** `diablo_server/lib/include/control/SequencerService.hpp:144`,
-`diablo_server/lib/include/control/AbortBroadcaster.hpp:22`, `config/config.toml:8,16`
-
-`AbortBroadcaster abort_broadcaster_;` is default-constructed — port 5005, ABORT_DONE delay
-3000 ms — and nothing in `SequencerService::init()` or `reloadConfig()` ever configures it.
-`broadcast_port` exists in config (two sections, both defaulting to 5005) and
-`fsw::config::Config` parses it, but the sequencer's abort path never reads it.
-
-A rig that moves `broadcast_port` gets actuator config broadcasts on the new port and aborts on
-5005. `test/test_integration.sh:395` already remaps `broadcast_port` to the test port, so under
-test the abort broadcast goes somewhere nothing is listening — which is part of why no test has
-ever observed one.
-
-**Fix:** construct the broadcaster from `cfg.<section>.broadcast_port` in `init()`, alongside the
-other config-derived values. Same for the ABORT_DONE delay if a config key is wanted for it.
-(There is no reload path to keep in sync any more — config is read once at startup.)
-
----
-
 ## Low / Housekeeping
 
 ### Sensor Info — dual ADC columns (cal + raw) for debugging
@@ -397,6 +388,31 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the DAQ-NIC pinning work (2026-09-07)
+
+Filed as two entries — "the ABORT broadcast can leave on the wrong interface" and "the abort
+broadcast port ignores config". Both were symptoms of one thing, and the scope was wrong: the
+defect was never abort-specific. **No socket in the DAQ path pinned its egress interface.** That
+was invisible while the DAQ owned its machine and became real when it moved onto the shared apps
+box (`04709920`), which now carries the board LAN, the site LAN and a Docker bridge.
+
+| Item | Resolution |
+|---|---|
+| No board-facing socket bound a local address | **Fixed.** New `fsw::net::resolveDaqBindAddress()` (`lib/include/net/DaqInterface.hpp`) picks the interface whose subnet holds the configured boards, mirroring the rule `deploy/bootstrap_daq.sh:149` already used in shell. Applied to the sequencer's actuator + abort sockets, `heartbeat_service`, `config_broadcast_service`, the controller's PWM output, `FSWConfigManager` (send and receive), `daq_bridge`'s sensor listener and the OTA TCP client. Each service logs the address it pinned. |
+| `[network].bind_ip` existed but only one socket honoured it | **Fixed.** It is now *the* override, consulted by every board-facing socket, and a value that is not an address on the host fails startup rather than degrading to `0.0.0.0`. Two interfaces on the board subnet also fails, naming both — guessing between them is the original defect. |
+| `[actuator_service].bind_address` shipped as `0.0.0.0`, so `ActuatorCommander`'s `bind()` constrained nothing | **Fixed.** Kept as an explicit per-service override; when unset it takes the resolved NIC. |
+| `FSWConfigManager` hardcoded `"0.0.0.0", 5008` two lines from where `bind_ip` was parsed | **Fixed.** Uses the same address as the sensor pipeline. |
+| ABORT sent to the limited broadcast `255.255.255.255` | **Fixed.** Destination comes from `[server_heartbeat].broadcast_ip`, already `192.168.2.255` in every shipped profile and `127.0.0.255` in sim — no config file needed changing. Subnet-directed resolves to exactly one route; limited broadcast does not. Confirmed safe on hardware in principle: the boards program `subnet(255,255,255,0)` into the W5500 and `SERVER_HEARTBEAT` already flows to `192.168.2.255` and is acted on. **Still wants one bench observation before the rig relies on it.** |
+| Abort broadcast port and ABORT_DONE delay were ctor defaults | **Fixed.** `AbortBroadcaster::configure()` is called from `SequencerService::init()` beside `fire_manager_.configure()`. The address is resolved once there, not inside the abort path. |
+| No test observed an abort broadcast | **Fixed, and it has teeth.** `test_abort_ordering` now writes `[server_heartbeat]` into its config and binds what it wrote, so it covers routing as well as ordering — verified by disabling `configure()`, which sends to `255.255.255.255:5005` and fails the test. The integration run confirms all five services pin to `lo` and the abort reaches `127.0.0.1:5015`. |
+| The resolver itself was untested | **Fixed.** `test_daq_interface` pins all four outcomes using RFC 5737 addresses so results do not depend on the host. The ambiguous case is deliberately not tested — producing it means assigning an address to the machine. |
+| `fix_ethernet_interface.sh` printed `.20` and assigned `.201` | **Fixed.** It assigns `192.168.2.20` (what the firmware targets) and its verification is anchored, so `.201` can no longer pass as `.20`. |
+| `[discovery].network_interface = "auto"` documented as selecting the board NIC | **Corrected.** `BoardDiscovery` stores it and only prints it; the docs now point at the resolver instead. |
+
+Not fixed, deliberately: `PressureStateMachine`'s command socket. Nothing constructs that class —
+pinning a socket that never opens is churn — so it carries a comment pointing at the resolver
+instead.
+
 ### By the config draft-only work (2026-09-07)
 
 | Item | Resolution |
@@ -420,7 +436,7 @@ Kept so a future audit can distinguish "fixed" from "never checked".
 | `reloadConfig()` rewrites the actuator tables while the 1 Hz loop reads them | **Fixed.** The republish loop is stopped before `ActuatorCommander::load()` and restarted after. |
 | `reloadConfig()` keeps stale `[fire]` ids after re-adopting `[[states]]` | **Fixed.** The `[fire]` resolution was extracted to `applyFireConfig()` and is now called from both `init()` and reload, so a renumbering reload re-resolves the burn state, the expiry target and the window. |
 | ABORT queued behind the sequencer's own housekeeping | **Fixed.** `triggerAbort()` is now the first thing `transitionTo()` does, ahead of the republish-thread join, the controller notification and the actuator batch. Measured 453 ms → 0 ms with an unreachable controller; `test_abort_ordering` pins it. |
-| ABORT sent as a single unacknowledged datagram | **Fixed.** Sent 4× at 2 ms spacing with a send timeout and per-repeat `errno` logging. The *routing* half of that entry is still open — see "The ABORT broadcast can leave on the wrong interface". |
+| ABORT sent as a single unacknowledged datagram | **Fixed.** Sent 4× at 2 ms spacing with a send timeout and per-repeat `errno` logging. The *routing* half is resolved separately below. |
 | `notifyControllerFire` has no connect timeout | **Fixed.** Non-blocking connect with a 300 ms deadline, consulting `SO_ERROR` on any poll readiness so a refused connection is not mislabelled a timeout. Measured on this box: blocking connect to a blackholed host took **133,348 ms**; bounded version returns in **301 ms**. |
 | Actuator UDP sends have no timeout and log nothing | **Fixed.** `SO_SNDTIMEO` of 100 ms on the batch socket, and a short send now names the board IP and `strerror(errno)` instead of only flipping a boolean. |
 | Detached threads outlive the objects they reference | **Fixed.** Client threads are bounded (64) and joined before `svc` goes out of scope; the accept loop reaps finished ones and refuses over-limit connections with `ERR:too many connections` rather than a bare close, which reached the client as a TCP reset. |

From ee8f7c1d2bbb801fcced1cba8a61ef04720e9f50 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 20:17:31 -0700
Subject: [PATCH 191/205] daq-server: give load cell calibration cubic/physics
 parity with PT, in the same calibration page

---
 daq-server/config/config_base.toml            |  20 ++
 .../diablo_server/backend/src/api-server.ts   |  12 +-
 .../backend/src/calibration-handler.ts        |  14 +-
 .../__tests__/pressure-bar-defs.test.ts       |   6 +-
 .../frontend/app/calibration/page.tsx         | 214 +++++++-----
 .../calibration/CalibrationChart.tsx          |  40 ++-
 .../frontend/lib/sensor-config.ts             |   2 +
 .../include/calibration/SensorCalibration.hpp |   5 +
 .../lib/include/config/Config.hpp             |  13 +-
 .../diablo_server/lib/src/config/Config.cpp   |  18 +
 .../services/calibration/calibration_main.cpp | 326 ++++++++++++++++--
 daq-server/test/ws_data_flow_test.ts          | 110 +++++-
 12 files changed, 626 insertions(+), 154 deletions(-)

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 2eb5efa3c..e432e6f67 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -367,6 +367,26 @@ active_connectors = [ 1, 2 ]
 # [calibration_full_scale_pt_board]
 # "Fuel Upstream" = 1000
 
+# Load cells support the same per-sensor model selection as PT, minus robust/blend (LC doesn't
+# learn drift): "cubic" (operator-captured fit, built from the calibration GUI) or "physics"
+# (datasheet sensitivity/PGA-gain conversion — [calibration.lc] below, or per-sensor overrides).
+# A role with no entry here defaults to "physics" (today's behavior; unchanged unless you opt a
+# role into "cubic"). Requires a [sensor_roles_<lc_board>] section naming that board's connectors.
+# [sensor_roles_lc_board]
+# "Thrust" = 1
+#
+# [calibration_model_lc_board]
+# "Thrust" = "cubic"
+#
+# Per-sensor physics-mode parameters, role-keyed and parallel to [calibration_model_lc_board].
+# Consulted only when a sensor's model is "physics"; each overrides the [calibration.lc] global.
+#   [calibration_full_scale_lc_board]   role -> full-scale kg (default: calibration.lc.full_scale_value)
+#   [calibration_sensitivity_lc_board]  role -> mV/V         (default: calibration.lc.sensitivity_mv_per_v)
+#   [calibration_pga_lc_board]          role -> PGA gain     (default: calibration.lc.pga_gain)
+# All optional — omit them to keep the [calibration.lc] global. Example:
+# [calibration_full_scale_lc_board]
+# "Thrust" = 500
+
 [abort_pts]
 "Fuel Upstream" = 400
 "Ox Upstream" = 400
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 6370a2ac5..f805267e7 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -37,6 +37,8 @@ import type { SensorUpdate } from './shared-types.js';
 // ── Sensor config helpers ──────────────────────────────────────────────────
 
 export interface SensorConfigEntry {
+  /** Sensor kind — the field buildSensorConfig() previously left the caller to infer (or not). */
+  type: 'PT' | 'TC' | 'RTD' | 'LC';
   /** 1-based channel / connector ID local to the board */
   id: number;
   /** Human-readable role name from config.toml, e.g. "Fuel Upstream" */
@@ -102,6 +104,7 @@ function buildSensorConfig(): SensorConfigEntry[] {
       const boardNumber = elodinSlotFromBoardId(boardId);
 
       sensors.push({
+        type: 'PT',
         id: channelId,
         role: roleName,
         boardId,
@@ -133,6 +136,7 @@ function buildSensorConfig(): SensorConfigEntry[] {
       if (!isFinite(ch)) continue;
 
       sensors.push({
+        type: 'TC',
         id: ch,
         role: roleName,
         boardId,
@@ -165,6 +169,7 @@ function buildSensorConfig(): SensorConfigEntry[] {
         const ch = typeof channelId === 'number' ? channelId : Number(channelId);
         if (!isFinite(ch)) continue;
         sensors.push({
+          type: 'RTD',
           id: ch,
           role: roleName,
           boardId,
@@ -178,6 +183,7 @@ function buildSensorConfig(): SensorConfigEntry[] {
     } else {
       for (const ch of active) {
         sensors.push({
+          type: 'RTD',
           id: ch,
           role: `RTD Ch${ch}`,
           boardId,
@@ -208,12 +214,13 @@ function buildSensorConfig(): SensorConfigEntry[] {
         const ch = typeof channelId === 'number' ? channelId : Number(channelId);
         if (!isFinite(ch)) continue;
         sensors.push({
+          type: 'LC',
           id: ch,
           role: roleName,
           boardId,
           boardIp,
           isHpPt: false,
-          inCalibrationSequence: false,
+          inCalibrationSequence: true,
           entity: `LC${boardNumber}.CH${ch}`,
           calEntity: `LC${boardNumber}_Cal.CH${ch}`,
         });
@@ -224,12 +231,13 @@ function buildSensorConfig(): SensorConfigEntry[] {
         : Array.from({ length: (board.num_sensors ?? 4) }, (_, i) => i + 1);
       for (const ch of active) {
         sensors.push({
+          type: 'LC',
           id: ch,
           role: `LC Ch${ch}`,
           boardId,
           boardIp,
           isHpPt: false,
-          inCalibrationSequence: false,
+          inCalibrationSequence: true,
           entity: `LC${boardNumber}.CH${ch}`,
           calEntity: `LC${boardNumber}_Cal.CH${ch}`,
         });
diff --git a/daq-server/diablo_server/backend/src/calibration-handler.ts b/daq-server/diablo_server/backend/src/calibration-handler.ts
index 1b82dd77d..9570f31c4 100644
--- a/daq-server/diablo_server/backend/src/calibration-handler.ts
+++ b/daq-server/diablo_server/backend/src/calibration-handler.ts
@@ -73,15 +73,17 @@ export function publishCalibrationReload(host: CalibrationHost): void {
 function getActiveChannels(host: CalibrationHost): number[] {
     const channels = new Set<number>();
 
-    // Preferred: derive PT channels directly from config boards (board_id * 100 + channel).
-    // This matches calibration_service unique IDs and avoids mismatches with legacy maps.
+    // Preferred: derive PT + LC channels directly from config boards (board_id * 100 + channel).
+    // This matches calibration_service unique IDs and avoids mismatches with legacy maps. PT and
+    // LC board_ids never collide, so both kinds share this uid space safely — the service routes
+    // captures/clears by uid kind (see calibration_main.cpp g_lc_uids).
     try {
         const config = readConfig() as any;
         const boards = (config?.boards || {}) as Record<string, any>;
         for (const [, boardRaw] of Object.entries(boards)) {
             const board = boardRaw as any;
             if (board?.enabled === false) continue;
-            if (board?.type !== 'PT') continue;
+            if (board?.type !== 'PT' && board?.type !== 'LC') continue;
             const boardId = Number(board?.board_id);
             if (!Number.isFinite(boardId)) continue;
             const activeChannels: number[] =
@@ -142,7 +144,7 @@ export function handleCalibrationCommand(
             if (uniqueId == null || !activeChannels.includes(uniqueId)) {
                 host.send(ws, {
                     type: MessageType.ERROR, timestamp: Date.now(),
-                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT channel` }
+                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT/LC channel` }
                 });
                 return;
             }
@@ -172,7 +174,7 @@ export function handleCalibrationCommand(
             if (uniqueId == null || !activeChannels.includes(uniqueId)) {
                 host.send(ws, {
                     type: MessageType.ERROR, timestamp: Date.now(),
-                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT channel` }
+                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT/LC channel` }
                 });
                 return;
             }
@@ -221,7 +223,7 @@ export function handleCalibrationCommand(
             if (uniqueId == null || !activeChannels.includes(uniqueId)) {
                 host.send(ws, {
                     type: MessageType.ERROR, timestamp: Date.now(),
-                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT channel` }
+                    payload: { message: `Channel ${sensorId} on Board ${boardId} is not a valid PT/LC channel` }
                 });
                 return;
             }
diff --git a/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts b/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts
index 6bcf4b7dd..c6c5de949 100644
--- a/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts
+++ b/daq-server/diablo_server/frontend/__tests__/pressure-bar-defs.test.ts
@@ -10,9 +10,9 @@ import type { PressureBarConfig } from '@/lib/gui-config';
 import type { PressureLimitsMap } from '@/lib/pressure-limits';
 
 const sensors: SensorConfig[] = [
-  { id: 6, role: 'GN2 High', boardId: 22, boardIp: '', isHpPt: true, inCalibrationSequence: false, entity: 'PT.GN2_High', calEntity: 'PT_Cal.GN2_High' },
-  { id: 4, role: 'Chamber Mid PT 1', boardId: 21, boardIp: '', isHpPt: false, inCalibrationSequence: true, entity: 'PT.Chamber_Mid_PT_1', calEntity: 'PT_Cal.Chamber_Mid_PT_1' },
-  { id: 8, role: 'Chamber Mid PT 2', boardId: 21, boardIp: '', isHpPt: false, inCalibrationSequence: true, entity: 'PT.Chamber_Mid_PT_2', calEntity: 'PT_Cal.Chamber_Mid_PT_2' },
+  { type: 'PT', id: 6, role: 'GN2 High', boardId: 22, boardIp: '', isHpPt: true, inCalibrationSequence: false, entity: 'PT.GN2_High', calEntity: 'PT_Cal.GN2_High' },
+  { type: 'PT', id: 4, role: 'Chamber Mid PT 1', boardId: 21, boardIp: '', isHpPt: false, inCalibrationSequence: true, entity: 'PT.Chamber_Mid_PT_1', calEntity: 'PT_Cal.Chamber_Mid_PT_1' },
+  { type: 'PT', id: 8, role: 'Chamber Mid PT 2', boardId: 21, boardIp: '', isHpPt: false, inCalibrationSequence: true, entity: 'PT.Chamber_Mid_PT_2', calEntity: 'PT_Cal.Chamber_Mid_PT_2' },
 ];
 
 const limits: PressureLimitsMap = {
diff --git a/daq-server/diablo_server/frontend/app/calibration/page.tsx b/daq-server/diablo_server/frontend/app/calibration/page.tsx
index d144dde98..db1dece91 100644
--- a/daq-server/diablo_server/frontend/app/calibration/page.tsx
+++ b/daq-server/diablo_server/frontend/app/calibration/page.tsx
@@ -1,7 +1,7 @@
 'use client'
 
 import { useEffect, useMemo, useState, useCallback } from 'react';
-import { useSensorStore, useGetSensorValue, useSensorDataVersion, useLoadCellForceLbf } from '@/lib/store';
+import { useGetSensorValue, useSensorDataVersion } from '@/lib/store';
 import { getWebSocketClient } from '@/lib/websocket';
 import {
   MessageType,
@@ -12,9 +12,10 @@ import {
 } from '@/lib/types';
 import { useSensorConfig, SensorConfig } from '@/lib/sensor-config';
 import { getApiBaseUrl } from '@/lib/websocket';
-import { CalibrationChart, PhysicsParams, CURVE_COLORS } from '@/components/calibration/CalibrationChart';
+import { CalibrationChart, PhysicsParams, LcPhysicsParams, CURVE_COLORS } from '@/components/calibration/CalibrationChart';
 
 type Model = 'cubic' | 'robust' | 'physics';
+type Kind = 'PT' | 'LC';
 
 // Per-model badge styling — the whole point is that a sensor's selected model reads at a glance.
 const MODEL_BADGE: Record<Model, string> = {
@@ -22,11 +23,15 @@ const MODEL_BADGE: Record<Model, string> = {
   robust: 'text-violet-300 border-violet-600/60 bg-violet-900/40',
   physics: 'text-orange-300 border-orange-600/60 bg-orange-900/40',
 };
-const MODEL_DESC: Record<Model, string> = {
-  cubic: 'Cubic fit from captured points.',
-  robust: 'Adaptive fit; learns from points, corrects drift.',
-  physics: 'Datasheet conversion (ratiometric / 4-20 mA).',
-};
+// physics reads differently per kind (PT: ratiometric/4-20mA; LC: sensitivity/PGA-gain) — the rest
+// of the vocabulary (cubic/robust) means the same thing for either.
+function modelDesc(model: Model, kind: Kind): string {
+  if (model === 'cubic') return 'Cubic fit from captured points.';
+  if (model === 'robust') return 'Adaptive fit; learns from points, corrects drift.';
+  return kind === 'LC'
+    ? 'Datasheet conversion (sensitivity / PGA gain).'
+    : 'Datasheet conversion (ratiometric / 4-20 mA).';
+}
 
 function fmtPsi(v: number | null | undefined): string {
   if (v === null || v === undefined || !isFinite(v)) return '---';
@@ -38,25 +43,6 @@ function fmtAdc(v: number | null | undefined): string {
   return v.toLocaleString();
 }
 
-const LBF_TO_KG = 0.453592;
-
-// ── Load cell 0-point card (separate concern; kept until LC calibration gets its own home) ──────
-function LoadCellZeroCard({ calEntity, label, onZero }: { calEntity: string; label: string; onZero: () => void }) {
-  const forceLbf = useLoadCellForceLbf(calEntity);
-  const kg = forceLbf != null && Number.isFinite(forceLbf) ? forceLbf * LBF_TO_KG : null;
-  const display = kg != null ? kg.toFixed(2) : '—';
-  return (
-    <div className="flex items-center gap-2 rounded-lg border border-gray-700 bg-black/20 px-3 py-2">
-      <span className="text-xs font-bold text-text-muted w-16 truncate">{label}</span>
-      <span className="text-sm font-mono text-green-400 tabular-nums flex-1 text-right">{display} kg</span>
-      <button type="button" onClick={onZero}
-        className="px-2.5 py-1 text-xs font-bold rounded-md border border-amber-600 bg-amber-900/30 text-amber-300 hover:bg-amber-800/50">
-        Zero
-      </button>
-    </div>
-  );
-}
-
 // ── Sidebar sensor row ──────────────────────────────────────────────────────────
 interface SensorRowProps {
   ch: SensorConfig;
@@ -113,7 +99,9 @@ export default function CalibrationPage() {
   useSensorDataVersion();
   const getSensorValue = useGetSensorValue();
   const ws = getWebSocketClient();
-  const ptChannels = useSensorConfig();
+  const allSensors = useSensorConfig();
+  const ptChannels = useMemo(() => allSensors.filter((c) => c.type === 'PT'), [allSensors]);
+  const lcChannels = useMemo(() => allSensors.filter((c) => c.type === 'LC'), [allSensors]);
 
   const [calStatus, setCalStatus] = useState<CalibrationStatusPayload | null>(null);
   const [selectedBoardId, setSelectedBoardId] = useState<number | 'all'>('all');
@@ -121,7 +109,7 @@ export default function CalibrationPage() {
   const [selectedUid, setSelectedUid] = useState<number | null>(null);
   const [overlay, setOverlay] = useState<{ cubic: boolean; robust: boolean; physics: boolean }>({ cubic: true, robust: true, physics: true });
   const [refInput, setRefInput] = useState('');
-  const [showLoadCells, setShowLoadCells] = useState(false);
+  const [showLoadCells, setShowLoadCells] = useState(true);
   // Captures write into the live ADC stream, which only exists while a session runs; with it off the
   // calibration service is down and a capture/zero is silently dropped. Gate the controls on it.
   const [sessionActive, setSessionActive] = useState(false);
@@ -154,19 +142,21 @@ export default function CalibrationPage() {
     window.addEventListener('mouseup', onUp);
   }, [sidebarWidth]);
 
-  // Full config (for physics params + LC list). Boards keyed by config key (e.g. "pt_board").
+  // Full config (for physics params). Boards keyed by config key (e.g. "pt_board").
   const [cfgBoards, setCfgBoards] = useState<Record<string, any>>({});
   const [cfgRoot, setCfgRoot] = useState<Record<string, any>>({});
-  const [lcChannels, setLcChannels] = useState<{ calEntity: string; label: string }[]>([]);
-  const setLoadCellZeroOffset = useSensorStore((s) => s.setLoadCellZeroOffset);
 
-  // Each sensor's streaming model (service truth); default by interface when the record is absent.
+  // Each sensor's streaming model (service truth); default by interface/kind when the record is
+  // absent (PT: 4-20 mA -> physics else cubic; LC: physics — cubic is opt-in per role).
   const modelOf = useCallback((uid: number): Model => {
     const rec = cubicState[String(uid)];
     if (rec?.active_model) return rec.active_model as Model;
-    const ch = ptChannels.find((c) => c.boardId * 100 + c.id === uid);
-    return ch?.isHpPt ? 'physics' : 'cubic';
-  }, [cubicState, ptChannels]);
+    const pt = ptChannels.find((c) => c.boardId * 100 + c.id === uid);
+    if (pt) return pt.isHpPt ? 'physics' : 'cubic';
+    const lc = lcChannels.find((c) => c.boardId * 100 + c.id === uid);
+    if (lc) return 'physics';
+    return 'cubic';
+  }, [cubicState, ptChannels, lcChannels]);
 
   // board_id → { key, board } so we can resolve per-sensor physics params from config.
   const boardById = useMemo(() => {
@@ -191,6 +181,23 @@ export default function CalibrationPage() {
     return { fullScale, isLoop, senseResistor, adcRefVoltage: board.adc_ref_voltage ?? 2.5 };
   }, [ptChannels, boardById, cfgRoot]);
 
+  // LC physics params mirror physicsParamsOf: per-role override from config, else the
+  // [calibration.lc] global (matches convert_lc_adc_to_force's fallback in calibration_main.cpp).
+  const lcPhysicsParamsOf = useCallback((uid: number): LcPhysicsParams | undefined => {
+    const ch = lcChannels.find((c) => c.boardId * 100 + c.id === uid);
+    if (!ch) return undefined;
+    const entry = boardById.get(ch.boardId);
+    const key = entry?.key;
+    const lcGlobal = (cfgRoot.calibration?.lc ?? {}) as Record<string, number>;
+    const fsMap = key ? (cfgRoot[`calibration_full_scale_${key}`] as Record<string, number> | undefined) : undefined;
+    const sensMap = key ? (cfgRoot[`calibration_sensitivity_${key}`] as Record<string, number> | undefined) : undefined;
+    const pgaMap = key ? (cfgRoot[`calibration_pga_${key}`] as Record<string, number> | undefined) : undefined;
+    const fullScale = (ch.role && fsMap?.[ch.role] != null) ? fsMap[ch.role] : (lcGlobal.full_scale_value ?? 300);
+    const sensitivityMvPerV = (ch.role && sensMap?.[ch.role] != null) ? sensMap[ch.role] : (lcGlobal.sensitivity_mv_per_v ?? 2);
+    const pgaGain = (ch.role && pgaMap?.[ch.role] != null) ? pgaMap[ch.role] : (lcGlobal.pga_gain ?? 32);
+    return { fullScale, sensitivityMvPerV, pgaGain };
+  }, [lcChannels, boardById, cfgRoot]);
+
   // Every PT sensor appears here; the model badge says which calibration each uses.
   const availableBoards = Array.from(new Set(ptChannels.map((c) => c.boardId))).sort((a, b) => a - b);
   const visibleChannels = useMemo(
@@ -198,10 +205,14 @@ export default function CalibrationPage() {
     [ptChannels, selectedBoardId],
   );
   const selectedState = selectedUid != null ? cubicState[String(selectedUid)] : undefined;
-  const selectedChannel = selectedUid != null ? ptChannels.find((c) => c.boardId * 100 + c.id === selectedUid) : undefined;
+  const selectedChannel = useMemo(
+    () => (selectedUid != null ? [...ptChannels, ...lcChannels].find((c) => c.boardId * 100 + c.id === selectedUid) : undefined),
+    [ptChannels, lcChannels, selectedUid],
+  );
+  const selectedKind: Kind | undefined = selectedChannel?.type as Kind | undefined;
   const selectedModel = selectedUid != null ? modelOf(selectedUid) : undefined;
 
-  // Load full config once (physics params + LC channels).
+  // Load full config once (physics params).
   useEffect(() => {
     fetch(`${getApiBaseUrl()}/api/config`)
       .then((r) => (r.ok ? r.json() : null))
@@ -209,17 +220,7 @@ export default function CalibrationPage() {
         const cfg = data?.config;
         if (!cfg) return;
         setCfgRoot(cfg);
-        const boards = (cfg.boards ?? {}) as Record<string, any>;
-        setCfgBoards(boards);
-        const chs: number[] = [];
-        for (const board of Object.values(boards)) {
-          if ((board as any)?.type !== 'LC' || (board as any).enabled === false) continue;
-          const active = Array.isArray((board as any).active_connectors) && (board as any).active_connectors.length > 0
-            ? (board as any).active_connectors
-            : Array.from({ length: (board as any).num_sensors ?? 10 }, (_, i) => i + 1);
-          chs.push(...active);
-        }
-        setLcChannels(chs.map((ch) => ({ calEntity: `LC_Cal.CH${ch}`, label: `LC Ch${ch}` })));
+        setCfgBoards((cfg.boards ?? {}) as Record<string, any>);
       })
       .catch(() => {});
   }, []);
@@ -292,10 +293,10 @@ export default function CalibrationPage() {
   }, [selectedChannel, sendCalCmd]);
 
   const handleZeroAll = useCallback(() => {
-    const n = ptChannels.filter((c) => modelOf(c.boardId * 100 + c.id) !== 'physics').length;
-    if (typeof window !== 'undefined' && !window.confirm(`Capture a 0 psi reference point on all ${n} cubic/robust PT sensor${n === 1 ? '' : 's'}? Vent them to atmosphere first — this adds a real point to each sensor's shared fit.`)) return;
+    const n = [...ptChannels, ...lcChannels].filter((c) => modelOf(c.boardId * 100 + c.id) !== 'physics').length;
+    if (typeof window !== 'undefined' && !window.confirm(`Capture a 0 reference point on all ${n} cubic/robust PT + LC sensor${n === 1 ? '' : 's'}? Vent PTs to atmosphere and unload load cells first — this adds a real point to each sensor's shared fit.`)) return;
     sendCalCmd({ commandType: 'zero_all' });
-  }, [sendCalCmd, ptChannels, modelOf]);
+  }, [sendCalCmd, ptChannels, lcChannels, modelOf]);
 
   const statusMap = new Map<number, CalibrationChannelStatus>((calStatus?.channels ?? []).map((c) => [c.sensorId, c]));
   const getStatus = (channelId: number, boardId: number) => statusMap.get(boardId * 100 + channelId);
@@ -306,11 +307,23 @@ export default function CalibrationPage() {
     return c;
   }, [ptChannels, modelOf]);
 
+  const lcCounts = useMemo(() => {
+    const c = { cubic: 0, physics: 0 };
+    for (const ch of lcChannels) {
+      const m = modelOf(ch.boardId * 100 + ch.id);
+      if (m === 'cubic') c.cubic++;
+      else c.physics++;
+    }
+    return c;
+  }, [lcChannels, modelOf]);
+
   const selStatus = selectedChannel ? getStatus(selectedChannel.id, selectedChannel.boardId) : undefined;
   const selRawAdc = selectedChannel ? getSensorValue(selectedChannel.calEntity, 'raw_adc_counts') : null;
-  const selPsi = selectedChannel ? getSensorValue(selectedChannel.calEntity, 'pressure_psi') : null;
+  const selValue = selectedChannel ? getSensorValue(selectedChannel.calEntity, selectedKind === 'LC' ? 'force_kg' : 'pressure_psi') : null;
   const selPoints = selectedState?.numPoints ?? 0;
-  const selPhysics = selectedUid != null ? physicsParamsOf(selectedUid) : undefined;
+  const selPhysics: PhysicsParams | LcPhysicsParams | undefined = selectedUid == null ? undefined
+    : selectedKind === 'LC' ? lcPhysicsParamsOf(selectedUid) : physicsParamsOf(selectedUid);
+  const unit: 'psi' | 'kg' = selectedKind === 'LC' ? 'kg' : 'psi';
 
   // Fourth stat tile is model-specific — a plain "OK" told you nothing.
   //  cubic  → whether the fit is live (needs ≥2 points)
@@ -323,7 +336,7 @@ export default function CalibrationPage() {
     healthClass = selStatus?.driftDetected ? 'text-red-400' : 'text-green-400';
   } else if (selectedModel === 'physics') {
     healthLabel = 'Full scale';
-    healthValue = selPhysics ? `${selPhysics.fullScale} psi` : '—';
+    healthValue = selPhysics ? `${selPhysics.fullScale} ${unit}` : '—';
     healthClass = 'text-orange-300';
   } else {
     healthLabel = 'Cubic fit';
@@ -338,8 +351,9 @@ export default function CalibrationPage() {
       <aside style={{ width: sidebarWidth }} className="flex-shrink-0 border-r border-gray-800 bg-black/20 flex flex-col min-h-0">
         {/* Header */}
         <div className="flex-shrink-0 px-4 py-4 border-b border-gray-800">
-          <h1 className="text-2xl font-bold tracking-tight">PT Calibration</h1>
-          <div className="text-base text-text-muted font-mono mt-2 flex gap-3">
+          <h1 className="text-2xl font-bold tracking-tight">Calibration</h1>
+          <div className="text-xs font-bold text-text-muted uppercase tracking-wide mt-3">Pressure transducers</div>
+          <div className="text-base text-text-muted font-mono mt-1 flex gap-3">
             <span className="text-sky-300">{counts.cubic} cubic</span>
             <span className="text-violet-300">{counts.robust} robust</span>
             <span className="text-orange-300">{counts.physics} physics</span>
@@ -384,48 +398,60 @@ export default function CalibrationPage() {
           )}
         </div>
 
-        {/* Global action: Zero all — captures a 0 psi reference point on every cubic/robust sensor.
-            It's a real point (feeds the shared fit + persists), not a tare. */}
-        {(counts.cubic + counts.robust) > 0 && (
-          <div className="flex-shrink-0 px-4 py-3 border-t border-gray-800">
-            <button onClick={handleZeroAll} disabled={!sessionActive}
-              title={sessionActive
-                ? "Capture a 0 psi reference point on every cubic/robust PT sensor. Vent to atmosphere first — this adds a real point to each sensor's shared fit (physics sensors are skipped)."
-                : 'Start a session to calibrate — with no live stream there is nothing to capture.'}
-              className="w-full px-4 py-2.5 text-sm font-bold rounded-lg border bg-yellow-900/30 border-yellow-600/60 text-yellow-300 hover:bg-yellow-800/50 transition-colors disabled:opacity-40 disabled:cursor-not-allowed disabled:hover:bg-yellow-900/30">
-              Zero all
-            </button>
-            {!sessionActive && (
-              <p className="mt-1 text-[11px] text-text-muted text-center">Start a session to calibrate.</p>
-            )}
-          </div>
-        )}
-
-        {/* Load cells (separate concern) — collapsible */}
+        {/* Load cells — collapsible, same capture/clear/model UI as PT above */}
         {lcChannels.length > 0 && (
           <div className="flex-shrink-0 border-t border-gray-800">
             <button
               onClick={() => setShowLoadCells((v) => !v)}
-              className="w-full px-4 py-2.5 flex items-center justify-between text-xs font-bold text-text-muted hover:text-text"
+              className="w-full px-4 py-3 flex items-center justify-between hover:bg-white/5"
             >
-              <span>Load cells — 0 point ({lcChannels.length})</span>
+              <div className="text-left">
+                <div className="text-xs font-bold text-text-muted uppercase tracking-wide">Load cells</div>
+                <div className="text-sm text-text-muted font-mono mt-1 flex gap-3">
+                  <span className="text-sky-300">{lcCounts.cubic} cubic</span>
+                  <span className="text-orange-300">{lcCounts.physics} physics</span>
+                </div>
+              </div>
               <span className="text-gray-600">{showLoadCells ? '▾' : '▸'}</span>
             </button>
             {showLoadCells && (
-              <div className="px-3 pb-3 space-y-2 max-h-56 overflow-auto">
-                <div className="text-[11px] text-gray-600 px-1">Offset only; separate from PT calibration.</div>
-                {lcChannels.map(({ calEntity, label }) => (
-                  <LoadCellZeroCard key={calEntity} calEntity={calEntity} label={label}
-                    onZero={() => {
-                      const raw = getSensorValue(calEntity, 'force_lbf');
-                      if (raw != null && Number.isFinite(raw)) setLoadCellZeroOffset(calEntity, raw);
-                    }}
-                  />
-                ))}
+              <div className="max-h-96 overflow-auto divide-y divide-gray-800/40 border-t border-gray-800/60">
+                {lcChannels.map((ch) => {
+                  const uid = ch.boardId * 100 + ch.id;
+                  return (
+                    <SensorRow
+                      key={`${ch.boardId}-${ch.id}`}
+                      ch={ch}
+                      model={modelOf(uid)}
+                      status={getStatus(ch.id, ch.boardId)}
+                      calPsi={getSensorValue(ch.calEntity, 'force_kg')}
+                      numPoints={cubicState[String(uid)]?.numPoints ?? 0}
+                      selected={uid === selectedUid}
+                      onSelect={() => setSelectedUid(uid)}
+                    />
+                  );
+                })}
               </div>
             )}
           </div>
         )}
+
+        {/* Global action: Zero all — captures a 0 reference point on every cubic/robust PT + LC
+            sensor. It's a real point (feeds the shared fit + persists), not a tare. */}
+        {(counts.cubic + counts.robust + lcCounts.cubic) > 0 && (
+          <div className="flex-shrink-0 px-4 py-3 border-t border-gray-800">
+            <button onClick={handleZeroAll} disabled={!sessionActive}
+              title={sessionActive
+                ? "Capture a 0 reference point on every cubic/robust PT + LC sensor. Vent PTs to atmosphere and unload load cells first — this adds a real point to each sensor's shared fit (physics sensors are skipped)."
+                : 'Start a session to calibrate — with no live stream there is nothing to capture.'}
+              className="w-full px-4 py-2.5 text-sm font-bold rounded-lg border bg-yellow-900/30 border-yellow-600/60 text-yellow-300 hover:bg-yellow-800/50 transition-colors disabled:opacity-40 disabled:cursor-not-allowed disabled:hover:bg-yellow-900/30">
+              Zero all
+            </button>
+            {!sessionActive && (
+              <p className="mt-1 text-[11px] text-text-muted text-center">Start a session to calibrate.</p>
+            )}
+          </div>
+        )}
       </aside>
 
       {/* Drag handle — widen/narrow the sidebar */}
@@ -456,7 +482,7 @@ export default function CalibrationPage() {
                   {selectedModel !== 'physics' && ` · ${selectedState?.numPoints ?? 0} captured point${(selectedState?.numPoints ?? 0) === 1 ? '' : 's'}`}
                 </div>
                 <div className="text-sm text-text-muted mt-1.5 max-w-2xl">
-                  {MODEL_DESC[selectedModel]}
+                  {modelDesc(selectedModel, selectedKind ?? 'PT')}
                   {selectedModel !== 'physics' && selPoints === 0 && (
                     <span className="text-amber-400/80"> Reads 0 until you capture points.</span>
                   )}
@@ -474,7 +500,7 @@ export default function CalibrationPage() {
 
             {/* Live readouts */}
             <div className="grid grid-cols-2 sm:grid-cols-4 gap-3">
-              <Stat label="Pressure" value={`${fmtPsi(selPsi)} psi`} className="text-3xl text-green-400" />
+              <Stat label={selectedKind === 'LC' ? 'Force' : 'Pressure'} value={`${fmtPsi(selValue)} ${unit}`} className="text-3xl text-green-400" />
               <Stat label="Raw ADC" value={fmtAdc(selRawAdc)} className="text-xl text-gray-300" />
               <Stat label={selectedModel === 'robust' ? 'RLS updates' : 'Points'} value={selectedModel === 'robust' ? String(selStatus?.rlsUpdateCount ?? 0) : String(selPoints)} className="text-xl text-gray-300" />
               <Stat label={healthLabel} value={healthValue} className={`text-xl ${healthClass}`} />
@@ -488,7 +514,7 @@ export default function CalibrationPage() {
               ) : (
                 <div className="flex items-center gap-3 flex-wrap">
                   <input
-                    type="number" step="any" placeholder="Reference PSI"
+                    type="number" step="any" placeholder={selectedKind === 'LC' ? 'Reference kg' : 'Reference PSI'}
                     value={refInput}
                     onChange={(e) => setRefInput(e.target.value)}
                     onKeyDown={(e) => e.key === 'Enter' && handleCaptureSelected()}
@@ -504,7 +530,7 @@ export default function CalibrationPage() {
                   </button>
                   <span className="text-sm text-text-muted">
                     {sessionActive
-                      ? <>Records the current ADC at this known pressure. Feeds both the cubic &amp; robust fits.</>
+                      ? <>Records the current ADC at this known {selectedKind === 'LC' ? 'weight' : 'pressure'}. Feeds the {selectedKind === 'LC' ? 'cubic' : 'cubic & robust'} fit.</>
                       : <>Start a session to calibrate — there is no live stream to capture.</>}
                   </span>
                 </div>
@@ -516,7 +542,7 @@ export default function CalibrationPage() {
               <div className="flex items-center justify-between mb-3 flex-wrap gap-3">
                 <div className="text-sm font-bold text-text">Curve previews</div>
                 <div className="flex items-center gap-4 text-sm flex-wrap">
-                  {(['cubic', 'robust', 'physics'] as Model[]).map((m) => (
+                  {((selectedKind === 'LC' ? ['cubic', 'physics'] : ['cubic', 'robust', 'physics']) as Model[]).map((m) => (
                     <label key={m} className="flex items-center gap-2 cursor-pointer select-none">
                       <input type="checkbox" checked={overlay[m]} onChange={(e) => setOverlay((o) => ({ ...o, [m]: e.target.checked }))} />
                       <span className="inline-block w-4 rounded" style={{ background: CURVE_COLORS[m], height: m === selectedModel ? 4 : 2 }} />
@@ -531,7 +557,9 @@ export default function CalibrationPage() {
                 height={340}
                 activeModel={selectedModel}
                 show={overlay}
-                physics={physicsParamsOf(selectedUid!)}
+                unit={unit}
+                physics={selectedKind === 'PT' ? physicsParamsOf(selectedUid!) : undefined}
+                lcPhysics={selectedKind === 'LC' ? lcPhysicsParamsOf(selectedUid!) : undefined}
               />
             </div>
 
@@ -542,7 +570,7 @@ export default function CalibrationPage() {
                 <div className="max-h-64 overflow-auto border border-gray-800 rounded-lg">
                   <table className="w-full text-sm font-mono">
                     <thead className="sticky top-0 bg-gray-900 text-text-muted">
-                      <tr><th className="text-left px-4 py-2">#</th><th className="text-right px-4 py-2">Reference PSI</th><th className="text-right px-4 py-2">ADC</th></tr>
+                      <tr><th className="text-left px-4 py-2">#</th><th className="text-right px-4 py-2">Reference {unit === 'kg' ? 'kg' : 'PSI'}</th><th className="text-right px-4 py-2">ADC</th></tr>
                     </thead>
                     <tbody>
                       {selectedState.points.map((p, i) => (
diff --git a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
index e092b8ab4..b143e09fd 100644
--- a/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
+++ b/daq-server/diablo_server/frontend/components/calibration/CalibrationChart.tsx
@@ -19,6 +19,13 @@ export interface PhysicsParams {
   adcRefVoltage?: number;   // ADC reference volts (loop only; default 2.5)
 }
 
+/** LC datasheet physics params — mirrors convert_lc_adc_to_force in calibration_main.cpp. */
+export interface LcPhysicsParams {
+  fullScale: number;        // kg at full scale
+  sensitivityMvPerV: number;
+  pgaGain: number;
+}
+
 // Datasheet conversion — mirrors convert_ratiometric_pt_to_pressure / convert_hp_pt_to_pressure.
 function physicsPsi(adc: number, p: PhysicsParams): number {
   const frac = adc / ADC_MAX;
@@ -30,6 +37,14 @@ function physicsPsi(adc: number, p: PhysicsParams): number {
   return frac * p.fullScale;
 }
 
+// LC datasheet conversion — mirrors convert_lc_adc_to_force: excitation is the ADC reference, so it
+// cancels; code_fs = (sensitivity_mV/V / 1000) * PGA_gain * ADC_MAX.
+function physicsKg(adc: number, p: LcPhysicsParams): number {
+  const codeFs = (p.sensitivityMvPerV / 1000) * p.pgaGain * ADC_MAX;
+  if (!(codeFs > 0)) return 0;
+  return (adc / codeFs) * p.fullScale;
+}
+
 function evalCubicNorm(adc: number, poly: number[], min: number, scale: number): number {
   const s = scale || 1;
   const x = (adc - min) / s;
@@ -56,7 +71,7 @@ const CURVE_COLORS = { cubic: '#38BDF8', robust: '#A78BFA', physics: '#FB923C' }
 // Custom tooltip: recharts' default duplicates the numeric X value on a scatter/number axis, and
 // its label text renders black. We render the ADC once, then one row per present series.
 interface TipItem { name?: string; value?: number; color?: string; dataKey?: string }
-function ChartTooltip({ active, payload, label }: { active?: boolean; payload?: TipItem[]; label?: number }) {
+function ChartTooltip({ active, payload, label, unit = 'psi' }: { active?: boolean; payload?: TipItem[]; label?: number; unit?: string }) {
   if (!active || !payload || payload.length === 0) return null;
   const seen = new Set<string>();
   const rows = payload
@@ -69,7 +84,7 @@ function ChartTooltip({ active, payload, label }: { active?: boolean; payload?:
       {rows.map((p) => (
         <div key={String(p.dataKey)} style={{ color: p.color ?? '#e2e2e2', display: 'flex', justifyContent: 'space-between', gap: 12 }}>
           <span>{p.name ?? p.dataKey}</span>
-          <span style={{ fontVariantNumeric: 'tabular-nums' }}>{Number(p.value).toFixed(2)} psi</span>
+          <span style={{ fontVariantNumeric: 'tabular-nums' }}>{Number(p.value).toFixed(2)} {unit}</span>
         </div>
       ))}
     </div>
@@ -82,15 +97,19 @@ export interface CalibrationChartProps {
   activeModel?: 'cubic' | 'robust' | 'physics';
   show?: { cubic?: boolean; robust?: boolean; physics?: boolean };
   physics?: PhysicsParams;
+  /** LC datasheet physics params — mutually exclusive with `physics` (PT). */
+  lcPhysics?: LcPhysicsParams;
+  /** Value unit for axis/tooltip labels. Default 'psi' (PT); pass 'kg' for load cells. */
+  unit?: 'psi' | 'kg';
 }
 
 /**
  * Shared calibration chart for the merged page. Draws the captured points (age-faded) plus up to
  * three model overlays — cubic (from polyCoeffs), robust (service `fitCurve`), physics (closed
- * form) — with the active model emphasized. `show` gates each overlay; `physics` supplies the
- * datasheet params from config.
+ * form) — with the active model emphasized. `show` gates each overlay; `physics`/`lcPhysics`
+ * supplies the datasheet params from config (PT and LC use different physics formulas).
  */
-export function CalibrationChart({ state, height = 420, activeModel, show, physics }: CalibrationChartProps) {
+export function CalibrationChart({ state, height = 420, activeModel, show, physics, lcPhysics, unit = 'psi' }: CalibrationChartProps) {
   const showCubic = show?.cubic ?? true;
   const showRobust = show?.robust ?? true;
   const showPhysics = show?.physics ?? true;
@@ -119,12 +138,13 @@ export function CalibrationChart({ state, height = 420, activeModel, show, physi
     const N = 60;
     const poly = state?.polyCoeffs;
     const cubicOk = showCubic && poly && poly.length >= 2 && n >= 2;
-    if (cubicOk || (showPhysics && physics)) {
+    const hasPhysics = showPhysics && (physics || lcPhysics);
+    if (cubicOk || hasPhysics) {
       for (let i = 0; i <= N; i++) {
         const adc = lo + ((hi - lo) * i) / N;
         const row: Row = { adc };
         if (cubicOk) row.psiCubic = evalCubicNorm(adc, poly!, state!.adcNormMin, state!.adcNormScale);
-        if (showPhysics && physics) row.psiPhysics = physicsPsi(adc, physics);
+        if (hasPhysics) row.psiPhysics = lcPhysics ? physicsKg(adc, lcPhysics) : physicsPsi(adc, physics!);
         rows.push(row);
       }
     }
@@ -132,7 +152,7 @@ export function CalibrationChart({ state, height = 420, activeModel, show, physi
       for (const c of state?.fitCurve ?? []) rows.push({ adc: c.adc, psiRobust: c.psi });
     }
     return rows.sort((a, b) => a.adc - b.adc);
-  }, [state, showCubic, showRobust, showPhysics, physics]);
+  }, [state, showCubic, showRobust, showPhysics, physics, lcPhysics]);
 
   const w = (m: 'cubic' | 'robust' | 'physics') => (activeModel === m ? 3 : 1.5);
   const dash = (m: 'cubic' | 'robust' | 'physics') => (activeModel && activeModel !== m ? '4 3' : undefined);
@@ -148,9 +168,9 @@ export function CalibrationChart({ state, height = 420, activeModel, show, physi
           </XAxis>
           <YAxis type="number" stroke="#888" tick={{ fontSize: 10, fill: '#888' }}
                  tickFormatter={(v) => Number(v).toFixed(0)}>
-            <Label value="Pressure (PSI)" angle={-90} position="insideLeft" fill="#888" fontSize={11} />
+            <Label value={unit === 'kg' ? 'Force (kg)' : 'Pressure (PSI)'} angle={-90} position="insideLeft" fill="#888" fontSize={11} />
           </YAxis>
-          <Tooltip content={<ChartTooltip />} cursor={{ stroke: '#555', strokeDasharray: '3 3' }} />
+          <Tooltip content={<ChartTooltip unit={unit} />} cursor={{ stroke: '#555', strokeDasharray: '3 3' }} />
           {showCubic && (
             <Line type="monotone" dataKey="psiCubic" stroke={CURVE_COLORS.cubic} dot={false}
                   strokeWidth={w('cubic')} strokeDasharray={dash('cubic')} connectNulls
diff --git a/daq-server/diablo_server/frontend/lib/sensor-config.ts b/daq-server/diablo_server/frontend/lib/sensor-config.ts
index dae92b781..c9e29b8aa 100644
--- a/daq-server/diablo_server/frontend/lib/sensor-config.ts
+++ b/daq-server/diablo_server/frontend/lib/sensor-config.ts
@@ -14,6 +14,8 @@ import { MessageType } from './types';
 // ── Types ──────────────────────────────────────────────────────────────────────
 
 export interface SensorConfig {
+    /** Sensor kind. */
+    type: 'PT' | 'TC' | 'RTD' | 'LC';
     /** 1-based channel / connector ID local to the board */
     id: number;
     /** Human-readable role name from config.toml, e.g. "Fuel Upstream" */
diff --git a/daq-server/diablo_server/lib/include/calibration/SensorCalibration.hpp b/daq-server/diablo_server/lib/include/calibration/SensorCalibration.hpp
index 1bc611b5a..73940b9b2 100644
--- a/daq-server/diablo_server/lib/include/calibration/SensorCalibration.hpp
+++ b/daq-server/diablo_server/lib/include/calibration/SensorCalibration.hpp
@@ -92,6 +92,11 @@ class SensorCalibrationManager {
         calibrations_[channel_id] = cal;
     }
 
+    /// Remove a channel's calibration so is_calibrated() returns false again.
+    void clear_calibration(uint8_t channel_id) {
+        calibrations_.erase(channel_id);
+    }
+
     // ── Evaluation ─────────────────────────────────────────────────────────
     bool is_calibrated(uint8_t channel_id) const;
     double calculate(uint8_t channel_id, int32_t raw_counts) const;
diff --git a/daq-server/diablo_server/lib/include/config/Config.hpp b/daq-server/diablo_server/lib/include/config/Config.hpp
index e69576015..baac07edb 100644
--- a/daq-server/diablo_server/lib/include/config/Config.hpp
+++ b/daq-server/diablo_server/lib/include/config/Config.hpp
@@ -174,9 +174,14 @@ struct Config {
     // "calibration_model_pt_board" -> {"Ox Upstream": "robust"}. Per-sensor PT streaming model.
     std::map<std::string, std::map<std::string, std::string>> calibration_models;
     // Per-sensor physics-mode parameters, role-keyed, parallel to calibration_models:
-    // [calibration_full_scale_<board>] role->PSI and [calibration_sense_resistor_<board>] role->Ω.
+    // [calibration_full_scale_<board>] role->PSI (PT) or role->kg (LC) and
+    // [calibration_sense_resistor_<board>] role->Ω (PT 4-20 mA only).
     std::map<std::string, std::map<std::string, double>> calibration_full_scale;
     std::map<std::string, std::map<std::string, double>> calibration_sense_resistor;
+    // LC-only physics params, role-keyed, parallel to calibration_full_scale:
+    // [calibration_sensitivity_<board>] role->mV/V and [calibration_pga_<board>] role->gain.
+    std::map<std::string, std::map<std::string, double>> calibration_sensitivity;
+    std::map<std::string, std::map<std::string, double>> calibration_pga_gain;
 
     /** [sensor_roles_<board>] with a legacy [sensor_roles] fallback. */
     const std::map<std::string, int>* sensor_roles_for(const std::string& board_key) const;
@@ -190,6 +195,12 @@ struct Config {
 
     /** [calibration_sense_resistor_<board>] role->Ω map, or nullptr when absent/empty. */
     const std::map<std::string, double>* sense_resistor_for(const std::string& section_key) const;
+
+    /** [calibration_sensitivity_<board>] role->mV/V map, or nullptr when absent/empty. */
+    const std::map<std::string, double>* sensitivity_for(const std::string& section_key) const;
+
+    /** [calibration_pga_<board>] role->gain map, or nullptr when absent/empty. */
+    const std::map<std::string, double>* pga_gain_for(const std::string& section_key) const;
 };
 
 /** Parse config.toml at `path`. On any error, logs and returns a default-constructed Config. */
diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 02fcc8a56..3c891016c 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -290,6 +290,10 @@ Config from_table(const toml::table& t) {
             target = &c.calibration_full_scale;
         else if (key.rfind("calibration_sense_resistor", 0) == 0)
             target = &c.calibration_sense_resistor;
+        else if (key.rfind("calibration_sensitivity", 0) == 0)
+            target = &c.calibration_sensitivity;
+        else if (key.rfind("calibration_pga", 0) == 0)
+            target = &c.calibration_pga_gain;
         if (target)
             if (auto rt = v.as_table()) {
                 auto& m = (*target)[key];
@@ -340,6 +344,20 @@ const std::map<std::string, double>* Config::sense_resistor_for(
     return nullptr;
 }
 
+const std::map<std::string, double>* Config::sensitivity_for(const std::string& section_key) const {
+    auto it = calibration_sensitivity.find(section_key);
+    if (it != calibration_sensitivity.end() && !it->second.empty())
+        return &it->second;
+    return nullptr;
+}
+
+const std::map<std::string, double>* Config::pga_gain_for(const std::string& section_key) const {
+    auto it = calibration_pga_gain.find(section_key);
+    if (it != calibration_pga_gain.end() && !it->second.empty())
+        return &it->second;
+    return nullptr;
+}
+
 Config load(const std::string& path) {
     try {
         toml::table tbl = toml::parse_file(path);
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index fae9bc3fe..7878c509b 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -3,7 +3,7 @@
  * @brief Standalone Calibration Service — subscribes directly to Elodin, applies calibration,
  *        publishes calibrated VTables back to Elodin.
  *
- * Connects directly to Elodin DB (port 2240) using subscribe_stream() to receive all raw sensor
+ * Connects directly to Elodin DB (port 2240) and subscribes to the raw sensor
  * data (PT, TC, RTD, LC). Publishes calibrated values to the same Elodin instance. No relay
  * dependency — fully independent of the relay and backend restart cycles.
  *
@@ -97,6 +97,32 @@ std::unordered_map<uint16_t, double> g_pt_sense_resistor;
  *  and the per-sensor config governs. */
 std::optional<PtModel> g_env_override;
 
+/**
+ * Which model an LC streams: an operator-built cubic fit, or the datasheet physics conversion
+ * (sensitivity/PGA-gain formula). No robust/blend — load cells don't need drift-learning. Chosen
+ * per sensor from [calibration_model_<lc_board>] in config; absent from the map means the default
+ * below (see lc_model_for), NOT Cubic — an unconfigured LC keeps streaming physics exactly as
+ * before this feature existed, so no rig's readings change until an operator opts a role into
+ * "cubic".
+ */
+enum class LcModel { Cubic, Physics };
+
+/** uid -> LC streaming model. A uid absent from this map defaults to Physics (see lc_model_for). */
+std::unordered_map<uint16_t, LcModel> g_lc_model;
+
+/** Per-sensor LC physics-mode parameters (from [calibration_full_scale_*] /
+ * [calibration_sensitivity_*] / [calibration_pga_*], falling back to [calibration.lc] globals).
+ * Only present for uids the config/board provides. */
+std::unordered_map<uint16_t, double> g_lc_full_scale;
+std::unordered_map<uint16_t, double> g_lc_sensitivity;
+std::unordered_map<uint16_t, double> g_lc_pga_gain;
+
+/** Every LC uid, populated at startup — the discriminant apply_capture/apply_clear/
+ *  reload_live_store use to route a shared uid-keyed cubic_store entry to lc_calibration instead
+ *  of pt_calibration/robust_manager (PT and LC uids share the store; their board_id ranges never
+ *  collide, but nothing else tags which kind a uid is). */
+std::set<uint16_t> g_lc_uids;
+
 }  // namespace
 
 static std::atomic<bool> running{true};
@@ -154,6 +180,42 @@ static const char* pt_model_name(PtModel m) {
     }
 }
 
+/** Parse a config model string for an LC role; "cubic" maps to Cubic, everything else (including
+ *  unrecognized/"robust"/"blend", which LC doesn't support) maps to Physics. */
+static LcModel parse_lc_model(const std::string& s) {
+    return s == "cubic" ? LcModel::Cubic : LcModel::Physics;
+}
+
+/** Per-sensor LC streaming model; a uid absent from g_lc_model defaults to Physics (today's
+ *  behavior) rather than Cubic — cubic is strictly opt-in per role. */
+static LcModel lc_model_for(uint16_t uid) {
+    auto it = g_lc_model.find(uid);
+    return it == g_lc_model.end() ? LcModel::Physics : it->second;
+}
+
+/** Per-sensor LC physics full-scale kg; falls back to the [calibration.lc] global when unset. */
+static double lc_full_scale_for(uint16_t uid, double fallback) {
+    auto it = g_lc_full_scale.find(uid);
+    return it != g_lc_full_scale.end() ? it->second : fallback;
+}
+
+/** Per-sensor LC sensitivity mV/V; falls back to the [calibration.lc] global when unset. */
+static double lc_sensitivity_for(uint16_t uid, double fallback) {
+    auto it = g_lc_sensitivity.find(uid);
+    return it != g_lc_sensitivity.end() ? it->second : fallback;
+}
+
+/** Per-sensor LC PGA gain; falls back to the [calibration.lc] global when unset. */
+static double lc_pga_gain_for(uint16_t uid, double fallback) {
+    auto it = g_lc_pga_gain.find(uid);
+    return it != g_lc_pga_gain.end() ? it->second : fallback;
+}
+
+/** Config-string form of an LC model, for the cubic store's per-uid active_model tag. */
+static const char* lc_model_name(LcModel m) {
+    return m == LcModel::Cubic ? "cubic" : "physics";
+}
+
 /** Ratiometric 0-5 V PT: excitation is the ADC reference, so the ADC fraction is the pressure
  *  fraction — psi = (adc / 2^31) * full_scale. Used by the `physics` model on non-loop boards. */
 static double convert_ratiometric_pt_to_pressure(int32_t adc_raw, double full_scale_psi) {
@@ -197,6 +259,22 @@ static double select_pt_psi(uint16_t uid, double psi_fac, double psi_rob, double
     }
 }
 
+/**
+ * The LC source-selection rule, mirroring select_pt_psi minus robust/blend (LC doesn't learn
+ * drift). `physics` (the datasheet sensitivity/PGA conversion) is also this uid's default when
+ * absent from g_lc_model — see lc_model_for. A cubic uid with no captured points reads 0, same
+ * "physics-or-nothing" philosophy PT's cubic mode uses once explicitly opted in.
+ */
+static double select_lc_kg(uint16_t uid, double kg_cubic, double kg_phys, bool cubic_ok) {
+    switch (lc_model_for(uid)) {
+        case LcModel::Cubic:
+            return cubic_ok ? kg_cubic : 0.0;
+        case LcModel::Physics:
+        default:
+            return kg_phys;
+    }
+}
+
 /**
  * 4-20 mA HP PT → PSI. Wire raw is u32 full-scale to 2^31.
  *
@@ -398,6 +476,33 @@ static uint16_t resolve_pt_sensor_uid(uint8_t type_lo, uint8_t ch,
     return static_cast<uint16_t>(100u + ch);
 }
 
+/**
+ * Map Elodin LC raw packet low byte + connector ch -> LC uid (board_id*100+ch). Mirrors
+ * resolve_pt_sensor_uid (kept as a separate copy rather than a shared/generalized helper so the
+ * PT/abort-threshold path is untouched by this change).
+ */
+static uint16_t resolve_lc_sensor_uid(uint8_t type_lo, uint8_t ch,
+                                      const std::vector<fsw::elodin::BoardChannels>& lc_boards) {
+    if (ch == 0 || ch > 10)
+        return static_cast<uint16_t>(100u + ch);
+    uint8_t bn_slot = 1;
+    if (type_lo >= ch) {
+        unsigned delta = static_cast<unsigned>(type_lo - ch);
+        bn_slot = static_cast<uint8_t>(delta / 0x20u + 1u);
+        if (bn_slot < 1)
+            bn_slot = 1;
+        if (bn_slot > 10)
+            bn_slot = 10;
+    }
+    for (const auto& bc : lc_boards) {
+        int mod = static_cast<int>(bc.board_id % 10);
+        int slot = (mod == 0) ? 10 : mod;
+        if (slot == static_cast<int>(bn_slot))
+            return static_cast<uint16_t>(bc.board_id) * 100u + ch;
+    }
+    return static_cast<uint16_t>(100u + ch);
+}
+
 /**
  * LP PT pressure exactly as published before zero offset and EMA — must match the streaming
  * branch so Zero All reads 0 PSI at the current ADC. (Using only factory psi for the offset while
@@ -715,6 +820,56 @@ int main(int argc, char* argv[]) {
             g_pt_sense_resistor[uid] = rs;
         }
     }
+
+    // ---- Per-sensor LC streaming model + physics params from config (mirrors the PT block above,
+    // minus robust/blend). A board with no [sensor_roles_<board>] section contributes no per-role
+    // overrides here — its uids simply fall back to the [calibration.lc] globals at the streaming
+    // site (lc_full_scale_for/lc_sensitivity_for/lc_pga_gain_for), same as every LC board today.
+    g_lc_model.clear();
+    g_lc_full_scale.clear();
+    g_lc_sensitivity.clear();
+    g_lc_pga_gain.clear();
+    for (const auto& b : cal_cfg.boards) {
+        if (b.type != "LC" || !b.enabled || b.board_id < 0)
+            continue;
+        const std::string board_key =
+            b.section.rfind("boards.", 0) == 0 ? b.section.substr(7) : b.section;
+        const auto* roles = cal_cfg.sensor_roles_for("sensor_roles_" + board_key);
+        if (roles == nullptr)
+            continue;  // no role map -> connectors default to physics (see lc_model_for)
+        const auto* models = cal_cfg.calibration_model_for("calibration_model_" + board_key);
+        const auto* full_scales = cal_cfg.full_scale_for("calibration_full_scale_" + board_key);
+        const auto* sensitivities = cal_cfg.sensitivity_for("calibration_sensitivity_" + board_key);
+        const auto* pga_gains = cal_cfg.pga_gain_for("calibration_pga_" + board_key);
+        for (const auto& [role, connector] : *roles) {
+            if (connector < 1 || connector > 99)
+                continue;
+            const uint16_t uid = static_cast<uint16_t>(b.board_id * 100 + connector);
+            g_uid_role[uid] = role;  // shared with PT — role names are unique across the whole rig
+
+            if (models != nullptr) {
+                auto it = models->find(role);
+                if (it != models->end())
+                    g_lc_model[uid] = parse_lc_model(it->second);
+            }
+            if (full_scales != nullptr) {
+                auto it = full_scales->find(role);
+                if (it != full_scales->end() && it->second > 0.0)
+                    g_lc_full_scale[uid] = it->second;
+            }
+            if (sensitivities != nullptr) {
+                auto it = sensitivities->find(role);
+                if (it != sensitivities->end() && it->second > 0.0)
+                    g_lc_sensitivity[uid] = it->second;
+            }
+            if (pga_gains != nullptr) {
+                auto it = pga_gains->find(role);
+                if (it != pga_gains->end() && it->second > 0.0)
+                    g_lc_pga_gain[uid] = it->second;
+            }
+        }
+    }
+
     // Ordered uid->role for RobustCalibrationManager save/load, so the robust learned state is
     // filed by role and re-attaches to the role's current connector (mirrors the cubic store).
     const std::map<uint16_t, std::string> uid_role(g_uid_role.begin(), g_uid_role.end());
@@ -743,6 +898,25 @@ int main(int argc, char* argv[]) {
         }
     }
 
+    // ---- Operator-built cubic LC calibration — registers into the SAME cubic_store as PT (uid
+    // board_id ranges never collide), so /api/cubic_calibration, calibration-profile save/load, and
+    // the seed-from-default mechanism all pick up LC channels for free. g_lc_uids is the
+    // discriminant apply_capture/apply_clear/reload_live_store use to route a store entry to
+    // lc_calibration instead of pt_calibration/robust_manager.
+    g_lc_uids.clear();
+    for (const auto& bc : lc_boards) {
+        for (uint8_t local_ch : bc.channels) {
+            const uint16_t uid = static_cast<uint16_t>(bc.board_id) * 100u + local_ch;
+            const uint8_t log_ch =
+                fsw::calibration::pt_logical_calibration_channel(bc.board_number, local_ch);
+            const auto rit = g_uid_role.find(uid);
+            const std::string role = rit != g_uid_role.end() ? rit->second : std::string();
+            g_lc_uids.insert(uid);
+            cubic_store.register_channel(uid, bc.board_id, local_ch, log_ch, role,
+                                         lc_model_name(lc_model_for(uid)));
+        }
+    }
+
     // ---- Unified capture/clear routing (see the [calibration_model_*] plan)
     // ---------------------- One capture path: the frontend sends {uid, ref}; the service routes by
     // the uid's configured model. Cubic/Blend -> record point + fit + apply to pt_calibration.
@@ -850,7 +1024,7 @@ int main(int argc, char* argv[]) {
                       << std::endl;
     };
 
-    auto apply_capture = [&](uint16_t uid, double adc_avg, double ref) {
+    auto apply_pt_capture = [&](uint16_t uid, double adc_avg, double ref) {
         const fsw::calibration::CubicFit fit = cubic_store.add_point(uid, adc_avg, ref);
         const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
         if (fit.valid && cch != nullptr)
@@ -866,9 +1040,27 @@ int main(int argc, char* argv[]) {
         // boards' vent-to-safe gate tracks the new calibration within a broadcast cycle.
         write_abort_thresholds();
     };
+    // LC capture: cubic fit only — no robust learner (LC doesn't need drift-learning) and no abort
+    // thresholds (a PT-only concept; abort_pts names PT roles).
+    auto apply_lc_capture = [&](uint16_t uid, double adc_avg, double ref) {
+        const fsw::calibration::CubicFit fit = cubic_store.add_point(uid, adc_avg, ref);
+        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+        if (fit.valid && cch != nullptr)
+            lc_calibration.set_calibration(cch->logical_ch, fsw::calibration::PolynomialCalibration(
+                                                                fit.A, fit.B, fit.C, fit.D, "kg"));
+        cubic_store.save();
+    };
+    // Every capture/clear is routed by uid kind (g_lc_uids), so cmd_type 0/3/4/5/6 in the
+    // CalibrationCommand handler below work unchanged for both PT and LC uids.
+    auto apply_capture = [&](uint16_t uid, double adc_avg, double ref) {
+        if (g_lc_uids.count(uid))
+            apply_lc_capture(uid, adc_avg, ref);
+        else
+            apply_pt_capture(uid, adc_avg, ref);
+    };
     // Clear = back to nothing: drop the captured points, remove the operator cubic (so cubic reads
-    // 0), and reset the robust learner. No factory/baseline revert.
-    auto apply_clear = [&](uint16_t uid) {
+    // 0), and reset the robust learner (PT only). No factory/baseline revert.
+    auto apply_pt_clear = [&](uint16_t uid) {
         const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
         if (cch != nullptr)
             pt_calibration.clear_calibration(cch->logical_ch);
@@ -879,6 +1071,19 @@ int main(int argc, char* argv[]) {
         // Clearing drops the curve → re-emit (this sensor now falls back to physics or is omitted).
         write_abort_thresholds();
     };
+    auto apply_lc_clear = [&](uint16_t uid) {
+        const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
+        if (cch != nullptr)
+            lc_calibration.clear_calibration(cch->logical_ch);
+        cubic_store.clear_channel(uid);
+        cubic_store.save();
+    };
+    auto apply_clear = [&](uint16_t uid) {
+        if (g_lc_uids.count(uid))
+            apply_lc_clear(uid);
+        else
+            apply_pt_clear(uid);
+    };
 
     // Seed on first run: if the live store file is missing, copy the committed default (a curated,
     // version-controlled calibration snapshot) into place so a fresh checkout / new machine boots
@@ -921,6 +1126,16 @@ int main(int argc, char* argv[]) {
             if (cch == nullptr)
                 continue;
             const bool fit_ok = fit != nullptr && fit->valid;
+            if (g_lc_uids.count(uid)) {
+                // LC: cubic fit only, no robust baseline to reseed.
+                if (fit_ok)
+                    lc_calibration.set_calibration(cch->logical_ch,
+                                                   fsw::calibration::PolynomialCalibration(
+                                                       fit->A, fit->B, fit->C, fit->D, "kg"));
+                else
+                    lc_calibration.clear_calibration(cch->logical_ch);
+                continue;
+            }
             if (fit_ok)
                 pt_calibration.set_calibration(
                     cch->logical_ch,
@@ -936,9 +1151,12 @@ int main(int argc, char* argv[]) {
         // Restore learned robust θ only on process start (not on a live profile swap).
         if (restore_learned)
             robust_manager.load_adjustments(adjustments_path, &uid_role);
-        // Sample the robust preview curve for EVERY sensor that has points (not just robust ones),
-        // so the merged UI can show "what robust would look like" before you switch to it.
+        // Sample the robust preview curve for EVERY PT sensor that has points (not just robust
+        // ones), so the merged UI can show "what robust would look like" before you switch to it.
+        // LC has no robust display.
         for (uint16_t uid : cubic_store.uids()) {
+            if (g_lc_uids.count(uid))
+                continue;
             const fsw::calibration::CubicChannel* cch = cubic_store.channel(uid);
             if (cch != nullptr && !cch->points.empty())
                 cubic_store.set_fit_curve(uid, sample_robust_curve(uid));
@@ -985,6 +1203,13 @@ int main(int argc, char* argv[]) {
         for (const auto& [uid, m] : g_pt_model)
             std::cout << "[Calibration]   uid " << uid << " -> " << pt_model_name(m) << std::endl;
     }
+    {
+        size_t lc_cubic_n = 0, lc_physics_n = 0;
+        for (uint16_t uid : g_lc_uids)
+            (lc_model_for(uid) == LcModel::Cubic ? lc_cubic_n : lc_physics_n)++;
+        std::cout << "[Calibration] LC: per-sensor model from config — default physics; "
+                  << lc_cubic_n << " cubic, " << lc_physics_n << " physics" << std::endl;
+    }
 
     if (verbose())
         std::cout << "[Cal] CAL_VERBOSE=1 — debug output enabled" << std::endl;
@@ -1000,11 +1225,15 @@ int main(int argc, char* argv[]) {
         }
         fsw::elodin::DatabaseConfig::register_calibrated_tables(
             elodin_client, pt_boards, tc_boards, rtd_boards, lc_boards, enc_boards, act_boards);
-        if (!elodin_client.subscribe_stream()) {
-            std::cerr << "[Cal] Failed to subscribe to Elodin stream" << std::endl;
+        // The raw sensor tables this service calibrates, built from the boards actually in
+        // config. This used to be subscribe_stream(), which guessed boards 1-8 x channels 1-10
+        // and sent 481 subscribe messages regardless of the rig.
+        if (!elodin_client.subscribe_tables(fsw::elodin::raw_sensor_tables(
+                pt_boards, act_boards, tc_boards, rtd_boards, lc_boards, enc_boards))) {
+            std::cerr << "[Cal] Failed to subscribe to raw sensor tables" << std::endl;
             return false;
         }
-        if (!elodin_client.subscribe_tables({{0x46, 0x00}})) {
+        if (!elodin_client.subscribe_tables({fsw::elodin::kTableCalibrationCommand})) {
             std::cerr << "[Cal] Failed to subscribe to CalibrationCommand [0x46,0x00]" << std::endl;
             return false;
         }
@@ -1019,7 +1248,13 @@ int main(int argc, char* argv[]) {
     // when Elodin silently drops subscriptions (daq_bridge VTables not yet registered).
     elodin_client.set_recv_timeout_ms(3000);
 
-    uint8_t pkt_buf[65536];  // 64 KB — handles large Elodin subscription-ACK bursts
+    // Generous, but not for the reason the previous comment claimed ("handles large Elodin
+    // subscription-ACK bursts"). ACKs are 19-23 bytes and arrive one per read_packet() call, so
+    // their number never mattered; the largest single packet on this stream is a ~179-byte VTable
+    // definition. The size was really working around read_packet(), which used to corrupt the
+    // connection permanently if any packet exceeded the buffer. That is fixed — an oversized
+    // packet is now skipped — so this is ordinary headroom for VTables that grow.
+    uint8_t pkt_buf[65536];
     int packet_count = 0;
     static std::atomic<bool> logged_ch5{false};
     auto last_save = std::chrono::steady_clock::now();
@@ -1035,8 +1270,9 @@ int main(int argc, char* argv[]) {
                 fsw::elodin::DatabaseConfig::register_calibrated_tables(
                     elodin_client, pt_boards, tc_boards, rtd_boards, lc_boards, enc_boards,
                     act_boards);
-                elodin_client.subscribe_stream();
-                elodin_client.subscribe_tables({{0x46, 0x00}});
+                elodin_client.subscribe_tables(fsw::elodin::raw_sensor_tables(
+                    pt_boards, act_boards, tc_boards, rtd_boards, lc_boards, enc_boards));
+                elodin_client.subscribe_tables({fsw::elodin::kTableCalibrationCommand});
                 elodin_client.set_recv_timeout_ms(3000);
                 last_resubscribe = std::chrono::steady_clock::now();
                 last_packet_time = std::chrono::steady_clock::now();
@@ -1056,8 +1292,9 @@ int main(int argc, char* argv[]) {
             if (since_pkt >= 5 && since_sub >= 5) {
                 std::cout << "[Cal] No packets for " << since_pkt
                           << "s — re-subscribing to raw streams" << std::endl;
-                elodin_client.subscribe_stream();
-                elodin_client.subscribe_tables({{0x46, 0x00}});
+                elodin_client.subscribe_tables(fsw::elodin::raw_sensor_tables(
+                    pt_boards, act_boards, tc_boards, rtd_boards, lc_boards, enc_boards));
+                elodin_client.subscribe_tables({fsw::elodin::kTableCalibrationCommand});
                 last_resubscribe = now_s;
             }
         }
@@ -1102,11 +1339,15 @@ int main(int argc, char* argv[]) {
                           << " sensor=" << static_cast<int>(sensor_id) << " ref=" << ref_val
                           << std::endl;
 
-                if (cmd_type == 0) {  // Zero All — capture a 0 psi reference point on every PT
-                    // A "zero" is just a captured reference point at 0 psi: it feeds the same
-                    // shared fit as any other capture (cubic + robust), persists, and naturally
-                    // averages repeated zeroes — capturing real zero-drift over time rather than
-                    // assuming a uniform tare. Physics sensors take no points, so they're skipped.
+                if (cmd_type == 0) {  // Zero All — capture a 0 reference point on every PT + LC
+                    // A "zero" is just a captured reference point at 0 (psi or kg): it feeds the
+                    // same shared fit as any other capture, persists, and naturally averages
+                    // repeated zeroes — capturing real zero-drift over time rather than assuming a
+                    // uniform tare. Physics sensors take no points, so they're skipped.
+                    auto is_physics = [&](uint16_t uid) -> bool {
+                        return g_lc_uids.count(uid) ? lc_model_for(uid) == LcModel::Physics
+                                                    : pt_model_for(uid) == PtModel::Physics;
+                    };
                     auto avg_adc = [&](uint16_t uid, double& out) -> bool {
                         auto rit = pt_adc_ring.find(uid);
                         if (rit != pt_adc_ring.end() && !rit->second.empty()) {
@@ -1127,7 +1368,7 @@ int main(int argc, char* argv[]) {
                     if (sensor_id == 0) {  // All sensors
                         for (auto const& [id, val] : last_adc_map) {
                             (void)val;
-                            if (pt_model_for(id) == PtModel::Physics)
+                            if (is_physics(id))
                                 continue;  // datasheet zero; no points
                             double adc_avg = 0.0;
                             if (!avg_adc(id, adc_avg))
@@ -1135,18 +1376,16 @@ int main(int argc, char* argv[]) {
                             apply_capture(id, adc_avg, 0.0);
                             ++zeroed;
                         }
-                        std::cout << "[Cal] Zero All: captured 0 psi on " << zeroed << " PT sensors"
+                        std::cout << "[Cal] Zero All: captured 0 on " << zeroed << " PT/LC sensors"
                                   << std::endl;
                     } else {
                         double adc_avg = 0.0;
-                        if (pt_model_for(sensor_id) != PtModel::Physics &&
-                            avg_adc(sensor_id, adc_avg)) {
+                        if (!is_physics(sensor_id) && avg_adc(sensor_id, adc_avg)) {
                             apply_capture(sensor_id, adc_avg, 0.0);
                             ++zeroed;
                         }
-                        std::cout << "[Cal] Zero: captured 0 psi on uid "
-                                  << static_cast<int>(sensor_id) << " (" << zeroed << ")"
-                                  << std::endl;
+                        std::cout << "[Cal] Zero: captured 0 on uid " << static_cast<int>(sensor_id)
+                                  << " (" << zeroed << ")" << std::endl;
                     }
                 } else if (cmd_type == 1) {  // Capture Reference
                     if (last_adc_map.count(sensor_id)) {
@@ -1383,17 +1622,32 @@ int main(int argc, char* argv[]) {
                 static_cast<uint32_t>(adc_i32), cal_status);
             elodin_client.publish(static_cast<uint16_t>((type_hi << 8) | cal_lo), cal_msg);
 
-        } else if (type_hi == 0x23) {  // LC raw
-            double force_kg;
-            uint8_t cal_status;
-            if (lc_calibration.is_calibrated(ch_eff)) {
-                force_kg = lc_calibration.calculate(ch_eff, adc_i32);
-                cal_status = 1;
-            } else {
-                force_kg = convert_lc_adc_to_force(adc_i32, lc_sensitivity_mv_per_v, lc_pga_gain,
-                                                   lc_full_scale_value);
-                cal_status = 0;
+        } else if (type_hi == 0x23) {  // LC raw — unified: every LC runs through model selection
+                                       // (cubic operator fit, or the datasheet physics formula).
+            const uint16_t uid = resolve_lc_sensor_uid(type_lo, ch_eff, lc_boards);
+
+            last_adc_map[uid] = adc_i32;
+            {  // feed the shared capture ADC ring so a capture averages a short window
+                auto& ring = pt_adc_ring[uid];
+                ring.push_back(adc_i32);
+                if (ring.size() > kPtAdcRingMax)
+                    ring.pop_front();
             }
+
+            const uint8_t lc_log_ch =
+                fsw::calibration::pt_logical_calibration_channel(board_number, ch_eff);
+            const bool cubic_ok = lc_calibration.is_calibrated(lc_log_ch);
+            const double kg_cubic = cubic_ok ? lc_calibration.calculate(lc_log_ch, adc_i32) : 0.0;
+            const double kg_phys = convert_lc_adc_to_force(
+                adc_i32, lc_sensitivity_for(uid, lc_sensitivity_mv_per_v),
+                lc_pga_gain_for(uid, lc_pga_gain), lc_full_scale_for(uid, lc_full_scale_value));
+
+            double force_kg = select_lc_kg(uid, kg_cubic, kg_phys, cubic_ok);
+            const bool is_physics_model = lc_model_for(uid) == LcModel::Physics;
+            const uint8_t cal_status = is_physics_model ? 1u : (cubic_ok ? 1u : 0u);
+            if (!std::isfinite(force_kg))
+                force_kg = 0.0;
+
             comms::messages::sensor::CalibratedLCMessage cal_msg(
                 ts_ns, ch_eff, std::array<uint8_t, 3>{0, 0, 0}, static_cast<float>(force_kg),
                 static_cast<uint32_t>(adc_i32), cal_status);
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index f3b7b71d7..d56cd497e 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -90,7 +90,7 @@ function parseOnlyTests(): Set<string> | null {
   }
   const allowed = new Set([
     'sensor_config', 'sensor_data', 'cal_stability', 'raw_cal_presence',
-    'cal_values', 'cal_model_select', 'cal_robust_learn', 'cal_shared_points', 'cal_clear',
+    'cal_values', 'cal_model_select', 'cal_robust_learn', 'cal_shared_points', 'cal_clear', 'cal_lc_capture',
     'heartbeat', 'board_status', 'selftest', 'backend_debug_api',
     'state_transition', 'state_debug', 'actuator_ws', 'actuator_udp', 'elodin_sync',
     'controller', 'timestamps', 'conservation', 'board_logs', 'board_log_mode',
@@ -1951,6 +1951,35 @@ async function testClearToNothing(ws: WebSocket): Promise<void> {
   assert(fc.length === 0, `cal_clear: robust preview curve cleared (${fc.length} samples)`);
 }
 
+// ── Test: LC capture builds a cubic fit (mirrors testSharedPoints for a load cell uid). LC has no
+// robust learner (no drift-learning), so unlike a PT capture this must NOT populate fitCurve.
+async function testLcCapture(ws: WebSocket): Promise<void> {
+  console.log('\n🏋️  Test 21: LC capture builds a cubic fit (no robust)');
+  const CH = 2, BOARD = 42, UID = BOARD * 100 + CH, REF = 5;  // lc_board_2 (LC2), active_connectors incl. 2
+  for (let i = 0; i < 10; i++) {
+    send(ws, { type: 'calibration_command', timestamp: Date.now(),
+      payload: { commandType: 'capture_point', sensorId: CH, boardId: BOARD, referencePressure: REF } });
+    await sleep(120);
+  }
+  await sleep(1500);
+  let rec: Record<string, unknown> | null = null;
+  for (let i = 0; i < 8; i++) { rec = readCalRecord(UID); if (rec && (rec.numPoints as number ?? 0) > 0) break; await sleep(400); }
+  if (!rec) { assert(false, `cal_lc_capture: no record for uid ${UID}`); return; }
+  const numPoints = rec.numPoints as number ?? 0;
+  const fc = (Array.isArray(rec.fitCurve) ? rec.fitCurve : []) as unknown[];
+  console.log(`  uid ${UID}: numPoints=${numPoints} fitCurve=${fc.length}`);
+  assert(numPoints >= 1, `cal_lc_capture: cubic store recorded ${numPoints} point(s) for LC uid ${UID}`);
+  assert(fc.length === 0, `cal_lc_capture: LC has no robust preview curve (${fc.length}) — LC doesn't learn drift`);
+
+  // Clear it back to nothing so the shared store doesn't leak state into later runs.
+  send(ws, { type: 'calibration_command', timestamp: Date.now(),
+    payload: { commandType: 'new_calibration', sensorId: CH, boardId: BOARD } });
+  await sleep(1500);
+  let cleared: Record<string, unknown> | null = null;
+  for (let i = 0; i < 8; i++) { cleared = readCalRecord(UID); if (cleared && (cleared.numPoints as number ?? -1) === 0) break; await sleep(400); }
+  assert(!!cleared && (cleared.numPoints as number) === 0, `cal_lc_capture: LC clear wiped points (numPoints ${cleared?.numPoints})`);
+}
+
 // ── Test: the robust stack actually learns (and the cubic channel is unaffected) ─
 async function testRobustLearns(ws: WebSocket): Promise<void> {
   console.log('\n🧠 Test 18: robust stack learns an operator offset (cubic channel unchanged)');
@@ -2030,7 +2059,7 @@ async function testElodinStateSync(): Promise<void> {
 
 // ── Test 7: SERVER_HEARTBEAT on control UDP (thin + listener file) ─────────
 
-async function testServerHeartbeatUdp(): Promise<void> {
+async function testServerHeartbeatUdp(ws: WebSocket): Promise<void> {
   if (!IS_THIN || !UDP_COMMANDS_FILE) return;
   console.log('\n📬 Test 7: SERVER_HEARTBEAT UDP (heartbeat_service or daq_bridge → listener)');
   // Wait for listener to bind and create the JSON file (integration starts it just before this test).
@@ -2055,6 +2084,80 @@ async function testServerHeartbeatUdp(): Promise<void> {
   }
   const hb = packets.filter((p) => p.packetType === 2);
   assert(hb.length >= 1, `SERVER_HEARTBEAT: expected ≥1 type-2 packet, got ${hb.length}`);
+
+  await assertHeartbeatTracksSequencerState(ws);
+}
+
+/**
+ * engine_state in SERVER_HEARTBEAT must follow the sequencer.
+ *
+ * It did not. heartbeat_service subscribed to Elodin with subscribe_stream(), which despite its
+ * name sent the calibration service's table list and never included [0x50,0x00] — the one table
+ * heartbeat_service reads. So it blocked in read_packet() forever and broadcast engine_state = 0
+ * through every transition, silently, for the life of the process. Nothing caught it because the
+ * only assertion here counted packets.
+ *
+ * FUEL_FILL is used because stateToEngine() maps it to PRESSURIZING(1) while IDLE and ARMED both
+ * map to SAFE(0) — i.e. it is a state whose engine_state is distinguishable from the resting value.
+ */
+async function assertHeartbeatTracksSequencerState(ws: WebSocket): Promise<void> {
+  const readEngineStates = (): number[] => {
+    try {
+      const raw = JSON.parse(fs.readFileSync(UDP_COMMANDS_FILE!, 'utf-8'));
+      if (!Array.isArray(raw)) return [];
+      return raw.filter((p: any) => p.packetType === 2 && typeof p.engineState === 'number')
+                .map((p: any) => p.engineState as number);
+    } catch { return []; }
+  };
+
+  const before = readEngineStates();
+  const baseline = before.length ? before[before.length - 1] : 0;
+
+  // Debug mode so the transition is accepted regardless of the rig's state_transitions.csv.
+  send(ws, {
+    type: MessageType.SEND_COMMAND,
+    timestamp: Date.now(),
+    payload: { commandType: 'debug_mode', data: { debugMode: true } },
+  });
+  await waitForMessage(ws, MessageType.STATE_UPDATE, COMMAND_TIMEOUT_MS,
+    (payload) => payload.debugMode === true).catch(() => {});
+
+  send(ws, {
+    type: MessageType.SEND_COMMAND,
+    timestamp: Date.now(),
+    payload: { commandType: 'state_transition', data: { state: SystemState.FUEL_FILL } },
+  });
+  await waitForMessage(ws, MessageType.STATE_UPDATE, COMMAND_TIMEOUT_MS,
+    (payload) => payload.currentState === SystemState.FUEL_FILL).catch(() => {});
+
+  // Poll rather than sleep a fixed amount: the heartbeat interval and the Elodin hop are both
+  // config-dependent, and this should not be the test that goes flaky on a loaded runner.
+  const EXPECTED = 1;  // PRESSURIZING
+  let seen: number[] = [];
+  for (let i = 0; i < 40; i++) {
+    await new Promise((r) => setTimeout(r, 250));
+    seen = readEngineStates().slice(before.length);
+    if (seen.includes(EXPECTED)) break;
+  }
+  assert(seen.includes(EXPECTED),
+    `SERVER_HEARTBEAT engine_state follows the sequencer: expected ${EXPECTED} (PRESSURIZING) ` +
+    `after entering FUEL_FILL, saw [${[...new Set(seen)].join(',')}] (baseline ${baseline})`);
+
+  // Put the rig back where the later tests expect it.
+  send(ws, {
+    type: MessageType.SEND_COMMAND,
+    timestamp: Date.now(),
+    payload: { commandType: 'state_transition', data: { state: SystemState.IDLE } },
+  });
+  await waitForMessage(ws, MessageType.STATE_UPDATE, COMMAND_TIMEOUT_MS,
+    (payload) => payload.currentState === SystemState.IDLE).catch(() => {});
+  send(ws, {
+    type: MessageType.SEND_COMMAND,
+    timestamp: Date.now(),
+    payload: { commandType: 'debug_mode', data: { debugMode: false } },
+  });
+  await waitForMessage(ws, MessageType.STATE_UPDATE, COMMAND_TIMEOUT_MS,
+    (payload) => payload.debugMode === false).catch(() => {});
 }
 
 // ── Test 8: Board status from relay → thin → WS ───────────────────────────
@@ -2809,7 +2912,7 @@ async function main(): Promise<void> {
     if (runTest('cal_values')) await testCalibratedValueCorrectness(ws);
     if (IS_THIN && runTest('cal_model_select')) await testCalibrationModelSelection();
     if (IS_THIN) {
-      if (runTest('heartbeat')) await testServerHeartbeatUdp();
+      if (runTest('heartbeat')) await testServerHeartbeatUdp(ws);
       if (runTest('board_status')) await testBoardStatusToFrontend(ws);
       if (runTest('selftest')) await testBoardStartupSelfTestToFrontend(ws);
       if (runTest('selftest_replay')) await testSelfTestReplayOnLateConnect();
@@ -2843,6 +2946,7 @@ async function main(): Promise<void> {
     // Shared-points then clear run last (they mutate CH3's cubic store + robust state).
     if (IS_THIN && canRunCommandTests && runTest('cal_shared_points')) await testSharedPoints(ws);
     if (IS_THIN && canRunCommandTests && runTest('cal_clear')) await testClearToNothing(ws);
+    if (IS_THIN && canRunCommandTests && runTest('cal_lc_capture')) await testLcCapture(ws);
   } finally {
     ws.close();
   }

From c12f3f0f5575ec7fc71a1c5574275189af6ba89a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Mon, 7 Sep 2026 20:28:48 -0700
Subject: [PATCH 192/205] =?UTF-8?q?heartbeat=5Fservice=20never=20subscribe?=
 =?UTF-8?q?d=20to=20the=20table=20it=20reads,=20so=20engine=5Fstate=20was?=
 =?UTF-8?q?=200=20forever=20=E2=80=94=20it=20consumes=20[0x50,0x00]=20and?=
 =?UTF-8?q?=20called=20subscribe=5Fstream(),=20whose=20doc=20comment=20pro?=
 =?UTF-8?q?mised=20"all=20stream=20data"=20but=20which=20actually=20sent?=
 =?UTF-8?q?=20the=20calibration=20service's=20list=20(480=20raw=20sensor?=
 =?UTF-8?q?=20ids=20from=20a=20hardcoded=20boards=201-8=20x=20channels=201?=
 =?UTF-8?q?-10=20guess,=20plus=20the=20calibration=20command=20table);=20m?=
 =?UTF-8?q?easured=20with=20the=20real=20binaries=20against=20a=20real=20e?=
 =?UTF-8?q?lodin-db,=20four=20transitions=20produced=20101=20heartbeats=20?=
 =?UTF-8?q?all=20carrying=200,=20at=200%=20CPU=20with=20the=20Elodin=20thr?=
 =?UTF-8?q?ead=20parked=20in=20recv()=20and=20nothing=20logged,=20and=20it?=
 =?UTF-8?q?=20now=20reports=20{0,1};=20subscribe=5Fstream()=20is=20deleted?=
 =?UTF-8?q?=20and=20every=20consumer=20names=20what=20it=20reads=20via=20r?=
 =?UTF-8?q?aw=5Fsensor=5Ftables()/calibrated=5Fsensor=5Ftables()=20built?=
 =?UTF-8?q?=20from=20the=20boards=20actually=20in=20config,=20the=20way=20?=
 =?UTF-8?q?ControllerService=20already=20did;=20also=20fixes=20the=20read?=
 =?UTF-8?q?=20path=20this=20was=20originally=20filed=20against,=20which=20?=
 =?UTF-8?q?was=20real=20but=20never=20firing=20=E2=80=94=20an=20oversized?=
 =?UTF-8?q?=20packet=20abandoned=20its=20payload=20in=20the=20socket=20and?=
 =?UTF-8?q?=20desynced=20the=20stream=20permanently,=20the=20bound=20was?=
 =?UTF-8?q?=20off=20by=20four=20so=20packet=5Flen=20=3D=3D=20max=5Flen=20o?=
 =?UTF-8?q?verran=20the=20caller's=20buffer=20(EFAULT=20against=20a=20guar?=
 =?UTF-8?q?d=20page),=20read=5Fexact=20returned=20TIMEOUT=20after=20a=20pa?=
 =?UTF-8?q?rtial=20read=20for=20the=20same=20desync,=20and=20only=20the=20?=
 =?UTF-8?q?write=20path=20ever=20cleared=20connected=5F=20so=20a=20dead=20?=
 =?UTF-8?q?socket=20read=20as=20live;=20the=20256-byte=20buffer=20this=20f?=
 =?UTF-8?q?ile=20blamed=20was=20never=20overflowed,=20nothing=20emits=20ov?=
 =?UTF-8?q?er=20179=20bytes,=20and=20that=20claim=20is=20withdrawn?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/diablo_server/lib/CMakeLists.txt   |  18 ++
 .../lib/include/elodin/DatabaseConfig.hpp     |  28 +++
 .../lib/include/elodin/ElodinClient.hpp       |  18 +-
 .../lib/src/elodin/DatabaseConfig.cpp         |  39 ++++
 .../lib/src/elodin/ElodinClient.cpp           |  83 ++++---
 .../lib/test/test_elodin_read_path.cpp        | 202 ++++++++++++++++++
 .../heartbeat/heartbeat_service_main.cpp      |  47 +++-
 .../transport/src/transport/TCPClient.cpp     |  16 +-
 daq-server/docs/IMPROVEMENTS.md               |  51 +++--
 daq-server/docs/adding-sensor-streams.md      |   9 +
 10 files changed, 423 insertions(+), 88 deletions(-)
 create mode 100644 daq-server/diablo_server/lib/test/test_elodin_read_path.cpp

diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index d9a7f15eb..b98d38b14 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -112,6 +112,24 @@ target_link_libraries(test_sequencer_elodin
 # with CTest and is not invoked by CI either, so its assertions have never gated anything.
 add_test(NAME robust_ddp COMMAND test_robust_ddp)
 
+# ElodinClient framing, against a fake elodin-db it drives itself (nothing a real db emits today
+# is large enough to reach the oversize path, which is why the bug went unnoticed).
+add_executable(test_elodin_read_path test/test_elodin_read_path.cpp)
+target_include_directories(test_elodin_read_path PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+target_link_libraries(test_elodin_read_path
+    fsw_daq_lib daq_comms_lib daqv2_comms Threads::Threads pthread ${RT_LIBRARY})
+add_test(NAME elodin_read_path COMMAND test_elodin_read_path)
+
+# test_sequencer_elodin has been built on every configure since it was added but was never
+# registered with CTest, so like test_robust_ddp before it, its assertions have never gated
+# anything. It drives a real SequencerService against a throwaway TCP server, so it needs the
+# build-tree root as its cwd to resolve config/.
+add_test(NAME sequencer_elodin COMMAND test_sequencer_elodin
+         WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
+
 # The DAQ NIC resolver. Pure library code — no sockets to a peer, no config files on disk — so it
 # needs none of the working-directory or serialization care the sequencer tests below do.
 add_executable(test_daq_interface test/test_daq_interface.cpp)
diff --git a/daq-server/diablo_server/lib/include/elodin/DatabaseConfig.hpp b/daq-server/diablo_server/lib/include/elodin/DatabaseConfig.hpp
index 70a716939..33eb2efde 100644
--- a/daq-server/diablo_server/lib/include/elodin/DatabaseConfig.hpp
+++ b/daq-server/diablo_server/lib/include/elodin/DatabaseConfig.hpp
@@ -3,6 +3,7 @@
 
 #include <cstdint>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "ElodinClient.hpp"
@@ -23,6 +24,33 @@ struct BoardChannels {
     std::vector<uint8_t> channels;  // local channels (1-10)
 };
 
+/**
+ * @brief Elodin table ids (hi, lo) for the RAW sensor VTables the given boards publish.
+ *
+ * The (type_hi, (board_number-1)*0x20 + channel) encoding is defined by
+ * DatabaseConfig::register_tables(), so it lives here beside it rather than being re-derived by
+ * every subscriber. Built from the boards actually in config — the version this replaced guessed
+ * boards 1-8 x channels 1-10 and subscribed to 480 tables whether they existed or not.
+ */
+std::vector<std::pair<uint8_t, uint8_t>> raw_sensor_tables(
+    const std::vector<BoardChannels>& pt_boards, const std::vector<BoardChannels>& act_boards,
+    const std::vector<BoardChannels>& tc_boards, const std::vector<BoardChannels>& rtd_boards,
+    const std::vector<BoardChannels>& lc_boards, const std::vector<BoardChannels>& enc_boards);
+
+/**
+ * @brief Elodin table ids for the CALIBRATED VTables, matching register_calibrated_tables()
+ *        (same encoding as above with a +0x10 channel offset, and ACT at 0x31 rather than 0x30).
+ */
+std::vector<std::pair<uint8_t, uint8_t>> calibrated_sensor_tables(
+    const std::vector<BoardChannels>& pt_boards, const std::vector<BoardChannels>& tc_boards,
+    const std::vector<BoardChannels>& rtd_boards, const std::vector<BoardChannels>& lc_boards,
+    const std::vector<BoardChannels>& enc_boards, const std::vector<BoardChannels>& act_boards);
+
+/** Non-sensor tables, named rather than spelled as literals at each use site. */
+constexpr std::pair<uint8_t, uint8_t> kTableSequencerState{0x50, 0x00};
+constexpr std::pair<uint8_t, uint8_t> kTableControllerState{0x43, 0x00};
+constexpr std::pair<uint8_t, uint8_t> kTableCalibrationCommand{0x46, 0x00};
+
 /**
  * @brief Register sensor table schemas with Elodin database.
  *
diff --git a/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp b/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp
index 0ec52ed8a..def017e28 100644
--- a/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp
+++ b/daq-server/diablo_server/lib/include/elodin/ElodinClient.hpp
@@ -66,15 +66,21 @@ class ElodinClient {
         return publish(msg_id, message);
     }
 
-    /**
-     * @brief Subscribe to all stream data from Elodin (sends a StreamFilter MSG).
-     */
-    bool subscribe_stream();
-
     /**
      * @brief Subscribe to specific tables by ID.
+     *
+     * There is deliberately no "subscribe to everything" call. There used to be —
+     * subscribe_stream(), documented as "subscribe to all stream data" — but it was really the
+     * calibration service's table list under a general name: 480 raw sensor ids plus the
+     * calibration command table. heartbeat_service called it expecting everything, received 481
+     * tables it discarded, and never received the one table it reads, so its engine_state sat at
+     * 0 forever. Elodin has no wildcard; every subscriber must name what it consumes.
+     *
+     * See raw_sensor_tables() / calibrated_sensor_tables() in DatabaseConfig.hpp for the sensor
+     * id sets, and kTableSequencerState / kTableCalibrationCommand for the non-sensor ones.
+     *
      * @param table_ids Vector of (hi, lo) byte pairs identifying each table.
-     * @return true if all subscribe messages were sent.
+     * @return false if any subscribe message failed to send.
      */
     bool subscribe_tables(const std::vector<std::pair<uint8_t, uint8_t>>& table_ids);
 
diff --git a/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp b/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp
index 43b5ac6e6..00755df0e 100644
--- a/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp
+++ b/daq-server/diablo_server/lib/src/elodin/DatabaseConfig.cpp
@@ -131,6 +131,45 @@ static bool register_actuator_state_vtable(ElodinClient& client, uint8_t type_hi
 // PUBLIC API — RAW VTables only (for daq_bridge)
 // ════════════════════════════════════════════════════════════════════════════
 
+namespace {
+/** Append (type_hi, (board_number-1)*0x20 + offset + ch) for every active channel. */
+void appendTables(std::vector<std::pair<uint8_t, uint8_t>>& out,
+                  const std::vector<BoardChannels>& boards, uint8_t type_hi, uint8_t offset) {
+    for (const auto& board : boards)
+        for (uint8_t ch : board.channels)
+            out.push_back(
+                {type_hi, static_cast<uint8_t>((board.board_number - 1) * 0x20 + offset + ch)});
+}
+}  // namespace
+
+std::vector<std::pair<uint8_t, uint8_t>> raw_sensor_tables(
+    const std::vector<BoardChannels>& pt_boards, const std::vector<BoardChannels>& act_boards,
+    const std::vector<BoardChannels>& tc_boards, const std::vector<BoardChannels>& rtd_boards,
+    const std::vector<BoardChannels>& lc_boards, const std::vector<BoardChannels>& enc_boards) {
+    std::vector<std::pair<uint8_t, uint8_t>> t;
+    appendTables(t, pt_boards, 0x20, 0x00);
+    appendTables(t, act_boards, 0x30, 0x00);
+    appendTables(t, tc_boards, 0x21, 0x00);
+    appendTables(t, rtd_boards, 0x22, 0x00);
+    appendTables(t, lc_boards, 0x23, 0x00);
+    appendTables(t, enc_boards, 0x24, 0x00);
+    return t;
+}
+
+std::vector<std::pair<uint8_t, uint8_t>> calibrated_sensor_tables(
+    const std::vector<BoardChannels>& pt_boards, const std::vector<BoardChannels>& tc_boards,
+    const std::vector<BoardChannels>& rtd_boards, const std::vector<BoardChannels>& lc_boards,
+    const std::vector<BoardChannels>& enc_boards, const std::vector<BoardChannels>& act_boards) {
+    std::vector<std::pair<uint8_t, uint8_t>> t;
+    appendTables(t, pt_boards, 0x20, 0x10);
+    appendTables(t, tc_boards, 0x21, 0x10);
+    appendTables(t, rtd_boards, 0x22, 0x10);
+    appendTables(t, lc_boards, 0x23, 0x10);
+    appendTables(t, enc_boards, 0x24, 0x10);
+    appendTables(t, act_boards, 0x31, 0x10);
+    return t;
+}
+
 bool DatabaseConfig::register_tables(ElodinClient& client,
                                      const std::vector<BoardChannels>& pt_boards,
                                      const std::vector<BoardChannels>& act_boards,
diff --git a/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp b/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
index e06481f05..1ad09ce4a 100644
--- a/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
+++ b/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
@@ -1,5 +1,6 @@
 #include "elodin/ElodinClient.hpp"
 
+#include <algorithm>
 #include <cstring>
 #include <iostream>
 
@@ -91,48 +92,9 @@ void ElodinClient::set_recv_timeout_ms(int timeout_ms) {
         socket_->set_recv_timeout_ms(timeout_ms);
 }
 
-bool ElodinClient::subscribe_stream() {
-    // VTableStream packet: 8-byte header + 2-byte Postcard payload ([hi, lo])
-    // packetId for VTableStream = FNV-1a("VTableStream") = [0x11, 0x0d]
-    std::array<uint8_t, 2> msgstream_id = {0x11, 0x0d};
-
-    auto subscribe = [&](uint8_t hi, uint8_t lo) {
-        // Correct format: 8-byte header + 2-byte payload = 10 bytes total
-        // len field = payload_bytes(2) + header_after_len(4) = 6
-        std::vector<uint8_t> data(10, 0x00);
-        uint32_t len = 2 + 4;  // 2 payload bytes + 4 (ty + packetId + requestId)
-        std::memcpy(data.data(), &len, 4);
-        data[4] = static_cast<uint8_t>(fsw::elodin::PacketType::MSG);
-        data[5] = msgstream_id[0];
-        data[6] = msgstream_id[1];
-        data[7] = 0x00;
-        // Postcard payload: just the 2 ID bytes, no extra padding
-        data[8] = hi;
-        data[9] = lo;
-
-        send_msg(msgstream_id, data);
-    };
-
-    // Subscribe to RAW sensor VTables using board-namespaced 32-slot blocks.
-    // Each board gets a 32-slot block: raw channels at (board_number-1)*0x20 + 1..10
-    // Subscribe to boards 1-8 for each sensor type to cover all possible boards.
-    const uint8_t sensor_types[] = {0x20, 0x21, 0x22, 0x23, 0x24, 0x30};
-    for (uint8_t type_hi : sensor_types) {
-        for (int bn = 1; bn <= 8; ++bn) {
-            uint8_t base = static_cast<uint8_t>((bn - 1) * 0x20);
-            for (uint8_t ch = 1; ch <= 10; ++ch)
-                subscribe(type_hi, static_cast<uint8_t>(base + ch));
-        }
-    }
-
-    // Calibration commands from backend GUI -> calibration_service.
-    subscribe(0x46, 0x00);
-
-    return true;
-}
-
 bool ElodinClient::subscribe_tables(const std::vector<std::pair<uint8_t, uint8_t>>& table_ids) {
     std::array<uint8_t, 2> msgstream_id = {0x11, 0x0d};
+    bool ok = true;
 
     for (const auto& [hi, lo] : table_ids) {
         std::vector<uint8_t> data(10, 0x00);
@@ -144,10 +106,13 @@ bool ElodinClient::subscribe_tables(const std::vector<std::pair<uint8_t, uint8_t
         data[7] = 0x00;
         data[8] = hi;
         data[9] = lo;
-        send_msg(msgstream_id, data);
+        // Was fire-and-forget returning true unconditionally, which made every
+        // `if (!subscribe_...())` error path in the callers dead code.
+        if (!send_msg(msgstream_id, data))
+            ok = false;
     }
 
-    return true;
+    return ok;
 }
 
 void ElodinClient::begin_batch() {
@@ -233,14 +198,44 @@ ssize_t ElodinClient::read_packet(uint8_t* packet_buffer, size_t max_len) {
     uint16_t packet_id = (static_cast<uint16_t>(packet_buffer[5]) << 8) | packet_buffer[6];
     uint8_t request_id = packet_buffer[7];
 
-    // Validate packet length (must have at least the rest of the 8-byte header)
-    if (packet_len < 4 || packet_len > max_len) {
+    // A malformed length is unrecoverable — there is no way to know where the next packet starts.
+    if (packet_len < 4) {
         last_error_ = "Invalid packet length: " + std::to_string(packet_len);
+        socket_->disconnect();
         return -1;
     }
 
     // Read payload (packet_len - 4 bytes)
     size_t payload_len = packet_len - 4;
+
+    // Note the bound: this writes 8 + (packet_len - 4) = packet_len + 4 bytes, so the check has to
+    // be against max_len - 4. It used to be `packet_len > max_len`, which let packet_len == max_len
+    // through and overran the caller's buffer by 4 bytes (confirmed with a guard page: the kernel
+    // returned EFAULT at exactly that boundary). max_len >= 8 is already guaranteed above.
+    if (packet_len + 4 > max_len) {
+        // Drain and skip rather than abandoning the body in the socket. The old code returned -1
+        // here having consumed the 8-byte header but not the payload, so every subsequent read
+        // parsed payload bytes as a header — the connection was silently and permanently dead
+        // while is_connected() still reported true and the caller looped. Losing one packet is a
+        // recoverable cost; losing stream framing is not.
+        std::cerr << "[ElodinClient] packet " << packet_len << "B exceeds " << max_len
+                  << "B buffer — skipping it" << std::endl;
+        uint8_t scratch[1024];
+        size_t remaining = payload_len;
+        while (remaining > 0) {
+            const size_t chunk = std::min(remaining, sizeof(scratch));
+            if (!socket_->read_exact(scratch, chunk)) {
+                // Could not resynchronize; the stream is unusable, so force a reconnect.
+                last_error_ = "Failed draining oversized packet: " + socket_->last_error();
+                socket_->disconnect();
+                return -1;
+            }
+            remaining -= chunk;
+        }
+        last_error_ = "Skipped oversized packet: " + std::to_string(packet_len);
+        return 0;  // "nothing usable this round" — what every caller already does on 0
+    }
+
     if (payload_len > 0) {
         if (!socket_->read_exact(packet_buffer + 8, payload_len)) {
             last_error_ = socket_->last_error();
diff --git a/daq-server/diablo_server/lib/test/test_elodin_read_path.cpp b/daq-server/diablo_server/lib/test/test_elodin_read_path.cpp
new file mode 100644
index 000000000..a6a79633a
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_elodin_read_path.cpp
@@ -0,0 +1,202 @@
+/**
+ * ElodinClient::read_packet() framing — what happens when a packet does not fit.
+ *
+ * The stream is length-prefixed packets back to back on one TCP connection, so the only thing
+ * keeping a reader aligned is consuming exactly as many bytes as each length announced.
+ *
+ * read_packet() used to break that. On a packet larger than the caller's buffer it returned -1
+ * having already consumed the 8-byte header but *not* the body, leaving the rest of that packet in
+ * the socket. Every later read then parsed payload bytes as a header, and since nothing marked the
+ * socket dead, is_connected() kept reporting true and callers looped on garbage forever. Observed
+ * against a real elodin-db: one 179-byte packet against a 160-byte buffer, then "Invalid packet
+ * length: 1638688", "134742016", "268436225" ... indefinitely.
+ *
+ * It also mis-sized its own bound. The check was `packet_len > max_len`, but the function writes
+ * 8 + (packet_len - 4) = packet_len + 4 bytes, so packet_len == max_len passed and overran the
+ * caller's buffer by 4. Confirmed with a guard page: the kernel returned EFAULT at exactly that
+ * boundary.
+ *
+ * These tests use a fake elodin-db rather than the real one so they can produce packet sizes on
+ * demand — nothing a live db emits today is big enough to trip either bug, which is why neither
+ * was noticed.
+ */
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <atomic>
+#include <cstring>
+#include <iostream>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include "elodin/ElodinClient.hpp"
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+/**
+ * One wire packet: len(4, LE) then len bytes of body, where the first 4 body bytes are
+ * ty/packet_id(2)/request_id. So `len` = payload + 4, and the whole frame is payload + 8.
+ * read_packet() reports packet_len + 4, i.e. the same payload + 8.
+ */
+static std::vector<uint8_t> frame(uint8_t hi, uint8_t lo, size_t payload_len, uint8_t fill) {
+    const uint32_t len = static_cast<uint32_t>(payload_len + 4);
+    std::vector<uint8_t> f(8 + payload_len, fill);
+    std::memcpy(f.data(), &len, 4);
+    f[4] = 0x01;  // ty = TABLE
+    f[5] = hi;
+    f[6] = lo;
+    f[7] = 0x00;
+    return f;
+}
+
+/** Fake elodin-db: accept one connection, write `blob`, then hold the socket open. */
+struct FakeDb {
+    std::thread th;
+    std::atomic<bool> run{true};
+    std::atomic<uint16_t> port{0};
+    std::atomic<bool> closed_early{false};
+
+    void start(std::vector<uint8_t> blob, bool close_after_write) {
+        th = std::thread([this, blob = std::move(blob), close_after_write]() {
+            int srv = socket(AF_INET, SOCK_STREAM, 0);
+            int opt = 1;
+            setsockopt(srv, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+            struct sockaddr_in a{};
+            a.sin_family = AF_INET;
+            a.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
+            a.sin_port = 0;  // let the OS pick, so parallel runs cannot collide
+            if (bind(srv, reinterpret_cast<struct sockaddr*>(&a), sizeof(a)) < 0) {
+                close(srv);
+                return;
+            }
+            socklen_t alen = sizeof(a);
+            getsockname(srv, reinterpret_cast<struct sockaddr*>(&a), &alen);
+            listen(srv, 1);
+            port.store(ntohs(a.sin_port));
+
+            struct timeval tv{.tv_sec = 5, .tv_usec = 0};
+            setsockopt(srv, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+            int c = accept(srv, nullptr, nullptr);
+            if (c < 0) {
+                close(srv);
+                return;
+            }
+            size_t sent = 0;
+            while (sent < blob.size()) {
+                ssize_t n = send(c, blob.data() + sent, blob.size() - sent, MSG_NOSIGNAL);
+                if (n <= 0)
+                    break;
+                sent += static_cast<size_t>(n);
+            }
+            if (close_after_write) {
+                close(c);
+                closed_early.store(true);
+            } else {
+                while (run)
+                    std::this_thread::sleep_for(std::chrono::milliseconds(20));
+                close(c);
+            }
+            close(srv);
+        });
+        while (port.load() == 0)
+            std::this_thread::sleep_for(std::chrono::milliseconds(5));
+    }
+
+    void stop() {
+        run = false;
+        if (th.joinable())
+            th.join();
+    }
+};
+
+int main() {
+    std::cout << "=== ElodinClient read_packet framing ===" << std::endl;
+
+    // ── 1. An oversized packet is skipped, and the NEXT packet still reads correctly ──────────
+    // This is the regression that matters: pre-fix, read 2 returned garbage forever.
+    {
+        std::vector<uint8_t> blob;
+        const auto big = frame(0x20, 0x01, 200, 0xAA);  // 208 wire bytes, will not fit
+        const auto small = frame(0x50, 0x00, 8, 0xBB);  // 16 wire bytes, fits
+        blob.insert(blob.end(), big.begin(), big.end());
+        blob.insert(blob.end(), small.begin(), small.end());
+
+        FakeDb db;
+        db.start(blob, /*close_after_write=*/false);
+        fsw::elodin::ElodinClient c;
+        if (!c.connect("127.0.0.1", db.port.load())) {
+            std::cerr << "SKIP: cannot connect to the fake db" << std::endl;
+            db.stop();
+            return 0;  // environmental
+        }
+
+        uint8_t buf[64];
+        const ssize_t r1 = c.read_packet(buf, sizeof(buf));
+        check(r1 == 0,
+              "oversized packet is skipped, not an error (got " + std::to_string(r1) + ")");
+
+        const ssize_t r2 = c.read_packet(buf, sizeof(buf));
+        check(r2 == 16, "the packet AFTER an oversized one still reads (got " + std::to_string(r2) +
+                            ", want 16)");
+        check(r2 == 16 && buf[5] == 0x50 && buf[6] == 0x00,
+              "and it is framed correctly — stream stayed aligned");
+        check(c.is_connected(), "the connection survives a skipped packet");
+        db.stop();
+    }
+
+    // ── 2. The bound accounts for all 8 + (packet_len - 4) bytes written ──────────────────────
+    // packet_len == max_len used to pass the check and overrun the caller's buffer by 4.
+    {
+        constexpr size_t kMax = 64;
+        // payload 56 → packet_len 60 → writes exactly 64. The largest that legitimately fits.
+        const auto exact = frame(0x50, 0x00, kMax - 8, 0xCC);
+        // payload 60 → packet_len 64 == max_len: passed the old check, wrote 68 bytes.
+        const auto over_by_four = frame(0x50, 0x00, kMax - 4, 0xDD);
+        std::vector<uint8_t> blob;
+        blob.insert(blob.end(), exact.begin(), exact.end());
+        blob.insert(blob.end(), over_by_four.begin(), over_by_four.end());
+
+        FakeDb db;
+        db.start(blob, /*close_after_write=*/false);
+        fsw::elodin::ElodinClient c;
+        c.connect("127.0.0.1", db.port.load());
+
+        uint8_t buf[kMax];
+        const ssize_t r1 = c.read_packet(buf, sizeof(buf));
+        check(r1 == static_cast<ssize_t>(kMax), "a packet that exactly fills the buffer is read");
+
+        const ssize_t r2 = c.read_packet(buf, sizeof(buf));
+        check(r2 == 0, "packet_len == max_len is skipped, not written 4 bytes past the buffer");
+        db.stop();
+    }
+
+    // ── 3. A closed socket is reported as closed ──────────────────────────────────────────────
+    // read_exact() never cleared connected_, so a read-only consumer looped forever on a dead
+    // socket believing it was live.
+    {
+        FakeDb db;
+        db.start(frame(0x50, 0x00, 8, 0xEE), /*close_after_write=*/true);
+        fsw::elodin::ElodinClient c;
+        c.connect("127.0.0.1", db.port.load());
+
+        uint8_t buf[64];
+        check(c.read_packet(buf, sizeof(buf)) == 16,
+              "reads the packet the peer sent before closing");
+        const ssize_t r = c.read_packet(buf, sizeof(buf));
+        check(r < 0, "a read past EOF fails");
+        check(!c.is_connected(), "and the client reports itself disconnected");
+        db.stop();
+    }
+
+    std::cout << (g_failures ? "FAILED" : "PASSED") << std::endl;
+    return g_failures ? 1 : 0;
+}
diff --git a/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp b/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
index 1804c7160..9e4ba777d 100644
--- a/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
+++ b/daq-server/diablo_server/services/heartbeat/heartbeat_service_main.cpp
@@ -29,6 +29,7 @@
 #include <vector>
 
 #include "config/Config.hpp"
+#include "elodin/DatabaseConfig.hpp"
 #include "elodin/ElodinClient.hpp"
 #include "net/DaqInterface.hpp"
 
@@ -36,6 +37,9 @@ namespace {
 std::atomic<bool> g_running{true};
 std::atomic<uint8_t> g_engine_state{0};
 
+// How long read_packet() waits before yielding so the loop can re-check g_running.
+constexpr int kElodinRecvTimeoutMs = 3000;
+
 void signalHandler(int /*sig*/) {
     std::cout << "\n[HeartbeatService] Shutting down..." << std::endl;
     g_running = false;
@@ -88,8 +92,14 @@ static constexpr uint8_t stateToEngine(uint8_t s) {
 }
 
 // ── Elodin subscriber thread ──────────────────────────────────────────────────
-// Subscribes to all VTables, filters for [0x50, 0x00] (SequencerState),
-// extracts current_state and updates g_engine_state.
+// Subscribes to [0x50,0x00] (SequencerState) — the only table this service reads — extracts
+// current_state and updates g_engine_state.
+//
+// This used to call subscribe_stream(), whose name and doc comment promised "all stream data" but
+// which actually sent the calibration service's list: 480 raw sensor tables plus the calibration
+// command table, and not [0x50,0x00]. The effect was silent and total — 481 ACKs for tables this
+// thread discards, then a permanent block in read_packet() waiting for a table nobody was sending,
+// with engine_state pinned at 0 through every state transition for the life of the process.
 void elodinThread(std::string host, uint16_t port) {
     fsw::elodin::ElodinClient client;
 
@@ -99,23 +109,42 @@ void elodinThread(std::string host, uint16_t port) {
                 std::this_thread::sleep_for(std::chrono::seconds(2));
                 continue;
             }
-            client.subscribe_stream();
-            std::cout << "[HeartbeatService] Elodin connected, subscribed" << std::endl;
+            if (!client.subscribe_tables({fsw::elodin::kTableSequencerState})) {
+                std::cerr << "[HeartbeatService] Failed to subscribe to SequencerState "
+                             "[0x50,0x00] — engine_state will not track the sequencer"
+                          << std::endl;
+                client.disconnect();
+                continue;
+            }
+            // Without a receive timeout read_packet() blocks forever, so the g_running check
+            // above can never run and the thread cannot be shut down or re-subscribed.
+            client.set_recv_timeout_ms(kElodinRecvTimeoutMs);
+            std::cout << "[HeartbeatService] Elodin connected, subscribed to SequencerState"
+                      << std::endl;
         }
 
-        uint8_t buf[256];
+        // Only [0x50,0x00] is subscribed, so the traffic here is one ~149-byte VTable definition
+        // and 25-byte state updates. Sized well clear of both: read_packet() skips a packet that
+        // does not fit rather than corrupting the stream, but a skipped state update is a stale
+        // engine_state until the next one.
+        uint8_t buf[4096];
         ssize_t n = client.read_packet(buf, sizeof(buf));
         if (n < 0) {
-            // Connection lost — reconnect on next iteration
+            // A read error leaves nothing useful on this socket. Drop it explicitly rather than
+            // trusting is_connected(), which the read path does not always clear.
+            std::cerr << "[HeartbeatService] Elodin read failed (" << client.last_error()
+                      << ") — reconnecting" << std::endl;
+            client.disconnect();
             continue;
         }
         if (n < 8)
-            continue;
+            continue;  // 0 = receive timeout, nothing to do this round
 
-        // SequencerState VTable: [0x50, 0x00]
+        // SequencerState VTable: [0x50, 0x00]  (fsw::elodin::kTableSequencerState)
         // Payload: u64[0] ts | u8[8] current_state | pad[9..11] | u32[12] bitmask | u8[16]
         // debug_mode
-        if (buf[5] == 0x50 && buf[6] == 0x00 && n >= 8 + 9) {
+        if (buf[5] == fsw::elodin::kTableSequencerState.first &&
+            buf[6] == fsw::elodin::kTableSequencerState.second && n >= 8 + 9) {
             const uint8_t seq_state = buf[8 + 8];  // header(8) + payload[8]
             g_engine_state.store(stateToEngine(seq_state));
         }
diff --git a/daq-server/diablo_server/transport/src/transport/TCPClient.cpp b/daq-server/diablo_server/transport/src/transport/TCPClient.cpp
index 369414af8..7d141ae41 100644
--- a/daq-server/diablo_server/transport/src/transport/TCPClient.cpp
+++ b/daq-server/diablo_server/transport/src/transport/TCPClient.cpp
@@ -220,13 +220,25 @@ bool TCPClient::read_exact(void* buffer, size_t len) {
                 continue;  // Retry on interrupt
             }
             if (errno == EAGAIN || errno == EWOULDBLOCK) {
-                last_error_ = "TIMEOUT";
-                return false;
+                // SO_RCVTIMEO fired. Only a caller that has consumed nothing can be told "nothing
+                // arrived" — once part of a packet has been read, returning here would leave the
+                // rest of it in the socket and every later read would parse payload as a header.
+                // Mid-packet, keep waiting: the peer owes us the remainder.
+                if (remaining == len) {
+                    last_error_ = "TIMEOUT";
+                    return false;
+                }
+                continue;
             }
             last_error_ = "Read failed: " + std::string(strerror(errno));
+            connected_ = false;  // Mark dead so the caller can reconnect
             return false;
         } else if (r == 0) {
             last_error_ = "Socket closed unexpectedly";
+            // Only the write path used to do this, so a read-only consumer (heartbeat_service)
+            // saw is_connected() report true forever on a closed socket and its "reconnect on
+            // next iteration" never fired.
+            connected_ = false;
             return false;
         }
         ptr += r;
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index 20b97d694..0b907d72f 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,7 +5,8 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-07 against `ab3ce2d2`.
-**Last updated:** 2026-09-07 — the DAQ-NIC pinning work landed, which merged and resolved the two
+**Last updated:** 2026-09-07 — the Elodin subscription work landed (and withdrew this file's
+claim that the heartbeat's 256-byte buffer was the problem); the DAQ-NIC pinning work landed, which merged and resolved the two
 abort-broadcast entries and turned up the firmware finding now filed under Critical. The sequencer
 concurrency and config draft-only work landed earlier the same day.
 
@@ -50,34 +51,12 @@ of a packet with no consumer.
 
 ---
 
-### C++ — `read_packet` desynchronizes the Elodin stream on an oversized packet, and the heartbeat buffer guarantees it
-
-**Files:** `diablo_server/lib/src/elodin/ElodinClient.cpp:236-240`,
-`diablo_server/services/heartbeat/heartbeat_service_main.cpp:105`
-
-`read_packet` reads the 8-byte header, and if `packet_len > max_len` it returns `-1` —
-**without draining the `packet_len - 4` payload bytes it just committed to reading and
-without disconnecting.** The socket is now permanently misaligned: every subsequent read
-interprets payload bytes as a header. The client never recovers, and because the connection
-is still "connected", callers that `continue` on `-1` spin at 100% CPU.
-
-The heartbeat service is the guaranteed trigger. It subscribes to the whole stream
-(`subscribe_stream()`) with a **256-byte** buffer. The calibration service, which learned
-this the hard way, uses 64 KB and says so in a comment
-(`calibration_main.cpp:1022`: *"64 KB — handles large Elodin subscription-ACK bursts"*). The
-heartbeat gets one subscription ACK burst or one large vtable packet and its state tracking
-is dead for the lifetime of the process — while it keeps broadcasting SERVER_HEARTBEAT with
-a frozen `engine_state`.
-
-**Fix:** in `read_packet`, on an oversized packet either drain-and-skip the payload (read it
-in chunks into a scratch buffer and return 0 for "skipped") or mark the connection failed so
-the caller reconnects — never leave a half-read packet on the socket. Raise the heartbeat
-buffer to match calibration's. In `elodinThread`, treat a persistent `-1` as a disconnect
-rather than looping.
+### C++ — Heartbeat maps sequencer states through a hardcoded enum table
 
----
+> **Now reachable.** Until 2026-09-07 this was moot: `heartbeat_service` never received a
+> `[0x50,0x00]` packet at all, so `stateToEngine()` never ran and `engine_state` was always 0.
+> That is fixed (see Resolved), so the table below is live code for the first time.
 
-### C++ — Heartbeat maps sequencer states through a hardcoded enum table
 
 **File:** `diablo_server/services/heartbeat/heartbeat_service_main.cpp:54-87`
 
@@ -388,6 +367,24 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the Elodin subscription work (2026-09-07)
+
+Filed as *"`read_packet` desynchronizes the Elodin stream on an oversized packet, and the heartbeat
+buffer guarantees it"*. The named function was right and the reason was wrong, which is what
+happens when an entry is written from reading code rather than running it.
+
+| Item | Resolution |
+|---|---|
+| `heartbeat_service` broadcast `engine_state = 0` forever | **Fixed — and this, not the buffer, was the live defect.** It reads one table, `[0x50,0x00]`, and subscribed with `subscribe_stream()`, which never included it. Measured with the real binaries against a real elodin-db: four sequencer transitions, 101 heartbeats, every one carrying 0; 0% CPU with the Elodin thread parked in `recv()`, no error logged. After: `{0, 1}` tracking the sequencer. |
+| `subscribe_stream()` promised "all stream data" and delivered calibration's list | **Deleted.** It sent 480 raw sensor ids (a hardcoded boards 1-8 × channels 1-10 guess) plus the calibration command table — 481 messages on every call, and calibration re-called it every 5 s of silence. Replaced by `raw_sensor_tables()` / `calibrated_sensor_tables()` in `DatabaseConfig.hpp`, built from the boards actually in config, so every consumer now names what it reads. `ControllerService` already did this and was left alone. |
+| The buffer claim itself | **Withdrawn.** Nothing overflows 256 today: the largest packet observable anywhere is 179 bytes (a VTable definition); ACKs are 19-23 and state updates 25. The "large subscription-ACK burst" the calibration comment blames is 481 *small* packets, and `read_packet` handles one packet per call — the aggregate never touches the bound. calibration's 64 KB was avoidance, not a fix. |
+| `read_packet` abandoned the payload on an oversized packet | **Fixed** — drains and skips, returning 0, which every caller already handles. The desync was real, just not firing: reproduced against a live db with a 160-byte buffer against 179-byte packets, after which every read returned garbage lengths (`1638688`, `134742016`, …) indefinitely while `is_connected()` stayed true. |
+| `read_packet` wrote 4 bytes past the caller's buffer | **Fixed.** The bound was `packet_len > max_len` but the function writes `packet_len + 4`. Proven with a guard page: `EFAULT` at exactly `packet_len == max_len`, clean at `max_len - 4`. Not in the original entry. |
+| `read_exact` returned `TIMEOUT` after a partial read | **Fixed** — it now only reports a timeout when nothing has been consumed. Mid-packet it keeps waiting, because returning there leaves the remainder in the socket and desyncs the stream exactly like the oversize path. This one *could* fire, for calibration's 3 s timeout. Not in the original entry. |
+| The read path never marked a dead socket dead | **Fixed.** Only `_write_all` cleared `connected_`, so a read-only consumer saw `is_connected()` report true forever on a closed socket and `heartbeat_service`'s "reconnect on next iteration" never fired. |
+| Nothing tested the Elodin read path | **Fixed.** `test_elodin_read_path` drives a fake elodin-db it controls, since nothing a real db emits is large enough to reach these paths. Verified to have teeth: 5 of its 9 assertions fail against the pre-fix client. `test_sequencer_elodin` — built since it was added but never registered with CTest, the same problem already fixed for `test_robust_ddp` — is now registered. |
+| Nothing tested `engine_state` end to end | **Fixed.** `ws_data_flow_test.ts` Test 7 counted heartbeat packets and asserted nothing about their contents. It now drives a transition to FUEL_FILL and asserts `engine_state` follows. Verified to have teeth: with the subscription reverted the run reports `92 passed, 1 failed` and exits 1. |
+
 ### By the DAQ-NIC pinning work (2026-09-07)
 
 Filed as two entries — "the ABORT broadcast can leave on the wrong interface" and "the abort
diff --git a/daq-server/docs/adding-sensor-streams.md b/daq-server/docs/adding-sensor-streams.md
index 02aad4871..8a2557a90 100644
--- a/daq-server/docs/adding-sensor-streams.md
+++ b/daq-server/docs/adding-sensor-streams.md
@@ -323,6 +323,15 @@ If a VTable isn't registered by the DAQ bridge yet when the relay subscribes, th
 
 1. **Forgot to register VTable schema AND/OR subscribe** — Both are required in `elodin-vtable-registry.ts`. If the schema isn't registered, Elodin silently ignores both publishes and subscriptions — no errors logged anywhere. If the schema is registered but you forgot to subscribe, the relay won't receive the data. This is the hardest bug to find because everything appears to work (publisher says OK, no errors) but data never arrives.
 
+   **This applies to the C++ subscribers too, and it has already bitten one.** `heartbeat_service`
+   read `[0x50, 0x00]` and subscribed with a helper called `subscribe_stream()` whose doc comment
+   promised "all stream data" but which actually sent the calibration service's table list. It
+   received 481 tables it discarded, never `[0x50, 0x00]`, and broadcast `engine_state = 0`
+   through every state transition for the life of the process — no error, no CPU, nothing to see.
+   `subscribe_stream()` is gone; use `ElodinClient::subscribe_tables()` with
+   `fsw::elodin::raw_sensor_tables()` / `calibrated_sensor_tables()` / the `kTable*` constants in
+   `DatabaseConfig.hpp`, and name exactly what your service reads.
+
 2. **Entity name mismatch** — The entity string in `parseElodinPacket` must match what the frontend expects. Use `config.toml` sensor roles for consistency.
 
 3. **Wrong payload size check** — Standard sensor messages are 21 bytes. If your message has a different layout, update the size check.

From 5fc8644f263bf44ec4b1b1b465835bdc5b6f02f7 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 8 Sep 2026 12:18:49 -0700
Subject: [PATCH 193/205] =?UTF-8?q?the=20controller=20invented=20the=20rig?=
 =?UTF-8?q?=20layout=20it=20drives,=20and=20the=20fire-state=20handoff=20h?=
 =?UTF-8?q?ad=20never=20once=20engaged=20=E2=80=94=20an=20[actuator=5Frole?=
 =?UTF-8?q?s]=20entry=20now=20takes=20an=20optional=204th=20element=20("pw?=
 =?UTF-8?q?m=5Ffuel"/"pwm=5Fox")=20assigning=20that=20actuator=20to=20cont?=
 =?UTF-8?q?roller=5Fservice,=20replacing=20five=20separate=20fallbacks=20i?=
 =?UTF-8?q?n=20controller=5Fmain=20(a=20missing=20role=20became=20CH3/CH8?=
 =?UTF-8?q?=20on=20board=2012,=20an=20undeclared=20board=20became=20"192.1?=
 =?UTF-8?q?68.2.<board=5Fid>",=20an=20empty=20board=20table=20became=20a?=
 =?UTF-8?q?=20synthesized=2011-14,=20two=20roles=20on=20two=20boards=20sil?=
 =?UTF-8?q?ently=20shared=20the=20first=20one's=20IP,=20and=20PWMConfig's?=
 =?UTF-8?q?=20own=20rig-shaped=20defaults=20gave=20each=20of=20them=20some?=
 =?UTF-8?q?thing=20to=20land=20on),=20every=20one=20of=20which=20drove=20P?=
 =?UTF-8?q?WM=20onto=20whatever=20hardware=20happened=20to=20sit=20on=20th?=
 =?UTF-8?q?e=20guessed=20channel=20behind=20a=20warning=20nobody=20reads;?=
 =?UTF-8?q?=20the=20same=20field=20is=20what=20ActuatorCommander=20reads?=
 =?UTF-8?q?=20for=20is=5Fpwm,=20which=20is=20the=20real=20fix=20for=20the?=
 =?UTF-8?q?=20sequencer/controller=20handoff=20=E2=80=94=20it=20keyed=20on?=
 =?UTF-8?q?=20kind=20=3D=3D=20"PWM",=20and=20no=20shipped=20config=20could?=
 =?UTF-8?q?=20set=20that=20without=20losing=20the=20NC/NO=20polarity=20tha?=
 =?UTF-8?q?t=20shares=20the=20slot,=20so=20"LOX=20Press"=20was=20normally-?=
 =?UTF-8?q?open=20and=20therefore=20never=20marked=20PWM=20and=20the=20han?=
 =?UTF-8?q?doff=20(correct=20code,=20with=20a=20passing=20test)=20had=20ne?=
 =?UTF-8?q?ver=20engaged=20on=20a=20real=20rig;=20unresolvable=20config=20?=
 =?UTF-8?q?now=20disables=20the=20fire=20gate=20via=20setFireStateId(255)?=
 =?UTF-8?q?=20rather=20than=20guessing,=20resolution=20moves=20to=20PWMTar?=
 =?UTF-8?q?gets.hpp=20behind=20test=5Fcontroller=5Fpwm=5Froles=20(9=20case?=
 =?UTF-8?q?s=20/=2026=20assertions,=20mostly=20pinning=20the=20absence=20o?=
 =?UTF-8?q?f=20fallbacks),=20and=20sendActuationPWM=20splits=20the=20datag?=
 =?UTF-8?q?ram=20when=20the=20two=20targets=20sit=20on=20different=20board?=
 =?UTF-8?q?s;=20also=20in=20the=20controller:=20the=20control=20server=20s?=
 =?UTF-8?q?ets=20SO=5FRCVTIMEO=20on=20the=20accepted=20socket=20and=20hand?=
 =?UTF-8?q?les=20each=20client=20on=20a=20capped=20thread=20pool,=20so=20a?=
 =?UTF-8?q?=20client=20that=20connects=20and=20never=20sends=20a=20newline?=
 =?UTF-8?q?=20can=20no=20longer=20park=20the=20accept=20loop,=20notifyCont?=
 =?UTF-8?q?rollerFire=20reads=20the=20OK=20ack=20it=20always=20threw=20awa?=
 =?UTF-8?q?y=20(retrying=20once,=20loudly)=20so=20a=20wedged=20controller?=
 =?UTF-8?q?=20is=20no=20longer=20invisible=20at=20both=20ends,=20and=20the?=
 =?UTF-8?q?=20Elodin=20subscriber=20=E2=80=94=20the=20only=20consumer=20th?=
 =?UTF-8?q?at=20started=20once=20and=20let=20its=20thread=20die=20on=20the?=
 =?UTF-8?q?=20first=20db=20blip=20=E2=80=94=20now=20reconnects=20and=20re-?=
 =?UTF-8?q?subscribes;=20the=20editor=20assigns=20on=20the=20Actuators=20t?=
 =?UTF-8?q?ab=20and=20blocks=20the=20save,=20the=20API=20rejects=20the=20s?=
 =?UTF-8?q?ame=20on=20POST=20and=20import,=20and=20digital-twin=20delibera?=
 =?UTF-8?q?tely=20assigns=20neither=20because=20it=20declares=20no=20press?=
 =?UTF-8?q?=20valves?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 daq-server/config/config_base.toml            |   4 +-
 .../config/profiles/default/config.toml       |   4 +-
 daq-server/config/profiles/server/config.toml |   4 +-
 .../diablo_server/backend/src/api-server.ts   |  19 +-
 .../backend/src/routes/config.ts              |   3 +
 .../frontend/__tests__/pwm-actuators.test.ts  | 114 +++++++++
 .../frontend/app/config/page.tsx              |  98 ++++++--
 daq-server/diablo_server/lib/CMakeLists.txt   |  10 +
 .../lib/include/config/Config.hpp             |  19 +-
 .../lib/include/control/ActuatorCommander.hpp |   5 +-
 .../lib/include/control/ControllerService.hpp |  40 ++-
 .../lib/include/control/PWMTargets.hpp        | 108 ++++++++
 .../lib/include/control/SequencerService.hpp  |   7 +-
 .../diablo_server/lib/src/config/Config.cpp   |   4 +
 .../lib/src/control/ControllerService.cpp     | 146 ++++++++---
 .../lib/test/test_controller_pwm_roles.cpp    | 171 +++++++++++++
 .../lib/test/test_fire_lifecycle.cpp          |  15 +-
 .../services/controller/controller_main.cpp   | 233 +++++++++++-------
 .../services/sequencer/ActuatorCommander.cpp  |   7 +-
 .../services/sequencer/SequencerService.cpp   |  60 ++++-
 daq-server/diablo_server/shared/types.d.ts    |  21 ++
 .../diablo_server/shared/types.d.ts.map       |   2 +-
 daq-server/diablo_server/shared/types.js      |  51 ++++
 daq-server/diablo_server/shared/types.js.map  |   2 +-
 daq-server/diablo_server/shared/types.ts      |  51 ++++
 daq-server/docs/IMPROVEMENTS.md               |  80 +++---
 daq-server/test/test_integration.sh           |  67 +++++
 daq-server/test/ws_data_flow_test.ts          |  84 ++++++-
 28 files changed, 1198 insertions(+), 231 deletions(-)
 create mode 100644 daq-server/diablo_server/frontend/__tests__/pwm-actuators.test.ts
 create mode 100644 daq-server/diablo_server/lib/include/control/PWMTargets.hpp
 create mode 100644 daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index e432e6f67..208a41e1d 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -543,10 +543,10 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 [actuator_roles]
 "LOX Main" = ["NC", 1, 12]
 "Fuel Vent" = ["NC", 2, 12]
-"Fuel Press" = ["NC", 3, 12]
+"Fuel Press" = ["NC", 3, 12, "pwm_fuel"]
 "Fuel Main" = ["NO", 7, 12]
 "LOX Vent" = ["NC", 6, 12]
-"LOX Press" = ["NO", 8, 12]
+"LOX Press" = ["NO", 8, 12, "pwm_ox"]
 "GSE Low Press Vent" = ["NC", 5, 12]
 "Fuel Fill Press" = ["NC", 2, 14]
 "Fuel Fill Vent" = ["NC", 1, 14]
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index 7a9cbd85b..4693c4074 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -512,10 +512,10 @@ thrust_curve_path = "output/lut/thrust_curve.csv"
 [actuator_roles]
 "LOX Main" = ["NC", 1, 12]
 "Fuel Vent" = ["NC", 2, 12]
-"Fuel Press" = ["NC", 3, 12]
+"Fuel Press" = ["NC", 3, 12, "pwm_fuel"]
 "Fuel Main" = ["NO", 7, 12]
 "LOX Vent" = ["NC", 6, 12]
-"LOX Press" = ["NO", 8, 12]
+"LOX Press" = ["NO", 8, 12, "pwm_ox"]
 "GSE Low Press Vent" = ["NC", 5, 12]
 "Fuel Fill Press" = ["NC", 2, 14]
 "Fuel Fill Vent" = ["NC", 1, 14]
diff --git a/daq-server/config/profiles/server/config.toml b/daq-server/config/profiles/server/config.toml
index 6cc3ab4ad..4f907720c 100644
--- a/daq-server/config/profiles/server/config.toml
+++ b/daq-server/config/profiles/server/config.toml
@@ -642,10 +642,10 @@ consensus_update_rate = 0.1
 [actuator_roles]
 "LOX Main" = ["NC", 1, 12]
 "Fuel Vent" = ["NC", 2, 12]
-"Fuel Press" = ["NC", 3, 12]
+"Fuel Press" = ["NC", 3, 12, "pwm_fuel"]
 "Fuel Main" = ["NO", 7, 12]
 "LOX Vent" = ["NC", 6, 12]
-"LOX Press" = ["NO", 8, 12]
+"LOX Press" = ["NO", 8, 12, "pwm_ox"]
 "GSE Low Press Vent" = ["NC", 5, 12]
 "Fuel Fill Press" = ["NC", 2, 14]
 "Fuel Fill Vent" = ["NC", 1, 14]
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index f805267e7..10f92ffd7 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -12,7 +12,7 @@ import { IncomingMessage, ServerResponse } from 'http';
 // ESM has no __dirname global. tsx injects one in dev, but `node dist/server.js` (the systemd sim)
 // does not — so the __dirname candidates below would throw ReferenceError. Define it explicitly.
 const __dirname = path.dirname(fileURLToPath(import.meta.url));
-import { readConfig, readDeployedConfig, writeConfig, getConfigPath, patchBoardField } from './routes/config.js';
+import { readConfig, readDeployedConfig, writeConfig, getConfigPath, patchBoardField, validateControllerActuators } from './routes/config.js';
 import {
   listProfiles, switchProfile, createProfile, renameProfile, deleteProfile,
   getActiveProfileName, ensureSeeded, readActiveProfile, writeActiveProfile, deployActiveProfile,
@@ -356,6 +356,15 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
         req.on('end', () => {
           try {
             const { config } = JSON.parse(body);
+            // The editor refuses to save this, but it is not the only writer — enforce it where
+            // every write passes. A dangling PWM actuator means the controller comes up with its
+            // fire gate disabled, which is far better found here than at the next restart.
+            const pwmIssues = validateControllerActuators(config);
+            if (pwmIssues.length > 0) {
+              res.writeHead(400, { 'Content-Type': 'application/json' });
+              res.end(JSON.stringify({ error: `Invalid controller PWM actuators: ${pwmIssues.join('; ')}` }));
+              return;
+            }
             const sessionActive = sessionManager.getStatus().active;
             console.log(`📝 Config save → active profile "${getActiveProfileName()}"${sessionActive ? ' (draft; config.toml frozen — session active)' : ' (+ deploy to config.toml)'}`);
             writeActiveProfile(config);
@@ -408,7 +417,13 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
             if (!body.trim()) throw new Error('Uploaded config is empty');
             previous = fs.existsSync(target) ? fs.readFileSync(target, 'utf-8') : null;
             fs.writeFileSync(target, body, 'utf-8');
-            readConfig(target); // throws if the uploaded TOML is invalid
+            const imported = readConfig(target); // throws if the uploaded TOML is invalid
+            // Parsing is not the only way an uploaded config can be wrong. Throwing here reuses
+            // the rollback below, so a file naming a PWM actuator that doesn't exist never
+            // becomes the deployed config.
+            const importPwmIssues = validateControllerActuators(imported);
+            if (importPwmIssues.length > 0)
+              throw new Error(`Invalid controller PWM actuators: ${importPwmIssues.join('; ')}`);
             const sessionActive = sessionManager.getStatus().active;
             if (!sessionActive) {
               deployActiveProfile();
diff --git a/daq-server/diablo_server/backend/src/routes/config.ts b/daq-server/diablo_server/backend/src/routes/config.ts
index 46dd17536..3ea48e06a 100644
--- a/daq-server/diablo_server/backend/src/routes/config.ts
+++ b/daq-server/diablo_server/backend/src/routes/config.ts
@@ -109,6 +109,9 @@ export function applyCalibrationModelDefaults(config: any): void {
   }
 }
 
+/** Re-exported from shared/types so the API and the config editor enforce one rule. */
+export { validateControllerPwmActuators as validateControllerActuators } from '../../../shared/types.js';
+
 /** Read + parse a config TOML. Defaults to the deployed config.toml (getConfigPath), but any
  *  path can be given — the config-profiles editor reads the active profile file this way.
  *  smol-toml is a strict TOML 1.0 parser, so actuator_roles' mixed-type inline arrays
diff --git a/daq-server/diablo_server/frontend/__tests__/pwm-actuators.test.ts b/daq-server/diablo_server/frontend/__tests__/pwm-actuators.test.ts
new file mode 100644
index 000000000..090eee8f1
--- /dev/null
+++ b/daq-server/diablo_server/frontend/__tests__/pwm-actuators.test.ts
@@ -0,0 +1,114 @@
+/**
+ * Which actuators the controller PWMs — the rule shared by the config editor and the API.
+ *
+ * An [actuator_roles] entry's optional 4th element ("pwm_fuel" / "pwm_ox") assigns that actuator
+ * to controller_service. It is the single statement of what the controller drives, and the same
+ * fact makes the sequencer stop commanding the actuator during a burn, so exactly one writer
+ * drives it. That is why a duplicate or half-finished assignment is blocked at save rather than
+ * warned about — the operator would otherwise find out at the next controller restart.
+ *
+ * The C++ side enforces the same rule in PWMTargets.hpp (test_controller_pwm_roles). What is
+ * pinned here is that the TypeScript half agrees with it.
+ */
+import { describe, it, expect } from 'vitest';
+import { validateControllerPwmActuators, pwmAssignmentMap } from '@/lib/types';
+
+/** `assign` maps an actuator name to its 4th element; absent means sequencer-owned. */
+const rig = (assign: Record<string, string> = {}) => ({
+  actuator_roles: Object.fromEntries(
+    ([
+      ['Fuel Press', 'NC', 3, 12],
+      ['LOX Press', 'NO', 8, 12],
+      ['Far Side Press', 'NC', 2, 14],
+    ] as const).map(([name, kind, ch, board]) =>
+      [name, assign[name] ? [kind, ch, board, assign[name]] : [kind, ch, board]]
+    )
+  ),
+});
+
+const BOTH = { 'Fuel Press': 'pwm_fuel', 'LOX Press': 'pwm_ox' };
+
+describe('validateControllerPwmActuators', () => {
+  it('accepts exactly one actuator per output', () => {
+    expect(validateControllerPwmActuators(rig(BOTH))).toEqual([]);
+  });
+
+  it('accepts assignments on different boards — that is a rig layout, not an error', () => {
+    expect(validateControllerPwmActuators(
+      rig({ 'Fuel Press': 'pwm_fuel', 'Far Side Press': 'pwm_ox' })
+    )).toEqual([]);
+  });
+
+  it('rejects an output with no actuator assigned', () => {
+    const issues = validateControllerPwmActuators(rig({ 'LOX Press': 'pwm_ox' }));
+    expect(issues).toHaveLength(1);
+    expect(issues[0]).toContain('pwm_fuel');
+  });
+
+  it('rejects two actuators claiming the same output', () => {
+    const issues = validateControllerPwmActuators(
+      rig({ 'Fuel Press': 'pwm_fuel', 'Far Side Press': 'pwm_fuel', 'LOX Press': 'pwm_ox' })
+    );
+    expect(issues).toHaveLength(1);
+    expect(issues[0]).toContain('Fuel Press');
+    expect(issues[0]).toContain('Far Side Press');
+  });
+
+  it('allows a rig that does not use the PWM controller at all', () => {
+    // Neither output assigned is a real configuration — the digital-twin profile is exactly this.
+    // The controller still reports it and keeps its fire gate shut; the editor must not block the
+    // save over it, or that profile becomes uneditable.
+    expect(validateControllerPwmActuators(rig())).toEqual([]);
+  });
+
+  it('is quiet when there is no [actuator_roles] at all', () => {
+    // A config with no actuators is a different and much louder problem; this rule must not bury
+    // it under derived complaints, and must not block a save on a partial config.
+    expect(validateControllerPwmActuators({ controller: {} })).toEqual([]);
+  });
+
+  it('renaming an assigned actuator does not orphan anything', () => {
+    // The failure mode the old design had: [controller] named "Fuel Press" by string, so an
+    // Actuators-tab rename silently disabled the fire gate. The assignment now travels with the
+    // entry, so the same rename is a non-event.
+    const renamed = {
+      actuator_roles: {
+        'Fuel Press Valve': ['NC', 3, 12, 'pwm_fuel'],
+        'LOX Press': ['NO', 8, 12, 'pwm_ox'],
+      },
+    };
+    expect(validateControllerPwmActuators(renamed)).toEqual([]);
+  });
+
+  it('keeps polarity independent of assignment', () => {
+    // The reason this is a 4th element and not a third `kind` value: "LOX Press" is normally open
+    // AND controller-driven. Sharing one slot would silently drop the NO inversion.
+    const roles = rig(BOTH).actuator_roles as Record<string, any[]>;
+    expect(roles['LOX Press'][0]).toBe('NO');
+    expect(roles['LOX Press'][3]).toBe('pwm_ox');
+  });
+});
+
+describe('pwmAssignmentMap', () => {
+  it('lists which actuator serves each output', () => {
+    expect(pwmAssignmentMap(rig(BOTH))).toEqual({
+      pwm_fuel: ['Fuel Press'],
+      pwm_ox: ['LOX Press'],
+    });
+  });
+
+  it('reports every claimant so duplicates are visible, not collapsed', () => {
+    const map = pwmAssignmentMap(
+      rig({ 'Fuel Press': 'pwm_fuel', 'Far Side Press': 'pwm_fuel' })
+    );
+    expect(map.pwm_fuel).toEqual(['Fuel Press', 'Far Side Press']);
+    expect(map.pwm_ox).toEqual([]);
+  });
+
+  it('ignores an unrecognised assignment rather than inventing a slot for it', () => {
+    expect(pwmAssignmentMap(rig({ 'Fuel Press': 'pwm_typo' }))).toEqual({
+      pwm_fuel: [],
+      pwm_ox: [],
+    });
+  });
+});
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 23a5f6a6c..5cbdf61d2 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -6,6 +6,7 @@ import { MessageType } from '@/lib/types';
 import { useControlMode } from '@/lib/control-mode';
 import { useSensorStore } from '@/lib/store';
 import { NAV_ITEMS, navItemById } from '@/lib/nav-items';
+import { validateControllerPwmActuators, pwmAssignmentMap } from '@/lib/types';
 
 interface ConfigData {
   server_heartbeat?: {
@@ -83,7 +84,9 @@ interface ConfigData {
     is_abort?: boolean;
     is_boot?: boolean;
   }>;
-  actuator_roles?: Record<string, [string, number] | [string, number, number] | [string, number, string]>;
+  // 4th element assigns the actuator to controller_service ("pwm_fuel" | "pwm_ox"); absent means
+  // the sequencer owns it. See validateControllerPwmActuators.
+  actuator_roles?: Record<string, [string, number] | [string, number, number] | [string, number, string] | [string, number, number, string]>;
   actuator_abbrev?: Record<string, string>;
   actuator_service?: { port?: number; bind_address?: string };
   controller_service?: { port?: number; fire_duration_ms?: number; fire_extended_ms?: number };
@@ -520,6 +523,15 @@ export default function ConfigPage() {
         return;
       }
     }
+    // Same posture again, for the PWM actuator selection: saving a config whose
+    // [controller].pwm_*_actuator names an actuator that doesn't exist means the controller comes
+    // up with its fire gate disabled, and the operator finds out at the next restart rather than
+    // here. Renaming a role in the Actuators tab is the usual way to get here.
+    if (pwmActuatorIssues.length > 0) {
+      setError(`Fix the controller's PWM actuators before saving — ${pwmActuatorIssues.join(' ')}`);
+      setTimeout(() => setError(null), 9000);
+      return;
+    }
     try {
       setSaving(true);
       setError(null);
@@ -861,6 +873,19 @@ export default function ConfigPage() {
     (csvDelays.states.length !== csvActuators.states.length ||
       csvDelays.rows.length !== csvActuators.rows.length));
 
+  // ── [controller] PWM actuator selection ────────────────────────────────────
+  // These two keys are the only statement of which hardware the controller drives. The C++ side
+  // refuses to open the PWM fire gate when either is unset or names a role that isn't declared
+  // (it used to fall back to CH3/CH8 on board 12 and drive whatever sat there), so the editor
+  // has to make a dangling reference visible here rather than at the next controller restart.
+  // The rule itself lives in shared/types so the editor, the API and (in spirit) the C++ side
+  // cannot drift apart on what counts as a valid assignment.
+  const pwmActuatorIssues = validateControllerPwmActuators(config);
+  const pwmAssigned = pwmAssignmentMap(config);
+  const pwmAssignmentSummary = (['pwm_fuel', 'pwm_ox'] as const)
+    .map((k) => `${k === 'pwm_fuel' ? 'fuel' : 'ox'} = ${pwmAssigned[k].join(', ') || 'unassigned'}`)
+    .join(', ');
+
   // ── [[states]] editor ──────────────────────────────────────────────────────
   const stateList = (config.states || []) as NonNullable<ConfigData['states']>;
 
@@ -2001,6 +2026,20 @@ export default function ConfigPage() {
                   const actuatorId = typeof arr[1] === 'number' ? arr[1] : Number(arr[1] || 1);
                   const third = arr.length >= 3 ? arr[2] : undefined;
                   const boardId = typeof third === 'number' ? third : (typeof third === 'string' ? Number(third) : undefined);
+                  // 4th element: which controller_service PWM output this actuator serves. Every
+                  // edit below goes through writeRole so changing a channel or polarity cannot
+                  // silently drop the assignment — which would hand the valve back to the
+                  // sequencer during a burn without anyone touching that field.
+                  const assignment = typeof arr[3] === 'string' ? arr[3] : '';
+                  const writeRole = (t: string, ch: number, b: number | undefined, assign: string) => {
+                    const next: any[] = [t, ch];
+                    if (b !== undefined) next.push(b);
+                    if (assign) {
+                      if (b === undefined) next.push(boardId ?? 0);  // 4th element needs a 3rd
+                      next.push(assign);
+                    }
+                    setConfig({ ...config, actuator_roles: { ...config.actuator_roles, [name]: next as any } });
+                  };
                   return (
                   // Key by index, not name — keying by the changing name remounts the row each
                   // keystroke (focus loss). Rename rebuilds preserving order so the row stays put.
@@ -2021,13 +2060,7 @@ export default function ConfigPage() {
                     <span className="text-text-muted">=</span>
                     <select
                       value={type}
-                      onChange={(e) => {
-                        const updated = { ...config.actuator_roles };
-                        updated[name] = third !== undefined
-                          ? ([e.target.value, actuatorId, third] as any)
-                          : ([e.target.value, actuatorId] as any);
-                        setConfig({ ...config, actuator_roles: updated });
-                      }}
+                      onChange={(e) => writeRole(e.target.value, actuatorId, boardId, assignment)}
                       className="px-3 py-2 bg-background border border-gray-700 rounded text-white"
                     >
                       <option value="NO">NO (Normally Open)</option>
@@ -2035,26 +2068,31 @@ export default function ConfigPage() {
                     </select>
                     <CommitOnBlurNumber
                       value={actuatorId}
-                      onCommit={(n) => {
-                        if (n === undefined) return;
-                        const updated = { ...config.actuator_roles };
-                        updated[name] = third !== undefined ? ([type, n, third] as any) : ([type, n] as any);
-                        setConfig({ ...config, actuator_roles: updated });
-                      }}
+                      onCommit={(n) => { if (n !== undefined) writeRole(type, n, boardId, assignment); }}
                       className="w-24 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                       placeholder="Ch"
                     />
                     <CommitOnBlurNumber
                       value={Number.isFinite(boardId as number) ? (boardId as number) : undefined}
                       allowEmpty
-                      onCommit={(n) => {
-                        const updated = { ...config.actuator_roles };
-                        updated[name] = n === undefined ? ([type, actuatorId] as any) : ([type, actuatorId, n] as any);
-                        setConfig({ ...config, actuator_roles: updated });
-                      }}
+                      onCommit={(n) => writeRole(type, actuatorId, n, assignment)}
                       className="w-32 px-3 py-2 bg-background border border-gray-700 rounded text-white"
                       placeholder="Board ID"
                     />
+                    {/* Assigning an actuator here is what hands it to controller_service: the
+                        controller resolves its PWM output from this, and the sequencer stops
+                        commanding the actuator during a burn so there is one writer. */}
+                    <select
+                      value={assignment}
+                      onChange={(e) => writeRole(type, actuatorId, boardId, e.target.value)}
+                      disabled={!canEdit}
+                      title="Which controller_service PWM output this actuator serves"
+                      className="w-40 px-3 py-2 bg-background border border-gray-700 rounded text-white disabled:opacity-50"
+                    >
+                      <option value="">Sequencer</option>
+                      <option value="pwm_fuel">Controller: fuel</option>
+                      <option value="pwm_ox">Controller: ox</option>
+                    </select>
                     <button
                       onClick={() => {
                         const updated = { ...config.actuator_roles };
@@ -2222,6 +2260,28 @@ export default function ConfigPage() {
           {activeTab === 'controller' && (
             <div className="bg-card rounded-lg p-6">
               <h2 className="text-xl font-bold mb-4">Controller</h2>
+
+              {/* Which actuators the controller PWMs. The server has no independent notion of a
+                  "fuel board" — this mapping is the only place it is stated, and pointing it at a
+                  role that does not exist disables the PWM fire gate at controller startup. So the
+                  choice is a list of what [actuator_roles] actually declares, and a dangling one
+                  is an error that blocks the save rather than a warning in a log. */}
+              {pwmActuatorIssues.length > 0 ? (
+                <InlineIssue level="error" className="mb-4">
+                  {pwmActuatorIssues.map((msg) => <p key={msg}>{msg}</p>)}
+                  <p className="opacity-80">
+                    Assign actuators on the <strong>Actuators</strong> tab. Until exactly one is
+                    assigned to each output the controller refuses to open the PWM fire gate.
+                  </p>
+                </InlineIssue>
+              ) : (
+                <p className="mb-4 text-sm text-text-muted">
+                  PWM outputs: {pwmAssignmentSummary}. Assigned on the Actuators tab — the
+                  sequencer stops commanding these during a burn so the controller is the only
+                  writer.
+                </p>
+              )}
+
               <div className="grid grid-cols-1 md:grid-cols-2 gap-4">
                 {renderField(
                   'Controller Loop (Hz)',
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index b98d38b14..710a97771 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -140,6 +140,16 @@ target_include_directories(test_daq_interface PRIVATE
 target_link_libraries(test_daq_interface fsw_daq_lib Threads::Threads pthread ${RT_LIBRARY})
 add_test(NAME daq_interface COMMAND test_daq_interface)
 
+# Which actuators the controller PWMs, resolved from config. Pure resolution like the NIC test
+# above — config comes from strings, so no working-directory care is needed.
+add_executable(test_controller_pwm_roles test/test_controller_pwm_roles.cpp)
+target_include_directories(test_controller_pwm_roles PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+target_link_libraries(test_controller_pwm_roles fsw_daq_lib Threads::Threads pthread ${RT_LIBRARY})
+add_test(NAME controller_pwm_roles COMMAND test_controller_pwm_roles)
+
 # Concurrency + abort ordering. Both drive a real SequencerService, so they need the same sources
 # test_sequencer_elodin links. They resolve config/ and the state CSVs relative to the working
 # directory (cwd, ../, ../../), which is why they run from the build dir under CTest.
diff --git a/daq-server/diablo_server/lib/include/config/Config.hpp b/daq-server/diablo_server/lib/include/config/Config.hpp
index baac07edb..28b6f0484 100644
--- a/daq-server/diablo_server/lib/include/config/Config.hpp
+++ b/daq-server/diablo_server/lib/include/config/Config.hpp
@@ -59,6 +59,9 @@ struct ControllerServiceConfig {  // [controller_service]
 };
 
 struct ControllerConfig {  // [controller]
+    // Which actuators the controller drives is NOT stated here — it is the 4th element of the
+    // [actuator_roles] entry (see ActuatorRole::controller_role), so the assignment lives with
+    // the actuator and the sequencer's fire-state handoff reads the same fact.
     double pwm_frequency_hz = 10.0;
     uint32_t pwm_duration_ms = 10000;
     double controller_loop_hz = 10.0;
@@ -111,11 +114,23 @@ struct StateDef {  // one per [[states]]
     bool is_boot = false;
 };
 
-struct ActuatorRole {         // [actuator_roles] value ["NC"|"NO"|"PWM", channel, board_id]
-    std::string kind = "NC";  // raw first element (NC/NO/PWM)
+// [actuator_roles] value ["NC"|"NO", channel, board_id, controller_role?]
+//
+// The optional 4th element assigns the actuator to controller_service: "pwm_fuel" or "pwm_ox".
+// It is the single statement of which hardware the controller drives — the sequencer stops
+// commanding an assigned actuator in the fire state (so there is one writer during a burn), and
+// the controller resolves its PWM outputs from the same entries.
+//
+// It is a separate slot from `kind` deliberately. `kind` used to carry a third value "PWM" for
+// this, but it is also where NC/NO polarity lives, so an actuator could not be both PWM-driven
+// and normally open — and since the shipped configs needed NC/NO, nothing was ever marked "PWM"
+// and the fire-state handoff never engaged on a real rig.
+struct ActuatorRole {
+    std::string kind = "NC";  // raw first element; polarity only (NC/NO)
     bool is_no = false;       // kind == "NO"
     int channel = 0;
     int board_id = 0;
+    std::string controller_role;  // "pwm_fuel" | "pwm_ox"; empty = sequencer-owned
 };
 
 // One [boards.*] section. Superset of every reader's keys so a single parse serves all binaries.
diff --git a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
index 179bcbb26..b24df5909 100644
--- a/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
+++ b/daq-server/diablo_server/lib/include/control/ActuatorCommander.hpp
@@ -19,14 +19,15 @@ namespace sequencer {
  * Format in config.toml:  role_name = ["TYPE", channel, board_id]
  *   TYPE:  "NC"  — normally closed (logical pos = hw state)
  *          "NO"  — normally open   (logical pos inverted for hw: 0→hw1, 1→hw0)
- *          "PWM" — controlled by controller_service, not by sequencer (skipped in FIRE)
+ *          An entry with a 4th element ("pwm_fuel"/"pwm_ox") is controlled by
+ *          controller_service, not by the sequencer, and is skipped in FIRE.
  */
 struct ActuatorRole {
     int channel{0};        // 1-based actuator ID on the board
     int board_id{0};       // Board ID (e.g. 11, 12, 13, 14)
     std::string board_ip;  // IP of the board that owns this actuator
     bool is_no{false};     // Normally Open: invert the logical position
-    bool is_pwm{false};    // PWM type: sequencer skips in FIRE state
+    bool is_pwm{false};    // assigned to controller_service: sequencer skips it in FIRE
 };
 
 /**
diff --git a/daq-server/diablo_server/lib/include/control/ControllerService.hpp b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
index 964121584..26e576c8f 100644
--- a/daq-server/diablo_server/lib/include/control/ControllerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
@@ -29,16 +29,27 @@ namespace control {
 class ControllerService {
 public:
     // ── PWM / actuator config ──────────────────────────────────────────
+    /** Where one propellant's PWM commands go. Both fields come from config via
+     *  [controller].pwm_*_actuator → [actuator_roles] → [boards.*]; there are deliberately no
+     *  defaults, because a default is this process inventing a rig layout it cannot know.
+     *  channel == 0 means "config did not say" and the target must never be addressed. */
+    struct PWMTarget {
+        std::string board_ip;
+        uint8_t channel = 0;
+        std::string actuator_name;  // the [actuator_roles] key, for logs an operator can act on
+
+        bool resolved() const { return channel != 0 && !board_ip.empty(); }
+    };
+
     struct PWMConfig {
-        std::string actuator_board_ip = "192.168.2.201";
+        PWMTarget fuel;
+        PWMTarget ox;
         uint16_t actuator_port = 5005;
         /** Local address PWM commands leave from; "0.0.0.0" leaves the NIC to the kernel.
          *  Resolved by the caller (see net/DaqInterface.hpp) — this is the fire path, and it must
          *  not reach the actuator board over whichever interface the route table happened to
          *  prefer. */
         std::string bind_address = "0.0.0.0";
-        uint8_t fuel_channel = 3;  // Fuel Press actuator channel
-        uint8_t lox_channel = 8;   // LOX Press actuator channel
         float frequency_hz = 10.0f;
         uint32_t duration_ms = 1000;  // PWM burst duration per command
     };
@@ -116,13 +127,18 @@ class ControllerService {
      *   Body    <B>  : num_commands
      *   Per-cmd <BIff>: actuator_id, duration_ms, duty_cycle, frequency
      */
-    bool sendPWMCommand(uint8_t channel, float duty_cycle, float frequency, uint32_t duration_ms);
+    bool sendPWMCommand(const PWMTarget& target, float duty_cycle, float frequency,
+                        uint32_t duration_ms);
 
-    /** Single UDP packet with both channels (fuel + LOX) for fire-state commands. */
-    bool sendPWMCommands(uint8_t channel1, float duty1, uint8_t channel2, float duty2,
+    /** Single UDP packet carrying both channels. Only valid when both targets are on the same
+     *  board — the packet has one destination. sendActuationPWM enforces that. */
+    bool sendPWMCommands(const PWMTarget& t1, float duty1, const PWMTarget& t2, float duty2,
                          float frequency, uint32_t duration_ms);
 
-    /** Send both fuel + LOX PWM commands for a given actuation output (one packet). */
+    /** Send the fuel + ox PWM commands for a given actuation output. One packet when both
+     *  actuators are on the same board (preserving the simultaneity the fire path had when
+     *  PWMConfig could only express one destination), two when config puts them on different
+     *  boards. An unresolved target is never addressed. */
     void sendActuationPWM(const RobustDDPController::ActuationCommand& act);
 
     // ── Elodin DB (optional) ───────────────────────────────────────────
@@ -135,6 +151,15 @@ class ControllerService {
     void controllerLoop();
     void elodinSubscriberLoop();
 
+    /** Connect the subscriber and subscribe to the tables it reads. Both halves run on every
+     *  reconnect — a db restart loses the VTables, so re-connecting without re-subscribing comes
+     *  back silent. Returns false (having dropped the connection) if either half fails. */
+    bool connectSubscriber();
+
+    /** The read half, one connection's worth. Returns when the connection drops or on shutdown;
+     *  elodinSubscriberLoop() decides whether to reconnect. */
+    void subscriberReadLoop(std::vector<uint8_t>& rx_buffer);
+
     // ── State ──────────────────────────────────────────────────────────
     std::atomic<bool> running_{false};
     std::atomic<bool> fire_active_{false};  // PWM only sent when FIRE state is active
@@ -155,7 +180,6 @@ class ControllerService {
 
     // Elodin DB — subscriber (read-only; dedicated to receiving calibrated PT data)
     std::unique_ptr<elodin::ElodinClient> elodin_subscriber_;
-    bool elodin_sub_connected_ = false;
     std::string elodin_host_;
     uint16_t elodin_port_ = 2240;
 
diff --git a/daq-server/diablo_server/lib/include/control/PWMTargets.hpp b/daq-server/diablo_server/lib/include/control/PWMTargets.hpp
new file mode 100644
index 000000000..894bc1498
--- /dev/null
+++ b/daq-server/diablo_server/lib/include/control/PWMTargets.hpp
@@ -0,0 +1,108 @@
+#pragma once
+
+/**
+ * @file PWMTargets.hpp
+ * @brief Resolve which hardware the controller PWMs, from config alone.
+ *
+ * An [actuator_roles] entry whose optional 4th element is "pwm_fuel" or "pwm_ox" is assigned to
+ * controller_service. That entry carries (channel, board_id), and [boards.*] maps board_id to an
+ * IP. This is the *only* statement of what the controller drives — the process has no independent
+ * notion of a "fuel board" — and it is the same fact ActuatorCommander reads to stop commanding
+ * those actuators during a burn, so the two cannot disagree about who owns a valve.
+ *
+ * Every step here used to have a fallback in controller_main.cpp: a missing role became CH3/CH8 on
+ * board 12, an undeclared board became "192.168.2.<board_id>", an empty board table became a
+ * synthesized 11-14, and two roles on two boards silently shared the first one's IP. All of them
+ * were this process asserting a rig layout only config knows, and all of them failed
+ * silent-wrong — PWM onto whatever hardware happened to sit on the guessed channel, behind a
+ * warning nobody reads. There are deliberately no fallbacks here: an unresolved target is
+ * reported, and the caller disables the fire gate.
+ *
+ * Split out of controller_main.cpp so it can be tested without standing up a service.
+ */
+
+#include <map>
+#include <string>
+#include <vector>
+
+#include "config/Config.hpp"
+#include "control/ControllerService.hpp"
+
+namespace fsw {
+namespace control {
+
+struct PWMResolution {
+    ControllerService::PWMTarget fuel;
+    ControllerService::PWMTarget ox;
+    /** One human-readable line per problem. Empty means both targets are usable. */
+    std::vector<std::string> issues;
+
+    bool ok() const { return issues.empty(); }
+};
+
+/** board_id → IP from [boards.*] (non-empty ip, first wins). No synthesized entries: a board this
+ *  map does not hold is a board config did not declare. */
+inline std::map<int, std::string> boardIpMap(const fsw::config::Config& cfg) {
+    std::map<int, std::string> out;
+    for (const auto& b : cfg.boards)
+        if (!b.ip.empty() && b.board_id > 0 && !out.count(b.board_id))
+            out[b.board_id] = b.ip;
+    return out;
+}
+
+inline PWMResolution resolvePWMTargets(const fsw::config::Config& cfg) {
+    const std::map<int, std::string> ips = boardIpMap(cfg);
+    PWMResolution res;
+
+    auto resolve = [&](const char* assignment) -> ControllerService::PWMTarget {
+        ControllerService::PWMTarget target;
+
+        // Collect every actuator claiming this assignment. More than one is a config error worth
+        // naming: silently taking the first would put PWM on a valve the operator did not intend,
+        // which is the same class of failure as the old name-matching fallbacks.
+        std::vector<std::string> claimants;
+        for (const auto& [name, role] : cfg.actuator_roles)
+            if (role.controller_role == assignment)
+                claimants.push_back(name);
+
+        if (claimants.empty()) {
+            res.issues.push_back(std::string("no [actuator_roles] entry is assigned \"") +
+                                 assignment + "\" — no actuator serves this PWM output");
+            return target;
+        }
+        if (claimants.size() > 1) {
+            std::string joined;
+            for (size_t i = 0; i < claimants.size(); ++i)
+                joined += (i ? ", " : "") + ("\"" + claimants[i] + "\"");
+            res.issues.push_back(std::string("more than one [actuator_roles] entry is assigned \"") +
+                                 assignment + "\": " + joined);
+            return target;
+        }
+
+        const auto& name = claimants.front();
+        const auto& role = cfg.actuator_roles.at(name);
+        if (role.channel < 1) {
+            res.issues.push_back("\"" + name + "\" is assigned \"" + assignment +
+                                 "\" but declares no valid channel");
+            return target;
+        }
+        const auto ip_it = ips.find(role.board_id);
+        if (ip_it == ips.end()) {
+            res.issues.push_back("\"" + name + "\" is assigned \"" + assignment +
+                                 "\" but is on board_id " + std::to_string(role.board_id) +
+                                 ", which no [boards.*] section declares an ip for");
+            return target;
+        }
+        target.channel = static_cast<uint8_t>(role.channel);
+        target.board_ip = ip_it->second;
+        target.actuator_name = name;
+        return target;
+    };
+
+    res.fuel = resolve("pwm_fuel");
+    res.ox = resolve("pwm_ox");
+    return res;
+}
+
+}  // namespace control
+}  // namespace fsw
diff --git a/daq-server/diablo_server/lib/include/control/SequencerService.hpp b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
index 8f16bb52a..042f2646f 100644
--- a/daq-server/diablo_server/lib/include/control/SequencerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/SequencerService.hpp
@@ -191,9 +191,14 @@ class SequencerService {
     void applyFireConfig(const fsw::config::Config& cfg);
 
     /** Send FIRE_START / FIRE_STOP to controller_service. The single place anything tells the
-     *  controller the burn gate changed. */
+     *  controller the burn gate changed. Retries once if the first attempt is not acknowledged. */
     void notifyControllerFire(bool active);
 
+    /** One attempt: connect, send, wait for the controller's "OK". Returns whether it was
+     *  acknowledged — a successful send() is not evidence of delivery, since the kernel buffers
+     *  for an application that may never read. */
+    bool notifyControllerFireOnce(bool active);
+
     // ── Fire semantics, from config ───────────────────────────────────────────
     // Which state fires, and where the timer lands when it expires, are config rather than
     // enumerators. `state_val == 16` in ControllerService and a stringified State::ARMED here were
diff --git a/daq-server/diablo_server/lib/src/config/Config.cpp b/daq-server/diablo_server/lib/src/config/Config.cpp
index 3c891016c..dce40fa7a 100644
--- a/daq-server/diablo_server/lib/src/config/Config.cpp
+++ b/daq-server/diablo_server/lib/src/config/Config.cpp
@@ -174,6 +174,10 @@ Config from_table(const toml::table& t) {
                 r.is_no = (r.kind == "NO" || r.kind == "no");
                 r.channel = static_cast<int>((*arr)[1].value<int64_t>().value_or(0));
                 r.board_id = static_cast<int>((*arr)[2].value<int64_t>().value_or(0));
+                // Optional 4th element: which controller_service PWM output this actuator serves
+                // ("pwm_fuel" / "pwm_ox"). Absent means the sequencer owns it.
+                if (arr->size() >= 4)
+                    r.controller_role = (*arr)[3].value<std::string>().value_or("");
                 c.actuator_roles[std::string(k.str())] = r;
             }
 
diff --git a/daq-server/diablo_server/lib/src/control/ControllerService.cpp b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
index 5ba2fe9a4..dfc9aa78a 100644
--- a/daq-server/diablo_server/lib/src/control/ControllerService.cpp
+++ b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
@@ -101,14 +101,18 @@ bool ControllerService::initialize(const PWMConfig& pwm_config,
         udp_socket_fd_ = -1;
         return false;
     }
-    std::cout << "[ControllerService] ✅ UDP socket created for PWM output → "
-              << pwm_config_.actuator_board_ip << ":" << pwm_config_.actuator_port
+    auto describe = [](const PWMTarget& t) {
+        return t.resolved() ? t.board_ip + " CH" + std::to_string(static_cast<int>(t.channel))
+                            : std::string("(unresolved — PWM suppressed)");
+    };
+    std::cout << "[ControllerService] ✅ UDP socket created for PWM output → :"
+              << pwm_config_.actuator_port
               << (pwm_config_.bind_address == "0.0.0.0"
                       ? std::string()
                       : " (from " + pwm_config_.bind_address + ")")
               << std::endl;
-    std::cout << "[ControllerService]    Fuel CH" << (int)pwm_config_.fuel_channel << "  LOX CH"
-              << (int)pwm_config_.lox_channel << "  freq=" << pwm_config_.frequency_hz << "Hz"
+    std::cout << "[ControllerService]    Fuel " << describe(pwm_config_.fuel) << "   Ox "
+              << describe(pwm_config_.ox) << "  freq=" << pwm_config_.frequency_hz << "Hz"
               << "  duration=" << pwm_config_.duration_ms << "ms" << std::endl;
 
     // ── Elodin DB (optional) ────────────────────────────────────────────
@@ -130,30 +134,11 @@ bool ControllerService::initialize(const PWMConfig& pwm_config,
     }
 
     // ── Elodin subscriber (dedicated read-only connection for calibrated PT) ──
-    if (!elodin_host.empty()) {
-        if (elodin_subscriber_->connect(elodin_host, elodin_port)) {
-            elodin_sub_connected_ = true;
-            // Subscribe to calibrated PT tables for all board-number slots.
-            // low byte encoding: (board_number-1)*0x20 + 0x10 + channel
-            std::vector<std::pair<uint8_t, uint8_t>> cal_pt_tables;
-            for (uint8_t board_number = 1; board_number <= 10; ++board_number) {
-                const uint8_t base = static_cast<uint8_t>((board_number - 1) * 0x20);
-                for (uint8_t ch = 1; ch <= 10; ++ch) {
-                    cal_pt_tables.push_back({0x20, static_cast<uint8_t>(base + 0x10 + ch)});
-                }
-            }
-            // Sequencer state stream [0x50,0x00] for FIRE gate parity.
-            cal_pt_tables.push_back({0x50, 0x00});
-            elodin_subscriber_->subscribe_tables(cal_pt_tables);
-            std::cout << "[ControllerService] ✅ Elodin subscriber connected — "
-                         "subscribed to calibrated PT + Sequencer state"
-                      << std::endl;
-        } else {
-            std::cerr << "[ControllerService] ⚠️  Elodin subscriber connection failed — "
-                         "controller will not receive sensor data"
-                      << std::endl;
-        }
-    }
+    // A failure here is no longer terminal for the subscriber: elodinSubscriberLoop() retries.
+    if (!elodin_host.empty() && !connectSubscriber())
+        std::cerr << "[ControllerService] ⚠️  Elodin subscriber connection failed — retrying in "
+                     "the background"
+                  << std::endl;
 
     // ── Initialize controller ───────────────────────────────────────────
     if (!controller_->initialize(controller_config)) {
@@ -216,7 +201,10 @@ bool ControllerService::start(double loop_rate_hz) {
     loop_interval_ms_ = 1000.0 / loop_rate_hz;
 
     controller_thread_ = std::thread(&ControllerService::controllerLoop, this);
-    if (elodin_sub_connected_) {
+    // Started whenever a db is configured, not only when the first connect happened to succeed:
+    // the loop reconnects, so a controller that boots while the db is down now picks it up
+    // instead of running blind for the rest of the session.
+    if (!elodin_host_.empty()) {
         elodin_subscriber_thread_ = std::thread(&ControllerService::elodinSubscriberLoop, this);
     }
 
@@ -390,10 +378,13 @@ RobustDDPController::Diagnostics ControllerService::getLastDiagnostics() const {
 //  PWM COMMAND SENDING  (matches combined_gui.py EXACTLY)
 // ═══════════════════════════════════════════════════════════════════════
 
-bool ControllerService::sendPWMCommand(uint8_t channel, float duty_cycle, float frequency,
+bool ControllerService::sendPWMCommand(const PWMTarget& target, float duty_cycle, float frequency,
                                        uint32_t duration_ms) {
     if (udp_socket_fd_ < 0)
         return false;
+    if (!target.resolved())
+        return false;
+    const uint8_t channel = target.channel;
 
     // Build packet — total 20 bytes for single command
     uint8_t packet[SINGLE_CMD_PACKET_SIZE];
@@ -434,9 +425,8 @@ bool ControllerService::sendPWMCommand(uint8_t channel, float duty_cycle, float
     struct sockaddr_in dest{};
     dest.sin_family = AF_INET;
     dest.sin_port = htons(pwm_config_.actuator_port);
-    if (inet_pton(AF_INET, pwm_config_.actuator_board_ip.c_str(), &dest.sin_addr) != 1) {
-        std::cerr << "[ControllerService] ❌ Invalid actuator IP: " << pwm_config_.actuator_board_ip
-                  << std::endl;
+    if (inet_pton(AF_INET, target.board_ip.c_str(), &dest.sin_addr) != 1) {
+        std::cerr << "[ControllerService] ❌ Invalid actuator IP: " << target.board_ip << std::endl;
         return false;
     }
 
@@ -452,10 +442,15 @@ bool ControllerService::sendPWMCommand(uint8_t channel, float duty_cycle, float
     return true;
 }
 
-bool ControllerService::sendPWMCommands(uint8_t channel1, float duty1, uint8_t channel2,
+bool ControllerService::sendPWMCommands(const PWMTarget& t1, float duty1, const PWMTarget& t2,
                                         float duty2, float frequency, uint32_t duration_ms) {
     if (udp_socket_fd_ < 0)
         return false;
+    // One packet, one destination — the caller must have checked both targets share a board.
+    if (!t1.resolved() || !t2.resolved() || t1.board_ip != t2.board_ip)
+        return false;
+    const uint8_t channel1 = t1.channel;
+    const uint8_t channel2 = t2.channel;
 
     uint8_t packet[DUAL_CMD_PACKET_SIZE];
     size_t offset = 0;
@@ -490,7 +485,7 @@ bool ControllerService::sendPWMCommands(uint8_t channel1, float duty1, uint8_t c
     struct sockaddr_in dest{};
     dest.sin_family = AF_INET;
     dest.sin_port = htons(pwm_config_.actuator_port);
-    if (inet_pton(AF_INET, pwm_config_.actuator_board_ip.c_str(), &dest.sin_addr) != 1)
+    if (inet_pton(AF_INET, t1.board_ip.c_str(), &dest.sin_addr) != 1)
         return false;
 
     ssize_t sent = sendto(udp_socket_fd_, packet, DUAL_CMD_PACKET_SIZE, 0,
@@ -505,8 +500,22 @@ void ControllerService::sendActuationPWM(const RobustDDPController::ActuationCom
     float duty_F = static_cast<float>(std::max(0.0, std::min(1.0, act.duty_F)));
     float duty_O = static_cast<float>(std::max(0.0, std::min(1.0, act.duty_O)));
 
-    sendPWMCommands(pwm_config_.fuel_channel, duty_F, pwm_config_.lox_channel, duty_O,
-                    pwm_config_.frequency_hz, pwm_config_.duration_ms);
+    // Same board → one packet, so both valves are commanded by a single datagram exactly as
+    // before. Different boards → two, because a datagram has one destination; the two commands
+    // are then no longer simultaneous, which is a property of the rig's wiring rather than a
+    // choice this code gets to make. Neither branch can address an unresolved target: the send
+    // helpers reject those, and the gate is disabled at startup anyway.
+    const bool same_board = pwm_config_.fuel.resolved() && pwm_config_.ox.resolved() &&
+                            pwm_config_.fuel.board_ip == pwm_config_.ox.board_ip;
+    if (same_board) {
+        sendPWMCommands(pwm_config_.fuel, duty_F, pwm_config_.ox, duty_O,
+                        pwm_config_.frequency_hz, pwm_config_.duration_ms);
+    } else {
+        sendPWMCommand(pwm_config_.fuel, duty_F, pwm_config_.frequency_hz,
+                       pwm_config_.duration_ms);
+        sendPWMCommand(pwm_config_.ox, duty_O, pwm_config_.frequency_hz,
+                       pwm_config_.duration_ms);
+    }
 }
 
 // ═══════════════════════════════════════════════════════════════════════
@@ -731,13 +740,73 @@ void ControllerService::controllerLoop() {
     }
 }
 
+/**
+ * Connect the subscriber and subscribe to everything it reads.
+ *
+ * Both halves must run on every reconnect, not just the first connect: the VTables live in the db
+ * process, so a db restart loses them and a reconnect that skips re-subscription comes back
+ * permanently silent. SequencerService::tryConnectElodin() documents the same rule for the
+ * publishing side, and heartbeat_service treats a failed subscribe as a failed connection for
+ * exactly this reason — so this returns false and lets the caller retry the whole thing.
+ */
+bool ControllerService::connectSubscriber() {
+    if (elodin_host_.empty())
+        return false;
+    if (!elodin_subscriber_->connect(elodin_host_, elodin_port_))
+        return false;
+
+    // Calibrated PT tables for all board-number slots.
+    // low byte encoding: (board_number-1)*0x20 + 0x10 + channel
+    std::vector<std::pair<uint8_t, uint8_t>> tables;
+    for (uint8_t board_number = 1; board_number <= 10; ++board_number) {
+        const uint8_t base = static_cast<uint8_t>((board_number - 1) * 0x20);
+        for (uint8_t ch = 1; ch <= 10; ++ch)
+            tables.push_back({0x20, static_cast<uint8_t>(base + 0x10 + ch)});
+    }
+    // Sequencer state stream [0x50,0x00] for FIRE gate parity.
+    tables.push_back({0x50, 0x00});
+    if (!elodin_subscriber_->subscribe_tables(tables)) {
+        std::cerr << "[ControllerService] ⚠️  Elodin subscribe failed — dropping the connection "
+                     "so it is retried rather than sitting on a silent socket"
+                  << std::endl;
+        elodin_subscriber_->disconnect();
+        return false;
+    }
+
+    std::cout << "[ControllerService] ✅ Elodin subscriber connected — "
+                 "subscribed to calibrated PT + Sequencer state"
+              << std::endl;
+    return true;
+}
+
 void ControllerService::elodinSubscriberLoop() {
     std::cout
         << "[ControllerService] 🎧 Elodin subscriber loop started (dedicated subscriber client)."
         << std::endl;
-    // Subscription already done in initialize() via subscribe_tables()
     std::vector<uint8_t> rx_buffer(8192);
 
+    // Outer loop: reconnect. This used to be absent — the thread started once and its inner loop
+    // exited the moment is_connected() went false, so a single db restart or network blip left
+    // the controller deaf to sequencer state for the life of the process, with nothing but one
+    // log line to say so. That matters because this path is the FIRE-gate parity fallback: it is
+    // what closes the PWM gate if the TCP command path is not working.
+    while (running_) {
+        if (!elodin_subscriber_->is_connected()) {
+            if (!connectSubscriber()) {
+                for (int i = 0; i < 20 && running_; ++i)
+                    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+                continue;
+            }
+        }
+        subscriberReadLoop(rx_buffer);
+        if (running_)
+            std::cerr << "[ControllerService] ⚠️  Elodin subscriber disconnected — reconnecting"
+                      << std::endl;
+    }
+    std::cout << "[ControllerService] 🎧 Elodin subscriber loop stopped." << std::endl;
+}
+
+void ControllerService::subscriberReadLoop(std::vector<uint8_t>& rx_buffer) {
     while (running_ && elodin_subscriber_->is_connected()) {
         // 8-byte Elodin header: len(4) ty(1) id_hi(1) id_lo(1) req_id(1)
         uint8_t header[8];
@@ -826,7 +895,6 @@ void ControllerService::elodinSubscriberLoop() {
             }
         }
     }
-    std::cout << "[ControllerService] 🎧 Elodin subscriber loop stopped." << std::endl;
 }
 
 // ═══════════════════════════════════════════════════════════════════════
diff --git a/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp b/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp
new file mode 100644
index 000000000..4ba8f9723
--- /dev/null
+++ b/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp
@@ -0,0 +1,171 @@
+/**
+ * Which actuators the controller PWMs, resolved from config alone.
+ *
+ * An [actuator_roles] entry's optional 4th element — "pwm_fuel" or "pwm_ox" — assigns that
+ * actuator to controller_service. It is the single statement of what the controller drives, and
+ * the same fact makes ActuatorCommander stop commanding the actuator during a burn, so the two
+ * cannot disagree about who owns a valve.
+ *
+ * Before this was config-driven, controller_main matched the literal names "Fuel Press"/"LOX Press"
+ * and every step had a fallback: a missing role became CH3/CH8 on board 12, an undeclared board
+ * became "192.168.2.<board_id>", an empty board table became a synthesized 11-14, and two roles on
+ * two boards silently shared the first one's IP. Each drove PWM at whatever hardware happened to
+ * sit on the guessed channel, behind a warning in a log nobody reads.
+ *
+ * So what is pinned here is mostly the *absence* of fallbacks: every unresolvable input must be
+ * reported rather than substituted, because the caller turns a report into a disabled fire gate.
+ *
+ * Pure resolution — no sockets, no files, no dependence on the host's interfaces.
+ */
+#include <iostream>
+#include <map>
+#include <string>
+
+#include "config/Config.hpp"
+#include "control/PWMTargets.hpp"
+
+static int g_failures = 0;
+
+static void check(bool ok, const std::string& what) {
+    std::cout << (ok ? "  ok   " : "  FAIL ") << what << std::endl;
+    if (!ok)
+        g_failures++;
+}
+
+/** `assign` maps an actuator name to its 4th element; a name absent from it is unassigned. */
+static fsw::config::Config makeConfig(const std::map<std::string, std::string>& assign,
+                                      bool declare_board_14 = true) {
+    std::string toml;
+    toml += "[boards.act]\ntype = \"ACTUATOR\"\nip = \"192.0.2.12\"\nboard_id = 12\n";
+    toml += "enabled = true\n\n";
+    if (declare_board_14) {
+        toml += "[boards.act2]\ntype = \"ACTUATOR\"\nip = \"192.0.2.14\"\nboard_id = 14\n";
+        toml += "enabled = true\n\n";
+    }
+    auto role = [&](const char* name, const char* kind, int ch, int board) {
+        const auto it = assign.find(name);
+        std::string line = std::string("\"") + name + "\" = [\"" + kind + "\", " +
+                           std::to_string(ch) + ", " + std::to_string(board);
+        if (it != assign.end())
+            line += ", \"" + it->second + "\"";
+        return line + "]\n";
+    };
+    toml += "[actuator_roles]\n";
+    toml += role("Fuel Press", "NC", 3, 12);
+    toml += role("LOX Press", "NO", 8, 12);
+    toml += role("Far Side Press", "NC", 2, 14);
+    return fsw::config::load_from_string(toml);
+}
+
+int main() {
+    std::cout << "=== controller PWM actuator resolution ===" << std::endl;
+
+    // 1. The happy path: one actuator assigned to each output.
+    {
+        const auto r = fsw::control::resolvePWMTargets(
+            makeConfig({{"Fuel Press", "pwm_fuel"}, {"LOX Press", "pwm_ox"}}));
+        check(r.ok(), "both outputs resolve with no issues");
+        check(r.fuel.resolved() && r.fuel.channel == 3 && r.fuel.board_ip == "192.0.2.12",
+              "fuel resolves to the channel and board its actuator declares");
+        check(r.ox.resolved() && r.ox.channel == 8 && r.ox.board_ip == "192.0.2.12",
+              "ox resolves to the channel and board its actuator declares");
+        check(r.fuel.actuator_name == "Fuel Press",
+              "the target carries the actuator name, so logs can say which valve");
+    }
+
+    // 2. The assignment, not the name, is what binds. Renaming an actuator in the editor moves
+    //    the assignment with it — the whole point of not matching a literal "Fuel Press".
+    {
+        const auto r = fsw::control::resolvePWMTargets(
+            makeConfig({{"Far Side Press", "pwm_fuel"}, {"LOX Press", "pwm_ox"}}));
+        check(r.ok(), "any actuator can serve an output, whatever it is called");
+        check(r.fuel.channel == 2 && r.fuel.board_ip == "192.0.2.14",
+              "fuel follows the assignment to that actuator's own board and channel");
+    }
+
+    // 3. Nothing assigned to an output. The old code printed a warning and drove CH3 anyway.
+    {
+        const auto r = fsw::control::resolvePWMTargets(makeConfig({{"LOX Press", "pwm_ox"}}));
+        check(!r.ok(), "an unassigned fuel output is reported");
+        check(!r.fuel.resolved(), "an unassigned fuel output resolves to nothing (no CH3 default)");
+        check(r.fuel.channel == 0, "unresolved target keeps channel 0 so it cannot be addressed");
+        check(r.ox.resolved(), "the other output still resolves independently");
+        check(r.issues.size() == 1 && r.issues[0].find("pwm_fuel") != std::string::npos,
+              "the reported issue names the output that has no actuator");
+    }
+
+    // 4. Two actuators claiming one output. Taking the first would put PWM on a valve the operator
+    //    did not intend — the same class of failure as the old name-matching fallbacks, so it is
+    //    an error rather than a silent pick.
+    {
+        const auto r = fsw::control::resolvePWMTargets(
+            makeConfig({{"Fuel Press", "pwm_fuel"}, {"Far Side Press", "pwm_fuel"},
+                        {"LOX Press", "pwm_ox"}}));
+        check(!r.ok(), "a duplicate assignment is reported");
+        check(!r.fuel.resolved(), "a duplicated output resolves to nothing rather than picking one");
+        check(r.issues.size() == 1 && r.issues[0].find("Fuel Press") != std::string::npos &&
+                  r.issues[0].find("Far Side Press") != std::string::npos,
+              "the reported issue names both claimants");
+    }
+
+    // 5. An actuator on a board no [boards.*] declares an ip for. The old code synthesized
+    //    "192.168.2.<board_id>", guessing both the addressing scheme and the subnet — and the
+    //    guess is routable, so it can reach a real board that is not the intended one.
+    {
+        const auto r = fsw::control::resolvePWMTargets(
+            makeConfig({{"Fuel Press", "pwm_fuel"}, {"Far Side Press", "pwm_ox"}},
+                       /*declare_board_14=*/false));
+        check(!r.ok(), "an actuator on an undeclared board is reported");
+        check(!r.ox.resolved(), "no IP is synthesized from the board_id");
+        check(r.issues.size() == 1 && r.issues[0].find("board_id 14") != std::string::npos,
+              "the reported issue names the board that has no ip");
+    }
+
+    // 6. Nothing assigned at all. The controller reports both and its caller disables the fire
+    //    gate — correct for a process whose job is to drive PWM. (The config editor deliberately
+    //    treats the same state as valid, since a rig that does not use the controller must still
+    //    be saveable; see validateControllerPwmActuators in shared/types.ts.)
+    {
+        const auto r = fsw::control::resolvePWMTargets(makeConfig({}));
+        check(r.issues.size() == 2, "both unassigned outputs are reported together");
+        check(!r.fuel.resolved() && !r.ox.resolved(), "neither target is invented");
+    }
+
+    // 7. Two actuators on two different boards is a legal rig, not an error: PWMConfig carries an
+    //    IP per target, and sendActuationPWM splits the datagram. The old code warned and used the
+    //    fuel board's IP for both, so LOX PWM went to the wrong board.
+    {
+        const auto r = fsw::control::resolvePWMTargets(
+            makeConfig({{"Fuel Press", "pwm_fuel"}, {"Far Side Press", "pwm_ox"}}));
+        check(r.ok(), "actuators on different boards are not an error");
+        check(r.fuel.board_ip == "192.0.2.12" && r.ox.board_ip == "192.0.2.14",
+              "each target keeps its own board IP");
+    }
+
+    // 8. No [boards.*] at all. The old code invented boards 11-14 on 192.168.2.x.
+    {
+        const auto cfg = fsw::config::load_from_string(
+            "[actuator_roles]\n\"Fuel Press\" = [\"NC\", 3, 12, \"pwm_fuel\"]\n"
+            "\"LOX Press\" = [\"NO\", 8, 12, \"pwm_ox\"]\n");
+        const auto r = fsw::control::resolvePWMTargets(cfg);
+        check(!r.ok(), "no declared boards is reported, not filled in from a default table");
+        check(!r.fuel.resolved() && !r.ox.resolved(), "neither target is invented");
+    }
+
+    // 9. The assignment slot is independent of polarity — the reason it is a 4th element rather
+    //    than a third value of `kind`. "LOX Press" is NO *and* controller-driven; if the two ever
+    //    share a slot again, a PWM assignment would silently drop the normally-open inversion.
+    {
+        const auto cfg = makeConfig({{"Fuel Press", "pwm_fuel"}, {"LOX Press", "pwm_ox"}});
+        check(cfg.actuator_roles.at("LOX Press").is_no,
+              "an assigned actuator keeps its NO polarity");
+        check(cfg.actuator_roles.at("LOX Press").controller_role == "pwm_ox",
+              "...and its controller assignment at the same time");
+        check(cfg.actuator_roles.at("Far Side Press").controller_role.empty(),
+              "an unassigned actuator has no controller role");
+    }
+
+    std::cout << (g_failures ? "FAILED" : "PASSED") << ": " << g_failures << " failure(s)"
+              << std::endl;
+    return g_failures ? 1 : 0;
+}
diff --git a/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp b/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
index bd60bb260..7e5ce7a85 100644
--- a/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
+++ b/daq-server/diablo_server/lib/test/test_fire_lifecycle.cpp
@@ -211,8 +211,13 @@ int main() {
             "\n\n[actuator_service]\nbind_address = \"0.0.0.0\"\n\n"
             "[boards.act_board]\ntype = \"ACTUATOR\"\nip = \"127.0.0.1\"\nboard_id = 12\n"
             "enabled = true\nnum_actuators = 10\n\n"
+            // The 4th element is what assigns an actuator to controller_service. It used to be a
+            // third `kind` value ("PWM"), but kind also carries NC/NO polarity, so an actuator
+            // could not be both PWM-driven and normally open — and since every shipped config
+            // needed NC/NO, nothing was ever marked "PWM" and this skip never engaged on a real
+            // rig. Note Throttle is "NO" here precisely to pin that the two are independent.
             "[actuator_roles]\n\"Plain Valve\" = [\"NC\", 1, 12]\n"
-            "\"Throttle\" = [\"PWM\", 2, 12]\n";
+            "\"Throttle\" = [\"NO\", 2, 12, \"pwm_fuel\"]\n";
 
         int sock = socket(AF_INET, SOCK_DGRAM, 0);
         int reuse = 1;
@@ -247,13 +252,13 @@ int main() {
 
         const auto idle = channelsFor(State::IDLE);
         check(idle.count(1) && idle.count(2),
-              "outside fire the sequencer commands BOTH the plain valve and the PWM one");
+              "outside fire the sequencer commands BOTH the plain valve and the assigned one");
 
         const auto fire = channelsFor(State::FIRE);
-        check(fire.count(1), "in fire the sequencer still commands non-PWM valves");
+        check(fire.count(1), "in fire the sequencer still commands its own valves");
         check(!fire.count(2),
-              "in fire the sequencer stops commanding the PWM valve — control handed to the "
-              "controller, so only one writer drives it during a burn");
+              "in fire the sequencer stops commanding the controller-assigned valve — one "
+              "writer drives it during a burn");
 
         close(sock);
         fs_alias::remove_all(dir);
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index af5f5600c..b5061a3f8 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -26,12 +26,15 @@
 #include <fstream>
 #include <iostream>
 #include <map>
+#include <memory>
 #include <sstream>
 #include <string>
+#include <vector>
 #include <thread>
 
 #include "config/Config.hpp"
 #include "control/ControllerService.hpp"
+#include "control/PWMTargets.hpp"
 #include "control/RobustDDPController.hpp"
 #include "control/StateMachine.hpp"
 #include "net/DaqInterface.hpp"
@@ -56,8 +59,65 @@ static void signalHandler(int /*sig*/) {
 }
 
 // ── TCP control server (FIRE_START / FIRE_STOP) ─────────────────────────
-// Mirrors the actuator_service TCP command pattern.
-// TS backend connects, sends "FIRE_START\n" or "FIRE_STOP\n", then disconnects.
+// The sequencer connects, sends "FIRE_START\n" or "FIRE_STOP\n", reads the reply, disconnects.
+//
+// Structure mirrors sequencer_main.cpp's accept loop, for the reason documented there: this loop
+// must keep calling accept(). It used to read the command inline, byte at a time, with a blocking
+// recv() and no SO_RCVTIMEO — so a peer that connected and never sent a newline parked it
+// permanently. A half-open connection (the sequencer's host dropping off the network without a
+// FIN), a port scan, or an operator running `nc` against the port to check it was up all did it.
+// Worse, it was silent at both ends: the kernel completes the handshake and buffers the bytes, so
+// the sequencer's send() succeeded and it logged the command as delivered while nothing read it.
+// (See also SequencerService::notifyControllerFire, which now checks the ACK for that reason.)
+constexpr size_t kMaxControlClients = 64;
+
+// One connection on its own thread: read a line, dispatch, reply, close.
+static void handleControlClient(int client_fd, fsw::control::ControllerService* svc) {
+    // A silent peer can pin this thread, but never the accept loop, and only for 5 s.
+    struct timeval tv{.tv_sec = 5, .tv_usec = 0};
+    setsockopt(client_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+    std::string buf;
+    bool got_line = false;
+    while (g_running && buf.size() < 64) {
+        char tmp[64];
+        ssize_t n = ::recv(client_fd, tmp, sizeof(tmp), 0);
+        if (n <= 0)
+            break;  // peer closed, timed out, or shutdown() woke us
+        buf.append(tmp, static_cast<size_t>(n));
+        const size_t nl = buf.find('\n');
+        if (nl != std::string::npos) {
+            buf.resize(nl);
+            got_line = true;
+            break;
+        }
+    }
+
+    auto reply = [client_fd](const char* s) {
+        ::send(client_fd, s, std::strlen(s), MSG_NOSIGNAL);
+    };
+
+    if (!got_line) {
+        // Timed out or the peer vanished mid-command. One line, at the point of failure — this
+        // port is reachable from the site LAN and a scanner must not be able to flood the log.
+        std::cerr << "[ControllerService] ⚠️  control connection closed with no command "
+                     "(timeout or peer went away)"
+                  << std::endl;
+    } else if (buf == "FIRE_START") {
+        svc->setFireActive(true);
+        std::cout << "[ControllerService] 🔥 FIRE_START received — PWM gate open" << std::endl;
+        reply("OK\n");
+    } else if (buf == "FIRE_STOP") {
+        svc->setFireActive(false);
+        std::cout << "[ControllerService] 🛑 FIRE_STOP received — PWM gate closed" << std::endl;
+        reply("OK\n");
+    } else {
+        std::cerr << "[ControllerService] ⚠️  Unknown control cmd: \"" << buf << "\"" << std::endl;
+        reply("ERR\n");
+    }
+    ::close(client_fd);
+}
+
 static void runControlServer(fsw::control::ControllerService* svc, uint16_t port) {
     int listen_fd = ::socket(AF_INET, SOCK_STREAM, 0);
     if (listen_fd < 0) {
@@ -82,8 +142,30 @@ static void runControlServer(fsw::control::ControllerService* svc, uint16_t port
     std::cout << "[ControllerService] 🎮 Control server on TCP :" << port
               << "  (FIRE_START | FIRE_STOP)" << std::endl;
 
+    // Threads are counted and joined rather than detached, so none outlives `svc`.
+    struct Conn {
+        std::thread th;
+        int fd{-1};
+        std::atomic<bool> done{false};
+    };
+    std::vector<std::unique_ptr<Conn>> conns;
+
+    auto reap_finished = [&conns]() {
+        for (auto it = conns.begin(); it != conns.end();) {
+            if ((*it)->done.load()) {
+                if ((*it)->th.joinable())
+                    (*it)->th.join();
+                it = conns.erase(it);
+            } else {
+                ++it;
+            }
+        }
+    };
+
     while (g_running) {
-        struct timeval tv{1, 0};
+        reap_finished();
+
+        struct timeval tv{0, 10000};  // 10 ms — keeps the g_running check cheap and responsive
         fd_set fds;
         FD_ZERO(&fds);
         FD_SET(listen_fd, &fds);
@@ -94,32 +176,37 @@ static void runControlServer(fsw::control::ControllerService* svc, uint16_t port
         if (client < 0)
             continue;
 
-        std::string buf;
-        char c;
-        while (buf.size() < 64 && ::recv(client, &c, 1, 0) == 1) {
-            if (c == '\n')
-                break;
-            buf += c;
+        // Reap again before testing the cap, so a burst of short-lived connections inside one
+        // select() iteration is not counted against the limit after those threads have finished.
+        reap_finished();
+        if (conns.size() >= kMaxControlClients) {
+            // Say why rather than closing cold — a bare close() reaches the client as a TCP
+            // reset, indistinguishable from the service having crashed.
+            static const char kBusy[] = "ERR:too many connections\n";
+            ::send(client, kBusy, sizeof(kBusy) - 1, MSG_NOSIGNAL);
+            std::cerr << "[ControllerService] ⚠️  client limit (" << kMaxControlClients
+                      << ") reached — refusing connection" << std::endl;
+            ::close(client);
+            continue;
         }
 
-        if (buf == "FIRE_START") {
-            svc->setFireActive(true);
-            std::cout << "[ControllerService] 🔥 FIRE_START received — PWM gate open" << std::endl;
-            const char* reply = "OK\n";
-            ::send(client, reply, std::strlen(reply), 0);
-        } else if (buf == "FIRE_STOP") {
-            svc->setFireActive(false);
-            std::cout << "[ControllerService] 🛑 FIRE_STOP received — PWM gate closed" << std::endl;
-            const char* reply = "OK\n";
-            ::send(client, reply, std::strlen(reply), 0);
-        } else {
-            std::cerr << "[ControllerService] ⚠️  Unknown control cmd: \"" << buf << "\""
-                      << std::endl;
-            const char* reply = "ERR\n";
-            ::send(client, reply, std::strlen(reply), 0);
-        }
-        ::close(client);
+        auto conn = std::make_unique<Conn>();
+        conn->fd = client;
+        Conn* raw = conn.get();
+        conn->th = std::thread([raw, svc]() {
+            handleControlClient(raw->fd, svc);
+            raw->done = true;
+        });
+        conns.push_back(std::move(conn));
     }
+
+    // Wake anything parked in recv() so shutdown does not wait out the 5 s timeout, then join.
+    for (const auto& c : conns)
+        ::shutdown(c->fd, SHUT_RDWR);
+    for (const auto& c : conns)
+        if (c->th.joinable())
+            c->th.join();
+
     ::close(listen_fd);
 }
 
@@ -219,65 +306,15 @@ int main(int argc, char* argv[]) {
     // ── Extract settings from config ───────────────────────────────────
     fsw::control::ControllerService::PWMConfig pwm;
 
-    // board_id → IP from [boards.*] (non-empty ip, first wins); last-resort subnet defaults.
-    std::map<int, std::string> board_ip_map;
-    for (const auto& b : cfg.boards)
-        if (!b.ip.empty() && b.board_id > 0 && !board_ip_map.count(b.board_id))
-            board_ip_map[b.board_id] = b.ip;
-    if (board_ip_map.empty()) {
-        board_ip_map[11] = "192.168.2.11";
-        board_ip_map[12] = "192.168.2.12";
-        board_ip_map[13] = "192.168.2.13";
-        board_ip_map[14] = "192.168.2.14";
-    }
-
     pwm.actuator_port = cfg.network.actuator_cmd_port;
 
-    // Parse [actuator_roles] to find Fuel Press and LOX Press channels/boards
-    {
-        int fuel_channel = 3, fuel_board_id = 12;
-        int lox_channel = 8, lox_board_id = 12;
-
-        auto fit = cfg.actuator_roles.find("Fuel Press");
-        auto lit = cfg.actuator_roles.find("LOX Press");
-        const bool found_fuel = fit != cfg.actuator_roles.end() && fit->second.channel >= 1;
-        const bool found_lox = lit != cfg.actuator_roles.end() && lit->second.channel >= 1;
-        if (found_fuel) {
-            fuel_channel = fit->second.channel;
-            fuel_board_id = fit->second.board_id;
-        }
-        if (found_lox) {
-            lox_channel = lit->second.channel;
-            lox_board_id = lit->second.board_id;
-        }
-
-        if (!found_fuel)
-            std::cerr << "⚠️  [controller] 'Fuel Press' not found in [actuator_roles]; "
-                         "using defaults (CH3, board 12)"
-                      << std::endl;
-        if (!found_lox)
-            std::cerr << "⚠️  [controller] 'LOX Press' not found in [actuator_roles]; "
-                         "using defaults (CH8, board 12)"
-                      << std::endl;
-
-        pwm.fuel_channel = static_cast<uint8_t>(fuel_channel);
-        pwm.lox_channel = static_cast<uint8_t>(lox_channel);
-
-        // Resolve board IDs to IPs; warn if they differ (PWMConfig has one IP for now)
-        auto fuel_it = board_ip_map.find(fuel_board_id);
-        auto lox_it = board_ip_map.find(lox_board_id);
-        std::string fuel_ip = (fuel_it != board_ip_map.end())
-                                  ? fuel_it->second
-                                  : "192.168.2." + std::to_string(fuel_board_id);
-        std::string lox_ip = (lox_it != board_ip_map.end())
-                                 ? lox_it->second
-                                 : "192.168.2." + std::to_string(lox_board_id);
-
-        if (fuel_ip != lox_ip)
-            std::cerr << "⚠️  [controller] Fuel Press (" << fuel_ip << ") and LOX Press (" << lox_ip
-                      << ") on different boards — using fuel board IP for both" << std::endl;
-        pwm.actuator_board_ip = fuel_ip;
-    }
+    // Resolve [controller].pwm_*_actuator → [actuator_roles] → [boards.*] IP. See PWMTargets.hpp
+    // for why there is nothing to fall back to here. `unresolved` collects the reasons; the fire
+    // gate is disabled below if it is non-empty.
+    const auto pwm_resolution = fsw::control::resolvePWMTargets(cfg);
+    const std::vector<std::string>& unresolved = pwm_resolution.issues;
+    pwm.fuel = pwm_resolution.fuel;
+    pwm.ox = pwm_resolution.ox;
 
     // Which NIC PWM commands leave from. The controller shares the apps box with the Docker
     // stack and the site LAN, so "the route to the actuator board" is no longer a single answer.
@@ -324,10 +361,17 @@ int main(int argc, char* argv[]) {
     std::cout << "\n═══════════════════════════════════════════════════════════" << std::endl;
     std::cout << "  Robust DDP Controller Service" << std::endl;
     std::cout << "═══════════════════════════════════════════════════════════" << std::endl;
-    std::cout << "  Actuator board: " << pwm.actuator_board_ip << ":" << pwm.actuator_port
-              << std::endl;
-    std::cout << "  Fuel Press:     CH" << (int)pwm.fuel_channel << std::endl;
-    std::cout << "  LOX Press:      CH" << (int)pwm.lox_channel << std::endl;
+    // Name the actuator as well as the wire address, so an operator can tell at a glance which
+    // valve this process believes it is driving.
+    auto describe_target = [](const fsw::control::ControllerService::PWMTarget& t) {
+        if (!t.resolved())
+            return std::string("(unassigned)");
+        return "\"" + t.actuator_name + "\" → " + t.board_ip + " CH" +
+               std::to_string((int)t.channel);
+    };
+    std::cout << "  Actuator port:  " << pwm.actuator_port << std::endl;
+    std::cout << "  PWM fuel:       " << describe_target(pwm.fuel) << std::endl;
+    std::cout << "  PWM ox:         " << describe_target(pwm.ox) << std::endl;
     std::cout << "  PWM frequency:  " << pwm.frequency_hz << " Hz" << std::endl;
     std::cout << "  PWM duration:   " << pwm.duration_ms << " ms" << std::endl;
     std::cout << "  Control loop:   " << loop_hz << " Hz" << std::endl;
@@ -372,6 +416,21 @@ int main(int argc, char* argv[]) {
         }
     }
 
+    // Same posture for the PWM targets: config did not say which hardware to drive, so drive
+    // none. 255 never matches a real sequencer state, so the gate cannot open by either the TCP
+    // command or the Elodin parity path. The process keeps running — telemetry, the Elodin
+    // subscriber and the control loop are all still useful, and an operator needs to see the
+    // reason rather than a service that vanished at boot.
+    if (!unresolved.empty()) {
+        service.setFireStateId(255);
+        for (const auto& why : unresolved)
+            std::cerr << "  ⚠️  [controller] " << why << std::endl;
+        std::cerr << "  ⚠️  [controller] PWM fire gate DISABLED. Assign exactly one "
+                     "[actuator_roles] entry \"pwm_fuel\" and one \"pwm_ox\" via the optional "
+                     "4th element, e.g. \"Fuel Press\" = [\"NC\", 3, 12, \"pwm_fuel\"]."
+                  << std::endl;
+    }
+
     std::string lut_path_raw = !lut_path_cli.empty() ? lut_path_cli : cfg.controller.lut_path;
     std::string thrust_curve_path_raw = cfg.controller.thrust_curve_path;
     std::string lut_path = resolveConfigPath(config_path, lut_path_raw);
diff --git a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
index 15d15ec03..12f794567 100644
--- a/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
+++ b/daq-server/diablo_server/services/sequencer/ActuatorCommander.cpp
@@ -91,7 +91,12 @@ bool ActuatorCommander::load(const std::string& config_content, const std::strin
             continue;
         ActuatorRole role;
         role.is_no = r.is_no;
-        role.is_pwm = (r.kind == "PWM" || r.kind == "pwm");
+        // Assigned to controller_service via the 4th element of the [actuator_roles] entry.
+        // This used to read `kind == "PWM"`, but kind is also where NC/NO polarity lives, so
+        // an actuator could not be both PWM-driven and normally open — and since the shipped
+        // configs needed NC/NO, nothing was ever marked "PWM" and this handoff never engaged
+        // on a real rig. Same field the controller resolves its targets from (PWMTargets.hpp).
+        role.is_pwm = !r.controller_role.empty();
         role.channel = r.channel;
         role.board_id = r.board_id;
         auto it = board_id_to_ip.find(r.board_id);
diff --git a/daq-server/diablo_server/services/sequencer/SequencerService.cpp b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
index a912b113d..950ee64f6 100644
--- a/daq-server/diablo_server/services/sequencer/SequencerService.cpp
+++ b/daq-server/diablo_server/services/sequencer/SequencerService.cpp
@@ -537,10 +537,28 @@ bool SequencerService::doExtendFire() {
  * edge and sent the same messages, so a safety-critical gate had two writers in two processes.
  */
 void SequencerService::notifyControllerFire(bool active) {
+    if (notifyControllerFireOnce(active))
+        return;
+    // One retry, driven by evidence rather than blind repetition: we know the first attempt was
+    // not acted on, because the controller did not answer. Repeating a command that *was* acted
+    // on is harmless here — both commands are idempotent level settings, not edges.
+    std::cerr << "[SequencerService] retrying " << (active ? "FIRE_START" : "FIRE_STOP")
+              << " to controller_service" << std::endl;
+    if (notifyControllerFireOnce(active))
+        return;
+    std::cerr << "[SequencerService] ❌ controller_service did not acknowledge "
+              << (active ? "FIRE_START" : "FIRE_STOP") << " at " << controller_host_ << ":"
+              << controller_port_
+              << " after 2 attempts — the PWM gate is NOT under sequencer control. The controller "
+                 "falls back to the Elodin sequencer-state parity path; verify the burn ended."
+              << std::endl;
+}
+
+bool SequencerService::notifyControllerFireOnce(bool active) {
     const std::string msg = active ? "FIRE_START\n" : "FIRE_STOP\n";
     int sock = socket(AF_INET, SOCK_STREAM, 0);
     if (sock < 0)
-        return;
+        return false;
     struct timeval tv{.tv_sec = 1, .tv_usec = 0};
     setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, &tv, sizeof(tv));
     struct sockaddr_in dest{};
@@ -548,7 +566,7 @@ void SequencerService::notifyControllerFire(bool active) {
     dest.sin_port = htons(controller_port_);
     if (inet_pton(AF_INET, controller_host_.c_str(), &dest.sin_addr) != 1) {
         close(sock);
-        return;
+        return false;
     }
 
     // SO_SNDTIMEO above does NOT bound connection establishment. On a blocking socket, connect()
@@ -560,7 +578,7 @@ void SequencerService::notifyControllerFire(bool active) {
     const int flags = fcntl(sock, F_GETFL, 0);
     if (flags < 0 || fcntl(sock, F_SETFL, flags | O_NONBLOCK) < 0) {
         close(sock);
-        return;
+        return false;
     }
 
     bool connected = false;
@@ -586,17 +604,47 @@ void SequencerService::notifyControllerFire(bool active) {
         }
     }
 
+    bool acked = false;
     if (connected && fcntl(sock, F_SETFL, flags) == 0) {
         ssize_t n = send(sock, msg.c_str(), msg.size(), 0);
-        (void)n;
-        std::cout << "[SequencerService] → controller: " << (active ? "FIRE_START" : "FIRE_STOP")
-                  << std::endl;
+        if (n != static_cast<ssize_t>(msg.size())) {
+            std::cerr << "[SequencerService] short send to controller_service (" << n << "/"
+                      << msg.size() << "): " << strerror(errno) << std::endl;
+        } else {
+            // Read the ACK. A successful send() proves nothing: the kernel completes the
+            // handshake and buffers the bytes whether or not the controller's accept loop is
+            // alive to read them, so a wedged controller used to look identical to a healthy one
+            // from here — this function logged the command as delivered either way. The
+            // controller answers "OK\n" (controller_main.cpp), and that reply is the only
+            // evidence the command actually reached the application.
+            struct timeval rtv{.tv_sec = 0, .tv_usec = kControllerConnectTimeoutMs * 1000};
+            setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, &rtv, sizeof(rtv));
+            char reply[16] = {0};
+            ssize_t r = recv(sock, reply, sizeof(reply) - 1, 0);
+            if (r > 0 && std::string(reply, static_cast<size_t>(r)).rfind("OK", 0) == 0) {
+                acked = true;
+            } else if (r > 0) {
+                std::cerr << "[SequencerService] controller_service refused "
+                          << (active ? "FIRE_START" : "FIRE_STOP") << ": "
+                          << std::string(reply, static_cast<size_t>(r)) << std::endl;
+            } else {
+                std::cerr << "[SequencerService] no ACK from controller_service for "
+                          << (active ? "FIRE_START" : "FIRE_STOP") << " ("
+                          << (r == 0 ? "connection closed" : strerror(errno))
+                          << ") — the command may not have been acted on" << std::endl;
+            }
+        }
     } else {
         std::cerr << "[SequencerService] could not reach controller_service at " << controller_host_
                   << ":" << controller_port_ << " for " << (active ? "FIRE_START" : "FIRE_STOP")
                   << " (" << strerror(errno) << ")" << std::endl;
     }
     close(sock);
+
+    if (acked)
+        std::cout << "[SequencerService] → controller: " << (active ? "FIRE_START" : "FIRE_STOP")
+                  << " (acked)" << std::endl;
+    return acked;
 }
 
 void SequencerService::publishState() {
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index 5690ad657..b183ad5ef 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -329,4 +329,25 @@ export declare function isNotificationOngoing(p: NotificationPayload): p is Noti
  * label. Falls back to 'UNKNOWN' if the code is not recognized.
  */
 export declare function engineStateCodeToLabel(code: number | null | undefined): string;
+/** The two controller_service PWM outputs, as they appear in the 4th element of an
+ *  [actuator_roles] entry. Absent from an entry means the sequencer owns that actuator. */
+export declare const PWM_ASSIGNMENTS: readonly ["pwm_fuel", "pwm_ox"];
+export type PwmAssignment = typeof PWM_ASSIGNMENTS[number];
+/** Which actuator serves each PWM output, from `[actuator_roles]`. */
+export declare function pwmAssignmentMap(config: any): Record<string, string[]>;
+/**
+ * Whether the controller's PWM outputs are assigned exactly once each.
+ *
+ * An [actuator_roles] entry's optional 4th element ("pwm_fuel" / "pwm_ox") is the single statement
+ * of which hardware controller_service drives. The same fact makes the sequencer stop commanding
+ * that actuator during a burn, so exactly one writer drives it — which is why a duplicate or a
+ * missing assignment is worth blocking rather than warning about. The C++ side enforces the same
+ * rule in PWMTargets.hpp and refuses to open the PWM fire gate without it.
+ *
+ * Both outputs unassigned is allowed and means "this rig does not use the PWM controller" — the
+ * digital-twin profile is exactly that. Assigning one but not the other is not.
+ *
+ * Returns one human-readable problem per bad output; empty means valid.
+ */
+export declare function validateControllerPwmActuators(config: any): string[];
 //# sourceMappingURL=types.d.ts.map
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index 991db2495..08e9c6fc2 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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\ No newline at end of file
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diff --git a/daq-server/diablo_server/shared/types.js b/daq-server/diablo_server/shared/types.js
index d2a8eb477..4cc05d429 100644
--- a/daq-server/diablo_server/shared/types.js
+++ b/daq-server/diablo_server/shared/types.js
@@ -98,4 +98,55 @@ export function engineStateCodeToLabel(code) {
     }
     return 'UNKNOWN';
 }
+// ── Controller PWM actuator assignment ───────────────────────────────────────
+/** The two controller_service PWM outputs, as they appear in the 4th element of an
+ *  [actuator_roles] entry. Absent from an entry means the sequencer owns that actuator. */
+export const PWM_ASSIGNMENTS = ['pwm_fuel', 'pwm_ox'];
+/** Which actuator serves each PWM output, from `[actuator_roles]`. */
+export function pwmAssignmentMap(config) {
+    const out = { pwm_fuel: [], pwm_ox: [] };
+    const roles = config?.actuator_roles;
+    if (!roles || typeof roles !== 'object')
+        return out;
+    for (const [name, value] of Object.entries(roles)) {
+        const assignment = Array.isArray(value) && typeof value[3] === 'string' ? value[3].trim() : '';
+        if (assignment && out[assignment])
+            out[assignment].push(name);
+    }
+    return out;
+}
+/**
+ * Whether the controller's PWM outputs are assigned exactly once each.
+ *
+ * An [actuator_roles] entry's optional 4th element ("pwm_fuel" / "pwm_ox") is the single statement
+ * of which hardware controller_service drives. The same fact makes the sequencer stop commanding
+ * that actuator during a burn, so exactly one writer drives it — which is why a duplicate or a
+ * missing assignment is worth blocking rather than warning about. The C++ side enforces the same
+ * rule in PWMTargets.hpp and refuses to open the PWM fire gate without it.
+ *
+ * Both outputs unassigned is allowed and means "this rig does not use the PWM controller" — the
+ * digital-twin profile is exactly that. Assigning one but not the other is not.
+ *
+ * Returns one human-readable problem per bad output; empty means valid.
+ */
+export function validateControllerPwmActuators(config) {
+    const roles = config?.actuator_roles;
+    // No [actuator_roles] at all is a different (and much louder) misconfiguration; don't pile on.
+    if (!roles || typeof roles !== 'object')
+        return [];
+    const assigned = pwmAssignmentMap(config);
+    if (assigned.pwm_fuel.length === 0 && assigned.pwm_ox.length === 0)
+        return [];
+    const issues = [];
+    for (const [key, label] of [['pwm_fuel', 'fuel'], ['pwm_ox', 'ox']]) {
+        const names = assigned[key];
+        if (names.length === 0) {
+            issues.push(`No actuator is assigned "${key}" — the controller has no ${label} PWM output. Assign one, or clear the other assignment if this rig does not use the PWM controller.`);
+        }
+        else if (names.length > 1) {
+            issues.push(`${names.length} actuators are assigned "${key}" (${names.join(', ')}) — exactly one must be.`);
+        }
+    }
+    return issues;
+}
 //# sourceMappingURL=types.js.map
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index faa7cb2a5..cb4b208f1 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
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\ No newline at end of file
+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WA+BX;AA/BD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EA/BW,WAAW,KAAX,WAAW,QA+BtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AAgUD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC;AAED,gFAAgF;AAChF;2FAC2F;AAC3F,MAAM,CAAC,MAAM,eAAe,GAAG,CAAC,UAAU,EAAE,QAAQ,CAAU,CAAC;AAG/D,sEAAsE;AACtE,MAAM,UAAU,gBAAgB,CAAC,MAAW;IAC1C,MAAM,GAAG,GAA6B,EAAE,QAAQ,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,CAAC;IACnE,MAAM,KAAK,GAAG,MAAM,EAAE,cAAc,CAAC;IACrC,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,GAAG,CAAC;IACpD,KAAK,MAAM,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,MAAM,CAAC,OAAO,CAAM,KAAK,CAAC,EAAE,CAAC;QACvD,MAAM,UAAU,GAAG,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,OAAO,KAAK,CAAC,CAAC,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QAC/F,IAAI,UAAU,IAAI,GAAG,CAAC,UAAU,CAAC;YAAE,GAAG,CAAC,UAAU,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChE,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED;;;;;;;;;;;;;GAaG;AACH,MAAM,UAAU,8BAA8B,CAAC,MAAW;IACxD,MAAM,KAAK,GAAG,MAAM,EAAE,cAAc,CAAC;IACrC,+FAA+F;IAC/F,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,EAAE,CAAC;IACnD,MAAM,QAAQ,GAAG,gBAAgB,CAAC,MAAM,CAAC,CAAC;IAC1C,IAAI,QAAQ,CAAC,QAAQ,CAAC,MAAM,KAAK,CAAC,IAAI,QAAQ,CAAC,MAAM,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC;IAE9E,MAAM,MAAM,GAAa,EAAE,CAAC;IAC5B,KAAK,MAAM,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,MAAM,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAU,EAAE,CAAC;QAC7E,MAAM,KAAK,GAAG,QAAQ,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACvB,MAAM,CAAC,IAAI,CAAC,4BAA4B,GAAG,6BAA6B,KAAK,qGAAqG,CAAC,CAAC;QACtL,CAAC;aAAM,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAC5B,MAAM,CAAC,IAAI,CAAC,GAAG,KAAK,CAAC,MAAM,4BAA4B,GAAG,MAAM,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,0BAA0B,CAAC,CAAC;QAC9G,CAAC;IACH,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC"}
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index 371a5d38c..08703bbad 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -421,3 +421,54 @@ export function engineStateCodeToLabel(code: number | null | undefined): string
   }
   return 'UNKNOWN';
 }
+
+// ── Controller PWM actuator assignment ───────────────────────────────────────
+/** The two controller_service PWM outputs, as they appear in the 4th element of an
+ *  [actuator_roles] entry. Absent from an entry means the sequencer owns that actuator. */
+export const PWM_ASSIGNMENTS = ['pwm_fuel', 'pwm_ox'] as const;
+export type PwmAssignment = typeof PWM_ASSIGNMENTS[number];
+
+/** Which actuator serves each PWM output, from `[actuator_roles]`. */
+export function pwmAssignmentMap(config: any): Record<string, string[]> {
+  const out: Record<string, string[]> = { pwm_fuel: [], pwm_ox: [] };
+  const roles = config?.actuator_roles;
+  if (!roles || typeof roles !== 'object') return out;
+  for (const [name, value] of Object.entries<any>(roles)) {
+    const assignment = Array.isArray(value) && typeof value[3] === 'string' ? value[3].trim() : '';
+    if (assignment && out[assignment]) out[assignment].push(name);
+  }
+  return out;
+}
+
+/**
+ * Whether the controller's PWM outputs are assigned exactly once each.
+ *
+ * An [actuator_roles] entry's optional 4th element ("pwm_fuel" / "pwm_ox") is the single statement
+ * of which hardware controller_service drives. The same fact makes the sequencer stop commanding
+ * that actuator during a burn, so exactly one writer drives it — which is why a duplicate or a
+ * missing assignment is worth blocking rather than warning about. The C++ side enforces the same
+ * rule in PWMTargets.hpp and refuses to open the PWM fire gate without it.
+ *
+ * Both outputs unassigned is allowed and means "this rig does not use the PWM controller" — the
+ * digital-twin profile is exactly that. Assigning one but not the other is not.
+ *
+ * Returns one human-readable problem per bad output; empty means valid.
+ */
+export function validateControllerPwmActuators(config: any): string[] {
+  const roles = config?.actuator_roles;
+  // No [actuator_roles] at all is a different (and much louder) misconfiguration; don't pile on.
+  if (!roles || typeof roles !== 'object') return [];
+  const assigned = pwmAssignmentMap(config);
+  if (assigned.pwm_fuel.length === 0 && assigned.pwm_ox.length === 0) return [];
+
+  const issues: string[] = [];
+  for (const [key, label] of [['pwm_fuel', 'fuel'], ['pwm_ox', 'ox']] as const) {
+    const names = assigned[key];
+    if (names.length === 0) {
+      issues.push(`No actuator is assigned "${key}" — the controller has no ${label} PWM output. Assign one, or clear the other assignment if this rig does not use the PWM controller.`);
+    } else if (names.length > 1) {
+      issues.push(`${names.length} actuators are assigned "${key}" (${names.join(', ')}) — exactly one must be.`);
+    }
+  }
+  return issues;
+}
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index 0b907d72f..c096e9809 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -4,8 +4,10 @@ Known defects and improvement work across the C++ services, the TypeScript backe
 frontend, and CI. Each item names the affected file(s), what actually goes wrong, and the
 shape of the fix.
 
-**Last audited:** 2026-09-07 against `ab3ce2d2`.
-**Last updated:** 2026-09-07 — the Elodin subscription work landed (and withdrew this file's
+**Last audited:** 2026-09-08 against `1aeb97bc`.
+**Last updated:** 2026-09-08 — the controller PWM-mapping and FIRE-gate work landed, which
+resolved both controller entries under High (correcting one's scope and the other's severity) and
+turned up the two-writers finding now filed there. Before that, the Elodin subscription work landed (and withdrew this file's
 claim that the heartbeat's 256-byte buffer was the problem); the DAQ-NIC pinning work landed, which merged and resolved the two
 abort-broadcast entries and turned up the firmware finding now filed under Critical. The sequencer
 concurrency and config draft-only work landed earlier the same day.
@@ -84,53 +86,6 @@ states it maps.
 
 ## High
 
-### C++ — The controller's FIRE gate is a single-threaded accept loop with no receive timeout
-
-**File:** `diablo_server/services/controller/controller_main.cpp:60-123`
-
-`runControlServer` accepts a connection and then reads it **inline**, byte by byte, with a
-blocking `recv` and no `SO_RCVTIMEO`. There is no per-client thread. A client that connects
-and sends no newline blocks the accept loop indefinitely — and this loop is the only path
-that opens and closes the PWM gate.
-
-`sequencer_main.cpp:154` sets a 5 s `SO_RCVTIMEO` and gives each client its own thread; the controller,
-which gates ignition, does neither.
-
-**Failure scenario:** the backend host is killed or drops off the network mid-connection.
-The controller sits in `recv`. The next FIRE_STOP is never accepted, and the PWM gate stays
-open until the process is killed.
-
-**Fix:** set `SO_RCVTIMEO` on the accepted socket and handle the client on a short-lived
-thread, mirroring `sequencer_main`. A cap on concurrent clients is worth having too.
-
----
-
-### C++ — The controller falls back to hardcoded actuator channels when role names don't match
-
-**File:** `diablo_server/services/controller/controller_main.cpp:236-279`
-
-The controller looks up the literal role names `"Fuel Press"` and `"LOX Press"` in
-`[actuator_roles]`. If either is missing it prints a warning and **proceeds** with
-`CH3/board 12` and `CH8/board 12`.
-
-The config editor lets roles be renamed. A rename means the controller drives PWM on
-whatever hardware happens to sit on those channels of board 12.
-
-This is the same hazard as the state-id bugs, and the fix pattern is already in this very
-file: the fire-state gate a few lines down (`controller_main.cpp:341-363`) deliberately
-*disables itself* rather than fall back to a compiled id, with the comment "fail safe and
-loud, not silent-wrong". The actuator lookup should follow the same rule.
-
-Related, same block: `pwm.actuator_board_ip` holds **one** IP. If Fuel Press and LOX Press
-resolve to different boards, the code warns and uses the fuel board's IP for both — so LOX
-PWM commands are addressed to the wrong board. `PWMConfig` needs a per-channel IP.
-
-**Fix:** if either role is absent, refuse to open the PWM gate (the `setFireStateId(255)`
-pattern) instead of substituting defaults. Make the role names config keys rather than
-literals.
-
----
-
 ### Backend — WebSocket broadcast has no backpressure and no keepalive
 
 **File:** `diablo_server/backend/src/server.ts:676-690`
@@ -367,6 +322,33 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the controller PWM-mapping and FIRE-gate work (2026-09-08)
+
+Filed as two entries — *"the controller falls back to hardcoded actuator channels when role names
+don't match"* and *"the FIRE gate is a single-threaded accept loop with no receive timeout"*. The
+first understated the scope; the second overstated the severity. Both are recorded here as found,
+not as filed.
+
+| Item | Resolution |
+|---|---|
+| Controller substituted `CH3`/`CH8` on board 12 for a missing role | **Fixed, and there were five fallbacks, not one.** Also removed: `PWMConfig`'s own member defaults (`192.168.2.201`, CH3, CH8) which gave the others something to land on; a synthesized boards 11-14 table when config declared none; `"192.168.2." + board_id` for a board with no declared IP; and two roles on two boards silently sharing the first one's IP. Every one was this process asserting a rig layout only config knows. |
+| The role names were C++ string literals while the editor can rename roles | **Fixed.** The assignment lives on the `[actuator_roles]` entry, so a rename carries it along and cannot orphan it. Resolution moved to `lib/include/control/PWMTargets.hpp` so it is testable without a service; the controller refuses via the `setFireStateId(255)` pattern already in that file, naming which output has no actuator and why. In the editor the assignment is a per-actuator dropdown on the Actuators tab — you assign it where you define the actuator — and the Controller tab shows the resulting mapping. |
+| Two roles on two boards was a warning and a wrong destination | **Supported, not refused.** `PWMConfig` carries an IP + channel per target; `sendActuationPWM` keeps the single batched datagram when both share a board and splits into two when they do not. That was never a policy question — the struct simply could not represent what config said. |
+| Nothing tested the mapping | **Fixed.** `test_controller_pwm_roles` (ctest) covers 9 cases / 26 assertions, all pure resolution, including that polarity and assignment stay independent. `validateControllerPwmActuators` in `shared/types.ts` gives the config editor and the API one rule (11 vitest cases), and the editor blocks the save on it — the same posture as the existing duplicate-role and state-machine guards. `test_fire_lifecycle` section 6 now uses a normally-open assigned actuator, so it would catch a regression that re-merged polarity and assignment. |
+| The accept loop wedged on a peer that sent no newline | **Fixed.** `SO_RCVTIMEO` on the accepted socket plus a thread per client, mirroring `sequencer_main.cpp` (64-client cap, `ERR:too many connections`, threads joined). `g_running` is now checked inside the read, so SIGTERM stops the process instead of needing SIGKILL. |
+| "The PWM gate stays open until the process is killed" | **Withdrawn.** The controller's Elodin parity path (`ControllerService.cpp:782`) drives the same gate from the sequencer's published state, on its own thread, and closes it at burn end — as does the sequencer's own 1 Hz actuator republish. A wedge degrades the primary path; it does not strand the gate. |
+| The real defect: the wedge was silent at both ends | **Fixed.** `notifyControllerFire` discarded the send result (`(void)n`) and logged `→ controller: FIRE_STOP` unconditionally — but a successful `send()` proves nothing, because the kernel completes the handshake and buffers for an application that may never read. It now reads the `OK\n` the controller already sends, retries once on failure, and logs an operator-facing error naming the endpoint. |
+| The parity fallback never reconnected | **Fixed.** `elodinSubscriberLoop()` exited the moment `is_connected()` went false and was never restarted, so one db blip left the controller deaf to sequencer state for the life of the process. It now reconnects and *re-subscribes* (the VTables live in the db process), matching `heartbeat_service_main.cpp:103-120`, and the thread starts whenever a db is configured rather than only when the first connect happened to succeed. |
+| Nothing tested any of it end to end | **Fixed, and it has teeth.** `ws_data_flow_test.ts` now holds a silent connection open on the controller's command port across the whole burn and asserts both commands still land *and* that the sequencer got an ACK for each; `test_integration.sh` starts a controller with a dangling actuator and asserts it refuses **and emits zero PWM datagrams** — "it logged a warning" being a much weaker claim than "it sent nothing". Verified against the pre-fix binary: 5 assertions fail and the run exits 1. |
+| Dropped from the plan | A 1 Hz republish of sequencer state and a packet-rate watchdog on `fire_active_`: a clumsy instrument on a 6 s burn, and redundant once the ACK detects failure. Repeating FIRE_STOP was considered and rejected — the ACK tells you whether it landed instead of assuming volume fixes it. |
+
+| The fire-state PWM handoff never engaged on a real rig | **Fixed, and it was the actual defect here.** `ActuatorCommander` skips controller-owned actuators during a burn so there is one writer — the mechanism was wired and `test_fire_lifecycle` section 6 tested it, but it keyed on `kind == "PWM"`, and `kind` is also where NC/NO polarity lives. No shipped config could mark anything `"PWM"` without losing its polarity, so nothing ever was, and the skip never fired. Found by the user; first filed by this work as "two writers on one channel", which named the symptom and the wrong cause. |
+| Two independent declarations of which actuators the controller owns | **Collapsed into one.** This change first added `[controller].pwm_fuel_actuator` / `pwm_ox_actuator` beside the existing `kind = "PWM"` — the same duplication it set out to remove. Both are gone. An `[actuator_roles]` entry's optional 4th element (`"pwm_fuel"` / `"pwm_ox"`) is now the single statement: the controller resolves its targets from it and the sequencer's handoff reads the same field, so they cannot disagree. `kind` means polarity and nothing else, so `"LOX Press" = ["NO", 8, 12, "pwm_ox"]` is expressible — it was not before. |
+| Duplicate assignment was not expressible, let alone caught | **Now an error.** Two actuators claiming one output is reported by name rather than silently resolved to the first; `validateControllerPwmActuators` blocks the save and the controller refuses the gate. Both outputs unassigned stays valid — that is a rig which does not use the PWM controller (digital-twin), and the editor must not make it unsaveable. |
+
+**Corrected in passing:** `SequencerService.cpp:321` claimed the controller endpoint
+"defaults to 127.0.0.1:8000"; it is `9999`.
+
 ### By the Elodin subscription work (2026-09-07)
 
 Filed as *"`read_packet` desynchronizes the Elodin stream on an oversized packet, and the heartbeat
diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 60ee2d00b..16b9ff354 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -623,6 +623,72 @@ else
   echo "  ⚠️  calibration_service not found — calibrated data tests will show 0 entities"
 fi
 
+# ── Controller refuses a dangling PWM actuator, and drives nothing ───────────
+# [controller].pwm_fuel_actuator / pwm_ox_actuator name [actuator_roles] entries. The controller
+# has no independent notion of which valve is "the fuel press" and used to fall back to CH3/CH8 on
+# board 12 when the name was missing — driving PWM at whatever hardware sat on those channels.
+#
+# The resolution rules themselves are covered exhaustively and cheaply by test_controller_pwm_roles
+# (ctest). What only the real binary can show is the consequence: that a controller which cannot
+# resolve its actuators emits no PWM at all. "It logged a warning" is a much weaker claim than
+# "it sent nothing", and it is the second one that keeps a mis-typed role off the hardware.
+if [ -n "$CONTROLLER_SVC" ]; then
+  echo "🚫 Checking controller refuses an unassigned PWM output..."
+  BAD_CFG="$REPO_ROOT/.tmp/integration_badpwm_$$.toml"
+  BAD_LOG="$REPO_ROOT/.tmp/integration_badpwm_$$.log"
+  BAD_UDP="$REPO_ROOT/.tmp/integration_badpwm_udp_$$.txt"
+  # Strip the "pwm_fuel" assignment, leaving that output with no actuator.
+  sed 's/^\("Fuel Press" = \[[^]]*\), *"pwm_fuel"\]/\1]/' "$TEST_CONFIG" > "$BAD_CFG"
+  if command grep -aq '"pwm_fuel"' "$BAD_CFG"; then
+    echo "  ❌ test setup: could not remove the pwm_fuel assignment from $TEST_CONFIG"
+    UDP_CHECK_FAILED=1
+  fi
+  # Listen where PWM would land, so "nothing was sent" is observed rather than assumed.
+  timeout 8 python3 -c "
+import socket, sys
+s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+s.bind(('127.0.0.1', $TEST_ACTUATOR_UDP_PORT))
+s.settimeout(6)
+n = 0
+try:
+    while True:
+        s.recvfrom(2048); n += 1
+except Exception:
+    pass
+open('$BAD_UDP','w').write(str(n))
+" &
+  BAD_LISTENER=$!
+  sleep 0.5
+  "$CONTROLLER_SVC" --config "$BAD_CFG" \
+    --elodin-host 127.0.0.1 --elodin-port "$TEST_ELODIN_PORT" \
+    --control-port "$((TEST_CONTROLLER_PORT + 20))" \
+    > "$BAD_LOG" 2>&1 &
+  BAD_PID=$!
+  sleep 2
+  # Ask it to fire. A controller that resolved its actuators would start PWM here.
+  printf 'FIRE_START\n' | timeout 2 nc 127.0.0.1 "$((TEST_CONTROLLER_PORT + 20))" >/dev/null 2>&1 || true
+  sleep 2
+  kill "$BAD_PID" 2>/dev/null || true
+  wait "$BAD_LISTENER" 2>/dev/null || true
+  BAD_PWM_COUNT="$(cat "$BAD_UDP" 2>/dev/null || echo 0)"
+  if command grep -aq 'no \[actuator_roles\] entry is assigned "pwm_fuel"' "$BAD_LOG" &&
+     command grep -aq "PWM fire gate DISABLED" "$BAD_LOG"; then
+    echo "  ✅ unassigned PWM output refused with a reason"
+  else
+    echo "  ❌ controller did not refuse an unassigned PWM output. Log:"
+    tail -20 "$BAD_LOG"
+    UDP_CHECK_FAILED=1
+  fi
+  if [ "$BAD_PWM_COUNT" = "0" ]; then
+    echo "  ✅ no PWM emitted while unresolved"
+  else
+    echo "  ❌ controller emitted $BAD_PWM_COUNT PWM packet(s) despite an unassigned output"
+    UDP_CHECK_FAILED=1
+  fi
+  rm -f "$BAD_CFG" "$BAD_UDP"
+fi
+
 # ── Start Controller Service ─────────────────────────────────────────────────
 if [ -n "$CONTROLLER_SVC" ]; then
   echo "🎛️  Starting controller_service..."
@@ -740,6 +806,7 @@ export INTEGRATION_SKIP_STARTUP_E2E
   --seq-log "$REPO_ROOT/.tmp/integration_sequencer_$$.log" \
   --backend-log "$REPO_ROOT/.tmp/integration_backend_$$.log" \
   --controller-log "$REPO_ROOT/.tmp/integration_controller_$$.log" \
+  --controller-port "$TEST_CONTROLLER_PORT" \
   --backend="$BACKEND" $SEQ_FLAG $CTRL_FLAG $VERBOSE_FLAG $ONLY_FLAG)
 WS_TEST_EXIT=$?
 
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index d56cd497e..3875dd6e7 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -31,6 +31,7 @@ import WebSocket from 'ws';
 import * as fs from 'fs';
 import * as http from 'http';
 import { spawnSync } from 'child_process';
+import * as net from 'net';
 
 const WS_PORT = parseInt(process.argv[2] || '8081', 10);
 const API_PORT = parseInt(process.argv[3] || '8082', 10);
@@ -39,6 +40,8 @@ const VERBOSE = process.argv.includes('--verbose');
 const BACKEND = process.argv.find(a => a.startsWith('--backend='))?.split('=')[1] ?? 'legacy';
 const HAS_SEQUENCER = process.argv.includes('--has-sequencer');
 const HAS_CONTROLLER = process.argv.includes('--has-controller');
+const ctrlPortIdx = process.argv.indexOf('--controller-port');
+const CONTROLLER_PORT = ctrlPortIdx >= 0 ? Number(process.argv[ctrlPortIdx + 1]) : 0;
 const IS_THIN = BACKEND === 'thin';
 
 // --received-stats <path>: write received update counts per entity to this file
@@ -106,6 +109,25 @@ function parseOnlyTests(): Set<string> | null {
 
 const ONLY_TESTS = parseOnlyTests();
 
+/**
+ * Read a log file until it contains every needle, or the timeout expires; returns whatever it
+ * last read either way, so the caller's assertions report the real content on failure.
+ *
+ * Log assertions across processes are inherently racy — the writer is a separate process and the
+ * event the test synchronised on (a WS state update, another service's log line) can arrive
+ * before the line it wants is flushed. Polling turns "usually passes" into "passes".
+ */
+async function waitForLogLines(file: string, needles: string[], timeoutMs: number): Promise<string> {
+  const deadline = Date.now() + timeoutMs;
+  let content = '';
+  for (;;) {
+    content = fs.readFileSync(file, 'utf-8');
+    if (needles.every((n) => content.includes(n))) return content;
+    if (Date.now() >= deadline) return content;
+    await new Promise((r) => setTimeout(r, 100));
+  }
+}
+
 function runTest(id: string): boolean {
   return ONLY_TESTS === null || ONLY_TESTS.has(id);
 }
@@ -1375,6 +1397,27 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
       const { durationMs, expiryState, fireState } = fireCfg;
       console.log(`  [Fire] configured: ${durationMs} ms → ${SystemState[expiryState] ?? expiryState}`);
 
+      // A client that connects to the controller's command port and never sends a newline, held
+      // open across the whole burn. This used to park controller_service permanently: it read the
+      // command inline with a blocking recv() and no timeout, so it never returned to accept()
+      // and every later FIRE_START/FIRE_STOP went unread — silently, because the kernel still
+      // completes the handshake and buffers, so the sequencer's send() succeeded either way.
+      //
+      // Only two real processes can show this. From the sequencer alone the send looks identical;
+      // from the controller alone there is no one to be starved. So the assertions below (the
+      // controller still logs both commands, and the sequencer still gets its ACK) are the
+      // regression test for the recv timeout, the per-client thread, and the ACK check together.
+      let wedge: net.Socket | null = null;
+      if (HAS_CONTROLLER && CONTROLLER_PORT > 0) {
+        wedge = net.connect({ host: '127.0.0.1', port: CONTROLLER_PORT });
+        wedge.on('error', () => { /* the point is that this connection is useless, not healthy */ });
+        await new Promise<void>((resolve) => {
+          wedge!.once('connect', () => resolve());
+          setTimeout(resolve, 1000);
+        });
+        console.log('  [Fire] holding a silent connection open on the controller command port');
+      }
+
       const enteredFire = waitForMessage(ws, MessageType.STATE_UPDATE, COMMAND_TIMEOUT_MS,
         (payload) => payload.currentState === fireState);
       const firedAt = Date.now();
@@ -1439,15 +1482,52 @@ async function testStateTransitionDebugMode(ws: WebSocket): Promise<void> {
         if (CONTROLLER_LOG_FILE) {
           try {
             const ctrlLog = fs.readFileSync(CONTROLLER_LOG_FILE, 'utf-8');
+            // Both of these were delivered while the silent connection opened above was held
+            // open, which is the whole point — say so in the label rather than in a separate
+            // assert(true), which would print green even in the run where they failed.
+            const withWedge = wedge ? ' with a wedging client on the port' : '';
             assert(ctrlLog.includes('FIRE_START received'),
-              '[Fire] controller_service received FIRE_START (PWM gate opened)');
+              `[Fire] controller_service received FIRE_START${withWedge}`);
             assert(ctrlLog.includes('FIRE_STOP received'),
-              '[Fire] controller_service received FIRE_STOP (PWM gate closed)');
+              `[Fire] controller_service received FIRE_STOP${withWedge}`);
+            // The controller must have resolved real hardware for both PWM outputs. A config
+            // whose [controller].pwm_*_actuator names an undeclared role disables the gate, and
+            // the burn would then "work" here purely by the sequencer's own actuator table.
+            assert(!ctrlLog.includes('PWM fire gate DISABLED'),
+              '[Fire] controller resolved both PWM actuators (fire gate not disabled)');
           } catch (err: any) {
             assert(false, `[Fire] could not read controller log: ${err.message}`);
           }
         }
 
+        // The sequencer must have *evidence* the commands landed, not just a successful send().
+        // Before the ACK check it logged "→ controller: FIRE_STOP" unconditionally, which is what
+        // made a wedged controller invisible from this side.
+        if (SEQ_LOG_FILE) {
+          try {
+            // Wait for the line rather than reading once. The sequencer writes its ACK *after*
+            // the controller has logged the command and replied, so the controller-log check
+            // above can win the race by a few ms — a plain read made this assertion flaky, which
+            // is worse than not having it.
+            const seqLog = await waitForLogLines(SEQ_LOG_FILE, [
+              '→ controller: FIRE_START (acked)',
+              '→ controller: FIRE_STOP (acked)',
+            ], 5000);
+            assert(seqLog.includes('→ controller: FIRE_START (acked)'),
+              '[Fire] sequencer got an ACK for FIRE_START');
+            assert(seqLog.includes('→ controller: FIRE_STOP (acked)'),
+              '[Fire] sequencer got an ACK for FIRE_STOP');
+            assert(!seqLog.includes('did not acknowledge'),
+              '[Fire] no unacknowledged fire commands');
+          } catch (err: any) {
+            assert(false, `[Fire] could not read sequencer log: ${err.message}`);
+          }
+        }
+        if (wedge) {
+          wedge.destroy();
+          wedge = null;
+        }
+
         // The PWM handoff (sequencer stops commanding PWM roles during a burn so
         // controller_service is the only writer) is NOT assertable here. Actuator commands go to
         // each board's own address, which in this harness is the simulator — so a 0.0.0.0 UDP

From aa0e2337689c821f4064156f5d138a376b2b456a Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 8 Sep 2026 12:20:10 -0700
Subject: [PATCH 194/205] =?UTF-8?q?config=20editor=20validation=20was=20vi?=
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 =?UTF-8?q?=20what=20trains=20an=20operator=20to=20ignore=20the=20gate)=20?=
 =?UTF-8?q?and=206=20hermetic=20backend=20cases=20on=20the=20gate=20itself?=
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---
 .../src/__tests__/session-config-gate.test.ts | 167 +++++++++++
 .../diablo_server/backend/src/api-server.ts   |   7 +
 .../backend/src/config-validation.ts          |  77 +++++
 .../diablo_server/backend/src/server.ts       |  25 +-
 .../backend/src/session-manager.ts            |  34 ++-
 .../__tests__/config-validation.test.ts       | 228 +++++++++++++++
 .../frontend/app/config/page.tsx              | 122 ++------
 .../frontend/app/session/page.tsx             | 118 +++++++-
 .../frontend/lib/config-validation.ts         |   3 +
 .../shared/config-validation.d.ts             |  91 ++++++
 .../shared/config-validation.d.ts.map         |   1 +
 .../diablo_server/shared/config-validation.js | 216 ++++++++++++++
 .../shared/config-validation.js.map           |   1 +
 .../diablo_server/shared/config-validation.ts | 267 ++++++++++++++++++
 daq-server/diablo_server/shared/package.json  |   2 +-
 daq-server/diablo_server/shared/tsconfig.json |   2 +-
 daq-server/diablo_server/shared/types.d.ts    |  25 ++
 .../diablo_server/shared/types.d.ts.map       |   2 +-
 daq-server/diablo_server/shared/types.js      |   1 +
 daq-server/diablo_server/shared/types.js.map  |   2 +-
 daq-server/diablo_server/shared/types.ts      |  22 ++
 daq-server/docs/IMPROVEMENTS.md               |  35 ++-
 daq-server/test/ws_data_flow_test.ts          |  52 +++-
 23 files changed, 1389 insertions(+), 111 deletions(-)
 create mode 100644 daq-server/diablo_server/backend/src/__tests__/session-config-gate.test.ts
 create mode 100644 daq-server/diablo_server/backend/src/config-validation.ts
 create mode 100644 daq-server/diablo_server/frontend/__tests__/config-validation.test.ts
 create mode 100644 daq-server/diablo_server/frontend/lib/config-validation.ts
 create mode 100644 daq-server/diablo_server/shared/config-validation.d.ts
 create mode 100644 daq-server/diablo_server/shared/config-validation.d.ts.map
 create mode 100644 daq-server/diablo_server/shared/config-validation.js
 create mode 100644 daq-server/diablo_server/shared/config-validation.js.map
 create mode 100644 daq-server/diablo_server/shared/config-validation.ts

diff --git a/daq-server/diablo_server/backend/src/__tests__/session-config-gate.test.ts b/daq-server/diablo_server/backend/src/__tests__/session-config-gate.test.ts
new file mode 100644
index 000000000..891961177
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/__tests__/session-config-gate.test.ts
@@ -0,0 +1,167 @@
+/**
+ * The config gate on session start.
+ *
+ * Config problems used to be advisory: the editor drew them in red, and an operator could start a
+ * run on exactly that config anyway. The gate is what changed that, and this is the test that says
+ * so — in particular that a refused start leaves NOTHING behind. Session start is where the active
+ * profile is copied into config/config.toml and the C++ services read it, so a gate that refuses
+ * but still deploys, or still marks the session active, would be worse than no gate at all.
+ *
+ * Hermetic: CONFIG_PATH points at a temp directory, which is what every config-profiles path
+ * resolves from (getConfigDir → dirname(getConfigPath)), so nothing here touches the real config.
+ * SESSION_SERVICE_MODE=mock makes ServiceController a no-op, so start() runs its whole real path —
+ * gate, deploy, persist — without systemd.
+ */
+import { describe, it, expect, beforeEach, afterAll, vi } from 'vitest';
+import { mkdtempSync, mkdirSync, writeFileSync, readFileSync, existsSync, rmSync } from 'fs';
+import { tmpdir } from 'os';
+import { join } from 'path';
+
+// The pipeline launcher is stubbed out entirely. Even in 'mock' mode the real one spawns a python3
+// board simulator and regenerates config/sim_config.toml under the REAL project root — side
+// effects outside this test's temp dir, for a class that is not what is under test here. What IS
+// under test is SessionManager's gate, which runs before any of it.
+vi.mock('../service-controller.js', () => ({
+  getSessionServiceMode: () => 'mock',
+  ServiceController: class {
+    async start() {}
+    async stop() {}
+    async resume() {}
+  },
+}));
+
+const root = mkdtempSync(join(tmpdir(), 'daq-gate-'));
+const configDir = join(root, 'config');
+const profileDir = join(configDir, 'profiles', 'default');
+mkdirSync(profileDir, { recursive: true });
+
+process.env.CONFIG_PATH = join(configDir, 'config.toml');
+process.env.SESSION_SERVICE_MODE = 'mock';
+// Keep runs out of the real ~/.local/share/elodin.
+process.env.SESSION_STATE_PATH = join(root, 'session.json');
+
+const CLEAN_PROFILE = `
+[boards.act_board]
+type = "ACTUATOR"
+board_id = 12
+ip = "192.0.2.12"
+enabled = true
+
+[actuator_roles]
+"Fuel Press" = ["NC", 3, 12, "pwm_fuel"]
+"LOX Press" = ["NO", 8, 12, "pwm_ox"]
+
+[fire]
+state = "Fire"
+expiry_target = "Armed"
+
+[[states]]
+id = 1
+name = "Idle"
+
+[[states]]
+id = 2
+name = "Armed"
+is_abort = true
+
+[[states]]
+id = 3
+name = "Fire"
+`;
+
+const ACTUATORS_CSV = ',Idle,Armed,Fire\nFuel Press,CLOSE,CLOSE,OPEN\nLOX Press,CLOSE,CLOSE,OPEN\n';
+const DELAYS_CSV = ',Idle,Armed,Fire\nFuel Press,0,0,0\nLOX Press,0,0,0\n';
+const TRANSITIONS_CSV = ',Idle,Armed,Fire\nIdle,1,1,0\nArmed,1,1,1\nFire,0,1,1\n';
+
+/** Write a profile (and its CSVs) as the active one, and reset what is deployed. */
+function writeProfile(configToml: string): void {
+  writeFileSync(join(profileDir, 'config.toml'), configToml);
+  writeFileSync(join(profileDir, 'state_machine_actuators.csv'), ACTUATORS_CSV);
+  writeFileSync(join(profileDir, 'state_machine_actuator_delays.csv'), DELAYS_CSV);
+  writeFileSync(join(profileDir, 'state_transitions.csv'), TRANSITIONS_CSV);
+  writeFileSync(join(configDir, '.active_profile'), 'default');
+  // A deployed config that is recognisably NOT the profile, so "did the gate deploy?" is decidable.
+  writeFileSync(process.env.CONFIG_PATH!, '# deployed-marker\n');
+}
+
+const deployed = () => readFileSync(process.env.CONFIG_PATH!, 'utf-8');
+
+const { sessionManager } = await import('../session-manager.js');
+const { ConfigIssuesError, validateActiveProfile } = await import('../config-validation.js');
+
+afterAll(() => rmSync(root, { recursive: true, force: true }));
+
+beforeEach(async () => {
+  if (sessionManager.getStatus().active) await sessionManager.stop();
+  vi.restoreAllMocks();
+});
+
+describe('the gate lets a clean profile through', () => {
+  it('starts, and deploys the profile it validated', async () => {
+    writeProfile(CLEAN_PROFILE);
+    expect(validateActiveProfile().issues).toEqual([]);
+
+    await sessionManager.start(false, 60_000);
+    expect(sessionManager.getStatus().active).toBe(true);
+    expect(deployed()).toContain('Fuel Press');   // the profile actually reached config.toml
+    await sessionManager.stop();
+  });
+});
+
+describe('the gate refuses a broken profile', () => {
+  // A duplicate state id: the later entry wins and the earlier state silently disappears.
+  const BROKEN = CLEAN_PROFILE.replace('id = 3\nname = "Fire"', 'id = 1\nname = "Fire"');
+
+  it('throws ConfigIssuesError naming the page that fixes it', async () => {
+    writeProfile(BROKEN);
+    await expect(sessionManager.start(false, 60_000)).rejects.toThrow(ConfigIssuesError);
+
+    const { issues, profile } = validateActiveProfile();
+    expect(profile).toBe('default');
+    expect(issues.some((i) => i.page === 'state' && i.level === 'error')).toBe(true);
+  });
+
+  it('starts nothing and deploys nothing — the run must not half-happen', async () => {
+    writeProfile(BROKEN);
+    await expect(sessionManager.start(false, 60_000)).rejects.toThrow(ConfigIssuesError);
+
+    const status = sessionManager.getStatus();
+    expect(status.active).toBe(false);
+    // dbDir is the tell for a start that mutated state before refusing: the session page would
+    // show a run store path for a run that never began.
+    expect(status.dbDir).toBeNull();
+    expect(status.deadlineMs).toBeNull();
+    expect(deployed()).toBe('# deployed-marker\n');
+  });
+
+  it('runs anyway on force — the operator overruling it with the list in front of them', async () => {
+    writeProfile(BROKEN);
+    await expect(sessionManager.start(false, 60_000)).rejects.toThrow(ConfigIssuesError);
+
+    await sessionManager.start(false, 60_000, false, true);
+    expect(sessionManager.getStatus().active).toBe(true);
+    expect(deployed()).toContain('Fuel Press');
+    await sessionManager.stop();
+  });
+
+  it('blocks on warnings too, not just errors', async () => {
+    // "No state is flagged Abort" is a warning. It still stops the first press: an operator who
+    // wanted it would not have configured it that way, and one press to look is cheap.
+    writeProfile(CLEAN_PROFILE.replace('is_abort = true\n', ''));
+    const { issues } = validateActiveProfile();
+    expect(issues).toHaveLength(1);
+    expect(issues[0].level).toBe('warn');
+    await expect(sessionManager.start(false, 60_000)).rejects.toThrow(ConfigIssuesError);
+    expect(sessionManager.getStatus().active).toBe(false);
+  });
+
+  it('does not gate a simulated run, which never deploys the profile', async () => {
+    // Sim reads the committed config_base → sim_config overlay. Gating it on profile issues that
+    // are not in effect would teach operators to press Start twice by reflex.
+    writeProfile(BROKEN);
+    await sessionManager.start(false, 60_000, true);
+    expect(sessionManager.getStatus().active).toBe(true);
+    expect(deployed()).toBe('# deployed-marker\n');   // still untouched
+    await sessionManager.stop();
+  });
+});
diff --git a/daq-server/diablo_server/backend/src/api-server.ts b/daq-server/diablo_server/backend/src/api-server.ts
index 10f92ffd7..9d009884e 100644
--- a/daq-server/diablo_server/backend/src/api-server.ts
+++ b/daq-server/diablo_server/backend/src/api-server.ts
@@ -27,6 +27,7 @@ import {
 } from './routes/calibration-profiles.js';
 import { isCurrentLoopBoard } from './sensor-config.js';
 import { sessionManager } from './session-manager.js';
+import { validateActiveProfile } from './config-validation.js';
 import { isOperator } from './operators.js';
 import { discoverProjects, getEnabledBoardsForFlash, getOtaWorkspaceRoot, BOARD_TYPE_TO_PROJECT } from './ota-build.js';
 import { otaBuildFlash, otaFlashFirmwareFile } from './ota-service-cmd.js';
@@ -526,6 +527,12 @@ export function createAPIHandler(opts: APIHandlerOptions = {}): (req: IncomingMe
             res.end(JSON.stringify({ error: error.message || 'Invalid CSV' }));
           }
         });
+      } else if (url.pathname === '/api/config/validate' && req.method === 'GET') {
+        // What the session-start gate would find, without attempting a start. Read-only, so no
+        // operator check — this reports on config the caller can already read via GET /api/config.
+        // The gate itself lives in SessionManager.start(); this endpoint never decides anything.
+        res.writeHead(200, { 'Content-Type': 'application/json' });
+        res.end(JSON.stringify(validateActiveProfile()));
       } else if (url.pathname === '/api/config/profiles' && req.method === 'GET') {
         // List profiles + which is active + whether a session freezes deploys/switching.
         ensureSeeded();
diff --git a/daq-server/diablo_server/backend/src/config-validation.ts b/daq-server/diablo_server/backend/src/config-validation.ts
new file mode 100644
index 000000000..e34be6eeb
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/config-validation.ts
@@ -0,0 +1,77 @@
+/**
+ * The config gate: read what a run is about to deploy, and say whether it is fit to run.
+ *
+ * The rules themselves live in shared/config-validation.ts so the config editor renders the same
+ * findings inline as you type. What lives HERE is the part that must not be in a browser: which
+ * files get read, and the error a refused start throws. SessionManager.start() is the only caller
+ * that matters — it refuses to start a run when this reports anything, unless the operator
+ * explicitly overrides. A client cannot skip the gate by not asking for it.
+ *
+ * What gets validated is the ACTIVE PROFILE, not the deployed config/config.toml: the profile is
+ * what session start is about to copy into place (deployActiveProfile), so validating config.toml
+ * would be checking the *previous* run's config and passing a broken profile straight through.
+ */
+import {
+  validateConfigForRun,
+  countByLevel,
+  type ConfigIssue,
+} from '../../shared/config-validation.js';
+import {
+  readActiveProfile,
+  readStateCsv,
+  getActiveProfileName,
+} from './routes/config-profiles.js';
+
+export type { ConfigIssue };
+
+/** Thrown by SessionManager.start() when the profile it was about to deploy has issues and the
+ *  caller did not override. Distinguishable from an ordinary start failure so the WebSocket layer
+ *  can answer with the structured list instead of a one-line error string. */
+export class ConfigIssuesError extends Error {
+  readonly issues: ConfigIssue[];
+  readonly profile: string;
+  constructor(issues: ConfigIssue[], profile: string) {
+    const { errors, warnings } = countByLevel(issues);
+    super(
+      `Config profile "${profile}" has ${errors} error(s) and ${warnings} warning(s). ` +
+      'Nothing was started and config.toml is unchanged.',
+    );
+    this.name = 'ConfigIssuesError';
+    this.issues = issues;
+    this.profile = profile;
+  }
+}
+
+export interface ConfigValidationResult {
+  profile: string;
+  issues: ConfigIssue[];
+  errors: number;
+  warnings: number;
+}
+
+/**
+ * Validate the active profile and its state-machine tables.
+ *
+ * A read failure is reported as an issue rather than thrown: "the profile cannot be read" is
+ * exactly the kind of thing an operator must see before a run, and throwing here would turn it
+ * into a generic start failure with no page to open.
+ */
+export function validateActiveProfile(): ConfigValidationResult {
+  const profile = getActiveProfileName();
+  try {
+    const config = readActiveProfile();
+    const issues = validateConfigForRun(config, {
+      actuators: readStateCsv('actuators'),
+      delays: readStateCsv('delays'),
+      transitions: readStateCsv('transitions'),
+    });
+    return { profile, issues, ...countByLevel(issues) };
+  } catch (e) {
+    const issues: ConfigIssue[] = [{
+      page: 'system',
+      level: 'error',
+      message: `The active config profile "${profile}" could not be read: ${(e as Error)?.message ?? String(e)}`,
+    }];
+    return { profile, issues, ...countByLevel(issues) };
+  }
+}
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index ee0d2799c..b8f2c9b17 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -173,6 +173,8 @@ let firstPacketTimeMs: number | null = null;
 import { loadCountdownTargetTimeMs, saveCountdownTargetTimeMs } from './countdown-state.js';
 let countdownTargetMs: number | null = loadCountdownTargetTimeMs();
 import { sessionManager } from './session-manager.js';
+import { ConfigIssuesError } from './config-validation.js';
+import { countByLevel } from '../../shared/config-validation.js';
 
 // ── Calibration state ────────────────────────────────────────────────────────
 
@@ -1015,9 +1017,28 @@ function handleCommand(ws: WebSocket, command: CommandPayload): void {
       break;
     case 'session_start':
       sessionManager
-        .start(!!command.data.keepData, command.data.durationMs ?? 0, !!command.data.simulated)
+        .start(
+          !!command.data.keepData,
+          command.data.durationMs ?? 0,
+          !!command.data.simulated,
+          !!command.data.force,
+        )
         .then(() => broadcastConnectionStatus())
-        .catch((err) => send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session start failed: ${err.message}` } }));
+        .catch((err) => {
+          // A config-gated refusal is not a failure to report as a one-line string: the operator
+          // needs the list, grouped by the page that fixes each item, and the choice to run anyway.
+          // Sent only to the client that asked — another browser did not press this button.
+          if (err instanceof ConfigIssuesError) {
+            const { errors, warnings } = countByLevel(err.issues);
+            send(ws, {
+              type: MessageType.SESSION_START_BLOCKED,
+              timestamp: Date.now(),
+              payload: { issues: err.issues, errors, warnings, profile: err.profile },
+            });
+            return;
+          }
+          send(ws, { type: MessageType.ERROR, timestamp: Date.now(), payload: { message: `Session start failed: ${err.message}` } });
+        });
       break;
     case 'session_stop':
       sessionManager
diff --git a/daq-server/diablo_server/backend/src/session-manager.ts b/daq-server/diablo_server/backend/src/session-manager.ts
index a74bd26a6..ee2510bbc 100644
--- a/daq-server/diablo_server/backend/src/session-manager.ts
+++ b/daq-server/diablo_server/backend/src/session-manager.ts
@@ -15,6 +15,7 @@ import { MessageType } from '../../shared/types.js';
 import { ServiceController, getSessionServiceMode } from './service-controller.js';
 import { loadSession, saveSession } from './session-state.js';
 import { deployActiveProfile } from './routes/config-profiles.js';
+import { validateActiveProfile, ConfigIssuesError } from './config-validation.js';
 
 // Warn the operator at each of these leads before auto-stop. Default: 5 min and
 // 1 min. Override with SESSION_WARN_LEADS_MS (comma-separated ms) to exercise the
@@ -209,12 +210,43 @@ class SessionManager {
     });
   }
 
-  async start(keepData: boolean, durationMs: number, simulated = false): Promise<void> {
+  /**
+   * Start a run.
+   *
+   * `force` skips the config gate below. It is the operator's SECOND press of Start, made with the
+   * issue list in front of them — never a default, and never something a client can be in by
+   * accident, because the flag has to be sent explicitly on the command.
+   */
+  async start(keepData: boolean, durationMs: number, simulated = false, force = false): Promise<void> {
     if (!this.enabled) throw new Error('Session control is disabled in this mode.');
     if (this.active) throw new Error('A run is already active.');
     if (!Number.isFinite(durationMs) || durationMs <= 0) {
       throw new Error('durationMs must be a positive number.');
     }
+    // The config gate, before ANY field is assigned — a refused start must leave this object
+    // exactly as it found it, or getStatus() reports a dbDir for a run that never began.
+    //
+    // Session start is the one point at which the profile is applied, so it is the last point at
+    // which "this config is broken" can still be acted on cheaply; after it the C++ services have
+    // read the file and the operator finds out from behaviour instead.
+    //
+    // Warnings block as well as errors, on the first attempt only. An operator who wanted a
+    // warning would not have configured it that way; making them look once and press again is what
+    // turns a red box nobody reads into a decision somebody made.
+    //
+    // Simulated runs are not gated, for the same reason they skip the deploy below: they read the
+    // committed config_base → sim_config overlay and never touch the profile, so gating them would
+    // be gating on config that is not in effect for the run.
+    if (!simulated && !force) {
+      const { issues, profile } = validateActiveProfile();
+      if (issues.length > 0) {
+        console.warn(
+          `⛔ Session start refused: config profile "${profile}" has ${issues.length} issue(s):\n` +
+          issues.map((i) => `   [${i.page}/${i.level}] ${i.message}`).join('\n'),
+        );
+        throw new ConfigIssuesError(issues, profile);
+      }
+    }
     this.dbDir = join(ELODIN_ROOT, timestampName(simulated));
     this.keepData = keepData;
     this.simulated = simulated;
diff --git a/daq-server/diablo_server/frontend/__tests__/config-validation.test.ts b/daq-server/diablo_server/frontend/__tests__/config-validation.test.ts
new file mode 100644
index 000000000..f690c67e0
--- /dev/null
+++ b/daq-server/diablo_server/frontend/__tests__/config-validation.test.ts
@@ -0,0 +1,228 @@
+/**
+ * The config rules that refuse a run.
+ *
+ * These used to live inside the config editor as JSX, which made them advisory: an operator could
+ * read a red box on the Boards tab and start a run on exactly that config anyway. They now sit in
+ * shared/config-validation.ts and are evaluated by SessionManager.start(), which refuses to start
+ * or deploy anything when any of them fires.
+ *
+ * That makes false positives expensive in a specific way: an operator who is blocked on something
+ * that is not really wrong learns to press Start twice by reflex, and the gate stops meaning
+ * anything. So roughly half of what is pinned here is the *quiet* cases — a config with no states,
+ * a profile with no CSVs, a rig that does not use the PWM controller.
+ */
+import { describe, it, expect } from 'vitest';
+import {
+  validateConfigForRun,
+  groupIssuesByPage,
+  countByLevel,
+  CONFIG_PAGE_LABELS,
+} from '@/lib/config-validation';
+
+/** A minimal config that passes every rule — each test breaks exactly one thing about it. */
+const cleanConfig = () => ({
+  boards: {
+    pt_board_1: { type: 'PT', board_id: 1, enabled: true, ip: '192.0.2.1' },
+    act_board: { type: 'ACTUATOR', board_id: 12, enabled: true, ip: '192.0.2.12' },
+  },
+  actuator_roles: {
+    'Fuel Press': ['NC', 3, 12, 'pwm_fuel'],
+    'LOX Press': ['NO', 8, 12, 'pwm_ox'],
+  },
+  states: [
+    { id: 1, name: 'Idle' },
+    { id: 2, name: 'Armed', is_abort: true },
+    { id: 3, name: 'Fire' },
+  ],
+  fire: { state: 'Fire', expiry_target: 'Armed' },
+});
+
+/** Grids matching cleanConfig: columns = states, actuator rows = [actuator_roles] keys. */
+const cleanCsv = () => ({
+  actuators: [
+    ',Idle,Armed,Fire',
+    'Fuel Press,CLOSE,CLOSE,OPEN',
+    'LOX Press,CLOSE,CLOSE,OPEN',
+  ].join('\n'),
+  delays: [
+    ',Idle,Armed,Fire',
+    'Fuel Press,0,0,0',
+    'LOX Press,0,0,0',
+  ].join('\n'),
+  transitions: [
+    ',Idle,Armed,Fire',
+    'Idle,1,1,0',
+    'Armed,1,1,1',
+    'Fire,0,1,1',
+  ].join('\n'),
+});
+
+const messages = (issues: { message: string }[]) => issues.map((i) => i.message).join(' | ');
+
+describe('validateConfigForRun — the clean case', () => {
+  it('reports nothing for a config that is fit to run', () => {
+    expect(validateConfigForRun(cleanConfig(), cleanCsv())).toEqual([]);
+  });
+});
+
+describe('boards', () => {
+  it('reports two same-type enabled boards colliding on one Elodin slot', () => {
+    // board_id % 10 is the slot, so 12 and 22 are the same slot: the two boards merge into one
+    // entity and half the channels silently vanish.
+    const cfg: any = cleanConfig();
+    cfg.boards.act_board_2 = { type: 'ACTUATOR', board_id: 22, enabled: true, ip: '192.0.2.22' };
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    expect(issues).toHaveLength(2);           // each board names the other
+    expect(issues.every((i) => i.page === 'boards' && i.level === 'error')).toBe(true);
+    expect(messages(issues)).toContain('Slot 2');
+  });
+
+  it('does not report a slot shared by boards of different types', () => {
+    // The packet id's high byte separates the types, so this is legal. Reporting it would be the
+    // kind of false positive that trains operators to ignore the gate.
+    const cfg: any = cleanConfig();
+    cfg.boards.pt_board_2 = { type: 'PT', board_id: 12, enabled: true, ip: '192.0.2.13' };
+    expect(validateConfigForRun(cfg, cleanCsv())).toEqual([]);
+  });
+
+  it('does not report a disabled board', () => {
+    const cfg: any = cleanConfig();
+    cfg.boards.act_board_2 = { type: 'ACTUATOR', board_id: 22, enabled: false };
+    expect(validateConfigForRun(cfg, cleanCsv())).toEqual([]);
+  });
+});
+
+describe('controller', () => {
+  it('reports a PWM output with no actuator assigned', () => {
+    const cfg: any = cleanConfig();
+    cfg.actuator_roles['Fuel Press'] = ['NC', 3, 12];   // assignment dropped
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    expect(issues).toHaveLength(1);
+    expect(issues[0].page).toBe('controller');
+    expect(issues[0].level).toBe('error');
+    expect(issues[0].message).toContain('pwm_fuel');
+  });
+
+  it('stays quiet for a rig that does not use the PWM controller at all', () => {
+    const cfg: any = cleanConfig();
+    cfg.actuator_roles['Fuel Press'] = ['NC', 3, 12];
+    cfg.actuator_roles['LOX Press'] = ['NO', 8, 12];
+    expect(validateConfigForRun(cfg, cleanCsv())
+      .filter((i) => i.page === 'controller')).toEqual([]);
+  });
+});
+
+describe('state machine', () => {
+  it('reports a duplicate state id', () => {
+    const cfg: any = cleanConfig();
+    cfg.states[2].id = 1;
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    expect(issues).toHaveLength(1);
+    expect(issues[0]).toMatchObject({ page: 'state', level: 'error' });
+    expect(issues[0].message).toContain('1');
+  });
+
+  it('reports a duplicate state name', () => {
+    const cfg: any = cleanConfig();
+    cfg.states[2].name = 'Armed';
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    // The rename also makes the tables disagree with the state list, which is the point: a
+    // half-finished rename is exactly how this happens.
+    expect(issues.some((i) => i.message.includes('Duplicate state name'))).toBe(true);
+    expect(issues.every((i) => i.page === 'state')).toBe(true);
+  });
+
+  it('reports a fire timer that expires into a transition the table refuses', () => {
+    // The failure this catches: the burn ends, the sequencer commands Fire → Armed, the transition
+    // table says no, and the system sits in fire with a dead timer.
+    const csv = cleanCsv();
+    csv.transitions = [',Idle,Armed,Fire', 'Idle,1,1,0', 'Armed,1,1,1', 'Fire,0,0,1'].join('\n');
+    const issues = validateConfigForRun(cleanConfig(), csv);
+    expect(issues).toHaveLength(1);
+    expect(issues[0]).toMatchObject({ page: 'state', level: 'error' });
+    expect(issues[0].message).toContain('Fire → Armed');
+  });
+
+  it('reports a fire state that is not in the state list', () => {
+    const cfg: any = cleanConfig();
+    cfg.fire.state = 'Burn';
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    expect(messages(issues)).toContain('"Burn"');
+  });
+
+  it('reports a table column that is not a state', () => {
+    const csv = cleanCsv();
+    csv.actuators = [',Idle,Armed,Fire,Vent', 'Fuel Press,CLOSE,CLOSE,OPEN,CLOSE',
+                     'LOX Press,CLOSE,CLOSE,OPEN,CLOSE'].join('\n');
+    const issues = validateConfigForRun(cleanConfig(), csv);
+    expect(issues.some((i) => i.level === 'error' && i.message.includes('Vent'))).toBe(true);
+  });
+
+  it('warns — not errors — when an actuator has no row in the table', () => {
+    // The sequencer never commands it in any state. Real, but not a reason the config cannot load,
+    // so it must not be dressed up as one.
+    const cfg: any = cleanConfig();
+    cfg.actuator_roles['Fuel Vent'] = ['NC', 4, 12];
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    expect(issues).toHaveLength(1);
+    expect(issues[0]).toMatchObject({ page: 'state', level: 'warn' });
+    expect(issues[0].message).toContain('Fuel Vent');
+  });
+
+  it('warns when no state is flagged Abort', () => {
+    const cfg: any = cleanConfig();
+    cfg.states[1].is_abort = false;
+    const issues = validateConfigForRun(cfg, cleanCsv());
+    expect(issues).toHaveLength(1);
+    expect(issues[0]).toMatchObject({ page: 'state', level: 'warn' });
+  });
+});
+
+describe('staying quiet on partial configs', () => {
+  it('skips the state-machine rules when the config declares no states', () => {
+    // A config with no [[states]] is a different and much louder problem. Burying it under one
+    // complaint per table column helps nobody, and would block a start for the wrong reason.
+    const cfg: any = cleanConfig();
+    delete cfg.states;
+    delete cfg.fire;
+    expect(validateConfigForRun(cfg, cleanCsv())).toEqual([]);
+  });
+
+  it('skips the CSV rules on a profile that has no state tables', () => {
+    expect(validateConfigForRun(cleanConfig(), { actuators: '', delays: '', transitions: '' }))
+      .toEqual([]);
+    expect(validateConfigForRun(cleanConfig(), undefined)).toEqual([]);
+  });
+
+  it('does not throw on an empty config object', () => {
+    expect(() => validateConfigForRun({})).not.toThrow();
+  });
+});
+
+describe('grouping for the session page', () => {
+  it('groups by editor tab, drops empty pages, and labels each with its tab name', () => {
+    const cfg: any = cleanConfig();
+    cfg.boards.act_board_2 = { type: 'ACTUATOR', board_id: 22, enabled: true };
+    cfg.states[1].is_abort = false;
+    const groups = groupIssuesByPage(validateConfigForRun(cfg, cleanCsv()));
+    expect(groups.map((g) => g.page)).toEqual(['boards', 'state']);
+    expect(groups[0].label).toBe(CONFIG_PAGE_LABELS.boards);
+    expect(groups.every((g) => g.issues.length > 0)).toBe(true);
+  });
+
+  it('counts errors and warnings separately', () => {
+    const cfg: any = cleanConfig();
+    cfg.boards.act_board_2 = { type: 'ACTUATOR', board_id: 22, enabled: true };
+    cfg.states[1].is_abort = false;
+    expect(countByLevel(validateConfigForRun(cfg, cleanCsv()))).toEqual({ errors: 2, warnings: 1 });
+  });
+
+  it('every page id a rule can emit has a label', () => {
+    // The session page renders group.label; an id with no entry would show a blank heading.
+    const ids = Object.keys(CONFIG_PAGE_LABELS);
+    expect(ids).toContain('boards');
+    expect(ids).toContain('controller');
+    expect(ids).toContain('state');
+    expect(ids).toContain('system');   // used by the "profile could not be read" issue
+  });
+});
diff --git a/daq-server/diablo_server/frontend/app/config/page.tsx b/daq-server/diablo_server/frontend/app/config/page.tsx
index 5cbdf61d2..e0ac8d819 100644
--- a/daq-server/diablo_server/frontend/app/config/page.tsx
+++ b/daq-server/diablo_server/frontend/app/config/page.tsx
@@ -1,12 +1,30 @@
 'use client'
 
 import { useState, useEffect, useRef, type ReactNode } from 'react';
+import { useSearchParams } from 'react-router-dom';
 import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
 import { MessageType } from '@/lib/types';
 import { useControlMode } from '@/lib/control-mode';
 import { useSensorStore } from '@/lib/store';
 import { NAV_ITEMS, navItemById } from '@/lib/nav-items';
 import { validateControllerPwmActuators, pwmAssignmentMap } from '@/lib/types';
+// The validation rules the backend's session-start gate evaluates. Imported rather than
+// re-implemented here: an issue this page draws in red is exactly an issue that refuses a run.
+import {
+  parseCsvGrid, serializeCsvGrid, diffKeys, boardSlotIssue, boardDisplayName,
+  CONFIG_PAGE_LABELS, type CsvGrid, type ConfigPageId,
+} from '@/lib/config-validation';
+
+/** The editor's tabs, left to right. Also the ids a ConfigIssue names, so the session page can
+ *  link an issue straight to the page that fixes it. Ordered by usefulness and grouped so related
+ *  config lives on one page instead of behind a round trip between tabs:
+ *    Boards  + ADC refs         (a board's voltage_reference indexes them)
+ *    Roles   = sensors + actuators (the same channel -> name map, twice)
+ *    Top Bar + Pressure Limits  (a gauge's `limits` key names a limits entry)
+ *    System  = every read-only page — startup-only binds the C++ services read once, plus config
+ *              managed outside this editor. Last, because you open it to read a port, never to
+ *              edit one. */
+const CONFIG_TAB_IDS = Object.keys(CONFIG_PAGE_LABELS) as ConfigPageId[];
 
 interface ConfigData {
   server_heartbeat?: {
@@ -240,29 +258,7 @@ function CommitOnBlurName({
 // column is the row key. Actuators and delays have identical rows AND columns, so they are edited
 // as ONE grid with two values per cell rather than two spreadsheets kept in sync by hand.
 
-type CsvGrid = { states: string[]; rows: { key: string; cells: string[] }[] };
-
-const parseCsvGrid = (text: string): CsvGrid => {
-  const lines = text.split('\n').map((l) => l.replace(/\r$/, '')).filter((l) => l.trim() !== '');
-  if (lines.length === 0) return { states: [], rows: [] };
-  const states = lines[0].split(',').slice(1).map((s) => s.trim());
-  const rows = lines
-    .slice(1)
-    .map((line) => {
-      const cells = line.split(',').map((c) => c.trim());
-      // Pad short rows rather than dropping them — several shipped CSVs are ragged, and silently
-      // losing the row would silently drop an actuator from every state.
-      return { key: cells[0], cells: states.map((_, i) => cells[i + 1] ?? '') };
-    })
-    .filter((r) => r.key !== '');
-  return { states, rows };
-};
-
-const serializeCsvGrid = (g: CsvGrid): string =>
-  [
-    ',' + g.states.join(','),
-    ...g.rows.map((r) => [r.key, ...g.states.map((_, i) => r.cells[i] ?? '')].join(',')),
-  ].join('\n') + '\n';
+// CsvGrid, parseCsvGrid and serializeCsvGrid come from @/lib/config-validation (see imports).
 
 /** A single string that changes whenever any of the three state tables changes — used to detect
  *  unsaved edits without deep-comparing the grids. */
@@ -291,30 +287,6 @@ function sortRolesForSave(cfg: any): any {
   return out;
 }
 
-const diffKeys = (have: string[], want: string[]) => ({
-  orphan: have.filter((k) => !want.includes(k)),
-  missing: want.filter((k) => !have.includes(k)),
-});
-
-/**
- * Friendly board name for display: "PT Board #2" rather than the raw `pt_board_2` config key.
- * Numbered by position among boards of the same type, so it tracks what is actually configured
- * instead of parsing digits out of the key. The key stays the identity everywhere else (it is what
- * `sensor_roles_<key>` binds to), so it is kept in the tooltip.
- */
-const BOARD_TYPE_LABEL: Record<string, string> = {
-  PT: 'PT', ACTUATOR: 'Actuator', LC: 'LC', TC: 'TC', RTD: 'RTD', ENCODER: 'Encoder',
-};
-
-const boardDisplayName = (boards: Record<string, any>, boardKey: string): string => {
-  const type = boards?.[boardKey]?.type;
-  if (typeof type !== 'string' || !type) return boardKey;
-  const sameType = Object.keys(boards).filter((k) => boards[k]?.type === type);
-  const ordinal = sameType.indexOf(boardKey) + 1;
-  const label = BOARD_TYPE_LABEL[type] ?? type;
-  return sameType.length > 1 ? `${label} Board #${ordinal}` : `${label} Board`;
-};
-
 /**
  * A PT board's sensor interface, and therefore its ADC reference. The hardware is identical
  * across PT boards; only the interface differs, so this is a per-board field rather than a
@@ -334,34 +306,6 @@ const ptTypeOf = (board: any): string => {
   return legacy ? PT_TYPE_CURRENT_LOOP : PT_TYPE_RATIOMETRIC;
 };
 
-/**
- * Every layer maps a board to an Elodin slot as board_id % 10 (0 → 10), and the packet id low
- * byte is (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two enabled
- * boards of the same type on one slot merge into a single entity with no error anywhere.
- *
- * Same-type only: the packet id's high byte already separates the types, so a PT and an actuator
- * board sharing a slot is fine. Mirrors check_board_slots() in
- * lib/src/config/LoadActiveBoards.cpp.
- */
-const boardSlotIssue = (boards: Record<string, any>, boardKey: string): string | null => {
-  const board = boards?.[boardKey];
-  if (!board || board.enabled === false || typeof board.board_id !== 'number') return null;
-  const slotOf = (id: number) => (id % 10 === 0 ? 10 : id % 10);
-  const slot = slotOf(board.board_id);
-  if (slot > 8) {
-    return `Board ID ${board.board_id} maps to slot ${slot}, but packet IDs only encode slots 1-8.`;
-  }
-  const clash = Object.keys(boards).find((k) => k !== boardKey
-    && boards[k]?.enabled !== false
-    && boards[k]?.type === board.type
-    && typeof boards[k]?.board_id === 'number'
-    && slotOf(boards[k].board_id) === slot);
-  if (clash) {
-    return `Slot ${slot} is also claimed by ${boardDisplayName(boards, clash)} (ID ${boards[clash].board_id}) — their channels will merge.`;
-  }
-  return null;
-};
-
 /**
  * One consistently-styled inline validation message, rendered next to the element it refers to
  * (a board row, a state row, a table) rather than as a scattered banner. `error` = will break the
@@ -390,7 +334,13 @@ export default function ConfigPage() {
   // and a message). The banner used to ignore both and always say "saved successfully", so an
   // operator saving mid-session was told the change was in effect when it was only a draft.
   const [successMsg, setSuccessMsg] = useState<string | null>(null);
-  const [activeTab, setActiveTab] = useState('boards');
+  // ?tab=<id> opens the editor on a specific tab. The session page's config-issue panel links here
+  // that way, so "State Machine: 2 errors" lands on the tables instead of on Boards.
+  const [searchParams] = useSearchParams();
+  const [activeTab, setActiveTab] = useState(() => {
+    const want = searchParams.get('tab');
+    return want && (CONFIG_TAB_IDS as string[]).includes(want) ? want : 'boards';
+  });
   // Config profiles v2: the editor edits the ACTIVE PROFILE; config.toml is the deployed/running file.
   // When idle, a save/switch deploys to config.toml; during a session config.toml is frozen (draft).
   const [profiles, setProfiles] = useState<{ name: string; active: boolean }[]>([]);
@@ -1257,23 +1207,9 @@ export default function ConfigPage() {
     );
   }
 
-  // Ordered by usefulness, left to right, and grouped so related config lives on
-  // one page instead of behind a round trip between tabs:
-  //   Boards      + ADC refs        (a board's voltage_reference indexes them)
-  //   Roles       = sensors + actuators (the same channel -> name map, twice)
-  //   Top Bar     + Pressure Limits (a gauge's `limits` key names a limits entry)
-  //   System      = every read-only page — startup-only binds the C++ services
-  //                 read once, plus config managed outside this editor. Last,
-  //                 because you open it to read a port, never to edit one.
-  const tabs = [
-    { id: 'boards', label: 'Boards' },
-    { id: 'roles', label: 'Roles' },
-    { id: 'gui', label: 'Top Bar & Limits' },
-    { id: 'controller', label: 'Controller' },
-    { id: 'state', label: 'State Machine' },
-    { id: 'calibration', label: 'Calibration' },
-    { id: 'system', label: 'System' },
-  ];
+  // Ids and labels come from CONFIG_PAGE_LABELS so a validation issue can name the tab that fixes
+  // it and the two lists cannot drift.
+  const tabs = CONFIG_TAB_IDS.map((id) => ({ id, label: CONFIG_PAGE_LABELS[id] }));
 
   return (
     <main className="min-h-screen bg-background text-text p-8">
diff --git a/daq-server/diablo_server/frontend/app/session/page.tsx b/daq-server/diablo_server/frontend/app/session/page.tsx
index a9138ac9d..562cf1eba 100644
--- a/daq-server/diablo_server/frontend/app/session/page.tsx
+++ b/daq-server/diablo_server/frontend/app/session/page.tsx
@@ -1,9 +1,12 @@
 'use client'
 
 import { useEffect, useState } from 'react';
+import { Link } from 'react-router-dom';
 import { useSensorStore } from '@/lib/store';
 import { getWebSocketClient } from '@/lib/websocket';
 import { useControlMode } from '@/lib/control-mode';
+import { MessageType, type SessionStartBlockedPayload } from '@/lib/types';
+import { groupIssuesByPage, type ConfigIssue } from '@/lib/config-validation';
 
 function formatRemaining(ms: number | null): string {
   if (ms == null || !Number.isFinite(ms)) return '--:--:--';
@@ -21,6 +24,64 @@ function formatGB(bytes: number | null): string {
   return `${(bytes / 1e9).toFixed(1)} GB free`;
 }
 
+/**
+ * The config problems that refused this run, grouped by the editor page that fixes each one.
+ *
+ * Everything shown here was decided by the backend: it validated the profile it was about to
+ * deploy, refused to start anything, and sent this list. Nothing on this page re-derives, filters
+ * or ranks it — the whole point is that the browser is not the thing deciding whether a config is
+ * fit to run. Pressing Start again sends `force`, which is the operator overruling it on purpose.
+ */
+function ConfigIssuePanel({ blocked }: { blocked: SessionStartBlockedPayload }) {
+  const groups = groupIssuesByPage(blocked.issues as ConfigIssue[]);
+  const counts = [
+    blocked.errors ? `${blocked.errors} error${blocked.errors === 1 ? '' : 's'}` : null,
+    blocked.warnings ? `${blocked.warnings} warning${blocked.warnings === 1 ? '' : 's'}` : null,
+  ].filter(Boolean).join(' and ');
+
+  return (
+    <div className="rounded-xl border border-red-700/70 bg-red-950/30 p-5 mb-6">
+      <h2 className="text-xl font-semibold text-red-200 mb-1">Run not started — check the config</h2>
+      <p className="text-sm text-red-200/80 mb-4">
+        Config profile <strong>{blocked.profile}</strong> has {counts}. Nothing was started and the
+        deployed config is unchanged. Fix these in the config editor, or press{' '}
+        <strong>Start anyway</strong> to run this config as it is.
+      </p>
+
+      <div className="space-y-4">
+        {groups.map((group) => (
+          <div key={group.page}>
+            <div className="flex items-baseline gap-3 mb-2">
+              <h3 className="text-base font-semibold text-white">{group.label}</h3>
+              <Link
+                to={`/config?tab=${group.page}`}
+                className="text-sm text-blue-300 hover:text-blue-200 underline underline-offset-2"
+              >
+                Open {group.label} →
+              </Link>
+            </div>
+            <ul className="space-y-2">
+              {group.issues.map((issue, i) => (
+                <li
+                  key={`${group.page}-${i}`}
+                  className={`flex items-start gap-2 px-3 py-2 rounded-md border text-sm ${
+                    issue.level === 'warn'
+                      ? 'border-yellow-600/70 bg-yellow-900/25 text-yellow-200'
+                      : 'border-red-600/70 bg-red-900/25 text-red-200'
+                  }`}
+                >
+                  <span aria-hidden className="mt-px leading-none">⚠</span>
+                  <span className="min-w-0">{issue.message}</span>
+                </li>
+              ))}
+            </ul>
+          </div>
+        ))}
+      </div>
+    </div>
+  );
+}
+
 export default function SessionPage() {
   const session = useSensorStore((s) => s.session);
   const { controlEnabled } = useControlMode();
@@ -41,6 +102,17 @@ export default function SessionPage() {
     if (pending === 'start' && active) setPending(null);
     if (pending === 'stop' && !active) setPending(null);
   }, [pending, active]);
+
+  // The backend refused a start because the profile it was about to deploy has config issues.
+  // Holding the payload is also what arms the override: while it is set, Start sends force:true.
+  const [blocked, setBlocked] = useState<SessionStartBlockedPayload | null>(null);
+  useEffect(() => ws.on(MessageType.SESSION_START_BLOCKED, (payload) => {
+    setBlocked(payload as SessionStartBlockedPayload);
+    setPending(null); // nothing was started, so stop waiting for a SESSION_UPDATE that won't come
+  }), [ws]);
+  // A run that did start, or one that stopped, retires the list — it described a start attempt
+  // that is over.
+  useEffect(() => { if (active) setBlocked(null); }, [active]);
   useEffect(() => {
     if (!pending) return;
     const id = setTimeout(() => setPending(null), 30000); // failsafe
@@ -63,6 +135,13 @@ export default function SessionPage() {
     ws.sendCommand(command);
   };
 
+  /**
+   * Changing what you are asking for retires the override: the issue list described the *previous*
+   * request, and a primed "Start anyway" that outlives it would let a different run slip past the
+   * gate on a press the operator thinks is their first. The next press re-asks the backend.
+   */
+  const resetOverride = () => setBlocked(null);
+
   // session is null until the first SESSION_UPDATE arrives over the WebSocket.
   // Distinguish "haven't heard yet" from "backend says disabled" — conflating
   // them makes a correctly-configured server look like a launch-site laptop when
@@ -129,6 +208,10 @@ export default function SessionPage() {
         </div>
       </div>
 
+      {/* Why the last start attempt was refused. Above the controls, because it is the reason the
+          button below now says something different. */}
+      {!active && blocked && <ConfigIssuePanel blocked={blocked} />}
+
       {/* Controls */}
       {!active ? (
         <div className="rounded-xl border border-gray-800 bg-card p-5">
@@ -140,14 +223,14 @@ export default function SessionPage() {
               <div className="flex rounded-lg border border-gray-700 bg-gray-900 p-0.5">
                 <button
                   type="button"
-                  onClick={() => setKeepData(true)}
+                  onClick={() => { setKeepData(true); resetOverride(); }}
                   className={`rounded-md px-3 py-1.5 text-sm font-semibold ${keepData ? 'bg-white text-black' : 'text-gray-300 hover:bg-white/10'}`}
                 >
                   Save
                 </button>
                 <button
                   type="button"
-                  onClick={() => setKeepData(false)}
+                  onClick={() => { setKeepData(false); resetOverride(); }}
                   className={`rounded-md px-3 py-1.5 text-sm font-semibold ${!keepData ? 'bg-white text-black' : 'text-gray-300 hover:bg-white/10'}`}
                 >
                   Discard
@@ -160,14 +243,14 @@ export default function SessionPage() {
               <div className="flex rounded-lg border border-gray-700 bg-gray-900 p-0.5">
                 <button
                   type="button"
-                  onClick={() => setSimulated(false)}
+                  onClick={() => { setSimulated(false); resetOverride(); }}
                   className={`rounded-md px-3 py-1.5 text-sm font-semibold ${!simulated ? 'bg-white text-black' : 'text-gray-300 hover:bg-white/10'}`}
                 >
                   Real
                 </button>
                 <button
                   type="button"
-                  onClick={() => setSimulated(true)}
+                  onClick={() => { setSimulated(true); resetOverride(); }}
                   className={`rounded-md px-3 py-1.5 text-sm font-semibold ${simulated ? 'bg-purple-500 text-white' : 'text-gray-300 hover:bg-white/10'}`}
                 >
                   Simulated
@@ -191,19 +274,36 @@ export default function SessionPage() {
                 type="number"
                 min={1}
                 value={durationMin}
-                onChange={(e) => setDurationMin(Math.max(1, parseInt(e.target.value || '0', 10) || 0))}
+                onChange={(e) => { setDurationMin(Math.max(1, parseInt(e.target.value || '0', 10) || 0)); resetOverride(); }}
                 className="w-28 rounded-md border border-gray-700 bg-black/60 px-3 py-1.5 text-sm text-white"
               />
             </div>
 
+            {/* Second press = `force`, which is the only thing that gets past the backend's config
+                gate. The button says so, because "Start anyway" is a different decision from
+                "Start run" and should not look like the same one. */}
             <button
               type="button"
               disabled={!controlEnabled || pending !== null}
-              title={pending ? 'Waiting for the pipeline to settle…' : lockedNote}
-              onClick={() => { setPending('start'); send({ commandType: 'session_start', data: { keepData, durationMs: durationMin * 60000, simulated } }); }}
-              className="rounded-lg border border-green-600 bg-green-800/70 px-5 py-2 text-sm font-bold uppercase tracking-wider text-white hover:bg-green-700 disabled:opacity-40 disabled:cursor-not-allowed"
+              title={pending
+                ? 'Waiting for the pipeline to settle…'
+                : blocked
+                  ? 'Run this config despite the issues listed above'
+                  : lockedNote}
+              onClick={() => {
+                setPending('start');
+                send({
+                  commandType: 'session_start',
+                  data: { keepData, durationMs: durationMin * 60000, simulated, force: !!blocked },
+                });
+              }}
+              className={`rounded-lg border px-5 py-2 text-sm font-bold uppercase tracking-wider text-white disabled:opacity-40 disabled:cursor-not-allowed ${
+                blocked
+                  ? 'border-amber-500 bg-amber-700/70 hover:bg-amber-600'
+                  : 'border-green-600 bg-green-800/70 hover:bg-green-700'
+              }`}
             >
-              {pending === 'start' ? 'Starting…' : 'Start run'}
+              {pending === 'start' ? 'Starting…' : blocked ? 'Start anyway' : 'Start run'}
             </button>
           </div>
         </div>
diff --git a/daq-server/diablo_server/frontend/lib/config-validation.ts b/daq-server/diablo_server/frontend/lib/config-validation.ts
new file mode 100644
index 000000000..e36cb479c
--- /dev/null
+++ b/daq-server/diablo_server/frontend/lib/config-validation.ts
@@ -0,0 +1,3 @@
+// Re-export the shared config validation rules — the same module the backend's session-start gate
+// evaluates, so the editor's inline issues and what blocks a run can never drift apart.
+export * from '../../shared/config-validation.js'
diff --git a/daq-server/diablo_server/shared/config-validation.d.ts b/daq-server/diablo_server/shared/config-validation.d.ts
new file mode 100644
index 000000000..0bc72eb31
--- /dev/null
+++ b/daq-server/diablo_server/shared/config-validation.d.ts
@@ -0,0 +1,91 @@
+/**
+ * Config validation rules — the single statement of what makes a config unfit to run.
+ *
+ * These rules used to exist only inside the config editor, as JSX rendered next to the field they
+ * complained about. That made them advisory: an operator could see a red box on the Boards tab,
+ * navigate away, and start a run on exactly that config. Only three of them (duplicate roles, the
+ * state-machine consistency block, and the PWM assignment) ever stopped anything, and only at the
+ * moment of pressing Save in the editor — never at the moment that matters, which is session start,
+ * where the profile is deployed and the C++ services read it.
+ *
+ * So the rules live here, in the compiled `shared` package, and are evaluated in two places:
+ *
+ *   - the BACKEND, in SessionManager.start(), which refuses to start a run when any issue is
+ *     found unless the caller explicitly overrides. That is the enforcement point, and it is the
+ *     only one — a browser cannot skip it by not asking.
+ *   - the config EDITOR, which renders the same issues inline as you type. Presentation only.
+ *
+ * Everything here is pure: config object in, plain-text issues out. No fetch, no fs, no DOM. The
+ * backend reads the files (the ACTIVE PROFILE, which is what session start deploys) and calls in.
+ *
+ * `error` = will break the running config. `warn` = a mismatch worth fixing before a run. Both
+ * block the first press of Start, because an operator who wanted neither would not have configured
+ * it that way; the second press runs anyway, and that decision is theirs to make at the pad.
+ */
+/** Ids match the config editor's tab ids, so an issue can name the page that fixes it. */
+export type ConfigPageId = 'boards' | 'roles' | 'gui' | 'controller' | 'state' | 'calibration' | 'system';
+export declare const CONFIG_PAGE_LABELS: Record<ConfigPageId, string>;
+export type ConfigIssueLevel = 'error' | 'warn';
+export interface ConfigIssue {
+    /** The editor tab an operator opens to fix this. */
+    page: ConfigPageId;
+    level: ConfigIssueLevel;
+    /** Plain text — rendered by the editor and by the session page, so no markup. */
+    message: string;
+}
+/** The three state-machine CSVs, as raw file text. An absent file is ''. */
+export interface StateCsvSet {
+    actuators: string;
+    delays: string;
+    transitions: string;
+}
+export type CsvGrid = {
+    states: string[];
+    rows: {
+        key: string;
+        cells: string[];
+    }[];
+};
+export declare const parseCsvGrid: (text: string) => CsvGrid;
+export declare const serializeCsvGrid: (g: CsvGrid) => string;
+/** Rows/columns present in `have` but not `want`, and vice versa — the orphan/missing warnings. */
+export declare const diffKeys: (have: string[], want: string[]) => {
+    orphan: string[];
+    missing: string[];
+};
+/**
+ * Friendly board name for display: "PT Board #2" rather than the raw `pt_board_2` config key.
+ * Numbered by position among boards of the same type, so it tracks what is actually configured
+ * instead of parsing digits out of the key.
+ */
+export declare const boardDisplayName: (boards: Record<string, any>, boardKey: string) => string;
+/**
+ * Every layer maps a board to an Elodin slot as board_id % 10 (0 → 10), and the packet id low
+ * byte is (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two enabled
+ * boards of the same type on one slot merge into a single entity with no error anywhere.
+ *
+ * Same-type only: the packet id's high byte already separates the types, so a PT and an actuator
+ * board sharing a slot is fine. Mirrors check_board_slots() in
+ * lib/src/config/LoadActiveBoards.cpp.
+ */
+export declare const boardSlotIssue: (boards: Record<string, any>, boardKey: string) => string | null;
+/**
+ * Every reason this config is unfit to run, in the order an operator would work through them.
+ *
+ * `csv` is optional: on a box whose profile predates the state tables, the CSV rules simply do not
+ * run rather than reporting every state as missing. A config with no [[states]] at all skips the
+ * state-machine rules for the same reason — that is a different and much louder problem, and
+ * burying it under fifty derived complaints helps nobody.
+ */
+export declare function validateConfigForRun(config: any, csv?: Partial<StateCsvSet>): ConfigIssue[];
+/** Group issues by the editor page that fixes them, preserving rule order within a page. */
+export declare function groupIssuesByPage(issues: ConfigIssue[]): {
+    page: ConfigPageId;
+    label: string;
+    issues: ConfigIssue[];
+}[];
+export declare const countByLevel: (issues: ConfigIssue[]) => {
+    errors: number;
+    warnings: number;
+};
+//# sourceMappingURL=config-validation.d.ts.map
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/config-validation.d.ts.map b/daq-server/diablo_server/shared/config-validation.d.ts.map
new file mode 100644
index 000000000..9d6f6e479
--- /dev/null
+++ b/daq-server/diablo_server/shared/config-validation.d.ts.map
@@ -0,0 +1 @@
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diff --git a/daq-server/diablo_server/shared/config-validation.js b/daq-server/diablo_server/shared/config-validation.js
new file mode 100644
index 000000000..2208c1e71
--- /dev/null
+++ b/daq-server/diablo_server/shared/config-validation.js
@@ -0,0 +1,216 @@
+/**
+ * Config validation rules — the single statement of what makes a config unfit to run.
+ *
+ * These rules used to exist only inside the config editor, as JSX rendered next to the field they
+ * complained about. That made them advisory: an operator could see a red box on the Boards tab,
+ * navigate away, and start a run on exactly that config. Only three of them (duplicate roles, the
+ * state-machine consistency block, and the PWM assignment) ever stopped anything, and only at the
+ * moment of pressing Save in the editor — never at the moment that matters, which is session start,
+ * where the profile is deployed and the C++ services read it.
+ *
+ * So the rules live here, in the compiled `shared` package, and are evaluated in two places:
+ *
+ *   - the BACKEND, in SessionManager.start(), which refuses to start a run when any issue is
+ *     found unless the caller explicitly overrides. That is the enforcement point, and it is the
+ *     only one — a browser cannot skip it by not asking.
+ *   - the config EDITOR, which renders the same issues inline as you type. Presentation only.
+ *
+ * Everything here is pure: config object in, plain-text issues out. No fetch, no fs, no DOM. The
+ * backend reads the files (the ACTIVE PROFILE, which is what session start deploys) and calls in.
+ *
+ * `error` = will break the running config. `warn` = a mismatch worth fixing before a run. Both
+ * block the first press of Start, because an operator who wanted neither would not have configured
+ * it that way; the second press runs anyway, and that decision is theirs to make at the pad.
+ */
+import { validateControllerPwmActuators } from './types.js';
+export const CONFIG_PAGE_LABELS = {
+    boards: 'Boards',
+    roles: 'Roles',
+    gui: 'Top Bar & Limits',
+    controller: 'Controller',
+    state: 'State Machine',
+    calibration: 'Calibration',
+    system: 'System',
+};
+export const parseCsvGrid = (text) => {
+    const lines = text.split('\n').map((l) => l.replace(/\r$/, '')).filter((l) => l.trim() !== '');
+    if (lines.length === 0)
+        return { states: [], rows: [] };
+    const states = lines[0].split(',').slice(1).map((s) => s.trim());
+    const rows = lines
+        .slice(1)
+        .map((line) => {
+        const cells = line.split(',').map((c) => c.trim());
+        // Pad short rows rather than dropping them — several shipped CSVs are ragged, and silently
+        // losing the row would silently drop an actuator from every state.
+        return { key: cells[0], cells: states.map((_, i) => cells[i + 1] ?? '') };
+    })
+        .filter((r) => r.key !== '');
+    return { states, rows };
+};
+export const serializeCsvGrid = (g) => [
+    ',' + g.states.join(','),
+    ...g.rows.map((r) => [r.key, ...g.states.map((_, i) => r.cells[i] ?? '')].join(',')),
+].join('\n') + '\n';
+/** Rows/columns present in `have` but not `want`, and vice versa — the orphan/missing warnings. */
+export const diffKeys = (have, want) => ({
+    orphan: have.filter((k) => !want.includes(k)),
+    missing: want.filter((k) => !have.includes(k)),
+});
+// ── Boards ───────────────────────────────────────────────────────────────────
+const BOARD_TYPE_LABEL = {
+    PT: 'PT', ACTUATOR: 'Actuator', LC: 'LC', TC: 'TC', RTD: 'RTD', ENCODER: 'Encoder',
+};
+/**
+ * Friendly board name for display: "PT Board #2" rather than the raw `pt_board_2` config key.
+ * Numbered by position among boards of the same type, so it tracks what is actually configured
+ * instead of parsing digits out of the key.
+ */
+export const boardDisplayName = (boards, boardKey) => {
+    const type = boards?.[boardKey]?.type;
+    if (typeof type !== 'string' || !type)
+        return boardKey;
+    const sameType = Object.keys(boards).filter((k) => boards[k]?.type === type);
+    const ordinal = sameType.indexOf(boardKey) + 1;
+    const label = BOARD_TYPE_LABEL[type] ?? type;
+    return sameType.length > 1 ? `${label} Board #${ordinal}` : `${label} Board`;
+};
+/**
+ * Every layer maps a board to an Elodin slot as board_id % 10 (0 → 10), and the packet id low
+ * byte is (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two enabled
+ * boards of the same type on one slot merge into a single entity with no error anywhere.
+ *
+ * Same-type only: the packet id's high byte already separates the types, so a PT and an actuator
+ * board sharing a slot is fine. Mirrors check_board_slots() in
+ * lib/src/config/LoadActiveBoards.cpp.
+ */
+export const boardSlotIssue = (boards, boardKey) => {
+    const board = boards?.[boardKey];
+    if (!board || board.enabled === false || typeof board.board_id !== 'number')
+        return null;
+    const slotOf = (id) => (id % 10 === 0 ? 10 : id % 10);
+    const slot = slotOf(board.board_id);
+    if (slot > 8) {
+        return `Board ID ${board.board_id} maps to slot ${slot}, but packet IDs only encode slots 1-8.`;
+    }
+    const clash = Object.keys(boards).find((k) => k !== boardKey
+        && boards[k]?.enabled !== false
+        && boards[k]?.type === board.type
+        && typeof boards[k]?.board_id === 'number'
+        && slotOf(boards[k].board_id) === slot);
+    if (clash) {
+        return `Slot ${slot} is also claimed by ${boardDisplayName(boards, clash)} (ID ${boards[clash].board_id}) — their channels will merge.`;
+    }
+    return null;
+};
+// ── The rule set ─────────────────────────────────────────────────────────────
+/**
+ * Every reason this config is unfit to run, in the order an operator would work through them.
+ *
+ * `csv` is optional: on a box whose profile predates the state tables, the CSV rules simply do not
+ * run rather than reporting every state as missing. A config with no [[states]] at all skips the
+ * state-machine rules for the same reason — that is a different and much louder problem, and
+ * burying it under fifty derived complaints helps nobody.
+ */
+export function validateConfigForRun(config, csv) {
+    const issues = [];
+    const add = (page, level, message) => issues.push({ page, level, message });
+    // ── Boards ────────────────────────────────────────────────────────────────
+    const boards = (config?.boards && typeof config.boards === 'object')
+        ? config.boards : {};
+    for (const key of Object.keys(boards)) {
+        const msg = boardSlotIssue(boards, key);
+        if (msg)
+            add('boards', 'error', `${boardDisplayName(boards, key)} (${key}): ${msg}`);
+    }
+    // ── Controller PWM assignment ─────────────────────────────────────────────
+    // The only statement of which hardware the controller drives. Unresolved means the controller
+    // comes up with its fire gate disabled, which an operator otherwise discovers mid-countdown.
+    for (const msg of validateControllerPwmActuators(config))
+        add('controller', 'error', msg);
+    // ── State machine ─────────────────────────────────────────────────────────
+    const stateList = Array.isArray(config?.states) ? config.states : [];
+    const grid = (text) => typeof text === 'string' && text.trim() !== '' ? parseCsvGrid(text) : null;
+    const gActuators = grid(csv?.actuators);
+    const gDelays = grid(csv?.delays);
+    const gTransitions = grid(csv?.transitions);
+    if (stateList.length > 0) {
+        // Ids and names are both lookup keys: ids are what past runs stored, names are what the CSV
+        // columns resolve by. A duplicate of either silently drops a state on load.
+        const dupes = (vals) => [...new Set(vals.filter((v, i, arr) => v !== undefined && v !== '' && arr.indexOf(v) !== i))];
+        const idDupes = dupes(stateList.map((s) => s?.id));
+        const nameDupes = dupes(stateList.map((s) => s?.name));
+        if (idDupes.length)
+            add('state', 'error', `Duplicate state id(s): ${idDupes.join(', ')} — the later entry wins and the earlier state disappears.`);
+        if (nameDupes.length)
+            add('state', 'error', `Duplicate state name(s): ${nameDupes.join(', ')} — CSV columns resolve by name, so one of them is unreachable.`);
+        if (stateList.some((s) => !String(s?.name ?? '').trim()))
+            add('state', 'error', 'A state has an empty name — it cannot be referenced by any table.');
+        const names = stateList.map((s) => s?.name).filter(Boolean);
+        // The sequencer resolves transitions and actuator commands by state NAME, so a table column
+        // that does not match the state list is a state that commands nothing when entered.
+        const colCheck = (g, label) => {
+            if (!g)
+                return;
+            const d = diffKeys(g.states, names);
+            if (d.orphan.length)
+                add('state', 'error', `The ${label} table has column(s) that are not states: ${d.orphan.join(', ')}.`);
+            if (d.missing.length)
+                add('state', 'error', `The ${label} table is missing column(s) for state(s): ${d.missing.join(', ')} — entering them commands nothing.`);
+        };
+        colCheck(gActuators, 'Actuators');
+        colCheck(gDelays, 'Delays');
+        colCheck(gTransitions, 'Transitions');
+        if (gTransitions) {
+            const d = diffKeys(gTransitions.rows.map((r) => r.key), names);
+            if (d.orphan.length || d.missing.length)
+                add('state', 'error', 'The Transitions table rows do not match the state list — every state must have a row.');
+        }
+        if (stateList.every((s) => !s?.is_abort))
+            add('state', 'warn', 'No state is flagged Abort. Aborts are not disabled — the controller falls back to its built-in aborts (Engine / GSE / Emergency), which may not match these states.');
+        // The fire timer: on expiry the sequencer commands fire.state → fire.expiry_target. If that
+        // move is not allowed, the timer expires into a refused transition and the system stays in fire.
+        const fireState = String(config?.fire?.state ?? '');
+        const target = String(config?.fire?.expiry_target ?? '');
+        if (fireState && !names.includes(fireState))
+            add('state', 'error', `The fire state "${fireState}" is not in the state list.`);
+        if (target && !names.includes(target))
+            add('state', 'error', `The fire expiry target "${target}" is not in the state list.`);
+        if (gTransitions && fireState && target) {
+            const row = gTransitions.rows.find((x) => x.key === fireState);
+            const col = gTransitions.states.indexOf(target);
+            if (row && col >= 0 && (row.cells[col] || '0').trim() !== '1')
+                add('state', 'error', `${fireState} → ${target} is not an allowed transition. The fire timer would expire into a refused transition and the system would stay in fire.`);
+        }
+    }
+    // Actuator rows are driven by [actuator_roles]; the CSV is what currently exists.
+    if (gActuators) {
+        const roleNames = Object.keys((config?.actuator_roles ?? {}));
+        const d = diffKeys(gActuators.rows.map((r) => r.key), roleNames);
+        if (d.orphan.length)
+            add('state', 'warn', `In the Actuators table but not in [actuator_roles]: ${d.orphan.join(', ')} — these rows command nothing.`);
+        if (d.missing.length)
+            add('state', 'warn', `Configured but missing an Actuators row: ${d.missing.join(', ')} — the sequencer will never command these in any state.`);
+    }
+    if (gActuators && gDelays &&
+        (gDelays.states.length !== gActuators.states.length || gDelays.rows.length !== gActuators.rows.length))
+        add('state', 'warn', 'The Delays table has a different shape from the Actuators table — use “Sync rows” to rebuild both.');
+    if (gActuators && gTransitions) {
+        const d = diffKeys(gActuators.states, gTransitions.states);
+        if (d.orphan.length || d.missing.length)
+            add('state', 'warn', 'The Actuators and Transitions tables disagree on which states exist.');
+    }
+    return issues;
+}
+/** Group issues by the editor page that fixes them, preserving rule order within a page. */
+export function groupIssuesByPage(issues) {
+    const order = Object.keys(CONFIG_PAGE_LABELS);
+    return order
+        .map((page) => ({ page, label: CONFIG_PAGE_LABELS[page], issues: issues.filter((i) => i.page === page) }))
+        .filter((g) => g.issues.length > 0);
+}
+export const countByLevel = (issues) => ({
+    errors: issues.filter((i) => i.level === 'error').length,
+    warnings: issues.filter((i) => i.level === 'warn').length,
+});
+//# sourceMappingURL=config-validation.js.map
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/config-validation.js.map b/daq-server/diablo_server/shared/config-validation.js.map
new file mode 100644
index 000000000..aeabcc63b
--- /dev/null
+++ b/daq-server/diablo_server/shared/config-validation.js.map
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/config-validation.ts b/daq-server/diablo_server/shared/config-validation.ts
new file mode 100644
index 000000000..328c5a835
--- /dev/null
+++ b/daq-server/diablo_server/shared/config-validation.ts
@@ -0,0 +1,267 @@
+/**
+ * Config validation rules — the single statement of what makes a config unfit to run.
+ *
+ * These rules used to exist only inside the config editor, as JSX rendered next to the field they
+ * complained about. That made them advisory: an operator could see a red box on the Boards tab,
+ * navigate away, and start a run on exactly that config. Only three of them (duplicate roles, the
+ * state-machine consistency block, and the PWM assignment) ever stopped anything, and only at the
+ * moment of pressing Save in the editor — never at the moment that matters, which is session start,
+ * where the profile is deployed and the C++ services read it.
+ *
+ * So the rules live here, in the compiled `shared` package, and are evaluated in two places:
+ *
+ *   - the BACKEND, in SessionManager.start(), which refuses to start a run when any issue is
+ *     found unless the caller explicitly overrides. That is the enforcement point, and it is the
+ *     only one — a browser cannot skip it by not asking.
+ *   - the config EDITOR, which renders the same issues inline as you type. Presentation only.
+ *
+ * Everything here is pure: config object in, plain-text issues out. No fetch, no fs, no DOM. The
+ * backend reads the files (the ACTIVE PROFILE, which is what session start deploys) and calls in.
+ *
+ * `error` = will break the running config. `warn` = a mismatch worth fixing before a run. Both
+ * block the first press of Start, because an operator who wanted neither would not have configured
+ * it that way; the second press runs anyway, and that decision is theirs to make at the pad.
+ */
+
+import { validateControllerPwmActuators } from './types.js';
+
+/** Ids match the config editor's tab ids, so an issue can name the page that fixes it. */
+export type ConfigPageId =
+  | 'boards' | 'roles' | 'gui' | 'controller' | 'state' | 'calibration' | 'system';
+
+export const CONFIG_PAGE_LABELS: Record<ConfigPageId, string> = {
+  boards: 'Boards',
+  roles: 'Roles',
+  gui: 'Top Bar & Limits',
+  controller: 'Controller',
+  state: 'State Machine',
+  calibration: 'Calibration',
+  system: 'System',
+};
+
+export type ConfigIssueLevel = 'error' | 'warn';
+
+export interface ConfigIssue {
+  /** The editor tab an operator opens to fix this. */
+  page: ConfigPageId;
+  level: ConfigIssueLevel;
+  /** Plain text — rendered by the editor and by the session page, so no markup. */
+  message: string;
+}
+
+/** The three state-machine CSVs, as raw file text. An absent file is ''. */
+export interface StateCsvSet {
+  actuators: string;
+  delays: string;
+  transitions: string;
+}
+
+// ── State-machine CSV grids ──────────────────────────────────────────────────
+// All three CSVs share one shape: the first row is state names (leading cell blank) and the first
+// column is the row key.
+
+export type CsvGrid = { states: string[]; rows: { key: string; cells: string[] }[] };
+
+export const parseCsvGrid = (text: string): CsvGrid => {
+  const lines = text.split('\n').map((l) => l.replace(/\r$/, '')).filter((l) => l.trim() !== '');
+  if (lines.length === 0) return { states: [], rows: [] };
+  const states = lines[0].split(',').slice(1).map((s) => s.trim());
+  const rows = lines
+    .slice(1)
+    .map((line) => {
+      const cells = line.split(',').map((c) => c.trim());
+      // Pad short rows rather than dropping them — several shipped CSVs are ragged, and silently
+      // losing the row would silently drop an actuator from every state.
+      return { key: cells[0], cells: states.map((_, i) => cells[i + 1] ?? '') };
+    })
+    .filter((r) => r.key !== '');
+  return { states, rows };
+};
+
+export const serializeCsvGrid = (g: CsvGrid): string =>
+  [
+    ',' + g.states.join(','),
+    ...g.rows.map((r) => [r.key, ...g.states.map((_, i) => r.cells[i] ?? '')].join(',')),
+  ].join('\n') + '\n';
+
+/** Rows/columns present in `have` but not `want`, and vice versa — the orphan/missing warnings. */
+export const diffKeys = (have: string[], want: string[]) => ({
+  orphan: have.filter((k) => !want.includes(k)),
+  missing: want.filter((k) => !have.includes(k)),
+});
+
+// ── Boards ───────────────────────────────────────────────────────────────────
+
+const BOARD_TYPE_LABEL: Record<string, string> = {
+  PT: 'PT', ACTUATOR: 'Actuator', LC: 'LC', TC: 'TC', RTD: 'RTD', ENCODER: 'Encoder',
+};
+
+/**
+ * Friendly board name for display: "PT Board #2" rather than the raw `pt_board_2` config key.
+ * Numbered by position among boards of the same type, so it tracks what is actually configured
+ * instead of parsing digits out of the key.
+ */
+export const boardDisplayName = (boards: Record<string, any>, boardKey: string): string => {
+  const type = boards?.[boardKey]?.type;
+  if (typeof type !== 'string' || !type) return boardKey;
+  const sameType = Object.keys(boards).filter((k) => boards[k]?.type === type);
+  const ordinal = sameType.indexOf(boardKey) + 1;
+  const label = BOARD_TYPE_LABEL[type] ?? type;
+  return sameType.length > 1 ? `${label} Board #${ordinal}` : `${label} Board`;
+};
+
+/**
+ * Every layer maps a board to an Elodin slot as board_id % 10 (0 → 10), and the packet id low
+ * byte is (slot-1) * 0x20 + 0x10 + channel — so only 8 slots fit in a byte, and two enabled
+ * boards of the same type on one slot merge into a single entity with no error anywhere.
+ *
+ * Same-type only: the packet id's high byte already separates the types, so a PT and an actuator
+ * board sharing a slot is fine. Mirrors check_board_slots() in
+ * lib/src/config/LoadActiveBoards.cpp.
+ */
+export const boardSlotIssue = (boards: Record<string, any>, boardKey: string): string | null => {
+  const board = boards?.[boardKey];
+  if (!board || board.enabled === false || typeof board.board_id !== 'number') return null;
+  const slotOf = (id: number) => (id % 10 === 0 ? 10 : id % 10);
+  const slot = slotOf(board.board_id);
+  if (slot > 8) {
+    return `Board ID ${board.board_id} maps to slot ${slot}, but packet IDs only encode slots 1-8.`;
+  }
+  const clash = Object.keys(boards).find((k) => k !== boardKey
+    && boards[k]?.enabled !== false
+    && boards[k]?.type === board.type
+    && typeof boards[k]?.board_id === 'number'
+    && slotOf(boards[k].board_id) === slot);
+  if (clash) {
+    return `Slot ${slot} is also claimed by ${boardDisplayName(boards, clash)} (ID ${boards[clash].board_id}) — their channels will merge.`;
+  }
+  return null;
+};
+
+// ── The rule set ─────────────────────────────────────────────────────────────
+
+/**
+ * Every reason this config is unfit to run, in the order an operator would work through them.
+ *
+ * `csv` is optional: on a box whose profile predates the state tables, the CSV rules simply do not
+ * run rather than reporting every state as missing. A config with no [[states]] at all skips the
+ * state-machine rules for the same reason — that is a different and much louder problem, and
+ * burying it under fifty derived complaints helps nobody.
+ */
+export function validateConfigForRun(config: any, csv?: Partial<StateCsvSet>): ConfigIssue[] {
+  const issues: ConfigIssue[] = [];
+  const add = (page: ConfigPageId, level: ConfigIssueLevel, message: string) =>
+    issues.push({ page, level, message });
+
+  // ── Boards ────────────────────────────────────────────────────────────────
+  const boards: Record<string, any> = (config?.boards && typeof config.boards === 'object')
+    ? config.boards : {};
+  for (const key of Object.keys(boards)) {
+    const msg = boardSlotIssue(boards, key);
+    if (msg) add('boards', 'error', `${boardDisplayName(boards, key)} (${key}): ${msg}`);
+  }
+
+  // ── Controller PWM assignment ─────────────────────────────────────────────
+  // The only statement of which hardware the controller drives. Unresolved means the controller
+  // comes up with its fire gate disabled, which an operator otherwise discovers mid-countdown.
+  for (const msg of validateControllerPwmActuators(config)) add('controller', 'error', msg);
+
+  // ── State machine ─────────────────────────────────────────────────────────
+  const stateList: any[] = Array.isArray(config?.states) ? config.states : [];
+  const grid = (text: string | undefined): CsvGrid | null =>
+    typeof text === 'string' && text.trim() !== '' ? parseCsvGrid(text) : null;
+  const gActuators = grid(csv?.actuators);
+  const gDelays = grid(csv?.delays);
+  const gTransitions = grid(csv?.transitions);
+
+  if (stateList.length > 0) {
+    // Ids and names are both lookup keys: ids are what past runs stored, names are what the CSV
+    // columns resolve by. A duplicate of either silently drops a state on load.
+    const dupes = (vals: any[]) =>
+      [...new Set(vals.filter((v, i, arr) => v !== undefined && v !== '' && arr.indexOf(v) !== i))];
+    const idDupes = dupes(stateList.map((s) => s?.id));
+    const nameDupes = dupes(stateList.map((s) => s?.name));
+    if (idDupes.length)
+      add('state', 'error',
+        `Duplicate state id(s): ${idDupes.join(', ')} — the later entry wins and the earlier state disappears.`);
+    if (nameDupes.length)
+      add('state', 'error',
+        `Duplicate state name(s): ${nameDupes.join(', ')} — CSV columns resolve by name, so one of them is unreachable.`);
+    if (stateList.some((s) => !String(s?.name ?? '').trim()))
+      add('state', 'error', 'A state has an empty name — it cannot be referenced by any table.');
+
+    const names = stateList.map((s) => s?.name).filter(Boolean) as string[];
+
+    // The sequencer resolves transitions and actuator commands by state NAME, so a table column
+    // that does not match the state list is a state that commands nothing when entered.
+    const colCheck = (g: CsvGrid | null, label: string) => {
+      if (!g) return;
+      const d = diffKeys(g.states, names);
+      if (d.orphan.length)
+        add('state', 'error', `The ${label} table has column(s) that are not states: ${d.orphan.join(', ')}.`);
+      if (d.missing.length)
+        add('state', 'error', `The ${label} table is missing column(s) for state(s): ${d.missing.join(', ')} — entering them commands nothing.`);
+    };
+    colCheck(gActuators, 'Actuators');
+    colCheck(gDelays, 'Delays');
+    colCheck(gTransitions, 'Transitions');
+    if (gTransitions) {
+      const d = diffKeys(gTransitions.rows.map((r) => r.key), names);
+      if (d.orphan.length || d.missing.length)
+        add('state', 'error', 'The Transitions table rows do not match the state list — every state must have a row.');
+    }
+
+    if (stateList.every((s) => !s?.is_abort))
+      add('state', 'warn',
+        'No state is flagged Abort. Aborts are not disabled — the controller falls back to its built-in aborts (Engine / GSE / Emergency), which may not match these states.');
+
+    // The fire timer: on expiry the sequencer commands fire.state → fire.expiry_target. If that
+    // move is not allowed, the timer expires into a refused transition and the system stays in fire.
+    const fireState = String(config?.fire?.state ?? '');
+    const target = String(config?.fire?.expiry_target ?? '');
+    if (fireState && !names.includes(fireState))
+      add('state', 'error', `The fire state "${fireState}" is not in the state list.`);
+    if (target && !names.includes(target))
+      add('state', 'error', `The fire expiry target "${target}" is not in the state list.`);
+    if (gTransitions && fireState && target) {
+      const row = gTransitions.rows.find((x) => x.key === fireState);
+      const col = gTransitions.states.indexOf(target);
+      if (row && col >= 0 && (row.cells[col] || '0').trim() !== '1')
+        add('state', 'error',
+          `${fireState} → ${target} is not an allowed transition. The fire timer would expire into a refused transition and the system would stay in fire.`);
+    }
+  }
+
+  // Actuator rows are driven by [actuator_roles]; the CSV is what currently exists.
+  if (gActuators) {
+    const roleNames = Object.keys((config?.actuator_roles ?? {}) as Record<string, unknown>);
+    const d = diffKeys(gActuators.rows.map((r) => r.key), roleNames);
+    if (d.orphan.length)
+      add('state', 'warn', `In the Actuators table but not in [actuator_roles]: ${d.orphan.join(', ')} — these rows command nothing.`);
+    if (d.missing.length)
+      add('state', 'warn', `Configured but missing an Actuators row: ${d.missing.join(', ')} — the sequencer will never command these in any state.`);
+  }
+  if (gActuators && gDelays &&
+      (gDelays.states.length !== gActuators.states.length || gDelays.rows.length !== gActuators.rows.length))
+    add('state', 'warn', 'The Delays table has a different shape from the Actuators table — use “Sync rows” to rebuild both.');
+  if (gActuators && gTransitions) {
+    const d = diffKeys(gActuators.states, gTransitions.states);
+    if (d.orphan.length || d.missing.length)
+      add('state', 'warn', 'The Actuators and Transitions tables disagree on which states exist.');
+  }
+
+  return issues;
+}
+
+/** Group issues by the editor page that fixes them, preserving rule order within a page. */
+export function groupIssuesByPage(issues: ConfigIssue[]): { page: ConfigPageId; label: string; issues: ConfigIssue[] }[] {
+  const order = Object.keys(CONFIG_PAGE_LABELS) as ConfigPageId[];
+  return order
+    .map((page) => ({ page, label: CONFIG_PAGE_LABELS[page], issues: issues.filter((i) => i.page === page) }))
+    .filter((g) => g.issues.length > 0);
+}
+
+export const countByLevel = (issues: ConfigIssue[]) => ({
+  errors: issues.filter((i) => i.level === 'error').length,
+  warnings: issues.filter((i) => i.level === 'warn').length,
+});
diff --git a/daq-server/diablo_server/shared/package.json b/daq-server/diablo_server/shared/package.json
index e277bde37..e0ccf40ff 100644
--- a/daq-server/diablo_server/shared/package.json
+++ b/daq-server/diablo_server/shared/package.json
@@ -5,6 +5,6 @@
   "private": true,
   "scripts": {
     "build": "tsc -p tsconfig.json",
-    "check": "tsc -p tsconfig.json && git diff --exit-code -- types.js types.d.ts types.js.map types.d.ts.map"
+    "check": "tsc -p tsconfig.json && git diff --exit-code -- types.js types.d.ts types.js.map types.d.ts.map config-validation.js config-validation.d.ts config-validation.js.map config-validation.d.ts.map"
   }
 }
diff --git a/daq-server/diablo_server/shared/tsconfig.json b/daq-server/diablo_server/shared/tsconfig.json
index 477333d92..1befd6dc8 100644
--- a/daq-server/diablo_server/shared/tsconfig.json
+++ b/daq-server/diablo_server/shared/tsconfig.json
@@ -13,5 +13,5 @@
     "strict": true,
     "skipLibCheck": true
   },
-  "files": ["types.ts"]
+  "files": ["types.ts", "config-validation.ts"]
 }
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index b183ad5ef..0de3149e5 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -23,6 +23,7 @@ export declare enum MessageType {
     CONFIG_UPDATED = "config_updated",
     COUNTDOWN_TARGET_UPDATE = "countdown_target_update",
     SESSION_UPDATE = "session_update",
+    SESSION_START_BLOCKED = "session_start_blocked",// Server → Client: { issues, errors, warnings }
     BOARD_LOG = "board_log",// Server → Client: { boardId, ts, lines, truncated }
     CONTROL_STATUS = "control_status",// Server → Client: { operator, email }
     CONTROL_UNLOCK = "control_unlock",// Client → Server: {} (arm control; identity-gated)
@@ -129,6 +130,14 @@ export interface CommandPayload {
         simulated?: boolean;
         /** session_extend: milliseconds to push the auto-stop deadline out by. */
         addMs?: number;
+        /**
+         * session_start: run despite config issues. The backend validates the profile it is about to
+         * deploy and refuses the start when anything is wrong, answering with SESSION_START_BLOCKED;
+         * this flag is the operator's second press of Start, saying they have read the list and want
+         * the run anyway. Never set it on the first attempt — that would silently restore the old
+         * behaviour where config errors were advisory.
+         */
+        force?: boolean;
     };
 }
 /**
@@ -147,6 +156,22 @@ export interface SessionStatus {
     /** True when the active run is fed by the board simulator instead of hardware. */
     simulated: boolean;
 }
+/**
+ * Why a run refused to start: the config issues the backend found in the profile it was about to
+ * deploy. Sent only to the client that asked, in place of starting anything. The operator fixes
+ * them in the config editor, or presses Start again (SendCommand data.force) to run regardless.
+ */
+export interface SessionStartBlockedPayload {
+    issues: {
+        page: string;
+        level: 'error' | 'warn';
+        message: string;
+    }[];
+    errors: number;
+    warnings: number;
+    /** The profile that was validated — it is what session start deploys, not the running config. */
+    profile: string;
+}
 export interface ConnectionStatus {
     connected: boolean;
     elodinConnected: boolean;
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index 08e9c6fc2..b5e4f39e6 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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\ No newline at end of file
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\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.js b/daq-server/diablo_server/shared/types.js
index 4cc05d429..db440c119 100644
--- a/daq-server/diablo_server/shared/types.js
+++ b/daq-server/diablo_server/shared/types.js
@@ -27,6 +27,7 @@ export var MessageType;
     MessageType["CONFIG_UPDATED"] = "config_updated";
     MessageType["COUNTDOWN_TARGET_UPDATE"] = "countdown_target_update";
     MessageType["SESSION_UPDATE"] = "session_update";
+    MessageType["SESSION_START_BLOCKED"] = "session_start_blocked";
     MessageType["BOARD_LOG"] = "board_log";
     // Engine-control authorization (DAQ operator gate)
     MessageType["CONTROL_STATUS"] = "control_status";
diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index cb4b208f1..745935633 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
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\ No newline at end of file
+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WAgCX;AAhCD,WAAY,WAAW;IACrB,kBAAkB;IAClB,oDAAqC,CAAA;IACrC,wDAAyC,CAAA;IACzC,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;IAC/C,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EAhCW,WAAW,KAAX,WAAW,QAgCtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AAqVD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC;AAED,gFAAgF;AAChF;2FAC2F;AAC3F,MAAM,CAAC,MAAM,eAAe,GAAG,CAAC,UAAU,EAAE,QAAQ,CAAU,CAAC;AAG/D,sEAAsE;AACtE,MAAM,UAAU,gBAAgB,CAAC,MAAW;IAC1C,MAAM,GAAG,GAA6B,EAAE,QAAQ,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,CAAC;IACnE,MAAM,KAAK,GAAG,MAAM,EAAE,cAAc,CAAC;IACrC,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,GAAG,CAAC;IACpD,KAAK,MAAM,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,MAAM,CAAC,OAAO,CAAM,KAAK,CAAC,EAAE,CAAC;QACvD,MAAM,UAAU,GAAG,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,OAAO,KAAK,CAAC,CAAC,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QAC/F,IAAI,UAAU,IAAI,GAAG,CAAC,UAAU,CAAC;YAAE,GAAG,CAAC,UAAU,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChE,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED;;;;;;;;;;;;;GAaG;AACH,MAAM,UAAU,8BAA8B,CAAC,MAAW;IACxD,MAAM,KAAK,GAAG,MAAM,EAAE,cAAc,CAAC;IACrC,+FAA+F;IAC/F,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,EAAE,CAAC;IACnD,MAAM,QAAQ,GAAG,gBAAgB,CAAC,MAAM,CAAC,CAAC;IAC1C,IAAI,QAAQ,CAAC,QAAQ,CAAC,MAAM,KAAK,CAAC,IAAI,QAAQ,CAAC,MAAM,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC;IAE9E,MAAM,MAAM,GAAa,EAAE,CAAC;IAC5B,KAAK,MAAM,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,MAAM,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAU,EAAE,CAAC;QAC7E,MAAM,KAAK,GAAG,QAAQ,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACvB,MAAM,CAAC,IAAI,CAAC,4BAA4B,GAAG,6BAA6B,KAAK,qGAAqG,CAAC,CAAC;QACtL,CAAC;aAAM,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAC5B,MAAM,CAAC,IAAI,CAAC,GAAG,KAAK,CAAC,MAAM,4BAA4B,GAAG,MAAM,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,0BAA0B,CAAC,CAAC;QAC9G,CAAC;IACH,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC"}
\ No newline at end of file
diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index 08703bbad..edf75b505 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -28,6 +28,7 @@ export enum MessageType {
   CONFIG_UPDATED = 'config_updated',
   COUNTDOWN_TARGET_UPDATE = 'countdown_target_update',
   SESSION_UPDATE = 'session_update',
+  SESSION_START_BLOCKED = 'session_start_blocked',   // Server → Client: { issues, errors, warnings }
   BOARD_LOG = 'board_log',                           // Server → Client: { boardId, ts, lines, truncated }
 
   // Engine-control authorization (DAQ operator gate)
@@ -171,6 +172,14 @@ export interface CommandPayload {
     simulated?: boolean;
     /** session_extend: milliseconds to push the auto-stop deadline out by. */
     addMs?: number;
+    /**
+     * session_start: run despite config issues. The backend validates the profile it is about to
+     * deploy and refuses the start when anything is wrong, answering with SESSION_START_BLOCKED;
+     * this flag is the operator's second press of Start, saying they have read the list and want
+     * the run anyway. Never set it on the first attempt — that would silently restore the old
+     * behaviour where config errors were advisory.
+     */
+    force?: boolean;
   };
 }
 
@@ -191,6 +200,19 @@ export interface SessionStatus {
   simulated: boolean;
 }
 
+/**
+ * Why a run refused to start: the config issues the backend found in the profile it was about to
+ * deploy. Sent only to the client that asked, in place of starting anything. The operator fixes
+ * them in the config editor, or presses Start again (SendCommand data.force) to run regardless.
+ */
+export interface SessionStartBlockedPayload {
+  issues: { page: string; level: 'error' | 'warn'; message: string }[];
+  errors: number;
+  warnings: number;
+  /** The profile that was validated — it is what session start deploys, not the running config. */
+  profile: string;
+}
+
 // Connection status
 export interface ConnectionStatus {
   connected: boolean;
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index c096e9809..1ec4c585a 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,7 +5,9 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-08 against `1aeb97bc`.
-**Last updated:** 2026-09-08 — the controller PWM-mapping and FIRE-gate work landed, which
+**Last updated:** 2026-09-08 — the config-gate work landed, which turned the config editor's
+visual-only validation into a refusal at session start (and is recorded under Resolved, having been
+raised directly rather than filed here). Before that, the controller PWM-mapping and FIRE-gate work landed, which
 resolved both controller entries under High (correcting one's scope and the other's severity) and
 turned up the two-writers finding now filed there. Before that, the Elodin subscription work landed (and withdrew this file's
 claim that the heartbeat's 256-byte buffer was the problem); the DAQ-NIC pinning work landed, which merged and resolved the two
@@ -322,6 +324,37 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the config-gate work (2026-09-08)
+
+Not filed here — raised directly: the config editor's validation was **visual only**. It found real
+problems (board slot clashes, duplicate state ids, a fire timer expiring into a refused transition,
+an unassigned PWM output) and drew each one in red next to the field it concerned, and an operator
+could read it, navigate away, and start a run on exactly that config. Three of the rules blocked the
+editor's own Save button; none of them blocked **session start**, which is the one point where the
+active profile is copied into `config/config.toml` and the C++ services read it. Config that arrived
+by import, CSV upload or a hand-edited profile never passed the editor's guard at all.
+
+| Item | Resolution |
+|---|---|
+| Rules lived in the editor as JSX, so nothing else could evaluate them | **Fixed.** `shared/config-validation.ts` holds them as pure functions (config + the three state CSVs in, `ConfigIssue[]` out). Both the editor and the backend import it, and the editor's local copies of `parseCsvGrid` / `diffKeys` / `boardSlotIssue` / `boardDisplayName` are deleted — one copy of each rule, not two. |
+| Config errors did not stop a run | **Fixed.** `SessionManager.start()` validates the profile it is about to deploy and refuses. This is the enforcement point and the only one; a browser cannot skip it by not asking. Covered by `backend/src/__tests__/session-config-gate.test.ts` (hermetic: temp `CONFIG_PATH`, stubbed pipeline launcher), which fails 4/6 against the pre-gate code. |
+| A refusal must not half-start a run | **Fixed.** The gate runs before any field of `SessionManager` is assigned, so a refused start leaves `active`, `dbDir` and `deadlineMs` untouched and `config.toml` unchanged. The pre-existing failed-deploy path mutated them first and left a `dbDir` for a run that never began; it is now behind the same guard. |
+| Operators had no way to see the whole picture | **Fixed.** The refusal answers `SESSION_START_BLOCKED` with the issue list, and the session page renders it grouped by the config page that fixes each item, with a link to `/config?tab=<id>`. Pressing Start again sends `force` and runs anyway — the same decision, made deliberately. |
+| Rules and editor tabs could drift | **Fixed.** `CONFIG_PAGE_LABELS` in the shared module is now what builds the editor's tab bar, so an issue's `page` is by construction a tab that exists. |
+
+Two deliberate non-changes. **Warnings block too**, on the first press only: an operator who wanted
+a warning would not have configured it that way, and one press to look is cheap — but a gate that
+only fires on errors would leave "no state is flagged Abort" exactly as advisory as before.
+**Simulated runs are not gated**, for the same reason they skip the deploy: they read the committed
+`config_base → sim_config` overlay and never touch the profile, so gating them would block on config
+that is not in effect, which is precisely how operators learn to press Start twice by reflex.
+
+Turned up on the way, not fixed: the integration harness's own `[boards.integration_startup]` uses
+`board_id = 60`, which maps to Elodin slot 10 — outside the 1-8 a packet id can encode. The board
+works for what the test uses it for (startup self-test), and the editor would already have flagged
+it; `GET /api/config/validate` is just the first thing to say so out loud. Filed nowhere yet
+because it is test-harness config, not shipped config.
+
 ### By the controller PWM-mapping and FIRE-gate work (2026-09-08)
 
 Filed as two entries — *"the controller falls back to hardcoded actuator channels when role names
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index 3875dd6e7..5c46aae31 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -18,7 +18,7 @@
  * cal_stability, raw_cal_presence, heartbeat, board_status (Boards pane: all enabled boards connected),
  * selftest, state_transition,
  * state_debug, actuator_ws, actuator_udp, elodin_sync, controller, timestamps,
- * conservation — or numbers 1–6, 10–12, 14–15
+ * conservation, config_validate — or numbers 1–6, 10–12, 14–15
  * (same as printed test labels). Env INTEGRATION_ONLY is equivalent to --only.
  * Most IDs still need the full integration stack (Elodin, DAQ, calibration, backend);
  * state/actuator/elodin_sync need sequencer; controller needs controller_service; selftest
@@ -97,6 +97,7 @@ function parseOnlyTests(): Set<string> | null {
     'heartbeat', 'board_status', 'selftest', 'backend_debug_api',
     'state_transition', 'state_debug', 'actuator_ws', 'actuator_udp', 'elodin_sync',
     'controller', 'timestamps', 'conservation', 'board_logs', 'board_log_mode',
+    'config_validate',
   ]);
   for (const id of out) {
     if (!allowed.has(id)) {
@@ -1977,6 +1978,54 @@ async function testCalibrationModelSelection(): Promise<void> {
   assert(physics === 'physics', `cal_model_select: uid 2102 (GSE Low) active_model=physics (got ${physics})`);
 }
 
+/**
+ * GET /api/config/validate — the config gate's findings, exposed read-only.
+ *
+ * The gate itself lives in SessionManager.start() and is covered hermetically by
+ * backend/src/__tests__/session-config-gate.test.ts. What this pins is the wiring: the endpoint is
+ * mounted, it answers over real HTTP with the shape the session page renders, and its counts agree
+ * with the issues it returned. A `page` that is not one of the editor's tab ids would render as a
+ * blank heading with a dead "Open →" link, so that is checked too.
+ */
+async function testConfigValidateApi(): Promise<void> {
+  console.log('\n🧾 Test: GET /api/config/validate (session-start config gate)');
+  const body = await new Promise<string | null>((resolve) => {
+    // The thin backend serves /api on the WS port (same http server), as /api/debug does above.
+    const req = http.get(`http://127.0.0.1:${WS_PORT}/api/config/validate`, (res) => {
+      let data = '';
+      res.on('data', (c) => { data += c; });
+      res.on('end', () => resolve(res.statusCode === 200 ? data : null));
+    });
+    req.on('error', () => resolve(null));
+    req.setTimeout(5000, () => { req.destroy(); resolve(null); });
+  });
+  if (body == null) { assert(false, 'config_validate: endpoint did not answer 200'); return; }
+
+  let j: any;
+  try { j = JSON.parse(body); } catch { assert(false, 'config_validate: response was not JSON'); return; }
+
+  assert(typeof j.profile === 'string' && j.profile.length > 0,
+    `config_validate: names the profile it validated (${j.profile})`);
+  assert(Array.isArray(j.issues), 'config_validate: returns an issues array');
+  if (!Array.isArray(j.issues)) return;
+
+  const TAB_IDS = ['boards', 'roles', 'gui', 'controller', 'state', 'calibration', 'system'];
+  const badPage = j.issues.find((i: any) => !TAB_IDS.includes(i.page));
+  assert(!badPage,
+    `config_validate: every issue names a real config tab${badPage ? ` (got "${badPage.page}")` : ''}`);
+  const badLevel = j.issues.find((i: any) => i.level !== 'error' && i.level !== 'warn');
+  assert(!badLevel, 'config_validate: every issue is error or warn');
+  const errors = j.issues.filter((i: any) => i.level === 'error').length;
+  const warnings = j.issues.filter((i: any) => i.level === 'warn').length;
+  assert(j.errors === errors && j.warnings === warnings,
+    `config_validate: counts match the issues (${j.errors}/${j.warnings} vs ${errors}/${warnings})`);
+  if (j.issues.length > 0) {
+    console.log(`     (profile "${j.profile}" reports ${j.issues.length} issue(s):`);
+    for (const i of j.issues) console.log(`      [${i.page}/${i.level}] ${i.message}`);
+    console.log('     — this is reported, not asserted: the gate blocks a first Start on them.)');
+  }
+}
+
 // Read the service's cubic_calibration.json record for a uid (fresh each capture/clear).
 function readCalRecord(uid: number): Record<string, unknown> | null {
   const dir = findCalDir();
@@ -2991,6 +3040,7 @@ async function main(): Promise<void> {
     if (runTest('cal_stability')) await testCalibratedDataStability(ws);
     if (runTest('cal_values')) await testCalibratedValueCorrectness(ws);
     if (IS_THIN && runTest('cal_model_select')) await testCalibrationModelSelection();
+    if (IS_THIN && runTest('config_validate')) await testConfigValidateApi();
     if (IS_THIN) {
       if (runTest('heartbeat')) await testServerHeartbeatUdp(ws);
       if (runTest('board_status')) await testBoardStatusToFrontend(ws);

From a9eebbb953f3b8256cff1e7c599abd94a317fe9b Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 8 Sep 2026 17:11:56 -0700
Subject: [PATCH 195/205] =?UTF-8?q?test=5Fintegration.sh=20never=20declare?=
 =?UTF-8?q?d=20which=20NIC=20it=20uses,=20so=20it=20stopped=20starting=20o?=
 =?UTF-8?q?n=20any=20box=20that=20actually=20has=20the=20DAQ=20NIC=20?=
 =?UTF-8?q?=E2=80=94=20the=20harness=20talks=20to=20a=20simulator=20on=20l?=
 =?UTF-8?q?oopback=20but=20left=20[network].bind=5Fip=20at=200.0.0.0,=20wh?=
 =?UTF-8?q?ich=20sends=20the=20services=20down=20the=20auto-resolve=20path?=
 =?UTF-8?q?=20added=20in=20810cfd46,=20and=20with=20eth2=20192.168.2.20=20?=
 =?UTF-8?q?present=20alongside=20lo=20the=20configured=20board=20subnet=20?=
 =?UTF-8?q?192.168.2.0/24=20is=20reachable=20on=20two=20interfaces,=20so?=
 =?UTF-8?q?=20sequencer=5Fservice=20and=20daq=5Fbridge=20both=20refused=20?=
 =?UTF-8?q?to=20start=20rather=20than=20guess=20an=20egress=20interface;?=
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 =?UTF-8?q?t=20of=20that=20change,=20so=20this=20pins=20bind=5Fip=20=3D=20?=
 =?UTF-8?q?"127.0.0.1"=20in=20the=20generated=20test=20config=20for=20the?=
 =?UTF-8?q?=20same=20reason=20the=20harness=20already=20pins=20broadcast?=
 =?UTF-8?q?=5Fip=20to=20localhost=20=E2=80=94=20the=20test=20knows=20it=20?=
 =?UTF-8?q?runs=20on=20loopback,=20it=20just=20never=20said=20so?=
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 daq-server/test/test_integration.sh | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/daq-server/test/test_integration.sh b/daq-server/test/test_integration.sh
index 16b9ff354..348b565c5 100644
--- a/daq-server/test/test_integration.sh
+++ b/daq-server/test/test_integration.sh
@@ -386,6 +386,13 @@ sedi "s/^downsample_mode = .*/downsample_mode = \"$INTEGRATION_GUI_MODE\"/" "$TE
 sedi 's/^points_per_second = .*/points_per_second = 4/' "$TEST_CONFIG"
 # Point heartbeat broadcast to localhost to avoid sending to the real subnet
 sedi 's/^broadcast_ip = .*/broadcast_ip = "127.0.0.1"/' "$TEST_CONFIG"
+# Same reasoning for the egress bind: everything here talks to a simulator on
+# loopback, so say so. Left as 0.0.0.0 the services auto-resolve the interface
+# holding the board subnet and refuse to start when it is ambiguous — which it
+# now is on any machine that actually has the DAQ NIC (lo 127.0.0.1 plus
+# eth2 192.168.2.20 both match), i.e. the apps box and any dev box configured
+# like it. The refusal is correct; the harness just has to declare its intent.
+sedi 's/^bind_ip = .*/bind_ip = "127.0.0.1"/' "$TEST_CONFIG"
 # Short burn: the fire lifecycle check asserts the configured duration is honoured, so the value
 # just has to be distinguishable from FireManager's 6000 ms default — no need to sit through a
 # realistic burn on every CI run.

From c12dba554dc716c4690f863b893496b11a14e874 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 8 Sep 2026 17:12:22 -0700
Subject: [PATCH 196/205] =?UTF-8?q?broadcast()=20handed=20every=20message?=
 =?UTF-8?q?=20to=20ws.send()=20and=20never=20read=20ws.bufferedAmount,=20s?=
 =?UTF-8?q?o=20a=20client=20that=20stopped=20draining=20had=20every=20subs?=
 =?UTF-8?q?equent=20frame=20queued=20in=20the=20backend's=20heap=20without?=
 =?UTF-8?q?=20limit=20=E2=80=94=20~47=20live=20streams=20at=2020=20pts/s?=
 =?UTF-8?q?=20is=20~124=20KB/s=20per=20stalled=20client,=20~460=20MB/hour,?=
 =?UTF-8?q?=20and=20this=20is=20the=20one=20process=20feeding=20every=20da?=
 =?UTF-8?q?shboard,=20which=20is=20why=20the=20standing=20workaround=20was?=
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 =?UTF-8?q?nd=20therefore=20gives=20up=20currency=20without=20bound:=20the?=
 =?UTF-8?q?=20tablet=20renders=20a=20smooth,=20plausible,=20coherent=20plo?=
 =?UTF-8?q?t=20that=20is=20minutes=20old=20with=20no=20gap,=20no=20stale?=
 =?UTF-8?q?=20badge=20and=20readyState=20still=20OPEN,=20which=20on=20a=20?=
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 =?UTF-8?q?;=20before=20each=20flush=20the=20ladder=20is=20squeezed=20to?=
 =?UTF-8?q?=20a=20latency=20budget=20taken=20from=20the=20client's=20measu?=
 =?UTF-8?q?red=20drain=20rate=20(bytes=20handed=20to=20the=20socket=20over?=
 =?UTF-8?q?=20the=20time=20the=20socket=20took=20to=20empty),=20so=20what?=
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 =?UTF-8?q?er/variable=20lag=20to=20fixed=20lag/variable=20resolution=20?=
 =?UTF-8?q?=E2=80=94=20at=20a=201.5=20s=20budget=20lag=20holds=20at=20<=3D?=
 =?UTF-8?q?1.6=20s=20across=202000=20to=2020=20KB/s=20while=20resolution?=
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 =?UTF-8?q?s=20untouched=20because=20its=20outbox=20holds=20one=20window?=
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 =?UTF-8?q?ings=20had=20to=20be=20right=20for=20it=20to=20be=20safe:=20the?=
 =?UTF-8?q?=20flush=20fires=20only=20when=20the=20socket=20has=20actually?=
 =?UTF-8?q?=20DRAINED=20rather=20than=20merely=20dropped=20below=20a=20low?=
 =?UTF-8?q?-water=20mark=20(simulated=20with=20a=2032=20KB=20mark=20the=20?=
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 =?UTF-8?q?),=20and=20only=20SENSOR=5FUPDATE=20passes=20through=20the=20ou?=
 =?UTF-8?q?tbox=20while=20NOTIFICATION/STATE=5FUPDATE/SESSION=5FUPDATE/ACT?=
 =?UTF-8?q?UATOR=5FUPDATE=20keep=20going=20out=20directly,=20because=20sen?=
 =?UTF-8?q?sor=20samples=20are=20idempotent=20and=20the=20next=20supersede?=
 =?UTF-8?q?s=20the=20last=20but=20a=20state=20transition=20or=20an=20abort?=
 =?UTF-8?q?=20notification=20is=20not;=20also=20the=2030=20s=20ping/pong?=
 =?UTF-8?q?=20reaper=20so=20a=20peer=20that=20vanished=20without=20a=20FIN?=
 =?UTF-8?q?=20stops=20living=20in=20wss.clients=20forever,=20SENSOR=5FDATA?=
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 =?UTF-8?q?=20throttled=20client=20reading=20current-but-coarse=20data=20d?=
 =?UTF-8?q?oes=20not=20blink=20"Data=20Pipeline=20Down"=20between=20batche?=
 =?UTF-8?q?s,=20and=20a=20Throttled=20-=20N%=20badge=20extracted=20into=20?=
 =?UTF-8?q?lib/connection-badge.ts=20from=20the=20nested=20ternary=20dupli?=
 =?UTF-8?q?cated=20verbatim=20in=20TopBar=20and=20MobileDashboard,=20ranke?=
 =?UTF-8?q?d=20below=20Disconnected/Data=20Pipeline=20Down=20so=20it=20can?=
 =?UTF-8?q?not=20mask=20an=20outage=20and=20orange=20because=20yellow=20al?=
 =?UTF-8?q?ready=20means=20the=20pipeline=20is=20down,=20with=20every=20va?=
 =?UTF-8?q?lue=20on=20it=20computed=20in=20the=20backend=20since=20resolut?=
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 =?UTF-8?q?eceives=20and=20lagMs=20needs=20the=20server=20clock;=20encoder?=
 =?UTF-8?q?s=20were=20exempt=20from=20every=20cap=20and=20are=20now=20capp?=
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 =?UTF-8?q?=20(default=20100)=20rather=20than=20the=2020=20pts/s=20GUI=20b?=
 =?UTF-8?q?udget,=20because=20OscopeTriggerPlot=20measures=20valve=20actua?=
 =?UTF-8?q?tion=20timing=20from=20those=20samples=20and=20100=20ms=20windo?=
 =?UTF-8?q?ws=20would=20quantize=20it=20away=20=E2=80=94=20at=20the=20boar?=
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 =?UTF-8?q?=20and=20not=20a=20downsample=20of=20this=20one;=20SUBSCRIBE=5F?=
 =?UTF-8?q?SENSOR/UNSUBSCRIBE=5FSENSOR=20are=20deleted=20rather=20than=20i?=
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 =?UTF-8?q?=20and=20never=20revised=20it;=20/api/debug=20reports=20wsBuffe?=
 =?UTF-8?q?redBytes,=20outboxWindowsHeld=20and=20heapUsedMb=20so=20"the=20?=
 =?UTF-8?q?dashboards=20are=20stuck"=20is=20one=20curl=20instead=20of=20a?=
 =?UTF-8?q?=20restart,=20asserted=20in=20the=20integration=20run,=20and=20?=
 =?UTF-8?q?covered=20by=2019=20backend=20cases=20on=20the=20ladder=20and?=
 =?UTF-8?q?=20the=20squeeze=20plus=2011=20frontend=20cases=20on=20the=20ba?=
 =?UTF-8?q?dge=20precedence,=20of=20which=205=20fail=20with=20the=20latenc?=
 =?UTF-8?q?y=20budget=20disabled,=201=20with=20the=20drain=20reversed=20an?=
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MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

---
 daq-server/config/config_base.toml            |   5 +
 .../config/profiles/default/config.toml       |   5 +
 .../config/profiles/digital-twin/config.toml  |   5 +
 daq-server/config/profiles/server/config.toml |   5 +
 .../src/__tests__/client-outbox.test.ts       | 219 +++++++++++
 .../backend/src/__tests__/gui-stream.test.ts  |  37 +-
 .../backend/src/client-outbox.ts              | 365 ++++++++++++++++++
 .../diablo_server/backend/src/gui-stream.ts   |  56 ++-
 .../diablo_server/backend/src/server.ts       | 249 ++++++++++--
 .../__tests__/connection-badge.test.ts        |  83 ++++
 .../__tests__/plot-time-cache.test.ts         |  14 +-
 .../frontend/__tests__/types.test.ts          |   1 -
 .../frontend/app/controller/page.tsx          |  23 --
 .../components/dashboard/MobileDashboard.tsx  |  17 +-
 .../frontend/components/dashboard/TopBar.tsx  |  17 +-
 .../frontend/lib/connection-badge.ts          |  71 ++++
 .../diablo_server/frontend/lib/sensor-rate.ts |  24 +-
 .../diablo_server/frontend/lib/store.ts       |   2 +-
 .../diablo_server/frontend/lib/websocket.ts   |  57 +--
 daq-server/diablo_server/shared/types.d.ts    |   8 +-
 .../diablo_server/shared/types.d.ts.map       |   2 +-
 daq-server/diablo_server/shared/types.js      |   2 -
 daq-server/diablo_server/shared/types.js.map  |   2 +-
 daq-server/diablo_server/shared/types.ts      |  14 +-
 daq-server/docs/IMPROVEMENTS.md               |  99 +++--
 daq-server/test/ws_data_flow_test.ts          |  44 ++-
 26 files changed, 1226 insertions(+), 200 deletions(-)
 create mode 100644 daq-server/diablo_server/backend/src/__tests__/client-outbox.test.ts
 create mode 100644 daq-server/diablo_server/backend/src/client-outbox.ts
 create mode 100644 daq-server/diablo_server/frontend/__tests__/connection-badge.test.ts
 create mode 100644 daq-server/diablo_server/frontend/lib/connection-badge.ts

diff --git a/daq-server/config/config_base.toml b/daq-server/config/config_base.toml
index 208a41e1d..163e40c6a 100644
--- a/daq-server/config/config_base.toml
+++ b/daq-server/config/config_base.toml
@@ -35,6 +35,11 @@ connection_retry_delay_ms = 1000
 [gui]
 downsample_mode = "envelope"
 points_per_second = 20
+# Encoders ([0x24]) get their own, much higher budget: they feed the scope
+# view's valve-actuation timing (inter-encoder skew, plateau detection), which
+# the 20 pts/s GUI budget would quantize away. At the boards' ~48 Hz this is a
+# no-op -- it bounds a faster encoder board, it does not downsample this one.
+encoder_points_per_second = 100
 tabs = [
   "unified",
   "lcs-tcs-rtd",
diff --git a/daq-server/config/profiles/default/config.toml b/daq-server/config/profiles/default/config.toml
index 4693c4074..307c4c6d9 100644
--- a/daq-server/config/profiles/default/config.toml
+++ b/daq-server/config/profiles/default/config.toml
@@ -35,6 +35,11 @@ connection_retry_delay_ms = 1000
 [gui]
 downsample_mode = "envelope"
 points_per_second = 20
+# Encoders ([0x24]) get their own, much higher budget: they feed the scope
+# view's valve-actuation timing (inter-encoder skew, plateau detection), which
+# the 20 pts/s GUI budget would quantize away. At the boards' ~48 Hz this is a
+# no-op -- it bounds a faster encoder board, it does not downsample this one.
+encoder_points_per_second = 100
 tabs = [
   "unified",
   "lcs-tcs-rtd",
diff --git a/daq-server/config/profiles/digital-twin/config.toml b/daq-server/config/profiles/digital-twin/config.toml
index 63e6e88a2..2376a5c86 100644
--- a/daq-server/config/profiles/digital-twin/config.toml
+++ b/daq-server/config/profiles/digital-twin/config.toml
@@ -40,6 +40,11 @@ connection_retry_delay_ms = 1000
 [gui]
 downsample_mode = "envelope"
 points_per_second = 20
+# Encoders ([0x24]) get their own, much higher budget: they feed the scope
+# view's valve-actuation timing (inter-encoder skew, plateau detection), which
+# the 20 pts/s GUI budget would quantize away. At the boards' ~48 Hz this is a
+# no-op -- it bounds a faster encoder board, it does not downsample this one.
+encoder_points_per_second = 100
 tabs = [ "unified", "boards", "config", "calibration", "session" ]
 
 [[gui.pressure_bars]]
diff --git a/daq-server/config/profiles/server/config.toml b/daq-server/config/profiles/server/config.toml
index 4f907720c..aca41583b 100644
--- a/daq-server/config/profiles/server/config.toml
+++ b/daq-server/config/profiles/server/config.toml
@@ -40,6 +40,11 @@ connection_retry_delay_ms = 1000
 [gui]
 downsample_mode = "envelope"
 points_per_second = 20
+# Encoders ([0x24]) get their own, much higher budget: they feed the scope
+# view's valve-actuation timing (inter-encoder skew, plateau detection), which
+# the 20 pts/s GUI budget would quantize away. At the boards' ~48 Hz this is a
+# no-op -- it bounds a faster encoder board, it does not downsample this one.
+encoder_points_per_second = 100
 tabs = [ "unified", "boards", "config", "session" ]
 
 # Explicit sensor→page membership (replaces role-name substring parsing in the plot pages).
diff --git a/daq-server/diablo_server/backend/src/__tests__/client-outbox.test.ts b/daq-server/diablo_server/backend/src/__tests__/client-outbox.test.ts
new file mode 100644
index 000000000..a11e07baf
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/__tests__/client-outbox.test.ts
@@ -0,0 +1,219 @@
+import { describe, it, expect } from 'vitest';
+import {
+  ClientOutbox,
+  FlushPacer,
+  mergeWindows,
+  SOCKET_IDLE_BYTES,
+  type OutboxWindow,
+} from '../client-outbox.js';
+
+const W = (t0: number, t1: number, min: number, minTs: number, max: number, maxTs: number)
+  : OutboxWindow => ({ t0, t1, min, minTs, max, maxTs });
+
+/** Feed one closed envelope window (min then max, chronological). */
+function pushWindow(ob: ClientOutbox, key: string, tMs: number, min: number, max: number): void {
+  ob.push(key, 'PT_Cal', 'CH3', min === max
+    ? [{ tMs, value: min }]
+    : [{ tMs, value: min }, { tMs: tMs + 50, value: max }]);
+}
+
+/** Every point of a drain, flattened in the order it would go on the wire. */
+function drainPoints(ob: ClientOutbox) {
+  return ob.drain().flatMap((s) => s.points);
+}
+
+describe('mergeWindows', () => {
+  it('keeps each extreme with its own original timestamp', () => {
+    const a = W(0, 100, 10, 20, 50, 80);
+    const b = W(100, 200, 3, 190, 40, 110);
+    const m = mergeWindows(a, b);
+    expect(m).toEqual({ t0: 0, t1: 200, min: 3, minTs: 190, max: 50, maxTs: 80 });
+  });
+
+  it('widens the span to cover both windows', () => {
+    const m = mergeWindows(W(5, 10, 1, 6, 2, 7), W(10, 25, 1, 11, 2, 12));
+    expect(m.t0).toBe(5);
+    expect(m.t1).toBe(25);
+  });
+});
+
+describe('ClientOutbox ladder', () => {
+  it('holds nothing back for a client that drains every tick', () => {
+    const ob = new ClientOutbox();
+    // A healthy client flushes after every window, so level 0 never fills and
+    // the compaction path never runs at all.
+    const seen: number[] = [];
+    for (let i = 0; i < 200; i++) {
+      pushWindow(ob, 'k', i * 100, i, i + 1);
+      expect(ob.windowsHeld).toBe(1);
+      seen.push(...drainPoints(ob).map((p) => p.value));
+    }
+    // Every produced point arrived, none merged.
+    expect(seen).toHaveLength(400);
+    expect(ob.resolutionRatio()).toBe(1);
+  });
+
+  it('never exceeds levelCapacity x levelCount windows however long the stall', () => {
+    const ob = new ClientOutbox({ levelCapacity: 8, levelCount: 8 });
+    for (let i = 0; i < 20_000; i++) pushWindow(ob, 'k', i * 100, i, i + 1);
+    expect(ob.windowsHeld).toBeLessThanOrEqual(64);
+  });
+
+  it('preserves the run peak at its exact timestamp across many compactions', () => {
+    const ob = new ClientOutbox({ levelCapacity: 8, levelCount: 8 });
+    // 600 windows = a 60 s stall at 100 ms windows, with one spike partway in.
+    for (let i = 0; i < 600; i++) {
+      if (i === 82) pushWindow(ob, 'k', 8200, 400, 620);   // the ignition spike
+      else pushWindow(ob, 'k', i * 100, 440, 460);
+    }
+    const pts = drainPoints(ob);
+    const peak = pts.reduce((a, p) => (p.value > a.value ? p : a));
+    expect(peak.value).toBe(620);
+    expect(peak.tMs).toBe(8250);   // max point of that window, unmoved
+  });
+
+  it('emits strictly ascending timestamps through a stall-then-drain cycle', () => {
+    // data-cache.ts addDataPoint drops anything older than its ring head, so a
+    // single inversion here would silently lose points in the browser.
+    const ob = new ClientOutbox({ levelCapacity: 4, levelCount: 6 });
+    for (let i = 0; i < 500; i++) {
+      pushWindow(ob, 'k', i * 100, Math.sin(i) * 10, Math.cos(i) * 10 + 20);
+    }
+    const pts = drainPoints(ob);
+    expect(pts.length).toBeGreaterThan(1);
+    for (let i = 1; i < pts.length; i++) {
+      expect(pts[i].tMs).toBeGreaterThan(pts[i - 1].tMs);
+    }
+  });
+
+  it('drops the oldest data, not the newest, once coverage is exceeded', () => {
+    const ob = new ClientOutbox({ levelCapacity: 2, levelCount: 3 });  // tiny coverage
+    for (let i = 0; i < 400; i++) pushWindow(ob, 'k', i * 100, i, i + 1);
+    const pts = drainPoints(ob);
+    const newest = pts[pts.length - 1];
+    // The most recent window must always survive; the run started at t=0 and
+    // that end is what should have fallen off.
+    expect(newest.tMs).toBeGreaterThan(39_000);
+    expect(pts[0].tMs).toBeGreaterThan(0);
+  });
+
+  it('keeps each series independent', () => {
+    const ob = new ClientOutbox();
+    for (let i = 0; i < 50; i++) {
+      pushWindow(ob, 'a', i * 100, 1, 2);
+      pushWindow(ob, 'b', i * 100, 5, 6);
+    }
+    const flush = ob.drain();
+    expect(flush.map((f) => f.key).sort()).toEqual(['a', 'b']);
+    expect(flush.find((f) => f.key === 'a')!.points.every((p) => p.value <= 2)).toBe(true);
+    expect(flush.find((f) => f.key === 'b')!.points.every((p) => p.value >= 5)).toBe(true);
+  });
+});
+
+describe('ClientOutbox.squeeze', () => {
+  it('brings a dump under budget across three orders of magnitude', () => {
+    for (const budget of [2_000_000, 200_000, 20_000, 2_000]) {
+      const ob = new ClientOutbox({ levelCapacity: 8, levelCount: 10 });
+      for (let k = 0; k < 47; k++) {
+        for (let i = 0; i < 600; i++) pushWindow(ob, `k${k}`, i * 100, i, i + 1);
+      }
+      ob.squeeze(budget);
+      // Floor: one window per series is never squeezed away, so a budget below
+      // that cannot be met — assert the floor rather than the budget there.
+      const floor = 47 * 2 * 135;
+      expect(ob.estimatedBytes()).toBeLessThanOrEqual(Math.max(budget, floor));
+    }
+  });
+
+  it('never squeezes a series below one window', () => {
+    const ob = new ClientOutbox();
+    for (let i = 0; i < 600; i++) pushWindow(ob, 'k', i * 100, i, i + 1);
+    ob.squeeze(1);
+    expect(ob.windowsHeld).toBe(1);
+    expect(drainPoints(ob).length).toBeGreaterThan(0);
+  });
+
+  it('still preserves the peak after being squeezed hard', () => {
+    const ob = new ClientOutbox();
+    for (let i = 0; i < 600; i++) {
+      if (i === 82) pushWindow(ob, 'k', 8200, 400, 620);
+      else pushWindow(ob, 'k', i * 100, 440, 460);
+    }
+    ob.squeeze(500);
+    const pts = drainPoints(ob);
+    expect(Math.max(...pts.map((p) => p.value))).toBe(620);
+  });
+
+  it('reports whether it dropped anything, for the operator badge', () => {
+    const quiet = new ClientOutbox();
+    pushWindow(quiet, 'k', 0, 1, 2);
+    quiet.squeeze(10_000_000);
+    expect(quiet.squeezeDroppedLast).toBe(false);
+
+    const busy = new ClientOutbox();
+    for (let i = 0; i < 600; i++) pushWindow(busy, 'k', i * 100, i, i + 1);
+    busy.squeeze(1000);
+    expect(busy.squeezeDroppedLast).toBe(true);
+  });
+});
+
+describe('FlushPacer', () => {
+  it('holds off while the socket still has a backlog', () => {
+    const p = new FlushPacer();
+    expect(p.shouldFlush(SOCKET_IDLE_BYTES * 10, 1000)).toBe(false);
+    expect(p.shouldFlush(0, 1000)).toBe(true);
+  });
+
+  it('learns the drain rate from how long a dump took to clear', () => {
+    const p = new FlushPacer(1500, 1_000_000);
+    // 100 KB handed over, socket empty 2 s later => ~50 KB/s.
+    p.noteFlush(100_000, 0);
+    p.shouldFlush(0, 2000);
+    expect(p.measuredRateBps).toBeGreaterThan(100_000);
+    expect(p.measuredRateBps).toBeLessThan(1_000_000);
+    for (let i = 0; i < 30; i++) {                 // let the EMA settle
+      p.noteFlush(100_000, i * 2000);
+      p.shouldFlush(0, i * 2000 + 2000);
+    }
+    expect(p.measuredRateBps).toBeGreaterThan(45_000);
+    expect(p.measuredRateBps).toBeLessThan(55_000);
+  });
+
+  it('turns the measured rate into a latency budget', () => {
+    const p = new FlushPacer(1500, 50_000);
+    expect(p.budgetBytes).toBe(75_000);   // 50 KB/s x 1.5 s
+  });
+});
+
+describe('lag stays within the budget on a slow link', () => {
+  // The assertion that actually pins the design. A regression to fixed-K
+  // compaction (no squeeze) shows up here as multi-second lag on 50 KB/s.
+  it.each([
+    ['2000 KB/s', 2000 * 1024],
+    ['200 KB/s', 200 * 1024],
+    ['50 KB/s', 50 * 1024],
+    ['20 KB/s', 20 * 1024],
+  ])('%s', (_label, linkBps) => {
+    const TICK = 100, TARGET = 1500, KEYS = 47;
+    const ob = new ClientOutbox();
+    const pacer = new FlushPacer(TARGET, linkBps);
+    let buffered = 0, lastFlush = 0, maxLag = 0;
+
+    for (let tick = 1; tick <= 3000; tick++) {
+      const now = tick * TICK;
+      buffered = Math.max(0, buffered - (linkBps * TICK) / 1000);
+      for (let k = 0; k < KEYS; k++) pushWindow(ob, `k${k}`, now, k, k + 1);
+
+      if (pacer.shouldFlush(buffered, now)) {
+        ob.squeeze(pacer.budgetBytes);
+        const bytes = ob.estimatedBytes();
+        ob.drain();
+        buffered += bytes;
+        pacer.noteFlush(bytes, now);
+        lastFlush = now;
+      }
+      if (tick > 1000) maxLag = Math.max(maxLag, now - lastFlush);
+    }
+    expect(maxLag).toBeLessThanOrEqual(TARGET * 2);
+  });
+});
diff --git a/daq-server/diablo_server/backend/src/__tests__/gui-stream.test.ts b/daq-server/diablo_server/backend/src/__tests__/gui-stream.test.ts
index 5964ef0cf..80f215c18 100644
--- a/daq-server/diablo_server/backend/src/__tests__/gui-stream.test.ts
+++ b/daq-server/diablo_server/backend/src/__tests__/gui-stream.test.ts
@@ -2,6 +2,7 @@ import { describe, it, expect } from 'vitest';
 import {
   parseGuiStreamConfig,
   envelopeWindowMs,
+  encoderWindowMs,
   EnvelopeAccumulator,
   DEFAULT_GUI_STREAM_CONFIG,
 } from '../gui-stream.js';
@@ -18,9 +19,9 @@ describe('parseGuiStreamConfig', () => {
 
   it('accepts valid mode and rate', () => {
     expect(parseGuiStreamConfig({ gui: { downsample_mode: 'throttle', points_per_second: 10 } }))
-      .toEqual({ mode: 'throttle', pointsPerSecond: 10 });
+      .toEqual({ mode: 'throttle', pointsPerSecond: 10, encoderPointsPerSecond: 100 });
     expect(parseGuiStreamConfig({ gui: { downsample_mode: 'envelope' } }))
-      .toEqual({ mode: 'envelope', pointsPerSecond: 20 });
+      .toEqual({ mode: 'envelope', pointsPerSecond: 20, encoderPointsPerSecond: 100 });
   });
 
   it('rejects out-of-range rates (bad config edit cannot take the stream down)', () => {
@@ -30,8 +31,36 @@ describe('parseGuiStreamConfig', () => {
   });
 
   it('computes window length as pointsPerSecond/2 windows per second', () => {
-    expect(envelopeWindowMs({ mode: 'envelope', pointsPerSecond: 20 })).toBe(100);
-    expect(envelopeWindowMs({ mode: 'envelope', pointsPerSecond: 10 })).toBe(200);
+    expect(envelopeWindowMs({ mode: 'envelope', pointsPerSecond: 20, encoderPointsPerSecond: 100 })).toBe(100);
+    expect(envelopeWindowMs({ mode: 'envelope', pointsPerSecond: 10, encoderPointsPerSecond: 100 })).toBe(200);
+  });
+
+  it('gives encoders their own, much shorter window', () => {
+    // Encoders feed OscopeTriggerPlot's valve-timing measurement, which the GUI
+    // budget's 100 ms windows would quantize away.
+    const cfg = parseGuiStreamConfig({ gui: { points_per_second: 20 } });
+    expect(cfg.encoderPointsPerSecond).toBe(100);
+    expect(encoderWindowMs(cfg)).toBe(20);
+    expect(encoderWindowMs(cfg)).toBeLessThan(envelopeWindowMs(cfg));
+  });
+
+  it('reads and bounds encoder_points_per_second', () => {
+    expect(parseGuiStreamConfig({ gui: { encoder_points_per_second: 500 } }).encoderPointsPerSecond).toBe(500);
+    expect(parseGuiStreamConfig({ gui: { encoder_points_per_second: 1e9 } }).encoderPointsPerSecond).toBe(100);
+    expect(parseGuiStreamConfig({ gui: { encoder_points_per_second: -5 } }).encoderPointsPerSecond).toBe(100);
+  });
+
+  it('is a no-op at the boards\' real ~48 Hz encoder rate', () => {
+    // One sample per 20 ms window => min == max => a single point passes
+    // through unchanged. This is a ceiling against a faster board, not a
+    // downsample of the current one.
+    const acc = new EnvelopeAccumulator(20);
+    const out: number[] = [];
+    for (let i = 0; i < 20; i++) {
+      // ~48 Hz => ~20.8 ms spacing, just over one window each.
+      for (const p of acc.add('ENC1.CH1', 'ENC1.CH1', 'raw_angle', i * 21, 100 + i)) out.push(p.value);
+    }
+    expect(out).toEqual(Array.from({ length: 19 }, (_, i) => 100 + i));
   });
 });
 
diff --git a/daq-server/diablo_server/backend/src/client-outbox.ts b/daq-server/diablo_server/backend/src/client-outbox.ts
new file mode 100644
index 000000000..959fdefc3
--- /dev/null
+++ b/daq-server/diablo_server/backend/src/client-outbox.ts
@@ -0,0 +1,365 @@
+/**
+ * Per-client sensor outbox — bounds what a slow WebSocket client costs the
+ * backend, and bounds how far behind it can fall.
+ *
+ * The problem this replaces: broadcast() handed every message to ws.send() and
+ * never looked at ws.bufferedAmount, so a client that stopped draining had every
+ * subsequent frame queued in the backend's heap without limit. Worse than the
+ * memory, a FIFO queue guarantees *completeness* and therefore gives up
+ * *currency* without bound — the tablet renders a smooth, plausible plot that is
+ * minutes old, with no gap and no stale badge to give it away. For live
+ * telemetry, correct means current.
+ *
+ * So this is not a queue. It is a staging area that throws away *resolution*
+ * instead of *time*:
+ *
+ *  - Sensor samples arrive as min/max windows (the shape EnvelopeAccumulator
+ *    already produces) and land in a tiered ladder: level 0 holds the newest at
+ *    full resolution; when a level overflows, its two OLDEST windows merge into
+ *    one that is appended to the next level up. A window therefore only ever
+ *    merges with a same-resolution neighbour and is never re-merged repeatedly,
+ *    which is what keeps old data from collapsing into a single useless span.
+ *  - Merging keeps the smaller min and the larger max WITH THEIR ORIGINAL
+ *    TIMESTAMPS, so a pressure spike survives any number of compactions at its
+ *    true time. Resolution degrades around it; the peak does not move.
+ *  - Before each flush, squeeze() compacts until the dump fits a latency budget
+ *    derived from the client's measured drain rate. Whatever does not fit is
+ *    compacted away rather than delayed, which is what pins lag near the budget
+ *    instead of letting it scale with how bad the link is.
+ *
+ * Only SENSOR_UPDATE data belongs here. Control and event messages
+ * (NOTIFICATION, STATE_UPDATE, SESSION_UPDATE, ACTUATOR_UPDATE, ...) must keep
+ * going out directly: sensor samples are idempotent and the next supersedes the
+ * last, which is what makes them safe to compact, but a state transition or an
+ * abort notification is not, and they are low-rate anyway.
+ */
+
+import { minMaxToPoints, type EnvelopePoint } from './gui-stream.js';
+
+/** One min/max window over [t0, t1]. Timestamps are the real sample times of
+ *  the extremes, not window boundaries — that is what survives merging. */
+export interface OutboxWindow {
+  t0: number;
+  t1: number;
+  min: number;
+  minTs: number;
+  max: number;
+  maxTs: number;
+}
+
+export interface OutboxSeriesFlush {
+  key: string;
+  entity: string;
+  component: string;
+  points: EnvelopePoint[];
+}
+
+export interface OutboxConfig {
+  /** Windows held per level before the two oldest merge upward. */
+  levelCapacity: number;
+  /** Number of resolution tiers. Total coverage is
+   *  windowMs * levelCapacity * (2^levelCount - 1). */
+  levelCount: number;
+  /** Serialized cost of one point, used to size squeeze() against a byte
+   *  budget. Approximate on purpose — it only has to track reality well enough
+   *  to pick a compaction depth. */
+  bytesPerPoint: number;
+}
+
+export const DEFAULT_OUTBOX_CONFIG: OutboxConfig = {
+  levelCapacity: 8,
+  levelCount: 10,
+  bytesPerPoint: 135,
+};
+
+interface Series {
+  entity: string;
+  component: string;
+  /** levels[i] holds windows of resolution (base << i), ordered oldest-first.
+   *  Higher levels hold strictly older data than lower ones. */
+  levels: OutboxWindow[][];
+}
+
+/** Merge two adjacent windows, `a` older than `b`. Extremes keep their own
+ *  timestamps; the span widens to cover both. */
+export function mergeWindows(a: OutboxWindow, b: OutboxWindow): OutboxWindow {
+  const minFrom = a.min <= b.min ? a : b;
+  const maxFrom = a.max >= b.max ? a : b;
+  return {
+    t0: a.t0,
+    t1: b.t1,
+    min: minFrom.min,
+    minTs: minFrom.minTs,
+    max: maxFrom.max,
+    maxTs: maxFrom.maxTs,
+  };
+}
+
+export class ClientOutbox {
+  private series = new Map<string, Series>();
+  private cfg: OutboxConfig;
+
+  /** Points that entered the outbox since the last stats reset — the
+   *  denominator for resolutionPct. The client only ever sees the numerator,
+   *  which is why this number cannot be computed in the browser. */
+  private producedPoints = 0;
+  private deliveredPoints = 0;
+  private lastSqueezeDropped = false;
+
+  constructor(cfg: Partial<OutboxConfig> = {}) {
+    this.cfg = { ...DEFAULT_OUTBOX_CONFIG, ...cfg };
+  }
+
+  /**
+   * Stage one closed window's points for this client. Points are the envelope's
+   * output for a single window (1 or 2 of them, chronological), which is
+   * reduced back to a window here so the ladder has something to merge.
+   */
+  push(key: string, entity: string, component: string, points: EnvelopePoint[]): void {
+    if (points.length === 0) return;
+    this.producedPoints += points.length;
+
+    let lo = points[0];
+    let hi = points[0];
+    for (const p of points) {
+      if (p.value < lo.value) lo = p;
+      if (p.value > hi.value) hi = p;
+    }
+    this.pushWindow(key, entity, component, {
+      t0: points[0].tMs,
+      t1: points[points.length - 1].tMs,
+      min: lo.value, minTs: lo.tMs,
+      max: hi.value, maxTs: hi.tMs,
+    });
+  }
+
+  private pushWindow(key: string, entity: string, component: string, w: OutboxWindow): void {
+    let s = this.series.get(key);
+    if (!s) {
+      s = {
+        entity, component,
+        levels: Array.from({ length: this.cfg.levelCount }, () => [] as OutboxWindow[]),
+      };
+      this.series.set(key, s);
+    }
+    s.entity = entity;
+    s.component = component;
+    s.levels[0].push(w);
+
+    // Cascade: a level over capacity merges its two oldest upward. The merged
+    // window is older than everything left in this level and newer than
+    // everything already in the level above, so it appends.
+    const top = this.cfg.levelCount - 1;
+    for (let i = 0; i < top; i++) {
+      while (s.levels[i].length > this.cfg.levelCapacity) {
+        const a = s.levels[i].shift()!;
+        const b = s.levels[i].shift()!;
+        s.levels[i + 1].push(mergeWindows(a, b));
+      }
+    }
+    // The top level has nowhere to promote to: oldest data finally falls off.
+    while (s.levels[top].length > this.cfg.levelCapacity) s.levels[top].shift();
+  }
+
+  /** Total windows held across every series. */
+  get windowsHeld(): number {
+    let n = 0;
+    for (const s of this.series.values()) for (const lv of s.levels) n += lv.length;
+    return n;
+  }
+
+  get seriesCount(): number {
+    return this.series.size;
+  }
+
+  /** Approximate serialized size of a flush right now. */
+  estimatedBytes(): number {
+    let points = 0;
+    for (const s of this.series.values()) {
+      for (const lv of s.levels) {
+        for (const w of lv) points += (w.min === w.max && w.minTs === w.maxTs) ? 1 : 2;
+      }
+    }
+    return points * this.cfg.bytesPerPoint;
+  }
+
+  /**
+   * Compact until a flush fits `budgetBytes`, by promoting pairs up the ladder.
+   *
+   * Never squeezes a series below one window: a client must always receive
+   * something current for every stream, so below roughly one point per key the
+   * lag floor is the link's, not ours.
+   */
+  squeeze(budgetBytes: number): void {
+    this.lastSqueezeDropped = false;
+    if (this.series.size === 0) return;
+    if (this.estimatedBytes() <= budgetBytes) return;
+
+    // Every series is fed at the same rate, so an even per-series allowance is
+    // both fair and cheap to compute (no repeated global scans).
+    const perSeriesPoints = Math.max(
+      1,
+      Math.floor(budgetBytes / (this.series.size * this.cfg.bytesPerPoint)),
+    );
+    const maxWindows = Math.max(1, Math.floor(perSeriesPoints / 2));
+
+    for (const s of this.series.values()) {
+      if (this.compactSeriesTo(s, maxWindows)) this.lastSqueezeDropped = true;
+    }
+  }
+
+  /** Compact until the series holds at most `maxWindows`. Returns true if
+   *  anything was merged. */
+  private compactSeriesTo(s: Series, maxWindows: number): boolean {
+    let merged = false;
+    const count = () => s.levels.reduce((n, lv) => n + lv.length, 0);
+    const top = this.cfg.levelCount - 1;
+
+    while (count() > Math.max(1, maxWindows)) {
+      let did = false;
+      // Prefer a same-level merge: it keeps the ladder's shape, so what is left
+      // stays fine-grained at the recent end.
+      for (let i = 0; i < top; i++) {
+        if (s.levels[i].length >= 2) {
+          const a = s.levels[i].shift()!;
+          const b = s.levels[i].shift()!;
+          s.levels[i + 1].push(mergeWindows(a, b));
+          did = true;
+          break;
+        }
+      }
+      // Every level down to one window and still over budget: merge the two
+      // oldest across the level boundary. Squeezing this hard is a deliberate
+      // request to shed old detail, so collapsing the tail is the right answer
+      // — and it is the only way to reach the true floor of one window.
+      if (!did) did = this.mergeOldestPair(s);
+      if (!did) break;
+      merged = true;
+    }
+    return merged;
+  }
+
+  /** Merge the two oldest windows regardless of level. Oldest-first order is
+   *  highest level, then index 0, so the pair is always adjacent in time. */
+  private mergeOldestPair(s: Series): boolean {
+    const at: Array<{ lv: number; idx: number }> = [];
+    for (let i = s.levels.length - 1; i >= 0 && at.length < 2; i--) {
+      for (let j = 0; j < s.levels[i].length && at.length < 2; j++) at.push({ lv: i, idx: j });
+    }
+    if (at.length < 2) return false;
+    const [a, b] = at;
+    const m = mergeWindows(s.levels[a.lv][a.idx], s.levels[b.lv][b.idx]);
+    s.levels[b.lv].splice(b.idx, 1);   // remove the newer of the pair first
+    s.levels[a.lv].splice(a.idx, 1, m);
+    return true;
+  }
+
+  /**
+   * Serialize and clear. Emits **oldest first** — highest level down to level 0,
+   * oldest-first within each level — because the browser's data cache drops any
+   * point older than its ring head (frontend/lib/data-cache.ts). Sending the
+   * newest first to go live sooner would make the client reject the history
+   * behind it.
+   */
+  drain(): OutboxSeriesFlush[] {
+    const out: OutboxSeriesFlush[] = [];
+    for (const [key, s] of this.series) {
+      const points: EnvelopePoint[] = [];
+      for (let i = s.levels.length - 1; i >= 0; i--) {
+        for (const w of s.levels[i]) points.push(...minMaxToPoints(w.min, w.minTs, w.max, w.maxTs));
+      }
+      if (points.length > 0) {
+        out.push({ key, entity: s.entity, component: s.component, points });
+        this.deliveredPoints += points.length;
+      }
+    }
+    this.series.clear();
+    return out;
+  }
+
+  /** Newest sample time held, or null when empty — the basis for lagMs. */
+  newestTimestamp(): number | null {
+    let newest: number | null = null;
+    for (const s of this.series.values()) {
+      const lv0 = s.levels[0];
+      const w = lv0.length > 0 ? lv0[lv0.length - 1] : null;
+      if (w && (newest === null || w.t1 > newest)) newest = w.t1;
+    }
+    return newest;
+  }
+
+  /** Delivered ÷ produced since the last reset, 0..1. Needs the produced count,
+   *  which exists only here — the client cannot know what it never received. */
+  resolutionRatio(): number {
+    if (this.producedPoints === 0) return 1;
+    return Math.min(1, this.deliveredPoints / this.producedPoints);
+  }
+
+  get squeezeDroppedLast(): boolean {
+    return this.lastSqueezeDropped;
+  }
+
+  resetStats(): void {
+    this.producedPoints = 0;
+    this.deliveredPoints = 0;
+  }
+}
+
+/** Socket queue below this counts as drained. Not a "low water mark": flushing
+ *  while the socket still holds a backlog lets that backlog grow without bound,
+ *  which is the original bug one layer down. Simulated with a 32 KB mark the
+ *  socket queue climbed 42 -> 93 -> 152 KB and kept going. */
+export const SOCKET_IDLE_BYTES = 4 * 1024;
+
+/** How far behind a dashboard is ever allowed to run. The single knob: it
+ *  states an operational requirement directly, unlike a window count. */
+export const DEFAULT_TARGET_LAG_MS = 1500;
+
+/**
+ * Decides when a client flushes and how big the dump may be.
+ *
+ * The flush interval is not chosen — it is however long the socket takes to
+ * drain the previous dump, which is exactly the client's throughput. That
+ * measurement sets the byte budget, so resolution (not currency) absorbs a slow
+ * link.
+ */
+export class FlushPacer {
+  private rateBps: number;
+  private pendingBytes = 0;
+  private pendingSince = 0;
+
+  constructor(
+    private readonly targetLagMs = DEFAULT_TARGET_LAG_MS,
+    initialRateBps = 1_000_000,
+  ) {
+    this.rateBps = initialRateBps;
+  }
+
+  /** Bytes the next dump may occupy, from the measured drain rate. */
+  get budgetBytes(): number {
+    return Math.max(1, Math.round(this.rateBps * (this.targetLagMs / 1000)));
+  }
+
+  get measuredRateBps(): number {
+    return this.rateBps;
+  }
+
+  /** True when the socket has finished the last dump and may take another. */
+  shouldFlush(bufferedAmount: number, nowMs: number): boolean {
+    const idle = bufferedAmount < SOCKET_IDLE_BYTES;
+    if (idle && this.pendingBytes > 0) {
+      // The dump we handed over has drained: elapsed time over bytes is this
+      // client's real throughput, end to end.
+      const elapsedMs = Math.max(1, nowMs - this.pendingSince);
+      const observed = (this.pendingBytes * 1000) / elapsedMs;
+      this.rateBps = 0.7 * this.rateBps + 0.3 * observed;
+      this.pendingBytes = 0;
+    }
+    return idle;
+  }
+
+  noteFlush(bytes: number, nowMs: number): void {
+    this.pendingBytes = bytes;
+    this.pendingSince = nowMs;
+  }
+}
diff --git a/daq-server/diablo_server/backend/src/gui-stream.ts b/daq-server/diablo_server/backend/src/gui-stream.ts
index 3fc515e4d..96663c1ac 100644
--- a/daq-server/diablo_server/backend/src/gui-stream.ts
+++ b/daq-server/diablo_server/backend/src/gui-stream.ts
@@ -21,11 +21,18 @@ export interface GuiStreamConfig {
   /** Target broadcast budget per stream. Envelope mode emits up to 2 points
    *  per window, so windows/sec = pointsPerSecond / 2. */
   pointsPerSecond: number;
+  /** Separate, much higher budget for encoder streams ([0x24]). Encoders feed
+   *  OscopeTriggerPlot's valve-actuation timing (inter-encoder skew, plateau
+   *  detection), which the GUI budget's 100 ms windows would quantize away. At
+   *  the boards' ~48 Hz this is a no-op — it exists to bound a faster encoder
+   *  board, not to downsample the current one. */
+  encoderPointsPerSecond: number;
 }
 
 export const DEFAULT_GUI_STREAM_CONFIG: GuiStreamConfig = {
   mode: 'envelope',
   pointsPerSecond: 20,
+  encoderPointsPerSecond: 100,
 };
 
 /** Parse the [gui] section of config.toml (already TOML-parsed). Unknown or
@@ -42,6 +49,9 @@ export function parseGuiStreamConfig(config: unknown): GuiStreamConfig {
   const pps = Number(gui.points_per_second);
   if (Number.isFinite(pps) && pps >= 2 && pps <= 1000) out.pointsPerSecond = pps;
 
+  const epps = Number(gui.encoder_points_per_second);
+  if (Number.isFinite(epps) && epps >= 2 && epps <= 2000) out.encoderPointsPerSecond = epps;
+
   return out;
 }
 
@@ -50,6 +60,11 @@ export function envelopeWindowMs(cfg: GuiStreamConfig): number {
   return 2000 / cfg.pointsPerSecond;
 }
 
+/** Window length for encoder streams — same arithmetic, separate budget. */
+export function encoderWindowMs(cfg: GuiStreamConfig): number {
+  return 2000 / cfg.encoderPointsPerSecond;
+}
+
 export interface EnvelopePoint {
   tMs: number;
   value: number;
@@ -73,6 +88,30 @@ interface KeyWindow {
   count: number;
 }
 
+/**
+ * Min/max of a window as chronologically ordered points — the single copy of
+ * this rule, shared by the envelope here and by the per-client outbox
+ * (client-outbox.ts), which re-serializes merged windows the same way.
+ *
+ * Ordering is load-bearing downstream: the browser's data cache
+ * (frontend/lib/data-cache.ts addDataPoint) drops any point older than its ring
+ * head, so points must leave here ascending. Identical timestamps are nudged
+ * +1 ms so same-timestamp dedupe layers (history ring, client cache) keep both.
+ */
+export function minMaxToPoints(
+  min: number, minTs: number, max: number, maxTs: number,
+): EnvelopePoint[] {
+  if (min === max && minTs === maxTs) return [{ tMs: minTs, value: min }];
+  const first: EnvelopePoint = minTs <= maxTs
+    ? { tMs: minTs, value: min }
+    : { tMs: maxTs, value: max };
+  const second: EnvelopePoint = minTs <= maxTs
+    ? { tMs: maxTs, value: max }
+    : { tMs: minTs, value: min };
+  if (second.tMs === first.tMs) second.tMs = first.tMs + 1;
+  return [first, second];
+}
+
 /**
  * Per-key min/max window accumulator.
  *
@@ -160,19 +199,8 @@ export class EnvelopeAccumulator {
 }
 
 /** Min/max of a closed window as chronologically ordered points.
- *  Single distinct sample → one point. If min and max share the same
- *  millisecond but differ in value, the second point is nudged +1 ms so
- *  same-timestamp dedupe layers (history ring, client cache) keep both. */
+ *  Single distinct sample → one point; see minMaxToPoints for the rest. */
 function emitWindow(w: KeyWindow): EnvelopePoint[] {
-  if (w.count === 1 || (w.min === w.max && w.minTs === w.maxTs)) {
-    return [{ tMs: w.minTs, value: w.min }];
-  }
-  const first: EnvelopePoint = w.minTs <= w.maxTs
-    ? { tMs: w.minTs, value: w.min }
-    : { tMs: w.maxTs, value: w.max };
-  const second: EnvelopePoint = w.minTs <= w.maxTs
-    ? { tMs: w.maxTs, value: w.max }
-    : { tMs: w.minTs, value: w.min };
-  if (second.tMs === first.tMs) second.tMs = first.tMs + 1;
-  return [first, second];
+  if (w.count === 1) return [{ tMs: w.minTs, value: w.min }];
+  return minMaxToPoints(w.min, w.minTs, w.max, w.maxTs);
 }
diff --git a/daq-server/diablo_server/backend/src/server.ts b/daq-server/diablo_server/backend/src/server.ts
index b8f2c9b17..e62b0691a 100644
--- a/daq-server/diablo_server/backend/src/server.ts
+++ b/daq-server/diablo_server/backend/src/server.ts
@@ -36,7 +36,11 @@ import { getStateActuatorMap, CSV_ACTUATOR_TO_ENTITY, resolveActuatorCmdEntity,
 import type { StateActuatorMap } from './legacy/state-actuators.js';
 import { getStateTransitions } from './legacy/state-transitions.js';
 import { recordBoardScanIngest, getBoardScanRateHz, isPrimaryPhysicalStream, mapEntityToGroup } from './board-scan-rate.js';
-import { EnvelopeAccumulator, parseGuiStreamConfig, envelopeWindowMs, type GuiStreamConfig } from './gui-stream.js';
+import {
+  EnvelopeAccumulator, parseGuiStreamConfig, envelopeWindowMs, encoderWindowMs,
+  type GuiStreamConfig, type EnvelopePoint,
+} from './gui-stream.js';
+import { ClientOutbox, FlushPacer } from './client-outbox.js';
 import { HistoryCache } from './history-cache.js';
 import { startGuiStaticServer } from './static-gui.js';
 import { handleCalibrationCommand, publishCalibrationReload, type CalibrationHost } from './calibration-handler.js';
@@ -53,7 +57,13 @@ const WS_PORT = parseInt(process.env.WS_PORT ?? '8081', 10);
 // unlock. Read-only queries and countdown display are not.
 const CONTROL_COMMAND_TYPES = new Set(['state_transition', 'actuator', 'extend_fire', 'debug_mode', 'session_start', 'session_stop', 'session_extend']);
 // Per-connection control-auth state, stashed on the WebSocket.
-type WsWithControl = WebSocket & { __daqOperator?: boolean; __daqControlAuthorized?: boolean };
+type WsWithControl = WebSocket & {
+  __daqOperator?: boolean;
+  __daqControlAuthorized?: boolean;
+  /** Cleared each keepalive sweep, set again on pong. A socket that misses a
+   *  sweep is gone in a way TCP never reported (Wi-Fi drop, closed lid). */
+  __daqAlive?: boolean;
+};
 const ELODIN_HOST = process.env.ELODIN_HOST ?? '127.0.0.1';
 const ELODIN_PORT = parseInt(process.env.ELODIN_PORT ?? '2240', 10);
 const ACT_SVC_PORT = parseInt(process.env.ACTUATOR_SERVICE_PORT ?? '9998', 10);
@@ -76,15 +86,27 @@ const BOARD_HEARTBEAT_STALE_MS = 5000;
  *  network jitter and Date.now() quantization. */
 const BROADCAST_MIN_MS = 50;
 
-/**
- * True for PT/TC/RTD/LC raw+cal and actuator raw+state ([0x20]–[0x23], [0x30]–[0x31]).
- * Encoder ([0x24]), heartbeats ([0x10]), self-test ([0x60]), controller ([0x40]–[0x44]),
- * sequencer/PSM ([0x50]), etc. are not throttled.
+/** Which rate budget a stream is downsampled against, or null to pass through.
+ *
+ *  'gui'     — PT/TC/RTD/LC raw+cal and actuator raw+state ([0x20]–[0x23],
+ *              [0x30]–[0x31]), the bulk of the traffic.
+ *  'encoder' — encoder ([0x24]). Given its OWN, much higher budget rather than
+ *              the GUI one: OscopeTriggerPlot measures valve actuation timing
+ *              from these (inter-encoder skew, plateau detection), and a 100 ms
+ *              GUI window would quantize that measurement away. At the boards'
+ *              ~48 Hz the encoder window holds ~1 sample, so min == max and
+ *              points pass through untouched — this is a ceiling against a
+ *              faster board being fitted later, not a downsample of today.
+ *  null      — heartbeats ([0x10]), self-test ([0x60]), controller
+ *              ([0x40]–[0x44]), sequencer/PSM ([0x50]): event-like, low-rate,
+ *              every update goes out immediately.
  */
-function shouldThrottleSensorStreamPacket(high: number, _low: number): boolean {
-  if (high === 0x20 || high === 0x21 || high === 0x22 || high === 0x23) return true;
-  if (high === 0x30 || high === 0x31) return true;
-  return false;
+type StreamBudget = 'gui' | 'encoder' | null;
+function streamBudgetFor(high: number, _low: number): StreamBudget {
+  if (high === 0x20 || high === 0x21 || high === 0x22 || high === 0x23) return 'gui';
+  if (high === 0x30 || high === 0x31) return 'gui';
+  if (high === 0x24) return 'encoder';
+  return null;
 }
 
 // ── History cache (epoch-ms timestamps; see history-cache.ts) ────────────────
@@ -102,7 +124,9 @@ setInterval(() => history.prune(), 60_000);
 
 let guiStreamConfig: GuiStreamConfig = parseGuiStreamConfig(safeReadConfigForGui());
 const envelope = new EnvelopeAccumulator(envelopeWindowMs(guiStreamConfig));
-console.log(`[ThinServer] GUI downsampling: ${guiStreamConfig.mode} @ ${guiStreamConfig.pointsPerSecond} pts/s per stream`);
+const encoderEnvelope = new EnvelopeAccumulator(encoderWindowMs(guiStreamConfig));
+console.log(`[ThinServer] GUI downsampling: ${guiStreamConfig.mode} @ ${guiStreamConfig.pointsPerSecond} pts/s per stream`
+  + ` (encoders @ ${guiStreamConfig.encoderPointsPerSecond} pts/s)`);
 
 function safeReadConfigForGui(): unknown {
   try { return readConfig(); } catch { return null; }
@@ -131,11 +155,15 @@ function configStateName(id: number): string | null {
 /** Re-read [gui] settings after a config save (wired via onConfigUpdated). */
 function reloadGuiStreamConfig(): void {
   const next = parseGuiStreamConfig(safeReadConfigForGui());
-  if (next.mode !== guiStreamConfig.mode || next.pointsPerSecond !== guiStreamConfig.pointsPerSecond) {
-    console.log(`[ThinServer] GUI downsampling changed: ${next.mode} @ ${next.pointsPerSecond} pts/s per stream`);
+  if (next.mode !== guiStreamConfig.mode
+      || next.pointsPerSecond !== guiStreamConfig.pointsPerSecond
+      || next.encoderPointsPerSecond !== guiStreamConfig.encoderPointsPerSecond) {
+    console.log(`[ThinServer] GUI downsampling changed: ${next.mode} @ ${next.pointsPerSecond} pts/s per stream`
+      + ` (encoders @ ${next.encoderPointsPerSecond} pts/s)`);
   }
   guiStreamConfig = next;
   envelope.setWindowMs(envelopeWindowMs(next));
+  encoderEnvelope.setWindowMs(encoderWindowMs(next));
 }
 
 /** Sample timestamps are forwarded from Elodin (bridge receipt, epoch ms). A
@@ -148,7 +176,28 @@ function saneSampleTimeMs(tsMs: number, fallbackMs: number): number {
     ? tsMs : fallbackMs;
 }
 
-/** Single exit point for downsampled sensor streams: history + stats + WS. */
+/**
+ * Per-client sensor staging. Sensor samples go here rather than straight to
+ * ws.send(), so a client that cannot keep up loses resolution instead of
+ * falling further and further behind (see client-outbox.ts).
+ *
+ * Control and event messages deliberately do NOT pass through this — they keep
+ * using send()/broadcast() directly. Sensor samples are idempotent and the next
+ * supersedes the last, which is what makes them safe to compact; a state
+ * transition or an abort notification is not.
+ */
+interface ClientStream {
+  outbox: ClientOutbox;
+  pacer: FlushPacer;
+  /** Last flush's observations, surfaced to the operator via CONNECTION_STATUS. */
+  throttled: boolean;
+  lagMs: number;
+  resolutionPct: number;
+}
+const clientStreams = new Map<WebSocket, ClientStream>();
+
+/** Single exit point for streams that bypass downsampling (event-like: state,
+ *  self-test, controller, sequencer). Broadcast immediately, never staged. */
 function emitSensorPoint(key: string, entity: string, component: string, value: number, tMs: number): void {
   history.record(key, tMs, value);
   stats.sensorUpdatesBroadcast++;
@@ -156,14 +205,64 @@ function emitSensorPoint(key: string, entity: string, component: string, value:
   broadcast({ type: MessageType.SENSOR_UPDATE, timestamp: Date.now(), payload: update });
 }
 
+/** Single exit point for downsampled sensor streams: history, then per-client
+ *  staging. One call per closed envelope window (1–2 points, chronological). */
+function emitSensorWindow(key: string, entity: string, component: string, points: EnvelopePoint[]): void {
+  if (points.length === 0) return;
+  for (const p of points) history.record(key, p.tMs, p.value);
+  stats.sensorUpdatesBroadcast += points.length;
+  for (const cs of clientStreams.values()) cs.outbox.push(key, entity, component, points);
+}
+
+// Drain each client's outbox as fast as its own socket allows. The interval
+// between a client's flushes is set by how long its socket took to clear the
+// last dump — that measurement is also what sizes the next one, so resolution
+// (not currency) absorbs a slow link.
+setInterval(() => {
+  const now = Date.now();
+  for (const [ws, cs] of clientStreams) {
+    if (ws.readyState !== WebSocket.OPEN) continue;
+    if (!cs.pacer.shouldFlush(ws.bufferedAmount, now)) continue;
+
+    const newest = cs.outbox.newestTimestamp();
+    cs.outbox.squeeze(cs.pacer.budgetBytes);
+    const flushed = cs.outbox.drain();
+    if (flushed.length === 0) continue;
+
+    let bytes = 0;
+    for (const series of flushed) {
+      for (const p of series.points) {
+        const update: SensorUpdate = {
+          entity: series.entity, component: series.component, value: p.value, timestamp: p.tMs,
+        };
+        const data = JSON.stringify({ type: MessageType.SENSOR_UPDATE, timestamp: now, payload: update });
+        bytes += data.length;
+        try { ws.send(data); } catch { /* closing; the reaper will collect it */ }
+      }
+    }
+    cs.pacer.noteFlush(bytes, now);
+    cs.throttled = cs.outbox.squeezeDroppedLast;
+    cs.lagMs = newest === null ? 0 : Math.max(0, now - newest);
+    cs.resolutionPct = Math.round(cs.outbox.resolutionRatio() * 100);
+  }
+}, 100);
+
+// Reset the resolution window periodically so the reported percentage tracks
+// the link's recent behavior rather than averaging over the whole session.
+setInterval(() => {
+  for (const cs of clientStreams.values()) cs.outbox.resetStats();
+}, 10_000);
+
 // Timer flush so trickling/stopped streams don't hold their last window open.
 // Runs regardless of mode so a runtime envelope→throttle switch drains any
 // still-open windows instead of dropping them (map is empty in throttle mode).
 setInterval(() => {
-  for (const closed of envelope.flushOlderThan(Date.now())) {
-    for (const p of closed.points) {
-      emitSensorPoint(closed.key, closed.entity, closed.component, p.value, p.tMs);
-    }
+  const nowMs = Date.now();
+  for (const closed of envelope.flushOlderThan(nowMs)) {
+    emitSensorWindow(closed.key, closed.entity, closed.component, closed.points);
+  }
+  for (const closed of encoderEnvelope.flushOlderThan(nowMs)) {
+    emitSensorWindow(closed.key, closed.entity, closed.component, closed.points);
   }
 }, 50);
 
@@ -603,14 +702,25 @@ let debugMode = false;
 
 const apiHandler = createAPIHandler({
   getEngineState: () => currentState,
-  getDebugInfo: () => ({
-    ingestConnected: elodin.isConnected(),
-    ingestPacketsReceived: stats.ingestEntityUpdatesReceived,
-    wsClients: wss.clients.size,
-    sensorCacheSize: history.size,
-    useRelay: false,
-    boardScanRateHz: getBoardScanRateHz(),
-  }),
+  getDebugInfo: () => {
+    // Turns "the dashboards are stuck, restart the backend" into a diagnosis:
+    // a large wsBufferedBytes against a small wsClients is this exact bug.
+    let buffered = 0;
+    for (const ws of wss.clients) buffered += ws.bufferedAmount;
+    let windows = 0;
+    for (const cs of clientStreams.values()) windows += cs.outbox.windowsHeld;
+    return {
+      ingestConnected: elodin.isConnected(),
+      ingestPacketsReceived: stats.ingestEntityUpdatesReceived,
+      wsClients: wss.clients.size,
+      sensorCacheSize: history.size,
+      useRelay: false,
+      boardScanRateHz: getBoardScanRateHz(),
+      wsBufferedBytes: buffered,
+      outboxWindowsHeld: windows,
+      heapUsedMb: Math.round(process.memoryUsage().heapUsed / 1048576),
+    };
+  },
   onStateCsvUpdated: () => {
     // The CSV on disk changed and was deployed. Rebuild what the always-on backend derives from
     // it, and tell browsers to refetch.
@@ -710,6 +820,27 @@ function broadcastBoardStatus(): void {
 
 setInterval(broadcastBoardStatus, 1000 / BOARD_STATUS_HZ);
 
+// ── Keepalive ────────────────────────────────────────────────────────────────
+//
+// TCP does not reliably report a peer that vanished without a FIN — a closed
+// laptop lid or a walk out of Wi-Fi range leaves the socket readyState OPEN
+// forever, and it keeps being fed. The outbox bounds what such a client costs,
+// but nothing else ever removes it from wss.clients, so probe and reap.
+const KEEPALIVE_MS = 30_000;
+setInterval(() => {
+  for (const ws of wss.clients) {
+    const w = ws as WsWithControl;
+    if (w.__daqAlive === false) {
+      console.warn('[ThinServer] Reaping unresponsive WS client (missed keepalive)');
+      clientStreams.delete(ws);
+      ws.terminate();
+      continue;
+    }
+    w.__daqAlive = false;
+    try { ws.ping(); } catch { /* already closing */ }
+  }
+}, KEEPALIVE_MS);
+
 // ── Client connection ─────────────────────────────────────────────────────────
 
 wss.on('connection', (ws: WebSocket, req) => {
@@ -729,6 +860,18 @@ wss.on('connection', (ws: WebSocket, req) => {
   const authEmail = ((req.headers['x-auth-email'] as string | undefined) || '').trim();
   const isOp = authEmail === '' ? true : isOperator(authEmail);
   (ws as WsWithControl).__daqOperator = isOp;
+
+  // Sensor staging for this client (see client-outbox.ts). Registered before
+  // any send so the first window produced after connect is already captured.
+  clientStreams.set(ws, {
+    outbox: new ClientOutbox(),
+    pacer: new FlushPacer(),
+    throttled: false,
+    lagMs: 0,
+    resolutionPct: 100,
+  });
+  (ws as WsWithControl).__daqAlive = true;
+  ws.on('pong', () => { (ws as WsWithControl).__daqAlive = true; });
   (ws as WsWithControl).__daqControlAuthorized = false;
 
   let inboundMessages = 0;
@@ -740,7 +883,7 @@ wss.on('connection', (ws: WebSocket, req) => {
   // Connection status
   send(ws, {
     type: MessageType.CONNECTION_STATUS, timestamp: Date.now(),
-    payload: connectionStatusPayload({ connId }),
+    payload: connectionStatusPayload({ connId, ...clientStreamStatus(ws) }),
   });
   outboundMessages++;
   lastOutboundAt = Date.now();
@@ -852,6 +995,7 @@ wss.on('connection', (ws: WebSocket, req) => {
   });
 
   ws.on('close', (code, reasonBuffer) => {
+    clientStreams.delete(ws);
     const reason = reasonBuffer?.toString() ?? '';
     console.log(`[WS_BACKEND] ${JSON.stringify({
       event: 'conn_close',
@@ -911,10 +1055,6 @@ function handleMessage(ws: WebSocket, message: any): void {
     case MessageType.CALIBRATION_COMMAND:
       handleCalibrationCommand(calibrationHost, ws, message.payload);
       break;
-    case MessageType.SUBSCRIBE_SENSOR:
-    case MessageType.UNSUBSCRIBE_SENSOR:
-      // Thin backend broadcasts all updates to all clients, ignore filter requests safely.
-      break;
     case 'get_state_transitions':
       send(ws, { type: 'state_transitions', timestamp: Date.now(), payload: { transitions: getStateTransitions() } });
       break;
@@ -1172,20 +1312,43 @@ function isSimulated(): boolean {
 // no frontend guessing: connected (this socket), elodinConnected (backend↔Elodin
 // link), simulated (active simulated run), and dataFresh (we actually ingested a
 // row from Elodin within DATA_FRESH_MS — i.e. the pipeline is really delivering).
+//
+// throttled/resolutionPct/lagMs describe ONE client's link and so must be passed
+// per socket. They cannot be derived in the browser: resolutionPct needs the
+// produced-point count the client never receives, and lagMs needs the server
+// clock. An operator must never be looking at decimated data without being told.
 function connectionStatusPayload(extra: Record<string, unknown> = {}) {
   return {
     connected: true,
     elodinConnected: elodin.isConnected(),
     simulated: isSimulated(),
     dataFresh: Date.now() - lastIngestMs < DATA_FRESH_MS,
+    throttled: false,
+    resolutionPct: 100,
+    lagMs: 0,
     ...extra,
   };
 }
 
-// Re-broadcast connection status (used when the simulated state flips on session
-// start/stop so the badge updates without waiting for an Elodin reconnect).
+/** This client's own outbox observations, for connectionStatusPayload(). */
+function clientStreamStatus(ws: WebSocket): Record<string, unknown> {
+  const cs = clientStreams.get(ws);
+  if (!cs) return {};
+  return { throttled: cs.throttled, resolutionPct: cs.resolutionPct, lagMs: cs.lagMs };
+}
+
+// Re-send connection status. Per-client rather than a single broadcast: each
+// dashboard must report the state of ITS link, not whichever one is worst.
 function broadcastConnectionStatus(): void {
-  broadcast({ type: MessageType.CONNECTION_STATUS, timestamp: Date.now(), payload: connectionStatusPayload() });
+  const ts = Date.now();
+  for (const ws of wss.clients) {
+    if (ws.readyState !== WebSocket.OPEN) continue;
+    send(ws, {
+      type: MessageType.CONNECTION_STATUS,
+      timestamp: ts,
+      payload: connectionStatusPayload(clientStreamStatus(ws)),
+    });
+  }
 }
 
 // Push the authoritative status ~1 Hz so dataFresh (and thus the badge) never goes
@@ -1341,25 +1504,27 @@ elodin.on('packet', (header: any, payload: Buffer) => {
       // guarded against off-clock publishers.
       const tsMs = saneSampleTimeMs(parsed.timestamp, epochNow);
 
-      if (!shouldThrottleSensorStreamPacket(high, low)) {
-        // Event-like streams (state, self-test, encoder, controller): every
-        // update goes out immediately, no downsampling.
+      const budget = streamBudgetFor(high, low);
+      if (budget === null) {
+        // Event-like streams (state, self-test, controller, sequencer): every
+        // update goes out immediately, no downsampling and no staging.
         emitSensorPoint(key, parsed.entity, parsed.component, parsed.value, tsMs);
         continue;
       }
 
-      if (guiStreamConfig.mode === 'throttle') {
+      if (budget === 'gui' && guiStreamConfig.mode === 'throttle') {
         // Legacy drop-throttle (config.toml [gui] downsample_mode = "throttle").
         const lastBcast = broadcastLastTime.get(key) ?? 0;
         if (epochNow - lastBcast < BROADCAST_MIN_MS) continue;
         broadcastLastTime.set(key, epochNow);
-        emitSensorPoint(key, parsed.entity, parsed.component, parsed.value, tsMs);
+        emitSensorWindow(key, parsed.entity, parsed.component, [{ tMs: tsMs, value: parsed.value }]);
       } else {
         // Min/max envelope: extremes of each window survive with their real
         // timestamps, so transients can't hide between broadcast slots.
-        for (const p of envelope.add(key, parsed.entity, parsed.component, tsMs, parsed.value)) {
-          emitSensorPoint(key, parsed.entity, parsed.component, p.value, p.tMs);
-        }
+        // Encoders run on their own, much shorter window (see streamBudgetFor).
+        const acc = budget === 'encoder' ? encoderEnvelope : envelope;
+        const closed = acc.add(key, parsed.entity, parsed.component, tsMs, parsed.value);
+        if (closed.length > 0) emitSensorWindow(key, parsed.entity, parsed.component, closed);
       }
     }
   } catch (err) {
diff --git a/daq-server/diablo_server/frontend/__tests__/connection-badge.test.ts b/daq-server/diablo_server/frontend/__tests__/connection-badge.test.ts
new file mode 100644
index 000000000..f2a84b2cc
--- /dev/null
+++ b/daq-server/diablo_server/frontend/__tests__/connection-badge.test.ts
@@ -0,0 +1,83 @@
+import { describe, it, expect } from 'vitest';
+import { connectionBadge, type ConnectionBadgeInput } from '@/lib/connection-badge';
+
+const base: ConnectionBadgeInput = {
+  connected: true,
+  sessionStopped: false,
+  dataFresh: true,
+  simulated: false,
+};
+
+describe('connectionBadge precedence', () => {
+  // Precedence is the part most likely to be broken by a later edit, and the
+  // failure mode is silent: a badge that hides a dead pipeline behind a
+  // reassuring label is exactly the class of bug the outbox work exists to fix.
+
+  it('a dead socket outranks everything, including throttling', () => {
+    const b = connectionBadge({ ...base, connected: false, throttled: true, dataFresh: false });
+    expect(b.label).toBe('Disconnected');
+    expect(b.dotClass).toBe('bg-red-500');
+  });
+
+  it('a stopped session outranks throttling', () => {
+    expect(connectionBadge({ ...base, sessionStopped: true, throttled: true }).label)
+      .toBe('Session Stopped');
+  });
+
+  it('a dead pipeline is never masked by throttling', () => {
+    const b = connectionBadge({ ...base, dataFresh: false, throttled: true, resolutionPct: 12 });
+    expect(b.label).toBe('Data Pipeline Down');
+    expect(b.dotClass).toBe('bg-yellow-500');
+  });
+
+  it('throttling outranks Connected — a decimated trace must say so', () => {
+    const b = connectionBadge({ ...base, throttled: true, resolutionPct: 40, lagMs: 1200 });
+    expect(b.label).toBe('Throttled · 40%');
+    expect(b.dotClass).toBe('bg-orange-500');
+  });
+
+  it('throttling outranks Simulated Data', () => {
+    expect(connectionBadge({ ...base, simulated: true, throttled: true, resolutionPct: 40 }).label)
+      .toBe('Throttled · 40%');
+  });
+
+  it('healthy states are unchanged', () => {
+    expect(connectionBadge(base).label).toBe('Connected');
+    expect(connectionBadge(base).dotClass).toBe('bg-green-500');
+    expect(connectionBadge({ ...base, simulated: true }).label).toBe('Simulated Data');
+    expect(connectionBadge({ ...base, simulated: true }).dotClass).toBe('bg-purple-500');
+  });
+
+  it('does not read as throttled when the backend says it is not', () => {
+    // resolutionPct below 100 without `throttled` (e.g. a stale stat window)
+    // must not trip the badge — the backend owns the decision.
+    expect(connectionBadge({ ...base, throttled: false, resolutionPct: 40 }).label).toBe('Connected');
+  });
+
+  it('never reuses yellow for throttling', () => {
+    // Yellow already means "Data Pipeline Down"; the two must not read alike.
+    const throttled = connectionBadge({ ...base, throttled: true, resolutionPct: 40 });
+    const stale = connectionBadge({ ...base, dataFresh: false });
+    expect(throttled.dotClass).not.toBe(stale.dotClass);
+  });
+});
+
+describe('connectionBadge label formatting', () => {
+  it('rounds and clamps the percentage', () => {
+    expect(connectionBadge({ ...base, throttled: true, resolutionPct: 39.6 }).label).toBe('Throttled · 40%');
+    expect(connectionBadge({ ...base, throttled: true, resolutionPct: 140 }).label).toBe('Throttled · 100%');
+    expect(connectionBadge({ ...base, throttled: true, resolutionPct: -5 }).label).toBe('Throttled · 0%');
+  });
+
+  it('tolerates missing numbers rather than rendering NaN', () => {
+    const b = connectionBadge({ ...base, throttled: true });
+    expect(b.label).toBe('Throttled · 0%');
+    expect(b.title).not.toMatch(/NaN/);
+  });
+
+  it('tells the operator peaks survived — the point of min/max decimation', () => {
+    const b = connectionBadge({ ...base, throttled: true, resolutionPct: 40, lagMs: 1200 });
+    expect(b.title).toContain('1.2 s behind');
+    expect(b.title).toContain('Peaks are preserved');
+  });
+});
diff --git a/daq-server/diablo_server/frontend/__tests__/plot-time-cache.test.ts b/daq-server/diablo_server/frontend/__tests__/plot-time-cache.test.ts
index 5d81a282b..6dda4dbc0 100644
--- a/daq-server/diablo_server/frontend/__tests__/plot-time-cache.test.ts
+++ b/daq-server/diablo_server/frontend/__tests__/plot-time-cache.test.ts
@@ -34,9 +34,11 @@ async function freshModules() {
   const dataCache = await import('@/lib/data-cache');
   const sensorRate = await import('@/lib/sensor-rate');
   // getAlignedHistory masks stale streams as NaN; mark streams fresh the same
-  // way the live path does (store.updateSensor → recordSensorUpdate).
-  const markFresh = (entity: string, component: string) =>
-    sensorRate.recordSensorUpdate(entity, component);
+  // way the live path does (store.updateSensor → recordSensorUpdate), which
+  // passes the sample's own server timestamp — freshness is measured on the
+  // server timeline, not on local arrival time.
+  const markFresh = (entity: string, component: string, sampleTsMs: number) =>
+    sensorRate.recordSensorUpdate(entity, component, sampleTsMs);
   return { plotTime, dataCache, markFresh };
 }
 
@@ -84,7 +86,7 @@ describe('data-cache (server-timestamp keyed)', () => {
   it('addDataPoint stores points at their server timestamps; live window reads them back', async () => {
     const { dataCache, markFresh } = await freshModules();
     const cache = dataCache.getDataCache();
-    markFresh('PT1_Cal.CH1', 'pressure_psi');
+    markFresh('PT1_Cal.CH1', 'pressure_psi', T0 + 450);
     for (let i = 0; i < 10; i++) {
       cache.addDataPoint('PT1_Cal.CH1', 'pressure_psi', 100 + i, T0 + i * 50);
     }
@@ -99,7 +101,7 @@ describe('data-cache (server-timestamp keyed)', () => {
   it('drops strictly-older points and overwrites same-instant points', async () => {
     const { dataCache, markFresh } = await freshModules();
     const cache = dataCache.getDataCache();
-    markFresh('e', 'c');
+    markFresh('e', 'c', T0 + 100);
     cache.addDataPoint('e', 'c', 1, T0 + 100);
     cache.addDataPoint('e', 'c', 2, T0 + 50);   // older → dropped
     cache.addDataPoint('e', 'c', 3, T0 + 100);  // same instant → overwrite
@@ -111,7 +113,7 @@ describe('data-cache (server-timestamp keyed)', () => {
   it('HISTORICAL_DATA merges by timestamp — never wipes live data (the reset bug)', async () => {
     const { dataCache, markFresh } = await freshModules();
     const cache = dataCache.getDataCache();
-    markFresh('e', 'c');
+    markFresh('e', 'c', T0 + 4000);
     cache.start();
     const historical = listeners.get('historical_data');
     expect(historical).toBeTypeOf('function');
diff --git a/daq-server/diablo_server/frontend/__tests__/types.test.ts b/daq-server/diablo_server/frontend/__tests__/types.test.ts
index bc9a23b56..c22d9423a 100644
--- a/daq-server/diablo_server/frontend/__tests__/types.test.ts
+++ b/daq-server/diablo_server/frontend/__tests__/types.test.ts
@@ -54,7 +54,6 @@ describe('ActuatorState enum', () => {
 
 describe('MessageType enum', () => {
   it('should have correct string values for WebSocket protocol', () => {
-    expect(MessageType.SUBSCRIBE_SENSOR).toBe('subscribe_sensor');
     expect(MessageType.SEND_COMMAND).toBe('send_command');
     expect(MessageType.SENSOR_UPDATE).toBe('sensor_update');
     expect(MessageType.ACTUATOR_UPDATE).toBe('actuator_update');
diff --git a/daq-server/diablo_server/frontend/app/controller/page.tsx b/daq-server/diablo_server/frontend/app/controller/page.tsx
index 173a65e8b..3c2c8f6a2 100644
--- a/daq-server/diablo_server/frontend/app/controller/page.tsx
+++ b/daq-server/diablo_server/frontend/app/controller/page.tsx
@@ -102,29 +102,6 @@ export default function ControllerPage() {
   useEffect(() => {
     const unsub = ws.on(MessageType.CONFIG_UPDATED, loadLcConfig);
 
-    ws.send({
-      type: MessageType.SUBSCRIBE_SENSOR,
-      timestamp: Date.now(),
-      payload: { entity: 'CONTROLLER.Fuel' },
-    });
-    ws.send({
-      type: MessageType.SUBSCRIBE_SENSOR,
-      timestamp: Date.now(),
-      payload: { entity: 'CONTROLLER.Ox' },
-    });
-    ws.send({
-      type: MessageType.SUBSCRIBE_SENSOR,
-      timestamp: Date.now(),
-      payload: { entity: 'CONTROLLER.diagnostics' },
-    });
-    lcChannels.forEach((ch) => {
-      ws.send({
-        type: MessageType.SUBSCRIBE_SENSOR,
-        timestamp: Date.now(),
-        payload: { entity: `LC_Cal.CH${ch}` },
-      });
-    });
-
     return () => { unsub(); };
   }, [ws, loadLcConfig, lcChannels]);
 
diff --git a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
index c3aa3f044..3a084b140 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/MobileDashboard.tsx
@@ -1,5 +1,6 @@
 'use client'
 
+import { connectionBadge } from '@/lib/connection-badge';
 import { useEffect, useMemo, useState } from 'react';
 import { useSensorStore, useSensorValue, usePressureHistoryPlotSeries } from '@/lib/store';
 import { getWebSocketClient } from '@/lib/websocket';
@@ -76,6 +77,16 @@ export default function MobileDashboard() {
   const dataFresh = !!connectionStatus.dataFresh; // backend-authoritative data-flowing signal
   // Session-enabled deployment with no active run: pipeline is intentionally down.
   const sessionStopped = !!(session?.enabled && !session.active);
+  // Dot + label + tooltip, shared with TopBar so the two cannot drift.
+  const badge = connectionBadge({
+    connected,
+    sessionStopped,
+    dataFresh,
+    simulated: isSimulated,
+    throttled: connectionStatus.throttled,
+    resolutionPct: connectionStatus.resolutionPct,
+    lagMs: connectionStatus.lagMs,
+  });
 
   const [clock, setClock] = useState('');
   const [timeWindow, setTimeWindow] = useState(60);
@@ -155,10 +166,8 @@ export default function MobileDashboard() {
         <div className="flex items-center justify-between mb-2">
           <div className="flex items-center gap-2">
             <span className="text-base font-bold tracking-widest text-blue-400 uppercase">DIABLO DAQ</span>
-            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${
-              !connected ? 'bg-red-500' : sessionStopped ? 'bg-gray-500' : dataFresh ? (isSimulated ? 'bg-purple-500' : 'bg-green-500') : 'bg-yellow-500'
-            }`} />
-            <span className="text-xs text-gray-400">{!connected ? 'Disconnected' : sessionStopped ? 'Session Stopped' : dataFresh ? (isSimulated ? 'Simulated Data' : 'Connected') : 'Data Pipeline Down'}</span>
+            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${badge.dotClass}`} title={badge.title} />
+            <span className="text-xs text-gray-400" title={badge.title}>{badge.label}</span>
           </div>
           <div className="flex items-center gap-3">
             <span className="text-xs font-mono text-gray-400 tabular-nums">{clock}</span>
diff --git a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
index 92aec34a9..cff3d27f6 100644
--- a/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
+++ b/daq-server/diablo_server/frontend/components/dashboard/TopBar.tsx
@@ -1,5 +1,6 @@
 'use client'
 
+import { connectionBadge } from '@/lib/connection-badge';
 import { useNavigate } from 'react-router-dom';
 import { useSensorStore, useSensorValue } from '@/lib/store';
 import { getWebSocketClient, getApiBaseUrl } from '@/lib/websocket';
@@ -220,6 +221,16 @@ export default function TopBar() {
   // Session-enabled deployment with no active run: the pipeline is intentionally
   // down, so show "Session Stopped" rather than a "Data Pipeline Down" alarm.
   const sessionStopped = !!(session?.enabled && !session.active);
+  // Dot + label + tooltip, shared with MobileDashboard so the two cannot drift.
+  const badge = connectionBadge({
+    connected: isConnected,
+    sessionStopped,
+    dataFresh,
+    simulated: isSimulated,
+    throttled: connectionStatus.throttled,
+    resolutionPct: connectionStatus.resolutionPct,
+    lagMs: connectionStatus.lagMs,
+  });
 
   const effectivePressureBars = useMemo(() => {
     if (pressureBars.length > 0) return pressureBars;
@@ -293,9 +304,9 @@ export default function TopBar() {
             </span>
           </div>
           <div className="flex items-center gap-2">
-            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${!isConnected ? 'bg-red-500' : sessionStopped ? 'bg-gray-500' : dataFresh ? (isSimulated ? 'bg-purple-500' : 'bg-green-500') : 'bg-yellow-500'}`} />
-            <span className="text-sm text-gray-300 font-semibold">
-              {!isConnected ? 'Disconnected' : sessionStopped ? 'Session Stopped' : dataFresh ? (isSimulated ? 'Simulated Data' : 'Connected') : 'Data Pipeline Down'}
+            <div className={`w-2.5 h-2.5 rounded-full flex-shrink-0 ${badge.dotClass}`} title={badge.title} />
+            <span className="text-sm text-gray-300 font-semibold" title={badge.title}>
+              {badge.label}
             </span>
           </div>
           {session?.enabled && (
diff --git a/daq-server/diablo_server/frontend/lib/connection-badge.ts b/daq-server/diablo_server/frontend/lib/connection-badge.ts
new file mode 100644
index 000000000..62cdcad70
--- /dev/null
+++ b/daq-server/diablo_server/frontend/lib/connection-badge.ts
@@ -0,0 +1,71 @@
+/**
+ * The connection badge's dot colour, label and tooltip — one copy, shared by
+ * TopBar and MobileDashboard.
+ *
+ * This used to be a nested ternary duplicated verbatim in both components, which
+ * is how the two would have drifted the moment a state was added. Everything it
+ * reads is backend-observed (see backend connectionStatusPayload): the frontend
+ * decides nothing here except which string to draw.
+ */
+
+export interface ConnectionBadgeInput {
+  /** This socket is open. The one fact the client observes itself. */
+  connected: boolean;
+  /** Session-enabled deployment with no active run: the pipeline is down on
+   *  purpose, so say so rather than raising an alarm. */
+  sessionStopped: boolean;
+  /** Backend-authoritative "we really are ingesting rows right now". */
+  dataFresh: boolean;
+  /** Incoming data is synthetic. */
+  simulated: boolean;
+  /** Backend is shedding resolution to keep this client current. */
+  throttled?: boolean;
+  /** Percentage of produced points this client received (0-100). */
+  resolutionPct?: number;
+  /** Age of the newest delivered sample at the last flush, ms. */
+  lagMs?: number;
+}
+
+export interface ConnectionBadge {
+  dotClass: string;
+  label: string;
+  title: string;
+}
+
+/**
+ * Precedence matters and is asserted in tests:
+ *
+ *  - `throttled` ranks BELOW `!connected` and `!dataFresh`. A throttled feed is
+ *    still live and trustworthy, just coarser — it must never hide a dead socket
+ *    or a stopped pipeline.
+ *  - `throttled` ranks ABOVE `simulated`/`Connected`, because an operator
+ *    reading a decimated trace has to know it is decimated.
+ *  - Orange, not yellow: yellow already means "Data Pipeline Down", and the two
+ *    must not read as the same condition at a glance.
+ */
+export function connectionBadge(s: ConnectionBadgeInput): ConnectionBadge {
+  if (!s.connected) {
+    return { dotClass: 'bg-red-500', label: 'Disconnected', title: 'No WebSocket connection to the backend.' };
+  }
+  if (s.sessionStopped) {
+    return { dotClass: 'bg-gray-500', label: 'Session Stopped', title: 'No run is active, so the pipeline is intentionally idle.' };
+  }
+  if (!s.dataFresh) {
+    return { dotClass: 'bg-yellow-500', label: 'Data Pipeline Down', title: 'Connected, but the backend has not ingested data recently.' };
+  }
+  if (s.throttled) {
+    const pct = Math.max(0, Math.min(100, Math.round(s.resolutionPct ?? 0)));
+    const lagS = ((s.lagMs ?? 0) / 1000).toFixed(1);
+    return {
+      dotClass: 'bg-orange-500',
+      label: `Throttled · ${pct}%`,
+      // The last sentence is the operationally important one: it tells the
+      // operator the trace is decimated but that a pressure spike is still on it.
+      title: `Slow connection — showing ~${pct}% of samples, ${lagS} s behind. Peaks are preserved.`,
+    };
+  }
+  if (s.simulated) {
+    return { dotClass: 'bg-purple-500', label: 'Simulated Data', title: 'Incoming data is synthetic (board simulator).' };
+  }
+  return { dotClass: 'bg-green-500', label: 'Connected', title: 'Live data at full resolution.' };
+}
diff --git a/daq-server/diablo_server/frontend/lib/sensor-rate.ts b/daq-server/diablo_server/frontend/lib/sensor-rate.ts
index 86a3a2a33..188a6c8ef 100644
--- a/daq-server/diablo_server/frontend/lib/sensor-rate.ts
+++ b/daq-server/diablo_server/frontend/lib/sensor-rate.ts
@@ -12,10 +12,18 @@
 
 import { useEffect, useState } from 'react';
 import type { BoardStatus } from '@/lib/types';
+import { serverNowMs } from '@/lib/plot-time';
 
 const RATE_WINDOW_MS = 3000; // rolling window for Hz computation
 
-/** Hide readouts / stop synthetic plot extension if no SENSOR_UPDATE for this long. */
+/** Hide readouts / stop synthetic plot extension if no SENSOR_UPDATE for this long.
+ *
+ *  Measured on the SERVER timeline, not local arrival time. The backend may be
+ *  shedding resolution for a slow client (see backend client-outbox.ts), which
+ *  delivers fewer, chunkier batches of *current* data — on arrival time that
+ *  would blink "stale" between batches even though the samples are fresh. The
+ *  question this answers is "how old is the newest sample?", not "how long since
+ *  a packet landed?". */
 export const SENSOR_DATA_STALE_MS = 1500;
 
 /** Boards / Heartbeats pane only: longer window than sensor grid (lower update rate; avoids flicker). */
@@ -40,7 +48,7 @@ const _timestamps: Map<string, number[]> = new Map();
 const _lastUpdate: Map<string, number> = new Map();
 const _emaRate: Map<string, number> = new Map();
 
-export function recordSensorUpdate(entity: string, component: string): void {
+export function recordSensorUpdate(entity: string, component: string, sampleTsMs?: number): void {
   if (typeof performance === 'undefined') return;
   const key = `${entity}.${component}`;
   const now = performance.now();
@@ -52,7 +60,12 @@ export function recordSensorUpdate(entity: string, component: string): void {
   }
 
   ts.push(now);
-  _lastUpdate.set(key, Date.now());
+  // Freshness keys off the sample's own server timestamp so a throttled client
+  // reads live. Rate (the ts[] buffer above) stays on the local monotonic clock:
+  // Hz is about delivery cadence, which is a different question.
+  _lastUpdate.set(key, Number.isFinite(sampleTsMs) && (sampleTsMs as number) > 0
+    ? (sampleTsMs as number)
+    : Date.now());
 
   // Prune entries outside the rolling window
   const cutoff = now - RATE_WINDOW_MS;
@@ -114,11 +127,12 @@ export function getSensorRate(entity: string, component: string): number {
   return smoothed;
 }
 
-/** True if this exact `entity.component` key had a SENSOR_UPDATE within SENSOR_DATA_STALE_MS. */
+/** True if this exact `entity.component` key's newest sample is younger than
+ *  SENSOR_DATA_STALE_MS on the server timeline. */
 export function isSensorKeyFresh(key: string): boolean {
   const t = _lastUpdate.get(key);
   if (t == null || !Number.isFinite(t)) return false;
-  return Date.now() - t < SENSOR_DATA_STALE_MS;
+  return serverNowMs() - t < SENSOR_DATA_STALE_MS;
 }
 
 /**
diff --git a/daq-server/diablo_server/frontend/lib/store.ts b/daq-server/diablo_server/frontend/lib/store.ts
index c893e5c39..5ead72ea2 100644
--- a/daq-server/diablo_server/frontend/lib/store.ts
+++ b/daq-server/diablo_server/frontend/lib/store.ts
@@ -450,7 +450,7 @@ export const useSensorStore = create<SensorSystemState>((set, get) => ({
       _encoderLastAcceptedTs[key] = update.timestamp;
     }
 
-    recordSensorUpdate(update.entity, update.component);
+    recordSensorUpdate(update.entity, update.component, update.timestamp);
 
     // Track last timestamp for diagnostics only. Do not drop “older” timestamps: Elodin/WebSocket
     // bursts often deliver calibrated PT rows slightly out of order vs raw; rejecting them left
diff --git a/daq-server/diablo_server/frontend/lib/websocket.ts b/daq-server/diablo_server/frontend/lib/websocket.ts
index a4875d638..1d9c617b4 100644
--- a/daq-server/diablo_server/frontend/lib/websocket.ts
+++ b/daq-server/diablo_server/frontend/lib/websocket.ts
@@ -180,12 +180,18 @@ export class WebSocketClient {
     }
   }
 
-  /** (Re)establish the data view: re-subscribe and request historical backfill.
-   *  Runs on socket open AND on an elodin reconnect (session Start/Stop run),
-   *  since the backend socket is not restarted by a session change. */
+  /** (Re)establish the data view: rebuild entity aliases and request historical
+   *  backfill. Runs on socket open AND on an elodin reconnect (session
+   *  Start/Stop run), since the backend socket is not restarted by a session
+   *  change.
+   *
+   *  There is no subscribe step: the backend sends every stream to every
+   *  client. A dashboard never has to ask for a subset, and a slow link is
+   *  handled by shedding resolution server-side (backend client-outbox.ts)
+   *  rather than by dropping streams. */
   private initDataStreams(reason: string): void {
     this.log('init_data_streams', { reason });
-    this.subscribeToAllSensors();
+    this.refreshEntityAliases();
     this.send({
       type: MessageType.QUERY_HISTORICAL,
       timestamp: Date.now(),
@@ -193,51 +199,18 @@ export class WebSocketClient {
     });
   }
 
-  private async subscribeToAllSensors(): Promise<void> {
-    const sensors = new Set<string>();
-
-    // Core channels up to 32 to be safe
-    for (let i = 1; i <= 32; i++) {
-      sensors.add(`PT_Cal.CH${i}`);
-      sensors.add(`PT.CH${i}`);
-      sensors.add(`ACT.CH${i}`);
-    }
-
+  /** Rebuild the config-driven entity aliases so named entities (e.g. a role
+   *  name) resolve to the generic CH<n> keys the streams actually use. */
+  private async refreshEntityAliases(): Promise<void> {
     try {
-      const res = await fetch(`${getApiBaseUrl()}/api/sensor-config`);
-      if (res.ok) {
-        const data = await res.json();
-        data.sensors?.forEach((s: any) => {
-          if (s.entity) sensors.add(s.entity);
-          if (s.calEntity) sensors.add(s.calEntity);
-        });
-      }
-
       const cfgRes = await fetch(`${getApiBaseUrl()}/api/config`);
       if (cfgRes.ok) {
         const cfgData = await cfgRes.json();
-        // Build dynamic aliases from config so named entities resolve to generic CH<n> keys
-        if (cfgData.config) {
-          buildAliasesFromConfig(cfgData.config);
-        }
-        const actRoles = cfgData.config?.actuator_roles || {};
-        Object.keys(actRoles).forEach(role => {
-          sensors.add(`ACT.${role.replace(/\\s+/g, '_')}`);
-        });
+        if (cfgData.config) buildAliasesFromConfig(cfgData.config);
       }
     } catch (e) {
-      console.warn("Could not fetch dynamic sensors, falling back to basic array:", e);
+      console.warn('Could not fetch config for entity aliases:', e);
     }
-
-    console.log(`📋 Subscribing to ${sensors.size} sensor entities`);
-    sensors.forEach((entity) => {
-      this.send({
-        type: MessageType.SUBSCRIBE_SENSOR,
-        timestamp: Date.now(),
-        payload: { entity },
-      });
-    });
-    console.log('✅ All subscription requests sent');
   }
 
   private handleMessage(message: WSMessage): void {
diff --git a/daq-server/diablo_server/shared/types.d.ts b/daq-server/diablo_server/shared/types.d.ts
index 0de3149e5..e695c2539 100644
--- a/daq-server/diablo_server/shared/types.d.ts
+++ b/daq-server/diablo_server/shared/types.d.ts
@@ -2,8 +2,6 @@
  * Shared TypeScript types for frontend and backend
  */
 export declare enum MessageType {
-    SUBSCRIBE_SENSOR = "subscribe_sensor",
-    UNSUBSCRIBE_SENSOR = "unsubscribe_sensor",
     SEND_COMMAND = "send_command",
     QUERY_HISTORICAL = "query_historical",
     CALIBRATION_COMMAND = "calibration_command",
@@ -183,6 +181,12 @@ export interface ConnectionStatus {
     /** Backend-authoritative: an Elodin row was ingested within the freshness window,
      *  i.e. the pipeline is actually delivering data right now (not just "run active"). */
     dataFresh?: boolean;
+    /** The backend is shedding resolution to keep this client current. */
+    throttled?: boolean;
+    /** Percentage of produced sensor points this client actually received (0-100). */
+    resolutionPct?: number;
+    /** Age of the newest delivered sample at the last flush, in ms. */
+    lagMs?: number;
 }
 export interface MissionStartTime {
     missionStartTime: number;
diff --git a/daq-server/diablo_server/shared/types.d.ts.map b/daq-server/diablo_server/shared/types.d.ts.map
index b5e4f39e6..e0680bd77 100644
--- a/daq-server/diablo_server/shared/types.d.ts.map
+++ b/daq-server/diablo_server/shared/types.d.ts.map
@@ -1 +1 @@
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\ No newline at end of file
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diff --git a/daq-server/diablo_server/shared/types.js b/daq-server/diablo_server/shared/types.js
index db440c119..fb4c128c4 100644
--- a/daq-server/diablo_server/shared/types.js
+++ b/daq-server/diablo_server/shared/types.js
@@ -5,8 +5,6 @@
 export var MessageType;
 (function (MessageType) {
     // Client → Server
-    MessageType["SUBSCRIBE_SENSOR"] = "subscribe_sensor";
-    MessageType["UNSUBSCRIBE_SENSOR"] = "unsubscribe_sensor";
     MessageType["SEND_COMMAND"] = "send_command";
     MessageType["QUERY_HISTORICAL"] = "query_historical";
     MessageType["CALIBRATION_COMMAND"] = "calibration_command";
diff --git a/daq-server/diablo_server/shared/types.js.map b/daq-server/diablo_server/shared/types.js.map
index 745935633..3ae61447b 100644
--- a/daq-server/diablo_server/shared/types.js.map
+++ b/daq-server/diablo_server/shared/types.js.map
@@ -1 +1 @@
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\ No newline at end of file
+{"version":3,"file":"types.js","sourceRoot":"","sources":["types.ts"],"names":[],"mappings":"AAAA;;GAEG;AAEH,0BAA0B;AAC1B,MAAM,CAAN,IAAY,WA8BX;AA9BD,WAAY,WAAW;IACrB,kBAAkB;IAClB,4CAA6B,CAAA;IAC7B,oDAAqC,CAAA;IACrC,0DAA2C,CAAA;IAC3C,8CAA+B,CAAA;IAE/B,kBAAkB;IAClB,8CAA+B,CAAA;IAC/B,kDAAmC,CAAA;IACnC,4CAA6B,CAAA;IAC7B,8BAAe,CAAA;IACf,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,sDAAuC,CAAA;IACvC,wDAAyC,CAAA;IACzC,wFAAyE,CAAA;IACzE,kDAAmC,CAAA;IACnC,0DAA2C,CAAA;IAC3C,4CAA6B,CAAA;IAC7B,gDAAiC,CAAA;IACjC,kEAAmD,CAAA;IACnD,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;IAC/C,sCAAuB,CAAA;IAEvB,mDAAmD;IACnD,gDAAiC,CAAA;IACjC,gDAAiC,CAAA;IACjC,8DAA+C,CAAA;AACjD,CAAC,EA9BW,WAAW,KAAX,WAAW,QA8BtB;AAED,eAAe;AACf,MAAM,CAAN,IAAY,UAOX;AAPD,WAAY,UAAU;IACpB,+BAAiB,CAAA;IACjB,2BAAa,CAAA;IACb,yBAAW,CAAA;IACX,uBAAS,CAAA;IACT,yBAAW,CAAA;IACX,uBAAS,CAAA;AACX,CAAC,EAPW,UAAU,KAAV,UAAU,QAOrB;AAED,uBAAuB;AACvB,MAAM,CAAN,IAAY,WAwBX;AAxBD,WAAY,WAAW;IACrB,+CAAS,CAAA;IACT,6CAAQ,CAAA;IACR,+CAAS,CAAA;IACT,uDAAa,CAAA;IACb,mDAAW,CAAA;IACX,+DAAiB,CAAA;IACjB,qDAAY,CAAA;IACZ,yDAAc,CAAA;IACd,uDAAa,CAAA;IACb,qDAAY,CAAA;IACZ,oDAAY,CAAA;IACZ,kEAAmB,CAAA;IACnB,gEAAkB,CAAA;IAClB,8CAAS,CAAA;IACT,wDAAc,CAAA;IACd,gDAAU,CAAA;IACV,8CAAS,CAAA;IACT,8DAAiB,CAAA;IACjB,wDAAc,CAAA;IACd,oEAAoB,CAAA;IACpB,gEAAkB,CAAA;IAClB,2CAA2C;IAC3C,gDAAU,CAAA;AACZ,CAAC,EAxBW,WAAW,KAAX,WAAW,QAwBtB;AAED,yEAAyE;AACzE,sEAAsE;AAEtE,kBAAkB;AAClB,MAAM,CAAN,IAAY,aAIX;AAJD,WAAY,aAAa;IACvB,qDAAU,CAAA;IACV,iDAAQ,CAAA;IACR,uDAAW,CAAA;AACb,CAAC,EAJW,aAAa,KAAb,aAAa,QAIxB;AAiWD,MAAM,UAAU,qBAAqB,CAAC,CAAsB;IAC1D,OAAO,KAAK,IAAI,CAAC,IAAI,SAAS,IAAI,CAAC,CAAC;AACtC,CAAC;AAED,gFAAgF;AAEhF;;;GAGG;AACH,MAAM,UAAU,sBAAsB,CAAC,IAA+B;IACpE,IAAI,IAAI,KAAK,IAAI,IAAI,IAAI,KAAK,SAAS;QAAE,OAAO,SAAS,CAAC;IAC1D,sEAAsE;IACtE,0CAA0C;IAC1C,MAAM,IAAI,GAAI,WAAmB,CAAC,IAAI,CAAC,CAAC;IACxC,IAAI,OAAO,IAAI,KAAK,QAAQ,EAAE,CAAC;QAC7B,OAAO,IAAI,CAAC,OAAO,CAAC,IAAI,EAAE,GAAG,CAAC,CAAC;IACjC,CAAC;IACD,OAAO,SAAS,CAAC;AACnB,CAAC;AAED,gFAAgF;AAChF;2FAC2F;AAC3F,MAAM,CAAC,MAAM,eAAe,GAAG,CAAC,UAAU,EAAE,QAAQ,CAAU,CAAC;AAG/D,sEAAsE;AACtE,MAAM,UAAU,gBAAgB,CAAC,MAAW;IAC1C,MAAM,GAAG,GAA6B,EAAE,QAAQ,EAAE,EAAE,EAAE,MAAM,EAAE,EAAE,EAAE,CAAC;IACnE,MAAM,KAAK,GAAG,MAAM,EAAE,cAAc,CAAC;IACrC,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,GAAG,CAAC;IACpD,KAAK,MAAM,CAAC,IAAI,EAAE,KAAK,CAAC,IAAI,MAAM,CAAC,OAAO,CAAM,KAAK,CAAC,EAAE,CAAC;QACvD,MAAM,UAAU,GAAG,KAAK,CAAC,OAAO,CAAC,KAAK,CAAC,IAAI,OAAO,KAAK,CAAC,CAAC,CAAC,KAAK,QAAQ,CAAC,CAAC,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC,CAAC,CAAC,EAAE,CAAC;QAC/F,IAAI,UAAU,IAAI,GAAG,CAAC,UAAU,CAAC;YAAE,GAAG,CAAC,UAAU,CAAC,CAAC,IAAI,CAAC,IAAI,CAAC,CAAC;IAChE,CAAC;IACD,OAAO,GAAG,CAAC;AACb,CAAC;AAED;;;;;;;;;;;;;GAaG;AACH,MAAM,UAAU,8BAA8B,CAAC,MAAW;IACxD,MAAM,KAAK,GAAG,MAAM,EAAE,cAAc,CAAC;IACrC,+FAA+F;IAC/F,IAAI,CAAC,KAAK,IAAI,OAAO,KAAK,KAAK,QAAQ;QAAE,OAAO,EAAE,CAAC;IACnD,MAAM,QAAQ,GAAG,gBAAgB,CAAC,MAAM,CAAC,CAAC;IAC1C,IAAI,QAAQ,CAAC,QAAQ,CAAC,MAAM,KAAK,CAAC,IAAI,QAAQ,CAAC,MAAM,CAAC,MAAM,KAAK,CAAC;QAAE,OAAO,EAAE,CAAC;IAE9E,MAAM,MAAM,GAAa,EAAE,CAAC;IAC5B,KAAK,MAAM,CAAC,GAAG,EAAE,KAAK,CAAC,IAAI,CAAC,CAAC,UAAU,EAAE,MAAM,CAAC,EAAE,CAAC,QAAQ,EAAE,IAAI,CAAC,CAAU,EAAE,CAAC;QAC7E,MAAM,KAAK,GAAG,QAAQ,CAAC,GAAG,CAAC,CAAC;QAC5B,IAAI,KAAK,CAAC,MAAM,KAAK,CAAC,EAAE,CAAC;YACvB,MAAM,CAAC,IAAI,CAAC,4BAA4B,GAAG,6BAA6B,KAAK,qGAAqG,CAAC,CAAC;QACtL,CAAC;aAAM,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAC5B,MAAM,CAAC,IAAI,CAAC,GAAG,KAAK,CAAC,MAAM,4BAA4B,GAAG,MAAM,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,0BAA0B,CAAC,CAAC;QAC9G,CAAC;IACH,CAAC;IACD,OAAO,MAAM,CAAC;AAChB,CAAC"}
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diff --git a/daq-server/diablo_server/shared/types.ts b/daq-server/diablo_server/shared/types.ts
index edf75b505..20aa0803c 100644
--- a/daq-server/diablo_server/shared/types.ts
+++ b/daq-server/diablo_server/shared/types.ts
@@ -5,8 +5,6 @@
 // WebSocket message types
 export enum MessageType {
   // Client → Server
-  SUBSCRIBE_SENSOR = 'subscribe_sensor',
-  UNSUBSCRIBE_SENSOR = 'unsubscribe_sensor',
   SEND_COMMAND = 'send_command',
   QUERY_HISTORICAL = 'query_historical',
   CALIBRATION_COMMAND = 'calibration_command',
@@ -225,6 +223,18 @@ export interface ConnectionStatus {
   /** Backend-authoritative: an Elodin row was ingested within the freshness window,
    *  i.e. the pipeline is actually delivering data right now (not just "run active"). */
   dataFresh?: boolean;
+
+  // ── This client's own link (per-socket; see backend client-outbox.ts) ──────
+  // Computed server-side and sent, never derived in the browser: resolutionPct
+  // needs the produced-point count the client never receives, and lagMs needs
+  // the server clock. An operator must never look at decimated data unknowingly.
+
+  /** The backend is shedding resolution to keep this client current. */
+  throttled?: boolean;
+  /** Percentage of produced sensor points this client actually received (0-100). */
+  resolutionPct?: number;
+  /** Age of the newest delivered sample at the last flush, in ms. */
+  lagMs?: number;
 }
 
 // Mission start time (T+0 from first packet)
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index 1ec4c585a..a7363ddd6 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,7 +5,12 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-08 against `1aeb97bc`.
-**Last updated:** 2026-09-08 — the config-gate work landed, which turned the config editor's
+**Last updated:** 2026-09-08 — the WebSocket backpressure work landed, resolving this file's
+backpressure/keepalive entry under High: sensor data now stages in a per-client outbox that sheds
+*resolution* rather than falling behind, squeezed to a measured-throughput latency budget, with the
+30 s ping reaper and a `Throttled · N%` badge so no operator reads a decimated trace unknowingly. It
+also capped encoders (their own budget, so the scope view's valve timing survives) and deleted the
+dead `SUBSCRIBE_SENSOR` protocol. Before that, the config-gate work landed, which turned the config editor's
 visual-only validation into a refusal at session start (and is recorded under Resolved, having been
 raised directly rather than filed here). Before that, the controller PWM-mapping and FIRE-gate work landed, which
 resolved both controller entries under High (correcting one's scope and the other's severity) and
@@ -88,33 +93,6 @@ states it maps.
 
 ## High
 
-### Backend — WebSocket broadcast has no backpressure and no keepalive
-
-**File:** `diablo_server/backend/src/server.ts:676-690`
-
-`broadcast()` sends to every client whose `readyState === OPEN` and swallows the result.
-Nothing checks `ws.bufferedAmount`, and there is no `ping`/`pong` liveness check anywhere in
-the server (`grep bufferedAmount` and `grep ping(` both come back empty).
-
-Two consequences, both routine in the field:
-
-1. A client on a degraded link (a tablet at the pad) stops draining. `ws` queues every
-   broadcast in the backend's heap. At 10 Hz across every sensor series, that grows without
-   bound.
-2. A client whose network vanishes without a TCP FIN — a Wi-Fi drop, a closed laptop —
-   stays `OPEN` in `wss.clients` indefinitely and keeps accruing that queue, because
-   nothing ever probes it.
-
-The backend is the single process feeding every dashboard; when it OOMs, everyone loses
-telemetry at once.
-
-**Fix:** skip clients over a `bufferedAmount` threshold (drop frames for that client rather
-than the whole server — sensor data is idempotent, the next frame supersedes it), and
-`terminate()` a client that stays over the threshold for several seconds. Add the standard
-30 s `ping` with an `isAlive` flag cleared on `pong` to reap dead sockets.
-
----
-
 ### CI — The static-analysis job cannot fail
 
 **File:** `.github/workflows/daq-server-ci.yml:263-292`
@@ -324,6 +302,71 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the WebSocket backpressure work (2026-09-08)
+
+- **Backend — WebSocket broadcast has no backpressure and no keepalive.** `broadcast()` handed
+  every message to `ws.send()` and never read `ws.bufferedAmount`, so a client that stopped
+  draining had every subsequent frame queued in the backend's heap without limit — ~47 live
+  streams at 20 pts/s is ~124 KB/s per stalled client, ~460 MB/hour, and the backend is the one
+  process feeding every dashboard. The team had hit this; the standing workaround was to restart
+  the backend.
+
+  The memory was the lesser half. A FIFO queue guarantees *completeness* and therefore gives up
+  *currency* without bound: the tablet renders a smooth, plausible, coherent plot that is minutes
+  old, with no gap, no stale badge, and `readyState` still `OPEN`. On a test stand that is worse
+  than a blank screen. Measured against a 50 KB/s link, the old path never recovers — lag grows
+  linearly (60 s at t=60, 96 s at t=120, 203 s at t=300) because drain rate is permanently below
+  production rate.
+
+  Sensor samples now stage in a per-client outbox (`backend/src/client-outbox.ts`) as min/max
+  windows in a tiered ladder: a level that overflows merges its two *oldest* windows into one
+  promoted a level up, so a window only ever merges with a same-resolution neighbour and old data
+  cannot collapse. Merging keeps each extreme **with its original timestamp**, so a 620 psi
+  ignition spike survives any number of compactions at its true time — verified in tests, and the
+  reason this is min/max decimation rather than last-value conflation.
+
+  Before each flush the ladder is squeezed to a latency budget derived from the client's *measured*
+  drain rate (bytes handed to the socket ÷ time the socket took to empty), so what does not fit is
+  compacted away rather than delayed. That inverts the control law from *fixed buffer, variable
+  lag* to *fixed lag, variable resolution*: simulated at a 1.5 s budget, lag holds at ≤1.6 s across
+  2000 → 20 KB/s while resolution degrades 100% → 16%. A healthy client is untouched — its outbox
+  holds one window and the compaction path never executes.
+
+  Two things had to be right for it to be safe. The flush fires only when the socket has actually
+  **drained**, not merely dropped below a low-water mark — simulated with a 32 KB mark the socket
+  queue climbed 42 → 93 → 152 KB, reintroducing the same unbounded queue one layer down. And only
+  `SENSOR_UPDATE` passes through the outbox: control and event messages (`NOTIFICATION`,
+  `STATE_UPDATE`, `SESSION_UPDATE`, `ACTUATOR_UPDATE`, …) still go out directly, because sensor
+  samples are idempotent and the next supersedes the last, while a state transition or an abort
+  notification is not.
+
+  Also fixed alongside: the 30 s `ping`/`pong` reaper, so a socket whose peer vanished without a
+  FIN is terminated instead of living in `wss.clients` forever; `SENSOR_DATA_STALE_MS` now measures
+  age on the **server** timeline, so a throttled client reading current-but-coarse data does not
+  blink "Data Pipeline Down" between batches; and the badge gained a `Throttled · N%` state
+  (`frontend/lib/connection-badge.ts`, extracted from the nested ternary that was duplicated
+  verbatim in `TopBar` and `MobileDashboard`) so no operator reads a decimated trace without being
+  told — ranked below `Disconnected`/`Data Pipeline Down` so it can never mask an outage, and
+  orange because yellow already means the pipeline is down. Every value on it is computed in the
+  backend: `resolutionPct` needs a produced-count the browser never receives and `lagMs` needs the
+  server clock. `/api/debug` reports `wsBufferedBytes`, `outboxWindowsHeld` and `heapUsedMb`, so
+  "the dashboards are stuck" is now one curl rather than a restart.
+
+- **Encoders were exempt from every rate cap.** `shouldThrottleSensorStreamPacket` covered
+  `[0x20]`–`[0x23]` and `[0x30]`–`[0x31]`; encoder `[0x24]` fell through and emitted every packet
+  uncapped. Folding it into the 20 pts/s GUI budget would have been wrong — `OscopeTriggerPlot`
+  measures valve actuation timing from those samples (inter-encoder skew, plateau detection) and
+  100 ms windows would quantize the measurement away — so encoders get their own
+  `[gui] encoder_points_per_second` (default 100). At the boards' ~48 Hz that is one sample per
+  window, `min == max`, and points pass through unchanged: a ceiling against a faster board being
+  fitted, not a downsample of the current one.
+
+- **`SUBSCRIBE_SENSOR` / `UNSUBSCRIBE_SENSOR` were dead protocol.** Two senders
+  (`websocket.ts subscribeToAllSensors()`, `controller/page.tsx`), zero consumers — the backend
+  fell through to `break`. Honoring them would have changed nothing either: the client asked for
+  every channel at connect and never revised it. Deleted rather than implemented; there is no case
+  where a dashboard wants a subset, and a slow link is now handled by shedding resolution instead.
+
 ### By the config-gate work (2026-09-08)
 
 Not filed here — raised directly: the config editor's validation was **visual only**. It found real
diff --git a/daq-server/test/ws_data_flow_test.ts b/daq-server/test/ws_data_flow_test.ts
index 5c46aae31..fc38821cb 100644
--- a/daq-server/test/ws_data_flow_test.ts
+++ b/daq-server/test/ws_data_flow_test.ts
@@ -176,7 +176,6 @@ function boardStatusSkipIds(): Set<number> {
 
 // Shared types (inline to avoid import issues)
 enum MessageType {
-  SUBSCRIBE_SENSOR = 'subscribe_sensor',
   SEND_COMMAND = 'send_command',
   SENSOR_UPDATE = 'sensor_update',
   ACTUATOR_UPDATE = 'actuator_update',
@@ -642,6 +641,10 @@ async function testBackendDebugApi(): Promise<void> {
     ingestPacketsReceived?: number;
     boardScanRateHz?: Record<string, number>;
     ingestConnected?: boolean;
+    wsClients?: number;
+    wsBufferedBytes?: number;
+    outboxWindowsHeld?: number;
+    heapUsedMb?: number;
   }
 
   const result = await new Promise<DebugApiResponse | null>((resolve) => {
@@ -664,6 +667,22 @@ async function testBackendDebugApi(): Promise<void> {
     `ingestPacketsReceived > 0 (got ${result.ingestPacketsReceived ?? 'missing'}) — "Ingest Rate" card would show "---"`,
   );
 
+  // WS backpressure diagnostics. These exist so "the dashboards are stuck" can
+  // be diagnosed with one curl instead of a backend restart: a large
+  // wsBufferedBytes against a small wsClients is the per-client outbox failing
+  // to drain (see backend client-outbox.ts).
+  assert(typeof result.wsBufferedBytes === 'number', '/api/debug reports wsBufferedBytes');
+  assert(typeof result.outboxWindowsHeld === 'number', '/api/debug reports outboxWindowsHeld');
+  assert(typeof result.heapUsedMb === 'number' && (result.heapUsedMb ?? 0) > 0,
+    `/api/debug reports heapUsedMb (got ${result.heapUsedMb ?? 'missing'})`);
+
+  // A healthy local client drains every tick, so nothing should be piling up.
+  // If this trips on a loopback connection, the flush loop is not running.
+  assert((result.wsBufferedBytes ?? 0) < 1_000_000,
+    `wsBufferedBytes stays small on a healthy local client (got ${result.wsBufferedBytes})`);
+  assert((result.outboxWindowsHeld ?? 0) < 5000,
+    `outboxWindowsHeld stays bounded (got ${result.outboxWindowsHeld})`);
+
   const bsr = result.boardScanRateHz;
   assert(bsr !== null && typeof bsr === 'object', '/api/debug includes boardScanRateHz object');
   if (!bsr) return;
@@ -1010,15 +1029,10 @@ async function testSensorDataFlow(ws: WebSocket): Promise<void> {
     'ENC1.CH', 'ENC1_Cal.CH',
     'ACT2.CH', 'ACT4.CH', 'ACT2_Cal.CH', 'ACT4_Cal.CH',
   ];
-  for (const prefix of sensorPrefixes) {
-    for (let i = 1; i <= 20; i++) {
-      send(ws, {
-        type: MessageType.SUBSCRIBE_SENSOR,
-        timestamp: Date.now(),
-        payload: { entity: `${prefix}${i}` },
-      });
-    }
-  }
+  // No subscribe step: the backend sends every stream to every client, and a
+  // slow client is handled by shedding resolution server-side (client-outbox.ts)
+  // rather than by filtering streams. sensorPrefixes below is what we EXPECT to
+  // see arrive, not what we asked for.
 
   // Snapshot backend stats before the window so we can compute a delta.
   const statsAtWindowStart = IS_THIN ? await fetchBackendStats() : null;
@@ -2606,15 +2620,7 @@ async function testRawAndCalibratedPresence(ws: WebSocket): Promise<void> {
     'TC1.CH', 'TC1_Cal.CH', 'RTD1.CH', 'RTD1_Cal.CH',
     'LC2.CH', 'LC2_Cal.CH',
   ];
-  for (const prefix of prefixes) {
-    for (let i = 1; i <= 20; i++) {
-      send(ws, {
-        type: MessageType.SUBSCRIBE_SENSOR,
-        timestamp: Date.now(),
-        payload: { entity: `${prefix}${i}` },
-      });
-    }
-  }
+  // No subscribe step — every client receives every stream (see above).
 
   const COLLECT_MS = 8000;
   console.log(`  Collecting sensor updates for ${COLLECT_MS / 1000}s...`);

From 1974b94ce3e79aa0238823871cab5ea78e06dea2 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Tue, 8 Sep 2026 17:43:19 -0700
Subject: [PATCH 197/205] =?UTF-8?q?delete=20the=20static-analysis=20CI=20j?=
 =?UTF-8?q?ob=20rather=20than=20repair=20it=20=E2=80=94=20cppcheck=20ran?=
 =?UTF-8?q?=20as=20`--error-exitcode=3D1=20...=20||=20true`=20so=20it=20co?=
 =?UTF-8?q?uld=20not=20fail,=20and=20measured=20against=20the=20same=20cpp?=
 =?UTF-8?q?check=202.13.0=20ubuntu-latest=20ships=20it=20produced=20199=20?=
 =?UTF-8?q?messages=20with=20zero=20`error`=20and=20zero=20`warning`=20(14?=
 =?UTF-8?q?6=20`missingInclude`=20noise=20from=20having=20no=20`-I`,=20lea?=
 =?UTF-8?q?ving=2047=20style=20/=203=20performance=20/=201=20portability?=
 =?UTF-8?q?=20across=2028=20files),=20so=20gating=20meant=20carrying=20sup?=
 =?UTF-8?q?pressions=20for=20`missingInclude`,=20`useStlAlgorithm`=20and?=
 =?UTF-8?q?=20`constParameter`=20=E2=80=94=20the=20last=20being=20nine=20`?=
 =?UTF-8?q?char*=20argv[]`=20on=20`main`=20=E2=80=94=20and=20triaging=20~2?=
 =?UTF-8?q?0=20leftovers=20whose=20two=20most=20bug-shaped=20members=20are?=
 =?UTF-8?q?=20false=20positives=20(`CubicCalibrationStore.cpp:57`=20is=20a?=
 =?UTF-8?q?=20deliberate=20`amin=20=3D=20amax=20=3D=20pts[0].adc`=20init,?=
 =?UTF-8?q?=20and=20`daq=5Fbridge=5Fmain.cpp:345`'s=20always-false=20condi?=
 =?UTF-8?q?tion=20holds=20only=20because=20cppcheck=20cannot=20see=20throu?=
 =?UTF-8?q?gh=20`load=5Fboard=5Fmap=5Ffrom=5Fconfig`=20without=20include?=
 =?UTF-8?q?=20paths);=20clang-tidy=20was=20worse=20than=20ungated=20?=
 =?UTF-8?q?=E2=80=94=20the=20step=20passed=20`-p=20build`=20but=20the=20jo?=
 =?UTF-8?q?b=20never=20built=20anything=20and=20nothing=20in=20the=20repo?=
 =?UTF-8?q?=20emits=20a=20compilation=20database=20at=20all,=20`CMAKE=5FEX?=
 =?UTF-8?q?PORT=5FCOMPILE=5FCOMMANDS`=20being=20set=20in=20neither=20CMake?=
 =?UTF-8?q?Lists.txt=20nor=20the=20workflow=20while=20the=20build=20job=20?=
 =?UTF-8?q?uploads=20only=20bin/=20and=20lib/,=20so=20`-p`=20named=20a=20d?=
 =?UTF-8?q?irectory=20that=20did=20not=20exist,=20clang-tidy=20fell=20back?=
 =?UTF-8?q?=20to=20the=20bare=20`-std=3Dc++20`=20and=20every=20file=20died?=
 =?UTF-8?q?=20on=20its=20first=20`#include`,=20meaning=20the=20`||=20true`?=
 =?UTF-8?q?=20and=20`continue-on-error:=20true`=20were=20hiding=20a=20step?=
 =?UTF-8?q?=20that=20had=20never=20produced=20a=20finding=20rather=20than?=
 =?UTF-8?q?=20one=20whose=20findings=20were=20ignored;=20build-summary=20d?=
 =?UTF-8?q?rops=20the=20dependency=20and=20its=20row,=20the=20three=20cppc?=
 =?UTF-8?q?heck=20findings=20worth=20keeping=20are=20refiled=20under=20Low?=
 =?UTF-8?q?=20(ElodinClient.cpp:197-199=20decodes=20packet=5Ftype/packet?=
 =?UTF-8?q?=5Fid/request=5Fid=20and=20reads=20none,=20ControllerLUT.cpp:13?=
 =?UTF-8?q?3=20tests=20an=20unsigned=20for=20<=200,=20calibration=5Fmain.c?=
 =?UTF-8?q?pp:1336=20casts=20const=20unsigned=20char*=20to=20const=20float?=
 =?UTF-8?q?*),=20and=20the=20IMPROVEMENTS=20entry=20is=20retired=20to=20Re?=
 =?UTF-8?q?solved=20pointing=20at=20the=20ASan/UBSan=20work=20as=20the=20b?=
 =?UTF-8?q?etter=20place=20to=20spend=20the=20effort?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/daq-server-ci.yml | 57 +-----------------
 daq-server/.github/README.md        | 15 +++--
 daq-server/docs/IMPROVEMENTS.md     | 90 ++++++++++++++++++++---------
 3 files changed, 74 insertions(+), 88 deletions(-)

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index 344e60ff9..2629a9588 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -240,57 +240,6 @@ jobs:
           daq-server/${{ env.BUILD_DIR }}/lib/
         retention-days: 7
 
-  # Static analysis
-  static-analysis:
-    name: Static Analysis
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-
-    - name: Install dependencies
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y \
-          build-essential \
-          cmake \
-          libeigen3-dev \
-          cppcheck \
-          clang-tidy-17 || sudo apt-get install -y clang-tidy
-
-    - name: Run cppcheck
-      run: |
-        cppcheck \
-          --enable=all \
-          --inconclusive \
-          --std=c++${{ env.CXX_STANDARD }} \
-          --suppress=missingIncludeSystem \
-          --suppress=unusedFunction \
-          --suppress=noExplicitConstructor \
-          --suppress=unmatchedSuppression \
-          --error-exitcode=1 \
-          --xml --xml-version=2 \
-          --output-file=cppcheck-report.xml \
-          diablo_server/ archive/legacy/utl/ || true
-
-    - name: Upload cppcheck results
-      uses: actions/upload-artifact@v4
-      if: always()
-      with:
-        name: cppcheck-report
-        path: daq-server/cppcheck-report.xml
-
-    - name: Run clang-tidy
-      run: |
-        # Only run on a subset to avoid timeout
-        find diablo_server archive/legacy/utl -name "*.cpp" -o -name "*.hpp" | head -20 | \
-        xargs -I {} clang-tidy {} \
-          -p ${{ env.BUILD_DIR }} \
-          -- -std=c++${{ env.CXX_STANDARD }} || true
-      continue-on-error: true
-
   # Code quality checks
   code-quality:
     name: Code Quality Checks
@@ -421,8 +370,8 @@ jobs:
   # because glibc tolerates a double pthread_join often enough to hide it. Under TSan the same
   # code dies in 0.2 s at ~50 commands with a CHECK failure inside pthread_join.
   #
-  # Neither the Release ctest job nor cppcheck/clang-tidy can see this. Without this job the fix
-  # is unverified against regression.
+  # The Release ctest job cannot see this, and no static analyser runs here any more.
+  # Without this job the fix is unverified against regression.
   thread-sanitizer:
     name: ThreadSanitizer (sequencer)
     runs-on: ubuntu-latest
@@ -934,7 +883,6 @@ jobs:
       - format-check
       - web-gui
       - build
-      - static-analysis
       - code-quality
       - security-scan
       - thread-sanitizer
@@ -959,7 +907,6 @@ jobs:
         echo "| Format Check | ${{ needs.format-check.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Web GUI | ${{ needs.web-gui.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Build | ${{ needs.build.result }} |" >> $GITHUB_STEP_SUMMARY
-        echo "| Static Analysis | ${{ needs.static-analysis.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Code Quality | ${{ needs.code-quality.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Security Scan | ${{ needs.security-scan.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| ThreadSanitizer (sequencer) | ${{ needs.thread-sanitizer.result }} |" >> $GITHUB_STEP_SUMMARY
diff --git a/daq-server/.github/README.md b/daq-server/.github/README.md
index 22135aef3..5a3ff898f 100644
--- a/daq-server/.github/README.md
+++ b/daq-server/.github/README.md
@@ -16,12 +16,15 @@ Runs on push / PR / manual dispatch. Jobs include:
 3. **Build** — GCC 12 and Clang 18, **Release** only; Clang is pinned to GCC
    12's libstdc++ (`--gcc-install-dir`) to avoid libstdc++ 14 + C++20
    `<format>`/`<chrono>` breakage.
-4. **Static Analysis** — cppcheck and clang-tidy.
-5. **Code Quality** — TODOs, large files, etc.
-6. **Security Scan** — semgrep, secret patterns, unsafe C APIs.
-7. **Tests** — CTest, sequencer test, Python tests.
-8. **Integration Test** — scripted integration (Rust elodin-db, backend, etc.).
-9. **Build Summary** — table of all job results.
+4. **Code Quality** — TODOs, large files, etc.
+5. **Security Scan** — semgrep, secret patterns, unsafe C APIs.
+6. **Tests** — CTest, sequencer test, Python tests.
+7. **Integration Test** — scripted integration (Rust elodin-db, backend, etc.).
+8. **Build Summary** — table of all job results.
+
+There is no static-analysis job: cppcheck could not fail and clang-tidy had no
+compilation database, so both were removed rather than left decorative. See
+`docs/IMPROVEMENTS.md` for the measurement and what reinstating them would take.
 
 Optional locally: [pre-commit](https://pre-commit.com/)
 (`daq-server/.pre-commit-config.yaml`) — not run in CI.
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index a7363ddd6..1da0a93e7 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,7 +5,10 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-08 against `1aeb97bc`.
-**Last updated:** 2026-09-08 — the WebSocket backpressure work landed, resolving this file's
+**Last updated:** 2026-09-08 — the `static-analysis` job was deleted rather than repaired. cppcheck
+was measured first (199 messages, zero of them `error` or `warning`) and clang-tidy turned out never
+to have analyzed a file at all, having no compilation database to work from; three cppcheck findings
+worth keeping are refiled under Low. Before that, the WebSocket backpressure work landed, resolving this file's
 backpressure/keepalive entry under High: sensor data now stages in a per-client outbox that sheds
 *resolution* rather than falling behind, squeezed to a measured-throughput latency budget, with the
 30 s ping reaper and a `Throttled · N%` badge so no operator reads a decimated trace unknowingly. It
@@ -93,38 +96,14 @@ states it maps.
 
 ## High
 
-### CI — The static-analysis job cannot fail
-
-**File:** `.github/workflows/daq-server-ci.yml:263-292`
-
-```yaml
-cppcheck --enable=all ... --error-exitcode=1 ... diablo_server/ archive/legacy/utl/ || true
-```
-
-The `|| true` cancels the `--error-exitcode=1` — the job reports green no matter what
-cppcheck finds. The report is uploaded as an artifact nobody is required to read.
-
-clang-tidy is weaker still: `|| true` **and** `continue-on-error: true`, and it runs on
-`find ... | head -20` — the first twenty files in directory order, which does not include
-the sequencer services where the races in this document live.
-
-The rest of the workflow is genuinely strict (format-check, ctest, integration, Playwright),
-which makes this job's decorative status easy to miss.
-
-**Fix:** drop the `|| true` from cppcheck and let it gate, with an explicit suppression list
-for whatever it currently flags (check the last uploaded artifact for the size of that job).
-Run clang-tidy over the whole `diablo_server/services` and `diablo_server/lib/src` trees with
-a checked-in `.clang-tidy` rather than an arbitrary 20-file slice.
-
----
-
 ### CI — No ASan/UBSan build, and CMake sets no warning flags
 
 **Files:** `CMakeLists.txt`, `.github/workflows/daq-server-ci.yml`
 
 *Partly addressed.* A `thread-sanitizer` job now builds the sequencer concurrency tests with
 `-fsanitize=thread` and runs them, which is what proves the command-queue work stays fixed —
-the races it guards are invisible to the Release `ctest` job, to cppcheck and to clang-tidy.
+the races it guards are invisible to the Release `ctest` job, and no static analyser runs in CI
+any more.
 
 Two things still missing:
 
@@ -272,6 +251,27 @@ should be identical integers).
 
 ---
 
+### C++ — three findings inherited from the deleted cppcheck job
+
+**Files:** `diablo_server/lib/src/elodin/ElodinClient.cpp:197-199`,
+`diablo_server/lib/src/control/ControllerLUT.cpp:133`,
+`diablo_server/services/calibration/calibration_main.cpp:1336`
+
+The only tool that reported these was removed (see Resolved), so they are filed here rather
+than lost with it. None is known to misbehave today; each is the shape of thing that starts
+misbehaving after an unrelated edit.
+
+1. `ElodinClient.cpp:197-199` decodes `packet_type`, `packet_id` and `request_id` from the
+   response header and reads none of them. Either the reply is not being validated against the
+   request it answers, or the three locals are dead and should go.
+2. `ControllerLUT.cpp:133` tests an unsigned expression for `< 0` — a bounds check that cannot
+   fire. Worth confirming the guard it was meant to be.
+3. `calibration_main.cpp:1336` casts `const unsigned char*` to `const float*`. Same unaligned-
+   access class as the `config_broadcast` stores named in the ASan/UBSan entry under High, and
+   it would be caught by the same UBSan build.
+
+---
+
 ### C++ — `ElodinClient::send_msg` logs on every send
 
 **File:** `diablo_server/lib/src/elodin/ElodinClient.cpp:275`
@@ -302,6 +302,42 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the CI static-analysis trim (2026-09-08)
+
+- **cppcheck was removed from the `static-analysis` job rather than made to gate.** It ran as
+  `--error-exitcode=1 ... || true`, so it could not fail, and wrote XML to an artifact nobody is
+  required to read. Measured before deleting it, using the same cppcheck 2.13.0 that
+  `ubuntu-latest` ships: 199 messages, **zero `error` and zero `warning`**. 146 were
+  `missingInclude` — information-severity noise from running with no `-I` — leaving 47 style, 3
+  performance and 1 portability across 28 files. Gating meant suppressing `missingInclude`,
+  `useStlAlgorithm` (15, taste) and `constParameter` (9, every one of them `char* argv[]` on
+  `main`), then triaging the ~20 left; and the two most bug-shaped of those are false positives —
+  `CubicCalibrationStore.cpp:57` is a deliberate `amin = amax = pts[0].adc` init, and
+  `daq_bridge_main.cpp:345`'s "condition is always false" holds only because cppcheck cannot see
+  through `load_board_map_from_config` without include paths. A gate whose entire output is a
+  suppression list is the same decoration in a different shape.
+- Three findings did look worth keeping and are refiled under Low / Housekeeping so they do not
+  disappear with the tool that reported them.
+- **clang-tidy was removed with it, and the `static-analysis` job deleted entirely.** It was worse
+  than ungated: the step ran `clang-tidy {} -p build -- -std=c++20`, but that job never built
+  anything (checkout, apt install, clang-tidy) and nothing in the repo emits a compilation database
+  at all — `CMAKE_EXPORT_COMPILE_COMMANDS` is set in neither `CMakeLists.txt` nor the workflow, and
+  the build job uploads only `bin/` and `lib/`. So `-p` named a directory that did not exist,
+  clang-tidy fell back to the bare `-std=c++20`, and every file died on its first `#include`. The
+  `|| true` **and** `continue-on-error: true` were not suppressing findings; they were hiding a step
+  that had never produced one. It also ran over `find ... | head -20` — an arbitrary slice in
+  on-disk directory order, which (contrary to the entry that described it) does include six
+  sequencer files locally; the slice was unreliable, not systematically wrong.
+- `build-summary` drops the `static-analysis` dependency and its row.
+- **Reinstating either is a real piece of work, not a revert.** clang-tidy needs
+  `-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` on the configure step, `compile_commands.json` shipped with
+  the build artifacts (or the step moved into the build job), a checked-in `.clang-tidy`, and a full
+  run over `diablo_server/services` and `diablo_server/lib/src` before anyone knows what gating
+  costs. The ASan/UBSan entry under High is the better place to spend that effort: it catches things
+  no linter can, and the TSan job is already the template.
+
+---
+
 ### By the WebSocket backpressure work (2026-09-08)
 
 - **Backend — WebSocket broadcast has no backpressure and no keepalive.** `broadcast()` handed

From 4a9007ed95b774123d72bde218e0624751dc6757 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 10 Sep 2026 13:49:39 -0700
Subject: [PATCH 198/205] =?UTF-8?q?turn=20the=20compiler=20and=20the=20san?=
 =?UTF-8?q?itizers=20on,=20and=20point=20the=20sanitizers=20at=20traffic?=
 =?UTF-8?q?=20rather=20than=20at=20ctest=20=E2=80=94=20CMakeLists=20set=20?=
 =?UTF-8?q?no=20warning=20flags=20at=20all,=20so=20the=20cheapest=20analys?=
 =?UTF-8?q?er=20available=20was=20running=20silent;=20-Wall=20-Wextra=20-W?=
 =?UTF-8?q?pedantic=20-Wno-unused-parameter=20with=20-Werror=3Dreturn-type?=
 =?UTF-8?q?=20as=20the=20only=20error=20(a=20value-returning=20function=20?=
 =?UTF-8?q?that=20falls=20off=20the=20end=20leaves=20the=20caller=20readin?=
 =?UTF-8?q?g=20a=20register=20and=20has=20no=20benign=20form)=20reported?=
 =?UTF-8?q?=2040=20warnings=20on=20a=20still-green=20build,=20and=20they?=
 =?UTF-8?q?=20were=20not=20noise:=20ElodinClient.cpp:197-199=20decoded=20p?=
 =?UTF-8?q?acket=5Ftype/packet=5Fid/request=5Fid=20and=20read=20none=20of?=
 =?UTF-8?q?=20them,=20daq=5Fbridge=5Fmain.cpp:581=20declared=20last=5Fconf?=
 =?UTF-8?q?ig=5Fsave=20and=20never=20read=20it=20while=20FSWConfigManager?=
 =?UTF-8?q?=20exposes=20no=20save=20API=20at=20all=20so=20it=20was=20lefto?=
 =?UTF-8?q?ver=20rather=20than=20a=20missing=20feature,=20calibration=5Fma?=
 =?UTF-8?q?in.cpp=20carried=20a=20dead=20lp=5Fpt=5Fpsi=5Fbefore=5Foffset?=
 =?UTF-8?q?=20obsolete=20since=20Zero=20All=20was=20reworked=20to=20captur?=
 =?UTF-8?q?e=20a=200=20reference=20through=20the=20shared=20fit=20instead?=
 =?UTF-8?q?=20of=20subtracting=20a=20tare,=20and=20all=2022=20-Wmissing-fi?=
 =?UTF-8?q?eld-initializers=20in=20SensorAssignment.cpp=20traced=20to=20Pr?=
 =?UTF-8?q?essureSensorSpec::calibration=5Ffile=20and=20requires=5Fcalibra?=
 =?UTF-8?q?tion,=20which=20nothing=20in=20the=20tree=20reads,=20so=20they?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/daq-server-ci.yml           | 123 ++++++++++++++++
 daq-server/.github/README.md                  |  16 ++-
 daq-server/CMakeLists.txt                     |  34 +++++
 .../daq_bridge/daq_bridge_main.cpp            |   1 -
 daq-server/diablo_server/lib/CMakeLists.txt   |   7 +
 .../lib/include/config/BoardDiscovery.hpp     |  32 ++---
 .../lib/include/config/SensorAssignment.hpp   |   4 -
 .../lib/src/control/ControllerLUT.cpp         |   2 +-
 .../lib/src/elodin/ElodinClient.cpp           |  13 +-
 .../services/calibration/calibration_main.cpp |  28 +---
 .../config_broadcast_service_main.cpp         |  19 ++-
 daq-server/docs/IMPROVEMENTS.md               | 134 ++++++++++--------
 12 files changed, 300 insertions(+), 113 deletions(-)

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index 2629a9588..a3d9aa84a 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -528,6 +528,127 @@ jobs:
         fi
       continue-on-error: true
 
+  # ASan + UBSan over the full stack.
+  #
+  # Sanitizers only report on code that actually executes, which is why this job runs
+  # test_integration.sh rather than ctest. Measured both ways before adding it: all 10 ctest tests
+  # pass under ASan/UBSan with zero findings, while one integration run — which drives real UDP
+  # through every service — reported five misaligned u32 stores in config_broadcast and, in
+  # daq_bridge, a bool loaded as 212 out of a DiscoveredBoard whose max_sensors/active_sensors were
+  # equally uninitialised and get serialised straight into the generated board config. A
+  # ctest-only sanitizer job would have found none of that.
+  #
+  # Three things that will waste an afternoon if they are not spelled out:
+  #
+  #  1. `setarch -R` disables ASLR. Without it the sanitizer aborts at startup on modern kernels
+  #     with "unexpected memory mapping" before running a line. Same trap as the TSan job.
+  #
+  #  2. UBSan's non-fatal diagnostics go to each service's OWN stderr, which the harness redirects
+  #     into .tmp/integration_*.log. They do NOT reach this job's stdout, and `log_path` does not
+  #     capture them either. So the script exiting 0 proves nothing — the logs are the result, and
+  #     the grep below is what actually gates the job.
+  #
+  #  3. detect_leaks=0 on purpose: these are long-running services killed at teardown, so LSan
+  #     reports at exit would bury the memory-error signal this job exists for.
+  #
+  # The sensor rate is pinned to 5 Hz for the same reason the integration job pins it, only harder:
+  # ASan roughly halves throughput and the harness asserts >=97% frontend broadcast delivery, and at
+  # full rate under ASan a local run measured 96.8% and failed on that alone. Do not lower it
+  # further to buy headroom — 3 Hz was tried and the harness then failed the opposite assertion,
+  # median stream spacing 1005 ms against its 5-1000 ms window. 5 is the floor that satisfies both.
+  address-sanitizer:
+    name: ASan + UBSan (full stack)
+    runs-on: ubuntu-latest
+    timeout-minutes: 40
+
+    env:
+      INTEGRATION_SENSOR_HZ: '5'
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Install system dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y \
+          build-essential cmake ninja-build libeigen3-dev pkg-config \
+          gcc-12 g++-12 python3 python3-pip util-linux
+
+    - name: Install elodin-db
+      run: |
+        ELODIN_VERSION="v0.16.1"
+        ELODIN_DB_INSTALLER_URL="https://github.com/elodin-sys/elodin/releases/download/${ELODIN_VERSION}/elodin-db-installer.sh"
+        mkdir -p "$HOME/.cargo/bin"
+        echo "$HOME/.cargo/bin" >> "$GITHUB_PATH"
+        export PATH="$HOME/.cargo/bin:$PATH"
+        curl --proto '=https' --tlsv1.2 -LsSf "$ELODIN_DB_INSTALLER_URL" | sh
+
+    - name: Setup Node.js
+      uses: actions/setup-node@v4
+      with:
+        node-version: '20.x'
+
+    # -DSANITIZE=ON also forces CMAKE_POSITION_INDEPENDENT_CODE: daqv2_comms is a static library
+    # linked into a shared one, and ASan's __asan_option_detect_stack_use_after_return reference
+    # fails to relocate without PIC (a hard link error, not a warning).
+    - name: Build with -fsanitize=address,undefined
+      env:
+        CC: gcc-12
+        CXX: g++-12
+      run: |
+        cmake -S . -B ${{ env.BUILD_DIR }} \
+          -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+          -DCMAKE_C_COMPILER=gcc-12 \
+          -DCMAKE_CXX_COMPILER=g++-12 \
+          -DCMAKE_CXX_STANDARD=${{ env.CXX_STANDARD }} \
+          -DSANITIZE=ON \
+          -G Ninja
+        cmake --build ${{ env.BUILD_DIR }} --parallel $(nproc)
+
+    - name: Install backend dependencies
+      run: cd diablo_server/backend && npm install
+
+    - name: Install Python dependencies
+      run: pip3 install tomli || true
+
+    - name: Run integration test under ASan/UBSan
+      env:
+        SKIP_CPP_BUILD: '1'
+        ASAN_OPTIONS: detect_leaks=0:abort_on_error=0:halt_on_error=0
+        UBSAN_OPTIONS: print_stacktrace=1:halt_on_error=0
+      run: setarch -R bash test/test_integration.sh
+
+    # This step, not the one above, is the gate. See note 2 in the job comment.
+    - name: Fail on any sanitizer report
+      if: always()
+      run: |
+        shopt -s nullglob
+        hits=0
+        for f in .tmp/integration_*.log; do
+          if grep -qE "runtime error:|ERROR: AddressSanitizer|ERROR: LeakSanitizer" "$f"; then
+            echo "::error::sanitizer report in $(basename "$f")"
+            grep -nE "runtime error:|ERROR: AddressSanitizer|ERROR: LeakSanitizer" "$f" | head -40
+            hits=1
+          fi
+        done
+        if [ "$hits" != "0" ]; then
+          echo "Sanitizer findings above. Full logs are in the uploaded artifact."
+          exit 1
+        fi
+        echo "✅ no sanitizer reports across $(ls .tmp/integration_*.log 2>/dev/null | wc -l) service log(s)"
+
+    - name: Upload service logs
+      if: always()
+      uses: actions/upload-artifact@v4
+      with:
+        name: asan-service-logs
+        path: daq-server/.tmp/integration_*.log
+        retention-days: 7
+        if-no-files-found: warn
+
   # Full-stack integration test
   integration-test:
     name: Integration Test
@@ -887,6 +1008,7 @@ jobs:
       - security-scan
       - thread-sanitizer
       - test
+      - address-sanitizer
       - integration-test
       - playwright-guitest-e2e
       - session-systemd-e2e
@@ -911,6 +1033,7 @@ jobs:
         echo "| Security Scan | ${{ needs.security-scan.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| ThreadSanitizer (sequencer) | ${{ needs.thread-sanitizer.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Tests | ${{ needs.test.result }} |" >> $GITHUB_STEP_SUMMARY
+        echo "| ASan + UBSan (full stack) | ${{ needs.address-sanitizer.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Integration Test | ${{ needs.integration-test.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Playwright E2E (guitest) | ${{ needs.playwright-guitest-e2e.result }} |" >> $GITHUB_STEP_SUMMARY
         echo "| Session Control E2E (systemd) | ${{ needs.session-systemd-e2e.result }} |" >> $GITHUB_STEP_SUMMARY
diff --git a/daq-server/.github/README.md b/daq-server/.github/README.md
index 5a3ff898f..ff54aa1a4 100644
--- a/daq-server/.github/README.md
+++ b/daq-server/.github/README.md
@@ -19,12 +19,20 @@ Runs on push / PR / manual dispatch. Jobs include:
 4. **Code Quality** — TODOs, large files, etc.
 5. **Security Scan** — semgrep, secret patterns, unsafe C APIs.
 6. **Tests** — CTest, sequencer test, Python tests.
-7. **Integration Test** — scripted integration (Rust elodin-db, backend, etc.).
-8. **Build Summary** — table of all job results.
+7. **ThreadSanitizer (sequencer)** — the concurrency tests under `-fsanitize=thread`.
+8. **ASan + UBSan (full stack)** — `-DSANITIZE=ON`, then `test_integration.sh`.
+9. **Integration Test** — scripted integration (Rust elodin-db, backend, etc.).
+10. **Build Summary** — table of all job results.
+
+The sanitizer jobs run the *tests*, not the analyser — they only report on code that
+actually executes, which is why job 8 drives the full stack rather than CTest (CTest
+under ASan/UBSan is clean; one integration run was not). Its real gate is a grep over
+`.tmp/integration_*.log`, since UBSan writes to each service's own stderr.
 
 There is no static-analysis job: cppcheck could not fail and clang-tidy had no
-compilation database, so both were removed rather than left decorative. See
-`docs/IMPROVEMENTS.md` for the measurement and what reinstating them would take.
+compilation database, so both were removed rather than left decorative. Compiler
+warnings replaced them — `CMakeLists.txt` sets `-Wall -Wextra -Wpedantic` with
+`-Werror=return-type`, so every build job carries them. See `docs/IMPROVEMENTS.md`.
 
 Optional locally: [pre-commit](https://pre-commit.com/)
 (`daq-server/.pre-commit-config.yaml`) — not run in CI.
diff --git a/daq-server/CMakeLists.txt b/daq-server/CMakeLists.txt
index 94f321fda..7b62f09d1 100644
--- a/daq-server/CMakeLists.txt
+++ b/daq-server/CMakeLists.txt
@@ -4,6 +4,33 @@ project(LiquidEngineFlightSoftware VERSION 1.0.0 LANGUAGES C CXX)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ── Warnings ──
+# The compiler is the cheapest analyser available and was running with all of them off. Turning
+# these on found three dead locals, a dead function and two struct fields nothing reads; the one
+# that is promoted to an error is -Wreturn-type, because a value-returning function that falls off
+# the end leaves the caller reading whatever was in the register and there is no benign version of
+# it. Everything else stays a warning so a clean tree does not become a blocked build.
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter -Werror=return-type)
+endif()
+
+# ── Sanitizers (-DSANITIZE=ON) ──
+# ASan/UBSan instrument the binary and only report on code that actually executes, so this is worth
+# pointing at test/test_integration.sh (which drives real UDP through every service) rather than at
+# ctest alone — ctest runs clean, while one integration run reported the misaligned stores in
+# config_broadcast and an uninitialised bool in BoardDiscovery. PIC is required, not optional:
+# daqv2_comms is a static library linked into a shared one, and ASan's
+# __asan_option_detect_stack_use_after_return reference fails to relocate without it.
+option(SANITIZE "Build with AddressSanitizer + UndefinedBehaviorSanitizer" OFF)
+if(SANITIZE)
+    if(NOT CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+        message(FATAL_ERROR "SANITIZE=ON requires GCC or Clang")
+    endif()
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+    add_compile_options(-fsanitize=address,undefined -fno-omit-frame-pointer -g)
+    add_link_options(-fsanitize=address,undefined)
+endif()
+
 find_package(Threads REQUIRED)
 find_package(ZLIB REQUIRED)
 find_package(OpenSSL REQUIRED)
@@ -23,6 +50,13 @@ target_include_directories(daqv2_comms PUBLIC
 if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
     target_compile_options(daqv2_comms PRIVATE "-include" "cstddef")
 endif()
+# GCC 13 reports -Wstringop-overflow inside libstdc++'s inlined vector::resize here, claiming a
+# write "into a region of size 0". Both call sites (DiabloPacketUtils.cpp:748,769) are guarded by
+# `if (N)` and a MAX_ bound, so the count cannot be zero; this is the known GCC 13 false positive.
+# Scoped to this target so the warning keeps working everywhere else.
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    target_compile_options(daqv2_comms PRIVATE -Wno-stringop-overflow)
+endif()
 
 # enable_testing() must come BEFORE add_subdirectory() — subdirectories added
 # earlier never emit their add_test() registrations into CTest.
diff --git a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
index 4ff09a17d..d7adf5f73 100644
--- a/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
+++ b/daq-server/diablo_server/daq_bridge/daq_bridge_main.cpp
@@ -578,7 +578,6 @@ int main(int argc, char* argv[]) {
     auto last_stats_time = std::chrono::steady_clock::now();
     auto last_reconnect_time = std::chrono::steady_clock::now();
     auto last_heartbeat_send = std::chrono::steady_clock::now();
-    auto last_config_save = std::chrono::steady_clock::now();
 
     // Per-board clock sync: reconstructs true sample times from chunk board
     // millis (spreading + offset estimation + wrap/reboot handling). Keyed by
diff --git a/daq-server/diablo_server/lib/CMakeLists.txt b/daq-server/diablo_server/lib/CMakeLists.txt
index 710a97771..a98ac2d86 100644
--- a/daq-server/diablo_server/lib/CMakeLists.txt
+++ b/daq-server/diablo_server/lib/CMakeLists.txt
@@ -37,6 +37,13 @@ target_include_directories(fsw_daq_lib PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${CMAKE_CURRENT_SOURCE_DIR}/src
     ${CMAKE_CURRENT_SOURCE_DIR}/../transport/include
+)
+
+# SYSTEM so the archived Elodin headers do not report warnings we are not going to act on — db.hpp
+# alone accounts for every -Wmissing-field-initializers left in the tree. Suppressing the warning
+# itself would have hidden the 22 live ones in SensorAssignment.cpp that turned out to be two
+# struct fields nothing reads; scoping it to the vendored header keeps the warning useful.
+target_include_directories(fsw_daq_lib SYSTEM PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/../../archive/legacy/utl
 )
 
diff --git a/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp b/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp
index 11540ce12..62e83b0c8 100644
--- a/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp
+++ b/daq-server/diablo_server/lib/include/config/BoardDiscovery.hpp
@@ -21,11 +21,11 @@ namespace config {
  * Each board has a unique signature used for identification and IP assignment
  */
 struct BoardSignature {
-    uint32_t board_id;         // Unique board ID (MAC address hash or serial number)
-    uint8_t board_type;        // Board type (PT, TC, RTD, LC, etc.)
-    uint8_t hardware_version;  // Hardware revision
-    uint8_t firmware_version;  // Firmware version
-    uint16_t serial_number;    // Board serial number
+    uint32_t board_id = 0;         // Unique board ID (MAC address hash or serial number)
+    uint8_t board_type = 0;        // Board type (PT, TC, RTD, LC, etc.)
+    uint8_t hardware_version = 0;  // Hardware revision
+    uint8_t firmware_version = 0;  // Firmware version
+    uint16_t serial_number = 0;    // Board serial number
 
     // Comparison operators for map/set usage
     bool operator<(const BoardSignature& other) const {
@@ -55,12 +55,12 @@ struct BoardSignature {
  * @brief Detected sensor information from board
  */
 struct SensorInfo {
-    uint8_t sensor_type;   // Sensor type (PT, TC, RTD, LC)
-    uint8_t channel_id;    // Channel ID on board
-    uint8_t sensor_count;  // Number of sensors of this type
-    bool is_active;        // Whether sensor is currently active
-    uint8_t quality;       // Data quality (0-255)
-    std::string location;  // Physical location (if known)
+    uint8_t sensor_type = 0;   // Sensor type (PT, TC, RTD, LC)
+    uint8_t channel_id = 0;    // Channel ID on board
+    uint8_t sensor_count = 0;  // Number of sensors of this type
+    bool is_active = false;    // Whether sensor is currently active
+    uint8_t quality = 0;       // Data quality (0-255)
+    std::string location;      // Physical location (if known)
 };
 
 /**
@@ -72,13 +72,13 @@ struct DiscoveredBoard {
     std::string mac_address;          // MAC address
     std::vector<SensorInfo> sensors;  // Detected sensors
     std::chrono::steady_clock::time_point last_seen;
-    bool is_configured;  // Whether board has been configured
-    uint16_t port;       // Communication port
+    bool is_configured = false;  // Whether board has been configured
+    uint16_t port = 0;           // Communication port
 
     // Board capabilities
-    uint8_t max_sensors;           // Maximum sensors board supports
-    uint8_t active_sensors;        // Currently active sensors
-    bool supports_dynamic_config;  // Can board accept config updates?
+    uint8_t max_sensors = 0;               // Maximum sensors board supports
+    uint8_t active_sensors = 0;            // Currently active sensors
+    bool supports_dynamic_config = false;  // Can board accept config updates?
 };
 
 /**
diff --git a/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp b/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp
index af3d17efa..4840be62f 100644
--- a/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp
+++ b/daq-server/diablo_server/lib/include/config/SensorAssignment.hpp
@@ -41,10 +41,6 @@ struct PressureSensorSpec {
     SystemState system_state;   // GSE or FLIGHT
     std::string location;       // Physical location
     std::string purpose;        // Purpose (e.g., "High pressure", "Fuel upstream")
-
-    // Calibration info
-    std::string calibration_file;  // Path to calibration data
-    bool requires_calibration;
 };
 
 /**
diff --git a/daq-server/diablo_server/lib/src/control/ControllerLUT.cpp b/daq-server/diablo_server/lib/src/control/ControllerLUT.cpp
index 2aee91b9a..e3a3c7e53 100644
--- a/daq-server/diablo_server/lib/src/control/ControllerLUT.cpp
+++ b/daq-server/diablo_server/lib/src/control/ControllerLUT.cpp
@@ -130,7 +130,7 @@ bool ControllerLUT::evaluate(const std::map<std::string, double>& point,
             return false;
 
         size_t hi = std::lower_bound(grid.begin(), grid.end(), x) - grid.begin();
-        if (hi <= 0)
+        if (hi == 0)
             hi = 1;
         if (hi >= grid.size())
             hi = grid.size() - 1;
diff --git a/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp b/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
index 1ad09ce4a..acdef80d4 100644
--- a/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
+++ b/daq-server/diablo_server/lib/src/elodin/ElodinClient.cpp
@@ -192,11 +192,14 @@ ssize_t ElodinClient::read_packet(uint8_t* packet_buffer, size_t max_len) {
         return -1;
     }
 
-    // Parse header: len(4), ty(1), packet_id(2), request_id(1)
-    uint32_t packet_len = *reinterpret_cast<uint32_t*>(packet_buffer);
-    uint8_t packet_type = packet_buffer[4];
-    uint16_t packet_id = (static_cast<uint16_t>(packet_buffer[5]) << 8) | packet_buffer[6];
-    uint8_t request_id = packet_buffer[7];
+    // Header layout: len(4) | ty(1)@4 | packet_id(2 BE)@5 | request_id(1)@7. Only the length is
+    // consumed — nothing here matches a reply to the request that asked for it, and the other three
+    // fields were decoded into locals that were never read (GCC -Wunused-variable, cppcheck
+    // unreadVariable). The layout stays documented above rather than in dead assignments.
+    // memcpy, not a uint32_t* cast: packet_buffer is caller-supplied and carries no alignment
+    // guarantee.
+    uint32_t packet_len;
+    std::memcpy(&packet_len, packet_buffer, sizeof(packet_len));
 
     // A malformed length is unrecoverable — there is no way to know where the next packet starts.
     if (packet_len < 4) {
diff --git a/daq-server/diablo_server/services/calibration/calibration_main.cpp b/daq-server/diablo_server/services/calibration/calibration_main.cpp
index 7878c509b..99289f8ab 100644
--- a/daq-server/diablo_server/services/calibration/calibration_main.cpp
+++ b/daq-server/diablo_server/services/calibration/calibration_main.cpp
@@ -21,7 +21,7 @@
  * adjustments.json; streaming uses factory unless you opt into robust below. CAL_USE_ROBUST_PT=1 —
  * 100% robust mean for streaming (when sensor initialized) CAL_USE_ROBUST_BLEND=1 — 75% robust +
  * 25% factory CAL_USE_FACTORY_PT=1 — force factory cubic (same as default; explicit)
- *   CAL_BACKUP_PATH — override robust prior JSON (else latest calibration_backups/*.json)
+ *   CAL_BACKUP_PATH — override robust prior JSON (else the latest calibration_backups/ JSON)
  */
 
 #include <algorithm>
@@ -31,6 +31,7 @@
 #include <cmath>
 #include <csignal>
 #include <cstdlib>
+#include <cstring>
 #include <deque>
 #include <filesystem>
 #include <fstream>
@@ -503,25 +504,6 @@ static uint16_t resolve_lc_sensor_uid(uint8_t type_lo, uint8_t ch,
     return static_cast<uint16_t>(100u + ch);
 }
 
-/**
- * LP PT pressure exactly as published before zero offset and EMA — must match the streaming
- * branch so Zero All reads 0 PSI at the current ADC. (Using only factory psi for the offset while
- * streaming robust caused psi_display ≈ psi_rob - psi_fac, e.g. GN2 / GSE wrong after Zero All.)
- */
-static double lp_pt_psi_before_offset(uint8_t board_number, uint8_t local_ch, uint16_t uid,
-                                      int32_t adc_i32,
-                                      const fsw::calibration::PTCalibrationManager& pt_calibration,
-                                      fsw::calibration::RobustCalibrationManager& robust_manager) {
-    const uint8_t pt_log_ch =
-        fsw::calibration::pt_logical_calibration_channel(board_number, local_ch);
-    const bool fac_ok = pt_calibration.is_calibrated(pt_log_ch);
-    const double psi_fac = fac_ok ? pt_calibration.calculate_pressure(pt_log_ch, adc_i32) : 0.0;
-    const double psi_rob = robust_manager.predict_pressure_psi(uid, adc_i32);
-    // Zero-All only reaches non-loop (0-5 V) sensors, so physics here is the ratiometric value.
-    const double psi_phys = convert_ratiometric_pt_to_pressure(adc_i32, pt_full_scale_for(uid));
-    return select_pt_psi(uid, psi_fac, psi_rob, psi_phys, fac_ok, robust_manager.has_sensor(uid));
-}
-
 /** A sensor needs at least this many captured points before its cubic/robust curve is trusted to
  *  invert an abort threshold. Below it, the fit is too loose — a 1-2 point cubic can invert to an
  *  ADC far from the intended pressure — so the abort threshold falls back to physics (the datasheet
@@ -1333,7 +1315,11 @@ int main(int argc, char* argv[]) {
                 uint8_t cmd_type = p[8];
                 uint16_t sensor_id =
                     static_cast<uint16_t>(p[10]) | (static_cast<uint16_t>(p[11]) << 8);
-                float ref_val = *reinterpret_cast<const float*>(p + 12);
+                // memcpy, not a `const float*` cast: p is pkt_buf + 8, so p + 12 inherits the
+                // buffer's alignment and nothing guarantees it is 4-aligned (cppcheck
+                // invalidPointerCast). Same instruction, defined behaviour.
+                float ref_val;
+                std::memcpy(&ref_val, p + 12, sizeof(ref_val));
 
                 std::cout << "[Cal] Received CalibrationCommand: type=" << (int)cmd_type
                           << " sensor=" << static_cast<int>(sensor_id) << " ref=" << ref_val
diff --git a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
index f1e6e4d4c..89d935d82 100644
--- a/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
+++ b/daq-server/diablo_server/services/config_broadcast/config_broadcast_service_main.cpp
@@ -19,6 +19,15 @@
 #include <chrono>
 #include <cmath>
 #include <cstring>
+
+// These packets are byte-packed: a u32 lands at offset 2, and the actuator entries step by 7, so
+// &buf[off] is routinely not 4-aligned. Writing through a uint32_t* there is undefined behaviour
+// (UBSan: "store to misaligned address ... requires 4 byte alignment", caught on all five call
+// sites during an integration run). memcpy compiles to the same single store on x86-64 and ARM64
+// and is defined everywhere, so this is a correctness fix with no code-generation cost.
+static inline void store_u32(uint8_t* dst, uint32_t v) {
+    std::memcpy(dst, &v, sizeof(v));
+}
 #include <fstream>
 #include <iostream>
 #include <map>
@@ -354,14 +363,14 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
         std::vector<uint8_t> buf(total);
         buf[0] = ACTUATOR_CONFIG;
         buf[1] = 0;
-        *reinterpret_cast<uint32_t*>(&buf[2]) = 0;
+        store_u32(&buf[2], 0);
 
         size_t off = 6;
         buf[off++] = static_cast<uint8_t>(is_abort_controller);
         buf[off++] = static_cast<uint8_t>(N);
         for (size_t i = 0; i < N; ++i) {
             auto [ip, aid, vent, abort] = abort_actuators[i];
-            *reinterpret_cast<uint32_t*>(&buf[off]) = ip;
+            store_u32(&buf[off], ip);
             off += 4;
             buf[off++] = aid;
             buf[off++] = vent;
@@ -370,10 +379,10 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
         buf[off++] = static_cast<uint8_t>(X);
         for (size_t i = 0; i < X; ++i) {
             auto [ip, sid, adc] = abort_pt_list[i];
-            *reinterpret_cast<uint32_t*>(&buf[off]) = ip;
+            store_u32(&buf[off], ip);
             off += 4;
             buf[off++] = sid;
-            *reinterpret_cast<uint32_t*>(&buf[off]) = adc;
+            store_u32(&buf[off], adc);
             off += 4;
         }
         buf[off] = static_cast<uint8_t>(enable_serial);  // mode byte 0..3
@@ -392,7 +401,7 @@ std::vector<ConfigPacket> buildPackets(const std::string& config_path) {
         std::vector<uint8_t> buf(total);
         buf[0] = SENSOR_CONFIG;
         buf[1] = 0;
-        *reinterpret_cast<uint32_t*>(&buf[2]) = 0;
+        store_u32(&buf[2], 0);
 
         size_t off = 6;
         buf[off++] = static_cast<uint8_t>(num);
diff --git a/daq-server/docs/IMPROVEMENTS.md b/daq-server/docs/IMPROVEMENTS.md
index 1da0a93e7..52e757dcd 100644
--- a/daq-server/docs/IMPROVEMENTS.md
+++ b/daq-server/docs/IMPROVEMENTS.md
@@ -5,7 +5,10 @@ frontend, and CI. Each item names the affected file(s), what actually goes wrong
 shape of the fix.
 
 **Last audited:** 2026-09-08 against `1aeb97bc`.
-**Last updated:** 2026-09-08 — the `static-analysis` job was deleted rather than repaired. cppcheck
+**Last updated:** 2026-09-10 — compiler warnings are on and a `-DSANITIZE=ON` ASan/UBSan job now runs
+over the integration test rather than ctest, which is what found `BoardDiscovery` serialising
+uninitialised `max_sensors`/`active_sensors` into the generated board config; that closes the last
+entry under High, and the section with it. Before that, on 2026-09-08, the `static-analysis` job was deleted rather than repaired. cppcheck
 was measured first (199 messages, zero of them `error` or `warning`) and clang-tidy turned out never
 to have analyzed a file at all, having no compilation database to work from; three cppcheck findings
 worth keeping are refiled under Low. Before that, the WebSocket backpressure work landed, resolving this file's
@@ -94,38 +97,6 @@ states it maps.
 
 ---
 
-## High
-
-### CI — No ASan/UBSan build, and CMake sets no warning flags
-
-**Files:** `CMakeLists.txt`, `.github/workflows/daq-server-ci.yml`
-
-*Partly addressed.* A `thread-sanitizer` job now builds the sequencer concurrency tests with
-`-fsanitize=thread` and runs them, which is what proves the command-queue work stays fixed —
-the races it guards are invisible to the Release `ctest` job, and no static analyser runs in CI
-any more.
-
-Two things still missing:
-
-1. The top-level `CMakeLists.txt` still sets no `-Wall`/`-Wextra`. Implicit conversions,
-   signed/unsigned mismatches and unused variables pass silently.
-2. No ASan/UBSan build anywhere. A concrete UBSan-visible instance today:
-   `config_broadcast_service_main.cpp:351,360,363` do
-   `*reinterpret_cast<uint32_t*>(&buf[off])` into a `std::vector<uint8_t>` at offsets that step
-   by 7 and 9 — unaligned stores through a `uint32_t*`. It works on x86-64 and ARM64 and is
-   still undefined behaviour; `memcpy` compiles to the same instruction with none of the risk.
-
-**Fix:** `add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)` with
-`-Werror=return-type` at minimum, and a `-DSANITIZE=ON` option wiring
-`-fsanitize=address,undefined` run over ctest — mirroring how the TSan job is already wired.
-
-**Note for whoever adds it:** the TSan job documents two traps that apply to any sanitizer job
-here — `setarch -R` is required or the sanitizer aborts at startup on modern kernels with
-`unexpected memory mapping`, and a sanitizer CHECK abort is *not* a `WARNING:` line, so gate on
-the process exit code rather than grepping the log.
-
----
-
 ## Medium
 
 ### Backend — WebSocket commands are still parsed as `any`
@@ -251,27 +222,6 @@ should be identical integers).
 
 ---
 
-### C++ — three findings inherited from the deleted cppcheck job
-
-**Files:** `diablo_server/lib/src/elodin/ElodinClient.cpp:197-199`,
-`diablo_server/lib/src/control/ControllerLUT.cpp:133`,
-`diablo_server/services/calibration/calibration_main.cpp:1336`
-
-The only tool that reported these was removed (see Resolved), so they are filed here rather
-than lost with it. None is known to misbehave today; each is the shape of thing that starts
-misbehaving after an unrelated edit.
-
-1. `ElodinClient.cpp:197-199` decodes `packet_type`, `packet_id` and `request_id` from the
-   response header and reads none of them. Either the reply is not being validated against the
-   request it answers, or the three locals are dead and should go.
-2. `ControllerLUT.cpp:133` tests an unsigned expression for `< 0` — a bounds check that cannot
-   fire. Worth confirming the guard it was meant to be.
-3. `calibration_main.cpp:1336` casts `const unsigned char*` to `const float*`. Same unaligned-
-   access class as the `config_broadcast` stores named in the ASan/UBSan entry under High, and
-   it would be caught by the same UBSan build.
-
----
-
 ### C++ — `ElodinClient::send_msg` logs on every send
 
 **File:** `diablo_server/lib/src/elodin/ElodinClient.cpp:275`
@@ -302,6 +252,77 @@ longer to flush, and on a fast machine it's a second wasted on every run.
 
 Kept so a future audit can distinguish "fixed" from "never checked".
 
+### By the warnings + sanitizer work (2026-09-10)
+
+Closes the `CI — No ASan/UBSan build, and CMake sets no warning flags` entry under High and the
+three cppcheck leftovers under Low. Both tools were measured before being adopted, and the measuring
+is the part worth keeping:
+
+- **Compiler warnings are on** — `-Wall -Wextra -Wpedantic -Wno-unused-parameter` with
+  `-Werror=return-type` as the only error, since a value-returning function that falls off the end
+  leaves the caller reading a register and has no benign form. First run: **40 warnings, build still
+  green**, and they were not noise. `ElodinClient.cpp:197-199` decoded `packet_type`/`packet_id`/
+  `request_id` and read none (the header layout is now a comment, and only the length is consumed);
+  `daq_bridge_main.cpp:581` declared `last_config_save` and never read it, and `FSWConfigManager`
+  exposes no save API at all, so it was leftover rather than a missing feature; `calibration_main.cpp`
+  carried a dead `lp_pt_psi_before_offset`, obsolete since Zero All was reworked to capture a 0
+  reference through the shared fit (`apply_capture(id, adc_avg, 0.0)`) instead of subtracting a tare.
+  The 22 `-Wmissing-field-initializers` in `SensorAssignment.cpp` all traced to
+  `PressureSensorSpec::calibration_file` and `requires_calibration`, which **nothing in the tree
+  reads** — deleted rather than suppressed. Two scoped suppressions remain and are deliberate: the
+  archived Elodin headers are now `SYSTEM` includes (`db.hpp` was the only remaining source of that
+  warning), and `daqv2_comms` carries `-Wno-stringop-overflow` for the GCC 13 false positive on the
+  guarded `vector::resize` calls at `DiabloPacketUtils.cpp:748,769`. The tree builds at **0
+  warnings**.
+
+- **`-DSANITIZE=ON` builds with ASan + UBSan**, and the new `address-sanitizer` CI job points it at
+  `test_integration.sh`, **not** at ctest. That choice was measured, not assumed: all 10 ctest tests
+  pass under the sanitizers with **zero findings**, while a single integration run — which drives
+  real UDP through every service — reported two things ctest, cppcheck and the compiler had all
+  missed between them.
+
+  1. **`BoardDiscovery` copied uninitialised members into the board map.**
+     `process_board_announcement` (`BoardDiscovery.cpp:93-113`) declares `DiscoveredBoard board;`,
+     assigns six of its nine fields, then `add_or_update_board` stores the whole struct
+     (`:315`). `supports_dynamic_config`, `max_sensors` and `active_sensors` were never assigned.
+     UBSan caught it as `load of value 212, which is not a valid value for type 'bool'` — but the
+     bool is the harmless one, since nothing reads it. `max_sensors` and `active_sensors` **are**
+     read, at `BoardDiscovery.cpp:380-381` and `DynamicConfigManager.cpp:107-108`, where they are
+     serialised into the generated board config. Both routes to that serialisation —
+     `BoardDiscovery::generate_config()` and `DynamicConfigManager::update_from_discovery()` — turn
+     out to have no callers at all, so nothing shipped the garbage: this is a landmine, not a live
+     fault. The uninitialised read itself *is* live on every board announcement, and wiring up
+     either config path would have published a stack byte as a board's sensor count. Fixed with
+     default member initialisers on `BoardSignature`, `SensorInfo` and `DiscoveredBoard`, so a
+     future construction site cannot reintroduce it.
+  2. **The misaligned stores this entry originally named** — five sites, not the three recorded
+     (the line numbers had drifted to `:357,364,373,376,395`), plus the same class at
+     `calibration_main.cpp:1336` and an unaligned *load* at `ElodinClient.cpp:196` that the entry
+     never mentioned. All now `memcpy`.
+
+  Also `ControllerLUT.cpp:133`'s `hi <= 0` on a `size_t` is written `hi == 0`.
+
+**Three things the job comment spells out, because each one costs an afternoon:**
+
+- `setarch -R` is required, same as the TSan job.
+- **UBSan's non-fatal diagnostics never reach the job's stdout.** They go to each service's own
+  stderr, which the harness redirects into `.tmp/integration_*.log`, and `log_path` does not capture
+  them either. The script exiting 0 proves nothing — the grep over those logs is the actual gate.
+  This was nearly filed as "zero findings" off exactly that mistake.
+- `SANITIZE=ON` forces `CMAKE_POSITION_INDEPENDENT_CODE`. `daqv2_comms` is a static library linked
+  into a shared one, and ASan's `__asan_option_detect_stack_use_after_return` reference fails to
+  relocate without PIC — a hard link error, not a warning.
+
+`INTEGRATION_SENSOR_HZ` is pinned to 5 in that job and is boxed in from both sides: at full rate
+under ASan a local run measured 96.8% frontend broadcast delivery against the harness's ≥97%
+assertion, and at 3 Hz the harness fails the opposite check (median stream spacing 1005 ms against
+its 5-1000 ms window).
+
+Verified: 0 warnings, ctest 10/10 under sanitizers, and `test_integration.sh` passing both
+sanitized (zero reports across every service log) and unsanitized (246 checks).
+
+---
+
 ### By the CI static-analysis trim (2026-09-08)
 
 - **cppcheck was removed from the `static-analysis` job rather than made to gate.** It ran as
@@ -333,8 +354,9 @@ Kept so a future audit can distinguish "fixed" from "never checked".
   `-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` on the configure step, `compile_commands.json` shipped with
   the build artifacts (or the step moved into the build job), a checked-in `.clang-tidy`, and a full
   run over `diablo_server/services` and `diablo_server/lib/src` before anyone knows what gating
-  costs. The ASan/UBSan entry under High is the better place to spend that effort: it catches things
-  no linter can, and the TSan job is already the template.
+  costs. The ASan/UBSan entry then under High was the better place to spend that effort, and two days
+  later it was — see the entry above; it catches things no linter can, and the TSan job was already
+  the template.
 
 ---
 

From 3adfe6d5de71c4bafff337bf57de0c7ae5f3a8c3 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 10 Sep 2026 19:59:45 -0700
Subject: [PATCH 199/205] =?UTF-8?q?stop=20format.sh=20OOM-killing=20the=20?=
 =?UTF-8?q?machine,=20and=20fix=20two=20CI=20jobs=20that=20could=20not=20r?=
 =?UTF-8?q?un=20=E2=80=94=20clang-format's=20peak=20memory=20is=20set=20by?=
 =?UTF-8?q?=20the=20worst=20file=20in=20the=20tree=20and=20format.sh=20was?=
 =?UTF-8?q?=20feeding=20it=20two=20vendored=20single-header=20libraries=20?=
 =?UTF-8?q?that=20its=20prune=20list=20never=20covered,=20diablo=5Fserver/?=
 =?UTF-8?q?lib/include/nlohmann/json.hpp=20at=20899=20KB=20and=20toml++/to?=
 =?UTF-8?q?ml.hpp=20at=20475=20KB,=20both=20of=20which=20blow=20past=201.3?=
 =?UTF-8?q?=20GB=20and=20one=20of=20which=20was=20measured=20at=205.6=20GB?=
 =?UTF-8?q?=20RSS=20on=20its=20own=20=E2=80=94=20enough=20to=20invoke=20th?=
 =?UTF-8?q?e=20OOM=20killer=20on=20a=207=20GB=20dev=20box,=20which=20took?=
 =?UTF-8?q?=20systemd=20with=20it=20and=20tore=20down=20the=20WSL=20VM;=20?=
 =?UTF-8?q?reformatting=20them=20was=20always=20wrong=20anyway=20since=20t?=
 =?UTF-8?q?hey=20are=20upstream=20code,=20so=20nlohmann,=20toml++=20and=20?=
 =?UTF-8?q?node=5Fmodules=20join=20the=20prune=20list=20(node=5Fmodules=20?=
 =?UTF-8?q?for=20both=20the=20C++=20and=20Python=20walks,=20since=20neithe?=
 =?UTF-8?q?r=20excluded=20it=20and=20diablo=5Fserver=20has=20two=20of=20th?=
 =?UTF-8?q?em),=20and=20FORMAT=5FJOBS=20stops=20defaulting=20to=20bare=20n?=
 =?UTF-8?q?proc=20=E2=80=94=2022=20clang-format=20processes=20against=207?=
 =?UTF-8?q?=20GB=20is=20a=20reliable=20way=20to=20reach=20the=20same=20pla?=
 =?UTF-8?q?ce=20=E2=80=94=20capping=20at=208=20unless=20the=20caller=20kno?=
 =?UTF-8?q?ws=20better;=20with=20the=20bombs=20pruned=20the=20check=20runs?=
 =?UTF-8?q?=20to=20completion=20over=20241=20files=20and=20reports=20the?=
 =?UTF-8?q?=20five=20files=20that=20were=20actually=20unformatted,=20all?=
 =?UTF-8?q?=20from=202dfccb95=20and=20none=20of=20them=20new,=20so=20they?=
 =?UTF-8?q?=20are=20formatted=20here=20and=20the=20Code=20Formatting=20Che?=
 =?UTF-8?q?ck=20job=20goes=20green=20for=20the=20first=20time=20in=20at=20?=
 =?UTF-8?q?least=20four=20runs;=20separately,=20ThreadSanitizer=20(sequenc?=
 =?UTF-8?q?er)=20has=20never=20executed=20a=20single=20test=20=E2=80=94=20?=
 =?UTF-8?q?its=20run=20step=20said=20`working-directory:=20build-tsan`,=20?=
 =?UTF-8?q?but=20a=20step-level=20working-directory=20REPLACES=20defaults.?=
 =?UTF-8?q?run.working-directory=20rather=20than=20nesting=20under=20it,?=
 =?UTF-8?q?=20so=20it=20resolved=20to=20$GITHUB=5FWORKSPACE/build-tsan=20w?=
 =?UTF-8?q?hile=20the=20build=20step,=20which=20used=20the=20default,=20ha?=
 =?UTF-8?q?d=20created=20daq-server/build-tsan,=20and=20the=20job=20died?=
 =?UTF-8?q?=20with=20"No=20such=20file=20or=20directory"=20before=20runnin?=
 =?UTF-8?q?g=20anything,=20meaning=20the=20sequencer=20double-join=20regre?=
 =?UTF-8?q?ssion=20this=20job=20exists=20to=20guard=20has=20been=20unguard?=
 =?UTF-8?q?ed=20since=20it=20was=20added;=20the=20same=20class=20of=20bug?=
 =?UTF-8?q?=20as=20the=20clang-tidy=20step=20deleted=20in=20741c4666,=20an?=
 =?UTF-8?q?d=20both=20concurrency=20tests=20pass=20locally=20under=20TSan?=
 =?UTF-8?q?=20with=20zero=20warnings=20once=20the=20path=20is=20right;=20a?=
 =?UTF-8?q?lso=20the=20asan-service-logs=20artifact=20uploaded=20nothing?=
 =?UTF-8?q?=20on=20its=20first=20run=20because=20.tmp=20is=20a=20dotted=20?=
 =?UTF-8?q?directory=20and=20upload-artifact=20v4=20excludes=20hidden=20pa?=
 =?UTF-8?q?ths=20unless=20told=20otherwise,=20which=20matters=20precisely?=
 =?UTF-8?q?=20when=20the=20job=20fails=20and=20someone=20wants=20the=20log?=
 =?UTF-8?q?s=20=E2=80=94=20the=20gate=20itself=20was=20fine=20and=20correc?=
 =?UTF-8?q?tly=20reported=20"no=20sanitizer=20reports=20across=2011=20serv?=
 =?UTF-8?q?ice=20log(s)",=20so=20that=20job=20was=20genuinely=20green=20ra?=
 =?UTF-8?q?ther=20than=20falsely=20green?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/daq-server-ci.yml           | 11 +++++++-
 .../lib/include/control/ControllerService.hpp |  4 ++-
 .../lib/include/control/PWMTargets.hpp        |  9 ++++---
 .../lib/src/control/ControllerService.cpp     | 10 +++----
 .../lib/test/test_controller_pwm_roles.cpp    |  8 +++---
 .../services/controller/controller_main.cpp   |  2 +-
 format.sh                                     | 27 +++++++++++++++----
 7 files changed, 50 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/daq-server-ci.yml b/.github/workflows/daq-server-ci.yml
index a3d9aa84a..769db6a12 100644
--- a/.github/workflows/daq-server-ci.yml
+++ b/.github/workflows/daq-server-ci.yml
@@ -413,8 +413,13 @@ jobs:
     #  2. The failure mode is a sanitizer CHECK abort (a non-zero exit), NOT a
     #     "WARNING: ThreadSanitizer" data-race report. Gate on the exit code. Grepping the log for
     #     "WARNING" would pass straight over the exact regression this job exists to catch.
+    # daq-server/build-tsan, not build-tsan: a step-level working-directory REPLACES
+    # defaults.run.working-directory rather than nesting under it, so the bare name resolved to
+    # $GITHUB_WORKSPACE/build-tsan while the build step (which used the default) had created
+    # daq-server/build-tsan. The job failed with "No such file or directory" before running a
+    # single test, which means the regression this job exists to catch was never actually guarded.
     - name: Run concurrency tests under TSan
-      working-directory: build-tsan
+      working-directory: daq-server/build-tsan
       env:
         TSAN_OPTIONS: halt_on_error=1 history_size=7
       run: |
@@ -640,12 +645,16 @@ jobs:
         fi
         echo "✅ no sanitizer reports across $(ls .tmp/integration_*.log 2>/dev/null | wc -l) service log(s)"
 
+    # include-hidden-files is required, not optional: .tmp is a dotted directory and
+    # upload-artifact v4 silently excludes hidden paths by default, so the first run of this
+    # job uploaded nothing while the gate above was reading 11 logs from that same path.
     - name: Upload service logs
       if: always()
       uses: actions/upload-artifact@v4
       with:
         name: asan-service-logs
         path: daq-server/.tmp/integration_*.log
+        include-hidden-files: true
         retention-days: 7
         if-no-files-found: warn
 
diff --git a/daq-server/diablo_server/lib/include/control/ControllerService.hpp b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
index 26e576c8f..1ae18d0ee 100644
--- a/daq-server/diablo_server/lib/include/control/ControllerService.hpp
+++ b/daq-server/diablo_server/lib/include/control/ControllerService.hpp
@@ -38,7 +38,9 @@ class ControllerService {
         uint8_t channel = 0;
         std::string actuator_name;  // the [actuator_roles] key, for logs an operator can act on
 
-        bool resolved() const { return channel != 0 && !board_ip.empty(); }
+        bool resolved() const {
+            return channel != 0 && !board_ip.empty();
+        }
     };
 
     struct PWMConfig {
diff --git a/daq-server/diablo_server/lib/include/control/PWMTargets.hpp b/daq-server/diablo_server/lib/include/control/PWMTargets.hpp
index 894bc1498..ac4444df1 100644
--- a/daq-server/diablo_server/lib/include/control/PWMTargets.hpp
+++ b/daq-server/diablo_server/lib/include/control/PWMTargets.hpp
@@ -37,7 +37,9 @@ struct PWMResolution {
     /** One human-readable line per problem. Empty means both targets are usable. */
     std::vector<std::string> issues;
 
-    bool ok() const { return issues.empty(); }
+    bool ok() const {
+        return issues.empty();
+    }
 };
 
 /** board_id → IP from [boards.*] (non-empty ip, first wins). No synthesized entries: a board this
@@ -74,8 +76,9 @@ inline PWMResolution resolvePWMTargets(const fsw::config::Config& cfg) {
             std::string joined;
             for (size_t i = 0; i < claimants.size(); ++i)
                 joined += (i ? ", " : "") + ("\"" + claimants[i] + "\"");
-            res.issues.push_back(std::string("more than one [actuator_roles] entry is assigned \"") +
-                                 assignment + "\": " + joined);
+            res.issues.push_back(
+                std::string("more than one [actuator_roles] entry is assigned \"") + assignment +
+                "\": " + joined);
             return target;
         }
 
diff --git a/daq-server/diablo_server/lib/src/control/ControllerService.cpp b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
index dfc9aa78a..ba1f9de7f 100644
--- a/daq-server/diablo_server/lib/src/control/ControllerService.cpp
+++ b/daq-server/diablo_server/lib/src/control/ControllerService.cpp
@@ -508,13 +508,11 @@ void ControllerService::sendActuationPWM(const RobustDDPController::ActuationCom
     const bool same_board = pwm_config_.fuel.resolved() && pwm_config_.ox.resolved() &&
                             pwm_config_.fuel.board_ip == pwm_config_.ox.board_ip;
     if (same_board) {
-        sendPWMCommands(pwm_config_.fuel, duty_F, pwm_config_.ox, duty_O,
-                        pwm_config_.frequency_hz, pwm_config_.duration_ms);
+        sendPWMCommands(pwm_config_.fuel, duty_F, pwm_config_.ox, duty_O, pwm_config_.frequency_hz,
+                        pwm_config_.duration_ms);
     } else {
-        sendPWMCommand(pwm_config_.fuel, duty_F, pwm_config_.frequency_hz,
-                       pwm_config_.duration_ms);
-        sendPWMCommand(pwm_config_.ox, duty_O, pwm_config_.frequency_hz,
-                       pwm_config_.duration_ms);
+        sendPWMCommand(pwm_config_.fuel, duty_F, pwm_config_.frequency_hz, pwm_config_.duration_ms);
+        sendPWMCommand(pwm_config_.ox, duty_O, pwm_config_.frequency_hz, pwm_config_.duration_ms);
     }
 }
 
diff --git a/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp b/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp
index 4ba8f9723..3fb70a273 100644
--- a/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp
+++ b/daq-server/diablo_server/lib/test/test_controller_pwm_roles.cpp
@@ -98,11 +98,11 @@ int main() {
     //    did not intend — the same class of failure as the old name-matching fallbacks, so it is
     //    an error rather than a silent pick.
     {
-        const auto r = fsw::control::resolvePWMTargets(
-            makeConfig({{"Fuel Press", "pwm_fuel"}, {"Far Side Press", "pwm_fuel"},
-                        {"LOX Press", "pwm_ox"}}));
+        const auto r = fsw::control::resolvePWMTargets(makeConfig(
+            {{"Fuel Press", "pwm_fuel"}, {"Far Side Press", "pwm_fuel"}, {"LOX Press", "pwm_ox"}}));
         check(!r.ok(), "a duplicate assignment is reported");
-        check(!r.fuel.resolved(), "a duplicated output resolves to nothing rather than picking one");
+        check(!r.fuel.resolved(),
+              "a duplicated output resolves to nothing rather than picking one");
         check(r.issues.size() == 1 && r.issues[0].find("Fuel Press") != std::string::npos &&
                   r.issues[0].find("Far Side Press") != std::string::npos,
               "the reported issue names both claimants");
diff --git a/daq-server/diablo_server/services/controller/controller_main.cpp b/daq-server/diablo_server/services/controller/controller_main.cpp
index b5061a3f8..ae8919b87 100644
--- a/daq-server/diablo_server/services/controller/controller_main.cpp
+++ b/daq-server/diablo_server/services/controller/controller_main.cpp
@@ -29,8 +29,8 @@
 #include <memory>
 #include <sstream>
 #include <string>
-#include <vector>
 #include <thread>
+#include <vector>
 
 #include "config/Config.hpp"
 #include "control/ControllerService.hpp"
diff --git a/format.sh b/format.sh
index 1033924b2..b3064ef13 100755
--- a/format.sh
+++ b/format.sh
@@ -110,12 +110,21 @@ find_cpp_files() {
             # Skip vendored / build / archived trees inside each target.
             # firmware/libraries is vendored (subtrees, symlinks); firmware/Archive
             # is intentionally frozen old code.
+            #
+            # nlohmann/ and toml++/ are vendored single-header libraries living under
+            # diablo_server/lib/include. Reformatting them was always wrong — they are
+            # upstream code — and they are also clang-format memory bombs: json.hpp is
+            # 899 KB and toml.hpp 475 KB of deeply-nested templates, and a single
+            # clang-format on json.hpp was measured at 5.6 GB RSS, enough to invoke the
+            # OOM killer on a 7 GB dev box (it took systemd with it). Combined with the
+            # job count below that was ~22 of them at once.
             find "$dir" \
                 \( -path "$dir/external"  -o -path "$dir/external/*" \
                 -o -path "$dir/build"     -o -path "$dir/build/*" \
                 -o -path "$dir/.pio"      -o -path "$dir/.pio/*" \
                 -o -path "$dir/Archive"   -o -path "$dir/Archive/*" \
-                -o -path "$dir/libraries" -o -path "$dir/libraries/*" \) -prune -o \
+                -o -path "$dir/libraries" -o -path "$dir/libraries/*" \
+                -o -name node_modules -o -name nlohmann -o -name "toml++" \) -prune -o \
                 -type f \( -name "*.cpp" -o -name "*.hpp" -o -name "*.c" -o -name "*.h" \) -print0
         else
             print_warning "Directory $dir not found, skipping..."
@@ -131,7 +140,8 @@ find_py_files() {
                 -o -path "$dir/build"     -o -path "$dir/build/*" \
                 -o -path "$dir/.pio"      -o -path "$dir/.pio/*" \
                 -o -path "$dir/Archive"   -o -path "$dir/Archive/*" \
-                -o -path "$dir/libraries" -o -path "$dir/libraries/*" \) -prune -o \
+                -o -path "$dir/libraries" -o -path "$dir/libraries/*" \
+                -o -name node_modules \) -prune -o \
                 -type f -name "*.py" -print0
         else
             print_warning "Directory $dir not found, skipping..."
@@ -139,16 +149,23 @@ find_py_files() {
     done
 }
 
+# Capped at 8 rather than taking nproc straight: clang-format's peak memory is set by the
+# worst file in the tree, not the average, so on a many-core / modest-RAM machine (a 22-thread
+# laptop with 7 GB, say) an uncapped nproc is a reliable way to invoke the OOM killer. Override
+# with FORMAT_JOBS if you know your machine can take it.
 format_parallel_jobs() {
+    local n
     if [ -n "${FORMAT_JOBS:-}" ]; then
         echo "$FORMAT_JOBS"
+        return
     elif command -v nproc &>/dev/null; then
-        nproc
+        n=$(nproc)
     elif command -v sysctl &>/dev/null; then
-        sysctl -n hw.ncpu 2>/dev/null || echo 8
+        n=$(sysctl -n hw.ncpu 2>/dev/null || echo 8)
     else
-        echo 8
+        n=8
     fi
+    if [ "$n" -gt 8 ]; then echo 8; else echo "$n"; fi
 }
 
 format_cpp() {

From 4a04f2992fd0958f6796b4aeb6fd8feae568ed08 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 10 Sep 2026 22:16:01 -0700
Subject: [PATCH 200/205] =?UTF-8?q?checkouts=20told=20you=20nothing=20unti?=
 =?UTF-8?q?l=20they=20were=20already=20gone=20=E2=80=94=20three=20separate?=
 =?UTF-8?q?=20mechanisms=20were=20taking=20a=20design=20out=20from=20under?=
 =?UTF-8?q?=20someone=20mid-edit,=20and=20none=20of=20them=20said=20so;=20?=
 =?UTF-8?q?the=20loudest=20is=20that=20`visibilitychange`=20called=20relea?=
 =?UTF-8?q?seCheckoutOnUnload,=20which=20is=20an=20explicit=20handback=20t?=
 =?UTF-8?q?o=20the=20server=20rather=20than=20a=20local=20state=20change,?=
 =?UTF-8?q?=20so=20alt-tabbing=20to=20a=20datasheet=20for=20three=20second?=
 =?UTF-8?q?s,=20locking=20the=20screen=20or=20closing=20a=20lid=20gave=20t?=
 =?UTF-8?q?he=20design=20away=20instantly=20and=20the=20user=20found=20out?=
 =?UTF-8?q?=20on=20return=20=E2=80=94=20that=20one=20is=20already=20fixed?=
 =?UTF-8?q?=20on=20this=20branch=20(pagehide=20only)=20along=20with=20lock?=
 =?UTF-8?q?=5Fttl=20300=20->=20900,=20but=20two=20more=20remained:=20`=5Fb?=
 =?UTF-8?q?eat=5Flock`=20was=20reachable=20only=20from=20/autosave,=20so?=
 =?UTF-8?q?=20"inactivity"=20meant=20"no=20change=20to=20the=20saved=20pay?=
 =?UTF-8?q?load"=20and=20panning,=20measuring,=20reading=20a=20result=20or?=
 =?UTF-8?q?=20thinking=20all=20counted=20as=20idle,=20and=20useCheckout=20?=
 =?UTF-8?q?stopped=20polling=20the=20moment=20it=20held=20the=20token=20on?=
 =?UTF-8?q?=20the=20reasoning=20that=20its=20own=20saves=20keep=20it=20?=
 =?UTF-8?q?=E2=80=94=20so=20when=20a=20hold=20did=20lapse=20the=20canvas?=
 =?UTF-8?q?=20stayed=20editable=20and=20the=20only=20signal=20was=20a=20sa?=
 =?UTF-8?q?ve=20returning=20423,=20after=20the=20user=20had=20typed=20into?=
 =?UTF-8?q?=20a=20void;=20a=20content-free=20POST=20/checkout/beat=20now?=
 =?UTF-8?q?=20refreshes=20the=20hold=20without=20touching=20the=20payload?=
 =?UTF-8?q?=20(423=20when=20you=20do=20not=20hold=20it,=20which=20is=20the?=
 =?UTF-8?q?=20client's=20cue=20to=20stop=20rather=20than=20beat=20into=20n?=
 =?UTF-8?q?othing),=20the=20hook=20beats=20on=20real=20interaction=20while?=
 =?UTF-8?q?=20the=20tab=20is=20focused=20and=20re-checks=20otherwise=20on?=
 =?UTF-8?q?=20one=2015=20s=20timer,=20and=20activity=20within=20idleCapMs?=
 =?UTF-8?q?=20(15=20min)=20holds=20it=20indefinitely=20while=20genuine=20i?=
 =?UTF-8?q?dling=20still=20frees=20it,=20because=20release=20is=20holder-o?=
 =?UTF-8?q?nly=20and=20the=20on-close=20beacon=20is=20best-effort=20so=20t?=
 =?UTF-8?q?he=20TTL=20remains=20the=20only=20thing=20that=20recovers=20a?=
 =?UTF-8?q?=20checkout=20after=20a=20crash;=20lockExpiresAt=20was=20also?=
 =?UTF-8?q?=20simply=20wrong=20=E2=80=94=20it=20carried=20the=20raw=20lock?=
 =?UTF-8?q?Heartbeat,=20a=20timestamp=20already=20in=20the=20past,=20so=20?=
 =?UTF-8?q?anything=20counting=20down=20to=20it=20read=20as=20expired=20th?=
 =?UTF-8?q?e=20instant=20it=20rendered,=20which=20is=20why=20no=20countdow?=
 =?UTF-8?q?n=20had=20ever=20been=20built=20=E2=80=94=20it=20is=20now=20bea?=
 =?UTF-8?q?t=20+=20lock=5Fttl=20with=20lockTtlSeconds=20alongside,=20and?=
 =?UTF-8?q?=20the=20bar=20shows=20"Editing=20=C2=B7=204:31",=20turns=20amb?=
 =?UTF-8?q?er=20under=20two=20minutes=20and=20offers=20Keep=20editing;=20a?=
 =?UTF-8?q?nd=20because=20a=20lapse=20has=20to=20survive=20the=20user=20be?=
 =?UTF-8?q?ing=20elsewhere,=20CheckoutLostDialog=20raises=20a=20persistent?=
 =?UTF-8?q?=20in-page=20dialog=20with=20Take=20it=20back,=20flips=20docume?=
 =?UTF-8?q?nt.title=20to=20"=E2=9A=A0=20Checkout=20lost=20=E2=80=94=20?=
 =?UTF-8?q?=E2=80=A6"=20so=20it=20is=20visible=20from=20another=20tab,=20a?=
 =?UTF-8?q?nd=20posts=20a=20desktop=20notification=20where=20permission=20?=
 =?UTF-8?q?allows=20=E2=80=94=20permission=20asked=20on=20the=20Take=20cli?=
 =?UTF-8?q?ck,=20which=20is=20a=20real=20user=20gesture,=20never=20on=20lo?=
 =?UTF-8?q?ad=20=E2=80=94=20with=20the=20notification=20explicitly=20best-?=
 =?UTF-8?q?effort=20since=20a=20closed=20laptop=20shows=20nothing=20either?=
 =?UTF-8?q?=20way=20and=20the=20dialog=20is=20the=20mechanism;=20a=20delib?=
 =?UTF-8?q?erate=20Release=20is=20not=20a=20loss=20and=20raises=20none=20o?=
 =?UTF-8?q?f=20it;=20covered=20by=20four=20new=20cases=20across=20all=20th?=
 =?UTF-8?q?ree=20apps'=20checkout=20suites,=20of=20which=20test=5Flock=5Fe?=
 =?UTF-8?q?xpires=5Fat=5Fis=5Fin=5Fthe=5Ffuture=20fails=20against=20the=20?=
 =?UTF-8?q?previous=20semantics,=20plus=2028=20passing=20server=20cases,?=
 =?UTF-8?q?=20156=20frontend=20cases=20and=20a=20clean=20tsc?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../src/components/DesignVersions.tsx         |   3 +-
 EngineDesign/tests/test_checkout.py           |  51 ++++++
 lib/stardesign-ui/src/CheckoutControl.tsx     | 167 +++++++++++++++++-
 lib/stardesign-ui/src/api.ts                  |  11 ++
 lib/stardesign-ui/src/index.ts                |   7 +-
 lib/stardesign-ui/src/useCheckout.ts          | 125 +++++++++++++
 lib/stardesign/stardesign/documents.py        |  46 ++++-
 .../src/components/pid/DiagramBar.tsx         |   6 +-
 pid-designer/tests/test_checkout.py           |  51 ++++++
 .../components/versions/ConfigVersions.tsx    |   3 +-
 star-openrocket/tests/test_checkout.py        |  51 ++++++
 11 files changed, 510 insertions(+), 11 deletions(-)

diff --git a/EngineDesign/frontend/src/components/DesignVersions.tsx b/EngineDesign/frontend/src/components/DesignVersions.tsx
index 21f588950..b5c6e0e44 100644
--- a/EngineDesign/frontend/src/components/DesignVersions.tsx
+++ b/EngineDesign/frontend/src/components/DesignVersions.tsx
@@ -31,7 +31,7 @@ import { designApi, keyOf, refOf } from '../api/documents';
 import { btn, dangerBtn, ghostBtn, primaryBtn, relativeTime } from '../lib/ui';
 import { readActive, writeActive } from '../lib/activeDesign';
 import { applyUiState, snapshotUiState } from '../lib/designState';
-import { ChangeModal, CheckoutControl, useCheckout } from '@stardesign-ui';
+import { ChangeModal, CheckoutControl, CheckoutLostDialog, useCheckout } from '@stardesign-ui';
 import { Modal } from './ui';
 
 const AUTOSAVE_POLL_MS = 4000;
@@ -555,6 +555,7 @@ export function DesignVersions({ onRestore, onEditableChange, inline = false }:
         </button>
 
         <CheckoutControl checkout={checkout} noun="design" disabled={!activeRef} />
+        <CheckoutLostDialog checkout={checkout} noun="design" />
 
         <div className="mx-1 h-4 w-px bg-[var(--color-border)]" />
 
diff --git a/EngineDesign/tests/test_checkout.py b/EngineDesign/tests/test_checkout.py
index 0d8538255..e2e9c9f40 100644
--- a/EngineDesign/tests/test_checkout.py
+++ b/EngineDesign/tests/test_checkout.py
@@ -12,6 +12,8 @@
 not concurrent editing (rename, share, copy).
 """
 
+from datetime import datetime, timezone
+
 import fcntl
 import json
 import os
@@ -422,3 +424,52 @@ def test_a_returned_record_says_the_design_is_yours(client):
         body = resp.json()
         assert body["mine"] is True, f"{label} did not report the design as yours"
         assert body["ownerName"], f"{label} returned an empty ownerName"
+
+
+def test_lock_expires_at_is_in_the_future(client):
+    """`lockExpiresAt` is when the hold lapses, not when it was last beaten.
+
+    It used to carry the raw heartbeat -- a time already in the past -- so a bar
+    counting down to it read as expired the moment it rendered, which is why
+    nothing ever showed the user how long they had. Fails against that.
+    """
+    doc_id = _create(client)
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    state = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()
+    expires = datetime.fromisoformat(state["lockExpiresAt"])
+    left = (expires - datetime.now(timezone.utc)).total_seconds()
+    assert 0 < left <= documents.store.lock_ttl
+    assert state["lockTtlSeconds"] == documents.store.lock_ttl
+
+
+def test_beat_refreshes_the_hold_without_writing(client):
+    """The fix for "it kicked me out while I was working".
+
+    Before this endpoint the only thing that refreshed a hold was a successful
+    autosave, so panning, measuring or thinking counted as idle. The beat must
+    push the expiry out and must NOT touch the stored payload.
+    """
+    doc_id = _create(client)
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    _save(client, doc_id, A, config={"v": "original"})
+    before = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()["lockExpiresAt"]
+
+    r = client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A)
+    assert r.status_code == 200
+    assert r.json()["lockedByMe"] is True
+    assert r.json()["lockExpiresAt"] >= before
+    # content untouched -- a beat that could clobber a payload would be worse
+    # than the bug it fixes
+    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json()["config"] == {"v": "original"}
+
+
+def test_beat_refuses_when_you_do_not_hold_it(client):
+    """423 is the client's cue to stop beating and show the lost dialog.
+
+    Shared with B on purpose: an unshared user is refused at 403 long before the
+    lock is consulted, so it would prove nothing about the beat.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=B, params=OWNER_A).status_code == 423
diff --git a/lib/stardesign-ui/src/CheckoutControl.tsx b/lib/stardesign-ui/src/CheckoutControl.tsx
index 95597aaa1..2089ccefd 100644
--- a/lib/stardesign-ui/src/CheckoutControl.tsx
+++ b/lib/stardesign-ui/src/CheckoutControl.tsx
@@ -8,9 +8,19 @@
  * the common case ambiguous.
  */
 
+import { useEffect } from 'react';
 import type { Checkout } from './useCheckout';
 import { btn, primaryBtn } from './theme';
 
+/** Below this many seconds the chip turns amber and offers Keep editing. */
+const WARN_AT_S = 120;
+
+function mmss(total: number): string {
+  const m = Math.floor(total / 60);
+  const ss = String(total % 60).padStart(2, '0');
+  return `${m}:${ss}`;
+}
+
 export function CheckoutControl({
   checkout,
   noun = 'design',
@@ -23,7 +33,11 @@ export function CheckoutControl({
   disabled?: boolean;
 }) {
   const { held, holder, holderName, busy, error, take, release } = checkout;
+  const { secondsLeft, keepAlive } = checkout;
   const takenByOther = !!holder && !held;
+  // Warn before it goes, not after. The complaint this answers is not that the
+  // hold lapses -- it is that it lapsed with no warning and no way to stop it.
+  const expiringSoon = held && secondsLeft !== null && secondsLeft <= WARN_AT_S;
 
   const chip =
     'inline-flex items-center gap-1.5 rounded px-2 py-1 text-xs font-medium border';
@@ -34,12 +48,32 @@ export function CheckoutControl({
       {held ? (
         <>
           <span
-            className={`${chip} border-emerald-600/40 bg-emerald-600/10 text-emerald-400`}
-            title={`You have ${noun === 'config' ? 'this config' : `this ${noun}`} checked out. It returns on its own if you stop editing.`}
+            className={
+              expiringSoon
+                ? `${chip} border-amber-500/50 bg-amber-500/10 text-amber-300`
+                : `${chip} border-emerald-600/40 bg-emerald-600/10 text-emerald-400`
+            }
+            title={
+              secondsLeft === null
+                ? `You have this ${noun} checked out.`
+                : `You have this ${noun} checked out. It returns on its own about ${mmss(secondsLeft)} after you stop working on it — anything you do here keeps it.`
+            }
           >
-            <span className={`${dot} bg-emerald-500`} />
+            <span className={`${dot} ${expiringSoon ? 'bg-amber-500' : 'bg-emerald-500'}`} />
             Editing
+            {secondsLeft !== null && (
+              <span className="tabular-nums opacity-80">· {mmss(secondsLeft)}</span>
+            )}
           </span>
+          {expiringSoon && (
+            <button
+              onClick={() => void keepAlive()}
+              className={primaryBtn}
+              title="Keep this checkout for another full period"
+            >
+              Keep editing
+            </button>
+          )}
           <button onClick={() => void release()} disabled={busy} className={btn}>
             {busy ? 'Releasing…' : 'Release'}
           </button>
@@ -62,7 +96,10 @@ export function CheckoutControl({
             Read only
           </span>
           <button
-            onClick={() => void take()}
+            onClick={() => {
+              requestCheckoutNotifications();
+              void take();
+            }}
             disabled={busy || disabled}
             className={primaryBtn}
             title={`Check out this ${noun} so you can edit it`}
@@ -109,3 +146,125 @@ export function ReadOnlyNotice({
     </div>
   );
 }
+
+
+/**
+ * Ask once for permission to post a desktop notification when a checkout is
+ * lost. Called from the Take click because a permission prompt needs a user
+ * gesture, and because asking on page load is what trains people to deny.
+ *
+ * Best-effort throughout: a denied or unsupported permission simply means the
+ * in-page dialog and the tab title are the whole story, which is the case this
+ * is designed around anyway -- a closed laptop shows nothing either way.
+ */
+export function requestCheckoutNotifications(): void {
+  try {
+    if (typeof Notification === 'undefined') return;
+    if (Notification.permission === 'default') void Notification.requestPermission();
+  } catch {
+    /* some browsers throw on requestPermission in insecure contexts */
+  }
+}
+
+/**
+ * Shown when a checkout goes away without the user releasing it.
+ *
+ * The whole point is that it is still there when you come back. Losing a design
+ * used to be silent: the canvas quietly stopped accepting edits and the only
+ * signal was a save failing, which meant people kept working into a void. So
+ * this does three things at once, in descending order of reliability:
+ *
+ *  1. An in-page dialog that persists until acknowledged -- the mechanism.
+ *  2. The tab title, so it is visible in the tab strip from another tab.
+ *  3. A desktop notification where permission allows -- the only one that can
+ *     reach a user who has switched apps, and the only one that is allowed to
+ *     fail silently.
+ */
+export function CheckoutLostDialog({
+  checkout,
+  noun = 'design',
+  name,
+}: {
+  checkout: Checkout;
+  noun?: string;
+  /** The design's name, for the notification and the title. */
+  name?: string | null;
+}) {
+  const { lostUnexpectedly, acknowledgeLost, take, busy, holderName } = checkout;
+
+  // Tab title, restored on the way out. Captured per-activation rather than at
+  // module scope so it survives the app renaming its own title.
+  useEffect(() => {
+    if (!lostUnexpectedly || typeof document === 'undefined') return;
+    const original = document.title;
+    document.title = `⚠ Checkout lost — ${original}`;
+    return () => {
+      document.title = original;
+    };
+  }, [lostUnexpectedly]);
+
+  useEffect(() => {
+    if (!lostUnexpectedly) return;
+    try {
+      if (typeof Notification === 'undefined' || Notification.permission !== 'granted') return;
+      const n = new Notification('Checkout lost', {
+        body: `${name ? `"${name}"` : `This ${noun}`} is no longer checked out to you${
+          holderName ? ` — ${holderName} has it now` : ''
+        }. Open the tab to take it back.`,
+        tag: 'stardesign-checkout-lost', // replace, never stack
+      });
+      n.onclick = () => {
+        window.focus();
+        n.close();
+      };
+      return () => n.close();
+    } catch {
+      /* notification construction can throw; the dialog is the real signal */
+    }
+  }, [lostUnexpectedly, name, noun, holderName]);
+
+  if (!lostUnexpectedly) return null;
+
+  return (
+    <div
+      className="fixed inset-0 z-50 flex items-center justify-center bg-black/60 p-4"
+      role="alertdialog"
+      aria-modal="true"
+      aria-labelledby="checkout-lost-title"
+    >
+      <div className="w-full max-w-md rounded-lg border border-amber-500/40 bg-[var(--color-surface,#161616)] p-5 shadow-xl">
+        <h2 id="checkout-lost-title" className="text-sm font-semibold text-amber-300">
+          Your checkout lapsed
+        </h2>
+        <p className="mt-2 text-xs leading-relaxed text-[var(--color-text-muted)]">
+          {holderName ? (
+            <>
+              <b>{holderName}</b> has this {noun} now, so it is read only. Anything you
+              changed since is still on screen but was not saved to the shared copy.
+            </>
+          ) : (
+            <>
+              This {noun} is read only again. It is free, so you can take it straight back —
+              anything you changed since is still on screen but was not saved to the shared
+              copy.
+            </>
+          )}
+        </p>
+        <div className="mt-4 flex justify-end gap-2">
+          <button onClick={acknowledgeLost} className={btn}>
+            Stay read only
+          </button>
+          <button
+            onClick={() => {
+              void take().then(acknowledgeLost);
+            }}
+            disabled={busy}
+            className={primaryBtn}
+          >
+            {busy ? 'Taking…' : 'Take it back'}
+          </button>
+        </div>
+      </div>
+    </div>
+  );
+}
diff --git a/lib/stardesign-ui/src/api.ts b/lib/stardesign-ui/src/api.ts
index ec276f93f..85ddb1403 100644
--- a/lib/stardesign-ui/src/api.ts
+++ b/lib/stardesign-ui/src/api.ts
@@ -50,7 +50,10 @@ export interface CheckoutState {
   lockedBy: string | null;
   lockedByName: string | null;
   lockedByMe: boolean;
+  /** When the hold lapses -- beat + ttl, in the future. Not the beat itself. */
   lockExpiresAt: string | null;
+  /** The server's inactivity window, so the bar can size its warning. */
+  lockTtlSeconds?: number | null;
 }
 
 export interface MicroVersion {
@@ -219,6 +222,14 @@ export function createDesignApi<T>({ base, usersPath, codec }: DesignApiConfig<T
     getCheckout: (ref: DocRef) =>
       fetch(url(ref, '/checkout')).then((r) => json<CheckoutState>(r)),
 
+    /**
+     * Refresh our own hold without writing anything. Content-free on purpose:
+     * it cannot race an autosave or churn a microversion, so it is safe to send
+     * on plain interaction. 423 means the hold is already gone.
+     */
+    beatCheckout: (ref: DocRef) =>
+      fetch(url(ref, '/checkout/beat'), post({})).then((r) => json<CheckoutState>(r)),
+
     load: (ref: DocRef) =>
       fetch(url(ref, '/load'))
         .then((r) => json<unknown>(r))
diff --git a/lib/stardesign-ui/src/index.ts b/lib/stardesign-ui/src/index.ts
index f15a117fc..10f786944 100644
--- a/lib/stardesign-ui/src/index.ts
+++ b/lib/stardesign-ui/src/index.ts
@@ -8,7 +8,12 @@
 
 export { Modal } from './Modal';
 export { ChangeModal } from './ChangeModal';
-export { CheckoutControl, ReadOnlyNotice } from './CheckoutControl';
+export {
+  CheckoutControl,
+  ReadOnlyNotice,
+  CheckoutLostDialog,
+  requestCheckoutNotifications,
+} from './CheckoutControl';
 export { useCheckout } from './useCheckout';
 export { ReadOnlyProvider, useReadOnly, useDisabled } from './readOnly';
 export { btn, primaryBtn, dangerBtn, ghostBtn, relativeTime } from './theme';
diff --git a/lib/stardesign-ui/src/useCheckout.ts b/lib/stardesign-ui/src/useCheckout.ts
index 5e4a19aef..cb84d63d4 100644
--- a/lib/stardesign-ui/src/useCheckout.ts
+++ b/lib/stardesign-ui/src/useCheckout.ts
@@ -30,8 +30,13 @@ const FREE: CheckoutState = {
   lockedByName: null,
   lockedByMe: false,
   lockExpiresAt: null,
+  lockTtlSeconds: null,
 };
 
+/** Interaction that counts as "still working on this". Deliberately coarse and
+ *  passive: it only stamps a ref, so it costs nothing on a hot canvas. */
+const ACTIVITY_EVENTS = ['pointerdown', 'pointermove', 'keydown', 'wheel'] as const;
+
 export interface Checkout {
   /** Email of whoever holds it, or null when free. */
   holder: string | null;
@@ -47,6 +52,20 @@ export interface Checkout {
   release: () => Promise<void>;
   /** Call when a write comes back 423 -- the token is gone. */
   lost: () => void;
+  /** Refresh the hold now. The "Keep editing" button; also safe to call on
+   *  any deliberate user action an app wants to count. */
+  keepAlive: () => Promise<void>;
+  /** When the hold lapses, or null. Drives the countdown in the bar. */
+  expiresAt: string | null;
+  /** Whole seconds until it lapses, or null when we do not hold it. */
+  secondsLeft: number | null;
+  /**
+   * We held it and no longer do, and we did not choose that. The app shows a
+   * dialog on this -- it is the difference between losing a design quietly and
+   * being told. Cleared by `acknowledgeLost`.
+   */
+  lostUnexpectedly: boolean;
+  acknowledgeLost: () => void;
 }
 
 export interface UseCheckoutOptions<T> {
@@ -60,6 +79,14 @@ export interface UseCheckoutOptions<T> {
   reload?: () => Promise<void> | void;
   /** How often to re-check while somebody else holds it. */
   pollMs?: number;
+  /** How often to beat/re-check while we DO hold it. */
+  heldPollMs?: number;
+  /**
+   * Stop beating once interaction is this old, so a design left open on an
+   * unattended machine still frees itself. Activity inside this window keeps
+   * the hold indefinitely; that is the whole point.
+   */
+  idleCapMs?: number;
 }
 
 export function useCheckout<T>({
@@ -67,10 +94,14 @@ export function useCheckout<T>({
   ref,
   reload,
   pollMs = 10_000,
+  heldPollMs = 15_000,
+  idleCapMs = 15 * 60_000,
 }: UseCheckoutOptions<T>): Checkout {
   const [state, setState] = useState<CheckoutState>(FREE);
   const [busy, setBusy] = useState(false);
   const [error, setError] = useState<string | null>(null);
+  const [lostUnexpectedly, setLostUnexpectedly] = useState(false);
+  const [now, setNow] = useState(() => Date.now());
 
   const key = ref ? keyOf(ref) : null;
   // Read inside callbacks and the unload handler, so neither needs `ref` in a
@@ -85,8 +116,71 @@ export function useCheckout<T>({
   useEffect(() => {
     setState(FREE);
     setError(null);
+    setLostUnexpectedly(false);
   }, [key]);
 
+  // Last interaction of any kind. A ref, not state: these fire continuously
+  // while dragging a node and must not re-render anything.
+  const lastActivityRef = useRef(Date.now());
+  useEffect(() => {
+    const mark = () => {
+      lastActivityRef.current = Date.now();
+    };
+    for (const e of ACTIVITY_EVENTS)
+      window.addEventListener(e, mark, { passive: true });
+    return () => {
+      for (const e of ACTIVITY_EVENTS) window.removeEventListener(e, mark);
+    };
+  }, []);
+
+  // While we hold it, beat on recent activity and re-check otherwise.
+  //
+  // Both halves matter. The beat is what fixes "it kicked me out while I was
+  // working": before this, the ONLY thing that refreshed a hold was a
+  // successful autosave, so panning, measuring, reading a result or thinking
+  // all counted as idle. The re-check is what fixes "with no notice": this
+  // hook used to stop polling the moment it held the token, on the reasoning
+  // that our own saves keep it -- so when a hold did lapse the canvas stayed
+  // editable and the user found out only when a save came back 423, having
+  // typed into a void in the meantime.
+  useEffect(() => {
+    if (!ref || !state.lockedByMe) return;
+    let cancelled = false;
+    const tick = () => {
+      const active = Date.now() - lastActivityRef.current < idleCapMs;
+      const call = active ? api.beatCheckout(ref) : api.getCheckout(ref);
+      call
+        .then((s) => {
+          if (cancelled) return;
+          setState(s);
+          if (!s.lockedByMe) setLostUnexpectedly(true);
+        })
+        .catch((e: unknown) => {
+          if (cancelled) return;
+          // 423 is the definitive answer: it is gone and someone else may have
+          // it. Anything else is transient -- keep what we last knew rather
+          // than flapping a live editor to read-only on one dropped request.
+          if (e instanceof ApiError && e.status === 423) {
+            setState((prev) => ({ ...prev, lockedByMe: false }));
+            setLostUnexpectedly(true);
+          }
+        });
+    };
+    const id = setInterval(tick, heldPollMs);
+    return () => {
+      cancelled = true;
+      clearInterval(id);
+    };
+  }, [api, ref, state.lockedByMe, heldPollMs, idleCapMs]);
+
+  // A 1 Hz clock, only while we hold it, so the bar can count down.
+  useEffect(() => {
+    if (!state.lockedByMe || !state.lockExpiresAt) return;
+    setNow(Date.now());
+    const id = setInterval(() => setNow(Date.now()), 1000);
+    return () => clearInterval(id);
+  }, [state.lockedByMe, state.lockExpiresAt]);
+
   // Poll only while we do NOT hold it. A chip reading "taken" after the holder
   // has released is worse than no chip; this is what makes Take light up on its
   // own. Once we hold it there is nothing to learn -- our own saves keep it.
@@ -132,6 +226,8 @@ export function useCheckout<T>({
     if (!r) return;
     setBusy(true);
     setError(null);
+    setLostUnexpectedly(false);
+    lastActivityRef.current = Date.now();
     try {
       const s = await api.takeCheckout(r);
       // Reload before going editable. This is the ordering that matters: the
@@ -165,8 +261,32 @@ export function useCheckout<T>({
 
   const lost = useCallback(() => {
     setState((s) => ({ ...s, lockedByMe: false }));
+    setLostUnexpectedly(true);
   }, []);
 
+  const acknowledgeLost = useCallback(() => setLostUnexpectedly(false), []);
+
+  const keepAlive = useCallback(async () => {
+    const r = refRef.current;
+    if (!r || !heldRef.current) return;
+    lastActivityRef.current = Date.now();
+    try {
+      setState(await api.beatCheckout(r));
+    } catch (e) {
+      if (e instanceof ApiError && e.status === 423) {
+        setState((prev) => ({ ...prev, lockedByMe: false }));
+        setLostUnexpectedly(true);
+      }
+      // anything else is transient; the interval will try again
+    }
+  }, [api]);
+
+  // Only meaningful while we hold it: the bar shows a countdown, not a clock.
+  const secondsLeft =
+    state.lockedByMe && state.lockExpiresAt
+      ? Math.max(0, Math.round((Date.parse(state.lockExpiresAt) - now) / 1000))
+      : null;
+
   return {
     holder: state.lockedBy,
     holderName: state.lockedByName ?? state.lockedBy,
@@ -176,5 +296,10 @@ export function useCheckout<T>({
     take,
     release,
     lost,
+    keepAlive,
+    expiresAt: state.lockExpiresAt,
+    secondsLeft: secondsLeft !== null && Number.isFinite(secondsLeft) ? secondsLeft : null,
+    lostUnexpectedly,
+    acknowledgeLost,
   };
 }
diff --git a/lib/stardesign/stardesign/documents.py b/lib/stardesign/stardesign/documents.py
index 39116a964..9f6159d89 100644
--- a/lib/stardesign/stardesign/documents.py
+++ b/lib/stardesign/stardesign/documents.py
@@ -76,7 +76,7 @@
 import time
 from contextlib import contextmanager
 from dataclasses import dataclass, field
-from datetime import datetime, timezone
+from datetime import datetime, timedelta, timezone
 from pathlib import Path
 from typing import Callable, Iterator
 
@@ -417,13 +417,31 @@ def _lock_holder(record: dict) -> str | None:
         return store.lock_holder(record)
 
     def _lock_state(record: dict, viewer: str, names: dict[str, str]) -> dict:
-        """The checkout, as the design bar wants to render it."""
+        """The checkout, as the design bar wants to render it.
+
+        ``lockExpiresAt`` is the moment the hold lapses -- beat + ``lock_ttl`` --
+        not the beat itself. It used to carry the raw heartbeat, which is a time
+        already in the past, so anything counting down to it read as expired the
+        instant it rendered. That is why the bar never showed the user how long
+        they had.
+        """
         holder = _lock_holder(record)
+        expires = None
+        if holder:
+            beat = record.get("lockHeartbeat") or record.get("lockedAt")
+            if beat:
+                try:
+                    expires = (
+                        datetime.fromisoformat(beat) + timedelta(seconds=store.lock_ttl)
+                    ).isoformat()
+                except (TypeError, ValueError):
+                    expires = None
         return {
             "lockedBy": holder,
             "lockedByName": (names.get(holder) or holder) if holder else None,
             "lockedByMe": holder == viewer,
-            "lockExpiresAt": record.get("lockHeartbeat") if holder else None,
+            "lockExpiresAt": expires,
+            "lockTtlSeconds": store.lock_ttl,
         }
 
     def _take_lock(owner: str, doc_id: str, viewer: str) -> dict:
@@ -768,6 +786,28 @@ async def release_checkout_beacon(
         _release_lock(ref.owner, ref.doc_id, ref.viewer)
         return {"ok": True}
 
+    @router.post(f"{sub}/{{doc_id}}/checkout/beat")
+    async def beat_checkout(request: Request, doc_id: str, owner: str | None = None):
+        """Refresh your own hold without writing anything.
+
+        Until this existed the only thing that refreshed a checkout was a
+        successful ``/autosave``, so "inactivity" meant "no change to the saved
+        payload" rather than "not working". Reading a result, panning a canvas,
+        measuring something or thinking about it all counted as idle, and the
+        design was taken out from under you mid-task. The client sends this while
+        you are actually interacting; it is deliberately content-free so it can
+        never race an autosave or churn a microversion.
+
+        423 if you do not hold it -- the client treats that as "you lost it" and
+        stops, rather than beating into a void.
+        """
+        ref = _resolve_doc(request, owner, doc_id)
+        _require_lock(ref)
+        _beat_lock(ref.owner, ref.doc_id, ref.viewer)
+        record = store.find_record(ref.owner, ref.doc_id) or ref.record
+        names = directory.display_names(request, store.ud)
+        return _lock_state(record, ref.viewer, names)
+
     @router.get(f"{sub}/{{doc_id}}/checkout")
     async def get_checkout(request: Request, doc_id: str, owner: str | None = None):
         """Who holds it right now. Polled by the bar while you do not, so that
diff --git a/pid-designer/frontend/src/components/pid/DiagramBar.tsx b/pid-designer/frontend/src/components/pid/DiagramBar.tsx
index fdc3b90c9..a1bca15ec 100644
--- a/pid-designer/frontend/src/components/pid/DiagramBar.tsx
+++ b/pid-designer/frontend/src/components/pid/DiagramBar.tsx
@@ -1,7 +1,7 @@
 import type { DiagramMeta, DocRef } from '../../api/diagrams';
 import { keyOf, refOf } from '../../api/diagrams';
 import { btn } from '../../lib/ui';
-import { CheckoutControl } from '@stardesign-ui';
+import { CheckoutControl, CheckoutLostDialog } from '@stardesign-ui';
 import type { Checkout } from '@stardesign-ui';
 
 interface DiagramBarProps {
@@ -49,6 +49,10 @@ export function DiagramBar({ diagrams, activeKey, onSelect, onOpenChange, checko
       </button>
 
       <CheckoutControl checkout={checkout} noun="diagram" disabled={!activeKey} />
+      {/* Renders nothing until the hold is lost without the user releasing it.
+          Lives here, beside the control, so every app that shows the chip also
+          tells the user when it goes. */}
+      <CheckoutLostDialog checkout={checkout} noun="diagram" />
     </div>
   );
 }
diff --git a/pid-designer/tests/test_checkout.py b/pid-designer/tests/test_checkout.py
index 84b59fe26..a941b959a 100644
--- a/pid-designer/tests/test_checkout.py
+++ b/pid-designer/tests/test_checkout.py
@@ -12,6 +12,8 @@
 not concurrent editing (rename, share, copy).
 """
 
+from datetime import datetime, timezone
+
 import fcntl
 import json
 import os
@@ -417,3 +419,52 @@ def test_a_returned_record_says_the_design_is_yours(client):
         body = resp.json()
         assert body["mine"] is True, f"{label} did not report the design as yours"
         assert body["ownerName"], f"{label} returned an empty ownerName"
+
+
+def test_lock_expires_at_is_in_the_future(client):
+    """`lockExpiresAt` is when the hold lapses, not when it was last beaten.
+
+    It used to carry the raw heartbeat -- a time already in the past -- so a bar
+    counting down to it read as expired the moment it rendered, which is why
+    nothing ever showed the user how long they had. Fails against that.
+    """
+    doc_id = _create(client)
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    state = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()
+    expires = datetime.fromisoformat(state["lockExpiresAt"])
+    left = (expires - datetime.now(timezone.utc)).total_seconds()
+    assert 0 < left <= documents.store.lock_ttl
+    assert state["lockTtlSeconds"] == documents.store.lock_ttl
+
+
+def test_beat_refreshes_the_hold_without_writing(client):
+    """The fix for "it kicked me out while I was working".
+
+    Before this endpoint the only thing that refreshed a hold was a successful
+    autosave, so panning, measuring or thinking counted as idle. The beat must
+    push the expiry out and must NOT touch the stored payload.
+    """
+    doc_id = _create(client)
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    _save(client, doc_id, A, config={"v": "original"})
+    before = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()["lockExpiresAt"]
+
+    r = client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A)
+    assert r.status_code == 200
+    assert r.json()["lockedByMe"] is True
+    assert r.json()["lockExpiresAt"] >= before
+    # content untouched -- a beat that could clobber a payload would be worse
+    # than the bug it fixes
+    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json()["config"] == {"v": "original"}
+
+
+def test_beat_refuses_when_you_do_not_hold_it(client):
+    """423 is the client's cue to stop beating and show the lost dialog.
+
+    Shared with B on purpose: an unshared user is refused at 403 long before the
+    lock is consulted, so it would prove nothing about the beat.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=B, params=OWNER_A).status_code == 423
diff --git a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
index 846d67138..d4de1f0bd 100644
--- a/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
+++ b/star-openrocket/frontend/src/components/versions/ConfigVersions.tsx
@@ -24,7 +24,7 @@ import { Button, Modal } from '../ui'
 import * as api from '../../api/documents'
 import { designApi, keyOf, refOf } from '../../api/documents'
 import type { DocMeta, DocRef, MicroVersion, ReleaseVersion } from '../../api/documents'
-import { btn, ChangeModal, CheckoutControl, useCheckout } from '@stardesign-ui'
+import { btn, ChangeModal, CheckoutControl, CheckoutLostDialog, useCheckout } from '@stardesign-ui'
 
 // v2 because the remembered design is now (owner, id): a shared design is not
 // identified by its id alone. A v1 value is a bare id, which was always one of
@@ -467,6 +467,7 @@ export function ConfigVersions({ config, onRestore, onEditableChange, inline = f
         </button>
 
         <CheckoutControl checkout={checkout} noun="design" disabled={!activeRef} />
+        <CheckoutLostDialog checkout={checkout} noun="design" />
 
         <div className="mx-1 h-4 w-px bg-[var(--color-border)]" />
 
diff --git a/star-openrocket/tests/test_checkout.py b/star-openrocket/tests/test_checkout.py
index e5b6438ac..4d6c6f940 100644
--- a/star-openrocket/tests/test_checkout.py
+++ b/star-openrocket/tests/test_checkout.py
@@ -12,6 +12,8 @@
 not concurrent editing (rename, share, copy).
 """
 
+from datetime import datetime, timezone
+
 import fcntl
 import json
 import os
@@ -417,3 +419,52 @@ def test_a_returned_record_says_the_design_is_yours(client):
         body = resp.json()
         assert body["mine"] is True, f"{label} did not report the design as yours"
         assert body["ownerName"], f"{label} returned an empty ownerName"
+
+
+def test_lock_expires_at_is_in_the_future(client):
+    """`lockExpiresAt` is when the hold lapses, not when it was last beaten.
+
+    It used to carry the raw heartbeat -- a time already in the past -- so a bar
+    counting down to it read as expired the moment it rendered, which is why
+    nothing ever showed the user how long they had. Fails against that.
+    """
+    doc_id = _create(client)
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    state = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()
+    expires = datetime.fromisoformat(state["lockExpiresAt"])
+    left = (expires - datetime.now(timezone.utc)).total_seconds()
+    assert 0 < left <= documents.store.lock_ttl
+    assert state["lockTtlSeconds"] == documents.store.lock_ttl
+
+
+def test_beat_refreshes_the_hold_without_writing(client):
+    """The fix for "it kicked me out while I was working".
+
+    Before this endpoint the only thing that refreshed a hold was a successful
+    autosave, so panning, measuring or thinking counted as idle. The beat must
+    push the expiry out and must NOT touch the stored payload.
+    """
+    doc_id = _create(client)
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    _save(client, doc_id, A, config={"v": "original"})
+    before = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()["lockExpiresAt"]
+
+    r = client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A)
+    assert r.status_code == 200
+    assert r.json()["lockedByMe"] is True
+    assert r.json()["lockExpiresAt"] >= before
+    # content untouched -- a beat that could clobber a payload would be worse
+    # than the bug it fixes
+    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json()["config"] == {"v": "original"}
+
+
+def test_beat_refuses_when_you_do_not_hold_it(client):
+    """423 is the client's cue to stop beating and show the lost dialog.
+
+    Shared with B on purpose: an unshared user is refused at 403 long before the
+    lock is consulted, so it would prove nothing about the beat.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+    assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=B, params=OWNER_A).status_code == 423

From 4f17c661fa3b2a4e8fd1c073f7636246e93862c3 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Thu, 10 Sep 2026 22:23:49 -0700
Subject: [PATCH 201/205] =?UTF-8?q?test=20the=20checkout=20work=20in=20det?=
 =?UTF-8?q?ail,=20and=20extract=20the=20decisions=20worth=20testing=20?=
 =?UTF-8?q?=E2=80=94=20the=20hook=20was=20the=20only=20place=20the=20new?=
 =?UTF-8?q?=20logic=20lived=20and=20there=20is=20no=20jsdom,=20no=20testin?=
 =?UTF-8?q?g-library=20and=20no=20component=20or=20hook=20test=20anywhere?=
 =?UTF-8?q?=20in=20this=20repo,=20every=20existing=20suite=20being=20a=20p?=
 =?UTF-8?q?ure-function=20test=20in=20a=20lib/=20directory,=20so=20rather?=
 =?UTF-8?q?=20than=20add=20a=20DOM=20stack=20for=20four=20arithmetic=20dec?=
 =?UTF-8?q?isions=20the=20decisions=20move=20to=20lib/stardesign-ui/src/ch?=
 =?UTF-8?q?eckoutPolicy.ts=20(secondsLeft,=20isExpiringSoon,=20shouldBeat,?=
 =?UTF-8?q?=20isUnexpectedLoss,=20mmss)=20and=20useCheckout/CheckoutContro?=
 =?UTF-8?q?l=20consume=20them,=20which=20also=20stops=20the=20warn=20thres?=
 =?UTF-8?q?hold=20and=20the=20mm:ss=20formatter=20existing=20twice;=2017?=
 =?UTF-8?q?=20vitest=20cases=20pin=20them=20and=20were=20mutation-checked?=
 =?UTF-8?q?=20rather=20than=20assumed=20=E2=80=94=20dropping=20the=20"we?=
 =?UTF-8?q?=20held=20it"=20half=20of=20isUnexpectedLoss,=20flipping=20shou?=
 =?UTF-8?q?ldBeat's=20boundary=20from=20<=20to=20<=3D,=20removing=20the=20?=
 =?UTF-8?q?unparseable-date=20guard=20in=20secondsLeft=20and=20removing=20?=
 =?UTF-8?q?its=20clamp=20at=20zero=20each=20fail=20exactly=20one=20case,?=
 =?UTF-8?q?=20and=20the=20suite=20is=20green=20with=20all=20four=20restore?=
 =?UTF-8?q?d;=20on=20the=20server=20the=20beat=20endpoint=20gains=20four?=
 =?UTF-8?q?=20cases=20across=20all=20three=20apps'=20suites=20and=20removi?=
 =?UTF-8?q?ng=20the=20route=20fails=20exactly=20those=20four,=20including?=
 =?UTF-8?q?=20the=20end-to-end=20claim=20this=20work=20exists=20for:=20bea?=
 =?UTF-8?q?ting=20twice=20without=20ever=20saving=20holds=20the=20design?=
 =?UTF-8?q?=20past=20its=20TTL,=20and=20stopping=20frees=20it=20=E2=80=94?=
 =?UTF-8?q?=20both=20directions,=20since=20lapsing=20is=20the=20only=20thi?=
 =?UTF-8?q?ng=20that=20recovers=20a=20checkout=20after=20a=20crash=20given?=
 =?UTF-8?q?=20release=20is=20holder-only=20and=20the=20close=20beacon=20is?=
 =?UTF-8?q?=20best-effort;=20two=20things=20surfaced=20only=20by=20running?=
 =?UTF-8?q?=20the=20other=20apps'=20suites=20rather=20than=20assuming=20on?=
 =?UTF-8?q?e=20copy=20stands=20for=20three=20=E2=80=94=20pid-designer's=20?=
 =?UTF-8?q?payload=20is=20{nodes,=20edges}=20not=20{config},=20so=20the=20?=
 =?UTF-8?q?"a=20beat=20does=20not=20clobber=20the=20working=20copy"=20asse?=
 =?UTF-8?q?rtion=20now=20compares=20the=20stored=20body=20against=20itself?=
 =?UTF-8?q?=20and=20is=20shape-agnostic,=20and=20a=20hold=20that=20has=20A?=
 =?UTF-8?q?LREADY=20lapsed=20cannot=20be=20beaten=20back=20to=20life=20(42?=
 =?UTF-8?q?3),=20which=20is=20correct=20and=20now=20pinned,=20because=20a?=
 =?UTF-8?q?=20client=20that=20could=20beat=20its=20way=20back=20would=20re?=
 =?UTF-8?q?introduce=20the=20two-holders=20case=20checkouts=20exist=20to?=
 =?UTF-8?q?=20prevent,=20and=20it=20is=20precisely=20why=20the=20lost=20di?=
 =?UTF-8?q?alog=20offers=20Take=20it=20back=20rather=20than=20silently=20r?=
 =?UTF-8?q?e-beating;=2030=20server=20cases=20per=20app=20across=20all=20t?=
 =?UTF-8?q?hree,=20173=20frontend=20cases,=20tsc=20clean,=20format=20clean?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 EngineDesign/tests/test_checkout.py           |  55 ++++++-
 lib/stardesign-ui/src/CheckoutControl.tsx     |   9 +-
 lib/stardesign-ui/src/checkoutPolicy.ts       |  69 ++++++++
 lib/stardesign-ui/src/index.ts                |   1 +
 lib/stardesign-ui/src/useCheckout.ts          |  10 +-
 pid-designer/tests/test_checkout.py           |  55 ++++++-
 .../frontend/src/lib/checkoutPolicy.test.ts   | 152 ++++++++++++++++++
 star-openrocket/tests/test_checkout.py        |  55 ++++++-
 8 files changed, 380 insertions(+), 26 deletions(-)
 create mode 100644 lib/stardesign-ui/src/checkoutPolicy.ts
 create mode 100644 star-openrocket/frontend/src/lib/checkoutPolicy.test.ts

diff --git a/EngineDesign/tests/test_checkout.py b/EngineDesign/tests/test_checkout.py
index e2e9c9f40..415e912f8 100644
--- a/EngineDesign/tests/test_checkout.py
+++ b/EngineDesign/tests/test_checkout.py
@@ -15,6 +15,7 @@
 from datetime import datetime, timezone
 
 import fcntl
+import time
 import json
 import os
 import sys
@@ -451,16 +452,18 @@ def test_beat_refreshes_the_hold_without_writing(client):
     """
     doc_id = _create(client)
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
-    _save(client, doc_id, A, config={"v": "original"})
+    _save(client, doc_id, A)
+    stored = client.get(f"{BASE}/{doc_id}/load", headers=A).json()
     before = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()["lockExpiresAt"]
 
     r = client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A)
     assert r.status_code == 200
     assert r.json()["lockedByMe"] is True
     assert r.json()["lockExpiresAt"] >= before
-    # content untouched -- a beat that could clobber a payload would be worse
-    # than the bug it fixes
-    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json()["config"] == {"v": "original"}
+    # Content untouched. Compared against whatever this app's payload shape is
+    # rather than a hardcoded one -- a beat that could clobber a working copy
+    # would be worse than the bug it fixes.
+    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json() == stored
 
 
 def test_beat_refuses_when_you_do_not_hold_it(client):
@@ -473,3 +476,47 @@ def test_beat_refuses_when_you_do_not_hold_it(client):
     _share(client, doc_id, [B["X-Auth-Email"]])
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
     assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=B, params=OWNER_A).status_code == 423
+
+
+def test_beat_alone_survives_the_ttl_but_idling_does_not(client, monkeypatch):
+    """The end-to-end claim, both directions.
+
+    Someone interacting without saving must keep the design; someone who has
+    genuinely walked away must lose it, because release is holder-only and the
+    on-close beacon is best-effort, so lapsing is the only thing that recovers a
+    checkout after a crash or a power cut.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=A).status_code == 200
+
+    monkeypatch.setattr(documents.store, "lock_ttl", 2)
+    # Beat twice, each time before it would have lapsed. Total elapsed exceeds
+    # the TTL, and no save happens anywhere in here -- which is the entire point.
+    for _ in range(2):
+        time.sleep(1.2)
+        assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A).status_code == 200
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 423
+
+    # stop beating and it lapses on its own -- B gets it
+    time.sleep(2.2)
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 200
+
+
+def test_a_lapsed_hold_cannot_be_beaten_back_to_life(client, monkeypatch):
+    """Beating is a refresh, not a resurrection.
+
+    Once the hold has gone the design is free and someone else may already have
+    taken it, so a client that could beat its way back would reintroduce exactly
+    the two-holders case checkouts exist to prevent. 423 here is what makes the
+    lost-checkout dialog offer "Take it back" rather than silently re-beating.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+
+    monkeypatch.setattr(documents.store, "lock_ttl", 1)
+    time.sleep(1.05)
+    assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A).status_code == 423
+    # and it really was free, not merely unbeatable
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 200
diff --git a/lib/stardesign-ui/src/CheckoutControl.tsx b/lib/stardesign-ui/src/CheckoutControl.tsx
index 2089ccefd..8fe872db6 100644
--- a/lib/stardesign-ui/src/CheckoutControl.tsx
+++ b/lib/stardesign-ui/src/CheckoutControl.tsx
@@ -12,14 +12,7 @@ import { useEffect } from 'react';
 import type { Checkout } from './useCheckout';
 import { btn, primaryBtn } from './theme';
 
-/** Below this many seconds the chip turns amber and offers Keep editing. */
-const WARN_AT_S = 120;
-
-function mmss(total: number): string {
-  const m = Math.floor(total / 60);
-  const ss = String(total % 60).padStart(2, '0');
-  return `${m}:${ss}`;
-}
+import { mmss, WARN_AT_S } from './checkoutPolicy';
 
 export function CheckoutControl({
   checkout,
diff --git a/lib/stardesign-ui/src/checkoutPolicy.ts b/lib/stardesign-ui/src/checkoutPolicy.ts
new file mode 100644
index 000000000..e8c81862c
--- /dev/null
+++ b/lib/stardesign-ui/src/checkoutPolicy.ts
@@ -0,0 +1,69 @@
+/**
+ * The decisions a live checkout makes, as pure functions.
+ *
+ * These live outside `useCheckout` so they can be tested without a DOM: the
+ * repo has no jsdom or testing-library anywhere, and the bugs worth pinning
+ * here are arithmetic and precedence, not rendering. The hook is then only
+ * wiring — timers, listeners and `setState` — around decisions made here.
+ */
+
+import type { CheckoutState } from './api';
+
+/** Below this many seconds the bar warns and offers "Keep editing". */
+export const WARN_AT_S = 120;
+
+/**
+ * Seconds until the hold lapses, or null when the question does not apply.
+ *
+ * Null rather than 0 when we do not hold it: a countdown on someone else's
+ * checkout would be both wrong and none of our business. Clamped at 0 because a
+ * negative countdown reads as a bug, and the server is the authority on whether
+ * it has actually gone.
+ */
+export function secondsLeft(state: CheckoutState, nowMs: number): number | null {
+  if (!state.lockedByMe || !state.lockExpiresAt) return null;
+  const at = Date.parse(state.lockExpiresAt);
+  if (!Number.isFinite(at)) return null; // unparseable: show no countdown, not NaN
+  return Math.max(0, Math.round((at - nowMs) / 1000));
+}
+
+/** Whether the bar should turn amber and offer to keep the hold. */
+export function isExpiringSoon(state: CheckoutState, nowMs: number): boolean {
+  const left = secondsLeft(state, nowMs);
+  return left !== null && left <= WARN_AT_S;
+}
+
+/**
+ * Should the next tick beat the hold, or merely observe it?
+ *
+ * Beating on recent interaction is the fix for "it kicked me out while I was
+ * working". The idle cap is what stops a design left open on an unattended
+ * machine being held forever — release is holder-only and the on-close beacon
+ * is best-effort, so lapsing is the only thing that recovers a checkout after a
+ * crash or a power cut.
+ */
+export function shouldBeat(
+  lastActivityMs: number,
+  nowMs: number,
+  idleCapMs: number,
+): boolean {
+  return nowMs - lastActivityMs < idleCapMs;
+}
+
+/**
+ * Did we just lose a hold we did not give up?
+ *
+ * Only a transition from held to not-held counts. Never holding it is not a
+ * loss, and neither is releasing it on purpose — the hook calls this only for
+ * server-driven changes, and a deliberate `release()` bypasses it entirely.
+ */
+export function isUnexpectedLoss(prev: CheckoutState, next: CheckoutState): boolean {
+  return prev.lockedByMe && !next.lockedByMe;
+}
+
+/** `m:ss`, for the countdown chip. */
+export function mmss(totalSeconds: number): string {
+  const safe = Math.max(0, Math.floor(totalSeconds));
+  const m = Math.floor(safe / 60);
+  return `${m}:${String(safe % 60).padStart(2, '0')}`;
+}
diff --git a/lib/stardesign-ui/src/index.ts b/lib/stardesign-ui/src/index.ts
index 10f786944..af23fc6ac 100644
--- a/lib/stardesign-ui/src/index.ts
+++ b/lib/stardesign-ui/src/index.ts
@@ -31,3 +31,4 @@ export type {
   ReleaseVersion,
   TeamUser,
 } from './api';
+export { WARN_AT_S, secondsLeft, isExpiringSoon, shouldBeat, isUnexpectedLoss, mmss } from './checkoutPolicy';
diff --git a/lib/stardesign-ui/src/useCheckout.ts b/lib/stardesign-ui/src/useCheckout.ts
index cb84d63d4..3bbda344f 100644
--- a/lib/stardesign-ui/src/useCheckout.ts
+++ b/lib/stardesign-ui/src/useCheckout.ts
@@ -24,6 +24,7 @@
 import { useCallback, useEffect, useRef, useState } from 'react';
 import type { CheckoutState, DesignApi, DocRef } from './api';
 import { ApiError, keyOf } from './api';
+import { secondsLeft as secondsLeftOf, shouldBeat } from './checkoutPolicy';
 
 const FREE: CheckoutState = {
   lockedBy: null,
@@ -147,7 +148,7 @@ export function useCheckout<T>({
     if (!ref || !state.lockedByMe) return;
     let cancelled = false;
     const tick = () => {
-      const active = Date.now() - lastActivityRef.current < idleCapMs;
+      const active = shouldBeat(lastActivityRef.current, Date.now(), idleCapMs);
       const call = active ? api.beatCheckout(ref) : api.getCheckout(ref);
       call
         .then((s) => {
@@ -282,10 +283,7 @@ export function useCheckout<T>({
   }, [api]);
 
   // Only meaningful while we hold it: the bar shows a countdown, not a clock.
-  const secondsLeft =
-    state.lockedByMe && state.lockExpiresAt
-      ? Math.max(0, Math.round((Date.parse(state.lockExpiresAt) - now) / 1000))
-      : null;
+  const secondsLeft = secondsLeftOf(state, now);
 
   return {
     holder: state.lockedBy,
@@ -298,7 +296,7 @@ export function useCheckout<T>({
     lost,
     keepAlive,
     expiresAt: state.lockExpiresAt,
-    secondsLeft: secondsLeft !== null && Number.isFinite(secondsLeft) ? secondsLeft : null,
+    secondsLeft,
     lostUnexpectedly,
     acknowledgeLost,
   };
diff --git a/pid-designer/tests/test_checkout.py b/pid-designer/tests/test_checkout.py
index a941b959a..710f08070 100644
--- a/pid-designer/tests/test_checkout.py
+++ b/pid-designer/tests/test_checkout.py
@@ -15,6 +15,7 @@
 from datetime import datetime, timezone
 
 import fcntl
+import time
 import json
 import os
 import sys
@@ -446,16 +447,18 @@ def test_beat_refreshes_the_hold_without_writing(client):
     """
     doc_id = _create(client)
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
-    _save(client, doc_id, A, config={"v": "original"})
+    _save(client, doc_id, A)
+    stored = client.get(f"{BASE}/{doc_id}/load", headers=A).json()
     before = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()["lockExpiresAt"]
 
     r = client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A)
     assert r.status_code == 200
     assert r.json()["lockedByMe"] is True
     assert r.json()["lockExpiresAt"] >= before
-    # content untouched -- a beat that could clobber a payload would be worse
-    # than the bug it fixes
-    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json()["config"] == {"v": "original"}
+    # Content untouched. Compared against whatever this app's payload shape is
+    # rather than a hardcoded one -- a beat that could clobber a working copy
+    # would be worse than the bug it fixes.
+    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json() == stored
 
 
 def test_beat_refuses_when_you_do_not_hold_it(client):
@@ -468,3 +471,47 @@ def test_beat_refuses_when_you_do_not_hold_it(client):
     _share(client, doc_id, [B["X-Auth-Email"]])
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
     assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=B, params=OWNER_A).status_code == 423
+
+
+def test_beat_alone_survives_the_ttl_but_idling_does_not(client, monkeypatch):
+    """The end-to-end claim, both directions.
+
+    Someone interacting without saving must keep the design; someone who has
+    genuinely walked away must lose it, because release is holder-only and the
+    on-close beacon is best-effort, so lapsing is the only thing that recovers a
+    checkout after a crash or a power cut.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=A).status_code == 200
+
+    monkeypatch.setattr(documents.store, "lock_ttl", 2)
+    # Beat twice, each time before it would have lapsed. Total elapsed exceeds
+    # the TTL, and no save happens anywhere in here -- which is the entire point.
+    for _ in range(2):
+        time.sleep(1.2)
+        assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A).status_code == 200
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 423
+
+    # stop beating and it lapses on its own -- B gets it
+    time.sleep(2.2)
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 200
+
+
+def test_a_lapsed_hold_cannot_be_beaten_back_to_life(client, monkeypatch):
+    """Beating is a refresh, not a resurrection.
+
+    Once the hold has gone the design is free and someone else may already have
+    taken it, so a client that could beat its way back would reintroduce exactly
+    the two-holders case checkouts exist to prevent. 423 here is what makes the
+    lost-checkout dialog offer "Take it back" rather than silently re-beating.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+
+    monkeypatch.setattr(documents.store, "lock_ttl", 1)
+    time.sleep(1.05)
+    assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A).status_code == 423
+    # and it really was free, not merely unbeatable
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 200
diff --git a/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts b/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
new file mode 100644
index 000000000..318e9d529
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
@@ -0,0 +1,152 @@
+/**
+ * The decisions a live checkout makes.
+ *
+ * These are pinned because the bugs they replace were all arithmetic or
+ * precedence, and every one of them was invisible in the UI until someone lost
+ * a design over it:
+ *
+ * - `lockExpiresAt` used to carry the raw heartbeat, a timestamp already in the
+ *   past, so any countdown read as expired the instant it rendered.
+ * - "Activity" used to mean "a successful autosave", so reading a result or
+ *   measuring something counted as idle and the design was taken mid-task.
+ * - A lapse used to be indistinguishable from never having held it, so the user
+ *   was never told.
+ */
+
+import { describe, it, expect } from 'vitest';
+import {
+  WARN_AT_S,
+  secondsLeft,
+  isExpiringSoon,
+  shouldBeat,
+  isUnexpectedLoss,
+  mmss,
+} from '@stardesign-ui/checkoutPolicy';
+import type { CheckoutState } from '@stardesign-ui/api';
+
+const NOW = Date.parse('2026-09-11T12:00:00.000Z');
+const at = (offsetS: number) => new Date(NOW + offsetS * 1000).toISOString();
+
+const held = (expiresAt: string | null): CheckoutState => ({
+  lockedBy: 'me@berkeley.edu',
+  lockedByName: 'Me',
+  lockedByMe: true,
+  lockExpiresAt: expiresAt,
+  lockTtlSeconds: 900,
+});
+const theirs: CheckoutState = {
+  lockedBy: 'them@berkeley.edu',
+  lockedByName: 'Them',
+  lockedByMe: false,
+  lockExpiresAt: at(600),
+  lockTtlSeconds: 900,
+};
+const free: CheckoutState = {
+  lockedBy: null,
+  lockedByName: null,
+  lockedByMe: false,
+  lockExpiresAt: null,
+  lockTtlSeconds: 900,
+};
+
+describe('secondsLeft', () => {
+  it('counts down a hold we actually have', () => {
+    expect(secondsLeft(held(at(271)), NOW)).toBe(271);
+  });
+
+  it('is null for a hold that is not ours — not a countdown on someone else', () => {
+    expect(secondsLeft(theirs, NOW)).toBeNull();
+    expect(secondsLeft(free, NOW)).toBeNull();
+  });
+
+  it('clamps at zero rather than going negative', () => {
+    // A negative countdown reads as a bug; the server decides whether it is
+    // really gone, and the held-poll is what finds out.
+    expect(secondsLeft(held(at(-30)), NOW)).toBe(0);
+  });
+
+  it('returns null on an unparseable expiry instead of NaN', () => {
+    // NaN would render as "NaN:NaN" in the chip. This is the guard for it.
+    expect(secondsLeft(held('not-a-date'), NOW)).toBeNull();
+    expect(secondsLeft(held(null), NOW)).toBeNull();
+  });
+
+  it('rounds to the nearest second so the chip does not stutter', () => {
+    expect(secondsLeft(held(new Date(NOW + 1499).toISOString()), NOW)).toBe(1);
+    expect(secondsLeft(held(new Date(NOW + 1500).toISOString()), NOW)).toBe(2);
+  });
+});
+
+describe('isExpiringSoon', () => {
+  it('is quiet with plenty of time left', () => {
+    expect(isExpiringSoon(held(at(WARN_AT_S + 1)), NOW)).toBe(false);
+  });
+
+  it('warns from exactly the threshold — the boundary is inclusive', () => {
+    expect(isExpiringSoon(held(at(WARN_AT_S)), NOW)).toBe(true);
+    expect(isExpiringSoon(held(at(1)), NOW)).toBe(true);
+  });
+
+  it('never warns about a checkout that is not ours', () => {
+    // The warning offers "Keep editing", which would be nonsense — and the
+    // amber chip already means "someone else has it" elsewhere in the bar.
+    expect(isExpiringSoon({ ...theirs, lockExpiresAt: at(5) }, NOW)).toBe(false);
+    expect(isExpiringSoon(free, NOW)).toBe(false);
+  });
+});
+
+describe('shouldBeat', () => {
+  const CAP = 15 * 60_000;
+
+  it('beats while the user has interacted recently', () => {
+    // The whole fix: panning, measuring or reading now keeps the hold, where
+    // previously only a save did.
+    expect(shouldBeat(NOW - 1000, NOW, CAP)).toBe(true);
+  });
+
+  it('stops exactly at the cap, so an unattended tab frees the design', () => {
+    expect(shouldBeat(NOW - CAP, NOW, CAP)).toBe(false);
+    expect(shouldBeat(NOW - CAP + 1, NOW, CAP)).toBe(true);
+  });
+
+  it('stops after a long idle', () => {
+    expect(shouldBeat(NOW - 60 * 60_000, NOW, CAP)).toBe(false);
+  });
+});
+
+describe('isUnexpectedLoss', () => {
+  it('fires only on held -> not held', () => {
+    expect(isUnexpectedLoss(held(at(60)), free)).toBe(true);
+    expect(isUnexpectedLoss(held(at(60)), theirs)).toBe(true);
+  });
+
+  it('does not fire when we never held it', () => {
+    // Otherwise the dialog would greet anyone who merely opened a design
+    // somebody else has.
+    expect(isUnexpectedLoss(free, theirs)).toBe(false);
+    expect(isUnexpectedLoss(theirs, free)).toBe(false);
+  });
+
+  it('does not fire while we still hold it', () => {
+    expect(isUnexpectedLoss(held(at(600)), held(at(900)))).toBe(false);
+  });
+
+  it('does not fire on taking it', () => {
+    expect(isUnexpectedLoss(free, held(at(900)))).toBe(false);
+  });
+});
+
+describe('mmss', () => {
+  it('formats a countdown', () => {
+    expect(mmss(0)).toBe('0:00');
+    expect(mmss(9)).toBe('0:09');
+    expect(mmss(61)).toBe('1:01');
+    expect(mmss(599)).toBe('9:59');
+    expect(mmss(900)).toBe('15:00');
+  });
+
+  it('never renders a negative or fractional time', () => {
+    expect(mmss(-5)).toBe('0:00');
+    expect(mmss(30.7)).toBe('0:30');
+  });
+});
diff --git a/star-openrocket/tests/test_checkout.py b/star-openrocket/tests/test_checkout.py
index 4d6c6f940..532f450ac 100644
--- a/star-openrocket/tests/test_checkout.py
+++ b/star-openrocket/tests/test_checkout.py
@@ -15,6 +15,7 @@
 from datetime import datetime, timezone
 
 import fcntl
+import time
 import json
 import os
 import sys
@@ -446,16 +447,18 @@ def test_beat_refreshes_the_hold_without_writing(client):
     """
     doc_id = _create(client)
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
-    _save(client, doc_id, A, config={"v": "original"})
+    _save(client, doc_id, A)
+    stored = client.get(f"{BASE}/{doc_id}/load", headers=A).json()
     before = client.get(f"{BASE}/{doc_id}/checkout", headers=A).json()["lockExpiresAt"]
 
     r = client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A)
     assert r.status_code == 200
     assert r.json()["lockedByMe"] is True
     assert r.json()["lockExpiresAt"] >= before
-    # content untouched -- a beat that could clobber a payload would be worse
-    # than the bug it fixes
-    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json()["config"] == {"v": "original"}
+    # Content untouched. Compared against whatever this app's payload shape is
+    # rather than a hardcoded one -- a beat that could clobber a working copy
+    # would be worse than the bug it fixes.
+    assert client.get(f"{BASE}/{doc_id}/load", headers=A).json() == stored
 
 
 def test_beat_refuses_when_you_do_not_hold_it(client):
@@ -468,3 +471,47 @@ def test_beat_refuses_when_you_do_not_hold_it(client):
     _share(client, doc_id, [B["X-Auth-Email"]])
     client.post(f"{BASE}/{doc_id}/checkout", headers=A)
     assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=B, params=OWNER_A).status_code == 423
+
+
+def test_beat_alone_survives_the_ttl_but_idling_does_not(client, monkeypatch):
+    """The end-to-end claim, both directions.
+
+    Someone interacting without saving must keep the design; someone who has
+    genuinely walked away must lose it, because release is holder-only and the
+    on-close beacon is best-effort, so lapsing is the only thing that recovers a
+    checkout after a crash or a power cut.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=A).status_code == 200
+
+    monkeypatch.setattr(documents.store, "lock_ttl", 2)
+    # Beat twice, each time before it would have lapsed. Total elapsed exceeds
+    # the TTL, and no save happens anywhere in here -- which is the entire point.
+    for _ in range(2):
+        time.sleep(1.2)
+        assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A).status_code == 200
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 423
+
+    # stop beating and it lapses on its own -- B gets it
+    time.sleep(2.2)
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 200
+
+
+def test_a_lapsed_hold_cannot_be_beaten_back_to_life(client, monkeypatch):
+    """Beating is a refresh, not a resurrection.
+
+    Once the hold has gone the design is free and someone else may already have
+    taken it, so a client that could beat its way back would reintroduce exactly
+    the two-holders case checkouts exist to prevent. 423 here is what makes the
+    lost-checkout dialog offer "Take it back" rather than silently re-beating.
+    """
+    doc_id = _create(client)
+    _share(client, doc_id, [B["X-Auth-Email"]])
+    client.post(f"{BASE}/{doc_id}/checkout", headers=A)
+
+    monkeypatch.setattr(documents.store, "lock_ttl", 1)
+    time.sleep(1.05)
+    assert client.post(f"{BASE}/{doc_id}/checkout/beat", headers=A).status_code == 423
+    # and it really was free, not merely unbeatable
+    assert client.post(f"{BASE}/{doc_id}/checkout", headers=B, params=OWNER_A).status_code == 200

From e1e1ae41c4efe3b1ef4bd7157f7ea9f21ae8c3fb Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 11 Sep 2026 15:18:19 -0700
Subject: [PATCH 202/205] =?UTF-8?q?fix=20the=20three=20CI=20workflows=20my?=
 =?UTF-8?q?=20checkout=20change=20broke=20=E2=80=94=20two=20failures,=20bo?=
 =?UTF-8?q?th=20of=20them=20mine,=20both=20from=20verifying=20one=20app=20?=
 =?UTF-8?q?and=20assuming=20it=20stood=20for=20three;=20the=20route-invent?=
 =?UTF-8?q?ory=20guard=20(test=5Fevery=5Fdoc=5Fscoped=5Froute=5Fis=5Fliste?=
 =?UTF-8?q?d)=20pins=20the=20doc-scoped=20matrix=20against=20the=20real=20?=
 =?UTF-8?q?route=20table=20precisely=20so=20that=20adding=20an=20endpoint?=
 =?UTF-8?q?=20fails=20until=20someone=20says=20which=20side=20of=20the=20a?=
 =?UTF-8?q?ccess=20boundary=20it=20sits=20on,=20and=20/checkout/beat=20nev?=
 =?UTF-8?q?er=20got=20classified,=20which=20failed=20star-openrocket,=20En?=
 =?UTF-8?q?gineDesign=20and=20pid-designer=20alike=20=E2=80=94=20the=20las?=
 =?UTF-8?q?t=20one=20only=20via=20tests/test=5Fdiagrams.py=20rather=20than?=
 =?UTF-8?q?=20tests/test=5Fdocuments.py,=20which=20is=20why=20a=20filename?=
 =?UTF-8?q?-shaped=20first=20pass=20missed=20it;=20beat=5Fcheckout=20is=20?=
 =?UTF-8?q?doc-scoped=20(it=20403s=20an=20unshared=20caller=20and=20404s?=
 =?UTF-8?q?=20a=20foreign=20id=20without=20owner,=20both=20of=20which=20th?=
 =?UTF-8?q?e=20matrix=20now=20exercises=20for=20it);=20separately=20the=20?=
 =?UTF-8?q?EngineDesign=20Playwright=20suite=20drives=20its=20checkout=20b?=
 =?UTF-8?q?y=20polling=20getByText('Editing',=20{=20exact:=20true=20}),=20?=
 =?UTF-8?q?and=20appending=20the=20countdown=20as=20a=20bare=20sibling=20m?=
 =?UTF-8?q?ade=20the=20chip=20read=20"Editing=20=C2=B7=2014:59"=20so=20the?=
 =?UTF-8?q?=20exact-text=20locator=20stopped=20matching=20and=20three=20sp?=
 =?UTF-8?q?ecs=20failed=20on=20a=2030=20s=20timeout=20each=20=E2=80=94=20a?=
 =?UTF-8?q?=20slow=20and=20very=20indirect=20way=20to=20learn=20that=20a?=
 =?UTF-8?q?=20label=20changed=20=E2=80=94=20so=20"Editing"=20becomes=20its?=
 =?UTF-8?q?=20own=20element=20again=20and=20the=20countdown=20stays=20a=20?=
 =?UTF-8?q?separate=20span,=20which=20keeps=20their=20assertion=20honest?=
 =?UTF-8?q?=20rather=20than=20loosening=20it=20to=20fit=20me;=20that=20con?=
 =?UTF-8?q?tract=20now=20has=20a=20fast=20guard=20of=20its=20own:=20render?=
 =?UTF-8?q?ToStaticMarkup=20needs=20no=20DOM,=20so=20five=20vitest=20cases?=
 =?UTF-8?q?=20in=20star-openrocket=20pin=20the=20chip=20markup=20the=20E2E?=
 =?UTF-8?q?=20depends=20on,=20and=20reverting=20the=20span=20to=20a=20bare?=
 =?UTF-8?q?=20text=20node=20fails=20two=20of=20them=20immediately=20instea?=
 =?UTF-8?q?d=20of=20costing=20a=20Playwright=20run;=20the=20whole=20sweep?=
 =?UTF-8?q?=20this=20time=20rather=20than=20one=20file=20=E2=80=94=20628?=
 =?UTF-8?q?=20+=20100=20python=20cases=20(EngineDesign's=206=20collection?=
 =?UTF-8?q?=20errors=20are=20pandas/python-multipart=20missing=20from=20th?=
 =?UTF-8?q?e=20venv=20being=20borrowed,=20not=20this=20change;=20its=20own?=
 =?UTF-8?q?=20two=20suites=20pass),=20178=20frontend=20cases,=20tsc=20clea?=
 =?UTF-8?q?n,=20format=20clean?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 EngineDesign/tests/test_documents.py          |  1 +
 lib/stardesign-ui/src/CheckoutControl.tsx     |  6 +-
 pid-designer/tests/test_diagrams.py           |  1 +
 .../frontend/src/lib/checkoutChip.test.tsx    | 66 +++++++++++++++++++
 star-openrocket/tests/test_documents.py       |  1 +
 5 files changed, 74 insertions(+), 1 deletion(-)
 create mode 100644 star-openrocket/frontend/src/lib/checkoutChip.test.tsx

diff --git a/EngineDesign/tests/test_documents.py b/EngineDesign/tests/test_documents.py
index 318f69844..3b12a6c3e 100644
--- a/EngineDesign/tests/test_documents.py
+++ b/EngineDesign/tests/test_documents.py
@@ -342,6 +342,7 @@ def test_copy_of_a_missing_config_is_404(client):
     "take_checkout": ("POST", "/checkout", None),
     "release_checkout": ("DELETE", "/checkout", None),
     "release_checkout_beacon": ("POST", "/checkout/release", None),
+    "beat_checkout": ("POST", "/checkout/beat", None),
     "get_checkout": ("GET", "/checkout", None),
     "load_document": ("GET", "/load", None),
     "autosave_document": ("POST", "/autosave", {"config": {"x": 1}}),
diff --git a/lib/stardesign-ui/src/CheckoutControl.tsx b/lib/stardesign-ui/src/CheckoutControl.tsx
index 8fe872db6..4ccec5ffb 100644
--- a/lib/stardesign-ui/src/CheckoutControl.tsx
+++ b/lib/stardesign-ui/src/CheckoutControl.tsx
@@ -53,7 +53,11 @@ export function CheckoutControl({
             }
           >
             <span className={`${dot} ${expiringSoon ? 'bg-amber-500' : 'bg-emerald-500'}`} />
-            Editing
+            {/* "Editing" stays its own element so a locator matching that exact
+                text still resolves once the countdown is appended -- the E2E in
+                EngineDesign does precisely that, and a bare text node here made
+                the chip read "Editing · 14:59" and the match fail. */}
+            <span>Editing</span>
             {secondsLeft !== null && (
               <span className="tabular-nums opacity-80">· {mmss(secondsLeft)}</span>
             )}
diff --git a/pid-designer/tests/test_diagrams.py b/pid-designer/tests/test_diagrams.py
index c73c870b4..82b781f05 100644
--- a/pid-designer/tests/test_diagrams.py
+++ b/pid-designer/tests/test_diagrams.py
@@ -337,6 +337,7 @@ def test_copy_of_a_missing_diagram_is_404(client):
     "take_checkout": ("POST", "/checkout", None),
     "release_checkout": ("DELETE", "/checkout", None),
     "release_checkout_beacon": ("POST", "/checkout/release", None),
+    "beat_checkout": ("POST", "/checkout/beat", None),
     "get_checkout": ("GET", "/checkout", None),
     "load_document": ("GET", "/load", None),
     "autosave_document": ("POST", "/autosave", {"nodes": [], "edges": []}),
diff --git a/star-openrocket/frontend/src/lib/checkoutChip.test.tsx b/star-openrocket/frontend/src/lib/checkoutChip.test.tsx
new file mode 100644
index 000000000..91eb4a505
--- /dev/null
+++ b/star-openrocket/frontend/src/lib/checkoutChip.test.tsx
@@ -0,0 +1,66 @@
+/**
+ * The checkout chip's rendered text, pinned where it is cheap to check.
+ *
+ * EngineDesign's Playwright suite drives the checkout by polling for
+ * `getByText('Editing', { exact: true })`. Appending the countdown as a bare
+ * sibling made the chip read "Editing · 14:59", the exact-text locator stopped
+ * matching, and three E2E specs failed on a timeout 30 s at a time — a slow and
+ * very indirect way to learn that a label changed.
+ *
+ * `renderToStaticMarkup` needs no DOM, so this repo's existing vitest setup can
+ * hold the contract that the E2E depends on.
+ */
+
+import { describe, it, expect } from 'vitest';
+import { renderToStaticMarkup } from 'react-dom/server';
+import { CheckoutControl } from '@stardesign-ui/CheckoutControl';
+import type { Checkout } from '@stardesign-ui/useCheckout';
+
+const base: Checkout = {
+  holder: 'me@berkeley.edu',
+  holderName: 'Me',
+  held: true,
+  busy: false,
+  error: null,
+  take: async () => {},
+  release: async () => {},
+  lost: () => {},
+  keepAlive: async () => {},
+  expiresAt: null,
+  secondsLeft: null,
+  lostUnexpectedly: false,
+  acknowledgeLost: () => {},
+};
+
+const markup = (c: Partial<Checkout>) =>
+  renderToStaticMarkup(<CheckoutControl checkout={{ ...base, ...c }} noun="design" />);
+
+describe('the checked-out chip', () => {
+  it('keeps "Editing" as its own element once a countdown is shown', () => {
+    // This exact substring is what `getByText('Editing', { exact: true })`
+    // resolves against. Inlining the countdown beside a bare text node breaks it.
+    expect(markup({ held: true, secondsLeft: 899 })).toContain('<span>Editing</span>');
+  });
+
+  it('still does with no countdown at all', () => {
+    expect(markup({ held: true, secondsLeft: null })).toContain('<span>Editing</span>');
+  });
+
+  it('renders the countdown separately, as m:ss', () => {
+    const html = markup({ held: true, secondsLeft: 899 });
+    expect(html).toContain('14:59');
+    expect(html).not.toContain('Editing · 14:59'); // never one run of text
+  });
+
+  it('offers Keep editing only near expiry', () => {
+    expect(markup({ held: true, secondsLeft: 90 })).toContain('Keep editing');
+    expect(markup({ held: true, secondsLeft: 600 })).not.toContain('Keep editing');
+  });
+
+  it('leaves the other states alone', () => {
+    const readOnly = markup({ held: false, holder: null, holderName: null });
+    expect(readOnly).toContain('Read only');
+    expect(readOnly).not.toContain('Editing');
+    expect(markup({ held: false })).toContain('is editing'); // someone else holds it
+  });
+});
diff --git a/star-openrocket/tests/test_documents.py b/star-openrocket/tests/test_documents.py
index 90dde35d6..29d3f040f 100644
--- a/star-openrocket/tests/test_documents.py
+++ b/star-openrocket/tests/test_documents.py
@@ -347,6 +347,7 @@ def test_copy_of_a_missing_config_is_404(client):
     "take_checkout": ("POST", "/checkout", None),
     "release_checkout": ("DELETE", "/checkout", None),
     "release_checkout_beacon": ("POST", "/checkout/release", None),
+    "beat_checkout": ("POST", "/checkout/beat", None),
     "get_checkout": ("GET", "/checkout", None),
     "load_document": ("GET", "/load", None),
     "autosave_document": ("POST", "/autosave", {"config": {"x": 1}}),

From d5e785fee97e8203e839ca350acaedb8cd3a9e74 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 11 Sep 2026 15:57:33 -0700
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 =?UTF-8?q?=20differenced=20a=20server=20timestamp=20against=20the=20brows?=
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 =?UTF-8?q?two=20agree=20and=20nothing=20makes=20them:=20a=20browser=20~17?=
 =?UTF-8?q?=20h=20behind=20its=20WSL=20backend=20displayed=20"1038:44"=20l?=
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 =?UTF-8?q?=20visibility=20guard=20fails=201,=20plus=20188=20frontend=20an?=
 =?UTF-8?q?d=20628+100=20python=20cases,=20tsc=20and=20format=20clean=20?=
 =?UTF-8?q?=E2=80=94=20but=20the=20seeding=20bug=20itself=20is=20NOT=20cov?=
 =?UTF-8?q?ered,=20because=20it=20is=20hook=20initialisation=20rather=20th?=
 =?UTF-8?q?an=20pure=20logic=20and=20this=20repo=20has=20no=20jsdom=20or?=
 =?UTF-8?q?=20react=20testing=20stack=20anywhere,=20which=20is=20the=20sec?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
 lib/stardesign-ui/src/api.ts                  |  6 +-
 lib/stardesign-ui/src/checkoutPolicy.ts       | 40 ++++++++-
 lib/stardesign-ui/src/useCheckout.ts          | 58 ++++++++-----
 lib/stardesign/stardesign/documents.py        | 13 +++
 .../frontend/src/lib/checkoutPolicy.test.ts   | 81 +++++++++++++++++++
 5 files changed, 175 insertions(+), 23 deletions(-)

diff --git a/lib/stardesign-ui/src/api.ts b/lib/stardesign-ui/src/api.ts
index 85ddb1403..0649b49f6 100644
--- a/lib/stardesign-ui/src/api.ts
+++ b/lib/stardesign-ui/src/api.ts
@@ -50,8 +50,12 @@ export interface CheckoutState {
   lockedBy: string | null;
   lockedByName: string | null;
   lockedByMe: boolean;
-  /** When the hold lapses -- beat + ttl, in the future. Not the beat itself. */
+  /** When the hold lapses -- beat + ttl, in the future. Not the beat itself.
+   *  Prefer `lockExpiresInSeconds`: this one is only correct if our clock
+   *  agrees with the server's, and nothing guarantees that. */
   lockExpiresAt: string | null;
+  /** Seconds remaining as the SERVER measured them. Clock-skew proof. */
+  lockExpiresInSeconds?: number | null;
   /** The server's inactivity window, so the bar can size its warning. */
   lockTtlSeconds?: number | null;
 }
diff --git a/lib/stardesign-ui/src/checkoutPolicy.ts b/lib/stardesign-ui/src/checkoutPolicy.ts
index e8c81862c..4613ad51a 100644
--- a/lib/stardesign-ui/src/checkoutPolicy.ts
+++ b/lib/stardesign-ui/src/checkoutPolicy.ts
@@ -20,16 +20,41 @@ export const WARN_AT_S = 120;
  * negative countdown reads as a bug, and the server is the authority on whether
  * it has actually gone.
  */
-export function secondsLeft(state: CheckoutState, nowMs: number): number | null {
-  if (!state.lockedByMe || !state.lockExpiresAt) return null;
+export function secondsLeft(
+  state: CheckoutState,
+  nowMs: number,
+  receivedAtMs?: number,
+): number | null {
+  if (!state.lockedByMe) return null;
+
+  // Preferred path: the server told us how long is left, and we subtract only
+  // locally-measured elapsed time. Both numbers come from the same clock, so
+  // any disagreement between our clock and the server's cancels out entirely.
+  //
+  // Differencing `lockExpiresAt` against our own clock does NOT cancel: a
+  // browser 17 hours behind the server showed "1038:44" left on a 15 minute
+  // hold, and one running fast would sit at "0:00" with the warning stuck on.
+  const remaining = state.lockExpiresInSeconds;
+  if (typeof remaining === 'number' && Number.isFinite(remaining) && receivedAtMs !== undefined) {
+    const elapsed = Math.max(0, (nowMs - receivedAtMs) / 1000);
+    return Math.max(0, Math.round(remaining - elapsed));
+  }
+
+  // Fallback for a server that does not send the duration yet. Same skew
+  // exposure as before, which is why it is second.
+  if (!state.lockExpiresAt) return null;
   const at = Date.parse(state.lockExpiresAt);
   if (!Number.isFinite(at)) return null; // unparseable: show no countdown, not NaN
   return Math.max(0, Math.round((at - nowMs) / 1000));
 }
 
 /** Whether the bar should turn amber and offer to keep the hold. */
-export function isExpiringSoon(state: CheckoutState, nowMs: number): boolean {
-  const left = secondsLeft(state, nowMs);
+export function isExpiringSoon(
+  state: CheckoutState,
+  nowMs: number,
+  receivedAtMs?: number,
+): boolean {
+  const left = secondsLeft(state, nowMs, receivedAtMs);
   return left !== null && left <= WARN_AT_S;
 }
 
@@ -46,7 +71,14 @@ export function shouldBeat(
   lastActivityMs: number,
   nowMs: number,
   idleCapMs: number,
+  visible = true,
 ): boolean {
+  // Not while the tab is hidden. A backgrounded tab still runs its timers, so
+  // without this a parked window refreshes the hold forever and nobody else can
+  // ever take the design. Note this only declines to REFRESH -- it must never
+  // release, which is the bug that made a three-second glance at another tab
+  // cost you the design.
+  if (!visible) return false;
   return nowMs - lastActivityMs < idleCapMs;
 }
 
diff --git a/lib/stardesign-ui/src/useCheckout.ts b/lib/stardesign-ui/src/useCheckout.ts
index 3bbda344f..6b6601dab 100644
--- a/lib/stardesign-ui/src/useCheckout.ts
+++ b/lib/stardesign-ui/src/useCheckout.ts
@@ -34,9 +34,15 @@ const FREE: CheckoutState = {
   lockTtlSeconds: null,
 };
 
-/** Interaction that counts as "still working on this". Deliberately coarse and
- *  passive: it only stamps a ref, so it costs nothing on a hot canvas. */
-const ACTIVITY_EVENTS = ['pointerdown', 'pointermove', 'keydown', 'wheel'] as const;
+/** Interaction that counts as "still working on this".
+ *
+ * `pointermove` is deliberately NOT here. It fires on incidental cursor travel
+ * across the window, so including it meant a parked tab re-armed another full
+ * idle window every time someone's hand brushed the mouse -- and the idle cap
+ * is the only thing that ever frees a design from someone who walked away,
+ * since release is holder-only and the on-close beacon is best-effort. A drag
+ * always opens with `pointerdown`, so real work is still caught. */
+const ACTIVITY_EVENTS = ['pointerdown', 'keydown', 'wheel'] as const;
 
 export interface Checkout {
   /** Email of whoever holds it, or null when free. */
@@ -103,6 +109,15 @@ export function useCheckout<T>({
   const [error, setError] = useState<string | null>(null);
   const [lostUnexpectedly, setLostUnexpectedly] = useState(false);
   const [now, setNow] = useState(() => Date.now());
+  // When the current `state` reached us, by OUR clock. The countdown subtracts
+  // locally-measured elapsed time from the server's own "seconds remaining",
+  // so a clock disagreement between browser and server cannot reach the timer.
+  const [receivedAt, setReceivedAt] = useState(() => Date.now());
+
+  const applyState = useCallback((s: CheckoutState) => {
+    setReceivedAt(Date.now());
+    setState(s);
+  }, []);
 
   const key = ref ? keyOf(ref) : null;
   // Read inside callbacks and the unload handler, so neither needs `ref` in a
@@ -122,7 +137,12 @@ export function useCheckout<T>({
 
   // Last interaction of any kind. A ref, not state: these fire continuously
   // while dragging a node and must not re-render anything.
-  const lastActivityRef = useRef(Date.now());
+  //
+  // Starts at 0, NOT `Date.now()`: seeding it with the mount time made merely
+  // opening the page count as interaction, so every tick beat the lock and the
+  // countdown visibly reset to full with nobody touching anything. Taking the
+  // checkout stamps it, because pressing Take *is* the user doing something.
+  const lastActivityRef = useRef(0);
   useEffect(() => {
     const mark = () => {
       lastActivityRef.current = Date.now();
@@ -148,12 +168,14 @@ export function useCheckout<T>({
     if (!ref || !state.lockedByMe) return;
     let cancelled = false;
     const tick = () => {
-      const active = shouldBeat(lastActivityRef.current, Date.now(), idleCapMs);
+      const visible =
+        typeof document === 'undefined' || document.visibilityState === 'visible';
+      const active = shouldBeat(lastActivityRef.current, Date.now(), idleCapMs, visible);
       const call = active ? api.beatCheckout(ref) : api.getCheckout(ref);
       call
         .then((s) => {
           if (cancelled) return;
-          setState(s);
+          applyState(s);
           if (!s.lockedByMe) setLostUnexpectedly(true);
         })
         .catch((e: unknown) => {
@@ -172,15 +194,15 @@ export function useCheckout<T>({
       cancelled = true;
       clearInterval(id);
     };
-  }, [api, ref, state.lockedByMe, heldPollMs, idleCapMs]);
+  }, [api, ref, state.lockedByMe, heldPollMs, idleCapMs, applyState]);
 
   // A 1 Hz clock, only while we hold it, so the bar can count down.
   useEffect(() => {
-    if (!state.lockedByMe || !state.lockExpiresAt) return;
+    if (!state.lockedByMe) return;
     setNow(Date.now());
     const id = setInterval(() => setNow(Date.now()), 1000);
     return () => clearInterval(id);
-  }, [state.lockedByMe, state.lockExpiresAt]);
+  }, [state.lockedByMe, state.lockExpiresAt, receivedAt]);
 
   // Poll only while we do NOT hold it. A chip reading "taken" after the holder
   // has released is worse than no chip; this is what makes Take light up on its
@@ -191,7 +213,7 @@ export function useCheckout<T>({
     const tick = () => {
       api
         .getCheckout(ref)
-        .then((s) => !cancelled && setState(s))
+        .then((s) => !cancelled && applyState(s))
         .catch(() => {
           /* transient: keep what we last knew rather than flapping to free */
         });
@@ -202,7 +224,7 @@ export function useCheckout<T>({
       cancelled = true;
       clearInterval(id);
     };
-  }, [api, key, state.lockedByMe, pollMs]); // eslint-disable-line react-hooks/exhaustive-deps
+  }, [api, key, state.lockedByMe, pollMs, applyState]); // eslint-disable-line react-hooks/exhaustive-deps
 
   // Give it back when the tab actually goes away, so a colleague is not left
   // waiting out the inactivity timeout for a design nobody has open.
@@ -235,30 +257,30 @@ export function useCheckout<T>({
       // view may be stale, and editing a stale view would overwrite whoever
       // just finished.
       await reload?.();
-      setState(s);
+      applyState(s);
     } catch (e) {
       setError(
         e instanceof ApiError ? e.message : 'Could not take it. Try again in a moment.',
       );
       // Refresh so the chip shows who actually has it, not a guess.
-      api.getCheckout(r).then(setState).catch(() => {});
+      api.getCheckout(r).then(applyState).catch(() => {});
     } finally {
       setBusy(false);
     }
-  }, [api, reload]);
+  }, [api, reload, applyState]);
 
   const release = useCallback(async () => {
     const r = refRef.current;
     if (!r) return;
     setBusy(true);
     try {
-      setState(await api.releaseCheckout(r));
+      applyState(await api.releaseCheckout(r));
     } catch {
       setState(FREE); // best effort; the timeout frees it regardless
     } finally {
       setBusy(false);
     }
-  }, [api]);
+  }, [api, applyState]);
 
   const lost = useCallback(() => {
     setState((s) => ({ ...s, lockedByMe: false }));
@@ -272,7 +294,7 @@ export function useCheckout<T>({
     if (!r || !heldRef.current) return;
     lastActivityRef.current = Date.now();
     try {
-      setState(await api.beatCheckout(r));
+      applyState(await api.beatCheckout(r));
     } catch (e) {
       if (e instanceof ApiError && e.status === 423) {
         setState((prev) => ({ ...prev, lockedByMe: false }));
@@ -283,7 +305,7 @@ export function useCheckout<T>({
   }, [api]);
 
   // Only meaningful while we hold it: the bar shows a countdown, not a clock.
-  const secondsLeft = secondsLeftOf(state, now);
+  const secondsLeft = secondsLeftOf(state, now, receivedAt);
 
   return {
     holder: state.lockedBy,
diff --git a/lib/stardesign/stardesign/documents.py b/lib/stardesign/stardesign/documents.py
index 9f6159d89..e48bb4079 100644
--- a/lib/stardesign/stardesign/documents.py
+++ b/lib/stardesign/stardesign/documents.py
@@ -436,11 +436,24 @@ def _lock_state(record: dict, viewer: str, names: dict[str, str]) -> dict:
                     ).isoformat()
                 except (TypeError, ValueError):
                     expires = None
+        # A duration as well as an instant. The instant is only meaningful to a
+        # client whose clock agrees with ours, and nothing makes that true: a
+        # browser on one host talking to a server on another (Windows and WSL,
+        # say) can be hours apart, and the countdown then reads as hours left --
+        # or, when the browser runs fast, as permanently expired. The duration
+        # costs nothing and is immune to it, so it is what the bar counts down.
+        remaining = None
+        if expires is not None:
+            remaining = max(
+                0.0,
+                (datetime.fromisoformat(expires) - datetime.now(timezone.utc)).total_seconds(),
+            )
         return {
             "lockedBy": holder,
             "lockedByName": (names.get(holder) or holder) if holder else None,
             "lockedByMe": holder == viewer,
             "lockExpiresAt": expires,
+            "lockExpiresInSeconds": remaining,
             "lockTtlSeconds": store.lock_ttl,
         }
 
diff --git a/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts b/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
index 318e9d529..cb61f81d3 100644
--- a/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
+++ b/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
@@ -34,6 +34,11 @@ const held = (expiresAt: string | null): CheckoutState => ({
   lockExpiresAt: expiresAt,
   lockTtlSeconds: 900,
 });
+/** A hold the server says has `remaining` seconds left on it. */
+const heldFor = (remaining: number | null, expiresAt: string | null = null): CheckoutState => ({
+  ...held(expiresAt),
+  lockExpiresInSeconds: remaining,
+});
 const theirs: CheckoutState = {
   lockedBy: 'them@berkeley.edu',
   lockedByName: 'Them',
@@ -150,3 +155,79 @@ describe('mmss', () => {
     expect(mmss(30.7)).toBe('0:30');
   });
 });
+
+
+describe('secondsLeft is immune to clock skew', () => {
+  // The bug: the countdown differenced a server timestamp against the browser's
+  // own clock. A browser 17 hours behind the server showed "1038:44" left on a
+  // 15 minute hold. A browser running fast is worse -- it reads 0:00 and pins
+  // the warning on, which looks exactly like the lapsing bug this work fixes.
+  const SKEW = 17 * 3600 * 1000;
+
+  it('uses the server-measured duration, not the two clocks', () => {
+    // Our clock is 17h behind; the absolute expiry would compute ~17h left.
+    const state = heldFor(900, at(900 + 17 * 3600));
+    expect(secondsLeft(state, NOW, NOW)).toBe(900);
+  });
+
+  it('is unaffected whichever way the skew runs', () => {
+    const slow = heldFor(900, new Date(NOW + 900_000 + SKEW).toISOString());
+    const fast = heldFor(900, new Date(NOW + 900_000 - SKEW).toISOString());
+    expect(secondsLeft(slow, NOW, NOW)).toBe(900);
+    expect(secondsLeft(fast, NOW, NOW)).toBe(900);
+  });
+
+  it('counts down by locally-measured elapsed time', () => {
+    const state = heldFor(900);
+    expect(secondsLeft(state, NOW + 60_000, NOW)).toBe(840);
+    expect(secondsLeft(state, NOW + 900_000, NOW)).toBe(0);
+    expect(secondsLeft(state, NOW + 950_000, NOW)).toBe(0); // clamped
+  });
+
+  it('falls back to the timestamp when the server sends no duration', () => {
+    // An older server, or a response that predates the field.
+    expect(secondsLeft(held(at(300)), NOW, NOW)).toBe(300);
+  });
+
+  it('ignores the duration when we do not hold it', () => {
+    expect(secondsLeft({ ...heldFor(900), lockedByMe: false }, NOW, NOW)).toBeNull();
+  });
+
+  it('drives the warning off the same skew-proof number', () => {
+    const nearly = heldFor(30, at(30 + 17 * 3600));
+    expect(isExpiringSoon(nearly, NOW, NOW)).toBe(true);
+    expect(isExpiringSoon(heldFor(600), NOW, NOW)).toBe(false);
+  });
+});
+
+
+describe('an untouched or backgrounded tab must stop refreshing the hold', () => {
+  const CAP = 15 * 60_000;
+
+  it('never beats when nothing has been touched at all', () => {
+    // The hook seeds lastActivity at 0, not the mount time. Seeding it with
+    // Date.now() meant merely opening the page bought a full idle window, so
+    // the 15 s tick refreshed the lock the whole time and the countdown read a
+    // fresh 15:00 every time the user came back to the tab.
+    expect(shouldBeat(0, NOW, CAP)).toBe(false);
+  });
+
+  it('beats once something actually happens, and stops when it ages out', () => {
+    expect(shouldBeat(NOW, NOW, CAP)).toBe(true);
+    expect(shouldBeat(NOW - CAP - 1, NOW, CAP)).toBe(false);
+  });
+
+  it('does not beat while the tab is hidden, however recent the interaction', () => {
+    // A backgrounded tab still runs its timers, so without this a parked window
+    // holds the design against everybody else forever.
+    expect(shouldBeat(NOW, NOW, CAP, false)).toBe(false);
+  });
+
+  it('declining to refresh is not the same as releasing', () => {
+    // The distinction that matters: hiding the tab must stop the hold being
+    // renewed, never hand it back. Releasing on visibilitychange is what made a
+    // three-second glance at another tab cost someone their design.
+    expect(shouldBeat(NOW, NOW, CAP, true)).toBe(true);
+    expect(shouldBeat(NOW, NOW + 1000, CAP, true)).toBe(true);
+  });
+});

From fb8439fa6f68f47b6deb0548e12667c23ae52ec9 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 11 Sep 2026 20:33:49 -0700
Subject: [PATCH 204/205] =?UTF-8?q?give=20the=20shared=20design-bar=20UI?=
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 =?UTF-8?q?me:=20lib=2068=20+=20tsc,=20tsc=20-b=20clean=20in=20each,=20156?=
 =?UTF-8?q?/10=20app=20vitest,=20628/100/355=20python,=206/6=20EngineDesig?=
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MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .github/workflows/engine-design-ci.yml        |    2 +
 .github/workflows/pid-designer-ci.yml         |    2 +
 .github/workflows/stardesign-ui-ci.yml        |   54 +
 .../frontend/e2e/checkout-countdown.spec.ts   |  137 +
 lib/stardesign-ui/package-lock.json           | 2719 +++++++++++++++++
 lib/stardesign-ui/package.json                |   25 +
 .../test/CheckoutControl.test.tsx             |   56 +-
 .../test/CheckoutLostDialog.test.tsx          |  158 +
 .../test}/checkoutPolicy.test.ts              |    4 +-
 lib/stardesign-ui/test/useCheckout.test.tsx   |  329 ++
 lib/stardesign-ui/tsconfig.json               |   26 +
 lib/stardesign-ui/vitest.config.ts            |   24 +
 lib/stardesign-ui/vitest.setup.ts             |    1 +
 13 files changed, 3532 insertions(+), 5 deletions(-)
 create mode 100644 .github/workflows/stardesign-ui-ci.yml
 create mode 100644 EngineDesign/frontend/e2e/checkout-countdown.spec.ts
 create mode 100644 lib/stardesign-ui/package-lock.json
 create mode 100644 lib/stardesign-ui/package.json
 rename star-openrocket/frontend/src/lib/checkoutChip.test.tsx => lib/stardesign-ui/test/CheckoutControl.test.tsx (52%)
 create mode 100644 lib/stardesign-ui/test/CheckoutLostDialog.test.tsx
 rename {star-openrocket/frontend/src/lib => lib/stardesign-ui/test}/checkoutPolicy.test.ts (98%)
 create mode 100644 lib/stardesign-ui/test/useCheckout.test.tsx
 create mode 100644 lib/stardesign-ui/tsconfig.json
 create mode 100644 lib/stardesign-ui/vitest.config.ts
 create mode 100644 lib/stardesign-ui/vitest.setup.ts

diff --git a/.github/workflows/engine-design-ci.yml b/.github/workflows/engine-design-ci.yml
index 117790ca0..70408f96a 100644
--- a/.github/workflows/engine-design-ci.yml
+++ b/.github/workflows/engine-design-ci.yml
@@ -9,6 +9,7 @@ name: Engine Design CI
       # The shared design core: its permission check is what stops one user
       # editing another's designs, so a change to it has to run these tests.
       - 'lib/stardesign/**'
+      - 'lib/stardesign-ui/**'
       - '.github/workflows/engine-design-ci.yml'
   pull_request:
     paths:
@@ -16,6 +17,7 @@ name: Engine Design CI
       # The shared design core: its permission check is what stops one user
       # editing another's designs, so a change to it has to run these tests.
       - 'lib/stardesign/**'
+      - 'lib/stardesign-ui/**'
       - '.github/workflows/engine-design-ci.yml'
   workflow_dispatch:
 
diff --git a/.github/workflows/pid-designer-ci.yml b/.github/workflows/pid-designer-ci.yml
index f1c70670d..2d2b5b235 100644
--- a/.github/workflows/pid-designer-ci.yml
+++ b/.github/workflows/pid-designer-ci.yml
@@ -7,6 +7,7 @@ name: P&ID Designer CI
       # The shared design core: its permission check is what stops one user
       # editing another's designs, so a change to it has to run these tests.
       - 'lib/stardesign/**'
+      - 'lib/stardesign-ui/**'
       - '.github/workflows/pid-designer-ci.yml'
   pull_request:
     paths:
@@ -14,6 +15,7 @@ name: P&ID Designer CI
       # The shared design core: its permission check is what stops one user
       # editing another's designs, so a change to it has to run these tests.
       - 'lib/stardesign/**'
+      - 'lib/stardesign-ui/**'
       - '.github/workflows/pid-designer-ci.yml'
   workflow_dispatch:
 
diff --git a/.github/workflows/stardesign-ui-ci.yml b/.github/workflows/stardesign-ui-ci.yml
new file mode 100644
index 000000000..e13403f18
--- /dev/null
+++ b/.github/workflows/stardesign-ui-ci.yml
@@ -0,0 +1,54 @@
+# Shared design-bar UI (checkouts, sharing, versions), used by star-openrocket,
+# pid-designer and EngineDesign through a path alias.
+#
+# It needs a workflow of its own because no app runs its tests: every app's vitest
+# `include` is rooted at that app's own frontend directory, so a test file inside
+# lib/stardesign-ui/src was executed by nobody. The apps type-check this source when they
+# build, but that is not the same as running it, and two of the three app workflows do not
+# even trigger on changes here.
+#
+# Deliberately narrow: this never runs for an app-only change.
+name: stardesign-ui CI
+
+on:
+  push:
+    paths:
+      - 'lib/stardesign-ui/**'
+      - '.github/workflows/stardesign-ui-ci.yml'
+  pull_request:
+    paths:
+      - 'lib/stardesign-ui/**'
+      - '.github/workflows/stardesign-ui-ci.yml'
+
+defaults:
+  run:
+    working-directory: lib/stardesign-ui
+
+jobs:
+  test:
+    name: Shared UI (types + tests)
+    runs-on: ubuntu-latest
+    timeout-minutes: 15
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Setup Node.js
+      uses: actions/setup-node@v4
+      with:
+        node-version: '20.x'
+        cache: npm
+        cache-dependency-path: lib/stardesign-ui/package-lock.json
+
+    - name: Install dependencies
+      run: npm ci
+
+    # A real gate, not a formality: tsconfig.json here exists so this checks something.
+    - name: Type-check
+      run: npm run lint
+
+    # jsdom + @testing-library. These cover the hook wiring — refs, effects, timers,
+    # listeners — which is where every checkout bug that reached a user actually lived.
+    - name: Unit tests
+      run: npm test
diff --git a/EngineDesign/frontend/e2e/checkout-countdown.spec.ts b/EngineDesign/frontend/e2e/checkout-countdown.spec.ts
new file mode 100644
index 000000000..b95764efb
--- /dev/null
+++ b/EngineDesign/frontend/e2e/checkout-countdown.spec.ts
@@ -0,0 +1,137 @@
+/**
+ * The checkout countdown, against a real browser and a controllable clock.
+ *
+ * This exists because of a bug the unit tests could not have caught on their own: the hook
+ * seeded its "last interaction" timestamp with the mount time, so merely opening the page
+ * counted as working, the 15 s tick refreshed the hold forever, and a user returning to an
+ * untouched tab saw a fresh 15:00 every time. It was found by a person watching a timer.
+ *
+ * `lib/stardesign-ui` now covers that with fake timers — but fake timers are precisely what
+ * would hide a real-timer defect, so one end-to-end check earns its place: real React, real
+ * intervals, a real network round trip to a real FastAPI backend.
+ *
+ * The helpers below are deliberately a small local copy of the ones in
+ * design-persistence.spec.ts rather than an extraction: that suite is the only E2E
+ * currently guarding shared checkout UI, and refactoring it to serve this file would put it
+ * at risk for no benefit here.
+ */
+
+import { test, expect, type Page } from '@playwright/test';
+
+/** The countdown span the chip renders beside "Editing" — e.g. "· 14:37". */
+const COUNTDOWN = /^·\s*\d+:\d{2}$/;
+
+const releaseButton = (page: Page) =>
+  page.locator('button:not([title])').filter({ hasText: /^Release/ });
+
+const designPicker = (page: Page) => page.locator('header select').last();
+
+/**
+ * The design bar has to be live before Take does anything: `CheckoutControl` renders in
+ * every state, and `useCheckout.take()` no-ops while `ref` is null.
+ */
+async function waitForDesignBar(page: Page) {
+  await expect(page.getByText('Connected', { exact: true })).toBeVisible({ timeout: 30_000 });
+  await expect(designPicker(page)).not.toHaveValue('', { timeout: 30_000 });
+}
+
+/**
+ * Converge on "checked out" rather than asserting one click did it: a `sendBeacon` release
+ * from a previous test's page can land late and flip the chip back through no fault of the
+ * app.
+ */
+async function ensureCheckedOut(page: Page) {
+  await expect
+    .poll(
+      async () => {
+        const take = page.getByRole('button', { name: 'Take', exact: true });
+        if (await take.isVisible().catch(() => false)) {
+          await take.click({ timeout: 5_000 }).catch(() => {});
+        }
+        return releaseButton(page).isVisible().catch(() => false);
+      },
+      { timeout: 30_000, message: 'the design never reached "Editing"' },
+    )
+    .toBe(true);
+}
+
+/** The countdown as whole seconds. */
+async function readCountdown(page: Page): Promise<number> {
+  const text = (await page.getByText(COUNTDOWN).first().innerText()).trim();
+  const m = text.match(/(\d+):(\d{2})/);
+  if (!m) throw new Error(`countdown not parseable from ${JSON.stringify(text)}`);
+  return Number(m[1]) * 60 + Number(m[2]);
+}
+
+test('a tab that never took the design does not refresh its hold', async ({ context }) => {
+  test.setTimeout(120_000); // the config default is 60 s and we fast-forward through minutes
+
+  // The bug only shows where the hook mounts ALREADY holding the design with nobody having
+  // interacted with that page. Reloading cannot produce it -- `pagehide` releases on the way
+  // out, by design -- but a second tab can: the same user opens the design elsewhere, its
+  // poll reports "you hold this", and it becomes held having been touched zero times.
+  //
+  // Seeding "last interaction" with the mount time made that look like work, so the hold was
+  // refreshed on every tick and the countdown sat at a full 15:00. Do NOT fast-forward past
+  // the idle cap first: that retires the bad mount stamp and the test passes either way.
+  const owner = await context.newPage();
+  await owner.goto('/');
+  await waitForDesignBar(owner);
+  await ensureCheckedOut(owner);
+
+  const observer = await context.newPage();
+  let beats = 0;
+  await observer.route('**/checkout/beat', async (route) => {
+    beats += 1;
+    await route.continue();
+  });
+  await observer.clock.install();
+  await observer.goto('/');
+  await waitForDesignBar(observer);
+  await expect(releaseButton(observer)).toBeVisible({ timeout: 30_000 });
+
+  const started = await readCountdown(observer);
+  expect(started).toBeGreaterThan(0);
+  beats = 0;
+
+  // Well inside the idle cap, so a mount-seeded stamp would still count as recent.
+  await observer.clock.fastForward('05:00');
+  await observer.waitForTimeout(1_000);
+
+  expect(beats, 'a tab nobody has touched must not refresh the hold').toBe(0);
+
+  // Deliberately NOT asserting the countdown fell: the owner tab is still legitimately
+  // refreshing the hold, so this tab's countdown is expected to stay near full and any
+  // assertion on it would be measuring the wrong page. The request count is the exact
+  // statement of the regression; the countdown arithmetic is pinned in
+  // lib/stardesign-ui/src/checkoutPolicy.test.ts, where nothing else can confound it.
+  expect(await readCountdown(observer)).toBeLessThanOrEqual(started);
+});
+
+test('interacting with the page does refresh the hold', async ({ page }) => {
+  test.setTimeout(120_000);
+
+  let beats = 0;
+  await page.route('**/checkout/beat', async (route) => {
+    beats += 1;
+    await route.continue();
+  });
+
+  await page.clock.install();
+  await page.goto('/');
+  await waitForDesignBar(page);
+  await ensureCheckedOut(page);
+
+  await page.clock.fastForward('16:00'); // age out the Take
+  await page.waitForTimeout(1_000);
+  const idle = beats;
+
+  // A real input event, not a synthetic one -- that is the whole point of doing this in a
+  // browser. A bare modifier press touches nothing on the page but still reaches the
+  // window-level keydown listener the hook installs.
+  await page.keyboard.press('Shift');
+  await page.clock.fastForward('00:30');
+  await page.waitForTimeout(1_000);
+
+  expect(beats, 'real interaction must keep the design').toBeGreaterThan(idle);
+});
diff --git a/lib/stardesign-ui/package-lock.json b/lib/stardesign-ui/package-lock.json
new file mode 100644
index 000000000..357296d51
--- /dev/null
+++ b/lib/stardesign-ui/package-lock.json
@@ -0,0 +1,2719 @@
+{
+  "name": "@star/stardesign-ui",
+  "version": "0.0.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "@star/stardesign-ui",
+      "version": "0.0.0",
+      "devDependencies": {
+        "@testing-library/jest-dom": "^6.9.1",
+        "@testing-library/react": "^16.3.2",
+        "@testing-library/user-event": "^14.6.1",
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+      "dev": true,
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+}
diff --git a/lib/stardesign-ui/package.json b/lib/stardesign-ui/package.json
new file mode 100644
index 000000000..a7fc55a37
--- /dev/null
+++ b/lib/stardesign-ui/package.json
@@ -0,0 +1,25 @@
+{
+  "name": "@star/stardesign-ui",
+  "private": true,
+  "version": "0.0.0",
+  "type": "module",
+  "description": "Shared design-bar UI (checkouts, sharing, versions) for star-openrocket, pid-designer and EngineDesign.",
+  "scripts": {
+    "test": "vitest run",
+    "test:watch": "vitest",
+    "lint": "tsc --noEmit"
+  },
+  "devDependencies": {
+    "@testing-library/jest-dom": "^6.9.1",
+    "@testing-library/react": "^16.3.2",
+    "@testing-library/user-event": "^14.6.1",
+    "@types/react": "^19.2.0",
+    "@types/react-dom": "^19.2.0",
+    "@vitejs/plugin-react": "^5.2.0",
+    "jsdom": "^29.0.0",
+    "react": "^19.2.0",
+    "react-dom": "^19.2.0",
+    "typescript": "^5.6.0",
+    "vitest": "^4.1.10"
+  }
+}
diff --git a/star-openrocket/frontend/src/lib/checkoutChip.test.tsx b/lib/stardesign-ui/test/CheckoutControl.test.tsx
similarity index 52%
rename from star-openrocket/frontend/src/lib/checkoutChip.test.tsx
rename to lib/stardesign-ui/test/CheckoutControl.test.tsx
index 91eb4a505..23eacc337 100644
--- a/star-openrocket/frontend/src/lib/checkoutChip.test.tsx
+++ b/lib/stardesign-ui/test/CheckoutControl.test.tsx
@@ -11,10 +11,12 @@
  * hold the contract that the E2E depends on.
  */
 
-import { describe, it, expect } from 'vitest';
+import { describe, it, expect, afterEach, vi } from 'vitest';
 import { renderToStaticMarkup } from 'react-dom/server';
-import { CheckoutControl } from '@stardesign-ui/CheckoutControl';
-import type { Checkout } from '@stardesign-ui/useCheckout';
+import { render, screen, cleanup } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import { CheckoutControl } from '../src/CheckoutControl';
+import type { Checkout } from '../src/useCheckout';
 
 const base: Checkout = {
   holder: 'me@berkeley.edu',
@@ -64,3 +66,51 @@ describe('the checked-out chip', () => {
     expect(markup({ held: false })).toContain('is editing'); // someone else holds it
   });
 });
+
+/**
+ * The parts `renderToStaticMarkup` cannot reach: what the buttons actually do.
+ */
+describe('the chip s controls', () => {
+  afterEach(cleanup);
+
+  it('offers Keep editing only near expiry, and it refreshes the hold', async () => {
+    const keepAlive = vi.fn(async () => {});
+    render(<CheckoutControl checkout={{ ...base, held: true, secondsLeft: 90, keepAlive }} noun="design" />);
+
+    await userEvent.click(screen.getByRole('button', { name: /keep editing/i }));
+
+    expect(keepAlive).toHaveBeenCalledOnce();
+  });
+
+  it('hides Keep editing while there is plenty of time', () => {
+    render(<CheckoutControl checkout={{ ...base, held: true, secondsLeft: 600 }} noun="design" />);
+    expect(screen.queryByRole('button', { name: /keep editing/i })).toBeNull();
+  });
+
+  it('releases on demand', async () => {
+    const release = vi.fn(async () => {});
+    render(<CheckoutControl checkout={{ ...base, held: true, secondsLeft: 600, release }} noun="design" />);
+
+    await userEvent.click(screen.getByRole('button', { name: /^release$/i }));
+
+    expect(release).toHaveBeenCalledOnce();
+  });
+
+  it('takes a free design, and asks about notifications on that click', async () => {
+    // The permission prompt needs a user gesture, and asking on page load is what trains
+    // people to deny. Take is the one deliberate moment to ask.
+    const requestPermission = vi.fn();
+    vi.stubGlobal('Notification', class {
+      static permission = 'default';
+      static requestPermission = requestPermission;
+    });
+    const take = vi.fn(async () => {});
+    render(<CheckoutControl checkout={{ ...base, held: false, holder: null, holderName: null, take }} noun="design" />);
+
+    await userEvent.click(screen.getByRole('button', { name: /^take$/i }));
+
+    expect(take).toHaveBeenCalledOnce();
+    expect(requestPermission).toHaveBeenCalled();
+    vi.unstubAllGlobals();
+  });
+});
diff --git a/lib/stardesign-ui/test/CheckoutLostDialog.test.tsx b/lib/stardesign-ui/test/CheckoutLostDialog.test.tsx
new file mode 100644
index 000000000..c6e2544ef
--- /dev/null
+++ b/lib/stardesign-ui/test/CheckoutLostDialog.test.tsx
@@ -0,0 +1,158 @@
+/**
+ * The notice shown when a checkout goes away without the user releasing it.
+ *
+ * Losing a design used to be silent: the canvas quietly stopped accepting edits and the
+ * only signal was a save failing, so people kept working into a void. The whole point of
+ * this dialog is to still be there when you come back, which means the title mutation and
+ * the restore-on-unmount are as load-bearing as the markup — and none of it is reachable by
+ * `renderToStaticMarkup`, which is why these tests need a DOM.
+ */
+
+import { describe, it, expect, beforeEach, afterEach, vi } from 'vitest';
+import { render, screen, cleanup } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import { CheckoutLostDialog } from '../src/CheckoutControl';
+import type { Checkout } from '../src/useCheckout';
+
+const base: Checkout = {
+  holder: null,
+  holderName: null,
+  held: false,
+  busy: false,
+  error: null,
+  take: async () => {},
+  release: async () => {},
+  lost: () => {},
+  keepAlive: async () => {},
+  expiresAt: null,
+  secondsLeft: null,
+  lostUnexpectedly: false,
+  acknowledgeLost: () => {},
+};
+
+const lost = (over: Partial<Checkout> = {}): Checkout => ({
+  ...base,
+  lostUnexpectedly: true,
+  ...over,
+});
+
+let originalTitle: string;
+beforeEach(() => {
+  originalTitle = 'STAR OpenRocket';
+  document.title = originalTitle;
+});
+afterEach(() => {
+  cleanup();
+  vi.restoreAllMocks();
+});
+
+describe('when nothing has been lost', () => {
+  it('renders nothing at all', () => {
+    const { container } = render(<CheckoutLostDialog checkout={base} noun="design" />);
+    expect(container).toBeEmptyDOMElement();
+  });
+
+  it('leaves the tab title alone', () => {
+    render(<CheckoutLostDialog checkout={base} noun="design" />);
+    expect(document.title).toBe(originalTitle);
+  });
+});
+
+describe('when the hold has gone', () => {
+  it('says so, and offers the design back', () => {
+    render(<CheckoutLostDialog checkout={lost()} noun="design" />);
+    expect(screen.getByRole('alertdialog')).toBeInTheDocument();
+    expect(screen.getByRole('button', { name: /take it back/i })).toBeInTheDocument();
+    expect(screen.getByRole('button', { name: /stay read only/i })).toBeInTheDocument();
+  });
+
+  it('names whoever has it now, when somebody does', () => {
+    render(<CheckoutLostDialog checkout={lost({ holderName: 'Dana' })} noun="design" />);
+    expect(screen.getByRole('alertdialog')).toHaveTextContent('Dana');
+  });
+
+  it('marks the tab, so it is visible from another one', () => {
+    // The dialog only helps if you are looking at the page. The title is what reaches
+    // someone who is in a different tab entirely.
+    render(<CheckoutLostDialog checkout={lost()} noun="design" name="Booster v3" />);
+    expect(document.title).toContain('Checkout lost');
+  });
+
+  it('puts the title back when it goes away', () => {
+    // Captured per activation rather than at module scope, so the app renaming its own
+    // title mid-session does not get clobbered.
+    const view = render(<CheckoutLostDialog checkout={lost()} noun="design" />);
+    expect(document.title).not.toBe(originalTitle);
+    view.unmount();
+    expect(document.title).toBe(originalTitle);
+  });
+});
+
+describe('the buttons', () => {
+  it('takes the design back and then clears the notice', async () => {
+    const take = vi.fn(async () => {});
+    const acknowledgeLost = vi.fn();
+    render(<CheckoutLostDialog checkout={lost({ take, acknowledgeLost })} noun="design" />);
+
+    await userEvent.click(screen.getByRole('button', { name: /take it back/i }));
+
+    expect(take).toHaveBeenCalledOnce();
+    expect(acknowledgeLost).toHaveBeenCalledOnce();
+  });
+
+  it('dismisses without taking anything when the user declines', async () => {
+    const take = vi.fn(async () => {});
+    const acknowledgeLost = vi.fn();
+    render(<CheckoutLostDialog checkout={lost({ take, acknowledgeLost })} noun="design" />);
+
+    await userEvent.click(screen.getByRole('button', { name: /stay read only/i }));
+
+    expect(acknowledgeLost).toHaveBeenCalledOnce();
+    expect(take).not.toHaveBeenCalled();
+  });
+
+  it('does not offer to take it back twice while one is in flight', () => {
+    render(<CheckoutLostDialog checkout={lost({ busy: true })} noun="design" />);
+    expect(screen.getByRole('button', { name: /taking/i })).toBeDisabled();
+  });
+});
+
+describe('the desktop notification is best effort', () => {
+  it('still renders where Notification does not exist', () => {
+    // jsdom has no Notification, which is exactly the unsupported-browser case.
+    expect(globalThis.Notification).toBeUndefined();
+    expect(() =>
+      render(<CheckoutLostDialog checkout={lost()} noun="design" name="Booster v3" />),
+    ).not.toThrow();
+    expect(screen.getByRole('alertdialog')).toBeInTheDocument();
+  });
+
+  it('still renders when permission was denied', () => {
+    vi.stubGlobal('Notification', class {
+      static permission = 'denied';
+      close() {}
+    });
+    expect(() => render(<CheckoutLostDialog checkout={lost()} noun="design" />)).not.toThrow();
+    expect(screen.getByRole('alertdialog')).toBeInTheDocument();
+    vi.unstubAllGlobals();
+  });
+
+  it('posts one when permission was granted, and closes it on the way out', () => {
+    const close = vi.fn();
+    const ctor = vi.fn();
+    vi.stubGlobal('Notification', class {
+      static permission = 'granted';
+      close = close;
+      constructor(title: string, opts?: unknown) { ctor(title, opts); }
+    });
+
+    const view = render(<CheckoutLostDialog checkout={lost()} noun="design" name="Booster v3" />);
+    expect(ctor).toHaveBeenCalledOnce();
+    // A tag, so a second loss replaces the first rather than stacking notifications.
+    expect(ctor.mock.calls[0][1]).toMatchObject({ tag: expect.any(String) });
+
+    view.unmount();
+    expect(close).toHaveBeenCalled();
+    vi.unstubAllGlobals();
+  });
+});
diff --git a/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts b/lib/stardesign-ui/test/checkoutPolicy.test.ts
similarity index 98%
rename from star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
rename to lib/stardesign-ui/test/checkoutPolicy.test.ts
index cb61f81d3..0a3ca631f 100644
--- a/star-openrocket/frontend/src/lib/checkoutPolicy.test.ts
+++ b/lib/stardesign-ui/test/checkoutPolicy.test.ts
@@ -21,8 +21,8 @@ import {
   shouldBeat,
   isUnexpectedLoss,
   mmss,
-} from '@stardesign-ui/checkoutPolicy';
-import type { CheckoutState } from '@stardesign-ui/api';
+} from '../src/checkoutPolicy';
+import type { CheckoutState } from '../src/api';
 
 const NOW = Date.parse('2026-09-11T12:00:00.000Z');
 const at = (offsetS: number) => new Date(NOW + offsetS * 1000).toISOString();
diff --git a/lib/stardesign-ui/test/useCheckout.test.tsx b/lib/stardesign-ui/test/useCheckout.test.tsx
new file mode 100644
index 000000000..55f5beac0
--- /dev/null
+++ b/lib/stardesign-ui/test/useCheckout.test.tsx
@@ -0,0 +1,329 @@
+/**
+ * The checkout hook's wiring: refs, effects, timers and listeners.
+ *
+ * Every checkout bug that reached a user was in this layer, and none of them was a logic
+ * error that `checkoutPolicy.test.ts` could have caught — a pure function is only testable
+ * once something hands it the right inputs, and the bugs were in what got handed over:
+ *
+ *  - `lastActivityRef` seeded with `Date.now()` at mount, so merely opening the page counted
+ *    as interaction: every tick refreshed the lock and the countdown reset to a full 15:00
+ *    with nobody touching anything. Found by a user watching a timer.
+ *  - `pointermove` in the activity set, so a wandering cursor re-armed the idle window and a
+ *    parked tab held the design against everyone else indefinitely.
+ *  - the countdown differencing a server timestamp against the browser's own clock, which
+ *    displayed "1038:44" left on a 15 minute hold when the two disagreed by 17 hours.
+ *
+ * Fake timers throughout: the hook's behaviour is defined in minutes, and nobody should have
+ * to wait them out.
+ */
+
+import { describe, it, expect, beforeEach, afterEach, vi } from 'vitest';
+import { act, renderHook } from '@testing-library/react';
+import { useCheckout } from '../src/useCheckout';
+import { ApiError, type CheckoutState, type DesignApi, type DocRef } from '../src/api';
+
+const REF: DocRef = { id: 'design-1', owner: null };
+
+const FREE: CheckoutState = {
+  lockedBy: null,
+  lockedByName: null,
+  lockedByMe: false,
+  lockExpiresAt: null,
+  lockExpiresInSeconds: null,
+  lockTtlSeconds: 900,
+};
+
+const MINE: CheckoutState = {
+  lockedBy: 'me@berkeley.edu',
+  lockedByName: 'Me',
+  lockedByMe: true,
+  lockExpiresAt: new Date(Date.now() + 900_000).toISOString(),
+  lockExpiresInSeconds: 900,
+  lockTtlSeconds: 900,
+};
+
+const THEIRS: CheckoutState = { ...MINE, lockedBy: 'them@berkeley.edu', lockedByMe: false };
+
+/**
+ * A stub that behaves like the server rather than like a constant.
+ *
+ * This matters more than it looks: the hook polls `getCheckout` whenever it does NOT hold
+ * the design, so a stub that always answers "you hold it" silently undoes a release the
+ * instant the poll effect re-activates. Holding one piece of state here keeps take /
+ * release / beat coherent with each other, the way a real backend is.
+ */
+function stubApi(initial: CheckoutState = FREE) {
+  let server = initial;
+  const api = {
+    takeCheckout: vi.fn(async () => (server = MINE)),
+    releaseCheckout: vi.fn(async () => (server = FREE)),
+    releaseCheckoutOnUnload: vi.fn(() => { server = FREE; }),
+    getCheckout: vi.fn(async () => server),
+    beatCheckout: vi.fn(async () => server),
+  };
+  /** Change what the server believes, e.g. someone else took it. */
+  const set = (s: CheckoutState) => { server = s; };
+  return Object.assign(api, { set }) as typeof api & {
+    set: (s: CheckoutState) => void;
+  } & DesignApi<unknown>;
+}
+
+/**
+ * Mount already holding the design, WITHOUT pressing Take.
+ *
+ * This is the page-reload case, and it is the one that exposed the seeding bug: `take()`
+ * legitimately stamps activity, so a test that takes first can never show that merely
+ * mounting used to count as interaction.
+ */
+async function mountAlreadyHeld(api: ReturnType<typeof stubApi>, opts: Record<string, unknown> = {}) {
+  const view = renderHook(() => useCheckout({ api, ref: REF, ...opts }));
+  await act(async () => { await vi.advanceTimersByTimeAsync(0); });
+  expect(view.result.current.held).toBe(true);
+  return view;
+}
+
+/** Mount and press Take, which counts as interaction. */
+async function mountHeld(api: ReturnType<typeof stubApi>, opts: Record<string, unknown> = {}) {
+  const view = renderHook(() => useCheckout({ api, ref: REF, ...opts }));
+  await act(async () => {
+    await view.result.current.take();
+  });
+  expect(view.result.current.held).toBe(true);
+  return view;
+}
+
+/** Advance fake time and let the effects' promises settle. */
+const tick = (ms: number) => act(async () => { await vi.advanceTimersByTimeAsync(ms); });
+
+const fire = (type: string) =>
+  act(() => { window.dispatchEvent(new Event(type)); });
+
+beforeEach(() => vi.useFakeTimers());
+afterEach(() => { vi.useRealTimers(); vi.restoreAllMocks(); });
+
+describe('keeping the hold alive', () => {
+  it('never refreshes a hold nobody has touched', async () => {
+    // THE bug: seeding lastActivityRef with the mount time bought a full idle window just
+    // for opening the page, so the 15 s tick beat the lock and a user returning to the tab
+    // saw a fresh 15:00 every time. Fails against `useRef(Date.now())`.
+    const api = stubApi(MINE);
+    await mountAlreadyHeld(api);
+    api.beatCheckout.mockClear();
+
+    await tick(20 * 60_000);
+
+    expect(api.beatCheckout).not.toHaveBeenCalled();
+  });
+
+  it('refreshes once the user actually does something', async () => {
+    const api = stubApi();
+    await mountHeld(api);
+    api.beatCheckout.mockClear();
+
+    await fire('pointerdown');
+    await tick(15_000);
+
+    expect(api.beatCheckout).toHaveBeenCalled();
+  });
+
+  it.each(['pointerdown', 'keydown', 'wheel'])('counts %s as working', async (evt) => {
+    const api = stubApi();
+    await mountHeld(api);
+    api.beatCheckout.mockClear();
+
+    await fire(evt);
+    await tick(15_000);
+
+    expect(api.beatCheckout).toHaveBeenCalled();
+  });
+
+  it('does not count a drifting mouse', async () => {
+    // pointermove fires on incidental cursor travel. Including it meant a parked tab
+    // re-armed the idle window forever, and the idle cap is the only thing that ever frees
+    // a design from someone who walked away.
+    const api = stubApi(MINE);
+    await mountAlreadyHeld(api);
+    api.beatCheckout.mockClear();
+
+    await fire('pointermove');
+    await tick(15_000);
+
+    expect(api.beatCheckout).not.toHaveBeenCalled();
+  });
+
+  it('gives up once the interaction ages past the idle cap', async () => {
+    const api = stubApi();
+    await mountHeld(api, { idleCapMs: 60_000 });
+
+    await fire('pointerdown');
+    await tick(30_000);
+    expect(api.beatCheckout).toHaveBeenCalled();
+
+    // Let the interaction age past the cap first -- it keeps refreshing until it does,
+    // which is the intended behaviour -- then check it has genuinely stopped.
+    await tick(90_000);
+    api.beatCheckout.mockClear();
+    await tick(60_000);
+    expect(api.beatCheckout).not.toHaveBeenCalled();
+  });
+});
+
+describe('a hidden tab', () => {
+  const hide = (hidden: boolean) =>
+    vi.spyOn(document, 'visibilityState', 'get').mockReturnValue(hidden ? 'hidden' : 'visible');
+
+  it('stops refreshing the hold', async () => {
+    const api = stubApi();
+    await mountHeld(api);
+    await fire('pointerdown'); // recent interaction, so only visibility can stop it
+    api.beatCheckout.mockClear();
+
+    hide(true);
+    await tick(30_000);
+
+    expect(api.beatCheckout).not.toHaveBeenCalled();
+  });
+
+  it('still observes it, so a loss is noticed', async () => {
+    const api = stubApi();
+    await mountHeld(api);
+    api.getCheckout.mockClear();
+
+    hide(true);
+    await tick(30_000);
+
+    expect(api.getCheckout).toHaveBeenCalled();
+  });
+
+  it('does NOT hand the checkout back', async () => {
+    // The distinction the original bug turned on: releasing on visibilitychange meant a
+    // three-second glance at another tab cost you the design. Hiding may stop a refresh; it
+    // must never release.
+    const api = stubApi();
+    await mountHeld(api);
+
+    await act(() => { document.dispatchEvent(new Event('visibilitychange')); });
+
+    expect(api.releaseCheckoutOnUnload).not.toHaveBeenCalled();
+  });
+
+  it('releases on pagehide, which is a real departure', async () => {
+    const api = stubApi();
+    await mountHeld(api);
+
+    await fire('pagehide');
+
+    expect(api.releaseCheckoutOnUnload).toHaveBeenCalled();
+  });
+});
+
+describe('the countdown', () => {
+  it('ignores a disagreement between our clock and the server s', async () => {
+    // A browser 17 h behind its server displayed "1038:44" left on a 15 minute hold, and one
+    // running fast would have sat at 0:00 with the warning pinned on. The duration cancels
+    // both, because elapsed time is measured entirely on our own clock.
+    const skewed: CheckoutState = {
+      ...MINE,
+      lockExpiresAt: new Date(Date.now() + 900_000 + 17 * 3600_000).toISOString(),
+      lockExpiresInSeconds: 900,
+    };
+    const api = stubApi(skewed);
+    const view = await mountAlreadyHeld(api);
+
+    expect(view.result.current.secondsLeft).toBe(900);
+  });
+
+  it('counts down by locally measured time', async () => {
+    const api = stubApi(MINE);
+    const view = await mountAlreadyHeld(api);
+    expect(view.result.current.secondsLeft).toBe(900);
+
+    // Under heldPollMs (15 s), so nothing refreshes it -- we are watching the local clock
+    // do the counting, which is the whole point.
+    await tick(10_000);
+
+    expect(view.result.current.secondsLeft).toBe(890);
+  });
+
+  it('restarts from the server s number after a refresh', async () => {
+    const api = stubApi(MINE);
+    const view = await mountAlreadyHeld(api);
+    await tick(10_000);
+    expect(view.result.current.secondsLeft).toBeLessThan(900);
+
+    await act(async () => { await view.result.current.keepAlive(); });
+
+    expect(view.result.current.secondsLeft).toBe(900);
+  });
+
+  it('is null when the design is not ours', async () => {
+    const api = stubApi(THEIRS);
+    const view = renderHook(() => useCheckout({ api, ref: REF }));
+    await tick(0);
+
+    expect(view.result.current.secondsLeft).toBeNull();
+  });
+});
+
+describe('losing it', () => {
+  it('notices when a poll says someone else has it', async () => {
+    const api = stubApi(MINE);
+    const view = await mountAlreadyHeld(api);
+    api.set(THEIRS);
+
+    await tick(15_000);
+
+    expect(view.result.current.held).toBe(false);
+    expect(view.result.current.lostUnexpectedly).toBe(true);
+  });
+
+  it('notices a 423 from a refresh', async () => {
+    const api = stubApi();
+    const view = await mountHeld(api);
+    await fire('pointerdown');
+    // A 423 means somebody else has it now, so the server must say so too -- otherwise the
+    // free-design poll immediately hands it back and the test is fiction.
+    api.beatCheckout.mockRejectedValue(new ApiError('gone', 423));
+    api.set(THEIRS);
+
+    await tick(15_000);
+
+    expect(view.result.current.held).toBe(false);
+    expect(view.result.current.lostUnexpectedly).toBe(true);
+  });
+
+  it('keeps the hold on a transient failure rather than flapping to read-only', async () => {
+    // One dropped request must not drop a live editor out of the design.
+    const api = stubApi();
+    const view = await mountHeld(api);
+    await fire('pointerdown');
+    api.beatCheckout.mockRejectedValue(new ApiError('gateway', 502));
+
+    await tick(15_000);
+
+    expect(view.result.current.held).toBe(true);
+    expect(view.result.current.lostUnexpectedly).toBe(false);
+  });
+
+  it('says nothing when the user released it on purpose', async () => {
+    const api = stubApi();
+    const view = await mountHeld(api);
+
+    await act(async () => { await view.result.current.release(); });
+
+    expect(view.result.current.held).toBe(false);
+    expect(view.result.current.lostUnexpectedly).toBe(false);
+  });
+
+  it('clears the notice once the design is taken back', async () => {
+    const api = stubApi();
+    const view = await mountHeld(api);
+    await act(() => { view.result.current.lost(); });
+    expect(view.result.current.lostUnexpectedly).toBe(true);
+
+    await act(async () => { await view.result.current.take(); });
+
+    expect(view.result.current.lostUnexpectedly).toBe(false);
+    expect(view.result.current.held).toBe(true);
+  });
+});
diff --git a/lib/stardesign-ui/tsconfig.json b/lib/stardesign-ui/tsconfig.json
new file mode 100644
index 000000000..5beca8a65
--- /dev/null
+++ b/lib/stardesign-ui/tsconfig.json
@@ -0,0 +1,26 @@
+{
+  /* Type-checking for the shared library on its own, so `npm run lint` here is a real
+     gate rather than a no-op. The consuming apps also type-check this source (each has
+     "../../lib/stardesign-ui/src" in its `include`), but only when THEY are built — and
+     two of the three app workflows do not even trigger on changes to this directory. */
+  "compilerOptions": {
+    "target": "ES2022",
+    "useDefineForClassFields": true,
+    "lib": ["ES2022", "DOM", "DOM.Iterable"],
+    "module": "ESNext",
+    "skipLibCheck": true,
+    "moduleResolution": "bundler",
+    "allowImportingTsExtensions": true,
+    "resolveJsonModule": true,
+    "isolatedModules": true,
+    "moduleDetection": "force",
+    "noEmit": true,
+    "jsx": "react-jsx",
+    "strict": true,
+    "noUnusedLocals": true,
+    "noUnusedParameters": true,
+    "noFallthroughCasesInSwitch": true,
+    "types": ["vitest/globals", "@testing-library/jest-dom"]
+  },
+  "include": ["src", "test", "vitest.config.ts", "vitest.setup.ts"]
+}
diff --git a/lib/stardesign-ui/vitest.config.ts b/lib/stardesign-ui/vitest.config.ts
new file mode 100644
index 000000000..993b95022
--- /dev/null
+++ b/lib/stardesign-ui/vitest.config.ts
@@ -0,0 +1,24 @@
+/**
+ * This library feeds three apps through a path alias, and until now had nowhere to run its
+ * own tests: no app's vitest `include` reaches `lib/stardesign-ui/src`, so a test file
+ * placed here was executed by nobody. Hence a config of its own.
+ *
+ * jsdom, not the default `node` environment, because the bugs this exists to catch are all
+ * in React wiring — a ref's initial value, a listener set, a timer, an effect. The pure
+ * decisions already have coverage in checkoutPolicy.test.ts and it was not enough.
+ *
+ * Mirrors daq-server/diablo_server/frontend/vitest.config.ts, which is the working
+ * precedent for this stack in this repo.
+ */
+import { defineConfig } from 'vitest/config';
+import react from '@vitejs/plugin-react';
+
+export default defineConfig({
+  plugins: [react()],
+  test: {
+    environment: 'jsdom',
+    setupFiles: ['./vitest.setup.ts'],
+    globals: true,
+    include: ['test/**/*.{test,spec}.{ts,tsx}'],
+  },
+});
diff --git a/lib/stardesign-ui/vitest.setup.ts b/lib/stardesign-ui/vitest.setup.ts
new file mode 100644
index 000000000..7b0828bfa
--- /dev/null
+++ b/lib/stardesign-ui/vitest.setup.ts
@@ -0,0 +1 @@
+import '@testing-library/jest-dom';

From e949fd8411c221a355bf998831bf7ef702a47847 Mon Sep 17 00:00:00 2001
From: Aidan Rickert <aidanrickert@berkeley.edu>
Date: Fri, 11 Sep 2026 21:37:25 -0700
Subject: [PATCH 205/205] =?UTF-8?q?one=20interaction=20should=20buy=20one?=
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 =?UTF-8?q?g=20nothing=20watched=20the=20countdown=20bounce=2015:00=20->?=
 =?UTF-8?q?=2014:45=20->=2015:00=20indefinitely,=20and=20the=20cause=20was?=
 =?UTF-8?q?=20my=20rule=20rather=20than=20any=20leftover=20bug:=20shouldBe?=
 =?UTF-8?q?at=20kept=20the=20hold=20alive=20while=20the=20last=20interacti?=
 =?UTF-8?q?on=20was=20younger=20than=20idleCapMs,=20and=20idleCapMs=20was?=
 =?UTF-8?q?=2015=20minutes,=20the=20lock's=20own=20TTL,=20so=20a=20single?=
 =?UTF-8?q?=20press=20of=20Take=20licensed=20a=20full=20TTL=20of=20automat?=
 =?UTF-8?q?ic=20refreshing=20and=20the=20countdown=20could=20never=20visib?=
 =?UTF-8?q?ly=20fall;=20the=20same=20user=20noticed=20it=20ticked=20down?=
 =?UTF-8?q?=20correctly=20after=20minimising=20the=20tab=20and=20returning?=
 =?UTF-8?q?,=20which=20is=20the=20diagnosis=20confirming=20itself=20?=
 =?UTF-8?q?=E2=80=94=20the=20visibility=20guard=20suppressed=20the=20refre?=
 =?UTF-8?q?shes=20while=20hidden=20and=20the=20countdown=20was=20finally?=
 =?UTF-8?q?=20free=20to=20run,=20while=20a=20visible=20tab=20had=20them=20?=
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 =?UTF-8?q?=20refresh",=20tracked=20with=20a=20lastBeatAtRef=20alongside?=
 =?UTF-8?q?=20lastActivityRef,=20which=20needs=20no=20window=20and=20no=20?=
 =?UTF-8?q?tuning:=20do=20something=20and=20the=20next=20tick=20refreshes,?=
 =?UTF-8?q?=20stop=20and=20the=20countdown=20runs=20down=20honestly=20to?=
 =?UTF-8?q?=20zero=20and=20the=20design=20frees=20itself,=20which=20is=20a?=
 =?UTF-8?q?lso=20what=20was=20asked=20for=20=E2=80=94=20editing,=20switchi?=
 =?UTF-8?q?ng=20a=20GUI=20tab,=20rotating=20the=20CAD=20model=20or=20any?=
 =?UTF-8?q?=20real=20action=20resets=20it,=20and=20nothing=20else=20does;?=
 =?UTF-8?q?=20idleCapMs=20is=20deleted=20rather=20than=20retuned,=20since?=
 =?UTF-8?q?=20any=20value=20for=20it=20is=20either=20too=20short=20(losing?=
 =?UTF-8?q?=20a=20design=20mid-task)=20or=20too=20long=20(this=20bug),=20a?=
 =?UTF-8?q?nd=20no=20consumer=20passed=20one;=20keepAlive=20stamps=20the?=
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 =?UTF-8?q?yState=20so=20the=20countdown=20re-anchors=20to=20the=20server'?=
 =?UTF-8?q?s=20fresh=20duration=20rather=20than=20only=20the=20old=20times?=
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 =?UTF-8?q?inst=20the=20window=20rule,=20including=20one=20asserting=20exa?=
 =?UTF-8?q?ctly=20the=20reported=20symptom=20(Take,=20then=20ten=20idle=20?=
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---
 lib/stardesign-ui/src/checkoutPolicy.ts       | 19 ++++-
 lib/stardesign-ui/src/useCheckout.ts          | 15 ++--
 lib/stardesign-ui/test/checkoutPolicy.test.ts | 70 ++++++++-----------
 lib/stardesign-ui/test/useCheckout.test.tsx   | 30 +++++---
 4 files changed, 70 insertions(+), 64 deletions(-)

diff --git a/lib/stardesign-ui/src/checkoutPolicy.ts b/lib/stardesign-ui/src/checkoutPolicy.ts
index 4613ad51a..9c72eb0d4 100644
--- a/lib/stardesign-ui/src/checkoutPolicy.ts
+++ b/lib/stardesign-ui/src/checkoutPolicy.ts
@@ -69,8 +69,7 @@ export function isExpiringSoon(
  */
 export function shouldBeat(
   lastActivityMs: number,
-  nowMs: number,
-  idleCapMs: number,
+  lastBeatAtMs: number,
   visible = true,
 ): boolean {
   // Not while the tab is hidden. A backgrounded tab still runs its timers, so
@@ -79,7 +78,21 @@ export function shouldBeat(
   // release, which is the bug that made a three-second glance at another tab
   // cost you the design.
   if (!visible) return false;
-  return nowMs - lastActivityMs < idleCapMs;
+
+  // Refresh because something happened SINCE the last refresh -- not because
+  // something happened within some generous window.
+  //
+  // The window version was wrong in a way that looked right in tests and awful in
+  // use: it kept the hold alive while the last interaction was under `idleCapMs`
+  // old, and `idleCapMs` was the lock's own 15 minute TTL. So one press of Take
+  // licensed fifteen minutes of automatic refreshing, the countdown snapped back
+  // to 15:00 every tick, and a user sitting still watched it bounce 15:00 -> 14:45
+  // -> 15:00 forever without touching anything.
+  //
+  // "Since the last beat" needs no cap and no tuning: do something and the next
+  // tick refreshes; stop, and the countdown runs down honestly to zero and the
+  // design frees itself.
+  return lastActivityMs > lastBeatAtMs;
 }
 
 /**
diff --git a/lib/stardesign-ui/src/useCheckout.ts b/lib/stardesign-ui/src/useCheckout.ts
index 6b6601dab..4403894ae 100644
--- a/lib/stardesign-ui/src/useCheckout.ts
+++ b/lib/stardesign-ui/src/useCheckout.ts
@@ -88,12 +88,6 @@ export interface UseCheckoutOptions<T> {
   pollMs?: number;
   /** How often to beat/re-check while we DO hold it. */
   heldPollMs?: number;
-  /**
-   * Stop beating once interaction is this old, so a design left open on an
-   * unattended machine still frees itself. Activity inside this window keeps
-   * the hold indefinitely; that is the whole point.
-   */
-  idleCapMs?: number;
 }
 
 export function useCheckout<T>({
@@ -102,7 +96,6 @@ export function useCheckout<T>({
   reload,
   pollMs = 10_000,
   heldPollMs = 15_000,
-  idleCapMs = 15 * 60_000,
 }: UseCheckoutOptions<T>): Checkout {
   const [state, setState] = useState<CheckoutState>(FREE);
   const [busy, setBusy] = useState(false);
@@ -143,6 +136,9 @@ export function useCheckout<T>({
   // countdown visibly reset to full with nobody touching anything. Taking the
   // checkout stamps it, because pressing Take *is* the user doing something.
   const lastActivityRef = useRef(0);
+  /** When we last refreshed the hold, on our own clock. A beat happens only when
+   *  there has been interaction since this. */
+  const lastBeatAtRef = useRef(0);
   useEffect(() => {
     const mark = () => {
       lastActivityRef.current = Date.now();
@@ -170,7 +166,8 @@ export function useCheckout<T>({
     const tick = () => {
       const visible =
         typeof document === 'undefined' || document.visibilityState === 'visible';
-      const active = shouldBeat(lastActivityRef.current, Date.now(), idleCapMs, visible);
+      const active = shouldBeat(lastActivityRef.current, lastBeatAtRef.current, visible);
+      if (active) lastBeatAtRef.current = Date.now();
       const call = active ? api.beatCheckout(ref) : api.getCheckout(ref);
       call
         .then((s) => {
@@ -194,7 +191,7 @@ export function useCheckout<T>({
       cancelled = true;
       clearInterval(id);
     };
-  }, [api, ref, state.lockedByMe, heldPollMs, idleCapMs, applyState]);
+  }, [api, ref, state.lockedByMe, heldPollMs, applyState]);
 
   // A 1 Hz clock, only while we hold it, so the bar can count down.
   useEffect(() => {
diff --git a/lib/stardesign-ui/test/checkoutPolicy.test.ts b/lib/stardesign-ui/test/checkoutPolicy.test.ts
index 0a3ca631f..b52cc4946 100644
--- a/lib/stardesign-ui/test/checkoutPolicy.test.ts
+++ b/lib/stardesign-ui/test/checkoutPolicy.test.ts
@@ -101,21 +101,39 @@ describe('isExpiringSoon', () => {
 });
 
 describe('shouldBeat', () => {
-  const CAP = 15 * 60_000;
+  // The rule is "has anything happened since the last refresh", not "was the last
+  // thing recent". The window version kept a hold alive for as long as the lock's
+  // own TTL after a single click, so a user sitting still watched the countdown
+  // bounce 15:00 -> 14:45 -> 15:00 and never fall.
+  const beatAt = NOW - 30_000;
 
-  it('beats while the user has interacted recently', () => {
-    // The whole fix: panning, measuring or reading now keeps the hold, where
-    // previously only a save did.
-    expect(shouldBeat(NOW - 1000, NOW, CAP)).toBe(true);
+  it('refreshes when the user has done something since the last refresh', () => {
+    expect(shouldBeat(NOW, beatAt)).toBe(true);
   });
 
-  it('stops exactly at the cap, so an unattended tab frees the design', () => {
-    expect(shouldBeat(NOW - CAP, NOW, CAP)).toBe(false);
-    expect(shouldBeat(NOW - CAP + 1, NOW, CAP)).toBe(true);
+  it('does not refresh twice for the same interaction', () => {
+    // This is the whole bug: one Take must not license an endless run of refreshes.
+    expect(shouldBeat(beatAt - 1_000, beatAt)).toBe(false);
   });
 
-  it('stops after a long idle', () => {
-    expect(shouldBeat(NOW - 60 * 60_000, NOW, CAP)).toBe(false);
+  it('never refreshes when nothing has ever happened', () => {
+    expect(shouldBeat(0, 0)).toBe(false);
+  });
+
+  it('refreshes again as soon as something new happens', () => {
+    expect(shouldBeat(beatAt + 1, beatAt)).toBe(true);
+  });
+
+  it('does not refresh while the tab is hidden, however recent the interaction', () => {
+    // A backgrounded tab still runs its timers; without this a parked window holds
+    // the design against everybody else forever.
+    expect(shouldBeat(NOW, beatAt, false)).toBe(false);
+  });
+
+  it('declining to refresh is not releasing', () => {
+    // Hiding must stop the hold being renewed, never hand it back. Releasing on
+    // visibilitychange is what made a three-second glance cost someone their design.
+    expect(shouldBeat(NOW, beatAt, true)).toBe(true);
   });
 });
 
@@ -199,35 +217,3 @@ describe('secondsLeft is immune to clock skew', () => {
     expect(isExpiringSoon(heldFor(600), NOW, NOW)).toBe(false);
   });
 });
-
-
-describe('an untouched or backgrounded tab must stop refreshing the hold', () => {
-  const CAP = 15 * 60_000;
-
-  it('never beats when nothing has been touched at all', () => {
-    // The hook seeds lastActivity at 0, not the mount time. Seeding it with
-    // Date.now() meant merely opening the page bought a full idle window, so
-    // the 15 s tick refreshed the lock the whole time and the countdown read a
-    // fresh 15:00 every time the user came back to the tab.
-    expect(shouldBeat(0, NOW, CAP)).toBe(false);
-  });
-
-  it('beats once something actually happens, and stops when it ages out', () => {
-    expect(shouldBeat(NOW, NOW, CAP)).toBe(true);
-    expect(shouldBeat(NOW - CAP - 1, NOW, CAP)).toBe(false);
-  });
-
-  it('does not beat while the tab is hidden, however recent the interaction', () => {
-    // A backgrounded tab still runs its timers, so without this a parked window
-    // holds the design against everybody else forever.
-    expect(shouldBeat(NOW, NOW, CAP, false)).toBe(false);
-  });
-
-  it('declining to refresh is not the same as releasing', () => {
-    // The distinction that matters: hiding the tab must stop the hold being
-    // renewed, never hand it back. Releasing on visibilitychange is what made a
-    // three-second glance at another tab cost someone their design.
-    expect(shouldBeat(NOW, NOW, CAP, true)).toBe(true);
-    expect(shouldBeat(NOW, NOW + 1000, CAP, true)).toBe(true);
-  });
-});
diff --git a/lib/stardesign-ui/test/useCheckout.test.tsx b/lib/stardesign-ui/test/useCheckout.test.tsx
index 55f5beac0..e3e81caae 100644
--- a/lib/stardesign-ui/test/useCheckout.test.tsx
+++ b/lib/stardesign-ui/test/useCheckout.test.tsx
@@ -151,21 +151,31 @@ describe('keeping the hold alive', () => {
     expect(api.beatCheckout).not.toHaveBeenCalled();
   });
 
-  it('gives up once the interaction ages past the idle cap', async () => {
+  it('refreshes once per interaction, not once per tick', async () => {
+    // The symptom a user reported: with the design taken and nothing else touched, the
+    // countdown bounced 15:00 -> 14:45 -> 15:00 indefinitely. One interaction must buy one
+    // refresh, after which the countdown is allowed to run down.
     const api = stubApi();
-    await mountHeld(api, { idleCapMs: 60_000 });
-
-    await fire('pointerdown');
-    await tick(30_000);
-    expect(api.beatCheckout).toHaveBeenCalled();
+    await mountHeld(api); // Take counts as the interaction
+    await tick(60_000);
+    expect(api.beatCheckout).toHaveBeenCalledTimes(1);
 
-    // Let the interaction age past the cap first -- it keeps refreshing until it does,
-    // which is the intended behaviour -- then check it has genuinely stopped.
-    await tick(90_000);
     api.beatCheckout.mockClear();
-    await tick(60_000);
+    await tick(10 * 60_000);
     expect(api.beatCheckout).not.toHaveBeenCalled();
   });
+
+  it('refreshes again the moment something new happens', async () => {
+    const api = stubApi();
+    await mountHeld(api);
+    await tick(60_000);
+    api.beatCheckout.mockClear();
+
+    await fire('keydown');
+    await tick(15_000);
+
+    expect(api.beatCheckout).toHaveBeenCalledTimes(1);
+  });
 });
 
 describe('a hidden tab', () => {