[AZ-680] [AZ-681] operator_bridge command dispatch + safety lane

Add the operator-command dispatcher behind a typed CommandAck:
60 s per-command-id idempotency cache, surfaced-POI registry with
unknown_poi_id + expired gates, BIT-degraded ack severity check, and
SafetyOverride forwarding to mission_executor with structured audit
log (redacts signature + session_token).

Cross-layer wiring goes through three new traits in shared::contracts
(ScanCommandRouter, MissionSafetyRouter, BitReportSeverityLookup) so
operator_bridge stays free of direct scan_controller / mission_executor
imports. scan_controller::ScanControllerHandle implements the scan
router; a new mission_executor::SafetyDispatchHandle wraps the BIT
ack channel + battery monitor handle and implements the safety router;
BitControllerHandle gains a bounded (16-entry) report-severity cache
for the lookup trait.

scan_controller also picks up ConfirmPoi handling: PoiQueue::confirm
removes the entry and SubmitOutcome::Confirmed carries the typed
(target_mgrs, target_class) hint for AZ-684/AZ-686 downstream.

Tests: 9 new integration tests in operator_bridge/tests/dispatcher.rs
cover AZ-680 AC-1..AC-5 + AZ-681 AC-1..AC-4. scan_controller adds 2
ConfirmPoi tests. All modified-crate suites green; one pre-existing
mission_executor state-machine test flake (already documented in
_docs/_process_leftovers) updated to note ac1 also affected.

Co-authored-by: Cursor <cursoragent@cursor.com>

crates/mission_executor/src/internal/bit.rs

@@ -33,16 +33,27 @@
 //!   subsequent `Degraded` / `Fail` flips it back to `false` and the
 //!   FSM's `bit_ok` guard fails closed.
 
+use std::collections::VecDeque;
 use std::sync::Arc;
 use std::time::Duration;
 
+use async_trait::async_trait;
 use chrono::{DateTime, Utc};
 use serde::{Deserialize, Serialize};
+use shared::contracts::BitReportSeverityLookup;
 use tokio::sync::{broadcast, mpsc, watch, Mutex};
 use tokio::task::JoinHandle;
 use tokio::time::Instant;
 use uuid::Uuid;
 
+/// AZ-681 — bounded FIFO cap for the per-report `BitOverall` cache
+/// queried by [`BitControllerHandle::is_acknowledgeable`]. BIT is a
+/// pre-flight gate that goes sticky-Pass after success, so the
+/// number of distinct report ids generated in one flight is small
+/// (one per evaluation cycle until Pass / Failed). 16 is generous
+/// without unbounded growth.
+const REPORT_OVERALL_CAP: usize = 16;
+
 // ============================================================================
 // Public surface — types
 // ============================================================================
@@ -236,6 +247,7 @@ impl BitController {
             state: BitState::Idle,
             last_report: None,
             sticky_pass: false,
+            report_overalls: VecDeque::with_capacity(REPORT_OVERALL_CAP),
         }));
 
         let handle = BitControllerHandle {
@@ -335,6 +347,11 @@ impl BitController {
                             config.ack_timeout,
                         );
                         let report_clone = report.clone();
+                        record_report_overall(
+                            &mut guard.report_overalls,
+                            report.id,
+                            report.overall,
+                        );
                         guard.last_report = Some(report);
                         if new_state != from {
                             guard.state = new_state.clone();
@@ -442,6 +459,28 @@ struct ControllerInner {
     /// downstream surfaces (lost-link ladder, geofence, battery —
     /// AZ-651 / AZ-652).
     sticky_pass: bool,
+    /// AZ-681 — recent `(report_id, overall)` pairs for the
+    /// `BitReportSeverityLookup` impl. Bounded FIFO; oldest evicted
+    /// at [`REPORT_OVERALL_CAP`]. A `None` lookup result means the
+    /// id has either never been generated or has aged out.
+    report_overalls: VecDeque<(Uuid, BitOverall)>,
+}
+
+/// Push a `(report_id, overall)` pair onto the bounded FIFO cache.
+/// Re-recording an existing id is a no-op (preserves the original
+/// position so callers can't accidentally refresh aging).
+fn record_report_overall(
+    cache: &mut VecDeque<(Uuid, BitOverall)>,
+    report_id: Uuid,
+    overall: BitOverall,
+) {
+    if cache.iter().any(|(id, _)| *id == report_id) {
+        return;
+    }
+    if cache.len() == REPORT_OVERALL_CAP {
+        cache.pop_front();
+    }
+    cache.push_back((report_id, overall));
 }
 
 /// Read-side handle for the BIT controller. Cloneable.
@@ -475,6 +514,32 @@ impl BitControllerHandle {
     pub async fn last_report(&self) -> Option<BitReport> {
         self.inner.lock().await.last_report.clone()
     }
+
+    /// AZ-681 — overall verdict for a previously-generated report.
+    /// Returns `None` if the id has never been generated or has aged
+    /// out of the bounded cache.
+    pub async fn report_overall(&self, report_id: Uuid) -> Option<BitOverall> {
+        self.inner
+            .lock()
+            .await
+            .report_overalls
+            .iter()
+            .find_map(|(id, o)| (*id == report_id).then_some(*o))
+    }
+}
+
+/// AZ-681 — `operator_bridge` (Layer 3) consults this before
+/// forwarding a BIT-degraded ack. `Fail` reports are never
+/// acknowledgeable (per AZ-681 AC-2). An aged-out / never-seen id
+/// returns `None` so the bridge can NACK with a typed
+/// "unknown report id" reason.
+#[async_trait]
+impl BitReportSeverityLookup for BitControllerHandle {
+    async fn is_acknowledgeable(&self, report_id: Uuid) -> Option<bool> {
+        self.report_overall(report_id)
+            .await
+            .map(|o| !matches!(o, BitOverall::Fail))
+    }
 }
 
 #[cfg(test)]

crates/mission_executor/src/internal/mod.rs

@@ -11,5 +11,6 @@ pub mod lost_link;
 pub mod middle_waypoint;
 pub mod multirotor;
 pub mod post_flight;
+pub mod safety_dispatch;
 pub mod telemetry;
 pub mod types;

crates/mission_executor/src/internal/safety_dispatch.rs

@@ -0,0 +1,97 @@
+//! AZ-681 — concrete [`MissionSafetyRouter`] implementation owned by
+//! `mission_executor` so `operator_bridge` (Layer 3) can stay free of
+//! direct `mission_executor` imports.
+//!
+//! The composition root constructs a [`SafetyDispatchHandle`] from the
+//! BIT controller's `ack` mpsc sender and the battery monitor's handle,
+//! then hands an `Arc<dyn MissionSafetyRouter>` to the operator-bridge
+//! builder.
+//!
+//! Mapping (per `architecture.md §F10`):
+//!
+//! - `acknowledge_bit_degraded` → push a [`BitDegradedAck`] onto the
+//!   BIT controller's ack channel. The controller validates the
+//!   `report_id` matches `AwaitingAck`; `operator_bridge` has already
+//!   validated the signature + checked `BitReportSeverityLookup` to
+//!   ensure the report is acknowledgeable (NOT `Fail`).
+//! - `apply_safety_override` → translate `SafetyOverrideScope` into the
+//!   subsystem-specific override. Only `BatteryRtl` is supported in
+//!   AZ-681 (other failsafe families add their own paths later); the
+//!   hard-floor land-now is NEVER suppressible regardless of scope.
+
+use std::time::Duration;
+
+use async_trait::async_trait;
+use tokio::sync::mpsc;
+use tokio::time::Instant;
+
+use shared::contracts::MissionSafetyRouter;
+use shared::error::{AutopilotError, Result};
+use shared::models::operator::SafetyOverrideScope;
+use uuid::Uuid;
+
+use crate::internal::battery_thresholds::{BatteryMonitorHandle, BatteryOverride};
+use crate::internal::bit::BitDegradedAck;
+
+/// Concrete dispatcher for safety-critical operator commands. Owns
+/// only the handles it needs; do not stuff additional concerns here.
+#[derive(Clone)]
+pub struct SafetyDispatchHandle {
+    bit_ack_tx: mpsc::Sender<BitDegradedAck>,
+    battery: BatteryMonitorHandle,
+}
+
+impl SafetyDispatchHandle {
+    pub fn new(bit_ack_tx: mpsc::Sender<BitDegradedAck>, battery: BatteryMonitorHandle) -> Self {
+        Self {
+            bit_ack_tx,
+            battery,
+        }
+    }
+}
+
+#[async_trait]
+impl MissionSafetyRouter for SafetyDispatchHandle {
+    async fn acknowledge_bit_degraded(
+        &self,
+        report_id: Uuid,
+        operator_id: Option<String>,
+    ) -> Result<()> {
+        self.bit_ack_tx
+            .send(BitDegradedAck {
+                report_id,
+                operator_id,
+            })
+            .await
+            .map_err(|e| AutopilotError::Internal(format!("bit ack channel closed: {e}")))
+    }
+
+    async fn apply_safety_override(
+        &self,
+        scope: SafetyOverrideScope,
+        duration_secs: u32,
+        operator_id: String,
+        rationale: String,
+    ) -> Result<()> {
+        match scope {
+            SafetyOverrideScope::BatteryRtl => {
+                let until = Instant::now() + Duration::from_secs(u64::from(duration_secs));
+                self.battery
+                    .apply_override(BatteryOverride {
+                        until,
+                        operator_id,
+                        rationale,
+                    })
+                    .await
+            }
+            // `SafetyOverrideScope` is `#[non_exhaustive]`; future
+            // variants (e.g. `LinkLost`, `Geofence`) MUST be wired
+            // explicitly here before they become usable. Until then,
+            // surface a typed Validation error so `operator_bridge`
+            // can NACK to the operator UI.
+            other => Err(AutopilotError::Validation(format!(
+                "safety override scope {other:?} not wired in mission_executor"
+            ))),
+        }
+    }
+}

crates/mission_executor/src/lib.rs

@@ -58,6 +58,7 @@ pub use internal::lost_link::{
 };
 pub use internal::middle_waypoint::{MiddleWaypointHint, MissionRePlanner};
 pub use internal::post_flight::{MapObjectsDiffSource, MapObjectsPusher, PostFlightPusher};
+pub use internal::safety_dispatch::SafetyDispatchHandle;
 pub use internal::telemetry::{
     Consumer, DropCountingReceiver, MavlinkProjection, TelemetryForwarder,
 };