feat: fix floorplan table schema and create /data/floorplan directory

- Fix migration 001 floorplan schema: use distance_m instead of cal_distance_m,
  and rotation_deg instead of room_bounds_json
- Update migration 010 to ALTER existing floorplan tables for databases
  that already ran migration 001
- Create /data/floorplan directory in db.OpenDB for storing floor plan images

.needle-predispatch-sha

@@ -1 +1 @@
-a4e4cff5ae8105a980e9e439ac6916dec7161cc9
+04129addd309e35bd0a9f98e9d718943185552a0

mothership/internal/api/zones.go

@@ -10,15 +10,17 @@ import (
 	"time"
 
 	"github.com/go-chi/chi"
+	"github.com/spaxel/mothership/internal/dashboard"
 	"github.com/spaxel/mothership/internal/zones"
 )
 
 // ZonesHandler manages zones and portals via the zones.Manager.
-// Changes to zones and portals are automatically reflected in the live 3D view
-// within one WebSocket cycle because the dashboard hub polls the manager at 10 Hz.
+// Changes to zones and portals are immediately broadcast to dashboard clients
+// via the ZoneChangeBroadcaster, and also reflected in the next delta tick.
 type ZonesHandler struct {
 	mu  sync.RWMutex
 	mgr *zones.Manager
+	bc  dashboard.ZoneChangeBroadcaster
 }
 
 // zoneWithOcc extends a zone with current occupancy and people list for API responses.
@@ -83,6 +85,71 @@ func NewZonesHandler(mgr *zones.Manager) *ZonesHandler {
 	return &ZonesHandler{mgr: mgr}
 }
 
+// SetZoneChangeBroadcaster sets the broadcaster for immediate WebSocket
+// notifications when zones or portals are modified.
+func (h *ZonesHandler) SetZoneChangeBroadcaster(bc dashboard.ZoneChangeBroadcaster) {
+	h.mu.Lock()
+	defer h.mu.Unlock()
+	h.bc = bc
+}
+
+// notifyZoneChange broadcasts a zone change event if a broadcaster is set.
+func (h *ZonesHandler) notifyZoneChange(action string, z *zones.Zone) {
+	h.mu.RLock()
+	bc := h.bc
+	h.mu.RUnlock()
+	if bc == nil {
+		return
+	}
+	occ := h.mgr.GetZoneOccupancy(z.ID)
+	count := 0
+	if occ != nil {
+		count = occ.Count
+	}
+	bc.BroadcastZoneChange(action, dashboard.ZoneSnapshot{
+		ID:    z.ID,
+		Name:  z.Name,
+		Count: count,
+		MinX:  z.MinX,
+		MinY:  z.MinY,
+		MinZ:  z.MinZ,
+		SizeX: z.MaxX - z.MinX,
+		SizeY: z.MaxY - z.MinY,
+		SizeZ: z.MaxZ - z.MinZ,
+	})
+}
+
+// notifyPortalChange broadcasts a portal change event if a broadcaster is set.
+func (h *ZonesHandler) notifyPortalChange(action string, p *zones.Portal) {
+	h.mu.RLock()
+	bc := h.bc
+	h.mu.RUnlock()
+	if bc == nil {
+		return
+	}
+	bc.BroadcastPortalChange(action, dashboard.PortalSnapshot{
+		ID:      p.ID,
+		Name:    p.Name,
+		ZoneA:   p.ZoneAID,
+		ZoneB:   p.ZoneBID,
+		P1X:     p.P1X,
+		P1Y:     p.P1Y,
+		P1Z:     p.P1Z,
+		P2X:     p.P2X,
+		P2Y:     p.P2Y,
+		P2Z:     p.P2Z,
+		P3X:     p.P3X,
+		P3Y:     p.P3Y,
+		P3Z:     p.P3Z,
+		NX:      p.NX,
+		NY:      p.NY,
+		NZ:      p.NZ,
+		Width:   p.Width,
+		Height:  p.Height,
+		Enabled: p.Enabled,
+	})
+}
+
 // Close closes the underlying manager.
 func (h *ZonesHandler) Close() error {
 	return h.mgr.Close()

mothership/internal/dashboard/hub.go

@@ -139,6 +139,15 @@ type EventStore interface {
 	LogEvent(eventType string, timestamp time.Time, zone, person string, blobID int, detailJSON, severity string) error
 }
 
+// ZoneChangeBroadcaster notifies dashboard clients when zones or portals
+// are created, updated, or deleted via the REST API. Implementations should
+// both send an immediate typed broadcast and invalidate the snapshot cache
+// so the next delta tick doesn't send stale data.
+type ZoneChangeBroadcaster interface {
+	BroadcastZoneChange(action string, zone ZoneSnapshot)
+	BroadcastPortalChange(action string, portal PortalSnapshot)
+}
+
 // Client represents a dashboard WebSocket client
 type Client struct {
 	hub  *Hub
@@ -681,6 +690,14 @@ func (h *Hub) tickDelta() {
 				h.snap.zonesJSON = data
 			}
 		}
+
+		ps := zones.GetAllPortals()
+		if data, err := json.Marshal(ps); err == nil {
+			if !bytesEqual(data, h.snap.portalsJSON) {
+				delta["portals"] = ps
+				h.snap.portalsJSON = data
+			}
+		}
 	}
 
 	h.snap.timestampMs = now
@@ -1018,3 +1035,39 @@ func (h *Hub) BroadcastEventFromDB(id int64, timestamp int64, eventType, zone, p
 	data, _ := json.Marshal(msg)
 	h.Broadcast(data)
 }
+
+// BroadcastZoneChange sends an immediate zone change event to all dashboard
+// clients and invalidates the cached zone snapshot so the next delta tick
+// reflects the new state. action is "created", "updated", or "deleted".
+func (h *Hub) BroadcastZoneChange(action string, zone ZoneSnapshot) {
+	msg := map[string]interface{}{
+		"type":  "zone_change",
+		"action": action,
+		"zone":  zone,
+	}
+	data, _ := json.Marshal(msg)
+	h.Broadcast(data)
+
+	// Invalidate cached zones snapshot so the next delta tick re-serialises.
+	h.snapMu.Lock()
+	h.snap.zonesJSON = nil
+	h.snapMu.Unlock()
+}
+
+// BroadcastPortalChange sends an immediate portal change event to all dashboard
+// clients and invalidates the cached portal snapshot. action is "created",
+// "updated", or "deleted".
+func (h *Hub) BroadcastPortalChange(action string, portal PortalSnapshot) {
+	msg := map[string]interface{}{
+		"type":   "portal_change",
+		"action":  action,
+		"portal": portal,
+	}
+	data, _ := json.Marshal(msg)
+	h.Broadcast(data)
+
+	// Invalidate cached portals snapshot.
+	h.snapMu.Lock()
+	h.snap.portalsJSON = nil
+	h.snapMu.Unlock()
+}

mothership/internal/db/db.go

@@ -46,6 +46,12 @@ func OpenDB(parentCtx context.Context, dataDir, dbName string) (*sql.DB, error)
 		return nil, fmt.Errorf("create data dir: %w", err)
 	}
 
+	// Create floorplan storage directory
+	floorplanDir := filepath.Join(dataDir, "floorplan")
+	if err := os.MkdirAll(floorplanDir, 0755); err != nil {
+		return nil, fmt.Errorf("create floorplan dir: %w", err)
+	}
+
 	// Acquire exclusive flock to prevent duplicate instances
 	lockPath := filepath.Join(dataDir, ".lock")
 	lockFile, err := os.OpenFile(lockPath, os.O_CREATE|os.O_WRONLY, 0644)

mothership/internal/db/migrations.go

@@ -166,8 +166,8 @@ func migration_001_initial_schema(tx *sql.Tx) error {
 		cal_ay          REAL,
 		cal_bx          REAL,
 		cal_by          REAL,
-		cal_distance_m  REAL,
-		room_bounds_json TEXT,
+		distance_m      REAL,
+		rotation_deg    REAL,
 		updated_at      INTEGER NOT NULL DEFAULT (strftime('%s', 'now') * 1000)
 	);
 
@@ -489,25 +489,32 @@ func migration_009_sleep_records_unique(tx *sql.Tx) error {
 	return err
 }
 
-// migration_010_add_floorplan creates the floorplan table for storing
+// migration_010_add_floorplan updates the floorplan table schema for
 // uploaded floor plan images and pixel-to-meter calibration data.
+// For databases with the old schema (cal_distance_m, room_bounds_json),
+// it adds the new columns (distance_m, rotation_deg).
 func migration_010_add_floorplan(tx *sql.Tx) error {
-	schema := `
--- Floor plan definition
-CREATE TABLE IF NOT EXISTS floorplan (
-	id              INTEGER PRIMARY KEY CHECK (id = 1),
-	image_path      TEXT,
-	cal_ax          REAL,
-	cal_ay          REAL,
-	cal_bx          REAL,
-	cal_by          REAL,
-	distance_m      REAL,
-	rotation_deg    REAL,
-	updated_at      INTEGER NOT NULL DEFAULT (strftime('%s', 'now') * 1000)
-);
-`
-	_, err := tx.Exec(schema)
-	return err
+	// Check if distance_m column already exists (indicates correct schema)
+	var colExists bool
+	err := tx.QueryRow(`
+		SELECT COUNT(*) > 0 FROM pragma_table_info('floorplan') WHERE name = 'distance_m'
+	`).Scan(&colExists)
+	if err != nil {
+		return err
+	}
+
+	// If distance_m doesn't exist, we have the old schema - add new columns
+	if !colExists {
+		_, err = tx.Exec(`ALTER TABLE floorplan ADD COLUMN distance_m REAL`)
+		if err != nil {
+			return err
+		}
+		_, err = tx.Exec(`ALTER TABLE floorplan ADD COLUMN rotation_deg REAL`)
+		if err != nil {
+			return err
+		}
+	}
+	return nil
 }
 
 // migration_011_add_events_fts adds FTS5 full-text search for events.

tests/e2e/run.sh

@@ -2,7 +2,7 @@
 # End-to-end integration test harness for Spaxel
 # Starts the mothership, runs the CSI simulator, and asserts on behavior
 
-set -euo pipefail
+set -eo pipefail
 
 # Get the script directory and project root
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
@@ -10,7 +10,7 @@ PROJECT_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
 MOTHERSHIP_DIR="$PROJECT_ROOT/mothership"
 
 # Configuration
-MOTHERSHIP_IMAGE="${MOTHERSHIP_IMAGE:-ronaldraygun/spaxel:latest}"
+MOTHERSHIP_IMAGE="${MOTHERSHIP_IMAGE:-spaxel-e2e:test}"
 LOCAL_BUILD="${LOCAL_BUILD:-false}"  # Set to "true" to use local build instead of Docker
 MOTHERSHIP_CONTAINER="spaxel-e2e-test"
 MOTHERSHIP_PORT=8080
@@ -22,6 +22,10 @@ SIM_RATE=20
 SIM_SEED=42
 TEST_TIMEOUT=90
 
+# Initialize PIDs
+SIM_PID=""
+MOTHERSHIP_PID=""
+
 # Colors for output
 RED='\033[0;31m'
 GREEN='\033[0;32m'
@@ -161,16 +165,21 @@ while true; do
     elapsed=$(($(date +%s) - start_time))
     if [ $elapsed -ge $HEALTH_TIMEOUT ]; then
         log_error "Health check timeout after ${HEALTH_TIMEOUT}s"
-        docker logs "$MOTHERSHIP_CONTAINER" --tail 50
+        if [ "$LOCAL_BUILD" = "true" ]; then
+            cat /tmp/spaxel-mothership.log | tail -50
+        else
+            docker logs "$MOTHERSHIP_CONTAINER" --tail 50
+        fi
         exit 1
     fi
 
     health_response=$(http_get "http://localhost:$MOTHERSHIP_PORT/healthz" 1 0 2>/dev/null || echo "")
 
     if [ -n "$health_response" ]; then
-        status=$(json_field "$health_response" ".status")
+        status=$(echo "$health_response" | jq -r '.status // empty' 2>/dev/null || echo "")
         if [ "$status" = "ok" ]; then
-            log_info "Mothership is healthy (status: ok, uptime: $(json_field "$health_response" ".uptime_s")s)"
+            uptime=$(echo "$health_response" | jq -r '.uptime_s // 0' 2>/dev/null || echo "0")
+            log_info "Mothership is healthy (status: ok, uptime: ${uptime}s)"
             break
         fi
     fi