feat(node): push USB changes and preserve sensor setup across sessions

tests/fleet/test_events.py

@@ -0,0 +1,23 @@
+import asyncio
+import threading
+
+from k1link.fleet.events import FleetEvents
+
+
+def test_registry_events_cross_thread_coalesce_and_unsubscribe():
+    async def check():
+        events = FleetEvents()
+        queue, close = events.subscribe()
+        thread = threading.Thread(target=lambda: [events.notify() for _ in range(20)])
+        thread.start()
+        thread.join()
+        await asyncio.sleep(0)
+        assert queue.qsize() == 1
+        await queue.get()
+        close()
+        events.notify()
+        await asyncio.sleep(0)
+        assert queue.empty()
+        assert not events.listeners
+
+    asyncio.run(check())

tests/node/test_sensor_recording.py

@@ -0,0 +1,83 @@
+"""Record finalization must leave the board inventory responsive."""
+
+import importlib.util
+import threading
+import types
+from pathlib import Path
+
+import pytest
+
+
+def test_hashing_keeps_inventory_lock_free_and_rejects_new_capture(monkeypatch, tmp_path):
+    monkeypatch.setitem(__import__("sys").modules, "pyrealsense2", types.ModuleType("pyrealsense2"))
+    path = Path(__file__).parents[2] / "apps/node-agent/sensors/device.py"
+    spec = importlib.util.spec_from_file_location("recording_device", path)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    device = module.Device("synthetic-camera", tmp_path, {})
+    ident = "capture_" + "a" * 32
+    root = device.root / "recordings" / ident
+    root.mkdir(parents=True)
+    (root / "source.db3").write_bytes(b"synthetic record bytes")
+    device.record = {"id": ident, "state": "recording"}
+    entered, release = threading.Event(), threading.Event()
+    real = module.hashlib.sha256
+
+    class SlowHash:
+        def __init__(self):
+            self.digest = real()
+
+        def update(self, value):
+            entered.set()
+            assert release.wait(3)
+            self.digest.update(value)
+
+        def hexdigest(self):
+            return self.digest.hexdigest()
+
+    monkeypatch.setattr(module.hashlib, "sha256", SlowHash)
+    worker = threading.Thread(target=device.stop)
+    worker.start()
+    try:
+        assert entered.wait(2)
+        assert device.lock.acquire(timeout=0.2)
+        try:
+            assert device.acquisition == "stopping"
+            with pytest.raises(ValueError):
+                device.start()
+        finally:
+            device.lock.release()
+    finally:
+        release.set()
+        worker.join(3)
+    assert not worker.is_alive()
+    assert device.acquisition == "idle"
+    assert device.record is None
+    assert module.json.loads((root / "manifest.json").read_text())["state"] == "complete"
+
+
+def test_disconnect_finalizes_failed_record_and_clears_live_frames(monkeypatch, tmp_path):
+    monkeypatch.setitem(__import__("sys").modules, "pyrealsense2", types.ModuleType("pyrealsense2"))
+    path = Path(__file__).parents[2] / "apps/node-agent/sensors/device.py"
+    spec = importlib.util.spec_from_file_location("disconnect_device", path)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    device = module.Device("synthetic-camera", tmp_path, {})
+    ident = "capture_" + "b" * 32
+    root = device.root / "recordings" / ident
+    root.mkdir(parents=True)
+    (root / "source.db3").write_bytes(b"frames before physical disconnect")
+    device.record = {"id": ident, "state": "recording"}
+    device.images = {"color": b"old frame"}
+    device.verified_this_process = True
+    stopped = []
+    device.pipeline = types.SimpleNamespace(stop=lambda: stopped.append(True))
+    device.disconnect()
+    assert stopped == [True]
+    assert not device.online and not device.verified_this_process
+    assert not device.images and device.pipeline is None
+    assert device.acquisition == "failed"
+    value = module.json.loads((root / "manifest.json").read_text())
+    assert value["state"] == "failed" and value["sha256"]
+    device.disconnect()
+    assert stopped == [True]