feat: introduce device plugin runtime boundary

tests/test_rerun_bridge.py

@@ -60,9 +60,7 @@ def test_legacy_points_and_pose_are_logged_to_rerun() -> None:
     point_payload = struct.pack("<III", 16, 0, 0) + struct.pack(
         "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
     )
-    pose_payload = struct.pack(
-        "<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3
-    )
+    pose_payload = struct.pack("<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3)
     bridge.process(_message("RealtimePointcloud", point_payload))
     bridge.process(_message("RealtimePath", pose_payload, sequence=8))
 
@@ -155,9 +153,7 @@ def test_runtime_exposes_rerun_url_and_stops_cleanly(tmp_path: Path) -> None:
     point_payload = struct.pack("<III", 16, 0, 0) + struct.pack(
         "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
     )
-    pose_payload = struct.pack(
-        "<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3
-    )
+    pose_payload = struct.pack("<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3)
     frames = bytearray(RAW_MAGIC)
     for topic, payload in ((point_topic, point_payload), (pose_topic, pose_payload)):
         topic_raw = topic.encode()
@@ -236,9 +232,7 @@ def test_close_during_blocked_factory_closes_the_late_bridge(tmp_path: Path) ->
     payload = struct.pack("<III", 16, 0, 0) + struct.pack(
         "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
     )
-    capture.write_bytes(
-        RAW_MAGIC + FRAME_HEADER.pack(len(topic), len(payload)) + topic + payload
-    )
+    capture.write_bytes(RAW_MAGIC + FRAME_HEADER.pack(len(topic), len(payload)) + topic + payload)
     (tmp_path / "mqtt.metadata.jsonl").write_text(
         json.dumps(
             {
@@ -279,3 +273,48 @@ def test_close_during_blocked_factory_closes_the_late_bridge(tmp_path: Path) ->
     assert runtime.snapshot()["rerun_grpc_url"] is None
     with pytest.raises(RuntimeError, match="runtime завершён"):
         runtime.start_replay(capture, speed=0.0)
+
+
+def test_stop_fails_closed_when_runtime_thread_misses_deadline(tmp_path: Path) -> None:
+    capture = tmp_path / "mqtt.raw.k1mqtt"
+    topic = b"RealtimePointcloud"
+    payload = struct.pack("<III", 16, 0, 0) + struct.pack(
+        "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
+    )
+    capture.write_bytes(RAW_MAGIC + FRAME_HEADER.pack(len(topic), len(payload)) + topic + payload)
+    (tmp_path / "mqtt.metadata.jsonl").write_text(
+        json.dumps(
+            {
+                "record_type": "message",
+                "sequence": 1,
+                "received_at_epoch_ns": 1_000_000_000,
+                "received_monotonic_ns": 1_000_000_000,
+            }
+        )
+        + "\n",
+        encoding="utf-8",
+    )
+
+    factory_entered = threading.Event()
+    release_factory = threading.Event()
+
+    def blocked_factory(**kwargs: object) -> RerunBridge:
+        factory_entered.set()
+        assert release_factory.wait(timeout=5.0)
+        return RerunBridge(
+            recording_factory=lambda _: FakeRecording(),  # type: ignore[arg-type]
+            **kwargs,  # type: ignore[arg-type]
+        )
+
+    runtime = VisualizationRuntime(bridge_factory=blocked_factory)
+    runtime.start_replay(capture, speed=0.0)
+    assert factory_entered.wait(timeout=2.0)
+
+    with pytest.raises(RuntimeError, match="не завершился"):
+        runtime.stop(wait_seconds=0.01)
+    assert runtime.snapshot()["phase"] == "stopping"
+
+    release_factory.set()
+    runtime.stop(wait_seconds=2.0)
+    assert runtime.snapshot()["source_mode"] == "idle"
+    runtime.close()