fix(k1): stabilize repeated acquisition and live viewer recovery

src/k1link/compute/live_perception.py

@@ -396,6 +396,11 @@ class LivePerceptionIngress:
                 if self._session_id == session_id:
                     return
                 raise RuntimeError("another live perception session is active")
+            # Queued items belong to one acquisition. A worker may be absent
+            # while a session ends, so clear bounded leftovers before the next
+            # session can become visible to that worker.
+            for queue in self._queues.values():
+                queue.items.clear()
             self._session_id = session_id
             self._active = True
             self._publish_locked(
@@ -681,9 +686,7 @@ class LiveSensorSynchronizer:
             or retention_seconds <= 0
         ):
             raise ValueError("live sensor synchronizer bounds are invalid")
-        self._maximum_lidar_camera_delta_ns = round(
-            maximum_lidar_camera_delta_ms * 1_000_000
-        )
+        self._maximum_lidar_camera_delta_ns = round(maximum_lidar_camera_delta_ms * 1_000_000)
         self._maximum_pose_point_delta_ns = round(maximum_pose_point_delta_ms * 1_000_000)
         self._capacity = capacity_per_modality
         self._retention_ns = round(retention_seconds * 1_000_000_000)
@@ -801,8 +804,7 @@ class LiveSensorSynchronizer:
         newest = values[-1].context.captured_at_epoch_ns
         oldest_allowed = newest - self._retention_ns
         while values and (
-            len(values) > self._capacity
-            or values[0].context.captured_at_epoch_ns < oldest_allowed
+            len(values) > self._capacity or values[0].context.captured_at_epoch_ns < oldest_allowed
         ):
             values.popleft()
             removed += 1
@@ -837,9 +839,7 @@ class WorldStateProjector:
         if velocity_history_limit_s <= 0:
             raise ValueError("velocity history limit must be positive")
         self._velocity_history_limit_s = velocity_history_limit_s
-        self._track_history: dict[
-            int, deque[tuple[float, tuple[float, float, float]]]
-        ] = {}
+        self._track_history: dict[int, deque[tuple[float, tuple[float, float, float]]]] = {}
 
     def project(
         self,
@@ -950,9 +950,7 @@ class WorldStateProjector:
                 math.sqrt(
                     sum(
                         (observed - expected) ** 2
-                        for observed, expected in zip(
-                            observed_center, predicted, strict=True
-                        )
+                        for observed, expected in zip(observed_center, predicted, strict=True)
                     )
                 )
             )