feat: finalize corrected-route planning and Rerun recording review

tests/test_stationary_bootstrap.py

@@ -44,6 +44,77 @@ def initialized():
     return boot, result
 
 
+def long_route_search():
+    from k1link.missions.route_relocalization import ROUTE_RELOCALIZATION_POLICY
+    boot, result = initialized()
+    boot.initialization_policy = ROUTE_RELOCALIZATION_POLICY
+    result["initialization"].update(policy=ROUTE_RELOCALIZATION_POLICY,
+                                    scope="selected-route", expected_attempts=108)
+    for i in range(20, 200):
+        boot.ingest(event(i * .5, i * 2 + 1), 0)
+        boot.ingest(event(i * .5 + .001, i * 2 + 2, kind="points"), 0)
+        boot.tick(int((i * .5 + 1.01) * 1e9), 0)
+        assert boot.phase == "searching"
+    return boot, result
+
+
+def test_long_complete_search_is_only_a_hypothesis_until_three_new_windows():
+    boot, result = long_route_search()
+    ready = 101_000_000_000
+    decision = boot.offer_prior(result, ready, 0)
+    assert decision["age_s"] > 90
+    assert decision["provisional"] and decision["stationary_search_continuity"]
+    assert not decision["accepted"] and boot.gate.matrix is None
+    seen = set()
+    for i, start in enumerate((101., 106., 111.)):
+        sample, _ = fresh_window(boot, start, 500 + i * 20, segment=0)
+        ids = {e["sequence"] for e in sample["events"]}
+        assert not ids & seen
+        seen |= ids
+        assert all(e["monotonic_ns"] > ready for e in sample["events"])
+        decision = boot.accept_fresh(fit(), sample, int((start + 4.2) * 1e9), 0)
+        assert decision["accepted"]
+        assert boot.phase == ("tracking" if i == 2 else "validating")
+
+
+@pytest.mark.parametrize(
+    "failure", ["motion", "gap", "pose-only", "cloud-only", "silent", "identity"]
+)
+def test_long_search_cannot_survive_motion_or_invalid_live_receipts(failure):
+    boot, result = long_route_search()
+    now = 111_000_000_000
+    if failure == "motion":
+        boot.ingest(replace(event(100., 500), position=(.11, 0., 0.)), 0)
+    elif failure == "gap":
+        boot.ingest(event(100., 500), 1)
+    elif failure == "identity":
+        with pytest.raises(ValueError):
+            boot.ingest(replace(event(100., 500), generation=2), 0)
+    elif failure in {"pose-only", "cloud-only"}:
+        boot.ingest(event(109., 500, kind="pose" if failure == "pose-only" else "points"), 0)
+    boot.tick(now, boot.segment)
+    decision = boot.offer_prior(result, now, boot.segment)
+    assert boot.phase == "lost" and not decision["provisional"]
+    assert boot.gate.matrix is None
+
+
+def test_long_search_can_try_next_place_only_with_another_fresh_window():
+    boot, result = long_route_search()
+    alternative = np.eye(4)
+    alternative[0, 3] = 40
+    result["initialization"]["candidate_queue"] = [
+        dict(candidate_index=1, T_reference_query=np.eye(4).tolist(), ambiguous=False),
+        dict(candidate_index=2, T_reference_query=alternative.tolist(), ambiguous=False),
+    ]
+    assert boot.offer_prior(result, 101_000_000_000, 0)["provisional"]
+    sample, _ = fresh_window(boot, 101., 500, segment=0)
+    decision = boot.accept_fresh(dict(status="rejected"), sample, 105_200_000_000, 0)
+    assert not decision["accepted"] and decision["next_candidate_trial"] == 2
+    assert boot.gate.matrix is None and boot.floor_ns == 105_200_000_000
+    assert np.allclose(boot.prior, alternative)
+    assert boot.validation(106_000_000_000, 0) is None
+
+
 def fresh_window(boot, start, seq, segment=1):
     for i in range(7):
         boot.ingest(event(start + i * 0.5, seq + i * 2), segment)
@@ -170,8 +241,9 @@ def test_initial_failure_and_later_loss_have_distinct_operator_messages():
     rejected = boot.offer_prior(result, 36_000_000_000, 0)
     assert rejected["reason"] == "initialization-incomplete"
     assert not boot.tracking_established
-    assert "Синхронизация маршрута не завершилась" in phase_message(boot)
-    assert "Остановите устройство и запись" in phase_message(boot)
+    assert "Поиск не завершён" in phase_message(boot)
+    assert "Переинициализировать" in phase_message(boot)
+    assert "Остановите устройство" not in phase_message(boot)
     assert "потеряна" not in phase_message(boot)
     boot.tracking_established = True
     boot.stop("stale")
@@ -266,7 +338,7 @@ def test_candidate_queue_never_bypasses_freshness_identity_or_ambiguity(failure)
     ready = 45_000_000_000 if failure == "expired" else 25_000_000_000
     if failure == "ambiguous":
         result["initialization"]["candidate_queue"][1]["ambiguous"] = True
-    # Use the route policy's existing 35 s search fence for the late prefix case.
+    # The legacy local protocol still has its 30 s search / 40 s source fences.
     if failure == "expired":
         boot.search_started_ns += 5_000_000_000
     assert boot.offer_prior(result, ready, 1)["provisional"]