feat: qualify complete K1 replay on worker

2026-07-26 10:11:56 +03:00
parent a1e2cb523f
commit 36ea7ea3d8
17 changed files with 1212 additions and 118 deletions
@@ -183,7 +183,11 @@ def test_local_surface_pose_binder_fails_closed_after_pose_deadline() -> None:


 def test_local_surface_shadow_coordinator_closes_exact_accounting() -> None:
-    coordinator = K1LocalSurfaceShadowCoordinator(result_capacity=2)
+    observed = []
+    coordinator = K1LocalSurfaceShadowCoordinator(
+        result_capacity=2,
+        result_observer=observed.append,
+    )
    coordinator.begin_session("physical-k1-shadow-test")
    assert coordinator.publish_pose(_pose(1, 1_000_000_000)) == 0
    assert coordinator.publish_point_cloud(_points(1, 1_010_000_000)) == 1
@@ -196,3 +200,5 @@ def test_local_surface_shadow_coordinator_closes_exact_accounting() -> None:
    assert snapshot["runtime"]["queue"]["consumed"] == 1
    assert snapshot["runtime"]["results"]["failed"] == 0
    assert snapshot["authority"]["navigation_or_safety_accepted"] is False
+    assert len(observed) == 1
+    assert observed[0].frame_index == 1