fix(perception): keep cyclic GC outside realtime loop

tests/test_m48s_reference_graph_timing.py

@@ -3,6 +3,7 @@ from __future__ import annotations
 import importlib.util
 import time
 from pathlib import Path
+from unittest.mock import patch
 
 from k1link.perception.detector import DetectorFrameTiming
 from k1link.perception.recorded_source import DecodedFrameTiming
@@ -108,3 +109,34 @@ def test_gc_pause_telemetry_attributes_collection_to_active_stage() -> None:
         }
     ]
     assert summary["maximum_event"]["duration_ms"] >= 1.0
+
+
+def test_cyclic_gc_policy_collects_outside_hot_loop_and_restores_state() -> None:
+    state = {"enabled": True}
+    collections = iter((3, 0))
+
+    def disable() -> None:
+        state["enabled"] = False
+
+    def enable() -> None:
+        state["enabled"] = True
+
+    with (
+        patch.object(RUNNER.gc, "isenabled", side_effect=lambda: state["enabled"]),
+        patch.object(RUNNER.gc, "disable", side_effect=disable),
+        patch.object(RUNNER.gc, "enable", side_effect=enable),
+        patch.object(RUNNER.gc, "collect", side_effect=lambda: next(collections)),
+    ):
+        policy = RUNNER.CyclicGcHotLoopPolicy()
+        with policy:
+            assert state["enabled"] is False
+
+        assert state["enabled"] is True
+        assert policy.to_dict() == {
+            "schema_version": RUNNER.GC_POLICY_SCHEMA,
+            "enabled_before": True,
+            "disabled_during_hot_loop": True,
+            "enabled_after": True,
+            "pre_collected": 3,
+            "post_collected": 0,
+        }