feat: add live K1 Foxglove console

tests/test_foxglove_bridge.py

@@ -0,0 +1,69 @@
+from __future__ import annotations
+
+import struct
+
+from k1link.protocol.streams import (
+    LegacyPoint,
+    LegacyPointCloudFrame,
+    LioPoint,
+    LioPointCloudFrame,
+    MqttHeader,
+)
+from k1link.viewer.foxglove_bridge import (
+    POINT_STRIDE,
+    BridgeMetrics,
+    pack_legacy_point_cloud,
+    pack_lio_point_cloud,
+)
+
+
+def test_lio_points_are_scaled_and_packed_with_uint8_intensity() -> None:
+    frame = LioPointCloudFrame(
+        header=MqttHeader(
+            seq=1,
+            stamp=2,
+            scaler=1000,
+            device_id="synthetic",
+            session_id="synthetic",
+            openapi_key=None,
+        ),
+        compression=0,
+        compressed_bytes=10,
+        decompressed_bytes=20,
+        points=(LioPoint(-1000, 2500, 3000, 0xAABBCC7F),),
+    )
+
+    packed = pack_lio_point_cloud(frame)
+
+    assert packed.point_count == 1
+    assert len(packed.data) == POINT_STRIDE
+    assert struct.unpack("<fffB3x", packed.data) == (-1.0, 2.5, 3.0, 0x7F)
+
+
+def test_legacy_points_keep_verified_metric_fields() -> None:
+    frame = LegacyPointCloudFrame(
+        envelope=b"\x00" * 12,
+        stride=16,
+        points=(LegacyPoint(1.0, -2.0, 3.5, 1, 2, 3, 240),),
+    )
+
+    packed = pack_legacy_point_cloud(frame)
+
+    assert struct.unpack("<fffB3x", packed.data) == (1.0, -2.0, 3.5, 240)
+
+
+def test_metrics_distinguish_preview_drops_and_pipeline_latency() -> None:
+    metrics = BridgeMetrics()
+    metrics.received(100)
+    metrics.preview_dropped()
+    metrics.record_latency(12.3456)
+    metrics.published_pcl(42, 2_000_000_000, 1.2345)
+
+    snapshot = metrics.snapshot()
+
+    assert snapshot["messages_received"] == 1
+    assert snapshot["payload_bytes"] == 100
+    assert snapshot["preview_dropped"] == 1
+    assert snapshot["last_point_count"] == 42
+    assert snapshot["mqtt_to_publish_ms"] == 12.346
+    assert snapshot["decode_publish_ms"] == 1.234