feat: add live K1 Foxglove console

tests/test_viewer_replay.py

@@ -0,0 +1,65 @@
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+import pytest
+
+from k1link.mqtt.capture import FRAME_HEADER, RAW_MAGIC
+from k1link.viewer.replay import ReplayFormatError, detect_replay_format, iter_replay_messages
+
+
+def _write_native(path: Path, topic: str, payload: bytes) -> None:
+    topic_raw = topic.encode()
+    path.write_bytes(
+        RAW_MAGIC + FRAME_HEADER.pack(len(topic_raw), len(payload)) + topic_raw + payload
+    )
+
+
+def test_native_replay_uses_aligned_metadata_timing(tmp_path: Path) -> None:
+    capture = tmp_path / "mqtt.raw.k1mqtt"
+    _write_native(capture, "lixel/application/report/lio_pose", b"pose")
+    (tmp_path / "mqtt.metadata.jsonl").write_text(
+        json.dumps(
+            {
+                "record_type": "message",
+                "sequence": 1,
+                "received_at_epoch_ns": 123_000_000_000,
+                "received_monotonic_ns": 456,
+            }
+        )
+        + "\n"
+    )
+
+    assert detect_replay_format(capture) == "k1mqtt"
+    message = list(iter_replay_messages(capture))[0]
+    assert message.topic.endswith("lio_pose")
+    assert message.payload == b"pose"
+    assert message.received_at_epoch_ns == 123_000_000_000
+    assert message.received_monotonic_ns == 456
+
+
+def test_legacy_tsv_replay_validates_and_decodes_payload(tmp_path: Path) -> None:
+    capture = tmp_path / "payloads.tsv"
+    capture.write_bytes(b"1784124315.186225000\tRealtimePath\t4\t0001aaff\n")
+
+    assert detect_replay_format(capture) == "legacy_tsv"
+    message = list(iter_replay_messages(capture))[0]
+    assert message.received_at_epoch_ns == 1_784_124_315_186_225_000
+    assert message.payload == b"\x00\x01\xaa\xff"
+
+
+@pytest.mark.parametrize(
+    "line",
+    [
+        b"1\tonly\tthree\n",
+        b"bad\ttopic\t1\t00\n",
+        b"1\ttopic\t2\t00\n",
+        b"1\ttopic\t1\tzz\n",
+    ],
+)
+def test_legacy_tsv_rejects_unreviewed_shapes(tmp_path: Path, line: bytes) -> None:
+    capture = tmp_path / "payloads.tsv"
+    capture.write_bytes(line)
+    with pytest.raises(ReplayFormatError):
+        list(iter_replay_messages(capture))