feat(perception): qualify E33 worker shadow

src/k1link/compute/__init__.py

@@ -27,6 +27,19 @@ from .e32_track_geometry_replay import (
     e32_track_geometry_frame,
     read_e32_track_geometry_replay,
 )
+from .e33_worker_shadow import (
+    E33_FRAME_SCHEMA,
+    E33_OUTCOME_SCHEMA,
+    E33_PACKAGE_SCHEMA,
+    E33_PROFILE_SCHEMA,
+    E33_REPORT_SCHEMA,
+    E33_RESOURCE_SCHEMA,
+    E33_RESULT_SCHEMA,
+    E33WorkerShadowError,
+    E33WorkerShadowResult,
+    read_e33_worker_shadow_result,
+    run_e33_worker_shadow,
+)
 from .evaluation_pack import (
     ANNOTATION_CONTRACT_SCHEMA,
     EVALUATION_PACK_SCHEMA,
@@ -372,6 +385,17 @@ __all__ = [
     "E32_TRACK_GEOMETRY_RECORD_SCHEMA",
     "E32TrackGeometryReplay",
     "E32TrackGeometryReplayError",
+    "E33_FRAME_SCHEMA",
+    "E33_OUTCOME_SCHEMA",
+    "E33_PACKAGE_SCHEMA",
+    "E33_PROFILE_SCHEMA",
+    "E33_REPORT_SCHEMA",
+    "E33_RESOURCE_SCHEMA",
+    "E33_RESULT_SCHEMA",
+    "E33WorkerShadowError",
+    "E33WorkerShadowResult",
+    "read_e33_worker_shadow_result",
+    "run_e33_worker_shadow",
     "build_lidar_ground_annotation_template",
     "build_lidar_ground_benchmark",
     "build_k1_local_surface",

src/k1link/compute/live_perception.py

@@ -592,17 +592,21 @@ class LatestWinsQueue[T]:
         self._dropped_superseded = 0
         self._closed = False
 
-    def publish(self, item: T) -> None:
+    def publish(self, item: T) -> T | None:
+        """Publish fresh work and return the evicted oldest item, if any."""
+
         with self._condition:
             if self._closed:
                 raise RuntimeError("cannot publish to a closed latest-wins queue")
+            dropped: T | None = None
             if len(self._items) == self._capacity:
-                self._items.popleft()
+                dropped = self._items.popleft()
                 self._dropped_overflow += 1
             self._items.append(item)
             self._published += 1
             self._maximum_depth = max(self._maximum_depth, len(self._items))
             self._condition.notify()
+            return dropped
 
     def take_next(self, timeout: float | None = None) -> T | None:
         with self._condition: