feat(k1): complete primary acquisition lifecycle

tests/test_stream_decoders.py

@@ -2,10 +2,18 @@ from __future__ import annotations
 
 import math
 import struct
+from types import SimpleNamespace
 
 import lz4.block
 import pytest
 
+from k1link.device_plugins.xgrids_k1.protocol.modeling import (
+    MODELING_REPORT_TOPIC,
+    ModelingReportDecodeError,
+    decode_modeling_report,
+    is_modeling_report_topic,
+    observe_modeling_report,
+)
 from k1link.device_plugins.xgrids_k1.protocol.protobuf_wire import (
     ProtobufWireError,
     decode_zigzag64,
@@ -21,6 +29,7 @@ from k1link.device_plugins.xgrids_k1.protocol.streams import (
     decode_lio_pose,
     decode_pre_path_array,
 )
+from k1link.viewer.metrics import BridgeMetrics
 
 
 def _varint(value: int) -> bytes:
@@ -136,6 +145,77 @@ def test_decode_lio_pose_rejects_nonfinite_float() -> None:
         decode_lio_pose(payload)
 
 
+def test_decode_modeling_report_device_telemetry() -> None:
+    scan_status = _fixed32(1, 41.521404) + _fixed32(2, 1.375) + _uint(3, 204)
+    payload = _bytes(1, _header()) + _uint(2, 73) + _bytes(3, scan_status)
+
+    telemetry = decode_modeling_report(payload)
+
+    assert telemetry.move_distance_meters == pytest.approx(41.521404)
+    assert telemetry.move_speed_meters_per_second == pytest.approx(1.375)
+    assert telemetry.scan_time_ticks == 204
+    assert telemetry.elapsed_seconds == pytest.approx(102.0)
+    assert telemetry.pgo_progress == 73
+    assert is_modeling_report_topic(MODELING_REPORT_TOPIC)
+    assert not is_modeling_report_topic(f"{MODELING_REPORT_TOPIC}/extra")
+
+    metrics = BridgeMetrics()
+    assert observe_modeling_report(
+        SimpleNamespace(topic=MODELING_REPORT_TOPIC, payload=payload),
+        metrics,
+    )
+    snapshot = metrics.snapshot()
+    assert snapshot["device_elapsed_seconds"] == pytest.approx(102.0)
+    assert snapshot["device_route_distance_meters"] == pytest.approx(41.521)
+    assert snapshot["device_speed_meters_per_second"] == pytest.approx(1.375)
+    assert snapshot["modeling_reports"] == 1
+    assert snapshot["modeling_decode_errors"] == 0
+
+
+def test_decode_modeling_report_fails_closed_on_invalid_status() -> None:
+    with pytest.raises(ModelingReportDecodeError, match="no scan_status"):
+        decode_modeling_report(_uint(2, 1))
+    with pytest.raises(ModelingReportDecodeError, match="finite and nonnegative"):
+        decode_modeling_report(_bytes(3, _fixed32(1, math.nan)))
+    with pytest.raises(ModelingReportDecodeError, match="configured limit"):
+        decode_modeling_report(b"x" * 5, max_payload_bytes=4)
+    with pytest.raises(ModelingReportDecodeError, match="pgo_progress is duplicated"):
+        decode_modeling_report(_uint(2, 1) + _uint(2, 2) + _bytes(3, _uint(3, 2)))
+    with pytest.raises(ModelingReportDecodeError, match="scan_status is duplicated"):
+        decode_modeling_report(_bytes(3, b"") + _bytes(3, b""))
+    with pytest.raises(ModelingReportDecodeError, match="move_speed is duplicated"):
+        decode_modeling_report(_bytes(3, _fixed32(2, 1.0) + _fixed32(2, 2.0)))
+    with pytest.raises(ModelingReportDecodeError, match="signed range"):
+        decode_modeling_report(_uint(2, 0x8000_0000) + _bytes(3, _uint(3, 2)))
+
+
+def test_modeling_metrics_follow_device_scan_generation_reset() -> None:
+    metrics = BridgeMetrics()
+    before_reset = _bytes(
+        3,
+        _fixed32(1, 2.071593) + _fixed32(2, 0.2) + _uint(3, 734),
+    )
+    after_reset = _bytes(
+        3,
+        _fixed32(1, 0.0) + _fixed32(2, 0.0) + _uint(3, 2),
+    )
+
+    observe_modeling_report(
+        SimpleNamespace(topic=MODELING_REPORT_TOPIC, payload=before_reset),
+        metrics,
+    )
+    observe_modeling_report(
+        SimpleNamespace(topic=MODELING_REPORT_TOPIC, payload=after_reset),
+        metrics,
+    )
+
+    snapshot = metrics.snapshot()
+    assert snapshot["device_elapsed_seconds"] == 1.0
+    assert snapshot["device_route_distance_meters"] == 0.0
+    assert snapshot["device_speed_meters_per_second"] == 0.0
+    assert snapshot["modeling_reports"] == 2
+
+
 def test_decode_legacy_pointcloud() -> None:
     envelope = struct.pack("<III", 16, 123, 456)
     body = struct.pack("<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40)