feat(perception): integrate calibrated operator pipeline

Add calibrated K1 projection, recorded and near-live perception qualification, unified Rerun operator layers, bounded replay admission, audited viewer controls, worker experiments, and lab evidence.

tests/test_e15_shadow_inference.py

@@ -0,0 +1,132 @@
+from __future__ import annotations
+
+import importlib.util
+import json
+import sys
+from argparse import Namespace
+from pathlib import Path
+
+import pytest
+
+
+def _module() -> object:
+    perception = Path(__file__).resolve().parents[1] / "experiments" / "perception"
+    worker = perception / "worker"
+    sys.path.insert(0, str(perception))
+    sys.path.insert(0, str(worker))
+    try:
+        spec = importlib.util.spec_from_file_location(
+            "e15_shadow_inference_test",
+            worker / "run_e15_shadow_inference.py",
+        )
+        assert spec is not None and spec.loader is not None
+        module = importlib.util.module_from_spec(spec)
+        sys.modules[spec.name] = module
+        spec.loader.exec_module(module)
+        return module
+    finally:
+        sys.path.pop(0)
+        sys.path.pop(0)
+
+
+def test_e15_profile_pins_replay_shadow_authority_and_bounded_runtime() -> None:
+    module = _module()
+    profile_path = (
+        Path(__file__).resolve().parents[1]
+        / "experiments"
+        / "perception"
+        / "worker"
+        / "e15_shadow_inference_profile.json"
+    )
+
+    profile, digest = module.read_live_profile(profile_path)
+
+    assert len(digest) == 64
+    assert profile["mode"] == "replay-shadow-gate"
+    assert profile["authority"] == {
+        "commands_enabled": False,
+        "navigation_or_safety_accepted": False,
+    }
+    assert profile["transport"] == {
+        "wire_schema": "missioncore.live-perception-wire/v1",
+        "camera_media": "persistent-fmp4-pyav",
+        "pyav_version": "18.0.0",
+        "maximum_media_buffer_bytes": 8 * 1024 * 1024,
+        "camera_metadata_capacity": 16,
+    }
+    assert profile["scheduling"] == {
+        "detector_queue_capacity": 2,
+        "semantic_queue_capacity": 1,
+        "semantic_sample_every_frames": 5,
+        "semantic_ttl_ms": 750.0,
+        "sensor_wait_ms": 90.0,
+    }
+    assert profile["acceptance"]["minimum_fused_fraction"] == 0.85
+    assert profile["acceptance"]["maximum_p95_world_state_age_ms"] == 200.0
+
+
+def test_e15_profile_rejects_command_authority(tmp_path: Path) -> None:
+    module = _module()
+    source = (
+        Path(__file__).resolve().parents[1]
+        / "experiments"
+        / "perception"
+        / "worker"
+        / "e15_shadow_inference_profile.json"
+    )
+    value = json.loads(source.read_text())
+    value["authority"]["commands_enabled"] = True
+    changed = tmp_path / "unsafe-profile.json"
+    changed.write_text(json.dumps(value))
+
+    with pytest.raises(RuntimeError, match="profile contract"):
+        module.read_live_profile(changed)
+
+
+def test_persistent_worker_request_is_single_run_d_backed_and_token_bounded(
+    tmp_path: Path,
+) -> None:
+    module = _module()
+    service = Namespace(
+        output_root=tmp_path,
+        listen_host="127.0.0.1",
+        listen_port=18020,
+        command="serve",
+        marker="preserved",
+    )
+
+    run = module._persistent_run_arguments(
+        service,
+        {
+            "request_id": "physical-k1-shadow-001",
+            "output_name": "physical-k1-shadow-001",
+            "token": "a" * 64,
+        },
+    )
+
+    assert run.command == "run"
+    assert run.output == tmp_path / "physical-k1-shadow-001"
+    assert run.token == "a" * 64
+    assert run.token_stdin is False
+    assert run.marker == "preserved"
+    assert not hasattr(run, "listen_host")
+    assert not hasattr(run, "output_root")
+
+    with pytest.raises(RuntimeError, match="request contract"):
+        module._persistent_run_arguments(
+            service,
+            {
+                "request_id": "physical-k1-shadow-002",
+                "output_name": "physical-k1-shadow-002",
+                "token": "short",
+            },
+        )
+    with pytest.raises(RuntimeError, match="request contract"):
+        module._persistent_run_arguments(
+            service,
+            {
+                "request_id": "physical-k1-shadow-003",
+                "output_name": "../escape",
+                "token": "b" * 64,
+            },
+        )