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_e8_realtime_tracking.py

@@ -0,0 +1,109 @@
+from __future__ import annotations
+
+import importlib.util
+import json
+import sys
+from pathlib import Path
+from types import ModuleType
+
+import numpy as np
+import pytest
+
+
+def _worker_module() -> ModuleType:
+    worker_root = Path(__file__).parents[1] / "experiments" / "perception" / "worker"
+    path = worker_root / "run_e8_realtime_tracking.py"
+    sys.path.insert(0, str(worker_root))
+    try:
+        spec = importlib.util.spec_from_file_location("e8_realtime_tracking_worker", path)
+        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)
+
+
+def _profile_path(name: str = "e8_realtime_tracking_profile.json") -> Path:
+    return Path(__file__).parents[1] / "experiments" / "perception" / "worker" / name
+
+
+def _envelope(worker: ModuleType, index: int) -> object:
+    return worker.FrameEnvelope(
+        frame_index=index,
+        path=Path(f"frame-{index:06d}.png"),
+        timeline={"source_frame_index": 1000 + index},
+        scheduled_monotonic=float(index),
+        decoded_monotonic=float(index),
+        image=np.zeros((1, 1, 3), dtype=np.uint8),
+        decode_ms=1.0,
+        source_release_lag_ms=0.0,
+    )
+
+
+def test_e8_profile_pins_realtime_policy_and_e5_model() -> None:
+    worker = _worker_module()
+
+    profile, digest = worker._read_profile(_profile_path())
+
+    assert len(digest) == 64
+    assert profile["model"]["id"] == "yolox_s"
+    assert profile["realtime"]["queue_policy"] == "bounded-latest-wins"
+    assert profile["realtime"]["queue_capacity"] == 2
+    assert profile["acceptance"]["minimum_effective_fps"] == 9.5
+    assert profile["acceptance"]["expect_overload"] is False
+
+
+def test_e8_overload_profile_requires_observed_overload() -> None:
+    worker = _worker_module()
+
+    profile, _digest = worker._read_profile(
+        _profile_path("e8_realtime_tracking_overload_profile.json")
+    )
+
+    assert profile["mode"] == "overload-negative-control"
+    assert profile["realtime"]["consumer_delay_ms"] == 140.0
+    assert profile["acceptance"]["expect_overload"] is True
+
+
+def test_e8_profile_rejects_unbounded_queue(tmp_path: Path) -> None:
+    worker = _worker_module()
+    profile = json.loads(_profile_path().read_text(encoding="utf-8"))
+    profile["realtime"]["queue_capacity"] = 0
+    path = tmp_path / "profile.json"
+    path.write_text(json.dumps(profile), encoding="utf-8")
+
+    with pytest.raises(RuntimeError, match="scheduling"):
+        worker._read_profile(path)
+
+
+def test_e8_latest_wins_queue_discards_oldest_frame() -> None:
+    worker = _worker_module()
+    queue = worker.LatestWinsQueue(capacity=2)
+    queue.publish(_envelope(worker, 1))
+    queue.publish(_envelope(worker, 2))
+    queue.publish(_envelope(worker, 3))
+    queue.close()
+
+    assert queue.take().frame_index == 2
+    assert queue.take().frame_index == 3
+    assert queue.take() is None
+    assert queue.snapshot() == {
+        "capacity": 2,
+        "final_depth": 0,
+        "maximum_depth": 2,
+        "published": 3,
+        "consumed": 2,
+        "dropped_overflow": 1,
+        "closed": True,
+    }
+
+
+def test_e8_health_uses_explicit_freshness_thresholds() -> None:
+    worker = _worker_module()
+    realtime = {"stale_after_ms": 150.0, "unavailable_after_ms": 500.0}
+
+    assert worker._health(149.9, realtime) == "healthy"
+    assert worker._health(150.0, realtime) == "stale"
+    assert worker._health(500.0, realtime) == "unavailable"