feat(planning): consolidate recorded-route localization and spatial scene

Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.

tests/test_live_perception.py

@@ -31,7 +31,7 @@ def test_live_ingress_keeps_modalities_separately_bounded_and_ordered() -> None:
             received_monotonic_ns=200 + sequence,
             payload=f"camera-{sequence}".encode(),
         )
-    for sequence in range(9):
+    for sequence in range(33):
         assert ingress.publish(
             modality="lidar",
             source_id="lixel/application/report/lio_pcl",
@@ -40,7 +40,7 @@ def test_live_ingress_keeps_modalities_separately_bounded_and_ordered() -> None:
             received_monotonic_ns=400 + sequence,
             payload=f"lidar-{sequence}".encode(),
         )
-    for sequence in range(20):
+    for sequence in range(36):
         assert ingress.publish(
             modality="pose",
             source_id="lixel/application/report/lio_pose",
@@ -53,9 +53,9 @@ def test_live_ingress_keeps_modalities_separately_bounded_and_ordered() -> None:
     snapshot = ingress.snapshot()
     assert snapshot["queues"]["camera-frame"]["depth"] == 2
     assert snapshot["queues"]["camera-frame"]["dropped_overflow"] == 3
-    assert snapshot["queues"]["lidar"]["depth"] == 8
+    assert snapshot["queues"]["lidar"]["depth"] == 32
     assert snapshot["queues"]["lidar"]["dropped_overflow"] == 1
-    assert snapshot["queues"]["pose"]["depth"] == 16
+    assert snapshot["queues"]["pose"]["depth"] == 32
     assert snapshot["queues"]["pose"]["dropped_overflow"] == 4
 
     events = []
@@ -70,10 +70,10 @@ def test_live_ingress_keeps_modalities_separately_bounded_and_ordered() -> None:
         4,
     ]
     assert [event.source_sequence for event in events if event.modality == "lidar"] == list(
-        range(1, 9)
+        range(1, 33)
     )
     assert [event.source_sequence for event in events if event.modality == "pose"] == list(
-        range(4, 20)
+        range(4, 36)
     )
 
 
@@ -105,6 +105,27 @@ def test_live_ingress_wire_is_self_delimiting_and_explicitly_non_authoritative()
     assert encoded[4 + header_bytes :] == b"init"
 
 
+def test_spatial_stop_is_identity_bound_idempotent_and_keeps_capture_active() -> None:
+    ingress = LivePerceptionIngress()
+    ingress.open_consumer("planning")
+    ingress.begin_session("A")
+    assert not ingress.request_spatial_stop("other", 1)
+    assert not ingress.request_spatial_stop("A", 2)
+    assert not ingress.snapshot()["spatial_stop_requested"]
+    assert ingress.request_spatial_stop("A", 1)
+    assert ingress.request_spatial_stop("A", 1)
+    assert ingress.snapshot()["active"]
+    assert ingress.snapshot()["queues"]["control"]["published"] == 2
+    assert ingress.publish(modality="pose", source_id="pose", source_sequence=1,
+                           captured_at_epoch_ns=1, received_monotonic_ns=1, payload=b"raw")
+    ingress.end_session("A")
+    ingress.begin_session("A")  # Same name, new generation cannot inherit STOP.
+    assert not ingress.request_spatial_stop("A", 1)
+    assert not ingress.snapshot()["spatial_stop_requested"]
+    assert ingress.snapshot()["active"]
+    ingress.close()
+
+
 def test_live_ingress_rejects_oversize_without_affecting_other_modalities() -> None:
     ingress = LivePerceptionIngress()
     ingress.begin_session("session-1")