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_mission_planner.py

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+from types import SimpleNamespace
+from pathlib import Path
+import json
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+from test_stream_summary import _write_capture, _pcl_payload, _pose_payload
+from test_session_recording import _command
+from k1link.device_plugins.xgrids_k1.planning_source import export_planning_source
+from k1link.missions.sources import PlanningSources
+from k1link.missions.drafts import MissionDrafts, DraftConflict, route_from_source
+from k1link.web.mission_planner_api import DraftRequest, build_mission_planner_router
+
+
+def source_doc():
+    return {'session_id': 'session-a', 'generation': 'a'*64, 'label': 'Route A', 'units': 'm',
+            'frame_id': 'session/session-a', 'source_digests': {'primary': 'b'*64}, 'decode_errors': 0,
+            'poses': [{'index': i, 'position': [i*3, i*4, 0]} for i in range(4)]}
+
+
+class Sources:
+    changed = False
+    def bound(self, id, generation):
+        if self.changed or id != 'session-a' or generation != 'a'*64:
+            raise ValueError('source changed')
+        return source_doc()
+    verify = bound
+
+
+def request(**values):
+    return DraftRequest(**dict({'name': 'Route', 'session_id': 'session-a', 'generation': 'a'*64,
+                               'start_index': 0, 'end_index': 2}, **values))
+
+
+def test_export_preserves_all_pose_indices_and_does_not_transform_twice(tmp_path):
+    src = tmp_path / 'mqtt.raw.k1mqtt'
+    _write_capture(src, [('lixel/application/report/lio_pcl', _pcl_payload(scaler=1000, point_count=4)),
+                         *[('lixel/application/report/lio_pose', _pose_payload(xyz)) for xyz in [(0, 0, 0), (3, 4, 0), (0, 0, 0)]]])
+    path = tmp_path / 'planning.json'
+    export_planning_source(src, path)
+    doc = json.loads(path.read_text())
+    assert [p['index'] for p in doc['poses']] == [0, 1, 2]
+    assert doc['poses'][1]['position'] == [3, 4, 0]
+    assert doc['poses'][1]['distance_m'] == 5
+    assert doc['path_m'] == 10
+    assert all(p['elapsed_s'] is None for p in doc['poses'])
+
+
+def test_export_rejects_camera_or_pose_only_recording(tmp_path):
+    src = tmp_path / 'mqtt.raw.k1mqtt'
+    _write_capture(src, [('lixel/application/report/lio_pose', _pose_payload((0, 0, 0)))] * 2)
+    with pytest.raises(ValueError): export_planning_source(src, tmp_path / 'out.json')
+
+
+def test_draft_persists_full_route_and_optimistic_revision(tmp_path):
+    service = MissionDrafts(tmp_path, Sources())
+    first = service.save(request(direction='reverse'))
+    assert first['vehicle_id'] is None and first['revision'] == 1
+    assert [p['source_index'] for p in first['route']['points']] == [2, 1, 0]
+    assert first['route']['length_m'] == 10
+    restarted = MissionDrafts(tmp_path, Sources())
+    assert restarted.get(first['id']) == first
+    next = restarted.save(request(id=first['id'], revision=1, name='Changed'))
+    assert next['revision'] == 2
+    with pytest.raises(DraftConflict): service.save(request(id=first['id'], revision=1))
+    assert service.get(first['id']) == next
+
+
+@pytest.mark.parametrize('start,end', [(2, 2), (3, 1), (-1, 2), (0, 4)])
+def test_route_rejects_out_of_bounds(start, end):
+    with pytest.raises(ValueError): route_from_source(source_doc(), start, end, 'forward')
+
+
+def test_check_is_saved_revision_bound_and_never_claims_localization(tmp_path):
+    sources = Sources(); service = MissionDrafts(tmp_path, sources)
+    draft = service.save(request())
+    result = service.check(draft['id'], 1)
+    assert result['localization'] == 'not_run' and result['vehicle_control'] is False
+    assert result['warnings'] and result['source_verified']
+    with service.connect() as db: assert db.execute('SELECT COUNT(*) FROM checks').fetchone()[0] == 1
+    sources.changed = True
+    with pytest.raises(ValueError): service.check(draft['id'], 1)
+    assert service.get(draft['id']) == draft  # unavailable evidence never discards the draft
+
+
+def test_api_forbids_vehicle_authority_and_checks_revision(tmp_path):
+    app = FastAPI(); app.include_router(build_mission_planner_router(MissionDrafts(tmp_path, Sources())))
+    with TestClient(app) as client:
+        body = request().model_dump(mode='json')
+        assert client.post('/api/v1/mission-planner/drafts', json={**body, 'vehicle_id': 'rover'}).status_code == 422
+        draft = client.post('/api/v1/mission-planner/drafts', json=body).json()
+        assert client.post('/api/v1/mission-planner/drafts/'+draft['id']+'/checks', json={'revision': 2}).status_code == 409
+        assert client.get('/api/v1/mission-planner/drafts/'+draft['id']).json() == draft
+
+
+def test_source_cache_is_bound_to_validated_archive_and_rejects_lab(tmp_path):
+    command = _command(tmp_path / 'source')
+    detail = SimpleNamespace(plugin_id=command.plugin_id, summary=SimpleNamespace(replayable=True, lab=None), as_dict=lambda: {'display_name': 'A'})
+    store = SimpleNamespace(data_dir=tmp_path / 'data', get_session=lambda _: detail, prepare_replay=lambda _: command)
+    count = []
+    def export(source, dest):
+        count.append(1); dest.write_text(json.dumps({'poses': [], 'path_m': 0}))
+    service = PlanningSources(store, {command.plugin_id: export})
+    first = service.get(command.session_id)
+    assert service.get(command.session_id) == first and len(count) == 1
+    assert service.verify(command.session_id, first['generation']) == first
+    command.primary_artifact.path.write_bytes(b'X' * command.primary_artifact.file_byte_length)
+    with pytest.raises(ValueError): service.bound(command.session_id, first['generation'])
+    detail.summary.lab = object()
+    with pytest.raises(ValueError): service.get(command.session_id)