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_planning_archive_fault.py

@@ -0,0 +1,64 @@
+"""The archive fault adapter omits receipts without changing surviving clocks."""
+
+import importlib.util
+from pathlib import Path
+from types import SimpleNamespace
+
+import pytest
+
+
+def adapter_module():
+    path = Path(__file__).resolve().parents[1] / "scripts/planning_archive_source.py"
+    spec = importlib.util.spec_from_file_location("archive_fault_probe", path)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+def test_fault_preserves_survivor_identity_payload_and_receipt_offsets(monkeypatch):
+    module = adapter_module()
+    original = [
+        SimpleNamespace(
+            received_monotonic_ns=int((100 + t) * 1e9),
+            received_at_epoch_ns=int((1000 + t) * 1e9),
+            topic="fixture/lio_pcl" if i % 2 else "fixture/lio_pose",
+            sequence=i + 1,
+            payload=bytes([i]),
+        )
+        for i, t in enumerate([0, 1, 2, 3, 3.9, 4, 5])
+    ]
+    monkeypatch.setattr(module, "iter_replay_messages", lambda _: iter(original))
+    clock = [int(500e9)]
+
+    def wait(delay):
+        clock[0] += int(delay * 1e9)
+        return False
+
+    monkeypatch.setattr(module, "time", SimpleNamespace(monotonic_ns=lambda: clock[0]))
+    source = module.ReceiptQueueArchiveSource(Path("unused"), "B", 10, drop_interval_s=(2, 4))
+    source.stop = SimpleNamespace(wait=wait)
+    source.started = clock[0]
+    published = []
+    source.ingress = SimpleNamespace(
+        publish=lambda **kw: published.append(kw) or True,
+        end_session=lambda session: None,
+    )
+    source.publish()
+    kept = [original[i] for i in [0, 1, 5, 6]]
+    assert source.error is None
+    assert [x["sequence"] for x in source.dropped_receipts] == [3, 4, 5]
+    for out, entry in zip(published, kept, strict=True):
+        assert out["source_sequence"] == entry.sequence
+        assert out["payload"] is entry.payload
+        assert out["captured_at_epoch_ns"] == entry.received_at_epoch_ns
+        assert out["received_monotonic_ns"] == source.started + entry.received_monotonic_ns - int(
+            100e9
+        )
+
+
+@pytest.mark.parametrize("interval", [(2, 2), (4, 2), (0, 2), (1, 11), (1, float("nan"))])
+def test_invalid_fault_interval_is_rejected(interval):
+    with pytest.raises(ValueError, match="fault interval"):
+        adapter_module().ReceiptQueueArchiveSource(
+            Path("unused"), "B", 10, drop_interval_s=interval
+        )