feat(device-plugins): add profiled K1 lifecycle and canonical data plane

tests/test_rerun_bridge.py

@@ -10,7 +10,9 @@ from pathlib import Path
 import numpy as np
 import pytest
 
+from k1link.data_plane import DecodedDataPlaneView, NormalizationError
 from k1link.mqtt.capture import FRAME_HEADER, RAW_MAGIC
+from k1link.protocol.normalizer import normalize_k1_message
 from k1link.viewer.messages import StreamMessage
 from k1link.viewer.rerun_bridge import RerunBridge, RerunSceneSettings, _point_colors
 from k1link.viewer.runtime import VisualizationRuntime
@@ -53,6 +55,15 @@ def _message(topic: str, payload: bytes, *, sequence: int = 7) -> StreamMessage:
     )
 
 
+def _envelope(topic: str, payload: bytes, *, sequence: int = 7) -> DecodedDataPlaneView:
+    envelope = normalize_k1_message(
+        _message(topic, payload, sequence=sequence),
+        processing_started_monotonic_ns=time.monotonic_ns(),
+    )
+    assert envelope is not None
+    return envelope
+
+
 def test_legacy_points_and_pose_are_logged_to_rerun() -> None:
     recording = FakeRecording()
     bridge = RerunBridge(recording_factory=lambda _: recording)  # type: ignore[arg-type]
@@ -61,8 +72,8 @@ def test_legacy_points_and_pose_are_logged_to_rerun() -> None:
         "<fffBBBB", 1.0, -2.0, 3.0, 10, 20, 30, 40
     )
     pose_payload = struct.pack("<ffffffff", 1.0, 2.0, 3.0, 99.0, 0.9, 0.1, 0.2, 0.3)
-    bridge.process(_message("RealtimePointcloud", point_payload))
-    bridge.process(_message("RealtimePath", pose_payload, sequence=8))
+    bridge.process(_envelope("RealtimePointcloud", point_payload))
+    bridge.process(_envelope("RealtimePath", pose_payload, sequence=8))
 
     paths = [path for path, _, _ in recording.logs]
     snapshot = bridge.metrics.snapshot()
@@ -83,15 +94,19 @@ def test_legacy_points_and_pose_are_logged_to_rerun() -> None:
     assert recording.disconnected is True
 
 
-def test_bad_frame_is_counted_without_publishing() -> None:
+def test_bad_frame_is_rejected_before_rerun_without_publishing() -> None:
     recording = FakeRecording()
     bridge = RerunBridge(recording_factory=lambda _: recording)  # type: ignore[arg-type]
 
-    bridge.process(_message("RealtimePointcloud", b"short"))
+    with pytest.raises(NormalizationError):
+        normalize_k1_message(
+            _message("RealtimePointcloud", b"short"),
+            processing_started_monotonic_ns=time.monotonic_ns(),
+        )
 
     snapshot = bridge.metrics.snapshot()
-    assert snapshot["messages_received"] == 1
-    assert snapshot["decode_errors"] == 1
+    assert snapshot["messages_received"] == 0
+    assert snapshot["decode_errors"] == 0
     assert not any(path == "/world/points" for path, _, _ in recording.logs)
 
 
@@ -193,6 +208,7 @@ def test_runtime_exposes_rerun_url_and_stops_cleanly(tmp_path: Path) -> None:
 
     runtime = VisualizationRuntime(
         bridge_factory=bridge_factory,
+        normalizer=normalize_k1_message,
     )
     runtime.start_replay(capture, speed=1.0)
     deadline = time.monotonic() + 5.0
@@ -258,7 +274,10 @@ def test_close_during_blocked_factory_closes_the_late_bridge(tmp_path: Path) ->
             **kwargs,  # type: ignore[arg-type]
         )
 
-    runtime = VisualizationRuntime(bridge_factory=blocked_factory)
+    runtime = VisualizationRuntime(
+        bridge_factory=blocked_factory,
+        normalizer=normalize_k1_message,
+    )
     runtime.start_replay(capture, speed=0.0)
     assert factory_entered.wait(timeout=2.0)
 
@@ -306,7 +325,10 @@ def test_stop_fails_closed_when_runtime_thread_misses_deadline(tmp_path: Path) -
             **kwargs,  # type: ignore[arg-type]
         )
 
-    runtime = VisualizationRuntime(bridge_factory=blocked_factory)
+    runtime = VisualizationRuntime(
+        bridge_factory=blocked_factory,
+        normalizer=normalize_k1_message,
+    )
     runtime.start_replay(capture, speed=0.0)
     assert factory_entered.wait(timeout=2.0)