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

2026-07-16 19:44:06 +03:00
parent 19ab973110
commit e6f7648b84
45 changed files with 6401 additions and 440 deletions
@@ -113,20 +113,10 @@ def test_decode_lio_pcl_rejects_unverified_or_unsafe_frames() -> None:

 def test_decode_lio_pose() -> None:
    position = _fixed64(1, 1.25) + _fixed64(2, -2.5) + _fixed64(3, 3.75)
-    orientation = (
-        _fixed64(1, 0.1)
-        + _fixed64(2, 0.2)
-        + _fixed64(3, 0.3)
-        + _fixed64(4, 0.9)
-    )
+    orientation = _fixed64(1, 0.1) + _fixed64(2, 0.2) + _fixed64(3, 0.3) + _fixed64(4, 0.9)
    pose = _bytes(1, position) + _bytes(2, orientation)
    stamped = _sint(1, 987654321) + _bytes(2, pose)
-    payload = (
-        _bytes(1, _header())
-        + _bytes(2, stamped)
-        + _fixed32(3, 12.5)
-        + _fixed32(4, 0.001)
-    )
+    payload = _bytes(1, _header()) + _bytes(2, stamped) + _fixed32(3, 12.5) + _fixed32(4, 0.001)

    frame = decode_lio_pose(payload)
    assert frame.pose_stamp == 987654321