feat(perception): qualify 1x realtime replay envelope

tests/test_e21_realtime_envelope.py

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+from __future__ import annotations
+
+import hashlib
+import importlib.util
+import json
+import sys
+from pathlib import Path
+
+import pytest
+
+
+def _module(name: str, relative: str):
+    path = Path(__file__).resolve().parents[1] / relative
+    spec = importlib.util.spec_from_file_location(name, path)
+    assert spec is not None and spec.loader is not None
+    module = importlib.util.module_from_spec(spec)
+    sys.modules[spec.name] = module
+    spec.loader.exec_module(module)
+    return module
+
+
+def test_camera_replay_loads_segments_lazily_and_checks_each_digest(tmp_path: Path) -> None:
+    module = _module(
+        "e21_source_replay_test",
+        "experiments/perception/run_e12_shadow_transport_replay.py",
+    )
+    epoch = tmp_path / "epoch-1"
+    segments = epoch / "segments"
+    segments.mkdir(parents=True)
+    (epoch / "init.mp4").write_bytes(b"init")
+    rows = []
+    for sequence, payload in ((1, b"one"), (2, b"two")):
+        path = segments / f"{sequence}.m4s"
+        path.write_bytes(payload)
+        rows.append(
+            {
+                "host_epoch_ns": sequence * 100_000_000,
+                "host_monotonic_ns": sequence * 100_000_000,
+                "length": len(payload),
+                "path": f"segments/{sequence}.m4s",
+                "sequence": sequence,
+                "sha256": hashlib.sha256(payload).hexdigest(),
+            }
+        )
+    (epoch / "index.jsonl").write_text(
+        "".join(json.dumps(row) + "\n" for row in rows),
+        encoding="utf-8",
+    )
+
+    events = module._camera_events(epoch, 1.0)
+    assert next(events).modality == "camera-init"
+    assert next(events).payload == b"one"
+    (segments / "2.m4s").write_bytes(b"changed-after-generator-start")
+    with pytest.raises(RuntimeError, match="length differs"):
+        next(events)
+
+
+def test_e21_trend_reports_accumulating_age_and_stable_memory() -> None:
+    module = _module(
+        "e21_analyzer_test",
+        "experiments/perception/analyze_e21_realtime_envelope.py",
+    )
+    growing = module._trend([(float(index), float(index) * 2) for index in range(20)])
+    stable = module._trend([(float(index), 100.0) for index in range(20)])
+
+    assert growing["slope_per_second"] == pytest.approx(2.0)
+    assert growing["late_vs_early_p95"] > 0
+    assert stable["slope_per_second"] == pytest.approx(0.0)
+    assert stable["late_vs_early_p95"] == pytest.approx(0.0)
+
+
+def test_e21_profile_keeps_diagnostic_authority_and_long_1x_gate() -> None:
+    root = Path(__file__).resolve().parents[1]
+    profile = json.loads(
+        (
+            root
+            / "experiments"
+            / "perception"
+            / "e21_realtime_envelope_profile.json"
+        ).read_text()
+    )
+
+    assert profile["source"]["speed"] == 1.0
+    assert profile["source"]["minimum_span_seconds"] >= 55.0
+    assert profile["worker"]["minimum_detector_fps"] >= 9.5
+    assert profile["worker"]["maximum_detector_drop_fraction"] <= 0.02
+    assert profile["worker"]["maximum_p95_world_state_age_ms"] == 200.0
+    assert profile["authority"] == {
+        "commands_enabled": False,
+        "navigation_or_safety_accepted": False,
+    }