# System Orchestrator Component

## Detailed Description
The **System Orchestrator** ties all components together. It implements the main control loop (or async pipeline) and the state machine for the system's operational modes:
1.  **Initializing:** Loading models, maps.
2.  **Tracking:** Normal operation (L1 active, L3 periodic).
3.  **Lost/Searching:** L1 failed, L2 aggressive search active.
4.  **Critical Failure:** L2 failed repeatedly, requesting User Input.

It subscribes to the Input Manager, pushes data to L1/L2/L3, updates the State Estimator, and publishes results via the Service Interface. It also monitors **PDM@K** proxy metrics to trigger the "Human-in-the-Loop".

## API Methods

### `run_pipeline_step`
- **Input:** `void` (Driven by event loop)
- **Output:** `void`
- **Description:**
    1. Get frame from Input Manager.
    2. Run L1.
    3. Check if L3 (Global) update is needed (e.g., every 10th frame or if L1 confidence low).
    4. If needed, run L2 -> L3.
    5. Update State Estimator.
    6. Check health (Covariance size).
    7. If Critical -> Publish Request Input.
    8. Publish Telemetry.
- **Test Cases:**
    - Normal flow -> Telemetry published.
    - Loss of tracking -> State transitions to "Searching".

### `handle_user_input`
- **Input:** `UserCommand`
- **Output:** `void`
- **Description:** Passes manual fix data to State Estimator and resets failure counters.

## Integration Tests
- **End-to-End Simulation:** Connect all components. Run the full sequence. Verify final output CSV matches requirements.

## Non-functional Tests
- **Timing Budget:** Measure total wall-clock time per `run_pipeline_step`. Must be < 5.0s (average).