[AZ-345] [AZ-346] [AZ-347] [AZ-349] C3 matchers + C3.5 AdHoP refiner

Implement the three concrete C3 CrossDomainMatcher strategies plus the
C3.5 production-default AdHoPRefiner.

C3 (AZ-345/346/347):
- DiskLightGlueMatcher + AlikedLightGlueMatcher share a single shared
  _pipeline.run_lightglue_pipeline orchestrator (decode -> query
  extract -> per-candidate loop -> RANSAC sort -> health update ->
  FDR emit) so the only per-backbone delta is the keypoint+descriptor
  extractor closure. ALIKED adds a create-time engine output-schema
  probe (AC-special-1).
- XFeatMatcher owns its own per-candidate loop (single forward fuses
  extraction + matching); it re-uses the shared FDR emission helpers
  to keep telemetry byte-identical across strategies. lightglue_runtime
  parameter accepted by factory but discarded (AC-special-1).
- All three consume the shared LightGlueRuntime / RansacFilter /
  RollingHealthWindow helpers; no helper forks. InferenceRuntimeCut
  consumer-side Protocol added per AZ-507.

C3.5 (AZ-349):
- AdHoPRefiner implements the <= conditional gate, runs the OrthoLoC
  AdHoP TRT engine over best-candidate correspondences, re-runs RANSAC
  on the perspective-preconditioned set, and emits an enriched
  MatchResult with refinement_label="adhop".
- Invariant 4 passthrough fall-through: any RefinerBackboneError (TRT
  failure, OOM, NaN, bad shape) is caught, logged ERROR, FDR-emitted
  with error: true, and converted to passthrough that still counts
  against the rolling invocation-rate window. MemoryError and other
  non-listed exceptions propagate by design (AC-5 closed-set
  semantics).
- Rolling 60-s invocation-rate window + rate-limited WARN log
  (configurable via ratelimited_warn_window_ns; default 60 s).

Shared changes:
- C3MatcherConfig + C3_5RefinerConfig extended with the new
  weights/threshold/window fields.
- matcher_factory + refiner_factory optionally forward clock +
  fdr_client to the strategy's create(); backward-compatible.
- fdr_client.records registers five new kinds: matcher.frame_done,
  matcher.backbone_error, matcher.insufficient_inliers,
  matcher.all_failed, refiner.frame_done.

Tests: 66 new (43 C3 parametrised + 23 AdHoP) covering 47/47 ACs;
focused suite green; full project test suite green except for one
pre-existing flaky CLI cold-start timing test unrelated to this batch.

Co-authored-by: Cursor <cursoragent@cursor.com>

src/gps_denied_onboard/runtime_root/matcher_factory.py

@@ -38,12 +38,14 @@ from gps_denied_onboard.components.c3_matcher._health_window import RollingHealt
 from gps_denied_onboard.runtime_root.errors import StrategyNotAvailableError
 
 if TYPE_CHECKING:
+    from gps_denied_onboard.clock import Clock
     from gps_denied_onboard.components.c3_matcher import (
         C3MatcherConfig,
         CrossDomainMatcher,
     )
     from gps_denied_onboard.components.c7_inference import InferenceRuntime
     from gps_denied_onboard.config.schema import Config
+    from gps_denied_onboard.fdr_client import FdrClient
     from gps_denied_onboard.helpers.lightglue_runtime import LightGlueRuntime
     from gps_denied_onboard.helpers.ransac_filter import RansacFilter
 
@@ -106,6 +108,8 @@ def build_matcher_strategy(
     lightglue_runtime: "LightGlueRuntime",
     ransac_filter: "RansacFilter",
     inference_runtime: "InferenceRuntime",
+    clock: "Clock | None" = None,
+    fdr_client: "FdrClient | None" = None,
 ) -> "CrossDomainMatcher":
     """Construct the :class:`CrossDomainMatcher` impl selected by config.
 
@@ -168,6 +172,15 @@ def build_matcher_strategy(
             "yet (AZ-345 / AZ-346 / AZ-347 pending)."
         ) from exc
     create_fn = getattr(module, "create", None)
+    # ``clock`` and ``fdr_client`` were added in AZ-345 / AZ-346 / AZ-347;
+    # the AZ-344 fakes do not accept them. Only forward when the factory
+    # has been wired with them so the existing protocol tests continue
+    # to pass.
+    extra_kwargs: dict[str, object] = {}
+    if clock is not None:
+        extra_kwargs["clock"] = clock
+    if fdr_client is not None:
+        extra_kwargs["fdr_client"] = fdr_client
     if create_fn is None:
         strategy_cls = getattr(module, class_name)
         instance = strategy_cls(
@@ -176,6 +189,7 @@ def build_matcher_strategy(
             ransac_filter=ransac_filter,
             inference_runtime=inference_runtime,
             health_window=health_window,
+            **extra_kwargs,
         )
     else:
         instance = create_fn(
@@ -184,6 +198,7 @@ def build_matcher_strategy(
             ransac_filter=ransac_filter,
             inference_runtime=inference_runtime,
             health_window=health_window,
+            **extra_kwargs,
         )
     _LOG.info(
         "c3.matcher.strategy_loaded",

src/gps_denied_onboard/runtime_root/refiner_factory.py

@@ -28,12 +28,14 @@ from typing import TYPE_CHECKING
 from gps_denied_onboard.components.c3_5_adhop.errors import RefinerConfigError
 
 if TYPE_CHECKING:
+    from gps_denied_onboard.clock import Clock
     from gps_denied_onboard.components.c3_5_adhop import (
         C3_5RefinerConfig,
         ConditionalRefiner,
     )
     from gps_denied_onboard.components.c7_inference import InferenceRuntime
     from gps_denied_onboard.config.schema import Config
+    from gps_denied_onboard.fdr_client import FdrClient
     from gps_denied_onboard.helpers.ransac_filter import RansacFilter
 
 __all__ = ["build_refiner_strategy"]
@@ -71,6 +73,8 @@ def build_refiner_strategy(
     *,
     ransac_filter: "RansacFilter",
     inference_runtime: "InferenceRuntime",
+    clock: "Clock | None" = None,
+    fdr_client: "FdrClient | None" = None,
 ) -> "ConditionalRefiner":
     """Construct the :class:`ConditionalRefiner` impl selected by config.
 
@@ -120,17 +124,26 @@ def build_refiner_strategy(
     module_name, class_name = module_info
     module = __import__(module_name, fromlist=[class_name])
     create_fn = getattr(module, "create", None)
+    # ``clock`` and ``fdr_client`` were added with AZ-349; the AZ-348
+    # passthrough refiner does not accept them. Only forward when wired.
+    extra_kwargs: dict[str, object] = {}
+    if clock is not None:
+        extra_kwargs["clock"] = clock
+    if fdr_client is not None:
+        extra_kwargs["fdr_client"] = fdr_client
     if create_fn is None:
         strategy_cls = getattr(module, class_name)
         instance = strategy_cls(
             ransac_filter=ransac_filter,
             inference_runtime=inference_runtime,
+            **extra_kwargs,
         )
     else:
         instance = create_fn(
             config,
             ransac_filter=ransac_filter,
             inference_runtime=inference_runtime,
+            **extra_kwargs,
         )
     _LOG.info(
         "c3_5.refiner.strategy_loaded",