feat(safety): native real-time safe-projection via PyO3#7
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Port the safe_projection workspace envelope (AABB clamp plus radial sphere push-out) into an allocation-free Rust core, exposed to Python as ghostloop._rt_safety. policies/safe_projection.py now dispatches to the native path for sphere-only workspaces and falls back to the unchanged pure-Python implementation when the module is not built, preserving identical results and the projected_from audit field. Adds tests/test_rt_safety_equivalence.py: native vs Python projection is an exact match (max per-axis error 0.0) across index-seeded cases, and projected points satisfy the workspace envelope. Build the module with maturin; the compiled artifact is gitignored.
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What
Ports ghostloop's safe-projection workspace envelope (AABB clamp plus radial sphere push-out) into an allocation-free Rust core, exposed to Python as
ghostloop._rt_safety.Why
The safety-envelope projection sits on the control hot path. A native, heap-free implementation makes it real-time-grade (deterministic, WCET-bounded) while keeping the pure-Python path as the reference and fallback.
How
native/rt_safety(PyO3):in_envelopeandproject_to_workspace, fixed-capacity stack arrays, no heap on the hot path.policies/safe_projection.pydispatches to the native path for sphere-only workspaces and falls back to the unchanged pure-Python implementation when the module is not built. Return shape and theprojected_fromaudit field are identical.Verification
tests/test_rt_safety_equivalence.py: native vs Python projection is an exact match (max per-axis error 0.0) across index-seeded cases, and projected points satisfy the workspace envelope.Build note
Build the module with maturin (
maturin developinnative/rt_safety). The compiled.sois gitignored; without it, the guarded import simply uses the pure-Python path.