Retain aircraft through native landing and qualify bounded input diagnostics

tools/prison_approach_proof.py

@@ -109,7 +109,7 @@ def perform_approach(guard, keyboard, mouse, observe, geometry, calibration, rep
              'target': list(target), 'deadline_monotonic': deadline, 'started_monotonic': clock(),
              'finished_monotonic': None, 'motions': [], 'events': [], 'stops': [],
              'samples': [], 'cumulative_horizontal_m': 0., 'unconfirmed_held_key': None,
-             'paired_release_errors': []}
+             'paired_release_errors': [], 'release_timings': []}
     report['approach_proof'] = state
     previous = None; held = False; turn_count = 0; pixels = 0; pulse_count = 0
     largest_stop = None; active_turn = None
@@ -226,11 +226,35 @@ def perform_approach(guard, keyboard, mouse, observe, geometry, calibration, rep
             require(growing < 2 and flips <= 2, 'Native heading failed to converge')
             s = after
 
-    def release():
+    def release(not_before=None, cleanup=False):
         nonlocal held
+        # At most two checks per normal pulse and one finally release attempt.
+        # These are diagnostic times, never authority to skip a fresh guard.
+        timing = {'cleanup': cleanup, 'guards': [], 'up_attempted_monotonic': None,
+                  'up_returned_monotonic': None}
+        state['release_timings'].append(timing)
+        def checked():
+            record = {'entered_monotonic': clock(), 'returned_monotonic': None}
+            timing['guards'].append(record)
+            try:
+                guard.check()
+            except Exception as error:
+                record['error'] = str(error)
+                raise
+            finally:
+                record['returned_monotonic'] = clock()
         # A native context failure does not prevent an owned release; only the
         # full live private display/process/focus proof authorizes that release.
-        guard.check(); keyboard.send('W', False)
+        # Use the initial minimum hold to perform that proof instead of adding
+        # an unconditional 50ms before its already substantial runtime.
+        checked()
+        remaining = 0. if not_before is None else not_before-clock()
+        if remaining > 0:
+            sleep(remaining)
+            checked()  # waiting invalidates the preceding ownership proof
+        timing['up_attempted_monotonic'] = clock()
+        keyboard.send('W', False)
+        timing['up_returned_monotonic'] = clock()
         state['events'].append({'key': 'W', 'down': False, 'monotonic': clock()})
         end = clock()+.35
         while True:
@@ -275,8 +299,7 @@ def perform_approach(guard, keyboard, mouse, observe, geometry, calibration, rep
             notify({'kind': 'press-pending', 'key': 'W'})
             keyboard.send('W', True); pressed = clock()
             state['events'].append({'key': 'W', 'down': True, 'monotonic': pressed})
-            sleep(.05)
-            release()
+            release(not_before=pressed+.05)
             released = state['events'][-1]['monotonic']
             require(released-pressed <= .4, 'Actual W hold exceeded 400ms approach bound')
             pulse_count += 1
@@ -301,7 +324,7 @@ def perform_approach(guard, keyboard, mouse, observe, geometry, calibration, rep
         raise
     finally:
         if held:
-            try: release()
+            try: release(cleanup=True)
             except Exception as error: state['paired_release_errors'].append(str(error))
         state['finished_monotonic'] = clock()
         notify({'kind': 'approach-finished', 'successful': state['completed']})