new gpr

python_app/gui/controllers/app_window_pipeline_mixin.py

@@ -399,21 +399,25 @@ class AppWindowPipelineMixin:
                 previous = current
             time.sleep(poll_s)
 
-    def _drain_results_until_quiet(self, *, timeout_s: float, poll_s: float) -> None:
-        """Drain only results ring until size stabilizes or timeout expires."""
+    def _drain_results_until_quiet(self, *, timeout_s: float, poll_s: float) -> ResultCollection | None:
+        """Drain results until at least one result arrives and the ring becomes quiet."""
         if self._result_reader is None:
-            return
+            return None
 
         deadline = time.monotonic() + timeout_s
         stable_rounds = 0
+        latest_seen: ResultCollection | None = None
 
-        while time.monotonic() < deadline and stable_rounds < 2:
+        while time.monotonic() < deadline and (latest_seen is None or stable_rounds < 2):
             latest = self._read_all_results()
             if latest is None:
-                stable_rounds += 1
+                if latest_seen is not None:
+                    stable_rounds += 1
             else:
+                latest_seen = latest
                 stable_rounds = 0
             time.sleep(poll_s)
+        return latest_seen
 
     def _update_history_indicator(self) -> None:
         """Update UI label with current history buffer sizes."""
@@ -466,22 +470,25 @@ class AppWindowPipelineMixin:
         )
 
     def _drain_locator_speed_updates(self) -> None:
-        """Apply queued speed updates received by the embedded locator server."""
-        latest_speed = self._locator_service.drain_speed_updates()
-        if latest_speed is None:
+        """Drain queued locator speed packets; coherent BP does not use motion speed."""
+        if self._locator_service is None:
             return
-        self._apply_external_gpr_speed_update(0.0)  # TODO: remove temporary stub and apply real locator client speed.
+        self._locator_service.drain_speed_updates()
 
     def _publish_locator_snapshot_from_collection(self, collection: ResultCollection) -> None:
         """Publish one locator snapshot from a GPR result collection."""
+        if self._locator_service is None:
+            return
         self._locator_service.publish_collection(
             collection,
-            float(self._gpr_min_visible_pair_count.value()),
+            float(self._gpr_min_visible_score.value()),
             visible_bounds=self._gpr_visible_object_bounds(),
         )
 
     def _publish_locator_snapshot_from_latest_result(self) -> None:
         """Publish current locator-visible snapshot from latest cached GPR result."""
+        if self._locator_service is None:
+            return
         if self._processing_mode.currentText() != "gpr":
             self._locator_service.publish_empty()
             return