Multi-LiDAR service

multi-lidar-service is a read-only field-replacement gate for a vehicle's multi-LiDAR frame graph. It binds the old and new physical sensor identities, baseline/candidate edge artifacts, the exact mutable incident edge allowlist, and a candidate raw-replay result by SHA-256.

calibrex multi-lidar-service plan definition.yaml --output plan.yaml
calibrex multi-lidar-service evaluate plan.yaml --candidate-replay replay-result.json --output evaluation.yaml
calibrex multi-lidar-service verify evaluation.yaml --plan plan.yaml --json

Evaluation is fail-closed. It requires a self-digest-valid plan and inputs, rejects changed edges outside the allowlist, requires candidate replay PASS/ADOPT with holdout, known_bad, and observability gates all PASS, and checks candidate graph connectedness and cycle closure budgets. The result is READY or HOLD with machine-readable reasons. Lifecycle and Autoware references may be recorded for provenance, but this service never applies package or registry mutations.

The synthetic fixture is in examples/multi_lidar_service/synthetic.