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3401d05eca
Both live and replay paths used the legacy single-PRI extractor with the
LONG-PRI v_res placeholder, which yielded wrong velocities for the SHORT
and MEDIUM sub-frames. PR-Q.5 already provided extract_targets_from_frame_crt
(48-bin, 3-PRI Chinese-Remainder-Theorem unfolding) — this PR wires it in.
Changes:
- workers.py imports extract_targets_from_frame_crt at module scope.
- RadarDataWorker._run_host_dsp delegates to the CRT extractor and then
applies GPS pitch correction + DBSCAN clustering + Kalman tracking
on the returned targets. Inline det_indices loop and
velocity_resolution_long_mps placeholder removed.
- ReplayWorker.__init__ binds _extract_targets to the CRT extractor;
_emit_frame call simplifies to (frame, waveform, gps=).
- 32-bin legacy recordings still work via the CRT extractor's internal
fallback to extract_targets_from_frame.
- Module docstring stale "(64x32)" -> "(512x48)".
- Dropped unused `import numpy as np` from workers.py (no remaining users).
Tests (TestWorkersRouteThroughCrt, +4):
- 3-PRI detection produces CONFIRMED + alias_set (was UNKNOWN before).
- GPS pitch correction applied post-CRT to elevation.
- Both clustering+tracking off → returns [] (no DSP work).
- ReplayWorker._extract_targets is exactly the CRT function reference.
Regression: 232/232 (test_v7 115 + test_GUI_V65_Tk 117). Ruff clean.
Closes audit P-6 / task PR-Q.6 — C-5 host wiring complete (PR-Q.7 dashboard
display column is the remaining piece).