Fix no-progress timeout bug and apply code formatting

[Copilot]

The ExecutionMonitor::check() method was updating last_progress on every call, preventing the no-progress timeout from ever triggering.

Changes

• Fixed no-progress timeout mechanism: Removed automatic last_progress update from check(), added explicit mark_progress() method that callers must invoke after successfully processing each event
• Updated integration points: Modified run_closed_loop and particle filter loops to call mark_progress() after each event
• Applied code formatting: Fixed duplicate imports, collapsed nested if statements, resolved mutable borrow issues in particle filter measurement handling

Example

// Before: check() always updated last_progress, timeout never triggered
monitor.check("context")?;  // This would reset the progress timer

// After: Progress must be explicitly marked
monitor.check("context")?;  // Only checks, doesn't reset timer
process_event();
monitor.mark_progress();    // Explicitly mark progress after successful work

Known Limitation

The _execution_limits variable in run_geo_closed_loop_cli remains unused because geophysical navigation functions in the geonav crate don't yet accept ExecutionLimits parameters.

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[Copilot]

Pull request overview

This PR fixes a critical bug in the ExecutionMonitor's no-progress timeout mechanism and applies code formatting improvements. The timeout was being reset on every call to check(), preventing it from ever triggering, which defeated its purpose as a watchdog timer.

Changes:

• Fixed ExecutionMonitor bug by separating timeout checking from progress marking
• Added explicit mark_progress() calls in simulation loops after successful event processing
• Applied code formatting improvements (collapsed nested if-statements, fixed import ordering, improved line wrapping)

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
core/src/sim.rs	Fixed ExecutionMonitor bug by removing automatic last_progress update from check() and adding new mark_progress() method; reorganized imports
sim/src/main.rs	Added mark_progress() calls after event processing in particle filter loops; reordered duplicate imports; marked unused _execution_limits variable
sim/src/common.rs	Collapsed nested if-statements into let-chain pattern for cleaner code
core/tests/integration_tests.rs	Improved line wrapping for better readability
core/src/rbpf.rs	Improved line wrapping in matrix operations

[Copilot]

The new mark_progress() method lacks test coverage. The existing test test_execution_monitor_no_progress_timeout validates that the timeout triggers when no progress is made, but there is no test verifying that calling mark_progress() correctly resets the timer and prevents the timeout from triggering. Consider adding a test that calls mark_progress() between checks to ensure the timeout doesn't trigger when progress is being made.

[Copilot]

The _execution_limits variable is intentionally unused because geo_closed_loop_ukf and geo_closed_loop_ekf functions in the geonav crate don't accept ExecutionLimits parameters. This creates an inconsistency where geophysical navigation simulations lack execution timeout protection that other simulation modes have. Consider either updating the geonav functions to accept ExecutionLimits or removing this line until the functionality is ready to be integrated.

Suggested change

let _execution_limits = execution_limits_from_args(&args.sim);