fix(v7): store WaveformConfig on self; add set_waveform parity; fix magic 32

- Move WaveformConfig() from per-frame local in _run_host_dsp to
  self._waveform in __init__, mirroring ReplayWorker pattern.
- Add set_waveform() to RadarDataWorker for injection symmetry with
  ReplayWorker.set_waveform() — live path is now configurable.
- Replace hardcoded fallback 32 with self._waveform.n_doppler_bins.
- Update AST contract tests: WaveformConfig() check moves to __init__
  parse; attribute chains updated from ("wf", ...) to
  ("self", "_waveform", ...) to match renamed accessor.

9_Firmware/9_3_GUI/test_v7.py

@@ -672,16 +672,19 @@ class TestLiveReplayPhysicalUnitsParity(unittest.TestCase):
         return False
 
     def test_live_path_uses_waveform_config(self):
-        """_run_host_dsp must call WaveformConfig() and read
+        """RadarDataWorker.__init__ must instantiate WaveformConfig() into
-        wf.range_resolution_m / wf.velocity_resolution_mps — not
+        self._waveform; _run_host_dsp must read self._waveform.range_resolution_m
-        self._settings.range_resolution / velocity_resolution."""
+        / velocity_resolution_mps — not self._settings equivalents."""
+        init = self._parse_method("RadarDataWorker", "__init__")
+        self.assertTrue(self._has_call_to(init, "WaveformConfig"),
+            "RadarDataWorker.__init__ must instantiate WaveformConfig() into self._waveform.")
         method = self._parse_method("RadarDataWorker", "_run_host_dsp")
-        self.assertTrue(self._has_call_to(method, "WaveformConfig"),
+        self.assertTrue(
-            "Live path must instantiate WaveformConfig().")
+            self._has_attribute_chain(method, ("self", "_waveform", "range_resolution_m")),
-        self.assertTrue(self._has_attribute_chain(method, ("wf", "range_resolution_m")),
+            "Live path must read self._waveform.range_resolution_m.")
-            "Live path must read wf.range_resolution_m.")
+        self.assertTrue(
-        self.assertTrue(self._has_attribute_chain(method, ("wf", "velocity_resolution_mps")),
+            self._has_attribute_chain(method, ("self", "_waveform", "velocity_resolution_mps")),
-            "Live path must read wf.velocity_resolution_mps. "
+            "Live path must read self._waveform.velocity_resolution_mps. "
             "RadarSettings.velocity_resolution default 1.0 caused ~5.34x "
             "underreport vs replay (test_v7.py:449 pins ~5.343).")
         self.assertFalse(self._has_attribute_chain(

9_Firmware/9_3_GUI/v7/workers.py

@@ -84,6 +84,7 @@ class RadarDataWorker(QThread):
         self._recorder = recorder
         self._gps = gps_data_ref
         self._settings = settings or RadarSettings()
+        self._waveform = WaveformConfig()
         self._running = False
 
         # Frame queue for production RadarAcquisition → this thread
@@ -97,6 +98,9 @@ class RadarDataWorker(QThread):
         self._byte_count = 0
         self._error_count = 0
 
+    def set_waveform(self, wf: "WaveformConfig") -> None:
+        self._waveform = wf
+
     def stop(self):
         self._running = False
         if self._acquisition:
@@ -169,8 +173,8 @@ class RadarDataWorker(QThread):
         The FPGA already does: FFT, MTI, CFAR, DC notch.
         Host-side DSP adds: clustering, tracking, geo-coordinate mapping.
 
-        Bin-to-physical conversion uses WaveformConfig defaults to keep
+        Bin-to-physical conversion uses self._waveform (WaveformConfig) to keep
-        live and replay units aligned (same source of truth as ReplayWorker).
+        live and replay units aligned. Override via set_waveform() if needed.
         """
         targets: list[RadarTarget] = []
 
@@ -180,10 +184,9 @@ class RadarDataWorker(QThread):
 
         # Extract detections from FPGA CFAR flags
         det_indices = np.argwhere(frame.detections > 0)
-        wf = WaveformConfig()
+        r_res = self._waveform.range_resolution_m
-        r_res = wf.range_resolution_m
+        v_res = self._waveform.velocity_resolution_mps
-        v_res = wf.velocity_resolution_mps
+        n_doppler = frame.detections.shape[1] if frame.detections.ndim == 2 else self._waveform.n_doppler_bins
-        n_doppler = frame.detections.shape[1] if frame.detections.ndim == 2 else 32
         doppler_center = n_doppler // 2
 
         for idx in det_indices: