feat: background placement for anytime tasks - #1248
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Also fix a stale test comment and the example crate description.
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The hooks run when the wrapped task is idle and are skipped while a background run holds it, so a backgrounded anytime task now sees them.
One precomputed vec (inner_task_types: the type inside the optional async wrapper) replaces the per-site background_inner_type calls and the index threading through the type-building closures.
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An
anytime:node can now setbackground: true. It compiles toCuAsyncTask<CuAnytimeRunner<T, Policy>, O>: the node keeps a singleWholepoll step in the plan, and the worker thread runs one whole job per dispatch — age check,base(), refine quanta under the policy ZST,finish.CuAnytimeRunner(doc(hidden), like the rest of the anytime machinery) holds the refinement loop in library code; every policy check const-folds exactly as in the emitted foreground blocks, with the same one-clock-read-per-quantum shape and stop-cause attribution.AnytimePolicy::MAX_REFINESis read only by the runner's loop; a foreground plan still encodes the count positionally and never reads it.anchor_from_tovhelper replaces the emitted anchor match; the foreground base block now calls it too.background_inner_typehelper at every background type site; background anytime nodes keep their single plan step (no expansion, no hoisted job local).max_refines: a time bound alone closes the loop, which config validation already guarantees.CuAsyncTask: job-final delivery at the first poll at or after the worker finished; the input clone preservestov, somax_age_msabsorbs upstream delay and pool queueing; task errors surface at the next poll; freeze cannot happen mid-job.Tests: runner unit tests for every stop cause (converge, quanta bound, budget, stale skip, abort at base, quality floor), a composition test through
CuAsyncTaskasserting the status stamp survives the buffered-output copy, compile-pass apps (default and sim mode) covering a time-only background node and a named pool with resources, and a runnable example with foreground and background nodes sharing one task type.