[yeseorizi]

Summary

Make ocean-current update requests all-or-nothing with respect to validation, and timestamp current messages with simulation time. Reproduced on main at 0d19c3f.

Previously, a request with a valid speed but an invalid angle could change the speed and then return success=false. NaN could also pass the model's range comparisons.

• Reject non-finite mean/model parameters before mutating a Gauss-Markov model.
• Validate speed and both angles on model copies before committing a constant or stratified update.
• Check the stratified database, model count and model-row length before indexing a requested layer.
• Use UpdateInfo.simTime for both current message timestamps instead of a node clock that can be wall time.

This preserves the existing stochastic/physical formulas. “All-or-nothing” here describes validation semantics, not a new cross-thread synchronization guarantee.

Reproduction and validation

• New model tests cover 15 non-finite parameter combinations, rejection without state changes, and valid boundary behavior.
• Independently rebuilt this branch's world/ROS packages against the unmodified main workspace with UBSan / float-cast-overflow enabled; all 3 model cases passed in 10 repeats (30 case executions).
• Independent real-service rerun: constant-current 4/4 and stratified-current 8/8 passed after the fix, including invalid second/third fields, NaN and invalid layers; the stratified baseline failed 4 of those 8 checks.
• Both current message types carried increasing simulation-scale timestamps in the independent scene run; cleanup left no simulator processes.
• Changed-file pre-commit checks passed.

colcon build --packages-select posim_gz_world_plugins posim_ros_gz_plugins \
  --cmake-args -DBUILD_TESTING=ON
ctest --test-dir build/posim_gz_world_plugins --output-on-failure \
  -R '^test_current_model$' --repeat until-fail:10

Scope / limitations

Tested in Ubuntu 26.04 ARM64 Docker on an Apple Silicon Mac, ROS 2 Lyrical / Gazebo Jetty 10.5.0. Service integration used the local diagnostic ros_gz_bridge shutdown overlay; its shutdown behavior is a separate dependency issue. No new current model, WGPU change, real-ocean accuracy or native-host validation is claimed.

The existing locally patched asv_wave_sim dependency also remained installed during scene checks. Neither that renderer teardown patch nor the bridge overlay is included in this PR; successful scene cleanup is not attributed to this change alone.

Checklist

• Forked the repository and kept the change focused.
• Added model regression tests and ran targeted functional tests plus changed-file pre-commit.
• Signed commits with DCO and disclosed AI assistance.
• Entire repository colcon test is clean. The earlier full audit also reports pre-existing ament cpplint/uncrustify/copyright failures; no tests were disabled here.
• Remote formatting CI passed. Docker jobs are intentionally skipped for fork PRs; this is not a Docker build result.

Assisted-by: OpenAI Codex (implementation, tests and PR preparation).