feat: ADR-080 P1+P2 remediation — refactor, perf, tests, safety

P1 fixes (this sprint):
- P1-6: Extract sensing-server modules (cli, types, csi, pose) from main.rs
- P1-7: DDA ray march for tomography — O(max(n)) replaces O(n^3) voxel scan
- P1-8: Batch neural inference — Tensor::stack/split for single GPU call
- P1-10: Eliminate 112KB/frame alloc — islice replaces deque→list copy

P2 fixes (this quarter):
- P2-11: Python unit tests for 8 modules (rate_limit, auth, error_handler,
  pose_service, stream_service, hardware_service, health_check, metrics)
- P2-13: MAT simulated data safety guard — blocking overlay + pulsing banner
- P2-14: Wire token blacklist into auth verification + logout endpoint
- P2-15: Frame budget benchmark — confirms pipeline well under 50ms budget

Addresses 8 of 10 remaining issues from QE analysis (ADR-080).

Co-Authored-By: claude-flow <ruv@ruv.net>

ui/mobile/src/screens/MATScreen/SimulationBanner.tsx

@@ -0,0 +1,49 @@
+import React, { useEffect, useRef } from 'react';
+import { Animated, StyleSheet, Text, View } from 'react-native';
+
+interface Props {
+  visible: boolean;
+}
+
+export const SimulationBanner: React.FC<Props> = ({ visible }) => {
+  const opacity = useRef(new Animated.Value(1)).current;
+
+  useEffect(() => {
+    if (!visible) return;
+
+    const pulse = Animated.loop(
+      Animated.sequence([
+        Animated.timing(opacity, { toValue: 0.4, duration: 800, useNativeDriver: true }),
+        Animated.timing(opacity, { toValue: 1.0, duration: 800, useNativeDriver: true }),
+      ]),
+    );
+    pulse.start();
+    return () => pulse.stop();
+  }, [visible, opacity]);
+
+  if (!visible) return null;
+
+  return (
+    <Animated.View style={[styles.banner, { opacity }]}>
+      <Text style={styles.text}>SIMULATED DATA - NOT CONNECTED TO REAL SENSORS</Text>
+    </Animated.View>
+  );
+};
+
+const styles = StyleSheet.create({
+  banner: {
+    backgroundColor: '#e74c3c',
+    paddingVertical: 6,
+    paddingHorizontal: 12,
+    borderRadius: 6,
+    alignItems: 'center',
+    marginBottom: 8,
+  },
+  text: {
+    color: '#ffffff',
+    fontWeight: '700',
+    fontSize: 12,
+    letterSpacing: 0.5,
+    textAlign: 'center',
+  },
+});

ui/mobile/src/screens/MATScreen/SimulationWarningOverlay.tsx

@@ -0,0 +1,78 @@
+import React from 'react';
+import { Modal, Pressable, StyleSheet, Text, View } from 'react-native';
+
+interface Props {
+  visible: boolean;
+  onAcknowledge: () => void;
+}
+
+export const SimulationWarningOverlay: React.FC<Props> = ({ visible, onAcknowledge }) => (
+  <Modal visible={visible} transparent animationType="fade">
+    <View style={styles.backdrop}>
+      <View style={styles.card}>
+        <Text style={styles.icon}>&#9888;</Text>
+        <Text style={styles.title}>SIMULATED DATA</Text>
+        <Text style={styles.body}>
+          NOT CONNECTED TO REAL SENSORS{'\n\n'}
+          All survivor detections, vital signs, and alerts displayed on this screen are
+          generated from simulated data and do not reflect actual conditions.
+        </Text>
+        <Pressable style={styles.button} onPress={onAcknowledge}>
+          <Text style={styles.buttonText}>I UNDERSTAND</Text>
+        </Pressable>
+      </View>
+    </View>
+  </Modal>
+);
+
+const styles = StyleSheet.create({
+  backdrop: {
+    flex: 1,
+    backgroundColor: 'rgba(0,0,0,0.85)',
+    justifyContent: 'center',
+    alignItems: 'center',
+    padding: 24,
+  },
+  card: {
+    backgroundColor: '#1a1a2e',
+    borderRadius: 16,
+    padding: 32,
+    alignItems: 'center',
+    borderWidth: 2,
+    borderColor: '#e74c3c',
+    maxWidth: 420,
+    width: '100%',
+  },
+  icon: {
+    fontSize: 48,
+    color: '#e74c3c',
+    marginBottom: 12,
+  },
+  title: {
+    fontSize: 22,
+    fontWeight: '800',
+    color: '#e74c3c',
+    textAlign: 'center',
+    marginBottom: 16,
+    letterSpacing: 1,
+  },
+  body: {
+    fontSize: 15,
+    color: '#cccccc',
+    textAlign: 'center',
+    lineHeight: 22,
+    marginBottom: 28,
+  },
+  button: {
+    backgroundColor: '#e74c3c',
+    paddingHorizontal: 36,
+    paddingVertical: 14,
+    borderRadius: 8,
+  },
+  buttonText: {
+    color: '#ffffff',
+    fontWeight: '700',
+    fontSize: 16,
+    letterSpacing: 0.5,
+  },
+});

ui/mobile/src/screens/MATScreen/index.tsx

@@ -10,6 +10,8 @@ import { type ConnectionStatus } from '@/types/sensing';
 import { Alert, type Survivor } from '@/types/mat';
 import { AlertList } from './AlertList';
 import { MatWebView } from './MatWebView';
+import { SimulationBanner } from './SimulationBanner';
+import { SimulationWarningOverlay } from './SimulationWarningOverlay';
 import { SurvivorCounter } from './SurvivorCounter';
 import { useMatBridge } from './useMatBridge';
 
@@ -47,6 +49,15 @@ export const MATScreen = () => {
   const upsertSurvivor = useMatStore((state) => state.upsertSurvivor);
   const addAlert = useMatStore((state) => state.addAlert);
   const upsertEvent = useMatStore((state) => state.upsertEvent);
+  const dataSource = useMatStore((state) => state.dataSource);
+  const simulationAcknowledged = useMatStore((state) => state.simulationAcknowledged);
+  const setDataSource = useMatStore((state) => state.setDataSource);
+  const acknowledgeSimulation = useMatStore((state) => state.acknowledgeSimulation);
+
+  // Sync dataSource from connection status
+  useEffect(() => {
+    setDataSource(connectionStatus === 'connected' ? 'real' : 'simulated');
+  }, [connectionStatus, setDataSource]);
 
   const { webViewRef, ready, onMessage, sendFrameUpdate, postEvent } = useMatBridge({
     onSurvivorDetected: (survivor) => {
@@ -113,8 +124,13 @@ export const MATScreen = () => {
   const { height } = useWindowDimensions();
   const webHeight = Math.max(240, Math.floor(height * 0.5));
 
+  const showOverlay = dataSource === 'simulated' && !simulationAcknowledged;
+  const showBanner = dataSource === 'simulated' && simulationAcknowledged;
+
   return (
     <ThemedView style={{ flex: 1, backgroundColor: colors.bg, padding: spacing.md }}>
+      <SimulationWarningOverlay visible={showOverlay} onAcknowledge={acknowledgeSimulation} />
+      <SimulationBanner visible={showBanner} />
       <ConnectionBanner status={resolveBannerState(connectionStatus)} />
       <View style={{ marginTop: 20 }}>
         <SurvivorCounter survivors={survivors} />