Add CAN-driven lazy inference with resident TensorRT engines

include/frame_result.hpp

@@ -1,6 +1,7 @@
 #pragma once
 // Public downstream contract. Owns its data; no GPU, JSON or network handles.
 #include "image.hpp"
+#include "lazy_gate.hpp"
 #include <array>
 #include <cstdint>
 #include <memory>
@@ -63,6 +64,7 @@ struct StageTiming {
     double detector_ms{}, pose_ms{}, fusion_risk_ms{}, capture_to_result_ms{};
 };
 struct FrameResult {
+    InferenceStatus inference;
     int frame_index{};
     std::vector<int> track_ids;
     std::vector<std::array<double,4>> boxes;