Lab038: add control failsafe and emergency acknowledgement

PROJECT_LOG.md

@@ -286,3 +286,28 @@ git version 2.51.1.windows.1
 - Своевременная доставка аварийной команды по радиоканалу не гарантируется.
 - Для безопасного поведения при потере связи требуется локальный сторожевой таймер на ровере.
 - Следующий этап исследует сторожевой таймер, временно разнесённую аварийную команду и подтверждение получения.
+
+---
+
+# Запись 013
+
+## Дата
+
+4 августа 2026 года
+
+## Тема
+
+Завершение Lab038: локальный сторожевой таймер и подтверждаемая аварийная команда.
+
+## Выполнено
+
+- Lab038 исследует локальный сторожевой таймер, разнесённую аварийную команду и подтверждение получения.
+- Три инварианта безопасности не нарушены ни разу.
+- Подтверждение не является условием выполнения аварийной остановки.
+- Режим с подтверждением сохранил итоговую доставку аварийной команды 99,694%.
+- Среднее число аварийных копий уменьшилось с 11 до 1,071.
+- Дополнительная нагрузка подтверждаемого режима составляет около 0,0093 кбит/с.
+- Дополнительное повторение обычных команд не принято как основной режим.
+- Порог 100 мс вызывает слишком частые безопасные остановки.
+- Порог 500 мс допускает слишком большой путь до реакции.
+- Для следующей проверки принята двухступенчатая логика: предварительная реакция после 150 мс и обязательная остановка после 250 мс.

data/processed/lab038/lab038_command_metrics.csv

@@ -0,0 +1,49 @@
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data/processed/lab038/lab038_emergency_metrics.csv

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data/processed/lab038/lab038_failsafe_metrics.csv

@@ -0,0 +1,193 @@
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+230.0,1000.0,lab037_repetition,150.0,1.96,0.98,0.01561401739130488,955.9602484472373,2817.121739130318,5848.50434782588,150.0,0.16,1.96,0.0,124.72886312104937,149.55200475733932,1.0416666666666667,0,0,0
+230.0,1000.0,lab037_repetition,250.0,1.76,0.88,0.014052133333333876,958.1000000000369,2802.2260869564234,5748.504347825886,250.0,0.36,1.76,0.0,224.42581644848326,249.55200475733363,1.7361111111111112,0,0,0
+230.0,1000.0,lab037_repetition,500.0,1.37,0.685,0.010856684057971506,950.9504284354604,2824.055652173819,5498.504347825886,500.0,0.75,1.37,0.0,474.821957970639,499.55200475733363,3.4722222222222223,0,0,0
+230.0,1000.0,spread_emergency,100.0,2.1,1.05,0.016661289855073372,952.0737060041927,2878.716521739271,5896.000000000285,100.0,0.06,2.1,0.0,72.87388938753178,99.92862108676093,0.6944444444444444,0,0,0
+230.0,1000.0,spread_emergency,150.0,2.04,1.02,0.015800727536232715,929.4545609548655,2836.6678260870867,5846.000000000274,150.0,0.12,2.04,0.0,123.24325884983082,149.9286210867723,1.0416666666666667,0,0,0
+230.0,1000.0,spread_emergency,250.0,1.84,0.92,0.014220026086957358,927.3930056711321,2749.867826087075,5746.000000000279,250.0,0.32,1.84,0.0,222.99255092853048,249.9286210867666,1.7361111111111112,0,0,0
+230.0,1000.0,spread_emergency,500.0,1.36,0.68,0.010963084057971768,967.3309462916266,2852.243478260842,5496.000000000279,500.0,0.8,1.36,0.0,473.23712344562915,499.9286210867666,3.4722222222222223,0,0,0
+230.0,1000.0,acknowledged_emergency,100.0,2.1,1.05,0.016682953663044436,953.3116378882534,2861.090434782652,5861.321739130744,100.0,0.09,2.1,0.0,72.96799037623916,99.05123953016215,0.6944444444444444,0,0,0
+230.0,1000.0,acknowledged_emergency,150.0,2.02,1.01,0.01582271598188494,939.963325656531,2811.8834782609797,5811.3217391307335,150.0,0.17,2.02,0.0,123.15215697133662,149.0512395301593,1.0416666666666667,0,0,0
+230.0,1000.0,acknowledged_emergency,250.0,1.83,0.915,0.01420750873550813,931.6399170825002,2739.9373913044788,5711.321739130739,250.0,0.36,1.83,0.0,223.42015393242866,249.05123953016073,1.7361111111111112,0,0,0
+230.0,1000.0,acknowledged_emergency,500.0,1.36,0.68,0.010958571054348625,966.9327400895844,2851.3999999999696,5461.321739130739,500.0,0.83,1.36,0.0,473.9010502362745,499.03980961070005,3.4722222222222223,0,0,0

data/processed/lab038/lab038_report.txt

@@ -0,0 +1,159 @@
+Lab038 — безопасная остановка при потере команд и подтверждаемая аварийная команда
+
+Состояние Git до реализации
+- Корень: C:/Users/user/Desktop/projects/SDR_Rover
+- Ветка: main
+- HEAD: 3e0ef5666eed6833818a731383220b2e15926889
+- Известные незакоммиченные файлы: только результаты и исходники Lab037.
+- Неизвестных изменений не обнаружено; fetch, pull и push не выполнялись.
+
+Параметры модели
+- Один опыт: 120 с; повторов: 100; сочетаний: 48.
+- Канал: Bad≈2%, средние Bad=(10.0, 50.0, 200.0, 1000.0) мс, скорости=(300.0, 260.0, 230.0) кбит/с.
+- Видео: 512 байт, FEC 12+3, блоки не пересекают составные кадры, 3 кадра/с.
+- Команды: 20 Гц; телеметрия: 10 Гц; emergency: 30/60/90 с.
+- Приоритет: emergency > ACK > control > telemetry > video; передача пакета не прерывается.
+- Watchdog 100/150/250/500 мс вычисляется по одной последовательности приёма каждого опыта.
+- CRC-пакетов при построении: 12356; FEC-блоков: 714.
+- ACK использует неизменный LinkPacket, направление ROVER_TO_GROUND, отдельный stream_id и payload с identity emergency.
+
+Таблица 48 сочетаний
+rate | Bad ms | mode | load kbit/s | queue mean/max | command miss % | max gap ms | emergency <=50 ms % | ACK % | video % | image P95 ms
+300 | 10 | single | 258.446 | 8.38/21 | 2.241 | 212.560 | 97.67 | 0.00 | 94.15 | 294.240
+300 | 10 | lab037_repetition | 265.831 | 8.70/21 | 0.292 | 185.413 | 100.00 | 0.00 | 94.36 | 301.600
+300 | 10 | spread_emergency | 258.574 | 8.39/21 | 2.243 | 212.560 | 97.67 | 0.00 | 94.14 | 294.240
+300 | 10 | acknowledged_emergency | 258.455 | 8.38/21 | 2.240 | 212.560 | 97.67 | 100.00 | 94.15 | 294.240
+300 | 50 | single | 258.446 | 8.38/21 | 2.087 | 535.067 | 96.33 | 0.00 | 94.18 | 292.293
+300 | 50 | lab037_repetition | 265.831 | 8.70/21 | 1.275 | 530.480 | 98.00 | 0.00 | 94.16 | 299.653
+300 | 50 | spread_emergency | 258.574 | 8.39/21 | 2.087 | 535.067 | 96.33 | 0.00 | 94.18 | 292.293
+300 | 50 | acknowledged_emergency | 258.455 | 8.38/21 | 2.087 | 535.067 | 96.33 | 100.00 | 94.18 | 292.293
+300 | 200 | single | 258.446 | 8.38/21 | 2.094 | 1402.427 | 97.00 | 0.00 | 96.12 | 292.293
+300 | 200 | lab037_repetition | 265.831 | 8.70/21 | 1.861 | 1386.213 | 97.33 | 0.00 | 96.07 | 299.653
+300 | 200 | spread_emergency | 258.574 | 8.39/21 | 2.094 | 1402.427 | 97.00 | 0.00 | 96.12 | 292.293
+300 | 200 | acknowledged_emergency | 258.456 | 8.38/21 | 2.094 | 1402.427 | 97.00 | 99.67 | 96.12 | 292.293
+300 | 1000 | single | 258.446 | 8.38/21 | 2.513 | 8554.426 | 97.33 | 0.00 | 97.03 | 292.293
+300 | 1000 | lab037_repetition | 265.831 | 8.70/21 | 2.460 | 8550.746 | 97.67 | 0.00 | 97.03 | 299.653
+300 | 1000 | spread_emergency | 258.574 | 8.39/21 | 2.513 | 8554.426 | 97.33 | 0.00 | 97.03 | 292.293
+300 | 1000 | acknowledged_emergency | 258.457 | 8.38/21 | 2.513 | 8554.426 | 97.33 | 98.00 | 97.03 | 292.293
+260 | 10 | single | 258.446 | 16.18/36 | 2.243 | 205.046 | 97.00 | 0.00 | 93.83 | 603.271
+260 | 10 | lab037_repetition | 265.831 | 16.33/38 | 0.319 | 184.185 | 100.00 | 0.00 | 91.61 | 635.600
+260 | 10 | spread_emergency | 258.574 | 16.37/37 | 2.247 | 205.046 | 97.00 | 0.00 | 93.78 | 610.329
+260 | 10 | acknowledged_emergency | 258.455 | 16.19/37 | 2.244 | 207.200 | 97.00 | 100.00 | 93.81 | 604.267
+260 | 50 | single | 258.446 | 16.18/36 | 2.098 | 501.785 | 98.00 | 0.00 | 94.07 | 603.271
+260 | 50 | lab037_repetition | 265.831 | 16.33/38 | 1.327 | 510.585 | 98.67 | 0.00 | 91.40 | 635.098
+260 | 50 | spread_emergency | 258.574 | 16.37/37 | 2.094 | 501.785 | 98.00 | 0.00 | 94.00 | 610.329
+260 | 50 | acknowledged_emergency | 258.455 | 16.19/37 | 2.088 | 501.785 | 98.00 | 100.00 | 94.06 | 604.267
+260 | 200 | single | 258.446 | 16.18/36 | 1.930 | 1867.846 | 98.33 | 0.00 | 96.21 | 603.271
+260 | 200 | lab037_repetition | 265.831 | 16.33/38 | 1.718 | 1834.738 | 98.33 | 0.00 | 93.52 | 635.098
+260 | 200 | spread_emergency | 258.574 | 16.37/37 | 1.931 | 1867.846 | 98.33 | 0.00 | 96.23 | 610.329
+260 | 200 | acknowledged_emergency | 258.455 | 16.20/37 | 1.931 | 1867.846 | 98.33 | 100.00 | 96.21 | 604.267
+260 | 1000 | single | 258.446 | 16.18/36 | 1.908 | 5454.092 | 98.00 | 0.00 | 97.63 | 603.271
+260 | 1000 | lab037_repetition | 265.831 | 16.33/38 | 1.864 | 5423.631 | 98.33 | 0.00 | 94.91 | 635.098
+260 | 1000 | spread_emergency | 258.574 | 16.37/37 | 1.908 | 5460.154 | 98.00 | 0.00 | 97.63 | 610.329
+260 | 1000 | acknowledged_emergency | 258.456 | 16.20/37 | 1.908 | 5452.800 | 98.00 | 99.00 | 97.63 | 603.969
+230 | 10 | single | 258.446 | 19.43/40 | 2.360 | 216.383 | 98.00 | 0.00 | 83.02 | 670.884
+230 | 10 | lab037_repetition | 265.831 | 20.26/39 | 0.359 | 168.104 | 99.00 | 0.00 | 80.01 | 695.130
+230 | 10 | spread_emergency | 258.574 | 19.67/39 | 2.371 | 216.383 | 98.33 | 0.00 | 82.95 | 671.803
+230 | 10 | acknowledged_emergency | 258.454 | 19.42/40 | 2.351 | 216.383 | 98.33 | 100.00 | 83.02 | 670.122
+230 | 50 | single | 258.446 | 19.43/40 | 2.018 | 502.539 | 98.67 | 0.00 | 83.57 | 669.867
+230 | 50 | lab037_repetition | 265.831 | 20.26/39 | 1.304 | 467.965 | 98.67 | 0.00 | 80.33 | 695.130
+230 | 50 | spread_emergency | 258.574 | 19.67/39 | 2.035 | 502.539 | 98.67 | 0.00 | 83.46 | 671.803
+230 | 50 | acknowledged_emergency | 258.454 | 19.42/40 | 2.022 | 502.539 | 98.67 | 100.00 | 83.55 | 669.867
+230 | 200 | single | 258.446 | 19.43/40 | 2.022 | 1663.200 | 98.00 | 0.00 | 84.90 | 669.867
+230 | 200 | lab037_repetition | 265.831 | 20.26/39 | 1.818 | 1678.643 | 98.33 | 0.00 | 81.65 | 695.130
+230 | 200 | spread_emergency | 258.574 | 19.67/39 | 2.022 | 1645.391 | 98.00 | 0.00 | 84.88 | 671.803
+230 | 200 | acknowledged_emergency | 258.455 | 19.42/40 | 2.025 | 1619.304 | 98.33 | 100.00 | 84.90 | 669.867
+230 | 1000 | single | 258.446 | 19.43/40 | 1.758 | 5994.330 | 99.00 | 0.00 | 86.66 | 669.867
+230 | 1000 | lab037_repetition | 265.831 | 20.26/39 | 1.715 | 5998.504 | 99.33 | 0.00 | 83.33 | 695.130
+230 | 1000 | spread_emergency | 258.574 | 19.67/39 | 1.752 | 5996.000 | 99.00 | 0.00 | 86.62 | 671.803
+230 | 1000 | acknowledged_emergency | 258.455 | 19.42/40 | 1.757 | 5961.322 | 99.00 | 99.67 | 86.65 | 669.867
+
+Обычные команды
+- Доля недоставленных состояний: 0.292…2.513%.
+- Максимальный промежуток без свежей команды: 8554.426 мс.
+- Максимальная серия недоставленных состояний: 170.
+- Поток 20 Гц сам создаёт естественное временное разнесение последовательных состояний.
+
+Аварийные команды и подтверждения
+- Доставка хотя бы одной emergency-копии: 94.00…100.00%.
+- Доставка emergency за 50 мс: 94.00…100.00%.
+- Получение ACK в режиме 4: 96.00…100.00%.
+- Подтверждение информирует наземную станцию, но не является условием выполнения аварийной остановки.
+- Потеря ACK не снимает уже выполненную остановку; дубликат emergency порождает новый ACK.
+
+Сторожевой таймер и безопасность
+threshold ms | distance at 25 km/h, m | triggers/min min..max | safe fraction min..max
+100 | 0.694 | 1.045…15.370 | 0.000354…0.024072
+150 | 1.042 | 0.015…4.380 | 0.000003…0.023038
+250 | 1.736 | 0.000…2.405 | 0.000000…0.021092
+500 | 3.472 | 0.000…0.895 | 0.000000…0.016968
+- Максимальное использование устаревшей команды до локальной остановки: 500.000 мс.
+- Превышение порога без включения остановки: 0.
+- Снятие временной остановки старой/дублирующей командой: 0.
+- Снятие аварийной остановки обычной командой: 0.
+- Короткий watchdog чаще вызывает временные остановки; длинный увеличивает путь до остановки. Порог автоматически не выбирается.
+
+Нагрузка, очередь, видео и телеметрия
+- Предложенная нагрузка: 258.446…265.831 кбит/с.
+- ACK-нагрузка: 0…0.008456 кбит/с.
+- Максимальная очередь: 40 пакетов / 22402 байт; waiting video=1.
+- Видео опубликовано: 80.01…97.63%; полезный поток 124.732…151.964 кбит/с.
+- Телеметрия доставлена: 97.28…98.24%; максимальный разрыв 8592.613 мс.
+
+Принципиальные выводы
+- Повторение не гарантирует доставку во время полной физической недоступности канала.
+- Срок удалённой аварийной команды 50 мс нельзя гарантировать при помехе длительнее 50 мс.
+- Безопасное поведение при такой недоступности обеспечивает локальный сторожевой таймер.
+- ACK подтверждает получение для наземной станции, но аварийная остановка выполняется до ACK.
+
+Функциональные проверки
+- PASS 01_stale_command_does_not_refresh_watchdog: old/equal sequence leaves timer unchanged
+- PASS 02_new_command_refreshes_watchdog: new sequence refreshes timer
+- PASS 03_watchdog_expiry_enters_safe_state: zero speed, braking, movement disabled
+- PASS 04_new_command_releases_only_temporary_stop: fresh state releases temporary stop
+- PASS 05_normal_command_cannot_release_emergency: latched emergency remains effective
+- PASS 06_first_emergency_copy_latches_stop: first copy executes stop
+- PASS 07_emergency_duplicate_does_not_repeat_action: duplicate counted without repeated action
+- PASS 08_ack_contains_emergency_identity: ACK payload identifies stream and sequence
+- PASS 09_lost_ack_continues_repetition: observed lost ACK followed by continued copies
+- PASS 10_received_ack_stops_future_copies: received ACK removed/skipped future copies
+- PASS 11_duplicate_emergency_can_repeat_ack: received duplicate generated another ACK
+- PASS 12_late_old_command_no_rollback: late old state ignored
+- PASS 13_emergency_has_highest_priority: scheduler rank emergency=1
+- PASS 14_ack_above_normal_control: scheduler rank ACK=2, control=3
+- PASS 15_current_packet_is_nonpreemptive: all serialization intervals are disjoint
+- PASS 16_repetitions_and_acks_in_load: repeat and ACK bytes observed in accounting
+- PASS 17_latest_unstarted_video_is_bounded: at most one unstarted video frame
+- PASS 18_incomplete_video_not_published: k-1 symbols cannot publish a block
+- PASS 19_crc_and_fec_validate_received_data: valid data decodes; both CRC layers reject damage
+- PASS 20_fixed_seed_reproducibility: same seed gives identical Bad intervals
+
+Созданные файлы
+- protocol/control_failsafe.py
+- protocol/emergency_ack.py
+- tests/lab038_control_failsafe.py
+- data/processed/lab038/lab038_summary.csv
+- data/processed/lab038/lab038_command_metrics.csv
+- data/processed/lab038/lab038_emergency_metrics.csv
+- data/processed/lab038/lab038_failsafe_metrics.csv
+- data/processed/lab038/lab038_video_metrics.csv
+- data/processed/lab038/lab038_report.txt
+- data/processed/lab038/lab038_command_gap.png
+- data/processed/lab038/lab038_watchdog_triggers.png
+- data/processed/lab038/lab038_safe_stop_time.png
+- data/processed/lab038/lab038_emergency_timeliness.png
+- data/processed/lab038/lab038_ack_time.png
+- data/processed/lab038/lab038_additional_load.png
+- data/processed/lab038/lab038_video_impact.png
+- data/processed/lab038/lab038_mode_comparison.png
+
+Итоговый git status
+?? data/processed/lab037/
+?? data/processed/lab038/
+?? protocol/control_failsafe.py
+?? protocol/control_repetition.py
+?? protocol/emergency_ack.py
+?? tests/lab037_lossy_full_link.py
+?? tests/lab038_control_failsafe.py
+
+Lab038 не добавлен в Git и не закоммичен. Двоичные пакеты, JPEG, дампы и подробные пакетные журналы не сохранялись.

data/processed/lab038/lab038_summary.csv

@@ -0,0 +1,49 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,acknowledgement_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,control_repeat_load_kbps,emergency_copy_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,queue_release_seconds,lost_packets_mean,lost_bytes_mean,telemetry_delivered_fraction,telemetry_max_gap_ms
+300.0,10.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,399.44,189913.65,0.9753416666666667,512.9063333333335
+300.0,10.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,454.77,192124.14,0.9744583333333333,413.17399999999793
+300.0,10.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,400.24,190052.63,0.97535,512.9063333333335
+300.0,10.0,acknowledged_emergency,100,0.013184,0.008456,7.36,7.68,243.39286666666666,258.4545066666667,0.0,0.0003839999999999994,86.15150222222222,8.381158730557713,21,4607.224563388274,11397,1,0.0,399.46,189928.91,0.9753416666666667,512.9063333333335
+300.0,50.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,244.08,102290.0,0.9787666666666667,600.3736666666662
+300.0,50.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,293.44,104286.36,0.9787166666666667,599.1469999999995
+300.0,50.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,244.68,102354.57,0.9787583333333333,600.3736666666662
+300.0,50.0,acknowledged_emergency,100,0.013568000000000002,0.008400000000000001,7.36,7.68,243.39286666666666,258.45483466666667,0.0,0.0007680000000000007,86.15161155555555,8.381160568807713,21,4607.230060807135,11397,1,0.0,244.17,102306.14,0.978775,600.3736666666662
+300.0,200.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,218.41,87034.95,0.9789166666666667,1511.2803333333388
+300.0,200.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,268.92,89301.85,0.9789833333333333,1491.3870000000031
+300.0,200.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,218.93,87039.59,0.9789083333333334,1511.2803333333388
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data/processed/lab038/lab038_video_metrics.csv

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protocol/control_failsafe.py

@@ -0,0 +1,132 @@
+"""Local rover command state and watchdog safety logic for Lab038.
+
+The educational control payload is carried inside the unchanged Lab033 common
+packet.  It is intentionally small and is not a production motor-controller
+protocol.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+import struct
+
+from protocol.link_packet import LinkPacket, TrafficClass
+
+
+CONTROL_MAGIC = b"CTL1"
+CONTROL_PAYLOAD_FORMAT = "!4sffBB"
+CONTROL_PAYLOAD_SIZE = struct.calcsize(CONTROL_PAYLOAD_FORMAT)
+
+
+class ControlPayloadError(ValueError):
+    """The educational Lab038 control payload is malformed."""
+
+
+@dataclass(frozen=True)
+class ControlState:
+    desired_speed_mps: float
+    desired_turn: float
+    braking: bool
+    movement_allowed: bool
+
+
+SAFE_STATE = ControlState(0.0, 0.0, True, False)
+
+
+def encode_control_state(state: ControlState) -> bytes:
+    """Serialize the Lab038 teaching payload without changing LinkPacket."""
+
+    if not isinstance(state, ControlState):
+        raise TypeError("state must be ControlState")
+    return struct.pack(
+        CONTROL_PAYLOAD_FORMAT,
+        CONTROL_MAGIC,
+        float(state.desired_speed_mps),
+        float(state.desired_turn),
+        int(bool(state.braking)),
+        int(bool(state.movement_allowed)),
+    )
+
+
+def decode_control_state(payload: bytes) -> ControlState:
+    """Decode and validate the Lab038 teaching payload."""
+
+    if not isinstance(payload, (bytes, bytearray)):
+        raise TypeError("payload must be bytes or bytearray")
+    if len(payload) != CONTROL_PAYLOAD_SIZE:
+        raise ControlPayloadError("invalid control payload length")
+    magic, speed, turn, braking, allowed = struct.unpack(CONTROL_PAYLOAD_FORMAT, bytes(payload))
+    if magic != CONTROL_MAGIC:
+        raise ControlPayloadError("invalid control payload magic")
+    if braking not in (0, 1) or allowed not in (0, 1):
+        raise ControlPayloadError("control booleans must be zero or one")
+    return ControlState(speed, turn, bool(braking), bool(allowed))
+
+
+class RoverControlFailsafe:
+    """Strictly-monotonic command receiver with temporary and latched stops."""
+
+    def __init__(self, watchdog_timeout_us: int, boot_time_us: int = 0) -> None:
+        if watchdog_timeout_us <= 0:
+            raise ValueError("watchdog_timeout_us must be positive")
+        self.watchdog_timeout_us = watchdog_timeout_us
+        self.last_sequence = -1
+        self.last_new_command_time_us = boot_time_us
+        self.requested_state = SAFE_STATE
+        self.temporary_safe_stop = False
+        self.emergency_stop_latched = False
+        self.stale_commands = 0
+        self.new_commands = 0
+        self.watchdog_triggers = 0
+        self.emergency_actions = 0
+        self.emergency_duplicates = 0
+        self._emergency_keys: set[tuple[int, int]] = set()
+
+    @property
+    def effective_state(self) -> ControlState:
+        if self.emergency_stop_latched or self.temporary_safe_stop:
+            return SAFE_STATE
+        return self.requested_state
+
+    def receive_state(self, packet: LinkPacket, receive_time_us: int) -> bool:
+        """Apply a strictly newer normal command and refresh the watchdog."""
+
+        if packet.traffic_class is not TrafficClass.CONTROL:
+            raise ValueError("normal state must use CONTROL traffic class")
+        state = decode_control_state(packet.payload)
+        if packet.sequence_number <= self.last_sequence:
+            self.stale_commands += 1
+            return False
+        self.last_sequence = packet.sequence_number
+        self.last_new_command_time_us = receive_time_us
+        self.requested_state = state
+        self.temporary_safe_stop = False
+        self.new_commands += 1
+        return True
+
+    def check_watchdog(self, now_us: int) -> bool:
+        """Enter a temporary safe stop when fresh control has timed out."""
+
+        if now_us < self.last_new_command_time_us:
+            raise ValueError("watchdog time moved backwards")
+        expired = now_us - self.last_new_command_time_us >= self.watchdog_timeout_us
+        if expired and not self.temporary_safe_stop:
+            self.temporary_safe_stop = True
+            self.watchdog_triggers += 1
+            return True
+        return False
+
+    def receive_emergency(self, packet: LinkPacket) -> bool:
+        """Latch emergency stop once; return false for subsequent copies."""
+
+        if packet.traffic_class is not TrafficClass.EMERGENCY:
+            raise ValueError("emergency command must use EMERGENCY traffic class")
+        key = packet.stream_id, packet.sequence_number
+        if key in self._emergency_keys:
+            self.emergency_duplicates += 1
+            return False
+        self._emergency_keys.add(key)
+        self.emergency_stop_latched = True
+        self.temporary_safe_stop = True
+        self.emergency_actions += 1
+        return True

protocol/emergency_ack.py

@@ -0,0 +1,92 @@
+"""Emergency-command acknowledgement carried by unchanged Lab033 packets."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+import struct
+
+from protocol.link_packet import Direction, LinkPacket, TrafficClass
+
+
+ACK_MAGIC = b"ACK1"
+ACK_PAYLOAD_FORMAT = "!4sHI"
+ACK_PAYLOAD_SIZE = struct.calcsize(ACK_PAYLOAD_FORMAT)
+STREAM_EMERGENCY_ACK = 5
+
+
+class EmergencyAckError(ValueError):
+    """An emergency acknowledgement is malformed."""
+
+
+@dataclass(frozen=True)
+class EmergencyIdentity:
+    stream_id: int
+    sequence_number: int
+
+
+def encode_ack_payload(identity: EmergencyIdentity) -> bytes:
+    if not 0 <= identity.stream_id <= 0xFFFF:
+        raise EmergencyAckError("emergency stream_id is outside uint16")
+    if not 0 <= identity.sequence_number <= 0xFFFFFFFF:
+        raise EmergencyAckError("emergency sequence_number is outside uint32")
+    return struct.pack(ACK_PAYLOAD_FORMAT, ACK_MAGIC, identity.stream_id, identity.sequence_number)
+
+
+def decode_ack_payload(payload: bytes) -> EmergencyIdentity:
+    if not isinstance(payload, (bytes, bytearray)):
+        raise TypeError("payload must be bytes or bytearray")
+    if len(payload) != ACK_PAYLOAD_SIZE:
+        raise EmergencyAckError("invalid acknowledgement payload length")
+    magic, stream_id, sequence_number = struct.unpack(ACK_PAYLOAD_FORMAT, bytes(payload))
+    if magic != ACK_MAGIC:
+        raise EmergencyAckError("invalid acknowledgement payload magic")
+    return EmergencyIdentity(stream_id, sequence_number)
+
+
+def build_emergency_ack(command: LinkPacket, ack_sequence: int, generation_time_us: int) -> LinkPacket:
+    """Build a high-priority rover-to-ground ACK for one emergency command."""
+
+    if command.traffic_class is not TrafficClass.EMERGENCY:
+        raise ValueError("acknowledged packet must be an emergency command")
+    return LinkPacket(
+        traffic_class=TrafficClass.EMERGENCY,
+        direction=Direction.ROVER_TO_GROUND,
+        stream_id=STREAM_EMERGENCY_ACK,
+        sequence_number=ack_sequence,
+        generation_time_us=generation_time_us,
+        deadline_ms=50,
+        payload=encode_ack_payload(EmergencyIdentity(command.stream_id, command.sequence_number)),
+    )
+
+
+def acknowledged_identity(packet: LinkPacket) -> EmergencyIdentity:
+    """Validate ACK envelope fields and return the referenced command."""
+
+    if packet.traffic_class is not TrafficClass.EMERGENCY:
+        raise EmergencyAckError("ack must use high-priority traffic class")
+    if packet.direction is not Direction.ROVER_TO_GROUND:
+        raise EmergencyAckError("ack must travel rover to ground")
+    if packet.stream_id != STREAM_EMERGENCY_ACK:
+        raise EmergencyAckError("unexpected acknowledgement stream")
+    return decode_ack_payload(packet.payload)
+
+
+class EmergencyAckReceiver:
+    """Recognize first and late acknowledgements independently per command."""
+
+    def __init__(self) -> None:
+        self._received: set[EmergencyIdentity] = set()
+        self.unique = 0
+        self.duplicates = 0
+
+    def accept(self, packet: LinkPacket) -> bool:
+        identity = acknowledged_identity(packet)
+        if identity in self._received:
+            self.duplicates += 1
+            return False
+        self._received.add(identity)
+        self.unique += 1
+        return True
+
+    def has_received(self, identity: EmergencyIdentity) -> bool:
+        return identity in self._received