Lab037: evaluate control repetition on lossy link

PROJECT_LOG.md

@@ -264,3 +264,25 @@ git version 2.51.1.windows.1
 - После восстановления скорости возраст изображения снизился ниже 500 мс за 0,077 секунды.
 - Политика двух ожидающих кадров оставлена резервной.
 - Следующая лабораторная объединяет планировщик с моделью ошибок радиоканала и защитой команд управления.
+
+---
+
+# Запись 012
+
+## Дата
+
+4 августа 2026 года
+
+## Тема
+
+Завершение Lab037: полный транспорт с серийными потерями и повторением критических команд.
+
+## Выполнено
+
+- Lab037 объединяет видеопоток, обычные и аварийные команды, телеметрию и временные серийные потери пакетов.
+- Близкие повторные копии команд часто попадают в один и тот же интервал помехи.
+- Повторение Lab037 лишь умеренно уменьшило долю недоставленных управляющих состояний.
+- Максимальный промежуток без свежей команды остался более одной секунды.
+- 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.

data/processed/lab037/lab037_command_metrics.csv

@@ -0,0 +1,37 @@
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data/processed/lab037/lab037_emergency_metrics.csv

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+230.0,10.0,emergency_only,90.0,0.99,15.07632850934894,14.08695652867209,0.99,0.17,1.84
+230.0,10.0,emergency_and_control,30.0,1.0,20.47582608698004,20.208695652197406,1.0,0.1,1.9
+230.0,10.0,emergency_and_control,60.0,1.0,9.865739130259215,9.286956521563638,1.0,0.06,1.94
+230.0,10.0,emergency_and_control,90.0,0.99,10.02828283526469,9.634782615677295,0.99,0.16,1.85
+230.0,50.0,none,30.0,0.98,7.686956521535394,7.686956521535393,0.98,0.02,0.0
+230.0,50.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
+230.0,50.0,none,90.0,0.95,5.913043485378466,5.913043485378466,0.95,0.05,0.0
+230.0,50.0,emergency_only,30.0,0.99,7.979270970371579,7.686956521535393,0.99,0.06,1.95
+230.0,50.0,emergency_only,60.0,0.98,22.474534162936987,22.156521740576807,0.97,0.08,1.94
+230.0,50.0,emergency_only,90.0,1.0,15.645217398238033,15.645217398237943,1.0,0.1,1.9
+230.0,50.0,emergency_and_control,30.0,0.98,20.208695652197406,20.208695652197406,0.98,0.06,1.96
+230.0,50.0,emergency_and_control,60.0,0.98,9.286956521563638,9.286956521563638,0.98,0.08,1.94
+230.0,50.0,emergency_and_control,90.0,0.98,10.588819882758486,9.634782615677295,0.98,0.12,1.9
+230.0,200.0,none,30.0,1.0,7.686956521535394,7.686956521535393,1.0,0.0,0.0
+230.0,200.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
+230.0,200.0,none,90.0,0.98,5.913043485378466,5.913043485378466,0.98,0.02,0.0
+230.0,200.0,emergency_only,30.0,1.0,7.686956521535394,7.686956521535393,1.0,0.0,2.0
+230.0,200.0,emergency_only,60.0,0.99,22.156521740576807,22.156521740576807,0.99,0.04,1.97
+230.0,200.0,emergency_only,90.0,0.98,14.08695652867209,14.08695652867209,0.98,0.06,1.96
+230.0,200.0,emergency_and_control,30.0,1.0,20.208695652197402,20.208695652197406,1.0,0.0,2.0
+230.0,200.0,emergency_and_control,60.0,0.99,9.579270970399788,9.286956521563638,0.99,0.04,1.97
+230.0,200.0,emergency_and_control,90.0,0.98,9.634782615677295,9.634782615677295,0.98,0.06,1.96
+230.0,1000.0,none,30.0,0.97,7.686956521535393,7.686956521535393,0.97,0.03,0.0
+230.0,1000.0,none,60.0,1.0,9.07826087122743,9.078260871227428,1.0,0.0,0.0
+230.0,1000.0,none,90.0,0.98,5.913043485378466,5.913043485378466,0.98,0.02,0.0
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+230.0,1000.0,emergency_only,60.0,1.0,22.15652174057681,22.156521740576807,1.0,0.0,2.0
+230.0,1000.0,emergency_only,90.0,0.98,14.08695652867209,14.08695652867209,0.98,0.06,1.96
+230.0,1000.0,emergency_and_control,30.0,0.97,20.208695652197406,20.208695652197406,0.97,0.09,1.94
+230.0,1000.0,emergency_and_control,60.0,1.0,9.286956521563638,9.286956521563638,1.0,0.0,2.0
+230.0,1000.0,emergency_and_control,90.0,0.98,9.634782615677295,9.634782615677295,0.98,0.06,1.96

data/processed/lab037/lab037_report.txt

@@ -0,0 +1,117 @@
+Lab037 — полный транспорт с ошибками канала и повторением команд
+
+Состояние Git до реализации
+- Ветка: main
+- HEAD: 3e0ef5666eed6833818a731383220b2e15926889
+- Рабочее дерево: чистое.
+- fetch, pull и push не выполнялись.
+
+Параметры модели
+- Длительность: 120 с; кадров: 360; частота: 3 кадр/с.
+- Видео: payload 512 байт, FEC 12+3, блоки выровнены по кадрам.
+- Команды: 20/с; телеметрия: 10/с; аварийные события: 30, 60, 90 с.
+- Канал: Bad fraction=2.00%, Bad mean=(10.0, 50.0, 200.0, 1000.0), rates=(300.0, 260.0, 230.0), repeats=100.
+- Master seed: 227857; обычный повтор режима 3: 22.5 мс.
+- Проверено CRC-пакетов: 9953; FEC-блоков: 714; профиль: 63 кадров.
+- Копия команды сохраняет тот же stream_id, sequence_number и байты; задержка хранится только в метаданных планировщика.
+
+Таблица 36 сочетаний
+rate | Bad ms | mode | load kbit/s | util % | queue mean/max | command miss % | command gap ms | emergency <=50 ms % | video % | image P95 ms
+300 | 10 | none | 261.326 | 87.11 | 8.47/21 | 2.379 | 212.453 | 97.33 | 94.03 | 297.120
+300 | 10 | emergency_only | 261.351 | 87.12 | 8.47/21 | 2.377 | 212.453 | 99.67 | 94.03 | 297.120
+300 | 10 | emergency_and_control | 271.591 | 90.53 | 8.88/21 | 0.308 | 156.933 | 100.00 | 94.39 | 309.253
+300 | 50 | none | 261.326 | 87.11 | 8.47/21 | 2.080 | 463.840 | 97.67 | 94.05 | 295.173
+300 | 50 | emergency_only | 261.351 | 87.12 | 8.47/21 | 2.078 | 463.840 | 98.67 | 94.05 | 295.173
+300 | 50 | emergency_and_control | 271.591 | 90.53 | 8.88/21 | 1.300 | 437.494 | 98.67 | 94.09 | 307.493
+300 | 200 | none | 261.326 | 87.11 | 8.47/21 | 1.961 | 1314.560 | 98.00 | 96.28 | 295.173
+300 | 200 | emergency_only | 261.351 | 87.12 | 8.47/21 | 1.961 | 1314.560 | 98.00 | 96.28 | 295.173
+300 | 200 | emergency_and_control | 271.591 | 90.53 | 8.88/21 | 1.740 | 1263.733 | 98.00 | 96.24 | 307.493
+300 | 1000 | none | 261.326 | 87.11 | 8.47/21 | 1.833 | 8264.347 | 97.67 | 97.79 | 295.173
+300 | 1000 | emergency_only | 261.351 | 87.12 | 8.47/21 | 1.833 | 8264.347 | 98.00 | 97.79 | 295.173
+300 | 1000 | emergency_and_control | 271.591 | 90.53 | 8.88/21 | 1.790 | 8256.667 | 98.00 | 97.78 | 307.493
+260 | 10 | none | 257.574 | 99.03 | 13.36/40 | 2.403 | 212.892 | 99.00 | 92.78 | 580.954
+260 | 10 | emergency_only | 257.600 | 99.04 | 13.38/40 | 2.394 | 212.892 | 100.00 | 92.75 | 580.954
+260 | 10 | emergency_and_control | 260.320 | 99.93 | 18.25/38 | 0.336 | 208.554 | 99.67 | 90.27 | 650.800
+260 | 50 | none | 257.574 | 99.03 | 13.36/40 | 2.040 | 593.569 | 99.33 | 92.77 | 580.954
+260 | 50 | emergency_only | 257.600 | 99.04 | 13.38/40 | 2.040 | 593.569 | 99.67 | 92.78 | 580.954
+260 | 50 | emergency_and_control | 260.320 | 99.93 | 18.25/38 | 1.329 | 607.046 | 99.67 | 89.94 | 648.215
+260 | 200 | none | 257.574 | 99.03 | 13.36/40 | 1.984 | 1208.769 | 98.33 | 94.69 | 580.954
+260 | 200 | emergency_only | 257.600 | 99.04 | 13.38/40 | 1.985 | 1208.769 | 98.33 | 94.67 | 580.954
+260 | 200 | emergency_and_control | 260.320 | 99.93 | 18.25/38 | 1.769 | 1183.508 | 98.33 | 91.74 | 648.215
+260 | 1000 | none | 257.574 | 99.03 | 13.36/40 | 2.103 | 5591.600 | 98.33 | 95.99 | 580.954
+260 | 1000 | emergency_only | 257.600 | 99.04 | 13.38/40 | 2.104 | 5591.600 | 98.33 | 95.99 | 580.954
+260 | 1000 | emergency_and_control | 260.320 | 99.93 | 18.25/38 | 2.055 | 5596.554 | 98.33 | 93.01 | 648.215
+230 | 10 | none | 230.628 | 99.99 | 19.74/38 | 2.433 | 220.070 | 97.00 | 82.08 | 675.328
+230 | 10 | emergency_only | 230.708 | 99.99 | 19.82/39 | 2.407 | 205.913 | 98.67 | 81.72 | 680.394
+230 | 10 | emergency_and_control | 230.255 | 100.00 | 20.35/39 | 0.437 | 180.522 | 99.67 | 78.06 | 694.493
+230 | 50 | none | 230.628 | 99.99 | 19.74/38 | 2.025 | 504.000 | 97.00 | 82.33 | 675.328
+230 | 50 | emergency_only | 230.708 | 99.99 | 19.82/39 | 2.049 | 513.252 | 98.67 | 82.32 | 680.394
+230 | 50 | emergency_and_control | 230.255 | 100.00 | 20.35/39 | 1.320 | 509.704 | 98.00 | 78.25 | 694.493
+230 | 200 | none | 230.628 | 99.99 | 19.74/38 | 2.029 | 1650.226 | 98.67 | 83.82 | 675.328
+230 | 200 | emergency_only | 230.708 | 99.99 | 19.82/39 | 2.030 | 1651.200 | 99.00 | 83.85 | 680.394
+230 | 200 | emergency_and_control | 230.255 | 100.00 | 20.35/39 | 1.803 | 1656.000 | 99.00 | 79.53 | 694.365
+230 | 1000 | none | 230.628 | 99.99 | 19.74/38 | 2.074 | 4894.226 | 98.33 | 85.19 | 675.328
+230 | 1000 | emergency_only | 230.708 | 99.99 | 19.82/39 | 2.074 | 4894.226 | 98.33 | 85.21 | 680.394
+230 | 1000 | emergency_and_control | 230.255 | 100.00 | 20.35/39 | 2.024 | 4875.896 | 98.33 | 80.87 | 694.493
+
+Обычные команды
+- Минимальная наблюдавшаяся доля недоставленных состояний: 0.003079 (emergency_and_control).
+- Наибольший промежуток без свежей команды: 8264.347 мс.
+- Поздние/повторные копии подавляются строго монотонным sequence_number и не откатывают состояние.
+
+Аварийные команды
+- Доля своевременных доставок по всем строкам: 98.546%.
+- Максимальный P95 первой доставки: 22.157 мс.
+
+Нагрузка, видео и очередь
+- Диапазон полной предложенной нагрузки: 230.255…271.591 кбит/с.
+- Максимальная очередь: 40 пакетов / 22420 байт; ожидающих не начатых кадров: 1.
+- Доля опубликованных кадров: 78.064…97.789%.
+- Полезный доставленный видеопоток: 121.375…152.208 кбит/с.
+- Повторение команд увеличивает предложенную нагрузку и учитывается в общей очереди; свежесть видео ограничивается политикой одного свежего не начатого кадра.
+
+Телеметрия
+- Доля доставленных уникальных сообщений: 97.260…98.172%.
+- Средний возраст последнего сообщения на отметке 120 с: 100.000…149.000 мс.
+- Максимальный промежуток без обновления: 8309.334 мс; максимум интервалов >500 мс за опыт: 1.810.
+
+Функциональные проверки
+- PASS 01_no_error_matches_lab036: Lab036 latest-only/non-preemptive invariants retained
+- PASS 02_common_crc_rejects_corruption: common packet rejected
+- PASS 03_outer_crc_rejects_corruption: outer video packet rejected
+- PASS 04_fec_restores_allowed_losses: three erased source symbols restored
+- PASS 05_receiver_requires_newer_sequence: old/equal sequence suppressed
+- PASS 06_copies_share_command_identity: three copies encode identically
+- PASS 07_late_old_copy_no_rollback: newer state retained
+- PASS 08_only_unstarted_copy_cancelled: transmitted and removed sets are disjoint
+- PASS 09_emergency_never_removed: no emergency removal
+- PASS 10_current_packet_nonpreemptive: serialization intervals do not overlap
+- PASS 11_repeats_in_queue_and_load: repeat copies present in service/removal accounting
+- PASS 12_latest_video_queue_bounded: at most one unstarted frame
+- PASS 13_incomplete_frame_not_published: all-lost schedule yields no decodable block
+- PASS 14_priority_between_video_packets: high priority traffic served between video packets
+- PASS 15_fixed_seed_reproducibility: identical seed gives identical intervals
+
+Созданные файлы
+- protocol/control_repetition.py
+- tests/lab037_lossy_full_link.py
+- data/processed/lab037/lab037_summary.csv
+- data/processed/lab037/lab037_command_metrics.csv
+- data/processed/lab037/lab037_video_metrics.csv
+- data/processed/lab037/lab037_emergency_metrics.csv
+- data/processed/lab037/lab037_report.txt
+- data/processed/lab037/lab037_command_gap.png
+- data/processed/lab037/lab037_emergency_timeliness.png
+- data/processed/lab037/lab037_command_age.png
+- data/processed/lab037/lab037_image_age.png
+- data/processed/lab037/lab037_published_video.png
+- data/processed/lab037/lab037_load_queue.png
+- data/processed/lab037/lab037_protection_comparison.png
+
+Итоговый git status
+?? data/processed/lab037/
+?? protocol/control_repetition.py
+?? tests/lab037_lossy_full_link.py
+
+Двоичные пакеты, JPEG, подробные пакетные журналы и дампы не сохранялись.
+Режим защиты автоматически не выбирается: все три режима представлены отдельно.

data/processed/lab037/lab037_summary.csv

@@ -0,0 +1,37 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,repeat_command_bytes,lost_packets_mean,lost_packet_bytes_mean,cancelled_control_repeats,replaced_state_packets,drain_end_seconds,queue_release_seconds,telemetry_delivered_fraction,telemetry_mean_age_ms,telemetry_last_message_age_ms,telemetry_max_gap_ms,telemetry_gaps_over_500ms_mean
+300.0,10.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,407.78,193268.76,0,0,119.9635470000001,0.0,0.97425,12.812331765194102,105.99999999999483,385.7596666666723,0.0
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+300.0,10.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,463.87,196862.84,0,0,119.97549366666675,0.0,0.9746,9.380308223329676,105.99999999999483,315.7073333333358,0.0
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+300.0,50.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,292.81,105980.93,0,0,119.97549366666675,0.0,0.9790666666666666,9.382484370047958,99.99999999999433,598.4003333333163,0.05
+300.0,200.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,204.57,82217.44,0,0,119.9635470000001,0.0,0.9802416666666667,12.81664311807054,104.99999999999447,1314.5596666666534,1.64
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data/processed/lab037/lab037_video_metrics.csv

@@ -0,0 +1,37 @@
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protocol/control_repetition.py

@@ -0,0 +1,145 @@
+"""Scheduling metadata and receiver de-duplication for command copies.
+
+Lab037 deliberately keeps the Lab033 :class:`~protocol.link_packet.LinkPacket`
+wire representation unchanged.  A repeated command is therefore the exact
+same encoded packet; only ``available_time_us`` and ``copy_index`` live in the
+local scheduler metadata defined here.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from enum import IntEnum
+from typing import Iterable
+
+from protocol.link_packet import LinkPacket, TrafficClass
+
+
+class RepetitionMode(IntEnum):
+    """Command protection alternatives compared by Lab037."""
+
+    NONE = 1
+    EMERGENCY_ONLY = 2
+    EMERGENCY_AND_CONTROL = 3
+
+
+@dataclass(frozen=True)
+class CommandCopy:
+    """One scheduling instance of an otherwise unchanged link packet."""
+
+    packet: LinkPacket
+    available_time_us: int
+    copy_index: int
+    arrival_order: int
+
+    @property
+    def is_repeat(self) -> bool:
+        return self.copy_index > 0
+
+    @property
+    def command_key(self) -> tuple[int, int]:
+        return self.packet.stream_id, self.packet.sequence_number
+
+
+def copy_offsets_ms(
+    traffic_class: TrafficClass,
+    mode: RepetitionMode,
+    control_repeat_delay_ms: float = 22.5,
+) -> tuple[float, ...]:
+    """Return copy offsets for a command class and protection mode."""
+
+    traffic_class = TrafficClass(traffic_class)
+    mode = RepetitionMode(mode)
+    if traffic_class is TrafficClass.EMERGENCY:
+        return (0.0, 15.0, 30.0) if mode >= RepetitionMode.EMERGENCY_ONLY else (0.0,)
+    if traffic_class is TrafficClass.CONTROL:
+        return (0.0, control_repeat_delay_ms) if mode is RepetitionMode.EMERGENCY_AND_CONTROL else (0.0,)
+    raise ValueError("repetition is defined only for emergency and control commands")
+
+
+def build_command_copies(
+    packets: Iterable[LinkPacket],
+    mode: RepetitionMode,
+    *,
+    first_arrival_order: int = 0,
+    control_repeat_delay_ms: float = 22.5,
+) -> tuple[CommandCopy, ...]:
+    """Expand original commands into stable, time-ordered scheduler copies."""
+
+    copies: list[CommandCopy] = []
+    order = first_arrival_order
+    for packet in packets:
+        offsets = copy_offsets_ms(packet.traffic_class, mode, control_repeat_delay_ms)
+        for copy_index, offset_ms in enumerate(offsets):
+            copies.append(
+                CommandCopy(
+                    packet=packet,
+                    available_time_us=packet.generation_time_us + int(round(offset_ms * 1000.0)),
+                    copy_index=copy_index,
+                    arrival_order=order,
+                )
+            )
+            order += 1
+    return tuple(
+        sorted(
+            copies,
+            key=lambda item: (
+                item.available_time_us,
+                int(item.packet.traffic_class),
+                item.arrival_order,
+            ),
+        )
+    )
+
+
+def cancel_superseded_control_copies(
+    ready: Iterable[CommandCopy],
+    newest: CommandCopy,
+) -> tuple[tuple[CommandCopy, ...], tuple[CommandCopy, ...]]:
+    """Remove only queued repeats belonging to older state commands.
+
+    A packet already selected for transmission is intentionally outside this
+    function, which makes packet serialization non-preemptive by construction.
+    Primary copies and emergency commands are never removed here.
+    """
+
+    if newest.packet.traffic_class is not TrafficClass.CONTROL:
+        return tuple(ready), ()
+    retained: list[CommandCopy] = []
+    cancelled: list[CommandCopy] = []
+    for item in ready:
+        if (
+            item.packet.traffic_class is TrafficClass.CONTROL
+            and item.packet.stream_id == newest.packet.stream_id
+            and item.packet.sequence_number < newest.packet.sequence_number
+            and item.is_repeat
+        ):
+            cancelled.append(item)
+        else:
+            retained.append(item)
+    return tuple(retained), tuple(cancelled)
+
+
+class CommandReceiver:
+    """Apply only strictly newer sequence numbers independently per stream."""
+
+    def __init__(self) -> None:
+        self._last_sequence: dict[int, int] = {}
+        self.accepted = 0
+        self.suppressed = 0
+
+    def accept(self, packet: LinkPacket) -> bool:
+        """Return ``True`` only when this command advances its stream state."""
+
+        if packet.traffic_class not in (TrafficClass.EMERGENCY, TrafficClass.CONTROL):
+            raise ValueError("CommandReceiver accepts command traffic only")
+        previous = self._last_sequence.get(packet.stream_id, -1)
+        if packet.sequence_number <= previous:
+            self.suppressed += 1
+            return False
+        self._last_sequence[packet.stream_id] = packet.sequence_number
+        self.accepted += 1
+        return True
+
+    def last_sequence(self, stream_id: int) -> int | None:
+        return self._last_sequence.get(stream_id)