Lab040: add persistent emergency intent and safe reset

data/processed/lab040/lab040_emergency_metrics.csv

@@ -0,0 +1,46 @@
+channel_condition,mode,initial_speed_kmh,repetitions,delivered_fraction,mean_latch_delay_ms,p95_latch_delay_ms,max_latch_delay_ms,mean_copies,mean_lost_copies,mean_ack_delay_ms,acknowledgements_lost_mean,intent_time_fraction,positive_commands_after_emergency_mean,permitted_commands_after_emergency_mean,time_to_command_suppression_mean_ms,all_first_500ms_lost
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data/processed/lab040/lab040_load_metrics.csv

@@ -0,0 +1,46 @@
+channel_condition,mode,initial_speed_kmh,repetitions,emergency_copy_load_kbps,emergency_ack_load_kbps,zero_control_load_kbps,reset_request_load_kbps,reset_ack_load_kbps,total_extra_load_kbps,video_published_fraction,telemetry_delivered_fraction,maximum_queue_packets
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+no_loss,limited_lab038,15.0,1,0.004200000000000001,0.0028,0.0,0.0,0.0,0.007000000000000001,1.0,1.0,21
+no_loss,limited_lab038,25.0,1,0.004200000000000001,0.0028,0.0,0.0,0.0,0.007000000000000001,1.0,1.0,21
+no_loss,persistent_no_reset,5.0,1,0.004200000000000001,0.0028,5.52,0.0,0.0,0.007000000000000001,1.0,1.0,21
+no_loss,persistent_no_reset,15.0,1,0.004200000000000001,0.0028,5.52,0.0,0.0,0.007000000000000001,1.0,1.0,21
+no_loss,persistent_no_reset,25.0,1,0.004200000000000001,0.0028,5.52,0.0,0.0,0.007000000000000001,1.0,1.0,21
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data/processed/lab040/lab040_motion_metrics.csv

@@ -0,0 +1,46 @@
+channel_condition,mode,initial_speed_kmh,repetitions,mean_distance_to_braking_m,p95_distance_to_braking_m,max_distance_to_braking_m,mean_distance_to_stop_m,p95_distance_to_stop_m,max_distance_to_stop_m,mean_time_to_stop_seconds,p95_time_to_stop_seconds,maximum_speed_after_emergency_mps,full_stop_fraction,reaccelerations_before_reset,braking_releases_before_reset_ack,movement_while_intent,recovery_after_lost_emergency,watchdog_stops_after_lost_emergency,unsafe_recoveries,mean_stop_to_resume_seconds,mean_distance_after_unsafe_resume_m,negative_speed_cases,target_speed_exceeded_cases
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data/processed/lab040/lab040_report.txt

@@ -0,0 +1,170 @@
+Lab040 — постоянное аварийное намерение и безопасное повторное разрешение движения
+
+Состояние Git до начала
+- Корень: C:/Users/user/Desktop/projects/SDR_Rover
+- Ветка: main
+- HEAD: b3ebe1637fbb401198cdbb43a862e94614be9cb0
+- Рабочее дерево и индекс были чистыми; относительно локально известной origin/main расхождение составляло 0/0.
+- Коммиты Lab038 и Lab039 присутствовали; сетевые команды Git не выполнялись.
+
+Автоматы наземной станции и ровера
+- Наземная станция: GROUND_NORMAL → GROUND_EMERGENCY_REQUESTED → GROUND_EMERGENCY_CONFIRMED → GROUND_RESET_REQUESTED → GROUND_MOVEMENT_REAUTHORIZED.
+- Подтверждение аварийной команды прекращает её копии, но не снимает аварийное намерение и не разрешает положительные команды движения.
+- Ровер сохраняет состояния NORMAL, STAGE1_DECELERATION, STAGE2_BRAKING и EMERGENCY_LATCHED из Lab039.
+- Обычная или поздняя старая команда не снимает EMERGENCY_LATCHED.
+
+Безопасный сброс
+- Сброс использует отдельные идентификаторы потоков и прикладные данные внутри неизменного пакета LinkPacket из Lab033.
+- Проверяются зафиксированное аварийное состояние, нулевая фактическая скорость, свежесть связи 250 мс, идентификатор события, номер последовательности, нулевая требуемая скорость и запрет движения.
+- Потерянное подтверждение сброса вызывает повтор запроса; принятый дубликат не повторяет действие, но вызывает новое подтверждение.
+- После подтверждения сброса сохраняется нулевая скорость; новая команда оператора формируется только через 2 секунды и имеет новый номер последовательности.
+
+Параметры
+- Опыт 120 с; аварийная команда на 30-й секунде; сброс на 60-й секунде; команды 20 Гц; повторы каждые 50 мс.
+- Матрица: 5 каналов × 3 режима × 3 скорости = 45 сочетаний; условия с потерями по 200 повторов.
+- Сторожевой таймер 150/250 мс; замедление первой ступени 1,0 м/с², второй ступени 3,0 м/с², ускорение восстановления 1,0 м/с².
+- Исходная нагрузка проверена контрольной суммой и помехоустойчивым кодированием: 12356/714.
+
+Компактная таблица 45 сочетаний
+канал | режим | скорость | доставка аварийной команды, % | время аварийного намерения, % | небезопасное восстановление, % | остановка, % | нагрузка, кбит/с | видео, % | телеметрия, % | очередь
+Без потерь, 300 кбит/с | Ограниченное повторение | 5 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00700 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Ограниченное повторение | 15 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00700 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Ограниченное повторение | 25 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00700 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Постоянное намерение | 5 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00700 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Постоянное намерение | 15 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00700 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Постоянное намерение | 25 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00700 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Постоянное намерение и сброс | 5 | 100.000 | 25.002 | 0.000 | 100.000 | 0.01333 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Постоянное намерение и сброс | 15 | 100.000 | 25.002 | 0.000 | 100.000 | 0.01333 | 100.000 | 100.000 | 21
+Без потерь, 300 кбит/с | Постоянное намерение и сброс | 25 | 100.000 | 25.002 | 0.000 | 100.000 | 0.01333 | 100.000 | 100.000 | 21
+300 кбит/с, помеха 50 мс | Ограниченное повторение | 5 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00711 | 94.165 | 97.920 | 21
+300 кбит/с, помеха 50 мс | Ограниченное повторение | 15 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00711 | 94.165 | 97.920 | 21
+300 кбит/с, помеха 50 мс | Ограниченное повторение | 25 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00711 | 94.165 | 97.920 | 21
+300 кбит/с, помеха 50 мс | Постоянное намерение | 5 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00711 | 94.165 | 97.920 | 21
+300 кбит/с, помеха 50 мс | Постоянное намерение | 15 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00711 | 94.165 | 97.920 | 21
+300 кбит/с, помеха 50 мс | Постоянное намерение | 25 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00711 | 94.165 | 97.920 | 21
+300 кбит/с, помеха 50 мс | Постоянное намерение и сброс | 5 | 100.000 | 25.004 | 0.000 | 100.000 | 0.01360 | 94.164 | 97.919 | 21
+300 кбит/с, помеха 50 мс | Постоянное намерение и сброс | 15 | 100.000 | 25.004 | 0.000 | 100.000 | 0.01360 | 94.164 | 97.919 | 21
+300 кбит/с, помеха 50 мс | Постоянное намерение и сброс | 25 | 100.000 | 25.004 | 0.000 | 100.000 | 0.01360 | 94.164 | 97.919 | 21
+260 кбит/с, помеха 200 мс | Ограниченное повторение | 5 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00708 | 96.028 | 97.976 | 36
+260 кбит/с, помеха 200 мс | Ограниченное повторение | 15 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00708 | 96.028 | 97.976 | 36
+260 кбит/с, помеха 200 мс | Ограниченное повторение | 25 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00708 | 96.028 | 97.976 | 36
+260 кбит/с, помеха 200 мс | Постоянное намерение | 5 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00708 | 96.028 | 97.976 | 36
+260 кбит/с, помеха 200 мс | Постоянное намерение | 15 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00708 | 96.028 | 97.976 | 36
+260 кбит/с, помеха 200 мс | Постоянное намерение | 25 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00708 | 96.028 | 97.976 | 36
+260 кбит/с, помеха 200 мс | Постоянное намерение и сброс | 5 | 100.000 | 25.012 | 0.000 | 100.000 | 0.01392 | 96.031 | 97.977 | 38
+260 кбит/с, помеха 200 мс | Постоянное намерение и сброс | 15 | 100.000 | 25.012 | 0.000 | 100.000 | 0.01392 | 96.031 | 97.977 | 38
+260 кбит/с, помеха 200 мс | Постоянное намерение и сброс | 25 | 100.000 | 25.012 | 0.000 | 100.000 | 0.01392 | 96.031 | 97.977 | 38
+230 кбит/с, помеха 200 мс | Ограниченное повторение | 5 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00717 | 84.913 | 97.985 | 40
+230 кбит/с, помеха 200 мс | Ограниченное повторение | 15 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00717 | 84.913 | 97.985 | 40
+230 кбит/с, помеха 200 мс | Ограниченное повторение | 25 | 100.000 | 0.417 | 0.000 | 100.000 | 0.00717 | 84.913 | 97.985 | 40
+230 кбит/с, помеха 200 мс | Постоянное намерение | 5 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00717 | 84.913 | 97.985 | 40
+230 кбит/с, помеха 200 мс | Постоянное намерение | 15 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00717 | 84.913 | 97.985 | 40
+230 кбит/с, помеха 200 мс | Постоянное намерение | 25 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00717 | 84.913 | 97.985 | 40
+230 кбит/с, помеха 200 мс | Постоянное намерение и сброс | 5 | 100.000 | 25.014 | 0.000 | 100.000 | 0.01430 | 84.918 | 97.987 | 40
+230 кбит/с, помеха 200 мс | Постоянное намерение и сброс | 15 | 100.000 | 25.014 | 0.000 | 100.000 | 0.01430 | 84.918 | 97.987 | 40
+230 кбит/с, помеха 200 мс | Постоянное намерение и сброс | 25 | 100.000 | 25.014 | 0.000 | 100.000 | 0.01430 | 84.918 | 97.987 | 40
+230 кбит/с, помеха 1000 мс | Ограниченное повторение | 5 | 99.000 | 0.417 | 1.000 | 100.000 | 0.00739 | 86.314 | 97.971 | 40
+230 кбит/с, помеха 1000 мс | Ограниченное повторение | 15 | 99.000 | 0.417 | 1.000 | 100.000 | 0.00739 | 86.314 | 97.971 | 40
+230 кбит/с, помеха 1000 мс | Ограниченное повторение | 25 | 99.000 | 0.417 | 1.000 | 99.000 | 0.00739 | 86.314 | 97.971 | 40
+230 кбит/с, помеха 1000 мс | Постоянное намерение | 5 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00811 | 86.314 | 97.971 | 40
+230 кбит/с, помеха 1000 мс | Постоянное намерение | 15 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00811 | 86.314 | 97.971 | 40
+230 кбит/с, помеха 1000 мс | Постоянное намерение | 25 | 100.000 | 75.000 | 0.000 | 100.000 | 0.00811 | 86.314 | 97.971 | 40
+230 кбит/с, помеха 1000 мс | Постоянное намерение и сброс | 5 | 100.000 | 25.009 | 0.000 | 100.000 | 0.01479 | 86.318 | 97.975 | 39
+230 кбит/с, помеха 1000 мс | Постоянное намерение и сброс | 15 | 100.000 | 25.009 | 0.000 | 100.000 | 0.01479 | 86.318 | 97.975 | 39
+230 кбит/с, помеха 1000 мс | Постоянное намерение и сброс | 25 | 100.000 | 25.009 | 0.000 | 100.000 | 0.01479 | 86.318 | 97.975 | 39
+
+Отрицательный исходный режим
+- Полностью потерянные первые 500 мс аварийной передачи: 2 на одно сочетание.
+- Остановки по сторожевому таймеру после такой потери: 4.
+- Небезопасные восстановления движения: 6; максимальная доля 1.000%.
+- Среднее время от остановки до повторного движения: 1.1666 с; путь после восстановления до 599.4074 м.
+- Ограниченный режим Lab038 служит отрицательным исходным уровнем и не принимается для рабочей архитектуры.
+
+Постоянное аварийное намерение
+- Итоговая доставка 100% в режимах постоянного намерения получена в конечной выборке и не является математической гарантией.
+- Безопасность не зависит от гарантированной доставки удалённой команды: локальный сторожевой таймер продолжает действовать.
+- Подтверждение аварийной команды (Emergency ACK) прекращает копии, но не снимает аварийное намерение emergency_intent.
+- Положительные задания при активном аварийном намерении: 0.
+- Команды с разрешением движения при активном аварийном намерении: 0.
+- Небезопасные восстановления в режимах 2 и 3: 0.
+
+Подтверждение сброса
+- Принятые запросы сброса: 1.0000 на опыт; отклонённые: 0.0120.
+- Причины отказов: аварийное состояние не зафиксировано=0, движение=0, устаревшая связь=36, неверное событие=0, старый номер последовательности=0, ненулевая скорость=0, разрешение движения=0.
+- Среднее число повторов сброса: 0.0990; потерянных подтверждений сброса: 0.0000.
+- 95-й процентиль времени от запроса оператора до подтверждения сброса: до 7.477 мс.
+- Движение до подтверждения сброса: 0; автоматическое восстановление старой команды: 0.
+- Подтверждение сброса (RESET_ACK) разрешает перейти только в безопасное состояние с нулевой скоростью.
+- Для движения после сброса требуется новая команда оператора.
+
+Точечная проверка пути до начала безопасной реакции
+- Канал: 230 кбит/с, средняя помеха 1000 мс; транспортный эксперимент повторно не запускался.
+- Если в момент действия оператора уже активно состояние STAGE1_DECELERATION, STAGE2_BRAKING или EMERGENCY_LATCHED, путь до начала реакции равен нулю и не измеряется до будущего перехода в торможение.
+- режим | скорость, км/ч | среднее, м | 95-й процентиль, м | максимум, м | полные остановки, % | небезопасные возобновления
+- Ограниченное повторение | 5 | 0.005284 | 0.005362 | 0.005362 | 100.000 | 2
+- Ограниченное повторение | 15 | 0.015719 | 0.016087 | 0.016087 | 100.000 | 2
+- Ограниченное повторение | 25 | 0.026197 | 0.026812 | 0.026812 | 99.000 | 2
+- Постоянное намерение | 5 | 0.005284 | 0.005362 | 0.005362 | 100.000 | 0
+- Постоянное намерение | 15 | 0.015719 | 0.016087 | 0.016087 | 100.000 | 0
+- Постоянное намерение | 25 | 0.026197 | 0.026812 | 0.026812 | 100.000 | 0
+- Постоянное намерение и сброс | 5 | 0.005284 | 0.005362 | 0.005362 | 100.000 | 0
+- Постоянное намерение и сброс | 15 | 0.015719 | 0.016087 | 0.016087 | 100.000 | 0
+- Постоянное намерение и сброс | 25 | 0.026197 | 0.026812 | 0.026812 | 100.000 | 0
+- Сводная и двигательная таблицы согласованы по числу повторов, доле полных остановок и небезопасным возобновлениям.
+- Ни один график Lab040 напрямую не использует путь до начала реакции; график пути до остановки использует отдельный показатель полного пути и не требует изменения.
+
+Движение и нагрузка
+- Максимальный путь до полной остановки: 9.2678 м; максимальное время: 2.3335 с.
+- Дополнительная нагрузка защиты: 0.00948…0.01479 кбит/с.
+- Нагрузка нулевых состояний: до 5.52000 кбит/с; максимальная очередь 40 пакетов.
+- Видео опубликовано: 84.913…100.000%; телеметрия: 97.919…100.000%.
+
+Функциональные проверки
+- ПРОЙДЕНО — 01. Оператор фиксирует аварийное намерение: действие оператора фиксирует аварийное намерение наземной станции
+- ПРОЙДЕНО — 02. После аварии нет положительной заданной скорости: аварийное намерение заменяет движение безопасным нулевым состоянием с торможением
+- ПРОЙДЕНО — 03. Движение запрещено до сброса: после подтверждения аварийной команды движение остаётся запрещённым
+- ПРОЙДЕНО — 04. Потеря аварийной команды сохраняет намерение: управляемая помеха теряет все копии за первые 500 мс, не снимая аварийное намерение
+- ПРОЙДЕНО — 05. Подтверждение аварии сохраняет намерение: потеря первого подтверждения и доставка повтора сохраняют аварийное намерение
+- ПРОЙДЕНО — 06. Первая аварийная команда фиксирует состояние ровера: первая аварийная команда фиксирует аварийное состояние ровера
+- ПРОЙДЕНО — 07. Обычная команда не снимает аварийное состояние: обычная команда не снимает аварийное состояние ровера
+- ПРОЙДЕНО — 08. Старая команда движения отклоняется: запоздалая команда движения со старым номером последовательности отклоняется
+- ПРОЙДЕНО — 09. Сброс при движении отклоняется: движущийся ровер отклоняет запрос сброса
+- ПРОЙДЕНО — 10. Сброс при устаревшей связи отклоняется: при устаревшем состоянии связи запрос сброса отклоняется
+- ПРОЙДЕНО — 11. Сброс для неверного события отклоняется: запрос сброса с неверным идентификатором аварии отклоняется
+- ПРОЙДЕНО — 12. Сброс со старым номером последовательности отклоняется: запрос сброса со старым номером последовательности отклоняется
+- ПРОЙДЕНО — 13. Сброс с ненулевой скоростью отклоняется: ненулевая скорость или разрешение движения приводят к отклонению сброса
+- ПРОЙДЕНО — 14. После успешного сброса скорость остаётся нулевой: принятый сброс выводит из аварийного состояния только в состояние нулевой скорости
+- ПРОЙДЕНО — 15. До подтверждения сброса движение отсутствует: до подтверждения сброса наземная станция сохраняет безопасное нулевое задание
+- ПРОЙДЕНО — 16. Потеря подтверждения сброса вызывает повтор: управляемая потеря первого подтверждения сброса вызывает повтор запроса
+- ПРОЙДЕНО — 17. Дубликат не выполняет сброс дважды: принятый дубликат не выполняет сброс повторно
+- ПРОЙДЕНО — 18. На дубликат повторно отправляется подтверждение: принятый дубликат вызывает повторное подтверждение сброса
+- ПРОЙДЕНО — 19. Старая команда движения не восстанавливается: подтверждение сброса не восстанавливает сохранённую команду движения
+- ПРОЙДЕНО — 20. Для движения требуется новая команда оператора: для движения требуется новый номер последовательности команды оператора
+- ПРОЙДЕНО — 21. Аварийное состояние устойчиво к обычным командам: состояние EMERGENCY_LATCHED не снимается обычной командой управления
+- ПРОЙДЕНО — 22. Сторожевой таймер работает при потере аварийной команды: локальный двухступенчатый сторожевой таймер работает без доставки аварийной команды
+- ПРОЙДЕНО — 23. Интервалы помех воспроизводимы: фиксированное начальное значение генератора воспроизводит интервалы помех
+- ПРОЙДЕНО — 24. Действие оператора во время торможения: действие оператора при уже активном торможении даёт нулевой путь до начала реакции
+
+Созданные файлы
+- protocol/persistent_emergency.py
+- protocol/safe_reset.py
+- tests/lab040_persistent_emergency.py
+- data/processed/lab040/lab040_summary.csv
+- data/processed/lab040/lab040_emergency_metrics.csv
+- data/processed/lab040/lab040_reset_metrics.csv
+- data/processed/lab040/lab040_motion_metrics.csv
+- data/processed/lab040/lab040_load_metrics.csv
+- data/processed/lab040/lab040_report.txt
+- data/processed/lab040/lab040_emergency_delivery.png
+- data/processed/lab040/lab040_unsafe_recovery.png
+- data/processed/lab040/lab040_latch_time.png
+- data/processed/lab040/lab040_stop_path.png
+- data/processed/lab040/lab040_reset_latency.png
+- data/processed/lab040/lab040_protection_load.png
+- data/processed/lab040/lab040_video_telemetry.png
+- data/processed/lab040/lab040_tradeoff.png
+
+Ограничения
+- Параметры замедления предварительные и требуют измерения на реальном ровере.
+- Модель одномерная и не заменяет испытания тормозов, привода и процедуры операторского сброса.
+- Lab040 не добавлена в Git и не закоммичена; Lab028–Lab039 не изменены.

data/processed/lab040/lab040_reset_metrics.csv

@@ -0,0 +1,46 @@
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data/processed/lab040/lab040_summary.csv

@@ -0,0 +1,46 @@
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