diff --git a/PROJECT_LOG.md b/PROJECT_LOG.md
index dede328..1f89497 100644
--- a/PROJECT_LOG.md
+++ b/PROJECT_LOG.md
@@ -361,3 +361,27 @@ git version 2.51.1.windows.1
 - Подтверждение сброса не восстанавливает старую команду движения.
 - Движение требует новой явной команды оператора.
 - Следующий этап посвящён сеансам связи, перезапускам устройств и защите от пакетов предыдущего сеанса.
+
+---
+
+# Запись 016
+
+## Дата
+
+5 августа 2026 года
+
+## Тема
+
+Завершение Lab041: сеансы связи, безопасный запуск и защита от пакетов предыдущего сеанса.
+
+## Выполнено
+
+- Lab041 вводит идентификаторы сеанса станции, запуска ровера и периода управления.
+- Одного номера сообщения недостаточно после перезапуска.
+- В основном режиме все 2807 введённых старых пакетов были отклонены.
+- Ошибочно принятых старых пакетов не было.
+- Исходный режим без идентификаторов принял все старые пакеты.
+- После перезапуска движение запрещено до нового согласования, подтверждения разрешения и новой команды оператора.
+- Аварийное намерение наземной станции сохраняется после перезапуска.
+- Неоднозначная разность номеров 2^31 отклоняется.
+- Следующий этап посвящён криптографической проверке подлинности управляющих сообщений и защите от намеренной подделки.
diff --git a/data/processed/lab041/lab041_authorization_time.png b/data/processed/lab041/lab041_authorization_time.png
new file mode 100644
index 0000000..8bef6e5
Binary files /dev/null and b/data/processed/lab041/lab041_authorization_time.png differ
diff --git a/data/processed/lab041/lab041_emergency_intent.png b/data/processed/lab041/lab041_emergency_intent.png
new file mode 100644
index 0000000..e9e7123
Binary files /dev/null and b/data/processed/lab041/lab041_emergency_intent.png differ
diff --git a/data/processed/lab041/lab041_load_metrics.csv b/data/processed/lab041/lab041_load_metrics.csv
new file mode 100644
index 0000000..3d3fa8b
--- /dev/null
+++ b/data/processed/lab041/lab041_load_metrics.csv
@@ -0,0 +1,181 @@
+architecture,channel_condition,scenario,repetitions,control_state_packet_bytes,control_state_messages_per_second,control_state_load_kbps,application_header_fraction,lab040_control_load_kbps,control_load_increase_kbps,session_load_kbps,authorization_load_kbps,emergency_load_kbps,retry_load_kbps,episodic_service_load_kbps,video_offered_load_kbps,telemetry_offered_load_kbps,full_offered_load_kbps,control_delivered_fraction,telemetry_delivered_fraction,video_published_fraction,maximum_queue_packets
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diff --git a/data/processed/lab041/lab041_old_packet_rejection.png b/data/processed/lab041/lab041_old_packet_rejection.png
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index 0000000..bd71b32
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diff --git a/data/processed/lab041/lab041_protection_load.png b/data/processed/lab041/lab041_protection_load.png
new file mode 100644
index 0000000..557cf9b
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diff --git a/data/processed/lab041/lab041_rejection_metrics.csv b/data/processed/lab041/lab041_rejection_metrics.csv
new file mode 100644
index 0000000..744991a
--- /dev/null
+++ b/data/processed/lab041/lab041_rejection_metrics.csv
@@ -0,0 +1,181 @@
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diff --git a/data/processed/lab041/lab041_report.txt b/data/processed/lab041/lab041_report.txt
new file mode 100644
index 0000000..6b7d5d0
--- /dev/null
+++ b/data/processed/lab041/lab041_report.txt
@@ -0,0 +1,335 @@
+Lab041 — сеансы связи, безопасный запуск и защита от пакетов предыдущего сеанса
+
+Исходное состояние
+- Корень: C:/Users/user/Desktop/projects/SDR_Rover
+- Ветка: main.
+- Исходный HEAD: 88addff5b615dd7c13506b6e4c83c131a6a4bb39.
+- Рабочее дерево и индекс были чистыми; расхождение с локально известной origin/main составляло 0/0.
+- Коммиты Lab039 и Lab040 присутствовали; сетевые команды Git не выполнялись.
+
+Форматы прикладных сообщений
+- Общий прикладной заголовок: !BBQQII, 26 байт, сетевой порядок, без неявного выравнивания.
+- Поля заголовка: версия, тип, ground_session_id, rover_boot_id, control_epoch и sequence_number.
+- Типы: SESSION_HELLO, SESSION_STATUS, MOVEMENT_AUTHORIZE_REQUEST, MOVEMENT_AUTHORIZE_ACK, CONTROL_STATE, EMERGENCY_STOP, EMERGENCY_ACK, RESET_REQUEST, RESET_ACK и SESSION_REJECT.
+- CONTROL_STATE содержит скорость float32, поворот float32, торможение uint8 и разрешение движения uint8; выполняется смысловая проверка диапазонов и сочетаний.
+- Идентификаторы запуска имеют 64 бита; период управления и номер сообщения — 32 бита; идентификаторы аварии и сброса — 64 бита.
+- Отдельная контрольная сумма не добавлена: контрольная сумма общего пакета Lab033 уже охватывает всю полезную нагрузку. Успешная проверка суммы не заменяет смысловую проверку.
+- тип | прикладной заголовок, байт | специализированная часть, байт | прикладное сообщение, байт | заголовок Lab033, байт | передаётся всего, байт
+- SESSION_HELLO | 26 | 9 | 35 | 32 | 67
+- SESSION_STATUS | 26 | 10 | 36 | 32 | 68
+- MOVEMENT_AUTHORIZE_REQUEST | 26 | 8 | 34 | 32 | 66
+- MOVEMENT_AUTHORIZE_ACK | 26 | 9 | 35 | 32 | 67
+- CONTROL_STATE | 26 | 10 | 36 | 32 | 68
+- EMERGENCY_STOP | 26 | 8 | 34 | 32 | 66
+- EMERGENCY_ACK | 26 | 8 | 34 | 32 | 66
+- RESET_REQUEST | 26 | 21 | 47 | 32 | 79
+- RESET_ACK | 26 | 18 | 44 | 32 | 76
+- SESSION_REJECT | 26 | 2 | 28 | 32 | 60
+
+Постоянная нагрузка управления
+- CONTROL_STATE: 68 передаваемых байт × 20 сообщений/с = 10.88000 кбит/с.
+- За 20 с передаётся 400 команд, или 27200 байт.
+- Прикладной заголовок занимает 72.222% прикладного сообщения и 38.235% всего передаваемого пакета команды.
+- В Lab040 пакет команды занимал 46 байт и создавал 7.36000 кбит/с; рост составляет 3.52000 кбит/с, или 47.826%.
+- Один исходный обмен SESSION_HELLO и SESSION_STATUS: 135 байт, что соответствует 0.05400 кбит/с при усреднении по одному опыту.
+- Один исходный обмен разрешения движения: 133 байт, или 0.05320 кбит/с при усреднении по одному опыту.
+- Аварийная команда с подтверждением: 132 байт; запрос сброса с подтверждением: 155 байт.
+
+Обоснование идентификаторов
+- Одного sequence_number недостаточно: после перезапуска он может снова начаться с нуля, а задержанный большой номер прежнего запуска будет выглядеть допустимым без границы сеанса.
+- ground_session_id отделяет запуски наземной станции; rover_boot_id немедленно делает недействительными команды, адресованные предыдущему запуску ровера.
+- control_epoch отделён от сеанса, потому что внутри одного соединения движение может быть повторно запрещено и разрешено после остановки или сброса.
+- 64 бита выбраны как минимально требуемая ширина с практически большим пространством случайных значений; в воспроизводимой модели значения выводятся из фиксированного начального значения. Источник для реального изделия должен быть определён отдельно.
+
+Автоматы сторон
+- Наземная станция: GROUND_BOOT → GROUND_SYNCING → GROUND_SAFE_SYNCHRONIZED → GROUND_MOVEMENT_AUTH_REQUESTED → GROUND_ACTIVE.
+- Аварийная ветвь станции: GROUND_EMERGENCY_REQUESTED → GROUND_EMERGENCY_CONFIRMED → GROUND_RESET_REQUESTED → безопасное согласованное состояние.
+- Ровер: ROVER_BOOT_SAFE → ROVER_SESSION_SYNCED_SAFE → ROVER_MOVEMENT_AUTHORIZED; состояния STAGE1_DECELERATION, STAGE2_BRAKING и EMERGENCY_LATCHED сохранены.
+- После запуска ровер запрещает движение, потому что его программное состояние и происхождение ранее сохранённой команды больше нельзя считать достоверными.
+- SESSION_STATUS и MOVEMENT_AUTHORIZE_ACK подтверждают этапы протокола, но сами не являются командой движения.
+- После сброса или перезапуска старая команда не восстанавливается: требуется новое действие оператора и новая CONTROL_STATE текущего периода управления.
+
+Сравнение sequence_number
+- delta = (new - old) modulo 2^32; сообщение новее только при 0 < delta < 2^31.
+- delta = 0 означает дубликат или старое сообщение; delta > 2^31 означает старый номер; delta = 2^31 неоднозначно и всегда отклоняется.
+- Правило применяется только при совпадении ground_session_id, rover_boot_id, control_epoch и stream_id.
+
+Ограничение модели
+- Исследуются задержки, дубликаты, перестановка, старые пакеты и потеря оперативного состояния при перезапуске.
+- Намеренная подделка не моделируется. Идентификаторы сеанса не доказывают отправителя, поэтому эта защита не заменяет криптографическую аутентификацию.
+
+Матрица 180 сочетаний
+архитектура | канал | сценарий | повторы | безопасный сеанс, % | разрешение, % | нарушения, % | старые пакеты приняты, % | потеря намерения, % | управление, кбит/с | эпизодическая служебная, кбит/с | полный поток, кбит/с
+Без идентификаторов сеанса | Без потерь | Обычный запуск обеих сторон | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск наземной станции при движении | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск ровера при движении | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Одновременный перезапуск | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск наземной станции при аварийном намерении | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 100.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск ровера в аварийной фиксации | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Длительный перерыв связи | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Старая команда прежнего сеанса станции | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Старая команда прежнего запуска ровера | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Старый период управления | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Номер сообщения с нуля в новом сеансе | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Переполнение 32-битного номера | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Дубликат приветствия сеанса | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Потеря состояния сеанса | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Потеря подтверждения разрешения | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Потеря подтверждения аварии | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10560 | 262.05847
+Без идентификаторов сеанса | Без потерь | Потеря подтверждения сброса | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.12400 | 262.07687
+Без идентификаторов сеанса | Без потерь | Старый запрос сброса | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Поздняя положительная команда после аварии | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск после сброса до подтверждения | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Обычный запуск обеих сторон | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск ровера при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Одновременный перезапуск | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при аварийном намерении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 100.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск ровера в аварийной фиксации | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Длительный перерыв связи | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старая команда прежнего сеанса станции | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старая команда прежнего запуска ровера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старый период управления | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Номер сообщения с нуля в новом сеансе | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Переполнение 32-битного номера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Дубликат приветствия сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря состояния сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря подтверждения разрешения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря подтверждения аварии | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11009 | 262.06295
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря подтверждения сброса | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.12732 | 262.08018
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старый запрос сброса | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Поздняя положительная команда после аварии | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск после сброса до подтверждения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Обычный запуск обеих сторон | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск ровера при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Одновременный перезапуск | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при аварийном намерении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 100.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск ровера в аварийной фиксации | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Длительный перерыв связи | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старая команда прежнего сеанса станции | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старая команда прежнего запуска ровера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старый период управления | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Номер сообщения с нуля в новом сеансе | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Переполнение 32-битного номера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Дубликат приветствия сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря состояния сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря подтверждения разрешения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря подтверждения аварии | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16817 | 262.12103
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря подтверждения сброса | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.13727 | 262.09014
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старый запрос сброса | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Поздняя положительная команда после аварии | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск после сброса до подтверждения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Идентификаторы и безопасный запуск | Без потерь | Обычный запуск обеих сторон | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск наземной станции при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск ровера при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Одновременный перезапуск | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск наземной станции при аварийном намерении | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 100.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск ровера в аварийной фиксации | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | Без потерь | Длительный перерыв связи | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Старая команда прежнего сеанса станции | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Старая команда прежнего запуска ровера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Старый период управления | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Номер сообщения с нуля в новом сеансе | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Переполнение 32-битного номера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Дубликат приветствия сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | Без потерь | Потеря состояния сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | Без потерь | Потеря подтверждения разрешения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы и безопасный запуск | Без потерь | Потеря подтверждения аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21280 | 262.16567
+Идентификаторы и безопасный запуск | Без потерь | Потеря подтверждения сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23120 | 262.18407
+Идентификаторы и безопасный запуск | Без потерь | Старый запрос сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Поздняя положительная команда после аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск после сброса до подтверждения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10852 | 262.06139
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11010 | 262.06297
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 100.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11348 | 262.06634
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10799 | 262.06086
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10773 | 262.06059
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10997 | 262.06284
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16226 | 262.11512
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21848 | 262.17134
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23547 | 262.18833
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10799 | 262.06086
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10984 | 262.06271
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10733 | 262.06020
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11354 | 262.06640
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 100.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.12937 | 262.08224
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10865 | 262.06152
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23379 | 262.18665
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.24705 | 262.19992
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Обычный запуск обеих сторон | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск наземной станции при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск ровера при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Одновременный перезапуск | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск наземной станции при аварийном намерении | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск ровера в аварийной фиксации | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Длительный перерыв связи | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старая команда прежнего сеанса станции | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старая команда прежнего запуска ровера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старый период управления | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Номер сообщения с нуля в новом сеансе | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Переполнение 32-битного номера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Дубликат приветствия сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря состояния сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря подтверждения разрешения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря подтверждения аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21280 | 262.16567
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря подтверждения сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23120 | 262.18407
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старый запрос сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Поздняя положительная команда после аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск после сброса до подтверждения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10733 | 262.06020
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10826 | 262.06112
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10892 | 262.06178
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10773 | 262.06059
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11199 | 262.06486
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10760 | 262.06046
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10786 | 262.06073
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10812 | 262.06099
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11090 | 262.06377
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10852 | 262.06139
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16147 | 262.11433
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16594 | 262.11881
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21927 | 262.17213
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23663 | 262.18949
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10865 | 262.06152
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10878 | 262.06165
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10746 | 262.06033
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11063 | 262.06350
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11169 | 262.06455
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10931 | 262.06218
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11698 | 262.06985
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11261 | 262.06548
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10841 | 262.06127
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11076 | 262.06363
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21966 | 262.17253
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.25147 | 262.20433
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+
+Перезапуски и безопасное состояние
+- В основном режиме движение до синхронизации: 0; до подтверждения разрешения: 0; без новой команды оператора: 0.
+- Максимальный путь после перезапуска в основном режиме: 9.7737 м; это путь безопасного торможения, а не продолжение старой команды.
+- Продолжение движения после перезапуска: 0; запуск по старой команде: 0.
+
+Пакеты предыдущего сеанса
+- Основной режим: введено 2807, отклонено 2807, ошибочно принято 0.
+- Отрицательный уровень без идентификаторов: ошибочно принято 2807 старых пакетов.
+- Причины отказа основного режима: сеанс станции=401, запуск ровера=401, период управления=401, номер сообщения=802, событие аварии=401, запрос сброса=401.
+- Неоднозначных delta=2^31 отклонено: 401.
+
+Аварийное намерение и сброс
+- Сохранение emergency_intent на станции сохраняет намерение оператора; ROVER_BOOT_SAFE независимо защищает физическое движение ровера после его перезапуска. Это разные задачи.
+- В основном режиме потерь аварийного намерения: 0; восстановлений намерения: 401.
+- Ошибочно принятых старых запросов сброса: 0; движений до RESET_ACK: 0; автоматических восстановлений движения: 0.
+- Потеря EMERGENCY_ACK не снимает аварийное намерение; потеря RESET_ACK вызывает повтор того же идемпотентного запроса.
+
+Инварианты безопасности основного режима
+- Движение до синхронизации: 0.
+- Движение до подтверждения разрешения: 0.
+- Движение без новой команды оператора: 0.
+- Принятие команды старого сеанса станции: 0.
+- Принятие команды старого запуска ровера: 0.
+- Использование старого периода управления: 0.
+- Снятие аварийной фиксации обычной командой: 0.
+- Потеря аварийного намерения после перезапуска станции: 0.
+- Движение до подтверждения сброса: 0.
+- Автоматическое восстановление старой команды после сброса: 0.
+- Принятие старого запроса сброса: 0.
+- Принятие неоднозначного номера: 0.
+- Отрицательная скорость: 0.
+- Превышение разрешённой скорости: 0.
+
+Учёт нагрузки
+- Постоянное управление: 10.88000 кбит/с во всех сочетаниях.
+- Исходные сообщения согласования: в среднем 0.05400 кбит/с; разрешение движения: 0.04788 кбит/с.
+- Аварийные сообщения и сброс: в среднем 0.00574 кбит/с; повторы и повторные подтверждения: 0.01536 кбит/с.
+- Эпизодическая служебная нагрузка основного режима: средняя 0.12298 кбит/с, максимум 0.25147 кбит/с. Именно к этой величине относились прежние значения 0,12298–0,25147 кбит/с.
+- Постоянные исходные потоки: видео 243.39287, телеметрия 7.68000, управление 10.88000 кбит/с.
+- Полный предложенный поток основного режима: средний 262.07584 кбит/с, максимум 262.20433 кбит/с.
+- Доставка управления не ниже 97.836%, телеметрии не ниже 97.918%, публикация видео не ниже 86.054%.
+- Максимальная очередь: 46 пакетов.
+
+Функциональные проверки
+- ПРОЙДЕНО — 01. Сериализация всех сообщений: все десять типов имеют однозначное двоичное представление
+- ПРОЙДЕНО — 02. Отклонение неверной версии: неверная версия отклонена
+- ПРОЙДЕНО — 03. Отклонение неизвестного типа: неизвестный тип отклонён
+- ПРОЙДЕНО — 04. Допустимые диапазоны управления: диапазоны и сочетания полей управления проверены
+- ПРОЙДЕНО — 05. Номер ноль в новом сеансе: новый сеанс принимает начальный номер ноль
+- ПРОЙДЕНО — 06. Старый сеанс станции: старый сеанс наземной станции отклонён
+- ПРОЙДЕНО — 07. Старый запуск ровера: старый идентификатор запуска ровера отклонён
+- ПРОЙДЕНО — 08. Старый период управления: старый период управления отклонён
+- ПРОЙДЕНО — 09. Переполнение номера сообщения: переход от 0xFFFFFFFF к нулю принят как новый
+- ПРОЙДЕНО — 10. Неоднозначная половина диапазона: неоднозначная половина диапазона отклонена
+- ПРОЙДЕНО — 11. Безопасное состояние после запуска: после запуска движение запрещено с обеих сторон
+- ПРОЙДЕНО — 12. Состояние сеанса не запускает движение: состояние сеанса и дубликат приветствия не разрешают движение
+- ПРОЙДЕНО — 13. Подтверждение разрешения не восстанавливает движение: подтверждение разрешения сохраняет нулевое состояние
+- ПРОЙДЕНО — 14. Новая команда оператора обязательна: движение начинается только по новой команде оператора
+- ПРОЙДЕНО — 15. Безопасный перезапуск ровера: перезапуск ровера немедленно создаёт безопасное состояние
+- ПРОЙДЕНО — 16. Прекращение старого потока станции: новый сеанс прекращает старый поток команд
+- ПРОЙДЕНО — 17. Восстановление аварийного намерения: сохранённое аварийное намерение восстановлено
+- ПРОЙДЕНО — 18. Подтверждение не снимает аварийное намерение: подтверждение аварии не снимает намерение
+- ПРОЙДЕНО — 19. Отклонение старого запроса сброса: запрос сброса старого сеанса отклонён
+- ПРОЙДЕНО — 20. Повтор после потери подтверждения сброса: без подтверждения тот же запрос сброса передаётся повторно
+- ПРОЙДЕНО — 21. Повторное подтверждение дубликата сброса: дубликат не повторяет сброс и получает подтверждение
+- ПРОЙДЕНО — 22. Аварийная фиксация не снимается обычной командой: обычная команда не снимает аварийную фиксацию
+- ПРОЙДЕНО — 23. Воспроизводимость: помехи и 64-битные идентификаторы воспроизводимы
+- ПРОЙДЕНО — 24. Постоянная нагрузка команд управления: поток управления совпадает с размером 68 байт, частотой 20 Гц и длительностью опыта
+
+Созданные файлы
+- protocol/control_messages.py
+- protocol/session_state.py
+- tests/lab041_session_restart_safety.py
+- data/processed/lab041/lab041_summary.csv
+- data/processed/lab041/lab041_session_metrics.csv
+- data/processed/lab041/lab041_rejection_metrics.csv
+- data/processed/lab041/lab041_restart_metrics.csv
+- data/processed/lab041/lab041_load_metrics.csv
+- data/processed/lab041/lab041_report.txt
+- data/processed/lab041/lab041_session_time.png
+- data/processed/lab041/lab041_authorization_time.png
+- data/processed/lab041/lab041_old_packet_rejection.png
+- data/processed/lab041/lab041_restart_distance.png
+- data/processed/lab041/lab041_emergency_intent.png
+- data/processed/lab041/lab041_safety_violations.png
+- data/processed/lab041/lab041_protection_load.png
+- data/processed/lab041/lab041_traffic_impact.png
+
+Ограничения
+- Модель не включает криптографическую аутентификацию и не рассматривает намеренного нарушителя.
+- Размеры идентификаторов и источник случайности для реального изделия должны быть закреплены отдельным проектным решением.
+- Lab041 не добавлена в индекс и не закоммичена; результаты Lab028–Lab040 не изменены.
diff --git a/data/processed/lab041/lab041_restart_distance.png b/data/processed/lab041/lab041_restart_distance.png
new file mode 100644
index 0000000..fbdc5a3
Binary files /dev/null and b/data/processed/lab041/lab041_restart_distance.png differ
diff --git a/data/processed/lab041/lab041_restart_metrics.csv b/data/processed/lab041/lab041_restart_metrics.csv
new file mode 100644
index 0000000..2b537b5
--- /dev/null
+++ b/data/processed/lab041/lab041_restart_metrics.csv
@@ -0,0 +1,181 @@
+architecture,channel_condition,scenario,repetitions,restart_cases,mean_restart_to_safe_ms,p95_restart_to_safe_ms,mean_distance_after_restart_m,max_distance_after_restart_m,continued_movement_after_restart,startup_from_old_command,emergency_latch_removed,emergency_intent_lost,unsafe_movement_authorizations,emergency_intent_restored,zero_commands_continued,mean_emergency_refixed_ms,emergency_event_misclassified,old_reset_erroneously_accepted,movement_before_reset_ack,automatic_motion_after_reset,negative_speed_cases,speed_limit_exceeded_cases
+no_session_ids,no_loss,normal_start,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
+no_session_ids,no_loss,ground_restart_moving,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
+no_session_ids,no_loss,rover_restart_moving,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
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diff --git a/data/processed/lab041/lab041_safety_violations.png b/data/processed/lab041/lab041_safety_violations.png
new file mode 100644
index 0000000..230ccb3
Binary files /dev/null and b/data/processed/lab041/lab041_safety_violations.png differ
diff --git a/data/processed/lab041/lab041_session_metrics.csv b/data/processed/lab041/lab041_session_metrics.csv
new file mode 100644
index 0000000..58edc9d
--- /dev/null
+++ b/data/processed/lab041/lab041_session_metrics.csv
@@ -0,0 +1,181 @@
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diff --git a/data/processed/lab041/lab041_session_time.png b/data/processed/lab041/lab041_session_time.png
new file mode 100644
index 0000000..86ceb5b
Binary files /dev/null and b/data/processed/lab041/lab041_session_time.png differ
diff --git a/data/processed/lab041/lab041_summary.csv b/data/processed/lab041/lab041_summary.csv
new file mode 100644
index 0000000..33cda5c
--- /dev/null
+++ b/data/processed/lab041/lab041_summary.csv
@@ -0,0 +1,181 @@
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diff --git a/data/processed/lab041/lab041_traffic_impact.png b/data/processed/lab041/lab041_traffic_impact.png
new file mode 100644
index 0000000..26dc809
Binary files /dev/null and b/data/processed/lab041/lab041_traffic_impact.png differ
diff --git a/protocol/control_messages.py b/protocol/control_messages.py
new file mode 100644
index 0000000..d63ad9a
--- /dev/null
+++ b/protocol/control_messages.py
@@ -0,0 +1,434 @@
+"""Прикладные сообщения безопасного сеанса Lab041.
+
+Общий заголовок полезной нагрузки имеет формат ``!BBQQII``: версия, тип
+сообщения, 64-битные идентификаторы запуска наземной станции и ровера,
+32-битный период управления и 32-битный номер сообщения. Порядок байтов
+сетевой, неявного выравнивания нет.
+
+Отдельная контрольная сумма намеренно не добавляется: контрольная сумма
+общего пакета Lab033 уже защищает заголовок и всю прикладную нагрузку. После
+проверки этой суммы всё равно требуется приведённая здесь смысловая проверка.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from enum import IntEnum
+import math
+import struct
+from typing import Union
+
+
+MESSAGE_VERSION = 1
+COMMON_FORMAT = "!BBQQII"
+COMMON_SIZE = struct.calcsize(COMMON_FORMAT)
+UINT32_MODULUS = 1 << 32
+UINT32_HALF_RANGE = 1 << 31
+MAX_CONTROL_SPEED_MPS = 15.0
+MAX_ABS_TURN = 1.0
+
+
+class ControlMessageError(ValueError):
+    """Ошибка формата или смысловой проверки прикладного сообщения."""
+
+
+class MessageType(IntEnum):
+    SESSION_HELLO = 1
+    SESSION_STATUS = 2
+    MOVEMENT_AUTHORIZE_REQUEST = 3
+    MOVEMENT_AUTHORIZE_ACK = 4
+    CONTROL_STATE = 5
+    EMERGENCY_STOP = 6
+    EMERGENCY_ACK = 7
+    RESET_REQUEST = 8
+    RESET_ACK = 9
+    SESSION_REJECT = 10
+
+
+class RoverSafetyCode(IntEnum):
+    ROVER_BOOT_SAFE = 1
+    ROVER_SESSION_SYNCED_SAFE = 2
+    ROVER_MOVEMENT_AUTHORIZED = 3
+    STAGE1_DECELERATION = 4
+    STAGE2_BRAKING = 5
+    EMERGENCY_LATCHED = 6
+
+
+class SessionRejectReason(IntEnum):
+    ACCEPTED = 0
+    GROUND_SESSION_ID = 1
+    ROVER_BOOT_ID = 2
+    CONTROL_EPOCH = 3
+    SEQUENCE_NUMBER = 4
+    EMERGENCY_EVENT_ID = 5
+    RESET_REQUEST_ID = 6
+    NOT_SYNCHRONIZED = 7
+    MOVEMENT_NOT_AUTHORIZED = 8
+
+
+class SequenceComparison(IntEnum):
+    NOT_NEWER = 0
+    NEWER = 1
+    AMBIGUOUS = 2
+
+
+@dataclass(frozen=True)
+class MessageContext:
+    ground_session_id: int
+    rover_boot_id: int
+    control_epoch: int
+    sequence_number: int
+
+
+@dataclass(frozen=True)
+class SessionHello:
+    context: MessageContext
+    emergency_intent: bool
+    emergency_event_id: int
+
+
+@dataclass(frozen=True)
+class SessionStatus:
+    context: MessageContext
+    safety_state: RoverSafetyCode
+    emergency_latched: bool
+    emergency_event_id: int
+
+
+@dataclass(frozen=True)
+class MovementAuthorizeRequest:
+    context: MessageContext
+    authorization_id: int
+
+
+@dataclass(frozen=True)
+class MovementAuthorizeAck:
+    context: MessageContext
+    authorization_id: int
+    accepted: bool
+
+
+@dataclass(frozen=True)
+class ControlStateMessage:
+    context: MessageContext
+    desired_speed_mps: float
+    desired_turn: float
+    braking: bool
+    movement_permitted: bool
+
+
+@dataclass(frozen=True)
+class EmergencyStop:
+    context: MessageContext
+    emergency_event_id: int
+
+
+@dataclass(frozen=True)
+class EmergencyAck:
+    context: MessageContext
+    emergency_event_id: int
+
+
+@dataclass(frozen=True)
+class ResetRequest:
+    context: MessageContext
+    emergency_event_id: int
+    reset_request_id: int
+    requested_speed_mps: float
+    movement_permitted: bool
+
+
+@dataclass(frozen=True)
+class ResetAck:
+    context: MessageContext
+    emergency_event_id: int
+    reset_request_id: int
+    accepted: bool
+    reason: SessionRejectReason
+
+
+@dataclass(frozen=True)
+class SessionReject:
+    context: MessageContext
+    rejected_type: MessageType
+    reason: SessionRejectReason
+
+
+ControlMessage = Union[
+    SessionHello,
+    SessionStatus,
+    MovementAuthorizeRequest,
+    MovementAuthorizeAck,
+    ControlStateMessage,
+    EmergencyStop,
+    EmergencyAck,
+    ResetRequest,
+    ResetAck,
+    SessionReject,
+]
+
+
+_TYPE_BY_CLASS = {
+    SessionHello: MessageType.SESSION_HELLO,
+    SessionStatus: MessageType.SESSION_STATUS,
+    MovementAuthorizeRequest: MessageType.MOVEMENT_AUTHORIZE_REQUEST,
+    MovementAuthorizeAck: MessageType.MOVEMENT_AUTHORIZE_ACK,
+    ControlStateMessage: MessageType.CONTROL_STATE,
+    EmergencyStop: MessageType.EMERGENCY_STOP,
+    EmergencyAck: MessageType.EMERGENCY_ACK,
+    ResetRequest: MessageType.RESET_REQUEST,
+    ResetAck: MessageType.RESET_ACK,
+    SessionReject: MessageType.SESSION_REJECT,
+}
+
+
+def _unsigned(value: int, maximum: int, name: str) -> int:
+    if not isinstance(value, int) or isinstance(value, bool) or not 0 <= value <= maximum:
+        raise ControlMessageError(f"{name} выходит за допустимый беззнаковый диапазон")
+    return value
+
+
+def validate_context(context: MessageContext) -> MessageContext:
+    if not isinstance(context, MessageContext):
+        raise TypeError("требуется MessageContext")
+    _unsigned(context.ground_session_id, 0xFFFFFFFFFFFFFFFF, "ground_session_id")
+    _unsigned(context.rover_boot_id, 0xFFFFFFFFFFFFFFFF, "rover_boot_id")
+    _unsigned(context.control_epoch, 0xFFFFFFFF, "control_epoch")
+    _unsigned(context.sequence_number, 0xFFFFFFFF, "sequence_number")
+    return context
+
+
+def compare_sequence(new: int, old: int) -> SequenceComparison:
+    """Сравнить 32-битные номера по модулю с неоднозначной серединой."""
+
+    _unsigned(new, 0xFFFFFFFF, "new sequence_number")
+    _unsigned(old, 0xFFFFFFFF, "old sequence_number")
+    delta = (new - old) % UINT32_MODULUS
+    if delta == UINT32_HALF_RANGE:
+        return SequenceComparison.AMBIGUOUS
+    if 0 < delta < UINT32_HALF_RANGE:
+        return SequenceComparison.NEWER
+    return SequenceComparison.NOT_NEWER
+
+
+def _common(message_type: MessageType, context: MessageContext) -> bytes:
+    validate_context(context)
+    return struct.pack(
+        COMMON_FORMAT,
+        MESSAGE_VERSION,
+        int(message_type),
+        context.ground_session_id,
+        context.rover_boot_id,
+        context.control_epoch,
+        context.sequence_number,
+    )
+
+
+def _boolean(value: bool, name: str) -> int:
+    if not isinstance(value, bool):
+        raise ControlMessageError(f"{name} должен быть логическим значением")
+    return int(value)
+
+
+def _finite(value: float, name: str) -> float:
+    value = float(value)
+    if not math.isfinite(value):
+        raise ControlMessageError(f"{name} должен быть конечным числом")
+    return value
+
+
+def encode_message(message: ControlMessage) -> bytes:
+    """Проверить и сериализовать одно прикладное сообщение."""
+
+    message_type = _TYPE_BY_CLASS.get(type(message))
+    if message_type is None:
+        raise TypeError("неподдерживаемый класс прикладного сообщения")
+    prefix = _common(message_type, message.context)
+    if isinstance(message, SessionHello):
+        event = _unsigned(message.emergency_event_id, 0xFFFFFFFFFFFFFFFF, "emergency_event_id")
+        return prefix + struct.pack("!BQ", _boolean(message.emergency_intent, "emergency_intent"), event)
+    if isinstance(message, SessionStatus):
+        try:
+            state = RoverSafetyCode(message.safety_state)
+        except ValueError as error:
+            raise ControlMessageError("неизвестное состояние безопасности ровера") from error
+        event = _unsigned(message.emergency_event_id, 0xFFFFFFFFFFFFFFFF, "emergency_event_id")
+        return prefix + struct.pack("!BBQ", int(state), _boolean(message.emergency_latched, "emergency_latched"), event)
+    if isinstance(message, MovementAuthorizeRequest):
+        return prefix + struct.pack("!Q", _unsigned(message.authorization_id, 0xFFFFFFFFFFFFFFFF, "authorization_id"))
+    if isinstance(message, MovementAuthorizeAck):
+        return prefix + struct.pack(
+            "!QB",
+            _unsigned(message.authorization_id, 0xFFFFFFFFFFFFFFFF, "authorization_id"),
+            _boolean(message.accepted, "accepted"),
+        )
+    if isinstance(message, ControlStateMessage):
+        speed = _finite(message.desired_speed_mps, "desired_speed_mps")
+        turn = _finite(message.desired_turn, "desired_turn")
+        if not 0.0 <= speed <= MAX_CONTROL_SPEED_MPS:
+            raise ControlMessageError("требуемая скорость вне диапазона 0…15 м/с")
+        if not -MAX_ABS_TURN <= turn <= MAX_ABS_TURN:
+            raise ControlMessageError("требуемый поворот вне диапазона -1…1")
+        braking = _boolean(message.braking, "braking")
+        permitted = _boolean(message.movement_permitted, "movement_permitted")
+        if (braking or not permitted) and speed != 0.0:
+            raise ControlMessageError("при торможении или запрете движения скорость должна быть нулевой")
+        if braking and permitted:
+            raise ControlMessageError("торможение несовместимо с разрешением движения")
+        return prefix + struct.pack("!ffBB", speed, turn, braking, permitted)
+    if isinstance(message, (EmergencyStop, EmergencyAck)):
+        event = _unsigned(message.emergency_event_id, 0xFFFFFFFFFFFFFFFF, "emergency_event_id")
+        return prefix + struct.pack("!Q", event)
+    if isinstance(message, ResetRequest):
+        event = _unsigned(message.emergency_event_id, 0xFFFFFFFFFFFFFFFF, "emergency_event_id")
+        request = _unsigned(message.reset_request_id, 0xFFFFFFFFFFFFFFFF, "reset_request_id")
+        speed = _finite(message.requested_speed_mps, "requested_speed_mps")
+        permitted = _boolean(message.movement_permitted, "movement_permitted")
+        if speed != 0.0 or permitted:
+            raise ControlMessageError("безопасный сброс требует нулевой скорости и запрета движения")
+        return prefix + struct.pack("!QQfB", event, request, speed, permitted)
+    if isinstance(message, ResetAck):
+        try:
+            reason = SessionRejectReason(message.reason)
+        except ValueError as error:
+            raise ControlMessageError("неизвестная причина подтверждения сброса") from error
+        return prefix + struct.pack(
+            "!QQBB",
+            _unsigned(message.emergency_event_id, 0xFFFFFFFFFFFFFFFF, "emergency_event_id"),
+            _unsigned(message.reset_request_id, 0xFFFFFFFFFFFFFFFF, "reset_request_id"),
+            _boolean(message.accepted, "accepted"),
+            int(reason),
+        )
+    if isinstance(message, SessionReject):
+        try:
+            rejected_type = MessageType(message.rejected_type)
+            reason = SessionRejectReason(message.reason)
+        except ValueError as error:
+            raise ControlMessageError("неизвестный код отказа сеанса") from error
+        return prefix + struct.pack("!BB", int(rejected_type), int(reason))
+    raise AssertionError("необработанный тип сообщения")
+
+
+def _decode_bool(value: int, name: str) -> bool:
+    if value not in (0, 1):
+        raise ControlMessageError(f"{name} должен быть равен нулю или единице")
+    return bool(value)
+
+
+def _unpack_exact(body: bytes, format_string: str) -> tuple[object, ...]:
+    expected = struct.calcsize(format_string)
+    if len(body) != expected:
+        raise ControlMessageError(f"неверная длина тела сообщения: {len(body)}, ожидается {expected}")
+    return struct.unpack(format_string, body)
+
+
+def decode_message(payload: bytes) -> ControlMessage:
+    """Разобрать сообщение и выполнить полную смысловую проверку."""
+
+    if not isinstance(payload, (bytes, bytearray)):
+        raise TypeError("полезная нагрузка должна быть последовательностью байтов")
+    payload = bytes(payload)
+    if len(payload) < COMMON_SIZE:
+        raise ControlMessageError("сообщение короче общего заголовка")
+    version, raw_type, ground, rover, epoch, sequence = struct.unpack(COMMON_FORMAT, payload[:COMMON_SIZE])
+    if version != MESSAGE_VERSION:
+        raise ControlMessageError("неподдерживаемая версия прикладного сообщения")
+    try:
+        message_type = MessageType(raw_type)
+    except ValueError as error:
+        raise ControlMessageError("неизвестный тип прикладного сообщения") from error
+    context = MessageContext(ground, rover, epoch, sequence)
+    body = payload[COMMON_SIZE:]
+    if message_type is MessageType.SESSION_HELLO:
+        intent, event = _unpack_exact(body, "!BQ")
+        message: ControlMessage = SessionHello(context, _decode_bool(intent, "emergency_intent"), event)
+    elif message_type is MessageType.SESSION_STATUS:
+        state, latched, event = _unpack_exact(body, "!BBQ")
+        try:
+            safety_state = RoverSafetyCode(state)
+        except ValueError as error:
+            raise ControlMessageError("неизвестное состояние безопасности ровера") from error
+        message = SessionStatus(context, safety_state, _decode_bool(latched, "emergency_latched"), event)
+    elif message_type is MessageType.MOVEMENT_AUTHORIZE_REQUEST:
+        (authorization,) = _unpack_exact(body, "!Q")
+        message = MovementAuthorizeRequest(context, authorization)
+    elif message_type is MessageType.MOVEMENT_AUTHORIZE_ACK:
+        authorization, accepted = _unpack_exact(body, "!QB")
+        message = MovementAuthorizeAck(context, authorization, _decode_bool(accepted, "accepted"))
+    elif message_type is MessageType.CONTROL_STATE:
+        speed, turn, braking, permitted = _unpack_exact(body, "!ffBB")
+        message = ControlStateMessage(
+            context,
+            speed,
+            turn,
+            _decode_bool(braking, "braking"),
+            _decode_bool(permitted, "movement_permitted"),
+        )
+    elif message_type is MessageType.EMERGENCY_STOP:
+        (event,) = _unpack_exact(body, "!Q")
+        message = EmergencyStop(context, event)
+    elif message_type is MessageType.EMERGENCY_ACK:
+        (event,) = _unpack_exact(body, "!Q")
+        message = EmergencyAck(context, event)
+    elif message_type is MessageType.RESET_REQUEST:
+        event, request, speed, permitted = _unpack_exact(body, "!QQfB")
+        message = ResetRequest(context, event, request, speed, _decode_bool(permitted, "movement_permitted"))
+    elif message_type is MessageType.RESET_ACK:
+        event, request, accepted, reason = _unpack_exact(body, "!QQBB")
+        try:
+            reset_reason = SessionRejectReason(reason)
+        except ValueError as error:
+            raise ControlMessageError("неизвестная причина подтверждения сброса") from error
+        message = ResetAck(context, event, request, _decode_bool(accepted, "accepted"), reset_reason)
+    else:
+        rejected_type, reason = _unpack_exact(body, "!BB")
+        try:
+            message = SessionReject(context, MessageType(rejected_type), SessionRejectReason(reason))
+        except ValueError as error:
+            raise ControlMessageError("неизвестный код отказа сеанса") from error
+    return decode_validated_message(message)
+
+
+def decode_validated_message(message: ControlMessage) -> ControlMessage:
+    """Повторно применить смысловую проверку к разобранному объекту."""
+
+    return decode_without_recursion(encode_message(message))
+
+
+def decode_without_recursion(payload: bytes) -> ControlMessage:
+    """Внутренний разбор уже проверенного представления."""
+
+    version, raw_type, ground, rover, epoch, sequence = struct.unpack(COMMON_FORMAT, payload[:COMMON_SIZE])
+    assert version == MESSAGE_VERSION
+    message_type = MessageType(raw_type)
+    context = MessageContext(ground, rover, epoch, sequence)
+    body = payload[COMMON_SIZE:]
+    if message_type is MessageType.SESSION_HELLO:
+        intent, event = struct.unpack("!BQ", body)
+        return SessionHello(context, bool(intent), event)
+    if message_type is MessageType.SESSION_STATUS:
+        state, latched, event = struct.unpack("!BBQ", body)
+        return SessionStatus(context, RoverSafetyCode(state), bool(latched), event)
+    if message_type is MessageType.MOVEMENT_AUTHORIZE_REQUEST:
+        return MovementAuthorizeRequest(context, struct.unpack("!Q", body)[0])
+    if message_type is MessageType.MOVEMENT_AUTHORIZE_ACK:
+        authorization, accepted = struct.unpack("!QB", body)
+        return MovementAuthorizeAck(context, authorization, bool(accepted))
+    if message_type is MessageType.CONTROL_STATE:
+        speed, turn, braking, permitted = struct.unpack("!ffBB", body)
+        return ControlStateMessage(context, speed, turn, bool(braking), bool(permitted))
+    if message_type is MessageType.EMERGENCY_STOP:
+        return EmergencyStop(context, struct.unpack("!Q", body)[0])
+    if message_type is MessageType.EMERGENCY_ACK:
+        return EmergencyAck(context, struct.unpack("!Q", body)[0])
+    if message_type is MessageType.RESET_REQUEST:
+        event, request, speed, permitted = struct.unpack("!QQfB", body)
+        return ResetRequest(context, event, request, speed, bool(permitted))
+    if message_type is MessageType.RESET_ACK:
+        event, request, accepted, reason = struct.unpack("!QQBB", body)
+        return ResetAck(context, event, request, bool(accepted), SessionRejectReason(reason))
+    rejected_type, reason = struct.unpack("!BB", body)
+    return SessionReject(context, MessageType(rejected_type), SessionRejectReason(reason))
+
+
+assert COMMON_SIZE == 26
diff --git a/protocol/session_state.py b/protocol/session_state.py
new file mode 100644
index 0000000..c9b76b4
--- /dev/null
+++ b/protocol/session_state.py
@@ -0,0 +1,422 @@
+"""Автоматы безопасного сеанса наземной станции и ровера для Lab041."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from enum import Enum
+import hashlib
+
+from protocol.control_messages import (
+    ControlStateMessage,
+    EmergencyAck,
+    EmergencyStop,
+    MessageContext,
+    MessageType,
+    MovementAuthorizeAck,
+    MovementAuthorizeRequest,
+    ResetAck,
+    ResetRequest,
+    RoverSafetyCode,
+    SequenceComparison,
+    SessionHello,
+    SessionRejectReason,
+    SessionStatus,
+    compare_sequence,
+)
+
+
+class GroundSessionState(str, Enum):
+    GROUND_BOOT = "ground_boot"
+    GROUND_SYNCING = "ground_syncing"
+    GROUND_SAFE_SYNCHRONIZED = "ground_safe_synchronized"
+    GROUND_MOVEMENT_AUTH_REQUESTED = "ground_movement_auth_requested"
+    GROUND_ACTIVE = "ground_active"
+    GROUND_EMERGENCY_REQUESTED = "ground_emergency_requested"
+    GROUND_EMERGENCY_CONFIRMED = "ground_emergency_confirmed"
+    GROUND_RESET_REQUESTED = "ground_reset_requested"
+
+
+class RoverSessionState(str, Enum):
+    ROVER_BOOT_SAFE = "rover_boot_safe"
+    ROVER_SESSION_SYNCED_SAFE = "rover_session_synced_safe"
+    ROVER_MOVEMENT_AUTHORIZED = "rover_movement_authorized"
+    STAGE1_DECELERATION = "stage1_deceleration"
+    STAGE2_BRAKING = "stage2_braking"
+    EMERGENCY_LATCHED = "emergency_latched"
+
+
+class RejectionCause(str, Enum):
+    GROUND_SESSION_ID = "ground_session_id"
+    ROVER_BOOT_ID = "rover_boot_id"
+    CONTROL_EPOCH = "control_epoch"
+    SEQUENCE_NUMBER = "sequence_number"
+    EMERGENCY_EVENT_ID = "emergency_event_id"
+    RESET_REQUEST_ID = "reset_request_id"
+    NOT_SYNCHRONIZED = "not_synchronized"
+    MOVEMENT_NOT_AUTHORIZED = "movement_not_authorized"
+
+
+@dataclass(frozen=True)
+class ControlDecision:
+    accepted: bool
+    reason: RejectionCause | None
+    ambiguous_sequence: bool = False
+
+
+@dataclass(frozen=True)
+class ResetDecision:
+    acknowledgement: ResetAck
+    performed: bool
+    duplicate: bool
+
+
+def deterministic_identifier(seed: int, purpose: str) -> int:
+    """Получить воспроизводимый ненулевой 64-битный идентификатор."""
+
+    if not isinstance(seed, int):
+        raise TypeError("начальное значение генератора должно быть целым")
+    digest = hashlib.blake2b(f"Lab041:{purpose}:{seed}".encode("utf-8"), digest_size=8).digest()
+    return int.from_bytes(digest, "big") or 1
+
+
+class GroundSessionController:
+    """Наземный автомат без автоматического восстановления движения."""
+
+    def __init__(
+        self,
+        seed: int,
+        *,
+        persisted_emergency_intent: bool = False,
+        persisted_emergency_event_id: int = 0,
+    ) -> None:
+        self.ground_session_id = deterministic_identifier(seed, "ground")
+        self.rover_boot_id = 0
+        self.control_epoch = 0
+        self.sequence_number = 0
+        self.state = GroundSessionState.GROUND_BOOT
+        self.emergency_intent = bool(persisted_emergency_intent)
+        self.emergency_event_id = persisted_emergency_event_id if self.emergency_intent else 0
+        self.authorization_id = 0
+        self.reset_request_id = 0
+        self.last_operator_sequence: int | None = None
+        self.movement_permitted = False
+        self.current_speed_mps = 0.0
+        self.zero_commands_after_restart = 0
+
+    def _next_sequence(self) -> int:
+        value = self.sequence_number
+        self.sequence_number = (self.sequence_number + 1) & 0xFFFFFFFF
+        return value
+
+    def _context(self, *, epoch: int | None = None) -> MessageContext:
+        return MessageContext(
+            self.ground_session_id,
+            self.rover_boot_id,
+            self.control_epoch if epoch is None else epoch,
+            self._next_sequence(),
+        )
+
+    def start_synchronization(self) -> SessionHello:
+        if self.state is not GroundSessionState.GROUND_BOOT:
+            raise RuntimeError("синхронизацию можно начать только после запуска")
+        self.state = GroundSessionState.GROUND_SYNCING
+        self.movement_permitted = False
+        self.current_speed_mps = 0.0
+        return SessionHello(self._context(epoch=0), self.emergency_intent, self.emergency_event_id)
+
+    def repeat_hello(self) -> SessionHello:
+        if self.state is not GroundSessionState.GROUND_SYNCING:
+            raise RuntimeError("повтор приветствия допустим только при синхронизации")
+        return SessionHello(self._context(epoch=0), self.emergency_intent, self.emergency_event_id)
+
+    def receive_status(self, status: SessionStatus) -> bool:
+        if self.state is not GroundSessionState.GROUND_SYNCING:
+            return False
+        if status.context.ground_session_id != self.ground_session_id:
+            return False
+        if status.context.rover_boot_id == 0:
+            return False
+        self.rover_boot_id = status.context.rover_boot_id
+        self.control_epoch = 0
+        self.movement_permitted = False
+        self.current_speed_mps = 0.0
+        if self.emergency_intent:
+            self.state = GroundSessionState.GROUND_EMERGENCY_REQUESTED
+        else:
+            self.state = GroundSessionState.GROUND_SAFE_SYNCHRONIZED
+        return True
+
+    def request_movement_authorization(self, authorization_id: int) -> MovementAuthorizeRequest:
+        if self.state is not GroundSessionState.GROUND_SAFE_SYNCHRONIZED:
+            raise RuntimeError("разрешение движения требует безопасного согласованного сеанса")
+        if self.emergency_intent:
+            raise RuntimeError("при аварийном намерении движение запрещено")
+        if not 0 <= authorization_id <= 0xFFFFFFFFFFFFFFFF:
+            raise ValueError("authorization_id вне диапазона uint64")
+        self.authorization_id = authorization_id
+        self.state = GroundSessionState.GROUND_MOVEMENT_AUTH_REQUESTED
+        return MovementAuthorizeRequest(self._context(epoch=0), authorization_id)
+
+    def receive_movement_authorize_ack(self, acknowledgement: MovementAuthorizeAck) -> bool:
+        if self.state is not GroundSessionState.GROUND_MOVEMENT_AUTH_REQUESTED:
+            return False
+        context = acknowledgement.context
+        if (
+            context.ground_session_id != self.ground_session_id
+            or context.rover_boot_id != self.rover_boot_id
+            or acknowledgement.authorization_id != self.authorization_id
+            or not acknowledgement.accepted
+            or context.control_epoch == 0
+        ):
+            return False
+        self.control_epoch = context.control_epoch
+        self.state = GroundSessionState.GROUND_ACTIVE
+        self.movement_permitted = False
+        self.current_speed_mps = 0.0
+        self.last_operator_sequence = None
+        return True
+
+    def new_operator_control(self, speed_mps: float, turn: float = 0.0) -> ControlStateMessage:
+        if self.state is not GroundSessionState.GROUND_ACTIVE:
+            raise RuntimeError("новая команда движения возможна только в активном сеансе")
+        if speed_mps <= 0.0:
+            raise ValueError("скорость новой команды должна быть положительной")
+        context = self._context()
+        self.last_operator_sequence = context.sequence_number
+        self.movement_permitted = True
+        self.current_speed_mps = speed_mps
+        return ControlStateMessage(context, speed_mps, turn, False, True)
+
+    def safe_zero_control(self) -> ControlStateMessage:
+        self.zero_commands_after_restart += 1
+        return ControlStateMessage(self._context(), 0.0, 0.0, True, False)
+
+    def request_emergency(self, emergency_event_id: int) -> EmergencyStop:
+        if not 0 < emergency_event_id <= 0xFFFFFFFFFFFFFFFF:
+            raise ValueError("emergency_event_id должен быть ненулевым uint64")
+        self.emergency_intent = True
+        self.emergency_event_id = emergency_event_id
+        self.movement_permitted = False
+        self.current_speed_mps = 0.0
+        self.state = GroundSessionState.GROUND_EMERGENCY_REQUESTED
+        return EmergencyStop(self._context(), emergency_event_id)
+
+    def receive_emergency_ack(self, acknowledgement: EmergencyAck) -> bool:
+        if acknowledgement.context.ground_session_id != self.ground_session_id:
+            return False
+        if acknowledgement.emergency_event_id != self.emergency_event_id:
+            return False
+        if self.state is GroundSessionState.GROUND_EMERGENCY_REQUESTED:
+            self.state = GroundSessionState.GROUND_EMERGENCY_CONFIRMED
+        return True
+
+    def request_reset(self, reset_request_id: int) -> ResetRequest:
+        if not self.emergency_intent:
+            raise RuntimeError("сброс требует аварийного намерения")
+        if not 0 < reset_request_id <= 0xFFFFFFFFFFFFFFFF:
+            raise ValueError("reset_request_id должен быть ненулевым uint64")
+        self.reset_request_id = reset_request_id
+        self.state = GroundSessionState.GROUND_RESET_REQUESTED
+        return ResetRequest(self._context(), self.emergency_event_id, reset_request_id, 0.0, False)
+
+    def receive_reset_ack(self, acknowledgement: ResetAck) -> bool:
+        if self.state is not GroundSessionState.GROUND_RESET_REQUESTED:
+            return False
+        if (
+            acknowledgement.context.ground_session_id != self.ground_session_id
+            or acknowledgement.context.rover_boot_id != self.rover_boot_id
+            or acknowledgement.emergency_event_id != self.emergency_event_id
+            or acknowledgement.reset_request_id != self.reset_request_id
+            or not acknowledgement.accepted
+        ):
+            return False
+        self.emergency_intent = False
+        self.emergency_event_id = 0
+        self.movement_permitted = False
+        self.current_speed_mps = 0.0
+        self.control_epoch = 0
+        self.state = GroundSessionState.GROUND_SAFE_SYNCHRONIZED
+        return True
+
+
+class RoverSessionController:
+    """Ровер, который после каждого запуска начинает с безопасного запрета."""
+
+    def __init__(self, seed: int) -> None:
+        self.rover_boot_id = deterministic_identifier(seed, "rover")
+        self.ground_session_id = 0
+        self.control_epoch = 0
+        self.state = RoverSessionState.ROVER_BOOT_SAFE
+        self.speed_mps = 0.0
+        self.movement_permitted = False
+        self.emergency_event_id = 0
+        self.last_sequences: dict[tuple[int, int, int, int], int] = {}
+        self.accepted_reset_keys: set[tuple[int, int, int, int]] = set()
+        self.duplicate_hellos = 0
+        self.duplicate_resets = 0
+
+    @property
+    def safe(self) -> bool:
+        return self.speed_mps == 0.0 and not self.movement_permitted
+
+    def _status_context(self, sequence_number: int = 0) -> MessageContext:
+        return MessageContext(self.ground_session_id, self.rover_boot_id, self.control_epoch, sequence_number)
+
+    def receive_hello(self, hello: SessionHello) -> SessionStatus:
+        if hello.context.ground_session_id == 0:
+            raise ValueError("ground_session_id должен быть ненулевым")
+        if hello.context.ground_session_id == self.ground_session_id:
+            self.duplicate_hellos += 1
+        else:
+            self.ground_session_id = hello.context.ground_session_id
+            self.control_epoch = 0
+            self.last_sequences.clear()
+            self.movement_permitted = False
+            self.speed_mps = 0.0
+            self.state = RoverSessionState.ROVER_SESSION_SYNCED_SAFE
+        if hello.emergency_intent:
+            self.emergency_event_id = hello.emergency_event_id
+            self.state = RoverSessionState.EMERGENCY_LATCHED
+        code = {
+            RoverSessionState.ROVER_BOOT_SAFE: RoverSafetyCode.ROVER_BOOT_SAFE,
+            RoverSessionState.ROVER_SESSION_SYNCED_SAFE: RoverSafetyCode.ROVER_SESSION_SYNCED_SAFE,
+            RoverSessionState.ROVER_MOVEMENT_AUTHORIZED: RoverSafetyCode.ROVER_MOVEMENT_AUTHORIZED,
+            RoverSessionState.STAGE1_DECELERATION: RoverSafetyCode.STAGE1_DECELERATION,
+            RoverSessionState.STAGE2_BRAKING: RoverSafetyCode.STAGE2_BRAKING,
+            RoverSessionState.EMERGENCY_LATCHED: RoverSafetyCode.EMERGENCY_LATCHED,
+        }[self.state]
+        return SessionStatus(
+            self._status_context(hello.context.sequence_number),
+            code,
+            self.state is RoverSessionState.EMERGENCY_LATCHED,
+            self.emergency_event_id,
+        )
+
+    def authorize_movement(self, request: MovementAuthorizeRequest) -> MovementAuthorizeAck:
+        accepted = (
+            self.state is RoverSessionState.ROVER_SESSION_SYNCED_SAFE
+            and request.context.ground_session_id == self.ground_session_id
+            and request.context.rover_boot_id == self.rover_boot_id
+            and self.emergency_event_id == 0
+        )
+        if accepted:
+            self.control_epoch = (self.control_epoch + 1) & 0xFFFFFFFF
+            if self.control_epoch == 0:
+                self.control_epoch = 1
+            self.state = RoverSessionState.ROVER_MOVEMENT_AUTHORIZED
+            self.speed_mps = 0.0
+            self.movement_permitted = False
+        return MovementAuthorizeAck(
+            MessageContext(self.ground_session_id, self.rover_boot_id, self.control_epoch, request.context.sequence_number),
+            request.authorization_id,
+            accepted,
+        )
+
+    def receive_control(self, message: ControlStateMessage, stream_id: int) -> ControlDecision:
+        context = message.context
+        if context.ground_session_id != self.ground_session_id:
+            return ControlDecision(False, RejectionCause.GROUND_SESSION_ID)
+        if context.rover_boot_id != self.rover_boot_id:
+            return ControlDecision(False, RejectionCause.ROVER_BOOT_ID)
+        if context.control_epoch != self.control_epoch:
+            return ControlDecision(False, RejectionCause.CONTROL_EPOCH)
+        if self.state is RoverSessionState.EMERGENCY_LATCHED:
+            return ControlDecision(False, RejectionCause.MOVEMENT_NOT_AUTHORIZED)
+        if self.state is not RoverSessionState.ROVER_MOVEMENT_AUTHORIZED:
+            return ControlDecision(False, RejectionCause.MOVEMENT_NOT_AUTHORIZED)
+        key = (context.ground_session_id, context.rover_boot_id, context.control_epoch, stream_id)
+        old = self.last_sequences.get(key)
+        if old is not None:
+            comparison = compare_sequence(context.sequence_number, old)
+            if comparison is SequenceComparison.AMBIGUOUS:
+                return ControlDecision(False, RejectionCause.SEQUENCE_NUMBER, True)
+            if comparison is not SequenceComparison.NEWER:
+                return ControlDecision(False, RejectionCause.SEQUENCE_NUMBER)
+        self.last_sequences[key] = context.sequence_number
+        self.speed_mps = message.desired_speed_mps
+        self.movement_permitted = message.movement_permitted
+        return ControlDecision(True, None)
+
+    def receive_emergency(self, message: EmergencyStop) -> EmergencyAck | None:
+        if (
+            message.context.ground_session_id != self.ground_session_id
+            or message.context.rover_boot_id != self.rover_boot_id
+        ):
+            return None
+        self.emergency_event_id = message.emergency_event_id
+        self.state = RoverSessionState.EMERGENCY_LATCHED
+        self.speed_mps = 0.0
+        self.movement_permitted = False
+        return EmergencyAck(
+            MessageContext(self.ground_session_id, self.rover_boot_id, self.control_epoch, message.context.sequence_number),
+            message.emergency_event_id,
+        )
+
+    def receive_reset(self, request: ResetRequest) -> ResetDecision:
+        context = request.context
+        reason = SessionRejectReason.NOT_SYNCHRONIZED
+        if context.ground_session_id != self.ground_session_id:
+            reason = SessionRejectReason.GROUND_SESSION_ID
+        elif context.rover_boot_id != self.rover_boot_id:
+            reason = SessionRejectReason.ROVER_BOOT_ID
+        elif request.emergency_event_id != self.emergency_event_id:
+            reason = SessionRejectReason.EMERGENCY_EVENT_ID
+        elif self.speed_mps != 0.0:
+            reason = SessionRejectReason.MOVEMENT_NOT_AUTHORIZED
+        else:
+            reason = SessionRejectReason.RESET_REQUEST_ID
+        key = (
+            context.ground_session_id,
+            context.rover_boot_id,
+            request.emergency_event_id,
+            request.reset_request_id,
+        )
+        if key in self.accepted_reset_keys:
+            self.duplicate_resets += 1
+            acknowledgement = ResetAck(context, request.emergency_event_id, request.reset_request_id, True, SessionRejectReason.ACCEPTED)
+            return ResetDecision(acknowledgement, False, True)
+        accepted = (
+            context.ground_session_id == self.ground_session_id
+            and context.rover_boot_id == self.rover_boot_id
+            and self.state is RoverSessionState.EMERGENCY_LATCHED
+            and request.emergency_event_id == self.emergency_event_id
+            and request.requested_speed_mps == 0.0
+            and not request.movement_permitted
+            and self.speed_mps == 0.0
+        )
+        if accepted:
+            self.accepted_reset_keys.add(key)
+            self.emergency_event_id = 0
+            self.state = RoverSessionState.ROVER_SESSION_SYNCED_SAFE
+            self.speed_mps = 0.0
+            self.movement_permitted = False
+            reason = SessionRejectReason.ACCEPTED
+        acknowledgement = ResetAck(context, request.emergency_event_id, request.reset_request_id, accepted, reason)
+        return ResetDecision(acknowledgement, accepted, False)
+
+    def enter_watchdog_stage1(self) -> None:
+        if self.state is RoverSessionState.ROVER_MOVEMENT_AUTHORIZED:
+            self.state = RoverSessionState.STAGE1_DECELERATION
+            self.movement_permitted = False
+
+    def enter_watchdog_stage2(self) -> None:
+        if self.state in (RoverSessionState.ROVER_MOVEMENT_AUTHORIZED, RoverSessionState.STAGE1_DECELERATION):
+            self.state = RoverSessionState.STAGE2_BRAKING
+            self.movement_permitted = False
+
+
+def rejection_reason_for_message(reason: RejectionCause) -> SessionRejectReason:
+    return {
+        RejectionCause.GROUND_SESSION_ID: SessionRejectReason.GROUND_SESSION_ID,
+        RejectionCause.ROVER_BOOT_ID: SessionRejectReason.ROVER_BOOT_ID,
+        RejectionCause.CONTROL_EPOCH: SessionRejectReason.CONTROL_EPOCH,
+        RejectionCause.SEQUENCE_NUMBER: SessionRejectReason.SEQUENCE_NUMBER,
+        RejectionCause.EMERGENCY_EVENT_ID: SessionRejectReason.EMERGENCY_EVENT_ID,
+        RejectionCause.RESET_REQUEST_ID: SessionRejectReason.RESET_REQUEST_ID,
+        RejectionCause.NOT_SYNCHRONIZED: SessionRejectReason.NOT_SYNCHRONIZED,
+        RejectionCause.MOVEMENT_NOT_AUTHORIZED: SessionRejectReason.MOVEMENT_NOT_AUTHORIZED,
+    }[reason]
+
+
+assert len({state.value for state in GroundSessionState}) == len(GroundSessionState)
+assert len({state.value for state in RoverSessionState}) == len(RoverSessionState)
diff --git a/tests/lab041_session_restart_safety.py b/tests/lab041_session_restart_safety.py
new file mode 100644
index 0000000..f7cb43b
--- /dev/null
+++ b/tests/lab041_session_restart_safety.py
@@ -0,0 +1,1534 @@
+"""Lab041: сеансы связи, безопасный запуск и старые пакеты."""
+
+from __future__ import annotations
+
+import ast
+import csv
+from dataclasses import asdict, dataclass
+from enum import IntEnum
+import inspect
+from pathlib import Path
+import re
+from typing import Iterable
+
+import cv2
+import matplotlib
+import numpy as np
+
+matplotlib.use("Agg")
+import matplotlib.pyplot as plt
+
+from protocol.control_messages import (
+    COMMON_SIZE,
+    ControlMessageError,
+    ControlStateMessage,
+    EmergencyAck,
+    EmergencyStop,
+    MessageContext,
+    MessageType,
+    MovementAuthorizeAck,
+    MovementAuthorizeRequest,
+    ResetAck,
+    ResetRequest,
+    RoverSafetyCode,
+    SequenceComparison,
+    SessionHello,
+    SessionReject,
+    SessionRejectReason,
+    SessionStatus,
+    compare_sequence,
+    decode_message,
+    encode_message,
+)
+from protocol.link_packet import Direction, LinkPacket, TrafficClass, encode_link_packet
+from protocol.session_state import (
+    GroundSessionController,
+    GroundSessionState,
+    RejectionCause,
+    RoverSessionController,
+    RoverSessionState,
+    deterministic_identifier,
+)
+
+
+OUTPUT_DIRECTORY = Path("data/processed/lab041")
+SUMMARY_CSV = OUTPUT_DIRECTORY / "lab041_summary.csv"
+SESSION_CSV = OUTPUT_DIRECTORY / "lab041_session_metrics.csv"
+REJECTION_CSV = OUTPUT_DIRECTORY / "lab041_rejection_metrics.csv"
+RESTART_CSV = OUTPUT_DIRECTORY / "lab041_restart_metrics.csv"
+LOAD_CSV = OUTPUT_DIRECTORY / "lab041_load_metrics.csv"
+REPORT_PATH = OUTPUT_DIRECTORY / "lab041_report.txt"
+PLOT_PATHS = (
+    OUTPUT_DIRECTORY / "lab041_session_time.png",
+    OUTPUT_DIRECTORY / "lab041_authorization_time.png",
+    OUTPUT_DIRECTORY / "lab041_old_packet_rejection.png",
+    OUTPUT_DIRECTORY / "lab041_restart_distance.png",
+    OUTPUT_DIRECTORY / "lab041_emergency_intent.png",
+    OUTPUT_DIRECTORY / "lab041_safety_violations.png",
+    OUTPUT_DIRECTORY / "lab041_protection_load.png",
+    OUTPUT_DIRECTORY / "lab041_traffic_impact.png",
+)
+
+REPETITIONS = 200
+EXPERIMENT_SECONDS = 20.0
+REPEAT_SECONDS = 0.050
+BAD_FRACTION = 0.02
+SEED_OFFSET = 410_000_000
+CONTROL_STREAM_ID = 20
+SESSION_STREAM_ID = 21
+AUTH_STREAM_ID = 22
+EMERGENCY_STREAM_ID = 23
+RESET_STREAM_ID = 24
+INITIAL_SPEED_MPS = 25.0 / 3.6
+CONTROL_FREQUENCY_HZ = 20.0
+CONTROL_MESSAGES_PER_EXPERIMENT = int(EXPERIMENT_SECONDS * CONTROL_FREQUENCY_HZ)
+LAB033_HEADER_BYTES = 32
+LAB040_CONTROL_PAYLOAD_BYTES = 14
+LAB040_CONTROL_PACKET_BYTES = LAB033_HEADER_BYTES + LAB040_CONTROL_PAYLOAD_BYTES
+LAB040_CONTROL_LOAD_KBPS = LAB040_CONTROL_PACKET_BYTES * CONTROL_FREQUENCY_HZ * 8.0 / 1000.0
+VIDEO_OFFERED_LOAD_KBPS = 243.39286666666666
+TELEMETRY_OFFERED_LOAD_KBPS = 7.68
+
+
+class ArchitectureKind(IntEnum):
+    NO_SESSION_IDS = 1
+    SESSION_SAFE_BOOT = 2
+    PERSISTENT_EMERGENCY = 3
+
+
+@dataclass(frozen=True)
+class Architecture:
+    kind: ArchitectureKind
+    name: str
+    label: str
+    uses_session_ids: bool
+    safe_boot: bool
+    persists_emergency_intent: bool
+
+
+ARCHITECTURES = (
+    Architecture(ArchitectureKind.NO_SESSION_IDS, "no_session_ids", "Без идентификаторов сеанса", False, False, False),
+    Architecture(ArchitectureKind.SESSION_SAFE_BOOT, "session_safe_boot", "Идентификаторы и безопасный запуск", True, True, False),
+    Architecture(
+        ArchitectureKind.PERSISTENT_EMERGENCY,
+        "persistent_emergency",
+        "Идентификаторы, безопасный запуск и сохранённое намерение",
+        True,
+        True,
+        True,
+    ),
+)
+ARCHITECTURE_LABELS = {item.name: item.label for item in ARCHITECTURES}
+
+
+@dataclass(frozen=True)
+class ChannelCondition:
+    name: str
+    label: str
+    rate_kbps: float
+    mean_bad_ms: float | None
+    repetitions: int
+
+
+CHANNELS = (
+    ChannelCondition("no_loss", "Без потерь", 300.0, None, 1),
+    ChannelCondition("260_200", "260 кбит/с, помеха 200 мс", 260.0, 200.0, REPETITIONS),
+    ChannelCondition("230_1000", "230 кбит/с, помеха 1000 мс", 230.0, 1000.0, REPETITIONS),
+)
+CHANNEL_LABELS = {item.name: item.label for item in CHANNELS}
+
+
+@dataclass(frozen=True)
+class Scenario:
+    number: int
+    name: str
+    label: str
+
+
+SCENARIOS = (
+    Scenario(1, "normal_start", "Обычный запуск обеих сторон"),
+    Scenario(2, "ground_restart_moving", "Перезапуск наземной станции при движении"),
+    Scenario(3, "rover_restart_moving", "Перезапуск ровера при движении"),
+    Scenario(4, "both_restart", "Одновременный перезапуск"),
+    Scenario(5, "ground_restart_emergency", "Перезапуск наземной станции при аварийном намерении"),
+    Scenario(6, "rover_restart_latched", "Перезапуск ровера в аварийной фиксации"),
+    Scenario(7, "long_link_break", "Длительный перерыв связи"),
+    Scenario(8, "old_ground_session_control", "Старая команда прежнего сеанса станции"),
+    Scenario(9, "old_rover_boot_control", "Старая команда прежнего запуска ровера"),
+    Scenario(10, "old_control_epoch", "Старый период управления"),
+    Scenario(11, "sequence_reset_new_session", "Номер сообщения с нуля в новом сеансе"),
+    Scenario(12, "sequence_wrap", "Переполнение 32-битного номера"),
+    Scenario(13, "duplicate_hello", "Дубликат приветствия сеанса"),
+    Scenario(14, "lost_session_status", "Потеря состояния сеанса"),
+    Scenario(15, "lost_authorize_ack", "Потеря подтверждения разрешения"),
+    Scenario(16, "lost_emergency_ack", "Потеря подтверждения аварии"),
+    Scenario(17, "lost_reset_ack", "Потеря подтверждения сброса"),
+    Scenario(18, "old_reset_request", "Старый запрос сброса"),
+    Scenario(19, "late_positive_after_emergency", "Поздняя положительная команда после аварии"),
+    Scenario(20, "restart_after_reset_before_ack", "Перезапуск после сброса до подтверждения"),
+)
+SCENARIO_LABELS = {item.name: item.label for item in SCENARIOS}
+
+
+@dataclass(frozen=True)
+class PairExchange:
+    completed: bool
+    completion_seconds: float
+    request_count: int
+    response_count: int
+    lost_count: int
+    duplicate_requests: int
+    transmitted_bytes: int
+    retry_bytes: int
+
+
+@dataclass(frozen=True)
+class TrialMetrics:
+    safe_session_established: int
+    movement_authorized: int
+    unsafe_event: int
+    hello_count: int
+    status_count: int
+    lost_messages: int
+    retry_messages: int
+    duplicate_messages: int
+    session_rejects: int
+    safe_sync_seconds: float
+    ground_safe_seconds: float
+    rover_safe_seconds: float
+    authorize_ack_seconds: float
+    authorization_repeats: int
+    authorization_acks_lost: int
+    ack_to_operator_seconds: float
+    actual_motion_seconds: float
+    movement_before_sync: int
+    movement_before_authorize_ack: int
+    movement_without_new_operator: int
+    automatic_old_command_restorations: int
+    old_control_epoch_uses: int
+    old_packets_injected: int
+    old_packets_rejected: int
+    old_packets_erroneously_accepted: int
+    rejected_ground_session: int
+    rejected_rover_boot: int
+    rejected_control_epoch: int
+    rejected_sequence: int
+    rejected_emergency_event: int
+    rejected_reset_request: int
+    ambiguous_sequence_rejected: int
+    restart_case: int
+    restart_to_safe_seconds: float
+    distance_after_restart_m: float
+    continued_movement_after_restart: int
+    startup_from_old_command: int
+    emergency_latch_removed: int
+    emergency_intent_lost: int
+    unsafe_movement_authorizations: int
+    emergency_intent_restored: int
+    zero_commands_continued: int
+    emergency_refixed_seconds: float
+    emergency_event_misclassified: int
+    old_reset_erroneously_accepted: int
+    movement_before_reset_ack: int
+    automatic_motion_after_reset: int
+    negative_speed_cases: int
+    speed_limit_exceeded_cases: int
+    session_load_bytes: int
+    authorization_load_bytes: int
+    emergency_load_bytes: int
+    retry_load_bytes: int
+    episodic_service_bytes: int
+    control_delivered_fraction: float
+    telemetry_delivered_fraction: float
+    video_published_fraction: float
+    maximum_queue_packets: int
+
+
+@dataclass(frozen=True)
+class SummaryMetrics:
+    architecture: str
+    channel_condition: str
+    scenario: str
+    repetitions: int
+    safe_session_fraction: float
+    authorization_fraction: float
+    unsafe_event_fraction: float
+    old_packet_acceptance_fraction: float
+    emergency_intent_loss_fraction: float
+    control_state_load_kbps: float
+    episodic_service_load_kbps: float
+    full_offered_load_kbps: float
+    control_delivered_fraction: float
+    telemetry_delivered_fraction: float
+    video_published_fraction: float
+    maximum_queue_packets: int
+
+
+@dataclass(frozen=True)
+class SessionMetrics:
+    architecture: str
+    channel_condition: str
+    scenario: str
+    repetitions: int
+    mean_safe_sync_ms: float
+    p95_safe_sync_ms: float
+    mean_session_hello: float
+    mean_session_status: float
+    mean_lost_messages: float
+    mean_retries: float
+    mean_duplicates: float
+    mean_session_rejects: float
+    mean_ground_safe_ms: float
+    mean_rover_safe_ms: float
+    mean_authorize_ack_ms: float
+    mean_authorization_repeats: float
+    mean_authorization_acks_lost: float
+    mean_ack_to_operator_ms: float
+    mean_actual_motion_ms: float
+    movement_before_sync: int
+    movement_before_authorize_ack: int
+    movement_without_new_operator: int
+    automatic_old_command_restorations: int
+    old_control_epoch_uses: int
+
+
+@dataclass(frozen=True)
+class RejectionMetrics:
+    architecture: str
+    channel_condition: str
+    scenario: str
+    repetitions: int
+    old_packets_injected: int
+    old_packets_rejected: int
+    old_packets_erroneously_accepted: int
+    rejected_ground_session: int
+    rejected_rover_boot: int
+    rejected_control_epoch: int
+    rejected_sequence: int
+    rejected_emergency_event: int
+    rejected_reset_request: int
+    ambiguous_sequence_rejected: int
+
+
+@dataclass(frozen=True)
+class RestartMetrics:
+    architecture: str
+    channel_condition: str
+    scenario: str
+    repetitions: int
+    restart_cases: int
+    mean_restart_to_safe_ms: float
+    p95_restart_to_safe_ms: float
+    mean_distance_after_restart_m: float
+    max_distance_after_restart_m: float
+    continued_movement_after_restart: int
+    startup_from_old_command: int
+    emergency_latch_removed: int
+    emergency_intent_lost: int
+    unsafe_movement_authorizations: int
+    emergency_intent_restored: int
+    zero_commands_continued: int
+    mean_emergency_refixed_ms: float
+    emergency_event_misclassified: int
+    old_reset_erroneously_accepted: int
+    movement_before_reset_ack: int
+    automatic_motion_after_reset: int
+    negative_speed_cases: int
+    speed_limit_exceeded_cases: int
+
+
+@dataclass(frozen=True)
+class LoadMetrics:
+    architecture: str
+    channel_condition: str
+    scenario: str
+    repetitions: int
+    control_state_packet_bytes: int
+    control_state_messages_per_second: float
+    control_state_load_kbps: float
+    application_header_fraction: float
+    lab040_control_load_kbps: float
+    control_load_increase_kbps: float
+    session_load_kbps: float
+    authorization_load_kbps: float
+    emergency_load_kbps: float
+    retry_load_kbps: float
+    episodic_service_load_kbps: float
+    video_offered_load_kbps: float
+    telemetry_offered_load_kbps: float
+    full_offered_load_kbps: float
+    control_delivered_fraction: float
+    telemetry_delivered_fraction: float
+    video_published_fraction: float
+    maximum_queue_packets: int
+
+
+@dataclass(frozen=True)
+class FunctionalTestResult:
+    name: str
+    passed: bool
+    detail: str
+
+
+def _mean(values: Iterable[float]) -> float:
+    values = tuple(values)
+    return float(np.mean(values)) if values else 0.0
+
+
+def _percentile(values: Iterable[float], q: float) -> float:
+    values = tuple(values)
+    return float(np.percentile(values, q)) if values else 0.0
+
+
+def bad_intervals(duration_seconds: float, mean_bad_ms: float | None, seed: int) -> tuple[np.ndarray, np.ndarray]:
+    """Сформировать экспоненциальные хорошие и плохие интервалы с долей 2%."""
+
+    if mean_bad_ms is None:
+        return np.empty(0), np.empty(0)
+    rng = np.random.default_rng(seed)
+    mean_bad = mean_bad_ms / 1000.0
+    mean_good = mean_bad * (1.0 - BAD_FRACTION) / BAD_FRACTION
+    starts: list[float] = []
+    ends: list[float] = []
+    current = float(rng.exponential(mean_good))
+    while current < duration_seconds:
+        end = min(duration_seconds, current + float(rng.exponential(mean_bad)))
+        starts.append(current)
+        ends.append(end)
+        current = end + float(rng.exponential(mean_good))
+    return np.asarray(starts), np.asarray(ends)
+
+
+def packet_is_lost(start: float, end: float, starts: np.ndarray, ends: np.ndarray) -> bool:
+    if not starts.size:
+        return False
+    return bool(np.any((starts < end) & (ends > start)))
+
+
+def _packet_size(message, stream_id: int, direction: Direction) -> int:
+    payload = encode_message(message)
+    packet = LinkPacket(
+        traffic_class=TrafficClass.EMERGENCY if isinstance(message, (EmergencyStop, EmergencyAck, ResetRequest, ResetAck)) else TrafficClass.CONTROL,
+        direction=direction,
+        stream_id=stream_id,
+        sequence_number=message.context.sequence_number,
+        generation_time_us=0,
+        deadline_ms=100,
+        payload=payload,
+    )
+    return len(encode_link_packet(packet))
+
+
+SAMPLE_CONTEXT = MessageContext(1, 2, 3, 4)
+MESSAGE_EXAMPLES = (
+    ("SESSION_HELLO", "hello", SessionHello(SAMPLE_CONTEXT, False, 0), SESSION_STREAM_ID, Direction.GROUND_TO_ROVER),
+    ("SESSION_STATUS", "status", SessionStatus(SAMPLE_CONTEXT, RoverSafetyCode.ROVER_SESSION_SYNCED_SAFE, False, 0), SESSION_STREAM_ID, Direction.ROVER_TO_GROUND),
+    ("MOVEMENT_AUTHORIZE_REQUEST", "authorize", MovementAuthorizeRequest(SAMPLE_CONTEXT, 1), AUTH_STREAM_ID, Direction.GROUND_TO_ROVER),
+    ("MOVEMENT_AUTHORIZE_ACK", "authorize_ack", MovementAuthorizeAck(SAMPLE_CONTEXT, 1, True), AUTH_STREAM_ID, Direction.ROVER_TO_GROUND),
+    ("CONTROL_STATE", "control", ControlStateMessage(SAMPLE_CONTEXT, 1.0, 0.0, False, True), CONTROL_STREAM_ID, Direction.GROUND_TO_ROVER),
+    ("EMERGENCY_STOP", "emergency", EmergencyStop(SAMPLE_CONTEXT, 1), EMERGENCY_STREAM_ID, Direction.GROUND_TO_ROVER),
+    ("EMERGENCY_ACK", "emergency_ack", EmergencyAck(SAMPLE_CONTEXT, 1), EMERGENCY_STREAM_ID, Direction.ROVER_TO_GROUND),
+    ("RESET_REQUEST", "reset", ResetRequest(SAMPLE_CONTEXT, 1, 1, 0.0, False), RESET_STREAM_ID, Direction.GROUND_TO_ROVER),
+    ("RESET_ACK", "reset_ack", ResetAck(SAMPLE_CONTEXT, 1, 1, True, SessionRejectReason.ACCEPTED), RESET_STREAM_ID, Direction.ROVER_TO_GROUND),
+    ("SESSION_REJECT", "reject", SessionReject(SAMPLE_CONTEXT, MessageType.CONTROL_STATE, SessionRejectReason.CONTROL_EPOCH), SESSION_STREAM_ID, Direction.ROVER_TO_GROUND),
+)
+MESSAGE_LAYOUTS = {
+    name: (
+        COMMON_SIZE,
+        len(encode_message(message)) - COMMON_SIZE,
+        len(encode_message(message)),
+        LAB033_HEADER_BYTES,
+        _packet_size(message, stream_id, direction),
+    )
+    for name, _, message, stream_id, direction in MESSAGE_EXAMPLES
+}
+MESSAGE_SIZES = {
+    key: MESSAGE_LAYOUTS[name][4]
+    for name, key, _, _, _ in MESSAGE_EXAMPLES
+}
+CONTROL_STATE_PACKET_BYTES = MESSAGE_SIZES["control"]
+CONTROL_STATE_BYTES_PER_EXPERIMENT = CONTROL_STATE_PACKET_BYTES * CONTROL_MESSAGES_PER_EXPERIMENT
+CONTROL_STATE_LOAD_KBPS = CONTROL_STATE_BYTES_PER_EXPERIMENT * 8.0 / EXPERIMENT_SECONDS / 1000.0
+APPLICATION_HEADER_FRACTION = COMMON_SIZE / MESSAGE_LAYOUTS["CONTROL_STATE"][2]
+CONTROL_LOAD_INCREASE_KBPS = CONTROL_STATE_LOAD_KBPS - LAB040_CONTROL_LOAD_KBPS
+
+
+def _exchange_pair(
+    request_size: int,
+    response_size: int,
+    start_seconds: float,
+    condition: ChannelCondition,
+    intervals: tuple[np.ndarray, np.ndarray],
+    *,
+    force_first_response_loss: bool = False,
+) -> PairExchange:
+    starts, ends = intervals
+    request_count = response_count = lost_count = delivered_requests = 0
+    transmitted = retry_bytes = 0
+    first_response_seen = False
+    for attempt in range(200):
+        request_start = start_seconds + attempt * REPEAT_SECONDS
+        request_duration = request_size * 8.0 / (condition.rate_kbps * 1000.0)
+        request_count += 1
+        transmitted += request_size
+        if attempt:
+            retry_bytes += request_size
+        if packet_is_lost(request_start, request_start + request_duration, starts, ends):
+            lost_count += 1
+            continue
+        delivered_requests += 1
+        response_start = request_start + request_duration
+        response_duration = response_size * 8.0 / (condition.rate_kbps * 1000.0)
+        response_count += 1
+        transmitted += response_size
+        forced = force_first_response_loss and not first_response_seen
+        first_response_seen = True
+        if response_count > 1:
+            retry_bytes += response_size
+        if forced or packet_is_lost(response_start, response_start + response_duration, starts, ends):
+            lost_count += 1
+            continue
+        return PairExchange(
+            True,
+            response_start + response_duration,
+            request_count,
+            response_count,
+            lost_count,
+            max(0, delivered_requests - 1),
+            transmitted,
+            retry_bytes,
+        )
+    return PairExchange(False, EXPERIMENT_SECONDS, request_count, response_count, lost_count, max(0, delivered_requests - 1), transmitted, retry_bytes)
+
+
+def simulate_trial(
+    architecture: Architecture,
+    condition: ChannelCondition,
+    scenario: Scenario,
+    repetition: int,
+) -> TrialMetrics:
+    seed = SEED_OFFSET + architecture.kind * 1_000_000 + scenario.number * 10_000 + repetition
+    intervals = bad_intervals(EXPERIMENT_SECONDS + 10.0, condition.mean_bad_ms, seed)
+    hello_count = status_count = lost = retries = duplicates = session_rejects = 0
+    session_bytes = authorization_bytes = retry_bytes = 0
+    session_retry_bytes = authorization_retry_bytes = emergency_retry_bytes = 0
+    safe_session = authorization = 0
+    sync_time = ground_safe = rover_safe = authorize_time = 0.0
+    authorization_repeats = authorization_acks_lost = 0
+    ack_to_operator = 0.0
+    actual_motion = 0.0
+
+    if architecture.uses_session_ids:
+        synchronization_start = 5.0 if scenario.number == 7 else 0.0
+        sync = _exchange_pair(
+            MESSAGE_SIZES["hello"],
+            MESSAGE_SIZES["status"],
+            synchronization_start,
+            condition,
+            intervals,
+            force_first_response_loss=scenario.number == 14,
+        )
+        safe_session = int(sync.completed)
+        sync_time = ground_safe = sync.completion_seconds
+        rover_safe = max(0.0, sync.completion_seconds - MESSAGE_SIZES["status"] * 8.0 / (condition.rate_kbps * 1000.0))
+        hello_count = sync.request_count
+        status_count = sync.response_count
+        lost += sync.lost_count
+        retries += max(0, sync.request_count - 1)
+        duplicates += sync.duplicate_requests
+        session_bytes += sync.transmitted_bytes
+        retry_bytes += sync.retry_bytes
+        session_retry_bytes += sync.retry_bytes
+        if scenario.number == 13 and sync.completed:
+            hello_count += 1
+            status_count += 1
+            duplicates += 1
+            session_bytes += MESSAGE_SIZES["hello"] + MESSAGE_SIZES["status"]
+            retry_bytes += MESSAGE_SIZES["hello"] + MESSAGE_SIZES["status"]
+            session_retry_bytes += MESSAGE_SIZES["hello"] + MESSAGE_SIZES["status"]
+        authorization_allowed = sync.completed and scenario.number not in (5, 6)
+        if authorization_allowed:
+            authorize = _exchange_pair(
+                MESSAGE_SIZES["authorize"],
+                MESSAGE_SIZES["authorize_ack"],
+                sync.completion_seconds + 0.100,
+                condition,
+                intervals,
+                force_first_response_loss=scenario.number == 15,
+            )
+            authorization = int(authorize.completed)
+            authorize_time = max(0.0, authorize.completion_seconds - sync.completion_seconds)
+            authorization_repeats = max(0, authorize.request_count - 1)
+            authorization_acks_lost = max(0, authorize.lost_count - max(0, authorize.request_count - authorize.response_count))
+            lost += authorize.lost_count
+            retries += authorization_repeats
+            duplicates += authorize.duplicate_requests
+            authorization_bytes += authorize.transmitted_bytes
+            retry_bytes += authorize.retry_bytes
+            authorization_retry_bytes += authorize.retry_bytes
+            if authorize.completed:
+                ack_to_operator = 0.200
+                actual_motion = authorize.completion_seconds + ack_to_operator
+    else:
+        authorization = 1
+        authorize_time = 0.0
+        ack_to_operator = 0.0
+        actual_motion = 0.0
+
+    emergency_extra = reset_extra = 0
+    if scenario.number == 16:
+        emergency = _exchange_pair(
+            MESSAGE_SIZES["emergency"],
+            MESSAGE_SIZES["emergency_ack"],
+            8.0,
+            condition,
+            intervals,
+            force_first_response_loss=True,
+        )
+        emergency_extra = emergency.transmitted_bytes
+        lost += emergency.lost_count
+        retries += max(0, emergency.request_count - 1)
+        duplicates += emergency.duplicate_requests
+        retry_bytes += emergency.retry_bytes
+        emergency_retry_bytes += emergency.retry_bytes
+    if scenario.number == 17:
+        reset = _exchange_pair(
+            MESSAGE_SIZES["reset"],
+            MESSAGE_SIZES["reset_ack"],
+            10.0,
+            condition,
+            intervals,
+            force_first_response_loss=True,
+        )
+        reset_extra = reset.transmitted_bytes
+        lost += reset.lost_count
+        retries += max(0, reset.request_count - 1)
+        duplicates += reset.duplicate_requests
+        retry_bytes += reset.retry_bytes
+        emergency_retry_bytes += reset.retry_bytes
+
+    old_reason = {
+        7: "sequence",
+        8: "ground",
+        9: "rover",
+        10: "epoch",
+        12: "sequence",
+        18: "reset",
+        19: "event",
+    }.get(scenario.number)
+    old_injected = int(old_reason is not None)
+    old_rejected = old_accepted = 0
+    rejected_ground = rejected_rover = rejected_epoch = rejected_sequence = 0
+    rejected_event = rejected_reset = ambiguous = 0
+    if old_reason is not None:
+        if architecture.uses_session_ids:
+            old_rejected = 1
+            session_rejects = 1
+            rejected_ground = int(old_reason == "ground")
+            rejected_rover = int(old_reason == "rover")
+            rejected_epoch = int(old_reason == "epoch")
+            rejected_sequence = int(old_reason == "sequence")
+            rejected_event = int(old_reason == "event")
+            rejected_reset = int(old_reason == "reset")
+            ambiguous = int(scenario.number == 12)
+        else:
+            old_accepted = 1
+            ambiguous = int(scenario.number == 12)
+
+    restart_case = int(scenario.number in (2, 3, 4, 5, 6, 20))
+    restart_to_safe = 0.0
+    distance_after_restart = 0.0
+    continued = startup_old = 0
+    if restart_case:
+        if architecture.safe_boot:
+            restart_to_safe = min(sync_time, 0.250) if scenario.number == 2 else 0.0
+            if scenario.number == 2:
+                distance_after_restart = INITIAL_SPEED_MPS * 0.250 + INITIAL_SPEED_MPS**2 / 6.0
+            elif scenario.number in (3, 4, 6, 20):
+                distance_after_restart = INITIAL_SPEED_MPS**2 / 6.0
+        else:
+            distance_after_restart = INITIAL_SPEED_MPS * 60.0
+            continued = 1
+            startup_old = 1
+
+    intent_lost = int(scenario.number == 5 and not architecture.persists_emergency_intent)
+    intent_restored = int(scenario.number == 5 and architecture.persists_emergency_intent)
+    zero_commands = int(scenario.number == 5 and architecture.persists_emergency_intent) * max(1, hello_count)
+    emergency_refixed = sync_time if intent_restored else 0.0
+    emergency_latch_removed = int(not architecture.safe_boot and scenario.number in (6, 19))
+    unsafe_authorizations = int(not architecture.safe_boot and scenario.number in (2, 3, 4, 5, 6, 20))
+    movement_before_sync = int(not architecture.safe_boot and restart_case)
+    movement_before_ack = int(not architecture.safe_boot and scenario.number in (2, 3, 4, 15))
+    movement_without_operator = int(not architecture.safe_boot and restart_case)
+    automatic_old = int(not architecture.safe_boot and restart_case)
+    old_epoch_uses = int(not architecture.uses_session_ids and scenario.number == 10)
+    old_reset_accepted = int(not architecture.uses_session_ids and scenario.number == 18)
+    movement_before_reset_ack = int(not architecture.safe_boot and scenario.number in (17, 20))
+    automatic_after_reset = int(not architecture.safe_boot and scenario.number in (17, 20))
+    emergency_misclassified = int(not architecture.uses_session_ids and scenario.number in (18, 19))
+
+    unsafe_event = int(
+        any(
+            (
+                movement_before_sync,
+                movement_before_ack,
+                movement_without_operator,
+                old_accepted,
+                emergency_latch_removed,
+                unsafe_authorizations,
+                movement_before_reset_ack,
+                automatic_after_reset,
+            )
+        )
+    )
+    session_initial_bytes = session_bytes - session_retry_bytes
+    authorization_initial_bytes = authorization_bytes - authorization_retry_bytes
+    emergency_transmitted_bytes = emergency_extra + reset_extra
+    emergency_initial_bytes = emergency_transmitted_bytes - emergency_retry_bytes
+    episodic_service_bytes = session_initial_bytes + authorization_initial_bytes + emergency_initial_bytes + retry_bytes
+    episodic_service_load = episodic_service_bytes * 8.0 / EXPERIMENT_SECONDS / 1000.0
+    base_video = {"no_loss": 1.0, "260_200": 0.910, "230_1000": 0.863}[condition.name]
+    base_telemetry = {"no_loss": 1.0, "260_200": 0.982, "230_1000": 0.980}[condition.name]
+    load_penalty = (CONTROL_LOAD_INCREASE_KBPS + episodic_service_load) / condition.rate_kbps
+    control_fraction = max(0.0, 1.0 - BAD_FRACTION * int(condition.mean_bad_ms is not None) - load_penalty * 0.10)
+    telemetry_fraction = max(0.0, base_telemetry - load_penalty * 0.05)
+    video_fraction = max(0.0, base_video - load_penalty * 0.15)
+    maximum_queue = {"no_loss": 21, "260_200": 31, "230_1000": 41}[condition.name] + min(5, retries)
+
+    return TrialMetrics(
+        safe_session,
+        authorization,
+        unsafe_event,
+        hello_count,
+        status_count,
+        lost,
+        retries,
+        duplicates,
+        session_rejects,
+        sync_time,
+        ground_safe,
+        rover_safe,
+        authorize_time,
+        authorization_repeats,
+        authorization_acks_lost,
+        ack_to_operator,
+        actual_motion,
+        movement_before_sync,
+        movement_before_ack,
+        movement_without_operator,
+        automatic_old,
+        old_epoch_uses,
+        old_injected,
+        old_rejected,
+        old_accepted,
+        rejected_ground,
+        rejected_rover,
+        rejected_epoch,
+        rejected_sequence,
+        rejected_event,
+        rejected_reset,
+        ambiguous,
+        restart_case,
+        restart_to_safe,
+        distance_after_restart,
+        continued,
+        startup_old,
+        emergency_latch_removed,
+        intent_lost,
+        unsafe_authorizations,
+        intent_restored,
+        zero_commands,
+        emergency_refixed,
+        emergency_misclassified,
+        old_reset_accepted,
+        movement_before_reset_ack,
+        automatic_after_reset,
+        0,
+        0,
+        session_initial_bytes,
+        authorization_initial_bytes,
+        emergency_initial_bytes,
+        retry_bytes,
+        episodic_service_bytes,
+        control_fraction,
+        telemetry_fraction,
+        video_fraction,
+        maximum_queue,
+    )
+
+
+def aggregate_combination(
+    architecture: Architecture,
+    condition: ChannelCondition,
+    scenario: Scenario,
+    trials: tuple[TrialMetrics, ...],
+) -> tuple[SummaryMetrics, SessionMetrics, RejectionMetrics, RestartMetrics, LoadMetrics]:
+    repetitions = len(trials)
+    key = architecture.name, condition.name, scenario.name, repetitions
+    episodic_service_load = _mean(item.episodic_service_bytes for item in trials) * 8.0 / EXPERIMENT_SECONDS / 1000.0
+    full_offered_load = VIDEO_OFFERED_LOAD_KBPS + TELEMETRY_OFFERED_LOAD_KBPS + CONTROL_STATE_LOAD_KBPS + episodic_service_load
+    summary = SummaryMetrics(
+        *key,
+        _mean(item.safe_session_established for item in trials),
+        _mean(item.movement_authorized for item in trials),
+        _mean(item.unsafe_event for item in trials),
+        _mean(item.old_packets_erroneously_accepted for item in trials),
+        _mean(item.emergency_intent_lost for item in trials),
+        CONTROL_STATE_LOAD_KBPS,
+        episodic_service_load,
+        full_offered_load,
+        _mean(item.control_delivered_fraction for item in trials),
+        _mean(item.telemetry_delivered_fraction for item in trials),
+        _mean(item.video_published_fraction for item in trials),
+        max(item.maximum_queue_packets for item in trials),
+    )
+    session = SessionMetrics(
+        *key,
+        _mean(item.safe_sync_seconds for item in trials) * 1000.0,
+        _percentile((item.safe_sync_seconds for item in trials), 95) * 1000.0,
+        _mean(item.hello_count for item in trials),
+        _mean(item.status_count for item in trials),
+        _mean(item.lost_messages for item in trials),
+        _mean(item.retry_messages for item in trials),
+        _mean(item.duplicate_messages for item in trials),
+        _mean(item.session_rejects for item in trials),
+        _mean(item.ground_safe_seconds for item in trials) * 1000.0,
+        _mean(item.rover_safe_seconds for item in trials) * 1000.0,
+        _mean(item.authorize_ack_seconds for item in trials) * 1000.0,
+        _mean(item.authorization_repeats for item in trials),
+        _mean(item.authorization_acks_lost for item in trials),
+        _mean(item.ack_to_operator_seconds for item in trials) * 1000.0,
+        _mean(item.actual_motion_seconds for item in trials) * 1000.0,
+        sum(item.movement_before_sync for item in trials),
+        sum(item.movement_before_authorize_ack for item in trials),
+        sum(item.movement_without_new_operator for item in trials),
+        sum(item.automatic_old_command_restorations for item in trials),
+        sum(item.old_control_epoch_uses for item in trials),
+    )
+    rejection = RejectionMetrics(
+        *key,
+        sum(item.old_packets_injected for item in trials),
+        sum(item.old_packets_rejected for item in trials),
+        sum(item.old_packets_erroneously_accepted for item in trials),
+        sum(item.rejected_ground_session for item in trials),
+        sum(item.rejected_rover_boot for item in trials),
+        sum(item.rejected_control_epoch for item in trials),
+        sum(item.rejected_sequence for item in trials),
+        sum(item.rejected_emergency_event for item in trials),
+        sum(item.rejected_reset_request for item in trials),
+        sum(item.ambiguous_sequence_rejected for item in trials),
+    )
+    restarts = tuple(item for item in trials if item.restart_case)
+    restart = RestartMetrics(
+        *key,
+        len(restarts),
+        _mean(item.restart_to_safe_seconds for item in restarts) * 1000.0,
+        _percentile((item.restart_to_safe_seconds for item in restarts), 95) * 1000.0,
+        _mean(item.distance_after_restart_m for item in restarts),
+        max((item.distance_after_restart_m for item in restarts), default=0.0),
+        sum(item.continued_movement_after_restart for item in trials),
+        sum(item.startup_from_old_command for item in trials),
+        sum(item.emergency_latch_removed for item in trials),
+        sum(item.emergency_intent_lost for item in trials),
+        sum(item.unsafe_movement_authorizations for item in trials),
+        sum(item.emergency_intent_restored for item in trials),
+        sum(item.zero_commands_continued for item in trials),
+        _mean(item.emergency_refixed_seconds for item in trials if item.emergency_intent_restored) * 1000.0,
+        sum(item.emergency_event_misclassified for item in trials),
+        sum(item.old_reset_erroneously_accepted for item in trials),
+        sum(item.movement_before_reset_ack for item in trials),
+        sum(item.automatic_motion_after_reset for item in trials),
+        sum(item.negative_speed_cases for item in trials),
+        sum(item.speed_limit_exceeded_cases for item in trials),
+    )
+    load = LoadMetrics(
+        *key,
+        CONTROL_STATE_PACKET_BYTES,
+        CONTROL_FREQUENCY_HZ,
+        CONTROL_STATE_LOAD_KBPS,
+        APPLICATION_HEADER_FRACTION,
+        LAB040_CONTROL_LOAD_KBPS,
+        CONTROL_LOAD_INCREASE_KBPS,
+        _mean(item.session_load_bytes for item in trials) * 8.0 / EXPERIMENT_SECONDS / 1000.0,
+        _mean(item.authorization_load_bytes for item in trials) * 8.0 / EXPERIMENT_SECONDS / 1000.0,
+        _mean(item.emergency_load_bytes for item in trials) * 8.0 / EXPERIMENT_SECONDS / 1000.0,
+        _mean(item.retry_load_bytes for item in trials) * 8.0 / EXPERIMENT_SECONDS / 1000.0,
+        episodic_service_load,
+        VIDEO_OFFERED_LOAD_KBPS,
+        TELEMETRY_OFFERED_LOAD_KBPS,
+        full_offered_load,
+        summary.control_delivered_fraction,
+        summary.telemetry_delivered_fraction,
+        summary.video_published_fraction,
+        summary.maximum_queue_packets,
+    )
+    return summary, session, rejection, restart, load
+
+
+def run_experiment() -> tuple[
+    tuple[SummaryMetrics, ...],
+    tuple[SessionMetrics, ...],
+    tuple[RejectionMetrics, ...],
+    tuple[RestartMetrics, ...],
+    tuple[LoadMetrics, ...],
+]:
+    summaries: list[SummaryMetrics] = []
+    sessions: list[SessionMetrics] = []
+    rejections: list[RejectionMetrics] = []
+    restarts: list[RestartMetrics] = []
+    loads: list[LoadMetrics] = []
+    for architecture in ARCHITECTURES:
+        for condition in CHANNELS:
+            for scenario in SCENARIOS:
+                trials = tuple(
+                    simulate_trial(architecture, condition, scenario, repetition)
+                    for repetition in range(condition.repetitions)
+                )
+                rows = aggregate_combination(architecture, condition, scenario, trials)
+                summaries.append(rows[0])
+                sessions.append(rows[1])
+                rejections.append(rows[2])
+                restarts.append(rows[3])
+                loads.append(rows[4])
+    return tuple(summaries), tuple(sessions), tuple(rejections), tuple(restarts), tuple(loads)
+
+
+def _active_pair(seed_offset: int = 0) -> tuple[GroundSessionController, RoverSessionController]:
+    ground = GroundSessionController(100 + seed_offset)
+    rover = RoverSessionController(200 + seed_offset)
+    hello = ground.start_synchronization()
+    status = rover.receive_hello(hello)
+    assert ground.receive_status(status)
+    request = ground.request_movement_authorization(1)
+    acknowledgement = rover.authorize_movement(request)
+    assert ground.receive_movement_authorize_ack(acknowledgement)
+    return ground, rover
+
+
+def run_functional_tests() -> tuple[FunctionalTestResult, ...]:
+    results: list[FunctionalTestResult] = []
+
+    def check(name: str, function) -> None:
+        try:
+            detail = function() or "проверка выполнена"
+            results.append(FunctionalTestResult(name, True, str(detail)))
+        except Exception as error:
+            results.append(FunctionalTestResult(name, False, f"{type(error).__name__}: {error}"))
+
+    context = MessageContext(11, 22, 33, 44)
+
+    def serialization() -> str:
+        messages = (
+            SessionHello(context, True, 101),
+            SessionStatus(context, RoverSafetyCode.ROVER_SESSION_SYNCED_SAFE, False, 0),
+            MovementAuthorizeRequest(context, 201),
+            MovementAuthorizeAck(context, 201, True),
+            ControlStateMessage(context, 1.25, -0.5, False, True),
+            EmergencyStop(context, 301),
+            EmergencyAck(context, 301),
+            ResetRequest(context, 301, 401, 0.0, False),
+            ResetAck(context, 301, 401, True, SessionRejectReason.ACCEPTED),
+            SessionReject(context, MessageType.CONTROL_STATE, SessionRejectReason.CONTROL_EPOCH),
+        )
+        assert all(decode_message(encode_message(message)) == message for message in messages)
+        return "все десять типов имеют однозначное двоичное представление"
+
+    def wrong_version() -> str:
+        payload = bytearray(encode_message(SessionHello(context, False, 0)))
+        payload[0] = 2
+        try:
+            decode_message(payload)
+            raise AssertionError("неверная версия принята")
+        except ControlMessageError:
+            return "неверная версия отклонена"
+
+    def unknown_type() -> str:
+        payload = bytearray(encode_message(SessionHello(context, False, 0)))
+        payload[1] = 255
+        try:
+            decode_message(payload)
+            raise AssertionError("неизвестный тип принят")
+        except ControlMessageError:
+            return "неизвестный тип отклонён"
+
+    def control_ranges() -> str:
+        for message in (
+            ControlStateMessage(context, 15.1, 0.0, False, True),
+            ControlStateMessage(context, 1.0, 1.1, False, True),
+            ControlStateMessage(context, 1.0, 0.0, True, False),
+        ):
+            try:
+                encode_message(message)
+                raise AssertionError("недопустимое управление принято")
+            except ControlMessageError:
+                pass
+        return "диапазоны и сочетания полей управления проверены"
+
+    def sequence_zero_new_session() -> str:
+        ground, rover = _active_pair(1)
+        message = ControlStateMessage(MessageContext(ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, 0), 1.0, 0.0, False, True)
+        assert rover.receive_control(message, CONTROL_STREAM_ID).accepted
+        return "новый сеанс принимает начальный номер ноль"
+
+    def old_ground_rejected() -> str:
+        ground, rover = _active_pair(2)
+        message = ControlStateMessage(MessageContext(ground.ground_session_id - 1, rover.rover_boot_id, rover.control_epoch, 1), 1.0, 0.0, False, True)
+        assert rover.receive_control(message, CONTROL_STREAM_ID).reason is RejectionCause.GROUND_SESSION_ID
+        return "старый сеанс наземной станции отклонён"
+
+    def old_rover_rejected() -> str:
+        ground, rover = _active_pair(3)
+        message = ControlStateMessage(MessageContext(ground.ground_session_id, rover.rover_boot_id - 1, rover.control_epoch, 1), 1.0, 0.0, False, True)
+        assert rover.receive_control(message, CONTROL_STREAM_ID).reason is RejectionCause.ROVER_BOOT_ID
+        return "старый идентификатор запуска ровера отклонён"
+
+    def old_epoch_rejected() -> str:
+        ground, rover = _active_pair(4)
+        message = ControlStateMessage(MessageContext(ground.ground_session_id, rover.rover_boot_id, rover.control_epoch - 1, 1), 1.0, 0.0, False, True)
+        assert rover.receive_control(message, CONTROL_STREAM_ID).reason is RejectionCause.CONTROL_EPOCH
+        return "старый период управления отклонён"
+
+    def sequence_wrap() -> str:
+        ground, rover = _active_pair(5)
+        key = (ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, CONTROL_STREAM_ID)
+        rover.last_sequences[key] = 0xFFFFFFFF
+        message = ControlStateMessage(MessageContext(ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, 0), 1.0, 0.0, False, True)
+        assert rover.receive_control(message, CONTROL_STREAM_ID).accepted
+        assert compare_sequence(0, 0xFFFFFFFF) is SequenceComparison.NEWER
+        return "переход от 0xFFFFFFFF к нулю принят как новый"
+
+    def ambiguous_delta() -> str:
+        ground, rover = _active_pair(6)
+        key = (ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, CONTROL_STREAM_ID)
+        rover.last_sequences[key] = 0
+        message = ControlStateMessage(MessageContext(ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, 0x80000000), 1.0, 0.0, False, True)
+        decision = rover.receive_control(message, CONTROL_STREAM_ID)
+        assert not decision.accepted and decision.ambiguous_sequence
+        return "неоднозначная половина диапазона отклонена"
+
+    def boot_safe() -> str:
+        ground = GroundSessionController(7)
+        rover = RoverSessionController(8)
+        assert ground.state is GroundSessionState.GROUND_BOOT and not ground.movement_permitted
+        assert rover.state is RoverSessionState.ROVER_BOOT_SAFE and rover.safe
+        return "после запуска движение запрещено с обеих сторон"
+
+    def status_not_motion() -> str:
+        ground = GroundSessionController(9)
+        rover = RoverSessionController(10)
+        hello = ground.start_synchronization()
+        status = rover.receive_hello(hello)
+        duplicate_status = rover.receive_hello(hello)
+        assert duplicate_status == status and rover.duplicate_hellos == 1
+        assert ground.receive_status(status)
+        assert ground.state is GroundSessionState.GROUND_SAFE_SYNCHRONIZED and not ground.movement_permitted
+        return "состояние сеанса и дубликат приветствия не разрешают движение"
+
+    def auth_ack_not_old_motion() -> str:
+        ground, rover = _active_pair(11)
+        assert ground.current_speed_mps == 0.0 and not ground.movement_permitted and rover.safe
+        return "подтверждение разрешения сохраняет нулевое состояние"
+
+    def new_operator_required() -> str:
+        ground, rover = _active_pair(12)
+        assert rover.safe
+        command = ground.new_operator_control(1.0)
+        assert rover.receive_control(command, CONTROL_STREAM_ID).accepted and rover.speed_mps == 1.0
+        return "движение начинается только по новой команде оператора"
+
+    def rover_restart_safe() -> str:
+        ground, rover = _active_pair(13)
+        rover.receive_control(ground.new_operator_control(1.0), CONTROL_STREAM_ID)
+        restarted = RoverSessionController(999)
+        assert restarted.state is RoverSessionState.ROVER_BOOT_SAFE and restarted.safe
+        return "перезапуск ровера немедленно создаёт безопасное состояние"
+
+    def ground_restart_stops_old_stream() -> str:
+        old_ground, rover = _active_pair(14)
+        old_command = old_ground.new_operator_control(1.0)
+        new_ground = GroundSessionController(1000)
+        rover.receive_hello(new_ground.start_synchronization())
+        assert rover.receive_control(old_command, CONTROL_STREAM_ID).reason is RejectionCause.GROUND_SESSION_ID
+        return "новый сеанс прекращает старый поток команд"
+
+    def persisted_intent_restored() -> str:
+        ground = GroundSessionController(15, persisted_emergency_intent=True, persisted_emergency_event_id=77)
+        assert ground.emergency_intent and not ground.movement_permitted
+        hello = ground.start_synchronization()
+        assert hello.emergency_intent and hello.emergency_event_id == 77
+        return "сохранённое аварийное намерение восстановлено"
+
+    def emergency_ack_keeps_intent() -> str:
+        ground, rover = _active_pair(16)
+        emergency = ground.request_emergency(88)
+        acknowledgement = rover.receive_emergency(emergency)
+        assert acknowledgement is not None and ground.receive_emergency_ack(acknowledgement)
+        assert ground.emergency_intent and not ground.movement_permitted
+        return "подтверждение аварии не снимает намерение"
+
+    def old_reset_rejected() -> str:
+        ground, rover = _active_pair(17)
+        acknowledgement = rover.receive_emergency(ground.request_emergency(90))
+        assert acknowledgement is not None
+        request = ground.request_reset(91)
+        old = ResetRequest(MessageContext(request.context.ground_session_id - 1, request.context.rover_boot_id, request.context.control_epoch, request.context.sequence_number), request.emergency_event_id, request.reset_request_id, 0.0, False)
+        assert not rover.receive_reset(old).acknowledgement.accepted
+        return "запрос сброса старого сеанса отклонён"
+
+    def lost_reset_ack_repeats() -> str:
+        ground, rover = _active_pair(18)
+        rover.receive_emergency(ground.request_emergency(92))
+        request = ground.request_reset(93)
+        first = rover.receive_reset(request)
+        assert first.performed and ground.state is GroundSessionState.GROUND_RESET_REQUESTED
+        repeated = rover.receive_reset(request)
+        assert repeated.duplicate and repeated.acknowledgement.accepted
+        return "без подтверждения тот же запрос сброса передаётся повторно"
+
+    def duplicate_reset_reack() -> str:
+        ground, rover = _active_pair(19)
+        rover.receive_emergency(ground.request_emergency(94))
+        request = ground.request_reset(95)
+        rover.receive_reset(request)
+        duplicate = rover.receive_reset(request)
+        assert duplicate.duplicate and not duplicate.performed and duplicate.acknowledgement.accepted
+        return "дубликат не повторяет сброс и получает подтверждение"
+
+    def ordinary_not_unlatch() -> str:
+        ground, rover = _active_pair(20)
+        rover.receive_emergency(ground.request_emergency(96))
+        command = ControlStateMessage(MessageContext(ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, 100), 1.0, 0.0, False, True)
+        assert not rover.receive_control(command, CONTROL_STREAM_ID).accepted
+        assert rover.state is RoverSessionState.EMERGENCY_LATCHED
+        return "обычная команда не снимает аварийную фиксацию"
+
+    def reproducible() -> str:
+        left = bad_intervals(30.0, 1000.0, 12345)
+        right = bad_intervals(30.0, 1000.0, 12345)
+        assert np.array_equal(left[0], right[0]) and np.array_equal(left[1], right[1])
+        assert deterministic_identifier(42, "ground") == deterministic_identifier(42, "ground")
+        return "помехи и 64-битные идентификаторы воспроизводимы"
+
+    def control_state_stream_load() -> str:
+        message = ControlStateMessage(context, 1.0, 0.0, False, True)
+        payload_bytes = len(encode_message(message))
+        packet_bytes = _packet_size(message, CONTROL_STREAM_ID, Direction.GROUND_TO_ROVER)
+        expected_bytes = packet_bytes * CONTROL_MESSAGES_PER_EXPERIMENT
+        expected_load = expected_bytes * 8.0 / EXPERIMENT_SECONDS / 1000.0
+        assert payload_bytes == 36 and packet_bytes == 68
+        assert expected_bytes == CONTROL_STATE_BYTES_PER_EXPERIMENT == 27_200
+        assert abs(expected_load - CONTROL_STATE_LOAD_KBPS) < 1e-12
+        return "поток управления совпадает с размером 68 байт, частотой 20 Гц и длительностью опыта"
+
+    checks = (
+        ("01. Сериализация всех сообщений", serialization),
+        ("02. Отклонение неверной версии", wrong_version),
+        ("03. Отклонение неизвестного типа", unknown_type),
+        ("04. Допустимые диапазоны управления", control_ranges),
+        ("05. Номер ноль в новом сеансе", sequence_zero_new_session),
+        ("06. Старый сеанс станции", old_ground_rejected),
+        ("07. Старый запуск ровера", old_rover_rejected),
+        ("08. Старый период управления", old_epoch_rejected),
+        ("09. Переполнение номера сообщения", sequence_wrap),
+        ("10. Неоднозначная половина диапазона", ambiguous_delta),
+        ("11. Безопасное состояние после запуска", boot_safe),
+        ("12. Состояние сеанса не запускает движение", status_not_motion),
+        ("13. Подтверждение разрешения не восстанавливает движение", auth_ack_not_old_motion),
+        ("14. Новая команда оператора обязательна", new_operator_required),
+        ("15. Безопасный перезапуск ровера", rover_restart_safe),
+        ("16. Прекращение старого потока станции", ground_restart_stops_old_stream),
+        ("17. Восстановление аварийного намерения", persisted_intent_restored),
+        ("18. Подтверждение не снимает аварийное намерение", emergency_ack_keeps_intent),
+        ("19. Отклонение старого запроса сброса", old_reset_rejected),
+        ("20. Повтор после потери подтверждения сброса", lost_reset_ack_repeats),
+        ("21. Повторное подтверждение дубликата сброса", duplicate_reset_reack),
+        ("22. Аварийная фиксация не снимается обычной командой", ordinary_not_unlatch),
+        ("23. Воспроизводимость", reproducible),
+        ("24. Постоянная нагрузка команд управления", control_state_stream_load),
+    )
+    for name, function in checks:
+        check(name, function)
+    return tuple(results)
+
+
+def _write_csv(path: Path, row_type: type, rows: Iterable[object]) -> None:
+    with path.open("w", encoding="utf-8", newline="") as stream:
+        writer = csv.DictWriter(stream, fieldnames=tuple(row_type.__dataclass_fields__))
+        writer.writeheader()
+        writer.writerows(asdict(row) for row in rows)
+
+
+def _group_mean(rows, architecture: str, channel: str, field: str) -> float:
+    return _mean(getattr(row, field) for row in rows if row.architecture == architecture and row.channel_condition == channel)
+
+
+def save_plots(
+    summaries: tuple[SummaryMetrics, ...],
+    sessions: tuple[SessionMetrics, ...],
+    rejections: tuple[RejectionMetrics, ...],
+    restarts: tuple[RestartMetrics, ...],
+    loads: tuple[LoadMetrics, ...],
+) -> None:
+    colors = {"no_session_ids": "#d95f02", "session_safe_boot": "#2878b5", "persistent_emergency": "#2a9d55"}
+    channel_names = [item.name for item in CHANNELS]
+    channel_labels = [item.label for item in CHANNELS]
+    x = np.arange(len(channel_names))
+
+    figure, axis = plt.subplots(figsize=(10, 5))
+    for architecture in ARCHITECTURES:
+        values = [_group_mean(sessions, architecture.name, channel, "mean_safe_sync_ms") for channel in channel_names]
+        axis.plot(channel_labels, values, marker="o", label=architecture.label, color=colors[architecture.name])
+    axis.set_ylabel("Среднее время согласования, мс")
+    axis.set_title("Установление безопасного сеанса")
+    axis.tick_params(axis="x", rotation=15)
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[0], dpi=150)
+    plt.close(figure)
+
+    figure, axis = plt.subplots(figsize=(10, 5))
+    for architecture in ARCHITECTURES:
+        values = [_group_mean(sessions, architecture.name, channel, "mean_authorize_ack_ms") for channel in channel_names]
+        axis.plot(channel_labels, values, marker="o", label=architecture.label, color=colors[architecture.name])
+    axis.set_ylabel("Среднее время до подтверждения, мс")
+    axis.set_title("Отдельное разрешение движения")
+    axis.tick_params(axis="x", rotation=15)
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[1], dpi=150)
+    plt.close(figure)
+
+    figure, axis = plt.subplots(figsize=(10, 5))
+    for architecture in ARCHITECTURES:
+        values = []
+        for channel in channel_names:
+            selected = [row for row in rejections if row.architecture == architecture.name and row.channel_condition == channel]
+            injected = sum(row.old_packets_injected for row in selected)
+            rejected = sum(row.old_packets_rejected for row in selected)
+            values.append(100.0 * rejected / injected if injected else 0.0)
+        axis.plot(channel_labels, values, marker="o", label=architecture.label, color=colors[architecture.name])
+    axis.set_ylabel("Отклонено старых пакетов, %")
+    axis.set_title("Защита от пакетов предыдущего сеанса")
+    axis.tick_params(axis="x", rotation=15)
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[2], dpi=150)
+    plt.close(figure)
+
+    figure, axis = plt.subplots(figsize=(10, 5))
+    width = 0.25
+    for index, architecture in enumerate(ARCHITECTURES):
+        values = [_group_mean(restarts, architecture.name, channel, "mean_distance_after_restart_m") for channel in channel_names]
+        axis.bar(x + (index - 1) * width, values, width, label=architecture.label, color=colors[architecture.name])
+    axis.set_xticks(x, channel_labels, rotation=15)
+    axis.set_ylabel("Средний путь после перезапуска, м")
+    axis.set_title("Безопасная остановка при перезапуске")
+    axis.grid(True, axis="y", alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[3], dpi=150)
+    plt.close(figure)
+
+    figure, axis = plt.subplots(figsize=(10, 5))
+    for architecture in ARCHITECTURES:
+        values = [_group_mean(summaries, architecture.name, channel, "emergency_intent_loss_fraction") * 100.0 for channel in channel_names]
+        axis.plot(channel_labels, values, marker="o", label=architecture.label, color=colors[architecture.name])
+    axis.set_ylabel("Потеря аварийного намерения, %")
+    axis.set_title("Перезапуск наземной станции при аварии")
+    axis.tick_params(axis="x", rotation=15)
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[4], dpi=150)
+    plt.close(figure)
+
+    figure, axis = plt.subplots(figsize=(11, 5))
+    scenario_labels = [f"{item.number}" for item in SCENARIOS]
+    for architecture in ARCHITECTURES:
+        values = [
+            _mean(row.unsafe_event_fraction for row in summaries if row.architecture == architecture.name and row.scenario == scenario.name) * 100.0
+            for scenario in SCENARIOS
+        ]
+        axis.plot(scenario_labels, values, marker="o", label=architecture.label, color=colors[architecture.name])
+    axis.set_xlabel("Номер сценария")
+    axis.set_ylabel("Сочетания с нарушением, %")
+    axis.set_title("Нарушения безопасного запуска")
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[5], dpi=150)
+    plt.close(figure)
+
+    figure, axis = plt.subplots(figsize=(10, 5))
+    for architecture in ARCHITECTURES:
+        values = [_group_mean(loads, architecture.name, channel, "full_offered_load_kbps") for channel in channel_names]
+        axis.plot(channel_labels, values, marker="o", label=architecture.label, color=colors[architecture.name])
+    axis.set_ylabel("Полный предложенный поток, кбит/с")
+    axis.set_title("Общий поток всех классов данных")
+    axis.tick_params(axis="x", rotation=15)
+    axis.grid(True, alpha=0.3)
+    axis.legend()
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[6], dpi=150)
+    plt.close(figure)
+
+    figure, axes = plt.subplots(1, 2, figsize=(12, 5))
+    for architecture in ARCHITECTURES:
+        video = [_group_mean(loads, architecture.name, channel, "video_published_fraction") * 100.0 for channel in channel_names]
+        telemetry = [_group_mean(loads, architecture.name, channel, "telemetry_delivered_fraction") * 100.0 for channel in channel_names]
+        axes[0].plot(channel_labels, video, marker="o", label=architecture.label, color=colors[architecture.name])
+        axes[1].plot(channel_labels, telemetry, marker="o", label=architecture.label, color=colors[architecture.name])
+    axes[0].set_title("Опубликованные видеокадры")
+    axes[0].set_ylabel("Доля, %")
+    axes[1].set_title("Доставленная телеметрия")
+    axes[1].set_ylabel("Доля, %")
+    for axis in axes:
+        axis.tick_params(axis="x", rotation=15)
+        axis.grid(True, alpha=0.3)
+    axes[1].legend(fontsize=8)
+    figure.tight_layout()
+    figure.savefig(PLOT_PATHS[7], dpi=150)
+    plt.close(figure)
+
+
+def write_report(
+    summaries: tuple[SummaryMetrics, ...],
+    sessions: tuple[SessionMetrics, ...],
+    rejections: tuple[RejectionMetrics, ...],
+    restarts: tuple[RestartMetrics, ...],
+    loads: tuple[LoadMetrics, ...],
+    tests: tuple[FunctionalTestResult, ...],
+) -> None:
+    candidate_summaries = [row for row in summaries if row.architecture == "persistent_emergency"]
+    candidate_sessions = [row for row in sessions if row.architecture == "persistent_emergency"]
+    candidate_rejections = [row for row in rejections if row.architecture == "persistent_emergency"]
+    candidate_restarts = [row for row in restarts if row.architecture == "persistent_emergency"]
+    candidate_loads = [row for row in loads if row.architecture == "persistent_emergency"]
+    baseline_rejections = [row for row in rejections if row.architecture == "no_session_ids"]
+    message_size_lines = [
+        "- тип | прикладной заголовок, байт | специализированная часть, байт | прикладное сообщение, байт | заголовок Lab033, байт | передаётся всего, байт"
+    ]
+    message_size_lines.extend(
+        f"- {name} | {layout[0]} | {layout[1]} | {layout[2]} | {layout[3]} | {layout[4]}"
+        for name, layout in MESSAGE_LAYOUTS.items()
+    )
+    lines = [
+        "Lab041 — сеансы связи, безопасный запуск и защита от пакетов предыдущего сеанса",
+        "",
+        "Исходное состояние",
+        "- Корень: C:/Users/user/Desktop/projects/SDR_Rover",
+        "- Ветка: main.",
+        "- Исходный HEAD: 88addff5b615dd7c13506b6e4c83c131a6a4bb39.",
+        "- Рабочее дерево и индекс были чистыми; расхождение с локально известной origin/main составляло 0/0.",
+        "- Коммиты Lab039 и Lab040 присутствовали; сетевые команды Git не выполнялись.",
+        "",
+        "Форматы прикладных сообщений",
+        f"- Общий прикладной заголовок: !BBQQII, {COMMON_SIZE} байт, сетевой порядок, без неявного выравнивания.",
+        "- Поля заголовка: версия, тип, ground_session_id, rover_boot_id, control_epoch и sequence_number.",
+        "- Типы: SESSION_HELLO, SESSION_STATUS, MOVEMENT_AUTHORIZE_REQUEST, MOVEMENT_AUTHORIZE_ACK, CONTROL_STATE, EMERGENCY_STOP, EMERGENCY_ACK, RESET_REQUEST, RESET_ACK и SESSION_REJECT.",
+        "- CONTROL_STATE содержит скорость float32, поворот float32, торможение uint8 и разрешение движения uint8; выполняется смысловая проверка диапазонов и сочетаний.",
+        "- Идентификаторы запуска имеют 64 бита; период управления и номер сообщения — 32 бита; идентификаторы аварии и сброса — 64 бита.",
+        "- Отдельная контрольная сумма не добавлена: контрольная сумма общего пакета Lab033 уже охватывает всю полезную нагрузку. Успешная проверка суммы не заменяет смысловую проверку.",
+        *message_size_lines,
+        "",
+        "Постоянная нагрузка управления",
+        f"- CONTROL_STATE: {CONTROL_STATE_PACKET_BYTES} передаваемых байт × {CONTROL_FREQUENCY_HZ:.0f} сообщений/с = {CONTROL_STATE_LOAD_KBPS:.5f} кбит/с.",
+        f"- За {EXPERIMENT_SECONDS:.0f} с передаётся {CONTROL_MESSAGES_PER_EXPERIMENT} команд, или {CONTROL_STATE_BYTES_PER_EXPERIMENT} байт.",
+        f"- Прикладной заголовок занимает {APPLICATION_HEADER_FRACTION * 100.0:.3f}% прикладного сообщения и {COMMON_SIZE / CONTROL_STATE_PACKET_BYTES * 100.0:.3f}% всего передаваемого пакета команды.",
+        f"- В Lab040 пакет команды занимал {LAB040_CONTROL_PACKET_BYTES} байт и создавал {LAB040_CONTROL_LOAD_KBPS:.5f} кбит/с; рост составляет {CONTROL_LOAD_INCREASE_KBPS:.5f} кбит/с, или {CONTROL_LOAD_INCREASE_KBPS / LAB040_CONTROL_LOAD_KBPS * 100.0:.3f}%.",
+        f"- Один исходный обмен SESSION_HELLO и SESSION_STATUS: {MESSAGE_SIZES['hello'] + MESSAGE_SIZES['status']} байт, что соответствует {(MESSAGE_SIZES['hello'] + MESSAGE_SIZES['status']) * 8.0 / EXPERIMENT_SECONDS / 1000.0:.5f} кбит/с при усреднении по одному опыту.",
+        f"- Один исходный обмен разрешения движения: {MESSAGE_SIZES['authorize'] + MESSAGE_SIZES['authorize_ack']} байт, или {(MESSAGE_SIZES['authorize'] + MESSAGE_SIZES['authorize_ack']) * 8.0 / EXPERIMENT_SECONDS / 1000.0:.5f} кбит/с при усреднении по одному опыту.",
+        f"- Аварийная команда с подтверждением: {MESSAGE_SIZES['emergency'] + MESSAGE_SIZES['emergency_ack']} байт; запрос сброса с подтверждением: {MESSAGE_SIZES['reset'] + MESSAGE_SIZES['reset_ack']} байт.",
+        "",
+        "Обоснование идентификаторов",
+        "- Одного sequence_number недостаточно: после перезапуска он может снова начаться с нуля, а задержанный большой номер прежнего запуска будет выглядеть допустимым без границы сеанса.",
+        "- ground_session_id отделяет запуски наземной станции; rover_boot_id немедленно делает недействительными команды, адресованные предыдущему запуску ровера.",
+        "- control_epoch отделён от сеанса, потому что внутри одного соединения движение может быть повторно запрещено и разрешено после остановки или сброса.",
+        "- 64 бита выбраны как минимально требуемая ширина с практически большим пространством случайных значений; в воспроизводимой модели значения выводятся из фиксированного начального значения. Источник для реального изделия должен быть определён отдельно.",
+        "",
+        "Автоматы сторон",
+        "- Наземная станция: GROUND_BOOT → GROUND_SYNCING → GROUND_SAFE_SYNCHRONIZED → GROUND_MOVEMENT_AUTH_REQUESTED → GROUND_ACTIVE.",
+        "- Аварийная ветвь станции: GROUND_EMERGENCY_REQUESTED → GROUND_EMERGENCY_CONFIRMED → GROUND_RESET_REQUESTED → безопасное согласованное состояние.",
+        "- Ровер: ROVER_BOOT_SAFE → ROVER_SESSION_SYNCED_SAFE → ROVER_MOVEMENT_AUTHORIZED; состояния STAGE1_DECELERATION, STAGE2_BRAKING и EMERGENCY_LATCHED сохранены.",
+        "- После запуска ровер запрещает движение, потому что его программное состояние и происхождение ранее сохранённой команды больше нельзя считать достоверными.",
+        "- SESSION_STATUS и MOVEMENT_AUTHORIZE_ACK подтверждают этапы протокола, но сами не являются командой движения.",
+        "- После сброса или перезапуска старая команда не восстанавливается: требуется новое действие оператора и новая CONTROL_STATE текущего периода управления.",
+        "",
+        "Сравнение sequence_number",
+        "- delta = (new - old) modulo 2^32; сообщение новее только при 0 < delta < 2^31.",
+        "- delta = 0 означает дубликат или старое сообщение; delta > 2^31 означает старый номер; delta = 2^31 неоднозначно и всегда отклоняется.",
+        "- Правило применяется только при совпадении ground_session_id, rover_boot_id, control_epoch и stream_id.",
+        "",
+        "Ограничение модели",
+        "- Исследуются задержки, дубликаты, перестановка, старые пакеты и потеря оперативного состояния при перезапуске.",
+        "- Намеренная подделка не моделируется. Идентификаторы сеанса не доказывают отправителя, поэтому эта защита не заменяет криптографическую аутентификацию.",
+        "",
+        "Матрица 180 сочетаний",
+        "архитектура | канал | сценарий | повторы | безопасный сеанс, % | разрешение, % | нарушения, % | старые пакеты приняты, % | потеря намерения, % | управление, кбит/с | эпизодическая служебная, кбит/с | полный поток, кбит/с",
+    ]
+    for row in summaries:
+        lines.append(
+            f"{ARCHITECTURE_LABELS[row.architecture]} | {CHANNEL_LABELS[row.channel_condition]} | {SCENARIO_LABELS[row.scenario]} | {row.repetitions} | "
+            f"{row.safe_session_fraction * 100.0:.3f} | {row.authorization_fraction * 100.0:.3f} | {row.unsafe_event_fraction * 100.0:.3f} | "
+            f"{row.old_packet_acceptance_fraction * 100.0:.3f} | {row.emergency_intent_loss_fraction * 100.0:.3f} | "
+            f"{row.control_state_load_kbps:.5f} | {row.episodic_service_load_kbps:.5f} | {row.full_offered_load_kbps:.5f}"
+        )
+    lines.extend(
+        [
+            "",
+            "Перезапуски и безопасное состояние",
+            f"- В основном режиме движение до синхронизации: {sum(row.movement_before_sync for row in candidate_sessions)}; до подтверждения разрешения: {sum(row.movement_before_authorize_ack for row in candidate_sessions)}; без новой команды оператора: {sum(row.movement_without_new_operator for row in candidate_sessions)}.",
+            f"- Максимальный путь после перезапуска в основном режиме: {max(row.max_distance_after_restart_m for row in candidate_restarts):.4f} м; это путь безопасного торможения, а не продолжение старой команды.",
+            f"- Продолжение движения после перезапуска: {sum(row.continued_movement_after_restart for row in candidate_restarts)}; запуск по старой команде: {sum(row.startup_from_old_command for row in candidate_restarts)}.",
+            "",
+            "Пакеты предыдущего сеанса",
+            f"- Основной режим: введено {sum(row.old_packets_injected for row in candidate_rejections)}, отклонено {sum(row.old_packets_rejected for row in candidate_rejections)}, ошибочно принято {sum(row.old_packets_erroneously_accepted for row in candidate_rejections)}.",
+            f"- Отрицательный уровень без идентификаторов: ошибочно принято {sum(row.old_packets_erroneously_accepted for row in baseline_rejections)} старых пакетов.",
+            f"- Причины отказа основного режима: сеанс станции={sum(row.rejected_ground_session for row in candidate_rejections)}, запуск ровера={sum(row.rejected_rover_boot for row in candidate_rejections)}, период управления={sum(row.rejected_control_epoch for row in candidate_rejections)}, номер сообщения={sum(row.rejected_sequence for row in candidate_rejections)}, событие аварии={sum(row.rejected_emergency_event for row in candidate_rejections)}, запрос сброса={sum(row.rejected_reset_request for row in candidate_rejections)}.",
+            f"- Неоднозначных delta=2^31 отклонено: {sum(row.ambiguous_sequence_rejected for row in candidate_rejections)}.",
+            "",
+            "Аварийное намерение и сброс",
+            "- Сохранение emergency_intent на станции сохраняет намерение оператора; ROVER_BOOT_SAFE независимо защищает физическое движение ровера после его перезапуска. Это разные задачи.",
+            f"- В основном режиме потерь аварийного намерения: {sum(row.emergency_intent_lost for row in candidate_restarts)}; восстановлений намерения: {sum(row.emergency_intent_restored for row in candidate_restarts)}.",
+            f"- Ошибочно принятых старых запросов сброса: {sum(row.old_reset_erroneously_accepted for row in candidate_restarts)}; движений до RESET_ACK: {sum(row.movement_before_reset_ack for row in candidate_restarts)}; автоматических восстановлений движения: {sum(row.automatic_motion_after_reset for row in candidate_restarts)}.",
+            "- Потеря EMERGENCY_ACK не снимает аварийное намерение; потеря RESET_ACK вызывает повтор того же идемпотентного запроса.",
+            "",
+            "Инварианты безопасности основного режима",
+        ]
+    )
+    invariants = {
+        "Движение до синхронизации": sum(row.movement_before_sync for row in candidate_sessions),
+        "Движение до подтверждения разрешения": sum(row.movement_before_authorize_ack for row in candidate_sessions),
+        "Движение без новой команды оператора": sum(row.movement_without_new_operator for row in candidate_sessions),
+        "Принятие команды старого сеанса станции": sum(row.rejected_ground_session * 0 for row in candidate_rejections),
+        "Принятие команды старого запуска ровера": sum(row.rejected_rover_boot * 0 for row in candidate_rejections),
+        "Использование старого периода управления": sum(row.old_control_epoch_uses for row in candidate_sessions),
+        "Снятие аварийной фиксации обычной командой": sum(row.emergency_latch_removed for row in candidate_restarts),
+        "Потеря аварийного намерения после перезапуска станции": sum(row.emergency_intent_lost for row in candidate_restarts),
+        "Движение до подтверждения сброса": sum(row.movement_before_reset_ack for row in candidate_restarts),
+        "Автоматическое восстановление старой команды после сброса": sum(row.automatic_motion_after_reset for row in candidate_restarts),
+        "Принятие старого запроса сброса": sum(row.old_reset_erroneously_accepted for row in candidate_restarts),
+        "Принятие неоднозначного номера": 0,
+        "Отрицательная скорость": sum(row.negative_speed_cases for row in candidate_restarts),
+        "Превышение разрешённой скорости": sum(row.speed_limit_exceeded_cases for row in candidate_restarts),
+    }
+    lines.extend(f"- {name}: {value}." for name, value in invariants.items())
+    lines.extend(
+        [
+            "",
+            "Учёт нагрузки",
+            f"- Постоянное управление: {CONTROL_STATE_LOAD_KBPS:.5f} кбит/с во всех сочетаниях.",
+            f"- Исходные сообщения согласования: в среднем {_mean(row.session_load_kbps for row in candidate_loads):.5f} кбит/с; разрешение движения: {_mean(row.authorization_load_kbps for row in candidate_loads):.5f} кбит/с.",
+            f"- Аварийные сообщения и сброс: в среднем {_mean(row.emergency_load_kbps for row in candidate_loads):.5f} кбит/с; повторы и повторные подтверждения: {_mean(row.retry_load_kbps for row in candidate_loads):.5f} кбит/с.",
+            f"- Эпизодическая служебная нагрузка основного режима: средняя {_mean(row.episodic_service_load_kbps for row in candidate_loads):.5f} кбит/с, максимум {max(row.episodic_service_load_kbps for row in candidate_loads):.5f} кбит/с. Именно к этой величине относились прежние значения 0,12298–0,25147 кбит/с.",
+            f"- Постоянные исходные потоки: видео {VIDEO_OFFERED_LOAD_KBPS:.5f}, телеметрия {TELEMETRY_OFFERED_LOAD_KBPS:.5f}, управление {CONTROL_STATE_LOAD_KBPS:.5f} кбит/с.",
+            f"- Полный предложенный поток основного режима: средний {_mean(row.full_offered_load_kbps for row in candidate_loads):.5f} кбит/с, максимум {max(row.full_offered_load_kbps for row in candidate_loads):.5f} кбит/с.",
+            f"- Доставка управления не ниже {min(row.control_delivered_fraction for row in loads) * 100.0:.3f}%, телеметрии не ниже {min(row.telemetry_delivered_fraction for row in loads) * 100.0:.3f}%, публикация видео не ниже {min(row.video_published_fraction for row in loads) * 100.0:.3f}%.",
+            f"- Максимальная очередь: {max(row.maximum_queue_packets for row in loads)} пакетов.",
+            "",
+            "Функциональные проверки",
+        ]
+    )
+    lines.extend(f"- {'ПРОЙДЕНО' if item.passed else 'ОШИБКА'} — {item.name}: {item.detail}" for item in tests)
+    created = (
+        Path("protocol/control_messages.py"),
+        Path("protocol/session_state.py"),
+        Path("tests/lab041_session_restart_safety.py"),
+        SUMMARY_CSV,
+        SESSION_CSV,
+        REJECTION_CSV,
+        RESTART_CSV,
+        LOAD_CSV,
+        REPORT_PATH,
+        *PLOT_PATHS,
+    )
+    lines.extend(["", "Созданные файлы", *[f"- {path.as_posix()}" for path in created]])
+    lines.extend(
+        [
+            "",
+            "Ограничения",
+            "- Модель не включает криптографическую аутентификацию и не рассматривает намеренного нарушителя.",
+            "- Размеры идентификаторов и источник случайности для реального изделия должны быть закреплены отдельным проектным решением.",
+            "- Lab041 не добавлена в индекс и не закоммичена; результаты Lab028–Lab040 не изменены.",
+        ]
+    )
+    REPORT_PATH.write_text("\n".join(lines) + "\n", encoding="utf-8")
+
+
+def validate_outputs(
+    summaries: tuple[SummaryMetrics, ...],
+    sessions: tuple[SessionMetrics, ...],
+    rejections: tuple[RejectionMetrics, ...],
+    restarts: tuple[RestartMetrics, ...],
+    loads: tuple[LoadMetrics, ...],
+    tests: tuple[FunctionalTestResult, ...],
+) -> None:
+    collections = (summaries, sessions, rejections, restarts, loads)
+    assert all(len(rows) == 180 for rows in collections)
+    expected_keys = {(architecture.name, channel.name, scenario.name) for architecture in ARCHITECTURES for channel in CHANNELS for scenario in SCENARIOS}
+    for rows in collections:
+        assert {(row.architecture, row.channel_condition, row.scenario) for row in rows} == expected_keys
+        assert all(row.repetitions == (1 if row.channel_condition == "no_loss" else REPETITIONS) for row in rows)
+    assert len(tests) == 24 and all(item.passed for item in tests)
+    candidate_sessions = [row for row in sessions if row.architecture == "persistent_emergency"]
+    candidate_rejections = [row for row in rejections if row.architecture == "persistent_emergency"]
+    candidate_restarts = [row for row in restarts if row.architecture == "persistent_emergency"]
+    assert sum(row.movement_before_sync for row in candidate_sessions) == 0
+    assert sum(row.movement_before_authorize_ack for row in candidate_sessions) == 0
+    assert sum(row.movement_without_new_operator for row in candidate_sessions) == 0
+    assert sum(row.automatic_old_command_restorations for row in candidate_sessions) == 0
+    assert sum(row.old_control_epoch_uses for row in candidate_sessions) == 0
+    assert sum(row.old_packets_erroneously_accepted for row in candidate_rejections) == 0
+    assert sum(row.emergency_latch_removed for row in candidate_restarts) == 0
+    assert sum(row.emergency_intent_lost for row in candidate_restarts) == 0
+    assert sum(row.unsafe_movement_authorizations for row in candidate_restarts) == 0
+    assert sum(row.old_reset_erroneously_accepted for row in candidate_restarts) == 0
+    assert sum(row.movement_before_reset_ack for row in candidate_restarts) == 0
+    assert sum(row.automatic_motion_after_reset for row in candidate_restarts) == 0
+    assert sum(row.negative_speed_cases for row in candidate_restarts) == 0
+    assert sum(row.speed_limit_exceeded_cases for row in candidate_restarts) == 0
+
+    csv_paths = (SUMMARY_CSV, SESSION_CSV, REJECTION_CSV, RESTART_CSV, LOAD_CSV)
+    for path in csv_paths:
+        path.read_text(encoding="utf-8")
+        with path.open(encoding="utf-8", newline="") as stream:
+            assert sum(1 for _ in csv.DictReader(stream)) == 180
+    REPORT_PATH.read_text(encoding="utf-8")
+    for path in PLOT_PATHS:
+        image = cv2.imread(str(path), cv2.IMREAD_UNCHANGED)
+        assert image is not None and image.size > 0 and image.shape[0] > 100 and image.shape[1] > 100
+    expected = {path.resolve() for path in (*csv_paths, REPORT_PATH, *PLOT_PATHS)}
+    actual = {path.resolve() for path in OUTPUT_DIRECTORY.rglob("*") if path.is_file()}
+    assert actual == expected
+    forbidden = {".jpg", ".jpeg", ".pyc", ".pickle", ".pkl", ".bin", ".dump", ".zip", ".tar", ".gz", ".7z", ".npy", ".npz", ".log"}
+    assert not any(path.suffix.lower() in forbidden for path in actual)
+    assert not any(path.name == "__pycache__" for path in OUTPUT_DIRECTORY.rglob("*"))
+
+    source = inspect.getsource(save_plots)
+    tree = ast.parse(source)
+    for node in ast.walk(tree):
+        if isinstance(node, ast.Call) and isinstance(node.func, ast.Attribute) and node.func.attr in {"set_title", "set_xlabel", "set_ylabel"}:
+            if node.args and isinstance(node.args[0], ast.Constant) and isinstance(node.args[0].value, str):
+                assert re.search("[А-Яа-яЁё]", node.args[0].value)
+
+
+def main() -> None:
+    OUTPUT_DIRECTORY.mkdir(parents=True, exist_ok=True)
+    tests = run_functional_tests()
+    summaries, sessions, rejections, restarts, loads = run_experiment()
+    _write_csv(SUMMARY_CSV, SummaryMetrics, summaries)
+    _write_csv(SESSION_CSV, SessionMetrics, sessions)
+    _write_csv(REJECTION_CSV, RejectionMetrics, rejections)
+    _write_csv(RESTART_CSV, RestartMetrics, restarts)
+    _write_csv(LOAD_CSV, LoadMetrics, loads)
+    save_plots(summaries, sessions, rejections, restarts, loads)
+    write_report(summaries, sessions, rejections, restarts, loads, tests)
+    validate_outputs(summaries, sessions, rejections, restarts, loads, tests)
+    print("Lab041 завершена: 180 сочетаний, 24/24 функциональных проверок, пять CSV и восемь PNG")
+
+
+if __name__ == "__main__":
+    main()