Lab041: add session and restart safety

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.

data/processed/lab041/lab041_load_metrics.csv

@@ -0,0 +1,181 @@
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data/processed/lab041/lab041_rejection_metrics.csv

@@ -0,0 +1,181 @@
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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.

data/processed/lab041/lab041_restart_metrics.csv

@@ -0,0 +1,181 @@
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data/processed/lab041/lab041_session_metrics.csv

@@ -0,0 +1,181 @@
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data/processed/lab041/lab041_summary.csv

@@ -0,0 +1,181 @@
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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

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)