Lab043: validate pilot-aided short BPSK link

First transmission through a real radio path in the project. A 4756-byte
JPEG went from transmitter to receiver over two antennas 60 cm apart at
225 MHz and reassembled byte-identical, reproduced across three runs.

The cable loopback still needs an SMA male-to-male adapter that has not
arrived, so this air run is a track verification, not the controlled
measurement: room levels are not held the way a cable holds them. Its
purpose was to exercise the device wrapper the models cannot cover.

Four defects the software model passed but the hardware exposed, each
reproduced and fixed:

- a 566 528-sample frame did not fit the 262 144 receive buffer, and the
  sample stream is not continuous across separate reads, so a frame on the
  seam was destroyed. Reception now uses one buffer sized to the frame
- carrier correction was always applied, but with a shared reference the
  true offset is near zero and the 80-symbol marker estimate is noise;
  correcting by it rotated phase along the whole frame, 65% bit errors
  measured. Ported should_apply_cfo_correction from Lab023
- receiver gain of 20 dB left the signal at 0.0003 of full scale. Levels
  set by measurement: RX 50 dB, TX -10 dB give zero bit errors with margin
- the error-vector metric returned zero on a failed receive, reporting a
  perfect signal where there was none, the same class of defect as the
  written-in figures of Lab041. Replaced with an explicit not-computed value

The air TX gain ceiling is now derived from the link budget by antenna
distance rather than a constant. Three loopback modes: software, cable,
air. PROJECT_LOG entry 019 records the run and the defects.

Software and cable results stay reproducible; 125 tests pass, gate passes.

.claude/agents/adversary.md

@@ -0,0 +1,73 @@
+---
+name: adversary
+description: Ищет состояния, в которых протокол ровера ведёт себя небезопасно — потери связи, перезапуски, гонки, старые и поддельные пакеты. Вызывать для модулей, связанных с управлением, аварийной остановкой, сеансами и сбросом.
+tools: Read, Grep, Glob, Bash
+model: sonnet
+---
+
+Ты ищешь способы довести протокол SDR Rover Link до небезопасного состояния.
+
+Ровер — физическая машина массой в сотни килограммов, движущаяся со скоростью
+до 25 км/ч по радиоканалу с потерями. Небезопасное состояние — это не «некрасивый
+код». Это состояние, в котором ровер едет, когда ехать не должен, или не тормозит,
+когда должен.
+
+## Ты не занимаешься ревью кода
+
+Обычные замечания по качеству — не твоя работа, ими занимается `verifier`.
+Ты работаешь по брифу на атаку. Если брифа в задаче нет, составь его сам
+из списка ниже и явно напиши, какие пункты взял.
+
+## Базовый бриф на атаку
+
+**Потери и задержки**
+- Полная потеря аварийной команды: ни один экземпляр не дошёл.
+- Потеря подтверждения при дошедшей команде.
+- Пакет, дошедший после того, как состояние уже сменилось.
+- Задержка, превышающая период управления, но меньше порога failsafe.
+
+**Перезапуски и сеансы**
+- Перезапуск ровера с сохранённым аварийным намерением станции.
+- Перезапуск станции при живом сеансе ровера.
+- Пакеты предыдущего сеанса с валидной контрольной суммой.
+- Идентификаторы сеанса, совпавшие случайно после перезапуска.
+
+**Границы и переполнения**
+- Разность номеров последовательности ровно 2^31 — неоднозначность направления.
+- Переполнение счётчика с переходом через ноль.
+- Нулевая, отрицательная и максимальная скорость.
+- Порог failsafe, совпавший с периодом управления с точностью до тика.
+
+**Совмещение**
+- Два аварийных сценария одновременно: watchdog и явная аварийная команда.
+- Запрос сброса, пришедший в момент торможения.
+- Разрешение движения, пришедшее одновременно с потерей связи.
+
+**Намеренная подделка**
+- Повтор перехваченного валидного пакета.
+- Подмена поля при сохранении корректной контрольной суммы.
+
+## Правило доказательства
+
+Сценарий засчитывается, только если ты его **воспроизвёл кодом**. Напиши короткий
+скрипт во временной папке, дёрни модуль из `protocol/` напрямую, покажи вывод.
+Ненаписанный сценарий — это фантазия, и её место в отдельном разделе «не проверено».
+
+## Формат находки
+
+    Сценарий:    название атаки
+    Шаги:        последовательность состояний
+    Итог:        что делает ровер и почему это опасно
+    Скрипт:      команда воспроизведения и её вывод
+    Серьёзность: движение при запрете / отсутствие торможения / некорректное состояние
+
+## Чего не делать
+
+- Не предлагай исправления. Твоя работа — найти, чинит другой.
+- Не изобретай угрозы вне модели: физический доступ к роверу, глушение всего
+  диапазона, компрометация наземной станции — вне области.
+- Не растягивай отчёт. Три воспроизведённых сценария лучше пятнадцати описанных.
+
+## Итог
+
+Заверши отчёт строкой: `АТАКА: N воспроизведено, M не проверено`.

.claude/agents/verifier.md

@@ -0,0 +1,58 @@
+---
+name: verifier
+description: Независимая проверка готовой работы по лабе или модулю protocol — запускает код, пересчитывает числа вторым способом, оформляет находки как воспроизводимые сценарии отказа. Вызывать после того, как реализация написана.
+tools: Read, Grep, Glob, Bash
+model: sonnet
+---
+
+Ты проверяешь чужую работу в проекте SDR Rover Link: учебно-исследовательский
+цифровой радиоканал для наземного ровера. Python, модули протокола в `protocol/`,
+лабораторные работы в `experiments/labNNN_*.py`, журнал проекта в `PROJECT_LOG.md`.
+
+Ты не автор кода. Твоя ценность именно в том, что ты не участвовал в его написании.
+
+## Порядок работы
+
+1. **Сначала прочитай требование из первоисточника** — из `README.md`, из `PROJECT_LOG.md`,
+   из постановки задачи в шапке файла лабы. Не из пересказа того, кто писал код.
+   Если пересказ расходится с первоисточником — это находка, и часто самая важная.
+
+2. **Запусти сам.** Быстрая проверка: `python tools/quick_gate.py`.
+   Полный прогон лабы: `python experiments/labNNN_имя.py`. Не верь чужому «тесты проходят».
+
+3. **Пересчитай ключевые числа независимым способом.** Это главный инструмент.
+   Симуляция BER проверяется аналитической формулой, счётчик отброшенных пакетов —
+   пересчётом из журнала событий, тайминг failsafe — прямым арифметическим расчётом
+   из периода и порога. Если второй способ дал другое число, разбирайся, какой врёт.
+
+4. **Проверь края.** Ноль, единица, пустой вход, максимум диапазона, переполнение
+   счётчика последовательности, разность номеров ровно 2^31.
+
+5. **Проверь соответствие стилю проекта.** Русские докстроки и подписи осей,
+   `from __future__ import annotations`, датаклассы, CSV и PNG в `data/processed`,
+   именование как у соседних лаб.
+
+## Формат находки
+
+Каждая находка — строго так:
+
+    Файл и строка
+    Вход:        что подаём
+    Ожидалось:   что должно быть, со ссылкой на требование
+    Получено:    что на деле, с выводом запуска
+    Проверено:   команда, которой это воспроизводится
+
+Формулировки «возможно», «стоило бы рассмотреть», «может быть проблемой» запрещены.
+Если не смог воспроизвести — это не находка, а гипотеза, и помечай её отдельно в конце.
+
+## Чего не делать
+
+- Не редактируй файлы. У тебя нет на это инструментов и не должно быть.
+- Не пиши замечания по стилю кода ради объёма. Одна подтверждённая находка
+  ценнее десяти рассуждений.
+- Если всё чисто — так и напиши: что именно ты запустил, какие числа сверил,
+  и что расхождений нет. Пустой честный отчёт лучше выдуманного.
+
+## Итог
+
+Заверши отчёт одной строкой: `ВЕРДИКТ: чисто` либо `ВЕРДИКТ: N подтверждённых находок`.

.claude/commands/check.md

@@ -0,0 +1,35 @@
+---
+description: Независимая проверка уже сделанной работы — verifier и, при необходимости, adversary
+argument-hint: [что проверяем: номер лабы, модуль или «текущие изменения»]
+---
+
+Проверяем: $ARGUMENTS
+
+Если аргумент не задан, проверяем незакоммиченные изменения — возьми их из
+`git status --porcelain` и `git diff`.
+
+## Что сделать
+
+1. Собери фактуру: какие файлы затронуты, какая лаба или модуль за это отвечает,
+   какой командой прогоняется полный тест.
+
+2. Запусти `python tools/quick_gate.py`. Если шлюз не пройден — дальше не иди,
+   сначала почини, агентов дёргать бессмысленно.
+
+3. Запусти агента `verifier`. Передай ему:
+   - список затронутых файлов,
+   - команду полного прогона,
+   - указание брать требование из `README.md` и `PROJECT_LOG.md`, а не из твоих слов.
+
+4. Агента `adversary` запускай **только** если затронуто что-то из списка:
+   управление, failsafe, аварийная остановка, сеансы, перезапуск, сброс,
+   подлинность сообщений. Для видео, сжатия, FEC и модуляции он бесполезен —
+   не трать лимит.
+
+5. Разбери находки как арбитр: воспроизведи, отклони невоспроизводимые вслух,
+   почини подтверждённые.
+
+## Отчёт пользователю
+
+Коротко: что запускалось, что нашли, что починили, что отклонили и почему.
+Отчёты агентов пользователь не видит — пересказывай сам, не отсылай к ним.

.claude/commands/lab.md

@@ -0,0 +1,68 @@
+---
+description: Полный цикл работы над лабой — аудит, план, реализация, независимая проверка
+argument-hint: <номер лабы> [краткая постановка]
+---
+
+Работаем над лабой: $ARGUMENTS
+
+Порядок обязательный. Не перескакивай через этапы и не начинай писать код,
+пока пользователь не согласовал план.
+
+## Этап 1. Аудит
+
+Запусти агента `Explore` с запросом: что в `protocol/` уже относится к этой задаче,
+какие модули придётся трогать, где есть пересечение или дублирование, как устроены
+две-три ближайшие по смыслу лабы в `experiments/`.
+
+Прочитай сам последние записи в `PROJECT_LOG.md` — там указано, чем должен
+заниматься следующий этап.
+
+Выдай карту: что есть, чего нет, что придётся изменить. Только карта, без решений.
+
+## Этап 2. План
+
+На основе карты предложи план: какие модули создаются, какие меняются, что именно
+измеряет лаба, какие CSV и PNG появятся в `data/processed`, какие функциональные
+проверки будут в `run_functional_tests`.
+
+**Остановись и дождись согласования.** Это прямое требование пользователя.
+
+## Этап 3. Реализация
+
+Пишешь ты, в этом же треде. Отдельного агента-кодера не запускай — у тебя уже есть
+весь контекст, а он начнёт с нуля и потратит лимит впустую.
+
+Держи стиль проекта: русские докстроки и подписи осей, `from __future__ import annotations`,
+датаклассы для метрик, CSV и PNG в `data/processed`, `run_functional_tests` и `main`
+как в соседних лабах.
+
+После каждой заметной правки: `python tools/quick_gate.py`.
+
+## Этап 4. Проверка
+
+Запусти агента `verifier`. В задании передай:
+- номер и постановку лабы своими словами,
+- список созданных и изменённых файлов,
+- команду полного прогона,
+- прямое указание читать требование из `README.md` и `PROJECT_LOG.md`, а не из твоего пересказа.
+
+Если лаба касается управления, аварийной остановки, сеансов, сброса или подлинности
+сообщений — параллельно запусти `adversary` с брифом на атаку под эту тему.
+
+Оба агента read-only. Правки вносишь ты.
+
+## Этап 5. Разбор находок
+
+Ты арбитр. По каждой находке:
+- воспроизведи её сам, прежде чем чинить;
+- невоспроизводимую отклони и скажи об этом вслух;
+- подтверждённую почини и перезапусти проверку.
+
+Не чини всё подряд из вежливости к агенту.
+
+## Этап 6. Завершение
+
+Полный прогон лабы, затем `python tools/quick_gate.py`.
+Запись в `PROJECT_LOG.md` в том же формате, что предыдущие записи.
+Коммит в стиле проекта: `LabNNN: краткое описание на английском`.
+Коммить только после явного согласия пользователя.

.claude/hooks/quick_gate_hook.py

@@ -0,0 +1,59 @@
+"""
+Обёртка быстрого шлюза для хука PostToolUse.
+
+Читает JSON события со стандартного ввода. Если правка затронула файл Python
+в protocol или tests, запускает tools/quick_gate.py.
+
+Коды возврата:
+    0 — правка не по теме либо шлюз пройден, вывода нет;
+    2 — шлюз не пройден, текст ошибки уходит в stderr и возвращается модели.
+"""
+
+from __future__ import annotations
+
+import json
+import os
+from pathlib import Path
+import re
+import subprocess
+import sys
+
+PROJECT_ROOT = Path(__file__).resolve().parents[2]
+WATCHED = re.compile(r"[\\/](?:protocol|experiments|tests|tools)[\\/][^\\/]+\.py$")
+
+
+def main() -> int:
+    try:
+        event = json.load(sys.stdin)
+    except (json.JSONDecodeError, ValueError):
+        return 0
+
+    tool_input = event.get("tool_input") or {}
+    tool_response = event.get("tool_response") or {}
+    file_path = tool_response.get("filePath") or tool_input.get("file_path") or ""
+
+    if not WATCHED.search(str(file_path)):
+        return 0
+
+    environment = dict(os.environ, PYTHONIOENCODING="utf-8")
+
+    completed = subprocess.run(
+        [sys.executable, str(PROJECT_ROOT / "tools" / "quick_gate.py")],
+        cwd=PROJECT_ROOT,
+        capture_output=True,
+        text=True,
+        encoding="utf-8",
+        errors="replace",
+        env=environment,
+    )
+
+    if completed.returncode == 0:
+        return 0
+
+    output = (completed.stdout + completed.stderr).strip()
+    print(output, file=sys.stderr)
+    return 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

.claude/settings.json

@@ -0,0 +1,18 @@
+{
+  "$schema": "https://json.schemastore.org/claude-code-settings.json",
+  "hooks": {
+    "PostToolUse": [
+      {
+        "matcher": "Edit|Write|MultiEdit",
+        "hooks": [
+          {
+            "type": "command",
+            "command": "python .claude/hooks/quick_gate_hook.py",
+            "timeout": 60,
+            "statusMessage": "Быстрый шлюз"
+          }
+        ]
+      }
+    ]
+  }
+}

.gitignore

@@ -29,9 +29,24 @@ __pycache__/
 venv/
 env/
 
-# Необработанные данные и IQ-записи
+# Необработанные данные и IQ-записи.
+# Правило закрывает крупные записи отсчётов и видео: они воспроизводятся
+# заново и в историю не помещаются.
 data/raw/
 
+# Исключения: исходные изображения — это входные данные лабораторных, а не
+# результат. Без них Lab007, Lab009, Lab011 и Lab012 не запускаются, поэтому
+# они хранятся в репозитории. Суммарно около 1 МБ.
+!data/raw/lab007_source.jpg
+!data/raw/lab009_source.jpg
+!data/raw/lab011_scene.jpg
+!data/raw/lab012_safety_scene.jpg
+
+# Метаданные и спектр записи Lab024a: сама запись отсчётов не хранится,
+# поэтому они оставлены как след проведённого измерения.
+!data/raw/lab024a_pluto_rx_100mhz.json
+!data/raw/lab024a_pluto_rx_100mhz_spectrum.png
+
 # Временные файлы редакторов
 *.tmp
 *.temp

.gitlab-ci.yml

@@ -0,0 +1,60 @@
+# Непрерывная проверка SDR Rover Link.
+#
+# Здесь выполняются только быстрые проверки: они должны укладываться в
+# секунды. Лабораторные эксперименты сюда не помещаются — они длятся
+# минутами, требуют исходных данных из data/raw и в части случаев
+# подключённого PlutoSDR. Их запуск остаётся ручным.
+#
+# Оборудование конвейеру не нужно: устанавливается только расчётное
+# окружение, без pyadi-iio и libiio.
+
+stages:
+  - gate
+  - test
+  - lint
+
+default:
+  image: python:3.13
+  before_script:
+    - python --version
+    - python -m pip install --quiet --upgrade pip
+    - python -m pip install --quiet -r requirements.txt
+  cache:
+    key: "python-$CI_COMMIT_REF_SLUG"
+    paths:
+      - .cache/pip
+
+variables:
+  PIP_CACHE_DIR: "$CI_PROJECT_DIR/.cache/pip"
+  PYTHONIOENCODING: "utf-8"
+
+# Дешёвый шлюз: синтаксис всех файлов, импорт protocol и функциональные
+# проверки тех лабораторных, которым не нужны данные эксперимента.
+# Выполняется первым, потому что ловит самые грубые поломки за секунду.
+быстрый-шлюз:
+  stage: gate
+  script:
+    - python tools/quick_gate.py
+
+# Быстрые проверки ядра протокола.
+тесты-ядра:
+  stage: test
+  script:
+    - python -m pytest tests/ -q --junitxml=report.xml
+  artifacts:
+    when: always
+    reports:
+      junit: report.xml
+    expire_in: 1 week
+
+# Проверка стиля. Пока не блокирует конвейер: в лабораторных Lab001–Lab041
+# принято своеобразное оформление с переносами аргументов, и приводить их
+# к единому стилю сейчас означало бы тронуть 50 файлов с зафиксированными
+# результатами. Ограничение снимается, когда договоримся о правилах.
+стиль:
+  stage: lint
+  allow_failure: true
+  before_script:
+    - python -m pip install --quiet ruff
+  script:
+    - ruff check protocol/ tests/ tools/

PROJECT_LOG.md

@@ -239,3 +239,355 @@ git version 2.51.1.windows.1
 - Прогноз 1000 мс не дал преимущества над более простой политикой.
 - Прогноз 500 мс чрезмерно снижает частоту обновления.
 - Следующая лабораторная проверяет долговременную устойчивость и изменение пропускной способности канала.
+
+---
+
+# Запись 011
+
+## Дата
+
+3 августа 2026 года
+
+## Тема
+
+Завершение Lab036: долговременная устойчивость видеопланировщика при изменении пропускной способности.
+
+## Выполнено
+
+- Lab036 проверяет видеопланировщик на протяжении 600 секунд.
+- Расчётный рост очереди без удаления совпал с моделью.
+- При 230 кбит/с очередь без удаления выросла до 4139 пакетов.
+- 95-й процентиль возраста изображения достиг 74,6 секунды.
+- Плавное поступление сильно устаревших кадров непригодно для управления.
+- Политика хранения только самого свежего не начатого кадра ограничивает очередь.
+- При 230 кбит/с она обеспечила около 2,615 кадра/с.
+- После восстановления скорости возраст изображения снизился ниже 500 мс за 0,077 секунды.
+- Политика двух ожидающих кадров оставлена резервной.
+- Следующая лабораторная объединяет планировщик с моделью ошибок радиоканала и защитой команд управления.
+
+---
+
+# Запись 012
+
+## Дата
+
+4 августа 2026 года
+
+## Тема
+
+Завершение Lab037: полный транспорт с серийными потерями и повторением критических команд.
+
+## Выполнено
+
+- Lab037 объединяет видеопоток, обычные и аварийные команды, телеметрию и временные серийные потери пакетов.
+- Близкие повторные копии команд часто попадают в один и тот же интервал помехи.
+- Повторение Lab037 лишь умеренно уменьшило долю недоставленных управляющих состояний.
+- Максимальный промежуток без свежей команды остался более одной секунды.
+- Своевременная доставка аварийной команды по радиоканалу не гарантируется.
+- Для безопасного поведения при потере связи требуется локальный сторожевой таймер на ровере.
+- Следующий этап исследует сторожевой таймер, временно разнесённую аварийную команду и подтверждение получения.
+
+---
+
+# Запись 013
+
+## Дата
+
+4 августа 2026 года
+
+## Тема
+
+Завершение Lab038: локальный сторожевой таймер и подтверждаемая аварийная команда.
+
+## Выполнено
+
+- Lab038 исследует локальный сторожевой таймер, разнесённую аварийную команду и подтверждение получения.
+- Три инварианта безопасности не нарушены ни разу.
+- Подтверждение не является условием выполнения аварийной остановки.
+- Режим с подтверждением сохранил итоговую доставку аварийной команды 99,694%.
+- Среднее число аварийных копий уменьшилось с 11 до 1,071.
+- Дополнительная нагрузка подтверждаемого режима составляет около 0,0093 кбит/с.
+- Дополнительное повторение обычных команд не принято как основной режим.
+- Порог 100 мс вызывает слишком частые безопасные остановки.
+- Порог 500 мс допускает слишком большой путь до реакции.
+- Для следующей проверки принята двухступенчатая логика: предварительная реакция после 150 мс и обязательная остановка после 250 мс.
+
+---
+
+# Запись 014
+
+## Дата
+
+5 августа 2026 года
+
+## Тема
+
+Завершение Lab039: двухступенчатая безопасная реакция и оценка пути до остановки.
+
+## Выполнено
+
+- Lab039 реализует состояния NORMAL, STAGE1_DECELERATION, STAGE2_BRAKING и EMERGENCY_LATCHED.
+- Используется точное событийное интегрирование движения.
+- Аналитические значения совпали с моделью с нулевой ошибкой.
+- Максимальный полный путь составил 13,9642 м.
+- При 25 км/ч и номинальном профиле политика 150/250 мс дала полный путь около 9,5388 м.
+- Основную часть пути составляет торможение после реакции.
+- Пара 150/250 мс сохраняется как предварительный кандидат, но окончательно не утверждается.
+- Фактические замедления должны быть измерены на реальном ровере.
+- Локальный сторожевой таймер сохранил безопасную реакцию в опытах, где аварийная команда не была доставлена.
+- Следующий этап исследует постоянное аварийное намерение наземной станции и безопасное разрешение повторного движения.
+
+---
+
+# Запись 015
+
+## Дата
+
+5 августа 2026 года
+
+## Тема
+
+Завершение Lab040: постоянное аварийное намерение и безопасное повторное разрешение движения.
+
+## Выполнено
+
+- Lab040 реализует постоянное аварийное намерение наземной станции.
+- Ограниченное окно повторения 500 мс признано небезопасным.
+- При полностью потерянной аварийной передаче ограниченный режим допускал последующее возобновление движения.
+- В одном из тяжёлых условий путь после такого восстановления достигал в среднем около 490 м при 25 км/ч.
+- Постоянное аварийное намерение исключило положительные задания скорости и небезопасные возобновления движения.
+- Подтверждение аварийной команды не снимает аварийное намерение.
+- Сброс принимается только после остановки, при свежей связи и корректных идентификаторах.
+- 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.
+
+---
+
+# Запись 017
+
+## Дата
+
+7 августа 2026 года
+
+## Тема
+
+Аудит достоверности Lab041 и удаление показателей, не выводимых из модели. Начало этапа стабилизации после Lab041.
+
+## Причина записи
+
+Запись 016 не отменяется, но нуждается в уточнении. Машинный аудит репозитория показал, что часть числовых результатов Lab041 не выводилась ни из модели этой лабораторной, ни из указанного источника. Согласно правилу журнала прежняя запись сохранена, а изменение зафиксировано отдельно.
+
+## Что обнаружено
+
+- В функции `simulate_trial` доли публикации видео, доставки телеметрии и доставки управления, а также базовая длина очереди задавались вписанными таблицами, а не вычислялись.
+- Значение доли видео 0,910 для канала 260 кбит/с не соответствовало заявленному источнику: Lab040 даёт 0,9603, Lab037 — разброс 0,9026...0,9174.
+- Базовая длина очереди 31 для того же канала не соответствовала Lab040, где получено 36...38 пакетов.
+- Коэффициенты влияния нагрузки 0,15, 0,10 и 0,05 не выводились ни из какой модели.
+- Параметры торможения были зашиты литералами `0.250` и делителем `6.0` без связи с профилем `nominal` Lab039, откуда они происходят.
+- Пять из четырнадцати инвариантов безопасности не измерялись: два вычислялись выражением с умножением на ноль, один был литеральным нулём, ещё два опирались на поля, которые никогда не заполнялись. Проверка `validate_outputs` подтверждала эти константы, то есть проверяла тождество.
+- Формулировка «все 2807 введённых старых пакетов были отклонены» описывает перебор таблицы сценариев, а не измеренную вероятность отклонения. Число раскладывается как семь сценариев на 401 повтор.
+
+## Выполнено
+
+- Из Lab041 удалены четыре показателя: доли доставки видео, телеметрии и управления и максимальная длина очереди. Они относятся к Lab037 и Lab040 и в Lab041 не моделируются.
+- Удалён график `lab041_traffic_impact.png`, потерявший основание. Осталось семь графиков.
+- Удалены поля `negative_speed_cases` и `speed_limit_exceeded_cases`, которые никогда не вычислялись, и тождественные проверки в `validate_outputs`.
+- Параметры торможения связаны с профилем `nominal` Lab039 через именованные константы `LAB039_NOMINAL_STAGE2_MPS2` и `LAB039_STAGE2_THRESHOLD_SECONDS`; горизонт незащищённого движения выделен как явно принятое допущение.
+- Перенесённые величины `VIDEO_OFFERED_LOAD_KBPS` и `TELEMETRY_OFFERED_LOAD_KBPS` снабжены указанием источника: Lab038, поля `video_load_kbps` и `telemetry_load_kbps`.
+- Секция инвариантов переписана: девять свойств, следующих из архитектуры, снабжены ссылками на подтверждающие функциональные проверки; пять свойств, которые матрица не может измерить, вынесены в отдельный раздел со ссылками на проверки 04, 06, 07, 10, 16 и 19.
+- В отчёт добавлено разграничение того, что моделируется розыгрышем, что задано архитектурой и что не моделируется вовсе.
+- Проверка 04 расширена отрицательной скоростью и границей 15 м/с, поэтому соответствующее свойство теперь подтверждается реально, а не константой.
+- Оценка пути после перезапуска помечена как расчёт по замкнутой формуле, одинаковый во всех повторах, а не как результат розыгрыша.
+
+## Результат
+
+- Lab041 перезапущена полностью: 180 сочетаний, 24 из 24 функциональных проверок пройдены, пять CSV и семь PNG.
+- Сверка с прежними файлами показала, что удалено ровно шесть столбцов, а все сохранённые значения совпали до последнего знака. Расхождений в общих столбцах ноль.
+- Научные выводы Lab041 не изменились. Максимальный путь после перезапуска остался 9,7737 м, постоянная нагрузка управления 10,88000 кбит/с, полный предложенный поток 262,076 кбит/с.
+- Выводы Записи 016 о сеансах, безопасном запуске и отклонении старых пакетов остаются в силе. Уточняется их основание: доказательством служат 24 функциональные проверки, работающие с настоящими автоматами, а не счётчики матрицы из 180 сочетаний.
+
+## Следующий этап
+
+Криптографическая аутентификация отложена. Сначала выполняется этап стабилизации: быстрые тесты `protocol/` вместо единственной точки входа через лабораторную, разделение быстрых проверок и экспериментов, воспроизводимое описание окружения.
+
+---
+
+# Запись 018
+
+## Дата
+
+10 августа 2026 года
+
+## Тема
+
+Выбор радиочастотной архитектуры: рабочий диапазон, скачки по частоте и меры против подавления.
+
+## Исходные данные
+
+- Устройство опрошено напрямую: `Analog Devices PlutoSDR Rev.C (Z7010-AD9361)`. Приёмник перестраивается от 70 МГц до 6 ГГц, передатчик от 46,9 МГц. Минимальная частота дискретизации 2 083 333 Гц.
+- Ограничений по разрешённым частотам у проекта нет.
+- Усилителя мощности нет, покупка отложена до первых испытаний.
+
+## Отвергнутые варианты и причины
+
+**Выбор редкой фиксированной частоты.** Рассматривался как защита от подавления. Отклонён: одиночная несущая в пустом эфире обнаруживается сканирующим приёмником тривиально. Уязвимость создаёт не значение частоты, а её неизменность.
+
+**Скачки по всему диапазону 70 МГц – 6 ГГц.** Теоретически требуют от заградительной помехи на 42 дБ больше мощности, но выигрыш недостижим. Отношение крайних частот 86:1, одна антенна такой полосы не перекрывает; разброс потерь на 10 км составляет 39 дБ, проектировать пришлось бы по худшему краю; выше примерно 1 ГГц дифракция исчезает и для наземного ровера без прямой видимости эти каналы мертвы. Кроме того, подавление направлено на диапазон, в котором связь действительно работает, а не на тот, который способно настроить оборудование.
+
+**Диапазоны 330–433 МГц.** Отклонены как плотно занятые и общеизвестные.
+
+## Принято
+
+Рабочий диапазон **200–250 МГц**. Обоснование: четвертьволновая антенна 33 см пригодна для установки на ровер, дифракция ещё эффективна, участок заметно свободнее любительского 144 МГц и УКВ выше 300 МГц. Потери на 10 км составляют около 99,5 дБ.
+
+Совокупность мер против подавления:
+
+1. **Скачки по частоте в пределах 200–250 МГц.** Требуют от заградительной помехи на 22 дБ больше мощности при неизменной антенне и механике ровера.
+2. **Направленная антенна наземной станции.** Даёт 10–20 дБ усиления и пространственно подавляет помеху, приходящую с иного направления.
+3. **Расширение спектра для команд управления.** Поток команд составляет 10,88 кбит/с, поэтому расширение для него реализуемо в узкой полосе, в отличие от видеопотока.
+
+Видео остаётся некритичным классом: при подавлении управление сохраняется в узкой полосе, а ровер переходит к безопасному поведению по уже реализованной логике.
+
+## Запрещённые участки
+
+- 108–137 МГц — авиационная связь.
+- 243 МГц — международная аварийная частота.
+
+## Ограничения решения
+
+- Нижняя граница 70 МГц определяется приёмником Pluto и без смены оборудования не преодолевается.
+- Скачки требуют согласованной последовательности у обеих сторон, то есть зависят от криптографической аутентификации, которая пока не реализована.
+- Расчёты выполнены для свободного пространства. Потери на препятствиях 20–40 дБ учтены оценочно и подлежат измерению.
+- Дальность 10 км без усилителя мощности не достигается.
+
+## Влияние на ближайшие работы
+
+На Lab042 не влияет: там кабельная петля, несущая 435 МГц выбрана произвольно. Диапазон 200–250 МГц вступает в силу начиная с эфирных испытаний.
+
+---
+
+# Запись 019
+
+## Дата
+
+10 августа 2026 года
+
+## Тема
+
+Lab042: первая передача изображения через реальный радиотракт. Эфирная проверка на паре антенн.
+
+## Причина эфирного прогона
+
+Кабельная петля требует переходника SMA папа-папа, которого пока нет: пигтейлы к антеннам оканчиваются папой, а разъёмы Pluto — мамы. Чтобы не простаивать, выполнена вспомогательная эфирная проверка на двух антеннах, разнесённых на 60 см. Она не заменяет кабельный опыт: уровни в помещении не контролируются строго, возможны переотражения. Её задача — снять последнюю неизвестность в коде, а именно обвязку вокруг устройства, которая в моделях не проверяется.
+
+## Условия
+
+- Устройство Analog Devices PlutoSDR Rev.C, чип AD9361, прошивка v0.32.
+- Несущая 225 МГц, внутри целевого диапазона Записи 018.
+- Антенны, рассчитанные на 108 МГц, работают на несущей как полуволновые. Частота передачи и частота, на которую рассчитана антенна, различны, поэтому в авиационный диапазон 108–137 МГц опыт не заходит.
+- Изображение 320x180 в градациях серого, JPEG 4756 байт при качестве 35, десять фрагментов.
+
+## Результат
+
+- Изображение передано и собрано побайтово идентично исходному. Контрольная сумма MD5 переданного и принятого файла совпала.
+- Десять фрагментов из десяти, ни одной несошедшейся контрольной суммы.
+- Средняя нормированная корреляция при поиске кадра 0,99951.
+- Средняя оценка ухода несущей минус 0,368 Гц, что отражает общий опорный генератор передатчика и приёмника.
+- Канальная скорость 18,404 кбит/с при длительности сигнала в эфире около 2,07 секунды.
+- Результат воспроизведён тремя запусками подряд с одинаковой контрольной суммой.
+
+## Дефекты, вскрытые железом
+
+Программная модель проходила чисто, но на устройстве обнаружились четыре дефекта, каждый воспроизведён и устранён.
+
+- Кадр длиной 566 528 отсчётов не помещался в приёмный буфер 262 144. Между отдельными чтениями поток отсчётов не является непрерывным, и кадр на стыке разрушался. Приём переведён на один буфер, размер которого рассчитывается по длине кадра.
+- Частотная коррекция применялась всегда, тогда как при общем опорном генераторе истинный уход близок к нулю. Оценка по маркеру длиной 80 символов состояла из шума, и коррекция им поворачивала фазу вдоль всего кадра: измерено 65 процентов ошибочных битов. Перенесена защита should_apply_cfo_correction из Lab023, разрешающая коррекцию только вне мёртвой зоны.
+- Усиление приёмника 20 дБ давало сигнал около 0,0003 от шкалы АЦП. Рабочие уровни подобраны измерением: приёмник 50 дБ, передатчик минус 10 дБ дают ноль ошибочных битов с запасом.
+- Величина вектора ошибки при неудачном приёме возвращала ноль, то есть показывала идеальный сигнал там, где сигнала не было. Это тот же класс ошибки, что вписанные показатели Lab041: метрика при отказе рапортует лучшее значение. Заменена на явный признак невычислимости.
+
+## Ограничения
+
+- Эфирный прогон является проверкой тракта, а не измерением: уровни не контролируются как в кабельной сборке.
+- Потолок усиления передатчика в эфирном режиме рассчитывается из бюджета линии по расстоянию между антеннами, а не задан константой.
+
+## Следующий этап
+
+Кабельная петля через аттенюатор 30 дБ после получения переходника папа-папа. Это и есть заявленный опыт Lab042 с контролируемыми уровнями, его результат станет основным для лабораторной. Затем Lab043 — разведение на два устройства.
+
+---
+
+# Запись 020
+
+## Дата
+
+11 августа 2026 года
+
+## Тема
+
+Lab042 завершена: кабельная петля через аттенюатор, зависимость доставки от мощности, устранение трёх дефектов отчётности.
+
+## Схема опыта
+
+Выход передатчика PlutoSDR через кабель SMA, аттенюатор AT30S 30 дБ, переходник и второй кабель на вход приёмника того же устройства. Антенны сняты. Это заявленный основной опыт лабораторной с контролируемыми уровнями, в отличие от вспомогательной эфирной проверки Записи 019.
+
+## Зависимость доставки от мощности передатчика
+
+Кабельный тракт при неизменной схеме исследован по усилению передатчика. Получен отчётливый переход от отказа к устойчивой передаче:
+
+- TX минус 30 дБ: 0 из 10 фрагментов, контрольная сумма не сходится ни разу, средняя корреляция 0,936. Сигнал ниже порога уверенного приёма.
+- TX минус 20 дБ: 8 из 10 фрагментов, средняя корреляция 0,992. Пограничный режим: часть кадров проходит.
+- TX минус 10 дБ: 10 из 10 фрагментов, изображение собрано побайтово. Устойчивая передача.
+
+Значения TX минус 30 и минус 20 дБ — исследование порога, повторять их не требуется. Рабочая точка кабельной петли: TX минус 10 дБ, RX плюс 20 дБ, аттенюатор 30 дБ, несущая 435 МГц.
+
+Начальные умолчания кабельного режима TX минус 30 и RX плюс 20 дБ на железе прежде не проверялись; отказ первого прогона объяснялся именно этим, а не дефектом обработки.
+
+## Результат рабочей точки
+
+- Найдено 10 кадров из 10, контрольная сумма сошлась у всех десяти, восстановлены все фрагменты.
+- Изображение собрано и совпадает с переданным. Совпадение подтверждено независимо: SHA-256 принятого файла сверен с SHA-256 переданного JPEG, пересобранного из исходника отдельно от прогона. Оба равны 751d7ea0d8711e2ef54fc5cf209a809cfee5bbb14916dd20aa201d5285b40286.
+- Размер JPEG 4756 байт, качество 30, десять фрагментов.
+- Длительность сигнала около 2,07 секунды, канальная скорость 18,404 кбит/с.
+- Кадр 8 прошёл контрольную сумму при пониженной корреляции поиска 0,866 против 0,998 у остальных: низкая корреляция маркера не означает испорченных данных, фаза дискретизации была подобрана и кадр демодулировался чисто.
+
+## Устранённые дефекты отчётности
+
+Разбор кабельного прогона вскрыл три дефекта, при которых провал мог быть принят за успех. Все три устранены, каждый закрыт быстрым тестом в tests/test_lab042_reporting.py.
+
+- Величина вектора ошибки нормировалась на единичный эталон, из-за чего при слабом сигнале становилась искусственно малой: провалившийся прогон показывал EVM меньше, чем успешный. Нормировка исправлена на мощность подогнанного сигнала. При невозможности вычислить величину возвращается признак невычислимости, а не ноль.
+- Отчёт перечислял lab042_received.jpg среди созданных файлов безусловно, даже когда изображение не собрано и файла нет. Теперь файл указывается только при фактической сборке.
+- Программа завершалась кодом ноль при полном отказе передачи. Введён критерий приёмки: при несобранном изображении код завершения ненулевой, чтобы автоматика не приняла провал за успех.
+
+## Проверки
+
+- Быстрые тесты ядра расширены с 125 до 135. Добавленные проверяют неуспешный путь: провал даёт ненулевой код, отсутствующий файл не объявляется созданным, невычислимая метрика не превращается в ноль.
+- Окончательный кабельный прогон рабочей точки выполнен уже исправленной версией программы, поэтому итоговый отчёт сформирован ею.
+
+## Следующий этап
+
+Lab043: передаёт PlutoSDR, принимает RTL-SDR. Общий опорный генератор исчезает, впервые появляется реальное рассогласование несущей и частоты дискретизации двух независимых устройств. Здесь понадобится защищённая частотная коррекция, перенесённая в Записи 019.

README.md

@@ -4,330 +4,170 @@
 
 **SDR Rover Link** — учебно-исследовательский проект по разработке цифрового радиоканала для наземного робототехнического комплекса с использованием программно-определяемого радио — SDR, Software Defined Radio.
 
-Проект должен пройти полный путь от передачи простого текстового пакета до передачи телеметрии и отдельных JPEG-изображений через реальный радиоканал.
+Проект должен пройти полный путь от передачи простого текстового пакета до передачи телеметрии и изображений через реальный радиоканал.
 
-Основная задача проекта — не только получить работающую систему, но и последовательно изучить все этапы цифровой радиосвязи:
+Основная задача — не только получить работающую систему, но и последовательно изучить все этапы цифровой радиосвязи: формирование данных, разбиение на пакеты, контроль целостности, исправление ошибок, цифровую модуляцию, формирование IQ-сигнала, передачу через SDR, приём, демодуляцию и восстановление исходных данных.
-
-- формирование данных;
-- разбиение данных на пакеты;
-- контроль целостности;
-- исправление ошибок;
-- цифровую модуляцию;
-- формирование IQ-сигнала;
-- передачу через SDR;
-- приём и демодуляцию;
-- восстановление исходных данных.
 
 ---
 
 ## 2. Целевой сценарий
 
-Разрабатываемая система предназначена для исследовательского наземного ровера.
-
-Целевые требования:
-
 | Параметр | Требование |
 |---|---|
 | Дальность связи | до 10 км |
 | Скорость ровера | до 25 км/ч |
 | Прямая радиовидимость | может отсутствовать |
-| Рабочие частоты | ниже 350 МГц |
+| Рабочий диапазон | 200–250 МГц, см. Запись 018 журнала |
-| Основной тип данных | телеметрия и отдельные изображения |
+| Основной тип данных | телеметрия, команды и изображения |
 | Формат изображения | JPEG |
-| Частота передачи изображений | отдельные кадры, не видеопоток |
 | Действие при потере связи | безопасная остановка ровера |
 
-Дальность 10 км без прямой видимости является целевым исследовательским требованием, а не гарантированной характеристикой первой версии системы.
+Дальность 10 км без прямой видимости — целевое исследовательское требование, а не гарантированная характеристика первой версии.
 
 ---
 
 ## 3. Почему не используется обычное FPV-видео
 
-Типовые FPV-системы работают преимущественно в диапазонах 2,4 и 5,8 ГГц.
+Типовые FPV-системы работают в диапазонах 2,4 и 5,8 ГГц. Для наземного робота это плохо: велики потери у поверхности земли, сильное затенение рельефом и растительностью, а главное — на таких частотах практически нет дифракции, поэтому за препятствием связь пропадает.
 
-Для наземного робота такие диапазоны имеют ряд ограничений:
+В этом проекте вместо непрерывного видеопотока передаются отдельные сжатые изображения, что резко снижает требуемую скорость канала.
 
-- высокие потери при работе у поверхности земли;
+---
-- затенение рельефом, зданиями и растительностью;
-- быстрое ухудшение изображения при слабом сигнале;
-- высокая загруженность распространённых диапазонов;
-- зависимость от постоянного широкополосного видеопотока.
 
-В этом проекте вместо непрерывного видео предполагается передавать отдельные сжатые изображения.
+## 4. Текущее состояние
 
-Пример:
+**Выполнено:** лабораторные Lab001–Lab042. Пройден путь от структуры пакета до первой передачи изображения через реальный радиотракт.
 
-```text
+Что реализовано и проверено:
-Камера
+
-  ↓
+- пакетный протокол с CRC32, фрагментация и сборка изображений;
-JPEG-изображение
+- модуляция и демодуляция BPSK, формирующий фильтр, кадровая синхронизация, оценка и коррекция ухода несущей;
-  ↓
+- блочное исправление стираний над GF(256), перемежение, подбор параметров;
-Разбиение на пакеты
+- приоритетное обслуживание команд, телеметрии и видео;
-  ↓
+- двухступенчатая безопасная остановка, сторожевой таймер, постоянное аварийное намерение, безопасный сброс;
-Передача через SDR
+- идентификаторы сеанса, безопасный запуск, отклонение пакетов предыдущего сеанса;
-  ↓
+- передача JPEG через настоящий радиотракт на одном PlutoSDR: сначала по эфиру на паре антенн, затем по кабелю через аттенюатор 30 дБ. Принятое изображение совпало с переданным побайтово (Записи 019 и 020).
-Сборка изображения на наземной станции
+
+**Что ещё не сделано:** два независимых устройства пока не разведены. Все передачи выполнены в петле одного PlutoSDR, где передатчик и приёмник делят опорный генератор, поэтому рассогласования несущей и частоты дискретизации между сторонами почти нет.
+
+**Ближайшая работа:** Lab043 — передача с PlutoSDR на приём RTL-SDR. Общий опорный генератор исчезает, впервые появляется реальное рассогласование двух устройств. Техническое задание на завершённую Lab042: [docs/lab042_hardware_loopback_spec.md](docs/lab042_hardware_loopback_spec.md).
+
+Хронология решений и результатов: [PROJECT_LOG.md](PROJECT_LOG.md).
+
+---
+
+## 5. Оборудование
+
+| Позиция | Состояние |
+|---|---|
+| **Pluto+** — приёмопередатчик, чип AD9361, 70 МГц – 6 ГГц | есть |
+| RTL-SDR — приёмный донгл | есть |
+| Аттенюатор AT30S, 30 дБ, SMA | есть |
+| Кабели SMA, штыревые антенны | есть |
+| Усилитель мощности около 1 Вт | планируется после первых испытаний |
+| Raspberry Pi как бортовой вычислитель | планируется |
+
+Устройство подключается по USB и появляется в системе как сетевой адаптер с адресом `192.168.2.1`.
+
+**Проверять связь с Pluto командой `ping` бесполезно.** При активном VPN трафик уходит в туннель, и «успешный» отклик приходит даже от несуществующего адреса. Достоверна только успешная установка контекста `iio.Context("ip:192.168.2.1")`.
+
+---
+
+## 6. Установка окружения
+
+Расчётная часть работает на компьютере без SDR:
+
+```bash
+python -m pip install -r requirements.txt
 ```
 
-Такой подход позволяет существенно снизить требуемую скорость радиоканала.
+Для лабораторных, работающих с устройством, дополнительно:
+
+```bash
+python -m pip install -r requirements-hardware.txt
+```
+
+Версии зафиксированы по проверенному окружению, Python 3.13.
 
 ---
 
-## 4. Текущее оборудование
+## 7. Как запускать
 
-### SDR-оборудование
+**Быстрые проверки ядра** — секунды, оборудование не нужно:
 
-- RTL-SDR — приёмник;
+```bash
-- ADALM-PlutoSDR — приёмопередатчик, ожидается поступление;
+python -m pytest tests/ -q
-- HackRF One — может временно использоваться при необходимости.
+```
 
-### Вычислительное оборудование
+**Дешёвый шлюз** — синтаксис, импорт `protocol`, быстрые проверки ядра и функциональные проверки лабораторных. Отвечает на один вопрос: не сломана ли кодовая база прямо сейчас:
 
-- компьютер под управлением Windows;
+```bash
-- Raspberry Pi — планируется для установки на ровер;
+python tools/quick_gate.py
-- бортовой вычислитель ровера — будет выбран позднее.
+```
 
-### Программное обеспечение
+**Лабораторный эксперимент** — минуты, пишет результаты в `data/processed/`:
 
-- Python 3.12;
+```bash
-- Anaconda;
+python -m experiments.lab041_session_restart_safety
-- Spyder;
+```
-- Git;
-- GNU Radio — будет установлен на следующем этапе;
-- libiio и драйверы PlutoSDR — будут установлены после получения устройства.
 
 ---
 
-## 5. Предварительно рассматриваемые диапазоны
+## 8. Структура репозитория
-
-В рамках проекта рассматриваются:
-
-- 27 МГц;
-- 50 МГц;
-- 144 МГц;
-- другие разрешённые для лабораторных испытаний частоты ниже 350 МГц.
-
-Конкретный диапазон будет выбран после анализа:
-
-- доступной полосы;
-- требований законодательства;
-- размеров антенны;
-- потерь распространения;
-- уровня внешних помех;
-- возможностей выходного радиочастотного тракта;
-- допустимой мощности передачи.
-
-Передача по эфиру должна выполняться только на разрешённых частотах и с соблюдением допустимой мощности. Первые опыты следует проводить через аттенюатор, эквивалент нагрузки или в экранированной лабораторной конфигурации.
-
----
-
-## 6. Основные этапы проекта
-
-### Этап 0. Подготовка среды
-
-- создание репозитория;
-- настройка Git;
-- настройка Python и Spyder;
-- подготовка структуры каталогов;
-- ведение документации.
-
-### Этап 1. Пакетный протокол
-
-- структура пакета;
-- типы сообщений;
-- порядковый номер пакета;
-- длина данных;
-- CRC;
-- кодирование и декодирование.
-
-### Этап 2. Виртуальный канал
-
-- передача пакетов между Python-программами;
-- имитация потерь;
-- имитация повреждения битов;
-- измерение числа ошибочных пакетов.
-
-### Этап 3. Передача файлов
-
-- разбиение файла на фрагменты;
-- нумерация фрагментов;
-- подтверждение приёма;
-- повторная передача;
-- сборка исходного файла.
-
-### Этап 4. Передача изображений
-
-- загрузка JPEG;
-- разбиение JPEG на пакеты;
-- передача через виртуальный канал;
-- восстановление изображения;
-- обработка потерянных фрагментов.
-
-### Этап 5. Физический уровень
-
-- BPSK;
-- QPSK;
-- формирование символов;
-- IQ-сэмплы;
-- синхронизация;
-- фильтрация;
-- оценка BER и PER.
-
-### Этап 6. PlutoSDR
-
-- подключение устройства;
-- передача несущей;
-- передача тестовой последовательности;
-- передача цифрового пакета;
-- приём сигнала RTL-SDR или вторым SDR.
-
-### Этап 7. Радиоканал передачи изображений
-
-- передача JPEG через SDR;
-- измерение времени доставки;
-- испытания при различных уровнях сигнала;
-- испытания при наличии помех;
-- подбор скорости и модуляции.
-
-### Этап 8. Полевые испытания
-
-- испытания на малой мощности;
-- испытания на малой дистанции;
-- постепенное увеличение расстояния;
-- испытания с ретранслятором;
-- испытания на наземном ровере.
-
----
-
-## 7. Структура репозитория
 
 ```text
 SDR_Rover
-│
+├── protocol/        реализация протокола и радиотракта
-├── README.md
+├── experiments/     лабораторные Lab001–Lab041
-├── docs
+├── tests/           быстрые автоматические проверки
-├── protocol
+├── tools/           вспомогательные программы и шлюз
-├── rover
+├── docs/            технические задания и исследования
-├── ground_station
+├── data/            исходные данные и результаты
-├── gnuradio
+├── rover/           пока пусто
-├── tests
+├── ground_station/  пока пусто
-└── tools
+└── gnuradio/        пока пусто
 ```
 
-### `docs`
-
-Документация, лабораторные работы, схемы и отчёты.
-
 ### `protocol`
 
-Реализация пакетного протокола:
+Ядро системы. Пакет с CRC32, фрагментация изображений, кадр канала, исправление стираний, приоритеты, аварийная логика, сеансы связи, примитивы BPSK-радиотракта.
 
-- структура пакета;
+### `experiments`
-- CRC;
-- кодирование;
-- декодирование;
-- типы сообщений.
 
-### `rover`
+Лабораторные работы. Это исследовательские программы: они моделируют канал, выполняют сотни повторов, строят CSV, графики и отчёты. **Быстрыми тестами они не являются.** При импорте создают каталоги и пишут файлы, поэтому импортировать их не следует — для повторного использования кода служит `protocol/`.
-
-Программы, которые будут работать на борту ровера:
-
-- получение изображения;
-- сжатие JPEG;
-- передача телеметрии;
-- формирование радиопакетов.
-
-### `ground_station`
-
-Программы наземной станции:
-
-- приём пакетов;
-- сборка изображений;
-- отображение телеметрии;
-- управление передачей.
-
-### `gnuradio`
-
-Схемы GNU Radio Companion:
-
-- передатчик;
-- приёмник;
-- BPSK-модем;
-- QPSK-модем;
-- тестовые генераторы.
 
 ### `tests`
 
-Автоматические и лабораторные тесты.
+Настоящие быстрые проверки `protocol/`. Выполняются за доли секунды, оборудования не требуют, запускаются через `pytest`.
 
-### `tools`
+### `rover`, `ground_station`, `gnuradio`
 
-Вспомогательные программы:
+Каталоги созданы под будущую прикладную часть и пока пусты. Бортовая программа ровера, программа наземной станции и схемы GNU Radio появятся после того, как радиоканал заработает в эфире.
-
-- анализ пакетов;
-- генераторы тестовых данных;
-- построение графиков;
-- анализ журналов.
 
 ---
 
-## 8. Принципы разработки
+## 9. Данные
 
-В проекте применяются следующие правила:
+- `data/raw` — исходные данные. Крупные записи отсчётов и видео в репозиторий не помещаются, исходные изображения лабораторных хранятся.
+- `data/processed` — результаты лабораторных: CSV, отчёты и графики.
+
+**Ограничение воспроизводимости.** Исходное видео `data/raw/lab026_rover_source.mp4` (около 7,8 МБ) в репозитории не хранится. Без него Lab026 и Lab027 не запускаются, файл нужно получить отдельно.
+
+---
+
+## 10. Принципы разработки
 
 1. Каждый новый термин сначала объясняется, затем используется.
-2. Каждый этап должен завершаться работающим результатом.
+2. Каждый этап завершается работающим результатом.
 3. Радиоканал и пакетный протокол разрабатываются отдельно.
 4. Код проверяется автоматическими тестами.
-5. Все существенные решения фиксируются в документации.
+5. Все существенные решения фиксируются в журнале.
 6. Сложность увеличивается постепенно.
-7. Испытания по эфиру начинаются только после проверки через виртуальный канал.
+7. Испытания по эфиру начинаются только после проверки через модель.
 8. Передатчик сначала проверяется через аттенюатор или эквивалент нагрузки.
+9. **Каждое число в отчёте должно вычисляться из измерений текущего запуска.** Перенесённые из других лабораторных величины сопровождаются указанием источника. Вписанные вручную результаты недопустимы.
 
----
+Девятое правило добавлено после аудита достоверности, см. Запись 017 журнала.
-
-## 9. Текущий статус
-
-Выполнено:
-
-- установлен Python;
-- установлена Anaconda;
-- выбран Spyder;
-- установлен Git;
-- создан локальный Git-репозиторий;
-- создана базовая структура каталогов.
-
-Следующая задача:
-
-> Создать первый Python-модуль пакетного протокола и передать сообщение через виртуальный канал без SDR-оборудования.
-
----
-
-## 10. Ближайший контрольный результат
-
-Первая рабочая версия должна выполнять следующий цикл:
-
-```text
-Текстовое сообщение
-        ↓
-Преобразование в байты
-        ↓
-Формирование пакета
-        ↓
-Добавление CRC
-        ↓
-Имитация радиоканала
-        ↓
-Проверка CRC
-        ↓
-Восстановление сообщения
-```
-
-Первое тестовое сообщение:
-
-```text
-HELLO SDR
-```
 
 ---
 
@@ -337,4 +177,4 @@ HELLO SDR
 
 НИЯУ МИФИ
 
-2026
+2026

data/processed/lab036/lab036_control_metrics.csv

@@ -0,0 +1,16 @@
+scenario,policy,control_mean_delay_ms,control_p95_delay_ms,control_max_delay_ms,control_over_100ms,control_max_receive_gap_ms,emergency_delays_ms,emergency_max_delay_ms,all_emergency_under_50ms,telemetry_mean_delay_ms,telemetry_p95_delay_ms,telemetry_max_delay_ms,telemetry_over_500ms
+constant_300,no_drop,10.082484055552035,17.466333333331363,17.787000000083708,0,65.75966666673594,1.706667;1.706667;1.706667;1.706667,1.7066666666778474,True,12.830822611113824,19.573666666701683,20.16000000007523,0
+constant_300,latest_only,10.082484055552035,17.466333333331363,17.787000000083708,0,65.75966666673594,1.706667;1.706667;1.706667;1.706667,1.7066666666778474,True,12.830822611113824,19.573666666701683,20.16000000007523,0
+constant_300,two_waiting,10.082484055552035,17.466333333331363,17.787000000083708,0,65.75966666673594,1.706667;1.706667;1.706667;1.706667,1.7066666666778474,True,12.830822611113824,19.573666666701683,20.16000000007523,0
+constant_260,no_drop,11.072842185081562,19.651615385654253,20.66700023078738,0,68.4307692308721,18.420846;16.882385;4.974692;3.251616,18.420846156274706,True,14.047702896620706,22.63623076796577,23.62084638127726,0
+constant_260,latest_only,10.616307327810727,19.04615384603403,20.667000017851933,0,67.99999999995521,7.528538;1.969231;10.513154;7.528538,10.513153850581602,True,13.756108911150676,22.143923060525594,23.590076939512983,0
+constant_260,two_waiting,11.020678082480492,19.651615408761813,20.667000205151,0,68.4000000001106,18.420846;3.713154;11.620846;15.897769,18.420846156274706,True,13.98955930684015,22.63623076432637,23.62084635899464,0
+constant_230,no_drop,12.447544944822914,22.156521740192048,23.3565218202898,0,70.12173913045672,14.295652;5.391304;15.895652;10.817391,15.895652187168707,True,15.792707263668593,25.49565216446439,26.678260933408637,0
+constant_230,latest_only,12.496684077687183,22.156521750258662,23.356521818243436,0,69.60000000003674,6.852174;4.660870;9.808696;10.817391,10.817391378679986,True,15.7147652371126,25.426086964586148,26.678260937728737,0
+constant_230,two_waiting,12.432011596181523,22.191304351743923,23.35652178805958,0,70.64347826093353,2.295652;4.556522;10.608696;12.765217,12.765217432615827,True,15.712892755606843,25.495652190528517,26.678260914195562,0
+step_300_230_300,no_drop,10.645963064766441,19.408695629502404,23.6869565184179,0,69.00869565220091,1.706667;21.460870;5.680000;1.706667,21.460869561906293,True,13.517029441587948,22.678260879320078,27.026086953213735,0
+step_300_230_300,latest_only,10.812854489366694,19.44434781658656,23.356521740737435,0,69.00869565220091,1.706667;3.791304;1.706667;1.706667,3.7913043232720156,True,13.695971329953036,22.54086954938544,26.678260865082848,0
+step_300_230_300,two_waiting,10.76303822392693,19.33913042324491,23.35652172334335,0,70.64347826081985,1.706667;3.826087;1.706667;1.706667,3.826086949771934,True,13.677599522246727,22.749565219797326,26.67826085848901,0
+variable_300_260_230,no_drop,11.053582892926142,20.403454847835434,23.369899646013437,0,69.80869565218484,7.528538;19.076923;8.359308;9.090724,19.076923066961626,True,14.018366272815697,23.467000011780215,26.679040185285885,0
+variable_300_260_230,latest_only,11.040001685623347,20.19402340485995,23.373354529439894,0,69.00869565220091,7.528538;1.969231;10.513154;14.593065,14.593064683936063,True,14.14441419306391,23.375628775394834,26.704458198324232,0
+variable_300_260_230,two_waiting,11.097355222802879,20.30926972252018,23.36989965402836,0,69.00869565220091,7.528538;19.076923;8.359308;10.482028,19.076923066961626,True,14.058443590060339,23.415384582420984,26.696989889956058,0

data/processed/lab036/lab036_recovery_metrics.csv

@@ -0,0 +1,16 @@
+scenario,policy,applicable,image_age_at_300s_ms,time_to_age_below_1000ms_seconds,time_to_age_below_500ms_seconds,excess_queue_clear_seconds,frames_dropped_after_recovery,old_frames_published_after_recovery
+constant_300,no_drop,False,0.0,0.0,0.0,0.0,0,0
+constant_300,latest_only,False,0.0,0.0,0.0,0.0,0,0
+constant_300,two_waiting,False,0.0,0.0,0.0,0.0,0,0
+constant_260,no_drop,False,0.0,0.0,0.0,0.0,0,0
+constant_260,latest_only,False,0.0,0.0,0.0,0.0,0,0
+constant_260,two_waiting,False,0.0,0.0,0.0,0.0,0,0
+constant_230,no_drop,False,0.0,0.0,0.0,0.0,0,0
+constant_230,latest_only,False,0.0,0.0,0.0,0.0,0,0
+constant_230,two_waiting,False,0.0,0.0,0.0,0.0,0,0
+step_300_230_300,no_drop,True,24333.333333333314,147.64077333334558,149.80178666667894,150.02250666667896,0,72
+step_300_230_300,latest_only,True,666.6666666666856,0.0,0.07729391299602639,0.00844057966270384,0,1
+step_300_230_300,two_waiting,True,1000.0,0.05866202900034523,1.1352486956670305,1.3550620290003508,0,2
+variable_300_260_230,no_drop,False,0.0,0.0,0.0,0.0,0,0
+variable_300_260_230,latest_only,False,0.0,0.0,0.0,0.0,0,0
+variable_300_260_230,two_waiting,False,0.0,0.0,0.0,0.0,0,0

data/processed/lab036/lab036_report.txt

@@ -0,0 +1,104 @@
+Lab036. Долговременная устойчивость видеопланировщика при изменении пропускной способности
+
+1. Исходное состояние и конфигурация
+- Commit Lab035: 22c2eeab8cc794e67378485f49c236a622f814a7.
+- Рабочее дерево перед Lab036 было чистым; ветка main.
+- Модель использует 600 с, 1800 кадров, повтор реальной последовательности размеров 63 кадров, BASE 240×135 Q23, ROI 320×180 Q33 и 3 составных кадра/с.
+- Lab036 использует ровно 3 кадра/с в течение 600 с; короткий ролик Lab034 и предшествующих лабораторных давал немного отличающуюся фактическую частоту формирования кадров.
+- Длинный опыт уменьшает влияние начального и конечного участков, поэтому значения общей предложенной нагрузки Lab034 и Lab036 не обязаны побайтно совпадать.
+- Каждый повтор получает новые composite_frame_id, времена, заголовки и CRC; JPEG и пакеты на диск не записываются.
+- Используются внутренний пакет Lab028 с payload 512 байт, FEC 12+3 с выравниванием по кадрам и общий пакет Lab033.
+- Команды 20 Гц, телеметрия 10 Гц; аварийные команды создаются в 60, 180, 310 и 480 с.
+- Ошибки радиоканала отсутствуют.
+- Смена скорости не прерывает начатый пакет: новая скорость применяется только к следующему пакету после завершения текущего.
+
+2. Пятнадцать сочетаний
+scenario | policy | published/drop | fps | age P95 ms | queue max packets | queue at 600 packets | drain s | control P95 ms | emergency max ms
+constant_300 | no_drop | 1800/0 | 3.000 | 600.000 | 22 | 0 | 0.000 | 17.466 | 1.707
+constant_300 | latest_only | 1800/0 | 3.000 | 600.000 | 22 | 0 | 0.000 | 17.466 | 1.707
+constant_300 | two_waiting | 1800/0 | 3.000 | 600.000 | 22 | 0 | 0.000 | 17.466 | 1.707
+constant_260 | no_drop | 1800/0 | 2.977 | 4866.667 | 268 | 238 | 4.146 | 19.652 | 18.421
+constant_260 | latest_only | 1772/28 | 2.953 | 833.333 | 40 | 0 | 0.000 | 19.046 | 10.513
+constant_260 | two_waiting | 1787/13 | 2.977 | 1166.667 | 58 | 6 | 0.084 | 19.652 | 18.421
+constant_230 | no_drop | 1800/0 | 2.608 | 74633.333 | 4155 | 4139 | 82.753 | 22.157 | 15.896
+constant_230 | latest_only | 1570/230 | 2.615 | 1000.000 | 40 | 17 | 0.317 | 22.157 | 10.817
+constant_230 | two_waiting | 1571/229 | 2.615 | 1333.333 | 57 | 26 | 0.486 | 22.191 | 12.765
+step_300_230_300 | no_drop | 1800/0 | 3.000 | 21966.667 | 1279 | 0 | 0.000 | 19.409 | 21.461
+step_300_230_300 | latest_only | 1730/70 | 2.883 | 900.000 | 40 | 0 | 0.000 | 19.444 | 3.791
+step_300_230_300 | two_waiting | 1731/69 | 2.885 | 1233.333 | 58 | 0 | 0.000 | 19.339 | 3.826
+variable_300_260_230 | no_drop | 1800/0 | 2.970 | 5666.667 | 326 | 295 | 5.804 | 20.403 | 19.077
+variable_300_260_230 | latest_only | 1716/84 | 2.858 | 900.000 | 40 | 14 | 0.261 | 20.194 | 14.593
+variable_300_260_230 | two_waiting | 1725/75 | 2.872 | 1233.333 | 56 | 29 | 0.562 | 20.309 | 19.077
+
+3. Постоянные скорости: теория и модель
+rate | policy | reserve kbps | theory growth B/s | model growth B/s | minimum skip | stable fps | minute queue packets
+300 | no_drop | 38.278 | 0.000 | -11.601 | 0.000000 | 3.000 | 21;21;21;20;19;21;21;21;21;0
+300 | latest_only | 38.278 | 0.000 | -11.601 | 0.000000 | 3.000 | 21;21;21;20;19;21;21;21;21;0
+300 | two_waiting | 38.278 | 0.000 | -11.601 | 0.000000 | 3.000 | 21;21;21;20;19;21;21;21;21;0
+260 | no_drop | -1.722 | 215.258 | 218.649 | 0.007063 | 2.979 | 48;65;90;117;149;176;197;214;233;238
+260 | latest_only | -1.722 | 215.258 | -5.668 | 0.007063 | 2.979 | 32;24;21;20;21;24;39;32;24;0
+260 | two_waiting | -1.722 | 215.258 | -12.199 | 0.007063 | 2.979 | 48;29;35;43;39;49;52;37;37;6
+230 | no_drop | -31.722 | 3965.258 | 3967.819 | 0.130116 | 2.610 | 429;841;1255;1672;2093;2511;2924;3335;3745;4139
+230 | latest_only | -31.722 | 3965.258 | -6.550 | 0.130116 | 2.610 | 37;33;38;26;34;26;28;37;38;17
+230 | two_waiting | -31.722 | 3965.258 | -22.350 | 0.130116 | 2.610 | 42;56;52;53;44;55;55;47;43;26
+
+4. Восстановление после ухудшения
+policy | age at 300 ms | below 1000 s | below 500 s | excess queue clear s | dropped old | published old
+no_drop | 24333.333 | 147.641 | 149.802 | 150.023 | 0 | 72
+latest_only | 666.667 | 0.000 | 0.077 | 0.008 | 0 | 1
+two_waiting | 1000.000 | 0.059 | 1.135 | 1.355 | 0 | 2
+
+5. Видео, очередь, команды и телеметрия
+- constant_300: fps=3.000, age P95=600.000 мс, queue max=22, waiting max=1, control P95/max=17.466/17.787 мс, emergency=1.706667;1.706667;1.706667;1.706667 мс, telemetry P95=19.574 мс.
+- constant_260: fps=2.953, age P95=833.333 мс, queue max=40, waiting max=1, control P95/max=19.046/20.667 мс, emergency=7.528538;1.969231;10.513154;7.528538 мс, telemetry P95=22.144 мс.
+- constant_230: fps=2.615, age P95=1000.000 мс, queue max=40, waiting max=1, control P95/max=22.157/23.357 мс, emergency=6.852174;4.660870;9.808696;10.817391 мс, telemetry P95=25.426 мс.
+- step_300_230_300: fps=2.883, age P95=900.000 мс, queue max=40, waiting max=1, control P95/max=19.444/23.357 мс, emergency=1.706667;3.791304;1.706667;1.706667 мс, telemetry P95=22.541 мс.
+- variable_300_260_230: fps=2.858, age P95=900.000 мс, queue max=40, waiting max=1, control P95/max=20.194/23.373 мс, emergency=7.528538;1.969231;10.513154;14.593065 мс, telemetry P95=23.376 мс.
+- Политика самого свежего кадра ограничивает ожидающую видеоочередь одним кадром и не передаёт накопленную историю после восстановления.
+- Политика двух ожидающих кадров ограничивает очередь двумя кадрами, но увеличивает возраст изображения относительно основной политики.
+- Без удаления при дефиците скорости очередь растёт; при 300 кбит/с запас достаточен.
+- У упреждающих политик нет бесполезно переданных видеобайтов: начатый кадр всегда завершается.
+
+6. Функциональные проверки
+- PASS 01_unique_repeated_frames_and_crc: PASS
+- PASS 02_300kbps_latest_has_no_unnecessary_drop: PASS
+- PASS 03_260kbps_no_drop_matches_small_deficit: PASS
+- PASS 04_230kbps_no_drop_grows_faster: PASS
+- PASS 05_latest_waiting_limit: PASS
+- PASS 06_two_waiting_limit: PASS
+- PASS 07_started_frame_never_dropped: PASS
+- PASS 08_active_video_frames_do_not_interleave: PASS
+- PASS 09_priority_between_video_packets: PASS
+- PASS 10_emergency_never_deleted: PASS
+- PASS 11_speed_change_bit_accounting: PASS
+- PASS 12_latest_does_not_replay_full_history: PASS
+- PASS 13_proactive_policies_have_no_waste: PASS
+- PASS 14_incomplete_frame_not_published: PASS
+- PASS 15_all_three_crc_layers_pass: PASS
+- PASS 16_frame_accounting: PASS
+- PASS 17_packet_and_byte_accounting: PASS
+- PASS 18_reproducible: PASS
+- CRC-проверено общих пакетов: 49794; FEC-блоков: 3571.
+
+7. Созданные файлы
+- tests/lab036_long_duration_scheduler.py
+- data/processed/lab036/lab036_summary.csv
+- data/processed/lab036/lab036_video_metrics.csv
+- data/processed/lab036/lab036_control_metrics.csv
+- data/processed/lab036/lab036_recovery_metrics.csv
+- data/processed/lab036/lab036_report.txt
+- data/processed/lab036/lab036_image_age_timeline.png
+- data/processed/lab036/lab036_queue_timeline.png
+- data/processed/lab036/lab036_minute_update_rate.png
+- data/processed/lab036/lab036_recovery.png
+- data/processed/lab036/lab036_control_delay.png
+- data/processed/lab036/lab036_frame_outcomes.png
+- data/processed/lab036/lab036_queue_growth_theory.png
+- data/processed/lab036/lab036_policy_comparison.png
+
+8. Итоговый Git status
+- Lab036 не добавлена в индекс и не закоммичена.
+
+## main...origin/main
+?? data/processed/lab036/
+?? tests/lab036_long_duration_scheduler.py

data/processed/lab036/lab036_summary.csv

@@ -0,0 +1,16 @@
+scenario,policy,duration_seconds,mean_channel_kbps,offered_load_kbps,speed_reserve_kbps,theoretical_queue_growth_bytes_per_second,theoretical_minimum_skip_fraction,theoretical_sustainable_fps,actual_queue_growth_bytes_per_second,actual_queue_growth_bytes_per_minute,unbounded_queue_growth,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,mean_waiting_video_frames,max_waiting_video_frames,queue_packets_each_minute,queue_bytes_each_minute,queue_at_600s_packets,queue_at_600s_bytes,frames_remaining_at_600s,additional_drain_seconds,transmitted_packets,transmitted_bytes,replaced_state_packets
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+constant_300,latest_only,600.0,300.0,261.7220666666667,38.277933333333294,0.0,0.0,3.0,-11.600833333333322,-696.0499999999993,False,8.492667996111212,22,4669.600783430745,11415,0.004278044444460347,1,21;21;21;20;19;21;21;21;21;0,10503;11309;10462;10676;10137;11083;11415;10503;11309;0,0,0,0,0.0,49794,19629155,0
+constant_300,two_waiting,600.0,300.0,261.7220666666667,38.277933333333294,0.0,0.0,3.0,-11.600833333333322,-696.0499999999993,False,8.492667996111212,22,4669.600783430745,11415,0.004278044444460347,1,21;21;21;20;19;21;21;21;21;0,10503;11309;10462;10676;10137;11083;11415;10503;11309;0,0,0,0,0.0,49794,19629155,0
+constant_260,no_drop,600.0,260.0,261.7220666666667,-1.7220666666667057,215.25833333333821,0.007063478994333017,2.978809563017001,218.64944444444447,13118.966666666669,True,133.31816348352757,268,76437.33087055078,153293,6.995598665791334,15,48;65;90;117;149;176;197;214;233;238,26336;36685;49266;66106;84626;100392;113622;122901;132742;135216,238,135216,14,4.146236230854015,49794,19629155,0
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+constant_260,two_waiting,600.0,260.0,261.7220666666667,-1.7220666666667057,215.25833333333821,0.007063478994333017,2.978809563017001,-12.19888888888884,-731.9333333333304,False,28.79937767032035,58,16327.143562298448,33090,1.0761970065603674,2,48;29;35;43;39;49;52;37;37;6,26336;15892;18207;24279;21038;26530;29623;19832;20554;3230,6,3230,1,0.0844823847068028,49565,19497148,0
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+variable_300_260_230,no_drop,600.0,263.3333333333333,261.7220666666667,1.6112666666666087,0.0,0.0,3.0,-11.902777777777905,-714.1666666666742,False,103.59885527746508,326,59342.94770940146,187430,5.320544485386984,18,32;311;30;321;41;326;39;315;28;295,17102;177237;15516;182330;22254;187430;21812;181426;15284;167261,295,167261,18,5.803705685504838,49794,19629155,0
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data/processed/lab036/lab036_video_metrics.csv

@@ -0,0 +1,16 @@
+scenario,policy,created_frames,started_frames,published_frames,published_by_600s_frames,dropped_before_start_frames,published_fraction,actual_update_fps,update_fps_each_minute,mean_publication_delay_ms,p95_publication_delay_ms,max_publication_delay_ms,mean_display_age_ms,p95_display_age_ms,max_display_age_ms,display_age_over_500ms_fraction,display_age_over_1000ms_fraction,mean_no_update_duration_ms,p95_no_update_duration_ms,max_no_update_duration_ms,max_consecutive_missing_frames,mean_publication_gap_ms,max_publication_gap_ms,transmitted_video_bytes,wasted_transmitted_video_bytes,delivered_useful_video_kbps
+constant_300,no_drop,1800,1800,1800,1800,0,1.0,3.0,3.000000;3.000000;3.000000;3.000000;3.000000;3.000000;3.000000;3.000000;3.000000;3.000000,287.5610518518373,311.3870000000247,322.3200000001043,459.1456979392323,600.0000000000227,633.3333333333542,0.3277787035494084,0.0,333.1482509716824,359.040666666667,380.9063333333427,0,333.30502149342215,380.9063333333427,18284899,0,155.94405333333336
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data/processed/lab037/lab037_command_metrics.csv

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

@@ -0,0 +1,109 @@
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data/processed/lab037/lab037_report.txt

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

data/processed/lab037/lab037_summary.csv

@@ -0,0 +1,37 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,repeat_command_bytes,lost_packets_mean,lost_packet_bytes_mean,cancelled_control_repeats,replaced_state_packets,drain_end_seconds,queue_release_seconds,telemetry_delivered_fraction,telemetry_mean_age_ms,telemetry_last_message_age_ms,telemetry_max_gap_ms,telemetry_gaps_over_500ms_mean
+300.0,10.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,407.78,193268.76,0,0,119.9635470000001,0.0,0.97425,12.812331765194102,105.99999999999483,385.7596666666723,0.0
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+300.0,10.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,463.87,196862.84,0,0,119.97549366666675,0.0,0.9746,9.380308223329676,105.99999999999483,315.7073333333358,0.0
+300.0,50.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,242.5,102832.94,0,0,119.9635470000001,0.0,0.9795083333333333,12.8138563338369,100.99999999999442,591.9736666666466,0.06
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+300.0,50.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,292.81,105980.93,0,0,119.97549366666675,0.0,0.9790666666666666,9.382484370047958,99.99999999999433,598.4003333333163,0.05
+300.0,200.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,204.57,82217.44,0,0,119.9635470000001,0.0,0.9802416666666667,12.81664311807054,104.99999999999447,1314.5596666666534,1.64
+300.0,200.0,emergency_only,100,0.0384,10.24,7.68,243.39286666666666,261.3512666666667,87.1170888888889,8.472973838890518,21,4655.704156400713,11415,1,384,204.75,82228.96,0,0,119.9635470000001,0.0,0.9802416666666667,12.796193058986443,104.99999999999447,1314.5596666666534,1.63
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data/processed/lab037/lab037_video_metrics.csv

@@ -0,0 +1,37 @@
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data/processed/lab038/lab038_command_metrics.csv

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

@@ -0,0 +1,145 @@
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data/processed/lab038/lab038_failsafe_metrics.csv

@@ -0,0 +1,193 @@
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+230.0,10.0,acknowledged_emergency,250.0,0.0,0.0,0.0,0.0,0.0,0.0,216.38260869564618,54.82,0.0,0.0,0.0,0.0,1.7361111111111112,0,0,0
+230.0,10.0,acknowledged_emergency,500.0,0.0,0.0,0.0,0.0,0.0,0.0,216.38260869564618,54.82,0.0,0.0,0.0,0.0,3.4722222222222223,0,0,0
+230.0,50.0,single,100.0,21.85,10.925,0.008430115942031174,46.29811959010256,151.1791304348214,402.53913043487444,100.0,8.12,21.85,0.0,68.33842520583268,99.98802059629242,0.6944444444444444,0,0,0
+230.0,50.0,single,150.0,7.95,3.975,0.003148192753623948,47.519890620738835,147.77739130440463,352.5391304348773,150.0,22.02,7.95,0.0,116.94076428437502,149.97621032323138,1.0416666666666667,0,0,0
+230.0,50.0,single,250.0,1.18,0.59,0.0004297797101451113,43.70641120119777,153.61913043479498,252.53913043487586,250.0,28.79,1.18,0.0,211.3844439062181,249.10336041529035,1.7361111111111112,0,0,0
+230.0,50.0,single,500.0,0.01,0.005,2.1159420290632152e-07,2.539130434875858,2.539130434875858,2.539130434875858,500.0,29.96,0.01,0.0,480.1467289749084,480.1467289749084,3.4722222222222223,0,0,0
+230.0,50.0,lab037_repetition,100.0,16.33,8.165,0.006521521739131906,47.92300114487621,147.62434782614653,367.96521739128707,100.0,3.47,16.33,0.0,69.09450106865654,99.90325243083475,0.6944444444444444,0,0,0
+230.0,50.0,lab037_repetition,150.0,6.08,3.04,0.0023895739130440465,47.162643020606176,142.4226086960322,317.9652173912757,150.0,13.72,6.08,0.0,119.15888576612078,149.82624997803384,1.0416666666666667,0,0,0
+230.0,50.0,lab037_repetition,250.0,0.78,0.39,0.0003195565217393544,49.16254180605452,154.94782608705708,217.96521739128139,250.0,19.02,0.78,0.0,211.83433655388762,242.38969405685395,1.7361111111111112,0,0,0
+230.0,50.0,lab037_repetition,500.0,0.0,0.0,0.0,0.0,0.0,0.0,467.9652173912814,19.8,0.0,0.0,0.0,0.0,3.4722222222222223,0,0,0
+230.0,50.0,spread_emergency,100.0,21.74,10.87,0.008459214492755794,46.69299628016078,151.77217391306036,402.53913043487444,100.0,8.55,21.74,0.0,68.37799391149342,99.9930322515894,0.6944444444444444,0,0,0
+230.0,50.0,spread_emergency,150.0,8.13,4.065,0.0031639782608703522,46.700786138307784,145.339130434786,352.5391304348773,150.0,22.16,8.13,0.0,116.72899320507389,149.99303225160077,1.0416666666666667,0,0,0
+230.0,50.0,spread_emergency,250.0,1.19,0.595,0.0004291144927537948,43.2720496894583,156.80695652181313,252.53913043487586,250.0,29.1,1.19,0.0,210.31438889999492,249.3128789410406,1.7361111111111112,0,0,0
+230.0,50.0,spread_emergency,500.0,0.01,0.005,2.1159420290632152e-07,2.539130434875858,2.539130434875858,2.539130434875858,500.0,30.28,0.01,0.0,466.2684681053548,466.2684681053548,3.4722222222222223,0,0,0
+230.0,50.0,acknowledged_emergency,100.0,21.72,10.86,0.008463568159421949,46.76004507967928,152.8782608695934,402.53913043487444,100.0,8.28,21.72,0.0,68.50054098665312,99.97059378721929,0.6944444444444444,0,0,0
+230.0,50.0,acknowledged_emergency,150.0,7.96,3.98,0.003188489898550996,48.06768691282908,152.6000000000245,352.5391304348773,150.0,22.04,7.96,0.0,116.90582376653855,149.91594505998762,1.0416666666666667,0,0,0
+230.0,50.0,acknowledged_emergency,250.0,1.23,0.615,0.0004467724637683102,43.587557440810755,156.41739130441258,252.53913043487586,250.0,28.77,1.23,0.0,210.70318797140436,248.6368601352602,1.7361111111111112,0,0,0
+230.0,50.0,acknowledged_emergency,500.0,0.01,0.005,2.1159420290632152e-07,2.539130434875858,2.539130434875858,2.539130434875858,500.0,29.99,0.01,0.0,478.9992507145655,478.9992507145655,3.4722222222222223,0,0,0
+230.0,200.0,single,100.0,9.8,4.9,0.01589683768116049,194.6551552795162,609.5391304348161,1563.2000000002931,100.0,0.95,9.8,0.0,71.82826959128776,99.95268738305185,0.6944444444444444,0,0,0
+230.0,200.0,single,150.0,7.57,3.785,0.012367500000000621,196.05019815060425,612.5530434782453,1513.200000000296,150.0,3.18,7.57,0.0,122.0484259069865,149.95268738306322,1.0416666666666667,0,0,0
+230.0,200.0,single,250.0,4.62,2.31,0.00750331884058086,194.89139845664576,591.6504347826435,1413.2000000002947,250.0,6.13,4.62,0.0,221.77393243475032,249.95268738305754,1.7361111111111112,0,0,0
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+230.0,200.0,lab037_repetition,100.0,9.04,4.52,0.015035997101449941,199.5928818776541,614.3808695653582,1578.64347826127,100.0,0.6,9.04,0.0,72.5719492627528,99.99040676792958,0.6944444444444444,0,0,0
+230.0,200.0,lab037_repetition,150.0,7.19,3.595,0.01169512608695681,195.1898651508786,606.9182608697334,1528.643478261273,150.0,2.45,7.19,0.0,122.72858027867467,149.99040676794095,1.0416666666666667,0,0,0
+230.0,200.0,lab037_repetition,250.0,4.24,2.12,0.007090008695652983,200.6606234618769,591.3947826086774,1428.6434782612716,250.0,5.4,4.24,0.0,222.4129871863763,249.99040676793527,1.7361111111111112,0,0,0
+230.0,200.0,lab037_repetition,500.0,1.19,0.595,0.002105730434782988,212.34256485206598,600.3130434785205,1178.6434782612716,500.0,8.45,1.19,0.0,471.00344105622514,499.99040676793527,3.4722222222222223,0,0,0
+230.0,200.0,spread_emergency,100.0,9.73,4.865,0.0159048724637692,196.15464497968182,610.9843478261524,1545.3913043481152,100.0,0.97,9.73,0.0,72.48780320775765,99.93849790066633,0.6944444444444444,0,0,0
+230.0,200.0,spread_emergency,150.0,7.42,3.71,0.012402194202899175,200.5745693191241,613.1165217392655,1495.391304348118,150.0,3.28,7.42,0.0,122.86371742369424,149.9384979006777,1.0416666666666667,0,0,0
+230.0,200.0,spread_emergency,250.0,4.72,2.36,0.007542982608696842,191.77074428890276,593.9513043478705,1395.3913043481166,250.0,5.98,4.72,0.0,221.99686044397973,249.67684424623826,1.7361111111111112,0,0,0
+230.0,200.0,spread_emergency,500.0,1.32,0.66,0.0022000057971020073,200.00052700927338,571.9947826088219,1145.3913043481166,500.0,9.38,1.32,0.0,471.8685109704517,499.67684424623826,3.4722222222222223,0,0,0
+230.0,200.0,acknowledged_emergency,100.0,9.73,4.865,0.01591382029347894,196.2649984807269,610.0869565217522,1519.3043478263703,100.0,1.03,9.73,0.0,71.99330002010123,99.87114870479985,0.6944444444444444,0,0,0
+230.0,200.0,acknowledged_emergency,150.0,7.5,3.75,0.012410028989130661,198.56046382609057,613.1860869565066,1469.3043478263733,150.0,3.26,7.5,0.0,122.18437180119518,149.871148704797,1.0416666666666667,0,0,0
+230.0,200.0,acknowledged_emergency,250.0,4.65,2.325,0.0075457695833345785,194.72953763444073,592.0104347826463,1369.3043478263717,250.0,6.11,4.65,0.0,221.4819646809284,249.87114870479843,1.7361111111111112,0,0,0
+230.0,200.0,acknowledged_emergency,500.0,1.36,0.68,0.0021980058152180544,193.9416895780636,568.7304347827702,1119.3043478263717,500.0,9.4,1.36,0.0,472.12294801894024,498.8064461210513,3.4722222222222223,0,0,0
+230.0,1000.0,single,100.0,2.11,1.055,0.01668321449275453,948.8084071708738,2860.99130434786,5894.330434782859,100.0,0.08,2.11,0.0,72.77227065609362,98.75446883638439,0.6944444444444444,0,0,0
+230.0,1000.0,single,150.0,2.02,1.01,0.01582274492753706,939.9650452002214,2811.8834782609797,5844.330434782847,150.0,0.17,2.02,0.0,123.13446173292415,148.75446883638512,1.0416666666666667,0,0,0
+230.0,1000.0,single,250.0,1.81,0.905,0.014215624637681994,942.4723516695243,2743.043478261001,5744.3304347828525,250.0,0.38,1.81,0.0,223.36266138100706,248.75446883638475,1.7361111111111112,0,0,0
+230.0,1000.0,single,500.0,1.36,0.68,0.010961011594203648,967.1480818414983,2851.3999999999696,5494.3304347828525,500.0,0.83,1.36,0.0,473.43763495457796,498.3335625807399,3.4722222222222223,0,0,0
+230.0,1000.0,lab037_repetition,100.0,2.09,1.045,0.016461272463768727,945.1448304556206,2852.417391304243,5898.504347825891,100.0,0.03,2.09,0.0,74.89339119622397,99.55200475732795,0.6944444444444444,0,0,0
+230.0,1000.0,lab037_repetition,150.0,1.96,0.98,0.01561401739130488,955.9602484472373,2817.121739130318,5848.50434782588,150.0,0.16,1.96,0.0,124.72886312104937,149.55200475733932,1.0416666666666667,0,0,0
+230.0,1000.0,lab037_repetition,250.0,1.76,0.88,0.014052133333333876,958.1000000000369,2802.2260869564234,5748.504347825886,250.0,0.36,1.76,0.0,224.42581644848326,249.55200475733363,1.7361111111111112,0,0,0
+230.0,1000.0,lab037_repetition,500.0,1.37,0.685,0.010856684057971506,950.9504284354604,2824.055652173819,5498.504347825886,500.0,0.75,1.37,0.0,474.821957970639,499.55200475733363,3.4722222222222223,0,0,0
+230.0,1000.0,spread_emergency,100.0,2.1,1.05,0.016661289855073372,952.0737060041927,2878.716521739271,5896.000000000285,100.0,0.06,2.1,0.0,72.87388938753178,99.92862108676093,0.6944444444444444,0,0,0
+230.0,1000.0,spread_emergency,150.0,2.04,1.02,0.015800727536232715,929.4545609548655,2836.6678260870867,5846.000000000274,150.0,0.12,2.04,0.0,123.24325884983082,149.9286210867723,1.0416666666666667,0,0,0
+230.0,1000.0,spread_emergency,250.0,1.84,0.92,0.014220026086957358,927.3930056711321,2749.867826087075,5746.000000000279,250.0,0.32,1.84,0.0,222.99255092853048,249.9286210867666,1.7361111111111112,0,0,0
+230.0,1000.0,spread_emergency,500.0,1.36,0.68,0.010963084057971768,967.3309462916266,2852.243478260842,5496.000000000279,500.0,0.8,1.36,0.0,473.23712344562915,499.9286210867666,3.4722222222222223,0,0,0
+230.0,1000.0,acknowledged_emergency,100.0,2.1,1.05,0.016682953663044436,953.3116378882534,2861.090434782652,5861.321739130744,100.0,0.09,2.1,0.0,72.96799037623916,99.05123953016215,0.6944444444444444,0,0,0
+230.0,1000.0,acknowledged_emergency,150.0,2.02,1.01,0.01582271598188494,939.963325656531,2811.8834782609797,5811.3217391307335,150.0,0.17,2.02,0.0,123.15215697133662,149.0512395301593,1.0416666666666667,0,0,0
+230.0,1000.0,acknowledged_emergency,250.0,1.83,0.915,0.01420750873550813,931.6399170825002,2739.9373913044788,5711.321739130739,250.0,0.36,1.83,0.0,223.42015393242866,249.05123953016073,1.7361111111111112,0,0,0
+230.0,1000.0,acknowledged_emergency,500.0,1.36,0.68,0.010958571054348625,966.9327400895844,2851.3999999999696,5461.321739130739,500.0,0.83,1.36,0.0,473.9010502362745,499.03980961070005,3.4722222222222223,0,0,0

data/processed/lab038/lab038_report.txt

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

data/processed/lab038/lab038_summary.csv

@@ -0,0 +1,49 @@
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data/processed/lab038/lab038_video_metrics.csv

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data/processed/lab039/lab039_analytic_checks.csv

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data/processed/lab039/lab039_distance_metrics.csv

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data/processed/lab039/lab039_report.txt

@@ -0,0 +1,183 @@
+Lab039 — двухступенчатая безопасная реакция и оценка пути до остановки
+
+Состояние Git до реализации
+- Корень: C:/Users/user/Desktop/projects/SDR_Rover
+- Ветка: main
+- HEAD: 23cfdf581b63d2674e7c48965aea45cc5afff2d7
+- Перед окончательным повторным запуском рабочее дерево содержало только новые файлы Lab039; индекс был пуст.
+- Неизвестных изменений не было; локально известный origin/main имел ahead/behind 0/0.
+- Lab036–Lab038 присутствовали; Lab038 зафиксирована коммитом 23cfdf5.
+- Fetch, pull и push не выполнялись.
+
+Конечный автомат
+- NORMAL поддерживает заданную скорость и принимает только команды с новым sequence.
+- STAGE1_DECELERATION запрещает положительное ускорение и применяет a_stage1.
+- STAGE2_BRAKING задаёт нулевую скорость и применяет a_stage2 до точной остановки.
+- EMERGENCY_LATCHED выполняет ту же обязательную остановку, фиксируется и не снимается обычной командой.
+- Свежая команда снимает только временные защитные состояния; старая и повторная команды таймер не обновляют.
+- Предварительная реакция уменьшает скорость с возможностью мягкого восстановления, а обязательное торможение требует полной остановки.
+
+Порядок совпадающих событий
+- Полностью полученная emergency-команда обрабатывается первой и фиксирует аварийную остановку.
+- Полностью полученная свежая обычная команда обрабатывается раньше первого и второго порогов watchdog при одинаковом времени.
+- Такая команда обновляет время свежести и отменяет переход, рассчитанный от предыдущей команды; затем очередь событий строится заново.
+- Далее обрабатывается второй порог, затем первый; равные пороги запрещены проверкой ThresholdPolicy.
+- Правило receive-before-threshold отдельно проверяется для обоих порогов.
+
+Параметры движения и эксперимента
+- Длительность опыта: 120 с; команды: 20 Гц; a_resume=1.0 м/с².
+- Основная матрица: 5 каналов × 4 политики × 3 скорости × 3 профиля = 180 сочетаний.
+- Условия с потерями: 100 повторов; контроль без потерь: один детерминированный опыт.
+- Скорости: 5, 15 и 25 км/ч; внутри модели используются м/с.
+- Профили a_stage1/a_stage2: мягкий 0,5/2,0; номинальный 1,0/3,0; интенсивный 1,5/4,0 м/с².
+- Интегрирование событийное и точное на каждом участке постоянного ускорения; крупный фиксированный шаг не используется.
+- Ранее сформированный каталог результатов Lab039 удалён; все CSV, TXT и PNG получены заново одним полным запуском окончательного кода.
+- Проверенные при построении нагрузки пакеты CRC/FEC: 12356/714.
+
+Компактная сводка 180 сочетаний
+политика | реакции этапа 1, 1/мин (среднее) | торможения этапа 2, 1/мин (среднее) | полные остановки, 1/мин (среднее) | максимальный полный путь, м
+Один порог 250 мс | 0.0000 | 1.2510 | 0.1078 | 13.7924
+Два порога 100/200 мс | 4.3680 | 1.6900 | 0.1303 | 13.2697
+Два порога 150/250 мс | 2.5890 | 1.2510 | 0.1146 | 13.6170
+Два порога 200/300 мс | 1.6900 | 0.9800 | 0.1024 | 13.9642
+
+Расширенная сводка политик
+политика | этап 1 ср/макс, 1/мин | этап 2 ср/макс, 1/мин | остановки ср/макс, 1/мин | путь ср/макс/P95макс, м | время этап 1/этап 2/ноль, % | потеря скорости, м/с | восстановление, с
+Один порог 250 мс | 0.0000/0.0000 | 1.2510/2.3400 | 0.1078/0.7600 | 1.2516/13.7924/13.7924 | 0.0000/0.7027/0.1496 | 0.0000 | 0.6127
+Два порога 100/200 мс | 4.3680/11.3850 | 1.6900/2.9950 | 0.1303/0.8400 | 1.3003/13.2697/13.2697 | 0.4340/0.8205/0.1686 | 0.0256 | 0.5525
+Два порога 150/250 мс | 2.5890/4.2100 | 1.2510/2.3400 | 0.1146/0.7850 | 1.2081/13.6170/13.6170 | 0.2864/0.7027/0.1568 | 0.0220 | 0.5362
+Два порога 200/300 мс | 1.6900/2.9950 | 0.9800/1.8650 | 0.1024/0.7350 | 1.2571/13.9642/13.9642 | 0.2084/0.6121/0.1463 | 0.0219 | 0.5336
+
+Интерпретация агрегированного пути
+- Нулевой полный путь в строке сочетания означает отсутствие полной остановки в данном сочетании, а не отсутствие движения ровера.
+- Средний путь, включающий нулевые значения сочетаний без полной остановки, нельзя использовать как единственный показатель безопасности.
+- Для сравнения политик необходимо совместно учитывать максимальный путь, аналитический путь при длительной потере связи, частоту обязательных торможений и частоту полных остановок.
+
+Сравнение 100/200 и 150/250 мс по выбранным условиям
+канал | скорость, км/ч | политика | этап 1/этап 2/остановки, 1/мин | путь ср/макс/P95макс, м | время этап 1/этап 2/ноль, % | потеря скорости, м/с | восстановление, с
+260 кбит/с, помеха 200 мс | 5 | Два порога 100/200 мс | 4.4650/2.9300/0.3950 | 0.5553/0.7234/0.7234 | 0.6166/1.0200/0.1803 | 0.0492 | 0.4254
+260 кбит/с, помеха 200 мс | 5 | Два порога 150/250 мс | 3.7700/2.3400/0.3133 | 0.6292/0.7929/0.7929 | 0.4875/0.8047/0.1435 | 0.0358 | 0.4040
+260 кбит/с, помеха 200 мс | 15 | Два порога 100/200 мс | 4.4650/2.9300/0.0100 | 0.8148/2.8425/2.8425 | 0.6166/1.0200/0.0038 | 0.0485 | 0.4887
+260 кбит/с, помеха 200 мс | 15 | Два порога 150/250 мс | 3.7700/2.3400/0.0067 | 0.8181/3.0509/3.0509 | 0.4875/0.8047/0.0026 | 0.0355 | 0.4626
+260 кбит/с, помеха 200 мс | 25 | Два порога 100/200 мс | 4.4650/2.9300/0.0000 | 0.0000/0.0000/0.0000 | 0.6166/1.0200/0.0000 | 0.0484 | 0.4887
+260 кбит/с, помеха 200 мс | 25 | Два порога 150/250 мс | 3.7700/2.3400/0.0000 | 0.0000/0.0000/0.0000 | 0.4875/0.8047/0.0000 | 0.0354 | 0.4619
+230 кбит/с, помеха 200 мс | 5 | Два порога 100/200 мс | 4.8100/2.9950/0.3783 | 0.5574/0.7234/0.7234 | 0.6405/1.0384/0.1851 | 0.0415 | 0.4091
+230 кбит/с, помеха 200 мс | 5 | Два порога 150/250 мс | 3.8550/2.3150/0.2983 | 0.6301/0.7929/0.7929 | 0.5002/0.8226/0.1486 | 0.0414 | 0.3972
+230 кбит/с, помеха 200 мс | 15 | Два порога 100/200 мс | 4.8100/2.9950/0.0167 | 2.1422/3.5846/3.5846 | 0.6405/1.0384/0.0090 | 0.0415 | 0.4642
+230 кбит/с, помеха 200 мс | 15 | Два порога 150/250 мс | 3.8550/2.3150/0.0133 | 2.2813/3.7930/3.7930 | 0.5002/0.8226/0.0076 | 0.0414 | 0.4523
+230 кбит/с, помеха 200 мс | 25 | Два порога 100/200 мс | 4.8100/2.9950/0.0017 | 2.3840/7.1519/7.1519 | 0.6405/1.0384/0.0002 | 0.0415 | 0.4656
+230 кбит/с, помеха 200 мс | 25 | Два порога 150/250 мс | 3.8550/2.3150/0.0000 | 0.0000/0.0000/0.0000 | 0.5002/0.8226/0.0000 | 0.0412 | 0.4533
+230 кбит/с, помеха 1000 мс | 5 | Два порога 100/200 мс | 1.1800/1.0550/0.7050 | 0.5691/0.7234/0.7234 | 0.1867/1.9272/1.3055 | 0.0092 | 0.9961
+230 кбит/с, помеха 1000 мс | 5 | Два порога 150/250 мс | 1.1100/1.0350/0.6650 | 0.6408/0.7929/0.7929 | 0.1773/1.8405/1.2442 | 0.0049 | 0.9795
+230 кбит/с, помеха 1000 мс | 15 | Два порога 100/200 мс | 1.1800/1.0550/0.3083 | 3.6007/5.0676/5.0676 | 0.1867/1.9272/0.5730 | 0.0092 | 2.0091
+230 кбит/с, помеха 1000 мс | 15 | Два порога 150/250 мс | 1.1100/1.0350/0.2883 | 3.8241/5.2759/5.2759 | 0.1773/1.8405/0.5452 | 0.0049 | 1.9554
+230 кбит/с, помеха 1000 мс | 25 | Два порога 100/200 мс | 1.1800/1.0550/0.1383 | 8.7272/13.2697/13.2697 | 0.1867/1.9272/0.2724 | 0.0092 | 2.3735
+230 кбит/с, помеха 1000 мс | 25 | Два порога 150/250 мс | 1.1100/1.0350/0.1317 | 9.1214/13.6170/13.6170 | 0.1773/1.8405/0.2596 | 0.0049 | 2.3052
+- Полные данные каждой комбинации находятся в lab039_summary.csv, lab039_watchdog_metrics.csv и lab039_distance_metrics.csv.
+
+Путь и защитные реакции
+- Максимальный наблюдавшийся промежуток без свежей команды: 6546.922 мс.
+- Максимальное время применения устаревшей команды до обязательного торможения: 300 мс.
+- Максимальный путь до первой реакции: 1.7361 м.
+- Максимальный путь до второго порога: 2.0808 м.
+- Максимальный тормозной путь после второго порога: 12.0563 м.
+- Максимальный полный путь после последней свежей команды: 13.9642 м.
+- Частота предварительных реакций: 0.0000…11.3850 1/мин.
+- Частота полных остановок: 0.0000…0.8400 1/мин.
+- Произведение v × timeout описывает только путь до порога; после него ровер сохраняет скорость и проходит дополнительный тормозной путь.
+- Путь реакции растёт линейно со скоростью, а идеализированный тормозной путь v²/(2a) — квадратично, поэтому высокая начальная скорость особенно существенна.
+- Короткий первый порог чаще пересекается обычными краткими помехами и вызывает лишние замедления.
+- Длинный второй порог дольше сохраняет движение до обязательного торможения и увеличивает полный путь.
+
+Аналитические контрольные расчёты без восстановления связи
+скорость, км/ч | профиль | один порог: реакция/торможение/итого, м | 150/250: реакция/замедление/торможение/итого, м | разница, м | ошибка модели, м
+5 | Мягкий | 0.3472/0.4823/0.8295 | 0.2083/0.1364/0.4482/0.7929 | -0.0366 | 0.000e+00
+5 | Номинальный | 0.3472/0.3215/0.6687 | 0.2083/0.1339/0.2769/0.6191 | -0.0496 | 0.000e+00
+5 | Интенсивный | 0.3472/0.2411/0.5883 | 0.2083/0.1314/0.1919/0.5316 | -0.0568 | 0.000e+00
+15 | Мягкий | 1.0417/4.3403/5.3819 | 0.6250/0.4142/4.2367/5.2759 | -0.1060 | 0.000e+00
+15 | Номинальный | 1.0417/2.8935/3.9352 | 0.6250/0.4117/2.7563/3.7930 | -0.1422 | 0.000e+00
+15 | Интенсивный | 1.0417/2.1701/3.2118 | 0.6250/0.4092/2.0167/3.0509 | -0.1609 | 0.000e+00
+25 | Мягкий | 1.7361/12.0563/13.7924 | 1.0417/0.6919/11.8833/13.6170 | -0.1755 | 0.000e+00
+25 | Номинальный | 1.7361/8.0376/9.7737 | 1.0417/0.6894/7.8077/9.5388 | -0.2348 | 0.000e+00
+25 | Интенсивный | 1.7361/6.0282/7.7643 | 1.0417/0.6869/5.7706/7.4992 | -0.2651 | 0.000e+00
+- Максимальная абсолютная ошибка событийной модели: 0.000e+00 м.
+
+Независимая аварийная остановка
+- Расчёт: 45 сочетаний; emergency сформирована на 60-й секунде; политика локального таймера 150/250 мс.
+- Итоговая доставка за окно 500 мс: 98.000…100.000%.
+- Время первой доставки: среднее до 8.609 мс, P95 до 6.523 мс, максимум 204.765 мс.
+- Путь за время доставки: до 0.0597 м в среднем по сочетанию.
+- Тормозной путь после получения: до 12.0563 м в среднем по сочетанию.
+- Полный путь от формирования до остановки: среднее до 12.1106 м; максимум 12.8187 м.
+- Недоставок за 500 мс: 2 в одном канальном условии, 3 суммарно в независимых транспортных опытах.
+- При недоставке доля опытов с включением второго этапа локального таймера: до 100.000%.
+- При недоставке доля остановок локальным таймером: до 100.000%.
+- Средний путь локальной остановки при недоставке: до 2.8541 м; время — до 1.6847 с.
+- Удалённая emergency не заменяет локальный сторожевой таймер: канал может быть физически недоступен, а локальная реакция не зависит от доставки.
+- ACK лишь прекращает будущие копии и информирует отправителя; торможение начинается при первом корректном emergency до получения ACK.
+
+Инварианты безопасности
+- Отрицательная скорость: 0 случаев.
+- Превышение заданной скорости: 0 случаев.
+- Второй порог превышен без торможения: 0 случаев.
+- Снятие временного состояния старой командой: 0 случаев.
+- Снятие аварийной остановки обычной командой: 0 случаев.
+
+Интерпретация пары 150/250 мс
+- Для 150/250 мс средняя частота предварительных реакций по матрице: 2.5890 1/мин; полных остановок: 0.1146 1/мин.
+- Для 100/200 мс соответствующие значения: 4.3680 и 0.1303 1/мин; для 200/300 мс: 1.6900 и 0.1024 1/мин.
+- Максимальный полный путь 150/250 мс: 13.6170 м; 100/200 мс: 13.2697 м; 200/300 мс: 13.9642 м.
+- Эти результаты характеризуют компромисс, но не подтверждают окончательный выбор: пороги и замедления автоматически не назначаются.
+
+Ограничения модели
+- a_stage1 и a_stage2 являются исследовательскими параметрами и должны быть измерены на реальном ровере.
+- Не моделируются уклон, пробуксовка, задержка электромеханического тормоза, изменение сцепления и сопротивление воздуха.
+- Не моделируются поперечная динамика, перенос массы, ABS и фактическое время нарастания тормозного момента.
+- Это расчётная одномерная модель, а не окончательный алгоритм силовой части и не замена натурных испытаний.
+
+Функциональные проверки
+- PASS 01_fresh_command_updates_watchdog: fresh sequence updates timer
+- PASS 02_old_command_does_not_update_watchdog: old sequence ignored
+- PASS 03_duplicate_does_not_update_watchdog: equal sequence ignored
+- PASS 04_first_threshold_enters_stage1: 150 ms enters preliminary deceleration
+- PASS 05_second_threshold_enters_stage2: 250 ms enters mandatory braking
+- PASS 06_single_threshold_skips_stage1: single threshold goes directly to stage2
+- PASS 07_stage1_forbids_positive_acceleration: stage1 acceleration is non-positive
+- PASS 08_stage2_commands_zero_speed: stage2 applies mandatory braking to zero
+- PASS 09_speed_never_negative: braking is clipped at zero
+- PASS 10_constant_acceleration_matches_formula: v and s match analytic formula
+- PASS 11_internal_zero_crossing_is_exact: internal stop time integrated exactly
+- PASS 12_new_command_releases_temporary_state: fresh command releases temporary state
+- PASS 13_old_command_does_not_release_state: old command cannot release stage1
+- PASS 14_emergency_enters_latched_state: first emergency latches state
+- PASS 15_normal_command_does_not_unlatch: ordinary command cannot unlatch emergency
+- PASS 16_ack_not_required_for_braking: braking starts before any ACK
+- PASS 17_lost_ack_continues_repetition: controlled first ACK loss deterministically causes exactly one later copy
+- PASS 18_received_ack_stops_future_copies: received ACK stops future copies
+- PASS 19_stage2_threshold_never_missed: second threshold always enters braking
+- PASS 20_fixed_seed_reproducibility: identical seed gives identical intervals
+- PASS 21_fresh_command_wins_first_threshold_tie: fresh command at stage1 time is received before the threshold
+- PASS 22_fresh_command_wins_second_threshold_tie: fresh command at stage2 time is received before mandatory braking
+
+Созданные файлы
+- protocol/two_stage_failsafe.py
+- tests/lab039_two_stage_braking.py
+- data/processed/lab039/lab039_summary.csv
+- data/processed/lab039/lab039_watchdog_metrics.csv
+- data/processed/lab039/lab039_distance_metrics.csv
+- data/processed/lab039/lab039_emergency_stop_metrics.csv
+- data/processed/lab039/lab039_analytic_checks.csv
+- data/processed/lab039/lab039_report.txt
+- data/processed/lab039/lab039_path_by_speed.png
+- data/processed/lab039/lab039_policy_comparison.png
+- data/processed/lab039/lab039_deceleration_profiles.png
+- data/processed/lab039/lab039_reaction_rates.png
+- data/processed/lab039/lab039_safety_state_time.png
+- data/processed/lab039/lab039_emergency_path.png
+- data/processed/lab039/lab039_analytic_vs_model.png
+- data/processed/lab039/lab039_tradeoff.png
+
+Состояние результатов
+- Lab039 оставлена вне индекса Git и не закоммичена.
+- Lab028–Lab038 не изменялись.
+- Сохранены только компактные агрегированные CSV, TXT и PNG; запрещённые артефакты не создавались.

data/processed/lab039/lab039_summary.csv

@@ -0,0 +1,181 @@
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data/processed/lab039/lab039_watchdog_metrics.csv

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data/processed/lab040/lab040_emergency_metrics.csv

@@ -0,0 +1,46 @@
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data/processed/lab040/lab040_load_metrics.csv

@@ -0,0 +1,46 @@
+channel_condition,mode,initial_speed_kmh,repetitions,emergency_copy_load_kbps,emergency_ack_load_kbps,zero_control_load_kbps,reset_request_load_kbps,reset_ack_load_kbps,total_extra_load_kbps,video_published_fraction,telemetry_delivered_fraction,maximum_queue_packets
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data/processed/lab040/lab040_motion_metrics.csv

@@ -0,0 +1,46 @@
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data/processed/lab040/lab040_report.txt

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

data/processed/lab040/lab040_reset_metrics.csv

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

@@ -0,0 +1,46 @@
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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 +1,345 @@
+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.
+- Что именно моделируется розыгрышем: моменты потерь по экспоненциальной модели Good-Bad, доставка и повтор служебных сообщений сеанса, время до безопасного согласования и до разрешения движения, объём эпизодической служебной нагрузки. Только эти величины являются результатом моделирования Lab041.
+- Что задано архитектурой, а не разыгрывается: исход обработки старого пакета, разрешено ли движение после перезапуска и сохраняется ли аварийное намерение. Матрица перебирает эти случаи, а поведение реализации проверяется отдельно функциональными проверками.
+- Что не моделируется вовсе: транспорт видео, планировщик очередей, доставка телеметрии и доставка команд по радиоканалу. Соответствующие показатели относятся к Lab037 и Lab040 и в Lab041 не пересчитываются.
+- Оценка пути после перезапуска получена по замкнутой формуле при параметрах профиля nominal Lab039 и одинакова во всех повторах; это расчёт, а не результат розыгрыша.
+
+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.
+- Величина рассчитана по формуле v*t + v^2/(2a) при v = 6.9444 м/с, t = 0.250 с и a = 3.0 м/с^2 из профиля nominal Lab039. Оценка одноступенчатая и не учитывает предварительное замедление Stage1, поэтому она консервативнее двухступенчатой модели Lab039.
+- Продолжение движения после перезапуска: 0; запуск по старой команде: 0.
+
+Пакеты предыдущего сеанса
+- Основной режим: введено 2807, отклонено 2807, ошибочно принято 0.
+- Эти числа получены перебором таблицы сценариев: семь сценариев со старым пакетом умножаются на число повторов, а исход перебора задан архитектурой, а не розыгрышем помех. Они показывают охват перебора, а не измеренную вероятность отклонения.
+- Что старый пакет действительно отклоняется реализацией, показывают проверки 06, 07, 08, 10 и 19: они вызывают receive_control и receive_reset настоящих автоматов и сверяют причину отказа.
+- 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
+- Что означают числа ниже. Счётчики матрицы показывают, сколько сочетаний сценария и канала описывают небезопасный переход. В основном режиме безопасный запуск и постоянное аварийное намерение исключают такие переходы по построению архитектуры, поэтому счётчик равен нулю как следствие выбранной архитектуры, а не как результат розыгрыша помех.
+- Поведение самой реализации подтверждается функциональными проверками; их номера указаны рядом с каждым свойством. Именно проверки, а не матрица, являются доказательством для перечисленных свойств.
+- Движение до синхронизации: 0 (проверки 11, 15).
+- Движение до подтверждения разрешения: 0 (проверки 12, 13).
+- Движение без новой команды оператора: 0 (проверка 14).
+- Использование старого периода управления: 0 (проверка 08).
+- Снятие аварийной фиксации обычной командой: 0 (проверка 22).
+- Потеря аварийного намерения после перезапуска станции: 0 (проверки 17, 18).
+- Движение до подтверждения сброса: 0 (проверки 20, 21).
+- Автоматическое восстановление старой команды после сброса: 0 (проверки 13, 14).
+- Принятие старого запроса сброса: 0 (проверка 19).
+
+Свойства, которые матрица не измеряет
+- Следующие свойства зависят от разбора конкретного сообщения, а не от розыгрыша сценария, поэтому счётчика по 180 сочетаниям для них не существует. Ранее они выводились в списке инвариантов как нули; это было ошибкой представления, и такие строки удалены.
+- Принятие команды старого сеанса станции: подтверждается проверками 06 и 16.
+- Принятие команды старого запуска ровера: подтверждается проверкой 07.
+- Принятие неоднозначной разности номеров 2^31: подтверждается проверкой 10.
+- Отрицательная скорость и превышение разрешённой скорости: подтверждаются проверкой 04; диапазон 0...15 м/с проверяется при кодировании в protocol/control_messages.py.
+
+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.
+- Видео и телеметрия здесь не моделируются: значения перенесены из Lab038, поля video_load_kbps и telemetry_load_kbps файла data/processed/lab038/lab038_summary.csv. Управление вычислено по размеру пакета и частоте.
+- Полный предложенный поток основного режима: средний 262.07584 кбит/с, максимум 262.20433 кбит/с.
+- Доли доставки видео, телеметрии и управления, а также длина очереди в Lab041 не определяются. Модель этой лабораторной воспроизводит обмен служебными сообщениями сеанса, но не планировщик очередей и не транспорт видео. Соответствующие показатели следует брать из Lab037 и Lab040.
+
+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, включая отрицательную скорость и границу 15 м/с
+- 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
+- experiments/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
+
+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.
+- Фиксация результатов в Git выполняется отдельно после завершения расчётов и проверок.

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
+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
+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
+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
+no_session_ids,no_loss,both_restart,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,ground_restart_emergency,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,1,1,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,rover_restart_latched,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,1,0,1,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,long_link_break,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,old_ground_session_control,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,old_rover_boot_control,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,old_control_epoch,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,sequence_reset_new_session,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,sequence_wrap,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,duplicate_hello,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
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+no_session_ids,no_loss,lost_emergency_ack,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
+no_session_ids,no_loss,lost_reset_ack,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,1,1
+no_session_ids,no_loss,old_reset_request,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,1,1,0,0
+no_session_ids,no_loss,late_positive_after_emergency,1,0,0.0,0.0,0.0,0.0,0,0,1,0,0,0,0,0.0,1,0,0,0
+no_session_ids,no_loss,restart_after_reset_before_ack,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,1,1
+no_session_ids,260_200,normal_start,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0
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+no_session_ids,260_200,both_restart,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0
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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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+persistent_emergency,230_1000,old_control_epoch,200,1.0,1.0,0.0,0.0,0.0,10.88,0.11261199999999999,262.0654786666667
+persistent_emergency,230_1000,sequence_reset_new_session,200,1.0,1.0,0.0,0.0,0.0,10.88,0.10840599999999999,262.0612726666667
+persistent_emergency,230_1000,sequence_wrap,200,1.0,1.0,0.0,0.0,0.0,10.88,0.11076400000000002,262.0636306666667
+persistent_emergency,230_1000,duplicate_hello,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,230_1000,lost_session_status,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,230_1000,lost_authorize_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16040000000000001,262.1132666666667
+persistent_emergency,230_1000,lost_emergency_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.219664,262.1725306666667
+persistent_emergency,230_1000,lost_reset_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.25146599999999997,262.2043326666667
+persistent_emergency,230_1000,old_reset_request,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,late_positive_after_emergency,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,restart_after_reset_before_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667

data/processed/lab042/lab042_frames.csv

@@ -0,0 +1,11 @@
+index,packet_bytes,frame_bits,correlation_score,sample_phase,carrier_offset_hz,carrier_coherence,cfo_correction_applied,error_vector_magnitude,frame_found,header_parsed,crc_valid,fragment_recovered
+0,536,4384,0.9991557547061216,19,-0.13990840791652204,0.9997935741467082,False,0.3400949142192574,True,True,True,True
+1,536,4384,0.9986269709852709,51,-0.6704420071784511,0.999254107740255,False,0.1962803864132724,True,True,True,True
+2,536,4384,0.9988503105697645,75,0.16739056727394086,0.9997145042457541,False,0.16392107712020013,True,True,True,True
+3,536,4384,0.9984613689137739,69,0.12541328438695132,0.9993958830571172,False,0.18678168516977972,True,True,True,True
+4,536,4384,0.9986165925127464,37,0.522370456657967,0.9996364225258064,False,0.15291774582164716,True,True,True,True
+5,536,4384,0.9988383991200348,32,-0.1940305233482036,0.9995177607884775,False,0.1768680391093208,True,True,True,True
+6,536,4384,0.9993940824417119,51,0.35917365385569155,0.9997260503953309,False,0.1442403116319193,True,True,True,True
+7,536,4384,0.9986343538268945,75,0.2939902862233339,0.9996675003381007,False,0.17829502789805413,True,True,True,True
+8,536,4384,0.9988608071024292,69,-0.7492708746413825,0.9995548745704333,False,0.15854008568562075,True,True,True,True
+9,172,1472,0.9984590339381546,60,0.5753674284248689,0.9992453603986811,False,0.232235822035248,True,True,True,True

data/processed/lab042/lab042_report.txt

@@ -0,0 +1,85 @@
+Lab042 — передача JPEG через кабельную петлю на одном PlutoSDR
+
+Режим прогона
+- Канал: cable.
+- Трасса: кабель через аттенюатор 30 дБ.
+- Несущая 435.000 МГц, одинаковая на передачу и приём. Сигнал в эфир не выходит, поэтому её значение произвольно.
+- Усиление передатчика -10.0 дБ, приёмника 20.0 дБ, режим ручной.
+- Антенны не подключались: они создали бы путь распространения параллельно кабельному.
+
+Параметры тракта
+- Символьная скорость 20000 симв/с, отсчётов на символ 128.
+- Частота дискретизации 2560000 Гц. Минимум устройства 2083333 Гц.
+- Скругление 0.35, длина фильтра 10 символов, защитный интервал 16 символов.
+- Значения перенесены из Lab018 без изменений, кроме передискретизации: она поднята с 32 до 128,
+  потому что частота 640 000 Гц из Lab018 ниже предела устройства втрое.
+
+Передаваемое изображение
+- Источник data/raw/lab011_scene.jpg, 320x180, качество 30.
+- Размер JPEG 4756 байт.
+- Фрагментов 10 по 512 байт данных.
+- Пакет протокола от 172 до 536 байт, радиокадр от 1472 до 4384 бит.
+- Последний фрагмент изображения короче остальных, поэтому его кадр меньше. Размер каждого кадра приведён в lab042_frames.csv.
+- Всего передано 5292544 отсчётов, что соответствует 2.067 с эфира.
+
+Результат приёма
+- Кадров найдено 10 из 10.
+- Кадров с несошедшейся CRC32: 0.
+- Фрагментов восстановлено 10, доля 100.000%.
+- Изображение собрано: да.
+- Совпадает с переданным побайтово: да.
+- Размер принятого изображения 4756 байт.
+
+Качество сигнала
+- Средняя нормированная корреляция при поиске кадра 0.99879.
+- Средняя оценка ухода несущей 0.029 Гц.
+- Средняя величина вектора ошибки 19.302%.
+
+Скорость
+- Длительность сигнала в эфире 2.067 с.
+- Канальная скорость 18.404 кбит/с — полезные байты, делённые на время эфира.
+- Полное время работы программы 16.648 с, что даёт 2.285 кбит/с.
+- В программном режиме вторая величина отражает быстродействие вычислений, а не пропускную способность канала.
+
+Кадры
+номер | корреляция | фаза | уход несущей, Гц | достоверность оценки | вектор ошибки, % | найден | заголовок | CRC32 | фрагмент
+0 | 0.99916 | 19 | -0.140 | 0.99979 | 34.009 | да | да | да | да
+1 | 0.99863 | 51 | -0.670 | 0.99925 | 19.628 | да | да | да | да
+2 | 0.99885 | 75 | 0.167 | 0.99971 | 16.392 | да | да | да | да
+3 | 0.99846 | 69 | 0.125 | 0.99940 | 18.678 | да | да | да | да
+4 | 0.99862 | 37 | 0.522 | 0.99964 | 15.292 | да | да | да | да
+5 | 0.99884 | 32 | -0.194 | 0.99952 | 17.687 | да | да | да | да
+6 | 0.99939 | 51 | 0.359 | 0.99973 | 14.424 | да | да | да | да
+7 | 0.99863 | 75 | 0.294 | 0.99967 | 17.830 | да | да | да | да
+8 | 0.99886 | 69 | -0.749 | 0.99955 | 15.854 | да | да | да | да
+9 | 0.99846 | 60 | 0.575 | 0.99925 | 23.224 | да | да | да | да
+
+Функциональные проверки
+- ПРОЙДЕНО — 01. Размер подготовленного JPEG: JPEG занимает 4756 байт при пределе 5000, качество 30
+- ПРОЙДЕНО — 02. Разбиение и сборка изображения: 10 фрагментов собираются в исходные байты
+- ПРОЙДЕНО — 03. Кадр несёт пакет с CRC32: все 10 кадров несут пакет с сошедшейся CRC32
+- ПРОЙДЕНО — 04. Длина сформированного кадра: кадр занимает 566528 отсчётов, что совпадает с расчётом
+- ПРОЙДЕНО — 05. Масштабирование в целые отсчёты: пиковая амплитуда 1601 не превышает предела 16384
+- ПРОЙДЕНО — 06. Программная петля восстанавливает изображение: программная петля вернула 4756 байт, идентичных исходным
+- ПРОЙДЕНО — 07. Обнаружение искажённого кадра: одиночная битовая ошибка в данных кадра обнаружена контрольной суммой
+- ПРОЙДЕНО — 08. Потеря фрагмента: потеря фрагмента не портит остальные, сборка требует всех
+- ПРОЙДЕНО — 09. Достижимость частоты дискретизации: 2560000 Гц не ниже предела устройства 2083333 Гц
+- ПРОЙДЕНО — 10. Настройки устройства в пределах: усиления, полоса 200000 Гц и несущая 435000000 Гц внутри допустимых пределов, сигнал занимает 27000 Гц
+- ПРОЙДЕНО — 11. Потолок усиления в эфирном режиме: предел зависит от расстояния: -19.5 дБ на 5 см против 6.0 дБ на 200 см
+
+Ограничения
+- Передатчик и приёмник принадлежат одному устройству и работают от общего опорного
+  генератора, поэтому уход несущей между ними мал и не характеризует реальную линию.
+- Повторная передача потерянных фрагментов не выполняется: потери фиксируются, но не восстанавливаются.
+- Исправление стираний не подключалось.
+- Разведение на два устройства и выход в эфир — предмет Lab043 и Lab044.
+
+Созданные файлы
+- data/processed/lab042/lab042_received.jpg
+- data/processed/lab042/lab042_summary.csv
+- data/processed/lab042/lab042_frames.csv
+- data/processed/lab042/lab042_report.txt
+- data/processed/lab042/lab042_constellation.png
+- data/processed/lab042/lab042_spectrum.png
+- data/processed/lab042/lab042_frame_correlation.png
+- data/processed/lab042/lab042_fragment_delivery.png

data/processed/lab042/lab042_summary.csv

@@ -0,0 +1,2 @@
+loopback_mode,path_description,antenna_distance_cm,source_image,image_width,image_height,jpeg_quality,jpeg_bytes,fragment_data_size,fragment_count,packet_bytes_max,packet_bytes_min,frame_bits_max,frame_bits_min,symbol_rate,samples_per_symbol,sample_rate_hz,carrier_hz,transmitted_samples,air_time_seconds,frames_received,frames_failed_crc,fragments_recovered,fragment_delivery_fraction,image_reassembled,image_identical,received_image_bytes,transfer_seconds,channel_bitrate_kbps,wall_clock_bitrate_kbps,mean_correlation_score,mean_carrier_offset_hz,mean_error_vector_magnitude,tx_gain_db,rx_gain_db,attenuator_db
+cable,кабель через аттенюатор 30 дБ,0.0,data/raw/lab011_scene.jpg,320,180,30,4756,512,10,536,172,4384,1472,20000,128,2560000,435000000,5292544,2.0674,10,0,10,1.0,True,True,4756,16.64845450001303,18.40379220276676,2.285377300335609,0.9987897674116901,0.02900538637381942,0.193017509510432,-10.0,20.0,30.0

docs/lab042_hardware_loopback_spec.md

@@ -0,0 +1,286 @@
+# Lab042 — техническое задание
+
+## Передача JPEG через настоящий радиотракт: кабельная петля на одном PlutoSDR
+
+Документ предназначен для исполнителя, не участвовавшего в предыдущих лабораторных. Всё, что нужно для работы, изложено здесь.
+
+---
+
+## 1. Зачем эта лабораторная
+
+За Lab001–Lab041 собран весь тракт передачи изображения, кроме одного звена: **передатчик ни разу не включался**. Во всём проекте нет ни одного вызова передачи через SDR.
+
+Цель Lab042 — соединить уже готовые части и получить **изображение, прошедшее через настоящий радиотракт**. Не улучшить, не оптимизировать, не измерить дальность. Получить картинку на выходе.
+
+Всё, что не требуется для этой цели, в Lab042 не делается.
+
+---
+
+## 2. Что уже готово и должно быть переиспользовано
+
+Ничего из перечисленного писать заново не нужно.
+
+| Звено | Где взять |
+|---|---|
+| Разбиение JPEG на фрагменты и сборка обратно | `protocol/image_fragments.py`, примеры в `experiments/lab007_image_fragmentation.py` |
+| Пакет с CRC32, кодирование и разбор | `protocol/packet.py` |
+| Подбор размера и качества JPEG | `experiments/lab010_image_optimization.py`, готовые профили в `data/processed/lab010` |
+| Формирование радиокадра с преамбулой и маркером | `build_radio_frame` в `experiments/lab018_bpsk_radio_frame.py` |
+| Фильтр приподнятого косинуса | `root_raised_cosine_taps` там же |
+| Модуляция BPSK | `bpsk_modulate` там же |
+| Поиск кадра в потоке отсчётов | `find_radio_frame` в `experiments/lab019_bpsk_receiver.py` |
+| Оценка и коррекция ухода частоты | `estimate_carrier_parameters`, `correct_phase_and_frequency` там же |
+| Демодуляция и разбор кадра | `bpsk_demodulate`, `decode_radio_frame` там же |
+| Работа с Pluto на приём | `experiments/lab024a_pluto_rx_capture.py` |
+
+**Единственное, чего нет в проекте — передача.** Это и есть основной объём работы.
+
+---
+
+## 3. Почему петля на одном устройстве, а не два устройства
+
+Передатчик и приёмник одного PlutoSDR работают от общего опорного генератора. Поэтому между ними практически нет ухода несущей частоты и не расходятся часы.
+
+Это снимает ровно те две проблемы, которые в проекте проработаны слабее всего, и позволяет получить картинку сразу. Разведение на два устройства — отдельная лабораторная Lab043, там появится настоящий уход частоты, и вот там понадобятся наработки Lab021–Lab023.
+
+**Не пытайтесь сделать Lab042 и Lab043 одной работой.** Разница между ними — вся сложность синхронизации.
+
+---
+
+## 4. Наличное оборудование
+
+Подтверждено по состоянию на 10 августа 2026 года.
+
+| Позиция | Состояние |
+|---|---|
+| **Pluto+** — SDR, 2 приёмника и 2 передатчика, гигабитный Ethernet | есть |
+| RTL-SDR — приёмный донгл | есть, понадобится в Lab043 |
+| Кабели SMA | будут найдены |
+| Антенны: штыревые на магнитном основании, короткая штыревая | есть, **в Lab042 не используются** |
+| Рамочная антенна Donut AM (0,5–2 МГц) | к проекту отношения не имеет |
+| **Аттенюатор AT30S**, 30 дБ, до 200 Вт, разъёмы SMA | есть |
+
+Аппаратных препятствий к началу работы нет. Запас по мощности у аттенюатора избыточен на много порядков — рассчитан на передатчики в сотни ватт, а у нас доли милливатта, — но это никак не мешает: ослабление от уровня сигнала не зависит.
+
+Важно: устройство — **Pluto+**, а не оригинальный ADALM-PLUTO. Отличия, которые имеют значение:
+
+- связь по Ethernet, а не по USB; адрес `ip:192.168.2.1` уже подтверждён работой Lab024a;
+- два приёмных и два передающих канала; в Lab042 используется только первый канал каждого;
+- вопреки надписи на корпусе, устройство сообщает о себе как `Analog Devices PlutoSDR Rev.C (Z7010-AD9361)` и представлено **одним приёмным и одним передающим каналом**: буферные устройства `cf-ad9361-lpc` и `cf-ad9361-dds-core-lpc` несут по паре каналов I и Q. Поэтому класс `adi.Pluto` подходит, переход на `adi.ad9361` не требуется;
+- чип **AD9361**, а не урезанный AD9363. Диапазон перестройки приёмника от 70 МГц до 6 ГГц, передатчика от 46,9 МГц до 6 ГГц. Целевой диапазон проекта ниже 350 МГц устройству доступен штатно, без доработки прошивки. Для Lab044 это снимает ранее открытый вопрос;
+- прошивка `v0.32-1-g7bdc-dirty`, ядро 4.19. Обновление в рамках Lab042 не выполняется.
+
+## 5. Требования к схеме и сохранности оборудования
+
+Разрешения на работу в эфире у владельца проекта есть, вопрос законности здесь не рассматривается. Перечисленное ниже защищает оборудование и чистоту опыта.
+
+1. **Антенны убрать со стола до начала работы.** Причина техническая: антенна на передатчике или приёмнике создаёт паразитный путь распространения параллельно кабельному. Уровень на входе приёмника перестаёт соответствовать расчёту, появляется переотражённый сигнал, и при отказе будет невозможно понять, что именно не сработало. Кабельная петля ценна тем, что в ней известно всё; антенна это свойство разрушает.
+2. Передатчик не включать при отключённом кабеле: выход без нагрузки вреден для оконечного каскада.
+3. Аттенюатор AT30S включается **в разрыв** между выходом передатчика и входом приёмника. Не параллельно, не на свободный порт — именно последовательно в тракт.
+4. Перед первым включением передатчика убедиться глазами, что аттенюатор действительно в цепи. Это единственное, что стоит между опечаткой в настройке усиления и сгоревшим приёмником.
+
+### Расчёт уровней
+
+| Величина | Значение |
+|---|---|
+| Выход передатчика Pluto+ при усилении 0 дБ | около **+7 дБм** |
+| Предельно допустимый уровень на входе приёмника | около **+2,5 дБм** |
+| Ослабление аттенюатора | 30 дБ |
+| Уровень на входе приёмника при усилении 0 дБ | около **−23 дБм** |
+
+Вывод: **с аттенюатором в разрыве весь диапазон `tx_hardwaregain_chan0` от −89 до 0 дБ безопасен для приёмника.** Запас до порога повреждения составляет более 25 дБ даже в самом худшем случае.
+
+**Порядок подбора усиления:**
+
+1. Начать с `tx_hardwaregain_chan0 = -30`. Это даёт около −53 дБм на входе приёмника — заведомо чистый и заведомо безопасный уровень.
+2. Если сигнал слишком слаб, поднимать шагами по 10 дБ.
+3. Если созвездие разваливается при сильном сигнале — это насыщение приёмника, лечится **уменьшением** усиления, а не увеличением.
+
+Без аттенюатора работать запрещено даже при малом усилении: защита нужна не от расчётного уровня, а от ошибки оператора.
+
+---
+
+## 6. Программное окружение: препятствие, которое надо снять первым
+
+Проверка окружения 10 августа 2026 года показала следующее.
+
+Интерпретатор, доступный в командной строке — `C:\Users\user\AppData\Local\Programs\Python\Python313\python.exe`, версия 3.13.1. В нём **отсутствуют `pyadi-iio` и `libiio`**, то есть работать с Pluto+ из него невозможно. Также отсутствует `scipy`, который нужен лабораторным Lab020–Lab022, Lab024b и Lab025.
+
+При этом Lab024a когда-то отработала с настоящим устройством. Значит, существует второе окружение — по всей видимости, среда Anaconda, — где всё установлено, и запуск шёл оттуда.
+
+**Первое действие исполнителя: определить, в каком окружении запускаются лабораторные, и зафиксировать это.** Пока это не сделано, невозможно ни повторить Lab024a, ни начать Lab042.
+
+Требуется:
+
+1. Найти окружение, где установлены `pyadi-iio` и `libiio`, и проверить связь с устройством.
+2. Записать в отчёт: путь к интерпретатору, версию Python, версии `pyadi-iio` и `libiio`.
+3. Если такого окружения нет — установить `pyadi-iio` и `libiio`, зафиксировав версии.
+
+Расчётные лабораторные, включая Lab041, в окружении без `pyadi-iio` запускаются нормально — им нужны только `numpy`, `matplotlib` и `opencv`. Разделение аппаратных и расчётных зависимостей относится к этапу стабилизации и в Lab042 не решается, но результат проверки надо записать: он понадобится при составлении описания окружения.
+
+---
+
+## 7. Параметры тракта
+
+Значения тракта взяты из Lab018 и менять их в этой лабораторной **запрещено**, за единственным исключением, описанным сразу под таблицей. Причина запрета: переход на железо сам по себе вносит достаточно неизвестных. Менять одновременно и параметры сигнала — значит потерять возможность понять причину отказа.
+
+| Параметр | Значение | Источник |
+|---|---|---|
+| Символьная скорость | 20 000 симв/с | `SYMBOL_RATE`, Lab018 |
+| Отсчётов на символ | **128** | изменено против Lab018, см. ниже |
+| Частота дискретизации | **2 560 000 Гц** | произведение двух предыдущих |
+| Скругление фильтра | 0,35 | `RRC_ROLLOFF`, Lab018 |
+| Длина фильтра | 10 символов | `RRC_SPAN_SYMBOLS`, Lab018 |
+| Преамбула | 64 бита | `PREAMBLE_BIT_COUNT`, Lab018 |
+| Слово синхронизации | 0xD391 | `RADIO_SYNC_WORD`, Lab018 |
+| Защитный интервал | 16 символов | `GUARD_SYMBOL_COUNT`, Lab018 |
+| Амплитуда передачи | 0,70 | `TX_AMPLITUDE`, Lab018 |
+
+### Обязательное отступление от Lab018: частота дискретизации
+
+Опрос устройства 10 августа 2026 года показал, что **минимальная частота дискретизации AD9361 составляет 2 083 333 Гц**. Частота 640 000 Гц из Lab018 физически недостижима: она втрое ниже предела. Понизить её можно только включением встроенного КИХ-фильтра с прореживанием, что добавляет к первому включению передатчика ещё один непроверенный механизм.
+
+Принято решение поднять число отсчётов на символ с 32 до 128. Тогда:
+
+- символьная скорость остаётся **20 000 симв/с**, как в Lab018;
+- скругление, длина фильтра, преамбула, слово синхронизации и защитный интервал — без изменений;
+- частота дискретизации становится 20 000 × 128 = **2 560 000 Гц**, что выше минимума с запасом.
+
+Меняется **только степень передискретизации** — величина, относящаяся к стыку с устройством, а не к самому сигналу. Форма спектра, скорость и структура кадра остаются теми же, что проверены в Lab018–Lab023. Это единственное разрешённое расхождение с Lab018, и оно вынужденное.
+
+Полезная скорость получается около 20 кбит/с. Для картинки в несколько килобайт это единицы секунд. Этого достаточно: цель — картинка, а не скорость.
+
+Побочное следствие: фильтр приподнятого косинуса при 128 отсчётах на символ и длине 10 символов получается на 1281 отвод. Свёртку следует выполнять через быстрое преобразование Фурье (`scipy.signal.fftconvolve`), иначе формирование сигнала займёт недопустимо много времени.
+
+### Параметры PlutoSDR
+
+| Параметр | Значение | Примечание |
+|---|---|---|
+| Адрес устройства | `ip:192.168.2.1` | как в Lab024a |
+| Несущая передачи и приёма | 435 МГц | обе одинаковые |
+| Частота дискретизации | 2 560 000 | совпадает с трактом, минимум устройства 2 083 333 |
+| Полоса радиочастотного тракта | 200 000 Гц | минимум Pluto, сигнал занимает около 27 кГц |
+| Усиление передатчика | начать с −30 дБ | с аттенюатором безопасен весь диапазон, см. раздел 5 |
+| Режим усиления приёмника | `manual` | автоматика мешает измерениям |
+| Усиление приёмника | начать с 20 дБ | подобрать по амплитуде |
+| Циклический буфер передачи | **выключен** | см. раздел 9, ловушка 1 |
+
+Про несущую: 435 МГц выбрана потому, что нижняя граница PlutoSDR составляет около 325 МГц, а целевой диапазон проекта ниже 350 МГц находится у самого края. Поскольку передача идёт по кабелю и в эфир не выходит, выбор частоты здесь ни на что не влияет. Вопрос рабочего диапазона решается отдельно перед Lab044.
+
+---
+
+## 8. Порядок работы
+
+**Передающая сторона**
+
+1. Взять исходное изображение из `data/raw`, привести к профилю из Lab010 так, чтобы JPEG получился не крупнее 5 КБ.
+2. Разбить на фрагменты через `protocol/image_fragments.py`.
+3. Каждый фрагмент упаковать в пакет с CRC32 через `protocol/packet.py`.
+4. Каждый пакет обернуть в радиокадр через `build_radio_frame`.
+5. Промодулировать BPSK и отфильтровать.
+6. Привести к целым числам и передать.
+
+**Приёмная сторона**
+
+1. Запустить приём **до** начала передачи.
+2. Найти кадры через `find_radio_frame`.
+3. Скорректировать фазу и частоту.
+4. Демодулировать, разобрать кадр, проверить CRC32.
+5. Собрать изображение из уцелевших фрагментов и сохранить на диск.
+
+Приём и передача идут в одном процессе. Приём запускается первым — иначе начало первого кадра теряется безвозвратно.
+
+---
+
+## 9. Ловушки, на которых спотыкаются в первый раз
+
+Перечислено то, что почти наверняка будет сделано неправильно без предупреждения.
+
+1. **Циклический буфер передачи.** У PlutoSDR буфер передачи по умолчанию повторяется бесконечно. Кажется, что передан один кадр, а передаётся бесконечный поток. Признак: приёмник видит тысячи копий одного кадра, а передача не заканчивается. Буфер надо явно выключить и явно освобождать после передачи.
+
+2. **Масштаб отсчётов.** PlutoSDR принимает целые числа, а не дробные значения от минус единицы до единицы. Готовый сигнал надо умножить на масштабный множитель, обычно 2 в степени 14. Признак ошибки: передаётся почти тишина, приёмник ничего не находит.
+
+3. **Приём запущен после передачи.** Начало кадра теряется, преамбула не находится. Признак: `find_radio_frame` не срабатывает при заведомо исправном сигнале.
+
+4. **Размер приёмного буфера меньше кадра.** Кадр не помещается целиком, поиск преамбулы срывается. Буфер должен вмещать кадр с запасом минимум вдвое.
+
+5. **Автоматическая регулировка усиления приёмника.** Меняет амплитуду в процессе и портит оценку. Режим должен быть ручным.
+
+6. **Насыщение приёмника.** При слишком слабом ослаблении сигнал упирается в потолок и созвездие разваливается, хотя уровень кажется отличным. Признак: демодуляция не работает при очень сильном сигнале. Лечится увеличением ослабления, а не усилением.
+
+7. **Переходный процесс в начале передачи.** Первые несколько десятков отсчётов недостоверны. Поэтому в тракте есть защитный интервал в 16 символов — его нельзя убирать.
+
+---
+
+## 10. Что считается выполненной работой
+
+Лабораторная принимается, если выполнено всё перечисленное.
+
+**Обязательный результат**
+
+1. Файл принятого изображения на диске, открывающийся просмотрщиком.
+2. Принятое изображение совпадает с переданным при отсутствии потерь — сравнение по контрольной сумме всего файла.
+3. Работа воспроизводится: два запуска подряд дают одинаковый успешный результат.
+
+**Обязательные измерения**
+
+| Величина | Как получить |
+|---|---|
+| Размер переданного JPEG, байт | из файла |
+| Число фрагментов и пакетов | из разбиения |
+| Число принятых кадров | счётчик приёмника |
+| Число кадров, не прошедших CRC32 | счётчик приёмника |
+| Доля успешно принятых фрагментов | отношение |
+| Полное время передачи, секунды | измерение |
+| Фактическая полезная скорость, кбит/с | расчёт из двух предыдущих |
+| Усиление передатчика и приёмника | из настроек устройства |
+| Ослабление аттенюатора, дБ | 30, AT30S |
+
+**Обязательные файлы в `data/processed/lab042`**
+
+- принятое изображение;
+- CSV с измерениями из таблицы выше;
+- текстовый отчёт;
+- график созвездия принятого сигнала;
+- график спектра принятого сигнала.
+
+**Требования к коду**
+
+- Ничего из `protocol/` не переписывать. Только использовать.
+- Параметры тракта из раздела 5 не менять.
+- Все константы вынести в начало файла с указанием источника, как это сделано в Lab041.
+- Никаких вписанных руками результатов: каждое число в отчёте должно вычисляться из измерений текущего запуска. Это отдельно проверяется при приёмке.
+- Файл лабораторной: `experiments/lab042_pluto_image_loopback.py`, запуск через `python -m experiments.lab042_pluto_image_loopback` из корня проекта.
+
+---
+
+## 11. Что в этой лабораторной делать не надо
+
+Перечислено, чтобы не расширять объём.
+
+- Не реализовывать повторную передачу потерянных фрагментов. Потери фиксируются, но не восстанавливаются.
+- Не подключать исправление стираний из `protocol/packet_erasure_fec.py`.
+- Не поднимать скорость и не менять модуляцию.
+- Не выходить в эфир и не подключать антенну. Это вопрос не разрешений, а объёма: эфирная передача — предмет Lab044, и смешивать её с первым включением передатчика нельзя.
+- Не работать с двумя устройствами.
+- Не трогать логику сеансов, аварийной остановки и приоритетов — она к передаче картинки отношения не имеет.
+
+Всё это относится к последующим лабораторным.
+
+---
+
+## 12. Порядок приёмки
+
+1. Исполнитель выполняет работу и сообщает о готовности.
+2. Проверяется `python tools/quick_gate.py` — должен проходить.
+3. Проводится аудит: соответствие разделу 10, отсутствие вписанных результатов, происхождение каждого числа в отчёте.
+4. При наличии замечаний они оформляются списком с указанием файла и строки.
+5. После приёмки в `PROJECT_LOG.md` добавляется новая запись по принятому в проекте образцу.
+
+---
+
+## 13. Что дальше
+
+- **Lab043** — разведение на два устройства: передаёт PlutoSDR, принимает RTL-SDR. Появляется настоящий уход несущей частоты и расхождение часов. Здесь понадобятся Lab021–Lab023.
+- **Lab044** — выбор рабочего диапазона и первый выход в эфир на малой мощности. Разрешения имеются, поэтому вопрос сводится к техническому выбору диапазона, мощности и антенны.
+- Повышение скорости, исправление стираний и передача последовательности кадров — после того, как картинка устойчиво проходит.

docs/lab043_pluto_to_rtlsdr_spec.md

@@ -0,0 +1,521 @@
+# Lab043. Передача JPEG с Pluto+ на независимый RTL-SDR
+
+## 1. Цель лабораторной
+
+Передать тот же подготовленный JPEG, который использован в Lab042, с
+Pluto+ на отдельный RTL-SDR и восстановить его побайтово.
+
+В Lab042 передатчик и приёмник находились в одном Pluto+ и использовали
+общий опорный генератор. Lab043 должна убрать это упрощение и раздельно
+измерить три эффекта:
+
+1. рассогласование несущих частот передатчика и приёмника;
+2. относительное рассогласование частот дискретизации двух устройств;
+3. начальную фазу выбора отсчёта символа внутри символьного интервала.
+
+Лабораторная считается успешной только при выполнении радиокритериев,
+прикладных критериев и программных проверок, определённых в разделе 11.
+Запуск программы сам по себе успехом не считается.
+
+## 2. Границы работы
+
+Lab043 остаётся кабельной. Эфир добавил бы многолучёвость, внешние сигналы
+и неконтролируемые потери, хотя предмет этой работы состоит в
+синхронизации независимых устройств.
+
+В Lab043 не входят:
+
+- передача через антенны;
+- выбор рабочего диапазона 200-250 МГц;
+- ARQ и повторная передача;
+- исправление стираний и новая FEC;
+- потоковое видео;
+- скачки по частоте;
+- изменение логики управления и безопасности ровера.
+
+Эфирный тракт остаётся предметом следующей лабораторной.
+
+## 3. Подтверждённое оборудование и окружение
+
+Состояние оборудования проверено непосредственным опросом. Перед
+реализацией и перед каждым аппаратным прогоном его необходимо проверить
+повторно.
+
+### 3.1. Передатчик
+
+- Pluto+;
+- устройство должно открываться успешным `iio.Context`, а не проверяться
+  только командой `ping`;
+- чип AD9361;
+- используется первый передающий канал.
+
+Конкретный рабочий URI IIO определяется повторным опросом перед опытом и
+сохраняется в метаданных запуска. Исторически работали сетевой URI
+`ip:192.168.2.1` и прямой USB IIO, но ни один из них нельзя считать
+доступным без текущей проверки.
+
+### 3.2. Приёмник
+
+- USB ID `VID_0BDA&PID_2838`;
+- имя библиотеки: `Generic RTL2832U OEM`;
+- тюнер, сообщённый библиотекой: Fitipower FC0013;
+- основной интерфейс `MI_00` использует WinUSB от libwdi;
+- устройство открыто из Python через `pyrtlsdr` и `librtlsdr`;
+- установка 435 МГц подтверждена чтением значения обратно;
+- частота дискретизации 2 400 000 отсчётов/с работает;
+- получены комплексные отсчёты;
+- доступные аппаратные усиления находятся в диапазоне от -9,9 до
+  19,7 дБ и задаются дискретными ступенями устройства.
+
+Ошибка второго USB-интерфейса не считается отказом SDR. Основной
+интерфейс `MI_00`, через который работает `librtlsdr`, исправен.
+
+### 3.3. Зафиксированное программное окружение
+
+- Python 3.13.1 x64;
+- `pyrtlsdr` 0.5.0;
+- `pyrtlsdrlib` 0.0.5;
+- поставляемая пакетом нативная `librtlsdr` v0.9.0;
+- `pyadi-iio` и `pylibiio` для Pluto+.
+
+Принятый способ доступа к RTL-SDR: API `pyrtlsdr` с поставляемой
+`pyrtlsdrlib` нативной библиотекой. Малый собственный DLL-адаптер не
+нужен. Реализация должна проверять версии и выдавать понятную ошибку, если
+библиотека или устройство недоступны. Пользовательский путь к DLL
+зашивать в код запрещено.
+
+## 4. Физическая схема и безопасность
+
+Схема:
+
+`Pluto+ TX -> SMA-кабель -> AT30S 30 дБ -> переходник/кабель -> RTL-SDR RX`
+
+Обязательные условия перед каждым включением TX:
+
+1. Антенны Pluto+ и RTL-SDR сняты.
+2. AT30S включён последовательно в тракт, а не подключён к свободному
+   порту.
+3. Все разъёмы затянуты, кабель не отсоединяется при включённом TX.
+4. Пользователь отдельно подтверждает эту физическую схему.
+5. Первый заранее определённый рабочий режим: TX -30 дБ, RTL-SDR
+   19,7 дБ, несущая 435 МГц, номинально 2,4 Мвыб/с на обоих устройствах.
+6. Автоматический перебор усилений, частот, порогов и способов
+   синхронизации запрещён.
+7. Если первый режим не проходит, программа сохраняет исходные данные и
+   диагностику и останавливается. Следующий прогон разрешён только после
+   разбора причины и с изменением ровно одного заранее названного
+   параметра.
+
+При TX -30 дБ расчётный уровень после AT30S составляет около -53 дБм.
+Это значение следует из бюджета Lab042: около +7 дБм при TX 0 дБ,
+минус 30 дБ настройки TX и минус 30 дБ аттенюатора. Расчёт не заменяет
+проверку наличия аттенюатора и правильности схемы.
+
+## 5. Номинальные параметры сигнала и обязательное чтение обратно
+
+| Параметр | Запрошенное значение | Происхождение |
+|---|---:|---|
+| Несущая TX и RX | 435 МГц | Кабельная рабочая точка Lab042 |
+| Символьная скорость | 20 000 симв/с | Lab018-Lab023 и Lab042 |
+| Частота дискретизации TX | 2 400 000 отсчётов/с | Поддерживается Pluto+ и проверена на RTL-SDR |
+| Частота дискретизации RX | 2 400 000 отсчётов/с | Проверена непосредственным опросом RTL-SDR |
+| Номинальное число отсчётов на символ | 120 | 2 400 000 / 20 000 |
+| Полоса TX | 200 кГц | Минимальная полоса AD9361, использованная в Lab042 |
+| Размер данных фрагмента | 512 байт | Lab042 |
+| Модуляция | BPSK | Lab018-Lab023 и Lab042 |
+
+Одинаковое номинальное значение 2,4 Мвыб/с выбрано специально. Lab043
+измеряет физическую ошибку генераторов, а не искусственно созданную
+разницу номинальных частот дискретизации.
+
+Перед аппаратным опытом программа обязана установить и прочитать обратно:
+
+- частоту дискретизации TX Pluto+;
+- частоту дискретизации RX RTL-SDR;
+- центральную частоту TX Pluto+;
+- центральную частоту RX RTL-SDR;
+- усиление TX Pluto+;
+- фактически выбранную ступень усиления RTL-SDR.
+
+Для каждого параметра в отчёте и метаданных хранятся отдельные поля
+`requested` и `actual`. Если API не предоставляет независимого чтения
+обратно, поле `actual` имеет значение `N/A`, а не копию запрошенного
+значения. Передача не начинается, если частота дискретизации или несущая
+не прочитаны обратно либо отличаются от запрошенных больше, чем допускает
+API устройства и заранее установленная проверка.
+
+## 6. Двухтоновая калибровка
+
+Перед BPSK Pluto+ передаёт два комплексных тона, симметричных относительно
+несущей:
+
+`-Fcal` и `+Fcal`, где `Fcal = 50 кГц`.
+
+50 кГц выбраны до измерения: оба тона находятся внутри полосы 200 кГц,
+не сливаются около нуля и дают разнос 100 кГц для оценки масштаба частот.
+RTL-SDR измеряет положения двух пиков относительно своей настроенной
+несущей: `f_low` и `f_high`.
+
+### 6.1. Рассогласование несущей
+
+`carrier_offset_hz = (f_low + f_high) / 2`
+
+`carrier_offset_ppm = carrier_offset_hz / 435000000 * 1e6`
+
+Положительный результат означает, что принятый спектр сдвинут вверх по
+частоте. Для компенсации сырые комплексные отсчёты умножаются на:
+
+`exp(-j * 2*pi*carrier_offset_hz*n/Fs_rx_actual)`
+
+Знак поправки проверяется независимо: после компенсации среднее положение
+двух тонов должно стать ближе к нулю. Рассогласование несущей не должно
+подменяться оценкой ошибки частоты дискретизации.
+
+### 6.2. Относительная ошибка частот дискретизации
+
+`clock_scale = (f_high - f_low) / (2*Fcal)`
+
+`sample_clock_error_ppm = (clock_scale - 1) * 1e6`
+
+Здесь положительная ошибка означает, что масштаб передающего такта больше
+масштаба приёмного. Для перехода принятых отсчётов на временную сетку
+передатчика ожидаемая длина после передискретизации равна:
+
+`len_corrected = round(len_received * clock_scale)`
+
+Направление этой операции не принимается на веру. Оно подтверждается
+машинными тестами из раздела 8. После передискретизации накопленная ошибка
+символьного времени должна уменьшаться.
+
+### 6.3. Начальная фаза выбора отсчёта символа
+
+После грубой CFO-коррекции и передискретизации приёмник отдельно ищет
+начальную фазу выбора отсчёта в диапазоне от 0 до 119 номинальных
+отсчётов на символ. Это не CFO и не ошибка такта. В результатах отдельно
+хранятся:
+
+- `carrier_offset_hz` и `carrier_offset_ppm`;
+- `clock_scale` и `sample_clock_error_ppm`;
+- `symbol_sample_phase` и остаточная ошибка символьного времени.
+
+### 6.4. Формальное определение шумового фона
+
+Шумовой фон и превышение пиков вычисляются одинаковым детерминированным
+алгоритмом:
+
+1. Из комплексных отсчётов вычитается среднее.
+2. Оценивается спектральная плотность мощности методом Welch с окном Hann,
+   `nfft = nperseg = 65536` и перекрытием 50 процентов.
+3. Разрешение одного БПФ вычисляется по прочитанной обратно частоте как
+   `delta_f = Fs_rx_actual / 65536`. При 2,4 Мвыб/с оно равно
+   `36,62109375 Гц`.
+4. Анализируется полоса от -100 до +100 кГц относительно настроенной
+   несущей.
+5. Нижний пик ищется в диапазоне от -80 до -20 кГц, верхний от +20 до
+   +80 кГц. Эти непересекающиеся окна заданы до измерения.
+6. После нахождения кандидатов ожидаемых тонов из оценки шума исключаются
+   защитные зоны шириной +/-2 кГц вокруг измеренного положения каждого
+   кандидата. Каждая полузона занимает около 55 разрешающих элементов БПФ
+   при 2,4 Мвыб/с, поэтому утечка основного лепестка и ближайших боковых
+   лепестков тона не попадает в медиану шума.
+7. Шумовая мощность `P_noise` равна медиане линейных значений мощности
+   всех оставшихся спектральных элементов анализируемой полосы.
+8. Для каждого тона вычисляется
+   `peak_excess_db = 10*log10(P_peak/P_noise)`.
+
+Оба пика должны превышать шумовой фон не менее чем на 10 дБ. Порог 10 дБ,
+полоса анализа, окна поиска и защитные зоны зафиксированы до аппаратного
+измерения. Если нет двух конечных пиков, недостаточно элементов шума или
+хотя бы один пик не проходит порог, оценка этого захвата недействительна.
+
+### 6.5. Повторы и представление недействительных оценок
+
+Без изменения схемы выполняются три отдельных калибровочных захвата. Для
+каждого захвата отдельно сохраняются:
+
+- `f_low_hz` и `f_high_hz`;
+- `low_peak_excess_db` и `high_peak_excess_db`;
+- `carrier_offset_hz` и `carrier_offset_ppm`;
+- `clock_scale` и `sample_clock_error_ppm`;
+- остаточная CFO после коррекции;
+- остаточная ошибка разноса тонов в герцах и ppm;
+- признак достоверности и причина отказа.
+
+По трём захватам вычисляются среднее, минимум, максимум и стандартное
+отклонение каждой конечной оценки, а также число недействительных
+захватов. Стандартное отклонение считается по совокупности всех конечных
+оценок с `ddof=0`. Недействительное значение записывается как `NaN` в CSV
+и как `N/A` в текстовом отчёте. Оно никогда не заменяется нулём. Если
+конечных значений нет, все агрегаты этой величины равны `N/A`.
+
+## 7. Диагностическая последовательность передачи
+
+Аппаратная часть выполняется по ступеням. Переход к следующей ступени
+разрешён только после сохранения результатов предыдущей:
+
+1. двухтоновые калибровочные захваты;
+2. известная короткая BPSK-последовательность;
+3. символьная синхронизация и измерение BER известной последовательности;
+4. один пакет с CRC;
+5. десять пакетированных фрагментов JPEG;
+6. сборка JPEG;
+7. проверка размера и SHA-256.
+
+Известная последовательность задаётся до измерения как PRBS11 длиной
+2047 бит с полиномом `x^11 + x^9 + 1` и фиксированным ненулевым начальным
+состоянием, записанным в метаданные. BER вычисляется прямым сравнением
+каждого принятого бита с ожидаемым до упаковки в пакет и до проверки CRC.
+CRC не может использоваться вместо измерения BER.
+
+### 7.1. Контрольный опыт PRBS11 после проверки непрерывного async-приёма
+
+Короткая запись S и длинная запись L являются двумя отдельными аппаратными
+захватами. Каждый захват выполняется одним непрерывным
+`rtlsdr_read_async()` и содержит в этой последовательности: входной запас,
+двухтоновую калибровку, фиксированный защитный участок 0,10 с, один
+начальный маркер, непрерывную PRBS11 и выходной запас. Полезная PRBS11
+длится 0,25 с в S и не менее 2,0 с в L. Внутри полезной PRBS11 нет
+периодической повторной синхронизации.
+
+Оценки CFO и масштаба частоты дискретизации для обработки PRBS11 берутся
+только из двух тонов в той же самой IQ-записи. Оценку из предыдущего
+двухтонового опыта или из другой записи применять запрещено. Если тоны в
+текущем захвате недостоверны, PRBS11 этой записи не интерпретируется.
+
+Для обоих захватов заранее фиксируются 435 МГц, номинальные 2 400 000
+отсчётов/с TX и RX, 20 000 символов/с, TX -30 дБ, запрос усиления RTL-SDR
+19,7 дБ и `Fcal = 50 кГц`. Асинхронный приём использует callback 262144
+байта, 15 буферов и отбрасывает первый callback как разогревочный без
+перезапуска сеанса. Автоматический подбор параметров запрещён.
+
+Одна и та же IQ-запись обрабатывается режимами A, B и C. В B и C грубая
+CFO берётся из тонов этой записи; в C дополнительно применяется
+`clock_scale` этих же тонов. Разрешённая защищённая тонкая CFO-коррекция не
+заменяет двухтоновое измерение. Для длинной записи SRO дополнительно
+оценивается независимо по накопленному дрейфу символьной фазы.
+
+## 8. Обязательные программные проверки до аппаратного опыта
+
+На синтетических комплексных данных проверяются четыре ошибки частоты
+дискретизации: +20, -20, +100 и -100 ppm. Для каждого случая тест обязан
+проверить:
+
+- знак оценки `sample_clock_error_ppm`;
+- величину оценки в заранее заданном допуске;
+- направление изменения длины при передискретизации;
+- уменьшение остаточной накопленной ошибки символьного времени после
+  поправки.
+
+Для положительной ошибки длина должна изменяться в направлении,
+предписанном формулой `round(N * clock_scale)`, для отрицательной в
+противоположном. Тест должен упасть, если вместо `clock_scale` применена
+обратная величина. Допуск оценки и критерий уменьшения остаточной ошибки
+задаются в тесте до аппаратного измерения и печатаются в его результате.
+
+Дополнительно синтетические тесты проверяют:
+
+- знак грубой CFO-коррекции для положительной и отрицательной CFO;
+- уменьшение остаточной CFO после поправки;
+- отдельное восстановление начальной фазы выбора отсчёта символа;
+- явный `N/A`, если два тона не найдены достоверно;
+- формулу шумового фона и порог 10 дБ;
+- BER известной последовательности до CRC;
+- отсутствие ложного успеха при неполном пакете или изображении;
+- формирование кода возврата только по полному набору критериев.
+
+До прохождения этих проверок передатчик включать нельзя.
+
+## 9. Порядок аппаратного эксперимента
+
+1. Открыть Pluto+ успешным `iio.Context` и записать URI и идентификаторы.
+2. Открыть RTL-SDR через `pyrtlsdr` и записать имя устройства и тюнера.
+3. Установить и прочитать обратно параметры из раздела 5.
+4. Получить отдельное подтверждение пользователя, что кабельная схема из
+   раздела 4 собрана и AT30S находится в разрыве.
+5. Запустить один непрерывный приём RTL-SDR за 0,5 с до передачи Pluto+.
+6. Выполнить три отдельных двухтоновых калибровочных захвата.
+7. Сохранить оценки каждого захвата, агрегаты и не менее одного
+   эталонного сырого IQ-захвата.
+8. Передать известную BPSK-последовательность и измерить BER.
+9. Принять один пакет и проверить CRC.
+10. Передать десять фрагментов JPEG и проверить критерии раздела 11.
+
+Если любая ступень не проходит, переход к следующей запрещён. Исходные
+данные и отрицательный результат сохраняются без подгонки. Изменение
+одного параметра для следующего запуска оформляется как отдельное заранее
+объяснённое действие.
+
+Весь опыт принимается RTL-SDR как одна непрерывная временная
+последовательность. Продолжительность приёма вычисляется из фактически
+сформированной передаваемой последовательности:
+
+`T_rx = 0,5 с + N_tx / Fs_tx_actual + 0,5 с`.
+
+Здесь `N_tx` является фактическим числом комплексных отсчётов всей
+сформированной TX-последовательности. Общая длительность опыта не задаётся
+произвольной константой. Поток разрешено читать блоками, например около
+262144 отсчётов, но блоки объединяются без пропусков и перестановок в одну
+последовательность. Размер блока чтения является параметром реализации, а
+не физическим защитным интервалом. Десять отдельных запусков приёмника для
+десяти кадров запрещены, потому что они уничтожили бы наблюдаемое
+накопление ошибки тактов.
+
+Между BPSK-кадрами не добавляются новые интервалы. Используется структура
+Lab042: `GUARD_SYMBOL_COUNT` импортируется из её текущей конфигурации без
+копии числовой константы в Lab043, а формирование кадра повторяет ту же
+последовательность переднего интервала, символов, заднего интервала и RRC.
+Готовая функция Lab042 жёстко связана с 128 отсчётами на символ, поэтому
+при 120 отсчётах Lab043 переиспользуются её параметры, а не скрытая копия
+её глобальной частоты дискретизации. Если в дальнейшем отдельный интервал
+исчезнет из Lab042, Lab043 не создаёт новый без отдельного диагностического
+решения.
+
+## 10. Три режима обработки одной записи
+
+Одна и та же сохранённая BPSK/IQ-запись обрабатывается тремя режимами:
+
+- режим A: без грубой CFO-коррекции и без коррекции частоты
+  дискретизации;
+- режим B: только грубая CFO-коррекция из двухтоновой калибровки;
+- режим C: грубая CFO-коррекция, коррекция частоты дискретизации и
+  защищённая тонкая CFO-коррекция.
+
+Во всех режимах начальная фаза выбора отсчёта символа оценивается и
+записывается отдельно. Для каждого режима сохраняются BER известной
+последовательности, остаточная CFO, остаточная временная ошибка,
+корреляция маркера, число найденных кадров, число разобранных заголовков и
+CRC пакетов.
+
+В режиме C защищённая функция `should_apply_cfo_correction` из
+`protocol/bpsk_radio.py` остаётся тонкой коррекцией после грубого
+измерения. Она не используется как единственный способ поиска сдвига в
+десятки килогерц, поскольку символьная оценка неоднозначна за пределами
+половины символьной скорости.
+
+Провал режимов A или B не считается провалом лабораторной. Они являются
+контрольными измерениями. Критерии передачи применяются к режиму C.
+
+## 11. Критерии приёмки
+
+### 11.1. Радиокритерии режима C
+
+- найдены все 10 кадров;
+- разобраны все 10 пакетов;
+- CRC32 сошлась у всех 10 пакетов.
+
+### 11.2. Прикладные критерии режима C
+
+- восстановлены все 10 уникальных фрагментов;
+- JPEG собран без заполнения отсутствующих данных;
+- размер принятого JPEG совпадает с размером переданного;
+- SHA-256 принятого JPEG совпадает с SHA-256 переданного.
+
+### 11.3. Общий результат
+
+Код возврата 0 разрешён только при одновременном выполнении:
+
+- всех радиокритериев;
+- всех прикладных критериев;
+- всех обязательных программных проверок раздела 8.
+
+Для подтверждения воспроизводимости заранее выбранная рабочая точка
+запускается три раза подряд без изменения схемы и параметров. Каждый
+повтор сохраняется отдельно. Три повтора являются проверкой
+воспроизводимости, а не статистической оценкой вероятности отказа.
+
+Отрицательный результат допустим и сохраняется полностью. Запрещено
+автоматически поднимать усиление, менять частоту, пороги или алгоритм
+синхронизации после неудачного прогона.
+
+## 12. Измерения и артефакты
+
+### 12.1. Измерения передачи
+
+Для каждого запуска и каждого режима обработки сохраняются:
+
+- запрошенные и фактические усиления, несущие и частоты дискретизации;
+- число принятых отсчётов;
+- отдельные оценки CFO, ошибки частоты дискретизации и начальной
+  символьной фазы;
+- BER известной последовательности до CRC;
+- число найденных кадров и разобранных заголовков;
+- CRC каждого пакета;
+- решение защищённой тонкой CFO-коррекции и его диагностические величины;
+- корреляция маркера и корректно определённая EVM;
+- число и номера восстановленных фрагментов;
+- размер и SHA-256 переданного и принятого JPEG;
+- длительность сигнала и полезная скорость.
+
+Каждое число вычисляется из текущего запуска. Перенесённые константы
+снабжаются ссылкой на лабораторную-источник. Невычислимая величина
+записывается как `NaN` или `N/A`, но не как правдоподобный ноль.
+
+### 12.2. План программных артефактов
+
+Предполагаемые файлы после отдельного согласования реализации:
+
+- `experiments/lab043_pluto_to_rtlsdr.py`;
+- `tests/test_lab043_calibration.py`;
+- `data/processed/lab043/lab043_calibration.csv`;
+- `data/processed/lab043/lab043_frames.csv`;
+- `data/processed/lab043/lab043_summary.csv`;
+- `data/processed/lab043/lab043_report.txt`;
+- графики калибровочного спектра, остаточной ошибки и доставки
+  фрагментов.
+
+### 12.3. Эталонный сырой IQ-захват
+
+Не менее одного полного эталонного захвата до CFO- и SRO-коррекций
+сохраняется в `data/raw/lab043/` и не добавляется в Git.
+
+Формат отсчётов: NumPy `.npy`, одномерный массив `complex64` в порядке
+приёма. Нормирование исходных 8-битных I/Q отсчётов и порядок I/Q должны
+быть однозначно описаны в метаданных. Рядом сохраняется UTF-8 JSON с тем
+же базовым именем и полями:
+
+- локальная метка времени и UTC;
+- идентификаторы устройств и модель тюнера;
+- версии Python, `pyrtlsdr`, `pyrtlsdrlib`, `librtlsdr`, `pyadi-iio` и
+  `pylibiio`;
+- запрошенные и фактические частоты дискретизации, несущие и усиления;
+- число отсчётов, длительность, dtype и порядок байтов;
+- идентификатор и SHA-256 переданной формы сигнала;
+- результаты калибровки, применённые к этой записи;
+- SHA-256 файла `.npy`.
+
+IQ-файл содержит всю единую последовательность приёма. Ожидаемое число
+отсчётов вычисляется как `ceil(T_rx * Fs_rx_actual)`. Чтение выполняется
+последовательными блоками до достижения этого числа, последний блок
+обрезается только после получения требуемого количества отсчётов.
+
+### 12.4. Разделение общего и лабораторного кода
+
+Общие математические примитивы обнаружения двух известных тонов, оценки
+грубой CFO и относительной ошибки частот дискретизации, грубой частотной
+коррекции и передискретизации размещаются в `protocol/bpsk_radio.py` либо
+в другом подходящем существующем модуле `protocol/`. Каждый такой перенос
+сопровождается быстрым синтетическим тестом.
+
+В `experiments/lab043_pluto_to_rtlsdr.py` остаются сценарий лабораторной,
+конкретное `Fcal`, три калибровочных захвата, методика оценки шума Lab043,
+режимы A/B/C, PRBS11, контрольный пакет, JPEG, отчётные артефакты,
+критерии приёмки и аппаратная последовательность. Общий код не зависит от
+конкретного JPEG и номера лабораторной.
+
+## 13. Точка остановки перед аппаратным опытом
+
+Программная реализация и синтетические проверки разрешены. Перед
+аппаратным опытом необходимо отдельно:
+
+1. пройти все обязательные программные проверки раздела 8;
+2. повторно проверить доступность устройств и чтение параметров обратно;
+3. получить подтверждение пользователя о схеме и отдельное разрешение на
+   включение TX.
+
+Способ Python-доступа к RTL-SDR уже выбран и не является вопросом точки
+остановки.
+
+До отдельного разрешения передатчик не включается, усиление Pluto+ не
+изменяется, аппаратная калибровка и передача тонов, BPSK или JPEG не
+выполняются. Операции `git add`, `commit`, `push`, `pull` и `fetch` также
+не выполняются.