Harden RF node control and agent updates

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

.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
@@ -54,4 +69,5 @@ Desktop.ini
 # Локальные настройки и секреты
 .env
 *.local
+.local/
 

.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/

INSTALL_RX_AGENT.cmd

@@ -0,0 +1,8 @@
+@echo off
+setlocal
+powershell.exe -NoProfile -ExecutionPolicy Bypass -File "%~dp0tools\install_rf001_rx_autostart.ps1"
+set "EXIT_CODE=%ERRORLEVEL%"
+echo.
+if not "%EXIT_CODE%"=="0" echo INSTALL_FAILED=%EXIT_CODE%
+pause
+exit /b %EXIT_CODE%

README.md

@@ -1,333 +1,184 @@
 # SDR Rover Link
 
+Актуальное уточнение архитектуры, Lab049 от 8 сентября 2026 года:
+управление и критическая телеметрия — стандартные RadioMaster/ExpressLRS и CRSF;
+изображения и объёмные данные — отдельный SDR, в перспективе около 180 МГц.
+Цель изображения — больше 3 кадров/с, следующий ориентир 5, дальнейший 10.
+См. [аудит и бюджет Lab049](docs/lab049_crsf_elrs_architecture.md).
+Основной текст ниже описывает более раннюю контрольную точку; текущие результаты
+Lab047–049 перечислены в [индексе лабораторий](docs/LABS_INDEX.md).
+
 ## 1. Назначение проекта
 
 **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:
-
-- формирование данных;
-- разбиение данных на пакеты;
-- контроль целостности;
-- исправление ошибок;
-- цифровую модуляцию;
-- формирование IQ-сигнала;
-- передачу через SDR;
-- приём и демодуляцию;
-- восстановление исходных данных.
+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.
 
 ---
 
 ## 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 |
-| Основной тип данных | телеметрия и отдельные изображения |
+| Рабочий диапазон | 200–250 МГц, см. Запись 018 журнала |
+| 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
-Камера
-  ↓
-JPEG-изображение
-  ↓
-Разбиение на пакеты
-  ↓
-Передача через SDR
-  ↓
-Сборка изображения на наземной станции
+Что реализовано и проверено:
+
+- пакетный протокол с CRC32, фрагментация и сборка изображений;
+- модуляция и демодуляция BPSK, формирующий фильтр, кадровая синхронизация, оценка и коррекция ухода несущей;
+- блочное исправление стираний над GF(256), перемежение, подбор параметров;
+- приоритетное обслуживание команд, телеметрии и видео;
+- двухступенчатая безопасная остановка, сторожевой таймер, постоянное аварийное намерение, безопасный сброс;
+- 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).
+
+**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;
-- ADALM-PlutoSDR — приёмопередатчик, ожидается поступление;
-- HackRF One — может временно использоваться при необходимости.
+```bash
+python -m pytest tests/ -q
+```
 
-### 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;
-- Raspberry Pi — планируется для установки на ровер;
-- бортовой вычислитель ровера — будет выбран позднее.
+```bash
+python tools/quick_gate.py
+```
 
-### Программное обеспечение
+**Лабораторный эксперимент** — минуты, пишет результаты в `data/processed/`:
 
-- Python 3.12;
-- Anaconda;
-- Spyder;
-- Git;
-- GNU Radio — будет установлен на следующем этапе;
-- libiio и драйверы PlutoSDR — будут установлены после получения устройства.
+```bash
+python -m experiments.lab041_session_restart_safety
+```
 
 ---
 
-## 5. Предварительно рассматриваемые диапазоны
-
-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
+## 8. Структура репозитория
 
 ```text
 SDR_Rover
-│
-├── README.md
-├── docs
-├── protocol
-├── rover
-├── ground_station
-├── gnuradio
-├── tests
-└── tools
+├── protocol/        реализация протокола и радиотракта
+├── experiments/     лабораторные Lab001–Lab041
+├── tests/           быстрые автоматические проверки
+├── tools/           вспомогательные программы и шлюз
+├── docs/            технические задания и исследования
+├── data/            исходные данные и результаты
+├── rover/           пока пусто
+├── ground_station/  пока пусто
+└── gnuradio/        пока пусто
 ```
 
-### `docs`
-
-Документация, лабораторные работы, схемы и отчёты.
+Лабораторные работы и расположение их кода, проверок, документов и данных:
+[`docs/LABS_INDEX.md`](docs/LABS_INDEX.md).
 
 ### `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;
-- CRC;
-- кодирование;
-- декодирование;
-- типы сообщений.
+### `experiments`
 
-### `rover`
-
-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.
+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/`.
 
 ### `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:
-
-- анализ пакетов;
-- генераторы тестовых данных;
-- построение графиков;
-- анализ журналов.
+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.
 
 ---
 
-## 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.
 
----
-
-## 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
-```
+Девятое правило добавлено после аудита достоверности, см. Запись 017 журнала.
 
 ---
 
@@ -337,4 +188,4 @@ HELLO SDR
 
 НИЯУ МИФИ
 
-2026
+2026

UNINSTALL_RX_AGENT.cmd

@@ -0,0 +1,7 @@
+@echo off
+setlocal
+powershell.exe -NoProfile -ExecutionPolicy Bypass -File "%~dp0tools\uninstall_rf001_rx_autostart.ps1"
+set "EXIT_CODE=%ERRORLEVEL%"
+echo.
+pause
+exit /b %EXIT_CODE%

configs/rf/rf001a_common_clock.json

@@ -0,0 +1,28 @@
+{
+  "test_id": "RF001A_COMMON_CLOCK_001",
+  "legacy_waveform_test_id": "RF001_QPSK_500K_R23_256B_100P_GAP5MS",
+  "center_frequency_hz": 1400000000,
+  "sample_rate_hz": 8000000,
+  "symbol_rate_sps": 500000,
+  "modulation": "QPSK",
+  "inner_fec": "2/3",
+  "application_payload_bytes": 256,
+  "packet_count": 100,
+  "inter_packet_gap_ms": 5,
+  "seed": 20260917,
+  "digital_carrier_offset_hz": 125000,
+  "clock_mode": "COMMON_10_MHZ",
+  "tx_vga_db": 20,
+  "rx_lna_db": 24,
+  "rx_vga_db": 24,
+  "rf_amp_enabled": false,
+  "antenna_bias_enabled": false,
+  "canonical_format": "c64le",
+  "hardware_format": "cs8",
+  "cs8_scale_codes_per_source_unit": 256,
+  "expected_canonical_sha256": "7cd81395efaa88b623b7e4e5a02e3a80b52185007397ea56ceaacc13353974b2",
+  "expected_hardware_sha256": "75f3fa39bfa4ee419f0676c54e4b9c486d7ff64bd0fe2fc06343b20c9d117ecd",
+  "expected_sample_count": 8833828,
+  "rx_capture_seconds": 20,
+  "rx_capture_samples": 160000000
+}

configs/rf/rf001a_truth_metadata.json

@@ -0,0 +1,737 @@
+{
+  "schema_version": 1,
+  "test_id": "RF001_QPSK_500K_R23_256B_100P_GAP5MS",
+  "timestamp_utc": "2026-09-18T12:23:31.127702+00:00",
+  "modulation": "QPSK",
+  "symbol_rate": 500000,
+  "sample_rate": 8000000,
+  "fec_rate": "2/3",
+  "digital_carrier_offset_hz": 125000.0,
+  "application_payload_bytes": 256,
+  "packet_count": 100,
+  "inter_packet_gap_ms": 5,
+  "inter_packet_gap_samples": 40000,
+  "inter_array_zero_samples": 39872,
+  "seed": 20260917,
+  "iq_format": "c64le",
+  "dtype": "<c8",
+  "waveform_sample_count": 8833828,
+  "waveform_duration_s": 1.1042285,
+  "packet_waveform_start_samples": [
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+  "expected_packet_hashes": [
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+      "payload_sha256": "4e95e78189b1156739263a383aa26e568b369a24737b78f169a02d7182b66f0b",
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+    {
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+    },
+    {
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+      "payload_sha256": "d3ffdd0789e7bb3f7dba60b96a61175414912253001475d16ec6f837eb8b17a5",
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+    {
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+    {
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+      "packet_sha256": "2a9f1cd3eb0a6fd78a79ea5b7ee20eb90266967ad60519ffd52d379f27968cc5"
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+    {
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+    {
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+    {
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+    {
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+    {
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+    },
+    {
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+    },
+    {
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+    },
+    {
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+      "packet_sha256": "b96ec2a35c3f04a1eb1d11416b6bba6c464eb9223823bc90286e93496995aef2"
+    },
+    {
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+      "payload_sha256": "a0b867b3f9d3e09113a663acc1310c9245d49c985d624d6407f8553cc0f0a8eb",
+      "packet_sha256": "4cd1b3313cd7f2270e083c16fe77f4ce5b843cc57834382e30d8fb3350eb6ac8"
+    },
+    {
+      "sequence_number": 74,
+      "payload_sha256": "6d8f21d468de22c1939ae0f72374cee7e505528e49c052fb5c2295574195c595",
+      "packet_sha256": "1d3512901cb78072a773198320330ac528009c6aff7fb4f42fe10eeb2134a498"
+    },
+    {
+      "sequence_number": 75,
+      "payload_sha256": "918f46919ed53f70bd031a739886dc8b93b212e054388076076bb81624d9a4cb",
+      "packet_sha256": "d423db049f9e9ef07dd9c358c3315239e745ab0f8bf6dee1c93ee027b63550f4"
+    },
+    {
+      "sequence_number": 76,
+      "payload_sha256": "c898050384f25ea8e8a06121ca9c870b21ffdf5d7d66941ea80f1f43cc7d6c48",
+      "packet_sha256": "2ed7dbda8de3ad2b55fb5631aa0d6adb52e0e7a2e87b3ccbf4c4d14b93737224"
+    },
+    {
+      "sequence_number": 77,
+      "payload_sha256": "420551db636aa35fa85dae39b8166056a028338da82fdaeab3d2e2f90fb692f9",
+      "packet_sha256": "ea584a2d123b4969df4bc52dd721f9983fa5a34c9e2a98a0b857a99ee7e7bae3"
+    },
+    {
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+      "payload_sha256": "ff37d42b153f57cd46808c831894c180ec8710827cbe5ddd84891a349e78584e",
+      "packet_sha256": "44f213f517d5ecf2b419426c14eaae5c03176485db73b78b29a145ad5c952a66"
+    },
+    {
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+      "payload_sha256": "795aa97056eb0c8b5e4134ba9204581c06a3f73eb72a26cfd52cdfba5c2d3ebd",
+      "packet_sha256": "a7a4fff4bf520ebe57db314995036ce76eeb09a778ccedd5eec4fa4179782fc0"
+    },
+    {
+      "sequence_number": 80,
+      "payload_sha256": "772225bc6d1c9d7da39b90cf545409d21b8a267ec3881abb8b4cf737dc8b5586",
+      "packet_sha256": "c04ae816948e9f645dde14c688bf7a881fd761c12666169bf3cf944397d2ae1f"
+    },
+    {
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+    {
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+    {
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+    {
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+    {
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+      "packet_sha256": "9714f48963007f0802169f73e765a3d19d958d130ce82f022919aa1f29cf97e3"
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+    {
+      "sequence_number": 86,
+      "payload_sha256": "ae35ed2b855402a457dc0ebf13e9c6915a1964a87a9a6f58b678ada2549e36a0",
+      "packet_sha256": "a76f078847dc4afb6bb6f7c55ae2c7d04770e2ea8d5ecf11cb9a1a72e2374efc"
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+    {
+      "sequence_number": 87,
+      "payload_sha256": "1e508aacf860bfa4fa124c366386be546cebd62a375f14e771be08999506fe85",
+      "packet_sha256": "5531ebb6a8138ee6b9f549be25ee2cf47c0c321bfe05eebb7232e611b6124fff"
+    },
+    {
+      "sequence_number": 88,
+      "payload_sha256": "96942711e476e7bdb2aa57c3845c4594825f4dd8b8fd8f3203c87acccdc6d527",
+      "packet_sha256": "a23c2b138284b533fbbc7ff2350056c82878d92572e7b96ccdc60e28977858de"
+    },
+    {
+      "sequence_number": 89,
+      "payload_sha256": "e356c8ef03d32d28983c088d6c0bad625ca577351dd6e067763b212e817d75c4",
+      "packet_sha256": "6f003c9766914ee11f6d4bd5cb8f80f05451e06f4ba21e589e7ee288ee0ec87f"
+    },
+    {
+      "sequence_number": 90,
+      "payload_sha256": "bd6da495c09b3b533bd4e8c6f0ac5751c0b26174172fc5085e22b48f3b53a577",
+      "packet_sha256": "5b2a1a43ebf039b998af09037edf1054d913dfa4d364fa502ac5e89279055fa7"
+    },
+    {
+      "sequence_number": 91,
+      "payload_sha256": "648b2da1112dcfeb229519fde8ef8034449937e7b42602588c223855382925be",
+      "packet_sha256": "90a075a8c1804a32a42c5d0ebce27bc7dc3e23feb7e9d8cdffe3f3486ec5cf0f"
+    },
+    {
+      "sequence_number": 92,
+      "payload_sha256": "669afb8bb74b9dbdf96708d2a48ee1fce635ae22294e06ed4500586e57213762",
+      "packet_sha256": "2567a20ec8033be6286594ce3a542566866544bc083ad278f9340ca2b48aae24"
+    },
+    {
+      "sequence_number": 93,
+      "payload_sha256": "a2f6f9d77355b3a04c32d069af37031a06f2c484d58b51849bb55b3cdec572e5",
+      "packet_sha256": "9192777c9fecb9f5ed4f065b7d5bfafcc41f6f76ac5ce742ccedc5b2a6f61de3"
+    },
+    {
+      "sequence_number": 94,
+      "payload_sha256": "055d60647878f18901ec2a1e009363e3d5517fccbbe92fa2cd6b6feeadf58391",
+      "packet_sha256": "b54786e36fd680a81066bddf3289f17aa95b57d46bf006cf08c1e07a7aaa5a27"
+    },
+    {
+      "sequence_number": 95,
+      "payload_sha256": "d10f469fbad708685b16c1ddcceca68a84f77a802b3ad04b0d394e45f754d0a2",
+      "packet_sha256": "f37eb95b8e0344bedc4ad85436cbe4db62593dde31fdb3daf0284e49a2ac32c1"
+    },
+    {
+      "sequence_number": 96,
+      "payload_sha256": "12a224b34c176ef7fed560197a39ad3bc448eee1467733f84250b29f3a06ce03",
+      "packet_sha256": "fe3ce30a3d7649061f208a86c8ede5aac568803d079d8da1a0a5a11a962dd358"
+    },
+    {
+      "sequence_number": 97,
+      "payload_sha256": "db488bd0b7c4c38e5fce4a309d323955bd870a5b9947c753fd9065a0ce42b210",
+      "packet_sha256": "a60f4e0dfe9b40ae18e03deb331022e53292368803bed492bc3069dbc564bb38"
+    },
+    {
+      "sequence_number": 98,
+      "payload_sha256": "3f12c8bc119739279484078bc5e17c39a7c36e4078ae55fc6a25aba0b7457348",
+      "packet_sha256": "88e79568d2845aa646c91d1e211ee97e10c3a7cb43696607c6d56c7da0c5bb8b"
+    },
+    {
+      "sequence_number": 99,
+      "payload_sha256": "c91c2b855495e75e3751b1e4c3abc5525db4d7500b1845d0e9907d8f60ccb2dc",
+      "packet_sha256": "ea7ce09526a21d432e7ae7a9007a9e69d69197f1a6b2c2668cd66c95c1e42688"
+    }
+  ],
+  "rf_tx": 0,
+  "sdr_hardware": "NOT_ACCESSED",
+  "status": "PREPARED_NOT_RUN",
+  "iq_sha256": "7cd81395efaa88b623b7e4e5a02e3a80b52185007397ea56ceaacc13353974b2",
+  "shared_spec_test_id": "RF001A_COMMON_CLOCK_001",
+  "payload_size": 256,
+  "expected_sequence_numbers": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19,
+    20,
+    21,
+    22,
+    23,
+    24,
+    25,
+    26,
+    27,
+    28,
+    29,
+    30,
+    31,
+    32,
+    33,
+    34,
+    35,
+    36,
+    37,
+    38,
+    39,
+    40,
+    41,
+    42,
+    43,
+    44,
+    45,
+    46,
+    47,
+    48,
+    49,
+    50,
+    51,
+    52,
+    53,
+    54,
+    55,
+    56,
+    57,
+    58,
+    59,
+    60,
+    61,
+    62,
+    63,
+    64,
+    65,
+    66,
+    67,
+    68,
+    69,
+    70,
+    71,
+    72,
+    73,
+    74,
+    75,
+    76,
+    77,
+    78,
+    79,
+    80,
+    81,
+    82,
+    83,
+    84,
+    85,
+    86,
+    87,
+    88,
+    89,
+    90,
+    91,
+    92,
+    93,
+    94,
+    95,
+    96,
+    97,
+    98,
+    99
+  ],
+  "tx_waveform_sha256": "75f3fa39bfa4ee419f0676c54e4b9c486d7ff64bd0fe2fc06343b20c9d117ecd",
+  "tx_waveform_format": "cs8",
+  "fec": "2/3",
+  "gap_ms": 5,
+  "source_provenance": "Generated from deterministic RF-001 seed and verified against configs/rf/rf001a_common_clock.json"
+}

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
+constant_300,no_drop,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,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
+constant_260,latest_only,600.0,260.0,261.7220666666667,-1.7220666666667057,215.25833333333821,0.007063478994333017,2.978809563017001,-5.668055555555536,-340.0833333333321,False,13.60260795417588,40,7605.446317388057,22420,0.2193330062846088,1,32;24;21;20;21;24;39;32;24;0,17102;12852;10462;10676;10831;12075;21812;17102;12852;0,0,0,0,0.0,49262,19314015,0
+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
+constant_230,no_drop,600.0,230.0,261.7220666666667,-31.722066666666706,3965.258333333338,0.13011584039922786,2.6096524788023165,3967.8194444444443,238069.16666666666,True,2079.4202965547893,4155,1195926.0317054717,2388166,117.14617014497261,235,429;841;1255;1672;2093;2511;2924;3335;3745;4139,245926;481391;719062;960442;1204374;1444453;1683007;1917098;2152265;2379540,4139,2379540,235,82.75321739112997,49794,19629155,0
+constant_230,latest_only,600.0,230.0,261.7220666666667,-31.722066666666706,3965.258333333338,0.13011584039922786,2.6096524788023165,-6.549722222222197,-392.9833333333318,False,19.634379733025998,40,11027.21948478135,22420,0.5571525326601725,1,37;33;38;26;34;26;28;37;38;17,19832;18324;20031;14224;18420;13291;15252;19832;21162;9569,17,9569,1,0.3167652173551687,45694,17259107,0
+constant_230,two_waiting,600.0,230.0,261.7220666666667,-31.722066666666706,3965.258333333338,0.13011584039922786,2.6096524788023165,-22.350277777777745,-1341.0166666666646,False,37.376577605014,57,21232.67400510985,32658,1.5629541073964863,2,42;56;52;53;44;55;55;47;43;26,22495;31370;27643;30124;24078;29921;31266;25728;23820;14523,26,14523,2,0.4859478260450487,45709,17263971,0
+step_300_230_300,no_drop,600.0,279.0,261.7220666666667,17.277933333333294,0.0,0.0,3.0,-636.2352777777767,-38174.1166666666,False,356.1464225450075,1279,204638.53781412638,734558,19.64118583244118,72,21;21;440;854;1279;781;283;21;21;0,10503;11309;248843;491202;734558;449558;163347;10503;11309;0,0,0,0,0.0,49794,19629155,0
+step_300_230_300,latest_only,600.0,279.0,261.7220666666667,17.277933333333294,0.0,0.0,3.0,-16.11861111111109,-967.1166666666654,False,11.838952278707378,40,6580.107300552987,22420,0.17015513173553526,1,21;21;25;26;25;21;21;21;21;0,10503;11309;12476;14224;13263;11083;11415;10503;11309;0,0,0,0,0.0,48547,18907911,0
+step_300_230_300,two_waiting,600.0,279.0,261.7220666666667,17.277933333333294,0.0,0.0,3.0,-36.86027777777775,-2211.616666666665,False,17.155767414441645,58,9639.972938771809,33090,0.47114729028487184,2,21;21;46;52;40;21;21;21;21;0,10503;11309;24377;29516;21646;11083;11415;10503;11309;0,0,0,0,0.0,48563,18916663,0
+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
+variable_300_260_230,latest_only,600.0,263.3333333333333,261.7220666666667,1.6112666666666087,0.0,0.0,3.0,-9.321944444444432,-559.3166666666659,False,14.017274428919372,40,7830.931831177453,22420,0.2651953377439788,1,32;38;21;35;21;24;39;38;24;14,17102;21162;10462;19461;10831;12463;21812;20440;12852;7745,14,7745,1,0.2608542909119933,48300,18769207,0
+variable_300_260_230,two_waiting,600.0,263.3333333333333,261.7220666666667,1.6112666666666087,0.0,0.0,3.0,-18.437222222222193,-1106.2333333333315,False,23.386572906900973,56,13214.022895715687,32658,0.7951346653714808,2,32;56;30;50;41;42;39;47;28;29,17102;31370;15516;28300;22254;22274;21812;25728;15284;16347,29,16347,2,0.5623143811660611,48458,18857145,0

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
+constant_300,latest_only,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
+constant_300,two_waiting,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
+constant_260,no_drop,1800,1800,1800,1786,0,1.0,2.9766666666666666,2.966667;2.983333;2.983333;2.966667;2.966667;2.983333;2.983333;2.983333;2.966667;2.983333,2680.896184452496,4704.89366684435,5049.795205226246,2829.13958784647,4866.666666666674,5366.666666666674,0.9866688885185803,0.9030161639726713,335.75825405707894,364.2153846158749,377.67146153846375,0,335.90542861457425,377.67146153846375,18284899,0,154.79058666666668
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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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+300.0,1000.0,emergency_and_control,90.0,1.0,1.7066666666636365,1.7066666666636365,1.0,0.0,2.0
+260.0,10.0,none,30.0,0.99,1.969230769230279,1.969230769230279,0.99,0.01,0.0
+260.0,10.0,none,60.0,1.0,7.52853846189083,7.528538461890832,1.0,0.0,0.0
+260.0,10.0,none,90.0,0.98,7.651615380964927,7.651615380964927,0.98,0.02,0.0
+260.0,10.0,emergency_only,30.0,1.0,2.2252307692302864,1.969230769230279,1.0,0.09,1.91
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+260.0,10.0,emergency_and_control,30.0,0.99,4.689643356656431,4.1637692307823215,0.99,0.08,1.93
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+260.0,10.0,emergency_and_control,90.0,1.0,4.93146153515454,4.102230765923309,1.0,0.09,1.91
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+260.0,200.0,emergency_and_control,60.0,0.96,20.194538462767753,20.194538462767753,0.96,0.12,1.92
+260.0,200.0,emergency_and_control,90.0,0.99,4.279697743390381,4.102230765923309,0.99,0.04,1.97
+260.0,1000.0,none,30.0,1.0,1.969230769230279,1.969230769230279,1.0,0.0,0.0
+260.0,1000.0,none,60.0,0.98,7.5285384618908315,7.528538461890832,0.98,0.02,0.0
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+260.0,1000.0,emergency_and_control,90.0,0.97,4.102230765923309,4.102230765923309,0.97,0.09,1.94
+230.0,10.0,none,30.0,0.96,7.686956521535393,7.686956521535393,0.96,0.04,0.0
+230.0,10.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
+230.0,10.0,none,90.0,0.97,5.913043485378466,5.913043485378466,0.97,0.03,0.0
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+230.0,10.0,emergency_only,60.0,1.0,22.77982608840276,22.156521740576807,0.98,0.05,1.95
+230.0,10.0,emergency_only,90.0,0.99,15.07632850934894,14.08695652867209,0.99,0.17,1.84
+230.0,10.0,emergency_and_control,30.0,1.0,20.47582608698004,20.208695652197406,1.0,0.1,1.9
+230.0,10.0,emergency_and_control,60.0,1.0,9.865739130259215,9.286956521563638,1.0,0.06,1.94
+230.0,10.0,emergency_and_control,90.0,0.99,10.02828283526469,9.634782615677295,0.99,0.16,1.85
+230.0,50.0,none,30.0,0.98,7.686956521535394,7.686956521535393,0.98,0.02,0.0
+230.0,50.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
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+230.0,1000.0,emergency_and_control,90.0,0.98,9.634782615677295,9.634782615677295,0.98,0.06,1.96

data/processed/lab037/lab037_report.txt

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

data/processed/lab037/lab037_summary.csv

@@ -0,0 +1,37 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,repeat_command_bytes,lost_packets_mean,lost_packet_bytes_mean,cancelled_control_repeats,replaced_state_packets,drain_end_seconds,queue_release_seconds,telemetry_delivered_fraction,telemetry_mean_age_ms,telemetry_last_message_age_ms,telemetry_max_gap_ms,telemetry_gaps_over_500ms_mean
+300.0,10.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,407.78,193268.76,0,0,119.9635470000001,0.0,0.97425,12.812331765194102,105.99999999999483,385.7596666666723,0.0
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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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+230.0,200.0,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 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,acknowledgement_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,control_repeat_load_kbps,emergency_copy_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,queue_release_seconds,lost_packets_mean,lost_bytes_mean,telemetry_delivered_fraction,telemetry_max_gap_ms
+300.0,10.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,399.44,189913.65,0.9753416666666667,512.9063333333335
+300.0,10.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,454.77,192124.14,0.9744583333333333,413.17399999999793
+300.0,10.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,400.24,190052.63,0.97535,512.9063333333335
+300.0,10.0,acknowledged_emergency,100,0.013184,0.008456,7.36,7.68,243.39286666666666,258.4545066666667,0.0,0.0003839999999999994,86.15150222222222,8.381158730557713,21,4607.224563388274,11397,1,0.0,399.46,189928.91,0.9753416666666667,512.9063333333335
+300.0,50.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,244.08,102290.0,0.9787666666666667,600.3736666666662
+300.0,50.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,293.44,104286.36,0.9787166666666667,599.1469999999995
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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

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data/processed/lab040/lab040_load_metrics.csv

@@ -0,0 +1,46 @@
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data/processed/lab040/lab040_motion_metrics.csv

@@ -0,0 +1,46 @@
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+230_200,persistent_safe_reset,5.0,200,0.006844621233567239,0.005362318839864599,0.1541304347818837,0.32576159827607626,0.3268643764530381,0.5648917516543079,0.4657324702088222,0.4668238325276626,1.3888888888888888,1.0,0,0,0,0,0,0,0.0,0.0,0,0
+230_200,persistent_safe_reset,15.0,200,0.020596070507492143,0.016086956519586693,0.4623913043456582,2.905471134864391,2.909605475038134,3.63035426730859,1.3916583961347495,1.39274975845359,4.166666666666667,1.0,0,0,0,0,0,0,0.0,0.0,0,0
+230_200,persistent_safe_reset,25.0,200,0.03434751978141037,0.02681159419930168,0.7706521739094399,8.057197132357981,8.064363034528526,9.267833243868353,2.3175843220606733,2.3186756843795138,6.944444444444445,1.0,0,0,0,0,0,0,0.0,0.0,0,0
+230_1000,limited_lab038,5.0,200,0.005283552251343249,0.005362318839864599,0.005362318839864599,0.3218591033962589,0.3268643764530381,0.3268643764530381,0.461660666666149,0.4668238325276626,1.3888888888888888,1.0,10,0,0,2,2,2,1.1665964573268308,120.24802134182156,0,0
+230_1000,limited_lab038,15.0,200,0.015719344103756895,0.016086956519586693,0.016086956519586693,2.848456321603509,2.909605475038134,2.909605475038134,1.3719143961347493,1.39274975845359,4.166666666666667,1.0,10,0,0,2,2,2,0.240670531400907,356.3939634279401,0,0
+230_1000,limited_lab038,25.0,200,0.02619747596775227,0.02681159419930168,0.02681159419930168,7.9154550932807,8.064363034528498,8.064363034528526,2.288520870540642,2.3186756843795138,6.944444444444445,0.99,10,0,0,2,0,2,0.0,599.4073675629743,0,0
+230_1000,persistent_no_reset,5.0,200,0.005283552251343249,0.005362318839864599,0.005362318839864599,0.3218591033962589,0.3268643764530381,0.3268643764530381,0.461660666666149,0.4668238325276626,1.3888888888888888,1.0,0,0,0,0,0,0,0.0,0.0,0,0
+230_1000,persistent_no_reset,15.0,200,0.015719344103756895,0.016086956519586693,0.016086956519586693,2.848456321603509,2.909605475038134,2.909605475038134,1.3719143961347493,1.39274975845359,4.166666666666667,1.0,0,0,0,0,0,0,0.0,0.0,0,0
+230_1000,persistent_no_reset,25.0,200,0.02619747596775227,0.02681159419930168,0.02681159419930168,7.897429893107608,8.064363034528498,8.064363034528526,2.285820389693524,2.3186756843795138,6.944444444444445,1.0,0,0,0,0,0,0,0.0,0.0,0,0
+230_1000,persistent_safe_reset,5.0,200,0.005283552251343249,0.005362318839864599,0.005362318839864599,0.3218591033962589,0.3268643764530381,0.3268643764530381,0.461660666666149,0.4668238325276626,1.3888888888888888,1.0,0,0,0,2,0,0,0.0,0.0,0,0
+230_1000,persistent_safe_reset,15.0,200,0.015719344103756895,0.016086956519586693,0.016086956519586693,2.848456321603509,2.909605475038134,2.909605475038134,1.3719143961347493,1.39274975845359,4.166666666666667,1.0,0,0,0,2,0,0,0.0,0.0,0,0
+230_1000,persistent_safe_reset,25.0,200,0.02619747596775227,0.02681159419930168,0.02681159419930168,7.897429893107608,8.064363034528498,8.064363034528526,2.285820389693524,2.3186756843795138,6.944444444444445,1.0,0,0,0,2,0,0,0.0,0.0,0,0

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_rejection_metrics.csv

@@ -0,0 +1,181 @@
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+persistent_emergency,no_loss,rover_restart_moving,1,0,0,0,0,0,0,0,0,0,0
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+persistent_emergency,no_loss,ground_restart_emergency,1,0,0,0,0,0,0,0,0,0,0
+persistent_emergency,no_loss,rover_restart_latched,1,0,0,0,0,0,0,0,0,0,0
+persistent_emergency,no_loss,long_link_break,1,1,1,0,0,0,0,1,0,0,0
+persistent_emergency,no_loss,old_ground_session_control,1,1,1,0,1,0,0,0,0,0,0
+persistent_emergency,no_loss,old_rover_boot_control,1,1,1,0,0,1,0,0,0,0,0
+persistent_emergency,no_loss,old_control_epoch,1,1,1,0,0,0,1,0,0,0,0
+persistent_emergency,no_loss,sequence_reset_new_session,1,0,0,0,0,0,0,0,0,0,0
+persistent_emergency,no_loss,sequence_wrap,1,1,1,0,0,0,0,1,0,0,1
+persistent_emergency,no_loss,duplicate_hello,1,0,0,0,0,0,0,0,0,0,0
+persistent_emergency,no_loss,lost_session_status,1,0,0,0,0,0,0,0,0,0,0
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+persistent_emergency,no_loss,late_positive_after_emergency,1,1,1,0,0,0,0,0,1,0,0
+persistent_emergency,no_loss,restart_after_reset_before_ack,1,0,0,0,0,0,0,0,0,0,0
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+persistent_emergency,260_200,duplicate_hello,200,0,0,0,0,0,0,0,0,0,0
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+persistent_emergency,230_1000,ground_restart_moving,200,0,0,0,0,0,0,0,0,0,0
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+persistent_emergency,230_1000,restart_after_reset_before_ack,200,0,0,0,0,0,0,0,0,0,0

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 @@
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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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