Lab043: validate pilot-aided short BPSK link

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

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

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

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

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

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

.claude/agents/adversary.md

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

.claude/agents/verifier.md

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

.claude/commands/check.md

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

.claude/commands/lab.md

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

.claude/hooks/quick_gate_hook.py

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

.claude/settings.json

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

.gitignore

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

.gitlab-ci.yml

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

PROJECT_LOG.md

@@ -163,3 +163,431 @@ git version 2.51.1.windows.1
 - Режим 8+3 не принят из-за отсутствия устойчивого преимущества.
 - Подтверждено, что продолжительные помехи нельзя компенсировать только увеличением числа проверочных пакетов.
 - Следующий этап посвящён совместной передаче команд, телеметрии и видео с приоритетным обслуживанием.
+
+---
+
+# Запись 008
+
+## Дата
+
+3 августа 2026 года
+
+## Тема
+
+Завершение Lab033: общий пакет канала и приоритетное обслуживание.
+
+## Выполнено
+
+- Добавлен общий 32-байтный заголовок канала для команд, телеметрии и видео.
+- Общая предложенная нагрузка составляет 258,214 кбит/с.
+- Подтверждено, что FIFO не обеспечивает требуемую задержку команд.
+- Выбран строгий приоритет с заменой устаревших состояний.
+- Аварийная команда имеет наивысший приоритет.
+- Скорость 260 кбит/с практически полностью загружена.
+- При 230 кбит/с видеоданные накапливаются и устаревают.
+- Итоговое восстановление всех кадров после освобождения очереди не означает работу видео в реальном времени.
+- Расчёты и графики выполнены с Matplotlib 3.11.1.
+- Следующий этап посвящён отбрасыванию устаревших видеокадров.
+
+---
+
+# Запись 009
+
+## Дата
+
+3 августа 2026 года
+
+## Тема
+
+Завершение Lab034: реактивное отбрасывание устаревших видеокадров.
+
+## Выполнено
+
+- Сравнены непрерывные FEC-блоки и блоки, выровненные по составным кадрам.
+- Выравнивание увеличивает видеопоток на 5,975 кбит/с, или на 2,633%.
+- При 300 кбит/с удаление кадров не требуется.
+- При 260 кбит/с ограничения 1000 и 1500 мс не срабатывают, а ограничение 500 мс уже чрезмерно.
+- При 230 кбит/с реактивное удаление устаревших кадров уменьшает очередь, но резко снижает частоту обновления.
+- Ограничение 500 мс оставляет только 3 из 63 кадров.
+- Ограничение 1500 мс оставляет 27 из 63 кадров.
+- Подтверждено, что короткая очередь сама по себе не означает свежее изображение.
+- Текущая реактивная политика не принята.
+- Следующий этап посвящён упреждающему допуску кадров и обслуживанию видео целыми кадрами.
+
+---
+
+# Запись 010
+
+## Дата
+
+3 августа 2026 года
+
+## Тема
+
+Завершение Lab035: упреждающий допуск и обслуживание видео целыми составными кадрами.
+
+## Выполнено
+
+- Lab035 исследует упреждающий допуск и обслуживание видео целыми составными кадрами.
+- Начатый кадр всегда передаётся полностью.
+- Команды и телеметрия могут передаваться между его пакетами.
+- Реактивное удаление Lab034 окончательно не принято.
+- Основная политика — хранение только самого свежего не начатого кадра.
+- При 230 кбит/с опубликовано 56 из 63 кадров с частотой около 2,6 кадра/с.
+- Бесполезно переданных видеобайтов нет.
+- Очередь из двух кадров увеличивает возраст изображения.
+- Прогноз 1000 мс не дал преимущества над более простой политикой.
+- Прогноз 500 мс чрезмерно снижает частоту обновления.
+- Следующая лабораторная проверяет долговременную устойчивость и изменение пропускной способности канала.
+
+---
+
+# Запись 011
+
+## Дата
+
+3 августа 2026 года
+
+## Тема
+
+Завершение Lab036: долговременная устойчивость видеопланировщика при изменении пропускной способности.
+
+## Выполнено
+
+- Lab036 проверяет видеопланировщик на протяжении 600 секунд.
+- Расчётный рост очереди без удаления совпал с моделью.
+- При 230 кбит/с очередь без удаления выросла до 4139 пакетов.
+- 95-й процентиль возраста изображения достиг 74,6 секунды.
+- Плавное поступление сильно устаревших кадров непригодно для управления.
+- Политика хранения только самого свежего не начатого кадра ограничивает очередь.
+- При 230 кбит/с она обеспечила около 2,615 кадра/с.
+- После восстановления скорости возраст изображения снизился ниже 500 мс за 0,077 секунды.
+- Политика двух ожидающих кадров оставлена резервной.
+- Следующая лабораторная объединяет планировщик с моделью ошибок радиоканала и защитой команд управления.
+
+---
+
+# Запись 012
+
+## Дата
+
+4 августа 2026 года
+
+## Тема
+
+Завершение Lab037: полный транспорт с серийными потерями и повторением критических команд.
+
+## Выполнено
+
+- Lab037 объединяет видеопоток, обычные и аварийные команды, телеметрию и временные серийные потери пакетов.
+- Близкие повторные копии команд часто попадают в один и тот же интервал помехи.
+- Повторение Lab037 лишь умеренно уменьшило долю недоставленных управляющих состояний.
+- Максимальный промежуток без свежей команды остался более одной секунды.
+- Своевременная доставка аварийной команды по радиоканалу не гарантируется.
+- Для безопасного поведения при потере связи требуется локальный сторожевой таймер на ровере.
+- Следующий этап исследует сторожевой таймер, временно разнесённую аварийную команду и подтверждение получения.
+
+---
+
+# Запись 013
+
+## Дата
+
+4 августа 2026 года
+
+## Тема
+
+Завершение Lab038: локальный сторожевой таймер и подтверждаемая аварийная команда.
+
+## Выполнено
+
+- Lab038 исследует локальный сторожевой таймер, разнесённую аварийную команду и подтверждение получения.
+- Три инварианта безопасности не нарушены ни разу.
+- Подтверждение не является условием выполнения аварийной остановки.
+- Режим с подтверждением сохранил итоговую доставку аварийной команды 99,694%.
+- Среднее число аварийных копий уменьшилось с 11 до 1,071.
+- Дополнительная нагрузка подтверждаемого режима составляет около 0,0093 кбит/с.
+- Дополнительное повторение обычных команд не принято как основной режим.
+- Порог 100 мс вызывает слишком частые безопасные остановки.
+- Порог 500 мс допускает слишком большой путь до реакции.
+- Для следующей проверки принята двухступенчатая логика: предварительная реакция после 150 мс и обязательная остановка после 250 мс.
+
+---
+
+# Запись 014
+
+## Дата
+
+5 августа 2026 года
+
+## Тема
+
+Завершение Lab039: двухступенчатая безопасная реакция и оценка пути до остановки.
+
+## Выполнено
+
+- Lab039 реализует состояния NORMAL, STAGE1_DECELERATION, STAGE2_BRAKING и EMERGENCY_LATCHED.
+- Используется точное событийное интегрирование движения.
+- Аналитические значения совпали с моделью с нулевой ошибкой.
+- Максимальный полный путь составил 13,9642 м.
+- При 25 км/ч и номинальном профиле политика 150/250 мс дала полный путь около 9,5388 м.
+- Основную часть пути составляет торможение после реакции.
+- Пара 150/250 мс сохраняется как предварительный кандидат, но окончательно не утверждается.
+- Фактические замедления должны быть измерены на реальном ровере.
+- Локальный сторожевой таймер сохранил безопасную реакцию в опытах, где аварийная команда не была доставлена.
+- Следующий этап исследует постоянное аварийное намерение наземной станции и безопасное разрешение повторного движения.
+
+---
+
+# Запись 015
+
+## Дата
+
+5 августа 2026 года
+
+## Тема
+
+Завершение Lab040: постоянное аварийное намерение и безопасное повторное разрешение движения.
+
+## Выполнено
+
+- Lab040 реализует постоянное аварийное намерение наземной станции.
+- Ограниченное окно повторения 500 мс признано небезопасным.
+- При полностью потерянной аварийной передаче ограниченный режим допускал последующее возобновление движения.
+- В одном из тяжёлых условий путь после такого восстановления достигал в среднем около 490 м при 25 км/ч.
+- Постоянное аварийное намерение исключило положительные задания скорости и небезопасные возобновления движения.
+- Подтверждение аварийной команды не снимает аварийное намерение.
+- Сброс принимается только после остановки, при свежей связи и корректных идентификаторах.
+- Подтверждение сброса не восстанавливает старую команду движения.
+- Движение требует новой явной команды оператора.
+- Следующий этап посвящён сеансам связи, перезапускам устройств и защите от пакетов предыдущего сеанса.
+
+---
+
+# Запись 016
+
+## Дата
+
+5 августа 2026 года
+
+## Тема
+
+Завершение Lab041: сеансы связи, безопасный запуск и защита от пакетов предыдущего сеанса.
+
+## Выполнено
+
+- Lab041 вводит идентификаторы сеанса станции, запуска ровера и периода управления.
+- Одного номера сообщения недостаточно после перезапуска.
+- В основном режиме все 2807 введённых старых пакетов были отклонены.
+- Ошибочно принятых старых пакетов не было.
+- Исходный режим без идентификаторов принял все старые пакеты.
+- После перезапуска движение запрещено до нового согласования, подтверждения разрешения и новой команды оператора.
+- Аварийное намерение наземной станции сохраняется после перезапуска.
+- Неоднозначная разность номеров 2^31 отклоняется.
+- Следующий этап посвящён криптографической проверке подлинности управляющих сообщений и защите от намеренной подделки.
+
+---
+
+# Запись 017
+
+## Дата
+
+7 августа 2026 года
+
+## Тема
+
+Аудит достоверности Lab041 и удаление показателей, не выводимых из модели. Начало этапа стабилизации после Lab041.
+
+## Причина записи
+
+Запись 016 не отменяется, но нуждается в уточнении. Машинный аудит репозитория показал, что часть числовых результатов Lab041 не выводилась ни из модели этой лабораторной, ни из указанного источника. Согласно правилу журнала прежняя запись сохранена, а изменение зафиксировано отдельно.
+
+## Что обнаружено
+
+- В функции `simulate_trial` доли публикации видео, доставки телеметрии и доставки управления, а также базовая длина очереди задавались вписанными таблицами, а не вычислялись.
+- Значение доли видео 0,910 для канала 260 кбит/с не соответствовало заявленному источнику: Lab040 даёт 0,9603, Lab037 — разброс 0,9026...0,9174.
+- Базовая длина очереди 31 для того же канала не соответствовала Lab040, где получено 36...38 пакетов.
+- Коэффициенты влияния нагрузки 0,15, 0,10 и 0,05 не выводились ни из какой модели.
+- Параметры торможения были зашиты литералами `0.250` и делителем `6.0` без связи с профилем `nominal` Lab039, откуда они происходят.
+- Пять из четырнадцати инвариантов безопасности не измерялись: два вычислялись выражением с умножением на ноль, один был литеральным нулём, ещё два опирались на поля, которые никогда не заполнялись. Проверка `validate_outputs` подтверждала эти константы, то есть проверяла тождество.
+- Формулировка «все 2807 введённых старых пакетов были отклонены» описывает перебор таблицы сценариев, а не измеренную вероятность отклонения. Число раскладывается как семь сценариев на 401 повтор.
+
+## Выполнено
+
+- Из Lab041 удалены четыре показателя: доли доставки видео, телеметрии и управления и максимальная длина очереди. Они относятся к Lab037 и Lab040 и в Lab041 не моделируются.
+- Удалён график `lab041_traffic_impact.png`, потерявший основание. Осталось семь графиков.
+- Удалены поля `negative_speed_cases` и `speed_limit_exceeded_cases`, которые никогда не вычислялись, и тождественные проверки в `validate_outputs`.
+- Параметры торможения связаны с профилем `nominal` Lab039 через именованные константы `LAB039_NOMINAL_STAGE2_MPS2` и `LAB039_STAGE2_THRESHOLD_SECONDS`; горизонт незащищённого движения выделен как явно принятое допущение.
+- Перенесённые величины `VIDEO_OFFERED_LOAD_KBPS` и `TELEMETRY_OFFERED_LOAD_KBPS` снабжены указанием источника: Lab038, поля `video_load_kbps` и `telemetry_load_kbps`.
+- Секция инвариантов переписана: девять свойств, следующих из архитектуры, снабжены ссылками на подтверждающие функциональные проверки; пять свойств, которые матрица не может измерить, вынесены в отдельный раздел со ссылками на проверки 04, 06, 07, 10, 16 и 19.
+- В отчёт добавлено разграничение того, что моделируется розыгрышем, что задано архитектурой и что не моделируется вовсе.
+- Проверка 04 расширена отрицательной скоростью и границей 15 м/с, поэтому соответствующее свойство теперь подтверждается реально, а не константой.
+- Оценка пути после перезапуска помечена как расчёт по замкнутой формуле, одинаковый во всех повторах, а не как результат розыгрыша.
+
+## Результат
+
+- Lab041 перезапущена полностью: 180 сочетаний, 24 из 24 функциональных проверок пройдены, пять CSV и семь PNG.
+- Сверка с прежними файлами показала, что удалено ровно шесть столбцов, а все сохранённые значения совпали до последнего знака. Расхождений в общих столбцах ноль.
+- Научные выводы Lab041 не изменились. Максимальный путь после перезапуска остался 9,7737 м, постоянная нагрузка управления 10,88000 кбит/с, полный предложенный поток 262,076 кбит/с.
+- Выводы Записи 016 о сеансах, безопасном запуске и отклонении старых пакетов остаются в силе. Уточняется их основание: доказательством служат 24 функциональные проверки, работающие с настоящими автоматами, а не счётчики матрицы из 180 сочетаний.
+
+## Следующий этап
+
+Криптографическая аутентификация отложена. Сначала выполняется этап стабилизации: быстрые тесты `protocol/` вместо единственной точки входа через лабораторную, разделение быстрых проверок и экспериментов, воспроизводимое описание окружения.
+
+---
+
+# Запись 018
+
+## Дата
+
+10 августа 2026 года
+
+## Тема
+
+Выбор радиочастотной архитектуры: рабочий диапазон, скачки по частоте и меры против подавления.
+
+## Исходные данные
+
+- Устройство опрошено напрямую: `Analog Devices PlutoSDR Rev.C (Z7010-AD9361)`. Приёмник перестраивается от 70 МГц до 6 ГГц, передатчик от 46,9 МГц. Минимальная частота дискретизации 2 083 333 Гц.
+- Ограничений по разрешённым частотам у проекта нет.
+- Усилителя мощности нет, покупка отложена до первых испытаний.
+
+## Отвергнутые варианты и причины
+
+**Выбор редкой фиксированной частоты.** Рассматривался как защита от подавления. Отклонён: одиночная несущая в пустом эфире обнаруживается сканирующим приёмником тривиально. Уязвимость создаёт не значение частоты, а её неизменность.
+
+**Скачки по всему диапазону 70 МГц – 6 ГГц.** Теоретически требуют от заградительной помехи на 42 дБ больше мощности, но выигрыш недостижим. Отношение крайних частот 86:1, одна антенна такой полосы не перекрывает; разброс потерь на 10 км составляет 39 дБ, проектировать пришлось бы по худшему краю; выше примерно 1 ГГц дифракция исчезает и для наземного ровера без прямой видимости эти каналы мертвы. Кроме того, подавление направлено на диапазон, в котором связь действительно работает, а не на тот, который способно настроить оборудование.
+
+**Диапазоны 330–433 МГц.** Отклонены как плотно занятые и общеизвестные.
+
+## Принято
+
+Рабочий диапазон **200–250 МГц**. Обоснование: четвертьволновая антенна 33 см пригодна для установки на ровер, дифракция ещё эффективна, участок заметно свободнее любительского 144 МГц и УКВ выше 300 МГц. Потери на 10 км составляют около 99,5 дБ.
+
+Совокупность мер против подавления:
+
+1. **Скачки по частоте в пределах 200–250 МГц.** Требуют от заградительной помехи на 22 дБ больше мощности при неизменной антенне и механике ровера.
+2. **Направленная антенна наземной станции.** Даёт 10–20 дБ усиления и пространственно подавляет помеху, приходящую с иного направления.
+3. **Расширение спектра для команд управления.** Поток команд составляет 10,88 кбит/с, поэтому расширение для него реализуемо в узкой полосе, в отличие от видеопотока.
+
+Видео остаётся некритичным классом: при подавлении управление сохраняется в узкой полосе, а ровер переходит к безопасному поведению по уже реализованной логике.
+
+## Запрещённые участки
+
+- 108–137 МГц — авиационная связь.
+- 243 МГц — международная аварийная частота.
+
+## Ограничения решения
+
+- Нижняя граница 70 МГц определяется приёмником Pluto и без смены оборудования не преодолевается.
+- Скачки требуют согласованной последовательности у обеих сторон, то есть зависят от криптографической аутентификации, которая пока не реализована.
+- Расчёты выполнены для свободного пространства. Потери на препятствиях 20–40 дБ учтены оценочно и подлежат измерению.
+- Дальность 10 км без усилителя мощности не достигается.
+
+## Влияние на ближайшие работы
+
+На Lab042 не влияет: там кабельная петля, несущая 435 МГц выбрана произвольно. Диапазон 200–250 МГц вступает в силу начиная с эфирных испытаний.
+
+---
+
+# Запись 019
+
+## Дата
+
+10 августа 2026 года
+
+## Тема
+
+Lab042: первая передача изображения через реальный радиотракт. Эфирная проверка на паре антенн.
+
+## Причина эфирного прогона
+
+Кабельная петля требует переходника SMA папа-папа, которого пока нет: пигтейлы к антеннам оканчиваются папой, а разъёмы Pluto — мамы. Чтобы не простаивать, выполнена вспомогательная эфирная проверка на двух антеннах, разнесённых на 60 см. Она не заменяет кабельный опыт: уровни в помещении не контролируются строго, возможны переотражения. Её задача — снять последнюю неизвестность в коде, а именно обвязку вокруг устройства, которая в моделях не проверяется.
+
+## Условия
+
+- Устройство Analog Devices PlutoSDR Rev.C, чип AD9361, прошивка v0.32.
+- Несущая 225 МГц, внутри целевого диапазона Записи 018.
+- Антенны, рассчитанные на 108 МГц, работают на несущей как полуволновые. Частота передачи и частота, на которую рассчитана антенна, различны, поэтому в авиационный диапазон 108–137 МГц опыт не заходит.
+- Изображение 320x180 в градациях серого, JPEG 4756 байт при качестве 35, десять фрагментов.
+
+## Результат
+
+- Изображение передано и собрано побайтово идентично исходному. Контрольная сумма MD5 переданного и принятого файла совпала.
+- Десять фрагментов из десяти, ни одной несошедшейся контрольной суммы.
+- Средняя нормированная корреляция при поиске кадра 0,99951.
+- Средняя оценка ухода несущей минус 0,368 Гц, что отражает общий опорный генератор передатчика и приёмника.
+- Канальная скорость 18,404 кбит/с при длительности сигнала в эфире около 2,07 секунды.
+- Результат воспроизведён тремя запусками подряд с одинаковой контрольной суммой.
+
+## Дефекты, вскрытые железом
+
+Программная модель проходила чисто, но на устройстве обнаружились четыре дефекта, каждый воспроизведён и устранён.
+
+- Кадр длиной 566 528 отсчётов не помещался в приёмный буфер 262 144. Между отдельными чтениями поток отсчётов не является непрерывным, и кадр на стыке разрушался. Приём переведён на один буфер, размер которого рассчитывается по длине кадра.
+- Частотная коррекция применялась всегда, тогда как при общем опорном генераторе истинный уход близок к нулю. Оценка по маркеру длиной 80 символов состояла из шума, и коррекция им поворачивала фазу вдоль всего кадра: измерено 65 процентов ошибочных битов. Перенесена защита should_apply_cfo_correction из Lab023, разрешающая коррекцию только вне мёртвой зоны.
+- Усиление приёмника 20 дБ давало сигнал около 0,0003 от шкалы АЦП. Рабочие уровни подобраны измерением: приёмник 50 дБ, передатчик минус 10 дБ дают ноль ошибочных битов с запасом.
+- Величина вектора ошибки при неудачном приёме возвращала ноль, то есть показывала идеальный сигнал там, где сигнала не было. Это тот же класс ошибки, что вписанные показатели Lab041: метрика при отказе рапортует лучшее значение. Заменена на явный признак невычислимости.
+
+## Ограничения
+
+- Эфирный прогон является проверкой тракта, а не измерением: уровни не контролируются как в кабельной сборке.
+- Потолок усиления передатчика в эфирном режиме рассчитывается из бюджета линии по расстоянию между антеннами, а не задан константой.
+
+## Следующий этап
+
+Кабельная петля через аттенюатор 30 дБ после получения переходника папа-папа. Это и есть заявленный опыт Lab042 с контролируемыми уровнями, его результат станет основным для лабораторной. Затем Lab043 — разведение на два устройства.
+
+---
+
+# Запись 020
+
+## Дата
+
+11 августа 2026 года
+
+## Тема
+
+Lab042 завершена: кабельная петля через аттенюатор, зависимость доставки от мощности, устранение трёх дефектов отчётности.
+
+## Схема опыта
+
+Выход передатчика PlutoSDR через кабель SMA, аттенюатор AT30S 30 дБ, переходник и второй кабель на вход приёмника того же устройства. Антенны сняты. Это заявленный основной опыт лабораторной с контролируемыми уровнями, в отличие от вспомогательной эфирной проверки Записи 019.
+
+## Зависимость доставки от мощности передатчика
+
+Кабельный тракт при неизменной схеме исследован по усилению передатчика. Получен отчётливый переход от отказа к устойчивой передаче:
+
+- TX минус 30 дБ: 0 из 10 фрагментов, контрольная сумма не сходится ни разу, средняя корреляция 0,936. Сигнал ниже порога уверенного приёма.
+- TX минус 20 дБ: 8 из 10 фрагментов, средняя корреляция 0,992. Пограничный режим: часть кадров проходит.
+- TX минус 10 дБ: 10 из 10 фрагментов, изображение собрано побайтово. Устойчивая передача.
+
+Значения TX минус 30 и минус 20 дБ — исследование порога, повторять их не требуется. Рабочая точка кабельной петли: TX минус 10 дБ, RX плюс 20 дБ, аттенюатор 30 дБ, несущая 435 МГц.
+
+Начальные умолчания кабельного режима TX минус 30 и RX плюс 20 дБ на железе прежде не проверялись; отказ первого прогона объяснялся именно этим, а не дефектом обработки.
+
+## Результат рабочей точки
+
+- Найдено 10 кадров из 10, контрольная сумма сошлась у всех десяти, восстановлены все фрагменты.
+- Изображение собрано и совпадает с переданным. Совпадение подтверждено независимо: SHA-256 принятого файла сверен с SHA-256 переданного JPEG, пересобранного из исходника отдельно от прогона. Оба равны 751d7ea0d8711e2ef54fc5cf209a809cfee5bbb14916dd20aa201d5285b40286.
+- Размер JPEG 4756 байт, качество 30, десять фрагментов.
+- Длительность сигнала около 2,07 секунды, канальная скорость 18,404 кбит/с.
+- Кадр 8 прошёл контрольную сумму при пониженной корреляции поиска 0,866 против 0,998 у остальных: низкая корреляция маркера не означает испорченных данных, фаза дискретизации была подобрана и кадр демодулировался чисто.
+
+## Устранённые дефекты отчётности
+
+Разбор кабельного прогона вскрыл три дефекта, при которых провал мог быть принят за успех. Все три устранены, каждый закрыт быстрым тестом в tests/test_lab042_reporting.py.
+
+- Величина вектора ошибки нормировалась на единичный эталон, из-за чего при слабом сигнале становилась искусственно малой: провалившийся прогон показывал EVM меньше, чем успешный. Нормировка исправлена на мощность подогнанного сигнала. При невозможности вычислить величину возвращается признак невычислимости, а не ноль.
+- Отчёт перечислял lab042_received.jpg среди созданных файлов безусловно, даже когда изображение не собрано и файла нет. Теперь файл указывается только при фактической сборке.
+- Программа завершалась кодом ноль при полном отказе передачи. Введён критерий приёмки: при несобранном изображении код завершения ненулевой, чтобы автоматика не приняла провал за успех.
+
+## Проверки
+
+- Быстрые тесты ядра расширены с 125 до 135. Добавленные проверяют неуспешный путь: провал даёт ненулевой код, отсутствующий файл не объявляется созданным, невычислимая метрика не превращается в ноль.
+- Окончательный кабельный прогон рабочей точки выполнен уже исправленной версией программы, поэтому итоговый отчёт сформирован ею.
+
+## Следующий этап
+
+Lab043: передаёт PlutoSDR, принимает RTL-SDR. Общий опорный генератор исчезает, впервые появляется реальное рассогласование несущей и частоты дискретизации двух независимых устройств. Здесь понадобится защищённая частотная коррекция, перенесённая в Записи 019.

README.md

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

data/processed/lab033/lab033_class_metrics.csv

@@ -0,0 +1,37 @@
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data/processed/lab033/lab033_report.txt

@@ -0,0 +1,165 @@
+Lab033. Общий пакет канала и приоритетное обслуживание
+
+1. Git и конфигурация
+- Git-корень: C:/Users/user/Desktop/projects/SDR_Rover.
+- Ветка: main; HEAD: 3dbb7afa8332b49535d867f1eabca7bdd2b7cdde.
+- Исходное видео: 20.766667 с, 63 составных кадров, 3 кадра/с.
+- BASE 240x135 grayscale JPEG Q23; ROI 320x180 grayscale JPEG Q33.
+- Lab028: payload 512 байт; Lab030: FEC 12+3; Lab031: D=1.
+- Фактический внешний видеопоток до Lab033: 226.951 кбит/с; с общим заголовком: 240.240 кбит/с.
+- Аварийная команда: 0.024655; обычные команды: 10.256; телеметрия: 7.692 кбит/с.
+- Общая предложенная нагрузка: 258.214 кбит/с; суммарная служебная доля: 34.923%.
+
+2. Формат общего заголовка
+- struct: !4sBBBBHIQHII; размер: 32 байта; network byte order, неявного padding нет.
+- Смещения: magic[4]@0, version:u8@4, traffic_class:u8@5, direction:u8@6, flags:u8@7, stream_id:u16@8, sequence_number:u32@10, generation_time_us:u64@14, deadline_ms:u16@22, payload_length:u32@24, packet_crc32:u32@28.
+- traffic_class: 1=EMERGENCY, 2=CONTROL, 3=TELEMETRY, 4=VIDEO; direction: 1=GROUND_TO_ROVER, 2=ROVER_TO_GROUND; flags в версии 1 равен нулю.
+- CRC32 защищает заголовок с нулевым packet_crc32 и всю полезную нагрузку.
+
+3. Девять сочетаний скорости и планировщика
+speed | scheduler | offered/capacity | control P95 ms | emergency ms | telemetry P95 ms | video P95 ms | queue@end packets | drain extra s | final video
+300 | FIFO | 0.8607 | 238.634 | 1.707 | 233.680 | 304.579 | 18 | 0.231867 | 1.000000
+300 | Строгий приоритет | 0.8607 | 17.466 | 1.707 | 20.107 | 322.072 | 15 | 0.231867 | 1.000000
+300 | Приоритет + замена | 0.8607 | 17.466 | 1.707 | 20.107 | 322.072 | 15 | 0.231867 | 1.000000
+260 | FIFO | 0.9931 | 333.059 | 1.969 | 331.782 | 420.025 | 32 | 0.399200 | 1.000000
+260 | Строгий приоритет | 0.9931 | 18.754 | 1.969 | 22.448 | 445.846 | 23 | 0.399200 | 1.000000
+260 | Приоритет + замена | 0.9931 | 18.754 | 1.969 | 22.448 | 445.846 | 23 | 0.399200 | 1.000000
+230 | FIFO | 1.1227 | 2240.535 | 881.113 | 2225.607 | 2417.731 | 181 | 2.547420 | 1.000000
+230 | Строгий приоритет | 1.1227 | 21.848 | 11.548 | 25.111 | 2505.995 | 127 | 2.547420 | 1.000000
+230 | Приоритет + замена | 1.1227 | 21.848 | 11.548 | 25.111 | 2505.995 | 127 | 2.547420 | 1.000000
+
+4. Подробные показатели
+[300 кбит/с; FIFO]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 10.478/22 пакетов и 4452.4/12221 байт.
+- На конце видео: 18 пакетов, 8695.0 байт; полное освобождение 20.998534 с, дополнительно 0.231867 с.
+- Команды: mean/P95/max 106.072/238.634/296.186 мс; превышений 100 мс 203; промежутков >100 мс 63; max gap 344.480 мс; заменено 0.
+- Аварийная команда: start/total 0.000/1.707 мс; deadline 50 мс соблюдён; блокировал none, 0 байт, seq=-1, ожидание 0.000 мс.
+- Телеметрия: mean/P95/max 101.032/233.680/296.827 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.984127, после drain 1.000000, итог 1.000000; delay mean/P95/max 261.559/304.579/311.146 мс.
+- Возраст изображения mean/P95/max 423.846/580.000/643.333 мс; доля >1 с 0.000000; поздних кадров 0, max серия 0.
+[300 кбит/с; Строгий приоритет]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 8.050/22 пакетов и 4452.4/12221 байт.
+- На конце видео: 15 пакетов, 8695.0 байт; полное освобождение 20.998534 с, дополнительно 0.231867 с.
+- Команды: mean/P95/max 9.440/17.466/17.813 мс; превышений 100 мс 0; промежутков >100 мс 0; max gap 65.760 мс; заменено 0.
+- Аварийная команда: start/total 0.000/1.707 мс; deadline 50 мс соблюдён; блокировал none, 0 байт, seq=-1, ожидание 0.000 мс.
+- Телеметрия: mean/P95/max 12.424/20.107/20.373 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.984127, после drain 1.000000, итог 1.000000; delay mean/P95/max 276.337/322.072/330.773 мс.
+- Возраст изображения mean/P95/max 437.649/593.333/660.000 мс; доля >1 с 0.000000; поздних кадров 0, max серия 0.
+[300 кбит/с; Приоритет + замена]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 8.050/22 пакетов и 4452.4/12221 байт.
+- На конце видео: 15 пакетов, 8695.0 байт; полное освобождение 20.998534 с, дополнительно 0.231867 с.
+- Команды: mean/P95/max 9.440/17.466/17.813 мс; превышений 100 мс 0; промежутков >100 мс 0; max gap 65.760 мс; заменено 0.
+- Аварийная команда: start/total 0.000/1.707 мс; deadline 50 мс соблюдён; блокировал none, 0 байт, seq=-1, ожидание 0.000 мс.
+- Телеметрия: mean/P95/max 12.424/20.107/20.373 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.984127, после drain 1.000000, итог 1.000000; delay mean/P95/max 276.337/322.072/330.773 мс.
+- Возраст изображения mean/P95/max 437.649/593.333/660.000 мс; доля >1 с 0.000000; поздних кадров 0, max серия 0.
+[260 кбит/с; FIFO]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 14.800/37 пакетов и 6010.5/16512 байт.
+- На конце видео: 32 пакетов, 12974.0 байт; полное освобождение 21.165867 с, дополнительно 0.399200 с.
+- Команды: mean/P95/max 169.073/333.059/460.944 мс; превышений 100 мс 298; промежутков >100 мс 63; max gap 384.348 мс; заменено 0.
+- Аварийная команда: start/total 0.000/1.969 мс; deadline 50 мс соблюдён; блокировал none, 0 байт, seq=-1, ожидание 0.000 мс.
+- Телеметрия: mean/P95/max 163.317/331.782/463.898 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.984127, после drain 1.000000, итог 1.000000; delay mean/P95/max 329.072/420.025/436.185 мс.
+- Возраст изображения mean/P95/max 489.627/666.667/766.667 мс; доля >1 с 0.000000; поздних кадров 0, max серия 0.
+[260 кбит/с; Строгий приоритет]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 10.783/28 пакетов и 6010.2/16384 байт.
+- На конце видео: 23 пакетов, 12974.0 байт; полное освобождение 21.165867 с, дополнительно 0.399200 с.
+- Команды: mean/P95/max 10.282/18.754/20.667 мс; превышений 100 мс 0; промежутков >100 мс 0; max gap 63.477 мс; заменено 0.
+- Аварийная команда: start/total 0.000/1.969 мс; deadline 50 мс соблюдён; блокировал none, 0 байт, seq=-1, ожидание 0.000 мс.
+- Телеметрия: mean/P95/max 13.864/22.448/23.621 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.968254, после drain 1.000000, итог 1.000000; delay mean/P95/max 351.218/445.846/459.559 мс.
+- Возраст изображения mean/P95/max 511.188/693.333/783.333 мс; доля >1 с 0.000000; поздних кадров 0, max серия 0.
+[260 кбит/с; Приоритет + замена]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 10.783/28 пакетов и 6010.2/16384 байт.
+- На конце видео: 23 пакетов, 12974.0 байт; полное освобождение 21.165867 с, дополнительно 0.399200 с.
+- Команды: mean/P95/max 10.282/18.754/20.667 мс; превышений 100 мс 0; промежутков >100 мс 0; max gap 63.477 мс; заменено 0.
+- Аварийная команда: start/total 0.000/1.969 мс; deadline 50 мс соблюдён; блокировал none, 0 байт, seq=-1, ожидание 0.000 мс.
+- Телеметрия: mean/P95/max 13.864/22.448/23.621 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.968254, после drain 1.000000, итог 1.000000; delay mean/P95/max 351.218/445.846/459.559 мс.
+- Возраст изображения mean/P95/max 511.188/693.333/783.333 мс; доля >1 с 0.000000; поздних кадров 0, max серия 0.
+[230 кбит/с; FIFO]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 86.915/184 пакетов и 34309.1/76497 байт.
+- На конце видео: 181 пакетов, 73238.3 байт; полное освобождение 23.314087 с, дополнительно 2.547420 с.
+- Команды: mean/P95/max 1174.288/2240.535/2608.522 мс; превышений 100 мс 414; промежутков >100 мс 63; max gap 427.304 мс; заменено 0.
+- Аварийная команда: start/total 878.887/881.113 мс; deadline 50 мс НАРУШЕН; блокировал video, 608 байт, seq=461, ожидание 0.417 мс.
+- Телеметрия: mean/P95/max 1164.978/2225.607/2611.861 мс; превышений 500 мс 177 (0.850962); заменено 0.
+- Видео: опубликовано к концу источника 0.888889, после drain 1.000000, итог 1.000000; delay mean/P95/max 1347.217/2417.731/2576.186 мс.
+- Возраст изображения mean/P95/max 1506.487/2588.167/2906.667 мс; доля >1 с 0.771870; поздних кадров 42, max серия 42.
+[230 кбит/с; Строгий приоритет]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 59.750/132 пакетов и 34307.1/75969 байт.
+- На конце видео: 127 пакетов, 73238.3 байт; полное освобождение 23.314087 с, дополнительно 2.547420 с.
+- Команды: mean/P95/max 12.250/21.848/23.339 мс; превышений 100 мс 0; промежутков >100 мс 0; max gap 69.009 мс; заменено 0.
+- Аварийная команда: start/total 9.322/11.548 мс; deadline 50 мс соблюдён; блокировал video, 608 байт, seq=458, ожидание 9.322 мс.
+- Телеметрия: mean/P95/max 15.514/25.111/26.678 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.888889, после drain 1.000000, итог 1.000000; delay mean/P95/max 1445.995/2505.995/2583.977 мс.
+- Возраст изображения mean/P95/max 1594.537/2678.167/2916.667 мс; доля >1 с 0.804460; поздних кадров 47, max серия 47.
+[230 кбит/с; Приоритет + замена]
+- Передано 1703 пакетов, 670280 байт; средняя/максимальная очередь 59.750/132 пакетов и 34307.1/75969 байт.
+- На конце видео: 127 пакетов, 73238.3 байт; полное освобождение 23.314087 с, дополнительно 2.547420 с.
+- Команды: mean/P95/max 12.250/21.848/23.339 мс; превышений 100 мс 0; промежутков >100 мс 0; max gap 69.009 мс; заменено 0.
+- Аварийная команда: start/total 9.322/11.548 мс; deadline 50 мс соблюдён; блокировал video, 608 байт, seq=458, ожидание 9.322 мс.
+- Телеметрия: mean/P95/max 15.514/25.111/26.678 мс; превышений 500 мс 0 (0.000000); заменено 0.
+- Видео: опубликовано к концу источника 0.888889, после drain 1.000000, итог 1.000000; delay mean/P95/max 1445.995/2505.995/2583.977 мс.
+- Возраст изображения mean/P95/max 1594.537/2678.167/2916.667 мс; доля >1 с 0.804460; поздних кадров 47, max серия 47.
+
+5. Интерпретация планировщиков
+- FIFO задерживает команды, потому что все ранее поступившие внешние видеопакеты остаются перед ними независимо от срочности.
+- Строгий приоритет после каждого окончания пакета выбирает управление раньше телеметрии и видео, поэтому сокращает очередь команд.
+- Уже начатая передача не прерывается: модель сериализует целый пакет как атомарную единицу и не задаёт фрагментацию общего пакета или возобновление передачи.
+- Поэтому нижняя граница задержки срочной команды включает остаток времени самого длинного пакета, уже занявшего ресурс.
+- Замена старого состояния новым не тратит канал на запоздалую команду, которая к моменту приёма уже не отражает актуальное управление.
+- Строгий приоритет перераспределяет порядок, но не уменьшает объём видео; при нагрузке выше пропускной способности видеопакеты продолжают накапливаться.
+- Длинная очередь видео увеличивает возраст изображения даже без потерь: полные, но старые кадры публикуются позже времени формирования.
+- Восстановление 100% кадров после drain подтверждает целостность, но не пригодность задержек канала для управления в реальном времени.
+
+6. Допущения модели
+- Один общий абстрактный ресурс и одна расчётная скорость для обоих направлений; переключение направления не задерживает передачу.
+- Не выбран физический полудуплекс/дуплекс, TDD/FDD, модуляция, ретранслятор или физическое разделение восходящего и нисходящего каналов.
+- Ошибки и помехи отсутствуют; полностью переданный пакет доставляется без повреждений; видеопакеты не отбрасываются по возрасту.
+- После конца исходного видео новые данные не создаются, а очередь полностью освобождается.
+- При совпадении времени FIFO использует traffic_class, stream_id и sequence_number как устойчивое правило разрешения совпадений.
+- Средняя очередь рассчитана по времени на основном интервале и включает пакет, находящийся в передатчике; остаток байтов активного пакета учитывается пропорционально недопереданному времени.
+
+7. Функциональные проверки
+- PASS 01_header_roundtrip: PASS
+- PASS 02_header_crc_detection: PASS
+- PASS 03_payload_crc_detection: PASS
+- PASS 04_video_wrapper_byte_exact: PASS
+- PASS 05_lab030_crc: PASS
+- PASS 06_lab028_crc: PASS
+- PASS 07_fifo_global_order: PASS
+- PASS 08_strict_priority: PASS
+- PASS 09_non_preemptive: PASS
+- PASS 10_intra_class_sequence: PASS
+- PASS 11_latest_state_scope: PASS
+- PASS 12_active_state_not_removed: PASS
+- PASS 13_emergency_never_replaced: PASS
+- PASS 14_300kbps_all_video: PASS
+- PASS 15_overload_visible: PASS
+- PASS 16_exact_transmission_duration: PASS
+- PASS 17_total_bits_accounting: PASS
+- PASS 18_reproducible_schedule: PASS
+- PASS 19_no_video_control_isolated: PASS
+- PASS 20_latest_state_reaches_receiver: PASS
+
+8. Созданные файлы и итоговый Git status
+- protocol/link_packet.py
+- protocol/priority_scheduler.py
+- tests/lab033_priority_channel_scheduler.py
+- data/processed/lab033/lab033_summary.csv
+- data/processed/lab033/lab033_class_metrics.csv
+- data/processed/lab033/lab033_report.txt
+- data/processed/lab033/lab033_control_delay.png
+- data/processed/lab033/lab033_emergency_delay.png
+- data/processed/lab033/lab033_video_delay.png
+- data/processed/lab033/lab033_queue_length.png
+- data/processed/lab033/lab033_deadline_misses.png
+- data/processed/lab033/lab033_scheduler_comparison.png
+- Lab028-Lab032 и их сохранённые результаты не изменены.
+- Lab033 не добавлена в индекс и не закоммичена.
+
+## main...origin/main
+?? data/processed/lab033/
+?? protocol/link_packet.py
+?? protocol/priority_scheduler.py
+?? tests/lab033_priority_channel_scheduler.py

data/processed/lab033/lab033_summary.csv

@@ -0,0 +1,10 @@
+channel_kbps,scheduler,offered_load_kbps,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,service_share_percent,offered_to_capacity_ratio,transmitted_packets,transmitted_bytes,source_duration_seconds,drain_end_seconds,additional_drain_seconds,queue_at_source_end_packets,queue_at_source_end_bytes,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,control_mean_age_ms,control_p95_age_ms,control_max_age_ms,control_gaps_over_100ms,control_max_receive_gap_ms,control_replaced,emergency_start_delay_ms,emergency_total_delay_ms,emergency_deadline_met,emergency_blocker_class,emergency_blocker_size_bytes,emergency_blocker_sequence,emergency_blocking_delay_ms,telemetry_mean_age_ms,telemetry_p95_age_ms,telemetry_max_age_ms,telemetry_misses_500ms,telemetry_miss_fraction,telemetry_replaced,video_published_at_source_end_fraction,video_published_after_drain_fraction,video_final_recovery_fraction,video_mean_publication_delay_ms,video_p95_publication_delay_ms,video_max_publication_delay_ms,video_mean_display_age_ms,video_p95_display_age_ms,video_max_display_age_ms,video_age_over_1s_fraction,video_late_frame_count,video_max_late_run
+300.0,fifo,258.21380417335473,0.02465489566613162,10.256436597110755,7.692327447833066,240.24038523274479,34.922718863758426,0.8607126805778491,1703,670280,20.766666666666666,20.99853366666666,0.23186699999999405,18,8695.012499999913,10.477643691813581,22,4452.409985633955,12221,106.0716594551255,238.6335833333294,296.1863333333259,63,344.4796666666594,0,0.0,1.7066666666671892,True,none,0,-1,0.0,101.03181249999754,233.68033333332914,296.8269999999933,0,0.0,0,0.9841269841269841,1.0,1.0,261.5593703703662,304.57866666666183,311.1463333333262,423.8457877201335,580.0,643.3333333333333,0.0,0,0
+300.0,strict_priority,258.21380417335473,0.02465489566613162,10.256436597110755,7.692327447833066,240.24038523274479,34.922718863758426,0.8607126805778491,1703,670280,20.766666666666666,20.99853366666666,0.23186699999999405,15,8695.012499999915,8.05016637239154,22,4452.387224542477,12221,9.439928685896334,17.46633333333346,17.813000000000745,0,65.7596666666671,0,0.0,1.7066666666671892,True,none,0,-1,0.0,12.424120192306697,20.10688333333437,20.37300000000064,0,0.0,0,0.9841269841269841,1.0,1.0,276.3369365079338,322.0720000000001,330.77299999999,437.6487386958594,593.3333333333334,660.0000000000001,0.0,0,0
+300.0,latest_state,258.21380417335473,0.02465489566613162,10.256436597110755,7.692327447833066,240.24038523274479,34.922718863758426,0.8607126805778491,1703,670280,20.766666666666666,20.99853366666666,0.23186699999999405,15,8695.012499999915,8.05016637239154,22,4452.387224542477,12221,9.439928685896334,17.46633333333346,17.813000000000745,0,65.7596666666671,0,0.0,1.7066666666671892,True,none,0,-1,0.0,12.424120192306697,20.10688333333437,20.37300000000064,0,0.0,0,0.9841269841269841,1.0,1.0,276.3369365079338,322.0720000000001,330.77299999999,437.6487386958594,593.3333333333334,660.0000000000001,0.0,0,0
+260.0,fifo,258.21380417335473,0.02465489566613162,10.256436597110755,7.692327447833066,240.24038523274479,34.922718863758426,0.9931300160513643,1703,670280,20.766666666666666,21.165867000000176,0.39920033333351057,32,12974.010833338622,14.800483013954153,37,6010.5496338357525,16512,169.07309430475814,333.0593076923547,460.9439230770995,63,384.34838461538055,0,0.0,1.969230769230279,True,none,0,-1,0.0,163.31735133138503,331.7823846154539,463.8977692309467,0,0.0,0,0.9841269841269841,1.0,1.0,329.07164590967284,420.0249487180816,436.18494871812175,489.62700661000974,666.6666666666679,766.6666666666692,0.0,0,0
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data/processed/lab034/lab034_control_metrics.csv

@@ -0,0 +1,16 @@
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data/processed/lab034/lab034_report.txt

@@ -0,0 +1,98 @@
+Lab034. Ограничение возраста видеоданных и отбрасывание устаревших кадров
+
+1. Исходное состояние
+- Commit Lab033: 21751f41dd0af022fc1f935c67e795e3ae4257c5.
+- Перед Lab034 рабочее дерево было чистым; main опережала origin/main на один commit.
+- Lab028-Lab033 и их результаты не изменяются.
+
+2. Формирование FEC-блоков
+layout | source | parity | blocks | partial | cross-frame | frames/block mean/max | before/after Lab033 kbps
+Непрерывные | 862 | 216 | 72 | 1 | 58 | 1.806/2 | 226.951/240.240
+По кадрам | 862 | 251 | 125 | 62 | 0 | 1.000/1 | 232.926/246.647
+- Дополнительная избыточность выравнивания: 5.975 кбит/с (2.633%).
+- Средняя эквивалентная группа кадра: непрерывные 17.111 пакета / 263.968 мс; выровненные 17.667 пакета / 271.007 мс при 300 кбит/с.
+
+3. Пятнадцать сочетаний
+speed | policy | offered/capacity | published/drop/partial | update fps | age P95 ms | control P95 ms | emergency ms | queue max/end | drain s | wasted bytes
+300 | Непрерывные, без отбрасывания | 0.8607 | 63/0/0 | 2.986 | 593.333 | 17.466 | 1.707 | 22/15 | 0.231867 | 0
+300 | По кадрам, без отбрасывания | 0.8821 | 63/0/0 | 2.986 | 590.000 | 17.466 | 1.707 | 21/13 | 0.199440 | 0
+300 | По кадрам, 1500 мс | 0.8821 | 63/0/0 | 2.986 | 590.000 | 17.466 | 1.707 | 21/13 | 0.199440 | 0
+300 | По кадрам, 1000 мс | 0.8821 | 63/0/0 | 2.986 | 590.000 | 17.466 | 1.707 | 21/13 | 0.199440 | 0
+300 | По кадрам, 500 мс | 0.8821 | 63/0/0 | 2.986 | 590.000 | 17.466 | 1.707 | 21/13 | 0.199440 | 0
+260 | Непрерывные, без отбрасывания | 0.9931 | 63/0/0 | 2.937 | 690.000 | 18.754 | 1.969 | 28/23 | 0.399200 | 0
+260 | По кадрам, без отбрасывания | 1.0178 | 63/0/0 | 2.937 | 773.833 | 18.908 | 1.969 | 37/30 | 0.539293 | 0
+260 | По кадрам, 1500 мс | 1.0178 | 63/0/0 | 2.937 | 773.833 | 18.908 | 1.969 | 37/30 | 0.539293 | 0
+260 | По кадрам, 1000 мс | 1.0178 | 63/0/0 | 2.937 | 773.833 | 18.908 | 1.969 | 37/30 | 0.539293 | 0
+260 | По кадрам, 500 мс | 1.0178 | 56/7/7 | 2.648 | 1053.833 | 18.908 | 1.969 | 31/24 | 0.403939 | 69597
+230 | Непрерывные, без отбрасывания | 1.1227 | 63/0/0 | 2.697 | 2443.833 | 21.848 | 11.548 | 132/127 | 2.547420 | 0
+230 | По кадрам, без отбрасывания | 1.1505 | 63/0/0 | 2.600 | 2913.333 | 22.500 | 22.330 | 160/155 | 3.125855 | 0
+230 | По кадрам, 1500 мс | 1.1505 | 27/36/36 | 1.300 | 11064.833 | 22.461 | 22.330 | 87/81 | 1.418064 | 321929
+230 | По кадрам, 1000 мс | 1.1505 | 14/49/49 | 0.674 | 11731.500 | 22.578 | 11.652 | 63/53 | 0.904881 | 434885
+230 | По кадрам, 500 мс | 1.1505 | 3/60/60 | 0.144 | 11731.500 | 22.230 | 3.687 | 32/27 | 0.419072 | 532167
+
+4. Практический смысл ограничений возраста
+- При 300 кбит/с очередь обслуживается достаточно быстро: ограничения 500, 1000 и 1500 мс не срабатывают и не дают выигрыша.
+- При 260 кбит/с пределы 1000 и 1500 мс также не срабатывают; предел 500 мс публикует 56 из 63 кадров и отбрасывает 7, поэтому он уже чрезмерно жёсткий для части кадров.
+- При 230 кбит/с предел 1500 мс сохраняет 27 кадров, 1000 мс — 14, 500 мс — только 3; более строгий предел лучше ограничивает очередь, но резко уменьшает частоту обновления.
+- В исследованной перегрузке 1500 мс является наиболее мягким из конечных ограничений; 1000 мс сильнее улучшает свежесть ценой обновлений, а 500 мс чрезмерно жёсток.
+
+5. Интерпретация
+- Произвольное удаление символа из непрерывного FEC-блока опасно: блок может содержать соседние кадры, и нехватка символов затрагивает их совместное декодирование.
+- Выравнивание изолирует кадр в собственных блоках, поэтому все ожидающие символы устаревшего кадра можно удалить без повреждения соседей.
+- Цена изоляции — 5.975 кбит/с дополнительного внешнего потока из-за большего числа неполных блоков.
+- Полная доставка после освобождения очереди не является целью операторского видео: поздний полный кадр уже не описывает текущее состояние ровера.
+- При перегрузке отбрасывание старого кадра освобождает ресурс для более свежего изображения и не затрагивает команды.
+- При 230 кбит/с выравнивание меняет фазу активного видеопакета около 10,0 с; фактическая задержка аварийной команды может отличаться от Lab033, но отбрасывание её не увеличивает, а непереключаемая верхняя граница остаётся прежней, поскольку максимальный размер пакета не изменён.
+- Слишком малый возраст может отменять кадры быстрее их полной передачи и снижать фактическую частоту обновления.
+- Поэтому возраст изображения оценивается вместе с частотой обновления: хорошее значение одного показателя не гарантирует полезный видеопоток.
+- Замена команд допустима только для текущего состояния (скорость, поворот, торможение, телеметрия). Дискретные события заменять нельзя; в Lab034 они не моделируются.
+
+6. Допущения
+- Один общий абстрактный ресурс, одна скорость для обоих направлений, без времени переключения и без выбора физического duplex/TDD/FDD.
+- Ошибки и помехи отсутствуют; начатый пакет не прерывается; форматы Lab028, Lab030 и Lab033 неизменны.
+- Возраст считается от формирования составного кадра по generation_time_us; служебные frame_id и состояние отмены не сериализуются.
+- Видеокадр с удалёнными пакетами очищается в приёмнике и никогда не публикуется.
+- Допустимые возраста 500, 1000 и 1500 мс заданы явно и автоматически не выбираются.
+
+7. Функциональные проверки
+- PASS 01_continuous_matches_lab033: PASS
+- PASS 02_aligned_blocks_one_frame: PASS
+- PASS 03_aligned_no_drop_recovers_all: PASS
+- PASS 04_whole_frame_drop_isolated: PASS
+- PASS 05_only_waiting_video_removed: PASS
+- PASS 06_active_packet_not_preempted: PASS
+- PASS 07_partial_cancel_not_published: PASS
+- PASS 08_age_uses_frame_generation: PASS
+- PASS 09_receiver_cleans_stale_state: PASS
+- PASS 10_emergency_never_deleted: PASS
+- PASS 11_high_priority_before_video: PASS
+- PASS 12_230kbps_finite_age_bounds_queue: PASS
+- PASS 13_packet_accounting: PASS
+- PASS 14_byte_accounting: PASS
+- PASS 15_all_crc_layers_pass: PASS
+- PASS 16_incomplete_frame_never_published: PASS
+- PASS 17_reproducible: PASS
+- PASS 18_drop_does_not_worsen_emergency: PASS
+
+8. Созданные файлы
+- protocol/video_age_policy.py
+- tests/lab034_stale_video_drop.py
+- data/processed/lab034/lab034_summary.csv
+- data/processed/lab034/lab034_video_metrics.csv
+- data/processed/lab034/lab034_control_metrics.csv
+- data/processed/lab034/lab034_report.txt
+- data/processed/lab034/lab034_image_age.png
+- data/processed/lab034/lab034_frame_outcomes.png
+- data/processed/lab034/lab034_queue_size.png
+- data/processed/lab034/lab034_control_delay.png
+- data/processed/lab034/lab034_update_rate.png
+- data/processed/lab034/lab034_fec_alignment_overhead.png
+- data/processed/lab034/lab034_policy_comparison.png
+
+9. Итоговый Git status
+- Lab034 не добавлена в индекс и не закоммичена.
+
+## main...origin/main [ahead 1]
+?? data/processed/lab034/
+?? protocol/video_age_policy.py
+?? tests/lab034_stale_video_drop.py

data/processed/lab034/lab034_summary.csv

@@ -0,0 +1,16 @@
+channel_kbps,policy,layout,max_video_age_ms,offered_load_kbps,offered_to_capacity_ratio,transmitted_packets,transmitted_bytes,dropped_packets,dropped_bytes,wasted_transmitted_bytes,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,queue_at_source_end_packets,additional_drain_seconds,channel_utilization_fraction
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+230.0,aligned_1500ms,aligned,1500,264.62022471910115,1.1505227161700051,1641,637811,97,49099,321929,59.44779896084508,87,33911.67327808277,50035,81,1.4180637681158217,1.0
+230.0,aligned_1000ms,aligned,1000,264.62022471910115,1.1505227161700051,1609,623057,129,63853,434885,42.60156656500422,63,24223.970784957004,35495,53,0.9048811594201744,1.0
+230.0,aligned_500ms,aligned,500,264.62022471910115,1.1505227161700051,1580,609090,158,77820,532167,20.03526158908224,32,11270.42233914812,18208,27,0.41907246376802476,0.9999999999999993

data/processed/lab034/lab034_video_metrics.csv

@@ -0,0 +1,16 @@
+channel_kbps,policy,created_frames,published_frames,intentionally_dropped_frames,partially_transmitted_cancelled_frames,published_after_deadline_frames,published_fraction,actual_update_fps,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,mean_missing_run_frames,p95_missing_run_frames,max_missing_run_frames,delivered_useful_video_kbps,wasted_transmitted_video_bytes,receiver_cleared_frames
+300.0,continuous_no_drop,63,63,0,0,0,1.0,2.985553772070626,276.3369365079338,322.0720000000001,330.77299999999,437.2938723131218,593.3333333333333,660.0000000000001,0.3142444658325313,0.0,329.6296296296296,388.9899000000025,397.1729999999969,0.0,0.0,0,157.76975922953451,0,0
+300.0,aligned_no_drop,63,63,0,0,0,1.0,2.985553772070626,272.2167195767169,293.13066666666225,301.84000000000003,433.2836060314408,589.9999999999999,623.3333333333348,0.30221366698748797,0.0,329.6296296296296,355.05666666666684,406.506333333331,0.0,0.0,0,157.76975922953451,0,0
+300.0,aligned_1500ms,63,63,0,0,0,1.0,2.985553772070626,272.2167195767169,293.13066666666225,301.84000000000003,433.2836060314408,589.9999999999999,623.3333333333348,0.30221366698748797,0.0,329.6296296296296,355.05666666666684,406.506333333331,0.0,0.0,0,157.76975922953451,0,0
+300.0,aligned_1000ms,63,63,0,0,0,1.0,2.985553772070626,272.2167195767169,293.13066666666225,301.84000000000003,433.2836060314408,589.9999999999999,623.3333333333348,0.30221366698748797,0.0,329.6296296296296,355.05666666666684,406.506333333331,0.0,0.0,0,157.76975922953451,0,0
+300.0,aligned_500ms,63,63,0,0,0,1.0,2.985553772070626,272.2167195767169,293.13066666666225,301.84000000000003,433.2836060314408,589.9999999999999,623.3333333333348,0.30221366698748797,0.0,329.6296296296296,355.05666666666684,406.506333333331,0.0,0.0,0,157.76975922953451,0,0
+260.0,continuous_no_drop,63,63,0,0,0,1.0,2.937399678972713,351.2176776557015,445.84648717956554,459.55930769245157,509.63907603464884,690.0000000000005,783.3333333333314,0.5312800769971127,0.0,334.9462365591397,401.4781615384583,411.91761538461515,0.0,0.0,0,157.76975922953451,0,0
+260.0,aligned_no_drop,63,63,0,0,0,1.0,2.937399678972713,393.259570207603,579.4598205129968,620.584948718161,546.5335258261151,773.833333333333,943.3333333333316,0.62223291626564,0.0,334.9462365591397,363.58000000001095,417.7637692307723,0.0,0.0,0,157.76975922953451,0,0
+260.0,aligned_1500ms,63,63,0,0,0,1.0,2.937399678972713,393.259570207603,579.4598205129968,620.584948718161,546.5335258261151,773.833333333333,943.3333333333316,0.62223291626564,0.0,334.9462365591397,363.58000000001095,417.7637692307723,0.0,0.0,0,157.76975922953451,0,0
+260.0,aligned_1000ms,63,63,0,0,0,1.0,2.937399678972713,393.259570207603,579.4598205129968,620.584948718161,546.5335258261151,773.833333333333,943.3333333333316,0.62223291626564,0.0,334.9462365591397,363.58000000001095,417.7637692307723,0.0,0.0,0,157.76975922953451,0,0
+260.0,aligned_500ms,63,56,7,7,0,0.8888888888888888,2.648475120385233,367.5917000915918,493.7670000001404,498.6567435899403,584.550850176452,1053.8333333333312,1769.9999999999995,0.6212704523580366,0.060153994225216556,370.8333333333333,664.0000000000219,1270.1227435895887,1.4,2.5999999999999996,3,139.5205136436597,69597,7
+230.0,continuous_no_drop,63,63,0,0,0,1.0,2.696629213483146,1445.9947550034299,2505.9953623187953,2583.976811594141,1464.8845043310876,2443.8333333333317,2740.000000000002,0.9716073147256978,0.78055822906641,364.32748538011697,437.67652173912944,464.34782608695,0.0,0.0,0,157.76975922953451,0,0
+230.0,aligned_no_drop,63,63,0,0,0,1.0,2.6003210272873196,1777.4951000689596,3067.511884057848,3204.707246376671,1723.7872954764196,2913.333333333334,3206.666666666667,0.9735322425409048,0.8267564966313763,377.57575757575756,412.5426086956473,424.00000000000125,0.0,0.0,0,157.76975922953451,0,0
+230.0,aligned_1500ms,63,27,36,36,0,0.42857142857142855,1.3001605136436598,1010.3600644122084,1414.757101449207,1473.0202898550094,4028.4071222329167,11064.833333333332,12103.333333333334,0.9735322425409048,0.8267564966313763,741.6666666666666,416.659130434783,10626.97971014499,36.0,36.0,36,66.39987158908507,321929,36
+230.0,aligned_1000ms,63,14,49,49,0,0.2222222222222222,0.6741573033707865,734.7155279503047,977.28927536231,995.617391304334,4667.483156881616,11731.499999999998,12770.0,0.9735322425409048,0.8233878729547642,1384.4444444444443,6308.219130434754,11828.788405797173,24.5,36.65,38,34.951781701444624,434885,49
+230.0,aligned_500ms,63,3,60,60,0,0.047619047619047616,0.14446227929373998,429.5149758453909,457.5026086956464,460.9971014492756,5508.034969521976,11731.499999999998,12770.0,0.9696823869104908,0.9076034648700674,5191.666666666666,11634.280579710185,12340.614492753682,30.0,37.2,38,7.567126805778492,532167,60

data/processed/lab035/lab035_control_metrics.csv

@@ -0,0 +1,19 @@
+channel_kbps,policy,control_p95_delay_ms,control_max_delay_ms,control_deadline_misses,control_max_receive_gap_ms,emergency_delay_ms,emergency_deadline_met,emergency_blocker_class,emergency_blocking_delay_ms,telemetry_deadline_misses
+300.0,no_drop,17.46633333333314,17.78700000000022,0,65.7596666666671,1.7066666666671892,True,none,0.0,0
+300.0,reactive_1500ms,17.46633333333314,17.78700000000022,0,65.7596666666671,1.7066666666671892,True,none,0.0,0
+300.0,latest_only,17.46633333333314,17.78700000000022,0,65.7596666666671,1.7066666666671892,True,none,0.0,0
+300.0,two_waiting,17.46633333333314,17.78700000000022,0,65.7596666666671,1.7066666666671892,True,none,0.0,0
+300.0,predict_1000ms,17.46633333333314,17.78700000000022,0,65.7596666666671,1.7066666666671892,True,none,0.0,0
+300.0,predict_500ms,17.46633333333314,17.78700000000022,0,65.7596666666671,1.7066666666671892,True,none,0.0,0
+260.0,no_drop,18.907692307691043,20.492307692309808,0,67.81538461538617,1.969230769230279,True,none,0.0,0
+260.0,reactive_1500ms,18.907692307691043,20.492307692309808,0,67.81538461538617,1.969230769230279,True,none,0.0,0
+260.0,latest_only,18.907692307691043,20.492307692309808,0,67.81538461538617,1.969230769230279,True,none,0.0,0
+260.0,two_waiting,18.907692307691043,20.492307692309808,0,67.81538461538617,1.969230769230279,True,none,0.0,0
+260.0,predict_1000ms,18.907692307691043,20.492307692309808,0,67.81538461538617,1.969230769230279,True,none,0.0,0
+260.0,predict_500ms,18.907692307691043,20.533000000078516,0,67.81538461538617,1.969230769230279,True,none,0.0,0
+230.0,no_drop,22.499999999942013,24.556521739064863,0,69.00869565217427,22.330434782542596,True,video,20.10434782602033,0
+230.0,reactive_1500ms,22.460869565154475,24.556521739064863,0,69.00869565217427,22.330434782542596,True,video,20.10434782602033,0
+230.0,latest_only,22.043478260820315,23.339130434699484,0,69.00869565217427,6.2260869564561006,True,video,3.9999999999338343,0
+230.0,two_waiting,22.53913043472089,23.33913043474567,0,69.00869565217427,6.991304347760519,True,video,4.765217391238252,0
+230.0,predict_1000ms,22.317391304289558,23.35652173909253,0,69.00869565217427,2.365217391240293,True,video,0.13913043471802666,0
+230.0,predict_500ms,22.211510869569295,23.304347826089256,0,69.00869565217427,5.739130434786688,True,video,3.5130434782644215,0

data/processed/lab035/lab035_prediction_metrics.csv

@@ -0,0 +1,19 @@
+channel_kbps,policy,admitted_frames,prediction_rejected_frames,mean_absolute_error_ms,p95_absolute_error_ms,max_absolute_error_ms,published_after_deadline_frames,false_rejections
+300.0,no_drop,0,0,0.0,0.0,0.0,0,0
+300.0,reactive_1500ms,0,0,0.0,0.0,0.0,0,0
+300.0,latest_only,0,0,0.0,0.0,0.0,0,0
+300.0,two_waiting,0,0,0.0,0.0,0.0,0,0
+300.0,predict_1000ms,63,0,0.0,0.0,0.0,0,0
+300.0,predict_500ms,63,0,0.0,0.0,0.0,0,0
+260.0,no_drop,0,0,0.0,0.0,0.0,0,0
+260.0,reactive_1500ms,0,0,0.0,0.0,0.0,0,0
+260.0,latest_only,0,0,0.0,0.0,0.0,0,0
+260.0,two_waiting,0,0,0.0,0.0,0.0,0,0
+260.0,predict_1000ms,63,0,0.0,0.0,0.0,0,0
+260.0,predict_500ms,62,1,0.0,0.0,0.0,0,0
+230.0,no_drop,0,0,0.0,0.0,0.0,0,0
+230.0,reactive_1500ms,0,0,0.0,0.0,0.0,0,0
+230.0,latest_only,0,0,0.0,0.0,0.0,0,0
+230.0,two_waiting,0,0,0.0,0.0,0.0,0,0
+230.0,predict_1000ms,56,7,0.0,0.0,0.0,0,0
+230.0,predict_500ms,47,16,0.0,0.0,0.0,0,0

data/processed/lab035/lab035_report.txt

@@ -0,0 +1,99 @@
+Lab035. Упреждающий допуск видеокадров и обслуживание видео целыми кадрами
+
+1. Исходное состояние
+- Commit Lab034: b63e36abdb7031d642de8b8138b43cc29e94b759.
+- Перед Lab035 рабочее дерево было чистым; main опережала origin/main на два commit.
+
+2. Правило обслуживания
+- После первого видеопакета кадр становится активным и не удаляется.
+- При повторном выборе видео передаётся следующий пакет активного кадра; команды и телеметрия могут передаваться между пакетами.
+- Новый видеокадр начинается только после полного завершения активного; видеопакеты разных кадров не чередуются; отдельный пакет не прерывается.
+- Только неактивные кадры могут быть удалены до передачи первого пакета.
+
+3. Теоретическая пропускная способность
+speed | nonvideo kbps | remaining video kbps | remaining/aligned | minimum skip | maximum fps
+300 | 17.973 | 282.027 | 1.143443 | 0.000000 | 3.000
+260 | 17.973 | 242.027 | 0.981268 | 0.018732 | 2.944
+230 | 17.973 | 212.027 | 0.859636 | 0.140364 | 2.579
+
+4. Восемнадцать сочетаний
+speed | policy | published/drop/partial | fps | age P95 ms | no-update max ms | queue max/waiting frames | waste bytes | prediction MAE/P95/max ms | control P95/max ms | emergency ms
+300 | Без удаления | 63/0/0 | 2.986 | 590.000 | 406.506 | 21/1 | 0 | 0.000000/0.000000/0.000000 | 17.466/17.787 | 1.707
+300 | Реактивная 1500 мс | 63/0/0 | 2.986 | 590.000 | 406.506 | 21/1 | 0 | 0.000000/0.000000/0.000000 | 17.466/17.787 | 1.707
+300 | Самый свежий | 63/0/0 | 2.986 | 590.000 | 406.506 | 21/1 | 0 | 0.000000/0.000000/0.000000 | 17.466/17.787 | 1.707
+300 | Два ожидающих | 63/0/0 | 2.986 | 590.000 | 406.506 | 21/1 | 0 | 0.000000/0.000000/0.000000 | 17.466/17.787 | 1.707
+300 | Прогноз 1000 мс | 63/0/0 | 2.986 | 590.000 | 406.506 | 21/1 | 0 | 0.000000/0.000000/0.000000 | 17.466/17.787 | 1.707
+300 | Прогноз 500 мс | 63/0/0 | 2.986 | 590.000 | 406.506 | 21/1 | 0 | 0.000000/0.000000/0.000000 | 17.466/17.787 | 1.707
+260 | Без удаления | 63/0/0 | 2.937 | 773.833 | 417.764 | 37/1 | 0 | 0.000000/0.000000/0.000000 | 18.908/20.492 | 1.969
+260 | Реактивная 1500 мс | 63/0/0 | 2.937 | 773.833 | 417.764 | 37/1 | 0 | 0.000000/0.000000/0.000000 | 18.908/20.492 | 1.969
+260 | Самый свежий | 63/0/0 | 2.937 | 773.833 | 417.764 | 37/1 | 0 | 0.000000/0.000000/0.000000 | 18.908/20.492 | 1.969
+260 | Два ожидающих | 63/0/0 | 2.937 | 773.833 | 417.764 | 37/1 | 0 | 0.000000/0.000000/0.000000 | 18.908/20.492 | 1.969
+260 | Прогноз 1000 мс | 63/0/0 | 2.937 | 773.833 | 417.764 | 37/1 | 0 | 0.000000/0.000000/0.000000 | 18.908/20.492 | 1.969
+260 | Прогноз 500 мс | 62/1/0 | 2.889 | 703.333 | 524.266 | 29/1 | 0 | 0.000000/0.000000/0.000000 | 18.908/20.533 | 1.969
+230 | Без удаления | 63/0/0 | 2.600 | 2913.333 | 424.000 | 160/8 | 0 | 0.000000/0.000000/0.000000 | 22.500/24.557 | 22.330
+230 | Реактивная 1500 мс | 27/0/36 | 1.300 | 11064.833 | 10626.980 | 87/4 | 321929 | 0.000000/0.000000/0.000000 | 22.461/24.557 | 22.330
+230 | Самый свежий | 56/7/0 | 2.600 | 960.000 | 426.226 | 37/1 | 0 | 0.000000/0.000000/0.000000 | 22.043/23.339 | 6.226
+230 | Два ожидающих | 57/6/0 | 2.600 | 1286.667 | 421.183 | 56/2 | 0 | 0.000000/0.000000/0.000000 | 22.539/23.339 | 6.991
+230 | Прогноз 1000 мс | 56/7/0 | 2.600 | 1226.667 | 426.226 | 53/2 | 0 | 0.000000/0.000000/0.000000 | 22.317/23.357 | 2.365
+230 | Прогноз 500 мс | 47/16/0 | 2.215 | 966.667 | 622.817 | 28/1 | 0 | 0.000000/0.000000/0.000000 | 22.212/23.304 | 5.739
+
+5. Интерпретация
+- Реактивная Lab034 начинает кадр без гарантии завершения, затем удаляет остаток: уже переданные байты становятся бесполезными, а обновление не публикуется.
+- Удаление до первого пакета исключает бесполезную передачу; обслуживание целыми кадрами гарантирует, что начатый кадр будет опубликован.
+- Политика самого свежего уменьшает задержку ожидающих данных, но удаляет больше промежуточных кадров; очередь из двух кадров сохраняет больше последовательных обновлений ценой возраста.
+- Прогноз полного завершения учитывает весь размер кадра и будущую периодическую высокоприоритетную нагрузку, поэтому полезнее проверки только текущего возраста.
+- В модели точно известны команды 20 Гц, телеметрия 10 Гц и аварийная команда 10,0 с; неизвестные будущие дискретные события не моделируются и в реальной системе потребовали бы запаса.
+- При устойчивой перегрузке невозможно одновременно сохранить все кадры, исходное JPEG-качество и малую задержку; требуется уменьшить частоту, качество или заранее пропускать кадры.
+- Частота обновления, возраст изображения и длительность отсутствия нового изображения оцениваются одновременно: оптимизация одного показателя может ухудшить остальные.
+
+6. Допущения
+- Ошибки и помехи отсутствуют; один общий абстрактный ресурс, форматы Lab028-Lab034 неизменны, активный пакет не прерывается.
+- Прогноз не изменяет настоящую очередь; для допущенных кадров сохраняются только агрегированные ошибки, без подробного журнала.
+- Политика автоматически не выбирается.
+
+7. Функциональные проверки
+- PASS 01_video_frames_do_not_interleave: PASS
+- PASS 02_started_frame_never_dropped: PASS
+- PASS 03_high_priority_between_frame_packets: PASS
+- PASS 04_latest_drops_only_unstarted: PASS
+- PASS 05_two_waiting_limit: PASS
+- PASS 06_prediction_is_pure: PASS
+- PASS 07_prediction_uses_actual_sizes: PASS
+- PASS 08_prestart_drop_has_no_waste: PASS
+- PASS 09_partial_only_reactive: PASS
+- PASS 10_incomplete_not_published: PASS
+- PASS 11_crc_layers_pass: PASS
+- PASS 12_emergency_never_deleted: PASS
+- PASS 13_priority_above_video: PASS
+- PASS 14_300kbps_no_unnecessary_loss: PASS
+- PASS 15_230kbps_bounded_queue: PASS
+- PASS 16_frame_accounting: PASS
+- PASS 17_byte_accounting: PASS
+- PASS 18_reproducible: PASS
+- PASS 19_predict_1000_never_known_late: PASS
+- PASS 20_command_delay_bound: PASS
+
+8. Созданные файлы
+- protocol/video_frame_scheduler.py
+- tests/lab035_video_frame_admission.py
+- data/processed/lab035/lab035_summary.csv
+- data/processed/lab035/lab035_video_metrics.csv
+- data/processed/lab035/lab035_control_metrics.csv
+- data/processed/lab035/lab035_prediction_metrics.csv
+- data/processed/lab035/lab035_report.txt
+- data/processed/lab035/lab035_update_rate.png
+- data/processed/lab035/lab035_image_age.png
+- data/processed/lab035/lab035_publication_delay.png
+- data/processed/lab035/lab035_frame_outcomes.png
+- data/processed/lab035/lab035_queue_size.png
+- data/processed/lab035/lab035_prediction_accuracy.png
+- data/processed/lab035/lab035_control_delay.png
+- data/processed/lab035/lab035_policy_comparison.png
+
+9. Итоговый Git status
+- Lab035 не добавлена в индекс и не закоммичена.
+
+## main...origin/main [ahead 2]
+?? data/processed/lab035/
+?? protocol/video_frame_scheduler.py
+?? tests/lab035_video_frame_admission.py

data/processed/lab035/lab035_summary.csv

@@ -0,0 +1,19 @@
+channel_kbps,policy,offered_load_kbps,offered_to_capacity_ratio,transmitted_packets,transmitted_bytes,dropped_before_start_packets,dropped_before_start_bytes,wasted_transmitted_bytes,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,mean_waiting_video_frames,max_waiting_video_frames,queue_at_source_end_packets,additional_drain_seconds,remaining_video_capacity_kbps,theoretical_minimum_skip_fraction,theoretical_maximum_update_fps
+300.0,no_drop,264.62022471910115,0.8820674157303372,1738,686910,0,0,0,8.518393226324118,21,4685.69717834665,11415,0.0043967897271271275,1,13,0.1994403333333281,282.02658105939,0.0,3.0
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data/processed/lab035/lab035_video_metrics.csv

@@ -0,0 +1,19 @@
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data/processed/lab036/lab036_control_metrics.csv

@@ -0,0 +1,16 @@
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data/processed/lab036/lab036_recovery_metrics.csv

@@ -0,0 +1,16 @@
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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
+constant_260,latest_only,1800,1772,1772,1772,28,0.9844444444444445,2.953333333333333,2.950000;2.950000;2.966667;2.950000;2.933333;2.950000;2.966667;2.950000;2.950000;2.966667,402.5770375508439,599.6618718049831,680.6464871910407,571.0159417874798,833.3333333333428,966.666666666697,0.6213964339276787,0.0,338.40947546531305,365.6923076928251,377.6714615384691,1,338.57024154106733,377.6714615384691,17969759,0,153.18773333333334
+constant_260,two_waiting,1800,1787,1787,1786,13,0.9927777777777778,2.9766666666666666,2.966667;2.983333;2.983333;2.966667;2.966667;2.983333;2.983333;2.983333;2.983333;2.966667,690.9434287448678,934.1911025966964,1036.8823846180817,858.9124034883074,1166.6666666666288,1366.6666666666458,0.9716713881019831,0.19513414430928178,335.75825405707894,364.2153846153668,377.67146153846375,1,335.799658306451,377.67146153846375,18152892,0,154.73507999999998
+constant_230,no_drop,1800,1800,1800,1565,0,1.0,2.6083333333333334,2.616667;2.600000;2.616667;2.600000;2.616667;2.600000;2.616667;2.600000;2.600000;2.616667,44808.52197101605,81595.11768103977,83092.17391287029,39545.96456146199,74633.33333333327,78799.99999999996,0.9990001666388936,0.9938343609398433,383.1417624521073,416.486956521112,428.2086956523017,0,383.23811853661965,428.2086956523017,18284899,0,135.61342666666667
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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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+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
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data/processed/lab037/lab037_report.txt

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

data/processed/lab037/lab037_summary.csv

@@ -0,0 +1,37 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,repeat_command_bytes,lost_packets_mean,lost_packet_bytes_mean,cancelled_control_repeats,replaced_state_packets,drain_end_seconds,queue_release_seconds,telemetry_delivered_fraction,telemetry_mean_age_ms,telemetry_last_message_age_ms,telemetry_max_gap_ms,telemetry_gaps_over_500ms_mean
+300.0,10.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,407.78,193268.76,0,0,119.9635470000001,0.0,0.97425,12.812331765194102,105.99999999999483,385.7596666666723,0.0
+300.0,10.0,emergency_only,100,0.0384,10.24,7.68,243.39286666666666,261.3512666666667,87.1170888888889,8.472973838890518,21,4655.704156400713,11415,1,384,407.89,193254.96,0,0,119.9635470000001,0.0,0.974225,12.79189760523755,105.99999999999483,385.7596666666723,0.0
+300.0,10.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,463.87,196862.84,0,0,119.97549366666675,0.0,0.9746,9.380308223329676,105.99999999999483,315.7073333333358,0.0
+300.0,50.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,242.5,102832.94,0,0,119.9635470000001,0.0,0.9795083333333333,12.8138563338369,100.99999999999442,591.9736666666466,0.06
+300.0,50.0,emergency_only,100,0.0384,10.24,7.68,243.39286666666666,261.3512666666667,87.1170888888889,8.472973838890518,21,4655.704156400713,11415,1,384,242.63,102824.56,0,0,119.9635470000001,0.0,0.9794916666666666,12.793647447532484,100.99999999999442,591.9736666666466,0.06
+300.0,50.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,292.81,105980.93,0,0,119.97549366666675,0.0,0.9790666666666666,9.382484370047958,99.99999999999433,598.4003333333163,0.05
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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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+230.0,1000.0,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
+300.0,50.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,244.68,102354.57,0.9787583333333333,600.3736666666662
+300.0,50.0,acknowledged_emergency,100,0.013568000000000002,0.008400000000000001,7.36,7.68,243.39286666666666,258.45483466666667,0.0,0.0007680000000000007,86.15161155555555,8.381160568807713,21,4607.230060807135,11397,1,0.0,244.17,102306.14,0.978775,600.3736666666662
+300.0,200.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,218.41,87034.95,0.9789166666666667,1511.2803333333388
+300.0,200.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,268.92,89301.85,0.9789833333333333,1491.3870000000031
+300.0,200.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,218.93,87039.59,0.9789083333333334,1511.2803333333388
+300.0,200.0,acknowledged_emergency,100,0.014336,0.008400000000000001,7.36,7.68,243.39286666666666,258.45560266666666,0.0,0.0015359999999999994,86.15186755555555,8.381208159668823,21,4607.241345592857,11397,1,0.0,218.68,87046.57,0.9789166666666667,1511.2803333333388
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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_report.txt

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

data/processed/lab039/lab039_summary.csv

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

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data/processed/lab040/lab040_emergency_metrics.csv

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

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