Lab038: add control failsafe and emergency acknowledgement

PROJECT_LOG.md

@@ -264,3 +264,50 @@ git version 2.51.1.windows.1
 - 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.

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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+260.0,1000.0,emergency_only,60.0,0.98,7.5285384618908315,7.528538461890832,0.98,0.06,1.96
+260.0,1000.0,emergency_only,90.0,0.97,7.651615380964927,7.651615380964927,0.97,0.09,1.94
+260.0,1000.0,emergency_and_control,30.0,1.0,4.163769230782322,4.1637692307823215,1.0,0.0,2.0
+260.0,1000.0,emergency_and_control,60.0,0.98,20.194538462767753,20.194538462767753,0.98,0.06,1.96
+260.0,1000.0,emergency_and_control,90.0,0.97,4.102230765923309,4.102230765923309,0.97,0.09,1.94
+230.0,10.0,none,30.0,0.96,7.686956521535393,7.686956521535393,0.96,0.04,0.0
+230.0,10.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
+230.0,10.0,none,90.0,0.97,5.913043485378466,5.913043485378466,0.97,0.03,0.0
+230.0,10.0,emergency_only,30.0,0.99,8.563899868043949,7.686956521535393,0.99,0.07,1.94
+230.0,10.0,emergency_only,60.0,1.0,22.77982608840276,22.156521740576807,0.98,0.05,1.95
+230.0,10.0,emergency_only,90.0,0.99,15.07632850934894,14.08695652867209,0.99,0.17,1.84
+230.0,10.0,emergency_and_control,30.0,1.0,20.47582608698004,20.208695652197406,1.0,0.1,1.9
+230.0,10.0,emergency_and_control,60.0,1.0,9.865739130259215,9.286956521563638,1.0,0.06,1.94
+230.0,10.0,emergency_and_control,90.0,0.99,10.02828283526469,9.634782615677295,0.99,0.16,1.85
+230.0,50.0,none,30.0,0.98,7.686956521535394,7.686956521535393,0.98,0.02,0.0
+230.0,50.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
+230.0,50.0,none,90.0,0.95,5.913043485378466,5.913043485378466,0.95,0.05,0.0
+230.0,50.0,emergency_only,30.0,0.99,7.979270970371579,7.686956521535393,0.99,0.06,1.95
+230.0,50.0,emergency_only,60.0,0.98,22.474534162936987,22.156521740576807,0.97,0.08,1.94
+230.0,50.0,emergency_only,90.0,1.0,15.645217398238033,15.645217398237943,1.0,0.1,1.9
+230.0,50.0,emergency_and_control,30.0,0.98,20.208695652197406,20.208695652197406,0.98,0.06,1.96
+230.0,50.0,emergency_and_control,60.0,0.98,9.286956521563638,9.286956521563638,0.98,0.08,1.94
+230.0,50.0,emergency_and_control,90.0,0.98,10.588819882758486,9.634782615677295,0.98,0.12,1.9
+230.0,200.0,none,30.0,1.0,7.686956521535394,7.686956521535393,1.0,0.0,0.0
+230.0,200.0,none,60.0,0.98,9.07826087122743,9.078260871227428,0.98,0.02,0.0
+230.0,200.0,none,90.0,0.98,5.913043485378466,5.913043485378466,0.98,0.02,0.0
+230.0,200.0,emergency_only,30.0,1.0,7.686956521535394,7.686956521535393,1.0,0.0,2.0
+230.0,200.0,emergency_only,60.0,0.99,22.156521740576807,22.156521740576807,0.99,0.04,1.97
+230.0,200.0,emergency_only,90.0,0.98,14.08695652867209,14.08695652867209,0.98,0.06,1.96
+230.0,200.0,emergency_and_control,30.0,1.0,20.208695652197402,20.208695652197406,1.0,0.0,2.0
+230.0,200.0,emergency_and_control,60.0,0.99,9.579270970399788,9.286956521563638,0.99,0.04,1.97
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+230.0,1000.0,none,30.0,0.97,7.686956521535393,7.686956521535393,0.97,0.03,0.0
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+230.0,1000.0,emergency_and_control,60.0,1.0,9.286956521563638,9.286956521563638,1.0,0.0,2.0
+230.0,1000.0,emergency_and_control,90.0,0.98,9.634782615677295,9.634782615677295,0.98,0.06,1.96

data/processed/lab037/lab037_report.txt

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

data/processed/lab037/lab037_summary.csv

@@ -0,0 +1,37 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,repeat_command_bytes,lost_packets_mean,lost_packet_bytes_mean,cancelled_control_repeats,replaced_state_packets,drain_end_seconds,queue_release_seconds,telemetry_delivered_fraction,telemetry_mean_age_ms,telemetry_last_message_age_ms,telemetry_max_gap_ms,telemetry_gaps_over_500ms_mean
+300.0,10.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,407.78,193268.76,0,0,119.9635470000001,0.0,0.97425,12.812331765194102,105.99999999999483,385.7596666666723,0.0
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+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
+300.0,200.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,204.57,82217.44,0,0,119.9635470000001,0.0,0.9802416666666667,12.81664311807054,104.99999999999447,1314.5596666666534,1.64
+300.0,200.0,emergency_only,100,0.0384,10.24,7.68,243.39286666666666,261.3512666666667,87.1170888888889,8.472973838890518,21,4655.704156400713,11415,1,384,204.75,82228.96,0,0,119.9635470000001,0.0,0.9802416666666667,12.796193058986443,104.99999999999447,1314.5596666666534,1.63
+300.0,200.0,emergency_and_control,100,0.0384,20.48,7.68,243.39286666666666,271.5912666666667,90.53042222222221,8.883839647223693,21,4826.66471085606,11415,1,153984,252.03,85115.41,0,0,119.97549366666675,0.0,0.9801916666666667,9.383956763004313,104.99999999999447,1301.7863333333394,1.72
+300.0,1000.0,none,100,0.0128,10.24,7.68,243.39286666666666,261.3256666666667,87.10855555555555,8.471368172223855,21,4654.825315511825,11415,1,0,184.09,72872.62,0,0,119.9635470000001,0.0,0.9816583333333333,12.815723302706566,148.99999999999451,8309.334000000008,1.44
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data/processed/lab037/lab037_video_metrics.csv

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data/processed/lab038/lab038_command_metrics.csv

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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,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
+300.0,1000.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,86.14855555555555,8.3804850444466,21,4606.9081041009695,11397,1,0.0,252.44,98824.64,0.9748666666666667,8592.612666666624
+300.0,1000.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,88.61042222222221,8.697987722225218,21,4726.323312445576,11397,1,0.0,312.8,101604.59,0.9748166666666667,8585.625999999962
+300.0,1000.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,86.19122222222222,8.38725345555771,21,4609.263612189853,11397,1,0.0,253.23,98880.96,0.9748583333333334,8592.612666666624
+300.0,1000.0,acknowledged_emergency,100,0.015658666666666668,0.008232000000000001,7.36,7.68,243.39286666666666,258.4567573333333,0.0,0.002858666666666666,86.15225244444444,8.38127632675216,21,4607.259264732525,11397,1,0.0,253.09,98866.24,0.9748666666666667,8592.612666666624
+260.0,10.0,single,100,0.0128,0.0,7.36,7.68,243.39286666666666,258.4456666666667,0.0,0.0,99.40217948717948,16.181932785813988,36,9071.347868765584,19946,1,0.016738461537826765,430.0,207863.55,0.974925,314.92307692307975
+260.0,10.0,lab037_repetition,100,0.0384,0.0,7.36,7.68,243.39286666666666,265.83126666666664,7.36,0.0256,99.60889743589743,16.328759615321122,38,9052.151962042464,21035,1,0.08418461538366273,477.81,205446.7,0.9742,397.59999999986917
+260.0,10.0,spread_emergency,100,0.1408,0.0,7.36,7.68,243.39286666666666,258.57366666666667,0.0,0.128,99.45141025641026,16.37280282555375,37,9178.484025919955,20554,1,0.016738461537826765,431.05,207995.89,0.9750833333333333,314.92307692307975
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data/processed/lab038/lab038_video_metrics.csv

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+230.0,200.0,spread_emergency,360,305.57,41.0,0.8488055555555556,2.5464166666666666,523.0636816706806,671.802565225363,718.8982173915832,391.4277326548586,3273.147826087069,4.31,17.43,131.86684533333334
+230.0,200.0,acknowledged_emergency,360,305.63,41.0,0.8489722222222222,2.5469166666666667,517.7183807316134,669.8669999999112,728.5568695664538,391.3511398101947,4028.8000000001603,4.35,17.2,131.922662
+230.0,1000.0,single,360,311.96,41.0,0.8665555555555555,2.599666666666667,518.2059409465971,669.8669999999112,703.0956521783907,383.4355828220859,6221.356521739395,0.67,12.02,134.679338
+230.0,1000.0,lab037_repetition,360,299.99,53.0,0.8333055555555555,2.4999166666666666,539.4972434168074,695.1304347887728,722.7130434780485,398.6843416724808,6507.756521739541,0.67,11.89,130.010052
+230.0,1000.0,spread_emergency,360,311.85,41.0,0.86625,2.59875,523.5339211224932,671.802565225363,715.3043478305818,383.5704011507112,6639.130434782927,0.65,12.14,134.59865
+230.0,1000.0,acknowledged_emergency,360,311.94,41.0,0.8665,2.5995,518.0046382442468,669.8669999999112,713.1594347905121,383.4600881958203,6544.034782609017,0.66,12.04,134.66683266666666

protocol/control_failsafe.py

@@ -0,0 +1,132 @@
+"""Local rover command state and watchdog safety logic for Lab038.
+
+The educational control payload is carried inside the unchanged Lab033 common
+packet.  It is intentionally small and is not a production motor-controller
+protocol.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+import struct
+
+from protocol.link_packet import LinkPacket, TrafficClass
+
+
+CONTROL_MAGIC = b"CTL1"
+CONTROL_PAYLOAD_FORMAT = "!4sffBB"
+CONTROL_PAYLOAD_SIZE = struct.calcsize(CONTROL_PAYLOAD_FORMAT)
+
+
+class ControlPayloadError(ValueError):
+    """The educational Lab038 control payload is malformed."""
+
+
+@dataclass(frozen=True)
+class ControlState:
+    desired_speed_mps: float
+    desired_turn: float
+    braking: bool
+    movement_allowed: bool
+
+
+SAFE_STATE = ControlState(0.0, 0.0, True, False)
+
+
+def encode_control_state(state: ControlState) -> bytes:
+    """Serialize the Lab038 teaching payload without changing LinkPacket."""
+
+    if not isinstance(state, ControlState):
+        raise TypeError("state must be ControlState")
+    return struct.pack(
+        CONTROL_PAYLOAD_FORMAT,
+        CONTROL_MAGIC,
+        float(state.desired_speed_mps),
+        float(state.desired_turn),
+        int(bool(state.braking)),
+        int(bool(state.movement_allowed)),
+    )
+
+
+def decode_control_state(payload: bytes) -> ControlState:
+    """Decode and validate the Lab038 teaching payload."""
+
+    if not isinstance(payload, (bytes, bytearray)):
+        raise TypeError("payload must be bytes or bytearray")
+    if len(payload) != CONTROL_PAYLOAD_SIZE:
+        raise ControlPayloadError("invalid control payload length")
+    magic, speed, turn, braking, allowed = struct.unpack(CONTROL_PAYLOAD_FORMAT, bytes(payload))
+    if magic != CONTROL_MAGIC:
+        raise ControlPayloadError("invalid control payload magic")
+    if braking not in (0, 1) or allowed not in (0, 1):
+        raise ControlPayloadError("control booleans must be zero or one")
+    return ControlState(speed, turn, bool(braking), bool(allowed))
+
+
+class RoverControlFailsafe:
+    """Strictly-monotonic command receiver with temporary and latched stops."""
+
+    def __init__(self, watchdog_timeout_us: int, boot_time_us: int = 0) -> None:
+        if watchdog_timeout_us <= 0:
+            raise ValueError("watchdog_timeout_us must be positive")
+        self.watchdog_timeout_us = watchdog_timeout_us
+        self.last_sequence = -1
+        self.last_new_command_time_us = boot_time_us
+        self.requested_state = SAFE_STATE
+        self.temporary_safe_stop = False
+        self.emergency_stop_latched = False
+        self.stale_commands = 0
+        self.new_commands = 0
+        self.watchdog_triggers = 0
+        self.emergency_actions = 0
+        self.emergency_duplicates = 0
+        self._emergency_keys: set[tuple[int, int]] = set()
+
+    @property
+    def effective_state(self) -> ControlState:
+        if self.emergency_stop_latched or self.temporary_safe_stop:
+            return SAFE_STATE
+        return self.requested_state
+
+    def receive_state(self, packet: LinkPacket, receive_time_us: int) -> bool:
+        """Apply a strictly newer normal command and refresh the watchdog."""
+
+        if packet.traffic_class is not TrafficClass.CONTROL:
+            raise ValueError("normal state must use CONTROL traffic class")
+        state = decode_control_state(packet.payload)
+        if packet.sequence_number <= self.last_sequence:
+            self.stale_commands += 1
+            return False
+        self.last_sequence = packet.sequence_number
+        self.last_new_command_time_us = receive_time_us
+        self.requested_state = state
+        self.temporary_safe_stop = False
+        self.new_commands += 1
+        return True
+
+    def check_watchdog(self, now_us: int) -> bool:
+        """Enter a temporary safe stop when fresh control has timed out."""
+
+        if now_us < self.last_new_command_time_us:
+            raise ValueError("watchdog time moved backwards")
+        expired = now_us - self.last_new_command_time_us >= self.watchdog_timeout_us
+        if expired and not self.temporary_safe_stop:
+            self.temporary_safe_stop = True
+            self.watchdog_triggers += 1
+            return True
+        return False
+
+    def receive_emergency(self, packet: LinkPacket) -> bool:
+        """Latch emergency stop once; return false for subsequent copies."""
+
+        if packet.traffic_class is not TrafficClass.EMERGENCY:
+            raise ValueError("emergency command must use EMERGENCY traffic class")
+        key = packet.stream_id, packet.sequence_number
+        if key in self._emergency_keys:
+            self.emergency_duplicates += 1
+            return False
+        self._emergency_keys.add(key)
+        self.emergency_stop_latched = True
+        self.temporary_safe_stop = True
+        self.emergency_actions += 1
+        return True

protocol/control_repetition.py

@@ -0,0 +1,145 @@
+"""Scheduling metadata and receiver de-duplication for command copies.
+
+Lab037 deliberately keeps the Lab033 :class:`~protocol.link_packet.LinkPacket`
+wire representation unchanged.  A repeated command is therefore the exact
+same encoded packet; only ``available_time_us`` and ``copy_index`` live in the
+local scheduler metadata defined here.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from enum import IntEnum
+from typing import Iterable
+
+from protocol.link_packet import LinkPacket, TrafficClass
+
+
+class RepetitionMode(IntEnum):
+    """Command protection alternatives compared by Lab037."""
+
+    NONE = 1
+    EMERGENCY_ONLY = 2
+    EMERGENCY_AND_CONTROL = 3
+
+
+@dataclass(frozen=True)
+class CommandCopy:
+    """One scheduling instance of an otherwise unchanged link packet."""
+
+    packet: LinkPacket
+    available_time_us: int
+    copy_index: int
+    arrival_order: int
+
+    @property
+    def is_repeat(self) -> bool:
+        return self.copy_index > 0
+
+    @property
+    def command_key(self) -> tuple[int, int]:
+        return self.packet.stream_id, self.packet.sequence_number
+
+
+def copy_offsets_ms(
+    traffic_class: TrafficClass,
+    mode: RepetitionMode,
+    control_repeat_delay_ms: float = 22.5,
+) -> tuple[float, ...]:
+    """Return copy offsets for a command class and protection mode."""
+
+    traffic_class = TrafficClass(traffic_class)
+    mode = RepetitionMode(mode)
+    if traffic_class is TrafficClass.EMERGENCY:
+        return (0.0, 15.0, 30.0) if mode >= RepetitionMode.EMERGENCY_ONLY else (0.0,)
+    if traffic_class is TrafficClass.CONTROL:
+        return (0.0, control_repeat_delay_ms) if mode is RepetitionMode.EMERGENCY_AND_CONTROL else (0.0,)
+    raise ValueError("repetition is defined only for emergency and control commands")
+
+
+def build_command_copies(
+    packets: Iterable[LinkPacket],
+    mode: RepetitionMode,
+    *,
+    first_arrival_order: int = 0,
+    control_repeat_delay_ms: float = 22.5,
+) -> tuple[CommandCopy, ...]:
+    """Expand original commands into stable, time-ordered scheduler copies."""
+
+    copies: list[CommandCopy] = []
+    order = first_arrival_order
+    for packet in packets:
+        offsets = copy_offsets_ms(packet.traffic_class, mode, control_repeat_delay_ms)
+        for copy_index, offset_ms in enumerate(offsets):
+            copies.append(
+                CommandCopy(
+                    packet=packet,
+                    available_time_us=packet.generation_time_us + int(round(offset_ms * 1000.0)),
+                    copy_index=copy_index,
+                    arrival_order=order,
+                )
+            )
+            order += 1
+    return tuple(
+        sorted(
+            copies,
+            key=lambda item: (
+                item.available_time_us,
+                int(item.packet.traffic_class),
+                item.arrival_order,
+            ),
+        )
+    )
+
+
+def cancel_superseded_control_copies(
+    ready: Iterable[CommandCopy],
+    newest: CommandCopy,
+) -> tuple[tuple[CommandCopy, ...], tuple[CommandCopy, ...]]:
+    """Remove only queued repeats belonging to older state commands.
+
+    A packet already selected for transmission is intentionally outside this
+    function, which makes packet serialization non-preemptive by construction.
+    Primary copies and emergency commands are never removed here.
+    """
+
+    if newest.packet.traffic_class is not TrafficClass.CONTROL:
+        return tuple(ready), ()
+    retained: list[CommandCopy] = []
+    cancelled: list[CommandCopy] = []
+    for item in ready:
+        if (
+            item.packet.traffic_class is TrafficClass.CONTROL
+            and item.packet.stream_id == newest.packet.stream_id
+            and item.packet.sequence_number < newest.packet.sequence_number
+            and item.is_repeat
+        ):
+            cancelled.append(item)
+        else:
+            retained.append(item)
+    return tuple(retained), tuple(cancelled)
+
+
+class CommandReceiver:
+    """Apply only strictly newer sequence numbers independently per stream."""
+
+    def __init__(self) -> None:
+        self._last_sequence: dict[int, int] = {}
+        self.accepted = 0
+        self.suppressed = 0
+
+    def accept(self, packet: LinkPacket) -> bool:
+        """Return ``True`` only when this command advances its stream state."""
+
+        if packet.traffic_class not in (TrafficClass.EMERGENCY, TrafficClass.CONTROL):
+            raise ValueError("CommandReceiver accepts command traffic only")
+        previous = self._last_sequence.get(packet.stream_id, -1)
+        if packet.sequence_number <= previous:
+            self.suppressed += 1
+            return False
+        self._last_sequence[packet.stream_id] = packet.sequence_number
+        self.accepted += 1
+        return True
+
+    def last_sequence(self, stream_id: int) -> int | None:
+        return self._last_sequence.get(stream_id)

protocol/emergency_ack.py

@@ -0,0 +1,92 @@
+"""Emergency-command acknowledgement carried by unchanged Lab033 packets."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+import struct
+
+from protocol.link_packet import Direction, LinkPacket, TrafficClass
+
+
+ACK_MAGIC = b"ACK1"
+ACK_PAYLOAD_FORMAT = "!4sHI"
+ACK_PAYLOAD_SIZE = struct.calcsize(ACK_PAYLOAD_FORMAT)
+STREAM_EMERGENCY_ACK = 5
+
+
+class EmergencyAckError(ValueError):
+    """An emergency acknowledgement is malformed."""
+
+
+@dataclass(frozen=True)
+class EmergencyIdentity:
+    stream_id: int
+    sequence_number: int
+
+
+def encode_ack_payload(identity: EmergencyIdentity) -> bytes:
+    if not 0 <= identity.stream_id <= 0xFFFF:
+        raise EmergencyAckError("emergency stream_id is outside uint16")
+    if not 0 <= identity.sequence_number <= 0xFFFFFFFF:
+        raise EmergencyAckError("emergency sequence_number is outside uint32")
+    return struct.pack(ACK_PAYLOAD_FORMAT, ACK_MAGIC, identity.stream_id, identity.sequence_number)
+
+
+def decode_ack_payload(payload: bytes) -> EmergencyIdentity:
+    if not isinstance(payload, (bytes, bytearray)):
+        raise TypeError("payload must be bytes or bytearray")
+    if len(payload) != ACK_PAYLOAD_SIZE:
+        raise EmergencyAckError("invalid acknowledgement payload length")
+    magic, stream_id, sequence_number = struct.unpack(ACK_PAYLOAD_FORMAT, bytes(payload))
+    if magic != ACK_MAGIC:
+        raise EmergencyAckError("invalid acknowledgement payload magic")
+    return EmergencyIdentity(stream_id, sequence_number)
+
+
+def build_emergency_ack(command: LinkPacket, ack_sequence: int, generation_time_us: int) -> LinkPacket:
+    """Build a high-priority rover-to-ground ACK for one emergency command."""
+
+    if command.traffic_class is not TrafficClass.EMERGENCY:
+        raise ValueError("acknowledged packet must be an emergency command")
+    return LinkPacket(
+        traffic_class=TrafficClass.EMERGENCY,
+        direction=Direction.ROVER_TO_GROUND,
+        stream_id=STREAM_EMERGENCY_ACK,
+        sequence_number=ack_sequence,
+        generation_time_us=generation_time_us,
+        deadline_ms=50,
+        payload=encode_ack_payload(EmergencyIdentity(command.stream_id, command.sequence_number)),
+    )
+
+
+def acknowledged_identity(packet: LinkPacket) -> EmergencyIdentity:
+    """Validate ACK envelope fields and return the referenced command."""
+
+    if packet.traffic_class is not TrafficClass.EMERGENCY:
+        raise EmergencyAckError("ack must use high-priority traffic class")
+    if packet.direction is not Direction.ROVER_TO_GROUND:
+        raise EmergencyAckError("ack must travel rover to ground")
+    if packet.stream_id != STREAM_EMERGENCY_ACK:
+        raise EmergencyAckError("unexpected acknowledgement stream")
+    return decode_ack_payload(packet.payload)
+
+
+class EmergencyAckReceiver:
+    """Recognize first and late acknowledgements independently per command."""
+
+    def __init__(self) -> None:
+        self._received: set[EmergencyIdentity] = set()
+        self.unique = 0
+        self.duplicates = 0
+
+    def accept(self, packet: LinkPacket) -> bool:
+        identity = acknowledged_identity(packet)
+        if identity in self._received:
+            self.duplicates += 1
+            return False
+        self._received.add(identity)
+        self.unique += 1
+        return True
+
+    def has_received(self, identity: EmergencyIdentity) -> bool:
+        return identity in self._received