Harden RF node control and agent updates

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

.claude/agents/adversary.md

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

.claude/agents/verifier.md

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

.claude/commands/check.md

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

.claude/commands/lab.md

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

.claude/hooks/quick_gate_hook.py

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

.claude/settings.json

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

.gitignore

@@ -29,9 +29,24 @@ __pycache__/
 venv/
 env/
 
-# Необработанные данные и IQ-записи
+# Необработанные данные и IQ-записи.
+# Правило закрывает крупные записи отсчётов и видео: они воспроизводятся
+# заново и в историю не помещаются.
 data/raw/
 
+# Исключения: исходные изображения — это входные данные лабораторных, а не
+# результат. Без них Lab007, Lab009, Lab011 и Lab012 не запускаются, поэтому
+# они хранятся в репозитории. Суммарно около 1 МБ.
+!data/raw/lab007_source.jpg
+!data/raw/lab009_source.jpg
+!data/raw/lab011_scene.jpg
+!data/raw/lab012_safety_scene.jpg
+
+# Метаданные и спектр записи Lab024a: сама запись отсчётов не хранится,
+# поэтому они оставлены как след проведённого измерения.
+!data/raw/lab024a_pluto_rx_100mhz.json
+!data/raw/lab024a_pluto_rx_100mhz_spectrum.png
+
 # Временные файлы редакторов
 *.tmp
 *.temp
@@ -54,4 +69,5 @@ Desktop.ini
 # Локальные настройки и секреты
 .env
 *.local
+.local/
 

.gitlab-ci.yml

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

INSTALL_RX_AGENT.cmd

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

README.md

@@ -1,333 +1,184 @@
 # SDR Rover Link
 
+Актуальное уточнение архитектуры, Lab049 от 8 сентября 2026 года:
+управление и критическая телеметрия — стандартные RadioMaster/ExpressLRS и CRSF;
+изображения и объёмные данные — отдельный SDR, в перспективе около 180 МГц.
+Цель изображения — больше 3 кадров/с, следующий ориентир 5, дальнейший 10.
+См. [аудит и бюджет Lab049](docs/lab049_crsf_elrs_architecture.md).
+Основной текст ниже описывает более раннюю контрольную точку; текущие результаты
+Lab047–049 перечислены в [индексе лабораторий](docs/LABS_INDEX.md).
+
 ## 1. Назначение проекта
 
 **SDR Rover Link** — учебно-исследовательский проект по разработке цифрового радиоканала для наземного робототехнического комплекса с использованием программно-определяемого радио — SDR, Software Defined Radio.
 
-Проект должен пройти полный путь от передачи простого текстового пакета до передачи телеметрии и отдельных JPEG-изображений через реальный радиоканал.
+Проект должен пройти полный путь от передачи простого текстового пакета до передачи телеметрии и изображений через реальный радиоканал.
 
-Основная задача проекта — не только получить работающую систему, но и последовательно изучить все этапы цифровой радиосвязи:
-
-- формирование данных;
-- разбиение данных на пакеты;
-- контроль целостности;
-- исправление ошибок;
-- цифровую модуляцию;
-- формирование IQ-сигнала;
-- передачу через SDR;
-- приём и демодуляцию;
-- восстановление исходных данных.
+Основная задача — не только получить работающую систему, но и последовательно изучить все этапы цифровой радиосвязи: формирование данных, разбиение на пакеты, контроль целостности, исправление ошибок, цифровую модуляцию, формирование IQ-сигнала, передачу через SDR, приём, демодуляцию и восстановление исходных данных.
 
 ---
 
 ## 2. Целевой сценарий
 
-Разрабатываемая система предназначена для исследовательского наземного ровера.
-
-Целевые требования:
-
 | Параметр | Требование |
 |---|---|
 | Дальность связи | до 10 км |
 | Скорость ровера | до 25 км/ч |
 | Прямая радиовидимость | может отсутствовать |
-| Рабочие частоты | ниже 350 МГц |
-| Основной тип данных | телеметрия и отдельные изображения |
+| Рабочий диапазон | 200–250 МГц, см. Запись 018 журнала |
+| Основной тип данных | телеметрия, команды и изображения |
 | Формат изображения | JPEG |
-| Частота передачи изображений | отдельные кадры, не видеопоток |
 | Действие при потере связи | безопасная остановка ровера |
 
-Дальность 10 км без прямой видимости является целевым исследовательским требованием, а не гарантированной характеристикой первой версии системы.
+Дальность 10 км без прямой видимости — целевое исследовательское требование, а не гарантированная характеристика первой версии.
 
 ---
 
 ## 3. Почему не используется обычное FPV-видео
 
-Типовые FPV-системы работают преимущественно в диапазонах 2,4 и 5,8 ГГц.
+Типовые FPV-системы работают в диапазонах 2,4 и 5,8 ГГц. Для наземного робота это плохо: велики потери у поверхности земли, сильное затенение рельефом и растительностью, а главное — на таких частотах практически нет дифракции, поэтому за препятствием связь пропадает.
 
-Для наземного робота такие диапазоны имеют ряд ограничений:
+В этом проекте вместо непрерывного видеопотока передаются отдельные сжатые изображения, что резко снижает требуемую скорость канала.
 
-- высокие потери при работе у поверхности земли;
-- затенение рельефом, зданиями и растительностью;
-- быстрое ухудшение изображения при слабом сигнале;
-- высокая загруженность распространённых диапазонов;
-- зависимость от постоянного широкополосного видеопотока.
+---
 
-В этом проекте вместо непрерывного видео предполагается передавать отдельные сжатые изображения.
+## 4. Текущее состояние
 
-Пример:
+**Выполнено:** лабораторные Lab001–Lab042. Пройден путь от структуры пакета до первой передачи изображения через реальный радиотракт.
 
-```text
-Камера
-  ↓
-JPEG-изображение
-  ↓
-Разбиение на пакеты
-  ↓
-Передача через SDR
-  ↓
-Сборка изображения на наземной станции
+Что реализовано и проверено:
+
+- пакетный протокол с CRC32, фрагментация и сборка изображений;
+- модуляция и демодуляция BPSK, формирующий фильтр, кадровая синхронизация, оценка и коррекция ухода несущей;
+- блочное исправление стираний над GF(256), перемежение, подбор параметров;
+- приоритетное обслуживание команд, телеметрии и видео;
+- двухступенчатая безопасная остановка, сторожевой таймер, постоянное аварийное намерение, безопасный сброс;
+- идентификаторы сеанса, безопасный запуск, отклонение пакетов предыдущего сеанса;
+- передача JPEG через настоящий радиотракт на одном PlutoSDR: сначала по эфиру на паре антенн, затем по кабелю через аттенюатор 30 дБ. Принятое изображение совпало с переданным побайтово (Записи 019 и 020).
+
+**Что ещё не сделано:** два независимых устройства пока не разведены. Все передачи выполнены в петле одного PlutoSDR, где передатчик и приёмник делят опорный генератор, поэтому рассогласования несущей и частоты дискретизации между сторонами почти нет.
+
+**Ближайшая работа:** Lab043 — передача с PlutoSDR на приём RTL-SDR. Общий опорный генератор исчезает, впервые появляется реальное рассогласование двух устройств. Техническое задание на завершённую Lab042: [docs/lab042_hardware_loopback_spec.md](docs/lab042_hardware_loopback_spec.md).
+
+Хронология решений и результатов: [PROJECT_LOG.md](PROJECT_LOG.md).
+
+---
+
+## 5. Оборудование
+
+| Позиция | Состояние |
+|---|---|
+| **Pluto+** — приёмопередатчик, чип AD9361, 70 МГц – 6 ГГц | есть |
+| RTL-SDR — приёмный донгл | есть |
+| Аттенюатор AT30S, 30 дБ, SMA | есть |
+| Кабели SMA, штыревые антенны | есть |
+| Усилитель мощности около 1 Вт | планируется после первых испытаний |
+| Raspberry Pi как бортовой вычислитель | планируется |
+
+Устройство подключается по USB и появляется в системе как сетевой адаптер с адресом `192.168.2.1`.
+
+**Проверять связь с Pluto командой `ping` бесполезно.** При активном VPN трафик уходит в туннель, и «успешный» отклик приходит даже от несуществующего адреса. Достоверна только успешная установка контекста `iio.Context("ip:192.168.2.1")`.
+
+---
+
+## 6. Установка окружения
+
+Расчётная часть работает на компьютере без SDR:
+
+```bash
+python -m pip install -r requirements.txt
 ```
 
-Такой подход позволяет существенно снизить требуемую скорость радиоканала.
+Для лабораторных, работающих с устройством, дополнительно:
+
+```bash
+python -m pip install -r requirements-hardware.txt
+```
+
+Версии зафиксированы по проверенному окружению, Python 3.13.
 
 ---
 
-## 4. Текущее оборудование
+## 7. Как запускать
 
-### SDR-оборудование
+**Быстрые проверки ядра** — секунды, оборудование не нужно:
 
-- RTL-SDR — приёмник;
-- ADALM-PlutoSDR — приёмопередатчик, ожидается поступление;
-- HackRF One — может временно использоваться при необходимости.
+```bash
+python -m pytest tests/ -q
+```
 
-### Вычислительное оборудование
+**Дешёвый шлюз** — синтаксис, импорт `protocol`, быстрые проверки ядра и функциональные проверки лабораторных. Отвечает на один вопрос: не сломана ли кодовая база прямо сейчас:
 
-- компьютер под управлением Windows;
-- Raspberry Pi — планируется для установки на ровер;
-- бортовой вычислитель ровера — будет выбран позднее.
+```bash
+python tools/quick_gate.py
+```
 
-### Программное обеспечение
+**Лабораторный эксперимент** — минуты, пишет результаты в `data/processed/`:
 
-- Python 3.12;
-- Anaconda;
-- Spyder;
-- Git;
-- GNU Radio — будет установлен на следующем этапе;
-- libiio и драйверы PlutoSDR — будут установлены после получения устройства.
+```bash
+python -m experiments.lab041_session_restart_safety
+```
 
 ---
 
-## 5. Предварительно рассматриваемые диапазоны
-
-В рамках проекта рассматриваются:
-
-- 27 МГц;
-- 50 МГц;
-- 144 МГц;
-- другие разрешённые для лабораторных испытаний частоты ниже 350 МГц.
-
-Конкретный диапазон будет выбран после анализа:
-
-- доступной полосы;
-- требований законодательства;
-- размеров антенны;
-- потерь распространения;
-- уровня внешних помех;
-- возможностей выходного радиочастотного тракта;
-- допустимой мощности передачи.
-
-Передача по эфиру должна выполняться только на разрешённых частотах и с соблюдением допустимой мощности. Первые опыты следует проводить через аттенюатор, эквивалент нагрузки или в экранированной лабораторной конфигурации.
-
----
-
-## 6. Основные этапы проекта
-
-### Этап 0. Подготовка среды
-
-- создание репозитория;
-- настройка Git;
-- настройка Python и Spyder;
-- подготовка структуры каталогов;
-- ведение документации.
-
-### Этап 1. Пакетный протокол
-
-- структура пакета;
-- типы сообщений;
-- порядковый номер пакета;
-- длина данных;
-- CRC;
-- кодирование и декодирование.
-
-### Этап 2. Виртуальный канал
-
-- передача пакетов между Python-программами;
-- имитация потерь;
-- имитация повреждения битов;
-- измерение числа ошибочных пакетов.
-
-### Этап 3. Передача файлов
-
-- разбиение файла на фрагменты;
-- нумерация фрагментов;
-- подтверждение приёма;
-- повторная передача;
-- сборка исходного файла.
-
-### Этап 4. Передача изображений
-
-- загрузка JPEG;
-- разбиение JPEG на пакеты;
-- передача через виртуальный канал;
-- восстановление изображения;
-- обработка потерянных фрагментов.
-
-### Этап 5. Физический уровень
-
-- BPSK;
-- QPSK;
-- формирование символов;
-- IQ-сэмплы;
-- синхронизация;
-- фильтрация;
-- оценка BER и PER.
-
-### Этап 6. PlutoSDR
-
-- подключение устройства;
-- передача несущей;
-- передача тестовой последовательности;
-- передача цифрового пакета;
-- приём сигнала RTL-SDR или вторым SDR.
-
-### Этап 7. Радиоканал передачи изображений
-
-- передача JPEG через SDR;
-- измерение времени доставки;
-- испытания при различных уровнях сигнала;
-- испытания при наличии помех;
-- подбор скорости и модуляции.
-
-### Этап 8. Полевые испытания
-
-- испытания на малой мощности;
-- испытания на малой дистанции;
-- постепенное увеличение расстояния;
-- испытания с ретранслятором;
-- испытания на наземном ровере.
-
----
-
-## 7. Структура репозитория
+## 8. Структура репозитория
 
 ```text
 SDR_Rover
-│
-├── README.md
-├── docs
-├── protocol
-├── rover
-├── ground_station
-├── gnuradio
-├── tests
-└── tools
+├── protocol/        реализация протокола и радиотракта
+├── experiments/     лабораторные Lab001–Lab041
+├── tests/           быстрые автоматические проверки
+├── tools/           вспомогательные программы и шлюз
+├── docs/            технические задания и исследования
+├── data/            исходные данные и результаты
+├── rover/           пока пусто
+├── ground_station/  пока пусто
+└── gnuradio/        пока пусто
 ```
 
-### `docs`
-
-Документация, лабораторные работы, схемы и отчёты.
+Лабораторные работы и расположение их кода, проверок, документов и данных:
+[`docs/LABS_INDEX.md`](docs/LABS_INDEX.md).
 
 ### `protocol`
 
-Реализация пакетного протокола:
+Ядро системы. Пакет с CRC32, фрагментация изображений, кадр канала, исправление стираний, приоритеты, аварийная логика, сеансы связи, примитивы BPSK-радиотракта.
 
-- структура пакета;
-- CRC;
-- кодирование;
-- декодирование;
-- типы сообщений.
+### `experiments`
 
-### `rover`
-
-Программы, которые будут работать на борту ровера:
-
-- получение изображения;
-- сжатие JPEG;
-- передача телеметрии;
-- формирование радиопакетов.
-
-### `ground_station`
-
-Программы наземной станции:
-
-- приём пакетов;
-- сборка изображений;
-- отображение телеметрии;
-- управление передачей.
-
-### `gnuradio`
-
-Схемы GNU Radio Companion:
-
-- передатчик;
-- приёмник;
-- BPSK-модем;
-- QPSK-модем;
-- тестовые генераторы.
+Лабораторные работы. Это исследовательские программы: они моделируют канал, выполняют сотни повторов, строят CSV, графики и отчёты. **Быстрыми тестами они не являются.** При импорте создают каталоги и пишут файлы, поэтому импортировать их не следует — для повторного использования кода служит `protocol/`.
 
 ### `tests`
 
-Автоматические и лабораторные тесты.
+Настоящие быстрые проверки `protocol/`. Выполняются за доли секунды, оборудования не требуют, запускаются через `pytest`.
 
-### `tools`
+### `rover`, `ground_station`, `gnuradio`
 
-Вспомогательные программы:
-
-- анализ пакетов;
-- генераторы тестовых данных;
-- построение графиков;
-- анализ журналов.
+Каталоги созданы под будущую прикладную часть и пока пусты. Бортовая программа ровера, программа наземной станции и схемы GNU Radio появятся после того, как радиоканал заработает в эфире.
 
 ---
 
-## 8. Принципы разработки
+## 9. Данные
 
-В проекте применяются следующие правила:
+- `data/raw` — исходные данные. Крупные записи отсчётов и видео в репозиторий не помещаются, исходные изображения лабораторных хранятся.
+- `data/processed` — результаты лабораторных: CSV, отчёты и графики.
+
+**Ограничение воспроизводимости.** Исходное видео `data/raw/lab026_rover_source.mp4` (около 7,8 МБ) в репозитории не хранится. Без него Lab026 и Lab027 не запускаются, файл нужно получить отдельно.
+
+---
+
+## 10. Принципы разработки
 
 1. Каждый новый термин сначала объясняется, затем используется.
-2. Каждый этап должен завершаться работающим результатом.
+2. Каждый этап завершается работающим результатом.
 3. Радиоканал и пакетный протокол разрабатываются отдельно.
 4. Код проверяется автоматическими тестами.
-5. Все существенные решения фиксируются в документации.
+5. Все существенные решения фиксируются в журнале.
 6. Сложность увеличивается постепенно.
-7. Испытания по эфиру начинаются только после проверки через виртуальный канал.
+7. Испытания по эфиру начинаются только после проверки через модель.
 8. Передатчик сначала проверяется через аттенюатор или эквивалент нагрузки.
+9. **Каждое число в отчёте должно вычисляться из измерений текущего запуска.** Перенесённые из других лабораторных величины сопровождаются указанием источника. Вписанные вручную результаты недопустимы.
 
----
-
-## 9. Текущий статус
-
-Выполнено:
-
-- установлен Python;
-- установлена Anaconda;
-- выбран Spyder;
-- установлен Git;
-- создан локальный Git-репозиторий;
-- создана базовая структура каталогов.
-
-Следующая задача:
-
-> Создать первый Python-модуль пакетного протокола и передать сообщение через виртуальный канал без SDR-оборудования.
-
----
-
-## 10. Ближайший контрольный результат
-
-Первая рабочая версия должна выполнять следующий цикл:
-
-```text
-Текстовое сообщение
-        ↓
-Преобразование в байты
-        ↓
-Формирование пакета
-        ↓
-Добавление CRC
-        ↓
-Имитация радиоканала
-        ↓
-Проверка CRC
-        ↓
-Восстановление сообщения
-```
-
-Первое тестовое сообщение:
-
-```text
-HELLO SDR
-```
+Девятое правило добавлено после аудита достоверности, см. Запись 017 журнала.
 
 ---
 
@@ -337,4 +188,4 @@ HELLO SDR
 
 НИЯУ МИФИ
 
-2026
+2026

UNINSTALL_RX_AGENT.cmd

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

configs/rf/rf001a_common_clock.json

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

configs/rf/rf001a_truth_metadata.json

@@ -0,0 +1,737 @@
+{
+  "schema_version": 1,
+  "test_id": "RF001_QPSK_500K_R23_256B_100P_GAP5MS",
+  "timestamp_utc": "2026-09-18T12:23:31.127702+00:00",
+  "modulation": "QPSK",
+  "symbol_rate": 500000,
+  "sample_rate": 8000000,
+  "fec_rate": "2/3",
+  "digital_carrier_offset_hz": 125000.0,
+  "application_payload_bytes": 256,
+  "packet_count": 100,
+  "inter_packet_gap_ms": 5,
+  "inter_packet_gap_samples": 40000,
+  "inter_array_zero_samples": 39872,
+  "seed": 20260917,
+  "iq_format": "c64le",
+  "dtype": "<c8",
+  "waveform_sample_count": 8833828,
+  "waveform_duration_s": 1.1042285,
+  "packet_waveform_start_samples": [
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+  "expected_packet_hashes": [
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+      "payload_sha256": "4e95e78189b1156739263a383aa26e568b369a24737b78f169a02d7182b66f0b",
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+    {
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+    },
+    {
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+      "payload_sha256": "d3ffdd0789e7bb3f7dba60b96a61175414912253001475d16ec6f837eb8b17a5",
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+  "fec": "2/3",
+  "gap_ms": 5,
+  "source_provenance": "Generated from deterministic RF-001 seed and verified against configs/rf/rf001a_common_clock.json"
+}

data/processed/lab037/lab037_command_metrics.csv

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

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

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

data/processed/lab037/lab037_summary.csv

@@ -0,0 +1,37 @@
+channel_kbps,mean_bad_duration_ms,protection_mode,repetitions,emergency_load_kbps,control_load_kbps,telemetry_load_kbps,video_load_kbps,total_offered_load_kbps,channel_utilization_percent,mean_queue_packets,max_queue_packets,mean_queue_bytes,max_queue_bytes,max_waiting_video_frames,repeat_command_bytes,lost_packets_mean,lost_packet_bytes_mean,cancelled_control_repeats,replaced_state_packets,drain_end_seconds,queue_release_seconds,telemetry_delivered_fraction,telemetry_mean_age_ms,telemetry_last_message_age_ms,telemetry_max_gap_ms,telemetry_gaps_over_500ms_mean
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data/processed/lab037/lab037_video_metrics.csv

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

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

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

@@ -0,0 +1,193 @@
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+230.0,50.0,single,250.0,1.18,0.59,0.0004297797101451113,43.70641120119777,153.61913043479498,252.53913043487586,250.0,28.79,1.18,0.0,211.3844439062181,249.10336041529035,1.7361111111111112,0,0,0
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+230.0,50.0,lab037_repetition,100.0,16.33,8.165,0.006521521739131906,47.92300114487621,147.62434782614653,367.96521739128707,100.0,3.47,16.33,0.0,69.09450106865654,99.90325243083475,0.6944444444444444,0,0,0
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+230.0,50.0,acknowledged_emergency,150.0,7.96,3.98,0.003188489898550996,48.06768691282908,152.6000000000245,352.5391304348773,150.0,22.04,7.96,0.0,116.90582376653855,149.91594505998762,1.0416666666666667,0,0,0
+230.0,50.0,acknowledged_emergency,250.0,1.23,0.615,0.0004467724637683102,43.587557440810755,156.41739130441258,252.53913043487586,250.0,28.77,1.23,0.0,210.70318797140436,248.6368601352602,1.7361111111111112,0,0,0
+230.0,50.0,acknowledged_emergency,500.0,0.01,0.005,2.1159420290632152e-07,2.539130434875858,2.539130434875858,2.539130434875858,500.0,29.99,0.01,0.0,478.9992507145655,478.9992507145655,3.4722222222222223,0,0,0
+230.0,200.0,single,100.0,9.8,4.9,0.01589683768116049,194.6551552795162,609.5391304348161,1563.2000000002931,100.0,0.95,9.8,0.0,71.82826959128776,99.95268738305185,0.6944444444444444,0,0,0
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+230.0,200.0,lab037_repetition,150.0,7.19,3.595,0.01169512608695681,195.1898651508786,606.9182608697334,1528.643478261273,150.0,2.45,7.19,0.0,122.72858027867467,149.99040676794095,1.0416666666666667,0,0,0
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+230.0,200.0,spread_emergency,100.0,9.73,4.865,0.0159048724637692,196.15464497968182,610.9843478261524,1545.3913043481152,100.0,0.97,9.73,0.0,72.48780320775765,99.93849790066633,0.6944444444444444,0,0,0
+230.0,200.0,spread_emergency,150.0,7.42,3.71,0.012402194202899175,200.5745693191241,613.1165217392655,1495.391304348118,150.0,3.28,7.42,0.0,122.86371742369424,149.9384979006777,1.0416666666666667,0,0,0
+230.0,200.0,spread_emergency,250.0,4.72,2.36,0.007542982608696842,191.77074428890276,593.9513043478705,1395.3913043481166,250.0,5.98,4.72,0.0,221.99686044397973,249.67684424623826,1.7361111111111112,0,0,0
+230.0,200.0,spread_emergency,500.0,1.32,0.66,0.0022000057971020073,200.00052700927338,571.9947826088219,1145.3913043481166,500.0,9.38,1.32,0.0,471.8685109704517,499.67684424623826,3.4722222222222223,0,0,0
+230.0,200.0,acknowledged_emergency,100.0,9.73,4.865,0.01591382029347894,196.2649984807269,610.0869565217522,1519.3043478263703,100.0,1.03,9.73,0.0,71.99330002010123,99.87114870479985,0.6944444444444444,0,0,0
+230.0,200.0,acknowledged_emergency,150.0,7.5,3.75,0.012410028989130661,198.56046382609057,613.1860869565066,1469.3043478263733,150.0,3.26,7.5,0.0,122.18437180119518,149.871148704797,1.0416666666666667,0,0,0
+230.0,200.0,acknowledged_emergency,250.0,4.65,2.325,0.0075457695833345785,194.72953763444073,592.0104347826463,1369.3043478263717,250.0,6.11,4.65,0.0,221.4819646809284,249.87114870479843,1.7361111111111112,0,0,0
+230.0,200.0,acknowledged_emergency,500.0,1.36,0.68,0.0021980058152180544,193.9416895780636,568.7304347827702,1119.3043478263717,500.0,9.4,1.36,0.0,472.12294801894024,498.8064461210513,3.4722222222222223,0,0,0
+230.0,1000.0,single,100.0,2.11,1.055,0.01668321449275453,948.8084071708738,2860.99130434786,5894.330434782859,100.0,0.08,2.11,0.0,72.77227065609362,98.75446883638439,0.6944444444444444,0,0,0
+230.0,1000.0,single,150.0,2.02,1.01,0.01582274492753706,939.9650452002214,2811.8834782609797,5844.330434782847,150.0,0.17,2.02,0.0,123.13446173292415,148.75446883638512,1.0416666666666667,0,0,0
+230.0,1000.0,single,250.0,1.81,0.905,0.014215624637681994,942.4723516695243,2743.043478261001,5744.3304347828525,250.0,0.38,1.81,0.0,223.36266138100706,248.75446883638475,1.7361111111111112,0,0,0
+230.0,1000.0,single,500.0,1.36,0.68,0.010961011594203648,967.1480818414983,2851.3999999999696,5494.3304347828525,500.0,0.83,1.36,0.0,473.43763495457796,498.3335625807399,3.4722222222222223,0,0,0
+230.0,1000.0,lab037_repetition,100.0,2.09,1.045,0.016461272463768727,945.1448304556206,2852.417391304243,5898.504347825891,100.0,0.03,2.09,0.0,74.89339119622397,99.55200475732795,0.6944444444444444,0,0,0
+230.0,1000.0,lab037_repetition,150.0,1.96,0.98,0.01561401739130488,955.9602484472373,2817.121739130318,5848.50434782588,150.0,0.16,1.96,0.0,124.72886312104937,149.55200475733932,1.0416666666666667,0,0,0
+230.0,1000.0,lab037_repetition,250.0,1.76,0.88,0.014052133333333876,958.1000000000369,2802.2260869564234,5748.504347825886,250.0,0.36,1.76,0.0,224.42581644848326,249.55200475733363,1.7361111111111112,0,0,0
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+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
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+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
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+230.0,1000.0,acknowledged_emergency,500.0,1.36,0.68,0.010958571054348625,966.9327400895844,2851.3999999999696,5461.321739130739,500.0,0.83,1.36,0.0,473.9010502362745,499.03980961070005,3.4722222222222223,0,0,0

data/processed/lab038/lab038_report.txt

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

data/processed/lab038/lab038_summary.csv

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

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data/processed/lab039/lab039_analytic_checks.csv

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data/processed/lab039/lab039_distance_metrics.csv

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data/processed/lab039/lab039_report.txt

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

data/processed/lab039/lab039_summary.csv

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

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data/processed/lab040/lab040_load_metrics.csv

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

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

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

data/processed/lab040/lab040_reset_metrics.csv

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

@@ -0,0 +1,46 @@
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data/processed/lab041/lab041_load_metrics.csv

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

@@ -0,0 +1,181 @@
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data/processed/lab041/lab041_report.txt

@@ -0,0 +1,345 @@
+Lab041 — сеансы связи, безопасный запуск и защита от пакетов предыдущего сеанса
+
+Исходное состояние
+- Корень: C:/Users/user/Desktop/projects/SDR_Rover
+- Ветка: main.
+- Исходный HEAD: 88addff5b615dd7c13506b6e4c83c131a6a4bb39.
+- Рабочее дерево и индекс были чистыми; расхождение с локально известной origin/main составляло 0/0.
+- Коммиты Lab039 и Lab040 присутствовали; сетевые команды Git не выполнялись.
+
+Форматы прикладных сообщений
+- Общий прикладной заголовок: !BBQQII, 26 байт, сетевой порядок, без неявного выравнивания.
+- Поля заголовка: версия, тип, ground_session_id, rover_boot_id, control_epoch и sequence_number.
+- Типы: SESSION_HELLO, SESSION_STATUS, MOVEMENT_AUTHORIZE_REQUEST, MOVEMENT_AUTHORIZE_ACK, CONTROL_STATE, EMERGENCY_STOP, EMERGENCY_ACK, RESET_REQUEST, RESET_ACK и SESSION_REJECT.
+- CONTROL_STATE содержит скорость float32, поворот float32, торможение uint8 и разрешение движения uint8; выполняется смысловая проверка диапазонов и сочетаний.
+- Идентификаторы запуска имеют 64 бита; период управления и номер сообщения — 32 бита; идентификаторы аварии и сброса — 64 бита.
+- Отдельная контрольная сумма не добавлена: контрольная сумма общего пакета Lab033 уже охватывает всю полезную нагрузку. Успешная проверка суммы не заменяет смысловую проверку.
+- тип | прикладной заголовок, байт | специализированная часть, байт | прикладное сообщение, байт | заголовок Lab033, байт | передаётся всего, байт
+- SESSION_HELLO | 26 | 9 | 35 | 32 | 67
+- SESSION_STATUS | 26 | 10 | 36 | 32 | 68
+- MOVEMENT_AUTHORIZE_REQUEST | 26 | 8 | 34 | 32 | 66
+- MOVEMENT_AUTHORIZE_ACK | 26 | 9 | 35 | 32 | 67
+- CONTROL_STATE | 26 | 10 | 36 | 32 | 68
+- EMERGENCY_STOP | 26 | 8 | 34 | 32 | 66
+- EMERGENCY_ACK | 26 | 8 | 34 | 32 | 66
+- RESET_REQUEST | 26 | 21 | 47 | 32 | 79
+- RESET_ACK | 26 | 18 | 44 | 32 | 76
+- SESSION_REJECT | 26 | 2 | 28 | 32 | 60
+
+Постоянная нагрузка управления
+- CONTROL_STATE: 68 передаваемых байт × 20 сообщений/с = 10.88000 кбит/с.
+- За 20 с передаётся 400 команд, или 27200 байт.
+- Прикладной заголовок занимает 72.222% прикладного сообщения и 38.235% всего передаваемого пакета команды.
+- В Lab040 пакет команды занимал 46 байт и создавал 7.36000 кбит/с; рост составляет 3.52000 кбит/с, или 47.826%.
+- Один исходный обмен SESSION_HELLO и SESSION_STATUS: 135 байт, что соответствует 0.05400 кбит/с при усреднении по одному опыту.
+- Один исходный обмен разрешения движения: 133 байт, или 0.05320 кбит/с при усреднении по одному опыту.
+- Аварийная команда с подтверждением: 132 байт; запрос сброса с подтверждением: 155 байт.
+
+Обоснование идентификаторов
+- Одного sequence_number недостаточно: после перезапуска он может снова начаться с нуля, а задержанный большой номер прежнего запуска будет выглядеть допустимым без границы сеанса.
+- ground_session_id отделяет запуски наземной станции; rover_boot_id немедленно делает недействительными команды, адресованные предыдущему запуску ровера.
+- control_epoch отделён от сеанса, потому что внутри одного соединения движение может быть повторно запрещено и разрешено после остановки или сброса.
+- 64 бита выбраны как минимально требуемая ширина с практически большим пространством случайных значений; в воспроизводимой модели значения выводятся из фиксированного начального значения. Источник для реального изделия должен быть определён отдельно.
+
+Автоматы сторон
+- Наземная станция: GROUND_BOOT → GROUND_SYNCING → GROUND_SAFE_SYNCHRONIZED → GROUND_MOVEMENT_AUTH_REQUESTED → GROUND_ACTIVE.
+- Аварийная ветвь станции: GROUND_EMERGENCY_REQUESTED → GROUND_EMERGENCY_CONFIRMED → GROUND_RESET_REQUESTED → безопасное согласованное состояние.
+- Ровер: ROVER_BOOT_SAFE → ROVER_SESSION_SYNCED_SAFE → ROVER_MOVEMENT_AUTHORIZED; состояния STAGE1_DECELERATION, STAGE2_BRAKING и EMERGENCY_LATCHED сохранены.
+- После запуска ровер запрещает движение, потому что его программное состояние и происхождение ранее сохранённой команды больше нельзя считать достоверными.
+- SESSION_STATUS и MOVEMENT_AUTHORIZE_ACK подтверждают этапы протокола, но сами не являются командой движения.
+- После сброса или перезапуска старая команда не восстанавливается: требуется новое действие оператора и новая CONTROL_STATE текущего периода управления.
+
+Сравнение sequence_number
+- delta = (new - old) modulo 2^32; сообщение новее только при 0 < delta < 2^31.
+- delta = 0 означает дубликат или старое сообщение; delta > 2^31 означает старый номер; delta = 2^31 неоднозначно и всегда отклоняется.
+- Правило применяется только при совпадении ground_session_id, rover_boot_id, control_epoch и stream_id.
+
+Ограничение модели
+- Исследуются задержки, дубликаты, перестановка, старые пакеты и потеря оперативного состояния при перезапуске.
+- Намеренная подделка не моделируется. Идентификаторы сеанса не доказывают отправителя, поэтому эта защита не заменяет криптографическую аутентификацию.
+- Что именно моделируется розыгрышем: моменты потерь по экспоненциальной модели Good-Bad, доставка и повтор служебных сообщений сеанса, время до безопасного согласования и до разрешения движения, объём эпизодической служебной нагрузки. Только эти величины являются результатом моделирования Lab041.
+- Что задано архитектурой, а не разыгрывается: исход обработки старого пакета, разрешено ли движение после перезапуска и сохраняется ли аварийное намерение. Матрица перебирает эти случаи, а поведение реализации проверяется отдельно функциональными проверками.
+- Что не моделируется вовсе: транспорт видео, планировщик очередей, доставка телеметрии и доставка команд по радиоканалу. Соответствующие показатели относятся к Lab037 и Lab040 и в Lab041 не пересчитываются.
+- Оценка пути после перезапуска получена по замкнутой формуле при параметрах профиля nominal Lab039 и одинакова во всех повторах; это расчёт, а не результат розыгрыша.
+
+Матрица 180 сочетаний
+архитектура | канал | сценарий | повторы | безопасный сеанс, % | разрешение, % | нарушения, % | старые пакеты приняты, % | потеря намерения, % | управление, кбит/с | эпизодическая служебная, кбит/с | полный поток, кбит/с
+Без идентификаторов сеанса | Без потерь | Обычный запуск обеих сторон | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск наземной станции при движении | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск ровера при движении | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Одновременный перезапуск | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск наземной станции при аварийном намерении | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 100.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск ровера в аварийной фиксации | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Длительный перерыв связи | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Старая команда прежнего сеанса станции | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Старая команда прежнего запуска ровера | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Старый период управления | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Номер сообщения с нуля в новом сеансе | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Переполнение 32-битного номера | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Дубликат приветствия сеанса | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Потеря состояния сеанса | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Потеря подтверждения разрешения | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Потеря подтверждения аварии | 1 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10560 | 262.05847
+Без идентификаторов сеанса | Без потерь | Потеря подтверждения сброса | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.12400 | 262.07687
+Без идентификаторов сеанса | Без потерь | Старый запрос сброса | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Поздняя положительная команда после аварии | 1 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | Без потерь | Перезапуск после сброса до подтверждения | 1 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Обычный запуск обеих сторон | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск ровера при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Одновременный перезапуск | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при аварийном намерении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 100.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск ровера в аварийной фиксации | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Длительный перерыв связи | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старая команда прежнего сеанса станции | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старая команда прежнего запуска ровера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старый период управления | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Номер сообщения с нуля в новом сеансе | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Переполнение 32-битного номера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Дубликат приветствия сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря состояния сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря подтверждения разрешения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря подтверждения аварии | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11009 | 262.06295
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Потеря подтверждения сброса | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.12732 | 262.08018
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Старый запрос сброса | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Поздняя положительная команда после аварии | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 260 кбит/с, помеха 200 мс | Перезапуск после сброса до подтверждения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Обычный запуск обеих сторон | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск ровера при движении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Одновременный перезапуск | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при аварийном намерении | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 100.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск ровера в аварийной фиксации | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Длительный перерыв связи | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старая команда прежнего сеанса станции | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старая команда прежнего запуска ровера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старый период управления | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Номер сообщения с нуля в новом сеансе | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Переполнение 32-битного номера | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Дубликат приветствия сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря состояния сеанса | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря подтверждения разрешения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря подтверждения аварии | 200 | 0.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16817 | 262.12103
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Потеря подтверждения сброса | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.13727 | 262.09014
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Старый запрос сброса | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Поздняя положительная команда после аварии | 200 | 0.000 | 100.000 | 100.000 | 100.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Без идентификаторов сеанса | 230 кбит/с, помеха 1000 мс | Перезапуск после сброса до подтверждения | 200 | 0.000 | 100.000 | 100.000 | 0.000 | 0.000 | 10.88000 | 0.00000 | 261.95287
+Идентификаторы и безопасный запуск | Без потерь | Обычный запуск обеих сторон | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск наземной станции при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск ровера при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Одновременный перезапуск | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск наземной станции при аварийном намерении | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 100.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск ровера в аварийной фиксации | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | Без потерь | Длительный перерыв связи | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Старая команда прежнего сеанса станции | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Старая команда прежнего запуска ровера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Старый период управления | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Номер сообщения с нуля в новом сеансе | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Переполнение 32-битного номера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Дубликат приветствия сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | Без потерь | Потеря состояния сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | Без потерь | Потеря подтверждения разрешения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы и безопасный запуск | Без потерь | Потеря подтверждения аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21280 | 262.16567
+Идентификаторы и безопасный запуск | Без потерь | Потеря подтверждения сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23120 | 262.18407
+Идентификаторы и безопасный запуск | Без потерь | Старый запрос сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Поздняя положительная команда после аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | Без потерь | Перезапуск после сброса до подтверждения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10852 | 262.06139
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11010 | 262.06297
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 100.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11348 | 262.06634
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10799 | 262.06086
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10773 | 262.06059
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10997 | 262.06284
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16226 | 262.11512
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21848 | 262.17134
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23547 | 262.18833
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10799 | 262.06086
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10984 | 262.06271
+Идентификаторы и безопасный запуск | 260 кбит/с, помеха 200 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10733 | 262.06020
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11354 | 262.06640
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 100.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.12937 | 262.08224
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10865 | 262.06152
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23379 | 262.18665
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.24705 | 262.19992
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы и безопасный запуск | 230 кбит/с, помеха 1000 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Обычный запуск обеих сторон | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск наземной станции при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск ровера при движении | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Одновременный перезапуск | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск наземной станции при аварийном намерении | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск ровера в аварийной фиксации | 1 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Длительный перерыв связи | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старая команда прежнего сеанса станции | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старая команда прежнего запуска ровера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старый период управления | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Номер сообщения с нуля в новом сеансе | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Переполнение 32-битного номера | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Дубликат приветствия сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря состояния сеанса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря подтверждения разрешения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря подтверждения аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21280 | 262.16567
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Потеря подтверждения сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23120 | 262.18407
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Старый запрос сброса | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Поздняя положительная команда после аварии | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | Без потерь | Перезапуск после сброса до подтверждения | 1 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10733 | 262.06020
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10826 | 262.06112
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10892 | 262.06178
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10773 | 262.06059
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11199 | 262.06486
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10760 | 262.06046
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10786 | 262.06073
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10812 | 262.06099
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11090 | 262.06377
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10852 | 262.06139
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16147 | 262.11433
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16594 | 262.11881
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21927 | 262.17213
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.23663 | 262.18949
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10865 | 262.06152
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10878 | 262.06165
+Идентификаторы, безопасный запуск и сохранённое намерение | 260 кбит/с, помеха 200 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10746 | 262.06033
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Обычный запуск обеих сторон | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11063 | 262.06350
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск ровера при движении | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11169 | 262.06455
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Одновременный перезапуск | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10931 | 262.06218
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск наземной станции при аварийном намерении | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск ровера в аварийной фиксации | 200 | 100.000 | 0.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.05400 | 262.00687
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Длительный перерыв связи | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11698 | 262.06985
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старая команда прежнего сеанса станции | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старая команда прежнего запуска ровера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старый период управления | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11261 | 262.06548
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Номер сообщения с нуля в новом сеансе | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10841 | 262.06127
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Переполнение 32-битного номера | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.11076 | 262.06363
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Дубликат приветствия сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря состояния сеанса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16120 | 262.11407
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря подтверждения разрешения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.16040 | 262.11327
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря подтверждения аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.21966 | 262.17253
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Потеря подтверждения сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.25147 | 262.20433
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Старый запрос сброса | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Поздняя положительная команда после аварии | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+Идентификаторы, безопасный запуск и сохранённое намерение | 230 кбит/с, помеха 1000 мс | Перезапуск после сброса до подтверждения | 200 | 100.000 | 100.000 | 0.000 | 0.000 | 0.000 | 10.88000 | 0.10720 | 262.06007
+
+Перезапуски и безопасное состояние
+- В основном режиме движение до синхронизации: 0; до подтверждения разрешения: 0; без новой команды оператора: 0.
+- Максимальный путь после перезапуска в основном режиме: 9.7737 м; это путь безопасного торможения, а не продолжение старой команды.
+- Величина рассчитана по формуле v*t + v^2/(2a) при v = 6.9444 м/с, t = 0.250 с и a = 3.0 м/с^2 из профиля nominal Lab039. Оценка одноступенчатая и не учитывает предварительное замедление Stage1, поэтому она консервативнее двухступенчатой модели Lab039.
+- Продолжение движения после перезапуска: 0; запуск по старой команде: 0.
+
+Пакеты предыдущего сеанса
+- Основной режим: введено 2807, отклонено 2807, ошибочно принято 0.
+- Эти числа получены перебором таблицы сценариев: семь сценариев со старым пакетом умножаются на число повторов, а исход перебора задан архитектурой, а не розыгрышем помех. Они показывают охват перебора, а не измеренную вероятность отклонения.
+- Что старый пакет действительно отклоняется реализацией, показывают проверки 06, 07, 08, 10 и 19: они вызывают receive_control и receive_reset настоящих автоматов и сверяют причину отказа.
+- Отрицательный уровень без идентификаторов: ошибочно принято 2807 старых пакетов.
+- Причины отказа основного режима: сеанс станции=401, запуск ровера=401, период управления=401, номер сообщения=802, событие аварии=401, запрос сброса=401.
+- Неоднозначных delta=2^31 отклонено: 401.
+
+Аварийное намерение и сброс
+- Сохранение emergency_intent на станции сохраняет намерение оператора; ROVER_BOOT_SAFE независимо защищает физическое движение ровера после его перезапуска. Это разные задачи.
+- В основном режиме потерь аварийного намерения: 0; восстановлений намерения: 401.
+- Ошибочно принятых старых запросов сброса: 0; движений до RESET_ACK: 0; автоматических восстановлений движения: 0.
+- Потеря EMERGENCY_ACK не снимает аварийное намерение; потеря RESET_ACK вызывает повтор того же идемпотентного запроса.
+
+Инварианты безопасности основного режима
+- Что означают числа ниже. Счётчики матрицы показывают, сколько сочетаний сценария и канала описывают небезопасный переход. В основном режиме безопасный запуск и постоянное аварийное намерение исключают такие переходы по построению архитектуры, поэтому счётчик равен нулю как следствие выбранной архитектуры, а не как результат розыгрыша помех.
+- Поведение самой реализации подтверждается функциональными проверками; их номера указаны рядом с каждым свойством. Именно проверки, а не матрица, являются доказательством для перечисленных свойств.
+- Движение до синхронизации: 0 (проверки 11, 15).
+- Движение до подтверждения разрешения: 0 (проверки 12, 13).
+- Движение без новой команды оператора: 0 (проверка 14).
+- Использование старого периода управления: 0 (проверка 08).
+- Снятие аварийной фиксации обычной командой: 0 (проверка 22).
+- Потеря аварийного намерения после перезапуска станции: 0 (проверки 17, 18).
+- Движение до подтверждения сброса: 0 (проверки 20, 21).
+- Автоматическое восстановление старой команды после сброса: 0 (проверки 13, 14).
+- Принятие старого запроса сброса: 0 (проверка 19).
+
+Свойства, которые матрица не измеряет
+- Следующие свойства зависят от разбора конкретного сообщения, а не от розыгрыша сценария, поэтому счётчика по 180 сочетаниям для них не существует. Ранее они выводились в списке инвариантов как нули; это было ошибкой представления, и такие строки удалены.
+- Принятие команды старого сеанса станции: подтверждается проверками 06 и 16.
+- Принятие команды старого запуска ровера: подтверждается проверкой 07.
+- Принятие неоднозначной разности номеров 2^31: подтверждается проверкой 10.
+- Отрицательная скорость и превышение разрешённой скорости: подтверждаются проверкой 04; диапазон 0...15 м/с проверяется при кодировании в protocol/control_messages.py.
+
+Учёт нагрузки
+- Постоянное управление: 10.88000 кбит/с во всех сочетаниях.
+- Исходные сообщения согласования: в среднем 0.05400 кбит/с; разрешение движения: 0.04788 кбит/с.
+- Аварийные сообщения и сброс: в среднем 0.00574 кбит/с; повторы и повторные подтверждения: 0.01536 кбит/с.
+- Эпизодическая служебная нагрузка основного режима: средняя 0.12298 кбит/с, максимум 0.25147 кбит/с. Именно к этой величине относились прежние значения 0,12298–0,25147 кбит/с.
+- Постоянные исходные потоки: видео 243.39287, телеметрия 7.68000, управление 10.88000 кбит/с.
+- Видео и телеметрия здесь не моделируются: значения перенесены из Lab038, поля video_load_kbps и telemetry_load_kbps файла data/processed/lab038/lab038_summary.csv. Управление вычислено по размеру пакета и частоте.
+- Полный предложенный поток основного режима: средний 262.07584 кбит/с, максимум 262.20433 кбит/с.
+- Доли доставки видео, телеметрии и управления, а также длина очереди в Lab041 не определяются. Модель этой лабораторной воспроизводит обмен служебными сообщениями сеанса, но не планировщик очередей и не транспорт видео. Соответствующие показатели следует брать из Lab037 и Lab040.
+
+Функциональные проверки
+- ПРОЙДЕНО — 01. Сериализация всех сообщений: все десять типов имеют однозначное двоичное представление
+- ПРОЙДЕНО — 02. Отклонение неверной версии: неверная версия отклонена
+- ПРОЙДЕНО — 03. Отклонение неизвестного типа: неизвестный тип отклонён
+- ПРОЙДЕНО — 04. Допустимые диапазоны управления: диапазоны и сочетания полей управления проверены, включая отрицательную скорость и границу 15 м/с
+- ПРОЙДЕНО — 05. Номер ноль в новом сеансе: новый сеанс принимает начальный номер ноль
+- ПРОЙДЕНО — 06. Старый сеанс станции: старый сеанс наземной станции отклонён
+- ПРОЙДЕНО — 07. Старый запуск ровера: старый идентификатор запуска ровера отклонён
+- ПРОЙДЕНО — 08. Старый период управления: старый период управления отклонён
+- ПРОЙДЕНО — 09. Переполнение номера сообщения: переход от 0xFFFFFFFF к нулю принят как новый
+- ПРОЙДЕНО — 10. Неоднозначная половина диапазона: неоднозначная половина диапазона отклонена
+- ПРОЙДЕНО — 11. Безопасное состояние после запуска: после запуска движение запрещено с обеих сторон
+- ПРОЙДЕНО — 12. Состояние сеанса не запускает движение: состояние сеанса и дубликат приветствия не разрешают движение
+- ПРОЙДЕНО — 13. Подтверждение разрешения не восстанавливает движение: подтверждение разрешения сохраняет нулевое состояние
+- ПРОЙДЕНО — 14. Новая команда оператора обязательна: движение начинается только по новой команде оператора
+- ПРОЙДЕНО — 15. Безопасный перезапуск ровера: перезапуск ровера немедленно создаёт безопасное состояние
+- ПРОЙДЕНО — 16. Прекращение старого потока станции: новый сеанс прекращает старый поток команд
+- ПРОЙДЕНО — 17. Восстановление аварийного намерения: сохранённое аварийное намерение восстановлено
+- ПРОЙДЕНО — 18. Подтверждение не снимает аварийное намерение: подтверждение аварии не снимает намерение
+- ПРОЙДЕНО — 19. Отклонение старого запроса сброса: запрос сброса старого сеанса отклонён
+- ПРОЙДЕНО — 20. Повтор после потери подтверждения сброса: без подтверждения тот же запрос сброса передаётся повторно
+- ПРОЙДЕНО — 21. Повторное подтверждение дубликата сброса: дубликат не повторяет сброс и получает подтверждение
+- ПРОЙДЕНО — 22. Аварийная фиксация не снимается обычной командой: обычная команда не снимает аварийную фиксацию
+- ПРОЙДЕНО — 23. Воспроизводимость: помехи и 64-битные идентификаторы воспроизводимы
+- ПРОЙДЕНО — 24. Постоянная нагрузка команд управления: поток управления совпадает с размером 68 байт, частотой 20 Гц и длительностью опыта
+
+Созданные файлы
+- protocol/control_messages.py
+- protocol/session_state.py
+- experiments/lab041_session_restart_safety.py
+- data/processed/lab041/lab041_summary.csv
+- data/processed/lab041/lab041_session_metrics.csv
+- data/processed/lab041/lab041_rejection_metrics.csv
+- data/processed/lab041/lab041_restart_metrics.csv
+- data/processed/lab041/lab041_load_metrics.csv
+- data/processed/lab041/lab041_report.txt
+- data/processed/lab041/lab041_session_time.png
+- data/processed/lab041/lab041_authorization_time.png
+- data/processed/lab041/lab041_old_packet_rejection.png
+- data/processed/lab041/lab041_restart_distance.png
+- data/processed/lab041/lab041_emergency_intent.png
+- data/processed/lab041/lab041_safety_violations.png
+- data/processed/lab041/lab041_protection_load.png
+
+Ограничения
+- Модель не включает криптографическую аутентификацию и не рассматривает намеренного нарушителя.
+- Размеры идентификаторов и источник случайности для реального изделия должны быть закреплены отдельным проектным решением.
+- Фиксация результатов в Git выполняется отдельно после завершения расчётов и проверок.

data/processed/lab041/lab041_restart_metrics.csv

@@ -0,0 +1,181 @@
+architecture,channel_condition,scenario,repetitions,restart_cases,mean_restart_to_safe_ms,p95_restart_to_safe_ms,mean_distance_after_restart_m,max_distance_after_restart_m,continued_movement_after_restart,startup_from_old_command,emergency_latch_removed,emergency_intent_lost,unsafe_movement_authorizations,emergency_intent_restored,zero_commands_continued,mean_emergency_refixed_ms,emergency_event_misclassified,old_reset_erroneously_accepted,movement_before_reset_ack,automatic_motion_after_reset
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data/processed/lab041/lab041_session_metrics.csv

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

@@ -0,0 +1,181 @@
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data/processed/lab042/lab042_frames.csv

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

data/processed/lab042/lab042_report.txt

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

data/processed/lab042/lab042_summary.csv

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

data/processed/lab043_diagnostics/capture_triplets.csv

@@ -0,0 +1,17 @@
+source,triplet,count,bit_errors,ber,mean_i,mean_q,median_i,median_q,std_i,std_q,mean_amplitude,mean_phase_error_deg,mean_distance_to_ideal,decision_cross_fraction,raw_mean_i,raw_mean_q,fitted_gain_i,fitted_gain_q
+lab043_prbs11_s_20260819_134831,000,618,26,0.042071197411003236,-0.383010551932381,0.02764562694974822,-0.3665048003985516,0.029452696638587655,0.23064885120898107,0.31028090419369436,0.49896947141893955,-7.8956708685012496,0.6944003153099989,0.042071197411003236,-0.383010551932381,0.02764562694974822,1.0,0.0
+lab043_prbs11_s_20260819_134831,001,626,8,0.012779552715654952,-0.4912906363346837,0.018636267614070716,-0.4764967027338469,0.026144887267764125,0.24269006389944242,0.30667428490022475,0.586409195973437,-5.494314642423132,0.5998968119242502,0.012779552715654952,-0.4912906363346837,0.018636267614070716,1.0,0.0
+lab043_prbs11_s_20260819_134831,010,625,0,0.0,1.6246814910527565,0.021540864870758254,1.6232689830218876,0.024312702015861856,0.24557868253488369,0.33923505401863113,1.6592362427400138,0.18194257569663422,0.7093629876140989,0.0,1.6246814910527565,0.021540864870758254,1.0,0.0
+lab043_prbs11_s_20260819_134831,011,623,0,0.0,1.507888339613931,0.027362614438028364,1.499955117966784,0.02131274610695385,0.2323442921990874,0.31797487033373506,1.540917677274962,0.5236092842361051,0.599722415704199,0.0,1.507888339613931,0.027362614438028364,1.0,0.0
+lab043_prbs11_s_20260819_134831,100,626,0,0.0,-0.8627782853937753,-0.2999262964156233,-0.8705450786019031,-0.30817634309654046,0.2368292067405127,0.31394777549671404,0.9578798163510112,17.143319552998086,0.4677097487796899,0.0,-0.8627782853937753,-0.2999262964156233,1.0,0.0
+lab043_prbs11_s_20260819_134831,101,622,0,0.0,-0.9853183896444535,-0.290203005512205,-0.9745048898520654,-0.30930749839713845,0.22008895048116267,0.31972987963350635,1.069647529275547,14.80231929336532,0.4353899021808402,0.0,-0.9853183896444535,-0.290203005512205,1.0,0.0
+lab043_prbs11_s_20260819_134831,110,624,0,0.0,1.1217639844594565,-0.3035772157066439,1.1310492864236945,-0.29087932020583385,0.27164792642941604,0.33523556914475766,1.2139708847640265,-15.592910444294075,0.48678001136541427,0.0,1.1217639844594565,-0.3035772157066439,1.0,0.0
+lab043_prbs11_s_20260819_134831,111,634,0,0.0,1.0177963357632442,-0.2857254059392602,0.9787287867259802,-0.30392693232926526,0.28513896636571545,0.3301477780970683,1.1124010421708548,-16.389369324426834,0.4743368758003392,0.0,1.0177963357632442,-0.2857254059392602,1.0,0.0
+lab043_prbs11_s_20260819_150001,000,618,22,0.03559870550161812,-0.46422854876395536,-0.1034304947322828,-0.450617540491747,-0.08384365846908659,0.2970812100005612,0.2764371342120699,0.5552113454902189,4.975489960217222,0.6374530970020094,0.03559870550161812,-0.46422854876395536,-0.1034304947322828,1.0,0.0
+lab043_prbs11_s_20260819_150001,001,626,5,0.007987220447284345,-0.6086025098841648,-0.09102967026250966,-0.593154030437537,-0.07621843397472354,0.2969390097675917,0.28426567583901835,0.679352068931168,3.5118628297753047,0.527946124467199,0.007987220447284345,-0.6086025098841648,-0.09102967026250966,1.0,0.0
+lab043_prbs11_s_20260819_150001,010,625,0,0.0,1.543937892189543,-0.0866919401911572,1.5401352267056545,-0.08580489080415578,0.296974183803192,0.29581951510651777,1.5765627581653052,-4.197559508608589,0.6421798718369047,0.0,1.543937892189543,-0.0866919401911572,1.0,0.0
+lab043_prbs11_s_20260819_150001,011,623,0,0.0,1.3844334140042036,-0.08532571149356706,1.3744620638063159,-0.08924519261103618,0.26685328732688507,0.2844049814454168,1.4183308010699238,-4.696533674284714,0.5093696634103756,0.0,1.3844334140042036,-0.08532571149356706,1.0,0.0
+lab043_prbs11_s_20260819_150001,100,626,0,0.0,-0.9614469278519722,-0.2996346771243095,-0.9507264001164575,-0.2877579356042255,0.2858999743426548,0.2780537590113996,1.0354745742870346,15.35184388016101,0.45571081471161806,0.0,-0.9614469278519722,-0.2996346771243095,1.0,0.0
+lab043_prbs11_s_20260819_150001,101,622,0,0.0,-1.1028098132631565,-0.2865285029053816,-1.0971437080692867,-0.28672431820918576,0.2777319065206098,0.2773121159933899,1.164923379747912,12.850190789658376,0.43898765209393537,0.0,-1.1028098132631565,-0.2865285029053816,1.0,0.0
+lab043_prbs11_s_20260819_150001,110,624,0,0.0,1.0473064096865614,-0.30446287638539515,1.0398500615588286,-0.30154972207819863,0.31726665642731866,0.31265493779409337,1.145036505689775,-17.636126072712916,0.48953383056372857,0.0,1.0473064096865614,-0.30446287638539515,1.0,0.0
+lab043_prbs11_s_20260819_150001,111,634,0,0.0,0.8838047295662679,-0.2988072133215322,0.8598290716063504,-0.31001570377948856,0.30258146260956686,0.2954051290073809,0.9925463363278624,-20.654607590716907,0.47726234856311894,0.0,0.8838047295662679,-0.2988072133215322,1.0,0.0

data/processed/lab043_diagnostics/dc_iq_metrics.csv

@@ -0,0 +1,3 @@
+capture,raw_bpsk_mean_i,raw_bpsk_mean_q,coarse_before_rrc_mean_i,coarse_before_rrc_mean_q,matched_mean_i,matched_mean_q,positive_center_i,positive_center_q,negative_center_i,negative_center_q,symbol_dc_i,symbol_dc_q,positive_distance_from_zero,negative_distance_from_zero,positive_decision_margin_i,negative_decision_margin_i,residual_std_i,residual_std_q,iq_std_ratio,iq_correlation,ellipse_axis_ratio,cluster_phase_separation_deg,negative_is_closer_to_boundary
+lab043_prbs11_s_20260819_134831,-0.000737236196254884,-0.0009993250003590963,-0.0035866184049641804,-0.0020547927693326117,-0.039057998243808414,-0.022376535029459025,1.316916651234259,-0.135555308255011,-0.6813036323127601,-0.1363165494566035,0.3178065094607494,-0.13593592885580724,1.3238748837764716,0.6948070531149747,1.316916651234259,0.6813036323127601,0.3528092065580048,0.3591613286621408,0.9823140143517195,0.4949299078201867,1.720973769005295,162.80857605270015,True
+lab043_prbs11_s_20260819_150001,-0.0006657749906019511,-0.0009936757629662666,-0.003953464860272102,0.0015903730102091952,-0.0430650724829096,0.017323925058185086,1.2138202803903815,-0.1941434021582646,-0.7849789639235105,-0.1952336579265019,0.21442065823343548,-0.19468853004238323,1.2292482799209319,0.8088931666108884,1.2138202803903815,0.7849789639235105,0.3918420026998634,0.3061660076990989,1.2798350987578189,0.5683356891913195,2.0067883608694936,156.94608113337333,True

data/processed/lab043_diagnostics/ideal_channel_triplets.csv

@@ -0,0 +1,49 @@
+source,triplet,count,bit_errors,ber,mean_i,mean_q,median_i,median_q,std_i,std_q,mean_amplitude,mean_phase_error_deg,mean_distance_to_ideal,decision_cross_fraction,raw_mean_i,raw_mean_q,fitted_gain_i,fitted_gain_q,sample_phase,marker_score
+без искажений,000,618,0,0.0,-1.0002931436799982,-3.231550594878434e-17,-1.000199150848986,-2.319552256062034e-17,0.010357093519487945,3.265577683360462e-16,1.0002931436799982,1.865020053989257e-15,0.008257521038058883,0.0,-0.7002312139878651,-1.8677900020981957e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,001,626,0,0.0,-0.9999796510040612,-5.090250830548143e-17,-0.999960846145106,-5.0648676345923463e-17,0.010322664900678936,3.2693891435801005e-16,0.9999796510040612,2.917838992654595e-15,0.008200634420287638,0.0,-0.7000117609620851,-3.1690521028700267e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,010,625,0,0.0,0.9996656101027557,-5.665573859282219e-18,0.9997287758415592,-1.976950863675177e-17,0.010214140548392219,3.215255041375122e-16,0.9996656101027557,-3.183082645139798e-16,0.008056123282006363,0.0,0.69979192416429,-7.907369434377148e-18,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,011,623,0,0.0,1.0000428840677498,-4.3416350411530316e-17,1.0000526981049074,-5.442655424073825e-17,0.010198050251563825,3.245666613153081e-16,1.0000428840677498,-2.4913640504576667e-15,0.00804844359529067,0.0,0.7000560257510929,-3.4335382214621765e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,100,626,0,0.0,-1.000125130099672,5.735360631441449e-17,-1.00010630034017,5.265207942418089e-17,0.010300836630339004,3.281107650887046e-16,1.000125130099672,-3.2889352554807928e-15,0.00818089388859184,0.0,-0.7001136001123113,4.409214806236349e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,101,622,0,0.0,-0.9996849230913982,1.0023266103027503e-17,-0.9996385783577552,2.3580954795874935e-17,0.010177697810059332,3.0848704318872783e-16,0.9996849230913982,-5.597698391419076e-16,0.00806103637993291,0.0,-0.6998054437585894,1.0957943474359258e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,110,624,0,0.0,1.0001671317135128,4.321013147730515e-17,1.0000061919503653,4.9544714803699065e-17,0.01016122023731124,3.3618993042126056e-16,1.0001671317135128,2.4804251249806343e-15,0.008053662299073073,0.0,0.700143002334285,2.6304918033938118e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+без искажений,111,634,0,0.0,1.0000674445201205,-1.0076005050440176e-17,0.999980779418755,-2.2358492137958885e-18,0.010336983321136445,3.3089869748917757e-16,1.0000674445201205,-5.646438653305923e-16,0.008248570840346733,0.0,0.7000732187064663,-1.0996370252882711e-17,0.700026005788434,-3.942638773738879e-18,0,0.9999345849172596
+только SRO -3.5 ppm,000,618,0,0.0,-1.0007823562340121,-3.574668630819571e-17,-1.000878892829398,-4.3096068599418156e-17,0.012318977500386755,3.2273716564340147e-16,1.0007823562340121,2.0613001594081967e-15,0.00989708790253621,0.0,-0.7002980588855288,-3.1863576567390073e-17,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,001,626,0,0.0,-0.9756825166001841,-3.5137944174706555e-17,-0.9764796404233334,-3.399764234555552e-17,0.015474967835911041,3.3301062428152723e-16,0.9756825166001841,2.074517712909942e-15,0.02479755480588827,0.0,-0.6827344309254474,-3.12658141332338e-17,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,010,625,0,0.0,0.9991752242954434,-6.4629008792038566e-18,0.9990077802745452,-1.004275690703834e-17,0.012183624311424834,3.188338440579737e-16,0.9991752242954434,-3.629750966993994e-16,0.009808842813789232,0.0,0.6991734673397825,2.3163924670052718e-18,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,011,623,0,0.0,1.024346330590892,-2.2166208744888554e-17,1.0235396176905007,-3.032025209860568e-17,0.014902847080977328,3.4078402976628906e-16,1.024346330590892,-1.2355426929143958e-15,0.024724855270462344,0.0,0.7167869641894236,-8.499724167082658e-18,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,100,626,0,0.0,-1.0244438779762572,6.353925085997965e-17,-1.0233996653515027,6.721164976147591e-17,0.015214285979592818,3.4300871746429124e-16,1.0244438779762572,-3.5503879489943633e-15,0.024813236661930232,0.0,-0.7168552230313137,3.744986774399351e-17,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,101,622,0,0.0,-0.9991704855700663,3.781276373700251e-18,-0.9991312032539466,5.950964397953672e-18,0.01221593063466391,3.186349063739632e-16,0.9991704855700663,-2.0953093788571495e-16,0.009819473338403427,0.0,-0.6991701514138348,-4.19282840214353e-18,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,110,624,0,0.0,0.9758868931118758,3.370098110123651e-17,0.9765977242877031,4.857969605056626e-17,0.01525005133245707,3.241803988698192e-16,0.9758868931118758,1.9777270721475476e-15,0.024539569248432168,0.0,0.6828774435130773,3.0261697199855787e-17,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только SRO -3.5 ppm,111,634,0,0.0,1.0005460550201486,-7.442020366725188e-18,1.0003785050455694,-1.1930610215603022e-17,0.012193950170514516,3.3444527734491764e-16,1.0005460550201486,-3.931010026179579e-16,0.0097585801127184,0.0,0.7001327069682511,1.6406356047352882e-18,0.6997506046377366,6.844456406296741e-18,0,0.9999346349570075
+только остаточная CFO +0.5 Гц,000,618,0,0.0,-1.0005405145730908,0.004549961910286652,-1.00491272276492,-0.004322898425968361,0.025524201284612764,0.2280583742146684,1.0264751200596467,-0.26129439402136373,0.20125941061500233,0.0,-0.5650484892946761,-0.3828705455373927,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,001,626,0,0.0,-0.9998959428731508,-0.0008962621558364577,-1.0041557696715198,8.636341190708949e-05,0.02547526333332098,0.22948062607379993,1.0261534184142616,0.05252364078134037,0.20211366611691822,0.0,-0.5625875851895938,-0.3856884185785349,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,010,625,0,0.0,0.9996889183875104,0.004700846876489959,1.004261223488352,0.010444191153138759,0.025396433412943842,0.2288982486402833,1.0258311542298981,0.26907954964012837,0.20141858594348247,0.0,0.5610054151536722,0.38775061638820946,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,011,623,0,0.0,1.0003136155716827,3.4486822409479976e-05,1.0041717059060316,-0.0024697565392285264,0.02505209930146019,0.22798813580706412,1.02621830655659,0.0028024989961719852,0.20126646057723502,0.0,0.563154707808065,0.3853641439636812,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,100,626,0,0.0,-1.0000339654342862,-0.0006265568535822356,-1.0033244935339916,0.0003252808581506445,0.02520603384419379,0.22957636782206733,1.0263027053107692,0.03464573073690392,0.20219190776611215,0.0,-0.56276918764136,-0.3855897463962108,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,101,622,0,0.0,-1.0000680279896892,-0.003539137840450598,-1.0051809482815732,-0.005368638038192208,0.025136907225291594,0.2273738046134359,1.0258509727043108,0.2021952278096826,0.2005775293136233,0.0,-0.5616663687148276,-0.3872426262422047,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,110,624,0,0.0,1.0003493297356336,-0.00023862510835228953,1.003998913544402,-0.0027415111063254626,0.024880920523000415,0.22842184999548698,1.0263458062858664,-0.015107834986988353,0.20164398697232905,0.0,0.563280023823765,0.3852241422373028,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только остаточная CFO +0.5 Гц,111,634,0,0.0,0.9993172683863958,-0.004973612686637713,1.0043640009783315,-0.013679792148858297,0.026371452807718986,0.2322349575295939,1.026243513361753,-0.2854746049298769,0.2047590780151857,0.0,0.564523012585757,0.38216081009474,0.5629914300776463,0.38522391595958455,0,0.9999280444571523
+только дробный тайминг +0.45 отсчёта,000,618,0,0.0,-1.0003638012416773,-3.0252294566842336e-17,-1.0005356098392824,-3.7044751764603454e-17,0.010475350747601793,3.2440759102727786e-16,1.0003638012416773,1.7359202118856331e-15,0.008457735275899755,0.0,-0.7002418470555495,-1.889007563240263e-17,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,001,626,0,0.0,-1.0066732143452937,-4.0565671076486225e-17,-1.00691435655856,-4.4394892301683e-17,0.010452756320897299,3.4228529340362064e-16,1.0066732143452937,2.3249870198486524e-15,0.010319843387043347,0.0,-0.7046583554098391,-2.609488810820273e-17,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,010,625,0,0.0,0.9996027050274428,-9.712055303191803e-18,1.0000230291841714,-7.168164568802029e-18,0.010349486168542758,3.2499701805702617e-16,0.9996027050274428,-5.482731339619978e-16,0.008246199029850996,0.0,0.6997090894545838,-9.082718025071803e-18,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,011,623,0,0.0,0.9933400871648654,-3.09980102937199e-17,0.9931306357271391,-3.472607047820509e-17,0.010346435368622857,3.3191797815916734e-16,0.9933400871648654,-1.792013727894548e-15,0.01019642312258512,0.0,0.695325337169614,-2.3968301829757193e-17,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,100,626,0,0.0,-0.9934302797691696,5.710805323666649e-17,-0.9933071060195908,5.649654133962659e-17,0.010440463684732759,3.3398785380709777e-16,0.9934302797691696,-3.290863708919959e-15,0.010229384089777475,0.0,-0.6953884708373359,4.22452035604784e-17,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,101,622,0,0.0,-0.9996160803149469,1.0068447487737392e-17,-0.999591221030594,5.095173944048246e-18,0.010303765244567465,3.1909266230762487e-16,0.9996160803149469,-5.677845403307687e-16,0.008284727942094228,0.0,-0.6997184519845104,9.332218555871944e-18,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,110,624,0,0.0,1.0068601181800312,5.1274568470286146e-17,1.0071179752064987,4.41633107541207e-17,0.010284552131954717,3.165606839390655e-16,1.0068601181800312,2.921491693734847e-15,0.010265914506814007,0.0,0.7047891857000755,3.3590551978438037e-17,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только дробный тайминг +0.45 отсчёта,111,634,0,0.0,1.000139444652914,-1.4804421122525754e-17,1.0001928569904543,-1.551872881456763e-17,0.010528991154430876,3.3383587290276977e-16,1.000139444652914,-8.482542163393518e-16,0.008496080555841655,0.0,0.7000848003172331,-1.2648535487033274e-17,0.6999871908463614,-2.2853116588788615e-18,0,0.9999310608776122
+только gain 0.8 exp(j0.4),000,618,0,0.0,-1.0002931436799984,-3.0749782282223135e-17,-1.0001991508489865,-4.784243150873803e-17,0.01035709351948793,3.374807398016914e-16,1.0002931436799984,1.7713674781598607e-15,0.00825752103805889,0.0,-0.5601849711902923,-4.6682887991908416e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),001,626,0,0.0,-0.9999796510040615,-4.4847758642261754e-17,-0.9999608461451065,-3.823838122535474e-17,0.010322664900678938,3.452168453310068e-16,0.9999796510040615,2.587879187532213e-15,0.008200634420287619,0.0,-0.5600094087696681,-5.4568814526207665e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),010,625,0,0.0,0.999665610102756,-1.5328703374741225e-17,0.9997287758415596,-2.930001910058419e-17,0.010214140548392205,3.4254527550932965e-16,0.999665610102756,-8.776577063978714e-16,0.008056123282006349,0.0,0.5598335393314321,2.0859494169813997e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),011,623,0,0.0,1.0000428840677504,-2.7867207539056634e-17,1.0000526981049074,-4.428089958865185e-17,0.010198050251563857,3.332117265358971e-16,1.0000428840677504,-1.593680383785695e-15,0.008048443595290694,0.0,0.5600448206008745,1.384878310661252e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),100,626,0,0.0,-1.000125130099672,5.609609395039414e-17,-1.0001063003401705,5.694612309865554e-17,0.010300836630339,3.4519657615267763e-16,1.000125130099672,-3.2089743184576383e-15,0.008180893888591846,0.0,-0.5600908800898492,1.9575581223834506e-18,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),101,622,0,0.0,-0.9996849230913984,2.3329385177129972e-17,-0.9996385783577553,2.0259028300406906e-17,0.010177697810059335,3.1641855090325095e-16,0.9996849230913984,-1.3264384101346905e-15,0.008061036379932916,0.0,-0.5598443550068715,-1.6379514748914518e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),110,624,0,0.0,1.000167131713513,4.9211323157627446e-17,1.0000061919503656,7.343065997585499e-17,0.01016122023731122,3.50800124033128e-16,1.000167131713513,2.8223391809253912e-15,0.008053662299073058,0.0,0.560114401867428,5.701802344448213e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+только gain 0.8 exp(j0.4),111,634,0,0.0,1.000067444520121,-2.1521286820925234e-18,0.9999807794187555,3.710105026339808e-18,0.010336983321136441,3.349680700082323e-16,1.000067444520121,-1.2447380416433816e-16,0.008248570840346733,0.0,0.5600585749651731,2.825048565631281e-17,0.5600208046307471,2.9453735999436935e-17,0,0.9999345849172553
+SRO+CFO+тайминг+gain,000,618,0,0.0,-1.0008739380208023,0.004498948845240244,-1.005080406028307,-0.004361719690771267,0.026024678539132717,0.22814068318270816,1.0268173236880707,-0.25884438081360245,0.20143911283968863,0.0,-0.45206512025923085,-0.3063209888858998,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,001,626,0,0.0,-0.9823019021809795,0.001204055473202981,-0.9878249499315466,4.156196054697222e-05,0.027395732431980575,0.22541011703430533,1.008091068292765,0.05489278772153692,0.19789849243314606,0.0,-0.4426873177416418,-0.30208300435230034,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,010,625,0,0.0,0.999362255013195,0.004654117666767775,1.002986936682864,0.010501764441009346,0.0259608260786354,0.22881066805317504,1.0254939126135476,0.2713706497876178,0.20140909844363705,0.0,0.44856457681225054,0.30997676707616456,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,011,623,0,0.0,1.017915216676135,0.0021017602527817316,1.0217547138909593,-0.00245080190836759,0.027329356258693597,0.23199593146838193,1.0442741764209607,0.005174664040996683,0.20800775846795144,0.0,0.4577050318370308,0.31454322851352845,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,100,626,0,0.0,-1.0176467683195116,-0.0027368196688400304,-1.0220645803845851,0.00028675669554682927,0.02735493603936188,0.23366851397382177,1.0443833063543895,0.03701711192526389,0.20903063165815075,0.0,-0.4573885058595173,-0.3147464836921453,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,101,622,0,0.0,-0.9997132505633392,-0.003477528412469562,-1.0044639688035528,-0.00542350542258045,0.025798700852509238,0.22726189467977656,1.025482843217309,0.2044860738237234,0.20054343328903368,0.0,-0.44908510579133737,-0.30955509976178675,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,110,624,0,0.0,0.9827607716190412,-0.002308901450231822,0.9870492042172159,-0.0026420834401516876,0.026584820479141544,0.2244138076193021,1.008300020364011,-0.012738449607494238,0.19734362767979766,0.0,0.4432343182823996,0.30172687552483723,0.45028557339382663,0.308077559953349,0,0.9999251628507277
+SRO+CFO+тайминг+gain,111,634,0,0.0,0.9996435990296828,-0.0049247567236749635,1.0047359022406326,-0.013658464529557147,0.02684179097279431,0.2323116906510399,1.0265781789685229,-0.2830263105576786,0.2049269126760559,0.0,0.4516422982133428,0.3057502139069036,0.45028557339382663,0.308077559953349,0,0.9999251628507277

data/processed/lab043_diagnostics/input_manifest.json

@@ -0,0 +1,12 @@
+[
+  {
+    "metadata_file": "lab043_prbs11_s_20260819_134831.json",
+    "iq_file": "lab043_prbs11_s_20260819_134831.npy",
+    "verified_sha256": "d573d9bd0332a0473be1ffe4ed149dea0281c4dbcc4c4c9c199642d072441c5a"
+  },
+  {
+    "metadata_file": "lab043_prbs11_s_20260819_150001.json",
+    "iq_file": "lab043_prbs11_s_20260819_150001.npy",
+    "verified_sha256": "a8216afd7dd4cab7c3ba5190b5710a7a7e5409022ff2d8e595f2de9fb66fb98e"
+  }
+]

data/processed/lab043_diagnostics/phase_sweep.csv

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+lab043_prbs11_s_20260819_150001,87,566,0.7003926742172294,1045,0.209,26,621,398,-0.6486083218668584,1.349429379172685,1.1228940978237776,-0.4427343034084577,-1.5656284012322352,1.10056255582816,1.1012053241799082
+lab043_prbs11_s_20260819_150001,88,566,0.6775888055923391,1068,0.2136,26,621,421,-0.6408572912356061,1.357137125229212,1.1821911516374,-0.49039965418410864,-1.6725908058215087,1.1338410228524813,1.1343731587114927
+lab043_prbs11_s_20260819_150001,89,566,0.6528647867549533,1104,0.2208,26,623,455,-0.6326775677705234,1.365271170142834,1.2495833438721402,-0.540262928745818,-1.7898462726179583,1.168670080538643,1.1690963260685154
+lab043_prbs11_s_20260819_150001,90,566,0.6261130839288158,1129,0.2258,26,623,480,-0.6240400096949823,1.373860492951898,1.3209104503495315,-0.5899757492779695,-1.9108861996275008,1.2051430321043437,1.205471606346128
+lab043_prbs11_s_20260819_150001,91,566,0.5972726021460895,1161,0.2322,27,624,510,-0.6149043662600955,1.382945119630467,1.3890222635568863,-0.6498407127822906,-2.038862976339177,1.2433738453988161,1.24361230210792
+lab043_prbs11_s_20260819_150001,92,566,0.5662508132473159,1192,0.2384,28,626,538,-0.6052401251765805,1.392555392076102,1.4685311451839953,-0.7029132012574931,-2.1714443464414885,1.283480827772402,1.283637182552647
+lab043_prbs11_s_20260819_150001,93,566,0.5330246599990405,1218,0.2436,30,626,562,-0.5950032371136914,1.4027351136320565,1.548889170603502,-0.7617019655999068,-2.3105911362034086,1.3255899867524497,1.3256712978144956
+lab043_prbs11_s_20260819_150001,94,567,0.5025494495824687,1345,0.269,274,0,1070,-1.321267142967587,0.6805269296297578,1.2787028653956487,-1.925443302309483,-3.2041461677051317,1.5924547649840202,1.596154983731797
+lab043_prbs11_s_20260819_150001,95,567,0.47025505383773913,1345,0.269,273,0,1071,-1.3217891695288733,0.6800078182546943,1.2880275624270885,-1.9314698256008715,-3.21949738802796,1.5969898514810716,1.6006893561004114
+lab043_prbs11_s_20260819_150001,96,567,0.43597367761848066,1358,0.2716,270,0,1087,-1.3223713604423375,0.6794288785070813,1.2918665950510302,-1.9332373711498165,-3.2251039662008467,1.6025706346360753,1.6062557299886904
+lab043_prbs11_s_20260819_150001,97,567,0.39985966755633917,1372,0.2744,270,0,1101,-1.323013072999549,0.6787907495062326,1.2983998672302741,-1.9381998629561221,-3.2365997301863962,1.6092005646864826,1.612856422683389
+lab043_prbs11_s_20260819_150001,98,567,0.36200944908395427,1386,0.2772,269,1,1115,-1.3237110545661201,0.6780966657226418,1.3049875499976797,-1.942998867882373,-3.247986417880053,1.6168896946614815,1.6205130395478473
+lab043_prbs11_s_20260819_150001,99,567,0.3226504382602141,1406,0.2812,269,2,1134,-1.3244647360403263,0.6773471930799629,1.3115427129277317,-1.946354502421008,-3.2578972153487396,1.6256501925891491,1.6292301367967323
+lab043_prbs11_s_20260819_150001,100,567,0.2820366883351844,1430,0.286,268,3,1158,-1.325272152910284,0.6765442851195297,1.3208467598984652,-1.95705687809974,-3.277903637998205,1.635484963599418,1.6390091354186278
+lab043_prbs11_s_20260819_150001,101,565,0.2685923609492516,1060,0.212,35,0,1025,-0.6661000162900949,1.3320353647342618,1.1702326584406852,-0.4576350637979477,-1.627867722238633,1.1298947570686138,1.1171710614789336
+lab043_prbs11_s_20260819_150001,102,565,0.31592782949142206,1033,0.2066,35,0,998,-0.6719342771544538,1.326233684504965,1.1071540943472618,-0.4077967992086726,-1.5149508935559344,1.0931359661200968,1.0810759187052386
+lab043_prbs11_s_20260819_150001,103,565,0.3622848042869042,998,0.1996,35,0,963,-0.6775203816065186,1.320678774892282,1.0471869098717779,-0.3643410922593616,-1.4115280021311394,1.0577925411206943,1.0463800416139162
+lab043_prbs11_s_20260819_150001,104,565,0.4073118639785343,957,0.1914,35,0,922,-0.6828711451280178,1.315357891980795,0.9891036081549907,-0.32025411253735964,-1.3093577206923503,1.023797216477992,1.01301640152485
+lab043_prbs11_s_20260819_150001,105,565,0.4506567724580033,912,0.1824,35,0,877,-0.6880027544958235,1.310254939386483,0.9324634901449842,-0.2771000169076737,-1.2095635070526578,0.9910847781040989,0.9809224848731463
+lab043_prbs11_s_20260819_150001,106,565,0.4920561419226367,870,0.174,35,0,835,-0.6929189752480125,1.305366172599403,0.8774709402580847,-0.23475500521003717,-1.1122259454681218,0.9596133573800516,0.9500572107619774
+lab043_prbs11_s_20260819_150001,107,565,0.5313092401009925,812,0.1624,35,0,777,-0.6976311808903559,1.3006802816275789,0.823857859182045,-0.18915284188083611,-1.013010701062881,0.9293217299801961,0.9203611257479378
+lab043_prbs11_s_20260819_150001,108,565,0.5682847153673783,778,0.1556,35,0,743,-0.7021493942259088,1.2961872996389345,0.771964311162175,-0.14474311900283604,-0.9167074301650111,0.9001681116715154,0.8917889218840903
+lab043_prbs11_s_20260819_150001,109,565,0.6028558043459576,736,0.1472,35,0,701,-0.7064833964647679,1.2918775000452067,0.7212347870396306,-0.10526202747361407,-0.8264968145132447,0.8720990794150549,0.864298160345216
+lab043_prbs11_s_20260819_150001,110,565,0.6350325412563236,694,0.1388,35,0,659,-0.7106392106637852,1.2877448934244842,0.6717152879271698,-0.06630821781928292,-0.7380235057464528,0.8450815161959315,0.8378462947204817
+lab043_prbs11_s_20260819_150001,111,565,0.6648148975925997,655,0.131,35,0,620,-0.7146237435845483,1.28378261158505,0.6239786335995933,-0.02609615570631364,-0.6500747893059069,0.819076483814476,0.812401030062984
+lab043_prbs11_s_20260819_150001,112,565,0.692283095057272,618,0.1236,36,0,582,-0.7184489799103261,1.2799787367704656,0.5784300488728558,0.0120878509546873,-0.5663421979181684,0.7940504163236839,0.7879193380287711
+lab043_prbs11_s_20260819_150001,113,565,0.7175214202937549,583,0.1166,36,0,547,-0.7221174376673667,1.276330765016057,0.5312185503433392,0.04852161040924902,-0.4826969399340902,0.7699625416125242,0.7643743490684498
+lab043_prbs11_s_20260819_150001,114,565,0.7406202028432197,539,0.1078,36,0,503,-0.7256365617910249,1.2728312929616965,0.48580110702325685,0.08328697365298139,-0.4025141333702755,0.7467889015257883,0.7417327348324911
+lab043_prbs11_s_20260819_150001,115,565,0.7617206250622912,503,0.1006,35,0,468,-0.7290121252213998,1.2694745799054838,0.4414202479176482,0.11881573651500053,-0.3226045114026477,0.7245007490724401,0.719967571082296
+lab043_prbs11_s_20260819_150001,116,565,0.7809375681833145,467,0.0934,35,0,432,-0.7322477981738659,1.2662569761278624,0.40255241277828047,0.15427957332033052,-0.24827283945794995,0.7030679592821116,0.6990550710523581
+lab043_prbs11_s_20260819_150001,117,565,0.7984184582935019,441,0.0882,34,0,407,-0.7353543659838851,1.2631677565226058,0.3621592450864217,0.1836224632485949,-0.1785367818378268,0.682465996725849,0.678972771866944
+lab043_prbs11_s_20260819_150001,118,565,0.8142817206577293,402,0.0804,35,0,367,-0.7383314828065166,1.2602072650033327,0.32046093273529164,0.21226903676134937,-0.10819189597394227,0.662675131913582,0.6596980421847636
+lab043_prbs11_s_20260819_150001,119,565,0.8286673589169362,374,0.0748,35,0,339,-0.7411828412181719,1.2573718296143193,0.2820990784101022,0.24315676891329566,-0.03894230949680652,0.6436762008243364,0.6412080709418678

data/processed/lab043_diagnostics/report.txt

@@ -0,0 +1,102 @@
+Lab043: офлайн-диагностика асимметрии BPSK 000/001
+
+Исходные данные
+- lab043_prbs11_s_20260819_134831: SHA-256 d573d9bd0332a0473be1ffe4ed149dea0281c4dbcc4c4c9c199642d072441c5a; корреляция маркера 0.941276; диагностическая остаточная CFO +1.183884 Гц.
+- lab043_prbs11_s_20260819_150001: SHA-256 a8216afd7dd4cab7c3ba5190b5710a7a7e5409022ff2d8e595f2de9fb66fb98e; корреляция маркера 0.958288; диагностическая остаточная CFO -0.098485 Гц.
+
+Ошибки по тройкам после общей линейной фазовой коррекции по известной PRBS
+- lab043_prbs11_s_20260819_134831: всего 34, в 000/001 34 (100.0%).
+  000: n=618, ошибок=26, BER=0.042071, mean=-0.38301+0.02765j.
+  001: n=626, ошибок=8, BER=0.012780, mean=-0.49129+0.01864j.
+  010: n=625, ошибок=0, BER=0.000000, mean=+1.62468+0.02154j.
+  011: n=623, ошибок=0, BER=0.000000, mean=+1.50789+0.02736j.
+  100: n=626, ошибок=0, BER=0.000000, mean=-0.86278-0.29993j.
+  101: n=622, ошибок=0, BER=0.000000, mean=-0.98532-0.29020j.
+  110: n=624, ошибок=0, BER=0.000000, mean=+1.12176-0.30358j.
+  111: n=634, ошибок=0, BER=0.000000, mean=+1.01780-0.28573j.
+- lab043_prbs11_s_20260819_150001: всего 27, в 000/001 27 (100.0%).
+  000: n=618, ошибок=22, BER=0.035599, mean=-0.46423-0.10343j.
+  001: n=626, ошибок=5, BER=0.007987, mean=-0.60860-0.09103j.
+  010: n=625, ошибок=0, BER=0.000000, mean=+1.54394-0.08669j.
+  011: n=623, ошибок=0, BER=0.000000, mean=+1.38443-0.08533j.
+  100: n=626, ошибок=0, BER=0.000000, mean=-0.96145-0.29963j.
+  101: n=622, ошибок=0, BER=0.000000, mean=-1.10281-0.28653j.
+  110: n=624, ошибок=0, BER=0.000000, mean=+1.04731-0.30446j.
+  111: n=634, ошибок=0, BER=0.000000, mean=+0.88380-0.29881j.
+
+Цифровой TX и идеальный канал
+- идеальные символы: ошибок 0, размах средних амплитуд по тройкам 0.000000000.
+- после TX RRC: ошибок 0, размах средних амплитуд по тройкам 0.309839549.
+- после масштаба 0.70: ошибок 0, размах средних амплитуд по тройкам 0.309839549.
+- после complex64 и масштаба 2^14: ошибок 0, размах средних амплитуд по тройкам 0.309839551.
+- Идеальный канал, без искажений: ошибок 0, из них 000/001 0.
+- Идеальный канал, только SRO -3.5 ppm: ошибок 0, из них 000/001 0.
+- Идеальный канал, только остаточная CFO +0.5 Гц: ошибок 0, из них 000/001 0.
+- Идеальный канал, только дробный тайминг +0.45 отсчёта: ошибок 0, из них 000/001 0.
+- Идеальный канал, только gain 0.8 exp(j0.4): ошибок 0, из них 000/001 0.
+- Идеальный канал, SRO+CFO+тайминг+gain: ошибок 0, из них 000/001 0.
+
+RRC
+{
+  "tx_tap_count": 1201,
+  "rx_tap_count": 1201,
+  "rolloff": 0.35,
+  "span_symbols": 10,
+  "samples_per_symbol": 120,
+  "symmetry_max_abs_error": 0.0,
+  "tap_energy": 1.0,
+  "tx_group_delay_samples": 600,
+  "rx_group_delay_samples": 600,
+  "total_group_delay_samples": 1200,
+  "total_group_delay_symbols": 10.0,
+  "sampling_index_rule": "find_radio_frame: phase 0..119, затем одинаковый индекс phase+n*120 для обоих знаков",
+  "one_sample_sign_dependent_shift": false
+}
+h[kT]: h[-5T]=-6.851591991e-03, h[-4T]=+1.485224371e-03, h[-3T]=-7.515407088e-04, h[-2T]=+1.943271982e-04, h[-1T]=+1.181546870e-04, h[+0T]=+1.000000000e+00, h[+1T]=+1.181546870e-04, h[+2T]=+1.943271982e-04, h[+3T]=-7.515407088e-04, h[+4T]=+1.485224371e-03, h[+5T]=-6.851591991e-03
+
+Фаза выборки
+- lab043_prbs11_s_20260819_134831: выбранная фаза 18, ошибок 117 (000=60, 001=36, прочие=21), глаз=+0.54354; минимум обзора на фазе 10: 107 ошибок, глаз=+0.56936. Фаза не изменялась.
+- lab043_prbs11_s_20260819_150001: выбранная фаза 34, ошибок 27 (000=23, 001=4, прочие=0), глаз=+0.69231; минимум обзора на фазе 29: 25 ошибок, глаз=+0.72067. Фаза не изменялась.
+
+DC, I/Q и расстояние до границы
+- lab043_prbs11_s_20260819_134831: symbol DC=+0.31781-0.13594j; margin -1=0.68130, +1=1.31692; ellipse=1.721, corr(I,Q)=+0.495.
+- lab043_prbs11_s_20260819_150001: symbol DC=+0.21442-0.19469j; margin -1=0.78498, +1=1.21382; ellipse=2.007, corr(I,Q)=+0.568.
+
+Серии одинаковых символов
+- lab043_prbs11_s_20260819_134831, бит 0: 1: A=0.9858, BER=0.0000; 2: A=0.7443, BER=0.0000; 3: A=0.5819, BER=0.0127; 4: A=0.4875, BER=0.0169; 5: A=0.4550, BER=0.0341; 6: A=0.4022, BER=0.0370; 7+: A=0.3730, BER=0.0764
+- lab043_prbs11_s_20260819_134831, бит 1: 1: A=1.6247, BER=0.0000; 2: A=1.3734, BER=0.0000; 3: A=1.2430, BER=0.0000; 4: A=1.1186, BER=0.0000; 5: A=1.0757, BER=0.0000; 6: A=1.0384, BER=0.0000; 7+: A=1.0188, BER=0.0000
+- lab043_prbs11_s_20260819_150001, бит 0: 1: A=1.1031, BER=0.0000; 2: A=0.8891, BER=0.0000; 3: A=0.7035, BER=0.0000; 4: A=0.5777, BER=0.0101; 5: A=0.4900, BER=0.0195; 6: A=0.4621, BER=0.0370; 7+: A=0.3488, BER=0.1019
+- lab043_prbs11_s_20260819_150001, бит 1: 1: A=1.5439, BER=0.0000; 2: A=1.3163, BER=0.0000; 3: A=1.1365, BER=0.0000; 4: A=1.0012, BER=0.0000; 5: A=0.9210, BER=0.0000; 6: A=0.8581, BER=0.0000; 7+: A=0.8109, BER=0.0000
+
+Низкие частоты
+- чистый TX waveform: mean=+2.783e-04-1.588e-21j, P(|f|<500 Гц)=4.695284e-02, DC/median(2..10 кГц)=-5.79 дБ.
+- lab043_prbs11_s_20260819_134831: RX после грубой CFO: mean=-3.587e-03-2.055e-03j, P(|f|<500 Гц)=2.128098e-02, DC/median(2..10 кГц)=-6.29 дБ.
+- lab043_prbs11_s_20260819_150001: RX после грубой CFO: mean=-3.953e-03+1.590e-03j, P(|f|<500 Гц)=1.331852e-02, DC/median(2..10 кГц)=-8.34 дБ.
+Передаточная характеристика на символьной скорости по известной PRBS
+- lab043_prbs11_s_20260819_134831, 10..100 Гц: |H|=1.00207 (+0.02 дБ).
+- lab043_prbs11_s_20260819_134831, 100..500 Гц: |H|=0.96610 (-0.30 дБ).
+- lab043_prbs11_s_20260819_134831, 500..1000 Гц: |H|=0.91830 (-0.74 дБ).
+- lab043_prbs11_s_20260819_134831, 1000..5000 Гц: |H|=0.97907 (-0.18 дБ).
+- lab043_prbs11_s_20260819_134831, 5000..9000 Гц: |H|=1.18159 (+1.45 дБ).
+- lab043_prbs11_s_20260819_150001, 10..100 Гц: |H|=0.84774 (-1.43 дБ).
+- lab043_prbs11_s_20260819_150001, 100..500 Гц: |H|=0.81885 (-1.74 дБ).
+- lab043_prbs11_s_20260819_150001, 500..1000 Гц: |H|=0.64034 (-3.87 дБ).
+- lab043_prbs11_s_20260819_150001, 1000..5000 Гц: |H|=1.01586 (+0.14 дБ).
+- lab043_prbs11_s_20260819_150001, 5000..9000 Гц: |H|=1.18464 (+1.47 дБ).
+Диагностические модели символьного канала, обучение/проверка 50/50
+- lab043_prbs11_s_20260819_134831, gain: RMSE=0.61054, предсказано ошибок 0/2492 (0.000000).
+- lab043_prbs11_s_20260819_134831, gain+DC: RMSE=0.50147, предсказано ошибок 0/2492 (0.000000).
+- lab043_prbs11_s_20260819_134831, FIR: RMSE=0.40648, предсказано ошибок 0/2492 (0.000000).
+- lab043_prbs11_s_20260819_134831, FIR+DC: RMSE=0.20954, предсказано ошибок 7/2492 (0.002809).
+- lab043_prbs11_s_20260819_150001, gain: RMSE=0.56869, предсказано ошибок 0/2492 (0.000000).
+- lab043_prbs11_s_20260819_150001, gain+DC: RMSE=0.48895, предсказано ошибок 0/2492 (0.000000).
+- lab043_prbs11_s_20260819_150001, FIR: RMSE=0.36009, предсказано ошибок 0/2492 (0.000000).
+- lab043_prbs11_s_20260819_150001, FIR+DC: RMSE=0.21257, предсказано ошибок 1/2492 (0.000401).
+- lab043_prbs11_s_20260819_134831: FIR+DC: DC=+0.31661-0.13179j, |h0|=0.99895, сумма |h[k!=0]|=1.17350.
+- lab043_prbs11_s_20260819_150001: FIR+DC: DC=+0.21123-0.19622j, |h0|=0.99755, сумма |h[k!=0]|=1.19183.
+
+Интерпретация: таблицы являются измерениями; никакая коррекция DC, новый порог, эквалайзер или новая фаза автоматически не применялись.
+Классификация: B. Ошибки 000/001 отсутствуют в полном цифровом TX-RRC -> RX-RRC тракте и появляются только в реальном IQ. Промежуточная зависимость амплитуды после одного TX-RRC полностью компенсируется согласованным RX-RRC в идеальном канале.
+Наиболее вероятный механизм: совместное действие комплексного смещения середины кластеров и длинной памяти/ISI аппаратного тракта. FIR+DC-модель, обученная на первой половине и проверенная на второй, воспроизводит часть ошибок 000 без шума, но не весь измеренный BER; место внутри Pluto TX, кабеля/аттенюатора или RTL RX по этим данным не разделяется.
+AC coupling отдельно не доказан: падение уровня длинных серий устойчиво, но оценённая низкочастотная АЧХ различается между двумя S и не образует однозначной монотонной высокочастотной характеристики.
+Следующий диагностический шаг, пока не выполненный: сравнительный приём того же S другим приёмником либо loopback-разделение TX/RX с заранее фиксированными параметрами; после локализации отдельно проверить DC/АЧХ.

data/processed/lab043_diagnostics/rrc_audit.json

@@ -0,0 +1,15 @@
+{
+  "tx_tap_count": 1201,
+  "rx_tap_count": 1201,
+  "rolloff": 0.35,
+  "span_symbols": 10,
+  "samples_per_symbol": 120,
+  "symmetry_max_abs_error": 0.0,
+  "tap_energy": 1.0,
+  "tx_group_delay_samples": 600,
+  "rx_group_delay_samples": 600,
+  "total_group_delay_samples": 1200,
+  "total_group_delay_symbols": 10.0,
+  "sampling_index_rule": "find_radio_frame: phase 0..119, затем одинаковый индекс phase+n*120 для обоих знаков",
+  "one_sample_sign_dependent_shift": false
+}

data/processed/lab043_diagnostics/rrc_impulse_response.csv

@@ -0,0 +1,12 @@
+symbol_offset,sample_offset,h_normalized
+-5,-600,-0.006851591990787818
+-4,-480,0.0014852243708439643
+-3,-360,-0.0007515407088124918
+-2,-240,0.00019432719820258287
+-1,-120,0.00011815468699953965
+0,0,1.0
+1,120,0.00011815468699953965
+2,240,0.00019432719820258287
+3,360,-0.0007515407088124918
+4,480,0.0014852243708439643
+5,600,-0.006851591990787818

data/processed/lab043_diagnostics/run_length_metrics.csv

@@ -0,0 +1,73 @@
+capture,bit,run_length,position,symbol_count,mean_i,mean_q,mean_amplitude,mean_signed_amplitude,mean_phase_error_deg,ber
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data/processed/lab043_diagnostics/spectrum_metrics.csv

@@ -0,0 +1,4 @@
+source,mean_i,mean_q,mean_amplitude,dc_bin_to_2_10khz_median_db,power_fraction_abs_f_below_100_hz,power_fraction_abs_f_below_500_hz,power_fraction_abs_f_below_1000_hz,power_fraction_abs_f_below_5000_hz,power_fraction_abs_f_below_20000_hz
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+lab043_prbs11_s_20260819_134831: RX после грубой CFO,-0.0035866184049641804,-0.0020547927693326117,0.01810488205985558,-6.288525799773844,0.00309223994088002,0.02128098077879969,0.04279840801293315,0.2435579653253578,0.5894197180187851
+lab043_prbs11_s_20260819_150001: RX после грубой CFO,-0.003953464860272102,0.0015903730102091952,0.019498397032834895,-8.342481966309766,0.0016061181880257529,0.01331852069411624,0.026415827000324466,0.20593062957796177,0.5104841300396246