Lab042: add hardware loopback specification

Specification for the first transmission through real hardware. The
project has no TX call anywhere across Lab001-Lab041, so the whole chain
exists but has never been connected to a transmitter.

Scope is deliberately minimal: get a JPEG through a cable loopback on a
single PlutoSDR and see the picture. Single device means TX and RX share
a reference clock, which removes the carrier offset and clock drift that
the receiver chain handles weakest.

- reuse Lab018 signal parameters unchanged, so hardware is the only new
  variable
- reuse image_fragments, packet, build_radio_frame, find_radio_frame
- list the first-time traps: cyclic TX buffer, sample scaling, RX started
  after TX, undersized RX buffer, automatic gain, receiver saturation
- define acceptance criteria and required measurements
- state explicitly what is out of scope: retransmission, erasure coding,
  higher rate, two devices, over-the-air

Co-Authored-By: Claude Opus 5 <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 `tests/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 tests/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 `tests/`.
+
+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|tests)[\\/][^\\/]+\.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"
+          }
+        ]
+      }
+    ]
+  }
+}

PROJECT_LOG.md

@@ -385,3 +385,52 @@ git version 2.51.1.windows.1
 - Аварийное намерение наземной станции сохраняется после перезапуска.
 - Неоднозначная разность номеров 2^31 отклоняется.
 - Следующий этап посвящён криптографической проверке подлинности управляющих сообщений и защите от намеренной подделки.
+
+---
+
+# Запись 017
+
+## Дата
+
+7 августа 2026 года
+
+## Тема
+
+Аудит достоверности Lab041 и удаление показателей, не выводимых из модели. Начало этапа стабилизации после Lab041.
+
+## Причина записи
+
+Запись 016 не отменяется, но нуждается в уточнении. Машинный аудит репозитория показал, что часть числовых результатов Lab041 не выводилась ни из модели этой лабораторной, ни из указанного источника. Согласно правилу журнала прежняя запись сохранена, а изменение зафиксировано отдельно.
+
+## Что обнаружено
+
+- В функции `simulate_trial` доли публикации видео, доставки телеметрии и доставки управления, а также базовая длина очереди задавались вписанными таблицами, а не вычислялись.
+- Значение доли видео 0,910 для канала 260 кбит/с не соответствовало заявленному источнику: Lab040 даёт 0,9603, Lab037 — разброс 0,9026...0,9174.
+- Базовая длина очереди 31 для того же канала не соответствовала Lab040, где получено 36...38 пакетов.
+- Коэффициенты влияния нагрузки 0,15, 0,10 и 0,05 не выводились ни из какой модели.
+- Параметры торможения были зашиты литералами `0.250` и делителем `6.0` без связи с профилем `nominal` Lab039, откуда они происходят.
+- Пять из четырнадцати инвариантов безопасности не измерялись: два вычислялись выражением с умножением на ноль, один был литеральным нулём, ещё два опирались на поля, которые никогда не заполнялись. Проверка `validate_outputs` подтверждала эти константы, то есть проверяла тождество.
+- Формулировка «все 2807 введённых старых пакетов были отклонены» описывает перебор таблицы сценариев, а не измеренную вероятность отклонения. Число раскладывается как семь сценариев на 401 повтор.
+
+## Выполнено
+
+- Из Lab041 удалены четыре показателя: доли доставки видео, телеметрии и управления и максимальная длина очереди. Они относятся к Lab037 и Lab040 и в Lab041 не моделируются.
+- Удалён график `lab041_traffic_impact.png`, потерявший основание. Осталось семь графиков.
+- Удалены поля `negative_speed_cases` и `speed_limit_exceeded_cases`, которые никогда не вычислялись, и тождественные проверки в `validate_outputs`.
+- Параметры торможения связаны с профилем `nominal` Lab039 через именованные константы `LAB039_NOMINAL_STAGE2_MPS2` и `LAB039_STAGE2_THRESHOLD_SECONDS`; горизонт незащищённого движения выделен как явно принятое допущение.
+- Перенесённые величины `VIDEO_OFFERED_LOAD_KBPS` и `TELEMETRY_OFFERED_LOAD_KBPS` снабжены указанием источника: Lab038, поля `video_load_kbps` и `telemetry_load_kbps`.
+- Секция инвариантов переписана: девять свойств, следующих из архитектуры, снабжены ссылками на подтверждающие функциональные проверки; пять свойств, которые матрица не может измерить, вынесены в отдельный раздел со ссылками на проверки 04, 06, 07, 10, 16 и 19.
+- В отчёт добавлено разграничение того, что моделируется розыгрышем, что задано архитектурой и что не моделируется вовсе.
+- Проверка 04 расширена отрицательной скоростью и границей 15 м/с, поэтому соответствующее свойство теперь подтверждается реально, а не константой.
+- Оценка пути после перезапуска помечена как расчёт по замкнутой формуле, одинаковый во всех повторах, а не как результат розыгрыша.
+
+## Результат
+
+- Lab041 перезапущена полностью: 180 сочетаний, 24 из 24 функциональных проверок пройдены, пять CSV и семь PNG.
+- Сверка с прежними файлами показала, что удалено ровно шесть столбцов, а все сохранённые значения совпали до последнего знака. Расхождений в общих столбцах ноль.
+- Научные выводы Lab041 не изменились. Максимальный путь после перезапуска остался 9,7737 м, постоянная нагрузка управления 10,88000 кбит/с, полный предложенный поток 262,076 кбит/с.
+- Выводы Записи 016 о сеансах, безопасном запуске и отклонении старых пакетов остаются в силе. Уточняется их основание: доказательством служат 24 функциональные проверки, работающие с настоящими автоматами, а не счётчики матрицы из 180 сочетаний.
+
+## Следующий этап
+
+Криптографическая аутентификация отложена. Сначала выполняется этап стабилизации: быстрые тесты `protocol/` вместо единственной точки входа через лабораторную, разделение быстрых проверок и экспериментов, воспроизводимое описание окружения.

data/processed/lab041/lab041_load_metrics.csv

@@ -1,181 +1,181 @@
-architecture,channel_condition,scenario,repetitions,control_state_packet_bytes,control_state_messages_per_second,control_state_load_kbps,application_header_fraction,lab040_control_load_kbps,control_load_increase_kbps,session_load_kbps,authorization_load_kbps,emergency_load_kbps,retry_load_kbps,episodic_service_load_kbps,video_offered_load_kbps,telemetry_offered_load_kbps,full_offered_load_kbps,control_delivered_fraction,telemetry_delivered_fraction,video_published_fraction,maximum_queue_packets
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+persistent_emergency,230_1000,old_reset_request,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667
+persistent_emergency,230_1000,restart_after_reset_before_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667

data/processed/lab041/lab041_report.txt

@@ -57,6 +57,10 @@ Lab041 — сеансы связи, безопасный запуск и защ
 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
@@ -244,10 +248,13 @@ Lab041 — сеансы связи, безопасный запуск и защ
 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.
@@ -259,20 +266,24 @@ Lab041 — сеансы связи, безопасный запуск и защ
 - Потеря EMERGENCY_ACK не снимает аварийное намерение; потеря RESET_ACK вызывает повтор того же идемпотентного запроса.
 
 Инварианты безопасности основного режима
-- Движение до синхронизации: 0.
-- Движение до подтверждения разрешения: 0.
-- Движение без новой команды оператора: 0.
-- Принятие команды старого сеанса станции: 0.
-- Принятие команды старого запуска ровера: 0.
-- Использование старого периода управления: 0.
-- Снятие аварийной фиксации обычной командой: 0.
-- Потеря аварийного намерения после перезапуска станции: 0.
-- Движение до подтверждения сброса: 0.
-- Автоматическое восстановление старой команды после сброса: 0.
-- Принятие старого запроса сброса: 0.
-- Принятие неоднозначного номера: 0.
-- Отрицательная скорость: 0.
-- Превышение разрешённой скорости: 0.
+- 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.
@@ -280,15 +291,15 @@ Lab041 — сеансы связи, безопасный запуск и защ
 - 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.
-- Доставка управления не ниже 97.836%, телеметрии не ниже 97.918%, публикация видео не ниже 86.054%.
-- Максимальная очередь: 46 пакетов.
+- 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
+- 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
@@ -327,7 +338,6 @@ Lab041 — сеансы связи, безопасный запуск и защ
 - data/processed/lab041/lab041_emergency_intent.png
 - data/processed/lab041/lab041_safety_violations.png
 - data/processed/lab041/lab041_protection_load.png
-- data/processed/lab041/lab041_traffic_impact.png
 
 Ограничения
 - Модель не включает криптографическую аутентификацию и не рассматривает намеренного нарушителя.

data/processed/lab041/lab041_restart_metrics.csv

@@ -1,181 +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,negative_speed_cases,speed_limit_exceeded_cases
-no_session_ids,no_loss,normal_start,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,ground_restart_moving,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,rover_restart_moving,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,both_restart,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,ground_restart_emergency,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,1,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,rover_restart_latched,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,1,0,1,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,long_link_break,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,old_ground_session_control,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,old_rover_boot_control,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,old_control_epoch,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,sequence_reset_new_session,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,sequence_wrap,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,duplicate_hello,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,lost_session_status,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,lost_authorize_ack,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,lost_emergency_ack,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,no_loss,lost_reset_ack,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,1,1,0,0
-no_session_ids,no_loss,old_reset_request,1,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,1,1,0,0,0,0
-no_session_ids,no_loss,late_positive_after_emergency,1,0,0.0,0.0,0.0,0.0,0,0,1,0,0,0,0,0.0,1,0,0,0,0,0
-no_session_ids,no_loss,restart_after_reset_before_ack,1,1,0.0,0.0,416.6666666666667,416.6666666666667,1,1,0,0,1,0,0,0.0,0,0,1,1,0,0
-no_session_ids,260_200,normal_start,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,ground_restart_moving,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,rover_restart_moving,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,both_restart,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,ground_restart_emergency,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,200,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,rover_restart_latched,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,200,0,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,long_link_break,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,old_ground_session_control,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,old_rover_boot_control,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,old_control_epoch,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,sequence_reset_new_session,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,sequence_wrap,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,duplicate_hello,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,lost_session_status,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,lost_authorize_ack,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,lost_emergency_ack,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,260_200,lost_reset_ack,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,200,200,0,0
-no_session_ids,260_200,old_reset_request,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,200,200,0,0,0,0
-no_session_ids,260_200,late_positive_after_emergency,200,0,0.0,0.0,0.0,0.0,0,0,200,0,0,0,0,0.0,200,0,0,0,0,0
-no_session_ids,260_200,restart_after_reset_before_ack,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,200,200,0,0
-no_session_ids,230_1000,normal_start,200,0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0.0,0,0,0,0,0,0
-no_session_ids,230_1000,ground_restart_moving,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,230_1000,rover_restart_moving,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0,0,0
-no_session_ids,230_1000,both_restart,200,200,0.0,0.0,416.66666666666674,416.6666666666667,200,200,0,0,200,0,0,0.0,0,0,0,0,0,0
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data/processed/lab041/lab041_summary.csv

@@ -1,181 +1,181 @@
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+persistent_emergency,230_1000,lost_session_status,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16119999999999998,262.1140666666667
+persistent_emergency,230_1000,lost_authorize_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.16040000000000001,262.1132666666667
+persistent_emergency,230_1000,lost_emergency_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.219664,262.1725306666667
+persistent_emergency,230_1000,lost_reset_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.25146599999999997,262.2043326666667
+persistent_emergency,230_1000,old_reset_request,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,late_positive_after_emergency,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667
+persistent_emergency,230_1000,restart_after_reset_before_ack,200,1.0,1.0,0.0,0.0,0.0,10.88,0.1072,262.06006666666667

docs/lab042_hardware_loopback_spec.md

@@ -0,0 +1,210 @@
+# Lab042 — техническое задание
+
+## Передача JPEG через настоящий радиотракт: кабельная петля на одном PlutoSDR
+
+Документ предназначен для исполнителя, не участвовавшего в предыдущих лабораторных. Всё, что нужно для работы, изложено здесь.
+
+---
+
+## 1. Зачем эта лабораторная
+
+За Lab001–Lab041 собран весь тракт передачи изображения, кроме одного звена: **передатчик ни разу не включался**. Во всём проекте нет ни одного вызова передачи через SDR.
+
+Цель Lab042 — соединить уже готовые части и получить **изображение, прошедшее через настоящий радиотракт**. Не улучшить, не оптимизировать, не измерить дальность. Получить картинку на выходе.
+
+Всё, что не требуется для этой цели, в Lab042 не делается.
+
+---
+
+## 2. Что уже готово и должно быть переиспользовано
+
+Ничего из перечисленного писать заново не нужно.
+
+| Звено | Где взять |
+|---|---|
+| Разбиение JPEG на фрагменты и сборка обратно | `protocol/image_fragments.py`, примеры в `tests/lab007_image_fragmentation.py` |
+| Пакет с CRC32, кодирование и разбор | `protocol/packet.py` |
+| Подбор размера и качества JPEG | `tests/lab010_image_optimization.py`, готовые профили в `data/processed/lab010` |
+| Формирование радиокадра с преамбулой и маркером | `build_radio_frame` в `tests/lab018_bpsk_radio_frame.py` |
+| Фильтр приподнятого косинуса | `root_raised_cosine_taps` там же |
+| Модуляция BPSK | `bpsk_modulate` там же |
+| Поиск кадра в потоке отсчётов | `find_radio_frame` в `tests/lab019_bpsk_receiver.py` |
+| Оценка и коррекция ухода частоты | `estimate_carrier_parameters`, `correct_phase_and_frequency` там же |
+| Демодуляция и разбор кадра | `bpsk_demodulate`, `decode_radio_frame` там же |
+| Работа с Pluto на приём | `tests/lab024a_pluto_rx_capture.py` |
+
+**Единственное, чего нет в проекте — передача.** Это и есть основной объём работы.
+
+---
+
+## 3. Почему петля на одном устройстве, а не два устройства
+
+Передатчик и приёмник одного PlutoSDR работают от общего опорного генератора. Поэтому между ними практически нет ухода несущей частоты и не расходятся часы.
+
+Это снимает ровно те две проблемы, которые в проекте проработаны слабее всего, и позволяет получить картинку сразу. Разведение на два устройства — отдельная лабораторная Lab043, там появится настоящий уход частоты, и вот там понадобятся наработки Lab021–Lab023.
+
+**Не пытайтесь сделать Lab042 и Lab043 одной работой.** Разница между ними — вся сложность синхронизации.
+
+---
+
+## 4. Требования безопасности
+
+Обязательны к исполнению. Это правило 8 проекта, оно не формальное.
+
+1. Выход передатчика соединяется с входом приёмника **только кабелем через аттенюатор**. Рекомендуемое ослабление 30 дБ.
+2. **Антенну на передатчик не подключать.** Выход в эфир в этой лабораторной не выполняется ни при каких условиях.
+3. Передатчик не включать при отключённом кабеле: выход без нагрузки вреден для оконечного каскада.
+4. Усиление передатчика начинать с минимального и поднимать только при необходимости.
+
+---
+
+## 5. Параметры тракта
+
+Все значения взяты из Lab018 и менять их в этой лабораторной **запрещено**. Причина: переход на железо сам по себе вносит достаточно неизвестных. Менять одновременно и параметры сигнала — значит потерять возможность понять причину отказа.
+
+| Параметр | Значение | Источник |
+|---|---|---|
+| Символьная скорость | 20 000 симв/с | `SYMBOL_RATE`, Lab018 |
+| Отсчётов на символ | 32 | `SAMPLES_PER_SYMBOL`, Lab018 |
+| Частота дискретизации | 640 000 Гц | произведение двух предыдущих |
+| Скругление фильтра | 0,35 | `RRC_ROLLOFF`, Lab018 |
+| Длина фильтра | 10 символов | `RRC_SPAN_SYMBOLS`, Lab018 |
+| Преамбула | 64 бита | `PREAMBLE_BIT_COUNT`, Lab018 |
+| Слово синхронизации | 0xD391 | `RADIO_SYNC_WORD`, Lab018 |
+| Защитный интервал | 16 символов | `GUARD_SYMBOL_COUNT`, Lab018 |
+| Амплитуда передачи | 0,70 | `TX_AMPLITUDE`, Lab018 |
+
+Полезная скорость получается около 20 кбит/с. Для картинки в несколько килобайт это единицы секунд. Этого достаточно: цель — картинка, а не скорость.
+
+### Параметры PlutoSDR
+
+| Параметр | Значение | Примечание |
+|---|---|---|
+| Адрес устройства | `ip:192.168.2.1` | как в Lab024a |
+| Несущая передачи и приёма | 435 МГц | обе одинаковые |
+| Частота дискретизации | 640 000 | совпадает с трактом |
+| Полоса радиочастотного тракта | 200 000 Гц | минимум Pluto, сигнал занимает около 27 кГц |
+| Усиление передатчика | начать с −40 дБ | допустимый диапазон от −89 до 0 |
+| Режим усиления приёмника | `manual` | автоматика мешает измерениям |
+| Усиление приёмника | начать с 20 дБ | подобрать по амплитуде |
+| Циклический буфер передачи | **выключен** | см. раздел 7 |
+
+Про несущую: 435 МГц выбрана потому, что нижняя граница PlutoSDR составляет около 325 МГц, а целевой диапазон проекта ниже 350 МГц находится у самого края. Поскольку передача идёт по кабелю и в эфир не выходит, выбор частоты здесь ни на что не влияет. Вопрос рабочего диапазона решается отдельно перед Lab044.
+
+---
+
+## 6. Порядок работы
+
+**Передающая сторона**
+
+1. Взять исходное изображение из `data/raw`, привести к профилю из Lab010 так, чтобы JPEG получился не крупнее 5 КБ.
+2. Разбить на фрагменты через `protocol/image_fragments.py`.
+3. Каждый фрагмент упаковать в пакет с CRC32 через `protocol/packet.py`.
+4. Каждый пакет обернуть в радиокадр через `build_radio_frame`.
+5. Промодулировать BPSK и отфильтровать.
+6. Привести к целым числам и передать.
+
+**Приёмная сторона**
+
+1. Запустить приём **до** начала передачи.
+2. Найти кадры через `find_radio_frame`.
+3. Скорректировать фазу и частоту.
+4. Демодулировать, разобрать кадр, проверить CRC32.
+5. Собрать изображение из уцелевших фрагментов и сохранить на диск.
+
+Приём и передача идут в одном процессе. Приём запускается первым — иначе начало первого кадра теряется безвозвратно.
+
+---
+
+## 7. Ловушки, на которых спотыкаются в первый раз
+
+Перечислено то, что почти наверняка будет сделано неправильно без предупреждения.
+
+1. **Циклический буфер передачи.** У PlutoSDR буфер передачи по умолчанию повторяется бесконечно. Кажется, что передан один кадр, а передаётся бесконечный поток. Признак: приёмник видит тысячи копий одного кадра, а передача не заканчивается. Буфер надо явно выключить и явно освобождать после передачи.
+
+2. **Масштаб отсчётов.** PlutoSDR принимает целые числа, а не дробные значения от минус единицы до единицы. Готовый сигнал надо умножить на масштабный множитель, обычно 2 в степени 14. Признак ошибки: передаётся почти тишина, приёмник ничего не находит.
+
+3. **Приём запущен после передачи.** Начало кадра теряется, преамбула не находится. Признак: `find_radio_frame` не срабатывает при заведомо исправном сигнале.
+
+4. **Размер приёмного буфера меньше кадра.** Кадр не помещается целиком, поиск преамбулы срывается. Буфер должен вмещать кадр с запасом минимум вдвое.
+
+5. **Автоматическая регулировка усиления приёмника.** Меняет амплитуду в процессе и портит оценку. Режим должен быть ручным.
+
+6. **Насыщение приёмника.** При слишком слабом ослаблении сигнал упирается в потолок и созвездие разваливается, хотя уровень кажется отличным. Признак: демодуляция не работает при очень сильном сигнале. Лечится увеличением ослабления, а не усилением.
+
+7. **Переходный процесс в начале передачи.** Первые несколько десятков отсчётов недостоверны. Поэтому в тракте есть защитный интервал в 16 символов — его нельзя убирать.
+
+---
+
+## 8. Что считается выполненной работой
+
+Лабораторная принимается, если выполнено всё перечисленное.
+
+**Обязательный результат**
+
+1. Файл принятого изображения на диске, открывающийся просмотрщиком.
+2. Принятое изображение совпадает с переданным при отсутствии потерь — сравнение по контрольной сумме всего файла.
+3. Работа воспроизводится: два запуска подряд дают одинаковый успешный результат.
+
+**Обязательные измерения**
+
+| Величина | Как получить |
+|---|---|
+| Размер переданного JPEG, байт | из файла |
+| Число фрагментов и пакетов | из разбиения |
+| Число принятых кадров | счётчик приёмника |
+| Число кадров, не прошедших CRC32 | счётчик приёмника |
+| Доля успешно принятых фрагментов | отношение |
+| Полное время передачи, секунды | измерение |
+| Фактическая полезная скорость, кбит/с | расчёт из двух предыдущих |
+| Усиление передатчика и приёмника | из настроек устройства |
+| Ослабление аттенюатора, дБ | из состава схемы |
+
+**Обязательные файлы в `data/processed/lab042`**
+
+- принятое изображение;
+- CSV с измерениями из таблицы выше;
+- текстовый отчёт;
+- график созвездия принятого сигнала;
+- график спектра принятого сигнала.
+
+**Требования к коду**
+
+- Ничего из `protocol/` не переписывать. Только использовать.
+- Параметры тракта из раздела 5 не менять.
+- Все константы вынести в начало файла с указанием источника, как это сделано в Lab041.
+- Никаких вписанных руками результатов: каждое число в отчёте должно вычисляться из измерений текущего запуска. Это отдельно проверяется при приёмке.
+- Файл лабораторной: `tests/lab042_pluto_image_loopback.py`, запуск через `python -m tests.lab042_pluto_image_loopback` из корня проекта.
+
+---
+
+## 9. Что в этой лабораторной делать не надо
+
+Перечислено, чтобы не расширять объём.
+
+- Не реализовывать повторную передачу потерянных фрагментов. Потери фиксируются, но не восстанавливаются.
+- Не подключать исправление стираний из `protocol/packet_erasure_fec.py`.
+- Не поднимать скорость и не менять модуляцию.
+- Не выходить в эфир и не подключать антенну.
+- Не работать с двумя устройствами.
+- Не трогать логику сеансов, аварийной остановки и приоритетов — она к передаче картинки отношения не имеет.
+
+Всё это относится к последующим лабораторным.
+
+---
+
+## 10. Порядок приёмки
+
+1. Исполнитель выполняет работу и сообщает о готовности.
+2. Проверяется `python tools/quick_gate.py` — должен проходить.
+3. Проводится аудит: соответствие разделу 8, отсутствие вписанных результатов, происхождение каждого числа в отчёте.
+4. При наличии замечаний они оформляются списком с указанием файла и строки.
+5. После приёмки в `PROJECT_LOG.md` добавляется новая запись по принятому в проекте образцу.
+
+---
+
+## 11. Что дальше
+
+- **Lab043** — разведение на два устройства: передаёт PlutoSDR, принимает RTL-SDR. Появляется настоящий уход несущей частоты и расхождение часов. Здесь понадобятся Lab021–Lab023.
+- **Lab044** — выбор рабочего диапазона и первый выход в эфир на малой мощности.
+- Повышение скорости, исправление стираний и передача последовательности кадров — после того, как картинка устойчиво проходит.

tests/lab041_session_restart_safety.py

@@ -66,7 +66,6 @@ PLOT_PATHS = (
     OUTPUT_DIRECTORY / "lab041_emergency_intent.png",
     OUTPUT_DIRECTORY / "lab041_safety_violations.png",
     OUTPUT_DIRECTORY / "lab041_protection_load.png",
-    OUTPUT_DIRECTORY / "lab041_traffic_impact.png",
 )
 
 REPETITIONS = 200
@@ -86,9 +85,25 @@ LAB033_HEADER_BYTES = 32
 LAB040_CONTROL_PAYLOAD_BYTES = 14
 LAB040_CONTROL_PACKET_BYTES = LAB033_HEADER_BYTES + LAB040_CONTROL_PAYLOAD_BYTES
 LAB040_CONTROL_LOAD_KBPS = LAB040_CONTROL_PACKET_BYTES * CONTROL_FREQUENCY_HZ * 8.0 / 1000.0
+
+# Перенесённые величины. Источник указан явно, чтобы их нельзя было принять за
+# результат моделирования Lab041: оба значения совпадают с выводом Lab038.
+# data/processed/lab038/lab038_summary.csv, поле video_load_kbps.
 VIDEO_OFFERED_LOAD_KBPS = 243.39286666666666
+# data/processed/lab038/lab038_summary.csv, поле telemetry_load_kbps.
 TELEMETRY_OFFERED_LOAD_KBPS = 7.68
 
+# Параметры торможения взяты из профиля "nominal" Lab039, а не подобраны заново.
+# tests/lab039_two_stage_braking.py: DecelerationProfile("nominal", 1.0, 3.0).
+# Оценка пути ниже одноступенчатая и потому консервативнее двухступенчатой
+# модели Lab039: она не учитывает предварительное замедление Stage1.
+LAB039_NOMINAL_STAGE2_MPS2 = 3.0
+LAB039_STAGE2_THRESHOLD_SECONDS = 0.250
+# Принятое допущение: горизонт, на котором оценивается путь ровера, не
+# получившего безопасного запрета. Из модели не выводится, выбран как
+# заведомо большой по сравнению с временем согласования сеанса.
+UNPROTECTED_RUNAWAY_SECONDS = 60.0
+
 
 class ArchitectureKind(IntEnum):
     NO_SESSION_IDS = 1
@@ -231,17 +246,11 @@ class TrialMetrics:
     old_reset_erroneously_accepted: int
     movement_before_reset_ack: int
     automatic_motion_after_reset: int
-    negative_speed_cases: int
-    speed_limit_exceeded_cases: int
     session_load_bytes: int
     authorization_load_bytes: int
     emergency_load_bytes: int
     retry_load_bytes: int
     episodic_service_bytes: int
-    control_delivered_fraction: float
-    telemetry_delivered_fraction: float
-    video_published_fraction: float
-    maximum_queue_packets: int
 
 
 @dataclass(frozen=True)
@@ -258,10 +267,6 @@ class SummaryMetrics:
     control_state_load_kbps: float
     episodic_service_load_kbps: float
     full_offered_load_kbps: float
-    control_delivered_fraction: float
-    telemetry_delivered_fraction: float
-    video_published_fraction: float
-    maximum_queue_packets: int
 
 
 @dataclass(frozen=True)
@@ -333,8 +338,6 @@ class RestartMetrics:
     old_reset_erroneously_accepted: int
     movement_before_reset_ack: int
     automatic_motion_after_reset: int
-    negative_speed_cases: int
-    speed_limit_exceeded_cases: int
 
 
 @dataclass(frozen=True)
@@ -357,10 +360,6 @@ class LoadMetrics:
     video_offered_load_kbps: float
     telemetry_offered_load_kbps: float
     full_offered_load_kbps: float
-    control_delivered_fraction: float
-    telemetry_delivered_fraction: float
-    video_published_fraction: float
-    maximum_queue_packets: int
 
 
 @dataclass(frozen=True)
@@ -641,13 +640,14 @@ def simulate_trial(
     continued = startup_old = 0
     if restart_case:
         if architecture.safe_boot:
-            restart_to_safe = min(sync_time, 0.250) if scenario.number == 2 else 0.0
+            braking_distance = INITIAL_SPEED_MPS**2 / (2.0 * LAB039_NOMINAL_STAGE2_MPS2)
+            restart_to_safe = min(sync_time, LAB039_STAGE2_THRESHOLD_SECONDS) if scenario.number == 2 else 0.0
             if scenario.number == 2:
-                distance_after_restart = INITIAL_SPEED_MPS * 0.250 + INITIAL_SPEED_MPS**2 / 6.0
+                distance_after_restart = INITIAL_SPEED_MPS * LAB039_STAGE2_THRESHOLD_SECONDS + braking_distance
             elif scenario.number in (3, 4, 6, 20):
-                distance_after_restart = INITIAL_SPEED_MPS**2 / 6.0
+                distance_after_restart = braking_distance
         else:
-            distance_after_restart = INITIAL_SPEED_MPS * 60.0
+            distance_after_restart = INITIAL_SPEED_MPS * UNPROTECTED_RUNAWAY_SECONDS
             continued = 1
             startup_old = 1
 
@@ -686,14 +686,6 @@ def simulate_trial(
     emergency_transmitted_bytes = emergency_extra + reset_extra
     emergency_initial_bytes = emergency_transmitted_bytes - emergency_retry_bytes
     episodic_service_bytes = session_initial_bytes + authorization_initial_bytes + emergency_initial_bytes + retry_bytes
-    episodic_service_load = episodic_service_bytes * 8.0 / EXPERIMENT_SECONDS / 1000.0
-    base_video = {"no_loss": 1.0, "260_200": 0.910, "230_1000": 0.863}[condition.name]
-    base_telemetry = {"no_loss": 1.0, "260_200": 0.982, "230_1000": 0.980}[condition.name]
-    load_penalty = (CONTROL_LOAD_INCREASE_KBPS + episodic_service_load) / condition.rate_kbps
-    control_fraction = max(0.0, 1.0 - BAD_FRACTION * int(condition.mean_bad_ms is not None) - load_penalty * 0.10)
-    telemetry_fraction = max(0.0, base_telemetry - load_penalty * 0.05)
-    video_fraction = max(0.0, base_video - load_penalty * 0.15)
-    maximum_queue = {"no_loss": 21, "260_200": 31, "230_1000": 41}[condition.name] + min(5, retries)
 
     return TrialMetrics(
         safe_session,
@@ -743,17 +735,11 @@ def simulate_trial(
         old_reset_accepted,
         movement_before_reset_ack,
         automatic_after_reset,
-        0,
-        0,
         session_initial_bytes,
         authorization_initial_bytes,
         emergency_initial_bytes,
         retry_bytes,
         episodic_service_bytes,
-        control_fraction,
-        telemetry_fraction,
-        video_fraction,
-        maximum_queue,
     )
 
 
@@ -777,10 +763,6 @@ def aggregate_combination(
         CONTROL_STATE_LOAD_KBPS,
         episodic_service_load,
         full_offered_load,
-        _mean(item.control_delivered_fraction for item in trials),
-        _mean(item.telemetry_delivered_fraction for item in trials),
-        _mean(item.video_published_fraction for item in trials),
-        max(item.maximum_queue_packets for item in trials),
     )
     session = SessionMetrics(
         *key,
@@ -838,8 +820,6 @@ def aggregate_combination(
         sum(item.old_reset_erroneously_accepted for item in trials),
         sum(item.movement_before_reset_ack for item in trials),
         sum(item.automatic_motion_after_reset for item in trials),
-        sum(item.negative_speed_cases for item in trials),
-        sum(item.speed_limit_exceeded_cases for item in trials),
     )
     load = LoadMetrics(
         *key,
@@ -857,10 +837,6 @@ def aggregate_combination(
         VIDEO_OFFERED_LOAD_KBPS,
         TELEMETRY_OFFERED_LOAD_KBPS,
         full_offered_load,
-        summary.control_delivered_fraction,
-        summary.telemetry_delivered_fraction,
-        summary.video_published_fraction,
-        summary.maximum_queue_packets,
     )
     return summary, session, rejection, restart, load
 
@@ -954,6 +930,8 @@ def run_functional_tests() -> tuple[FunctionalTestResult, ...]:
     def control_ranges() -> str:
         for message in (
             ControlStateMessage(context, 15.1, 0.0, False, True),
+            ControlStateMessage(context, -0.1, 0.0, False, True),
+            ControlStateMessage(context, -5.0, 0.0, False, True),
             ControlStateMessage(context, 1.0, 1.1, False, True),
             ControlStateMessage(context, 1.0, 0.0, True, False),
         ):
@@ -962,7 +940,9 @@ def run_functional_tests() -> tuple[FunctionalTestResult, ...]:
                 raise AssertionError("недопустимое управление принято")
             except ControlMessageError:
                 pass
-        return "диапазоны и сочетания полей управления проверены"
+        assert encode_message(ControlStateMessage(context, 15.0, 0.0, False, True))
+        assert encode_message(ControlStateMessage(context, 0.0, 0.0, True, False))
+        return "диапазоны и сочетания полей управления проверены, включая отрицательную скорость и границу 15 м/с"
 
     def sequence_zero_new_session() -> str:
         ground, rover = _active_pair(1)
@@ -1275,24 +1255,6 @@ def save_plots(
     figure.savefig(PLOT_PATHS[6], dpi=150)
     plt.close(figure)
 
-    figure, axes = plt.subplots(1, 2, figsize=(12, 5))
-    for architecture in ARCHITECTURES:
-        video = [_group_mean(loads, architecture.name, channel, "video_published_fraction") * 100.0 for channel in channel_names]
-        telemetry = [_group_mean(loads, architecture.name, channel, "telemetry_delivered_fraction") * 100.0 for channel in channel_names]
-        axes[0].plot(channel_labels, video, marker="o", label=architecture.label, color=colors[architecture.name])
-        axes[1].plot(channel_labels, telemetry, marker="o", label=architecture.label, color=colors[architecture.name])
-    axes[0].set_title("Опубликованные видеокадры")
-    axes[0].set_ylabel("Доля, %")
-    axes[1].set_title("Доставленная телеметрия")
-    axes[1].set_ylabel("Доля, %")
-    for axis in axes:
-        axis.tick_params(axis="x", rotation=15)
-        axis.grid(True, alpha=0.3)
-    axes[1].legend(fontsize=8)
-    figure.tight_layout()
-    figure.savefig(PLOT_PATHS[7], dpi=150)
-    plt.close(figure)
-
 
 def write_report(
     summaries: tuple[SummaryMetrics, ...],
@@ -1365,6 +1327,10 @@ def write_report(
         "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",
@@ -1382,10 +1348,13 @@ def write_report(
             "Перезапуски и безопасное состояние",
             f"- В основном режиме движение до синхронизации: {sum(row.movement_before_sync for row in candidate_sessions)}; до подтверждения разрешения: {sum(row.movement_before_authorize_ack for row in candidate_sessions)}; без новой команды оператора: {sum(row.movement_without_new_operator for row in candidate_sessions)}.",
             f"- Максимальный путь после перезапуска в основном режиме: {max(row.max_distance_after_restart_m for row in candidate_restarts):.4f} м; это путь безопасного торможения, а не продолжение старой команды.",
+            f"- Величина рассчитана по формуле v*t + v^2/(2a) при v = {INITIAL_SPEED_MPS:.4f} м/с, t = {LAB039_STAGE2_THRESHOLD_SECONDS:.3f} с и a = {LAB039_NOMINAL_STAGE2_MPS2:.1f} м/с^2 из профиля nominal Lab039. Оценка одноступенчатая и не учитывает предварительное замедление Stage1, поэтому она консервативнее двухступенчатой модели Lab039.",
             f"- Продолжение движения после перезапуска: {sum(row.continued_movement_after_restart for row in candidate_restarts)}; запуск по старой команде: {sum(row.startup_from_old_command for row in candidate_restarts)}.",
             "",
             "Пакеты предыдущего сеанса",
             f"- Основной режим: введено {sum(row.old_packets_injected for row in candidate_rejections)}, отклонено {sum(row.old_packets_rejected for row in candidate_rejections)}, ошибочно принято {sum(row.old_packets_erroneously_accepted for row in candidate_rejections)}.",
+            "- 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.",
             f"- Отрицательный уровень без идентификаторов: ошибочно принято {sum(row.old_packets_erroneously_accepted for row in baseline_rejections)} старых пакетов.",
             f"- Причины отказа основного режима: сеанс станции={sum(row.rejected_ground_session for row in candidate_rejections)}, запуск ровера={sum(row.rejected_rover_boot for row in candidate_rejections)}, период управления={sum(row.rejected_control_epoch for row in candidate_rejections)}, номер сообщения={sum(row.rejected_sequence for row in candidate_rejections)}, событие аварии={sum(row.rejected_emergency_event for row in candidate_rejections)}, запрос сброса={sum(row.rejected_reset_request for row in candidate_rejections)}.",
             f"- Неоднозначных delta=2^31 отклонено: {sum(row.ambiguous_sequence_rejected for row in candidate_rejections)}.",
@@ -1399,23 +1368,35 @@ def write_report(
             "Инварианты безопасности основного режима",
         ]
     )
+    lines.extend(
+        [
+            "- 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.",
+        ]
+    )
     invariants = {
-        "Движение до синхронизации": sum(row.movement_before_sync for row in candidate_sessions),
-        "Движение до подтверждения разрешения": sum(row.movement_before_authorize_ack for row in candidate_sessions),
-        "Движение без новой команды оператора": sum(row.movement_without_new_operator for row in candidate_sessions),
-        "Принятие команды старого сеанса станции": sum(row.rejected_ground_session * 0 for row in candidate_rejections),
-        "Принятие команды старого запуска ровера": sum(row.rejected_rover_boot * 0 for row in candidate_rejections),
-        "Использование старого периода управления": sum(row.old_control_epoch_uses for row in candidate_sessions),
-        "Снятие аварийной фиксации обычной командой": sum(row.emergency_latch_removed for row in candidate_restarts),
-        "Потеря аварийного намерения после перезапуска станции": sum(row.emergency_intent_lost for row in candidate_restarts),
-        "Движение до подтверждения сброса": sum(row.movement_before_reset_ack for row in candidate_restarts),
-        "Автоматическое восстановление старой команды после сброса": sum(row.automatic_motion_after_reset for row in candidate_restarts),
-        "Принятие старого запроса сброса": sum(row.old_reset_erroneously_accepted for row in candidate_restarts),
-        "Принятие неоднозначного номера": 0,
-        "Отрицательная скорость": sum(row.negative_speed_cases for row in candidate_restarts),
-        "Превышение разрешённой скорости": sum(row.speed_limit_exceeded_cases for row in candidate_restarts),
+        "Движение до синхронизации": (sum(row.movement_before_sync for row in candidate_sessions), "проверки 11, 15"),
+        "Движение до подтверждения разрешения": (sum(row.movement_before_authorize_ack for row in candidate_sessions), "проверки 12, 13"),
+        "Движение без новой команды оператора": (sum(row.movement_without_new_operator for row in candidate_sessions), "проверка 14"),
+        "Использование старого периода управления": (sum(row.old_control_epoch_uses for row in candidate_sessions), "проверка 08"),
+        "Снятие аварийной фиксации обычной командой": (sum(row.emergency_latch_removed for row in candidate_restarts), "проверка 22"),
+        "Потеря аварийного намерения после перезапуска станции": (sum(row.emergency_intent_lost for row in candidate_restarts), "проверки 17, 18"),
+        "Движение до подтверждения сброса": (sum(row.movement_before_reset_ack for row in candidate_restarts), "проверки 20, 21"),
+        "Автоматическое восстановление старой команды после сброса": (sum(row.automatic_motion_after_reset for row in candidate_restarts), "проверки 13, 14"),
+        "Принятие старого запроса сброса": (sum(row.old_reset_erroneously_accepted for row in candidate_restarts), "проверка 19"),
     }
-    lines.extend(f"- {name}: {value}." for name, value in invariants.items())
+    lines.extend(f"- {name}: {value} ({reference})." for name, (value, reference) in invariants.items())
+    lines.extend(
+        [
+            "",
+            "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.",
+        ]
+    )
     lines.extend(
         [
             "",
@@ -1425,9 +1406,9 @@ def write_report(
             f"- Аварийные сообщения и сброс: в среднем {_mean(row.emergency_load_kbps for row in candidate_loads):.5f} кбит/с; повторы и повторные подтверждения: {_mean(row.retry_load_kbps for row in candidate_loads):.5f} кбит/с.",
             f"- Эпизодическая служебная нагрузка основного режима: средняя {_mean(row.episodic_service_load_kbps for row in candidate_loads):.5f} кбит/с, максимум {max(row.episodic_service_load_kbps for row in candidate_loads):.5f} кбит/с. Именно к этой величине относились прежние значения 0,12298–0,25147 кбит/с.",
             f"- Постоянные исходные потоки: видео {VIDEO_OFFERED_LOAD_KBPS:.5f}, телеметрия {TELEMETRY_OFFERED_LOAD_KBPS:.5f}, управление {CONTROL_STATE_LOAD_KBPS:.5f} 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.",
             f"- Полный предложенный поток основного режима: средний {_mean(row.full_offered_load_kbps for row in candidate_loads):.5f} кбит/с, максимум {max(row.full_offered_load_kbps for row in candidate_loads):.5f} кбит/с.",
-            f"- Доставка управления не ниже {min(row.control_delivered_fraction for row in loads) * 100.0:.3f}%, телеметрии не ниже {min(row.telemetry_delivered_fraction for row in loads) * 100.0:.3f}%, публикация видео не ниже {min(row.video_published_fraction for row in loads) * 100.0:.3f}%.",
-            f"- Максимальная очередь: {max(row.maximum_queue_packets for row in loads)} пакетов.",
+            "- 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",
         ]
@@ -1488,8 +1469,6 @@ def validate_outputs(
     assert sum(row.old_reset_erroneously_accepted for row in candidate_restarts) == 0
     assert sum(row.movement_before_reset_ack for row in candidate_restarts) == 0
     assert sum(row.automatic_motion_after_reset for row in candidate_restarts) == 0
-    assert sum(row.negative_speed_cases for row in candidate_restarts) == 0
-    assert sum(row.speed_limit_exceeded_cases for row in candidate_restarts) == 0
 
     csv_paths = (SUMMARY_CSV, SESSION_CSV, REJECTION_CSV, RESTART_CSV, LOAD_CSV)
     for path in csv_paths:
@@ -1527,7 +1506,7 @@ def main() -> None:
     save_plots(summaries, sessions, rejections, restarts, loads)
     write_report(summaries, sessions, rejections, restarts, loads, tests)
     validate_outputs(summaries, sessions, rejections, restarts, loads, tests)
-    print("Lab041 завершена: 180 сочетаний, 24/24 функциональных проверок, пять CSV и восемь PNG")
+    print("Lab041 завершена: 180 сочетаний, 24/24 функциональных проверок, пять CSV и семь PNG")
 
 
 if __name__ == "__main__":

tools/quick_gate.py

@@ -0,0 +1,145 @@
+"""
+Быстрый шлюз проверки SDR Rover Link.
+
+Проверяет за одну-две секунды то, что ломается чаще всего:
+
+1. Синтаксис всех файлов в protocol, tests и tools.
+2. Импорт каждого модуля protocol.
+3. Функциональные проверки тех лаб, которым не нужны данные эксперимента.
+
+Полный прогон лабы шлюз не заменяет.
+Он отвечает на один вопрос: не сломана ли кодовая база прямо сейчас.
+
+Запуск:
+    python tools/quick_gate.py
+"""
+
+from __future__ import annotations
+
+import ast
+import importlib
+import inspect
+from pathlib import Path
+import sys
+import traceback
+
+PROJECT_ROOT = Path(__file__).resolve().parent.parent
+CHECKED_DIRECTORIES = ("protocol", "tests", "tools")
+
+
+def check_syntax() -> list[str]:
+    """Разобрать все файлы Python и вернуть список сообщений об ошибках."""
+
+    failures: list[str] = []
+
+    for directory in CHECKED_DIRECTORIES:
+        for path in sorted((PROJECT_ROOT / directory).glob("*.py")):
+            try:
+                ast.parse(path.read_text(encoding="utf-8"), filename=str(path))
+            except SyntaxError as error:
+                relative = path.relative_to(PROJECT_ROOT)
+                failures.append(f"{relative}:{error.lineno}: синтаксис: {error.msg}")
+
+    return failures
+
+
+def check_protocol_imports() -> list[str]:
+    """Импортировать каждый модуль protocol и вернуть список сообщений об ошибках."""
+
+    failures: list[str] = []
+
+    for path in sorted((PROJECT_ROOT / "protocol").glob("*.py")):
+        if path.name == "__init__.py":
+            continue
+
+        module_name = f"protocol.{path.stem}"
+
+        try:
+            importlib.import_module(module_name)
+        except Exception:
+            failures.append(f"{module_name}: импорт: {traceback.format_exc(limit=3).strip()}")
+
+    return failures
+
+
+def check_functional_tests() -> tuple[list[str], int, int]:
+    """
+    Выполнить функциональные проверки лаб, не требующие данных эксперимента.
+
+    Возвращает:
+        failures:
+            Список сообщений об ошибках.
+
+        executed:
+            Количество выполненных лаб.
+
+        skipped:
+            Количество пропущенных лаб.
+    """
+
+    failures: list[str] = []
+    executed = 0
+    skipped = 0
+
+    for path in sorted((PROJECT_ROOT / "tests").glob("lab*.py")):
+        source = path.read_text(encoding="utf-8")
+
+        if "def run_functional_tests" not in source:
+            continue
+
+        module_name = f"tests.{path.stem}"
+
+        try:
+            module = importlib.import_module(module_name)
+        except Exception:
+            failures.append(f"{module_name}: импорт: {traceback.format_exc(limit=3).strip()}")
+            continue
+
+        run_functional_tests = module.run_functional_tests
+        parameters = inspect.signature(run_functional_tests).parameters
+        required = [name for name, parameter in parameters.items() if parameter.default is parameter.empty]
+
+        if required:
+            skipped += 1
+            continue
+
+        try:
+            run_functional_tests()
+        except Exception:
+            failures.append(f"{module_name}: проверки: {traceback.format_exc(limit=3).strip()}")
+            continue
+
+        executed += 1
+
+    return failures, executed, skipped
+
+
+def main() -> int:
+    """Выполнить шлюз и вернуть код возврата процесса."""
+
+    sys.path.insert(0, str(PROJECT_ROOT))
+
+    syntax_failures = check_syntax()
+
+    if syntax_failures:
+        print("Шлюз не пройден: ошибки синтаксиса")
+        for failure in syntax_failures:
+            print(f"  {failure}")
+        return 1
+
+    import_failures = check_protocol_imports()
+    test_failures, executed, skipped = check_functional_tests()
+    failures = import_failures + test_failures
+
+    if failures:
+        print("Шлюз не пройден")
+        for failure in failures:
+            print(f"  {failure}")
+        return 1
+
+    print(f"Шлюз пройден: синтаксис в порядке, protocol импортируется, функциональных проверок выполнено {executed}, пропущено {skipped}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())