Lab043: validate pilot-aided short BPSK link

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

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

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

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

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

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

.claude/agents/adversary.md

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

.claude/agents/verifier.md

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

.claude/commands/check.md

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

.claude/commands/lab.md

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

.claude/hooks/quick_gate_hook.py

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

.claude/settings.json

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

.gitignore

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

.gitlab-ci.yml

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

PROJECT_LOG.md

@@ -385,3 +385,209 @@ 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.
+
+---
+
+# Запись 018
+
+## Дата
+
+10 августа 2026 года
+
+## Тема
+
+Выбор радиочастотной архитектуры: рабочий диапазон, скачки по частоте и меры против подавления.
+
+## Исходные данные
+
+- Устройство опрошено напрямую: `Analog Devices PlutoSDR Rev.C (Z7010-AD9361)`. Приёмник перестраивается от 70 МГц до 6 ГГц, передатчик от 46,9 МГц. Минимальная частота дискретизации 2 083 333 Гц.
+- Ограничений по разрешённым частотам у проекта нет.
+- Усилителя мощности нет, покупка отложена до первых испытаний.
+
+## Отвергнутые варианты и причины
+
+**Выбор редкой фиксированной частоты.** Рассматривался как защита от подавления. Отклонён: одиночная несущая в пустом эфире обнаруживается сканирующим приёмником тривиально. Уязвимость создаёт не значение частоты, а её неизменность.
+
+**Скачки по всему диапазону 70 МГц – 6 ГГц.** Теоретически требуют от заградительной помехи на 42 дБ больше мощности, но выигрыш недостижим. Отношение крайних частот 86:1, одна антенна такой полосы не перекрывает; разброс потерь на 10 км составляет 39 дБ, проектировать пришлось бы по худшему краю; выше примерно 1 ГГц дифракция исчезает и для наземного ровера без прямой видимости эти каналы мертвы. Кроме того, подавление направлено на диапазон, в котором связь действительно работает, а не на тот, который способно настроить оборудование.
+
+**Диапазоны 330–433 МГц.** Отклонены как плотно занятые и общеизвестные.
+
+## Принято
+
+Рабочий диапазон **200–250 МГц**. Обоснование: четвертьволновая антенна 33 см пригодна для установки на ровер, дифракция ещё эффективна, участок заметно свободнее любительского 144 МГц и УКВ выше 300 МГц. Потери на 10 км составляют около 99,5 дБ.
+
+Совокупность мер против подавления:
+
+1. **Скачки по частоте в пределах 200–250 МГц.** Требуют от заградительной помехи на 22 дБ больше мощности при неизменной антенне и механике ровера.
+2. **Направленная антенна наземной станции.** Даёт 10–20 дБ усиления и пространственно подавляет помеху, приходящую с иного направления.
+3. **Расширение спектра для команд управления.** Поток команд составляет 10,88 кбит/с, поэтому расширение для него реализуемо в узкой полосе, в отличие от видеопотока.
+
+Видео остаётся некритичным классом: при подавлении управление сохраняется в узкой полосе, а ровер переходит к безопасному поведению по уже реализованной логике.
+
+## Запрещённые участки
+
+- 108–137 МГц — авиационная связь.
+- 243 МГц — международная аварийная частота.
+
+## Ограничения решения
+
+- Нижняя граница 70 МГц определяется приёмником Pluto и без смены оборудования не преодолевается.
+- Скачки требуют согласованной последовательности у обеих сторон, то есть зависят от криптографической аутентификации, которая пока не реализована.
+- Расчёты выполнены для свободного пространства. Потери на препятствиях 20–40 дБ учтены оценочно и подлежат измерению.
+- Дальность 10 км без усилителя мощности не достигается.
+
+## Влияние на ближайшие работы
+
+На Lab042 не влияет: там кабельная петля, несущая 435 МГц выбрана произвольно. Диапазон 200–250 МГц вступает в силу начиная с эфирных испытаний.
+
+---
+
+# Запись 019
+
+## Дата
+
+10 августа 2026 года
+
+## Тема
+
+Lab042: первая передача изображения через реальный радиотракт. Эфирная проверка на паре антенн.
+
+## Причина эфирного прогона
+
+Кабельная петля требует переходника SMA папа-папа, которого пока нет: пигтейлы к антеннам оканчиваются папой, а разъёмы Pluto — мамы. Чтобы не простаивать, выполнена вспомогательная эфирная проверка на двух антеннах, разнесённых на 60 см. Она не заменяет кабельный опыт: уровни в помещении не контролируются строго, возможны переотражения. Её задача — снять последнюю неизвестность в коде, а именно обвязку вокруг устройства, которая в моделях не проверяется.
+
+## Условия
+
+- Устройство Analog Devices PlutoSDR Rev.C, чип AD9361, прошивка v0.32.
+- Несущая 225 МГц, внутри целевого диапазона Записи 018.
+- Антенны, рассчитанные на 108 МГц, работают на несущей как полуволновые. Частота передачи и частота, на которую рассчитана антенна, различны, поэтому в авиационный диапазон 108–137 МГц опыт не заходит.
+- Изображение 320x180 в градациях серого, JPEG 4756 байт при качестве 35, десять фрагментов.
+
+## Результат
+
+- Изображение передано и собрано побайтово идентично исходному. Контрольная сумма MD5 переданного и принятого файла совпала.
+- Десять фрагментов из десяти, ни одной несошедшейся контрольной суммы.
+- Средняя нормированная корреляция при поиске кадра 0,99951.
+- Средняя оценка ухода несущей минус 0,368 Гц, что отражает общий опорный генератор передатчика и приёмника.
+- Канальная скорость 18,404 кбит/с при длительности сигнала в эфире около 2,07 секунды.
+- Результат воспроизведён тремя запусками подряд с одинаковой контрольной суммой.
+
+## Дефекты, вскрытые железом
+
+Программная модель проходила чисто, но на устройстве обнаружились четыре дефекта, каждый воспроизведён и устранён.
+
+- Кадр длиной 566 528 отсчётов не помещался в приёмный буфер 262 144. Между отдельными чтениями поток отсчётов не является непрерывным, и кадр на стыке разрушался. Приём переведён на один буфер, размер которого рассчитывается по длине кадра.
+- Частотная коррекция применялась всегда, тогда как при общем опорном генераторе истинный уход близок к нулю. Оценка по маркеру длиной 80 символов состояла из шума, и коррекция им поворачивала фазу вдоль всего кадра: измерено 65 процентов ошибочных битов. Перенесена защита should_apply_cfo_correction из Lab023, разрешающая коррекцию только вне мёртвой зоны.
+- Усиление приёмника 20 дБ давало сигнал около 0,0003 от шкалы АЦП. Рабочие уровни подобраны измерением: приёмник 50 дБ, передатчик минус 10 дБ дают ноль ошибочных битов с запасом.
+- Величина вектора ошибки при неудачном приёме возвращала ноль, то есть показывала идеальный сигнал там, где сигнала не было. Это тот же класс ошибки, что вписанные показатели Lab041: метрика при отказе рапортует лучшее значение. Заменена на явный признак невычислимости.
+
+## Ограничения
+
+- Эфирный прогон является проверкой тракта, а не измерением: уровни не контролируются как в кабельной сборке.
+- Потолок усиления передатчика в эфирном режиме рассчитывается из бюджета линии по расстоянию между антеннами, а не задан константой.
+
+## Следующий этап
+
+Кабельная петля через аттенюатор 30 дБ после получения переходника папа-папа. Это и есть заявленный опыт Lab042 с контролируемыми уровнями, его результат станет основным для лабораторной. Затем Lab043 — разведение на два устройства.
+
+---
+
+# Запись 020
+
+## Дата
+
+11 августа 2026 года
+
+## Тема
+
+Lab042 завершена: кабельная петля через аттенюатор, зависимость доставки от мощности, устранение трёх дефектов отчётности.
+
+## Схема опыта
+
+Выход передатчика PlutoSDR через кабель SMA, аттенюатор AT30S 30 дБ, переходник и второй кабель на вход приёмника того же устройства. Антенны сняты. Это заявленный основной опыт лабораторной с контролируемыми уровнями, в отличие от вспомогательной эфирной проверки Записи 019.
+
+## Зависимость доставки от мощности передатчика
+
+Кабельный тракт при неизменной схеме исследован по усилению передатчика. Получен отчётливый переход от отказа к устойчивой передаче:
+
+- TX минус 30 дБ: 0 из 10 фрагментов, контрольная сумма не сходится ни разу, средняя корреляция 0,936. Сигнал ниже порога уверенного приёма.
+- TX минус 20 дБ: 8 из 10 фрагментов, средняя корреляция 0,992. Пограничный режим: часть кадров проходит.
+- TX минус 10 дБ: 10 из 10 фрагментов, изображение собрано побайтово. Устойчивая передача.
+
+Значения TX минус 30 и минус 20 дБ — исследование порога, повторять их не требуется. Рабочая точка кабельной петли: TX минус 10 дБ, RX плюс 20 дБ, аттенюатор 30 дБ, несущая 435 МГц.
+
+Начальные умолчания кабельного режима TX минус 30 и RX плюс 20 дБ на железе прежде не проверялись; отказ первого прогона объяснялся именно этим, а не дефектом обработки.
+
+## Результат рабочей точки
+
+- Найдено 10 кадров из 10, контрольная сумма сошлась у всех десяти, восстановлены все фрагменты.
+- Изображение собрано и совпадает с переданным. Совпадение подтверждено независимо: SHA-256 принятого файла сверен с SHA-256 переданного JPEG, пересобранного из исходника отдельно от прогона. Оба равны 751d7ea0d8711e2ef54fc5cf209a809cfee5bbb14916dd20aa201d5285b40286.
+- Размер JPEG 4756 байт, качество 30, десять фрагментов.
+- Длительность сигнала около 2,07 секунды, канальная скорость 18,404 кбит/с.
+- Кадр 8 прошёл контрольную сумму при пониженной корреляции поиска 0,866 против 0,998 у остальных: низкая корреляция маркера не означает испорченных данных, фаза дискретизации была подобрана и кадр демодулировался чисто.
+
+## Устранённые дефекты отчётности
+
+Разбор кабельного прогона вскрыл три дефекта, при которых провал мог быть принят за успех. Все три устранены, каждый закрыт быстрым тестом в tests/test_lab042_reporting.py.
+
+- Величина вектора ошибки нормировалась на единичный эталон, из-за чего при слабом сигнале становилась искусственно малой: провалившийся прогон показывал EVM меньше, чем успешный. Нормировка исправлена на мощность подогнанного сигнала. При невозможности вычислить величину возвращается признак невычислимости, а не ноль.
+- Отчёт перечислял lab042_received.jpg среди созданных файлов безусловно, даже когда изображение не собрано и файла нет. Теперь файл указывается только при фактической сборке.
+- Программа завершалась кодом ноль при полном отказе передачи. Введён критерий приёмки: при несобранном изображении код завершения ненулевой, чтобы автоматика не приняла провал за успех.
+
+## Проверки
+
+- Быстрые тесты ядра расширены с 125 до 135. Добавленные проверяют неуспешный путь: провал даёт ненулевой код, отсутствующий файл не объявляется созданным, невычислимая метрика не превращается в ноль.
+- Окончательный кабельный прогон рабочей точки выполнен уже исправленной версией программы, поэтому итоговый отчёт сформирован ею.
+
+## Следующий этап
+
+Lab043: передаёт PlutoSDR, принимает RTL-SDR. Общий опорный генератор исчезает, впервые появляется реальное рассогласование несущей и частоты дискретизации двух независимых устройств. Здесь понадобится защищённая частотная коррекция, перенесённая в Записи 019.

README.md

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

data/processed/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
+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
-no_session_ids,no_loss,normal_start,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
+no_session_ids,no_loss,normal_start,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667
-no_session_ids,no_loss,ground_restart_moving,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
+no_session_ids,no_loss,ground_restart_moving,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667
-no_session_ids,no_loss,rover_restart_moving,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667,0.9988266666666666,0.9994133333333334,0.99824,21
+no_session_ids,no_loss,rover_restart_moving,1,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.0,0.0,0.0,0.0,0.0,243.39286666666666,7.68,261.9528666666667
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-persistent_emergency,260_200,sequence_reset_new_session,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0037,0.11090000000000001,243.39286666666666,7.68,262.0637666666667,0.9786034999999998,0.9813017500000004,0.90790525,36
+persistent_emergency,260_200,sequence_reset_new_session,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0037,0.11090000000000001,243.39286666666666,7.68,262.0637666666667
-persistent_emergency,260_200,sequence_wrap,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0013199999999999998,0.10852,243.39286666666666,7.68,262.0613866666667,0.9786044153846152,0.981302207692308,0.9079066230769232,36
+persistent_emergency,260_200,sequence_wrap,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0013199999999999998,0.10852,243.39286666666666,7.68,262.0613866666667
-persistent_emergency,260_200,duplicate_hello,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667,0.9785841538461537,0.9812920769230772,0.907876230769231,31
+persistent_emergency,260_200,duplicate_hello,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667
-persistent_emergency,260_200,lost_session_status,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054268,0.16146800000000003,243.39286666666666,7.68,262.1143346666667,0.9785840507692305,0.9812920253846156,0.9078760761538465,34
+persistent_emergency,260_200,lost_session_status,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054268,0.16146800000000003,243.39286666666666,7.68,262.1143346666667
-persistent_emergency,260_200,lost_authorize_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.058744000000000005,0.165944,243.39286666666666,7.68,262.1188106666667,0.9785823292307694,0.9812911646153849,0.9078734938461537,36
+persistent_emergency,260_200,lost_authorize_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.058744000000000005,0.165944,243.39286666666666,7.68,262.1188106666667
-persistent_emergency,260_200,lost_emergency_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0528,0.059267999999999994,0.21926799999999996,243.39286666666666,7.68,262.1721346666667,0.9785618199999999,0.9812809099999998,0.9078427300000002,36
+persistent_emergency,260_200,lost_emergency_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0528,0.059267999999999994,0.21926799999999996,243.39286666666666,7.68,262.1721346666667
-persistent_emergency,260_200,lost_reset_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.062,0.067428,0.236628,243.39286666666666,7.68,262.1894946666667,0.9785551430769229,0.9812775715384617,0.9078327146153846,36
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-persistent_emergency,260_200,old_reset_request,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.001452,0.108652,243.39286666666666,7.68,262.0615186666667,0.9786043646153842,0.9813021823076926,0.9079065469230769,36
+persistent_emergency,260_200,old_reset_request,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.001452,0.108652,243.39286666666666,7.68,262.0615186666667
-persistent_emergency,260_200,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0015840000000000001,0.10878399999999999,243.39286666666666,7.68,262.0616506666667,0.9786043138461537,0.9813021569230773,0.9079064707692308,36
+persistent_emergency,260_200,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0015840000000000001,0.10878399999999999,243.39286666666666,7.68,262.0616506666667
-persistent_emergency,260_200,restart_after_reset_before_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.000264,0.10746400000000002,243.39286666666666,7.68,262.0603306666667,0.9786048215384614,0.9813024107692311,0.9079072323076923,33
+persistent_emergency,260_200,restart_after_reset_before_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.000264,0.10746400000000002,243.39286666666666,7.68,262.0603306666667
-persistent_emergency,230_1000,normal_start,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667,0.978422956521739,0.9792114782608698,0.8606344347826089,41
+persistent_emergency,230_1000,normal_start,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,ground_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.003432,0.110632,243.39286666666666,7.68,262.0634986666667,0.978421464347826,0.9792107321739132,0.8606321965217394,46
+persistent_emergency,230_1000,ground_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.003432,0.110632,243.39286666666666,7.68,262.0634986666667
-persistent_emergency,230_1000,rover_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.004488000000000001,0.11168800000000002,243.39286666666666,7.68,262.0645546666667,0.9784210052173912,0.9792105026086958,0.8606315078260871,46
+persistent_emergency,230_1000,rover_restart_moving,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.004488000000000001,0.11168800000000002,243.39286666666666,7.68,262.0645546666667
-persistent_emergency,230_1000,both_restart,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.002112,0.10931199999999998,243.39286666666666,7.68,262.0621786666667,0.9784220382608695,0.979211019130435,0.8606330573913047,46
+persistent_emergency,230_1000,both_restart,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.002112,0.10931199999999998,243.39286666666666,7.68,262.0621786666667
-persistent_emergency,230_1000,ground_restart_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.0,0.0,0.0,0.054,243.39286666666666,7.68,262.00686666666667,0.9784460869565217,0.9792230434782607,0.8606691304347825,41
+persistent_emergency,230_1000,ground_restart_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.0,0.0,0.0,0.054,243.39286666666666,7.68,262.00686666666667
-persistent_emergency,230_1000,rover_restart_latched,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.0,0.0,0.0,0.054,243.39286666666666,7.68,262.00686666666667,0.9784460869565217,0.9792230434782607,0.8606691304347825,41
+persistent_emergency,230_1000,rover_restart_latched,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.0,0.0,0.0,0.054,243.39286666666666,7.68,262.00686666666667
-persistent_emergency,230_1000,long_link_break,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.009782,0.116982,243.39286666666666,7.68,262.0698486666667,0.9784187034782608,0.9792093517391307,0.8606280552173916,46
+persistent_emergency,230_1000,long_link_break,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.009782,0.116982,243.39286666666666,7.68,262.0698486666667
-persistent_emergency,230_1000,old_ground_session_control,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667,0.978422956521739,0.9792114782608698,0.8606344347826089,41
+persistent_emergency,230_1000,old_ground_session_control,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,old_rover_boot_control,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667,0.978422956521739,0.9792114782608698,0.8606344347826089,41
+persistent_emergency,230_1000,old_rover_boot_control,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,old_control_epoch,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.005412,0.11261199999999999,243.39286666666666,7.68,262.0654786666667,0.9784206034782608,0.9792103017391307,0.8606309052173916,46
+persistent_emergency,230_1000,old_control_epoch,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.005412,0.11261199999999999,243.39286666666666,7.68,262.0654786666667
-persistent_emergency,230_1000,sequence_reset_new_session,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.001206,0.10840599999999999,243.39286666666666,7.68,262.0612726666667,0.9784224321739129,0.9792112160869567,0.8606336482608699,46
+persistent_emergency,230_1000,sequence_reset_new_session,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.001206,0.10840599999999999,243.39286666666666,7.68,262.0612726666667
-persistent_emergency,230_1000,sequence_wrap,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.003564,0.11076400000000002,243.39286666666666,7.68,262.0636306666667,0.9784214069565215,0.979210703478261,0.8606321104347829,46
+persistent_emergency,230_1000,sequence_wrap,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.003564,0.11076400000000002,243.39286666666666,7.68,262.0636306666667
-persistent_emergency,230_1000,duplicate_hello,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667,0.9783994782608693,0.9791997391304347,0.8605992173913043,41
+persistent_emergency,230_1000,duplicate_hello,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667
-persistent_emergency,230_1000,lost_session_status,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667,0.9783994782608693,0.9791997391304347,0.8605992173913043,42
+persistent_emergency,230_1000,lost_session_status,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.054,0.16119999999999998,243.39286666666666,7.68,262.1140666666667
-persistent_emergency,230_1000,lost_authorize_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.053200000000000004,0.16040000000000001,243.39286666666666,7.68,262.1132666666667,0.9783998260869565,0.9791999130434783,0.8605997391304347,42
+persistent_emergency,230_1000,lost_authorize_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.053200000000000004,0.16040000000000001,243.39286666666666,7.68,262.1132666666667
-persistent_emergency,230_1000,lost_emergency_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0528,0.059664,0.219664,243.39286666666666,7.68,262.1725306666667,0.9783740591304348,0.9791870295652177,0.860561088695652,46
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-persistent_emergency,230_1000,lost_reset_ack,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.062,0.08226599999999999,0.25146599999999997,243.39286666666666,7.68,262.2043326666667,0.9783602321739128,0.9791801160869563,0.8605403482608694,46
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-persistent_emergency,230_1000,old_reset_request,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667,0.978422956521739,0.9792114782608698,0.8606344347826089,41
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-persistent_emergency,230_1000,late_positive_after_emergency,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667,0.978422956521739,0.9792114782608698,0.8606344347826089,41
+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,200,68,20.0,10.88,0.7222222222222222,7.36,3.5200000000000005,0.054,0.053200000000000004,0.0,0.0,0.1072,243.39286666666666,7.68,262.06006666666667,0.978422956521739,0.9792114782608698,0.8606344347826089,41
+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.
+- 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.
-- Движение до подтверждения разрешения: 0.
+- Поведение самой реализации подтверждается функциональными проверками; их номера указаны рядом с каждым свойством. Именно проверки, а не матрица, являются доказательством для перечисленных свойств.
-- Движение без новой команды оператора: 0.
+- Движение до синхронизации: 0 (проверки 11, 15).
-- Принятие команды старого сеанса станции: 0.
+- Движение до подтверждения разрешения: 0 (проверки 12, 13).
-- Принятие команды старого запуска ровера: 0.
+- Движение без новой команды оператора: 0 (проверка 14).
-- Использование старого периода управления: 0.
+- Использование старого периода управления: 0 (проверка 08).
-- Снятие аварийной фиксации обычной командой: 0.
+- Снятие аварийной фиксации обычной командой: 0 (проверка 22).
-- Потеря аварийного намерения после перезапуска станции: 0.
+- Потеря аварийного намерения после перезапуска станции: 0 (проверки 17, 18).
-- Движение до подтверждения сброса: 0.
+- Движение до подтверждения сброса: 0 (проверки 20, 21).
-- Автоматическое восстановление старой команды после сброса: 0.
+- Автоматическое восстановление старой команды после сброса: 0 (проверки 13, 14).
-- Принятие старого запроса сброса: 0.
+- Принятие старого запроса сброса: 0 (проверка 19).
-- Принятие неоднозначного номера: 0.
+
-- Отрицательная скорость: 0.
+Свойства, которые матрица не измеряет
-- Превышение разрешённой скорости: 0.
+- 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%.
+- 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.
-- Максимальная очередь: 46 пакетов.
 
 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
@@ -313,7 +324,7 @@ Lab041 — сеансы связи, безопасный запуск и защ
 Созданные файлы
 - protocol/control_messages.py
 - protocol/session_state.py
-- tests/lab041_session_restart_safety.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
@@ -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
+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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+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
-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,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
-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,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
-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,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
-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,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
-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,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
-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
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-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_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
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-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,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
-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
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-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,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
-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
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-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
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-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
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-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,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
-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
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-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
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data/processed/lab041/lab041_summary.csv

@@ -1,181 +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
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+1,536,4384,0.9986269709852709,51,-0.6704420071784511,0.999254107740255,False,0.1962803864132724,True,True,True,True
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+4,536,4384,0.9986165925127464,37,0.522370456657967,0.9996364225258064,False,0.15291774582164716,True,True,True,True
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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

docs/lab042_hardware_loopback_spec.md

@@ -0,0 +1,286 @@
+# 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 `experiments/lab007_image_fragmentation.py` |
+| Пакет с CRC32, кодирование и разбор | `protocol/packet.py` |
+| Подбор размера и качества JPEG | `experiments/lab010_image_optimization.py`, готовые профили в `data/processed/lab010` |
+| Формирование радиокадра с преамбулой и маркером | `build_radio_frame` в `experiments/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 `experiments/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 | `experiments/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. Наличное оборудование
+
+Подтверждено по состоянию на 10 августа 2026 года.
+
+| Позиция | Состояние |
+|---|---|
+| **Pluto+** — SDR, 2 приёмника и 2 передатчика, гигабитный Ethernet | есть |
+| RTL-SDR — приёмный донгл | есть, понадобится в Lab043 |
+| Кабели SMA | будут найдены |
+| Антенны: штыревые на магнитном основании, короткая штыревая | есть, **в Lab042 не используются** |
+| Рамочная антенна Donut AM (0,5–2 МГц) | к проекту отношения не имеет |
+| **Аттенюатор AT30S**, 30 дБ, до 200 Вт, разъёмы SMA | есть |
+
+Аппаратных препятствий к началу работы нет. Запас по мощности у аттенюатора избыточен на много порядков — рассчитан на передатчики в сотни ватт, а у нас доли милливатта, — но это никак не мешает: ослабление от уровня сигнала не зависит.
+
+Важно: устройство — **Pluto+**, а не оригинальный ADALM-PLUTO. Отличия, которые имеют значение:
+
+- связь по Ethernet, а не по USB; адрес `ip:192.168.2.1` уже подтверждён работой Lab024a;
+- два приёмных и два передающих канала; в Lab042 используется только первый канал каждого;
+- вопреки надписи на корпусе, устройство сообщает о себе как `Analog Devices PlutoSDR Rev.C (Z7010-AD9361)` и представлено **одним приёмным и одним передающим каналом**: буферные устройства `cf-ad9361-lpc` и `cf-ad9361-dds-core-lpc` несут по паре каналов I и Q. Поэтому класс `adi.Pluto` подходит, переход на `adi.ad9361` не требуется;
+- чип **AD9361**, а не урезанный AD9363. Диапазон перестройки приёмника от 70 МГц до 6 ГГц, передатчика от 46,9 МГц до 6 ГГц. Целевой диапазон проекта ниже 350 МГц устройству доступен штатно, без доработки прошивки. Для Lab044 это снимает ранее открытый вопрос;
+- прошивка `v0.32-1-g7bdc-dirty`, ядро 4.19. Обновление в рамках Lab042 не выполняется.
+
+## 5. Требования к схеме и сохранности оборудования
+
+Разрешения на работу в эфире у владельца проекта есть, вопрос законности здесь не рассматривается. Перечисленное ниже защищает оборудование и чистоту опыта.
+
+1. **Антенны убрать со стола до начала работы.** Причина техническая: антенна на передатчике или приёмнике создаёт паразитный путь распространения параллельно кабельному. Уровень на входе приёмника перестаёт соответствовать расчёту, появляется переотражённый сигнал, и при отказе будет невозможно понять, что именно не сработало. Кабельная петля ценна тем, что в ней известно всё; антенна это свойство разрушает.
+2. Передатчик не включать при отключённом кабеле: выход без нагрузки вреден для оконечного каскада.
+3. Аттенюатор AT30S включается **в разрыв** между выходом передатчика и входом приёмника. Не параллельно, не на свободный порт — именно последовательно в тракт.
+4. Перед первым включением передатчика убедиться глазами, что аттенюатор действительно в цепи. Это единственное, что стоит между опечаткой в настройке усиления и сгоревшим приёмником.
+
+### Расчёт уровней
+
+| Величина | Значение |
+|---|---|
+| Выход передатчика Pluto+ при усилении 0 дБ | около **+7 дБм** |
+| Предельно допустимый уровень на входе приёмника | около **+2,5 дБм** |
+| Ослабление аттенюатора | 30 дБ |
+| Уровень на входе приёмника при усилении 0 дБ | около **−23 дБм** |
+
+Вывод: **с аттенюатором в разрыве весь диапазон `tx_hardwaregain_chan0` от −89 до 0 дБ безопасен для приёмника.** Запас до порога повреждения составляет более 25 дБ даже в самом худшем случае.
+
+**Порядок подбора усиления:**
+
+1. Начать с `tx_hardwaregain_chan0 = -30`. Это даёт около −53 дБм на входе приёмника — заведомо чистый и заведомо безопасный уровень.
+2. Если сигнал слишком слаб, поднимать шагами по 10 дБ.
+3. Если созвездие разваливается при сильном сигнале — это насыщение приёмника, лечится **уменьшением** усиления, а не увеличением.
+
+Без аттенюатора работать запрещено даже при малом усилении: защита нужна не от расчётного уровня, а от ошибки оператора.
+
+---
+
+## 6. Программное окружение: препятствие, которое надо снять первым
+
+Проверка окружения 10 августа 2026 года показала следующее.
+
+Интерпретатор, доступный в командной строке — `C:\Users\user\AppData\Local\Programs\Python\Python313\python.exe`, версия 3.13.1. В нём **отсутствуют `pyadi-iio` и `libiio`**, то есть работать с Pluto+ из него невозможно. Также отсутствует `scipy`, который нужен лабораторным Lab020–Lab022, Lab024b и Lab025.
+
+При этом Lab024a когда-то отработала с настоящим устройством. Значит, существует второе окружение — по всей видимости, среда Anaconda, — где всё установлено, и запуск шёл оттуда.
+
+**Первое действие исполнителя: определить, в каком окружении запускаются лабораторные, и зафиксировать это.** Пока это не сделано, невозможно ни повторить Lab024a, ни начать Lab042.
+
+Требуется:
+
+1. Найти окружение, где установлены `pyadi-iio` и `libiio`, и проверить связь с устройством.
+2. Записать в отчёт: путь к интерпретатору, версию Python, версии `pyadi-iio` и `libiio`.
+3. Если такого окружения нет — установить `pyadi-iio` и `libiio`, зафиксировав версии.
+
+Расчётные лабораторные, включая Lab041, в окружении без `pyadi-iio` запускаются нормально — им нужны только `numpy`, `matplotlib` и `opencv`. Разделение аппаратных и расчётных зависимостей относится к этапу стабилизации и в Lab042 не решается, но результат проверки надо записать: он понадобится при составлении описания окружения.
+
+---
+
+## 7. Параметры тракта
+
+Значения тракта взяты из Lab018 и менять их в этой лабораторной **запрещено**, за единственным исключением, описанным сразу под таблицей. Причина запрета: 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 | **128** | изменено против Lab018, см. ниже |
+| Частота дискретизации | **2 560 000 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 |
+
+### Обязательное отступление от Lab018: частота дискретизации
+
+Опрос устройства 10 августа 2026 года показал, что **минимальная частота дискретизации AD9361 составляет 2 083 333 Гц**. Частота 640 000 Гц из Lab018 физически недостижима: она втрое ниже предела. Понизить её можно только включением встроенного КИХ-фильтра с прореживанием, что добавляет к первому включению передатчика ещё один непроверенный механизм.
+
+Принято решение поднять число отсчётов на символ с 32 до 128. Тогда:
+
+- символьная скорость остаётся **20 000 симв/с**, как в Lab018;
+- скругление, длина фильтра, преамбула, слово синхронизации и защитный интервал — без изменений;
+- частота дискретизации становится 20 000 × 128 = **2 560 000 Гц**, что выше минимума с запасом.
+
+Меняется **только степень передискретизации** — величина, относящаяся к стыку с устройством, а не к самому сигналу. Форма спектра, скорость и структура кадра остаются теми же, что проверены в Lab018–Lab023. Это единственное разрешённое расхождение с Lab018, и оно вынужденное.
+
+Полезная скорость получается около 20 кбит/с. Для картинки в несколько килобайт это единицы секунд. Этого достаточно: цель — картинка, а не скорость.
+
+Побочное следствие: фильтр приподнятого косинуса при 128 отсчётах на символ и длине 10 символов получается на 1281 отвод. Свёртку следует выполнять через быстрое преобразование Фурье (`scipy.signal.fftconvolve`), иначе формирование сигнала займёт недопустимо много времени.
+
+### 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 | 2 560 000 | совпадает с трактом, минимум устройства 2 083 333 |
+| Полоса радиочастотного тракта | 200 000 Гц | минимум Pluto, сигнал занимает около 27 кГц |
+| Усиление передатчика | начать с −30 дБ | с аттенюатором безопасен весь диапазон, см. раздел 5 |
+| Режим усиления приёмника | `manual` | автоматика мешает измерениям |
+| Усиление приёмника | начать с 20 дБ | подобрать по амплитуде |
+| Циклический буфер передачи | **выключен** | см. раздел 9, ловушка 1 |
+
+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.
+
+---
+
+## 8. 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.
+
+---
+
+## 9. 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.
+
+---
+
+## 10. 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 | 30, AT30S |
+
+**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: `experiments/lab042_pluto_image_loopback.py`, запуск через `python -m experiments.lab042_pluto_image_loopback` из корня проекта.
+
+---
+
+## 11. 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. Это вопрос не разрешений, а объёма: эфирная передача — предмет Lab044, и смешивать её с первым включением передатчика нельзя.
+- 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.
+
+---
+
+## 12. Порядок приёмки
+
+1. Исполнитель выполняет работу и сообщает о готовности.
+2. Проверяется `python tools/quick_gate.py` — должен проходить.
+3. Проводится аудит: соответствие разделу 10, 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.
+
+---
+
+## 13. 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. Разрешения имеются, поэтому вопрос сводится к техническому выбору диапазона, мощности и антенны.
+- Повышение скорости, исправление стираний и передача последовательности кадров — после того, как картинка устойчиво проходит.

docs/lab043_pluto_to_rtlsdr_spec.md

@@ -0,0 +1,521 @@
+# Lab043. Передача JPEG с Pluto+ на независимый RTL-SDR
+
+## 1. Цель лабораторной
+
+Передать тот же подготовленный JPEG, который использован в Lab042, с
+Pluto+ на отдельный RTL-SDR и восстановить его побайтово.
+
+В Lab042 передатчик и приёмник находились в одном Pluto+ и использовали
+общий опорный генератор. Lab043 должна убрать это упрощение и раздельно
+измерить три эффекта:
+
+1. рассогласование несущих частот передатчика и приёмника;
+2. относительное рассогласование частот дискретизации двух устройств;
+3. начальную фазу выбора отсчёта символа внутри символьного интервала.
+
+Лабораторная считается успешной только при выполнении радиокритериев,
+прикладных критериев и программных проверок, определённых в разделе 11.
+Запуск программы сам по себе успехом не считается.
+
+## 2. Границы работы
+
+Lab043 остаётся кабельной. Эфир добавил бы многолучёвость, внешние сигналы
+и неконтролируемые потери, хотя предмет этой работы состоит в
+синхронизации независимых устройств.
+
+В Lab043 не входят:
+
+- передача через антенны;
+- выбор рабочего диапазона 200-250 МГц;
+- ARQ и повторная передача;
+- исправление стираний и новая FEC;
+- потоковое видео;
+- скачки по частоте;
+- изменение логики управления и безопасности ровера.
+
+Эфирный тракт остаётся предметом следующей лабораторной.
+
+## 3. Подтверждённое оборудование и окружение
+
+Состояние оборудования проверено непосредственным опросом. Перед
+реализацией и перед каждым аппаратным прогоном его необходимо проверить
+повторно.
+
+### 3.1. Передатчик
+
+- Pluto+;
+- устройство должно открываться успешным `iio.Context`, а не проверяться
+  только командой `ping`;
+- чип AD9361;
+- используется первый передающий канал.
+
+Конкретный рабочий URI IIO определяется повторным опросом перед опытом и
+сохраняется в метаданных запуска. Исторически работали сетевой URI
+`ip:192.168.2.1` и прямой USB IIO, но ни один из них нельзя считать
+доступным без текущей проверки.
+
+### 3.2. Приёмник
+
+- USB ID `VID_0BDA&PID_2838`;
+- имя библиотеки: `Generic RTL2832U OEM`;
+- тюнер, сообщённый библиотекой: Fitipower FC0013;
+- основной интерфейс `MI_00` использует WinUSB от libwdi;
+- устройство открыто из Python через `pyrtlsdr` и `librtlsdr`;
+- установка 435 МГц подтверждена чтением значения обратно;
+- частота дискретизации 2 400 000 отсчётов/с работает;
+- получены комплексные отсчёты;
+- доступные аппаратные усиления находятся в диапазоне от -9,9 до
+  19,7 дБ и задаются дискретными ступенями устройства.
+
+Ошибка второго USB-интерфейса не считается отказом SDR. Основной
+интерфейс `MI_00`, через который работает `librtlsdr`, исправен.
+
+### 3.3. Зафиксированное программное окружение
+
+- Python 3.13.1 x64;
+- `pyrtlsdr` 0.5.0;
+- `pyrtlsdrlib` 0.0.5;
+- поставляемая пакетом нативная `librtlsdr` v0.9.0;
+- `pyadi-iio` и `pylibiio` для Pluto+.
+
+Принятый способ доступа к RTL-SDR: API `pyrtlsdr` с поставляемой
+`pyrtlsdrlib` нативной библиотекой. Малый собственный DLL-адаптер не
+нужен. Реализация должна проверять версии и выдавать понятную ошибку, если
+библиотека или устройство недоступны. Пользовательский путь к DLL
+зашивать в код запрещено.
+
+## 4. Физическая схема и безопасность
+
+Схема:
+
+`Pluto+ TX -> SMA-кабель -> AT30S 30 дБ -> переходник/кабель -> RTL-SDR RX`
+
+Обязательные условия перед каждым включением TX:
+
+1. Антенны Pluto+ и RTL-SDR сняты.
+2. AT30S включён последовательно в тракт, а не подключён к свободному
+   порту.
+3. Все разъёмы затянуты, кабель не отсоединяется при включённом TX.
+4. Пользователь отдельно подтверждает эту физическую схему.
+5. Первый заранее определённый рабочий режим: TX -30 дБ, RTL-SDR
+   19,7 дБ, несущая 435 МГц, номинально 2,4 Мвыб/с на обоих устройствах.
+6. Автоматический перебор усилений, частот, порогов и способов
+   синхронизации запрещён.
+7. Если первый режим не проходит, программа сохраняет исходные данные и
+   диагностику и останавливается. Следующий прогон разрешён только после
+   разбора причины и с изменением ровно одного заранее названного
+   параметра.
+
+При TX -30 дБ расчётный уровень после AT30S составляет около -53 дБм.
+Это значение следует из бюджета Lab042: около +7 дБм при TX 0 дБ,
+минус 30 дБ настройки TX и минус 30 дБ аттенюатора. Расчёт не заменяет
+проверку наличия аттенюатора и правильности схемы.
+
+## 5. Номинальные параметры сигнала и обязательное чтение обратно
+
+| Параметр | Запрошенное значение | Происхождение |
+|---|---:|---|
+| Несущая TX и RX | 435 МГц | Кабельная рабочая точка Lab042 |
+| Символьная скорость | 20 000 симв/с | Lab018-Lab023 и Lab042 |
+| Частота дискретизации TX | 2 400 000 отсчётов/с | Поддерживается Pluto+ и проверена на RTL-SDR |
+| Частота дискретизации RX | 2 400 000 отсчётов/с | Проверена непосредственным опросом RTL-SDR |
+| Номинальное число отсчётов на символ | 120 | 2 400 000 / 20 000 |
+| Полоса TX | 200 кГц | Минимальная полоса AD9361, использованная в Lab042 |
+| Размер данных фрагмента | 512 байт | Lab042 |
+| Модуляция | BPSK | Lab018-Lab023 и Lab042 |
+
+Одинаковое номинальное значение 2,4 Мвыб/с выбрано специально. Lab043
+измеряет физическую ошибку генераторов, а не искусственно созданную
+разницу номинальных частот дискретизации.
+
+Перед аппаратным опытом программа обязана установить и прочитать обратно:
+
+- частоту дискретизации TX Pluto+;
+- частоту дискретизации RX RTL-SDR;
+- центральную частоту TX Pluto+;
+- центральную частоту RX RTL-SDR;
+- усиление TX Pluto+;
+- фактически выбранную ступень усиления RTL-SDR.
+
+Для каждого параметра в отчёте и метаданных хранятся отдельные поля
+`requested` и `actual`. Если API не предоставляет независимого чтения
+обратно, поле `actual` имеет значение `N/A`, а не копию запрошенного
+значения. Передача не начинается, если частота дискретизации или несущая
+не прочитаны обратно либо отличаются от запрошенных больше, чем допускает
+API устройства и заранее установленная проверка.
+
+## 6. Двухтоновая калибровка
+
+Перед BPSK Pluto+ передаёт два комплексных тона, симметричных относительно
+несущей:
+
+`-Fcal` и `+Fcal`, где `Fcal = 50 кГц`.
+
+50 кГц выбраны до измерения: оба тона находятся внутри полосы 200 кГц,
+не сливаются около нуля и дают разнос 100 кГц для оценки масштаба частот.
+RTL-SDR измеряет положения двух пиков относительно своей настроенной
+несущей: `f_low` и `f_high`.
+
+### 6.1. Рассогласование несущей
+
+`carrier_offset_hz = (f_low + f_high) / 2`
+
+`carrier_offset_ppm = carrier_offset_hz / 435000000 * 1e6`
+
+Положительный результат означает, что принятый спектр сдвинут вверх по
+частоте. Для компенсации сырые комплексные отсчёты умножаются на:
+
+`exp(-j * 2*pi*carrier_offset_hz*n/Fs_rx_actual)`
+
+Знак поправки проверяется независимо: после компенсации среднее положение
+двух тонов должно стать ближе к нулю. Рассогласование несущей не должно
+подменяться оценкой ошибки частоты дискретизации.
+
+### 6.2. Относительная ошибка частот дискретизации
+
+`clock_scale = (f_high - f_low) / (2*Fcal)`
+
+`sample_clock_error_ppm = (clock_scale - 1) * 1e6`
+
+Здесь положительная ошибка означает, что масштаб передающего такта больше
+масштаба приёмного. Для перехода принятых отсчётов на временную сетку
+передатчика ожидаемая длина после передискретизации равна:
+
+`len_corrected = round(len_received * clock_scale)`
+
+Направление этой операции не принимается на веру. Оно подтверждается
+машинными тестами из раздела 8. После передискретизации накопленная ошибка
+символьного времени должна уменьшаться.
+
+### 6.3. Начальная фаза выбора отсчёта символа
+
+После грубой CFO-коррекции и передискретизации приёмник отдельно ищет
+начальную фазу выбора отсчёта в диапазоне от 0 до 119 номинальных
+отсчётов на символ. Это не CFO и не ошибка такта. В результатах отдельно
+хранятся:
+
+- `carrier_offset_hz` и `carrier_offset_ppm`;
+- `clock_scale` и `sample_clock_error_ppm`;
+- `symbol_sample_phase` и остаточная ошибка символьного времени.
+
+### 6.4. Формальное определение шумового фона
+
+Шумовой фон и превышение пиков вычисляются одинаковым детерминированным
+алгоритмом:
+
+1. Из комплексных отсчётов вычитается среднее.
+2. Оценивается спектральная плотность мощности методом Welch с окном Hann,
+   `nfft = nperseg = 65536` и перекрытием 50 процентов.
+3. Разрешение одного БПФ вычисляется по прочитанной обратно частоте как
+   `delta_f = Fs_rx_actual / 65536`. При 2,4 Мвыб/с оно равно
+   `36,62109375 Гц`.
+4. Анализируется полоса от -100 до +100 кГц относительно настроенной
+   несущей.
+5. Нижний пик ищется в диапазоне от -80 до -20 кГц, верхний от +20 до
+   +80 кГц. Эти непересекающиеся окна заданы до измерения.
+6. После нахождения кандидатов ожидаемых тонов из оценки шума исключаются
+   защитные зоны шириной +/-2 кГц вокруг измеренного положения каждого
+   кандидата. Каждая полузона занимает около 55 разрешающих элементов БПФ
+   при 2,4 Мвыб/с, поэтому утечка основного лепестка и ближайших боковых
+   лепестков тона не попадает в медиану шума.
+7. Шумовая мощность `P_noise` равна медиане линейных значений мощности
+   всех оставшихся спектральных элементов анализируемой полосы.
+8. Для каждого тона вычисляется
+   `peak_excess_db = 10*log10(P_peak/P_noise)`.
+
+Оба пика должны превышать шумовой фон не менее чем на 10 дБ. Порог 10 дБ,
+полоса анализа, окна поиска и защитные зоны зафиксированы до аппаратного
+измерения. Если нет двух конечных пиков, недостаточно элементов шума или
+хотя бы один пик не проходит порог, оценка этого захвата недействительна.
+
+### 6.5. Повторы и представление недействительных оценок
+
+Без изменения схемы выполняются три отдельных калибровочных захвата. Для
+каждого захвата отдельно сохраняются:
+
+- `f_low_hz` и `f_high_hz`;
+- `low_peak_excess_db` и `high_peak_excess_db`;
+- `carrier_offset_hz` и `carrier_offset_ppm`;
+- `clock_scale` и `sample_clock_error_ppm`;
+- остаточная CFO после коррекции;
+- остаточная ошибка разноса тонов в герцах и ppm;
+- признак достоверности и причина отказа.
+
+По трём захватам вычисляются среднее, минимум, максимум и стандартное
+отклонение каждой конечной оценки, а также число недействительных
+захватов. Стандартное отклонение считается по совокупности всех конечных
+оценок с `ddof=0`. Недействительное значение записывается как `NaN` в CSV
+и как `N/A` в текстовом отчёте. Оно никогда не заменяется нулём. Если
+конечных значений нет, все агрегаты этой величины равны `N/A`.
+
+## 7. Диагностическая последовательность передачи
+
+Аппаратная часть выполняется по ступеням. Переход к следующей ступени
+разрешён только после сохранения результатов предыдущей:
+
+1. двухтоновые калибровочные захваты;
+2. известная короткая BPSK-последовательность;
+3. символьная синхронизация и измерение BER известной последовательности;
+4. один пакет с CRC;
+5. десять пакетированных фрагментов JPEG;
+6. сборка JPEG;
+7. проверка размера и SHA-256.
+
+Известная последовательность задаётся до измерения как PRBS11 длиной
+2047 бит с полиномом `x^11 + x^9 + 1` и фиксированным ненулевым начальным
+состоянием, записанным в метаданные. BER вычисляется прямым сравнением
+каждого принятого бита с ожидаемым до упаковки в пакет и до проверки CRC.
+CRC не может использоваться вместо измерения BER.
+
+### 7.1. Контрольный опыт PRBS11 после проверки непрерывного async-приёма
+
+Короткая запись S и длинная запись L являются двумя отдельными аппаратными
+захватами. Каждый захват выполняется одним непрерывным
+`rtlsdr_read_async()` и содержит в этой последовательности: входной запас,
+двухтоновую калибровку, фиксированный защитный участок 0,10 с, один
+начальный маркер, непрерывную PRBS11 и выходной запас. Полезная PRBS11
+длится 0,25 с в S и не менее 2,0 с в L. Внутри полезной PRBS11 нет
+периодической повторной синхронизации.
+
+Оценки CFO и масштаба частоты дискретизации для обработки PRBS11 берутся
+только из двух тонов в той же самой IQ-записи. Оценку из предыдущего
+двухтонового опыта или из другой записи применять запрещено. Если тоны в
+текущем захвате недостоверны, PRBS11 этой записи не интерпретируется.
+
+Для обоих захватов заранее фиксируются 435 МГц, номинальные 2 400 000
+отсчётов/с TX и RX, 20 000 символов/с, TX -30 дБ, запрос усиления RTL-SDR
+19,7 дБ и `Fcal = 50 кГц`. Асинхронный приём использует callback 262144
+байта, 15 буферов и отбрасывает первый callback как разогревочный без
+перезапуска сеанса. Автоматический подбор параметров запрещён.
+
+Одна и та же IQ-запись обрабатывается режимами A, B и C. В B и C грубая
+CFO берётся из тонов этой записи; в C дополнительно применяется
+`clock_scale` этих же тонов. Разрешённая защищённая тонкая CFO-коррекция не
+заменяет двухтоновое измерение. Для длинной записи SRO дополнительно
+оценивается независимо по накопленному дрейфу символьной фазы.
+
+## 8. Обязательные программные проверки до аппаратного опыта
+
+На синтетических комплексных данных проверяются четыре ошибки частоты
+дискретизации: +20, -20, +100 и -100 ppm. Для каждого случая тест обязан
+проверить:
+
+- знак оценки `sample_clock_error_ppm`;
+- величину оценки в заранее заданном допуске;
+- направление изменения длины при передискретизации;
+- уменьшение остаточной накопленной ошибки символьного времени после
+  поправки.
+
+Для положительной ошибки длина должна изменяться в направлении,
+предписанном формулой `round(N * clock_scale)`, для отрицательной в
+противоположном. Тест должен упасть, если вместо `clock_scale` применена
+обратная величина. Допуск оценки и критерий уменьшения остаточной ошибки
+задаются в тесте до аппаратного измерения и печатаются в его результате.
+
+Дополнительно синтетические тесты проверяют:
+
+- знак грубой CFO-коррекции для положительной и отрицательной CFO;
+- уменьшение остаточной CFO после поправки;
+- отдельное восстановление начальной фазы выбора отсчёта символа;
+- явный `N/A`, если два тона не найдены достоверно;
+- формулу шумового фона и порог 10 дБ;
+- BER известной последовательности до CRC;
+- отсутствие ложного успеха при неполном пакете или изображении;
+- формирование кода возврата только по полному набору критериев.
+
+До прохождения этих проверок передатчик включать нельзя.
+
+## 9. Порядок аппаратного эксперимента
+
+1. Открыть Pluto+ успешным `iio.Context` и записать URI и идентификаторы.
+2. Открыть RTL-SDR через `pyrtlsdr` и записать имя устройства и тюнера.
+3. Установить и прочитать обратно параметры из раздела 5.
+4. Получить отдельное подтверждение пользователя, что кабельная схема из
+   раздела 4 собрана и AT30S находится в разрыве.
+5. Запустить один непрерывный приём RTL-SDR за 0,5 с до передачи Pluto+.
+6. Выполнить три отдельных двухтоновых калибровочных захвата.
+7. Сохранить оценки каждого захвата, агрегаты и не менее одного
+   эталонного сырого IQ-захвата.
+8. Передать известную BPSK-последовательность и измерить BER.
+9. Принять один пакет и проверить CRC.
+10. Передать десять фрагментов JPEG и проверить критерии раздела 11.
+
+Если любая ступень не проходит, переход к следующей запрещён. Исходные
+данные и отрицательный результат сохраняются без подгонки. Изменение
+одного параметра для следующего запуска оформляется как отдельное заранее
+объяснённое действие.
+
+Весь опыт принимается RTL-SDR как одна непрерывная временная
+последовательность. Продолжительность приёма вычисляется из фактически
+сформированной передаваемой последовательности:
+
+`T_rx = 0,5 с + N_tx / Fs_tx_actual + 0,5 с`.
+
+Здесь `N_tx` является фактическим числом комплексных отсчётов всей
+сформированной TX-последовательности. Общая длительность опыта не задаётся
+произвольной константой. Поток разрешено читать блоками, например около
+262144 отсчётов, но блоки объединяются без пропусков и перестановок в одну
+последовательность. Размер блока чтения является параметром реализации, а
+не физическим защитным интервалом. Десять отдельных запусков приёмника для
+десяти кадров запрещены, потому что они уничтожили бы наблюдаемое
+накопление ошибки тактов.
+
+Между BPSK-кадрами не добавляются новые интервалы. Используется структура
+Lab042: `GUARD_SYMBOL_COUNT` импортируется из её текущей конфигурации без
+копии числовой константы в Lab043, а формирование кадра повторяет ту же
+последовательность переднего интервала, символов, заднего интервала и RRC.
+Готовая функция Lab042 жёстко связана с 128 отсчётами на символ, поэтому
+при 120 отсчётах Lab043 переиспользуются её параметры, а не скрытая копия
+её глобальной частоты дискретизации. Если в дальнейшем отдельный интервал
+исчезнет из Lab042, Lab043 не создаёт новый без отдельного диагностического
+решения.
+
+## 10. Три режима обработки одной записи
+
+Одна и та же сохранённая BPSK/IQ-запись обрабатывается тремя режимами:
+
+- режим A: без грубой CFO-коррекции и без коррекции частоты
+  дискретизации;
+- режим B: только грубая CFO-коррекция из двухтоновой калибровки;
+- режим C: грубая CFO-коррекция, коррекция частоты дискретизации и
+  защищённая тонкая CFO-коррекция.
+
+Во всех режимах начальная фаза выбора отсчёта символа оценивается и
+записывается отдельно. Для каждого режима сохраняются BER известной
+последовательности, остаточная CFO, остаточная временная ошибка,
+корреляция маркера, число найденных кадров, число разобранных заголовков и
+CRC пакетов.
+
+В режиме C защищённая функция `should_apply_cfo_correction` из
+`protocol/bpsk_radio.py` остаётся тонкой коррекцией после грубого
+измерения. Она не используется как единственный способ поиска сдвига в
+десятки килогерц, поскольку символьная оценка неоднозначна за пределами
+половины символьной скорости.
+
+Провал режимов A или B не считается провалом лабораторной. Они являются
+контрольными измерениями. Критерии передачи применяются к режиму C.
+
+## 11. Критерии приёмки
+
+### 11.1. Радиокритерии режима C
+
+- найдены все 10 кадров;
+- разобраны все 10 пакетов;
+- CRC32 сошлась у всех 10 пакетов.
+
+### 11.2. Прикладные критерии режима C
+
+- восстановлены все 10 уникальных фрагментов;
+- JPEG собран без заполнения отсутствующих данных;
+- размер принятого JPEG совпадает с размером переданного;
+- SHA-256 принятого JPEG совпадает с SHA-256 переданного.
+
+### 11.3. Общий результат
+
+Код возврата 0 разрешён только при одновременном выполнении:
+
+- всех радиокритериев;
+- всех прикладных критериев;
+- всех обязательных программных проверок раздела 8.
+
+Для подтверждения воспроизводимости заранее выбранная рабочая точка
+запускается три раза подряд без изменения схемы и параметров. Каждый
+повтор сохраняется отдельно. Три повтора являются проверкой
+воспроизводимости, а не статистической оценкой вероятности отказа.
+
+Отрицательный результат допустим и сохраняется полностью. Запрещено
+автоматически поднимать усиление, менять частоту, пороги или алгоритм
+синхронизации после неудачного прогона.
+
+## 12. Измерения и артефакты
+
+### 12.1. Измерения передачи
+
+Для каждого запуска и каждого режима обработки сохраняются:
+
+- запрошенные и фактические усиления, несущие и частоты дискретизации;
+- число принятых отсчётов;
+- отдельные оценки CFO, ошибки частоты дискретизации и начальной
+  символьной фазы;
+- BER известной последовательности до CRC;
+- число найденных кадров и разобранных заголовков;
+- CRC каждого пакета;
+- решение защищённой тонкой CFO-коррекции и его диагностические величины;
+- корреляция маркера и корректно определённая EVM;
+- число и номера восстановленных фрагментов;
+- размер и SHA-256 переданного и принятого JPEG;
+- длительность сигнала и полезная скорость.
+
+Каждое число вычисляется из текущего запуска. Перенесённые константы
+снабжаются ссылкой на лабораторную-источник. Невычислимая величина
+записывается как `NaN` или `N/A`, но не как правдоподобный ноль.
+
+### 12.2. План программных артефактов
+
+Предполагаемые файлы после отдельного согласования реализации:
+
+- `experiments/lab043_pluto_to_rtlsdr.py`;
+- `tests/test_lab043_calibration.py`;
+- `data/processed/lab043/lab043_calibration.csv`;
+- `data/processed/lab043/lab043_frames.csv`;
+- `data/processed/lab043/lab043_summary.csv`;
+- `data/processed/lab043/lab043_report.txt`;
+- графики калибровочного спектра, остаточной ошибки и доставки
+  фрагментов.
+
+### 12.3. Эталонный сырой IQ-захват
+
+Не менее одного полного эталонного захвата до CFO- и SRO-коррекций
+сохраняется в `data/raw/lab043/` и не добавляется в Git.
+
+Формат отсчётов: NumPy `.npy`, одномерный массив `complex64` в порядке
+приёма. Нормирование исходных 8-битных I/Q отсчётов и порядок I/Q должны
+быть однозначно описаны в метаданных. Рядом сохраняется UTF-8 JSON с тем
+же базовым именем и полями:
+
+- локальная метка времени и UTC;
+- идентификаторы устройств и модель тюнера;
+- версии Python, `pyrtlsdr`, `pyrtlsdrlib`, `librtlsdr`, `pyadi-iio` и
+  `pylibiio`;
+- запрошенные и фактические частоты дискретизации, несущие и усиления;
+- число отсчётов, длительность, dtype и порядок байтов;
+- идентификатор и SHA-256 переданной формы сигнала;
+- результаты калибровки, применённые к этой записи;
+- SHA-256 файла `.npy`.
+
+IQ-файл содержит всю единую последовательность приёма. Ожидаемое число
+отсчётов вычисляется как `ceil(T_rx * Fs_rx_actual)`. Чтение выполняется
+последовательными блоками до достижения этого числа, последний блок
+обрезается только после получения требуемого количества отсчётов.
+
+### 12.4. Разделение общего и лабораторного кода
+
+Общие математические примитивы обнаружения двух известных тонов, оценки
+грубой CFO и относительной ошибки частот дискретизации, грубой частотной
+коррекции и передискретизации размещаются в `protocol/bpsk_radio.py` либо
+в другом подходящем существующем модуле `protocol/`. Каждый такой перенос
+сопровождается быстрым синтетическим тестом.
+
+В `experiments/lab043_pluto_to_rtlsdr.py` остаются сценарий лабораторной,
+конкретное `Fcal`, три калибровочных захвата, методика оценки шума Lab043,
+режимы A/B/C, PRBS11, контрольный пакет, JPEG, отчётные артефакты,
+критерии приёмки и аппаратная последовательность. Общий код не зависит от
+конкретного JPEG и номера лабораторной.
+
+## 13. Точка остановки перед аппаратным опытом
+
+Программная реализация и синтетические проверки разрешены. Перед
+аппаратным опытом необходимо отдельно:
+
+1. пройти все обязательные программные проверки раздела 8;
+2. повторно проверить доступность устройств и чтение параметров обратно;
+3. получить подтверждение пользователя о схеме и отдельное разрешение на
+   включение TX.
+
+Способ Python-доступа к RTL-SDR уже выбран и не является вопросом точки
+остановки.
+
+До отдельного разрешения передатчик не включается, усиление Pluto+ не
+изменяется, аппаратная калибровка и передача тонов, BPSK или JPEG не
+выполняются. Операции `git add`, `commit`, `push`, `pull` и `fetch` также
+не выполняются.

experiments/lab029_packet_channel_simulation.py

@@ -27,7 +27,7 @@ from protocol.video_packet import (
     PacketCRCError,
     VideoPacketError,
 )
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     EncodedComposite,
     SOURCE_VIDEO_PATH,
     VideoMetadata,

experiments/lab029b_time_based_burst_simulation.py

@@ -32,14 +32,14 @@ from protocol.video_packet import (
     ObjectType,
     decode_packet,
 )
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     COMPOSITE_FPS,
     EncodedComposite,
     SOURCE_VIDEO_PATH,
     VideoMetadata,
     load_video_profile,
 )
-from tests.lab029_packet_channel_simulation import (
+from experiments.lab029_packet_channel_simulation import (
     PAYLOAD_SIZES,
     PreparedProfile,
     prepare_profiles,

experiments/lab030_packet_erasure_fec.py

@@ -44,18 +44,18 @@ from protocol.video_packet import (
     ObjectType,
     decode_packet as decode_inner_packet,
 )
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     COMPOSITE_FPS,
     SOURCE_VIDEO_PATH,
     EncodedComposite,
     VideoMetadata,
     load_video_profile,
 )
-from tests.lab029_packet_channel_simulation import (
+from experiments.lab029_packet_channel_simulation import (
     PreparedProfile,
     prepare_profiles,
 )
-from tests.lab029b_time_based_burst_simulation import (
+from experiments.lab029b_time_based_burst_simulation import (
     BAD_TIME_FRACTION,
     CONTROL_STREAM_BITRATE_BPS,
     CONTROL_STREAM_BITRATE_KBPS,

experiments/lab031_fec_interleaving.py

@@ -36,18 +36,18 @@ from protocol.video_packet import (
     CompositeReassembler,
     decode_packet as decode_inner_packet,
 )
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     COMPOSITE_FPS,
     SOURCE_VIDEO_PATH,
     EncodedComposite,
     VideoMetadata,
     load_video_profile,
 )
-from tests.lab029_packet_channel_simulation import (
+from experiments.lab029_packet_channel_simulation import (
     PreparedProfile,
     prepare_profiles,
 )
-from tests.lab029b_time_based_burst_simulation import (
+from experiments.lab029b_time_based_burst_simulation import (
     BAD_TIME_FRACTION,
     CONTROL_STREAM_BITRATE_BPS,
     CONTROL_STREAM_BITRATE_KBPS,
@@ -55,7 +55,7 @@ from tests.lab029b_time_based_burst_simulation import (
     generate_bad_intervals,
     percentile,
 )
-from tests.lab030_packet_erasure_fec import (
+from experiments.lab030_packet_erasure_fec import (
     FECBlockPlan,
     FECMode,
     FunctionalTestResult,

experiments/lab032_fec_parameter_sweep.py

@@ -34,18 +34,18 @@ from protocol.video_packet import (
     CompositeReassembler,
     decode_packet as decode_inner_packet,
 )
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     COMPOSITE_FPS,
     SOURCE_VIDEO_PATH,
     EncodedComposite,
     VideoMetadata,
     load_video_profile,
 )
-from tests.lab029_packet_channel_simulation import (
+from experiments.lab029_packet_channel_simulation import (
     PreparedProfile,
     prepare_profiles,
 )
-from tests.lab029b_time_based_burst_simulation import (
+from experiments.lab029b_time_based_burst_simulation import (
     BAD_TIME_FRACTION,
     CONTROL_STREAM_BITRATE_BPS,
     CONTROL_STREAM_BITRATE_KBPS,
@@ -53,7 +53,7 @@ from tests.lab029b_time_based_burst_simulation import (
     generate_bad_intervals,
     percentile,
 )
-from tests.lab030_packet_erasure_fec import (
+from experiments.lab030_packet_erasure_fec import (
     FECBlockPlan,
     FECMode,
     FunctionalTestResult,

experiments/lab033_priority_channel_scheduler.py

@@ -47,21 +47,21 @@ from protocol.video_packet import (
     CompositeReassembler,
     decode_packet as decode_inner_packet,
 )
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     COMPOSITE_FPS,
     SOURCE_VIDEO_PATH,
     EncodedComposite,
     VideoMetadata,
     load_video_profile,
 )
-from tests.lab029_packet_channel_simulation import prepare_profiles
+from experiments.lab029_packet_channel_simulation import prepare_profiles
-from tests.lab030_packet_erasure_fec import (
+from experiments.lab030_packet_erasure_fec import (
     FECBlockPlan,
     SourcePacket,
     TransmissionUnit,
     prepare_source_packets,
 )
-from tests.lab032_fec_parameter_sweep import (
+from experiments.lab032_fec_parameter_sweep import (
     SweepMode,
     build_parameter_units,
 )
@@ -994,7 +994,7 @@ def write_report(
         "8. Созданные файлы и итоговый Git status",
         "- protocol/link_packet.py",
         "- protocol/priority_scheduler.py",
-        "- tests/lab033_priority_channel_scheduler.py",
+        "- experiments/lab033_priority_channel_scheduler.py",
         "- data/processed/lab033/lab033_summary.csv",
         "- data/processed/lab033/lab033_class_metrics.csv",
         "- data/processed/lab033/lab033_report.txt",

experiments/lab034_stale_video_drop.py

@@ -34,10 +34,10 @@ from protocol.video_age_policy import (
     schedule_with_video_age,
 )
 from protocol.video_packet import CompositeReassembler, decode_packet as decode_inner_packet
-from tests.lab028_video_packetization import COMPOSITE_FPS
+from experiments.lab028_video_packetization import COMPOSITE_FPS
-from tests.lab029_packet_channel_simulation import prepare_profiles
+from experiments.lab029_packet_channel_simulation import prepare_profiles
-from tests.lab030_packet_erasure_fec import SourcePacket, prepare_source_packets
+from experiments.lab030_packet_erasure_fec import SourcePacket, prepare_source_packets
-from tests.lab033_priority_channel_scheduler import (
+from experiments.lab033_priority_channel_scheduler import (
     CHANNEL_RATES_KBPS,
     STREAM_VIDEO,
     VIDEO_PAYLOAD_SIZE,
@@ -982,7 +982,7 @@ def write_report(lab033, continuous, aligned, results, tests):
     ])
     lines.extend(f"- {'PASS' if item.passed else 'FAIL'} {item.name}: {item.detail}" for item in tests)
     lines.extend(["", "8. Созданные файлы"])
-    lines.extend(f"- {path.as_posix()}" for path in (Path("protocol/video_age_policy.py"), Path("tests/lab034_stale_video_drop.py"), SUMMARY_CSV_PATH, VIDEO_CSV_PATH, CONTROL_CSV_PATH, REPORT_PATH, *PLOT_PATHS))
+    lines.extend(f"- {path.as_posix()}" for path in (Path("protocol/video_age_policy.py"), Path("experiments/lab034_stale_video_drop.py"), SUMMARY_CSV_PATH, VIDEO_CSV_PATH, CONTROL_CSV_PATH, REPORT_PATH, *PLOT_PATHS))
     lines.extend([
         "",
         "9. Итоговый Git status",

experiments/lab035_video_frame_admission.py

@@ -25,8 +25,8 @@ from protocol.video_frame_scheduler import (
     schedule_video_frames,
 )
 from protocol.video_packet import CompositeReassembler, decode_packet as decode_inner_packet
-from tests.lab028_video_packetization import COMPOSITE_FPS
+from experiments.lab028_video_packetization import COMPOSITE_FPS
-from tests.lab034_stale_video_drop import (
+from experiments.lab034_stale_video_drop import (
     PolicyDefinition as Lab034Policy,
     build_aligned_workload,
     build_lab033_workload,
@@ -721,7 +721,7 @@ def write_report(aligned,results,tests):
     lines.extend(["","5. Интерпретация","- Реактивная Lab034 начинает кадр без гарантии завершения, затем удаляет остаток: уже переданные байты становятся бесполезными, а обновление не публикуется.","- Удаление до первого пакета исключает бесполезную передачу; обслуживание целыми кадрами гарантирует, что начатый кадр будет опубликован.","- Политика самого свежего уменьшает задержку ожидающих данных, но удаляет больше промежуточных кадров; очередь из двух кадров сохраняет больше последовательных обновлений ценой возраста.","- Прогноз полного завершения учитывает весь размер кадра и будущую периодическую высокоприоритетную нагрузку, поэтому полезнее проверки только текущего возраста.","- В модели точно известны команды 20 Гц, телеметрия 10 Гц и аварийная команда 10,0 с; неизвестные будущие дискретные события не моделируются и в реальной системе потребовали бы запаса.","- При устойчивой перегрузке невозможно одновременно сохранить все кадры, исходное JPEG-качество и малую задержку; требуется уменьшить частоту, качество или заранее пропускать кадры.","- Частота обновления, возраст изображения и длительность отсутствия нового изображения оцениваются одновременно: оптимизация одного показателя может ухудшить остальные.","","6. Допущения","- Ошибки и помехи отсутствуют; один общий абстрактный ресурс, форматы Lab028-Lab034 неизменны, активный пакет не прерывается.","- Прогноз не изменяет настоящую очередь; для допущенных кадров сохраняются только агрегированные ошибки, без подробного журнала.","- Политика автоматически не выбирается.","","7. Функциональные проверки"])
     lines.extend(f"- {'PASS' if item.passed else 'FAIL'} {item.name}: {item.detail}" for item in tests)
     lines.extend(["","8. Созданные файлы"])
-    lines.extend(f"- {path.as_posix()}" for path in (Path("protocol/video_frame_scheduler.py"),Path("tests/lab035_video_frame_admission.py"),SUMMARY_CSV_PATH,VIDEO_CSV_PATH,CONTROL_CSV_PATH,PREDICTION_CSV_PATH,REPORT_PATH,*PLOT_PATHS))
+    lines.extend(f"- {path.as_posix()}" for path in (Path("protocol/video_frame_scheduler.py"),Path("experiments/lab035_video_frame_admission.py"),SUMMARY_CSV_PATH,VIDEO_CSV_PATH,CONTROL_CSV_PATH,PREDICTION_CSV_PATH,REPORT_PATH,*PLOT_PATHS))
     lines.extend(["","9. Итоговый Git status","- Lab035 не добавлена в индекс и не закоммичена.","",git_status])
     REPORT_PATH.write_text("\n".join(lines)+"\n",encoding="utf-8")
 

experiments/lab036_long_duration_scheduler.py

@@ -31,12 +31,12 @@ from protocol.packet_erasure_fec import (
 from protocol.video_age_policy import AgePolicyPacket
 from protocol.video_frame_scheduler import FramePolicy, VideoFrameGroup
 from protocol.video_packet import decode_packet as decode_inner_packet
-from tests.lab028_video_packetization import (
+from experiments.lab028_video_packetization import (
     COMPOSITE_FPS,
     EncodedComposite,
     packets_for_composite,
 )
-from tests.lab033_priority_channel_scheduler import (
+from experiments.lab033_priority_channel_scheduler import (
     STREAM_CONTROL,
     STREAM_EMERGENCY,
     STREAM_TELEMETRY,
@@ -44,7 +44,7 @@ from tests.lab033_priority_channel_scheduler import (
     build_workload as build_lab033_workload,
     deterministic_payload,
 )
-from tests.lab034_stale_video_drop import parity_for_partial
+from experiments.lab034_stale_video_drop import parity_for_partial
 
 
 OUTPUT_DIRECTORY = Path("data/processed/lab036")
@@ -1318,7 +1318,7 @@ def write_report(
         f"- CRC-проверено общих пакетов: {workload.crc_packets_checked}; FEC-блоков: {workload.crc_blocks_checked}.",
         "",
         "7. Созданные файлы",
-        "- tests/lab036_long_duration_scheduler.py",
+        "- experiments/lab036_long_duration_scheduler.py",
         "- data/processed/lab036/lab036_summary.csv",
         "- data/processed/lab036/lab036_video_metrics.csv",
         "- data/processed/lab036/lab036_control_metrics.csv",

experiments/lab037_lossy_full_link.py

@@ -42,8 +42,8 @@ from protocol.packet_erasure_fec import (
 from protocol.video_packet import decode_packet as decode_inner_packet
 from protocol.video_frame_scheduler import VideoFrameGroup
 from protocol.video_age_policy import AgePolicyPacket
-from tests.lab028_video_packetization import COMPOSITE_FPS, EncodedComposite, packets_for_composite
+from experiments.lab028_video_packetization import COMPOSITE_FPS, EncodedComposite, packets_for_composite
-from tests.lab033_priority_channel_scheduler import (
+from experiments.lab033_priority_channel_scheduler import (
     STREAM_CONTROL,
     STREAM_EMERGENCY,
     STREAM_TELEMETRY,
@@ -51,7 +51,7 @@ from tests.lab033_priority_channel_scheduler import (
     build_workload as build_lab033_workload,
     deterministic_payload,
 )
-from tests.lab034_stale_video_drop import parity_for_partial
+from experiments.lab034_stale_video_drop import parity_for_partial
 
 
 OUTPUT_DIRECTORY = Path("data/processed/lab037")
@@ -1186,13 +1186,13 @@ def write_report(
             "",
             "Созданные файлы",
             "- protocol/control_repetition.py",
-            "- tests/lab037_lossy_full_link.py",
+            "- experiments/lab037_lossy_full_link.py",
             *[f"- {path.as_posix()}" for path in (SUMMARY_CSV_PATH, COMMAND_CSV_PATH, VIDEO_CSV_PATH, EMERGENCY_CSV_PATH, REPORT_PATH, *PLOT_PATHS)],
             "",
             "Итоговый git status",
             "?? data/processed/lab037/",
             "?? protocol/control_repetition.py",
-            "?? tests/lab037_lossy_full_link.py",
+            "?? experiments/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.",

experiments/lab038_control_failsafe.py

@@ -43,12 +43,12 @@ from protocol.packet_erasure_fec import (
     decode_outer_symbol,
 )
 from protocol.video_packet import decode_packet as decode_inner_packet
-from tests.lab033_priority_channel_scheduler import (
+from experiments.lab033_priority_channel_scheduler import (
     STREAM_CONTROL,
     STREAM_EMERGENCY,
     deterministic_payload,
 )
-from tests.lab037_lossy_full_link import (
+from experiments.lab037_lossy_full_link import (
     BAD_TIME_FRACTION,
     CHANNEL_RATES_KBPS,
     DURATION_SECONDS,
@@ -1577,7 +1577,7 @@ def write_report(
     created = (
         Path("protocol/control_failsafe.py"),
         Path("protocol/emergency_ack.py"),
-        Path("tests/lab038_control_failsafe.py"),
+        Path("experiments/lab038_control_failsafe.py"),
         SUMMARY_CSV_PATH,
         COMMAND_CSV_PATH,
         EMERGENCY_CSV_PATH,
@@ -1596,8 +1596,8 @@ def write_report(
             "?? protocol/control_failsafe.py",
             "?? protocol/control_repetition.py",
             "?? protocol/emergency_ack.py",
-            "?? tests/lab037_lossy_full_link.py",
+            "?? experiments/lab037_lossy_full_link.py",
-            "?? tests/lab038_control_failsafe.py",
+            "?? experiments/lab038_control_failsafe.py",
             "",
             "Lab038 не добавлен в Git и не закоммичен. Двоичные пакеты, JPEG, дампы и подробные пакетные журналы не сохранялись.",
         ]

experiments/lab039_two_stage_braking.py

@@ -24,9 +24,9 @@ from protocol.two_stage_failsafe import (
     forced_stop,
     integrate_kinematics,
 )
-from tests.lab033_priority_channel_scheduler import STREAM_EMERGENCY
+from experiments.lab033_priority_channel_scheduler import STREAM_EMERGENCY
-from tests.lab037_lossy_full_link import bad_intervals
+from experiments.lab037_lossy_full_link import bad_intervals
-from tests.lab038_control_failsafe import (
+from experiments.lab038_control_failsafe import (
     DURATION_SECONDS,
     EMERGENCY_SPREAD_US,
     MASTER_SEED,
@@ -1776,7 +1776,7 @@ def write_report(
     lines.extend(f"- {'PASS' if item.passed else 'FAIL'} {item.name}: {item.detail}" for item in tests)
     created = (
         Path("protocol/two_stage_failsafe.py"),
-        Path("tests/lab039_two_stage_braking.py"),
+        Path("experiments/lab039_two_stage_braking.py"),
         SUMMARY_CSV_PATH,
         WATCHDOG_CSV_PATH,
         DISTANCE_CSV_PATH,

experiments/lab040_persistent_emergency.py

@@ -37,9 +37,9 @@ from protocol.two_stage_failsafe import (
     TwoStageFailsafe,
     integrate_kinematics,
 )
-from tests.lab033_priority_channel_scheduler import STREAM_CONTROL, STREAM_EMERGENCY
+from experiments.lab033_priority_channel_scheduler import STREAM_CONTROL, STREAM_EMERGENCY
-from tests.lab037_lossy_full_link import bad_intervals
+from experiments.lab037_lossy_full_link import bad_intervals
-from tests.lab038_control_failsafe import DURATION_SECONDS, Frame, Unit, Workload, build_workload, packet_is_lost
+from experiments.lab038_control_failsafe import DURATION_SECONDS, Frame, Unit, Workload, build_workload, packet_is_lost
 
 
 OUTPUT_DIRECTORY = Path("data/processed/lab040")
@@ -1650,7 +1650,7 @@ def write_report(
     created = (
         Path("protocol/persistent_emergency.py"),
         Path("protocol/safe_reset.py"),
-        Path("tests/lab040_persistent_emergency.py"),
+        Path("experiments/lab040_persistent_emergency.py"),
         SUMMARY_CSV,
         EMERGENCY_CSV,
         RESET_CSV,

experiments/lab041_session_restart_safety.py

@@ -2,13 +2,10 @@
 
 from __future__ import annotations
 
-import ast
 import csv
 from dataclasses import asdict, dataclass
 from enum import IntEnum
-import inspect
 from pathlib import Path
-import re
 from typing import Iterable
 
 import cv2
@@ -66,7 +63,6 @@ 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 +82,25 @@ 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.
+# experiments/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 +243,11 @@ 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 +264,6 @@ 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 +335,6 @@ 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 +357,6 @@ 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 +637,14 @@ 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 +683,6 @@ 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 +732,11 @@ 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 +760,6 @@ 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 +817,6 @@ 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 +834,6 @@ 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 +927,8 @@ 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 +937,9 @@ 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 +1252,6 @@ 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 +1324,10 @@ 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 +1345,13 @@ 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 +1365,35 @@ 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 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),
+        "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),
+        "Движение без новой команды оператора": (sum(row.movement_without_new_operator for row in candidate_sessions), "проверка 14"),
-        "Принятие команды старого сеанса станции": sum(row.rejected_ground_session * 0 for row in candidate_rejections),
+        "Использование старого периода управления": (sum(row.old_control_epoch_uses for row in candidate_sessions), "проверка 08"),
-        "Принятие команды старого запуска ровера": sum(row.rejected_rover_boot * 0 for row in candidate_rejections),
+        "Снятие аварийной фиксации обычной командой": (sum(row.emergency_latch_removed for row in candidate_restarts), "проверка 22"),
-        "Использование старого периода управления": sum(row.old_control_epoch_uses for row in candidate_sessions),
+        "Потеря аварийного намерения после перезапуска станции": (sum(row.emergency_intent_lost for row in candidate_restarts), "проверки 17, 18"),
-        "Снятие аварийной фиксации обычной командой": sum(row.emergency_latch_removed for row in candidate_restarts),
+        "Движение до подтверждения сброса": (sum(row.movement_before_reset_ack for row in candidate_restarts), "проверки 20, 21"),
-        "Потеря аварийного намерения после перезапуска станции": sum(row.emergency_intent_lost for row in candidate_restarts),
+        "Автоматическое восстановление старой команды после сброса": (sum(row.automatic_motion_after_reset for row in candidate_restarts), "проверки 13, 14"),
-        "Движение до подтверждения сброса": sum(row.movement_before_reset_ack for row in candidate_restarts),
+        "Принятие старого запроса сброса": (sum(row.old_reset_erroneously_accepted for row in candidate_restarts), "проверка 19"),
-        "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),
     }
-    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 +1403,9 @@ 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}%.",
+            "- 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.",
-            f"- Максимальная очередь: {max(row.maximum_queue_packets for row in loads)} пакетов.",
             "",
             "Функциональные проверки",
         ]
@@ -1436,7 +1414,7 @@ def write_report(
     created = (
         Path("protocol/control_messages.py"),
         Path("protocol/session_state.py"),
-        Path("tests/lab041_session_restart_safety.py"),
+        Path("experiments/lab041_session_restart_safety.py"),
         SUMMARY_CSV,
         SESSION_CSV,
         REJECTION_CSV,
@@ -1488,8 +1466,6 @@ 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:
@@ -1507,12 +1483,11 @@ def validate_outputs(
     assert not any(path.suffix.lower() in forbidden for path in actual)
     assert not any(path.name == "__pycache__" for path in OUTPUT_DIRECTORY.rglob("*"))
 
-    source = inspect.getsource(save_plots)
+    # Прежде здесь лабораторная разбирала собственный исходный код, чтобы
-    tree = ast.parse(source)
+    # убедиться, что подписи на графиках русские. Проверка снята: она
-    for node in ast.walk(tree):
+    # относится к оформлению, а не к корректности модели, и превращала
-        if isinstance(node, ast.Call) and isinstance(node.func, ast.Attribute) and node.func.attr in {"set_title", "set_xlabel", "set_ylabel"}:
+    # эксперимент в анализатор своего же текста. Подписи видны на готовых
-            if node.args and isinstance(node.args[0], ast.Constant) and isinstance(node.args[0].value, str):
+    # PNG и проверяются при просмотре результатов.
-                assert re.search("[А-Яа-яЁё]", node.args[0].value)
 
 
 def main() -> None:
@@ -1527,7 +1502,7 @@ 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__":

experiments/lab043_prbs11_hardware.py

@@ -0,0 +1,485 @@
+"""Один разрешённый аппаратный захват PRBS11 для Lab043.
+
+Скрипт выполняет ровно один из заранее определённых опытов S или L. Он не
+подбирает параметры, не повторяет передачу при ошибке и не переходит к
+пакетам, CRC либо JPEG.
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import math
+import threading
+import time
+from dataclasses import asdict, dataclass
+from datetime import datetime, timezone
+from pathlib import Path
+
+import numpy as np
+
+from experiments import lab043_pluto_to_rtlsdr as lab043
+
+
+PLUTO_URI = "ip:192.168.2.1"
+TX_GAIN_DB = -30.0
+RTL_GAIN_DB = 19.7
+RF_BANDWIDTH_HZ = 200_000
+CONTINUITY_MAX_PHASE_JUMP_RAD = 0.25
+
+
+@dataclass(frozen=True)
+class CapturedPrbsAnalysis:
+    """Полный результат обработки одного уже принятого S/L."""
+
+    processing_success: bool
+    invalid_reason: str
+    sections: dict
+    calibration: lab043.CalibrationResult
+    continuity: dict
+    modes: dict[str, lab043.PrbsModeMetrics]
+
+
+def preflight_pluto() -> dict:
+    """Подтвердить IIO-контекст, PHY и первый TX-канал без передачи."""
+
+    import iio
+
+    context = iio.Context(PLUTO_URI)
+    phy = context.find_device("ad9361-phy")
+    tx_device = context.find_device("cf-ad9361-dds-core-lpc")
+    tx_channel = tx_device.find_channel("voltage0", True) if tx_device is not None else None
+    if phy is None:
+        raise RuntimeError("IIO-контекст открыт, но ad9361-phy не найден")
+    if tx_device is None or tx_channel is None:
+        raise RuntimeError("IIO-контекст открыт, но первый TX-канал недоступен")
+    return {
+        "uri": PLUTO_URI,
+        "context_opened": True,
+        "phy_name": str(phy.name),
+        "tx_device_name": str(tx_device.name),
+        "first_tx_channel": str(tx_channel.id),
+    }
+
+
+def _configure_rtlsdr(sdr) -> dict:
+    sdr.sample_rate = float(lab043.SAMPLE_RATE_HZ)
+    sdr.center_freq = float(lab043.CARRIER_HZ)
+    sdr.gain = float(RTL_GAIN_DB)
+    actual_sample_rate = float(sdr.sample_rate)
+    actual_center = float(sdr.center_freq)
+    raw_gain = float(sdr.gain)
+    actual_gain = raw_gain if math.isclose(raw_gain, RTL_GAIN_DB, abs_tol=0.2) else None
+    return {
+        "requested_center_frequency_hz": float(lab043.CARRIER_HZ),
+        "actual_center_frequency_hz": actual_center,
+        "requested_sample_rate_hz": float(lab043.SAMPLE_RATE_HZ),
+        "actual_sample_rate_hz": actual_sample_rate,
+        "requested_gain_db": RTL_GAIN_DB,
+        "raw_gain_readback_db": raw_gain,
+        "actual_gain_db": actual_gain,
+    }
+
+
+def preflight_rtlsdr() -> dict:
+    """Открыть RTL-SDR, прочитать короткий блок и закрыть до TX."""
+
+    from rtlsdr import RtlSdr
+
+    sdr = RtlSdr(device_index=0)
+    try:
+        parameters = _configure_rtlsdr(sdr)
+        probe = np.asarray(sdr.read_samples(16_384), dtype=np.complex64)
+        if len(probe) != 16_384 or not np.all(np.isfinite(probe)):
+            raise RuntimeError("RTL-SDR не вернул полный конечный пробный блок")
+        parameters["probe_sample_count"] = int(len(probe))
+        parameters["probe_rms"] = float(np.sqrt(np.mean(np.abs(probe) ** 2)))
+        return parameters
+    finally:
+        sdr.close()
+
+
+def configure_pluto() -> tuple[object, dict]:
+    import adi
+
+    device = adi.Pluto(uri=PLUTO_URI)
+    device.sample_rate = int(lab043.SAMPLE_RATE_HZ)
+    device.tx_lo = int(lab043.CARRIER_HZ)
+    device.tx_rf_bandwidth = int(RF_BANDWIDTH_HZ)
+    device.tx_hardwaregain_chan0 = float(TX_GAIN_DB)
+    device.tx_cyclic_buffer = False
+    return device, {
+        "requested_center_frequency_hz": int(lab043.CARRIER_HZ),
+        "actual_center_frequency_hz": int(device.tx_lo),
+        "requested_sample_rate_hz": int(lab043.SAMPLE_RATE_HZ),
+        "actual_sample_rate_hz": int(device.sample_rate),
+        "requested_gain_db": TX_GAIN_DB,
+        "actual_gain_db": float(device.tx_hardwaregain_chan0),
+        "requested_rf_bandwidth_hz": RF_BANDWIDTH_HZ,
+        "actual_rf_bandwidth_hz": int(device.tx_rf_bandwidth),
+    }
+
+
+def transmit_noncyclic_buffer_once(
+    device,
+    device_samples: np.ndarray,
+    actual_sample_rate_hz: float,
+    sleep_function=time.sleep,
+) -> float:
+    """Передать один нециклический буфер и не уничтожать его раньше времени.
+
+    В libiio v1 постановка блока в поток может завершиться до того, как DMA
+    физически выведет все отсчёты. Поэтому буфер остаётся жив не меньше его
+    расчётной длительности. Возвращаемое значение сохраняется в диагностике.
+    """
+
+    samples = np.asarray(device_samples, dtype=np.complex64)
+    if samples.ndim != 1 or samples.size == 0:
+        raise ValueError("TX-буфер должен быть непустым и одномерным")
+    if not np.isfinite(actual_sample_rate_hz) or actual_sample_rate_hz <= 0.0:
+        raise ValueError("Фактическая частота TX должна быть положительной")
+    hold_seconds = len(samples) / actual_sample_rate_hz
+    device.tx_destroy_buffer()
+    device.tx(samples)
+    sleep_function(hold_seconds)
+    device.tx_destroy_buffer()
+    return float(hold_seconds)
+
+
+def calibration_boundary_continuity(
+    samples: np.ndarray,
+    callback_boundaries,
+    sections: dict,
+    calibration: lab043.CalibrationResult,
+    sample_rate_hz: float,
+) -> dict:
+    """Проверить фазу обоих тонов на callback-границах внутри калибровки."""
+
+    relevant = [
+        int(row.accepted_end_sample)
+        for row in callback_boundaries
+        if sections["calibration_start_sample"] + 4_096
+        <= row.accepted_end_sample
+        <= sections["calibration_end_sample"] - 4_096
+    ]
+    jumps: list[dict] = []
+    for boundary in relevant:
+        row = {"boundary_sample": boundary}
+        for name, frequency_hz in (
+            ("low", calibration.f_low_hz),
+            ("high", calibration.f_high_hz),
+        ):
+            before_indexes = np.arange(boundary - 4_096, boundary, dtype=np.float64)
+            after_indexes = np.arange(boundary, boundary + 4_096, dtype=np.float64)
+            before = np.mean(
+                samples[boundary - 4_096 : boundary]
+                * np.exp(-1j * 2.0 * np.pi * frequency_hz * before_indexes / sample_rate_hz)
+            )
+            after = np.mean(
+                samples[boundary : boundary + 4_096]
+                * np.exp(-1j * 2.0 * np.pi * frequency_hz * after_indexes / sample_rate_hz)
+            )
+            row[f"{name}_phase_jump_rad"] = float(np.angle(after * np.conj(before)))
+        jumps.append(row)
+    maximum = max(
+        (
+            abs(value)
+            for row in jumps
+            for key, value in row.items()
+            if key.endswith("phase_jump_rad")
+        ),
+        default=0.0,
+    )
+    return {
+        "checked_boundary_count": len(relevant),
+        "maximum_absolute_phase_jump_rad": float(maximum),
+        "fixed_limit_rad": CONTINUITY_MAX_PHASE_JUMP_RAD,
+        "confirmed_discontinuity_count": int(
+            sum(
+                max(abs(row["low_phase_jump_rad"]), abs(row["high_phase_jump_rad"]))
+                > CONTINUITY_MAX_PHASE_JUMP_RAD
+                for row in jumps
+            )
+        ),
+        "boundaries": jumps,
+    }
+
+
+def analyze_captured_prbs(
+    samples: np.ndarray,
+    plan: lab043.PrbsTransmissionPlan,
+    actual_rx_rate: float,
+    actual_tx_rate: float,
+    callback_boundaries=(),
+) -> CapturedPrbsAnalysis:
+    """Пройти тем же полным путём, что аппаратный S, но без обращения к SDR."""
+
+    calibration_samples, bpsk_samples, sections = lab043.split_calibration_and_bpsk(
+        samples,
+        plan,
+        actual_rx_rate,
+        actual_tx_rate,
+    )
+    calibration = lab043.estimate_refined_calibration(calibration_samples, actual_rx_rate)
+    if not calibration.valid:
+        reason = f"калибровка недостоверна: {calibration.invalid_reason}"
+        modes = {
+            mode: lab043._failed_prbs_metrics(mode, len(plan.payload_bits), reason)
+            for mode in ("A", "B", "C", "D")
+        }
+        return CapturedPrbsAnalysis(
+            processing_success=False,
+            invalid_reason=reason,
+            sections=sections,
+            calibration=calibration,
+            continuity={
+                "checked_boundary_count": 0,
+                "confirmed_discontinuity_count": 0,
+                "reason": "тоны недостоверны",
+            },
+            modes=modes,
+        )
+
+    continuity = calibration_boundary_continuity(
+        np.asarray(samples, dtype=np.complex64),
+        callback_boundaries,
+        sections,
+        calibration,
+        actual_rx_rate,
+    )
+    if continuity["confirmed_discontinuity_count"]:
+        reason = "в той же записи подтверждён фазовый разрыв"
+        modes = {
+            mode: lab043._failed_prbs_metrics(mode, len(plan.payload_bits), reason)
+            for mode in ("A", "B", "C", "D")
+        }
+        return CapturedPrbsAnalysis(
+            processing_success=False,
+            invalid_reason=reason,
+            sections=sections,
+            calibration=calibration,
+            continuity=continuity,
+            modes=modes,
+        )
+
+    modes = lab043.analyze_prbs_modes(
+        bpsk_samples,
+        plan.payload_bits,
+        calibration.carrier_offset_hz,
+        calibration.clock_scale,
+        actual_rx_rate,
+        known_pilot_bits=plan.pilot_bits,
+    )
+    mode_d = modes["D"]
+    success = bool(mode_d.detected and mode_d.matched_bit_count == len(plan.payload_bits))
+    reason = "" if success else (mode_d.failure_reason or "режим D не восстановил полную PRBS11")
+    return CapturedPrbsAnalysis(
+        processing_success=success,
+        invalid_reason=reason,
+        sections=sections,
+        calibration=calibration,
+        continuity=continuity,
+        modes=modes,
+    )
+
+
+def run_one_capture(label: str, output_directory: Path) -> dict:
+    if label != "S":
+        raise RuntimeError("На текущем этапе разрешён только один короткий опыт S")
+    duration = (
+        lab043.PRBS_SHORT_DURATION_SECONDS
+        if label == "S"
+        else lab043.PRBS_LONG_DURATION_SECONDS
+    )
+    plan = lab043.build_prbs11_transmission_plan(label, duration)
+    capture_started = datetime.now(timezone.utc)
+
+    pluto_preflight = preflight_pluto()
+    rtl_preflight = preflight_rtlsdr()
+    time.sleep(0.25)
+
+    pluto, tx_parameters = configure_pluto()
+    from rtlsdr import RtlSdr
+
+    sdr = RtlSdr(device_index=0)
+    rx_parameters = _configure_rtlsdr(sdr)
+    actual_tx_rate = float(tx_parameters["actual_sample_rate_hz"])
+    actual_rx_rate = float(rx_parameters["actual_sample_rate_hz"])
+    expected_rx_samples = lab043.receive_sample_count(
+        len(plan.tx_samples),
+        actual_tx_rate,
+        actual_rx_rate,
+    )
+
+    ready = threading.Event()
+    tx_errors: list[str] = []
+    tx_buffer_hold_seconds: list[float] = []
+
+    def transmit_once() -> None:
+        if not ready.wait(timeout=10.0):
+            tx_errors.append("RTL-SDR async-приём не подтвердил готовность")
+            return
+        time.sleep(lab043.RX_LEADING_MARGIN_SECONDS)
+        try:
+            hold_seconds = transmit_noncyclic_buffer_once(
+                pluto,
+                lab043.to_pluto_tx_samples(plan.tx_samples),
+                actual_tx_rate,
+            )
+            tx_buffer_hold_seconds.append(hold_seconds)
+        except Exception as error:  # pragma: no cover - аппаратный путь
+            tx_errors.append(f"{type(error).__name__}: {error}")
+
+    tx_thread = threading.Thread(target=transmit_once, daemon=True)
+    tx_thread.start()
+    samples, boundaries, async_diagnostics = lab043.capture_continuous_rtlsdr_async(
+        sdr,
+        expected_rx_samples,
+        capture_ready_event=ready,
+        buffer_bytes=lab043.RTL_ASYNC_BUFFER_BYTES,
+        buffer_count=lab043.RTL_ASYNC_BUFFER_COUNT,
+        warmup_callback_count=lab043.RTL_ASYNC_WARMUP_CALLBACK_COUNT,
+    )
+    tx_thread.join(timeout=15.0)
+    if tx_thread.is_alive():
+        raise RuntimeError("Поток единственной передачи не завершился")
+    if tx_errors:
+        raise RuntimeError("; ".join(tx_errors))
+
+    received = np.asarray(samples, dtype=np.complex64)
+    if received.ndim != 1 or len(received) != expected_rx_samples:
+        raise RuntimeError("RX завершён, но размер массива не совпал с ожидаемым")
+    if not np.all(np.isfinite(received)):
+        raise RuntimeError("RX завершён, но массив содержит нечисловые значения")
+    boundary_rows = [asdict(row) for row in boundaries]
+    waveform_sha256 = hashlib.sha256(
+        np.asarray(plan.tx_samples, dtype=np.complex64).tobytes()
+    ).hexdigest()
+    tx_waveform_duration_seconds = len(plan.tx_samples) / actual_tx_rate
+    calibration_end_seconds = plan.calibration_sample_count / actual_tx_rate
+    guard_end_seconds = plan.bpsk_start_sample / actual_tx_rate
+    prbs_end_seconds = len(plan.tx_samples) / actual_tx_rate
+    overload = {
+        "peak_magnitude": float(np.max(np.abs(received))),
+        "clipped_component_fraction": float(
+            np.mean((np.abs(received.real) >= 0.999) | (np.abs(received.imag) >= 0.999))
+        ),
+    }
+    metadata = {
+        "experiment": "Lab043 PRBS11 continuous async",
+        "capture_label": label,
+        "capture_started_utc": capture_started.isoformat().replace("+00:00", "Z"),
+        "capture_order": 1 if label == "S" else 2,
+        "capture_status": "captured",
+        "processing_status": "pending",
+        "processing_error": None,
+        "actual_sample_rate_hz": actual_rx_rate,
+        "center_frequency_hz": rx_parameters["actual_center_frequency_hz"],
+        "rx_gain_db": rx_parameters["actual_gain_db"],
+        "pluto_preflight": pluto_preflight,
+        "rtl_preflight": rtl_preflight,
+        "tx_parameters": tx_parameters,
+        "rx_parameters": rx_parameters,
+        "physical_scheme": "Pluto+ TX -> SMA -> AT30S 30 dB -> RTL-SDR RX; antennas removed",
+        "waveform_sha256": waveform_sha256,
+        "tx_waveform_duration_seconds": tx_waveform_duration_seconds,
+        "callback_count": int(async_diagnostics["callback_count"]),
+        "callback_boundaries": boundary_rows,
+        "expected_intervals": {
+            "relative_to_tx_start_seconds": {
+                "calibration": [0.0, calibration_end_seconds],
+                "guard": [calibration_end_seconds, guard_end_seconds],
+                "bpsk_marker_pilot_prbs": [guard_end_seconds, prbs_end_seconds],
+            },
+            "rx_leading_margin_seconds": lab043.RX_LEADING_MARGIN_SECONDS,
+            "rx_trailing_margin_seconds": lab043.RX_TRAILING_MARGIN_SECONDS,
+        },
+        "waveform": {
+            "calibration_tones_hz": [-lab043.F_CAL_HZ, lab043.F_CAL_HZ],
+            "calibration_duration_seconds": lab043.CALIBRATION_TONE_DURATION_SECONDS,
+            "fixed_guard_seconds": lab043.CALIBRATION_TO_BPSK_GUARD_SECONDS,
+            "single_initial_marker_bit_count": len(plan.marker_bits),
+            "pilot_symbol_count": len(plan.pilot_bits),
+            "pilot_duration_seconds": len(plan.pilot_bits) / lab043.SYMBOL_RATE,
+            "pilot_polynomial": lab043.PILOT_POLYNOMIAL,
+            "pilot_initial_state_hex": f"0x{lab043.PILOT_INITIAL_STATE:02X}",
+            "pilot_sha256": hashlib.sha256(plan.pilot_bits.tobytes()).hexdigest(),
+            "periodic_resynchronization": False,
+            "prbs_polynomial": lab043.PRBS11_POLYNOMIAL,
+            "prbs_initial_state_hex": f"0x{lab043.PRBS11_INITIAL_STATE:03X}",
+            "prbs_useful_duration_seconds": plan.useful_duration_seconds,
+            "transmitted_prbs_bit_count": len(plan.payload_bits),
+            "transmitted_prbs_sha256": hashlib.sha256(plan.payload_bits.tobytes()).hexdigest(),
+            "tx_sample_count": len(plan.tx_samples),
+            "tx_samples_sha256": waveform_sha256,
+        },
+        "async_capture": async_diagnostics | {
+            "expected_sample_count": expected_rx_samples,
+            "callback_boundaries": boundary_rows,
+        },
+        "tx_buffer_hold_seconds": (
+            tx_buffer_hold_seconds[0] if tx_buffer_hold_seconds else None
+        ),
+        "overload": overload,
+    }
+    stamp = capture_started.strftime("%Y%m%d_%H%M%S")
+    base = output_directory / f"lab043_prbs11_{label.lower()}_{stamp}"
+    iq_path, json_path, analysis, processing_error = lab043.save_then_process_capture(
+        base,
+        received,
+        metadata,
+        lambda stored: analyze_captured_prbs(
+            stored,
+            plan,
+            actual_rx_rate,
+            actual_tx_rate,
+            boundaries,
+        ),
+    )
+    if analysis is None:
+        return {
+            "iq_path": str(iq_path),
+            "metadata_path": str(json_path),
+            "capture_status": "captured",
+            "processing_status": "processing_failed",
+            "processing_error": processing_error,
+            "tx_parameters": tx_parameters,
+            "rx_parameters": rx_parameters,
+            "async_capture": async_diagnostics,
+            "overload": overload,
+        }
+    result = {
+        "iq_path": str(iq_path),
+        "metadata_path": str(json_path),
+        "capture_status": "captured",
+        "processing_status": "success",
+        "processing_error": None,
+        "processing_success": analysis.processing_success,
+        "invalid_reason": analysis.invalid_reason,
+        "calibration": asdict(analysis.calibration),
+        "continuity": analysis.continuity,
+        "modes": {mode: asdict(value) for mode, value in analysis.modes.items()},
+        "tx_parameters": tx_parameters,
+        "rx_parameters": rx_parameters,
+        "async_capture": async_diagnostics,
+        "overload": overload,
+    }
+    return result
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--label", choices=("S",), required=True)
+    parser.add_argument("--output-directory", type=Path, default=Path("data/raw/lab043"))
+    arguments = parser.parse_args()
+    result = run_one_capture(arguments.label, arguments.output_directory)
+    print(json.dumps(result, ensure_ascii=False, indent=2))
+    if result["processing_status"] != "success":
+        return 2
+    mode_d = result["modes"]["D"]
+    return 0 if result["calibration"]["valid"] and mode_d["detected"] else 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

requirements-hardware.txt

@@ -0,0 +1,20 @@
+# SDR Rover Link — аппаратное окружение.
+#
+# Нужно только для лабораторных, работающих с PlutoSDR:
+# Lab024a, Lab024b, Lab025 и всё, начиная с Lab042.
+#
+# Устанавливается поверх расчётного окружения:
+#     python -m pip install -r requirements.txt
+#     python -m pip install -r requirements-hardware.txt
+#
+# Проверено 10 августа 2026 года на устройстве
+# Analog Devices PlutoSDR Rev.C (Z7010-AD9361), прошивка v0.32,
+# подключение по USB как RNDIS-адаптер, адрес ip:192.168.2.1.
+#
+# Замечание по диагностике: наличие связи с устройством проверяется
+# только успешным подключением через iio.Context. Команда ping и проверка
+# открытых портов недостоверны — при активном VPN трафик уходит в туннель
+# и создаёт видимость доступности несуществующего адреса.
+
+pyadi-iio==0.0.21
+pylibiio==0.25

requirements.txt

@@ -0,0 +1,21 @@
+# SDR Rover Link — расчётное окружение.
+#
+# Достаточно для запуска быстрых проверок (pytest), всех расчётных
+# лабораторных и построения графиков. Оборудование не требуется:
+# проект поднимается на компьютере без SDR.
+#
+# Установка:
+#     python -m pip install -r requirements.txt
+#
+# Версии зафиксированы по фактически проверенному окружению
+# от 10 августа 2026 года, Python 3.13.1.
+#
+# Аппаратные лабораторные (Lab024, Lab025, Lab042 и далее) требуют
+# дополнительно requirements-hardware.txt.
+
+numpy==2.2.6
+scipy==1.18.0
+matplotlib==3.11.1
+opencv-python==4.12.0
+Pillow==12.0.0
+pytest==9.1.1

tests/__init__.py

@@ -0,0 +1 @@
+"""Быстрые автоматические проверки ядра протокола."""

tests/test_bpsk_radio.py

@@ -0,0 +1,368 @@
+"""Проверки protocol/bpsk_radio.py.
+
+Модуль был собран переносом функций из Lab018, Lab019 и Lab023. Главная
+задача этих проверок — доказать, что перенос ничего не изменил: результаты
+сравниваются с оригиналами, загруженными из лабораторных в изоляции, без
+выполнения их модульного кода.
+"""
+
+from __future__ import annotations
+
+import ast
+import math
+import pathlib
+import struct
+
+import numpy as np
+import pytest
+
+from protocol import bpsk_radio as radio
+from protocol.packet import MESSAGE_TYPE_IMAGE_FRAGMENT, build_packet, parse_packet
+
+
+PROJECT_ROOT = pathlib.Path(__file__).resolve().parent.parent
+SHARED_CONSTANTS = {
+    "RADIO_SYNC_WORD",
+    "PREAMBLE_BIT_COUNT",
+    "SYMBOL_RATE",
+    "CFO_REFINEMENT_HALF_WIDTH_HZ",
+    "CFO_REFINEMENT_STEP_HZ",
+}
+
+
+def _load_isolated(relative_path: str, function_names: set[str]) -> dict:
+    """Выполнить только заданные функции лабораторной, без кода модуля.
+
+    Лабораторные при импорте создают каталоги и пишут файлы, поэтому
+    импортировать их в тестах нельзя.
+    """
+
+    path = PROJECT_ROOT / relative_path
+    tree = ast.parse(path.read_text(encoding="utf-8"))
+    kept = [
+        node
+        for node in tree.body
+        if (isinstance(node, ast.FunctionDef) and node.name in function_names)
+        or (isinstance(node, ast.Assign) and ast.unparse(node.targets[0]) in SHARED_CONSTANTS)
+    ]
+    namespace: dict = {"np": np, "struct": struct}
+    exec(compile(ast.Module(body=kept, type_ignores=[]), str(path), "exec"), namespace)
+    return namespace
+
+
+@pytest.fixture(scope="module")
+def original_lab023() -> dict:
+    return _load_isolated(
+        "experiments/lab023_guarded_cfo_correction.py",
+        {
+            "bytes_to_bits",
+            "bits_to_bytes",
+            "bpsk_modulate",
+            "bpsk_demodulate",
+            "estimate_carrier_parameters",
+            "correct_phase_and_frequency",
+        },
+    )
+
+
+@pytest.fixture(scope="module")
+def original_lab019() -> dict:
+    return _load_isolated(
+        "experiments/lab019_bpsk_receiver.py",
+        {
+            "build_frame_marker",
+            "find_radio_frame",
+            "bytes_to_bits",
+            "bits_to_bytes",
+            "bpsk_modulate",
+            "bpsk_demodulate",
+            "root_raised_cosine_taps",
+        },
+    )
+
+
+@pytest.fixture(scope="module")
+def original_lab018() -> dict:
+    return _load_isolated("experiments/lab018_bpsk_radio_frame.py", {"root_raised_cosine_taps"})
+
+
+def _identical(left, right) -> bool:
+    if isinstance(left, np.ndarray) or isinstance(right, np.ndarray):
+        return np.array_equal(np.asarray(left), np.asarray(right))
+    if isinstance(left, dict):
+        return sorted(left) == sorted(right) and all(_identical(left[k], right[k]) for k in left)
+    if isinstance(left, (tuple, list)):
+        return len(left) == len(right) and all(_identical(a, b) for a, b in zip(left, right))
+    return left == right
+
+
+# ---------------------------------------------------------------- эквивалентность
+
+
+@pytest.mark.parametrize("length", [1, 7, 64, 255])
+def test_bit_conversion_matches_lab023(original_lab023: dict, length: int) -> None:
+    data = bytes(np.random.default_rng(length).integers(0, 256, size=length, dtype=np.uint8))
+    ours = radio.bytes_to_bits(data)
+    assert _identical(ours, original_lab023["bytes_to_bits"](data))
+    assert _identical(radio.bits_to_bytes(ours), original_lab023["bits_to_bytes"](ours))
+
+
+@pytest.mark.parametrize("length", [8, 64, 256])
+def test_modulation_matches_lab023(original_lab023: dict, length: int) -> None:
+    bits = np.random.default_rng(length).integers(0, 2, size=length).astype(np.uint8)
+    ours = radio.bpsk_modulate(bits)
+    assert _identical(ours, original_lab023["bpsk_modulate"](bits))
+    assert _identical(radio.bpsk_demodulate(ours), original_lab023["bpsk_demodulate"](ours))
+
+
+@pytest.mark.parametrize("rolloff,sps,span", [(0.35, 32, 10), (0.35, 128, 10), (0.5, 64, 8)])
+def test_shaping_filter_matches_lab018(original_lab018: dict, rolloff: float, sps: int, span: int) -> None:
+    assert _identical(
+        radio.root_raised_cosine_taps(rolloff, sps, span),
+        original_lab018["root_raised_cosine_taps"](rolloff, sps, span),
+    )
+
+
+def test_frame_marker_matches_lab019(original_lab019: dict) -> None:
+    """Маркер возвращает пару: биты и символы. Совпасть должны обе."""
+
+    assert _identical(radio.build_frame_marker(), original_lab019["build_frame_marker"]())
+
+
+@pytest.mark.parametrize("seed", [1, 2, 3])
+def test_carrier_estimation_matches_lab023(original_lab023: dict, seed: int) -> None:
+    """Оценка ухода частоты обязана совпасть при произвольных фазе и уходе."""
+
+    rng = np.random.default_rng(seed)
+    _, marker = radio.build_frame_marker()
+    phase = float(rng.uniform(-3.0, 3.0))
+    increment = float(rng.uniform(-0.005, 0.005))
+    impaired = marker * np.exp(1j * (phase + increment * np.arange(len(marker))))
+    impaired = impaired + 0.02 * rng.standard_normal(len(marker))
+
+    assert _identical(
+        radio.estimate_carrier_parameters(impaired, marker),
+        original_lab023["estimate_carrier_parameters"](impaired, marker),
+    )
+    assert _identical(
+        radio.correct_phase_and_frequency(impaired, phase, increment),
+        original_lab023["correct_phase_and_frequency"](impaired, phase, increment),
+    )
+
+
+# ---------------------------------------------------------------- новые функции кадра
+
+
+@pytest.mark.parametrize("payload_size", [1, 17, 512, radio.MAXIMUM_PROTOCOL_PACKET_BYTES])
+def test_frame_roundtrip(payload_size: int) -> None:
+    packet = bytes(np.random.default_rng(payload_size).integers(0, 256, size=payload_size, dtype=np.uint8))
+    bits, symbols, marker = radio.build_radio_frame(packet)
+
+    assert len(bits) == radio.radio_frame_bit_count(payload_size)
+    assert len(symbols) == len(bits)
+    assert len(marker) == radio.MARKER_BIT_COUNT
+    assert radio.parse_radio_frame(bits) == packet
+
+
+def test_frame_rejects_sizes_outside_range() -> None:
+    with pytest.raises(ValueError):
+        radio.build_radio_frame(b"")
+    with pytest.raises(ValueError):
+        radio.build_radio_frame(b"\x00" * (radio.MAXIMUM_PROTOCOL_PACKET_BYTES + 1))
+    with pytest.raises(TypeError):
+        radio.build_radio_frame("не байты")
+
+
+def test_frame_with_broken_sync_word_is_rejected() -> None:
+    bits, _, _ = radio.build_radio_frame(b"payload")
+    broken = bits.copy()
+    broken[radio.PREAMBLE_BIT_COUNT] ^= 1
+    assert radio.parse_radio_frame(broken) is None
+
+
+def test_truncated_frame_is_rejected() -> None:
+    bits, _, _ = radio.build_radio_frame(b"payload")
+    assert radio.parse_radio_frame(bits[:10]) is None
+    assert radio.parse_radio_frame(bits[:-8]) is None
+
+
+def test_frame_carries_a_protocol_packet() -> None:
+    """Кадр должен переносить настоящий пакет так, чтобы CRC32 сошлась."""
+
+    packet = build_packet(b"fragment payload", MESSAGE_TYPE_IMAGE_FRAGMENT, 5)
+    bits, _, _ = radio.build_radio_frame(packet)
+    assert parse_packet(radio.parse_radio_frame(bits)).payload == b"fragment payload"
+
+
+def test_frame_search_finds_the_start_in_a_shaped_signal() -> None:
+    """Сквозная проверка: формирование, фильтрация и поиск кадра."""
+
+    samples_per_symbol = 32
+    taps = radio.root_raised_cosine_taps(0.35, samples_per_symbol, 10)
+    packet = build_packet(b"HELLO SDR", MESSAGE_TYPE_IMAGE_FRAGMENT, 1)
+    bits, symbols, marker = radio.build_radio_frame(packet)
+
+    upsampled = np.zeros(len(symbols) * samples_per_symbol, dtype=complex)
+    upsampled[::samples_per_symbol] = symbols
+    matched = np.convolve(np.convolve(upsampled, taps, mode="full"), taps, mode="full")
+
+    found = radio.find_radio_frame(matched, marker, samples_per_symbol)
+    start = found["start_symbol_index"]
+    recovered = found["symbol_samples"][start : start + len(bits)]
+
+    assert radio.parse_radio_frame(radio.bpsk_demodulate(recovered)) == packet
+
+
+# ------------------------------------------------------ Lab043: общие примитивы
+
+
+def test_known_tone_peak_search_finds_both_windows() -> None:
+    frequencies = np.linspace(-100_000.0, 100_000.0, 4001)
+    powers = np.ones_like(frequencies)
+    powers[np.argmin(np.abs(frequencies + 51_200.0))] = 100.0
+    powers[np.argmin(np.abs(frequencies - 49_300.0))] = 80.0
+
+    peaks = radio.find_known_tone_peaks(frequencies, powers, 50_000.0, 30_000.0)
+
+    assert math.isclose(peaks["low_frequency_hz"], -51_200.0, abs_tol=1.0)
+    assert math.isclose(peaks["high_frequency_hz"], 49_300.0, abs_tol=1.0)
+    assert peaks["low_power"] == 100.0
+    assert peaks["high_power"] == 80.0
+
+
+def test_known_tone_peak_search_returns_nan_without_bins() -> None:
+    frequencies = np.linspace(-1_000.0, 1_000.0, 101)
+    powers = np.ones_like(frequencies)
+    peaks = radio.find_known_tone_peaks(frequencies, powers, 50_000.0, 1_000.0)
+
+    assert math.isnan(peaks["low_frequency_hz"])
+    assert math.isnan(peaks["high_frequency_hz"])
+
+
+@pytest.mark.parametrize("ppm", [20.0, -20.0, 100.0, -100.0])
+def test_two_tone_clock_estimate_has_correct_sign_and_magnitude(ppm: float) -> None:
+    scale = 1.0 + ppm * 1e-6
+    carrier_offset_hz = -1_250.0
+    low = carrier_offset_hz - 50_000.0 * scale
+    high = carrier_offset_hz + 50_000.0 * scale
+
+    estimate = radio.estimate_two_tone_offsets(low, high, 50_000.0)
+
+    assert math.isclose(estimate["carrier_offset_hz"], carrier_offset_hz, abs_tol=1e-9)
+    assert math.isclose(estimate["clock_scale"], scale, abs_tol=1e-12)
+    assert math.isclose(estimate["sample_clock_error_ppm"], ppm, abs_tol=1e-6)
+
+
+def test_two_tone_invalid_estimate_is_nan_not_zero() -> None:
+    estimate = radio.estimate_two_tone_offsets(float("nan"), 50_000.0, 50_000.0)
+    assert all(math.isnan(value) for value in estimate.values())
+
+
+@pytest.mark.parametrize("carrier_offset_hz", [730.0, -730.0])
+def test_coarse_frequency_correction_handles_both_signs(carrier_offset_hz: float) -> None:
+    sample_rate_hz = 20_000.0
+    indexes = np.arange(20_000, dtype=np.float64)
+    impaired = np.exp(1j * 2.0 * np.pi * carrier_offset_hz * indexes / sample_rate_hz)
+
+    corrected = radio.apply_coarse_frequency_correction(
+        impaired,
+        carrier_offset_hz,
+        sample_rate_hz,
+    )
+
+    assert np.max(np.abs(corrected - 1.0)) < 1e-9
+
+
+@pytest.mark.parametrize(
+    "carrier_offset_hz",
+    [-10.0, -5.0, -2.0, -1.2, -1.0, -0.5, 0.5, 1.0, 1.2, 2.0, 5.0, 10.0],
+)
+def test_known_pilot_estimator_resolves_sub_hertz_cfo_with_hardware_like_phase_noise(
+    carrier_offset_hz: float,
+) -> None:
+    symbol_count = 1_280
+    indexes = np.arange(symbol_count, dtype=np.float64)
+    known = np.where((indexes.astype(np.int64) * 73 + 19) % 127 < 64, 1.0, -1.0).astype(
+        np.complex128
+    )
+    estimates: list[float] = []
+    valid_flags: list[bool] = []
+    for repetition in range(96):
+        random_generator = np.random.default_rng(
+            43_000_000
+            + int(round((carrier_offset_hz + 20.0) * 1_000.0))
+            + repetition
+        )
+        phase_noise = random_generator.normal(0.0, 0.4691, symbol_count)
+        received = known * np.exp(
+            1j
+            * (
+                2.0 * np.pi * carrier_offset_hz * indexes / radio.SYMBOL_RATE
+                + phase_noise
+            )
+        )
+        estimate = radio.estimate_known_pilot_carrier(received, known)
+        valid_flags.append(estimate.valid)
+        estimates.append(estimate.frequency_hz)
+
+    errors = np.asarray(estimates) - carrier_offset_hz
+    assert all(valid_flags)
+    assert np.all(np.sign(estimates) == np.sign(carrier_offset_hz))
+    assert abs(float(np.mean(errors))) < 0.08
+    assert float(np.std(errors, ddof=1)) < 0.18
+    assert float(np.percentile(np.abs(errors), 95.0)) < 0.35
+
+
+def test_known_pilot_estimator_rejects_noise_instead_of_reporting_false_cfo() -> None:
+    random_generator = np.random.default_rng(43_043)
+    known = np.resize(np.asarray([-1.0, 1.0], dtype=np.complex128), 1_280)
+    noise = (
+        random_generator.normal(0.0, 1.0, len(known))
+        + 1j * random_generator.normal(0.0, 1.0, len(known))
+    )
+
+    estimate = radio.estimate_known_pilot_carrier(noise, known)
+
+    assert not estimate.valid
+    assert estimate.invalid_reason
+    assert math.isnan(estimate.frequency_hz)
+    assert math.isnan(estimate.phase_increment_rad_per_symbol)
+
+
+def _sample_at_positions(signal: np.ndarray, positions: np.ndarray) -> np.ndarray:
+    indexes = np.arange(len(signal), dtype=np.float64)
+    real = np.interp(positions, indexes, signal.real)
+    imaginary = np.interp(positions, indexes, signal.imag)
+    return real + 1j * imaginary
+
+
+@pytest.mark.parametrize("ppm", [20.0, -20.0, 100.0, -100.0])
+def test_clock_resampling_direction_reduces_timing_error(ppm: float) -> None:
+    scale = 1.0 + ppm * 1e-6
+    sample_count = 200_000
+    indexes = np.arange(sample_count, dtype=np.float64)
+    reference = np.exp(1j * 2.0 * np.pi * 0.071 * indexes)
+
+    received_length = math.floor(sample_count / scale)
+    received_positions = np.arange(received_length, dtype=np.float64) * scale
+    received = _sample_at_positions(reference, received_positions)
+
+    corrected = radio.resample_for_clock_scale(received, scale)
+    wrong_direction = radio.resample_for_clock_scale(received, 1.0 / scale)
+
+    uncorrected_count = min(len(received), len(reference))
+    corrected_count = min(len(corrected), len(reference)) - 2
+    wrong_count = min(len(wrong_direction), len(reference)) - 2
+    uncorrected_error = float(
+        np.mean(np.abs(received[:uncorrected_count] - reference[:uncorrected_count]) ** 2)
+    )
+    corrected_error = float(
+        np.mean(np.abs(corrected[:corrected_count] - reference[:corrected_count]) ** 2)
+    )
+    wrong_error = float(
+        np.mean(np.abs(wrong_direction[:wrong_count] - reference[:wrong_count]) ** 2)
+    )
+
+    assert len(corrected) == round(len(received) * scale)
+    assert corrected_error < uncorrected_error
+    assert corrected_error < wrong_error

tests/test_control_messages.py

@@ -0,0 +1,155 @@
+"""Быстрые проверки формата управляющих сообщений: protocol/control_messages.py.
+
+Перенесено из функциональных проверок Lab041, где эти свойства
+проверялись только при полном запуске лабораторной.
+"""
+
+from __future__ import annotations
+
+import pytest
+
+from protocol.control_messages import (
+    COMMON_SIZE,
+    ControlMessageError,
+    ControlStateMessage,
+    EmergencyAck,
+    EmergencyStop,
+    MessageContext,
+    MessageType,
+    MovementAuthorizeAck,
+    MovementAuthorizeRequest,
+    ResetAck,
+    ResetRequest,
+    RoverSafetyCode,
+    SequenceComparison,
+    SessionHello,
+    SessionReject,
+    SessionRejectReason,
+    SessionStatus,
+    compare_sequence,
+    decode_message,
+    encode_message,
+)
+
+
+CONTEXT = MessageContext(11, 22, 33, 44)
+
+ALL_MESSAGES = (
+    SessionHello(CONTEXT, True, 101),
+    SessionStatus(CONTEXT, RoverSafetyCode.ROVER_SESSION_SYNCED_SAFE, False, 0),
+    MovementAuthorizeRequest(CONTEXT, 201),
+    MovementAuthorizeAck(CONTEXT, 201, True),
+    ControlStateMessage(CONTEXT, 1.25, -0.5, False, True),
+    EmergencyStop(CONTEXT, 301),
+    EmergencyAck(CONTEXT, 301),
+    ResetRequest(CONTEXT, 301, 401, 0.0, False),
+    ResetAck(CONTEXT, 301, 401, True, SessionRejectReason.ACCEPTED),
+    SessionReject(CONTEXT, MessageType.CONTROL_STATE, SessionRejectReason.CONTROL_EPOCH),
+)
+
+
+@pytest.mark.parametrize("message", ALL_MESSAGES, ids=lambda m: type(m).__name__)
+def test_roundtrip_is_exact(message) -> None:
+    assert decode_message(encode_message(message)) == message
+
+
+def test_every_message_type_is_covered() -> None:
+    """Если добавится тип сообщения, этот тест обязан упасть."""
+
+    assert len(ALL_MESSAGES) == len(MessageType)
+
+
+@pytest.mark.parametrize("message", ALL_MESSAGES, ids=lambda m: type(m).__name__)
+def test_encoding_starts_with_the_common_header(message) -> None:
+    encoded = encode_message(message)
+    assert len(encoded) >= COMMON_SIZE
+    assert encoded[0] == 1
+
+
+def test_wrong_version_is_rejected() -> None:
+    payload = bytearray(encode_message(SessionHello(CONTEXT, False, 0)))
+    payload[0] = 2
+    with pytest.raises(ControlMessageError):
+        decode_message(bytes(payload))
+
+
+def test_unknown_type_is_rejected() -> None:
+    payload = bytearray(encode_message(SessionHello(CONTEXT, False, 0)))
+    payload[1] = 255
+    with pytest.raises(ControlMessageError):
+        decode_message(bytes(payload))
+
+
+def test_truncated_message_is_rejected() -> None:
+    payload = encode_message(SessionHello(CONTEXT, False, 0))
+    for cut in (0, 1, COMMON_SIZE - 1, len(payload) - 1):
+        with pytest.raises(ControlMessageError):
+            decode_message(payload[:cut])
+
+
+# ------------------------------------------------------- диапазоны команд движения
+
+
+@pytest.mark.parametrize(
+    "speed,turn,braking,permitted",
+    [
+        (15.1, 0.0, False, True),   # выше предела
+        (-0.1, 0.0, False, True),   # отрицательная скорость
+        (-5.0, 0.0, False, True),
+        (1.0, 1.1, False, True),    # поворот вне диапазона
+        (1.0, -1.1, False, True),
+        (1.0, 0.0, True, False),    # торможение при ненулевой скорости
+        (1.0, 0.0, False, False),   # движение без разрешения
+    ],
+)
+def test_invalid_control_state_is_rejected(speed, turn, braking, permitted) -> None:
+    with pytest.raises(ControlMessageError):
+        encode_message(ControlStateMessage(CONTEXT, speed, turn, braking, permitted))
+
+
+@pytest.mark.parametrize(
+    "speed,turn,braking,permitted",
+    [
+        (0.0, 0.0, True, False),
+        (15.0, 0.0, False, True),
+        (0.0, 0.0, False, False),
+        (7.5, 1.0, False, True),
+        (7.5, -1.0, False, True),
+    ],
+)
+def test_valid_control_state_is_accepted(speed, turn, braking, permitted) -> None:
+    message = ControlStateMessage(CONTEXT, speed, turn, braking, permitted)
+    assert decode_message(encode_message(message)) == message
+
+
+@pytest.mark.parametrize("bad", [float("nan"), float("inf"), float("-inf")])
+def test_non_finite_speed_is_rejected(bad: float) -> None:
+    with pytest.raises(ControlMessageError):
+        encode_message(ControlStateMessage(CONTEXT, bad, 0.0, False, True))
+
+
+# ------------------------------------------------------- сравнение номеров сообщений
+
+
+def test_sequence_comparison_basic_order() -> None:
+    assert compare_sequence(5, 4) is SequenceComparison.NEWER
+    assert compare_sequence(4, 5) is SequenceComparison.NOT_NEWER
+    assert compare_sequence(4, 4) is SequenceComparison.NOT_NEWER
+
+
+def test_sequence_comparison_wraps_at_32_bits() -> None:
+    """Переход через 0xFFFFFFFF обязан считаться новым, а не откатом."""
+
+    assert compare_sequence(0, 0xFFFFFFFF) is SequenceComparison.NEWER
+    assert compare_sequence(1, 0xFFFFFFFE) is SequenceComparison.NEWER
+
+
+def test_ambiguous_half_range_is_rejected() -> None:
+    """Разность ровно 2^31 неотличима от отката и должна отклоняться."""
+
+    assert compare_sequence(0x80000000, 0) is SequenceComparison.AMBIGUOUS
+    assert compare_sequence(0, 0x80000000) is SequenceComparison.AMBIGUOUS
+
+
+def test_just_below_the_ambiguous_boundary_is_newer() -> None:
+    assert compare_sequence(0x7FFFFFFF, 0) is SequenceComparison.NEWER

tests/test_lab042_reporting.py

@@ -0,0 +1,125 @@
+"""Проверки отчётности Lab042: неуспешный путь не должен маскироваться.
+
+Три дефекта, найденные при разборе кабельного прогона, закрыты правками в
+experiments/lab042_pluto_image_loopback.py. Эти тесты фиксируют их, чтобы
+провал лаборатории нельзя было принять за успех:
+
+1. EVM не занижается искусственно при слабом сигнале и не превращается в
+   ноль, когда её нельзя вычислить;
+2. отсутствующее принятое изображение не объявляется созданным файлом;
+3. невыполнение критерия лаборатории даёт ненулевой код завершения.
+"""
+
+from __future__ import annotations
+
+import math
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+
+from experiments.lab042_pluto_image_loopback import (
+    RECEIVED_IMAGE_PATH,
+    FunctionalTestResult,
+    _error_vector_magnitude,
+    created_files,
+    transfer_meets_criteria,
+)
+
+
+def _reference(length: int = 512) -> np.ndarray:
+    bits = np.random.default_rng(length).integers(0, 2, size=length).astype(np.float64)
+    return (2.0 * bits - 1.0).astype(np.complex128)
+
+
+# ------------------------------------------------------------------ EVM
+
+
+def test_evm_is_near_zero_for_a_clean_signal() -> None:
+    reference = _reference()
+    assert _error_vector_magnitude(reference.copy(), reference) < 1e-9
+
+
+def test_evm_is_invariant_to_overall_gain() -> None:
+    """Одно и то же отношение сигнал/шум при разной амплитуде — одна EVM."""
+
+    rng = np.random.default_rng(1)
+    reference = _reference()
+    noise = 0.1 * (rng.standard_normal(len(reference)) + 1j * rng.standard_normal(len(reference)))
+
+    strong = _error_vector_magnitude(reference + noise, reference)
+    weak = _error_vector_magnitude(0.001 * (reference + noise), reference)
+
+    assert math.isclose(strong, weak, rel_tol=1e-6)
+
+
+def test_evm_grows_when_the_signal_is_weak_and_noisy() -> None:
+    """Регрессия: прежняя нормировка на единичный эталон занижала EVM у
+
+    слабого сигнала почти до нуля. Теперь слабый шумный сигнал обязан дать
+    заметную EVM, а не подделку под идеальный приём.
+    """
+
+    rng = np.random.default_rng(2)
+    reference = _reference()
+    noise = 0.5 * (rng.standard_normal(len(reference)) + 1j * rng.standard_normal(len(reference)))
+    weak_noisy = 0.001 * (reference + noise)
+
+    assert _error_vector_magnitude(weak_noisy, reference) > 0.1
+
+
+def test_evm_is_not_a_number_when_it_cannot_be_computed() -> None:
+    reference = _reference()
+    assert math.isnan(_error_vector_magnitude(reference[:10], reference))
+    assert math.isnan(_error_vector_magnitude(np.zeros(0, dtype=complex), np.zeros(0, dtype=complex)))
+
+
+# ------------------------------------------------------------------ состав файлов
+
+
+def _metrics(**overrides) -> SimpleNamespace:
+    base = dict(
+        image_reassembled=True,
+        image_identical=True,
+        fragments_recovered=10,
+        fragment_count=10,
+    )
+    base.update(overrides)
+    return SimpleNamespace(**base)
+
+
+def test_received_image_listed_only_when_reassembled() -> None:
+    with_image = created_files(_metrics(image_reassembled=True))
+    without_image = created_files(_metrics(image_reassembled=False, image_identical=False))
+
+    assert RECEIVED_IMAGE_PATH in with_image
+    assert RECEIVED_IMAGE_PATH not in without_image
+
+
+# ------------------------------------------------------------------ критерий и код возврата
+
+
+def _all_passed() -> tuple[FunctionalTestResult, ...]:
+    return tuple(FunctionalTestResult(f"{index:02d}", True, "ок") for index in range(11))
+
+
+def test_criteria_met_on_a_clean_transfer() -> None:
+    assert transfer_meets_criteria(_metrics(), _all_passed()) is True
+
+
+def test_criteria_failed_when_image_differs() -> None:
+    assert transfer_meets_criteria(_metrics(image_identical=False), _all_passed()) is False
+
+
+def test_criteria_failed_when_a_fragment_is_missing() -> None:
+    metrics = _metrics(image_identical=False, fragments_recovered=9)
+    assert transfer_meets_criteria(metrics, _all_passed()) is False
+
+
+def test_criteria_failed_when_a_functional_check_failed() -> None:
+    tests = _all_passed()[:-1] + (FunctionalTestResult("bad", False, "провал"),)
+    assert transfer_meets_criteria(_metrics(), tests) is False
+
+
+def test_criteria_failed_without_any_tests() -> None:
+    assert transfer_meets_criteria(_metrics(), ()) is False

tests/test_lab043_calibration.py

@@ -0,0 +1,891 @@
+"""Быстрые синтетические проверки программной части Lab043."""
+
+from __future__ import annotations
+
+import hashlib
+import json
+import math
+
+import numpy as np
+import pytest
+from scipy.signal import fftconvolve
+
+from experiments import lab043_pluto_to_rtlsdr as lab043
+from experiments import lab043_prbs11_hardware as lab043_hardware
+from protocol import bpsk_radio as radio
+from protocol.image_fragments import split_image_bytes
+from protocol.packet import CRCError, MESSAGE_TYPE_TEXT, build_packet, parse_packet
+
+
+def test_receive_duration_is_derived_from_actual_transmit_length() -> None:
+    assert lab043.receive_duration_seconds(4_800_000, 2_400_000.0) == 3.0
+    assert lab043.receive_sample_count(4_800_000, 2_400_000.0, 2_399_900.0) == math.ceil(
+        3.0 * 2_399_900.0
+    )
+
+
+def test_continuous_blocks_are_joined_once_and_trimmed_at_end() -> None:
+    blocks = (
+        np.asarray([0, 1, 2], dtype=np.complex64),
+        np.asarray([3, 4, 5], dtype=np.complex64),
+    )
+    combined = lab043.combine_continuous_blocks(blocks, expected_sample_count=5)
+    assert np.array_equal(combined.real, np.arange(5))
+
+
+def test_short_continuous_capture_is_rejected() -> None:
+    with pytest.raises(ValueError, match="короче"):
+        lab043.combine_continuous_blocks((np.zeros(9),), expected_sample_count=10)
+
+
+def test_async_collector_preserves_order_trims_target_and_records_boundaries() -> None:
+    collector = lab043.ContinuousAsyncIqCollector(
+        expected_sample_count=7,
+        warmup_callback_count=1,
+    )
+
+    assert not collector.add_callback(0, np.asarray([100, 101], dtype=complex))
+    assert not collector.add_callback(1, np.asarray([0, 1, 2], dtype=complex))
+    assert not collector.add_callback(2, np.asarray([3, 4, 5], dtype=complex))
+    assert collector.add_callback(3, np.asarray([6, 7, 8], dtype=complex))
+
+    combined = collector.finalize()
+    assert np.array_equal(combined.real, np.arange(7))
+    assert len(combined) == 7
+
+    boundaries = collector.callback_boundaries
+    assert [row.callback_index for row in boundaries] == [0, 1, 2, 3]
+    assert [row.accepted_start_sample for row in boundaries] == [0, 0, 3, 6]
+    assert [row.accepted_end_sample for row in boundaries] == [0, 3, 6, 7]
+    assert boundaries[0].warmup_discarded
+    assert boundaries[-1].trimmed_at_target
+    assert boundaries[-1].source_sample_count == 3
+    assert boundaries[-1].accepted_sample_count == 1
+
+
+def test_async_collector_rejects_duplicate_callback() -> None:
+    collector = lab043.ContinuousAsyncIqCollector(4, warmup_callback_count=0)
+    collector.add_callback(0, np.asarray([0, 1], dtype=complex))
+    with pytest.raises(ValueError, match="продублирован"):
+        collector.add_callback(0, np.asarray([2, 3], dtype=complex))
+
+
+def test_async_collector_rejects_missing_callback() -> None:
+    collector = lab043.ContinuousAsyncIqCollector(4, warmup_callback_count=0)
+    collector.add_callback(0, np.asarray([0, 1], dtype=complex))
+    with pytest.raises(ValueError, match="пропуск"):
+        collector.add_callback(2, np.asarray([2, 3], dtype=complex))
+
+
+def test_async_collector_rejects_early_finalize_and_extra_callback() -> None:
+    collector = lab043.ContinuousAsyncIqCollector(2, warmup_callback_count=0)
+    collector.add_callback(0, np.asarray([0], dtype=complex))
+    with pytest.raises(RuntimeError, match="короче"):
+        collector.finalize()
+    assert collector.add_callback(1, np.asarray([1], dtype=complex))
+    with pytest.raises(RuntimeError, match="уже набрал"):
+        collector.add_callback(2, np.asarray([2], dtype=complex))
+
+
+def test_frame_concatenation_adds_no_lab043_gap() -> None:
+    first = lab043.shape_frame_like_lab042(np.ones(16, dtype=complex), samples_per_symbol=8)
+    second = lab043.shape_frame_like_lab042(-np.ones(12, dtype=complex), samples_per_symbol=8)
+    continuous = lab043.concatenate_frames_without_new_gaps((first, second))
+    assert len(continuous) == len(first) + len(second)
+    assert np.array_equal(continuous[: len(first)], first)
+    assert np.array_equal(continuous[len(first) :], second)
+
+
+def test_spectrum_method_finds_two_strong_tones_and_cfo() -> None:
+    sample_rate_hz = 2_400_000.0
+    sample_count = 2 * lab043.CALIBRATION_NFFT
+    indexes = np.arange(sample_count, dtype=np.float64)
+    carrier_offset_hz = 1_250.0
+    clock_scale = 1.0 + 100.0e-6
+    low_hz = carrier_offset_hz - lab043.F_CAL_HZ * clock_scale
+    high_hz = carrier_offset_hz + lab043.F_CAL_HZ * clock_scale
+    random_generator = np.random.default_rng(43)
+    samples = (
+        np.exp(1j * 2.0 * np.pi * low_hz * indexes / sample_rate_hz)
+        + 0.8 * np.exp(1j * 2.0 * np.pi * high_hz * indexes / sample_rate_hz)
+        + 0.002
+        * (
+            random_generator.standard_normal(sample_count)
+            + 1j * random_generator.standard_normal(sample_count)
+        )
+    )
+
+    estimate = lab043.estimate_calibration(samples, sample_rate_hz)
+
+    assert estimate.valid
+    assert estimate.low_peak_excess_db > 10.0
+    assert estimate.high_peak_excess_db > 10.0
+    assert math.isclose(estimate.carrier_offset_hz, carrier_offset_hz, abs_tol=5.0)
+    assert math.isclose(estimate.sample_clock_error_ppm, 100.0, abs_tol=60.0)
+
+
+def _synthetic_two_tones(
+    low_hz: float,
+    high_hz: float,
+    seed: int,
+) -> tuple[np.ndarray, float]:
+    sample_rate_hz = 240_000.0
+    sample_count = 120_000
+    indexes = np.arange(sample_count, dtype=np.float64)
+    random_generator = np.random.default_rng(seed)
+    samples = (
+        np.exp(1j * 2.0 * np.pi * low_hz * indexes / sample_rate_hz)
+        + 0.8 * np.exp(1j * 2.0 * np.pi * high_hz * indexes / sample_rate_hz)
+        + 0.003
+        * (
+            random_generator.standard_normal(sample_count)
+            + 1j * random_generator.standard_normal(sample_count)
+        )
+    )
+    return samples, sample_rate_hz
+
+
+def _phase_refinement_from_spectrum(
+    samples: np.ndarray,
+    sample_rate_hz: float,
+) -> tuple[lab043.CalibrationResult, radio.TwoTonePhaseRefinement]:
+    spectrum_estimate = lab043.estimate_calibration(samples, sample_rate_hz)
+    assert spectrum_estimate.valid
+    phase_estimate = radio.refine_two_tone_frequencies_from_phase(
+        samples,
+        sample_rate_hz,
+        spectrum_estimate.f_low_hz,
+        spectrum_estimate.f_high_hz,
+        block_samples=240,
+        hop_samples=120,
+    )
+    return spectrum_estimate, phase_estimate
+
+
+@pytest.mark.parametrize(
+    "tone_shift_hz",
+    [-1.0, -0.5, -0.25, -0.1, 0.1, 0.25, 0.5, 1.0],
+)
+def test_phase_refinement_improves_known_sub_hertz_common_shift(
+    tone_shift_hz: float,
+) -> None:
+    true_low_hz = -lab043.F_CAL_HZ + tone_shift_hz
+    true_high_hz = lab043.F_CAL_HZ + tone_shift_hz
+    samples, sample_rate_hz = _synthetic_two_tones(
+        true_low_hz,
+        true_high_hz,
+        seed=43_000 + int((tone_shift_hz + 2.0) * 100),
+    )
+
+    old, refined = _phase_refinement_from_spectrum(samples, sample_rate_hz)
+    old_max_error_hz = max(
+        abs(old.f_low_hz - true_low_hz),
+        abs(old.f_high_hz - true_high_hz),
+    )
+    refined_max_error_hz = max(
+        abs(refined.low_frequency_hz - true_low_hz),
+        abs(refined.high_frequency_hz - true_high_hz),
+    )
+
+    assert refined_max_error_hz < 0.001
+    assert refined_max_error_hz < old_max_error_hz
+
+
+@pytest.mark.parametrize(
+    "half_spacing_shift_hz",
+    [-1.0, -0.5, -0.25, -0.1, 0.1, 0.25, 0.5, 1.0],
+)
+def test_phase_refinement_improves_known_sub_hertz_spacing_shift(
+    half_spacing_shift_hz: float,
+) -> None:
+    true_low_hz = -lab043.F_CAL_HZ - half_spacing_shift_hz
+    true_high_hz = lab043.F_CAL_HZ + half_spacing_shift_hz
+    true_offsets = radio.estimate_two_tone_offsets(
+        true_low_hz,
+        true_high_hz,
+        lab043.F_CAL_HZ,
+    )
+    samples, sample_rate_hz = _synthetic_two_tones(
+        true_low_hz,
+        true_high_hz,
+        seed=44_000 + int((half_spacing_shift_hz + 2.0) * 100),
+    )
+
+    old, refined = _phase_refinement_from_spectrum(samples, sample_rate_hz)
+    refined_offsets = radio.estimate_two_tone_offsets(
+        refined.low_frequency_hz,
+        refined.high_frequency_hz,
+        lab043.F_CAL_HZ,
+    )
+    old_error_ppm = abs(
+        old.sample_clock_error_ppm - true_offsets["sample_clock_error_ppm"]
+    )
+    refined_error_ppm = abs(
+        refined_offsets["sample_clock_error_ppm"]
+        - true_offsets["sample_clock_error_ppm"]
+    )
+
+    assert refined_error_ppm < 0.001
+    assert refined_error_ppm < old_error_ppm
+
+
+@pytest.mark.parametrize("sample_clock_error_ppm", [100.0, -100.0])
+def test_public_refined_calibration_returns_complete_contract(
+    sample_clock_error_ppm: float,
+) -> None:
+    carrier_offset_hz = 1_234.5
+    scale = 1.0 + sample_clock_error_ppm * 1e-6
+    samples, sample_rate_hz = _synthetic_two_tones(
+        carrier_offset_hz - lab043.F_CAL_HZ * scale,
+        carrier_offset_hz + lab043.F_CAL_HZ * scale,
+        seed=45_000 + int(sample_clock_error_ppm),
+    )
+
+    result = lab043.estimate_refined_calibration(samples, sample_rate_hz)
+
+    assert isinstance(result, lab043.CalibrationResult)
+    assert result.valid
+    assert result.invalid_reason == ""
+    assert math.isclose(result.carrier_offset_hz, carrier_offset_hz, abs_tol=0.01)
+    assert math.isclose(
+        result.sample_clock_error_ppm,
+        sample_clock_error_ppm,
+        abs_tol=0.01,
+    )
+    assert math.isfinite(result.residual_cfo_hz)
+    assert math.isfinite(result.phase_fit_rmse_rad)
+    assert result.peak_margin_low_db >= lab043.MINIMUM_TONE_EXCESS_DB
+    assert result.peak_margin_high_db >= lab043.MINIMUM_TONE_EXCESS_DB
+
+
+def test_public_refined_calibration_rejects_weak_or_missing_tone_without_exception() -> None:
+    sample_rate_hz = 240_000.0
+    sample_count = 120_000
+    indexes = np.arange(sample_count, dtype=np.float64)
+    random_generator = np.random.default_rng(46_000)
+    noise = 0.003 * (
+        random_generator.standard_normal(sample_count)
+        + 1j * random_generator.standard_normal(sample_count)
+    )
+    one_tone = np.exp(1j * 2.0 * np.pi * lab043.F_CAL_HZ * indexes / sample_rate_hz)
+
+    weak = lab043.estimate_refined_calibration(noise, sample_rate_hz)
+    missing = lab043.estimate_refined_calibration(one_tone + noise, sample_rate_hz)
+
+    for result in (weak, missing):
+        assert isinstance(result, lab043.CalibrationResult)
+        assert not result.valid
+        assert result.invalid_reason
+        assert math.isnan(result.f_low_hz)
+        assert math.isnan(result.f_high_hz)
+        assert math.isnan(result.carrier_offset_hz)
+        assert math.isnan(result.sample_clock_error_ppm)
+
+
+def test_tones_below_ten_decibels_are_rejected_with_nan() -> None:
+    frequencies = np.linspace(-100_000.0, 100_000.0, 4001)
+    powers = np.ones_like(frequencies)
+    powers[np.argmin(np.abs(frequencies + lab043.F_CAL_HZ))] = 9.0
+    powers[np.argmin(np.abs(frequencies - lab043.F_CAL_HZ))] = 9.0
+
+    estimate = lab043.estimate_calibration_from_spectrum(frequencies, powers)
+
+    assert not estimate.valid
+    assert math.isnan(estimate.f_low_hz)
+    assert math.isnan(estimate.f_high_hz)
+    assert math.isnan(estimate.carrier_offset_hz)
+    assert estimate.failure_reason
+
+
+def _estimate(carrier_offset_hz: float, valid: bool = True) -> lab043.CalibrationResult:
+    if not valid:
+        return lab043._invalid_calibration(
+            "нет тонов",
+            noise_power=1.0,
+        )
+    return lab043.CalibrationResult(
+        valid=True,
+        invalid_reason="",
+        f_low_hz=-50_000.0 + carrier_offset_hz,
+        f_high_hz=50_000.0 + carrier_offset_hz,
+        carrier_offset_hz=carrier_offset_hz,
+        carrier_offset_ppm=carrier_offset_hz / lab043.CARRIER_HZ * 1e6,
+        clock_scale=1.0,
+        sample_clock_error_ppm=0.0,
+        residual_cfo_hz=0.0,
+        phase_fit_rmse_rad=0.0,
+        peak_margin_low_db=20.0,
+        peak_margin_high_db=21.0,
+        noise_power=1.0,
+    )
+
+
+def test_three_calibrations_keep_individual_failures_and_finite_statistics() -> None:
+    summary = lab043.summarize_calibrations((_estimate(10.0), _estimate(14.0), _estimate(0, False)))
+
+    assert summary["capture_count"] == 3
+    assert summary["failure_count"] == 1
+    carrier = summary["carrier_offset_hz"]
+    assert carrier["mean"] == 12.0
+    assert carrier["minimum"] == 10.0
+    assert carrier["maximum"] == 14.0
+    assert carrier["standard_deviation"] == 2.0
+
+
+def test_all_invalid_calibrations_keep_nan_aggregates() -> None:
+    summary = lab043.summarize_calibrations((_estimate(0, False),) * 3)
+    assert summary["failure_count"] == 3
+    assert math.isnan(summary["carrier_offset_hz"]["mean"])
+
+
+def test_calibration_summary_requires_exactly_three_captures() -> None:
+    with pytest.raises(ValueError, match="ровно три"):
+        lab043.summarize_calibrations((_estimate(10.0), _estimate(12.0)))
+
+
+def test_prbs11_has_full_2047_bit_period() -> None:
+    sequence = lab043.prbs11(2 * lab043.PRBS11_LENGTH)
+    first = sequence[: lab043.PRBS11_LENGTH]
+    second = sequence[lab043.PRBS11_LENGTH :]
+
+    assert np.array_equal(first, second)
+    assert not np.array_equal(first, np.roll(first, 23))
+    assert not np.array_equal(first, np.roll(first, 89))
+
+
+def test_separate_pilot_is_fixed_balanced_and_independent_from_prbs11() -> None:
+    pilot = lab043.pilot_prbs7()
+    first_period = pilot[:127]
+    second_period = pilot[127:254]
+
+    assert len(pilot) == 1_280
+    assert np.array_equal(first_period, second_period)
+    assert int(np.count_nonzero(first_period)) == 64
+    assert not np.array_equal(pilot, lab043.prbs11(len(pilot)))
+    longest_run = max(
+        len(group)
+        for group in np.split(pilot, np.flatnonzero(np.diff(pilot)) + 1)
+    )
+    assert longest_run <= 7
+
+
+@pytest.mark.parametrize(
+    "carrier_offset_hz",
+    [-10.0, -5.0, -2.0, -1.2, -1.0, -0.5, 0.5, 1.0, 1.2, 2.0, 5.0, 10.0],
+)
+def test_fixed_pilot_estimator_statistics_match_hardware_s_phase_dispersion(
+    carrier_offset_hz: float,
+) -> None:
+    known = radio.bpsk_modulate(lab043.pilot_prbs7())
+    indexes = np.arange(len(known), dtype=np.float64)
+    estimates: list[float] = []
+    for repetition in range(96):
+        random_generator = np.random.default_rng(
+            43_043_000
+            + int(round((carrier_offset_hz + 20.0) * 1_000.0))
+            + repetition
+        )
+        phase_noise = random_generator.normal(0.0, 0.4691, len(known))
+        received = known * np.exp(
+            1j
+            * (
+                2.0 * np.pi * carrier_offset_hz * indexes / lab043.SYMBOL_RATE
+                + phase_noise
+            )
+        )
+        estimate = radio.estimate_known_pilot_carrier(received, known)
+        assert estimate.valid
+        estimates.append(estimate.frequency_hz)
+
+    errors = np.asarray(estimates) - carrier_offset_hz
+    assert np.all(np.sign(estimates) == np.sign(carrier_offset_hz))
+    assert abs(float(np.mean(errors))) < 0.08
+    assert float(np.std(errors, ddof=1)) < 0.18
+    assert float(np.percentile(np.abs(errors), 95.0)) < 0.35
+
+
+def test_fixed_pilot_estimator_rejects_noise_only_input() -> None:
+    random_generator = np.random.default_rng(43_043)
+    known = radio.bpsk_modulate(lab043.pilot_prbs7())
+    noise = (
+        random_generator.normal(0.0, 1.0, len(known))
+        + 1j * random_generator.normal(0.0, 1.0, len(known))
+    )
+
+    estimate = radio.estimate_known_pilot_carrier(noise, known)
+
+    assert not estimate.valid
+    assert math.isnan(estimate.frequency_hz)
+
+
+@pytest.mark.parametrize(
+    ("label", "duration_seconds", "expected_bits"),
+    [("S", 0.25, 5_000), ("L", 2.0, 40_000)],
+)
+def test_prbs_transmission_plan_is_fixed_and_has_one_initial_marker(
+    label: str,
+    duration_seconds: float,
+    expected_bits: int,
+) -> None:
+    plan = lab043.build_prbs11_transmission_plan(label, duration_seconds)
+
+    assert len(plan.payload_bits) == expected_bits
+    assert np.array_equal(
+        plan.payload_bits,
+        lab043.prbs11(expected_bits, lab043.PRBS11_INITIAL_STATE),
+    )
+    assert plan.bpsk_start_sample == (
+        plan.calibration_sample_count + plan.fixed_guard_sample_count
+    )
+    assert plan.calibration_sample_count == 600_000
+    assert plan.fixed_guard_sample_count == 240_000
+    assert np.max(np.abs(plan.tx_samples)) <= 1.0
+    if label == "S":
+        assert len(plan.pilot_bits) == lab043.PILOT_SYMBOL_COUNT
+        assert len(plan.pilot_bits) / lab043.SYMBOL_RATE == 0.064
+    else:
+        assert len(plan.pilot_bits) == 0
+
+
+def test_noncyclic_tx_buffer_is_held_for_full_waveform_duration() -> None:
+    events: list[object] = []
+
+    class FakePluto:
+        def tx_destroy_buffer(self) -> None:
+            events.append("destroy")
+
+        def tx(self, samples: np.ndarray) -> None:
+            events.append(("tx", samples.copy()))
+
+    samples = np.arange(12, dtype=np.float32).astype(np.complex64)
+    duration = lab043_hardware.transmit_noncyclic_buffer_once(
+        FakePluto(),
+        samples,
+        actual_sample_rate_hz=48.0,
+        sleep_function=lambda seconds: events.append(("sleep", seconds)),
+    )
+
+    assert duration == 0.25
+    assert events[0] == "destroy"
+    assert events[1][0] == "tx"
+    assert np.array_equal(events[1][1], samples)
+    assert events[2] == ("sleep", 0.25)
+    assert events[3] == "destroy"
+
+
+def _synthetic_prbs_channel(
+    transmitted: np.ndarray,
+    sample_rate_hz: float,
+    carrier_offset_hz: float,
+    clock_scale: float,
+) -> np.ndarray:
+    received_length = max(1, math.floor(len(transmitted) / clock_scale))
+    receive_indexes = np.arange(received_length, dtype=np.float64)
+    source_positions = np.minimum(receive_indexes * clock_scale, len(transmitted) - 1.0)
+    source_indexes = np.arange(len(transmitted), dtype=np.float64)
+    received = np.interp(source_positions, source_indexes, transmitted.real) + 1j * np.interp(
+        source_positions,
+        source_indexes,
+        transmitted.imag,
+    )
+    return received * np.exp(
+        1j * 2.0 * np.pi * carrier_offset_hz * receive_indexes / sample_rate_hz
+    )
+
+
+def test_prbs_modes_measure_drift_and_resampling_reduces_it() -> None:
+    samples_per_symbol = 16
+    sample_rate_hz = lab043.SYMBOL_RATE * samples_per_symbol
+    clock_scale = 1.0 - 100.0e-6
+    carrier_offset_hz = 730.0
+    plan = lab043.build_prbs11_transmission_plan(
+        "S",
+        0.25,
+        sample_rate_hz=sample_rate_hz,
+        samples_per_symbol=samples_per_symbol,
+    )
+    transmitted_bpsk = plan.tx_samples[plan.bpsk_start_sample :]
+    received = _synthetic_prbs_channel(
+        transmitted_bpsk,
+        sample_rate_hz,
+        carrier_offset_hz,
+        clock_scale,
+    )
+
+    modes = lab043.analyze_prbs_modes(
+        received,
+        plan.payload_bits,
+        carrier_offset_hz,
+        clock_scale,
+        sample_rate_hz,
+        samples_per_symbol=samples_per_symbol,
+    )
+
+    assert modes["B"].detected
+    assert modes["C"].detected
+    assert modes["D"].detected
+    assert modes["B"].matched_bit_count == len(plan.payload_bits)
+    assert modes["D"].bit_error_rate == 0.0
+    assert modes["B"].timing_sro_ppm < 0.0
+    assert math.isclose(modes["B"].timing_sro_ppm, -100.0, abs_tol=40.0)
+    assert abs(modes["D"].accumulated_timing_drift_samples) < abs(
+        modes["B"].accumulated_timing_drift_samples
+    )
+
+
+def test_marker_pilot_correction_and_unknown_prbs_follow_one_software_path() -> None:
+    samples_per_symbol = 16
+    sample_rate_hz = lab043.SYMBOL_RATE * samples_per_symbol
+    coarse_cfo_hz = 700.0
+    residual_cfo_hz = 1.2
+    plan = lab043.build_prbs11_transmission_plan(
+        "S",
+        0.25,
+        sample_rate_hz=sample_rate_hz,
+        samples_per_symbol=samples_per_symbol,
+    )
+    transmitted_bpsk = plan.tx_samples[plan.bpsk_start_sample :]
+    received = _synthetic_prbs_channel(
+        transmitted_bpsk,
+        sample_rate_hz,
+        coarse_cfo_hz + residual_cfo_hz,
+        1.0,
+    )
+
+    modes = lab043.analyze_prbs_modes(
+        received,
+        plan.payload_bits,
+        coarse_cfo_hz,
+        1.0,
+        sample_rate_hz,
+        samples_per_symbol=samples_per_symbol,
+        known_pilot_bits=plan.pilot_bits,
+    )
+    wrong_reference_modes = lab043.analyze_prbs_modes(
+        received,
+        np.zeros_like(plan.payload_bits),
+        coarse_cfo_hz,
+        1.0,
+        sample_rate_hz,
+        samples_per_symbol=samples_per_symbol,
+        known_pilot_bits=plan.pilot_bits,
+    )
+
+    assert set(modes) == {"A", "B", "C", "D"}
+    assert modes["C"].pilot_estimate_valid
+    assert modes["C"].pilot_cfo_applied
+    assert math.isclose(
+        modes["C"].estimated_pilot_cfo_hz,
+        residual_cfo_hz,
+        abs_tol=0.25,
+    )
+    assert abs(modes["C"].residual_pilot_cfo_hz) < 0.05
+    assert modes["C"].bit_error_rate < modes["B"].bit_error_rate
+    assert modes["C"].bit_error_rate == 0.0
+    assert math.isclose(
+        wrong_reference_modes["C"].estimated_pilot_cfo_hz,
+        modes["C"].estimated_pilot_cfo_hz,
+        abs_tol=1e-12,
+    )
+    assert wrong_reference_modes["C"].bit_error_rate > 0.4
+
+
+def test_calibration_and_bpsk_are_split_from_the_same_capture() -> None:
+    samples_per_symbol = 16
+    sample_rate_hz = lab043.SYMBOL_RATE * samples_per_symbol
+    plan = lab043.build_prbs11_transmission_plan(
+        "S",
+        0.025,
+        sample_rate_hz=sample_rate_hz,
+        samples_per_symbol=samples_per_symbol,
+    )
+    leading = np.zeros(round(0.5 * sample_rate_hz), dtype=np.complex128)
+    trailing = np.zeros(round(0.5 * sample_rate_hz), dtype=np.complex128)
+    capture = np.concatenate((leading, plan.tx_samples, trailing))
+
+    calibration, bpsk, sections = lab043.split_calibration_and_bpsk(
+        capture,
+        plan,
+        sample_rate_hz,
+        sample_rate_hz,
+    )
+
+    assert len(calibration) > 0.15 * sample_rate_hz
+    assert len(bpsk) > len(plan.tx_samples) - plan.bpsk_start_sample
+    assert sections["calibration_end_sample"] < sections["bpsk_nominal_start_sample"]
+
+
+def _continuous_synthetic_capture(
+    plan: lab043.PrbsTransmissionPlan,
+    tx_samples: np.ndarray | None = None,
+) -> np.ndarray:
+    leading = np.zeros(
+        round(lab043.RX_LEADING_MARGIN_SECONDS * lab043.SAMPLE_RATE_HZ),
+        dtype=np.complex64,
+    )
+    trailing = np.zeros(
+        round(lab043.RX_TRAILING_MARGIN_SECONDS * lab043.SAMPLE_RATE_HZ),
+        dtype=np.complex64,
+    )
+    waveform = plan.tx_samples if tx_samples is None else tx_samples
+    return np.concatenate((leading, waveform.astype(np.complex64), trailing))
+
+
+def test_full_short_s_processing_path_returns_calibration_and_modes() -> None:
+    plan = lab043.build_prbs11_transmission_plan("S", 0.025)
+    capture = _continuous_synthetic_capture(plan)
+
+    result = lab043_hardware.analyze_captured_prbs(
+        capture,
+        plan,
+        lab043.SAMPLE_RATE_HZ,
+        lab043.SAMPLE_RATE_HZ,
+    )
+
+    assert result.processing_success
+    assert result.calibration.valid
+    assert set(result.modes) == {"A", "B", "C", "D"}
+    assert result.modes["D"].detected
+    assert result.modes["D"].matched_bit_count == len(plan.payload_bits)
+    assert result.modes["D"].bit_error_rate == 0.0
+    assert math.isfinite(result.modes["D"].evm_percent)
+
+
+def test_full_short_s_missing_prbs_is_not_reported_as_zero_ber() -> None:
+    plan = lab043.build_prbs11_transmission_plan("S", 0.025)
+    without_prbs = plan.tx_samples.copy()
+    without_prbs[plan.bpsk_start_sample :] = 0.0
+    capture = _continuous_synthetic_capture(plan, without_prbs)
+
+    result = lab043_hardware.analyze_captured_prbs(
+        capture,
+        plan,
+        lab043.SAMPLE_RATE_HZ,
+        lab043.SAMPLE_RATE_HZ,
+    )
+
+    assert result.calibration.valid
+    assert not result.processing_success
+    assert not result.modes["D"].detected
+    assert math.isnan(result.modes["D"].bit_error_rate)
+
+
+def test_full_short_s_invalid_calibration_makes_all_modes_na() -> None:
+    plan = lab043.build_prbs11_transmission_plan("S", 0.025)
+    one_tone_waveform = plan.tx_samples.copy()
+    indexes = np.arange(plan.calibration_sample_count, dtype=np.float64)
+    one_tone_waveform[: plan.calibration_sample_count] = 0.35 * np.exp(
+        1j * 2.0 * np.pi * lab043.F_CAL_HZ * indexes / lab043.SAMPLE_RATE_HZ
+    )
+    capture = _continuous_synthetic_capture(plan, one_tone_waveform)
+
+    result = lab043_hardware.analyze_captured_prbs(
+        capture,
+        plan,
+        lab043.SAMPLE_RATE_HZ,
+        lab043.SAMPLE_RATE_HZ,
+    )
+
+    assert not result.calibration.valid
+    assert result.calibration.invalid_reason
+    assert not result.processing_success
+    for mode in result.modes.values():
+        assert not mode.detected
+        assert math.isnan(mode.bit_error_rate)
+
+
+def test_raw_survives_processing_exception_and_json_records_failure(tmp_path) -> None:
+    samples = np.asarray([0.25 + 0.5j, -0.5 + 0.25j], dtype=np.complex64)
+    metadata = {
+        "capture_status": "captured",
+        "processing_status": "pending",
+        "processing_error": None,
+        "capture_started_utc": "2026-08-19T12:00:00Z",
+        "tx_parameters": {"gain_db": -30.0},
+        "rx_parameters": {"gain_db": None},
+        "waveform_sha256": "a" * 64,
+        "callback_count": 2,
+        "callback_boundaries": [{"callback_index": 0}, {"callback_index": 1}],
+        "tx_waveform_duration_seconds": 0.25,
+        "expected_intervals": {"calibration": [0.0, 0.1]},
+    }
+
+    iq_path, json_path, result, error = lab043.save_then_process_capture(
+        tmp_path / "failed_after_rx",
+        samples,
+        metadata,
+        lambda _samples: (_ for _ in ()).throw(RuntimeError("synthetic failure")),
+    )
+
+    document = json.loads(json_path.read_text(encoding="utf-8"))
+    assert iq_path.exists()
+    assert json_path.exists()
+    assert result is None
+    assert error == "RuntimeError: synthetic failure"
+    assert document["capture_status"] == "captured"
+    assert document["processing_status"] == "processing_failed"
+    assert document["processing_error"] == error
+    assert document["raw_verified"]
+    assert document["iq_sha256"] == hashlib.sha256(iq_path.read_bytes()).hexdigest()
+
+
+def test_ber_is_measured_before_crc() -> None:
+    expected = lab043.prbs11()
+    received = expected.copy()
+    received[[0, 100, 1000]] ^= 1
+
+    errors, bit_error_rate = lab043.bit_error_rate(expected, received)
+
+    assert errors == 3
+    assert bit_error_rate == 3 / lab043.PRBS11_LENGTH
+
+
+def test_ber_is_nan_for_truncated_known_sequence() -> None:
+    expected = lab043.prbs11()
+    errors, bit_error_rate = lab043.bit_error_rate(expected, expected[:-1])
+    assert errors == 0
+    assert math.isnan(bit_error_rate)
+
+
+@pytest.mark.parametrize("initial_sample_phase", [0, 3, 7, 15])
+def test_symbol_sample_phase_is_selected_separately(initial_sample_phase: int) -> None:
+    samples_per_symbol = 16
+    _, marker_symbols = radio.build_frame_marker()
+    taps = radio.root_raised_cosine_taps(0.35, samples_per_symbol, 10)
+    upsampled = np.zeros(len(marker_symbols) * samples_per_symbol, dtype=complex)
+    upsampled[::samples_per_symbol] = marker_symbols
+    transmitted = fftconvolve(upsampled, taps, mode="full")
+    shifted = np.concatenate((np.zeros(initial_sample_phase), transmitted))
+    matched = fftconvolve(shifted, taps, mode="full")
+
+    found = radio.find_radio_frame(matched, marker_symbols, samples_per_symbol)
+
+    assert found["sample_phase"] == initial_sample_phase
+    assert found["score"] > 0.99
+
+
+def test_one_control_packet_passes_crc() -> None:
+    assert lab043.control_packet_crc_roundtrip(b"known payload")
+
+
+def test_corrupted_control_packet_fails_crc() -> None:
+    packet = bytearray(build_packet(b"known payload", MESSAGE_TYPE_TEXT, 43))
+    packet[-1] ^= 1
+    bits, _, _ = radio.build_radio_frame(bytes(packet))
+    recovered = radio.parse_radio_frame(bits)
+    assert recovered is not None
+    with pytest.raises(CRCError):
+        parse_packet(recovered)
+
+
+def test_modes_a_b_c_process_the_same_capture_and_c_recovers_prbs() -> None:
+    clock_scale = 1.0 + 100.0e-6
+    capture, expected = lab043.synthesize_known_bpsk_capture(
+        carrier_offset_hz=730.0,
+        clock_scale=clock_scale,
+        samples_per_symbol=16,
+    )
+
+    results = lab043.process_bpsk_modes(
+        capture,
+        expected,
+        coarse_carrier_offset_hz=700.0,
+        clock_scale=clock_scale,
+        samples_per_symbol=16,
+    )
+
+    assert set(results) == {"A", "B", "C"}
+    assert results["C"].bit_error_rate == 0.0
+    assert results["C"].fine_cfo_applied
+    assert not math.isfinite(results["A"].bit_error_rate) or (
+        results["A"].bit_error_rate > results["C"].bit_error_rate
+    )
+    assert results["B"].bit_error_rate > results["C"].bit_error_rate
+
+
+def test_missing_jpeg_fragment_never_produces_an_image() -> None:
+    fragments = split_image_bytes(bytes(range(250)) * 5, image_id=43, fragment_data_size=128)
+    assert len(fragments) == 10
+    assert lab043.try_reassemble_complete_image(fragments[:-1]) is None
+
+
+def _complete_acceptance() -> lab043.AcceptanceResult:
+    return lab043.AcceptanceResult(10, 10, 10, 10, True, True, True, True)
+
+
+@pytest.mark.parametrize(
+    "result",
+    [
+        lab043.AcceptanceResult(9, 10, 10, 10, True, True, True, True),
+        lab043.AcceptanceResult(10, 10, 9, 10, True, True, True, True),
+        lab043.AcceptanceResult(10, 10, 10, 9, False, False, False, True),
+        lab043.AcceptanceResult(10, 10, 10, 10, True, True, True, False),
+    ],
+)
+def test_exit_zero_requires_every_acceptance_layer(result: lab043.AcceptanceResult) -> None:
+    assert lab043.exit_code_for_acceptance(result) == 1
+
+
+def test_exit_zero_is_allowed_for_complete_acceptance() -> None:
+    result = _complete_acceptance()
+    assert result.radio_passed
+    assert result.application_passed
+    assert lab043.exit_code_for_acceptance(result) == 0
+
+
+def test_reference_iq_format_contains_reprocessing_metadata(tmp_path) -> None:
+    metadata = {
+        "actual_sample_rate_hz": 2_400_000.0,
+        "center_frequency_hz": 435_000_000.0,
+        "rx_gain_db": 19.7,
+        "capture_started_utc": "2026-08-19T12:00:00Z",
+        "capture_order": 1,
+        "tx_parameters": {"gain_db": -10.0},
+        "calibration": {"carrier_offset_hz": 123.0, "clock_scale": 1.00002},
+    }
+    samples = np.asarray([1 + 2j, 3 + 4j], dtype=np.complex64)
+
+    iq_path, metadata_path = lab043.save_reference_iq_capture(
+        tmp_path / "reference",
+        samples,
+        metadata,
+    )
+
+    restored = np.load(iq_path, allow_pickle=False)
+    document = json.loads(metadata_path.read_text(encoding="utf-8"))
+    assert np.array_equal(restored, samples)
+    assert document["sample_count"] == 2
+    assert document["dtype"] == "complex64"
+    assert len(document["iq_sha256"]) == 64
+    assert document["calibration"]["clock_scale"] == 1.00002
+
+
+def test_reference_iq_rejects_incomplete_metadata(tmp_path) -> None:
+    with pytest.raises(ValueError, match="Не хватает метаданных"):
+        lab043.save_reference_iq_capture(tmp_path / "reference", np.zeros(4), {})
+
+
+def test_diagnostic_csv_txt_and_png_are_created_from_supplied_results(tmp_path) -> None:
+    calibrations = (_estimate(10.0), _estimate(12.0), _estimate(14.0))
+    capture, expected = lab043.synthesize_known_bpsk_capture(30.0, 1.0, 16)
+    modes = lab043.process_bpsk_modes(capture, expected, 0.0, 1.0, 16)
+
+    paths = lab043.save_diagnostic_artifacts(
+        tmp_path,
+        calibrations,
+        modes,
+        _complete_acceptance(),
+    )
+
+    assert len(paths) == 5
+    assert all(path.exists() and path.stat().st_size > 0 for path in paths)
+    summary = (tmp_path / "lab043_summary.csv").read_text(encoding="utf-8")
+    assert "radio_passed" in summary
+    assert summary.rstrip().endswith(",0")
+    assert (tmp_path / "lab043_calibration.png").stat().st_size > 1000
+
+
+def test_all_embedded_lab043_checks_pass_without_hardware() -> None:
+    results = lab043.run_functional_tests()
+    assert len(results) == 10
+    assert all(result.passed for result in results), results

tests/test_packet.py

@@ -0,0 +1,97 @@
+"""Быстрые проверки пакетного протокола: protocol/packet.py."""
+
+from __future__ import annotations
+
+import struct
+
+import pytest
+
+from protocol.packet import (
+    CRC_SIZE,
+    HEADER_SIZE,
+    MAX_PAYLOAD_SIZE,
+    MESSAGE_TYPE_ACK,
+    MESSAGE_TYPE_IMAGE_FRAGMENT,
+    MESSAGE_TYPE_TELEMETRY,
+    MESSAGE_TYPE_TEXT,
+    PROTOCOL_VERSION,
+    SYNC_WORD,
+    CRCError,
+    PacketError,
+    build_packet,
+    parse_packet,
+)
+
+
+MESSAGE_TYPES = (
+    MESSAGE_TYPE_TEXT,
+    MESSAGE_TYPE_TELEMETRY,
+    MESSAGE_TYPE_IMAGE_FRAGMENT,
+    MESSAGE_TYPE_ACK,
+)
+
+
+@pytest.mark.parametrize("message_type", MESSAGE_TYPES)
+@pytest.mark.parametrize("payload", [b"", b"H", b"HELLO SDR", bytes(range(256)), b"\x00" * 1024])
+def test_roundtrip_preserves_payload(payload: bytes, message_type: int) -> None:
+    parsed = parse_packet(build_packet(payload, message_type, 7))
+    assert parsed.payload == payload
+    assert parsed.message_type == message_type
+    assert parsed.sequence_number == 7
+    assert parsed.version == PROTOCOL_VERSION
+
+
+def test_packet_starts_with_sync_word() -> None:
+    packet = build_packet(b"data", MESSAGE_TYPE_TEXT, 1)
+    assert struct.unpack(">H", packet[:2])[0] == SYNC_WORD
+
+
+def test_length_is_header_plus_payload_plus_crc() -> None:
+    payload = b"x" * 300
+    packet = build_packet(payload, MESSAGE_TYPE_TEXT, 1)
+    assert len(packet) == HEADER_SIZE + len(payload) + CRC_SIZE
+
+
+def test_sequence_number_survives_full_range() -> None:
+    for sequence_number in (0, 1, 65534, 65535):
+        assert parse_packet(build_packet(b"a", MESSAGE_TYPE_TEXT, sequence_number)).sequence_number == sequence_number
+
+
+@pytest.mark.parametrize("bit_index", [0, 7, 8, 23, 64, 100])
+def test_single_bit_corruption_is_detected(bit_index: int) -> None:
+    """CRC32 обязан ловить одиночное искажение бита в любом месте пакета."""
+
+    packet = bytearray(build_packet(b"HELLO SDR TELEMETRY", MESSAGE_TYPE_TELEMETRY, 3))
+    byte_index, offset = divmod(bit_index, 8)
+    assert byte_index < len(packet)
+    packet[byte_index] ^= 1 << offset
+
+    with pytest.raises((CRCError, PacketError)):
+        parse_packet(bytes(packet))
+
+
+def test_truncated_packet_is_rejected() -> None:
+    packet = build_packet(b"HELLO", MESSAGE_TYPE_TEXT, 1)
+    for cut in (0, 1, HEADER_SIZE - 1, len(packet) - 1):
+        with pytest.raises(PacketError):
+            parse_packet(packet[:cut])
+
+
+def test_oversized_payload_is_rejected() -> None:
+    with pytest.raises((PacketError, ValueError)):
+        build_packet(b"\x00" * (MAX_PAYLOAD_SIZE + 1), MESSAGE_TYPE_TEXT, 1)
+
+
+def test_wrong_sync_word_is_rejected() -> None:
+    packet = bytearray(build_packet(b"HELLO", MESSAGE_TYPE_TEXT, 1))
+    packet[0] ^= 0xFF
+    with pytest.raises(PacketError):
+        parse_packet(bytes(packet))
+
+
+def test_payload_is_not_shared_with_caller() -> None:
+    """Разбор не должен возвращать ссылку на изменяемый буфер."""
+
+    packet = bytearray(build_packet(b"HELLO", MESSAGE_TYPE_TEXT, 1))
+    parsed = parse_packet(bytes(packet))
+    assert isinstance(parsed.payload, bytes)

tests/test_session_state.py

@@ -0,0 +1,288 @@
+"""Проверки автоматов сеанса: protocol/session_state.py.
+
+Свойства безопасности, перенесённые из функциональных проверок Lab041.
+До этого они проверялись только при полном запуске лабораторной на 180
+сочетаний, а пять из них в отчёте вообще не измерялись.
+"""
+
+from __future__ import annotations
+
+import pytest
+
+from protocol.control_messages import (
+    ControlStateMessage,
+    MessageContext,
+    ResetRequest,
+    SequenceComparison,
+    compare_sequence,
+)
+from protocol.session_state import (
+    GroundSessionController,
+    GroundSessionState,
+    RejectionCause,
+    RoverSessionController,
+    RoverSessionState,
+    deterministic_identifier,
+)
+
+
+CONTROL_STREAM_ID = 20
+
+
+def active_pair(seed: int) -> tuple[GroundSessionController, RoverSessionController]:
+    """Довести обе стороны до состояния, в котором разрешено движение."""
+
+    ground = GroundSessionController(100 + seed)
+    rover = RoverSessionController(200 + seed)
+    status = rover.receive_hello(ground.start_synchronization())
+    assert ground.receive_status(status)
+    acknowledgement = rover.authorize_movement(ground.request_movement_authorization(1))
+    assert ground.receive_movement_authorize_ack(acknowledgement)
+    return ground, rover
+
+
+def control_from(ground, rover, sequence_number: int, speed: float = 1.0) -> ControlStateMessage:
+    context = MessageContext(ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, sequence_number)
+    return ControlStateMessage(context, speed, 0.0, False, True)
+
+
+# ------------------------------------------------------------------ безопасный запуск
+
+
+def test_both_sides_boot_without_movement() -> None:
+    ground = GroundSessionController(7)
+    rover = RoverSessionController(8)
+    assert ground.state is GroundSessionState.GROUND_BOOT
+    assert not ground.movement_permitted
+    assert rover.state is RoverSessionState.ROVER_BOOT_SAFE
+    assert rover.safe
+
+
+def test_session_status_alone_does_not_permit_movement() -> None:
+    ground = GroundSessionController(9)
+    rover = RoverSessionController(10)
+    assert ground.receive_status(rover.receive_hello(ground.start_synchronization()))
+    assert ground.state is GroundSessionState.GROUND_SAFE_SYNCHRONIZED
+    assert not ground.movement_permitted
+    assert rover.safe
+
+
+def test_authorization_ack_does_not_restore_motion() -> None:
+    ground, rover = active_pair(11)
+    assert ground.current_speed_mps == 0.0
+    assert not ground.movement_permitted
+    assert rover.safe
+
+
+def test_movement_requires_a_new_operator_command() -> None:
+    ground, rover = active_pair(12)
+    assert rover.safe
+    assert rover.receive_control(ground.new_operator_control(1.0), CONTROL_STREAM_ID).accepted
+    assert rover.speed_mps == 1.0
+
+
+def test_restarted_rover_is_immediately_safe() -> None:
+    ground, rover = active_pair(13)
+    rover.receive_control(ground.new_operator_control(1.0), CONTROL_STREAM_ID)
+    restarted = RoverSessionController(999)
+    assert restarted.state is RoverSessionState.ROVER_BOOT_SAFE
+    assert restarted.safe
+
+
+def test_new_ground_session_stops_the_old_command_stream() -> None:
+    old_ground, rover = active_pair(14)
+    old_command = old_ground.new_operator_control(1.0)
+    new_ground = GroundSessionController(1000)
+    rover.receive_hello(new_ground.start_synchronization())
+    decision = rover.receive_control(old_command, CONTROL_STREAM_ID)
+    assert decision.reason is RejectionCause.GROUND_SESSION_ID
+
+
+def test_duplicate_hello_is_idempotent() -> None:
+    ground = GroundSessionController(30)
+    rover = RoverSessionController(31)
+    hello = ground.start_synchronization()
+    first = rover.receive_hello(hello)
+    second = rover.receive_hello(hello)
+    assert first == second
+    assert rover.duplicate_hellos == 1
+
+
+# ------------------------------------------------------------------ старые пакеты
+
+
+@pytest.mark.parametrize(
+    "field,expected",
+    [
+        ("ground_session_id", RejectionCause.GROUND_SESSION_ID),
+        ("rover_boot_id", RejectionCause.ROVER_BOOT_ID),
+        ("control_epoch", RejectionCause.CONTROL_EPOCH),
+    ],
+)
+def test_stale_identifier_is_rejected(field: str, expected: RejectionCause) -> None:
+    """Пакет предыдущего сеанса, запуска или периода управления не принимается."""
+
+    ground, rover = active_pair(hash(field) % 500)
+    values = {
+        "ground_session_id": ground.ground_session_id,
+        "rover_boot_id": rover.rover_boot_id,
+        "control_epoch": rover.control_epoch,
+        "sequence_number": 1,
+    }
+    values[field] -= 1
+    message = ControlStateMessage(MessageContext(**values), 1.0, 0.0, False, True)
+    assert rover.receive_control(message, CONTROL_STREAM_ID).reason is expected
+
+
+def test_sequence_zero_is_accepted_in_a_new_session() -> None:
+    ground, rover = active_pair(1)
+    assert rover.receive_control(control_from(ground, rover, 0), CONTROL_STREAM_ID).accepted
+
+
+def test_sequence_wrap_is_treated_as_newer() -> None:
+    ground, rover = active_pair(5)
+    key = (ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, CONTROL_STREAM_ID)
+    rover.last_sequences[key] = 0xFFFFFFFF
+    assert rover.receive_control(control_from(ground, rover, 0), CONTROL_STREAM_ID).accepted
+    assert compare_sequence(0, 0xFFFFFFFF) is SequenceComparison.NEWER
+
+
+def test_ambiguous_half_range_is_rejected() -> None:
+    ground, rover = active_pair(6)
+    key = (ground.ground_session_id, rover.rover_boot_id, rover.control_epoch, CONTROL_STREAM_ID)
+    rover.last_sequences[key] = 0
+    decision = rover.receive_control(control_from(ground, rover, 0x80000000), CONTROL_STREAM_ID)
+    assert not decision.accepted
+    assert decision.ambiguous_sequence
+
+
+def test_replayed_command_is_rejected() -> None:
+    ground, rover = active_pair(21)
+    assert rover.receive_control(control_from(ground, rover, 10), CONTROL_STREAM_ID).accepted
+    replay = rover.receive_control(control_from(ground, rover, 10), CONTROL_STREAM_ID)
+    assert not replay.accepted
+    assert replay.reason is RejectionCause.SEQUENCE_NUMBER
+
+
+# ------------------------------------------------------------------ аварийное намерение
+
+
+def test_persisted_emergency_intent_survives_a_ground_restart() -> None:
+    ground = GroundSessionController(15, persisted_emergency_intent=True, persisted_emergency_event_id=77)
+    assert ground.emergency_intent
+    assert not ground.movement_permitted
+    hello = ground.start_synchronization()
+    assert hello.emergency_intent
+    assert hello.emergency_event_id == 77
+
+
+def test_emergency_acknowledgement_does_not_clear_the_intent() -> None:
+    ground, rover = active_pair(16)
+    acknowledgement = rover.receive_emergency(ground.request_emergency(88))
+    assert acknowledgement is not None
+    assert ground.receive_emergency_ack(acknowledgement)
+    assert ground.emergency_intent
+    assert not ground.movement_permitted
+
+
+def test_ordinary_command_does_not_release_the_latch() -> None:
+    ground, rover = active_pair(20)
+    rover.receive_emergency(ground.request_emergency(96))
+    decision = rover.receive_control(control_from(ground, rover, 100), CONTROL_STREAM_ID)
+    assert not decision.accepted
+    assert rover.state is RoverSessionState.EMERGENCY_LATCHED
+
+
+def test_movement_authorization_is_refused_while_intent_stands() -> None:
+    ground = GroundSessionController(40, persisted_emergency_intent=True, persisted_emergency_event_id=5)
+    rover = RoverSessionController(41)
+    ground.receive_status(rover.receive_hello(ground.start_synchronization()))
+    with pytest.raises(RuntimeError):
+        ground.request_movement_authorization(1)
+
+
+# ------------------------------------------------------------------ сброс
+
+
+def test_stale_reset_request_is_refused() -> None:
+    ground, rover = active_pair(17)
+    assert rover.receive_emergency(ground.request_emergency(90)) is not None
+    request = ground.request_reset(91)
+    stale_context = MessageContext(
+        request.context.ground_session_id - 1,
+        request.context.rover_boot_id,
+        request.context.control_epoch,
+        request.context.sequence_number,
+    )
+    stale = ResetRequest(stale_context, request.emergency_event_id, request.reset_request_id, 0.0, False)
+    assert not rover.receive_reset(stale).acknowledgement.accepted
+
+
+def test_repeated_reset_is_idempotent() -> None:
+    ground, rover = active_pair(18)
+    rover.receive_emergency(ground.request_emergency(92))
+    request = ground.request_reset(93)
+
+    first = rover.receive_reset(request)
+    assert first.performed
+
+    repeated = rover.receive_reset(request)
+    assert repeated.duplicate
+    assert not repeated.performed
+    assert repeated.acknowledgement.accepted
+
+
+def test_reset_requires_an_emergency_intent() -> None:
+    ground, _ = active_pair(50)
+    with pytest.raises(RuntimeError):
+        ground.request_reset(1)
+
+
+def test_reset_does_not_restore_the_previous_command() -> None:
+    ground, rover = active_pair(51)
+    rover.receive_control(ground.new_operator_control(2.0), CONTROL_STREAM_ID)
+    rover.receive_emergency(ground.request_emergency(60))
+    assert rover.speed_mps == 0.0
+
+    decision = rover.receive_reset(ground.request_reset(61))
+    assert decision.performed
+    assert ground.receive_reset_ack(decision.acknowledgement)
+    assert not ground.movement_permitted
+    assert ground.current_speed_mps == 0.0
+    assert rover.safe
+
+
+# ------------------------------------------------------------------ идентификаторы
+
+
+def test_identifiers_are_reproducible_and_nonzero() -> None:
+    assert deterministic_identifier(42, "ground") == deterministic_identifier(42, "ground")
+    assert deterministic_identifier(42, "ground") != deterministic_identifier(42, "rover")
+    assert deterministic_identifier(42, "ground") != deterministic_identifier(43, "ground")
+    for seed in range(50):
+        assert 0 < deterministic_identifier(seed, "ground") <= 0xFFFFFFFFFFFFFFFF
+
+
+def test_identifier_rejects_a_non_integer_seed() -> None:
+    with pytest.raises(TypeError):
+        deterministic_identifier("не число", "ground")
+
+
+# ------------------------------------------------------------------ границы скорости
+
+
+def test_negative_operator_speed_is_refused() -> None:
+    """Свойство, которое в отчёте Lab041 стояло литеральным нулём."""
+
+    ground, _ = active_pair(70)
+    for speed in (-0.1, -5.0, 0.0):
+        with pytest.raises(ValueError):
+            ground.new_operator_control(speed)
+
+
+def test_speed_above_the_limit_is_refused_by_encoding() -> None:
+    from protocol.control_messages import ControlMessageError, encode_message
+
+    ground, rover = active_pair(71)
+    with pytest.raises(ControlMessageError):
+        encode_message(control_from(ground, rover, 1, speed=15.1))

tools/quick_gate.py

@@ -0,0 +1,189 @@
+"""
+Быстрый шлюз проверки SDR Rover Link.
+
+Проверяет за одну-две секунды то, что ломается чаще всего:
+
+1. Синтаксис всех файлов в protocol, tests, experiments и tools.
+2. Импорт каждого модуля protocol.
+3. Быстрые проверки ядра из tests под pytest.
+4. 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
+import os
+from pathlib import Path
+import re
+import subprocess
+import sys
+import traceback
+
+PROJECT_ROOT = Path(__file__).resolve().parent.parent
+CHECKED_DIRECTORIES = ("protocol", "tests", "experiments", "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_core_tests() -> tuple[list[str], int]:
+    """
+    Прогнать быстрые проверки ядра из tests под pytest.
+
+    Возвращает:
+        failures:
+            Список сообщений об ошибках.
+
+        passed:
+            Количество пройденных проверок, ноль если разобрать вывод не удалось.
+    """
+
+    environment = dict(os.environ, PYTHONIOENCODING="utf-8")
+
+    completed = subprocess.run(
+        [sys.executable, "-m", "pytest", "tests", "-q"],
+        cwd=PROJECT_ROOT,
+        capture_output=True,
+        text=True,
+        encoding="utf-8",
+        errors="replace",
+        env=environment,
+    )
+
+    output = (completed.stdout + completed.stderr).strip()
+
+    if completed.returncode != 0:
+        return [f"pytest: тесты ядра не пройдены:\n{output}"], 0
+
+    match = re.search(r"(\d+) passed", output)
+    passed = int(match.group(1)) if match else 0
+
+    return [], passed
+
+
+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 / "experiments").glob("lab*.py")):
+        source = path.read_text(encoding="utf-8")
+
+        if "def run_functional_tests" not in source:
+            continue
+
+        module_name = f"experiments.{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()
+    core_failures, passed = check_core_tests()
+    test_failures, executed, skipped = check_functional_tests()
+    failures = import_failures + core_failures + test_failures
+
+    if failures:
+        print("Шлюз не пройден")
+        for failure in failures:
+            print(f"  {failure}")
+        return 1
+
+    print(
+        "Шлюз пройден: синтаксис в порядке, protocol импортируется, "
+        f"тестов ядра пройдено {passed}, "
+        f"функциональных проверок лаб выполнено {executed}, пропущено {skipped}"
+    )
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())