SDR-Rover/experiments/lab036_long_duration_scheduler.py

"""Lab036: long-duration whole-frame scheduling with changing capacity."""

from __future__ import annotations

import csv
from dataclasses import asdict, dataclass, replace
import hashlib
from pathlib import Path
import subprocess
from typing import Iterable

import cv2
import matplotlib
import numpy as np

matplotlib.use("Agg")
import matplotlib.pyplot as plt

from protocol.link_packet import (
    Direction,
    LinkPacket,
    TrafficClass,
    decode_link_packet,
    encode_link_packet,
)
from protocol.packet_erasure_fec import (
    decode_fec_block,
    decode_outer_symbol,
    encode_fec_block,
)
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 experiments.lab028_video_packetization import (
    COMPOSITE_FPS,
    EncodedComposite,
    packets_for_composite,
)
from experiments.lab033_priority_channel_scheduler import (
    STREAM_CONTROL,
    STREAM_EMERGENCY,
    STREAM_TELEMETRY,
    STREAM_VIDEO,
    build_workload as build_lab033_workload,
    deterministic_payload,
)
from experiments.lab034_stale_video_drop import parity_for_partial


OUTPUT_DIRECTORY = Path("data/processed/lab036")
SUMMARY_CSV_PATH = OUTPUT_DIRECTORY / "lab036_summary.csv"
VIDEO_CSV_PATH = OUTPUT_DIRECTORY / "lab036_video_metrics.csv"
CONTROL_CSV_PATH = OUTPUT_DIRECTORY / "lab036_control_metrics.csv"
RECOVERY_CSV_PATH = OUTPUT_DIRECTORY / "lab036_recovery_metrics.csv"
REPORT_PATH = OUTPUT_DIRECTORY / "lab036_report.txt"
AGE_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_image_age_timeline.png"
QUEUE_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_queue_timeline.png"
MINUTE_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_minute_update_rate.png"
RECOVERY_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_recovery.png"
CONTROL_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_control_delay.png"
OUTCOME_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_frame_outcomes.png"
GROWTH_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_queue_growth_theory.png"
COMPARISON_PLOT_PATH = OUTPUT_DIRECTORY / "lab036_policy_comparison.png"
PLOT_PATHS = (
    AGE_PLOT_PATH,
    QUEUE_PLOT_PATH,
    MINUTE_PLOT_PATH,
    RECOVERY_PLOT_PATH,
    CONTROL_PLOT_PATH,
    OUTCOME_PLOT_PATH,
    GROWTH_PLOT_PATH,
    COMPARISON_PLOT_PATH,
)

LAB035_COMMIT = "22c2eeab8cc794e67378485f49c236a622f814a7"
DURATION_SECONDS = 600.0
FRAME_COUNT = int(DURATION_SECONDS * COMPOSITE_FPS)
VIDEO_PAYLOAD_BYTES = 512
SOURCE_BLOCK_SIZE = 12
NOMINAL_PARITY_COUNT = 3
CONTROL_PERIOD_US = 50_000
TELEMETRY_PERIOD_US = 100_000
EMERGENCY_TIMES_US = (60_000_000, 180_000_000, 310_000_000, 480_000_000)
TIME_EPSILON_SECONDS = 1e-9


@dataclass(frozen=True)
class SpeedProfile:
    name: str
    label: str
    kind: str
    constant_kbps: float | None = None

    def rate_kbps(self, time_seconds: float) -> float:
        if self.kind == "constant":
            assert self.constant_kbps is not None
            return self.constant_kbps
        if self.kind == "step":
            if time_seconds < 120.0:
                return 300.0
            if time_seconds < 300.0:
                return 230.0
            return 300.0
        if self.kind == "variable":
            if time_seconds >= DURATION_SECONDS:
                return 230.0
            phase = time_seconds % 120.0
            return 300.0 if phase < 40.0 else 260.0 if phase < 80.0 else 230.0
        raise ValueError(f"unknown speed profile: {self.kind}")

    @property
    def mean_rate_kbps(self) -> float:
        if self.kind == "constant":
            assert self.constant_kbps is not None
            return self.constant_kbps
        if self.kind == "step":
            return (120.0 * 300.0 + 180.0 * 230.0 + 300.0 * 300.0) / DURATION_SECONDS
        return (300.0 + 260.0 + 230.0) / 3.0


@dataclass(frozen=True)
class PolicyDefinition:
    name: str
    label: str
    policy: FramePolicy


SPEED_PROFILES = (
    SpeedProfile("constant_300", "Постоянно 300", "constant", 300.0),
    SpeedProfile("constant_260", "Постоянно 260", "constant", 260.0),
    SpeedProfile("constant_230", "Постоянно 230", "constant", 230.0),
    SpeedProfile("step_300_230_300", "300→230→300", "step"),
    SpeedProfile("variable_300_260_230", "Цикл 300/260/230", "variable"),
)
POLICIES = (
    PolicyDefinition("no_drop", "Без удаления", FramePolicy.NO_DROP),
    PolicyDefinition("latest_only", "Самый свежий", FramePolicy.LATEST_ONLY),
    PolicyDefinition("two_waiting", "Два ожидающих", FramePolicy.TWO_WAITING),
)
PROFILE_BY_NAME = {item.name: item for item in SPEED_PROFILES}
POLICY_BY_NAME = {item.name: item for item in POLICIES}


@dataclass(frozen=True)
class LongWorkload:
    frames: tuple[VideoFrameGroup, ...]
    high_priority: tuple[AgePolicyPacket, ...]
    jpeg_bytes_by_frame: tuple[int, ...]
    original_frame_count: int
    video_wire_bytes: int
    nonvideo_wire_bytes: int
    crc_packets_checked: int
    crc_blocks_checked: int
    repeated_headers_are_fresh: bool

    @property
    def offered_wire_bytes(self) -> int:
        return self.video_wire_bytes + self.nonvideo_wire_bytes


@dataclass(frozen=True)
class DroppedFrame:
    frame: VideoFrameGroup
    time_seconds: float
    reason: str


@dataclass(frozen=True)
class Replacement:
    removed: AgePolicyPacket
    replacement: AgePolicyPacket
    time_seconds: float


@dataclass(frozen=True)
class ScheduledPacket:
    item: AgePolicyPacket
    start_seconds: float
    end_seconds: float
    rate_kbps: float
    blocked_by: AgePolicyPacket | None
    blocking_delay_seconds: float


@dataclass(frozen=True)
class LongSchedule:
    profile: SpeedProfile
    policy: PolicyDefinition
    transmitted: tuple[ScheduledPacket, ...]
    dropped: tuple[DroppedFrame, ...]
    replacements: tuple[Replacement, ...]
    started_frame_ids: tuple[int, ...]
    completed_frame_ids: tuple[int, ...]
    publication_times: dict[int, float]
    digest: str
    bit_accounting_error: float
    rate_rule_ok: bool
    frames_do_not_interleave: bool
    high_priority_between_video_packets: bool


@dataclass(frozen=True)
class QueueStatistics:
    mean_packets: float
    max_packets: int
    mean_bytes: float
    max_bytes: int
    mean_waiting_frames: float
    max_waiting_frames: int
    minute_packets: tuple[int, ...]
    minute_bytes: tuple[int, ...]
    timeline_seconds: tuple[float, ...]
    timeline_packets: tuple[int, ...]
    timeline_bytes: tuple[int, ...]
    remaining_packets: int
    remaining_bytes: int
    remaining_frames: int
    drain_seconds: float
    growth_bytes_per_second: float
    growth_bytes_per_minute: float
    excess_queue_clear_time_seconds: float


@dataclass(frozen=True)
class SummaryMetrics:
    scenario: str
    policy: str
    duration_seconds: float
    mean_channel_kbps: float
    offered_load_kbps: float
    speed_reserve_kbps: float
    theoretical_queue_growth_bytes_per_second: float
    theoretical_minimum_skip_fraction: float
    theoretical_sustainable_fps: float
    actual_queue_growth_bytes_per_second: float
    actual_queue_growth_bytes_per_minute: float
    unbounded_queue_growth: bool
    mean_queue_packets: float
    max_queue_packets: int
    mean_queue_bytes: float
    max_queue_bytes: int
    mean_waiting_video_frames: float
    max_waiting_video_frames: int
    queue_packets_each_minute: str
    queue_bytes_each_minute: str
    queue_at_600s_packets: int
    queue_at_600s_bytes: int
    frames_remaining_at_600s: int
    additional_drain_seconds: float
    transmitted_packets: int
    transmitted_bytes: int
    replaced_state_packets: int


@dataclass(frozen=True)
class VideoMetrics:
    scenario: str
    policy: str
    created_frames: int
    started_frames: int
    published_frames: int
    published_by_600s_frames: int
    dropped_before_start_frames: int
    published_fraction: float
    actual_update_fps: float
    update_fps_each_minute: str
    mean_publication_delay_ms: float
    p95_publication_delay_ms: float
    max_publication_delay_ms: float
    mean_display_age_ms: float
    p95_display_age_ms: float
    max_display_age_ms: float
    display_age_over_500ms_fraction: float
    display_age_over_1000ms_fraction: float
    mean_no_update_duration_ms: float
    p95_no_update_duration_ms: float
    max_no_update_duration_ms: float
    max_consecutive_missing_frames: int
    mean_publication_gap_ms: float
    max_publication_gap_ms: float
    transmitted_video_bytes: int
    wasted_transmitted_video_bytes: int
    delivered_useful_video_kbps: float


@dataclass(frozen=True)
class ControlMetrics:
    scenario: str
    policy: str
    control_mean_delay_ms: float
    control_p95_delay_ms: float
    control_max_delay_ms: float
    control_over_100ms: int
    control_max_receive_gap_ms: float
    emergency_delays_ms: str
    emergency_max_delay_ms: float
    all_emergency_under_50ms: bool
    telemetry_mean_delay_ms: float
    telemetry_p95_delay_ms: float
    telemetry_max_delay_ms: float
    telemetry_over_500ms: int


@dataclass(frozen=True)
class RecoveryMetrics:
    scenario: str
    policy: str
    applicable: bool
    image_age_at_300s_ms: float
    time_to_age_below_1000ms_seconds: float
    time_to_age_below_500ms_seconds: float
    excess_queue_clear_seconds: float
    frames_dropped_after_recovery: int
    old_frames_published_after_recovery: int


@dataclass(frozen=True)
class ScenarioResult:
    summary: SummaryMetrics
    video: VideoMetrics
    control: ControlMetrics
    recovery: RecoveryMetrics
    minute_update_fps: tuple[float, ...]
    age_timeline_seconds: tuple[float, ...]
    age_timeline_ms: tuple[float, ...]
    queue_timeline_seconds: tuple[float, ...]
    queue_timeline_bytes: tuple[int, ...]
    digest: str
    accounting_ok: bool
    started_frames_complete: bool
    no_interleave: bool
    priority_between_video: bool
    rate_rule_ok: bool
    bit_accounting_error: float


@dataclass(frozen=True)
class FunctionalTestResult:
    name: str
    passed: bool
    detail: str


def percentile(values: Iterable[float], q: float) -> float:
    values = tuple(values)
    return float(np.percentile(values, q)) if values else 0.0


def _link_packet(
    traffic_class: TrafficClass,
    direction: Direction,
    stream_id: int,
    sequence: int,
    generation_time_us: int,
    deadline_ms: int,
    payload: bytes,
) -> LinkPacket:
    return LinkPacket(
        traffic_class=traffic_class,
        direction=direction,
        stream_id=stream_id,
        sequence_number=sequence,
        generation_time_us=generation_time_us,
        deadline_ms=deadline_ms,
        payload=payload,
    )


def _validated_link(packet: LinkPacket) -> None:
    decoded = decode_link_packet(encode_link_packet(packet))
    assert decoded.traffic_class is packet.traffic_class
    assert decoded.sequence_number == packet.sequence_number
    assert decoded.generation_time_us == packet.generation_time_us
    assert decoded.payload == packet.payload


def build_long_workload() -> LongWorkload:
    """Repeat the 63 real JPEG-size pairs while rebuilding every header/CRC."""

    lab033 = build_lab033_workload()
    originals = tuple(lab033.composites)
    if len(originals) != 63:
        raise AssertionError("Lab036 requires the 63-frame source profile")
    frames: list[VideoFrameGroup] = []
    jpeg_sizes: list[int] = []
    video_sequence = 0
    block_id = 0
    crc_packets = 0
    crc_blocks = 0
    repeated_inner_headers: dict[int, bytes] = {}
    for frame_id in range(FRAME_COUNT):
        original = originals[frame_id % len(originals)]
        composite = EncodedComposite(
            composite_frame_id=frame_id,
            source_frame_index=original.source_frame_index,
            base_jpeg=original.base_jpeg,
            roi_jpeg=original.roi_jpeg,
        )
        base_packets, roi_packets = packets_for_composite(composite, VIDEO_PAYLOAD_BYTES)
        inner_packets = tuple(base_packets + roi_packets)
        if frame_id in (0, len(originals)):
            repeated_inner_headers[frame_id] = inner_packets[0]
        generation_us = int(round(frame_id / COMPOSITE_FPS * 1_000_000.0))
        frame_packets: list[AgePolicyPacket] = []
        for start in range(0, len(inner_packets), SOURCE_BLOCK_SIZE):
            chunk = inner_packets[start:start + SOURCE_BLOCK_SIZE]
            parity_count = (
                NOMINAL_PARITY_COUNT
                if len(chunk) == SOURCE_BLOCK_SIZE
                else parity_for_partial(len(chunk))
            )
            outer_packets = encode_fec_block(chunk, block_id, parity_count)
            decoded_block = decode_fec_block(tuple(outer_packets))
            assert decoded_block.source_packets == chunk
            for inner in decoded_block.source_packets:
                assert decode_inner_packet(inner).composite_frame_id == frame_id
            crc_blocks += 1
            for outer_wire in outer_packets:
                decode_outer_symbol(outer_wire)
                packet = _link_packet(
                    TrafficClass.VIDEO,
                    Direction.ROVER_TO_GROUND,
                    STREAM_VIDEO,
                    video_sequence,
                    generation_us,
                    0,
                    outer_wire,
                )
                _validated_link(packet)
                frame_packets.append(
                    AgePolicyPacket(packet, video_sequence, generation_us, frame_id)
                )
                video_sequence += 1
                crc_packets += 1
            block_id += 1
        frames.append(VideoFrameGroup(frame_id, generation_us, tuple(frame_packets)))
        jpeg_sizes.append(len(original.base_jpeg) + len(original.roi_jpeg))

    high_packets: list[AgePolicyPacket] = []
    for sequence, generation_us in enumerate(
        range(0, int(DURATION_SECONDS * 1_000_000), CONTROL_PERIOD_US)
    ):
        packet = _link_packet(
            TrafficClass.CONTROL, Direction.GROUND_TO_ROVER, STREAM_CONTROL,
            sequence, generation_us, 100,
            deterministic_payload(b"CONTROL", sequence, 32),
        )
        high_packets.append(AgePolicyPacket(packet, -1, generation_us, None))
    for sequence, generation_us in enumerate(
        range(0, int(DURATION_SECONDS * 1_000_000), TELEMETRY_PERIOD_US)
    ):
        packet = _link_packet(
            TrafficClass.TELEMETRY, Direction.ROVER_TO_GROUND, STREAM_TELEMETRY,
            sequence, generation_us, 500,
            deterministic_payload(b"TELEM", sequence, 64),
        )
        high_packets.append(AgePolicyPacket(packet, -1, generation_us, None))
    for sequence, generation_us in enumerate(EMERGENCY_TIMES_US):
        packet = _link_packet(
            TrafficClass.EMERGENCY, Direction.GROUND_TO_ROVER, STREAM_EMERGENCY,
            sequence, generation_us, 50,
            deterministic_payload(b"E-STOP", sequence, 32),
        )
        high_packets.append(AgePolicyPacket(packet, -1, generation_us, None))
    high_packets.sort(
        key=lambda item: (
            item.available_time_us,
            int(item.packet.traffic_class),
            item.packet.stream_id,
            item.packet.sequence_number,
        )
    )
    high_packets = [
        replace(item, arrival_order=video_sequence + index)
        for index, item in enumerate(high_packets)
    ]
    for item in high_packets:
        _validated_link(item.packet)
        crc_packets += 1
    return LongWorkload(
        frames=tuple(frames),
        high_priority=tuple(high_packets),
        jpeg_bytes_by_frame=tuple(jpeg_sizes),
        original_frame_count=len(originals),
        video_wire_bytes=sum(frame.wire_size_bytes for frame in frames),
        nonvideo_wire_bytes=sum(item.wire_size_bytes for item in high_packets),
        crc_packets_checked=crc_packets,
        crc_blocks_checked=crc_blocks,
        repeated_headers_are_fresh=(
            repeated_inner_headers[0] != repeated_inner_headers[len(originals)]
        ),
    )


def schedule_long(
    workload: LongWorkload,
    profile: SpeedProfile,
    policy: PolicyDefinition,
) -> LongSchedule:
    frame_arrivals = workload.frames
    high_arrivals = workload.high_priority
    ready_high: list[AgePolicyPacket] = []
    pending_frames: list[VideoFrameGroup] = []
    transmitted: list[ScheduledPacket] = []
    dropped: list[DroppedFrame] = []
    replacements: list[Replacement] = []
    started: list[int] = []
    completed: list[int] = []
    publications: dict[int, float] = {}
    blocker_by_order: dict[int, tuple[AgePolicyPacket, float]] = {}
    active: VideoFrameGroup | None = None
    active_index = 0
    cursor = 0.0
    frame_index = 0
    high_index = 0

    def enqueue_high(item: AgePolicyPacket) -> None:
        if item.packet.traffic_class in (TrafficClass.CONTROL, TrafficClass.TELEMETRY):
            retained = []
            for old in ready_high:
                if (
                    old.packet.traffic_class is item.packet.traffic_class
                    and old.packet.stream_id == item.packet.stream_id
                ):
                    replacements.append(Replacement(old, item, item.available_time_seconds))
                else:
                    retained.append(old)
            ready_high[:] = retained
        ready_high.append(item)

    def admit(now: float, current: AgePolicyPacket | None = None, start: float = 0.0) -> None:
        nonlocal frame_index, high_index
        while (
            high_index < len(high_arrivals)
            and high_arrivals[high_index].available_time_seconds <= now + TIME_EPSILON_SECONDS
        ):
            item = high_arrivals[high_index]
            high_index += 1
            if current is not None and item.available_time_seconds > start + TIME_EPSILON_SECONDS:
                blocker_by_order[item.arrival_order] = (
                    current,
                    max(0.0, now - item.available_time_seconds),
                )
            enqueue_high(item)
        while (
            frame_index < len(frame_arrivals)
            and frame_arrivals[frame_index].generation_time_seconds <= now + TIME_EPSILON_SECONDS
        ):
            frame = frame_arrivals[frame_index]
            frame_index += 1
            arrival = frame.generation_time_seconds
            if policy.policy is FramePolicy.LATEST_ONLY:
                dropped.extend(
                    DroppedFrame(old, arrival, "replaced_by_newest")
                    for old in pending_frames
                )
                pending_frames[:] = [frame]
            elif policy.policy is FramePolicy.TWO_WAITING:
                pending_frames.append(frame)
                while len(pending_frames) > 2:
                    dropped.append(DroppedFrame(pending_frames.pop(0), arrival, "waiting_limit"))
            else:
                pending_frames.append(frame)

    while (
        frame_index < len(frame_arrivals)
        or high_index < len(high_arrivals)
        or ready_high
        or pending_frames
        or active is not None
    ):
        if not ready_high and not pending_frames and active is None:
            next_times = []
            if frame_index < len(frame_arrivals):
                next_times.append(frame_arrivals[frame_index].generation_time_seconds)
            if high_index < len(high_arrivals):
                next_times.append(high_arrivals[high_index].available_time_seconds)
            cursor = max(cursor, min(next_times))
        admit(cursor)
        selected: AgePolicyPacket | None = None
        if ready_high:
            selected = min(
                ready_high,
                key=lambda item: (int(item.packet.traffic_class), item.arrival_order),
            )
            ready_high.remove(selected)
        else:
            if active is None and pending_frames:
                active = pending_frames.pop(0)
                active_index = 0
                started.append(active.composite_frame_id)
            if active is not None:
                selected = active.packets[active_index]
        if selected is None:
            continue
        start = max(cursor, selected.available_time_seconds)
        rate_kbps = profile.rate_kbps(start)
        end = start + selected.wire_size_bytes * 8.0 / (rate_kbps * 1000.0)
        admit(end, selected, start)
        blocker, blocking_delay = blocker_by_order.get(selected.arrival_order, (None, 0.0))
        transmitted.append(
            ScheduledPacket(selected, start, end, rate_kbps, blocker, blocking_delay)
        )
        cursor = end
        if selected.packet.traffic_class is TrafficClass.VIDEO:
            assert active is not None
            active_index += 1
            if active_index == len(active.packets):
                frame_id = active.composite_frame_id
                completed.append(frame_id)
                publications[frame_id] = end
                active = None
                active_index = 0

    digest = hashlib.sha256()
    bit_error = 0.0
    rate_rule_ok = True
    compressed_video: list[int] = []
    high_since_video = False
    priority_between = False
    last_video: int | None = None
    for sent in transmitted:
        digest.update(
            f"{sent.item.arrival_order}:{sent.start_seconds:.12f}:{sent.end_seconds:.12f}:{sent.rate_kbps:.3f};".encode()
        )
        bit_error += abs(
            (sent.end_seconds - sent.start_seconds) * sent.rate_kbps * 1000.0
            - sent.item.wire_size_bytes * 8.0
        )
        rate_rule_ok &= sent.rate_kbps == profile.rate_kbps(sent.start_seconds)
        frame_id = sent.item.composite_frame_id
        if frame_id is None:
            if last_video is not None:
                high_since_video = True
        else:
            if frame_id == last_video and high_since_video:
                priority_between = True
            if not compressed_video or compressed_video[-1] != frame_id:
                compressed_video.append(frame_id)
            last_video = frame_id
            high_since_video = False
    for item in dropped:
        digest.update(f"D{item.frame.composite_frame_id}:{item.time_seconds:.12f};".encode())
    return LongSchedule(
        profile,
        policy,
        tuple(transmitted),
        tuple(dropped),
        tuple(replacements),
        tuple(started),
        tuple(completed),
        publications,
        digest.hexdigest(),
        bit_error,
        rate_rule_ok,
        len(compressed_video) == len(set(compressed_video)),
        priority_between,
    )


def _sample_events(
    events: dict[float, tuple[int, int]],
    sample_times: tuple[float, ...],
) -> tuple[tuple[int, ...], tuple[int, ...]]:
    ordered = sorted(events.items())
    index = 0
    packets = 0
    byte_count = 0
    packet_values = []
    byte_values = []
    for sample in sample_times:
        while index < len(ordered) and ordered[index][0] <= sample + TIME_EPSILON_SECONDS:
            packets += ordered[index][1][0]
            byte_count += ordered[index][1][1]
            index += 1
        packet_values.append(packets)
        byte_values.append(byte_count)
    return tuple(packet_values), tuple(byte_values)


def queue_statistics(
    workload: LongWorkload,
    schedule: LongSchedule,
) -> QueueStatistics:
    intervals: list[tuple[float, float, int]] = []
    first_start: dict[int, float] = {}
    drop_time = {item.frame.composite_frame_id: item.time_seconds for item in schedule.dropped}
    for sent in schedule.transmitted:
        intervals.append((sent.item.available_time_seconds, sent.end_seconds, sent.item.wire_size_bytes))
        if sent.item.composite_frame_id is not None:
            first_start.setdefault(sent.item.composite_frame_id, sent.start_seconds)
    for item in schedule.dropped:
        intervals.extend(
            (packet.available_time_seconds, item.time_seconds, packet.wire_size_bytes)
            for packet in item.frame.packets
        )
    intervals.extend(
        (item.removed.available_time_seconds, item.time_seconds, item.removed.wire_size_bytes)
        for item in schedule.replacements
    )
    events: dict[float, tuple[int, int]] = {}
    packet_area = 0.0
    byte_area = 0.0
    for start, end, size in intervals:
        left = max(0.0, start)
        right = min(DURATION_SECONDS, end)
        if right <= left + TIME_EPSILON_SECONDS:
            continue
        packet_area += right - left
        byte_area += (right - left) * size
        old = events.get(start, (0, 0))
        events[start] = (old[0] + 1, old[1] + size)
        old = events.get(end, (0, 0))
        events[end] = (old[0] - 1, old[1] - size)
    count = 0
    byte_count = 0
    max_count = 0
    max_bytes = 0
    for time, delta in sorted(events.items()):
        if time > DURATION_SECONDS + TIME_EPSILON_SECONDS:
            break
        count += delta[0]
        byte_count += delta[1]
        max_count = max(max_count, count)
        max_bytes = max(max_bytes, byte_count)
    # One largest frame plus coincident control, telemetry, and emergency is
    # the normal 300-kbit/s envelope, not residual video backlog.
    baseline_limit = max(len(frame.packets) for frame in workload.frames) + 3
    count = 0
    excess_active = False
    excess_clear = 300.0
    for time, delta in sorted(events.items()):
        count += delta[0]
        if time < 300.0 - TIME_EPSILON_SECONDS:
            continue
        if count > baseline_limit:
            excess_active = True
        elif excess_active:
            excess_clear = time
            excess_active = False
    minute_times = tuple(float(value) for value in range(60, 601, 60))
    minute_packets, minute_bytes = _sample_events(events, minute_times)
    timeline_times = tuple(float(value) for value in range(0, 601, 5))
    timeline_packets, timeline_bytes = _sample_events(events, timeline_times)
    fit_times = np.asarray(minute_times[1:], dtype=float)
    fit_bytes = np.asarray(minute_bytes[1:], dtype=float)
    growth = float(np.polyfit(fit_times, fit_bytes, 1)[0]) if len(fit_times) > 1 else 0.0

    frame_events: dict[float, int] = {}
    frame_area = 0.0
    for frame in workload.frames:
        start = frame.generation_time_seconds
        end = first_start.get(frame.composite_frame_id, drop_time.get(frame.composite_frame_id, start))
        left = max(0.0, start)
        right = min(DURATION_SECONDS, end)
        if right <= left + TIME_EPSILON_SECONDS:
            continue
        frame_area += right - left
        frame_events[left] = frame_events.get(left, 0) + 1
        frame_events[right] = frame_events.get(right, 0) - 1
    waiting = 0
    max_waiting = 0
    for _, delta in sorted(frame_events.items()):
        waiting += delta
        max_waiting = max(max_waiting, waiting)
    published_by_end = sum(time <= DURATION_SECONDS + TIME_EPSILON_SECONDS for time in schedule.publication_times.values())
    dropped_by_end = sum(item.time_seconds <= DURATION_SECONDS + TIME_EPSILON_SECONDS for item in schedule.dropped)
    remaining_frames = FRAME_COUNT - published_by_end - dropped_by_end
    finish = max(
        [DURATION_SECONDS]
        + [item.end_seconds for item in schedule.transmitted]
        + [item.time_seconds for item in schedule.dropped]
        + [item.time_seconds for item in schedule.replacements]
    )
    return QueueStatistics(
        packet_area / DURATION_SECONDS,
        max_count,
        byte_area / DURATION_SECONDS,
        max_bytes,
        frame_area / DURATION_SECONDS,
        max_waiting,
        minute_packets,
        minute_bytes,
        timeline_times,
        timeline_packets,
        timeline_bytes,
        minute_packets[-1],
        minute_bytes[-1],
        remaining_frames,
        max(0.0, finish - DURATION_SECONDS),
        growth,
        growth * 60.0,
        max(0.0, excess_clear - 300.0),
    )


def display_ages(
    publications: dict[int, float],
    sample_times: tuple[float, ...],
) -> tuple[float, ...]:
    events = sorted((time, frame_id) for frame_id, time in publications.items())
    ages = []
    index = 0
    last_frame: int | None = None
    for sample in sample_times:
        while index < len(events) and events[index][0] <= sample + TIME_EPSILON_SECONDS:
            last_frame = events[index][1]
            index += 1
        generation = 0.0 if last_frame is None else last_frame / COMPOSITE_FPS
        ages.append(max(0.0, sample - generation))
    return tuple(ages)


def _missing_run(published: set[int]) -> int:
    current = 0
    maximum = 0
    for frame_id in range(FRAME_COUNT):
        if frame_id in published:
            current = 0
        else:
            current += 1
            maximum = max(maximum, current)
    return maximum


def video_metrics(
    workload: LongWorkload,
    schedule: LongSchedule,
) -> tuple[VideoMetrics, tuple[float, ...], tuple[float, ...], tuple[float, ...]]:
    publications = schedule.publication_times
    published = set(publications)
    within = sorted((time, frame_id) for frame_id, time in publications.items() if time <= DURATION_SECONDS + TIME_EPSILON_SECONDS)
    minute_fps = tuple(
        sum(left <= time < right for time, _ in within) / 60.0
        for left, right in zip(range(0, 600, 60), range(60, 601, 60))
    )
    sample_times = tuple(float(value) / 10.0 for value in range(0, 6001))
    ages = display_ages(publications, sample_times)
    timeline_times = tuple(float(value) for value in range(0, 601))
    timeline_ages = display_ages(publications, timeline_times)
    publication_delays = [
        time - frame_id / COMPOSITE_FPS for frame_id, time in publications.items()
    ]
    update_times = [0.0] + [time for time, _ in within] + [DURATION_SECONDS]
    no_update = [max(0.0, right - left) for left, right in zip(update_times, update_times[1:])]
    gaps = [right[0] - left[0] for left, right in zip(within, within[1:])]
    transmitted_video_bytes = sum(
        item.item.wire_size_bytes
        for item in schedule.transmitted
        if item.item.packet.traffic_class is TrafficClass.VIDEO
    )
    useful_bytes = sum(workload.jpeg_bytes_by_frame[frame_id] for _, frame_id in within)
    metrics = VideoMetrics(
        schedule.profile.name,
        schedule.policy.name,
        FRAME_COUNT,
        len(schedule.started_frame_ids),
        len(published),
        len(within),
        len(schedule.dropped),
        len(published) / FRAME_COUNT,
        len(within) / DURATION_SECONDS,
        ";".join(f"{value:.6f}" for value in minute_fps),
        float(np.mean(publication_delays)) * 1000.0,
        percentile(publication_delays, 95) * 1000.0,
        max(publication_delays, default=0.0) * 1000.0,
        float(np.mean(ages)) * 1000.0,
        percentile(ages, 95) * 1000.0,
        max(ages, default=0.0) * 1000.0,
        sum(value > 0.5 for value in ages) / len(ages),
        sum(value > 1.0 for value in ages) / len(ages),
        float(np.mean(no_update)) * 1000.0,
        percentile(no_update, 95) * 1000.0,
        max(no_update, default=0.0) * 1000.0,
        _missing_run(published),
        float(np.mean(gaps)) * 1000.0 if gaps else 0.0,
        max(gaps, default=0.0) * 1000.0,
        transmitted_video_bytes,
        0,
        useful_bytes * 8.0 / DURATION_SECONDS / 1000.0,
    )
    return metrics, minute_fps, timeline_times, tuple(value * 1000.0 for value in timeline_ages)


def control_metrics(schedule: LongSchedule) -> ControlMetrics:
    by_class = {
        traffic: [item for item in schedule.transmitted if item.item.packet.traffic_class is traffic]
        for traffic in (TrafficClass.CONTROL, TrafficClass.EMERGENCY, TrafficClass.TELEMETRY)
    }
    control = by_class[TrafficClass.CONTROL]
    control_delays = [item.end_seconds - item.item.frame_generation_seconds for item in control]
    control_gaps = [right.end_seconds - left.end_seconds for left, right in zip(control, control[1:])]
    telemetry_delays = [
        item.end_seconds - item.item.frame_generation_seconds
        for item in by_class[TrafficClass.TELEMETRY]
    ]
    emergency = by_class[TrafficClass.EMERGENCY]
    if len(emergency) != len(EMERGENCY_TIMES_US):
        raise AssertionError("all four emergency commands must be transmitted")
    emergency_delays = [item.end_seconds - item.item.frame_generation_seconds for item in emergency]
    return ControlMetrics(
        schedule.profile.name,
        schedule.policy.name,
        float(np.mean(control_delays)) * 1000.0,
        percentile(control_delays, 95) * 1000.0,
        max(control_delays) * 1000.0,
        sum(value > 0.1 + TIME_EPSILON_SECONDS for value in control_delays),
        max(control_gaps, default=0.0) * 1000.0,
        ";".join(f"{value * 1000.0:.6f}" for value in emergency_delays),
        max(emergency_delays) * 1000.0,
        all(value <= 0.05 + TIME_EPSILON_SECONDS for value in emergency_delays),
        float(np.mean(telemetry_delays)) * 1000.0,
        percentile(telemetry_delays, 95) * 1000.0,
        max(telemetry_delays) * 1000.0,
        sum(value > 0.5 + TIME_EPSILON_SECONDS for value in telemetry_delays),
    )


def _age_at(publications: dict[int, float], time_seconds: float) -> float:
    available = [(time, frame_id) for frame_id, time in publications.items() if time <= time_seconds + TIME_EPSILON_SECONDS]
    if not available:
        return time_seconds
    _, frame_id = max(available)
    return max(0.0, time_seconds - frame_id / COMPOSITE_FPS)


def _time_to_age(
    publications: dict[int, float],
    start_seconds: float,
    threshold_seconds: float,
) -> float:
    if _age_at(publications, start_seconds) < threshold_seconds:
        return 0.0
    for frame_id, time in sorted(publications.items(), key=lambda item: item[1]):
        if time < start_seconds - TIME_EPSILON_SECONDS or time > DURATION_SECONDS + TIME_EPSILON_SECONDS:
            continue
        if time - frame_id / COMPOSITE_FPS < threshold_seconds:
            return time - start_seconds
    return -1.0


def recovery_metrics(schedule: LongSchedule, queue: QueueStatistics) -> RecoveryMetrics:
    applicable = schedule.profile.kind == "step"
    if not applicable:
        return RecoveryMetrics(schedule.profile.name, schedule.policy.name, False, 0.0, 0.0, 0.0, 0.0, 0, 0)
    dropped_after = sum(
        item.frame.generation_time_seconds < 300.0
        and item.time_seconds >= 300.0 - TIME_EPSILON_SECONDS
        for item in schedule.dropped
    )
    old_published = sum(
        frame_id / COMPOSITE_FPS < 300.0
        and time >= 300.0 - TIME_EPSILON_SECONDS
        for frame_id, time in schedule.publication_times.items()
    )
    return RecoveryMetrics(
        schedule.profile.name,
        schedule.policy.name,
        True,
        _age_at(schedule.publication_times, 300.0) * 1000.0,
        _time_to_age(schedule.publication_times, 300.0, 1.0),
        _time_to_age(schedule.publication_times, 300.0, 0.5),
        queue.excess_queue_clear_time_seconds,
        dropped_after,
        old_published,
    )


def analyze_schedule(workload: LongWorkload, schedule: LongSchedule) -> ScenarioResult:
    queue = queue_statistics(workload, schedule)
    video, minute_fps, age_times, age_values = video_metrics(workload, schedule)
    control = control_metrics(schedule)
    recovery = recovery_metrics(schedule, queue)
    offered_kbps = workload.offered_wire_bytes * 8.0 / DURATION_SECONDS / 1000.0
    video_kbps = workload.video_wire_bytes * 8.0 / DURATION_SECONDS / 1000.0
    nonvideo_kbps = workload.nonvideo_wire_bytes * 8.0 / DURATION_SECONDS / 1000.0
    mean_rate = schedule.profile.mean_rate_kbps
    reserve = mean_rate - offered_kbps
    remaining_video = max(0.0, mean_rate - nonvideo_kbps)
    skip = max(0.0, 1.0 - remaining_video / video_kbps)
    unbounded = (
        schedule.policy.policy is FramePolicy.NO_DROP
        and reserve < 0.0
        and queue.growth_bytes_per_second > 0.0
    )
    transmitted_bytes = sum(item.item.wire_size_bytes for item in schedule.transmitted)
    summary = SummaryMetrics(
        schedule.profile.name,
        schedule.policy.name,
        DURATION_SECONDS,
        mean_rate,
        offered_kbps,
        reserve,
        max(0.0, -reserve) * 1000.0 / 8.0,
        skip,
        COMPOSITE_FPS * min(1.0, remaining_video / video_kbps),
        queue.growth_bytes_per_second,
        queue.growth_bytes_per_minute,
        unbounded,
        queue.mean_packets,
        queue.max_packets,
        queue.mean_bytes,
        queue.max_bytes,
        queue.mean_waiting_frames,
        queue.max_waiting_frames,
        ";".join(str(value) for value in queue.minute_packets),
        ";".join(str(value) for value in queue.minute_bytes),
        queue.remaining_packets,
        queue.remaining_bytes,
        queue.remaining_frames,
        queue.drain_seconds,
        len(schedule.transmitted),
        transmitted_bytes,
        len(schedule.replacements),
    )
    input_packets = sum(len(frame.packets) for frame in workload.frames) + len(workload.high_priority)
    input_bytes = workload.offered_wire_bytes
    dropped_packets = sum(len(item.frame.packets) for item in schedule.dropped)
    dropped_bytes = sum(item.frame.wire_size_bytes for item in schedule.dropped)
    replaced_packets = len(schedule.replacements)
    replaced_bytes = sum(item.removed.wire_size_bytes for item in schedule.replacements)
    accounting_ok = (
        input_packets == len(schedule.transmitted) + dropped_packets + replaced_packets
        and input_bytes == transmitted_bytes + dropped_bytes + replaced_bytes
        and FRAME_COUNT == len(schedule.completed_frame_ids) + len(schedule.dropped)
    )
    started_complete = (
        set(schedule.started_frame_ids) == set(schedule.completed_frame_ids)
        and not set(schedule.started_frame_ids).intersection(
            item.frame.composite_frame_id for item in schedule.dropped
        )
    )
    return ScenarioResult(
        summary,
        video,
        control,
        recovery,
        minute_fps,
        age_times,
        age_values,
        queue.timeline_seconds,
        queue.timeline_bytes,
        schedule.digest,
        accounting_ok,
        started_complete,
        schedule.frames_do_not_interleave,
        schedule.high_priority_between_video_packets,
        schedule.rate_rule_ok,
        schedule.bit_accounting_error,
    )


def run_experiment(workload: LongWorkload) -> tuple[ScenarioResult, ...]:
    results = []
    for profile in SPEED_PROFILES:
        for policy in POLICIES:
            results.append(analyze_schedule(workload, schedule_long(workload, profile, policy)))
            print(f"  {profile.name} / {policy.name}")
    return tuple(results)


def run_functional_tests(
    workload: LongWorkload,
    results: tuple[ScenarioResult, ...],
) -> tuple[FunctionalTestResult, ...]:
    lookup = {(item.summary.scenario, item.summary.policy): item for item in results}
    checks: list[tuple[str, callable]] = []

    def check(name):
        def register(function):
            checks.append((name, function))
            return function
        return register

    @check("01_unique_repeated_frames_and_crc")
    def _():
        assert len({frame.composite_frame_id for frame in workload.frames}) == FRAME_COUNT
        assert workload.repeated_headers_are_fresh
        assert workload.crc_packets_checked > 0 and workload.crc_blocks_checked > 0

    @check("02_300kbps_latest_has_no_unnecessary_drop")
    def _():
        assert lookup[("constant_300", "latest_only")].video.dropped_before_start_frames == 0

    @check("03_260kbps_no_drop_matches_small_deficit")
    def _():
        row = lookup[("constant_260", "no_drop")].summary
        assert row.theoretical_queue_growth_bytes_per_second > 0.0
        assert abs(row.actual_queue_growth_bytes_per_second - row.theoretical_queue_growth_bytes_per_second) / row.theoretical_queue_growth_bytes_per_second < 0.45

    @check("04_230kbps_no_drop_grows_faster")
    def _():
        slow = lookup[("constant_230", "no_drop")].summary.actual_queue_growth_bytes_per_second
        marginal = lookup[("constant_260", "no_drop")].summary.actual_queue_growth_bytes_per_second
        assert slow > marginal * 4.0

    @check("05_latest_waiting_limit")
    def _():
        assert all(item.summary.max_waiting_video_frames <= 1 for item in results if item.summary.policy == "latest_only")

    @check("06_two_waiting_limit")
    def _():
        assert all(item.summary.max_waiting_video_frames <= 2 for item in results if item.summary.policy == "two_waiting")

    @check("07_started_frame_never_dropped")
    def _():
        assert all(item.started_frames_complete for item in results)

    @check("08_active_video_frames_do_not_interleave")
    def _():
        assert all(item.no_interleave for item in results)

    @check("09_priority_between_video_packets")
    def _():
        assert all(item.priority_between_video for item in results)

    @check("10_emergency_never_deleted")
    def _():
        assert all(len(item.control.emergency_delays_ms.split(";")) == 4 for item in results)

    @check("11_speed_change_bit_accounting")
    def _():
        assert all(item.rate_rule_ok and item.bit_accounting_error < 1e-3 for item in results)

    @check("12_latest_does_not_replay_full_history")
    def _():
        assert lookup[("step_300_230_300", "latest_only")].recovery.old_frames_published_after_recovery <= 2

    @check("13_proactive_policies_have_no_waste")
    def _():
        assert all(item.video.wasted_transmitted_video_bytes == 0 for item in results if item.summary.policy != "no_drop")

    @check("14_incomplete_frame_not_published")
    def _():
        assert all(item.video.published_frames == item.video.started_frames for item in results)

    @check("15_all_three_crc_layers_pass")
    def _():
        assert workload.crc_packets_checked == sum(len(frame.packets) for frame in workload.frames) + len(workload.high_priority)

    @check("16_frame_accounting")
    def _():
        assert all(item.video.created_frames == item.video.published_frames + item.video.dropped_before_start_frames for item in results)

    @check("17_packet_and_byte_accounting")
    def _():
        assert all(item.accounting_ok for item in results)

    @check("18_reproducible")
    def _():
        repeated = schedule_long(
            workload,
            PROFILE_BY_NAME["constant_230"],
            POLICY_BY_NAME["latest_only"],
        )
        assert repeated.digest == lookup[("constant_230", "latest_only")].digest

    output = []
    for name, function in checks:
        try:
            function()
            output.append(FunctionalTestResult(name, True, "PASS"))
        except Exception as error:
            output.append(FunctionalTestResult(name, False, f"{type(error).__name__}: {error}"))
    failed = [item.name for item in output if not item.passed]
    if failed:
        raise AssertionError("functional checks failed: " + ", ".join(failed))
    return tuple(output)


def save_csv(results: tuple[ScenarioResult, ...]) -> None:
    OUTPUT_DIRECTORY.mkdir(parents=True, exist_ok=True)
    for path, cls, rows in (
        (SUMMARY_CSV_PATH, SummaryMetrics, (item.summary for item in results)),
        (VIDEO_CSV_PATH, VideoMetrics, (item.video for item in results)),
        (CONTROL_CSV_PATH, ControlMetrics, (item.control for item in results)),
        (RECOVERY_CSV_PATH, RecoveryMetrics, (item.recovery for item in results)),
    ):
        with path.open("w", encoding="utf-8", newline="") as file:
            writer = csv.DictWriter(file, fieldnames=list(cls.__dataclass_fields__))
            writer.writeheader()
            writer.writerows(asdict(row) for row in rows)


def _step_results(results: tuple[ScenarioResult, ...]) -> list[ScenarioResult]:
    return [item for item in results if item.summary.scenario == "step_300_230_300"]


def save_plots(results: tuple[ScenarioResult, ...]) -> None:
    step = _step_results(results)
    fig, axis = plt.subplots(figsize=(11, 5.5))
    for item in step:
        axis.plot(item.age_timeline_seconds, item.age_timeline_ms, label=POLICY_BY_NAME[item.summary.policy].label)
    axis.axvline(120, color="black", ls="--", alpha=.4); axis.axvline(300, color="black", ls="--", alpha=.4)
    axis.set(xlabel="Время, с", ylabel="Возраст, мс", title="Возраст изображения: ступенчатый сценарий")
    axis.grid(alpha=.3); axis.legend(); fig.tight_layout(); fig.savefig(AGE_PLOT_PATH, dpi=150); plt.close(fig)

    fig, axis = plt.subplots(figsize=(11, 5.5))
    for item in step:
        axis.plot(item.queue_timeline_seconds, np.asarray(item.queue_timeline_bytes) / 1_000_000.0, label=POLICY_BY_NAME[item.summary.policy].label)
    axis.axvline(120, color="black", ls="--", alpha=.4); axis.axvline(300, color="black", ls="--", alpha=.4)
    axis.set(xlabel="Время, с", ylabel="Очередь, Мбайт", title="Очередь во времени")
    axis.grid(alpha=.3); axis.legend(); fig.tight_layout(); fig.savefig(QUEUE_PLOT_PATH, dpi=150); plt.close(fig)

    variable = [item for item in results if item.summary.scenario == "variable_300_260_230"]
    fig, axis = plt.subplots(figsize=(10, 5.2))
    minutes = np.arange(1, 11)
    for item in variable:
        axis.plot(minutes, item.minute_update_fps, marker="o", label=POLICY_BY_NAME[item.summary.policy].label)
    axis.set(xlabel="Минута", ylabel="Обновлений/с", title="Частота обновления по минутам")
    axis.set_xticks(minutes); axis.grid(alpha=.3); axis.legend(); fig.tight_layout(); fig.savefig(MINUTE_PLOT_PATH, dpi=150); plt.close(fig)

    fig, axis = plt.subplots(figsize=(10, 5.2))
    for item in step:
        mask = np.asarray(item.age_timeline_seconds) >= 280.0
        axis.plot(np.asarray(item.age_timeline_seconds)[mask], np.asarray(item.age_timeline_ms)[mask], label=POLICY_BY_NAME[item.summary.policy].label)
    axis.axhline(1000, color="orange", ls="--"); axis.axhline(500, color="green", ls=":"); axis.axvline(300, color="black", ls="--")
    axis.set(xlabel="Время, с", ylabel="Возраст, мс", title="Восстановление после возврата к 300 кбит/с")
    axis.grid(alpha=.3); axis.legend(); fig.tight_layout(); fig.savefig(RECOVERY_PLOT_PATH, dpi=150); plt.close(fig)

    labels = [f"{PROFILE_BY_NAME[item.summary.scenario].label}\n{POLICY_BY_NAME[item.summary.policy].label}" for item in results]
    x = np.arange(len(results))
    fig, axis = plt.subplots(figsize=(16, 6))
    axis.bar(x, [item.control.control_p95_delay_ms for item in results])
    axis.set_xticks(x, labels, rotation=55, ha="right", fontsize=8)
    axis.set(ylabel="P95, мс", title="Задержка обычных команд"); axis.grid(axis="y", alpha=.3)
    fig.tight_layout(); fig.savefig(CONTROL_PLOT_PATH, dpi=150); plt.close(fig)

    fig, axis = plt.subplots(figsize=(16, 6))
    width = .38
    axis.bar(x - width / 2, [item.video.published_frames for item in results], width, label="Опубликовано")
    axis.bar(x + width / 2, [item.video.dropped_before_start_frames for item in results], width, label="Удалено")
    axis.set_xticks(x, labels, rotation=55, ha="right", fontsize=8)
    axis.set(ylabel="Кадров", title="Опубликованные и удалённые кадры"); axis.legend(); axis.grid(axis="y", alpha=.3)
    fig.tight_layout(); fig.savefig(OUTCOME_PLOT_PATH, dpi=150); plt.close(fig)

    constants = [item for item in results if item.summary.scenario.startswith("constant_") and item.summary.policy == "no_drop"]
    rates = [item.summary.mean_channel_kbps for item in constants]
    fig, axis = plt.subplots(figsize=(8.5, 5.2))
    axis.plot(rates, [item.summary.theoretical_queue_growth_bytes_per_second for item in constants], marker="o", label="Теория")
    axis.plot(rates, [max(0.0, item.summary.actual_queue_growth_bytes_per_second) for item in constants], marker="s", label="Модель")
    axis.set(xlabel="Скорость, кбит/с", ylabel="Рост, байт/с", title="Теоретический и фактический рост очереди")
    axis.grid(alpha=.3); axis.legend(); fig.tight_layout(); fig.savefig(GROWTH_PLOT_PATH, dpi=150); plt.close(fig)

    fig, axis = plt.subplots(figsize=(9, 6))
    for policy in POLICIES:
        rows = [item for item in results if item.summary.policy == policy.name]
        axis.scatter([item.video.actual_update_fps for item in rows], [item.video.p95_display_age_ms for item in rows], s=70, label=policy.label)
    axis.set(xlabel="Обновлений/с", ylabel="P95 возраста, мс", title="Сравнение политик")
    axis.grid(alpha=.3); axis.legend(); fig.tight_layout(); fig.savefig(COMPARISON_PLOT_PATH, dpi=150); plt.close(fig)


def write_report(
    workload: LongWorkload,
    results: tuple[ScenarioResult, ...],
    tests: tuple[FunctionalTestResult, ...],
) -> None:
    git_status = subprocess.run(
        ("git", "status", "--short", "--branch"),
        check=True,
        capture_output=True,
        text=True,
        encoding="utf-8",
    ).stdout.rstrip()
    lines = [
        "Lab036. Долговременная устойчивость видеопланировщика при изменении пропускной способности",
        "",
        "1. Исходное состояние и конфигурация",
        f"- Commit Lab035: {LAB035_COMMIT}.",
        "- Рабочее дерево перед Lab036 было чистым; ветка main.",
        "- Модель использует 600 с, 1800 кадров, повтор реальной последовательности размеров 63 кадров, BASE 240×135 Q23, ROI 320×180 Q33 и 3 составных кадра/с.",
        "- Lab036 использует ровно 3 кадра/с в течение 600 с; короткий ролик Lab034 и предшествующих лабораторных давал немного отличающуюся фактическую частоту формирования кадров.",
        "- Длинный опыт уменьшает влияние начального и конечного участков, поэтому значения общей предложенной нагрузки Lab034 и Lab036 не обязаны побайтно совпадать.",
        "- Каждый повтор получает новые composite_frame_id, времена, заголовки и CRC; JPEG и пакеты на диск не записываются.",
        "- Используются внутренний пакет Lab028 с payload 512 байт, FEC 12+3 с выравниванием по кадрам и общий пакет Lab033.",
        "- Команды 20 Гц, телеметрия 10 Гц; аварийные команды создаются в 60, 180, 310 и 480 с.",
        "- Ошибки радиоканала отсутствуют.",
        "- Смена скорости не прерывает начатый пакет: новая скорость применяется только к следующему пакету после завершения текущего.",
        "",
        "2. Пятнадцать сочетаний",
        "scenario | policy | published/drop | fps | age P95 ms | queue max packets | queue at 600 packets | drain s | control P95 ms | emergency max ms",
    ]
    for item in results:
        s, v, c = item.summary, item.video, item.control
        lines.append(
            f"{s.scenario} | {s.policy} | {v.published_frames}/{v.dropped_before_start_frames} | {v.actual_update_fps:.3f} | {v.p95_display_age_ms:.3f} | {s.max_queue_packets} | {s.queue_at_600s_packets} | {s.additional_drain_seconds:.3f} | {c.control_p95_delay_ms:.3f} | {c.emergency_max_delay_ms:.3f}"
        )
    lines.extend(["", "3. Постоянные скорости: теория и модель", "rate | policy | reserve kbps | theory growth B/s | model growth B/s | minimum skip | stable fps | minute queue packets"])
    for item in results:
        if not item.summary.scenario.startswith("constant_"):
            continue
        s = item.summary
        lines.append(
            f"{s.mean_channel_kbps:.0f} | {s.policy} | {s.speed_reserve_kbps:.3f} | {s.theoretical_queue_growth_bytes_per_second:.3f} | {s.actual_queue_growth_bytes_per_second:.3f} | {s.theoretical_minimum_skip_fraction:.6f} | {s.theoretical_sustainable_fps:.3f} | {s.queue_packets_each_minute}"
        )
    lines.extend(["", "4. Восстановление после ухудшения", "policy | age at 300 ms | below 1000 s | below 500 s | excess queue clear s | dropped old | published old"])
    for item in _step_results(results):
        r = item.recovery
        lines.append(
            f"{r.policy} | {r.image_age_at_300s_ms:.3f} | {r.time_to_age_below_1000ms_seconds:.3f} | {r.time_to_age_below_500ms_seconds:.3f} | {r.excess_queue_clear_seconds:.3f} | {r.frames_dropped_after_recovery} | {r.old_frames_published_after_recovery}"
        )
    lines.extend(["", "5. Видео, очередь, команды и телеметрия"])
    latest_rows = [item for item in results if item.summary.policy == "latest_only"]
    lines.extend(
        f"- {item.summary.scenario}: fps={item.video.actual_update_fps:.3f}, age P95={item.video.p95_display_age_ms:.3f} мс, queue max={item.summary.max_queue_packets}, waiting max={item.summary.max_waiting_video_frames}, control P95/max={item.control.control_p95_delay_ms:.3f}/{item.control.control_max_delay_ms:.3f} мс, emergency={item.control.emergency_delays_ms} мс, telemetry P95={item.control.telemetry_p95_delay_ms:.3f} мс."
        for item in latest_rows
    )
    lines.extend([
        "- Политика самого свежего кадра ограничивает ожидающую видеоочередь одним кадром и не передаёт накопленную историю после восстановления.",
        "- Политика двух ожидающих кадров ограничивает очередь двумя кадрами, но увеличивает возраст изображения относительно основной политики.",
        "- Без удаления при дефиците скорости очередь растёт; при 300 кбит/с запас достаточен.",
        "- У упреждающих политик нет бесполезно переданных видеобайтов: начатый кадр всегда завершается.",
        "",
        "6. Функциональные проверки",
    ])
    lines.extend(f"- {'PASS' if item.passed else 'FAIL'} {item.name}: {item.detail}" for item in tests)
    lines.extend([
        f"- CRC-проверено общих пакетов: {workload.crc_packets_checked}; FEC-блоков: {workload.crc_blocks_checked}.",
        "",
        "7. Созданные файлы",
        "- 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",
        "- data/processed/lab036/lab036_recovery_metrics.csv",
        "- data/processed/lab036/lab036_report.txt",
    ])
    lines.extend(f"- {path.as_posix()}" for path in PLOT_PATHS)
    lines.extend(["", "8. Итоговый Git status", "- Lab036 не добавлена в индекс и не закоммичена.", "", git_status])
    REPORT_PATH.write_text("\n".join(lines) + "\n", encoding="utf-8")


def validate_outputs() -> None:
    for path in (SUMMARY_CSV_PATH, VIDEO_CSV_PATH, CONTROL_CSV_PATH, RECOVERY_CSV_PATH):
        with path.open(encoding="utf-8", newline="") as file:
            rows = list(csv.DictReader(file))
        if len(rows) != 15:
            raise AssertionError(f"{path} must contain 15 result rows")
    if "Lab036" not in REPORT_PATH.read_text(encoding="utf-8"):
        raise AssertionError("invalid Lab036 report")
    for path in PLOT_PATHS:
        image = cv2.imread(str(path), cv2.IMREAD_UNCHANGED)
        if image is None or image.size == 0:
            raise AssertionError(f"OpenCV could not read {path}")


def main() -> None:
    print("Lab036: building 600-second workload")
    workload = build_long_workload()
    print("Lab036: running 15 combinations")
    results = run_experiment(workload)
    tests = run_functional_tests(workload, results)
    save_csv(results)
    save_plots(results)
    write_report(workload, results, tests)
    validate_outputs()
    print(f"Lab036 complete: {len(results)} combinations, {len(tests)} checks")


if __name__ == "__main__":
    main()