retain telemetry across transport outages

tools/capture_binary.py

@@ -13,6 +13,7 @@ import serial
 
 from trikke_protocol import (
     CSV_COLUMNS,
+    PACKET_FLAG_TIMESTAMP_DELTA_SATURATED,
     PACKET_TYPE_METADATA,
     Frame,
     Metadata,
@@ -76,6 +77,7 @@ def main() -> int:
     sample_gap_count = 0
     sample_reset_count = 0
     timing_anomaly_count = 0
+    timestamp_saturation_frame_count = 0
     accel_stale_count = 0
     accel_overrun_count = 0
     gyro_stale_count = 0
@@ -85,6 +87,7 @@ def main() -> int:
     previous_timestamp_us = None
     final_dropped_count = 0
     final_loop_overrun_count = 0
+    serial_error: serial.SerialException | None = None
 
     def render_frame(frame: Frame, writer: csv.writer) -> None:
         nonlocal sample_count, sample_gap_count, sample_reset_count
@@ -144,6 +147,8 @@ def main() -> int:
                             else:
                                 packet_reset_count += 1
                     previous_packet_sequence = frame.packet_sequence
+                    if frame.flags & PACKET_FLAG_TIMESTAMP_DELTA_SATURATED:
+                        timestamp_saturation_frame_count += 1
                     if frame.packet_type == PACKET_TYPE_METADATA:
                         metadata = frame.metadata
                         metadata_count += 1
@@ -156,16 +161,19 @@ def main() -> int:
                 decoded.flush()
     except serial.SerialException as exc:
         print(f"Serial error: {exc}", file=sys.stderr)
-        return 1
+        serial_error = exc
 
     print(
         f"Stopped after {sample_count} samples and {metadata_count} metadata frames; "
         f"packet_gaps={packet_gap_count}, packet_resets={packet_reset_count}, "
         f"sample_gaps={sample_gap_count}, sample_resets={sample_reset_count}, "
         f"timing_anomalies={timing_anomaly_count}, "
+        f"timestamp_saturation_frames={timestamp_saturation_frame_count}, "
         f"startup_crc_rejects={parser.startup_crc_errors}, "
         f"stream_crc_errors={parser.crc_errors}, "
-        f"header_errors={parser.header_errors}, skipped_nonframe_bytes={parser.skipped_bytes}"
+        f"header_errors={parser.header_errors}, "
+        f"skipped_nonframe_bytes={parser.skipped_bytes}, "
+        f"trailing_partial_bytes={parser.buffered_bytes}"
     )
     print(
         f"Status totals: accel_stale={accel_stale_count}, "
@@ -174,6 +182,8 @@ def main() -> int:
         f"acquisition_loop_overruns={final_loop_overrun_count}"
     )
     print(f"Saved {output} and {csv_output}")
+    if serial_error is not None:
+        return 1
     return 0 if metadata is not None else 4