retain telemetry across transport outages

README.md

@@ -66,10 +66,12 @@ overruns. Hardware data-ready interrupts and FIFO acquisition are deferred to th
 later sensor-side acquisition refinement.
 
 Completed samples enter a 512-record RAM queue, providing 5.12 seconds of
-transport-stall tolerance at 100 Hz. A lower-priority output task
+blocked or disconnected transport tolerance at 100 Hz. A failed write retains
-batches up to eight records into versioned `TRK1` frames, isolating acquisition
+and retries its packet while this queue accumulates the backlog. A lower-priority
-from brief USB or future BLE stalls. CRC, packet and sample sequences, timestamps,
+output task batches up to eight records into versioned `TRK1` frames, isolating
-and cumulative loss/overrun counters make loss detectable.
+acquisition from brief USB or future BLE stalls. CRC, packet and sample sequences,
+timestamps, and cumulative loss/overrun counters make any queue overflow
+detectable.
 
 Measured end-to-end framing overhead is about 2.47 kB/s at 100 Hz, or 8.47
 MiB/hour before BLE link overhead.
@@ -123,7 +125,7 @@ Status bits:
 
 The binary capture tool auto-detects a single `/dev/cu.usbmodem*` device, stores
 only CRC-valid frames, renders CSV, and reports packet, sample, timing, status,
-drop, and overrun totals:
+drop, overrun, timestamp-saturation, and trailing-partial-byte totals:
 
 ```sh
 python tools/capture_binary.py

docs/binary-record-v1.md

@@ -19,7 +19,7 @@ combined by an underlying byte transport.
 | 10 | 2 | Payload size |
 | 12 | 4 | Monotonic packet sequence |
 | 16 | 8 | Base ESP timer timestamp in microseconds |
-| 24 | 4 | Cumulative samples lost to read failure, queue overflow, or output failure |
+| 24 | 4 | Cumulative samples lost to sensor read failure or queue overflow |
 | 28 | 4 | Cumulative acquisition-loop overruns |
 | 32 | 4 | IEEE CRC-32 |
 
@@ -27,7 +27,9 @@ CRC uses polynomial `0xEDB88320`, initial value `0xFFFFFFFF`, and final XOR
 `0xFFFFFFFF`. It covers header bytes 4–31 followed by the complete payload. The
 magic and stored CRC field are excluded.
 
-Packet flag bit 0 means at least one sample timestamp delta saturated.
+Packet flag bit 0 means at least one sample timestamp delta saturated. Both host
+tools report any frame carrying this flag instead of silently treating its
+reconstructed timestamps as exact.
 
 ## Sample record (20 bytes)
 
@@ -45,9 +47,11 @@ Packet flag bit 0 means at least one sample timestamp delta saturated.
 | 19 | 1 | Raw L3G4200D `STATUS_REG` |
 
 The first record has delta zero and uses the frame's base timestamp. Each later
-timestamp is reconstructed by cumulatively adding its delta. A delta that cannot
+timestamp is reconstructed by cumulatively adding its delta. Firmware ends the
-fit is stored as `0xFFFF` and sets packet flag bit 0. Sample sequence gaps remain
+current packet before a delta exceeds the representable 655.35 ms range, making
-detectable independently.
+the next sample the exact base timestamp of a new packet. As a defensive encoder
+fallback, an unrepresentable delta is stored as `0xFFFF` and sets packet flag bit
+0. Sample sequence gaps remain detectable independently.
 
 Mapped raw counts are authoritative. The original sensor-native axes can be
 reconstructed because the mappings are lossless:
@@ -77,5 +81,12 @@ before that first valid frame separately from CRC failures after synchronization
 Acquisition runs in a dedicated higher-priority task and writes complete samples
 to a 512-entry RAM queue. The lower-priority output task batches up to eight
 records per frame. At 100 Hz this queue represents about 5.12 seconds of
-decoupling from a blocked transport. Queue overflow never overwrites an older
+decoupling from a blocked or disconnected transport. A failed write retains and
-sample silently: sequence gaps and the cumulative lost-sample counter expose it.
+retries the same encoded packet rather than dequeuing more samples, so the queue
+accumulates the outage backlog. After reconnection, the oldest retained data is
+sent first. If the queue fills, acquisition drops new samples rather than
+overwriting older ones; sequence gaps and the cumulative lost-sample counter
+expose that permanent loss.
+
+Receivers report bytes left in an incomplete trailing frame when capture ends.
+Those bytes cannot pass CRC validation and are not silently admitted as samples.

docs/binary-transport-validation-2026-08-17.md

@@ -11,6 +11,8 @@ data.
 - Host compilation of the production C encoder with `-Wall -Wextra -Werror`
 - Fragmented C-encoder-to-Python-parser contract test
 - Deliberately corrupted CRC test with stream resynchronization
+- Full eight-record, timestamp-saturation, invalid-size/count, and truncated-tail
+  encoder/parser contract cases
 - ESP-IDF firmware build and flash on the assembled ESP32-C3 prototype
 - Live USB capture followed by independent offline re-decoding
 
@@ -55,3 +57,26 @@ at priority 5 and receives samples through a 512-entry queue (about 5.12 seconds
 at 100 Hz). The hardware capture's zero timing anomalies and zero loop overruns
 confirm that packet encoding, CRC, float metadata, and USB output did not disturb
 the acquisition cadence.
+
+Output failure is transactional: firmware retains and retries the same encoded
+packet with a scheduler delay instead of discarding it or dequeuing more samples.
+The queue therefore accumulates a disconnected-transport backlog. If an outage
+outlasts the queue, acquisition drops and counts new samples while preserving the
+oldest queued data for ordered delivery after reconnection.
+
+## Forced transport-outage validation
+
+A temporary validation build made the packet writer report transport failure for
+a fixed interval while acquisition continued normally. The failure injection was
+removed before the production build.
+
+With a three-second forced outage, all 2,144 observed samples arrived contiguously
+from sequence 0 through 2,143. Packet gaps, sample gaps, drops, loop overruns, and
+timestamp-saturation flags were all zero.
+
+With a seven-second forced outage, the queue preserved samples 0 through 511 and
+then dropped 138 new samples after reaching capacity. Delivery resumed at sample
+650. The cumulative drop count and observed sequence gap both equaled 138. The
+timestamp difference from sample 511 to 650 was exactly 1,390,000 us, matching
+139 sample intervals, and no saturation flag was emitted. This verifies both the
+oldest-data retention policy and the new exact timestamp re-anchor after overflow.

main/trikke_protocol.c

@@ -85,6 +85,18 @@ static void encode_header(uint8_t *output,
     put_u32_le(output + 32, 0);
 }
 
+bool trikke_wire_timestamp_delta_fits(
+    int64_t previous_timestamp_us,
+    int64_t timestamp_us)
+{
+    if (timestamp_us < previous_timestamp_us) {
+        return false;
+    }
+    const uint64_t delta_us =
+        (uint64_t)timestamp_us - (uint64_t)previous_timestamp_us;
+    return delta_us <= TRIKKE_WIRE_MAX_TIMESTAMP_DELTA_US;
+}
+
 size_t trikke_encode_metadata_packet(
     uint8_t *output,
     size_t output_size,
@@ -159,12 +171,17 @@ size_t trikke_encode_sample_packet(
                           i * TRIKKE_WIRE_SAMPLE_RECORD_SIZE;
         uint16_t timestamp_delta_10us = 0;
         if (i > 0) {
-            const int64_t delta_us = samples[i].timestamp_us - previous_timestamp_us;
+            if (!trikke_wire_timestamp_delta_fits(
-            if (delta_us < 0 || delta_us > (int64_t)UINT16_MAX * 10) {
+                    previous_timestamp_us, samples[i].timestamp_us)) {
                 timestamp_delta_10us = UINT16_MAX;
                 packet_flags |= TRIKKE_PACKET_FLAG_TIMESTAMP_DELTA_SATURATED;
             } else {
-                timestamp_delta_10us = (uint16_t)((delta_us + 5) / 10);
+                const uint64_t delta_us =
+                    (uint64_t)samples[i].timestamp_us -
+                    (uint64_t)previous_timestamp_us;
+                timestamp_delta_10us = (uint16_t)(
+                    (delta_us + TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US / 2) /
+                    TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US);
             }
         }
 

main/trikke_protocol.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>
 
@@ -16,6 +17,9 @@
 #define TRIKKE_PACKET_TYPE_SAMPLES  2
 
 #define TRIKKE_PACKET_FLAG_TIMESTAMP_DELTA_SATURATED 0x01
+#define TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US 10
+#define TRIKKE_WIRE_MAX_TIMESTAMP_DELTA_US \
+    ((uint64_t)UINT16_MAX * TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US)
 
 #define TRIKKE_METADATA_FLAG_ACCEL_Y_NEGX_Z  0x0001
 #define TRIKKE_METADATA_FLAG_GYRO_IDENTITY   0x0002
@@ -46,6 +50,10 @@ typedef struct {
     float gyro_mdps_per_lsb;
 } trikke_wire_metadata_t;
 
+bool trikke_wire_timestamp_delta_fits(
+    int64_t previous_timestamp_us,
+    int64_t timestamp_us);
+
 size_t trikke_encode_metadata_packet(
     uint8_t *output,
     size_t output_size,

main/trikke_sensor_main.c

@@ -24,6 +24,7 @@
 #define TRIKKE_SAMPLE_TICKS   pdMS_TO_TICKS(1000 / TRIKKE_SAMPLE_RATE_HZ)
 #define TRIKKE_SAMPLE_QUEUE_DEPTH 512
 #define TRIKKE_METADATA_INTERVAL_PACKETS 64
+#define TRIKKE_TRANSPORT_RETRY_DELAY_MS 10
 
 // Software calibration from the 2026-08-17 enclosure six-face capture.
 // Accelerometer coefficients are measured. Gyroscope scale is nominal; its
@@ -158,14 +159,24 @@ static void acquisition_task(void *argument)
 
 static bool write_binary_packet(const uint8_t *packet, size_t packet_size)
 {
-    const bool complete = fwrite(packet, 1, packet_size, stdout) == packet_size;
+    const size_t written = fwrite(packet, 1, packet_size, stdout);
-    fflush(stdout);
+    const int flush_result = fflush(stdout);
+    const bool complete = written == packet_size && flush_result == 0;
     if (!complete) {
         clearerr(stdout);
     }
     return complete;
 }
 
+static void write_binary_packet_until_sent(
+    const uint8_t *packet,
+    size_t packet_size)
+{
+    while (!write_binary_packet(packet, packet_size)) {
+        vTaskDelay(pdMS_TO_TICKS(TRIKKE_TRANSPORT_RETRY_DELAY_MS));
+    }
+}
+
 static void output_task(void *argument)
 {
     trikke_context_t *context = argument;
@@ -179,7 +190,7 @@ static void output_task(void *argument)
         packet, sizeof(packet), packet_sequence++, esp_timer_get_time(),
         atomic_load(&context->dropped_sample_count),
         atomic_load(&context->loop_overrun_count), &TRIKKE_METADATA);
-    write_binary_packet(packet, packet_size);
+    write_binary_packet_until_sent(packet, packet_size);
 
     while (true) {
         trikke_wire_sample_t samples[TRIKKE_WIRE_MAX_RECORDS] = {0};
@@ -190,9 +201,21 @@ static void output_task(void *argument)
         }
         ++sample_count;
 
-        while (sample_count < TRIKKE_WIRE_MAX_RECORDS &&
+        while (sample_count < TRIKKE_WIRE_MAX_RECORDS) {
-               xQueueReceive(context->sample_queue, &samples[sample_count],
+            trikke_wire_sample_t next_sample = {0};
-                             pdMS_TO_TICKS(15)) == pdPASS) {
+            if (xQueuePeek(context->sample_queue, &next_sample,
+                           pdMS_TO_TICKS(15)) != pdPASS) {
+                break;
+            }
+            if (!trikke_wire_timestamp_delta_fits(
+                    samples[sample_count - 1].timestamp_us,
+                    next_sample.timestamp_us)) {
+                break;
+            }
+            if (xQueueReceive(context->sample_queue, &samples[sample_count], 0) !=
+                pdPASS) {
+                break;
+            }
             ++sample_count;
         }
 
@@ -202,16 +225,14 @@ static void output_task(void *argument)
                 packet, sizeof(packet), packet_sequence++, esp_timer_get_time(),
                 atomic_load(&context->dropped_sample_count),
                 atomic_load(&context->loop_overrun_count), &TRIKKE_METADATA);
-            write_binary_packet(packet, packet_size);
+            write_binary_packet_until_sent(packet, packet_size);
         }
 
         packet_size = trikke_encode_sample_packet(
             packet, sizeof(packet), packet_sequence++,
             atomic_load(&context->dropped_sample_count),
             atomic_load(&context->loop_overrun_count), samples, sample_count);
-        if (!write_binary_packet(packet, packet_size)) {
+        write_binary_packet_until_sent(packet, packet_size);
-            atomic_fetch_add(&context->dropped_sample_count, sample_count);
-        }
         ++sample_packet_count;
     }
 }
@@ -232,8 +253,12 @@ static esp_err_t init_i2c(i2c_master_bus_handle_t *bus)
 
 void app_main(void)
 {
-    // Flush startup text by line; binary frames are flushed explicitly.
+    // Keep the byte stream unbuffered so a write result describes the complete
-    setvbuf(stdout, NULL, _IOLBF, 0);
+    // packet rather than bytes still retained inside stdio.
+    if (setvbuf(stdout, NULL, _IONBF, 0) != 0) {
+        ESP_LOGE(TAG, "failed to configure unbuffered telemetry output");
+        return;
+    }
 
     ESP_LOGI(TAG, "Trikke motion telemetry prototype v0");
     ESP_LOGI(TAG, "I2C: SDA=GPIO%d, SCL=GPIO%d, clock=%d Hz",

tests/protocol_fixture.c

@@ -54,5 +54,51 @@ int main(void)
     if (size == 0 || fwrite(packet, 1, size, stdout) != size) {
         return 1;
     }
+
+    trikke_wire_sample_t full_packet[TRIKKE_WIRE_MAX_RECORDS] = {0};
+    for (size_t i = 0; i < TRIKKE_WIRE_MAX_RECORDS; ++i) {
+        full_packet[i].sequence = 2000 + (uint32_t)i;
+        full_packet[i].timestamp_us = 3000000 + (int64_t)i * 10000;
+        full_packet[i].accel_x = (int16_t)i;
+        full_packet[i].gyro_z = -(int16_t)i;
+        full_packet[i].accel_status = 0x80;
+        full_packet[i].gyro_status = 0x08;
+    }
+    size = trikke_encode_sample_packet(
+        packet, sizeof(packet), 43, 2, 3, full_packet,
+        TRIKKE_WIRE_MAX_RECORDS);
+    if (size != TRIKKE_WIRE_MAX_PACKET_SIZE ||
+        fwrite(packet, 1, size, stdout) != size) {
+        return 2;
+    }
+
+    const trikke_wire_sample_t saturated[] = {
+        {.sequence = 3000, .timestamp_us = 4000000},
+        {.sequence = 3001, .timestamp_us = 4700000},
+    };
+    size = trikke_encode_sample_packet(packet, sizeof(packet), 44, 2, 3,
+                                       saturated, 2);
+    if (size == 0 || fwrite(packet, 1, size, stdout) != size) {
+        return 3;
+    }
+
+    if (!trikke_wire_timestamp_delta_fits(0, 655350) ||
+        trikke_wire_timestamp_delta_fits(0, 655351) ||
+        trikke_wire_timestamp_delta_fits(1, 0)) {
+        return 4;
+    }
+    if (trikke_encode_metadata_packet(
+            packet, TRIKKE_WIRE_HEADER_SIZE + TRIKKE_WIRE_METADATA_SIZE - 1,
+            0, 0, 0, 0, &metadata) != 0 ||
+        trikke_encode_sample_packet(packet, sizeof(packet), 0, 0, 0,
+                                    samples, 0) != 0 ||
+        trikke_encode_sample_packet(packet, sizeof(packet), 0, 0, 0,
+                                    full_packet,
+                                    TRIKKE_WIRE_MAX_RECORDS + 1) != 0 ||
+        trikke_encode_sample_packet(packet, TRIKKE_WIRE_MAX_PACKET_SIZE - 1,
+                                    0, 0, 0, full_packet,
+                                    TRIKKE_WIRE_MAX_RECORDS) != 0) {
+        return 5;
+    }
     return 0;
 }

tests/test_trikke_protocol.py

@@ -9,6 +9,7 @@ ROOT = Path(__file__).resolve().parents[1]
 sys.path.insert(0, str(ROOT / "tools"))
 
 from trikke_protocol import (  # noqa: E402
+    PACKET_FLAG_TIMESTAMP_DELTA_SATURATED,
     PACKET_TYPE_METADATA,
     PACKET_TYPE_SAMPLES,
     StreamParser,
@@ -55,8 +56,8 @@ class ProtocolContractTest(unittest.TestCase):
         for offset in range(0, len(stream), 7):
             frames.extend(parser.feed(stream[offset : offset + 7]))
 
-        self.assertEqual(2, len(frames))
+        self.assertEqual(4, len(frames))
-        metadata_frame, sample_frame = frames
+        metadata_frame, sample_frame, full_frame, saturated_frame = frames
         self.assertEqual(PACKET_TYPE_METADATA, metadata_frame.packet_type)
         self.assertEqual(41, metadata_frame.packet_sequence)
         self.assertEqual(2, metadata_frame.dropped_sample_count)
@@ -75,6 +76,20 @@ class ProtocolContractTest(unittest.TestCase):
         self.assertEqual(0xFF, sample_frame.samples[1].gyro_status)
         self.assertEqual(0, parser.crc_errors)
         self.assertEqual(len(b"startup text\r\n"), parser.skipped_bytes)
+        self.assertEqual(0, parser.buffered_bytes)
+
+        self.assertEqual(8, len(full_frame.samples))
+        self.assertEqual(43, full_frame.packet_sequence)
+        self.assertEqual(2_007, full_frame.samples[-1].sequence)
+        self.assertEqual(3_070_000, full_frame.samples[-1].timestamp_us)
+        self.assertEqual(0, full_frame.flags)
+
+        self.assertEqual(44, saturated_frame.packet_sequence)
+        self.assertEqual(
+            PACKET_FLAG_TIMESTAMP_DELTA_SATURATED,
+            saturated_frame.flags,
+        )
+        self.assertEqual(4_655_350, saturated_frame.samples[-1].timestamp_us)
 
         row = sample_to_csv_row(
             sample_frame.samples[0], metadata_frame.metadata, 3
@@ -91,20 +106,31 @@ class ProtocolContractTest(unittest.TestCase):
         frames = parser.feed(bytes(damaged) + self.encoded[first_size:])
         self.assertEqual(1, parser.startup_crc_errors)
         self.assertEqual(0, parser.crc_errors)
-        self.assertEqual(1, len(frames))
+        self.assertEqual(3, len(frames))
         self.assertEqual(PACKET_TYPE_SAMPLES, frames[0].packet_type)
 
     def test_crc_failure_after_sync_is_stream_error(self) -> None:
         first_size = 36 + 48
-        damaged = bytearray(self.encoded[first_size:])
+        second_size = 36 + 2 * 20
+        damaged = bytearray(self.encoded[first_size : first_size + second_size])
         damaged[-1] ^= 0x80
         parser = StreamParser()
-        frames = parser.feed(self.encoded[:first_size] + bytes(damaged))
+        frames = parser.feed(
+            self.encoded[:first_size]
+            + bytes(damaged)
+            + self.encoded[first_size + second_size :]
+        )
         self.assertEqual(0, parser.startup_crc_errors)
         self.assertEqual(1, parser.crc_errors)
-        self.assertEqual(1, len(frames))
+        self.assertEqual(3, len(frames))
         self.assertEqual(PACKET_TYPE_METADATA, frames[0].packet_type)
 
+    def test_trailing_partial_frame_is_observable(self) -> None:
+        parser = StreamParser()
+        frames = parser.feed(self.encoded[:-5])
+        self.assertEqual(3, len(frames))
+        self.assertEqual(36 + 2 * 20 - 5, parser.buffered_bytes)
+
 
 if __name__ == "__main__":
     unittest.main()

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
 
 

tools/decode_binary.py

@@ -7,6 +7,7 @@ from pathlib import Path
 
 from trikke_protocol import (
     CSV_COLUMNS,
+    PACKET_FLAG_TIMESTAMP_DELTA_SATURATED,
     PACKET_TYPE_METADATA,
     Frame,
     StreamParser,
@@ -31,15 +32,21 @@ def main() -> int:
         None,
     )
     if metadata is None:
-        print("No valid metadata frame found")
+        print(
+            "No valid metadata frame found; "
+            f"trailing_partial_bytes={stream.buffered_bytes}"
+        )
         return 2
 
     args.output.parent.mkdir(parents=True, exist_ok=True)
     sample_count = 0
+    timestamp_saturation_frame_count = 0
     with args.output.open("w", encoding="utf-8", newline="") as target:
         writer = csv.writer(target)
         writer.writerow(CSV_COLUMNS)
         for frame in frames:
+            if frame.flags & PACKET_FLAG_TIMESTAMP_DELTA_SATURATED:
+                timestamp_saturation_frame_count += 1
             if frame.packet_type == PACKET_TYPE_METADATA:
                 if frame.metadata is not None:
                     metadata = frame.metadata
@@ -54,7 +61,9 @@ def main() -> int:
         f"Decoded {sample_count} samples from {len(frames)} frames; "
         f"startup_crc_rejects={stream.startup_crc_errors}, "
         f"stream_crc_errors={stream.crc_errors}, header_errors={stream.header_errors}, "
-        f"skipped_nonframe_bytes={stream.skipped_bytes}; saved {args.output}"
+        f"skipped_nonframe_bytes={stream.skipped_bytes}, "
+        f"timestamp_saturation_frames={timestamp_saturation_frame_count}, "
+        f"trailing_partial_bytes={stream.buffered_bytes}; saved {args.output}"
     )
     return 0
 

tools/trikke_protocol.py

@@ -16,6 +16,7 @@ MAX_RECORDS = 8
 
 PACKET_TYPE_METADATA = 1
 PACKET_TYPE_SAMPLES = 2
+PACKET_FLAG_TIMESTAMP_DELTA_SATURATED = 0x01
 
 HEADER = struct.Struct("<4sBBBBBBHIQIII")
 METADATA = struct.Struct("<HHHH10f")
@@ -127,6 +128,11 @@ class StreamParser:
         self.startup_crc_errors = 0
         self.crc_errors = 0
 
+    @property
+    def buffered_bytes(self) -> int:
+        """Bytes retained because they do not yet form a complete frame."""
+        return len(self._buffer)
+
     def feed(self, data: bytes) -> list[Frame]:
         self._buffer.extend(data)
         frames: list[Frame] = []