harden USB telemetry transport

tools/decode_binary.py

@@ -7,9 +7,9 @@ from pathlib import Path
 
 from trikke_protocol import (
     CSV_COLUMNS,
-    PACKET_FLAG_TIMESTAMP_DELTA_SATURATED,
     PACKET_TYPE_METADATA,
     Frame,
+    IntegrityTracker,
     StreamParser,
     sample_to_csv_row,
 )
@@ -40,13 +40,12 @@ def main() -> int:
 
     args.output.parent.mkdir(parents=True, exist_ok=True)
     sample_count = 0
-    timestamp_saturation_frame_count = 0
+    integrity = IntegrityTracker()
     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
+            integrity.observe(frame)
             if frame.packet_type == PACKET_TYPE_METADATA:
                 if frame.metadata is not None:
                     metadata = frame.metadata
@@ -62,7 +61,19 @@ def main() -> int:
         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}, "
-        f"timestamp_saturation_frames={timestamp_saturation_frame_count}, "
+        f"packet_gaps={integrity.packet_gap_count}, "
+        f"packet_resets={integrity.packet_reset_count}, "
+        f"sample_gaps={integrity.sample_gap_count}, "
+        f"sample_resets={integrity.sample_reset_count}, "
+        f"timing_anomalies={integrity.timing_anomaly_count}, "
+        "timestamp_saturation_frames="
+        f"{integrity.timestamp_saturation_frame_count}, "
+        f"accel_stale={integrity.accel_stale_count}, "
+        f"accel_overrun={integrity.accel_overrun_count}, "
+        f"gyro_stale={integrity.gyro_stale_count}, "
+        f"gyro_overrun={integrity.gyro_overrun_count}, "
+        f"dropped={integrity.final_dropped_sample_count}, "
+        f"acquisition_loop_overruns={integrity.final_loop_overrun_count}, "
         f"trailing_partial_bytes={stream.buffered_bytes}; saved {args.output}"
     )
     return 0