CydandClaude Fable 5 47df14cc61 RioSerialLink: stop-and-wait command delivery (supersedes NAK-race resend) ...

Bench falsified the v1 retransmit (testlogs/riomash-patched-62500-retx):
resends tracked NAKs 1:1 (321/321) yet lamps still stuck/missed — under
mash bursts the NAK arrives after a newer command is already "latest",
so the wrong packet was resent; and total shreds never NAK at all.

Now commands are stop-and-wait: ONE in flight (_commandGate), resolved
by ACK, NAK, or AckTimeout (50ms); NAK/timeout retransmits THE SAME
packet up to CommandRetransmitLimit (2), then drops (idempotent - the
next state update supersedes). Attribution is exact by construction and
timeouts catch silent shreds. Control-byte replies bypass the gate so
board traffic is never delayed; a request's own reply (analog/version/
check) also resolves the wait, so request/reply exchanges never burn
the timeout even if the board sends no explicit ACK.

7 tests (same-packet resend, timeout retry+drop, ACK completion,
serialization, reply-resolves-request, stray-NAK no-op, disable);
282 green. Mash summary now reports NAK/timeout resends.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

2026-07-19 13:20:30 -05:00

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