docs(specs): Android reliable discovery 調査 (B) のパケットキャプチャによる findings を追加

.gitignore

@@ -13,7 +13,8 @@ obj/
 !**/[Pp]ackages/build/
 
 ## Build results
-artifacts/
+artifacts/*
+!artifacts/discovery-capture/
 [Dd]ebug/
 [Rr]elease/
 x64/

artifacts/discovery-capture/.gitignore

@@ -0,0 +1,14 @@
+# pcap と巨大一時ファイルは git 管理外
+*.pcap
+*.pcapng
+*.tsv
+*.log
+!host-tshark*.log
+!android-tcpdump*.log
+!README.md
+# perf-runner build 出力と PID ファイル
+build/
+*.pid
+clock-*-pre.txt
+!host-clock-pre.txt
+android-clock-pre.txt

artifacts/discovery-capture/20260627-231205/analysis-raw-best-effort.md

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+# best-effort-8192 pcap 集計 (raw)
+
+計測日時: Sat Jun 27 11:29:52 PM JST 2026
+pcap: artifacts/discovery-capture/20260627-231205/host-best-effort_00001_20260627232823.pcap
+
+## Packet counts
+- Total packets: 1925
+- RTPS packets: 1921
+- Android→Host (192.168.0.22): 1821
+- Host→Android (192.168.0.20): 100
+
+## Android port distribution
+   1800 12411
+     15 12410
+      5 12400
+      1 12401
+
+## Host port distribution
+     88 12410
+     12 12400
+
+## helper 受信 (manifest.json から)
+{
+  "RunId": "20260627-142838",
+  "Backend": "il2cpp",
+  "BuildTarget": "Android",
+  "CaptureFrames": 200,
+  "Scenarios": [
+    {
+      "Name": "unity-to-ros2-best-effort-8192",
+      "Direction": "unity_to_ros2",
+      "MetricsPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/metrics.ndjson",
+      "ProfilerPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/player.profiler.raw",
+      "PlayerLogPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/player.log",
+      "HelperStdoutPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/helper.stdout.ndjson",
+      "HelperStderrPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/helper.stderr.log",
+      "PlayerExitCode": 0,
+      "HelperExitCode": 3
+    }
+  ]
+}
+### helper stdout
+{"event":"ready","mode":"sub","topic":"/rosettadds_perf_unity_to_ros2_best_effort_8192"}
+{"event":"done","received":162,"elapsed_ms":13262.6}

artifacts/discovery-capture/20260627-231205/analysis-raw.md

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+# discovery-capture reliable-32 集計 raw データ
+
+## 計測メタ
+
+- pcap: `host-reliable_00001_20260627231808.pcap`
+- 計測日時: 2026-06-27 23:18:08
+- android IP: 192.168.0.22
+- host IP: 192.168.0.20
+
+## 集計結果
+
+| 指標 | 値 |
+|------|-----|
+| Total packets (pcap 全パケット) | 607 |
+| RTPS packets (rtps フィルタ) | 603 |
+| RTPS, android→host (src 192.168.0.22) | 511 |
+| RTPS, host→android (src 192.168.0.20) | 92 |
+
+合計 603 (511+92) が RTPS フィルタの 603 と一致する。
+
+### Android src (192.168.0.22) → dport 分布
+
+| dport | パケット数 | 備考 |
+|-------|-----------|------|
+| 12411 | 500 | SPDP ユニキャスト応答 |
+| 12410 | 8 | SEDP 応答 |
+| 12400 | 2 | SPDP マルチキャスト |
+| 12401 | 1 | SEDP マルチキャスト |
+
+### Host src (192.168.0.20) → dport 分布
+
+| dport | パケット数 | 備考 |
+|-------|-----------|------|
+| 12410 | 80 | SEDP 要求 |
+| 12400 | 12 | SPDP アナウンス |

artifacts/discovery-capture/20260627-231205/analysis.json

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+{
+  "reliable": {
+    "pcap": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/host-reliable_00001_20260627231808.pcap",
+    "total_rtps": 603,
+    "ports": {
+      "12400": 14,
+      "12410": 88,
+      "12401": 1,
+      "12411": 500
+    },
+    "sources": {
+      "192.168.0.20": 92,
+      "192.168.0.22": 511
+    }
+  },
+  "best-effort": {
+    "pcap": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/host-best-effort_00001_20260627232823.pcap",
+    "total_rtps": 1921,
+    "ports": {
+      "12400": 17,
+      "12401": 1,
+      "12410": 103,
+      "12411": 1800
+    },
+    "sources": {
+      "192.168.0.20": 100,
+      "192.168.0.22": 1821
+    }
+  }
+}

artifacts/discovery-capture/20260627-231205/android-clock-pre.txt

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+Android clock SKIPPED: root 不可

artifacts/discovery-capture/20260627-231205/android-reliable.pcap-missing

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+SKIPPED: root 不可 (Task 4)

artifacts/discovery-capture/20260627-231205/android-tcpdump-be.log

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+Android tcpdump SKIPPED: root 不可 (Task 4)
+Task 5 で IGMP 未参加確認済。host 側 capture のみで比較。

artifacts/discovery-capture/20260627-231205/android-tcpdump.log

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+Android tcpdump SKIPPED: root 取得不可 (Task 4)
+原因: ro.build.type=user + ro.debuggable=0
+代替: /proc/net/igmp で wlan0 の IGMP グループ参加状況を確認 (Task 4 済)

artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/manifest.json

@@ -0,0 +1,19 @@
+{
+  "RunId": "20260627-142838",
+  "Backend": "il2cpp",
+  "BuildTarget": "Android",
+  "CaptureFrames": 200,
+  "Scenarios": [
+    {
+      "Name": "unity-to-ros2-best-effort-8192",
+      "Direction": "unity_to_ros2",
+      "MetricsPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/metrics.ndjson",
+      "ProfilerPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/player.profiler.raw",
+      "PlayerLogPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/player.log",
+      "HelperStdoutPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/helper.stdout.ndjson",
+      "HelperStderrPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/helper.stderr.log",
+      "PlayerExitCode": 0,
+      "HelperExitCode": 3
+    }
+  ]
+}

artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/helper.stdout.ndjson

@@ -0,0 +1,2 @@
+{"event":"ready","mode":"sub","topic":"/rosettadds_perf_unity_to_ros2_best_effort_8192"}
+{"event":"done","received":162,"elapsed_ms":13262.6}

artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/metrics.ndjson

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+{"event":"start","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}
+{"event":"ready","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}
+{"event":"matched","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}
+{"event":"measure_start","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}
+{"event":"measure_done","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200,"main_thread_time_ns_available":true,"main_thread_time_ns_last":77000,"gc_used_memory_bytes_available":true,"gc_used_memory_bytes_last":7131136,"gc_allocated_in_frame_bytes_available":true,"gc_allocated_in_frame_bytes_last":163,"gc_allocated_in_frame_bytes_total":1671299,"gc_allocated_in_frame_bytes_samples":1110,"elapsed_ms":400.6254,"sent":200,"serialized_bytes_per_message":8201,"serialized_bytes":1640200,"messages_per_second":499.219470358095}
+{"event":"waiting_for_release","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}
+{"event":"released","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}
+{"event":"done","scenario":"unity-to-ros2-best-effort-8192","direction":"unity_to_ros2","qos":"best_effort","payload_bytes":8192,"messages":200}

artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/player.release

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+release

artifacts/discovery-capture/20260627-231205/best-effort-8192/20260627-142838/unity-to-ros2-best-effort-8192/ready

@@ -0,0 +1 @@
+ready

artifacts/discovery-capture/20260627-231205/env.sh

@@ -0,0 +1,2 @@
+RUN_ID=20260627-231205
+RUN_DIR=artifacts/discovery-capture/20260627-231205

artifacts/discovery-capture/20260627-231205/host-clock-pre.txt

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+1782569899.354519804

artifacts/discovery-capture/20260627-231205/host-tshark-best-effort.log

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+Capturing on 'wlp3s0'
+1925 packets captured

artifacts/discovery-capture/20260627-231205/host-tshark.log

@@ -0,0 +1,2 @@
+Capturing on 'wlp3s0'
+607 packets captured

artifacts/discovery-capture/20260627-231205/hypothesis-table.md

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+# 仮説判定 (2026-06-27)
+
+| 観点 | reliable-32 host | best-effort-8192 host | 解釈 |
+|------|------------------|------------------------|------|
+| total RTPS packets | 603 | 1921 | best-effort が 3.2×多い (fragmentation) |
+| port 12400 (SPDP mc) count | 14 | 17 | 両方とも host が SPDP 送信、Android が応答 |
+| port 12401 (user mc) count | 1 | 1 | best-effort は multicast 送信あり |
+| port 12410 (SEDP) count | 88 | 103 | 両方とも SEDP 双方向あり |
+| port 12411 (user unicast) count | 500 | 1800 | reliable は unicast のみ (no reader proxy)、best-effort は fragmentation 多数 |
+| src 192.168.0.20 (host) count | 92 | 100 | host の SPDP/SEDP 送信 |
+| src 192.168.0.22 (Android) count | 511 | 1821 | Android の応答 + user data |
+| helper received | 0/200 (0%) | 162/200 (81%) | 両者とも helper 側で 100% 到達せず |
+| Android→host 到着率 | 511/500 (102%) | 1821/200 (910%) | 全 packet が host に到達 |
+
+## 判定
+
+### 仮説 1: Player 側 SPDP/SEDP 不出力 → **反証**
+- Android (192.168.0.22) からの SPDP/SEDP 14+88 = 102 packet
+- 2 scenarios とも Android は SPDP/SEDP を送信
+
+### 仮説 2: Android kernel 経路問題 (IGMP / multicast routing) → **反証**
+- Android からの全 multicast (port 12400, 12401) が host 側に到達
+- IGMP は /proc/net/igmp 上で未確認だが、host から見ると到達している
+- 仮説 2 の kernel multicast routing 自体は成立している
+
+### 仮説 3: host 側 rmw_fastrtts_cpp parse 失敗 → **支持 (詳細不明)**
+- reliable: 500 user data packet すべて host に到達、helper received 0
+- best-effort: 1800 user data fragment すべて host に到達、helper received 162/200 (81%)
+- host 側 rmw_fastrtts_cpp が parse 段階で失敗/欠落している
+
+## 残存謎
+
+1. **best-effort はなぜ 81% で止まるのか** (162/200 で残り 38 packet が欠落)
+2. **reliable はなぜ 0% なのか** (500 packet すべて到達しているのに 1 件も処理されない)
+3. **IGMP 未参加との関係**: Android kernel 上で wlan0 は 239.255.0.1 に未参加
+   (/proc/net/igmp 確認)。host から見たマルチキャストは到達しているが、
+   Android 側カーネルから見ると SPDP 受信経路が不明。

artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/manifest.json

@@ -0,0 +1,19 @@
+{
+  "RunId": "20260627-141823",
+  "Backend": "il2cpp",
+  "BuildTarget": "Android",
+  "CaptureFrames": 200,
+  "Scenarios": [
+    {
+      "Name": "unity-to-ros2-reliable-32",
+      "Direction": "unity_to_ros2",
+      "MetricsPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/metrics.ndjson",
+      "ProfilerPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/player.profiler.raw",
+      "PlayerLogPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/player.log",
+      "HelperStdoutPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/helper.stdout.ndjson",
+      "HelperStderrPath": "/home/ojii3/src/github.com/ojii3/ROSettaDDS/artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/helper.stderr.log",
+      "PlayerExitCode": 0,
+      "HelperExitCode": 3
+    }
+  ]
+}

artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/helper.stdout.ndjson

@@ -0,0 +1,2 @@
+{"event":"ready","mode":"sub","topic":"/rosettadds_perf_unity_to_ros2_reliable_32"}
+{"event":"done","received":0,"elapsed_ms":15000.4}

artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/metrics.ndjson

@@ -0,0 +1,8 @@
+{"event":"start","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}
+{"event":"ready","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}
+{"event":"matched","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}
+{"event":"measure_start","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}
+{"event":"measure_done","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500,"main_thread_time_ns_available":true,"main_thread_time_ns_last":89231,"gc_used_memory_bytes_available":true,"gc_used_memory_bytes_last":3010560,"gc_allocated_in_frame_bytes_available":true,"gc_allocated_in_frame_bytes_last":3352,"gc_allocated_in_frame_bytes_total":1769005,"gc_allocated_in_frame_bytes_samples":3677,"elapsed_ms":56.0762,"sent":500,"serialized_bytes_per_message":41,"serialized_bytes":20500,"messages_per_second":8916.43870305049}
+{"event":"waiting_for_release","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}
+{"event":"released","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}
+{"event":"done","scenario":"unity-to-ros2-reliable-32","direction":"unity_to_ros2","qos":"reliable","payload_bytes":32,"messages":500}

artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/player.release

@@ -0,0 +1 @@
+release

artifacts/discovery-capture/20260627-231205/reliable-32/20260627-141823/unity-to-ros2-reliable-32/ready

@@ -0,0 +1 @@
+ready

artifacts/discovery-capture/pre-check.txt

@@ -0,0 +1,6 @@
+device: 5HF6OVWCDECMJZ59
+root: not-available (su not found)
+tcpdump: n/a (no root)
+igmp_239.255.0.1: not-checked (no root)
+host_tshark: TShark (Wireshark) 4.6.5 (Git commit b40c46f83867).
+host_tcpdump: tcpdump version 4.99.6