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ADR-081: implement Layers 1/2/4 end-to-end + host tests + QEMU hooks

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Turns the ADR-081 scaffolding into a working adaptive CSI mesh kernel:
Layer 1 radio abstraction has an ESP32 binding and a mock binding; Layer 2
adaptive controller runs on FreeRTOS timers; Layer 4 feature-state packet
is emitted at 5 Hz by default, replacing raw ADR-018 CSI as the default
upstream.

New files:
  firmware/esp32-csi-node/main/adaptive_controller_decide.c  (pure policy)
  firmware/esp32-csi-node/main/rv_radio_ops_mock.c           (QEMU binding)
  firmware/esp32-csi-node/tests/host/Makefile                (host tests)
  firmware/esp32-csi-node/tests/host/test_adaptive_controller.c
  firmware/esp32-csi-node/tests/host/test_rv_feature_state.c
  firmware/esp32-csi-node/tests/host/esp_err.h               (shim)
  firmware/esp32-csi-node/tests/host/.gitignore

Modified:
  adaptive_controller.c         — includes pure decide.c; emit_feature_state()
                                  wired into fast loop (200 ms = 5 Hz)
  rv_radio_ops_esp32.c          — get_health() fills pkt_yield + send_fail
  csi_collector.{c,h}           — pkt_yield/send_fail accessors (ADR-081 L1)
  rv_feature_state.h            — packed size corrected to 60 bytes
                                  (was incorrectly 80 in initial commit)
  main.c                        — mock binding registered under mock CSI
  CMakeLists.txt                — rv_radio_ops_mock.c under CSI_MOCK_ENABLED
  scripts/validate_qemu_output.py — 3 new ADR-081 checks (17/18/19)
  docs/adr/ADR-081-*.md         — status → Accepted (partial);
                                  implementation-status matrix; measured
                                  benchmarks (decide 3.2 ns, CRC32 614 ns);
                                  bandwidth 300 B/s @ 5 Hz (99.7% vs raw);
                                  verification section
  CHANGELOG.md                  — artifact-level entries

Tests (host, gcc -O2 -std=c11):
  test_adaptive_controller:  18/18 pass, decide() = 3.2 ns/call
  test_rv_feature_state:     15/15 pass, CRC32(56 B) = 614 ns/pkt, 87 MB/s
                             sizeof(rv_feature_state_t) == 60 asserted
                             IEEE CRC32 known vectors verified

Deferred (tracked in ADR-081 roadmap Phase 3/4):
  Layer 3 mesh-plane message types, role-assignment FSM, Rust-side mirror
  trait in crates/wifi-densepose-hardware/src/radio_ops.rs.
This commit is contained in:
Claude 2026-04-19 03:43:08 +00:00
parent 9648a47fdc
commit d53e29506e
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18 changed files with 966 additions and 107 deletions
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50
firmware/esp32-csi-node/tests/host/Makefile Normal file
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# Host-side unit tests for ADR-081 pure-C logic.
#
# These tests exercise adaptive_controller_decide() and the rv_feature_state
# helpers (CRC32, finalize) using plain gcc/clang, with a minimal esp_err.h
# shim. No ESP-IDF, no FreeRTOS, no QEMU required.
#
# Usage:
# cd firmware/esp32-csi-node/tests/host
# make
# ./test_adaptive_controller
# ./test_rv_feature_state
MAIN_DIR := ../../main
CC ?= cc
CFLAGS ?= -O2 -std=c11 -Wall -Wextra -Wno-unused-parameter \
-D_POSIX_C_SOURCE=199309L \
-I. -I$(MAIN_DIR)
LDLIBS ?= -lrt
# Pure-C sources under test. We compile only the files that have no
# ESP-IDF dependency in their bodies: rv_feature_state.c is 100% pure.
# adaptive_controller.c uses FreeRTOS for the timer plumbing, so for the
# host test we compile only the decide() portion by isolating it in a
# small unity file (TEST_ADAPT_PURE below).
FEATURE_STATE_SRCS := $(MAIN_DIR)/rv_feature_state.c
# adaptive_controller.c pulls in FreeRTOS headers that don't exist on
# host; we include its decide() function by defining TEST_ADAPT_PURE
# before including the .c. The decide() body itself has no ESP-IDF deps.
# Simpler: just recompile decide() here via a small shim.
TESTS := test_adaptive_controller test_rv_feature_state
all: $(TESTS)
test_adaptive_controller: test_adaptive_controller.c $(MAIN_DIR)/adaptive_controller_decide.c $(MAIN_DIR)/adaptive_controller.h $(MAIN_DIR)/rv_radio_ops.h
$(CC) $(CFLAGS) test_adaptive_controller.c $(MAIN_DIR)/adaptive_controller_decide.c -o $@ $(LDLIBS)
test_rv_feature_state: test_rv_feature_state.c $(FEATURE_STATE_SRCS) $(MAIN_DIR)/rv_feature_state.h $(MAIN_DIR)/rv_radio_ops.h
$(CC) $(CFLAGS) test_rv_feature_state.c $(FEATURE_STATE_SRCS) -o $@ $(LDLIBS)
check: all
./test_adaptive_controller
@echo ""
./test_rv_feature_state
clean:
rm -f $(TESTS) *.o
.PHONY: all check clean