mirror of
https://github.com/ruvnet/RuView.git
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8dfb031cb3
Fully implements the remaining deferred pieces of the adaptive CSI mesh
firmware kernel. All 5 layers (Radio Abstraction, Adaptive Controller,
Mesh Sensing Plane, On-device Feature Extraction, Rust handoff) are
now implemented and host-tested end-to-end.
Layer 3 — Mesh Sensing Plane (firmware/esp32-csi-node/main/rv_mesh.{h,c}):
* 4 node roles: Unassigned / Anchor / Observer / FusionRelay / Coordinator
* 7 message types: TIME_SYNC, ROLE_ASSIGN, CHANNEL_PLAN,
CALIBRATION_START, FEATURE_DELTA, HEALTH, ANOMALY_ALERT
* 3 auth classes: None / HMAC-SHA256-session / Ed25519-batch
* Payload types: rv_node_status_t (28 B), rv_anomaly_alert_t (28 B),
rv_time_sync_t (16 B), rv_role_assign_t (16 B),
rv_channel_plan_t (24 B), rv_calibration_start_t (20 B)
* 16-byte envelope + payload + IEEE CRC32 trailer
* Pure rv_mesh_encode()/rv_mesh_decode() plus typed convenience encoders
* rv_mesh_send_health() + rv_mesh_send_anomaly() helpers
Controller wiring (adaptive_controller.c):
* Slow loop (30 s default) now emits HEALTH
* apply_decision() emits ANOMALY_ALERT on transitions to ALERT /
DEGRADED
* Role + mesh epoch tracked in module state; epoch bumps on role
change
Layer 5 — Rust mirror (crates/wifi-densepose-hardware/src/radio_ops.rs):
* RadioOps trait mirrors rv_radio_ops_t vtable
* MockRadio backend for offline tests
* MeshHeader / NodeStatus / AnomalyAlert types mirror rv_mesh.h
* Byte-identical IEEE CRC32 (poly 0xEDB88320) verified against
firmware test vectors (0xCBF43926 for "123456789")
* decode_mesh / decode_node_status / decode_anomaly_alert / encode_health
* 8 unit tests, including mesh_constants_match_firmware which asserts
MESH_MAGIC/VERSION/HEADER_SIZE/MAX_PAYLOAD match rv_mesh.h
byte-for-byte
* Exported from lib.rs
* signal/ruvector/train/mat crates untouched — satisfies ADR-081
portability acceptance test
Tests (all passing):
test_adaptive_controller: 18/18 (C, decide() 3.2 ns/call)
test_rv_feature_state: 15/15 (C, CRC32 87 MB/s)
test_rv_mesh: 27/27 (C, roundtrip 1.0 µs)
radio_ops::tests (Rust): 8/8
--- total: 68/68 assertions green ---
Docs:
* ADR-081 status flipped to Accepted
* Implementation-status matrix updated; L3 + Rust mirror both
marked Implemented
* Benchmarks table extended with rv_mesh encode+decode roundtrip
* Verification section updated with cargo test invocation
* CHANGELOG: two new entries for L3 mesh plane + Rust mirror
Remaining follow-ups (Phase 3.5 polish, not blocking):
* Mesh RX path (UDP listener + dispatch) on the firmware
* Ed25519 signing for CHANNEL_PLAN / CALIBRATION_START
* Hardware validation on COM7
59 lines
2.3 KiB
Makefile
59 lines
2.3 KiB
Makefile
# Host-side unit tests for ADR-081 pure-C logic.
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#
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# These tests exercise adaptive_controller_decide() and the rv_feature_state
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# helpers (CRC32, finalize) using plain gcc/clang, with a minimal esp_err.h
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# shim. No ESP-IDF, no FreeRTOS, no QEMU required.
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#
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# Usage:
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# cd firmware/esp32-csi-node/tests/host
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# make
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# ./test_adaptive_controller
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# ./test_rv_feature_state
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MAIN_DIR := ../../main
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CC ?= cc
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CFLAGS ?= -O2 -std=c11 -Wall -Wextra -Wno-unused-parameter \
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-D_POSIX_C_SOURCE=199309L \
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-I. -I$(MAIN_DIR)
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LDLIBS ?= -lrt
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# Pure-C sources under test. We compile only the files that have no
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# ESP-IDF dependency in their bodies: rv_feature_state.c is 100% pure.
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# adaptive_controller.c uses FreeRTOS for the timer plumbing, so for the
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# host test we compile only the decide() portion by isolating it in a
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# small unity file (TEST_ADAPT_PURE below).
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FEATURE_STATE_SRCS := $(MAIN_DIR)/rv_feature_state.c
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# adaptive_controller.c pulls in FreeRTOS headers that don't exist on
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# host; we include its decide() function by defining TEST_ADAPT_PURE
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# before including the .c. The decide() body itself has no ESP-IDF deps.
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# Simpler: just recompile decide() here via a small shim.
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TESTS := test_adaptive_controller test_rv_feature_state test_rv_mesh
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all: $(TESTS)
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test_adaptive_controller: test_adaptive_controller.c $(MAIN_DIR)/adaptive_controller_decide.c $(MAIN_DIR)/adaptive_controller.h $(MAIN_DIR)/rv_radio_ops.h
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$(CC) $(CFLAGS) test_adaptive_controller.c $(MAIN_DIR)/adaptive_controller_decide.c -o $@ $(LDLIBS)
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test_rv_feature_state: test_rv_feature_state.c $(FEATURE_STATE_SRCS) $(MAIN_DIR)/rv_feature_state.h $(MAIN_DIR)/rv_radio_ops.h
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$(CC) $(CFLAGS) test_rv_feature_state.c $(FEATURE_STATE_SRCS) -o $@ $(LDLIBS)
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# Mesh plane encoder/decoder: compile rv_mesh.c with RV_MESH_HOST_TEST
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# so the firmware-only send helpers (stream_sender, esp_log) are hidden.
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test_rv_mesh: test_rv_mesh.c $(MAIN_DIR)/rv_mesh.c $(MAIN_DIR)/rv_mesh.h $(FEATURE_STATE_SRCS) $(MAIN_DIR)/rv_radio_ops.h
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$(CC) $(CFLAGS) -DRV_MESH_HOST_TEST=1 \
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test_rv_mesh.c $(MAIN_DIR)/rv_mesh.c $(FEATURE_STATE_SRCS) \
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-o $@ $(LDLIBS)
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check: all
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./test_adaptive_controller
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@echo ""
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./test_rv_feature_state
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@echo ""
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./test_rv_mesh
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clean:
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rm -f $(TESTS) *.o
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.PHONY: all check clean
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