mirror of
https://github.com/ruvnet/RuView
synced 2026-07-21 17:13:19 +00:00
feat(hardware): add Rust RTL8720F radar simulator
This commit is contained in:
ruv
@@ -31,10 +31,14 @@ This is not a drop-in replacement for ESP32 CSI:
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function signatures, callback ABI, binary layouts, toolchain version, licensing terms, or public
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RTL8720F board package.
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Realtek's public Ameba RTOS repository is a plausible base and its public release history includes
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CSI and EDCCA APIs, but the reviewed public material does not establish that the RTL8720F radar
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API or firmware blobs are publicly available. Therefore an honest integration must be split at a
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vendor boundary.
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Realtek's public Ameba RTOS repository is the base. Release v1.2.1 includes the CSI API and fixes a
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CSI application-buffer semaphore issue, but does not expose the radar application surface. Open
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upstream PR #1336 (2026-07-18 snapshot) adds RTL8720F project artifacts, `AT+RAD`, `AT+RADDBG`, and
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the public configuration call `wifi_radar_config(struct rtw_radar_action_parm *)`. Its public
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parameter struct confirms mode, channel, 70/40/20 MHz bandwidth selector, trigger period, and
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enable/config actions. Report reception still crosses non-public/placeholder HAL symbols such as
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`wifi_hal_radar_recv_data(frame_num, frame_type, data)`, so the report layout and buffer lifetime
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remain vendor-gated. Therefore the integration stays split at that boundary.
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## Decision
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@@ -69,7 +73,7 @@ claim millimetre-wave provenance.
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### P0 — Vendor enablement
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Obtain a redistributable RTL8720F SDK package, radar API headers/libraries, a supported evaluation
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Obtain the PR #1336-or-newer RTL8720F SDK package, radar API headers/libraries, a supported evaluation
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board, flashing/debug instructions, report definitions, and written redistribution terms.
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**Gate:** compile and run Realtek's unmodified radar example and capture CFR plus near/far
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@@ -78,7 +82,10 @@ Range-FFT output. Until this passes, device firmware is `VENDOR_BLOCKED`, not im
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### P1 — Host-first contract
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Implement ADR-264 types, parsers, fixtures, fuzz tests, and replay support without linking vendor
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code. Generate deterministic synthetic fixtures whose provenance is explicitly synthetic.
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code. Use the Rust `Rtl8720fSimulator` as the only pre-hardware live source. It emits deterministic
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CFR, near/far Range-FFT, interference, and capabilities frames through the same ADR-264 encoder and
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parser used by hardware. Every simulated frame sets `RadarFlags::SYNTHETIC`; simulation results are
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never reported as device measurements.
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**Gate:** malformed inputs never panic; encode/decode round trips; unknown versions and report
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types fail closed.
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@@ -156,6 +163,9 @@ alone. If it does not, ship it only as an independent presence/range sensor.
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- Realtek Semiconductor, `RTL8720F-2.4G-Radar-Advantages_EN.pptx`, slides 3 and 10–19,
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supplied 2026-07-18. This is product material, not measured RuView validation.
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- [Ameba-AIoT/ameba-rtos releases](https://github.com/Ameba-AIoT/ameba-rtos/releases), reviewed
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2026-07-18; public release notes mention CSI and EDCCA APIs but do not document the deck's radar ABI.
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2026-07-18; v1.2.1 is the current QC release and includes a CSI buffer-semaphore fix.
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- [Ameba-AIoT/ameba-rtos PR #1336](https://github.com/Ameba-AIoT/ameba-rtos/pull/1336), reviewed
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2026-07-18; exposes RTL8720F build assets, `wifi_radar_config`, and radar AT commands while report
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internals remain in binary/private layers.
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- ADR-063 (mmWave sensor fusion), ADR-095/097 (source normalization), and ADR-260/262 (RuField
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multimodal event model and live bridge).
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@@ -42,7 +42,7 @@ sent by `memcpy`; firmware serializes each field explicitly.
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| 36 | 2 | bandwidth_mhz | 20, 40, or 70 |
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| 38 | 2 | flags | calibration/interference/saturation/time-sync flags |
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| 40 | 2 | element_count | complex samples or range bins |
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| 42 | 1 | element_format | 1 complex-i16, 2 complex-f32, 3 power-u16, 4 power-f32 |
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| 42 | 1 | element_format | 0 bytes/TLV, 1 complex-i16, 2 complex-f32, 3 power-u16, 4 power-f32 |
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| 43 | 1 | antenna_count | expected to be 1 for the deck's 1T1R configuration |
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| 44 | 4 | scale | quantized-to-physical multiplier; `1.0` for float payloads |
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| 48 | 4 | bin_spacing | Hz for CFR, metres for Range-FFT |
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@@ -123,6 +123,14 @@ No vendor-provided presence probability bypasses RuView privacy, provenance, or
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host golden decoder.
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6. Revise this proposed ADR with measured element counts, rates, and API names before acceptance.
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Host-side steps 1–3 are implemented in `wifi-densepose-hardware::rtl8720f`: typed report and
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element enums, semantic type/format validation, bounded length arithmetic, CRC verification,
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finite-float checks, encode/decode round trips, corruption/truncation tests, and deterministic
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arbitrary-input panic checks. Cross-language vectors remain blocked on the vendor SDK callback ABI.
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Bit 15 of `flags` is reserved by RuView as `SYNTHETIC`; the Rust simulator always sets it and real
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firmware must never set it. The simulator is deterministic by seed and exercises the production
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encoder/parser rather than a parallel mock representation.
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## Acceptance criteria
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- Rust encode/decode round-trip for every report type.
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@@ -13,6 +13,21 @@ hardware sources. All parsing operates on byte buffers with no C FFI or hardware
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compile time, making the crate fully portable and deterministic -- the same bytes in always produce
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the same parsed output.
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## RTL8720F radar simulator (ADR-263/264)
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Until Realtek hardware and the radar report SDK arrive, the Rust-only simulator exercises the same
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versioned CFR/Range-FFT wire codec used by the future device adapter. Every frame is marked
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`SYNTHETIC`.
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```powershell
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cargo run -p wifi-densepose-hardware --bin rtl8720f-sim -- `
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--frames 100 --seed 0x8720f123456789ab `
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--output rtl8720f-synthetic.rtr
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```
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Add `--udp 127.0.0.1:5005 --realtime` to stream one ADR-264 frame per UDP datagram. Replay files
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contain a little-endian `u32` frame length followed by the encoded frame.
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## Features
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- **ESP32 binary parser** -- Parses ADR-018 binary CSI frames streamed over UDP from ESP32 and
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@@ -0,0 +1,118 @@
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//! Rust-only RTL8720F radar simulator for pre-hardware integration.
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use std::{
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fs::File,
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io::{self, Write},
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net::{SocketAddr, UdpSocket},
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path::PathBuf,
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thread,
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time::Duration,
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};
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use clap::Parser;
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use wifi_densepose_hardware::rtl8720f::{
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simulator::{Rtl8720fSimulator, SimulatorConfig},
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RadarFrame, ReportType,
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};
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#[derive(Debug, Parser)]
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#[command(
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name = "rtl8720f-sim",
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about = "Emit synthetic ADR-264 RTL8720F radar frames"
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)]
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struct Args {
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#[arg(long, default_value_t = 100)]
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frames: u32,
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#[arg(long, default_value = "0x8720f123456789ab", value_parser = parse_u64)]
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seed: u64,
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#[arg(long, default_value_t = 40)]
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bandwidth: u16,
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#[arg(long, default_value_t = 15)]
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interval_ms: u64,
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/// UDP destination; each frame is one datagram.
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#[arg(long)]
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udp: Option<SocketAddr>,
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/// Replay file; LE u32 length followed by ADR-264 bytes.
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#[arg(long)]
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output: Option<PathBuf>,
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#[arg(long)]
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realtime: bool,
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}
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fn parse_u64(value: &str) -> Result<u64, String> {
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if let Some(hex) = value
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.strip_prefix("0x")
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.or_else(|| value.strip_prefix("0X"))
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{
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u64::from_str_radix(hex, 16).map_err(|error| error.to_string())
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} else {
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value.parse::<u64>().map_err(|error| error.to_string())
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}
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}
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fn emit(
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frame: RadarFrame,
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socket: Option<&UdpSocket>,
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destination: Option<SocketAddr>,
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output: &mut Option<File>,
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) -> Result<usize, Box<dyn std::error::Error>> {
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let wire = frame.to_bytes()?;
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if let (Some(socket), Some(destination)) = (socket, destination) {
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let sent = socket.send_to(&wire, destination)?;
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if sent != wire.len() {
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return Err(io::Error::new(io::ErrorKind::WriteZero, "partial UDP datagram").into());
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}
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}
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if let Some(file) = output {
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file.write_all(&(wire.len() as u32).to_le_bytes())?;
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file.write_all(&wire)?;
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}
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Ok(wire.len())
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}
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fn main() -> Result<(), Box<dyn std::error::Error>> {
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let args = Args::parse();
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if args.udp.is_none() && args.output.is_none() {
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return Err("select at least one sink with --udp or --output".into());
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}
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let config = SimulatorConfig {
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seed: args.seed,
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bandwidth_mhz: args.bandwidth,
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frame_period_us: args.interval_ms * 1_000,
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..SimulatorConfig::default()
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};
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let mut simulator = Rtl8720fSimulator::new(config)?;
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let socket = args.udp.map(|_| UdpSocket::bind("0.0.0.0:0")).transpose()?;
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let mut output = args.output.as_ref().map(File::create).transpose()?;
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let mut bytes_emitted = emit(
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simulator.capabilities_frame(),
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socket.as_ref(),
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args.udp,
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&mut output,
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)?;
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for index in 0..args.frames {
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let report_type = match index % 16 {
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15 => ReportType::Interference,
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value if value % 4 == 1 => ReportType::RangeNear,
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value if value % 4 == 3 => ReportType::RangeFar,
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_ => ReportType::Cfr,
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};
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bytes_emitted += emit(
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simulator.next_frame(report_type),
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socket.as_ref(),
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args.udp,
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&mut output,
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)?;
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if args.realtime {
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thread::sleep(Duration::from_millis(args.interval_ms));
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}
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}
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eprintln!(
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"emitted {} synthetic RTL8720F frames ({} bytes, seed={:#x})",
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args.frames + 1,
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bytes_emitted,
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args.seed
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);
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Ok(())
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}
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@@ -53,6 +53,9 @@ pub mod sync_packet;
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// coordinator-node Rust code drive the controller stack without
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// touching any downstream signal/ruvector/train/mat crate.
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pub mod radio_ops;
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/// ADR-264 host-side framing for Realtek RTL8720F CFR and FMCW radar reports.
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/// This module has no dependency on the vendor SDK.
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pub mod rtl8720f;
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pub use bridge::CsiData;
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pub use csi_frame::{
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@@ -64,12 +67,18 @@ pub use esp32_parser::{
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RUVIEW_FEATURE_MAGIC, RUVIEW_FEATURE_STATE_MAGIC, RUVIEW_FUSED_VITALS_MAGIC,
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RUVIEW_TEMPORAL_MAGIC, RUVIEW_VITALS_MAGIC,
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};
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pub use sync_packet::{
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SyncPacket, SyncPacketFlags, SYNC_PACKET_MAGIC, SYNC_PACKET_SIZE, SYNC_PACKET_PROTO_VER,
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};
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pub use radio_ops::{
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crc32_ieee, decode_anomaly_alert, decode_mesh, decode_node_status, encode_health, AnomalyAlert,
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AuthClass, CaptureProfile, MeshError, MeshHeader, MeshMsgType, MeshRole, MockRadio, NodeStatus,
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RadioError, RadioHealth, RadioMode, RadioOps, MESH_HEADER_SIZE, MESH_MAGIC, MESH_MAX_PAYLOAD,
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MESH_VERSION,
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};
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pub use rtl8720f::{
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ElementFormat as Rtl8720fElementFormat, RadarFlags as Rtl8720fRadarFlags,
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RadarFrame as Rtl8720fRadarFrame, RadarParseError as Rtl8720fRadarParseError,
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RadarPayload as Rtl8720fRadarPayload, ReportType as Rtl8720fReportType,
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RTL8720F_RADAR_HEADER_LEN, RTL8720F_RADAR_MAGIC, RTL8720F_RADAR_VERSION,
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};
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pub use sync_packet::{
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SyncPacket, SyncPacketFlags, SYNC_PACKET_MAGIC, SYNC_PACKET_PROTO_VER, SYNC_PACKET_SIZE,
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};
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@@ -0,0 +1,851 @@
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//! ADR-264 transport-neutral framing for Realtek RTL8720F radar reports.
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//!
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//! This is a RuView-owned wire contract around the public Ameba API boundary,
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//! not a representation of Realtek's private structs. Upstream PR #1336 exposes
|
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//! `wifi_radar_config(struct rtw_radar_action_parm *)`; the report callback ABI
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//! remains vendor-gated. Keeping this codec byte-oriented lets host development,
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//! replay, and fuzzing proceed without linking the Ameba SDK.
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use serde::{Deserialize, Serialize};
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use thiserror::Error;
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use crate::radio_ops::crc32_ieee;
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pub const RTL8720F_RADAR_MAGIC: u32 = 0x3152_5452; // "RTR1" in little endian
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pub const RTL8720F_RADAR_VERSION: u8 = 1;
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pub const RTL8720F_RADAR_HEADER_LEN: usize = 56;
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pub const RTL8720F_RADAR_CRC_LEN: usize = 4;
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pub const RTL8720F_RADAR_MAX_FRAME_LEN: usize = 64 * 1024;
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pub const RTL8720F_RADAR_MAX_ELEMENTS: usize = 16_384;
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#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
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#[repr(u8)]
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pub enum ReportType {
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Cfr = 1,
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RangeNear = 2,
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RangeFar = 3,
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Interference = 4,
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Capabilities = 5,
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}
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impl TryFrom<u8> for ReportType {
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type Error = RadarParseError;
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fn try_from(value: u8) -> Result<Self, Self::Error> {
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match value {
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1 => Ok(Self::Cfr),
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2 => Ok(Self::RangeNear),
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3 => Ok(Self::RangeFar),
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4 => Ok(Self::Interference),
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5 => Ok(Self::Capabilities),
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_ => Err(RadarParseError::UnknownReportType(value)),
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}
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}
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}
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#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
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#[repr(u8)]
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pub enum ElementFormat {
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/// TLV/opaque byte payload used by capabilities and interference reports.
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Bytes = 0,
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ComplexI16 = 1,
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ComplexF32 = 2,
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PowerU16 = 3,
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PowerF32 = 4,
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}
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impl ElementFormat {
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fn bytes_per_element(self) -> usize {
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match self {
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Self::Bytes => 1,
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Self::ComplexI16 | Self::PowerF32 => 4,
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Self::ComplexF32 => 8,
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Self::PowerU16 => 2,
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||||
}
|
||||
}
|
||||
}
|
||||
|
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impl TryFrom<u8> for ElementFormat {
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type Error = RadarParseError;
|
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|
||||
fn try_from(value: u8) -> Result<Self, Self::Error> {
|
||||
match value {
|
||||
0 => Ok(Self::Bytes),
|
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1 => Ok(Self::ComplexI16),
|
||||
2 => Ok(Self::ComplexF32),
|
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3 => Ok(Self::PowerU16),
|
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4 => Ok(Self::PowerF32),
|
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_ => Err(RadarParseError::UnknownElementFormat(value)),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Default, Serialize, Deserialize)]
|
||||
pub struct RadarFlags(pub u16);
|
||||
|
||||
impl RadarFlags {
|
||||
pub const CALIBRATED: u16 = 1 << 0;
|
||||
pub const INTERFERENCE_DETECTED: u16 = 1 << 1;
|
||||
pub const SATURATED: u16 = 1 << 2;
|
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pub const TIME_SYNCHRONIZED: u16 = 1 << 3;
|
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/// Frame was produced by a simulator/replay generator, never real hardware.
|
||||
pub const SYNTHETIC: u16 = 1 << 15;
|
||||
|
||||
pub fn contains(self, flag: u16) -> bool {
|
||||
self.0 & flag != 0
|
||||
}
|
||||
}
|
||||
|
||||
/// Deterministic, Rust-only RTL8720F source used until hardware is available.
|
||||
/// It emits the same [`RadarFrame`] objects and wire bytes as the vendor adapter.
|
||||
pub mod simulator {
|
||||
use super::*;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub struct SimulatorConfig {
|
||||
pub seed: u64,
|
||||
pub device_id: u64,
|
||||
pub center_freq_khz: u32,
|
||||
pub bandwidth_mhz: u16,
|
||||
pub frame_period_us: u64,
|
||||
pub cfr_bins: u16,
|
||||
pub range_bins: u16,
|
||||
}
|
||||
|
||||
impl Default for SimulatorConfig {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
seed: 0x8720_F123_4567_89AB,
|
||||
device_id: 0x5254_4C38_3732_3046,
|
||||
center_freq_khz: 2_442_000,
|
||||
bandwidth_mhz: 40,
|
||||
frame_period_us: 15_000,
|
||||
cfr_bins: 128,
|
||||
range_bins: 32,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct Rtl8720fSimulator {
|
||||
config: SimulatorConfig,
|
||||
rng: u64,
|
||||
sequence: u32,
|
||||
timestamp_us: u64,
|
||||
target_distance_m: f32,
|
||||
target_velocity_mps: f32,
|
||||
}
|
||||
|
||||
impl Rtl8720fSimulator {
|
||||
pub fn new(config: SimulatorConfig) -> Result<Self, RadarParseError> {
|
||||
if !matches!(config.bandwidth_mhz, 20 | 40 | 70) {
|
||||
return Err(RadarParseError::InvalidBandwidth(config.bandwidth_mhz));
|
||||
}
|
||||
if config.cfr_bins == 0 || config.range_bins == 0 {
|
||||
return Err(RadarParseError::TooManyElements(0));
|
||||
}
|
||||
Ok(Self {
|
||||
rng: config.seed,
|
||||
config,
|
||||
sequence: 0,
|
||||
timestamp_us: 0,
|
||||
target_distance_m: 2.0,
|
||||
target_velocity_mps: 0.20,
|
||||
})
|
||||
}
|
||||
|
||||
pub fn config(&self) -> &SimulatorConfig {
|
||||
&self.config
|
||||
}
|
||||
pub fn target_distance_m(&self) -> f32 {
|
||||
self.target_distance_m
|
||||
}
|
||||
pub fn target_velocity_mps(&self) -> f32 {
|
||||
self.target_velocity_mps
|
||||
}
|
||||
|
||||
/// Emit the boot-time capabilities report as compact TLVs:
|
||||
/// type 1 = bandwidth bitset, 2 = CFR bins, 3 = range bins,
|
||||
/// 4 = minimum frame period in microseconds.
|
||||
pub fn capabilities_frame(&self) -> RadarFrame {
|
||||
let bandwidths = 0b0000_0111u8; // 20, 40, 70 MHz
|
||||
let mut bytes = vec![1, 1, bandwidths, 2, 2];
|
||||
bytes.extend_from_slice(&self.config.cfr_bins.to_le_bytes());
|
||||
bytes.extend_from_slice(&[3, 2]);
|
||||
bytes.extend_from_slice(&self.config.range_bins.to_le_bytes());
|
||||
bytes.extend_from_slice(&[4, 4]);
|
||||
bytes.extend_from_slice(&(self.config.frame_period_us as u32).to_le_bytes());
|
||||
self.frame(
|
||||
ReportType::Capabilities,
|
||||
0,
|
||||
0,
|
||||
RadarPayload::Bytes(bytes),
|
||||
0.0,
|
||||
)
|
||||
}
|
||||
|
||||
pub fn next_frame(&mut self, report_type: ReportType) -> RadarFrame {
|
||||
let sequence = self.sequence;
|
||||
let timestamp_us = self.timestamp_us;
|
||||
self.sequence = self.sequence.wrapping_add(1);
|
||||
self.timestamp_us = self.timestamp_us.wrapping_add(self.config.frame_period_us);
|
||||
self.advance_target();
|
||||
|
||||
match report_type {
|
||||
ReportType::Cfr => {
|
||||
let values = (0..self.config.cfr_bins)
|
||||
.map(|bin| {
|
||||
let phase = bin as f32 * 0.17 + sequence as f32 * 0.05;
|
||||
let noise_i = self.noise_i16(20);
|
||||
let noise_q = self.noise_i16(20);
|
||||
[
|
||||
(phase.cos() * 1800.0) as i16 + noise_i,
|
||||
(phase.sin() * 1800.0) as i16 + noise_q,
|
||||
]
|
||||
})
|
||||
.collect();
|
||||
self.frame(
|
||||
report_type,
|
||||
sequence,
|
||||
timestamp_us,
|
||||
RadarPayload::ComplexI16(values),
|
||||
self.config.bandwidth_mhz as f32 * 1_000_000.0
|
||||
/ self.config.cfr_bins as f32,
|
||||
)
|
||||
}
|
||||
ReportType::RangeNear | ReportType::RangeFar => {
|
||||
let bin_spacing = match self.config.bandwidth_mhz {
|
||||
70 => 0.33,
|
||||
40 => 0.59,
|
||||
_ => 1.18,
|
||||
};
|
||||
let target_bin = (self.target_distance_m / bin_spacing).round() as usize;
|
||||
let values = (0..self.config.range_bins as usize)
|
||||
.map(|bin| {
|
||||
let distance = bin.abs_diff(target_bin) as f32;
|
||||
let peak = 1000.0 * (-0.5 * distance * distance).exp();
|
||||
let leakage = if report_type == ReportType::RangeNear && bin < 2 {
|
||||
250.0
|
||||
} else {
|
||||
0.0
|
||||
};
|
||||
(peak + leakage + self.noise_f32(12.0)).max(0.0)
|
||||
})
|
||||
.collect();
|
||||
self.frame(
|
||||
report_type,
|
||||
sequence,
|
||||
timestamp_us,
|
||||
RadarPayload::PowerF32(values),
|
||||
bin_spacing,
|
||||
)
|
||||
}
|
||||
ReportType::Interference => {
|
||||
// TLV: channel-busy %, detected-during-chirp, signed dBm.
|
||||
let busy = (self.next_u32() % 35) as u8;
|
||||
let detected = u8::from(busy > 25);
|
||||
let dbm = (-90i8 + (self.next_u32() % 25) as i8) as u8;
|
||||
let bytes = vec![1, 1, busy, 2, 1, detected, 3, 1, dbm];
|
||||
let mut frame = self.frame(
|
||||
report_type,
|
||||
sequence,
|
||||
timestamp_us,
|
||||
RadarPayload::Bytes(bytes),
|
||||
0.0,
|
||||
);
|
||||
if detected != 0 {
|
||||
frame.flags.0 |= RadarFlags::INTERFERENCE_DETECTED;
|
||||
}
|
||||
frame
|
||||
}
|
||||
ReportType::Capabilities => self.capabilities_frame(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn next_wire(&mut self, report_type: ReportType) -> Result<Vec<u8>, RadarParseError> {
|
||||
self.next_frame(report_type).to_bytes()
|
||||
}
|
||||
|
||||
fn frame(
|
||||
&self,
|
||||
report_type: ReportType,
|
||||
sequence: u32,
|
||||
timestamp_us: u64,
|
||||
payload: RadarPayload,
|
||||
bin_spacing: f32,
|
||||
) -> RadarFrame {
|
||||
RadarFrame {
|
||||
report_type,
|
||||
sequence,
|
||||
timestamp_us,
|
||||
device_id: self.config.device_id,
|
||||
center_freq_khz: self.config.center_freq_khz,
|
||||
bandwidth_mhz: self.config.bandwidth_mhz,
|
||||
flags: RadarFlags(RadarFlags::CALIBRATED | RadarFlags::SYNTHETIC),
|
||||
antenna_count: 1,
|
||||
scale: 1.0,
|
||||
bin_spacing,
|
||||
calibration_id: 0,
|
||||
payload,
|
||||
}
|
||||
}
|
||||
|
||||
fn advance_target(&mut self) {
|
||||
let dt = self.config.frame_period_us as f32 / 1_000_000.0;
|
||||
self.target_distance_m += self.target_velocity_mps * dt;
|
||||
if self.target_distance_m >= 5.5 || self.target_distance_m <= 0.8 {
|
||||
self.target_velocity_mps = -self.target_velocity_mps;
|
||||
self.target_distance_m = self.target_distance_m.clamp(0.8, 5.5);
|
||||
}
|
||||
}
|
||||
|
||||
fn next_u32(&mut self) -> u32 {
|
||||
// PCG-style state transition with xorshift output; deterministic and dependency-free.
|
||||
self.rng = self
|
||||
.rng
|
||||
.wrapping_mul(6364136223846793005)
|
||||
.wrapping_add(1442695040888963407);
|
||||
let word = (((self.rng >> 18) ^ self.rng) >> 27) as u32;
|
||||
word.rotate_right((self.rng >> 59) as u32)
|
||||
}
|
||||
|
||||
fn noise_i16(&mut self, amplitude: i16) -> i16 {
|
||||
(self.next_u32() % (amplitude as u32 * 2 + 1)) as i16 - amplitude
|
||||
}
|
||||
|
||||
fn noise_f32(&mut self, amplitude: f32) -> f32 {
|
||||
let unit = self.next_u32() as f32 / u32::MAX as f32;
|
||||
(unit * 2.0 - 1.0) * amplitude
|
||||
}
|
||||
}
|
||||
|
||||
impl Iterator for Rtl8720fSimulator {
|
||||
type Item = RadarFrame;
|
||||
|
||||
fn next(&mut self) -> Option<Self::Item> {
|
||||
let report_type = match self.sequence % 4 {
|
||||
0 | 2 => ReportType::Cfr,
|
||||
1 => ReportType::RangeNear,
|
||||
_ => ReportType::RangeFar,
|
||||
};
|
||||
Some(self.next_frame(report_type))
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub enum RadarPayload {
|
||||
Bytes(Vec<u8>),
|
||||
ComplexI16(Vec<[i16; 2]>),
|
||||
ComplexF32(Vec<[f32; 2]>),
|
||||
PowerU16(Vec<u16>),
|
||||
PowerF32(Vec<f32>),
|
||||
}
|
||||
|
||||
impl RadarPayload {
|
||||
pub fn format(&self) -> ElementFormat {
|
||||
match self {
|
||||
Self::Bytes(_) => ElementFormat::Bytes,
|
||||
Self::ComplexI16(_) => ElementFormat::ComplexI16,
|
||||
Self::ComplexF32(_) => ElementFormat::ComplexF32,
|
||||
Self::PowerU16(_) => ElementFormat::PowerU16,
|
||||
Self::PowerF32(_) => ElementFormat::PowerF32,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn len(&self) -> usize {
|
||||
match self {
|
||||
Self::Bytes(v) => v.len(),
|
||||
Self::ComplexI16(v) => v.len(),
|
||||
Self::ComplexF32(v) => v.len(),
|
||||
Self::PowerU16(v) => v.len(),
|
||||
Self::PowerF32(v) => v.len(),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn is_empty(&self) -> bool {
|
||||
self.len() == 0
|
||||
}
|
||||
|
||||
fn encoded_len(&self) -> usize {
|
||||
self.len() * self.format().bytes_per_element()
|
||||
}
|
||||
|
||||
fn validate_finite(&self) -> Result<(), RadarParseError> {
|
||||
let valid = match self {
|
||||
Self::ComplexF32(values) => values.iter().flatten().all(|v| v.is_finite()),
|
||||
Self::PowerF32(values) => values.iter().all(|v| v.is_finite()),
|
||||
_ => true,
|
||||
};
|
||||
if valid {
|
||||
Ok(())
|
||||
} else {
|
||||
Err(RadarParseError::NonFiniteValue)
|
||||
}
|
||||
}
|
||||
|
||||
fn encode_into(&self, out: &mut Vec<u8>) {
|
||||
match self {
|
||||
Self::Bytes(values) => out.extend_from_slice(values),
|
||||
Self::ComplexI16(values) => values.iter().for_each(|value| {
|
||||
out.extend_from_slice(&value[0].to_le_bytes());
|
||||
out.extend_from_slice(&value[1].to_le_bytes());
|
||||
}),
|
||||
Self::ComplexF32(values) => values.iter().for_each(|value| {
|
||||
out.extend_from_slice(&value[0].to_le_bytes());
|
||||
out.extend_from_slice(&value[1].to_le_bytes());
|
||||
}),
|
||||
Self::PowerU16(values) => values
|
||||
.iter()
|
||||
.for_each(|value| out.extend_from_slice(&value.to_le_bytes())),
|
||||
Self::PowerF32(values) => values
|
||||
.iter()
|
||||
.for_each(|value| out.extend_from_slice(&value.to_le_bytes())),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
|
||||
pub struct RadarFrame {
|
||||
pub report_type: ReportType,
|
||||
pub sequence: u32,
|
||||
pub timestamp_us: u64,
|
||||
pub device_id: u64,
|
||||
pub center_freq_khz: u32,
|
||||
pub bandwidth_mhz: u16,
|
||||
pub flags: RadarFlags,
|
||||
pub antenna_count: u8,
|
||||
pub scale: f32,
|
||||
pub bin_spacing: f32,
|
||||
pub calibration_id: u32,
|
||||
pub payload: RadarPayload,
|
||||
}
|
||||
|
||||
impl RadarFrame {
|
||||
pub fn to_bytes(&self) -> Result<Vec<u8>, RadarParseError> {
|
||||
self.validate()?;
|
||||
let payload_len = self.payload.encoded_len();
|
||||
let frame_len = RTL8720F_RADAR_HEADER_LEN
|
||||
.checked_add(payload_len)
|
||||
.and_then(|value| value.checked_add(RTL8720F_RADAR_CRC_LEN))
|
||||
.ok_or(RadarParseError::LengthOverflow)?;
|
||||
if frame_len > RTL8720F_RADAR_MAX_FRAME_LEN {
|
||||
return Err(RadarParseError::FrameTooLarge(frame_len));
|
||||
}
|
||||
|
||||
let mut out = Vec::with_capacity(frame_len);
|
||||
out.extend_from_slice(&RTL8720F_RADAR_MAGIC.to_le_bytes());
|
||||
out.push(RTL8720F_RADAR_VERSION);
|
||||
out.push(self.report_type as u8);
|
||||
out.extend_from_slice(&(RTL8720F_RADAR_HEADER_LEN as u16).to_le_bytes());
|
||||
out.extend_from_slice(&(frame_len as u32).to_le_bytes());
|
||||
out.extend_from_slice(&self.sequence.to_le_bytes());
|
||||
out.extend_from_slice(&self.timestamp_us.to_le_bytes());
|
||||
out.extend_from_slice(&self.device_id.to_le_bytes());
|
||||
out.extend_from_slice(&self.center_freq_khz.to_le_bytes());
|
||||
out.extend_from_slice(&self.bandwidth_mhz.to_le_bytes());
|
||||
out.extend_from_slice(&self.flags.0.to_le_bytes());
|
||||
out.extend_from_slice(&(self.payload.len() as u16).to_le_bytes());
|
||||
out.push(self.payload.format() as u8);
|
||||
out.push(self.antenna_count);
|
||||
out.extend_from_slice(&self.scale.to_le_bytes());
|
||||
out.extend_from_slice(&self.bin_spacing.to_le_bytes());
|
||||
out.extend_from_slice(&self.calibration_id.to_le_bytes());
|
||||
debug_assert_eq!(out.len(), RTL8720F_RADAR_HEADER_LEN);
|
||||
self.payload.encode_into(&mut out);
|
||||
let crc = crc32_ieee(&out);
|
||||
out.extend_from_slice(&crc.to_le_bytes());
|
||||
Ok(out)
|
||||
}
|
||||
|
||||
pub fn from_bytes(input: &[u8]) -> Result<(Self, usize), RadarParseError> {
|
||||
if input.len() < RTL8720F_RADAR_HEADER_LEN {
|
||||
return Err(RadarParseError::InsufficientData {
|
||||
needed: RTL8720F_RADAR_HEADER_LEN,
|
||||
got: input.len(),
|
||||
});
|
||||
}
|
||||
let magic = read_u32(input, 0);
|
||||
if magic != RTL8720F_RADAR_MAGIC {
|
||||
return Err(RadarParseError::InvalidMagic(magic));
|
||||
}
|
||||
if input[4] != RTL8720F_RADAR_VERSION {
|
||||
return Err(RadarParseError::UnsupportedVersion(input[4]));
|
||||
}
|
||||
let report_type = ReportType::try_from(input[5])?;
|
||||
let header_len = read_u16(input, 6) as usize;
|
||||
if header_len < RTL8720F_RADAR_HEADER_LEN {
|
||||
return Err(RadarParseError::InvalidHeaderLength(header_len));
|
||||
}
|
||||
let frame_len = read_u32(input, 8) as usize;
|
||||
if frame_len > RTL8720F_RADAR_MAX_FRAME_LEN {
|
||||
return Err(RadarParseError::FrameTooLarge(frame_len));
|
||||
}
|
||||
if frame_len < header_len + RTL8720F_RADAR_CRC_LEN {
|
||||
return Err(RadarParseError::InvalidFrameLength(frame_len));
|
||||
}
|
||||
if input.len() < frame_len {
|
||||
return Err(RadarParseError::InsufficientData {
|
||||
needed: frame_len,
|
||||
got: input.len(),
|
||||
});
|
||||
}
|
||||
|
||||
let element_count = read_u16(input, 40) as usize;
|
||||
if element_count > RTL8720F_RADAR_MAX_ELEMENTS {
|
||||
return Err(RadarParseError::TooManyElements(element_count));
|
||||
}
|
||||
let format = ElementFormat::try_from(input[42])?;
|
||||
validate_type_format(report_type, format)?;
|
||||
let payload_len = element_count
|
||||
.checked_mul(format.bytes_per_element())
|
||||
.ok_or(RadarParseError::LengthOverflow)?;
|
||||
let expected_len = header_len
|
||||
.checked_add(payload_len)
|
||||
.and_then(|value| value.checked_add(RTL8720F_RADAR_CRC_LEN))
|
||||
.ok_or(RadarParseError::LengthOverflow)?;
|
||||
if expected_len != frame_len {
|
||||
return Err(RadarParseError::PayloadLengthMismatch {
|
||||
expected: expected_len,
|
||||
got: frame_len,
|
||||
});
|
||||
}
|
||||
|
||||
let expected_crc = read_u32(input, frame_len - RTL8720F_RADAR_CRC_LEN);
|
||||
let actual_crc = crc32_ieee(&input[..frame_len - RTL8720F_RADAR_CRC_LEN]);
|
||||
if expected_crc != actual_crc {
|
||||
return Err(RadarParseError::CrcMismatch {
|
||||
expected: expected_crc,
|
||||
actual: actual_crc,
|
||||
});
|
||||
}
|
||||
|
||||
let scale = read_f32(input, 44);
|
||||
let bin_spacing = read_f32(input, 48);
|
||||
if !scale.is_finite() || !bin_spacing.is_finite() {
|
||||
return Err(RadarParseError::NonFiniteValue);
|
||||
}
|
||||
let payload = decode_payload(format, &input[header_len..header_len + payload_len])?;
|
||||
let frame = Self {
|
||||
report_type,
|
||||
sequence: read_u32(input, 12),
|
||||
timestamp_us: read_u64(input, 16),
|
||||
device_id: read_u64(input, 24),
|
||||
center_freq_khz: read_u32(input, 32),
|
||||
bandwidth_mhz: read_u16(input, 36),
|
||||
flags: RadarFlags(read_u16(input, 38)),
|
||||
antenna_count: input[43],
|
||||
scale,
|
||||
bin_spacing,
|
||||
calibration_id: read_u32(input, 52),
|
||||
payload,
|
||||
};
|
||||
frame.validate()?;
|
||||
Ok((frame, frame_len))
|
||||
}
|
||||
|
||||
fn validate(&self) -> Result<(), RadarParseError> {
|
||||
if !matches!(self.bandwidth_mhz, 20 | 40 | 70) {
|
||||
return Err(RadarParseError::InvalidBandwidth(self.bandwidth_mhz));
|
||||
}
|
||||
if self.antenna_count == 0 || self.antenna_count > 8 {
|
||||
return Err(RadarParseError::InvalidAntennaCount(self.antenna_count));
|
||||
}
|
||||
if self.payload.len() > RTL8720F_RADAR_MAX_ELEMENTS
|
||||
|| self.payload.len() > u16::MAX as usize
|
||||
{
|
||||
return Err(RadarParseError::TooManyElements(self.payload.len()));
|
||||
}
|
||||
if !self.scale.is_finite() || !self.bin_spacing.is_finite() {
|
||||
return Err(RadarParseError::NonFiniteValue);
|
||||
}
|
||||
validate_type_format(self.report_type, self.payload.format())?;
|
||||
self.payload.validate_finite()
|
||||
}
|
||||
}
|
||||
|
||||
fn validate_type_format(
|
||||
report_type: ReportType,
|
||||
format: ElementFormat,
|
||||
) -> Result<(), RadarParseError> {
|
||||
let valid = match report_type {
|
||||
ReportType::Cfr => matches!(
|
||||
format,
|
||||
ElementFormat::ComplexI16 | ElementFormat::ComplexF32
|
||||
),
|
||||
ReportType::RangeNear | ReportType::RangeFar => {
|
||||
matches!(format, ElementFormat::PowerU16 | ElementFormat::PowerF32)
|
||||
}
|
||||
ReportType::Interference | ReportType::Capabilities => format == ElementFormat::Bytes,
|
||||
};
|
||||
if valid {
|
||||
Ok(())
|
||||
} else {
|
||||
Err(RadarParseError::InvalidTypeFormat {
|
||||
report_type,
|
||||
format,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
fn decode_payload(format: ElementFormat, bytes: &[u8]) -> Result<RadarPayload, RadarParseError> {
|
||||
let payload = match format {
|
||||
ElementFormat::Bytes => RadarPayload::Bytes(bytes.to_vec()),
|
||||
ElementFormat::ComplexI16 => RadarPayload::ComplexI16(
|
||||
bytes
|
||||
.chunks_exact(4)
|
||||
.map(|c| [read_i16(c, 0), read_i16(c, 2)])
|
||||
.collect(),
|
||||
),
|
||||
ElementFormat::ComplexF32 => RadarPayload::ComplexF32(
|
||||
bytes
|
||||
.chunks_exact(8)
|
||||
.map(|c| [read_f32(c, 0), read_f32(c, 4)])
|
||||
.collect(),
|
||||
),
|
||||
ElementFormat::PowerU16 => {
|
||||
RadarPayload::PowerU16(bytes.chunks_exact(2).map(|c| read_u16(c, 0)).collect())
|
||||
}
|
||||
ElementFormat::PowerF32 => {
|
||||
RadarPayload::PowerF32(bytes.chunks_exact(4).map(|c| read_f32(c, 0)).collect())
|
||||
}
|
||||
};
|
||||
payload.validate_finite()?;
|
||||
Ok(payload)
|
||||
}
|
||||
|
||||
fn read_u16(buf: &[u8], offset: usize) -> u16 {
|
||||
u16::from_le_bytes([buf[offset], buf[offset + 1]])
|
||||
}
|
||||
fn read_i16(buf: &[u8], offset: usize) -> i16 {
|
||||
i16::from_le_bytes([buf[offset], buf[offset + 1]])
|
||||
}
|
||||
fn read_u32(buf: &[u8], offset: usize) -> u32 {
|
||||
u32::from_le_bytes(buf[offset..offset + 4].try_into().unwrap())
|
||||
}
|
||||
fn read_u64(buf: &[u8], offset: usize) -> u64 {
|
||||
u64::from_le_bytes(buf[offset..offset + 8].try_into().unwrap())
|
||||
}
|
||||
fn read_f32(buf: &[u8], offset: usize) -> f32 {
|
||||
f32::from_le_bytes(buf[offset..offset + 4].try_into().unwrap())
|
||||
}
|
||||
|
||||
#[derive(Debug, Error, PartialEq)]
|
||||
pub enum RadarParseError {
|
||||
#[error("insufficient data: need {needed} bytes, got {got}")]
|
||||
InsufficientData { needed: usize, got: usize },
|
||||
#[error("invalid RTL8720F radar magic {0:#010x}")]
|
||||
InvalidMagic(u32),
|
||||
#[error("unsupported RTL8720F radar protocol version {0}")]
|
||||
UnsupportedVersion(u8),
|
||||
#[error("unknown radar report type {0}")]
|
||||
UnknownReportType(u8),
|
||||
#[error("unknown radar element format {0}")]
|
||||
UnknownElementFormat(u8),
|
||||
#[error("invalid header length {0}")]
|
||||
InvalidHeaderLength(usize),
|
||||
#[error("invalid frame length {0}")]
|
||||
InvalidFrameLength(usize),
|
||||
#[error("frame is too large: {0} bytes")]
|
||||
FrameTooLarge(usize),
|
||||
#[error("element count exceeds limit: {0}")]
|
||||
TooManyElements(usize),
|
||||
#[error("length arithmetic overflow")]
|
||||
LengthOverflow,
|
||||
#[error("payload/frame length mismatch: expected {expected}, got {got}")]
|
||||
PayloadLengthMismatch { expected: usize, got: usize },
|
||||
#[error("CRC mismatch: encoded {expected:#010x}, computed {actual:#010x}")]
|
||||
CrcMismatch { expected: u32, actual: u32 },
|
||||
#[error("non-finite floating-point value")]
|
||||
NonFiniteValue,
|
||||
#[error("invalid bandwidth {0} MHz")]
|
||||
InvalidBandwidth(u16),
|
||||
#[error("invalid antenna count {0}")]
|
||||
InvalidAntennaCount(u8),
|
||||
#[error("report {report_type:?} cannot use element format {format:?}")]
|
||||
InvalidTypeFormat {
|
||||
report_type: ReportType,
|
||||
format: ElementFormat,
|
||||
},
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::simulator::{Rtl8720fSimulator, SimulatorConfig};
|
||||
use super::*;
|
||||
|
||||
fn cfr_frame() -> RadarFrame {
|
||||
RadarFrame {
|
||||
report_type: ReportType::Cfr,
|
||||
sequence: 42,
|
||||
timestamp_us: 123_456,
|
||||
device_id: 0x1122_3344_5566_7788,
|
||||
center_freq_khz: 2_442_000,
|
||||
bandwidth_mhz: 40,
|
||||
flags: RadarFlags(RadarFlags::CALIBRATED | RadarFlags::TIME_SYNCHRONIZED),
|
||||
antenna_count: 1,
|
||||
scale: 1.0 / 4096.0,
|
||||
bin_spacing: 312_500.0,
|
||||
calibration_id: 0xAABB_CCDD,
|
||||
payload: RadarPayload::ComplexI16(vec![[12, -7], [2048, -2048], [0, 1]]),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn cfr_round_trip_and_stream_consumption() {
|
||||
let frame = cfr_frame();
|
||||
let mut wire = frame.to_bytes().unwrap();
|
||||
let encoded_len = wire.len();
|
||||
wire.extend_from_slice(&[9, 8, 7]);
|
||||
let (decoded, consumed) = RadarFrame::from_bytes(&wire).unwrap();
|
||||
assert_eq!(decoded, frame);
|
||||
assert_eq!(consumed, encoded_len);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn every_report_family_round_trips() {
|
||||
let payloads = [
|
||||
(
|
||||
ReportType::RangeNear,
|
||||
RadarPayload::PowerU16(vec![1, 2, u16::MAX]),
|
||||
),
|
||||
(
|
||||
ReportType::RangeFar,
|
||||
RadarPayload::PowerF32(vec![0.0, 1.5, 9.25]),
|
||||
),
|
||||
(
|
||||
ReportType::Interference,
|
||||
RadarPayload::Bytes(vec![1, 2, 0x34, 0x12]),
|
||||
),
|
||||
(
|
||||
ReportType::Capabilities,
|
||||
RadarPayload::Bytes(vec![2, 1, 40]),
|
||||
),
|
||||
];
|
||||
for (report_type, payload) in payloads {
|
||||
let mut frame = cfr_frame();
|
||||
frame.report_type = report_type;
|
||||
frame.payload = payload;
|
||||
let (decoded, _) = RadarFrame::from_bytes(&frame.to_bytes().unwrap()).unwrap();
|
||||
assert_eq!(decoded, frame);
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn single_bit_corruption_is_detected() {
|
||||
let mut wire = cfr_frame().to_bytes().unwrap();
|
||||
wire[RTL8720F_RADAR_HEADER_LEN + 1] ^= 0x01;
|
||||
assert!(matches!(
|
||||
RadarFrame::from_bytes(&wire),
|
||||
Err(RadarParseError::CrcMismatch { .. })
|
||||
));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn truncation_is_reported_without_panicking() {
|
||||
let wire = cfr_frame().to_bytes().unwrap();
|
||||
for end in 0..wire.len() {
|
||||
assert!(RadarFrame::from_bytes(&wire[..end]).is_err());
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn count_length_mismatch_fails_before_payload_decode() {
|
||||
let mut wire = cfr_frame().to_bytes().unwrap();
|
||||
wire[40..42].copy_from_slice(&100u16.to_le_bytes());
|
||||
let crc_offset = wire.len() - RTL8720F_RADAR_CRC_LEN;
|
||||
let crc = crc32_ieee(&wire[..crc_offset]);
|
||||
wire[crc_offset..].copy_from_slice(&crc.to_le_bytes());
|
||||
assert!(matches!(
|
||||
RadarFrame::from_bytes(&wire),
|
||||
Err(RadarParseError::PayloadLengthMismatch { .. })
|
||||
));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn invalid_semantic_combinations_are_rejected() {
|
||||
let mut frame = cfr_frame();
|
||||
frame.payload = RadarPayload::PowerU16(vec![1]);
|
||||
assert!(matches!(
|
||||
frame.to_bytes(),
|
||||
Err(RadarParseError::InvalidTypeFormat { .. })
|
||||
));
|
||||
frame.report_type = ReportType::RangeNear;
|
||||
frame.bandwidth_mhz = 80;
|
||||
assert_eq!(
|
||||
frame.to_bytes().unwrap_err(),
|
||||
RadarParseError::InvalidBandwidth(80)
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn non_finite_values_are_rejected() {
|
||||
let mut frame = cfr_frame();
|
||||
frame.scale = f32::NAN;
|
||||
assert_eq!(
|
||||
frame.to_bytes().unwrap_err(),
|
||||
RadarParseError::NonFiniteValue
|
||||
);
|
||||
frame.scale = 1.0;
|
||||
frame.payload = RadarPayload::ComplexF32(vec![[f32::INFINITY, 0.0]]);
|
||||
assert_eq!(
|
||||
frame.to_bytes().unwrap_err(),
|
||||
RadarParseError::NonFiniteValue
|
||||
);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn arbitrary_short_inputs_never_panic() {
|
||||
let mut state = 0x1234_5678u32;
|
||||
for len in 0..256usize {
|
||||
let mut bytes = vec![0u8; len];
|
||||
for byte in &mut bytes {
|
||||
state = state.wrapping_mul(1_664_525).wrapping_add(1_013_904_223);
|
||||
*byte = (state >> 24) as u8;
|
||||
}
|
||||
let result = std::panic::catch_unwind(|| RadarFrame::from_bytes(&bytes));
|
||||
assert!(result.is_ok(), "parser panicked for {len} bytes");
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn simulator_is_deterministic_and_uses_real_wire_boundary() {
|
||||
let mut a = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
|
||||
let mut b = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
|
||||
for _ in 0..12 {
|
||||
let a_wire = a.next_wire(ReportType::Cfr).unwrap();
|
||||
let b_wire = b.next_wire(ReportType::Cfr).unwrap();
|
||||
assert_eq!(a_wire, b_wire);
|
||||
let (decoded, consumed) = RadarFrame::from_bytes(&a_wire).unwrap();
|
||||
assert_eq!(consumed, a_wire.len());
|
||||
assert!(decoded.flags.contains(RadarFlags::SYNTHETIC));
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn simulator_range_peak_tracks_ground_truth() {
|
||||
let mut sim = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
|
||||
let frame = sim.next_frame(ReportType::RangeFar);
|
||||
let RadarPayload::PowerF32(power) = frame.payload else {
|
||||
panic!("expected power bins")
|
||||
};
|
||||
let peak = power
|
||||
.iter()
|
||||
.enumerate()
|
||||
.max_by(|a, b| a.1.total_cmp(b.1))
|
||||
.unwrap()
|
||||
.0;
|
||||
let observed_m = peak as f32 * frame.bin_spacing;
|
||||
assert!((observed_m - sim.target_distance_m()).abs() <= frame.bin_spacing);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn simulator_capabilities_are_explicitly_synthetic() {
|
||||
let sim = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
|
||||
let frame = sim.capabilities_frame();
|
||||
assert_eq!(frame.report_type, ReportType::Capabilities);
|
||||
assert!(frame.flags.contains(RadarFlags::SYNTHETIC));
|
||||
let wire = frame.to_bytes().unwrap();
|
||||
assert_eq!(RadarFrame::from_bytes(&wire).unwrap().0, frame);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user