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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
18 changed files with 966 additions and 107 deletions
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firmware/esp32-csi-node/main/main.c
+10 -5
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@@ -280,16 +280,21 @@ void app_main(void)
ESP_LOGI(TAG, "Mock CSI mode: skipping swarm bridge");
#endif
/* ADR-081 Layer 1: register the ESP32 radio ops binding now that
* csi_collector_init() has run. Skipped under mock CSI; a future
* mock binding can register itself instead. */
#ifndef CONFIG_CSI_MOCK_ENABLED
/* ADR-081 Layer 1: register the active radio ops binding.
* - Real hardware: ESP32 binding wrapping csi_collector + esp_wifi.
* - QEMU / offline: mock binding wrapping mock_csi.c.
* Either way, the layers above (adaptive controller, mesh plane,
* feature extraction) address the radio through the same vtable —
* this is the portability acceptance test in ADR-081. */
#ifdef CONFIG_CSI_MOCK_ENABLED
rv_radio_ops_mock_register();
#else
rv_radio_ops_esp32_register();
#endif
const rv_radio_ops_t *radio_ops = rv_radio_ops_get();
if (radio_ops != NULL && radio_ops->init != NULL) {
radio_ops->init();
}
#endif
/* ADR-081 Layer 2: start the adaptive controller. NULL config → use
* Kconfig defaults. Default policy is conservative: no channel