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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
Download Patch File Download Diff File Expand all files Collapse all files
scripts/validate_qemu_output.py
+39
View File
@@ -362,6 +362,45 @@ def validate_log(log_text: str) -> ValidationReport:
report.add("Frame rate", Severity.SKIP,
"No periodic frame reports found")
# ---- Check 17: ADR-081 adaptive controller boot ----
adapt_boot_patterns = [
r"adaptive_ctrl:.*adaptive controller online",
r"adaptive_ctrl:\s*state\s+\d+\s*\xe2\x86\x92",
r"adapt=on",
]
adapt_boot = any(re.search(p, log_text) for p in adapt_boot_patterns)
if adapt_boot:
report.add("ADR-081 controller", Severity.PASS,
"Adaptive controller started (ADR-081 Layer 2)")
else:
report.add("ADR-081 controller", Severity.WARN,
"No adaptive_ctrl: log line found "
"(expected ADR-081 Layer 2 online)")
# ---- Check 18: ADR-081 mock radio binding (QEMU only) ----
mock_radio = re.search(r"rv_radio_mock:.*registered", log_text)
if mock_radio:
report.add("ADR-081 radio binding", Severity.PASS,
"Mock radio ops binding registered "
"(ADR-081 Layer 1 portability gate)")
else:
# Only required when CONFIG_CSI_MOCK_ENABLED — downgrade to SKIP.
report.add("ADR-081 radio binding", Severity.SKIP,
"No rv_radio_mock registration line "
"(expected if CONFIG_CSI_MOCK_ENABLED)")
# ---- Check 19: ADR-081 slow-loop heartbeat ----
slow_tick = re.search(r"adaptive_ctrl:\s*slow tick", log_text)
if slow_tick:
report.add("ADR-081 slow loop", Severity.PASS,
"Slow loop heartbeat observed "
"(controller is ticking at ≥30 s cadence)")
else:
# A 60s QEMU timeout may not reach the first slow tick (30s default
# plus boot time); treat as SKIP not WARN.
report.add("ADR-081 slow loop", Severity.SKIP,
"No slow tick (QEMU run shorter than slow_loop_ms)")
return report