mirror of
https://github.com/ruvnet/RuView
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rUv
8a5af5dad4
* docs(adr): plan RTL8720F radar SDK integration * feat(hardware): add Rust RTL8720F radar simulator * feat(ruview): ingest RTL8720F radar frames
853 lines
30 KiB
Rust
853 lines
30 KiB
Rust
//! 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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/// Largest payload that can be carried in one IPv4 UDP datagram.
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pub const RTL8720F_RADAR_MAX_FRAME_LEN: usize = 65_507;
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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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}
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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> {
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match value {
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0 => Ok(Self::Bytes),
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1 => Ok(Self::ComplexI16),
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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)),
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}
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}
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}
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#[derive(Debug, Clone, Copy, PartialEq, Eq, Default, Serialize, Deserialize)]
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pub struct RadarFlags(pub u16);
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impl RadarFlags {
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pub const CALIBRATED: u16 = 1 << 0;
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pub const INTERFERENCE_DETECTED: u16 = 1 << 1;
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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.
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pub const SYNTHETIC: u16 = 1 << 15;
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pub fn contains(self, flag: u16) -> bool {
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self.0 & flag != 0
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}
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}
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/// Deterministic, Rust-only RTL8720F source used until hardware is available.
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/// It emits the same [`RadarFrame`] objects and wire bytes as the vendor adapter.
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pub mod simulator {
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use super::*;
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#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
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pub struct SimulatorConfig {
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pub seed: u64,
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pub device_id: u64,
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pub center_freq_khz: u32,
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pub bandwidth_mhz: u16,
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pub frame_period_us: u64,
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pub cfr_bins: u16,
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pub range_bins: u16,
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}
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impl Default for SimulatorConfig {
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fn default() -> Self {
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Self {
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seed: 0x8720_F123_4567_89AB,
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device_id: 0x5254_4C38_3732_3046,
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center_freq_khz: 2_442_000,
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bandwidth_mhz: 40,
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frame_period_us: 15_000,
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cfr_bins: 128,
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range_bins: 32,
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}
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}
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}
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#[derive(Debug, Clone)]
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pub struct Rtl8720fSimulator {
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config: SimulatorConfig,
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rng: u64,
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sequence: u32,
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timestamp_us: u64,
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target_distance_m: f32,
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target_velocity_mps: f32,
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}
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impl Rtl8720fSimulator {
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pub fn new(config: SimulatorConfig) -> Result<Self, RadarParseError> {
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if !matches!(config.bandwidth_mhz, 20 | 40 | 70) {
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return Err(RadarParseError::InvalidBandwidth(config.bandwidth_mhz));
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}
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if config.cfr_bins == 0 || config.range_bins == 0 {
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return Err(RadarParseError::TooManyElements(0));
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}
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Ok(Self {
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rng: config.seed,
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config,
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sequence: 0,
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timestamp_us: 0,
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target_distance_m: 2.0,
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target_velocity_mps: 0.20,
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})
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}
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pub fn config(&self) -> &SimulatorConfig {
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&self.config
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}
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pub fn target_distance_m(&self) -> f32 {
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self.target_distance_m
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}
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pub fn target_velocity_mps(&self) -> f32 {
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self.target_velocity_mps
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}
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/// Emit the boot-time capabilities report as compact TLVs:
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/// type 1 = bandwidth bitset, 2 = CFR bins, 3 = range bins,
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/// 4 = minimum frame period in microseconds.
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pub fn capabilities_frame(&self) -> RadarFrame {
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let bandwidths = 0b0000_0111u8; // 20, 40, 70 MHz
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let mut bytes = vec![1, 1, bandwidths, 2, 2];
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bytes.extend_from_slice(&self.config.cfr_bins.to_le_bytes());
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bytes.extend_from_slice(&[3, 2]);
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bytes.extend_from_slice(&self.config.range_bins.to_le_bytes());
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bytes.extend_from_slice(&[4, 4]);
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bytes.extend_from_slice(&(self.config.frame_period_us as u32).to_le_bytes());
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self.frame(
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ReportType::Capabilities,
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0,
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0,
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RadarPayload::Bytes(bytes),
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0.0,
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)
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}
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pub fn next_frame(&mut self, report_type: ReportType) -> RadarFrame {
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let sequence = self.sequence;
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let timestamp_us = self.timestamp_us;
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self.sequence = self.sequence.wrapping_add(1);
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self.timestamp_us = self.timestamp_us.wrapping_add(self.config.frame_period_us);
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self.advance_target();
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match report_type {
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ReportType::Cfr => {
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let values = (0..self.config.cfr_bins)
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.map(|bin| {
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let phase = bin as f32 * 0.17 + sequence as f32 * 0.05;
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let noise_i = self.noise_i16(20);
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let noise_q = self.noise_i16(20);
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[
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(phase.cos() * 1800.0) as i16 + noise_i,
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(phase.sin() * 1800.0) as i16 + noise_q,
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]
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})
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.collect();
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self.frame(
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report_type,
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sequence,
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timestamp_us,
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RadarPayload::ComplexI16(values),
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self.config.bandwidth_mhz as f32 * 1_000_000.0
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/ self.config.cfr_bins as f32,
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)
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}
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ReportType::RangeNear | ReportType::RangeFar => {
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let bin_spacing = match self.config.bandwidth_mhz {
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70 => 0.33,
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40 => 0.59,
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_ => 1.18,
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};
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let target_bin = (self.target_distance_m / bin_spacing).round() as usize;
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let values = (0..self.config.range_bins as usize)
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.map(|bin| {
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let distance = bin.abs_diff(target_bin) as f32;
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let peak = 1000.0 * (-0.5 * distance * distance).exp();
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let leakage = if report_type == ReportType::RangeNear && bin < 2 {
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250.0
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} else {
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0.0
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};
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(peak + leakage + self.noise_f32(12.0)).max(0.0)
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})
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.collect();
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self.frame(
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report_type,
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sequence,
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timestamp_us,
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RadarPayload::PowerF32(values),
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bin_spacing,
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)
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}
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ReportType::Interference => {
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// TLV: channel-busy %, detected-during-chirp, signed dBm.
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let busy = (self.next_u32() % 35) as u8;
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let detected = u8::from(busy > 25);
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let dbm = (-90i8 + (self.next_u32() % 25) as i8) as u8;
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let bytes = vec![1, 1, busy, 2, 1, detected, 3, 1, dbm];
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let mut frame = self.frame(
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report_type,
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sequence,
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timestamp_us,
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RadarPayload::Bytes(bytes),
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0.0,
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);
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if detected != 0 {
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frame.flags.0 |= RadarFlags::INTERFERENCE_DETECTED;
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}
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frame
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}
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ReportType::Capabilities => self.capabilities_frame(),
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}
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}
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pub fn next_wire(&mut self, report_type: ReportType) -> Result<Vec<u8>, RadarParseError> {
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self.next_frame(report_type).to_bytes()
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}
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fn frame(
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&self,
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report_type: ReportType,
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sequence: u32,
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timestamp_us: u64,
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payload: RadarPayload,
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bin_spacing: f32,
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) -> RadarFrame {
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RadarFrame {
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report_type,
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sequence,
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timestamp_us,
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device_id: self.config.device_id,
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center_freq_khz: self.config.center_freq_khz,
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bandwidth_mhz: self.config.bandwidth_mhz,
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flags: RadarFlags(RadarFlags::CALIBRATED | RadarFlags::SYNTHETIC),
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antenna_count: 1,
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scale: 1.0,
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bin_spacing,
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calibration_id: 0,
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payload,
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}
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}
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fn advance_target(&mut self) {
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let dt = self.config.frame_period_us as f32 / 1_000_000.0;
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self.target_distance_m += self.target_velocity_mps * dt;
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if self.target_distance_m >= 5.5 || self.target_distance_m <= 0.8 {
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self.target_velocity_mps = -self.target_velocity_mps;
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self.target_distance_m = self.target_distance_m.clamp(0.8, 5.5);
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}
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}
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fn next_u32(&mut self) -> u32 {
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// PCG-style state transition with xorshift output; deterministic and dependency-free.
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self.rng = self
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.rng
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.wrapping_mul(6364136223846793005)
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.wrapping_add(1442695040888963407);
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let word = (((self.rng >> 18) ^ self.rng) >> 27) as u32;
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word.rotate_right((self.rng >> 59) as u32)
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}
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fn noise_i16(&mut self, amplitude: i16) -> i16 {
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(self.next_u32() % (amplitude as u32 * 2 + 1)) as i16 - amplitude
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}
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fn noise_f32(&mut self, amplitude: f32) -> f32 {
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let unit = self.next_u32() as f32 / u32::MAX as f32;
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(unit * 2.0 - 1.0) * amplitude
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}
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}
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impl Iterator for Rtl8720fSimulator {
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type Item = RadarFrame;
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fn next(&mut self) -> Option<Self::Item> {
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let report_type = match self.sequence % 4 {
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0 | 2 => ReportType::Cfr,
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1 => ReportType::RangeNear,
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_ => ReportType::RangeFar,
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};
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Some(self.next_frame(report_type))
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}
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}
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}
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#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
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pub enum RadarPayload {
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Bytes(Vec<u8>),
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ComplexI16(Vec<[i16; 2]>),
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ComplexF32(Vec<[f32; 2]>),
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PowerU16(Vec<u16>),
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PowerF32(Vec<f32>),
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}
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impl RadarPayload {
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pub fn format(&self) -> ElementFormat {
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match self {
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Self::Bytes(_) => ElementFormat::Bytes,
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Self::ComplexI16(_) => ElementFormat::ComplexI16,
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Self::ComplexF32(_) => ElementFormat::ComplexF32,
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Self::PowerU16(_) => ElementFormat::PowerU16,
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Self::PowerF32(_) => ElementFormat::PowerF32,
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}
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}
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pub fn len(&self) -> usize {
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match self {
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Self::Bytes(v) => v.len(),
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Self::ComplexI16(v) => v.len(),
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Self::ComplexF32(v) => v.len(),
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Self::PowerU16(v) => v.len(),
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Self::PowerF32(v) => v.len(),
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}
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}
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pub fn is_empty(&self) -> bool {
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self.len() == 0
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}
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fn encoded_len(&self) -> usize {
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self.len() * self.format().bytes_per_element()
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}
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fn validate_finite(&self) -> Result<(), RadarParseError> {
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let valid = match self {
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Self::ComplexF32(values) => values.iter().flatten().all(|v| v.is_finite()),
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Self::PowerF32(values) => values.iter().all(|v| v.is_finite()),
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_ => true,
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};
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if valid {
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Ok(())
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} else {
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Err(RadarParseError::NonFiniteValue)
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}
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}
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fn encode_into(&self, out: &mut Vec<u8>) {
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match self {
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Self::Bytes(values) => out.extend_from_slice(values),
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Self::ComplexI16(values) => values.iter().for_each(|value| {
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out.extend_from_slice(&value[0].to_le_bytes());
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out.extend_from_slice(&value[1].to_le_bytes());
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}),
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Self::ComplexF32(values) => values.iter().for_each(|value| {
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out.extend_from_slice(&value[0].to_le_bytes());
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out.extend_from_slice(&value[1].to_le_bytes());
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}),
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Self::PowerU16(values) => values
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.iter()
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.for_each(|value| out.extend_from_slice(&value.to_le_bytes())),
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Self::PowerF32(values) => values
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.iter()
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.for_each(|value| out.extend_from_slice(&value.to_le_bytes())),
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}
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}
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}
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#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
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pub struct RadarFrame {
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pub report_type: ReportType,
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pub sequence: u32,
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pub timestamp_us: u64,
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pub device_id: u64,
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pub center_freq_khz: u32,
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pub bandwidth_mhz: u16,
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pub flags: RadarFlags,
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pub antenna_count: u8,
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pub scale: f32,
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pub bin_spacing: f32,
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pub calibration_id: u32,
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pub payload: RadarPayload,
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}
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impl RadarFrame {
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pub fn to_bytes(&self) -> Result<Vec<u8>, RadarParseError> {
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self.validate()?;
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let payload_len = self.payload.encoded_len();
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let frame_len = RTL8720F_RADAR_HEADER_LEN
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.checked_add(payload_len)
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.and_then(|value| value.checked_add(RTL8720F_RADAR_CRC_LEN))
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.ok_or(RadarParseError::LengthOverflow)?;
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if frame_len > RTL8720F_RADAR_MAX_FRAME_LEN {
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return Err(RadarParseError::FrameTooLarge(frame_len));
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}
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let mut out = Vec::with_capacity(frame_len);
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out.extend_from_slice(&RTL8720F_RADAR_MAGIC.to_le_bytes());
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out.push(RTL8720F_RADAR_VERSION);
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out.push(self.report_type as u8);
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out.extend_from_slice(&(RTL8720F_RADAR_HEADER_LEN as u16).to_le_bytes());
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out.extend_from_slice(&(frame_len as u32).to_le_bytes());
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out.extend_from_slice(&self.sequence.to_le_bytes());
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out.extend_from_slice(&self.timestamp_us.to_le_bytes());
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out.extend_from_slice(&self.device_id.to_le_bytes());
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out.extend_from_slice(&self.center_freq_khz.to_le_bytes());
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out.extend_from_slice(&self.bandwidth_mhz.to_le_bytes());
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out.extend_from_slice(&self.flags.0.to_le_bytes());
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out.extend_from_slice(&(self.payload.len() as u16).to_le_bytes());
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out.push(self.payload.format() as u8);
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out.push(self.antenna_count);
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out.extend_from_slice(&self.scale.to_le_bytes());
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out.extend_from_slice(&self.bin_spacing.to_le_bytes());
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out.extend_from_slice(&self.calibration_id.to_le_bytes());
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debug_assert_eq!(out.len(), RTL8720F_RADAR_HEADER_LEN);
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self.payload.encode_into(&mut out);
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let crc = crc32_ieee(&out);
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out.extend_from_slice(&crc.to_le_bytes());
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Ok(out)
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}
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pub fn from_bytes(input: &[u8]) -> Result<(Self, usize), RadarParseError> {
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if input.len() < RTL8720F_RADAR_HEADER_LEN {
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return Err(RadarParseError::InsufficientData {
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needed: RTL8720F_RADAR_HEADER_LEN,
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got: input.len(),
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});
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}
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let magic = read_u32(input, 0);
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if magic != RTL8720F_RADAR_MAGIC {
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return Err(RadarParseError::InvalidMagic(magic));
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}
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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);
|
|
}
|
|
}
|