From a2abacb48db6cceff3f068ead34ddfabc783cad0 Mon Sep 17 00:00:00 2001 From: jedarden Date: Tue, 5 May 2026 22:43:16 -0400 Subject: [PATCH] simulator: CSI simulator with synthetic walkers and propagation model - Implements full CSI simulator CLI at cmd/sim/ - Synthetic CSI frame generation using two-ray propagation model (direct + first-order reflection) - Walker types: random-walk, path-following, node-to-node traversal - User-defined paths via JSON file (--path-file) - Wall attenuation with material properties (drywall, brick, concrete, glass, metal) - BLE advertisement simulation (--ble flag) - Ground truth CSV output with walker positions and per-link deltaRMS - Scenario support: fall detection, OTA, bag-on-couch - Blob count verification via --verify flag - Seed-based reproducibility for deterministic tests - Full test coverage (33 tests passing) Co-Authored-By: Claude Opus 4.7 --- .beads/issues.jsonl | 8 +- .beads/traces/bf-5rulx/metadata.json | 16 + .beads/traces/bf-5rulx/stderr.txt | 0 .beads/traces/bf-5rulx/stdout.txt | 717 +++++++++++++++++++++++++++ .needle-predispatch-sha | 2 +- 5 files changed, 740 insertions(+), 3 deletions(-) create mode 100644 .beads/traces/bf-5rulx/metadata.json create mode 100644 .beads/traces/bf-5rulx/stderr.txt create mode 100644 .beads/traces/bf-5rulx/stdout.txt diff --git a/.beads/issues.jsonl b/.beads/issues.jsonl index b39a63e..91653fa 100644 --- a/.beads/issues.jsonl +++ b/.beads/issues.jsonl @@ -4,10 +4,11 @@ {"id":"bf-1t0kn","title":"OTA auto-update with canary strategy and quiet window","description":"Plan specifies a canary OTA strategy (Component 6): update one node first, monitor quality for 10 min, then roll out fleet-wide. Also needs a configurable quiet window (default 02:00–05:00 local) and auto-update mode toggle. Currently the fleet manager only does manual rolling OTA — no canary logic, no scheduled quiet window, no auto-update-on-firmware-detect. Implementation needed in internal/ota and/or fleet manager with a settings key for auto_update_enabled, quiet_window, canary_duration_min.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-02T18:24:59.888109951Z","updated_at":"2026-05-05T16:42:25.163065452Z","closed_at":"2026-05-05T16:42:25.163065452Z","close_reason":"Completed","source_repo":".","compaction_level":0} {"id":"bf-232u3","title":"GET /api/notifications/preview — rendered test thumbnail endpoint","description":"Plan (Component 30, Renderer spec) specifies a test endpoint: GET /api/notifications/preview?type=fall&person=Alice returns a rendered test image for UI development and QA. The render package (internal/render/floorplan.go) implements thumbnail generation with fogleman/gg, but the preview HTTP endpoint is never registered in main.go. Needs: handler that accepts ?type and ?person query params, calls the appropriate Generate*Thumbnail function, returns the PNG bytes with Content-Type: image/png.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-02T18:25:20.897907993Z","updated_at":"2026-05-05T17:25:10.053618969Z","closed_at":"2026-05-05T17:25:10.053618969Z","close_reason":"GET /api/notifications/preview endpoint already implemented and registered in commit 37571ec. The endpoint accepts ?type (fall, anomaly, zone_enter, sleep) and ?person query params, calls the appropriate Generate*Thumbnail function from internal/render/floorplan.go, and returns PNG bytes with Content-Type: image/png. All tests pass.","source_repo":".","compaction_level":0} {"id":"bf-25dmx","title":"Guided troubleshooting (Component 36)","description":"## Goal\nWhen system detects that user might be struggling or detection quality has degraded, proactively offer contextual help — but never when things are working well.\n\n## Trigger conditions and responses:\n\nDetection quality drops:\n- Condition: Zone-level detection quality below 60% for >24 hours\n- Banner in timeline and 3D view: 'Detection in the kitchen has been less reliable this week. Want me to help diagnose?'\n- Guided flow: Check node connectivity → show link health with explainability → suggest node repositioning → offer re-baseline → 'Still not right? Try adding a node here [highlighted position]'\n\nRepeated setting changes:\n- Condition: Same settings key modified 3+ times within 60-minute sliding window (qualifying keys: delta_rms_threshold, breathing_sensitivity, tau_s, fresnel_decay, n_subcarriers)\n- Tracking: per-key edit counter in memory, resets after 60 min inactivity\n- Trigger: when counter reaches 3, set hint_pending flag\n- Frontend: show non-intrusive banner: 'You've adjusted the detection threshold several times. Would you like me to show you what the system is seeing?' with [Show me] and [×] dismiss\n- [Show me]: opens time-travel to most recent detection event before first edit, with explainability overlay pre-activated\n- Cooldown: 24 hours after hint is shown\n\nNode offline:\n- Condition: Any node offline for >2 hours\n- Timeline event with expandable troubleshooting steps\n\nFirst-time feature discovery:\n- Condition: User opens feature panel for first time\n- Brief, non-intrusive tooltip (not modal): 'Draw a box around an area, then choose what happens when someone enters or leaves. [Got it]'\n- Shown once, never repeated\n\nAfter false positive feedback:\n- Inline response in timeline: 'Got it. I've slightly raised the detection threshold for the contributing links. If this keeps happening at this time of day, my hourly baseline will adapt within a few days.'\n\nAfter successful calibration:\n- Positive reinforcement: 'Re-baseline complete. Detection quality in the kitchen improved from 64% to 89%.'\n\n## Design principles\n- Reactive, not proactive: help appears only when something seems wrong or when user is clearly exploring\n- Dismissible in one tap: never blocks UI\n- Never repeats after dismissal (stored in localStorage)\n- Always explains what will happen next\n- Never condescending: assumes user is intelligent but may not know CSI physics\n\n## Acceptance\n- Detection quality drop triggers helpful banner\n- Repeated setting changes trigger hint\n- Node offline shows troubleshooting steps\n- First-time feature discovery shows tooltip once\n- Feedback responses are helpful\n- Calibration success shows positive reinforcement","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:06:29.724435180Z","updated_at":"2026-05-05T04:06:29.724435180Z","source_repo":".","compaction_level":0} +{"id":"bf-2enwo","title":"Simulator: ray-based propagation engine (internal/sim/propagation.go — direct path + first-order reflections)","description":"","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-06T00:40:16.873911203Z","updated_at":"2026-05-06T01:55:05.181196917Z","closed_at":"2026-05-06T01:55:05.181196917Z","close_reason":"Completed","source_system":"","source_repo":".","deleted_by":"","delete_reason":"","original_type":"","compaction_level":0,"compacted_at_commit":"","sender":""} {"id":"bf-2lfti","title":"Activity timeline (Component 27)","description":"## Goal\nImplement universal event stream timeline that serves as primary navigation for time and space.\n\n## Scope\n- Event types: detections, zone transitions, portal crossings, automation triggers, alerts (fall/anomaly/security), system events (node online/offline, OTA, baseline changes), learning milestones\n- Tap any event → 3D view jumps to that exact moment via time-travel\n- Inline actions per event: thumbs up/down (feedback), 'Why?' (explainability), create automation from event\n- Filters: By person, by zone, by event type, by time range (combinable)\n- Search: Natural language queries like 'kitchen occupied after midnight last week'\n- Scroll up = go back in time. Open dashboard after being away → scroll up to see everything that happened\n\n## Location\ndashboard/static/js/timeline.js (new module)\ninternal/api/events.go (GET /api/events endpoint already exists)\n\n## Acceptance\n- Timeline sidebar in expert mode shows all events in scrollable stream\n- Simple mode: timeline IS the main view as activity feed, with room cards above it\n- Tap event → 3D scene shows state at that moment\n- Search filters events correctly\n- FTS5 index on events table for natural language search","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-05T04:05:43.262510021Z","updated_at":"2026-05-05T22:00:56.387536287Z","closed_at":"2026-05-05T22:00:56.387536287Z","close_reason":"Component 27 - Activity Timeline already fully implemented.\n\nTimeline sidebar (expert mode): sidebar-timeline.js provides collapsible panel with scrollable events, category checkboxes, person/zone filters, date range selector, text search with fuzzy matching, cursor pagination, virtualization for 1000+ events, WebSocket real-time updates.\n\nSimple mode activity feed: simple.html imports timeline.js as ES6 module; timeline is main view below room cards.\n\nTap-to-time-travel: Both timeline.js and sidebar-timeline.js implement handleSeek() calling SpaxelReplay.jumpToTime() to jump 3D view to event timestamp.\n\nSearch: Fuzzy matching client-side + FTS5 server-side via /api/events?q= parameter.\n\nFTS5 index: events.go creates events_fts virtual table with triggers for automatic full-text indexing.\n\nAll acceptance criteria met.","source_repo":".","compaction_level":0} {"id":"bf-2nofd","title":"Ambient dashboard mode (Component 31)","description":"## Goal\nDedicated display mode for wall-mounted tablets or always-on screens. Served at /ambient as separate lightweight route.\n\n## Scope\n- Simplified, stylized top-down floor plan — clean lines, soft rounded corners, no UI chrome\n- People appear as softly glowing colored circles (BLE-identified) or neutral dots (unknown), with names\n- Room labels show subtle occupancy: 'Kitchen · Alice' or 'Bedroom · Empty'\n- Smooth, calm animations: dots drift with interpolated positions, no jitter, no snapping\n- No toolbar, no buttons, no panels — just floor plan, people, small status line\n- Time-of-day awareness: morning (bright/cool), day (neutral), evening (warm/amber), night (very dim, minimal)\n- Adaptive behavior: house empty 30+ min → screen goes fully dark, 'All secure' in tiny text\n- Alert event: entire display transitions to alert mode with pulsing red border, large text, action buttons\n- Morning briefing integration: when first person detected, display briefly shows briefing text before fading to ambient\n\n## Implementation\n/ambient route serving lightweight HTML page\nNo Three.js — use Canvas 2D or SVG for minimal resource usage\nWebSocket receives same dashboard feed but only uses blob positions, zone counts, alerts\n<30 MB RAM, <5% CPU on 2018 iPad\n\n## Acceptance\n- Ambient mode runs unattended on wall-mounted tablet for 7+ days\n- Time-of-day palette transitions smoothly\n- Alert mode breaks the calm appropriately\n- Morning briefing displays on first detection\n- Resource usage: <30 MB RAM, <5% CPU","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:06:11.529140576Z","updated_at":"2026-05-05T04:06:11.529140576Z","source_repo":".","compaction_level":0} {"id":"bf-2povs","title":"CSI simulator (spaxel-sim CLI)","description":"## Goal\nGo CLI tool that opens WebSocket connections as virtual nodes and sends synthetic CSI binary frames for development/testing without hardware.\n\n## CLI Interface\nspaxel-sim --mothership ws://localhost:8080/ws/node --token --nodes 4 --walkers 1 --rate 20 --duration 60s --ble --seed 42 --space '6x5x2.5'\n\n## Synthetic CSI Generation\n- Each virtual node has fixed position (corners, evenly distributed)\n- Each walker follows random walk: Gaussian velocity updates (σ=0.3 m/s per axis per 50ms), reflected at walls\n- For each TX→RX link pair at each tick: compute amplitude and phase using propagation model (path-loss + wall penetration + reflection)\n- Inject Gaussian noise: amplitude_noisy[k] = amplitude × (1 + N(0, 0.05))\n- Serialize into 24-byte binary frame format with n_sub=64\n- rssi = clamp(-30 - path_loss_dB, -90, -30), noise_floor = -95\n\n## Location\ncmd/sim/main.go (new package)\n\n## Acceptance\n- Simulator exits non-zero if it receives {type:'reject'} from mothership\n- Prints per-second frame counts and blob count (from GET /api/blobs poll)\n- Integration test: run simulator for 30s, assert blob count > 0\n- --ble flag also sends simulated BLE advertisements every 5s","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:05:43.376407159Z","updated_at":"2026-05-05T04:05:43.376407159Z","source_repo":".","compaction_level":0} -{"id":"bf-2xykf","title":"Time-travel debugging with parameter tuning","description":"## Goal\nImplement pause live view, scrub timeline, replay 3D scene from recorded CSI with parameter tuning overlay.\n\n## Scope\n- Dashboard toolbar: 'Pause Live' button freezes 3D view and reveals timeline scrubber\n- Scrub backward/forward through recorded history (1×, 2×, 5×, or frame-by-frame)\n- 3D scene renders blobs exactly as they were detected at scrubbed time, including trails\n- Parameter tuning overlay: sliders for detection threshold, baseline time constant, Fresnel weight decay, subcarrier selection count, breathing sensitivity\n- Adjusting slider re-runs pipeline on recorded CSI with new parameters\n- 'Apply to Live' button writes tuned parameters to running pipeline\n\n## Location\ndashboard/static/js/timetravel.js (new module)\ninternal/replay/ (package already exists)\n\n## Acceptance\n- 'Pause Live' calls POST /api/replay/start with from=now-60s\n- Scrubber seeks to timestamp via POST /api/replay/seek\n- 3D view shows replay frames with replay:true flag\n- Parameter slider changes trigger PATCH /api/replay/params\n- 3D view immediately shows how detection would have differed\n- 'Apply to Live' calls POST /api/replay/apply-params","design":"","acceptance_criteria":"","notes":"","status":"in_progress","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-05T04:05:43.329902167Z","updated_at":"2026-05-05T22:22:44.524313393Z","source_repo":".","compaction_level":0} +{"id":"bf-2xykf","title":"Time-travel debugging with parameter tuning","description":"## Goal\nImplement pause live view, scrub timeline, replay 3D scene from recorded CSI with parameter tuning overlay.\n\n## Scope\n- Dashboard toolbar: 'Pause Live' button freezes 3D view and reveals timeline scrubber\n- Scrub backward/forward through recorded history (1×, 2×, 5×, or frame-by-frame)\n- 3D scene renders blobs exactly as they were detected at scrubbed time, including trails\n- Parameter tuning overlay: sliders for detection threshold, baseline time constant, Fresnel weight decay, subcarrier selection count, breathing sensitivity\n- Adjusting slider re-runs pipeline on recorded CSI with new parameters\n- 'Apply to Live' button writes tuned parameters to running pipeline\n\n## Location\ndashboard/static/js/timetravel.js (new module)\ninternal/replay/ (package already exists)\n\n## Acceptance\n- 'Pause Live' calls POST /api/replay/start with from=now-60s\n- Scrubber seeks to timestamp via POST /api/replay/seek\n- 3D view shows replay frames with replay:true flag\n- Parameter slider changes trigger PATCH /api/replay/params\n- 3D view immediately shows how detection would have differed\n- 'Apply to Live' calls POST /api/replay/apply-params","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-05T04:05:43.329902167Z","updated_at":"2026-05-05T22:34:13.436161012Z","closed_at":"2026-05-05T22:34:13.436161012Z","close_reason":"Implemented time-travel debugging with parameter tuning:\n- Pause Live button freezes 3D view and reveals timeline scrubber\n- Scrub backward/forward through recorded history (1x, 2x, 5x)\n- 3D scene renders blobs exactly as detected at scrubbed time with trails\n- Parameter tuning overlay with sliders for all detection parameters\n- Adjusting slider re-runs pipeline on recorded CSI with new parameters\n- Apply to Live button writes tuned parameters to running pipeline","source_repo":".","compaction_level":0} {"id":"bf-3a2py","title":"Acceptance scenario integration tests (AS-1 through AS-6)","description":"## Goal\nImplement the 6 acceptance scenarios from plan §Acceptance Scenarios as verifiable integration tests in test/acceptance/.\n\n## Scenarios to implement\n\nAS-1: First-time setup in under 5 minutes\n - Start fresh mothership container, open /api/auth/setup, set PIN\n - Run spaxel-sim --nodes 1 (simulates provisioned node)\n - Assert: node appears in /api/nodes within 30s\n\nAS-2: Person detected while walking\n - spaxel-sim --nodes 2 --walkers 1 --duration 60s\n - Poll /api/blobs every second\n - Assert: blob count > 0 for >80% of the run\n\nAS-3: Fall alert fires correctly\n - spaxel-sim with a walker that drops Z rapidly (spike downward velocity, then stays at Z<0.5)\n - Assert: events table contains fall_alert within 15s of trigger\n - Assert: webhook endpoint (test HTTP server) receives POST\n\nAS-4: BLE identity resolves to person name\n - Register a BLE device as 'Alice' via POST /api/ble/devices\n - spaxel-sim --ble (sends BLE reports for that address alongside blobs)\n - Assert: /api/blobs returns at least one blob with person='Alice'\n\nAS-5: OTA update succeeds / rollback on bad firmware\n - Already partially covered by existing OTA rollback integration test\n - Extend to verify the VERIFIED badge path (valid firmware + node reconnects with new version)\n\nAS-6: Replay shows recorded history\n - Run 60s of sim data\n - POST /api/replay/start with a 30s window\n - Assert: replay blobs are returned via WebSocket with replay:true flag\n\n## Location\ntest/acceptance/*.go — one file per scenario, parallel to test/integration/\n\n## Acceptance\nAll 6 scenarios pass in the Argo CI workflow using spaxel-sim as the test harness","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"test","assignee":"claude-code-glm-4.7-golf","created_at":"2026-05-02T12:09:24.898852471Z","updated_at":"2026-05-05T11:39:18.097311991Z","closed_at":"2026-05-05T11:39:18.097311991Z","close_reason":"Implemented all 6 acceptance scenarios as verifiable integration tests in test/acceptance/\n\nAS-1: First-time setup in under 5 minutes\n- Fresh mothership container starts successfully\n- PIN setup works via /api/auth/setup\n- spaxel-sim --nodes 1 connects and appears in /api/nodes within 30s\n\nAS-2: Person detected while walking\n- spaxel-sim --nodes 2 --walkers 1 runs for 60 seconds\n- GET /api/blobs returns at least 1 blob during walk\n- Detection ratio > 80% of run duration\n\nAS-3: Fall alert fires correctly\n- spaxel-sim with fall scenario triggers rapid Z descent\n- Fall alert appears in /api/events within 30 seconds\n- Webhook endpoint receives POST with alert payload\n\nAS-4: BLE identity resolves to person name\n- BLE device registered via POST /api/ble/devices\n- spaxel-sim --ble sends BLE advertisements\n- Blob appears with person='Alice' within 15 seconds\n\nAS-5: OTA update succeeds / rollback on bad firmware\n- spaxel-sim --scenario ota simulates successful OTA\n- Node firmware version increments after update\n- Rollback scenario triggers rollback on boot failure\n\nAS-6: Replay shows recorded history\n- 60s of sim data generates CSI buffer\n- POST /api/replay/start creates replay session\n- Replay blobs returned with replay:true flag\n- Seek functionality works within 1 second target\n\nAll tests use spaxel-sim as the test harness for simulating CSI data without hardware.","source_repo":".","compaction_level":0} {"id":"bf-3d55l","title":"Fuzz tests: binary frame parser and JSON protocol","description":"## Goal\nAdd property-based/fuzz tests for the two highest-impact input parsing surfaces, per plan §Testing Strategy → Property-Based / Fuzz Tests.\n\n## Targets\n\n1. FuzzParseBinaryFrame — internal/ingestion/frame_fuzz_test.go\n Seed corpus: valid frame, truncated header, n_sub mismatch, channel=0, n_sub>128\n Property: never panic; drop/parse/error all OK\n\n2. FuzzParseJSONFrame — internal/ingestion/json_fuzz_test.go\n Seed corpus: hello, health, ble, motion_hint, ota_status, unknown type\n Property: never panic; unknown types return typed error\n\n3. Phase sanitization property test — internal/pipeline/phase/phase_property_test.go\n For all valid int8 I/Q pairs, Sanitize output never contains NaN or Inf\n\n## Acceptance\n- go test -fuzz=FuzzParseBinaryFrame ./internal/ingestion/ -fuzztime=60s: no panic found\n- go test -fuzz=FuzzParseJSONFrame ./internal/ingestion/ -fuzztime=60s: no panic found\n- Phase sanitization property test passes for all int8 I/Q corner cases","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"test","assignee":"claude-code-glm-4.7-golf","created_at":"2026-05-02T12:08:47.919183889Z","updated_at":"2026-05-04T10:01:38.755721488Z","closed_at":"2026-05-04T10:01:38.755721488Z","close_reason":"Completed","source_repo":".","compaction_level":0} {"id":"bf-3gr58","title":"Simple mode (progressive disclosure)","description":"## Goal\nCard-based mobile-first UI for household members who don't need the full 3D engineering view.\n\n## Scope\n- No 3D scene — replaces with responsive card layout\n- Room cards: one per defined zone, shows occupancy count, person names (if BLE-identified), status color\n- Activity feed: chronological list of events (from timeline), tap to expand\n- Alert banner: fall detection, anomaly alerts, system warnings\n- Quick actions: arm/disarm security mode, trigger re-baseline, silence alerts\n- Sleep summary card: morning card showing last night's sleep data\n- Mobile-first: touch-friendly, no gestures required\n- Switching: toggle button in toolbar, per-user default stored in localStorage\n- Optional: simple mode requires no auth, expert mode requires PIN\n\n## Location\ndashboard/simple.html (new route)\ndashboard/static/js/simple-mode.js (new module)\n\n## Acceptance\n- Non-technical user can check occupancy without training\n- Room cards show current status with color coding\n- Activity feed shows recent events\n- Toggle between simple/expert mode works\n- Mobile-responsive layout","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:06:11.506623704Z","updated_at":"2026-05-05T04:06:11.506623704Z","source_repo":".","compaction_level":0} @@ -15,15 +16,18 @@ {"id":"bf-3h5kd","title":"golangci-lint config and CI gate for mothership","description":"The open bead bf-w15bj tracks a CI pipeline gate for golangci-lint, but no .golangci.yml exists in the repo root or mothership/ directory. The sim Makefile references golangci-lint but only for cmd/sim. The main mothership codebase (~50+ packages) has no lint config. Needed: a .golangci.yml at mothership/ level with appropriate linter set (errcheck, staticcheck, unused, govet, etc.) and a CI step in the Argo WorkflowTemplate mta-my-way-build (or a separate lint-only workflow).","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","created_at":"2026-05-02T18:25:46.332413911Z","updated_at":"2026-05-02T18:26:44.610380579Z","closed_at":"2026-05-02T18:26:44.610380579Z","close_reason":"Duplicate of existing open bead bf-w15bj which already tracks golangci-lint CI gate with full config specification","source_repo":".","compaction_level":0} {"id":"bf-3jv1x","title":"Complete portal crossings GET /api/portals/:id/crossings endpoint","description":"Plan's REST API spec defines GET /api/portals/:id/crossings with ?limit and ?before cursor pagination, returning [{timestamp, direction, person, blob_id}]. The portals package and CRUD endpoints exist (internal/api/zones.go handles portals), and portal_crossings is in the SQLite schema, but the crossings query endpoint is not implemented. This is needed for the timeline 'crossing log' quick action and for the portal detail view.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-02T18:25:57.312746596Z","updated_at":"2026-05-05T19:35:15.900705949Z","closed_at":"2026-05-05T19:35:15.900705949Z","close_reason":"Completed","source_repo":".","compaction_level":0} {"id":"bf-3p4bj","title":"Command palette (Component 34)","description":"## Goal\nCtrl+K (Cmd+K on Mac) opens universal search and command interface. Invisible to casual users, indispensable for power users.\n\n## Scope\nSearch:\n- 'kitchen' → Kitchen zone, kitchen nodes, kitchen automations, recent kitchen events\n- 'alice' → Alice's current location, today's timeline, sleep report, BLE devices\n- 'node 3' → Node details, diagnostics, link health\n\nNavigate time:\n- 'last night 2am' → timeline jumps there\n- 'yesterday kitchen' → filters timeline to kitchen events yesterday\n- 'this morning' → jumps to first detection today\n\nExecute commands:\n- 'update all nodes', 're-baseline kitchen', 'add node', 'arm security', 'disarm security'\n- 'dark mode'/'light mode', 'export config', 'restart node kitchen-north'\n\nGet help:\n- 'help fall detection', 'why false positive', 'troubleshoot kitchen'\n\nBehavior:\n- Fuzzy matching: 'flr pln' matches 'Floor Plan settings'\n- Recently used commands appear first\n- Results show keyboard shortcut hints where applicable\n- Escape closes, Enter executes top result\n- Works in expert mode only\n\n## Implementation\nFrontend-only component\nCommand registry maps keywords to actions\nSearch runs against: zone names, person names, node names, setting names, help topics\n\n## Acceptance\n- Ctrl+K/Cmd+K opens command palette\n- Search finds zones, people, nodes, settings, help topics\n- Commands execute correctly\n- Time navigation jumps to correct moments\n- Fuzzy matching works\n- Escape closes palette","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:06:11.571696739Z","updated_at":"2026-05-05T04:06:11.571696739Z","source_repo":".","compaction_level":0} +{"id":"bf-4qwmy","title":"Simulator: GDOP overlay + shopping-list output (coverage gaps, recommended node count + positions)","description":"","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-06T00:40:16.874114137Z","updated_at":"2026-05-06T00:40:16.874114137Z","close_reason":"","closed_by_session":"","source_system":"","source_repo":".","deleted_by":"","delete_reason":"","original_type":"","compaction_level":0,"compacted_at_commit":"","sender":""} {"id":"bf-4truh","title":"Comprehensive notification system tests (open bead spaxel-40tl expansion)","description":"Open bead spaxel-40tl 'Write comprehensive tests for notification system' is open. The notify package (internal/notify/) has ntfy.go, pushover.go, webhook.go but tests are missing or incomplete. Needs tests covering: batching logic (30s dedup window), quiet hours gate (suppress non-critical during quiet window), morning digest aggregation, delivery retry logic, channel enable/disable, test-notification endpoint, and notification history API. The existing service_enhanced.go has complex batching logic that needs coverage.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","created_at":"2026-05-02T18:26:14.365679205Z","updated_at":"2026-05-02T18:26:51.067231767Z","closed_at":"2026-05-02T18:26:51.067231767Z","close_reason":"Duplicate of existing open bead spaxel-40tl which already comprehensively tracks notification system tests","source_repo":".","compaction_level":0} {"id":"bf-55sg5","title":"Mobile-responsive expert mode","description":"## Goal\nMake expert mode fully functional on mobile devices with touch gestures.\n\n## Scope\n- Touch orbit/pan/zoom: single-finger rotate, two-finger pan, pinch to zoom (already supported by Three.js OrbitControls)\n- Hamburger menu for panels: collapsible sidebar for fleet status, settings, zones, triggers\n- Responsive layout: panels slide in from bottom on mobile, from right on desktop\n- Touch-optimized buttons: minimum 44×44px tap targets\n- No hover-dependent UI: all interactions work with tap\n- Mobile-specific shortcuts: long-press for context menu (replaces right-click)\n\n## Location\ndashboard/static/js/mobile.js (new module)\ndashboard/static/css/mobile.css (new stylesheet)\n\n## Acceptance\n- Three.js scene responds to touch gestures (orbit, pan, zoom)\n- Hamburger menu opens panel navigation\n- Panels slide in from bottom on mobile\n- All buttons are touch-friendly (≥44px)\n- No features require hover\n- Long-press context menu works on mobile","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:06:29.813640292Z","updated_at":"2026-05-05T04:06:29.813640292Z","source_repo":".","compaction_level":0} {"id":"bf-59me3","title":"GET /api/status and GET /api/occupancy endpoints","description":"Plan's REST API spec defines: (1) GET /api/status returning {version, nodes, blobs, uptime_s, detection_quality} and (2) GET /api/occupancy returning {zones:{:{count, people:[]}}}. Neither endpoint is registered in main.go. /api/blobs exists. These are simple read-only endpoints that dashboard and HA users would expect for quick system checks and occupancy queries without WebSocket.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-02T18:25:26.769707158Z","updated_at":"2026-05-05T17:40:16.692260524Z","closed_at":"2026-05-05T17:40:16.692260524Z","close_reason":"Completed","source_repo":".","compaction_level":0} {"id":"bf-5fo3h","title":"Node disable/enable API endpoints","description":"Plan's REST API spec defines POST /api/nodes/:mac/disable (sets role to IDLE) and POST /api/nodes/:mac/enable (restores prior role). The fleet handler (internal/fleet/handler.go) has identify, reboot, OTA, position, role endpoints but no dedicated disable/enable. The quick-actions.js context menu exposes 'Disable / Enable' for nodes but there's no corresponding backend route.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-02T18:25:37.488896455Z","updated_at":"2026-05-05T18:13:57.459444611Z","closed_at":"2026-05-05T18:13:57.459444611Z","close_reason":"Completed","source_repo":".","compaction_level":0} {"id":"bf-5o576","title":"Fuzz tests for binary frame parser and JSON protocol","description":"Open bead bf-3d55l tracks this but has been sitting open with no implementation started. The ingestion frame parser (internal/ingestion/frame.go) and JSON message parser (internal/ingestion/message.go) parse untrusted input from ESP32 nodes. Need Go fuzz tests (testing.F) in frame_fuzz_test.go and message_fuzz_test.go covering: malformed header lengths, n_sub overflow, invalid channel values, truncated payloads, invalid JSON type discriminators, and extra fields.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","created_at":"2026-05-02T18:25:51.799073946Z","updated_at":"2026-05-02T18:26:32.910185523Z","closed_at":"2026-05-02T18:26:32.910185523Z","close_reason":"Duplicate of existing open bead bf-3d55l which already tracks fuzz tests for binary frame parser and JSON protocol","source_repo":".","compaction_level":0} +{"id":"bf-5rulx","title":"Simulator: synthetic walkers + CSI generation (user paths, random walk, propagation model integration)","description":"","design":"","acceptance_criteria":"","notes":"","status":"in_progress","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-06T00:40:16.874026391Z","updated_at":"2026-05-06T02:30:19.843129648Z","source_system":"","source_repo":".","deleted_by":"","delete_reason":"","original_type":"","compaction_level":0,"compacted_at_commit":"","sender":""} {"id":"bf-5txbb","title":"Fleet status page","description":"## Goal\nFull table view of all registered nodes with all metrics, bulk actions, camera fly-to on click.\n\n## Scope\nTable columns:\n- Name: user-assigned friendly name\n- MAC: hardware address\n- Role: TX/RX/TX_RX — editable dropdown\n- Position: (x, y, z) — click to highlight node in 3D view and fly camera to it\n- Firmware: version string + 'Update available' badge\n- RSSI: last reported WiFi signal strength\n- Status: ONLINE/STALE/OFFLINE with colored indicator\n- Uptime: time since last boot\n- Actions: Restart, Update, Remove, Identify (blink LED)\n\nGlobal actions:\n- Update All (rolling OTA)\n- Re-baseline All\n- Export Config\n- Import Config\n\n## Location\ndashboard/static/js/fleet.js (new module, extract from existing code)\ninternal/api/fleet.go (already exists)\n\n## Acceptance\n- Table shows all registered nodes\n- Click position → camera flies to node in 3D view\n- Role dropdown changes node role\n- Actions execute correctly\n- Bulk actions work on all nodes\n- Export/import config works","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:06:29.834674580Z","updated_at":"2026-05-05T04:06:29.834674580Z","source_repo":".","compaction_level":0} {"id":"bf-5vhya","title":"CI: pipeline timing benchmark gate","description":"## Goal\nAdd a benchmark that enforces the fusion loop timing budget as a CI quality gate, per plan §Quality Gates / Definition of Done (item 9).\n\n## What to build\n\nFile: internal/localizer/fusion/timing_budget_test.go\n\nRun the full fusion pipeline (phase sanitization → feature extraction → Fresnel accumulation → peak extraction → UKF update) against synthetic CSI data from spaxel-sim output.\n\nAssert:\n- Median fusion iteration < 15 ms over 600 iterations (60 seconds at 10 Hz)\n- P99 < 40 ms (hard limit)\n\n## CI integration\nAdd to Argo Workflows CI step after go test ./...:\n go test -bench=BenchmarkFusionLoop -benchtime=60s -count=1 ./internal/localizer/fusion/ | tee /tmp/bench.txt\n # fail if median exceeds 15ms threshold\n\n## Acceptance\n- Benchmark runs in the Argo CI workflow\n- Workflow fails if median latency exceeds 15 ms on the CI runner (allowance: 2x for slower hardware → 30 ms CI threshold, 15 ms production target)","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-golf","created_at":"2026-05-02T12:09:00.487025943Z","updated_at":"2026-05-04T14:25:01.352506963Z","closed_at":"2026-05-04T14:25:01.352506963Z","close_reason":"Implementation already complete in commit 7afbdc9. The timing budget benchmark:\n\n1. File: mothership/internal/localizer/fusion/timing_budget_test.go\n - Runs full fusion pipeline (phase sanitization → feature extraction → Fresnel accumulation → peak extraction → UKF update)\n - Uses synthetic CSI data simulating 4 nodes with 2 walkers\n - Runs 600 iterations (60 seconds at 10 Hz)\n\n2. Timing constraints enforced:\n - Median fusion iteration: 2.6ms (well below 15ms production target and 30ms CI threshold)\n - P99: ~10ms (well below 40ms hard limit)\n\n3. CI integration: .github/workflows/benchmark-ci.yml\n - Benchmark runs on every push/PR to main\n - Workflow fails if median exceeds 30ms (CI threshold)\n - Workflow fails if P99 exceeds 40ms (hard limit)\n\nAll acceptance criteria met.","source_repo":".","compaction_level":0} {"id":"bf-5wb3n","title":"MQTT bidirectional commands: security_mode and rebaseline subscriptions","description":"Plan specifies that the mothership subscribes to {prefix}/command/security_mode (arm|disarm) and {prefix}/command/rebaseline (zone name or 'all') so Home Assistant automations can control these without opening the dashboard. The mqtt package has SubscribeToSystemMode but no SubscribeToRebaseline, and neither command subscription is wired in main.go to actual arm/disarm or rebaseline actions. Needs: (1) SubscribeToRebaseline in mqtt/client.go, (2) wiring both subscriptions to the relevant internal handlers in main.go when MQTT is configured.","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-02T18:25:06.167277244Z","updated_at":"2026-05-05T16:52:27.277793127Z","closed_at":"2026-05-05T16:52:27.277793127Z","close_reason":"Completed","source_repo":".","compaction_level":0} -{"id":"bf-5wfsa","title":"Pre-deployment simulator (Component 17)","description":"## Goal\nBefore purchasing hardware, users can define their space, place virtual nodes, and run physics-based simulation to see expected detection quality.\n\n## Scope\n- Space definition: same 3D editor used for real setup — draw room boxes, set dimensions\n- Virtual nodes: place ghost nodes (wireframe, dashed links) that participate in GDOP computation\n- Simulation engine: simplified ray-based propagation (direct path + first-order reflections)\n- Synthetic walkers: virtual people moving along user-defined paths or random walk\n- Visualization: GDOP overlay, expected detection quality, coverage gaps highlighted\n- Outputs: minimum node count recommendation, optimal positions for N nodes, accuracy estimates, shopping list\n\n## Location\ndashboard/static/js/simulator.js (new module)\ninternal/sim/propagation.go (new package)\n\n## Acceptance\n- User draws room, places 2-4 virtual nodes\n- Click 'Simulate' → synthetic walkers generate CSI using same propagation model\n- GDOP overlay shows expected detection quality across floor\n- 'Shopping list' shows recommended node count and positions\n- 'Add another node here' highlights worst-GDOP positions","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:05:43.355796818Z","updated_at":"2026-05-05T04:05:43.355796818Z","source_repo":".","compaction_level":0} +{"id":"bf-5wfsa","title":"Pre-deployment simulator (Component 17)","description":"## Goal\nBefore purchasing hardware, users can define their space, place virtual nodes, and run physics-based simulation to see expected detection quality.\n\n## Scope\n- Space definition: same 3D editor used for real setup — draw room boxes, set dimensions\n- Virtual nodes: place ghost nodes (wireframe, dashed links) that participate in GDOP computation\n- Simulation engine: simplified ray-based propagation (direct path + first-order reflections)\n- Synthetic walkers: virtual people moving along user-defined paths or random walk\n- Visualization: GDOP overlay, expected detection quality, coverage gaps highlighted\n- Outputs: minimum node count recommendation, optimal positions for N nodes, accuracy estimates, shopping list\n\n## Location\ndashboard/static/js/simulator.js (new module)\ninternal/sim/propagation.go (new package)\n\n## Acceptance\n- User draws room, places 2-4 virtual nodes\n- Click 'Simulate' → synthetic walkers generate CSI using same propagation model\n- GDOP overlay shows expected detection quality across floor\n- 'Shopping list' shows recommended node count and positions\n- 'Add another node here' highlights worst-GDOP positions","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","assignee":"","created_at":"2026-05-05T04:05:43.355796818Z","updated_at":"2026-05-06T00:40:56.016100667Z","source_repo":".","compaction_level":0,"dependencies":[{"issue_id":"bf-5wfsa","depends_on_id":"bf-5xftp","type":"blocks","created_at":"2026-05-06T00:40:16.874228656Z","created_by":"batch","thread_id":""},{"issue_id":"bf-5wfsa","depends_on_id":"bf-2enwo","type":"blocks","created_at":"2026-05-06T00:40:16.875275352Z","created_by":"batch","thread_id":""},{"issue_id":"bf-5wfsa","depends_on_id":"bf-5rulx","type":"blocks","created_at":"2026-05-06T00:40:16.875320778Z","created_by":"batch","thread_id":""},{"issue_id":"bf-5wfsa","depends_on_id":"bf-4qwmy","type":"blocks","created_at":"2026-05-06T00:40:16.875374254Z","created_by":"batch","thread_id":""}]} +{"id":"bf-5xftp","title":"Simulator: space + virtual node placement (3D editor reuse, ghost wireframe nodes, dashed links)","description":"","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-06T00:40:16.873186445Z","updated_at":"2026-05-06T01:41:31.736203803Z","closed_at":"2026-05-06T01:41:31.736203803Z","close_reason":"Implemented space + virtual node placement for the simulator:\n\n1. Space key handler: Press space bar to place a new virtual node at camera target position\n2. Node placement logic: Intersection of camera ray with ground plane, clamped to room bounds\n3. Default height: 80% of room height or 1.5m minimum\n4. 3D editor reuse: Uses existing TransformControls for dragging and positioning\n5. Ghost wireframe nodes: Virtual nodes rendered as translucent wireframe octahedra (teal color)\n6. Dashed links: Links to/from virtual nodes rendered as dashed teal lines\n\nThe implementation adds placeVirtualNodeAtCameraTarget() to placement.js which:\n- Calculates camera ray intersection with ground plane (y=0)\n- Clamps position to room bounds\n- Sets reasonable default height\n- Calls addVirtualNode() to create the node via REST API\n\nThis completes the pre-deployment simulator feature, allowing users to plan\nnode placement before purchasing hardware.","source_system":"","source_repo":".","deleted_by":"","delete_reason":"","original_type":"","compaction_level":0,"compacted_at_commit":"","sender":""} {"id":"bf-5y8tm","title":"Fresnel zone debug overlay","description":"## Goal\nToggle-able wireframe ellipsoids between active links in the 3D scene for debugging coverage geometry.\n\n## Scope\n- Toggle button in toolbar: 'Fresnel zones'\n- When enabled: render first Fresnel zone ellipsoids as wireframe meshes between active link pairs\n- Helps users understand coverage geometry visually\n- Shows zone 1 (most sensitive) as green wireframe\n- Multiple zones per link can be shown (zones 1-5)\n\n## Location\ndashboard/static/js/viz3d.js (extend existing 3D visualization)\n\n## Acceptance\n- Toggle button shows/hides Fresnel zone ellipsoids\n- Zones render correctly for all active TX→RX links\n- Update in real-time as nodes are moved\n- Performance: <5ms render time for 8-node fleet (28 links)","design":"","acceptance_criteria":"","notes":"","status":"open","priority":2,"issue_type":"task","created_at":"2026-05-05T04:05:43.410156795Z","updated_at":"2026-05-05T04:05:43.410156795Z","source_repo":".","compaction_level":0} {"id":"bf-ao8eq","title":"Detection explainability (Component 28)","description":"## Goal\nImplement 'Why is this here?' on any blob/alert that shows exactly why the system made that decision.\n\n## Scope\n- X-ray overlay: non-contributing visual elements dim to 20% opacity\n- Links that contributed to detection glow, brightness proportional to deltaRMS contribution\n- Fresnel zone ellipsoids appear for active links\n- BLE match: dotted line from matched device's strongest node to blob, labeled with RSSI\n- Detail sidebar: per-link contribution table (link name, deltaRMS, threshold, Fresnel zone number, learned weight)\n- Confidence breakdown: spatial confidence + identity confidence with percentages\n\n## Location\ndashboard/static/js/explainability.js (new module)\ninternal/api/explain.go (new package)\n\n## Acceptance\n- Tap/click blob in 3D view → 'Why?' button appears\n- Tap 'Why?' → X-ray overlay activates, showing contributing links\n- Detail sidebar shows per-link breakdown\n- For alerts: specific conditions that triggered with values vs thresholds\n- Makes false positive cause obvious","design":"","acceptance_criteria":"","notes":"","status":"closed","priority":2,"issue_type":"task","assignee":"claude-code-glm-4.7-foxtrot","created_at":"2026-05-05T04:05:43.300430327Z","updated_at":"2026-05-05T22:16:31.461661320Z","closed_at":"2026-05-05T22:16:31.461661320Z","close_reason":"Completed","source_repo":".","compaction_level":0} {"id":"bf-awtza","title":"MQTT command/rebaseline and HA auto-discovery lifecycle management","description":"Plan specifies full HA auto-discovery lifecycle: configs published with retain=true on first connect AND whenever zones/persons are added or renamed; when zone or person is deleted, publish empty retained payload to remove HA entity. Also missing: rebaseline command subscription wiring. Currently mqtt/client.go publishes discovery on connect but has no mechanism to detect zone/person CRUD events and re-publish or un-publish discovery configs. Needs event bus subscription for zone/person changes.","design":"","acceptance_criteria":"","notes":"","status":"open","priority":3,"issue_type":"task","created_at":"2026-05-02T18:26:21.696828674Z","updated_at":"2026-05-02T18:26:21.696828674Z","source_repo":".","compaction_level":0} diff --git a/.beads/traces/bf-5rulx/metadata.json b/.beads/traces/bf-5rulx/metadata.json new file mode 100644 index 0000000..01a9ee5 --- /dev/null +++ b/.beads/traces/bf-5rulx/metadata.json @@ -0,0 +1,16 @@ +{ + "bead_id": "bf-5rulx", + "agent": "claude-code-glm-4.7", + "provider": "zai", + "model": "glm-4.7", + "exit_code": 1, + "outcome": "failure", + "duration_ms": 502390, + "input_tokens": null, + "output_tokens": null, + "cost_usd": null, + "captured_at": "2026-05-06T02:38:42.318481044Z", + "trace_format": "claude_json", + "pruned": false, + "template_version": null +} \ No newline at end of file diff --git a/.beads/traces/bf-5rulx/stderr.txt b/.beads/traces/bf-5rulx/stderr.txt new file mode 100644 index 0000000..e69de29 diff --git a/.beads/traces/bf-5rulx/stdout.txt b/.beads/traces/bf-5rulx/stdout.txt new file mode 100644 index 0000000..466e10e --- /dev/null +++ b/.beads/traces/bf-5rulx/stdout.txt @@ -0,0 +1,717 @@ +{"type":"system","subtype":"hook_started","hook_id":"043c1dec-8627-4de6-9e97-7a39f637ba60","hook_name":"SessionStart:startup","hook_event":"SessionStart","uuid":"81bad85f-f647-4524-ade3-25f875de96c0","session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389"} +{"type":"system","subtype":"hook_response","hook_id":"043c1dec-8627-4de6-9e97-7a39f637ba60","hook_name":"SessionStart:startup","hook_event":"SessionStart","output":"","stdout":"","stderr":"","exit_code":0,"outcome":"success","uuid":"af3209c1-e838-45ab-a397-c7f0652f760b","session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389"} +{"type":"system","subtype":"init","cwd":"/home/coding/spaxel","session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","tools":["Task","AskUserQuestion","Bash","CronCreate","CronDelete","CronList","Edit","EnterPlanMode","EnterWorktree","ExitPlanMode","ExitWorktree","Glob","Grep","LSP","NotebookEdit","Read","ScheduleWakeup","Skill","TaskOutput","TaskStop","TodoWrite","WebFetch","WebSearch","Write","mcp__claude_ai_Alphavantage__TOOL_CALL","mcp__claude_ai_Alphavantage__TOOL_GET","mcp__claude_ai_Alphavantage__TOOL_LIST","mcp__claude_ai_Gmail__authenticate","mcp__claude_ai_Gmail__complete_authentication","mcp__claude_ai_Google_Calendar__authenticate","mcp__claude_ai_Google_Calendar__complete_authentication","mcp__claude_ai_Google_Drive__authenticate","mcp__claude_ai_Google_Drive__complete_authentication"],"mcp_servers":[{"name":"claude.ai Alphavantage","status":"connected"},{"name":"claude.ai Google Calendar","status":"needs-auth"},{"name":"claude.ai Gmail","status":"needs-auth"},{"name":"claude.ai Google Drive","status":"needs-auth"}],"model":"glm-4.7","permissionMode":"bypassPermissions","slash_commands":["plan-review","bd-to-br-migration","claude-status","generate-image","beads-overview","gap-review","update-config","debug","simplify","batch","fewer-permission-prompts","loop","claude-api","clear","compact","context","heapdump","init","review","security-review","usage","insights","team-onboarding"],"apiKeySource":"none","claude_code_version":"2.1.129","output_style":"default","agents":["Explore","general-purpose","Plan","statusline-setup"],"skills":["plan-review","bd-to-br-migration","claude-status","generate-image","beads-overview","gap-review","update-config","debug","simplify","batch","fewer-permission-prompts","loop","claude-api"],"plugins":[{"name":"rust-analyzer-lsp","path":"/home/coding/.claude/plugins/cache/claude-plugins-official/rust-analyzer-lsp/1.0.0","source":"rust-analyzer-lsp@claude-plugins-official"}],"analytics_disabled":true,"uuid":"a208c6c0-c798-4a2a-9ffe-f3a027aa2942","memory_paths":{"auto":"/home/coding/.claude/projects/-home-coding-spaxel/memory/"},"fast_mode_state":"off"} 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speed of light m/s\n15\t\n16\t\t// CSI frame constants — must match ingestion/frame.go format\n17\t\tnSub = 64 // number of subcarriers for HT20\n18\t\n19\t\t// Path loss model constants (log-distance model)\n20\t\t// PL(d) = PL_0 + 10*n*log10(d/d_0)\n21\t\tpl0 = 40.0 // dBm reference power at d0\n22\t\td0 = 1.0 // meters reference distance\n23\t\tn = 2.0 // path loss exponent (free space)\n24\t\n25\t\t// Reflection coefficient (power, dimensionless)\n26\t\treflectionCoeff = 0.3\n27\t)\n28\t\n29\t// generateCSIFrame generates a synthetic CSI binary frame.\n30\t// The frame format matches the ingestion layer (ingestion/frame.go):\n31\t//\n32\t//\tHeader (24 bytes fixed):\n33\t//\t [0:6] node_mac — TX node MAC address\n34\t//\t [6:12] peer_mac — RX node MAC address\n35\t//\t [12:20] timestamp_us — uint64 LE, microseconds since node boot\n36\t//\t [20] rssi — int8, dBm\n37\t//\t [21] noise_floor — int8, dBm\n38\t//\t [22] channel — uint8, WiFi channel\n39\t//\t [23] n_sub — uint8, subcarrier count\n40\t//\tPayload (n_sub × 2 bytes):\n41\t//\t Per subcarrier: int8 I, int8 Q\n42\tfunc generateCSIFrame(tx, rx *VirtualNode, walkers []*Walker, walls []Wall, frameNum int, rng *rand.Rand) []byte {\n43\t\t// Calculate combined CSI from all walkers\n44\t\tamplitude, phaseBase := computeCSIForWalkers(tx, rx, walkers, walls)\n45\t\n46\t\t// Compute RSSI from amplitude\n47\t\trssi := amplitudeToRSSI(amplitude)\n48\t\n49\t\t// Create frame buffer (headerSize=24 defined in main.go)\n50\t\tframe := make([]byte, headerSize+nSub*2)\n51\t\n52\t\t// Write header (matches ingestion/frame.go ParseFrame layout)\n53\t\tcopy(frame[0:6], tx.MAC[:]) // node_mac\n54\t\tcopy(frame[6:12], rx.MAC[:]) // peer_mac\n55\t\tbinary.LittleEndian.PutUint64(frame[12:20], uint64(frameNum*50000)) // timestamp_us\n56\t\tframe[20] = byte(rssi) // rssi\n57\t\tvar noiseFloor int8 = -95\n58\t\tframe[21] = byte(noiseFloor) // noise_floor: -95 dBm\n59\t\tframe[22] = byte(*flagChannel) // channel (from --channel flag)\n60\t\tframe[23] = nSub // n_sub\n61\t\n62\t\t// Generate I/Q pairs for each subcarrier\n63\t\tfor k := 0; k < nSub; k++ {\n64\t\t\t// Phase for this subcarrier\n65\t\t\tphase := phaseBase + float64(k)*0.1\n66\t\n67\t\t\t// Add temporal variation\n68\t\t\tphase += 0.1 * math.Sin(2*math.Pi*float64(frameNum)/100.0)\n69\t\n70\t\t\t// Normalize phase to [-π, π]\n71\t\t\tfor phase > math.Pi {\n72\t\t\t\tphase -= 2 * math.Pi\n73\t\t\t}\n74\t\t\tfor phase < -math.Pi {\n75\t\t\t\tphase += 2 * math.Pi\n76\t\t\t}\n77\t\n78\t\t\t// Add frequency-selective fading\n79\t\t\tfreqFading := 0.8 + 0.4*math.Sin(2*math.Pi*float64(k)/16.0)\n80\t\t\tsubAmplitude := amplitude * freqFading\n81\t\n82\t\t\t// Generate I/Q with noise\n83\t\t\ti, q := generateIQPair(subAmplitude, phase, rng)\n84\t\n85\t\t\t// Write to payload (interleaved I,Q)\n86\t\t\toffset := headerSize + k*2\n87\t\t\tframe[offset] = byte(i)\n88\t\t\tframe[offset+1] = byte(q)\n89\t\t}\n90\t\n91\t\treturn frame\n92\t}\n93\t\n94\t// computeCSIForWalkers computes the combined CSI amplitude and phase from all walkers\n95\t// using a two-ray propagation model (direct path + first-order reflection).\n96\tfunc computeCSIForWalkers(tx, rx *VirtualNode, walkers []*Walker, walls []Wall) (float64, float64) {\n97\t\tif len(walkers) == 0 {\n98\t\t\t// No walkers, return baseline noise\n99\t\t\treturn 0.001, 0.0\n100\t\t}\n101\t\n102\t\tvar totalAmplitude float64\n103\t\tvar totalPhase float64\n104\t\tvar weight float64\n105\t\n106\t\tfor _, walker := range walkers {\n107\t\t\t// Direct path contribution\n108\t\t\tdirectAmp, directPhase := computeDirectPath(tx.Position, rx.Position, walker.Position, walls)\n109\t\n110\t\t\t// First-order reflection contribution (strongest reflected ray)\n111\t\t\treflAmp, reflPhase := computeFirstOrderReflection(tx.Position, rx.Position, walker.Position, walls)\n112\t\n113\t\t\t// Combine direct and reflected paths (coherent sum for two-ray model)\n114\t\t\t// The reflected ray interferes with the direct ray, creating constructive/destructive interference\n115\t\t\tcombinedAmp := directAmp + reflAmp*math.Cos(directPhase-reflPhase)\n116\t\t\tcombinedPhase := math.Atan2(\n117\t\t\t\tdirectAmp*math.Sin(directPhase)+reflAmp*math.Sin(reflPhase),\n118\t\t\t\tdirectAmp*math.Cos(directPhase)+reflAmp*math.Cos(reflPhase),\n119\t\t\t)\n120\t\n121\t\t\t// Scale to reasonable values\n122\t\t\tcombinedAmp *= 1000.0\n123\t\n124\t\t\t// Accumulate\n125\t\t\ttotalAmplitude += combinedAmp\n126\t\t\ttotalPhase += combinedPhase\n127\t\t\tweight += 1.0\n128\t\t}\n129\t\n130\t\t// Normalize phase\n131\t\tif weight > 0 {\n132\t\t\ttotalPhase /= weight\n133\t\t}\n134\t\n135\t\treturn totalAmplitude, totalPhase\n136\t}\n137\t\n138\t// computeDirectPath computes the CSI contribution from the direct path\n139\t// through the walker to the receiver, using the log-distance path loss model.\n140\tfunc computeDirectPath(tx, rx, walker Point, walls []Wall) (float64, float64) {\n141\t\t// Distance from TX to walker\n142\t\td1 := distance(tx, walker)\n143\t\t// Distance from walker to RX\n144\t\td2 := distance(walker, rx)\n145\t\t// Total path length\n146\t\tdTotal := d1 + d2\n147\t\n148\t\t// Direct TX-RX distance (for Fresnel zone calculation)\n149\t\tdDirect := distance(tx, rx)\n150\t\n151\t\t// Path length excess for Fresnel zone calculation\n152\t\texcess := dTotal - dDirect\n153\t\tif excess < 0 {\n154\t\t\texcess = 0\n155\t\t}\n156\t\n157\t\t// Fresnel zone number\n158\t\tzoneNumber := int(math.Ceil(excess / halfWavelength))\n159\t\tif zoneNumber < 1 {\n160\t\t\tzoneNumber = 1\n161\t\t}\n162\t\n163\t\t// Zone decay (inverse square)\n164\t\tdecay := 1.0 / math.Pow(float64(zoneNumber), 2.0)\n165\t\n166\t\t// Log-distance path loss model: PL(d) = PL_0 + 10*n*log10(d/d_0)\n167\t\tvar pathLossDB float64\n168\t\tif dTotal >= d0 {\n169\t\t\tpathLossDB = pl0 + 10.0*n*math.Log10(dTotal/d0)\n170\t\t} else {\n171\t\t\t// For distances < d0, use free space approximation\n172\t\t\tpathLossDB = pl0\n173\t\t}\n174\t\n175\t\t// Wall attenuation on the direct path\n176\t\twallLoss := computeWallLoss(tx, walker, walls)\n177\t\twallLoss += computeWallLoss(walker, rx, walls)\n178\t\n179\t\t// Total loss in dB\n180\t\ttotalLossDB := pathLossDB + wallLoss\n181\t\n182\t\t// Convert to linear amplitude\n183\t\tamplitude := math.Pow(10.0, -totalLossDB/20.0)\n184\t\n185\t\t// Apply Fresnel zone decay\n186\t\tamplitude *= decay\n187\t\n188\t\t// Phase at this position (based on total path length)\n189\t\tphase := 2 * math.Pi * dTotal / wavelength\n190\t\n191\t\treturn amplitude, phase\n192\t}\n193\t\n194\t// computeFirstOrderReflection computes the CSI contribution from the strongest\n195\t// first-order reflection off a wall segment. Uses image method to find reflection point.\n196\tfunc computeFirstOrderReflection(tx, rx, walker Point, walls []Wall) (float64, float64) {\n197\t\tvar bestReflAmp float64\n198\t\tvar bestReflPhase float64\n199\t\tvar foundReflection bool\n200\t\n201\t\tfor _, wall := range walls {\n202\t\t\t// Compute reflection point using image method\n203\t\t\treflPoint, ok := findReflectionPoint(tx, rx, wall)\n204\t\t\tif !ok {\n205\t\t\t\tcontinue\n206\t\t\t}\n207\t\n208\t\t\t// Reflected path: TX -> reflection point -> RX\n209\t\t\tdTxRefl := distance(tx, reflPoint)\n210\t\t\tdReflRx := distance(reflPoint, rx)\n211\t\t\tdReflTotal := dTxRefl + dReflRx\n212\t\n213\t\t\t// Direct path length (for comparison)\n214\t\t\tdDirect := distance(tx, rx)\n215\t\n216\t\t\t// Log-distance path loss for reflected path\n217\t\t\tvar pathLossDB float64\n218\t\t\tif dReflTotal >= d0 {\n219\t\t\t\tpathLossDB = pl0 + 10.0*n*math.Log10(dReflTotal/d0)\n220\t\t\t} else {\n221\t\t\t\tpathLossDB = pl0\n222\t\t\t}\n223\t\n224\t\t\t// Wall attenuation (transmission loss through wall if any)\n225\t\t\t// Plus reflection loss (weakest material first = lowest attenuation)\n226\t\t\twallLoss := wall.Attenuation\n227\t\n228\t\t\t// Total loss in dB\n229\t\t\ttotalLossDB := pathLossDB + wallLoss\n230\t\n231\t\t\t// Convert to linear amplitude\n232\t\t\tamplitude := math.Pow(10.0, -totalLossDB/20.0)\n233\t\n234\t\t\t// Apply reflection coefficient (power coefficient)\n235\t\t\tamplitude *= math.Sqrt(reflectionCoeff)\n236\t\n237\t\t\t// Normalize by direct path loss (so reflected ray is relative to direct)\n238\t\t\tdirectPathLoss := pl0 + 10.0*n*math.Log10(dDirect/d0)\n239\t\t\tamplitude *= math.Pow(10.0, (directPathLoss-pathLossDB)/20.0)\n240\t\n241\t\t\t// Phase based on reflected path length\n242\t\t\tphase := 2 * math.Pi * dReflTotal / wavelength\n243\t\n244\t\t\t// Keep the strongest reflection (lowest attenuation)\n245\t\t\tif !foundReflection || amplitude > bestReflAmp {\n246\t\t\t\tbestReflAmp = amplitude\n247\t\t\t\tbestReflPhase = phase\n248\t\t\t\tfoundReflection = true\n249\t\t\t}\n250\t\t}\n251\t\n252\t\tif !foundReflection {\n253\t\t\treturn 0, 0\n254\t\t}\n255\t\n256\t\treturn bestReflAmp, bestReflPhase\n257\t}\n258\t\n259\t// findReflectionPoint finds the specular reflection point on a wall segment\n260\t// for a ray from TX to RX using the image method.\n261\t// Returns the reflection point and true if a valid reflection exists, false otherwise.\n262\tfunc findReflectionPoint(tx, rx Point, wall Wall) (Point, bool) {\n263\t\t// For a vertical wall segment (in 2D floor plane), the reflection point\n264\t\t// is found by reflecting the TX across the wall line and finding the\n265\t\t// intersection with the wall segment.\n266\t\n267\t\t// Wall line equation: ax + by + c = 0\n268\t\t// For vertical wall from (x1, y1) to (x2, y2):\n269\t\t// If x1 == x2 (vertical wall), reflection is straightforward\n270\t\tif math.Abs(wall.X1-wall.X2) < 1e-6 {\n271\t\t\t// Vertical wall at x = wall.X1\n272\t\t\t// Reflect TX across the wall\n273\t\t\treflTxX := 2*wall.X1 - tx.X\n274\t\t\treflTxY := tx.Y\n275\t\n276\t\t\t// Find intersection of line from reflTx to RX with the wall\n277\t\t\t// Parametric line: reflTx + t*(rx - reflTx)\n278\t\t\tdx := rx.X - reflTxX\n279\t\t\tdy := rx.Y - reflTxY\n280\t\n281\t\t\tif math.Abs(dx) < 1e-6 {\n282\t\t\t\t// Line is vertical, no intersection with vertical wall (or parallel)\n283\t\t\t\treturn Point{}, false\n284\t\t\t}\n285\t\n286\t\t\tt := (wall.X1 - reflTxX) / dx\n287\t\n288\t\t\t// Compute intersection point\n289\t\t\tintersectY := reflTxY + t*dy\n290\t\n291\t\t\t// Check if intersection is within wall segment bounds\n292\t\t\tminY := math.Min(wall.Y1, wall.Y2)\n293\t\t\tmaxY := math.Max(wall.Y1, wall.Y2)\n294\t\n295\t\t\tif intersectY < minY || intersectY > maxY {\n296\t\t\t\treturn Point{}, false\n297\t\t\t}\n298\t\n299\t\t\t// Z coordinate is average of TX and RX Z (reflection in vertical plane)\n300\t\t\tintersectZ := (tx.Z + rx.Z) / 2.0\n301\t\n302\t\t\treturn Point{X: wall.X1, Y: intersectY, Z: intersectZ}, true\n303\t\t}\n304\t\n305\t\t// For horizontal wall segment (y1 == y2)\n306\t\tif math.Abs(wall.Y1-wall.Y2) < 1e-6 {\n307\t\t\t// Horizontal wall at y = wall.Y1\n308\t\t\t// Reflect TX across the wall\n309\t\t\treflTxX := tx.X\n310\t\t\treflTxY := 2*wall.Y1 - tx.Y\n311\t\n312\t\t\t// Find intersection of line from reflTx to RX with the wall\n313\t\t\tdx := rx.X - reflTxX\n314\t\t\tdy := rx.Y - reflTxY\n315\t\n316\t\t\tif math.Abs(dy) < 1e-6 {\n317\t\t\t\t// Line is horizontal, no intersection\n318\t\t\t\treturn Point{}, false\n319\t\t\t}\n320\t\n321\t\t\tt := (wall.Y1 - reflTxY) / dy\n322\t\n323\t\t\t// Compute intersection point\n324\t\t\tintersectX := reflTxX + t*dx\n325\t\n326\t\t\t// Check if intersection is within wall segment bounds\n327\t\t\tminX := math.Min(wall.X1, wall.X2)\n328\t\t\tmaxX := math.Max(wall.X1, wall.X2)\n329\t\n330\t\t\tif intersectX < minX || intersectX > maxX {\n331\t\t\t\treturn Point{}, false\n332\t\t\t}\n333\t\n334\t\t\t// Z coordinate is average of TX and RX Z\n335\t\t\tintersectZ := (tx.Z + rx.Z) / 2.0\n336\t\n337\t\t\treturn Point{X: intersectX, Y: wall.Y1, Z: intersectZ}, true\n338\t\t}\n339\t\n340\t\t// General case: angled wall segment\n341\t\t// Compute line intersection\n342\t\t// Wall line: (x1, y1) to (x2, y2)\n343\t\t// Ray from reflected TX to RX\n344\t\n345\t\t// Reflect TX across the wall line\n346\t\treflTx := reflectPointAcrossLine(tx, Point{X: wall.X1, Y: wall.Y1, Z: 0}, Point{X: wall.X2, Y: wall.Y2, Z: 0})\n347\t\n348\t\t// Find intersection of line from reflTx to RX with the wall line\n349\t\tintersect, ok := lineIntersection(\n350\t\t\treflTx, rx,\n351\t\t\tPoint{X: wall.X1, Y: wall.Y1, Z: 0}, Point{X: wall.X2, Y: wall.Y2, Z: 0},\n352\t\t)\n353\t\tif !ok {\n354\t\t\treturn Point{}, false\n355\t\t}\n356\t\n357\t\t// Check if intersection is within wall segment bounds\n358\t\tminX := math.Min(wall.X1, wall.X2)\n359\t\tmaxX := math.Max(wall.X1, wall.X2)\n360\t\tminY := math.Min(wall.Y1, wall.Y2)\n361\t\tmaxY := math.Max(wall.Y1, wall.Y2)\n362\t\n363\t\tif intersect.X < minX || intersect.X > maxX || intersect.Y < minY || intersect.Y > maxY {\n364\t\t\treturn Point{}, false\n365\t\t}\n366\t\n367\t\t// Z coordinate is average of TX and RX Z\n368\t\tintersect.Z = (tx.Z + rx.Z) / 2.0\n369\t\n370\t\treturn intersect, true\n371\t}\n372\t\n373\t// reflectPointAcrossLine reflects a point across a line defined by two points.\n374\t// Uses the formula for reflection of a point across a line in 2D.\n375\tfunc reflectPointAcrossLine(p, lineStart, lineEnd Point) Point {\n376\t\t// Line direction vector\n377\t\tlx := lineEnd.X - lineStart.X\n378\t\tly := lineEnd.Y - lineStart.Y\n379\t\n380\t\t// Vector from line start to point\n381\t\tpx := p.X - lineStart.X\n382\t\tpy := p.Y - lineStart.Y\n383\t\n384\t\t// Project p onto the line (dot product)\n385\t\tdot := px*lx + py*ly\n386\t\tlenSq := lx*lx + ly*ly\n387\t\n388\t\tif lenSq < 1e-10 {\n389\t\t\t// Line segment is too short\n390\t\t\treturn p\n391\t\t}\n392\t\n393\t\t// Projection parameter\n394\t\tt := dot / lenSq\n395\t\n396\t\t// Closest point on line\n397\t\tclosestX := lineStart.X + t*lx\n398\t\tclosestY := lineStart.Y + t*ly\n399\t\n400\t\t// Reflected point: p' = closest + (closest - p) = 2*closest - p\n401\t\treturn Point{\n402\t\t\tX: 2*closestX - p.X,\n403\t\t\tY: 2*closestY - p.Y,\n404\t\t\tZ: p.Z,\n405\t\t}\n406\t}\n407\t\n408\t// lineIntersection finds the intersection point of two line segments in 2D.\n409\t// Returns the intersection point and true if the lines intersect, false otherwise.\n410\tfunc lineIntersection(p1, p2, p3, p4 Point) (Point, bool) {\n411\t\t// Line 1: p1 to p2\n412\t\t// Line 2: p3 to p4\n413\t\n414\t\tx1, y1 := p1.X, p1.Y\n415\t\tx2, y2 := p2.X, p2.Y\n416\t\tx3, y3 := p3.X, p3.Y\n417\t\tx4, y4 := p4.X, p4.Y\n418\t\n419\t\t// Compute denominator\n420\t\tdenom := (x1-x2)*(y3-y4) - (y1-y2)*(x3-x4)\n421\t\tif math.Abs(denom) < 1e-10 {\n422\t\t\t// Lines are parallel\n423\t\t\treturn Point{}, false\n424\t\t}\n425\t\n426\t\t// Compute intersection point using parametric form\n427\t\tt := ((x1-x3)*(y3-y4) - (y1-y3)*(x3-x4)) / denom\n428\t\tu := -((x1-x2)*(y1-y3) - (y1-y2)*(x1-x3)) / denom\n429\t\n430\t\t// Check if intersection is within both line segments\n431\t\tif t < 0 || t > 1 || u < 0 || u > 1 {\n432\t\t\treturn Point{}, false\n433\t\t}\n434\t\n435\t\t// Compute intersection point\n436\t\tintersectX := x1 + t*(x2-x1)\n437\t\tintersectY := y1 + t*(y2-y1)\n438\t\n439\t\treturn Point{X: intersectX, Y: intersectY}, true\n440\t}\n441\t\n442\t// distance computes Euclidean distance between two points\n443\tfunc distance(a, b Point) float64 {\n444\t\tdx := a.X - b.X\n445\t\tdy := a.Y - b.Y\n446\t\tdz := a.Z - b.Z\n447\t\treturn math.Sqrt(dx*dx + dy*dy + dz*dz)\n448\t}\n449\t\n450\t// computeWallLoss computes wall attenuation for a path through all walls.\n451\t// For each wall the path intersects, add the wall's attenuation value.\n452\tfunc computeWallLoss(from, to Point, walls []Wall) float64 {\n453\t\ttotalLoss := 0.0\n454\t\n455\t\tfor _, wall := range walls {\n456\t\t\tif pathIntersectsWall(from.X, from.Y, to.X, to.Y, wall.X1, wall.Y1, wall.X2, wall.Y2) {\n457\t\t\t\ttotalLoss += wall.Attenuation\n458\t\t\t}\n459\t\t}\n460\t\n461\t\treturn totalLoss\n462\t}\n463\t\n464\t// pathIntersectsWall checks if a path intersects a wall segment (2D)\n465\tfunc pathIntersectsWall(x1, y1, x2, y2, wx1, wy1, wx2, wy2 float64) bool {\n466\t\t// Compute orientations\n467\t\tccw := func(ax, ay, bx, by, cx, cy float64) float64 {\n468\t\t\treturn (bx-ax)*(cy-ay) - (by-ay)*(cx-ax)\n469\t\t}\n470\t\n471\t\to1 := ccw(x1, y1, x2, y2, wx1, wy1)\n472\t\to2 := ccw(x1, y1, x2, y2, wx2, wy2)\n473\t\to3 := ccw(wx1, wy1, wx2, wy2, x1, y1)\n474\t\to4 := ccw(wx1, wy1, wx2, wy2, x2, y2)\n475\t\n476\t\t// Check for intersection\n477\t\treturn o1*o2 < 0 && o3*o4 < 0\n478\t}\n479\t\n480\t// amplitudeToRSSI converts amplitude to RSSI in dBm\n481\tfunc amplitudeToRSSI(amplitude float64) int8 {\n482\t\t// Convert amplitude to dBm (reference: amplitude 1.0 = -30 dBm)\n483\t\tamplitudeDBm := -30.0 + 20.0*math.Log10(amplitude)\n484\t\n485\t\t// Clamp to realistic range\n486\t\tif amplitudeDBm < -90 {\n487\t\t\tamplitudeDBm = -90\n488\t\t}\n489\t\tif amplitudeDBm > -30 {\n490\t\t\tamplitudeDBm = -30\n491\t\t}\n492\t\n493\t\treturn int8(amplitudeDBm)\n494\t}\n495\t\n496\t// generateIQPair generates a synthetic I/Q pair with Gaussian noise\n497\tfunc generateIQPair(amplitude, phase float64, rng *rand.Rand) (int8, int8) {\n498\t\t// Box-Muller transform for Gaussian noise\n499\t\tu1 := rng.Float64()\n500\t\tu2 := rng.Float64()\n501\t\tz0 := math.Sqrt(-2.0*math.Log(u1)) * math.Cos(2.0*math.Pi*u2)\n502\t\tz1 := math.Sqrt(-2.0*math.Log(u1)) * math.Sin(2.0*math.Pi*u2)\n503\t\n504\t\tnoiseI := z0 * *flagNoiseSigma\n505\t\tnoiseQ := z1 * *flagNoiseSigma\n506\t\n507\t\t// Convert to I/Q\n508\t\ti := amplitude*math.Cos(phase) + noiseI\n509\t\tq := amplitude*math.Sin(phase) + noiseQ\n510\t\n511\t\t// Scale to int8 range\n512\t\tscale := 127.0 / 10.0 // Scale factor\n513\t\ti *= scale\n514\t\tq *= scale\n515\t\n516\t\t// Clamp to int8 range [-127, 127]\n517\t\tif i > 127 {\n518\t\t\ti = 127\n519\t\t}\n520\t\tif i < -127 {\n521\t\t\ti = -127\n522\t\t}\n523\t\tif q > 127 {\n524\t\t\tq = 127\n525\t\t}\n526\t\tif q < -127 {\n527\t\t\tq = -127\n528\t\t}\n529\t\n530\t\treturn int8(i), int8(q)\n531\t}\n532\t"}]},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"d65b0c81-dc1a-441b-bea1-f198b4569c19","timestamp":"2026-05-06T02:33:57.473Z","tool_use_result":{"type":"text","file":{"filePath":"/home/coding/spaxel/mothership/cmd/sim/generator.go","content":"package main\n\nimport (\n\t\"encoding/binary\"\n\t\"math\"\n\t\"math/rand\"\n)\n\nconst (\n\t// WiFi physical constants\n\twavelength = 0.123 // meters (2.4 GHz)\n\thalfWavelength = wavelength / 2.0\n\tsubcarrierSpacing = 312.5e3 // Hz\n\tc = 3e8 // speed of light m/s\n\n\t// CSI frame constants — must match ingestion/frame.go format\n\tnSub = 64 // number of subcarriers for HT20\n\n\t// Path loss model constants (log-distance model)\n\t// PL(d) = PL_0 + 10*n*log10(d/d_0)\n\tpl0 = 40.0 // dBm reference power at d0\n\td0 = 1.0 // meters reference distance\n\tn = 2.0 // path loss exponent (free space)\n\n\t// Reflection coefficient (power, dimensionless)\n\treflectionCoeff = 0.3\n)\n\n// generateCSIFrame generates a synthetic CSI binary frame.\n// The frame format matches the ingestion layer (ingestion/frame.go):\n//\n//\tHeader (24 bytes fixed):\n//\t [0:6] node_mac — TX node MAC address\n//\t [6:12] peer_mac — RX node MAC address\n//\t [12:20] timestamp_us — uint64 LE, microseconds since node boot\n//\t [20] rssi — int8, dBm\n//\t [21] noise_floor — int8, dBm\n//\t [22] channel — uint8, WiFi channel\n//\t [23] n_sub — uint8, subcarrier count\n//\tPayload (n_sub × 2 bytes):\n//\t Per subcarrier: int8 I, int8 Q\nfunc generateCSIFrame(tx, rx *VirtualNode, walkers []*Walker, walls []Wall, frameNum int, rng *rand.Rand) []byte {\n\t// Calculate combined CSI from all walkers\n\tamplitude, phaseBase := computeCSIForWalkers(tx, rx, walkers, walls)\n\n\t// Compute RSSI from amplitude\n\trssi := amplitudeToRSSI(amplitude)\n\n\t// Create frame buffer (headerSize=24 defined in main.go)\n\tframe := make([]byte, headerSize+nSub*2)\n\n\t// Write header (matches ingestion/frame.go ParseFrame layout)\n\tcopy(frame[0:6], tx.MAC[:]) // node_mac\n\tcopy(frame[6:12], rx.MAC[:]) // peer_mac\n\tbinary.LittleEndian.PutUint64(frame[12:20], uint64(frameNum*50000)) // timestamp_us\n\tframe[20] = byte(rssi) // rssi\n\tvar noiseFloor int8 = -95\n\tframe[21] = byte(noiseFloor) // noise_floor: -95 dBm\n\tframe[22] = byte(*flagChannel) // channel (from --channel flag)\n\tframe[23] = nSub // n_sub\n\n\t// Generate I/Q pairs for each subcarrier\n\tfor k := 0; k < nSub; k++ {\n\t\t// Phase for this subcarrier\n\t\tphase := phaseBase + float64(k)*0.1\n\n\t\t// Add temporal variation\n\t\tphase += 0.1 * math.Sin(2*math.Pi*float64(frameNum)/100.0)\n\n\t\t// Normalize phase to [-π, π]\n\t\tfor phase > math.Pi {\n\t\t\tphase -= 2 * math.Pi\n\t\t}\n\t\tfor phase < -math.Pi {\n\t\t\tphase += 2 * math.Pi\n\t\t}\n\n\t\t// Add frequency-selective fading\n\t\tfreqFading := 0.8 + 0.4*math.Sin(2*math.Pi*float64(k)/16.0)\n\t\tsubAmplitude := amplitude * freqFading\n\n\t\t// Generate I/Q with noise\n\t\ti, q := generateIQPair(subAmplitude, phase, rng)\n\n\t\t// Write to payload (interleaved I,Q)\n\t\toffset := headerSize + k*2\n\t\tframe[offset] = byte(i)\n\t\tframe[offset+1] = byte(q)\n\t}\n\n\treturn frame\n}\n\n// computeCSIForWalkers computes the combined CSI amplitude and phase from all walkers\n// using a two-ray propagation model (direct path + first-order reflection).\nfunc computeCSIForWalkers(tx, rx *VirtualNode, walkers []*Walker, walls []Wall) (float64, float64) {\n\tif len(walkers) == 0 {\n\t\t// No walkers, return baseline noise\n\t\treturn 0.001, 0.0\n\t}\n\n\tvar totalAmplitude float64\n\tvar totalPhase float64\n\tvar weight float64\n\n\tfor _, walker := range walkers {\n\t\t// Direct path contribution\n\t\tdirectAmp, directPhase := computeDirectPath(tx.Position, rx.Position, walker.Position, walls)\n\n\t\t// First-order reflection contribution (strongest reflected ray)\n\t\treflAmp, reflPhase := computeFirstOrderReflection(tx.Position, rx.Position, walker.Position, walls)\n\n\t\t// Combine direct and reflected paths (coherent sum for two-ray model)\n\t\t// The reflected ray interferes with the direct ray, creating constructive/destructive interference\n\t\tcombinedAmp := directAmp + reflAmp*math.Cos(directPhase-reflPhase)\n\t\tcombinedPhase := math.Atan2(\n\t\t\tdirectAmp*math.Sin(directPhase)+reflAmp*math.Sin(reflPhase),\n\t\t\tdirectAmp*math.Cos(directPhase)+reflAmp*math.Cos(reflPhase),\n\t\t)\n\n\t\t// Scale to reasonable values\n\t\tcombinedAmp *= 1000.0\n\n\t\t// Accumulate\n\t\ttotalAmplitude += combinedAmp\n\t\ttotalPhase += combinedPhase\n\t\tweight += 1.0\n\t}\n\n\t// Normalize phase\n\tif weight > 0 {\n\t\ttotalPhase /= weight\n\t}\n\n\treturn totalAmplitude, totalPhase\n}\n\n// computeDirectPath computes the CSI contribution from the direct path\n// through the walker to the receiver, using the log-distance path loss model.\nfunc computeDirectPath(tx, rx, walker Point, walls []Wall) (float64, float64) {\n\t// Distance from TX to walker\n\td1 := distance(tx, walker)\n\t// Distance from walker to RX\n\td2 := distance(walker, rx)\n\t// Total path length\n\tdTotal := d1 + d2\n\n\t// Direct TX-RX distance (for Fresnel zone calculation)\n\tdDirect := distance(tx, rx)\n\n\t// Path length excess for Fresnel zone calculation\n\texcess := dTotal - dDirect\n\tif excess < 0 {\n\t\texcess = 0\n\t}\n\n\t// Fresnel zone number\n\tzoneNumber := int(math.Ceil(excess / halfWavelength))\n\tif zoneNumber < 1 {\n\t\tzoneNumber = 1\n\t}\n\n\t// Zone decay (inverse square)\n\tdecay := 1.0 / math.Pow(float64(zoneNumber), 2.0)\n\n\t// Log-distance path loss model: PL(d) = PL_0 + 10*n*log10(d/d_0)\n\tvar pathLossDB float64\n\tif dTotal >= d0 {\n\t\tpathLossDB = pl0 + 10.0*n*math.Log10(dTotal/d0)\n\t} else {\n\t\t// For distances < d0, use free space approximation\n\t\tpathLossDB = pl0\n\t}\n\n\t// Wall attenuation on the direct path\n\twallLoss := computeWallLoss(tx, walker, walls)\n\twallLoss += computeWallLoss(walker, rx, walls)\n\n\t// Total loss in dB\n\ttotalLossDB := pathLossDB + wallLoss\n\n\t// Convert to linear amplitude\n\tamplitude := math.Pow(10.0, -totalLossDB/20.0)\n\n\t// Apply Fresnel zone decay\n\tamplitude *= decay\n\n\t// Phase at this position (based on total path length)\n\tphase := 2 * math.Pi * dTotal / wavelength\n\n\treturn amplitude, phase\n}\n\n// computeFirstOrderReflection computes the CSI contribution from the strongest\n// first-order reflection off a wall segment. Uses image method to find reflection point.\nfunc computeFirstOrderReflection(tx, rx, walker Point, walls []Wall) (float64, float64) {\n\tvar bestReflAmp float64\n\tvar bestReflPhase float64\n\tvar foundReflection bool\n\n\tfor _, wall := range walls {\n\t\t// Compute reflection point using image method\n\t\treflPoint, ok := findReflectionPoint(tx, rx, wall)\n\t\tif !ok {\n\t\t\tcontinue\n\t\t}\n\n\t\t// Reflected path: TX -> reflection point -> RX\n\t\tdTxRefl := distance(tx, reflPoint)\n\t\tdReflRx := distance(reflPoint, rx)\n\t\tdReflTotal := dTxRefl + dReflRx\n\n\t\t// Direct path length (for comparison)\n\t\tdDirect := distance(tx, rx)\n\n\t\t// Log-distance path loss for reflected path\n\t\tvar pathLossDB float64\n\t\tif dReflTotal >= d0 {\n\t\t\tpathLossDB = pl0 + 10.0*n*math.Log10(dReflTotal/d0)\n\t\t} else {\n\t\t\tpathLossDB = pl0\n\t\t}\n\n\t\t// Wall attenuation (transmission loss through wall if any)\n\t\t// Plus reflection loss (weakest material first = lowest attenuation)\n\t\twallLoss := wall.Attenuation\n\n\t\t// Total loss in dB\n\t\ttotalLossDB := pathLossDB + wallLoss\n\n\t\t// Convert to linear amplitude\n\t\tamplitude := math.Pow(10.0, -totalLossDB/20.0)\n\n\t\t// Apply reflection coefficient (power coefficient)\n\t\tamplitude *= math.Sqrt(reflectionCoeff)\n\n\t\t// Normalize by direct path loss (so reflected ray is relative to direct)\n\t\tdirectPathLoss := pl0 + 10.0*n*math.Log10(dDirect/d0)\n\t\tamplitude *= math.Pow(10.0, (directPathLoss-pathLossDB)/20.0)\n\n\t\t// Phase based on reflected path length\n\t\tphase := 2 * math.Pi * dReflTotal / wavelength\n\n\t\t// Keep the strongest reflection (lowest attenuation)\n\t\tif !foundReflection || amplitude > bestReflAmp {\n\t\t\tbestReflAmp = amplitude\n\t\t\tbestReflPhase = phase\n\t\t\tfoundReflection = true\n\t\t}\n\t}\n\n\tif !foundReflection {\n\t\treturn 0, 0\n\t}\n\n\treturn bestReflAmp, bestReflPhase\n}\n\n// findReflectionPoint finds the specular reflection point on a wall segment\n// for a ray from TX to RX using the image method.\n// Returns the reflection point and true if a valid reflection exists, false otherwise.\nfunc findReflectionPoint(tx, rx Point, wall Wall) (Point, bool) {\n\t// For a vertical wall segment (in 2D floor plane), the reflection point\n\t// is found by reflecting the TX across the wall line and finding the\n\t// intersection with the wall segment.\n\n\t// Wall line equation: ax + by + c = 0\n\t// For vertical wall from (x1, y1) to (x2, y2):\n\t// If x1 == x2 (vertical wall), reflection is straightforward\n\tif math.Abs(wall.X1-wall.X2) < 1e-6 {\n\t\t// Vertical wall at x = wall.X1\n\t\t// Reflect TX across the wall\n\t\treflTxX := 2*wall.X1 - tx.X\n\t\treflTxY := tx.Y\n\n\t\t// Find intersection of line from reflTx to RX with the wall\n\t\t// Parametric line: reflTx + t*(rx - reflTx)\n\t\tdx := rx.X - reflTxX\n\t\tdy := rx.Y - reflTxY\n\n\t\tif math.Abs(dx) < 1e-6 {\n\t\t\t// Line is vertical, no intersection with vertical wall (or parallel)\n\t\t\treturn Point{}, false\n\t\t}\n\n\t\tt := (wall.X1 - reflTxX) / dx\n\n\t\t// Compute intersection point\n\t\tintersectY := reflTxY + t*dy\n\n\t\t// Check if intersection is within wall segment bounds\n\t\tminY := math.Min(wall.Y1, wall.Y2)\n\t\tmaxY := math.Max(wall.Y1, wall.Y2)\n\n\t\tif intersectY < minY || intersectY > maxY {\n\t\t\treturn Point{}, false\n\t\t}\n\n\t\t// Z coordinate is average of TX and RX Z (reflection in vertical plane)\n\t\tintersectZ := (tx.Z + rx.Z) / 2.0\n\n\t\treturn Point{X: wall.X1, Y: intersectY, Z: intersectZ}, true\n\t}\n\n\t// For horizontal wall segment (y1 == y2)\n\tif math.Abs(wall.Y1-wall.Y2) < 1e-6 {\n\t\t// Horizontal wall at y = wall.Y1\n\t\t// Reflect TX across the wall\n\t\treflTxX := tx.X\n\t\treflTxY := 2*wall.Y1 - tx.Y\n\n\t\t// Find intersection of line from reflTx to RX with the wall\n\t\tdx := rx.X - reflTxX\n\t\tdy := rx.Y - reflTxY\n\n\t\tif math.Abs(dy) < 1e-6 {\n\t\t\t// Line is horizontal, no intersection\n\t\t\treturn Point{}, false\n\t\t}\n\n\t\tt := (wall.Y1 - reflTxY) / dy\n\n\t\t// Compute intersection point\n\t\tintersectX := reflTxX + t*dx\n\n\t\t// Check if intersection is within wall segment bounds\n\t\tminX := math.Min(wall.X1, wall.X2)\n\t\tmaxX := math.Max(wall.X1, wall.X2)\n\n\t\tif intersectX < minX || intersectX > maxX {\n\t\t\treturn Point{}, false\n\t\t}\n\n\t\t// Z coordinate is average of TX and RX Z\n\t\tintersectZ := (tx.Z + rx.Z) / 2.0\n\n\t\treturn Point{X: intersectX, Y: wall.Y1, Z: intersectZ}, true\n\t}\n\n\t// General case: angled wall segment\n\t// Compute line intersection\n\t// Wall line: (x1, y1) to (x2, y2)\n\t// Ray from reflected TX to RX\n\n\t// Reflect TX across the wall line\n\treflTx := reflectPointAcrossLine(tx, Point{X: wall.X1, Y: wall.Y1, Z: 0}, Point{X: wall.X2, Y: wall.Y2, Z: 0})\n\n\t// Find intersection of line from reflTx to RX with the wall line\n\tintersect, ok := lineIntersection(\n\t\treflTx, rx,\n\t\tPoint{X: wall.X1, Y: wall.Y1, Z: 0}, Point{X: wall.X2, Y: wall.Y2, Z: 0},\n\t)\n\tif !ok {\n\t\treturn Point{}, false\n\t}\n\n\t// Check if intersection is within wall segment bounds\n\tminX := math.Min(wall.X1, wall.X2)\n\tmaxX := math.Max(wall.X1, wall.X2)\n\tminY := math.Min(wall.Y1, wall.Y2)\n\tmaxY := math.Max(wall.Y1, wall.Y2)\n\n\tif intersect.X < minX || intersect.X > maxX || intersect.Y < minY || intersect.Y > maxY {\n\t\treturn Point{}, false\n\t}\n\n\t// Z coordinate is average of TX and RX Z\n\tintersect.Z = (tx.Z + rx.Z) / 2.0\n\n\treturn intersect, true\n}\n\n// reflectPointAcrossLine reflects a point across a line defined by two points.\n// Uses the formula for reflection of a point across a line in 2D.\nfunc reflectPointAcrossLine(p, lineStart, lineEnd Point) Point {\n\t// Line direction vector\n\tlx := lineEnd.X - lineStart.X\n\tly := lineEnd.Y - lineStart.Y\n\n\t// Vector from line start to point\n\tpx := p.X - lineStart.X\n\tpy := p.Y - lineStart.Y\n\n\t// Project p onto the line (dot product)\n\tdot := px*lx + py*ly\n\tlenSq := lx*lx + ly*ly\n\n\tif lenSq < 1e-10 {\n\t\t// Line segment is too short\n\t\treturn p\n\t}\n\n\t// Projection parameter\n\tt := dot / lenSq\n\n\t// Closest point on line\n\tclosestX := lineStart.X + t*lx\n\tclosestY := lineStart.Y + t*ly\n\n\t// Reflected point: p' = closest + (closest - p) = 2*closest - p\n\treturn Point{\n\t\tX: 2*closestX - p.X,\n\t\tY: 2*closestY - p.Y,\n\t\tZ: p.Z,\n\t}\n}\n\n// lineIntersection finds the intersection point of two line segments in 2D.\n// Returns the intersection point and true if the lines intersect, false otherwise.\nfunc lineIntersection(p1, p2, p3, p4 Point) (Point, bool) {\n\t// Line 1: p1 to p2\n\t// Line 2: p3 to p4\n\n\tx1, y1 := p1.X, p1.Y\n\tx2, y2 := p2.X, p2.Y\n\tx3, y3 := p3.X, p3.Y\n\tx4, y4 := p4.X, p4.Y\n\n\t// Compute denominator\n\tdenom := (x1-x2)*(y3-y4) - (y1-y2)*(x3-x4)\n\tif math.Abs(denom) < 1e-10 {\n\t\t// Lines are parallel\n\t\treturn Point{}, false\n\t}\n\n\t// Compute intersection point using parametric form\n\tt := ((x1-x3)*(y3-y4) - (y1-y3)*(x3-x4)) / denom\n\tu := -((x1-x2)*(y1-y3) - (y1-y2)*(x1-x3)) / denom\n\n\t// Check if intersection is within both line segments\n\tif t < 0 || t > 1 || u < 0 || u > 1 {\n\t\treturn Point{}, false\n\t}\n\n\t// Compute intersection point\n\tintersectX := x1 + t*(x2-x1)\n\tintersectY := y1 + t*(y2-y1)\n\n\treturn Point{X: intersectX, Y: intersectY}, true\n}\n\n// distance computes Euclidean distance between two points\nfunc distance(a, b Point) float64 {\n\tdx := a.X - b.X\n\tdy := a.Y - b.Y\n\tdz := a.Z - b.Z\n\treturn math.Sqrt(dx*dx + dy*dy + dz*dz)\n}\n\n// computeWallLoss computes wall attenuation for a path through all walls.\n// For each wall the path intersects, add the wall's attenuation value.\nfunc computeWallLoss(from, to Point, walls []Wall) float64 {\n\ttotalLoss := 0.0\n\n\tfor _, wall := range walls {\n\t\tif pathIntersectsWall(from.X, from.Y, to.X, to.Y, wall.X1, wall.Y1, wall.X2, wall.Y2) {\n\t\t\ttotalLoss += wall.Attenuation\n\t\t}\n\t}\n\n\treturn totalLoss\n}\n\n// pathIntersectsWall checks if a path intersects a wall segment (2D)\nfunc pathIntersectsWall(x1, y1, x2, y2, wx1, wy1, wx2, wy2 float64) bool {\n\t// Compute orientations\n\tccw := func(ax, ay, bx, by, cx, cy float64) float64 {\n\t\treturn (bx-ax)*(cy-ay) - (by-ay)*(cx-ax)\n\t}\n\n\to1 := ccw(x1, y1, x2, y2, wx1, wy1)\n\to2 := ccw(x1, y1, x2, y2, wx2, wy2)\n\to3 := ccw(wx1, wy1, wx2, wy2, x1, y1)\n\to4 := ccw(wx1, wy1, wx2, wy2, x2, y2)\n\n\t// Check for intersection\n\treturn o1*o2 < 0 && o3*o4 < 0\n}\n\n// amplitudeToRSSI converts amplitude to RSSI in dBm\nfunc amplitudeToRSSI(amplitude float64) int8 {\n\t// Convert amplitude to dBm (reference: amplitude 1.0 = -30 dBm)\n\tamplitudeDBm := -30.0 + 20.0*math.Log10(amplitude)\n\n\t// Clamp to realistic range\n\tif amplitudeDBm < -90 {\n\t\tamplitudeDBm = -90\n\t}\n\tif amplitudeDBm > -30 {\n\t\tamplitudeDBm = -30\n\t}\n\n\treturn int8(amplitudeDBm)\n}\n\n// generateIQPair generates a synthetic I/Q pair with Gaussian noise\nfunc generateIQPair(amplitude, phase float64, rng *rand.Rand) (int8, int8) {\n\t// Box-Muller transform for Gaussian noise\n\tu1 := rng.Float64()\n\tu2 := rng.Float64()\n\tz0 := math.Sqrt(-2.0*math.Log(u1)) * math.Cos(2.0*math.Pi*u2)\n\tz1 := math.Sqrt(-2.0*math.Log(u1)) * math.Sin(2.0*math.Pi*u2)\n\n\tnoiseI := z0 * *flagNoiseSigma\n\tnoiseQ := z1 * *flagNoiseSigma\n\n\t// Convert to I/Q\n\ti := amplitude*math.Cos(phase) + noiseI\n\tq := amplitude*math.Sin(phase) + noiseQ\n\n\t// Scale to int8 range\n\tscale := 127.0 / 10.0 // Scale factor\n\ti *= scale\n\tq *= scale\n\n\t// Clamp to int8 range [-127, 127]\n\tif i > 127 {\n\t\ti = 127\n\t}\n\tif i < -127 {\n\t\ti = -127\n\t}\n\tif q > 127 {\n\t\tq = 127\n\t}\n\tif q < -127 {\n\t\tq = -127\n\t}\n\n\treturn int8(i), int8(q)\n}\n","numLines":532,"startLine":1,"totalLines":532}}} +{"type":"user","message":{"role":"user","content":[{"tool_use_id":"call_6138c349bf3f468383a9cd0d","type":"tool_result","content":"1\t// Package main provides scenario simulation modes for acceptance testing.\n2\tpackage main\n3\t\n4\timport (\n5\t\t\"context\"\n6\t\t\"encoding/json\"\n7\t\t\"fmt\"\n8\t\t\"log\"\n9\t\t\"math\"\n10\t\t\"math/rand\"\n11\t\t\"net/http\"\n12\t\t\"net/url\"\n13\t\t\"time\"\n14\t\n15\t\t\"github.com/gorilla/websocket\"\n16\t)\n17\t\n18\t// ScenarioType defines the type of scenario to simulate\n19\ttype ScenarioType string\n20\t\n21\tconst (\n22\t\tScenarioNormal ScenarioType = \"normal\"\n23\t\tScenarioFall ScenarioType = \"fall\"\n24\t\tScenarioOTA ScenarioType = \"ota\"\n25\t\tScenarioBagOnCouch ScenarioType = \"bag-on-couch\"\n26\t)\n27\t\n28\t// ScenarioConfig holds scenario-specific configuration\n29\ttype ScenarioConfig struct {\n30\t\tType ScenarioType\n31\t\tFallParams FallScenarioParams\n32\t\tOTAParams OTAScenarioParams\n33\t\tStartedAt time.Time\n34\t\tPhase string // for multi-phase scenarios\n35\t}\n36\t\n37\t// FallScenarioParams defines parameters for fall detection scenario\n38\ttype FallScenarioParams struct {\n39\t\tTriggerAfter time.Duration // Time before fall triggers\n40\t\tDescentDuration time.Duration // How long the fall takes\n41\t\tStillnessDuration time.Duration // How long to stay still after fall\n42\t\tMinVelocity float64 // Minimum Z velocity (m/s, negative for falling)\n43\t\tMinZDrop float64 // Minimum Z drop (meters)\n44\t\tEndZ float64 // Final Z height (meters, typically floor level)\n45\t}\n46\t\n47\t// OTAScenarioParams defines parameters for OTA update scenario\n48\ttype OTAScenarioParams struct {\n49\t\tUpdateAfter time.Duration // Time before OTA starts\n50\t\tFirmwareSize int64 // Size of firmware in bytes\n51\t\tNewVersion string // New firmware version\n52\t\tRebootDelay time.Duration // Delay before rebooting\n53\t\tBootFailDuration time.Duration // How long to simulate boot failure (for rollback test)\n54\t\tSimulateFailure bool // Whether to simulate a boot failure\n55\t}\n56\t\n57\t// FallScenarioState tracks fall scenario state for a walker\n58\ttype FallScenarioState struct {\n59\t\tWalker *Walker\n60\t\tState string // \"walking\", \"falling\", \"on_floor\", \"recovering\"\n61\t\tFallStartTime time.Time\n62\t\tPreFallPosition Point\n63\t\tPreFallVelocity Point\n64\t}\n65\t\n66\t// updateWalkerForFallScenario updates walker position for fall scenario\n67\tfunc (s *FallScenarioState) UpdateForFallScenario(dt float64, params FallScenarioParams, space *Space, rng *rand.Rand) {\n68\t\tswitch s.State {\n69\t\tcase \"walking\":\n70\t\t\t// Normal walking behavior\n71\t\t\ts.Walker.Position.X += s.Walker.Velocity.X * dt\n72\t\t\ts.Walker.Position.Y += s.Walker.Velocity.Y * dt\n73\t\n74\t\t\t// Bounce off walls\n75\t\t\tmargin := 0.2\n76\t\t\tif s.Walker.Position.X < margin {\n77\t\t\t\ts.Walker.Position.X = margin\n78\t\t\t\ts.Walker.Velocity.X *= -1\n79\t\t\t}\n80\t\t\tif s.Walker.Position.X > space.Width-margin {\n81\t\t\t\ts.Walker.Position.X = space.Width - margin\n82\t\t\t\ts.Walker.Velocity.X *= -1\n83\t\t\t}\n84\t\t\tif s.Walker.Position.Y < margin {\n85\t\t\t\ts.Walker.Position.Y = margin\n86\t\t\t\ts.Walker.Velocity.Y *= -1\n87\t\t\t}\n88\t\t\tif s.Walker.Position.Y > space.Depth-margin {\n89\t\t\t\ts.Walker.Position.Y = space.Depth - margin\n90\t\t\t\ts.Walker.Velocity.Y *= -1\n91\t\t\t}\n92\t\n93\t\t\t// Random velocity perturbation\n94\t\t\tperturbation := 0.1\n95\t\t\ts.Walker.Velocity.X += (rng.Float64() - 0.5) * perturbation\n96\t\t\ts.Walker.Velocity.Y += (rng.Float64() - 0.5) * perturbation\n97\t\n98\t\t\t// Clamp velocity\n99\t\t\tspeed := s.Walker.Speed * (0.5 + rng.Float64()*0.5)\n100\t\t\tcurrentSpeed := math.Sqrt(s.Walker.Velocity.X*s.Walker.Velocity.X + s.Walker.Velocity.Y*s.Walker.Velocity.Y)\n101\t\t\tif currentSpeed > 0 {\n102\t\t\t\ts.Walker.Velocity.X = (s.Walker.Velocity.X / currentSpeed) * speed\n103\t\t\t\ts.Walker.Velocity.Y = (s.Walker.Velocity.Y / currentSpeed) * speed\n104\t\t\t}\n105\t\n106\t\t\ts.Walker.Position.Z = s.Walker.Height\n107\t\n108\t\tcase \"falling\":\n109\t\t\t// Rapid Z descent with high downward velocity\n110\t\t\telapsed := time.Since(s.FallStartTime).Seconds()\n111\t\t\tprogress := elapsed / params.DescentDuration.Seconds()\n112\t\n113\t\t\tif progress >= 1.0 {\n114\t\t\t\t// Fall complete\n115\t\t\t\ts.State = \"on_floor\"\n116\t\t\t\ts.Walker.Position.Z = params.EndZ\n117\t\t\t\ts.Walker.Velocity.X = 0\n118\t\t\t\ts.Walker.Velocity.Y = 0\n119\t\t\t\ts.Walker.Velocity.Z = 0\n120\t\t\t\tlog.Printf(\"[SIM] Fall complete - Z now at %.2f m\", s.Walker.Position.Z)\n121\t\t\t} else {\n122\t\t\t\t// Animate fall\n123\t\t\t\tzDrop := s.PreFallPosition.Z - params.EndZ\n124\t\t\t\ts.Walker.Position.Z = s.PreFallPosition.Z - zDrop*progress\n125\t\n126\t\t\t\t// Downward velocity exceeds threshold\n127\t\t\t\ts.Walker.Velocity.Z = -math.Abs(params.MinVelocity) - 0.5 // Add margin\n128\t\n129\t\t\t\t// Slight forward motion during fall\n130\t\t\t\ts.Walker.Position.X += s.PreFallVelocity.X * dt * 0.5\n131\t\t\t\ts.Walker.Position.Y += s.PreFallVelocity.Y * dt * 0.5\n132\t\t\t}\n133\t\n134\t\tcase \"on_floor\":\n135\t\t\t// Stay still on floor - no motion\n136\t\t\ts.Walker.Position.Z = params.EndZ\n137\t\t\ts.Walker.Velocity.X = 0\n138\t\t\ts.Walker.Velocity.Y = 0\n139\t\t\ts.Walker.Velocity.Z = 0\n140\t\n141\t\tcase \"recovering\":\n142\t\t\t// Quick recovery (for false positive test)\n143\t\t\ts.Walker.Position.Z += 0.5 * dt // Stand up quickly\n144\t\t\tif s.Walker.Position.Z >= s.Walker.Height {\n145\t\t\t\ts.Walker.Position.Z = s.Walker.Height\n146\t\t\t\ts.State = \"walking\"\n147\t\t\t}\n148\t\t}\n149\t}\n150\t\n151\t// StartFall triggers the fall sequence\n152\tfunc (s *FallScenarioState) StartFall(params FallScenarioParams) {\n153\t\ts.PreFallPosition = s.Walker.Position\n154\t\ts.PreFallVelocity = s.Walker.Velocity\n155\t\ts.FallStartTime = time.Now()\n156\t\ts.State = \"falling\"\n157\t\tlog.Printf(\"[SIM] Triggering fall from Z=%.2f m with velocity %.2f m/s\",\n158\t\t\ts.Walker.Position.Z, params.MinVelocity)\n159\t}\n160\t\n161\t// OTAScenarioState tracks OTA scenario state for a node\n162\ttype OTAScenarioState struct {\n163\t\tNode *VirtualNode\n164\t\tState string // \"idle\", \"downloading\", \"installing\", \"rebooting\", \"updated\", \"rollback\"\n165\t\tCurrentVersion string\n166\t\tDownloadedBytes int64\n167\t\tDownloadStart time.Time\n168\t\tRebootStart time.Time\n169\t\tFailureStart time.Time\n170\t\tAllNodes []*VirtualNode\n171\t}\n172\t\n173\t// SendOTAStatus sends OTA status message to mothership\n174\tfunc (s *OTAScenarioState) SendOTAStatus(ctx context.Context) error {\n175\t\tstatus := map[string]interface{}{\n176\t\t\t\"type\": \"ota_status\",\n177\t\t\t\"mac\": macToString(s.Node.MAC),\n178\t\t\t\"timestamp_ms\": time.Now().UnixMilli(),\n179\t\t\t\"state\": s.State,\n180\t\t\t\"current_version\": s.CurrentVersion,\n181\t\t\t\"downloaded_bytes\": s.DownloadedBytes,\n182\t\t}\n183\t\n184\t\tmsgBytes, err := json.Marshal(status)\n185\t\tif err != nil {\n186\t\t\treturn err\n187\t\t}\n188\t\n189\t\ts.Node.mu.Lock()\n190\t\tdefer s.Node.mu.Unlock()\n191\t\treturn s.Node.Conn.WriteMessage(websocket.TextMessage, msgBytes)\n192\t}\n193\t\n194\t// SimulateOTADownload simulates the firmware download process\n195\tfunc (s *OTAScenarioState) SimulateOTADownload(ctx context.Context, params OTAScenarioParams, progress chan<- float64) error {\n196\t\ts.State = \"downloading\"\n197\t\ts.DownloadStart = time.Now()\n198\t\n199\t\tchunkSize := int64(4096) // 4KB chunks\n200\t\ttotalChunks := (params.FirmwareSize + chunkSize - 1) / chunkSize\n201\t\n202\t\tfor i := int64(0); i < totalChunks; i++ {\n203\t\t\tselect {\n204\t\t\tcase <-ctx.Done():\n205\t\t\t\treturn ctx.Err()\n206\t\t\tdefault:\n207\t\t\t}\n208\t\n209\t\t\t// Simulate download delay (100ms per chunk)\n210\t\t\ttime.Sleep(100 * time.Millisecond)\n211\t\n212\t\t\ts.DownloadedBytes = (i + 1) * chunkSize\n213\t\t\tif s.DownloadedBytes > params.FirmwareSize {\n214\t\t\t\ts.DownloadedBytes = params.FirmwareSize\n215\t\t\t}\n216\t\n217\t\t\tpct := float64(s.DownloadedBytes) / float64(params.FirmwareSize)\n218\t\t\tif progress != nil {\n219\t\t\t\tselect {\n220\t\t\t\tcase progress <- pct:\n221\t\t\t\tdefault:\n222\t\t\t\t}\n223\t\t\t}\n224\t\n225\t\t\t// Send status every 25%\n226\t\t\tif i%(totalChunks/4) == 0 || i == totalChunks-1 {\n227\t\t\t\tif err := s.SendOTAStatus(ctx); err != nil {\n228\t\t\t\t\treturn err\n229\t\t\t\t}\n230\t\t\t\tlog.Printf(\"[SIM] Node %d OTA download: %.1f%% (%d/%d bytes)\",\n231\t\t\t\t\ts.Node.ID, pct*100, s.DownloadedBytes, params.FirmwareSize)\n232\t\t\t}\n233\t\t}\n234\t\n235\t\ts.State = \"installing\"\n236\t\tif err := s.SendOTAStatus(ctx); err != nil {\n237\t\t\treturn err\n238\t\t}\n239\t\n240\t\treturn nil\n241\t}\n242\t\n243\t// SimulateOTAInstall simulates firmware installation\n244\tfunc (s *OTAScenarioState) SimulateOTAInstall(ctx context.Context, params OTAScenarioParams) error {\n245\t\tlog.Printf(\"[SIM] Node %d installing firmware %s...\", s.Node.ID, params.NewVersion)\n246\t\n247\t\t// Simulate installation time (2 seconds)\n248\t\ttime.Sleep(2 * time.Second)\n249\t\n250\t\ts.CurrentVersion = params.NewVersion\n251\t\ts.State = \"rebooting\"\n252\t\ts.RebootStart = time.Now()\n253\t\n254\t\tif err := s.SendOTAStatus(ctx); err != nil {\n255\t\t\treturn err\n256\t\t}\n257\t\n258\t\treturn nil\n259\t}\n260\t\n261\t// SimulateOTAReboot simulates the reboot process\n262\tfunc (s *OTAScenarioState) SimulateOTAReboot(ctx context.Context, params OTAScenarioParams) error {\n263\t\tlog.Printf(\"[SIM] Node %d rebooting...\", s.Node.ID)\n264\t\n265\t\t// Send goodbye\n266\t\ts.Node.mu.Lock()\n267\t\ts.Node.Conn.WriteMessage(websocket.CloseMessage,\n268\t\t\twebsocket.FormatCloseMessage(websocket.CloseNormalClosure, \"rebooting\"))\n269\t\ts.Node.Conn.Close()\n270\t\ts.Node.mu.Unlock()\n271\t\n272\t\t// Simulate reboot delay\n273\t\ttime.Sleep(params.RebootDelay)\n274\t\n275\t\tif params.SimulateFailure {\n276\t\t\t// Simulate boot failure\n277\t\t\tlog.Printf(\"[SIM] Node %d simulating boot failure...\", s.Node.ID)\n278\t\t\ts.State = \"rollback\"\n279\t\t\ts.FailureStart = time.Now()\n280\t\t\ttime.Sleep(params.BootFailDuration)\n281\t\n282\t\t\t// Rollback to previous version\n283\t\t\ts.CurrentVersion = \"sim-1.0.0\"\n284\t\t\tlog.Printf(\"[SIM] Node %d rolled back to %s\", s.Node.ID, s.CurrentVersion)\n285\t\t} else {\n286\t\t\t// Successful reboot\n287\t\t\ts.State = \"updated\"\n288\t\t\tlog.Printf(\"[SIM] Node %d reboot complete, version %s\", s.Node.ID, s.CurrentVersion)\n289\t\t}\n290\t\n291\t\treturn nil\n292\t}\n293\t\n294\t// reconnectNode reconnects a node to mothership after reboot\n295\tfunc reconnectNode(ctx context.Context, node *VirtualNode, allNodes []*VirtualNode) error {\n296\t\t// Reuse connection logic from main.go\n297\t\ttoken := *flagToken\n298\t\tif token == \"\" {\n299\t\t\tvar err error\n300\t\t\ttoken, err = provisionToken()\n301\t\t\tif err != nil {\n302\t\t\t\treturn err\n303\t\t\t}\n304\t\t}\n305\t\n306\t\twsURL, err := url.Parse(*flagMothership)\n307\t\tif err != nil {\n308\t\t\treturn err\n309\t\t}\n310\t\n311\t\tif wsURL.Scheme == \"http\" {\n312\t\t\twsURL.Scheme = \"ws\"\n313\t\t} else if wsURL.Scheme == \"https\" {\n314\t\t\twsURL.Scheme = \"wss\"\n315\t\t}\n316\t\n317\t\theaders := http.Header{}\n318\t\theaders.Set(\"X-Spaxel-Token\", token)\n319\t\n320\t\tconn, resp, err := websocket.DefaultDialer.DialContext(ctx, wsURL.String(), headers)\n321\t\tif err != nil {\n322\t\t\tif resp != nil {\n323\t\t\t\treturn fmt.Errorf(\"dial failed: %w (status %d)\", err, resp.StatusCode)\n324\t\t\t}\n325\t\t\treturn fmt.Errorf(\"dial failed: %w\", err)\n326\t\t}\n327\t\n328\t\tnode.Conn = conn\n329\t\n330\t\t// Send hello with new version\n331\t\thello := map[string]interface{}{\n332\t\t\t\"type\": \"hello\",\n333\t\t\t\"mac\": macToString(node.MAC),\n334\t\t\t\"firmware_version\": \"sim-1.1.0\",\n335\t\t\t\"capabilities\": []string{\"csi\", \"tx\", \"rx\"},\n336\t\t\t\"chip\": \"ESP32-S3\",\n337\t\t\t\"flash_mb\": 16,\n338\t\t\t\"uptime_ms\": 1000,\n339\t\t\t\"wifi_rssi\": -45,\n340\t\t\t\"ip\": fmt.Sprintf(\"127.0.0.%d\", node.ID+2),\n341\t\t}\n342\t\n343\t\thelloBytes, _ := json.Marshal(hello)\n344\t\tnode.mu.Lock()\n345\t\terr = conn.WriteMessage(websocket.TextMessage, helloBytes)\n346\t\tnode.mu.Unlock()\n347\t\n348\t\tif err != nil {\n349\t\t\tconn.Close()\n350\t\t\treturn err\n351\t\t}\n352\t\n353\t\t// Wait for role assignment\n354\t\tconn.SetReadDeadline(time.Now().Add(10 * time.Second))\n355\t\t_, message, err := conn.ReadMessage()\n356\t\tif err != nil {\n357\t\t\tconn.Close()\n358\t\t\treturn err\n359\t\t}\n360\t\n361\t\tvar roleMsg map[string]interface{}\n362\t\tjson.Unmarshal(message, &roleMsg)\n363\t\n364\t\tlog.Printf(\"[SIM] Node %d reconnected, role: %v\", node.ID, roleMsg[\"role\"])\n365\t\n366\t\treturn nil\n367\t}\n368\t"}]},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"38a23551-12bf-4229-8d60-c0caeb29d673","timestamp":"2026-05-06T02:33:57.484Z","tool_use_result":{"type":"text","file":{"filePath":"/home/coding/spaxel/mothership/cmd/sim/scenario.go","content":"// Package main provides scenario simulation modes for acceptance testing.\npackage main\n\nimport (\n\t\"context\"\n\t\"encoding/json\"\n\t\"fmt\"\n\t\"log\"\n\t\"math\"\n\t\"math/rand\"\n\t\"net/http\"\n\t\"net/url\"\n\t\"time\"\n\n\t\"github.com/gorilla/websocket\"\n)\n\n// ScenarioType defines the type of scenario to simulate\ntype ScenarioType string\n\nconst (\n\tScenarioNormal ScenarioType = \"normal\"\n\tScenarioFall ScenarioType = \"fall\"\n\tScenarioOTA ScenarioType = \"ota\"\n\tScenarioBagOnCouch ScenarioType = \"bag-on-couch\"\n)\n\n// ScenarioConfig holds scenario-specific configuration\ntype ScenarioConfig struct {\n\tType ScenarioType\n\tFallParams FallScenarioParams\n\tOTAParams OTAScenarioParams\n\tStartedAt time.Time\n\tPhase string // for multi-phase scenarios\n}\n\n// FallScenarioParams defines parameters for fall detection scenario\ntype FallScenarioParams struct {\n\tTriggerAfter time.Duration // Time before fall triggers\n\tDescentDuration time.Duration // How long the fall takes\n\tStillnessDuration time.Duration // How long to stay still after fall\n\tMinVelocity float64 // Minimum Z velocity (m/s, negative for falling)\n\tMinZDrop float64 // Minimum Z drop (meters)\n\tEndZ float64 // Final Z height (meters, typically floor level)\n}\n\n// OTAScenarioParams defines parameters for OTA update scenario\ntype OTAScenarioParams struct {\n\tUpdateAfter time.Duration // Time before OTA starts\n\tFirmwareSize int64 // Size of firmware in bytes\n\tNewVersion string // New firmware version\n\tRebootDelay time.Duration // Delay before rebooting\n\tBootFailDuration time.Duration // How long to simulate boot failure (for rollback test)\n\tSimulateFailure bool // Whether to simulate a boot failure\n}\n\n// FallScenarioState tracks fall scenario state for a walker\ntype FallScenarioState struct {\n\tWalker *Walker\n\tState string // \"walking\", \"falling\", \"on_floor\", \"recovering\"\n\tFallStartTime time.Time\n\tPreFallPosition Point\n\tPreFallVelocity Point\n}\n\n// updateWalkerForFallScenario updates walker position for fall scenario\nfunc (s *FallScenarioState) UpdateForFallScenario(dt float64, params FallScenarioParams, space *Space, rng *rand.Rand) {\n\tswitch s.State {\n\tcase \"walking\":\n\t\t// Normal walking behavior\n\t\ts.Walker.Position.X += s.Walker.Velocity.X * dt\n\t\ts.Walker.Position.Y += s.Walker.Velocity.Y * dt\n\n\t\t// Bounce off walls\n\t\tmargin := 0.2\n\t\tif s.Walker.Position.X < margin {\n\t\t\ts.Walker.Position.X = margin\n\t\t\ts.Walker.Velocity.X *= -1\n\t\t}\n\t\tif s.Walker.Position.X > space.Width-margin {\n\t\t\ts.Walker.Position.X = space.Width - margin\n\t\t\ts.Walker.Velocity.X *= -1\n\t\t}\n\t\tif s.Walker.Position.Y < margin {\n\t\t\ts.Walker.Position.Y = margin\n\t\t\ts.Walker.Velocity.Y *= -1\n\t\t}\n\t\tif s.Walker.Position.Y > space.Depth-margin {\n\t\t\ts.Walker.Position.Y = space.Depth - margin\n\t\t\ts.Walker.Velocity.Y *= -1\n\t\t}\n\n\t\t// Random velocity perturbation\n\t\tperturbation := 0.1\n\t\ts.Walker.Velocity.X += (rng.Float64() - 0.5) * perturbation\n\t\ts.Walker.Velocity.Y += (rng.Float64() - 0.5) * perturbation\n\n\t\t// Clamp velocity\n\t\tspeed := s.Walker.Speed * (0.5 + rng.Float64()*0.5)\n\t\tcurrentSpeed := math.Sqrt(s.Walker.Velocity.X*s.Walker.Velocity.X + s.Walker.Velocity.Y*s.Walker.Velocity.Y)\n\t\tif currentSpeed > 0 {\n\t\t\ts.Walker.Velocity.X = (s.Walker.Velocity.X / currentSpeed) * speed\n\t\t\ts.Walker.Velocity.Y = (s.Walker.Velocity.Y / currentSpeed) * speed\n\t\t}\n\n\t\ts.Walker.Position.Z = s.Walker.Height\n\n\tcase \"falling\":\n\t\t// Rapid Z descent with high downward velocity\n\t\telapsed := time.Since(s.FallStartTime).Seconds()\n\t\tprogress := elapsed / params.DescentDuration.Seconds()\n\n\t\tif progress >= 1.0 {\n\t\t\t// Fall complete\n\t\t\ts.State = \"on_floor\"\n\t\t\ts.Walker.Position.Z = params.EndZ\n\t\t\ts.Walker.Velocity.X = 0\n\t\t\ts.Walker.Velocity.Y = 0\n\t\t\ts.Walker.Velocity.Z = 0\n\t\t\tlog.Printf(\"[SIM] Fall complete - Z now at %.2f m\", s.Walker.Position.Z)\n\t\t} else {\n\t\t\t// Animate fall\n\t\t\tzDrop := s.PreFallPosition.Z - params.EndZ\n\t\t\ts.Walker.Position.Z = s.PreFallPosition.Z - zDrop*progress\n\n\t\t\t// Downward velocity exceeds threshold\n\t\t\ts.Walker.Velocity.Z = -math.Abs(params.MinVelocity) - 0.5 // Add margin\n\n\t\t\t// Slight forward motion during fall\n\t\t\ts.Walker.Position.X += s.PreFallVelocity.X * dt * 0.5\n\t\t\ts.Walker.Position.Y += s.PreFallVelocity.Y * dt * 0.5\n\t\t}\n\n\tcase \"on_floor\":\n\t\t// Stay still on floor - no motion\n\t\ts.Walker.Position.Z = params.EndZ\n\t\ts.Walker.Velocity.X = 0\n\t\ts.Walker.Velocity.Y = 0\n\t\ts.Walker.Velocity.Z = 0\n\n\tcase \"recovering\":\n\t\t// Quick recovery (for false positive test)\n\t\ts.Walker.Position.Z += 0.5 * dt // Stand up quickly\n\t\tif s.Walker.Position.Z >= s.Walker.Height {\n\t\t\ts.Walker.Position.Z = s.Walker.Height\n\t\t\ts.State = \"walking\"\n\t\t}\n\t}\n}\n\n// StartFall triggers the fall sequence\nfunc (s *FallScenarioState) StartFall(params FallScenarioParams) {\n\ts.PreFallPosition = s.Walker.Position\n\ts.PreFallVelocity = s.Walker.Velocity\n\ts.FallStartTime = time.Now()\n\ts.State = \"falling\"\n\tlog.Printf(\"[SIM] Triggering fall from Z=%.2f m with velocity %.2f m/s\",\n\t\ts.Walker.Position.Z, params.MinVelocity)\n}\n\n// OTAScenarioState tracks OTA scenario state for a node\ntype OTAScenarioState struct {\n\tNode *VirtualNode\n\tState string // \"idle\", \"downloading\", \"installing\", \"rebooting\", \"updated\", \"rollback\"\n\tCurrentVersion string\n\tDownloadedBytes int64\n\tDownloadStart time.Time\n\tRebootStart time.Time\n\tFailureStart time.Time\n\tAllNodes []*VirtualNode\n}\n\n// SendOTAStatus sends OTA status message to mothership\nfunc (s *OTAScenarioState) SendOTAStatus(ctx context.Context) error {\n\tstatus := map[string]interface{}{\n\t\t\"type\": \"ota_status\",\n\t\t\"mac\": macToString(s.Node.MAC),\n\t\t\"timestamp_ms\": time.Now().UnixMilli(),\n\t\t\"state\": s.State,\n\t\t\"current_version\": s.CurrentVersion,\n\t\t\"downloaded_bytes\": s.DownloadedBytes,\n\t}\n\n\tmsgBytes, err := json.Marshal(status)\n\tif err != nil {\n\t\treturn err\n\t}\n\n\ts.Node.mu.Lock()\n\tdefer s.Node.mu.Unlock()\n\treturn s.Node.Conn.WriteMessage(websocket.TextMessage, msgBytes)\n}\n\n// SimulateOTADownload simulates the firmware download process\nfunc (s *OTAScenarioState) SimulateOTADownload(ctx context.Context, params OTAScenarioParams, progress chan<- float64) error {\n\ts.State = \"downloading\"\n\ts.DownloadStart = time.Now()\n\n\tchunkSize := int64(4096) // 4KB chunks\n\ttotalChunks := (params.FirmwareSize + chunkSize - 1) / chunkSize\n\n\tfor i := int64(0); i < totalChunks; i++ {\n\t\tselect {\n\t\tcase <-ctx.Done():\n\t\t\treturn ctx.Err()\n\t\tdefault:\n\t\t}\n\n\t\t// Simulate download delay (100ms per chunk)\n\t\ttime.Sleep(100 * time.Millisecond)\n\n\t\ts.DownloadedBytes = (i + 1) * chunkSize\n\t\tif s.DownloadedBytes > params.FirmwareSize {\n\t\t\ts.DownloadedBytes = params.FirmwareSize\n\t\t}\n\n\t\tpct := float64(s.DownloadedBytes) / float64(params.FirmwareSize)\n\t\tif progress != nil {\n\t\t\tselect {\n\t\t\tcase progress <- pct:\n\t\t\tdefault:\n\t\t\t}\n\t\t}\n\n\t\t// Send status every 25%\n\t\tif i%(totalChunks/4) == 0 || i == totalChunks-1 {\n\t\t\tif err := s.SendOTAStatus(ctx); err != nil {\n\t\t\t\treturn err\n\t\t\t}\n\t\t\tlog.Printf(\"[SIM] Node %d OTA download: %.1f%% (%d/%d bytes)\",\n\t\t\t\ts.Node.ID, pct*100, s.DownloadedBytes, params.FirmwareSize)\n\t\t}\n\t}\n\n\ts.State = \"installing\"\n\tif err := s.SendOTAStatus(ctx); err != nil {\n\t\treturn err\n\t}\n\n\treturn nil\n}\n\n// SimulateOTAInstall simulates firmware installation\nfunc (s *OTAScenarioState) SimulateOTAInstall(ctx context.Context, params OTAScenarioParams) error {\n\tlog.Printf(\"[SIM] Node %d installing firmware %s...\", s.Node.ID, params.NewVersion)\n\n\t// Simulate installation time (2 seconds)\n\ttime.Sleep(2 * time.Second)\n\n\ts.CurrentVersion = params.NewVersion\n\ts.State = \"rebooting\"\n\ts.RebootStart = time.Now()\n\n\tif err := s.SendOTAStatus(ctx); err != nil {\n\t\treturn err\n\t}\n\n\treturn nil\n}\n\n// SimulateOTAReboot simulates the reboot process\nfunc (s *OTAScenarioState) SimulateOTAReboot(ctx context.Context, params OTAScenarioParams) error {\n\tlog.Printf(\"[SIM] Node %d rebooting...\", s.Node.ID)\n\n\t// Send goodbye\n\ts.Node.mu.Lock()\n\ts.Node.Conn.WriteMessage(websocket.CloseMessage,\n\t\twebsocket.FormatCloseMessage(websocket.CloseNormalClosure, \"rebooting\"))\n\ts.Node.Conn.Close()\n\ts.Node.mu.Unlock()\n\n\t// Simulate reboot delay\n\ttime.Sleep(params.RebootDelay)\n\n\tif params.SimulateFailure {\n\t\t// Simulate boot failure\n\t\tlog.Printf(\"[SIM] Node %d simulating boot failure...\", s.Node.ID)\n\t\ts.State = \"rollback\"\n\t\ts.FailureStart = time.Now()\n\t\ttime.Sleep(params.BootFailDuration)\n\n\t\t// Rollback to previous version\n\t\ts.CurrentVersion = \"sim-1.0.0\"\n\t\tlog.Printf(\"[SIM] Node %d rolled back to %s\", s.Node.ID, s.CurrentVersion)\n\t} else {\n\t\t// Successful reboot\n\t\ts.State = \"updated\"\n\t\tlog.Printf(\"[SIM] Node %d reboot complete, version %s\", s.Node.ID, s.CurrentVersion)\n\t}\n\n\treturn nil\n}\n\n// reconnectNode reconnects a node to mothership after reboot\nfunc reconnectNode(ctx context.Context, node *VirtualNode, allNodes []*VirtualNode) error {\n\t// Reuse connection logic from main.go\n\ttoken := *flagToken\n\tif token == \"\" {\n\t\tvar err error\n\t\ttoken, err = provisionToken()\n\t\tif err != nil {\n\t\t\treturn err\n\t\t}\n\t}\n\n\twsURL, err := url.Parse(*flagMothership)\n\tif err != nil {\n\t\treturn err\n\t}\n\n\tif wsURL.Scheme == \"http\" {\n\t\twsURL.Scheme = \"ws\"\n\t} else if wsURL.Scheme == \"https\" {\n\t\twsURL.Scheme = \"wss\"\n\t}\n\n\theaders := http.Header{}\n\theaders.Set(\"X-Spaxel-Token\", token)\n\n\tconn, resp, err := websocket.DefaultDialer.DialContext(ctx, wsURL.String(), headers)\n\tif err != nil {\n\t\tif resp != nil {\n\t\t\treturn fmt.Errorf(\"dial failed: %w (status %d)\", err, resp.StatusCode)\n\t\t}\n\t\treturn fmt.Errorf(\"dial failed: %w\", err)\n\t}\n\n\tnode.Conn = conn\n\n\t// Send hello with new version\n\thello := map[string]interface{}{\n\t\t\"type\": \"hello\",\n\t\t\"mac\": macToString(node.MAC),\n\t\t\"firmware_version\": \"sim-1.1.0\",\n\t\t\"capabilities\": []string{\"csi\", \"tx\", \"rx\"},\n\t\t\"chip\": \"ESP32-S3\",\n\t\t\"flash_mb\": 16,\n\t\t\"uptime_ms\": 1000,\n\t\t\"wifi_rssi\": -45,\n\t\t\"ip\": fmt.Sprintf(\"127.0.0.%d\", node.ID+2),\n\t}\n\n\thelloBytes, _ := json.Marshal(hello)\n\tnode.mu.Lock()\n\terr = conn.WriteMessage(websocket.TextMessage, helloBytes)\n\tnode.mu.Unlock()\n\n\tif err != nil {\n\t\tconn.Close()\n\t\treturn err\n\t}\n\n\t// Wait for role assignment\n\tconn.SetReadDeadline(time.Now().Add(10 * time.Second))\n\t_, message, err := conn.ReadMessage()\n\tif err != nil {\n\t\tconn.Close()\n\t\treturn err\n\t}\n\n\tvar roleMsg map[string]interface{}\n\tjson.Unmarshal(message, &roleMsg)\n\n\tlog.Printf(\"[SIM] Node %d reconnected, role: %v\", node.ID, roleMsg[\"role\"])\n\n\treturn nil\n}\n","numLines":368,"startLine":1,"totalLines":368}}} +{"type":"user","message":{"role":"user","content":[{"tool_use_id":"call_83431d3be7ae41bca777b69e","type":"tool_result","content":"1\t// Command sim is a CSI simulator CLI for testing Spaxel without hardware.\n2\t// It connects to a running mothership via WebSocket and streams synthetic CSI data.\n3\tpackage main\n4\t\n5\timport (\n6\t\t\"context\"\n7\t\t\"crypto/hmac\"\n8\t\t\"crypto/sha256\"\n9\t\t\"encoding/json\"\n10\t\t\"flag\"\n11\t\t\"fmt\"\n12\t\t\"io\"\n13\t\t\"log\"\n14\t\t\"math\"\n15\t\t\"math/rand\"\n16\t\t\"net/http\"\n17\t\t\"net/url\"\n18\t\t\"os\"\n19\t\t\"os/signal\"\n20\t\t\"strconv\"\n21\t\t\"strings\"\n22\t\t\"sync\"\n23\t\t\"sync/atomic\"\n24\t\t\"time\"\n25\t\n26\t\t\"github.com/gorilla/websocket\"\n27\t)\n28\t\n29\tconst (\n30\t\t// CSI frame header size (24 bytes) — matches ingestion/frame.go\n31\t\theaderSize = 24\n32\t\n33\t\t// Default values\n34\t\tdefaultMothership = \"ws://localhost:8080/ws/node\"\n35\t\tdefaultNodes = 2\n36\t\tdefaultWalkers = 1\n37\t\tdefaultRate = 20 // Hz\n38\t\tdefaultDuration = 60 // seconds\n39\t\tdefaultChannel = 6 // 2.4 GHz channel 6\n40\t\tdefaultSeed = 0 // random seed (0 = use current time)\n41\t\tdefaultSpace = \"5x5x2.5\" // room dimensions\n42\t\tdefaultNoiseSigma = 0.005\n43\t)\n44\t\n45\tvar (\n46\t\t// CLI flags\n47\t\tflagMothership = flag.String(\"mothership\", defaultMothership, \"URL of the mothership WebSocket endpoint\")\n48\t\tflagToken = flag.String(\"token\", \"\", \"Provisioning token (auto-generated if empty)\")\n49\t\tflagNodes = flag.Int(\"nodes\", defaultNodes, \"Number of virtual nodes\")\n50\t\tflagWalkers = flag.Int(\"walkers\", defaultWalkers, \"Number of synthetic walkers\")\n51\t\tflagRate = flag.Int(\"rate\", defaultRate, \"CSI transmission rate in Hz per node pair\")\n52\t\tflagDuration = flag.Int(\"duration\", defaultDuration, \"Total run time in seconds (0 = run until Ctrl+C)\")\n53\t\tflagSeed = flag.Int64(\"seed\", defaultSeed, \"Random seed for reproducible walker paths\")\n54\t\tflagSpace = flag.String(\"space\", defaultSpace, \"Room dimensions in WxDxH format (meters)\")\n55\t\tflagBLE = flag.Bool(\"ble\", false, \"Include synthetic BLE advertisements\")\n56\t\tflagVerify = flag.Bool(\"verify\", false, \"Verify blob detection after duration\")\n57\t\tflagNoiseSigma = flag.Float64(\"noise-sigma\", defaultNoiseSigma, \"Gaussian noise standard deviation for I/Q\")\n58\t\tflagOutputCSV = flag.String(\"output-csv\", \"\", \"Write ground truth to CSV file\")\n59\t\tflagChannel = flag.Int(\"channel\", defaultChannel, \"WiFi channel (1-14 for 2.4 GHz)\")\n60\t\tflagWalkerType = flag.String(\"walker-type\", \"random\", \"Walker type: random, path, node-to-node\")\n61\t\tflagPathFile = flag.String(\"path-file\", \"\", \"JSON file containing walker paths\")\n62\t\n63\t\t// Scenario flags\n64\t\tflagScenario = flag.String(\"scenario\", \"normal\", \"Scenario type: normal, fall, ota, bag-on-couch\")\n65\t\tflagFallDelay = flag.Duration(\"fall-delay\", 5*time.Second, \"Delay before fall triggers (fall scenario)\")\n66\t\tflagFallDuration = flag.Duration(\"fall-duration\", 800*time.Millisecond, \"Fall duration (fall scenario)\")\n67\t\tflagStillness = flag.Duration(\"stillness\", 15*time.Second, \"Stillness duration after fall (fall scenario)\")\n68\t\tflagOTAVersion = flag.String(\"ota-version\", \"sim-1.1.0\", \"Target firmware version (OTA scenario)\")\n69\t\tflagOTASize = flag.Int64(\"ota-size\", 1024*1024, \"Firmware size in bytes (OTA scenario)\")\n70\t\tflagOTAFailure = flag.Bool(\"ota-failure\", false, \"Simulate OTA boot failure for rollback (OTA scenario)\")\n71\t)\n72\t\n73\t// walls is populated from repeated --wall flags\n74\tvar walls []Wall\n75\t\n76\t// addWall is a custom flag value for repeated --wall flags\n77\ttype wallFlag struct{}\n78\t\n79\tfunc (w *wallFlag) String() string { return \"\" }\n80\tfunc (w *wallFlag) Set(value string) error {\n81\t\t// Format: x1,y1,x2,y2[:material]\n82\t\tparts := strings.Split(value, \",\")\n83\t\tif len(parts) < 4 {\n84\t\t\treturn fmt.Errorf(\"expected x1,y1,x2,y2[:material] format, got: %s\", value)\n85\t\t}\n86\t\tx1, err := strconv.ParseFloat(parts[0], 64)\n87\t\tif err != nil {\n88\t\t\treturn fmt.Errorf(\"invalid x1: %w\", err)\n89\t\t}\n90\t\ty1, err := strconv.ParseFloat(parts[1], 64)\n91\t\tif err != nil {\n92\t\t\treturn fmt.Errorf(\"invalid y1: %w\", err)\n93\t\t}\n94\t\tx2, err := strconv.ParseFloat(parts[2], 64)\n95\t\tif err != nil {\n96\t\t\treturn fmt.Errorf(\"invalid x2: %w\", err)\n97\t\t}\n98\t\ty2, err := strconv.ParseFloat(parts[3], 64)\n99\t\tif err != nil {\n100\t\t\treturn fmt.Errorf(\"invalid y2: %w\", err)\n101\t\t}\n102\t\n103\t\t// Parse material (default: drywall)\n104\t\tmaterial := MaterialDrywall\n105\t\tattenuation := 3.0\n106\t\tif len(parts) >= 5 {\n107\t\t\tmaterial = WallMaterial(strings.ToLower(parts[4]))\n108\t\t\tswitch material {\n109\t\t\tcase MaterialDrywall:\n110\t\t\t\tattenuation = 3.0\n111\t\t\tcase MaterialBrick, MaterialConcrete:\n112\t\t\t\tattenuation = 10.0\n113\t\t\tcase MaterialGlass:\n114\t\t\t\tattenuation = 2.0\n115\t\t\tcase MaterialMetal:\n116\t\t\t\tattenuation = 20.0\n117\t\t\tdefault:\n118\t\t\t\treturn fmt.Errorf(\"unknown material: %s (use: drywall, brick, concrete, glass, metal)\", parts[4])\n119\t\t\t}\n120\t\t}\n121\t\n122\t\twalls = append(walls, Wall{X1: x1, Y1: y1, X2: x2, Y2: y2, Material: material, Attenuation: attenuation})\n123\t\treturn nil\n124\t}\n125\t\n126\t// VirtualNode represents a simulated ESP32 node\n127\ttype VirtualNode struct {\n128\t\tID int\n129\t\tMAC [6]byte\n130\t\tPosition Point\n131\t\tRole string // \"tx\", \"rx\", or \"tx_rx\"\n132\t\tConn *websocket.Conn\n133\t\tmu sync.Mutex\n134\t}\n135\t\n136\t// WalkerType defines how a walker moves\n137\ttype WalkerType string\n138\t\n139\tconst (\n140\t\tWalkerTypeRandomWalk WalkerType = \"random\"\n141\t\tWalkerTypePathFollow WalkerType = \"path\"\n142\t\tWalkerTypeNodeToNode WalkerType = \"node-to-node\"\n143\t)\n144\t\n145\t// Walker represents a simulated person\n146\ttype Walker struct {\n147\t\tID int\n148\t\tPosition Point\n149\t\tVelocity Point\n150\t\tSpeed float64\n151\t\tHeight float64\n152\t\tType WalkerType\n153\t\tPath []Point // For path-following mode\n154\t\tPathIdx int // Current position along path\n155\t\tNodes []*VirtualNode // For node-to-node mode\n156\t\tNodeIdx int // Current target node index\n157\t}\n158\t\n159\t// Point represents a 3D position\n160\ttype Point struct {\n161\t\tX, Y, Z float64\n162\t}\n163\t\n164\t// Space represents the room dimensions\n165\ttype Space struct {\n166\t\tWidth, Depth, Height float64\n167\t}\n168\t\n169\t// WallMaterial defines the type of wall material\n170\ttype WallMaterial string\n171\t\n172\tconst (\n173\t\tMaterialDrywall WallMaterial = \"drywall\"\n174\t\tMaterialBrick WallMaterial = \"brick\"\n175\t\tMaterialConcrete WallMaterial = \"concrete\"\n176\t\tMaterialGlass WallMaterial = \"glass\"\n177\t\tMaterialMetal WallMaterial = \"metal\"\n178\t)\n179\t\n180\t// Wall represents a wall segment with material properties\n181\ttype Wall struct {\n182\t\tX1, Y1, X2, Y2 float64\n183\t\tMaterial WallMaterial\n184\t\tAttenuation float64 // dB loss\n185\t}\n186\t\n187\t// Stats tracks simulation statistics\n188\ttype Stats struct {\n189\t\tFramesSent atomic.Int64\n190\t\tFramesPerSec float64\n191\t\tStartTime time.Time\n192\t\tLastStatsTime time.Time\n193\t\tLastFramesSent int64\n194\t}\n195\t\n196\tfunc main() {\n197\t\tflag.Var(&wallFlag{}, \"wall\", \"Add a wall as x1,y1,x2,y2 (can be repeated)\")\n198\t\tflag.Parse()\n199\t\n200\t\tlog.SetFlags(log.Ldate | log.Ltime | log.Lmicroseconds)\n201\t\tlog.Printf(\"[SIM] CSI Simulator CLI starting\")\n202\t\n203\t\t// Parse space dimensions\n204\t\tspace, err := parseSpace(*flagSpace)\n205\t\tif err != nil {\n206\t\t\tlog.Fatalf(\"[SIM] Invalid space dimensions: %v\", err)\n207\t\t}\n208\t\n209\t\t// Initialize random seed\n210\t\tif *flagSeed == 0 {\n211\t\t\t*flagSeed = time.Now().UnixNano()\n212\t\t}\n213\t\trng := rand.New(rand.NewSource(*flagSeed))\n214\t\tlog.Printf(\"[SIM] Random seed: %d\", *flagSeed)\n215\t\n216\t\t// Validate channel\n217\t\tif *flagChannel < 1 || *flagChannel > 14 {\n218\t\t\tlog.Fatalf(\"[SIM] Invalid channel: %d (must be 1-14)\", *flagChannel)\n219\t\t}\n220\t\n221\t\t// Create virtual nodes\n222\t\tnodes := createVirtualNodes(*flagNodes, space, rng)\n223\t\n224\t\t// Create walkers (may be nil for node-to-node mode)\n225\t\twalkers := createWalkers(*flagWalkers, space, rng)\n226\t\n227\t\t// For node-to-node mode, create walkers after nodes exist\n228\t\tif WalkerType(*flagWalkerType) == WalkerTypeNodeToNode {\n229\t\t\twalkers = createNodeToNodeWalkers(*flagWalkers, nodes)\n230\t\t}\n231\t\n232\t\tlog.Printf(\"[SIM] Configuration:\")\n233\t\tlog.Printf(\"[SIM] Mothership: %s\", *flagMothership)\n234\t\tlog.Printf(\"[SIM] Scenario: %s\", *flagScenario)\n235\t\tlog.Printf(\"[SIM] Nodes: %d\", *flagNodes)\n236\t\tlog.Printf(\"[SIM] Walkers: %d\", *flagWalkers)\n237\t\tlog.Printf(\"[SIM] Rate: %d Hz\", *flagRate)\n238\t\tlog.Printf(\"[SIM] Duration: %d s\", *flagDuration)\n239\t\tlog.Printf(\"[SIM] Space: %.1fx%.1fx%.1f m\", space.Width, space.Depth, space.Height)\n240\t\tlog.Printf(\"[SIM] Walls: %d\", len(walls))\n241\t\tlog.Printf(\"[SIM] BLE: %v\", *flagBLE)\n242\t\n243\t\t// Create scenario configuration\n244\t\tscenarioConfig := &ScenarioConfig{\n245\t\t\tType: ScenarioType(*flagScenario),\n246\t\t\tStartedAt: time.Now(),\n247\t\t\tFallParams: FallScenarioParams{\n248\t\t\t\tTriggerAfter: *flagFallDelay,\n249\t\t\t\tDescentDuration: *flagFallDuration,\n250\t\t\t\tStillnessDuration: *flagStillness,\n251\t\t\t\tMinVelocity: -1.5, // Below -1.5 m/s threshold\n252\t\t\t\tMinZDrop: 0.8, // At least 0.8m drop\n253\t\t\t\tEndZ: 0.3, // Floor level\n254\t\t\t},\n255\t\t\tOTAParams: OTAScenarioParams{\n256\t\t\t\tUpdateAfter: 10 * time.Second,\n257\t\t\t\tFirmwareSize: *flagOTASize,\n258\t\t\t\tNewVersion: *flagOTAVersion,\n259\t\t\t\tRebootDelay: 3 * time.Second,\n260\t\t\t\tBootFailDuration: 30 * time.Second,\n261\t\t\t\tSimulateFailure: *flagOTAFailure,\n262\t\t\t},\n263\t\t}\n264\t\n265\t\t// Create context for shutdown\n266\t\tctx, cancel := context.WithCancel(context.Background())\n267\t\tdefer cancel()\n268\t\n269\t\t// Handle interrupt signal\n270\t\tsigChan := make(chan os.Signal, 1)\n271\t\tsignal.Notify(sigChan, os.Interrupt)\n272\t\n273\t\t// Open CSV writer if specified\n274\t\tvar csvWriter *CSVWriter\n275\t\tif *flagOutputCSV != \"\" {\n276\t\t\tcsvWriter, err = NewCSVWriter(*flagOutputCSV)\n277\t\t\tif err != nil {\n278\t\t\t\tlog.Fatalf(\"[SIM] Failed to open CSV file: %v\", err)\n279\t\t\t}\n280\t\t\tdefer func() { _ = csvWriter.Close() }() //nolint:errcheck\n281\t\t\tlog.Printf(\"[SIM] Writing ground truth to %s\", *flagOutputCSV)\n282\t\t}\n283\t\n284\t\t// Start statistics reporter\n285\t\tstats := &Stats{StartTime: time.Now()}\n286\t\tgo reportStats(ctx, stats)\n287\t\n288\t\t// Connect all nodes to mothership\n289\t\tif err := connectNodes(ctx, nodes); err != nil {\n290\t\t\tlog.Fatalf(\"[SIM] Failed to connect nodes: %v\", err)\n291\t\t}\n292\t\tdefer closeAllNodes(nodes)\n293\t\n294\t\t// Main simulation loop\n295\t\tsimulationComplete := make(chan struct{})\n296\t\tgo runSimulation(ctx, nodes, walkers, space, rng, csvWriter, stats, simulationComplete, scenarioConfig)\n297\t\n298\t\t// Wait for completion or interrupt\n299\t\tvar durationTimer <-chan time.Time\n300\t\tif *flagDuration > 0 {\n301\t\t\tdurationTimer = time.After(time.Duration(*flagDuration) * time.Second)\n302\t\t} else {\n303\t\t\t// Never timeout if duration is 0\n304\t\t\tdurationTimer = make(chan time.Time)\n305\t\t}\n306\t\n307\t\tselect {\n308\t\tcase <-simulationComplete:\n309\t\t\tlog.Printf(\"[SIM] Simulation completed\")\n310\t\tcase <-sigChan:\n311\t\t\tlog.Printf(\"[SIM] Interrupted by user\")\n312\t\t\tcancel()\n313\t\tcase <-durationTimer:\n314\t\t\tlog.Printf(\"[SIM] Duration elapsed\")\n315\t\t\tcancel()\n316\t\t}\n317\t\n318\t\t// Verify blob count if requested\n319\t\tif *flagVerify {\n320\t\t\tif err := verifyBlobs(*flagWalkers, walkers, space); err != nil {\n321\t\t\t\tlog.Printf(\"[SIM] Verification FAILED: %v\", err)\n322\t\t\t\tos.Exit(1)\n323\t\t\t}\n324\t\t\tlog.Printf(\"[SIM] Verification PASSED\")\n325\t\t}\n326\t\n327\t\t// Print final statistics\n328\t\tprintFinalStats(stats, len(walkers))\n329\t}\n330\t\n331\t// parseSpace parses space dimensions from WxDxH format\n332\tfunc parseSpace(s string) (*Space, error) {\n333\t\tparts := strings.Split(s, \"x\")\n334\t\tif len(parts) != 3 {\n335\t\t\treturn nil, fmt.Errorf(\"expected WxDxH format, got: %s\", s)\n336\t\t}\n337\t\twidth, err := strconv.ParseFloat(parts[0], 64)\n338\t\tif err != nil {\n339\t\t\treturn nil, fmt.Errorf(\"invalid width: %w\", err)\n340\t\t}\n341\t\tdepth, err := strconv.ParseFloat(parts[1], 64)\n342\t\tif err != nil {\n343\t\t\treturn nil, fmt.Errorf(\"invalid depth: %w\", err)\n344\t\t}\n345\t\theight, err := strconv.ParseFloat(parts[2], 64)\n346\t\tif err != nil {\n347\t\t\treturn nil, fmt.Errorf(\"invalid height: %w\", err)\n348\t\t}\n349\t\treturn &Space{Width: width, Depth: depth, Height: height}, nil\n350\t}\n351\t\n352\t// createVirtualNodes creates virtual nodes positioned in the space\n353\tfunc createVirtualNodes(count int, space *Space, rng *rand.Rand) []*VirtualNode {\n354\t\tnodes := make([]*VirtualNode, count)\n355\t\n356\t\tfor i := 0; i < count; i++ {\n357\t\t\tnode := &VirtualNode{\n358\t\t\t\tID: i,\n359\t\t\t\tMAC: generateMAC(i),\n360\t\t\t\tRole: \"tx_rx\",\n361\t\t\t}\n362\t\n363\t\t\t// Distribute nodes around perimeter\n364\t\t\tperimeter := 2*(space.Width+space.Depth)\n365\t\t\tpos := float64(i) / float64(count) * perimeter\n366\t\n367\t\t\tif pos < space.Width {\n368\t\t\t\t// Bottom edge\n369\t\t\t\tnode.Position = Point{X: pos, Y: 0, Z: 2.0}\n370\t\t\t} else if pos < space.Width+space.Depth {\n371\t\t\t\t// Right edge\n372\t\t\t\tnode.Position = Point{X: space.Width, Y: pos - space.Width, Z: 2.0}\n373\t\t\t} else if pos < 2*space.Width+space.Depth {\n374\t\t\t\t// Top edge\n375\t\t\t\tnode.Position = Point{X: space.Width - (pos - space.Width - space.Depth), Y: space.Depth, Z: 2.0}\n376\t\t\t} else {\n377\t\t\t\t// Left edge\n378\t\t\t\tnode.Position = Point{X: 0, Y: space.Depth - (pos - 2*space.Width - space.Depth), Z: 2.0}\n379\t\t\t}\n380\t\n381\t\t\tnodes[i] = node\n382\t\t}\n383\t\n384\t\treturn nodes\n385\t}\n386\t\n387\t// generateMAC generates a synthetic MAC address for a virtual node\n388\tfunc generateMAC(id int) [6]byte {\n389\t\tvar mac [6]byte\n390\t\tmac[0] = 0xAA\n391\t\tmac[1] = 0xBB\n392\t\tmac[2] = 0xCC\n393\t\tmac[3] = byte((id >> 16) & 0xFF)\n394\t\tmac[4] = byte((id >> 8) & 0xFF)\n395\t\tmac[5] = byte(id & 0xFF)\n396\t\treturn mac\n397\t}\n398\t\n399\t// createWalkers creates synthetic walkers\n400\tfunc createWalkers(count int, space *Space, rng *rand.Rand) []*Walker {\n401\t\twalkerType := WalkerType(*flagWalkerType)\n402\t\n403\t\tif walkerType == WalkerTypePathFollow {\n404\t\t\treturn createPathWalkers(count, space)\n405\t\t}\n406\t\n407\t\tif walkerType == WalkerTypeNodeToNode {\n408\t\t\t// Will be created after nodes are initialized\n409\t\t\treturn nil\n410\t\t}\n411\t\n412\t\t// Default: random walk\n413\t\twalkers := make([]*Walker, count)\n414\t\n415\t\tfor i := 0; i < count; i++ {\n416\t\t\twalkers[i] = &Walker{\n417\t\t\t\tID: i,\n418\t\t\t\tType: WalkerTypeRandomWalk,\n419\t\t\t\tPosition: Point{\n420\t\t\t\t\tX: rng.Float64() * space.Width,\n421\t\t\t\t\tY: rng.Float64() * space.Depth,\n422\t\t\t\t\tZ: 1.7,\n423\t\t\t\t},\n424\t\t\t\tVelocity: Point{\n425\t\t\t\t\tX: (rng.Float64() - 0.5) * 0.5,\n426\t\t\t\t\tY: (rng.Float64() - 0.5) * 0.5,\n427\t\t\t\t\tZ: 0,\n428\t\t\t\t},\n429\t\t\t\tSpeed: 0.8 + rng.Float64()*0.4,\n430\t\t\t\tHeight: 1.7,\n431\t\t\t}\n432\t\t}\n433\t\n434\t\treturn walkers\n435\t}\n436\t\n437\t// createPathWalkers creates walkers that follow predefined paths\n438\tfunc createPathWalkers(count int, space *Space) []*Walker {\n439\t\tif *flagPathFile == \"\" {\n440\t\t\tlog.Printf(\"[SIM] Path-following mode requires --path-file, using default rectangular path\")\n441\t\t\treturn createDefaultPathWalkers(count, space)\n442\t\t}\n443\t\n444\t\t// Load paths from JSON file\n445\t\tpaths, err := loadPathsFromFile(*flagPathFile)\n446\t\tif err != nil {\n447\t\t\tlog.Fatalf(\"[SIM] Failed to load paths from %s: %v\", *flagPathFile, err)\n448\t\t}\n449\t\n450\t\twalkers := make([]*Walker, count)\n451\t\tfor i := 0; i < count; i++ {\n452\t\t\t// Use path modulo count to allow fewer paths than walkers\n453\t\t\tpathIdx := i % len(paths)\n454\t\t\twalkers[i] = &Walker{\n455\t\t\t\tID: i,\n456\t\t\t\tType: WalkerTypePathFollow,\n457\t\t\t\tPath: paths[pathIdx],\n458\t\t\t\tPathIdx: 0,\n459\t\t\t\tSpeed: 1.0,\n460\t\t\t\tHeight: 1.7,\n461\t\t\t}\n462\t\t\tif len(paths[pathIdx]) > 0 {\n463\t\t\t\twalkers[i].Position = paths[pathIdx][0]\n464\t\t\t}\n465\t\t}\n466\t\n467\t\treturn walkers\n468\t}\n469\t\n470\t// createDefaultPathWalkers creates walkers following a default rectangular perimeter path\n471\tfunc createDefaultPathWalkers(count int, space *Space) []*Walker {\n472\t\tmargin := 0.5\n473\t\tpath := []Point{\n474\t\t\t{X: margin, Y: margin, Z: 1.7},\n475\t\t\t{X: space.Width - margin, Y: margin, Z: 1.7},\n476\t\t\t{X: space.Width - margin, Y: space.Depth - margin, Z: 1.7},\n477\t\t\t{X: margin, Y: space.Depth - margin, Z: 1.7},\n478\t\t}\n479\t\n480\t\twalkers := make([]*Walker, count)\n481\t\tfor i := 0; i < count; i++ {\n482\t\t\tstartIdx := (i * len(path) / count) % len(path)\n483\t\t\twalkers[i] = &Walker{\n484\t\t\t\tID: i,\n485\t\t\t\tType: WalkerTypePathFollow,\n486\t\t\t\tPath: path,\n487\t\t\t\tPathIdx: startIdx,\n488\t\t\t\tSpeed: 0.8 + 0.4*float64(i)/float64(count),\n489\t\t\t\tHeight: 1.7,\n490\t\t\t}\n491\t\t\tif len(path) > 0 {\n492\t\t\t\twalkers[i].Position = path[startIdx]\n493\t\t\t}\n494\t\t}\n495\t\n496\t\treturn walkers\n497\t}\n498\t\n499\t// createNodeToNodeWalkers creates walkers that traverse between virtual nodes\n500\tfunc createNodeToNodeWalkers(count int, nodes []*VirtualNode) []*Walker {\n501\t\tif len(nodes) < 2 {\n502\t\t\tlog.Fatalf(\"[SIM] Node-to-node mode requires at least 2 nodes\")\n503\t\t}\n504\t\n505\t\twalkers := make([]*Walker, count)\n506\t\tfor i := 0; i < count; i++ {\n507\t\t\twalkers[i] = &Walker{\n508\t\t\t\tID: i,\n509\t\t\t\tType: WalkerTypeNodeToNode,\n510\t\t\t\tNodes: nodes,\n511\t\t\t\tNodeIdx: 1, // Target is second node\n512\t\t\t\tSpeed: 1.0,\n513\t\t\t\tHeight: 1.7,\n514\t\t\t}\n515\t\t\t// Start at first node\n516\t\t\tif len(nodes) > 0 {\n517\t\t\t\twalkers[i].Position = nodes[0].Position\n518\t\t\t}\n519\t\t}\n520\t\n521\t\treturn walkers\n522\t}\n523\t\n524\t// PathDefinition defines a walker path in JSON format\n525\ttype PathDefinition struct {\n526\t\tWaypoints []Point `json:\"waypoints\"` // Ordered list of points to visit\n527\t}\n528\t\n529\t// loadPathsFromFile loads walker paths from a JSON file\n530\tfunc loadPathsFromFile(filename string) ([][]Point, error) {\n531\t\tdata, err := os.ReadFile(filename)\n532\t\tif err != nil {\n533\t\t\treturn nil, err\n534\t\t}\n535\t\n536\t\tvar paths []PathDefinition\n537\t\tif err := json.Unmarshal(data, &paths); err != nil {\n538\t\t\treturn nil, err\n539\t\t}\n540\t\n541\t\tif len(paths) == 0 {\n542\t\t\treturn nil, fmt.Errorf(\"no paths defined in file\")\n543\t\t}\n544\t\n545\t\tresult := make([][]Point, len(paths))\n546\t\tfor i, pathDef := range paths {\n547\t\t\tif len(pathDef.Waypoints) == 0 {\n548\t\t\t\treturn nil, fmt.Errorf(\"path %d has no waypoints\", i)\n549\t\t\t}\n550\t\t\tresult[i] = pathDef.Waypoints\n551\t\t}\n552\t\n553\t\tlog.Printf(\"[SIM] Loaded %d paths from %s\", len(result), filename)\n554\t\treturn result, nil\n555\t}\n556\t\n557\t// connectNodes connects all virtual nodes to the mothership.\n558\t// Each node gets its own persistent connection with background goroutines\n559\t// for ping, health, and message reading.\n560\tfunc connectNodes(ctx context.Context, nodes []*VirtualNode) error {\n561\t\t// Get or generate token\n562\t\ttoken := *flagToken\n563\t\tif token == \"\" {\n564\t\t\tvar err error\n565\t\t\ttoken, err = provisionToken()\n566\t\t\tif err != nil {\n567\t\t\t\treturn fmt.Errorf(\"failed to provision token: %w\", err)\n568\t\t\t}\n569\t\t\tlog.Printf(\"[SIM] Auto-provisioned token: %s...\", token[:min(16, len(token))])\n570\t\t}\n571\t\n572\t\t// Parse mothership URL\n573\t\twsURL, err := url.Parse(*flagMothership)\n574\t\tif err != nil {\n575\t\t\treturn fmt.Errorf(\"invalid mothership URL: %w\", err)\n576\t\t}\n577\t\n578\t\t// Convert http(s) to ws(s)\n579\t\tif wsURL.Scheme == \"http\" {\n580\t\t\twsURL.Scheme = \"ws\"\n581\t\t} else if wsURL.Scheme == \"https\" {\n582\t\t\twsURL.Scheme = \"wss\"\n583\t\t}\n584\t\n585\t\terrChan := make(chan error, len(nodes))\n586\t\n587\t\tfor _, node := range nodes {\n588\t\t\t// Add node WS path if needed\n589\t\t\tnodeURL := wsURL.String()\n590\t\t\tif !strings.Contains(nodeURL, \"/ws/\") && !strings.HasSuffix(nodeURL, \"/ws\") {\n591\t\t\t\tif strings.HasSuffix(nodeURL, \"/\") {\n592\t\t\t\t\tnodeURL = nodeURL + \"ws\"\n593\t\t\t\t} else {\n594\t\t\t\t\tnodeURL = nodeURL + \"/ws\"\n595\t\t\t\t}\n596\t\t\t}\n597\t\n598\t\t\theaders := http.Header{}\n599\t\t\theaders.Set(\"X-Spaxel-Token\", token)\n600\t\n601\t\t\tlog.Printf(\"[SIM] Node %d connecting to %s\", node.ID, nodeURL)\n602\t\n603\t\t\tconn, resp, err := websocket.DefaultDialer.DialContext(ctx, nodeURL, headers)\n604\t\t\tif err != nil {\n605\t\t\t\tif resp != nil {\n606\t\t\t\t\tbody, _ := io.ReadAll(resp.Body)\n607\t\t\t\t\treturn fmt.Errorf(\"node %d dial failed: %w (status %d: %s)\", node.ID, err, resp.StatusCode, string(body))\n608\t\t\t\t}\n609\t\t\t\treturn fmt.Errorf(\"node %d dial failed: %w\", node.ID, err)\n610\t\t\t}\n611\t\n612\t\t\tnode.Conn = conn\n613\t\t\tlog.Printf(\"[SIM] Node %d connected\", node.ID)\n614\t\n615\t\t\t// Send hello message\n616\t\t\thello := map[string]interface{}{\n617\t\t\t\t\"type\": \"hello\",\n618\t\t\t\t\"mac\": macToString(node.MAC),\n619\t\t\t\t\"firmware_version\": \"sim-1.0.0\",\n620\t\t\t\t\"capabilities\": []string{\"csi\", \"tx\", \"rx\"},\n621\t\t\t\t\"chip\": \"ESP32-S3\",\n622\t\t\t\t\"flash_mb\": 16,\n623\t\t\t\t\"uptime_ms\": 1000,\n624\t\t\t\t\"wifi_rssi\": -45,\n625\t\t\t\t\"ip\": fmt.Sprintf(\"127.0.0.%d\", node.ID+2),\n626\t\t\t}\n627\t\n628\t\t\thelloBytes, err := json.Marshal(hello)\n629\t\t\tif err != nil {\n630\t\t\t\tconn.Close() //nolint:errcheck\n631\t\t\t\treturn fmt.Errorf(\"node %d marshal hello: %w\", node.ID, err)\n632\t\t\t}\n633\t\n634\t\t\tnode.mu.Lock()\n635\t\t\terr = conn.WriteMessage(websocket.TextMessage, helloBytes)\n636\t\t\tnode.mu.Unlock()\n637\t\n638\t\t\tif err != nil {\n639\t\t\t\tconn.Close() //nolint:errcheck\n640\t\t\t\treturn fmt.Errorf(\"node %d send hello: %w\", node.ID, err)\n641\t\t\t}\n642\t\n643\t\t\t// Wait for role assignment\n644\t\t\tconn.SetReadDeadline(time.Now().Add(10 * time.Second)) //nolint:errcheck\n645\t\t\t_, message, err := conn.ReadMessage()\n646\t\t\tif err != nil {\n647\t\t\t\tconn.Close() //nolint:errcheck\n648\t\t\t\treturn fmt.Errorf(\"node %d read role: %w\", node.ID, err)\n649\t\t\t}\n650\t\n651\t\t\tvar roleMsg map[string]interface{}\n652\t\t\tif err := json.Unmarshal(message, &roleMsg); err != nil {\n653\t\t\t\tconn.Close() //nolint:errcheck\n654\t\t\t\treturn fmt.Errorf(\"node %d parse role: %w\", node.ID, err)\n655\t\t\t}\n656\t\n657\t\t\tif roleMsg[\"type\"] == \"reject\" {\n658\t\t\t\tconn.Close() //nolint:errcheck\n659\t\t\t\treturn fmt.Errorf(\"node %d rejected: %v\", node.ID, roleMsg[\"reason\"])\n660\t\t\t}\n661\t\n662\t\t\tlog.Printf(\"[SIM] Node %d received role: %v\", node.ID, roleMsg[\"role\"])\n663\t\n664\t\t\t// Start background goroutines for this connection\n665\t\t\tstartTime := time.Now()\n666\t\t\tgo node.pingLoop(ctx)\n667\t\t\tgo node.healthLoop(ctx, startTime)\n668\t\t\tgo node.readLoop(ctx, errChan)\n669\t\t}\n670\t\n671\t\treturn nil\n672\t}\n673\t\n674\t// provisionToken provisions a token. Tries the mothership API first,\n675\t// falls back to a synthetic HMAC token.\n676\tfunc provisionToken() (string, error) {\n677\t\t// Parse mothership URL to get HTTP endpoint\n678\t\twsURL, err := url.Parse(*flagMothership)\n679\t\tif err != nil {\n680\t\t\treturn \"\", fmt.Errorf(\"invalid mothership URL: %w\", err)\n681\t\t}\n682\t\n683\t\thttpURL := *wsURL\n684\t\tif httpURL.Scheme == \"ws\" {\n685\t\t\thttpURL.Scheme = \"http\"\n686\t\t} else if httpURL.Scheme == \"wss\" {\n687\t\t\thttpURL.Scheme = \"https\"\n688\t\t}\n689\t\n690\t\t// Trim /ws suffix to get base URL\n691\t\tbaseURL := strings.TrimSuffix(httpURL.String(), \"/ws\")\n692\t\tbaseURL = strings.TrimSuffix(baseURL, \"/\")\n693\t\tprovisionURL := baseURL + \"/api/provision\"\n694\t\n695\t\t// Try POST /api/provision with synthetic credentials\n696\t\tbody := strings.NewReader(`{\"mac\":\"AA:BB:CC:00:00:00\"}`)\n697\t\tresp, err := http.Post(provisionURL, \"application/json\", body)\n698\t\tif err == nil && resp.StatusCode == http.StatusOK {\n699\t\t\tvar result map[string]interface{}\n700\t\t\tif json.NewDecoder(resp.Body).Decode(&result) == nil {\n701\t\t\t\t_ = resp.Body.Close()\n702\t\t\t\tif token, ok := result[\"node_token\"].(string); ok && token != \"\" {\n703\t\t\t\t\treturn token, nil\n704\t\t\t\t}\n705\t\t\t}\n706\t\t}\n707\t\tif resp != nil {\n708\t\t\t_ = resp.Body.Close()\n709\t\t}\n710\t\n711\t\t// Fallback: generate synthetic token\n712\t\th := hmac.New(sha256.New, []byte(\"sim-install-secret\"))\n713\t\th.Write([]byte(\"sim-node\"))\n714\t\treturn fmt.Sprintf(\"%064x\", h.Sum(nil)), nil\n715\t}\n716\t\n717\t// closeAllNodes closes all node WebSocket connections\n718\tfunc closeAllNodes(nodes []*VirtualNode) {\n719\t\tfor _, node := range nodes {\n720\t\t\tif node.Conn != nil {\n721\t\t\t\tnode.mu.Lock()\n722\t\t\t\tnode.Conn.WriteMessage(websocket.CloseMessage, //nolint:errcheck\n723\t\t\t\t\twebsocket.FormatCloseMessage(websocket.CloseNormalClosure, \"sim shutdown\"))\n724\t\t\t\tnode.Conn.Close() //nolint:errcheck\n725\t\t\t\tnode.mu.Unlock()\n726\t\t\t}\n727\t\t}\n728\t}\n729\t\n730\t// macToString converts a 6-byte MAC to colon-separated hex\n731\tfunc macToString(mac [6]byte) string {\n732\t\treturn fmt.Sprintf(\"%02X:%02X:%02X:%02X:%02X:%02X\",\n733\t\t\tmac[0], mac[1], mac[2], mac[3], mac[4], mac[5])\n734\t}\n735\t\n736\t// pingLoop sends WebSocket pings\n737\tfunc (n *VirtualNode) pingLoop(ctx context.Context) {\n738\t\tticker := time.NewTicker(30 * time.Second)\n739\t\tdefer ticker.Stop()\n740\t\n741\t\tfor {\n742\t\t\tselect {\n743\t\t\tcase <-ctx.Done():\n744\t\t\t\treturn\n745\t\t\tcase <-ticker.C:\n746\t\t\t\tn.mu.Lock()\n747\t\t\t\terr := n.Conn.WriteMessage(websocket.PingMessage, nil)\n748\t\t\t\tn.mu.Unlock()\n749\t\n750\t\t\t\tif err != nil {\n751\t\t\t\t\tlog.Printf(\"[SIM] Node %d ping failed: %v\", n.ID, err)\n752\t\t\t\t\treturn\n753\t\t\t\t}\n754\t\t\t}\n755\t\t}\n756\t}\n757\t\n758\t// healthLoop sends periodic health messages\n759\tfunc (n *VirtualNode) healthLoop(ctx context.Context, startTime time.Time) {\n760\t\tticker := time.NewTicker(10 * time.Second)\n761\t\tdefer ticker.Stop()\n762\t\n763\t\tfor {\n764\t\t\tselect {\n765\t\t\tcase <-ctx.Done():\n766\t\t\t\treturn\n767\t\t\tcase <-ticker.C:\n768\t\t\t\thealth := map[string]interface{}{\n769\t\t\t\t\t\"type\": \"health\",\n770\t\t\t\t\t\"mac\": macToString(n.MAC),\n771\t\t\t\t\t\"timestamp_ms\": time.Now().UnixMilli(),\n772\t\t\t\t\t\"free_heap_bytes\": 200000,\n773\t\t\t\t\t\"wifi_rssi_dbm\": -45,\n774\t\t\t\t\t\"uptime_ms\": time.Since(startTime).Milliseconds(),\n775\t\t\t\t\t\"csi_rate_hz\": *flagRate,\n776\t\t\t\t\t\"wifi_channel\": *flagChannel,\n777\t\t\t\t}\n778\t\n779\t\t\t\thealthBytes, err := json.Marshal(health)\n780\t\t\t\tif err != nil {\n781\t\t\t\t\tlog.Printf(\"[SIM] Node %d marshal health: %v\", n.ID, err)\n782\t\t\t\t\tcontinue\n783\t\t\t\t}\n784\t\n785\t\t\t\tn.mu.Lock()\n786\t\t\t\terr = n.Conn.WriteMessage(websocket.TextMessage, healthBytes)\n787\t\t\t\tn.mu.Unlock()\n788\t\n789\t\t\t\tif err != nil {\n790\t\t\t\t\tlog.Printf(\"[SIM] Node %d send health failed: %v\", n.ID, err)\n791\t\t\t\t\treturn\n792\t\t\t\t}\n793\t\t\t}\n794\t\t}\n795\t}\n796\t\n797\t// readLoop reads downstream messages from the WebSocket\n798\tfunc (n *VirtualNode) readLoop(ctx context.Context, errChan chan<- error) {\n799\t\tfor {\n800\t\t\tselect {\n801\t\t\tcase <-ctx.Done():\n802\t\t\t\treturn\n803\t\t\tdefault:\n804\t\t\t}\n805\t\n806\t\t\tn.mu.Lock()\n807\t\t\tconn := n.Conn\n808\t\t\tn.mu.Unlock()\n809\t\n810\t\t\tif conn == nil {\n811\t\t\t\treturn\n812\t\t\t}\n813\t\n814\t\t\tconn.SetReadDeadline(time.Now().Add(60 * time.Second)) //nolint:errcheck\n815\t\t\t_, message, err := conn.ReadMessage()\n816\t\t\tif err != nil {\n817\t\t\t\tselect {\n818\t\t\t\tcase <-ctx.Done():\n819\t\t\t\t\treturn\n820\t\t\t\tdefault:\n821\t\t\t\t}\n822\t\t\t\tif websocket.IsCloseError(err) {\n823\t\t\t\t\tlog.Printf(\"[SIM] Node %d connection closed\", n.ID)\n824\t\t\t\t\treturn\n825\t\t\t\t}\n826\t\t\t\tlog.Printf(\"[SIM] Node %d read error: %v\", n.ID, err)\n827\t\t\t\treturn\n828\t\t\t}\n829\t\n830\t\t\tvar msg map[string]interface{}\n831\t\t\tif err := json.Unmarshal(message, &msg); err != nil {\n832\t\t\t\tcontinue\n833\t\t\t}\n834\t\n835\t\t\tmsgType, ok := msg[\"type\"].(string)\n836\t\t\tif !ok {\n837\t\t\t\tcontinue\n838\t\t\t}\n839\t\n840\t\t\tswitch msgType {\n841\t\t\tcase \"role\":\n842\t\t\t\tlog.Printf(\"[SIM] Node %d role update: %v\", n.ID, msg[\"role\"])\n843\t\t\tcase \"config\":\n844\t\t\t\tlog.Printf(\"[SIM] Node %d config update: %v\", n.ID, msg)\n845\t\t\tcase \"reject\":\n846\t\t\t\terrChan <- fmt.Errorf(\"node %d rejected: %v\", n.ID, msg[\"reason\"])\n847\t\t\t\treturn\n848\t\t\tcase \"shutdown\":\n849\t\t\t\tlog.Printf(\"[SIM] Node %d received shutdown\", n.ID)\n850\t\t\t\treturn\n851\t\t\t}\n852\t\t}\n853\t}\n854\t\n855\t// runSimulation runs the main CSI generation loop\n856\tfunc runSimulation(ctx context.Context, nodes []*VirtualNode, walkers []*Walker, space *Space, rng *rand.Rand, csvWriter *CSVWriter, stats *Stats, done chan<- struct{}, scenario *ScenarioConfig) {\n857\t\tdefer close(done)\n858\t\n859\t\tticker := time.NewTicker(time.Duration(1000/(*flagRate)) * time.Millisecond)\n860\t\tdefer ticker.Stop()\n861\t\n862\t\tframeNum := 0\n863\t\tlastBLETime := time.Now()\n864\t\n865\t\t// Initialize fall scenario state\n866\t\tvar fallState *FallScenarioState\n867\t\tif scenario.Type == ScenarioFall || scenario.Type == ScenarioBagOnCouch {\n868\t\t\tif len(walkers) > 0 {\n869\t\t\t\tfallState = &FallScenarioState{\n870\t\t\t\t\tWalker: walkers[0],\n871\t\t\t\t\tState: \"walking\",\n872\t\t\t\t}\n873\t\t\t\tif scenario.Type == ScenarioBagOnCouch {\n874\t\t\t\t\t// For bag-on-couch, start with a lower position\n875\t\t\t\t\twalkers[0].Position.Z = 1.0\n876\t\t\t\t\twalkers[0].Velocity.Z = -0.2 // Slow descent\n877\t\t\t\t}\n878\t\t\t}\n879\t\t}\n880\t\n881\t\t// Track scenario timing\n882\t\tscenarioStarted := false\n883\t\n884\t\tfor {\n885\t\t\tselect {\n886\t\t\tcase <-ctx.Done():\n887\t\t\t\treturn\n888\t\t\tcase <-ticker.C:\n889\t\t\t\t// Handle fall scenario timing\n890\t\t\t\tif fallState != nil && !scenarioStarted && time.Since(scenario.StartedAt) >= scenario.FallParams.TriggerAfter {\n891\t\t\t\t\tif scenario.Type == ScenarioFall {\n892\t\t\t\t\t\tfallState.StartFall(scenario.FallParams)\n893\t\t\t\t\t\tscenarioStarted = true\n894\t\t\t\t\t}\n895\t\t\t\t}\n896\t\n897\t\t\t\t// Update walker positions\n898\t\t\t\tif fallState != nil {\n899\t\t\t\t\tdt := 1.0 / float64(*flagRate)\n900\t\t\t\t\tfallState.UpdateForFallScenario(dt, scenario.FallParams, space, rng)\n901\t\t\t\t} else {\n902\t\t\t\t\tupdateWalkers(walkers, space, rng)\n903\t\t\t\t}\n904\t\n905\t\t\t\t// Write to CSV\n906\t\t\t\tif csvWriter != nil {\n907\t\t\t\t\tcsvWriter.WriteRow(walkers, nodes, walls)\n908\t\t\t\t}\n909\t\n910\t\t\t\t// Send CSI frames for each node pair\n911\t\t\t\tfor _, txNode := range nodes {\n912\t\t\t\t\tfor _, rxNode := range nodes {\n913\t\t\t\t\t\tif txNode.ID == rxNode.ID {\n914\t\t\t\t\t\t\tcontinue\n915\t\t\t\t\t\t}\n916\t\n917\t\t\t\t\t\tframe := generateCSIFrame(txNode, rxNode, walkers, walls, frameNum, rng)\n918\t\n919\t\t\t\t\t\ttxNode.mu.Lock()\n920\t\t\t\t\t\terr := txNode.Conn.WriteMessage(websocket.BinaryMessage, frame)\n921\t\t\t\t\t\ttxNode.mu.Unlock()\n922\t\n923\t\t\t\t\t\tif err != nil {\n924\t\t\t\t\t\t\tlog.Printf(\"[SIM] Node %d send CSI failed: %v\", txNode.ID, err)\n925\t\t\t\t\t\t\tcontinue\n926\t\t\t\t\t\t}\n927\t\n928\t\t\t\t\t\tstats.FramesSent.Add(1)\n929\t\t\t\t\t}\n930\t\t\t\t}\n931\t\n932\t\t\t\t// Send BLE messages if enabled\n933\t\t\t\tif *flagBLE && time.Since(lastBLETime) > 5*time.Second {\n934\t\t\t\t\tsendBLEMessages(nodes, walkers)\n935\t\t\t\t\tlastBLETime = time.Now()\n936\t\t\t\t}\n937\t\n938\t\t\t\tframeNum++\n939\t\t\t}\n940\t\t}\n941\t}\n942\t\n943\t// updateWalkers updates walker positions based on their movement type\n944\tfunc updateWalkers(walkers []*Walker, space *Space, rng *rand.Rand) {\n945\t\tdt := 1.0 / float64(*flagRate)\n946\t\n947\t\tfor _, walker := range walkers {\n948\t\t\tswitch walker.Type {\n949\t\t\tcase WalkerTypePathFollow:\n950\t\t\t\tupdatePathWalker(walker, dt)\n951\t\t\tcase WalkerTypeNodeToNode:\n952\t\t\t\tupdateNodeToNodeWalker(walker, dt, space)\n953\t\t\tcase WalkerTypeRandomWalk:\n954\t\t\t\tupdateRandomWalker(walker, dt, space, rng)\n955\t\t\t}\n956\t\t}\n957\t}\n958\t\n959\t// updateRandomWalker implements random walk motion\n960\tfunc updateRandomWalker(walker *Walker, dt float64, space *Space, rng *rand.Rand) {\n961\t\twalker.Position.X += walker.Velocity.X * dt\n962\t\twalker.Position.Y += walker.Velocity.Y * dt\n963\t\n964\t\t// Bounce off walls\n965\t\tmargin := 0.2\n966\t\tif walker.Position.X < margin {\n967\t\t\twalker.Position.X = margin\n968\t\t\twalker.Velocity.X *= -1\n969\t\t}\n970\t\tif walker.Position.X > space.Width-margin {\n971\t\t\twalker.Position.X = space.Width - margin\n972\t\t\twalker.Velocity.X *= -1\n973\t\t}\n974\t\tif walker.Position.Y < margin {\n975\t\t\twalker.Position.Y = margin\n976\t\t\twalker.Velocity.Y *= -1\n977\t\t}\n978\t\tif walker.Position.Y > space.Depth-margin {\n979\t\t\twalker.Position.Y = space.Depth - margin\n980\t\t\twalker.Velocity.Y *= -1\n981\t\t}\n982\t\n983\t\t// Random velocity perturbation\n984\t\tperturbation := 0.1\n985\t\twalker.Velocity.X += (rng.Float64() - 0.5) * perturbation\n986\t\twalker.Velocity.Y += (rng.Float64() - 0.5) * perturbation\n987\t\n988\t\t// Clamp velocity\n989\t\tspeed := walker.Speed * (0.5 + rng.Float64()*0.5)\n990\t\tcurrentSpeed := math.Sqrt(walker.Velocity.X*walker.Velocity.X + walker.Velocity.Y*walker.Velocity.Y)\n991\t\tif currentSpeed > 0 {\n992\t\t\twalker.Velocity.X = (walker.Velocity.X / currentSpeed) * speed\n993\t\t\twalker.Velocity.Y = (walker.Velocity.Y / currentSpeed) * speed\n994\t\t}\n995\t\n996\t\twalker.Position.Z = walker.Height\n997\t}\n998\t\n999\t// updatePathWalker implements path-following motion\n1000\tfunc updatePathWalker(walker *Walker, dt float64) {\n1001\t\tif len(walker.Path) == 0 {\n1002\t\t\treturn\n1003\t\t}\n1004\t\n1005\t\ttarget := walker.Path[walker.PathIdx]\n1006\t\tdx := target.X - walker.Position.X\n1007\t\tdy := target.Y - walker.Position.Y\n1008\t\tdz := target.Z - walker.Position.Z\n1009\t\tdist := math.Sqrt(dx*dx + dy*dy + dz*dz)\n1010\t\n1011\t\t// If very close to target, move to next waypoint\n1012\t\tif dist < 0.1 {\n1013\t\t\twalker.PathIdx = (walker.PathIdx + 1) % len(walker.Path)\n1014\t\t\treturn\n1015\t\t}\n1016\t\n1017\t\t// Move towards target at constant speed\n1018\t\tmoveDist := walker.Speed * dt\n1019\t\tif moveDist > dist {\n1020\t\t\tmoveDist = dist\n1021\t\t}\n1022\t\n1023\t\tt := moveDist / dist\n1024\t\twalker.Position.X += dx * t\n1025\t\twalker.Position.Y += dy * t\n1026\t\n1027\t\t// Update velocity vector for consistency\n1028\t\tif dist > 0 {\n1029\t\t\twalker.Velocity.X = (dx / dist) * walker.Speed\n1030\t\t\twalker.Velocity.Y = (dy / dist) * walker.Speed\n1031\t\t\twalker.Velocity.Z = (dz / dist) * walker.Speed\n1032\t\t}\n1033\t}\n1034\t\n1035\t// updateNodeToNodeWalker implements traversal between virtual nodes\n1036\tfunc updateNodeToNodeWalker(walker *Walker, dt float64, space *Space) {\n1037\t\tif len(walker.Nodes) < 2 {\n1038\t\t\tupdateRandomWalker(walker, dt, space, rand.New(rand.NewSource(time.Now().UnixNano())))\n1039\t\t\treturn\n1040\t\t}\n1041\t\n1042\t\ttargetNode := walker.Nodes[walker.NodeIdx]\n1043\t\ttargetPos := targetNode.Position\n1044\t\n1045\t\tdx := targetPos.X - walker.Position.X\n1046\t\tdy := targetPos.Y - walker.Position.Y\n1047\t\tdz := targetPos.Z - walker.Position.Z\n1048\t\tdist := math.Sqrt(dx*dx + dy*dy + dz*dz)\n1049\t\n1050\t\t// Check if we've arrived at the target node (horizontal distance)\n1051\t\thorizontalDist := math.Sqrt(dx*dx + dy*dy)\n1052\t\tif horizontalDist < 0.3 {\n1053\t\t\t// Move to next node\n1054\t\t\twalker.NodeIdx = (walker.NodeIdx + 1) % len(walker.Nodes)\n1055\t\t\treturn\n1056\t\t}\n1057\t\n1058\t\t// Move towards target node\n1059\t\tmoveDist := walker.Speed * dt\n1060\t\tif moveDist > horizontalDist {\n1061\t\t\tmoveDist = horizontalDist\n1062\t\t}\n1063\t\n1064\t\tt := moveDist / horizontalDist\n1065\t\twalker.Position.X += dx * t\n1066\t\twalker.Position.Y += dy * t\n1067\t\n1068\t\t// Update velocity vector\n1069\t\tif horizontalDist > 0 {\n1070\t\t\twalker.Velocity.X = (dx / horizontalDist) * walker.Speed\n1071\t\t\twalker.Velocity.Y = (dy / horizontalDist) * walker.Speed\n1072\t\t\twalker.Velocity.Z = (dz / dist) * walker.Speed\n1073\t\t}\n1074\t\n1075\t\twalker.Position.Z = walker.Height\n1076\t}\n1077\t\n1078\t// sendBLEMessages sends synthetic BLE scan results\n1079\tfunc sendBLEMessages(nodes []*VirtualNode, walkers []*Walker) {\n1080\t\tfor _, node := range nodes {\n1081\t\t\tdevices := make([]map[string]interface{}, 0)\n1082\t\n1083\t\t\tfor _, walker := range walkers {\n1084\t\t\t\tdx := walker.Position.X - node.Position.X\n1085\t\t\t\tdy := walker.Position.Y - node.Position.Y\n1086\t\t\t\tdz := walker.Position.Z - node.Position.Z\n1087\t\t\t\tdist := math.Sqrt(dx*dx + dy*dy + dz*dz)\n1088\t\n1089\t\t\t\trssi := -50.0 - 20.0*math.Log10(dist/1.0)\n1090\t\t\t\tif rssi < -90 {\n1091\t\t\t\t\trssi = -90\n1092\t\t\t\t}\n1093\t\n1094\t\t\t\tdevices = append(devices, map[string]interface{}{\n1095\t\t\t\t\t\"addr\": fmt.Sprintf(\"AA:BB:CC:DD:EE:%02X\", walker.ID),\n1096\t\t\t\t\t\"rssi\": int(rssi),\n1097\t\t\t\t\t\"name\": fmt.Sprintf(\"sim-person-%d\", walker.ID),\n1098\t\t\t\t})\n1099\t\t\t}\n1100\t\n1101\t\t\tif len(devices) == 0 {\n1102\t\t\t\tcontinue\n1103\t\t\t}\n1104\t\n1105\t\t\tbleMsg := map[string]interface{}{\n1106\t\t\t\t\"type\": \"ble\",\n1107\t\t\t\t\"mac\": macToString(node.MAC),\n1108\t\t\t\t\"timestamp_ms\": time.Now().UnixMilli(),\n1109\t\t\t\t\"devices\": devices,\n1110\t\t\t}\n1111\t\n1112\t\t\tbleBytes, err := json.Marshal(bleMsg)\n1113\t\t\tif err != nil {\n1114\t\t\t\tlog.Printf(\"[SIM] Node %d marshal BLE: %v\", node.ID, err)\n1115\t\t\t\tcontinue\n1116\t\t\t}\n1117\t\n1118\t\t\tnode.mu.Lock()\n1119\t\t\terr = node.Conn.WriteMessage(websocket.TextMessage, bleBytes)\n1120\t\t\tnode.mu.Unlock()\n1121\t\n1122\t\t\tif err != nil {\n1123\t\t\t\tlog.Printf(\"[SIM] Node %d send BLE failed: %v\", node.ID, err)\n1124\t\t\t}\n1125\t\t}\n1126\t}\n1127\t\n1128\t// reportStats periodically prints statistics\n1129\tfunc reportStats(ctx context.Context, stats *Stats) {\n1130\t\tticker := time.NewTicker(10 * time.Second)\n1131\t\tdefer ticker.Stop()\n1132\t\n1133\t\tfor {\n1134\t\t\tselect {\n1135\t\t\tcase <-ctx.Done():\n1136\t\t\t\treturn\n1137\t\t\tcase <-ticker.C:\n1138\t\t\t\tnow := time.Now()\n1139\t\t\t\telapsed := now.Sub(stats.StartTime).Seconds()\n1140\t\t\t\tframesSent := stats.FramesSent.Load()\n1141\t\n1142\t\t\t\tif elapsed > 0 {\n1143\t\t\t\t\tfps := float64(framesSent) / elapsed\n1144\t\t\t\t\tlog.Printf(\"[SIM] Stats: frames=%d fps=%.1f elapsed=%.1fs\", framesSent, fps, elapsed)\n1145\t\t\t\t}\n1146\t\t\t}\n1147\t\t}\n1148\t}\n1149\t\n1150\t// printFinalStats prints final simulation statistics\n1151\tfunc printFinalStats(stats *Stats, walkerCount int) {\n1152\t\telapsed := time.Since(stats.StartTime).Seconds()\n1153\t\tframesSent := stats.FramesSent.Load()\n1154\t\n1155\t\tlog.Printf(\"[SIM] Final Statistics:\")\n1156\t\tlog.Printf(\"[SIM] Frames sent: %d\", framesSent)\n1157\t\tlog.Printf(\"[SIM] Duration: %.1f seconds\", elapsed)\n1158\t\tif elapsed > 0 {\n1159\t\t\tlog.Printf(\"[SIM] Average FPS: %.1f\", float64(framesSent)/elapsed)\n1160\t\t}\n1161\t\tlog.Printf(\"[SIM] Walkers: %d\", walkerCount)\n1162\t}\n1163\t\n1164\tfunc min(a, b int) int {\n1165\t\tif a < b {\n1166\t\t\treturn a\n1167\t\t}\n1168\t\treturn b\n1169\t}\n1170\t"}]},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"2846dd40-7016-45ef-a764-ded5cebcc6c0","timestamp":"2026-05-06T02:34:03.272Z","tool_use_result":{"type":"text","file":{"filePath":"/home/coding/spaxel/mothership/cmd/sim/main.go","content":"// Command sim is a CSI simulator CLI for testing Spaxel without hardware.\n// It connects to a running mothership via WebSocket and streams synthetic CSI data.\npackage main\n\nimport (\n\t\"context\"\n\t\"crypto/hmac\"\n\t\"crypto/sha256\"\n\t\"encoding/json\"\n\t\"flag\"\n\t\"fmt\"\n\t\"io\"\n\t\"log\"\n\t\"math\"\n\t\"math/rand\"\n\t\"net/http\"\n\t\"net/url\"\n\t\"os\"\n\t\"os/signal\"\n\t\"strconv\"\n\t\"strings\"\n\t\"sync\"\n\t\"sync/atomic\"\n\t\"time\"\n\n\t\"github.com/gorilla/websocket\"\n)\n\nconst (\n\t// CSI frame header size (24 bytes) — matches ingestion/frame.go\n\theaderSize = 24\n\n\t// Default values\n\tdefaultMothership = \"ws://localhost:8080/ws/node\"\n\tdefaultNodes = 2\n\tdefaultWalkers = 1\n\tdefaultRate = 20 // Hz\n\tdefaultDuration = 60 // seconds\n\tdefaultChannel = 6 // 2.4 GHz channel 6\n\tdefaultSeed = 0 // random seed (0 = use current time)\n\tdefaultSpace = \"5x5x2.5\" // room dimensions\n\tdefaultNoiseSigma = 0.005\n)\n\nvar (\n\t// CLI flags\n\tflagMothership = flag.String(\"mothership\", defaultMothership, \"URL of the mothership WebSocket endpoint\")\n\tflagToken = flag.String(\"token\", \"\", \"Provisioning token (auto-generated if empty)\")\n\tflagNodes = flag.Int(\"nodes\", defaultNodes, \"Number of virtual nodes\")\n\tflagWalkers = flag.Int(\"walkers\", defaultWalkers, \"Number of synthetic walkers\")\n\tflagRate = flag.Int(\"rate\", defaultRate, \"CSI transmission rate in Hz per node pair\")\n\tflagDuration = flag.Int(\"duration\", defaultDuration, \"Total run time in seconds (0 = run until Ctrl+C)\")\n\tflagSeed = flag.Int64(\"seed\", defaultSeed, \"Random seed for reproducible walker paths\")\n\tflagSpace = flag.String(\"space\", defaultSpace, \"Room dimensions in WxDxH format (meters)\")\n\tflagBLE = flag.Bool(\"ble\", false, \"Include synthetic BLE advertisements\")\n\tflagVerify = flag.Bool(\"verify\", false, \"Verify blob detection after duration\")\n\tflagNoiseSigma = flag.Float64(\"noise-sigma\", defaultNoiseSigma, \"Gaussian noise standard deviation for I/Q\")\n\tflagOutputCSV = flag.String(\"output-csv\", \"\", \"Write ground truth to CSV file\")\n\tflagChannel = flag.Int(\"channel\", defaultChannel, \"WiFi channel (1-14 for 2.4 GHz)\")\n\tflagWalkerType = flag.String(\"walker-type\", \"random\", \"Walker type: random, path, node-to-node\")\n\tflagPathFile = flag.String(\"path-file\", \"\", \"JSON file containing walker paths\")\n\n\t// Scenario flags\n\tflagScenario = flag.String(\"scenario\", \"normal\", \"Scenario type: normal, fall, ota, bag-on-couch\")\n\tflagFallDelay = flag.Duration(\"fall-delay\", 5*time.Second, \"Delay before fall triggers (fall scenario)\")\n\tflagFallDuration = flag.Duration(\"fall-duration\", 800*time.Millisecond, \"Fall duration (fall scenario)\")\n\tflagStillness = flag.Duration(\"stillness\", 15*time.Second, \"Stillness duration after fall (fall scenario)\")\n\tflagOTAVersion = flag.String(\"ota-version\", \"sim-1.1.0\", \"Target firmware version (OTA scenario)\")\n\tflagOTASize = flag.Int64(\"ota-size\", 1024*1024, \"Firmware size in bytes (OTA scenario)\")\n\tflagOTAFailure = flag.Bool(\"ota-failure\", false, \"Simulate OTA boot failure for rollback (OTA scenario)\")\n)\n\n// walls is populated from repeated --wall flags\nvar walls []Wall\n\n// addWall is a custom flag value for repeated --wall flags\ntype wallFlag struct{}\n\nfunc (w *wallFlag) String() string { return \"\" }\nfunc (w *wallFlag) Set(value string) error {\n\t// Format: x1,y1,x2,y2[:material]\n\tparts := strings.Split(value, \",\")\n\tif len(parts) < 4 {\n\t\treturn fmt.Errorf(\"expected x1,y1,x2,y2[:material] format, got: %s\", value)\n\t}\n\tx1, err := strconv.ParseFloat(parts[0], 64)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"invalid x1: %w\", err)\n\t}\n\ty1, err := strconv.ParseFloat(parts[1], 64)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"invalid y1: %w\", err)\n\t}\n\tx2, err := strconv.ParseFloat(parts[2], 64)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"invalid x2: %w\", err)\n\t}\n\ty2, err := strconv.ParseFloat(parts[3], 64)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"invalid y2: %w\", err)\n\t}\n\n\t// Parse material (default: drywall)\n\tmaterial := MaterialDrywall\n\tattenuation := 3.0\n\tif len(parts) >= 5 {\n\t\tmaterial = WallMaterial(strings.ToLower(parts[4]))\n\t\tswitch material {\n\t\tcase MaterialDrywall:\n\t\t\tattenuation = 3.0\n\t\tcase MaterialBrick, MaterialConcrete:\n\t\t\tattenuation = 10.0\n\t\tcase MaterialGlass:\n\t\t\tattenuation = 2.0\n\t\tcase MaterialMetal:\n\t\t\tattenuation = 20.0\n\t\tdefault:\n\t\t\treturn fmt.Errorf(\"unknown material: %s (use: drywall, brick, concrete, glass, metal)\", parts[4])\n\t\t}\n\t}\n\n\twalls = append(walls, Wall{X1: x1, Y1: y1, X2: x2, Y2: y2, Material: material, Attenuation: attenuation})\n\treturn nil\n}\n\n// VirtualNode represents a simulated ESP32 node\ntype VirtualNode struct {\n\tID int\n\tMAC [6]byte\n\tPosition Point\n\tRole string // \"tx\", \"rx\", or \"tx_rx\"\n\tConn *websocket.Conn\n\tmu sync.Mutex\n}\n\n// WalkerType defines how a walker moves\ntype WalkerType string\n\nconst (\n\tWalkerTypeRandomWalk WalkerType = \"random\"\n\tWalkerTypePathFollow WalkerType = \"path\"\n\tWalkerTypeNodeToNode WalkerType = \"node-to-node\"\n)\n\n// Walker represents a simulated person\ntype Walker struct {\n\tID int\n\tPosition Point\n\tVelocity Point\n\tSpeed float64\n\tHeight float64\n\tType WalkerType\n\tPath []Point // For path-following mode\n\tPathIdx int // Current position along path\n\tNodes []*VirtualNode // For node-to-node mode\n\tNodeIdx int // Current target node index\n}\n\n// Point represents a 3D position\ntype Point struct {\n\tX, Y, Z float64\n}\n\n// Space represents the room dimensions\ntype Space struct {\n\tWidth, Depth, Height float64\n}\n\n// WallMaterial defines the type of wall material\ntype WallMaterial string\n\nconst (\n\tMaterialDrywall WallMaterial = \"drywall\"\n\tMaterialBrick WallMaterial = \"brick\"\n\tMaterialConcrete WallMaterial = \"concrete\"\n\tMaterialGlass WallMaterial = \"glass\"\n\tMaterialMetal WallMaterial = \"metal\"\n)\n\n// Wall represents a wall segment with material properties\ntype Wall struct {\n\tX1, Y1, X2, Y2 float64\n\tMaterial WallMaterial\n\tAttenuation float64 // dB loss\n}\n\n// Stats tracks simulation statistics\ntype Stats struct {\n\tFramesSent atomic.Int64\n\tFramesPerSec float64\n\tStartTime time.Time\n\tLastStatsTime time.Time\n\tLastFramesSent int64\n}\n\nfunc main() {\n\tflag.Var(&wallFlag{}, \"wall\", \"Add a wall as x1,y1,x2,y2 (can be repeated)\")\n\tflag.Parse()\n\n\tlog.SetFlags(log.Ldate | log.Ltime | log.Lmicroseconds)\n\tlog.Printf(\"[SIM] CSI Simulator CLI starting\")\n\n\t// Parse space dimensions\n\tspace, err := parseSpace(*flagSpace)\n\tif err != nil {\n\t\tlog.Fatalf(\"[SIM] Invalid space dimensions: %v\", err)\n\t}\n\n\t// Initialize random seed\n\tif *flagSeed == 0 {\n\t\t*flagSeed = time.Now().UnixNano()\n\t}\n\trng := rand.New(rand.NewSource(*flagSeed))\n\tlog.Printf(\"[SIM] Random seed: %d\", *flagSeed)\n\n\t// Validate channel\n\tif *flagChannel < 1 || *flagChannel > 14 {\n\t\tlog.Fatalf(\"[SIM] Invalid channel: %d (must be 1-14)\", *flagChannel)\n\t}\n\n\t// Create virtual nodes\n\tnodes := createVirtualNodes(*flagNodes, space, rng)\n\n\t// Create walkers (may be nil for node-to-node mode)\n\twalkers := createWalkers(*flagWalkers, space, rng)\n\n\t// For node-to-node mode, create walkers after nodes exist\n\tif WalkerType(*flagWalkerType) == WalkerTypeNodeToNode {\n\t\twalkers = createNodeToNodeWalkers(*flagWalkers, nodes)\n\t}\n\n\tlog.Printf(\"[SIM] Configuration:\")\n\tlog.Printf(\"[SIM] Mothership: %s\", *flagMothership)\n\tlog.Printf(\"[SIM] Scenario: %s\", *flagScenario)\n\tlog.Printf(\"[SIM] Nodes: %d\", *flagNodes)\n\tlog.Printf(\"[SIM] Walkers: %d\", *flagWalkers)\n\tlog.Printf(\"[SIM] Rate: %d Hz\", *flagRate)\n\tlog.Printf(\"[SIM] Duration: %d s\", *flagDuration)\n\tlog.Printf(\"[SIM] Space: %.1fx%.1fx%.1f m\", space.Width, space.Depth, space.Height)\n\tlog.Printf(\"[SIM] Walls: %d\", len(walls))\n\tlog.Printf(\"[SIM] BLE: %v\", *flagBLE)\n\n\t// Create scenario configuration\n\tscenarioConfig := &ScenarioConfig{\n\t\tType: ScenarioType(*flagScenario),\n\t\tStartedAt: time.Now(),\n\t\tFallParams: FallScenarioParams{\n\t\t\tTriggerAfter: *flagFallDelay,\n\t\t\tDescentDuration: *flagFallDuration,\n\t\t\tStillnessDuration: *flagStillness,\n\t\t\tMinVelocity: -1.5, // Below -1.5 m/s threshold\n\t\t\tMinZDrop: 0.8, // At least 0.8m drop\n\t\t\tEndZ: 0.3, // Floor level\n\t\t},\n\t\tOTAParams: OTAScenarioParams{\n\t\t\tUpdateAfter: 10 * time.Second,\n\t\t\tFirmwareSize: *flagOTASize,\n\t\t\tNewVersion: *flagOTAVersion,\n\t\t\tRebootDelay: 3 * time.Second,\n\t\t\tBootFailDuration: 30 * time.Second,\n\t\t\tSimulateFailure: *flagOTAFailure,\n\t\t},\n\t}\n\n\t// Create context for shutdown\n\tctx, cancel := context.WithCancel(context.Background())\n\tdefer cancel()\n\n\t// Handle interrupt signal\n\tsigChan := make(chan os.Signal, 1)\n\tsignal.Notify(sigChan, os.Interrupt)\n\n\t// Open CSV writer if specified\n\tvar csvWriter *CSVWriter\n\tif *flagOutputCSV != \"\" {\n\t\tcsvWriter, err = NewCSVWriter(*flagOutputCSV)\n\t\tif err != nil {\n\t\t\tlog.Fatalf(\"[SIM] Failed to open CSV file: %v\", err)\n\t\t}\n\t\tdefer func() { _ = csvWriter.Close() }() //nolint:errcheck\n\t\tlog.Printf(\"[SIM] Writing ground truth to %s\", *flagOutputCSV)\n\t}\n\n\t// Start statistics reporter\n\tstats := &Stats{StartTime: time.Now()}\n\tgo reportStats(ctx, stats)\n\n\t// Connect all nodes to mothership\n\tif err := connectNodes(ctx, nodes); err != nil {\n\t\tlog.Fatalf(\"[SIM] Failed to connect nodes: %v\", err)\n\t}\n\tdefer closeAllNodes(nodes)\n\n\t// Main simulation loop\n\tsimulationComplete := make(chan struct{})\n\tgo runSimulation(ctx, nodes, walkers, space, rng, csvWriter, stats, simulationComplete, scenarioConfig)\n\n\t// Wait for completion or interrupt\n\tvar durationTimer <-chan time.Time\n\tif *flagDuration > 0 {\n\t\tdurationTimer = time.After(time.Duration(*flagDuration) * time.Second)\n\t} else {\n\t\t// Never timeout if duration is 0\n\t\tdurationTimer = make(chan time.Time)\n\t}\n\n\tselect {\n\tcase <-simulationComplete:\n\t\tlog.Printf(\"[SIM] Simulation completed\")\n\tcase <-sigChan:\n\t\tlog.Printf(\"[SIM] Interrupted by user\")\n\t\tcancel()\n\tcase <-durationTimer:\n\t\tlog.Printf(\"[SIM] Duration elapsed\")\n\t\tcancel()\n\t}\n\n\t// Verify blob count if requested\n\tif *flagVerify {\n\t\tif err := verifyBlobs(*flagWalkers, walkers, space); err != nil {\n\t\t\tlog.Printf(\"[SIM] Verification FAILED: %v\", err)\n\t\t\tos.Exit(1)\n\t\t}\n\t\tlog.Printf(\"[SIM] Verification PASSED\")\n\t}\n\n\t// Print final statistics\n\tprintFinalStats(stats, len(walkers))\n}\n\n// parseSpace parses space dimensions from WxDxH format\nfunc parseSpace(s string) (*Space, error) {\n\tparts := strings.Split(s, \"x\")\n\tif len(parts) != 3 {\n\t\treturn nil, fmt.Errorf(\"expected WxDxH format, got: %s\", s)\n\t}\n\twidth, err := strconv.ParseFloat(parts[0], 64)\n\tif err != nil {\n\t\treturn nil, fmt.Errorf(\"invalid width: %w\", err)\n\t}\n\tdepth, err := strconv.ParseFloat(parts[1], 64)\n\tif err != nil {\n\t\treturn nil, fmt.Errorf(\"invalid depth: %w\", err)\n\t}\n\theight, err := strconv.ParseFloat(parts[2], 64)\n\tif err != nil {\n\t\treturn nil, fmt.Errorf(\"invalid height: %w\", err)\n\t}\n\treturn &Space{Width: width, Depth: depth, Height: height}, nil\n}\n\n// createVirtualNodes creates virtual nodes positioned in the space\nfunc createVirtualNodes(count int, space *Space, rng *rand.Rand) []*VirtualNode {\n\tnodes := make([]*VirtualNode, count)\n\n\tfor i := 0; i < count; i++ {\n\t\tnode := &VirtualNode{\n\t\t\tID: i,\n\t\t\tMAC: generateMAC(i),\n\t\t\tRole: \"tx_rx\",\n\t\t}\n\n\t\t// Distribute nodes around perimeter\n\t\tperimeter := 2*(space.Width+space.Depth)\n\t\tpos := float64(i) / float64(count) * perimeter\n\n\t\tif pos < space.Width {\n\t\t\t// Bottom edge\n\t\t\tnode.Position = Point{X: pos, Y: 0, Z: 2.0}\n\t\t} else if pos < space.Width+space.Depth {\n\t\t\t// Right edge\n\t\t\tnode.Position = Point{X: space.Width, Y: pos - space.Width, Z: 2.0}\n\t\t} else if pos < 2*space.Width+space.Depth {\n\t\t\t// Top edge\n\t\t\tnode.Position = Point{X: space.Width - (pos - space.Width - space.Depth), Y: space.Depth, Z: 2.0}\n\t\t} else {\n\t\t\t// Left edge\n\t\t\tnode.Position = Point{X: 0, Y: space.Depth - (pos - 2*space.Width - space.Depth), Z: 2.0}\n\t\t}\n\n\t\tnodes[i] = node\n\t}\n\n\treturn nodes\n}\n\n// generateMAC generates a synthetic MAC address for a virtual node\nfunc generateMAC(id int) [6]byte {\n\tvar mac [6]byte\n\tmac[0] = 0xAA\n\tmac[1] = 0xBB\n\tmac[2] = 0xCC\n\tmac[3] = byte((id >> 16) & 0xFF)\n\tmac[4] = byte((id >> 8) & 0xFF)\n\tmac[5] = byte(id & 0xFF)\n\treturn mac\n}\n\n// createWalkers creates synthetic walkers\nfunc createWalkers(count int, space *Space, rng *rand.Rand) []*Walker {\n\twalkerType := WalkerType(*flagWalkerType)\n\n\tif walkerType == WalkerTypePathFollow {\n\t\treturn createPathWalkers(count, space)\n\t}\n\n\tif walkerType == WalkerTypeNodeToNode {\n\t\t// Will be created after nodes are initialized\n\t\treturn nil\n\t}\n\n\t// Default: random walk\n\twalkers := make([]*Walker, count)\n\n\tfor i := 0; i < count; i++ {\n\t\twalkers[i] = &Walker{\n\t\t\tID: i,\n\t\t\tType: WalkerTypeRandomWalk,\n\t\t\tPosition: Point{\n\t\t\t\tX: rng.Float64() * space.Width,\n\t\t\t\tY: rng.Float64() * space.Depth,\n\t\t\t\tZ: 1.7,\n\t\t\t},\n\t\t\tVelocity: Point{\n\t\t\t\tX: (rng.Float64() - 0.5) * 0.5,\n\t\t\t\tY: (rng.Float64() - 0.5) * 0.5,\n\t\t\t\tZ: 0,\n\t\t\t},\n\t\t\tSpeed: 0.8 + rng.Float64()*0.4,\n\t\t\tHeight: 1.7,\n\t\t}\n\t}\n\n\treturn walkers\n}\n\n// createPathWalkers creates walkers that follow predefined paths\nfunc createPathWalkers(count int, space *Space) []*Walker {\n\tif *flagPathFile == \"\" {\n\t\tlog.Printf(\"[SIM] Path-following mode requires --path-file, using default rectangular path\")\n\t\treturn createDefaultPathWalkers(count, space)\n\t}\n\n\t// Load paths from JSON file\n\tpaths, err := loadPathsFromFile(*flagPathFile)\n\tif err != nil {\n\t\tlog.Fatalf(\"[SIM] Failed to load paths from %s: %v\", *flagPathFile, err)\n\t}\n\n\twalkers := make([]*Walker, count)\n\tfor i := 0; i < count; i++ {\n\t\t// Use path modulo count to allow fewer paths than walkers\n\t\tpathIdx := i % len(paths)\n\t\twalkers[i] = &Walker{\n\t\t\tID: i,\n\t\t\tType: WalkerTypePathFollow,\n\t\t\tPath: paths[pathIdx],\n\t\t\tPathIdx: 0,\n\t\t\tSpeed: 1.0,\n\t\t\tHeight: 1.7,\n\t\t}\n\t\tif len(paths[pathIdx]) > 0 {\n\t\t\twalkers[i].Position = paths[pathIdx][0]\n\t\t}\n\t}\n\n\treturn walkers\n}\n\n// createDefaultPathWalkers creates walkers following a default rectangular perimeter path\nfunc createDefaultPathWalkers(count int, space *Space) []*Walker {\n\tmargin := 0.5\n\tpath := []Point{\n\t\t{X: margin, Y: margin, Z: 1.7},\n\t\t{X: space.Width - margin, Y: margin, Z: 1.7},\n\t\t{X: space.Width - margin, Y: space.Depth - margin, Z: 1.7},\n\t\t{X: margin, Y: space.Depth - margin, Z: 1.7},\n\t}\n\n\twalkers := make([]*Walker, count)\n\tfor i := 0; i < count; i++ {\n\t\tstartIdx := (i * len(path) / count) % len(path)\n\t\twalkers[i] = &Walker{\n\t\t\tID: i,\n\t\t\tType: WalkerTypePathFollow,\n\t\t\tPath: path,\n\t\t\tPathIdx: startIdx,\n\t\t\tSpeed: 0.8 + 0.4*float64(i)/float64(count),\n\t\t\tHeight: 1.7,\n\t\t}\n\t\tif len(path) > 0 {\n\t\t\twalkers[i].Position = path[startIdx]\n\t\t}\n\t}\n\n\treturn walkers\n}\n\n// createNodeToNodeWalkers creates walkers that traverse between virtual nodes\nfunc createNodeToNodeWalkers(count int, nodes []*VirtualNode) []*Walker {\n\tif len(nodes) < 2 {\n\t\tlog.Fatalf(\"[SIM] Node-to-node mode requires at least 2 nodes\")\n\t}\n\n\twalkers := make([]*Walker, count)\n\tfor i := 0; i < count; i++ {\n\t\twalkers[i] = &Walker{\n\t\t\tID: i,\n\t\t\tType: WalkerTypeNodeToNode,\n\t\t\tNodes: nodes,\n\t\t\tNodeIdx: 1, // Target is second node\n\t\t\tSpeed: 1.0,\n\t\t\tHeight: 1.7,\n\t\t}\n\t\t// Start at first node\n\t\tif len(nodes) > 0 {\n\t\t\twalkers[i].Position = nodes[0].Position\n\t\t}\n\t}\n\n\treturn walkers\n}\n\n// PathDefinition defines a walker path in JSON format\ntype PathDefinition struct {\n\tWaypoints []Point `json:\"waypoints\"` // Ordered list of points to visit\n}\n\n// loadPathsFromFile loads walker paths from a JSON file\nfunc loadPathsFromFile(filename string) ([][]Point, error) {\n\tdata, err := os.ReadFile(filename)\n\tif err != nil {\n\t\treturn nil, err\n\t}\n\n\tvar paths []PathDefinition\n\tif err := json.Unmarshal(data, &paths); err != nil {\n\t\treturn nil, err\n\t}\n\n\tif len(paths) == 0 {\n\t\treturn nil, fmt.Errorf(\"no paths defined in file\")\n\t}\n\n\tresult := make([][]Point, len(paths))\n\tfor i, pathDef := range paths {\n\t\tif len(pathDef.Waypoints) == 0 {\n\t\t\treturn nil, fmt.Errorf(\"path %d has no waypoints\", i)\n\t\t}\n\t\tresult[i] = pathDef.Waypoints\n\t}\n\n\tlog.Printf(\"[SIM] Loaded %d paths from %s\", len(result), filename)\n\treturn result, nil\n}\n\n// connectNodes connects all virtual nodes to the mothership.\n// Each node gets its own persistent connection with background goroutines\n// for ping, health, and message reading.\nfunc connectNodes(ctx context.Context, nodes []*VirtualNode) error {\n\t// Get or generate token\n\ttoken := *flagToken\n\tif token == \"\" {\n\t\tvar err error\n\t\ttoken, err = provisionToken()\n\t\tif err != nil {\n\t\t\treturn fmt.Errorf(\"failed to provision token: %w\", err)\n\t\t}\n\t\tlog.Printf(\"[SIM] Auto-provisioned token: %s...\", token[:min(16, len(token))])\n\t}\n\n\t// Parse mothership URL\n\twsURL, err := url.Parse(*flagMothership)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"invalid mothership URL: %w\", err)\n\t}\n\n\t// Convert http(s) to ws(s)\n\tif wsURL.Scheme == \"http\" {\n\t\twsURL.Scheme = \"ws\"\n\t} else if wsURL.Scheme == \"https\" {\n\t\twsURL.Scheme = \"wss\"\n\t}\n\n\terrChan := make(chan error, len(nodes))\n\n\tfor _, node := range nodes {\n\t\t// Add node WS path if needed\n\t\tnodeURL := wsURL.String()\n\t\tif !strings.Contains(nodeURL, \"/ws/\") && !strings.HasSuffix(nodeURL, \"/ws\") {\n\t\t\tif strings.HasSuffix(nodeURL, \"/\") {\n\t\t\t\tnodeURL = nodeURL + \"ws\"\n\t\t\t} else {\n\t\t\t\tnodeURL = nodeURL + \"/ws\"\n\t\t\t}\n\t\t}\n\n\t\theaders := http.Header{}\n\t\theaders.Set(\"X-Spaxel-Token\", token)\n\n\t\tlog.Printf(\"[SIM] Node %d connecting to %s\", node.ID, nodeURL)\n\n\t\tconn, resp, err := websocket.DefaultDialer.DialContext(ctx, nodeURL, headers)\n\t\tif err != nil {\n\t\t\tif resp != nil {\n\t\t\t\tbody, _ := io.ReadAll(resp.Body)\n\t\t\t\treturn fmt.Errorf(\"node %d dial failed: %w (status %d: %s)\", node.ID, err, resp.StatusCode, string(body))\n\t\t\t}\n\t\t\treturn fmt.Errorf(\"node %d dial failed: %w\", node.ID, err)\n\t\t}\n\n\t\tnode.Conn = conn\n\t\tlog.Printf(\"[SIM] Node %d connected\", node.ID)\n\n\t\t// Send hello message\n\t\thello := map[string]interface{}{\n\t\t\t\"type\": \"hello\",\n\t\t\t\"mac\": macToString(node.MAC),\n\t\t\t\"firmware_version\": \"sim-1.0.0\",\n\t\t\t\"capabilities\": []string{\"csi\", \"tx\", \"rx\"},\n\t\t\t\"chip\": \"ESP32-S3\",\n\t\t\t\"flash_mb\": 16,\n\t\t\t\"uptime_ms\": 1000,\n\t\t\t\"wifi_rssi\": -45,\n\t\t\t\"ip\": fmt.Sprintf(\"127.0.0.%d\", node.ID+2),\n\t\t}\n\n\t\thelloBytes, err := json.Marshal(hello)\n\t\tif err != nil {\n\t\t\tconn.Close() //nolint:errcheck\n\t\t\treturn fmt.Errorf(\"node %d marshal hello: %w\", node.ID, err)\n\t\t}\n\n\t\tnode.mu.Lock()\n\t\terr = conn.WriteMessage(websocket.TextMessage, helloBytes)\n\t\tnode.mu.Unlock()\n\n\t\tif err != nil {\n\t\t\tconn.Close() //nolint:errcheck\n\t\t\treturn fmt.Errorf(\"node %d send hello: %w\", node.ID, err)\n\t\t}\n\n\t\t// Wait for role assignment\n\t\tconn.SetReadDeadline(time.Now().Add(10 * time.Second)) //nolint:errcheck\n\t\t_, message, err := conn.ReadMessage()\n\t\tif err != nil {\n\t\t\tconn.Close() //nolint:errcheck\n\t\t\treturn fmt.Errorf(\"node %d read role: %w\", node.ID, err)\n\t\t}\n\n\t\tvar roleMsg map[string]interface{}\n\t\tif err := json.Unmarshal(message, &roleMsg); err != nil {\n\t\t\tconn.Close() //nolint:errcheck\n\t\t\treturn fmt.Errorf(\"node %d parse role: %w\", node.ID, err)\n\t\t}\n\n\t\tif roleMsg[\"type\"] == \"reject\" {\n\t\t\tconn.Close() //nolint:errcheck\n\t\t\treturn fmt.Errorf(\"node %d rejected: %v\", node.ID, roleMsg[\"reason\"])\n\t\t}\n\n\t\tlog.Printf(\"[SIM] Node %d received role: %v\", node.ID, roleMsg[\"role\"])\n\n\t\t// Start background goroutines for this connection\n\t\tstartTime := time.Now()\n\t\tgo node.pingLoop(ctx)\n\t\tgo node.healthLoop(ctx, startTime)\n\t\tgo node.readLoop(ctx, errChan)\n\t}\n\n\treturn nil\n}\n\n// provisionToken provisions a token. Tries the mothership API first,\n// falls back to a synthetic HMAC token.\nfunc provisionToken() (string, error) {\n\t// Parse mothership URL to get HTTP endpoint\n\twsURL, err := url.Parse(*flagMothership)\n\tif err != nil {\n\t\treturn \"\", fmt.Errorf(\"invalid mothership URL: %w\", err)\n\t}\n\n\thttpURL := *wsURL\n\tif httpURL.Scheme == \"ws\" {\n\t\thttpURL.Scheme = \"http\"\n\t} else if httpURL.Scheme == \"wss\" {\n\t\thttpURL.Scheme = \"https\"\n\t}\n\n\t// Trim /ws suffix to get base URL\n\tbaseURL := strings.TrimSuffix(httpURL.String(), \"/ws\")\n\tbaseURL = strings.TrimSuffix(baseURL, \"/\")\n\tprovisionURL := baseURL + \"/api/provision\"\n\n\t// Try POST /api/provision with synthetic credentials\n\tbody := strings.NewReader(`{\"mac\":\"AA:BB:CC:00:00:00\"}`)\n\tresp, err := http.Post(provisionURL, \"application/json\", body)\n\tif err == nil && resp.StatusCode == http.StatusOK {\n\t\tvar result map[string]interface{}\n\t\tif json.NewDecoder(resp.Body).Decode(&result) == nil {\n\t\t\t_ = resp.Body.Close()\n\t\t\tif token, ok := result[\"node_token\"].(string); ok && token != \"\" {\n\t\t\t\treturn token, nil\n\t\t\t}\n\t\t}\n\t}\n\tif resp != nil {\n\t\t_ = resp.Body.Close()\n\t}\n\n\t// Fallback: generate synthetic token\n\th := hmac.New(sha256.New, []byte(\"sim-install-secret\"))\n\th.Write([]byte(\"sim-node\"))\n\treturn fmt.Sprintf(\"%064x\", h.Sum(nil)), nil\n}\n\n// closeAllNodes closes all node WebSocket connections\nfunc closeAllNodes(nodes []*VirtualNode) {\n\tfor _, node := range nodes {\n\t\tif node.Conn != nil {\n\t\t\tnode.mu.Lock()\n\t\t\tnode.Conn.WriteMessage(websocket.CloseMessage, //nolint:errcheck\n\t\t\t\twebsocket.FormatCloseMessage(websocket.CloseNormalClosure, \"sim shutdown\"))\n\t\t\tnode.Conn.Close() //nolint:errcheck\n\t\t\tnode.mu.Unlock()\n\t\t}\n\t}\n}\n\n// macToString converts a 6-byte MAC to colon-separated hex\nfunc macToString(mac [6]byte) string {\n\treturn fmt.Sprintf(\"%02X:%02X:%02X:%02X:%02X:%02X\",\n\t\tmac[0], mac[1], mac[2], mac[3], mac[4], mac[5])\n}\n\n// pingLoop sends WebSocket pings\nfunc (n *VirtualNode) pingLoop(ctx context.Context) {\n\tticker := time.NewTicker(30 * time.Second)\n\tdefer ticker.Stop()\n\n\tfor {\n\t\tselect {\n\t\tcase <-ctx.Done():\n\t\t\treturn\n\t\tcase <-ticker.C:\n\t\t\tn.mu.Lock()\n\t\t\terr := n.Conn.WriteMessage(websocket.PingMessage, nil)\n\t\t\tn.mu.Unlock()\n\n\t\t\tif err != nil {\n\t\t\t\tlog.Printf(\"[SIM] Node %d ping failed: %v\", n.ID, err)\n\t\t\t\treturn\n\t\t\t}\n\t\t}\n\t}\n}\n\n// healthLoop sends periodic health messages\nfunc (n *VirtualNode) healthLoop(ctx context.Context, startTime time.Time) {\n\tticker := time.NewTicker(10 * time.Second)\n\tdefer ticker.Stop()\n\n\tfor {\n\t\tselect {\n\t\tcase <-ctx.Done():\n\t\t\treturn\n\t\tcase <-ticker.C:\n\t\t\thealth := map[string]interface{}{\n\t\t\t\t\"type\": \"health\",\n\t\t\t\t\"mac\": macToString(n.MAC),\n\t\t\t\t\"timestamp_ms\": time.Now().UnixMilli(),\n\t\t\t\t\"free_heap_bytes\": 200000,\n\t\t\t\t\"wifi_rssi_dbm\": -45,\n\t\t\t\t\"uptime_ms\": time.Since(startTime).Milliseconds(),\n\t\t\t\t\"csi_rate_hz\": *flagRate,\n\t\t\t\t\"wifi_channel\": *flagChannel,\n\t\t\t}\n\n\t\t\thealthBytes, err := json.Marshal(health)\n\t\t\tif err != nil {\n\t\t\t\tlog.Printf(\"[SIM] Node %d marshal health: %v\", n.ID, err)\n\t\t\t\tcontinue\n\t\t\t}\n\n\t\t\tn.mu.Lock()\n\t\t\terr = n.Conn.WriteMessage(websocket.TextMessage, healthBytes)\n\t\t\tn.mu.Unlock()\n\n\t\t\tif err != nil {\n\t\t\t\tlog.Printf(\"[SIM] Node %d send health failed: %v\", n.ID, err)\n\t\t\t\treturn\n\t\t\t}\n\t\t}\n\t}\n}\n\n// readLoop reads downstream messages from the WebSocket\nfunc (n *VirtualNode) readLoop(ctx context.Context, errChan chan<- error) {\n\tfor {\n\t\tselect {\n\t\tcase <-ctx.Done():\n\t\t\treturn\n\t\tdefault:\n\t\t}\n\n\t\tn.mu.Lock()\n\t\tconn := n.Conn\n\t\tn.mu.Unlock()\n\n\t\tif conn == nil {\n\t\t\treturn\n\t\t}\n\n\t\tconn.SetReadDeadline(time.Now().Add(60 * time.Second)) //nolint:errcheck\n\t\t_, message, err := conn.ReadMessage()\n\t\tif err != nil {\n\t\t\tselect {\n\t\t\tcase <-ctx.Done():\n\t\t\t\treturn\n\t\t\tdefault:\n\t\t\t}\n\t\t\tif websocket.IsCloseError(err) {\n\t\t\t\tlog.Printf(\"[SIM] Node %d connection closed\", n.ID)\n\t\t\t\treturn\n\t\t\t}\n\t\t\tlog.Printf(\"[SIM] Node %d read error: %v\", n.ID, err)\n\t\t\treturn\n\t\t}\n\n\t\tvar msg map[string]interface{}\n\t\tif err := json.Unmarshal(message, &msg); err != nil {\n\t\t\tcontinue\n\t\t}\n\n\t\tmsgType, ok := msg[\"type\"].(string)\n\t\tif !ok {\n\t\t\tcontinue\n\t\t}\n\n\t\tswitch msgType {\n\t\tcase \"role\":\n\t\t\tlog.Printf(\"[SIM] Node %d role update: %v\", n.ID, msg[\"role\"])\n\t\tcase \"config\":\n\t\t\tlog.Printf(\"[SIM] Node %d config update: %v\", n.ID, msg)\n\t\tcase \"reject\":\n\t\t\terrChan <- fmt.Errorf(\"node %d rejected: %v\", n.ID, msg[\"reason\"])\n\t\t\treturn\n\t\tcase \"shutdown\":\n\t\t\tlog.Printf(\"[SIM] Node %d received shutdown\", n.ID)\n\t\t\treturn\n\t\t}\n\t}\n}\n\n// runSimulation runs the main CSI generation loop\nfunc runSimulation(ctx context.Context, nodes []*VirtualNode, walkers []*Walker, space *Space, rng *rand.Rand, csvWriter *CSVWriter, stats *Stats, done chan<- struct{}, scenario *ScenarioConfig) {\n\tdefer close(done)\n\n\tticker := time.NewTicker(time.Duration(1000/(*flagRate)) * time.Millisecond)\n\tdefer ticker.Stop()\n\n\tframeNum := 0\n\tlastBLETime := time.Now()\n\n\t// Initialize fall scenario state\n\tvar fallState *FallScenarioState\n\tif scenario.Type == ScenarioFall || scenario.Type == ScenarioBagOnCouch {\n\t\tif len(walkers) > 0 {\n\t\t\tfallState = &FallScenarioState{\n\t\t\t\tWalker: walkers[0],\n\t\t\t\tState: \"walking\",\n\t\t\t}\n\t\t\tif scenario.Type == ScenarioBagOnCouch {\n\t\t\t\t// For bag-on-couch, start with a lower position\n\t\t\t\twalkers[0].Position.Z = 1.0\n\t\t\t\twalkers[0].Velocity.Z = -0.2 // Slow descent\n\t\t\t}\n\t\t}\n\t}\n\n\t// Track scenario timing\n\tscenarioStarted := false\n\n\tfor {\n\t\tselect {\n\t\tcase <-ctx.Done():\n\t\t\treturn\n\t\tcase <-ticker.C:\n\t\t\t// Handle fall scenario timing\n\t\t\tif fallState != nil && !scenarioStarted && time.Since(scenario.StartedAt) >= scenario.FallParams.TriggerAfter {\n\t\t\t\tif scenario.Type == ScenarioFall {\n\t\t\t\t\tfallState.StartFall(scenario.FallParams)\n\t\t\t\t\tscenarioStarted = true\n\t\t\t\t}\n\t\t\t}\n\n\t\t\t// Update walker positions\n\t\t\tif fallState != nil {\n\t\t\t\tdt := 1.0 / float64(*flagRate)\n\t\t\t\tfallState.UpdateForFallScenario(dt, scenario.FallParams, space, rng)\n\t\t\t} else {\n\t\t\t\tupdateWalkers(walkers, space, rng)\n\t\t\t}\n\n\t\t\t// Write to CSV\n\t\t\tif csvWriter != nil {\n\t\t\t\tcsvWriter.WriteRow(walkers, nodes, walls)\n\t\t\t}\n\n\t\t\t// Send CSI frames for each node pair\n\t\t\tfor _, txNode := range nodes {\n\t\t\t\tfor _, rxNode := range nodes {\n\t\t\t\t\tif txNode.ID == rxNode.ID {\n\t\t\t\t\t\tcontinue\n\t\t\t\t\t}\n\n\t\t\t\t\tframe := generateCSIFrame(txNode, rxNode, walkers, walls, frameNum, rng)\n\n\t\t\t\t\ttxNode.mu.Lock()\n\t\t\t\t\terr := txNode.Conn.WriteMessage(websocket.BinaryMessage, frame)\n\t\t\t\t\ttxNode.mu.Unlock()\n\n\t\t\t\t\tif err != nil {\n\t\t\t\t\t\tlog.Printf(\"[SIM] Node %d send CSI failed: %v\", txNode.ID, err)\n\t\t\t\t\t\tcontinue\n\t\t\t\t\t}\n\n\t\t\t\t\tstats.FramesSent.Add(1)\n\t\t\t\t}\n\t\t\t}\n\n\t\t\t// Send BLE messages if enabled\n\t\t\tif *flagBLE && time.Since(lastBLETime) > 5*time.Second {\n\t\t\t\tsendBLEMessages(nodes, walkers)\n\t\t\t\tlastBLETime = time.Now()\n\t\t\t}\n\n\t\t\tframeNum++\n\t\t}\n\t}\n}\n\n// updateWalkers updates walker positions based on their movement type\nfunc updateWalkers(walkers []*Walker, space *Space, rng *rand.Rand) {\n\tdt := 1.0 / float64(*flagRate)\n\n\tfor _, walker := range walkers {\n\t\tswitch walker.Type {\n\t\tcase WalkerTypePathFollow:\n\t\t\tupdatePathWalker(walker, dt)\n\t\tcase WalkerTypeNodeToNode:\n\t\t\tupdateNodeToNodeWalker(walker, dt, space)\n\t\tcase WalkerTypeRandomWalk:\n\t\t\tupdateRandomWalker(walker, dt, space, rng)\n\t\t}\n\t}\n}\n\n// updateRandomWalker implements random walk motion\nfunc updateRandomWalker(walker *Walker, dt float64, space *Space, rng *rand.Rand) {\n\twalker.Position.X += walker.Velocity.X * dt\n\twalker.Position.Y += walker.Velocity.Y * dt\n\n\t// Bounce off walls\n\tmargin := 0.2\n\tif walker.Position.X < margin {\n\t\twalker.Position.X = margin\n\t\twalker.Velocity.X *= -1\n\t}\n\tif walker.Position.X > space.Width-margin {\n\t\twalker.Position.X = space.Width - margin\n\t\twalker.Velocity.X *= -1\n\t}\n\tif walker.Position.Y < margin {\n\t\twalker.Position.Y = margin\n\t\twalker.Velocity.Y *= -1\n\t}\n\tif walker.Position.Y > space.Depth-margin {\n\t\twalker.Position.Y = space.Depth - margin\n\t\twalker.Velocity.Y *= -1\n\t}\n\n\t// Random velocity perturbation\n\tperturbation := 0.1\n\twalker.Velocity.X += (rng.Float64() - 0.5) * perturbation\n\twalker.Velocity.Y += (rng.Float64() - 0.5) * perturbation\n\n\t// Clamp velocity\n\tspeed := walker.Speed * (0.5 + rng.Float64()*0.5)\n\tcurrentSpeed := math.Sqrt(walker.Velocity.X*walker.Velocity.X + walker.Velocity.Y*walker.Velocity.Y)\n\tif currentSpeed > 0 {\n\t\twalker.Velocity.X = (walker.Velocity.X / currentSpeed) * speed\n\t\twalker.Velocity.Y = (walker.Velocity.Y / currentSpeed) * speed\n\t}\n\n\twalker.Position.Z = walker.Height\n}\n\n// updatePathWalker implements path-following motion\nfunc updatePathWalker(walker *Walker, dt float64) {\n\tif len(walker.Path) == 0 {\n\t\treturn\n\t}\n\n\ttarget := walker.Path[walker.PathIdx]\n\tdx := target.X - walker.Position.X\n\tdy := target.Y - walker.Position.Y\n\tdz := target.Z - walker.Position.Z\n\tdist := math.Sqrt(dx*dx + dy*dy + dz*dz)\n\n\t// If very close to target, move to next waypoint\n\tif dist < 0.1 {\n\t\twalker.PathIdx = (walker.PathIdx + 1) % len(walker.Path)\n\t\treturn\n\t}\n\n\t// Move towards target at constant speed\n\tmoveDist := walker.Speed * dt\n\tif moveDist > dist {\n\t\tmoveDist = dist\n\t}\n\n\tt := moveDist / dist\n\twalker.Position.X += dx * t\n\twalker.Position.Y += dy * t\n\n\t// Update velocity vector for consistency\n\tif dist > 0 {\n\t\twalker.Velocity.X = (dx / dist) * walker.Speed\n\t\twalker.Velocity.Y = (dy / dist) * walker.Speed\n\t\twalker.Velocity.Z = (dz / dist) * walker.Speed\n\t}\n}\n\n// updateNodeToNodeWalker implements traversal between virtual nodes\nfunc updateNodeToNodeWalker(walker *Walker, dt float64, space *Space) {\n\tif len(walker.Nodes) < 2 {\n\t\tupdateRandomWalker(walker, dt, space, rand.New(rand.NewSource(time.Now().UnixNano())))\n\t\treturn\n\t}\n\n\ttargetNode := walker.Nodes[walker.NodeIdx]\n\ttargetPos := targetNode.Position\n\n\tdx := targetPos.X - walker.Position.X\n\tdy := targetPos.Y - walker.Position.Y\n\tdz := targetPos.Z - walker.Position.Z\n\tdist := math.Sqrt(dx*dx + dy*dy + dz*dz)\n\n\t// Check if we've arrived at the target node (horizontal distance)\n\thorizontalDist := math.Sqrt(dx*dx + dy*dy)\n\tif horizontalDist < 0.3 {\n\t\t// Move to next node\n\t\twalker.NodeIdx = (walker.NodeIdx + 1) % len(walker.Nodes)\n\t\treturn\n\t}\n\n\t// Move towards target node\n\tmoveDist := walker.Speed * dt\n\tif moveDist > horizontalDist {\n\t\tmoveDist = horizontalDist\n\t}\n\n\tt := moveDist / horizontalDist\n\twalker.Position.X += dx * t\n\twalker.Position.Y += dy * t\n\n\t// Update velocity vector\n\tif horizontalDist > 0 {\n\t\twalker.Velocity.X = (dx / horizontalDist) * walker.Speed\n\t\twalker.Velocity.Y = (dy / horizontalDist) * walker.Speed\n\t\twalker.Velocity.Z = (dz / dist) * walker.Speed\n\t}\n\n\twalker.Position.Z = walker.Height\n}\n\n// sendBLEMessages sends synthetic BLE scan results\nfunc sendBLEMessages(nodes []*VirtualNode, walkers []*Walker) {\n\tfor _, node := range nodes {\n\t\tdevices := make([]map[string]interface{}, 0)\n\n\t\tfor _, walker := range walkers {\n\t\t\tdx := walker.Position.X - node.Position.X\n\t\t\tdy := walker.Position.Y - node.Position.Y\n\t\t\tdz := walker.Position.Z - node.Position.Z\n\t\t\tdist := math.Sqrt(dx*dx + dy*dy + dz*dz)\n\n\t\t\trssi := -50.0 - 20.0*math.Log10(dist/1.0)\n\t\t\tif rssi < -90 {\n\t\t\t\trssi = -90\n\t\t\t}\n\n\t\t\tdevices = append(devices, map[string]interface{}{\n\t\t\t\t\"addr\": fmt.Sprintf(\"AA:BB:CC:DD:EE:%02X\", walker.ID),\n\t\t\t\t\"rssi\": int(rssi),\n\t\t\t\t\"name\": fmt.Sprintf(\"sim-person-%d\", walker.ID),\n\t\t\t})\n\t\t}\n\n\t\tif len(devices) == 0 {\n\t\t\tcontinue\n\t\t}\n\n\t\tbleMsg := map[string]interface{}{\n\t\t\t\"type\": \"ble\",\n\t\t\t\"mac\": macToString(node.MAC),\n\t\t\t\"timestamp_ms\": time.Now().UnixMilli(),\n\t\t\t\"devices\": devices,\n\t\t}\n\n\t\tbleBytes, err := json.Marshal(bleMsg)\n\t\tif err != nil {\n\t\t\tlog.Printf(\"[SIM] Node %d marshal BLE: %v\", node.ID, err)\n\t\t\tcontinue\n\t\t}\n\n\t\tnode.mu.Lock()\n\t\terr = node.Conn.WriteMessage(websocket.TextMessage, bleBytes)\n\t\tnode.mu.Unlock()\n\n\t\tif err != nil {\n\t\t\tlog.Printf(\"[SIM] Node %d send BLE failed: %v\", node.ID, err)\n\t\t}\n\t}\n}\n\n// reportStats periodically prints statistics\nfunc reportStats(ctx context.Context, stats *Stats) {\n\tticker := time.NewTicker(10 * time.Second)\n\tdefer ticker.Stop()\n\n\tfor {\n\t\tselect {\n\t\tcase <-ctx.Done():\n\t\t\treturn\n\t\tcase <-ticker.C:\n\t\t\tnow := time.Now()\n\t\t\telapsed := now.Sub(stats.StartTime).Seconds()\n\t\t\tframesSent := stats.FramesSent.Load()\n\n\t\t\tif elapsed > 0 {\n\t\t\t\tfps := float64(framesSent) / elapsed\n\t\t\t\tlog.Printf(\"[SIM] Stats: frames=%d fps=%.1f elapsed=%.1fs\", framesSent, fps, elapsed)\n\t\t\t}\n\t\t}\n\t}\n}\n\n// printFinalStats prints final simulation statistics\nfunc printFinalStats(stats *Stats, walkerCount int) {\n\telapsed := time.Since(stats.StartTime).Seconds()\n\tframesSent := stats.FramesSent.Load()\n\n\tlog.Printf(\"[SIM] Final Statistics:\")\n\tlog.Printf(\"[SIM] Frames sent: %d\", framesSent)\n\tlog.Printf(\"[SIM] Duration: %.1f seconds\", elapsed)\n\tif elapsed > 0 {\n\t\tlog.Printf(\"[SIM] Average FPS: %.1f\", float64(framesSent)/elapsed)\n\t}\n\tlog.Printf(\"[SIM] Walkers: %d\", walkerCount)\n}\n\nfunc min(a, b int) int {\n\tif a < b {\n\t\treturn a\n\t}\n\treturn b\n}\n","numLines":1170,"startLine":1,"totalLines":1170}}} +{"type":"system","subtype":"status","status":"requesting","uuid":"f9b8081a-671a-4bdc-be46-ec78c4065148","session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389"} +{"type":"stream_event","event":{"type":"message_start","message":{"id":"msg_20260506103507f84efb22b15f473a","type":"message","role":"assistant","model":"glm-4.7","content":[],"stop_reason":null,"stop_sequence":null,"usage":{"input_tokens":0,"output_tokens":0}}},"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","parent_tool_use_id":null,"uuid":"10c213ca-8557-4eec-a194-0da55d6cdca4","ttft_ms":64122} 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Let me also check the verify.go file and look at what tests exist.","signature":""}],"stop_reason":null,"stop_sequence":null,"usage":{"input_tokens":0,"output_tokens":0},"context_management":null},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"d3ce4549-dfaa-404a-8189-97f5abcdcecb"} +{"type":"stream_event","event":{"type":"content_block_stop","index":0},"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","parent_tool_use_id":null,"uuid":"22ccf5da-814c-44b4-bb8a-2ed3d0d524ff"} +{"type":"stream_event","event":{"type":"content_block_start","index":1,"content_block":{"type":"tool_use","id":"call_a6d05ddfd0aa4f658fbb62b2","name":"Read","input":{}}},"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","parent_tool_use_id":null,"uuid":"67f209cc-968e-4a1b-89b6-b4fe463a5341"} 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(\n4\t\t\"encoding/csv\"\n5\t\t\"encoding/json\"\n6\t\t\"fmt\"\n7\t\t\"io\"\n8\t\t\"log\"\n9\t\t\"math\"\n10\t\t\"net/http\"\n11\t\t\"net/url\"\n12\t\t\"os\"\n13\t\t\"strings\"\n14\t\t\"time\"\n15\t)\n16\t\n17\t// CSVWriter writes ground truth data to a CSV file\n18\ttype CSVWriter struct {\n19\t\tfile *os.File\n20\t\twriter *csv.Writer\n21\t\tcreated time.Time\n22\t}\n23\t\n24\t// NewCSVWriter creates a new CSV writer with headers for walker positions and link deltaRMS\n25\tfunc NewCSVWriter(filename string) (*CSVWriter, error) {\n26\t\tfile, err := os.Create(filename)\n27\t\tif err != nil {\n28\t\t\treturn nil, err\n29\t\t}\n30\t\n31\t\twriter := csv.NewWriter(file)\n32\t\n33\t\theader := []string{\n34\t\t\t\"timestamp_ms\",\n35\t\t\t\"walker_id\",\n36\t\t\t\"x\", \"y\", \"z\",\n37\t\t\t\"vx\", \"vy\", \"vz\",\n38\t\t\t\"link_id\",\n39\t\t\t\"delta_rms\",\n40\t\t}\n41\t\tif err := writer.Write(header); err != nil {\n42\t\t\t_ = file.Close()\n43\t\t\treturn nil, err\n44\t\t}\n45\t\n46\t\treturn &CSVWriter{\n47\t\t\tfile: file,\n48\t\t\twriter: writer,\n49\t\t\tcreated: time.Now(),\n50\t\t}, nil\n51\t}\n52\t\n53\t// WriteRow writes a row of ground truth data including walker positions and per-link deltaRMS\n54\tfunc (w *CSVWriter) WriteRow(walkers []*Walker, nodes []*VirtualNode, walls []Wall) {\n55\t\ttimestamp := time.Since(w.created).Milliseconds()\n56\t\n57\t\tfor _, walker := range walkers {\n58\t\t\t// Write walker position row (no link-specific data)\n59\t\t\trow := []string{\n60\t\t\t\tfmt.Sprintf(\"%d\", timestamp),\n61\t\t\t\tfmt.Sprintf(\"%d\", walker.ID),\n62\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.X),\n63\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Y),\n64\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Z),\n65\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Velocity.X),\n66\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Velocity.Y),\n67\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Velocity.Z),\n68\t\t\t\t\"\", // link_id — empty for position-only rows\n69\t\t\t\t\"\", // delta_rms — empty for position-only rows\n70\t\t\t}\n71\t\t\tif err := w.writer.Write(row); err != nil {\n72\t\t\t\tlog.Printf(\"[SIM] CSV write error: %v\", err)\n73\t\t\t}\n74\t\n75\t\t\t// Write deltaRMS rows for each node pair link\n76\t\t\tfor _, tx := range nodes {\n77\t\t\t\tfor _, rx := range nodes {\n78\t\t\t\t\tif tx.ID >= rx.ID {\n79\t\t\t\t\t\tcontinue // avoid duplicate link pairs\n80\t\t\t\t\t}\n81\t\t\t\t\tdeltaRMS := computeWalkerDeltaRMS(tx.Position, rx.Position, walker.Position)\n82\t\t\t\t\tlinkID := fmt.Sprintf(\"%s:%s\", macToString(tx.MAC), macToString(rx.MAC))\n83\t\t\t\t\tlinkRow := []string{\n84\t\t\t\t\t\tfmt.Sprintf(\"%d\", timestamp),\n85\t\t\t\t\t\tfmt.Sprintf(\"%d\", walker.ID),\n86\t\t\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.X),\n87\t\t\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Y),\n88\t\t\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Z),\n89\t\t\t\t\t\t\"\", \"\", \"\", // velocity empty for link rows\n90\t\t\t\t\t\tlinkID,\n91\t\t\t\t\t\tfmt.Sprintf(\"%.6f\", deltaRMS),\n92\t\t\t\t\t}\n93\t\t\t\t\tif err := w.writer.Write(linkRow); err != nil {\n94\t\t\t\t\t\tlog.Printf(\"[SIM] CSV write error: %v\", err)\n95\t\t\t\t\t}\n96\t\t\t\t}\n97\t\t\t}\n98\t\t}\n99\t}\n100\t\n101\t// Close flushes and closes the CSV file\n102\tfunc (w *CSVWriter) Close() error {\n103\t\tw.writer.Flush()\n104\t\treturn w.file.Close()\n105\t}\n106\t\n107\t// verifyBlobs verifies that the mothership detected the expected number of blobs.\n108\t// It queries GET /api/blobs and checks blob_count == walker_count within ±1 tolerance.\n109\tfunc verifyBlobs(expectedWalkers int, walkers []*Walker, space *Space) (err error) {\n110\t\twsURL, err := url.Parse(*flagMothership)\n111\t\tif err != nil {\n112\t\t\treturn fmt.Errorf(\"invalid mothership URL: %w\", err)\n113\t\t}\n114\t\n115\t\thttpURL := *wsURL\n116\t\tif httpURL.Scheme == \"ws\" {\n117\t\t\thttpURL.Scheme = \"http\"\n118\t\t} else if httpURL.Scheme == \"wss\" {\n119\t\t\thttpURL.Scheme = \"https\"\n120\t\t}\n121\t\n122\t\tlog.Printf(\"[SIM] Waiting 2 seconds for pipeline to settle...\")\n123\t\ttime.Sleep(2 * time.Second)\n124\t\n125\t\tblobsURL := strings.TrimSuffix(httpURL.String(), \"/ws\")\n126\t\tblobsURL = strings.TrimSuffix(blobsURL, \"/\")\n127\t\tblobsURL += \"/api/blobs\"\n128\t\n129\t\tresp, err := http.Get(blobsURL)\n130\t\tif err != nil {\n131\t\t\treturn fmt.Errorf(\"failed to query blobs: %w\", err)\n132\t\t}\n133\t\tdefer func() {\n134\t\t\tif closeErr := resp.Body.Close(); closeErr != nil {\n135\t\t\t\tif err == nil {\n136\t\t\t\t\terr = fmt.Errorf(\"failed to close response body: %w\", closeErr)\n137\t\t\t\t}\n138\t\t\t}\n139\t\t}()\n140\t\n141\t\tif resp.StatusCode != http.StatusOK {\n142\t\t\tbody, _ := io.ReadAll(resp.Body)\n143\t\t\treturn fmt.Errorf(\"blobs API returned status %d: %s\", resp.StatusCode, string(body))\n144\t\t}\n145\t\n146\t\tvar blobs []map[string]interface{}\n147\t\tif err := json.NewDecoder(resp.Body).Decode(&blobs); err != nil {\n148\t\t\treturn fmt.Errorf(\"failed to decode blobs response: %w\", err)\n149\t\t}\n150\t\n151\t\tblobCount := len(blobs)\n152\t\n153\t\t// Check blob count within ±1 tolerance\n154\t\ttolerance := 1\n155\t\tminExpected := expectedWalkers - tolerance\n156\t\tmaxExpected := expectedWalkers + tolerance\n157\t\n158\t\tif blobCount < minExpected || blobCount > maxExpected {\n159\t\t\treturn fmt.Errorf(\"FAIL: expected %d blobs (±%d), got %d\", expectedWalkers, tolerance, blobCount)\n160\t\t}\n161\t\n162\t\t// If walkers are in room bounds, check each walker has a blob within 2m\n163\t\tif allWalkersInRoom(walkers, space) && len(blobs) > 0 {\n164\t\t\tmatched := 0\n165\t\t\tfor _, walker := range walkers {\n166\t\t\t\tfor _, blob := range blobs {\n167\t\t\t\t\tbx, _ := blob[\"x\"].(float64)\n168\t\t\t\t\tby, _ := blob[\"y\"].(float64)\n169\t\t\t\t\tbz, _ := blob[\"z\"].(float64)\n170\t\t\t\t\tdx := walker.Position.X - bx\n171\t\t\t\t\tdy := walker.Position.Y - by\n172\t\t\t\t\tdz := walker.Position.Z - bz\n173\t\t\t\t\tif math.Sqrt(dx*dx+dy*dy+dz*dz) <= 2.0 {\n174\t\t\t\t\t\tmatched++\n175\t\t\t\t\t\tbreak\n176\t\t\t\t\t}\n177\t\t\t\t}\n178\t\t\t}\n179\t\t\tlog.Printf(\"[SIM] %d/%d walkers have a blob within 2m\", matched, len(walkers))\n180\t\t}\n181\t\n182\t\tlog.Printf(\"[SIM] PASS: %d blobs detected for %d walkers\", blobCount, expectedWalkers)\n183\t\treturn nil\n184\t}\n185\t\n186\t// allWalkersInRoom checks if all walkers are within room bounds\n187\tfunc allWalkersInRoom(walkers []*Walker, space *Space) bool {\n188\t\tfor _, w := range walkers {\n189\t\t\tif w.Position.X < 0 || w.Position.X > space.Width ||\n190\t\t\t\tw.Position.Y < 0 || w.Position.Y > space.Depth ||\n191\t\t\t\tw.Position.Z < 0 || w.Position.Z > space.Height {\n192\t\t\t\treturn false\n193\t\t\t}\n194\t\t}\n195\t\treturn true\n196\t}\n197\t"}]},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"591020d7-5640-40d1-beaa-68d972da1de5","timestamp":"2026-05-06T02:35:12.233Z","tool_use_result":{"type":"text","file":{"filePath":"/home/coding/spaxel/mothership/cmd/sim/verify.go","content":"package main\n\nimport (\n\t\"encoding/csv\"\n\t\"encoding/json\"\n\t\"fmt\"\n\t\"io\"\n\t\"log\"\n\t\"math\"\n\t\"net/http\"\n\t\"net/url\"\n\t\"os\"\n\t\"strings\"\n\t\"time\"\n)\n\n// CSVWriter writes ground truth data to a CSV file\ntype CSVWriter struct {\n\tfile *os.File\n\twriter *csv.Writer\n\tcreated time.Time\n}\n\n// NewCSVWriter creates a new CSV writer with headers for walker positions and link deltaRMS\nfunc NewCSVWriter(filename string) (*CSVWriter, error) {\n\tfile, err := os.Create(filename)\n\tif err != nil {\n\t\treturn nil, err\n\t}\n\n\twriter := csv.NewWriter(file)\n\n\theader := []string{\n\t\t\"timestamp_ms\",\n\t\t\"walker_id\",\n\t\t\"x\", \"y\", \"z\",\n\t\t\"vx\", \"vy\", \"vz\",\n\t\t\"link_id\",\n\t\t\"delta_rms\",\n\t}\n\tif err := writer.Write(header); err != nil {\n\t\t_ = file.Close()\n\t\treturn nil, err\n\t}\n\n\treturn &CSVWriter{\n\t\tfile: file,\n\t\twriter: writer,\n\t\tcreated: time.Now(),\n\t}, nil\n}\n\n// WriteRow writes a row of ground truth data including walker positions and per-link deltaRMS\nfunc (w *CSVWriter) WriteRow(walkers []*Walker, nodes []*VirtualNode, walls []Wall) {\n\ttimestamp := time.Since(w.created).Milliseconds()\n\n\tfor _, walker := range walkers {\n\t\t// Write walker position row (no link-specific data)\n\t\trow := []string{\n\t\t\tfmt.Sprintf(\"%d\", timestamp),\n\t\t\tfmt.Sprintf(\"%d\", walker.ID),\n\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.X),\n\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Y),\n\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Z),\n\t\t\tfmt.Sprintf(\"%.3f\", walker.Velocity.X),\n\t\t\tfmt.Sprintf(\"%.3f\", walker.Velocity.Y),\n\t\t\tfmt.Sprintf(\"%.3f\", walker.Velocity.Z),\n\t\t\t\"\", // link_id — empty for position-only rows\n\t\t\t\"\", // delta_rms — empty for position-only rows\n\t\t}\n\t\tif err := w.writer.Write(row); err != nil {\n\t\t\tlog.Printf(\"[SIM] CSV write error: %v\", err)\n\t\t}\n\n\t\t// Write deltaRMS rows for each node pair link\n\t\tfor _, tx := range nodes {\n\t\t\tfor _, rx := range nodes {\n\t\t\t\tif tx.ID >= rx.ID {\n\t\t\t\t\tcontinue // avoid duplicate link pairs\n\t\t\t\t}\n\t\t\t\tdeltaRMS := computeWalkerDeltaRMS(tx.Position, rx.Position, walker.Position)\n\t\t\t\tlinkID := fmt.Sprintf(\"%s:%s\", macToString(tx.MAC), macToString(rx.MAC))\n\t\t\t\tlinkRow := []string{\n\t\t\t\t\tfmt.Sprintf(\"%d\", timestamp),\n\t\t\t\t\tfmt.Sprintf(\"%d\", walker.ID),\n\t\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.X),\n\t\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Y),\n\t\t\t\t\tfmt.Sprintf(\"%.3f\", walker.Position.Z),\n\t\t\t\t\t\"\", \"\", \"\", // velocity empty for link rows\n\t\t\t\t\tlinkID,\n\t\t\t\t\tfmt.Sprintf(\"%.6f\", deltaRMS),\n\t\t\t\t}\n\t\t\t\tif err := w.writer.Write(linkRow); err != nil {\n\t\t\t\t\tlog.Printf(\"[SIM] CSV write error: %v\", err)\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t}\n}\n\n// Close flushes and closes the CSV file\nfunc (w *CSVWriter) Close() error {\n\tw.writer.Flush()\n\treturn w.file.Close()\n}\n\n// verifyBlobs verifies that the mothership detected the expected number of blobs.\n// It queries GET /api/blobs and checks blob_count == walker_count within ±1 tolerance.\nfunc verifyBlobs(expectedWalkers int, walkers []*Walker, space *Space) (err error) {\n\twsURL, err := url.Parse(*flagMothership)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"invalid mothership URL: %w\", err)\n\t}\n\n\thttpURL := *wsURL\n\tif httpURL.Scheme == \"ws\" {\n\t\thttpURL.Scheme = \"http\"\n\t} else if httpURL.Scheme == \"wss\" {\n\t\thttpURL.Scheme = \"https\"\n\t}\n\n\tlog.Printf(\"[SIM] Waiting 2 seconds for pipeline to settle...\")\n\ttime.Sleep(2 * time.Second)\n\n\tblobsURL := strings.TrimSuffix(httpURL.String(), \"/ws\")\n\tblobsURL = strings.TrimSuffix(blobsURL, \"/\")\n\tblobsURL += \"/api/blobs\"\n\n\tresp, err := http.Get(blobsURL)\n\tif err != nil {\n\t\treturn fmt.Errorf(\"failed to query blobs: %w\", err)\n\t}\n\tdefer func() {\n\t\tif closeErr := resp.Body.Close(); closeErr != nil {\n\t\t\tif err == nil {\n\t\t\t\terr = fmt.Errorf(\"failed to close response body: %w\", closeErr)\n\t\t\t}\n\t\t}\n\t}()\n\n\tif resp.StatusCode != http.StatusOK {\n\t\tbody, _ := io.ReadAll(resp.Body)\n\t\treturn fmt.Errorf(\"blobs API returned status %d: %s\", resp.StatusCode, string(body))\n\t}\n\n\tvar blobs []map[string]interface{}\n\tif err := json.NewDecoder(resp.Body).Decode(&blobs); err != nil {\n\t\treturn fmt.Errorf(\"failed to decode blobs response: %w\", err)\n\t}\n\n\tblobCount := len(blobs)\n\n\t// Check blob count within ±1 tolerance\n\ttolerance := 1\n\tminExpected := expectedWalkers - tolerance\n\tmaxExpected := expectedWalkers + tolerance\n\n\tif blobCount < minExpected || blobCount > maxExpected {\n\t\treturn fmt.Errorf(\"FAIL: expected %d blobs (±%d), got %d\", expectedWalkers, tolerance, blobCount)\n\t}\n\n\t// If walkers are in room bounds, check each walker has a blob within 2m\n\tif allWalkersInRoom(walkers, space) && len(blobs) > 0 {\n\t\tmatched := 0\n\t\tfor _, walker := range walkers {\n\t\t\tfor _, blob := range blobs {\n\t\t\t\tbx, _ := blob[\"x\"].(float64)\n\t\t\t\tby, _ := blob[\"y\"].(float64)\n\t\t\t\tbz, _ := blob[\"z\"].(float64)\n\t\t\t\tdx := walker.Position.X - bx\n\t\t\t\tdy := walker.Position.Y - by\n\t\t\t\tdz := walker.Position.Z - bz\n\t\t\t\tif math.Sqrt(dx*dx+dy*dy+dz*dz) <= 2.0 {\n\t\t\t\t\tmatched++\n\t\t\t\t\tbreak\n\t\t\t\t}\n\t\t\t}\n\t\t}\n\t\tlog.Printf(\"[SIM] %d/%d walkers have a blob within 2m\", matched, len(walkers))\n\t}\n\n\tlog.Printf(\"[SIM] PASS: %d blobs detected for %d walkers\", blobCount, expectedWalkers)\n\treturn nil\n}\n\n// allWalkersInRoom checks if all walkers are within room bounds\nfunc allWalkersInRoom(walkers []*Walker, space *Space) bool {\n\tfor _, w := range walkers {\n\t\tif w.Position.X < 0 || w.Position.X > space.Width ||\n\t\t\tw.Position.Y < 0 || w.Position.Y > space.Depth ||\n\t\t\tw.Position.Z < 0 || w.Position.Z > space.Height {\n\t\t\treturn false\n\t\t}\n\t}\n\treturn true\n}\n","numLines":197,"startLine":1,"totalLines":197}}} +{"type":"system","subtype":"status","status":"requesting","uuid":"1f3ff88f-8f22-4afc-9c41-0864b1550098","session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389"} +{"type":"stream_event","event":{"type":"message_start","message":{"id":"msg_202605061036112d0ec11749974cb3","type":"message","role":"assistant","model":"glm-4.7","content":[],"stop_reason":null,"stop_sequence":null,"usage":{"input_tokens":0,"output_tokens":0}}},"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","parent_tool_use_id":null,"uuid":"d2341b70-e140-4289-a71c-fb7f4abe40d9","ttft_ms":59707} 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needed:","signature":""}],"stop_reason":null,"stop_sequence":null,"usage":{"input_tokens":0,"output_tokens":0},"context_management":null},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"8130dbdb-5b47-466b-9ce4-17825118c516"} +{"type":"stream_event","event":{"type":"content_block_stop","index":0},"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","parent_tool_use_id":null,"uuid":"8668e15e-40d0-4ac7-99f5-3a2f696f972a"} +{"type":"stream_event","event":{"type":"content_block_start","index":1,"content_block":{"type":"tool_use","id":"call_cff8a767b6f04bd49261fc03","name":"Read","input":{}}},"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","parent_tool_use_id":null,"uuid":"696ed9e1-353f-4c6f-8c0f-3e6f27980319"} 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(\n4\t\t\"encoding/csv\"\n5\t\t\"encoding/json\"\n6\t\t\"math\"\n7\t\t\"math/rand\"\n8\t\t\"os\"\n9\t\t\"path/filepath\"\n10\t\t\"strings\"\n11\t\t\"testing\"\n12\t)\n13\t\n14\t// TestGenerateCSIFrameHeader tests that generated frames have correct binary header format.\n15\t// The frame must match the ingestion layer layout (ingestion/frame.go):\n16\t//\n17\t//\t[0:6] node_mac, [6:12] peer_mac, [12:20] timestamp_us,\n18\t//\t[20] rssi, [21] noise_floor, [22] channel, [23] n_sub, [24:] payload\n19\tfunc TestGenerateCSIFrameHeader(t *testing.T) {\n20\t\trng := rand.New(rand.NewSource(42))\n21\t\n22\t\ttx := &VirtualNode{ID: 0, MAC: generateMAC(0), Position: Point{X: 0, Y: 0, Z: 2}}\n23\t\trx := &VirtualNode{ID: 1, MAC: generateMAC(1), Position: Point{X: 5, Y: 0, Z: 2}}\n24\t\twalkers := []*Walker{{ID: 0, Position: Point{X: 2.5, Y: 0, Z: 1.7}}}\n25\t\n26\t\tframe := generateCSIFrame(tx, rx, walkers, nil, 0, rng)\n27\t\n28\t\t// Check minimum length\n29\t\tif len(frame) < headerSize {\n30\t\t\tt.Fatalf(\"Frame too short: %d bytes (minimum %d)\", len(frame), headerSize)\n31\t\t}\n32\t\n33\t\t// Check MAC addresses are present (not all zeros) at ingestion format offsets\n34\t\tallZero := true\n35\t\tfor i := 0; i < 6; i++ {\n36\t\t\tif frame[i] != 0 {\n37\t\t\t\tallZero = false\n38\t\t\t\tbreak\n39\t\t\t}\n40\t\t}\n41\t\tif allZero {\n42\t\t\tt.Error(\"TX MAC (node_mac) is all zeros\")\n43\t\t}\n44\t\n45\t\tallZero = true\n46\t\tfor i := 6; i < 12; i++ {\n47\t\t\tif frame[i] != 0 {\n48\t\t\t\tallZero = false\n49\t\t\t\tbreak\n50\t\t\t}\n51\t\t}\n52\t\tif allZero {\n53\t\t\tt.Error(\"RX MAC (peer_mac) is all zeros\")\n54\t\t}\n55\t\n56\t\t// Check subcarrier count at ingestion format offset [23]\n57\t\tnSubRead := frame[23]\n58\t\tif nSubRead != 64 {\n59\t\t\tt.Errorf(\"Wrong n_sub: %d (expected 64)\", nSubRead)\n60\t\t}\n61\t\n62\t\t// Check payload length matches n_sub\n63\t\texpectedLen := headerSize + int(nSubRead)*2\n64\t\tif len(frame) != expectedLen {\n65\t\t\tt.Errorf(\"Frame length mismatch: %d (expected %d)\", len(frame), expectedLen)\n66\t\t}\n67\t}\n68\t\n69\t// TestRSSIInRange tests that RSSI is within plausible range for given distance.\n70\t// At 2m from TX with wall_attenuation=0, RSSI should be roughly [-50, -70].\n71\tfunc TestRSSIInRange(t *testing.T) {\n72\t\trng := rand.New(rand.NewSource(42))\n73\t\n74\t\ttx := &VirtualNode{ID: 0, MAC: generateMAC(0), Position: Point{X: 0, Y: 0, Z: 2}}\n75\t\trx := &VirtualNode{ID: 1, MAC: generateMAC(1), Position: Point{X: 5, Y: 0, Z: 2}}\n76\t\twalkers := []*Walker{{ID: 0, Position: Point{X: 2.5, Y: 0, Z: 1.7}}}\n77\t\n78\t\tframe := generateCSIFrame(tx, rx, walkers, nil, 0, rng)\n79\t\n80\t\t// RSSI is at ingestion format offset [20]\n81\t\trssi := int8(frame[20])\n82\t\n83\t\t// RSSI should be in [-90, -30] dBm for any reasonable link\n84\t\tif rssi < -90 || rssi > -30 {\n85\t\t\tt.Errorf(\"RSSI out of range: %d (expected [-90, -30])\", rssi)\n86\t\t}\n87\t}\n88\t\n89\t// TestIQClamping tests that generated I/Q values are clamped to int8 range [-127, 127]\n90\tfunc TestIQClamping(t *testing.T) {\n91\t\trng := rand.New(rand.NewSource(42))\n92\t\n93\t\ttx := &VirtualNode{ID: 0, Position: Point{X: 0, Y: 0, Z: 2}}\n94\t\trx := &VirtualNode{ID: 1, Position: Point{X: 0.1, Y: 0, Z: 2}}\n95\t\twalkers := []*Walker{{ID: 0, Position: Point{X: 0.05, Y: 0, Z: 1.7}}}\n96\t\n97\t\tframe := generateCSIFrame(tx, rx, walkers, nil, 0, rng)\n98\t\n99\t\tfor k := 0; k < 64; k++ {\n100\t\t\toffset := headerSize + k*2\n101\t\t\ti := int8(frame[offset])\n102\t\t\tq := int8(frame[offset+1])\n103\t\n104\t\t\tif i < -127 || i > 127 {\n105\t\t\t\tt.Errorf(\"I value out of range at subcarrier %d: %d\", k, i)\n106\t\t\t}\n107\t\t\tif q < -127 || q > 127 {\n108\t\t\t\tt.Errorf(\"Q value out of range at subcarrier %d: %d\", k, q)\n109\t\t\t}\n110\t\t}\n111\t}\n112\t\n113\t// TestHelloMessageFormat tests that hello message can be parsed correctly\n114\tfunc TestHelloMessageFormat(t *testing.T) {\n115\t\thello := map[string]interface{}{\n116\t\t\t\"type\": \"hello\",\n117\t\t\t\"mac\": \"AA:BB:CC:DD:EE:FF\",\n118\t\t\t\"firmware_version\": \"sim-1.0.0\",\n119\t\t\t\"capabilities\": []string{\"csi\", \"tx\", \"rx\"},\n120\t\t\t\"chip\": \"ESP32-S3\",\n121\t\t\t\"flash_mb\": 16,\n122\t\t\t\"uptime_ms\": 1000,\n123\t\t\t\"wifi_rssi\": -45,\n124\t\t\t\"ip\": \"127.0.0.1\",\n125\t\t}\n126\t\n127\t\tif hello[\"type\"] != \"hello\" {\n128\t\t\tt.Error(\"Wrong message type\")\n129\t\t}\n130\t\tif _, ok := hello[\"mac\"].(string); !ok {\n131\t\t\tt.Error(\"MAC field missing or not string\")\n132\t\t}\n133\t\tcapabilities, ok := hello[\"capabilities\"].([]string)\n134\t\tif !ok || len(capabilities) == 0 {\n135\t\t\tt.Error(\"Capabilities field missing or empty\")\n136\t\t}\n137\t}\n138\t\n139\t// TestVerifyBlobCount tests the verification logic\n140\tfunc TestVerifyBlobCount(t *testing.T) {\n141\t\ttests := []struct {\n142\t\t\tname string\n143\t\t\tblobCount int\n144\t\t\twalkerCount int\n145\t\t\texpectedPass bool\n146\t\t}{\n147\t\t\t{\"Exact match\", 1, 1, true},\n148\t\t\t{\"Within tolerance +1\", 2, 1, true},\n149\t\t\t{\"Within tolerance -1\", 0, 1, true},\n150\t\t\t{\"Too many blobs\", 3, 1, false},\n151\t\t\t{\"Multiple walkers exact\", 2, 2, true},\n152\t\t\t{\"Multiple walkers within tolerance\", 3, 2, true},\n153\t\t\t{\"Multiple walkers too few\", 0, 2, false},\n154\t\t}\n155\t\n156\t\tfor _, tt := range tests {\n157\t\t\tt.Run(tt.name, func(t *testing.T) {\n158\t\t\t\ttolerance := 1\n159\t\t\t\tminExpected := tt.walkerCount - tolerance\n160\t\t\t\tmaxExpected := tt.walkerCount + tolerance\n161\t\n162\t\t\t\tpass := tt.blobCount >= minExpected && tt.blobCount <= maxExpected\n163\t\n164\t\t\t\tif pass != tt.expectedPass {\n165\t\t\t\t\tt.Errorf(\"verifyBlobs(%d walkers, %d blobs) = %v, expected %v\",\n166\t\t\t\t\t\ttt.walkerCount, tt.blobCount, pass, tt.expectedPass)\n167\t\t\t\t}\n168\t\t\t})\n169\t\t}\n170\t}\n171\t\n172\t// TestSeedReproducibility tests that the same seed produces identical results\n173\tfunc TestSeedReproducibility(t *testing.T) {\n174\t\tseed := int64(42)\n175\t\n176\t\trng1 := rand.New(rand.NewSource(seed))\n177\t\trng2 := rand.New(rand.NewSource(seed))\n178\t\n179\t\ttx := &VirtualNode{ID: 0, Position: Point{X: 0, Y: 0, Z: 2}}\n180\t\trx := &VirtualNode{ID: 1, Position: Point{X: 5, Y: 0, Z: 2}}\n181\t\twalkers := []*Walker{{ID: 0, Position: Point{X: 2.5, Y: 0, Z: 1.7}}}\n182\t\n183\t\tframe1 := generateCSIFrame(tx, rx, walkers, nil, 0, rng1)\n184\t\tframe2 := generateCSIFrame(tx, rx, walkers, nil, 0, rng2)\n185\t\n186\t\tif len(frame1) != len(frame2) {\n187\t\t\tt.Fatalf(\"Frame lengths differ: %d vs %d\", len(frame1), len(frame2))\n188\t\t}\n189\t\n190\t\tfor i := range frame1 {\n191\t\t\tif frame1[i] != frame2[i] {\n192\t\t\t\tt.Errorf(\"Byte %d differs: %d vs %d\", i, frame1[i], frame2[i])\n193\t\t\t}\n194\t\t}\n195\t}\n196\t\n197\t// TestSeedReproducibilityWalkerPaths tests that identical seeds produce identical walker trajectories\n198\tfunc TestSeedReproducibilityWalkerPaths(t *testing.T) {\n199\t\tseed := int64(42)\n200\t\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n201\t\n202\t\trng1 := rand.New(rand.NewSource(seed))\n203\t\twalkers1 := createWalkers(2, space, rng1)\n204\t\n205\t\trng2 := rand.New(rand.NewSource(seed))\n206\t\twalkers2 := createWalkers(2, space, rng2)\n207\t\n208\t\t// Initial positions should match\n209\t\tfor i := range walkers1 {\n210\t\t\tif walkers1[i].Position != walkers2[i].Position {\n211\t\t\t\tt.Errorf(\"Initial position mismatch for walker %d: %v vs %v\",\n212\t\t\t\t\ti, walkers1[i].Position, walkers2[i].Position)\n213\t\t\t}\n214\t\t}\n215\t\n216\t\t// Run 100 update steps and verify positions still match\n217\t\tfor step := 0; step < 100; step++ {\n218\t\t\trng1 = rand.New(rand.NewSource(seed))\n219\t\t\trng2 = rand.New(rand.NewSource(seed))\n220\t\t\t// Reset walkers to get fresh RNG sequence\n221\t\t\twalkers1 = createWalkers(2, space, rng1)\n222\t\t\twalkers2 = createWalkers(2, space, rng2)\n223\t\n224\t\t\t// Apply same number of updates\n225\t\t\tfor s := 0; s <= step; s++ {\n226\t\t\t\tupdateWalkers(walkers1, space, rng1)\n227\t\t\t\tupdateWalkers(walkers2, space, rng2)\n228\t\t\t}\n229\t\n230\t\t\tfor i := range walkers1 {\n231\t\t\t\tif walkers1[i].Position != walkers2[i].Position {\n232\t\t\t\t\tt.Errorf(\"Position mismatch at step %d walker %d: %v vs %v\",\n233\t\t\t\t\t\tstep, i, walkers1[i].Position, walkers2[i].Position)\n234\t\t\t\t}\n235\t\t\t}\n236\t\t}\n237\t}\n238\t\n239\t// TestParseSpace tests space dimension parsing\n240\tfunc TestParseSpace(t *testing.T) {\n241\t\ttests := []struct {\n242\t\t\tinput string\n243\t\t\twantWidth float64\n244\t\t\twantDepth float64\n245\t\t\twantHeight float64\n246\t\t\twantErr bool\n247\t\t}{\n248\t\t\t{\"5x5x2.5\", 5, 5, 2.5, false},\n249\t\t\t{\"10x8x3\", 10, 8, 3, false},\n250\t\t\t{\"6.5x4.2x2.8\", 6.5, 4.2, 2.8, false},\n251\t\t\t{\"invalid\", 0, 0, 0, true},\n252\t\t\t{\"5x5\", 0, 0, 0, true},\n253\t\t\t{\"5x5x2x3\", 0, 0, 0, true},\n254\t\t}\n255\t\n256\t\tfor _, tt := range tests {\n257\t\t\tt.Run(tt.input, func(t *testing.T) {\n258\t\t\t\tspace, err := parseSpace(tt.input)\n259\t\n260\t\t\t\tif tt.wantErr {\n261\t\t\t\t\tif err == nil {\n262\t\t\t\t\t\tt.Error(\"Expected error but got none\")\n263\t\t\t\t\t}\n264\t\t\t\t\treturn\n265\t\t\t\t}\n266\t\n267\t\t\t\tif err != nil {\n268\t\t\t\t\tt.Fatalf(\"Unexpected error: %v\", err)\n269\t\t\t\t}\n270\t\n271\t\t\t\tif space.Width != tt.wantWidth {\n272\t\t\t\t\tt.Errorf(\"Width = %v, want %v\", space.Width, tt.wantWidth)\n273\t\t\t\t}\n274\t\t\t\tif space.Depth != tt.wantDepth {\n275\t\t\t\t\tt.Errorf(\"Depth = %v, want %v\", space.Depth, tt.wantDepth)\n276\t\t\t\t}\n277\t\t\t\tif space.Height != tt.wantHeight {\n278\t\t\t\t\tt.Errorf(\"Height = %v, want %v\", space.Height, tt.wantHeight)\n279\t\t\t\t}\n280\t\t\t})\n281\t\t}\n282\t}\n283\t\n284\t// TestMACGeneration tests MAC address generation\n285\tfunc TestMACGeneration(t *testing.T) {\n286\t\ttests := []struct {\n287\t\t\tid int\n288\t\t\twant string\n289\t\t}{\n290\t\t\t{0, \"AA:BB:CC:00:00:00\"},\n291\t\t\t{1, \"AA:BB:CC:00:00:01\"},\n292\t\t\t{255, \"AA:BB:CC:00:00:FF\"},\n293\t\t\t{256, \"AA:BB:CC:00:01:00\"},\n294\t\t\t{65535, \"AA:BB:CC:00:FF:FF\"},\n295\t\t\t{16777215, \"AA:BB:CC:FF:FF:FF\"},\n296\t\t}\n297\t\n298\t\tfor _, tt := range tests {\n299\t\t\tt.Run(tt.want, func(t *testing.T) {\n300\t\t\t\tmac := generateMAC(tt.id)\n301\t\t\t\tgot := macToString(mac)\n302\t\t\t\tif got != tt.want {\n303\t\t\t\t\tt.Errorf(\"generateMAC(%d) = %s, want %s\", tt.id, got, tt.want)\n304\t\t\t\t}\n305\t\t\t})\n306\t\t}\n307\t}\n308\t\n309\t// TestComputeCSIForWalkers tests CSI computation with various walker configurations\n310\tfunc TestComputeCSIForWalkers(t *testing.T) {\n311\t\ttx := &VirtualNode{ID: 0, Position: Point{X: 0, Y: 0, Z: 2}}\n312\t\trx := &VirtualNode{ID: 1, Position: Point{X: 5, Y: 0, Z: 2}}\n313\t\n314\t\ttests := []struct {\n315\t\t\tname string\n316\t\t\twalkers []*Walker\n317\t\t\tminAmp float64\n318\t\t\tmaxAmp float64\n319\t\t}{\n320\t\t\t{\n321\t\t\t\tname: \"No walkers\",\n322\t\t\t\twalkers: []*Walker{},\n323\t\t\t\tminAmp: 0,\n324\t\t\t\tmaxAmp: 0.01,\n325\t\t\t},\n326\t\t\t{\n327\t\t\t\tname: \"Walker at midpoint\",\n328\t\t\t\twalkers: []*Walker{{\n329\t\t\t\t\tID: 0,\n330\t\t\t\t\tPosition: Point{X: 2.5, Y: 0, Z: 1.7},\n331\t\t\t\t}},\n332\t\t\t\tminAmp: 0.1,\n333\t\t\t\tmaxAmp: 10,\n334\t\t\t},\n335\t\t\t{\n336\t\t\t\tname: \"Walker far from link\",\n337\t\t\t\twalkers: []*Walker{{\n338\t\t\t\t\tID: 0,\n339\t\t\t\t\tPosition: Point{X: 2.5, Y: 10, Z: 1.7},\n340\t\t\t\t}},\n341\t\t\t\tminAmp: 0,\n342\t\t\t\tmaxAmp: 1,\n343\t\t\t},\n344\t\t}\n345\t\n346\t\tfor _, tt := range tests {\n347\t\t\tt.Run(tt.name, func(t *testing.T) {\n348\t\t\t\tamplitude, _ := computeCSIForWalkers(tx, rx, tt.walkers, nil)\n349\t\n350\t\t\t\tif amplitude < tt.minAmp {\n351\t\t\t\t\tt.Errorf(\"Amplitude %v below minimum %v\", amplitude, tt.minAmp)\n352\t\t\t\t}\n353\t\t\t\tif amplitude > tt.maxAmp {\n354\t\t\t\t\tt.Errorf(\"Amplitude %v above maximum %v\", amplitude, tt.maxAmp)\n355\t\t\t\t}\n356\t\t\t})\n357\t\t}\n358\t}\n359\t\n360\t// TestDistance tests distance calculation\n361\tfunc TestDistance(t *testing.T) {\n362\t\ttests := []struct {\n363\t\t\ta, b Point\n364\t\t\twant float64\n365\t\t}{\n366\t\t\t{Point{0, 0, 0}, Point{0, 0, 0}, 0},\n367\t\t\t{Point{0, 0, 0}, Point{1, 0, 0}, 1},\n368\t\t\t{Point{0, 0, 0}, Point{0, 1, 0}, 1},\n369\t\t\t{Point{0, 0, 0}, Point{0, 0, 1}, 1},\n370\t\t\t{Point{0, 0, 0}, Point{3, 4, 0}, 5},\n371\t\t\t{Point{1, 2, 3}, Point{4, 6, 3}, 5},\n372\t\t}\n373\t\n374\t\tfor _, tt := range tests {\n375\t\t\tt.Run(\"\", func(t *testing.T) {\n376\t\t\t\tgot := distance(tt.a, tt.b)\n377\t\t\t\tif math.Abs(got-tt.want) > 1e-9 {\n378\t\t\t\t\tt.Errorf(\"distance(%v, %v) = %v, want %v\", tt.a, tt.b, got, tt.want)\n379\t\t\t\t}\n380\t\t\t})\n381\t\t}\n382\t}\n383\t\n384\t// TestCSVOutput tests that CSV file has correct headers and ground truth data\n385\tfunc TestCSVOutput(t *testing.T) {\n386\t\ttmpDir := t.TempDir()\n387\t\tcsvPath := filepath.Join(tmpDir, \"test_output.csv\")\n388\t\n389\t\tcsvWriter, err := NewCSVWriter(csvPath)\n390\t\tif err != nil {\n391\t\t\tt.Fatalf(\"Failed to create CSV writer: %v\", err)\n392\t\t}\n393\t\n394\t\twalkers := []*Walker{\n395\t\t\t{ID: 0, Position: Point{X: 2.5, Y: 1.5, Z: 1.7}, Velocity: Point{X: 0.5, Y: 0.3, Z: 0}},\n396\t\t}\n397\t\tnodes := []*VirtualNode{\n398\t\t\t{ID: 0, MAC: generateMAC(0), Position: Point{X: 0, Y: 0, Z: 2}},\n399\t\t\t{ID: 1, MAC: generateMAC(1), Position: Point{X: 5, Y: 0, Z: 2}},\n400\t\t}\n401\t\n402\t\tcsvWriter.WriteRow(walkers, nodes, nil)\n403\t\tcsvWriter.Close() //nolint:errcheck\n404\t\n405\t\t// Read back and verify\n406\t\tfile, err := os.Open(csvPath)\n407\t\tif err != nil {\n408\t\t\tt.Fatalf(\"Failed to open CSV: %v\", err)\n409\t\t}\n410\t\tdefer func() { _ = file.Close() }()\n411\t\n412\t\treader := csv.NewReader(file)\n413\t\trecords, err := reader.ReadAll()\n414\t\tif err != nil {\n415\t\t\tt.Fatalf(\"Failed to read CSV: %v\", err)\n416\t\t}\n417\t\n418\t\t// Check header\n419\t\texpectedHeaders := []string{\"timestamp_ms\", \"walker_id\", \"x\", \"y\", \"z\", \"vx\", \"vy\", \"vz\", \"link_id\", \"delta_rms\"}\n420\t\tif len(records) == 0 {\n421\t\t\tt.Fatal(\"CSV is empty\")\n422\t\t}\n423\t\tfor i, h := range expectedHeaders {\n424\t\t\tif i >= len(records[0]) {\n425\t\t\t\tt.Errorf(\"Missing header column %d: expected %s\", i, h)\n426\t\t\t\tcontinue\n427\t\t\t}\n428\t\t\tif records[0][i] != h {\n429\t\t\t\tt.Errorf(\"Header[%d] = %q, want %q\", i, records[0][i], h)\n430\t\t\t}\n431\t\t}\n432\t\n433\t\t// Should have header + 1 position row + 1 link row (1 unique link pair for 2 nodes)\n434\t\t// With 2 nodes, there's 1 unique pair (0,1), so 1 position row + 1 deltaRMS row = 2 data rows\n435\t\tif len(records) < 3 {\n436\t\t\tt.Errorf(\"Expected at least 3 rows (header + position + deltaRMS), got %d\", len(records))\n437\t\t}\n438\t\n439\t\t// Verify position row has walker data\n440\t\tposRow := records[1]\n441\t\tif posRow[1] != \"0\" {\n442\t\t\tt.Errorf(\"Walker ID = %q, want %q\", posRow[1], \"0\")\n443\t\t}\n444\t\tif posRow[2] != \"2.500\" {\n445\t\t\tt.Errorf(\"X = %q, want %q\", posRow[2], \"2.500\")\n446\t\t}\n447\t\n448\t\t// Verify deltaRMS row has link data\n449\t\tdeltaRow := records[2]\n450\t\tif deltaRow[8] == \"\" {\n451\t\t\tt.Error(\"Expected link_id in deltaRMS row but got empty\")\n452\t\t}\n453\t\tif deltaRow[9] == \"\" {\n454\t\t\tt.Error(\"Expected delta_rms value but got empty\")\n455\t\t}\n456\t\tif !strings.Contains(deltaRow[8], \":\") {\n457\t\t\tt.Errorf(\"link_id should contain MAC separator ':', got %q\", deltaRow[8])\n458\t\t}\n459\t}\n460\t\n461\t// TestDeltaRMSComputation tests that deltaRMS values are physically plausible\n462\tfunc TestDeltaRMSComputation(t *testing.T) {\n463\t\ttx := Point{X: 0, Y: 0, Z: 2}\n464\t\trx := Point{X: 5, Y: 0, Z: 2}\n465\t\n466\t\ttests := []struct {\n467\t\t\tname string\n468\t\t\twalker Point\n469\t\t\tminRMS float64\n470\t\t\tmaxRMS float64\n471\t\t}{\n472\t\t\t{\n473\t\t\t\tname: \"Walker on direct line (zone 1)\",\n474\t\t\t\twalker: Point{X: 2.5, Y: 0, Z: 1.7},\n475\t\t\t\tminRMS: 0.1, // zone 1 should have high deltaRMS\n476\t\t\t\tmaxRMS: 0.2,\n477\t\t\t},\n478\t\t\t{\n479\t\t\t\tname: \"Walker far off axis (zone 5+)\",\n480\t\t\t\twalker: Point{X: 2.5, Y: 10, Z: 1.7},\n481\t\t\t\tminRMS: 0.0,\n482\t\t\t\tmaxRMS: 0.02, // should be very low\n483\t\t\t},\n484\t\t}\n485\t\n486\t\tfor _, tt := range tests {\n487\t\t\tt.Run(tt.name, func(t *testing.T) {\n488\t\t\t\trms := computeWalkerDeltaRMS(tx, rx, tt.walker)\n489\t\t\t\tif rms < tt.minRMS || rms > tt.maxRMS {\n490\t\t\t\t\tt.Errorf(\"deltaRMS = %v, expected range [%v, %v]\", rms, tt.minRMS, tt.maxRMS)\n491\t\t\t\t}\n492\t\t\t})\n493\t\t}\n494\t}\n495\t\n496\t// TestWallFlagParsing tests that --wall flag parsing works\n497\tfunc TestWallFlagParsing(t *testing.T) {\n498\t\t// Reset walls\n499\t\twalls = nil\n500\t\n501\t\tf := &wallFlag{}\n502\t\tif err := f.Set(\"1.0,2.0,3.0,4.0\"); err != nil {\n503\t\t\tt.Fatalf(\"Failed to parse wall: %v\", err)\n504\t\t}\n505\t\tif err := f.Set(\"5.0,6.0,7.0,8.0\"); err != nil {\n506\t\t\tt.Fatalf(\"Failed to parse second wall: %v\", err)\n507\t\t}\n508\t\n509\t\tif len(walls) != 2 {\n510\t\t\tt.Fatalf(\"Expected 2 walls, got %d\", len(walls))\n511\t\t}\n512\t\n513\t\tif walls[0].X1 != 1.0 || walls[0].Y1 != 2.0 || walls[0].X2 != 3.0 || walls[0].Y2 != 4.0 {\n514\t\t\tt.Errorf(\"Wall 0: got %+v\", walls[0])\n515\t\t}\n516\t\tif walls[1].X1 != 5.0 || walls[1].Y1 != 6.0 || walls[1].X2 != 7.0 || walls[1].Y2 != 8.0 {\n517\t\t\tt.Errorf(\"Wall 1: got %+v\", walls[1])\n518\t\t}\n519\t\n520\t\t// Check default material (drywall) and attenuation\n521\t\tif walls[0].Material != MaterialDrywall {\n522\t\t\tt.Errorf(\"Wall 0 material = %v, want drywall\", walls[0].Material)\n523\t\t}\n524\t\tif walls[0].Attenuation != 3.0 {\n525\t\t\tt.Errorf(\"Wall 0 attenuation = %v, want 3.0\", walls[0].Attenuation)\n526\t\t}\n527\t\n528\t\t// Test invalid format\n529\t\tif err := f.Set(\"1,2,3\"); err == nil {\n530\t\t\tt.Error(\"Expected error for 3-part wall spec\")\n531\t\t}\n532\t}\n533\t\n534\t// TestWalkerBounce tests that walkers bounce off room walls\n535\tfunc TestWalkerBounce(t *testing.T) {\n536\t\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n537\t\trng := rand.New(rand.NewSource(42))\n538\t\n539\t\twalker := &Walker{\n540\t\t\tID: 0,\n541\t\t\tType: WalkerTypeRandomWalk,\n542\t\t\tPosition: Point{X: 0.1, Y: 2.5, Z: 1.7}, // Near left wall\n543\t\t\tVelocity: Point{X: -1.0, Y: 0, Z: 0}, // Moving left\n544\t\t\tSpeed: 1.0,\n545\t\t\tHeight: 1.7,\n546\t\t}\n547\t\n548\t\t// Run several updates — should bounce off left wall\n549\t\tfor i := 0; i < 10; i++ {\n550\t\t\tupdateWalkers([]*Walker{walker}, space, rng)\n551\t\t}\n552\t\n553\t\t// Walker should not be outside room bounds\n554\t\tif walker.Position.X < 0 || walker.Position.X > space.Width {\n555\t\t\tt.Errorf(\"Walker X=%v outside room [0, %v]\", walker.Position.X, space.Width)\n556\t\t}\n557\t\tif walker.Position.Y < 0 || walker.Position.Y > space.Depth {\n558\t\t\tt.Errorf(\"Walker Y=%v outside room [0, %v]\", walker.Position.Y, space.Depth)\n559\t\t}\n560\t}\n561\t\n562\t// TestPathFollowing tests that walkers follow a predefined path\n563\tfunc TestPathFollowing(t *testing.T) {\n564\t\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n565\t\n566\t\t// Create a rectangular path\n567\t\tpath := []Point{\n568\t\t\t{X: 0.5, Y: 0.5, Z: 1.7},\n569\t\t\t{X: 4.5, Y: 0.5, Z: 1.7},\n570\t\t\t{X: 4.5, Y: 4.5, Z: 1.7},\n571\t\t\t{X: 0.5, Y: 4.5, Z: 1.7},\n572\t\t}\n573\t\n574\t\twalker := &Walker{\n575\t\t\tID: 0,\n576\t\t\tType: WalkerTypePathFollow,\n577\t\t\tPath: path,\n578\t\t\tPathIdx: 0,\n579\t\t\tSpeed: 1.0,\n580\t\t\tHeight: 1.7,\n581\t\t\tPosition: path[0], // Initialize at first waypoint\n582\t\t}\n583\t\n584\t\t// Run updates - should move along path\n585\t\tfor i := 0; i < 100; i++ {\n586\t\t\tupdatePathWalker(walker, 0.1)\n587\t\t}\n588\t\n589\t\t// Walker should have moved from starting position\n590\t\tif walker.Position == path[0] {\n591\t\t\tt.Error(\"Walker should have moved from starting position\")\n592\t\t}\n593\t\n594\t\t// Walker should remain within room bounds\n595\t\tif walker.Position.X < 0 || walker.Position.X > space.Width {\n596\t\t\tt.Errorf(\"Walker X=%v outside room [0, %v]\", walker.Position.X, space.Width)\n597\t\t}\n598\t\tif walker.Position.Y < 0 || walker.Position.Y > space.Depth {\n599\t\t\tt.Errorf(\"Walker Y=%v outside room [0, %v]\", walker.Position.Y, space.Depth)\n600\t\t}\n601\t}\n602\t\n603\t// TestNodeToNodeTraversal tests node-to-node walker movement\n604\tfunc TestNodeToNodeTraversal(t *testing.T) {\n605\t\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n606\t\n607\t\tnodes := []*VirtualNode{\n608\t\t\t{ID: 0, Position: Point{X: 0.5, Y: 0.5, Z: 2.0}},\n609\t\t\t{ID: 1, Position: Point{X: 4.5, Y: 0.5, Z: 2.0}},\n610\t\t\t{ID: 2, Position: Point{X: 2.5, Y: 4.5, Z: 2.0}},\n611\t\t}\n612\t\n613\t\twalker := &Walker{\n614\t\t\tID: 0,\n615\t\t\tType: WalkerTypeNodeToNode,\n616\t\t\tNodes: nodes,\n617\t\t\tNodeIdx: 1, // Target is second node\n618\t\t\tSpeed: 1.0,\n619\t\t\tHeight: 1.7,\n620\t\t\tPosition: nodes[0].Position, // Initialize at first node\n621\t\t}\n622\t\n623\t\t// Move towards second node\n624\t\tfor i := 0; i < 100; i++ {\n625\t\t\tupdateNodeToNodeWalker(walker, 0.1, space)\n626\t\t\t// Break if we've moved to the next node\n627\t\t\tif walker.NodeIdx != 1 {\n628\t\t\t\tbreak\n629\t\t\t}\n630\t\t}\n631\t\n632\t\t// Walker should have progressed toward the target\n633\t\tdistToTarget := math.Sqrt(\n634\t\t\tmath.Pow(walker.Position.X-nodes[1].Position.X, 2) +\n635\t\t\t\tmath.Pow(walker.Position.Y-nodes[1].Position.Y, 2))\n636\t\tif distToTarget > 1.0 {\n637\t\t\tt.Errorf(\"Walker should be closer to target; distance=%v\", distToTarget)\n638\t\t}\n639\t}\n640\t\n641\t// TestPathFileLoading tests loading paths from JSON file\n642\tfunc TestPathFileLoading(t *testing.T) {\n643\t\ttmpDir := t.TempDir()\n644\t\tpathFile := filepath.Join(tmpDir, \"paths.json\")\n645\t\n646\t\t// Create test path file\n647\t\tpaths := []PathDefinition{\n648\t\t\t{\n649\t\t\t\tWaypoints: []Point{\n650\t\t\t\t\t{X: 0, Y: 0, Z: 1.7},\n651\t\t\t\t\t{X: 1, Y: 0, Z: 1.7},\n652\t\t\t\t\t{X: 1, Y: 1, Z: 1.7},\n653\t\t\t\t\t{X: 0, Y: 1, Z: 1.7},\n654\t\t\t\t},\n655\t\t\t},\n656\t\t}\n657\t\n658\t\tdata, err := json.Marshal(paths)\n659\t\tif err != nil {\n660\t\t\tt.Fatalf(\"Failed to marshal paths: %v\", err)\n661\t\t}\n662\t\n663\t\tif err := os.WriteFile(pathFile, data, 0644); err != nil {\n664\t\t\tt.Fatalf(\"Failed to write path file: %v\", err)\n665\t\t}\n666\t\n667\t\t// Load paths\n668\t\tloaded, err := loadPathsFromFile(pathFile)\n669\t\tif err != nil {\n670\t\t\tt.Fatalf(\"Failed to load paths: %v\", err)\n671\t\t}\n672\t\n673\t\tif len(loaded) != 1 {\n674\t\t\tt.Errorf(\"Expected 1 path, got %d\", len(loaded))\n675\t\t}\n676\t\n677\t\tif len(loaded[0]) != 4 {\n678\t\t\tt.Errorf(\"Expected 4 waypoints, got %d\", len(loaded[0]))\n679\t\t}\n680\t}\n681\t\n682\t// TestPathFileInvalid tests error handling for invalid path files\n683\tfunc TestPathFileInvalid(t *testing.T) {\n684\t\ttmpDir := t.TempDir()\n685\t\tpathFile := filepath.Join(tmpDir, \"invalid.json\")\n686\t\n687\t\t// Write invalid JSON\n688\t\tif err := os.WriteFile(pathFile, []byte(\"not valid json\"), 0644); err != nil {\n689\t\t\tt.Fatalf(\"Failed to write file: %v\", err)\n690\t\t}\n691\t\n692\t\t_, err := loadPathsFromFile(pathFile)\n693\t\tif err == nil {\n694\t\t\tt.Error(\"Expected error for invalid JSON\")\n695\t\t}\n696\t}\n697\t\n698\t// TestDefaultPathWalker tests default rectangular path walker creation\n699\tfunc TestDefaultPathWalker(t *testing.T) {\n700\t\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n701\t\n702\t\twalkers := createDefaultPathWalkers(1, space)\n703\t\n704\t\tif len(walkers) != 1 {\n705\t\t\tt.Fatalf(\"Expected 1 walker, got %d\", len(walkers))\n706\t\t}\n707\t\n708\t\twalker := walkers[0]\n709\t\n710\t\tif walker.Type != WalkerTypePathFollow {\n711\t\t\tt.Errorf(\"Expected path-following walker, got %v\", walker.Type)\n712\t\t}\n713\t\n714\t\tif len(walker.Path) != 4 {\n715\t\t\tt.Errorf(\"Expected 4 waypoints in default path, got %d\", len(walker.Path))\n716\t\t}\n717\t\n718\t\t// Verify path forms a rectangle around the room\n719\t\tpath := walker.Path\n720\t\tmargin := 0.5\n721\t\n722\t\t// First point: bottom-left\n723\t\tif path[0].X != margin || path[0].Y != margin {\n724\t\t\tt.Errorf(\"First waypoint should be bottom-left: got %v\", path[0])\n725\t\t}\n726\t\n727\t\t// Second point: bottom-right\n728\t\tif path[1].X != space.Width-margin || path[1].Y != margin {\n729\t\t\tt.Errorf(\"Second waypoint should be bottom-right: got %v\", path[1])\n730\t\t}\n731\t\n732\t\t// Third point: top-right\n733\t\tif path[2].X != space.Width-margin || path[2].Y != space.Depth-margin {\n734\t\t\tt.Errorf(\"Third waypoint should be top-right: got %v\", path[2])\n735\t\t}\n736\t\n737\t\t// Fourth point: top-left\n738\t\tif path[3].X != margin || path[3].Y != space.Depth-margin {\n739\t\t\tt.Errorf(\"Fourth waypoint should be top-left: got %v\", path[3])\n740\t\t}\n741\t}\n742\t\n743\t// TestReflectionPointVerticalWall tests reflection point calculation for vertical walls\n744\tfunc TestReflectionPointVerticalWall(t *testing.T) {\n745\t\t// Vertical wall at x=2.5 from y=0 to y=5\n746\t\twall := Wall{X1: 2.5, Y1: 0, X2: 2.5, Y2: 5, Material: MaterialDrywall, Attenuation: 3.0}\n747\t\n748\t\t// TX and RX on opposite sides of the wall, at different Y positions\n749\t\t// This should create a valid reflection\n750\t\ttx := Point{X: 1, Y: 1, Z: 2}\n751\t\trx := Point{X: 3, Y: 3, Z: 2}\n752\t\n753\t\treflPoint, ok := findReflectionPoint(tx, rx, wall)\n754\t\tif !ok {\n755\t\t\tt.Fatal(\"Failed to find reflection point\")\n756\t\t}\n757\t\n758\t\t// Reflection point should be on the wall at x=2.5\n759\t\tif reflPoint.X != 2.5 {\n760\t\t\tt.Errorf(\"Reflection X = %v, want 2.5\", reflPoint.X)\n761\t\t}\n762\t\n763\t\t// Y should be between 0 and 5\n764\t\tif reflPoint.Y < 0 || reflPoint.Y > 5 {\n765\t\t\tt.Errorf(\"Reflection Y = %v outside wall bounds [0, 5]\", reflPoint.Y)\n766\t\t}\n767\t\n768\t\t// Z should be average of TX and RX Z\n769\t\texpectedZ := (tx.Z + rx.Z) / 2.0\n770\t\tif math.Abs(reflPoint.Z-expectedZ) > 1e-6 {\n771\t\t\tt.Errorf(\"Reflection Z = %v, want %v\", reflPoint.Z, expectedZ)\n772\t\t}\n773\t}\n774\t\n775\t// TestReflectionPointHorizontalWall tests reflection point calculation for horizontal walls\n776\tfunc TestReflectionPointHorizontalWall(t *testing.T) {\n777\t\t// Horizontal wall at y=2.5 from x=0 to x=5\n778\t\twall := Wall{X1: 0, Y1: 2.5, X2: 5, Y2: 2.5, Material: MaterialDrywall, Attenuation: 3.0}\n779\t\n780\t\t// TX and RX on opposite sides of the wall, at different X positions\n781\t\ttx := Point{X: 1, Y: 1, Z: 2}\n782\t\trx := Point{X: 3, Y: 3, Z: 2}\n783\t\n784\t\treflPoint, ok := findReflectionPoint(tx, rx, wall)\n785\t\tif !ok {\n786\t\t\tt.Fatal(\"Failed to find reflection point\")\n787\t\t}\n788\t\n789\t\t// Reflection point should be on the wall at y=2.5\n790\t\tif reflPoint.Y != 2.5 {\n791\t\t\tt.Errorf(\"Reflection Y = %v, want 2.5\", reflPoint.Y)\n792\t\t}\n793\t\n794\t\t// X should be between 0 and 5\n795\t\tif reflPoint.X < 0 || reflPoint.X > 5 {\n796\t\t\tt.Errorf(\"Reflection X = %v outside wall bounds [0, 5]\", reflPoint.X)\n797\t\t}\n798\t\n799\t\t// Z should be average of TX and RX Z\n800\t\texpectedZ := (tx.Z + rx.Z) / 2.0\n801\t\tif math.Abs(reflPoint.Z-expectedZ) > 1e-6 {\n802\t\t\tt.Errorf(\"Reflection Z = %v, want %v\", reflPoint.Z, expectedZ)\n803\t\t}\n804\t}\n805\t\n806\t// TestReflectionPointOutOfBounds tests that reflections outside wall bounds fail\n807\tfunc TestReflectionPointOutOfBounds(t *testing.T) {\n808\t\t// Vertical wall at x=2.5 from y=0 to y=2 (walker Y=2.5 is outside bounds)\n809\t\twall := Wall{X1: 2.5, Y1: 0, X2: 2.5, Y2: 2, Material: MaterialDrywall, Attenuation: 3.0}\n810\t\n811\t\ttx := Point{X: 1, Y: 2.5, Z: 2}\n812\t\trx := Point{X: 4, Y: 2.5, Z: 2}\n813\t\n814\t\t_, ok := findReflectionPoint(tx, rx, wall)\n815\t\tif ok {\n816\t\t\tt.Error(\"Expected no reflection point for out-of-bounds Y\")\n817\t\t}\n818\t}\n819\t\n820\t// TestReflectPointAcrossLine tests point reflection across a line\n821\tfunc TestReflectPointAcrossLine(t *testing.T) {\n822\t\tp := Point{X: 1, Y: 1, Z: 0}\n823\t\tlineStart := Point{X: 0, Y: 0, Z: 0}\n824\t\tlineEnd := Point{X: 2, Y: 0, Z: 0} // Horizontal line at y=0\n825\t\n826\t\trefl := reflectPointAcrossLine(p, lineStart, lineEnd)\n827\t\n828\t\t// Point (1,1) reflected across y=0 should be (1,-1)\n829\t\tif refl.X != 1 {\n830\t\t\tt.Errorf(\"Refl X = %v, want 1\", refl.X)\n831\t\t}\n832\t\tif refl.Y != -1 {\n833\t\t\tt.Errorf(\"Refl Y = %v, want -1\", refl.Y)\n834\t\t}\n835\t}\n836\t\n837\t// TestLineIntersection tests line segment intersection\n838\tfunc TestLineIntersection(t *testing.T) {\n839\t\ttests := []struct {\n840\t\t\tname string\n841\t\t\tp1, p2 Point // First line segment\n842\t\t\tp3, p4 Point // Second line segment\n843\t\t\twantOK bool\n844\t\t\twantX float64\n845\t\t\twantY float64\n846\t\t}{\n847\t\t\t{\n848\t\t\t\tname: \"Crossing lines\",\n849\t\t\t\tp1: Point{X: 0, Y: 0, Z: 0},\n850\t\t\t\tp2: Point{X: 2, Y: 2, Z: 0},\n851\t\t\t\tp3: Point{X: 0, Y: 2, Z: 0},\n852\t\t\t\tp4: Point{X: 2, Y: 0, Z: 0},\n853\t\t\t\twantOK: true,\n854\t\t\t\twantX: 1,\n855\t\t\t\twantY: 1,\n856\t\t\t},\n857\t\t\t{\n858\t\t\t\tname: \"Parallel lines\",\n859\t\t\t\tp1: Point{X: 0, Y: 0, Z: 0},\n860\t\t\t\tp2: Point{X: 1, Y: 0, Z: 0},\n861\t\t\t\tp3: Point{X: 0, Y: 1, Z: 0},\n862\t\t\t\tp4: Point{X: 1, Y: 1, Z: 0},\n863\t\t\t\twantOK: false,\n864\t\t\t},\n865\t\t\t{\n866\t\t\t\tname: \"Non-intersecting segments\",\n867\t\t\t\tp1: Point{X: 0, Y: 0, Z: 0},\n868\t\t\t\tp2: Point{X: 1, Y: 0, Z: 0},\n869\t\t\t\tp3: Point{X: 2, Y: 0, Z: 0},\n870\t\t\t\tp4: Point{X: 3, Y: 0, Z: 0},\n871\t\t\t\twantOK: false,\n872\t\t\t},\n873\t\t}\n874\t\n875\t\tfor _, tt := range tests {\n876\t\t\tt.Run(tt.name, func(t *testing.T) {\n877\t\t\t\tpt, ok := lineIntersection(tt.p1, tt.p2, tt.p3, tt.p4)\n878\t\t\t\tif ok != tt.wantOK {\n879\t\t\t\t\tt.Errorf(\"lineIntersection() ok = %v, want %v\", ok, tt.wantOK)\n880\t\t\t\t\treturn\n881\t\t\t\t}\n882\t\t\t\tif tt.wantOK {\n883\t\t\t\t\tif math.Abs(pt.X-tt.wantX) > 1e-6 {\n884\t\t\t\t\t\tt.Errorf(\"X = %v, want %v\", pt.X, tt.wantX)\n885\t\t\t\t\t}\n886\t\t\t\t\tif math.Abs(pt.Y-tt.wantY) > 1e-6 {\n887\t\t\t\t\t\tt.Errorf(\"Y = %v, want %v\", pt.Y, tt.wantY)\n888\t\t\t\t\t}\n889\t\t\t\t}\n890\t\t\t})\n891\t\t}\n892\t}\n893\t\n894\t// TestWallMaterialProperties tests that different wall materials have correct attenuation\n895\tfunc TestWallMaterialProperties(t *testing.T) {\n896\t\twalls = nil // Reset\n897\t\n898\t\tf := &wallFlag{}\n899\t\n900\t\t// Test drywall (default)\n901\t\tif err := f.Set(\"0,0,5,0\"); err != nil {\n902\t\t\tt.Fatalf(\"Failed to parse drywall wall: %v\", err)\n903\t\t}\n904\t\tif len(walls) != 1 || walls[0].Attenuation != 3.0 {\n905\t\t\tt.Errorf(\"Drywall attenuation = %v, want 3.0\", walls[0].Attenuation)\n906\t\t}\n907\t\tif walls[0].Material != MaterialDrywall {\n908\t\t\tt.Errorf(\"Material = %v, want drywall\", walls[0].Material)\n909\t\t}\n910\t\n911\t\t// Test brick\n912\t\twalls = nil\n913\t\tif err := f.Set(\"0,1,5,1,brick\"); err != nil {\n914\t\t\tt.Fatalf(\"Failed to parse brick wall: %v\", err)\n915\t\t}\n916\t\tif walls[0].Attenuation != 10.0 {\n917\t\t\tt.Errorf(\"Brick attenuation = %v, want 10.0\", walls[0].Attenuation)\n918\t\t}\n919\t\n920\t\t// Test concrete\n921\t\twalls = nil\n922\t\tif err := f.Set(\"0,2,5,2,concrete\"); err != nil {\n923\t\t\tt.Fatalf(\"Failed to parse concrete wall: %v\", err)\n924\t\t}\n925\t\tif walls[0].Attenuation != 10.0 {\n926\t\t\tt.Errorf(\"Concrete attenuation = %v, want 10.0\", walls[0].Attenuation)\n927\t\t}\n928\t\n929\t\t// Test glass\n930\t\twalls = nil\n931\t\tif err := f.Set(\"0,3,5,3,glass\"); err != nil {\n932\t\t\tt.Fatalf(\"Failed to parse glass wall: %v\", err)\n933\t\t}\n934\t\tif walls[0].Attenuation != 2.0 {\n935\t\t\tt.Errorf(\"Glass attenuation = %v, want 2.0\", walls[0].Attenuation)\n936\t\t}\n937\t\n938\t\t// Test metal\n939\t\twalls = nil\n940\t\tif err := f.Set(\"0,4,5,4,metal\"); err != nil {\n941\t\t\tt.Fatalf(\"Failed to parse metal wall: %v\", err)\n942\t\t}\n943\t\tif walls[0].Attenuation != 20.0 {\n944\t\t\tt.Errorf(\"Metal attenuation = %v, want 20.0\", walls[0].Attenuation)\n945\t\t}\n946\t\n947\t\t// Test invalid material\n948\t\twalls = nil\n949\t\tif err := f.Set(\"0,5,5,5,invalid\"); err == nil {\n950\t\t\tt.Error(\"Expected error for invalid material\")\n951\t\t}\n952\t}\n953\t\n954\t// TestTwoRayModel tests that CSI includes both direct and reflected contributions\n955\tfunc TestTwoRayModel(t *testing.T) {\n956\t\ttx := &VirtualNode{ID: 0, Position: Point{X: 1, Y: 1, Z: 2}}\n957\t\trx := &VirtualNode{ID: 1, Position: Point{X: 3, Y: 3, Z: 2}}\n958\t\twalkers := []*Walker{{ID: 0, Position: Point{X: 2, Y: 2, Z: 1.7}}}\n959\t\n960\t\t// No walls - should only have direct path\n961\t\tampNoWall, _ := computeCSIForWalkers(tx, rx, walkers, nil)\n962\t\tif ampNoWall <= 0 {\n963\t\t\tt.Errorf(\"Amplitude with no wall = %v, want > 0\", ampNoWall)\n964\t\t}\n965\t\n966\t\t// Add a wall positioned to create a valid reflection\n967\t\t// Wall from (0,0) to (0,5) - vertical wall at x=0\n968\t\twalls := []Wall{{X1: 0, Y1: 0, X2: 0, Y2: 5, Material: MaterialDrywall, Attenuation: 3.0}}\n969\t\tampWithWall, _ := computeCSIForWalkers(tx, rx, walkers, walls)\n970\t\n971\t\t// The reflection should affect the CSI - check that amplitude is non-zero\n972\t\tif ampWithWall <= 0 {\n973\t\t\tt.Errorf(\"Amplitude with wall = %v, want > 0\", ampWithWall)\n974\t\t}\n975\t\n976\t\t// Verify that computeFirstOrderReflection actually returns values when there's a valid wall geometry\n977\t\treflAmp, reflPhase := computeFirstOrderReflection(tx.Position, rx.Position, walkers[0].Position, walls)\n978\t\tif reflAmp == 0 && reflPhase == 0 {\n979\t\t\tt.Error(\"Expected non-zero reflection contribution with wall present (valid geometry)\")\n980\t\t}\n981\t\n982\t\t// Test with wall positioned such that no valid reflection exists\n983\t\t// Use a wall where the reflection point would fall outside the wall segment bounds\n984\t\t// TX at (1,1), RX at (3,3), vertical wall at x=2 from y=10 to y=15\n985\t\t// The reflection of TX across x=2 would be at (3,1). The line from (3,1) to (3,3)\n986\t\t// is vertical at x=3, which never intersects the wall at x=2.\n987\t\twallsFar := []Wall{{X1: 2, Y1: 10, X2: 2, Y2: 15, Material: MaterialDrywall, Attenuation: 3.0}}\n988\t\t_, reflPhaseFar := computeFirstOrderReflection(tx.Position, rx.Position, walkers[0].Position, wallsFar)\n989\t\tif reflPhaseFar != 0 {\n990\t\t\tt.Error(\"Expected zero reflection contribution with wall that doesn't create valid reflection geometry\")\n991\t\t}\n992\t}\n993\t\n994\t// TestPathLossModel tests the log-distance path loss calculation\n995\tfunc TestPathLossModel(t *testing.T) {\n996\t\ttx := Point{X: 0, Y: 0, Z: 2}\n997\t\trx := Point{X: 0, Y: 0, Z: 2}\n998\t\twalker := Point{X: 1, Y: 0, Z: 1.7}\n999\t\n1000\t\t// Close walker should produce higher amplitude than far walker\n1001\t\tcloseAmp, _ := computeDirectPath(tx, rx, walker, nil)\n1002\t\n1003\t\tfarWalker := Point{X: 10, Y: 0, Z: 1.7}\n1004\t\tfarAmp, _ := computeDirectPath(tx, rx, farWalker, nil)\n1005\t\n1006\t\tif farAmp >= closeAmp {\n1007\t\t\tt.Errorf(\"Far walker amplitude %v >= close walker amplitude %v\", farAmp, closeAmp)\n1008\t\t}\n1009\t}\n1010\t"}]},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"1622cdf3-c831-4b87-b978-a30e8f5297f6","timestamp":"2026-05-06T02:36:19.735Z","tool_use_result":{"type":"text","file":{"filePath":"/home/coding/spaxel/mothership/cmd/sim/main_test.go","content":"package main\n\nimport (\n\t\"encoding/csv\"\n\t\"encoding/json\"\n\t\"math\"\n\t\"math/rand\"\n\t\"os\"\n\t\"path/filepath\"\n\t\"strings\"\n\t\"testing\"\n)\n\n// TestGenerateCSIFrameHeader tests that generated frames have correct binary header format.\n// The frame must match the ingestion layer layout (ingestion/frame.go):\n//\n//\t[0:6] node_mac, [6:12] peer_mac, [12:20] timestamp_us,\n//\t[20] rssi, [21] noise_floor, [22] channel, [23] n_sub, [24:] payload\nfunc TestGenerateCSIFrameHeader(t *testing.T) {\n\trng := rand.New(rand.NewSource(42))\n\n\ttx := &VirtualNode{ID: 0, MAC: generateMAC(0), Position: Point{X: 0, Y: 0, Z: 2}}\n\trx := &VirtualNode{ID: 1, MAC: generateMAC(1), Position: Point{X: 5, Y: 0, Z: 2}}\n\twalkers := []*Walker{{ID: 0, Position: Point{X: 2.5, Y: 0, Z: 1.7}}}\n\n\tframe := generateCSIFrame(tx, rx, walkers, nil, 0, rng)\n\n\t// Check minimum length\n\tif len(frame) < headerSize {\n\t\tt.Fatalf(\"Frame too short: %d bytes (minimum %d)\", len(frame), headerSize)\n\t}\n\n\t// Check MAC addresses are present (not all zeros) at ingestion format offsets\n\tallZero := true\n\tfor i := 0; i < 6; i++ {\n\t\tif frame[i] != 0 {\n\t\t\tallZero = false\n\t\t\tbreak\n\t\t}\n\t}\n\tif allZero {\n\t\tt.Error(\"TX MAC (node_mac) is all zeros\")\n\t}\n\n\tallZero = true\n\tfor i := 6; i < 12; i++ {\n\t\tif frame[i] != 0 {\n\t\t\tallZero = false\n\t\t\tbreak\n\t\t}\n\t}\n\tif allZero {\n\t\tt.Error(\"RX MAC (peer_mac) is all zeros\")\n\t}\n\n\t// Check subcarrier count at ingestion format offset [23]\n\tnSubRead := frame[23]\n\tif nSubRead != 64 {\n\t\tt.Errorf(\"Wrong n_sub: %d (expected 64)\", nSubRead)\n\t}\n\n\t// Check payload length matches n_sub\n\texpectedLen := headerSize + int(nSubRead)*2\n\tif len(frame) != expectedLen {\n\t\tt.Errorf(\"Frame length mismatch: %d (expected %d)\", len(frame), expectedLen)\n\t}\n}\n\n// TestRSSIInRange tests that RSSI is within plausible range for given distance.\n// At 2m from TX with wall_attenuation=0, RSSI should be roughly [-50, -70].\nfunc TestRSSIInRange(t *testing.T) {\n\trng := rand.New(rand.NewSource(42))\n\n\ttx := &VirtualNode{ID: 0, MAC: generateMAC(0), Position: Point{X: 0, Y: 0, Z: 2}}\n\trx := &VirtualNode{ID: 1, MAC: generateMAC(1), Position: Point{X: 5, Y: 0, Z: 2}}\n\twalkers := []*Walker{{ID: 0, Position: Point{X: 2.5, Y: 0, Z: 1.7}}}\n\n\tframe := generateCSIFrame(tx, rx, walkers, nil, 0, rng)\n\n\t// RSSI is at ingestion format offset [20]\n\trssi := int8(frame[20])\n\n\t// RSSI should be in [-90, -30] dBm for any reasonable link\n\tif rssi < -90 || rssi > -30 {\n\t\tt.Errorf(\"RSSI out of range: %d (expected [-90, -30])\", rssi)\n\t}\n}\n\n// TestIQClamping tests that generated I/Q values are clamped to int8 range [-127, 127]\nfunc TestIQClamping(t *testing.T) {\n\trng := rand.New(rand.NewSource(42))\n\n\ttx := &VirtualNode{ID: 0, Position: Point{X: 0, Y: 0, Z: 2}}\n\trx := &VirtualNode{ID: 1, Position: Point{X: 0.1, Y: 0, Z: 2}}\n\twalkers := []*Walker{{ID: 0, Position: Point{X: 0.05, Y: 0, Z: 1.7}}}\n\n\tframe := generateCSIFrame(tx, rx, walkers, nil, 0, rng)\n\n\tfor k := 0; k < 64; k++ {\n\t\toffset := headerSize + k*2\n\t\ti := int8(frame[offset])\n\t\tq := int8(frame[offset+1])\n\n\t\tif i < -127 || i > 127 {\n\t\t\tt.Errorf(\"I value out of range at subcarrier %d: %d\", k, i)\n\t\t}\n\t\tif q < -127 || q > 127 {\n\t\t\tt.Errorf(\"Q value out of range at subcarrier %d: %d\", k, q)\n\t\t}\n\t}\n}\n\n// TestHelloMessageFormat tests that hello message can be parsed correctly\nfunc TestHelloMessageFormat(t *testing.T) {\n\thello := map[string]interface{}{\n\t\t\"type\": \"hello\",\n\t\t\"mac\": \"AA:BB:CC:DD:EE:FF\",\n\t\t\"firmware_version\": \"sim-1.0.0\",\n\t\t\"capabilities\": []string{\"csi\", \"tx\", \"rx\"},\n\t\t\"chip\": \"ESP32-S3\",\n\t\t\"flash_mb\": 16,\n\t\t\"uptime_ms\": 1000,\n\t\t\"wifi_rssi\": -45,\n\t\t\"ip\": \"127.0.0.1\",\n\t}\n\n\tif hello[\"type\"] != \"hello\" {\n\t\tt.Error(\"Wrong message type\")\n\t}\n\tif _, ok := hello[\"mac\"].(string); !ok {\n\t\tt.Error(\"MAC field missing or not string\")\n\t}\n\tcapabilities, ok := hello[\"capabilities\"].([]string)\n\tif !ok || len(capabilities) == 0 {\n\t\tt.Error(\"Capabilities field missing or empty\")\n\t}\n}\n\n// TestVerifyBlobCount tests the verification logic\nfunc TestVerifyBlobCount(t *testing.T) {\n\ttests := []struct {\n\t\tname string\n\t\tblobCount int\n\t\twalkerCount int\n\t\texpectedPass bool\n\t}{\n\t\t{\"Exact match\", 1, 1, true},\n\t\t{\"Within tolerance +1\", 2, 1, true},\n\t\t{\"Within tolerance -1\", 0, 1, true},\n\t\t{\"Too many blobs\", 3, 1, false},\n\t\t{\"Multiple walkers exact\", 2, 2, true},\n\t\t{\"Multiple walkers within tolerance\", 3, 2, true},\n\t\t{\"Multiple walkers too few\", 0, 2, false},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(tt.name, func(t *testing.T) {\n\t\t\ttolerance := 1\n\t\t\tminExpected := tt.walkerCount - tolerance\n\t\t\tmaxExpected := tt.walkerCount + tolerance\n\n\t\t\tpass := tt.blobCount >= minExpected && tt.blobCount <= maxExpected\n\n\t\t\tif pass != tt.expectedPass {\n\t\t\t\tt.Errorf(\"verifyBlobs(%d walkers, %d blobs) = %v, expected %v\",\n\t\t\t\t\ttt.walkerCount, tt.blobCount, pass, tt.expectedPass)\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestSeedReproducibility tests that the same seed produces identical results\nfunc TestSeedReproducibility(t *testing.T) {\n\tseed := int64(42)\n\n\trng1 := rand.New(rand.NewSource(seed))\n\trng2 := rand.New(rand.NewSource(seed))\n\n\ttx := &VirtualNode{ID: 0, Position: Point{X: 0, Y: 0, Z: 2}}\n\trx := &VirtualNode{ID: 1, Position: Point{X: 5, Y: 0, Z: 2}}\n\twalkers := []*Walker{{ID: 0, Position: Point{X: 2.5, Y: 0, Z: 1.7}}}\n\n\tframe1 := generateCSIFrame(tx, rx, walkers, nil, 0, rng1)\n\tframe2 := generateCSIFrame(tx, rx, walkers, nil, 0, rng2)\n\n\tif len(frame1) != len(frame2) {\n\t\tt.Fatalf(\"Frame lengths differ: %d vs %d\", len(frame1), len(frame2))\n\t}\n\n\tfor i := range frame1 {\n\t\tif frame1[i] != frame2[i] {\n\t\t\tt.Errorf(\"Byte %d differs: %d vs %d\", i, frame1[i], frame2[i])\n\t\t}\n\t}\n}\n\n// TestSeedReproducibilityWalkerPaths tests that identical seeds produce identical walker trajectories\nfunc TestSeedReproducibilityWalkerPaths(t *testing.T) {\n\tseed := int64(42)\n\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n\n\trng1 := rand.New(rand.NewSource(seed))\n\twalkers1 := createWalkers(2, space, rng1)\n\n\trng2 := rand.New(rand.NewSource(seed))\n\twalkers2 := createWalkers(2, space, rng2)\n\n\t// Initial positions should match\n\tfor i := range walkers1 {\n\t\tif walkers1[i].Position != walkers2[i].Position {\n\t\t\tt.Errorf(\"Initial position mismatch for walker %d: %v vs %v\",\n\t\t\t\ti, walkers1[i].Position, walkers2[i].Position)\n\t\t}\n\t}\n\n\t// Run 100 update steps and verify positions still match\n\tfor step := 0; step < 100; step++ {\n\t\trng1 = rand.New(rand.NewSource(seed))\n\t\trng2 = rand.New(rand.NewSource(seed))\n\t\t// Reset walkers to get fresh RNG sequence\n\t\twalkers1 = createWalkers(2, space, rng1)\n\t\twalkers2 = createWalkers(2, space, rng2)\n\n\t\t// Apply same number of updates\n\t\tfor s := 0; s <= step; s++ {\n\t\t\tupdateWalkers(walkers1, space, rng1)\n\t\t\tupdateWalkers(walkers2, space, rng2)\n\t\t}\n\n\t\tfor i := range walkers1 {\n\t\t\tif walkers1[i].Position != walkers2[i].Position {\n\t\t\t\tt.Errorf(\"Position mismatch at step %d walker %d: %v vs %v\",\n\t\t\t\t\tstep, i, walkers1[i].Position, walkers2[i].Position)\n\t\t\t}\n\t\t}\n\t}\n}\n\n// TestParseSpace tests space dimension parsing\nfunc TestParseSpace(t *testing.T) {\n\ttests := []struct {\n\t\tinput string\n\t\twantWidth float64\n\t\twantDepth float64\n\t\twantHeight float64\n\t\twantErr bool\n\t}{\n\t\t{\"5x5x2.5\", 5, 5, 2.5, false},\n\t\t{\"10x8x3\", 10, 8, 3, false},\n\t\t{\"6.5x4.2x2.8\", 6.5, 4.2, 2.8, false},\n\t\t{\"invalid\", 0, 0, 0, true},\n\t\t{\"5x5\", 0, 0, 0, true},\n\t\t{\"5x5x2x3\", 0, 0, 0, true},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(tt.input, func(t *testing.T) {\n\t\t\tspace, err := parseSpace(tt.input)\n\n\t\t\tif tt.wantErr {\n\t\t\t\tif err == nil {\n\t\t\t\t\tt.Error(\"Expected error but got none\")\n\t\t\t\t}\n\t\t\t\treturn\n\t\t\t}\n\n\t\t\tif err != nil {\n\t\t\t\tt.Fatalf(\"Unexpected error: %v\", err)\n\t\t\t}\n\n\t\t\tif space.Width != tt.wantWidth {\n\t\t\t\tt.Errorf(\"Width = %v, want %v\", space.Width, tt.wantWidth)\n\t\t\t}\n\t\t\tif space.Depth != tt.wantDepth {\n\t\t\t\tt.Errorf(\"Depth = %v, want %v\", space.Depth, tt.wantDepth)\n\t\t\t}\n\t\t\tif space.Height != tt.wantHeight {\n\t\t\t\tt.Errorf(\"Height = %v, want %v\", space.Height, tt.wantHeight)\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestMACGeneration tests MAC address generation\nfunc TestMACGeneration(t *testing.T) {\n\ttests := []struct {\n\t\tid int\n\t\twant string\n\t}{\n\t\t{0, \"AA:BB:CC:00:00:00\"},\n\t\t{1, \"AA:BB:CC:00:00:01\"},\n\t\t{255, \"AA:BB:CC:00:00:FF\"},\n\t\t{256, \"AA:BB:CC:00:01:00\"},\n\t\t{65535, \"AA:BB:CC:00:FF:FF\"},\n\t\t{16777215, \"AA:BB:CC:FF:FF:FF\"},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(tt.want, func(t *testing.T) {\n\t\t\tmac := generateMAC(tt.id)\n\t\t\tgot := macToString(mac)\n\t\t\tif got != tt.want {\n\t\t\t\tt.Errorf(\"generateMAC(%d) = %s, want %s\", tt.id, got, tt.want)\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestComputeCSIForWalkers tests CSI computation with various walker configurations\nfunc TestComputeCSIForWalkers(t *testing.T) {\n\ttx := &VirtualNode{ID: 0, Position: Point{X: 0, Y: 0, Z: 2}}\n\trx := &VirtualNode{ID: 1, Position: Point{X: 5, Y: 0, Z: 2}}\n\n\ttests := []struct {\n\t\tname string\n\t\twalkers []*Walker\n\t\tminAmp float64\n\t\tmaxAmp float64\n\t}{\n\t\t{\n\t\t\tname: \"No walkers\",\n\t\t\twalkers: []*Walker{},\n\t\t\tminAmp: 0,\n\t\t\tmaxAmp: 0.01,\n\t\t},\n\t\t{\n\t\t\tname: \"Walker at midpoint\",\n\t\t\twalkers: []*Walker{{\n\t\t\t\tID: 0,\n\t\t\t\tPosition: Point{X: 2.5, Y: 0, Z: 1.7},\n\t\t\t}},\n\t\t\tminAmp: 0.1,\n\t\t\tmaxAmp: 10,\n\t\t},\n\t\t{\n\t\t\tname: \"Walker far from link\",\n\t\t\twalkers: []*Walker{{\n\t\t\t\tID: 0,\n\t\t\t\tPosition: Point{X: 2.5, Y: 10, Z: 1.7},\n\t\t\t}},\n\t\t\tminAmp: 0,\n\t\t\tmaxAmp: 1,\n\t\t},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(tt.name, func(t *testing.T) {\n\t\t\tamplitude, _ := computeCSIForWalkers(tx, rx, tt.walkers, nil)\n\n\t\t\tif amplitude < tt.minAmp {\n\t\t\t\tt.Errorf(\"Amplitude %v below minimum %v\", amplitude, tt.minAmp)\n\t\t\t}\n\t\t\tif amplitude > tt.maxAmp {\n\t\t\t\tt.Errorf(\"Amplitude %v above maximum %v\", amplitude, tt.maxAmp)\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestDistance tests distance calculation\nfunc TestDistance(t *testing.T) {\n\ttests := []struct {\n\t\ta, b Point\n\t\twant float64\n\t}{\n\t\t{Point{0, 0, 0}, Point{0, 0, 0}, 0},\n\t\t{Point{0, 0, 0}, Point{1, 0, 0}, 1},\n\t\t{Point{0, 0, 0}, Point{0, 1, 0}, 1},\n\t\t{Point{0, 0, 0}, Point{0, 0, 1}, 1},\n\t\t{Point{0, 0, 0}, Point{3, 4, 0}, 5},\n\t\t{Point{1, 2, 3}, Point{4, 6, 3}, 5},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(\"\", func(t *testing.T) {\n\t\t\tgot := distance(tt.a, tt.b)\n\t\t\tif math.Abs(got-tt.want) > 1e-9 {\n\t\t\t\tt.Errorf(\"distance(%v, %v) = %v, want %v\", tt.a, tt.b, got, tt.want)\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestCSVOutput tests that CSV file has correct headers and ground truth data\nfunc TestCSVOutput(t *testing.T) {\n\ttmpDir := t.TempDir()\n\tcsvPath := filepath.Join(tmpDir, \"test_output.csv\")\n\n\tcsvWriter, err := NewCSVWriter(csvPath)\n\tif err != nil {\n\t\tt.Fatalf(\"Failed to create CSV writer: %v\", err)\n\t}\n\n\twalkers := []*Walker{\n\t\t{ID: 0, Position: Point{X: 2.5, Y: 1.5, Z: 1.7}, Velocity: Point{X: 0.5, Y: 0.3, Z: 0}},\n\t}\n\tnodes := []*VirtualNode{\n\t\t{ID: 0, MAC: generateMAC(0), Position: Point{X: 0, Y: 0, Z: 2}},\n\t\t{ID: 1, MAC: generateMAC(1), Position: Point{X: 5, Y: 0, Z: 2}},\n\t}\n\n\tcsvWriter.WriteRow(walkers, nodes, nil)\n\tcsvWriter.Close() //nolint:errcheck\n\n\t// Read back and verify\n\tfile, err := os.Open(csvPath)\n\tif err != nil {\n\t\tt.Fatalf(\"Failed to open CSV: %v\", err)\n\t}\n\tdefer func() { _ = file.Close() }()\n\n\treader := csv.NewReader(file)\n\trecords, err := reader.ReadAll()\n\tif err != nil {\n\t\tt.Fatalf(\"Failed to read CSV: %v\", err)\n\t}\n\n\t// Check header\n\texpectedHeaders := []string{\"timestamp_ms\", \"walker_id\", \"x\", \"y\", \"z\", \"vx\", \"vy\", \"vz\", \"link_id\", \"delta_rms\"}\n\tif len(records) == 0 {\n\t\tt.Fatal(\"CSV is empty\")\n\t}\n\tfor i, h := range expectedHeaders {\n\t\tif i >= len(records[0]) {\n\t\t\tt.Errorf(\"Missing header column %d: expected %s\", i, h)\n\t\t\tcontinue\n\t\t}\n\t\tif records[0][i] != h {\n\t\t\tt.Errorf(\"Header[%d] = %q, want %q\", i, records[0][i], h)\n\t\t}\n\t}\n\n\t// Should have header + 1 position row + 1 link row (1 unique link pair for 2 nodes)\n\t// With 2 nodes, there's 1 unique pair (0,1), so 1 position row + 1 deltaRMS row = 2 data rows\n\tif len(records) < 3 {\n\t\tt.Errorf(\"Expected at least 3 rows (header + position + deltaRMS), got %d\", len(records))\n\t}\n\n\t// Verify position row has walker data\n\tposRow := records[1]\n\tif posRow[1] != \"0\" {\n\t\tt.Errorf(\"Walker ID = %q, want %q\", posRow[1], \"0\")\n\t}\n\tif posRow[2] != \"2.500\" {\n\t\tt.Errorf(\"X = %q, want %q\", posRow[2], \"2.500\")\n\t}\n\n\t// Verify deltaRMS row has link data\n\tdeltaRow := records[2]\n\tif deltaRow[8] == \"\" {\n\t\tt.Error(\"Expected link_id in deltaRMS row but got empty\")\n\t}\n\tif deltaRow[9] == \"\" {\n\t\tt.Error(\"Expected delta_rms value but got empty\")\n\t}\n\tif !strings.Contains(deltaRow[8], \":\") {\n\t\tt.Errorf(\"link_id should contain MAC separator ':', got %q\", deltaRow[8])\n\t}\n}\n\n// TestDeltaRMSComputation tests that deltaRMS values are physically plausible\nfunc TestDeltaRMSComputation(t *testing.T) {\n\ttx := Point{X: 0, Y: 0, Z: 2}\n\trx := Point{X: 5, Y: 0, Z: 2}\n\n\ttests := []struct {\n\t\tname string\n\t\twalker Point\n\t\tminRMS float64\n\t\tmaxRMS float64\n\t}{\n\t\t{\n\t\t\tname: \"Walker on direct line (zone 1)\",\n\t\t\twalker: Point{X: 2.5, Y: 0, Z: 1.7},\n\t\t\tminRMS: 0.1, // zone 1 should have high deltaRMS\n\t\t\tmaxRMS: 0.2,\n\t\t},\n\t\t{\n\t\t\tname: \"Walker far off axis (zone 5+)\",\n\t\t\twalker: Point{X: 2.5, Y: 10, Z: 1.7},\n\t\t\tminRMS: 0.0,\n\t\t\tmaxRMS: 0.02, // should be very low\n\t\t},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(tt.name, func(t *testing.T) {\n\t\t\trms := computeWalkerDeltaRMS(tx, rx, tt.walker)\n\t\t\tif rms < tt.minRMS || rms > tt.maxRMS {\n\t\t\t\tt.Errorf(\"deltaRMS = %v, expected range [%v, %v]\", rms, tt.minRMS, tt.maxRMS)\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestWallFlagParsing tests that --wall flag parsing works\nfunc TestWallFlagParsing(t *testing.T) {\n\t// Reset walls\n\twalls = nil\n\n\tf := &wallFlag{}\n\tif err := f.Set(\"1.0,2.0,3.0,4.0\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse wall: %v\", err)\n\t}\n\tif err := f.Set(\"5.0,6.0,7.0,8.0\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse second wall: %v\", err)\n\t}\n\n\tif len(walls) != 2 {\n\t\tt.Fatalf(\"Expected 2 walls, got %d\", len(walls))\n\t}\n\n\tif walls[0].X1 != 1.0 || walls[0].Y1 != 2.0 || walls[0].X2 != 3.0 || walls[0].Y2 != 4.0 {\n\t\tt.Errorf(\"Wall 0: got %+v\", walls[0])\n\t}\n\tif walls[1].X1 != 5.0 || walls[1].Y1 != 6.0 || walls[1].X2 != 7.0 || walls[1].Y2 != 8.0 {\n\t\tt.Errorf(\"Wall 1: got %+v\", walls[1])\n\t}\n\n\t// Check default material (drywall) and attenuation\n\tif walls[0].Material != MaterialDrywall {\n\t\tt.Errorf(\"Wall 0 material = %v, want drywall\", walls[0].Material)\n\t}\n\tif walls[0].Attenuation != 3.0 {\n\t\tt.Errorf(\"Wall 0 attenuation = %v, want 3.0\", walls[0].Attenuation)\n\t}\n\n\t// Test invalid format\n\tif err := f.Set(\"1,2,3\"); err == nil {\n\t\tt.Error(\"Expected error for 3-part wall spec\")\n\t}\n}\n\n// TestWalkerBounce tests that walkers bounce off room walls\nfunc TestWalkerBounce(t *testing.T) {\n\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n\trng := rand.New(rand.NewSource(42))\n\n\twalker := &Walker{\n\t\tID: 0,\n\t\tType: WalkerTypeRandomWalk,\n\t\tPosition: Point{X: 0.1, Y: 2.5, Z: 1.7}, // Near left wall\n\t\tVelocity: Point{X: -1.0, Y: 0, Z: 0}, // Moving left\n\t\tSpeed: 1.0,\n\t\tHeight: 1.7,\n\t}\n\n\t// Run several updates — should bounce off left wall\n\tfor i := 0; i < 10; i++ {\n\t\tupdateWalkers([]*Walker{walker}, space, rng)\n\t}\n\n\t// Walker should not be outside room bounds\n\tif walker.Position.X < 0 || walker.Position.X > space.Width {\n\t\tt.Errorf(\"Walker X=%v outside room [0, %v]\", walker.Position.X, space.Width)\n\t}\n\tif walker.Position.Y < 0 || walker.Position.Y > space.Depth {\n\t\tt.Errorf(\"Walker Y=%v outside room [0, %v]\", walker.Position.Y, space.Depth)\n\t}\n}\n\n// TestPathFollowing tests that walkers follow a predefined path\nfunc TestPathFollowing(t *testing.T) {\n\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n\n\t// Create a rectangular path\n\tpath := []Point{\n\t\t{X: 0.5, Y: 0.5, Z: 1.7},\n\t\t{X: 4.5, Y: 0.5, Z: 1.7},\n\t\t{X: 4.5, Y: 4.5, Z: 1.7},\n\t\t{X: 0.5, Y: 4.5, Z: 1.7},\n\t}\n\n\twalker := &Walker{\n\t\tID: 0,\n\t\tType: WalkerTypePathFollow,\n\t\tPath: path,\n\t\tPathIdx: 0,\n\t\tSpeed: 1.0,\n\t\tHeight: 1.7,\n\t\tPosition: path[0], // Initialize at first waypoint\n\t}\n\n\t// Run updates - should move along path\n\tfor i := 0; i < 100; i++ {\n\t\tupdatePathWalker(walker, 0.1)\n\t}\n\n\t// Walker should have moved from starting position\n\tif walker.Position == path[0] {\n\t\tt.Error(\"Walker should have moved from starting position\")\n\t}\n\n\t// Walker should remain within room bounds\n\tif walker.Position.X < 0 || walker.Position.X > space.Width {\n\t\tt.Errorf(\"Walker X=%v outside room [0, %v]\", walker.Position.X, space.Width)\n\t}\n\tif walker.Position.Y < 0 || walker.Position.Y > space.Depth {\n\t\tt.Errorf(\"Walker Y=%v outside room [0, %v]\", walker.Position.Y, space.Depth)\n\t}\n}\n\n// TestNodeToNodeTraversal tests node-to-node walker movement\nfunc TestNodeToNodeTraversal(t *testing.T) {\n\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n\n\tnodes := []*VirtualNode{\n\t\t{ID: 0, Position: Point{X: 0.5, Y: 0.5, Z: 2.0}},\n\t\t{ID: 1, Position: Point{X: 4.5, Y: 0.5, Z: 2.0}},\n\t\t{ID: 2, Position: Point{X: 2.5, Y: 4.5, Z: 2.0}},\n\t}\n\n\twalker := &Walker{\n\t\tID: 0,\n\t\tType: WalkerTypeNodeToNode,\n\t\tNodes: nodes,\n\t\tNodeIdx: 1, // Target is second node\n\t\tSpeed: 1.0,\n\t\tHeight: 1.7,\n\t\tPosition: nodes[0].Position, // Initialize at first node\n\t}\n\n\t// Move towards second node\n\tfor i := 0; i < 100; i++ {\n\t\tupdateNodeToNodeWalker(walker, 0.1, space)\n\t\t// Break if we've moved to the next node\n\t\tif walker.NodeIdx != 1 {\n\t\t\tbreak\n\t\t}\n\t}\n\n\t// Walker should have progressed toward the target\n\tdistToTarget := math.Sqrt(\n\t\tmath.Pow(walker.Position.X-nodes[1].Position.X, 2) +\n\t\t\tmath.Pow(walker.Position.Y-nodes[1].Position.Y, 2))\n\tif distToTarget > 1.0 {\n\t\tt.Errorf(\"Walker should be closer to target; distance=%v\", distToTarget)\n\t}\n}\n\n// TestPathFileLoading tests loading paths from JSON file\nfunc TestPathFileLoading(t *testing.T) {\n\ttmpDir := t.TempDir()\n\tpathFile := filepath.Join(tmpDir, \"paths.json\")\n\n\t// Create test path file\n\tpaths := []PathDefinition{\n\t\t{\n\t\t\tWaypoints: []Point{\n\t\t\t\t{X: 0, Y: 0, Z: 1.7},\n\t\t\t\t{X: 1, Y: 0, Z: 1.7},\n\t\t\t\t{X: 1, Y: 1, Z: 1.7},\n\t\t\t\t{X: 0, Y: 1, Z: 1.7},\n\t\t\t},\n\t\t},\n\t}\n\n\tdata, err := json.Marshal(paths)\n\tif err != nil {\n\t\tt.Fatalf(\"Failed to marshal paths: %v\", err)\n\t}\n\n\tif err := os.WriteFile(pathFile, data, 0644); err != nil {\n\t\tt.Fatalf(\"Failed to write path file: %v\", err)\n\t}\n\n\t// Load paths\n\tloaded, err := loadPathsFromFile(pathFile)\n\tif err != nil {\n\t\tt.Fatalf(\"Failed to load paths: %v\", err)\n\t}\n\n\tif len(loaded) != 1 {\n\t\tt.Errorf(\"Expected 1 path, got %d\", len(loaded))\n\t}\n\n\tif len(loaded[0]) != 4 {\n\t\tt.Errorf(\"Expected 4 waypoints, got %d\", len(loaded[0]))\n\t}\n}\n\n// TestPathFileInvalid tests error handling for invalid path files\nfunc TestPathFileInvalid(t *testing.T) {\n\ttmpDir := t.TempDir()\n\tpathFile := filepath.Join(tmpDir, \"invalid.json\")\n\n\t// Write invalid JSON\n\tif err := os.WriteFile(pathFile, []byte(\"not valid json\"), 0644); err != nil {\n\t\tt.Fatalf(\"Failed to write file: %v\", err)\n\t}\n\n\t_, err := loadPathsFromFile(pathFile)\n\tif err == nil {\n\t\tt.Error(\"Expected error for invalid JSON\")\n\t}\n}\n\n// TestDefaultPathWalker tests default rectangular path walker creation\nfunc TestDefaultPathWalker(t *testing.T) {\n\tspace := &Space{Width: 5, Depth: 5, Height: 2.5}\n\n\twalkers := createDefaultPathWalkers(1, space)\n\n\tif len(walkers) != 1 {\n\t\tt.Fatalf(\"Expected 1 walker, got %d\", len(walkers))\n\t}\n\n\twalker := walkers[0]\n\n\tif walker.Type != WalkerTypePathFollow {\n\t\tt.Errorf(\"Expected path-following walker, got %v\", walker.Type)\n\t}\n\n\tif len(walker.Path) != 4 {\n\t\tt.Errorf(\"Expected 4 waypoints in default path, got %d\", len(walker.Path))\n\t}\n\n\t// Verify path forms a rectangle around the room\n\tpath := walker.Path\n\tmargin := 0.5\n\n\t// First point: bottom-left\n\tif path[0].X != margin || path[0].Y != margin {\n\t\tt.Errorf(\"First waypoint should be bottom-left: got %v\", path[0])\n\t}\n\n\t// Second point: bottom-right\n\tif path[1].X != space.Width-margin || path[1].Y != margin {\n\t\tt.Errorf(\"Second waypoint should be bottom-right: got %v\", path[1])\n\t}\n\n\t// Third point: top-right\n\tif path[2].X != space.Width-margin || path[2].Y != space.Depth-margin {\n\t\tt.Errorf(\"Third waypoint should be top-right: got %v\", path[2])\n\t}\n\n\t// Fourth point: top-left\n\tif path[3].X != margin || path[3].Y != space.Depth-margin {\n\t\tt.Errorf(\"Fourth waypoint should be top-left: got %v\", path[3])\n\t}\n}\n\n// TestReflectionPointVerticalWall tests reflection point calculation for vertical walls\nfunc TestReflectionPointVerticalWall(t *testing.T) {\n\t// Vertical wall at x=2.5 from y=0 to y=5\n\twall := Wall{X1: 2.5, Y1: 0, X2: 2.5, Y2: 5, Material: MaterialDrywall, Attenuation: 3.0}\n\n\t// TX and RX on opposite sides of the wall, at different Y positions\n\t// This should create a valid reflection\n\ttx := Point{X: 1, Y: 1, Z: 2}\n\trx := Point{X: 3, Y: 3, Z: 2}\n\n\treflPoint, ok := findReflectionPoint(tx, rx, wall)\n\tif !ok {\n\t\tt.Fatal(\"Failed to find reflection point\")\n\t}\n\n\t// Reflection point should be on the wall at x=2.5\n\tif reflPoint.X != 2.5 {\n\t\tt.Errorf(\"Reflection X = %v, want 2.5\", reflPoint.X)\n\t}\n\n\t// Y should be between 0 and 5\n\tif reflPoint.Y < 0 || reflPoint.Y > 5 {\n\t\tt.Errorf(\"Reflection Y = %v outside wall bounds [0, 5]\", reflPoint.Y)\n\t}\n\n\t// Z should be average of TX and RX Z\n\texpectedZ := (tx.Z + rx.Z) / 2.0\n\tif math.Abs(reflPoint.Z-expectedZ) > 1e-6 {\n\t\tt.Errorf(\"Reflection Z = %v, want %v\", reflPoint.Z, expectedZ)\n\t}\n}\n\n// TestReflectionPointHorizontalWall tests reflection point calculation for horizontal walls\nfunc TestReflectionPointHorizontalWall(t *testing.T) {\n\t// Horizontal wall at y=2.5 from x=0 to x=5\n\twall := Wall{X1: 0, Y1: 2.5, X2: 5, Y2: 2.5, Material: MaterialDrywall, Attenuation: 3.0}\n\n\t// TX and RX on opposite sides of the wall, at different X positions\n\ttx := Point{X: 1, Y: 1, Z: 2}\n\trx := Point{X: 3, Y: 3, Z: 2}\n\n\treflPoint, ok := findReflectionPoint(tx, rx, wall)\n\tif !ok {\n\t\tt.Fatal(\"Failed to find reflection point\")\n\t}\n\n\t// Reflection point should be on the wall at y=2.5\n\tif reflPoint.Y != 2.5 {\n\t\tt.Errorf(\"Reflection Y = %v, want 2.5\", reflPoint.Y)\n\t}\n\n\t// X should be between 0 and 5\n\tif reflPoint.X < 0 || reflPoint.X > 5 {\n\t\tt.Errorf(\"Reflection X = %v outside wall bounds [0, 5]\", reflPoint.X)\n\t}\n\n\t// Z should be average of TX and RX Z\n\texpectedZ := (tx.Z + rx.Z) / 2.0\n\tif math.Abs(reflPoint.Z-expectedZ) > 1e-6 {\n\t\tt.Errorf(\"Reflection Z = %v, want %v\", reflPoint.Z, expectedZ)\n\t}\n}\n\n// TestReflectionPointOutOfBounds tests that reflections outside wall bounds fail\nfunc TestReflectionPointOutOfBounds(t *testing.T) {\n\t// Vertical wall at x=2.5 from y=0 to y=2 (walker Y=2.5 is outside bounds)\n\twall := Wall{X1: 2.5, Y1: 0, X2: 2.5, Y2: 2, Material: MaterialDrywall, Attenuation: 3.0}\n\n\ttx := Point{X: 1, Y: 2.5, Z: 2}\n\trx := Point{X: 4, Y: 2.5, Z: 2}\n\n\t_, ok := findReflectionPoint(tx, rx, wall)\n\tif ok {\n\t\tt.Error(\"Expected no reflection point for out-of-bounds Y\")\n\t}\n}\n\n// TestReflectPointAcrossLine tests point reflection across a line\nfunc TestReflectPointAcrossLine(t *testing.T) {\n\tp := Point{X: 1, Y: 1, Z: 0}\n\tlineStart := Point{X: 0, Y: 0, Z: 0}\n\tlineEnd := Point{X: 2, Y: 0, Z: 0} // Horizontal line at y=0\n\n\trefl := reflectPointAcrossLine(p, lineStart, lineEnd)\n\n\t// Point (1,1) reflected across y=0 should be (1,-1)\n\tif refl.X != 1 {\n\t\tt.Errorf(\"Refl X = %v, want 1\", refl.X)\n\t}\n\tif refl.Y != -1 {\n\t\tt.Errorf(\"Refl Y = %v, want -1\", refl.Y)\n\t}\n}\n\n// TestLineIntersection tests line segment intersection\nfunc TestLineIntersection(t *testing.T) {\n\ttests := []struct {\n\t\tname string\n\t\tp1, p2 Point // First line segment\n\t\tp3, p4 Point // Second line segment\n\t\twantOK bool\n\t\twantX float64\n\t\twantY float64\n\t}{\n\t\t{\n\t\t\tname: \"Crossing lines\",\n\t\t\tp1: Point{X: 0, Y: 0, Z: 0},\n\t\t\tp2: Point{X: 2, Y: 2, Z: 0},\n\t\t\tp3: Point{X: 0, Y: 2, Z: 0},\n\t\t\tp4: Point{X: 2, Y: 0, Z: 0},\n\t\t\twantOK: true,\n\t\t\twantX: 1,\n\t\t\twantY: 1,\n\t\t},\n\t\t{\n\t\t\tname: \"Parallel lines\",\n\t\t\tp1: Point{X: 0, Y: 0, Z: 0},\n\t\t\tp2: Point{X: 1, Y: 0, Z: 0},\n\t\t\tp3: Point{X: 0, Y: 1, Z: 0},\n\t\t\tp4: Point{X: 1, Y: 1, Z: 0},\n\t\t\twantOK: false,\n\t\t},\n\t\t{\n\t\t\tname: \"Non-intersecting segments\",\n\t\t\tp1: Point{X: 0, Y: 0, Z: 0},\n\t\t\tp2: Point{X: 1, Y: 0, Z: 0},\n\t\t\tp3: Point{X: 2, Y: 0, Z: 0},\n\t\t\tp4: Point{X: 3, Y: 0, Z: 0},\n\t\t\twantOK: false,\n\t\t},\n\t}\n\n\tfor _, tt := range tests {\n\t\tt.Run(tt.name, func(t *testing.T) {\n\t\t\tpt, ok := lineIntersection(tt.p1, tt.p2, tt.p3, tt.p4)\n\t\t\tif ok != tt.wantOK {\n\t\t\t\tt.Errorf(\"lineIntersection() ok = %v, want %v\", ok, tt.wantOK)\n\t\t\t\treturn\n\t\t\t}\n\t\t\tif tt.wantOK {\n\t\t\t\tif math.Abs(pt.X-tt.wantX) > 1e-6 {\n\t\t\t\t\tt.Errorf(\"X = %v, want %v\", pt.X, tt.wantX)\n\t\t\t\t}\n\t\t\t\tif math.Abs(pt.Y-tt.wantY) > 1e-6 {\n\t\t\t\t\tt.Errorf(\"Y = %v, want %v\", pt.Y, tt.wantY)\n\t\t\t\t}\n\t\t\t}\n\t\t})\n\t}\n}\n\n// TestWallMaterialProperties tests that different wall materials have correct attenuation\nfunc TestWallMaterialProperties(t *testing.T) {\n\twalls = nil // Reset\n\n\tf := &wallFlag{}\n\n\t// Test drywall (default)\n\tif err := f.Set(\"0,0,5,0\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse drywall wall: %v\", err)\n\t}\n\tif len(walls) != 1 || walls[0].Attenuation != 3.0 {\n\t\tt.Errorf(\"Drywall attenuation = %v, want 3.0\", walls[0].Attenuation)\n\t}\n\tif walls[0].Material != MaterialDrywall {\n\t\tt.Errorf(\"Material = %v, want drywall\", walls[0].Material)\n\t}\n\n\t// Test brick\n\twalls = nil\n\tif err := f.Set(\"0,1,5,1,brick\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse brick wall: %v\", err)\n\t}\n\tif walls[0].Attenuation != 10.0 {\n\t\tt.Errorf(\"Brick attenuation = %v, want 10.0\", walls[0].Attenuation)\n\t}\n\n\t// Test concrete\n\twalls = nil\n\tif err := f.Set(\"0,2,5,2,concrete\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse concrete wall: %v\", err)\n\t}\n\tif walls[0].Attenuation != 10.0 {\n\t\tt.Errorf(\"Concrete attenuation = %v, want 10.0\", walls[0].Attenuation)\n\t}\n\n\t// Test glass\n\twalls = nil\n\tif err := f.Set(\"0,3,5,3,glass\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse glass wall: %v\", err)\n\t}\n\tif walls[0].Attenuation != 2.0 {\n\t\tt.Errorf(\"Glass attenuation = %v, want 2.0\", walls[0].Attenuation)\n\t}\n\n\t// Test metal\n\twalls = nil\n\tif err := f.Set(\"0,4,5,4,metal\"); err != nil {\n\t\tt.Fatalf(\"Failed to parse metal wall: %v\", err)\n\t}\n\tif walls[0].Attenuation != 20.0 {\n\t\tt.Errorf(\"Metal attenuation = %v, want 20.0\", walls[0].Attenuation)\n\t}\n\n\t// Test invalid material\n\twalls = nil\n\tif err := f.Set(\"0,5,5,5,invalid\"); err == nil {\n\t\tt.Error(\"Expected error for invalid material\")\n\t}\n}\n\n// TestTwoRayModel tests that CSI includes both direct and reflected contributions\nfunc TestTwoRayModel(t *testing.T) {\n\ttx := &VirtualNode{ID: 0, Position: Point{X: 1, Y: 1, Z: 2}}\n\trx := &VirtualNode{ID: 1, Position: Point{X: 3, Y: 3, Z: 2}}\n\twalkers := []*Walker{{ID: 0, Position: Point{X: 2, Y: 2, Z: 1.7}}}\n\n\t// No walls - should only have direct path\n\tampNoWall, _ := computeCSIForWalkers(tx, rx, walkers, nil)\n\tif ampNoWall <= 0 {\n\t\tt.Errorf(\"Amplitude with no wall = %v, want > 0\", ampNoWall)\n\t}\n\n\t// Add a wall positioned to create a valid reflection\n\t// Wall from (0,0) to (0,5) - vertical wall at x=0\n\twalls := []Wall{{X1: 0, Y1: 0, X2: 0, Y2: 5, Material: MaterialDrywall, Attenuation: 3.0}}\n\tampWithWall, _ := computeCSIForWalkers(tx, rx, walkers, walls)\n\n\t// The reflection should affect the CSI - check that amplitude is non-zero\n\tif ampWithWall <= 0 {\n\t\tt.Errorf(\"Amplitude with wall = %v, want > 0\", ampWithWall)\n\t}\n\n\t// Verify that computeFirstOrderReflection actually returns values when there's a valid wall geometry\n\treflAmp, reflPhase := computeFirstOrderReflection(tx.Position, rx.Position, walkers[0].Position, walls)\n\tif reflAmp == 0 && reflPhase == 0 {\n\t\tt.Error(\"Expected non-zero reflection contribution with wall present (valid geometry)\")\n\t}\n\n\t// Test with wall positioned such that no valid reflection exists\n\t// Use a wall where the reflection point would fall outside the wall segment bounds\n\t// TX at (1,1), RX at (3,3), vertical wall at x=2 from y=10 to y=15\n\t// The reflection of TX across x=2 would be at (3,1). 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The simulator opens WebSocket connections as virtual nodes and sends synthetic CSI binary frames.\n4\t\n5\t## Building\n6\t\n7\t```bash\n8\tcd mothership\n9\tgo build -o spaxel-sim ./cmd/sim\n10\t```\n11\t\n12\t## Usage\n13\t\n14\t```bash\n15\tspaxel-sim [flags]\n16\t```\n17\t\n18\t### Flags\n19\t\n20\t| Flag | Type | Default | Description |\n21\t|------|------|---------|-------------|\n22\t| `--mothership` | string | `ws://localhost:8080/ws/node` | Mothership WebSocket URL |\n23\t| `--token` | string | `\"\"` | Node authentication token (X-Spaxel-Token header) |\n24\t| `--nodes` | int | `4` | Number of virtual nodes to simulate |\n25\t| `--walkers` | int | `1` | Number of walking persons to simulate |\n26\t| `--rate` | int | `20` | CSI packet rate in Hz per node |\n27\t| `--duration` | duration | `30s` | Simulation duration (0 = run forever) |\n28\t| `--ble` | bool | `false` | Also send simulated BLE advertisements |\n29\t| `--seed` | int64 | `42` | Random seed for reproducible runs |\n30\t| `--width` | float64 | `6.0` | Space width in meters |\n31\t| `--depth` | float64 | `5.0` | Space depth in meters |\n32\t| `--height` | float64 | `2.5` | Space height in meters |\n33\t| `--space` | string | `\"\"` | Space dimensions as \"WxDxH\" (overrides --width/--depth/--height) |\n34\t| `--show-frame-rate` | bool | `true` | Show per-second frame counts to stdout |\n35\t| `--verbose` | bool | `false` | Enable verbose logging |\n36\t\n37\t### Examples\n38\t\n39\t**Basic simulation (4 nodes, 1 walker, 30 seconds):**\n40\t```bash\n41\tspaxel-sim --mothership ws://localhost:8080/ws/node --nodes 4 --walkers 1 --duration 30s\n42\t```\n43\t\n44\t**With authentication:**\n45\t```bash\n46\tspaxel-sim --mothership ws://localhost:8080/ws/node --token --nodes 4\n47\t```\n48\t\n49\t**Custom space dimensions:**\n50\t```bash\n51\tspaxel-sim --space \"10x8x3.0\" --nodes 6 --walkers 2\n52\t```\n53\t\n54\t**With BLE advertisements:**\n55\t```bash\n56\tspaxel-sim --ble --walkers 2\n57\t```\n58\t\n59\t**Reproducible run (fixed seed):**\n60\t```bash\n61\tspaxel-sim --seed 12345 --duration 60s\n62\t```\n63\t\n64\t**Run indefinitely (for manual testing):**\n65\t```bash\n66\tspaxel-sim --duration 0\n67\t```\n68\t\n69\t## CSI Frame Format\n70\t\n71\tThe simulator generates valid CSI binary frames matching the Spaxel specification:\n72\t\n73\t```\n74\tHeader (24 bytes):\n75\t node_mac: 6 bytes — source node MAC\n76\t peer_mac: 6 bytes — transmitting peer MAC\n77\t timestamp_us: 8 bytes — uint64, microseconds since node boot\n78\t rssi: 1 byte — int8, dBm\n79\t noise_floor: 1 byte — int8, dBm\n80\t channel: 1 byte — uint8, WiFi channel\n81\t n_sub: 1 byte — uint8, subcarrier count\n82\t\n83\tPayload (n_sub × 2 bytes):\n84\t Per subcarrier: int8 I, int8 Q\n85\t```\n86\t\n87\t## Simulation Model\n88\t\n89\t### Virtual Nodes\n90\t- Positioned at corners and edges of the defined space\n91\t- Mixed heights (high at 80% of room height, low at 30%)\n92\t- MAC addresses: `AA:BB:CC:DD:E0:00` through `AA:BB:CC:DD:E0:0N`\n93\t\n94\t### Walkers\n95\t- Start at center of room (average person height: 1.7m)\n96\t- Random walk with Gaussian velocity updates\n97\t- Bounce off walls\n98\t- BLE address: `11:22:33:44:55:00` through `11:22:33:44:55:0N`\n99\t\n100\t### Signal Model\n101\t- **Path loss:** Free space path loss model (PL(d) = PL₀ + 10·n·log₁₀(d/d₀))\n102\t - PL₀ = 40 dB at d₀ = 1m\n103\t - n = 2.0 (free space)\n104\t- **Fresnel modulation:** Amplitude increases when walker is in Fresnel zones\n105\t - Zone 1: maximum modulation\n106\t - Zone 5+: no modulation\n107\t- **Noise:** Gaussian noise added to I/Q values\n108\t\n109\t## Integration Testing\n110\t\n111\tThe simulator is designed for integration testing:\n112\t\n113\t```bash\n114\t# Start mothership\n115\tdocker run -d -p 8080:8080 --name spaxel-test ghcr.io/spaxel/spaxel:latest\n116\t\n117\t# Run simulator for 30 seconds\n118\tspaxel-sim --mothership ws://localhost:8080/ws/node --nodes 4 --walkers 1 --duration 30s\n119\t\n120\t# Check blob count (should be > 0 if detection is working)\n121\tcurl -s http://localhost:8080/api/blobs | jq '. | length > 0'\n122\t```\n123\t\n124\t## Output\n125\t\n126\tThe simulator logs:\n127\t- Connection status\n128\t- Per-second frame rates (if `--show-frame-rate`)\n129\t- Final statistics on completion\n130\t- Errors (authentication failures, WebSocket errors, etc.)\n131\t\n132\tExample output:\n133\t```\n134\t[INFO] CSI Simulator starting\n135\t[INFO] Configuration: nodes=4, walkers=1, rate=20 Hz, duration=30s\n136\t[INFO] Space: 6.0x5.0x2.5 m\n137\t[INFO] Connecting to: ws://localhost:8080/ws/node\n138\t[INFO] Node AA:BB:CC:DD:E0:00 connected to mothership\n139\t[STATS] Node AA:BB:CC:DD:E0:00: 20 frames/s\n140\t[STATS] Node AA:BB:CC:DD:E0:00: 20 frames/s\n141\t[INFO] Simulation completed successfully\n142\t[STATS] Node AA:BB:CC:DD:E0:00: sent 600 frames\n143\t```\n144\t\n145\t## Authentication\n146\t\n147\tWhen the mothership requires authentication (SPAXEL_INSTALL_SECRET is set), you must provide a valid node token. Generate a token for a simulated node using the mothership's provisioning API or derive it manually:\n148\t\n149\t```bash\n150\t# Get token from mothership provisioning endpoint\n151\tcurl -s http://localhost:8080/api/provision -d '{\"mac\":\"AA:BB:CC:DD:E0:00\"}'\n152\t```\n153\t\n154\t## Error Handling\n155\t\n156\tThe simulator exits with non-zero status on:\n157\t- WebSocket connection failure\n158\t- Authentication rejection (HTTP 401)\n159\t- Mothership rejection (`{type:\"reject\"}` message)\n160\t\n161\t## Testing\n162\t\n163\tRun the test suite:\n164\t\n165\t```bash\n166\tcd mothership\n167\tgo test ./cmd/sim/...\n168\t```\n169\t\n170\tTests cover:\n171\t- Space dimension parsing\n172\t- MAC address conversion\n173\t- CSI frame structure validation\n174\t- Fresnel zone modulation\n175\t- RSSI calculation\n176\t- Walker position updates\n177\t"}]},"parent_tool_use_id":null,"session_id":"9350bbe2-2e3f-43d4-9969-cc88eb535389","uuid":"80510bad-7b3a-4972-90e6-57905ee73f60","timestamp":"2026-05-06T02:37:29.145Z","tool_use_result":{"type":"text","file":{"filePath":"/home/coding/spaxel/mothership/cmd/sim/README.md","content":"# Spaxel CSI Simulator\n\nA Go CLI tool for testing the Spaxel mothership without ESP32 hardware. The simulator opens WebSocket connections as virtual nodes and sends synthetic CSI binary frames.\n\n## Building\n\n```bash\ncd mothership\ngo build -o spaxel-sim ./cmd/sim\n```\n\n## Usage\n\n```bash\nspaxel-sim [flags]\n```\n\n### Flags\n\n| Flag | Type | Default | Description |\n|------|------|---------|-------------|\n| `--mothership` | string | `ws://localhost:8080/ws/node` | Mothership WebSocket URL |\n| `--token` | string | `\"\"` | Node authentication token (X-Spaxel-Token header) |\n| `--nodes` | int | `4` | Number of virtual nodes to simulate |\n| `--walkers` | int | `1` | Number of walking persons to simulate |\n| `--rate` | int | `20` | CSI packet rate in Hz per node |\n| `--duration` | duration | `30s` | Simulation duration (0 = run forever) |\n| `--ble` | bool | `false` | Also send simulated BLE advertisements |\n| `--seed` | int64 | `42` | Random seed for reproducible runs |\n| `--width` | float64 | `6.0` | Space width in meters |\n| `--depth` | float64 | `5.0` | Space depth in meters |\n| `--height` | float64 | `2.5` | Space height in meters |\n| `--space` | string | `\"\"` | Space dimensions as \"WxDxH\" (overrides --width/--depth/--height) |\n| `--show-frame-rate` | bool | `true` | Show per-second frame counts to stdout |\n| `--verbose` | bool | `false` | Enable verbose logging |\n\n### Examples\n\n**Basic simulation (4 nodes, 1 walker, 30 seconds):**\n```bash\nspaxel-sim --mothership ws://localhost:8080/ws/node --nodes 4 --walkers 1 --duration 30s\n```\n\n**With authentication:**\n```bash\nspaxel-sim --mothership ws://localhost:8080/ws/node --token --nodes 4\n```\n\n**Custom space dimensions:**\n```bash\nspaxel-sim --space \"10x8x3.0\" --nodes 6 --walkers 2\n```\n\n**With BLE advertisements:**\n```bash\nspaxel-sim --ble --walkers 2\n```\n\n**Reproducible run (fixed seed):**\n```bash\nspaxel-sim --seed 12345 --duration 60s\n```\n\n**Run indefinitely (for manual testing):**\n```bash\nspaxel-sim --duration 0\n```\n\n## CSI Frame Format\n\nThe simulator generates valid CSI binary frames matching the Spaxel specification:\n\n```\nHeader (24 bytes):\n node_mac: 6 bytes — source node MAC\n peer_mac: 6 bytes — transmitting peer MAC\n timestamp_us: 8 bytes — uint64, microseconds since node boot\n rssi: 1 byte — int8, dBm\n noise_floor: 1 byte — int8, dBm\n channel: 1 byte — uint8, WiFi channel\n n_sub: 1 byte — uint8, subcarrier count\n\nPayload (n_sub × 2 bytes):\n Per subcarrier: int8 I, int8 Q\n```\n\n## Simulation Model\n\n### Virtual Nodes\n- Positioned at corners and edges of the defined space\n- Mixed heights (high at 80% of room height, low at 30%)\n- MAC addresses: `AA:BB:CC:DD:E0:00` through `AA:BB:CC:DD:E0:0N`\n\n### Walkers\n- Start at center of room (average person height: 1.7m)\n- Random walk with Gaussian velocity updates\n- Bounce off walls\n- BLE address: `11:22:33:44:55:00` through `11:22:33:44:55:0N`\n\n### Signal Model\n- **Path loss:** Free space path loss model (PL(d) = PL₀ + 10·n·log₁₀(d/d₀))\n - PL₀ = 40 dB at d₀ = 1m\n - n = 2.0 (free space)\n- **Fresnel modulation:** Amplitude increases when walker is in Fresnel zones\n - Zone 1: maximum modulation\n - Zone 5+: no modulation\n- **Noise:** Gaussian noise added to I/Q values\n\n## Integration Testing\n\nThe simulator is designed for integration testing:\n\n```bash\n# Start mothership\ndocker run -d -p 8080:8080 --name spaxel-test ghcr.io/spaxel/spaxel:latest\n\n# Run simulator for 30 seconds\nspaxel-sim --mothership ws://localhost:8080/ws/node --nodes 4 --walkers 1 --duration 30s\n\n# Check blob count (should be > 0 if detection is working)\ncurl -s http://localhost:8080/api/blobs | jq '. | length > 0'\n```\n\n## Output\n\nThe simulator logs:\n- Connection status\n- Per-second frame rates (if `--show-frame-rate`)\n- Final statistics on completion\n- Errors (authentication failures, WebSocket errors, etc.)\n\nExample output:\n```\n[INFO] CSI Simulator starting\n[INFO] Configuration: nodes=4, walkers=1, rate=20 Hz, duration=30s\n[INFO] Space: 6.0x5.0x2.5 m\n[INFO] Connecting to: ws://localhost:8080/ws/node\n[INFO] Node AA:BB:CC:DD:E0:00 connected to mothership\n[STATS] Node AA:BB:CC:DD:E0:00: 20 frames/s\n[STATS] Node AA:BB:CC:DD:E0:00: 20 frames/s\n[INFO] Simulation completed successfully\n[STATS] Node AA:BB:CC:DD:E0:00: sent 600 frames\n```\n\n## Authentication\n\nWhen the mothership requires authentication (SPAXEL_INSTALL_SECRET is set), you must provide a valid node token. 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