spaxel-sim computed good corner/perimeter geometry in createVirtualNodes but
the hello message sent on WebSocket connect did not include position, so the
mothership never learned the sim node's location and the fleet registry/DB row
was left at the nodes-table schema default (0,0,1) — co-located with every
other node.
Both sim CLIs (cmd/sim and mothership/cmd/sim) now announce pos_x/pos_y/pos_z
in the hello handshake, sourced from createVirtualNodes. HelloMessage gains
PosX/PosY/PosZ as *float64 (not plain float64) so an absent position is
distinguishable from a genuine (0,0,0): a real ESP32 omits these in hello
(its position is user-placed in the dashboard), whereas spaxel-sim announces
its computed geometry.
The connect/register path (server.HandleNodeWS -> FleetNotifier.OnNodeConnected
-> fleet.Manager) now carries the announced position through. The Manager
persists it via registry.SetNodePosition only when all three axes are present,
so a nil/partial announcement preserves any existing user-placed position
rather than clobbering it. The position then flows onward to the fusion engine
through the bf-3p6g connect/register sink (ForwardNodePosition ->
nodePositionSink -> fusionEngine.SetNodePosition), so a freshly connected sim
node is seeded at its announced location instead of (0,0,1).
The FleetNotifier interface change (OnNodeConnected gains three *float64
params) is propagated to every implementer — Manager (persists), FleetHealer
and SelfHealManager (read geometry from the registry, ignore), the guided-
troubleshoot notifier (tracks connect/disconnect only), and the cmd/mothership
multiFleetNotifier fan-out.
Tests: existing OnNodeConnected call sites updated to the new signature.
TestManagerOnNodeConnectedPersistsHelloPosition asserts a node connecting with
an announced position yields a registry row whose pos differs from (0,0,1) and
matches the sent coordinates, and that the same coordinates reach the fusion
engine. TestManagerOnNodeConnectedWithoutHelloPositionPreservesExisting
asserts the real-ESP32 case (nil announce) and partial-announce both leave an
existing user-placed position untouched.
Co-Authored-By: Claude <noreply@anthropic.com>
- Rebuilt spaxel-sim binary with latest code
- Copied binary to mothership directory for use in integration tests
- All tests pass (go test ./... && go vet ./...)
Implemented the CSI simulator CLI tool for testing Spaxel without
hardware. The simulator connects to a running mothership via WebSocket
and streams synthetic CSI binary frames.
Features:
- Virtual nodes positioned at corners, evenly distributed
- Walker random walk with Gaussian velocity updates (σ=0.3 m/s per axis per 50ms)
- Synthetic CSI generation using propagation model (path-loss + Fresnel zones)
- Binary frame format matching ingestion/frame.go (24-byte header + n_sub*2 payload)
- RSSI calculation: clamp(-30 - path_loss_dB, -90, -30)
- BLE advertisement simulation every 5s when --ble flag is set
- Reject detection: exits non-zero on {type:'reject'} from mothership
- Per-second stats: frame counts and blob count (from GET /api/blobs poll)
CLI Interface:
spaxel-sim --mothership ws://localhost:8080/ws/node --token <token> \
--nodes 4 --walkers 1 --rate 20 --duration 60s --ble \
--seed 42 --space '6x5x2.5'
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
