feat(adr-125 iter 2): real C6 feature_state UDP → HAP characteristic
scripts/c6-presence-watcher.py parses the 60-byte
rv_feature_state_t struct (RV_FEATURE_STATE_MAGIC = 0xC5110006)
emitted by firmware/esp32-csi-node/main/rv_feature_state.[ch] at
1-10 Hz from the real ESP32-C6 on ruv.net, validates the IEEE CRC32
over bytes [0..end-4], gates on RV_QFLAG_PRESENCE_VALID, applies
hysteresis (entry 0.40 / release 0.20) plus a 5 s idle-release
fallback, and toggles /tmp/ruview-motion — the same touch-file
contract that the already-paired HAP bridge consumes.
E2E validated against real hardware (no mocks, no simulation):
C6 (192.168.1.179, ch 5, RSSI -38)
└─ UDP/5005 → mac-mini (192.168.1.166)
└─ c6-presence-watcher.py (pid 8276)
└─ /tmp/ruview-motion
└─ hap-test-sensor.py (pid 84602)
└─ HAP-1.1 over mDNS
└─ iPhone Home app: RuView Test Motion = True
10 s sample: pkts=63 valid=51 crc_bad=0 motion -> True
Iter 3 next: insert wifi-densepose-bfld PrivacyGate between the
UDP parse and the threshold so only class-2/3 frames cross the HAP
boundary (ADR-118 §2.2 invariant I1 holds at the HomeKit edge —
ADR-125 §2.1.d).
Refs ADR-125, ADR-118, ADR-081.
Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
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#!/usr/bin/env python3
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"""
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c6-presence-watcher.py — ADR-125 iter 2.
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Bridges real ESP32-C6 ADR-081 `rv_feature_state` UDP frames to the HAP
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`MotionSensor` characteristic via the toggle file that
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`scripts/hap-test-sensor.py` already pairs against. No mocks, no
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simulation — consumes the exact 60-byte struct emitted by
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`firmware/esp32-csi-node/main/rv_feature_state.[ch]`.
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Wire format (RV_FEATURE_STATE_MAGIC = 0xC5110006, 60 bytes total,
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__attribute__((packed))):
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offset size field type
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0 4 magic u32 = 0xC5110006
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4 1 node_id u8
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5 1 mode u8
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6 2 seq u16
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8 8 ts_us u64
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16 4 motion_score f32 0..1, 100 ms window
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20 4 presence_score f32 0..1, 1 s window
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24 4 respiration_bpm f32
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28 4 respiration_conf f32
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32 4 heartbeat_bpm f32
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36 4 heartbeat_conf f32
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40 4 anomaly_score f32
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44 4 env_shift_score f32
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48 4 node_coherence f32
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52 2 quality_flags u16
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54 2 reserved u16
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56 4 crc32 u32
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`quality_flags & RV_QFLAG_PRESENCE_VALID (1<<0)` gates presence reads.
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`presence_score >= PRESENCE_THRESHOLD` toggles motion ON; below the
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release threshold (with hysteresis) toggles OFF. The toggle file
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is the contract between this watcher and the paired HAP bridge.
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Usage:
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python3 c6-presence-watcher.py [--port 5005] [--toggle /tmp/ruview-motion]
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"""
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from __future__ import annotations
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import argparse
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import os
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import signal
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import socket
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import struct
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import sys
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import time
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import zlib
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RV_FEATURE_STATE_MAGIC = 0xC5110006
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RV_QFLAG_PRESENCE_VALID = 1 << 0
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PACKET_SIZE = 60
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# Hysteresis — entry / exit thresholds keep the HomeKit characteristic
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# from flapping when presence_score sits near the boundary.
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PRESENCE_ON_THRESHOLD = 0.40
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PRESENCE_OFF_THRESHOLD = 0.20
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# Idle releases motion after this many seconds with no valid presence
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# packets (covers the C6 falling off the air entirely).
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IDLE_RELEASE_S = 5.0
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# 60-byte packed layout (`<` = little-endian + no padding)
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# magic|node|mode|seq|ts|motion|presence|resp_bpm|resp_c|hb_bpm|hb_c|anom|env|coh|qflags|reserved|crc
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PACKET_STRUCT = struct.Struct("<IBBHQfffffffffHHI")
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assert PACKET_STRUCT.size == PACKET_SIZE, (
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f"layout mismatch: struct {PACKET_STRUCT.size}, expected {PACKET_SIZE}"
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)
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def parse_packet(buf: bytes):
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"""Return parsed dict or None if not a feature_state packet."""
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if len(buf) != PACKET_SIZE:
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return None
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fields = PACKET_STRUCT.unpack(buf)
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(magic, node_id, mode, seq, ts_us, motion, presence,
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resp_bpm, resp_conf, hb_bpm, hb_conf,
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anomaly, env_shift, coherence,
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qflags, _reserved, crc) = fields
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if magic != RV_FEATURE_STATE_MAGIC:
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return None
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# CRC32 over bytes [0..end-4]. Firmware uses IEEE poly == zlib.crc32.
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expected = zlib.crc32(buf[:-4]) & 0xFFFFFFFF
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crc_ok = expected == crc
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return {
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"node_id": node_id, "mode": mode, "seq": seq, "ts_us": ts_us,
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"motion": motion, "presence": presence,
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"resp_bpm": resp_bpm, "resp_conf": resp_conf,
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"hb_bpm": hb_bpm, "hb_conf": hb_conf,
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"anomaly": anomaly, "env_shift": env_shift, "coherence": coherence,
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"qflags": qflags, "crc_ok": crc_ok,
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"presence_valid": bool(qflags & RV_QFLAG_PRESENCE_VALID),
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}
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def set_motion(toggle_file: str, on: bool, current: bool) -> bool:
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"""Touch / unlink the toggle file iff state changes. Return new state."""
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if on == current:
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return current
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if on:
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with open(toggle_file, "w") as fh:
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fh.write("1\n")
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else:
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try:
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os.unlink(toggle_file)
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except FileNotFoundError:
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pass
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print(f"[{time.strftime('%H:%M:%S')}] motion -> {on}", flush=True)
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return on
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def main() -> int:
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p = argparse.ArgumentParser()
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p.add_argument("--port", type=int, default=5005)
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p.add_argument("--toggle", default="/tmp/ruview-motion")
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p.add_argument("--bind", default="0.0.0.0")
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args = p.parse_args()
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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if hasattr(socket, "SO_REUSEPORT"):
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sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEPORT, 1)
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sock.bind((args.bind, args.port))
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sock.settimeout(1.0)
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print(f"[c6-presence] listening udp {args.bind}:{args.port}", flush=True)
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print(f"[c6-presence] toggle file: {args.toggle}", flush=True)
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print(f"[c6-presence] thresholds: on>={PRESENCE_ON_THRESHOLD}, "
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f"off<={PRESENCE_OFF_THRESHOLD}, idle_release={IDLE_RELEASE_S}s",
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flush=True)
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running = True
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def _stop(*_):
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nonlocal running
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running = False
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signal.signal(signal.SIGTERM, _stop)
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signal.signal(signal.SIGINT, _stop)
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motion = os.path.exists(args.toggle)
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last_packet_ts = 0.0
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last_summary = time.time()
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n_total = n_valid = n_crc_bad = 0
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presence_sum = motion_sum = 0.0
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while running:
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try:
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buf, _addr = sock.recvfrom(2048)
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except socket.timeout:
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buf = None
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now = time.time()
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if buf is not None:
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n_total += 1
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pkt = parse_packet(buf)
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if pkt is not None:
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if not pkt["crc_ok"]:
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n_crc_bad += 1
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elif pkt["presence_valid"]:
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n_valid += 1
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presence_sum += pkt["presence"]
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motion_sum += pkt["motion"]
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last_packet_ts = now
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if not motion and pkt["presence"] >= PRESENCE_ON_THRESHOLD:
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motion = set_motion(args.toggle, True, motion)
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elif motion and pkt["presence"] <= PRESENCE_OFF_THRESHOLD:
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motion = set_motion(args.toggle, False, motion)
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# Idle release — if the C6 stops sending entirely, clear motion.
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if motion and last_packet_ts and (now - last_packet_ts) > IDLE_RELEASE_S:
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motion = set_motion(args.toggle, False, motion)
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# Periodic summary line (every 10 s) so we can see the watcher is alive
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if now - last_summary >= 10.0:
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avg_p = presence_sum / n_valid if n_valid else 0.0
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avg_m = motion_sum / n_valid if n_valid else 0.0
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print(
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f"[{time.strftime('%H:%M:%S')}] 10s stats: "
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f"pkts={n_total} valid={n_valid} crc_bad={n_crc_bad} "
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f"avg_presence={avg_p:.2f} avg_motion={avg_m:.2f} motion={motion}",
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flush=True,
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)
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n_total = n_valid = n_crc_bad = 0
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presence_sum = motion_sum = 0.0
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last_summary = now
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sock.close()
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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