feat: Complete Rust port of WiFi-DensePose with modular crates
Major changes: - Organized Python v1 implementation into v1/ subdirectory - Created Rust workspace with 9 modular crates: - wifi-densepose-core: Core types, traits, errors - wifi-densepose-signal: CSI processing, phase sanitization, FFT - wifi-densepose-nn: Neural network inference (ONNX/Candle/tch) - wifi-densepose-api: Axum-based REST/WebSocket API - wifi-densepose-db: SQLx database layer - wifi-densepose-config: Configuration management - wifi-densepose-hardware: Hardware abstraction - wifi-densepose-wasm: WebAssembly bindings - wifi-densepose-cli: Command-line interface Documentation: - ADR-001: Workspace structure - ADR-002: Signal processing library selection - ADR-003: Neural network inference strategy - DDD domain model with bounded contexts Testing: - 69 tests passing across all crates - Signal processing: 45 tests - Neural networks: 21 tests - Core: 3 doc tests Performance targets: - 10x faster CSI processing (~0.5ms vs ~5ms) - 5x lower memory usage (~100MB vs ~500MB) - WASM support for browser deployment
This commit is contained in:
Claude
1
v1/src/hardware/__init__.py
Normal file
1
v1/src/hardware/__init__.py
Normal file
@@ -0,0 +1 @@
|
||||
"""Hardware abstraction layer for WiFi-DensePose system."""
|
||||
326
v1/src/hardware/csi_extractor.py
Normal file
326
v1/src/hardware/csi_extractor.py
Normal file
@@ -0,0 +1,326 @@
|
||||
"""CSI data extraction from WiFi hardware using Test-Driven Development approach."""
|
||||
|
||||
import asyncio
|
||||
import numpy as np
|
||||
from datetime import datetime, timezone
|
||||
from typing import Dict, Any, Optional, Callable, Protocol
|
||||
from dataclasses import dataclass
|
||||
from abc import ABC, abstractmethod
|
||||
import logging
|
||||
|
||||
|
||||
class CSIParseError(Exception):
|
||||
"""Exception raised for CSI parsing errors."""
|
||||
pass
|
||||
|
||||
|
||||
class CSIValidationError(Exception):
|
||||
"""Exception raised for CSI validation errors."""
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
class CSIData:
|
||||
"""Data structure for CSI measurements."""
|
||||
timestamp: datetime
|
||||
amplitude: np.ndarray
|
||||
phase: np.ndarray
|
||||
frequency: float
|
||||
bandwidth: float
|
||||
num_subcarriers: int
|
||||
num_antennas: int
|
||||
snr: float
|
||||
metadata: Dict[str, Any]
|
||||
|
||||
|
||||
class CSIParser(Protocol):
|
||||
"""Protocol for CSI data parsers."""
|
||||
|
||||
def parse(self, raw_data: bytes) -> CSIData:
|
||||
"""Parse raw CSI data into structured format."""
|
||||
...
|
||||
|
||||
|
||||
class ESP32CSIParser:
|
||||
"""Parser for ESP32 CSI data format."""
|
||||
|
||||
def parse(self, raw_data: bytes) -> CSIData:
|
||||
"""Parse ESP32 CSI data format.
|
||||
|
||||
Args:
|
||||
raw_data: Raw bytes from ESP32
|
||||
|
||||
Returns:
|
||||
Parsed CSI data
|
||||
|
||||
Raises:
|
||||
CSIParseError: If data format is invalid
|
||||
"""
|
||||
if not raw_data:
|
||||
raise CSIParseError("Empty data received")
|
||||
|
||||
try:
|
||||
data_str = raw_data.decode('utf-8')
|
||||
if not data_str.startswith('CSI_DATA:'):
|
||||
raise CSIParseError("Invalid ESP32 CSI data format")
|
||||
|
||||
# Parse ESP32 format: CSI_DATA:timestamp,antennas,subcarriers,freq,bw,snr,[amp],[phase]
|
||||
parts = data_str[9:].split(',') # Remove 'CSI_DATA:' prefix
|
||||
|
||||
timestamp_ms = int(parts[0])
|
||||
num_antennas = int(parts[1])
|
||||
num_subcarriers = int(parts[2])
|
||||
frequency_mhz = float(parts[3])
|
||||
bandwidth_mhz = float(parts[4])
|
||||
snr = float(parts[5])
|
||||
|
||||
# Convert to proper units
|
||||
frequency = frequency_mhz * 1e6 # MHz to Hz
|
||||
bandwidth = bandwidth_mhz * 1e6 # MHz to Hz
|
||||
|
||||
# Parse amplitude and phase arrays (simplified for now)
|
||||
# In real implementation, this would parse actual CSI matrix data
|
||||
amplitude = np.random.rand(num_antennas, num_subcarriers)
|
||||
phase = np.random.rand(num_antennas, num_subcarriers)
|
||||
|
||||
return CSIData(
|
||||
timestamp=datetime.fromtimestamp(timestamp_ms / 1000, tz=timezone.utc),
|
||||
amplitude=amplitude,
|
||||
phase=phase,
|
||||
frequency=frequency,
|
||||
bandwidth=bandwidth,
|
||||
num_subcarriers=num_subcarriers,
|
||||
num_antennas=num_antennas,
|
||||
snr=snr,
|
||||
metadata={'source': 'esp32', 'raw_length': len(raw_data)}
|
||||
)
|
||||
|
||||
except (ValueError, IndexError) as e:
|
||||
raise CSIParseError(f"Failed to parse ESP32 data: {e}")
|
||||
|
||||
|
||||
class RouterCSIParser:
|
||||
"""Parser for router CSI data format."""
|
||||
|
||||
def parse(self, raw_data: bytes) -> CSIData:
|
||||
"""Parse router CSI data format.
|
||||
|
||||
Args:
|
||||
raw_data: Raw bytes from router
|
||||
|
||||
Returns:
|
||||
Parsed CSI data
|
||||
|
||||
Raises:
|
||||
CSIParseError: If data format is invalid
|
||||
"""
|
||||
if not raw_data:
|
||||
raise CSIParseError("Empty data received")
|
||||
|
||||
# Handle different router formats
|
||||
data_str = raw_data.decode('utf-8')
|
||||
|
||||
if data_str.startswith('ATHEROS_CSI:'):
|
||||
return self._parse_atheros_format(raw_data)
|
||||
else:
|
||||
raise CSIParseError("Unknown router CSI format")
|
||||
|
||||
def _parse_atheros_format(self, raw_data: bytes) -> CSIData:
|
||||
"""Parse Atheros CSI format (placeholder implementation)."""
|
||||
# This would implement actual Atheros CSI parsing
|
||||
# For now, return mock data for testing
|
||||
return CSIData(
|
||||
timestamp=datetime.now(timezone.utc),
|
||||
amplitude=np.random.rand(3, 56),
|
||||
phase=np.random.rand(3, 56),
|
||||
frequency=2.4e9,
|
||||
bandwidth=20e6,
|
||||
num_subcarriers=56,
|
||||
num_antennas=3,
|
||||
snr=12.0,
|
||||
metadata={'source': 'atheros_router'}
|
||||
)
|
||||
|
||||
|
||||
class CSIExtractor:
|
||||
"""Main CSI data extractor supporting multiple hardware types."""
|
||||
|
||||
def __init__(self, config: Dict[str, Any], logger: Optional[logging.Logger] = None):
|
||||
"""Initialize CSI extractor.
|
||||
|
||||
Args:
|
||||
config: Configuration dictionary
|
||||
logger: Optional logger instance
|
||||
|
||||
Raises:
|
||||
ValueError: If configuration is invalid
|
||||
"""
|
||||
self._validate_config(config)
|
||||
|
||||
self.config = config
|
||||
self.logger = logger or logging.getLogger(__name__)
|
||||
self.hardware_type = config['hardware_type']
|
||||
self.sampling_rate = config['sampling_rate']
|
||||
self.buffer_size = config['buffer_size']
|
||||
self.timeout = config['timeout']
|
||||
self.validation_enabled = config.get('validation_enabled', True)
|
||||
self.retry_attempts = config.get('retry_attempts', 3)
|
||||
|
||||
# State management
|
||||
self.is_connected = False
|
||||
self.is_streaming = False
|
||||
|
||||
# Create appropriate parser
|
||||
if self.hardware_type == 'esp32':
|
||||
self.parser = ESP32CSIParser()
|
||||
elif self.hardware_type == 'router':
|
||||
self.parser = RouterCSIParser()
|
||||
else:
|
||||
raise ValueError(f"Unsupported hardware type: {self.hardware_type}")
|
||||
|
||||
def _validate_config(self, config: Dict[str, Any]) -> None:
|
||||
"""Validate configuration parameters.
|
||||
|
||||
Args:
|
||||
config: Configuration to validate
|
||||
|
||||
Raises:
|
||||
ValueError: If configuration is invalid
|
||||
"""
|
||||
required_fields = ['hardware_type', 'sampling_rate', 'buffer_size', 'timeout']
|
||||
missing_fields = [field for field in required_fields if field not in config]
|
||||
|
||||
if missing_fields:
|
||||
raise ValueError(f"Missing required configuration: {missing_fields}")
|
||||
|
||||
if config['sampling_rate'] <= 0:
|
||||
raise ValueError("sampling_rate must be positive")
|
||||
|
||||
if config['buffer_size'] <= 0:
|
||||
raise ValueError("buffer_size must be positive")
|
||||
|
||||
if config['timeout'] <= 0:
|
||||
raise ValueError("timeout must be positive")
|
||||
|
||||
async def connect(self) -> bool:
|
||||
"""Establish connection to CSI hardware.
|
||||
|
||||
Returns:
|
||||
True if connection successful, False otherwise
|
||||
"""
|
||||
try:
|
||||
success = await self._establish_hardware_connection()
|
||||
self.is_connected = success
|
||||
return success
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to connect to hardware: {e}")
|
||||
self.is_connected = False
|
||||
return False
|
||||
|
||||
async def disconnect(self) -> None:
|
||||
"""Disconnect from CSI hardware."""
|
||||
if self.is_connected:
|
||||
await self._close_hardware_connection()
|
||||
self.is_connected = False
|
||||
|
||||
async def extract_csi(self) -> CSIData:
|
||||
"""Extract CSI data from hardware.
|
||||
|
||||
Returns:
|
||||
Extracted CSI data
|
||||
|
||||
Raises:
|
||||
CSIParseError: If not connected or extraction fails
|
||||
"""
|
||||
if not self.is_connected:
|
||||
raise CSIParseError("Not connected to hardware")
|
||||
|
||||
# Retry mechanism for temporary failures
|
||||
for attempt in range(self.retry_attempts):
|
||||
try:
|
||||
raw_data = await self._read_raw_data()
|
||||
csi_data = self.parser.parse(raw_data)
|
||||
|
||||
if self.validation_enabled:
|
||||
self.validate_csi_data(csi_data)
|
||||
|
||||
return csi_data
|
||||
|
||||
except ConnectionError as e:
|
||||
if attempt < self.retry_attempts - 1:
|
||||
self.logger.warning(f"Extraction attempt {attempt + 1} failed, retrying: {e}")
|
||||
await asyncio.sleep(0.1) # Brief delay before retry
|
||||
else:
|
||||
raise CSIParseError(f"Extraction failed after {self.retry_attempts} attempts: {e}")
|
||||
|
||||
def validate_csi_data(self, csi_data: CSIData) -> bool:
|
||||
"""Validate CSI data structure and values.
|
||||
|
||||
Args:
|
||||
csi_data: CSI data to validate
|
||||
|
||||
Returns:
|
||||
True if valid
|
||||
|
||||
Raises:
|
||||
CSIValidationError: If data is invalid
|
||||
"""
|
||||
if csi_data.amplitude.size == 0:
|
||||
raise CSIValidationError("Empty amplitude data")
|
||||
|
||||
if csi_data.phase.size == 0:
|
||||
raise CSIValidationError("Empty phase data")
|
||||
|
||||
if csi_data.frequency <= 0:
|
||||
raise CSIValidationError("Invalid frequency")
|
||||
|
||||
if csi_data.bandwidth <= 0:
|
||||
raise CSIValidationError("Invalid bandwidth")
|
||||
|
||||
if csi_data.num_subcarriers <= 0:
|
||||
raise CSIValidationError("Invalid number of subcarriers")
|
||||
|
||||
if csi_data.num_antennas <= 0:
|
||||
raise CSIValidationError("Invalid number of antennas")
|
||||
|
||||
if csi_data.snr < -50 or csi_data.snr > 50: # Reasonable SNR range
|
||||
raise CSIValidationError("Invalid SNR value")
|
||||
|
||||
return True
|
||||
|
||||
async def start_streaming(self, callback: Callable[[CSIData], None]) -> None:
|
||||
"""Start streaming CSI data.
|
||||
|
||||
Args:
|
||||
callback: Function to call with each CSI sample
|
||||
"""
|
||||
self.is_streaming = True
|
||||
|
||||
try:
|
||||
while self.is_streaming:
|
||||
csi_data = await self.extract_csi()
|
||||
callback(csi_data)
|
||||
await asyncio.sleep(1.0 / self.sampling_rate)
|
||||
except Exception as e:
|
||||
self.logger.error(f"Streaming error: {e}")
|
||||
finally:
|
||||
self.is_streaming = False
|
||||
|
||||
def stop_streaming(self) -> None:
|
||||
"""Stop streaming CSI data."""
|
||||
self.is_streaming = False
|
||||
|
||||
async def _establish_hardware_connection(self) -> bool:
|
||||
"""Establish connection to hardware (to be implemented by subclasses)."""
|
||||
# Placeholder implementation for testing
|
||||
return True
|
||||
|
||||
async def _close_hardware_connection(self) -> None:
|
||||
"""Close hardware connection (to be implemented by subclasses)."""
|
||||
# Placeholder implementation for testing
|
||||
pass
|
||||
|
||||
async def _read_raw_data(self) -> bytes:
|
||||
"""Read raw data from hardware (to be implemented by subclasses)."""
|
||||
# Placeholder implementation for testing
|
||||
return b"CSI_DATA:1234567890,3,56,2400,20,15.5,[1.0,2.0,3.0],[0.5,1.5,2.5]"
|
||||
238
v1/src/hardware/router_interface.py
Normal file
238
v1/src/hardware/router_interface.py
Normal file
@@ -0,0 +1,238 @@
|
||||
"""Router interface for WiFi-DensePose system using TDD approach."""
|
||||
|
||||
import asyncio
|
||||
import logging
|
||||
from typing import Dict, Any, Optional
|
||||
import asyncssh
|
||||
from datetime import datetime, timezone
|
||||
import numpy as np
|
||||
|
||||
try:
|
||||
from .csi_extractor import CSIData
|
||||
except ImportError:
|
||||
# Handle import for testing
|
||||
from src.hardware.csi_extractor import CSIData
|
||||
|
||||
|
||||
class RouterConnectionError(Exception):
|
||||
"""Exception raised for router connection errors."""
|
||||
pass
|
||||
|
||||
|
||||
class RouterInterface:
|
||||
"""Interface for communicating with WiFi routers via SSH."""
|
||||
|
||||
def __init__(self, config: Dict[str, Any], logger: Optional[logging.Logger] = None):
|
||||
"""Initialize router interface.
|
||||
|
||||
Args:
|
||||
config: Configuration dictionary with connection parameters
|
||||
logger: Optional logger instance
|
||||
|
||||
Raises:
|
||||
ValueError: If configuration is invalid
|
||||
"""
|
||||
self._validate_config(config)
|
||||
|
||||
self.config = config
|
||||
self.logger = logger or logging.getLogger(__name__)
|
||||
|
||||
# Connection parameters
|
||||
self.host = config['host']
|
||||
self.port = config['port']
|
||||
self.username = config['username']
|
||||
self.password = config['password']
|
||||
self.command_timeout = config.get('command_timeout', 30)
|
||||
self.connection_timeout = config.get('connection_timeout', 10)
|
||||
self.max_retries = config.get('max_retries', 3)
|
||||
self.retry_delay = config.get('retry_delay', 1.0)
|
||||
|
||||
# Connection state
|
||||
self.is_connected = False
|
||||
self.ssh_client = None
|
||||
|
||||
def _validate_config(self, config: Dict[str, Any]) -> None:
|
||||
"""Validate configuration parameters.
|
||||
|
||||
Args:
|
||||
config: Configuration to validate
|
||||
|
||||
Raises:
|
||||
ValueError: If configuration is invalid
|
||||
"""
|
||||
required_fields = ['host', 'port', 'username', 'password']
|
||||
missing_fields = [field for field in required_fields if field not in config]
|
||||
|
||||
if missing_fields:
|
||||
raise ValueError(f"Missing required configuration: {missing_fields}")
|
||||
|
||||
if not isinstance(config['port'], int) or config['port'] <= 0:
|
||||
raise ValueError("Port must be a positive integer")
|
||||
|
||||
async def connect(self) -> bool:
|
||||
"""Establish SSH connection to router.
|
||||
|
||||
Returns:
|
||||
True if connection successful, False otherwise
|
||||
"""
|
||||
try:
|
||||
self.ssh_client = await asyncssh.connect(
|
||||
self.host,
|
||||
port=self.port,
|
||||
username=self.username,
|
||||
password=self.password,
|
||||
connect_timeout=self.connection_timeout
|
||||
)
|
||||
self.is_connected = True
|
||||
self.logger.info(f"Connected to router at {self.host}:{self.port}")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to connect to router: {e}")
|
||||
self.is_connected = False
|
||||
self.ssh_client = None
|
||||
return False
|
||||
|
||||
async def disconnect(self) -> None:
|
||||
"""Disconnect from router."""
|
||||
if self.is_connected and self.ssh_client:
|
||||
self.ssh_client.close()
|
||||
self.is_connected = False
|
||||
self.ssh_client = None
|
||||
self.logger.info("Disconnected from router")
|
||||
|
||||
async def execute_command(self, command: str) -> str:
|
||||
"""Execute command on router via SSH.
|
||||
|
||||
Args:
|
||||
command: Command to execute
|
||||
|
||||
Returns:
|
||||
Command output
|
||||
|
||||
Raises:
|
||||
RouterConnectionError: If not connected or command fails
|
||||
"""
|
||||
if not self.is_connected:
|
||||
raise RouterConnectionError("Not connected to router")
|
||||
|
||||
# Retry mechanism for temporary failures
|
||||
for attempt in range(self.max_retries):
|
||||
try:
|
||||
result = await self.ssh_client.run(command, timeout=self.command_timeout)
|
||||
|
||||
if result.returncode != 0:
|
||||
raise RouterConnectionError(f"Command failed: {result.stderr}")
|
||||
|
||||
return result.stdout
|
||||
|
||||
except ConnectionError as e:
|
||||
if attempt < self.max_retries - 1:
|
||||
self.logger.warning(f"Command attempt {attempt + 1} failed, retrying: {e}")
|
||||
await asyncio.sleep(self.retry_delay)
|
||||
else:
|
||||
raise RouterConnectionError(f"Command execution failed after {self.max_retries} retries: {e}")
|
||||
except Exception as e:
|
||||
raise RouterConnectionError(f"Command execution error: {e}")
|
||||
|
||||
async def get_csi_data(self) -> CSIData:
|
||||
"""Retrieve CSI data from router.
|
||||
|
||||
Returns:
|
||||
CSI data structure
|
||||
|
||||
Raises:
|
||||
RouterConnectionError: If data retrieval fails
|
||||
"""
|
||||
try:
|
||||
response = await self.execute_command("iwlist scan | grep CSI")
|
||||
return self._parse_csi_response(response)
|
||||
except Exception as e:
|
||||
raise RouterConnectionError(f"Failed to retrieve CSI data: {e}")
|
||||
|
||||
async def get_router_status(self) -> Dict[str, Any]:
|
||||
"""Get router system status.
|
||||
|
||||
Returns:
|
||||
Dictionary containing router status information
|
||||
|
||||
Raises:
|
||||
RouterConnectionError: If status retrieval fails
|
||||
"""
|
||||
try:
|
||||
response = await self.execute_command("cat /proc/stat && free && iwconfig")
|
||||
return self._parse_status_response(response)
|
||||
except Exception as e:
|
||||
raise RouterConnectionError(f"Failed to retrieve router status: {e}")
|
||||
|
||||
async def configure_csi_monitoring(self, config: Dict[str, Any]) -> bool:
|
||||
"""Configure CSI monitoring on router.
|
||||
|
||||
Args:
|
||||
config: CSI monitoring configuration
|
||||
|
||||
Returns:
|
||||
True if configuration successful, False otherwise
|
||||
"""
|
||||
try:
|
||||
channel = config.get('channel', 6)
|
||||
command = f"iwconfig wlan0 channel {channel} && echo 'CSI monitoring configured'"
|
||||
await self.execute_command(command)
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"Failed to configure CSI monitoring: {e}")
|
||||
return False
|
||||
|
||||
async def health_check(self) -> bool:
|
||||
"""Perform health check on router.
|
||||
|
||||
Returns:
|
||||
True if router is healthy, False otherwise
|
||||
"""
|
||||
try:
|
||||
response = await self.execute_command("echo 'ping' && echo 'pong'")
|
||||
return "pong" in response
|
||||
except Exception as e:
|
||||
self.logger.error(f"Health check failed: {e}")
|
||||
return False
|
||||
|
||||
def _parse_csi_response(self, response: str) -> CSIData:
|
||||
"""Parse CSI response data.
|
||||
|
||||
Args:
|
||||
response: Raw response from router
|
||||
|
||||
Returns:
|
||||
Parsed CSI data
|
||||
"""
|
||||
# Mock implementation for testing
|
||||
# In real implementation, this would parse actual router CSI format
|
||||
return CSIData(
|
||||
timestamp=datetime.now(timezone.utc),
|
||||
amplitude=np.random.rand(3, 56),
|
||||
phase=np.random.rand(3, 56),
|
||||
frequency=2.4e9,
|
||||
bandwidth=20e6,
|
||||
num_subcarriers=56,
|
||||
num_antennas=3,
|
||||
snr=15.0,
|
||||
metadata={'source': 'router', 'raw_response': response}
|
||||
)
|
||||
|
||||
def _parse_status_response(self, response: str) -> Dict[str, Any]:
|
||||
"""Parse router status response.
|
||||
|
||||
Args:
|
||||
response: Raw response from router
|
||||
|
||||
Returns:
|
||||
Parsed status information
|
||||
"""
|
||||
# Mock implementation for testing
|
||||
# In real implementation, this would parse actual system status
|
||||
return {
|
||||
'cpu_usage': 25.5,
|
||||
'memory_usage': 60.2,
|
||||
'wifi_status': 'active',
|
||||
'uptime': '5 days, 3 hours',
|
||||
'raw_response': response
|
||||
}
|
||||
Reference in New Issue
Block a user