plan 0018: SensorEgg GATT link — the logger connects to the paired egg - #164
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plan 0018: SensorEgg GATT link — the logger connects to the paired egg#164TheAngryRaven wants to merge 2 commits into
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…ers) parseDescriptor (strides by declared record_len — forward compat), parseSampleFrame, parseClock, sampleToReal (sentinel -> NaN before scaling), descriptor-driven role mapping (normative names + quantity, never hardcoded channel ids), fastestChannel, and the v1 clock fit (request/response midpoint anchor, boot_id epoch check, wrap-safe mapping both directions). Fixtures are byte-identical to the egg repo's pw_gatt_encode goldens — encode == decode pinned across repos, the sensoregg_protocol <-> pw_adv_encode discipline applied to the GATT contract. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
bleCoreEnsureInit grows a flag-gated central slot (begin(1,1) +
configCentralConn(247, 6, 1, 1) — 7.5 ms event cap so the pod link can
never crowd the camera; stock builds stay begin(1,0)). The scan
callback doubles as the connect trigger (paired connectable report
while WAIT_ADV -> Central.connect, no resume on that path); the
central connect callback runs the blocking bring-up sequence in the
callback task (documented deviation — client ops each wait a conn
interval and would stall the 25 Hz row engine on the main loop):
discover, MTU 247, read Descriptor, timed Clock read (the fit anchor),
enableNotify, ready-flag-last. The notify data plane keeps the
copy-only discipline: an 8-slot frame ring drained by SENSOREGG_LOOP,
which parses, epoch-checks boot_id (mismatch -> log + reconnect
re-anchors), routes the latest sample per frame by descriptor-driven
role mapping into the SAME eggReading surface the beacon feeds, and
feeds the zombie monitor from the fastest channel's frame seq only.
Gate split keeps plan-0012 discipline uniform: eggLinkWanted = radio
gate + paired; eggScanWanted = radio gate && (pairing window || no
link engaged) — streaming pays no scan duty; capturing a NEW egg
drops the old link. SENSOREGG_SLEEP cancels/drops the central link
(covers transfers + shutdown; the quiesce settle gives it airtime).
EGG TEST: rf:GATT state + live MTU. Stale be80-era central prose in
bluetooth.{h,ino} fixed; subsystem-14 radio-role rewritten (the
camera-priority rule survives as mechanism, not prohibition).
Verified: host suite green (fixtures byte-identical to the egg's
pw_gatt_encode goldens), sim goldens unchanged, both flag arms
compile (ON 47%/36%, OFF 45%).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
Coverage — host-testable units📂 Overall coverage
📄 File coverage
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Summary
The logger becomes BLE central toward the paired egg and consumes its PerchWerks Sensor Service end-to-end (design record:
docs/plans/0018-sensoregg-gatt-link.md; companion firmware: DovesSensorEgg PR #16 — flash that egg before benching this).sensoregg_gatt.{h,cpp}(host-tested): Descriptor decode (strides by declaredrecord_len— forward-compatible), Sample frame decode, Clock decode,sampleToReal(0x8000 sentinel → NaN before scaling), descriptor-driven role mapping (normative names + quantity — nothing egg-specific hardcoded; a future pod with different channels parses with zero logger changes), and the v1 clock fit (request/response midpoint anchor,boot_idepoch check, wrap-safe both directions). Fixtures are byte-identical to the egg repo'spw_gatt_encodegoldens — the wire contract pinned from both ends, exactly likesensoregg_protocol↔pw_adv_encodefor the beacon.bleCoreEnsureInit()runs flag-gatedBluefruit.begin(1, 1)withconfigCentralConn(247, 6, 1, 1)— a 7.5 ms event cap so the pod link can never crowd the camera; stock builds staybegin(1, 0).SENSOREGG_LOOP().eggReading/eggRxMs/eggSeqMonsurface the beacon feeds — every accessor, DOVEX column, race page and LED path untouched. Zombie detection feeds from the fastest channel's frame seq only. Aboot_idmismatch logs "pod rebooted", drops the link, and the reconnect re-anchors.SENSOREGG_SLEEP()cancels/drops the central link, which covers BLE transfer mode and shutdown for free. The beacon remains the unclaimed/disconnected fallback and the pairing transport.rf:GATTstate + liveM<mtu>; degradations recorded in the plan doc (tcFaultfalse while streaming — frames carry no MCP STATUS;protoVersion/pairingFlaghold last beacon values).bluetooth.{h,ino}fixed; subsystem-14's "do not improve this into a connection" rewritten — the camera-priority rule survives as mechanism (skinny params + gate + SLEEP), not prohibition.Type of change
How it was verified
ctest --test-dir tests/build) — newsensoregg_gattmatrix: golden descriptor/frame/clock (egg-identical bytes), stride-by-28 forward compat, role mapping, sentinel, fit anchor/epoch/millis-wrapclang-tidyclean — left to CIbegin(1,0)/(1,1)split makes flag-OFF a real risk)rf:GATT M247with live values; power-yank the egg →---within 1 s, auto-reconnect + "pod rebooted" log on return; unpair → beacon fallback (rf:OK); transfer mode drops the link, download throughput matches plan-0012 numbers; camera soak (headline risk): repeated connect/record cycles + one full download with the egg link streaming; shutdown/charge park with link up → clean System OFFChecklist
CHANGELOG.mdupdated under[Unreleased](if user-visible)ARCHITECTURE.md/CLAUDE.mdupdated (if a module or interface changed) — subsystem 6 + 14, file map, begin() notestests/Related issues
Companion: DovesSensorEgg PR #16 (Phases 2+3 — the service this consumes). Either merges first; bench together.
🤖 Generated with Claude Code
https://claude.ai/code/session_01AcdBRTn52QpCQWkyVm5Lkg
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