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Merged
sameer merged 1 commit into from
Oct 29, 2026
Merged

Support block stride and ranging intervals in two-way ranging #151

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18 changes: 15 additions & 3 deletions src/app_config.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,7 @@ const DEFAULT_SESSION_DATA_TRANSFER_STATUS_NTF_CONFIG: uci::SessionDataTransferS
const DEFAULT_SUSPEND_RANGING_ROUNDS: uci::SuspendRangingRounds =
uci::SuspendRangingRounds::Disable;
const DEFAULT_DATA_REPETITION_COUNT: u8 = 0;
const DEFAULT_BLOCK_STRIDE_LENGTH: u8 = 0;
const DEFAULT_DL_TDOA_BLOCK_SKIPPING: u8 = 0;
const DEFAULT_DL_TDOA_ANCHOR_CFO: uci::DlTdoaAnchorCfo = uci::DlTdoaAnchorCfo::AnchorCfoIncluded;
const DEFAULT_DL_TDOA_TX_ACTIVE_RANGING_ROUNDS: bool = false;
Expand Down Expand Up @@ -335,7 +336,7 @@ impl AppConfig {
),
(
uci::AppConfigTlvType::BlockStrideLength,
Bytes::from_static(&[0]),
Bytes::from_static(&[DEFAULT_BLOCK_STRIDE_LENGTH]),
),
(
uci::AppConfigTlvType::ResultReportConfig,
Expand Down Expand Up @@ -864,8 +865,19 @@ impl AppConfig {
.unwrap_or(DEFAULT_DL_TDOA_BLOCK_SKIPPING)
}

pub fn dl_tdoa_block_stride(&self) -> u32 {
u32::from(self.dl_tdoa_block_skipping()) + 1
fn block_stride_length(&self) -> u8 {
self.get_u8(uci::AppConfigTlvType::BlockStrideLength)
.unwrap_or(DEFAULT_BLOCK_STRIDE_LENGTH)
}

pub fn block_stride(&self) -> u32 {
match self.dl_tdoa_role() {
Some(uci::DeviceRole::DtTag) => u32::from(self.dl_tdoa_block_skipping()) + 1,
None if self.device_type() == Some(uci::DeviceType::Controller) => {
u32::from(self.block_stride_length()) + 1
}
_ => 1,
}
}

fn near_proximity_config(&self) -> u16 {
Expand Down
2 changes: 1 addition & 1 deletion src/device.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -768,7 +768,7 @@ impl Device {
}

if invalid_parameters.is_empty() {
session.app_config = app_config;
session.set_app_config(app_config);
let effects = if session.state == SessionState::SessionStateInit {
session
.set_state(
Expand Down
10 changes: 5 additions & 5 deletions src/lib.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -688,7 +688,7 @@ impl Pica {
session_id: u32,
session: &Session,
) -> Vec<DlTdoaMeasurement> {
let block_stride = session.app_config.dl_tdoa_block_stride();
let block_stride = session.app_config.block_stride();
let total_blocks = u64::from(session.ranging_count) * u64::from(block_stride);
let block_index = total_blocks as u16;
let block_ticks = u64::from(session.app_config.ranging_duration()) * TICKS_PER_MS;
Expand Down Expand Up @@ -1039,8 +1039,8 @@ impl Pica {
ShortMacTwoWaySessionInfoNtf {
sequence_number: session.sequence_number,
session_token: session_id,
rcr_indicator: 0, //TODO
current_ranging_interval: 0, //TODO
rcr_indicator: 0,
current_ranging_interval: session.ranging_interval_ms(),
two_way_ranging_measurements: measurements
.into_iter()
.filter_map(|m| match m {
Expand All @@ -1057,8 +1057,8 @@ impl Pica {
ExtendedMacTwoWaySessionInfoNtf {
sequence_number: session.sequence_number,
session_token: session_id,
rcr_indicator: 0, //TODO
current_ranging_interval: 0, //TODO
rcr_indicator: 0,
current_ranging_interval: session.ranging_interval_ms(),
two_way_ranging_measurements: measurements
.into_iter()
.filter_map(|m| match m {
Expand Down
25 changes: 18 additions & 7 deletions src/session.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -212,15 +212,26 @@ impl Session {
)
}

fn ranging_interval_ms(&self) -> u32 {
let block_stride = if self.app_config.dl_tdoa_role() == Some(uci::DeviceRole::DtTag) {
self.app_config.dl_tdoa_block_stride()
} else {
1
};
pub fn set_app_config(&mut self, app_config: AppConfig) {
let old_interval = self.ranging_interval();
self.app_config = app_config;
let new_interval = self.ranging_interval();
if new_interval != old_interval
&& let Some(deadline) = self.next_ranging_at
{
let now = Instant::now();
self.next_ranging_at = Some(
deadline
.checked_sub(old_interval)
.map_or(now + new_interval, |last| (last + new_interval).max(now)),
);
}
}

pub fn ranging_interval_ms(&self) -> u32 {
self.app_config
.ranging_duration()
.saturating_mul(block_stride)
.saturating_mul(self.app_config.block_stride())
}

fn ranging_interval(&self) -> Duration {
Expand Down
222 changes: 222 additions & 0 deletions tests/ranging.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -197,6 +197,7 @@ async def controller(
for _ in range(2):
event = await host.expect_control(ntf_type, timeout=2.0)
event.show()
assert event.current_ranging_interval == 500
assert len(event.two_way_ranging_measurements) == 1
assert event.two_way_ranging_measurements[0].status == uci.Status.OK
assert event.two_way_ranging_measurements[0].mac_address == expected_mac
Expand Down Expand Up @@ -245,13 +246,15 @@ async def controller(
event = await host.expect_control(ntf_type, timeout=2.0)
event.show()
assert event.sequence_number == 2
assert event.current_ranging_interval == 500
assert len(event.two_way_ranging_measurements) == 1
assert event.two_way_ranging_measurements[0].status == uci.Status.OK
assert event.two_way_ranging_measurements[0].mac_address == expected_mac

event = await host.expect_control(ntf_type, timeout=2.0)
event.show()
assert event.sequence_number == 3
assert event.current_ranging_interval == 500
assert len(event.two_way_ranging_measurements) == 1
assert event.two_way_ranging_measurements[0].status == uci.Status.RANGING_RX_TIMEOUT
assert event.two_way_ranging_measurements[0].mac_address == expected_mac
Expand Down Expand Up @@ -654,6 +657,7 @@ async def controlee(
for _ in range(2):
event = await host.expect_control(ntf_type, timeout=2.0)
event.show()
assert event.current_ranging_interval == 500
assert len(event.two_way_ranging_measurements) == 1
assert event.two_way_ranging_measurements[0].status == uci.Status.OK
assert event.two_way_ranging_measurements[0].mac_address == expected_mac
Expand All @@ -664,6 +668,7 @@ async def controlee(
event = await host.expect_control(ntf_type, timeout=2.0)
event.show()
assert event.sequence_number == 2
assert event.current_ranging_interval == 500
assert len(event.two_way_ranging_measurements) == 1
assert event.two_way_ranging_measurements[0].status == uci.Status.OK
assert event.two_way_ranging_measurements[0].mac_address == expected_mac
Expand Down Expand Up @@ -994,6 +999,7 @@ async def run(address: str, uci_port: int):
await ccc_ranging_session(host0)
await aliro_ranging_session(host0)
await dl_tdoa_ranging_session(host0, host1, address, uci_port)
await twr_block_stride_ranging(host0, host1)
finally:
host0.disconnect()
host1.disconnect()
Expand Down Expand Up @@ -1713,6 +1719,222 @@ async def stop_deinit_session(host: Host, sid: int):
host_responder.disconnect()


async def twr_block_stride_ranging(host_controller: Host, host_controlee: Host):
sid = 0

async def init_twr_session(
host: Host,
role: uci.DeviceRole,
device_type: uci.DeviceType,
peer: Host,
duration_ms: int,
stride: int,
):
host.send_control(
uci.SessionInitCmd(
session_id=sid, session_type=uci.SessionType.FIRA_RANGING_SESSION
)
)
await host.expect_control(uci.SessionInitRsp(status=uci.Status.OK))
await host.expect_control(
uci.SessionStatusNtf(
session_token=sid,
session_state=uci.SessionState.SESSION_STATE_INIT,
reason_code=0,
)
)
host.send_control(
uci.SessionSetAppConfigCmd(
session_token=sid,
tlvs=[
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.DEVICE_ROLE,
v=bytes([role]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.DEVICE_TYPE,
v=bytes([device_type]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.DEVICE_MAC_ADDRESS,
v=host.mac_address,
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.MULTI_NODE_MODE,
v=bytes([uci.MultiNodeMode.ONE_TO_ONE]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.SCHEDULE_MODE,
v=bytes([uci.ScheduleMode.CONTENTION_BASED]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.RANGING_ROUND_USAGE,
v=bytes([uci.RangingRoundUsage.DS_TWR_DEFERRED_MODE]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.RANGING_DURATION,
v=int.to_bytes(duration_ms, 4, "little"),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.BLOCK_STRIDE_LENGTH,
v=bytes([stride]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.NUMBER_OF_CONTROLEES,
v=bytes([1]),
),
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.DST_MAC_ADDRESS,
v=peer.mac_address,
),
],
)
)
await host.expect_control(
uci.SessionSetAppConfigRsp(status=uci.Status.OK, cfg_status=[])
)
await host.expect_control(
uci.SessionStatusNtf(
session_token=sid,
session_state=uci.SessionState.SESSION_STATE_IDLE,
reason_code=0,
)
)

async def set_config(host: Host, tlvs: list[uci.AppConfigTlv]):
host.send_control(uci.SessionSetAppConfigCmd(session_token=sid, tlvs=tlvs))
await host.expect_control(
uci.SessionSetAppConfigRsp(status=uci.Status.OK, cfg_status=[])
)

async def start_session(host: Host):
host.send_control(uci.SessionStartCmd(session_id=sid))
await host.expect_control(uci.SessionStartRsp(status=uci.Status.OK))
await host.expect_control(
uci.SessionStatusNtf(
session_token=sid,
session_state=uci.SessionState.SESSION_STATE_ACTIVE,
reason_code=0,
)
)
await host.expect_control(
uci.CoreDeviceStatusNtf(device_state=uci.DeviceState.DEVICE_STATE_ACTIVE)
)

async def stop_deinit_session(host: Host):
host.send_control(uci.SessionStopCmd(session_id=sid))
await host.expect_control(uci.SessionStopRsp(status=uci.Status.OK))
await host.expect_control(
uci.SessionStatusNtf(
session_token=sid,
session_state=uci.SessionState.SESSION_STATE_IDLE,
reason_code=0,
)
)
await host.expect_control(
uci.CoreDeviceStatusNtf(device_state=uci.DeviceState.DEVICE_STATE_READY)
)
host.send_control(uci.SessionDeinitCmd(session_token=sid))
await host.expect_control(uci.SessionDeinitRsp(status=uci.Status.OK))
await host.expect_control(
uci.SessionStatusNtf(
session_token=sid,
session_state=uci.SessionState.SESSION_STATE_DEINIT,
reason_code=0,
)
)

await init_twr_session(
host_controlee,
uci.DeviceRole.RESPONDER,
uci.DeviceType.CONTROLEE,
host_controller,
300,
2,
)
await init_twr_session(
host_controller,
uci.DeviceRole.INITIATOR,
uci.DeviceType.CONTROLLER,
host_controlee,
100,
1,
)

await start_session(host_controlee)
c1 = await host_controlee.expect_control(
uci.ShortMacTwoWaySessionInfoNtf, timeout=1.0
)
assert c1.current_ranging_interval == 300
await set_config(
host_controlee,
[
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.BLOCK_STRIDE_LENGTH,
v=bytes([5]),
)
],
)
c2 = await host_controlee.expect_control(
uci.ShortMacTwoWaySessionInfoNtf, timeout=1.0
)
assert c2.current_ranging_interval == 300
await set_config(
host_controlee,
[
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.SESSION_INFO_NTF_CONFIG,
v=bytes([uci.SessionInfoNtfConfig.DISABLE]),
)
],
)

await start_session(host_controller)
event1 = await host_controller.expect_control(
uci.ShortMacTwoWaySessionInfoNtf, timeout=1.0
)
assert event1.current_ranging_interval == 200
assert event1.two_way_ranging_measurements[0].status == uci.Status.OK

await set_config(
host_controller,
[
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.BLOCK_STRIDE_LENGTH,
v=bytes([19]),
)
],
)
with pytest.raises(TimeoutError):
await host_controller.expect_control(
uci.ShortMacTwoWaySessionInfoNtf, timeout=0.5
)

await set_config(
host_controller,
[
uci.AppConfigTlv(
cfg_id=uci.AppConfigTlvType.BLOCK_STRIDE_LENGTH,
v=bytes([0]),
)
],
)
event2 = await host_controller.expect_control(
uci.ShortMacTwoWaySessionInfoNtf, timeout=1.0
)
assert event2.current_ranging_interval == 100
assert event2.sequence_number == 1

event3 = await host_controller.expect_control(
uci.ShortMacTwoWaySessionInfoNtf, timeout=1.0
)
assert event3.current_ranging_interval == 100
assert event3.sequence_number == 2

await stop_deinit_session(host_controller)
await stop_deinit_session(host_controlee)


def main():
"""Start a Pica interactive console."""
parser = argparse.ArgumentParser(description=__doc__)
Expand Down
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