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Respect AOA_RESULT_REQ and normalize SESSION_INFO_NTF_CONFIG #152

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

Respect AOA_RESULT_REQ and normalize SESSION_INFO_NTF_CONFIG #152

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15 changes: 0 additions & 15 deletions py/pica/pica/packets/uci.py
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Original file line number Diff line number Diff line change
Expand Up @@ -882,21 +882,6 @@ def from_int(v: int) -> Union[int, 'CapTlvType']:
return v


class AoaResultReqType(enum.IntEnum):
AOA_DISABLE = 0x0
AOA_ENABLE = 0x1
AOA_ENABLE_AZIMUTH = 0x2
AOA_ENABLE_ELEVATION = 0x3
AOA_ENABLE_INTERLEAVED = 0xf0

@staticmethod
def from_int(v: int) -> Union[int, 'AoaResultReqType']:
try:
return AoaResultReqType(v)
except ValueError as exn:
raise exn


class DeviceState(enum.IntEnum):
DEVICE_STATE_READY = 0x1
DEVICE_STATE_ACTIVE = 0x2
Expand Down
58 changes: 48 additions & 10 deletions src/app_config.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,7 @@ const DEFAULT_DL_TDOA_ANCHOR_CFO: uci::DlTdoaAnchorCfo = uci::DlTdoaAnchorCfo::A
const DEFAULT_DL_TDOA_TX_ACTIVE_RANGING_ROUNDS: bool = false;
const DEFAULT_DL_TDOA_TIME_REFERENCE_ANCHOR: bool = false;
const DEFAULT_DL_TDOA_RESPONDER_TOF: bool = false;
const DEFAULT_AOA_RESULT_REQ: uci::AoaResultReq = uci::AoaResultReq::AoaEnabled;
const DEFAULT_AOA_BOUND_CONFIG: [u8; 8] = [0x00, 0xa6, 0x00, 0x5a, 0x00, 0xd3, 0x00, 0x2d];

#[derive(Debug, Clone, Copy, PartialEq, Eq)]
Expand All @@ -138,9 +139,20 @@ struct AoaBounds {
}

impl AoaBounds {
fn contains(&self, azimuth: i16, elevation: i16) -> bool {
(self.min_azimuth..=self.max_azimuth).contains(&azimuth)
&& (self.min_elevation..=self.max_elevation).contains(&elevation)
fn contains(&self, azimuth: i16, elevation: i16, req: uci::AoaResultReq) -> bool {
match req {
uci::AoaResultReq::AoaDisabled => false,
uci::AoaResultReq::AoaEnabled => {
(self.min_azimuth..=self.max_azimuth).contains(&azimuth)
&& (self.min_elevation..=self.max_elevation).contains(&elevation)
}
uci::AoaResultReq::AoaEnabledAzimuthOnly => {
(self.min_azimuth..=self.max_azimuth).contains(&azimuth)
}
uci::AoaResultReq::AoaEnabledElevationOnly => {
(self.min_elevation..=self.max_elevation).contains(&elevation)
}
}
}
}
const DEFAULT_CCC_TLVS: [(uci::AppConfigTlvType, Bytes); 5] = [
Expand Down Expand Up @@ -258,7 +270,7 @@ impl AppConfig {
),
(
uci::AppConfigTlvType::AoaResultReq,
Bytes::from_static(&[uci::AoaResultReq::AoaEnabled as u8]),
Bytes::from_static(&[DEFAULT_AOA_RESULT_REQ as u8]),
),
(
uci::AppConfigTlvType::RframeConfig,
Expand Down Expand Up @@ -733,6 +745,11 @@ impl AppConfig {
.unwrap_or(DEFAULT_SUSPEND_RANGING_ROUNDS)
}

pub fn aoa_result_req(&self) -> uci::AoaResultReq {
self.get_enum(uci::AppConfigTlvType::AoaResultReq)
.unwrap_or(DEFAULT_AOA_RESULT_REQ)
}

pub fn set_number_of_controlees(&mut self, value: u8) {
self.tlvs.insert(
uci::AppConfigTlvType::NumberOfControlees,
Expand Down Expand Up @@ -779,9 +796,27 @@ impl AppConfig {
.unwrap_or(DEFAULT_SLOTS_PER_RR)
}

pub fn session_info_ntf_config(&self) -> uci::SessionInfoNtfConfig {
self.get_enum(uci::AppConfigTlvType::SessionInfoNtfConfig)
.unwrap_or(DEFAULT_SESSION_INFO_NTF_CONFIG)
pub fn effective_session_info_ntf_config(&self) -> uci::SessionInfoNtfConfig {
let config = self
.get_enum(uci::AppConfigTlvType::SessionInfoNtfConfig)
.unwrap_or(DEFAULT_SESSION_INFO_NTF_CONFIG);
if self.aoa_result_req() == uci::AoaResultReq::AoaDisabled {
match config {
uci::SessionInfoNtfConfig::EnableAoaTrigger
| uci::SessionInfoNtfConfig::EnableAoaEdgeTrigger => {
uci::SessionInfoNtfConfig::Disable
}
uci::SessionInfoNtfConfig::EnableProximityAoaTrigger => {
uci::SessionInfoNtfConfig::EnableProximityTrigger
}
uci::SessionInfoNtfConfig::EnableProximityAoaEdgeTrigger => {
uci::SessionInfoNtfConfig::EnableProximityEdgeTrigger
}
_ => config,
}
} else {
config
}
}

pub fn in_band_termination_attempt_count(&self) -> u8 {
Expand Down Expand Up @@ -925,8 +960,10 @@ impl AppConfig {
pub fn is_within_bounds(&self, distance: u16, azimuth: i16, elevation: i16) -> bool {
let within_proximity =
(self.near_proximity_config()..=self.far_proximity_config()).contains(&distance);
let within_aoa = self.aoa_bound_config().contains(azimuth, elevation);
match self.session_info_ntf_config() {
let within_aoa =
self.aoa_bound_config()
.contains(azimuth, elevation, self.aoa_result_req());
match self.effective_session_info_ntf_config() {
uci::SessionInfoNtfConfig::EnableProximityTrigger
| uci::SessionInfoNtfConfig::EnableProximityEdgeTrigger => within_proximity,
uci::SessionInfoNtfConfig::EnableAoaTrigger
Expand All @@ -935,7 +972,8 @@ impl AppConfig {
| uci::SessionInfoNtfConfig::EnableProximityAoaEdgeTrigger => {
within_proximity && within_aoa
}
uci::SessionInfoNtfConfig::Enable | uci::SessionInfoNtfConfig::Disable => true,
uci::SessionInfoNtfConfig::Enable => true,
uci::SessionInfoNtfConfig::Disable => false,
}
}

Expand Down
133 changes: 83 additions & 50 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,17 @@ const fn degrees_to_q9_7(deg: i16) -> i16 {
deg.saturating_mul(128)
}

fn encode_aoa(measurement: RangingMeasurement, req: uci::AoaResultReq) -> (u16, u8, u16, u8) {
let azimuth = degrees_to_q9_7(measurement.azimuth) as u16;
let elevation = degrees_to_q9_7(i16::from(measurement.elevation)) as u16;
match req {
uci::AoaResultReq::AoaDisabled => (0, 0, 0, 0),
uci::AoaResultReq::AoaEnabled => (azimuth, 100, elevation, 100),
uci::AoaResultReq::AoaEnabledAzimuthOnly => (azimuth, 100, 0, 0),
uci::AoaResultReq::AoaEnabledElevationOnly => (0, 0, elevation, 100),
}
}

#[derive(Debug)]
enum TwoWayRangingMeasurement {
Short(ShortAddressTwoWayRangingMeasurement),
Expand All @@ -155,25 +166,34 @@ enum TwoWayRangingMeasurement {

impl TwoWayRangingMeasurement {
fn new(
app_config: &AppConfig,
mac_address: &MacAddress,
local: RangingMeasurement,
remote: RangingMeasurement,
) -> Self {
let (aoa_azimuth, aoa_azimuth_fom, aoa_elevation, aoa_elevation_fom) =
encode_aoa(local, app_config.aoa_result_req());
let (
aoa_destination_azimuth,
aoa_destination_azimuth_fom,
aoa_destination_elevation,
aoa_destination_elevation_fom,
) = encode_aoa(remote, uci::AoaResultReq::AoaEnabled);
match mac_address {
MacAddress::Short(address) => {
Self::Short(ShortAddressTwoWayRangingMeasurement {
mac_address: u16::from_le_bytes(*address),
status: uci::Status::Ok,
nlos: 0, // in Line Of Sight
distance: local.range,
aoa_azimuth: degrees_to_q9_7(local.azimuth) as u16,
aoa_azimuth_fom: 100, // Yup, pretty sure about this
aoa_elevation: degrees_to_q9_7(i16::from(local.elevation)) as u16,
aoa_elevation_fom: 100, // Yup, pretty sure about this
aoa_destination_azimuth: degrees_to_q9_7(remote.azimuth) as u16,
aoa_destination_azimuth_fom: 100,
aoa_destination_elevation: degrees_to_q9_7(i16::from(remote.elevation)) as u16,
aoa_destination_elevation_fom: 100,
aoa_azimuth,
aoa_azimuth_fom,
aoa_elevation,
aoa_elevation_fom,
aoa_destination_azimuth,
aoa_destination_azimuth_fom,
aoa_destination_elevation,
aoa_destination_elevation_fom,
slot_index: 0,
rssi: u8::MAX,
})
Expand All @@ -184,14 +204,14 @@ impl TwoWayRangingMeasurement {
status: uci::Status::Ok,
nlos: 0,
distance: local.range,
aoa_azimuth: degrees_to_q9_7(local.azimuth) as u16,
aoa_azimuth_fom: 100,
aoa_elevation: degrees_to_q9_7(i16::from(local.elevation)) as u16,
aoa_elevation_fom: 100,
aoa_destination_azimuth: degrees_to_q9_7(remote.azimuth) as u16,
aoa_destination_azimuth_fom: 100,
aoa_destination_elevation: degrees_to_q9_7(i16::from(remote.elevation)) as u16,
aoa_destination_elevation_fom: 100,
aoa_azimuth,
aoa_azimuth_fom,
aoa_elevation,
aoa_elevation_fom,
aoa_destination_azimuth,
aoa_destination_azimuth_fom,
aoa_destination_elevation,
aoa_destination_elevation_fom,
slot_index: 0,
rssi: u8::MAX,
})
Expand Down Expand Up @@ -347,13 +367,16 @@ impl DlTdoaMeasurement {
}

fn new(
app_config: &AppConfig,
anchor: &device::DlTdoaAnchor,
local: RangingMeasurement,
message_type: uci::DlTdoaMessageType,
block_index: u16,
tx_timestamp_length: uci::DlTdoaTimestampLength,
tx_timestamp: u64,
) -> Self {
let (aoa_azimuth, aoa_azimuth_fom, aoa_elevation, aoa_elevation_fom) =
encode_aoa(local, app_config.aoa_result_req());
let rx_timestamp = tx_timestamp.wrapping_add(cm_to_tof_ticks(local.range));
let is_final = message_type == uci::DlTdoaMessageType::FinalDtm;
let (wgs84_location, relative_location) = if is_final {
Expand Down Expand Up @@ -386,10 +409,10 @@ impl DlTdoaMeasurement {
block_index,
round_index: anchor.round_index,
nlos: 0,
aoa_azimuth: degrees_to_q9_7(local.azimuth) as u16,
aoa_azimuth_fom: 100,
aoa_elevation: degrees_to_q9_7(i16::from(local.elevation)) as u16,
aoa_elevation_fom: 100,
aoa_azimuth,
aoa_azimuth_fom,
aoa_elevation,
aoa_elevation_fom,
rssi: u8::MAX,
tx_timestamp_40,
tx_timestamp_64,
Expand Down Expand Up @@ -737,6 +760,7 @@ impl Pica {
.then(|| (active_responders.len() as u64 + 1) * slot_ticks);

let poll_dtm = DlTdoaMeasurement::new(
&session.app_config,
init_anchor,
init_local,
uci::DlTdoaMessageType::PollDtm,
Expand All @@ -759,6 +783,7 @@ impl Pica {
let slot_offset_ticks = slot_idx * slot_ticks;
Some(
DlTdoaMeasurement::new(
&session.app_config,
resp_anchor,
local,
uci::DlTdoaMessageType::ResponseDtm,
Expand All @@ -781,6 +806,7 @@ impl Pica {
.filter(|_| !response_dtms.is_empty())
.map(|final_offset| {
DlTdoaMeasurement::new(
&session.app_config,
init_anchor,
init_local,
uci::DlTdoaMessageType::FinalDtm,
Expand Down Expand Up @@ -809,7 +835,8 @@ impl Pica {
return;
};
let send_ntf = session.app_config.dl_tdoa_role() == Some(uci::DeviceRole::DtTag)
&& session.app_config.session_info_ntf_config() != uci::SessionInfoNtfConfig::Disable;
&& session.app_config.effective_session_info_ntf_config()
!= uci::SessionInfoNtfConfig::Disable;
let ntf_packet = if send_ntf {
let measurements = self.dl_tdoa_measurements(device_handle, session_id, session);
session.encode_dl_tdoa_session_info_ntf(measurements)
Expand Down Expand Up @@ -904,7 +931,12 @@ impl Pica {
let remote = self
.ranging_estimator
.estimate(&peer_handle, &device.handle)?;
Some(TwoWayRangingMeasurement::new(&mac_address, local, remote))
Some(TwoWayRangingMeasurement::new(
&session.app_config,
&mac_address,
local,
remote,
))
})
.unwrap_or_else(|| TwoWayRangingMeasurement::timeout(&mac_address));
measurements.push(measurement);
Expand Down Expand Up @@ -1004,34 +1036,35 @@ impl Pica {
}

let effects = if session.session_type() != SessionType::FiraDataTransferSession {
let (send_ntf, measurements) = match session.app_config.session_info_ntf_config() {
uci::SessionInfoNtfConfig::Disable => (false, Vec::new()),
uci::SessionInfoNtfConfig::Enable => (true, measurements),
uci::SessionInfoNtfConfig::EnableProximityTrigger
| uci::SessionInfoNtfConfig::EnableAoaTrigger
| uci::SessionInfoNtfConfig::EnableProximityAoaTrigger => {
let filtered: Vec<_> = measurements
.into_iter()
.filter(|m| m.is_within_bounds(&session.app_config))
.collect();
(!filtered.is_empty(), filtered)
}
uci::SessionInfoNtfConfig::EnableProximityEdgeTrigger
| uci::SessionInfoNtfConfig::EnableAoaEdgeTrigger
| uci::SessionInfoNtfConfig::EnableProximityAoaEdgeTrigger => {
let emitted: Vec<_> = measurements
.into_iter()
.filter(|m| {
if m.is_within_bounds(&session.app_config) {
session.in_range_peers.insert(m.mac_address())
} else {
session.in_range_peers.remove(&m.mac_address())
}
})
.collect();
(!emitted.is_empty(), emitted)
}
};
let (send_ntf, measurements) =
match session.app_config.effective_session_info_ntf_config() {
uci::SessionInfoNtfConfig::Disable => (false, Vec::new()),
uci::SessionInfoNtfConfig::Enable => (true, measurements),
uci::SessionInfoNtfConfig::EnableProximityTrigger
| uci::SessionInfoNtfConfig::EnableAoaTrigger
| uci::SessionInfoNtfConfig::EnableProximityAoaTrigger => {
let filtered: Vec<_> = measurements
.into_iter()
.filter(|m| m.is_within_bounds(&session.app_config))
.collect();
(!filtered.is_empty(), filtered)
}
uci::SessionInfoNtfConfig::EnableProximityEdgeTrigger
| uci::SessionInfoNtfConfig::EnableAoaEdgeTrigger
| uci::SessionInfoNtfConfig::EnableProximityAoaEdgeTrigger => {
let emitted: Vec<_> = measurements
.into_iter()
.filter(|m| {
if m.is_within_bounds(&session.app_config) {
session.in_range_peers.insert(m.mac_address())
} else {
session.in_range_peers.remove(&m.mac_address())
}
})
.collect();
(!emitted.is_empty(), emitted)
}
};

if send_ntf {
let ntf_packet = match session.app_config.mac_address_mode() {
Expand Down
11 changes: 0 additions & 11 deletions src/uci_packets.pdl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -524,17 +524,6 @@ enum CapTlvType : 8 {
},
}


// AOA result request type.
// Values set for AOA_RESULT_REQ config ID.
enum AoaResultReqType : 8 {
AOA_DISABLE = 0x0,
AOA_ENABLE = 0x01,
AOA_ENABLE_AZIMUTH = 0x02,
AOA_ENABLE_ELEVATION = 0x03,
AOA_ENABLE_INTERLEAVED = 0xF0,
}

enum DeviceState : 8 {
DEVICE_STATE_READY = 0x01,
DEVICE_STATE_ACTIVE = 0x02,
Expand Down
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