Add BLE host transport selectable via DIP8 alongside UART.

Master can speak the same framed protobuf protocol over NimBLE or UART; goTool gains -ble, ble-rtt, and ble-stream timing checks for ESP-NOW coexistence.

Co-authored-by: Cursor <cursoragent@cursor.com>

goTool/cmd_ble_stream.go

@@ -0,0 +1,128 @@
+package main
+
+import (
+	"flag"
+	"fmt"
+	"math"
+	"sort"
+	"time"
+
+	pb "powerpod/gotool/pb"
+	"google.golang.org/protobuf/proto"
+)
+
+func runBleStream(h hostConn, args []string) error {
+	fs := flag.NewFlagSet("ble-stream", flag.ExitOnError)
+	clientID := fs.Uint("client", 0, "slave client id (0 = all_clients)")
+	periodMs := fs.Uint("period", 16, "BLE push period_ms (8–16)")
+	count := fs.Int("count", 50, "number of BleStreamTick samples")
+	tolMs := fs.Float64("tol", 2.0, "tolerance ms around period for window_ok")
+	duration := fs.Float64("timeout", 15.0, "max seconds waiting for ticks")
+	if err := fs.Parse(args); err != nil {
+		return err
+	}
+	if *periodMs < 8 || *periodMs > 16 {
+		return fmt.Errorf("--period must be 8..16")
+	}
+	if *count < 2 {
+		return fmt.Errorf("--count must be >= 2")
+	}
+
+	sc, ok := h.(hostStreamConn)
+	if !ok {
+		return fmt.Errorf("ble-stream requires -ble (UART has no push ticks)")
+	}
+
+	req := &pb.AccelStreamRequest{
+		Write:    true,
+		Enable:   true,
+		PeriodMs: uint32(*periodMs),
+	}
+	if *clientID == 0 {
+		req.AllClients = true
+	} else {
+		req.ClientId = uint32(*clientID)
+	}
+	resp, err := hostAccelStream(h, req)
+	if err != nil {
+		return err
+	}
+	if !resp.GetSuccess() {
+		return fmt.Errorf("accel stream enable failed")
+	}
+	fmt.Printf("accel stream on; period_ms=%d; collecting %d ticks…\n", *periodMs, *count)
+
+	type sample struct {
+		espUs uint64
+		pcT  float64
+	}
+	samples := make([]sample, 0, *count)
+	deadline := time.Now().Add(time.Duration(*duration * float64(time.Second)))
+
+	for len(samples) < *count {
+		remain := time.Until(deadline)
+		if remain <= 0 {
+			break
+		}
+		payload, err := sc.NextStreamTick(remain)
+		if err != nil {
+			break
+		}
+		pcT := time.Now().UnixMicro()
+		var msg pb.UartMessage
+		if err := proto.Unmarshal(payload[1:], &msg); err != nil {
+			continue
+		}
+		tick := msg.GetBleStreamTick()
+		if tick == nil {
+			continue
+		}
+		samples = append(samples, sample{espUs: tick.GetEspTimestampUs(), pcT: float64(pcT)})
+	}
+
+	// Best-effort disable
+	off := &pb.AccelStreamRequest{Write: true, Enable: false, AllClients: req.AllClients, ClientId: req.ClientId}
+	_, _ = hostAccelStream(h, off)
+
+	if len(samples) < 2 {
+		return fmt.Errorf("need >=2 ticks, got %d (is stream running / DIP8=BLE?)", len(samples))
+	}
+
+	var dT, dR, extra []float64
+	esp0 := samples[0].espUs
+	pc0 := samples[0].pcT
+	for i := 1; i < len(samples); i++ {
+		dT = append(dT, float64(samples[i].espUs-samples[i-1].espUs)/1000.0)
+		dR = append(dR, (samples[i].pcT-samples[i-1].pcT)/1000.0)
+		relEsp := float64(samples[i].espUs-esp0) / 1000.0
+		relPc := (samples[i].pcT - pc0) / 1000.0
+		extra = append(extra, relPc-relEsp)
+	}
+
+	period := float64(*periodMs)
+	outCount := 0
+	for _, dt := range dT {
+		if math.Abs(dt-period) > *tolMs {
+			outCount++
+		}
+	}
+	windowOK := outCount*2 <= len(dT) // majority inside tolerance
+
+	fmt.Printf("received=%d/%d period_ms=%d tol=±%.1f ms\n", len(samples), *count, *periodMs, *tolMs)
+	printStat("dT ESP inter-depart", dT)
+	printStat("dR PC  inter-arrive", dR)
+	printStat("extra vs first", extra)
+	fmt.Printf("outside_tol=%d/%d  window_ok=%s\n", outCount, len(dT), map[bool]string{true: "yes", false: "no"}[windowOK])
+	return nil
+}
+
+func printStat(name string, v []float64) {
+	if len(v) == 0 {
+		fmt.Printf("%s: (none)\n", name)
+		return
+	}
+	s := append([]float64(nil), v...)
+	sort.Float64s(s)
+	fmt.Printf("%s: n=%d  min=%.3f  median=%.3f  mean=%.3f  max=%.3f  ms\n",
+		name, len(s), s[0], percentile(s, 0.5), mean(s), s[len(s)-1])
+}