Harden BLE host link and expose latency tools in the dashboard.

Add BLE RTT/stream tests and live tick median in the UI, fix concurrent WebSocket writes and late BATTERY replies, and skip 2M PHY updates that assert under ESP-NOW coexistence.

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

goTool/cmd_ble_stream.go

@@ -3,12 +3,6 @@ package main
 import (
 	"flag"
 	"fmt"
-	"math"
-	"sort"
-	"time"
-
-	pb "powerpod/gotool/pb"
-	"google.golang.org/protobuf/proto"
 )
 
 func runBleStream(h hostConn, args []string) error {
@@ -21,108 +15,26 @@ func runBleStream(h hostConn, args []string) error {
 	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
+	out := measureBleStream(h, uint32(*clientID), uint32(*periodMs), *count, *tolMs, *duration)
+	if !out.Success {
+		return fmt.Errorf("%s", out.Error)
 	}
-	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])
+	fmt.Printf("received=%d/%d period_ms=%d tol=±%.1f ms\n", out.Received, out.Requested, out.PeriodMs, out.TolMs)
+	printStat("dT ESP inter-depart", out.DTEsp)
+	printStat("dR PC  inter-arrive", out.DRPc)
+	printStat("extra vs first", out.ExtraVsFirst)
+	fmt.Printf("outside_tol=%d/%d  window_ok=%s\n", out.OutsideTol, out.DTEsp.N,
+		map[bool]string{true: "yes", false: "no"}[out.WindowOK])
 	return nil
 }
 
-func printStat(name string, v []float64) {
-	if len(v) == 0 {
+func printStat(name string, s latencyStats) {
+	if s.N == 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])
+		name, s.N, s.MinMs, s.MedMs, s.MeanMs, s.MaxMs)
 }