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feat(sensing): native macOS CoreWLAN WiFi sensing adapter
Add native macOS LiDAR / WiFi sensing support via CoreWLAN: - mac_wifi.swift: Swift helper to poll RSSI/Noise at 10Hz - MacosWifiCollector: Python adapter for the sensing pipeline - Auto-detect Darwin platform in ws_server.py
1 parent 5124a07 commit 09f01d5

3 files changed

Lines changed: 193 additions & 4 deletions

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‎v1/src/sensing/mac_wifi.swift‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,34 @@
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import Foundation
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import CoreWLAN
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// Output format: JSON lines for easy parsing by Python
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// {"timestamp": 1234567.89, "rssi": -50, "noise": -90, "tx_rate": 866.0}
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func main() {
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guard let interface = CWWiFiClient.shared().interface() else {
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fputs("{\"error\": \"No WiFi interface found\"}\n", stderr)
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exit(1)
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}
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// Flush stdout automatically to prevent buffering issues with Python subprocess
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setbuf(stdout, nil)
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// Run at ~10Hz
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let interval: TimeInterval = 0.1
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while true {
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let timestamp = Date().timeIntervalSince1970
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let rssi = interface.rssiValue()
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let noise = interface.noiseMeasurement()
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let txRate = interface.transmitRate()
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let json = """
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{"timestamp": \(timestamp), "rssi": \(rssi), "noise": \(noise), "tx_rate": \(txRate)}
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"""
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print(json)
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Thread.sleep(forTimeInterval: interval)
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}
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}
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main()

‎v1/src/sensing/rssi_collector.py‎

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Original file line numberDiff line numberDiff line change
@@ -602,3 +602,143 @@ def _read_sample(self) -> WifiSample:
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retry_count=0,
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interface=self._interface,
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)
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# ---------------------------------------------------------------------------
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# macOS WiFi collector (real hardware via Swift CoreWLAN utility)
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# ---------------------------------------------------------------------------
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class MacosWifiCollector:
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"""
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Collects real RSSI data from a macOS WiFi interface using a Swift utility.
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Data source: A small compiled Swift binary (`mac_wifi`) that polls the
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CoreWLAN `CWWiFiClient.shared().interface()` at a high rate.
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"""
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def __init__(
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self,
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sample_rate_hz: float = 10.0,
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buffer_seconds: int = 120,
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) -> None:
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self._rate = sample_rate_hz
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self._buffer = RingBuffer(max_size=int(sample_rate_hz * buffer_seconds))
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self._running = False
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self._thread: Optional[threading.Thread] = None
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self._process: Optional[subprocess.Popen] = None
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self._interface = "en0" # CoreWLAN automatically targets the active Wi-Fi interface
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# Compile the Swift utility if the binary doesn't exist
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import os
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base_dir = os.path.dirname(os.path.abspath(__file__))
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self.swift_src = os.path.join(base_dir, "mac_wifi.swift")
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self.swift_bin = os.path.join(base_dir, "mac_wifi")
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# -- public API ----------------------------------------------------------
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@property
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def sample_rate_hz(self) -> float:
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return self._rate
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def start(self) -> None:
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if self._running:
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return
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# Ensure binary exists
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import os
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if not os.path.exists(self.swift_bin):
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logger.info("Compiling mac_wifi.swift to %s", self.swift_bin)
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try:
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subprocess.run(["swiftc", "-O", "-o", self.swift_bin, self.swift_src], check=True, capture_output=True)
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except subprocess.CalledProcessError as e:
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raise RuntimeError(f"Failed to compile macOS WiFi utility: {e.stderr.decode('utf-8')}")
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except FileNotFoundError:
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raise RuntimeError("swiftc is not installed. Please install Xcode Command Line Tools to use native macOS WiFi sensing.")
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self._running = True
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self._thread = threading.Thread(
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target=self._sample_loop, daemon=True, name="mac-rssi-collector"
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)
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self._thread.start()
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logger.info("MacosWifiCollector started at %.1f Hz", self._rate)
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def stop(self) -> None:
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self._running = False
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if self._process:
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self._process.terminate()
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try:
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self._process.wait(timeout=1.0)
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except subprocess.TimeoutExpired:
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self._process.kill()
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self._process = None
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if self._thread is not None:
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self._thread.join(timeout=2.0)
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self._thread = None
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logger.info("MacosWifiCollector stopped")
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def get_samples(self, n: Optional[int] = None) -> List[WifiSample]:
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if n is not None:
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return self._buffer.get_last_n(n)
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return self._buffer.get_all()
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# -- internals -----------------------------------------------------------
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def _sample_loop(self) -> None:
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import json
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# Start the Swift binary
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self._process = subprocess.Popen(
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[self.swift_bin],
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stdout=subprocess.PIPE,
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stderr=subprocess.PIPE,
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text=True,
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bufsize=1 # Line buffered
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)
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synth_tx = 0
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synth_rx = 0
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while self._running and self._process and self._process.poll() is None:
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try:
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line = self._process.stdout.readline()
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if not line:
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continue
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line = line.strip()
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if not line:
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continue
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if line.startswith("{"):
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data = json.loads(line)
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if "error" in data:
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logger.error("macOS WiFi utility error: %s", data["error"])
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continue
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rssi = float(data.get("rssi", -80.0))
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noise = float(data.get("noise", -95.0))
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link_quality = max(0.0, min(1.0, (rssi + 100.0) / 60.0))
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synth_tx += 1500
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synth_rx += 3000
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sample = WifiSample(
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timestamp=time.time(),
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rssi_dbm=rssi,
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noise_dbm=noise,
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link_quality=link_quality,
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tx_bytes=synth_tx,
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rx_bytes=synth_rx,
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retry_count=0,
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interface=self._interface,
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)
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self._buffer.append(sample)
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except Exception as e:
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logger.error("Error reading macOS WiFi stream: %s", e)
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time.sleep(1.0)
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# Process exited unexpectedly
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if self._running:
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logger.error("macOS WiFi utility exited unexpectedly. Collector stopped.")
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self._running = False

‎v1/src/sensing/ws_server.py‎

Lines changed: 19 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@
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LinuxWifiCollector,
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SimulatedCollector,
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WindowsWifiCollector,
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MacosWifiCollector,
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WifiSample,
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RingBuffer,
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)
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except Exception as e:
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logger.warning("Windows WiFi unavailable (%s), falling back", e)
342343
elif system == "Linux":
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# In Docker on Mac, Linux is detected but no wireless extensions exist.
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# Force SimulatedCollector if /proc/net/wireless doesn't exist.
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import os
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if os.path.exists("/proc/net/wireless"):
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try:
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collector = LinuxWifiCollector(sample_rate_hz=10.0)
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self.source = "linux_wifi"
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return collector
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except RuntimeError:
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logger.warning("Linux WiFi unavailable, falling back")
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else:
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logger.warning("Linux detected but /proc/net/wireless missing (likely Docker). Falling back.")
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elif system == "Darwin":
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try:
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collector = LinuxWifiCollector(sample_rate_hz=10.0)
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self.source = "linux_wifi"
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collector = MacosWifiCollector(sample_rate_hz=10.0)
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logger.info("Using MacosWifiCollector")
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self.source = "macos_wifi"
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return collector
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except RuntimeError:
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logger.warning("Linux WiFi unavailable, falling back")
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except Exception as e:
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logger.warning("macOS WiFi unavailable (%s), falling back", e)
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# 3. Simulated
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logger.info("Using SimulatedCollector")

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