.gitlab-ci.yml

+image: "rust:latest"
+
+before_script:
+  - rustup component add rustfmt
+  - rustup component add clippy
+
+test:
+  script:
+    - cargo fmt -- --check
+    - cargo clippy --all-targets --all-features -- -D warnings
+    - cargo test

Cargo.toml

 [package]
 name = "ham-cats"
-version = "0.1.0"
+version = "0.2.2"
 edition = "2021"
 license = "MIT"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+description = "Reference implementations for CATS, the ham radio protocol"
+repository = "https://gitlab.scd31.com/cats/ham_cats"
+homepage = "https://cats.radio"
+categories = ["embedded", "encoding", "no-std", "no-std::no-alloc"]
 
 [dependencies]
 arrayvec = { version = "0.7.4", default-features = false }
@@ -12,6 +14,6 @@ bitvec = { version = "1.0.1", default-features = false }
 crc = "3.0.1"
 encoding_rs = { version = "0.8.33", default-features = false }
 half = { version = "2.3.1", default-features = false }
-labrador-ldpc = "1.1"
+labrador-ldpc = "1.2.1"
 paste = "1.0.14"
 snafu = { version = "0.7.5", default-features = false }

LICENSE.md

+The MIT License (MIT)
+=====================
+
+Copyright © 2023 CATS
+
+Permission is hereby granted, free of charge, to any person
+obtaining a copy of this software and associated documentation
+files (the “Software”), to deal in the Software without
+restriction, including without limitation the rights to use,
+copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the
+Software is furnished to do so, subject to the following
+conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+

fuzz/Cargo.lock

@@ -96,7 +96,7 @@ dependencies = [
 
 [[package]]
 name = "ham-cats"
-version = "0.1.0"
+version = "0.2.0"
 dependencies = [
  "arrayvec",
  "bitvec",
@@ -133,9 +133,7 @@ dependencies = [
 
 [[package]]
 name = "labrador-ldpc"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2ff4a0568f6322b64e06b6a6a0810e2f64670aa325f6e9dca24084e99917f459"
+version = "1.1.1"
 
 [[package]]
 name = "libc"

fuzz/Cargo.toml

@@ -30,9 +30,14 @@ path = "fuzz_targets/fuzz_target_2.rs"
 test = false
 doc = false
 
-
 [[bin]]
 name = "fuzz_target_3"
 path = "fuzz_targets/fuzz_target_3.rs"
 test = false
 doc = false
+
+[[bin]]
+name = "fuzz_target_4"
+path = "fuzz_targets/fuzz_target_4.rs"
+test = false
+doc = false

fuzz/fuzz_targets/fuzz_target_1.rs

@@ -4,5 +4,7 @@ use libfuzzer_sys::fuzz_target;
 use ham_cats::packet::Packet;
 
 fuzz_target!(|data: &[u8]| {
-    let _ = Packet::<1024>::fully_decode(data);
+    let mut buf = [0; 1024];
+
+    let _ = Packet::<1024>::fully_decode(data, &mut buf);
 });

fuzz/fuzz_targets/fuzz_target_2.rs

 #![no_main]
 use libfuzzer_sys::fuzz_target;
 
-use ham_cats::packet::Packet;
-use std::convert::TryInto;
+use ham_cats::{buffer::Buffer, packet::Packet};
 
 fuzz_target!(|data: &[u8]| {
-    if let Ok(data) = data.try_into() {
-        let _ = Packet::<1024>::semi_decode(data);
+    let mut buf = [0; 1024];
+    let mut buf = Buffer::new_empty(&mut buf);
+    if buf.try_extend_from_slice(data).is_ok() {
+        let _ = Packet::<1024>::semi_decode(buf);
     }
 });

fuzz/fuzz_targets/fuzz_target_3.rs

 #![no_main]
 use libfuzzer_sys::fuzz_target;
 
-use ham_cats::packet::Packet;
-use std::convert::TryInto;
+use ham_cats::{buffer::Buffer, packet::Packet};
 
 fuzz_target!(|data: &[u8]| {
-    if let Ok(data) = data.try_into() {
-        let _ = Packet::<1024>::decode(data);
+    let mut buf = [0; 1024];
+    let mut buf = Buffer::new_empty(&mut buf);
+    if buf.try_extend_from_slice(data).is_ok() {
+        let _ = Packet::<1024>::decode(buf);
     }
 });

fuzz/fuzz_targets/fuzz_target_4.rs

+#![no_main]
+use libfuzzer_sys::fuzz_target;
+
+use ham_cats::packet::Packet;
+use std::convert::TryInto;
+
+fuzz_target!(|data: &[u8]| {
+    // [u8] -> [i8]
+    let mut data: Vec<_> = data
+        .iter()
+        .map(|x| (u16::from(*x) as i16 - 128).try_into().unwrap())
+        .collect();
+
+    let mut buf = [0; 1024];
+    let _ = Packet::<1024>::fully_decode_soft::<8192, i8>(&mut data, &mut buf);
+});

src/buffer.rs

@@ -4,28 +4,28 @@ use core::ops::{Deref, DerefMut};
 pub struct BufferOverflow;
 
 #[derive(Debug)]
-pub struct Buffer<'a, const N: usize> {
-    data: &'a mut [u8; N],
+pub struct Buffer<'a, const N: usize, T = u8> {
+    data: &'a mut [T; N],
     i: usize,
 }
 
-impl<'a, const N: usize> Buffer<'a, N> {
+impl<'a, const N: usize, T: Copy> Buffer<'a, N, T> {
     /// Constructs a new `Buffer`.
     /// `data` is the backing array.
     /// `i` is the number of elements in `data` that contain data (and should thus be exposed by `Buffer`)
-    pub fn new(data: &'a mut [u8; N], i: usize) -> Self {
+    pub fn new(data: &'a mut [T; N], i: usize) -> Self {
         assert!(i <= data.len());
 
         Self { data, i }
     }
 
-    pub fn new_full(data: &'a mut [u8; N]) -> Self {
+    pub fn new_full(data: &'a mut [T; N]) -> Self {
         let i = data.len();
 
         Self::new(data, i)
     }
 
-    pub fn new_empty(data: &'a mut [u8; N]) -> Self {
+    pub fn new_empty(data: &'a mut [T; N]) -> Self {
         Self::new(data, 0)
     }
 
@@ -33,7 +33,7 @@ impl<'a, const N: usize> Buffer<'a, N> {
         N - self.i
     }
 
-    pub fn try_push(&mut self, v: u8) -> Result<(), BufferOverflow> {
+    pub fn try_push(&mut self, v: T) -> Result<(), BufferOverflow> {
         if self.i == N {
             return Err(BufferOverflow);
         }
@@ -44,11 +44,11 @@ impl<'a, const N: usize> Buffer<'a, N> {
         Ok(())
     }
 
-    pub fn push(&mut self, v: u8) {
+    pub fn push(&mut self, v: T) {
         self.try_push(v).unwrap();
     }
 
-    pub fn try_extend_from_slice(&mut self, other: &[u8]) -> Result<(), BufferOverflow> {
+    pub fn try_extend_from_slice(&mut self, other: &[T]) -> Result<(), BufferOverflow> {
         if self.remaining_capacity() < other.len() {
             return Err(BufferOverflow);
         }
@@ -59,11 +59,11 @@ impl<'a, const N: usize> Buffer<'a, N> {
         Ok(())
     }
 
-    pub fn extend(&mut self, other: &[u8]) {
+    pub fn extend(&mut self, other: &[T]) {
         self.try_extend_from_slice(other).unwrap();
     }
 
-    pub fn pop(&mut self) -> Option<u8> {
+    pub fn pop(&mut self) -> Option<T> {
         if self.i == 0 {
             return None;
         }
@@ -92,7 +92,7 @@ impl<'a, const N: usize> Buffer<'a, N> {
         self.i -= delta;
     }
 
-    pub fn clone_backing<'b>(&self, buf: &'b mut [u8; N]) -> Buffer<'b, N> {
+    pub fn clone_backing<'b>(&self, buf: &'b mut [T; N]) -> Buffer<'b, N, T> {
         let mut out = Buffer::new_empty(buf);
 
         out.extend(self);
@@ -101,22 +101,22 @@ impl<'a, const N: usize> Buffer<'a, N> {
     }
 }
 
-impl<'a, const N: usize> From<&'a mut [u8; N]> for Buffer<'a, N> {
-    fn from(data: &'a mut [u8; N]) -> Self {
+impl<'a, const N: usize, T> From<&'a mut [T; N]> for Buffer<'a, N, T> {
+    fn from(data: &'a mut [T; N]) -> Self {
         Self { data, i: 0 }
     }
 }
 
-impl<'a, const N: usize> Deref for Buffer<'a, N> {
-    type Target = [u8];
+impl<const N: usize, T> Deref for Buffer<'_, N, T> {
+    type Target = [T];
 
     fn deref(&self) -> &Self::Target {
         &self.data[..self.i]
     }
 }
 
-impl<'a, const N: usize> DerefMut for Buffer<'a, N> {
-    fn deref_mut(&mut self) -> &mut [u8] {
+impl<const N: usize, T> DerefMut for Buffer<'_, N, T> {
+    fn deref_mut(&mut self) -> &mut [T] {
         &mut self.data[..self.i]
     }
 }

src/error.rs

@@ -41,3 +41,48 @@ pub enum CommentError {
     #[snafu(display("Given buffer too small for comment data"))]
     BufferOverflow,
 }
+
+#[derive(Debug, Snafu)]
+pub enum DigipeatError {
+    #[snafu(display("No route"))]
+    NoRoute,
+
+    #[snafu(display("Identification is us"))]
+    Us,
+
+    #[snafu(display("Max hops hit"))]
+    MaxHops,
+
+    #[snafu(display("Already digipeated by this node"))]
+    AlreadyDigipeated,
+
+    #[snafu(display("Future hop(s) are already set"))]
+    SetDestiny,
+}
+
+#[derive(Debug, Snafu, PartialEq, Eq)]
+pub enum AppendNodeError {
+    #[snafu(display("Future hop(s) already set to a different node"))]
+    SetFuture,
+
+    #[snafu(display("Max hops hit"))]
+    HopsOverflow,
+
+    #[snafu(display("Node already in route"))]
+    DuplicateNode,
+
+    #[snafu(display("Given data causes the route whisker to overflow"))]
+    RouteOverflow,
+}
+
+#[derive(Debug, Snafu, PartialEq, Eq)]
+pub enum PacketRouteAppendError {
+    #[snafu(display("No route whisker on packet"))]
+    NoRouteWhisker,
+
+    #[snafu(display("Route error"))]
+    Route { error: AppendNodeError },
+
+    #[snafu(display("CATS packet overflow"))]
+    PacketOverflow,
+}

src/identity.rs

+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+pub struct Identity<'a> {
+    callsign: &'a str,
+    ssid: u8,
+}
+
+impl<'a> Identity<'a> {
+    pub fn new(callsign: &'a str, ssid: u8) -> Self {
+        Self { callsign, ssid }
+    }
+
+    pub fn callsign(&self) -> &'a str {
+        self.callsign
+    }
+
+    pub fn ssid(&self) -> u8 {
+        self.ssid
+    }
+}

src/interleaver.rs

 use bitvec::prelude::*;
+use labrador_ldpc::decoder::DecodeFrom;
 
 use crate::{
     buffer::{Buffer, BufferOverflow},
@@ -60,9 +61,34 @@ pub(crate) fn uninterleave<const N: usize>(
     Ok(())
 }
 
+pub(crate) fn uninterleave_soft<const N: usize, T: DecodeFrom>(
+    data: &[T],
+    out: &mut Buffer<N, T>,
+) -> Result<(), BufferOverflow> {
+    for _ in 0..data.len() {
+        out.try_push(T::zero())?;
+    }
+
+    let mut out_i = 0;
+    for i in 0..32 {
+        for j in (0..data.len()).step_by(32) {
+            if i + j >= data.len() {
+                continue;
+            }
+
+            out[i + j] = data[out_i];
+
+            out_i += 1;
+        }
+    }
+
+    Ok(())
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::soft_bit::FromHardBit;
 
     #[test]
     fn interleaver_works() {
@@ -84,4 +110,34 @@ mod tests {
 
         assert_eq!(*orig, *uninterleaved);
     }
+
+    #[test]
+    fn hard_interleave_soft_uninterleave() {
+        let mut data = [0x84, 0x73, 0x12, 0xA3, 0xFF, 0x00, 0xC2, 0x1B, 0x77];
+        let orig = Buffer::new_full(&mut data);
+
+        let mut interleaved = [0; 10];
+        let mut interleaved = Buffer::new(&mut interleaved, 0);
+        interleaved.push(b'H');
+
+        interleave(&orig, &mut interleaved).unwrap();
+
+        let mut soft_interleaved = [0.0; 10 * 8];
+        for (i, b) in interleaved.iter().enumerate() {
+            for j in 0..8 {
+                soft_interleaved[8 * i + j] = f32::from_hard_bit(b & (1 << (7 - j)) > 0);
+            }
+        }
+
+        let mut uninterleaved = [0.0; 10 * 8];
+        let mut uninterleaved = Buffer::new(&mut uninterleaved, 0);
+        uninterleave_soft(&soft_interleaved[8..], &mut uninterleaved).unwrap();
+
+        assert_eq!(orig.len() * 8, uninterleaved.len());
+        for (i, b) in orig.iter().enumerate() {
+            for j in 0..8 {
+                assert_eq!(uninterleaved[8 * i + j].hard_bit(), *b & (1 << (7 - j)) > 0);
+            }
+        }
+    }
 }

src/ldpc.rs

-use labrador_ldpc::LDPCCode;
+use labrador_ldpc::{decoder::DecodeFrom, LDPCCode};
 
 use crate::{buffer::Buffer, error::EncodeError};
 
@@ -36,6 +36,27 @@ macro_rules! dec_chunk {
     };
 }
 
+macro_rules! dec_chunk_soft {
+    ($d:ident, $p:ident, $w:ident, $w_u8:ident, $out:ident, $t:ident, $n:literal) => {
+        ::paste::paste! {
+            let code_data = &mut $d[..$n];
+            let code_parity = &$p.get_mut(..$n)?;
+
+            let mut input = [T::zero(); $n * 2];
+            input[..$n].copy_from_slice(code_data);
+            input[$n..].copy_from_slice(code_parity);
+            const CODE: LDPCCode = LDPCCode::[<$t>];
+
+			let mut out_tmp = [0; CODE.output_len()];
+            CODE.decode_ms(&input, &mut out_tmp, &mut $w[..CODE.decode_ms_working_len()], &mut $w_u8[..CODE.decode_ms_working_u8_len()], 16);
+			$out.try_extend_from_slice(&out_tmp[..$n/8]).ok()?;
+
+            $d = &mut $d[$n..];
+            $p = &mut $p[$n..];
+        }
+    };
+}
+
 // On failure this still modifies the data array!
 pub(crate) fn encode<const N: usize>(data: &mut Buffer<N>) -> Result<(), EncodeError> {
     let mut i = 0;
@@ -153,9 +174,113 @@ pub(crate) fn decode<const N: usize>(data_av: &mut Buffer<N>) -> Option<()> {
     Some(())
 }
 
+pub(crate) fn decode_soft<const N: usize, const M: usize, T: DecodeFrom>(
+    data_av: &mut Buffer<N, T>,
+    out: &mut Buffer<M>,
+) -> Option<()> {
+    if data_av.len() % 8 != 0 {
+        return None;
+    }
+
+    if data_av.len() < 16 {
+        return None;
+    }
+
+    let len: usize = len_from_soft(data_av[(data_av.len() - 16)..].try_into().unwrap()).into();
+
+    if len * 8 + 16 >= data_av.len() {
+        return None;
+    }
+
+    let data_len = data_av.len().checked_sub(16)?;
+    let data_av = data_av.get_mut(..data_len)?;
+
+    let (mut data, mut parity) = data_av.split_at_mut(len * 8);
+
+    let mut working = [T::zero(); LDPCCode::TM8192.decode_ms_working_len()];
+    let mut working_u8 = [0; LDPCCode::TM8192.decode_ms_working_u8_len()];
+
+    loop {
+        match data.len() {
+            4096.. => {
+                dec_chunk_soft!(data, parity, working, working_u8, out, TM8192, 4096);
+            }
+
+            1024.. => {
+                dec_chunk_soft!(data, parity, working, working_u8, out, TM2048, 1024);
+            }
+
+            256.. => {
+                dec_chunk_soft!(data, parity, working, working_u8, out, TC512, 256);
+            }
+
+            128.. => {
+                dec_chunk_soft!(data, parity, working, working_u8, out, TC256, 128);
+            }
+
+            64.. => {
+                dec_chunk_soft!(data, parity, working, working_u8, out, TC128, 64);
+            }
+
+            0 => break,
+
+            _ => {
+                // Extra bits are padded with 0xAA
+                // We need to tell the soft decoder that these bits can't have flipped
+                // So we use T::maxval
+                let mut code_data = [
+                    1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0,
+                    1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0,
+                    1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0,
+                ]
+                .map(|x| if x > 0 { -T::maxval() } else { T::maxval() });
+                code_data[..data.len()].copy_from_slice(data);
+                let code_parity = &parity.get_mut(..64)?;
+
+                let mut input = [T::zero(); 128];
+                input[..64].copy_from_slice(&code_data);
+                input[64..].copy_from_slice(code_parity);
+                let mut tmp_out = [0; LDPCCode::TC128.output_len()];
+                LDPCCode::TC128.decode_ms(
+                    &input,
+                    &mut tmp_out,
+                    &mut working[..LDPCCode::TC128.decode_ms_working_len()],
+                    &mut working_u8[..LDPCCode::TC128.decode_ms_working_u8_len()],
+                    16,
+                );
+                out.try_extend_from_slice(&tmp_out[..(data.len() / 8)])
+                    .ok()?;
+
+                data = &mut data[..0];
+                parity = &mut parity[..0];
+            }
+        }
+    }
+
+    Some(())
+}
+
+fn len_from_soft<T: DecodeFrom>(bits: &[T; 16]) -> u16 {
+    let mut upper = 0;
+    for b in &bits[0..8] {
+        upper <<= 1;
+        upper |= u8::from(b.hard_bit());
+    }
+
+    let mut lower = 0;
+    for b in &bits[8..] {
+        lower <<= 1;
+        lower |= u8::from(b.hard_bit());
+    }
+
+    u16::from_le_bytes([upper, lower])
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::soft_bit::FromHardBit;
+    use bitvec::{order::Msb0, view::BitView};
 
     #[test]
     fn len_test() {
@@ -230,4 +355,30 @@ mod tests {
 
         assert_eq!(*orig, *data);
     }
+
+    #[test]
+    fn basic_encode_decode_soft() {
+        let mut buf = [0; 8191];
+        let mut buf2 = [0; 8191];
+        let mut data = Buffer::new_empty(&mut buf);
+        for _ in 0..50 {
+            data.extend(b"This is a test packet. jsalksjd093809324JASLD:LKD*#$)(*#@)");
+        }
+        let orig = data.clone_backing(&mut buf2);
+
+        encode(&mut data).unwrap();
+        assert_ne!(*orig, *data);
+
+        let mut soft = [0.0; 8191 * 8];
+        let mut soft = Buffer::new_empty(&mut soft);
+        for b in data.view_bits::<Msb0>() {
+            soft.push(f32::from_hard_bit(*b));
+        }
+
+        let mut out = [0; 8191];
+        let mut out = Buffer::new_empty(&mut out);
+        decode_soft(&mut soft, &mut out).unwrap();
+
+        assert_eq!(*orig, *out);
+    }
 }

src/lib.rs

-#![no_std]
+#![cfg_attr(not(test), no_std)]
 
 pub mod buffer;
 pub mod error;
+pub mod identity;
 pub mod interleaver;
 pub mod ldpc;
 pub mod packet;
+pub mod soft_bit;
 pub mod whisker;
 pub mod whitener;
 

src/packet.rs

 use core::fmt::Debug;
 
 use crc::{Crc, CRC_16_IBM_SDLC};
+use labrador_ldpc::decoder::DecodeFrom;
 
 use crate::{
     buffer::{Buffer, BufferOverflow},
-    error::{CommentError, DecodeError, EncodeError},
+    error::{CommentError, DecodeError, DigipeatError, EncodeError, PacketRouteAppendError},
+    identity::Identity,
     interleaver, ldpc, utf8,
     whisker::{
-        Arbitrary, Comment, Destination, Gps, Identification, Route, Timestamp,
-        ValidatedWhiskerIter, Whisker, WhiskerIter, COMMENT_TYPE,
+        Arbitrary, Comment, Destination, Gps, Identification, NodeInfo, PastHop, Route, RouteHop,
+        Timestamp, ValidatedWhiskerIter, Whisker, WhiskerIter, COMMENT_TYPE,
     },
     whitener,
 };
@@ -18,15 +20,15 @@ const X25: Crc<u16> = Crc::<u16>::new(&CRC_16_IBM_SDLC);
 macro_rules! uniq_whisker {
     ($t:meta) => {
         ::paste::paste! {
-            pub fn [<$t:lower>](&self) -> Option<$t> {
+            pub fn [<$t:snake:lower>](&self) -> Option<$t> {
                 self.iter().find_map(|w| match w {
                     Whisker::$t(x) => Some(x),
                     _ => None,
                 })
             }
 
-            pub fn [<add_ $t:lower>](&mut self, w: $t) -> Result<(), EncodeError> {
-                if self.[<$t:lower>]().is_some() {
+            pub fn [<add_ $t:snake:lower>](&mut self, w: $t) -> Result<(), EncodeError> {
+                if self.[<$t:snake:lower>]().is_some() {
                     return Err(EncodeError::DuplicateData);
                 }
 
@@ -35,7 +37,7 @@ macro_rules! uniq_whisker {
                     // safe to unwrap since we know we have enough space
                     let out = w.encode(&mut buf).unwrap();
 
-                    data.try_push(crate::whisker::[<$t:upper _TYPE>]).ok().ok_or(EncodeError::CatsOverflow)?;
+                    data.try_push(crate::whisker::[<$t:snake:upper _TYPE>]).ok().ok_or(EncodeError::CatsOverflow)?;
                     data.try_extend_from_slice(out).ok().ok_or(EncodeError::CatsOverflow)?;
 
                     Ok(())
@@ -44,8 +46,8 @@ macro_rules! uniq_whisker {
                 Ok(())
             }
 
-			pub fn [<clear_ $t:lower>](&mut self) {
-				self.clear_by_type(crate::whisker::[<$t:upper _TYPE>], false);
+			pub fn [<clear_ $t:snake:lower>](&mut self) {
+				self.clear_by_type(crate::whisker::[<$t:snake:upper _TYPE>], false);
 			}
         }
     };
@@ -93,12 +95,17 @@ pub struct Packet<'a, const N: usize> {
     buf: Buffer<'a, N>,
 }
 
-// TODO need a method for cloning packets
 impl<'a, const N: usize> Packet<'a, N> {
     pub fn new(buf: &'a mut [u8; N]) -> Self {
         Self { buf: buf.into() }
     }
 
+    pub fn clone_backing<'b>(&self, buf: &'b mut [u8; N]) -> Packet<'b, N> {
+        Packet {
+            buf: self.buf.clone_backing(buf),
+        }
+    }
+
     /// Expects bytes in the `buf`
     /// `buf` is used as the backing buffer for the Packet
     pub fn decode(buf: Buffer<'a, N>) -> Result<Self, DecodeError> {
@@ -162,7 +169,7 @@ impl<'a, const N: usize> Packet<'a, N> {
 
     /// Encodes packet for transmission on the air.
     /// Includes the data length L, but does not include the preamble or sync word.
-    pub fn fully_encode(self, out: &mut Buffer<N>) -> Result<(), EncodeError> {
+    pub fn fully_encode<const M: usize>(self, out: &mut Buffer<M>) -> Result<(), EncodeError> {
         let mut data = self.semi_encode().map_err(|(err, _)| err)?;
         whitener::whiten(&mut data);
         ldpc::encode(&mut data)?;
@@ -177,7 +184,7 @@ impl<'a, const N: usize> Packet<'a, N> {
 
     /// Decodes packet that was received over the air.
     /// Packet shouldn't have preamble, sync word, or data langth L.
-    /// Expects bytes in the `buf`
+    /// Expects bytes in `data`
     /// `buf` is used as the backing buffer for the Packet
     pub fn fully_decode(data: &[u8], buf: &'a mut [u8; N]) -> Result<Self, DecodeError> {
         let mut buf = Buffer::new_empty(buf);
@@ -188,6 +195,22 @@ impl<'a, const N: usize> Packet<'a, N> {
         Self::semi_decode(buf)
     }
 
+    /// Expects soft bits in `data`. Bits should be LLR, with positive numbers more likely to be 0.
+    /// Returns `DecodeError::Overflow` if `M` is less than `data.len()`.
+    pub fn fully_decode_soft<const M: usize, T: DecodeFrom>(
+        data: &mut [T],
+        buf: &'a mut [u8; N],
+    ) -> Result<Self, DecodeError> {
+        let mut out = [T::zero(); M];
+        let mut out = Buffer::new_empty(&mut out);
+        interleaver::uninterleave_soft(data, &mut out).map_err(|_| DecodeError::Overflow)?;
+        let mut buf = Buffer::new_empty(buf);
+        ldpc::decode_soft(&mut out, &mut buf).ok_or(DecodeError::LdpcError)?;
+        whitener::whiten(&mut buf);
+
+        Self::semi_decode(buf)
+    }
+
     pub fn iter(&self) -> ValidatedWhiskerIter {
         ValidatedWhiskerIter::new(&self.buf)
     }
@@ -196,6 +219,7 @@ impl<'a, const N: usize> Packet<'a, N> {
     uniq_whisker!(Timestamp);
     uniq_whisker!(Gps);
     uniq_whisker!(Route);
+    uniq_whisker!(NodeInfo);
     poly_whisker!(Destination);
     poly_whisker!(Arbitrary);
 
@@ -266,6 +290,76 @@ impl<'a, const N: usize> Packet<'a, N> {
         self.clear_by_type(COMMENT_TYPE, true);
     }
 
+    /// Given the callsign and ssid of a node, should it digipeat this packet?
+    /// Takes into account things such as if we've digipeated it already, the max hops, etc.
+    pub fn should_digipeat(&self, identity: Identity) -> Result<(), DigipeatError> {
+        let route = match self.route() {
+            Some(x) => x,
+            None => {
+                return Err(DigipeatError::NoRoute);
+            }
+        };
+
+        if let Some(ident) = self.identification() {
+            if &ident.callsign == identity.callsign() && ident.ssid == identity.ssid() {
+                return Err(DigipeatError::Us);
+            }
+        }
+
+        let max_hops: usize = route.max_hops.into();
+        let cur_hops = route
+            .iter()
+            .filter(|r| match r {
+                RouteHop::Internet => false,
+                RouteHop::Past(_) => true,
+                RouteHop::Future(_) => false,
+            })
+            .count();
+
+        if max_hops <= cur_hops {
+            return Err(DigipeatError::MaxHops);
+        }
+
+        let already_digipeated = route.iter().any(|r| match r {
+            RouteHop::Internet => false,
+            RouteHop::Past(past_hop) => past_hop.identity() == identity,
+            RouteHop::Future(_) => false,
+        });
+
+        if already_digipeated {
+            return Err(DigipeatError::AlreadyDigipeated);
+        }
+
+        let next_node = route.iter().find_map(|r| match r {
+            RouteHop::Future(x) => Some(x),
+            _ => None,
+        });
+
+        match next_node {
+            Some(ident) if ident != identity => Err(DigipeatError::SetDestiny),
+            _ => Ok(()),
+        }
+    }
+
+    /// Note that if this fails due to a CATS overflow, it will wipe the route off of the packet
+    pub fn append_to_route(
+        &mut self,
+        callsign: &str,
+        ssid: u8,
+        rssi: Option<f64>,
+    ) -> Result<(), PacketRouteAppendError> {
+        let mut route = self.route().ok_or(PacketRouteAppendError::NoRouteWhisker)?;
+        route
+            .append_hop(PastHop::new(Identity::new(callsign, ssid), rssi))
+            .map_err(|error| PacketRouteAppendError::Route { error })?;
+        self.clear_route();
+
+        self.add_route(route)
+            .map_err(|_| PacketRouteAppendError::PacketOverflow)?;
+
+        Ok(())
+    }
+
     fn clear_by_type(&mut self, whisker_type: u8, all: bool) {
         let mut i = 0;
         while i < self.buf.len() {
@@ -285,7 +379,7 @@ impl<'a, const N: usize> Packet<'a, N> {
     }
 }
 
-impl<'a, const N: usize> Debug for Packet<'a, N> {
+impl<const N: usize> Debug for Packet<'_, N> {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
         f.debug_list()
             .entries(ValidatedWhiskerIter::new(&self.buf))
@@ -313,9 +407,11 @@ fn try_lock<'a, const N: usize, T, E, F: Fn(&mut Buffer<'a, N>) -> Result<T, E>>
 
 #[cfg(test)]
 mod tests {
-    use arrayvec::{ArrayString, ArrayVec};
-
     use super::*;
+    use crate::soft_bit::FromHardBit;
+    use crate::whisker::NodeInfoBuilder;
+    use arrayvec::ArrayString;
+    use bitvec::{order::Msb0, view::BitView};
 
     #[test]
     fn dest() {
@@ -337,7 +433,7 @@ mod tests {
     fn route_clear() {
         let mut buf = [0; 1024];
         let mut p: Packet<1024> = Packet::new(&mut buf);
-        p.add_identification(Identification::new(123, "call", 43).unwrap())
+        p.add_identification(Identification::new("call", 43, 123).unwrap())
             .unwrap();
         let mut r = Route::new(8);
         r.push_internet().unwrap();
@@ -347,7 +443,7 @@ mod tests {
         p.clear_route();
 
         assert_eq!(
-            Identification::new(123, "call", 43).unwrap(),
+            Identification::new("call", 43, 123).unwrap(),
             p.identification().unwrap()
         );
         assert_eq!(None, p.route());
@@ -440,6 +536,134 @@ mod tests {
         assert_eq!(comment, packet2.comment(&mut buf).unwrap());
     }
 
+    #[test]
+    fn full_e2e_soft_decode() {
+        let comment = "Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.Hello world! This is a comment. It's long so that it needs to be split across more than one whisker.";
+
+        let mut buf = [0; 4096];
+        let mut packet = Packet::new(&mut buf);
+        packet
+            .add_identification(Identification {
+                icon: 123,
+                callsign: ArrayString::from("ABCXYZ_LONG_CALL").unwrap(),
+                ssid: 43,
+            })
+            .unwrap();
+
+        packet.add_comment(comment).unwrap();
+
+        let res = packet.add_identification(Identification {
+            icon: 456,
+            callsign: ArrayString::from("NOPE").unwrap(),
+            ssid: 0,
+        });
+        assert!(matches!(res, Err(EncodeError::DuplicateData)));
+
+        let mut buf2 = [0; 4096];
+        let mut fully = Buffer::new_empty(&mut buf2);
+        packet.fully_encode(&mut fully).unwrap();
+
+        fully[40] ^= 0x55;
+        fully[844] ^= 0x7B;
+
+        let mut soft = [0.0; 8191 * 8];
+        let mut soft = Buffer::new_empty(&mut soft);
+        for b in fully.view_bits::<Msb0>().iter() {
+            soft.push(f32::from_hard_bit(*b));
+        }
+        let soft = &mut soft[16..];
+
+        let mut buf3 = [0; 8191];
+        // exclude length
+        let packet2: Packet<8191> =
+            Packet::fully_decode_soft::<{ 8191 * 8 }, _>(soft, &mut buf3).unwrap();
+        assert_eq!(
+            Identification {
+                icon: 123,
+                callsign: ArrayString::from("ABCXYZ_LONG_CALL").unwrap(),
+                ssid: 43,
+            },
+            packet2.identification().unwrap()
+        );
+
+        let mut buf = [0; 1024];
+        assert_eq!(comment, packet2.comment(&mut buf).unwrap());
+    }
+
+    #[test]
+    fn node_info_e2e() {
+        let mut buf = [0; 4096];
+        let mut packet = Packet::new(&mut buf);
+        packet
+            .add_node_info(
+                NodeInfoBuilder::default()
+                    .hardware_id(0xBEEF)
+                    .software_id(0xBC)
+                    .uptime(2304)
+                    .antenna_height(5)
+                    .antenna_gain(3.0)
+                    .tx_power(30.0)
+                    .voltage(12.6)
+                    .xcvr_temperature(-15)
+                    .battery_charge(65.0)
+                    .build(),
+            )
+            .unwrap();
+
+        let mut buf2 = [0; 4096];
+        let mut encoded = Buffer::new_empty(&mut buf2);
+        packet.fully_encode(&mut encoded).unwrap();
+
+        let mut buf3 = [0; 4096];
+        let packet2 = Packet::fully_decode(&encoded[2..], &mut buf3).unwrap();
+
+        let node_info = packet2.node_info().unwrap();
+        assert_eq!(0xBEEF, node_info.hardware_id().unwrap());
+        assert_eq!(0xBC, node_info.software_id().unwrap());
+        assert_eq!(2304, node_info.uptime().unwrap());
+        assert_eq!(5, node_info.antenna_height().unwrap());
+        assert_eq!(3.0, node_info.antenna_gain().unwrap());
+        assert_eq!(30.0, node_info.tx_power().unwrap());
+        assert_eq!(12.6, node_info.voltage().unwrap());
+        assert_eq!(-15, node_info.xcvr_temperature().unwrap());
+        assert_eq!(64.70588235294117, node_info.battery_charge().unwrap());
+    }
+
+    #[test]
+    fn node_info_e2e_some_unpopulated() {
+        let mut buf = [0; 4096];
+        let mut packet = Packet::new(&mut buf);
+        packet
+            .add_node_info(
+                NodeInfoBuilder::default()
+                    .software_id(0xBC)
+                    .uptime(2304)
+                    .antenna_gain(3.0)
+                    .voltage(12.6)
+                    .xcvr_temperature(-15)
+                    .build(),
+            )
+            .unwrap();
+
+        let mut buf2 = [0; 4096];
+        let mut encoded = Buffer::new_empty(&mut buf2);
+        packet.fully_encode(&mut encoded).unwrap();
+
+        let mut buf3 = [0; 4096];
+        let packet2 = Packet::fully_decode(&encoded[2..], &mut buf3).unwrap();
+
+        let node_info = packet2.node_info().unwrap();
+        assert_eq!(None, node_info.hardware_id());
+        assert_eq!(0xBC, node_info.software_id().unwrap());
+        assert_eq!(2304, node_info.uptime().unwrap());
+        assert_eq!(None, node_info.antenna_height());
+        assert_eq!(3.0, node_info.antenna_gain().unwrap());
+        assert_eq!(None, node_info.tx_power());
+        assert_eq!(12.6, node_info.voltage().unwrap());
+        assert_eq!(-15, node_info.xcvr_temperature().unwrap());
+        assert_eq!(None, node_info.battery_charge());
+    }
+
     #[test]
     fn fully_decode_fuzz_tests() {
         let data = [
@@ -499,7 +723,7 @@ mod tests {
 
     #[test]
     fn semi_decode_fuzz_tests() {
-        let data: ArrayVec<u8, 1024> = ArrayVec::try_from(
+        let cases = [
             &[
                 42, 64, 64, 64, 229, 40, 64, 64, 0, 0, 173, 173, 173, 173, 173, 173, 173, 173, 64,
                 64, 0, 0, 173, 187, 187, 187, 173, 173, 173, 173, 173, 173, 173, 173, 173, 173,
@@ -539,18 +763,56 @@ mod tests {
                 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187,
                 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 187, 126,
             ][..],
-        )
-        .unwrap();
+            &[
+                48, 5, 4, 255, 5, 5, 5, 5, 5, 5, 5, 37, 5, 7, 5, 5, 35, 5, 5, 5, 5, 4, 5, 7, 5, 5,
+                5, 5, 5, 5, 5, 5, 11, 126, 3, 101, 5, 3, 3, 96, 192, 128, 192, 192,
+            ][..],
+        ];
 
-        let mut buf = [0; 1024];
-        let _ = Packet::<1024>::fully_decode(&data, &mut buf);
+        for data in cases {
+            let mut buf = [0; 1024];
+            let mut buf = Buffer::new_empty(&mut buf);
+            buf.extend(data);
+            let _ = Packet::<1024>::semi_decode(buf);
+        }
     }
 
     #[test]
     fn decode_fuzz_tests() {
-        let data = [4, 0, 0, 0];
+        let cases = [&[4, 0, 0, 0][..], &[4, 5, 0, 0, 0, 10, 255, 255, 0, 0][..]];
 
-        let mut buf = [0; 1024];
-        let _ = Packet::<1024>::fully_decode(&data, &mut buf);
+        for data in cases {
+            let mut buf = [0; 1024];
+            let mut buf = Buffer::new_empty(&mut buf);
+            buf.extend(data);
+            let _ = Packet::<1024>::decode(buf);
+        }
+    }
+
+    #[test]
+    fn fully_decode_soft_fuzz_tests() {
+        // When adding to this, don't forget to do the u8 -> i8 conversion
+        let cases = [
+            &mut [
+                -39, -39, -39, -118, -58, -58, -58, -58, -89, -39, -118, -58, -58, -58, 34, 34, 34,
+                34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, -58, -58,
+                127, 81, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127,
+                127, 127, 127, 127, 127, 127, 127, 127, 127, 127, -86, 127, 127, 127, 127, 127,
+                127, 127, 127, 127, 127, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, 34, -58, -58, 127,
+                81, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, 34, 34, 34, 34, 34, 34, 34,
+                34, 34, 34, 34, -58, -58, 127, 81, 127, 127, 127, 127, 127, 127, 127, 127, 127,
+                127, 127, 127, 127, 127, 127, -128, -128, -128, -128, -128, -128, -128, -128, -128,
+                -128, 127, 127, 127, 127, 127, 127, 127, 127, 127, 127, -128, -128,
+            ][..],
+            &mut [
+                -73, -73, -73, -73, -75, -76, -73, -73, -73, -73, -73, -73, -73, -73, 73, 72, 72,
+                72, 72, 72, 72, 62, -73, -118, 120, 127, 127, 121, 127, 112, 127, 127,
+            ],
+        ];
+
+        for data in cases {
+            let mut buf = [0; 1024];
+            let _ = Packet::<1024>::fully_decode_soft::<8192, i8>(data, &mut buf);
+        }
     }
 }

src/soft_bit.rs

+pub use labrador_ldpc::decoder::DecodeFrom;
+
+// Less than zero = 1 bit
+// Greater than zero = 0 bit
+pub trait FromHardBit {
+    fn from_hard_bit(bit: bool) -> Self;
+}
+
+impl<T: DecodeFrom> FromHardBit for T {
+    fn from_hard_bit(bit: bool) -> Self {
+        if bit {
+            -Self::one()
+        } else {
+            Self::one()
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn e2e() {
+        assert!(f32::from_hard_bit(true).hard_bit());
+        assert!(!f32::from_hard_bit(false).hard_bit());
+
+        assert!(f64::from_hard_bit(true).hard_bit());
+        assert!(!f64::from_hard_bit(false).hard_bit());
+
+        assert!(i8::from_hard_bit(true).hard_bit());
+        assert!(!i8::from_hard_bit(false).hard_bit());
+
+        assert!(i16::from_hard_bit(true).hard_bit());
+        assert!(!i16::from_hard_bit(false).hard_bit());
+
+        assert!(i32::from_hard_bit(true).hard_bit());
+        assert!(!i32::from_hard_bit(false).hard_bit());
+    }
+}

src/whisker/destination.rs

@@ -36,7 +36,7 @@ impl Destination {
     }
 
     pub fn ack_num(&self) -> u8 {
-        self.ack
+        self.ack & !(1 << 7)
     }
 
     pub fn callsign(&self) -> &str {

src/whisker/gps.rs

+use core::fmt::{Debug, Display};
 use half::f16;
 
-#[derive(Debug, PartialEq, Clone)]
+#[derive(PartialEq, Clone)]
 pub struct Gps {
     latitude: i32,
     longitude: i32,
@@ -33,8 +34,14 @@ impl Gps {
         let longitude = longitude.clamp(-179.999, 179.999);
         let longitude = (longitude * ((1u32 << 31) as f64) / 180.0) as i32;
 
-        let heading = heading.clamp(0.0, 359.999);
-        let heading = (heading * 128.0 / 360.0) as u8;
+        let heading = if heading >= 0.0 {
+            heading % 360.0
+        } else {
+            // slightly hacky no-std floor
+            let factor = (-heading / 360.0) as u32 as f64;
+            360.0 * (1.0 + factor) + heading
+        };
+        let heading = round(heading * 128.0 / 180.0) as u8;
 
         Self {
             latitude,
@@ -55,7 +62,7 @@ impl Gps {
     }
 
     pub fn heading(&self) -> f64 {
-        self.heading as f64 / 128.0 * 360.0
+        self.heading as f64 / 128.0 * 180.0
     }
 
     pub fn encode<'a>(&self, buf: &'a mut [u8]) -> Option<&'a [u8]> {
@@ -93,3 +100,68 @@ impl Gps {
         })
     }
 }
+
+impl Debug for Gps {
+    fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
+        f.debug_struct("Gps")
+            .field("latitude", &DebugUnits(self.latitude(), "°"))
+            .field("longitude", &DebugUnits(self.longitude(), "°"))
+            .field("altitude", &DebugUnits(self.altitude, " m"))
+            .field("max_error", &DebugUnits(self.max_error, " m"))
+            .field("heading", &DebugUnits(self.heading(), "°"))
+            .field("speed", &DebugUnits(self.speed, " m/s"))
+            .finish()
+    }
+}
+
+struct DebugUnits<'a, T>(T, &'a str);
+
+impl<T: Display> Debug for DebugUnits<'_, T> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{}{}", self.0, self.1)
+    }
+}
+
+// no-std and it's not worth bringing in a library for this
+fn round(v: f64) -> u32 {
+    let floor = v as u32;
+    let delta = v - floor as f64;
+    if delta <= 0.5 {
+        floor
+    } else {
+        floor + 1
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn heading_is_correct() {
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 359.0, f16::from_f32(0.0));
+        assert_eq!(gps.heading, 255);
+
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 0.0, f16::from_f32(0.0));
+        assert_eq!(gps.heading, 0);
+
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, -20.0, f16::from_f32(0.0));
+        assert_eq!(gps.heading, 242);
+
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 719.0, f16::from_f32(0.0));
+        assert_eq!(gps.heading, 255);
+
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 180.0, f16::from_f32(0.0));
+        assert_eq!(gps.heading, 128);
+
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 540.0, f16::from_f32(0.0));
+        assert_eq!(gps.heading, 128);
+    }
+
+    #[test]
+    fn debug_printing() {
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 359.0, f16::from_f32(0.0));
+        let x = format!("{gps:?}");
+        assert_eq!(x,"Gps { latitude: 0°, longitude: 0°, altitude: 0 m, max_error: 0 m, heading: 358.59375°, speed: 0 m/s }")
+    }
+}

src/whisker/identification.rs

@@ -2,13 +2,13 @@ use arrayvec::ArrayString;
 
 #[derive(Debug, PartialEq, Eq, Clone)]
 pub struct Identification {
-    pub icon: u16,
     pub callsign: ArrayString<252>,
     pub ssid: u8,
+    pub icon: u16,
 }
 
 impl Identification {
-    pub fn new(icon: u16, call: &str, ssid: u8) -> Option<Self> {
+    pub fn new(call: &str, ssid: u8, icon: u16) -> Option<Self> {
         let callsign = ArrayString::from(call).ok()?;
 
         Some(Self {