build(docker): Add remote radio support in docker

.devcontainer/devcontainer.json

@@ -7,7 +7,8 @@
     "initializeCommand": "docker/setupDockerEnv.sh",
     "dockerComposeFile": [
         "../docker/compose.yaml",
-        "../docker/compose.devcontainer.yaml"
+        "../docker/compose.devcontainer.yaml",
+        "../docker/compose.otbr-radio.yaml"
     ],
     "service": "barton",
 
@@ -51,7 +52,11 @@
         // when loaded via GObject introspection in Python. Without this, VS Code's pytest
         // discovery crashes because ASAN kills the process. This is harmless for non-ASAN
         // processes — they simply ignore the option.
-        "ASAN_OPTIONS": "verify_asan_link_order=0"
+        "ASAN_OPTIONS": "verify_asan_link_order=0",
+
+        // Disable debuginfod URL lookups — GDB hangs trying to download symbols from
+        // the Ubuntu debuginfod server when this is set.
+        "DEBUGINFOD_URLS": ""
     },
 
     // specify the non-root user to use in the container
@@ -110,5 +115,10 @@
     },
 
     // script for further VSC customization after the container is created
-    "postCreateCommand": ".devcontainer/setup.sh"
+    "postCreateCommand": ".devcontainer/setup.sh",
+
+    // Set up IPv6 routes to Thread devices via the otbr-radio container.
+    // Runs on every container start (not just creation) so routes survive
+    // restarts.  Harmless no-op when otbr-radio is not running.
+    "postStartCommand": "docker/setup-thread-routes.sh"
 }

core/src/subsystems/matter/Matter.cpp

@@ -32,6 +32,8 @@
 #include "system/SystemClock.h"
 #include "zap-generated/gen_config.h"
 #include <cstdint>
+#include <cstdio>
+#include <cstdlib>
 #include <vector>
 #define LOG_TAG     "Matter"
 #define logFmt(fmt) "(%s): " fmt, __func__
@@ -99,7 +101,9 @@ extern "C" {
 #define CONNECT_DEVICE_TIMEOUT_SECONDS          15
 #define DISCOVER_ON_NETWORK_DEVICE_TIMEOUT_SECS 1
 
-#define BLE_CONTROLLER_ADAPTER_ID               0
+#define BLE_CONTROLLER_ADAPTER_ID_DEFAULT       0
+#define BLE_CONTROLLER_ADAPTER_ID_ENV           "BARTON_BLE_ADAPTER_ID"
+#define BLE_CONTROLLER_ADAPTER_ID_FILE          "/var/run/otbr-dbus/ble_adapter_id"
 #define BLE_CONTROLLER_DEVICE_NAME              BARTON_CONFIG_MATTER_BLE_CONTROLLER_DEVICE_NAME
 
 #define LOCAL_NODE_ID_SYSTEM_PROPERTY_NAME      "localMatterNodeId"
@@ -278,7 +282,7 @@ bool Matter::Init(uint64_t accountId, std::string &&attestationTrustStorePath)
     }
 
     chip::DeviceLayer::ConnectivityMgr().SetBLEDeviceName(BLE_CONTROLLER_DEVICE_NAME);
-    chip::DeviceLayer::Internal::BLEMgrImpl().ConfigureBle(BLE_CONTROLLER_ADAPTER_ID, true);
+    chip::DeviceLayer::Internal::BLEMgrImpl().ConfigureBle(ResolveBleAdapterId(), true);
     chip::DeviceLayer::ConnectivityMgr().SetBLEAdvertisingEnabled(false);
 
 #if CHIP_ENABLE_OPENTHREAD
@@ -294,6 +298,53 @@ bool Matter::Init(uint64_t accountId, std::string &&attestationTrustStorePath)
     return result;
 }
 
+uint32_t Matter::ResolveBleAdapterId()
+{
+    uint32_t adapterId = BLE_CONTROLLER_ADAPTER_ID_DEFAULT;
+    const char *env = getenv(BLE_CONTROLLER_ADAPTER_ID_ENV);
+
+    if (env != nullptr)
+    {
+        char *endPtr = nullptr;
+        unsigned long val = strtoul(env, &endPtr, 10);
+
+        if (endPtr != env && *endPtr == '\0')
+        {
+            adapterId = static_cast<uint32_t>(val);
+            icInfo("Using BLE adapter hci%u from %s", adapterId, BLE_CONTROLLER_ADAPTER_ID_ENV);
+        }
+        else
+        {
+            icWarn("Invalid %s value '%s', using default hci%u", BLE_CONTROLLER_ADAPTER_ID_ENV, env, adapterId);
+        }
+
+        return adapterId;
+    }
+
+    FILE *f = fopen(BLE_CONTROLLER_ADAPTER_ID_FILE, "r");
+
+    if (f != nullptr)
+    {
+        char buf[16];
+
+        if (fgets(buf, sizeof(buf), f) != nullptr)
+        {
+            char *endPtr = nullptr;
+            unsigned long val = strtoul(buf, &endPtr, 10);
+
+            if (endPtr != buf)
+            {
+                adapterId = static_cast<uint32_t>(val);
+                icInfo("Using BLE adapter hci%u from %s", adapterId, BLE_CONTROLLER_ADAPTER_ID_FILE);
+            }
+        }
+
+        fclose(f);
+    }
+
+    return adapterId;
+}
+
 bool Matter::Start()
 {
     icDebug();

core/src/subsystems/matter/Matter.h

@@ -281,6 +281,18 @@ namespace barton
          */
         bool SetAccessRestrictionList();
 
+        /**
+         * Determine which BlueZ HCI adapter index to use for BLE operations.
+         *
+         * Selection order:
+         *   1. BARTON_BLE_ADAPTER_ID environment variable (integer, e.g. "1" for hci1).
+         *   2. The adapter index file written at /var/run/otbr-dbus/ble_adapter_id.
+         *   3. Falls back to hci0.
+         *
+         * @return the HCI adapter index to pass to BLEMgrImpl::ConfigureBle()
+         */
+        static uint32_t ResolveBleAdapterId();
+
         bool OpenLocalCommissioningWindow(uint16_t discriminator,
                                           uint16_t timeoutSecs,
                                           SetupPayload &setupPayload);

core/src/subsystems/thread/OpenThreadClient.cpp

@@ -68,8 +68,10 @@ using namespace otbr::DBus;
 namespace
 {
     // Note: I've seen approx 7 seconds on a standard Ubuntu desktop environment for a new network, about 18 seconds for
-    // creating and replacing an existing network. This should just "go away" if we implement a proper main loop.
-    constexpr int ATTACH_WAIT_SECONDS = 25;
+    // creating and replacing an existing network. CPC-based radio hardware (e.g., EFR32 via serial/SPI) can take 35+
+    // seconds due to shared radio scheduling and slower transport. After the Attach callback fires, the OTBR may still
+    // need 30-40 seconds to form the network (detached → leader) before the dataset TLVs become available.
+    constexpr int ATTACH_WAIT_SECONDS = 120;
 } // namespace
 
 namespace barton
@@ -142,10 +144,43 @@ namespace barton
 
             if (threadApiAttachCallbackCalled && threadApiAttachError == ClientError::ERROR_NONE)
             {
-                threadApiCallError = threadApiBus->GetActiveDatasetTlvs(retVal);
-                if (threadApiCallError != ClientError::ERROR_NONE)
+                // The Attach callback may fire before OTBR has finished applying the new dataset.
+                // Retry GetActiveDatasetTlvs while time remains, processing D-Bus messages in between
+                // so we receive the "Active dataset tlvs changed" signal.
+                int datasetRetryCount = 0;
+
+                while (true)
                 {
-                    icError("Failed to get active dataset tlvs. Error = %d", (int) threadApiCallError);
+                    threadApiCallError = threadApiBus->GetActiveDatasetTlvs(retVal);
+
+                    if (threadApiCallError == ClientError::ERROR_NONE && !retVal.empty())
+                    {
+                        break;
+                    }
+
+                    auto next = steady_clock::now();
+                    timer = timer - duration_cast<milliseconds>(next - current);
+                    current = next;
+
+                    if (timer.count() <= 0)
+                    {
+                        icError("Timed out waiting for active dataset tlvs after successful attach.");
+                        break;
+                    }
+
+                    if (datasetRetryCount == 0 || datasetRetryCount % 10 == 0)
+                    {
+                        icDebug("Active dataset not yet available (error=%d), retrying (%" PRId64 "ms remaining)...",
+                                (int) threadApiCallError, (int64_t) timer.count());
+                    }
+
+                    datasetRetryCount++;
+
+                    // Dispatch D-Bus messages for up to 2 seconds before retrying
+                    dbus_connection_read_write_dispatch(dbusConnection.get(), 2000);
+                    next = steady_clock::now();
+                    timer = timer - duration_cast<milliseconds>(next - current);
+                    current = next;
                 }
             }
             else if (timer.count() <= 0)

docker/Dockerfile

@@ -355,7 +355,8 @@ RUN apt-get update && apt-get -y upgrade && DEBIAN_FRONTEND='noninteractive' apt
     tcpdump \
     lcov \
     rsync \
-    bash-completion
+    bash-completion \
+    bluez
 
 RUN pip3 install --upgrade --break-system-packages \
     stack-pr