ADR-110: ESP32-C6 firmware extension (#764)

Closes the firmware-side ADR-110 design at v0.7.0-esp32 after a 38-iter /loop SOTA sprint.

Headline (bench, COM9+COM12 ESP32-C6):
- 99.56% cross-board RX, 104.1 µs smoothed offset stdev (≤100 µs §2.4 target met)
- 3.95× EMA suppression, 1.4 ppm crystal skew preserved

4 firmware releases: v0.6.7 / v0.6.8 / v0.6.9 / v0.7.0-esp32.
42 ADR-110 unit tests, 1761 v2 workspace tests, full Firmware CI + QEMU green.

v2/crates/wifi-densepose-sensing-server/src/cli.rs

@@ -102,4 +102,216 @@ pub struct Args {
     /// Start field model calibration on boot (empty room required)
     #[arg(long)]
     pub calibrate: bool,
+
+    // ─── ADR-115 §3.8 — MQTT publisher (HA-DISCO) ──────────────────────────
+    /// Enable MQTT publisher with HA auto-discovery
+    #[arg(long, env = "RUVIEW_MQTT")]
+    pub mqtt: bool,
+
+    /// MQTT broker host
+    #[arg(long, env = "RUVIEW_MQTT_HOST", default_value = "localhost")]
+    pub mqtt_host: String,
+
+    /// MQTT broker port (defaults: 1883 plain / 8883 with TLS)
+    #[arg(long, env = "RUVIEW_MQTT_PORT")]
+    pub mqtt_port: Option<u16>,
+
+    /// MQTT username
+    #[arg(long, env = "RUVIEW_MQTT_USERNAME")]
+    pub mqtt_username: Option<String>,
+
+    /// Environment variable holding the MQTT password
+    #[arg(long, default_value = "MQTT_PASSWORD")]
+    pub mqtt_password_env: String,
+
+    /// MQTT client ID (default: wifi-densepose-<hostname>)
+    #[arg(long, env = "RUVIEW_MQTT_CLIENT_ID")]
+    pub mqtt_client_id: Option<String>,
+
+    /// Discovery topic prefix (ADR-115 §9.2 — accepted: `homeassistant`)
+    #[arg(long, env = "RUVIEW_MQTT_PREFIX", default_value = "homeassistant")]
+    pub mqtt_prefix: String,
+
+    /// Enable TLS to the broker
+    #[arg(long, env = "RUVIEW_MQTT_TLS")]
+    pub mqtt_tls: bool,
+
+    /// CA bundle for TLS
+    #[arg(long, value_name = "PATH")]
+    pub mqtt_ca_file: Option<PathBuf>,
+
+    /// Client certificate for mTLS
+    #[arg(long, value_name = "PATH")]
+    pub mqtt_client_cert: Option<PathBuf>,
+
+    /// Client key for mTLS
+    #[arg(long, value_name = "PATH")]
+    pub mqtt_client_key: Option<PathBuf>,
+
+    /// Discovery refresh interval (seconds)
+    #[arg(long, default_value = "600")]
+    pub mqtt_refresh_secs: u64,
+
+    /// Vitals publish rate (Hz) — HR/BR
+    #[arg(long, default_value = "0.2")]
+    pub mqtt_rate_vitals: f64,
+
+    /// Motion publish rate (Hz)
+    #[arg(long, default_value = "1.0")]
+    pub mqtt_rate_motion: f64,
+
+    /// Person count publish rate (Hz)
+    #[arg(long, default_value = "1.0")]
+    pub mqtt_rate_count: f64,
+
+    /// RSSI publish rate (Hz)
+    #[arg(long, default_value = "0.1")]
+    pub mqtt_rate_rssi: f64,
+
+    /// Publish pose keypoints over MQTT (off by default for bandwidth)
+    #[arg(long)]
+    pub mqtt_publish_pose: bool,
+
+    /// Pose publish rate (Hz) when --mqtt-publish-pose is set
+    #[arg(long, default_value = "1.0")]
+    pub mqtt_rate_pose: f64,
+
+    // ─── ADR-115 §3.10 — Privacy mode ──────────────────────────────────────
+    /// Strip biometrics (HR/BR/pose) before any MQTT or Matter publish.
+    /// Discovery for those entities is suppressed entirely — the controller
+    /// never sees them exist. Implements the ADR-106 primitive-isolation
+    /// contract at the integration boundary.
+    #[arg(long, env = "RUVIEW_PRIVACY_MODE")]
+    pub privacy_mode: bool,
+
+    // ─── ADR-115 §3.11 — Matter Bridge (HA-FABRIC) ─────────────────────────
+    /// Enable Matter Bridge
+    #[arg(long, env = "RUVIEW_MATTER")]
+    pub matter: bool,
+
+    /// Write Matter setup code + QR string to this file on first start
+    #[arg(long, value_name = "PATH")]
+    pub matter_setup_file: Option<PathBuf>,
+
+    /// Wipe stored Matter fabric credentials before starting
+    #[arg(long)]
+    pub matter_reset: bool,
+
+    /// Matter vendor ID (default: dev VID 0xFFF1 per ADR-115 §9.9)
+    #[arg(long, default_value = "0xFFF1")]
+    pub matter_vendor_id: String,
+
+    /// Matter product ID (default: 0x8001)
+    #[arg(long, default_value = "0x8001")]
+    pub matter_product_id: String,
+
+    // ─── ADR-115 §3.12 — Semantic Inference (HA-MIND) ─────────────────────
+    /// Enable semantic inference layer (sleeping/distress/room-active/etc).
+    /// Default ON — primitives are the primary product surface.
+    #[arg(long, default_value_t = true)]
+    pub semantic: bool,
+
+    /// Per-primitive thresholds file
+    #[arg(long, value_name = "PATH")]
+    pub semantic_thresholds_file: Option<PathBuf>,
+
+    /// Zone-tag map (e.g. {"bathroom": ["zone_3"]})
+    #[arg(long, value_name = "PATH")]
+    pub semantic_zones_file: Option<PathBuf>,
+
+    /// Days of history for personalised baselines
+    #[arg(long, default_value = "14")]
+    pub semantic_baseline_window_days: u32,
+
+    /// Disable a specific semantic primitive (e.g. `sleeping`); repeatable.
+    /// Valid names: sleeping, distress, room_active, elderly_anomaly,
+    /// meeting, bathroom, fall_risk, bed_exit, no_movement, multi_room.
+    #[arg(long = "no-semantic", value_name = "PRIMITIVE")]
+    pub no_semantic: Vec<String>,
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use clap::Parser;
+
+    /// MQTT flags default safely (disabled).
+    #[test]
+    fn mqtt_defaults_disabled() {
+        let args = Args::parse_from(["sensing-server"]);
+        assert!(!args.mqtt, "--mqtt must default to false");
+        assert_eq!(args.mqtt_host, "localhost");
+        assert_eq!(args.mqtt_prefix, "homeassistant");
+        assert_eq!(args.mqtt_refresh_secs, 600);
+        assert_eq!(args.mqtt_rate_vitals, 0.2);
+        assert_eq!(args.mqtt_rate_motion, 1.0);
+        assert_eq!(args.mqtt_rate_count, 1.0);
+        assert_eq!(args.mqtt_rate_rssi, 0.1);
+        assert!(!args.mqtt_publish_pose);
+        assert_eq!(args.mqtt_rate_pose, 1.0);
+        assert!(!args.mqtt_tls);
+        assert!(args.mqtt_username.is_none());
+        assert!(args.mqtt_port.is_none());
+    }
+
+    #[test]
+    fn privacy_mode_defaults_off() {
+        let args = Args::parse_from(["sensing-server"]);
+        assert!(!args.privacy_mode);
+    }
+
+    #[test]
+    fn matter_defaults_off_dev_vid() {
+        let args = Args::parse_from(["sensing-server"]);
+        assert!(!args.matter);
+        assert_eq!(args.matter_vendor_id, "0xFFF1");
+        assert_eq!(args.matter_product_id, "0x8001");
+    }
+
+    #[test]
+    fn semantic_defaults_on() {
+        let args = Args::parse_from(["sensing-server"]);
+        assert!(args.semantic);
+        assert!(args.no_semantic.is_empty());
+        assert_eq!(args.semantic_baseline_window_days, 14);
+    }
+
+    #[test]
+    fn mqtt_all_flags_compose() {
+        let args = Args::parse_from([
+            "sensing-server",
+            "--mqtt",
+            "--mqtt-host", "broker.example.com",
+            "--mqtt-port", "8883",
+            "--mqtt-username", "ruview",
+            "--mqtt-prefix", "homeassistant",
+            "--mqtt-tls",
+            "--mqtt-refresh-secs", "300",
+            "--mqtt-rate-vitals", "0.5",
+            "--mqtt-publish-pose",
+            "--mqtt-rate-pose", "2.0",
+            "--privacy-mode",
+        ]);
+        assert!(args.mqtt);
+        assert_eq!(args.mqtt_host, "broker.example.com");
+        assert_eq!(args.mqtt_port, Some(8883));
+        assert_eq!(args.mqtt_username.as_deref(), Some("ruview"));
+        assert!(args.mqtt_tls);
+        assert_eq!(args.mqtt_refresh_secs, 300);
+        assert_eq!(args.mqtt_rate_vitals, 0.5);
+        assert!(args.mqtt_publish_pose);
+        assert_eq!(args.mqtt_rate_pose, 2.0);
+        assert!(args.privacy_mode);
+    }
+
+    #[test]
+    fn no_semantic_repeatable() {
+        let args = Args::parse_from([
+            "sensing-server",
+            "--no-semantic", "sleeping",
+            "--no-semantic", "meeting",
+            "--no-semantic", "fall_risk",
+        ]);
+        assert_eq!(args.no_semantic, vec!["sleeping", "meeting", "fall_risk"]);
+    }
 }