mirror of
https://github.com/ruvnet/RuView
synced 2026-08-03 19:21:42 +00:00
Merge origin/main into feat/accuracy-sprint-001
Resolved conflicts: - edge_processing.c: kept batch-limited watchdog approach (proven on hardware) with PR's per-frame yield comment for clarity - Cargo.toml: accepted PR's new dependencies - main.rs: accepted PR's Kalman tracker + multi-node fusion additions Co-Authored-By: taylorjdawson <taylor@example.com> Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
@@ -42,6 +42,12 @@ static const char *TAG = "edge_proc";
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static edge_ring_buf_t s_ring;
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/* Scratch buffers for BPM estimation — moved from stack to static to avoid
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* stack overflow. process_frame + update_multi_person_vitals combined used
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* ~6.5-7.5 KB of the 8 KB task stack. These save ~4 KB of stack. */
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static float s_scratch_br[EDGE_PHASE_HISTORY_LEN];
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static float s_scratch_hr[EDGE_PHASE_HISTORY_LEN];
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static inline bool ring_push(const uint8_t *iq, uint16_t len,
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int8_t rssi, uint8_t channel)
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{
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@@ -268,6 +274,9 @@ static uint8_t s_prev_iq[EDGE_MAX_IQ_BYTES];
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static uint16_t s_prev_iq_len;
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static bool s_has_prev_iq;
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/** ADR-069: Feature vector sequence counter. */
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static uint16_t s_feature_seq;
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/** Multi-person vitals state. */
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static edge_person_vitals_t s_persons[EDGE_MAX_PERSONS];
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static edge_biquad_t s_person_bq_br[EDGE_MAX_PERSONS];
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@@ -402,10 +411,10 @@ static uint16_t delta_compress(const uint8_t *curr, uint16_t len,
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}
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/**
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* Send a compressed CSI frame (magic 0xC5110003).
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* Send a compressed CSI frame (magic 0xC5110005, reassigned from 0xC5110003 for ADR-069).
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*
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* Header:
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* [0..3] Magic 0xC5110003 (LE)
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* [0..3] Magic 0xC5110005 (LE)
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* [4] Node ID
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* [5] Channel
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* [6..7] Original I/Q length (LE u16)
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@@ -511,20 +520,18 @@ static void update_multi_person_vitals(const uint8_t *iq_data, uint16_t n_sc,
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/* Estimate BPM when we have enough history. */
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if (pv->history_len >= 64) {
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/* Build contiguous buffer for zero-crossing. */
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float br_buf[EDGE_PHASE_HISTORY_LEN];
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float hr_buf[EDGE_PHASE_HISTORY_LEN];
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/* Build contiguous buffer (reuse static scratch to save ~2 KB stack). */
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uint16_t buf_len = pv->history_len;
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for (uint16_t i = 0; i < buf_len; i++) {
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uint16_t ri = (pv->history_idx + EDGE_PHASE_HISTORY_LEN
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- buf_len + i) % EDGE_PHASE_HISTORY_LEN;
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br_buf[i] = s_person_br_filt[p][ri];
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hr_buf[i] = s_person_hr_filt[p][ri];
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s_scratch_br[i] = s_person_br_filt[p][ri];
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s_scratch_hr[i] = s_person_hr_filt[p][ri];
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}
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float br = estimate_bpm_zero_crossing(br_buf, buf_len, sample_rate);
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float hr = estimate_bpm_zero_crossing(hr_buf, buf_len, sample_rate);
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float br = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
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float hr = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
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/* Sanity clamp. */
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if (br >= 6.0f && br <= 40.0f) pv->breathing_bpm = br;
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@@ -628,6 +635,70 @@ static void send_vitals_packet(void)
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}
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}
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/* ======================================================================
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* ADR-069: Feature Vector Packet (48 bytes, sent at 1 Hz alongside vitals)
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* ====================================================================== */
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static void send_feature_vector(void)
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{
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edge_feature_pkt_t pkt;
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memset(&pkt, 0, sizeof(pkt));
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pkt.magic = EDGE_FEATURE_MAGIC;
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pkt.node_id = g_nvs_config.node_id;
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pkt.reserved = 0;
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pkt.seq = s_feature_seq++;
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pkt.timestamp_us = esp_timer_get_time();
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/* Dim 0: Presence score (0.0-1.0, normalized from raw score) */
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float p = s_presence_score;
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pkt.features[0] = p > 10.0f ? 1.0f : (p < 0.0f ? 0.0f : p / 10.0f);
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/* Dim 1: Motion energy (normalized, 0-1 range) */
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float m = s_motion_energy;
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pkt.features[1] = m > 10.0f ? 1.0f : (m < 0.0f ? 0.0f : m / 10.0f);
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/* Dim 2: Breathing rate (BPM / 30, 0-1 range) */
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pkt.features[2] = s_breathing_bpm > 0.0f
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? (s_breathing_bpm / 30.0f > 1.0f ? 1.0f : s_breathing_bpm / 30.0f)
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: 0.0f;
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/* Dim 3: Heart rate (BPM / 120, 0-1 range) */
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pkt.features[3] = s_heartrate_bpm > 0.0f
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? (s_heartrate_bpm / 120.0f > 1.0f ? 1.0f : s_heartrate_bpm / 120.0f)
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: 0.0f;
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/* Dim 4: Phase variance mean (top-K subcarriers) */
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float var_mean = 0.0f;
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if (s_top_k_count > 0) {
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float var_sum = 0.0f;
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uint8_t k = s_top_k_count < EDGE_TOP_K ? s_top_k_count : EDGE_TOP_K;
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for (uint8_t i = 0; i < k; i++) {
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var_sum += (float)welford_variance(&s_subcarrier_var[s_top_k[i]]);
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}
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var_mean = var_sum / (float)k;
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}
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pkt.features[4] = var_mean > 1.0f ? 1.0f : (var_mean < 0.0f ? 0.0f : var_mean);
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/* Dim 5: Person count (n_persons / 4, 0-1 range) */
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uint8_t n_active = 0;
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for (uint8_t i = 0; i < EDGE_MAX_PERSONS; i++) {
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if (s_persons[i].active) n_active++;
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}
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pkt.features[5] = (float)n_active / 4.0f;
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if (pkt.features[5] > 1.0f) pkt.features[5] = 1.0f;
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/* Dim 6: Fall risk (0.0 or 1.0 based on recent detection) */
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pkt.features[6] = s_fall_detected ? 1.0f : 0.0f;
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/* Dim 7: RSSI normalized ((rssi + 100) / 100, 0-1 range) */
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pkt.features[7] = ((float)s_latest_rssi + 100.0f) / 100.0f;
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if (pkt.features[7] > 1.0f) pkt.features[7] = 1.0f;
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if (pkt.features[7] < 0.0f) pkt.features[7] = 0.0f;
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stream_sender_send((const uint8_t *)&pkt, sizeof(pkt));
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}
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/* ======================================================================
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* Main DSP Pipeline (runs on Core 1)
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* ====================================================================== */
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@@ -688,20 +759,18 @@ static void process_frame(const edge_ring_slot_t *slot)
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/* --- Step 7: BPM estimation (zero-crossing) --- */
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if (s_history_len >= 64) {
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/* Build contiguous buffers from ring. */
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float br_buf[EDGE_PHASE_HISTORY_LEN];
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float hr_buf[EDGE_PHASE_HISTORY_LEN];
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/* Build contiguous buffers from ring (using static scratch to save stack). */
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uint16_t buf_len = s_history_len;
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for (uint16_t i = 0; i < buf_len; i++) {
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uint16_t ri = (s_history_idx + EDGE_PHASE_HISTORY_LEN
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- buf_len + i) % EDGE_PHASE_HISTORY_LEN;
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br_buf[i] = s_breathing_filtered[ri];
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hr_buf[i] = s_heartrate_filtered[ri];
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s_scratch_br[i] = s_breathing_filtered[ri];
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s_scratch_hr[i] = s_heartrate_filtered[ri];
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}
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float br_bpm = estimate_bpm_zero_crossing(br_buf, buf_len, sample_rate);
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float hr_bpm = estimate_bpm_zero_crossing(hr_buf, buf_len, sample_rate);
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float br_bpm = estimate_bpm_zero_crossing(s_scratch_br, buf_len, sample_rate);
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float hr_bpm = estimate_bpm_zero_crossing(s_scratch_hr, buf_len, sample_rate);
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/* Sanity clamp: breathing 6-40 BPM, heart rate 40-180 BPM. */
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if (br_bpm >= 6.0f && br_bpm <= 40.0f) s_breathing_bpm = br_bpm;
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@@ -784,6 +853,7 @@ static void process_frame(const edge_ring_slot_t *slot)
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int64_t interval_us = (int64_t)s_cfg.vital_interval_ms * 1000;
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if ((now_us - s_last_vitals_send_us) >= interval_us) {
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send_vitals_packet();
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send_feature_vector(); /* ADR-069: 48-byte feature vector at same 1 Hz cadence. */
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s_last_vitals_send_us = now_us;
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if ((s_frame_count % 200) == 0) {
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@@ -831,15 +901,26 @@ static void edge_task(void *arg)
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edge_ring_slot_t slot;
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/* Maximum frames to process before a longer yield. On busy LANs
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* (corporate networks, many APs), the ring buffer fills continuously.
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* Without a batch limit the task processes frames back-to-back with
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* only 1-tick yields, which on high frame rates can still starve
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* IDLE1 enough to trip the 5-second task watchdog. See #266, #321. */
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while (1) {
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if (ring_pop(&slot)) {
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uint8_t processed = 0;
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while (processed < EDGE_BATCH_LIMIT && ring_pop(&slot)) {
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process_frame(&slot);
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/* Yield after every frame to feed the Core 1 watchdog.
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* process_frame() is CPU-intensive (biquad filters, Welford stats,
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* BPM estimation, multi-person vitals) and can take several ms.
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* Without this yield, edge_dsp at priority 5 starves IDLE1 at
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* priority 0, triggering the task watchdog. See issue #266. */
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processed++;
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/* Yield after every frame to feed the Core 1 watchdog. */
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vTaskDelay(1);
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}
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if (processed > 0) {
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/* Post-batch yield: ~20 ms so IDLE1 can run and feed the
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* Core 1 watchdog even under sustained load. */
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{ TickType_t d = pdMS_TO_TICKS(20); vTaskDelay(d > 0 ? d : 1); }
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} else {
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/* No frames available — yield briefly. */
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vTaskDelay(pdMS_TO_TICKS(1));
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@@ -26,7 +26,7 @@
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/* ---- Magic numbers ---- */
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#define EDGE_VITALS_MAGIC 0xC5110002 /**< Vitals packet magic. */
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#define EDGE_COMPRESSED_MAGIC 0xC5110003 /**< Compressed frame magic. */
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#define EDGE_COMPRESSED_MAGIC 0xC5110005 /**< Compressed frame magic (was 0xC5110003, reassigned for ADR-069). */
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/* ---- Buffer sizes ---- */
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#define EDGE_RING_SLOTS 16 /**< SPSC ring buffer slots (power of 2). */
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@@ -46,6 +46,9 @@
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#define EDGE_FALL_COOLDOWN_MS 5000 /**< Minimum ms between fall alerts (debounce). */
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#define EDGE_FALL_CONSEC_MIN 3 /**< Consecutive frames above threshold to trigger. */
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/* ---- DSP task tuning ---- */
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#define EDGE_BATCH_LIMIT 4 /**< Max frames per batch before longer yield. */
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/* ---- SPSC ring buffer slot ---- */
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typedef struct {
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uint8_t iq_data[EDGE_MAX_IQ_BYTES]; /**< Raw I/Q bytes from CSI callback. */
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@@ -106,6 +109,20 @@ typedef struct __attribute__((packed)) {
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_Static_assert(sizeof(edge_vitals_pkt_t) == 32, "vitals packet must be 32 bytes");
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/* ---- ADR-069: CSI Feature Vector packet (48 bytes, wire format) ---- */
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#define EDGE_FEATURE_MAGIC 0xC5110003 /**< Feature vector packet magic. */
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typedef struct __attribute__((packed)) {
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uint32_t magic; /**< EDGE_FEATURE_MAGIC = 0xC5110003. */
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uint8_t node_id; /**< ESP32 node identifier. */
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uint8_t reserved; /**< Alignment padding. */
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uint16_t seq; /**< Sequence number. */
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int64_t timestamp_us; /**< Microseconds since boot. */
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float features[8]; /**< 8-dim normalized feature vector. */
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} edge_feature_pkt_t;
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_Static_assert(sizeof(edge_feature_pkt_t) == 48, "feature packet must be 48 bytes");
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/* ---- ADR-063: Fused vitals packet (48 bytes, wire format) ---- */
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#define EDGE_FUSED_MAGIC 0xC5110004 /**< Fused vitals packet magic. */
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@@ -167,6 +167,17 @@ void app_main(void)
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}
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#else
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csi_collector_init();
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/* ADR-073: Start multi-frequency channel hopping if configured in NVS. */
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if (g_nvs_config.channel_hop_count > 1) {
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ESP_LOGI(TAG, "Starting channel hopping: %u channels, dwell=%lu ms",
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(unsigned)g_nvs_config.channel_hop_count,
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(unsigned long)g_nvs_config.dwell_ms);
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csi_collector_set_hop_table(
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g_nvs_config.channel_list,
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g_nvs_config.channel_hop_count,
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g_nvs_config.dwell_ms);
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}
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#endif
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/* ADR-039: Initialize edge processing pipeline. */
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@@ -71,6 +71,14 @@ def build_nvs_csv(args):
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mac_bytes = bytes(int(b, 16) for b in args.filter_mac.split(":"))
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# NVS blob: write as hex-encoded string for CSV compatibility
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writer.writerow(["filter_mac", "data", "hex2bin", mac_bytes.hex()])
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# ADR-073: Multi-frequency channel hopping
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if args.hop_channels is not None:
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channels = [int(c.strip()) for c in args.hop_channels.split(",")]
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writer.writerow(["hop_count", "data", "u8", str(len(channels))])
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# Store as NVS blob (firmware reads "chan_list" as uint8 blob)
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chan_bytes = bytes(channels)
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writer.writerow(["chan_list", "data", "hex2bin", chan_bytes.hex()])
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writer.writerow(["dwell_ms", "data", "u32", str(args.hop_dwell)])
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# ADR-066: Swarm bridge configuration
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if args.seed_url is not None:
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writer.writerow(["seed_url", "data", "string", args.seed_url])
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@@ -181,6 +189,9 @@ def main():
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parser.add_argument("--channel", type=int, help="CSI channel (1-14 for 2.4GHz, 36-177 for 5GHz). "
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"Overrides auto-detection from connected AP.")
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parser.add_argument("--filter-mac", type=str, help="MAC address to filter CSI frames (AA:BB:CC:DD:EE:FF)")
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# ADR-073: Multi-frequency channel hopping
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parser.add_argument("--hop-channels", type=str, help="Comma-separated channel list for hopping (e.g. '1,6,11')")
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parser.add_argument("--hop-dwell", type=int, default=200, help="Dwell time per channel in ms (default: 200)")
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# ADR-066: Swarm bridge
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parser.add_argument("--seed-url", type=str, help="Cognitum Seed base URL (e.g. http://10.1.10.236)")
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parser.add_argument("--seed-token", type=str, help="Seed Bearer token (from pairing)")
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@@ -0,0 +1,33 @@
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# ESP32-S3 CSI Node — Default SDK Configuration
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# This file is applied automatically by idf.py when no sdkconfig exists.
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# Target: ESP32-S3
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CONFIG_IDF_TARGET="esp32s3"
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# Use custom partition table (8MB flash with OTA — ADR-045)
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CONFIG_PARTITION_TABLE_CUSTOM=y
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CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions_display.csv"
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# Flash configuration: 8MB (Quad SPI)
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CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y
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CONFIG_ESPTOOLPY_FLASHSIZE="8MB"
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# Compiler optimization: optimize for size to reduce binary
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CONFIG_COMPILER_OPTIMIZATION_SIZE=y
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# Enable CSI (Channel State Information) in WiFi driver
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CONFIG_ESP_WIFI_CSI_ENABLED=y
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# NVS encryption disabled by default (requires eFuse provisioning).
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# Enable only after burning HMAC key to eFuse block.
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# CONFIG_NVS_ENCRYPTION is not set
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# Disable unused features to reduce binary size
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CONFIG_BOOTLOADER_LOG_LEVEL_WARN=y
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CONFIG_LOG_DEFAULT_LEVEL_INFO=y
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# LWIP: enable extended socket options for UDP multicast
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CONFIG_LWIP_SO_RCVBUF=y
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# FreeRTOS: increase task stack for CSI processing
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CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
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