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feat(adr-110): surface NodeSyncSnapshot in WebSocket sensing_update JSON

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Iter 23 — converts the iter 1-21 firmware-side mesh substrate from
"works internally" to "visible to UI clients". WebSocket sensing_update
broadcasts now carry a per-node optional `sync` object exposing the
mesh state the iter 15-22 wire and storage capture:

  {
    "type": "sensing_update",
    ...
    "nodes": [
      {
        "node_id": 9,
        ...
        "sync": {
          "offset_us":      1163565,    // §A0.10's measured 1.16 s
          "is_leader":      false,
          "is_valid":       true,
          "smoothed":       true,       // EMA seeded
          "sequence":       20,         // §A0.12 pairing key
          "csi_fps_ema":    10.0,       // iter 18 measured rate
          "csi_fps_samples": 47         // ≥5 means trust csi_fps_ema
        }
      }
    ],
    ...
  }

`sync` is `Option<NodeSyncSnapshot>` with `#[serde(skip_serializing_if =
"Option::is_none")]` so non-mesh paths (multi-BSSID scan / synthetic RSSI
/ simulation) emit no `sync` key — preserves backwards compatibility
with existing UI clients.

Plumbed into all four NodeInfo construction sites:
  1. multi-BSSID scan path                     → sync: None
  2. synthetic-RSSI fallback                   → sync: None
  3. simulated frame path                      → sync: None
  4. real ESP32 CSI path (line 4528)           → sync: snapshot from NodeState
  5. ADR-039 vitals-only path (line 4207)      → sync: snapshot from NodeState

cargo check -p wifi-densepose-sensing-server --no-default-features → green.

UI clients (viz.html, future Tauri desktop, downstream automation) can
now render leader/follower badges, jitter histograms, and the §A0.10
clock-skew trajectory without any further firmware or aggregator work.

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
2026-05-23 14:03:22 -04:00
parent dc20c87a68
commit 41f28ae85e
1 changed files with 56 additions and 0 deletions
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v2/crates/wifi-densepose-sensing-server/src/main.rs
+56
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@@ -293,6 +293,38 @@ struct NodeInfo {
position: [f64; 3],
amplitude: Vec<f64>,
subcarrier_count: usize,
/// ADR-110 iter 23 — cross-board sync snapshot for this node.
/// `None` when no fresh sync packet has been observed (no mesh peer
/// reachable, or this node is a singleton). Populated from
/// `NodeState::latest_sync` and the iter 18 fps EMA.
#[serde(skip_serializing_if = "Option::is_none")]
sync: Option<NodeSyncSnapshot>,
}
/// ADR-110 iter 23 — per-node mesh-sync snapshot embedded in NodeInfo.
/// Surfaces what was previously only visible in the debug log so UI clients
/// can render leader / follower / offset / measured-fps live.
#[derive(Debug, Clone, Serialize, Deserialize)]
struct NodeSyncSnapshot {
/// Smoothed local-vs-mesh offset in µs (negative when this node's clock
/// is behind the leader's — see §A0.10's measured -1.16 s on the bench).
offset_us: i64,
/// True when this node is the elected mesh leader.
is_leader: bool,
/// True when this node has heard a fresh leader beacon within the
/// firmware's VALID_WINDOW_MS gate (3 s).
is_valid: bool,
/// True once the EMA-smoothed offset has seeded (one full beacon round-trip).
smoothed: bool,
/// Sync packet's sequence high-water — used by the host to pair CSI
/// frames against this snapshot for §A0.12 mesh-time recovery.
sequence: u32,
/// Per-node measured CSI frame rate (iter 18 EMA). 20.0 until the
/// EMA has at least 5 samples; the actually-observed rate after that.
csi_fps_ema: f64,
/// How many CSI frames have contributed to `csi_fps_ema`. Clients can
/// treat <5 as "not yet trustworthy" and fall back to 20 Hz.
csi_fps_samples: u32,
}
#[derive(Debug, Clone, Serialize, Deserialize)]
@@ -2034,6 +2066,7 @@ async fn windows_wifi_task(state: SharedState, tick_ms: u64) {
position: [0.0, 0.0, 0.0],
amplitude: multi_ap_frame.amplitudes,
subcarrier_count: obs_count,
sync: None, // multi-BSSID scan path — no mesh peer
}],
features,
classification,
@@ -2178,6 +2211,7 @@ async fn windows_wifi_fallback_tick(state: &SharedState, seq: u32) {
position: [0.0, 0.0, 0.0],
amplitude: vec![signal_pct],
subcarrier_count: 1,
sync: None, // synthetic-RSSI fallback path — no mesh peer
}],
features,
classification,
@@ -4178,6 +4212,17 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
position: [2.0, 0.0, 1.5],
amplitude: vec![],
subcarrier_count: 0,
// Vitals-only path; still expose the sync snapshot
// if the node also speaks ESP-NOW.
sync: n.latest_sync.as_ref().map(|s| NodeSyncSnapshot {
offset_us: s.local_minus_epoch_us(),
is_leader: s.flags.is_leader,
is_valid: s.flags.is_valid,
smoothed: s.flags.smoothed_used,
sequence: s.sequence,
csi_fps_ema: n.csi_fps_ema,
csi_fps_samples: n.csi_fps_samples,
}),
})
.collect();
@@ -4501,6 +4546,16 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
.map(|a| a.iter().take(56).cloned().collect())
.unwrap_or_default(),
subcarrier_count: n.frame_history.back().map_or(0, |a| a.len()),
// ADR-110 iter 23: snapshot the latest mesh sync.
sync: n.latest_sync.as_ref().map(|s| NodeSyncSnapshot {
offset_us: s.local_minus_epoch_us(),
is_leader: s.flags.is_leader,
is_valid: s.flags.is_valid,
smoothed: s.flags.smoothed_used,
sequence: s.sequence,
csi_fps_ema: n.csi_fps_ema,
csi_fps_samples: n.csi_fps_samples,
}),
})
.collect();
@@ -4646,6 +4701,7 @@ async fn simulated_data_task(state: SharedState, tick_ms: u64) {
position: [2.0, 0.0, 1.5],
amplitude: frame_amplitudes,
subcarrier_count: frame_n_sub as usize,
sync: None, // simulated frame path — no mesh peer
}],
features: features.clone(),
classification,