diff --git a/CHANGELOG.md b/CHANGELOG.md index 8b10233e..9e87a91c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -15,6 +15,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 - **#3 JWT-in-URL (CWE-598) — VERIFIED ABSENT, regression-pinned.** `require_bearer` reads the token only from the `Authorization` header; the WebSocket handlers take no token query param and the sole `Query` extractor (`EdgeRegistryParams`) is a non-secret `refresh` flag. Added a regression proving `?token=`/`?access_token=` in the URL never authenticates while the header path still does. ### Fixed +- **ESP32 vitals: `n_persons` over-counted (reported 4 for one person) + presence flag flickered at close range (#998, #996).** Two firmware logic bugs in `firmware/esp32-csi-node/main/edge_processing.c`, both robustness/logic fixes — **not** validated-accuracy claims (true count/PCK vs labelled ground truth stays hardware/data-gated on the COM9 ESP32-S3). + - **#998 over-count — root cause + fix.** `update_multi_person_vitals()` split the top-K subcarriers into `top_k_count/2` groups and marked **every** group `active` unconditionally, so one body's multipath always reported the full `EDGE_MAX_PERSONS` (=4). New pure, host-testable `count_distinct_persons()` gates each candidate group: (1) **energy gate** — a group's phase variance must be ≥ `EDGE_PERSON_MIN_ENERGY_RATIO` (0.35) × the strongest group's, so weak multipath echoes don't count; (2) **spatial dedup** — groups whose representative subcarriers sit within `EDGE_PERSON_MIN_SC_SEP` (4) of each other are the same body. A `person_count_debounce()` then requires the gated count to hold `EDGE_PERSON_PERSIST_FRAMES` (3) consecutive frames before it's emitted, so a single noisy frame can't promote a phantom. The strongest group always counts (a present body yields ≥1). All thresholds are named, documented constants in `edge_processing.h`. + - **#996 presence flicker — root cause + fix.** Presence was a bare `score > threshold` compare on a noisy `presence_score` (field-observed 2.6–26.7 frame-to-frame for one stationary person), so the boolean chattered at the boundary while the score clearly indicated a person. New pure `presence_flag_update()` is a Schmitt trigger + clear-debounce: assert above `threshold`, **hold** in the dead band down to `threshold × EDGE_PRESENCE_HYST_RATIO` (0.5), and only clear after the score stays below the low threshold for `EDGE_PRESENCE_CLEAR_FRAMES` (5) consecutive frames. The score itself is unchanged (and still emitted at packet offset 20 for consumer-side thresholding). Constants named/documented in `edge_processing.h`. + - **Tests:** `firmware/esp32-csi-node/test/test_vitals_count_presence.c` (host C99, `make run_vitals`) — 13 cases / 22 assertions, all passing under gcc 13 `-Wall -Wextra`. Pins: single-strong-signature + multipath → count==1; two well-separated → count==2; two strong-but-adjacent → 1 (dedup); transient count spike rejected; sustained change accepted; dithering presence trace → stable flag (no flicker); genuine departure → clears within hold window. The named tuning constants are `#include`d from the real header so the test and firmware can't disagree. **Hardware-gated caveat:** these pin the decision *logic*; the exact energy/separation/hysteresis values that best match a real room vs labelled occupancy remain on-device tuning (COM9 ESP32-S3 + ground truth). - **ADR-155 Milestone-1b — metric-definition unification, the §8 backlog subset (Goals A/B/C).** Closed the two §8 metric-integrity items; every change pinned by a test, graded MEASURED. The audit (Goal A) also surfaced findings the §1 table under-counted — recorded honestly in ADR-155 §8.1, not hidden. Workspace stays green; Python proof unchanged (metrics are not on the deterministic proof's signal path). - **Goal B — `test_metrics.rs` now validates the production metric, not a reimplementation.** The integration test previously asserted properties of its OWN local `compute_pck`/`compute_oks` (a test that can't catch a canonical-impl bug — both could be wrong the same way). Hoisted the canonical core (`pck_canonical`/`oks_canonical`/`canonical_torso_size`/sigmas/`bounding_box_diagonal`) into a new **un-gated** `metrics_core` module so the single definition is reachable under `cargo test --no-default-features` (the `metrics` module is `tch-backend`-gated); `metrics` re-exports it → still exactly ONE implementation. Rewrote the test to assert the production `pck_canonical`/`oks_canonical` equal **hand-computed** fixtures (`canonical_pck_matches_hand_computed_fixture` = 3/4 correct ⇒ 0.75; hip↔hip normalizer pin; zero-visible⇒0.0; OKS perfect⇒1.0; fake-Gold pin) plus a differential cross-check (`test_kernel_agrees_with_canonical`: an independent raw-threshold kernel must AGREE with canonical where torso==1.0). `wifi-densepose-train --no-default-features`: test_metrics **10→12**, 0 failed. - **Goal C — divergent live-server PCK/OKS relabelled so they're never conflated with canonical.** Goal C named `training_api.rs:804` (torso-HEIGHT PCK); the audit found that file is an **orphan (not `mod`-declared, does not compile)** and the **real** live `best_pck`/`best_oks` come from `trainer.rs` — a **raw, unnormalized** `pck_at_threshold` and an **`area=1.0` fake-Gold** `oks_map` (both MISSED by ADR-155 §1, both on the claim-inflating side, both serialized as bare "PCK@0.2"/"OKS"). Torso-height/raw math is load-bearing (pixel-space, different scale axis, no `ndarray`/train dep), so the honest fix is **relabel, not force-unify**: `training_api.rs` `compute_pck` → `compute_pck_torso_height` + field/log docs; `trainer.rs` kernels documented raw/fake-Gold; `main.rs` prints `pck_raw@0.2` / `oks_map(area=1.0 proxy)`. No wire-format field or `pub`-fn renames (no silent API break). Pinned by `torso_pck_is_labelled_distinctly_from_canonical` + `pck_at_threshold_is_raw_unnormalized_not_canonical`. `wifi-densepose-sensing-server --no-default-features`: lib **450→451**, 0 failed. True unification onto `pck_canonical`/`oks_canonical` remains a tracked ADR-155 §8 item. diff --git a/docs/adr/ADR-021-vital-sign-detection-rvdna-pipeline.md b/docs/adr/ADR-021-vital-sign-detection-rvdna-pipeline.md index c93e9ac9..fc85b25f 100644 --- a/docs/adr/ADR-021-vital-sign-detection-rvdna-pipeline.md +++ b/docs/adr/ADR-021-vital-sign-detection-rvdna-pipeline.md @@ -1081,6 +1081,17 @@ The `wifi-densepose-vitals` crate (ESP32 CSI-grade vital signs) has not yet been - SONA-based environment adaptation - VitalSignStore with tiered temporal compression +## Implementation Notes + +### 2026-06 — ESP32 edge vitals: person-count over-count + presence flicker (#998, #996) + +Two robustness bugs were fixed in the on-device edge path (`firmware/esp32-csi-node/main/edge_processing.c`, the ADR-039 packet `0xC5110002`). These touch the *boolean/count emission logic*, not the underlying CSI signal-processing math, and do **not** constitute a validated-accuracy claim — true occupancy-count and presence accuracy vs labelled ground truth remain hardware/data-gated (COM9 ESP32-S3 + labelled capture). + +- **#998 `n_persons` over-count (reported 4 for one person).** `update_multi_person_vitals()` divided the top-K subcarriers into `top_k_count/2` groups and marked *every* group `active`, so one body's multipath always read the full `EDGE_MAX_PERSONS`. Added an energy gate (`EDGE_PERSON_MIN_ENERGY_RATIO`), spatial dedup (`EDGE_PERSON_MIN_SC_SEP`), and a persistence debounce (`EDGE_PERSON_PERSIST_FRAMES`) via two pure functions `count_distinct_persons()` / `person_count_debounce()`. +- **#996 presence flag flicker at ~50 cm.** Single-threshold compare on a noisy `presence_score` chattered at the boundary. Replaced with a Schmitt trigger + clear-debounce (`presence_flag_update()`, constants `EDGE_PRESENCE_HYST_RATIO` / `EDGE_PRESENCE_CLEAR_FRAMES`); `presence_score` is unchanged and still emitted for consumer-side thresholding. + +Both are pinned by host-buildable C99 tests in `firmware/esp32-csi-node/test/test_vitals_count_presence.c` (`make run_vitals`). The exact thresholds are documented constants pending on-device calibration against ground truth. + ## References - Ramsauer et al. (2020). "Hopfield Networks is All You Need." ICLR 2021. (ModernHopfield formulation)