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fix(sensing-server): wire WDP_GUARD_INTERVAL_US/WDP_TDM_* into EngineBridge

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EngineBridge::new built its own StreamingEngine, whose internal
MultistaticFuser was hardcoded to MultistaticConfig::default() (60 ms
guard) — the #1031/#1049 env overrides only reached the sibling
multistatic_fuser field on AppState, so governed trust cycles failed
against the default guard no matter what the deployment configured.

- wifi-densepose-engine: add StreamingEngine::set_multistatic_config()
- engine_bridge: EngineBridge::new takes Option<MultistaticConfig>
- main.rs: thread the same env-derived config into both fusion paths

Verified on a 2-node ESP32-S3 deployment: the failure message now
reflects the configured guard, and with healthy nodes governed cycles
ran 90 s with zero fusion errors.

Fixes #1309

Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
erichkusuki
2026-07-11 13:32:01 +02:00
parent e6f26e9ac9
commit b5ce60081b
3 changed files with 50 additions and 12 deletions
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v2/crates/wifi-densepose-sensing-server/src/engine_bridge.rs
+28 -11
View File
@@ -38,6 +38,7 @@ use wifi_densepose_bfld::{PrivacyClass, PrivacyMode};
use wifi_densepose_engine::{AdapterInfo, EngineError, StreamingEngine, TrustedOutput};
use wifi_densepose_geo::types::GeoRegistration;
use wifi_densepose_signal::ruvsense::fusion_quality::CalibrationId;
use wifi_densepose_signal::ruvsense::multistatic::MultistaticConfig;
use wifi_densepose_worldgraph::WorldId;
use super::multistatic_bridge::node_frames_from_states;
@@ -79,8 +80,24 @@ pub struct EngineBridge {
impl EngineBridge {
/// Build a bridge for one installation. `room_area_id`/`room_name` name the
/// observation scope; `mode` is the starting privacy mode.
pub fn new(mode: PrivacyMode, model_version: u16, room_area_id: &str, room_name: &str) -> Self {
///
/// `multistatic_cfg` is `None` on the pure default (60 ms/20 ms guard);
/// callers that derive a config from `WDP_TDM_SLOTS`/`WDP_GUARD_INTERVAL_US`
/// (see `main.rs::multistatic_guard_config_from_env`) should pass it here
/// too — otherwise the governed trust cycle silently keeps using the
/// hardcoded default even though the sibling `multistatic_fuser` field on
/// `AppState` picked up the override (#1049/#1057).
pub fn new(
mode: PrivacyMode,
model_version: u16,
room_area_id: &str,
room_name: &str,
multistatic_cfg: Option<MultistaticConfig>,
) -> Self {
let mut engine = StreamingEngine::new(mode, model_version, GeoRegistration::default());
if let Some(cfg) = multistatic_cfg {
engine.set_multistatic_config(cfg);
}
let room = engine.add_room(room_area_id, room_name);
Self {
engine,
@@ -267,7 +284,7 @@ mod tests {
#[test]
fn empty_states_produce_no_belief() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room", None);
let out = bridge.process_cycle_from_states(&HashMap::new(), 1_000);
assert!(out.is_none());
// No belief published, no sensor wired.
@@ -276,7 +293,7 @@ mod tests {
#[test]
fn live_cycle_produces_witnessed_belief_with_provenance() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "living_room", "Living Room", None);
let states = two_node_states();
let out = bridge
.process_cycle_from_states(&states, 10_000)
@@ -299,7 +316,7 @@ mod tests {
fn live_path_is_deterministic() {
let states = two_node_states_fixed();
let run = || {
let mut b = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut b = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
b.process_cycle_from_states(&states, 5_000).unwrap().unwrap()
};
let a = run();
@@ -325,7 +342,7 @@ mod tests {
#[test]
fn nodes_registered_once_across_cycles() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
let states = two_node_states();
bridge.process_cycle_from_states(&states, 1_000);
bridge.process_cycle_from_states(&states, 2_000);
@@ -336,7 +353,7 @@ mod tests {
#[test]
fn retention_bounds_world_graph_growth() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
bridge.set_semantic_retention(5);
let states = two_node_states();
for i in 0..20i64 {
@@ -349,7 +366,7 @@ mod tests {
#[test]
fn adapter_identity_flows_into_live_witness() {
let states = two_node_states_fixed();
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
let base = bridge
.process_cycle_from_states(&states, 1_000)
.unwrap()
@@ -381,7 +398,7 @@ mod tests {
/// the status endpoint, with a zero error count on the happy path.
#[test]
fn observe_cycle_records_trust_state() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
assert!(bridge.last_trust_witness().is_none());
assert_eq!(bridge.effective_class(), None);
@@ -430,7 +447,7 @@ mod tests {
m
}
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
let mismatched = mismatched_states();
assert!(bridge.observe_cycle(&mismatched, 1_000).is_none());
@@ -461,7 +478,7 @@ mod tests {
/// mapping bfld's privacy gate applies at `Restricted`.
#[test]
fn restricted_class_suppresses_raw_outputs() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
bridge.set_privacy_mode(PrivacyMode::StrictNoIdentity); // base = Restricted
bridge
.observe_cycle(&two_node_states(), 1_000)
@@ -472,7 +489,7 @@ mod tests {
#[test]
fn identity_strict_mode_is_carried_into_provenance() {
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R");
let mut bridge = EngineBridge::new(PrivacyMode::PrivateHome, 1, "r", "R", None);
bridge.set_privacy_mode(PrivacyMode::StrictNoIdentity);
let out = bridge
.process_cycle_from_states(&two_node_states(), 7_000)