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https://github.com/ruvnet/RuView
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feat(server): accuracy sprint 001 — Kalman tracker, multi-node fusion, eigenvalue counting
Original work by @taylorjdawson (PR #341). Merged with v0.5.5 firmware preserved (ADR-069 feature vectors, ADR-073 channel hopping, batch-limited watchdog from #266 fix). New server features: - Kalman tracker bridge for temporal smoothing - Multi-node CSI fusion with field model - Eigenvalue-based person counting - Calibration endpoints (start/stop/status) - Node positions parsing - Adaptive classifier enhancements Co-Authored-By: taylorjdawson <taylor@users.noreply.github.com> Co-Authored-By: claude-flow <ruv@ruv.net>
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ruv
@@ -110,12 +110,18 @@ export class SensingTab {
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<div class="sensing-card-title">About This Data</div>
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<p class="sensing-about-text">
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Metrics are computed from WiFi Channel State Information (CSI).
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With <strong>1 ESP32</strong> you get presence detection, breathing
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With <strong><span id="sensingNodeCount">0</span> ESP32 node(s)</strong> you get presence detection, breathing
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estimation, and gross motion. Add <strong>3-4+ ESP32 nodes</strong>
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around the room for spatial resolution and limb-level tracking.
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</p>
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</div>
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<!-- Node Status -->
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<div class="sensing-card" id="sensingNodeCards">
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<div class="sensing-card-title">NODE STATUS</div>
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<div id="nodeStatusContainer"></div>
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</div>
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<!-- Extra info -->
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<div class="sensing-card">
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<div class="sensing-card-title">Details</div>
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@@ -193,6 +199,9 @@ export class SensingTab {
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// Update HUD
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this._updateHUD(data);
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// Update per-node panels
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this._updateNodePanels(data);
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}
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_onStateChange(state) {
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@@ -233,6 +242,11 @@ export class SensingTab {
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const f = data.features || {};
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const c = data.classification || {};
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// Node count
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const nodeCount = (data.nodes || []).length;
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const countEl = this.container.querySelector('#sensingNodeCount');
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if (countEl) countEl.textContent = String(nodeCount);
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// RSSI
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this._setText('sensingRssi', `${(f.mean_rssi || -80).toFixed(1)} dBm`);
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this._setText('sensingSource', data.source || '');
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@@ -309,6 +323,57 @@ export class SensingTab {
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ctx.stroke();
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}
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// ---- Per-node panels ---------------------------------------------------
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_updateNodePanels(data) {
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const container = this.container.querySelector('#nodeStatusContainer');
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if (!container) return;
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const nodeFeatures = data.node_features || [];
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if (nodeFeatures.length === 0) {
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container.textContent = '';
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const msg = document.createElement('div');
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msg.style.cssText = 'color:#888;font-size:12px;padding:8px;';
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msg.textContent = 'No nodes detected';
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container.appendChild(msg);
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return;
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}
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const NODE_COLORS = ['#00ccff', '#ff6600', '#00ff88', '#ff00cc', '#ffcc00', '#8800ff', '#00ffcc', '#ff0044'];
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container.textContent = '';
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for (const nf of nodeFeatures) {
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const color = NODE_COLORS[nf.node_id % NODE_COLORS.length];
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const statusColor = nf.stale ? '#888' : '#0f0';
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const row = document.createElement('div');
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row.style.cssText = `display:flex;align-items:center;gap:8px;padding:6px 8px;margin-bottom:4px;background:rgba(255,255,255,0.03);border-radius:6px;border-left:3px solid ${color};`;
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const idCol = document.createElement('div');
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idCol.style.minWidth = '50px';
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const nameEl = document.createElement('div');
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nameEl.style.cssText = `font-size:11px;font-weight:600;color:${color};`;
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nameEl.textContent = 'Node ' + nf.node_id;
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const statusEl = document.createElement('div');
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statusEl.style.cssText = `font-size:9px;color:${statusColor};`;
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statusEl.textContent = nf.stale ? 'STALE' : 'ACTIVE';
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idCol.appendChild(nameEl);
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idCol.appendChild(statusEl);
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const metricsCol = document.createElement('div');
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metricsCol.style.cssText = 'flex:1;font-size:10px;color:#aaa;';
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metricsCol.textContent = (nf.rssi_dbm || -80).toFixed(0) + ' dBm · var ' + (nf.features?.variance || 0).toFixed(1);
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const classCol = document.createElement('div');
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classCol.style.cssText = 'font-size:10px;font-weight:600;color:#ccc;';
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const motion = (nf.classification?.motion_level || 'absent').toUpperCase();
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const conf = ((nf.classification?.confidence || 0) * 100).toFixed(0);
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classCol.textContent = motion + ' ' + conf + '%';
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row.appendChild(idCol);
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row.appendChild(metricsCol);
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row.appendChild(classCol);
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container.appendChild(row);
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}
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}
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// ---- Resize ------------------------------------------------------------
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_setupResize() {
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@@ -66,6 +66,10 @@ function valueToColor(v) {
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return [r, g, b];
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}
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// ---- Node marker color palette -------------------------------------------
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const NODE_MARKER_COLORS = [0x00ccff, 0xff6600, 0x00ff88, 0xff00cc, 0xffcc00, 0x8800ff, 0x00ffcc, 0xff0044];
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// ---- GaussianSplatRenderer -----------------------------------------------
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export class GaussianSplatRenderer {
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@@ -108,6 +112,10 @@ export class GaussianSplatRenderer {
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// Node markers (ESP32 / router positions)
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this._createNodeMarkers(THREE);
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// Dynamic per-node markers (multi-node support)
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this.nodeMarkers = new Map(); // nodeId -> THREE.Mesh
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this._THREE = THREE;
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// Body disruption blob
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this._createBodyBlob(THREE);
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@@ -369,11 +377,43 @@ export class GaussianSplatRenderer {
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bGeo.attributes.splatSize.needsUpdate = true;
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}
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// -- Update node positions ---------------------------------------------
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// -- Update node positions (legacy single-node) ------------------------
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if (nodes.length > 0 && nodes[0].position) {
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const pos = nodes[0].position;
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this.nodeMarker.position.set(pos[0], 0.5, pos[2]);
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}
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// -- Update dynamic per-node markers (multi-node support) --------------
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if (nodes && nodes.length > 0 && this.scene) {
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const THREE = this._THREE || window.THREE;
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if (THREE) {
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const activeIds = new Set();
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for (const node of nodes) {
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activeIds.add(node.node_id);
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if (!this.nodeMarkers.has(node.node_id)) {
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const geo = new THREE.SphereGeometry(0.25, 16, 16);
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const mat = new THREE.MeshBasicMaterial({
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color: NODE_MARKER_COLORS[node.node_id % NODE_MARKER_COLORS.length],
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transparent: true,
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opacity: 0.8,
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});
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const marker = new THREE.Mesh(geo, mat);
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this.scene.add(marker);
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this.nodeMarkers.set(node.node_id, marker);
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}
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const marker = this.nodeMarkers.get(node.node_id);
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const pos = node.position || [0, 0, 0];
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marker.position.set(pos[0], 0.5, pos[2]);
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}
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// Remove stale markers
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for (const [id, marker] of this.nodeMarkers) {
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if (!activeIds.has(id)) {
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this.scene.remove(marker);
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this.nodeMarkers.delete(id);
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}
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}
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}
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}
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}
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// ---- Render loop -------------------------------------------------------
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@@ -84,6 +84,11 @@ class SensingService {
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return [...this._rssiHistory];
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}
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/** Get per-node RSSI history (object keyed by node_id). */
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getPerNodeRssiHistory() {
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return { ...(this._perNodeRssiHistory || {}) };
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}
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/** Current connection state. */
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get state() {
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return this._state;
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@@ -327,6 +332,20 @@ class SensingService {
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}
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}
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// Per-node RSSI tracking
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if (!this._perNodeRssiHistory) this._perNodeRssiHistory = {};
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if (data.node_features) {
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for (const nf of data.node_features) {
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if (!this._perNodeRssiHistory[nf.node_id]) {
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this._perNodeRssiHistory[nf.node_id] = [];
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}
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this._perNodeRssiHistory[nf.node_id].push(nf.rssi_dbm);
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if (this._perNodeRssiHistory[nf.node_id].length > this._maxHistory) {
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this._perNodeRssiHistory[nf.node_id].shift();
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}
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}
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}
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// Notify all listeners
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for (const cb of this._listeners) {
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try {
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