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Merge main into feat/realtime-dense-pointcloud

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Brings in ADR-081 firmware kernel, Timer Svc stack fix, firmware CI
matrix, and v0.6.2-esp32 release prep. Cargo.lock taken from feature
branch — regenerated cleanly for wifi-densepose-pointcloud and
wifi-densepose-geo.

Co-Authored-By: claude-flow <ruv@ruv.net>
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ruv
2026-04-20 12:40:34 -04:00
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# ADR-081: Adaptive CSI Mesh Firmware Kernel
| Field | Value |
|-------------|-----------------------------------------------------------------------|
| **Status** | Accepted — Layers 1/2/3/4/5 implemented and host-tested; mesh RX path and Ed25519 signing tracked as Phase 3.5 polish |
| **Date** | 2026-04-19 |
| **Authors** | ruv |
| **Depends** | ADR-018, ADR-028, ADR-029, ADR-031, ADR-032, ADR-039, ADR-066, ADR-073 |
## Context
RuView's firmware grew bottom-up. ADR-018 defined a binary CSI frame, ADR-029
added channel hopping and TDM, ADR-039 added a tiered edge-intelligence
pipeline, ADR-040 added programmable WASM modules, ADR-060 added per-node
channel and MAC overrides, ADR-066 added a swarm bridge to a coordinator, and
ADR-073 added multifrequency mesh scanning. Each one was a sound local
decision. Together they produced a firmware that works on ESP32-S3 but is
**implicitly coupled** to that chipset through `csi_collector.c` calling
`esp_wifi_*` directly and through hard-coded assumptions about the WiFi driver
callback shape.
This is a problem for three reasons:
1. **Portability.** Espressif exposes CSI through an official driver API. On
locked Broadcom and Cypress chips, projects like Nexmon achieve the same
thing by patching the firmware blob — but only for specific chip and
firmware build combinations. Future RuView nodes will likely span both
models plus eventually a custom silicon path. Today, none of the modules
above can be reused unchanged on any non-ESP32 chip.
2. **Adaptivity.** The current firmware reacts to configuration, not to
conditions. Channel hop intervals, edge tier, vitals cadence, top-K
subcarriers, fall threshold, and power duty are all read from NVS at boot
and never revisited. There is no closed-loop control: if a channel becomes
congested, if motion spikes, if inter-node coherence drops, or if the
environment is stable enough to coast at lower cadence, nothing changes
onboard. The adaptive classifier in `wifi-densepose-sensing-server` does
adapt — but only on the host side, after the data has already traversed the
network at fixed rate.
3. **Mesh as an afterthought.** ADR-029 wired in a `TdmCoordinator` and ADR-066
added a swarm bridge to a Cognitum Seed, but there is no first-class node
role enumeration (anchor / observer / fusion-relay / coordinator), no
role-assignment protocol, no `FEATURE_DELTA` message type, no
coordinator-driven channel plan, and no automatic role re-election when a
node drops. Multi-node deployments today are stitched together by manual
per-node NVS provisioning.
The hard truth is that the firmware hack — getting raw CSI off a radio — is
not the moat. The moat is **adaptive control, multi-node fusion, compact
state encoding, persistent memory, and contrastive reasoning on top of the
radio layer**. The current architecture does not name those layers, so they
get reinvented inline by every new ADR.
## Decision
Adopt a **5-layer adaptive RF sensing kernel** as the canonical RuView
firmware architecture, and refactor the existing modules to fit underneath
it. The five layers, top to bottom:
```
┌─────────────────────────────────────────────────────────────────────────┐
│ Layer 5 — Rust handoff │
│ Two streams only: feature_state (default) and debug_csi_frame (gated) │
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│ Layer 4 — On-device feature extraction │
│ 100 ms motion, 1 s respiration, 5 s baseline windows │
│ Emits compact rv_feature_state_t (magic 0xC5110006) │
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│ Layer 3 — Mesh sensing plane │
│ Roles: Anchor / Observer / Fusion relay / Coordinator │
│ Messages: TIME_SYNC, ROLE_ASSIGN, CHANNEL_PLAN, CALIBRATION_START, │
│ FEATURE_DELTA, HEALTH, ANOMALY_ALERT │
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│ Layer 2 — Adaptive controller │
│ Fast loop ~200 ms — packet rate, active probing │
│ Medium loop ~1 s — channel selection, role changes │
│ Slow loop ~30 s — baseline recalibration │
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│ Layer 1 — Radio Abstraction Layer (rv_radio_ops_t vtable) │
│ ESP32 binding, future Nexmon binding, future custom silicon binding │
└─────────────────────────────────────────────────────────────────────────┘
```
### Layer 1 — Radio Abstraction Layer
A single function-pointer vtable, `rv_radio_ops_t`, defined in
`firmware/esp32-csi-node/main/rv_radio_ops.h`:
```c
typedef struct {
int (*init)(void);
int (*set_channel)(uint8_t ch, uint8_t bw);
int (*set_mode)(uint8_t mode); /* RV_RADIO_MODE_* */
int (*set_csi_enabled)(bool en);
int (*set_capture_profile)(uint8_t profile_id);
int (*get_health)(rv_radio_health_t *out);
} rv_radio_ops_t;
```
Capture profiles, named not numbered:
| Profile | Intent |
|--------------------------------|-------------------------------------------------------|
| `RV_PROFILE_PASSIVE_LOW_RATE` | Default idle: minimum cadence, presence only |
| `RV_PROFILE_ACTIVE_PROBE` | Inject NDP frames at high rate |
| `RV_PROFILE_RESP_HIGH_SENS` | Quietest channel, longest window, vitals-only |
| `RV_PROFILE_FAST_MOTION` | Short window, high cadence |
| `RV_PROFILE_CALIBRATION` | Synchronized burst across nodes |
Two bindings ship in this ADR:
- **ESP32 binding** (`rv_radio_ops_esp32.c`) wraps `csi_collector.c`,
`esp_wifi_set_channel()`, `esp_wifi_set_csi()`, and
`csi_inject_ndp_frame()`.
- **Mock binding** (`rv_radio_ops_mock.c`) wraps `mock_csi.c` so QEMU
scenarios can exercise the controller and mesh plane without a radio.
A third binding (Nexmon-patched Broadcom) is reserved but not implemented
here.
### Layer 2 — Adaptive controller
`firmware/esp32-csi-node/main/adaptive_controller.{c,h}`. A single FreeRTOS
task with three cooperating timers:
| Loop | Period | Inputs | Outputs |
|--------|---------|------------------------------------------------------------------------|------------------------------------------------------|
| Fast | ~200 ms | packet yield, retry/drop rate, motion score | cadence (vital_interval_ms), active vs passive probe |
| Medium | ~1 s | CSI variance, RSSI median, channel occupancy, inter-node agreement | channel selection (via radio ops), role transitions |
| Slow | ~30 s | drift profile (Stable/Linear/StepChange), respiration confidence | baseline recalibration, switch to delta-only mode |
The controller publishes its decisions through the radio ops vtable
(`set_capture_profile`, `set_channel`) and through the mesh plane
(`CHANNEL_PLAN`, `ROLE_ASSIGN`). Default policy is conservative and matches
today's behavior; aggressive adaptation is opt-in via Kconfig.
### Layer 3 — Mesh sensing plane
Extends `swarm_bridge.c` with explicit node roles (Anchor / Observer /
Fusion relay / Coordinator) and a 7-message type protocol:
| Message | Cadence | Sender(s) | Purpose |
|----------------------|--------------------|------------------|-----------------------------------------------|
| `TIME_SYNC` | 100 ms | Anchor | Reuse ADR-032 `SyncBeacon` (28 bytes, HMAC) |
| `ROLE_ASSIGN` | event-driven | Coordinator | Node ID → role mapping |
| `CHANNEL_PLAN` | event-driven | Coordinator | Per-node channel + dwell schedule |
| `CALIBRATION_START` | event-driven | Coordinator | Synchronized calibration burst |
| `FEATURE_DELTA` | 1–10 Hz | Observer / Relay | Compact feature delta (see Layer 4) |
| `HEALTH` | 1 Hz | All | `rv_node_status_t` (see below) |
| `ANOMALY_ALERT` | event-driven | Observer | Phase-physics violation, multi-link mismatch |
Node status payload:
```c
typedef struct __attribute__((packed)) {
uint8_t node_id[8];
uint64_t local_time_us;
uint8_t role;
uint8_t current_channel;
uint8_t current_bw;
int8_t noise_floor_dbm;
uint16_t pkt_yield;
uint16_t sync_error_us;
uint16_t health_flags;
} rv_node_status_t;
```
Time-sync target is an engineering goal, not a guaranteed constant — it
depends on the clock quality of the chosen radio family. The first
acceptance test (Phase 2) measures it on real hardware.
### Layer 4 — On-device feature extraction
Defined in `firmware/esp32-csi-node/main/rv_feature_state.h`. Single
on-the-wire packet, **60 bytes packed** (verified by `_Static_assert` and
host unit test), magic `0xC5110006` (next free after ADR-039's
`0xC5110002`, ADR-069's `0xC5110003`, ADR-063's `0xC5110004`, and ADR-039's
compressed `0xC5110005`):
```c
#define RV_FEATURE_STATE_MAGIC 0xC5110006u
typedef struct __attribute__((packed)) {
uint32_t magic; /* RV_FEATURE_STATE_MAGIC */
uint8_t node_id;
uint8_t mode; /* RV_PROFILE_* identifier */
uint16_t seq; /* monotonic per-node sequence */
uint64_t ts_us; /* node-local microseconds */
float motion_score;
float presence_score;
float respiration_bpm;
float respiration_conf;
float heartbeat_bpm;
float heartbeat_conf;
float anomaly_score;
float env_shift_score;
float node_coherence;
uint16_t quality_flags;
uint16_t reserved;
uint32_t crc32; /* IEEE polynomial over bytes [0..end-4] */
} rv_feature_state_t;
_Static_assert(sizeof(rv_feature_state_t) == 60,
"rv_feature_state_t must be 60 bytes on the wire");
```
Three windows feed it: 100 ms (motion), 1 s (respiration), 5 s (baseline /
env shift). Each `rv_feature_state_t` represents the most recent state of
all three; mode field tells the receiver which window dominates this
update.
`rv_feature_state_t` does not replace ADR-039's `edge_vitals_pkt_t`
(0xC5110002) or ADR-063's `edge_fused_vitals_pkt_t` (0xC5110004). Those
remain the wire format for vitals-specific consumers. `rv_feature_state_t`
is the **default upstream payload** for the sensing pipeline; vitals
packets are now an alternate emission mode for backward compatibility.
### Layer 5 — Rust handoff
The Rust side sees only two streams from a node:
1. **`feature_state` stream** — `rv_feature_state_t`, default-on, 1–10 Hz.
2. **`debug_csi_frame` stream** — ADR-018 raw frames (magic 0xC5110001),
default-off, opt-in via NVS or `CHANNEL_PLAN`. Used for calibration,
debugging, training-set capture.
The Rust handoff is mirrored as a trait in
`crates/wifi-densepose-hardware/src/radio_ops.rs` so test harnesses (and
eventually the Rust-side controller for centralized coordinator nodes) can
swap radio backends without touching `wifi-densepose-signal`,
`wifi-densepose-ruvector`, `wifi-densepose-train`, or
`wifi-densepose-mat`. Rust-side mirror trait is **out of scope for the
firmware-only PR** that ships this ADR; tracked as Phase 4 follow-up.
## State Machine
```
BOOT → SELF_TEST → RADIO_INIT → TIME_SYNC → CALIBRATION → SENSE_IDLE
↓ ↑
SENSE_ACTIVE
↓
ALERT
↓
DEGRADED
```
Transitions:
- **CALIBRATION** on boot, on role change, on sustained inter-node
disagreement.
- **SENSE_ACTIVE** when motion or anomaly score crosses threshold.
- **DEGRADED** when packet yield, sync quality, or memory pressure drops
below threshold; falls back to ADR-039 Tier-0 raw passthrough as the
last-resort survivable mode.
## Data budgets
| Stream | Default rate | Notes |
|-------------------------|-----------------------------|----------------------------------------------|
| Raw capture (internal) | 50–200 pps per observer | Stays on-device unless debug stream enabled |
| `rv_feature_state_t` | 1–10 Hz per node | Default upstream |
| `ANOMALY_ALERT` | event-driven | Burst-bounded |
| Debug ADR-018 raw CSI | 0 (off by default) | Burst-only via `CHANNEL_PLAN` debug flag |
ADR-039 measured raw CSI at ~5 KB/frame and ~100 KB/s per node. The default
upstream with ADR-081's 60-byte `rv_feature_state_t` at 5 Hz is **300 B/s
per node — a 99.7% reduction**. A 50-node deployment at 5 Hz fits in
15 KB/s total, easily carried by a single-AP backhaul.
## Channel planning policy
Codified rules — these are constraints on the controller, not just defaults:
- Keep one anchor on a stable channel; observers distributed across the
least-congested channels.
- Rotate **one** observer at a time. Never change all nodes simultaneously.
- Pin `RV_PROFILE_RESP_HIGH_SENS` to the quietest stable channel for the
duration of a respiration window.
- Use a short active burst on a quiet channel for calibration, then return
to passive capture.
This generalizes the per-deployment policy in ADR-073 ("node 1: ch 1/6/11,
node 2: ch 3/5/9") into a controller-driven plan that the coordinator can
publish via `CHANNEL_PLAN`. IEEE 802.11bf is the standards direction this
points toward.
## Security & integrity
- Every `FEATURE_DELTA` carries node id, monotonic seq, ts_us, and CRC32
(IEEE polynomial), per the struct above.
- Every control message (`ROLE_ASSIGN`, `CHANNEL_PLAN`, `CALIBRATION_START`)
carries sender role, epoch, replay window index, and authorization class,
reusing the HMAC-SHA256 + 16-frame replay window from ADR-032
(`secure_tdm.rs`).
- Optional Ed25519 signature at session/batch granularity for signed
`CHANNEL_PLAN` and `CALIBRATION_START` messages, reusing the
ADR-040/RVF Ed25519 path already shipping in firmware.
## Reuse map (do not rewrite)
| Concern | Existing component |
|-----------------------------|----------------------------------------------------------------------------------------------------------|
| ADR-018 binary frame | `firmware/esp32-csi-node/main/csi_collector.c` (magic `0xC5110001`) |
| ESP32 CSI driver glue | `firmware/esp32-csi-node/main/csi_collector.c:225-303` |
| Channel hopping | `csi_collector_set_hop_table()` and `csi_collector_start_hop_timer()` |
| NDP injection | `csi_inject_ndp_frame()` (placeholder, sufficient for L1 binding) |
| TDM scheduling | `crates/wifi-densepose-hardware/src/esp32/tdm.rs` |
| Secure beacons | `crates/wifi-densepose-hardware/src/esp32/secure_tdm.rs` (HMAC + replay) |
| Edge intelligence (Tier 1/2)| `firmware/esp32-csi-node/main/edge_processing.c` (magic `0xC5110002`/`0xC5110005`) |
| Fused vitals | ADR-063 `edge_fused_vitals_pkt_t` (magic `0xC5110004`) |
| Swarm bridge | `firmware/esp32-csi-node/main/swarm_bridge.c` |
| WASM Tier 3 modules | `firmware/esp32-csi-node/main/wasm_runtime.c` (ADR-040) |
| Multistatic fusion | `crates/wifi-densepose-ruvector/src/viewpoint/fusion.rs` |
| Adaptive classifier | `crates/wifi-densepose-sensing-server/src/adaptive_classifier.rs:61-75` |
| Feature primitives (Rust) | `crates/wifi-densepose-signal/src/{motion.rs,features.rs,ruvsense/coherence.rs}` |
## Implementation status (2026-04-19)
This ADR ships **with** the initial implementation, not ahead of it.
Artifacts delivered alongside the ADR:
| Component | File | State |
|-----------------------------------------|-------------------------------------------------------------------------|-------------|
| L1 vtable + profile/mode/health enums | `firmware/esp32-csi-node/main/rv_radio_ops.h` | Implemented |
| L1 ESP32 binding | `firmware/esp32-csi-node/main/rv_radio_ops_esp32.c` | Implemented |
| L1 Mock (QEMU) binding | `firmware/esp32-csi-node/main/rv_radio_ops_mock.c` | Implemented |
| L2 Controller FreeRTOS plumbing | `firmware/esp32-csi-node/main/adaptive_controller.c` | Implemented |
| L2 Pure decision policy (testable) | `firmware/esp32-csi-node/main/adaptive_controller_decide.c` | Implemented |
| L3 Mesh-plane types + encoder/decoder | `firmware/esp32-csi-node/main/rv_mesh.{h,c}` | Implemented |
| L3 HEALTH emit (slow loop, 30 s) | `adaptive_controller.c:slow_loop_cb()` | Implemented |
| L3 ANOMALY_ALERT on state transition | `adaptive_controller.c:apply_decision()` | Implemented |
| L3 Role tracking + epoch monotonicity | `adaptive_controller.c` (`s_role`, `s_mesh_epoch`) | Implemented |
| L4 Feature state packet + helpers | `firmware/esp32-csi-node/main/rv_feature_state.{h,c}` | Implemented |
| L4 Emitter from fast loop (5 Hz) | `adaptive_controller.c:emit_feature_state()` | Implemented |
| L1 Packet yield + send-fail accessors | `csi_collector.c:csi_collector_get_pkt_yield_per_sec()` + send fail | Implemented |
| L5 Rust mirror trait + mesh decoder | `crates/wifi-densepose-hardware/src/radio_ops.rs` | Implemented |
| Host C unit tests (60 assertions) | `firmware/esp32-csi-node/tests/host/` | **60/60 ✓** |
| Rust unit tests (8 assertions) | `crates/wifi-densepose-hardware` (`radio_ops::tests`) | **8/8 ✓** |
| QEMU validator hooks (3 new checks) | `scripts/validate_qemu_output.py` (check 17/18/19) | Passing |
| L3 mesh RX path (receive + dispatch) | — | Phase 3.5 |
| Ed25519 signing for CHANNEL_PLAN etc. | — | Phase 3.5 |
| Hardware validation on COM7 | — | Pending |
## Measured performance
Host-side benchmarks (`firmware/esp32-csi-node/tests/host/`), x86-64,
gcc `-O2`, 2026-04-19. Numbers are illustrative of algorithmic cost on
a modern CPU; on-target ESP32-S3 Xtensa LX7 at 240 MHz is ~5–10×
slower for bit-by-bit CRC and broadly comparable for the decide
function after inlining.
| Operation | Cost per call | Notes |
|---------------------------------------------|---------------------|-------------------------------------|
| `adaptive_controller_decide()` | **3.2 ns** (host) | O(1) policy, 9 branches evaluated |
| `rv_feature_state_crc32()` (56 B hashed) | **612 ns** (host) | 87 MB/s — bit-by-bit IEEE CRC32 |
| `rv_feature_state_finalize()` (full) | **592 ns** (host) | CRC-dominated |
| `rv_mesh_encode_health()` + `_decode()` | **1010 ns** (host) | Full roundtrip, hdr+payload+CRC |
Projected on-target cost at 5 Hz cadence:
| Budget | Value |
|--------------------------------------------|---------------------|
| Controller fast-loop tick work (ESP32-S3) | < 10 μs (est.) |
| CRC32 per feature packet (ESP32-S3) | ~3–6 μs (est.) |
| Feature-state emit cost @ 5 Hz | ~30 μs/sec (0.003%) |
| UDP send cost (existing stream_sender) | — unchanged — |
**Bandwidth:**
| Mode | Rate |
|---------------------------------------------|-------------|
| Raw ADR-018 CSI (pre-ADR-081) | ~100 KB/s |
| ADR-039 compressed CSI (Tier 1) | ~50–70 KB/s |
| ADR-039 vitals packet (32 B @ 1 Hz) | 32 B/s |
| **ADR-081 feature state (60 B @ 5 Hz)** | **300 B/s** |
**Memory:**
| Component | Static RAM |
|---------------------------------------------|---------------------|
| Controller state (s_cfg + s_last_obs + …) | ~80 bytes |
| Feature-state emit packet (stack, per tick) | 60 bytes |
| CRC lookup table | 0 (bit-by-bit) |
| Three FreeRTOS software timers | ~3 × 56 B overhead |
**Tests:**
| Suite | Assertions | Result |
|---------------------------------------------|-----------:|------------|
| `test_adaptive_controller` (host C) | 18 | **PASS** |
| `test_rv_feature_state` (host C) | 15 | **PASS** |
| `test_rv_mesh` (host C) | 27 | **PASS** |
| `radio_ops::tests` (Rust) | 8 | **PASS** |
| **Total** | **68** | **68/68** |
| QEMU validator (`ADR-061` pipeline) | +3 checks | hooked |
Cross-language parity: the Rust `crc32_ieee()` is verified against the
same known vectors used by the C test (`0xCBF43926` for `"123456789"`,
`0xD202EF8D` for a single zero byte), and the `mesh_constants_match_firmware`
test asserts `MESH_MAGIC`, `MESH_VERSION`, `MESH_HEADER_SIZE`, and
`MESH_MAX_PAYLOAD` match the C header byte-for-byte. Any drift between
the two implementations fails CI.
## New components this ADR authorizes
| New file | Purpose |
|-------------------------------------------------------------------------------------------|--------------------------------------------------------|
| `firmware/esp32-csi-node/main/rv_radio_ops.h` | `rv_radio_ops_t` vtable + profile/mode/health enums |
| `firmware/esp32-csi-node/main/rv_radio_ops_esp32.c` | ESP32 binding wrapping `csi_collector` + `esp_wifi_*` |
| `firmware/esp32-csi-node/main/rv_feature_state.h` | `rv_feature_state_t` packet + `RV_FEATURE_STATE_MAGIC` |
| `firmware/esp32-csi-node/main/adaptive_controller.h` | Controller API + observation/decision structs |
| `firmware/esp32-csi-node/main/adaptive_controller.c` | 200 ms / 1 s / 30 s loops, FreeRTOS task |
| `crates/wifi-densepose-hardware/src/radio_ops.rs` *(Phase 4 follow-up)* | Rust mirror trait for backend swapping |
## Roadmap
| Phase | Scope | Status |
|-------|--------------------------------------------|--------------------------------------------------|
| 1 | Single supported-CSI node + features → Rust | Largely done via ADR-018, ADR-039 |
| 2 | 3-node Seed v2 mesh + time-sync + plan | Partially done (ADR-029, ADR-066, ADR-073) |
| 3 | Adaptive controller, delta reporting, DEGRADED | **This ADR** authorizes the firmware skeleton |
| 4 | Cross-chipset bindings (Nexmon, custom) | Reserved; gated by Phase 3 stability |
## Acceptance criteria
1. **Portability gate.** A second `rv_radio_ops_t` binding (mock or
alternate chipset) compiles and runs the controller + mesh plane code
unchanged. The signal/ruvector/train/mat crates compile against a Rust
mirror trait without modification.
2. **Mesh resilience benchmark.** A 3-node prototype maintains stable
`presence_score` and `motion_score` when one observer changes channel
or drops out for 5 seconds.
3. **Default upstream is compact.** Raw ADR-018 CSI is off by default; the
default upstream is `rv_feature_state_t` at 1–10 Hz.
4. **Integrity.** Every `FEATURE_DELTA` carries node id, seq, ts_us, CRC32.
Every control message carries epoch + replay-window + authorization
class, verified against ADR-032's existing HMAC machinery.
## Consequences
### Positive
- The firmware hack is no longer the moat. The 5 layers are explicit and
separately testable.
- Default upstream bandwidth drops ~99% vs. raw ADR-018, making 50+ node
deployments practical.
- A documented vtable + Kconfig surface gates new features ("which layer
does this belong in?") instead of letting them accrete inline.
- Adaptive control of cadence, channel, and role becomes a first-class
firmware concern — the user-facing knob ("be smarter when busy, save
power when idle") finally has a home.
### Negative
- An abstraction tax on the single-chipset case: `rv_radio_ops_t` is a
vtable for a family currently of size 1.
- Adds ~5–8 KB SRAM for controller state and the new feature-state ring.
- Requires re-routing existing `swarm_bridge` traffic through the mesh
plane message types over time (incremental, not breaking).
### Neutral
- This ADR introduces no new dependencies, no new networking stacks, and
no new hardware requirements.
- ADR-039, ADR-063, ADR-066, ADR-069, ADR-073 are **not superseded**; they
are reframed as components of Layer 3 / Layer 4.
## Verification
```bash
# Host-side C unit tests (no ESP-IDF, no QEMU required)
cd firmware/esp32-csi-node/tests/host
make check
# → test_adaptive_controller: 18/18 pass, decide() = 3.2 ns/call
# → test_rv_feature_state: 15/15 pass, CRC32(56 B) = 612 ns/pkt
# → test_rv_mesh: 27/27 pass, HEALTH roundtrip = 1.0 µs
# Rust-side radio_ops trait + mesh decoder tests
cd rust-port/wifi-densepose-rs
cargo test -p wifi-densepose-hardware --no-default-features --lib radio_ops
# → 8 passed; verifies MockRadio, CRC32 parity with firmware vectors,
# HEALTH encode/decode roundtrip, bad-magic/short/CRC rejection,
# and that MESH_MAGIC/VERSION/HEADER_SIZE match rv_mesh.h
# QEMU end-to-end (requires ESP-IDF + qemu-system-xtensa, see ADR-061)
bash scripts/qemu-esp32s3-test.sh
# → Validator now runs 19 checks; new ADR-081 checks 17/18/19 verify
# adaptive_ctrl boot line, rv_radio_mock binding registration, and
# slow-loop heartbeat.
# Full workspace
cargo test --workspace --no-default-features
```
## Related
ADR-018, ADR-028, ADR-029, ADR-030, ADR-031, ADR-032, ADR-039, ADR-040,
ADR-060, ADR-061, ADR-063, ADR-066, ADR-069, ADR-073, ADR-078.