Third increment: closes the remaining implementable ADR-275 update-loop
steps, optimizes the delay-Doppler transform, and hardens every boundary
surface with property testing that found and fixed three real
input-controlled defects.
- ADR-275 update loop: GaussianMap::merge_overlapping (step 5 — mutual
Mahalanobis + semantic-compatibility dedup catching drift the
insert-time ±1-cell gate misses; orthogonal semantics stay separate)
and lifetime-aware decay (step 7 — tau_eff = tau*(1+ln(1+lifetime/tau))
so confirmed structures outlive transients at equal nominal tau).
- Separable delay-Doppler (ADR-281): O(B^2*S + S^2*B) instead of
O(B^2*S^2), proven equivalent to the direct reference to <1e-10 and
measured 8.3x faster (520us vs 4.34ms at 56x8). Direct form kept as
the benchmark baseline + equivalence oracle.
- Security property tests (tests/security_boundaries.rs, 8 proptest
properties over arbitrary values incl. NaN/inf via f64::from_bits).
Found and fixed:
* ble_cs_range unwrap infinite loop on non-finite phase (+inf) and
~1e299-iteration loop on finite-huge phase -> O(1) modular unwrap +
plausibility bound (|phase| <= 1e6 rad);
* subnormal Gaussian scale (5e-324) overflowing 1/sigma^2 to NaN
density -> physical bounds (sigma in [1e-6, 1e4] m, occupancy in
[0, 1e6] nepers/m).
Properties proven: tensor/Gaussian/BoundedEvent constructors never
panic; policy engine fail-closed for every (purpose,grants,zone);
raw export structurally unreachable; coherent fusion rejects every
non-finite/out-of-bounds sync state; occupancy reps never retain
identity.
- New criterion benches for all increment-2/3 hot paths (to_canonical
38us, ble_cs_range 481ns, AoI planner 647ns/200 regions, coherent
fusion 1.5us/32 members, factorized pose 521ns, delay-Doppler
separable vs direct).
Validation: ruview-unified 98 tests (87 lib + 3 acceptance + 8
security), 0 failed, clippy-clean; Python proof VERDICT PASS. Witness
bundle regeneration still blocked on the desktop/Tauri crate's GTK dev
headers (unavailable in this container) — pre-existing environment
limitation, flagged for the release owner.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01Q1R5zhz6sSfXGRXpgBwpFX
Claude