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4 Commits

Author SHA1 Message Date
rUv 02cb84e0bb fix(vitals safety): non-finite CSI frame permanently froze breathing+HR via IIR-state poisoning (self-heal) + noise-never-Valid pin (#1079) 
* fix(vitals): self-heal IIR filters after non-finite CSI frame (ADR-021/ADR-158 §A1)

The 2nd-order resonator bandpass_filter in BreathingExtractor and
HeartRateExtractor latches each output y[n] into the filter state
(y1/y2). A single non-finite amplitude residual from a corrupt CSI
frame produced a NaN output that was written into the state. The
existing extract() is_finite() guard dropped that one sample from the
history buffer but never sanitized the poisoned filter state, so every
subsequent output stayed NaN, was rejected too, and the sliding-window
history never refilled: breathing AND heart-rate extraction went
silently dead (returning None forever) until reset().

On the vitals alert path this is a safety-relevant denial of service —
one bad frame stops monitoring with no error surfaced. Same class as the
calibration NaN bug (ADR-154 §3) and the firmware vitals fixes
(#998/#996/#987): prior hardening guarded the history boundary but not
the filter-state boundary.

Fix: when bandpass_filter computes a non-finite output it resets the IIR
state to default and returns 0.0, so the resonator recovers on the next
clean frame (the 0.0 is still dropped by the caller's finite-check, so no
spurious sample enters history).

Also de-magic the safety-critical HR physiological plausibility band into
named HR_PLAUSIBLE_MIN_BPM/HR_PLAUSIBLE_MAX_BPM consts (value-identical
40/180 BPM).

Pinned by:
- breathing::tests::nan_frame_does_not_permanently_poison_filter (FAILS pre-fix)
- breathing::tests::inf_mid_stream_does_not_freeze_history (FAILS pre-fix)
- heartrate::tests::nan_frame_does_not_permanently_poison_filter (FAILS pre-fix)
- heartrate::tests::pure_noise_is_never_reported_valid (fabricated-vital negative)
- heartrate::tests::plausibility_band_constants_pinned (de-magic value pin)

wifi-densepose-vitals --no-default-features: 55->60 lib tests, 0 failed.
Workspace green (3370 passed, 0 failed). Python proof unchanged (vitals
off the deterministic proof's signal path).

Co-Authored-By: claude-flow <ruv@ruv.net>

* docs(vitals): record IIR NaN/inf self-heal fix (ADR-021, CHANGELOG)

Document the wifi-densepose-vitals filter-state poisoning fix in ADR-021
Implementation Notes (parallel to the firmware #998/#996/#987 robustness
class) and add a CHANGELOG [Unreleased] Fixed entry. Notes the confirmed
clean dimensions with evidence (flat -> None; noise -> low-confidence
Unreliable, never Valid; harmonic-rich breathing -> not a confident false
HR; out-of-band BPM clamped).

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-06-14 18:01:47 -04:00
rUv 0c2b1c16cc fix: ESP32 vitals over-count + presence flicker (#998/#996) + Observatory per-person position/motion (#1050) (#1060) 
* fix(firmware): gate phantom persons + add presence hysteresis (#998, #996)

Two ESP32 edge-vitals logic bugs in edge_processing.c. Both are
robustness/logic fixes — NOT validated-accuracy claims. True count/PCK
vs labelled ground truth remains hardware/data-gated (COM9 ESP32-S3).

#998 — n_persons over-counted (reported 4 for one person):
update_multi_person_vitals() split 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 two pure, host-testable helpers:
  - count_distinct_persons(): per-group energy gate
    (EDGE_PERSON_MIN_ENERGY_RATIO) + spatial dedup
    (EDGE_PERSON_MIN_SC_SEP) so weak/adjacent multipath groups don't
    count as separate bodies. Strongest group always counts (>=1).
  - person_count_debounce(): a gated count must hold
    EDGE_PERSON_PERSIST_FRAMES consecutive frames before it's emitted,
    so a single noisy frame can't promote a phantom.
The active flags now mark only the strongest stable_count groups.

#996 — presence flag flickered at ~50cm despite high presence_score:
the bare `score > threshold` compare chattered on a noisy score
(field-observed 2.6-26.7 frame-to-frame). Replaced with a Schmitt
trigger + clear-debounce (presence_flag_update): assert above
threshold, hold in the dead band down to threshold *
EDGE_PRESENCE_HYST_RATIO, clear only after EDGE_PRESENCE_CLEAR_FRAMES
consecutive sub-low frames. presence_score itself is unchanged and
still emitted for consumer-side thresholding.

All thresholds are named, documented constants in edge_processing.h.
Firmware builds clean for esp32s3 (idf.py build RC=0).

Co-Authored-By: claude-flow <ruv@ruv.net>

* test(firmware): host C99 tests for vitals count + presence logic (#998, #996)

test/test_vitals_count_presence.c pins the two fixes with deterministic
host-buildable tests (no ESP-IDF needed). 13 cases / 22 assertions, all
passing under gcc 13 -Wall -Wextra:

  #998 count gate: single strong signature + multipath -> count==1;
  two well-separated -> 2; two strong-but-adjacent -> 1 (dedup);
  no signal -> 0; three well-separated -> 3.
  #998 debounce: transient spike rejected; sustained change accepted;
  flapping count stays stable.
  #996 presence: dithering trace -> stable flag (no flicker); brief dips
  held by clear-debounce; genuine departure clears within hold window;
  dead-band holds state.

The named tuning constants are #include'd from the real
edge_processing.h so the test and firmware can never disagree on
thresholds. `make run_vitals` / `make host_tests` added; binaries
gitignored.

Hardware-gated caveat documented in the test header: these pin the
decision LOGIC; the exact energy/separation/hysteresis values that best
match a real room vs labelled occupancy remain on-device tuning.

Co-Authored-By: claude-flow <ruv@ruv.net>

* docs: record ESP32 vitals count/presence fixes (#998, #996)

CHANGELOG [Unreleased] Fixed: root cause + fix + named constants + test
+ explicit hardware/data-gated caveat for both bugs.

ADR-021 Implementation Notes: dated 2026-06 entry noting the edge-path
person-count + presence-flicker fixes are boolean/count emission-logic
fixes, not a validated-accuracy claim; thresholds pending on-device
calibration.

Co-Authored-By: claude-flow <ruv@ruv.net>

* fix(sensing-server): emit real field-derived person position/motion to /ws/sensing (#1050)

The Observatory 3D figure never animated because the sensing_update WS
frame carried no per-person position/motion_score/pose — only image-space
keypoints. The FigurePool/PoseSystem (and demo-data.js's own contract)
animate each figure from persons[i].position (room-world), .motion_score
(0..100), and .pose; none were on the live stream.

Honest scope (Case 2): the pipeline has no calibrated per-person room
localizer or per-person skeletal pose. New field_localize module extracts
the strongest peak(s) from the real signal_field grid (subcarrier
variances x motion-band power) and maps the peak cell to Observatory world
coords with the exact _buildSignalField transform. motion_score is the
measured motion_band_power passed through; pose is set only from a real
aggregate posture estimate, else None (never a fabricated skeleton).
Empty/below-threshold field -> persons: [] (no phantom); present person
with no resolvable peak keeps position [0,0,0], not invented coords.

attach_field_positions runs after the tracker step at all five broadcast
sites. New position/motion_score/pose fields added to both PersonDetection
structs. No UI change needed — the Observatory already reads these fields.

Tests: field_localize peak/coordinate/empty/separation units +
observatory_persons_field_position_tests (known-peak -> emitted position,
empty-room -> no phantom, pose real-or-None, below-threshold honesty).
sensing-server bin 441->451, 0 failed.

Co-Authored-By: claude-flow <ruv@ruv.net>

* docs(changelog): record #1050 Observatory persons position/motion fix

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-06-14 00:31:30 -04:00
rUv f49c722764 chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427) 
The Rust port lived two directories deep (rust-port/wifi-densepose-rs/)
without any sibling under rust-port/ that warranted the extra level.
Move the whole workspace up to v2/ to match v1/ (Python) at the same
depth and shorten every cd / build command across the repo.

git mv preserves history for all tracked files. 60 files updated for
path references (CI workflows, ADRs, docs, scripts, READMEs, internal
.claude-flow state). Two manual fixes for relative-cd paths in
CLAUDE.md and ADR-043 that became wrong after the depth change
(cd ../.. → cd ..).

Validated:
- cargo check --workspace --no-default-features → clean (after target/
  nuke; the gitignored target/ was carried by the OS rename and had
  hard-coded old paths in build scripts)
- cargo test --workspace --no-default-features → 1,539 passed, 0 failed,
  8 ignored (same totals as pre-rename)
- ESP32-S3 on COM7 → still streaming live CSI (cb #40300, RSSI -64 dBm)

After-merge follow-up: contributors should `rm -rf v2/target` once and
let cargo regenerate from the new path.
 2026-04-25 21:28:13 -04:00
ruv 3e06970428 feat: Training mode, ADR docs, vitals and wifiscan crates 
- Add --train CLI flag with dataset loading, graph transformer training,
  cosine-scheduled SGD, PCK/OKS validation, and checkpoint saving
- Refactor main.rs to import training modules from lib.rs instead of
  duplicating mod declarations
- Add ADR-021 (vital sign detection), ADR-022 (Windows WiFi enhanced
  fidelity), ADR-023 (trained DensePose pipeline) documentation
- Add wifi-densepose-vitals crate: breathing, heartrate, anomaly
  detection, preprocessor, and temporal store
- Add wifi-densepose-wifiscan crate: 8-stage signal intelligence
  pipeline with netsh/wlanapi adapters, multi-BSSID registry,
  attention weighting, spatial correlation, and breathing extraction

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-02-28 23:50:20 -05:00