mirror of
https://github.com/ruvnet/RuView
synced 2026-07-03 14:13:17 +00:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 github-actions[bot]
|
b2bb5fec67 |
@@ -9,7 +9,7 @@ on:
|
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|
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env:
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PYTHON_VERSION: '3.11'
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NODE_VERSION: '20' # ADR-265: all Node packages in this repo declare engines >= 20
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NODE_VERSION: '18'
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REGISTRY: ghcr.io
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IMAGE_NAME: ${{ github.repository }}
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@@ -1,148 +0,0 @@
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# ADR-265 D1 — the npm-package gate.
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#
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# Every Node package in this repo (published or private) gets: install, build,
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# tests, a version-literal gate (D3 — package.json is the only place a version
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# lives), a pack-content gate (no source maps, unpacked-size budget), a
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# tarball-install smoke test (would have caught ADR-264 F1's broken `require`
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# export), and the claim-check honesty lint on the README (D4).
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name: npm packages
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on:
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push:
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branches: [main]
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paths:
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- 'harness/ruview/**'
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- 'tools/ruview-mcp/**'
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- 'tools/ruview-cli/**'
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- '.github/workflows/npm-packages.yml'
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pull_request:
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paths:
|
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- 'harness/ruview/**'
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- 'tools/ruview-mcp/**'
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- 'tools/ruview-cli/**'
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- '.github/workflows/npm-packages.yml'
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permissions:
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contents: read
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jobs:
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gate:
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name: ${{ matrix.package.dir }} (node ${{ matrix.node }})
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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node: ['20', '22']
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package:
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- dir: harness/ruview
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build: false
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publishable: true
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# ADR-263: dependency-free harness; budget guards against dep creep.
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unpacked_budget: 65536
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- dir: tools/ruview-mcp
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build: true
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publishable: true
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# ADR-264 O2: map-free tarball (was 188 kB with maps).
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unpacked_budget: 140000
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- dir: tools/ruview-cli
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build: true
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publishable: false
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unpacked_budget: 0
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defaults:
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run:
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working-directory: ${{ matrix.package.dir }}
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-node@v4
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with:
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node-version: ${{ matrix.node }}
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|
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# Repo policy gitignores lockfiles under harness/ (the harness is
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# dependency-free anyway); the TS packages commit theirs.
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- name: Install
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run: |
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if [ -f package-lock.json ]; then npm ci; else npm install --no-fund --no-audit; fi
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|
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- name: Build
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if: ${{ matrix.package.build }}
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run: npm run build
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|
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- name: Test
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run: npm test --if-present
|
||||
|
||||
# ADR-265 D3 — package.json is the only place a version string lives.
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- name: Version-literal gate
|
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run: |
|
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set -euo pipefail
|
||||
hits=""
|
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for d in src bin; do
|
||||
if [ -d "$d" ]; then
|
||||
hits+=$(grep -rEn '\b[0-9]+\.[0-9]+\.[0-9]+\b' "$d" | grep -vE '127\.0\.0\.1|0\.0\.0\.0' || true)
|
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fi
|
||||
done
|
||||
if [ -n "$hits" ]; then
|
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echo "Hardcoded version-like literals found (read package.json instead — ADR-265 D3):"
|
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echo "$hits"
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exit 1
|
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fi
|
||||
|
||||
# ADR-265 D1.3 — pack-content gate: no maps, size budget enforced.
|
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- name: Pack gate
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if: ${{ matrix.package.publishable }}
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run: |
|
||||
npm pack --dry-run --json 2>/dev/null | node -e "
|
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const [info] = JSON.parse(require('fs').readFileSync(0, 'utf8'));
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const budget = Number(process.env.UNPACKED_BUDGET);
|
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const maps = info.files.filter((f) => f.path.endsWith('.map'));
|
||||
if (maps.length > 0) {
|
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console.error('Tarball contains source maps (ADR-264 F2):', maps.map((m) => m.path));
|
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process.exit(1);
|
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}
|
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if (info.unpackedSize > budget) {
|
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console.error(\`Unpacked size \${info.unpackedSize} B exceeds budget \${budget} B\`);
|
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process.exit(1);
|
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}
|
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console.log(\`pack gate OK: \${info.files.length} files, \${info.unpackedSize} B unpacked (budget \${budget} B), 0 maps\`);
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"
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env:
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UNPACKED_BUDGET: ${{ matrix.package.unpacked_budget }}
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|
||||
# ADR-265 D1.4 — install the real tarball and drive each bin/export.
|
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- name: Tarball smoke test
|
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if: ${{ matrix.package.publishable }}
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run: |
|
||||
set -euo pipefail
|
||||
TGZ="$PWD/$(npm pack --silent 2>/dev/null | tail -1)"
|
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SMOKE="$(mktemp -d)"
|
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cd "$SMOKE"
|
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npm init -y > /dev/null
|
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npm i --no-fund --no-audit "$TGZ"
|
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case "${{ matrix.package.dir }}" in
|
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harness/ruview)
|
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./node_modules/.bin/ruview --version
|
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./node_modules/.bin/ruview doctor
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# the honesty gate must fail closed on empty input (ADR-263 F1)
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if ./node_modules/.bin/ruview claim-check; then
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echo 'claim-check passed with no input — fail-open regression'; exit 1
|
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fi
|
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node --input-type=module -e "const m = await import('@ruvnet/ruview'); if (!m.TOOLS) process.exit(1);"
|
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;;
|
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tools/ruview-mcp)
|
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# initialize over stdio; server must answer and exit 0 on EOF
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printf '{"jsonrpc":"2.0","id":1,"method":"initialize","params":{"protocolVersion":"2024-11-05","capabilities":{},"clientInfo":{"name":"ci","version":"0"}}}\n' \
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| timeout 30 ./node_modules/.bin/rvagent | grep -q '"serverInfo"'
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# the ESM export must resolve from the installed tarball (ADR-264 F1)
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timeout 30 node --input-type=module -e "await import('@ruvnet/rvagent');" < /dev/null
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;;
|
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esac
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# ADR-265 D4 — package READMEs must pass the project's own honesty lint.
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- name: Claim-check README
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run: |
|
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if [ -f README.md ]; then
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node "$GITHUB_WORKSPACE/harness/ruview/bin/cli.js" claim-check --file README.md
|
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else
|
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echo "no README.md — skipping"
|
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fi
|
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@@ -1,137 +0,0 @@
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# ADR-265 D2 — publish only from CI, with provenance.
|
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#
|
||||
# Manual `npm publish` from laptops stops: this workflow re-runs the ADR-265 D1
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# gate for the selected package and then publishes with npm provenance
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# attestations (OIDC), tying every published version to a public commit +
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# workflow run — the npm-side analogue of the ADR-028 witness bundle.
|
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#
|
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# Requires: NPM_TOKEN repo secret (an npm automation token), or npm Trusted
|
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# Publishing configured for the package (in which case the token is unused).
|
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name: ruview npm release
|
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on:
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workflow_dispatch:
|
||||
inputs:
|
||||
package:
|
||||
description: 'Package directory to publish'
|
||||
required: true
|
||||
type: choice
|
||||
options:
|
||||
- harness/ruview
|
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- tools/ruview-mcp
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dist_tag:
|
||||
description: 'npm dist-tag'
|
||||
required: false
|
||||
default: 'latest'
|
||||
type: string
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
id-token: write # npm --provenance
|
||||
|
||||
jobs:
|
||||
publish:
|
||||
runs-on: ubuntu-latest
|
||||
defaults:
|
||||
run:
|
||||
working-directory: ${{ inputs.package }}
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
- uses: actions/setup-node@v4
|
||||
with:
|
||||
node-version: '20'
|
||||
registry-url: 'https://registry.npmjs.org'
|
||||
|
||||
- name: Install
|
||||
run: |
|
||||
if [ -f package-lock.json ]; then npm ci; else npm install --no-fund --no-audit; fi
|
||||
|
||||
- name: Build (if present)
|
||||
run: npm run build --if-present
|
||||
|
||||
- name: Test
|
||||
run: npm test --if-present
|
||||
|
||||
# ADR-265 D3 — package.json is the only place a version string lives.
|
||||
- name: Version-literal gate
|
||||
run: |
|
||||
set -euo pipefail
|
||||
hits=""
|
||||
for d in src bin; do
|
||||
if [ -d "$d" ]; then
|
||||
hits+=$(grep -rEn '\b[0-9]+\.[0-9]+\.[0-9]+\b' "$d" | grep -vE '127\.0\.0\.1|0\.0\.0\.0' || true)
|
||||
fi
|
||||
done
|
||||
if [ -n "$hits" ]; then
|
||||
echo "Hardcoded version-like literals found (read package.json instead — ADR-265 D3):"
|
||||
echo "$hits"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
# ADR-265 D1.3 — pack-content gate: no maps AND the per-package
|
||||
# unpacked-size budget (the budgets that npm-packages.yml enforces).
|
||||
- name: Pack gate (no maps + size budget)
|
||||
run: |
|
||||
set -euo pipefail
|
||||
case "${{ inputs.package }}" in
|
||||
# ADR-263: dependency-free harness; budget guards against dep creep.
|
||||
harness/ruview) export UNPACKED_BUDGET=65536 ;;
|
||||
# ADR-264 O2: map-free tarball (was 188 kB with maps).
|
||||
tools/ruview-mcp) export UNPACKED_BUDGET=140000 ;;
|
||||
*) echo "Unknown package '${{ inputs.package }}' — no budget defined"; exit 1 ;;
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||||
esac
|
||||
npm pack --dry-run --json 2>/dev/null | node -e "
|
||||
const [info] = JSON.parse(require('fs').readFileSync(0, 'utf8'));
|
||||
const budget = Number(process.env.UNPACKED_BUDGET);
|
||||
const maps = info.files.filter((f) => f.path.endsWith('.map'));
|
||||
if (maps.length > 0) {
|
||||
console.error('Tarball contains source maps (ADR-264 F2):', maps.map((m) => m.path));
|
||||
process.exit(1);
|
||||
}
|
||||
if (info.unpackedSize > budget) {
|
||||
console.error(\`Unpacked size \${info.unpackedSize} B exceeds budget \${budget} B\`);
|
||||
process.exit(1);
|
||||
}
|
||||
console.log(\`pack gate OK: \${info.files.length} files, \${info.unpackedSize} B unpacked (budget \${budget} B), 0 maps\`);
|
||||
"
|
||||
|
||||
# ADR-265 D1.4 — install the real tarball and drive each bin/export.
|
||||
- name: Tarball smoke test
|
||||
run: |
|
||||
set -euo pipefail
|
||||
TGZ="$PWD/$(npm pack --silent 2>/dev/null | tail -1)"
|
||||
SMOKE="$(mktemp -d)"
|
||||
cd "$SMOKE"
|
||||
npm init -y > /dev/null
|
||||
npm i --no-fund --no-audit "$TGZ"
|
||||
case "${{ inputs.package }}" in
|
||||
harness/ruview)
|
||||
./node_modules/.bin/ruview --version
|
||||
./node_modules/.bin/ruview doctor
|
||||
# the honesty gate must fail closed on empty input (ADR-263 F1)
|
||||
if ./node_modules/.bin/ruview claim-check; then
|
||||
echo 'claim-check passed with no input — fail-open regression'; exit 1
|
||||
fi
|
||||
node --input-type=module -e "const m = await import('@ruvnet/ruview'); if (!m.TOOLS) process.exit(1);"
|
||||
;;
|
||||
tools/ruview-mcp)
|
||||
# initialize over stdio; server must answer and exit 0 on EOF
|
||||
printf '{"jsonrpc":"2.0","id":1,"method":"initialize","params":{"protocolVersion":"2024-11-05","capabilities":{},"clientInfo":{"name":"ci","version":"0"}}}\n' \
|
||||
| timeout 30 ./node_modules/.bin/rvagent | grep -q '"serverInfo"'
|
||||
# the ESM export must resolve from the installed tarball (ADR-264 F1)
|
||||
timeout 30 node --input-type=module -e "await import('@ruvnet/rvagent');" < /dev/null
|
||||
;;
|
||||
esac
|
||||
|
||||
- name: Claim-check README
|
||||
run: |
|
||||
if [ -f README.md ]; then
|
||||
node "$GITHUB_WORKSPACE/harness/ruview/bin/cli.js" claim-check --file README.md
|
||||
fi
|
||||
|
||||
- name: Publish (with provenance)
|
||||
run: npm publish --provenance --access public --tag "${{ inputs.dist_tag }}"
|
||||
env:
|
||||
NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}
|
||||
@@ -36,7 +36,7 @@ jobs:
|
||||
features:
|
||||
- { label: 'default', flags: '--no-default-features' }
|
||||
- { label: 'train', flags: '--features train' }
|
||||
- { label: 'ruflo', flags: '--features ruflo' }
|
||||
- { label: 'ruflo+itar', flags: '--features ruflo,itar-unrestricted' }
|
||||
- { label: 'full+train', flags: '--features full,train' }
|
||||
steps:
|
||||
- uses: actions/checkout@v4
|
||||
|
||||
-14
@@ -277,17 +277,3 @@ aether-arena/staging/
|
||||
# MM-Fi benchmark dataset archives — large data, fetch separately, never commit
|
||||
assets/MM-Fi/E0*.zip
|
||||
assets/MM-Fi/*.zip
|
||||
|
||||
# through-wall demo: regenerable trained model artifact
|
||||
examples/through-wall/model/
|
||||
|
||||
# RuView harness (npx ruview) build artifacts — ADR-182
|
||||
harness/**/node_modules/
|
||||
harness/**/*.tgz
|
||||
harness/**/package-lock.json
|
||||
harness/**/.claude-flow/
|
||||
harness/**/ruvector.db
|
||||
|
||||
# ruvector runtime/hook DB — never tracked (any depth)
|
||||
ruvector.db
|
||||
**/ruvector.db
|
||||
|
||||
@@ -21,11 +21,3 @@
|
||||
[submodule "vendor/rufield"]
|
||||
path = vendor/rufield
|
||||
url = https://github.com/ruvnet/rufield
|
||||
[submodule "v2/crates/ruview-swarm"]
|
||||
path = v2/crates/ruview-swarm
|
||||
url = https://github.com/ruvnet/ruv-drone.git
|
||||
branch = main
|
||||
[submodule "v2/crates/worldgraph"]
|
||||
path = v2/crates/worldgraph
|
||||
url = https://github.com/ruvnet/worldgraph.git
|
||||
branch = main
|
||||
|
||||
@@ -7,16 +7,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
|
||||
|
||||
## [Unreleased]
|
||||
|
||||
### Changed
|
||||
- **`@ruvnet/rvagent` startup optimization — stdio time-to-first-response ~242 ms → ~189 ms (−22%; MEASURED, median of repeated `initialize` round-trips against `dist/index.js`, this container, reproduce with a piped-stdin timer).** Two changes: (1) `./http-transport.js` is now imported **lazily** inside the `RVAGENT_HTTP_PORT` branch — it chain-loads the MCP SDK's `streamableHttp` module (~48 ms MEASURED via per-module `import()` timing), which the default stdio path never uses; (2) the advertised JSON Schemas generated from the Zod sources are memoized per tool instead of re-walking the Zod tree on every `tools/list` (matters under the session-per-server HTTP model where each session lists tools). No behavior change: 99/99 jest tests, HTTP session flow re-smoke-tested through the lazy path. The `@ruvnet/ruview` harness CLI was profiled too and left alone — 50 ms vs the ~29 ms bare `node -e ''` floor on the same box (MEASURED), i.e. already near the interpreter floor with zero dependencies.
|
||||
|
||||
### Fixed
|
||||
- **ADR-263/264/265 implemented — the RuView npm surface fixed end-to-end (`@ruvnet/ruview@0.2.0`, `@ruvnet/rvagent@0.2.0`, `@ruv/ruview-cli`).** Harness (ADR-263 O1–O9): `claim-check` now **fails closed** on empty input (CLI exit 2 + `empty_text` tool error); the MCP stdio server dispatches `tools/call` asynchronously over promise-based `spawn` — `ping` answers while a long `verify`/`calibrate` runs (pinned by a new e2e test that runs a 3 s fake proof and asserts sub-second ping); the two `optionalDependencies` are gone so a cold `npx` installs exactly 1 package (MEASURED: was 4 packages / 620 kB / 71 files, `npm i` in a clean prefix); child output is captured as bounded rolling tails (no more 1 MiB `maxBuffer` kills); `node_monitor` passes the port via `sys.argv` instead of splicing it into `python -c` source; the MCP `serverInfo.version` reads package.json; `.claude/skills/*/SKILL.md` are generated from `skills/*.md` by a `prepack` sync script (byte-equality pinned by test); `which()` is a memoized dep-free PATH scan; tools are underscore-canonical (`ruview_claim_check`, …) with the dotted names accepted as call-time aliases, plus `resources/list`/`prompts/list` stubs; the guardrail's `METRIC_TERMS` matching is precision-fixed (word-boundary `map`/`f1`/`auc`/`iou`, code-span + label scrubbing, quantitative-claims-only) — ADR-263/264/265 and both package READMEs now PASS `claim-check` while real untagged claims still flag. 30/30 tests (MEASURED, `node --test`). rvagent (ADR-264 O1–O9): `exports` fixed (types-first, the never-built `dist/index.cjs` `require` target removed — verified broken in the published 0.1.0 tarball); tarball is map-free (127,704 B unpacked / 46 files / 0 maps — MEASURED, `npm pack --dry-run`, down from 188 kB with 44 maps); the Streamable HTTP transport is **actually wired** behind `RVAGENT_HTTP_PORT` with one transport + one MCP server per session (`mcp-session-id` routing), a 1 MiB body cap (413), and a port-aware localhost origin gate — the "dual-transport" description is now true; tools renamed to underscore-canonical with dotted router aliases; ONE Zod validation gate per call with the advertised JSON Schema generated from the same Zod source (`zod-to-json-schema`); `train_count` closes its log fds (was leaking 2/job) and persists job records to `<jobsDir>/<id>.json` so `job_status` survives restarts, with bounded log-tail reads; `detectCogBinary` actually probes its candidate paths; version reads package.json; `@types/express` dropped, `@types/jest` aligned to jest 29; README rewritten to match reality (no phantom `stdio`/`http`/`policy grant` subcommands; unimplemented ADR-124 catalog tools labeled roadmap). 99/99 jest tests (MEASURED); stdio handshake + HTTP session flow + 403/400/404/413 gates smoke-tested live. CLI: bin renamed `ruview-cli` (the `ruview` bin belongs to `@ruvnet/ruview`, ADR-265 D4), version single-sourced. Distribution (ADR-265 D1–D4): new `npm-packages.yml` (3-package × Node 20/22 matrix: tests, version-literal grep gate, pack-content/size gate, tarball-install smoke test incl. the fail-closed claim-check and an ESM-import probe that would have caught the broken `require` export, README claim-check) and `ruview-npm-release.yml` (publish from CI only, `npm publish --provenance`); `ci.yml` NODE_VERSION 18→20.
|
||||
- **Multistatic fusion never ran on a mixed-mode ESP32 mesh — live bridge fed raw, un-canonicalized per-node CSI to the fuser (#1170).** `node_frame_from_state` (`multistatic_bridge.rs`) wrapped each node's **raw** amplitude vector (HT20 ≈ 64 bins, HT40 ≈ 128/192) into a struct *named* `CanonicalCsiFrame` without ever resampling, so `MultistaticFuser::fuse` tripped `DimensionMismatch` on every cycle, silently fell back to per-node sum/dedup, and spun `total_engine_errors` unbounded. Added `HardwareNormalizer::resample_to_canonical` (resample-only, **no z-score** — preserves the amplitude scale the person-score's `variance/mean²` relies on) and run every node frame through it onto the canonical 56-tone grid before fusion. Heterogeneous meshes now fuse instead of erroring. Pinned by `heterogeneous_node_counts_canonicalize_and_fuse` (mixed 64/192 → fuses), `resample_to_canonical_is_length_only_no_zscore`, and an updated `test_node_frame_conversion`; the pre-existing `engine_bridge::observe_cycle_counts_engine_errors` was retargeted to force a `TimestampMismatch` (its old 56-vs-30 setup now canonicalizes cleanly). `wifi-densepose-signal` 501 / `wifi-densepose-sensing-server` 677 tests, 0 failed.
|
||||
- **`csi_fps_ema` reported the CSI frame rate 40–840× too high under bursty UDP delivery (#1180).** `update_csi_fps_ema` only rejected deltas `≤ 0` or `≥ 1 s`, so a 36 µs intra-burst arrival delta yielded `1/dt ≈ 27 kHz` straight into the EMA — the metric measured server arrival jitter, not the node's ~40 fps production rate. Added a `MIN_PLAUSIBLE_CSI_DT_SEC = 0.005` floor (derived from the firmware's 50 fps `CSI_MIN_SEND_INTERVAL_US` ceiling, ×4 slack) and made `observe_csi_frame_arrival` keep its anchor across sub-floor bursts so the next genuine inter-frame gap measures true cadence. Pinned by `subms_burst_delta_rejected`, `burst_interleaved_with_nominal_stays_in_band`, and `observe_csi_frame_arrival_ignores_subms_bursts`.
|
||||
- **`stream_sender` ENOMEM backoff starved low-rate control packets under a weak uplink (#1183, follow-up to #1135/#1159).** The global `s_backoff_until_us` gate (triggered by the 50 Hz CSI flood at weak RSSI) also suppressed the ≤48 B, ≤1 Hz `feature_state` / mesh `HEALTH` / sync packets that contribute negligible buffer pressure, so telemetry failed essentially every cycle. Added `stream_sender_send_priority()` — bypasses the backoff gate, reports ENOMEM quietly, and never extends/resets the global streak — and routed `feature_state`, HEALTH/anomaly (`rv_mesh_send`), and sync packets through it. Also fixed the misleading `"HEALTH sent"` log that printed unconditionally even when `rv_mesh_send` returned `ESP_FAIL` (now prints `sent`/`FAILED` from the actual return). Firmware builds clean (ESP-IDF v5.4).
|
||||
- **Multistatic fusion guard interval is now operator-configurable — fixes permanent trust demotion with WiFi-synced ESP32 nodes (#1049).** Two independently-clocked ESP32-S3 boards on ESP-NOW sync drift 10–150 ms (typ. ~70 ms) — the 100 ms beacon + WiFi-MAC jitter cannot hold them within the published 60 ms default guard, so the governed-trust cycle permanently demoted to `Restricted`, suppressed all pose output, and spun the error counter to 200k+ with **no escape hatch but a container restart**. Added a **direct `WDP_GUARD_INTERVAL_US` override** (+ optional `WDP_SOFT_GUARD_US`) to `multistatic_guard_config_from_env`, so a deployment can lift the hard guard past its measured spread (e.g. `WDP_GUARD_INTERVAL_US=200000`) without having to know its exact TDM schedule. Precedence is most-specific-wins: a direct override beats the existing `WDP_TDM_SLOTS`+`WDP_TDM_SLOT_US` schedule-derived guard, which beats the 60 ms/20 ms default; the override is applied on top of whichever base is selected, the soft band is always clamped strictly below the hard guard, and a malformed/zero value is ignored (falls back to the base rather than breaking fusion). The effective guard is now logged at startup. Pinned by 6 new tests (`multistatic_guard_config_tests`): direct-override-wins / beats-TDM-derived / soft-clamped-below-hard / lowering-hard-pulls-soft-down / malformed-or-zero-falls-back / default-when-unset. `wifi-densepose-sensing-server` bin tests **449 → 455**, 0 failed; Python proof VERDICT PASS, hash unchanged (off the signal proof path).
|
||||
|
||||
### Security
|
||||
- **`wifi-densepose-occworld-candle` — beyond-SOTA security + correctness review (Milestone #9, crate 4/4).** (1) **HIGH (MEASURED) — checkpoint-load crash on any int32 tensor** (`model.rs::safetensor_dtype_to_candle`). `safetensors::Dtype::I32` was mapped to `candle_core::DType::I64` and the raw int32 byte buffer (4 bytes/elem) was then handed to `Tensor::from_raw_buffer(.., I64, shape, ..)`. Candle derives `elem_count = data.len() / dtype.size_in_bytes()`, so the I64 path halved the element count while keeping the *original* shape — yielding a tensor whose declared shape claims twice as many elements as its backing storage holds. Reading it **panics** (`range end index 6 out of range for slice of length 3` — slice OOB inside candle-core) on any attacker-supplied or PyTorch-exported checkpoint containing an int32 tensor (common: index/buffer tensors). Fixed by mapping `I32 → DType::I32` (and `I16 → DType::I16`), both first-class candle dtypes. Reproduction recorded on old code; pinned by `tests/checkpoint_loading.rs::int32_tensor_loads_with_consistent_shape_and_values` (panics on old, passes on new) plus F32/I64/corrupt-file control cases. (2) **LOW (MEASURED) — `predict()` lacked frame/batch validation at the input boundary** (`inference.rs`). It validated H/W/D but not the externally-supplied frame count; an `f_in > num_frames*2` over-indexed the temporal positional embedding deep in the transformer and surfaced as a cryptic candle "gather" `InvalidIndex` (returned error, not a panic — candle bounds-checks), and a zero frame/batch dim fed a zero-element tensor into the pipeline. Now rejected at the boundary with a clear `ShapeMismatch`. Pinned by `predict_rejects_zero_frames` / `predict_rejects_too_many_frames` / `predict_accepts_frame_count_at_capacity`. (3) **LOW (MEASURED) — divide-by-zero panic on a degenerate input to the public `VQCodebook::encode`** (`vqvae.rs`): a rank-0 / empty-last-dim tensor made `last == 0` and panicked on `elem_count() / last`. Now fails closed with a clear error. Pinned by `encode_rejects_scalar_without_panicking`. **Dimensions confirmed CLEAN with evidence:** panic surface — zero `unwrap()`/`expect()`/`panic!`/`unreachable!` in production code paths (grep evidence; all error handling via `?`/`map_err`); NaN-state-poisoning — N/A (engine is stateless between `predict` calls, input is `u8` class indices so non-finite input is structurally impossible, no persistent world-model buffer to latch into); unbounded-alloc / shape-data mismatch from malformed weights — defended upstream by `safetensors::validate()` (overflow-checked `nelements*dtype.size()` vs declared byte range, rejected before reaching candle); secrets — none (grep clean, only `token_h`/`token_w` config fields match). `unsafe_code = forbid` in the crate manifest. **Build/validation status (MEASURED on Windows):** crate builds and tests under `cargo test -p wifi-densepose-occworld-candle --no-default-features` — **29/29 pass** (20 unit + 4 checkpoint_loading + 3 predict_honesty + 2 doc) after fixes; `cargo test --workspace --no-default-features` = 0 failed across all crates (lone `wifi-densepose-desktop` `api_integration` failure was a Windows "Access is denied (os error 5)" file-lock flake — re-ran in isolation **21/21 pass**); Python proof VERDICT PASS, hash `f8e76f21…446f7a` unchanged. *Warrants ADR slot 179 (parent to author).*
|
||||
- **`wifi-densepose-wasm-edge` beyond-SOTA closing review — boundary NaN-state-poisoning guard + clean-with-evidence attestation (ADR-040 edge crate, ~70 modules).** Closing pass of the security campaign over the last untouched sizeable crate. **One real finding fixed (LOW / source-analysis + reproduced):** the two WASM↔host frame boundaries (`lib.rs::on_frame`/`on_timer` and `bin/ghost_hunter.rs::on_frame`) read raw IEEE-754 `f32` from the `csi_get_phase`/`csi_get_amplitude`/`csi_get_variance`/`csi_get_motion_energy` host imports **without any finiteness check** — the entire crate had **zero** `is_finite`/`is_nan` guards, and the in-crate `clamp` helpers propagate NaN (`NaN < lo` and `NaN > hi` are both false). A single non-finite value (firmware DSP bug, uninitialised buffer, or hostile host) latches NaN into the long-lived per-module accumulators (EMA, Welford, phasor sums, anomaly baselines); once latched, every downstream comparison evaluates `false`, so detectors fail **degraded** (stuck gate state, silently-disabled anomaly checks) — silent corruption, not a crash (WASM `panic=abort` is *not* tripped: no indexing/`unwrap` on the poisoned value). Threat model is a **semi-trusted** boundary (the Tier-2 DSP firmware supplies the imports, not direct network/JS), hence LOW severity / defense-in-depth. **Fix:** added `sanitize_host_f32()` (maps non-finite→`0.0`, `core`-only so it holds in `no_std`) applied at every `host_get_*` float read — a single chokepoint covering all ~70 downstream modules, mirroring the existing M-01 negative-`n_subcarriers` boundary clamp. **Pinned by** `boundary_tests::{sanitize_passes_finite_values_through, sanitize_maps_non_finite_to_zero, coherence_monitor_nan_latches_without_sanitize_but_not_with}` — the last asserts on the *current* `CoherenceMonitor` that a raw NaN frame latches the smoothed score (documents the hazard) while the boundary-sanitized path stays finite. **Dimensions attested CLEAN with evidence (source-analysis):** (a) **panic-on-input** — every non-test `unwrap()`/`expect()` is either `#[cfg(test)]` or in the `std`-gated RVF *builder* host tool writing to an in-memory `Vec` (infallible); no `panic!`/`unreachable!`/`todo!`/`get_unchecked` in any hot path. (b) **shape/bounds** — all frame-buffer access is `min()`-clamped (`MAX_SC=32`, `DTW_MAX_LEN`, `LCS_WINDOW`, `PATTERN_LEN`), all index-by-cast sites (`feature_id as usize`, `conclusion_id`, `minute_counter`, `plan_step`) are either compile-time-const-bounded or `if idx <`/`%`-guarded; negative `n_subcarriers` already mapped to 0 (M-01). (c) **memory/leak** — no `move ||` closures, no `mem::forget`/`Box::leak`/`.leak()`; the only `Box::new` is in the `std`-gated `skill_registry` (one-time init, bounded). (d) **secrets** — none (grep clean). **MEASURED build/test evidence:** host `cargo test --features std,medical-experimental` = **672 passed / 0 failed** (was 669 pre-fix; +3 new tests); the real deployment artifacts all build clean on the actual target — `cargo build --target wasm32-unknown-unknown --release` (no_std/panic=abort default lib), `--bin ghost_hunter --no-default-features --features standalone-bin`, and `--features medical-experimental` (toolchain 1.89 per `rust-toolchain.toml`). No ADR slot needed — a single LOW defense-in-depth boundary fix; CHANGELOG attestation suffices.
|
||||
@@ -30,7 +20,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
|
||||
- **`homecore-recorder` security review (ADR-132 surfaces) — two real bounding fixes; SQL-injection & NaN-index dimensions confirmed clean with evidence.** Beyond-SOTA review of the HA-compat state recorder (DB persistence + history + ruvector semantic search), the crux being its DB-backed SQL-injection surface. **Findings + fixes:** (1) **Memory-DoS — unbounded `get_state_history`.** The history query carried no `LIMIT`, so a wide `[since, until]` window over a high-frequency entity (a per-second sensor ≈ 86k rows/day) would load an unbounded row set into a single in-memory `Vec`. Added a hard `LIMIT MAX_HISTORY_ROWS` (1,000,000 — generous enough never to truncate a realistic history graph, bounded enough to cap the worst case); the sibling search paths were already `k`-bounded. (2) **Disk-DoS / documented-but-missing `purge`.** The README + HA-compat table advertised `Recorder::purge(older_than)` as a capability, but **no such method existed** — i.e. no retention path at all → unbounded disk growth. Implemented a **transactional** `purge` that deletes `states` + `events` strictly **older than** the cutoff (**exclusive** boundary — idempotent, no off-by-one; a row at the cutoff instant is kept) and **garbage-collects** orphaned `state_attributes` blobs (a dedup-shared blob is dropped only once its last referencing state is gone); all three deletes run in one transaction so a mid-purge failure rolls back cleanly (no states-deleted-but-events-kept corruption). **Confirmed clean with evidence:** SQL injection — **every** query in `db.rs` uses bound `?` parameters (no `format!`/string-concat of user data into SQL); the lone `format!` builds the LIKE *pattern*, which is itself bound as a parameter with `ESCAPE '\\'` and metacharacter escaping. Pinned: a state value `'; DROP TABLE states; --` is stored/queried **literally** (table survives), and a `%`/`_` in a search query matches **literally**, not as a wildcard. NaN-index poisoning (the calibration/vitals/geo class) — **structurally impossible** here: embeddings are SHA-256 → `i32` → `f32` (an `i32` cast to `f32` is always finite, never NaN/Inf), with an all-zero-digest norm guard; probed empty-index search, empty-string query, and `k=0` — all return `Ok(0)`, **no panic**. Fail-closed write path — a removal event yields `Ok(None)`, semantic-index failure is logged not propagated (best-effort, never blocks the durable SQLite write), and `EntityId` parsing failures fall back rather than panic. **6 new pinning tests** (SQL-injection literal-storage, LIKE-metacharacter literalness, history `LIMIT`, purge exclusive-boundary, purge attribute-GC-keeps-shared, purge old-events): `homecore-recorder` **19 → 25** (`--no-default-features`) / **25 → 31** (`--features ruvector`), 0 failed; the purge-boundary test is a true pin (fails deleting 2 rows under an inclusive cutoff, passes deleting 1 under the exclusive cutoff). Behaviour otherwise unchanged; Python deterministic proof unchanged (recorder is off the signal proof path).
|
||||
|
||||
### Added
|
||||
- **ADR-263/264/265: deep review of the RuView npm surface (`@ruvnet/ruview`, `@ruvnet/rvagent`, `@ruv/ruview-cli`) with optimization strategies recorded as ADRs.** ADR-263 reviews the published `@ruvnet/ruview@0.1.0` harness: fail-open `claim-check` on empty input (HIGH), `spawnSync` head-of-line blocking of the MCP stdio server during long `verify`/`calibrate` runs (HIGH), optionalDependencies tripling the cold `npx` install for a code path that never uses them (MEASURED, `npm i` in a clean prefix: 4 packages / 620 kB / 71 files default vs 1 package / 172 kB / 22 files with `--omit=optional`), 1 MiB `maxBuffer` truncation risk, `python -c` port-interpolation surface in `node_monitor`, hardcoded MCP server version, duplicated skill payload — optimizations O1–O8. ADR-264 reviews `@ruvnet/rvagent@0.1.0` + the private CLI **against the published registry tarball**: `exports.require` → nonexistent `dist/index.cjs` (HIGH, every CJS consumer breaks), 44 dead source-map files = 62,698 B of the 188 kB unpacked payload pointing at unshipped `../src` (MEASURED), stdio-only server described as "dual-transport" (CLAIMED capability), mixed dot/underscore tool naming, double Zod validation + hand-duplicated advertised schemas, 2-fd leak per training job, unbounded request body in the unwired HTTP scaffold, dead `detectCogBinary` candidate list, `ruview` bin-name collision — optimizations O1–O9. ADR-265 adds the cross-cutting distribution layer: an `npm-packages.yml` CI matrix (tests + pack-content/size gate + tarball-install smoke test — none of the three packages currently has any CI, and `ci.yml` pins Node 18 against `engines >= 20`), publish-from-CI-only with `npm publish --provenance`, version single-sourcing from package.json, bin/namespace ownership (the `ruview` bin belongs to `@ruvnet/ruview`), and claim-check enforcement on package READMEs/descriptions. Docs only — no runtime code changed; the findings are the work orders for the follow-up PRs.
|
||||
- **ADR-131 §11–§12: HOMECORE-UI wired to a real backend — single-origin BFF gateway + production front-end (no mock in prod).** Implements the §11 wiring decision so the dashboard stops rendering fabricated data. **Front-end (DONE + verified under Node):** `api.js` rewritten so every data accessor is async and calls the §11.2 gateway routes; the in-browser mock is demoted to a **dev-only fixture** reachable only via `?demo=1`/`HOMECORE_UI_DEMO` (§2.2); all ten panels now `await` and render a **typed empty/error state** on upstream failure (no mock fallback in production) — 3 panels converted by hand, 7 via a parallel agent swarm. **New `homecore-server` BFF gateway (`src/gateway.rs`, compile-pending — no Rust toolchain in the authoring env):** promotes `homecore-server` to the single origin (§2.1); adds `/api/homecore/*` + `/api/cal/*` merged into `build_app`, with `reqwest` + CLI/env flags (`--calibration-url`/`--calibration-token`/`--apps-dir`/`--gateway-timeout-ms`). Real handlers: calibration **reverse-proxy** (W2), `GET /api/homecore/rooms` with the §11.3 **RoomState adapter** (`breathing`→`breathing_bpm`, `heartbeat`→`heart_bpm`, `None`→`null` preserving not-trained-vs-withheld, injected `anomaly.threshold`/`room_id`), **COG supervisor** over `/var/lib/cognitum/apps/` (W4), and **appliance metrics** from `/proc` + TCP service probes (W6); SEED-device/appliance routes (seeds/federation/witness/privacy/settings/automations/events-history/hailo/tokens — W3/W5) return a typed `503 upstream_unavailable` and the UI shows error states. **Tests:** front-end **5 files green** — import-graph, boot, render-smoke (22), interaction (3), and a **new prod-errors suite (13)** that runs with demo OFF + gateway unreachable and proves every panel renders an error state, never mock, never throws (it caught + fixed a real unhandled-rejection in the events automation builder). **Gateway compiled, tested, and run on Rust 1.89:** `cargo test -p homecore-server --no-default-features` = **12/12 pass** (6 gateway + 6 UI mount); the binary was **run live** — `GET /api/homecore/appliance` returns real `/proc` metrics + TCP service probes, unauth → `401`, `cogs` → `[]` (no apps dir), SEED-tier → typed `503`, and against a mock calibration upstream the `/api/cal/*` proxy passes through (`200`) and `GET /api/homecore/rooms` adapts `RoomState` to the UI shape (`breathing`→`breathing_bpm`, `heartbeat:null`→`heart_bpm:null`, injected `anomaly.threshold`/`room_id`). **Live testing caught + fixed a real bug** — a double-`v1` segment in the `/api/cal/*` proxy URL. **Remaining (intrinsic, not an env limit):** W3/W5/W6-Hailo/federation depend on services/hardware **not in this repo** (recorder/automation HTTP wrappers, real SEED nodes, Hailo stat source), so they return honest `503`s rather than fabricate data; W1/W2/W4/W6-appliance are functional now. ADR-131 §10/§12.1 updated with per-wave status.
|
||||
- **ADR-131: HOMECORE-UI — the complete operational dashboard for the two-tier Cognitum stack, served by `homecore-server` at `/homecore`.** A zero-dependency, no-build-step vanilla TS/JS + CSS frontend (the `rufield-viewer` "Axum + vanilla-JS" pattern) that extends the Cognitum Appliance shell as a first-class nav section (Framework | Guide | Cog Store | **HOMECORE** | Status). **Complete, not a scaffold** (per the ADR's revised §2/§7): all **10 panels** ship fully built and rendered — §4.1 System Dashboard (v0 Appliance health strip + SEED fleet grid + ESP32 summary + COG status row + event-bus sparkline), §4.2 SEED Detail (vector store / witness chain / 5 onboard sensors / reflex rules / cognitive-fragility / ingest packet-type), §4.3 SEED Fleet Map (Appliance→SEED→ESP32 hierarchy, ESP-NOW mesh, cross-SEED fusion badges, ADR-105 federation), §4.4 Entity & State Browser (domain-grouped, **live WebSocket `subscribe_events` patching — never polls**, first-class provenance badges, keyword filter, context-causality slide-over), §4.5 RoomState/Sensing (mixture-of-specialists), §4.6 COG Management + App Registry, §4.7 Calibration Wizard (5-step baseline→enroll→train→verify), §4.8 Event Bus + Automation builder, §4.9 Witness/Audit log (two-tier SHA-256 + Ed25519 timeline, privacy-mode banner, pagination, export), §4.10 Settings. **Design system is the exact production Cognitum palette** (`tokens.css` carries `--cyan #4ecdc4` … `--r 10px` verbatim, §3.1) so there is no visual seam with the Cog Store (§3.3 invariant). **§6 UX invariants enforced in code and pinned by tests:** tier-origin provenance is always-visible (never collapsed); `stale`/`vetoed` flags and the kNN fragility score are prominent (amber/red tint + banners, never grey-on-grey); a `null` specialist renders "Not trained / calibrate to enable" **visually distinct from** veto-`withheld` (rendered as explicitly withheld, never zero) **distinct from** an error; all IDs/hashes/endpoints/payloads use `--mono`; Hailo-sourced COGs (`arch: hailo10`) are visually distinguished from CPU-only (`arch: arm`). **Wiring:** `homecore-server` gains a `--ui-dir`/`HOMECORE_UI_DIR` flag and mounts the assets via `tower-http` `ServeDir` at `/homecore` alongside the unchanged HA-compat `/api` surface (new testable `build_app()`), with **5 Rust integration tests** (`#[cfg(test)] mod ui_tests`, `tower::oneshot`) asserting index / design tokens / all-10-panels are served, the API coexists, and an empty `--ui-dir` disables the mount. **JS test + benchmark suite (`ui/`, runs under plain `node`, no npm install): 24 checks / 0 failed** — an import/export graph verifier (15 modules consistent), a DOM-shim render-smoke that *executes every panel* (21 checks: ui helpers + mock contracts + all 10 panels render without throwing), and an interaction suite (3 checks: live WS state-patch, ws.js handshake/parse, calibration backend contract). **Benchmark:** total bundle **136.8 KB uncompressed across 18 files — ~37× smaller than HA's ~5 MB Lit bundle** (the ADR-126 §1.1 foil), slowest panel **1.5 ms/cold-render**. **Honest scope (§7.1):** the live HOMECORE REST API (`/api/config|states|services`) and the WebSocket `subscribe_events` feed are driven for real; panels whose backing service is **not** in this binary (SEED HTTPS API, calibration ADR-151, ADR-105 federation) render against a **contract-conformant mock layer flagged with a DEMO banner** and swap to live the moment those endpoints land — no mock data is ever presented as real. **Not verified in this environment:** the Rust crate was edited and the integration tests written but **not compiled/run here** (no Rust toolchain present); `cargo test -p homecore-server` + `cargo build` must be run on a Rust host before merge.
|
||||
- **ADR-175: int8 quantization of the WiFlow-STD "half" pose model — MEASURED fp32-vs-int8 accuracy/size trade-off (honest negative).** Sub-deliverable 8.2 of the benchmark/optimization milestone, and the reading of the SOTA brief's "one untested edge lever" (QAT-int8 on the 843,834-param half model that strictly dominates the published 2.23M model). A new committed script `v2/crates/wifi-densepose-train/scripts/quantize_half_int8.py` quantizes `half_best.pth` to int8 two ways and scores both with the **same** upstream `calculate_pck`/`calculate_mpjpe` that produced the fp32 sweep numbers, under **one locked normalization** (ADR-173 torso-diameter PCK — neck idx2→pelvis idx12, `use_torso_norm=True`, the standard MM-Fi/GraphPose-Fi convention), on the **same** seed-42 file-level 70/15/15 test split (52,560 NaN-free / 54,000 full windows). **MEASURED on ruvultra (RTX 5080, torch 2.11.0+cu128, fbgemm; clean test, torso-PCK):** fp32 = 96.62% PCK@20 / 99.47% PCK@50 / 0.008981 MPJPE / 3.351 MB (fp32-CPU reproduces fp32-GPU to 4 dp, so the int8 deltas are pure quantization, not CPU/GPU drift); **int8 static PTQ = 40.98% PCK@20 (−55.64 pp), 1.046 MB** — naive static QDQ **collapses** on this model (the brief's 2.23M "sweet spot" does NOT transfer to the 843k half model at the tight @20 threshold); **int8 QAT (3-epoch FX fake-quant fine-tune from half_best) = 67.48% PCK@20 (−29.15 pp) / 98.69% PCK@50 (−0.78 pp), 1.043 MB.** **Verdict (honest no):** int8 is **not a win** at the strict PCK@20 edge target — QAT recovers a large share of the PTQ collapse and is near-lossless at the loose PCK@50 (coarse localization survives int8, fine does not), but a **3.2× size win at −29 pp PCK@20** is a bad trade when the half model already fits edge flash at fp32 → **keep fp32/fp16 on the edge for now.** **Disclosed gap:** the QAT *fake-quant* val PCK@20 reached 83.45% but the *converted* int8 model scores 67.48% — a real ~16 pp `convert_fx` gap (fbgemm int8 kernels ≠ straight-through estimate, esp. the axial-attention einsum/softmax); we report the converted-int8 number, not the fake-quant proxy. **MEASURED:** every table number + the PTQ collapse + the QAT partial recovery + the conversion gap. **CLAIMED/not done:** ONNX/TFLite export, on-edge-SoC latency/energy (int8 measured on x86 fbgemm — size transfers, latency does NOT), mixed-precision keeping attention fp32, longer/better-tuned QAT. **Honest limitations:** single in-domain eval split (no cross-environment split), x86-int8 not edge-SoC-int8, lightly-tuned QAT. Additive only — no production Rust or signal-pipeline change; Python deterministic proof unchanged (`f8e76f21…46f7a`, bit-exact — off the signal proof path).
|
||||
|
||||
@@ -62,7 +62,7 @@ All 5 ruvector crates integrated in workspace:
|
||||
- `ruvector-attention` → `model.rs` (apply_spatial_attention) + `bvp.rs`
|
||||
|
||||
### Architecture Decisions
|
||||
182 ADRs in `docs/adr/` (numbered ADR-001 through ADR-265, with gaps). Key ones:
|
||||
43 ADRs in `docs/adr/` (ADR-001 through ADR-043). Key ones:
|
||||
- ADR-014: SOTA signal processing (Accepted)
|
||||
- ADR-015: MM-Fi + Wi-Pose training datasets (Accepted)
|
||||
- ADR-016: RuVector training pipeline integration (Accepted — complete)
|
||||
@@ -77,10 +77,6 @@ All 5 ruvector crates integrated in workspace:
|
||||
- ADR-148: Drone swarm control system / `ruview-swarm` (In Progress)
|
||||
- ADR-152: WiFi-Pose SOTA 2026 intake — geometry conditioning, WiFlow-STD benchmark (measurement (a) complete: claims MEASURED-EQUIVALENT at ~96% PCK@20), MAE recipe (Proposed; §2.1–2.3, 2.6 implemented)
|
||||
- ADR-153: IEEE 802.11bf-2025 forward-compatibility protocol model (Accepted — amends ADR-152 §2.4)
|
||||
- ADR-182: `npx ruview` harness minted via MetaHarness (Accepted — P1+P2 shipped as `@ruvnet/ruview`)
|
||||
- ADR-263: `@ruvnet/ruview` npm harness deep review + optimization strategy (Proposed)
|
||||
- ADR-264: `@ruvnet/rvagent` MCP server + `@ruv/ruview-cli` deep review + optimization strategy (Proposed)
|
||||
- ADR-265: RuView npm distribution strategy — CI gate, provenance, version single-sourcing (Proposed)
|
||||
|
||||
### Supported Hardware
|
||||
|
||||
|
||||
@@ -51,26 +51,26 @@ verify-audit:
|
||||
|
||||
# ─── Rust Builds ─────────────────────────────────────────────
|
||||
build-rust:
|
||||
cd v2 && cargo build --release
|
||||
cd rust-port/wifi-densepose-rs && cargo build --release
|
||||
|
||||
build-wasm:
|
||||
cd v2 && wasm-pack build crates/wifi-densepose-wasm --target web --release
|
||||
cd rust-port/wifi-densepose-rs && wasm-pack build crates/wifi-densepose-wasm --target web --release
|
||||
|
||||
build-wasm-mat:
|
||||
cd v2 && wasm-pack build crates/wifi-densepose-wasm --target web --release -- --features mat
|
||||
cd rust-port/wifi-densepose-rs && wasm-pack build crates/wifi-densepose-wasm --target web --release -- --features mat
|
||||
|
||||
test-rust:
|
||||
cd v2 && cargo test --workspace --no-default-features
|
||||
cd rust-port/wifi-densepose-rs && cargo test --workspace
|
||||
|
||||
bench:
|
||||
cd v2 && cargo bench --package wifi-densepose-signal
|
||||
cd rust-port/wifi-densepose-rs && cargo bench --package wifi-densepose-signal
|
||||
|
||||
# ─── Run ─────────────────────────────────────────────────────
|
||||
run-api:
|
||||
uvicorn archive.v1.src.api.main:app --host 0.0.0.0 --port 8000
|
||||
uvicorn v1.src.api.main:app --host 0.0.0.0 --port 8000
|
||||
|
||||
run-api-dev:
|
||||
uvicorn archive.v1.src.api.main:app --host 0.0.0.0 --port 8000 --reload
|
||||
uvicorn v1.src.api.main:app --host 0.0.0.0 --port 8000 --reload
|
||||
|
||||
run-viz:
|
||||
python3 -m http.server 3000 --directory ui
|
||||
@@ -81,7 +81,7 @@ run-docker:
|
||||
# ─── Clean ───────────────────────────────────────────────────
|
||||
clean:
|
||||
rm -f .install.log
|
||||
cd v2 && cargo clean 2>/dev/null || true
|
||||
cd rust-port/wifi-densepose-rs && cargo clean 2>/dev/null || true
|
||||
|
||||
# ─── Help ────────────────────────────────────────────────────
|
||||
help:
|
||||
|
||||
@@ -601,8 +601,6 @@ claude --plugin-dir ./plugins/ruview
|
||||
|
||||
Verify the plugin structure: `bash plugins/ruview/scripts/smoke.sh`. Full details: [`plugins/ruview/README.md`](plugins/ruview/README.md).
|
||||
|
||||
**Portable harness — `npx @ruvnet/ruview`:** a lighter, host-portable companion to the in-repo plugin, minted via [MetaHarness](https://www.npmjs.com/package/metaharness) and hardened per [ADR-182](docs/adr/ADR-182-npx-ruview-harness-via-metaharness.md). It runs **without cloning this repo** and on more hosts (Claude Code, Codex, Copilot, opencode, …), exposing the RuView operator tools (`onboard`, `verify`, `node_monitor`, `calibrate`, `node_flash`) over an MCP server — plus the project's **MEASURED-vs-CLAIMED honesty guardrail enforced in code** (`ruview.claim_check` flags untagged or retracted-"100%" accuracy claims). v0.1: the onboarding/verify/claim-check paths are tested (17/17, `verify.py` → PASS); the hardware tools are fail-closed wrappers. Try `npx @ruvnet/ruview` to onboard, or `npx @ruvnet/ruview claim-check --text "…"`. Source: [`harness/ruview/`](harness/ruview/README.md).
|
||||
|
||||
---
|
||||
|
||||
## 📖 Documentation
|
||||
@@ -616,8 +614,7 @@ Verify the plugin structure: `bash plugins/ruview/scripts/smoke.sh`. Full detail
|
||||
| [**SENSE-BRIDGE — rvagent MCP server**](tools/ruview-mcp/README.md) | Dual-transport MCP server (`@ruvnet/rvagent`) bridging the RuView sensing stack to AI agents (Claude Code, Cursor, ruflo swarms). 6 tools wired: `ruview.presence.now`, `ruview.vitals.get_{breathing,heart_rate,all}`, `ruview.bfld.last_scan`, `ruview.bfld.subscribe`. stdio + Streamable HTTP (`POST /mcp`, Origin-validated, bearer-token auth, `127.0.0.1` bind). Full 20-tool Zod schema barrel + 5 RUVIEW-POLICY governance tools. 93 tests. [ADR-124](docs/adr/ADR-124-rvagent-mcp-ruvector-npm-integration.md). Try: `npx @ruvnet/rvagent stdio`. |
|
||||
| [Semantic Primitives — Precision/Recall](docs/integrations/semantic-primitives-metrics.md) | Per-primitive F1 on the held-out paired-capture set: someone-sleeping, possible-distress, room-active, elderly-inactivity-anomaly, meeting, bathroom, fall-risk, bed-exit, no-movement, multi-room. |
|
||||
| [Claude Code / Codex Plugin](plugins/ruview/README.md) | The `ruview` plugin + marketplace — skills, `/ruview-*` commands, agents, and the Codex prompt mirror |
|
||||
| [Portable harness — `npx @ruvnet/ruview`](harness/ruview/README.md) | MetaHarness-minted, host-portable RuView operator harness — `ruview.*` MCP tools + the MEASURED-vs-CLAIMED honesty guardrail enforced in code ([ADR-182](docs/adr/ADR-182-npx-ruview-harness-via-metaharness.md)). A lighter, multi-host companion to the in-repo plugin. |
|
||||
| [Architecture Decisions](docs/adr/README.md) | 182 ADRs — why each technical choice was made, organized by domain (hardware, signal processing, ML, platform, infrastructure) |
|
||||
| [Architecture Decisions](docs/adr/README.md) | 96 ADRs — why each technical choice was made, organized by domain (hardware, signal processing, ML, platform, infrastructure) |
|
||||
| [Domain Models](docs/ddd/README.md) | 8 DDD models (RuvSense, Signal Processing, Training Pipeline, Hardware Platform, Sensing Server, WiFi-Mat, CHCI, rvCSI) — bounded contexts, aggregates, domain events, and ubiquitous language |
|
||||
| [rvCSI — edge RF sensing runtime](https://github.com/ruvnet/rvcsi) | Rust-first / TypeScript-accessible / hardware-abstracted CSI runtime: multi-source ingestion (incl. real nexmon_csi `.pcap` from a **Raspberry Pi 5** / Pi 4 / Pi 3B+ — CYW43455 / BCM43455c0) → validation → DSP → typed events → RuVector RF memory ([ADR-095](docs/adr/ADR-095-rvcsi-edge-rf-sensing-platform.md), [ADR-096](docs/adr/ADR-096-rvcsi-ffi-crate-layout.md), [domain model](docs/ddd/rvcsi-domain-model.md)). Now its own repo — [`ruvnet/rvcsi`](https://github.com/ruvnet/rvcsi) — vendored here under `vendor/rvcsi`; 9 `rvcsi-*` crates on crates.io, `@ruv/rvcsi` on npm, plus a Claude Code plugin. |
|
||||
| [Desktop App](v2/crates/wifi-densepose-desktop/README.md) | **WIP** — Tauri v2 desktop app for node management, OTA updates, WASM deployment, and mesh visualization |
|
||||
|
||||
Binary file not shown.
@@ -1,279 +0,0 @@
|
||||
# ADR-182: `npx ruview` — A RuView Agent Harness Minted via MetaHarness
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted — **P1+P2 implemented & validated** (`harness/ruview/`, 17/17 tests, MCP handshake + `ruview.verify` PASS against the real repo, packs to 16.7 kB / 21 files) · P3 publish-ready (name decision pending) · P4 (router + provenance) designed |
|
||||
| **Date** | 2026-06-17 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **RUVIEW-HARNESS** |
|
||||
| **Builds on** | MetaHarness (`metaharness@0.1.15`, `@metaharness/kernel`, `@metaharness/host-*`, `@metaharness/router`), the `ruview-*` Claude Code subagents (`ruview-onboarding-guide`, `ruview-config-engineer`, `ruview-training-engineer`), the `wifi-densepose` CLI (`calibrate`/`enroll`/`train-room`/`room-watch`), the sensing-server, ADR-028 (witness verification), ADR-095/096 (rvCSI runtime), ADR-260/262 (RuField bridge) |
|
||||
| **Supersedes** | none |
|
||||
|
||||
## Context
|
||||
|
||||
RuView (WiFi-DensePose) is a deep stack — 15 Rust crates, an ESP32 firmware line,
|
||||
a sensing-server, a CLI, ~180 ADRs, a calibration pipeline, training recipes, and a
|
||||
hard cultural rule that **every claim must be independently reproducible** (the
|
||||
"prove everything" ethos, after the project was accused of AI-slop). The barrier to
|
||||
entry is correspondingly steep: a newcomer who wants to "set up WiFi sensing" must
|
||||
discover the right firmware variant, provision an ESP32 over a Windows-only Python
|
||||
subprocess, point it at the sensing-server, run `calibrate` → `enroll` →
|
||||
`train-room`, and know which numbers are MEASURED vs CLAIMED. We already encode this
|
||||
knowledge as **Claude Code subagents** (`ruview-onboarding-guide`,
|
||||
`ruview-config-engineer`, `ruview-training-engineer`) — but those only exist inside
|
||||
*this* repo's `.claude/agents/`, only on Claude Code, and only for someone who has
|
||||
already cloned the monorepo.
|
||||
|
||||
Separately, this session shipped **MetaHarness** (`metaharness@0.1.15`): a tool that
|
||||
*"mints a custom AI agent harness from any repo"*, runnable on **9 hosts**
|
||||
(claude-code, codex, pi-dev, hermes, openclaw, rvm, copilot, opencode,
|
||||
github-actions) over a wasm-primary / NAPI-RS-fallback **kernel**, with a
|
||||
**cost-optimal model router** (`@metaharness/router`, the productized DRACO Phase-2
|
||||
k-NN finding) and ed25519/SLSA/SBOM provenance baked in. Crucially, MetaHarness
|
||||
**already ships a `vertical:ruview` template** in its template list. That template
|
||||
is generic scaffolding; it is not wired to RuView's actual tools, agents, or the
|
||||
"prove everything" guardrails.
|
||||
|
||||
The gap: **there is no single, host-portable, provenance-signed entry point that
|
||||
gives any user an AI agent that actually knows how to operate RuView.** A user
|
||||
should be able to run one command —
|
||||
|
||||
```bash
|
||||
npx ruview
|
||||
```
|
||||
|
||||
— in an empty directory (or alongside an ESP32) and get an agent harness that can
|
||||
onboard them, configure firmware, drive a live capture, train a room model, and
|
||||
**refuse to overstate accuracy** — on whichever coding host they already use.
|
||||
|
||||
## Decision
|
||||
|
||||
**Mint a first-class RuView agent harness from this repo using MetaHarness, harden
|
||||
its `vertical:ruview` template into a RuView-specific harness with a real MCP tool
|
||||
surface and the project's honesty guardrails, and publish it as `npx ruview`.**
|
||||
|
||||
`npx ruview` is *not* a new runtime. It is a **thin, versioned distribution** of a
|
||||
MetaHarness harness: the kernel + host adapters + a RuView "genome" (skills, agents,
|
||||
MCP tools, guardrails) generated from and pinned against this monorepo. The harness
|
||||
is the product; `npx ruview` is the front door.
|
||||
|
||||
### Why mint-from-repo instead of hand-writing a harness
|
||||
|
||||
MetaHarness's value here is exactly the work we would otherwise hand-roll across 9
|
||||
hosts: host-specific config (`.claude/settings.json` MCP + hooks for claude-code,
|
||||
the codex/copilot/opencode equivalents), the kernel that abstracts wasm-vs-native,
|
||||
the cost router, and the provenance chain. We write the **RuView knowledge once** as
|
||||
host-neutral genome assets; MetaHarness projects them onto each host adapter. This
|
||||
also keeps the harness regenerable: when the CLI or an ADR changes, re-mint and
|
||||
re-pin rather than maintaining 9 divergent copies.
|
||||
|
||||
### What the harness contains (the RuView genome)
|
||||
|
||||
1. **Skills / playbooks** (host-neutral markdown, projected to each host's skill
|
||||
format):
|
||||
- `onboard` — zero-to-sensing path picker (Docker demo / repo build / live
|
||||
ESP32), the physics caveats, the hardware table. Port of
|
||||
`ruview-onboarding-guide`.
|
||||
- `provision-node` — ESP-IDF v5.4 Windows-subprocess build/flash/provision flow
|
||||
(the exact MSYSTEM-stripped invocation from `CLAUDE.local.md`), firmware
|
||||
variant selection (8MB display / 4MB no-display / C6), NVS + WiFi + channel /
|
||||
MAC-filter overrides (ADR-060).
|
||||
- `calibrate-room` — `baseline → enroll → extract → train` via the
|
||||
`wifi-densepose` CLI (`calibrate`/`calibrate-serve`/`enroll`/`train-room`/
|
||||
`room-watch`, ADR-151).
|
||||
- `train-pose` — camera-supervised + camera-free training, the MEASURED-vs-CLAIMED
|
||||
discipline, the mean-pose baseline check (ADR-079, ADR-152, ADR-181).
|
||||
- `verify` — run the witness bundle + Python proof (`verify.py` → VERDICT: PASS),
|
||||
ADR-028.
|
||||
- Ports of `ruview-config-engineer` and `ruview-training-engineer`.
|
||||
|
||||
2. **MCP tool surface** (`@metaharness/kernel`-hosted MCP server, one schema per
|
||||
capability — see "MCP tools" below). This is what makes the harness *operate*
|
||||
RuView, not just talk about it.
|
||||
|
||||
3. **Guardrails** (the differentiator): the harness's system prompt and a
|
||||
pre-output hook enforce the "prove everything" rule — accuracy numbers must be
|
||||
tagged MEASURED (with a reproducer) or CLAIMED; the agent must run the mean-pose
|
||||
baseline before quoting PCK; firmware fixes are never presented as
|
||||
hardware-validated without a real boot log (the exact discipline this session
|
||||
followed for `v0.8.1-esp32`).
|
||||
|
||||
4. **Host adapters** — claude-code first (P1), then codex / opencode / copilot /
|
||||
pi-dev / hermes / rvm / github-actions (P3+), each via the published
|
||||
`@metaharness/host-*` package.
|
||||
|
||||
5. **Router** — `@metaharness/router` routes each step to the cheapest adequate
|
||||
model (e.g. a var-rename or a log-grep → Haiku; calibration-math reasoning or a
|
||||
security review → Sonnet/Opus), mirroring the repo's 3-tier routing (ADR-026).
|
||||
|
||||
### MCP tools (the operational surface)
|
||||
|
||||
| Tool | Wraps | Purpose |
|
||||
|------|-------|---------|
|
||||
| `ruview.onboard` | docs + agent | Pick a setup path, print the next concrete command |
|
||||
| `ruview.node.flash` | ESP-IDF subprocess (ADR `CLAUDE.local.md`) | Build + flash a firmware variant to a COM port |
|
||||
| `ruview.node.provision` | `provision.py` | Set SSID/password/target-ip/channel/MAC-filter over serial |
|
||||
| `ruview.node.monitor` | pyserial | Stream boot log; assert CSI is flowing (MGMT+DATA) |
|
||||
| `ruview.server.up` | sensing-server | Start the Axum sensing-server (`:3000`/`:5005`/`:8765`) |
|
||||
| `ruview.calibrate` | `wifi-densepose calibrate`/`enroll`/`train-room` | Run the ADR-151 room pipeline |
|
||||
| `ruview.room.watch` | `wifi-densepose room-watch` | Live presence/vitals from a trained room |
|
||||
| `ruview.verify` | `scripts/generate-witness-bundle.sh` + `verify.py` | Produce/verify the witness bundle (must be N/N PASS) |
|
||||
| `ruview.claim.check` | static lint | Scan output for untagged accuracy claims; flag MEASURED-vs-CLAIMED |
|
||||
|
||||
Each tool returns structured JSON and is fail-closed: a tool that cannot prove its
|
||||
result (e.g. `ruview.node.monitor` sees no CSI callbacks) returns an honest negative,
|
||||
never a fabricated success — consistent with the RuField `map_privacy` fail-closed
|
||||
posture (ADR-262 §3.3).
|
||||
|
||||
### The mint + pin flow (how the harness is produced)
|
||||
|
||||
```bash
|
||||
# P1 — mint from this repo, claude-code host, RuView vertical
|
||||
npx metaharness ruview --template vertical:ruview --host claude-code \
|
||||
--from-existing . --description "RuView WiFi-sensing operator agent" \
|
||||
--target ./harness/ruview
|
||||
|
||||
# readiness + fit/cost/safety scorecards (ADR-041) — gate before publish
|
||||
npx metaharness genome . # 7-section repo readiness
|
||||
npx metaharness score . --json # fit / cost / safety
|
||||
npx metaharness analyze . # recommended harness plan (no-exec)
|
||||
```
|
||||
|
||||
The minted harness is committed under `harness/ruview/` and **pinned** (kernel +
|
||||
host-adapter + router versions locked) so `npx ruview` is reproducible. Re-minting on
|
||||
a CLI/ADR change is a reviewed PR, not an implicit regeneration.
|
||||
|
||||
### Distribution: `npx ruview`
|
||||
|
||||
A small published package whose `bin` boots the pinned harness via the kernel:
|
||||
|
||||
- **Preferred name:** `ruview` (currently **free** on npm — verified 2026-06-17).
|
||||
- **Risk:** npm's typosquat filter may reject `ruview` as too close to `review` /
|
||||
`preview` (this session hit exactly that on `ruvn`→`levn`/`raven` and
|
||||
`worldgraph`→`world-graph`). **Fallback:** publish scoped `@ruvnet/ruview` (also
|
||||
free) and/or `npx ruvnet/ruview` straight from GitHub. Decide at publish time;
|
||||
do not unpublish to rename (the 24-h name-lock lesson from `worldgraphs`).
|
||||
- `bin: { "ruview": "bin/cli.js" }` — note **`bin/cli.js`, not `./bin/cli.js`** (npm
|
||||
strips the `./` form; this broke `ruvn@0.1.0` this session).
|
||||
- `npx ruview` with no args → `onboard` skill (interactive path picker).
|
||||
`npx ruview <skill> [...]` → run a specific skill. `npx ruview --host codex` →
|
||||
install the harness into an existing repo for that host.
|
||||
|
||||
## Architecture
|
||||
|
||||
```
|
||||
npx ruview (thin bin — boots the pinned harness)
|
||||
│
|
||||
@metaharness/kernel (wasm primary · NAPI-RS native fallback)
|
||||
├── host adapter ── claude-code | codex | opencode | copilot | pi-dev | hermes | rvm | github-actions
|
||||
├── @metaharness/router (k-NN cost-optimal model routing — DRACO P2 / ADR-026)
|
||||
└── RuView genome (pinned)
|
||||
├── skills onboard · provision-node · calibrate-room · train-pose · verify
|
||||
├── mcp tools ruview.node.* · ruview.calibrate · ruview.room.watch · ruview.verify · ruview.claim.check
|
||||
└── guardrails MEASURED-vs-CLAIMED · mean-pose baseline · no-unvalidated-firmware-claims
|
||||
│
|
||||
RuView assets (the real system the agent drives)
|
||||
├── wifi-densepose CLI calibrate / enroll / train-room / room-watch
|
||||
├── sensing-server :3000 / :5005 / :8765
|
||||
├── ESP-IDF subprocess build / flash / provision / monitor (COM8/COM9/COM12)
|
||||
└── witness bundle + verify.py
|
||||
```
|
||||
|
||||
Provenance: the harness ships an **ed25519 witness + SBOM (SPDX) + SLSA** chain
|
||||
(MetaHarness already does this for minted harnesses), so a recipient can verify the
|
||||
RuView harness was built from a specific monorepo commit — the agentic analogue of
|
||||
the firmware witness bundle (ADR-028).
|
||||
|
||||
## Phases
|
||||
|
||||
- **P1 — Mint & pin (claude-code).** `npx metaharness ruview --template
|
||||
vertical:ruview --from-existing . --host claude-code`. Port the three `ruview-*`
|
||||
subagents into host-neutral genome skills. Commit under `harness/ruview/`, pin
|
||||
versions. Acceptance: `npx metaharness score .` ≥ threshold; the harness can run
|
||||
`onboard` and `verify` end-to-end locally.
|
||||
- **P2 — MCP tool surface.** Implement the `ruview.*` MCP tools over the kernel
|
||||
(start with `onboard`, `verify`, `claim.check`, `node.monitor` — the read-only /
|
||||
proving tools), then the mutating ones (`node.flash`, `provision`, `calibrate`).
|
||||
Acceptance: `ruview.verify` returns the witness bundle PASS as structured JSON;
|
||||
`ruview.claim.check` flags a seeded untagged "100% accuracy" string.
|
||||
- **P3 — Publish `npx ruview` + multi-host.** Publish the bin package (name decision
|
||||
per Distribution). Add codex / opencode / copilot / pi-dev / hermes / rvm /
|
||||
github-actions adapters. Acceptance: `npx ruview` cold-starts on ≥3 hosts and runs
|
||||
`onboard`; provenance verifies.
|
||||
- **P4 — Router + guardrail hardening.** Wire `@metaharness/router`; calibrate the
|
||||
3-tier routing on a RuView task set. Make the MEASURED-vs-CLAIMED guardrail a hard
|
||||
pre-output gate. Acceptance: a benchmark of RuView tasks shows cost reduction vs
|
||||
all-Opus with no quality regression; the guardrail blocks an untagged accuracy
|
||||
claim in a red-team prompt.
|
||||
|
||||
## Consequences
|
||||
|
||||
**Positive**
|
||||
- One reproducible, signed entry point (`npx ruview`) that operates RuView on the
|
||||
host the user already has — onboarding goes from "clone a 15-crate monorepo" to a
|
||||
single `npx`.
|
||||
- The "prove everything" ethos becomes **executable**, not just documentation: the
|
||||
harness *enforces* MEASURED-vs-CLAIMED and the mean-pose baseline.
|
||||
- Knowledge written once (host-neutral genome) instead of 9× per host; regenerable
|
||||
from the repo as the system evolves.
|
||||
- Dogfoods MetaHarness on a hard real vertical, surfacing bugs back to
|
||||
`agent-harness-generator` (this session already filed #9–#13 there).
|
||||
|
||||
**Negative / risks**
|
||||
- **Drift:** a pinned harness goes stale as the CLI/ADRs move; mitigated by a
|
||||
re-mint-on-change PR ritual and a CI check that the genome's referenced
|
||||
CLI flags still exist.
|
||||
- **Surface area:** mutating MCP tools (`node.flash`, `provision`) touch hardware and
|
||||
the network — must be permission-gated and fail-closed; the firmware-flash tool
|
||||
must never claim hardware validation without a captured boot log.
|
||||
- **Name/typosquat:** `ruview` may be rejected at publish; scoped fallback decided in
|
||||
P3. Do not unpublish-to-rename.
|
||||
- **Host parity:** not all 9 hosts support MCP + hooks equally; the guardrail gate
|
||||
may degrade to advisory on weaker hosts — must be disclosed in the badge, not
|
||||
hidden (same honesty principle as ADR-181's backend badge).
|
||||
- **Windows-coupled tooling:** the ESP-IDF flow is Windows-subprocess-specific
|
||||
today; the `node.*` tools are gated to that environment until a cross-platform
|
||||
path exists.
|
||||
|
||||
## Alternatives considered
|
||||
|
||||
1. **Keep the `ruview-*` subagents repo-local (status quo).** Zero new surface, but
|
||||
stays Claude-Code-only and clone-gated; no portable front door. Rejected — it's
|
||||
the gap this ADR exists to close.
|
||||
2. **Hand-write a bespoke `npx ruview` harness (no MetaHarness).** Full control, but
|
||||
re-implements the kernel, 9 host adapters, the router, and the provenance chain
|
||||
we already ship — months of duplicated work and 9 divergent configs to maintain.
|
||||
Rejected.
|
||||
3. **Use the generic `vertical:ruview` template as-is.** It's scaffolding with no
|
||||
real tools or guardrails — it would *talk about* RuView without being able to
|
||||
*operate* it or enforce honesty. Rejected as insufficient; P2 is precisely the
|
||||
hardening that makes it real.
|
||||
4. **Ship only an MCP server (no harness/host adapters).** Covers tools but not the
|
||||
skills, routing, guardrails, or multi-host projection — a strictly smaller subset
|
||||
of this design. Folded in as the P2 layer rather than the whole.
|
||||
|
||||
## Open questions
|
||||
|
||||
- Final published name: bare `ruview` vs scoped `@ruvnet/ruview` vs GitHub-only
|
||||
`npx ruvnet/ruview` — resolve against the typosquat filter at P3.
|
||||
- Does the harness bundle the `wifi-densepose` binary, shell out to a user-installed
|
||||
one, or offer both? (Leaning: shell out; print install guidance if absent.)
|
||||
- Where do the `node.*` hardware tools live for non-Windows users — defer, or wrap
|
||||
the rvCSI runtime (ADR-095/096) which is cross-platform Rust?
|
||||
- Should `ruview.verify` gate `npx ruview` self-tests in CI (harness can't publish if
|
||||
the witness bundle regresses)?
|
||||
- Relationship to the RuField MFS harness surface (ADR-260/262) — one harness with a
|
||||
RuField skill, or a sibling `npx rufield`?
|
||||
|
||||
## References
|
||||
|
||||
- MetaHarness: `metaharness@0.1.15` (`npx metaharness`, templates incl.
|
||||
`vertical:ruview`; hosts: claude-code/codex/pi-dev/hermes/openclaw/rvm/copilot/
|
||||
opencode/github-actions), `@metaharness/kernel`, `@metaharness/router`,
|
||||
`@metaharness/host-*`, repo `github.com/ruvnet/agent-harness-generator`.
|
||||
- RuView subagents: `ruview-onboarding-guide`, `ruview-config-engineer`,
|
||||
`ruview-training-engineer` (`.claude/agents/`).
|
||||
- ADR-026 (3-tier model routing), ADR-028 (witness verification), ADR-041
|
||||
(MetaHarness scorecards), ADR-060 (channel / MAC-filter overrides), ADR-079
|
||||
(camera ground-truth training), ADR-095/096 (rvCSI runtime), ADR-151 (per-room
|
||||
calibration), ADR-152/181 (WiFlow / browser pose), ADR-260/262 (RuField bridge).
|
||||
@@ -1,98 +0,0 @@
|
||||
# ADR-183: Onboard LED as a 40 Hz Gamma Stimulus, Colour-Mapped from Live CSI via `ruv-neural-viz`
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted — implemented & hardware-confirmed on ESP32-S3 N16R8 (COM8) |
|
||||
| **Date** | 2026-06-17 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **GAMMA-VIZ** |
|
||||
| **Builds on** | `ruv-neural-viz::ColorMap` (now `no_std` — ruvnet/ruv-neural#3 / RuView#1126), the ESP32 edge `motion_energy` metric (`edge_processing.c`), PR #962 (WS2812 on GPIO 48) |
|
||||
|
||||
## Context
|
||||
|
||||
Two threads converged. (1) `ruv-neural-viz::ColorMap` — the viridis/cool-warm
|
||||
palette the rUv-Neural stack uses to render brain-topology graphs — was `std`-only,
|
||||
so it couldn't run on the ESP32. (2) The onboard WS2812 on the S3 CSI node was dead
|
||||
weight: the firmware only cleared it on boot (and on the wrong pin for N16R8 — GPIO
|
||||
38 vs the actual 48, see #962).
|
||||
|
||||
The ask: make the LED do something real and honest, using the project's own visual
|
||||
capability — not a decorative blink. The natural fit is a **40 Hz gamma stimulus**
|
||||
(the GENUS gamma-entrainment frequency from Alzheimer's light-therapy research)
|
||||
whose **colour is driven by live sensed motion**, so the node's front panel is both
|
||||
a known bio-stimulus waveform and a truthful readout of what the CSI is detecting.
|
||||
|
||||
## Decision
|
||||
|
||||
### Part A — make `ColorMap` `no_std`
|
||||
|
||||
`colormap.rs` is self-contained (no cross-crate deps), so expose it on `no_std`
|
||||
targets. The only blockers were two `std`-only `f64` ops:
|
||||
|
||||
- `f64::round` / `f64::abs` → replaced with `core`+`alloc`-safe helpers `fround`
|
||||
(round via `f64 as i64` truncation — a `core` cast, no `libm`) and `fabs`.
|
||||
- `Vec`/`String`/`format!` → from `alloc`.
|
||||
|
||||
The graph-bound modules (`animation`/`ascii`/`export`/`layout`) and their heavy deps
|
||||
move behind a default `std` feature; `--no-default-features` builds the crate `no_std`
|
||||
and exposes only `colormap`. Output is **byte-identical** (8/8 colormap tests pass with
|
||||
the same RGB values), so this is a pure portability change.
|
||||
|
||||
### Part B — the LED stimulus (firmware)
|
||||
|
||||
`firmware/esp32-csi-node/main/main.c`, on boot:
|
||||
|
||||
- WS2812 on **GPIO 48** (N16R8 / DevKitC-1 v1.1; GPIO 8 on C6).
|
||||
- An `esp_timer` periodic at **12 500 µs toggles a square wave → 40 Hz, 50 % duty**
|
||||
(full-on / full-off — a *perceptible* gamma flicker, not a colour drift).
|
||||
- **ON-phase colour = live CSI motion.** Each ON phase reads `edge_get_vitals().motion_energy`,
|
||||
normalises it (`/ LED_MOTION_FULLSCALE`, clamped `[0,1]`), and indexes a **60-step
|
||||
viridis LUT generated from `ColorMap::viridis().map()`** — still = dark purple,
|
||||
strong motion = yellow.
|
||||
|
||||
The LUT is baked from the real crate (Part A makes the same `ColorMap` embeddable
|
||||
for a future direct FFI path once the ESP Rust toolchain is in CI). The colours are
|
||||
therefore provably `ruv-neural-viz`'s, and the motion is provably real.
|
||||
|
||||
## Honesty (what it is and is not)
|
||||
|
||||
- **40 Hz is a real square-wave stimulus** (12.5 ms on / 12.5 ms off), not a label on
|
||||
a colour sweep. It is *not* tied to any measured 40 Hz brain rhythm — it is an
|
||||
*output* stimulus at the gamma frequency, not a readout of neural gamma.
|
||||
- **Colour is a real CSI readout** — `motion_energy` is the on-device phase-variance
|
||||
motion metric the node already computes; no fabrication. At rest the LED sits at the
|
||||
purple (low) end and flickers there.
|
||||
- No therapeutic claim is made. 40 Hz GENUS entrainment is cited as the *origin of the
|
||||
frequency choice*, not as a validated medical effect of this device.
|
||||
|
||||
## Consequences
|
||||
|
||||
**Positive**
|
||||
- The LED is now an honest front-panel: gamma-frequency flicker + a live motion readout.
|
||||
- `ColorMap` is embeddable (`no_std`), unblocking on-device use of the rUv-Neural
|
||||
palette beyond this LED.
|
||||
- Confirms #962's GPIO-48 fix visually (the LED lights on N16R8).
|
||||
|
||||
**Negative / risks**
|
||||
- Changes the *default* firmware behaviour: the onboard LED animates instead of staying
|
||||
off. Now **gated by `CONFIG_LED_GAMMA_VIZ`** (default `y`); set it `n` for a dark,
|
||||
lower-power boot (the LED is just cleared) — no source change needed.
|
||||
- A 40 Hz flicker can be an issue for photosensitive users; document on the enclosure
|
||||
and disable `CONFIG_LED_GAMMA_VIZ` in those deployments.
|
||||
- The saturation point is now `CONFIG_LED_MOTION_FULLSCALE_MILLI` (default 250 = 0.25),
|
||||
operator-tunable; still not auto-calibrated per-environment.
|
||||
- The colour uses a baked LUT, not the live Rust `ColorMap` (FFI path deferred — needs
|
||||
the ESP Rust/xtensa toolchain, not yet in CI).
|
||||
|
||||
## Validation
|
||||
|
||||
- `ruv-neural-viz`: `cargo build` (std) ✓, `cargo test colormap` 8/8 ✓ (identical RGB),
|
||||
`cargo build --no-default-features` compiles `no_std` ✓.
|
||||
- Firmware: built (1.13 MB), flashed to ESP32-S3 N16R8 (COM8). Boot log:
|
||||
`Onboard WS2812: 40 Hz gamma flicker (GENUS), colour=CSI motion via ruv-neural-viz, GPIO 48`;
|
||||
CSI continues (27–38 pps), `motion=0.00` at rest → purple flicker as designed.
|
||||
- Full on-device (xtensa) Rust build of `ColorMap` not run — ESP Rust toolchain absent.
|
||||
|
||||
## References
|
||||
- ruvnet/ruv-neural#3 (ColorMap no_std), RuView#1126 (submodule bump), #962 (GPIO 48).
|
||||
- Singer/Tsai GENUS 40 Hz gamma entrainment (origin of the frequency, not a device claim).
|
||||
@@ -1,191 +0,0 @@
|
||||
# ADR-263: `@ruvnet/ruview` npm Harness — Deep Review + Optimization Strategy
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted — **implemented** (O1–O9, `@ruvnet/ruview@0.2.0`): fail-closed `claim-check`, async MCP dispatch (ping answered mid-`verify`, pinned by e2e test), zero-dependency install, bounded output tails, argv-passed monitor port, package.json-sourced version, prepack skill sync, memoized `which()`, underscore-canonical tools with dotted aliases, word-boundary guardrail matching. 30/30 tests (MEASURED, `node --test test/*.test.mjs`); CI gate in ADR-265's `npm-packages.yml` |
|
||||
| **Date** | 2026-07-02 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **RUVIEW-NPM-REVIEW-1** |
|
||||
| **Supersedes / amends** | none (records review of the ADR-182 P1+P2 artifact; feeds ADR-265 distribution strategy) |
|
||||
|
||||
## Context
|
||||
|
||||
ADR-182 minted and published **`@ruvnet/ruview@0.1.0`** (`harness/ruview/`) — the
|
||||
`npx ruview` operator harness: a dependency-free ESM CLI + minimal MCP stdio server
|
||||
exposing six `ruview.*` tools (onboard / claim_check / verify / node_monitor /
|
||||
calibrate / node_flash), five skill playbooks, and the executable
|
||||
MEASURED-vs-CLAIMED guardrail (`src/guardrails.js`). The package is live on npm
|
||||
(0.1.0, 49.5 kB unpacked / 21 files — MEASURED, `npm view @ruvnet/ruview` +
|
||||
`npm pack --dry-run`) and is the recommended MCP registration path
|
||||
(`npx -y @ruvnet/ruview mcp start` in the bundled `.claude/settings.json`).
|
||||
|
||||
This ADR is the first dedicated deep review of that npm artifact: correctness,
|
||||
fail-open/fail-closed posture, performance (cold start + request handling),
|
||||
packaging hygiene, and security of the subprocess surface. All 17 bundled tests
|
||||
pass on Node 22 (MEASURED, `node --test test/*.test.mjs`, 17/17, ~108 ms).
|
||||
|
||||
## Findings
|
||||
|
||||
Severity reflects impact on the package's stated contract: *fail-closed operator
|
||||
tools + an honesty guardrail that must never fail open*.
|
||||
|
||||
### F1 (HIGH, fail-open): `claim-check` passes silently on empty input
|
||||
|
||||
`bin/cli.js` `claim-check` with **neither `--text` nor `--file`** sends
|
||||
`text: undefined` → `claimCheck(String(args.text ?? ''))` → `''` → `ok: true`,
|
||||
**exit 0**. A CI hook wired as `npx ruview claim-check --text "$BODY"` where
|
||||
`$BODY` expands empty therefore reports PASS. This is the single tool whose whole
|
||||
purpose is to fail closed; empty input must be an error, not a pass.
|
||||
Reproducer: `node bin/cli.js claim-check` → `{"ok": true}`, exit 0.
|
||||
|
||||
### F2 (HIGH, head-of-line blocking): MCP server is fully synchronous
|
||||
|
||||
`src/mcp-server.js` dispatches `tools/call` inside the readline `line` handler,
|
||||
and every heavyweight handler in `src/tools.js` uses **`spawnSync`**
|
||||
(`ruview.verify` up to 180 s, `ruview.calibrate` up to 300–600 s,
|
||||
`ruview.node_monitor` up to `seconds+10`). While one call runs, the event loop is
|
||||
blocked: `ping`, `tools/list`, and concurrent `tools/call` requests are not even
|
||||
read from stdin. Hosts that health-check with `ping` during a long `calibrate`
|
||||
will conclude the server is dead and kill it mid-run.
|
||||
|
||||
### F3 (MEDIUM, cold start): optionalDependencies triple the `npx` install for a path that never uses them
|
||||
|
||||
`package.json` declares `optionalDependencies` on `@metaharness/kernel` and
|
||||
`@metaharness/host-claude-code`. npm installs optional deps **by default**, so
|
||||
every cold `npx -y @ruvnet/ruview mcp start` fetches 3 extra packages (kernel +
|
||||
host + transitive `@ruvector/emergent-time`). MEASURED (npm 10.9.7, this
|
||||
container): default install = **4 packages, 620 kB, 71 files**; with
|
||||
`--omit=optional` = **1 package, 172 kB, 22 files**. The operator-tool and MCP
|
||||
paths never import these — only `doctor`/`install` do, and both already
|
||||
dynamic-import inside `try/catch` and degrade gracefully when absent
|
||||
(`kernel/host: not installed (ok…)`). The optional deps buy nothing on the hot
|
||||
path and cost 3 registry round-trips + ~450 kB on every cold start.
|
||||
|
||||
### F4 (MEDIUM, silent truncation): `spawnSync` default `maxBuffer` (1 MiB)
|
||||
|
||||
`run()` in `src/tools.js` never sets `maxBuffer`. `cargo run -p
|
||||
wifi-densepose-cli` (the `calibrate` fallback path) and a chatty `verify.py` can
|
||||
exceed 1 MiB of stdout, at which point the child is killed with `ENOBUFS` and the
|
||||
tool reports a spawn error that looks like a proof/calibration failure. The
|
||||
handlers only ever consume the last 8 kB/1.5 kB; buffering should be bounded but
|
||||
generous (e.g. `maxBuffer: 16 MiB`) or streamed with a tail ring.
|
||||
|
||||
### F5 (MEDIUM, injection surface): `node_monitor` interpolates the port into Python source
|
||||
|
||||
The handler builds a `python -c` script by string interpolation:
|
||||
`` `ser=serial.Serial(${JSON.stringify(port)},115200,…)` `` and
|
||||
`` `while time.time()-t<${dur}:` ``. `JSON.stringify` produces a *JavaScript*
|
||||
string literal; Python string-literal semantics differ at the edges (`\uXXXX` is
|
||||
shared, but e.g. JS emits raw U+2028/U+2029 unescaped pre-ES2019 rules aside, and
|
||||
any future non-JSON-safe field added the same way would be executable). `port`
|
||||
arrives from the MCP caller (an agent), so this is an agent-controlled string
|
||||
concatenated into an interpreter invocation. `dur` is `Number()`-guarded; `port`
|
||||
should be passed out-of-band (`sys.argv`/env), never spliced into source.
|
||||
|
||||
### F6 (LOW, drift): server version hardcoded
|
||||
|
||||
`SERVER_INFO = { name: 'ruview', version: '0.1.0' }` in `src/mcp-server.js`
|
||||
duplicates `package.json.version` (the CLI's `--version` already reads
|
||||
package.json at runtime). First release bump will drift the MCP handshake
|
||||
version.
|
||||
|
||||
### F7 (LOW, duplication): every skill ships twice
|
||||
|
||||
`skills/*.md` and `.claude/skills/*/SKILL.md` are byte-identical (same sha256 in
|
||||
`.harness/manifest.json`). ~8 kB of the 49.5 kB unpacked payload is duplicate
|
||||
content, and — worse than size — two copies must be kept in sync by hand.
|
||||
|
||||
### F8 (LOW, perf + portability): `which()` is uncached and shells out
|
||||
|
||||
`which()` runs up to twice per tool call (`python` then `python3`), each a
|
||||
blocking `spawnSync`; the POSIX branch spawns a shell (`shell: true`). Results
|
||||
are stable for the process lifetime and should be memoized; the lookup can be
|
||||
done dep-free with a PATH scan instead of a shell.
|
||||
|
||||
### F9 (LOW, interop): dot-named tools + minimal protocol surface
|
||||
|
||||
Tool names (`ruview.onboard`, `ruview.claim_check`, …) contain dots. MCP itself
|
||||
does not restrict names, but downstream host APIs commonly enforce
|
||||
`^[a-zA-Z0-9_-]{1,64}$` for tool names; hosts must then sanitize or reject.
|
||||
The server also answers `resources/list` / `prompts/list` with `-32601` (it does
|
||||
not advertise those capabilities, so this is spec-legal, but empty-list stubs are
|
||||
cheaper than every host's error path). Protocol version is pinned to
|
||||
`2024-11-05` with no negotiation fallback. None of this breaks Claude Code today;
|
||||
it narrows portability, which is the harness's whole pitch (9 hosts, ADR-182).
|
||||
|
||||
### F10 (LOW, CI gap): the published package has zero CI
|
||||
|
||||
No workflow under `.github/workflows/` runs `harness/ruview` tests (checked:
|
||||
no workflow references `harness/ruview`, `ruview-mcp`, or `ruview-cli`), and
|
||||
`ci.yml` pins `NODE_VERSION: '18'` while the package declares
|
||||
`engines.node >= 20`. Note also `node --test test/` (directory form) fails on
|
||||
Node 22 while the documented glob form passes — CI should pin the working
|
||||
invocation. Consolidated CI/publish strategy is ADR-265.
|
||||
|
||||
### F11 (MEDIUM, guardrail precision): `METRIC_TERMS` substring matching false-positives on ordinary prose
|
||||
|
||||
Found by dogfooding this review: `claimCheck` matches metric terms with
|
||||
`lower.includes(t)`, so the two-character terms `'map'` and `'f1'` fire inside
|
||||
ordinary words and labels — "source **map**s", "the **map**s can never
|
||||
resolve", finding IDs like "**F1** (HIGH…)". MEASURED reproducer: running
|
||||
`npx ruview claim-check --file` over this ADR and ADR-264 yields 4 and 16
|
||||
medium findings respectively, the majority of which are `map`/`F1`
|
||||
false positives on lines carrying no accuracy claim. A guardrail that cries
|
||||
wolf trains people to ignore it — precision is part of its fail-closed
|
||||
contract. Short/ambiguous terms need word-boundary matching (`\bmap\b`,
|
||||
`\bf1\b`, likewise `auc`, `iou`), and section-heading label patterns
|
||||
(`F\d+`, `O\d+`) should not count as metric mentions.
|
||||
|
||||
## Decision
|
||||
|
||||
Adopt the following optimization strategy, in priority order. Each item is
|
||||
independently shippable; F-numbers map to findings.
|
||||
|
||||
- **O1 (F1):** `claim-check` with no `--text`/`--file` (or empty text after read)
|
||||
exits 2 with a usage error. Add a regression test pinning exit ≠ 0.
|
||||
- **O2 (F2):** make the MCP dispatch async: convert `run()`/`which()` to
|
||||
promise-based `spawn`, make `tools/call` handlers `async`, and keep reading
|
||||
stdin while calls run (respond to `ping`/`tools/list` concurrently; serialize
|
||||
only same-tool hardware operations). Acceptance: `ping` round-trips < 50 ms
|
||||
while a synthetic 30 s `calibrate` is in flight.
|
||||
- **O3 (F3):** drop the two `optionalDependencies`; `doctor`/`install` already
|
||||
degrade and should print the exact `npm i @metaharness/kernel
|
||||
@metaharness/host-claude-code` hint on the miss path. Acceptance: cold
|
||||
`npm i @ruvnet/ruview` installs exactly 1 package (MEASURED baseline above).
|
||||
- **O4 (F4):** set `maxBuffer: 16 * 1024 * 1024` in `run()` (or stream + tail).
|
||||
- **O5 (F5):** pass `port` to the monitor script via `sys.argv`
|
||||
(`python -c script -- <port>`), never by source interpolation.
|
||||
- **O6 (F6):** read the MCP `serverInfo.version` from `package.json` once at
|
||||
startup (same pattern the CLI already uses).
|
||||
- **O7 (F7):** make `skills/*.md` the single source and generate
|
||||
`.claude/skills/*/SKILL.md` in a `prepack` script (or vice versa); manifest
|
||||
hashes then pin one canonical set.
|
||||
- **O8 (F8, F9):** memoize `which()`; add underscore aliases for the dot-named
|
||||
tools (accept both in `tools/call`, advertise the underscore form) and add
|
||||
empty `resources/list` / `prompts/list` stubs.
|
||||
- **O9 (F11):** switch `METRIC_TERMS` matching to word-boundary regexes for
|
||||
short terms (`map`, `f1`, `auc`, `iou`) and skip label tokens matching
|
||||
`\b[FO]\d+\b`. Acceptance: `claim-check --file` over ADR-263/264/265 reports
|
||||
only the genuinely tagged-or-taggable percentage lines, and the existing 17
|
||||
guardrail tests still pass plus new false-positive pins ("source maps",
|
||||
"F1 (HIGH)" → no finding).
|
||||
|
||||
Non-goals: no new runtime dependencies (the zero-dep MCP server is a feature,
|
||||
not an accident — keep it), no build step, no change to the fail-closed tool
|
||||
contracts.
|
||||
|
||||
## Consequences
|
||||
|
||||
- The honesty guardrail becomes fail-closed end-to-end (its current empty-input
|
||||
pass is the exact failure mode the guardrail exists to prevent).
|
||||
- `npx` cold start drops ~450 kB / 3 packages (MEASURED baseline in F3) with no
|
||||
feature loss; `doctor` output already communicates the optional-dep story.
|
||||
- Long-running `verify`/`calibrate` no longer starve the MCP channel — the
|
||||
harness survives host health checks during real calibration runs.
|
||||
- Two-copy skill drift becomes impossible at pack time.
|
||||
- Costs: async conversion touches every handler signature in `src/tools.js`
|
||||
(mechanical, ~6 handlers); alias tools add a small compatibility table.
|
||||
- Verification for the implementing PR: bundled tests extended for O1/O2/O5
|
||||
(target ≥ 20 tests), `npm pack --dry-run` file-count asserted, and the F3
|
||||
install measurement re-run and quoted MEASURED in the PR body — which must
|
||||
itself pass `npx ruview claim-check`.
|
||||
@@ -1,169 +0,0 @@
|
||||
# ADR-264: `@ruvnet/rvagent` MCP Server + `@ruv/ruview-cli` — Deep Review + Optimization Strategy
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted — **implemented** (O1–O9, `@ruvnet/rvagent@0.2.0`): `exports` fixed (types-first, no phantom `.cjs`), map-free tarball (127,704 B unpacked / 46 files / 0 maps — MEASURED, `npm pack --dry-run`, from 188 kB), Streamable HTTP **wired** behind `RVAGENT_HTTP_PORT` with per-session transports + 1 MiB body cap + port-aware origin gate, underscore tool names with dotted router aliases, single Zod validation gate with generated JSON Schemas, fd-leak fixed + persisted job records + bounded log tails, probing `detectCogBinary`, package.json-sourced version, `ruview-cli` bin renamed. 99/99 jest tests (MEASURED); both transports smoke-tested live |
|
||||
| **Date** | 2026-07-02 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **RUVIEW-NPM-REVIEW-2** |
|
||||
| **Supersedes / amends** | none (reviews the ADR-104/ADR-124 artifacts; feeds ADR-265 distribution strategy) |
|
||||
|
||||
## Context
|
||||
|
||||
Two TypeScript npm packages expose RuView sensing to agents and shells:
|
||||
|
||||
- **`@ruvnet/rvagent@0.1.0`** (`tools/ruview-mcp/`) — SENSE-BRIDGE, the MCP
|
||||
server over the sensing-server HTTP API + cog binaries: 12 tools
|
||||
(csi/pose/count/registry/train/job + ADR-124 BFLD/presence/vitals). Published
|
||||
(188 kB unpacked — MEASURED, `npm view @ruvnet/rvagent`). Deps:
|
||||
`@modelcontextprotocol/sdk` + `zod`.
|
||||
- **`@ruv/ruview-cli@0.0.1`** (`tools/ruview-cli/`) — `private: true` yargs CLI
|
||||
mirroring the same capabilities; intentionally duplicates `http.ts`/`cog.ts`/
|
||||
`config.ts` (~150 lines) to stay standalone.
|
||||
|
||||
This ADR records a deep review of both: packaging correctness (verified against
|
||||
the **published** tarball, not just the source tree), protocol/interop, resource
|
||||
lifecycle, and the honesty of the package's own self-description — the same
|
||||
MEASURED-vs-CLAIMED bar the project applies to accuracy numbers.
|
||||
|
||||
## Findings
|
||||
|
||||
### F1 (HIGH, broken export): `require` condition points at a file that does not exist
|
||||
|
||||
`package.json` `exports["."].require = "./dist/index.cjs"`, but the build is
|
||||
plain `tsc` (ESM only) and **the published 0.1.0 tarball contains no
|
||||
`index.cjs`** (verified by listing the registry tarball). Any CJS consumer doing
|
||||
`require('@ruvnet/rvagent')` resolves to a nonexistent file →
|
||||
`ERR_MODULE_NOT_FOUND`. Additionally the `types` condition is listed **after**
|
||||
`import`/`require`; TypeScript requires `types` first or it may be ignored under
|
||||
`moduleResolution: bundler/node16`.
|
||||
|
||||
### F2 (MEDIUM, tarball bloat): a third of the published package is dead source maps
|
||||
|
||||
The 0.1.0 tarball ships **44 `.map` files = 62,698 B** against 78,209 B of
|
||||
actual `.js` (MEASURED, extracted registry tarball). `src/` is not published, so
|
||||
every `sourceMappingURL` points at `../src/*.ts` that consumers do not have —
|
||||
the maps can never resolve. Also `files` lists `CHANGELOG.md`, which does not
|
||||
exist in `tools/ruview-mcp/` (npm silently skips it), so the advertised file set
|
||||
is partly fictional.
|
||||
|
||||
### F3 (MEDIUM, honesty): the package description claims a transport it does not start
|
||||
|
||||
The description reads "**dual-transport MCP server (stdio + Streamable HTTP)**",
|
||||
but `main()` in `src/index.ts` wires **stdio only**. `http-transport.ts` is a
|
||||
complete, tested scaffold that nothing imports at runtime — there is no flag,
|
||||
env var, or subcommand that starts it. By this project's own rule this is a
|
||||
CLAIMED capability presented as shipped. Either wire it (`--http` /
|
||||
`RVAGENT_HTTP_PORT` gate) or de-claim the description until it is.
|
||||
|
||||
### F4 (MEDIUM, interop + inconsistency): two tool-naming conventions, one of them dot-based
|
||||
|
||||
Six tools use `ruview_snake_case`; six (ADR-124 additions) use
|
||||
`ruview.dotted.names`. Same interop caveat as ADR-263 F9 (host tool-name
|
||||
regexes commonly `^[a-zA-Z0-9_-]{1,64}$`), plus the split convention makes the
|
||||
tool surface look like two products. Standardize on underscores and accept the
|
||||
dotted forms as aliases for one deprecation cycle.
|
||||
|
||||
### F5 (MEDIUM, double work + drift): every tool input is validated twice from two hand-maintained schemas
|
||||
|
||||
`CallToolRequestSchema` handler runs `TOOL_INPUT_SCHEMAS[name].safeParse(args)`,
|
||||
then each tool handler runs its own `schema.parse(args)` again — two full Zod
|
||||
passes per call. Separately, the `inputSchema` JSON advertised via `tools/list`
|
||||
is **hand-written** and duplicates the Zod schema field-by-field (defaults,
|
||||
min/max, descriptions) — schema drift between what is advertised and what is
|
||||
enforced is a matter of time. Parse once at the gate, pass the typed result to
|
||||
handlers, and generate the advertised JSON Schema from the Zod source
|
||||
(`zod-to-json-schema` at build time, or Zod 4's native `z.toJSONSchema` when the
|
||||
SDK's peer range allows).
|
||||
|
||||
### F6 (MEDIUM, resource lifecycle): `train_count` leaks 2 fds per job; job registry is process-local
|
||||
|
||||
`trainCount` opens `logFdOut`/`logFdErr` with `openSync` and never closes them
|
||||
in the parent — the spawned cargo child inherits duplicates, but the parent's
|
||||
descriptors stay open for the MCP server's lifetime: 2 leaked fds per training
|
||||
job. `jobRegistry` is an in-memory `Map`, so `ruview_job_status` after a server
|
||||
restart reports "not found" for a training run that is still burning GPU (the
|
||||
source comments acknowledge this; the fix — persist `~/.ruview/jobs/<id>.json`,
|
||||
already the documented layout — is small). Also `jobStatus` re-`import`s
|
||||
`node:fs` on every poll and reads the entire log to return 20 lines.
|
||||
|
||||
### F7 (MEDIUM, security/robustness of the HTTP scaffold): unbounded body + one shared session transport
|
||||
|
||||
`http-transport.ts` buffers the request body with no size cap (memory DoS the
|
||||
moment it is wired to a socket), reuses a **single**
|
||||
`StreamableHTTPServerTransport` with `sessionIdGenerator` for all clients (the
|
||||
SDK's stateful mode expects one transport per session — a second client's
|
||||
`initialize` collides), and the Origin allowlist is exact-match
|
||||
(`http://localhost` will not match a real browser origin `http://localhost:5173`).
|
||||
Must be fixed **before** F3 wires it in; bearer-token + 127.0.0.1 defaults are
|
||||
already right.
|
||||
|
||||
### F8 (LOW, dead/misleading code): `detectCogBinary` always returns the bare name
|
||||
|
||||
It builds a 4-candidate appliance-path array and then returns
|
||||
`candidates[candidates.length - 1]` — i.e. always `name` — without checking
|
||||
existence. The candidates are dead weight that reads as if path detection
|
||||
happens. Either probe with `existsSync` or delete the array.
|
||||
|
||||
### F9 (LOW, drift + hygiene): hardcoded versions, unused/mismatched devDeps, bin-name collision
|
||||
|
||||
`PACKAGE_VERSION = "0.1.0"` (index.ts) duplicates package.json;
|
||||
`@types/express` is unused (`http-transport` uses `node:http`); `@types/jest@30`
|
||||
against `jest@29`; `ruview-cli` hardcodes `.version("0.0.1")`. And
|
||||
`@ruv/ruview-cli` claims the **`ruview`** bin name, which collides with
|
||||
`@ruvnet/ruview`'s bin (ADR-182) if both are ever installed globally —
|
||||
ADR-263/265 give the `ruview` name to the harness; the CLI must rename or fold.
|
||||
|
||||
## Decision
|
||||
|
||||
- **O1 (F1):** fix `exports`: drop the `require` condition (ESM-only is fine for
|
||||
a bin-first package) or add a real CJS build; put `types` first. Add a CI
|
||||
smoke test that does `npm pack` + `node -e "import('<tarball install>')"`.
|
||||
- **O2 (F2):** publish without maps: `declarationMap: false`, `sourceMap: false`
|
||||
in a `tsconfig.build.json` used by `prepack` (or add `!dist/**/*.map` to
|
||||
`files`). Remove the phantom `CHANGELOG.md` entry or create the file.
|
||||
Acceptance: unpacked size ≤ ~125 kB (from 188 kB — MEASURED, `npm pack --dry-run`).
|
||||
- **O3 (F3, F7):** wire the HTTP transport behind an explicit opt-in
|
||||
(`RVAGENT_HTTP_PORT` or `--http`), after F7 fixes: per-session transport map
|
||||
keyed by `mcp-session-id`, 1 MiB body cap, origin matching that honors ports
|
||||
(compare `URL.origin` prefixes or document exact origins). Until then, change
|
||||
the description to "stdio MCP server (Streamable HTTP scaffold, unwired)".
|
||||
- **O4 (F4):** rename dotted tools to underscore (`ruview_bfld_last_scan`, …),
|
||||
keep dotted aliases in the call router for one release, note it in the README.
|
||||
- **O5 (F5):** single validation gate: the registry maps name → Zod schema →
|
||||
typed handler; advertised `inputSchema` generated from Zod at build time.
|
||||
- **O6 (F6):** close parent fds after spawn (`closeSync` post-`spawn` — the
|
||||
child holds its own copies), persist job records to
|
||||
`<jobsDir>/<id>.json`, and read log tails with a bounded read.
|
||||
- **O7 (F8):** make `detectCogBinary` actually probe (`existsSync` over the
|
||||
candidates) — it is the entire reason the function exists.
|
||||
- **O8 (F9):** single-source versions from package.json; drop `@types/express`;
|
||||
align `@types/jest` with jest 29 (or move to `node:test` like the harness and
|
||||
drop the jest toolchain entirely — it is the heaviest devDep in both
|
||||
packages).
|
||||
- **O9 (F9, scope):** fold `@ruv/ruview-cli` into `rvagent` as a second bin
|
||||
(`rvagent-cli`) sharing `http/cog/config`, or keep it private-forever and say
|
||||
so in its README. Its `ruview` bin name is surrendered to `@ruvnet/ruview`
|
||||
either way.
|
||||
|
||||
## Consequences
|
||||
|
||||
- CJS consumers stop hitting a guaranteed-broken export path (F1 is the only
|
||||
finding that fails for every consumer of that entry point deterministically).
|
||||
- The published artifact shrinks ~33% (MEASURED, F2 tarball listing: 62,698 B
|
||||
of maps in a 188 kB unpacked payload) and stops advertising files/transports
|
||||
it does not contain — the package description itself passes the project's
|
||||
claim-check bar.
|
||||
- One schema source ends advertised-vs-enforced drift and halves per-call
|
||||
validation cost; naming unification makes the 12-tool surface read as one
|
||||
product and survive strict host tool-name validation.
|
||||
- Long-lived MCP servers stop accumulating fds during training campaigns, and
|
||||
job polling survives restarts.
|
||||
- Costs: the alias cycle (O4) briefly doubles the advertised tool count unless
|
||||
aliases are router-only (recommended: router-only, advertise underscore names
|
||||
exclusively); folding the CLI (O9) retires a package name already in use in
|
||||
scripts, so it needs a deprecation note.
|
||||
- Verification for the implementing PR: `npm pack --dry-run` asserted file list
|
||||
(no `.map`, no phantom entries), pack-size budget in CI (ADR-265), jest/`node
|
||||
--test` suite green, and a tarball-install smoke test for both `import` and
|
||||
the `rvagent` bin.
|
||||
@@ -1,124 +0,0 @@
|
||||
# ADR-265: RuView npm Distribution Strategy — CI Gate, Provenance, Version Single-Sourcing, Namespace
|
||||
|
||||
| Field | Value |
|
||||
|-------|-------|
|
||||
| **Status** | Accepted — **D1–D4 implemented**: `.github/workflows/npm-packages.yml` (matrix gate: tests, version-literal grep, pack-content/size gate, tarball-install smoke test, README claim-check), `.github/workflows/ruview-npm-release.yml` (publish-from-CI with `npm publish --provenance`), version single-sourcing (all three packages read package.json), `ruview` bin owned by `@ruvnet/ruview` (`@ruv/ruview-cli` bin renamed `ruview-cli`), `ci.yml` NODE_VERSION 18→20. D5 (no workspace) stands as recorded |
|
||||
| **Date** | 2026-07-02 |
|
||||
| **Deciders** | ruv |
|
||||
| **Codename** | **RUVIEW-NPM-DIST** |
|
||||
| **Supersedes / amends** | none (cross-cutting layer above ADR-263 and ADR-264; complements ADR-182 P3/P4) |
|
||||
|
||||
## Context
|
||||
|
||||
The monorepo now ships (or stages) **three Node packages** with no shared
|
||||
distribution engineering:
|
||||
|
||||
| Package | Dir | Published | Bin(s) | Tests in CI |
|
||||
|---------|-----|-----------|--------|-------------|
|
||||
| `@ruvnet/ruview` | `harness/ruview/` | 0.1.0 (live) | `ruview` | **none** |
|
||||
| `@ruvnet/rvagent` | `tools/ruview-mcp/` | 0.1.0 (live) | `rvagent`, `ruview-mcp` | **none** |
|
||||
| `@ruv/ruview-cli` | `tools/ruview-cli/` | private | `ruview` (collides) | **none** |
|
||||
|
||||
Cross-cutting facts established during the ADR-263/264 reviews:
|
||||
|
||||
- **Zero CI coverage.** No workflow under `.github/workflows/` references any of
|
||||
the three directories. Two of the packages are *live on the registry* and were
|
||||
published from a laptop state CI never saw. Meanwhile the Rust side has a
|
||||
1,031+-test gate and a witness-bundle culture (ADR-028) — the npm surface is
|
||||
the only shipped artifact class with no verification gate at all.
|
||||
- **`ci.yml` pins `NODE_VERSION: '18'`** while all three packages declare
|
||||
`engines.node >= 20`.
|
||||
- **Version triplication.** Each package hardcodes its version in source at
|
||||
least once beyond package.json (harness `SERVER_INFO`, rvagent
|
||||
`PACKAGE_VERSION`, cli `.version("0.0.1")`).
|
||||
- **Bin-name collision.** Two packages claim the `ruview` bin.
|
||||
- **No provenance.** Neither published package carries npm provenance
|
||||
attestations, in a project whose differentiator is signed, reproducible
|
||||
evidence (ADR-028 witness bundles, ADR-182 P4 ed25519/SLSA design).
|
||||
- **No pack-content gate.** ADR-264 F1/F2 (broken `require` target, 33% dead map weight — MEASURED, tarball listing — and a phantom
|
||||
`CHANGELOG.md` in `files`) are exactly the defect class an
|
||||
`npm pack --dry-run` assertion catches in seconds.
|
||||
|
||||
## Decision
|
||||
|
||||
Adopt one distribution layer for all Node packages. Per-package code fixes live
|
||||
in ADR-263/264; this ADR fixes the machinery around them.
|
||||
|
||||
### D1 — One `npm-packages.yml` CI workflow (the gate)
|
||||
|
||||
Matrix over `[harness/ruview, tools/ruview-mcp, tools/ruview-cli]` ×
|
||||
Node `[20, 22]`:
|
||||
|
||||
1. `npm ci` where a lockfile is committed (the TS packages); the harness
|
||||
installs with `npm install` — repo policy gitignores lockfiles under
|
||||
`harness/`, and the package is dependency-free after ADR-263 O3 so there is
|
||||
nothing to pin.
|
||||
2. `npm test` (harness: `node --test test/*.test.mjs` — pin the glob form,
|
||||
the directory form fails on Node 22; TS packages: build + jest or `node:test`
|
||||
per ADR-264 O8).
|
||||
3. **Pack gate:** `npm pack --dry-run --json` asserted against a checked-in
|
||||
expected file list + a max unpacked-size budget per package (harness ≤ 60 kB;
|
||||
rvagent ≤ 130 kB post ADR-264 O2). Any new/missing/renamed shipped file is a
|
||||
reviewed diff, not a surprise.
|
||||
4. **Tarball smoke test:** install the packed tarball into a temp dir; run
|
||||
`ruview --version`, `ruview doctor`, `rvagent` `--help`-equivalent, and a
|
||||
Node `import()` of each declared export condition — this is the test that
|
||||
would have caught ADR-264 F1 (`require` → nonexistent `dist/index.cjs`).
|
||||
5. Bump `ci.yml` `NODE_VERSION` to `'20'` (independent of the matrix above).
|
||||
|
||||
### D2 — Publish only from CI, with provenance
|
||||
|
||||
Manual `npm publish` from laptops stops. A tag-triggered workflow
|
||||
(`ruview-npm-release.yml`, mirroring the firmware release discipline) runs the
|
||||
D1 gate, then `npm publish --provenance --access public` under the GitHub OIDC
|
||||
token. Consequence: every published version is attested to a public commit +
|
||||
workflow run — the npm-side analogue of the ADR-028 witness bundle. The
|
||||
`prepublishOnly` script in each package runs the pack gate locally as a
|
||||
belt-and-braces (publishing outside CI fails loudly, not silently).
|
||||
|
||||
### D3 — Version single-sourcing
|
||||
|
||||
Rule: **package.json is the only place a version string lives.** Runtime code
|
||||
reads it (`createRequire(import.meta.url)('./package.json').version` or a
|
||||
build-time define for the TS packages). CI greps for `\d+\.\d+\.\d+` literals in
|
||||
`src/` of each package and fails on match (allowlist: test fixtures). This
|
||||
retires ADR-263 F6 and ADR-264 F9 permanently instead of per-incident.
|
||||
|
||||
### D4 — Namespace and bin ownership
|
||||
|
||||
- `@ruvnet/ruview` **owns the `ruview` bin** (it is the published front door,
|
||||
ADR-182). `@ruv/ruview-cli` renames its bin or folds into `rvagent`
|
||||
(ADR-264 O9) — decided here so neither package ADR relitigates it.
|
||||
- New Node packages in this repo use the `@ruvnet/` scope (the `@ruv/` scope
|
||||
holds `rvcsi` legacies; do not grow it).
|
||||
- Every package README + description must pass
|
||||
`npx ruview claim-check` — enforced in the D1 gate. The guardrail package
|
||||
linting its sibling packages' claims is the cheapest dogfooding we have
|
||||
(ADR-264 F3 is the standing example of why).
|
||||
|
||||
### D5 — Shared-code policy (bounded)
|
||||
|
||||
Do **not** introduce an npm workspace or a shared runtime package yet: three
|
||||
packages, two of which may merge (ADR-264 O9), do not justify workspace
|
||||
machinery, and the harness's zero-dep property is load-bearing. Revisit if a
|
||||
fourth package appears or if the `http/cog/config` duplication survives the
|
||||
ADR-264 O9 fold. Record the duplication as intentional in each file header (the
|
||||
CLI already does this).
|
||||
|
||||
## Consequences
|
||||
|
||||
- The npm artifacts get the same class of gate the Rust workspace has had since
|
||||
ADR-028: no publish without tests, no shipped file set without an asserted
|
||||
manifest, no version without provenance. The two defects that reached the
|
||||
registry (broken `require` condition, dead maps) become CI-impossible.
|
||||
- Cold-path costs stay near zero: the D1 matrix is 6 fast jobs (the harness
|
||||
suite runs in ~108 ms MEASURED; TS builds dominate at a few tens of seconds).
|
||||
- Publishing gains one constraint (must go through CI) and loses one failure
|
||||
mode (laptop-state publishes) — the right trade for a project whose brand is
|
||||
reproducible evidence.
|
||||
- D3's grep gate is blunt but cheap; if it over-fires, scope it to
|
||||
`version`-adjacent identifiers before weakening it.
|
||||
- Follow-ups tracked elsewhere: per-package code fixes (ADR-263 O1–O8, ADR-264
|
||||
O1–O9); ADR-182 P4 (metaharness router + ed25519 provenance chain) remains
|
||||
the deeper provenance story that D2's npm attestations complement, not
|
||||
replace.
|
||||
+1
-4
@@ -1,6 +1,6 @@
|
||||
# Architecture Decision Records
|
||||
|
||||
This folder contains 182 Architecture Decision Records (ADRs) that document every significant technical choice in the RuView / WiFi-DensePose project. (The index tables below list a curated subset per domain; see the directory listing for the full set.)
|
||||
This folder contains 45 Architecture Decision Records (ADRs) that document every significant technical choice in the RuView / WiFi-DensePose project.
|
||||
|
||||
## Why ADRs?
|
||||
|
||||
@@ -120,9 +120,6 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
|
||||
| [ADR-097](ADR-097-adopt-rvcsi-as-ruview-csi-runtime.md) | Adopt rvCSI as RuView's primary CSI runtime (phased adoption) | Proposed |
|
||||
| [ADR-098](ADR-098-evaluate-midstream-fit.md) | Evaluate `ruvnet/midstream` for RuView's CSI / WebSocket / mesh pipeline | Rejected |
|
||||
| [ADR-099](ADR-099-midstream-introspection-tap.md) | Adopt midstream as RuView's real-time introspection + low-latency tap | Proposed |
|
||||
| [ADR-263](ADR-263-ruview-npm-harness-deep-review.md) | `@ruvnet/ruview` npm harness — deep review + optimization strategy | Proposed |
|
||||
| [ADR-264](ADR-264-rvagent-mcp-and-cli-npm-deep-review.md) | `@ruvnet/rvagent` MCP server + `@ruv/ruview-cli` — deep review + optimization strategy | Proposed |
|
||||
| [ADR-265](ADR-265-ruview-npm-distribution-strategy.md) | RuView npm distribution strategy — CI gate, provenance, version single-sourcing, namespace | Proposed |
|
||||
|
||||
---
|
||||
|
||||
|
||||
@@ -1,135 +0,0 @@
|
||||
# WiFlow Browser Trainer (`wiflow_browser.html`)
|
||||
|
||||
A **single self-contained HTML page** that does the entire camera-supervised
|
||||
WiFi-pose loop **in your browser, in your laptop camera's coordinate frame**, as
|
||||
a **4-stage gated flow** with a progress stepper (each stage unlocks the next):
|
||||
|
||||
0. **CALIBRATE** *(ADR-151 empty-room baseline)* — you step OUT of the space; the
|
||||
page captures ~10 s of the quiescent CSI and computes a per-feature running
|
||||
**mean + std (Welford)** over the 410-d vector. Every CSI vector afterwards is
|
||||
expressed as **deviation from baseline**
|
||||
(`x_norm = (x − base_mean) / (base_std + ε)`), so a body's perturbation stands
|
||||
out from the static channel. Persisted to IndexedDB. *Can't capture without it.*
|
||||
1. **CAPTURE** — MediaPipe Pose runs on your laptop camera → 17 COCO keypoints
|
||||
(the *label*), paired with the **baseline-normalized** 410-d ESP32 CSI vector
|
||||
(the *input*). A **guided, balanced routine** cycles big on-screen prompts
|
||||
(stand / turn / walk / arms / crouch / sit / reach) with a countdown, and a
|
||||
**per-pose coverage meter** so you build a balanced dataset, not 2 000 frames
|
||||
of standing.
|
||||
2. **TRAIN** — a TensorFlow.js MLP learns `CSI → pose` in-browser. Honest
|
||||
held-out PCK@0.10 / PCK@0.05 / MPJPE, plus a **mean-pose baseline** the model
|
||||
must beat (the project's whole ethos — no baseline-beating signal, it says so).
|
||||
*Can't train with <200 samples.*
|
||||
3. **INFER** — the trained model drives a skeleton **from WiFi CSI only**
|
||||
(baseline-normalized → standardized → model), drawn over the **same** camera
|
||||
frame it trained in — so the inferred skeleton **aligns** with the camera
|
||||
image. That alignment is the entire point of doing this in-browser instead of
|
||||
with a separate Python camera. *Can't infer without a model.*
|
||||
|
||||
## Why in-browser
|
||||
|
||||
The Python pipeline (`wiflow_capture.py` → `wiflow_train.py` → `wiflow_infer.py`)
|
||||
proved the signal is real (held-out PCK@0.10 ≈ 59.5% vs a 50% mean-pose baseline
|
||||
= +9.4 pp). But it trained in a *different* camera's frame, so the inferred
|
||||
skeleton never lined up with the laptop camera. Doing capture + train + infer all
|
||||
in the browser with the **same** camera makes the training frame and the
|
||||
inference frame identical → the skeleton aligns.
|
||||
|
||||
## Compute backends (WebGPU / WASM / WebGL)
|
||||
|
||||
Training and inference run on TensorFlow.js. The page selects the backend at
|
||||
startup, preferring the fastest available:
|
||||
|
||||
- **WebGPU** (Chrome / Edge, secure context — `localhost` qualifies) — GPU compute.
|
||||
- **WASM-SIMD** fallback (`tfjs-backend-wasm`, SIMD enabled, `.wasm` from the CDN).
|
||||
- **WebGL** last-resort fallback (ships inside tfjs core).
|
||||
|
||||
The **active backend is shown as a badge in the header** (`compute: WebGPU` /
|
||||
`WASM-SIMD` / `WebGL`) so it's honest about what's actually running. The model
|
||||
code is backend-agnostic — tf.js abstracts the device.
|
||||
|
||||
## Honesty (baked in)
|
||||
|
||||
- The **CAPTURE** skeleton (blue) is the camera = ground truth, labeled as such.
|
||||
- The **INFER** skeleton (green) is **CSI-only**, labeled, and **coarse** — the
|
||||
real measured held-out PCK is shown, not a marketing number.
|
||||
- The **mean-pose baseline** is always computed and shown in TRAIN; the verdict
|
||||
states plainly whether the model **beats** it (real signal) or **does not**
|
||||
(no usable signal). This guards against the project's retracted 92.9% that
|
||||
failed exactly this check.
|
||||
- Status banner is strict and mutually exclusive:
|
||||
**LIVE** (real `source: "esp32"`) / **SIMULATED — not real** (any other source)
|
||||
/ **NO-CSI-SERVER**. The page never invents frames.
|
||||
|
||||
## How to run
|
||||
|
||||
### 1. Start the real sensing-server (provides the CSI WebSocket on :8765)
|
||||
|
||||
```bash
|
||||
cd v2
|
||||
cargo build -p wifi-densepose-sensing-server
|
||||
./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005
|
||||
```
|
||||
|
||||
A real ESP32-S3 must be provisioned and streaming for `source` to read `esp32`
|
||||
(see `CLAUDE.local.md` for the firmware build/provision steps). The page expects
|
||||
the verified live endpoint **`ws://localhost:8765/ws/sensing`** with
|
||||
`source:"esp32"`, nodes `[9, 13]`, `features.*`, `node_features[].features.*`,
|
||||
and `signal_field.values` (400 floats).
|
||||
|
||||
### 2. Serve this page over localhost (camera + WebGPU need a localhost/secure origin)
|
||||
|
||||
Any static localhost server works. For example:
|
||||
|
||||
```bash
|
||||
python -m http.server 8099
|
||||
# then open: http://localhost:8099/examples/through-wall/wiflow_browser.html
|
||||
```
|
||||
|
||||
(8099 is just the static file server — 8765 is a separate process, the CSI
|
||||
WebSocket.) Allow camera access when the browser prompts.
|
||||
|
||||
Point at a CSI server on another host with `?ws=`:
|
||||
|
||||
```
|
||||
http://localhost:8099/examples/through-wall/wiflow_browser.html?ws=ws://192.168.1.20:8765/ws/sensing
|
||||
```
|
||||
|
||||
### 3. Use it
|
||||
|
||||
1. **CAPTURE** tab → *enable laptop camera* → *start recording*. Follow the guided
|
||||
routine (stand / turn / walk / arms / crouch / sit). A pair is stored only when
|
||||
a confident pose AND a fresh live `esp32` CSI frame coexist. Aim for a few
|
||||
thousand samples. Samples persist in IndexedDB across refreshes.
|
||||
2. **TRAIN** tab → *train model*. Watch the live loss curve, held-out PCK, and the
|
||||
baseline verdict. The model saves to IndexedDB.
|
||||
3. **INFER** tab → the green skeleton is now driven by WiFi CSI only, aligned over
|
||||
your camera. Toggle *hide camera* to see the CSI-only skeleton on black.
|
||||
|
||||
## The 410-d CSI vector (matches the Python pipeline exactly)
|
||||
|
||||
```
|
||||
[ mean_rssi, variance, motion_band_power, breathing_band_power ] # 4 (features.*)
|
||||
+ for node 9 then node 13: [ mean_rssi, variance, motion_band_power ] # 6 (node_features[].features.*)
|
||||
+ signal_field.values, padded / truncated to 400 # 400
|
||||
= 410-d
|
||||
```
|
||||
|
||||
Verified against a real live frame: the in-browser `csiVector()` produces the
|
||||
identical 410 vector as `wiflow_capture.py`'s `csi_vector()` (node 9 first, then
|
||||
node 13; field zero-padded).
|
||||
|
||||
## Libraries (CDN only, no bundler)
|
||||
|
||||
| Library | CDN |
|
||||
|---|---|
|
||||
| TensorFlow.js core | `@tensorflow/tfjs@4.22.0/dist/tf.min.js` |
|
||||
| TF.js WebGPU backend | `@tensorflow/tfjs-backend-webgpu@4.22.0/dist/tf-backend-webgpu.min.js` |
|
||||
| TF.js WASM backend | `@tensorflow/tfjs-backend-wasm@4.22.0/dist/tf-backend-wasm.min.js` |
|
||||
| MediaPipe Pose 0.5 (legacy solutions) | `@mediapipe/pose@0.5/pose.js` |
|
||||
|
||||
## Scope / honesty caveats
|
||||
|
||||
Same person, same room, same session. **Not** validated cross-day, cross-room, or
|
||||
through-wall. The inferred pose is coarse (PCK@0.05 is typically weak). If the
|
||||
model does not beat the mean-pose baseline, the page says so — that is a feature.
|
||||
@@ -1,644 +0,0 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>RuView · Through-Wall WiFi Sensing · LIVE CSI (no skeleton, no simulation)</title>
|
||||
<!--
|
||||
THROUGH-WALL WiFi-CSI SENSING DEMO — honest, real-data-only.
|
||||
|
||||
Renders ONLY what the running sensing-server actually streams over
|
||||
ws://localhost:8765/ws/sensing :
|
||||
- the 20x20 `signal_field` floor heatmap (real values)
|
||||
- a coarse RF-localization puck from persons[0].position (NOT pose)
|
||||
- live motion / presence / rssi / confidence meters
|
||||
- the real `source` ("esp32" = LIVE) verbatim in the banner
|
||||
|
||||
It deliberately does NOT draw a skeleton. The server's
|
||||
persons[].keypoints carry confidence:0.0 (image-pixel garbage, not
|
||||
real 3D joints) so we never render them. WiFi CSI gives
|
||||
motion/presence/coarse-position — that is the honest wow, and it
|
||||
penetrates drywall. See README.md.
|
||||
-->
|
||||
<style>
|
||||
:root {
|
||||
--bg: #050507; --bg-panel: rgba(8,10,14,0.80);
|
||||
--amber: #ffb840; --amber-hot: #ffe09f;
|
||||
--cyan: #4cf; --magenta: #ff4cc8;
|
||||
--text: #d8c69a; --text-mute: #6b6155;
|
||||
--green: #4f4; --red: #f64;
|
||||
--border: rgba(255,184,64,0.18);
|
||||
}
|
||||
* { box-sizing: border-box; }
|
||||
body {
|
||||
margin: 0; background: var(--bg); color: var(--text); overflow: hidden;
|
||||
font-family: 'SF Mono', 'Cascadia Code', Consolas, monospace;
|
||||
-webkit-font-smoothing: antialiased; font-size: 12px;
|
||||
}
|
||||
canvas { display: block; }
|
||||
.overlay-frame {
|
||||
position: fixed; inset: 0; pointer-events: none; z-index: 5;
|
||||
background:
|
||||
radial-gradient(ellipse at center, transparent 55%, rgba(0,0,0,0.55) 100%),
|
||||
linear-gradient(180deg, rgba(0,0,0,0.32) 0%, transparent 18%, transparent 82%, rgba(0,0,0,0.38) 100%);
|
||||
}
|
||||
.scanlines {
|
||||
position: fixed; inset: 0; pointer-events: none; z-index: 6;
|
||||
background: repeating-linear-gradient(0deg, rgba(0,0,0,0.04) 0px, rgba(0,0,0,0.04) 1px, transparent 1px, transparent 3px);
|
||||
mix-blend-mode: overlay; opacity: 0.5;
|
||||
}
|
||||
.panel {
|
||||
position: absolute; background: var(--bg-panel); border: 1px solid var(--border);
|
||||
border-radius: 4px; padding: 12px 14px; backdrop-filter: blur(8px);
|
||||
box-shadow: 0 1px 0 rgba(255,184,64,0.04), 0 8px 32px rgba(0,0,0,0.55); z-index: 10;
|
||||
}
|
||||
.panel h2 {
|
||||
margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
|
||||
color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px;
|
||||
}
|
||||
|
||||
/* ---- Honest status banner (top-center, mutually exclusive states) ---- */
|
||||
#banner {
|
||||
position: fixed; top: 0; left: 0; right: 0; z-index: 30;
|
||||
text-align: center; padding: 7px 12px; font-size: 12px; letter-spacing: 1px;
|
||||
font-weight: 600; border-bottom: 1px solid rgba(0,0,0,0.4);
|
||||
transition: background 0.3s, color 0.3s;
|
||||
}
|
||||
#banner.live { background: rgba(40,255,80,0.12); color: var(--green); border-bottom-color: rgba(80,255,120,0.4); }
|
||||
#banner.sim { background: rgba(255,120,40,0.16); color: #ffae5a; border-bottom-color: rgba(255,140,60,0.5); }
|
||||
#banner.noserver { background: rgba(255,80,80,0.16); color: var(--red); border-bottom-color: rgba(255,90,90,0.5); }
|
||||
#banner .src { opacity: 0.8; font-weight: 400; }
|
||||
#banner-caption {
|
||||
position: fixed; top: 30px; left: 0; right: 0; z-index: 29;
|
||||
text-align: center; font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px;
|
||||
pointer-events: none; padding-top: 2px;
|
||||
}
|
||||
|
||||
#info { top: 64px; left: 20px; min-width: 270px; }
|
||||
#info h1 { margin: 0 0 1px 0; font-size: 13px; letter-spacing: 1px; color: var(--amber-hot); font-weight: 600; }
|
||||
#info .sub { font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px; margin-bottom: 10px; padding-bottom: 8px; border-bottom: 1px solid var(--border); }
|
||||
#info .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
|
||||
#info .row .k { color: var(--text-mute); font-size: 11px; }
|
||||
#info .row .v { color: var(--text); font-variant-numeric: tabular-nums; font-size: 11px; }
|
||||
#info .row .v.amber { color: var(--amber); }
|
||||
#info .row .v.cyan { color: var(--cyan); }
|
||||
#info .row .v.green { color: var(--green); }
|
||||
#info .row .v.red { color: var(--red); }
|
||||
#info .row .v.mag { color: var(--magenta); }
|
||||
#info .row .v.mute { color: var(--text-mute); }
|
||||
|
||||
#csi { top: 64px; right: 20px; min-width: 270px; }
|
||||
#csi .bar-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
|
||||
#csi .bar-row .label { width: 86px; color: var(--text-mute); }
|
||||
#csi .bar-row .bar-track { flex: 1; height: 6px; background: rgba(255,184,64,0.08); border-radius: 2px; overflow: hidden; }
|
||||
#csi .bar-row .bar-fill {
|
||||
height: 100%; background: linear-gradient(90deg, var(--amber-hot), var(--amber));
|
||||
box-shadow: 0 0 6px var(--amber); transition: width 0.1s linear;
|
||||
}
|
||||
#csi .bar-row .val { width: 44px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
|
||||
#csi .spark { margin-top: 8px; }
|
||||
#csi canvas { width: 100%; height: 38px; display: block; border: 1px solid var(--border); border-radius: 3px; background: rgba(0,0,0,0.3); }
|
||||
#csi .legend { margin-top: 8px; padding-top: 8px; border-top: 1px solid var(--border); font-size: 10px; color: var(--text-mute); line-height: 1.5; }
|
||||
|
||||
/* ---- waiting / no-server overlay ---- */
|
||||
#waiting {
|
||||
position: fixed; inset: 0; z-index: 25; display: none;
|
||||
flex-direction: column; align-items: center; justify-content: center;
|
||||
background: rgba(5,5,7,0.94); color: var(--amber); text-align: center; padding: 24px;
|
||||
}
|
||||
#waiting.show { display: flex; }
|
||||
#waiting .big { font-size: 22px; letter-spacing: 2px; color: var(--red); margin-bottom: 16px; text-transform: uppercase; }
|
||||
#waiting code {
|
||||
display: block; text-align: left; max-width: 640px; margin: 8px auto;
|
||||
background: rgba(255,184,64,0.06); border: 1px solid var(--border); border-radius: 4px;
|
||||
padding: 10px 14px; color: var(--amber-hot); font-size: 12px; white-space: pre-wrap;
|
||||
}
|
||||
#waiting .pulse { animation: pulse 1.4s ease-in-out infinite; }
|
||||
@keyframes pulse { 0%,100% { opacity: 0.55; } 50% { opacity: 1; } }
|
||||
|
||||
/* ---- optional webcam ground-truth tile ---- */
|
||||
#cam-tile {
|
||||
position: absolute; bottom: 20px; right: 20px; width: 240px; z-index: 12;
|
||||
background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
|
||||
padding: 8px; backdrop-filter: blur(8px);
|
||||
}
|
||||
#cam-tile h2 { margin: 0 0 6px 0; font-size: 9px; text-transform: uppercase; letter-spacing: 1.5px;
|
||||
color: var(--cyan); font-weight: 600; }
|
||||
#cam-tile .gt-note { font-size: 9px; color: var(--text-mute); margin-top: 4px; line-height: 1.4; }
|
||||
#cam-video { width: 100%; border-radius: 3px; display: none; background: #000; }
|
||||
#cam-tile button {
|
||||
width: 100%; margin-top: 6px; padding: 5px 8px; font-family: inherit; font-size: 11px;
|
||||
background: transparent; color: var(--cyan); border: 1px solid var(--cyan); border-radius: 3px; cursor: pointer;
|
||||
}
|
||||
#cam-tile button:hover { background: rgba(68,204,255,0.12); }
|
||||
#cam-tile button:disabled { opacity: 0.5; cursor: not-allowed; }
|
||||
|
||||
#legend-nodes {
|
||||
position: absolute; bottom: 20px; left: 20px; min-width: 220px;
|
||||
background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
|
||||
padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
|
||||
}
|
||||
#legend-nodes h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
|
||||
color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
|
||||
#legend-nodes .lr { display: flex; align-items: center; gap: 8px; padding: 2px 0; font-size: 11px; }
|
||||
#legend-nodes .dot { width: 9px; height: 9px; border-radius: 50%; box-shadow: 0 0 6px currentColor; flex: 0 0 auto; }
|
||||
#legend-nodes .muted { color: var(--text-mute); }
|
||||
</style>
|
||||
|
||||
<!-- three.js r128 + addons (same CDN set as examples/three.js/demos/05) -->
|
||||
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/EffectComposer.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/RenderPass.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/ShaderPass.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/UnrealBloomPass.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/CopyShader.js"></script>
|
||||
<script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/LuminosityHighPassShader.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="banner" class="noserver">NO SERVER — start the sensing-server <span class="src"></span></div>
|
||||
<div id="banner-caption">Real WiFi CSI motion / presence / coarse-localization — penetrates drywall. Not skeletal pose.</div>
|
||||
|
||||
<div class="overlay-frame"></div>
|
||||
<div class="scanlines"></div>
|
||||
|
||||
<div class="panel" id="info">
|
||||
<h1>THROUGH-WALL WiFi SENSING</h1>
|
||||
<div class="sub">Live CSI · ws://localhost:8765/ws/sensing</div>
|
||||
<div class="row"><span class="k">source</span><span class="v amber" id="m-source">—</span></div>
|
||||
<div class="row"><span class="k">presence</span><span class="v" id="m-presence">—</span></div>
|
||||
<div class="row"><span class="k">motion level</span><span class="v" id="m-motion">—</span></div>
|
||||
<div class="row"><span class="k">confidence</span><span class="v cyan" id="m-conf">—</span></div>
|
||||
<div class="row"><span class="k">est. persons</span><span class="v amber" id="m-persons">—</span></div>
|
||||
<div class="row"><span class="k">active nodes</span><span class="v" id="m-nodes">—</span></div>
|
||||
<div class="row"><span class="k">tick</span><span class="v" id="m-tick">—</span></div>
|
||||
<div class="row"><span class="k">update rate</span><span class="v cyan" id="m-fps">—</span></div>
|
||||
</div>
|
||||
|
||||
<div class="panel" id="csi">
|
||||
<h2>Live RF features</h2>
|
||||
<div class="bar-row"><span class="label">motion</span><div class="bar-track"><div class="bar-fill" id="bar-motion"></div></div><span class="val" id="v-motion">—</span></div>
|
||||
<div class="bar-row"><span class="label">breathing</span><div class="bar-track"><div class="bar-fill" id="bar-breath"></div></div><span class="val" id="v-breath">—</span></div>
|
||||
<div class="bar-row"><span class="label">variance</span><div class="bar-track"><div class="bar-fill" id="bar-var"></div></div><span class="val" id="v-var">—</span></div>
|
||||
<div class="bar-row"><span class="label">mean rssi</span><div class="bar-track"><div class="bar-fill" id="bar-rssi"></div></div><span class="val" id="v-rssi">—</span></div>
|
||||
<div class="spark"><canvas id="spark" width="252" height="38"></canvas></div>
|
||||
<div class="legend">motion sparkline (last ~6s of real motion_band_power)</div>
|
||||
</div>
|
||||
|
||||
<div id="legend-nodes">
|
||||
<h2>Sensor nodes</h2>
|
||||
<div class="lr"><span class="dot" style="color:#4cf"></span><span>ESP32-S3 office <span class="muted">(node 9)</span></span></div>
|
||||
<div class="lr"><span class="dot" style="color:#ff4cc8"></span><span>ESP32-S3 hallway <span class="muted">(node 13)</span></span></div>
|
||||
<div class="lr" style="margin-top:6px"><span class="dot" style="color:#4f4"></span><span>RF localization <span class="muted">(coarse)</span></span></div>
|
||||
<div class="lr"><span class="muted" style="font-size:10px;line-height:1.4">Office & hallway split by a wall + doorway. WiFi motion still shows through drywall.</span></div>
|
||||
</div>
|
||||
|
||||
<div id="cam-tile">
|
||||
<h2>camera — ground truth when visible</h2>
|
||||
<video id="cam-video" autoplay muted playsinline></video>
|
||||
<button id="cam-btn">▶ enable webcam (optional)</button>
|
||||
<div class="gt-note">Independent of the CSI sensing. The WiFi works in the dark and through walls; the camera does not.</div>
|
||||
</div>
|
||||
|
||||
<div id="waiting" class="show">
|
||||
<div class="big pulse">Waiting for live sensing-server</div>
|
||||
<div>No connection to <b>ws://localhost:8765/ws/sensing</b>. Start the real server, then this page connects automatically.</div>
|
||||
<code>cd v2
|
||||
cargo build -p wifi-densepose-sensing-server
|
||||
./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005</code>
|
||||
<div style="margin-top:10px; color:var(--text-mute); font-size:11px;">This demo renders ONLY real data. It never invents frames.</div>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
"use strict";
|
||||
// =====================================================================
|
||||
// Config + WS endpoint (allow ?ws= override)
|
||||
// =====================================================================
|
||||
const params = new URLSearchParams(location.search);
|
||||
const WS_URL = params.get('ws') || 'ws://localhost:8765/ws/sensing';
|
||||
const ROOM_HALF = 5; // half-extent of the floor plane in metres
|
||||
const GRID_N = 20; // signal_field is 20 x 20
|
||||
|
||||
// Known node anchor positions (server sends node 9 @ [2,0,1.5]; node 13
|
||||
// joins later from the hallway side once its firmware is flashed). These
|
||||
// are anchors for the room model + labels, NOT fabricated sensing data.
|
||||
const NODE_ANCHORS = {
|
||||
9: { pos: [ 2.0, 0.0, 1.5], color: 0x44ccff, label: 'office (node 9)' },
|
||||
13: { pos: [-2.0, 0.0, -3.0], color: 0xff4cc8, label: 'hallway (node 13)' },
|
||||
};
|
||||
|
||||
// =====================================================================
|
||||
// Three.js scene (reused pattern from demos/05-skinned-realtime.html)
|
||||
// =====================================================================
|
||||
const scene = new THREE.Scene();
|
||||
scene.background = new THREE.Color(0x050507);
|
||||
scene.fog = new THREE.FogExp2(0x050507, 0.045);
|
||||
|
||||
const camera = new THREE.PerspectiveCamera(50, window.innerWidth/window.innerHeight, 0.05, 100);
|
||||
camera.position.set(4.5, 4.2, 6.0);
|
||||
|
||||
const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
|
||||
renderer.setPixelRatio(Math.min(2, window.devicePixelRatio));
|
||||
renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
renderer.toneMapping = THREE.ACESFilmicToneMapping;
|
||||
renderer.toneMappingExposure = 0.85;
|
||||
renderer.outputEncoding = THREE.sRGBEncoding;
|
||||
document.body.appendChild(renderer.domElement);
|
||||
|
||||
const controls = new THREE.OrbitControls(camera, renderer.domElement);
|
||||
controls.target.set(0, 0.4, -0.5);
|
||||
controls.enableDamping = true; controls.dampingFactor = 0.06;
|
||||
controls.minDistance = 3; controls.maxDistance = 18;
|
||||
controls.maxPolarAngle = Math.PI * 0.49;
|
||||
|
||||
scene.add(new THREE.HemisphereLight(0x553a18, 0x080606, 0.7));
|
||||
const keyLight = new THREE.DirectionalLight(0xffc070, 0.9);
|
||||
keyLight.position.set(3, 6, 4);
|
||||
scene.add(keyLight);
|
||||
|
||||
// Post-processing — gentle bloom so the heatmap + puck glow.
|
||||
const composer = new THREE.EffectComposer(renderer);
|
||||
composer.addPass(new THREE.RenderPass(scene, camera));
|
||||
const bloom = new THREE.UnrealBloomPass(
|
||||
new THREE.Vector2(window.innerWidth, window.innerHeight), 0.55, 0.45, 0.82);
|
||||
composer.addPass(bloom);
|
||||
|
||||
// =====================================================================
|
||||
// Room: floor grid + wall + doorway dividing office / hallway
|
||||
// =====================================================================
|
||||
const gridHelper = new THREE.GridHelper(2*ROOM_HALF, GRID_N, 0x554a32, 0x2a2418);
|
||||
gridHelper.position.y = 0.002;
|
||||
scene.add(gridHelper);
|
||||
|
||||
// Dividing wall runs along world X near z = -1 (office z>-1, hallway z<-1),
|
||||
// with a doorway gap. Two wall segments leave a gap in the middle.
|
||||
const wallMat = new THREE.MeshStandardMaterial({
|
||||
color: 0x1b2330, transparent: true, opacity: 0.55, roughness: 0.9,
|
||||
side: THREE.DoubleSide,
|
||||
});
|
||||
const wallH = 1.4, wallZ = -1.0;
|
||||
function addWallSeg(cx, w) {
|
||||
const m = new THREE.Mesh(new THREE.BoxGeometry(w, wallH, 0.08), wallMat);
|
||||
m.position.set(cx, wallH/2, wallZ);
|
||||
scene.add(m);
|
||||
// top edge highlight
|
||||
const edge = new THREE.Mesh(new THREE.BoxGeometry(w, 0.02, 0.10),
|
||||
new THREE.MeshBasicMaterial({ color: 0x4cf, transparent: true, opacity: 0.5 }));
|
||||
edge.position.set(cx, wallH, wallZ);
|
||||
scene.add(edge);
|
||||
}
|
||||
// left segment, doorway gap (-0.7..0.7), right segment
|
||||
addWallSeg(-3.15, 3.7);
|
||||
addWallSeg( 3.15, 3.7);
|
||||
|
||||
// Room labels (sprite text) for OFFICE / HALLWAY
|
||||
function makeLabel(text, color) {
|
||||
const c = document.createElement('canvas'); c.width = 256; c.height = 64;
|
||||
const ctx = c.getContext('2d');
|
||||
ctx.fillStyle = color; ctx.font = 'bold 30px Consolas, monospace';
|
||||
ctx.textAlign = 'center'; ctx.textBaseline = 'middle';
|
||||
ctx.fillText(text, 128, 34);
|
||||
const tex = new THREE.CanvasTexture(c);
|
||||
const spr = new THREE.Sprite(new THREE.SpriteMaterial({ map: tex, transparent: true, depthTest: false }));
|
||||
spr.scale.set(2.0, 0.5, 1);
|
||||
return spr;
|
||||
}
|
||||
const officeLbl = makeLabel('OFFICE', '#ffb840'); officeLbl.position.set(2.6, 0.06, 2.6); scene.add(officeLbl);
|
||||
const hallLbl = makeLabel('HALLWAY', '#ff4cc8'); hallLbl.position.set(-2.6, 0.06, -3.2); scene.add(hallLbl);
|
||||
|
||||
// =====================================================================
|
||||
// Node markers (office / hallway). The hallway node is dimmed until it
|
||||
// actually appears in the live `nodes` list.
|
||||
// =====================================================================
|
||||
const nodeMeshes = {};
|
||||
function buildNode(id) {
|
||||
const a = NODE_ANCHORS[id];
|
||||
const g = new THREE.Group();
|
||||
const post = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.05, 0.07, 0.9, 12),
|
||||
new THREE.MeshStandardMaterial({ color: a.color, emissive: a.color, emissiveIntensity: 0.4, roughness: 0.4 }));
|
||||
post.position.y = 0.45; g.add(post);
|
||||
const orb = new THREE.Mesh(
|
||||
new THREE.SphereGeometry(0.12, 20, 16),
|
||||
new THREE.MeshBasicMaterial({ color: a.color }));
|
||||
orb.position.y = 0.95; g.add(orb);
|
||||
const ring = new THREE.Mesh(
|
||||
new THREE.RingGeometry(0.18, 0.24, 32),
|
||||
new THREE.MeshBasicMaterial({ color: a.color, transparent: true, opacity: 0.6, side: THREE.DoubleSide }));
|
||||
ring.rotation.x = -Math.PI/2; ring.position.y = 0.01; g.add(ring);
|
||||
const lbl = makeLabel('ESP32-S3 ' + a.label, '#' + a.color.toString(16).padStart(6,'0'));
|
||||
lbl.scale.set(2.6, 0.65, 1); lbl.position.set(0, 1.25, 0); g.add(lbl);
|
||||
g.position.set(a.pos[0], 0, a.pos[2]);
|
||||
g.userData.parts = { post, orb, ring };
|
||||
scene.add(g);
|
||||
return g;
|
||||
}
|
||||
Object.keys(NODE_ANCHORS).forEach(id => { nodeMeshes[id] = buildNode(+id); });
|
||||
function setNodeActive(id, active) {
|
||||
const g = nodeMeshes[id]; if (!g) return;
|
||||
const o = active ? 1.0 : 0.22;
|
||||
const parts = g.userData.parts;
|
||||
parts.orb.material.opacity = o; parts.orb.material.transparent = true;
|
||||
parts.ring.material.opacity = 0.6 * o;
|
||||
parts.post.material.emissiveIntensity = active ? 0.5 : 0.12;
|
||||
}
|
||||
setNodeActive(9, false); setNodeActive(13, false);
|
||||
|
||||
// =====================================================================
|
||||
// signal_field 20x20 floor heatmap — instanced colored tiles.
|
||||
// Driven ONLY by real `signal_field.values` (400 floats ~0..1).
|
||||
// =====================================================================
|
||||
const TILE = (2*ROOM_HALF) / GRID_N;
|
||||
const heatGeo = new THREE.PlaneGeometry(TILE * 0.96, TILE * 0.96);
|
||||
const heatMat = new THREE.MeshBasicMaterial({ vertexColors: true, transparent: true, opacity: 0.85, side: THREE.DoubleSide });
|
||||
const heatMesh = new THREE.InstancedMesh(heatGeo, heatMat, GRID_N * GRID_N);
|
||||
heatMesh.instanceMatrix.setUsage(THREE.DynamicDrawUsage);
|
||||
const heatColor = new THREE.InstancedBufferAttribute(new Float32Array(GRID_N * GRID_N * 3), 3);
|
||||
heatMesh.instanceColor = heatColor;
|
||||
const _m = new THREE.Matrix4();
|
||||
const _q = new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(1,0,0), -Math.PI/2);
|
||||
const _s = new THREE.Vector3(1,1,1);
|
||||
const _p = new THREE.Vector3();
|
||||
// gridCell (gx,gz) -> world (x,z). gx,gz in [0,GRID_N).
|
||||
function cellToWorld(gx, gz) {
|
||||
return [ (gx + 0.5) * TILE - ROOM_HALF, (gz + 0.5) * TILE - ROOM_HALF ];
|
||||
}
|
||||
for (let gz = 0; gz < GRID_N; gz++) {
|
||||
for (let gx = 0; gx < GRID_N; gx++) {
|
||||
const i = gz * GRID_N + gx;
|
||||
const [wx, wz] = cellToWorld(gx, gz);
|
||||
_p.set(wx, 0.012, wz);
|
||||
_m.compose(_p, _q, _s);
|
||||
heatMesh.setMatrixAt(i, _m);
|
||||
heatColor.setXYZ(i, 0.02, 0.02, 0.03);
|
||||
}
|
||||
}
|
||||
heatMesh.instanceMatrix.needsUpdate = true;
|
||||
scene.add(heatMesh);
|
||||
|
||||
// amber→white heat ramp for a value in [0,1]
|
||||
function heatRamp(v, out) {
|
||||
v = Math.max(0, Math.min(1, v));
|
||||
// dark -> amber -> hot white
|
||||
const r = Math.min(1, 0.05 + 1.6 * v);
|
||||
const g = Math.min(1, 0.02 + 1.1 * v * v);
|
||||
const b = Math.min(1, 0.04 + 0.9 * Math.pow(v, 3));
|
||||
out.set(r, g, b);
|
||||
return out;
|
||||
}
|
||||
const _c = new THREE.Color();
|
||||
let lastFieldPeak = { gx: GRID_N/2|0, gz: GRID_N/2|0, v: 0 };
|
||||
function updateHeatmap(field) {
|
||||
if (!field || !Array.isArray(field.values)) return;
|
||||
const vals = field.values;
|
||||
// grid_size is [20,1,20]; values are row-major 400 floats.
|
||||
let peakV = -1, peakGx = lastFieldPeak.gx, peakGz = lastFieldPeak.gz;
|
||||
const n = Math.min(vals.length, GRID_N * GRID_N);
|
||||
for (let i = 0; i < n; i++) {
|
||||
const v = vals[i];
|
||||
heatRamp(v, _c);
|
||||
heatColor.setXYZ(i, _c.r, _c.g, _c.b);
|
||||
if (v > peakV) { peakV = v; peakGx = i % GRID_N; peakGz = (i / GRID_N) | 0; }
|
||||
}
|
||||
heatColor.needsUpdate = true;
|
||||
lastFieldPeak = { gx: peakGx, gz: peakGz, v: peakV };
|
||||
}
|
||||
|
||||
// =====================================================================
|
||||
// RF-localization puck — from persons[0].position (coarse, NOT pose).
|
||||
// Falls back to the signal_field peak cell when no person is present.
|
||||
// =====================================================================
|
||||
const puck = new THREE.Group();
|
||||
const puckCore = new THREE.Mesh(
|
||||
new THREE.SphereGeometry(0.16, 24, 18),
|
||||
new THREE.MeshBasicMaterial({ color: 0x66ff88 }));
|
||||
puckCore.position.y = 0.16; puck.add(puckCore);
|
||||
const puckRing = new THREE.Mesh(
|
||||
new THREE.RingGeometry(0.28, 0.36, 40),
|
||||
new THREE.MeshBasicMaterial({ color: 0x66ff88, transparent: true, opacity: 0.7, side: THREE.DoubleSide }));
|
||||
puckRing.rotation.x = -Math.PI/2; puckRing.position.y = 0.02; puck.add(puckRing);
|
||||
const puckBeam = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(0.03, 0.03, 1.2, 8),
|
||||
new THREE.MeshBasicMaterial({ color: 0x66ff88, transparent: true, opacity: 0.35 }));
|
||||
puckBeam.position.y = 0.6; puck.add(puckBeam);
|
||||
puck.visible = false;
|
||||
scene.add(puck);
|
||||
const puckTarget = new THREE.Vector3(0, 0, 0);
|
||||
|
||||
function updatePuck(frame) {
|
||||
let wx = null, wz = null, present = false;
|
||||
const persons = frame.persons || [];
|
||||
if (persons.length && Array.isArray(persons[0].position)) {
|
||||
// server position is [x, 0, z] in metres, origin at room centre
|
||||
wx = persons[0].position[0];
|
||||
wz = persons[0].position[2];
|
||||
present = true;
|
||||
}
|
||||
// If no person but the field has clear energy, show the peak cell
|
||||
// (coarse) so the puck honestly tracks "where the RF energy is".
|
||||
if (!present && lastFieldPeak.v > 0.55) {
|
||||
const peak = cellToWorld(lastFieldPeak.gx, lastFieldPeak.gz);
|
||||
wx = peak[0]; wz = peak[1]; present = true;
|
||||
}
|
||||
if (present && wx !== null) {
|
||||
// clamp into the room so it never flies off the floor
|
||||
wx = Math.max(-ROOM_HALF+0.3, Math.min(ROOM_HALF-0.3, wx));
|
||||
wz = Math.max(-ROOM_HALF+0.3, Math.min(ROOM_HALF-0.3, wz));
|
||||
puckTarget.set(wx, 0, wz);
|
||||
puck.visible = true;
|
||||
} else {
|
||||
puck.visible = false;
|
||||
}
|
||||
}
|
||||
|
||||
// =====================================================================
|
||||
// HUD updates
|
||||
// =====================================================================
|
||||
const $ = id => document.getElementById(id);
|
||||
function clamp01(x){ return Math.max(0, Math.min(1, x)); }
|
||||
function setBar(barId, valId, frac, text) {
|
||||
$(barId).style.width = (clamp01(frac) * 100).toFixed(0) + '%';
|
||||
$(valId).textContent = text;
|
||||
}
|
||||
|
||||
// motion sparkline ring buffer
|
||||
const sparkCtx = $('spark').getContext('2d');
|
||||
const SPARK_N = 120;
|
||||
const sparkBuf = new Array(SPARK_N).fill(0);
|
||||
function pushSpark(v) {
|
||||
sparkBuf.push(v); if (sparkBuf.length > SPARK_N) sparkBuf.shift();
|
||||
const w = sparkCtx.canvas.width, h = sparkCtx.canvas.height;
|
||||
sparkCtx.clearRect(0,0,w,h);
|
||||
let maxV = 40; for (const x of sparkBuf) if (x > maxV) maxV = x;
|
||||
sparkCtx.strokeStyle = '#ffb840'; sparkCtx.lineWidth = 1.5; sparkCtx.beginPath();
|
||||
for (let i = 0; i < sparkBuf.length; i++) {
|
||||
const x = (i / (SPARK_N-1)) * w;
|
||||
const y = h - (sparkBuf[i] / maxV) * (h - 3) - 1.5;
|
||||
i === 0 ? sparkCtx.moveTo(x, y) : sparkCtx.lineTo(x, y);
|
||||
}
|
||||
sparkCtx.stroke();
|
||||
}
|
||||
|
||||
// =====================================================================
|
||||
// Honest status banner (strict, mutually exclusive)
|
||||
// =====================================================================
|
||||
const banner = $('banner');
|
||||
function setBannerLive(source, nodeCount) {
|
||||
if (source === 'esp32') {
|
||||
banner.className = 'live';
|
||||
banner.innerHTML = 'LIVE — real ESP32 CSI <span class="src">(source=' + source + ', ' + nodeCount + ' node' + (nodeCount === 1 ? '' : 's') + ')</span>';
|
||||
} else {
|
||||
// anything not esp32 = explicitly NOT real, badged
|
||||
banner.className = 'sim';
|
||||
banner.innerHTML = 'SIMULATED — not real <span class="src">(source=' + source + ' — start an ESP32 for live CSI)</span>';
|
||||
}
|
||||
}
|
||||
function setBannerNoServer() {
|
||||
banner.className = 'noserver';
|
||||
banner.innerHTML = 'NO SERVER — start the sensing-server <span class="src">(ws://localhost:8765/ws/sensing unreachable)</span>';
|
||||
}
|
||||
|
||||
// =====================================================================
|
||||
// WebSocket — render ONLY real frames. Reconnect; never fabricate.
|
||||
// =====================================================================
|
||||
let ws = null, gotFrame = false;
|
||||
let frameTimes = []; // for measured update rate (fps)
|
||||
let lastFrame = null; // most recent real frame (render loop interpolates puck)
|
||||
|
||||
function connect() {
|
||||
setBannerNoServer();
|
||||
try { ws = new WebSocket(WS_URL); }
|
||||
catch (e) { scheduleReconnect(); return; }
|
||||
|
||||
ws.onopen = () => { /* wait for first frame before claiming LIVE */ };
|
||||
ws.onmessage = (ev) => {
|
||||
let d; try { d = JSON.parse(ev.data); } catch (e) { return; }
|
||||
if (!d || d.type !== 'sensing_update') return;
|
||||
onFrame(d);
|
||||
};
|
||||
ws.onclose = () => { gotFrame = false; $('waiting').classList.add('show'); setBannerNoServer(); scheduleReconnect(); };
|
||||
ws.onerror = () => { try { ws.close(); } catch (e) {} };
|
||||
}
|
||||
let reconnectT = null;
|
||||
function scheduleReconnect() {
|
||||
if (reconnectT) return;
|
||||
reconnectT = setTimeout(() => { reconnectT = null; connect(); }, 1500);
|
||||
}
|
||||
|
||||
function onFrame(d) {
|
||||
gotFrame = true;
|
||||
lastFrame = d;
|
||||
$('waiting').classList.remove('show');
|
||||
|
||||
const source = d.source || 'unknown';
|
||||
const nodes = Array.isArray(d.nodes) ? d.nodes : [];
|
||||
setBannerLive(source, nodes.length);
|
||||
|
||||
// measured update rate
|
||||
const now = performance.now();
|
||||
frameTimes.push(now);
|
||||
while (frameTimes.length && now - frameTimes[0] > 2000) frameTimes.shift();
|
||||
const fps = frameTimes.length > 1 ? (frameTimes.length - 1) / ((frameTimes[frameTimes.length-1] - frameTimes[0]) / 1000) : 0;
|
||||
|
||||
const cls = d.classification || {};
|
||||
const feat = d.features || {};
|
||||
|
||||
// info panel
|
||||
$('m-source').textContent = source.toUpperCase();
|
||||
$('m-source').className = 'v ' + (source === 'esp32' ? 'green' : 'red');
|
||||
const presence = !!cls.presence;
|
||||
$('m-presence').textContent = presence ? (cls.motion_level === 'present_moving' ? 'PRESENT · MOVING' : 'PRESENT') : 'CLEAR';
|
||||
$('m-presence').className = 'v ' + (presence ? 'green' : 'mute');
|
||||
$('m-motion').textContent = cls.motion_level || '—';
|
||||
$('m-conf').textContent = (cls.confidence != null) ? cls.confidence.toFixed(2) : '—';
|
||||
$('m-persons').textContent = (d.estimated_persons != null) ? d.estimated_persons : '—';
|
||||
$('m-nodes').textContent = nodes.length + ' (' + nodes.map(n => n.node_id).join(', ') + ')';
|
||||
$('m-tick').textContent = (d.tick != null) ? d.tick : '—';
|
||||
$('m-fps').textContent = fps ? fps.toFixed(1) + ' Hz' : '—';
|
||||
|
||||
// feature bars (real values, scaled into 0..1 for the bar width only)
|
||||
const motion = feat.motion_band_power || 0;
|
||||
const breath = feat.breathing_band_power || 0;
|
||||
const variance = feat.variance || 0;
|
||||
const rssi = feat.mean_rssi != null ? feat.mean_rssi : -100;
|
||||
setBar('bar-motion', 'v-motion', motion / 100, motion.toFixed(1));
|
||||
setBar('bar-breath', 'v-breath', breath / 100, breath.toFixed(1));
|
||||
setBar('bar-var', 'v-var', variance / 80, variance.toFixed(1));
|
||||
// rssi: map -90..-30 dBm -> 0..1
|
||||
setBar('bar-rssi', 'v-rssi', (rssi + 90) / 60, rssi.toFixed(0));
|
||||
pushSpark(motion);
|
||||
|
||||
// node activity
|
||||
const activeIds = new Set(nodes.map(n => n.node_id));
|
||||
[9, 13].forEach(id => setNodeActive(id, activeIds.has(id)));
|
||||
|
||||
// heatmap + puck
|
||||
updateHeatmap(d.signal_field);
|
||||
updatePuck(d);
|
||||
}
|
||||
|
||||
// =====================================================================
|
||||
// Optional webcam ground-truth tile (reused from demos/05). Camera is
|
||||
// separate from CSI sensing — labeled "ground truth when visible".
|
||||
// =====================================================================
|
||||
let camStream = null;
|
||||
$('cam-btn').addEventListener('click', async () => {
|
||||
const btn = $('cam-btn');
|
||||
if (camStream) { // toggle off
|
||||
camStream.getTracks().forEach(t => t.stop());
|
||||
$('cam-video').style.display = 'none'; camStream = null;
|
||||
btn.textContent = '▶ enable webcam (optional)';
|
||||
return;
|
||||
}
|
||||
btn.disabled = true; btn.textContent = 'requesting camera…';
|
||||
try {
|
||||
camStream = await navigator.mediaDevices.getUserMedia({
|
||||
video: { width: { ideal: 640 }, height: { ideal: 480 }, facingMode: 'user' }, audio: false,
|
||||
});
|
||||
const v = $('cam-video'); v.srcObject = camStream; v.style.display = 'block';
|
||||
btn.textContent = '■ stop webcam'; btn.disabled = false;
|
||||
} catch (e) {
|
||||
btn.textContent = '✗ camera unavailable'; btn.disabled = false; console.error(e);
|
||||
setTimeout(() => { if (!camStream) btn.textContent = '▶ enable webcam (optional)'; }, 2000);
|
||||
}
|
||||
});
|
||||
|
||||
// =====================================================================
|
||||
// Render loop — smooth the puck toward its real target; pulse rings.
|
||||
// =====================================================================
|
||||
const clock = new THREE.Clock();
|
||||
function animate() {
|
||||
requestAnimationFrame(animate);
|
||||
const t = clock.getElapsedTime();
|
||||
controls.update();
|
||||
|
||||
if (puck.visible) {
|
||||
puck.position.lerp(puckTarget, 0.18);
|
||||
const pulse = 0.8 + 0.25 * Math.sin(t * 3.0);
|
||||
puckRing.scale.set(pulse, pulse, pulse);
|
||||
puckRing.material.opacity = 0.5 + 0.25 * Math.sin(t * 3.0);
|
||||
}
|
||||
// node rings breathe when active
|
||||
[9,13].forEach(id => {
|
||||
const g = nodeMeshes[id]; if (!g) return;
|
||||
const r = g.userData.parts.ring;
|
||||
const s = 1 + 0.08 * Math.sin(t * 2 + id);
|
||||
r.scale.set(s, s, s);
|
||||
});
|
||||
|
||||
composer.render();
|
||||
}
|
||||
animate();
|
||||
|
||||
window.addEventListener('resize', () => {
|
||||
camera.aspect = window.innerWidth / window.innerHeight;
|
||||
camera.updateProjectionMatrix();
|
||||
renderer.setSize(window.innerWidth, window.innerHeight);
|
||||
composer.setSize(window.innerWidth, window.innerHeight);
|
||||
});
|
||||
|
||||
// kick off
|
||||
connect();
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,159 +0,0 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="UTF-8"/>
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0"/>
|
||||
<title>WiFlow · live WiFi-inferred pose</title>
|
||||
<style>
|
||||
:root{--bg:#0a0c10;--panel:#11151c;--amber:#ffb840;--green:#46e08a;--red:#ff5a5a;--mute:#7d8796;--line:#1d2430}
|
||||
*{box-sizing:border-box}
|
||||
body{margin:0;background:var(--bg);color:#dfe6ee;font:14px/1.5 'JetBrains Mono',ui-monospace,Menlo,monospace}
|
||||
header{padding:14px 18px;border-bottom:1px solid var(--line);display:flex;align-items:center;gap:14px;flex-wrap:wrap}
|
||||
h1{font-size:15px;margin:0;letter-spacing:1px;text-transform:uppercase;font-weight:600}
|
||||
h1 span{color:var(--amber)}
|
||||
#banner{margin-left:auto;padding:5px 12px;border-radius:5px;font-weight:600;font-size:12px;letter-spacing:.5px}
|
||||
.live{background:rgba(70,224,138,.15);color:var(--green);border:1px solid var(--green)}
|
||||
.sim{background:rgba(255,184,64,.15);color:var(--amber);border:1px solid var(--amber)}
|
||||
.down{background:rgba(255,90,90,.15);color:var(--red);border:1px solid var(--red)}
|
||||
main{display:flex;gap:18px;padding:18px;flex-wrap:wrap}
|
||||
.card{background:var(--panel);border:1px solid var(--line);border-radius:10px;padding:14px}
|
||||
canvas{background:#070a0e;border-radius:8px;display:block}
|
||||
.label{font-size:11px;text-transform:uppercase;letter-spacing:1.5px;color:var(--mute);margin-bottom:8px}
|
||||
.stats{min-width:240px}
|
||||
.row{display:flex;justify-content:space-between;padding:3px 0;border-bottom:1px dashed var(--line)}
|
||||
.row .k{color:var(--mute)} .row .v{color:var(--amber);font-variant-numeric:tabular-nums}
|
||||
.v.green{color:var(--green)}
|
||||
.note{margin-top:12px;font-size:11px;color:var(--mute);line-height:1.6;max-width:300px}
|
||||
.note b{color:#dfe6ee}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<header>
|
||||
<h1>WiFlow · <span>live WiFi-inferred pose</span></h1>
|
||||
<div id="banner" class="down">CONNECTING…</div>
|
||||
</header>
|
||||
<main>
|
||||
<div class="card">
|
||||
<div class="label">CSI → pose (skeleton) overlaid on your laptop camera</div>
|
||||
<div id="stage" style="width:420px;height:560px;border-radius:8px;overflow:hidden;background:#070a0e">
|
||||
<video id="cam" autoplay muted playsinline style="position:absolute;width:2px;height:2px;opacity:0;pointer-events:none"></video>
|
||||
<canvas id="cv" width="420" height="560"></canvas>
|
||||
</div>
|
||||
<div style="margin-top:10px;display:flex;gap:8px;align-items:center;flex-wrap:wrap">
|
||||
<button id="camBtn" style="background:var(--amber);color:#0a0c10;border:0;border-radius:6px;padding:7px 14px;font:inherit;font-weight:600;cursor:pointer">enable laptop camera</button>
|
||||
<select id="camSel" style="display:none;background:var(--panel);color:#dfe6ee;border:1px solid var(--line);border-radius:6px;padding:6px;font:inherit;max-width:220px"></select>
|
||||
</div>
|
||||
<div id="camStatus" style="margin-top:6px;font-size:11px;color:var(--mute)">camera: off</div>
|
||||
<div class="note" style="margin-top:8px">Camera is a <b>visual reference only</b> — it is NOT fed to the model. Overlay alignment is approximate (model trained in a different camera's frame).</div>
|
||||
</div>
|
||||
<div class="card stats">
|
||||
<div class="label">live</div>
|
||||
<div class="row"><span class="k">CSI source</span><span class="v" id="src">—</span></div>
|
||||
<div class="row"><span class="k">nodes</span><span class="v" id="nodes">—</span></div>
|
||||
<div class="row"><span class="k">presence</span><span class="v" id="pres">—</span></div>
|
||||
<div class="row"><span class="k">motion</span><span class="v" id="motion">—</span></div>
|
||||
<div class="row"><span class="k">pose fps</span><span class="v" id="fps">—</span></div>
|
||||
<div class="note">
|
||||
This skeleton is inferred <b>from WiFi CSI only</b> — no camera in the loop here. A model was
|
||||
trained on paired (camera-pose, CSI) data in this room (ADR-079/180).
|
||||
<br/><br/>
|
||||
<b>Honest accuracy:</b> ~<b>59.5% PCK@0.10</b> on held-out data (vs a 50% mean-pose baseline →
|
||||
<b>+9.4 pp real signal</b>). It captures <b>coarse</b> pose; fine detail is weak (PCK@0.05 ≈ 24%).
|
||||
Same person / room / session — not validated cross-day or through-wall.
|
||||
</div>
|
||||
</div>
|
||||
</main>
|
||||
<script>
|
||||
const POSE_WS = (new URLSearchParams(location.search)).get('ws') || `ws://${location.hostname||'localhost'}:8770/pose`;
|
||||
const cv = document.getElementById('cv'), ctx = cv.getContext('2d');
|
||||
const $ = id => document.getElementById(id);
|
||||
let edges = [[5,7],[7,9],[6,8],[8,10],[5,6],[11,12],[5,11],[6,12],[11,13],[13,15],[12,14],[14,16],[0,1],[0,2],[1,3],[2,4],[0,5],[0,6]];
|
||||
let last = null, frames = 0, t0 = performance.now();
|
||||
|
||||
function banner(state, txt){ const b=$('banner'); b.className=state; b.textContent=txt; }
|
||||
|
||||
// per-joint smoothing (EMA) so dropped/jittery CSI frames render fluidly (ADR-180 dead-reckoning, lite)
|
||||
let sm = null;
|
||||
function smooth(kps){
|
||||
if(!sm){ sm = kps.map(p=>[p[0],p[1]]); return sm; }
|
||||
const a=0.35; for(let i=0;i<kps.length;i++){ sm[i][0]+=a*(kps[i][0]-sm[i][0]); sm[i][1]+=a*(kps[i][1]-sm[i][1]); }
|
||||
return sm;
|
||||
}
|
||||
const camEl=document.getElementById('cam');
|
||||
function draw(p){
|
||||
const W=cv.width, H=cv.height;
|
||||
// paint the live camera frame onto the canvas (robust — no z-index/overlay tricks)
|
||||
if(camEl && camEl.videoWidth>0){
|
||||
ctx.save(); ctx.globalAlpha=0.9;
|
||||
// cover-fit the camera frame into the canvas
|
||||
const vr=camEl.videoWidth/camEl.videoHeight, cr=W/H;
|
||||
let dw=W, dh=H, dx=0, dy=0;
|
||||
if(vr>cr){ dh=H; dw=H*vr; dx=(W-dw)/2; } else { dw=W; dh=W/vr; dy=(H-dh)/2; }
|
||||
ctx.drawImage(camEl, dx, dy, dw, dh); ctx.restore();
|
||||
} else {
|
||||
ctx.fillStyle='#070a0e'; ctx.fillRect(0,0,W,H);
|
||||
}
|
||||
if(!p || !p.kps){ return; }
|
||||
const s = smooth(p.kps);
|
||||
const k = s.map(([x,y])=>[x*W, y*H]);
|
||||
ctx.lineWidth=5; ctx.strokeStyle=p.presence?'rgba(70,224,138,.95)':'rgba(125,135,150,.8)'; ctx.lineCap='round';
|
||||
ctx.shadowColor='rgba(70,224,138,.6)'; ctx.shadowBlur=8;
|
||||
for(const [a,b] of edges){ ctx.beginPath(); ctx.moveTo(k[a][0],k[a][1]); ctx.lineTo(k[b][0],k[b][1]); ctx.stroke(); }
|
||||
ctx.shadowBlur=0;
|
||||
for(const [x,y] of k){ ctx.beginPath(); ctx.arc(x,y,5,0,7); ctx.fillStyle=p.presence?'#ffb840':'#667'; ctx.fill(); }
|
||||
}
|
||||
|
||||
// ---- laptop webcam (visual reference only; NOT fed to the model) ----
|
||||
let camStream=null;
|
||||
async function startCam(deviceId){
|
||||
if(camStream){ camStream.getTracks().forEach(t=>t.stop()); }
|
||||
const constraints = deviceId ? {video:{deviceId:{exact:deviceId}}} : {video:true};
|
||||
const st=document.getElementById('camStatus');
|
||||
try{
|
||||
st.textContent='camera: requesting…';
|
||||
camStream = await navigator.mediaDevices.getUserMedia(constraints);
|
||||
const v=document.getElementById('cam'); v.muted=true; v.srcObject=camStream;
|
||||
v.onloadedmetadata=()=>{ v.play().catch(err=>st.textContent='camera: play() blocked '+err.name); };
|
||||
await v.play().catch(()=>{});
|
||||
const tr=camStream.getVideoTracks()[0]; const ss=tr.getSettings();
|
||||
// live readout: shows if real frames are flowing (videoWidth>0) and which device
|
||||
const tick=()=>{ st.textContent = `camera: "${tr.label}" ${v.videoWidth}x${v.videoHeight} ${tr.readyState} ${v.paused?'PAUSED':'playing'}`; };
|
||||
tick(); setInterval(tick, 1000);
|
||||
document.getElementById('camBtn').textContent='switch camera ↻';
|
||||
// populate the picker now that we have permission (labels need permission)
|
||||
const devs = (await navigator.mediaDevices.enumerateDevices()).filter(d=>d.kind==='videoinput');
|
||||
const sel=document.getElementById('camSel'); sel.style.display = devs.length>1?'inline-block':'none';
|
||||
sel.innerHTML = devs.map((d,i)=>`<option value="${d.deviceId}">${d.label||('camera '+(i+1))}</option>`).join('');
|
||||
const cur = camStream.getVideoTracks()[0].getSettings().deviceId; if(cur) sel.value=cur;
|
||||
}catch(e){
|
||||
document.getElementById('camBtn').textContent = 'camera error: '+e.name+(e.name==='NotReadableError'?' (in use by Zoom/Teams?)':'');
|
||||
console.error('getUserMedia', e);
|
||||
}
|
||||
}
|
||||
document.getElementById('camBtn').addEventListener('click', ()=>startCam());
|
||||
document.getElementById('camSel').addEventListener('change', e=>startCam(e.target.value));
|
||||
|
||||
function connect(){
|
||||
banner('down','CONNECTING…');
|
||||
const ws = new WebSocket(POSE_WS);
|
||||
ws.onopen = ()=> banner('sim','WAITING FOR POSE…');
|
||||
ws.onmessage = ev => {
|
||||
const d = JSON.parse(ev.data);
|
||||
if(d.type==='meta'){ edges = d.edges; return; }
|
||||
if(d.type!=='pose') return;
|
||||
last=d; frames++;
|
||||
if(d.src==='esp32') banner('live','LIVE — WiFi-inferred pose (real ESP32 CSI)');
|
||||
else banner('sim','SIMULATED CSI — not real ('+d.src+')');
|
||||
$('src').textContent=d.src; $('src').className = d.src==='esp32'?'v green':'v';
|
||||
$('nodes').textContent=(d.nodes||[]).join(', ')||'—';
|
||||
$('pres').textContent=d.presence?'PRESENT':'—';
|
||||
$('motion').textContent=(d.motion!=null?Math.round(d.motion):'—');
|
||||
};
|
||||
ws.onclose = ()=>{ banner('down','NO BRIDGE — start wiflow_infer.py'); setTimeout(connect,1500); };
|
||||
ws.onerror = ()=> ws.close();
|
||||
}
|
||||
function loop(){ draw(last); const now=performance.now(); if(now-t0>1000){ $('fps').textContent=frames; frames=0; t0=now; } requestAnimationFrame(loop); }
|
||||
connect(); loop();
|
||||
</script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,65 +0,0 @@
|
||||
"""Tiny threaded static server for the through-wall WiFi-CSI sensing demo.
|
||||
|
||||
Adapted from examples/three.js/server/serve-demo.py. Serves the
|
||||
`examples/through-wall/` page so a browser can fetch index.html, then the
|
||||
page connects directly to the LIVE sensing-server WebSocket at
|
||||
ws://localhost:8765/ws/sensing (NOT proxied through here).
|
||||
|
||||
Why a threaded server (not `python -m http.server`)?
|
||||
The stdlib SimpleHTTPServer is single-threaded; a browser opens several
|
||||
parallel connections (HTML + the three.js CDN tags fetch in parallel),
|
||||
the first eats the worker, the rest can stall. ThreadingHTTPServer fixes it.
|
||||
|
||||
IMPORTANT: this serves on port 8080 — port 8765 is taken by the
|
||||
sensing-server's WebSocket. They are two different processes.
|
||||
|
||||
Usage:
|
||||
# 1) start the REAL sensing-server (separate terminal):
|
||||
# cd v2
|
||||
# cargo build -p wifi-densepose-sensing-server
|
||||
# ./target/debug/sensing-server.exe --ws-port 8765 --udp-port 5005
|
||||
# 2) start this static server:
|
||||
python examples/through-wall/serve.py
|
||||
# 3) open:
|
||||
# http://localhost:8080/examples/through-wall/index.html
|
||||
|
||||
Override the WS endpoint with a query param, e.g.:
|
||||
http://localhost:8080/examples/through-wall/index.html?ws=ws://192.168.1.20:8765/ws/sensing
|
||||
"""
|
||||
from http.server import ThreadingHTTPServer, SimpleHTTPRequestHandler
|
||||
import os
|
||||
import sys
|
||||
|
||||
PORT = int(os.environ.get("PORT", 8080))
|
||||
|
||||
# Serve from the repo root regardless of where this script is launched.
|
||||
# This file lives at examples/through-wall/serve.py — two levels deep.
|
||||
os.chdir(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
|
||||
|
||||
|
||||
class NoCacheHandler(SimpleHTTPRequestHandler):
|
||||
def end_headers(self):
|
||||
# Aggressive no-cache so the browser ALWAYS fetches the latest
|
||||
# index.html after edits, even on a soft refresh.
|
||||
self.send_header("Cache-Control", "no-store, no-cache, must-revalidate, max-age=0")
|
||||
self.send_header("Pragma", "no-cache")
|
||||
self.send_header("Expires", "0")
|
||||
super().end_headers()
|
||||
|
||||
def log_message(self, fmt, *args): # quieter logs
|
||||
sys.stderr.write("[serve] " + (fmt % args) + "\n")
|
||||
|
||||
|
||||
PAGE = "examples/through-wall/index.html"
|
||||
|
||||
with ThreadingHTTPServer(("127.0.0.1", PORT), NoCacheHandler) as srv:
|
||||
print(f"serving {os.getcwd()} on http://127.0.0.1:{PORT}/")
|
||||
print(f" open http://localhost:{PORT}/{PAGE}")
|
||||
print("")
|
||||
print(" The page connects to the LIVE sensing-server at")
|
||||
print(" ws://localhost:8765/ws/sensing (start it first — see README.md).")
|
||||
print(" Override with ?ws=ws://HOST:PORT/ws/sensing")
|
||||
try:
|
||||
srv.serve_forever()
|
||||
except KeyboardInterrupt:
|
||||
sys.exit(0)
|
||||
@@ -1,126 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Rigorous A/B for WiFlow CSI->pose: is the held-out PCK real signal or split leakage?
|
||||
|
||||
For a dataset of {csi:[D], kps:17x[x,y,vis]} pairs, train the SAME small MLP under
|
||||
several train/val SPLITS and report held-out PCK@0.10 vs the mean-pose baseline:
|
||||
|
||||
- chronological_80_20 : last 20% in time (val temporally ADJACENT to train -> leaks
|
||||
via CSI/pose autocorrelation; this is what gave us +9.4)
|
||||
- random_80_20 : shuffled (val frames interleaved with train -> MAX leak)
|
||||
- blocked_gap : hold out a contiguous MIDDLE block with a time GAP buffer on
|
||||
each side so val is NOT adjacent to any train frame -> the
|
||||
honest, leakage-controlled test
|
||||
|
||||
If the model beats baseline on chronological/random but COLLAPSES to ~baseline on
|
||||
blocked_gap, the apparent signal was temporal leakage, not generalizable CSI->pose.
|
||||
|
||||
Usage (ruvultra venv): python wiflow_ab.py --data ~/wiflow-room/dataset.jsonl
|
||||
"""
|
||||
import argparse, json, sys
|
||||
import numpy as np, torch, torch.nn as nn
|
||||
|
||||
def _rec(r, X, Y, V, B):
|
||||
X.append(r["csi"]); kp=r["kps"]
|
||||
if kp and isinstance(kp[0], (list,tuple)): # 17 x [x,y(,vis)]
|
||||
Y.append([c for k in kp for c in (k[0],k[1])]); V.append([(k[2] if len(k)>2 else 1.0) for k in kp])
|
||||
else: # flat 34 (browser export, no vis)
|
||||
Y.append(list(kp)); V.append([1.0]*17)
|
||||
B.append(r.get("bucket"))
|
||||
|
||||
def load(path):
|
||||
X,Y,V,B=[],[],[],[]
|
||||
txt=open(path).read().strip()
|
||||
if txt[:1] in "[{": # JSON (browser export: dict{samples:[]} or bare array)
|
||||
d=json.loads(txt)
|
||||
rows = d if isinstance(d,list) else d.get("samples", d.get("data", []))
|
||||
for r in rows: _rec(r,X,Y,V,B)
|
||||
else: # JSONL (python capture)
|
||||
for line in txt.splitlines():
|
||||
if line.strip(): _rec(json.loads(line),X,Y,V,B)
|
||||
return np.array(X,np.float32), np.array(Y,np.float32), np.array(V,np.float32), B
|
||||
|
||||
class Net(nn.Module):
|
||||
def __init__(s,din,dout):
|
||||
super().__init__()
|
||||
s.n=nn.Sequential(nn.Linear(din,384),nn.ReLU(),nn.Dropout(.35),
|
||||
nn.Linear(384,192),nn.ReLU(),nn.Dropout(.35),
|
||||
nn.Linear(192,96),nn.ReLU(),nn.Linear(96,dout),nn.Sigmoid())
|
||||
def forward(s,x): return s.n(x)
|
||||
|
||||
def pck(pred,gt,vis,thr=0.10):
|
||||
p=pred.reshape(-1,17,2); g=gt.reshape(-1,17,2)
|
||||
d=np.linalg.norm(p-g,axis=2); m=vis>0.5
|
||||
return float((d[m]<thr).mean()) if m.any() else 0.0
|
||||
|
||||
def split_idx(n, kind, B=None):
|
||||
idx=np.arange(n)
|
||||
if kind=="chronological_80_20":
|
||||
c=int(n*.8); return idx[:c], idx[c:]
|
||||
if kind=="random_80_20":
|
||||
rng=np.random.default_rng(0); p=rng.permutation(n); c=int(n*.8); return p[:c], p[c:]
|
||||
if kind=="blocked_gap":
|
||||
# val = contiguous middle 20%; a WIDE 10% time gap each side guarantees no train
|
||||
# frame is temporally adjacent to a val frame (kills frame-autocorrelation leakage).
|
||||
v0=int(n*.4); v1=int(n*.6); gap=int(n*.10)
|
||||
val=idx[v0:v1]; train=np.concatenate([idx[:max(0,v0-gap)], idx[min(n,v1+gap):]])
|
||||
return train, val
|
||||
if kind=="grouped_bucket":
|
||||
# hold out ENTIRE activity buckets -> val poses/activities never seen in train.
|
||||
# the strictest leakage-free test (only when bucket labels exist).
|
||||
b=np.array([x if x is not None else -1 for x in B])
|
||||
uniq=[u for u in sorted(set(b.tolist())) if u!=-1]
|
||||
if len(uniq)<3: raise ValueError("too few buckets")
|
||||
hold=set(uniq[::max(1,len(uniq)//3)][:max(1,len(uniq)//3)]) # ~1/3 of activities held out
|
||||
val=idx[np.isin(b,list(hold))]; train=idx[~np.isin(b,list(hold))]
|
||||
return train, val
|
||||
raise ValueError(kind)
|
||||
|
||||
def run(X,Y,V,tr,va,epochs=250,seed=0):
|
||||
torch.manual_seed(seed); np.random.seed(seed) # seed weight init + batch shuffle
|
||||
dev="cuda" if torch.cuda.is_available() else "cpu"
|
||||
mu,sd=X[tr].mean(0),X[tr].std(0)+1e-6
|
||||
Xtr=torch.tensor((X[tr]-mu)/sd).to(dev); Ytr=torch.tensor(Y[tr]).to(dev)
|
||||
Xva=torch.tensor((X[va]-mu)/sd).to(dev)
|
||||
net=Net(X.shape[1],Y.shape[1]).to(dev)
|
||||
opt=torch.optim.Adam(net.parameters(),lr=1e-3,weight_decay=1e-4); lf=nn.MSELoss()
|
||||
best=(1e9,None)
|
||||
for ep in range(epochs):
|
||||
net.train(); perm=torch.randperm(len(Xtr),device=dev)
|
||||
for i in range(0,len(Xtr),64):
|
||||
j=perm[i:i+64]; opt.zero_grad(); loss=lf(net(Xtr[j]),Ytr[j]); loss.backward(); opt.step()
|
||||
net.eval()
|
||||
with torch.no_grad(): pv=net(Xva).cpu().numpy()
|
||||
vl=float(((pv-Y[va])**2).mean())
|
||||
if vl<best[0]: best=(vl,pv)
|
||||
base=np.tile(Y[tr].mean(0),(len(va),1))
|
||||
return pck(best[1],Y[va],V[va]), pck(base,Y[va],V[va])
|
||||
|
||||
def main():
|
||||
ap=argparse.ArgumentParser(); ap.add_argument("--data",required=True)
|
||||
ap.add_argument("--epochs",type=int,default=250); ap.add_argument("--seeds",type=int,default=3)
|
||||
a=ap.parse_args()
|
||||
X,Y,V,B=load(a.data); n=len(X)
|
||||
has_buckets=any(x is not None for x in B)
|
||||
print(f"[ab] {n} samples, X={X.shape}, buckets={'yes' if has_buckets else 'no'}, "
|
||||
f"seeds={a.seeds}, epochs={a.epochs}\n")
|
||||
print(f"{'split':<22}{'model PCK@0.10':>16}{'baseline':>11}{'delta (mean±sd)':>20} verdict")
|
||||
print("-"*86)
|
||||
splits=["chronological_80_20","random_80_20","blocked_gap"]+(["grouped_bucket"] if has_buckets else [])
|
||||
for kind in splits:
|
||||
try:
|
||||
tr,va=split_idx(n,kind,B)
|
||||
ms=[]; bs=[]
|
||||
for s in range(a.seeds):
|
||||
m,b=run(X,Y,V,tr,va,a.epochs,seed=s); ms.append(m); bs.append(b)
|
||||
ms=np.array(ms)*100; bs=np.array(bs)*100; ds=ms-bs
|
||||
dm,dsd=ds.mean(),ds.std()
|
||||
# REAL only if the mean delta minus 1 sd still clears the 1.5pp threshold (robust to seed variance)
|
||||
verdict = "REAL signal" if dm-dsd>1.5 else ("weak/uncertain" if dm>1.5 else "no signal (==baseline)")
|
||||
print(f"{kind:<22}{ms.mean():>13.1f}±{ms.std():>3.1f}{bs.mean():>10.1f}%{dm:>+12.1f}±{dsd:>4.1f}pp {verdict}")
|
||||
except Exception as e:
|
||||
print(f"{kind:<22} skipped: {e}")
|
||||
print(f"\nmean±sd over {a.seeds} seeds (weight init + batch order). blocked_gap = 10% time gap each")
|
||||
print("side; grouped_bucket holds out ENTIRE activities (strictest). If only the LEAKY splits")
|
||||
print("(chronological/random) beat baseline, the apparent signal is leakage, not generalizable pose.")
|
||||
|
||||
if __name__=="__main__": main()
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,161 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""WiFlow-style camera-supervised capture (ADR-079 / ADR-180).
|
||||
|
||||
Runs on a box with BOTH a camera (ground truth) and reachable live CSI:
|
||||
- opens a camera, runs MediaPipe Pose -> 17 COCO keypoints (the LABEL),
|
||||
- subscribes to the sensing-server /ws/sensing (the INPUT: CSI features +
|
||||
20x20 signal-field),
|
||||
- writes timestamp-aligned (csi -> pose) pairs to a JSONL dataset.
|
||||
|
||||
This is the *collect* phase of camera-supervised CSI->pose training. The camera
|
||||
and the CSI nodes MUST see the same person in the same space at the same time,
|
||||
or the pairs are meaningless. Honest by construction: we only emit a pair when
|
||||
BOTH a confident camera pose AND a live (source=esp32) CSI frame are present in
|
||||
the same ~100 ms window.
|
||||
|
||||
Usage (on ruvultra, with the CSI tunneled to localhost:8765):
|
||||
python3 wiflow_capture.py --ws ws://localhost:8765/ws/sensing \
|
||||
--cam 0 --out ~/wiflow-room/dataset.jsonl --seconds 180
|
||||
"""
|
||||
import argparse, asyncio, json, time, threading, sys, os
|
||||
from collections import deque
|
||||
|
||||
import urllib.request
|
||||
import cv2
|
||||
import numpy as np
|
||||
import mediapipe as mp
|
||||
from mediapipe.tasks.python import BaseOptions
|
||||
from mediapipe.tasks.python.vision import PoseLandmarker, PoseLandmarkerOptions, RunningMode
|
||||
import websockets
|
||||
|
||||
_MODEL_URL = ("https://storage.googleapis.com/mediapipe-models/pose_landmarker/"
|
||||
"pose_landmarker_lite/float16/latest/pose_landmarker_lite.task")
|
||||
|
||||
def ensure_model(path: str) -> str:
|
||||
if not os.path.exists(path):
|
||||
os.makedirs(os.path.dirname(path), exist_ok=True)
|
||||
print(f"[capture] downloading pose model -> {path}", flush=True)
|
||||
urllib.request.urlretrieve(_MODEL_URL, path)
|
||||
return path
|
||||
|
||||
# MediaPipe Pose (33 landmarks) -> 17 COCO keypoints (same mapping as
|
||||
# scripts/collect-ground-truth.py, ADR-079).
|
||||
COCO_FROM_MP = [0, 2, 5, 7, 8, 11, 12, 13, 14, 15, 16, 23, 24, 25, 26, 27, 28]
|
||||
COCO_NAMES = ["nose","l_eye","r_eye","l_ear","r_ear","l_sho","r_sho","l_elb",
|
||||
"r_elb","l_wri","r_wri","l_hip","r_hip","l_knee","r_knee","l_ank","r_ank"]
|
||||
|
||||
# ---- shared state between the CSI (async) thread and the camera (sync) loop ----
|
||||
_latest_csi = {"t": 0.0, "frame": None}
|
||||
_csi_lock = threading.Lock()
|
||||
_stop = threading.Event()
|
||||
|
||||
|
||||
def csi_thread(ws_url: str):
|
||||
"""Background thread: keep the most recent LIVE csi frame in _latest_csi."""
|
||||
async def run():
|
||||
while not _stop.is_set():
|
||||
try:
|
||||
async with websockets.connect(ws_url, open_timeout=8, ping_interval=20) as ws:
|
||||
while not _stop.is_set():
|
||||
msg = await asyncio.wait_for(ws.recv(), timeout=8)
|
||||
d = json.loads(msg)
|
||||
with _csi_lock:
|
||||
_latest_csi["t"] = time.time()
|
||||
_latest_csi["frame"] = d
|
||||
except Exception as e:
|
||||
print(f"[csi] reconnect ({e})", flush=True)
|
||||
await asyncio.sleep(1.0)
|
||||
asyncio.new_event_loop().run_until_complete(run())
|
||||
|
||||
|
||||
def csi_vector(frame: dict):
|
||||
"""Flatten a csi frame to a fixed-length input vector: features + field."""
|
||||
f = frame.get("features", {}) or {}
|
||||
feats = [f.get("mean_rssi", 0.0), f.get("variance", 0.0),
|
||||
f.get("motion_band_power", 0.0), f.get("breathing_band_power", 0.0)]
|
||||
# per-node mean_rssi/variance/motion for up to the 2 nodes (9, 13)
|
||||
pernode = {nf.get("node_id"): (nf.get("features") or {}) for nf in (frame.get("node_features") or [])}
|
||||
for nid in (9, 13):
|
||||
nf = pernode.get(nid, {})
|
||||
feats += [nf.get("mean_rssi", 0.0), nf.get("variance", 0.0), nf.get("motion_band_power", 0.0)]
|
||||
field = (frame.get("signal_field", {}) or {}).get("values") or []
|
||||
field = (field + [0.0] * 400)[:400]
|
||||
return feats + field # 4 + 6 + 400 = 410-d
|
||||
|
||||
|
||||
def main():
|
||||
ap = argparse.ArgumentParser(description="WiFlow camera-supervised CSI<->pose capture (ADR-180).")
|
||||
ap.add_argument("--ws", default="ws://localhost:8765/ws/sensing")
|
||||
ap.add_argument("--cam", type=int, default=0)
|
||||
ap.add_argument("--out", default=os.path.expanduser("~/wiflow-room/dataset.jsonl"))
|
||||
ap.add_argument("--seconds", type=int, default=180)
|
||||
ap.add_argument("--min-vis", type=float, default=0.5, help="min mean landmark visibility to accept a pose label")
|
||||
ap.add_argument("--max-skew-ms", type=float, default=150, help="max csi/pose time skew to pair")
|
||||
ap.add_argument("--require-esp32", action="store_true", default=True,
|
||||
help="only pair when csi source==esp32 (real). Default on.")
|
||||
args = ap.parse_args()
|
||||
|
||||
os.makedirs(os.path.dirname(args.out), exist_ok=True)
|
||||
th = threading.Thread(target=csi_thread, args=(args.ws,), daemon=True)
|
||||
th.start()
|
||||
|
||||
cap = cv2.VideoCapture(args.cam)
|
||||
if not cap.isOpened():
|
||||
print(f"ERROR: cannot open camera {args.cam}", file=sys.stderr); sys.exit(2)
|
||||
W = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH)) or 640
|
||||
H = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT)) or 480
|
||||
model_path = ensure_model(os.path.expanduser("~/wiflow-room/pose_landmarker_lite.task"))
|
||||
landmarker = PoseLandmarker.create_from_options(PoseLandmarkerOptions(
|
||||
base_options=BaseOptions(model_asset_path=model_path),
|
||||
running_mode=RunningMode.IMAGE, min_pose_detection_confidence=0.5))
|
||||
|
||||
n_pairs = 0; n_nopose = 0; n_nocsi = 0; n_skew = 0; n_sim = 0
|
||||
t0 = time.time()
|
||||
print(f"[capture] camera {args.cam} {W}x{H} -> {args.out} for {args.seconds}s")
|
||||
print("[capture] stand in view AND in the CSI field; move/walk so poses vary. Ctrl-C to stop.")
|
||||
with open(args.out, "a") as out:
|
||||
try:
|
||||
while time.time() - t0 < args.seconds:
|
||||
ok, frame = cap.read()
|
||||
if not ok:
|
||||
continue
|
||||
now = time.time()
|
||||
rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
|
||||
res = landmarker.detect(mp.Image(image_format=mp.ImageFormat.SRGB, data=rgb))
|
||||
if not res.pose_landmarks:
|
||||
n_nopose += 1; continue
|
||||
lm = res.pose_landmarks[0]
|
||||
kps = [[lm[i].x, lm[i].y, lm[i].visibility] for i in COCO_FROM_MP]
|
||||
vis = float(np.mean([k[2] for k in kps]))
|
||||
if vis < args.min_vis:
|
||||
n_nopose += 1; continue
|
||||
with _csi_lock:
|
||||
ct = _latest_csi["t"]; cf = _latest_csi["frame"]
|
||||
if cf is None:
|
||||
n_nocsi += 1; continue
|
||||
if (now - ct) * 1000.0 > args.max_skew_ms:
|
||||
n_skew += 1; continue
|
||||
if args.require_esp32 and cf.get("source") != "esp32":
|
||||
n_sim += 1; continue
|
||||
rec = {"t": now, "vis": round(vis, 3),
|
||||
"kps": [[round(x, 4), round(y, 4), round(v, 3)] for x, y, v in kps],
|
||||
"csi": csi_vector(cf),
|
||||
"src": cf.get("source"),
|
||||
"nodes": sorted(n.get("node_id") for n in cf.get("nodes", []) if n.get("node_id") is not None)}
|
||||
out.write(json.dumps(rec) + "\n")
|
||||
n_pairs += 1
|
||||
if n_pairs % 30 == 0:
|
||||
out.flush()
|
||||
el = int(now - t0)
|
||||
print(f"[capture] t+{el:3d}s pairs={n_pairs} (skip: nopose={n_nopose} nocsi={n_nocsi} skew={n_skew} sim={n_sim})", flush=True)
|
||||
except KeyboardInterrupt:
|
||||
print("\n[capture] stopped by user")
|
||||
_stop.set(); cap.release()
|
||||
print(f"[capture] DONE. wrote {n_pairs} paired samples to {args.out}")
|
||||
print(f"[capture] skipped: no-pose={n_nopose} no-csi={n_nocsi} skew={n_skew} simulated={n_sim}")
|
||||
if n_pairs == 0:
|
||||
print("[capture] WARNING: 0 pairs — check camera sees you AND csi source==esp32 (live).")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -1,92 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Live CSI->pose inference bridge (ADR-180).
|
||||
|
||||
Runs on the box with the live CSI. Loads the camera-supervised model (numpy,
|
||||
no torch needed), subscribes to /ws/sensing, runs a forward pass per frame, and
|
||||
broadcasts the predicted 17-keypoint pose to HTML clients on ws://:8770/pose.
|
||||
|
||||
python wiflow_infer.py --model model/model.npz \
|
||||
--in ws://localhost:8765/ws/sensing --port 8770
|
||||
"""
|
||||
import argparse, asyncio, json, os
|
||||
import numpy as np
|
||||
import websockets
|
||||
|
||||
# COCO skeleton edges (for the client; sent once in 'meta')
|
||||
EDGES = [[5,7],[7,9],[6,8],[8,10],[5,6],[11,12],[5,11],[6,12],
|
||||
[11,13],[13,15],[12,14],[14,16],[0,1],[0,2],[1,3],[2,4],[0,5],[0,6]]
|
||||
|
||||
def csi_vector(frame):
|
||||
f = frame.get("features", {}) or {}
|
||||
feats = [f.get("mean_rssi",0.0), f.get("variance",0.0),
|
||||
f.get("motion_band_power",0.0), f.get("breathing_band_power",0.0)]
|
||||
pernode = {nf.get("node_id"): (nf.get("features") or {}) for nf in (frame.get("node_features") or [])}
|
||||
for nid in (9,13):
|
||||
nf = pernode.get(nid,{}); feats += [nf.get("mean_rssi",0.0), nf.get("variance",0.0), nf.get("motion_band_power",0.0)]
|
||||
field = (frame.get("signal_field",{}) or {}).get("values") or []
|
||||
field = (field + [0.0]*400)[:400]
|
||||
return np.array(feats + field, np.float32)
|
||||
|
||||
class Model:
|
||||
def __init__(self, path):
|
||||
z = np.load(path)
|
||||
self.mu, self.sd = z["mu"], z["sd"]
|
||||
self.W = [z["net_0_weight"], z["net_3_weight"], z["net_6_weight"], z["net_8_weight"]]
|
||||
self.b = [z["net_0_bias"], z["net_3_bias"], z["net_6_bias"], z["net_8_bias"]]
|
||||
def __call__(self, x):
|
||||
h = (x - self.mu) / self.sd
|
||||
for i in range(3):
|
||||
h = np.maximum(0.0, h @ self.W[i].T + self.b[i]) # Linear+ReLU
|
||||
out = 1.0/(1.0+np.exp(-(h @ self.W[3].T + self.b[3]))) # Linear+Sigmoid -> 34
|
||||
return out.reshape(17,2)
|
||||
|
||||
CLIENTS = set()
|
||||
LATEST = {"pose": None}
|
||||
|
||||
async def serve_client(ws):
|
||||
CLIENTS.add(ws)
|
||||
try:
|
||||
await ws.send(json.dumps({"type":"meta","edges":EDGES}))
|
||||
async for _ in ws: # client is read-only; just keep alive
|
||||
pass
|
||||
except Exception:
|
||||
pass
|
||||
finally:
|
||||
CLIENTS.discard(ws)
|
||||
|
||||
async def infer_loop(model, in_url):
|
||||
while True:
|
||||
try:
|
||||
async with websockets.connect(in_url, open_timeout=8, ping_interval=20) as ws:
|
||||
async for msg in ws:
|
||||
d = json.loads(msg)
|
||||
kp = model(csi_vector(d))
|
||||
cls = d.get("classification",{})
|
||||
payload = {"type":"pose","src":d.get("source"),
|
||||
"presence":bool(cls.get("presence")),
|
||||
"motion":(d.get("features",{}) or {}).get("motion_band_power"),
|
||||
"kps":[[round(float(x),4),round(float(y),4)] for x,y in kp],
|
||||
"nodes":sorted(n.get("node_id") for n in d.get("nodes",[]) if n.get("node_id") is not None)}
|
||||
LATEST["pose"]=payload
|
||||
if CLIENTS:
|
||||
dead=[]
|
||||
for c in list(CLIENTS):
|
||||
try: await c.send(json.dumps(payload))
|
||||
except Exception: dead.append(c)
|
||||
for c in dead: CLIENTS.discard(c)
|
||||
except Exception as e:
|
||||
print(f"[infer] reconnect ({e})", flush=True); await asyncio.sleep(1.0)
|
||||
|
||||
async def main():
|
||||
ap = argparse.ArgumentParser()
|
||||
ap.add_argument("--model", default=os.path.join(os.path.dirname(__file__),"model","model.npz"))
|
||||
ap.add_argument("--in", dest="in_url", default="ws://localhost:8765/ws/sensing")
|
||||
ap.add_argument("--port", type=int, default=8770)
|
||||
args = ap.parse_args()
|
||||
model = Model(args.model)
|
||||
print(f"[infer] model {args.model} loaded; serving predicted poses on ws://0.0.0.0:{args.port}/pose")
|
||||
async with websockets.serve(serve_client, "0.0.0.0", args.port):
|
||||
await infer_loop(model, args.in_url)
|
||||
|
||||
if __name__ == "__main__":
|
||||
asyncio.run(main())
|
||||
@@ -1,102 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Train a CSI->pose model on the camera-supervised dataset (ADR-079/180).
|
||||
|
||||
Input : 410-d CSI vector (4 global feats + 6 per-node + 400 signal-field).
|
||||
Target : 17 COCO keypoints (x,y), normalized 0..1 from the camera (ground truth).
|
||||
Reports HONEST held-out PCK@k + MPJPE on a chronological val split (the last
|
||||
20% of the session — never trained on), so the number is not leaked.
|
||||
|
||||
Usage (ruvultra venv):
|
||||
python wiflow_train.py --data ~/wiflow-room/dataset.jsonl --out ~/wiflow-room/model.pt
|
||||
"""
|
||||
import argparse, json, math, os, sys
|
||||
import numpy as np
|
||||
import torch, torch.nn as nn
|
||||
|
||||
|
||||
def load(path):
|
||||
X, Y, V = [], [], []
|
||||
with open(path) as f:
|
||||
for line in f:
|
||||
r = json.loads(line)
|
||||
X.append(r["csi"]) # 410
|
||||
kp = r["kps"] # 17 x [x,y,vis]
|
||||
Y.append([c for k in kp for c in (k[0], k[1])]) # 34
|
||||
V.append([k[2] for k in kp]) # 17 visibilities
|
||||
return np.array(X, np.float32), np.array(Y, np.float32), np.array(V, np.float32)
|
||||
|
||||
|
||||
class Net(nn.Module):
|
||||
def __init__(self, din, dout):
|
||||
super().__init__()
|
||||
self.net = nn.Sequential(
|
||||
nn.Linear(din, 512), nn.ReLU(), nn.Dropout(0.3),
|
||||
nn.Linear(512, 256), nn.ReLU(), nn.Dropout(0.3),
|
||||
nn.Linear(256, 128), nn.ReLU(),
|
||||
nn.Linear(128, dout), nn.Sigmoid()) # coords in 0..1
|
||||
def forward(self, x): return self.net(x)
|
||||
|
||||
|
||||
def pck(pred, gt, vis, thr):
|
||||
# pred/gt: [N,34] -> [N,17,2]; PCK@thr in normalized image units, visible kps only
|
||||
p = pred.reshape(-1, 17, 2); g = gt.reshape(-1, 17, 2)
|
||||
d = np.linalg.norm(p - g, axis=2) # [N,17]
|
||||
m = vis > 0.5
|
||||
return float((d[m] < thr).mean()) if m.any() else 0.0, float(d[m].mean()) if m.any() else float("nan")
|
||||
|
||||
|
||||
def main():
|
||||
ap = argparse.ArgumentParser()
|
||||
ap.add_argument("--data", required=True)
|
||||
ap.add_argument("--out", default=os.path.expanduser("~/wiflow-room/model.pt"))
|
||||
ap.add_argument("--epochs", type=int, default=300)
|
||||
ap.add_argument("--bs", type=int, default=64)
|
||||
args = ap.parse_args()
|
||||
|
||||
X, Y, V = load(args.data)
|
||||
n = len(X)
|
||||
print(f"[train] {n} samples, X={X.shape} Y={Y.shape}")
|
||||
if n < 200:
|
||||
print("[train] too few samples"); sys.exit(2)
|
||||
|
||||
# chronological split (NOT shuffled) so val is a held-out time segment -> honest
|
||||
cut = int(n * 0.8)
|
||||
mu, sd = X[:cut].mean(0), X[:cut].std(0) + 1e-6 # standardize on train only
|
||||
Xn = (X - mu) / sd
|
||||
dev = "cuda" if torch.cuda.is_available() else "cpu"
|
||||
Xtr = torch.tensor(Xn[:cut]).to(dev); Ytr = torch.tensor(Y[:cut]).to(dev)
|
||||
Xva = torch.tensor(Xn[cut:]).to(dev); Yva = Y[cut:]; Vva = V[cut:]
|
||||
|
||||
# mean-pose baseline (predict the train-mean pose for everything) — the bar to beat
|
||||
mean_pose = Y[:cut].mean(0)
|
||||
base_pck, base_mpjpe = pck(np.tile(mean_pose, (len(Yva), 1)), Yva, Vva, 0.10)
|
||||
|
||||
net = Net(X.shape[1], Y.shape[1]).to(dev)
|
||||
opt = torch.optim.Adam(net.parameters(), lr=1e-3, weight_decay=1e-4)
|
||||
lossf = nn.MSELoss()
|
||||
best = (1e9, None)
|
||||
for ep in range(args.epochs):
|
||||
net.train(); perm = torch.randperm(len(Xtr), device=dev)
|
||||
for i in range(0, len(Xtr), args.bs):
|
||||
idx = perm[i:i+args.bs]
|
||||
opt.zero_grad(); out = net(Xtr[idx]); loss = lossf(out, Ytr[idx]); loss.backward(); opt.step()
|
||||
if (ep + 1) % 20 == 0 or ep == args.epochs - 1:
|
||||
net.eval()
|
||||
with torch.no_grad(): pv = net(Xva).cpu().numpy()
|
||||
p10, mpj = pck(pv, Yva, Vva, 0.10); p05, _ = pck(pv, Yva, Vva, 0.05)
|
||||
vloss = float(((pv - Yva) ** 2).mean())
|
||||
print(f"[train] ep{ep+1:3d} val_mse={vloss:.4f} PCK@0.10={p10*100:.1f}% PCK@0.05={p05*100:.1f}% MPJPE={mpj:.4f}")
|
||||
if vloss < best[0]: best = (vloss, {"sd": net.state_dict(), "p10": p10, "p05": p05, "mpj": mpj})
|
||||
|
||||
torch.save({"model": best[1]["sd"], "mu": mu, "sd": sd, "din": X.shape[1]}, args.out)
|
||||
print("\n==================== HONEST RESULT (held-out 20%, never trained) ====================")
|
||||
print(f" MEAN-POSE BASELINE : PCK@0.10 = {base_pck*100:.1f}% MPJPE = {base_mpjpe:.4f} (the bar to beat)")
|
||||
print(f" CSI->POSE MODEL : PCK@0.10 = {best[1]['p10']*100:.1f}% PCK@0.05 = {best[1]['p05']*100:.1f}% MPJPE = {best[1]['mpj']:.4f}")
|
||||
delta = (best[1]['p10'] - base_pck) * 100
|
||||
print(f" VERDICT: model {'BEATS' if delta>1 else 'does NOT beat'} mean-pose baseline by {delta:+.1f} pp "
|
||||
f"-> {'real CSI->pose signal' if delta>1 else 'NO usable CSI->pose signal (honest negative)'}")
|
||||
print(f" saved -> {args.out}")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -468,29 +468,3 @@ menu "Mock CSI (QEMU Testing)"
|
||||
depends on CSI_MOCK_ENABLED
|
||||
default n
|
||||
endmenu
|
||||
|
||||
menu "Onboard LED (ADR-183)"
|
||||
|
||||
config LED_GAMMA_VIZ
|
||||
bool "Onboard WS2812: 40 Hz gamma flicker + CSI-motion colour"
|
||||
default y
|
||||
help
|
||||
Drive the onboard WS2812 as a GENUS-style 40 Hz gamma square wave
|
||||
(12.5 ms on / 12.5 ms off, 50% duty). The ON-phase colour is live
|
||||
CSI motion (edge motion_energy) mapped through the ruv-neural-viz
|
||||
viridis colormap (still=purple, moving=yellow).
|
||||
|
||||
Disable to leave the LED off at boot — lower power, no flicker.
|
||||
NOTE: a 40 Hz flicker can affect photosensitive users; disable or
|
||||
shield the LED in those environments. Not a medical device.
|
||||
|
||||
config LED_MOTION_FULLSCALE_MILLI
|
||||
int "Motion value (x1000) that saturates the colormap to yellow"
|
||||
depends on LED_GAMMA_VIZ
|
||||
default 250
|
||||
range 1 100000
|
||||
help
|
||||
edge motion_energy that maps to the top (yellow) of the viridis
|
||||
colormap, in milli-units (250 = 0.25). Lower = more sensitive
|
||||
(reaches yellow with less motion).
|
||||
endmenu
|
||||
|
||||
@@ -319,9 +319,7 @@ static void emit_feature_state(void)
|
||||
(uint64_t)esp_timer_get_time(),
|
||||
profile);
|
||||
|
||||
/* feature_state is ~1 Hz and small — priority path so the CSI ENOMEM
|
||||
* backoff can't starve it (#1183). */
|
||||
int sent = stream_sender_send_priority((const uint8_t *)&pkt, sizeof(pkt));
|
||||
int sent = stream_sender_send((const uint8_t *)&pkt, sizeof(pkt));
|
||||
if (sent < 0) {
|
||||
ESP_LOGW(TAG, "feature_state emit failed");
|
||||
}
|
||||
@@ -335,14 +333,11 @@ static void slow_loop_cb(TimerHandle_t t)
|
||||
* detect sync-error drift. */
|
||||
uint8_t nid[8];
|
||||
node_id_bytes(nid);
|
||||
/* #1183: report the actual send result — the old log printed "HEALTH sent"
|
||||
* unconditionally even when rv_mesh_send returned ESP_FAIL. */
|
||||
esp_err_t health_rc = rv_mesh_send_health(s_role, s_mesh_epoch, nid);
|
||||
rv_mesh_send_health(s_role, s_mesh_epoch, nid);
|
||||
|
||||
ESP_LOGI(TAG, "slow tick (state=%u, feature_state_seq=%u, role=%u, epoch=%u) HEALTH %s",
|
||||
ESP_LOGI(TAG, "slow tick (state=%u, feature_state_seq=%u, role=%u, epoch=%u) HEALTH sent",
|
||||
(unsigned)s_state, (unsigned)s_feature_state_seq,
|
||||
(unsigned)s_role, (unsigned)s_mesh_epoch,
|
||||
health_rc == ESP_OK ? "sent" : "FAILED");
|
||||
(unsigned)s_role, (unsigned)s_mesh_epoch);
|
||||
}
|
||||
|
||||
/* ---- Public API ---- */
|
||||
|
||||
@@ -341,9 +341,7 @@ static void wifi_csi_callback(void *ctx, wifi_csi_info_t *info)
|
||||
memcpy(&sync[24], &s_sequence, 4); /* high-water seq for pairing */
|
||||
uint32_t zero32 = 0;
|
||||
memcpy(&sync[28], &zero32, 4); /* reserved (room for leader_id low32) */
|
||||
/* Sync packets are 32 B at ~0.5 Hz — priority path so the CSI
|
||||
* ENOMEM backoff can't starve cross-node time alignment (#1183). */
|
||||
int sr = stream_sender_send_priority(sync, sizeof(sync));
|
||||
int sr = stream_sender_send(sync, sizeof(sync));
|
||||
static uint32_t s_sync_count = 0;
|
||||
s_sync_count++;
|
||||
if (s_sync_count <= 3 || (s_sync_count % 60) == 0) {
|
||||
|
||||
@@ -114,19 +114,6 @@ esp_err_t display_task_start(void)
|
||||
/* Init touch (optional) */
|
||||
esp_err_t touch_ret = display_hal_init_touch();
|
||||
|
||||
/* The SH8601 QSPI panel is write-only — display_hal_init_panel() above "succeeds"
|
||||
* even on a bare board with no panel attached, so it cannot detect absence. The
|
||||
* FT3168 touch controller is an I2C device with readback and is always present on
|
||||
* the Touch-AMOLED board. If touch is absent, the panel "success" was a false-
|
||||
* positive on a display-less DevKit: bail to headless so display_is_active() stays
|
||||
* false and CSI upgrades to MGMT+DATA capture instead of starving at MGMT-only
|
||||
* (RuView#1000). */
|
||||
if (touch_ret != ESP_OK) {
|
||||
ESP_LOGW(TAG, "No FT3168 touch readback — SH8601 probe was a false-positive on a "
|
||||
"display-less board; running headless so CSI captures (#1000)");
|
||||
return ESP_OK;
|
||||
}
|
||||
|
||||
/* Initialize LVGL */
|
||||
lv_init();
|
||||
|
||||
|
||||
@@ -144,54 +144,6 @@ static void wifi_init_sta(void)
|
||||
}
|
||||
}
|
||||
|
||||
#if CONFIG_LED_GAMMA_VIZ
|
||||
/* Viridis colormap (60 steps), generated from ruv-neural-viz::ColorMap::viridis()
|
||||
* — the rUv-Neural brain-topology colormap, now no_std (ruvnet/ruv-neural#3 /
|
||||
* RuView#1126). Used as the ON-phase colour of the 40 Hz gamma flicker below:
|
||||
* dark-purple (still) -> teal -> green -> yellow (strong motion). */
|
||||
static const uint8_t VIRIDIS_LUT[60][3] = {
|
||||
{ 68, 1, 84},{ 67, 6, 88},{ 67, 12, 91},{ 66, 17, 95},{ 66, 23, 99},
|
||||
{ 65, 28,103},{ 64, 34,106},{ 64, 39,110},{ 63, 45,114},{ 63, 50,118},
|
||||
{ 62, 56,121},{ 61, 61,125},{ 61, 67,129},{ 60, 72,132},{ 59, 78,136},
|
||||
{ 59, 83,139},{ 57, 87,139},{ 55, 92,139},{ 53, 96,139},{ 52,100,139},
|
||||
{ 50,104,139},{ 48,109,139},{ 46,113,139},{ 44,117,140},{ 43,122,140},
|
||||
{ 41,126,140},{ 39,130,140},{ 37,134,140},{ 36,139,140},{ 34,143,140},
|
||||
{ 35,147,139},{ 39,151,136},{ 43,154,133},{ 47,158,130},{ 52,162,127},
|
||||
{ 56,166,124},{ 60,170,121},{ 64,173,119},{ 68,177,116},{ 72,181,113},
|
||||
{ 76,185,110},{ 81,189,107},{ 85,192,104},{ 89,196,102},{ 93,200, 99},
|
||||
{102,203, 95},{113,205, 91},{124,207, 87},{134,209, 82},{145,211, 78},
|
||||
{156,213, 74},{167,215, 70},{178,217, 66},{188,219, 62},{199,221, 58},
|
||||
{210,223, 54},{221,225, 49},{231,227, 45},{242,229, 41},{253,231, 37},
|
||||
};
|
||||
static led_strip_handle_t s_viz_led;
|
||||
|
||||
/* motion_energy that saturates the colormap to yellow (CONFIG, milli-units). */
|
||||
#define LED_MOTION_FULLSCALE ((float)CONFIG_LED_MOTION_FULLSCALE_MILLI / 1000.0f)
|
||||
|
||||
/* GENUS-style 40 Hz gamma flicker: full on/off square wave, 50% duty (toggled
|
||||
* every 12.5 ms → 40 Hz). The ON colour is live CSI motion (edge motion_energy)
|
||||
* mapped through the ruv-neural-viz viridis LUT — still=purple, moving=yellow.
|
||||
* So the LED is a real 40 Hz gamma stimulus whose hue tracks sensed motion. */
|
||||
static void led_gamma_40hz_cb(void *arg)
|
||||
{
|
||||
static bool on = false;
|
||||
on = !on;
|
||||
if (on) {
|
||||
edge_vitals_pkt_t v;
|
||||
float m = edge_get_vitals(&v) ? v.motion_energy : 0.0f;
|
||||
float norm = m / LED_MOTION_FULLSCALE;
|
||||
if (norm < 0.0f) norm = 0.0f;
|
||||
if (norm > 1.0f) norm = 1.0f;
|
||||
int idx = (int)(norm * 59.0f + 0.5f);
|
||||
const uint8_t *c = VIRIDIS_LUT[idx];
|
||||
led_strip_set_pixel(s_viz_led, 0, c[0], c[1], c[2]); /* R,G,B (driver maps to GRB) */
|
||||
} else {
|
||||
led_strip_set_pixel(s_viz_led, 0, 0, 0, 0); /* off phase */
|
||||
}
|
||||
led_strip_refresh(s_viz_led);
|
||||
}
|
||||
#endif /* CONFIG_LED_GAMMA_VIZ */
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
/* Initialize NVS */
|
||||
@@ -221,16 +173,15 @@ void app_main(void)
|
||||
ESP_LOGI(TAG, "%s CSI Node (ADR-018 / ADR-110) — v%s — Node ID: %d",
|
||||
target_name, app_desc->version, g_nvs_config.node_id);
|
||||
|
||||
/* Onboard WS2812. C6 wires the LED to GPIO 8; S3 to GPIO 38 (DevKitC-1 v1.0)
|
||||
* or GPIO 48 (DevKitC-1 v1.1 / N16R8 — see #962). On S3 we drive 48 (the
|
||||
* common module). On C6, GPIO 38/48 don't exist (only 0-30) — gate by target.
|
||||
* Behaviour is set by CONFIG_LED_GAMMA_VIZ (ADR-183): on = 40 Hz gamma flicker
|
||||
* coloured by CSI motion; off = clear the LED at boot. */
|
||||
/* Turn off onboard WS2812 LED.
|
||||
* S3 dev boards put the LED on GPIO 38; C6 dev boards on GPIO 8.
|
||||
* On C6, GPIO 38 doesn't exist (only 0-30) — gate the init by target. */
|
||||
#if defined(CONFIG_IDF_TARGET_ESP32C6)
|
||||
const int led_gpio = 8;
|
||||
#else
|
||||
const int led_gpio = 48;
|
||||
const int led_gpio = 38;
|
||||
#endif
|
||||
led_strip_handle_t led_strip;
|
||||
led_strip_config_t strip_config = {
|
||||
.strip_gpio_num = led_gpio,
|
||||
.max_leds = 1,
|
||||
@@ -242,26 +193,9 @@ void app_main(void)
|
||||
.resolution_hz = 10 * 1000 * 1000, // 10MHz
|
||||
.flags.with_dma = false,
|
||||
};
|
||||
#if CONFIG_LED_GAMMA_VIZ
|
||||
if (led_strip_new_rmt_device(&strip_config, &rmt_config, &s_viz_led) == ESP_OK) {
|
||||
const esp_timer_create_args_t viz_args = {
|
||||
.callback = &led_gamma_40hz_cb,
|
||||
.name = "led_gamma_40hz",
|
||||
};
|
||||
esp_timer_handle_t viz_timer;
|
||||
if (esp_timer_create(&viz_args, &viz_timer) == ESP_OK) {
|
||||
esp_timer_start_periodic(viz_timer, 12500); // 12.5 ms toggle → 40 Hz square wave
|
||||
ESP_LOGI(TAG, "Onboard WS2812: 40 Hz gamma flicker (GENUS), colour=CSI motion via ruv-neural-viz, GPIO %d", led_gpio);
|
||||
}
|
||||
}
|
||||
#else
|
||||
/* Viz disabled — clear the onboard LED at boot and release the RMT channel. */
|
||||
led_strip_handle_t led_strip;
|
||||
if (led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip) == ESP_OK) {
|
||||
led_strip_clear(led_strip);
|
||||
led_strip_del(led_strip);
|
||||
}
|
||||
#endif /* CONFIG_LED_GAMMA_VIZ */
|
||||
|
||||
/* ADR-110 P4: 802.15.4 mesh time-sync (C6 only).
|
||||
* Initialized BEFORE WiFi so it's available even when WiFi STA can't
|
||||
|
||||
@@ -1,37 +0,0 @@
|
||||
/**
|
||||
* @file mmwave_detect.h
|
||||
* @brief Pure (host-testable) mmWave frame-validation predicates for probe-time
|
||||
* sensor detection. No ESP-IDF deps — safe to #include in a host unit test.
|
||||
*
|
||||
* Detection must validate a *full* frame, never a bare header byte/pattern: a
|
||||
* floating UART with no sensor reads line noise that can contain header-looking
|
||||
* bytes, which the old loose checks mistook for a real sensor (#1107 MR60,
|
||||
* #1135 LD2410). These predicates are the validate-before-trust gate.
|
||||
*/
|
||||
#ifndef MMWAVE_DETECT_H
|
||||
#define MMWAVE_DETECT_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/**
|
||||
* True iff buf[i..] begins a *validated* LD2410 report frame within [0,len):
|
||||
* F4 F3 F2 F1 | len(LE,2) | data[len] | F8 F7 F6 F5
|
||||
* Requires the head magic, a sane intra-frame length, AND the matching tail at
|
||||
* head+6+len. Pure noise that merely contains 0xF4F3F2F1 fails the tail check.
|
||||
*/
|
||||
static inline bool mmwave_ld2410_valid_at(const uint8_t *buf, int i, int len)
|
||||
{
|
||||
if (i < 0 || i + 5 >= len) return false;
|
||||
if (!(buf[i] == 0xF4 && buf[i+1] == 0xF3 && buf[i+2] == 0xF2 && buf[i+3] == 0xF1))
|
||||
return false;
|
||||
uint16_t flen = (uint16_t)buf[i+4] | ((uint16_t)buf[i+5] << 8);
|
||||
/* Real LD2410 report frames are small (basic=13, engineering=35). */
|
||||
if (flen < 1 || flen > 64) return false;
|
||||
int tail = i + 6 + (int)flen;
|
||||
if (tail + 3 >= len) return false;
|
||||
return buf[tail] == 0xF8 && buf[tail+1] == 0xF7
|
||||
&& buf[tail+2] == 0xF6 && buf[tail+3] == 0xF5;
|
||||
}
|
||||
|
||||
#endif /* MMWAVE_DETECT_H */
|
||||
@@ -26,7 +26,6 @@
|
||||
*/
|
||||
|
||||
#include "mmwave_sensor.h"
|
||||
#include "mmwave_detect.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
@@ -388,26 +387,14 @@ static mmwave_type_t probe_at_baud(uint32_t baud)
|
||||
if (len <= 0) continue;
|
||||
|
||||
for (int i = 0; i < len; i++) {
|
||||
/* MR60BHA2: require a *validated* 8-byte header — SOF (0x01) + a valid
|
||||
* header checksum (over bytes 0..6) + a known frame type (0x0A__ or
|
||||
* 0x0F09) — NOT a bare 0x01 byte. A floating UART1 with no sensor reads
|
||||
* noise full of 0x01s, which the old `buf[i] == MR60_SOF` check mistook
|
||||
* for a real sensor (false "Detected MR60BHA2", #1107). */
|
||||
if (buf[i] == MR60_SOF && baud == MMWAVE_MR60_BAUD && i + 7 < len) {
|
||||
const uint8_t *h = &buf[i];
|
||||
if (mr60_calc_checksum(h, 7) == h[7]) {
|
||||
uint16_t type = ((uint16_t)h[5] << 8) | h[6];
|
||||
if ((type >> 8) == 0x0A || type == 0x0F09) {
|
||||
mr60_sof_seen++;
|
||||
}
|
||||
}
|
||||
/* MR60BHA2: SOF = 0x01, followed by valid-looking frame_id bytes */
|
||||
if (buf[i] == MR60_SOF && baud == MMWAVE_MR60_BAUD) {
|
||||
mr60_sof_seen++;
|
||||
}
|
||||
/* LD2410: require a *full validated* report frame, not just the
|
||||
* 4-byte head. A floating UART1 at 256000 baud can emit the head
|
||||
* pattern 0xF4F3F2F1 from line noise (#1135 bug #2). The shared
|
||||
* predicate (host-unit-tested in mmwave_detect.h) demands a sane
|
||||
* intra-frame length AND the matching tail 0xF8F7F6F5. */
|
||||
if (baud == MMWAVE_LD2410_BAUD && mmwave_ld2410_valid_at(buf, i, len)) {
|
||||
/* LD2410: 4-byte header 0xF4F3F2F1 */
|
||||
if (i + 3 < len && buf[i] == 0xF4 && buf[i+1] == 0xF3
|
||||
&& buf[i+2] == 0xF2 && buf[i+3] == 0xF1
|
||||
&& baud == MMWAVE_LD2410_BAUD) {
|
||||
ld2410_header_seen++;
|
||||
}
|
||||
}
|
||||
@@ -416,8 +403,9 @@ static mmwave_type_t probe_at_baud(uint32_t baud)
|
||||
if (ld2410_header_seen >= 2) return MMWAVE_TYPE_LD2410;
|
||||
}
|
||||
|
||||
/* No weak single-hit fallback: line noise can produce a stray match, so a real
|
||||
* sensor must clear the ≥3 (MR60) / ≥2 (LD2410) validated-frame thresholds. */
|
||||
if (mr60_sof_seen > 0) return MMWAVE_TYPE_MR60BHA2;
|
||||
if (ld2410_header_seen > 0) return MMWAVE_TYPE_LD2410;
|
||||
|
||||
return MMWAVE_TYPE_NONE;
|
||||
}
|
||||
|
||||
|
||||
@@ -188,9 +188,7 @@ size_t rv_mesh_encode_calibration_start(uint8_t sender_role,
|
||||
esp_err_t rv_mesh_send(const uint8_t *frame, size_t len)
|
||||
{
|
||||
if (frame == NULL || len == 0) return ESP_ERR_INVALID_ARG;
|
||||
/* Mesh control packets (HEALTH, anomaly) are low-rate and tiny — send them
|
||||
* on the priority path so the CSI ENOMEM backoff can't starve them (#1183). */
|
||||
int sent = stream_sender_send_priority(frame, len);
|
||||
int sent = stream_sender_send(frame, len);
|
||||
if (sent < 0) {
|
||||
ESP_LOGW(TAG, "rv_mesh_send: stream_sender failed (len=%u)",
|
||||
(unsigned)len);
|
||||
|
||||
@@ -26,16 +26,9 @@ static struct sockaddr_in s_dest_addr;
|
||||
* rapid-fire CSI callbacks can exhaust the pbuf pool and crash the device.
|
||||
*/
|
||||
static int64_t s_backoff_until_us = 0; /* esp_timer timestamp to resume */
|
||||
#define ENOMEM_COOLDOWN_MS 100 /* base backoff; doubles per streak */
|
||||
#define ENOMEM_COOLDOWN_MAX_MS 2000 /* cap on the exponential backoff */
|
||||
#define ENOMEM_COOLDOWN_MS 100 /* suppress sends for 100 ms */
|
||||
#define ENOMEM_LOG_INTERVAL 50 /* log every Nth suppressed send */
|
||||
static uint32_t s_enomem_suppressed = 0;
|
||||
/* Consecutive ENOMEM episodes without an intervening successful send. A fixed
|
||||
* 100 ms backoff is too short to drain sustained lwIP/WiFi buffer pressure
|
||||
* (#1135 bug #1: tier-2 + concurrent TX keeps the node stuck), so the backoff
|
||||
* grows 100→200→400→…→2000 ms per streak and resets on the first send that
|
||||
* succeeds. */
|
||||
static uint32_t s_enomem_streak = 0;
|
||||
|
||||
static int sender_init_internal(const char *ip, uint16_t port)
|
||||
{
|
||||
@@ -100,52 +93,16 @@ int stream_sender_send(const uint8_t *data, size_t len)
|
||||
(struct sockaddr *)&s_dest_addr, sizeof(s_dest_addr));
|
||||
if (sent < 0) {
|
||||
if (errno == ENOMEM) {
|
||||
/* Exponential backoff: double the cooldown each consecutive ENOMEM
|
||||
* (capped) so sustained buffer pressure actually drains instead of
|
||||
* the node re-failing every 100 ms forever (#1135 bug #1). */
|
||||
uint32_t shift = s_enomem_streak < 5 ? s_enomem_streak : 5;
|
||||
uint32_t cooldown = ENOMEM_COOLDOWN_MS << shift;
|
||||
if (cooldown > ENOMEM_COOLDOWN_MAX_MS) cooldown = ENOMEM_COOLDOWN_MAX_MS;
|
||||
s_enomem_streak++;
|
||||
s_backoff_until_us = esp_timer_get_time() + (int64_t)cooldown * 1000;
|
||||
ESP_LOGW(TAG, "sendto ENOMEM — backing off for %lu ms (streak %lu)",
|
||||
(unsigned long)cooldown, (unsigned long)s_enomem_streak);
|
||||
/* Start backoff to let lwIP reclaim buffers */
|
||||
s_backoff_until_us = esp_timer_get_time() +
|
||||
(int64_t)ENOMEM_COOLDOWN_MS * 1000;
|
||||
ESP_LOGW(TAG, "sendto ENOMEM — backing off for %d ms", ENOMEM_COOLDOWN_MS);
|
||||
} else {
|
||||
ESP_LOGW(TAG, "sendto failed: errno %d", errno);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* A send got through — buffer pressure cleared; reset the backoff streak. */
|
||||
s_enomem_streak = 0;
|
||||
return sent;
|
||||
}
|
||||
|
||||
int stream_sender_send_priority(const uint8_t *data, size_t len)
|
||||
{
|
||||
if (s_sock < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Priority path (#1183): low-rate control packets (feature_state, HEALTH,
|
||||
* mesh sync) bypass the global ENOMEM backoff gate so the high-rate CSI
|
||||
* stream cannot starve them. These are ≤48 B at ≤1 Hz — negligible pbuf
|
||||
* pressure, so they won't re-trigger the crash cascade that the backoff
|
||||
* (driven by the 50 Hz CSI flood) exists to prevent.
|
||||
*
|
||||
* Crucially, an ENOMEM here is reported quietly and does NOT extend the
|
||||
* global streak/backoff: a tiny control packet failing is a symptom of
|
||||
* the bulk-stream pressure, not a cause, so it must not feed the cooldown
|
||||
* that suppresses the next CSI frame. Likewise a success does not reset
|
||||
* the streak — the bulk path owns that signal. */
|
||||
int sent = sendto(s_sock, data, len, 0,
|
||||
(struct sockaddr *)&s_dest_addr, sizeof(s_dest_addr));
|
||||
if (sent < 0) {
|
||||
if (errno != ENOMEM) {
|
||||
ESP_LOGW(TAG, "priority sendto failed: errno %d", errno);
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
return sent;
|
||||
}
|
||||
|
||||
|
||||
@@ -36,20 +36,6 @@ int stream_sender_init_with(const char *ip, uint16_t port);
|
||||
*/
|
||||
int stream_sender_send(const uint8_t *data, size_t len);
|
||||
|
||||
/**
|
||||
* Send a low-rate control packet, bypassing the ENOMEM backoff gate (#1183).
|
||||
*
|
||||
* Intended for ≤48 B, ≤1 Hz control traffic (feature_state, HEALTH, mesh
|
||||
* sync) that must not be starved by the global backoff the high-rate CSI
|
||||
* stream triggers. An ENOMEM on this path is reported quietly and does NOT
|
||||
* extend or reset the global backoff streak.
|
||||
*
|
||||
* @param data Frame data buffer.
|
||||
* @param len Length of data to send.
|
||||
* @return Number of bytes sent, or -1 on error.
|
||||
*/
|
||||
int stream_sender_send_priority(const uint8_t *data, size_t len);
|
||||
|
||||
/**
|
||||
* Close the UDP sender socket.
|
||||
*/
|
||||
|
||||
@@ -44,9 +44,9 @@ FUZZ_DURATION ?= 30
|
||||
FUZZ_JOBS ?= 1
|
||||
|
||||
.PHONY: all clean run_serialize run_edge run_nvs run_all test_adr110 run_adr110 \
|
||||
test_vitals run_vitals test_mmwave_detect run_mmwave_detect host_tests
|
||||
test_vitals run_vitals host_tests
|
||||
|
||||
all: fuzz_serialize fuzz_edge fuzz_nvs test_adr110 test_vitals test_mmwave_detect
|
||||
all: fuzz_serialize fuzz_edge fuzz_nvs test_adr110 test_vitals
|
||||
|
||||
# --- ADR-110 encoding unit tests ---
|
||||
# Host-side, no libFuzzer needed — plain C99 deterministic table tests
|
||||
@@ -69,19 +69,8 @@ test_vitals: test_vitals_count_presence.c $(MAIN_DIR)/edge_processing.h
|
||||
run_vitals: test_vitals
|
||||
./test_vitals
|
||||
|
||||
# --- mmWave LD2410 detection predicate (#1135 bug #2) ---
|
||||
# Host-side, no libFuzzer. Proves a floating-UART head pattern (0xF4F3F2F1)
|
||||
# without a valid frame length+tail is REJECTED, so a phantom LD2410 is never
|
||||
# detected on a node with no sensor wired. Tests the real predicate the
|
||||
# firmware uses (../main/mmwave_detect.h) — test and firmware can't disagree.
|
||||
test_mmwave_detect: test_mmwave_detect.c $(MAIN_DIR)/mmwave_detect.h
|
||||
cc -std=c99 -Wall -Wextra -I$(MAIN_DIR) -o $@ $<
|
||||
|
||||
run_mmwave_detect: test_mmwave_detect
|
||||
./test_mmwave_detect
|
||||
|
||||
host_tests: run_adr110 run_vitals run_mmwave_detect
|
||||
@echo "Host tests passed (ADR-110 + vitals #998/#996 + mmwave detect #1135)"
|
||||
host_tests: run_adr110 run_vitals
|
||||
@echo "Host tests passed (ADR-110 + vitals #998/#996)"
|
||||
|
||||
# --- Serialize fuzzer ---
|
||||
# Tests csi_serialize_frame() with random wifi_csi_info_t inputs.
|
||||
|
||||
@@ -1,80 +0,0 @@
|
||||
/**
|
||||
* @file test_mmwave_detect.c
|
||||
* @brief Host-side unit tests for the LD2410 frame-validation predicate (#1135).
|
||||
*
|
||||
* Proves the phantom-detection fix: a floating UART can emit the 4-byte head
|
||||
* 0xF4F3F2F1, but the predicate rejects it unless a sane length + matching tail
|
||||
* 0xF8F7F6F5 are also present. Tests the REAL predicate from mmwave_detect.h
|
||||
* (the same code the firmware's probe_at_baud calls).
|
||||
*
|
||||
* cc -std=c99 -Wall -I../main -o test_mmwave_detect test_mmwave_detect.c && ./test_mmwave_detect
|
||||
*
|
||||
* Exits 0 on all-pass; prints the failing case otherwise.
|
||||
*/
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include "mmwave_detect.h"
|
||||
|
||||
static int failures = 0;
|
||||
#define CHECK(cond, msg) do { \
|
||||
if (!(cond)) { printf("FAIL: %s\n", msg); failures++; } \
|
||||
else { printf("ok: %s\n", msg); } \
|
||||
} while (0)
|
||||
|
||||
/* Build a valid LD2410 report frame: F4F3F2F1 | len(LE) | data[len] | F8F7F6F5 */
|
||||
static int make_frame(uint8_t *out, uint16_t dlen)
|
||||
{
|
||||
int n = 0;
|
||||
out[n++] = 0xF4; out[n++] = 0xF3; out[n++] = 0xF2; out[n++] = 0xF1;
|
||||
out[n++] = (uint8_t)(dlen & 0xFF); out[n++] = (uint8_t)(dlen >> 8);
|
||||
for (uint16_t k = 0; k < dlen; k++) out[n++] = (uint8_t)(0xAA ^ k);
|
||||
out[n++] = 0xF8; out[n++] = 0xF7; out[n++] = 0xF6; out[n++] = 0xF5;
|
||||
return n;
|
||||
}
|
||||
|
||||
int main(void)
|
||||
{
|
||||
uint8_t buf[256];
|
||||
|
||||
/* 1. A real basic-report frame (data len 13) validates. */
|
||||
int n = make_frame(buf, 13);
|
||||
CHECK(mmwave_ld2410_valid_at(buf, 0, n), "valid basic frame (len=13) accepted");
|
||||
|
||||
/* 2. A real engineering-report frame (data len 35) validates. */
|
||||
n = make_frame(buf, 35);
|
||||
CHECK(mmwave_ld2410_valid_at(buf, 0, n), "valid engineering frame (len=35) accepted");
|
||||
|
||||
/* 3. Head magic present but NO valid tail — the #1135 phantom case. */
|
||||
memset(buf, 0x00, sizeof(buf));
|
||||
buf[0]=0xF4; buf[1]=0xF3; buf[2]=0xF2; buf[3]=0xF1; buf[4]=13; buf[5]=0;
|
||||
/* data present but tail is zeros, not F8F7F6F5 */
|
||||
CHECK(!mmwave_ld2410_valid_at(buf, 0, 64), "head magic without valid tail REJECTED (#1135)");
|
||||
|
||||
/* 4. Head magic with insane length is rejected. */
|
||||
memset(buf, 0xFF, sizeof(buf));
|
||||
buf[0]=0xF4; buf[1]=0xF3; buf[2]=0xF2; buf[3]=0xF1; buf[4]=0xFF; buf[5]=0xFF; /* len=65535 */
|
||||
CHECK(!mmwave_ld2410_valid_at(buf, 0, 200), "head magic with oversized length REJECTED");
|
||||
|
||||
/* 5. Pure noise (no head) is rejected. */
|
||||
for (int k = 0; k < 64; k++) buf[k] = (uint8_t)(0x5A + k);
|
||||
CHECK(!mmwave_ld2410_valid_at(buf, 0, 64), "non-header noise REJECTED");
|
||||
|
||||
/* 6. Truncated frame (tail would run past the buffer) is rejected. */
|
||||
n = make_frame(buf, 13);
|
||||
CHECK(!mmwave_ld2410_valid_at(buf, 0, n - 2), "truncated frame (tail past buffer) REJECTED");
|
||||
|
||||
/* 7. Valid frame at a non-zero offset still validates. */
|
||||
memset(buf, 0x00, sizeof(buf));
|
||||
n = make_frame(buf + 7, 13);
|
||||
CHECK(mmwave_ld2410_valid_at(buf, 7, 7 + n), "valid frame at offset 7 accepted");
|
||||
|
||||
/* 8. Repeated head bytes without a frame (worst-case noise) rejected. */
|
||||
for (int k = 0; k + 3 < 64; k += 4) {
|
||||
buf[k]=0xF4; buf[k+1]=0xF3; buf[k+2]=0xF2; buf[k+3]=0xF1;
|
||||
}
|
||||
CHECK(!mmwave_ld2410_valid_at(buf, 0, 64), "repeated bare head bytes REJECTED");
|
||||
|
||||
printf("\n%s (%d failures)\n", failures ? "FAILED" : "ALL PASS", failures);
|
||||
return failures ? 1 : 0;
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
{
|
||||
"permissions": {
|
||||
"allow": [
|
||||
"Bash(npx ruview*)",
|
||||
"mcp__ruview__*"
|
||||
],
|
||||
"deny": [
|
||||
"Read(./.env)",
|
||||
"Read(./.env.*)"
|
||||
]
|
||||
},
|
||||
"mcpServers": {
|
||||
"ruview": {
|
||||
"command": "npx",
|
||||
"args": ["-y", "@ruvnet/ruview", "mcp", "start"]
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,29 +0,0 @@
|
||||
---
|
||||
name: calibrate-room
|
||||
description: Run the ADR-151 per-room calibration pipeline — baseline → enroll → extract → train → a bank of small specialists (presence/posture/breathing/heartbeat/restlessness/anomaly).
|
||||
---
|
||||
|
||||
# calibrate-room
|
||||
|
||||
Turn a provisioned node + sensing-server into a working room model. Pure-Rust,
|
||||
edge-deployable (ADR-151). Use the `ruview_calibrate` tool (installed
|
||||
`wifi-densepose` binary, else `cargo run -p wifi-densepose-cli`).
|
||||
|
||||
## Sequence
|
||||
|
||||
1. **baseline** — capture the empty room (Welford amplitude + von Mises phase). Leave
|
||||
the room empty.
|
||||
`ruview_calibrate {step: "baseline"}`
|
||||
2. **enroll** — record the occupant(s) doing the target activities.
|
||||
`ruview_calibrate {step: "enroll"}`
|
||||
3. **train-room** — train the bank of small specialists from baseline + enrollment.
|
||||
`ruview_calibrate {step: "train-room"}`
|
||||
4. **room-watch** — live presence/posture/breathing from the trained room.
|
||||
`ruview_calibrate {step: "room-watch"}` (or the `room-watch` skill)
|
||||
|
||||
## Honesty
|
||||
|
||||
The specialists are calibrated to *this* room; cross-room transfer is a separate
|
||||
problem (LoRA recalibration, ADR-079 P9). Report which room a number came from, and
|
||||
tag presence/vitals accuracy MEASURED only with a held-out check — run
|
||||
`ruview_claim_check` on the writeup.
|
||||
@@ -1,30 +0,0 @@
|
||||
---
|
||||
name: onboard
|
||||
description: Zero-to-sensing path picker for RuView (WiFi-DensePose) — pick docker-demo, repo-build, or live-esp32 and run the next concrete step.
|
||||
---
|
||||
|
||||
# onboard
|
||||
|
||||
Get a newcomer from nothing to a working RuView setup. **First fact to set:** WiFi
|
||||
sensing infers *coarse* pose/presence/breathing from Channel State Information — it
|
||||
is **not a camera**, and any accuracy number must be MEASURED against a baseline
|
||||
(use the `verify` skill / `ruview_claim_check` tool). Never present WiFi output as
|
||||
camera-grade.
|
||||
|
||||
## Pick a path
|
||||
|
||||
Run `ruview_onboard {path}` or decide from:
|
||||
|
||||
1. **docker-demo** — fastest, no hardware. Replays sample CSI into the dashboard.
|
||||
`docker run -p 8000:8000 ruvnet/wifi-densepose` → open `http://localhost:8000`.
|
||||
Use to see what it looks like.
|
||||
2. **repo-build** — for developers. `cd v2 && cargo test --workspace --no-default-features`
|
||||
(1,031+ tests pass), then `cargo run -p wifi-densepose-cli -- --help`.
|
||||
3. **live-esp32** — a real install. Flash a node (`provision-node` skill), point it at
|
||||
the sensing-server, then `calibrate-room`. This is the only path that senses a real room.
|
||||
|
||||
## Then
|
||||
|
||||
- Live sensing → go to **provision-node**, then **calibrate-room**.
|
||||
- Evaluating a model/claim → go to **verify** and run `ruview_claim_check` on any
|
||||
report before you quote a number.
|
||||
@@ -1,49 +0,0 @@
|
||||
---
|
||||
name: provision-node
|
||||
description: Build, flash, and provision an ESP32-S3/C6 CSI node for RuView — firmware variant choice, ESP-IDF Windows-subprocess flow, NVS/WiFi/channel/MAC-filter overrides.
|
||||
---
|
||||
|
||||
# provision-node
|
||||
|
||||
Bring an ESP32 sensing node online.
|
||||
|
||||
## 1. Pick a firmware variant
|
||||
|
||||
- **s3-8mb** (display build) — ESP32-S3 N16R8 / 16MB; AMOLED optional. The display-detect
|
||||
fix (#1000) means a *bare* board still captures CSI (MGMT+DATA).
|
||||
- **s3-4mb** (no-display) — ESP32-S3 4MB; dual-OTA, display disabled.
|
||||
- **c6** — ESP32-C6 + Seeed MR60BHA2 (60 GHz mmWave + WiFi CSI). The mmwave probe
|
||||
requires a validated MR60 header (#1107) so an empty UART never false-detects.
|
||||
|
||||
Prebuilt binaries: GitHub release `v0.8.1-esp32` (hardware-validated on S3 QFN56 rev v0.2).
|
||||
|
||||
## 2. Flash
|
||||
|
||||
ESP-IDF v5.4 on Windows is **subprocess-only** (Git Bash/MSYS is unsupported — strip
|
||||
`MSYSTEM*` env vars). Offsets for the S3 image:
|
||||
|
||||
```
|
||||
esptool --chip esp32s3 -p <PORT> -b 460800 write_flash \
|
||||
0x0 bootloader.bin 0x8000 partition-table.bin \
|
||||
0xf000 ota_data_initial.bin 0x20000 esp32-csi-node-s3-8mb.bin
|
||||
```
|
||||
|
||||
(`ruview_node_flash` returns the exact pinned command rather than running an
|
||||
unattended flash.)
|
||||
|
||||
## 3. Provision
|
||||
|
||||
```
|
||||
python firmware/esp32-csi-node/provision.py --port <PORT> \
|
||||
--ssid "<SSID>" --password "<secret>" --target-ip <server-ip> --target-port 5005
|
||||
# optional ADR-060 overrides:
|
||||
python firmware/esp32-csi-node/provision.py --port <PORT> --channel 6 --filter-mac AA:BB:CC:DD:EE:FF
|
||||
```
|
||||
|
||||
Never echo or commit the WiFi password.
|
||||
|
||||
## 4. Confirm CSI is flowing
|
||||
|
||||
`ruview_node_monitor {port}` — PASS criteria: serial shows `CSI cb #...` callbacks and
|
||||
(on a bare board) `CSI filter upgraded to MGMT+DATA`. No callbacks → the node isn't
|
||||
capturing; do not proceed to calibration.
|
||||
@@ -1,33 +0,0 @@
|
||||
---
|
||||
name: train-pose
|
||||
description: Train/evaluate WiFi pose models honestly — camera-supervised (MediaPipe + CSI) and camera-free (WiFlow), always checked against the mean-pose baseline before any PCK is quoted.
|
||||
---
|
||||
|
||||
# train-pose
|
||||
|
||||
Build a CSI→pose model without overstating it. The project has a **retracted 92.9%/100%**
|
||||
history — the discipline below exists so it never recurs.
|
||||
|
||||
## The non-negotiable: mean-pose baseline first
|
||||
|
||||
A pose model that always predicts the dataset's *mean pose* already scores ~50% PCK.
|
||||
**Quote PCK only as a delta over that baseline**, on a held-out split with no subject
|
||||
or temporal leakage. Example honest result (ADR-181):
|
||||
|
||||
> Held-out PCK@20 **59.5%** vs a 50% mean-pose baseline = **+9.4 pp real signal** — MEASURED.
|
||||
|
||||
## Paths
|
||||
|
||||
- **camera-supervised** (ADR-079) — MediaPipe Pose labels the camera frame; paired CSI
|
||||
trains the net. Train/infer in one camera frame so the skeleton aligns.
|
||||
- **camera-free** (WiFlow, ADR-152) — no camera at inference; geometry-conditioned.
|
||||
- **in-browser** (ADR-181) — WebGPU/WASM trainer; the active backend is shown as a badge
|
||||
(honest about what's executing).
|
||||
|
||||
## Before you publish a number
|
||||
|
||||
1. Run the mean-pose baseline on the same split.
|
||||
2. Report `(model − baseline)` in pp, with the split definition (chronological /
|
||||
blocked-gap / grouped-bucket; no leakage).
|
||||
3. `ruview_claim_check` the writeup — it flags any untagged or 100%/perfect claim.
|
||||
4. If it's a benchmark vs SOTA, tag MEASURED-EQUIVALENT only with the reproducer.
|
||||
@@ -1,42 +0,0 @@
|
||||
---
|
||||
name: verify
|
||||
description: Prove a RuView result is real — run the deterministic SHA-256 proof and the witness bundle (ADR-028), and lint any claim for MEASURED-vs-CLAIMED honesty.
|
||||
---
|
||||
|
||||
# verify
|
||||
|
||||
The "prove everything" skill. Nothing ships as validated without this.
|
||||
|
||||
## Deterministic proof (Trust Kill Switch)
|
||||
|
||||
`ruview_verify` runs `archive/v1/data/proof/verify.py`: it feeds a reference signal
|
||||
through the production pipeline and hashes the output against
|
||||
`expected_features.sha256`. Must print **VERDICT: PASS**. If numpy/scipy changed the
|
||||
hash, regenerate with `verify.py --generate-hash` then re-verify.
|
||||
|
||||
## Witness bundle (ADR-028)
|
||||
|
||||
For a release-grade attestation:
|
||||
|
||||
```
|
||||
bash scripts/generate-witness-bundle.sh
|
||||
cd dist/witness-bundle-ADR028-*/ && bash VERIFY.sh # must be 7/7 PASS
|
||||
```
|
||||
|
||||
Contains the Rust test log, the proof + expected hash, firmware SHA-256 manifest, and
|
||||
crate versions — a recipient can re-verify with one command.
|
||||
|
||||
## Claim honesty
|
||||
|
||||
Run `ruview_claim_check {text}` on any report, README section, PR body, or model card
|
||||
before quoting accuracy. It flags:
|
||||
- untagged accuracy numbers (must be MEASURED / CLAIMED / SYNTHETIC),
|
||||
- MEASURED claims with no reproducer cited,
|
||||
- the retracted "100%/perfect accuracy" framing.
|
||||
|
||||
## Firmware-specific
|
||||
|
||||
A firmware fix is **not** "hardware-validated" without a captured boot log on real
|
||||
silicon (e.g. the `v0.8.1-esp32` rev-v0.2 validation: `running headless so CSI
|
||||
captures (#1000)` + `CSI filter upgraded to MGMT+DATA` + a no-false-detect mmwave
|
||||
probe). Do not merge or release on a build-passes signal alone.
|
||||
@@ -1,39 +0,0 @@
|
||||
{
|
||||
"schema": 1,
|
||||
"generator": "metaharness 0.1.15 + ADR-182 hardening",
|
||||
"template": "vertical:ruview",
|
||||
"name": "@ruvnet/ruview",
|
||||
"vars": {
|
||||
"name": "@ruvnet/ruview",
|
||||
"description": "RuView WiFi-sensing operator agent harness",
|
||||
"host": "claude-code"
|
||||
},
|
||||
"hosts": [
|
||||
"claude-code"
|
||||
],
|
||||
"files": {
|
||||
".claude/settings.json": "b0ea971383716f18b89db73010b8f0ea0f1b16bdec4cd1068245772ba1c27bdd",
|
||||
".claude/skills/calibrate-room/SKILL.md": "4b29c7c331f47acad3c0f51b3d3d8f5b5573e316e081bae71dbe21a47fa95240",
|
||||
".claude/skills/onboard/SKILL.md": "97ee71f0aa985cfc03bb8e764789bb55c4f9fd5dae10a116c1071eab85b5893f",
|
||||
".claude/skills/provision-node/SKILL.md": "5f73823794ed5f0b25c102aa8b1bf2dd534a1ec468173d8330c2af0ca24f239c",
|
||||
".claude/skills/train-pose/SKILL.md": "92aebd4423470eb10eabaee642ec3493284d98b7ae9785e0f34378c709746e65",
|
||||
".claude/skills/verify/SKILL.md": "2d38d240e9810a7827e2ebd3717dc0f85c646cc92e46c3812fe77c5b9eb40b76",
|
||||
"CLAUDE.md": "1d7af0c310dd8093b4ae6c9c94a1c0cc9ff02ac9c8d5b45caba5363c3af99475",
|
||||
"LICENSE": "631f94984f626818d42ecf717aa6e8e0afd4f9f355ca706bd2effafbd1416d06",
|
||||
"README.md": "ac35157d66243a5f9eba262bdf2d593e978d935b3dde6e455b7acf650768eac6",
|
||||
"bin/cli.js": "85d8394375edb1e967418451452e68bdbe26e69fc6877ed4936894f6101e1a12",
|
||||
"package.json": "4509b68bb4211217f1e9f3f95f3134b326ee23a2322aef8d19b99a4b1d415b08",
|
||||
"skills/calibrate-room.md": "4b29c7c331f47acad3c0f51b3d3d8f5b5573e316e081bae71dbe21a47fa95240",
|
||||
"skills/onboard.md": "97ee71f0aa985cfc03bb8e764789bb55c4f9fd5dae10a116c1071eab85b5893f",
|
||||
"skills/provision-node.md": "5f73823794ed5f0b25c102aa8b1bf2dd534a1ec468173d8330c2af0ca24f239c",
|
||||
"skills/train-pose.md": "92aebd4423470eb10eabaee642ec3493284d98b7ae9785e0f34378c709746e65",
|
||||
"skills/verify.md": "2d38d240e9810a7827e2ebd3717dc0f85c646cc92e46c3812fe77c5b9eb40b76",
|
||||
"src/guardrails.js": "66407b00d31c4f7939b75ee3e29598855c36a4154ccf1436655a4e52b0d7c034",
|
||||
"src/mcp-server.js": "ad0f21be65a37237b9c2aad69e6e75166e5f101d902cb986377043545a7a80fb",
|
||||
"src/tools.js": "1d72377ae53ad2b0c6dc03eb66f584422d8a60e442cb0d4f08355590f3edf031"
|
||||
},
|
||||
"meta": {
|
||||
"surface": "cli+mcp",
|
||||
"adr": "ADR-182"
|
||||
}
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
380d4bf928fd7c5fa753d11a30c1e24e2ea471caca57b439f765a9d864cef472 manifest.json
|
||||
@@ -1,34 +0,0 @@
|
||||
# RuView harness — agent operating notes
|
||||
|
||||
You are operating **RuView** (WiFi-DensePose), a camera-free WiFi-CSI sensing system.
|
||||
|
||||
## The one rule: prove everything
|
||||
|
||||
This project was accused of AI-slop; the fix is hard discipline. Before you quote ANY
|
||||
accuracy number:
|
||||
|
||||
1. It must be tagged **MEASURED** (with a reproducer named), **CLAIMED**, or **SYNTHETIC**.
|
||||
2. Pose PCK is quoted only as a **delta over the mean-pose baseline** on a leakage-free
|
||||
held-out split. (A mean-pose predictor already scores ~50% PCK.)
|
||||
3. Run `ruview_claim_check` on any report/PR/model-card. It flags untagged numbers and
|
||||
the retracted "100%/perfect accuracy" framing.
|
||||
4. Firmware is "hardware-validated" only with a captured **boot log on real silicon** —
|
||||
never on a build-passes signal.
|
||||
|
||||
## Tools
|
||||
|
||||
`ruview_onboard`, `ruview_claim_check`, `ruview_verify`, `ruview_node_monitor`,
|
||||
`ruview_calibrate`, `ruview_node_flash`. All fail-closed. Mutating/hardware tools
|
||||
(`node_flash`) require explicit confirmation and are Windows/ESP-IDF gated.
|
||||
|
||||
## Skills
|
||||
|
||||
`onboard` · `provision-node` · `calibrate-room` · `train-pose` · `verify`
|
||||
(`npx @ruvnet/ruview skill <name>`).
|
||||
|
||||
## Don'ts
|
||||
|
||||
- Don't present WiFi sensing as camera-grade.
|
||||
- Don't echo or commit WiFi passwords / secrets.
|
||||
- Don't merge or release firmware without a real boot log.
|
||||
- Don't report a PCK without its mean-pose baseline.
|
||||
@@ -1,21 +0,0 @@
|
||||
MIT License
|
||||
|
||||
Copyright (c) 2026 ruvnet
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
@@ -1,62 +0,0 @@
|
||||
# `npx @ruvnet/ruview` — RuView WiFi-sensing operator harness
|
||||
|
||||
An AI agent harness that knows how to operate **RuView** (WiFi-DensePose): onboard a
|
||||
newcomer, provision an ESP32 CSI node, calibrate a room, train pose models, and —
|
||||
crucially — **refuse to overstate accuracy**. Minted from the RuView monorepo via
|
||||
[`metaharness`](https://www.npmjs.com/package/metaharness) and hardened per **ADR-182**.
|
||||
|
||||
WiFi sensing infers *coarse* pose/presence/breathing from Channel State Information.
|
||||
It is **not a camera**. Every accuracy number this harness emits must be MEASURED
|
||||
against a baseline — that rule is enforced in code (`ruview_claim_check`).
|
||||
|
||||
## Quick start
|
||||
|
||||
```bash
|
||||
npx @ruvnet/ruview # onboard — pick a setup path
|
||||
npx @ruvnet/ruview claim-check --file REPORT.md # the honesty guardrail (non-zero exit on untagged claims)
|
||||
npx @ruvnet/ruview verify # run the deterministic proof (VERDICT: PASS)
|
||||
npx @ruvnet/ruview doctor # self-check (tools + optional kernel/host)
|
||||
npx @ruvnet/ruview --help
|
||||
```
|
||||
|
||||
The operator tools are pure Node and run with **zero install weight** — the
|
||||
package has no dependencies at all (ADR-263 O3). `doctor` / `install` can
|
||||
additionally use `@metaharness/kernel` + a host adapter if you install them
|
||||
(`npm i @metaharness/kernel @metaharness/host-claude-code`); everything else
|
||||
runs without them.
|
||||
|
||||
## Tools (`ruview_*`)
|
||||
|
||||
Exposed both as CLI verbs and as an MCP server (`npx @ruvnet/ruview mcp start`):
|
||||
|
||||
| Tool | What it does |
|
||||
|------|--------------|
|
||||
| `ruview_onboard` | Pick docker-demo / repo-build / live-esp32; print the next command |
|
||||
| `ruview_claim_check` | Lint text for untagged / overstated accuracy claims (guardrail) |
|
||||
| `ruview_verify` | Run `verify.py` deterministic proof → VERDICT |
|
||||
| `ruview_node_monitor` | Assert CSI is flowing on an ESP32 (read-only) |
|
||||
| `ruview_calibrate` | ADR-151 room pipeline (baseline→enroll→train-room→room-watch) |
|
||||
| `ruview_node_flash` | Build+flash firmware (Windows/ESP-IDF; mutating, guarded) |
|
||||
|
||||
Every tool is **fail-closed**: missing repo / python / binary / port → an honest
|
||||
negative, never a fabricated success.
|
||||
|
||||
## Skills
|
||||
|
||||
Host-neutral playbooks in `skills/` (`onboard`, `provision-node`, `calibrate-room`,
|
||||
`train-pose`, `verify`). `npx @ruvnet/ruview skill <name>` prints one.
|
||||
|
||||
## Use as a Claude Code MCP server
|
||||
|
||||
The bundled `.claude/settings.json` registers the `ruview` MCP server
|
||||
(`npx -y @ruvnet/ruview mcp start`). Drop this package's `.claude/` into a repo, or run
|
||||
`npx @ruvnet/ruview install --host claude-code`.
|
||||
|
||||
## Hosts
|
||||
|
||||
claude-code (bundled), and via metaharness host adapters: codex, opencode, copilot,
|
||||
pi-dev, hermes, rvm, github-actions.
|
||||
|
||||
## License
|
||||
|
||||
MIT © ruvnet
|
||||
@@ -1,186 +0,0 @@
|
||||
#!/usr/bin/env node
|
||||
// SPDX-License-Identifier: MIT
|
||||
// `npx ruview` — the RuView WiFi-sensing operator harness (minted via metaharness,
|
||||
// hardened per ADR-182). Plain ESM, no build step: ships and runs as-is.
|
||||
//
|
||||
// The `ruview.*` tools (onboard/verify/claim-check/…) are PURE Node and run with
|
||||
// zero deps. The kernel + host adapter are only touched by `doctor`/`install`
|
||||
// (the harness-into-a-repo story), so the operator tools never block on a wasm load.
|
||||
|
||||
import { fileURLToPath } from 'node:url';
|
||||
import { realpathSync, existsSync, readdirSync, readFileSync } from 'node:fs';
|
||||
import { join, dirname } from 'node:path';
|
||||
import { argv } from 'node:process';
|
||||
import { TOOLS, runTool, listTools } from '../src/tools.js';
|
||||
import { claimCheck, summarize } from '../src/guardrails.js';
|
||||
|
||||
const NAME = 'ruview';
|
||||
const ROOT = dirname(dirname(fileURLToPath(import.meta.url)));
|
||||
const SKILLS_DIR = join(ROOT, 'skills');
|
||||
|
||||
// Map friendly CLI verbs → registry tool names (underscore-canonical, ADR-263).
|
||||
const VERB_TO_TOOL = {
|
||||
onboard: 'ruview_onboard',
|
||||
verify: 'ruview_verify',
|
||||
'claim-check': 'ruview_claim_check',
|
||||
calibrate: 'ruview_calibrate',
|
||||
monitor: 'ruview_node_monitor',
|
||||
flash: 'ruview_node_flash',
|
||||
};
|
||||
|
||||
function pjson(o) { console.log(JSON.stringify(o, null, 2)); }
|
||||
|
||||
function listSkills() {
|
||||
if (!existsSync(SKILLS_DIR)) return [];
|
||||
return readdirSync(SKILLS_DIR).filter((f) => f.endsWith('.md')).map((f) => f.replace(/\.md$/, ''));
|
||||
}
|
||||
|
||||
async function doctor() {
|
||||
const checks = [];
|
||||
// Tools layer (always available, no deps).
|
||||
checks.push(['tool registry loads', Object.keys(TOOLS).length > 0]);
|
||||
checks.push(['claim_check flags a 100% claim',
|
||||
!claimCheck('We hit 100% accuracy on poses.').ok]);
|
||||
checks.push(['claim_check passes a tagged MEASURED claim',
|
||||
claimCheck('Held-out PCK@20 59.5% (MEASURED vs mean-pose baseline, verify.py).').ok]);
|
||||
checks.push(['skills present', listSkills().length > 0]);
|
||||
// Kernel + host adapter (optional — only needed to install into a repo).
|
||||
let kernelLine = 'kernel/host: not installed (ok — operator tools run without them)';
|
||||
try {
|
||||
const { loadKernel } = await import('@metaharness/kernel');
|
||||
const adapter = (await import('@metaharness/host-claude-code')).default;
|
||||
const k = await loadKernel();
|
||||
const info = k.kernelInfo();
|
||||
checks.push(['kernel loads + reports version', typeof info.version === 'string' && info.version.length > 0]);
|
||||
checks.push(['kernel backend is native|wasm|js', ['native', 'wasm', 'js'].includes(k.backend)]);
|
||||
checks.push(['host adapter resolves', typeof adapter?.name === 'string']);
|
||||
kernelLine = `kernel ${info.version} (${k.backend}) · host ${adapter.name}`;
|
||||
} catch {
|
||||
/* kernel not installed — fine for the tools-only path */
|
||||
}
|
||||
let ok = true;
|
||||
for (const [label, pass] of checks) { console.log(`${pass ? 'PASS' : 'FAIL'} ${label}`); if (!pass) ok = false; }
|
||||
console.log(`\n${NAME}: ${ok ? 'all checks passed' : 'doctor found problems'} — ${kernelLine}`);
|
||||
return ok ? 0 : 1;
|
||||
}
|
||||
|
||||
function help() {
|
||||
console.log(`Usage: ${NAME} <command> [options]
|
||||
|
||||
Operator tools:
|
||||
onboard [--path docker-demo|repo-build|live-esp32] pick a setup path
|
||||
verify [--repo <dir>] run the deterministic proof (VERDICT: PASS)
|
||||
claim-check --text "..." | --file <path> lint accuracy claims (the honesty guardrail)
|
||||
calibrate --step baseline|enroll|train-room|room-watch
|
||||
monitor --port COM8 [--seconds 12] assert CSI is flowing on a node
|
||||
flash --port COM8 --variant s3-8mb [--confirm] build+flash firmware (Windows/ESP-IDF)
|
||||
|
||||
Harness:
|
||||
doctor verify the install (tools + optional kernel/host)
|
||||
skills list bundled skills
|
||||
skill <name> print a skill playbook
|
||||
mcp start run the ruview.* MCP server (stdio)
|
||||
install --host <h> project the harness config into the current repo
|
||||
--version | --help
|
||||
|
||||
Hosts: claude-code, codex, opencode, copilot, pi-dev, hermes, rvm, github-actions`);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** tiny flag parser: --k v / --k=v / --flag (boolean) */
|
||||
function parseFlags(rest) {
|
||||
const f = {};
|
||||
for (let i = 0; i < rest.length; i++) {
|
||||
const a = rest[i];
|
||||
if (a.startsWith('--')) {
|
||||
const eq = a.indexOf('=');
|
||||
if (eq !== -1) { f[a.slice(2, eq)] = a.slice(eq + 1); }
|
||||
else if (i + 1 < rest.length && !rest[i + 1].startsWith('--')) { f[a.slice(2)] = rest[++i]; }
|
||||
else { f[a.slice(2)] = true; }
|
||||
}
|
||||
}
|
||||
return f;
|
||||
}
|
||||
|
||||
export async function run(args) {
|
||||
const cmd = args[0] ?? 'onboard';
|
||||
const rest = args.slice(1);
|
||||
const flags = parseFlags(rest);
|
||||
|
||||
// Direct tool verbs.
|
||||
if (VERB_TO_TOOL[cmd]) {
|
||||
const toolArgs = { ...flags };
|
||||
if (cmd === 'claim-check') {
|
||||
if (flags.file) toolArgs.text = readFileSync(flags.file, 'utf8');
|
||||
// Fail closed (ADR-263 O1): an honesty gate must never PASS on no input.
|
||||
if (typeof toolArgs.text !== 'string' || toolArgs.text.trim().length === 0) {
|
||||
console.error('claim-check: no input — pass --text "..." or --file <path> (empty input is an error, not a PASS).');
|
||||
return 2;
|
||||
}
|
||||
const res = await runTool('ruview_claim_check', toolArgs);
|
||||
pjson(res);
|
||||
return res.ok ? 0 : 1;
|
||||
}
|
||||
if (cmd === 'monitor' && flags.seconds) toolArgs.seconds = Number(flags.seconds);
|
||||
if (cmd === 'calibrate' && typeof flags.args === 'string') toolArgs.args = flags.args.split(',');
|
||||
const res = await runTool(VERB_TO_TOOL[cmd], toolArgs);
|
||||
pjson(res);
|
||||
return res.ok ? 0 : 1;
|
||||
}
|
||||
|
||||
switch (cmd) {
|
||||
case 'doctor': return doctor();
|
||||
case 'skills': console.log(listSkills().join('\n') || '(none)'); return 0;
|
||||
case 'skill': {
|
||||
const n = rest[0];
|
||||
const p = n && join(SKILLS_DIR, `${n}.md`);
|
||||
if (!p || !existsSync(p)) { console.error(`No skill "${n}". Try: ${listSkills().join(', ')}`); return 2; }
|
||||
console.log(readFileSync(p, 'utf8'));
|
||||
return 0;
|
||||
}
|
||||
case 'mcp': {
|
||||
if (rest[0] === 'start' || rest[0] === undefined) {
|
||||
const { startMcpServer } = await import('../src/mcp-server.js');
|
||||
startMcpServer();
|
||||
return new Promise(() => {}); // run until stdin closes
|
||||
}
|
||||
console.error('Usage: ruview mcp start'); return 2;
|
||||
}
|
||||
case 'install': {
|
||||
const host = flags.host || 'claude-code';
|
||||
try {
|
||||
const adapter = (await import('@metaharness/host-claude-code')).default;
|
||||
console.log(`Projecting RuView harness for host "${host}" via ${adapter.name}.`);
|
||||
console.log('Add to your host config — MCP server command: npx -y ruview mcp start');
|
||||
console.log('Skills:', listSkills().join(', '));
|
||||
return 0;
|
||||
} catch {
|
||||
console.error('Host adapter not installed. `npm i @metaharness/host-claude-code` or use the bundled .claude/ config.');
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
case 'tools': pjson(listTools()); return 0;
|
||||
case '--version': case '-v': {
|
||||
const pkg = JSON.parse(readFileSync(join(ROOT, 'package.json'), 'utf8'));
|
||||
console.log(pkg.version); return 0;
|
||||
}
|
||||
case '--help': case '-h': return help();
|
||||
default:
|
||||
console.error(`Unknown command: ${cmd}. Try \`${NAME} --help\`.`);
|
||||
return 2;
|
||||
}
|
||||
}
|
||||
|
||||
// CLI guard: run only when invoked directly (realpath both sides — npm/npx shims
|
||||
// pass a non-normalized, possibly case-skewed argv[1] on Windows).
|
||||
const invokedDirectly = (() => {
|
||||
if (!argv[1]) return false;
|
||||
try {
|
||||
const a = realpathSync(argv[1]);
|
||||
const b = realpathSync(fileURLToPath(import.meta.url));
|
||||
return process.platform === 'win32' ? a.toLowerCase() === b.toLowerCase() : a === b;
|
||||
} catch { return false; }
|
||||
})();
|
||||
if (invokedDirectly) {
|
||||
run(argv.slice(2)).then((code) => process.exit(code)).catch((err) => { console.error(err); process.exit(1); });
|
||||
}
|
||||
@@ -1,64 +0,0 @@
|
||||
{
|
||||
"name": "@ruvnet/ruview",
|
||||
"version": "0.2.0",
|
||||
"description": "RuView WiFi-sensing operator agent harness — onboard, calibrate, train, and verify camera-free WiFi-CSI sensing, with the project's MEASURED-vs-CLAIMED honesty guardrail enforced. Minted via metaharness (ADR-182).",
|
||||
"type": "module",
|
||||
"bin": {
|
||||
"ruview": "bin/cli.js"
|
||||
},
|
||||
"exports": {
|
||||
".": "./src/tools.js",
|
||||
"./guardrails": "./src/guardrails.js"
|
||||
},
|
||||
"files": [
|
||||
"bin/",
|
||||
"src/",
|
||||
"skills/",
|
||||
".claude/",
|
||||
".harness/",
|
||||
"CLAUDE.md",
|
||||
"README.md",
|
||||
"LICENSE"
|
||||
],
|
||||
"scripts": {
|
||||
"test": "node --test test/*.test.mjs",
|
||||
"doctor": "node ./bin/cli.js doctor",
|
||||
"mcp": "node ./bin/cli.js mcp start",
|
||||
"sync-skills": "node ./scripts/sync-skills.mjs",
|
||||
"prepack": "node ./scripts/sync-skills.mjs",
|
||||
"prepublishOnly": "npm test"
|
||||
},
|
||||
"keywords": [
|
||||
"wifi-sensing",
|
||||
"wifi-densepose",
|
||||
"ruview",
|
||||
"csi",
|
||||
"channel-state-information",
|
||||
"pose-estimation",
|
||||
"presence-detection",
|
||||
"esp32",
|
||||
"agent-harness",
|
||||
"metaharness",
|
||||
"mcp",
|
||||
"mcp-server",
|
||||
"claude-code",
|
||||
"ambient-intelligence"
|
||||
],
|
||||
"engines": {
|
||||
"node": ">=20.0.0"
|
||||
},
|
||||
"license": "MIT",
|
||||
"author": "ruvnet",
|
||||
"homepage": "https://github.com/ruvnet/RuView#readme",
|
||||
"repository": {
|
||||
"type": "git",
|
||||
"url": "git+https://github.com/ruvnet/RuView.git",
|
||||
"directory": "harness/ruview"
|
||||
},
|
||||
"bugs": {
|
||||
"url": "https://github.com/ruvnet/RuView/issues"
|
||||
},
|
||||
"publishConfig": {
|
||||
"access": "public"
|
||||
}
|
||||
}
|
||||
@@ -1,37 +0,0 @@
|
||||
#!/usr/bin/env node
|
||||
// SPDX-License-Identifier: MIT
|
||||
// ADR-263 O7: skills/*.md is the single source of truth; the host-projected
|
||||
// copies (.claude/skills/<name>/SKILL.md) are GENERATED here at pack time.
|
||||
// Run with --check to verify without writing (used by tests/CI).
|
||||
|
||||
import { readdirSync, readFileSync, writeFileSync, mkdirSync, existsSync } from 'node:fs';
|
||||
import { join, dirname } from 'node:path';
|
||||
import { fileURLToPath } from 'node:url';
|
||||
|
||||
const ROOT = dirname(dirname(fileURLToPath(import.meta.url)));
|
||||
const SRC = join(ROOT, 'skills');
|
||||
const DST = join(ROOT, '.claude', 'skills');
|
||||
const checkOnly = process.argv.includes('--check');
|
||||
|
||||
let drift = 0;
|
||||
for (const f of readdirSync(SRC).filter((f) => f.endsWith('.md'))) {
|
||||
const name = f.replace(/\.md$/, '');
|
||||
const src = readFileSync(join(SRC, f), 'utf8');
|
||||
const dstDir = join(DST, name);
|
||||
const dstFile = join(dstDir, 'SKILL.md');
|
||||
const current = existsSync(dstFile) ? readFileSync(dstFile, 'utf8') : null;
|
||||
if (current === src) continue;
|
||||
drift++;
|
||||
if (checkOnly) {
|
||||
console.error(`DRIFT: .claude/skills/${name}/SKILL.md != skills/${f}`);
|
||||
} else {
|
||||
mkdirSync(dstDir, { recursive: true });
|
||||
writeFileSync(dstFile, src);
|
||||
console.error(`synced .claude/skills/${name}/SKILL.md`);
|
||||
}
|
||||
}
|
||||
if (checkOnly && drift > 0) {
|
||||
console.error(`sync-skills --check: ${drift} file(s) out of sync — run \`npm run sync-skills\`.`);
|
||||
process.exit(1);
|
||||
}
|
||||
console.error(`sync-skills: ${drift === 0 ? 'all in sync' : `${drift} file(s) ${checkOnly ? 'OUT OF SYNC' : 'synced'}`}`);
|
||||
@@ -1,29 +0,0 @@
|
||||
---
|
||||
name: calibrate-room
|
||||
description: Run the ADR-151 per-room calibration pipeline — baseline → enroll → extract → train → a bank of small specialists (presence/posture/breathing/heartbeat/restlessness/anomaly).
|
||||
---
|
||||
|
||||
# calibrate-room
|
||||
|
||||
Turn a provisioned node + sensing-server into a working room model. Pure-Rust,
|
||||
edge-deployable (ADR-151). Use the `ruview_calibrate` tool (installed
|
||||
`wifi-densepose` binary, else `cargo run -p wifi-densepose-cli`).
|
||||
|
||||
## Sequence
|
||||
|
||||
1. **baseline** — capture the empty room (Welford amplitude + von Mises phase). Leave
|
||||
the room empty.
|
||||
`ruview_calibrate {step: "baseline"}`
|
||||
2. **enroll** — record the occupant(s) doing the target activities.
|
||||
`ruview_calibrate {step: "enroll"}`
|
||||
3. **train-room** — train the bank of small specialists from baseline + enrollment.
|
||||
`ruview_calibrate {step: "train-room"}`
|
||||
4. **room-watch** — live presence/posture/breathing from the trained room.
|
||||
`ruview_calibrate {step: "room-watch"}` (or the `room-watch` skill)
|
||||
|
||||
## Honesty
|
||||
|
||||
The specialists are calibrated to *this* room; cross-room transfer is a separate
|
||||
problem (LoRA recalibration, ADR-079 P9). Report which room a number came from, and
|
||||
tag presence/vitals accuracy MEASURED only with a held-out check — run
|
||||
`ruview_claim_check` on the writeup.
|
||||
@@ -1,30 +0,0 @@
|
||||
---
|
||||
name: onboard
|
||||
description: Zero-to-sensing path picker for RuView (WiFi-DensePose) — pick docker-demo, repo-build, or live-esp32 and run the next concrete step.
|
||||
---
|
||||
|
||||
# onboard
|
||||
|
||||
Get a newcomer from nothing to a working RuView setup. **First fact to set:** WiFi
|
||||
sensing infers *coarse* pose/presence/breathing from Channel State Information — it
|
||||
is **not a camera**, and any accuracy number must be MEASURED against a baseline
|
||||
(use the `verify` skill / `ruview_claim_check` tool). Never present WiFi output as
|
||||
camera-grade.
|
||||
|
||||
## Pick a path
|
||||
|
||||
Run `ruview_onboard {path}` or decide from:
|
||||
|
||||
1. **docker-demo** — fastest, no hardware. Replays sample CSI into the dashboard.
|
||||
`docker run -p 8000:8000 ruvnet/wifi-densepose` → open `http://localhost:8000`.
|
||||
Use to see what it looks like.
|
||||
2. **repo-build** — for developers. `cd v2 && cargo test --workspace --no-default-features`
|
||||
(1,031+ tests pass), then `cargo run -p wifi-densepose-cli -- --help`.
|
||||
3. **live-esp32** — a real install. Flash a node (`provision-node` skill), point it at
|
||||
the sensing-server, then `calibrate-room`. This is the only path that senses a real room.
|
||||
|
||||
## Then
|
||||
|
||||
- Live sensing → go to **provision-node**, then **calibrate-room**.
|
||||
- Evaluating a model/claim → go to **verify** and run `ruview_claim_check` on any
|
||||
report before you quote a number.
|
||||
@@ -1,49 +0,0 @@
|
||||
---
|
||||
name: provision-node
|
||||
description: Build, flash, and provision an ESP32-S3/C6 CSI node for RuView — firmware variant choice, ESP-IDF Windows-subprocess flow, NVS/WiFi/channel/MAC-filter overrides.
|
||||
---
|
||||
|
||||
# provision-node
|
||||
|
||||
Bring an ESP32 sensing node online.
|
||||
|
||||
## 1. Pick a firmware variant
|
||||
|
||||
- **s3-8mb** (display build) — ESP32-S3 N16R8 / 16MB; AMOLED optional. The display-detect
|
||||
fix (#1000) means a *bare* board still captures CSI (MGMT+DATA).
|
||||
- **s3-4mb** (no-display) — ESP32-S3 4MB; dual-OTA, display disabled.
|
||||
- **c6** — ESP32-C6 + Seeed MR60BHA2 (60 GHz mmWave + WiFi CSI). The mmwave probe
|
||||
requires a validated MR60 header (#1107) so an empty UART never false-detects.
|
||||
|
||||
Prebuilt binaries: GitHub release `v0.8.1-esp32` (hardware-validated on S3 QFN56 rev v0.2).
|
||||
|
||||
## 2. Flash
|
||||
|
||||
ESP-IDF v5.4 on Windows is **subprocess-only** (Git Bash/MSYS is unsupported — strip
|
||||
`MSYSTEM*` env vars). Offsets for the S3 image:
|
||||
|
||||
```
|
||||
esptool --chip esp32s3 -p <PORT> -b 460800 write_flash \
|
||||
0x0 bootloader.bin 0x8000 partition-table.bin \
|
||||
0xf000 ota_data_initial.bin 0x20000 esp32-csi-node-s3-8mb.bin
|
||||
```
|
||||
|
||||
(`ruview_node_flash` returns the exact pinned command rather than running an
|
||||
unattended flash.)
|
||||
|
||||
## 3. Provision
|
||||
|
||||
```
|
||||
python firmware/esp32-csi-node/provision.py --port <PORT> \
|
||||
--ssid "<SSID>" --password "<secret>" --target-ip <server-ip> --target-port 5005
|
||||
# optional ADR-060 overrides:
|
||||
python firmware/esp32-csi-node/provision.py --port <PORT> --channel 6 --filter-mac AA:BB:CC:DD:EE:FF
|
||||
```
|
||||
|
||||
Never echo or commit the WiFi password.
|
||||
|
||||
## 4. Confirm CSI is flowing
|
||||
|
||||
`ruview_node_monitor {port}` — PASS criteria: serial shows `CSI cb #...` callbacks and
|
||||
(on a bare board) `CSI filter upgraded to MGMT+DATA`. No callbacks → the node isn't
|
||||
capturing; do not proceed to calibration.
|
||||
@@ -1,33 +0,0 @@
|
||||
---
|
||||
name: train-pose
|
||||
description: Train/evaluate WiFi pose models honestly — camera-supervised (MediaPipe + CSI) and camera-free (WiFlow), always checked against the mean-pose baseline before any PCK is quoted.
|
||||
---
|
||||
|
||||
# train-pose
|
||||
|
||||
Build a CSI→pose model without overstating it. The project has a **retracted 92.9%/100%**
|
||||
history — the discipline below exists so it never recurs.
|
||||
|
||||
## The non-negotiable: mean-pose baseline first
|
||||
|
||||
A pose model that always predicts the dataset's *mean pose* already scores ~50% PCK.
|
||||
**Quote PCK only as a delta over that baseline**, on a held-out split with no subject
|
||||
or temporal leakage. Example honest result (ADR-181):
|
||||
|
||||
> Held-out PCK@20 **59.5%** vs a 50% mean-pose baseline = **+9.4 pp real signal** — MEASURED.
|
||||
|
||||
## Paths
|
||||
|
||||
- **camera-supervised** (ADR-079) — MediaPipe Pose labels the camera frame; paired CSI
|
||||
trains the net. Train/infer in one camera frame so the skeleton aligns.
|
||||
- **camera-free** (WiFlow, ADR-152) — no camera at inference; geometry-conditioned.
|
||||
- **in-browser** (ADR-181) — WebGPU/WASM trainer; the active backend is shown as a badge
|
||||
(honest about what's executing).
|
||||
|
||||
## Before you publish a number
|
||||
|
||||
1. Run the mean-pose baseline on the same split.
|
||||
2. Report `(model − baseline)` in pp, with the split definition (chronological /
|
||||
blocked-gap / grouped-bucket; no leakage).
|
||||
3. `ruview_claim_check` the writeup — it flags any untagged or 100%/perfect claim.
|
||||
4. If it's a benchmark vs SOTA, tag MEASURED-EQUIVALENT only with the reproducer.
|
||||
@@ -1,42 +0,0 @@
|
||||
---
|
||||
name: verify
|
||||
description: Prove a RuView result is real — run the deterministic SHA-256 proof and the witness bundle (ADR-028), and lint any claim for MEASURED-vs-CLAIMED honesty.
|
||||
---
|
||||
|
||||
# verify
|
||||
|
||||
The "prove everything" skill. Nothing ships as validated without this.
|
||||
|
||||
## Deterministic proof (Trust Kill Switch)
|
||||
|
||||
`ruview_verify` runs `archive/v1/data/proof/verify.py`: it feeds a reference signal
|
||||
through the production pipeline and hashes the output against
|
||||
`expected_features.sha256`. Must print **VERDICT: PASS**. If numpy/scipy changed the
|
||||
hash, regenerate with `verify.py --generate-hash` then re-verify.
|
||||
|
||||
## Witness bundle (ADR-028)
|
||||
|
||||
For a release-grade attestation:
|
||||
|
||||
```
|
||||
bash scripts/generate-witness-bundle.sh
|
||||
cd dist/witness-bundle-ADR028-*/ && bash VERIFY.sh # must be 7/7 PASS
|
||||
```
|
||||
|
||||
Contains the Rust test log, the proof + expected hash, firmware SHA-256 manifest, and
|
||||
crate versions — a recipient can re-verify with one command.
|
||||
|
||||
## Claim honesty
|
||||
|
||||
Run `ruview_claim_check {text}` on any report, README section, PR body, or model card
|
||||
before quoting accuracy. It flags:
|
||||
- untagged accuracy numbers (must be MEASURED / CLAIMED / SYNTHETIC),
|
||||
- MEASURED claims with no reproducer cited,
|
||||
- the retracted "100%/perfect accuracy" framing.
|
||||
|
||||
## Firmware-specific
|
||||
|
||||
A firmware fix is **not** "hardware-validated" without a captured boot log on real
|
||||
silicon (e.g. the `v0.8.1-esp32` rev-v0.2 validation: `running headless so CSI
|
||||
captures (#1000)` + `CSI filter upgraded to MGMT+DATA` + a no-false-detect mmwave
|
||||
probe). Do not merge or release on a build-passes signal alone.
|
||||
@@ -1,148 +0,0 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
// RuView harness guardrails — the "prove everything" rule made executable.
|
||||
//
|
||||
// The project was accused of AI-slop; the cultural fix is that every accuracy
|
||||
// number must be tagged MEASURED (with a reproducer) or CLAIMED/SYNTHETIC, and
|
||||
// the retracted "100% accuracy" framing must never reappear untagged. This module
|
||||
// is the static enforcement of that, shared by the `ruview_claim_check` MCP tool,
|
||||
// the `npx ruview claim-check` CLI, and the claude-code pre-output hook.
|
||||
|
||||
/** Phrases that signal a quantitative accuracy claim (safe as substrings). */
|
||||
const METRIC_TERMS = [
|
||||
'accuracy', 'pck', 'precision', 'recall',
|
||||
'mpjpe', 'error rate', 'detection rate', 'true positive',
|
||||
];
|
||||
|
||||
// Short/ambiguous metric tokens (ADR-263 F11): 'map' is usually the English
|
||||
// word or a file extension, 'f1'/'o1' collide with finding/option labels.
|
||||
// They only count as metric mentions when word-bounded, not a `.map` file
|
||||
// reference, and the line (after scrubbing) carries a number — "mAP 62.3" is
|
||||
// a claim, "F-numbers map to findings" is not.
|
||||
// 'map' additionally must not be a `.map` file suffix or a hyphenated
|
||||
// compound ("map-free", "map-reduce") — mAP the metric never appears as either.
|
||||
const METRIC_TERMS_SHORT = [/(?<![.\w])map\b(?!-)/, /\bf1\b/, /\bauc\b/, /\biou\b/];
|
||||
// Finding/option labels (F1, O2, …) count as labels unless the token sits in a
|
||||
// metric context: an immediately following score/=/%/digit or colon ("F1: 0.91"),
|
||||
// or a number later in the same clause ("F1 reaches 0.91" — an F1-score claim).
|
||||
// Bare option refs ("F7 fixes", "O1–O9", "ADR-263 O2") carry no clause number of
|
||||
// their own and stay labels. (A surviving 'f1' still only fires as a metric when
|
||||
// its scrubbed line actually carries a number — see mentionsMetricTerm.)
|
||||
const LABEL_TOKEN_RE = /\b[fo]\d+\b(?!\s*(?:score|=|\d|%|:))(?![^\n.;]*\d)/g;
|
||||
const CODE_SPAN_RE = /`[^`]*`/g; // backticked identifiers are code, not claims
|
||||
const HAS_NUMBER_RE = /\d/;
|
||||
|
||||
/** Line with code spans and finding/option labels removed. */
|
||||
function scrubLine(lower) {
|
||||
return lower.replace(CODE_SPAN_RE, ' ').replace(LABEL_TOKEN_RE, ' ');
|
||||
}
|
||||
|
||||
function mentionsMetricTerm(lower, scrubbed) {
|
||||
if (METRIC_TERMS.some((t) => lower.includes(t))) return true;
|
||||
if (!HAS_NUMBER_RE.test(scrubbed)) return false;
|
||||
return METRIC_TERMS_SHORT.some((re) => re.test(scrubbed));
|
||||
}
|
||||
|
||||
/** Tags that make a claim honest (case-insensitive). */
|
||||
const HONEST_TAGS = ['measured', 'claimed', 'synthetic', 'unvalidated', 'baseline'];
|
||||
|
||||
/** Reproducer references that count as evidence backing a MEASURED claim. */
|
||||
const REPRODUCER_HINTS = [
|
||||
'verify.py', 'witness', 'mean-pose', 'mean pose', 'held-out', 'held out',
|
||||
'baseline', 'reproduce', 'sha256', 'boot log', 'pck@20 vs', 'expected_features',
|
||||
// Packaging-claim reproducers (ADR-263/264 npm reviews): the tarball itself.
|
||||
'npm pack', 'npm view', 'npm i ', 'npm install', 'tarball', 'cargo test',
|
||||
];
|
||||
|
||||
const PERCENT_RE = /\b(\d{1,3}(?:\.\d+)?)\s?%/g;
|
||||
// "perfect" / "100%" framing is the specific retracted claim — always high severity.
|
||||
// NOTE: no trailing \b after "%": "%"→" " is non-word→non-word, so a trailing \b
|
||||
// never matches and would silently miss "100%". Bare 100% is only damning next to a
|
||||
// metric term (see claimCheck); the word phrases are inherently accuracy claims.
|
||||
const PERFECT_PCT_RE = /\b100(?:\.0+)?\s?%/;
|
||||
const PERFECT_WORD_RE = /perfect accuracy|flawless|never (?:wrong|fails)/i;
|
||||
|
||||
/**
|
||||
* Lint a block of text for untagged or overstated accuracy claims.
|
||||
* @param {string} text
|
||||
* @returns {{ok: boolean, findings: Array<{severity:'high'|'medium', line:number, excerpt:string, reason:string, suggestion:string}>}}
|
||||
*/
|
||||
export function claimCheck(text) {
|
||||
const findings = [];
|
||||
if (typeof text !== 'string' || text.length === 0) {
|
||||
return { ok: true, findings };
|
||||
}
|
||||
const lines = text.split(/\r?\n/);
|
||||
|
||||
lines.forEach((raw, i) => {
|
||||
const line = raw.trim();
|
||||
if (!line) return;
|
||||
const lower = line.toLowerCase();
|
||||
|
||||
const hasPercent = PERCENT_RE.test(line);
|
||||
PERCENT_RE.lastIndex = 0; // reset stateful global regex
|
||||
const scrubbed = scrubLine(lower);
|
||||
const mentionsMetric = mentionsMetricTerm(lower, scrubbed);
|
||||
if (!hasPercent && !mentionsMetric) return;
|
||||
|
||||
const tagged = HONEST_TAGS.some((t) => lower.includes(t));
|
||||
const hasReproducer = REPRODUCER_HINTS.some((h) => lower.includes(h));
|
||||
const perfect = PERFECT_WORD_RE.test(line) || (mentionsMetric && PERFECT_PCT_RE.test(line));
|
||||
|
||||
if (perfect && !lower.includes('retract')) {
|
||||
findings.push({
|
||||
severity: 'high',
|
||||
line: i + 1,
|
||||
excerpt: clip(line),
|
||||
reason: 'States perfect/100% accuracy — this is the exact framing the project retracted.',
|
||||
suggestion: 'Replace with a held-out number vs the mean-pose baseline, tagged MEASURED, or mark the old claim "retracted".',
|
||||
});
|
||||
return;
|
||||
}
|
||||
|
||||
// A quantitative claim needs a number. Digits hidden in a code span still
|
||||
// count — "accuracy reached `0.95`" is a claim — so test the line with only
|
||||
// finding/option labels stripped, NOT the code-span-scrubbed copy: scrubbing
|
||||
// dropped `0.95` and wrongly short-circuited both the untagged and the
|
||||
// MEASURED-without-reproducer checks below. A bare metric word in prose
|
||||
// ("precision matters here", "every accuracy number must be MEASURED") has no
|
||||
// number and is not a taggable claim (ADR-263 F11).
|
||||
if (!hasPercent && !HAS_NUMBER_RE.test(lower.replace(LABEL_TOKEN_RE, ' '))) return;
|
||||
|
||||
// A metric/percent with no honesty tag at all.
|
||||
if (!tagged) {
|
||||
findings.push({
|
||||
severity: 'medium',
|
||||
line: i + 1,
|
||||
excerpt: clip(line),
|
||||
reason: 'Accuracy claim is not tagged MEASURED / CLAIMED / SYNTHETIC.',
|
||||
suggestion: 'Tag it. If MEASURED, name the reproducer (verify.py, witness bundle, held-out vs mean-pose).',
|
||||
});
|
||||
return;
|
||||
}
|
||||
|
||||
// Tagged MEASURED but cites no reproducer — still a gap (reached now even
|
||||
// when the only number is inside a code span, e.g. "accuracy `0.97` (MEASURED)").
|
||||
if (lower.includes('measured') && !hasReproducer) {
|
||||
findings.push({
|
||||
severity: 'medium',
|
||||
line: i + 1,
|
||||
excerpt: clip(line),
|
||||
reason: 'Tagged MEASURED but cites no reproducer/evidence.',
|
||||
suggestion: 'Add the evidence path: verify.py VERDICT, witness bundle, or held-out PCK vs the mean-pose baseline.',
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
return { ok: findings.length === 0, findings };
|
||||
}
|
||||
|
||||
function clip(s, n = 120) {
|
||||
return s.length > n ? `${s.slice(0, n - 1)}…` : s;
|
||||
}
|
||||
|
||||
/** Convenience: a one-line human summary for CLI output. */
|
||||
export function summarize(result) {
|
||||
if (result.ok) return 'claim-check: PASS — no untagged or overstated accuracy claims.';
|
||||
const high = result.findings.filter((f) => f.severity === 'high').length;
|
||||
return `claim-check: ${result.findings.length} finding(s) (${high} high) — accuracy claims need MEASURED/CLAIMED tags + a reproducer.`;
|
||||
}
|
||||
@@ -1,107 +0,0 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
// RuView harness — minimal MCP stdio server (JSON-RPC 2.0 over stdin/stdout).
|
||||
//
|
||||
// Dependency-free on purpose: a published `npx ruview` must `mcp start` without
|
||||
// pulling the full MCP SDK. Implements the subset hosts use: `initialize`,
|
||||
// `tools/list`, `tools/call`, `ping`, empty `resources/list`/`prompts/list`
|
||||
// stubs, and the `notifications/initialized` ack. Logs go to stderr ONLY —
|
||||
// stdout is the JSON-RPC channel and must stay clean.
|
||||
//
|
||||
// ADR-263 O2: `tools/call` is dispatched asynchronously — a long-running
|
||||
// verify/calibrate no longer blocks ping/tools/list, so hosts that health-check
|
||||
// mid-run see a live server. Responses may therefore arrive out of request
|
||||
// order, which JSON-RPC permits (ids correlate them).
|
||||
|
||||
import { createInterface } from 'node:readline';
|
||||
import { readFileSync } from 'node:fs';
|
||||
import { listTools, runTool } from './tools.js';
|
||||
|
||||
const PROTOCOL_VERSION = '2024-11-05';
|
||||
// Single-source the version from package.json (ADR-263 O6).
|
||||
const PKG = JSON.parse(readFileSync(new URL('../package.json', import.meta.url), 'utf8'));
|
||||
const SERVER_INFO = { name: 'ruview', version: PKG.version };
|
||||
|
||||
function send(msg) {
|
||||
process.stdout.write(JSON.stringify(msg) + '\n');
|
||||
}
|
||||
function result(id, res) { send({ jsonrpc: '2.0', id, result: res }); }
|
||||
function error(id, code, message) { send({ jsonrpc: '2.0', id, error: { code, message } }); }
|
||||
function log(...a) { process.stderr.write('[ruview-mcp] ' + a.join(' ') + '\n'); }
|
||||
|
||||
async function handle(msg) {
|
||||
const { id, method, params } = msg;
|
||||
switch (method) {
|
||||
case 'initialize':
|
||||
return result(id, {
|
||||
protocolVersion: PROTOCOL_VERSION,
|
||||
capabilities: { tools: { listChanged: false } },
|
||||
serverInfo: SERVER_INFO,
|
||||
instructions: 'RuView WiFi-sensing operator tools. All results are fail-closed; accuracy claims must pass ruview_claim_check.',
|
||||
});
|
||||
case 'notifications/initialized':
|
||||
case 'initialized':
|
||||
case 'notifications/cancelled':
|
||||
return; // notifications — no response
|
||||
case 'ping':
|
||||
return result(id, {});
|
||||
case 'tools/list':
|
||||
return result(id, { tools: listTools() });
|
||||
case 'resources/list':
|
||||
return result(id, { resources: [] });
|
||||
case 'prompts/list':
|
||||
return result(id, { prompts: [] });
|
||||
case 'tools/call': {
|
||||
const name = params?.name;
|
||||
const args = params?.arguments || {};
|
||||
const out = await runTool(name, args);
|
||||
// MCP content envelope: text block with the JSON, isError reflects ok=false.
|
||||
return result(id, {
|
||||
content: [{ type: 'text', text: JSON.stringify(out, null, 2) }],
|
||||
isError: out && out.ok === false,
|
||||
});
|
||||
}
|
||||
default:
|
||||
if (id !== undefined) error(id, -32601, `Method not found: ${method}`);
|
||||
}
|
||||
}
|
||||
|
||||
export function startMcpServer() {
|
||||
log(`starting v${SERVER_INFO.version} (protocol ${PROTOCOL_VERSION}, ${listTools().length} tools)`);
|
||||
const rl = createInterface({ input: process.stdin, crlfDelay: Infinity });
|
||||
|
||||
// tools/call runs are serialized through a FIFO promise chain: hardware/mutating
|
||||
// tools (calibrate, serial monitor, flash) must never overlap. ping/tools/list/
|
||||
// initialize/resources/prompts stay immediate (ADR-263 O2 — a health check must
|
||||
// answer during a long tool run). `toolChain` also lets stdin-close drain the
|
||||
// in-flight call so its response is flushed instead of dropped by process.exit.
|
||||
let toolChain = Promise.resolve();
|
||||
|
||||
const dispatch = (msg) => handle(msg).catch((err) => {
|
||||
if (msg && msg.id !== undefined) error(msg.id, -32603, String(err && err.message || err));
|
||||
log('handler error:', String(err));
|
||||
});
|
||||
|
||||
rl.on('line', (line) => {
|
||||
const s = line.trim();
|
||||
if (!s) return;
|
||||
let msg;
|
||||
try { msg = JSON.parse(s); } catch { return log('bad JSON line dropped'); }
|
||||
if (msg && msg.method === 'tools/call') {
|
||||
toolChain = toolChain.then(() => dispatch(msg)); // one tool at a time
|
||||
} else {
|
||||
dispatch(msg); // health/list/handshake answer immediately, even mid tool run
|
||||
}
|
||||
});
|
||||
|
||||
rl.on('close', () => {
|
||||
// Wait for any queued/in-flight tool call to settle (its response written)
|
||||
// before exiting — fire-and-forget used to race this and drop the response.
|
||||
toolChain.then(() => {
|
||||
log('stdin closed — exiting');
|
||||
const done = () => process.exit(0);
|
||||
// Pipe writes are async; flush buffered stdout before exit.
|
||||
if (process.stdout.writableLength) process.stdout.once('drain', done);
|
||||
else done();
|
||||
});
|
||||
});
|
||||
}
|
||||
@@ -1,301 +0,0 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
// RuView harness — the `ruview.*` tool registry.
|
||||
//
|
||||
// One registry consumed by BOTH the CLI (`npx ruview <tool>`) and the MCP server
|
||||
// (`npx ruview mcp start`). Every handler returns structured JSON and is
|
||||
// FAIL-CLOSED: when a prerequisite (the RuView repo, python+pyserial, the
|
||||
// `wifi-densepose` binary, an ESP32 on a port) is absent, it returns an honest
|
||||
// negative — never a fabricated success. This mirrors the project's "prove
|
||||
// everything" rule and the RuField fail-closed posture (ADR-262 §3.3).
|
||||
//
|
||||
// ADR-263: handlers are async (promise-based spawn, never spawnSync) so the MCP
|
||||
// server keeps answering ping/tools/list while a long verify/calibrate runs.
|
||||
// Canonical tool names use underscores (host tool-name regexes commonly enforce
|
||||
// ^[a-zA-Z0-9_-]{1,64}$); the historical dotted names are accepted as aliases.
|
||||
|
||||
import { spawn } from 'node:child_process';
|
||||
import { existsSync, accessSync, constants } from 'node:fs';
|
||||
import { join, dirname, resolve, delimiter } from 'node:path';
|
||||
import { claimCheck, summarize } from './guardrails.js';
|
||||
|
||||
/** Walk up from `start` to find the RuView monorepo root (or null). */
|
||||
export function findRepoRoot(start = process.cwd()) {
|
||||
let dir = resolve(start);
|
||||
for (let i = 0; i < 8; i++) {
|
||||
const hasProof = existsSync(join(dir, 'archive', 'v1', 'data', 'proof', 'verify.py'));
|
||||
const hasV2 = existsSync(join(dir, 'v2', 'Cargo.toml'));
|
||||
if (hasProof || hasV2) return dir;
|
||||
const parent = dirname(dir);
|
||||
if (parent === dir) break;
|
||||
dir = parent;
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
// Dep-free PATH scan (ADR-263 O8) — no shell subprocess per lookup. Only hits
|
||||
// are memoized: a miss can resolve later in a long-lived MCP session (the
|
||||
// operator installs python/the CLI mid-run), so misses are re-probed each call.
|
||||
const whichCache = new Map();
|
||||
export function which(cmd) {
|
||||
if (whichCache.has(cmd)) return whichCache.get(cmd);
|
||||
const isWin = process.platform === 'win32';
|
||||
const exts = isWin
|
||||
? (process.env.PATHEXT || '.COM;.EXE;.BAT;.CMD').split(';').filter(Boolean)
|
||||
: [''];
|
||||
let found = null;
|
||||
outer:
|
||||
for (const dir of (process.env.PATH || '').split(delimiter)) {
|
||||
if (!dir) continue;
|
||||
for (const ext of isWin ? ['', ...exts] : exts) {
|
||||
const p = join(dir, cmd + ext);
|
||||
try {
|
||||
accessSync(p, isWin ? constants.F_OK : constants.X_OK);
|
||||
found = p;
|
||||
break outer;
|
||||
} catch { /* keep scanning */ }
|
||||
}
|
||||
}
|
||||
if (found !== null) whichCache.set(cmd, found);
|
||||
return found;
|
||||
}
|
||||
|
||||
// Bounded output tails (ADR-263 O4): spawnSync's default 1 MiB maxBuffer killed
|
||||
// chatty children with ENOBUFS; handlers only ever surface the last few kB, so
|
||||
// keep rolling tails instead of the full stream.
|
||||
const STDOUT_TAIL = 65536;
|
||||
const STDERR_TAIL = 16384;
|
||||
|
||||
/** Promise-based spawn with timeout + rolling output tails. */
|
||||
export function run(cmd, args, opts = {}) {
|
||||
const timeout = opts.timeout ?? 120000;
|
||||
return new Promise((resolvePromise) => {
|
||||
let stdout = '';
|
||||
let stderr = '';
|
||||
let child;
|
||||
try {
|
||||
child = spawn(cmd, args, { cwd: opts.cwd, stdio: ['ignore', 'pipe', 'pipe'] });
|
||||
} catch (e) {
|
||||
resolvePromise({ status: null, ok: false, stdout: '', stderr: '', error: e.message });
|
||||
return;
|
||||
}
|
||||
let timedOut = false;
|
||||
const timer = setTimeout(() => { timedOut = true; child.kill('SIGKILL'); }, timeout);
|
||||
child.stdout.on('data', (d) => {
|
||||
stdout = (stdout + d).slice(-STDOUT_TAIL);
|
||||
});
|
||||
child.stderr.on('data', (d) => {
|
||||
stderr = (stderr + d).slice(-STDERR_TAIL);
|
||||
});
|
||||
child.on('error', (e) => {
|
||||
clearTimeout(timer);
|
||||
resolvePromise({ status: null, ok: false, stdout, stderr, error: e.message });
|
||||
});
|
||||
child.on('close', (status) => {
|
||||
clearTimeout(timer);
|
||||
resolvePromise({
|
||||
status,
|
||||
ok: status === 0,
|
||||
stdout,
|
||||
stderr,
|
||||
error: timedOut ? `timed out after ${timeout} ms` : null,
|
||||
});
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
const ONBOARD_PATHS = {
|
||||
'docker-demo': 'Fastest. `docker run -p 8000:8000 ruvnet/wifi-densepose` → open the dashboard. No hardware; replays sample CSI. Good for "what does it look like".',
|
||||
'repo-build': 'Build from source. `cd v2 && cargo test --workspace --no-default-features` (1,031+ tests). Then `cargo run -p wifi-densepose-cli -- --help`. Good for developers.',
|
||||
'live-esp32': 'Real sensing. Flash an ESP32-S3 (see `provision-node` skill), point it at the sensing-server, then `calibrate → enroll → train-room → room-watch` (see `calibrate-room`). Good for an actual install.',
|
||||
};
|
||||
|
||||
// Read-only serial monitor script; the port arrives via sys.argv (ADR-263 O5 —
|
||||
// never spliced into interpreter source).
|
||||
const MONITOR_SCRIPT = [
|
||||
'import sys,time',
|
||||
'try:',
|
||||
' import serial',
|
||||
'except Exception as e:',
|
||||
" print('NO_PYSERIAL'); sys.exit(3)",
|
||||
'port=sys.argv[1]',
|
||||
'dur=float(sys.argv[2])',
|
||||
'ser=serial.Serial(port,115200,timeout=1)',
|
||||
'csi=0; n=0; t=time.time()',
|
||||
'while time.time()-t<dur:',
|
||||
' ln=ser.readline()',
|
||||
' if not ln: continue',
|
||||
" s=ln.decode('utf-8','replace')",
|
||||
' n+=1',
|
||||
" if 'CSI cb' in s or 'csi_collector' in s: csi+=1",
|
||||
" if 'MGMT+DATA' in s: print('UPGRADE_MGMT_DATA')",
|
||||
'ser.close()',
|
||||
"print(f'LINES={n} CSI={csi}')",
|
||||
].join('\n');
|
||||
|
||||
/**
|
||||
* The tool registry. Each entry: { title, description, inputSchema, handler }.
|
||||
* inputSchema is JSON-Schema (object). handler(args) → JSON-serializable result
|
||||
* (sync or promise). Canonical names are underscore-form.
|
||||
*/
|
||||
export const TOOLS = {
|
||||
ruview_onboard: {
|
||||
title: 'Onboard',
|
||||
description: 'Pick a RuView setup path (docker-demo | repo-build | live-esp32) and print the next concrete command.',
|
||||
inputSchema: {
|
||||
type: 'object',
|
||||
properties: { path: { type: 'string', enum: Object.keys(ONBOARD_PATHS), description: 'Which setup path. Omit to list all.' } },
|
||||
},
|
||||
handler(args = {}) {
|
||||
const repo = findRepoRoot();
|
||||
if (args.path && ONBOARD_PATHS[args.path]) {
|
||||
return { ok: true, path: args.path, next: ONBOARD_PATHS[args.path], in_ruview_repo: !!repo };
|
||||
}
|
||||
return {
|
||||
ok: true,
|
||||
in_ruview_repo: !!repo,
|
||||
repo_root: repo,
|
||||
paths: ONBOARD_PATHS,
|
||||
recommend: repo ? 'repo-build' : 'docker-demo',
|
||||
note: 'WiFi sensing infers coarse pose/presence from CSI — it is not a camera. Accuracy claims must be MEASURED vs a baseline (run `ruview_claim_check`).',
|
||||
};
|
||||
},
|
||||
},
|
||||
|
||||
ruview_claim_check: {
|
||||
title: 'Claim check',
|
||||
description: 'Static lint: scan text for untagged or overstated accuracy claims (the "prove everything" guardrail). Returns findings. Fail-closed: empty input is an error, not a pass.',
|
||||
inputSchema: {
|
||||
type: 'object',
|
||||
required: ['text'],
|
||||
properties: { text: { type: 'string', description: 'The text to lint (a report, README section, PR body, model card).' } },
|
||||
},
|
||||
handler(args = {}) {
|
||||
const text = typeof args.text === 'string' ? args.text : '';
|
||||
if (text.trim().length === 0) {
|
||||
return { ok: false, reason: 'empty_text', hint: 'Pass the text to lint — an empty input must not pass an honesty gate.' };
|
||||
}
|
||||
const result = claimCheck(text);
|
||||
return { ...result, summary: summarize(result) };
|
||||
},
|
||||
},
|
||||
|
||||
ruview_verify: {
|
||||
title: 'Verify (witness)',
|
||||
description: 'Run the deterministic proof (archive/v1/data/proof/verify.py) and report VERDICT. Fail-closed if not in a RuView repo or python is missing.',
|
||||
inputSchema: {
|
||||
type: 'object',
|
||||
properties: { repo: { type: 'string', description: 'RuView repo root. Default: auto-detect from cwd.' } },
|
||||
},
|
||||
async handler(args = {}) {
|
||||
const repo = args.repo ? resolve(args.repo) : findRepoRoot();
|
||||
if (!repo) return { ok: false, reason: 'not_in_ruview_repo', hint: 'Run inside the RuView monorepo or pass {repo}.' };
|
||||
const proof = join(repo, 'archive', 'v1', 'data', 'proof', 'verify.py');
|
||||
if (!existsSync(proof)) return { ok: false, reason: 'proof_missing', path: proof };
|
||||
const py = which('python') || which('python3');
|
||||
if (!py) return { ok: false, reason: 'python_missing', hint: 'Install python to run the deterministic proof.' };
|
||||
const r = await run(py, [proof], { cwd: repo, timeout: 180000 });
|
||||
const verdict = /VERDICT:\s*PASS/i.test(r.stdout) ? 'PASS' : (/VERDICT:\s*FAIL/i.test(r.stdout) ? 'FAIL' : 'UNKNOWN');
|
||||
return { ok: r.ok && verdict === 'PASS', verdict, exit: r.status, tail: r.stdout.slice(-1200), stderr: r.stderr.slice(-400) };
|
||||
},
|
||||
},
|
||||
|
||||
ruview_node_monitor: {
|
||||
title: 'Node monitor',
|
||||
description: 'Open an ESP32 serial port and assert CSI is flowing (MGMT+DATA). Fail-closed if python+pyserial or the port is absent. Read-only.',
|
||||
inputSchema: {
|
||||
type: 'object',
|
||||
properties: {
|
||||
port: { type: 'string', description: 'Serial port, e.g. COM8 or /dev/ttyUSB0.' },
|
||||
seconds: { type: 'number', description: 'Capture window (default 12).' },
|
||||
},
|
||||
},
|
||||
async handler(args = {}) {
|
||||
const port = args.port;
|
||||
if (!port || typeof port !== 'string') return { ok: false, reason: 'no_port', hint: 'Pass {port} (e.g. COM8).' };
|
||||
const py = which('python') || which('python3');
|
||||
if (!py) return { ok: false, reason: 'python_missing' };
|
||||
const dur = Number(args.seconds) > 0 ? Number(args.seconds) : 12;
|
||||
const r = await run(py, ['-c', MONITOR_SCRIPT, port, String(dur)], { timeout: (dur + 10) * 1000 });
|
||||
if (r.stdout.includes('NO_PYSERIAL')) return { ok: false, reason: 'pyserial_missing', hint: 'pip install pyserial' };
|
||||
if (!r.ok) return { ok: false, reason: 'port_error', stderr: r.stderr, error: r.error };
|
||||
const csi = Number((r.stdout.match(/CSI=(\d+)/) || [])[1] || 0);
|
||||
const upgraded = r.stdout.includes('UPGRADE_MGMT_DATA');
|
||||
return { ok: csi > 0, csi_callbacks: csi, mgmt_data_upgrade: upgraded, raw: r.stdout.trim() };
|
||||
},
|
||||
},
|
||||
|
||||
ruview_calibrate: {
|
||||
title: 'Calibrate room',
|
||||
description: 'Run the ADR-151 room pipeline via the wifi-densepose CLI (baseline→enroll→train-room). Fail-closed if the binary is absent.',
|
||||
inputSchema: {
|
||||
type: 'object',
|
||||
properties: {
|
||||
step: { type: 'string', enum: ['baseline', 'enroll', 'train-room', 'room-watch'], description: 'Which calibration step.' },
|
||||
args: { type: 'array', items: { type: 'string' }, description: 'Extra CLI args passed through.' },
|
||||
},
|
||||
},
|
||||
async handler(args = {}) {
|
||||
const step = args.step || 'baseline';
|
||||
const bin = which('wifi-densepose');
|
||||
const repo = findRepoRoot();
|
||||
if (!bin && !repo) return { ok: false, reason: 'cli_missing', hint: 'Install the wifi-densepose CLI or run in the repo (cargo run -p wifi-densepose-cli).' };
|
||||
const passthru = Array.isArray(args.args) ? args.args.map(String) : [];
|
||||
// Prefer the installed binary; otherwise cargo-run from the repo.
|
||||
const r = bin
|
||||
? await run(bin, [step, ...passthru], { timeout: 300000 })
|
||||
: await run('cargo', ['run', '-q', '-p', 'wifi-densepose-cli', '--', step, ...passthru], { cwd: repo, timeout: 600000 });
|
||||
return { ok: r.ok, step, via: bin ? 'binary' : 'cargo', exit: r.status, tail: r.stdout.slice(-1500), stderr: r.stderr.slice(-500) };
|
||||
},
|
||||
},
|
||||
|
||||
ruview_node_flash: {
|
||||
title: 'Node flash',
|
||||
description: 'Build+flash an ESP32 firmware variant. MUTATING + hardware. Fail-closed off-Windows or without ESP-IDF. Never claims hardware validation without a boot log.',
|
||||
inputSchema: {
|
||||
type: 'object',
|
||||
properties: {
|
||||
port: { type: 'string', description: 'Target port, e.g. COM8.' },
|
||||
variant: { type: 'string', enum: ['s3-8mb', 's3-4mb', 'c6'], description: 'Firmware variant.' },
|
||||
confirm: { type: 'boolean', description: 'Must be true to actually flash (guard).' },
|
||||
},
|
||||
},
|
||||
handler(args = {}) {
|
||||
if (process.platform !== 'win32') {
|
||||
return { ok: false, reason: 'unsupported_platform', detail: 'The ESP-IDF flash flow is Windows-subprocess-specific today (see CLAUDE.local.md).' };
|
||||
}
|
||||
if (!args.confirm) {
|
||||
return { ok: false, reason: 'not_confirmed', detail: 'Mutating hardware op — re-call with {confirm:true}.', would_flash: { port: args.port, variant: args.variant || 's3-8mb' } };
|
||||
}
|
||||
return { ok: false, reason: 'manual_step_required', detail: 'Flashing uses the pinned ESP-IDF subprocess in CLAUDE.local.md. This tool returns the exact command rather than running an unattended flash.', see: 'skills/provision-node.md' };
|
||||
},
|
||||
},
|
||||
};
|
||||
|
||||
// Historical dotted names (pre-ADR-263) accepted as call-time aliases; the
|
||||
// underscore form is what tools/list advertises.
|
||||
export const TOOL_ALIASES = Object.fromEntries(
|
||||
Object.keys(TOOLS).map((name) => [name.replace(/_/, '.'), name])
|
||||
);
|
||||
|
||||
/** Resolve a canonical or aliased tool name (or null). */
|
||||
export function resolveToolName(name) {
|
||||
if (TOOLS[name]) return name;
|
||||
if (TOOL_ALIASES[name]) return TOOL_ALIASES[name];
|
||||
return null;
|
||||
}
|
||||
|
||||
/** Run one tool by name (canonical or dotted alias); always resolves to the structured result. */
|
||||
export async function runTool(name, args) {
|
||||
const canonical = resolveToolName(name);
|
||||
if (!canonical) return { ok: false, reason: 'unknown_tool', name, available: Object.keys(TOOLS) };
|
||||
try {
|
||||
return await TOOLS[canonical].handler(args || {});
|
||||
} catch (err) {
|
||||
return { ok: false, reason: 'tool_threw', name: canonical, error: String(err && err.message || err) };
|
||||
}
|
||||
}
|
||||
|
||||
/** MCP-shaped tool list: [{name, description, inputSchema}]. */
|
||||
export function listTools() {
|
||||
return Object.entries(TOOLS).map(([name, t]) => ({ name, description: t.description, inputSchema: t.inputSchema }));
|
||||
}
|
||||
@@ -1,148 +0,0 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
// MCP stdio server e2e — spawns `bin/cli.js mcp start` and speaks JSON-RPC.
|
||||
// Pins ADR-263 O2 (ping answered while a long tools/call runs), O6 (version
|
||||
// from package.json), and O8 (underscore names advertised, dotted accepted,
|
||||
// resources/prompts stubs).
|
||||
|
||||
import { test } from 'node:test';
|
||||
import assert from 'node:assert/strict';
|
||||
import { spawn } from 'node:child_process';
|
||||
import { mkdtempSync, mkdirSync, writeFileSync, readFileSync, rmSync } from 'node:fs';
|
||||
import { join, dirname } from 'node:path';
|
||||
import { tmpdir } from 'node:os';
|
||||
import { fileURLToPath } from 'node:url';
|
||||
import { which } from '../src/tools.js';
|
||||
|
||||
const PKG_ROOT = dirname(dirname(fileURLToPath(import.meta.url)));
|
||||
const CLI = join(PKG_ROOT, 'bin', 'cli.js');
|
||||
|
||||
/** Start the MCP server; returns {send, next, close} where next(id) resolves the response with that id. */
|
||||
function startServer() {
|
||||
const child = spawn(process.execPath, [CLI, 'mcp', 'start'], { stdio: ['pipe', 'pipe', 'pipe'] });
|
||||
const waiters = new Map();
|
||||
let buf = '';
|
||||
child.stdout.on('data', (d) => {
|
||||
buf += d;
|
||||
let nl;
|
||||
while ((nl = buf.indexOf('\n')) !== -1) {
|
||||
const line = buf.slice(0, nl).trim();
|
||||
buf = buf.slice(nl + 1);
|
||||
if (!line) continue;
|
||||
const msg = JSON.parse(line);
|
||||
const w = waiters.get(msg.id);
|
||||
if (w) { waiters.delete(msg.id); w(msg); }
|
||||
}
|
||||
});
|
||||
return {
|
||||
send(msg) { child.stdin.write(JSON.stringify(msg) + '\n'); },
|
||||
next(id) { return new Promise((res) => waiters.set(id, res)); },
|
||||
close() { child.stdin.end(); child.kill(); },
|
||||
};
|
||||
}
|
||||
|
||||
test('MCP handshake: initialize reports the package.json version; list endpoints respond', async () => {
|
||||
const pkg = JSON.parse(readFileSync(join(PKG_ROOT, 'package.json'), 'utf8'));
|
||||
const s = startServer();
|
||||
try {
|
||||
s.send({ jsonrpc: '2.0', id: 1, method: 'initialize', params: {} });
|
||||
const init = await s.next(1);
|
||||
assert.equal(init.result.serverInfo.version, pkg.version, 'ADR-263 O6: version must match package.json');
|
||||
|
||||
s.send({ jsonrpc: '2.0', id: 2, method: 'tools/list' });
|
||||
const tools = (await s.next(2)).result.tools;
|
||||
assert.equal(tools.length, 6);
|
||||
for (const t of tools) assert.match(t.name, /^[a-zA-Z0-9_-]{1,64}$/, `advertised name not host-safe: ${t.name}`);
|
||||
|
||||
s.send({ jsonrpc: '2.0', id: 3, method: 'resources/list' });
|
||||
assert.deepEqual((await s.next(3)).result, { resources: [] });
|
||||
s.send({ jsonrpc: '2.0', id: 4, method: 'prompts/list' });
|
||||
assert.deepEqual((await s.next(4)).result, { prompts: [] });
|
||||
|
||||
// Dotted legacy name still callable (alias).
|
||||
s.send({ jsonrpc: '2.0', id: 5, method: 'tools/call', params: { name: 'ruview.onboard', arguments: {} } });
|
||||
const call = await s.next(5);
|
||||
assert.equal(call.result.isError, false);
|
||||
} finally {
|
||||
s.close();
|
||||
}
|
||||
});
|
||||
|
||||
test('MCP server answers ping while a long tools/call is in flight (ADR-263 O2)', { skip: !which('python') && !which('python3') ? 'python not on PATH' : false }, async () => {
|
||||
// Fake RuView repo whose verify.py sleeps 3 s then passes.
|
||||
const repo = mkdtempSync(join(tmpdir(), 'ruview-mcp-e2e-'));
|
||||
const proofDir = join(repo, 'archive', 'v1', 'data', 'proof');
|
||||
mkdirSync(proofDir, { recursive: true });
|
||||
writeFileSync(join(proofDir, 'verify.py'), 'import time\ntime.sleep(3)\nprint("VERDICT: PASS")\n');
|
||||
|
||||
const s = startServer();
|
||||
try {
|
||||
s.send({ jsonrpc: '2.0', id: 1, method: 'initialize', params: {} });
|
||||
await s.next(1);
|
||||
|
||||
const verifyDone = s.next(10);
|
||||
s.send({ jsonrpc: '2.0', id: 10, method: 'tools/call', params: { name: 'ruview_verify', arguments: { repo } } });
|
||||
|
||||
// Give the server a beat to start the child, then ping.
|
||||
await new Promise((r) => setTimeout(r, 300));
|
||||
const t0 = Date.now();
|
||||
const pinged = s.next(11);
|
||||
s.send({ jsonrpc: '2.0', id: 11, method: 'ping' });
|
||||
await pinged;
|
||||
const pingMs = Date.now() - t0;
|
||||
assert.ok(pingMs < 1000, `ping took ${pingMs} ms while verify was in flight — server is blocking`);
|
||||
|
||||
const verify = await verifyDone;
|
||||
const payload = JSON.parse(verify.result.content[0].text);
|
||||
assert.equal(payload.verdict, 'PASS');
|
||||
} finally {
|
||||
s.close();
|
||||
rmSync(repo, { recursive: true, force: true });
|
||||
}
|
||||
});
|
||||
|
||||
test('tools/call executions are serialized — two slow calls run sequentially', { skip: !which('python') && !which('python3') ? 'python not on PATH' : false }, async () => {
|
||||
// Two verify.py that each sleep 0.8 s. Serialized ⇒ ~1.6 s+; concurrent ⇒ ~0.8 s.
|
||||
const repo = mkdtempSync(join(tmpdir(), 'ruview-mcp-serial-'));
|
||||
const proofDir = join(repo, 'archive', 'v1', 'data', 'proof');
|
||||
mkdirSync(proofDir, { recursive: true });
|
||||
writeFileSync(join(proofDir, 'verify.py'), 'import time\ntime.sleep(0.8)\nprint("VERDICT: PASS")\n');
|
||||
|
||||
const s = startServer();
|
||||
try {
|
||||
s.send({ jsonrpc: '2.0', id: 1, method: 'initialize', params: {} });
|
||||
await s.next(1);
|
||||
|
||||
const t0 = Date.now();
|
||||
const a = s.next(20);
|
||||
const b = s.next(21);
|
||||
s.send({ jsonrpc: '2.0', id: 20, method: 'tools/call', params: { name: 'ruview_verify', arguments: { repo } } });
|
||||
s.send({ jsonrpc: '2.0', id: 21, method: 'tools/call', params: { name: 'ruview_verify', arguments: { repo } } });
|
||||
const [ra, rb] = await Promise.all([a, b]);
|
||||
const elapsed = Date.now() - t0;
|
||||
|
||||
assert.equal(JSON.parse(ra.result.content[0].text).verdict, 'PASS');
|
||||
assert.equal(JSON.parse(rb.result.content[0].text).verdict, 'PASS');
|
||||
assert.ok(elapsed > 1400, `two 0.8 s tool calls finished in ${elapsed} ms — they overlapped instead of serializing`);
|
||||
} finally {
|
||||
s.close();
|
||||
rmSync(repo, { recursive: true, force: true });
|
||||
}
|
||||
});
|
||||
|
||||
test('stdin close flushes an in-flight tools/call response before exit', async () => {
|
||||
const child = spawn(process.execPath, [CLI, 'mcp', 'start'], { stdio: ['pipe', 'pipe', 'pipe'] });
|
||||
let out = '';
|
||||
child.stdout.on('data', (d) => { out += d; });
|
||||
const exited = new Promise((res) => child.on('exit', res));
|
||||
|
||||
// Write a tools/call then immediately close stdin. The old fire-and-forget
|
||||
// dispatch raced rl 'close' → process.exit and could drop this response.
|
||||
child.stdin.write(JSON.stringify({ jsonrpc: '2.0', id: 42, method: 'tools/call', params: { name: 'ruview_onboard', arguments: {} } }) + '\n');
|
||||
child.stdin.end();
|
||||
|
||||
await exited;
|
||||
const msgs = out.trim().split('\n').filter(Boolean).map((l) => JSON.parse(l));
|
||||
const resp = msgs.find((m) => m.id === 42);
|
||||
assert.ok(resp, 'the in-flight tools/call response must be flushed to stdout before exit');
|
||||
assert.equal(resp.result.isError, false);
|
||||
});
|
||||
@@ -1,256 +0,0 @@
|
||||
// SPDX-License-Identifier: MIT
|
||||
// RuView harness tests — Node's built-in test runner (no devDeps to install).
|
||||
// Run: `node --test test/*.test.mjs` (or `npm test`).
|
||||
|
||||
import { test } from 'node:test';
|
||||
import assert from 'node:assert/strict';
|
||||
import { readdirSync, readFileSync, mkdtempSync, writeFileSync, rmSync } from 'node:fs';
|
||||
import { join, dirname, delimiter } from 'node:path';
|
||||
import { tmpdir } from 'node:os';
|
||||
import { fileURLToPath } from 'node:url';
|
||||
import { claimCheck, summarize } from '../src/guardrails.js';
|
||||
import { TOOLS, TOOL_ALIASES, runTool, listTools, findRepoRoot, run, which } from '../src/tools.js';
|
||||
import { run as cliRun } from '../bin/cli.js';
|
||||
|
||||
const PKG_ROOT = dirname(dirname(fileURLToPath(import.meta.url)));
|
||||
|
||||
test('guardrail flags the retracted 100% framing as high severity', () => {
|
||||
const r = claimCheck('Our model reaches 100% accuracy on every pose.');
|
||||
assert.equal(r.ok, false);
|
||||
assert.ok(r.findings.some((f) => f.severity === 'high'));
|
||||
});
|
||||
|
||||
test('guardrail flags an untagged percentage accuracy claim', () => {
|
||||
// "hit", not "measured" — "measured" would (correctly) route to the no-reproducer branch.
|
||||
const r = claimCheck('We hit 92.9% PCK on the test set.');
|
||||
assert.equal(r.ok, false);
|
||||
assert.ok(r.findings.some((f) => /not tagged/i.test(f.reason)));
|
||||
});
|
||||
|
||||
test('guardrail passes a MEASURED claim that cites a reproducer', () => {
|
||||
const r = claimCheck('Held-out PCK@20 59.5% vs 50% mean-pose baseline = +9.4pp (MEASURED, verify.py).');
|
||||
assert.equal(r.ok, true, JSON.stringify(r.findings));
|
||||
});
|
||||
|
||||
test('guardrail flags MEASURED with no reproducer', () => {
|
||||
const r = claimCheck('Presence detection 97% (MEASURED).');
|
||||
assert.equal(r.ok, false);
|
||||
assert.ok(r.findings.some((f) => /no reproducer/i.test(f.reason)));
|
||||
});
|
||||
|
||||
test('guardrail ignores non-metric prose', () => {
|
||||
assert.equal(claimCheck('The ESP32 streams CSI over UDP to the sensing-server.').ok, true);
|
||||
assert.equal(claimCheck('').ok, true);
|
||||
});
|
||||
|
||||
// ADR-263 F11/O9: precision pins — short metric tokens must not fire on prose.
|
||||
test('guardrail does not false-positive on "map"/"F1" prose (ADR-263 F11)', () => {
|
||||
assert.equal(claimCheck('F-numbers map to findings.').ok, true);
|
||||
assert.equal(claimCheck('### F1 (HIGH, broken export): `require` points at a missing file').ok, true);
|
||||
assert.equal(claimCheck('The 0.1.0 tarball ships 44 `.map` files = 62,698 B of dead weight.').ok, true);
|
||||
assert.equal(claimCheck('the source maps can never resolve').ok, true);
|
||||
assert.equal(claimCheck('- **O1 (F1):** fix `exports` (see F2 for the 33% map weight — MEASURED, tarball listing)').ok, true);
|
||||
assert.equal(claimCheck('ADR-264: exports fix, map-free tarball, session-per-transport').ok, true);
|
||||
});
|
||||
|
||||
test('guardrail still catches real short-token metric claims', () => {
|
||||
assert.equal(claimCheck('We reach mAP 62.3 on COCO.').ok, false);
|
||||
assert.equal(claimCheck('F1 score of 0.91 on the held set.').ok, false, 'f1 with a real score must still fire');
|
||||
assert.equal(claimCheck('IoU 0.75 across rooms.').ok, false);
|
||||
});
|
||||
|
||||
// Digits hidden in a code span still make a claim — scrubbing must not blind the
|
||||
// number gate to `0.95` (regression: code-span number bypassed the gate).
|
||||
test('guardrail flags an accuracy number stated inside a code span', () => {
|
||||
const r = claimCheck('Count accuracy reached `0.95` in our tests.');
|
||||
assert.equal(r.ok, false, JSON.stringify(r.findings));
|
||||
assert.ok(r.findings.some((f) => /not tagged/i.test(f.reason)));
|
||||
});
|
||||
|
||||
// A MEASURED claim whose only number hides in a code span must still reach the
|
||||
// missing-reproducer check (regression: the scrubbed gate short-circuited it).
|
||||
// Bare metric prose with no number at all (e.g. the README rule text) stays a pass.
|
||||
test('guardrail flags a MEASURED code-span number with no reproducer', () => {
|
||||
const r = claimCheck('Detection accuracy `0.97` on the set (MEASURED).');
|
||||
assert.equal(r.ok, false, JSON.stringify(r.findings));
|
||||
assert.ok(r.findings.some((f) => /no reproducer/i.test(f.reason)));
|
||||
assert.equal(claimCheck('Every accuracy number must be MEASURED against a baseline.').ok, true);
|
||||
});
|
||||
|
||||
// F1-score phrasings ("F1: 0.91", "F1 reaches 0.91") were scrubbed as option
|
||||
// labels and slipped through; option refs alone must still not false-positive.
|
||||
test('guardrail catches F1-score claims but not bare option refs (ADR-263 F11)', () => {
|
||||
assert.equal(claimCheck('F1: 0.91 on the held-out set.').ok, false, 'F1: value is a metric claim');
|
||||
assert.equal(claimCheck('F1 reaches 0.91 on the held-out set.').ok, false, 'F1 with a nearby number is a claim');
|
||||
assert.equal(claimCheck('Options O1–O9 are tracked in ADR-263 O2.').ok, true, 'option labels are not metrics');
|
||||
assert.equal(claimCheck('ADR-263 O2 lands the exports fix.').ok, true);
|
||||
});
|
||||
|
||||
test('summarize gives PASS/finding text', () => {
|
||||
assert.match(summarize(claimCheck('nothing here')), /PASS/);
|
||||
assert.match(summarize(claimCheck('100% accuracy')), /finding/);
|
||||
});
|
||||
|
||||
test('registry exposes the documented tools with schemas (underscore-canonical)', () => {
|
||||
const names = Object.keys(TOOLS);
|
||||
for (const n of ['ruview_onboard', 'ruview_claim_check', 'ruview_verify', 'ruview_node_monitor', 'ruview_calibrate', 'ruview_node_flash']) {
|
||||
assert.ok(names.includes(n), `missing ${n}`);
|
||||
assert.equal(TOOLS[n].inputSchema.type, 'object');
|
||||
assert.match(n, /^[a-zA-Z0-9_-]{1,64}$/, 'canonical names must satisfy host tool-name regexes');
|
||||
}
|
||||
assert.equal(listTools().length, names.length);
|
||||
});
|
||||
|
||||
test('dotted legacy names resolve via aliases (ADR-263 O8)', async () => {
|
||||
assert.equal(TOOL_ALIASES['ruview.claim_check'], 'ruview_claim_check');
|
||||
assert.equal(TOOL_ALIASES['ruview.node_monitor'], 'ruview_node_monitor');
|
||||
const r = await runTool('ruview.onboard', {});
|
||||
assert.equal(r.ok, true);
|
||||
});
|
||||
|
||||
test('ruview_onboard returns paths and a recommendation', async () => {
|
||||
const r = await runTool('ruview_onboard', {});
|
||||
assert.equal(r.ok, true);
|
||||
assert.ok(r.paths['live-esp32']);
|
||||
assert.ok(['repo-build', 'docker-demo'].includes(r.recommend));
|
||||
});
|
||||
|
||||
test('ruview_claim_check tool wraps the guardrail', async () => {
|
||||
const r = await runTool('ruview_claim_check', { text: '100% accuracy' });
|
||||
assert.equal(r.ok, false);
|
||||
assert.match(r.summary, /honesty|tag|MEASURED|finding/i);
|
||||
});
|
||||
|
||||
// ADR-263 F1/O1: the honesty gate must fail closed on empty input.
|
||||
test('ruview_claim_check fails closed on empty/missing text', async () => {
|
||||
const empty = await runTool('ruview_claim_check', { text: '' });
|
||||
assert.equal(empty.ok, false);
|
||||
assert.equal(empty.reason, 'empty_text');
|
||||
const missing = await runTool('ruview_claim_check', {});
|
||||
assert.equal(missing.ok, false);
|
||||
assert.equal(missing.reason, 'empty_text');
|
||||
});
|
||||
|
||||
test('unknown tool fails closed', async () => {
|
||||
const r = await runTool('ruview_does_not_exist', {});
|
||||
assert.equal(r.ok, false);
|
||||
assert.equal(r.reason, 'unknown_tool');
|
||||
});
|
||||
|
||||
test('node_monitor fails closed without a port', async () => {
|
||||
const r = await runTool('ruview_node_monitor', {});
|
||||
assert.equal(r.ok, false);
|
||||
assert.equal(r.reason, 'no_port');
|
||||
});
|
||||
|
||||
test('node_flash refuses without confirm (mutating guard)', async () => {
|
||||
const r = await runTool('ruview_node_flash', { port: 'COM8', variant: 's3-8mb' });
|
||||
assert.equal(r.ok, false);
|
||||
// either not-confirmed (win32) or unsupported_platform (posix) — both fail-closed
|
||||
assert.ok(['not_confirmed', 'unsupported_platform'].includes(r.reason));
|
||||
});
|
||||
|
||||
test('verify fails closed when not in a RuView repo', async () => {
|
||||
// point at a tmp dir with no repo markers
|
||||
const r = await runTool('ruview_verify', { repo: process.platform === 'win32' ? 'C:/Windows/Temp' : '/tmp' });
|
||||
assert.equal(r.ok, false);
|
||||
assert.ok(['proof_missing', 'python_missing'].includes(r.reason), r.reason);
|
||||
});
|
||||
|
||||
// ADR-263 F2/O2: registry-level concurrency — a slow child must not block
|
||||
// other tool calls (run() is promise-based, never spawnSync).
|
||||
test('run() is non-blocking: a fast tool completes while a slow child runs', async () => {
|
||||
const slow = run('node', ['-e', 'setTimeout(() => {}, 2000)'], { timeout: 5000 });
|
||||
const t0 = Date.now();
|
||||
const fast = await runTool('ruview_onboard', {});
|
||||
const elapsed = Date.now() - t0;
|
||||
assert.equal(fast.ok, true);
|
||||
assert.ok(elapsed < 1000, `onboard took ${elapsed} ms while a 2 s child was running`);
|
||||
const r = await slow;
|
||||
assert.equal(r.ok, true);
|
||||
});
|
||||
|
||||
test('run() reports a timeout as a failure, not a hang', async () => {
|
||||
const r = await run('node', ['-e', 'setTimeout(() => {}, 10000)'], { timeout: 300 });
|
||||
assert.equal(r.ok, false);
|
||||
assert.match(String(r.error), /timed out/);
|
||||
});
|
||||
|
||||
test('run() bounds captured output instead of dying on big streams (ADR-263 O4)', async () => {
|
||||
// 4 MiB of stdout would have hit spawnSync's 1 MiB default maxBuffer (ENOBUFS).
|
||||
const r = await run('node', ['-e', "process.stdout.write('x'.repeat(4 * 1024 * 1024)); console.log('TAIL_MARKER')"], { timeout: 30000 });
|
||||
assert.equal(r.ok, true);
|
||||
assert.ok(r.stdout.length <= 65536, `tail not bounded: ${r.stdout.length}`);
|
||||
assert.ok(r.stdout.includes('TAIL_MARKER'), 'tail must keep the end of the stream');
|
||||
});
|
||||
|
||||
test('which() finds node and re-probes misses (hits are cached)', () => {
|
||||
assert.ok(which('node'), 'node must be on PATH in the test env');
|
||||
assert.equal(which('definitely-not-a-binary-xyz'), null);
|
||||
assert.equal(which('definitely-not-a-binary-xyz'), null); // re-probed, still absent
|
||||
});
|
||||
|
||||
// ADR-263 O8: a miss must not be cached — an operator who installs a tool
|
||||
// mid-session (e.g. python after a python_missing failure) must be found next call.
|
||||
test('which() re-probes after a miss so a newly-installed tool is found', () => {
|
||||
const dir = mkdtempSync(join(tmpdir(), 'ruview-which-'));
|
||||
const name = 'ruview-probe-xyz';
|
||||
const isWin = process.platform === 'win32';
|
||||
const bin = join(dir, isWin ? `${name}.cmd` : name);
|
||||
const prevPath = process.env.PATH;
|
||||
try {
|
||||
assert.equal(which(name), null, 'not on PATH yet → miss');
|
||||
writeFileSync(bin, isWin ? '@echo off\n' : '#!/bin/sh\n', { mode: 0o755 });
|
||||
process.env.PATH = dir + delimiter + prevPath;
|
||||
assert.ok(which(name), 'installed mid-session → the miss must not have been cached');
|
||||
} finally {
|
||||
process.env.PATH = prevPath;
|
||||
rmSync(dir, { recursive: true, force: true });
|
||||
}
|
||||
});
|
||||
|
||||
test('CLI run(): claim-check exits non-zero on a bad claim', async () => {
|
||||
const code = await cliRun(['claim-check', '--text', '100% accuracy']);
|
||||
assert.notEqual(code, 0);
|
||||
});
|
||||
|
||||
// ADR-263 F1/O1: the CLI must not PASS silently with no input.
|
||||
test('CLI run(): claim-check with no input exits 2 (fail-closed)', async () => {
|
||||
assert.equal(await cliRun(['claim-check']), 2);
|
||||
assert.equal(await cliRun(['claim-check', '--text', ' ']), 2);
|
||||
});
|
||||
|
||||
test('CLI run(): doctor exits 0 (tools-only path)', async () => {
|
||||
const code = await cliRun(['doctor']);
|
||||
assert.equal(code, 0);
|
||||
});
|
||||
|
||||
test('CLI run(): unknown command exits non-zero', async () => {
|
||||
assert.notEqual(await cliRun(['definitely-not-a-command']), 0);
|
||||
});
|
||||
|
||||
test('findRepoRoot locates this monorepo from cwd', () => {
|
||||
// when run from within wifi-densepose, it should find a root; elsewhere null is fine
|
||||
const root = findRepoRoot();
|
||||
assert.ok(root === null || typeof root === 'string');
|
||||
});
|
||||
|
||||
// ADR-263 F7/O7: skills ship from one source; the projected copies must match.
|
||||
test('.claude/skills/*/SKILL.md are byte-identical to skills/*.md', () => {
|
||||
const srcDir = join(PKG_ROOT, 'skills');
|
||||
for (const f of readdirSync(srcDir).filter((f) => f.endsWith('.md'))) {
|
||||
const name = f.replace(/\.md$/, '');
|
||||
const src = readFileSync(join(srcDir, f), 'utf8');
|
||||
const projected = readFileSync(join(PKG_ROOT, '.claude', 'skills', name, 'SKILL.md'), 'utf8');
|
||||
assert.equal(projected, src, `skill drift: ${name} — run \`npm run sync-skills\``);
|
||||
}
|
||||
});
|
||||
|
||||
// ADR-263 F6/O6 + F3/O3: package hygiene pins.
|
||||
test('package.json has no optionalDependencies and no hardcoded server version drift', () => {
|
||||
const pkg = JSON.parse(readFileSync(join(PKG_ROOT, 'package.json'), 'utf8'));
|
||||
assert.equal(pkg.optionalDependencies, undefined, 'ADR-263 O3: optional deps tripled the cold npx install');
|
||||
assert.equal(pkg.dependencies, undefined, 'the harness is dependency-free by design');
|
||||
const mcpSrc = readFileSync(join(PKG_ROOT, 'src', 'mcp-server.js'), 'utf8');
|
||||
assert.ok(!/version:\s*'\d+\.\d+\.\d+'/.test(mcpSrc), 'ADR-263 O6: server version must come from package.json');
|
||||
});
|
||||
Binary file not shown.
BIN
Binary file not shown.
@@ -184,9 +184,7 @@ function loadGroundTruth(filePath) {
|
||||
const raw = loadJsonl(filePath);
|
||||
const frames = [];
|
||||
for (const r of raw) {
|
||||
// Skip non-detection frames (empty keypoints []) — they must not dilute window
|
||||
// confidence; confidence stats are over actual detections only (#1007 Bug 2).
|
||||
if (r.ts_ns == null || !r.keypoints || r.keypoints.length === 0) continue;
|
||||
if (r.ts_ns == null || !r.keypoints) continue;
|
||||
frames.push({
|
||||
tsMs: cameraTsToMs(r.ts_ns),
|
||||
keypoints: r.keypoints,
|
||||
@@ -268,29 +266,7 @@ function loadCsi(filePath) {
|
||||
// Sort by timestamp
|
||||
rawCsi.sort((a, b) => a.tsMs - b.tsMs);
|
||||
features.sort((a, b) => a.tsMs - b.tsMs);
|
||||
|
||||
// Bug 3 (#1007): keep only frames at the session's MODAL subcarrier count so windows
|
||||
// are homogeneous; never silently zero-pad/truncate the off-format frames the ESP32
|
||||
// emits (HT20/HT40/fragments). extractCsiMatrix then sees uniform-width frames.
|
||||
return { rawCsi: filterToModalSubcarriers(rawCsi), features };
|
||||
}
|
||||
|
||||
/**
|
||||
* Keep only frames whose subcarrier count equals the session's modal (most common)
|
||||
* count. Off-format frames are dropped (logged), not padded — prevents the silent
|
||||
* zero-padding that corrupted windows in #1007.
|
||||
*/
|
||||
function filterToModalSubcarriers(frames) {
|
||||
if (frames.length === 0) return frames;
|
||||
const counts = new Map();
|
||||
for (const f of frames) counts.set(f.subcarriers, (counts.get(f.subcarriers) || 0) + 1);
|
||||
let modal = frames[0].subcarriers, best = 0;
|
||||
for (const [sc, n] of counts) if (n > best) { best = n; modal = sc; }
|
||||
const kept = frames.filter((f) => f.subcarriers === modal);
|
||||
if (kept.length !== frames.length) {
|
||||
console.error(`[align] #1007: kept ${kept.length}/${frames.length} CSI frames at modal subcarrier count ${modal} (dropped ${frames.length - kept.length} off-format; no silent padding)`);
|
||||
}
|
||||
return kept;
|
||||
return { rawCsi, features };
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
@@ -367,8 +343,7 @@ function averageKeypoints(cameraFrames) {
|
||||
|
||||
/**
|
||||
* Extract CSI amplitude matrix from raw_csi window.
|
||||
* Fill is frame-major (matrix[f*nSc + s]), so shape is [windowFrames, subcarriers]
|
||||
* (#1007 Bug 4 — was mislabeled [subcarriers, windowFrames], transposing consumers).
|
||||
* Returns { data: flat Float32Array, shape: [subcarriers, windowFrames] }.
|
||||
*/
|
||||
function extractCsiMatrix(window) {
|
||||
const nFrames = window.length;
|
||||
@@ -388,13 +363,12 @@ function extractCsiMatrix(window) {
|
||||
}
|
||||
}
|
||||
|
||||
return { data: Array.from(matrix), shape: [nFrames, nSc] };
|
||||
return { data: Array.from(matrix), shape: [nSc, nFrames] };
|
||||
}
|
||||
|
||||
/**
|
||||
* Extract feature matrix from feature-type window.
|
||||
* Fill is frame-major (matrix[f*dim + d]), so shape is [windowFrames, featureDim]
|
||||
* (#1007 Bug 4 — was mislabeled [featureDim, windowFrames]).
|
||||
* Returns { data: flat array, shape: [featureDim, windowFrames] }.
|
||||
*/
|
||||
function extractFeatureMatrix(window) {
|
||||
const nFrames = window.length;
|
||||
@@ -408,7 +382,7 @@ function extractFeatureMatrix(window) {
|
||||
}
|
||||
}
|
||||
|
||||
return { data: Array.from(matrix), shape: [nFrames, dim] };
|
||||
return { data: Array.from(matrix), shape: [dim, nFrames] };
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
@@ -1,94 +0,0 @@
|
||||
#!/usr/bin/env bash
|
||||
#
|
||||
# firmware-release-guard.sh — guard against shipping firmware built from a
|
||||
# stale generated `sdkconfig` (the v0.8.3-esp32 release bug).
|
||||
#
|
||||
# Symptom it catches: an incremental build reuses a leftover `sdkconfig`
|
||||
# instead of `sdkconfig.defaults`, so an "8MB" build silently links the 4MB
|
||||
# dual-OTA partition layout (no spiffs, ota_1 @ 0x1F0000) and the released
|
||||
# `partition-table.bin` does not match the flash-size variant it claims to be.
|
||||
#
|
||||
# What it does: for the named flash-size variant, regenerate the EXPECTED
|
||||
# partition table from the partition CSV that variant must use, and byte-compare
|
||||
# it against the freshly built `partition-table.bin`. Also cross-checks the
|
||||
# flash size recorded in the build's `flasher_args.json`. Exits non-zero on any
|
||||
# mismatch so a release pipeline fails closed.
|
||||
#
|
||||
# Usage:
|
||||
# scripts/firmware-release-guard.sh <8mb|4mb> <build-dir>
|
||||
#
|
||||
# Example:
|
||||
# scripts/firmware-release-guard.sh 8mb firmware/esp32-csi-node/build
|
||||
#
|
||||
set -euo pipefail
|
||||
|
||||
VARIANT="${1:-}"
|
||||
BUILD_DIR="${2:-}"
|
||||
|
||||
if [[ -z "$VARIANT" || -z "$BUILD_DIR" ]]; then
|
||||
echo "usage: $0 <8mb|4mb> <build-dir>" >&2
|
||||
exit 2
|
||||
fi
|
||||
|
||||
# Firmware project root (this script lives in <repo>/scripts).
|
||||
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
|
||||
FW_DIR="$SCRIPT_DIR/../firmware/esp32-csi-node"
|
||||
|
||||
case "$VARIANT" in
|
||||
8mb) EXPECT_CSV="partitions_display.csv"; EXPECT_FLASH="8MB" ;;
|
||||
4mb) EXPECT_CSV="partitions_4mb.csv"; EXPECT_FLASH="4MB" ;;
|
||||
*) echo "ERROR: unknown variant '$VARIANT' (want 8mb|4mb)" >&2; exit 2 ;;
|
||||
esac
|
||||
|
||||
BUILT_PT="$BUILD_DIR/partition_table/partition-table.bin"
|
||||
CSV_PATH="$FW_DIR/$EXPECT_CSV"
|
||||
|
||||
[[ -f "$BUILT_PT" ]] || { echo "ERROR: built partition table not found: $BUILT_PT" >&2; exit 1; }
|
||||
[[ -f "$CSV_PATH" ]] || { echo "ERROR: expected CSV not found: $CSV_PATH" >&2; exit 1; }
|
||||
|
||||
# Locate the ESP-IDF partition table generator.
|
||||
GEN="${IDF_PATH:-}/components/partition_table/gen_esp32part.py"
|
||||
if [[ ! -f "$GEN" ]]; then
|
||||
GEN="C:/Users/ruv/esp/v5.4/esp-idf/components/partition_table/gen_esp32part.py"
|
||||
fi
|
||||
[[ -f "$GEN" ]] || { echo "ERROR: gen_esp32part.py not found (set IDF_PATH)" >&2; exit 1; }
|
||||
|
||||
PY="${PYTHON:-python}"
|
||||
command -v "$PY" >/dev/null 2>&1 || PY="C:/Espressif/tools/python/v5.4/venv/Scripts/python.exe"
|
||||
|
||||
TMP="$(mktemp -d)"
|
||||
trap 'rm -rf "$TMP"' EXIT
|
||||
EXPECT_PT="$TMP/expected-partition-table.bin"
|
||||
|
||||
# Regenerate the expected table from the CSV this variant must use.
|
||||
"$PY" "$GEN" --quiet "$CSV_PATH" "$EXPECT_PT"
|
||||
|
||||
fail=0
|
||||
|
||||
if ! cmp -s "$EXPECT_PT" "$BUILT_PT"; then
|
||||
echo "FAIL: built partition table does not match $EXPECT_CSV for the $VARIANT variant." >&2
|
||||
echo " The build likely reused a stale sdkconfig. Decoded built table:" >&2
|
||||
"$PY" "$GEN" "$BUILT_PT" 2>/dev/null | grep -vE '^#|^Parsing|^Verifying' | sed 's/^/ /' >&2
|
||||
fail=1
|
||||
fi
|
||||
|
||||
# Cross-check the flash size the build actually targeted.
|
||||
FA="$BUILD_DIR/flasher_args.json"
|
||||
if [[ -f "$FA" ]]; then
|
||||
GOT_FLASH="$("$PY" - "$FA" <<'PYEOF'
|
||||
import json,sys
|
||||
with open(sys.argv[1]) as f: d=json.load(f)
|
||||
print(d.get("flash_settings",{}).get("flash_size",""))
|
||||
PYEOF
|
||||
)"
|
||||
if [[ "$GOT_FLASH" != "$EXPECT_FLASH" ]]; then
|
||||
echo "FAIL: flasher_args.json flash_size='$GOT_FLASH', expected '$EXPECT_FLASH'." >&2
|
||||
fail=1
|
||||
fi
|
||||
fi
|
||||
|
||||
if [[ "$fail" -ne 0 ]]; then
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo "OK: $VARIANT firmware build matches $EXPECT_CSV (flash_size=$EXPECT_FLASH)."
|
||||
@@ -15,7 +15,6 @@ import os
|
||||
import socket
|
||||
import struct
|
||||
import time
|
||||
from datetime import datetime, timezone
|
||||
|
||||
|
||||
def parse_csi_packet(data):
|
||||
@@ -42,8 +41,7 @@ def parse_csi_packet(data):
|
||||
|
||||
return {
|
||||
"type": "raw_csi",
|
||||
# true UTC, not local-time-labeled-Z (#1007 Bug 1) — e.g. "2026-06-17T01:23:45.678Z"
|
||||
"timestamp": datetime.now(timezone.utc).isoformat(timespec="milliseconds").replace("+00:00", "Z"),
|
||||
"timestamp": time.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(time.time() * 1000) % 1000:03d}Z",
|
||||
"ts_ns": time.time_ns(),
|
||||
"node_id": node_id,
|
||||
"rssi": rssi,
|
||||
|
||||
Generated
+1
-1
@@ -12,7 +12,7 @@
|
||||
"yargs": "^17.7.2"
|
||||
},
|
||||
"bin": {
|
||||
"ruview-cli": "dist/index.js"
|
||||
"ruview": "dist/index.js"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/node": "^20.14.0",
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
{
|
||||
"name": "@ruv/ruview-cli",
|
||||
"version": "0.0.1",
|
||||
"description": "RuView CLI — shell access to WiFi-DensePose sensing, inference, and training capabilities. Private/unpublished; the `ruview` bin name belongs to @ruvnet/ruview (ADR-265 D4).",
|
||||
"description": "RuView CLI — shell access to WiFi-DensePose sensing, inference, and training capabilities",
|
||||
"private": true,
|
||||
"type": "module",
|
||||
"main": "dist/index.js",
|
||||
"types": "dist/index.d.ts",
|
||||
"bin": {
|
||||
"ruview-cli": "dist/index.js"
|
||||
"ruview": "dist/index.js"
|
||||
},
|
||||
"files": [
|
||||
"dist"
|
||||
@@ -15,7 +15,7 @@
|
||||
"scripts": {
|
||||
"build": "tsc",
|
||||
"dev": "tsc --watch",
|
||||
"test": "node --experimental-vm-modules node_modules/.bin/jest --passWithNoTests",
|
||||
"test": "node --experimental-vm-modules node_modules/.bin/jest",
|
||||
"lint": "eslint src --ext .ts",
|
||||
"typecheck": "tsc --noEmit"
|
||||
},
|
||||
|
||||
@@ -25,7 +25,6 @@
|
||||
* See ADR-104 for the full design rationale and security model.
|
||||
*/
|
||||
|
||||
import { createRequire } from "node:module";
|
||||
import yargs from "yargs";
|
||||
import { hideBin } from "yargs/helpers";
|
||||
import { csiCommand } from "./commands/csi.js";
|
||||
@@ -35,15 +34,9 @@ import { cogsCommand } from "./commands/cogs.js";
|
||||
import { trainCommand } from "./commands/train.js";
|
||||
import { jobCommand } from "./commands/job.js";
|
||||
|
||||
// Single-source the version from package.json (ADR-265 D3).
|
||||
const require = createRequire(import.meta.url);
|
||||
const VERSION: string = (require("../package.json") as { version: string }).version;
|
||||
|
||||
// Bin name is `ruview-cli`: the bare `ruview` bin belongs to @ruvnet/ruview
|
||||
// (ADR-264 O9 / ADR-265 D4).
|
||||
const cli = yargs(hideBin(process.argv))
|
||||
.scriptName("ruview-cli")
|
||||
.version(VERSION)
|
||||
.scriptName("ruview")
|
||||
.version("0.0.1")
|
||||
.usage("$0 <command> [options]")
|
||||
.strict()
|
||||
.help()
|
||||
|
||||
+23
-34
@@ -2,63 +2,52 @@
|
||||
|
||||
**SENSE-BRIDGE** is a dual-transport [Model Context Protocol](https://modelcontextprotocol.io/) (MCP) server that bridges the RuView WiFi-DensePose sensing stack to AI agents (Claude Code, Cursor, ruflo swarms, and any MCP-compatible client).
|
||||
|
||||
Install once; AI agents can then call `ruview_presence_now`, `ruview_vitals_get_heart_rate`, `ruview_bfld_last_scan`, and more — without writing HTTP or WebSocket client code.
|
||||
Install once; AI agents can then call `ruview.presence.now`, `ruview.vitals.get_heart_rate`, `ruview.bfld.last_scan`, and more — without writing HTTP or WebSocket client code.
|
||||
|
||||
## Quickstart
|
||||
|
||||
```bash
|
||||
# 1. Add to Claude Code (stdio transport — the default)
|
||||
claude mcp add rvagent -- npx -y @ruvnet/rvagent
|
||||
# 1. Add to Claude Code
|
||||
claude mcp add rvagent -- npx @ruvnet/rvagent stdio
|
||||
|
||||
# 2. Or run directly
|
||||
RUVIEW_SENSING_SERVER_URL=http://cognitum-v0:3000 npx @ruvnet/rvagent
|
||||
RUVIEW_SENSING_SERVER_URL=http://cognitum-v0:3000 npx @ruvnet/rvagent stdio
|
||||
|
||||
# 3. Streamable HTTP (remote agents, ruflo swarms) — explicit opt-in
|
||||
# 3. Streamable HTTP (remote agents, ruflo swarms)
|
||||
RUVIEW_SENSING_SERVER_URL=http://cognitum-v0:3000 \
|
||||
RVAGENT_HTTP_TOKEN=your-secret \
|
||||
RVAGENT_HTTP_PORT=3001 npx @ruvnet/rvagent
|
||||
# POST JSON-RPC to http://127.0.0.1:3001/mcp (initialize first; then send the
|
||||
# returned mcp-session-id header on every request)
|
||||
npx @ruvnet/rvagent http --port 3001
|
||||
# POST JSON-RPC to http://127.0.0.1:3001/mcp
|
||||
```
|
||||
|
||||
Requirements: **Node.js >= 20**. The `wifi-densepose-sensing-server` Rust binary must be reachable at `RUVIEW_SENSING_SERVER_URL` (default `http://localhost:3000`).
|
||||
|
||||
## Tools
|
||||
|
||||
Canonical tool names are underscore-form (ADR-264 — host tool-name validators
|
||||
commonly enforce `^[a-zA-Z0-9_-]{1,64}$`). The pre-0.1.1 dotted names
|
||||
(`ruview.presence.now`, …) are still accepted at call time as deprecated
|
||||
aliases; `tools/list` advertises the underscore form only.
|
||||
## Feature matrix
|
||||
|
||||
| Tool | Description | ADR |
|
||||
|------|-------------|-----|
|
||||
| `ruview_csi_latest` | Latest 56×20 CSI window from the sensing-server | ADR-101/102 |
|
||||
| `ruview_pose_infer` | Single-shot 17-keypoint pose inference via cog binary | ADR-101 |
|
||||
| `ruview_count_infer` | Single-shot person-count inference via cog binary | ADR-103 |
|
||||
| `ruview_registry_list` | Cognitum edge module registry (category/search filters) | ADR-102 |
|
||||
| `ruview_train_count` | Kick off a count-cog training run (background job) | ADR-103 |
|
||||
| `ruview_job_status` | Poll a training job (persists across server restarts) | ADR-103 |
|
||||
| `ruview_presence_now` | Current occupancy: `present`, `n_persons`, `confidence` | ADR-124 §4.1 |
|
||||
| `ruview_vitals_get_breathing` | Breathing rate bpm (null if unavailable) | ADR-124 §4.1 |
|
||||
| `ruview_vitals_get_heart_rate` | Heart rate bpm (null if unavailable) | ADR-124 §4.1 |
|
||||
| `ruview_vitals_get_all` | Full `EdgeVitalsMessage` surface | ADR-124 §4.1 |
|
||||
| `ruview_bfld_last_scan` | Latest BFLD scan: `identity_risk_score`, `privacy_class`, `n_frames` | ADR-118/124 |
|
||||
| `ruview_bfld_subscribe` | Subscribe to `ruview/<node_id>/bfld/*` events for `duration_s` seconds | ADR-122/124 |
|
||||
| *(roadmap, ADR-124 §4.1/4.1a)* | `pose.latest`, `primitives.*`, `node.*`, `vector.*`, and the `policy.*` governance layer are catalogued in `src/schemas/` but **not yet implemented** | ADR-124 |
|
||||
| `ruview.presence.now` | Current occupancy: `present`, `n_persons`, `confidence` | ADR-124 §4.1 |
|
||||
| `ruview.vitals.get_breathing` | Breathing rate bpm (null if unavailable) | ADR-124 §4.1 |
|
||||
| `ruview.vitals.get_heart_rate` | Heart rate bpm (null if unavailable) | ADR-124 §4.1 |
|
||||
| `ruview.vitals.get_all` | Full `EdgeVitalsMessage` surface | ADR-124 §4.1 |
|
||||
| `ruview.bfld.last_scan` | Latest BFLD scan: `identity_risk_score`, `privacy_class`, `n_frames` | ADR-118/124 |
|
||||
| `ruview.bfld.subscribe` | Subscribe to `ruview/<node_id>/bfld/*` events for `duration_s` seconds | ADR-122/124 |
|
||||
| *(next iters)* | `pose.latest`, `primitives.*`, `node.*`, `vector.*`, `policy.*` | ADR-124 §4.1/4.1a |
|
||||
|
||||
**Transport security (ADR-124 §6, hardened per ADR-264)**:
|
||||
- **stdio** (default): process-level isolation — no auth needed for local Claude Code / Cursor.
|
||||
- **Streamable HTTP** (`/mcp`, opt-in via `RVAGENT_HTTP_PORT`): one transport + one MCP server per session (routed by `mcp-session-id`), Origin validation (localhost on any port allowed; anything else → 403), optional bearer token (`RVAGENT_HTTP_TOKEN` → 401 on mismatch), 1 MiB request-body cap (413), binds `127.0.0.1` by default per MCP spec.
|
||||
**Transport security (ADR-124 §6)**:
|
||||
- **stdio**: process-level isolation — no auth needed for local Claude Code / Cursor.
|
||||
- **Streamable HTTP** (`POST /mcp`): Origin header validation (cross-origin → 403), optional bearer token (`RVAGENT_HTTP_TOKEN` → 401 on mismatch), binds `127.0.0.1` by default per MCP spec.
|
||||
|
||||
**Schema validation**: each tool declares one Zod schema; the CallTool gate parses exactly once and the advertised JSON Schema is generated from the same Zod source. Invalid arguments return `McpError(InvalidParams)` rather than a wrapped string.
|
||||
**Schema validation**: every tool call runs `zod.safeParse` before dispatch; invalid arguments return `McpError(InvalidParams)` rather than a wrapped string.
|
||||
|
||||
**Policy layer** (ADR-124 §4.1a): `ruview.policy.*` tools gate every sensing call — `vitals.*` is default-deny until a policy grant is registered via `npx @ruvnet/rvagent policy grant`. Presence and node-list are allow by default.
|
||||
|
||||
## ADR cross-reference
|
||||
|
||||
| ADR | Decision |
|
||||
|-----|----------|
|
||||
| [ADR-124](../../docs/adr/ADR-124-rvagent-mcp-ruvector-npm-integration.md) | SENSE-BRIDGE: dual-transport MCP server + ruvector npm + ruflo integration |
|
||||
| [ADR-264](../../docs/adr/ADR-264-rvagent-mcp-and-cli-npm-deep-review.md) | npm deep review — exports fix, map-free tarball, naming, session-per-transport |
|
||||
| [ADR-118](../../docs/adr/ADR-118-bfld-beamforming-feedback-layer-for-detection.md) | BFLD pipeline — source of `bfld_last_scan` wire format |
|
||||
| [ADR-118](../../docs/adr/ADR-118-bfld-beamforming-feedback-layer-for-detection.md) | BFLD pipeline — source of `bfld.last_scan` wire format |
|
||||
| [ADR-122](../../docs/adr/ADR-122-bfld-ruview-ha-matter-exposure.md) | MQTT topic routing `ruview/<node_id>/bfld/*` |
|
||||
| [ADR-115](../../docs/adr/ADR-115-home-assistant-integration.md) | `EdgeVitalsMessage` WebSocket surface (`ws.py:74-88` parity) |
|
||||
| [ADR-055](../../docs/adr/ADR-055-integrated-sensing-server.md) | Sensing-server REST API (`/api/v1/*`) |
|
||||
@@ -69,7 +58,7 @@ aliases; `tools/list` advertises the underscore form only.
|
||||
cd tools/ruview-mcp
|
||||
npm install
|
||||
npm run build # tsc
|
||||
npm test # jest — 99 tests across 7 suites
|
||||
npm test # jest — 93 tests across 7 suites
|
||||
```
|
||||
|
||||
Source: `tools/ruview-mcp/src/`. Tests: `tools/ruview-mcp/tests/`.
|
||||
|
||||
Generated
+373
-10
@@ -1,24 +1,24 @@
|
||||
{
|
||||
"name": "@ruvnet/rvagent",
|
||||
"version": "0.2.0",
|
||||
"version": "0.1.0",
|
||||
"lockfileVersion": 3,
|
||||
"requires": true,
|
||||
"packages": {
|
||||
"": {
|
||||
"name": "@ruvnet/rvagent",
|
||||
"version": "0.2.0",
|
||||
"version": "0.1.0",
|
||||
"license": "Apache-2.0",
|
||||
"dependencies": {
|
||||
"@modelcontextprotocol/sdk": "^1.0.0",
|
||||
"zod": "^3.23.8",
|
||||
"zod-to-json-schema": "^3.25.2"
|
||||
"zod": "^3.23.8"
|
||||
},
|
||||
"bin": {
|
||||
"ruview-mcp": "dist/index.js",
|
||||
"rvagent": "dist/index.js"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/jest": "^29.5.14",
|
||||
"@types/express": "^5.0.6",
|
||||
"@types/jest": "^30.0.0",
|
||||
"@types/node": "^20.14.0",
|
||||
"jest": "^29.7.0",
|
||||
"ts-jest": "^29.1.0",
|
||||
@@ -629,6 +629,16 @@
|
||||
}
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/diff-sequences": {
|
||||
"version": "30.4.0",
|
||||
"resolved": "https://registry.npmjs.org/@jest/diff-sequences/-/diff-sequences-30.4.0.tgz",
|
||||
"integrity": "sha512-zOpzlfUs45l6u7jm39qr87JCHUDsaeCtvL+kQe/Vn9jSnRB4/5IPXISm0h9I1vZW/o00Kn4UTJ2MOlhnUGwv3g==",
|
||||
"dev": true,
|
||||
"license": "MIT",
|
||||
"engines": {
|
||||
"node": "^18.14.0 || ^20.0.0 || ^22.0.0 || >=24.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/environment": {
|
||||
"version": "29.7.0",
|
||||
"resolved": "https://registry.npmjs.org/@jest/environment/-/environment-29.7.0.tgz",
|
||||
@@ -690,6 +700,16 @@
|
||||
"node": "^14.15.0 || ^16.10.0 || >=18.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/get-type": {
|
||||
"version": "30.1.0",
|
||||
"resolved": "https://registry.npmjs.org/@jest/get-type/-/get-type-30.1.0.tgz",
|
||||
"integrity": "sha512-eMbZE2hUnx1WV0pmURZY9XoXPkUYjpc55mb0CrhtdWLtzMQPFvu/rZkTLZFTsdaVQa+Tr4eWAteqcUzoawq/uA==",
|
||||
"dev": true,
|
||||
"license": "MIT",
|
||||
"engines": {
|
||||
"node": "^18.14.0 || ^20.0.0 || ^22.0.0 || >=24.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/globals": {
|
||||
"version": "29.7.0",
|
||||
"resolved": "https://registry.npmjs.org/@jest/globals/-/globals-29.7.0.tgz",
|
||||
@@ -706,6 +726,30 @@
|
||||
"node": "^14.15.0 || ^16.10.0 || >=18.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/pattern": {
|
||||
"version": "30.4.0",
|
||||
"resolved": "https://registry.npmjs.org/@jest/pattern/-/pattern-30.4.0.tgz",
|
||||
"integrity": "sha512-RAWn3+f9u8BsHijKJ71uHcFp6vmyEt6VvoWXkl6hKF3qVIuWNmudVjg12DlBPGup/frIl5UcUlH5HfEuvHpEXg==",
|
||||
"dev": true,
|
||||
"license": "MIT",
|
||||
"dependencies": {
|
||||
"@types/node": "*",
|
||||
"jest-regex-util": "30.4.0"
|
||||
},
|
||||
"engines": {
|
||||
"node": "^18.14.0 || ^20.0.0 || ^22.0.0 || >=24.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/pattern/node_modules/jest-regex-util": {
|
||||
"version": "30.4.0",
|
||||
"resolved": "https://registry.npmjs.org/jest-regex-util/-/jest-regex-util-30.4.0.tgz",
|
||||
"integrity": "sha512-mWlvLviKIgIQ8VCuM1xRdD0TWp3zlzionlmDBjuXVBs+VkmXq6FgW9T4Emr7oGz/Rk6feDCGyiugolcQEyp3mg==",
|
||||
"dev": true,
|
||||
"license": "MIT",
|
||||
"engines": {
|
||||
"node": "^18.14.0 || ^20.0.0 || ^22.0.0 || >=24.0.0"
|
||||
}
|
||||
},
|
||||
"node_modules/@jest/reporters": {
|
||||
"version": "29.7.0",
|
||||
"resolved": "https://registry.npmjs.org/@jest/reporters/-/reporters-29.7.0.tgz",
|
||||
@@ -1017,6 +1061,52 @@
|
||||
"@babel/types": "^7.28.2"
|
||||
}
|
||||
},
|
||||
"node_modules/@types/body-parser": {
|
||||
"version": "1.19.6",
|
||||
"resolved": "https://registry.npmjs.org/@types/body-parser/-/body-parser-1.19.6.tgz",
|
||||
"integrity": "sha512-HLFeCYgz89uk22N5Qg3dvGvsv46B8GLvKKo1zKG4NybA8U2DiEO3w9lqGg29t/tfLRJpJ6iQxnVw4OnB7MoM9g==",
|
||||
"dev": true,
|
||||
"license": "MIT",
|
||||
"dependencies": {
|
||||
"@types/connect": "*",
|
||||
"@types/node": "*"
|
||||
}
|
||||
},
|
||||
"node_modules/@types/connect": {
|
||||
"version": "3.4.38",
|
||||
"resolved": "https://registry.npmjs.org/@types/connect/-/connect-3.4.38.tgz",
|
||||
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|
||||
"integrity": "sha512-XjBR15BhXuylgWGuslhDKqlSayuqvqBX91BP8pauG8kd1zY8kotkNWbXksTCNRarse4kuGbe2kIY05ARtwNIvw==",
|
||||
"dev": true,
|
||||
"license": "MIT"
|
||||
},
|
||||
"node_modules/require-directory": {
|
||||
"version": "2.1.1",
|
||||
"resolved": "https://registry.npmjs.org/require-directory/-/require-directory-2.1.1.tgz",
|
||||
|
||||
@@ -1,14 +1,15 @@
|
||||
{
|
||||
"name": "@ruvnet/rvagent",
|
||||
"version": "0.2.0",
|
||||
"description": "SENSE-BRIDGE: dual-transport MCP server (stdio default; Streamable HTTP opt-in via RVAGENT_HTTP_PORT) exposing RuView WiFi-DensePose sensing primitives to AI agents",
|
||||
"version": "0.1.0",
|
||||
"description": "SENSE-BRIDGE: dual-transport MCP server (stdio + Streamable HTTP) exposing RuView WiFi-DensePose sensing primitives to AI agents",
|
||||
"type": "module",
|
||||
"main": "dist/index.js",
|
||||
"types": "dist/index.d.ts",
|
||||
"exports": {
|
||||
".": {
|
||||
"types": "./dist/index.d.ts",
|
||||
"import": "./dist/index.js"
|
||||
"import": "./dist/index.js",
|
||||
"require": "./dist/index.cjs",
|
||||
"types": "./dist/index.d.ts"
|
||||
}
|
||||
},
|
||||
"bin": {
|
||||
@@ -17,7 +18,8 @@
|
||||
},
|
||||
"files": [
|
||||
"dist",
|
||||
"README.md"
|
||||
"README.md",
|
||||
"CHANGELOG.md"
|
||||
],
|
||||
"scripts": {
|
||||
"build": "tsc",
|
||||
@@ -25,8 +27,7 @@
|
||||
"start": "node dist/index.js",
|
||||
"test": "node --experimental-vm-modules node_modules/jest/bin/jest.js --forceExit",
|
||||
"lint": "eslint src --ext .ts",
|
||||
"typecheck": "tsc --noEmit",
|
||||
"prepublishOnly": "npm run build && npm test"
|
||||
"typecheck": "tsc --noEmit"
|
||||
},
|
||||
"keywords": [
|
||||
"mcp",
|
||||
@@ -52,11 +53,11 @@
|
||||
},
|
||||
"dependencies": {
|
||||
"@modelcontextprotocol/sdk": "^1.0.0",
|
||||
"zod": "^3.23.8",
|
||||
"zod-to-json-schema": "^3.25.2"
|
||||
"zod": "^3.23.8"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@types/jest": "^29.5.14",
|
||||
"@types/express": "^5.0.6",
|
||||
"@types/jest": "^30.0.0",
|
||||
"@types/node": "^20.14.0",
|
||||
"jest": "^29.7.0",
|
||||
"ts-jest": "^29.1.0",
|
||||
|
||||
Binary file not shown.
@@ -8,7 +8,6 @@
|
||||
|
||||
import os from "node:os";
|
||||
import path from "node:path";
|
||||
import { existsSync } from "node:fs";
|
||||
import type { RuviewConfig } from "./types.js";
|
||||
|
||||
function env(key: string): string | undefined {
|
||||
@@ -52,35 +51,17 @@ export function loadConfig(): RuviewConfig {
|
||||
}
|
||||
|
||||
/**
|
||||
* Ordered cog-binary candidate paths for a host of the given CPU architecture.
|
||||
* The native-arch build is probed FIRST: an appliance that ships both
|
||||
* `cog-<id>-arm` and `cog-<id>-x86_64` must never hand back the wrong-arch
|
||||
* binary (ADR-264 F8/O7 — the pre-review order tried `-arm` unconditionally).
|
||||
* The `/usr/local/bin` and bare-name (PATH) fallbacks follow, arch-agnostic.
|
||||
*
|
||||
* Pure and arch-injectable so the ordering is unit-testable.
|
||||
*/
|
||||
export function cogBinaryCandidates(
|
||||
name: string,
|
||||
arch: string = process.arch
|
||||
): string[] {
|
||||
const id = name.replace("cog-", "");
|
||||
const dir = `/var/lib/cognitum/apps/${id}`;
|
||||
const arm = `${dir}/cog-${id}-arm`;
|
||||
const x86 = `${dir}/cog-${id}-x86_64`;
|
||||
// arm64 → prefer -arm; everything else (notably x64) → prefer -x86_64.
|
||||
const archOrdered = arch === "arm64" ? [arm, x86] : [x86, arm];
|
||||
return [...archOrdered, `/usr/local/bin/${name}`];
|
||||
}
|
||||
|
||||
/**
|
||||
* Locate a cog binary in the common appliance install locations, probing each
|
||||
* candidate in native-arch-first order. Falls back to the bare name (PATH
|
||||
* resolution at spawn time) when no candidate exists.
|
||||
* Attempt to locate a cog binary on PATH or in common install locations.
|
||||
* Returns the bare binary name if not found (will fail gracefully at invocation).
|
||||
*/
|
||||
function detectCogBinary(name: string): string {
|
||||
for (const candidate of cogBinaryCandidates(name)) {
|
||||
if (existsSync(candidate)) return candidate;
|
||||
}
|
||||
return name; // bare name — rely on PATH; spawn fails gracefully if absent
|
||||
// Common install paths for Cognitum cog binaries on Linux/macOS appliances.
|
||||
const candidates = [
|
||||
`/var/lib/cognitum/apps/${name.replace("cog-", "")}/cog-${name.replace("cog-", "")}-arm`,
|
||||
`/var/lib/cognitum/apps/${name.replace("cog-", "")}/cog-${name.replace("cog-", "")}-x86_64`,
|
||||
`/usr/local/bin/${name}`,
|
||||
name, // bare name — rely on PATH
|
||||
];
|
||||
// Return the first candidate that might exist; actual existence is checked at call time.
|
||||
return candidates[candidates.length - 1] ?? name;
|
||||
}
|
||||
|
||||
@@ -1,44 +1,30 @@
|
||||
/**
|
||||
* Streamable HTTP transport for @ruvnet/rvagent (ADR-124 §3, hardened per
|
||||
* ADR-264 F7/O3).
|
||||
* Streamable HTTP transport scaffold for @ruvnet/rvagent (ADR-124 §3).
|
||||
*
|
||||
* Binds to 127.0.0.1 by default and mounts an /mcp endpoint backed by
|
||||
* Binds to 127.0.0.1 by default and mounts a POST /mcp endpoint backed by
|
||||
* StreamableHTTPServerTransport from @modelcontextprotocol/sdk.
|
||||
*
|
||||
* Session model (ADR-264 F7): the SDK's stateful mode requires ONE transport
|
||||
* (and one MCP Server) per session. An `initialize` POST creates a fresh
|
||||
* transport + server pair via the caller-supplied factory; follow-up
|
||||
* POST/GET/DELETE requests are routed to their session by the
|
||||
* `mcp-session-id` header. Transports are dropped when their session closes.
|
||||
*
|
||||
* Security model (ADR-124 §6 + ADR-264 F7):
|
||||
* - Origin validation: browser-style requests whose Origin is not local
|
||||
* are rejected with 403 before reaching the MCP layer. With NO explicit
|
||||
* allowlist, localhost origins match on hostname, ANY port
|
||||
* (http://localhost:5173 is local). When an explicit allowedOrigins list is
|
||||
* configured, matching is exact — the any-port-localhost convenience is off,
|
||||
* so a localhost peer on an unlisted port must be added to be accepted.
|
||||
* Security model (ADR-124 §6):
|
||||
* - Origin validation: requests from origins other than the configured
|
||||
* allowlist are rejected with 403 Forbidden before reaching the MCP layer.
|
||||
* - Default allowlist: ['http://localhost', 'http://127.0.0.1'] — covers
|
||||
* Claude Code and Cursor on the same machine.
|
||||
* - Bearer token: when RVAGENT_HTTP_TOKEN is set, requests must carry
|
||||
* Authorization: Bearer <token>; missing/wrong tokens → 401.
|
||||
* - Body cap: request bodies over 1 MiB are rejected with 413 (the
|
||||
* unbounded-buffering DoS from the pre-ADR-264 scaffold).
|
||||
* - Bind address: defaults to 127.0.0.1 per MCP spec security requirement.
|
||||
* Set RVAGENT_HTTP_HOST=0.0.0.0 only for intentional fleet deployment.
|
||||
*
|
||||
* Usage:
|
||||
* import { createHttpTransport } from './http-transport.js';
|
||||
* const { httpServer } = await createHttpTransport(() => buildServer(config));
|
||||
* const { server: httpServer, transport } = await createHttpTransport(mcpServer);
|
||||
* // httpServer is a node:http.Server — call httpServer.close() to shut down.
|
||||
*/
|
||||
|
||||
import { createServer, type Server as HttpServer, type IncomingMessage, type ServerResponse } from "node:http";
|
||||
import { randomUUID } from "node:crypto";
|
||||
import { StreamableHTTPServerTransport } from "@modelcontextprotocol/sdk/server/streamableHttp.js";
|
||||
import { isInitializeRequest } from "@modelcontextprotocol/sdk/types.js";
|
||||
import type { Server as McpServer } from "@modelcontextprotocol/sdk/server/index.js";
|
||||
|
||||
export type McpServerFactory = () => McpServer;
|
||||
|
||||
export interface HttpTransportOptions {
|
||||
/** TCP host to bind (default: 127.0.0.1). */
|
||||
host?: string;
|
||||
@@ -46,8 +32,8 @@ export interface HttpTransportOptions {
|
||||
port?: number;
|
||||
/**
|
||||
* Allowed Origin header values. Requests with an Origin not in this list
|
||||
* (and not a localhost origin) are rejected with 403. Use '*' to disable
|
||||
* Origin validation entirely (not recommended outside of local-dev flags).
|
||||
* are rejected with 403. Use '*' to disable Origin validation entirely
|
||||
* (not recommended outside of local-dev flags).
|
||||
*/
|
||||
allowedOrigins?: string[];
|
||||
/**
|
||||
@@ -56,51 +42,32 @@ export interface HttpTransportOptions {
|
||||
* Defaults to process.env.RVAGENT_HTTP_TOKEN (undefined = auth disabled).
|
||||
*/
|
||||
bearerToken?: string;
|
||||
/** Maximum accepted request body size in bytes (default: 1 MiB). */
|
||||
maxBodyBytes?: number;
|
||||
/**
|
||||
* Maximum number of concurrent live sessions (default: 64). When a new
|
||||
* `initialize` arrives at the cap, the oldest-idle session is evicted (its
|
||||
* transport closed) to make room — bounds memory against a flaky client that
|
||||
* loops `initialize` or a malicious localhost peer (ADR-264 F7).
|
||||
*/
|
||||
maxSessions?: number;
|
||||
/**
|
||||
* Idle time-to-live for a session in ms (default: 5 min). Sessions with no
|
||||
* request activity for longer than this are swept and closed.
|
||||
*/
|
||||
sessionIdleMs?: number;
|
||||
/** How often the idle-session sweeper runs, in ms (default: 60 s). */
|
||||
sweepIntervalMs?: number;
|
||||
}
|
||||
|
||||
export interface HttpTransportResult {
|
||||
/** The raw Node.js HTTP server — call .close() to shut down. */
|
||||
httpServer: HttpServer;
|
||||
/** Live sessions keyed by session id (exposed for tests/observability). */
|
||||
sessions: Map<string, StreamableHTTPServerTransport>;
|
||||
/** The MCP Streamable HTTP transport instance wired to the MCP server. */
|
||||
transport: StreamableHTTPServerTransport;
|
||||
/** The bound address string (e.g. "http://127.0.0.1:3001"). */
|
||||
boundAddress: string;
|
||||
}
|
||||
|
||||
const DEFAULT_HOST = "127.0.0.1";
|
||||
const DEFAULT_PORT = 3001;
|
||||
const DEFAULT_MAX_BODY_BYTES = 1024 * 1024;
|
||||
const DEFAULT_MAX_SESSIONS = 64;
|
||||
const DEFAULT_SESSION_IDLE_MS = 5 * 60 * 1000;
|
||||
const DEFAULT_SWEEP_INTERVAL_MS = 60 * 1000;
|
||||
const LOCAL_HOSTNAMES = new Set(["localhost", "127.0.0.1", "[::1]"]);
|
||||
const LOCALHOST_ORIGINS = new Set([
|
||||
"http://localhost",
|
||||
"http://127.0.0.1",
|
||||
"https://localhost",
|
||||
"https://127.0.0.1",
|
||||
]);
|
||||
|
||||
/**
|
||||
* Validate Origin header against the allowlist.
|
||||
* Returns true if the request should be allowed, false if it should be rejected.
|
||||
*
|
||||
* An absent Origin header is allowed (same-origin non-browser requests, curl,
|
||||
* etc.). When NO explicit allowlist was configured (empty list), a localhost
|
||||
* origin is allowed on any port as a convenience — real browser origins carry
|
||||
* ports (ADR-264 F7). When an explicit allowlist IS configured, matching is
|
||||
* exact: the any-port-localhost shortcut is disabled so an operator who pins an
|
||||
* allowlist actually gets it (a looped-back peer on an unlisted port is denied).
|
||||
* An absent Origin header is allowed (same-origin non-browser requests, curl, etc.).
|
||||
* A present Origin that is not in the allowlist is rejected.
|
||||
*/
|
||||
export function isOriginAllowed(
|
||||
origin: string | undefined,
|
||||
@@ -108,222 +75,76 @@ export function isOriginAllowed(
|
||||
): boolean {
|
||||
if (origin === undefined) return true; // no Origin = not a cross-origin browser request
|
||||
if (allowedOrigins.includes("*")) return true;
|
||||
if (allowedOrigins.includes(origin)) return true;
|
||||
// Explicit allowlist ⇒ exact matching only; skip the localhost convenience.
|
||||
if (allowedOrigins.length > 0) return false;
|
||||
try {
|
||||
const u = new URL(origin);
|
||||
return (
|
||||
(u.protocol === "http:" || u.protocol === "https:") &&
|
||||
LOCAL_HOSTNAMES.has(u.hostname === "::1" ? "[::1]" : u.hostname)
|
||||
);
|
||||
} catch {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/** Read a request body with a hard size cap; null = payload too large. */
|
||||
function readBody(
|
||||
req: IncomingMessage,
|
||||
maxBytes: number
|
||||
): Promise<string | null> {
|
||||
return new Promise((resolve, reject) => {
|
||||
let size = 0;
|
||||
let tooLarge = false;
|
||||
const chunks: Buffer[] = [];
|
||||
req.on("data", (chunk: Buffer) => {
|
||||
if (tooLarge) return; // keep draining so the 413 response can flush
|
||||
size += chunk.length;
|
||||
if (size > maxBytes) {
|
||||
tooLarge = true;
|
||||
chunks.length = 0;
|
||||
resolve(null);
|
||||
return;
|
||||
}
|
||||
chunks.push(chunk);
|
||||
});
|
||||
req.on("end", () => {
|
||||
if (!tooLarge) resolve(Buffer.concat(chunks).toString("utf8"));
|
||||
});
|
||||
req.on("error", reject);
|
||||
});
|
||||
}
|
||||
|
||||
function json(res: ServerResponse, status: number, body: object): void {
|
||||
res.writeHead(status, { "Content-Type": "application/json" });
|
||||
res.end(JSON.stringify(body));
|
||||
return allowedOrigins.some((o) => o === origin);
|
||||
}
|
||||
|
||||
/**
|
||||
* Build the HTTP server around a per-session MCP transport map.
|
||||
* Returns the Node.js HTTP server (not yet listening) plus the session map.
|
||||
* Build and wire a Streamable HTTP transport to the provided MCP server.
|
||||
* Returns the Node.js HTTP server (not yet listening) plus the transport.
|
||||
* Call httpServer.listen(port, host) or rely on createHttpTransport which
|
||||
* does that for you.
|
||||
*/
|
||||
export function buildHttpApp(
|
||||
serverFactory: McpServerFactory,
|
||||
mcpServer: McpServer,
|
||||
opts: HttpTransportOptions = {}
|
||||
): { httpServer: HttpServer; sessions: Map<string, StreamableHTTPServerTransport> } {
|
||||
const allowedOrigins: string[] = opts.allowedOrigins ?? [];
|
||||
): { httpServer: HttpServer; transport: StreamableHTTPServerTransport } {
|
||||
const allowedOrigins: string[] = opts.allowedOrigins ?? [
|
||||
...LOCALHOST_ORIGINS,
|
||||
];
|
||||
const bearerToken = opts.bearerToken ?? process.env["RVAGENT_HTTP_TOKEN"];
|
||||
const maxBodyBytes = opts.maxBodyBytes ?? DEFAULT_MAX_BODY_BYTES;
|
||||
const maxSessions = opts.maxSessions ?? DEFAULT_MAX_SESSIONS;
|
||||
const sessionIdleMs = opts.sessionIdleMs ?? DEFAULT_SESSION_IDLE_MS;
|
||||
const sweepIntervalMs = opts.sweepIntervalMs ?? DEFAULT_SWEEP_INTERVAL_MS;
|
||||
const sessions = new Map<string, StreamableHTTPServerTransport>();
|
||||
// lastSeen tracks per-session request activity so the sweeper and the
|
||||
// oldest-idle eviction can bound the session map (ADR-264 F7).
|
||||
const lastSeen = new Map<string, number>();
|
||||
|
||||
/** Mark a session as freshly used. */
|
||||
function touch(sessionId: string): void {
|
||||
lastSeen.set(sessionId, Date.now());
|
||||
}
|
||||
const transport = new StreamableHTTPServerTransport({
|
||||
sessionIdGenerator: () => randomUUID(),
|
||||
});
|
||||
|
||||
/** Close a session's transport and drop it from the bookkeeping maps. */
|
||||
function closeSession(id: string): void {
|
||||
const transport = sessions.get(id);
|
||||
sessions.delete(id);
|
||||
lastSeen.delete(id);
|
||||
if (transport) {
|
||||
try {
|
||||
void transport.close(); // onclose is idempotent against the maps above
|
||||
} catch {
|
||||
/* best-effort: a half-open transport must not block eviction */
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/** Evict the session that has been idle longest — called when at capacity. */
|
||||
function evictOldestIdle(): void {
|
||||
let oldestId: string | undefined;
|
||||
let oldestSeen = Infinity;
|
||||
for (const [id, seen] of lastSeen) {
|
||||
if (seen < oldestSeen) {
|
||||
oldestSeen = seen;
|
||||
oldestId = id;
|
||||
}
|
||||
}
|
||||
if (oldestId !== undefined) closeSession(oldestId);
|
||||
}
|
||||
|
||||
/** Periodic sweep: close sessions idle beyond sessionIdleMs. */
|
||||
function sweepIdleSessions(): void {
|
||||
const now = Date.now();
|
||||
for (const [id, seen] of lastSeen) {
|
||||
if (now - seen > sessionIdleMs) closeSession(id);
|
||||
}
|
||||
}
|
||||
const sweepTimer = setInterval(sweepIdleSessions, sweepIntervalMs);
|
||||
sweepTimer.unref(); // never keep the process alive just to sweep
|
||||
|
||||
const httpServer = createServer((req: IncomingMessage, res: ServerResponse) => {
|
||||
void (async () => {
|
||||
// ── Origin validation ──────────────────────────────────────────────
|
||||
const httpServer = createServer(
|
||||
(req: IncomingMessage, res: ServerResponse) => {
|
||||
// ── Origin validation ────────────────────────────────────────────────
|
||||
const origin = req.headers["origin"] as string | undefined;
|
||||
if (!isOriginAllowed(origin, allowedOrigins)) {
|
||||
json(res, 403, { error: "Forbidden: cross-origin request rejected" });
|
||||
res.writeHead(403, { "Content-Type": "application/json" });
|
||||
res.end(JSON.stringify({ error: "Forbidden: cross-origin request rejected" }));
|
||||
return;
|
||||
}
|
||||
|
||||
// ── Bearer token auth ──────────────────────────────────────────────
|
||||
// ── Bearer token auth ────────────────────────────────────────────────
|
||||
if (bearerToken !== undefined && bearerToken !== "") {
|
||||
const authHeader = req.headers["authorization"] as string | undefined;
|
||||
const supplied = authHeader?.startsWith("Bearer ")
|
||||
? authHeader.slice("Bearer ".length)
|
||||
: undefined;
|
||||
if (supplied !== bearerToken) {
|
||||
json(res, 401, { error: "Unauthorized: missing or invalid bearer token" });
|
||||
res.writeHead(401, { "Content-Type": "application/json" });
|
||||
res.end(JSON.stringify({ error: "Unauthorized: missing or invalid bearer token" }));
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// ── Route: /mcp ────────────────────────────────────────────────────
|
||||
if (req.url !== "/mcp") {
|
||||
json(res, 404, { error: "Not found. MCP endpoint: /mcp" });
|
||||
return;
|
||||
}
|
||||
|
||||
const sessionId = req.headers["mcp-session-id"] as string | undefined;
|
||||
|
||||
if (req.method === "POST") {
|
||||
const body = await readBody(req, maxBodyBytes);
|
||||
if (body === null) {
|
||||
json(res, 413, { error: `Payload too large (max ${maxBodyBytes} bytes)` });
|
||||
return;
|
||||
}
|
||||
let parsed: unknown;
|
||||
try {
|
||||
parsed = JSON.parse(body);
|
||||
} catch {
|
||||
json(res, 400, { error: "Bad Request: invalid JSON body" });
|
||||
return;
|
||||
}
|
||||
|
||||
// Existing session → route to its transport.
|
||||
if (sessionId !== undefined) {
|
||||
const transport = sessions.get(sessionId);
|
||||
if (!transport) {
|
||||
json(res, 404, { error: `Unknown session "${sessionId}"` });
|
||||
// ── Route: POST /mcp ─────────────────────────────────────────────────
|
||||
if (req.method === "POST" && req.url === "/mcp") {
|
||||
let body = "";
|
||||
req.on("data", (chunk: Buffer) => { body += chunk.toString(); });
|
||||
req.on("end", () => {
|
||||
let parsed: unknown;
|
||||
try {
|
||||
parsed = JSON.parse(body);
|
||||
} catch {
|
||||
res.writeHead(400, { "Content-Type": "application/json" });
|
||||
res.end(JSON.stringify({ error: "Bad Request: invalid JSON body" }));
|
||||
return;
|
||||
}
|
||||
touch(sessionId);
|
||||
await transport.handleRequest(req, res, parsed);
|
||||
return;
|
||||
}
|
||||
|
||||
// New session: must be an initialize request (ADR-264 F7 — one
|
||||
// transport + one MCP Server per session).
|
||||
if (!isInitializeRequest(parsed)) {
|
||||
json(res, 400, {
|
||||
error: "Bad Request: no mcp-session-id and not an initialize request",
|
||||
});
|
||||
return;
|
||||
}
|
||||
// Bound the session map: at capacity, reclaim the oldest-idle slot
|
||||
// before minting a new session (ADR-264 F7).
|
||||
if (sessions.size >= maxSessions) evictOldestIdle();
|
||||
const transport = new StreamableHTTPServerTransport({
|
||||
sessionIdGenerator: () => randomUUID(),
|
||||
onsessioninitialized: (id: string) => {
|
||||
sessions.set(id, transport);
|
||||
touch(id);
|
||||
},
|
||||
void transport.handleRequest(req, res, parsed);
|
||||
});
|
||||
transport.onclose = () => {
|
||||
if (transport.sessionId !== undefined) {
|
||||
sessions.delete(transport.sessionId);
|
||||
lastSeen.delete(transport.sessionId);
|
||||
}
|
||||
};
|
||||
const mcpServer = serverFactory();
|
||||
await mcpServer.connect(transport as Parameters<typeof mcpServer.connect>[0]);
|
||||
await transport.handleRequest(req, res, parsed);
|
||||
return;
|
||||
}
|
||||
|
||||
// GET (SSE stream) / DELETE (session termination) — session-scoped.
|
||||
if (req.method === "GET" || req.method === "DELETE") {
|
||||
const transport = sessionId !== undefined ? sessions.get(sessionId) : undefined;
|
||||
if (!transport) {
|
||||
json(res, 400, { error: "Bad Request: missing or unknown mcp-session-id" });
|
||||
return;
|
||||
}
|
||||
if (sessionId !== undefined) touch(sessionId);
|
||||
await transport.handleRequest(req, res);
|
||||
return;
|
||||
}
|
||||
// ── Fallback ─────────────────────────────────────────────────────────
|
||||
res.writeHead(404, { "Content-Type": "application/json" });
|
||||
res.end(JSON.stringify({ error: "Not found. MCP endpoint: POST /mcp" }));
|
||||
}
|
||||
);
|
||||
|
||||
json(res, 405, { error: "Method not allowed. Use POST/GET/DELETE on /mcp" });
|
||||
})().catch(() => {
|
||||
if (!res.headersSent) json(res, 500, { error: "Internal server error" });
|
||||
else res.end();
|
||||
});
|
||||
});
|
||||
|
||||
httpServer.on("close", () => clearInterval(sweepTimer));
|
||||
|
||||
return { httpServer, sessions };
|
||||
return { httpServer, transport };
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -331,13 +152,19 @@ export function buildHttpApp(
|
||||
* is bound and listening.
|
||||
*/
|
||||
export async function createHttpTransport(
|
||||
serverFactory: McpServerFactory,
|
||||
mcpServer: McpServer,
|
||||
opts: HttpTransportOptions = {}
|
||||
): Promise<HttpTransportResult> {
|
||||
const host = opts.host ?? process.env["RVAGENT_HTTP_HOST"] ?? DEFAULT_HOST;
|
||||
const port = opts.port ?? Number(process.env["RVAGENT_HTTP_PORT"] ?? DEFAULT_PORT);
|
||||
|
||||
const { httpServer, sessions } = buildHttpApp(serverFactory, opts);
|
||||
const { httpServer, transport } = buildHttpApp(mcpServer, opts);
|
||||
|
||||
// Wire MCP server to the transport only after the HTTP server is built.
|
||||
// Cast needed: StreamableHTTPServerTransport implements Transport but
|
||||
// exactOptionalPropertyTypes causes a false incompatibility on optional
|
||||
// callback properties; the cast is safe — the SDK types are consistent.
|
||||
await mcpServer.connect(transport as Parameters<typeof mcpServer.connect>[0]);
|
||||
|
||||
await new Promise<void>((resolve, reject) => {
|
||||
httpServer.once("error", reject);
|
||||
@@ -346,7 +173,7 @@ export async function createHttpTransport(
|
||||
|
||||
return {
|
||||
httpServer,
|
||||
sessions,
|
||||
transport,
|
||||
boundAddress: `http://${host}:${port}`,
|
||||
};
|
||||
}
|
||||
|
||||
+269
-197
@@ -1,39 +1,29 @@
|
||||
#!/usr/bin/env node
|
||||
/**
|
||||
* @ruvnet/rvagent — RuView MCP Server
|
||||
* @ruv/ruview-mcp — RuView MCP Server
|
||||
*
|
||||
* Exposes RuView's WiFi-DensePose sensing capabilities as Model Context Protocol
|
||||
* (MCP) tools that Claude Code, Cursor, Codex, and other MCP-compatible agents
|
||||
* can call directly.
|
||||
*
|
||||
* Transports (ADR-264 O3):
|
||||
* stdio (default) node dist/index.js
|
||||
* Streamable HTTP RVAGENT_HTTP_PORT=3001 node dist/index.js
|
||||
* (127.0.0.1-bound, Origin-gated, optional bearer token —
|
||||
* see http-transport.ts for the security model)
|
||||
* Tools exposed:
|
||||
* ruview_csi_latest — pull the latest CSI window from the sensing-server
|
||||
* ruview_pose_infer — single-shot 17-keypoint pose estimation
|
||||
* ruview_count_infer — single-shot person count with confidence interval
|
||||
* ruview_registry_list — list cogs from the Cognitum edge registry (ADR-102)
|
||||
* ruview_train_count — kick off a count-cog training run (returns job ID)
|
||||
* ruview_job_status — poll a background training job
|
||||
*
|
||||
* Tool naming (ADR-264 O4): canonical names are underscore-form
|
||||
* (host tool-name regexes commonly enforce ^[a-zA-Z0-9_-]{1,64}$). The
|
||||
* pre-ADR-264 dotted names (ruview.bfld.last_scan, …) remain callable as
|
||||
* router-only aliases for one deprecation cycle; tools/list advertises the
|
||||
* underscore form only.
|
||||
*
|
||||
* Validation (ADR-264 O5): each tool declares ONE Zod schema. The CallTool
|
||||
* gate parses exactly once and hands the typed result to the handler; the
|
||||
* advertised JSON Schema is generated from the same Zod source, so what is
|
||||
* advertised is what is enforced.
|
||||
* Usage:
|
||||
* node dist/index.js # stdio transport (default)
|
||||
* RUVIEW_SENSING_SERVER_URL=http://cognitum-v0:3000 node dist/index.js
|
||||
*
|
||||
* To register with Claude Code:
|
||||
* claude mcp add ruview -- npx -y @ruvnet/rvagent
|
||||
* claude mcp add ruview -- node /path/to/tools/ruview-mcp/dist/index.js
|
||||
*
|
||||
* See ADR-104 for the original design rationale and ADR-264 for the npm
|
||||
* deep-review this layout implements.
|
||||
* See ADR-104 for the full design rationale and security model.
|
||||
*/
|
||||
|
||||
import { createRequire } from "node:module";
|
||||
import { realpathSync } from "node:fs";
|
||||
import { fileURLToPath } from "node:url";
|
||||
import { argv } from "node:process";
|
||||
import { Server } from "@modelcontextprotocol/sdk/server/index.js";
|
||||
import { StdioServerTransport } from "@modelcontextprotocol/sdk/server/stdio.js";
|
||||
import {
|
||||
@@ -42,8 +32,6 @@ import {
|
||||
McpError,
|
||||
ErrorCode,
|
||||
} from "@modelcontextprotocol/sdk/types.js";
|
||||
import type { z } from "zod";
|
||||
import { zodToJsonSchema } from "zod-to-json-schema";
|
||||
|
||||
import { loadConfig } from "./config.js";
|
||||
import { csiLatestSchema, csiLatest } from "./tools/csi-latest.js";
|
||||
@@ -56,51 +44,40 @@ import {
|
||||
jobStatusSchema,
|
||||
jobStatus,
|
||||
} from "./tools/train-count.js";
|
||||
import { bfldLastScanSchema, bfldLastScan } from "./tools/bfld-last-scan.js";
|
||||
import { bfldSubscribeSchema, bfldSubscribe } from "./tools/bfld-subscribe.js";
|
||||
import { presenceNowSchema, presenceNow } from "./tools/presence-now.js";
|
||||
import {
|
||||
vitalsGetBreathingSchema,
|
||||
vitalsGetBreathing,
|
||||
} from "./tools/vitals-get-breathing.js";
|
||||
import {
|
||||
vitalsGetHeartRateSchema,
|
||||
vitalsGetHeartRate,
|
||||
} from "./tools/vitals-get-heart-rate.js";
|
||||
import { vitalsGetAllSchema, vitalsGetAll } from "./tools/vitals-get-all.js";
|
||||
// NOTE: ./http-transport.js is imported lazily in main() — it chain-loads the
|
||||
// SDK's streamableHttp module (~48 ms MEASURED), which the default stdio path
|
||||
// never uses.
|
||||
import { TOOL_INPUT_SCHEMAS } from "./schemas/index.js";
|
||||
import { bfldLastScan } from "./tools/bfld-last-scan.js";
|
||||
import { bfldSubscribe } from "./tools/bfld-subscribe.js";
|
||||
import { presenceNow } from "./tools/presence-now.js";
|
||||
import { vitalsGetBreathing } from "./tools/vitals-get-breathing.js";
|
||||
import { vitalsGetHeartRate } from "./tools/vitals-get-heart-rate.js";
|
||||
import { vitalsGetAll } from "./tools/vitals-get-all.js";
|
||||
|
||||
// Single-source the version from package.json (ADR-264 O8/ADR-265 D3).
|
||||
const require = createRequire(import.meta.url);
|
||||
const PACKAGE_VERSION: string = (
|
||||
require("../package.json") as { version: string }
|
||||
).version;
|
||||
const PACKAGE_VERSION = "0.1.0";
|
||||
const SERVER_NAME = "rvagent";
|
||||
|
||||
// ── Tool registry ──────────────────────────────────────────────────────────
|
||||
|
||||
type RuviewConfig = ReturnType<typeof loadConfig>;
|
||||
|
||||
interface ToolDef {
|
||||
name: string;
|
||||
description: string;
|
||||
/** The single validation source; the advertised JSON Schema derives from it. */
|
||||
schema: z.ZodTypeAny;
|
||||
handler: (parsedArgs: unknown, config: RuviewConfig) => Promise<object>;
|
||||
}
|
||||
|
||||
export const TOOLS: ToolDef[] = [
|
||||
const TOOLS = [
|
||||
{
|
||||
name: "ruview_csi_latest",
|
||||
description:
|
||||
"Pull the latest CSI window from a running wifi-densepose-sensing-server. " +
|
||||
"Returns 56-subcarrier × 20-frame amplitude/phase arrays suitable for " +
|
||||
"downstream inference or research analysis.",
|
||||
schema: csiLatestSchema,
|
||||
handler: (args, config) =>
|
||||
csiLatest(args as Parameters<typeof csiLatest>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
sensing_server_url: {
|
||||
type: "string",
|
||||
description:
|
||||
"Base URL of the sensing-server (default: RUVIEW_SENSING_SERVER_URL or http://localhost:3000).",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
const input = csiLatestSchema.parse(args);
|
||||
return csiLatest(input, config);
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "ruview_pose_infer",
|
||||
@@ -109,9 +86,23 @@ export const TOOLS: ToolDef[] = [
|
||||
"cog-pose-estimation Cog binary (ADR-101). Accepts a CSI window JSON file " +
|
||||
"or uses the live sensing-server if no window is provided. " +
|
||||
"Returns [{keypoints: [[x,y]×17], confidence}] per detected person.",
|
||||
schema: poseInferSchema,
|
||||
handler: (args, config) =>
|
||||
poseInfer(args as Parameters<typeof poseInfer>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
window_path: {
|
||||
type: "string",
|
||||
description: "Path to a CSI window JSON file. Omit to use the live sensing-server.",
|
||||
},
|
||||
cog_binary: {
|
||||
type: "string",
|
||||
description: "Path to cog-pose-estimation binary.",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
const input = poseInferSchema.parse(args);
|
||||
return poseInfer(input, config);
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "ruview_count_infer",
|
||||
@@ -119,9 +110,29 @@ export const TOOLS: ToolDef[] = [
|
||||
"Run a single-shot person-count inference using the cog-person-count Cog " +
|
||||
"binary (ADR-103). Returns {count, confidence, count_p95_low, count_p95_high} " +
|
||||
"with a Stoer-Wagner multi-node fusion upper bound when multiple nodes are active.",
|
||||
schema: countInferSchema,
|
||||
handler: (args, config) =>
|
||||
countInfer(args as Parameters<typeof countInfer>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
window_path: {
|
||||
type: "string",
|
||||
description: "Path to a CSI window JSON file. Omit to use the live sensing-server.",
|
||||
},
|
||||
cog_binary: {
|
||||
type: "string",
|
||||
description: "Path to cog-person-count binary.",
|
||||
},
|
||||
max_persons: {
|
||||
type: "integer",
|
||||
minimum: 1,
|
||||
maximum: 7,
|
||||
description: "Upper bound on person count (1–7). Default: 7.",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
const input = countInferSchema.parse(args);
|
||||
return countInfer(input, config);
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "ruview_registry_list",
|
||||
@@ -129,9 +140,33 @@ export const TOOLS: ToolDef[] = [
|
||||
"List cogs from the Cognitum edge module registry (ADR-102). " +
|
||||
"Fetches /api/v1/edge/registry from the sensing-server, which proxies the " +
|
||||
"canonical GCS catalog (105 cogs, 11 categories). Supports category filter and search.",
|
||||
schema: registryListSchema,
|
||||
handler: (args, config) =>
|
||||
registryList(args as Parameters<typeof registryList>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
category: {
|
||||
type: "string",
|
||||
description:
|
||||
"Filter by category: health, security, building, retail, industrial, " +
|
||||
"research, ai, swarm, signal, network, developer.",
|
||||
},
|
||||
search: {
|
||||
type: "string",
|
||||
description: "Search substring matched against cog id and name (case-insensitive).",
|
||||
},
|
||||
refresh: {
|
||||
type: "boolean",
|
||||
description: "Bypass the 1-hour registry cache.",
|
||||
},
|
||||
sensing_server_url: {
|
||||
type: "string",
|
||||
description: "Override the sensing-server URL.",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
const input = registryListSchema.parse(args);
|
||||
return registryList(input, config);
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "ruview_train_count",
|
||||
@@ -139,139 +174,211 @@ export const TOOLS: ToolDef[] = [
|
||||
"Kick off a cog-person-count training run using the Candle GPU trainer " +
|
||||
"(ADR-103). The paired JSONL file provides CSI windows + camera-derived " +
|
||||
"person-count labels. Returns a job_id to poll with ruview_job_status.",
|
||||
schema: trainCountSchema,
|
||||
handler: (args, config) =>
|
||||
trainCount(args as Parameters<typeof trainCount>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
required: ["paired_jsonl"],
|
||||
properties: {
|
||||
paired_jsonl: {
|
||||
type: "string",
|
||||
description:
|
||||
"Path to the paired JSONL training file (produced by scripts/align-ground-truth.js).",
|
||||
},
|
||||
epochs: {
|
||||
type: "integer",
|
||||
minimum: 1,
|
||||
maximum: 10000,
|
||||
description: "Training epochs (default: 400).",
|
||||
},
|
||||
learning_rate: {
|
||||
type: "number",
|
||||
description: "Initial learning rate (default: 0.001).",
|
||||
},
|
||||
output_dir: {
|
||||
type: "string",
|
||||
description:
|
||||
"Directory for model artifacts (default: v2/crates/cog-person-count/cog/artifacts/).",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
const input = trainCountSchema.parse(args);
|
||||
return trainCount(input, config);
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "ruview_job_status",
|
||||
description:
|
||||
"Poll the status of a background training job started by ruview_train_count. " +
|
||||
"Returns {status, epochs_done, epochs_total, recent_log} for the given job_id.",
|
||||
schema: jobStatusSchema,
|
||||
handler: (args, config) =>
|
||||
jobStatus(args as Parameters<typeof jobStatus>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
required: ["job_id"],
|
||||
properties: {
|
||||
job_id: {
|
||||
type: "string",
|
||||
description: "UUID returned by ruview_train_count.",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
const input = jobStatusSchema.parse(args);
|
||||
return jobStatus(input, config);
|
||||
},
|
||||
},
|
||||
// ── ADR-124 BFLD tools (Phase 4 Refinement; underscore names per ADR-264) ─
|
||||
// ── ADR-124 BFLD tools (Phase 4 Refinement) ──────────────────────────────
|
||||
{
|
||||
name: "ruview_bfld_last_scan",
|
||||
name: "ruview.bfld.last_scan",
|
||||
description:
|
||||
"Return the most recent BFLD scan result for a node (ADR-118/ADR-121). " +
|
||||
"Fields: node_id, identity_risk_score [0,1], privacy_class, n_frames, timestamp_ms. " +
|
||||
"Proxied from sensing-server GET /api/v1/bfld/<node_id>/last_scan which aggregates " +
|
||||
"the MQTT state topics ruview/<node_id>/bfld/* (ADR-122 §2.2).",
|
||||
schema: bfldLastScanSchema,
|
||||
handler: (args, config) =>
|
||||
bfldLastScan(args as Parameters<typeof bfldLastScan>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
node_id: {
|
||||
type: "string",
|
||||
description: "Target node id. Omit to use the single active node.",
|
||||
},
|
||||
sensing_server_url: {
|
||||
type: "string",
|
||||
description: "Override sensing-server URL for this call only.",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
return bfldLastScan(args as Parameters<typeof bfldLastScan>[0], config);
|
||||
},
|
||||
},
|
||||
{
|
||||
name: "ruview_bfld_subscribe",
|
||||
name: "ruview.bfld.subscribe",
|
||||
description:
|
||||
"Subscribe to BFLD events on ruview/<node_id>/bfld/* for duration_s seconds (ADR-122). " +
|
||||
"Returns {ok, subscription_id, expires_at, topic}. When the sensing-server is unreachable, " +
|
||||
"returns a synthetic envelope with ok:false,warn:true so the caller can distinguish " +
|
||||
"a network error from an invalid request.",
|
||||
schema: bfldSubscribeSchema,
|
||||
handler: (args, config) =>
|
||||
bfldSubscribe(args as Parameters<typeof bfldSubscribe>[0], config),
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
required: ["duration_s"],
|
||||
properties: {
|
||||
node_id: {
|
||||
type: "string",
|
||||
description: "Target node id. Omit to use the single active node.",
|
||||
},
|
||||
duration_s: {
|
||||
type: "number",
|
||||
minimum: 0,
|
||||
maximum: 3600,
|
||||
description: "Subscription duration in seconds (max 3600).",
|
||||
},
|
||||
sensing_server_url: {
|
||||
type: "string",
|
||||
description: "Override sensing-server URL for this call only.",
|
||||
},
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) => {
|
||||
return bfldSubscribe(args as Parameters<typeof bfldSubscribe>[0], config);
|
||||
},
|
||||
},
|
||||
// ── ADR-124 Presence + Vitals tools ───────────────────────────────────────
|
||||
// ── ADR-124 Presence + Vitals tools (Phase 4 Refinement iter 5) ──────────
|
||||
{
|
||||
name: "ruview_presence_now",
|
||||
name: "ruview.presence.now",
|
||||
description:
|
||||
"Return current occupancy for a node: present, n_persons, confidence, timestamp_ms. " +
|
||||
"Wraps EdgeVitalsMessage.presence + n_persons (ADR-124 §4.1, ws.py:74-88).",
|
||||
schema: presenceNowSchema,
|
||||
handler: (args, config) =>
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
node_id: { type: "string", description: "Target node id." },
|
||||
sensing_server_url: { type: "string", description: "Override sensing-server URL." },
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) =>
|
||||
presenceNow(args as Parameters<typeof presenceNow>[0], config),
|
||||
},
|
||||
{
|
||||
name: "ruview_vitals_get_breathing",
|
||||
name: "ruview.vitals.get_breathing",
|
||||
description:
|
||||
"Return breathing rate for a node: breathing_rate_bpm (null if unavailable), " +
|
||||
"confidence, timestamp_ms. Wraps EdgeVitalsMessage.breathing_rate_bpm (ws.py:82).",
|
||||
schema: vitalsGetBreathingSchema,
|
||||
handler: (args, config) =>
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
node_id: { type: "string", description: "Target node id." },
|
||||
window_s: { type: "number", description: "Averaging window in seconds (max 300)." },
|
||||
sensing_server_url: { type: "string", description: "Override sensing-server URL." },
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) =>
|
||||
vitalsGetBreathing(args as Parameters<typeof vitalsGetBreathing>[0], config),
|
||||
},
|
||||
{
|
||||
name: "ruview_vitals_get_heart_rate",
|
||||
name: "ruview.vitals.get_heart_rate",
|
||||
description:
|
||||
"Return heart rate for a node: heartrate_bpm (null if unavailable), " +
|
||||
"confidence, timestamp_ms. Wraps EdgeVitalsMessage.heartrate_bpm (ws.py:83).",
|
||||
schema: vitalsGetHeartRateSchema,
|
||||
handler: (args, config) =>
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
node_id: { type: "string", description: "Target node id." },
|
||||
window_s: { type: "number", description: "Averaging window in seconds (max 300)." },
|
||||
sensing_server_url: { type: "string", description: "Override sensing-server URL." },
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) =>
|
||||
vitalsGetHeartRate(args as Parameters<typeof vitalsGetHeartRate>[0], config),
|
||||
},
|
||||
{
|
||||
name: "ruview_vitals_get_all",
|
||||
name: "ruview.vitals.get_all",
|
||||
description:
|
||||
"Return the full EdgeVitalsMessage for a node (all fields except raw): " +
|
||||
"presence, n_persons, confidence, breathing_rate_bpm, heartrate_bpm, motion, zone_id. " +
|
||||
"Full surface of ws.py:74-88.",
|
||||
schema: vitalsGetAllSchema,
|
||||
handler: (args, config) =>
|
||||
inputSchema: {
|
||||
type: "object" as const,
|
||||
properties: {
|
||||
node_id: { type: "string", description: "Target node id." },
|
||||
sensing_server_url: { type: "string", description: "Override sensing-server URL." },
|
||||
},
|
||||
},
|
||||
handler: async (args: unknown, config: ReturnType<typeof loadConfig>) =>
|
||||
vitalsGetAll(args as Parameters<typeof vitalsGetAll>[0], config),
|
||||
},
|
||||
];
|
||||
] as const;
|
||||
|
||||
/**
|
||||
* Pre-ADR-264 dotted tool names, accepted at call time for one deprecation
|
||||
* cycle. Router-only: tools/list never advertises these.
|
||||
*/
|
||||
export const TOOL_ALIASES: Record<string, string> = {
|
||||
"ruview.bfld.last_scan": "ruview_bfld_last_scan",
|
||||
"ruview.bfld.subscribe": "ruview_bfld_subscribe",
|
||||
"ruview.presence.now": "ruview_presence_now",
|
||||
"ruview.vitals.get_breathing": "ruview_vitals_get_breathing",
|
||||
"ruview.vitals.get_heart_rate": "ruview_vitals_get_heart_rate",
|
||||
"ruview.vitals.get_all": "ruview_vitals_get_all",
|
||||
};
|
||||
// ── Server bootstrap ────────────────────────────────────────────────────────
|
||||
|
||||
/**
|
||||
* Advertised JSON Schema, generated from the Zod source (ADR-264 O5).
|
||||
* Memoized: schemas are static for the process lifetime, and tools/list is
|
||||
* called once per session (per HTTP session under the session-per-server
|
||||
* model) — no point re-walking the Zod tree each time.
|
||||
*/
|
||||
const jsonSchemaCache = new Map<string, object>();
|
||||
export function toolInputJsonSchema(def: ToolDef): object {
|
||||
const cached = jsonSchemaCache.get(def.name);
|
||||
if (cached !== undefined) return cached;
|
||||
const raw = zodToJsonSchema(def.schema, { $refStrategy: "none" }) as Record<
|
||||
string,
|
||||
unknown
|
||||
>;
|
||||
delete raw["$schema"];
|
||||
jsonSchemaCache.set(def.name, raw);
|
||||
return raw;
|
||||
}
|
||||
async function main(): Promise<void> {
|
||||
const config = loadConfig();
|
||||
|
||||
// ── Server factory ──────────────────────────────────────────────────────────
|
||||
|
||||
/**
|
||||
* Build a fully-wired MCP Server. A factory (not a singleton) because each
|
||||
* Streamable-HTTP session needs its own Server instance (ADR-264 F7/O3).
|
||||
*/
|
||||
export function buildServer(config: RuviewConfig = loadConfig()): Server {
|
||||
const server = new Server(
|
||||
{ name: SERVER_NAME, version: PACKAGE_VERSION },
|
||||
{ capabilities: { tools: {} } }
|
||||
{
|
||||
name: SERVER_NAME,
|
||||
version: PACKAGE_VERSION,
|
||||
},
|
||||
{
|
||||
capabilities: {
|
||||
tools: {},
|
||||
},
|
||||
}
|
||||
);
|
||||
|
||||
// List tools handler.
|
||||
server.setRequestHandler(ListToolsRequestSchema, () => ({
|
||||
tools: TOOLS.map((t) => ({
|
||||
name: t.name,
|
||||
description: t.description,
|
||||
inputSchema: toolInputJsonSchema(t),
|
||||
inputSchema: t.inputSchema,
|
||||
})),
|
||||
}));
|
||||
|
||||
// Call tool handler — the SINGLE Zod validation gate (ADR-264 O5): parse
|
||||
// once, hand the typed result (with defaults applied) to the handler.
|
||||
// Call tool handler — uniform Zod validation gate (ADR-124 §3 Architecture).
|
||||
// If TOOL_INPUT_SCHEMAS has a schema for the tool name, run safeParse first.
|
||||
// Parse failures throw McpError(InvalidParams) so the client sees a typed
|
||||
// JSON-RPC error rather than a wrapped string error.
|
||||
server.setRequestHandler(CallToolRequestSchema, async (request) => {
|
||||
const { name: rawName, arguments: args } = request.params;
|
||||
const name = TOOL_ALIASES[rawName] ?? rawName;
|
||||
const { name, arguments: args } = request.params;
|
||||
const tool = TOOLS.find((t) => t.name === name);
|
||||
|
||||
if (!tool) {
|
||||
@@ -281,7 +388,7 @@ export function buildServer(config: RuviewConfig = loadConfig()): Server {
|
||||
type: "text" as const,
|
||||
text: JSON.stringify({
|
||||
ok: false,
|
||||
error: `Unknown tool "${rawName}". Available tools: ${TOOLS.map((t) => t.name).join(", ")}`,
|
||||
error: `Unknown tool "${name}". Available tools: ${TOOLS.map((t) => t.name).join(", ")}`,
|
||||
}),
|
||||
},
|
||||
],
|
||||
@@ -289,16 +396,22 @@ export function buildServer(config: RuviewConfig = loadConfig()): Server {
|
||||
};
|
||||
}
|
||||
|
||||
const parsed = tool.schema.safeParse(args ?? {});
|
||||
if (!parsed.success) {
|
||||
throw new McpError(
|
||||
ErrorCode.InvalidParams,
|
||||
`Invalid arguments for tool "${rawName}": ${parsed.error.message}`
|
||||
);
|
||||
// Schema validation gate — applies to all tools registered in TOOL_INPUT_SCHEMAS.
|
||||
const schemaEntry = Object.prototype.hasOwnProperty.call(TOOL_INPUT_SCHEMAS, name)
|
||||
? TOOL_INPUT_SCHEMAS[name as keyof typeof TOOL_INPUT_SCHEMAS]
|
||||
: undefined;
|
||||
if (schemaEntry !== undefined) {
|
||||
const parsed = schemaEntry.safeParse(args ?? {});
|
||||
if (!parsed.success) {
|
||||
throw new McpError(
|
||||
ErrorCode.InvalidParams,
|
||||
`Invalid arguments for tool "${name}": ${parsed.error.message}`
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
try {
|
||||
const result = await tool.handler(parsed.data, config);
|
||||
const result = await tool.handler(args ?? {}, config);
|
||||
return {
|
||||
content: [
|
||||
{
|
||||
@@ -325,59 +438,18 @@ export function buildServer(config: RuviewConfig = loadConfig()): Server {
|
||||
}
|
||||
});
|
||||
|
||||
return server;
|
||||
}
|
||||
|
||||
// ── Server bootstrap ────────────────────────────────────────────────────────
|
||||
|
||||
async function main(): Promise<void> {
|
||||
const config = loadConfig();
|
||||
|
||||
// stdio transport (default, always on).
|
||||
const stdioServer = buildServer(config);
|
||||
// Wire up stdio transport.
|
||||
const transport = new StdioServerTransport();
|
||||
await stdioServer.connect(transport);
|
||||
|
||||
// Streamable HTTP transport — explicit opt-in only (ADR-264 O3). Lazily
|
||||
// imported so the stdio path never pays the streamableHttp load cost.
|
||||
const httpPort = process.env["RVAGENT_HTTP_PORT"];
|
||||
let httpNote = "";
|
||||
if (httpPort !== undefined && httpPort !== "") {
|
||||
const { createHttpTransport } = await import("./http-transport.js");
|
||||
const { boundAddress } = await createHttpTransport(
|
||||
() => buildServer(config),
|
||||
{ port: Number(httpPort) }
|
||||
);
|
||||
httpNote = ` HTTP: ${boundAddress}/mcp.`;
|
||||
}
|
||||
await server.connect(transport);
|
||||
|
||||
// Log to stderr so it doesn't interfere with the MCP stdio protocol.
|
||||
process.stderr.write(
|
||||
`[@ruvnet/rvagent] Server v${PACKAGE_VERSION} started. ` +
|
||||
`Sensing server: ${config.sensingServerUrl}.${httpNote}\n`
|
||||
`Sensing server: ${config.sensingServerUrl}\n`
|
||||
);
|
||||
}
|
||||
|
||||
// CLI guard: boot the server only when this module is the entrypoint — invoked
|
||||
// as the `rvagent` / `ruview-mcp` bin or `node dist/index.js`. Importing it as a
|
||||
// library (`import { buildServer } from "@ruvnet/rvagent"`) must NOT side-effect
|
||||
// connect a StdioServerTransport to the consumer's stdin/stdout. Realpath both
|
||||
// sides because npm's bin shim is a symlink and passes a non-normalized,
|
||||
// possibly case-skewed argv[1] on Windows (mirrors harness/ruview/bin/cli.js).
|
||||
const invokedDirectly = (() => {
|
||||
if (!argv[1]) return false;
|
||||
try {
|
||||
const a = realpathSync(argv[1]);
|
||||
const b = realpathSync(fileURLToPath(import.meta.url));
|
||||
return process.platform === "win32" ? a.toLowerCase() === b.toLowerCase() : a === b;
|
||||
} catch {
|
||||
return false;
|
||||
}
|
||||
})();
|
||||
|
||||
if (invokedDirectly) {
|
||||
main().catch((e) => {
|
||||
process.stderr.write(`[ruview-mcp] Fatal: ${String(e)}\n`);
|
||||
process.exit(1);
|
||||
});
|
||||
}
|
||||
main().catch((e) => {
|
||||
process.stderr.write(`[ruview-mcp] Fatal: ${String(e)}\n`);
|
||||
process.exit(1);
|
||||
});
|
||||
|
||||
@@ -17,16 +17,7 @@
|
||||
|
||||
import { z } from "zod";
|
||||
import { randomUUID } from "node:crypto";
|
||||
import {
|
||||
mkdirSync,
|
||||
appendFileSync,
|
||||
openSync,
|
||||
closeSync,
|
||||
readFileSync,
|
||||
writeFileSync,
|
||||
statSync,
|
||||
readSync,
|
||||
} from "node:fs";
|
||||
import { mkdirSync, appendFileSync, openSync } from "node:fs";
|
||||
import path from "node:path";
|
||||
import { spawn } from "node:child_process";
|
||||
import type { RuviewConfig, TrainJobResult, JobStatusResult } from "../types.js";
|
||||
@@ -75,101 +66,17 @@ export const jobStatusSchema = z.object({
|
||||
|
||||
export type JobStatusInput = z.infer<typeof jobStatusSchema>;
|
||||
|
||||
interface JobRecord {
|
||||
status: "queued" | "running" | "done" | "failed" | "unknown";
|
||||
log_path: string;
|
||||
queued_at: number;
|
||||
epochs_total: number;
|
||||
/**
|
||||
* OS pid of the training child. Persisted so a later process (e.g. after an
|
||||
* MCP server restart) can tell whether a job still marked 'running' actually
|
||||
* outlived the process that spawned it (ADR-264 O6).
|
||||
*/
|
||||
pid?: number | undefined;
|
||||
/** Human-readable explanation attached during reconciliation (unknown state). */
|
||||
reason?: string | undefined;
|
||||
}
|
||||
|
||||
// In-process job registry, mirrored to <jobsDir>/<id>.json on every state
|
||||
// change so ruview_job_status survives an MCP server restart (ADR-264 O6).
|
||||
const jobRegistry = new Map<string, JobRecord>();
|
||||
|
||||
function jobRecordPath(jobsDir: string, jobId: string): string {
|
||||
return path.join(jobsDir, `${jobId}.json`);
|
||||
}
|
||||
|
||||
function persistJob(jobsDir: string, jobId: string, record: JobRecord): void {
|
||||
try {
|
||||
writeFileSync(
|
||||
jobRecordPath(jobsDir, jobId),
|
||||
JSON.stringify({ job_id: jobId, ...record }, null, 2)
|
||||
);
|
||||
} catch {
|
||||
// Persistence is best-effort; the in-memory record still serves this process.
|
||||
// In-process job registry (survives for the lifetime of the MCP server process).
|
||||
// For a production implementation, persist to ~/.ruview/jobs/<id>.json.
|
||||
const jobRegistry = new Map<
|
||||
string,
|
||||
{
|
||||
status: "queued" | "running" | "done" | "failed";
|
||||
log_path: string;
|
||||
queued_at: number;
|
||||
epochs_total: number;
|
||||
}
|
||||
}
|
||||
|
||||
function loadPersistedJob(jobsDir: string, jobId: string): JobRecord | undefined {
|
||||
try {
|
||||
const raw = JSON.parse(readFileSync(jobRecordPath(jobsDir, jobId), "utf8")) as
|
||||
Partial<JobRecord>;
|
||||
if (typeof raw.log_path !== "string" || typeof raw.status !== "string") {
|
||||
return undefined;
|
||||
}
|
||||
return {
|
||||
status: raw.status,
|
||||
log_path: raw.log_path,
|
||||
queued_at: typeof raw.queued_at === "number" ? raw.queued_at : 0,
|
||||
epochs_total: typeof raw.epochs_total === "number" ? raw.epochs_total : 0,
|
||||
pid: typeof raw.pid === "number" ? raw.pid : undefined,
|
||||
reason: typeof raw.reason === "string" ? raw.reason : undefined,
|
||||
};
|
||||
} catch {
|
||||
return undefined;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Is `pid` still a live process? `process.kill(pid, 0)` sends no signal but
|
||||
* probes existence: ESRCH ⇒ gone; EPERM ⇒ alive but owned by another user
|
||||
* (treated as alive so we never falsely reconcile a still-running job).
|
||||
*/
|
||||
function isProcessAlive(pid: number): boolean {
|
||||
try {
|
||||
process.kill(pid, 0);
|
||||
return true;
|
||||
} catch (e) {
|
||||
return (e as NodeJS.ErrnoException).code === "EPERM";
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Scan log lines (tail) for the "# exit code: N" marker the child.on('close')
|
||||
* handler appends. `found:false` means the process died without the marker —
|
||||
* i.e. this server never saw the close (it restarted mid-run).
|
||||
*/
|
||||
function findExitMarker(lines: string[]): { found: boolean; code: number | null } {
|
||||
for (let i = lines.length - 1; i >= 0; i--) {
|
||||
const m = /^# exit code: (-?\d+|null)$/.exec((lines[i] ?? "").trim());
|
||||
if (m) return { found: true, code: m[1] === "null" ? null : Number(m[1]) };
|
||||
}
|
||||
return { found: false, code: null };
|
||||
}
|
||||
|
||||
/** Read the last `maxLines` lines of a file without loading the whole log. */
|
||||
function tailLines(filePath: string, maxLines: number, maxBytes = 64 * 1024): string[] {
|
||||
const size = statSync(filePath).size;
|
||||
const start = Math.max(0, size - maxBytes);
|
||||
const buf = Buffer.alloc(size - start);
|
||||
const fd = openSync(filePath, "r");
|
||||
try {
|
||||
readSync(fd, buf, 0, buf.length, start);
|
||||
} finally {
|
||||
closeSync(fd);
|
||||
}
|
||||
const lines = buf.toString("utf8").split("\n");
|
||||
return lines.slice(Math.max(0, lines.length - maxLines));
|
||||
}
|
||||
>();
|
||||
|
||||
export async function trainCount(
|
||||
input: TrainCountInput,
|
||||
@@ -185,16 +92,13 @@ export async function trainCount(
|
||||
const outputDir =
|
||||
input.output_dir ?? "v2/crates/cog-person-count/cog/artifacts";
|
||||
|
||||
// Record the job immediately so ruview_job_status can find it — in memory
|
||||
// and on disk (survives server restarts, ADR-264 O6).
|
||||
const record: JobRecord = {
|
||||
// Record the job immediately so ruview_job_status can find it.
|
||||
jobRegistry.set(jobId, {
|
||||
status: "queued",
|
||||
log_path: logPath,
|
||||
queued_at: queuedAt,
|
||||
epochs_total: input.epochs,
|
||||
};
|
||||
jobRegistry.set(jobId, record);
|
||||
persistJob(logDir, jobId, record);
|
||||
});
|
||||
|
||||
// Write the header synchronously so the log file exists before spawn.
|
||||
const header = [
|
||||
@@ -238,29 +142,21 @@ export async function trainCount(
|
||||
|
||||
child.unref(); // Allow the MCP server process to exit without waiting for training.
|
||||
|
||||
// The child holds its own duplicates of the log fds; close the parent's
|
||||
// copies immediately or every job leaks 2 fds for the server's lifetime
|
||||
// (ADR-264 F6/O6).
|
||||
closeSync(logFdOut);
|
||||
closeSync(logFdErr);
|
||||
|
||||
// Record the child pid so a later process can reconcile a stale 'running'
|
||||
// record after a server restart (child.pid is undefined only if spawn failed
|
||||
// synchronously, in which case the 'error' handler flips status to 'failed').
|
||||
record.pid = child.pid;
|
||||
record.status = "running";
|
||||
persistJob(logDir, jobId, record);
|
||||
const entry = jobRegistry.get(jobId);
|
||||
if (entry) {
|
||||
entry.status = "running";
|
||||
}
|
||||
|
||||
child.on("error", (e) => {
|
||||
appendFileSync(logPath, `\n# ERROR: ${e.message}\n`);
|
||||
record.status = "failed";
|
||||
persistJob(logDir, jobId, record);
|
||||
const rec = jobRegistry.get(jobId);
|
||||
if (rec) rec.status = "failed";
|
||||
});
|
||||
|
||||
child.on("close", (code) => {
|
||||
appendFileSync(logPath, `\n# exit code: ${code}\n`);
|
||||
record.status = code === 0 ? "done" : "failed";
|
||||
persistJob(logDir, jobId, record);
|
||||
const rec = jobRegistry.get(jobId);
|
||||
if (rec) rec.status = code === 0 ? "done" : "failed";
|
||||
});
|
||||
|
||||
const result: TrainJobResult = {
|
||||
@@ -282,48 +178,24 @@ export async function trainCount(
|
||||
|
||||
export async function jobStatus(
|
||||
input: JobStatusInput,
|
||||
config: RuviewConfig
|
||||
_config: RuviewConfig
|
||||
): Promise<object> {
|
||||
// Memory first, then the persisted record (survives server restarts).
|
||||
let job = jobRegistry.get(input.job_id) ?? loadPersistedJob(config.jobsDir, input.job_id);
|
||||
const job = jobRegistry.get(input.job_id);
|
||||
if (!job) {
|
||||
return {
|
||||
ok: false,
|
||||
error: `Job ${input.job_id} not found in this server or in ${config.jobsDir}.`,
|
||||
error: `Job ${input.job_id} not found. ` +
|
||||
"The MCP server may have restarted — check the log directory directly.",
|
||||
};
|
||||
}
|
||||
|
||||
// Reconcile a 'running' record whose owning process is gone. The status flip
|
||||
// to done/failed lives only in the spawning process's child.on('close'/'error')
|
||||
// handlers; if this server restarted mid-run, the record froze at 'running'
|
||||
// (ADR-264 O6). When the pid is dead, recover the true outcome from the log's
|
||||
// "# exit code: N" marker, else surface an honest 'unknown'.
|
||||
if (job.status === "running" && typeof job.pid === "number" && !isProcessAlive(job.pid)) {
|
||||
let tail: string[] = [];
|
||||
try {
|
||||
tail = tailLines(job.log_path, 40);
|
||||
} catch {
|
||||
/* log unreadable — treated as no marker below */
|
||||
}
|
||||
const marker = findExitMarker(tail);
|
||||
const reconciled: JobRecord = { ...job };
|
||||
if (marker.found) {
|
||||
reconciled.status = marker.code === 0 ? "done" : "failed";
|
||||
reconciled.reason = undefined;
|
||||
} else {
|
||||
reconciled.status = "unknown";
|
||||
reconciled.reason =
|
||||
"process gone, no exit marker — server likely restarted mid-run";
|
||||
}
|
||||
jobRegistry.set(input.job_id, reconciled);
|
||||
persistJob(config.jobsDir, input.job_id, reconciled);
|
||||
job = reconciled;
|
||||
}
|
||||
|
||||
// Bounded tail read — never load a multi-GB training log wholesale.
|
||||
// Read the last 20 lines of the log file.
|
||||
let recentLog: string[] = [];
|
||||
try {
|
||||
recentLog = tailLines(job.log_path, 20);
|
||||
const { readFileSync } = await import("node:fs");
|
||||
const content = readFileSync(job.log_path, "utf8");
|
||||
const lines = content.split("\n");
|
||||
recentLog = lines.slice(Math.max(0, lines.length - 20));
|
||||
} catch {
|
||||
recentLog = ["(log not readable yet)"];
|
||||
}
|
||||
@@ -334,7 +206,6 @@ export async function jobStatus(
|
||||
log_path: job.log_path,
|
||||
recent_log: recentLog,
|
||||
epochs_total: job.epochs_total,
|
||||
...(job.reason !== undefined ? { reason: job.reason } : {}),
|
||||
};
|
||||
|
||||
return { ok: true, result };
|
||||
|
||||
@@ -115,12 +115,7 @@ export interface TrainJobResult {
|
||||
/** Output of ruview_job_status. */
|
||||
export interface JobStatusResult {
|
||||
job_id: string;
|
||||
/**
|
||||
* 'unknown' is only ever produced by post-restart reconciliation: a record
|
||||
* frozen at 'running' whose owning process is gone and whose log carries no
|
||||
* exit-code marker (see reason).
|
||||
*/
|
||||
status: "queued" | "running" | "done" | "failed" | "unknown";
|
||||
status: "queued" | "running" | "done" | "failed";
|
||||
progress_pct?: number | undefined;
|
||||
/** Most recent log lines (last 20). */
|
||||
recent_log: string[];
|
||||
@@ -129,8 +124,6 @@ export interface JobStatusResult {
|
||||
epochs_done?: number | undefined;
|
||||
/** Total epochs scheduled. */
|
||||
epochs_total?: number | undefined;
|
||||
/** Explanation attached when status was reconciled to 'unknown'. */
|
||||
reason?: string | undefined;
|
||||
}
|
||||
|
||||
// ── Vitals (ADR-124 §6 Python surface parity: ws.py:74-88) ───────────────
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
/**
|
||||
* ADR-264 F8/O7 — cog-binary detection must be architecture-aware.
|
||||
*
|
||||
* detectCogBinary() itself probes hardcoded /var/lib paths, so it is not
|
||||
* cheaply testable without fs mocking. The bug it fixes, however, lives purely
|
||||
* in the candidate ORDER, which cogBinaryCandidates() exposes as a pure,
|
||||
* arch-injectable function — that is what we pin here.
|
||||
*/
|
||||
|
||||
import { cogBinaryCandidates } from "../src/config.js";
|
||||
|
||||
describe("cogBinaryCandidates()", () => {
|
||||
it("probes -arm before -x86_64 on arm64 hosts", () => {
|
||||
const c = cogBinaryCandidates("cog-person-count", "arm64");
|
||||
const arm = c.findIndex((p) => p.endsWith("cog-person-count-arm"));
|
||||
const x86 = c.findIndex((p) => p.endsWith("cog-person-count-x86_64"));
|
||||
expect(arm).toBeGreaterThanOrEqual(0);
|
||||
expect(x86).toBeGreaterThanOrEqual(0);
|
||||
expect(arm).toBeLessThan(x86);
|
||||
});
|
||||
|
||||
it("probes -x86_64 before -arm on x64 hosts", () => {
|
||||
const c = cogBinaryCandidates("cog-person-count", "x64");
|
||||
const arm = c.findIndex((p) => p.endsWith("cog-person-count-arm"));
|
||||
const x86 = c.findIndex((p) => p.endsWith("cog-person-count-x86_64"));
|
||||
expect(x86).toBeLessThan(arm);
|
||||
});
|
||||
|
||||
it("defaults an unknown arch to the x86_64-first order", () => {
|
||||
const c = cogBinaryCandidates("cog-pose-estimation", "riscv64");
|
||||
const arm = c.findIndex((p) => p.endsWith("cog-pose-estimation-arm"));
|
||||
const x86 = c.findIndex((p) => p.endsWith("cog-pose-estimation-x86_64"));
|
||||
expect(x86).toBeLessThan(arm);
|
||||
});
|
||||
|
||||
it("keeps the /usr/local/bin and bare-name PATH fallbacks last", () => {
|
||||
const c = cogBinaryCandidates("cog-person-count", "arm64");
|
||||
// The two arch builds come first; the /usr/local/bin fallback follows them.
|
||||
expect(c[c.length - 1]).toBe("/usr/local/bin/cog-person-count");
|
||||
expect(c).toHaveLength(3);
|
||||
});
|
||||
|
||||
it("derives the id by stripping the cog- prefix once", () => {
|
||||
const c = cogBinaryCandidates("cog-person-count", "x64");
|
||||
expect(c[0]).toBe(
|
||||
"/var/lib/cognitum/apps/person-count/cog-person-count-x86_64"
|
||||
);
|
||||
});
|
||||
});
|
||||
@@ -59,9 +59,7 @@ async function startServer(
|
||||
basePort: number
|
||||
): Promise<{ port: number; close: () => Promise<void> }> {
|
||||
const port = basePort + Math.floor(Math.random() * 100);
|
||||
// Factory, not instance: each Streamable-HTTP session gets its own MCP
|
||||
// Server (ADR-264 F7/O3).
|
||||
const { httpServer } = buildHttpApp(() => makeMockMcpServer(), opts);
|
||||
const { httpServer } = buildHttpApp(makeMockMcpServer(), opts);
|
||||
await new Promise<void>((resolve, reject) => {
|
||||
httpServer.once("error", reject);
|
||||
httpServer.listen(port, "127.0.0.1", () => resolve());
|
||||
@@ -97,34 +95,8 @@ describe("isOriginAllowed()", () => {
|
||||
expect(isOriginAllowed("https://evil.example.com", ["*"])).toBe(true);
|
||||
});
|
||||
|
||||
// ADR-264 F7: real browser origins carry ports — localhost must match on
|
||||
// hostname, any port, even with an empty allowlist.
|
||||
it("allows localhost origins on any port", () => {
|
||||
expect(isOriginAllowed("http://localhost:5173", [])).toBe(true);
|
||||
expect(isOriginAllowed("http://127.0.0.1:8080", [])).toBe(true);
|
||||
expect(isOriginAllowed("https://localhost:3001", [])).toBe(true);
|
||||
});
|
||||
|
||||
it("rejects non-local origins even with a localhost-looking prefix", () => {
|
||||
expect(isOriginAllowed("http://localhost.evil.example.com", [])).toBe(false);
|
||||
expect(isOriginAllowed("https://evil.example.com:443", [])).toBe(false);
|
||||
});
|
||||
|
||||
// ADR-264 F7 hardening: an EXPLICIT allowlist means exact matching only. The
|
||||
// any-port-localhost convenience applies solely to the empty-allowlist case,
|
||||
// so an operator who pins an allowlist actually gets it.
|
||||
it("with an explicit allowlist, rejects a localhost origin on an unlisted port", () => {
|
||||
expect(isOriginAllowed("http://localhost:5173", allow)).toBe(false);
|
||||
expect(isOriginAllowed("http://127.0.0.1:8080", allow)).toBe(false);
|
||||
});
|
||||
|
||||
it("with an explicit allowlist, still accepts an exactly-listed localhost origin", () => {
|
||||
expect(isOriginAllowed("http://localhost", allow)).toBe(true);
|
||||
expect(isOriginAllowed("http://127.0.0.1", allow)).toBe(true);
|
||||
});
|
||||
|
||||
it("is case-sensitive for non-local allowlist entries per RFC 6454", () => {
|
||||
expect(isOriginAllowed("HTTPS://Partner.Example.com", ["https://partner.example.com"])).toBe(false);
|
||||
it("is case-sensitive per RFC 6454", () => {
|
||||
expect(isOriginAllowed("HTTP://localhost", allow)).toBe(false);
|
||||
});
|
||||
});
|
||||
|
||||
@@ -193,117 +165,3 @@ describe("HTTP transport bearer-token auth gate", () => {
|
||||
expect(r.status).not.toBe(401);
|
||||
});
|
||||
});
|
||||
|
||||
// ── 7. ADR-264 F7/O3 hardening: body cap + per-session routing ─────────────
|
||||
|
||||
describe("HTTP transport session + body-cap hardening (ADR-264 F7)", () => {
|
||||
let port: number;
|
||||
let close: () => Promise<void>;
|
||||
|
||||
beforeAll(async () => {
|
||||
const srv = await startServer({ allowedOrigins: ["*"], maxBodyBytes: 64 * 1024 }, 49600);
|
||||
port = srv.port;
|
||||
close = srv.close;
|
||||
});
|
||||
|
||||
afterAll(async () => { await close(); });
|
||||
|
||||
it("rejects oversized request bodies with 413", async () => {
|
||||
const huge = JSON.stringify({ jsonrpc: "2.0", id: 1, method: "x", params: { pad: "y".repeat(128 * 1024) } });
|
||||
const r = await post(port, "/mcp", {}, huge);
|
||||
expect(r.status).toBe(413);
|
||||
});
|
||||
|
||||
it("rejects a non-initialize POST without a session id with 400 (never a shared transport)", async () => {
|
||||
const r = await post(port, "/mcp", {}, MCP_BODY); // tools/list, no mcp-session-id
|
||||
expect(r.status).toBe(400);
|
||||
const body = JSON.parse(r.body) as Record<string, unknown>;
|
||||
expect(body["error"]).toMatch(/initialize/i);
|
||||
});
|
||||
|
||||
it("rejects a POST with an unknown session id with 404", async () => {
|
||||
const r = await post(port, "/mcp", { "mcp-session-id": "no-such-session" }, MCP_BODY);
|
||||
expect(r.status).toBe(404);
|
||||
});
|
||||
|
||||
it("creates a fresh session (and MCP server) per initialize request", async () => {
|
||||
const init = JSON.stringify({
|
||||
jsonrpc: "2.0",
|
||||
id: 1,
|
||||
method: "initialize",
|
||||
params: {
|
||||
protocolVersion: "2024-11-05",
|
||||
capabilities: {},
|
||||
clientInfo: { name: "test-client", version: "0.0.0" },
|
||||
},
|
||||
});
|
||||
const r = await post(port, "/mcp", { Accept: "application/json, text/event-stream" }, init);
|
||||
expect([200, 406]).not.toContain(0); // sanity
|
||||
expect(r.status).toBe(200);
|
||||
});
|
||||
});
|
||||
|
||||
// ── 8. ADR-264 F7: session-map bounds (cap + idle TTL sweep) ───────────────
|
||||
|
||||
describe("HTTP transport session bounds (ADR-264 F7)", () => {
|
||||
const initBody = (id: number): string =>
|
||||
JSON.stringify({
|
||||
jsonrpc: "2.0",
|
||||
id,
|
||||
method: "initialize",
|
||||
params: {
|
||||
protocolVersion: "2024-11-05",
|
||||
capabilities: {},
|
||||
clientInfo: { name: "test-client", version: "0.0.0" },
|
||||
},
|
||||
});
|
||||
|
||||
// Build directly (not via startServer) so we can inspect the sessions map.
|
||||
async function startWithApp(
|
||||
opts: Parameters<typeof buildHttpApp>[1],
|
||||
basePort: number
|
||||
): Promise<{
|
||||
port: number;
|
||||
sessions: ReturnType<typeof buildHttpApp>["sessions"];
|
||||
close: () => Promise<void>;
|
||||
}> {
|
||||
const { httpServer, sessions } = buildHttpApp(() => makeMockMcpServer(), opts);
|
||||
const port = basePort + Math.floor(Math.random() * 100);
|
||||
await new Promise<void>((resolve, reject) => {
|
||||
httpServer.once("error", reject);
|
||||
httpServer.listen(port, "127.0.0.1", () => resolve());
|
||||
});
|
||||
const close = () =>
|
||||
new Promise<void>((res, rej) => httpServer.close((e) => (e ? rej(e) : res())));
|
||||
return { port, sessions, close };
|
||||
}
|
||||
|
||||
const ACCEPT = { Accept: "application/json, text/event-stream" };
|
||||
|
||||
it("never exceeds maxSessions — evicts the oldest-idle session at capacity", async () => {
|
||||
const srv = await startWithApp({ allowedOrigins: ["*"], maxSessions: 2 }, 49800);
|
||||
try {
|
||||
for (let i = 0; i < 5; i++) {
|
||||
await post(srv.port, "/mcp", ACCEPT, initBody(i));
|
||||
}
|
||||
expect(srv.sessions.size).toBeLessThanOrEqual(2);
|
||||
} finally {
|
||||
await srv.close();
|
||||
}
|
||||
});
|
||||
|
||||
it("sweeps sessions idle beyond sessionIdleMs", async () => {
|
||||
const srv = await startWithApp(
|
||||
{ allowedOrigins: ["*"], sessionIdleMs: 20, sweepIntervalMs: 10 },
|
||||
49900
|
||||
);
|
||||
try {
|
||||
await post(srv.port, "/mcp", ACCEPT, initBody(1));
|
||||
expect(srv.sessions.size).toBe(1);
|
||||
await new Promise((r) => setTimeout(r, 150));
|
||||
expect(srv.sessions.size).toBe(0);
|
||||
} finally {
|
||||
await srv.close();
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
@@ -15,11 +15,11 @@
|
||||
*/
|
||||
|
||||
import { readFileSync } from "node:fs";
|
||||
import { resolve } from "node:path";
|
||||
import { resolve, dirname } from "node:path";
|
||||
import { fileURLToPath } from "node:url";
|
||||
|
||||
// jest runs from the package root; avoid import.meta (ts-jest transforms this
|
||||
// suite to a module target that rejects it — pre-existing suite failure).
|
||||
const pkgPath = resolve(process.cwd(), "package.json");
|
||||
const __dirname = dirname(fileURLToPath(import.meta.url));
|
||||
const pkgPath = resolve(__dirname, "../package.json");
|
||||
|
||||
// Parse once; keep raw for snapshot assertions.
|
||||
const raw = readFileSync(pkgPath, "utf-8");
|
||||
|
||||
@@ -1,96 +0,0 @@
|
||||
/**
|
||||
* ADR-264 O6 — post-restart job reconciliation.
|
||||
*
|
||||
* When the MCP server restarts mid-run, the persisted job record stays frozen
|
||||
* at 'running' (the child.on('close') that flips it lived in the dead process).
|
||||
* ruview_job_status must reconcile such a record against the recorded pid and
|
||||
* the log's "# exit code: N" marker.
|
||||
*
|
||||
* We fabricate a persisted record pointing at a KNOWN-DEAD pid (a synchronous
|
||||
* child that has already exited) and assert the reconciled status.
|
||||
*/
|
||||
|
||||
import { mkdtempSync, writeFileSync } from "node:fs";
|
||||
import { spawnSync } from "node:child_process";
|
||||
import os from "node:os";
|
||||
import path from "node:path";
|
||||
import { randomUUID } from "node:crypto";
|
||||
import { jobStatus } from "../src/tools/train-count.js";
|
||||
import type { RuviewConfig } from "../src/types.js";
|
||||
|
||||
/** A pid that has certainly exited: spawnSync waits for the child to finish. */
|
||||
function deadPid(): number {
|
||||
const r = spawnSync(process.execPath, ["-e", ""]);
|
||||
if (typeof r.pid !== "number") throw new Error("could not spawn probe child");
|
||||
return r.pid;
|
||||
}
|
||||
|
||||
function makeConfig(jobsDir: string): RuviewConfig {
|
||||
return {
|
||||
sensingServerUrl: "http://127.0.0.1:19999",
|
||||
apiToken: undefined,
|
||||
poseCogBinary: "nonexistent",
|
||||
countCogBinary: "nonexistent",
|
||||
jobsDir,
|
||||
};
|
||||
}
|
||||
|
||||
/** Write a fake persisted 'running' record + its log, return {jobId, config}. */
|
||||
function seedRunningJob(logBody: string): { jobId: string; config: RuviewConfig } {
|
||||
const jobsDir = mkdtempSync(path.join(os.tmpdir(), "rvagent-jobs-"));
|
||||
const jobId = randomUUID();
|
||||
const logPath = path.join(jobsDir, `${jobId}.log`);
|
||||
writeFileSync(logPath, logBody);
|
||||
const record = {
|
||||
job_id: jobId,
|
||||
status: "running",
|
||||
log_path: logPath,
|
||||
queued_at: Date.now() / 1000,
|
||||
epochs_total: 5,
|
||||
pid: deadPid(),
|
||||
};
|
||||
writeFileSync(
|
||||
path.join(jobsDir, `${jobId}.json`),
|
||||
JSON.stringify(record, null, 2)
|
||||
);
|
||||
return { jobId, config: makeConfig(jobsDir) };
|
||||
}
|
||||
|
||||
describe("ruview_job_status reconciliation (ADR-264 O6)", () => {
|
||||
it("reconciles a dead 'running' job with exit 0 to 'done'", async () => {
|
||||
const { jobId, config } = seedRunningJob(
|
||||
"# training...\nepoch 5/5\n# exit code: 0\n"
|
||||
);
|
||||
const out = (await jobStatus({ job_id: jobId }, config)) as Record<string, unknown>;
|
||||
expect(out["ok"]).toBe(true);
|
||||
const res = out["result"] as Record<string, unknown>;
|
||||
expect(res["status"]).toBe("done");
|
||||
});
|
||||
|
||||
it("reconciles a dead 'running' job with non-zero exit to 'failed'", async () => {
|
||||
const { jobId, config } = seedRunningJob(
|
||||
"# training...\npanic: cuda oom\n# exit code: 101\n"
|
||||
);
|
||||
const out = (await jobStatus({ job_id: jobId }, config)) as Record<string, unknown>;
|
||||
const res = out["result"] as Record<string, unknown>;
|
||||
expect(res["status"]).toBe("failed");
|
||||
});
|
||||
|
||||
it("marks a dead 'running' job with no exit marker as 'unknown' with a reason", async () => {
|
||||
const { jobId, config } = seedRunningJob("# training...\nepoch 2/5\n");
|
||||
const out = (await jobStatus({ job_id: jobId }, config)) as Record<string, unknown>;
|
||||
const res = out["result"] as Record<string, unknown>;
|
||||
expect(res["status"]).toBe("unknown");
|
||||
expect(typeof res["reason"]).toBe("string");
|
||||
expect(res["reason"]).toMatch(/restarted/i);
|
||||
});
|
||||
|
||||
it("treats a signal-killed marker (null) as 'failed'", async () => {
|
||||
const { jobId, config } = seedRunningJob(
|
||||
"# training...\n# exit code: null\n"
|
||||
);
|
||||
const out = (await jobStatus({ job_id: jobId }, config)) as Record<string, unknown>;
|
||||
const res = out["result"] as Record<string, unknown>;
|
||||
expect(res["status"]).toBe("failed");
|
||||
});
|
||||
});
|
||||
@@ -7,8 +7,8 @@
|
||||
"outDir": "dist",
|
||||
"rootDir": "src",
|
||||
"declaration": true,
|
||||
"declarationMap": false,
|
||||
"sourceMap": false,
|
||||
"declarationMap": true,
|
||||
"sourceMap": true,
|
||||
"strict": true,
|
||||
"noUncheckedIndexedAccess": true,
|
||||
"exactOptionalPropertyTypes": true,
|
||||
|
||||
+4
-4
@@ -25,7 +25,8 @@ members = [
|
||||
"crates/wifi-densepose-ruvector",
|
||||
"crates/wifi-densepose-desktop",
|
||||
"crates/wifi-densepose-pointcloud",
|
||||
# geo + worldgraph extracted to ruvnet/worldgraph submodule (see crates/worldgraph)
|
||||
"crates/wifi-densepose-geo",
|
||||
"crates/wifi-densepose-worldgraph", # ADR-139 — WorldGraph environmental digital twin
|
||||
"crates/wifi-densepose-engine", # ADR-135..146 integration/composition layer
|
||||
"crates/wifi-densepose-calibration", # ADR-151 — per-room calibration & specialist training
|
||||
"crates/nvsim",
|
||||
@@ -57,7 +58,7 @@ members = [
|
||||
"crates/wifi-densepose-bfld",
|
||||
# ADR-147: OccWorld thin-client bridge — WorldGraph PersonTrack history →
|
||||
# OccWorld Python subprocess → TrajectoryPrior injection into pose tracker.
|
||||
# worldmodel extracted to ruvnet/worldgraph submodule (consumed via path dep)
|
||||
"crates/wifi-densepose-worldmodel",
|
||||
# ADR-147 (Phase 5): OccWorld TransVQVAE ported to Candle — native Rust
|
||||
# inference without Python/IPC overhead. Loaded alongside the Python bridge
|
||||
# as a faster alternative once Phase-5 weights are available.
|
||||
@@ -87,7 +88,6 @@ members = [
|
||||
exclude = [
|
||||
"crates/wifi-densepose-wasm-edge",
|
||||
"crates/homecore-plugin-example",
|
||||
"crates/worldgraph", # ruvnet/worldgraph submodule — its own workspace (geo/worldgraph/worldmodel)
|
||||
]
|
||||
|
||||
[workspace.package]
|
||||
@@ -215,7 +215,7 @@ wifi-densepose-hardware = { version = "0.3.0", path = "crates/wifi-densepose-har
|
||||
wifi-densepose-wasm = { version = "0.3.0", path = "crates/wifi-densepose-wasm" }
|
||||
wifi-densepose-mat = { version = "0.3.0", path = "crates/wifi-densepose-mat" }
|
||||
wifi-densepose-ruvector = { version = "0.3.0", path = "crates/wifi-densepose-ruvector" }
|
||||
wifi-densepose-worldmodel = { version = "0.3.0", path = "crates/worldgraph/wifi-densepose-worldmodel" }
|
||||
wifi-densepose-worldmodel = { version = "0.3.0", path = "crates/wifi-densepose-worldmodel" }
|
||||
|
||||
[profile.release]
|
||||
lto = true
|
||||
|
||||
+1
-1
Submodule v2/crates/ruv-neural updated: c9638faaf8...1ece3afa33
Submodule v2/crates/ruview-swarm deleted from 267aba5be2
@@ -0,0 +1,84 @@
|
||||
[package]
|
||||
name = "ruview-swarm"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
description = "RuView drone swarm control system — hierarchical-mesh topology, Raft consensus, MARL, CSI sensing integration (ADR-148)"
|
||||
license = "Apache-2.0"
|
||||
# Publishing disabled until: (1) PR #862 merges, (2) internal path-deps are
|
||||
# published in dependency order, (3) export-control sign-off on the ITAR-gated
|
||||
# coordination features (USML Category VIII(h)(12)). Flip to true deliberately.
|
||||
publish = false
|
||||
|
||||
[features]
|
||||
default = []
|
||||
# ITAR/USML Category VIII(h)(12): swarming coordination features.
|
||||
# Must not be enabled in international distributions without export counsel review.
|
||||
itar-unrestricted = []
|
||||
mavlink = ["dep:mavlink"]
|
||||
ros2-dds = []
|
||||
onnx = ["dep:ort"]
|
||||
simulation = []
|
||||
demo = ["simulation"]
|
||||
full = ["mavlink", "onnx", "demo", "itar-unrestricted"]
|
||||
ruflo = ["dep:reqwest", "dep:serde_json"]
|
||||
# Heavy GPU-capable MARL training (real Candle autodiff PPO). Off by default so
|
||||
# the default build stays light and the existing test suite keeps passing.
|
||||
train = ["dep:candle-core", "dep:candle-nn"]
|
||||
cuda = ["candle-core/cuda", "candle-nn/cuda"]
|
||||
|
||||
[dependencies]
|
||||
wifi-densepose-core = { path = "../wifi-densepose-core" }
|
||||
|
||||
# Serialization
|
||||
serde = { version = "1", features = ["derive"] }
|
||||
serde_json = { version = "1", optional = true }
|
||||
toml = "0.8"
|
||||
|
||||
# Async runtime
|
||||
tokio = { version = "1", features = ["full"] }
|
||||
async-trait = "0.1"
|
||||
|
||||
# MAVLink v2 (optional)
|
||||
mavlink = { version = "0.13", optional = true }
|
||||
|
||||
# ONNX Runtime (optional — for MARL actor inference)
|
||||
ort = { version = "2.0.0-rc.11", optional = true }
|
||||
|
||||
# Candle 0.9 — real autodiff PPO training (optional, behind `train` feature).
|
||||
candle-core = { version = "0.9", default-features = false, optional = true }
|
||||
candle-nn = { version = "0.9", default-features = false, optional = true }
|
||||
|
||||
# HTTP client (optional — for Ruflo HTTP backend)
|
||||
reqwest = { version = "0.12", features = ["json"], optional = true }
|
||||
|
||||
# Crypto — MAVLink v2 HMAC-SHA256 signing
|
||||
hmac = "0.12"
|
||||
sha2 = "0.10"
|
||||
|
||||
# Error handling
|
||||
thiserror = "2.0"
|
||||
|
||||
# Logging
|
||||
tracing = "0.1"
|
||||
|
||||
# Numerics
|
||||
nalgebra = "0.33"
|
||||
rand = "0.8"
|
||||
|
||||
[dev-dependencies]
|
||||
criterion = { version = "0.5", features = ["html_reports"] }
|
||||
tokio-test = "0.4"
|
||||
|
||||
[[bench]]
|
||||
name = "swarm_bench"
|
||||
harness = false
|
||||
|
||||
# MARL training binary — requires the `train` feature (Candle autodiff).
|
||||
# Excluded from the default build so `cargo test`/CI stay light.
|
||||
[[bin]]
|
||||
name = "train_marl"
|
||||
required-features = ["train"]
|
||||
|
||||
# ADR-171 Stage-1 evaluation CLI — pure Rust, no special feature needed.
|
||||
[[bin]]
|
||||
name = "eval_swarm"
|
||||
@@ -0,0 +1,108 @@
|
||||
# wifi-densepose-swarm
|
||||
|
||||
Drone swarm control system for the RuView wifi-densepose workspace. Implements ADR-148.
|
||||
|
||||
## Overview
|
||||
|
||||
`wifi-densepose-swarm` provides a hierarchical-mesh drone swarm coordination system
|
||||
with Raft consensus, MAPPO-based multi-agent reinforcement learning, and tight
|
||||
integration with the existing WiFi CSI sensing pipeline (`wifi-densepose-signal`,
|
||||
`wifi-densepose-ruvector`).
|
||||
|
||||
## Features
|
||||
|
||||
- **Hierarchical-Mesh Topology** — cluster heads over Raft consensus; inter-cluster Gossip for map dissemination
|
||||
- **Formation Control** — F1 VirtualStructure, F2 LeaderFollower, F3 Reynolds flocking
|
||||
- **3-Phase Coverage** — boustrophedon sweep → Bayesian probability grid → multi-drone triangulation
|
||||
- **RRT-APF Path Planner** — RRT* with Artificial Potential Field reactive collision avoidance
|
||||
- **MARL Actor (MAPPO)** — 64-dim local observation, 3-layer MLP actor, CTDE training interface
|
||||
- **CSI Sensing Integration** — drone payload pipeline (ESP32-S3 → Jetson), multi-drone CSI fusion
|
||||
- **OccWorld Bridge** — integrates ADR-147 OccWorld occupancy prior as path planner environment
|
||||
- **Security Hardening** — MAVLink v2 HMAC-SHA256 signing, UWB GPS anti-spoofing, onboard geofencing, Remote ID
|
||||
- **Fail-Safe State Machine** — 10-state onboard safety system, GCS-independent
|
||||
- **Demo & Training Modes** — synthetic CSI generation, Gazebo/PX4 SITL interface, TOML mission configs
|
||||
|
||||
## ITAR Notice
|
||||
|
||||
> ⚠️ **Export-controlled capability.** Swarming coordination features (formation control,
|
||||
> Raft consensus, task allocation) are gated behind the `itar-unrestricted` feature flag
|
||||
> per **USML Category VIII(h)(12)**. Default builds compile only safe stubs.
|
||||
> Do not enable `itar-unrestricted` for international distribution without export counsel review.
|
||||
|
||||
## Crate Features
|
||||
|
||||
| Feature | Description |
|
||||
|---------|-------------|
|
||||
| `default` | Core types, sensing, failsafe, config, MARL — no ITAR-gated code |
|
||||
| `itar-unrestricted` | Enables formation control, Raft consensus, task allocation |
|
||||
| `mavlink` | MAVLink v2 protocol support |
|
||||
| `onnx` | ONNX Runtime backend for MARL actor inference (INT8) |
|
||||
| `simulation` | Simulation-mode stubs |
|
||||
| `demo` | Synthetic CSI generation, scenario runners |
|
||||
| `full` | All of the above |
|
||||
|
||||
## Quick Start
|
||||
|
||||
```rust
|
||||
use wifi_densepose_swarm::{config::SwarmConfig, demo::scenario::DemoScenario};
|
||||
|
||||
// Load a mission profile
|
||||
let config = SwarmConfig::sar_default();
|
||||
|
||||
// Run a demo scenario
|
||||
let scenario = DemoScenario::sar_rubble_field(4); // 4-drone SAR
|
||||
let estimated_secs = scenario.estimate_coverage_time_secs();
|
||||
// → < 240 s for 4 drones over 400×400 m (beyond Wi2SAR SOTA single-drone baseline)
|
||||
```
|
||||
|
||||
## Mission Profiles
|
||||
|
||||
| Profile | Drones | Area | Application |
|
||||
|---------|--------|------|-------------|
|
||||
| `sar` | 6–12 | 400×400 m | Structural collapse victim search |
|
||||
| `inspection` | 3–6 | Linear corridor | Infrastructure (power lines, bridges) |
|
||||
| `agriculture` | 4–12 | Field-configurable | NDVI mapping, variable-rate spraying |
|
||||
| `mine` | 2–4 | Tunnel | GPS-denied underground exploration |
|
||||
| `relay` | 6–20 | Perimeter | Emergency telecom relay chain |
|
||||
| `demo` | Any | Configurable | Synthetic CSI, configurable victims |
|
||||
|
||||
## Module Structure
|
||||
|
||||
```
|
||||
src/
|
||||
├── types.rs — NodeId, DroneState, SwarmTask, SwarmError, FailSafeState
|
||||
├── topology/ — Raft consensus¹, Gossip dissemination, MeshTopology
|
||||
├── formation/ — VirtualStructure¹, LeaderFollower¹, Reynolds flocking¹
|
||||
├── planning/ — RRT-APF planner, 3-phase coverage, Bayesian grid, pheromone
|
||||
├── allocation/ — Auction-based task allocation¹, FNN bid scorer¹
|
||||
├── sensing/ — CSI payload pipeline, multi-drone fusion, OccWorld bridge
|
||||
├── marl/ — MAPPO actor, LocalObservation, reward shaping, TrainingConfig
|
||||
├── security/ — MAVLink signing, UWB anti-spoofing, geofencing, Remote ID
|
||||
├── failsafe/ — 10-state onboard fail-safe machine
|
||||
├── config/ — TOML SwarmConfig with mission presets
|
||||
├── demo/ — Synthetic CSI, DemoScenario runners
|
||||
├── integration/ — FlightController trait (PX4/ArduPilot/Sim)
|
||||
└── bench_support.rs — Criterion fixture generators
|
||||
|
||||
¹ Requires `itar-unrestricted` feature.
|
||||
```
|
||||
|
||||
## Related ADRs
|
||||
|
||||
| ADR | Title | Relation |
|
||||
|-----|-------|----------|
|
||||
| ADR-148 | Drone Swarm Control System | This crate |
|
||||
| ADR-147 | OccWorld Occupancy World Model | Environment prior via `sensing::occworld_bridge` |
|
||||
| ADR-134 | CSI→CIR ISTA Sparse Recovery | Drone payload sensing |
|
||||
| ADR-146 | RF Encoder Multitask Heads | Drone payload inference |
|
||||
| ADR-016 | RuVector Training Integration | CrossViewpointAttention |
|
||||
|
||||
## Performance Targets (vs. Wi2SAR SOTA)
|
||||
|
||||
| Metric | Wi2SAR baseline (1 drone) | 4-drone target |
|
||||
|--------|--------------------------|----------------|
|
||||
| Coverage | 160,000 m² | 160,000 m² |
|
||||
| Time | 13.5 min | ≤ 4 min |
|
||||
| Localization | 5 m | ≤ 2 m (3-view fusion) |
|
||||
| MARL inference | N/A | ≤ 5 ms (INT8, release) |
|
||||
| Raft election | N/A | ≤ 300 ms |
|
||||
@@ -0,0 +1,70 @@
|
||||
use criterion::{criterion_group, criterion_main, Criterion};
|
||||
use ruview_swarm::marl::{MappoActor, ActorConfig};
|
||||
use ruview_swarm::marl::LocalObservation;
|
||||
use ruview_swarm::sensing::MultiViewFusion;
|
||||
use ruview_swarm::planning::RrtApfPlanner;
|
||||
use ruview_swarm::demo::{DemoScenario};
|
||||
use ruview_swarm::types::{CsiDetection, NodeId, Position3D};
|
||||
|
||||
fn bench_marl_inference(c: &mut Criterion) {
|
||||
let actor = MappoActor::random_init(ActorConfig::default());
|
||||
let obs = LocalObservation::zeros();
|
||||
c.bench_function("marl_actor_inference", |b| b.iter(|| actor.forward(&obs)));
|
||||
}
|
||||
|
||||
fn bench_rrt_apf_plan(c: &mut Criterion) {
|
||||
let planner = RrtApfPlanner::new(3.0);
|
||||
let start = Position3D { x: 0.0, y: 0.0, z: -30.0 };
|
||||
let goal = Position3D { x: 50.0, y: 50.0, z: -30.0 };
|
||||
c.bench_function("rrt_apf_100iter", |b| b.iter(|| {
|
||||
let mut rng = rand::thread_rng();
|
||||
planner.plan(start, goal, 100, &mut rng)
|
||||
}));
|
||||
}
|
||||
|
||||
fn bench_multiview_fusion(c: &mut Criterion) {
|
||||
let fusion = MultiViewFusion::default();
|
||||
let detections = vec![
|
||||
CsiDetection { drone_id: NodeId(0), confidence: 0.85, victim_position: Some(Position3D { x: 51.0, y: 49.0, z: 0.0 }), timestamp_ms: 0 },
|
||||
CsiDetection { drone_id: NodeId(1), confidence: 0.78, victim_position: Some(Position3D { x: 49.0, y: 51.0, z: 0.0 }), timestamp_ms: 0 },
|
||||
CsiDetection { drone_id: NodeId(2), confidence: 0.92, victim_position: Some(Position3D { x: 50.0, y: 50.0, z: 0.0 }), timestamp_ms: 0 },
|
||||
];
|
||||
let positions = vec![
|
||||
(NodeId(0), Position3D { x: 0.0, y: 0.0, z: -30.0 }),
|
||||
(NodeId(1), Position3D { x: 100.0, y: 0.0, z: -30.0 }),
|
||||
(NodeId(2), Position3D { x: 50.0, y: 86.6, z: -30.0 }),
|
||||
];
|
||||
c.bench_function("multiview_fusion_3drones", |b| b.iter(|| fusion.fuse(&detections, &positions)));
|
||||
}
|
||||
|
||||
fn bench_demo_coverage_estimate(c: &mut Criterion) {
|
||||
let scenario = DemoScenario::sar_rubble_field(4);
|
||||
c.bench_function("demo_coverage_estimate", |b| b.iter(|| scenario.estimate_coverage_time_secs()));
|
||||
}
|
||||
|
||||
fn bench_ppo_update(c: &mut Criterion) {
|
||||
use ruview_swarm::marl::{MappoActor, ActorConfig, LocalObservation};
|
||||
use ruview_swarm::marl::training_loop::{ReplayBuffer, Transition, PpoConfig, ppo_update};
|
||||
use ruview_swarm::marl::actor::ActorAction;
|
||||
|
||||
let mut buf = ReplayBuffer::new(64);
|
||||
for i in 0..64 {
|
||||
buf.push(Transition {
|
||||
obs: LocalObservation::zeros(),
|
||||
action: ActorAction { delta_heading_rad: 0.1, delta_altitude_m: 0.0, speed_ms: 5.0, trigger_csi_scan: true },
|
||||
reward: if i % 2 == 0 { 10.0 } else { -2.0 },
|
||||
next_obs: LocalObservation::zeros(),
|
||||
done: i == 63,
|
||||
});
|
||||
}
|
||||
let cfg = PpoConfig::default();
|
||||
c.bench_function("ppo_update_64transitions", |b| {
|
||||
b.iter(|| {
|
||||
let mut actor = MappoActor::random_init(ActorConfig::default());
|
||||
ppo_update(&mut actor, &buf, &cfg)
|
||||
})
|
||||
});
|
||||
}
|
||||
|
||||
criterion_group!(benches, bench_marl_inference, bench_rrt_apf_plan, bench_multiview_fusion, bench_demo_coverage_estimate, bench_ppo_update);
|
||||
criterion_main!(benches);
|
||||
@@ -0,0 +1,2 @@
|
||||
# ADR-171 evaluation outputs
|
||||
RESULTS.md is generated by the `eval_swarm` binary.
|
||||
@@ -0,0 +1,26 @@
|
||||
# ruview-swarm Evaluation Results (ADR-171 Stage 1, kinematic)
|
||||
|
||||
Statistically-rigorous evaluation harness: seeded multi-run rollouts with IQM + 95% stratified-bootstrap confidence intervals (Agarwal et al., NeurIPS 2021).
|
||||
|
||||
## Run configuration
|
||||
|
||||
- **Stage**: 1 (kinematic, self-contained, deterministic per seed)
|
||||
- **Episodes per pattern**: 100 (seed × episode matrix)
|
||||
- **CI method**: 95% stratified bootstrap of the IQM, stratified by seed
|
||||
- **GDOP**: 2-D geometric dilution of precision at first detection
|
||||
|
||||
> **Stage 2 pending**: high-fidelity Gazebo/PX4 SITL evaluation (false-alarm rate, real collision rate on the median seeds) is a follow-on — see ADR-171 §6.1. The collision figures below are a kinematic min-separation proxy, not SITL physics.
|
||||
|
||||
## Flight-pattern leaderboard
|
||||
|
||||
| Flight pattern | Coverage IQM [95% CI] | Localization (m) IQM [95% CI] | Detection rate | Mean GDOP |
|
||||
|----------------|-----------------------|-------------------------------|----------------|-----------|
|
||||
| partitioned_lawnmower | 1.000 [1.000, 1.000] | 7.022 [5.669, 8.379] | 100.0% | 0.000 |
|
||||
| pheromone | 0.662 [0.652, 0.671] | 4.110 [3.346, 5.141] | 95.0% | 1.598 |
|
||||
| levy_flight | 0.490 [0.489, 0.491] | 3.523 [2.897, 4.160] | 100.0% | 0.000 |
|
||||
| boustrophedon | 0.370 [0.370, 0.370] | 2.740 [2.357, 3.207] | 100.0% | 0.000 |
|
||||
| spiral | 0.336 [0.336, 0.336] | 3.082 [2.678, 3.568] | 100.0% | 0.000 |
|
||||
| potential_field | 0.254 [0.252, 0.256] | 4.343 [3.489, 5.265] | 100.0% | 0.000 |
|
||||
| _Wi2SAR (paper baseline)_ | _n/a_ | _5.0 (paper)_ | _n/a_ | _n/a_ |
|
||||
|
||||
_Wi2SAR row is the published single-drone localization figure (arxiv 2604.09115), shown paper-to-paper for reference only — it was not re-run through this kinematic harness._
|
||||
@@ -0,0 +1,118 @@
|
||||
//! Contract-net (auction) task allocation.
|
||||
|
||||
use crate::types::{DroneState, NodeId, SwarmTask, TaskId};
|
||||
use std::collections::HashMap;
|
||||
|
||||
/// A bid submitted by a node for a task.
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct Bid {
|
||||
pub node_id: NodeId,
|
||||
pub task_id: TaskId,
|
||||
/// Lower score = more capable/willing. Computed by the bidding node.
|
||||
pub score: f32,
|
||||
}
|
||||
|
||||
/// Auction-based task allocator.
|
||||
pub struct AuctionAllocator {
|
||||
pub pending_tasks: HashMap<TaskId, SwarmTask>,
|
||||
pub bids: HashMap<TaskId, Vec<Bid>>,
|
||||
pub timeout_ms: u64,
|
||||
}
|
||||
|
||||
impl AuctionAllocator {
|
||||
pub fn new(timeout_ms: u64) -> Self {
|
||||
Self {
|
||||
pending_tasks: HashMap::new(),
|
||||
bids: HashMap::new(),
|
||||
timeout_ms,
|
||||
}
|
||||
}
|
||||
|
||||
/// Announce a new task (add to pending pool).
|
||||
pub fn announce_task(&mut self, task: SwarmTask) {
|
||||
let id = task.id;
|
||||
self.pending_tasks.insert(id, task);
|
||||
self.bids.entry(id).or_default();
|
||||
}
|
||||
|
||||
/// Accept a bid for a pending task.
|
||||
pub fn submit_bid(&mut self, bid: Bid) {
|
||||
if self.pending_tasks.contains_key(&bid.task_id) {
|
||||
self.bids.entry(bid.task_id).or_default().push(bid);
|
||||
}
|
||||
}
|
||||
|
||||
/// Resolve all pending tasks: assign each to the best bidder.
|
||||
/// Returns a list of (TaskId, winning NodeId) pairs.
|
||||
pub fn resolve(&mut self) -> Vec<(TaskId, NodeId)> {
|
||||
let mut results = Vec::new();
|
||||
let task_ids: Vec<TaskId> = self.pending_tasks.keys().copied().collect();
|
||||
|
||||
for task_id in task_ids {
|
||||
let winner = self
|
||||
.bids
|
||||
.get(&task_id)
|
||||
.and_then(|bids| {
|
||||
bids.iter()
|
||||
.min_by(|a, b| {
|
||||
a.score.partial_cmp(&b.score).unwrap_or(std::cmp::Ordering::Equal)
|
||||
})
|
||||
.map(|b| b.node_id)
|
||||
});
|
||||
|
||||
if let Some(winner_id) = winner {
|
||||
if let Some(task) = self.pending_tasks.get_mut(&task_id) {
|
||||
task.assigned_to = Some(winner_id);
|
||||
}
|
||||
results.push((task_id, winner_id));
|
||||
self.bids.remove(&task_id);
|
||||
}
|
||||
}
|
||||
|
||||
// Clean up resolved tasks
|
||||
for (tid, _) in &results {
|
||||
self.pending_tasks.remove(tid);
|
||||
}
|
||||
|
||||
results
|
||||
}
|
||||
|
||||
/// Compute a bid score heuristic for a node given a task.
|
||||
/// Returns a score ∈ [0, ∞): lower is better.
|
||||
pub fn compute_bid_score(node: &DroneState, task: &SwarmTask) -> f32 {
|
||||
let dist = node.position.distance_to(&task.target) as f32;
|
||||
let battery_penalty = (100.0 - node.battery_pct) / 100.0;
|
||||
let link_penalty = 1.0 - node.link_quality;
|
||||
let priority_bonus = 1.0 - task.priority.clamp(0.0, 1.0);
|
||||
dist / 100.0 + battery_penalty * 0.3 + link_penalty * 0.2 + priority_bonus * 0.1
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::types::{Position3D, SwarmTask, TaskId, TaskKind};
|
||||
|
||||
fn make_task(id: u64) -> SwarmTask {
|
||||
SwarmTask {
|
||||
id: TaskId(id),
|
||||
kind: TaskKind::ReturnToHome,
|
||||
priority: 0.5,
|
||||
target: Position3D::zero(),
|
||||
deadline_ms: None,
|
||||
assigned_to: None,
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_auction_assigns_best_bidder() {
|
||||
let mut alloc = AuctionAllocator::new(1000);
|
||||
let task = make_task(1);
|
||||
alloc.announce_task(task);
|
||||
alloc.submit_bid(Bid { node_id: NodeId(1), task_id: TaskId(1), score: 0.8 });
|
||||
alloc.submit_bid(Bid { node_id: NodeId(2), task_id: TaskId(1), score: 0.3 });
|
||||
let results = alloc.resolve();
|
||||
assert_eq!(results.len(), 1);
|
||||
assert_eq!(results[0].1, NodeId(2)); // lower score wins
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,97 @@
|
||||
//! Lightweight 3-layer FNN bid scorer — pure Rust, no ONNX required.
|
||||
|
||||
/// 3-layer FNN: 5 inputs → 16 hidden (ReLU) → 8 hidden (ReLU) → 1 output (sigmoid).
|
||||
pub struct FnnScorer {
|
||||
pub w1: [[f32; 5]; 16],
|
||||
pub b1: [f32; 16],
|
||||
pub w2: [[f32; 16]; 8],
|
||||
pub b2: [f32; 8],
|
||||
pub w3: [f32; 8],
|
||||
pub b3: f32,
|
||||
}
|
||||
|
||||
fn relu(x: f32) -> f32 {
|
||||
x.max(0.0)
|
||||
}
|
||||
|
||||
fn sigmoid(x: f32) -> f32 {
|
||||
1.0 / (1.0 + (-x).exp())
|
||||
}
|
||||
|
||||
impl FnnScorer {
|
||||
/// Score a feature vector. Returns sigmoid(output) ∈ [0, 1].
|
||||
/// Features: [dist_norm, battery_norm, link_quality, csi_confidence, workload_norm]
|
||||
pub fn score(&self, features: [f32; 5]) -> f32 {
|
||||
// Layer 1: 5 → 16 (ReLU)
|
||||
let mut h1 = [0.0f32; 16];
|
||||
for (i, row) in self.w1.iter().enumerate() {
|
||||
let z: f32 = row.iter().zip(features.iter()).map(|(w, x)| w * x).sum();
|
||||
h1[i] = relu(z + self.b1[i]);
|
||||
}
|
||||
|
||||
// Layer 2: 16 → 8 (ReLU)
|
||||
let mut h2 = [0.0f32; 8];
|
||||
for (i, row) in self.w2.iter().enumerate() {
|
||||
let z: f32 = row.iter().zip(h1.iter()).map(|(w, x)| w * x).sum();
|
||||
h2[i] = relu(z + self.b2[i]);
|
||||
}
|
||||
|
||||
// Layer 3: 8 → 1 (sigmoid)
|
||||
let z3: f32 = self.w3.iter().zip(h2.iter()).map(|(w, x)| w * x).sum::<f32>() + self.b3;
|
||||
sigmoid(z3)
|
||||
}
|
||||
|
||||
/// Default weights initialised to a simple identity-like setup.
|
||||
pub fn default_weights() -> Self {
|
||||
// Simple: w1 diagonalish, others small constant
|
||||
// Index needed: diagonal/strided init uses i for both row and column.
|
||||
let mut w1 = [[0.0f32; 5]; 16];
|
||||
#[allow(clippy::needless_range_loop)]
|
||||
for i in 0..5 {
|
||||
w1[i][i] = 1.0;
|
||||
}
|
||||
for row in w1.iter_mut().take(16).skip(5) {
|
||||
row[0] = 0.1;
|
||||
}
|
||||
let mut w2 = [[0.0f32; 16]; 8];
|
||||
#[allow(clippy::needless_range_loop)]
|
||||
for i in 0..8 {
|
||||
w2[i][i * 2] = 1.0;
|
||||
}
|
||||
let w3 = [0.125f32; 8];
|
||||
Self {
|
||||
w1,
|
||||
b1: [0.0; 16],
|
||||
w2,
|
||||
b2: [0.0; 8],
|
||||
w3,
|
||||
b3: 0.0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for FnnScorer {
|
||||
fn default() -> Self {
|
||||
Self::default_weights()
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn test_score_in_unit_interval() {
|
||||
let scorer = FnnScorer::default_weights();
|
||||
let features = [0.3f32, 0.8, 0.9, 0.75, 0.2];
|
||||
let s = scorer.score(features);
|
||||
assert!(s >= 0.0 && s <= 1.0, "score {s} out of [0,1]");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_score_deterministic() {
|
||||
let scorer = FnnScorer::default_weights();
|
||||
let f = [0.5f32; 5];
|
||||
assert_eq!(scorer.score(f), scorer.score(f));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,22 @@
|
||||
//! Task allocation: auction-based and FNN-scored bid evaluation.
|
||||
//!
|
||||
// NOTE: Task allocation is ITAR-controlled (USML Category VIII(h)(12)).
|
||||
// Only available when the `itar-unrestricted` feature is enabled.
|
||||
|
||||
#[cfg(feature = "itar-unrestricted")]
|
||||
pub mod auction;
|
||||
#[cfg(feature = "itar-unrestricted")]
|
||||
pub mod fnn;
|
||||
|
||||
#[cfg(feature = "itar-unrestricted")]
|
||||
pub use auction::{AuctionAllocator, Bid};
|
||||
#[cfg(feature = "itar-unrestricted")]
|
||||
pub use fnn::FnnScorer;
|
||||
|
||||
/// Stub: task allocation is export-controlled. Enable `itar-unrestricted` feature.
|
||||
#[cfg(not(feature = "itar-unrestricted"))]
|
||||
pub fn allocate_stub() -> crate::SwarmResult<()> {
|
||||
Err(crate::SwarmError::Security(
|
||||
"Task allocation requires itar-unrestricted feature (USML VIII(h)(12))".into(),
|
||||
))
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
//! Benchmark support utilities: scenario builders and timing helpers for criterion benchmarks.
|
||||
|
||||
use crate::types::{DroneState, NodeId, Position3D, Velocity3D};
|
||||
|
||||
/// Generate N drone states arranged in a grid.
|
||||
pub fn grid_drone_states(n: usize, spacing_m: f64) -> Vec<DroneState> {
|
||||
let side = (n as f64).sqrt().ceil() as usize;
|
||||
(0..n)
|
||||
.map(|i| {
|
||||
let row = i / side;
|
||||
let col = i % side;
|
||||
DroneState {
|
||||
id: NodeId(i as u32),
|
||||
position: Position3D {
|
||||
x: col as f64 * spacing_m,
|
||||
y: row as f64 * spacing_m,
|
||||
z: -30.0,
|
||||
},
|
||||
velocity: Velocity3D::default(),
|
||||
heading_rad: 0.0,
|
||||
altitude_agl_m: 30.0,
|
||||
battery_pct: 80.0,
|
||||
link_quality: 0.9,
|
||||
timestamp_ms: 0,
|
||||
}
|
||||
})
|
||||
.collect()
|
||||
}
|
||||
|
||||
/// Generate N evenly-spaced positions in a circle.
|
||||
pub fn circle_positions(n: usize, radius_m: f64) -> Vec<(NodeId, Position3D)> {
|
||||
(0..n)
|
||||
.map(|i| {
|
||||
let angle = 2.0 * std::f64::consts::PI * i as f64 / n as f64;
|
||||
(
|
||||
NodeId(i as u32),
|
||||
Position3D {
|
||||
x: radius_m * angle.cos(),
|
||||
y: radius_m * angle.sin(),
|
||||
z: -30.0,
|
||||
},
|
||||
)
|
||||
})
|
||||
.collect()
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
//! ADR-171 Stage-1 evaluation CLI.
|
||||
//!
|
||||
//! Runs the kinematic eval matrix over every flight pattern (default) and
|
||||
//! writes a ranked `RESULTS.md` leaderboard. Pure Rust — no special feature
|
||||
//! flag required, so it builds and runs in default CI.
|
||||
//!
|
||||
//! Defaults are intentionally small (10 seeds × 10 episodes) so the run is fast.
|
||||
//! The full ADR-171 reporting configuration is 10 seeds × 50 episodes — pass
|
||||
//! `--seeds 10 --episodes 50` for the publication run.
|
||||
//!
|
||||
//! ```text
|
||||
//! cargo run -p ruview-swarm --bin eval_swarm -- \
|
||||
//! --seeds 10 --episodes 10 --out crates/ruview-swarm/evals/RESULTS.md
|
||||
//! ```
|
||||
|
||||
use std::path::PathBuf;
|
||||
|
||||
use ruview_swarm::evals::metrics::AggregateMetrics;
|
||||
use ruview_swarm::evals::report::render_results_md;
|
||||
use ruview_swarm::evals::runner::{run_matrix, EvalConfig};
|
||||
use ruview_swarm::planning::patterns::FlightPattern;
|
||||
|
||||
fn main() {
|
||||
let args: Vec<String> = std::env::args().collect();
|
||||
let mut seeds = 10usize;
|
||||
let mut episodes = 10usize;
|
||||
let mut out = PathBuf::from("crates/ruview-swarm/evals/RESULTS.md");
|
||||
|
||||
let mut i = 1;
|
||||
while i < args.len() {
|
||||
match args[i].as_str() {
|
||||
"--seeds" => {
|
||||
i += 1;
|
||||
seeds = args.get(i).and_then(|s| s.parse().ok()).unwrap_or(seeds);
|
||||
}
|
||||
"--episodes" => {
|
||||
i += 1;
|
||||
episodes = args.get(i).and_then(|s| s.parse().ok()).unwrap_or(episodes);
|
||||
}
|
||||
"--out" => {
|
||||
i += 1;
|
||||
if let Some(p) = args.get(i) {
|
||||
out = PathBuf::from(p);
|
||||
}
|
||||
}
|
||||
"--help" | "-h" => {
|
||||
eprintln!(
|
||||
"eval_swarm — ADR-171 Stage-1 kinematic evaluator\n\
|
||||
Usage: eval_swarm [--seeds N] [--episodes M] [--out PATH]\n\
|
||||
Defaults: --seeds 10 --episodes 10 --out crates/ruview-swarm/evals/RESULTS.md"
|
||||
);
|
||||
return;
|
||||
}
|
||||
other => {
|
||||
eprintln!("warning: ignoring unknown argument '{other}'");
|
||||
}
|
||||
}
|
||||
i += 1;
|
||||
}
|
||||
|
||||
eprintln!(
|
||||
"Running ADR-171 Stage-1 eval: {seeds} seeds × {episodes} episodes \
|
||||
over {} flight patterns...",
|
||||
FlightPattern::all().len()
|
||||
);
|
||||
|
||||
let mut rows: Vec<(String, AggregateMetrics)> = Vec::new();
|
||||
for (idx, pattern) in FlightPattern::all().into_iter().enumerate() {
|
||||
let mut cfg = EvalConfig::sar_small(pattern);
|
||||
cfg.seeds = seeds;
|
||||
cfg.episodes_per_seed = episodes;
|
||||
let matrix = run_matrix(&cfg);
|
||||
let agg = AggregateMetrics::from_strata(&matrix, 0x0149 ^ idx as u64);
|
||||
eprintln!(
|
||||
" {}: coverage IQM {:.3}, detection {:.0}%",
|
||||
pattern.name(),
|
||||
agg.coverage_iqm.point,
|
||||
agg.detection_rate * 100.0
|
||||
);
|
||||
rows.push((pattern.name().to_string(), agg));
|
||||
}
|
||||
|
||||
// Rank by descending coverage point estimate.
|
||||
rows.sort_by(|a, b| {
|
||||
b.1.coverage_iqm
|
||||
.point
|
||||
.partial_cmp(&a.1.coverage_iqm.point)
|
||||
.unwrap_or(std::cmp::Ordering::Equal)
|
||||
});
|
||||
|
||||
let md = render_results_md(&rows);
|
||||
|
||||
if let Some(parent) = out.parent() {
|
||||
if let Err(e) = std::fs::create_dir_all(parent) {
|
||||
eprintln!("error: could not create {}: {e}", parent.display());
|
||||
std::process::exit(1);
|
||||
}
|
||||
}
|
||||
if let Err(e) = std::fs::write(&out, &md) {
|
||||
eprintln!("error: could not write {}: {e}", out.display());
|
||||
std::process::exit(1);
|
||||
}
|
||||
eprintln!("Wrote {} ({} bytes).", out.display(), md.len());
|
||||
}
|
||||
@@ -0,0 +1,474 @@
|
||||
//! MARL training entry point for ruview-swarm (ADR-148 M4).
|
||||
//!
|
||||
//! Real Candle autodiff PPO training loop. Runs on CPU, or CUDA when built
|
||||
//! with `--features train,cuda` (local RTX 5080 or a GCP L4 instance).
|
||||
//!
|
||||
//! Movement is driven by a selectable `FlightPattern` (boustrophedon,
|
||||
//! partitioned, spiral, pheromone, potential, levy) and reward is shaped by a
|
||||
//! selectable `LearningPattern` (mappo, ippo, curiosity, meta). This makes each
|
||||
//! pattern produce visibly distinct trajectories + telemetry instead of every
|
||||
//! drone clustering on the orchestrator's internal coverage strategy.
|
||||
//!
|
||||
//! Usage:
|
||||
//! cargo run --release -p ruview-swarm --features train,cuda --bin train_marl -- \
|
||||
//! --episodes 5000 --drones 4 --profile sar \
|
||||
//! --flight-pattern partitioned --learn-pattern mappo_curiosity \
|
||||
//! --checkpoint-dir ./marl-checkpoints
|
||||
//!
|
||||
//! Right-sizing note: the policy is a 64→128→64 MLP. The bottleneck is
|
||||
//! environment-rollout throughput, not GPU matmul — an L4 + 16 vCPU beats an
|
||||
//! 8× A100 box for this workload at ~1/20th the cost. See scripts/gcp/.
|
||||
|
||||
use std::collections::HashSet;
|
||||
|
||||
use ruview_swarm::config::SwarmConfig;
|
||||
use ruview_swarm::integration::telemetry::{DroneFrame, TelemetryRecorder};
|
||||
use ruview_swarm::marl::candle_ppo::{CandlePpoConfig, CandleTrainer};
|
||||
use ruview_swarm::marl::learning::{shaped_reward, CuriosityModule, LearningPattern};
|
||||
use ruview_swarm::marl::observation::LocalObservation;
|
||||
use ruview_swarm::marl::reward::{RewardCalculator, RewardContext};
|
||||
use ruview_swarm::planning::patterns::{FlightPattern, PatternContext};
|
||||
use ruview_swarm::types::{DroneState, NodeId, Position3D, Velocity3D};
|
||||
|
||||
struct Args {
|
||||
episodes: usize,
|
||||
drones: usize,
|
||||
profile: String,
|
||||
steps_per_episode: usize,
|
||||
checkpoint_dir: String,
|
||||
checkpoint_every: usize,
|
||||
telemetry: Option<String>,
|
||||
telemetry_episode: usize,
|
||||
flight_pattern: String,
|
||||
learn_pattern: String,
|
||||
}
|
||||
|
||||
impl Default for Args {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
episodes: 1000,
|
||||
drones: 4,
|
||||
profile: "sar".to_string(),
|
||||
steps_per_episode: 200,
|
||||
checkpoint_dir: "./marl-checkpoints".to_string(),
|
||||
checkpoint_every: 100,
|
||||
telemetry: None,
|
||||
telemetry_episode: 0,
|
||||
flight_pattern: "partitioned".to_string(),
|
||||
learn_pattern: "mappo".to_string(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn parse_args() -> Args {
|
||||
let mut args = Args::default();
|
||||
let argv: Vec<String> = std::env::args().collect();
|
||||
let mut i = 1;
|
||||
while i < argv.len() {
|
||||
let next = || argv.get(i + 1).cloned().unwrap_or_default();
|
||||
match argv[i].as_str() {
|
||||
"--episodes" => {
|
||||
args.episodes = next().parse().unwrap_or(args.episodes);
|
||||
i += 1;
|
||||
}
|
||||
"--drones" => {
|
||||
args.drones = next().parse().unwrap_or(args.drones);
|
||||
i += 1;
|
||||
}
|
||||
"--profile" => {
|
||||
args.profile = next();
|
||||
i += 1;
|
||||
}
|
||||
"--steps" => {
|
||||
args.steps_per_episode = next().parse().unwrap_or(args.steps_per_episode);
|
||||
i += 1;
|
||||
}
|
||||
"--checkpoint-dir" => {
|
||||
args.checkpoint_dir = next();
|
||||
i += 1;
|
||||
}
|
||||
"--checkpoint-every" => {
|
||||
args.checkpoint_every = next().parse().unwrap_or(args.checkpoint_every);
|
||||
i += 1;
|
||||
}
|
||||
"--telemetry" => {
|
||||
args.telemetry = Some(next());
|
||||
i += 1;
|
||||
}
|
||||
"--telemetry-episode" => {
|
||||
args.telemetry_episode = next().parse().unwrap_or(args.telemetry_episode);
|
||||
i += 1;
|
||||
}
|
||||
"--flight-pattern" => {
|
||||
args.flight_pattern = next();
|
||||
i += 1;
|
||||
}
|
||||
"--learn-pattern" => {
|
||||
args.learn_pattern = next();
|
||||
i += 1;
|
||||
}
|
||||
"-h" | "--help" => {
|
||||
println!(
|
||||
"train_marl — ruview-swarm MARL training (ADR-148 M4)\n\
|
||||
\nOptions:\n \
|
||||
--episodes N training episodes (default 1000)\n \
|
||||
--drones N swarm size (default 4)\n \
|
||||
--profile NAME sar|inspection|mine|agriculture (default sar)\n \
|
||||
--steps N steps per episode (default 200)\n \
|
||||
--flight-pattern P boustrophedon|partitioned|spiral|pheromone|potential|levy (default partitioned)\n \
|
||||
--learn-pattern P mappo|ippo|curiosity|meta (default mappo)\n \
|
||||
--checkpoint-dir D checkpoint output dir (default ./marl-checkpoints)\n \
|
||||
--checkpoint-every N save every N episodes (default 100)\n \
|
||||
--telemetry FILE write JSONL telemetry for viz/swarm_viz.html\n \
|
||||
--telemetry-episode N which episode's steps to record spatially (default 0)"
|
||||
);
|
||||
std::process::exit(0);
|
||||
}
|
||||
other => eprintln!("warning: ignoring unknown arg {other}"),
|
||||
}
|
||||
i += 1;
|
||||
}
|
||||
args
|
||||
}
|
||||
|
||||
fn config_for(profile: &str) -> SwarmConfig {
|
||||
match profile {
|
||||
"inspection" => SwarmConfig::inspection_default(),
|
||||
"mine" => SwarmConfig::mine_default(),
|
||||
"agriculture" => SwarmConfig::agriculture_default(),
|
||||
_ => SwarmConfig::wi2sar_reference(),
|
||||
}
|
||||
}
|
||||
|
||||
/// Map a world coordinate to a grid cell index at `grid_res` metre resolution.
|
||||
fn cell_of(x: f64, y: f64, grid_res: f64) -> (u32, u32) {
|
||||
let gx = (x / grid_res).floor().max(0.0) as u32;
|
||||
let gy = (y / grid_res).floor().max(0.0) as u32;
|
||||
(gx, gy)
|
||||
}
|
||||
|
||||
/// Mark every grid cell within the drone's circular scan footprint as scanned,
|
||||
/// returning how many *newly* scanned cells this step contributed.
|
||||
fn mark_scanned(
|
||||
scanned: &mut HashSet<(u32, u32)>,
|
||||
pos: &Position3D,
|
||||
scan_width_m: f64,
|
||||
grid_res: f64,
|
||||
area_w: f64,
|
||||
area_h: f64,
|
||||
) -> u32 {
|
||||
let r = scan_width_m * 0.5;
|
||||
let cols = (area_w / grid_res).ceil() as i64;
|
||||
let rows = (area_h / grid_res).ceil() as i64;
|
||||
let (cx, cy) = cell_of(pos.x, pos.y, grid_res);
|
||||
let span = (r / grid_res).ceil() as i64;
|
||||
let mut new_cells = 0u32;
|
||||
for dgx in -span..=span {
|
||||
for dgy in -span..=span {
|
||||
let gx = cx as i64 + dgx;
|
||||
let gy = cy as i64 + dgy;
|
||||
if gx < 0 || gy < 0 || gx >= cols || gy >= rows {
|
||||
continue;
|
||||
}
|
||||
// Cell centre in metres.
|
||||
let mx = (gx as f64 + 0.5) * grid_res;
|
||||
let my = (gy as f64 + 0.5) * grid_res;
|
||||
if (mx - pos.x).hypot(my - pos.y) <= r && scanned.insert((gx as u32, gy as u32)) {
|
||||
new_cells += 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
new_cells
|
||||
}
|
||||
|
||||
#[tokio::main]
|
||||
async fn main() -> Result<(), Box<dyn std::error::Error>> {
|
||||
let args = parse_args();
|
||||
let cfg = config_for(&args.profile);
|
||||
let flight_pattern = FlightPattern::from_str(&args.flight_pattern);
|
||||
let learn_pattern = LearningPattern::from_str(&args.learn_pattern);
|
||||
|
||||
println!(
|
||||
"MARL training: profile={} drones={} episodes={} steps/ep={} flight={} learn={} ({})",
|
||||
args.profile,
|
||||
args.drones,
|
||||
args.episodes,
|
||||
args.steps_per_episode,
|
||||
flight_pattern.name(),
|
||||
learn_pattern.name(),
|
||||
if learn_pattern.centralized_critic() {
|
||||
"CTDE / centralized critic"
|
||||
} else {
|
||||
"independent learners"
|
||||
}
|
||||
);
|
||||
|
||||
let ppo_cfg = CandlePpoConfig::default();
|
||||
let mut trainer = CandleTrainer::new(ppo_cfg)?;
|
||||
println!("device: {:?}", trainer.net.device());
|
||||
|
||||
let reward_calc = RewardCalculator::default();
|
||||
std::fs::create_dir_all(&args.checkpoint_dir).ok();
|
||||
|
||||
let area_w = cfg.mission.area_width_m;
|
||||
let area_h = cfg.mission.area_height_m;
|
||||
let grid_res = cfg.mission.grid_resolution_m.max(1.0);
|
||||
let scan_w = cfg.planning.csi_scan_width_m;
|
||||
let max_speed = cfg.planning.max_speed_ms.max(0.1);
|
||||
let altitude_z = -cfg.planning.flight_altitude_m;
|
||||
let total_cells = ((area_w / grid_res).ceil() * (area_h / grid_res).ceil()).max(1.0);
|
||||
|
||||
// Synthetic victims placed within the mission area for reward signal.
|
||||
let victims = vec![
|
||||
Position3D { x: area_w * 0.2, y: area_h * 0.3, z: 0.0 },
|
||||
Position3D { x: area_w * 0.6, y: area_h * 0.45, z: 0.0 },
|
||||
];
|
||||
|
||||
// Composite profile label so the viewer header surfaces the active patterns.
|
||||
let profile_label = format!(
|
||||
"{} · flight={} · learn={}",
|
||||
args.profile,
|
||||
flight_pattern.name(),
|
||||
learn_pattern.name()
|
||||
);
|
||||
|
||||
// Optional telemetry recorder for the visualizer.
|
||||
let mut telem = match &args.telemetry {
|
||||
Some(path) => {
|
||||
let mut rec = TelemetryRecorder::create(path)?;
|
||||
rec.meta(&profile_label, args.drones, area_w, area_h, &victims)?;
|
||||
println!("telemetry → {path} (spatial steps from episode {})", args.telemetry_episode);
|
||||
Some(rec)
|
||||
}
|
||||
None => None,
|
||||
};
|
||||
|
||||
let mut best_return = f32::MIN;
|
||||
|
||||
for episode in 0..args.episodes {
|
||||
// Per-episode curiosity module (count-based novelty over the area).
|
||||
let mut curiosity = CuriosityModule::new(area_w, area_h, 32, 0.5);
|
||||
|
||||
// Build drone states directly so the FlightPattern fully drives motion.
|
||||
let cols = (args.drones as f64).sqrt().ceil().max(1.0) as usize;
|
||||
let mut states: Vec<DroneState> = (0..args.drones)
|
||||
.map(|d| {
|
||||
let (row, col) = (d / cols, d % cols);
|
||||
let mut s = DroneState::default_at_origin(NodeId(d as u32));
|
||||
s.position = Position3D {
|
||||
x: 10.0 + col as f64 * (area_w / cols as f64),
|
||||
y: 10.0 + row as f64 * (area_h / cols.max(1) as f64),
|
||||
z: altitude_z,
|
||||
};
|
||||
s.altitude_agl_m = cfg.planning.flight_altitude_m;
|
||||
s
|
||||
})
|
||||
.collect();
|
||||
|
||||
// Coverage tracker (shared across drones — total area scanned).
|
||||
let mut scanned: HashSet<(u32, u32)> = HashSet::new();
|
||||
// Rolling recent-positions trail for pheromone/potential patterns.
|
||||
let mut visited: Vec<Position3D> = Vec::with_capacity(256);
|
||||
|
||||
// Rollout buffers (flattened across drones).
|
||||
let mut obs_buf: Vec<LocalObservation> = Vec::new();
|
||||
let mut action_buf: Vec<[f32; 4]> = Vec::new();
|
||||
let mut reward_buf: Vec<f32> = Vec::new();
|
||||
let mut value_buf: Vec<f32> = Vec::new();
|
||||
let mut done_buf: Vec<bool> = Vec::new();
|
||||
|
||||
for step in 0..args.steps_per_episode {
|
||||
let is_last = step == args.steps_per_episode - 1;
|
||||
|
||||
// Snapshot peer positions for this tick (observations + repulsion).
|
||||
let positions: Vec<(NodeId, Position3D)> =
|
||||
states.iter().map(|s| (s.id, s.position)).collect();
|
||||
|
||||
// Index needed: mutates states[idx] while reading peer positions; borrow constraints.
|
||||
#[allow(clippy::needless_range_loop)]
|
||||
for idx in 0..states.len() {
|
||||
let prev_pos = states[idx].position;
|
||||
let node_id = states[idx].id;
|
||||
|
||||
// Neighbour positions (everyone except this drone).
|
||||
let neighbors: Vec<(NodeId, Position3D)> = positions
|
||||
.iter()
|
||||
.filter(|(id, _)| *id != node_id)
|
||||
.cloned()
|
||||
.collect();
|
||||
let peers: Vec<Position3D> = neighbors.iter().map(|(_, p)| *p).collect();
|
||||
|
||||
// Observation from the current (pre-move) state.
|
||||
let obs =
|
||||
LocalObservation::from_state_no_grid(&states[idx], &neighbors, None, None);
|
||||
|
||||
// --- FlightPattern drives the next waypoint --------------------
|
||||
let ctx = PatternContext {
|
||||
drone_id: node_id,
|
||||
swarm_size: args.drones,
|
||||
current: prev_pos,
|
||||
area_w,
|
||||
area_h,
|
||||
altitude_z,
|
||||
scan_width_m: scan_w,
|
||||
step: step as u64,
|
||||
visited: &visited,
|
||||
peers: &peers,
|
||||
};
|
||||
let target = flight_pattern.next_target(&ctx);
|
||||
|
||||
// Move one tick toward the target at max_speed (no teleport).
|
||||
let dx = target.x - prev_pos.x;
|
||||
let dy = target.y - prev_pos.y;
|
||||
let dist = dx.hypot(dy);
|
||||
let new_pos = if dist > 1e-9 {
|
||||
let stepd = dist.min(max_speed);
|
||||
Position3D {
|
||||
x: prev_pos.x + dx / dist * stepd,
|
||||
y: prev_pos.y + dy / dist * stepd,
|
||||
z: altitude_z,
|
||||
}
|
||||
} else {
|
||||
prev_pos
|
||||
};
|
||||
let heading = if dist > 1e-9 { dy.atan2(dx) } else { states[idx].heading_rad };
|
||||
let moved = prev_pos.distance_to(&new_pos);
|
||||
|
||||
// Commit the move to the drone state.
|
||||
{
|
||||
let s = &mut states[idx];
|
||||
s.velocity = Velocity3D {
|
||||
vx: (new_pos.x - prev_pos.x),
|
||||
vy: (new_pos.y - prev_pos.y),
|
||||
vz: 0.0,
|
||||
};
|
||||
s.position = new_pos;
|
||||
s.heading_rad = heading;
|
||||
s.timestamp_ms = s.timestamp_ms.saturating_add(1000);
|
||||
}
|
||||
|
||||
// Coverage: mark scanned footprint, count new cells.
|
||||
let new_cells =
|
||||
mark_scanned(&mut scanned, &new_pos, scan_w, grid_res, area_w, area_h);
|
||||
|
||||
// Detection: any victim within the scan footprint.
|
||||
let detected = victims.iter().any(|v| new_pos.distance_to(v) < scan_w);
|
||||
|
||||
// Nearest-neighbour distance (for collision shaping).
|
||||
let nearest = peers
|
||||
.iter()
|
||||
.map(|p| new_pos.distance_to(p))
|
||||
.fold(f64::MAX, f64::min);
|
||||
|
||||
// Base extrinsic reward.
|
||||
let ctx_r = RewardContext {
|
||||
state: &states[idx],
|
||||
new_cells_covered: new_cells,
|
||||
victim_confirmed: detected,
|
||||
contributed_to_triangulation: false,
|
||||
nearest_neighbor_dist: nearest,
|
||||
geofence_breached: false,
|
||||
battery_depleted_without_rth: false,
|
||||
};
|
||||
let base = reward_calc.compute(&ctx_r);
|
||||
|
||||
// Curiosity shaping (only when the learning pattern uses it).
|
||||
let reward = if learn_pattern.uses_curiosity() {
|
||||
let bonus = curiosity.visit_bonus(new_pos.x, new_pos.y);
|
||||
shaped_reward(learn_pattern, base, bonus)
|
||||
} else {
|
||||
base
|
||||
};
|
||||
|
||||
let action = [
|
||||
heading as f32,
|
||||
states[idx].altitude_agl_m as f32,
|
||||
(moved / 1.0) as f32,
|
||||
0.0,
|
||||
];
|
||||
|
||||
obs_buf.push(obs);
|
||||
action_buf.push(action);
|
||||
reward_buf.push(reward);
|
||||
value_buf.push(0.0); // bootstrap value (critic learns this)
|
||||
done_buf.push(is_last);
|
||||
|
||||
// Record the move in the shared visited trail (cap length).
|
||||
visited.push(new_pos);
|
||||
}
|
||||
|
||||
// Trim the visited trail to the most recent ~200 positions.
|
||||
if visited.len() > 200 {
|
||||
let drop = visited.len() - 200;
|
||||
visited.drain(0..drop);
|
||||
}
|
||||
|
||||
// Record spatial telemetry for the selected episode only.
|
||||
if let Some(rec) = telem.as_mut() {
|
||||
if episode == args.telemetry_episode {
|
||||
let frames: Vec<DroneFrame> = states
|
||||
.iter()
|
||||
.map(|s| {
|
||||
let detected =
|
||||
victims.iter().any(|v| s.position.distance_to(v) < scan_w);
|
||||
DroneFrame::from_state(s, detected)
|
||||
})
|
||||
.collect();
|
||||
let coverage = scanned.len() as f64 / total_cells;
|
||||
let _ = rec.step(episode, step, step as f64, &frames, coverage);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// PPO update on the episode's rollout.
|
||||
let (advantages, returns) = trainer.compute_gae(&reward_buf, &value_buf, &done_buf);
|
||||
let old_log_probs = vec![0.0f32; obs_buf.len()];
|
||||
let (policy_loss, value_loss, _entropy) =
|
||||
trainer.update(&obs_buf, &action_buf, &advantages, &returns, &old_log_probs)?;
|
||||
|
||||
let mean_return = if returns.is_empty() {
|
||||
0.0
|
||||
} else {
|
||||
returns.iter().sum::<f32>() / returns.len() as f32
|
||||
};
|
||||
|
||||
if mean_return > best_return {
|
||||
best_return = mean_return;
|
||||
}
|
||||
|
||||
// Per-episode training-metric telemetry (every episode).
|
||||
if let Some(rec) = telem.as_mut() {
|
||||
let _ = rec.episode(episode, mean_return, policy_loss, value_loss, 0);
|
||||
}
|
||||
|
||||
if episode % 10 == 0 || episode == args.episodes - 1 {
|
||||
let coverage_pct = scanned.len() as f64 / total_cells * 100.0;
|
||||
println!(
|
||||
"ep {:>5}/{} mean_return={:>8.3} best={:>8.3} policy_loss={:>8.4} value_loss={:>8.4} coverage={:>5.1}%",
|
||||
episode, args.episodes, mean_return, best_return, policy_loss, value_loss, coverage_pct
|
||||
);
|
||||
}
|
||||
|
||||
// Checkpoint the trained variables periodically.
|
||||
if args.checkpoint_every > 0 && (episode + 1) % args.checkpoint_every == 0
|
||||
|| episode == args.episodes - 1
|
||||
{
|
||||
let path = format!("{}/marl-ep{}.safetensors", args.checkpoint_dir, episode + 1);
|
||||
if let Err(e) = trainer.net.varmap().save(&path) {
|
||||
eprintln!("checkpoint save failed at {path}: {e}");
|
||||
} else {
|
||||
println!("checkpoint saved: {path}");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if let Some(rec) = telem.as_mut() {
|
||||
rec.flush()?;
|
||||
if let Some(path) = &args.telemetry {
|
||||
println!("telemetry written: {path} — open viz/swarm_viz.html and load it");
|
||||
}
|
||||
}
|
||||
|
||||
println!("training complete. best mean_return={best_return:.3}");
|
||||
Ok(())
|
||||
}
|
||||
@@ -0,0 +1,207 @@
|
||||
//! TOML-based swarm configuration with mission profiles.
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct SwarmConfig {
|
||||
pub swarm: SwarmParams,
|
||||
pub formation: FormationConfig,
|
||||
pub planning: PlanningConfig,
|
||||
pub security: SecurityConfig,
|
||||
pub mission: MissionConfig,
|
||||
pub demo: Option<DemoConfig>,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct SwarmParams {
|
||||
pub max_agents: usize,
|
||||
pub cluster_size: usize,
|
||||
pub raft_election_timeout_ms: u64,
|
||||
pub raft_heartbeat_ms: u64,
|
||||
pub gossip_fanout: usize,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct FormationConfig {
|
||||
/// "virtual_structure" | "leader_follower" | "reynolds"
|
||||
pub mode: String,
|
||||
pub min_separation_m: f64,
|
||||
pub grid_spacing_m: f64,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct PlanningConfig {
|
||||
pub flight_altitude_m: f64,
|
||||
pub max_speed_ms: f64,
|
||||
/// Wi2SAR validated scan footprint width.
|
||||
pub csi_scan_width_m: f64,
|
||||
pub lateral_overlap_pct: f64,
|
||||
/// P(victim) threshold to trigger Phase 3 convergence.
|
||||
pub convergence_threshold: f32,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct SecurityConfig {
|
||||
pub mavlink_signing: bool,
|
||||
pub uwb_antispoofing: bool,
|
||||
pub uwb_tolerance_m: f64,
|
||||
pub geofence_hard_margin_m: f64,
|
||||
pub geofence_soft_margin_m: f64,
|
||||
/// Remote ID broadcast rate in Hz (FAA/EU requirement: ≥ 1 Hz).
|
||||
pub remote_id_broadcast_hz: f64,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct MissionConfig {
|
||||
/// "sar" | "inspection" | "agriculture" | "mine" | "relay"
|
||||
pub profile: String,
|
||||
pub area_width_m: f64,
|
||||
pub area_height_m: f64,
|
||||
pub grid_resolution_m: f64,
|
||||
pub max_flight_time_mins: f64,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Serialize, Deserialize)]
|
||||
pub struct DemoConfig {
|
||||
pub synthetic_csi: bool,
|
||||
/// Victim positions in NED [x, y, z].
|
||||
pub victim_positions: Vec<[f64; 3]>,
|
||||
pub wind_noise_ms: f64,
|
||||
pub csi_noise_std: f64,
|
||||
pub packet_loss_pct: f64,
|
||||
pub replay_speed: f64,
|
||||
}
|
||||
|
||||
impl SwarmConfig {
|
||||
pub fn from_toml_str(s: &str) -> Result<Self, toml::de::Error> {
|
||||
toml::from_str(s)
|
||||
}
|
||||
|
||||
pub fn sar_default() -> Self {
|
||||
Self {
|
||||
swarm: SwarmParams {
|
||||
max_agents: 12,
|
||||
cluster_size: 4,
|
||||
raft_election_timeout_ms: 300,
|
||||
raft_heartbeat_ms: 100,
|
||||
gossip_fanout: 3,
|
||||
},
|
||||
formation: FormationConfig {
|
||||
mode: "virtual_structure".into(),
|
||||
min_separation_m: 5.0,
|
||||
grid_spacing_m: 20.0,
|
||||
},
|
||||
planning: PlanningConfig {
|
||||
flight_altitude_m: 30.0,
|
||||
max_speed_ms: 8.0,
|
||||
csi_scan_width_m: 28.0,
|
||||
lateral_overlap_pct: 20.0,
|
||||
convergence_threshold: 0.75,
|
||||
},
|
||||
security: SecurityConfig {
|
||||
mavlink_signing: true,
|
||||
uwb_antispoofing: true,
|
||||
uwb_tolerance_m: 2.0,
|
||||
geofence_hard_margin_m: 20.0,
|
||||
geofence_soft_margin_m: 50.0,
|
||||
remote_id_broadcast_hz: 1.0,
|
||||
},
|
||||
mission: MissionConfig {
|
||||
profile: "sar".into(),
|
||||
area_width_m: 500.0,
|
||||
area_height_m: 500.0,
|
||||
grid_resolution_m: 5.0,
|
||||
max_flight_time_mins: 25.0,
|
||||
},
|
||||
demo: None,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn inspection_default() -> Self {
|
||||
let mut cfg = Self::sar_default();
|
||||
cfg.mission.profile = "inspection".into();
|
||||
cfg.planning.flight_altitude_m = 15.0;
|
||||
cfg.planning.max_speed_ms = 4.0;
|
||||
cfg.formation.mode = "leader_follower".into();
|
||||
cfg
|
||||
}
|
||||
|
||||
pub fn agriculture_default() -> Self {
|
||||
let mut cfg = Self::sar_default();
|
||||
cfg.mission.profile = "agriculture".into();
|
||||
cfg.planning.flight_altitude_m = 10.0;
|
||||
cfg.planning.max_speed_ms = 6.0;
|
||||
cfg.planning.csi_scan_width_m = 15.0;
|
||||
cfg.formation.mode = "virtual_structure".into();
|
||||
cfg.formation.grid_spacing_m = 12.0;
|
||||
cfg
|
||||
}
|
||||
|
||||
pub fn mine_default() -> Self {
|
||||
let mut cfg = Self::sar_default();
|
||||
cfg.mission.profile = "mine".into();
|
||||
cfg.planning.flight_altitude_m = 5.0;
|
||||
cfg.planning.max_speed_ms = 2.0;
|
||||
cfg.security.uwb_antispoofing = true; // GPS-denied: UWB only
|
||||
cfg
|
||||
}
|
||||
|
||||
/// Wi2SAR reference configuration (400×400 m, 8 m/s, 4 drones) for ADR-148 SOTA benchmark.
|
||||
/// Produces 223 s coverage estimate — below the 240 s (4-min) SOTA target.
|
||||
/// Source: Wi2SAR (arxiv 2604.09115): single drone, 160,000 m², 13.5 min.
|
||||
pub fn wi2sar_reference() -> Self {
|
||||
let mut cfg = Self::sar_default();
|
||||
cfg.mission.area_width_m = 400.0;
|
||||
cfg.mission.area_height_m = 400.0;
|
||||
cfg.planning.max_speed_ms = 8.0;
|
||||
cfg.planning.csi_scan_width_m = 28.0;
|
||||
cfg.planning.lateral_overlap_pct = 20.0;
|
||||
cfg
|
||||
}
|
||||
|
||||
pub fn demo_default() -> Self {
|
||||
let mut cfg = Self::sar_default();
|
||||
cfg.demo = Some(DemoConfig {
|
||||
synthetic_csi: true,
|
||||
victim_positions: vec![[50.0, 80.0, 0.0], [150.0, 200.0, 0.0], [300.0, 100.0, 0.0]],
|
||||
wind_noise_ms: 2.0,
|
||||
csi_noise_std: 0.05,
|
||||
packet_loss_pct: 5.0,
|
||||
replay_speed: 1.0,
|
||||
});
|
||||
cfg
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn test_sar_default_serialization() {
|
||||
let cfg = SwarmConfig::sar_default();
|
||||
let toml_str = toml::to_string(&cfg).expect("serialize ok");
|
||||
let parsed = SwarmConfig::from_toml_str(&toml_str).expect("parse ok");
|
||||
assert_eq!(parsed.mission.profile, "sar");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_demo_default_has_victims() {
|
||||
let cfg = SwarmConfig::demo_default();
|
||||
assert!(cfg.demo.is_some());
|
||||
assert_eq!(cfg.demo.unwrap().victim_positions.len(), 3);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_wi2sar_reference_coverage_within_4min() {
|
||||
use crate::demo::scenario::DemoScenario;
|
||||
let scenario = DemoScenario {
|
||||
name: "Wi2SAR Reference".into(),
|
||||
config: SwarmConfig::wi2sar_reference(),
|
||||
num_drones: 4,
|
||||
victims: vec![],
|
||||
};
|
||||
let t = scenario.estimate_coverage_time_secs();
|
||||
assert!(t < 240.0, "4-drone Wi2SAR reference scenario: {}s should be < 240s (4 min SOTA)", t);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
//! Demo scenario runner — synthetic CSI with configurable victim positions.
|
||||
//!
|
||||
//! Wires together a [`SyntheticCsiGenerator`] and pre-built [`DemoScenario`]
|
||||
//! definitions for rapid scenario validation without real hardware.
|
||||
|
||||
pub mod synthetic_csi;
|
||||
pub mod scenario;
|
||||
|
||||
pub use synthetic_csi::SyntheticCsiGenerator;
|
||||
pub use scenario::{DemoScenario, ScenarioResult};
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user