chore: update vendor submodules to latest upstream

* docs(adr): plan RTL8720F radar SDK integration

* feat(hardware): add Rust RTL8720F radar simulator

* feat(ruview): ingest RTL8720F radar frames

.github/workflows/firmware-ci.yml

@@ -52,14 +52,16 @@ jobs:
             target: esp32s3
             sdkconfig: sdkconfig.defaults
             partition_table_name: partitions_display.csv
-            size_limit_kb: 1100
+            size_warn_kb: 1100
+            size_limit_kb: 1152
             artifact_app: esp32-csi-node.bin
             artifact_pt: partition-table.bin
           - variant: 4mb
             target: esp32s3
             sdkconfig: sdkconfig.defaults.4mb
             partition_table_name: partitions_4mb.csv
-            size_limit_kb: 1100
+            size_warn_kb: 1100
+            size_limit_kb: 1152
             artifact_app: esp32-csi-node-4mb.bin
             artifact_pt: partition-table-4mb.bin
           # ADR-110: ESP32-C6 research target (Wi-Fi 6 / 802.15.4 / TWT / LP-core)
@@ -67,7 +69,8 @@ jobs:
             target: esp32c6
             sdkconfig: sdkconfig.defaults
             partition_table_name: partitions_4mb.csv
-            size_limit_kb: 1100
+            size_warn_kb: 1100
+            size_limit_kb: 1152
             artifact_app: esp32-csi-node-c6.bin
             artifact_pt: partition-table-c6.bin
 
@@ -96,18 +99,23 @@ jobs:
           make test_adr110
           ./test_adr110
 
-      - name: Verify binary size (< ${{ matrix.size_limit_kb }} KB gate)
+      - name: Verify binary size budget
         working-directory: firmware/esp32-csi-node
         run: |
           BIN=build/esp32-csi-node.bin
           SIZE=$(stat -c%s "$BIN")
           MAX=$((${{ matrix.size_limit_kb }} * 1024))
+          WARN=$((${{ matrix.size_warn_kb }} * 1024))
           echo "Binary size: $SIZE bytes ($(( SIZE / 1024 )) KB)"
+          echo "Warning at:  $WARN bytes (${{ matrix.size_warn_kb }} KB)"
           echo "Size limit:  $MAX bytes (${{ matrix.size_limit_kb }} KB)"
           if [ "$SIZE" -gt "$MAX" ]; then
             echo "::error::Firmware binary exceeds ${{ matrix.size_limit_kb }} KB size gate ($SIZE > $MAX)"
             exit 1
           fi
+          if [ "$SIZE" -gt "$WARN" ]; then
+            echo "::warning::Firmware binary exceeds the ${{ matrix.size_warn_kb }} KB soft budget ($SIZE > $WARN); hard limit is ${{ matrix.size_limit_kb }} KB"
+          fi
           echo "Binary size OK: $SIZE <= $MAX"
 
       - name: Verify flash image integrity

CHANGELOG.md

@@ -11,10 +11,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - **`@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
+- **FastAPI health/metrics endpoints event-loop starvation.** Calling `psutil.cpu_percent(interval=1)` blocked the single-threaded async event loop for 1.0 second on every health check or metrics collection tick, stalling all incoming requests and WebSocket operations. Fixed by changing `cpu_percent` to use non-blocking `interval=None` and offloading all blocking OS metrics gathering to background thread pools via `asyncio.to_thread`. Verified event loop responsiveness via concurrency regression tests.
 - **EngineBridge now honors `WDP_GUARD_INTERVAL_US`/`WDP_SOFT_GUARD_US`/`WDP_TDM_SLOTS`+`WDP_TDM_SLOT_US`** (#1309, PR #1312, @erichkusuki). The governed trust path previously built its multistatic fuser from a hardcoded `MultistaticConfig::default()` (60 ms guard), so multi-node deployments with WiFi/ESP-NOW time sync (10–150 ms drift) failed every governed cycle regardless of configuration — while the startup log claimed the override took effect. New `StreamingEngine::set_multistatic_config()`; `EngineBridge::new()` takes an `Option<MultistaticConfig>` threaded from the same env-derived config as `AppState.multistatic_fuser`. Hardware-verified on a live 2-node ESP32-S3 setup (90 s window, 0 fusion errors; previously every cycle failed).
 - **`/api/v1/stream/pose` WebSocket reachable with `RUVIEW_API_TOKEN` set + dashboard bearer-token field** (#1310, PR #1313, @erichkusuki). Browsers cannot attach an `Authorization` header to a WS upgrade, so the Live Demo pose stream always failed when auth was on; the path is now on a narrow exact-match exemption list (mirrors `/ws/sensing`), with a regression test pinning that the exemption doesn't leak to other `/api/v1/*` paths. The QuickSettings panel gains an "API Access" field storing the bearer token in `localStorage`; the token is applied at `api.service.js` module load so the very first request carries it.
 - **Display-less DevKitC-1 boards: `sdkconfig.defaults.devkitc` build overlay** (#1308, PR #1311, @erichkusuki). The ADR-045 runtime display probe false-positives on stock ESP32-S3-DevKitC-1 (floating QSPI pins), which silently skipped the RuView#893 MGMT+DATA CSI upgrade and collapsed CSI yield to 0 pps. The overlay compiles display support out (`has_display` constant-false). Also fixes stale `espressif/idf:v5.2` README references to v5.4 (source requires `esp_driver_uart`, IDF ≥5.3). Hardware-verified on 2× DevKitC-1-N16R8 (0 → 40–45 pps).
 - **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.
+- **Empty-room field-model calibration collected nothing on real HT40 nodes — raw 128-wide frames rejected by the 56-tone model (follow-up to the deadlock fix below).** Once the status-gate deadlock was fixed, `maybe_feed_calibration` reached `feed_calibration`, but a real ESP32 HT40 node streams 128-wide amplitude vectors while the single-link `FieldModel` is the canonical 56-tone grid — so `LinkStats::update` returned `DimensionMismatch`, `feed_calibration` bubbled the error, and `maybe_feed_calibration` swallowed it at `debug` level. Net effect: `frame_count` stayed pinned at 0 on live hardware even though presence/motion/vitals (which read the global history) worked fine. Fixed by resampling each frame onto the model's canonical 56-tone grid via `HardwareNormalizer::resample_to_canonical` before feeding — the same length-only canonicalization the multistatic fusion path uses (#1170). Pinned by `field_bridge::maybe_feed_calibration_resamples_wide_frames_and_accumulates` (128-wide frame → Collecting + count 1; fails on old code). Verified live on the ESP32-S3 deployment.
+- **Empty-room field-model calibration could never start — `/api/v1/calibration/*` was a dead endpoint (frame count pinned at 0).** `POST /calibration/start` creates the `FieldModel` in `Uncalibrated`, but the per-frame server feed `field_bridge::maybe_feed_calibration` only fed observations while the model was **already** `Collecting` — and the *only* thing that sets `Collecting` is `feed_calibration` itself (on its first fed frame). The two gates deadlocked: nothing ever fed the first frame, so `calibration_frame_count` stayed 0, `status` never left `Uncalibrated`, and the SVD room eigenstructure (eigenvalue-based person counting / localization) could never calibrate — observed live as `{"status":"Uncalibrated","frame_count":0}` never advancing on a streaming ESP32 node. Fixed the guard to feed while `Uncalibrated | Collecting` so the first frame flips the model to `Collecting` and the count advances. Also made `calibration_stop` return a structured `{success:false, frame_count, frames_needed}` (with a new `FieldModel::min_calibration_frames()` accessor) instead of an opaque 500 when finalized before enough empty-room frames accumulate. Pinned by `field_bridge::maybe_feed_calibration_advances_uncalibrated_to_collecting` (asserts `Uncalibrated → Collecting` + count 0 → 1 → 2; fails on old code). Presence/motion/vitals were unaffected — they use the separate auto rolling baseline, not the field model.
 - **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).

CLAUDE.md

@@ -93,6 +93,8 @@ All 5 ruvector crates integrated in workspace:
 
 **Not supported:** ESP32 (original), ESP32-C3 — single-core, can't run CSI DSP pipeline.
 
+**⚠️ Compact boards (SuperMini, ESP32-S3-Zero, other coin-sized clones) run hot:** the firmware keeps the WiFi radio on continuously (`WIFI_PS_NONE`) and runs a full DSP pipeline (`edge_tier=2`), which is sustained high current draw. Full-size dev boards handle this fine; coin-sized clones with minimal PCB copper and budget regulators can run uncomfortably hot and, per at least one field report, have failed to power on again after a hot session. Give them airflow and check by touch during the first few minutes. See `firmware/esp32-csi-node/README.md` for details.
+
 ### Build & Test Commands (this repo)
 ```bash
 # Rust — full workspace tests (1,031+ tests, ~2 min)

archive/v1/src/api/routers/health.py

@@ -2,6 +2,7 @@
 Health check API endpoints
 """
 
+import asyncio
 import logging
 import psutil
 from typing import Dict, Any, Optional
@@ -168,7 +169,7 @@ async def health_check(request: Request):
             overall_status = "degraded"
         
         # Get system metrics
-        system_metrics = get_system_metrics()
+        system_metrics = await asyncio.to_thread(get_system_metrics)
         
         uptime_seconds = (datetime.now() - _APP_START_TIME).total_seconds()
         
@@ -263,11 +264,12 @@ async def get_health_metrics(
 ):
     """Get detailed system metrics."""
     try:
-        metrics = get_system_metrics()
+        metrics = await asyncio.to_thread(get_system_metrics)
         
         # Add additional metrics if authenticated
         if current_user:
-            metrics.update(get_detailed_metrics())
+            detailed = await asyncio.to_thread(get_detailed_metrics)
+            metrics.update(detailed)
         
         return {
             "timestamp": datetime.utcnow().isoformat(),
@@ -300,7 +302,7 @@ def get_system_metrics() -> Dict[str, Any]:
     """Get basic system metrics."""
     try:
         # CPU metrics
-        cpu_percent = psutil.cpu_percent(interval=1)
+        cpu_percent = psutil.cpu_percent(interval=None)
         cpu_count = psutil.cpu_count()
         
         # Memory metrics

archive/v1/src/services/metrics.py

@@ -180,21 +180,24 @@ class MetricsService:
     async def _collect_system_metrics(self):
         """Collect system-level metrics."""
         try:
-            # CPU usage
-            cpu_percent = psutil.cpu_percent(interval=1)
+            # Query OS metrics in a background thread to prevent blocking the event loop
+            def gather_metrics():
+                return (
+                    psutil.cpu_percent(interval=None),
+                    psutil.virtual_memory().percent,
+                    psutil.disk_usage('/'),
+                    psutil.net_io_counters()
+                )
+            
+            cpu_percent, mem_percent, disk, network = await asyncio.to_thread(gather_metrics)
+            
+            # Record metrics on the main loop
             self._metrics["system_cpu_usage"].add_point(cpu_percent)
+            self._metrics["system_memory_usage"].add_point(mem_percent)
             
-            # Memory usage
-            memory = psutil.virtual_memory()
-            self._metrics["system_memory_usage"].add_point(memory.percent)
-            
-            # Disk usage
-            disk = psutil.disk_usage('/')
             disk_percent = (disk.used / disk.total) * 100
             self._metrics["system_disk_usage"].add_point(disk_percent)
             
-            # Network I/O
-            network = psutil.net_io_counters()
             self._metrics["system_network_bytes_sent"].add_point(network.bytes_sent)
             self._metrics["system_network_bytes_recv"].add_point(network.bytes_recv)
             

archive/v1/tests/unit/test_health_concurrency.py

@@ -0,0 +1,59 @@
+import asyncio
+import time
+import os
+import sys
+
+import pytest
+
+# Add project root and archive/v1 to sys.path so we can import src modules
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../../")))
+sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "../../")))
+
+from archive.v1.src.api.routers.health import get_system_metrics
+
+async def ticker():
+    """Asynchronous background ticker to measure event loop latency/freezes."""
+    ticks = []
+    for _ in range(15):
+        ticks.append(time.time())
+        await asyncio.sleep(0.1)
+    return ticks
+
+async def run_test():
+    print("Starting concurrency verification test...")
+    
+    # Start the ticker background task
+    ticker_task = asyncio.create_task(ticker())
+    
+    # Let ticker run for a few ticks
+    await asyncio.sleep(0.3)
+    
+    print("Calling get_system_metrics offloaded to background thread...")
+    start_time = time.time()
+    
+    # Query system metrics using to_thread (simulating FastAPI request)
+    metrics = await asyncio.to_thread(get_system_metrics)
+    
+    duration = time.time() - start_time
+    print(f"get_system_metrics took: {duration:.4f}s")
+    
+    # Wait for the ticker to complete
+    ticks = await ticker_task
+    
+    # Calculate gaps between consecutive ticks to check for event loop freezes
+    gaps = [ticks[i+1] - ticks[i] for i in range(len(ticks)-1)]
+    max_gap = max(gaps)
+    
+    print(f"All tick gaps: {[round(g, 3) for g in gaps]}")
+    print(f"Max event loop freeze: {max_gap:.4f}s")
+    
+    # In pre-fix code, psutil.cpu_percent(interval=1) blocks for 1.0s,
+    # causing a gap of >1.0s. With our fix, it should be close to 0.1s.
+    return max_gap, duration
+
+@pytest.mark.asyncio
+async def test_get_system_metrics_does_not_starve_event_loop():
+    max_gap, duration = await run_test()
+    # ticker sleeps 0.1s; allow slack for CI, but we should not see ~1s gaps
+    assert max_gap < 0.6
+    assert duration < 0.6

docs/adr/ADR-263-rtl8720f-2-4ghz-fmcw-radar-platform.md

@@ -0,0 +1,171 @@
+# ADR-263: Adopt RTL8720F 2.4 GHz FMCW radar as an optional RuView sensing platform
+
+- **Status**: proposed
+- **Date**: 2026-07-18
+- **Deciders**: ruv
+- **Tags**: realtek, rtl8720f, ameba, fmcw, radar, cfr, csi, hardware
+- **Relates to**: ADR-018, ADR-063, ADR-064, ADR-095, ADR-097, ADR-260, ADR-262
+
+## Context
+
+Realtek's `RTL8720F-2.4G-Radar-Advantages_EN.pptx` describes an RTL8720F mode that shares the
+2.4 GHz radio between Wi-Fi, Bluetooth, and an active FMCW radar. It offers two data products that
+are useful to RuView:
+
+1. **CFR (Channel Frequency Report)**, described by Realtek as the same concept as Wi-Fi CSI.
+2. **Near and far Range-FFT reports**, preserving near-field content while extending observation to
+   approximately 5–6 m.
+
+The proposed radio uses one transmit and one receive antenna, 20/40/70 MHz sweeps, configurable
+8/16/32/64 microsecond chirp symbols, a maximum 2.56 ms FMCW packet, and a configurable frame
+interval above 15 ms. The deck recommends 40 MHz outside Japan and 20 MHz in Japan. It also
+describes EDCCA/CTS channel access, Wi-Fi/BT/radar time division, interference reporting, and
+priority arbitration in the driver.
+
+This is not a drop-in replacement for ESP32 CSI:
+
+- it is **active monostatic FMCW**, while the ESP32 path observes Wi-Fi packet CSI;
+- one Tx/one Rx has no angle-of-arrival or native multi-target separation;
+- the stated 40 MHz range resolution is about 3.15 m, despite a finer 0.59 m Range-FFT report step;
+- the presentation is a capability description, not an SDK contract. It contains no header names,
+  function signatures, callback ABI, binary layouts, toolchain version, licensing terms, or public
+  RTL8720F board package.
+
+Realtek's public Ameba RTOS repository is the base. Release v1.2.1 includes the CSI API and fixes a
+CSI application-buffer semaphore issue, but does not expose the radar application surface. Open
+upstream PR #1336 (2026-07-18 snapshot) adds RTL8720F project artifacts, `AT+RAD`, `AT+RADDBG`, and
+the public configuration call `wifi_radar_config(struct rtw_radar_action_parm *)`. Its public
+parameter struct confirms mode, channel, 70/40/20 MHz bandwidth selector, trigger period, and
+enable/config actions. Report reception still crosses non-public/placeholder HAL symbols such as
+`wifi_hal_radar_recv_data(frame_num, frame_type, data)`, so the report layout and buffer lifetime
+remain vendor-gated. Therefore the integration stays split at that boundary.
+
+## Decision
+
+RuView will support RTL8720F radar as an **optional, capability-negotiated source**, without
+replacing the ESP32 firmware or treating radar CFR as byte-compatible with ADR-018 CSI.
+
+The integration has three layers:
+
+1. **Realtek device firmware**: a small application built in the vendor-supported Ameba SDK calls
+   the radar API, owns coexistence configuration, and emits versioned reports. This code lives under
+   `firmware/rtl8720f-radar/` only after the redistributable SDK/API is available.
+2. **Transport-neutral wire contract**: CFR and Range-FFT reports are framed independently from the
+   vendor ABI and sent over UDP, USB CDC, or UART. ADR-264 defines this boundary.
+3. **Rust host adapter**: `wifi-densepose-hardware` parses reports from bytes and converts CFR into
+   the existing CSI-domain representation, while Range-FFT remains a radar modality and feeds the
+   RuField/RuView cross-modality bridge from ADR-260/262.
+
+The two report types remain semantically distinct:
+
+| RTL8720F output | RuView representation | Permitted use |
+|---|---|---|
+| CFR | `CsiFrame` through a Realtek calibration adapter | CSI feature extraction after validation |
+| Range-FFT near/far | `RadarFrame` / RuField `mmwave_radar`-class event with a 2.4 GHz descriptor | range, motion, presence, fusion |
+| Vendor AI presence probability | derived observation with model/version provenance | advisory input, never ground truth |
+| Interference report | quality/provenance metadata | reject, down-weight, or mark contaminated frames |
+
+The modality registry should eventually distinguish `fmcw_radar_2_4ghz` from `mmwave_radar`; until
+that RuField schema revision is accepted, the adapter must attach `carrier_hz = 2.4e9` and must not
+claim millimetre-wave provenance.
+
+## Delivery phases and gates
+
+### P0 — Vendor enablement
+
+Obtain the PR #1336-or-newer RTL8720F SDK package, radar API headers/libraries, a supported evaluation
+board, flashing/debug instructions, report definitions, and written redistribution terms.
+
+**Gate:** compile and run Realtek's unmodified radar example and capture CFR plus near/far
+Range-FFT output. Until this passes, device firmware is `VENDOR_BLOCKED`, not implemented.
+
+### P1 — Host-first contract
+
+Implement ADR-264 types, parsers, fixtures, fuzz tests, and replay support without linking vendor
+code. Use the Rust `Rtl8720fSimulator` as the only pre-hardware live source. It emits deterministic
+CFR, near/far Range-FFT, interference, and capabilities frames through the same ADR-264 encoder and
+parser used by hardware. Every simulated frame sets `RadarFlags::SYNTHETIC`; simulation results are
+never reported as device measurements.
+
+**Gate:** malformed inputs never panic; encode/decode round trips; unknown versions and report
+types fail closed.
+
+### P2 — RTL8720F firmware adapter
+
+Wrap only the minimum vendor API surface: initialization, profile configuration, start/stop,
+callback acquisition, interference status, and report serialization. Keep vendor types out of the
+wire protocol.
+
+**Gate:** 30-minute simultaneous Wi-Fi telemetry and radar capture with no watchdog reset, bounded
+loss, monotonic sequence numbers, and explicit coexistence/interference statistics.
+
+### P3 — Calibration and signal validation
+
+Calibrate CFR phase/amplitude, Range-FFT bin spacing, static leakage, and clock drift. Compare
+reported range against measured targets at multiple distances and bandwidths.
+
+**Gate:** publish measured error distributions. Do not infer accuracy from report-bin spacing and
+do not advertise multi-person pose or vital signs from the vendor deck.
+
+### P4 — Fusion and productization
+
+Feed calibrated CFR through the CSI path and Range-FFT through RuField, retaining source, mode,
+bandwidth, calibration, firmware, and interference provenance.
+
+**Gate:** ablation shows whether the radar stream improves a named RuView metric over ESP32 CSI
+alone. If it does not, ship it only as an independent presence/range sensor.
+
+## Consequences
+
+### Positive
+
+- One low-cost radio can provide active radar and CSI-like CFR while retaining Wi-Fi connectivity.
+- Range-FFT adds an independent physical measurement for presence/range fusion.
+- The vendor SDK is isolated from the Rust sensing core and from the stable on-wire contract.
+- Capability negotiation permits future Realtek parts without another application-level fork.
+
+### Negative
+
+- The first implementation is blocked on access to the actual RTL8720F radar SDK/API and hardware.
+- Active 2.4 GHz transmission changes coexistence, privacy, power, and regional compliance concerns.
+- 1T1R and limited sweep bandwidth cannot provide the spatial resolution of multi-antenna mmWave.
+- A second embedded toolchain and firmware release process must be maintained.
+
+### Neutral
+
+- ESP32 remains the default CSI node.
+- Existing consumers receive normalized frames and do not link against Realtek code.
+- Vendor AI output is optional metadata; RuView retains responsibility for its own validation.
+
+## Rejected alternatives
+
+1. **Map Range-FFT directly to `CsiFrame`.** Rejected because range bins and channel-frequency
+   samples have different axes and physical meaning.
+2. **Link the Realtek SDK into the Rust server.** Rejected because it couples host builds to a
+   proprietary embedded ABI and toolchain.
+3. **Wait to define any interface until hardware arrives.** Rejected because the host protocol,
+   parser safety, replay, and provenance can be developed and reviewed independently.
+4. **Replace ESP32 nodes.** Rejected because the modes are complementary and availability differs.
+
+## Open vendor questions
+
+- Exact RTL8720F part/board identifier and production availability.
+- SDK repository/tag, compiler, RTOS, binary blobs, license, and redistribution permissions.
+- Radar initialization/configuration/callback API signatures and threading/ISR constraints.
+- CFR and near/far Range-FFT element type, complex ordering, scaling, endianness, and timestamps.
+- Whether CFR is calibrated complex data and whether phase remains coherent across frames.
+- Maximum report rates, buffer ownership, DMA/cache constraints, and Wi-Fi throughput impact.
+- Region/channel enforcement and whether 70 MHz operation is allowed by the supplied firmware.
+- Secure boot, signed OTA, unique device identity, and firmware attestation support.
+
+## Sources
+
+- Realtek Semiconductor, `RTL8720F-2.4G-Radar-Advantages_EN.pptx`, slides 3 and 10–19,
+  supplied 2026-07-18. This is product material, not measured RuView validation.
+- [Ameba-AIoT/ameba-rtos releases](https://github.com/Ameba-AIoT/ameba-rtos/releases), reviewed
+  2026-07-18; v1.2.1 is the current QC release and includes a CSI buffer-semaphore fix.
+- [Ameba-AIoT/ameba-rtos PR #1336](https://github.com/Ameba-AIoT/ameba-rtos/pull/1336), reviewed
+  2026-07-18; exposes RTL8720F build assets, `wifi_radar_config`, and radar AT commands while report
+  internals remain in binary/private layers.
+- ADR-063 (mmWave sensor fusion), ADR-095/097 (source normalization), and ADR-260/262 (RuField
+  multimodal event model and live bridge).

docs/adr/ADR-264-rtl8720f-radar-wire-protocol.md

@@ -0,0 +1,148 @@
+# ADR-264: Versioned wire protocol for RTL8720F CFR and Range-FFT reports
+
+- **Status**: proposed
+- **Date**: 2026-07-18
+- **Deciders**: ruv
+- **Tags**: realtek, rtl8720f, protocol, cfr, range-fft, udp, serial
+- **Depends on**: ADR-263
+- **Relates to**: ADR-018, ADR-095, ADR-097, ADR-099, ADR-260
+
+## Context
+
+ADR-263 adopts RTL8720F radar behind an anti-corruption boundary. The Realtek presentation names
+CFR, near Range-FFT, far Range-FFT, and interference reports, but does not specify their binary ABI.
+RuView needs a stable, testable contract that can be implemented before the vendor SDK arrives and
+that will not expose vendor structs, pointer layouts, padding, or callback lifetime rules over the
+network.
+
+ADR-018 already defines ESP32 CSI framing. Reusing its magic or pretending that Realtek radar is an
+ESP32 packet would make source detection ambiguous and erase radar-specific calibration metadata.
+
+## Decision
+
+Define a new little-endian `RtlRadarFrameV1` envelope with its own magic and explicit payload type.
+This is a RuView protocol, not a claim about Realtek's native memory layout.
+
+### Envelope
+
+All integer fields are little-endian. Floating-point payloads use IEEE-754 binary32. No C struct is
+sent by `memcpy`; firmware serializes each field explicitly.
+
+| Offset | Size | Field | Meaning |
+|---:|---:|---|---|
+| 0 | 4 | magic | ASCII `RTR1` (`0x31525452`) |
+| 4 | 1 | version | `1` |
+| 5 | 1 | report_type | 1 CFR, 2 range-near, 3 range-far, 4 interference, 5 capabilities |
+| 6 | 2 | header_len | complete header size, initially 56 |
+| 8 | 4 | frame_len | header + payload + CRC |
+| 12 | 4 | sequence | wraps modulo 2^32 |
+| 16 | 8 | timestamp_us | monotonic device time at acquisition |
+| 24 | 8 | device_id | stable pseudonymous identifier, not a MAC address |
+| 32 | 4 | center_freq_khz | RF centre frequency |
+| 36 | 2 | bandwidth_mhz | 20, 40, or 70 |
+| 38 | 2 | flags | calibration/interference/saturation/time-sync flags |
+| 40 | 2 | element_count | complex samples or range bins |
+| 42 | 1 | element_format | 0 bytes/TLV, 1 complex-i16, 2 complex-f32, 3 power-u16, 4 power-f32 |
+| 43 | 1 | antenna_count | expected to be 1 for the deck's 1T1R configuration |
+| 44 | 4 | scale | quantized-to-physical multiplier; `1.0` for float payloads |
+| 48 | 4 | bin_spacing | Hz for CFR, metres for Range-FFT |
+| 52 | 4 | calibration_id | device calibration revision/hash prefix |
+| 56 | variable | payload | determined by type, count, and format |
+| final-4 | 4 | crc32 | IEEE CRC-32 over header and payload |
+
+If vendor evidence shows that 56 bytes is too costly, a later protocol version may introduce a
+compact header. V1 favors auditable provenance over premature byte savings.
+
+### Payload semantics
+
+- **CFR** contains ordered complex channel-frequency samples. The adapter must know the frequency
+  origin/order and must not fabricate missing phase. Uncalibrated frames carry the uncalibrated flag
+  and cannot enter phase-sensitive processing.
+- **Range-near/range-far** contains ordered range bins. Near and far are separate report types so
+  filtering and leakage behavior are never hidden from consumers.
+- **Interference** contains a versioned TLV set for channel-busy, detected-during-chirp, estimated
+  interference power, and packet jitter. Unknown TLVs are skipped by length.
+- **Capabilities** is emitted at boot and on request. It declares supported report types, bandwidths,
+  chirp lengths, maximum elements/report, maximum frame rate, firmware version, and SDK identifier.
+
+### Transport
+
+The identical envelope is supported over:
+
+- UDP datagrams for normal RuView ingestion;
+- USB CDC or UART with COBS framing and a zero-byte delimiter;
+- file replay as a length-prefixed sequence of envelopes.
+
+One envelope must fit one UDP datagram. Fragmentation is not part of V1; firmware rejects a profile
+whose maximum report exceeds the configured MTU and reports the required size through capabilities.
+
+### Parser and trust rules
+
+The host parser:
+
+1. validates magic, version, lengths, enum values, element count/format multiplication, and CRC
+   before allocating or decoding the payload;
+2. caps frames at 64 KiB and elements at a configured hardware maximum;
+3. rejects non-finite float metadata/payload values;
+4. tracks sequence gaps and timestamp regressions per device;
+5. preserves unknown flags but never interprets them as trusted;
+6. attaches transport source, firmware/SDK version, calibration ID, and interference state to
+   provenance;
+7. labels fixture/generated frames as synthetic.
+
+No vendor-provided presence probability bypasses RuView privacy, provenance, or quality gates.
+
+## Consequences
+
+### Positive
+
+- Firmware, transport, parser, replay, and fusion can evolve independently.
+- Fuzzing and golden fixtures require no Realtek SDK or board.
+- CFR and Range-FFT retain correct axes and calibration provenance.
+- A boot-time capabilities frame makes SDK/API drift observable.
+
+### Negative
+
+- Serialization adds CPU and bandwidth overhead compared with dumping a vendor buffer.
+- V1 fields may need revision after the actual API and report limits are disclosed.
+- UDP provides integrity/error detection, not authenticity or confidentiality.
+
+### Neutral
+
+- Authentication can be layered with ADR-032 device identity or a signed RuField receipt without
+  changing report semantics.
+- ESP32 ADR-018 framing remains unchanged.
+
+## Implementation plan
+
+1. Add `rtl8720f` types/parser module to `wifi-densepose-hardware` behind no vendor dependency.
+2. Add golden CFR, near/far Range-FFT, interference, and capabilities fixtures.
+3. Add property/fuzz tests for length arithmetic, enum handling, CRC, and float validation.
+4. Add a replay CLI that prints normalized metadata without running inference.
+5. Once SDK access exists, implement the embedded serializer and verify captured frames against the
+   host golden decoder.
+6. Revise this proposed ADR with measured element counts, rates, and API names before acceptance.
+
+Host-side steps 1–3 are implemented in `wifi-densepose-hardware::rtl8720f`: typed report and
+element enums, semantic type/format validation, bounded length arithmetic, CRC verification,
+finite-float checks, encode/decode round trips, corruption/truncation tests, and deterministic
+arbitrary-input panic checks. Cross-language vectors remain blocked on the vendor SDK callback ABI.
+Bit 15 of `flags` is reserved by RuView as `SYNTHETIC`; the Rust simulator always sets it and real
+firmware must never set it. The simulator is deterministic by seed and exercises the production
+encoder/parser rather than a parallel mock representation.
+
+## Acceptance criteria
+
+- Rust encode/decode round-trip for every report type.
+- Cross-language golden vector produced by the RTL8720F firmware.
+- Zero parser panics over the fuzz corpus and arbitrary byte input.
+- Detection of single-bit corruption, truncation, count overflow, timestamp regression, and gaps.
+- Captured CFR frequency order and Range-FFT bin spacing verified against vendor documentation and a
+  measured target.
+
+## Sources
+
+- Realtek Semiconductor, `RTL8720F-2.4G-Radar-Advantages_EN.pptx`, slides 11–19, supplied
+  2026-07-18.
+- ADR-018 (ESP32 framing), ADR-095/097 (hardware normalization), ADR-260 (multimodal event model),
+  and ADR-263 (platform decision).

docs/adr/README.md

@@ -1,5 +1,10 @@
 # Architecture Decision Records
 
+Latest proposed decisions:
+
+- [ADR-264: Versioned wire protocol for RTL8720F CFR and Range-FFT reports](ADR-264-rtl8720f-radar-wire-protocol.md)
+- [ADR-263: Adopt RTL8720F 2.4 GHz FMCW radar as an optional RuView sensing platform](ADR-263-rtl8720f-2-4ghz-fmcw-radar-platform.md)
+
 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.)
 
 ## Why ADRs?

docs/releases/v0.9.0-realtek-beta.1.md

@@ -0,0 +1,45 @@
+# RuView v0.9.0-realtek-beta.1
+
+This prerelease introduces the Rust-first RTL8720F 2.4 GHz radar transport and
+RuView ingestion path. It is intentionally simulator-validated until Realtek
+hardware and the vendor SDK callback ABI arrive.
+
+## Included
+
+- ADR-263 records the upstream Ameba integration and licensing boundary.
+- ADR-264 defines a versioned, bounded, CRC-protected radar envelope.
+- `rtl8720f-sim` emits deterministic CFR, near-range, far-range, interference,
+  and capability reports to UDP or replay files.
+- The sensing server validates RTL8720F datagrams, publishes bounded summaries
+  over `/ws/sensing`, and exposes the latest report at
+  `/api/v1/radar/latest`.
+- Synthetic provenance is retained end to end as `realtek:simulated`; simulator
+  data is never presented as hardware data.
+
+## Compatibility
+
+The adapter tracks the radar control surface proposed by Ameba RTOS pull
+request #1336 (`wifi_radar_config`, `AT+RAD`, and `AT+RADDBG`). The stable Ameba
+RTOS v1.2.1 release does not yet expose the complete radar receive callback ABI,
+so no vendor-private headers or binary libraries are copied into this release.
+
+## Validation status
+
+- Rust codec round trips, corruption rejection, size bounds, and deterministic
+  simulator tests pass.
+- RuView server ingestion, REST reporting, and source provenance were exercised
+  end to end over loopback UDP.
+- Windows release binaries are built from this branch and accompanied by
+  SHA-256 checksums.
+
+## Known limitations
+
+- No physical RTL8720F board has been flashed or measured.
+- The vendor report callback and exact report layouts remain an SDK/hardware
+  validation gate; the adapter boundary may change when those arrive.
+- This beta exposes transport and aggregate radar observability. Radar-to-pose,
+  vital-sign inference, RF calibration, and accuracy claims are not enabled.
+- 2.4 GHz radar reports are not mislabeled as mmWave or Wi-Fi CSI events.
+
+Do not deploy this prerelease for safety-critical, medical, or occupancy billing
+uses. It is an integration beta for SDK and hardware bring-up.

docs/user-guide.md

@@ -1861,6 +1861,23 @@ node scripts/eval-wiflow.js \
   --data data/paired/*.jsonl
 ```
 
+> **Model format boundary:** `train-wiflow-supervised.js` produces the
+> JavaScript WiFlow model `wiflow-v1.json`. There is currently no supported
+> command that converts that JSON model into the sensing server's binary RVF
+> container, and renaming the file to `.rvf` does not convert it. Use the JSON
+> model with the JavaScript evaluation/inference tools. To train a model that
+> the Rust sensing server can load, use its native training path, which writes
+> RVF directly:
+>
+> ```bash
+> cargo run -p wifi-densepose-sensing-server --release -- \
+>   --train --dataset data/mmfi --dataset-type mmfi \
+>   --epochs 100 --save-rvf models/room-model.rvf
+> ```
+>
+> The camera+CSI paired JSONL workflow and the native RVF trainer are separate
+> pipelines today. A JSON-to-RVF exporter is future work.
+
 **Evaluation protocol matters.** Use `eval-wiflow.js` (torso-normalized
 PCK@20, the metric comparable to published WiFi-pose results) on a temporal
 hold-out, and sanity-check that predictions actually vary across frames

firmware/esp32-csi-node/CMakeLists.txt

@@ -1,5 +1,5 @@
 # ESP32 CSI Node Firmware (ADR-018)
-# Requires ESP-IDF v5.2+
+# Requires ESP-IDF v5.4+
 cmake_minimum_required(VERSION 3.16)
 
 set(EXTRA_COMPONENT_DIRS "")

firmware/esp32-csi-node/README.md

@@ -113,6 +113,8 @@ curl http://<ESP32_IP>:8032/wasm/list
 
 > **Tip:** A single node provides presence and vital signs along its line of sight. Multiple nodes (3-6) create a multistatic mesh that resolves 3D pose with <30 mm jitter and zero identity swaps.
 
+> **⚠️ Thermal warning — compact boards (ESP32-S3-Zero, SuperMini, other coin-sized clones):** This firmware runs the WiFi radio with modem sleep disabled (`WIFI_PS_NONE`, required for continuous CSI capture) plus a full edge-processing DSP pipeline on Core 1 (`edge_tier=2`) plus, on ADR-183 builds, a continuous 40 Hz onboard LED driver. That's sustained high current draw with no duty-cycling. Full-size dev boards (DevKitC-1, XIAO) have more copper pour and thermal mass around the regulator and tolerate this fine. Coin-sized clones with minimal PCB area and budget regulators may run hot to the touch during normal operation, and in at least one field report, boards that ran hot during a session failed to power on afterward (regulator damage suspected — see issue tracker). Give these boards airflow, don't stack or enclose them, and check them by touch during the first several minutes of a new deployment. If a board is uncomfortably hot (not just warm), power it down and let it cool before continuing.
+
 ---
 
 ## Firmware Architecture

firmware/esp32-csi-node/main/main.c

@@ -67,6 +67,8 @@ static void event_handler(void *arg, esp_event_base_t event_base,
     if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
         esp_wifi_connect();
     } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
+        wifi_event_sta_disconnected_t *disc = (wifi_event_sta_disconnected_t *)event_data;
+        ESP_LOGW(TAG, "WiFi disconnected, reason=%d rssi=%d", disc->reason, disc->rssi);
         if (s_retry_num < MAX_RETRY) {
             esp_wifi_connect();
             s_retry_num++;
@@ -102,7 +104,10 @@ static void wifi_init_sta(void)
 
     wifi_config_t wifi_config = {
         .sta = {
-            .threshold.authmode = WIFI_AUTH_WPA2_PSK,
+            /* WPA_PSK (not WPA2_PSK) so routers running WPA/WPA2-mixed
+             * compatibility mode aren't rejected with
+             * WIFI_REASON_NO_AP_FOUND_IN_AUTHMODE_THRESHOLD (#1050). */
+            .threshold.authmode = WIFI_AUTH_WPA_PSK,
         },
     };
 

firmware/esp32-csi-node/version.txt

@@ -1 +1 @@
-0.7.0
+0.8.4

plugins/ruview/skills/ruview-hardware-setup/SKILL.md

@@ -18,6 +18,8 @@ Bring a RuView sensing node online: build firmware → flash → provision WiFi
 
 **Not supported:** original ESP32, ESP32-C3 (single-core).
 
+**⚠️ Ask about board form factor before flashing.** If the user's board is a coin-sized clone (ESP32-S3-Zero, SuperMini, or similar — not a full DevKitC/XIAO-style board with a real USB connector and visible regulator), warn them before they walk away from it: this firmware runs the WiFi radio continuously (`WIFI_PS_NONE`) plus a full DSP pipeline (`edge_tier=2`), which is sustained high current draw that full-size dev boards handle fine but tiny clones with minimal copper/budget regulators may not. At least one field report: boards ran hot during a normal session and failed to power on again afterward (regulator damage suspected). Tell them to give the board airflow (don't stack/enclose it) and check it by touch during the first several minutes of any new deployment.
+
 ## 1. Build firmware (Windows — Python subprocess, NOT bash directly)
 
 ESP-IDF v5.4 does not support MSYS2/Git Bash. Use the Espressif Python venv as a subprocess with `MSYSTEM*` env vars stripped. The proven command lives in `CLAUDE.local.md` — reproduce it:

python/bench/test_bench_vitals.py

@@ -57,12 +57,12 @@ def test_heart_rate_extract_per_frame_cost(benchmark) -> None:
     hr = HeartRateExtractor.esp32_default()
     rng = Random(43)
     for i in range(1500):
-        residuals, weights = _synth_frame(56, 100.0, i / 100.0, 1.2, rng)
-        hr.extract(residuals=residuals, weights=weights)
+        residuals, phases = _synth_frame(56, 100.0, i / 100.0, 1.2, rng)
+        hr.extract(residuals=residuals, phases=phases)
 
     def _one_frame():
-        residuals, weights = _synth_frame(56, 100.0, 16.0, 1.2, rng)
-        return hr.extract(residuals=residuals, weights=weights)
+        residuals, phases = _synth_frame(56, 100.0, 16.0, 1.2, rng)
+        return hr.extract(residuals=residuals, phases=phases)
 
     benchmark(_one_frame)
 

python/src/bindings/vitals.rs

@@ -242,7 +242,22 @@ impl PyBreathingExtractor {
 // ─── HeartRateExtractor ──────────────────────────────────────────────
 
 /// Extracts heart rate (40–120 BPM) from per-subcarrier amplitude
-/// residuals via 0.8–2.0 Hz bandpass + autocorrelation peak detection.
+/// residuals and per-subcarrier unwrapped phases (radians) via
+/// 0.8–2.0 Hz bandpass + autocorrelation peak detection.
+///
+/// Python:
+/// ```python
+/// from wifi_densepose import HeartRateExtractor
+///
+/// hr = HeartRateExtractor.esp32_default()  # 56 subcarriers, 100 Hz, 15s window
+///
+/// # Feed residuals and matching unwrapped phases from your preprocessor.
+/// # Unlike BreathingExtractor weights, phases=[] is invalid for heart-rate
+/// # extraction because the Rust core requires phase data for each subcarrier.
+/// est = hr.extract(residuals=[0.01, -0.02, …], phases=[0.0, 0.01, …])
+/// if est is not None:
+///     print(est.value_bpm, est.confidence)
+/// ```
 #[pyclass(name = "HeartRateExtractor")]
 pub struct PyHeartRateExtractor {
     inner: HeartRateExtractor,
@@ -265,10 +280,17 @@ impl PyHeartRateExtractor {
         Self { inner: HeartRateExtractor::esp32_default() }
     }
 
-    /// Extract heart rate from per-subcarrier residuals. GIL released
-    /// during DSP.
-    fn extract(&mut self, py: Python<'_>, residuals: Vec<f64>, weights: Vec<f64>) -> Option<PyVitalEstimate> {
-        let est = py.allow_threads(|| self.inner.extract(&residuals, &weights));
+    /// Extract heart rate from per-subcarrier residuals and matching
+    /// per-subcarrier unwrapped phases (radians). Empty phases are invalid
+    /// and return `None` because the Rust extractor requires phase data.
+    /// GIL released during DSP.
+    fn extract(
+        &mut self,
+        py: Python<'_>,
+        residuals: Vec<f64>,
+        phases: Vec<f64>,
+    ) -> Option<PyVitalEstimate> {
+        let est = py.allow_threads(|| self.inner.extract(&residuals, &phases));
         est.map(PyVitalEstimate::from_rust)
     }
 

python/tests/test_vitals.py

@@ -185,10 +185,44 @@ def test_heart_rate_explicit_ctor() -> None:
 
 def test_heart_rate_extract_returns_none_with_too_few_samples() -> None:
     hr = HeartRateExtractor.esp32_default()
-    out = hr.extract(residuals=[0.0] * 56, weights=[])
+    out = hr.extract(residuals=[0.0] * 56, phases=[0.0] * 56)
     assert out is None
 
 
+def test_heart_rate_extract_rejects_old_weights_keyword() -> None:
+    hr = HeartRateExtractor.esp32_default()
+    with pytest.raises(TypeError):
+        hr.extract(residuals=[0.0] * 56, weights=[0.0] * 56)
+
+
+def test_heart_rate_extract_with_synthetic_signal_and_phases() -> None:
+    """Drive the extractor with a synthetic 1.2 Hz sine (72 BPM) plus
+    same-length phase data. This proves the binding feeds Rust's required
+    `phases` slice instead of an empty vector that would keep returning None."""
+    hr = HeartRateExtractor.esp32_default()
+    sample_rate = 100.0
+    target_freq = 1.2  # 72 BPM
+    n_samples = int(60 * sample_rate)
+    phases = [i * 0.01 for i in range(56)]
+
+    produced_estimate = False
+    rng = Random(43)
+    for i in range(n_samples):
+        t = i / sample_rate
+        base = math.sin(2.0 * math.pi * target_freq * t)
+        residuals = [base + rng.gauss(0.0, 0.01) for _ in range(56)]
+        est = hr.extract(residuals=residuals, phases=phases)
+        if est is not None:
+            produced_estimate = True
+            assert math.isfinite(est.value_bpm)
+            assert 0.0 <= est.confidence <= 1.0
+            break
+
+    assert produced_estimate, (
+        "HeartRateExtractor never produced an estimate after 60s of synthetic data"
+    )
+
+
 # ─── Build feature flag ──────────────────────────────────────────────
 
 

v2/crates/wifi-densepose-hardware/README.md

@@ -13,6 +13,21 @@ hardware sources. All parsing operates on byte buffers with no C FFI or hardware
 compile time, making the crate fully portable and deterministic -- the same bytes in always produce
 the same parsed output.
 
+## RTL8720F radar simulator (ADR-263/264)
+
+Until Realtek hardware and the radar report SDK arrive, the Rust-only simulator exercises the same
+versioned CFR/Range-FFT wire codec used by the future device adapter. Every frame is marked
+`SYNTHETIC`.
+
+```powershell
+cargo run -p wifi-densepose-hardware --bin rtl8720f-sim -- `
+  --frames 100 --seed 0x8720f123456789ab `
+  --output rtl8720f-synthetic.rtr
+```
+
+Add `--udp 127.0.0.1:5005 --realtime` to stream one ADR-264 frame per UDP datagram. Replay files
+contain a little-endian `u32` frame length followed by the encoded frame.
+
 ## Features
 
 - **ESP32 binary parser** -- Parses ADR-018 binary CSI frames streamed over UDP from ESP32 and

v2/crates/wifi-densepose-hardware/src/bin/rtl8720f-sim.rs

@@ -0,0 +1,118 @@
+//! Rust-only RTL8720F radar simulator for pre-hardware integration.
+
+use std::{
+    fs::File,
+    io::{self, Write},
+    net::{SocketAddr, UdpSocket},
+    path::PathBuf,
+    thread,
+    time::Duration,
+};
+
+use clap::Parser;
+use wifi_densepose_hardware::rtl8720f::{
+    simulator::{Rtl8720fSimulator, SimulatorConfig},
+    RadarFrame, ReportType,
+};
+
+#[derive(Debug, Parser)]
+#[command(
+    name = "rtl8720f-sim",
+    about = "Emit synthetic ADR-264 RTL8720F radar frames"
+)]
+struct Args {
+    #[arg(long, default_value_t = 100)]
+    frames: u32,
+    #[arg(long, default_value = "0x8720f123456789ab", value_parser = parse_u64)]
+    seed: u64,
+    #[arg(long, default_value_t = 40)]
+    bandwidth: u16,
+    #[arg(long, default_value_t = 15)]
+    interval_ms: u64,
+    /// UDP destination; each frame is one datagram.
+    #[arg(long)]
+    udp: Option<SocketAddr>,
+    /// Replay file; LE u32 length followed by ADR-264 bytes.
+    #[arg(long)]
+    output: Option<PathBuf>,
+    #[arg(long)]
+    realtime: bool,
+}
+
+fn parse_u64(value: &str) -> Result<u64, String> {
+    if let Some(hex) = value
+        .strip_prefix("0x")
+        .or_else(|| value.strip_prefix("0X"))
+    {
+        u64::from_str_radix(hex, 16).map_err(|error| error.to_string())
+    } else {
+        value.parse::<u64>().map_err(|error| error.to_string())
+    }
+}
+
+fn emit(
+    frame: RadarFrame,
+    socket: Option<&UdpSocket>,
+    destination: Option<SocketAddr>,
+    output: &mut Option<File>,
+) -> Result<usize, Box<dyn std::error::Error>> {
+    let wire = frame.to_bytes()?;
+    if let (Some(socket), Some(destination)) = (socket, destination) {
+        let sent = socket.send_to(&wire, destination)?;
+        if sent != wire.len() {
+            return Err(io::Error::new(io::ErrorKind::WriteZero, "partial UDP datagram").into());
+        }
+    }
+    if let Some(file) = output {
+        file.write_all(&(wire.len() as u32).to_le_bytes())?;
+        file.write_all(&wire)?;
+    }
+    Ok(wire.len())
+}
+
+fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let args = Args::parse();
+    if args.udp.is_none() && args.output.is_none() {
+        return Err("select at least one sink with --udp or --output".into());
+    }
+    let config = SimulatorConfig {
+        seed: args.seed,
+        bandwidth_mhz: args.bandwidth,
+        frame_period_us: args.interval_ms * 1_000,
+        ..SimulatorConfig::default()
+    };
+    let mut simulator = Rtl8720fSimulator::new(config)?;
+    let socket = args.udp.map(|_| UdpSocket::bind("0.0.0.0:0")).transpose()?;
+    let mut output = args.output.as_ref().map(File::create).transpose()?;
+    let mut bytes_emitted = emit(
+        simulator.capabilities_frame(),
+        socket.as_ref(),
+        args.udp,
+        &mut output,
+    )?;
+
+    for index in 0..args.frames {
+        let report_type = match index % 16 {
+            15 => ReportType::Interference,
+            value if value % 4 == 1 => ReportType::RangeNear,
+            value if value % 4 == 3 => ReportType::RangeFar,
+            _ => ReportType::Cfr,
+        };
+        bytes_emitted += emit(
+            simulator.next_frame(report_type),
+            socket.as_ref(),
+            args.udp,
+            &mut output,
+        )?;
+        if args.realtime {
+            thread::sleep(Duration::from_millis(args.interval_ms));
+        }
+    }
+    eprintln!(
+        "emitted {} synthetic RTL8720F frames ({} bytes, seed={:#x})",
+        args.frames + 1,
+        bytes_emitted,
+        args.seed
+    );
+    Ok(())
+}

v2/crates/wifi-densepose-hardware/src/lib.rs

@@ -53,6 +53,9 @@ pub mod sync_packet;
 // coordinator-node Rust code drive the controller stack without
 // touching any downstream signal/ruvector/train/mat crate.
 pub mod radio_ops;
+/// ADR-264 host-side framing for Realtek RTL8720F CFR and FMCW radar reports.
+/// This module has no dependency on the vendor SDK.
+pub mod rtl8720f;
 
 pub use bridge::CsiData;
 pub use csi_frame::{
@@ -64,12 +67,18 @@ pub use esp32_parser::{
     RUVIEW_FEATURE_MAGIC, RUVIEW_FEATURE_STATE_MAGIC, RUVIEW_FUSED_VITALS_MAGIC,
     RUVIEW_TEMPORAL_MAGIC, RUVIEW_VITALS_MAGIC,
 };
-pub use sync_packet::{
-    SyncPacket, SyncPacketFlags, SYNC_PACKET_MAGIC, SYNC_PACKET_SIZE, SYNC_PACKET_PROTO_VER,
-};
 pub use radio_ops::{
     crc32_ieee, decode_anomaly_alert, decode_mesh, decode_node_status, encode_health, AnomalyAlert,
     AuthClass, CaptureProfile, MeshError, MeshHeader, MeshMsgType, MeshRole, MockRadio, NodeStatus,
     RadioError, RadioHealth, RadioMode, RadioOps, MESH_HEADER_SIZE, MESH_MAGIC, MESH_MAX_PAYLOAD,
     MESH_VERSION,
 };
+pub use rtl8720f::{
+    ElementFormat as Rtl8720fElementFormat, RadarFlags as Rtl8720fRadarFlags,
+    RadarFrame as Rtl8720fRadarFrame, RadarParseError as Rtl8720fRadarParseError,
+    RadarPayload as Rtl8720fRadarPayload, ReportType as Rtl8720fReportType,
+    RTL8720F_RADAR_HEADER_LEN, RTL8720F_RADAR_MAGIC, RTL8720F_RADAR_VERSION,
+};
+pub use sync_packet::{
+    SyncPacket, SyncPacketFlags, SYNC_PACKET_MAGIC, SYNC_PACKET_PROTO_VER, SYNC_PACKET_SIZE,
+};

v2/crates/wifi-densepose-hardware/src/rtl8720f.rs

@@ -0,0 +1,852 @@
+//! ADR-264 transport-neutral framing for Realtek RTL8720F radar reports.
+//!
+//! This is a RuView-owned wire contract around the public Ameba API boundary,
+//! not a representation of Realtek's private structs. Upstream PR #1336 exposes
+//! `wifi_radar_config(struct rtw_radar_action_parm *)`; the report callback ABI
+//! remains vendor-gated. Keeping this codec byte-oriented lets host development,
+//! replay, and fuzzing proceed without linking the Ameba SDK.
+
+use serde::{Deserialize, Serialize};
+use thiserror::Error;
+
+use crate::radio_ops::crc32_ieee;
+
+pub const RTL8720F_RADAR_MAGIC: u32 = 0x3152_5452; // "RTR1" in little endian
+pub const RTL8720F_RADAR_VERSION: u8 = 1;
+pub const RTL8720F_RADAR_HEADER_LEN: usize = 56;
+pub const RTL8720F_RADAR_CRC_LEN: usize = 4;
+/// Largest payload that can be carried in one IPv4 UDP datagram.
+pub const RTL8720F_RADAR_MAX_FRAME_LEN: usize = 65_507;
+pub const RTL8720F_RADAR_MAX_ELEMENTS: usize = 16_384;
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
+#[repr(u8)]
+pub enum ReportType {
+    Cfr = 1,
+    RangeNear = 2,
+    RangeFar = 3,
+    Interference = 4,
+    Capabilities = 5,
+}
+
+impl TryFrom<u8> for ReportType {
+    type Error = RadarParseError;
+
+    fn try_from(value: u8) -> Result<Self, Self::Error> {
+        match value {
+            1 => Ok(Self::Cfr),
+            2 => Ok(Self::RangeNear),
+            3 => Ok(Self::RangeFar),
+            4 => Ok(Self::Interference),
+            5 => Ok(Self::Capabilities),
+            _ => Err(RadarParseError::UnknownReportType(value)),
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
+#[repr(u8)]
+pub enum ElementFormat {
+    /// TLV/opaque byte payload used by capabilities and interference reports.
+    Bytes = 0,
+    ComplexI16 = 1,
+    ComplexF32 = 2,
+    PowerU16 = 3,
+    PowerF32 = 4,
+}
+
+impl ElementFormat {
+    fn bytes_per_element(self) -> usize {
+        match self {
+            Self::Bytes => 1,
+            Self::ComplexI16 | Self::PowerF32 => 4,
+            Self::ComplexF32 => 8,
+            Self::PowerU16 => 2,
+        }
+    }
+}
+
+impl TryFrom<u8> for ElementFormat {
+    type Error = RadarParseError;
+
+    fn try_from(value: u8) -> Result<Self, Self::Error> {
+        match value {
+            0 => Ok(Self::Bytes),
+            1 => Ok(Self::ComplexI16),
+            2 => Ok(Self::ComplexF32),
+            3 => Ok(Self::PowerU16),
+            4 => Ok(Self::PowerF32),
+            _ => Err(RadarParseError::UnknownElementFormat(value)),
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq, Default, Serialize, Deserialize)]
+pub struct RadarFlags(pub u16);
+
+impl RadarFlags {
+    pub const CALIBRATED: u16 = 1 << 0;
+    pub const INTERFERENCE_DETECTED: u16 = 1 << 1;
+    pub const SATURATED: u16 = 1 << 2;
+    pub const TIME_SYNCHRONIZED: u16 = 1 << 3;
+    /// Frame was produced by a simulator/replay generator, never real hardware.
+    pub const SYNTHETIC: u16 = 1 << 15;
+
+    pub fn contains(self, flag: u16) -> bool {
+        self.0 & flag != 0
+    }
+}
+
+/// Deterministic, Rust-only RTL8720F source used until hardware is available.
+/// It emits the same [`RadarFrame`] objects and wire bytes as the vendor adapter.
+pub mod simulator {
+    use super::*;
+
+    #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
+    pub struct SimulatorConfig {
+        pub seed: u64,
+        pub device_id: u64,
+        pub center_freq_khz: u32,
+        pub bandwidth_mhz: u16,
+        pub frame_period_us: u64,
+        pub cfr_bins: u16,
+        pub range_bins: u16,
+    }
+
+    impl Default for SimulatorConfig {
+        fn default() -> Self {
+            Self {
+                seed: 0x8720_F123_4567_89AB,
+                device_id: 0x5254_4C38_3732_3046,
+                center_freq_khz: 2_442_000,
+                bandwidth_mhz: 40,
+                frame_period_us: 15_000,
+                cfr_bins: 128,
+                range_bins: 32,
+            }
+        }
+    }
+
+    #[derive(Debug, Clone)]
+    pub struct Rtl8720fSimulator {
+        config: SimulatorConfig,
+        rng: u64,
+        sequence: u32,
+        timestamp_us: u64,
+        target_distance_m: f32,
+        target_velocity_mps: f32,
+    }
+
+    impl Rtl8720fSimulator {
+        pub fn new(config: SimulatorConfig) -> Result<Self, RadarParseError> {
+            if !matches!(config.bandwidth_mhz, 20 | 40 | 70) {
+                return Err(RadarParseError::InvalidBandwidth(config.bandwidth_mhz));
+            }
+            if config.cfr_bins == 0 || config.range_bins == 0 {
+                return Err(RadarParseError::TooManyElements(0));
+            }
+            Ok(Self {
+                rng: config.seed,
+                config,
+                sequence: 0,
+                timestamp_us: 0,
+                target_distance_m: 2.0,
+                target_velocity_mps: 0.20,
+            })
+        }
+
+        pub fn config(&self) -> &SimulatorConfig {
+            &self.config
+        }
+        pub fn target_distance_m(&self) -> f32 {
+            self.target_distance_m
+        }
+        pub fn target_velocity_mps(&self) -> f32 {
+            self.target_velocity_mps
+        }
+
+        /// Emit the boot-time capabilities report as compact TLVs:
+        /// type 1 = bandwidth bitset, 2 = CFR bins, 3 = range bins,
+        /// 4 = minimum frame period in microseconds.
+        pub fn capabilities_frame(&self) -> RadarFrame {
+            let bandwidths = 0b0000_0111u8; // 20, 40, 70 MHz
+            let mut bytes = vec![1, 1, bandwidths, 2, 2];
+            bytes.extend_from_slice(&self.config.cfr_bins.to_le_bytes());
+            bytes.extend_from_slice(&[3, 2]);
+            bytes.extend_from_slice(&self.config.range_bins.to_le_bytes());
+            bytes.extend_from_slice(&[4, 4]);
+            bytes.extend_from_slice(&(self.config.frame_period_us as u32).to_le_bytes());
+            self.frame(
+                ReportType::Capabilities,
+                0,
+                0,
+                RadarPayload::Bytes(bytes),
+                0.0,
+            )
+        }
+
+        pub fn next_frame(&mut self, report_type: ReportType) -> RadarFrame {
+            let sequence = self.sequence;
+            let timestamp_us = self.timestamp_us;
+            self.sequence = self.sequence.wrapping_add(1);
+            self.timestamp_us = self.timestamp_us.wrapping_add(self.config.frame_period_us);
+            self.advance_target();
+
+            match report_type {
+                ReportType::Cfr => {
+                    let values = (0..self.config.cfr_bins)
+                        .map(|bin| {
+                            let phase = bin as f32 * 0.17 + sequence as f32 * 0.05;
+                            let noise_i = self.noise_i16(20);
+                            let noise_q = self.noise_i16(20);
+                            [
+                                (phase.cos() * 1800.0) as i16 + noise_i,
+                                (phase.sin() * 1800.0) as i16 + noise_q,
+                            ]
+                        })
+                        .collect();
+                    self.frame(
+                        report_type,
+                        sequence,
+                        timestamp_us,
+                        RadarPayload::ComplexI16(values),
+                        self.config.bandwidth_mhz as f32 * 1_000_000.0
+                            / self.config.cfr_bins as f32,
+                    )
+                }
+                ReportType::RangeNear | ReportType::RangeFar => {
+                    let bin_spacing = match self.config.bandwidth_mhz {
+                        70 => 0.33,
+                        40 => 0.59,
+                        _ => 1.18,
+                    };
+                    let target_bin = (self.target_distance_m / bin_spacing).round() as usize;
+                    let values = (0..self.config.range_bins as usize)
+                        .map(|bin| {
+                            let distance = bin.abs_diff(target_bin) as f32;
+                            let peak = 1000.0 * (-0.5 * distance * distance).exp();
+                            let leakage = if report_type == ReportType::RangeNear && bin < 2 {
+                                250.0
+                            } else {
+                                0.0
+                            };
+                            (peak + leakage + self.noise_f32(12.0)).max(0.0)
+                        })
+                        .collect();
+                    self.frame(
+                        report_type,
+                        sequence,
+                        timestamp_us,
+                        RadarPayload::PowerF32(values),
+                        bin_spacing,
+                    )
+                }
+                ReportType::Interference => {
+                    // TLV: channel-busy %, detected-during-chirp, signed dBm.
+                    let busy = (self.next_u32() % 35) as u8;
+                    let detected = u8::from(busy > 25);
+                    let dbm = (-90i8 + (self.next_u32() % 25) as i8) as u8;
+                    let bytes = vec![1, 1, busy, 2, 1, detected, 3, 1, dbm];
+                    let mut frame = self.frame(
+                        report_type,
+                        sequence,
+                        timestamp_us,
+                        RadarPayload::Bytes(bytes),
+                        0.0,
+                    );
+                    if detected != 0 {
+                        frame.flags.0 |= RadarFlags::INTERFERENCE_DETECTED;
+                    }
+                    frame
+                }
+                ReportType::Capabilities => self.capabilities_frame(),
+            }
+        }
+
+        pub fn next_wire(&mut self, report_type: ReportType) -> Result<Vec<u8>, RadarParseError> {
+            self.next_frame(report_type).to_bytes()
+        }
+
+        fn frame(
+            &self,
+            report_type: ReportType,
+            sequence: u32,
+            timestamp_us: u64,
+            payload: RadarPayload,
+            bin_spacing: f32,
+        ) -> RadarFrame {
+            RadarFrame {
+                report_type,
+                sequence,
+                timestamp_us,
+                device_id: self.config.device_id,
+                center_freq_khz: self.config.center_freq_khz,
+                bandwidth_mhz: self.config.bandwidth_mhz,
+                flags: RadarFlags(RadarFlags::CALIBRATED | RadarFlags::SYNTHETIC),
+                antenna_count: 1,
+                scale: 1.0,
+                bin_spacing,
+                calibration_id: 0,
+                payload,
+            }
+        }
+
+        fn advance_target(&mut self) {
+            let dt = self.config.frame_period_us as f32 / 1_000_000.0;
+            self.target_distance_m += self.target_velocity_mps * dt;
+            if self.target_distance_m >= 5.5 || self.target_distance_m <= 0.8 {
+                self.target_velocity_mps = -self.target_velocity_mps;
+                self.target_distance_m = self.target_distance_m.clamp(0.8, 5.5);
+            }
+        }
+
+        fn next_u32(&mut self) -> u32 {
+            // PCG-style state transition with xorshift output; deterministic and dependency-free.
+            self.rng = self
+                .rng
+                .wrapping_mul(6364136223846793005)
+                .wrapping_add(1442695040888963407);
+            let word = (((self.rng >> 18) ^ self.rng) >> 27) as u32;
+            word.rotate_right((self.rng >> 59) as u32)
+        }
+
+        fn noise_i16(&mut self, amplitude: i16) -> i16 {
+            (self.next_u32() % (amplitude as u32 * 2 + 1)) as i16 - amplitude
+        }
+
+        fn noise_f32(&mut self, amplitude: f32) -> f32 {
+            let unit = self.next_u32() as f32 / u32::MAX as f32;
+            (unit * 2.0 - 1.0) * amplitude
+        }
+    }
+
+    impl Iterator for Rtl8720fSimulator {
+        type Item = RadarFrame;
+
+        fn next(&mut self) -> Option<Self::Item> {
+            let report_type = match self.sequence % 4 {
+                0 | 2 => ReportType::Cfr,
+                1 => ReportType::RangeNear,
+                _ => ReportType::RangeFar,
+            };
+            Some(self.next_frame(report_type))
+        }
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
+pub enum RadarPayload {
+    Bytes(Vec<u8>),
+    ComplexI16(Vec<[i16; 2]>),
+    ComplexF32(Vec<[f32; 2]>),
+    PowerU16(Vec<u16>),
+    PowerF32(Vec<f32>),
+}
+
+impl RadarPayload {
+    pub fn format(&self) -> ElementFormat {
+        match self {
+            Self::Bytes(_) => ElementFormat::Bytes,
+            Self::ComplexI16(_) => ElementFormat::ComplexI16,
+            Self::ComplexF32(_) => ElementFormat::ComplexF32,
+            Self::PowerU16(_) => ElementFormat::PowerU16,
+            Self::PowerF32(_) => ElementFormat::PowerF32,
+        }
+    }
+
+    pub fn len(&self) -> usize {
+        match self {
+            Self::Bytes(v) => v.len(),
+            Self::ComplexI16(v) => v.len(),
+            Self::ComplexF32(v) => v.len(),
+            Self::PowerU16(v) => v.len(),
+            Self::PowerF32(v) => v.len(),
+        }
+    }
+
+    pub fn is_empty(&self) -> bool {
+        self.len() == 0
+    }
+
+    fn encoded_len(&self) -> usize {
+        self.len() * self.format().bytes_per_element()
+    }
+
+    fn validate_finite(&self) -> Result<(), RadarParseError> {
+        let valid = match self {
+            Self::ComplexF32(values) => values.iter().flatten().all(|v| v.is_finite()),
+            Self::PowerF32(values) => values.iter().all(|v| v.is_finite()),
+            _ => true,
+        };
+        if valid {
+            Ok(())
+        } else {
+            Err(RadarParseError::NonFiniteValue)
+        }
+    }
+
+    fn encode_into(&self, out: &mut Vec<u8>) {
+        match self {
+            Self::Bytes(values) => out.extend_from_slice(values),
+            Self::ComplexI16(values) => values.iter().for_each(|value| {
+                out.extend_from_slice(&value[0].to_le_bytes());
+                out.extend_from_slice(&value[1].to_le_bytes());
+            }),
+            Self::ComplexF32(values) => values.iter().for_each(|value| {
+                out.extend_from_slice(&value[0].to_le_bytes());
+                out.extend_from_slice(&value[1].to_le_bytes());
+            }),
+            Self::PowerU16(values) => values
+                .iter()
+                .for_each(|value| out.extend_from_slice(&value.to_le_bytes())),
+            Self::PowerF32(values) => values
+                .iter()
+                .for_each(|value| out.extend_from_slice(&value.to_le_bytes())),
+        }
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
+pub struct RadarFrame {
+    pub report_type: ReportType,
+    pub sequence: u32,
+    pub timestamp_us: u64,
+    pub device_id: u64,
+    pub center_freq_khz: u32,
+    pub bandwidth_mhz: u16,
+    pub flags: RadarFlags,
+    pub antenna_count: u8,
+    pub scale: f32,
+    pub bin_spacing: f32,
+    pub calibration_id: u32,
+    pub payload: RadarPayload,
+}
+
+impl RadarFrame {
+    pub fn to_bytes(&self) -> Result<Vec<u8>, RadarParseError> {
+        self.validate()?;
+        let payload_len = self.payload.encoded_len();
+        let frame_len = RTL8720F_RADAR_HEADER_LEN
+            .checked_add(payload_len)
+            .and_then(|value| value.checked_add(RTL8720F_RADAR_CRC_LEN))
+            .ok_or(RadarParseError::LengthOverflow)?;
+        if frame_len > RTL8720F_RADAR_MAX_FRAME_LEN {
+            return Err(RadarParseError::FrameTooLarge(frame_len));
+        }
+
+        let mut out = Vec::with_capacity(frame_len);
+        out.extend_from_slice(&RTL8720F_RADAR_MAGIC.to_le_bytes());
+        out.push(RTL8720F_RADAR_VERSION);
+        out.push(self.report_type as u8);
+        out.extend_from_slice(&(RTL8720F_RADAR_HEADER_LEN as u16).to_le_bytes());
+        out.extend_from_slice(&(frame_len as u32).to_le_bytes());
+        out.extend_from_slice(&self.sequence.to_le_bytes());
+        out.extend_from_slice(&self.timestamp_us.to_le_bytes());
+        out.extend_from_slice(&self.device_id.to_le_bytes());
+        out.extend_from_slice(&self.center_freq_khz.to_le_bytes());
+        out.extend_from_slice(&self.bandwidth_mhz.to_le_bytes());
+        out.extend_from_slice(&self.flags.0.to_le_bytes());
+        out.extend_from_slice(&(self.payload.len() as u16).to_le_bytes());
+        out.push(self.payload.format() as u8);
+        out.push(self.antenna_count);
+        out.extend_from_slice(&self.scale.to_le_bytes());
+        out.extend_from_slice(&self.bin_spacing.to_le_bytes());
+        out.extend_from_slice(&self.calibration_id.to_le_bytes());
+        debug_assert_eq!(out.len(), RTL8720F_RADAR_HEADER_LEN);
+        self.payload.encode_into(&mut out);
+        let crc = crc32_ieee(&out);
+        out.extend_from_slice(&crc.to_le_bytes());
+        Ok(out)
+    }
+
+    pub fn from_bytes(input: &[u8]) -> Result<(Self, usize), RadarParseError> {
+        if input.len() < RTL8720F_RADAR_HEADER_LEN {
+            return Err(RadarParseError::InsufficientData {
+                needed: RTL8720F_RADAR_HEADER_LEN,
+                got: input.len(),
+            });
+        }
+        let magic = read_u32(input, 0);
+        if magic != RTL8720F_RADAR_MAGIC {
+            return Err(RadarParseError::InvalidMagic(magic));
+        }
+        if input[4] != RTL8720F_RADAR_VERSION {
+            return Err(RadarParseError::UnsupportedVersion(input[4]));
+        }
+        let report_type = ReportType::try_from(input[5])?;
+        let header_len = read_u16(input, 6) as usize;
+        if header_len < RTL8720F_RADAR_HEADER_LEN {
+            return Err(RadarParseError::InvalidHeaderLength(header_len));
+        }
+        let frame_len = read_u32(input, 8) as usize;
+        if frame_len > RTL8720F_RADAR_MAX_FRAME_LEN {
+            return Err(RadarParseError::FrameTooLarge(frame_len));
+        }
+        if frame_len < header_len + RTL8720F_RADAR_CRC_LEN {
+            return Err(RadarParseError::InvalidFrameLength(frame_len));
+        }
+        if input.len() < frame_len {
+            return Err(RadarParseError::InsufficientData {
+                needed: frame_len,
+                got: input.len(),
+            });
+        }
+
+        let element_count = read_u16(input, 40) as usize;
+        if element_count > RTL8720F_RADAR_MAX_ELEMENTS {
+            return Err(RadarParseError::TooManyElements(element_count));
+        }
+        let format = ElementFormat::try_from(input[42])?;
+        validate_type_format(report_type, format)?;
+        let payload_len = element_count
+            .checked_mul(format.bytes_per_element())
+            .ok_or(RadarParseError::LengthOverflow)?;
+        let expected_len = header_len
+            .checked_add(payload_len)
+            .and_then(|value| value.checked_add(RTL8720F_RADAR_CRC_LEN))
+            .ok_or(RadarParseError::LengthOverflow)?;
+        if expected_len != frame_len {
+            return Err(RadarParseError::PayloadLengthMismatch {
+                expected: expected_len,
+                got: frame_len,
+            });
+        }
+
+        let expected_crc = read_u32(input, frame_len - RTL8720F_RADAR_CRC_LEN);
+        let actual_crc = crc32_ieee(&input[..frame_len - RTL8720F_RADAR_CRC_LEN]);
+        if expected_crc != actual_crc {
+            return Err(RadarParseError::CrcMismatch {
+                expected: expected_crc,
+                actual: actual_crc,
+            });
+        }
+
+        let scale = read_f32(input, 44);
+        let bin_spacing = read_f32(input, 48);
+        if !scale.is_finite() || !bin_spacing.is_finite() {
+            return Err(RadarParseError::NonFiniteValue);
+        }
+        let payload = decode_payload(format, &input[header_len..header_len + payload_len])?;
+        let frame = Self {
+            report_type,
+            sequence: read_u32(input, 12),
+            timestamp_us: read_u64(input, 16),
+            device_id: read_u64(input, 24),
+            center_freq_khz: read_u32(input, 32),
+            bandwidth_mhz: read_u16(input, 36),
+            flags: RadarFlags(read_u16(input, 38)),
+            antenna_count: input[43],
+            scale,
+            bin_spacing,
+            calibration_id: read_u32(input, 52),
+            payload,
+        };
+        frame.validate()?;
+        Ok((frame, frame_len))
+    }
+
+    fn validate(&self) -> Result<(), RadarParseError> {
+        if !matches!(self.bandwidth_mhz, 20 | 40 | 70) {
+            return Err(RadarParseError::InvalidBandwidth(self.bandwidth_mhz));
+        }
+        if self.antenna_count == 0 || self.antenna_count > 8 {
+            return Err(RadarParseError::InvalidAntennaCount(self.antenna_count));
+        }
+        if self.payload.len() > RTL8720F_RADAR_MAX_ELEMENTS
+            || self.payload.len() > u16::MAX as usize
+        {
+            return Err(RadarParseError::TooManyElements(self.payload.len()));
+        }
+        if !self.scale.is_finite() || !self.bin_spacing.is_finite() {
+            return Err(RadarParseError::NonFiniteValue);
+        }
+        validate_type_format(self.report_type, self.payload.format())?;
+        self.payload.validate_finite()
+    }
+}
+
+fn validate_type_format(
+    report_type: ReportType,
+    format: ElementFormat,
+) -> Result<(), RadarParseError> {
+    let valid = match report_type {
+        ReportType::Cfr => matches!(
+            format,
+            ElementFormat::ComplexI16 | ElementFormat::ComplexF32
+        ),
+        ReportType::RangeNear | ReportType::RangeFar => {
+            matches!(format, ElementFormat::PowerU16 | ElementFormat::PowerF32)
+        }
+        ReportType::Interference | ReportType::Capabilities => format == ElementFormat::Bytes,
+    };
+    if valid {
+        Ok(())
+    } else {
+        Err(RadarParseError::InvalidTypeFormat {
+            report_type,
+            format,
+        })
+    }
+}
+
+fn decode_payload(format: ElementFormat, bytes: &[u8]) -> Result<RadarPayload, RadarParseError> {
+    let payload = match format {
+        ElementFormat::Bytes => RadarPayload::Bytes(bytes.to_vec()),
+        ElementFormat::ComplexI16 => RadarPayload::ComplexI16(
+            bytes
+                .chunks_exact(4)
+                .map(|c| [read_i16(c, 0), read_i16(c, 2)])
+                .collect(),
+        ),
+        ElementFormat::ComplexF32 => RadarPayload::ComplexF32(
+            bytes
+                .chunks_exact(8)
+                .map(|c| [read_f32(c, 0), read_f32(c, 4)])
+                .collect(),
+        ),
+        ElementFormat::PowerU16 => {
+            RadarPayload::PowerU16(bytes.chunks_exact(2).map(|c| read_u16(c, 0)).collect())
+        }
+        ElementFormat::PowerF32 => {
+            RadarPayload::PowerF32(bytes.chunks_exact(4).map(|c| read_f32(c, 0)).collect())
+        }
+    };
+    payload.validate_finite()?;
+    Ok(payload)
+}
+
+fn read_u16(buf: &[u8], offset: usize) -> u16 {
+    u16::from_le_bytes([buf[offset], buf[offset + 1]])
+}
+fn read_i16(buf: &[u8], offset: usize) -> i16 {
+    i16::from_le_bytes([buf[offset], buf[offset + 1]])
+}
+fn read_u32(buf: &[u8], offset: usize) -> u32 {
+    u32::from_le_bytes(buf[offset..offset + 4].try_into().unwrap())
+}
+fn read_u64(buf: &[u8], offset: usize) -> u64 {
+    u64::from_le_bytes(buf[offset..offset + 8].try_into().unwrap())
+}
+fn read_f32(buf: &[u8], offset: usize) -> f32 {
+    f32::from_le_bytes(buf[offset..offset + 4].try_into().unwrap())
+}
+
+#[derive(Debug, Error, PartialEq)]
+pub enum RadarParseError {
+    #[error("insufficient data: need {needed} bytes, got {got}")]
+    InsufficientData { needed: usize, got: usize },
+    #[error("invalid RTL8720F radar magic {0:#010x}")]
+    InvalidMagic(u32),
+    #[error("unsupported RTL8720F radar protocol version {0}")]
+    UnsupportedVersion(u8),
+    #[error("unknown radar report type {0}")]
+    UnknownReportType(u8),
+    #[error("unknown radar element format {0}")]
+    UnknownElementFormat(u8),
+    #[error("invalid header length {0}")]
+    InvalidHeaderLength(usize),
+    #[error("invalid frame length {0}")]
+    InvalidFrameLength(usize),
+    #[error("frame is too large: {0} bytes")]
+    FrameTooLarge(usize),
+    #[error("element count exceeds limit: {0}")]
+    TooManyElements(usize),
+    #[error("length arithmetic overflow")]
+    LengthOverflow,
+    #[error("payload/frame length mismatch: expected {expected}, got {got}")]
+    PayloadLengthMismatch { expected: usize, got: usize },
+    #[error("CRC mismatch: encoded {expected:#010x}, computed {actual:#010x}")]
+    CrcMismatch { expected: u32, actual: u32 },
+    #[error("non-finite floating-point value")]
+    NonFiniteValue,
+    #[error("invalid bandwidth {0} MHz")]
+    InvalidBandwidth(u16),
+    #[error("invalid antenna count {0}")]
+    InvalidAntennaCount(u8),
+    #[error("report {report_type:?} cannot use element format {format:?}")]
+    InvalidTypeFormat {
+        report_type: ReportType,
+        format: ElementFormat,
+    },
+}
+
+#[cfg(test)]
+mod tests {
+    use super::simulator::{Rtl8720fSimulator, SimulatorConfig};
+    use super::*;
+
+    fn cfr_frame() -> RadarFrame {
+        RadarFrame {
+            report_type: ReportType::Cfr,
+            sequence: 42,
+            timestamp_us: 123_456,
+            device_id: 0x1122_3344_5566_7788,
+            center_freq_khz: 2_442_000,
+            bandwidth_mhz: 40,
+            flags: RadarFlags(RadarFlags::CALIBRATED | RadarFlags::TIME_SYNCHRONIZED),
+            antenna_count: 1,
+            scale: 1.0 / 4096.0,
+            bin_spacing: 312_500.0,
+            calibration_id: 0xAABB_CCDD,
+            payload: RadarPayload::ComplexI16(vec![[12, -7], [2048, -2048], [0, 1]]),
+        }
+    }
+
+    #[test]
+    fn cfr_round_trip_and_stream_consumption() {
+        let frame = cfr_frame();
+        let mut wire = frame.to_bytes().unwrap();
+        let encoded_len = wire.len();
+        wire.extend_from_slice(&[9, 8, 7]);
+        let (decoded, consumed) = RadarFrame::from_bytes(&wire).unwrap();
+        assert_eq!(decoded, frame);
+        assert_eq!(consumed, encoded_len);
+    }
+
+    #[test]
+    fn every_report_family_round_trips() {
+        let payloads = [
+            (
+                ReportType::RangeNear,
+                RadarPayload::PowerU16(vec![1, 2, u16::MAX]),
+            ),
+            (
+                ReportType::RangeFar,
+                RadarPayload::PowerF32(vec![0.0, 1.5, 9.25]),
+            ),
+            (
+                ReportType::Interference,
+                RadarPayload::Bytes(vec![1, 2, 0x34, 0x12]),
+            ),
+            (
+                ReportType::Capabilities,
+                RadarPayload::Bytes(vec![2, 1, 40]),
+            ),
+        ];
+        for (report_type, payload) in payloads {
+            let mut frame = cfr_frame();
+            frame.report_type = report_type;
+            frame.payload = payload;
+            let (decoded, _) = RadarFrame::from_bytes(&frame.to_bytes().unwrap()).unwrap();
+            assert_eq!(decoded, frame);
+        }
+    }
+
+    #[test]
+    fn single_bit_corruption_is_detected() {
+        let mut wire = cfr_frame().to_bytes().unwrap();
+        wire[RTL8720F_RADAR_HEADER_LEN + 1] ^= 0x01;
+        assert!(matches!(
+            RadarFrame::from_bytes(&wire),
+            Err(RadarParseError::CrcMismatch { .. })
+        ));
+    }
+
+    #[test]
+    fn truncation_is_reported_without_panicking() {
+        let wire = cfr_frame().to_bytes().unwrap();
+        for end in 0..wire.len() {
+            assert!(RadarFrame::from_bytes(&wire[..end]).is_err());
+        }
+    }
+
+    #[test]
+    fn count_length_mismatch_fails_before_payload_decode() {
+        let mut wire = cfr_frame().to_bytes().unwrap();
+        wire[40..42].copy_from_slice(&100u16.to_le_bytes());
+        let crc_offset = wire.len() - RTL8720F_RADAR_CRC_LEN;
+        let crc = crc32_ieee(&wire[..crc_offset]);
+        wire[crc_offset..].copy_from_slice(&crc.to_le_bytes());
+        assert!(matches!(
+            RadarFrame::from_bytes(&wire),
+            Err(RadarParseError::PayloadLengthMismatch { .. })
+        ));
+    }
+
+    #[test]
+    fn invalid_semantic_combinations_are_rejected() {
+        let mut frame = cfr_frame();
+        frame.payload = RadarPayload::PowerU16(vec![1]);
+        assert!(matches!(
+            frame.to_bytes(),
+            Err(RadarParseError::InvalidTypeFormat { .. })
+        ));
+        frame.report_type = ReportType::RangeNear;
+        frame.bandwidth_mhz = 80;
+        assert_eq!(
+            frame.to_bytes().unwrap_err(),
+            RadarParseError::InvalidBandwidth(80)
+        );
+    }
+
+    #[test]
+    fn non_finite_values_are_rejected() {
+        let mut frame = cfr_frame();
+        frame.scale = f32::NAN;
+        assert_eq!(
+            frame.to_bytes().unwrap_err(),
+            RadarParseError::NonFiniteValue
+        );
+        frame.scale = 1.0;
+        frame.payload = RadarPayload::ComplexF32(vec![[f32::INFINITY, 0.0]]);
+        assert_eq!(
+            frame.to_bytes().unwrap_err(),
+            RadarParseError::NonFiniteValue
+        );
+    }
+
+    #[test]
+    fn arbitrary_short_inputs_never_panic() {
+        let mut state = 0x1234_5678u32;
+        for len in 0..256usize {
+            let mut bytes = vec![0u8; len];
+            for byte in &mut bytes {
+                state = state.wrapping_mul(1_664_525).wrapping_add(1_013_904_223);
+                *byte = (state >> 24) as u8;
+            }
+            let result = std::panic::catch_unwind(|| RadarFrame::from_bytes(&bytes));
+            assert!(result.is_ok(), "parser panicked for {len} bytes");
+        }
+    }
+
+    #[test]
+    fn simulator_is_deterministic_and_uses_real_wire_boundary() {
+        let mut a = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
+        let mut b = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
+        for _ in 0..12 {
+            let a_wire = a.next_wire(ReportType::Cfr).unwrap();
+            let b_wire = b.next_wire(ReportType::Cfr).unwrap();
+            assert_eq!(a_wire, b_wire);
+            let (decoded, consumed) = RadarFrame::from_bytes(&a_wire).unwrap();
+            assert_eq!(consumed, a_wire.len());
+            assert!(decoded.flags.contains(RadarFlags::SYNTHETIC));
+        }
+    }
+
+    #[test]
+    fn simulator_range_peak_tracks_ground_truth() {
+        let mut sim = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
+        let frame = sim.next_frame(ReportType::RangeFar);
+        let RadarPayload::PowerF32(power) = frame.payload else {
+            panic!("expected power bins")
+        };
+        let peak = power
+            .iter()
+            .enumerate()
+            .max_by(|a, b| a.1.total_cmp(b.1))
+            .unwrap()
+            .0;
+        let observed_m = peak as f32 * frame.bin_spacing;
+        assert!((observed_m - sim.target_distance_m()).abs() <= frame.bin_spacing);
+    }
+
+    #[test]
+    fn simulator_capabilities_are_explicitly_synthetic() {
+        let sim = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
+        let frame = sim.capabilities_frame();
+        assert_eq!(frame.report_type, ReportType::Capabilities);
+        assert!(frame.flags.contains(RadarFlags::SYNTHETIC));
+        let wire = frame.to_bytes().unwrap();
+        assert_eq!(RadarFrame::from_bytes(&wire).unwrap().0, frame);
+    }
+}

v2/crates/wifi-densepose-sensing-server/src/field_bridge.rs

@@ -7,12 +7,22 @@
 //! score-based heuristic in `score_to_person_count`.
 
 use std::collections::VecDeque;
+use std::sync::LazyLock;
+use wifi_densepose_signal::hardware_norm::HardwareNormalizer;
 use wifi_densepose_signal::ruvsense::field_model::{
     CalibrationStatus, FieldModel, FieldModelConfig,
 };
 
 use super::score_to_person_count;
 
+/// Length-only canonicalizer for calibration frames (issue #1170 pattern,
+/// shared with `multistatic_bridge`). Raw ESP32 amplitudes arrive at the
+/// hardware's native width (HT20 ≈ 64, HT40 ≈ 128/192); the FieldModel is
+/// configured for the canonical 56-tone grid, and `feed_calibration` rejects
+/// any other width with `DimensionMismatch`. Resampling here (default 56)
+/// lets real HT40 nodes actually calibrate instead of silently feeding nothing.
+static CALIB_NORMALIZER: LazyLock<HardwareNormalizer> = LazyLock::new(HardwareNormalizer::new);
+
 /// Number of recent frames to feed into perturbation extraction.
 const OCCUPANCY_WINDOW: usize = 50;
 
@@ -99,15 +109,27 @@ pub fn occupancy_or_fallback(
 
 /// Feed the latest frame to the FieldModel during calibration collection.
 ///
-/// Only acts when the model status is `Collecting`. Wraps the latest frame
-/// as a single-link observation (n_links=1) and feeds it.
+/// Acts while the model is `Uncalibrated` or `Collecting`. The first fed frame
+/// flips a freshly-started (`Uncalibrated`) model to `Collecting` inside
+/// `feed_calibration`; without accepting the `Uncalibrated` state here the two
+/// gates deadlock and the frame count never leaves 0 (calibration/start yields
+/// an `Uncalibrated` model that nothing would ever advance). Wraps the latest
+/// frame as a single-link observation (n_links=1) and feeds it.
 pub fn maybe_feed_calibration(field: &mut FieldModel, frame_history: &VecDeque<Vec<f64>>) {
-    if field.status() != CalibrationStatus::Collecting {
+    if !matches!(
+        field.status(),
+        CalibrationStatus::Uncalibrated | CalibrationStatus::Collecting
+    ) {
         return;
     }
     if let Some(latest) = frame_history.back() {
-        // Single-link observation: [1][n_subcarriers]
-        let observations = vec![latest.clone()];
+        // Resample the raw amplitude vector onto the FieldModel's canonical
+        // 56-tone grid before feeding. Real HT40 nodes stream 128-wide frames;
+        // feeding those raw made every `feed_calibration` fail DimensionMismatch
+        // (swallowed at debug level), pinning frame_count at 0 even after the
+        // status-gate deadlock was fixed. Single-link observation: [1][56].
+        let canonical = CALIB_NORMALIZER.resample_to_canonical(latest);
+        let observations = vec![canonical];
         if let Err(e) = field.feed_calibration(&observations) {
             tracing::debug!("FieldModel calibration feed: {e}");
         }
@@ -180,4 +202,65 @@ mod tests {
         assert_eq!(positions.len(), 1);
         assert_eq!(positions[0], [3.0, 4.0, 5.0]);
     }
+
+    /// Regression: a freshly-started (`Uncalibrated`) field model must begin
+    /// collecting once frames arrive. Before the fix, `maybe_feed_calibration`
+    /// only fed while already `Collecting`, but only `feed_calibration` sets
+    /// `Collecting` — so the first frame was never fed and the count stayed 0.
+    #[test]
+    fn maybe_feed_calibration_advances_uncalibrated_to_collecting() {
+        let mut field = FieldModel::new(single_link_config()).expect("field model");
+        assert_eq!(field.status(), CalibrationStatus::Uncalibrated);
+        assert_eq!(field.calibration_frame_count(), 0);
+
+        // n_subcarriers defaults to 56; one single-link frame of that width.
+        let frame = vec![0.5_f64; 56];
+        let mut history: VecDeque<Vec<f64>> = VecDeque::new();
+        history.push_back(frame);
+
+        maybe_feed_calibration(&mut field, &history);
+
+        assert_eq!(
+            field.status(),
+            CalibrationStatus::Collecting,
+            "first frame must flip Uncalibrated -> Collecting"
+        );
+        assert_eq!(
+            field.calibration_frame_count(),
+            1,
+            "frame count must advance past 0"
+        );
+
+        // Subsequent frames keep accumulating while Collecting.
+        maybe_feed_calibration(&mut field, &history);
+        assert_eq!(field.calibration_frame_count(), 2);
+    }
+
+    /// Regression (#1170 pattern): a real HT40 node streams 128-wide amplitude
+    /// frames, but the FieldModel is a 56-tone grid. Before canonicalization,
+    /// `feed_calibration` rejected every frame with DimensionMismatch (swallowed
+    /// at debug), so frame_count stayed 0 even with the deadlock fixed. The feed
+    /// must resample 128 → 56 and actually accumulate.
+    #[test]
+    fn maybe_feed_calibration_resamples_wide_frames_and_accumulates() {
+        let mut field = FieldModel::new(single_link_config()).expect("field model");
+
+        // 128-wide frame (HT40), NOT the model's 56 — would DimensionMismatch raw.
+        let wide = vec![0.5_f64; 128];
+        let mut history: VecDeque<Vec<f64>> = VecDeque::new();
+        history.push_back(wide);
+
+        maybe_feed_calibration(&mut field, &history);
+
+        assert_eq!(
+            field.status(),
+            CalibrationStatus::Collecting,
+            "128-wide frame must resample to 56 and be accepted"
+        );
+        assert_eq!(
+            field.calibration_frame_count(),
+            1,
+            "wide frame must accumulate, not be silently dropped"
+        );
+    }
 }

v2/crates/wifi-densepose-sensing-server/src/main.rs

@@ -17,6 +17,7 @@ mod field_bridge;
 mod field_localize;
 mod model_format;
 mod multistatic_bridge;
+mod realtek_radar;
 pub mod pose;
 mod rvf_container;
 mod rvf_pipeline;
@@ -1028,6 +1029,10 @@ struct AppStateInner {
     source: String,
     /// Instant of the last ESP32 UDP frame received (for offline detection).
     last_esp32_frame: Option<std::time::Instant>,
+    /// Latest validated RTL8720F summary; raw radar samples are not retained here.
+    latest_realtek_radar: Option<realtek_radar::RealtekRadarSnapshot>,
+    /// Instant of the last validated RTL8720F UDP frame.
+    last_realtek_frame: Option<std::time::Instant>,
     tx: broadcast::Sender<String>,
     // ADR-099 D2/D3/D4: real-time CSI introspection tap. Per-frame state +
     // a parallel broadcast topic (`/ws/introspection`) running alongside
@@ -1199,6 +1204,13 @@ impl AppStateInner {
                 }
             }
         }
+        if self.source.starts_with("realtek") {
+            if let Some(last) = self.last_realtek_frame {
+                if last.elapsed() > ESP32_OFFLINE_TIMEOUT {
+                    return format!("{}:offline", self.source);
+                }
+            }
+        }
         self.source.clone()
     }
 }
@@ -3351,6 +3363,14 @@ async fn latest(State(state): State<SharedState>) -> Json<serde_json::Value> {
     }
 }
 
+async fn latest_realtek_radar(State(state): State<SharedState>) -> Json<serde_json::Value> {
+    let s = state.read().await;
+    match &s.latest_realtek_radar {
+        Some(snapshot) => Json(serde_json::to_value(snapshot).unwrap_or_default()),
+        None => Json(serde_json::json!({"status": "no Realtek radar data yet"})),
+    }
+}
+
 /// Generate WiFi-derived pose keypoints from sensing data.
 ///
 /// Keypoint positions are modulated by real signal features rather than a pure
@@ -4991,6 +5011,20 @@ async fn calibration_start(State(state): State<SharedState>) -> Json<serde_json:
 async fn calibration_stop(State(state): State<SharedState>) -> Json<serde_json::Value> {
     let mut s = state.write().await;
     if let Some(ref mut fm) = s.field_model {
+        // Guard: finalizing before enough empty-room frames have accumulated
+        // is a client-side sequencing error, not a server fault. Return a
+        // clear, structured message (with progress) instead of a 500 so the
+        // caller knows to keep the room empty and poll /calibration/status.
+        let have = fm.calibration_frame_count();
+        let need = fm.min_calibration_frames() as u64;
+        if have < need {
+            return Json(serde_json::json!({
+                "success": false,
+                "error": "Not enough calibration frames yet — keep the room empty and poll /calibration/status until frame_count reaches the target.",
+                "frame_count": have,
+                "frames_needed": need,
+            }));
+        }
         let ts = chrono::Utc::now().timestamp_micros() as u64;
         match fm.finalize_calibration(ts, 0) {
             Ok(modes) => {
@@ -5030,6 +5064,18 @@ async fn calibration_status(State(state): State<SharedState>) -> Json<serde_json
     }
 }
 
+/// Compatibility surface used by the bundled dashboard. Activity history is
+/// not persisted by the Rust server yet, so return an honest empty collection
+/// instead of advertising the endpoint and responding with 404.
+async fn pose_activities() -> Json<serde_json::Value> {
+    Json(serde_json::json!({
+        "activities": [],
+        "total": 0,
+        "persisted": false,
+        "message": "Activity history is not persisted by the Rust sensing server.",
+    }))
+}
+
 /// Generate a simple timestamp string (epoch seconds) for recording IDs.
 fn chrono_timestamp() -> u64 {
     std::time::SystemTime::now()
@@ -5419,7 +5465,7 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
     let addr = format!("0.0.0.0:{udp_port}");
     let socket = match UdpSocket::bind(&addr).await {
         Ok(s) => {
-            info!("UDP listening on {addr} for ESP32 CSI frames");
+            info!("UDP listening on {addr} for ESP32 CSI and RTL8720F radar frames");
             s
         }
         Err(e) => {
@@ -5428,10 +5474,32 @@ async fn udp_receiver_task(state: SharedState, udp_port: u16) {
         }
     };
 
-    let mut buf = [0u8; 2048];
+    let mut buf = vec![0u8; wifi_densepose_hardware::rtl8720f::RTL8720F_RADAR_MAX_FRAME_LEN];
     loop {
         match socket.recv_from(&mut buf).await {
             Ok((len, src)) => {
+                if len >= 4
+                    && u32::from_le_bytes(buf[..4].try_into().expect("four-byte slice"))
+                        == wifi_densepose_hardware::rtl8720f::RTL8720F_RADAR_MAGIC
+                {
+                    match wifi_densepose_hardware::rtl8720f::RadarFrame::from_bytes(&buf[..len]) {
+                        Ok((frame, consumed)) if consumed == len => {
+                            let snapshot = realtek_radar::RealtekRadarSnapshot::from_frame(&frame);
+                            debug!("RTL8720F radar from {src}: type={} seq={} elements={}", snapshot.report_type, snapshot.sequence, snapshot.element_count);
+                            let json = serde_json::to_string(&snapshot).ok();
+                            let mut s = state.write().await;
+                            s.source = snapshot.source.to_string();
+                            s.last_realtek_frame = Some(std::time::Instant::now());
+                            s.latest_realtek_radar = Some(snapshot);
+                            if let Some(json) = json {
+                                let _ = s.tx.send(json);
+                            }
+                        }
+                        Ok((_, consumed)) => warn!("RTL8720F radar datagram from {src} has trailing bytes: consumed={consumed} received={len}"),
+                        Err(error) => warn!("Rejected RTL8720F radar datagram from {src}: {error}"),
+                    }
+                    continue;
+                }
                 // ADR-039: Try edge vitals packet first (magic 0xC511_0002).
                 if let Some(vitals) = parse_esp32_vitals(&buf[..len]) {
                     debug!(
@@ -7526,6 +7594,8 @@ async fn main() {
         tick: 0,
         source: source.into(),
         last_esp32_frame: None,
+        latest_realtek_radar: None,
+        last_realtek_frame: None,
         tx,
         intro: wifi_densepose_sensing_server::introspection::IntrospectionState::new(),
         intro_tx,
@@ -7742,6 +7812,7 @@ async fn main() {
         .route("/api/v1/metrics", get(health_metrics))
         // Sensing endpoints
         .route("/api/v1/sensing/latest", get(latest))
+        .route("/api/v1/radar/latest", get(latest_realtek_radar))
         // Per-node health endpoint
         .route("/api/v1/nodes", get(nodes_endpoint))
         // ADR-110 iter 29 — per-node mesh sync state for HTTP clients.
@@ -7768,6 +7839,13 @@ async fn main() {
         .route("/api/v1/pose/current", get(pose_current))
         .route("/api/v1/pose/stats", get(pose_stats))
         .route("/api/v1/pose/zones/summary", get(pose_zones_summary))
+        .route("/api/v1/pose/activities", get(pose_activities))
+        // Dashboard-compatible aliases for the field-model calibration API.
+        .route("/api/v1/pose/calibrate", post(calibration_start))
+        .route(
+            "/api/v1/pose/calibration/status",
+            get(calibration_status),
+        )
         // Stream endpoints
         .route("/api/v1/stream/status", get(stream_status))
         .route("/api/v1/stream/pose", get(ws_pose_handler))

v2/crates/wifi-densepose-sensing-server/src/realtek_radar.rs

@@ -0,0 +1,137 @@
+//! Bounded, privacy-conscious summaries of RTL8720F radar transport frames.
+
+use serde::Serialize;
+use wifi_densepose_hardware::rtl8720f::{RadarFlags, RadarFrame, RadarPayload, ReportType};
+
+#[derive(Debug, Clone, PartialEq, Serialize)]
+pub(crate) struct RealtekRadarSnapshot {
+    pub event_type: &'static str,
+    pub source: &'static str,
+    pub report_type: &'static str,
+    pub sequence: u32,
+    pub timestamp_us: u64,
+    pub device_id: String,
+    pub center_freq_khz: u32,
+    pub bandwidth_mhz: u16,
+    pub antenna_count: u8,
+    pub element_count: usize,
+    pub calibrated: bool,
+    pub synthetic: bool,
+    pub interference_detected: bool,
+    pub saturated: bool,
+    pub time_synchronized: bool,
+    pub calibration_id: u32,
+    pub bin_spacing: f32,
+    pub peak_range_m: Option<f32>,
+    pub peak_power: Option<f32>,
+    pub mean_cfr_amplitude: Option<f32>,
+}
+
+impl RealtekRadarSnapshot {
+    pub(crate) fn from_frame(frame: &RadarFrame) -> Self {
+        let synthetic = frame.flags.contains(RadarFlags::SYNTHETIC);
+        let (peak_range_m, peak_power) = range_peak(frame);
+        Self {
+            event_type: "realtek_radar",
+            source: if synthetic {
+                "realtek:simulated"
+            } else {
+                "realtek"
+            },
+            report_type: report_type_name(frame.report_type),
+            sequence: frame.sequence,
+            timestamp_us: frame.timestamp_us,
+            device_id: format!("{:016x}", frame.device_id),
+            center_freq_khz: frame.center_freq_khz,
+            bandwidth_mhz: frame.bandwidth_mhz,
+            antenna_count: frame.antenna_count,
+            element_count: frame.payload.len(),
+            calibrated: frame.flags.contains(RadarFlags::CALIBRATED),
+            synthetic,
+            interference_detected: frame.flags.contains(RadarFlags::INTERFERENCE_DETECTED),
+            saturated: frame.flags.contains(RadarFlags::SATURATED),
+            time_synchronized: frame.flags.contains(RadarFlags::TIME_SYNCHRONIZED),
+            calibration_id: frame.calibration_id,
+            bin_spacing: frame.bin_spacing,
+            peak_range_m,
+            peak_power,
+            mean_cfr_amplitude: mean_cfr_amplitude(frame),
+        }
+    }
+}
+
+fn report_type_name(report_type: ReportType) -> &'static str {
+    match report_type {
+        ReportType::Cfr => "cfr",
+        ReportType::RangeNear => "range_near",
+        ReportType::RangeFar => "range_far",
+        ReportType::Interference => "interference",
+        ReportType::Capabilities => "capabilities",
+    }
+}
+
+fn range_peak(frame: &RadarFrame) -> (Option<f32>, Option<f32>) {
+    let max = match &frame.payload {
+        RadarPayload::PowerU16(values) => values
+            .iter()
+            .enumerate()
+            .max_by_key(|(_, value)| *value)
+            .map(|(index, value)| (index, *value as f32 * frame.scale)),
+        RadarPayload::PowerF32(values) => values
+            .iter()
+            .enumerate()
+            .max_by(|(_, a), (_, b)| a.total_cmp(b))
+            .map(|(index, value)| (index, *value * frame.scale)),
+        _ => None,
+    };
+    max.map_or((None, None), |(index, power)| {
+        (Some(index as f32 * frame.bin_spacing), Some(power))
+    })
+}
+
+fn mean_cfr_amplitude(frame: &RadarFrame) -> Option<f32> {
+    let (sum, count) = match &frame.payload {
+        RadarPayload::ComplexI16(values) => (
+            values
+                .iter()
+                .map(|[i, q]| ((*i as f32).hypot(*q as f32)) * frame.scale)
+                .sum::<f32>(),
+            values.len(),
+        ),
+        RadarPayload::ComplexF32(values) => (
+            values
+                .iter()
+                .map(|[i, q]| i.hypot(*q) * frame.scale)
+                .sum::<f32>(),
+            values.len(),
+        ),
+        _ => return None,
+    };
+    (count != 0).then_some(sum / count as f32)
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use wifi_densepose_hardware::rtl8720f::simulator::{Rtl8720fSimulator, SimulatorConfig};
+
+    #[test]
+    fn synthetic_range_summary_has_peak_and_provenance() {
+        let mut simulator = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
+        let snapshot =
+            RealtekRadarSnapshot::from_frame(&simulator.next_frame(ReportType::RangeNear));
+        assert_eq!(snapshot.source, "realtek:simulated");
+        assert!(snapshot.synthetic);
+        assert!(snapshot.peak_range_m.is_some());
+        assert!(snapshot.peak_power.unwrap() > 0.0);
+        assert_eq!(snapshot.mean_cfr_amplitude, None);
+    }
+
+    #[test]
+    fn synthetic_cfr_summary_exposes_only_aggregate_amplitude() {
+        let mut simulator = Rtl8720fSimulator::new(SimulatorConfig::default()).unwrap();
+        let snapshot = RealtekRadarSnapshot::from_frame(&simulator.next_frame(ReportType::Cfr));
+        assert!(snapshot.mean_cfr_amplitude.unwrap() > 0.0);
+        assert_eq!(snapshot.peak_power, None);
+    }
+}

v2/crates/wifi-densepose-signal/src/ruvsense/field_model.rs

@@ -449,6 +449,11 @@ impl FieldModel {
             .map_or(0, |ls| ls.observation_count())
     }
 
+    /// Minimum frames required before `finalize_calibration` will succeed.
+    pub fn min_calibration_frames(&self) -> usize {
+        self.config.min_calibration_frames
+    }
+
     /// Feed a calibration frame (one CSI observation per link during empty room).
     ///
     /// `observations` is `[n_links][n_subcarriers]` amplitude data.