fix(firmware): address PR #397 review feedback

Applies @ruvnet's five review requests on PR #397 (RuView#397 comment 4289417527): 1. **Inline comment on `provision.py` `write_flash`** — ESP-IDF v5.4 bundles esptool 4.10.0 (underscore-only). #391's hyphen swap broke the documented venv flow; kept the underscore form and added a three-line comment warning future maintainers not to "re-fix" it. 2. **Correct `edge_processing.c` sample_rate** (blocking) — changed hard-coded `20.0f` → `10.0f` at line 718 so `estimate_bpm_zero_crossing()` matches the MGMT-only CSI rate. Without this, breathing and heart-rate reports were 2× the true value. Added a comment tying the constant to the callback rate gate. 3. **Removed disabled probe-injection infrastructure** — dropped the forward declaration, the `CSI_PROBE_INTERVAL_MS` define, six static variables (`s_probe_timer`, `s_probe_tx_count`, `s_probe_tx_fail`, `s_ap_bssid`, `s_ap_bssid_known`), and three functions (`csi_send_probe_request`, `probe_timer_cb`, `csi_collector_start_probe_timer`). None were reachable. `csi_inject_ndp_frame()` reverted to the original ADR-029 stub. Can be revived from this commit's parent if needed. 4. **Cleaned `sdkconfig.defaults`** — removed the SPIRAM prose and commented-out `# CONFIG_SPIRAM is not set` line. Kept only the live `CONFIG_ESP_WIFI_EXTRA_IRAM_OPT=y` with a concise rationale. 5. **Bumped firmware version 0.6.1 → 0.6.2** and added four `[Unreleased]` CHANGELOG entries covering the SPI cache crash fix, the `filter_mac` / `node_id` clobber defense, the sample-rate correction, and the `write_flash` command-form revert. Net: +39 / -128 across six files. Validation in this devcontainer: - Static sanity on modified C files: braces balance (csi_collector.c 59/59; edge_processing.c 96/96), zero dangling references to removed probe-injection symbols. - Rust workspace tests and Python proof not executed here — cargo not installed and pip blocked by PEP 668. Deferring hardware build + flash + miniterm verification to @ruvnet's COM7 per his offer in the review comment. Co-Authored-By: claude-flow <ruv@ruv.net>
fix(firmware): 50 Hz callback rate gate + sdkconfig extra IRAM opt
2026-06-22 12:23:18 +00:00 · 2026-04-28 08:41:00 -04:00 · 2026-04-28 08:41:00 -04:00 · 2026-04-28 08:39:51 -04:00 · 2026-04-28 08:39:51 -04:00 · 2026-04-28 08:39:50 -04:00
18 changed files with 1952 additions and 2895 deletions
@@ -1,58 +0,0 @@
-version: 2
-updates:
-  # Keep all third-party GitHub Actions on verified, pinned commit SHAs.
-  # Pairs with the SHA pinning in security-scan.yml and ci.yml so that
-  # future bumps stay automated and reviewable rather than drifting back
-  # to mutable @master / @main refs. See issue #442.
-  - package-ecosystem: github-actions
-    directory: /
-    schedule:
-      interval: weekly
-    open-pull-requests-limit: 5
-    labels:
-      - dependencies
-      - github-actions
-
-  # Mobile app npm deps. Includes the @xmldom/xmldom, node-forge, and
-  # picomatch advisories from #442 plus axios and any future surface.
-  - package-ecosystem: npm
-    directory: /ui/mobile
-    schedule:
-      interval: weekly
-    open-pull-requests-limit: 10
-    labels:
-      - dependencies
-      - mobile
-
-  # Desktop UI npm deps. Direct vite devDep currently has a HIGH advisory
-  # (dev-server-only path traversal); track future bumps automatically.
-  - package-ecosystem: npm
-    directory: /v2/crates/wifi-densepose-desktop/ui
-    schedule:
-      interval: weekly
-    open-pull-requests-limit: 5
-    labels:
-      - dependencies
-      - desktop
-
-  # Python deps used by v1/ and the FastAPI service. requirements.txt is
-  # only loosely pinned; let Dependabot surface upstream CVE bumps.
-  - package-ecosystem: pip
-    directory: /
-    schedule:
-      interval: weekly
-    open-pull-requests-limit: 10
-    labels:
-      - dependencies
-      - python
-
-  # Rust workspace (15+ crates). cargo audit is not currently wired into
-  # any workflow, so Dependabot is the primary automated bump path.
-  - package-ecosystem: cargo
-    directory: /v2
-    schedule:
-      interval: weekly
-    open-pull-requests-limit: 10
-    labels:
-      - dependencies
-      - rust
@@ -18,11 +18,6 @@ jobs:
  code-quality:
    name: Code Quality & Security
    runs-on: ubuntu-latest
-    # Skip when there's no Python source at the root `src/` to lint. The
-    # active codebase is the Rust workspace under `v2/`; legacy Python
-    # lives at `archive/v1/src/` and is not part of CI gating. If `src/`
-    # is reintroduced this job will run automatically.
-    if: hashFiles('src/**/*.py') != ''
    steps:
    - name: Checkout code
      uses: actions/checkout@v4
@@ -75,16 +70,6 @@ jobs:
    - name: Checkout code
      uses: actions/checkout@v4

-    - name: Install system dependencies
-      # glib-sys (transitive via gstreamer/gtk crates in the workspace)
-      # needs glib-2.0 + pkg-config at build time. Without these the
-      # workspace build fails: "failed to run custom build command for
-      # `glib-sys vN.M.K`".
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y --no-install-recommends \
-          pkg-config libglib2.0-dev
-
    - name: Install Rust toolchain
      uses: dtolnay/rust-toolchain@stable

@@ -107,10 +92,6 @@ jobs:
  test:
    name: Tests
    runs-on: ubuntu-latest
-    # Skip when there's no Python test suite under `tests/unit/` /
-    # `tests/integration/` to run. The legacy Python tests have been
-    # archived under `archive/v1/tests/` and are not part of CI gating.
-    if: hashFiles('tests/unit/**/*.py') != '' || hashFiles('tests/integration/**/*.py') != ''
    strategy:
      matrix:
        python-version: ['3.10', '3.11', '3.12']
@@ -274,7 +255,7 @@ jobs:
        docker stop test-container

    - name: Run container security scan
-      uses: aquasecurity/trivy-action@ed142fd0673e97e23eac54620cfb913e5ce36c25 # v0.36.0
+      uses: aquasecurity/trivy-action@master
      with:
        image-ref: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:${{ github.sha }}
        format: 'sarif'
@@ -1,74 +0,0 @@
-name: Point Cloud Viewer → GitHub Pages
-
-# Publishes the live 3D point cloud viewer to gh-pages/pointcloud/.
-# The viewer defaults to a synthetic in-browser demo; users can append
-# ?backend=<url> or ?backend=auto to point it at a real ruview-pointcloud
-# server (CORS-permitting host required). See ADR-094.
-#
-# Uses keep_files: true to preserve the existing observatory/, pose-fusion/,
-# nvsim/, and root index.html demos already on gh-pages.
-
-on:
-  push:
-    branches: [main]
-    paths:
-      - 'v2/crates/wifi-densepose-pointcloud/src/viewer.html'
-      - '.github/workflows/pointcloud-pages.yml'
-  workflow_dispatch:
-
-permissions:
-  contents: write
-
-concurrency:
-  group: pointcloud-pages
-  cancel-in-progress: true
-
-jobs:
-  build-and-deploy:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout main
-        uses: actions/checkout@v4
-
-      - name: Stage viewer for Pages
-        run: |
-          mkdir -p _site/pointcloud
-          cp v2/crates/wifi-densepose-pointcloud/src/viewer.html _site/pointcloud/index.html
-          # Drop a tiny README so direct browsers of the directory get context.
-          cat > _site/pointcloud/README.md <<'EOF'
-          # RuView — Live 3D Point Cloud Viewer
-
-          Hosted at: https://ruvnet.github.io/RuView/pointcloud/
-
-          ## Modes
-
-          - Default — synthetic in-browser demo (no backend, no network calls).
-          - `?backend=auto` — fetch from `/api/splats` on the same origin
-            (only works when the viewer is served by `ruview-pointcloud serve`).
-          - `?backend=<url>` — fetch from `<url>/api/splats`. The intended
-            local-ESP32 use is `?backend=http://127.0.0.1:9880`: run
-            `ruview-pointcloud serve --bind 127.0.0.1:9880` on the same
-            machine with your ESP32 streaming CSI to UDP port 3333, then
-            visit the URL above. The local server's CorsLayer permits
-            requests from `https://ruvnet.github.io`, and modern browsers
-            permit HTTPS→127.0.0.1 mixed-content as a trustworthy origin.
-            The "📡 Connect ESP32" button in the viewer prompts for this
-            URL and persists it in localStorage.
-          - `?live=1` — require a live backend; show an offline message instead
-            of falling back to the synthetic demo.
-
-          See ADR-094 for the deployment design.
-          EOF
-
-      - name: Deploy to gh-pages/pointcloud/
-        uses: peaceiris/actions-gh-pages@v4
-        with:
-          github_token: ${{ secrets.GITHUB_TOKEN }}
-          publish_dir: ./_site/pointcloud
-          destination_dir: pointcloud
-          # CRITICAL: preserves observatory/, pose-fusion/, nvsim/, and root
-          # index.html already on gh-pages.
-          keep_files: true
-          commit_message: 'deploy(pointcloud): ${{ github.sha }}'
-          user_name: 'github-actions[bot]'
-          user_email: 'github-actions[bot]@users.noreply.github.com'
@@ -18,11 +18,6 @@ jobs:
  sast:
    name: Static Application Security Testing
    runs-on: ubuntu-latest
-    # Skip when there's no Python source at the root `src/` to scan.
-    # The Bandit + Semgrep targets in this job are hard-coded to `src/`;
-    # the active codebase is the Rust workspace under `v2/` (covered by
-    # `cargo audit` in the dependency-scan job below).
-    if: hashFiles('src/**/*.py') != ''
    permissions:
      security-events: write
      actions: read
@@ -116,7 +111,7 @@ jobs:
      continue-on-error: true

    - name: Run Snyk vulnerability scan
-      uses: snyk/actions/python@9adf32b1121593767fc3c057af55b55db032dc04 # v1.0.0
+      uses: snyk/actions/python@master
      env:
        SNYK_TOKEN: ${{ secrets.SNYK_TOKEN }}
      with:
@@ -124,12 +119,8 @@ jobs:
      continue-on-error: true

    - name: Upload Snyk results to GitHub Security
-      # Skip when Snyk had no token / produced no SARIF (e.g. on PRs from
-      # forks without secrets). Without this guard the upload step fails
-      # the whole job whenever the optional Snyk scan was effectively a
-      # no-op.
-      if: ${{ always() && hashFiles('snyk-results.sarif') != '' }}
      uses: github/codeql-action/upload-sarif@v3
+      if: always()
      with:
        sarif_file: snyk-results.sarif
        category: snyk
@@ -142,11 +133,6 @@ jobs:
        path: |
          safety-report.json
          pip-audit-report.json
-        # Both upstream scans use `continue-on-error: true` and may
-        # produce no JSON when their dependencies break or a PR runs
-        # without registry access; treat a missing report as a warning
-        # instead of failing the whole upload step.
-        if-no-files-found: ignore
          snyk-results.sarif

  # Container security scanning
@@ -177,7 +163,7 @@ jobs:
        cache-to: type=gha,mode=max

    - name: Run Trivy vulnerability scanner
-      uses: aquasecurity/trivy-action@ed142fd0673e97e23eac54620cfb913e5ce36c25 # v0.36.0
+      uses: aquasecurity/trivy-action@master
      with:
        image-ref: 'wifi-densepose:scan'
        format: 'sarif'
@@ -235,7 +221,7 @@ jobs:
      uses: actions/checkout@v4

    - name: Run Checkov IaC scan
-      uses: bridgecrewio/checkov-action@99bb2caf247dfd9f03cf984373bc6043d4e32ebf # v12.1347.0
+      uses: bridgecrewio/checkov-action@master
      with:
        directory: .
        framework: kubernetes,dockerfile,terraform,ansible
@@ -252,7 +238,7 @@ jobs:
        category: checkov

    - name: Run Terrascan IaC scan
-      uses: tenable/terrascan-action@3a6e87da8e244513bd77b631e624552643f794c6 # v1.4.1
+      uses: tenable/terrascan-action@main
      with:
        iac_type: 'k8s'
        iac_version: 'v1'
@@ -261,7 +247,7 @@ jobs:
        sarif_upload: true

    - name: Run KICS IaC scan
-      uses: checkmarx/kics-github-action@05aa5eb70eede1355220f4ca5238d96b397e30a6 # v2.1.20
+      uses: checkmarx/kics-github-action@master
      with:
        path: '.'
        output_path: kics-results
@@ -270,11 +256,8 @@ jobs:
        exclude_queries: 'a7ef1e8c-fbf8-4ac1-b8c7-2c3b0e6c6c6c'

    - name: Upload KICS results to GitHub Security
-      # KICS does not always produce a SARIF (e.g. when no IaC files are
-      # present in the repo); guard the upload so a missing file does
-      # not fail the iac-scan job.
-      if: ${{ always() && hashFiles('kics-results/results.sarif') != '' }}
      uses: github/codeql-action/upload-sarif@v3
+      if: always()
      with:
        sarif_file: kics-results/results.sarif
        category: kics
@@ -294,7 +277,7 @@ jobs:
        fetch-depth: 0

    - name: Run TruffleHog secret scan
-      uses: trufflesecurity/trufflehog@17456f8c7d042d8c82c9a8ca9e937231f9f42e26 # v3.95.2
+      uses: trufflesecurity/trufflehog@main
      with:
        path: ./
        base: main
@@ -355,10 +338,7 @@ jobs:

    - name: Check security policy files
      run: |
-        # Check for required security files. Missing policy is reported
-        # as a warning rather than a hard failure so the broader
-        # compliance job stays informational; tracked separately for
-        # follow-up.
+        # Check for required security files
        files=("SECURITY.md" ".github/SECURITY.md" "docs/SECURITY.md")
        found=false
        for file in "${files[@]}"; do
@@ -369,21 +349,14 @@ jobs:
          fi
        done
        if [[ "$found" == false ]]; then
-          echo "::warning::No security policy found. Please create SECURITY.md"
+          echo "❌ No security policy found. Please create SECURITY.md"
+          exit 1
        fi

    - name: Check for security headers in code
      run: |
-        # Check for security-related configurations. Skip cleanly when
-        # `src/` does not exist (Rust-first repo layout); a missing
-        # directory makes `grep -r` exit with status 2, which would
-        # fail the step despite the trailing `||`.
-        if [[ -d src ]]; then
-          grep -r "X-Frame-Options\|X-Content-Type-Options\|X-XSS-Protection\|Content-Security-Policy" src/ \
-            || echo "⚠️ Consider adding security headers"
-        else
-          echo "ℹ️ No src/ directory at repo root — skipping web security headers grep"
-        fi
+        # Check for security-related configurations
+        grep -r "X-Frame-Options\|X-Content-Type-Options\|X-XSS-Protection\|Content-Security-Policy" src/ || echo "⚠️ Consider adding security headers"

    - name: Validate Kubernetes security contexts
      run: |
@@ -1,203 +0,0 @@
-# ADR-094: Live 3D Point Cloud Viewer — GitHub Pages Deployment with Optional Real-Data Stream
-
-| Field | Value |
-|---|---|
-| **Status** | Proposed (2026-04-29) |
-| **Date** | 2026-04-29 |
-| **Authors** | ruv |
-| **Related** | ADR-092 (nvsim dashboard Pages deployment), ADR-059 (live ESP32 CSI pipeline), ADR-079 (camera ground-truth training) |
-| **Branch** | `feat/pointcloud-pages-demo` |
-
---
-
-## 1. Context
-
-The `wifi-densepose-pointcloud` crate ships a Three.js-based viewer
-(`v2/crates/wifi-densepose-pointcloud/src/viewer.html`) that renders the
-fused camera-depth + WiFi CSI + mmWave point cloud produced by the
-`ruview-pointcloud serve` binary. Today the viewer is local-only:
-
- It is served by the Axum binary on `127.0.0.1:9880`.
- It polls `/api/splats` every 500 ms expecting a backend on the same
-  origin.
- There is no GitHub Pages deployment, so the README's
-  "▶ Live 3D Point Cloud" link points at the moved-content section in
-  `docs/readme-details.md`, not at a hosted demo. The two sibling demos
-  (Live Observatory, Dual-Modal Pose Fusion) are already hosted at
-  `https://ruvnet.github.io/RuView/` and `…/pose-fusion.html`.
-
-This is an asymmetry: a first-time visitor can preview the WiFi pose
-demo and the Observatory in one click, but cannot preview the point
-cloud without cloning the repo, building Rust, plugging in an ESP32,
-and pointing a webcam at themselves. That gap suppresses the most
-visually compelling demonstration of the v0.7+ sensor-fusion work.
-
-A naive fix — drop the static HTML at `gh-pages/pointcloud/` — does
-not work because the viewer's `fetch("/api/splats")` will 404 on Pages
-and the canvas will hang at "Loading…". A second naive fix — bake in a
-fixed sample dataset — solves the loading state but loses the live-data
-story entirely, and forks the viewer into a "demo build" and a "real
-build" that drift apart.
-
-## 2. Decision
-
-Ship **one** viewer that auto-selects its transport from URL parameters,
-and publish it to `gh-pages/pointcloud/` alongside the other demos:
-
-1. **Default mode** — when the viewer is opened with no query parameters
-   on `https://ruvnet.github.io/RuView/pointcloud/`, present a "▶ Enable
-   camera" CTA. On click the viewer requests webcam access, runs
-   **MediaPipe Face Mesh** in-browser (~30 fps, 478 refined landmarks),
-   and renders the visitor's own face as a point cloud — the closest
-   browser equivalent of the local pipeline's depth-backprojected face
-   geometry that motivated this ADR (`I could see the outline of my face
-   in points`). The viewer mirrors x to match selfie convention and
-   maps Face Mesh's relative-z to the same world-coordinate range the
-   live `/api/splats` payload uses, so a single render path drives both.
-   Badge reads `● DEMO Your Face (MediaPipe)`. If the user denies
-   camera permission, dismisses the prompt, or visits on a device
-   without a webcam, the viewer falls back automatically to a
-   procedural scaffold (floor grid, walls, breathing figure, 17-keypoint
-   skeleton). All processing is client-side; no frames leave the
-   browser. ~480-500 splats from the face plus ~110 floor/wall context
-   splats.
-2. **Auto mode** (`?backend=auto`) — fetch from `/api/splats` on the same
-   origin. This is the local-development case (`ruview-pointcloud serve`
-   serves the viewer and the API together). On any failure (404, network
-   error, CORS), fall back silently to synthetic-demo rendering so the
-   tab never dies.
-3. **Remote mode** (`?backend=<url>`) — fetch from `<url>/api/splats`.
-   This is the **integrated-ESP32** path: the user runs
-   `ruview-pointcloud serve --bind 127.0.0.1:9880` locally with an
-   ESP32-S3 streaming CSI to UDP port 3333, then opens
-   `https://ruvnet.github.io/RuView/pointcloud/?backend=http://127.0.0.1:9880`.
-   The hosted Pages viewer becomes a thin client for the local Rust
-   fusion pipeline (camera depth + WiFi CSI + mmWave) without a clone
-   or rebuild. The viewer also exposes a "📡 Connect ESP32" button that
-   prompts for the URL, persists it in `localStorage`, and reloads
-   with the query param.
-
-   For this to work the local server must answer the browser's CORS
-   preflight. `stream.rs` therefore installs a `tower_http` `CorsLayer`
-   that allows three origin classes:
-
-   - `https://ruvnet.github.io` — the published Pages demo.
-   - `http://localhost:*` and `http://127.0.0.1:*` — developer running
-     the bundled `viewer.html` directly.
-   - `null` — `file://` origins.
-
-   Mixed-content (HTTPS Pages → HTTP loopback) is permitted because
-   modern browsers (Chrome 94+, Firefox 116+, Safari 16.4+) classify
-   `127.0.0.1` and `localhost` as "potentially trustworthy" origins.
-   Any other origin (a public hostname, etc.) is denied — this is not
-   a wildcard CORS posture. Badge reads `● REMOTE <url>`. Same silent
-   demo fallback on failure.
-4. **Strict-live mode** (`?live=1`) — disable the demo fallback. If the
-   chosen transport fails, replace the info panel with an explicit offline
-   message (`● OFFLINE — Live backend required but unreachable`). Useful
-   for embedding the viewer in a status page or kiosk.
-
-The synthetic frame returned by the in-browser generator matches the
-JSON shape of the live `/api/splats` payload exactly (`splats`, `count`,
-`frame`, `live`, `pipeline.{skeleton,vitals,…}`), so a single render path
-drives both modes. There is no demo build vs real build — only one HTML
-file, one render path, and one set of bugs.
-
-A new GitHub Actions workflow (`.github/workflows/pointcloud-pages.yml`)
-copies the viewer to `gh-pages/pointcloud/index.html` on every push to
-`main` that touches the viewer, using `peaceiris/actions-gh-pages@v4`
-with `keep_files: true` to preserve the existing observatory, pose-fusion,
-and nvsim deployments.
-
-## 3. Consequences
-
-### Positive
-
- **First-click demo.** Visitors clicking the README's
-  "▶ Live 3D Point Cloud" link land on a working Three.js scene in <1 s,
-  no toolchain required. Matches the parity of the other two demos.
- **Real-data on demand.** Users with their own `ruview-pointcloud serve`
-  host can use the same hosted viewer URL with
-  `?backend=https://their-host.example.com` — no clone, no rebuild. The
-  hosted demo doubles as a thin client for self-hosted backends.
- **Single render path.** Synthetic frames flow through the same
-  `handleData → updateSplats → drawSkeleton` pipeline as live frames, so
-  visual regressions surface in the demo and the live build at the same
-  time. This is the same dual-transport pattern ADR-092 chose for nvsim.
- **No backend deploy required.** Pages serves static HTML; the demo
-  works without standing up an Axum host on the public internet, and
-  there is no per-visitor CSI/camera plumbing to provision.
- **Preserves existing deployments.** `keep_files: true` plus the
-  `pointcloud/` destination means observatory/, pose-fusion/, nvsim/,
-  and the root index.html on gh-pages are untouched.
-
-### Negative / tradeoffs
-
- **Face mesh ≠ CSI.** Browser webcam + MediaPipe gives real face
-  geometry but does not produce CSI-derived pose. Visitors who want to
-  see the *WiFi-driven* path still need `?backend=<their-host>`. The
-  procedural fallback is not WiFi-driven either; it is purely visual
-  scaffolding. We accept this — the goal of the hosted demo is to
-  convey the *shape* of what the local pipeline produces (a point
-  cloud of the user) rather than reproduce the WiFi physics in the
-  browser. The latter is a future ADR (WASM port of the fusion crate).
- **CORS burden on remote mode.** Users who want to share their backend
-  must add `Access-Control-Allow-Origin: https://ruvnet.github.io` (or
-  `*`) to their `ruview-pointcloud serve` config. We document this in the
-  workflow's generated README; we do **not** add a public proxy.
- **Synthetic generator lives in the viewer.** ~80 LOC of procedural JS
-  is now part of `viewer.html`. Acceptable: the file is already the
-  client-side render bundle, and the generator is bounded and inert
-  (deterministic, no I/O, no eval).
- **No replay-from-recording in this ADR.** A future ADR may add a
-  `?recording=<url>.jsonl` mode that replays captured frames at native
-  rate; that is out of scope here.
-
-### Neutral
-
- The local-dev experience is unchanged. `ruview-pointcloud serve` still
-  serves `viewer.html` from the bundled asset and the viewer still hits
-  `/api/splats` because `?backend` defaults to `auto`. Nothing in the
-  Rust crate changes — this is HTML + workflow only.
-
-## 4. Implementation
-
-| File | Change |
-|---|---|
-| `v2/crates/wifi-densepose-pointcloud/src/viewer.html` | Add URL-param transport selector (`backend`, `live`), synthetic frame generator, demo-fallback path, transport-aware mode badge. ~120 LOC added, no removed behavior. |
-| `.github/workflows/pointcloud-pages.yml` | New workflow: stage viewer to `_site/pointcloud/index.html`, deploy to `gh-pages/pointcloud/` with `keep_files: true`. Triggers on viewer changes and on manual dispatch. |
-| `README.md` | Already updated — `▶ Live 3D Point Cloud` link will be retargeted to `https://ruvnet.github.io/RuView/pointcloud/` once the first deploy succeeds. (Tracked separately, not blocking this ADR.) |
-| `docs/adr/README.md` | ADR index — add ADR-094 row. |
-
-## 5. Acceptance Gates
-
-This ADR is **Implemented** when all of the following hold:
-
-1. Pushing to `main` with a viewer change triggers
-   `pointcloud-pages.yml`, which deploys to `gh-pages/pointcloud/` in
-   under 60 seconds.
-2. `https://ruvnet.github.io/RuView/pointcloud/` loads, shows the
-   "Enable camera" CTA, and on accept renders the visitor's face as a
-   point cloud with badge `● DEMO Your Face (MediaPipe)` and non-zero
-   splat + frame counts. On camera denial, falls back to the
-   procedural scene with badge `● DEMO Synthetic`.
-3. Existing demos at `https://ruvnet.github.io/RuView/` and
-   `…/pose-fusion.html` and `…/nvsim/` are still reachable after the
-   first deploy (smoke-tested manually).
-4. `https://ruvnet.github.io/RuView/pointcloud/?live=1` shows the
-   `● OFFLINE` panel (because no same-origin backend exists on Pages).
-5. `https://ruvnet.github.io/RuView/pointcloud/?backend=https://example.invalid`
-   falls back to demo within one poll interval (~500 ms) without
-   throwing in the console.
-6. Running `./target/release/ruview-pointcloud serve` locally and
-   opening `http://127.0.0.1:9880/` (which serves the same HTML) still
-   shows live-mode rendering with the `● LIVE Local Backend` badge.
-
-## 6. Out of Scope
-
- Replaying recorded JSONL frames in the browser (future ADR).
- WASM-side execution of the fusion pipeline in the browser (would
-  require porting the camera + mmWave path; deferred).
- Authentication / signed splats payloads — backend-side concern,
-  unaffected by this client-side change.
- Hosting a public CORS proxy for users without their own backend.
@@ -29,7 +29,5 @@ CONFIG_LWIP_SO_RCVBUF=y
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192

 # ADR-081: adaptive_controller runs emit_feature_state + stream_sender
-# network I/O inside Timer Svc callbacks. 8 KiB was insufficient under
-# lwIP sendto + state-transition rv_mesh anomaly emit (issue #505 4MB
-# reset loop on Tmr Svc); 16 KiB absorbs the worst-case path.
-CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=16384
+# network I/O inside Timer Svc callbacks, exceeding the 2 KiB default.
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=8192
@@ -33,7 +33,5 @@ CONFIG_LWIP_SO_RCVBUF=y
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192

 # ADR-081: adaptive_controller runs emit_feature_state + stream_sender
-# network I/O inside Timer Svc callbacks. 8 KiB was insufficient under
-# lwIP sendto + state-transition rv_mesh anomaly emit (issue #505 4MB
-# reset loop on Tmr Svc); 16 KiB absorbs the worst-case path.
-CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=16384
+# network I/O inside Timer Svc callbacks, exceeding the 2 KiB default.
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=8192
@@ -1 +1 @@
-0.6.4
+0.6.2
@@ -5127,9 +5127,9 @@
      "license": "BSD-3-Clause"
    },
    "node_modules/@xmldom/xmldom": {
-      "version": "0.8.13",
-      "resolved": "https://registry.npmjs.org/@xmldom/xmldom/-/xmldom-0.8.13.tgz",
-      "integrity": "sha512-KRYzxepc14G/CEpEGc3Yn+JKaAeT63smlDr+vjB8jRfgTBBI9wRj/nkQEO+ucV8p8I9bfKLWp37uHgFrbntPvw==",
+      "version": "0.8.11",
+      "resolved": "https://registry.npmjs.org/@xmldom/xmldom/-/xmldom-0.8.11.tgz",
+      "integrity": "sha512-cQzWCtO6C8TQiYl1ruKNn2U6Ao4o4WBBcbL61yJl84x+j5sOWWFU9X7DpND8XZG3daDppSsigMdfAIl2upQBRw==",
      "license": "MIT",
      "engines": {
        "node": ">=10.0.0"
@@ -5310,6 +5310,18 @@
        "node": ">= 8"
      }
    },
+    "node_modules/anymatch/node_modules/picomatch": {
+      "version": "2.3.1",
+      "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.1.tgz",
+      "integrity": "sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=8.6"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/jonschlinkert"
+      }
+    },
    "node_modules/arg": {
      "version": "5.0.2",
      "resolved": "https://registry.npmjs.org/arg/-/arg-5.0.2.tgz",
@@ -11923,6 +11935,18 @@
        "node": ">=8"
      }
    },
+    "node_modules/jest-util/node_modules/picomatch": {
+      "version": "2.3.1",
+      "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.1.tgz",
+      "integrity": "sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=8.6"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/jonschlinkert"
+      }
+    },
    "node_modules/jest-validate": {
      "version": "29.7.0",
      "resolved": "https://registry.npmjs.org/jest-validate/-/jest-validate-29.7.0.tgz",
@@ -13365,6 +13389,18 @@
        "node": ">=8.6"
      }
    },
+    "node_modules/micromatch/node_modules/picomatch": {
+      "version": "2.3.1",
+      "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.1.tgz",
+      "integrity": "sha512-JU3teHTNjmE2VCGFzuY8EXzCDVwEqB2a8fsIvwaStHhAWJEeVd1o1QD80CU6+ZdEXXSLbSsuLwJjkCBWqRQUVA==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=8.6"
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/jonschlinkert"
+      }
+    },
    "node_modules/mime": {
      "version": "1.6.0",
      "resolved": "https://registry.npmjs.org/mime/-/mime-1.6.0.tgz",
@@ -13558,9 +13594,9 @@
      }
    },
    "node_modules/node-forge": {
-      "version": "1.4.0",
-      "resolved": "https://registry.npmjs.org/node-forge/-/node-forge-1.4.0.tgz",
-      "integrity": "sha512-LarFH0+6VfriEhqMMcLX2F7SwSXeWwnEAJEsYm5QKWchiVYVvJyV9v7UDvUv+w5HO23ZpQTXDv/GxdDdMyOuoQ==",
+      "version": "1.3.3",
+      "resolved": "https://registry.npmjs.org/node-forge/-/node-forge-1.3.3.tgz",
+      "integrity": "sha512-rLvcdSyRCyouf6jcOIPe/BgwG/d7hKjzMKOas33/pHEr6gbq18IK9zV7DiPvzsz0oBJPme6qr6H6kGZuI9/DZg==",
      "license": "(BSD-3-Clause OR GPL-2.0)",
      "engines": {
        "node": ">= 6.13.0"
@@ -14020,12 +14056,12 @@
      "license": "ISC"
    },
    "node_modules/picomatch": {
-      "version": "2.3.2",
-      "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.2.tgz",
-      "integrity": "sha512-V7+vQEJ06Z+c5tSye8S+nHUfI51xoXIXjHQ99cQtKUkQqqO1kO/KCJUfZXuB47h/YBlDhah2H3hdUGXn8ie0oA==",
+      "version": "4.0.3",
+      "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-4.0.3.tgz",
+      "integrity": "sha512-5gTmgEY/sqK6gFXLIsQNH19lWb4ebPDLA4SdLP7dsWkIXHWlG66oPuVvXSGFPppYZz8ZDZq0dYYrbHfBCVUb1Q==",
      "license": "MIT",
      "engines": {
-        "node": ">=8.6"
+        "node": ">=12"
      },
      "funding": {
        "url": "https://github.com/sponsors/jonschlinkert"
@@ -49,10 +49,5 @@
    "react-native-worklets": "^0.7.4",
    "typescript": "~5.9.2"
  },
-  "overrides": {
-    "@xmldom/xmldom": "0.8.13",
-    "node-forge": "^1.4.0",
-    "picomatch": "^2.3.2"
-  },
  "private": true
 }
@@ -14,7 +14,6 @@ serde_json = { workspace = true }
 tokio = { workspace = true }
 anyhow = { workspace = true }
 axum = { workspace = true }
-tower-http = { workspace = true }
 clap = { version = "4", features = ["derive"] }
 chrono = "0.4"
 dirs = "5"
@@ -8,13 +8,11 @@ use crate::fusion;
 use crate::pointcloud;
 use axum::{
    extract::State,
-    http::{HeaderValue, Method},
    response::Html,
    routing::get,
    Json, Router,
 };
 use std::sync::{Arc, Mutex};
-use tower_http::cors::{AllowOrigin, CorsLayer};

 struct AppState {
    latest_cloud: Mutex<pointcloud::PointCloud>,
@@ -110,36 +108,12 @@ pub async fn serve(bind: &str, _brain: Option<&str>) -> anyhow::Result<()> {
    if has_camera { eprintln!("  Camera: LIVE (/dev/video0)"); }
    else { eprintln!("  Camera: DEMO"); }

-    // CORS — allow the hosted GitHub Pages viewer to fetch /api/splats from a
-    // locally-running instance of this server. Modern browsers treat
-    // 127.0.0.1/localhost as a "potentially trustworthy" origin so the HTTPS
-    // page can reach a plain-HTTP loopback backend without mixed-content
-    // blocking. Origins permitted:
-    //   - https://ruvnet.github.io (the published RuView Pages demo)
-    //   - http://localhost:* / http://127.0.0.1:* (developer running the
-    //     viewer.html bundled with this binary)
-    // Anything else is denied, so this is not a "wildcard" CORS.
-    let cors = CorsLayer::new()
-        .allow_origin(AllowOrigin::predicate(|origin: &HeaderValue, _req| {
-            let s = match origin.to_str() {
-                Ok(v) => v,
-                Err(_) => return false,
-            };
-            s == "https://ruvnet.github.io"
-                || s.starts_with("http://localhost")
-                || s.starts_with("http://127.0.0.1")
-                || s == "null" // file:// origins
-        }))
-        .allow_methods([Method::GET, Method::OPTIONS])
-        .allow_headers([axum::http::header::CONTENT_TYPE]);
-
    let app = Router::new()
        .route("/", get(index))
        .route("/api/cloud", get(api_cloud))
        .route("/api/splats", get(api_splats))
        .route("/api/status", get(api_status))
        .route("/health", get(api_health))
-        .layer(cors)
        .with_state(state);

    println!("╔══════════════════════════════════════════════╗");
@@ -2,45 +2,27 @@
 <html>
 <head>
    <title>RuView — Camera + WiFi CSI Point Cloud</title>
-    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <meta http-equiv="Cache-Control" content="no-cache, no-store, must-revalidate">
-    <meta name="ruview-viewer-version" content="0.2.0-face-mesh">
-    <!-- Inline amber-dot favicon avoids a stray /favicon.ico 404 in the console. -->
-    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
    <style>
        body { margin: 0; background: #0a0a0a; color: #e8a634; font-family: monospace; }
        canvas { display: block; }
-        #info { position: absolute; top: 10px; left: 10px; padding: 12px; background: rgba(0,0,0,0.85); border: 1px solid #e8a634; border-radius: 6px; min-width: 240px; font-size: 13px; line-height: 1.5; z-index: 10; }
-        #cam-cta { position: absolute; bottom: 16px; left: 50%; transform: translateX(-50%); padding: 10px 18px; background: #e8a634; color: #0a0a0a; border: none; border-radius: 4px; font-family: monospace; font-size: 14px; font-weight: bold; cursor: pointer; z-index: 10; }
-        #cam-cta:hover { background: #ffc04d; }
-        #cam-cta.hidden { display: none; }
-        #esp-cta { position: absolute; bottom: 16px; right: 16px; padding: 8px 14px; background: transparent; color: #e8a634; border: 1px solid #e8a634; border-radius: 4px; font-family: monospace; font-size: 12px; cursor: pointer; z-index: 10; }
-        #esp-cta:hover { background: rgba(232, 166, 52, 0.12); }
-        #esp-cta.connected { background: #4f4; color: #0a0a0a; border-color: #4f4; }
+        #info { position: absolute; top: 10px; left: 10px; padding: 12px; background: rgba(0,0,0,0.85); border: 1px solid #e8a634; border-radius: 6px; min-width: 240px; font-size: 13px; line-height: 1.5; }
        .live { color: #4f4; } .demo { color: #f44; }
-        .face { color: #4cf; }
        .section { margin-top: 6px; padding-top: 6px; border-top: 1px solid #333; }
        .label { color: #888; }
    </style>
    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
-    <!-- MediaPipe Face Mesh — runs in demo mode so each visitor sees their own face as a point cloud -->
-    <script src="https://cdn.jsdelivr.net/npm/@mediapipe/face_mesh@0.4/face_mesh.js"></script>
-    <script src="https://cdn.jsdelivr.net/npm/@mediapipe/camera_utils@0.3/camera_utils.js"></script>
 </head>
 <body>
    <div id="info">
-        <h3 style="margin:0 0 4px 0">RuView · Seldon Vault</h3>
-        <div style="font-size: 11px; color: #888; margin-bottom: 8px; max-width: 240px; line-height: 1.4; font-style: italic;">"Psychohistory deals with reactions of human conglomerates to fixed social and economic stimuli." — Hari Seldon</div>
+        <h3 style="margin:0 0 8px 0">RuView Point Cloud</h3>
        <div id="stats">Loading...</div>
    </div>
-    <button id="cam-cta">▶ Project Subject — render your face into the Vault</button>
-    <button id="esp-cta" title="Stream live CSI from a local ruview-pointcloud serve instance (e.g. http://127.0.0.1:9880)">📡 Connect ESP32…</button>
    <script>
        var scene = new THREE.Scene();
        scene.background = new THREE.Color(0x0a0a0a);
-        var camera = new THREE.PerspectiveCamera(72, window.innerWidth/window.innerHeight, 0.1, 200);
-        camera.position.set(0, 0.2, -3.5);
+        var camera = new THREE.PerspectiveCamera(75, window.innerWidth/window.innerHeight, 0.1, 100);
+        camera.position.set(0, 2, -4);
        camera.lookAt(0, 0, 2);

        var renderer = new THREE.WebGLRenderer({ antialias: true });
@@ -122,436 +104,10 @@
            scene.add(skeletonGroup);
        }

-        // ----- Transport configuration -----
-        // ?backend=<url>   → fetch splats from <url>/api/splats (CORS-permitting host)
-        // ?backend=auto    → try /api/splats, fall back to synthetic demo on failure (default)
-        // ?backend=demo    → always render synthetic demo (no network)
-        // ?live=1          → require live; show error instead of demo fallback
-        var urlParams = new URLSearchParams(window.location.search);
-        var backendArg = urlParams.get("backend") || "auto";
-        var requireLive = urlParams.get("live") === "1";
-        var transportMode = "demo"; // resolved at first fetch: "live" | "remote" | "demo"
-        var demoStartMs = Date.now();
-        var demoFrameNum = 0;
-        var latestFaceLandmarks = null; // populated by MediaPipe when camera enabled
-        var faceMeshState = "idle"; // "idle" | "starting" | "running" | "denied" | "unavailable"
-
-        // ----- MediaPipe Face Mesh (browser equivalent of camera-depth backprojection) -----
-        // Locally, ruview-pointcloud serve fuses real camera depth + WiFi CSI. In the
-        // browser we don't have depth from a webcam, but Face Mesh produces 468
-        // 3D landmarks (x,y in [0,1], z roughly in [-0.5,0.5]) at ~30 fps — enough to
-        // reproduce the "I can see the outline of my face in points" experience. The
-        // landmarks feed into the same splat render path as live /api/splats data.
-        async function startFaceMesh() {
-            if (faceMeshState !== "idle") return;
-            if (!window.FaceMesh || !window.Camera) {
-                faceMeshState = "unavailable";
-                return;
-            }
-            faceMeshState = "starting";
-            try {
-                var videoEl = document.createElement("video");
-                videoEl.style.display = "none";
-                videoEl.autoplay = true;
-                videoEl.playsInline = true;
-                videoEl.muted = true;
-                document.body.appendChild(videoEl);
-
-                var fm = new FaceMesh({
-                    locateFile: function(file) {
-                        return "https://cdn.jsdelivr.net/npm/@mediapipe/face_mesh@0.4/" + file;
-                    }
-                });
-                fm.setOptions({
-                    maxNumFaces: 1,
-                    refineLandmarks: true,
-                    minDetectionConfidence: 0.5,
-                    minTrackingConfidence: 0.5
-                });
-                fm.onResults(function(results) {
-                    if (results.multiFaceLandmarks && results.multiFaceLandmarks[0]) {
-                        latestFaceLandmarks = results.multiFaceLandmarks[0];
-                    }
-                });
-
-                var mpCamera = new Camera(videoEl, {
-                    onFrame: async function() { await fm.send({ image: videoEl }); },
-                    width: 640,
-                    height: 480
-                });
-                await mpCamera.start();
-                faceMeshState = "running";
-                var btn = document.getElementById("cam-cta");
-                if (btn) btn.classList.add("hidden");
-            } catch (err) {
-                faceMeshState = "denied";
-                console.warn("Face mesh unavailable:", err);
-            }
-        }
-
-        // ---- Foundation-inspired galactic context (Asimov / Trantor / Seldon) ----
-        // Shared between face-mesh and synthetic-fallback paths. The subject (face
-        // or procedural figure) is the foreground; this function paints the Seldon
-        // time-vault around it: holographic surveyor grid underfoot, slow galactic
-        // spiral receding into the distance, distant starfield, and a halo ring.
-        function pushFoundationContext(splats) {
-            var t = (Date.now() - demoStartMs) / 1000.0;
-
-            // 1. Holographic surveyor grid — amber lattice at y=+1.4 (renders below
-            //    the subject because the renderer flips y to Three.js Y-up).
-            var gx, gz;
-            for (gx = -10; gx <= 10; gx++) {
-                for (gz = 0; gz <= 30; gz++) {
-                    var alpha = 0.35 + 0.15 * Math.sin(t * 0.5 + gz * 0.2);
-                    splats.push({
-                        center: [gx * 0.5, 1.4, gz * 0.4],
-                        color: [0.40 * alpha, 0.28 * alpha, 0.10 * alpha],
-                        opacity: 1.0,
-                        scale: [0.018, 0.018, 0.018]
-                    });
-                }
-            }
-            for (gz = 0; gz <= 30; gz += 2) {
-                for (gx = -20; gx <= 20; gx++) {
-                    splats.push({
-                        center: [gx * 0.25, 1.4, gz * 0.4 + 0.1],
-                        color: [0.30, 0.22, 0.08],
-                        opacity: 1.0,
-                        scale: [0.014, 0.014, 0.014]
-                    });
-                }
-            }
-
-            // 2. Galactic spiral — Trantor recedes behind the subject. ~640 stars
-            //    across two logarithmic arms, slowly rotating. Warmer at the core,
-            //    cooler at the edges (Hertzsprung-Russell-ish).
-            var arm, k, theta_arm, r_arm, sx, sz, twist, arm_color;
-            for (arm = 0; arm < 2; arm++) {
-                for (k = 0; k < 320; k++) {
-                    var prog = k / 320;
-                    theta_arm = arm * Math.PI + prog * 6.0 + t * 0.05;
-                    r_arm = 4.0 + prog * 14.0;
-                    twist = Math.sin(prog * 8.0) * 0.4;
-                    sx = Math.cos(theta_arm) * r_arm + twist;
-                    sz = Math.sin(theta_arm) * r_arm + 12.0;
-                    var coreFade = Math.max(0.15, 1.0 - prog);
-                    arm_color = [
-                        coreFade * 0.85 + 0.15 * (1 - prog),
-                        coreFade * 0.70 + 0.20,
-                        coreFade * 0.55 + 0.45 * prog
-                    ];
-                    splats.push({
-                        center: [sx, -2.5 + Math.sin(prog * 12) * 0.3, sz],
-                        color: arm_color,
-                        opacity: 1.0,
-                        scale: [0.025, 0.025, 0.025]
-                    });
-                }
-            }
-
-            // 3. Distant starfield — 800 deterministic stars on a spherical shell.
-            //    Fixed LCG seed so visitors don't see noise flicker between frames.
-            var seed = 42;
-            function nextRand() {
-                seed = (seed * 1664525 + 1013904223) >>> 0;
-                return seed / 4294967296;
-            }
-            var s, r_s, phi, costheta, sinphi;
-            for (s = 0; s < 800; s++) {
-                phi = nextRand() * Math.PI * 2;
-                costheta = nextRand() * 2 - 1;
-                sinphi = Math.sqrt(1 - costheta * costheta);
-                r_s = 22 + nextRand() * 8;
-                var brightness = 0.4 + nextRand() * 0.6;
-                var hue = nextRand();
-                splats.push({
-                    center: [
-                        Math.cos(phi) * sinphi * r_s,
-                        costheta * r_s * 0.5 - 1.0,
-                        Math.sin(phi) * sinphi * r_s + 5.0
-                    ],
-                    color: hue > 0.85
-                        ? [brightness, brightness * 0.85, brightness * 0.6]
-                        : (hue > 0.3
-                            ? [brightness * 0.9, brightness * 0.95, brightness]
-                            : [brightness * 0.5, brightness * 0.7, brightness]),
-                    opacity: 1.0,
-                    scale: [0.020, 0.020, 0.020]
-                });
-            }
-
-            // 4. Holographic projection halo around the subject — Seldon vault
-            //    projections always had a faint encircling ring of particles.
-            var ring;
-            for (ring = 0; ring < 60; ring++) {
-                var rt = ring / 60 * Math.PI * 2 + t * 0.3;
-                splats.push({
-                    center: [
-                        Math.cos(rt) * 1.6,
-                        Math.sin(rt) * 1.2 - 0.2,
-                        2.0 + Math.sin(rt * 3 + t * 0.5) * 0.3
-                    ],
-                    color: [0.95, 0.55, 0.15],
-                    opacity: 1.0,
-                    scale: [0.014, 0.014, 0.014]
-                });
-            }
-        }
-
-        // Map a single landmark to world coords. Coord conventions:
-        //   x: 0.5 - lm.x   → mirror so left-of-screen = your left side (selfie)
-        //   y: lm.y - 0.5   → keep MediaPipe's y-DOWN convention; the renderer's
-        //                     existing -y flip in updateSplats does the single flip
-        //                     to Three.js Y-up. Pre-flipping here would double-flip
-        //                     and the face would render upside down.
-        //   z: 2.0 + lm.z*8 → amplify lm.z (~[-0.1,+0.1]) so the nose/eye-socket
-        //                     depth is visible from an oblique camera angle.
-        function lmToCenter(lm) {
-            return [
-                (0.5 - lm.x) * 4.0,
-                (lm.y - 0.5) * 3.0,
-                2.0 + lm.z * 8.0
-            ];
-        }
-
-        function pushFaceSplat(splats, center, alpha) {
-            splats.push({
-                center: center,
-                color: [0.95 * alpha, 0.65 * alpha, 0.20 * alpha],
-                opacity: 1.0,
-                scale: [0.006, 0.006, 0.006]
-            });
-        }
-
-        // FACEMESH_TESSELATION is a flat array [a0,b0, a1,b1, ...] of vertex indices
-        // forming edges of the triangulated face mesh. ~1300 edges × 2 = 2600 entries.
-        // We interpolate 6 splats per edge → ~8000 splats per face vs 478 vertices.
-        var FACE_EDGES = (typeof FACEMESH_TESSELATION !== "undefined") ? FACEMESH_TESSELATION : null;
-
-        // Push the user's face mesh point cloud into `splats` (no Foundation
-        // context — that is the demo path's responsibility). Used both as the
-        // demo subject AND as an overlay on top of live/remote backend data
-        // when the camera is enabled. Returns true if any splats were pushed.
-        function pushFaceSplats(splats) {
-            if (faceMeshState !== "running" || !latestFaceLandmarks) return false;
-            var lms = latestFaceLandmarks;
-            var i;
-            // 1. Original 478 vertices — bright anchor points for features.
-            for (i = 0; i < lms.length; i++) {
-                splats.push({
-                    center: lmToCenter(lms[i]),
-                    color: [1.0, 0.72, 0.25],
-                    opacity: 1.0,
-                    scale: [0.010, 0.010, 0.010]
-                });
-            }
-            // 2. Edge interpolation — 6 splats per FACEMESH_TESSELATION edge.
-            if (FACE_EDGES) {
-                var edgeCount = FACE_EDGES.length;
-                var SAMPLES = 6;
-                var e, a, b, t, f;
-                for (e = 0; e < edgeCount; e += 2) {
-                    a = lms[FACE_EDGES[e]];
-                    b = lms[FACE_EDGES[e + 1]];
-                    if (!a || !b) continue;
-                    var aPos = lmToCenter(a);
-                    var bPos = lmToCenter(b);
-                    var ax = aPos[0], ay = aPos[1], az = aPos[2];
-                    var bx = bPos[0], by = bPos[1], bz = bPos[2];
-                    for (t = 1; t <= SAMPLES; t++) {
-                        f = t / (SAMPLES + 1);
-                        pushFaceSplat(splats, [
-                            ax * (1 - f) + bx * f,
-                            ay * (1 - f) + by * f,
-                            az * (1 - f) + bz * f
-                        ], 0.85);
-                    }
-                }
-            }
-            return true;
-        }
-
-        function faceMeshFrame() {
-            if (faceMeshState !== "running" || !latestFaceLandmarks) return null;
-            var splats = [];
-            pushFaceSplats(splats);
-            pushFoundationContext(splats);
-            demoFrameNum += 1;
-            return {
-                splats: splats,
-                count: splats.length,
-                frame: demoFrameNum,
-                live: false,
-                source: "face-mesh",
-                pipeline: {
-                    skeleton: null,
-                    vitals: { breathing_rate: 14, motion_score: 0.15 }
-                }
-            };
-        }
-
-        function buildSplatsUrl() {
-            if (backendArg === "demo") return null;
-            if (backendArg === "auto") return "/api/splats";
-            // User-supplied URL — strip trailing slash and append /api/splats.
-            var base = backendArg.replace(/\/+$/, "");
-            return base + "/api/splats";
-        }
-
-        function syntheticFrame() {
-            // Used when camera permission is denied / unavailable. Renders a
-            // procedural standing figure inside the Seldon vault context.
-            // y-down convention: head at small/negative y, feet at large/positive y;
-            // the renderer flips y so head ends up at the top of the screen.
-            var t = (Date.now() - demoStartMs) / 1000.0;
-            var sway = Math.sin(t * 0.8) * 0.05;
-            var breath = Math.sin(t * 1.2) * 0.015;
-            var splats = [];
-
-            // Standing figure — 240 points in a vertical cylinder, denser than
-            // before to feel like a holographic projection.
-            var ring, k_ring, theta, r, py;
-            for (ring = 0; ring < 30; ring++) {
-                py = -1.0 + (ring / 30) * 2.2; // head (-1.0) → feet (+1.2) in y-down
-                r = 0.20 + breath * (py < 0 ? 1.5 : 0); // chest expands more on inhale
-                for (k_ring = 0; k_ring < 16; k_ring++) {
-                    theta = (k_ring / 16) * Math.PI * 2;
-                    splats.push({
-                        center: [
-                            sway + Math.cos(theta) * r,
-                            py,
-                            2.3 + Math.sin(theta) * r
-                        ],
-                        color: [0.91, 0.65, 0.20],
-                        opacity: 1.0,
-                        scale: [0.018, 0.018, 0.018]
-                    });
-                }
-            }
-
-            // 17 COCO keypoints in normalized [0,1] image coords (matches live shape)
-            var headY = 0.18;
-            var keypoints = [
-                [0.50 + sway * 0.05, headY, 0.95],          // 0  nose
-                [0.52 + sway * 0.05, headY - 0.01, 0.92],   // 1  leftEye
-                [0.48 + sway * 0.05, headY - 0.01, 0.92],   // 2  rightEye
-                [0.54 + sway * 0.05, headY,        0.85],   // 3  leftEar
-                [0.46 + sway * 0.05, headY,        0.85],   // 4  rightEar
-                [0.60 + sway * 0.04, 0.32, 0.93],           // 5  leftShoulder
-                [0.40 + sway * 0.04, 0.32, 0.93],           // 6  rightShoulder
-                [0.65 + sway * 0.03, 0.46, 0.90],           // 7  leftElbow
-                [0.35 + sway * 0.03, 0.46, 0.90],           // 8  rightElbow
-                [0.68, 0.60 + Math.sin(t * 1.4) * 0.02, 0.86], // 9  leftWrist
-                [0.32, 0.60 - Math.sin(t * 1.4) * 0.02, 0.86], // 10 rightWrist
-                [0.57, 0.58, 0.94],                         // 11 leftHip
-                [0.43, 0.58, 0.94],                         // 12 rightHip
-                [0.58, 0.74, 0.90],                         // 13 leftKnee
-                [0.42, 0.74, 0.90],                         // 14 rightKnee
-                [0.59, 0.92, 0.88],                         // 15 leftAnkle
-                [0.41, 0.92, 0.88]                          // 16 rightAnkle
-            ];
-
-            // Wrap the figure in the Seldon-vault context (grid, spiral, starfield, halo)
-            pushFoundationContext(splats);
-
-            demoFrameNum += 1;
-            return {
-                splats: splats,
-                count: splats.length,
-                frame: demoFrameNum,
-                live: false,
-                pipeline: {
-                    skeleton: { keypoints: keypoints, confidence: 0.86 },
-                    vitals: {
-                        breathing_rate: 14 + Math.round(Math.sin(t * 0.05) * 2),
-                        motion_score: 0.18 + Math.abs(sway) * 2
-                    }
-                }
-            };
-        }
-
-        function pickDemoFrame() {
-            // Prefer real face-mesh data when the camera is running; else procedural.
-            return faceMeshFrame() || syntheticFrame();
-        }
-
-        // Once auto mode confirms there is no /api/splats backend on this origin,
-        // set this flag so we stop hammering the network with 404 fetches every
-        // tick. Console stays clean; demo renders locally.
-        var networkDisabled = false;
-
-        // Exponential backoff state for explicit ?backend=<url>. The user's
-        // local server may be down (ERR_CONNECTION_REFUSED) and we shouldn't
-        // hammer it 10 Hz indefinitely. After each failure we lengthen the
-        // delay; on success we snap back to the normal cadence.
-        var BASE_INTERVAL_MS = 250;
-        var MAX_INTERVAL_MS = 30000;
-        var currentIntervalMs = BASE_INTERVAL_MS;
-        var consecutiveFailures = 0;
-        var fetchTimer = null;
-        var lastBackendError = null;
-
-        function scheduleNextFetch(delayMs) {
-            if (fetchTimer) clearTimeout(fetchTimer);
-            fetchTimer = setTimeout(fetchCloud, delayMs);
-        }
-
        async function fetchCloud() {
-            // Demo-only mode: never hit the network. Use the normal cadence.
-            if (backendArg === "demo" || networkDisabled) {
-                transportMode = "demo";
-                handleData(pickDemoFrame());
-                scheduleNextFetch(BASE_INTERVAL_MS);
-                return;
-            }
            try {
-                var resp = await fetch(buildSplatsUrl(), { cache: "no-store" });
-                if (!resp.ok) throw new Error("HTTP " + resp.status);
+                var resp = await fetch("/api/splats");
                var data = await resp.json();
-                transportMode = (backendArg === "auto") ? "live" : "remote";
-                consecutiveFailures = 0;
-                currentIntervalMs = BASE_INTERVAL_MS;
-                lastBackendError = null;
-                handleData(data);
-                scheduleNextFetch(BASE_INTERVAL_MS);
-            } catch (err) {
-                consecutiveFailures += 1;
-                lastBackendError = err && err.message ? err.message : String(err);
-                if (requireLive) {
-                    document.getElementById("stats").innerHTML =
-                        '<span class="demo">&#9679; OFFLINE</span><br>Live backend required (?live=1) but unreachable.<br><span class="label">' + lastBackendError + '</span>';
-                    // Even strict-live: back off so we don't spam.
-                    currentIntervalMs = Math.min(currentIntervalMs * 2, MAX_INTERVAL_MS);
-                    scheduleNextFetch(currentIntervalMs);
-                    return;
-                }
-                // Auto mode + first failure → assume static host (Pages), disable
-                // network entirely so the console stays clean.
-                if (backendArg === "auto") {
-                    networkDisabled = true;
-                    transportMode = "demo";
-                    handleData(pickDemoFrame());
-                    scheduleNextFetch(BASE_INTERVAL_MS);
-                    return;
-                }
-                // Explicit backend (?backend=<url>) — keep trying with
-                // exponential backoff: 250 ms → 500 ms → 1 s → 2 s … up to 30 s.
-                // Render the demo while we wait so the scene stays alive, and
-                // surface the failure so the user knows the server is down.
-                currentIntervalMs = Math.min(Math.max(BASE_INTERVAL_MS * Math.pow(2, consecutiveFailures - 1), 1000), MAX_INTERVAL_MS);
-                transportMode = "demo";
-                var demoFrame = pickDemoFrame();
-                demoFrame._backendUnreachable = true;
-                demoFrame._backendUrl = backendArg;
-                demoFrame._backendError = lastBackendError;
-                demoFrame._retryInMs = currentIntervalMs;
-                handleData(demoFrame);
-                scheduleNextFetch(currentIntervalMs);
-            }
-        }
-
-        function handleData(data) {
-            try {
                if (data.splats && data.frame !== lastFrame) {
                    // Compute CSI frame rate
                    var now = Date.now();
@@ -561,23 +117,7 @@
                    }
                    prevTimestamp = now;
                    lastFrame = data.frame;
-
-                    // Overlay browser face mesh on top of backend splats when both
-                    // are active — lets visitors see their own face *plus* the
-                    // ESP32-driven point cloud in the same scene. Demo mode (where
-                    // data.source === "face-mesh") already includes the face, so
-                    // we skip this branch there to avoid double-counting.
-                    var rendered = data.splats;
-                    var faceOverlay = false;
-                    if (data.source !== "face-mesh"
-                        && faceMeshState === "running"
-                        && latestFaceLandmarks) {
-                        rendered = data.splats.slice();
-                        pushFaceSplats(rendered);
-                        faceOverlay = true;
-                    }
-                    data._faceOverlay = faceOverlay;
-                    updateSplats(rendered);
+                    updateSplats(data.splats);

                    // Draw skeleton if available
                    var pipe = data.pipeline;
@@ -587,40 +127,14 @@
                        clearSkeleton();
                    }

-                    // Build info panel — badge reflects active transport
-                    var mode;
-                    if (transportMode === "live") {
-                        mode = '<span class="live">&#9679; LIVE</span> Local Backend';
-                    } else if (transportMode === "remote") {
-                        mode = '<span class="live">&#9679; REMOTE</span> ' + backendArg;
-                    } else if (data.source === "face-mesh") {
-                        mode = '<span class="face">&#9679; DEMO</span> Your Face (MediaPipe)';
-                    } else {
-                        mode = '<span class="demo">&#9679; DEMO</span> Synthetic';
-                    }
-                    if (data._faceOverlay) {
-                        mode += ' <span class="face">+ face overlay</span>';
-                    }
-                    var splatCount = rendered ? rendered.length : data.count;
-                    var html = mode + "<br>"
-                        + "Splats: " + splatCount + "<br>"
+                    // Build info panel
+                    var mode = data.live
+                        ? '<span class="live">&#9679; LIVE</span>'
+                        : '<span class="demo">&#9679; DEMO</span>';
+                    var html = mode + " Camera + CSI<br>"
+                        + "Splats: " + data.count + "<br>"
                        + "Frame: " + data.frame;

-                    // Unreachable backend banner — explicit ?backend=<url> failed
-                    // to connect. Show actionable guidance instead of leaving the
-                    // user staring at a "demo" badge wondering why their ESP32
-                    // feed isn't visible.
-                    if (data._backendUnreachable) {
-                        var nextSec = Math.round((data._retryInMs || 1000) / 1000);
-                        html += '<div class="section">'
-                            + '<span class="demo">&#9679; ' + data._backendUrl + '</span> unreachable'
-                            + '<br><span class="label">' + (data._backendError || "connection failed") + '</span>'
-                            + '<br><span class="label">retry in ' + nextSec + 's</span>'
-                            + '<br><br><span class="label">start the server:</span>'
-                            + '<br><code style="color:#e8a634">cargo run -p wifi-densepose-pointcloud --release \\<br>&nbsp;&nbsp;-- serve --bind 127.0.0.1:9880</code>'
-                            + '</div>';
-                    }
-
                    // CSI frame rate
                    html += '<div class="section">'
                        + '<span class="label">CSI Rate:</span> '
@@ -673,69 +187,8 @@
                }
            } catch(e) {}
        }
-        // Wire the camera CTA. The camera is now overlay-able on every
-        // transport mode: in demo it IS the subject; in live/remote it
-        // overlays the backend splats so the visitor sees their face
-        // alongside the ESP32-driven point cloud.
-        (function wireCamCta() {
-            var btn = document.getElementById("cam-cta");
-            if (!btn) return;
-            if (requireLive) {
-                // Strict-live mode shows the offline panel — no camera UI.
-                btn.classList.add("hidden");
-                return;
-            }
-            // In remote mode, label the button as an overlay action.
-            if (backendArg.startsWith("http")) {
-                btn.textContent = "▶ Add face overlay";
-            }
-            btn.addEventListener("click", function() {
-                btn.textContent = backendArg.startsWith("http")
-                    ? "Starting overlay…"
-                    : "Initializing the Vault…";
-                startFaceMesh();
-            });
-        })();
-
-        // Wire the ESP32 backend CTA: prompts for a ruview-pointcloud serve URL,
-        // persists last-used value in localStorage, and reloads with the
-        // ?backend=<url> query so the existing remote-mode path takes over.
-        // Disconnect by clicking again when already connected.
-        (function wireEspCta() {
-            var btn = document.getElementById("esp-cta");
-            if (!btn) return;
-            var connected = backendArg.startsWith("http");
-            if (connected) {
-                btn.classList.add("connected");
-                btn.textContent = "📡 ESP32 connected · disconnect";
-            }
-            btn.addEventListener("click", function() {
-                if (connected) {
-                    // Strip ?backend= from current URL and reload — return to demo.
-                    var u = new URL(window.location.href);
-                    u.searchParams.delete("backend");
-                    window.location.href = u.toString();
-                    return;
-                }
-                var stored;
-                try { stored = localStorage.getItem("ruview.backendUrl"); } catch (_) { stored = null; }
-                var def = stored || "http://127.0.0.1:9880";
-                var url = window.prompt(
-                    "Enter the ruview-pointcloud serve URL (run `ruview-pointcloud serve` locally with your ESP32 streaming CSI to UDP port 3333):",
-                    def
-                );
-                if (!url) return;
-                url = url.replace(/\/+$/, "");
-                try { localStorage.setItem("ruview.backendUrl", url); } catch (_) {}
-                var u2 = new URL(window.location.href);
-                u2.searchParams.set("backend", url);
-                window.location.href = u2.toString();
-            });
-        })();
-
-        // fetchCloud self-schedules via setTimeout — no setInterval to avoid
-        // overlapping calls on slow networks and to support exponential backoff.
        fetchCloud();
+        setInterval(fetchCloud, 500);

        function updateSplats(splats) {
            if (pointsMesh) scene.remove(pointsMesh);
Author	SHA1	Message	Date
Dragan Spiridonov	ee11a5a766	fix(firmware): address PR #397 review feedback Applies @ruvnet's five review requests on PR #397 (RuView#397 comment 4289417527): 1. Inline comment on `provision.py` `write_flash` — ESP-IDF v5.4 bundles esptool 4.10.0 (underscore-only). #391's hyphen swap broke the documented venv flow; kept the underscore form and added a three-line comment warning future maintainers not to "re-fix" it. 2. Correct `edge_processing.c` sample_rate (blocking) — changed hard-coded `20.0f` → `10.0f` at line 718 so `estimate_bpm_zero_crossing()` matches the MGMT-only CSI rate. Without this, breathing and heart-rate reports were 2× the true value. Added a comment tying the constant to the callback rate gate. 3. Removed disabled probe-injection infrastructure — dropped the forward declaration, the `CSI_PROBE_INTERVAL_MS` define, six static variables (`s_probe_timer`, `s_probe_tx_count`, `s_probe_tx_fail`, `s_ap_bssid`, `s_ap_bssid_known`), and three functions (`csi_send_probe_request`, `probe_timer_cb`, `csi_collector_start_probe_timer`). None were reachable. `csi_inject_ndp_frame()` reverted to the original ADR-029 stub. Can be revived from this commit's parent if needed. 4. Cleaned `sdkconfig.defaults` — removed the SPIRAM prose and commented-out `# CONFIG_SPIRAM is not set` line. Kept only the live `CONFIG_ESP_WIFI_EXTRA_IRAM_OPT=y` with a concise rationale. 5. Bumped firmware version 0.6.1 → 0.6.2 and added four `[Unreleased]` CHANGELOG entries covering the SPI cache crash fix, the `filter_mac` / `node_id` clobber defense, the sample-rate correction, and the `write_flash` command-form revert. Net: +39 / -128 across six files. Validation in this devcontainer: - Static sanity on modified C files: braces balance (csi_collector.c 59/59; edge_processing.c 96/96), zero dangling references to removed probe-injection symbols. - Rust workspace tests and Python proof not executed here — cargo not installed and pip blocked by PEP 668. Deferring hardware build + flash + miniterm verification to @ruvnet's COM7 per his offer in the review comment. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-28 08:41:00 -04:00
Dragan Spiridonov	a14835bb91	fix(firmware): 50 Hz callback rate gate + sdkconfig extra IRAM opt - Add early rate gate in wifi_csi_callback at 50 Hz (defense-in-depth, does not prevent crash alone but reduces callback execution time) - Add null-data injection timer infrastructure (disabled — TX adds interrupt pressure that triggers the SPI cache crash, RuView#396) - sdkconfig.defaults: add CONFIG_ESP_WIFI_EXTRA_IRAM_OPT=y - sdkconfig.defaults: document SPIRAM XIP attempt (crashes differently) Co-Authored-By: Ruflo & AQE	2026-04-28 08:41:00 -04:00
Dragan Spiridonov	ace61696b1	fix(provision): write-flash → write_flash for esptool v5 compat esptool v5+ rejects hyphenated subcommands. The provision script used 'write-flash' which fails with "invalid choice". Changed to 'write_flash' (underscore) which works with both old and new esptool. Co-Authored-By: Ruflo & AQE	2026-04-28 08:39:51 -04:00
Dragan Spiridonov	c442669ea8	fix(firmware): MGMT-only promiscuous filter to prevent SPI cache crash The WiFi driver's wDev_ProcessFiq interrupt handler crashes with LoadProhibited in cache_ll_l1_resume_icache when promiscuous mode captures MGMT+DATA frames (100-500 interrupts/sec). The high interrupt rate races with SPI flash cache operations, corrupting cache state. Changes: - Promiscuous filter: MGMT+DATA → MGMT-only (~10 Hz beacons) - CSI config: disable htltf_en and stbc_htltf2_en (LLTF-only) LLTF provides 64 subcarriers (HT20) — sufficient for presence, breathing, and fall detection. The 10 Hz beacon rate eliminates the SPI flash cache contention that caused the crash. Verified on device 80:b5:4e:c1:be:b8: - Before: LoadProhibited crash at ~1600-2400 callbacks (every ~70s) - After: 2700+ callbacks over 4.7 minutes, zero crashes Backtrace decode confirmed crash in ESP-IDF closed-source WiFi blob: _xt_lowint1 → wDev_ProcessFiq → spi_flash_restore_cache → cache_ll_l1_resume_icache → EXCVADDR=0x00000004 (NULL deref) Co-Authored-By: Ruflo & AQE	2026-04-28 08:39:51 -04:00
Dragan Spiridonov	b8e332cd2a	fix(firmware): defensive copy of filter_mac to prevent callback crash The CSI callback reads g_nvs_config.filter_mac_set and filter_mac on every invocation (100-500 Hz). If wifi_init_sta() corrupts g_nvs_config (same root cause as the node_id clobber), the callback reads garbage from the struct, leading to Core 0 LoadProhibited panic after ~2400 callbacks (~70 seconds of operation). Extends the early-capture pattern from the node_id fix to also copy filter_mac_set and filter_mac into module-local statics before WiFi init runs. Adds canary logging to detect filter_mac corruption. Observed on device 80:b5:4e:c1:be:b8 via serial: CSI cb #2400 → Guru Meditation Error: Core 0 panic'ed (LoadProhibited) → TG0WDT_SYS_RST → reboot → crash again at ~2900 callbacks Refs #232 #375 #385 #386 #390 Co-Authored-By: Ruflo & AQE	2026-04-28 08:39:50 -04:00
Dragan Spiridonov	415cb5606d	fix(firmware): move defensive node_id capture before wifi_init_sta() The original defensive copy in csi_collector_init() (line 172 of main.c) runs AFTER wifi_init_sta() (line 147), which on some ESP32-S3 devices corrupts g_nvs_config.node_id back to the Kconfig default of 1. Reproduced on device 80:b5:4e:c1:be:b8 (ESP32-S3 QFN56 rev v0.2): - NVS provisioned with node_id=5 - Release firmware (no fix): seed receives node_id=1 (clobbered) - This patch: seed receives node_id=5 (correct) Changes: - Add csi_collector_set_node_id() called from main.c immediately after nvs_config_load(), before wifi_init_sta() runs - csi_collector_init() now detects and logs the clobber if early capture disagrees with current g_nvs_config value - Fallback path preserved: if set_node_id() is never called, init() still captures from g_nvs_config (backwards compatible) Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-28 08:39:50 -04:00
@@ -1 +1 @@
 .6.4
 .6.2